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0c55147ee4
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v0.10.7
| Author | SHA1 | Date | |
|---|---|---|---|
|
9aeffebde1 |
114
.github/workflows/conda-pack-build.yml
vendored
114
.github/workflows/conda-pack-build.yml
vendored
@@ -42,7 +42,7 @@ jobs:
|
||||
defaults:
|
||||
run:
|
||||
# Windows uses cmd for better conda/mamba compatibility, Unix uses bash
|
||||
shell: ${{ matrix.platform == 'win-64' && 'cmd' || 'bash' }}
|
||||
shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
|
||||
|
||||
steps:
|
||||
- name: Check if platform should be built
|
||||
@@ -73,6 +73,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-activate-base: true
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -81,7 +82,7 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
@@ -89,15 +90,15 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
id: msgs_version_win
|
||||
run: |
|
||||
echo Checking installed ros-humble-unilabos-msgs version...
|
||||
conda list -n unilab ros-humble-unilabos-msgs
|
||||
for /f "tokens=2" %%i in ('conda list -n unilab ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
|
||||
conda list ros-humble-unilabos-msgs
|
||||
for /f "tokens=2" %%i in ('conda list ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
|
||||
echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
|
||||
echo Installed ros-humble-unilabos-msgs version: %VERSION%
|
||||
|
||||
@@ -107,7 +108,7 @@ jobs:
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Checking installed ros-humble-unilabos-msgs version..."
|
||||
VERSION=$(conda list -n unilab ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
|
||||
VERSION=$(conda list ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
|
||||
echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
|
||||
echo "Installed ros-humble-unilabos-msgs version: $VERSION"
|
||||
|
||||
@@ -118,7 +119,7 @@ jobs:
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
|
||||
echo.
|
||||
echo Updating ros-humble-unilabos-msgs to latest version...
|
||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
|
||||
mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
|
||||
|
||||
- name: Check for newer ros-humble-unilabos-msgs (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
@@ -128,65 +129,65 @@ jobs:
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
|
||||
echo ""
|
||||
echo "Updating ros-humble-unilabos-msgs to latest version..."
|
||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
|
||||
mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
|
||||
|
||||
- name: Install latest unilabos from source (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Uninstalling existing unilabos...
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
|
||||
pip uninstall unilabos -y || echo unilabos not installed via pip
|
||||
echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
|
||||
mamba run -n unilab pip install .
|
||||
pip install .
|
||||
echo Verifying installation...
|
||||
mamba run -n unilab pip show unilabos
|
||||
pip show unilabos
|
||||
|
||||
- name: Install latest unilabos from source (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Uninstalling existing unilabos..."
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||
pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||
echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
|
||||
mamba run -n unilab pip install .
|
||||
pip install .
|
||||
echo "Verifying installation..."
|
||||
mamba run -n unilab pip show unilabos
|
||||
pip show unilabos
|
||||
|
||||
- name: Display environment info (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo === Environment Information ===
|
||||
mamba env list
|
||||
conda env list
|
||||
echo.
|
||||
echo === Installed Packages ===
|
||||
mamba list -n unilab | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || mamba list -n unilab
|
||||
conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
|
||||
echo.
|
||||
echo === Python Packages ===
|
||||
mamba run -n unilab pip list | findstr unilabos || mamba run -n unilab pip list
|
||||
pip list | findstr unilabos || pip list
|
||||
|
||||
- name: Display environment info (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "=== Environment Information ==="
|
||||
mamba env list
|
||||
conda env list
|
||||
echo ""
|
||||
echo "=== Installed Packages ==="
|
||||
mamba list -n unilab | grep -E "(unilabos|ros-humble-unilabos-msgs)" || mamba list -n unilab
|
||||
conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
|
||||
echo ""
|
||||
echo "=== Python Packages ==="
|
||||
mamba run -n unilab pip list | grep unilabos || mamba run -n unilab pip list
|
||||
pip list | grep unilabos || pip list
|
||||
|
||||
- name: Verify environment integrity (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Verifying Python version...
|
||||
mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
|
||||
python -c "import sys; print(f'Python version: {sys.version}')"
|
||||
echo Verifying unilabos import...
|
||||
mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
|
||||
python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
|
||||
echo Checking critical packages...
|
||||
mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
|
||||
python -c "import rclpy; print('ROS2 rclpy: OK')"
|
||||
echo Running comprehensive verification script...
|
||||
mamba run -n unilab python scripts\verify_installation.py --auto-install || echo Warning: Verification script reported issues
|
||||
python scripts\verify_installation.py || echo Warning: Verification script reported issues
|
||||
echo Environment verification complete!
|
||||
|
||||
- name: Verify environment integrity (Unix)
|
||||
@@ -194,20 +195,20 @@ jobs:
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Verifying Python version..."
|
||||
mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
|
||||
python -c "import sys; print(f'Python version: {sys.version}')"
|
||||
echo "Verifying unilabos import..."
|
||||
mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
|
||||
python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
|
||||
echo "Checking critical packages..."
|
||||
mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
|
||||
python -c "import rclpy; print('ROS2 rclpy: OK')"
|
||||
echo "Running comprehensive verification script..."
|
||||
mamba run -n unilab python scripts/verify_installation.py --auto-install || echo "Warning: Verification script reported issues"
|
||||
python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
|
||||
echo "Environment verification complete!"
|
||||
|
||||
- name: Pack conda environment (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Packing unilab environment with conda-pack...
|
||||
mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo Pack file created:
|
||||
dir unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
@@ -216,7 +217,6 @@ jobs:
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Packing unilab environment with conda-pack..."
|
||||
mamba install conda-pack -c conda-forge -y
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo "Pack file created:"
|
||||
ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
||||
@@ -242,10 +242,6 @@ jobs:
|
||||
echo Adding: verify_installation.py
|
||||
copy scripts\verify_installation.py dist-package\
|
||||
|
||||
rem Copy source code repository (including .git)
|
||||
echo Adding: Uni-Lab-OS source repository
|
||||
robocopy . dist-package\Uni-Lab-OS /E /XD dist-package /NFL /NDL /NJH /NJS /NC /NS || if %ERRORLEVEL% LSS 8 exit /b 0
|
||||
|
||||
rem Create README using Python script
|
||||
echo Creating: README.txt
|
||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
|
||||
@@ -278,10 +274,6 @@ jobs:
|
||||
echo "Adding: verify_installation.py"
|
||||
cp scripts/verify_installation.py dist-package/
|
||||
|
||||
# Copy source code repository (including .git)
|
||||
echo "Adding: Uni-Lab-OS source repository"
|
||||
rsync -a --exclude='dist-package' . dist-package/Uni-Lab-OS
|
||||
|
||||
# Create README using Python script
|
||||
echo "Creating: README.txt"
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
|
||||
@@ -291,6 +283,46 @@ jobs:
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
|
||||
- name: Finalize Windows distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo ==========================================
|
||||
echo Windows distribution package ready
|
||||
echo.
|
||||
echo Package will be uploaded as artifact
|
||||
echo GitHub Actions will automatically create ZIP
|
||||
echo.
|
||||
echo Contents:
|
||||
dir /b dist-package
|
||||
echo.
|
||||
echo Users will download a ZIP containing:
|
||||
echo - install_unilab.bat
|
||||
echo - unilab-env-${{ matrix.platform }}.tar.gz
|
||||
echo - verify_installation.py
|
||||
echo - README.txt
|
||||
echo ==========================================
|
||||
|
||||
- name: Create Unix/Linux TAR.GZ archive
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "=========================================="
|
||||
echo "Creating Unix/Linux TAR.GZ archive..."
|
||||
echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
|
||||
tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
|
||||
echo "=========================================="
|
||||
|
||||
echo ""
|
||||
echo "Final package created:"
|
||||
ls -lh unilab-pack-*
|
||||
echo ""
|
||||
echo "Users can now:"
|
||||
echo " 1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " 2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " 3. Run: bash install_unilab.sh"
|
||||
echo ""
|
||||
|
||||
- name: Upload distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v4
|
||||
@@ -333,8 +365,12 @@ jobs:
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
echo "Package size (tar.gz):"
|
||||
ls -lh unilab-pack-*.tar.gz
|
||||
echo ""
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
|
||||
echo ""
|
||||
echo "After download:"
|
||||
echo " install_unilab.sh"
|
||||
echo " - Windows/macOS: Extract ZIP, then: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
|
||||
echo "=========================================="
|
||||
|
||||
43
.github/workflows/deploy-docs.yml
vendored
43
.github/workflows/deploy-docs.yml
vendored
@@ -39,39 +39,24 @@ jobs:
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
- name: Setup Python environment
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
python-version: '3.10'
|
||||
|
||||
- name: Install unilabos and dependencies
|
||||
- name: Install system dependencies
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y pandoc
|
||||
|
||||
- name: Install latest unilabos from source
|
||||
- name: Install Python dependencies
|
||||
run: |
|
||||
echo "Uninstalling existing unilabos..."
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||
echo "Installing unilabos from source..."
|
||||
mamba run -n unilab pip install .
|
||||
echo "Verifying installation..."
|
||||
mamba run -n unilab pip show unilabos
|
||||
|
||||
- name: Install documentation dependencies
|
||||
run: |
|
||||
echo "Installing documentation build dependencies..."
|
||||
mamba run -n unilab pip install -r docs/requirements.txt
|
||||
python -m pip install --upgrade pip
|
||||
# Install package in development mode to get version info
|
||||
pip install -e .
|
||||
# Install documentation dependencies
|
||||
pip install -r docs/requirements.txt
|
||||
|
||||
- name: Setup Pages
|
||||
id: pages
|
||||
@@ -83,8 +68,8 @@ jobs:
|
||||
cd docs
|
||||
# Clean previous builds
|
||||
rm -rf _build
|
||||
# Build HTML documentation in conda environment
|
||||
mamba run -n unilab python -m sphinx -b html . _build/html -v
|
||||
# Build HTML documentation
|
||||
python -m sphinx -b html . _build/html -v
|
||||
|
||||
- name: Check build results
|
||||
run: |
|
||||
|
||||
@@ -31,7 +31,7 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d
|
||||
|
||||
Detailed documentation can be found at:
|
||||
|
||||
- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
|
||||
- [Online Documentation](https://dptech-corp.github.io/Uni-Lab-OS/)
|
||||
|
||||
## Quick Start
|
||||
|
||||
@@ -55,7 +55,7 @@ pip install .
|
||||
|
||||
3. Start Uni-Lab System:
|
||||
|
||||
Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
|
||||
Please refer to [Documentation - Boot Examples](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
|
||||
|
||||
## Message Format
|
||||
|
||||
|
||||
@@ -31,7 +31,7 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
||||
|
||||
详细文档可在以下位置找到:
|
||||
|
||||
- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
|
||||
- [在线文档](https://dptech-corp.github.io/Uni-Lab-OS/)
|
||||
|
||||
## 快速开始
|
||||
|
||||
@@ -57,7 +57,7 @@ pip install .
|
||||
|
||||
3. 启动 Uni-Lab 系统:
|
||||
|
||||
请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
|
||||
请见[文档-启动样例](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
|
||||
|
||||
## 消息格式
|
||||
|
||||
|
||||
@@ -91,7 +91,7 @@
|
||||
使用以下命令启动模拟反应器：
|
||||
|
||||
```bash
|
||||
unilab -g test/experiments/mock_reactor.json
|
||||
unilab -g test/experiments/mock_reactor.json --app_bridges ""
|
||||
```
|
||||
|
||||
### 2. 执行抽真空和充气操作
|
||||
|
||||
@@ -23,8 +23,7 @@ extensions = [
|
||||
"myst_parser",
|
||||
"sphinx.ext.autodoc",
|
||||
"sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings
|
||||
"sphinx_rtd_theme",
|
||||
"sphinxcontrib.mermaid"
|
||||
"sphinx_rtd_theme"
|
||||
]
|
||||
|
||||
source_suffix = {
|
||||
@@ -43,8 +42,6 @@ myst_enable_extensions = [
|
||||
"substitution",
|
||||
]
|
||||
|
||||
myst_fence_as_directive = ["mermaid"]
|
||||
|
||||
templates_path = ["_templates"]
|
||||
exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
|
||||
|
||||
@@ -206,5 +203,3 @@ def generate_action_includes(app):
|
||||
|
||||
def setup(app):
|
||||
app.connect("builder-inited", generate_action_includes)
|
||||
app.add_js_file("https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js")
|
||||
app.add_js_file(None, body="mermaid.initialize({startOnLoad:true});")
|
||||
|
||||
@@ -1,26 +1,88 @@
|
||||
## 简单单变量动作函数
|
||||
|
||||
|
||||
### `SendCmd`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `StrSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `IntSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `FloatSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Point3DSeparateInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Wait`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Wait.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常量有机化学操作
|
||||
|
||||
Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
|
||||
|
||||
|
||||
|
||||
### `Clean`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Clean.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `EvacuateAndRefill`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Evaporate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `HeatChill`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `HeatChillStart`
|
||||
|
||||
@@ -28,7 +90,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `HeatChillStop`
|
||||
|
||||
@@ -36,7 +98,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `PumpTransfer`
|
||||
|
||||
@@ -44,12 +106,195 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Separate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Separate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Stir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Stir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Add`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Add.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `AddSolid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `AdjustPH`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Centrifuge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `CleanVessel`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Crystallize`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Dissolve`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Dry`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Dry.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Filter`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Filter.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `FilterThrough`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Hydrogenate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Purge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Purge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Recrystallize`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `RunColumn`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StartPurge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StartStir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StartStir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StopPurge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StopStir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StopStir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Transfer`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Transfer.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `WashSolid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 移液工作站及相关生物自动化设备操作
|
||||
|
||||
Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
|
||||
|
||||
### `LiquidHandlerAspirate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerDiscardTips`
|
||||
|
||||
@@ -57,7 +302,15 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDispense`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerDropTips`
|
||||
|
||||
@@ -65,7 +318,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDropTips96`
|
||||
|
||||
@@ -73,7 +326,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveLid`
|
||||
|
||||
@@ -81,7 +334,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMovePlate`
|
||||
|
||||
@@ -89,7 +342,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveResource`
|
||||
|
||||
@@ -97,7 +350,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerPickUpTips`
|
||||
|
||||
@@ -105,7 +358,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerPickUpTips96`
|
||||
|
||||
@@ -113,7 +366,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerReturnTips`
|
||||
|
||||
@@ -121,7 +374,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerReturnTips96`
|
||||
|
||||
@@ -129,7 +382,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerStamp`
|
||||
|
||||
@@ -137,9 +390,121 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
## 多工作站及小车运行、物料转移
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransfer`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerAdd`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerIncubateBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMix`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveTo`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerOscillateBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerProtocolCreation`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerRemove`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetGroup`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetLiquid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetTipRack`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransferBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransferGroup`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 多工作站及小车运行、物料转移
|
||||
|
||||
### `AGVTransfer`
|
||||
|
||||
@@ -147,7 +512,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `WorkStationRun`
|
||||
|
||||
@@ -155,12 +520,64 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ResetHandling`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResourceCreateFromOuter`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResourceCreateFromOuterEasy`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `SetPumpPosition`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 固体分配与处理设备操作
|
||||
|
||||
### `SolidDispenseAddPowderTube`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 其他设备操作
|
||||
|
||||
### `EmptyIn`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 机械臂、夹爪等机器人设备
|
||||
|
||||
Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
|
||||
|
||||
|
||||
### `FollowJointTrajectory`
|
||||
|
||||
```yaml
|
||||
@@ -228,7 +645,8 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `GripperCommand`
|
||||
|
||||
```yaml
|
||||
@@ -246,42 +664,19 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `JointTrajectory`
|
||||
|
||||
```yaml
|
||||
trajectory_msgs/JointTrajectory trajectory
|
||||
---
|
||||
---
|
||||
|
||||
---
|
||||
```
|
||||
|
||||
----
|
||||
### `ParallelGripperCommand`
|
||||
|
||||
```yaml
|
||||
# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
|
||||
sensor_msgs/JointState command
|
||||
# name: the name(s) of the joint this command is requesting
|
||||
# position: desired position of each gripper joint (radians or meters)
|
||||
# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
|
||||
# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
|
||||
---
|
||||
sensor_msgs/JointState state # The current gripper state.
|
||||
# position of each joint (radians or meters)
|
||||
# optional: velocity of each joint (radians or meters / second)
|
||||
# optional: effort of each joint (Newtons or Newton-meters)
|
||||
bool stalled # True if the gripper is exerting max effort and not moving
|
||||
bool reached_goal # True if the gripper position has reached the commanded setpoint
|
||||
---
|
||||
sensor_msgs/JointState state # The current gripper state.
|
||||
# position of each joint (radians or meters)
|
||||
# optional: velocity of each joint (radians or meters / second)
|
||||
# optional: effort of each joint (Newtons or Newton-meters)
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
### `PointHead`
|
||||
|
||||
```yaml
|
||||
@@ -291,12 +686,13 @@ string pointing_frame
|
||||
builtin_interfaces/Duration min_duration
|
||||
float64 max_velocity
|
||||
---
|
||||
|
||||
---
|
||||
float64 pointing_angle_error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `SingleJointPosition`
|
||||
|
||||
```yaml
|
||||
@@ -304,15 +700,16 @@ float64 position
|
||||
builtin_interfaces/Duration min_duration
|
||||
float64 max_velocity
|
||||
---
|
||||
|
||||
---
|
||||
std_msgs/Header header
|
||||
float64 position
|
||||
float64 velocity
|
||||
float64 error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `AssistedTeleop`
|
||||
|
||||
```yaml
|
||||
@@ -324,10 +721,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback
|
||||
builtin_interfaces/Duration current_teleop_duration
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `BackUp`
|
||||
|
||||
```yaml
|
||||
@@ -341,10 +738,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ComputePathThroughPoses`
|
||||
|
||||
```yaml
|
||||
@@ -359,10 +756,10 @@ nav_msgs/Path path
|
||||
builtin_interfaces/Duration planning_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ComputePathToPose`
|
||||
|
||||
```yaml
|
||||
@@ -377,10 +774,10 @@ nav_msgs/Path path
|
||||
builtin_interfaces/Duration planning_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `DriveOnHeading`
|
||||
|
||||
```yaml
|
||||
@@ -394,10 +791,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `DummyBehavior`
|
||||
|
||||
```yaml
|
||||
@@ -408,10 +805,10 @@ std_msgs/String command
|
||||
builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `FollowPath`
|
||||
|
||||
```yaml
|
||||
@@ -426,10 +823,10 @@ std_msgs/Empty result
|
||||
#feedback definition
|
||||
float32 distance_to_goal
|
||||
float32 speed
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `FollowWaypoints`
|
||||
|
||||
```yaml
|
||||
@@ -441,10 +838,10 @@ int32[] missed_waypoints
|
||||
---
|
||||
#feedback definition
|
||||
uint32 current_waypoint
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `NavigateThroughPoses`
|
||||
|
||||
```yaml
|
||||
@@ -462,10 +859,10 @@ builtin_interfaces/Duration estimated_time_remaining
|
||||
int16 number_of_recoveries
|
||||
float32 distance_remaining
|
||||
int16 number_of_poses_remaining
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `NavigateToPose`
|
||||
|
||||
```yaml
|
||||
@@ -482,10 +879,10 @@ builtin_interfaces/Duration navigation_time
|
||||
builtin_interfaces/Duration estimated_time_remaining
|
||||
int16 number_of_recoveries
|
||||
float32 distance_remaining
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `SmoothPath`
|
||||
|
||||
```yaml
|
||||
@@ -501,10 +898,10 @@ builtin_interfaces/Duration smoothing_duration
|
||||
bool was_completed
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Spin`
|
||||
|
||||
```yaml
|
||||
@@ -517,10 +914,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 angular_distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Wait`
|
||||
|
||||
```yaml
|
||||
@@ -532,7 +929,6 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
builtin_interfaces/Duration time_left
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 1.2 MiB |
Binary file not shown.
|
Before Width: | Height: | Size: 629 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 1.1 MiB |
Binary file not shown.
|
Before Width: | Height: | Size: 269 KiB |
File diff suppressed because it is too large
Load Diff
@@ -32,8 +32,9 @@ developer_guide/device_driver
|
||||
developer_guide/add_device
|
||||
developer_guide/add_action
|
||||
developer_guide/actions
|
||||
developer_guide/workstation_architecture
|
||||
developer_guide/add_protocol
|
||||
developer_guide/add_batteryPLC
|
||||
developer_guide/materials_tutorial.md
|
||||
```
|
||||
|
||||
## 接口文档
|
||||
|
||||
@@ -2,7 +2,6 @@
|
||||
sphinx>=7.0.0
|
||||
sphinx-rtd-theme>=2.0.0
|
||||
myst-parser>=2.0.0
|
||||
sphinxcontrib-mermaid
|
||||
|
||||
# 用于支持Jupyter notebook文档
|
||||
myst-nb>=1.0.0
|
||||
|
||||
@@ -172,7 +172,7 @@ Examples:
|
||||
with open(output_path, "w", encoding="utf-8") as f:
|
||||
f.write(readme_content)
|
||||
|
||||
print(f" README.txt created: {output_path}")
|
||||
print(f"✓ README.txt created: {output_path}")
|
||||
print(f" Platform: {args.platform}")
|
||||
print(f" Branch: {args.branch}")
|
||||
|
||||
|
||||
@@ -8,10 +8,7 @@ This script verifies that UniLabOS and its dependencies are correctly installed.
|
||||
Run this script after installing the conda-pack environment to ensure everything works.
|
||||
|
||||
Usage:
|
||||
python verify_installation.py [--auto-install]
|
||||
|
||||
Options:
|
||||
--auto-install Automatically install missing packages
|
||||
python verify_installation.py
|
||||
|
||||
Or in the conda environment:
|
||||
conda activate unilab
|
||||
@@ -20,15 +17,14 @@ Usage:
|
||||
|
||||
import sys
|
||||
import os
|
||||
import argparse
|
||||
|
||||
# IMPORTANT: Set UTF-8 encoding BEFORE any other imports
|
||||
# This ensures all subsequent imports (including unilabos) can output UTF-8 characters
|
||||
if sys.platform == "win32":
|
||||
# Method 1: Reconfigure stdout/stderr to use UTF-8 with error handling
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding="utf-8", errors="replace") # type: ignore
|
||||
sys.stderr.reconfigure(encoding="utf-8", errors="replace") # type: ignore
|
||||
sys.stdout.reconfigure(encoding="utf-8", errors="replace")
|
||||
sys.stderr.reconfigure(encoding="utf-8", errors="replace")
|
||||
except (AttributeError, OSError):
|
||||
pass
|
||||
|
||||
@@ -53,7 +49,7 @@ CHECK_MARK = "[OK]"
|
||||
CROSS_MARK = "[FAIL]"
|
||||
|
||||
|
||||
def check_package(package_name: str, display_name: str | None = None) -> bool:
|
||||
def check_package(package_name: str, display_name: str = None) -> bool:
|
||||
"""
|
||||
Check if a package can be imported.
|
||||
|
||||
@@ -91,25 +87,9 @@ def check_python_version() -> bool:
|
||||
|
||||
def main():
|
||||
"""Run all verification checks."""
|
||||
# Parse command line arguments
|
||||
parser = argparse.ArgumentParser(
|
||||
description="Verify UniLabOS installation",
|
||||
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||||
)
|
||||
parser.add_argument(
|
||||
"--auto-install",
|
||||
action="store_true",
|
||||
help="Automatically install missing packages",
|
||||
)
|
||||
args = parser.parse_args()
|
||||
|
||||
print("=" * 60)
|
||||
print("UniLabOS Installation Verification")
|
||||
print("=" * 60)
|
||||
if args.auto_install:
|
||||
print("Mode: Auto-install missing packages")
|
||||
else:
|
||||
print("Mode: Verification only")
|
||||
print()
|
||||
|
||||
all_passed = True
|
||||
@@ -133,16 +113,14 @@ def main():
|
||||
|
||||
print(f" {CHECK_MARK} UniLabOS installed")
|
||||
|
||||
# Check environment with optional auto-install
|
||||
# Check environment without auto-install (verification only)
|
||||
# Set show_details=False to suppress detailed Chinese output that may cause encoding issues
|
||||
env_check_passed = check_environment(auto_install=args.auto_install, show_details=False)
|
||||
env_check_passed = check_environment(auto_install=False, show_details=False)
|
||||
|
||||
if env_check_passed:
|
||||
print(f" {CHECK_MARK} All required packages available")
|
||||
else:
|
||||
print(f" {CROSS_MARK} Some optional packages are missing")
|
||||
if not args.auto_install:
|
||||
print(" Hint: Run with --auto-install to automatically install missing packages")
|
||||
except ImportError:
|
||||
print(f" {CROSS_MARK} UniLabOS not installed")
|
||||
all_passed = False
|
||||
|
||||
@@ -1,695 +0,0 @@
|
||||
import json
|
||||
import logging
|
||||
import traceback
|
||||
import uuid
|
||||
import xml.etree.ElementTree as ET
|
||||
from typing import Any, Dict, List
|
||||
|
||||
import networkx as nx
|
||||
import matplotlib.pyplot as plt
|
||||
import requests
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
class SimpleGraph:
|
||||
"""简单的有向图实现，用于构建工作流图"""
|
||||
|
||||
def __init__(self):
|
||||
self.nodes = {}
|
||||
self.edges = []
|
||||
|
||||
def add_node(self, node_id, **attrs):
|
||||
"""添加节点"""
|
||||
self.nodes[node_id] = attrs
|
||||
|
||||
def add_edge(self, source, target, **attrs):
|
||||
"""添加边"""
|
||||
edge = {"source": source, "target": target, **attrs}
|
||||
self.edges.append(edge)
|
||||
|
||||
def to_dict(self):
|
||||
"""转换为工作流图格式"""
|
||||
nodes_list = []
|
||||
for node_id, attrs in self.nodes.items():
|
||||
node_attrs = attrs.copy()
|
||||
params = node_attrs.pop("parameters", {}) or {}
|
||||
node_attrs.update(params)
|
||||
nodes_list.append({"id": node_id, **node_attrs})
|
||||
|
||||
return {
|
||||
"directed": True,
|
||||
"multigraph": False,
|
||||
"graph": {},
|
||||
"nodes": nodes_list,
|
||||
"links": self.edges,
|
||||
}
|
||||
|
||||
|
||||
def extract_json_from_markdown(text: str) -> str:
|
||||
"""从markdown代码块中提取JSON"""
|
||||
text = text.strip()
|
||||
if text.startswith("```json\n"):
|
||||
text = text[8:]
|
||||
if text.startswith("```\n"):
|
||||
text = text[4:]
|
||||
if text.endswith("\n```"):
|
||||
text = text[:-4]
|
||||
return text
|
||||
|
||||
|
||||
def convert_to_type(val: str) -> Any:
|
||||
"""将字符串值转换为适当的数据类型"""
|
||||
if val == "True":
|
||||
return True
|
||||
if val == "False":
|
||||
return False
|
||||
if val == "?":
|
||||
return None
|
||||
if val.endswith(" g"):
|
||||
return float(val.split(" ")[0])
|
||||
if val.endswith("mg"):
|
||||
return float(val.split("mg")[0])
|
||||
elif val.endswith("mmol"):
|
||||
return float(val.split("mmol")[0]) / 1000
|
||||
elif val.endswith("mol"):
|
||||
return float(val.split("mol")[0])
|
||||
elif val.endswith("ml"):
|
||||
return float(val.split("ml")[0])
|
||||
elif val.endswith("RPM"):
|
||||
return float(val.split("RPM")[0])
|
||||
elif val.endswith(" °C"):
|
||||
return float(val.split(" ")[0])
|
||||
elif val.endswith(" %"):
|
||||
return float(val.split(" ")[0])
|
||||
return val
|
||||
|
||||
|
||||
def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
|
||||
"""统一的数据重构函数，根据操作类型自动选择模板"""
|
||||
refactored_data = []
|
||||
|
||||
# 定义操作映射，包含生物实验和有机化学的所有操作
|
||||
OPERATION_MAPPING = {
|
||||
# 生物实验操作
|
||||
"transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
|
||||
"transfer": "SynBioFactory-liquid_handler.biomek-transfer",
|
||||
"incubation": "SynBioFactory-liquid_handler.biomek-incubation",
|
||||
"move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
|
||||
"oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
|
||||
# 有机化学操作
|
||||
"HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
|
||||
"StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
|
||||
"StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
|
||||
"HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
|
||||
"Dissolve": "SynBioFactory-workstation-DissolveProtocol",
|
||||
"Transfer": "SynBioFactory-workstation-TransferProtocol",
|
||||
"Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
|
||||
"Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
|
||||
"Filter": "SynBioFactory-workstation-FilterProtocol",
|
||||
"Dry": "SynBioFactory-workstation-DryProtocol",
|
||||
"Add": "SynBioFactory-workstation-AddProtocol",
|
||||
}
|
||||
|
||||
UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
|
||||
|
||||
for step in data:
|
||||
operation = step.get("action")
|
||||
if not operation or operation in UNSUPPORTED_OPERATIONS:
|
||||
continue
|
||||
|
||||
# 处理重复操作
|
||||
if operation == "Repeat":
|
||||
times = step.get("times", step.get("parameters", {}).get("times", 1))
|
||||
sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
|
||||
for i in range(int(times)):
|
||||
sub_data = refactor_data(sub_steps)
|
||||
refactored_data.extend(sub_data)
|
||||
continue
|
||||
|
||||
# 获取模板名称
|
||||
template = OPERATION_MAPPING.get(operation)
|
||||
if not template:
|
||||
# 自动推断模板类型
|
||||
if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
|
||||
template = f"SynBioFactory-liquid_handler.biomek-{operation}"
|
||||
else:
|
||||
template = f"SynBioFactory-workstation-{operation}Protocol"
|
||||
|
||||
# 创建步骤数据
|
||||
step_data = {
|
||||
"template": template,
|
||||
"description": step.get("description", step.get("purpose", f"{operation} operation")),
|
||||
"lab_node_type": "Device",
|
||||
"parameters": step.get("parameters", step.get("action_args", {})),
|
||||
}
|
||||
refactored_data.append(step_data)
|
||||
|
||||
return refactored_data
|
||||
|
||||
|
||||
def build_protocol_graph(
|
||||
labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
|
||||
) -> SimpleGraph:
|
||||
"""统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
|
||||
G = SimpleGraph()
|
||||
resource_last_writer = {}
|
||||
LAB_NAME = "SynBioFactory"
|
||||
|
||||
protocol_steps = refactor_data(protocol_steps)
|
||||
|
||||
# 检查协议步骤中的模板来判断协议类型
|
||||
has_biomek_template = any(
|
||||
("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
|
||||
for step in protocol_steps
|
||||
)
|
||||
|
||||
if has_biomek_template:
|
||||
# 生物实验协议图构建
|
||||
for labware_id, labware in labware_info.items():
|
||||
node_id = str(uuid.uuid4())
|
||||
|
||||
labware_attrs = labware.copy()
|
||||
labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
|
||||
labware_attrs["description"] = labware_id
|
||||
labware_attrs["lab_node_type"] = (
|
||||
"Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
|
||||
)
|
||||
labware_attrs["device_id"] = workstation_name
|
||||
|
||||
G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
|
||||
resource_last_writer[labware_id] = f"{node_id}:labware"
|
||||
|
||||
# 处理协议步骤
|
||||
prev_node = None
|
||||
for i, step in enumerate(protocol_steps):
|
||||
node_id = str(uuid.uuid4())
|
||||
G.add_node(node_id, **step)
|
||||
|
||||
# 添加控制流边
|
||||
if prev_node is not None:
|
||||
G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
|
||||
prev_node = node_id
|
||||
|
||||
# 处理物料流
|
||||
params = step.get("parameters", {})
|
||||
if "sources" in params and params["sources"] in resource_last_writer:
|
||||
source_node, source_port = resource_last_writer[params["sources"]].split(":")
|
||||
G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
|
||||
|
||||
if "targets" in params:
|
||||
resource_last_writer[params["targets"]] = f"{node_id}:labware"
|
||||
|
||||
# 添加协议结束节点
|
||||
end_id = str(uuid.uuid4())
|
||||
G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
|
||||
if prev_node is not None:
|
||||
G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
|
||||
|
||||
else:
|
||||
# 有机化学协议图构建
|
||||
WORKSTATION_ID = workstation_name
|
||||
|
||||
# 为所有labware创建资源节点
|
||||
for item_id, item in labware_info.items():
|
||||
# item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
|
||||
node_id = str(uuid.uuid4())
|
||||
|
||||
# 判断节点类型
|
||||
if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
|
||||
if "reactor" not in str(item_id).lower():
|
||||
continue
|
||||
lab_node_type = "Sample"
|
||||
description = f"Prepare Reactor: {item_id}"
|
||||
liquid_type = []
|
||||
liquid_volume = []
|
||||
else:
|
||||
lab_node_type = "Reagent"
|
||||
description = f"Add Reagent to Flask: {item_id}"
|
||||
liquid_type = [item_id]
|
||||
liquid_volume = [1e5]
|
||||
|
||||
G.add_node(
|
||||
node_id,
|
||||
template=f"{LAB_NAME}-host_node-create_resource",
|
||||
description=description,
|
||||
lab_node_type=lab_node_type,
|
||||
res_id=item_id,
|
||||
device_id=WORKSTATION_ID,
|
||||
class_name="container",
|
||||
parent=WORKSTATION_ID,
|
||||
bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
|
||||
liquid_input_slot=[-1],
|
||||
liquid_type=liquid_type,
|
||||
liquid_volume=liquid_volume,
|
||||
slot_on_deck="",
|
||||
role=item.get("role", ""),
|
||||
)
|
||||
resource_last_writer[item_id] = f"{node_id}:labware"
|
||||
|
||||
last_control_node_id = None
|
||||
|
||||
# 处理协议步骤
|
||||
for step in protocol_steps:
|
||||
node_id = str(uuid.uuid4())
|
||||
G.add_node(node_id, **step)
|
||||
|
||||
# 控制流
|
||||
if last_control_node_id is not None:
|
||||
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
|
||||
last_control_node_id = node_id
|
||||
|
||||
# 物料流
|
||||
params = step.get("parameters", {})
|
||||
input_resources = {
|
||||
"Vessel": params.get("vessel"),
|
||||
"ToVessel": params.get("to_vessel"),
|
||||
"FromVessel": params.get("from_vessel"),
|
||||
"reagent": params.get("reagent"),
|
||||
"solvent": params.get("solvent"),
|
||||
"compound": params.get("compound"),
|
||||
"sources": params.get("sources"),
|
||||
"targets": params.get("targets"),
|
||||
}
|
||||
|
||||
for target_port, resource_name in input_resources.items():
|
||||
if resource_name and resource_name in resource_last_writer:
|
||||
source_node, source_port = resource_last_writer[resource_name].split(":")
|
||||
G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
|
||||
|
||||
output_resources = {
|
||||
"VesselOut": params.get("vessel"),
|
||||
"FromVesselOut": params.get("from_vessel"),
|
||||
"ToVesselOut": params.get("to_vessel"),
|
||||
"FiltrateOut": params.get("filtrate_vessel"),
|
||||
"reagent": params.get("reagent"),
|
||||
"solvent": params.get("solvent"),
|
||||
"compound": params.get("compound"),
|
||||
"sources_out": params.get("sources"),
|
||||
"targets_out": params.get("targets"),
|
||||
}
|
||||
|
||||
for source_port, resource_name in output_resources.items():
|
||||
if resource_name:
|
||||
resource_last_writer[resource_name] = f"{node_id}:{source_port}"
|
||||
|
||||
return G
|
||||
|
||||
|
||||
def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
|
||||
"""
|
||||
(辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
|
||||
"""
|
||||
if not protocol_graph:
|
||||
print("Cannot draw graph: Graph object is empty.")
|
||||
return
|
||||
|
||||
G = nx.DiGraph()
|
||||
|
||||
for node_id, attrs in protocol_graph.nodes.items():
|
||||
label = attrs.get("description", attrs.get("template", node_id[:8]))
|
||||
G.add_node(node_id, label=label, **attrs)
|
||||
|
||||
for edge in protocol_graph.edges:
|
||||
G.add_edge(edge["source"], edge["target"])
|
||||
|
||||
plt.figure(figsize=(20, 15))
|
||||
try:
|
||||
pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
|
||||
except Exception:
|
||||
pos = nx.shell_layout(G) # Fallback layout
|
||||
|
||||
node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
|
||||
nx.draw(
|
||||
G,
|
||||
pos,
|
||||
with_labels=False,
|
||||
node_size=2500,
|
||||
node_color="skyblue",
|
||||
node_shape="o",
|
||||
edge_color="gray",
|
||||
width=1.5,
|
||||
arrowsize=15,
|
||||
)
|
||||
nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
|
||||
|
||||
plt.title("Chemical Protocol Workflow Graph", size=15)
|
||||
plt.savefig(output_path, dpi=300, bbox_inches="tight")
|
||||
plt.close()
|
||||
print(f" - Visualization saved to '{output_path}'")
|
||||
|
||||
|
||||
from networkx.drawing.nx_agraph import to_agraph
|
||||
import re
|
||||
|
||||
COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
|
||||
|
||||
def _is_compass(port: str) -> bool:
|
||||
return isinstance(port, str) and port.lower() in COMPASS
|
||||
|
||||
def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
|
||||
"""
|
||||
使用 Graphviz 端口语法绘制协议工作流图。
|
||||
- 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
|
||||
- 否则自动为节点创建 record 形状并定义命名端口 <portname>。
|
||||
最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
|
||||
"""
|
||||
if not protocol_graph:
|
||||
print("Cannot draw graph: Graph object is empty.")
|
||||
return
|
||||
|
||||
# 1) 先用 networkx 搭建有向图，保留端口属性
|
||||
G = nx.DiGraph()
|
||||
for node_id, attrs in protocol_graph.nodes.items():
|
||||
label = attrs.get("description", attrs.get("template", node_id[:8]))
|
||||
# 保留一个干净的“中心标签”，用于放在 record 的中间槽
|
||||
G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
|
||||
|
||||
edges_data = []
|
||||
in_ports_by_node = {} # 收集命名输入端口
|
||||
out_ports_by_node = {} # 收集命名输出端口
|
||||
|
||||
for edge in protocol_graph.edges:
|
||||
u = edge["source"]
|
||||
v = edge["target"]
|
||||
sp = edge.get("source_port")
|
||||
tp = edge.get("target_port")
|
||||
|
||||
# 记录到图里（保留原始端口信息）
|
||||
G.add_edge(u, v, source_port=sp, target_port=tp)
|
||||
edges_data.append((u, v, sp, tp))
|
||||
|
||||
# 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
|
||||
if sp and not _is_compass(sp):
|
||||
out_ports_by_node.setdefault(u, set()).add(str(sp))
|
||||
if tp and not _is_compass(tp):
|
||||
in_ports_by_node.setdefault(v, set()).add(str(tp))
|
||||
|
||||
# 2) 转为 AGraph，使用 Graphviz 渲染
|
||||
A = to_agraph(G)
|
||||
A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
|
||||
A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
|
||||
A.edge_attr.update(arrowsize="0.8", color="#666666")
|
||||
|
||||
# 3) 为需要命名端口的节点设置 record 形状与 label
|
||||
# 左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
|
||||
for n in A.nodes():
|
||||
node = A.get_node(n)
|
||||
core = G.nodes[n].get("_core_label", n)
|
||||
|
||||
in_ports = sorted(in_ports_by_node.get(n, []))
|
||||
out_ports = sorted(out_ports_by_node.get(n, []))
|
||||
|
||||
# 如果该节点涉及命名端口，则用 record；否则保留原 box
|
||||
if in_ports or out_ports:
|
||||
def port_fields(ports):
|
||||
if not ports:
|
||||
return " " # 必须留一个空槽占位
|
||||
# 每个端口一个小格子，<p> name
|
||||
return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
|
||||
|
||||
left = port_fields(in_ports)
|
||||
right = port_fields(out_ports)
|
||||
|
||||
# 三栏：左(入) | 中(节点名) | 右(出)
|
||||
record_label = f"{{ {left} | {core} | {right} }}"
|
||||
node.attr.update(shape="record", label=record_label)
|
||||
else:
|
||||
# 没有命名端口：普通盒子，显示核心标签
|
||||
node.attr.update(label=str(core))
|
||||
|
||||
# 4) 给边设置 headport / tailport
|
||||
# - 若端口为 compass：直接用 compass（e.g., headport="e"）
|
||||
# - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
|
||||
for (u, v, sp, tp) in edges_data:
|
||||
e = A.get_edge(u, v)
|
||||
|
||||
# Graphviz 属性：tail 是源，head 是目标
|
||||
if sp:
|
||||
if _is_compass(sp):
|
||||
e.attr["tailport"] = sp.lower()
|
||||
else:
|
||||
# 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
|
||||
e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
|
||||
|
||||
if tp:
|
||||
if _is_compass(tp):
|
||||
e.attr["headport"] = tp.lower()
|
||||
else:
|
||||
e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
|
||||
|
||||
# 可选：若想让边更贴边缘，可设置 constraint/spline 等
|
||||
# e.attr["arrowhead"] = "vee"
|
||||
|
||||
# 5) 输出
|
||||
A.draw(output_path, prog="dot")
|
||||
print(f" - Port-aware workflow rendered to '{output_path}'")
|
||||
|
||||
|
||||
def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
|
||||
"""展平嵌套的XDL程序结构"""
|
||||
flattened_operations = []
|
||||
TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
|
||||
|
||||
def extract_operations(element: ET.Element):
|
||||
if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
|
||||
if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
|
||||
flattened_operations.append(element)
|
||||
|
||||
for child in element:
|
||||
extract_operations(child)
|
||||
|
||||
for child in procedure_elem:
|
||||
extract_operations(child)
|
||||
|
||||
return flattened_operations
|
||||
|
||||
|
||||
def parse_xdl_content(xdl_content: str) -> tuple:
|
||||
"""解析XDL内容"""
|
||||
try:
|
||||
xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
|
||||
root = ET.fromstring(xdl_content_cleaned)
|
||||
|
||||
synthesis_elem = root.find("Synthesis")
|
||||
if synthesis_elem is None:
|
||||
return None, None, None
|
||||
|
||||
# 解析硬件组件
|
||||
hardware_elem = synthesis_elem.find("Hardware")
|
||||
hardware = []
|
||||
if hardware_elem is not None:
|
||||
hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
|
||||
|
||||
# 解析试剂
|
||||
reagents_elem = synthesis_elem.find("Reagents")
|
||||
reagents = []
|
||||
if reagents_elem is not None:
|
||||
reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
|
||||
|
||||
# 解析程序
|
||||
procedure_elem = synthesis_elem.find("Procedure")
|
||||
if procedure_elem is None:
|
||||
return None, None, None
|
||||
|
||||
flattened_operations = flatten_xdl_procedure(procedure_elem)
|
||||
return hardware, reagents, flattened_operations
|
||||
|
||||
except ET.ParseError as e:
|
||||
raise ValueError(f"Invalid XDL format: {e}")
|
||||
|
||||
|
||||
def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
|
||||
"""
|
||||
将XDL XML格式转换为标准的字典格式
|
||||
|
||||
Args:
|
||||
xdl_content: XDL XML内容
|
||||
|
||||
Returns:
|
||||
转换结果，包含步骤和器材信息
|
||||
"""
|
||||
try:
|
||||
hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
|
||||
if hardware is None:
|
||||
return {"error": "Failed to parse XDL content", "success": False}
|
||||
|
||||
# 将XDL元素转换为字典格式
|
||||
steps_data = []
|
||||
for elem in flattened_operations:
|
||||
# 转换参数类型
|
||||
parameters = {}
|
||||
for key, val in elem.attrib.items():
|
||||
converted_val = convert_to_type(val)
|
||||
if converted_val is not None:
|
||||
parameters[key] = converted_val
|
||||
|
||||
step_dict = {
|
||||
"operation": elem.tag,
|
||||
"parameters": parameters,
|
||||
"description": elem.get("purpose", f"Operation: {elem.tag}"),
|
||||
}
|
||||
steps_data.append(step_dict)
|
||||
|
||||
# 合并硬件和试剂为统一的labware_info格式
|
||||
labware_data = []
|
||||
labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
|
||||
labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"steps": steps_data,
|
||||
"labware": labware_data,
|
||||
"message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"XDL conversion failed: {str(e)}"
|
||||
logger.error(error_msg)
|
||||
return {"error": error_msg, "success": False}
|
||||
|
||||
|
||||
def create_workflow(
|
||||
steps_info: str,
|
||||
labware_info: str,
|
||||
workflow_name: str = "Generated Workflow",
|
||||
workstation_name: str = "workstation",
|
||||
workflow_description: str = "Auto-generated workflow from protocol",
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
创建工作流，输入数据已经是统一的字典格式
|
||||
|
||||
Args:
|
||||
steps_info: 步骤信息 (JSON字符串，已经是list of dict格式)
|
||||
labware_info: 实验器材和试剂信息 (JSON字符串，已经是list of dict格式)
|
||||
workflow_name: 工作流名称
|
||||
workflow_description: 工作流描述
|
||||
|
||||
Returns:
|
||||
创建结果，包含工作流UUID和详细信息
|
||||
"""
|
||||
try:
|
||||
# 直接解析JSON数据
|
||||
steps_info_clean = extract_json_from_markdown(steps_info)
|
||||
labware_info_clean = extract_json_from_markdown(labware_info)
|
||||
|
||||
steps_data = json.loads(steps_info_clean)
|
||||
labware_data = json.loads(labware_info_clean)
|
||||
|
||||
# 统一处理所有数据
|
||||
protocol_graph = build_protocol_graph(labware_data, steps_data, workstation_name=workstation_name)
|
||||
|
||||
# 检测协议类型（用于标签）
|
||||
protocol_type = "bio" if any("biomek" in step.get("template", "") for step in refactored_steps) else "organic"
|
||||
|
||||
# 转换为工作流格式
|
||||
data = protocol_graph.to_dict()
|
||||
|
||||
# 转换节点格式
|
||||
for i, node in enumerate(data["nodes"]):
|
||||
description = node.get("description", "")
|
||||
onode = {
|
||||
"template": node.pop("template"),
|
||||
"id": node["id"],
|
||||
"lab_node_type": node.get("lab_node_type", "Device"),
|
||||
"name": description or f"Node {i + 1}",
|
||||
"params": {"default": node},
|
||||
"handles": {},
|
||||
}
|
||||
|
||||
# 处理边连接
|
||||
for edge in data["links"]:
|
||||
if edge["source"] == node["id"]:
|
||||
source_port = edge.get("source_port", "output")
|
||||
if source_port not in onode["handles"]:
|
||||
onode["handles"][source_port] = {"type": "source"}
|
||||
|
||||
if edge["target"] == node["id"]:
|
||||
target_port = edge.get("target_port", "input")
|
||||
if target_port not in onode["handles"]:
|
||||
onode["handles"][target_port] = {"type": "target"}
|
||||
|
||||
data["nodes"][i] = onode
|
||||
|
||||
# 发送到API创建工作流
|
||||
api_secret = configs.Lab.Key
|
||||
if not api_secret:
|
||||
return {"error": "API SecretKey is not configured", "success": False}
|
||||
|
||||
# Step 1: 创建工作流
|
||||
workflow_url = f"{configs.Lab.Api}/api/v1/workflow/"
|
||||
headers = {
|
||||
"Content-Type": "application/json",
|
||||
}
|
||||
params = {"secret_key": api_secret}
|
||||
|
||||
graph_data = {"name": workflow_name, **data}
|
||||
|
||||
logger.info(f"Creating workflow: {workflow_name}")
|
||||
response = requests.post(
|
||||
workflow_url, params=params, json=graph_data, headers=headers, timeout=configs.Lab.Timeout
|
||||
)
|
||||
response.raise_for_status()
|
||||
|
||||
workflow_info = response.json()
|
||||
|
||||
if workflow_info.get("code") != 0:
|
||||
error_msg = f"API returned an error: {workflow_info.get('msg', 'Unknown Error')}"
|
||||
logger.error(error_msg)
|
||||
return {"error": error_msg, "success": False}
|
||||
|
||||
workflow_uuid = workflow_info.get("data", {}).get("uuid")
|
||||
if not workflow_uuid:
|
||||
return {"error": "Failed to get workflow UUID from response", "success": False}
|
||||
|
||||
# Step 2: 添加到模板库（可选）
|
||||
try:
|
||||
library_url = f"{configs.Lab.Api}/api/flociety/vs/workflows/library/"
|
||||
lib_payload = {
|
||||
"workflow_uuid": workflow_uuid,
|
||||
"title": workflow_name,
|
||||
"description": workflow_description,
|
||||
"labels": [protocol_type.title(), "Auto-generated"],
|
||||
}
|
||||
|
||||
library_response = requests.post(
|
||||
library_url, params=params, json=lib_payload, headers=headers, timeout=configs.Lab.Timeout
|
||||
)
|
||||
library_response.raise_for_status()
|
||||
|
||||
library_info = library_response.json()
|
||||
logger.info(f"Workflow added to library: {library_info}")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"workflow_uuid": workflow_uuid,
|
||||
"workflow_info": workflow_info.get("data"),
|
||||
"library_info": library_info.get("data"),
|
||||
"protocol_type": protocol_type,
|
||||
"message": f"Workflow '{workflow_name}' created successfully",
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
# 即使添加到库失败，工作流创建仍然成功
|
||||
logger.warning(f"Failed to add workflow to library: {str(e)}")
|
||||
return {
|
||||
"success": True,
|
||||
"workflow_uuid": workflow_uuid,
|
||||
"workflow_info": workflow_info.get("data"),
|
||||
"protocol_type": protocol_type,
|
||||
"message": f"Workflow '{workflow_name}' created successfully (library addition failed)",
|
||||
}
|
||||
|
||||
except requests.exceptions.RequestException as e:
|
||||
error_msg = f"Network error when calling API: {str(e)}"
|
||||
logger.error(error_msg)
|
||||
return {"error": error_msg, "success": False}
|
||||
except json.JSONDecodeError as e:
|
||||
error_msg = f"JSON parsing error: {str(e)}"
|
||||
logger.error(error_msg)
|
||||
return {"error": error_msg, "success": False}
|
||||
except Exception as e:
|
||||
error_msg = f"An unexpected error occurred: {str(e)}"
|
||||
logger.error(error_msg)
|
||||
logger.error(traceback.format_exc())
|
||||
return {"error": error_msg, "success": False}
|
||||
@@ -170,16 +170,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 200,
|
||||
"size_y": 150,
|
||||
"size_z": 0
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["DMF", 500.0]],
|
||||
"pending_liquids": [["DMF", 500.0]]
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "DMF",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -195,16 +194,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 200,
|
||||
"size_y": 150,
|
||||
"size_z": 0
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["ethyl_acetate", 1000.0]],
|
||||
"pending_liquids": [["ethyl_acetate", 1000.0]]
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "ethyl_acetate",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -220,16 +218,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 300,
|
||||
"size_y": 150,
|
||||
"size_z": 0
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["hexane", 1000.0]],
|
||||
"pending_liquids": [["hexane", 1000.0]]
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "hexane",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -245,16 +242,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 900,
|
||||
"size_y": 150,
|
||||
"size_z": 0
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["methanol", 1000.0]],
|
||||
"pending_liquids": [["methanol", 1000.0]]
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "methanol",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -270,16 +266,15 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 1000.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 950,
|
||||
"size_y": 150,
|
||||
"size_z": 0
|
||||
"max_volume": 1000.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["water", 1000.0]],
|
||||
"pending_liquids": [["water", 1000.0]]
|
||||
"liquids": [
|
||||
{
|
||||
"liquid_type": "water",
|
||||
"liquid_volume": 1000.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -340,16 +335,14 @@
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"max_temp": 200.0,
|
||||
"min_temp": -20.0,
|
||||
"has_stirrer": true,
|
||||
"has_heater": true
|
||||
},
|
||||
"data": {
|
||||
"liquids": [],
|
||||
"pending_liquids": []
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -426,16 +419,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 500,
|
||||
"size_y": 400,
|
||||
"size_z": 0
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [],
|
||||
"pending_liquids": []
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -451,16 +439,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 2000.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 1100,
|
||||
"size_y": 500,
|
||||
"size_z": 0
|
||||
"max_volume": 2000.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [],
|
||||
"pending_liquids": []
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -666,16 +649,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 250.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 900,
|
||||
"size_y": 500,
|
||||
"size_z": 0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [],
|
||||
"pending_liquids": []
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -691,16 +669,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 250.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 950,
|
||||
"size_y": 500,
|
||||
"size_z": 0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [],
|
||||
"pending_liquids": []
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -716,16 +689,11 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 250.0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"size_x": 1050,
|
||||
"size_y": 500,
|
||||
"size_z": 0
|
||||
"max_volume": 250.0
|
||||
},
|
||||
"data": {
|
||||
"liquids": [],
|
||||
"pending_liquids": []
|
||||
"liquids": [
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
@@ -765,11 +733,6 @@
|
||||
},
|
||||
"config": {
|
||||
"max_volume": 500.0,
|
||||
"size_x": 550,
|
||||
"size_y": 250,
|
||||
"size_z": 0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"reagent": "sodium_chloride",
|
||||
"physical_state": "solid"
|
||||
},
|
||||
@@ -793,11 +756,6 @@
|
||||
},
|
||||
"config": {
|
||||
"volume": 500.0,
|
||||
"size_x": 600,
|
||||
"size_y": 250,
|
||||
"size_z": 0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"reagent": "sodium_carbonate",
|
||||
"physical_state": "solid"
|
||||
},
|
||||
@@ -821,11 +779,6 @@
|
||||
},
|
||||
"config": {
|
||||
"volume": 500.0,
|
||||
"size_x": 650,
|
||||
"size_y": 250,
|
||||
"size_z": 0,
|
||||
"type": "RegularContainer",
|
||||
"category": "container",
|
||||
"reagent": "magnesium_chloride",
|
||||
"physical_state": "solid"
|
||||
},
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "bioyond_dispensing_station",
|
||||
"class": "dispensing_station.bioyond",
|
||||
"config": {
|
||||
"config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
@@ -20,6 +20,13 @@
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
|
||||
}
|
||||
},
|
||||
"station_config": {
|
||||
"station_type": "dispensing_station",
|
||||
"enable_dispensing_station": true,
|
||||
"enable_reaction_station": false,
|
||||
"station_name": "DispensingStation_001",
|
||||
"description": "Bioyond配液工作站"
|
||||
},
|
||||
"protocol_type": []
|
||||
},
|
||||
"data": {}
|
||||
@@ -50,4 +57,4 @@
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
@@ -10,7 +10,7 @@
|
||||
"type": "device",
|
||||
"class": "reaction_station.bioyond",
|
||||
"config": {
|
||||
"config": {
|
||||
"bioyond_config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44402",
|
||||
"workflow_mappings": {
|
||||
@@ -19,47 +19,14 @@
|
||||
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
|
||||
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
|
||||
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
|
||||
"liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
||||
"Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
||||
"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"
|
||||
],
|
||||
"枪头盒": [
|
||||
"BIOYOND_PolymerStation_TipBox",
|
||||
""
|
||||
],
|
||||
"反应器": [
|
||||
"BIOYOND_PolymerStation_Reactor",
|
||||
""
|
||||
]
|
||||
"烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6VialCarrier"
|
||||
}
|
||||
},
|
||||
"deck": {
|
||||
@@ -75,7 +42,9 @@
|
||||
{
|
||||
"id": "Bioyond_Deck",
|
||||
"name": "Bioyond_Deck",
|
||||
"children": [],
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
],
|
||||
"parent": "reaction_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerReactionStation_Deck",
|
||||
@@ -97,4 +66,4 @@
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
@@ -3,8 +3,7 @@
|
||||
"""
|
||||
|
||||
import asyncio
|
||||
from typing import Dict, Any, List
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from typing import Dict, Any, Optional, List
|
||||
|
||||
|
||||
class SmartPumpController:
|
||||
@@ -15,8 +14,6 @@ class SmartPumpController:
|
||||
适用于实验室自动化系统中的液体处理任务。
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
|
||||
"""
|
||||
初始化智能泵控制器
|
||||
@@ -33,9 +30,6 @@ class SmartPumpController:
|
||||
self.calibration_factor = 1.0
|
||||
self.pump_mode = "continuous" # continuous, volume, rate
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def connect_device(self, timeout: int = 10) -> bool:
|
||||
"""
|
||||
连接到泵设备
|
||||
@@ -96,7 +90,7 @@ class SmartPumpController:
|
||||
pump_time = (volume / flow_rate) * 60 # 转换为秒
|
||||
|
||||
self.current_flow_rate = flow_rate
|
||||
await self._ros_node.sleep(min(pump_time, 3.0)) # 模拟泵送过程
|
||||
await asyncio.sleep(min(pump_time, 3.0)) # 模拟泵送过程
|
||||
|
||||
self.total_volume_pumped += volume
|
||||
self.current_flow_rate = 0.0
|
||||
@@ -176,8 +170,6 @@ class AdvancedTemperatureController:
|
||||
适用于需要精确温度控制的化学反应和材料处理过程。
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, controller_id: str = "temp_controller_01"):
|
||||
"""
|
||||
初始化温度控制器
|
||||
@@ -193,9 +185,6 @@ class AdvancedTemperatureController:
|
||||
self.pid_enabled = True
|
||||
self.temperature_history: List[Dict] = []
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
|
||||
"""
|
||||
设置目标温度
|
||||
@@ -249,7 +238,7 @@ class AdvancedTemperatureController:
|
||||
}
|
||||
)
|
||||
|
||||
await self._ros_node.sleep(step_time)
|
||||
await asyncio.sleep(step_time)
|
||||
|
||||
# 保持历史记录不超过100条
|
||||
if len(self.temperature_history) > 100:
|
||||
@@ -341,8 +330,6 @@ class MultiChannelAnalyzer:
|
||||
常用于光谱分析、电化学测量等应用场景。
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
|
||||
"""
|
||||
初始化多通道分析仪
|
||||
@@ -357,9 +344,6 @@ class MultiChannelAnalyzer:
|
||||
self.is_measuring = False
|
||||
self.sample_rate = 1000 # Hz
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
|
||||
"""
|
||||
配置通道
|
||||
@@ -392,7 +376,7 @@ class MultiChannelAnalyzer:
|
||||
|
||||
# 模拟数据采集
|
||||
measurements = []
|
||||
for _ in range(duration):
|
||||
for second in range(duration):
|
||||
timestamp = asyncio.get_event_loop().time()
|
||||
frame_data = {}
|
||||
|
||||
@@ -407,7 +391,7 @@ class MultiChannelAnalyzer:
|
||||
|
||||
measurements.append({"timestamp": timestamp, "data": frame_data})
|
||||
|
||||
await self._ros_node.sleep(1.0) # 每秒采集一次
|
||||
await asyncio.sleep(1.0) # 每秒采集一次
|
||||
|
||||
self.is_measuring = False
|
||||
|
||||
@@ -481,8 +465,6 @@ class AutomatedDispenser:
|
||||
集成称重功能，确保分配精度和重现性。
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, dispenser_id: str = "dispenser_01"):
|
||||
"""
|
||||
初始化自动分配器
|
||||
@@ -497,9 +479,6 @@ class AutomatedDispenser:
|
||||
self.container_capacity = 1000.0 # mL
|
||||
self.precision_mode = True
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def move_to_position(self, x: float, y: float, z: float) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
@@ -538,7 +517,7 @@ class AutomatedDispenser:
|
||||
if viscosity == "high":
|
||||
dispense_time *= 2 # 高粘度液体需要更长时间
|
||||
|
||||
await self._ros_node.sleep(min(dispense_time, 5.0)) # 最多等待5秒
|
||||
await asyncio.sleep(min(dispense_time, 5.0)) # 最多等待5秒
|
||||
|
||||
self.dispensed_total += volume
|
||||
|
||||
|
||||
@@ -12,13 +12,23 @@ lab_registry.setup()
|
||||
|
||||
|
||||
type_mapping = {
|
||||
"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",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6StockCarrier",
|
||||
"分装板": "BIOYOND_PolymerStation_6VialCarrier",
|
||||
"样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
|
||||
"90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
|
||||
"10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
|
||||
}
|
||||
|
||||
type_uuid_mapping = {
|
||||
"烧杯": "",
|
||||
"试剂瓶": "",
|
||||
"样品板": "",
|
||||
"分装板": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
|
||||
"样品瓶": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
|
||||
"90%分装小瓶": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
|
||||
"10%分装小瓶": "3a14196c-76be-2279-4e22-7310d69aed68",
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,115 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
测试修改后的 get_child_identifier 函数
|
||||
"""
|
||||
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier, Bottle
|
||||
from pylabrobot.resources.coordinate import Coordinate
|
||||
|
||||
def test_get_child_identifier_with_indices():
|
||||
"""测试返回x,y,z索引的 get_child_identifier 函数"""
|
||||
|
||||
# 创建一些测试瓶子
|
||||
bottle1 = Bottle("bottle1", diameter=25.0, height=50.0, max_volume=15.0)
|
||||
bottle1.location = Coordinate(10, 20, 5)
|
||||
|
||||
bottle2 = Bottle("bottle2", diameter=25.0, height=50.0, max_volume=15.0)
|
||||
bottle2.location = Coordinate(50, 20, 5)
|
||||
|
||||
bottle3 = Bottle("bottle3", diameter=25.0, height=50.0, max_volume=15.0)
|
||||
bottle3.location = Coordinate(90, 20, 5)
|
||||
|
||||
# 创建载架，指定维度
|
||||
sites = {
|
||||
"A1": bottle1,
|
||||
"A2": bottle2,
|
||||
"A3": bottle3,
|
||||
"B1": None, # 空位
|
||||
"B2": None,
|
||||
"B3": None
|
||||
}
|
||||
|
||||
carrier = ItemizedCarrier(
|
||||
name="test_carrier",
|
||||
size_x=150,
|
||||
size_y=100,
|
||||
size_z=30,
|
||||
num_items_x=3, # 3列
|
||||
num_items_y=2, # 2行
|
||||
num_items_z=1, # 1层
|
||||
sites=sites
|
||||
)
|
||||
|
||||
print("测试载架维度:")
|
||||
print(f"num_items_x: {carrier.num_items_x}")
|
||||
print(f"num_items_y: {carrier.num_items_y}")
|
||||
print(f"num_items_z: {carrier.num_items_z}")
|
||||
print()
|
||||
|
||||
# 测试获取bottle1的标识符信息 (A1 = idx:0, x:0, y:0, z:0)
|
||||
result1 = carrier.get_child_identifier(bottle1)
|
||||
print("测试bottle1 (A1):")
|
||||
print(f" identifier: {result1['identifier']}")
|
||||
print(f" idx: {result1['idx']}")
|
||||
print(f" x index: {result1['x']}")
|
||||
print(f" y index: {result1['y']}")
|
||||
print(f" z index: {result1['z']}")
|
||||
|
||||
# Assert 验证 bottle1 (A1) 的结果
|
||||
assert result1['identifier'] == 'A1', f"Expected identifier 'A1', got '{result1['identifier']}'"
|
||||
assert result1['idx'] == 0, f"Expected idx 0, got {result1['idx']}"
|
||||
assert result1['x'] == 0, f"Expected x index 0, got {result1['x']}"
|
||||
assert result1['y'] == 0, f"Expected y index 0, got {result1['y']}"
|
||||
assert result1['z'] == 0, f"Expected z index 0, got {result1['z']}"
|
||||
print(" ✓ bottle1 (A1) 测试通过")
|
||||
print()
|
||||
|
||||
# 测试获取bottle2的标识符信息 (A2 = idx:1, x:1, y:0, z:0)
|
||||
result2 = carrier.get_child_identifier(bottle2)
|
||||
print("测试bottle2 (A2):")
|
||||
print(f" identifier: {result2['identifier']}")
|
||||
print(f" idx: {result2['idx']}")
|
||||
print(f" x index: {result2['x']}")
|
||||
print(f" y index: {result2['y']}")
|
||||
print(f" z index: {result2['z']}")
|
||||
|
||||
# Assert 验证 bottle2 (A2) 的结果
|
||||
assert result2['identifier'] == 'A2', f"Expected identifier 'A2', got '{result2['identifier']}'"
|
||||
assert result2['idx'] == 1, f"Expected idx 1, got {result2['idx']}"
|
||||
assert result2['x'] == 1, f"Expected x index 1, got {result2['x']}"
|
||||
assert result2['y'] == 0, f"Expected y index 0, got {result2['y']}"
|
||||
assert result2['z'] == 0, f"Expected z index 0, got {result2['z']}"
|
||||
print(" ✓ bottle2 (A2) 测试通过")
|
||||
print()
|
||||
|
||||
# 测试获取bottle3的标识符信息 (A3 = idx:2, x:2, y:0, z:0)
|
||||
result3 = carrier.get_child_identifier(bottle3)
|
||||
print("测试bottle3 (A3):")
|
||||
print(f" identifier: {result3['identifier']}")
|
||||
print(f" idx: {result3['idx']}")
|
||||
print(f" x index: {result3['x']}")
|
||||
print(f" y index: {result3['y']}")
|
||||
print(f" z index: {result3['z']}")
|
||||
|
||||
# Assert 验证 bottle3 (A3) 的结果
|
||||
assert result3['identifier'] == 'A3', f"Expected identifier 'A3', got '{result3['identifier']}'"
|
||||
assert result3['idx'] == 2, f"Expected idx 2, got {result3['idx']}"
|
||||
assert result3['x'] == 2, f"Expected x index 2, got {result3['x']}"
|
||||
assert result3['y'] == 0, f"Expected y index 0, got {result3['y']}"
|
||||
assert result3['z'] == 0, f"Expected z index 0, got {result3['z']}"
|
||||
print(" ✓ bottle3 (A3) 测试通过")
|
||||
print()
|
||||
|
||||
# 测试错误情况：查找不存在的资源
|
||||
bottle_not_exists = Bottle("bottle_not_exists", diameter=25.0, height=50.0, max_volume=15.0)
|
||||
try:
|
||||
carrier.get_child_identifier(bottle_not_exists)
|
||||
assert False, "应该抛出 ValueError 异常"
|
||||
except ValueError as e:
|
||||
print("✓ 正确抛出了 ValueError 异常：", str(e))
|
||||
assert "is not assigned to this carrier" in str(e), "异常消息应该包含预期的文本"
|
||||
|
||||
print("\n🎉 所有测试都通过了！")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_get_child_identifier_with_indices()
|
||||
@@ -1,68 +0,0 @@
|
||||
import pytest
|
||||
import json
|
||||
import os
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
|
||||
lab_registry.setup()
|
||||
|
||||
|
||||
type_mapping = {
|
||||
"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"),
|
||||
}
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bioyond_materials_reaction() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bioyond_materials_liquidhandling_1() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bioyond_materials_liquidhandling_2() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
@pytest.mark.parametrize("materials_fixture", [
|
||||
"bioyond_materials_reaction",
|
||||
"bioyond_materials_liquidhandling_1",
|
||||
])
|
||||
def test_resourcetreeset_from_plr(materials_fixture, request) -> list[dict]:
|
||||
materials = request.getfixturevalue(materials_fixture)
|
||||
deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
|
||||
output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
|
||||
print(deck.summary())
|
||||
|
||||
r = ResourceTreeSet.from_plr_resources([deck])
|
||||
print(r.dump())
|
||||
# json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
|
||||
@@ -1,186 +0,0 @@
|
||||
{
|
||||
"workflow": [
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_1",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 66.0,
|
||||
"dis_vol": 66.0,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 94.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_2",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 58.0,
|
||||
"dis_vol": 96.0,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 94.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_4",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 85.0,
|
||||
"dis_vol": 170.0,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 94.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_4",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 63.333333333333336,
|
||||
"dis_vol": 170.0,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 94.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_2",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 72.0,
|
||||
"dis_vol": 150.0,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 94.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_4",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 85.0,
|
||||
"dis_vol": 170.0,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 94.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_4",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 63.333333333333336,
|
||||
"dis_vol": 170.0,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 94.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_2",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 72.0,
|
||||
"dis_vol": 150.0,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 94.0
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_2",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 20.0,
|
||||
"dis_vol": 20.0,
|
||||
"asp_flow_rate": 7.6,
|
||||
"dis_flow_rate": 7.6
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_5",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 6.0,
|
||||
"dis_vol": 12.0,
|
||||
"asp_flow_rate": 7.6,
|
||||
"dis_flow_rate": 7.6
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_5",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 10.666666666666666,
|
||||
"dis_vol": 12.0,
|
||||
"asp_flow_rate": 7.599999999999999,
|
||||
"dis_flow_rate": 7.6
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "Liquid_2",
|
||||
"targets": "Liquid_6",
|
||||
"asp_vol": 12.0,
|
||||
"dis_vol": 10.0,
|
||||
"asp_flow_rate": 7.6,
|
||||
"dis_flow_rate": 7.6
|
||||
}
|
||||
}
|
||||
],
|
||||
"reagent": {
|
||||
"Liquid_6": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A2"
|
||||
],
|
||||
"labware": "elution plate"
|
||||
},
|
||||
"Liquid_1": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A1",
|
||||
"A2",
|
||||
"A4"
|
||||
],
|
||||
"labware": "reagent reservoir"
|
||||
},
|
||||
"Liquid_4": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A1",
|
||||
"A2",
|
||||
"A4"
|
||||
],
|
||||
"labware": "reagent reservoir"
|
||||
},
|
||||
"Liquid_5": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A1",
|
||||
"A2",
|
||||
"A4"
|
||||
],
|
||||
"labware": "reagent reservoir"
|
||||
},
|
||||
"Liquid_2": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A2"
|
||||
],
|
||||
"labware": "TAG1 plate on Magnetic Module GEN2"
|
||||
},
|
||||
"Liquid_3": {
|
||||
"slot": 12,
|
||||
"well": [
|
||||
"A1"
|
||||
],
|
||||
"labware": "Opentrons Fixed Trash"
|
||||
}
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 148 KiB |
@@ -1,63 +0,0 @@
|
||||
{
|
||||
"steps_info": [
|
||||
{
|
||||
"step_number": 1,
|
||||
"action": "transfer_liquid",
|
||||
"parameters": {
|
||||
"source": "sample supernatant",
|
||||
"target": "antibody-coated well",
|
||||
"volume": 100
|
||||
}
|
||||
},
|
||||
{
|
||||
"step_number": 2,
|
||||
"action": "transfer_liquid",
|
||||
"parameters": {
|
||||
"source": "washing buffer",
|
||||
"target": "antibody-coated well",
|
||||
"volume": 200
|
||||
}
|
||||
},
|
||||
{
|
||||
"step_number": 3,
|
||||
"action": "transfer_liquid",
|
||||
"parameters": {
|
||||
"source": "washing buffer",
|
||||
"target": "antibody-coated well",
|
||||
"volume": 200
|
||||
}
|
||||
},
|
||||
{
|
||||
"step_number": 4,
|
||||
"action": "transfer_liquid",
|
||||
"parameters": {
|
||||
"source": "washing buffer",
|
||||
"target": "antibody-coated well",
|
||||
"volume": 200
|
||||
}
|
||||
},
|
||||
{
|
||||
"step_number": 5,
|
||||
"action": "transfer_liquid",
|
||||
"parameters": {
|
||||
"source": "TMB substrate",
|
||||
"target": "antibody-coated well",
|
||||
"volume": 100
|
||||
}
|
||||
}
|
||||
],
|
||||
"labware_info": [
|
||||
{"reagent_name": "sample supernatant", "material_name": "96深孔板", "positions": 1},
|
||||
{"reagent_name": "washing buffer", "material_name": "储液槽", "positions": 2},
|
||||
{"reagent_name": "TMB substrate", "material_name": "储液槽", "positions": 3},
|
||||
{"reagent_name": "antibody-coated well", "material_name": "96 细胞培养皿", "positions": 4},
|
||||
{"reagent_name": "", "material_name": "300μL Tip头", "positions": 5},
|
||||
{"reagent_name": "", "material_name": "300μL Tip头", "positions": 6},
|
||||
{"reagent_name": "", "material_name": "300μL Tip头", "positions": 7},
|
||||
{"reagent_name": "", "material_name": "300μL Tip头", "positions": 8},
|
||||
{"reagent_name": "", "material_name": "300μL Tip头", "positions": 9},
|
||||
{"reagent_name": "", "material_name": "300μL Tip头", "positions": 10},
|
||||
{"reagent_name": "", "material_name": "300μL Tip头", "positions": 11},
|
||||
{"reagent_name": "", "material_name": "300μL Tip头", "positions": 13}
|
||||
]
|
||||
}
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 140 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 117 KiB |
@@ -1,94 +0,0 @@
|
||||
import json
|
||||
import sys
|
||||
from datetime import datetime
|
||||
from pathlib import Path
|
||||
|
||||
ROOT_DIR = Path(__file__).resolve().parents[2]
|
||||
if str(ROOT_DIR) not in sys.path:
|
||||
sys.path.insert(0, str(ROOT_DIR))
|
||||
|
||||
import pytest
|
||||
|
||||
from scripts.workflow import build_protocol_graph, draw_protocol_graph, draw_protocol_graph_with_ports
|
||||
|
||||
|
||||
ROOT_DIR = Path(__file__).resolve().parents[2]
|
||||
if str(ROOT_DIR) not in sys.path:
|
||||
sys.path.insert(0, str(ROOT_DIR))
|
||||
|
||||
|
||||
def _normalize_steps(data):
|
||||
normalized = []
|
||||
for step in data:
|
||||
action = step.get("action") or step.get("operation")
|
||||
if not action:
|
||||
continue
|
||||
raw_params = step.get("parameters") or step.get("action_args") or {}
|
||||
params = dict(raw_params)
|
||||
|
||||
if "source" in raw_params and "sources" not in raw_params:
|
||||
params["sources"] = raw_params["source"]
|
||||
if "target" in raw_params and "targets" not in raw_params:
|
||||
params["targets"] = raw_params["target"]
|
||||
|
||||
description = step.get("description") or step.get("purpose")
|
||||
step_dict = {"action": action, "parameters": params}
|
||||
if description:
|
||||
step_dict["description"] = description
|
||||
normalized.append(step_dict)
|
||||
return normalized
|
||||
|
||||
|
||||
def _normalize_labware(data):
|
||||
labware = {}
|
||||
for item in data:
|
||||
reagent_name = item.get("reagent_name")
|
||||
key = reagent_name or item.get("material_name") or item.get("name")
|
||||
if not key:
|
||||
continue
|
||||
key = str(key)
|
||||
idx = 1
|
||||
original_key = key
|
||||
while key in labware:
|
||||
idx += 1
|
||||
key = f"{original_key}_{idx}"
|
||||
|
||||
labware[key] = {
|
||||
"slot": item.get("positions") or item.get("slot"),
|
||||
"labware": item.get("material_name") or item.get("labware"),
|
||||
"well": item.get("well", []),
|
||||
"type": item.get("type", "reagent"),
|
||||
"role": item.get("role", ""),
|
||||
"name": key,
|
||||
}
|
||||
return labware
|
||||
|
||||
|
||||
@pytest.mark.parametrize("protocol_name", [
|
||||
"example_bio",
|
||||
# "bioyond_materials_liquidhandling_1",
|
||||
"example_prcxi",
|
||||
])
|
||||
def test_build_protocol_graph(protocol_name):
|
||||
data_path = Path(__file__).with_name(f"{protocol_name}.json")
|
||||
with data_path.open("r", encoding="utf-8") as fp:
|
||||
d = json.load(fp)
|
||||
|
||||
if "workflow" in d and "reagent" in d:
|
||||
protocol_steps = d["workflow"]
|
||||
labware_info = d["reagent"]
|
||||
elif "steps_info" in d and "labware_info" in d:
|
||||
protocol_steps = _normalize_steps(d["steps_info"])
|
||||
labware_info = _normalize_labware(d["labware_info"])
|
||||
else:
|
||||
raise ValueError("Unsupported protocol format")
|
||||
|
||||
graph = build_protocol_graph(
|
||||
labware_info=labware_info,
|
||||
protocol_steps=protocol_steps,
|
||||
workstation_name="PRCXi",
|
||||
)
|
||||
timestamp = datetime.now().strftime("%Y%m%d_%H%M")
|
||||
output_path = data_path.with_name(f"{protocol_name}_graph_{timestamp}.png")
|
||||
draw_protocol_graph_with_ports(graph, str(output_path))
|
||||
print(graph)
|
||||
@@ -13,7 +13,7 @@ def start_backend(
|
||||
graph=None,
|
||||
controllers_config: dict = {},
|
||||
bridges=[],
|
||||
is_slave: bool = False,
|
||||
without_host: bool = False,
|
||||
visual: str = "None",
|
||||
resources_mesh_config: dict = {},
|
||||
**kwargs,
|
||||
@@ -32,7 +32,7 @@ def start_backend(
|
||||
raise ValueError(f"Unsupported backend: {backend}")
|
||||
|
||||
backend_thread = threading.Thread(
|
||||
target=main if not is_slave else slave,
|
||||
target=main if not without_host else slave,
|
||||
args=(
|
||||
devices_config,
|
||||
resources_config,
|
||||
|
||||
@@ -11,14 +11,18 @@ from typing import Dict, Any, List
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# 首先添加项目根目录到路径
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
|
||||
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
@@ -180,7 +184,6 @@ def main():
|
||||
working_dir = os.path.abspath(os.getcwd())
|
||||
else:
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
if args_dict.get("working_dir"):
|
||||
working_dir = args_dict.get("working_dir", "")
|
||||
if config_path and not os.path.exists(config_path):
|
||||
@@ -212,14 +215,6 @@ def main():
|
||||
# 加载配置文件
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
load_config_from_file(config_path)
|
||||
|
||||
# 根据配置重新设置日志级别
|
||||
from unilabos.utils.log import configure_logger, logger
|
||||
|
||||
if hasattr(BasicConfig, "log_level"):
|
||||
logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
|
||||
configure_logger(loglevel=BasicConfig.log_level)
|
||||
|
||||
if args_dict["addr"] == "test":
|
||||
print_status("使用测试环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
@@ -273,8 +268,6 @@ def main():
|
||||
from unilabos.app.web import http_client
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
@@ -356,7 +349,7 @@ def main():
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
if args_dict.get("ak") and args_dict.get("sk"):
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
@@ -375,23 +368,22 @@ def main():
|
||||
|
||||
args_dict["bridges"] = []
|
||||
|
||||
# 获取通信客户端（仅支持WebSocket）
|
||||
comm_client = get_communication_client()
|
||||
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(comm_client)
|
||||
if "fastapi" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(http_client)
|
||||
# 获取通信客户端（仅支持WebSocket）
|
||||
if BasicConfig.is_host_mode:
|
||||
comm_client = get_communication_client()
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(comm_client)
|
||||
def _exit(signum, frame):
|
||||
comm_client.stop()
|
||||
sys.exit(0)
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
|
||||
signal.signal(signal.SIGINT, _exit)
|
||||
signal.signal(signal.SIGTERM, _exit)
|
||||
comm_client.start()
|
||||
else:
|
||||
print_status("SlaveMode跳过Websocket连接")
|
||||
def _exit(signum, frame):
|
||||
comm_client.stop()
|
||||
sys.exit(0)
|
||||
|
||||
signal.signal(signal.SIGINT, _exit)
|
||||
signal.signal(signal.SIGTERM, _exit)
|
||||
comm_client.start()
|
||||
args_dict["resources_mesh_config"] = {}
|
||||
args_dict["resources_edge_config"] = resource_edge_info
|
||||
# web visiualize 2D
|
||||
|
||||
@@ -1,12 +1,11 @@
|
||||
import json
|
||||
import time
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
def register_devices_and_resources(lab_registry):
|
||||
"""
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
@@ -29,8 +28,6 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
if gather_only:
|
||||
return devices_to_register, resources_to_register
|
||||
# 注册设备
|
||||
if devices_to_register:
|
||||
try:
|
||||
|
||||
@@ -6,8 +6,6 @@ HTTP客户端模块
|
||||
|
||||
import json
|
||||
import os
|
||||
import time
|
||||
from threading import Thread
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
import requests
|
||||
@@ -75,8 +73,6 @@ class HTTPClient:
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
|
||||
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
|
||||
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
||||
if not self.initialized or first_add:
|
||||
@@ -86,18 +82,16 @@ class HTTPClient:
|
||||
f"{self.remote_addr}/edge/material",
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=10,
|
||||
timeout=100,
|
||||
)
|
||||
|
||||
with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}" + "\n" + response.text)
|
||||
# 处理响应，构建UUID映射
|
||||
uuid_mapping = {}
|
||||
if response.status_code == 200:
|
||||
@@ -128,16 +122,12 @@ class HTTPClient:
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material/query",
|
||||
json={"uuids": uuid_list, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}" + "\n" + response.text)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
@@ -193,16 +183,12 @@ class HTTPClient:
|
||||
Returns:
|
||||
Dict: 返回的资源数据
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=20,
|
||||
)
|
||||
with open(os.path.join(BasicConfig.working_dir, "res_resource_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}" + "\n" + response.text)
|
||||
return response.json()
|
||||
|
||||
def resource_del(self, id: str) -> requests.Response:
|
||||
|
||||
@@ -261,28 +261,29 @@ class DeviceActionManager:
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# 如果是正在执行的任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
# 清理active job状态
|
||||
del self.active_jobs[device_key]
|
||||
job_info.status = JobStatus.ENDED
|
||||
# 从all_jobs中移除
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
if (
|
||||
device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id
|
||||
): # 后面需要和cancel_goal进行联动，而不是在这里进行处理，现在默认等待这个job结束
|
||||
# del self.active_jobs[device_key]
|
||||
# job_info.status = JobStatus.ENDED
|
||||
# # 从all_jobs中移除
|
||||
# del self.all_jobs[job_id]
|
||||
# job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
# logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
|
||||
# 启动下一个任务
|
||||
if device_key in self.device_queues and self.device_queues[device_key]:
|
||||
next_job = self.device_queues[device_key].pop(0)
|
||||
# 将下一个job设置为READY状态并放入active_jobs
|
||||
next_job.status = JobStatus.READY
|
||||
next_job.update_timestamp()
|
||||
next_job.set_ready_timeout(10)
|
||||
self.active_jobs[device_key] = next_job
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
return True
|
||||
# # 启动下一个任务
|
||||
# if device_key in self.device_queues and self.device_queues[device_key]:
|
||||
# next_job = self.device_queues[device_key].pop(0)
|
||||
# # 将下一个job设置为READY状态并放入active_jobs
|
||||
# next_job.status = JobStatus.READY
|
||||
# next_job.update_timestamp()
|
||||
# next_job.set_ready_timeout(10)
|
||||
# self.active_jobs[device_key] = next_job
|
||||
# next_job_log = format_job_log(next_job.job_id, next_job.task_id,
|
||||
# next_job.device_id, next_job.action_name)
|
||||
# logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
# return True
|
||||
pass
|
||||
|
||||
# 如果是排队中的任务
|
||||
elif device_key in self.device_queues:
|
||||
@@ -740,51 +741,31 @@ class MessageProcessor:
|
||||
job_info.action_name if job_info else "",
|
||||
)
|
||||
|
||||
# 先通知HostNode取消ROS2 action（如果存在）
|
||||
host_node = HostNode.get_instance(0)
|
||||
ros_cancel_success = False
|
||||
if host_node:
|
||||
ros_cancel_success = host_node.cancel_goal(job_id)
|
||||
if ros_cancel_success:
|
||||
logger.info(f"[MessageProcessor] ROS2 cancel request sent for job {job_log}")
|
||||
else:
|
||||
logger.debug(
|
||||
f"[MessageProcessor] Job {job_log} not in ROS2 goals " "(may be queued or already finished)"
|
||||
)
|
||||
|
||||
# 按job_id取消单个job（清理状态机）
|
||||
# 按job_id取消单个job
|
||||
success = self.device_manager.cancel_job(job_id)
|
||||
if success:
|
||||
logger.info(f"[MessageProcessor] Job {job_log} cancelled from queue/active list")
|
||||
# 通知HostNode取消
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
host_node.cancel_goal(job_id)
|
||||
logger.info(f"[MessageProcessor] Job {job_log} cancelled")
|
||||
|
||||
# 通知QueueProcessor有队列更新
|
||||
if self.queue_processor:
|
||||
self.queue_processor.notify_queue_update()
|
||||
else:
|
||||
logger.warning(f"[MessageProcessor] Failed to cancel job {job_log} from queue")
|
||||
logger.warning(f"[MessageProcessor] Failed to cancel job {job_log}")
|
||||
|
||||
elif task_id:
|
||||
# 先通知HostNode取消所有ROS2 actions
|
||||
# 需要先获取所有相关job_ids
|
||||
jobs_to_cancel = []
|
||||
with self.device_manager.lock:
|
||||
jobs_to_cancel = [
|
||||
job_info for job_info in self.device_manager.all_jobs.values() if job_info.task_id == task_id
|
||||
]
|
||||
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node and jobs_to_cancel:
|
||||
ros_cancelled_count = 0
|
||||
for job_info in jobs_to_cancel:
|
||||
if host_node.cancel_goal(job_info.job_id):
|
||||
ros_cancelled_count += 1
|
||||
logger.info(
|
||||
f"[MessageProcessor] Sent ROS2 cancel for " f"{ros_cancelled_count}/{len(jobs_to_cancel)} jobs"
|
||||
)
|
||||
|
||||
# 按task_id取消所有相关job（清理状态机）
|
||||
# 按task_id取消所有相关job
|
||||
cancelled_job_ids = self.device_manager.cancel_jobs_by_task_id(task_id)
|
||||
if cancelled_job_ids:
|
||||
# 通知HostNode取消所有job
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
for cancelled_job_id in cancelled_job_ids:
|
||||
host_node.cancel_goal(cancelled_job_id)
|
||||
|
||||
logger.info(f"[MessageProcessor] Cancelled {len(cancelled_job_ids)} jobs for task_id: {task_id}")
|
||||
|
||||
# 通知QueueProcessor有队列更新
|
||||
@@ -1075,19 +1056,11 @@ class QueueProcessor:
|
||||
"""处理任务完成"""
|
||||
# 获取job信息用于日志
|
||||
job_info = self.device_manager.get_job_info(job_id)
|
||||
|
||||
# 如果job不存在，说明可能已被手动取消
|
||||
if not job_info:
|
||||
logger.debug(
|
||||
f"[QueueProcessor] Job {job_id[:8]} not found in manager " "(may have been cancelled manually)"
|
||||
)
|
||||
return
|
||||
|
||||
job_log = format_job_log(
|
||||
job_id,
|
||||
job_info.task_id,
|
||||
job_info.device_id,
|
||||
job_info.action_name,
|
||||
job_info.task_id if job_info else "",
|
||||
job_info.device_id if job_info else "",
|
||||
job_info.action_name if job_info else "",
|
||||
)
|
||||
|
||||
logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
|
||||
@@ -2,7 +2,7 @@ import base64
|
||||
import traceback
|
||||
import os
|
||||
import importlib.util
|
||||
from typing import Optional, Literal
|
||||
from typing import Optional
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
@@ -18,7 +18,6 @@ class BasicConfig:
|
||||
vis_2d_enable = False
|
||||
enable_resource_load = True
|
||||
communication_protocol = "websocket"
|
||||
log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG" # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
|
||||
@classmethod
|
||||
def auth_secret(cls):
|
||||
|
||||
@@ -12,7 +12,6 @@ from serial import Serial
|
||||
from serial.serialutil import SerialException
|
||||
|
||||
from unilabos.messages import Point3D
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class GrblCNCConnectionError(Exception):
|
||||
@@ -33,7 +32,6 @@ class GrblCNCInfo:
|
||||
class GrblCNCAsync:
|
||||
_status: str = "Offline"
|
||||
_position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
|
||||
self.port = port
|
||||
@@ -60,9 +58,6 @@ class GrblCNCAsync:
|
||||
self._run_future: Optional[Future[Any]] = None
|
||||
self._run_lock = Lock()
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def _read_all(self):
|
||||
data = self._serial.read_until(b"\n")
|
||||
data_decoded = data.decode()
|
||||
@@ -153,7 +148,7 @@ class GrblCNCAsync:
|
||||
try:
|
||||
await self._query(command)
|
||||
while True:
|
||||
await self._ros_node.sleep(0.2) # Wait for 0.5 seconds before polling again
|
||||
await asyncio.sleep(0.2) # Wait for 0.5 seconds before polling again
|
||||
|
||||
status = await self.get_status()
|
||||
if "Idle" in status:
|
||||
@@ -219,7 +214,7 @@ class GrblCNCAsync:
|
||||
self._pose_number = i
|
||||
self.pose_number_remaining = len(points) - i
|
||||
await self.set_position(point)
|
||||
await self._ros_node.sleep(0.5)
|
||||
await asyncio.sleep(0.5)
|
||||
self._step_number = -1
|
||||
|
||||
async def stop_operation(self):
|
||||
@@ -240,7 +235,7 @@ class GrblCNCAsync:
|
||||
async def open(self):
|
||||
if self._read_task:
|
||||
raise GrblCNCConnectionError
|
||||
self._read_task = self._ros_node.create_task(self._read_loop())
|
||||
self._read_task = asyncio.create_task(self._read_loop())
|
||||
|
||||
try:
|
||||
await self.get_status()
|
||||
|
||||
@@ -2,8 +2,6 @@ import time
|
||||
import asyncio
|
||||
from pydantic import BaseModel
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class Point3D(BaseModel):
|
||||
x: float
|
||||
@@ -16,14 +14,9 @@ def d(a: Point3D, b: Point3D) -> float:
|
||||
|
||||
|
||||
class MockCNCAsync:
|
||||
_ros_node: BaseROS2DeviceNode["MockCNCAsync"]
|
||||
|
||||
def __init__(self):
|
||||
self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
|
||||
self._status = "Idle"
|
||||
|
||||
def post_create(self, ros_node):
|
||||
self._ros_node = ros_node
|
||||
|
||||
@property
|
||||
def position(self) -> Point3D:
|
||||
@@ -45,5 +38,5 @@ class MockCNCAsync:
|
||||
self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
|
||||
self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
|
||||
self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
|
||||
await self._ros_node.sleep(move_time / 20)
|
||||
await asyncio.sleep(move_time / 20)
|
||||
self._status = "Idle"
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,11 +1,11 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
import traceback
|
||||
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
|
||||
from collections import Counter
|
||||
import asyncio
|
||||
import time
|
||||
import traceback
|
||||
from collections import Counter
|
||||
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
|
||||
|
||||
import pprint as pp
|
||||
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
|
||||
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
|
||||
from pylabrobot.liquid_handling.standard import GripDirection
|
||||
@@ -25,8 +25,6 @@ from pylabrobot.resources import (
|
||||
Tip,
|
||||
)
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class LiquidHandlerMiddleware(LiquidHandler):
|
||||
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
|
||||
@@ -538,7 +536,6 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
||||
class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
"""Extended LiquidHandler with additional operations."""
|
||||
support_touch_tip = True
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
|
||||
"""Initialize a LiquidHandler.
|
||||
@@ -551,11 +548,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
self.group_info = dict()
|
||||
super().__init__(backend, deck, simulator, channel_num)
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
@classmethod
|
||||
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
|
||||
"""Set the liquid in a well."""
|
||||
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
|
||||
well.set_liquids([(liquid_name, volume)]) # type: ignore
|
||||
@@ -1087,7 +1081,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
print(f"Waiting time: {msg}")
|
||||
print(f"Current time: {time.strftime('%H:%M:%S')}")
|
||||
print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
|
||||
await self._ros_node.sleep(seconds)
|
||||
await asyncio.sleep(seconds)
|
||||
if msg:
|
||||
print(f"Done: {msg}")
|
||||
print(f"Current time: {time.strftime('%H:%M:%S')}")
|
||||
|
||||
@@ -30,7 +30,6 @@ from pylabrobot.liquid_handling.standard import (
|
||||
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class PRCXIError(RuntimeError):
|
||||
@@ -145,7 +144,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
setup=True,
|
||||
debug=False,
|
||||
simulator=False,
|
||||
step_mode=False,
|
||||
matrix_id="",
|
||||
is_9320=False,
|
||||
):
|
||||
@@ -159,20 +157,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
)
|
||||
if is_9320:
|
||||
print("当前设备是9320")
|
||||
if step_mode:
|
||||
if is_9320:
|
||||
self.step_mode = step_mode
|
||||
else:
|
||||
print("9300设备不支持 单点动作模式")
|
||||
self._unilabos_backend = PRCXI9300Backend(
|
||||
tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
|
||||
)
|
||||
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
super().post_init(ros_node)
|
||||
self._unilabos_backend.post_init(ros_node)
|
||||
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
|
||||
return super().set_liquid(wells, liquid_names, volumes)
|
||||
|
||||
@@ -350,10 +339,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
**backend_kwargs,
|
||||
):
|
||||
if self.step_mode:
|
||||
await self.create_protocol(f"单点动作{time.time()}")
|
||||
await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
|
||||
await self.run_protocol()
|
||||
return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
|
||||
|
||||
async def aspirate(
|
||||
@@ -439,7 +424,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
_num_channels = 8 # 默认通道数为 8
|
||||
_is_reset_ok = False
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
@property
|
||||
def is_reset_ok(self) -> bool:
|
||||
@@ -472,9 +456,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self._execute_setup = setup
|
||||
self.debug = debug
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def create_protocol(self, protocol_name):
|
||||
self.protocol_name = protocol_name
|
||||
self.steps_todo_list = []
|
||||
@@ -519,7 +500,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self.api_client.call("IAutomation", "Reset")
|
||||
while not self.is_reset_ok:
|
||||
print("Waiting for PRCXI9300 to reset...")
|
||||
await self._ros_node.sleep(1)
|
||||
await asyncio.sleep(1)
|
||||
print("PRCXI9300 reset successfully.")
|
||||
except ConnectionRefusedError as e:
|
||||
raise RuntimeError(
|
||||
@@ -552,9 +533,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
tipspot_index = tipspot.parent.children.index(tipspot)
|
||||
tip_columns.append(tipspot_index // 8)
|
||||
if len(set(tip_columns)) != 1:
|
||||
raise ValueError(
|
||||
"All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
|
||||
)
|
||||
raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
|
||||
PlateNo = plate_indexes[0] + 1
|
||||
hole_col = tip_columns[0] + 1
|
||||
hole_row = 1
|
||||
@@ -1130,15 +1109,12 @@ class PRCXI9300Api:
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
|
||||
class DefaultLayout:
|
||||
|
||||
def __init__(self, product_name: str = "PRCXI9300"):
|
||||
self.labresource = {}
|
||||
if product_name not in ["PRCXI9300", "PRCXI9320"]:
|
||||
raise ValueError(
|
||||
f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
|
||||
)
|
||||
raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
|
||||
|
||||
if product_name == "PRCXI9300":
|
||||
self.rows = 2
|
||||
@@ -1153,93 +1129,25 @@ class DefaultLayout:
|
||||
self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
|
||||
self.trash_slot = 16
|
||||
self.waste_liquid_slot = 12
|
||||
self.default_layout = {
|
||||
"MatrixId": f"{time.time()}",
|
||||
"MatrixName": f"{time.time()}",
|
||||
"MatrixCount": 16,
|
||||
"WorkTablets": [
|
||||
{
|
||||
"Number": 1,
|
||||
"Code": "T1",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 2,
|
||||
"Code": "T2",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 3,
|
||||
"Code": "T3",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 4,
|
||||
"Code": "T4",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 5,
|
||||
"Code": "T5",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 6,
|
||||
"Code": "T6",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 7,
|
||||
"Code": "T7",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 8,
|
||||
"Code": "T8",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 9,
|
||||
"Code": "T9",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 10,
|
||||
"Code": "T10",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 11,
|
||||
"Code": "T11",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 12,
|
||||
"Code": "T12",
|
||||
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
|
||||
}, # 这个设置成废液槽，用储液槽表示
|
||||
{
|
||||
"Number": 13,
|
||||
"Code": "T13",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 14,
|
||||
"Code": "T14",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 15,
|
||||
"Code": "T15",
|
||||
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
|
||||
},
|
||||
{
|
||||
"Number": 16,
|
||||
"Code": "T16",
|
||||
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
|
||||
}, # 这个设置成垃圾桶，用储液槽表示
|
||||
],
|
||||
}
|
||||
self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
|
||||
[{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示
|
||||
{"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
|
||||
{"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
|
||||
]
|
||||
}
|
||||
|
||||
def get_layout(self) -> Dict[str, Any]:
|
||||
return {
|
||||
@@ -1247,7 +1155,7 @@ class DefaultLayout:
|
||||
"columns": self.columns,
|
||||
"layout": self.layout,
|
||||
"trash_slot": self.trash_slot,
|
||||
"waste_liquid_slot": self.waste_liquid_slot,
|
||||
"waste_liquid_slot": self.waste_liquid_slot
|
||||
}
|
||||
|
||||
def get_trash_slot(self) -> int:
|
||||
@@ -1270,19 +1178,17 @@ class DefaultLayout:
|
||||
reserved_positions = {12, 16}
|
||||
available_positions = [i for i in range(1, 17) if i not in reserved_positions]
|
||||
|
||||
# 计算总需求
|
||||
# 计算总需求
|
||||
total_needed = sum(count for _, _, count in needs)
|
||||
if total_needed > len(available_positions):
|
||||
raise ValueError(
|
||||
f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
|
||||
)
|
||||
raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
|
||||
|
||||
# 依次分配位置
|
||||
current_pos = 0
|
||||
for reagent_name, material_name, count in needs:
|
||||
|
||||
material_uuid = self.labresource[material_name]["uuid"]
|
||||
material_enum = self.labresource[material_name]["materialEnum"]
|
||||
material_uuid = self.labresource[material_name]['uuid']
|
||||
material_enum = self.labresource[material_name]['materialEnum']
|
||||
|
||||
for _ in range(count):
|
||||
if current_pos >= len(available_positions):
|
||||
@@ -1290,18 +1196,17 @@ class DefaultLayout:
|
||||
|
||||
position = available_positions[current_pos]
|
||||
# 找到对应的tablet并更新
|
||||
for tablet in self.default_layout["WorkTablets"]:
|
||||
if tablet["Number"] == position:
|
||||
tablet["Material"]["uuid"] = material_uuid
|
||||
tablet["Material"]["materialEnum"] = material_enum
|
||||
layout_list.append(
|
||||
dict(reagent_name=reagent_name, material_name=material_name, positions=position)
|
||||
)
|
||||
for tablet in self.default_layout['WorkTablets']:
|
||||
if tablet['Number'] == position:
|
||||
tablet['Material']['uuid'] = material_uuid
|
||||
tablet['Material']['materialEnum'] = material_enum
|
||||
layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
|
||||
break
|
||||
current_pos += 1
|
||||
return self.default_layout, layout_list
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# Example usage
|
||||
# 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
|
||||
@@ -1397,7 +1302,10 @@ if __name__ == "__main__":
|
||||
|
||||
# # # plate2.set_well_liquids(plate_2_liquids)
|
||||
|
||||
# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
|
||||
|
||||
|
||||
|
||||
# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
|
||||
# timeout=10.0, setup=False, debug=False,
|
||||
# simulator=True,
|
||||
# matrix_id="71593",
|
||||
@@ -1483,7 +1391,10 @@ if __name__ == "__main__":
|
||||
# # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
### 9320 ###
|
||||
|
||||
|
||||
### 9320 ###
|
||||
|
||||
|
||||
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
|
||||
|
||||
@@ -1501,15 +1412,12 @@ if __name__ == "__main__":
|
||||
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
|
||||
return new_plate
|
||||
|
||||
def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
|
||||
def get_tip_rack(name: str, child_prefix: str="tip") -> 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({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||
name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
|
||||
k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
|
||||
})
|
||||
)
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_rack_serialized["parent_name"] = deck.name
|
||||
@@ -1704,43 +1612,7 @@ if __name__ == "__main__":
|
||||
|
||||
A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
with open("deck.json", "w", encoding="utf-8") as f:
|
||||
A.insert(0, {
|
||||
"id": "PRCXI",
|
||||
"name": "PRCXI",
|
||||
"parent": None,
|
||||
"type": "device",
|
||||
"class": "liquid_handler.prcxi",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_child_name": "PRCXI_Deck",
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
|
||||
},
|
||||
"host": "192.168.0.121",
|
||||
"port": 9999,
|
||||
"timeout": 10.0,
|
||||
"axis": "Right",
|
||||
"channel_num": 1,
|
||||
"setup": False,
|
||||
"debug": True,
|
||||
"simulator": True,
|
||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
"is_9320": True
|
||||
},
|
||||
"data": {},
|
||||
"children": [
|
||||
"PRCXI_Deck"
|
||||
]
|
||||
})
|
||||
A[1]["parent"] = "PRCXI"
|
||||
json.dump({
|
||||
"nodes": A,
|
||||
"links": []
|
||||
}, f, indent=4, ensure_ascii=False)
|
||||
json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
|
||||
handler = PRCXI9300Handler(
|
||||
deck=deck,
|
||||
@@ -1757,7 +1629,6 @@ if __name__ == "__main__":
|
||||
)
|
||||
backend: PRCXI9300Backend = handler.backend
|
||||
from pylabrobot.resources import set_volume_tracking
|
||||
|
||||
set_volume_tracking(enabled=True)
|
||||
# res = backend.api_client.get_all_materials()
|
||||
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
||||
@@ -1769,10 +1640,10 @@ if __name__ == "__main__":
|
||||
|
||||
for well in plate13.get_all_items():
|
||||
# well_pos = well.name.split("_")[1] # 走一行
|
||||
# if well_pos.startswith("A"):
|
||||
if well.name.startswith("PlateT13"): # 走整个Plate
|
||||
# if well_pos.startswith("A"):
|
||||
if well.name.startswith("PlateT13"): # 走整个Plate
|
||||
asyncio.run(handler.dispense([well], [0.01], [0]))
|
||||
|
||||
|
||||
# asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
|
||||
# asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
|
||||
# asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
|
||||
@@ -1781,31 +1652,26 @@ if __name__ == "__main__":
|
||||
asyncio.run(handler.run_protocol())
|
||||
time.sleep(5)
|
||||
os._exit(0)
|
||||
|
||||
|
||||
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
|
||||
prcxi_api.list_matrices()
|
||||
prcxi_api.get_all_materials()
|
||||
|
||||
# 第一种情景：一个孔往多个孔加液
|
||||
# 第一种情景：一个孔往多个孔加液
|
||||
# plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
|
||||
# plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
|
||||
# 第二个情景：多个孔往多个孔加液(但是个数得对应)
|
||||
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
|
||||
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)
|
||||
# 第二个情景：多个孔往多个孔加液(但是个数得对应)
|
||||
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
|
||||
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
|
||||
|
||||
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
|
||||
|
||||
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
|
||||
|
||||
# A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
# # with open("deck.json", "w", encoding="utf-8") as f:
|
||||
# # json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
# A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
# # with open("deck.json", "w", encoding="utf-8") as f:
|
||||
# # json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
|
||||
# print(plate11.get_well(0).tracker.get_used_volume())
|
||||
# Initialize the backend and setup the connection
|
||||
# print(plate11.get_well(0).tracker.get_used_volume())
|
||||
# Initialize the backend and setup the connection
|
||||
asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking
|
||||
|
||||
|
||||
# asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
|
||||
# print(plate8.children[8])
|
||||
# asyncio.run(handler.run_protocol())
|
||||
@@ -1819,118 +1685,121 @@ if __name__ == "__main__":
|
||||
# print(plate1.children[0])
|
||||
# asyncio.run(handler.discard_tips([0]))
|
||||
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[10]*7,
|
||||
# dis_vols=[10]*7,
|
||||
# reagent_sources=plate11.children[:7],
|
||||
# targets=plate1.children[2:9],
|
||||
# use_channels=[0],
|
||||
# flow_rates=[None] * 7,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 7,
|
||||
# liquid_height=[None] * 7,
|
||||
# blow_out_air_volume=[None] * 2,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=5,
|
||||
# spread="custom",
|
||||
# ))
|
||||
# asyncio.run(handler.add_liquid(
|
||||
# asp_vols=[10]*7,
|
||||
# dis_vols=[10]*7,
|
||||
# reagent_sources=plate11.children[:7],
|
||||
# targets=plate1.children[2:9],
|
||||
# use_channels=[0],
|
||||
# flow_rates=[None] * 7,
|
||||
# offsets=[Coordinate(0, 0, 0)] * 7,
|
||||
# liquid_height=[None] * 7,
|
||||
# blow_out_air_volume=[None] * 2,
|
||||
# delays=None,
|
||||
# mix_time=3,
|
||||
# mix_vol=5,
|
||||
# spread="custom",
|
||||
# ))
|
||||
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[10]*2,
|
||||
# # # dis_vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # targets=plate11.children[-2:],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=5,
|
||||
# # # spread="wide",
|
||||
# # # tip_racks=[plate8]
|
||||
# # # ))
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # waste_liquid=plate11.children[43],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # spread="wide"
|
||||
# # # ))
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
|
||||
# # # asyncio.run(handler.discard_tips())
|
||||
# # # asyncio.run(handler.mix(well_containers.children[:8
|
||||
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[100]*16,
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # flow_rates=[None] * 32,
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[100]*16,
|
||||
# # # dis_vols=[100]*16,
|
||||
# # # tip_racks=[tip_rack],
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # targets=well_containers.children[:16],
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # asp_flow_rates=[None] * 16,
|
||||
# # # dis_flow_rates=[None] * 16,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=50,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # # input("pick_up_tips add step")
|
||||
# asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # # input("Running protocol...")
|
||||
# # # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[10]*2,
|
||||
# # # dis_vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # targets=plate11.children[-2:],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=5,
|
||||
# # # spread="wide",
|
||||
# # # tip_racks=[plate8]
|
||||
# # # ))
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[10]*2,
|
||||
# # # sources=plate11.children[:2],
|
||||
# # # waste_liquid=plate11.children[43],
|
||||
# # # use_channels=[0],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 4,
|
||||
# # # liquid_height=[None] * 2,
|
||||
# # # blow_out_air_volume=[None] * 2,
|
||||
# # # delays=None,
|
||||
# # # spread="wide"
|
||||
# # # ))
|
||||
# # asyncio.run(handler.run_protocol())
|
||||
|
||||
# # # asyncio.run(handler.discard_tips())
|
||||
# # # asyncio.run(handler.mix(well_containers.children[:8
|
||||
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
|
||||
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
|
||||
|
||||
# # # asyncio.run(handler.remove_liquid(
|
||||
# # # vols=[100]*16,
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # flow_rates=[None] * 32,
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # # asyncio.run(handler.transfer_liquid(
|
||||
# # # asp_vols=[100]*16,
|
||||
# # # dis_vols=[100]*16,
|
||||
# # # tip_racks=[tip_rack],
|
||||
# # # sources=well_containers.children[-16:],
|
||||
# # # targets=well_containers.children[:16],
|
||||
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
|
||||
# # # offsets=[Coordinate(0, 0, 0)] * 32,
|
||||
# # # asp_flow_rates=[None] * 16,
|
||||
# # # dis_flow_rates=[None] * 16,
|
||||
# # # liquid_height=[None] * 32,
|
||||
# # # blow_out_air_volume=[None] * 32,
|
||||
# # # mix_times=3,
|
||||
# # # mix_vol=50,
|
||||
# # # spread="wide",
|
||||
# # # ))
|
||||
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
|
||||
# # # input("pick_up_tips add step")
|
||||
#asyncio.run(handler.run_protocol()) # Run the protocol
|
||||
# # # input("Running protocol...")
|
||||
# # # input("Press Enter to continue...") # Wait for user input before proceeding
|
||||
# # # print("PRCXI9300Handler initialized with deck and host settings.")
|
||||
|
||||
|
||||
# 一些推荐版位组合的测试样例：
|
||||
|
||||
# 一些推荐版位组合的测试样例：
|
||||
|
||||
# 一些推荐版位组合的测试样例：
|
||||
|
||||
# 一些推荐版位组合的测试样例：
|
||||
|
||||
with open("prcxi_material.json", "r") as f:
|
||||
material_info = json.load(f)
|
||||
|
||||
layout = DefaultLayout("PRCXI9320")
|
||||
layout.add_lab_resource(material_info)
|
||||
MatrixLayout_1, dict_1 = layout.recommend_layout(
|
||||
[
|
||||
("reagent_1", "96 细胞培养皿", 3),
|
||||
("reagent_2", "12道储液槽", 1),
|
||||
("reagent_3", "200μL Tip头", 7),
|
||||
("reagent_4", "10μL加长 Tip头", 1),
|
||||
]
|
||||
)
|
||||
MatrixLayout_1, dict_1 = layout.recommend_layout([
|
||||
("reagent_1", "96 细胞培养皿", 3),
|
||||
("reagent_2", "12道储液槽", 1),
|
||||
("reagent_3", "200μL Tip头", 7),
|
||||
("reagent_4", "10μL加长 Tip头", 1),
|
||||
])
|
||||
print(dict_1)
|
||||
MatrixLayout_2, dict_2 = layout.recommend_layout(
|
||||
[
|
||||
("reagent_1", "96深孔板", 4),
|
||||
("reagent_2", "12道储液槽", 1),
|
||||
("reagent_3", "200μL Tip头", 1),
|
||||
("reagent_4", "10μL加长 Tip头", 1),
|
||||
]
|
||||
)
|
||||
MatrixLayout_2, dict_2 = layout.recommend_layout([
|
||||
("reagent_1", "96深孔板", 4),
|
||||
("reagent_2", "12道储液槽", 1),
|
||||
("reagent_3", "200μL Tip头", 1),
|
||||
("reagent_4", "10μL加长 Tip头", 1),
|
||||
])
|
||||
|
||||
# with open("prcxi_material.json", "r") as f:
|
||||
# material_info = json.load(f)
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
import collections
|
||||
import json
|
||||
from pathlib import Path
|
||||
|
||||
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
|
||||
|
||||
|
||||
prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json")
|
||||
with open(prcxi_materials_path, mode="r", encoding="utf-8") as f:
|
||||
prcxi_materials = json.loads(f.read())
|
||||
|
||||
|
||||
def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container: # 必须传入一个name参数，是plr的规范要求
|
||||
# tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"])
|
||||
tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict())
|
||||
tip_rack.load_state({
|
||||
"Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}
|
||||
})
|
||||
return tip_rack
|
||||
|
||||
|
||||
@@ -8,8 +8,6 @@ import serial.tools.list_ports
|
||||
from serial import Serial
|
||||
from serial.serialutil import SerialException
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class RunzeSyringePumpMode(Enum):
|
||||
Normal = 0
|
||||
@@ -79,8 +77,6 @@ class RunzeSyringePumpInfo:
|
||||
|
||||
|
||||
class RunzeSyringePumpAsync:
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
|
||||
self.port = port
|
||||
self.address = address
|
||||
@@ -106,9 +102,6 @@ class RunzeSyringePumpAsync:
|
||||
self._run_future: Optional[Future[Any]] = None
|
||||
self._run_lock = Lock()
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
def _adjust_total_steps(self):
|
||||
self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
|
||||
self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
|
||||
@@ -189,7 +182,7 @@ class RunzeSyringePumpAsync:
|
||||
try:
|
||||
await self._query(command)
|
||||
while True:
|
||||
await self._ros_node.sleep(0.5) # Wait for 0.5 seconds before polling again
|
||||
await asyncio.sleep(0.5) # Wait for 0.5 seconds before polling again
|
||||
|
||||
status = await self.query_device_status()
|
||||
if status == '`':
|
||||
@@ -371,7 +364,7 @@ class RunzeSyringePumpAsync:
|
||||
if self._read_task:
|
||||
raise RunzeSyringePumpConnectionError
|
||||
|
||||
self._read_task = self._ros_node.create_task(self._read_loop())
|
||||
self._read_task = asyncio.create_task(self._read_loop())
|
||||
|
||||
try:
|
||||
await self.query_device_status()
|
||||
|
||||
@@ -3,13 +3,9 @@ import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class VirtualCentrifuge:
|
||||
"""Virtual centrifuge device - 简化版，只保留核心功能"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
@@ -36,9 +32,6 @@ class VirtualCentrifuge:
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual centrifuge"""
|
||||
@@ -139,7 +132,7 @@ class VirtualCentrifuge:
|
||||
break
|
||||
|
||||
# 每秒更新一次
|
||||
await self._ros_node.sleep(1.0)
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 离心完成
|
||||
self.data.update({
|
||||
|
||||
@@ -2,13 +2,9 @@ import asyncio
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class VirtualColumn:
|
||||
"""Virtual column device for RunColumn protocol 🏛️"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and 'id' in kwargs:
|
||||
@@ -32,9 +28,6 @@ class VirtualColumn:
|
||||
print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
|
||||
print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual column 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
|
||||
@@ -108,7 +101,7 @@ class VirtualColumn:
|
||||
step_time = separation_time / steps
|
||||
|
||||
for i in range(steps):
|
||||
await self._ros_node.sleep(step_time)
|
||||
await asyncio.sleep(step_time)
|
||||
|
||||
progress = (i + 1) / steps * 100
|
||||
volume_processed = (i + 1) * 5.0 # 假设每步处理5mL
|
||||
|
||||
@@ -4,76 +4,70 @@ import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class VirtualFilter:
|
||||
"""Virtual filter device - 完全按照 Filter.action 规范 🌊"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
if device_id is None and "id" in kwargs:
|
||||
device_id = kwargs.pop("id")
|
||||
if config is None and "config" in kwargs:
|
||||
config = kwargs.pop("config")
|
||||
|
||||
if device_id is None and 'id' in kwargs:
|
||||
device_id = kwargs.pop('id')
|
||||
if config is None and 'config' in kwargs:
|
||||
config = kwargs.pop('config')
|
||||
|
||||
self.device_id = device_id or "unknown_filter"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}")
|
||||
self.data = {}
|
||||
|
||||
|
||||
# 从config或kwargs中获取配置参数
|
||||
self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
|
||||
self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
|
||||
self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
|
||||
self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
|
||||
|
||||
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
|
||||
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
|
||||
self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
|
||||
self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
|
||||
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
|
||||
skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual filter 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
|
||||
|
||||
|
||||
# 按照 Filter.action 的 feedback 字段初始化
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Idle",
|
||||
"progress": 0.0, # Filter.action feedback
|
||||
"current_temp": 25.0, # Filter.action feedback
|
||||
"filtered_volume": 0.0, # Filter.action feedback
|
||||
"message": "Ready for filtration",
|
||||
}
|
||||
)
|
||||
|
||||
self.data.update({
|
||||
"status": "Idle",
|
||||
"progress": 0.0, # Filter.action feedback
|
||||
"current_temp": 25.0, # Filter.action feedback
|
||||
"filtered_volume": 0.0, # Filter.action feedback
|
||||
"message": "Ready for filtration"
|
||||
})
|
||||
|
||||
self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
|
||||
return True
|
||||
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""Cleanup virtual filter 🧹"""
|
||||
self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
|
||||
|
||||
self.data.update({"status": "Offline"})
|
||||
|
||||
|
||||
self.data.update({
|
||||
"status": "Offline"
|
||||
})
|
||||
|
||||
self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
|
||||
return True
|
||||
|
||||
|
||||
async def filter(
|
||||
self,
|
||||
self,
|
||||
vessel: dict,
|
||||
filtrate_vessel: dict = {},
|
||||
stir: bool = False,
|
||||
stir_speed: float = 300.0,
|
||||
temp: float = 25.0,
|
||||
continue_heatchill: bool = False,
|
||||
volume: float = 0.0,
|
||||
stir: bool = False,
|
||||
stir_speed: float = 300.0,
|
||||
temp: float = 25.0,
|
||||
continue_heatchill: bool = False,
|
||||
volume: float = 0.0
|
||||
) -> bool:
|
||||
"""Execute filter action - 完全按照 Filter.action 参数 🌊"""
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
@@ -85,52 +79,59 @@ class VirtualFilter:
|
||||
temp = 25.0 # 0度自动设置为室温
|
||||
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠")
|
||||
elif temp < 4.0:
|
||||
temp = 4.0 # 小于4度自动设置为4度
|
||||
temp = 4.0 # 小于4度自动设置为4度
|
||||
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
|
||||
|
||||
|
||||
self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
|
||||
self.logger.info(f" 🌪️ 搅拌: {stir} ({stir_speed} RPM)")
|
||||
self.logger.info(f" 🌡️ 温度: {temp}°C")
|
||||
self.logger.info(f" 💧 体积: {volume}mL")
|
||||
self.logger.info(f" 🔥 保持加热: {continue_heatchill}")
|
||||
|
||||
|
||||
# 验证参数
|
||||
if temp > self._max_temp or temp < 4.0:
|
||||
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
|
||||
self.data.update({
|
||||
"status": f"Error: 温度超出范围 ⚠️",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
|
||||
if stir and stir_speed > self._max_stir_speed:
|
||||
error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
|
||||
self.data.update({
|
||||
"status": f"Error: 搅拌速度超出范围 ⚠️",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
|
||||
if volume > self._max_volume:
|
||||
error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({"status": f"Error", "message": error_msg})
|
||||
self.data.update({
|
||||
"status": f"Error",
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
|
||||
# 开始过滤
|
||||
filter_volume = volume if volume > 0 else 50.0
|
||||
self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": f"Running",
|
||||
"current_temp": temp,
|
||||
"filtered_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
self.data.update({
|
||||
"status": f"Running",
|
||||
"current_temp": temp,
|
||||
"filtered_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
|
||||
})
|
||||
|
||||
try:
|
||||
# 过滤过程 - 实时更新进度
|
||||
start_time = time_module.time()
|
||||
|
||||
|
||||
# 根据体积和搅拌估算过滤时间
|
||||
base_time = filter_volume / 5.0 # 5mL/s 基础速度
|
||||
if stir:
|
||||
@@ -139,79 +140,78 @@ class VirtualFilter:
|
||||
if temp > 50.0:
|
||||
base_time *= 0.7 # 高温加速过滤
|
||||
self.logger.info(f"🔥 高温加速过滤，预计时间减少30% ⚡")
|
||||
|
||||
|
||||
filter_time = max(base_time, 10.0) # 最少10秒
|
||||
self.logger.info(f"⏱️ 预计过滤时间: {filter_time:.1f}秒 ⌛")
|
||||
|
||||
|
||||
while True:
|
||||
current_time = time_module.time()
|
||||
elapsed = current_time - start_time
|
||||
remaining = max(0, filter_time - elapsed)
|
||||
progress = min(100.0, (elapsed / filter_time) * 100)
|
||||
current_filtered = (progress / 100.0) * filter_volume
|
||||
|
||||
|
||||
# 更新状态 - 按照 Filter.action feedback 字段
|
||||
status_msg = f"🌊 过滤中: {vessel}"
|
||||
if stir:
|
||||
status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
|
||||
status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"progress": progress, # Filter.action feedback
|
||||
"current_temp": temp, # Filter.action feedback
|
||||
"filtered_volume": current_filtered, # Filter.action feedback
|
||||
"status": "Running",
|
||||
"message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
self.data.update({
|
||||
"progress": progress, # Filter.action feedback
|
||||
"current_temp": temp, # Filter.action feedback
|
||||
"filtered_volume": current_filtered, # Filter.action feedback
|
||||
"status": "Running",
|
||||
"message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
|
||||
})
|
||||
|
||||
# 进度日志（每25%打印一次）
|
||||
if progress >= 25 and progress % 25 < 1:
|
||||
self.logger.info(f"📊 过滤进度: {progress:.0f}% | 💧 {current_filtered:.1f}mL 完成 ✨")
|
||||
|
||||
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 过滤完成
|
||||
final_temp = temp if continue_heatchill else 25.0
|
||||
final_status = f"✅ 过滤完成: {vessel} | 💧 {filter_volume}mL → {filtrate_vessel}"
|
||||
if continue_heatchill:
|
||||
final_status += " | 🔥 继续加热搅拌"
|
||||
self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": final_status,
|
||||
"progress": 100.0, # Filter.action feedback
|
||||
"current_temp": final_temp, # Filter.action feedback
|
||||
"filtered_volume": filter_volume, # Filter.action feedback
|
||||
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
self.data.update({
|
||||
"status": final_status,
|
||||
"progress": 100.0, # Filter.action feedback
|
||||
"current_temp": final_temp, # Filter.action feedback
|
||||
"filtered_volume": filter_volume, # Filter.action feedback
|
||||
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
|
||||
})
|
||||
|
||||
self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
|
||||
self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
|
||||
return True
|
||||
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"过滤过程中发生错误: {str(e)} 💥"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
|
||||
self.data.update({
|
||||
"status": f"Error",
|
||||
"message": f"❌ Filtration failed: {str(e)}"
|
||||
})
|
||||
return False
|
||||
|
||||
|
||||
# === 核心状态属性 - 按照 Filter.action feedback 字段 ===
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "❓ Unknown")
|
||||
|
||||
|
||||
@property
|
||||
def progress(self) -> float:
|
||||
"""Filter.action feedback 字段 📊"""
|
||||
return self.data.get("progress", 0.0)
|
||||
|
||||
|
||||
@property
|
||||
def current_temp(self) -> float:
|
||||
"""Filter.action feedback 字段 🌡️"""
|
||||
@@ -230,15 +230,15 @@ class VirtualFilter:
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
|
||||
|
||||
@property
|
||||
def max_temp(self) -> float:
|
||||
return self._max_temp
|
||||
|
||||
|
||||
@property
|
||||
def max_stir_speed(self) -> float:
|
||||
return self._max_stir_speed
|
||||
|
||||
|
||||
@property
|
||||
def max_volume(self) -> float:
|
||||
return self._max_volume
|
||||
return self._max_volume
|
||||
@@ -3,13 +3,9 @@ import logging
|
||||
import time as time_module # 重命名time模块，避免与参数冲突
|
||||
from typing import Dict, Any
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class VirtualHeatChill:
|
||||
"""Virtual heat chill device for HeatChillProtocol testing 🌡️"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and 'id' in kwargs:
|
||||
@@ -39,9 +35,6 @@ class VirtualHeatChill:
|
||||
print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
|
||||
print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual heat chill 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
|
||||
@@ -184,7 +177,7 @@ class VirtualHeatChill:
|
||||
break
|
||||
|
||||
# 等待1秒后再次检查
|
||||
await self._ros_node.sleep(1.0)
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 操作完成
|
||||
final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
|
||||
|
||||
@@ -3,19 +3,13 @@ import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出 🔍"""
|
||||
print(f"🌪️ [ROTAVAP] {message}", flush=True)
|
||||
|
||||
|
||||
class VirtualRotavap:
|
||||
"""Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and "id" in kwargs:
|
||||
@@ -44,65 +38,56 @@ class VirtualRotavap:
|
||||
print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
|
||||
print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual rotary evaporator 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
|
||||
|
||||
|
||||
# 只保留核心状态
|
||||
self.data.update(
|
||||
{
|
||||
"status": "🏠 待机中",
|
||||
"rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0, # 大气压
|
||||
"evaporated_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"remaining_time": 0.0,
|
||||
"message": "🌪️ Ready for evaporation",
|
||||
}
|
||||
)
|
||||
|
||||
self.data.update({
|
||||
"status": "🏠 待机中",
|
||||
"rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
|
||||
"current_temp": 25.0,
|
||||
"target_temp": 25.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0, # 大气压
|
||||
"evaporated_volume": 0.0,
|
||||
"progress": 0.0,
|
||||
"remaining_time": 0.0,
|
||||
"message": "🌪️ Ready for evaporation"
|
||||
})
|
||||
|
||||
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
|
||||
self.logger.info(
|
||||
f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
|
||||
)
|
||||
self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM")
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""Cleanup virtual rotary evaporator 🧹"""
|
||||
self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": "💤 离线",
|
||||
"rotavap_state": "Offline",
|
||||
"current_temp": 25.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0,
|
||||
"message": "💤 System offline",
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
self.data.update({
|
||||
"status": "💤 离线",
|
||||
"rotavap_state": "Offline",
|
||||
"current_temp": 25.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0,
|
||||
"message": "💤 System offline"
|
||||
})
|
||||
|
||||
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
|
||||
return True
|
||||
|
||||
async def evaporate(
|
||||
self,
|
||||
vessel: str,
|
||||
pressure: float = 0.1,
|
||||
temp: float = 60.0,
|
||||
self,
|
||||
vessel: str,
|
||||
pressure: float = 0.1,
|
||||
temp: float = 60.0,
|
||||
time: float = 180.0,
|
||||
stir_speed: float = 100.0,
|
||||
solvent: str = "",
|
||||
**kwargs,
|
||||
**kwargs
|
||||
) -> bool:
|
||||
"""Execute evaporate action - 简化版 🌪️"""
|
||||
|
||||
|
||||
# 🔧 新增：确保time参数是数值类型
|
||||
if isinstance(time, str):
|
||||
try:
|
||||
@@ -113,31 +98,31 @@ class VirtualRotavap:
|
||||
elif not isinstance(time, (int, float)):
|
||||
self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
|
||||
time = 180.0
|
||||
|
||||
|
||||
# 确保time是float类型; 并加速
|
||||
time = float(time) / 10.0
|
||||
|
||||
|
||||
# 🔧 简化处理：如果vessel就是设备自己，直接操作
|
||||
if vessel == self.device_id:
|
||||
debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
|
||||
actual_vessel = self.device_id
|
||||
else:
|
||||
actual_vessel = vessel
|
||||
|
||||
|
||||
# 参数预处理
|
||||
if solvent:
|
||||
self.logger.info(f"🧪 识别到溶剂: {solvent}")
|
||||
# 根据溶剂调整参数
|
||||
solvent_lower = solvent.lower()
|
||||
if any(s in solvent_lower for s in ["water", "aqueous"]):
|
||||
if any(s in solvent_lower for s in ['water', 'aqueous']):
|
||||
temp = max(temp, 80.0)
|
||||
pressure = max(pressure, 0.2)
|
||||
self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
|
||||
elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
|
||||
elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
|
||||
temp = min(temp, 50.0)
|
||||
pressure = min(pressure, 0.05)
|
||||
self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
|
||||
|
||||
|
||||
self.logger.info(f"🌪️ 开始蒸发操作: {actual_vessel}")
|
||||
self.logger.info(f" 🥽 容器: {actual_vessel}")
|
||||
self.logger.info(f" 🌡️ 温度: {temp}°C")
|
||||
@@ -146,140 +131,126 @@ class VirtualRotavap:
|
||||
self.logger.info(f" 🌀 转速: {stir_speed} RPM")
|
||||
if solvent:
|
||||
self.logger.info(f" 🧪 溶剂: {solvent}")
|
||||
|
||||
|
||||
# 验证参数
|
||||
if temp > self._max_temp or temp < 10.0:
|
||||
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update(
|
||||
{
|
||||
"status": f"❌ 错误: 温度超出范围",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": error_msg,
|
||||
}
|
||||
)
|
||||
self.data.update({
|
||||
"status": f"❌ 错误: 温度超出范围",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
|
||||
error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update(
|
||||
{
|
||||
"status": f"❌ 错误: 转速超出范围",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": error_msg,
|
||||
}
|
||||
)
|
||||
self.data.update({
|
||||
"status": f"❌ 错误: 转速超出范围",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
if pressure < 0.01 or pressure > 1.0:
|
||||
error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
self.data.update(
|
||||
{
|
||||
"status": f"❌ 错误: 压力超出范围",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": error_msg,
|
||||
}
|
||||
)
|
||||
self.data.update({
|
||||
"status": f"❌ 错误: 压力超出范围",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": error_msg
|
||||
})
|
||||
return False
|
||||
|
||||
# 开始蒸发 - 🔧 现在time已经确保是float类型
|
||||
self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": f"🌪️ 蒸发中: {actual_vessel}",
|
||||
"rotavap_state": "Evaporating",
|
||||
"current_temp": temp,
|
||||
"target_temp": temp,
|
||||
"rotation_speed": stir_speed,
|
||||
"vacuum_pressure": pressure,
|
||||
"remaining_time": time,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
|
||||
}
|
||||
)
|
||||
|
||||
self.data.update({
|
||||
"status": f"🌪️ 蒸发中: {actual_vessel}",
|
||||
"rotavap_state": "Evaporating",
|
||||
"current_temp": temp,
|
||||
"target_temp": temp,
|
||||
"rotation_speed": stir_speed,
|
||||
"vacuum_pressure": pressure,
|
||||
"remaining_time": time,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
|
||||
})
|
||||
|
||||
try:
|
||||
# 蒸发过程 - 实时更新进度
|
||||
start_time = time_module.time()
|
||||
total_time = time
|
||||
last_logged_progress = 0
|
||||
|
||||
|
||||
while True:
|
||||
current_time = time_module.time()
|
||||
elapsed = current_time - start_time
|
||||
remaining = max(0, total_time - elapsed)
|
||||
progress = min(100.0, (elapsed / total_time) * 100)
|
||||
|
||||
|
||||
# 模拟蒸发体积 - 根据溶剂类型调整
|
||||
if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
|
||||
if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
|
||||
evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢
|
||||
elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
|
||||
elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
|
||||
evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快
|
||||
else:
|
||||
evaporated_vol = progress * 0.8 # 默认蒸发量
|
||||
|
||||
|
||||
# 🔧 更新状态 - 确保包含所有必需字段
|
||||
status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"remaining_time": remaining,
|
||||
"progress": progress,
|
||||
"evaporated_volume": evaporated_vol,
|
||||
"current_temp": temp,
|
||||
"status": status_msg,
|
||||
"message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"progress": progress,
|
||||
"evaporated_volume": evaporated_vol,
|
||||
"current_temp": temp,
|
||||
"status": status_msg,
|
||||
"message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining"
|
||||
})
|
||||
|
||||
# 进度日志（每25%打印一次）
|
||||
if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
|
||||
self.logger.info(
|
||||
f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
|
||||
)
|
||||
self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨")
|
||||
last_logged_progress = int(progress)
|
||||
|
||||
|
||||
# 时间到了，退出循环
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
|
||||
# 每秒更新一次
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# 蒸发完成
|
||||
if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
|
||||
if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
|
||||
final_evaporated = 60.0 # 水系溶剂
|
||||
elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
|
||||
elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
|
||||
final_evaporated = 100.0 # 易挥发溶剂
|
||||
else:
|
||||
final_evaporated = 80.0 # 默认
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
|
||||
"rotavap_state": "Completed",
|
||||
"evaporated_volume": final_evaporated,
|
||||
"progress": 100.0,
|
||||
"current_temp": temp,
|
||||
"remaining_time": 0.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0,
|
||||
"message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
|
||||
}
|
||||
)
|
||||
|
||||
self.data.update({
|
||||
"status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
|
||||
"rotavap_state": "Completed",
|
||||
"evaporated_volume": final_evaporated,
|
||||
"progress": 100.0,
|
||||
"current_temp": temp,
|
||||
"remaining_time": 0.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0,
|
||||
"message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
|
||||
})
|
||||
|
||||
self.logger.info(f"🎉 蒸发操作完成! ✨")
|
||||
self.logger.info(f"📊 蒸发结果:")
|
||||
@@ -291,26 +262,24 @@ class VirtualRotavap:
|
||||
self.logger.info(f" ⏱️ 总用时: {total_time:.0f}s")
|
||||
if solvent:
|
||||
self.logger.info(f" 🧪 处理溶剂: {solvent} 🏁")
|
||||
|
||||
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
# 出错处理
|
||||
error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
|
||||
self.logger.error(f"❌ {error_msg}")
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": f"❌ 蒸发错误: {str(e)}",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0,
|
||||
"message": f"❌ Evaporation failed: {str(e)}",
|
||||
}
|
||||
)
|
||||
|
||||
self.data.update({
|
||||
"status": f"❌ 蒸发错误: {str(e)}",
|
||||
"rotavap_state": "Error",
|
||||
"current_temp": 25.0,
|
||||
"progress": 0.0,
|
||||
"evaporated_volume": 0.0,
|
||||
"rotation_speed": 0.0,
|
||||
"vacuum_pressure": 1.0,
|
||||
"message": f"❌ Evaporation failed: {str(e)}"
|
||||
})
|
||||
return False
|
||||
|
||||
# === 核心状态属性 ===
|
||||
|
||||
@@ -2,13 +2,9 @@ import asyncio
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class VirtualSeparator:
|
||||
"""Virtual separator device for SeparateProtocol testing"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
@@ -39,9 +35,6 @@ class VirtualSeparator:
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual separator"""
|
||||
@@ -126,14 +119,14 @@ class VirtualSeparator:
|
||||
for repeat in range(repeats):
|
||||
# 搅拌阶段
|
||||
for progress in range(0, 51, 10):
|
||||
await self._ros_node.sleep(simulation_time / (repeats * 10))
|
||||
await asyncio.sleep(simulation_time / (repeats * 10))
|
||||
overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
|
||||
self.data["progress"] = overall_progress
|
||||
self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
|
||||
|
||||
# 静置分相阶段
|
||||
for progress in range(50, 101, 10):
|
||||
await self._ros_node.sleep(simulation_time / (repeats * 10))
|
||||
await asyncio.sleep(simulation_time / (repeats * 10))
|
||||
overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
|
||||
self.data["progress"] = overall_progress
|
||||
self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"
|
||||
|
||||
@@ -2,16 +2,11 @@ import time
|
||||
import asyncio
|
||||
from typing import Union
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class VirtualSolenoidValve:
|
||||
"""
|
||||
虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
|
||||
# 从配置中获取参数，提供默认值
|
||||
if config is None:
|
||||
@@ -26,9 +21,6 @@ class VirtualSolenoidValve:
|
||||
self._status = "Idle"
|
||||
self._valve_state = "Closed" # "Open" or "Closed"
|
||||
self._is_open = False
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化设备"""
|
||||
@@ -71,7 +63,7 @@ class VirtualSolenoidValve:
|
||||
self._status = "Busy"
|
||||
|
||||
# 模拟阀门响应时间
|
||||
await self._ros_node.sleep(self.response_time)
|
||||
await asyncio.sleep(self.response_time)
|
||||
|
||||
# 处理不同的命令格式
|
||||
if isinstance(command, str):
|
||||
|
||||
@@ -3,8 +3,6 @@ import logging
|
||||
import re
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class VirtualSolidDispenser:
|
||||
"""
|
||||
虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
|
||||
@@ -15,8 +13,6 @@ class VirtualSolidDispenser:
|
||||
- 简单反馈：成功/失败 + 消息 📊
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
self.device_id = device_id or "virtual_solid_dispenser"
|
||||
self.config = config or {}
|
||||
@@ -36,9 +32,6 @@ class VirtualSolidDispenser:
|
||||
print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
|
||||
print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化固体加样器 🚀"""
|
||||
self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
|
||||
@@ -270,7 +263,7 @@ class VirtualSolidDispenser:
|
||||
|
||||
for i in range(steps):
|
||||
progress = (i + 1) / steps * 100
|
||||
await self._ros_node.sleep(step_time)
|
||||
await asyncio.sleep(step_time)
|
||||
if i % 2 == 0: # 每隔一步显示进度
|
||||
self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")
|
||||
|
||||
|
||||
@@ -3,13 +3,9 @@ import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class VirtualStirrer:
|
||||
"""Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and 'id' in kwargs:
|
||||
@@ -38,9 +34,6 @@ class VirtualStirrer:
|
||||
print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
|
||||
print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""Initialize virtual stirrer 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
|
||||
@@ -141,7 +134,7 @@ class VirtualStirrer:
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
await self._ros_node.sleep(1.0)
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
|
||||
|
||||
@@ -183,7 +176,7 @@ class VirtualStirrer:
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
await self._ros_node.sleep(1.0)
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")
|
||||
|
||||
|
||||
@@ -4,8 +4,6 @@ from enum import Enum
|
||||
from typing import Union, Optional
|
||||
import logging
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class VirtualPumpMode(Enum):
|
||||
Normal = 0
|
||||
@@ -16,8 +14,6 @@ class VirtualPumpMode(Enum):
|
||||
class VirtualTransferPump:
|
||||
"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
|
||||
"""
|
||||
初始化虚拟转移泵
|
||||
@@ -57,9 +53,6 @@ class VirtualTransferPump:
|
||||
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
|
||||
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化虚拟泵 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
|
||||
@@ -111,7 +104,7 @@ class VirtualTransferPump:
|
||||
async def _simulate_operation(self, duration: float):
|
||||
"""模拟操作延时 ⏱️"""
|
||||
self._status = "Busy"
|
||||
await self._ros_node.sleep(duration)
|
||||
await asyncio.sleep(duration)
|
||||
self._status = "Idle"
|
||||
|
||||
def _calculate_duration(self, volume: float, velocity: float = None) -> float:
|
||||
@@ -230,7 +223,7 @@ class VirtualTransferPump:
|
||||
|
||||
# 等待一小步时间
|
||||
if i < steps and step_duration > 0:
|
||||
await self._ros_node.sleep(step_duration)
|
||||
await asyncio.sleep(step_duration)
|
||||
else:
|
||||
# 移动距离很小，直接完成
|
||||
self._position = target_position
|
||||
@@ -348,7 +341,7 @@ class VirtualTransferPump:
|
||||
|
||||
# 短暂停顿
|
||||
self.logger.debug("⏸️ 短暂停顿...")
|
||||
await self._ros_node.sleep(0.1)
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
# 排液
|
||||
await self.dispense(volume, dispense_velocity)
|
||||
|
||||
@@ -37,7 +37,7 @@ def _initialize_material_system(self, deck_config: Dict[str, Any], children_conf
|
||||
**定义在**: `workstation_base.py`
|
||||
|
||||
**设计目的**：
|
||||
- 提供外部物料系统（如Bioyond、LIMS等）集成的标准接口
|
||||
- 提供外部物料系统（如Bioyong、LIMS等）集成的标准接口
|
||||
- 双向同步：从外部系统同步到本地deck，以及将本地变更同步到外部系统
|
||||
- 处理外部系统的变更通知
|
||||
|
||||
@@ -59,7 +59,7 @@ async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
|
||||
**扩展功能**：
|
||||
- HTTP报送接收服务集成
|
||||
- 具体工作流实现（液体转移、板洗等）
|
||||
- Bioyond物料系统同步器示例
|
||||
- Bioyong物料系统同步器示例
|
||||
- 外部报送处理方法
|
||||
|
||||
## 技术栈
|
||||
@@ -142,11 +142,11 @@ success = workstation.execute_workflow("liquid_transfer", {
|
||||
### 3. 外部系统集成
|
||||
|
||||
```python
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
"""Bioyond系统同步器"""
|
||||
class BioyongResourceSynchronizer(ResourceSynchronizer):
|
||||
"""Bioyong系统同步器"""
|
||||
|
||||
async def sync_from_external(self) -> bool:
|
||||
# 从Bioyond API获取物料
|
||||
# 从Bioyong API获取物料
|
||||
external_materials = await self._fetch_bioyong_materials()
|
||||
|
||||
# 转换并添加到本地deck
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -9,6 +9,22 @@ API_CONFIG = {
|
||||
"api_host": ""
|
||||
}
|
||||
|
||||
# 站点类型配置
|
||||
STATION_TYPES = {
|
||||
"REACTION": "reaction_station", # 仅反应站
|
||||
"DISPENSING": "dispensing_station", # 仅配液站
|
||||
"HYBRID": "hybrid_station" # 混合模式
|
||||
}
|
||||
|
||||
# 默认站点配置
|
||||
DEFAULT_STATION_CONFIG = {
|
||||
"station_type": STATION_TYPES["REACTION"], # 默认反应站模式
|
||||
"enable_reaction_station": True, # 是否启用反应站功能
|
||||
"enable_dispensing_station": False, # 是否启用配液站功能
|
||||
"station_name": "BioyondReactionStation", # 站点名称
|
||||
"description": "Bioyond反应工作站" # 站点描述
|
||||
}
|
||||
|
||||
# 工作流映射配置
|
||||
WORKFLOW_MAPPINGS = {
|
||||
"reactor_taken_out": "",
|
||||
@@ -33,75 +49,52 @@ WORKFLOW_TO_SECTION_MAP = {
|
||||
}
|
||||
|
||||
# 库位映射配置
|
||||
WAREHOUSE_MAPPING = {
|
||||
"粉末堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
# 样品板
|
||||
"A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"A2": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
|
||||
"A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
|
||||
"B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
|
||||
"B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
|
||||
"B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
|
||||
"B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
|
||||
# 分装板
|
||||
"C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
|
||||
"C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
|
||||
"C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
|
||||
"D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
|
||||
"D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
|
||||
"D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
|
||||
"D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
|
||||
}
|
||||
},
|
||||
"溶液堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
|
||||
"A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
|
||||
"A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
|
||||
"A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
|
||||
"B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
|
||||
"B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
|
||||
"B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
|
||||
"B4": "3a14198e-d724-1e28-c885-574c3df468d0",
|
||||
"C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
|
||||
"C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
|
||||
"C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
|
||||
"C4": "3a14198e-d724-28a2-a760-baa896f46b66",
|
||||
"D1": "3a14198e-d724-d378-d266-2508a224a19f",
|
||||
"D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
|
||||
"D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
|
||||
"D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
|
||||
}
|
||||
},
|
||||
"试剂堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
|
||||
"A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
|
||||
"A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
|
||||
"A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
|
||||
"B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
|
||||
"B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
|
||||
"B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
|
||||
"B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
|
||||
}
|
||||
}
|
||||
LOCATION_MAPPING = {
|
||||
'A01': '',
|
||||
'A02': '',
|
||||
'A03': '',
|
||||
'A04': '',
|
||||
'A05': '',
|
||||
'A06': '',
|
||||
'A07': '',
|
||||
'A08': '',
|
||||
'B01': '',
|
||||
'B02': '',
|
||||
'B03': '',
|
||||
'B04': '',
|
||||
'B05': '',
|
||||
'B06': '',
|
||||
'B07': '',
|
||||
'B08': '',
|
||||
'C01': '',
|
||||
'C02': '',
|
||||
'C03': '',
|
||||
'C04': '',
|
||||
'C05': '',
|
||||
'C06': '',
|
||||
'C07': '',
|
||||
'C08': '',
|
||||
'D01': '',
|
||||
'D02': '',
|
||||
'D03': '',
|
||||
'D04': '',
|
||||
'D05': '',
|
||||
'D06': '',
|
||||
'D07': '',
|
||||
'D08': '',
|
||||
}
|
||||
|
||||
# 物料类型配置
|
||||
MATERIAL_TYPE_IDS = {
|
||||
"样品板": "",
|
||||
"样品": "",
|
||||
"烧杯": ""
|
||||
}
|
||||
|
||||
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",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6VialCarrier",
|
||||
}
|
||||
|
||||
# 步骤参数配置（各工作流的步骤UUID）
|
||||
@@ -134,5 +127,3 @@ WORKFLOW_STEP_IDS = {
|
||||
"observe": ""
|
||||
}
|
||||
}
|
||||
|
||||
LOCATION_MAPPING = {}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,205 +1,203 @@
|
||||
# experiment_workflow.py
|
||||
"""
|
||||
实验流程主程序
|
||||
"""
|
||||
|
||||
import json
|
||||
from unilabos.devices.workstation.bioyond_studio.reaction_station import BioyondReactionStation
|
||||
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, WORKFLOW_MAPPINGS, DECK_CONFIG, MATERIAL_TYPE_MAPPINGS
|
||||
from bioyond_rpc import BioyondV1RPC
|
||||
from config import API_CONFIG, WORKFLOW_MAPPINGS
|
||||
|
||||
|
||||
def run_experiment():
|
||||
"""运行实验流程"""
|
||||
|
||||
|
||||
# 初始化Bioyond客户端
|
||||
config = {
|
||||
**API_CONFIG,
|
||||
"workflow_mappings": WORKFLOW_MAPPINGS,
|
||||
"material_type_mappings": MATERIAL_TYPE_MAPPINGS
|
||||
"workflow_mappings": WORKFLOW_MAPPINGS
|
||||
}
|
||||
|
||||
# 创建BioyondReactionStation实例，传入deck配置
|
||||
Bioyond = BioyondReactionStation(
|
||||
config=config,
|
||||
deck=DECK_CONFIG
|
||||
)
|
||||
|
||||
|
||||
Bioyond = BioyondV1RPC(config)
|
||||
|
||||
print("\n============= 多工作流参数测试（简化接口+材料缓存）=============")
|
||||
|
||||
|
||||
# 显示可用的材料名称（前20个）
|
||||
available_materials = Bioyond.hardware_interface.get_available_materials()
|
||||
available_materials = Bioyond.get_available_materials()
|
||||
print(f"可用材料名称（前20个）: {available_materials[:20]}")
|
||||
print(f"总共有 {len(available_materials)} 个材料可用\n")
|
||||
|
||||
|
||||
# 1. 反应器放入
|
||||
print("1. 添加反应器放入工作流，带参数...")
|
||||
Bioyond.reactor_taken_in(
|
||||
assign_material_name="BTDA-DD",
|
||||
cutoff="10000",
|
||||
assign_material_name="BTDA-DD",
|
||||
cutoff="10000",
|
||||
temperature="-10"
|
||||
)
|
||||
|
||||
|
||||
# 2. 液体投料-烧杯 (第一个)
|
||||
print("2. 添加液体投料-烧杯，带参数...")
|
||||
Bioyond.liquid_feeding_beaker(
|
||||
volume="34768.7",
|
||||
volume="34768.7",
|
||||
assign_material_name="ODA",
|
||||
time="0",
|
||||
torque_variation="1",
|
||||
titration_type="1",
|
||||
time="0",
|
||||
torque_variation="1",
|
||||
titrationType="1",
|
||||
temperature=-10
|
||||
)
|
||||
|
||||
|
||||
# 3. 液体投料-烧杯 (第二个)
|
||||
print("3. 添加液体投料-烧杯，带参数...")
|
||||
Bioyond.liquid_feeding_beaker(
|
||||
volume="34080.9",
|
||||
volume="34080.9",
|
||||
assign_material_name="MPDA",
|
||||
time="5",
|
||||
torque_variation="2",
|
||||
titration_type="1",
|
||||
time="5",
|
||||
torque_variation="2",
|
||||
titrationType="1",
|
||||
temperature=0
|
||||
)
|
||||
|
||||
|
||||
# 4. 液体投料-小瓶非滴定
|
||||
print("4. 添加液体投料-小瓶非滴定，带参数...")
|
||||
Bioyond.liquid_feeding_vials_non_titration(
|
||||
volume_formula="639.5",
|
||||
assign_material_name="SIDA",
|
||||
titration_type="1",
|
||||
time="0",
|
||||
torque_variation="1",
|
||||
volumeFormula="639.5",
|
||||
assign_material_name="SIDA",
|
||||
titration_type="1",
|
||||
time="0",
|
||||
torque_variation="1",
|
||||
temperature=-10
|
||||
)
|
||||
|
||||
|
||||
# 5. 液体投料溶剂
|
||||
print("5. 添加液体投料溶剂，带参数...")
|
||||
Bioyond.liquid_feeding_solvents(
|
||||
assign_material_name="NMP",
|
||||
volume="19000",
|
||||
titration_type="1",
|
||||
time="5",
|
||||
torque_variation="2",
|
||||
volume="19000",
|
||||
titration_type="1",
|
||||
time="5",
|
||||
torque_variation="2",
|
||||
temperature=-10
|
||||
)
|
||||
|
||||
|
||||
# 6-8. 固体进料小瓶 (三个)
|
||||
print("6. 添加固体进料小瓶，带参数...")
|
||||
Bioyond.solid_feeding_vials(
|
||||
material_id="3",
|
||||
time="180",
|
||||
material_id="3",
|
||||
time="180",
|
||||
torque_variation="2",
|
||||
assign_material_name="BTDA1",
|
||||
assign_material_name="BTDA-1",
|
||||
temperature=-10.00
|
||||
)
|
||||
|
||||
|
||||
print("7. 添加固体进料小瓶，带参数...")
|
||||
Bioyond.solid_feeding_vials(
|
||||
material_id="3",
|
||||
time="180",
|
||||
material_id="3",
|
||||
time="180",
|
||||
torque_variation="2",
|
||||
assign_material_name="BTDA2",
|
||||
assign_material_name="BTDA-2",
|
||||
temperature=25.00
|
||||
)
|
||||
|
||||
|
||||
print("8. 添加固体进料小瓶，带参数...")
|
||||
Bioyond.solid_feeding_vials(
|
||||
material_id="3",
|
||||
time="480",
|
||||
material_id="3",
|
||||
time="480",
|
||||
torque_variation="2",
|
||||
assign_material_name="BTDA3",
|
||||
assign_material_name="BTDA-3",
|
||||
temperature=25.00
|
||||
)
|
||||
|
||||
|
||||
# 液体投料滴定（第一个）
|
||||
print("9. 添加液体投料滴定，带参数...") # ODPA
|
||||
Bioyond.liquid_feeding_titration(
|
||||
volume_formula="{{6-0-5}}+{{7-0-5}}+{{8-0-5}}",
|
||||
volume_formula="1000",
|
||||
assign_material_name="BTDA-DD",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
temperature="25.00"
|
||||
)
|
||||
|
||||
|
||||
# 液体投料滴定（第二个）
|
||||
print("10. 添加液体投料滴定，带参数...") # ODPA
|
||||
Bioyond.liquid_feeding_titration(
|
||||
volume_formula="500",
|
||||
volume_formula="500",
|
||||
assign_material_name="BTDA-DD",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
temperature="25.00"
|
||||
)
|
||||
|
||||
# 液体投料滴定（第三个）
|
||||
print("11. 添加液体投料滴定，带参数...") # ODPA
|
||||
Bioyond.liquid_feeding_titration(
|
||||
volume_formula="500",
|
||||
volume_formula="500",
|
||||
assign_material_name="BTDA-DD",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
temperature="25.00"
|
||||
)
|
||||
|
||||
|
||||
print("12. 添加液体投料滴定，带参数...") # ODPA
|
||||
Bioyond.liquid_feeding_titration(
|
||||
volume_formula="500",
|
||||
volume_formula="500",
|
||||
assign_material_name="BTDA-DD",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
temperature="25.00"
|
||||
)
|
||||
|
||||
|
||||
print("13. 添加液体投料滴定，带参数...") # ODPA
|
||||
Bioyond.liquid_feeding_titration(
|
||||
volume_formula="500",
|
||||
volume_formula="500",
|
||||
assign_material_name="BTDA-DD",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
temperature="25.00"
|
||||
)
|
||||
|
||||
print("14. 添加液体投料滴定，带参数...") # ODPA
|
||||
Bioyond.liquid_feeding_titration(
|
||||
volume_formula="500",
|
||||
assign_material_name="BTDA-DD",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
temperature="25.00"
|
||||
)
|
||||
|
||||
print("14. 添加液体投料滴定，带参数...") # ODPA
|
||||
Bioyond.liquid_feeding_titration(
|
||||
volume_formula="500",
|
||||
assign_material_name="BTDA-DD",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
temperature="25.00"
|
||||
)
|
||||
|
||||
|
||||
print("15. 添加液体投料溶剂，带参数...")
|
||||
Bioyond.liquid_feeding_solvents(
|
||||
assign_material_name="PGME",
|
||||
volume="16894.6",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
volume="16894.6",
|
||||
titration_type="1",
|
||||
time="360",
|
||||
torque_variation="2",
|
||||
temperature=25.00
|
||||
)
|
||||
|
||||
|
||||
# 16. 反应器取出
|
||||
print("16. 添加反应器取出工作流...")
|
||||
Bioyond.reactor_taken_out()
|
||||
|
||||
|
||||
# 显示当前工作流序列
|
||||
sequence = Bioyond.get_workflow_sequence()
|
||||
print("\n当前工作流执行顺序:")
|
||||
print(sequence)
|
||||
|
||||
|
||||
# 执行process_and_execute_workflow，合并工作流并创建任务
|
||||
print("\n4. 执行process_and_execute_workflow...")
|
||||
|
||||
|
||||
result = Bioyond.process_and_execute_workflow(
|
||||
workflow_name="test3",
|
||||
task_name="实验3"
|
||||
workflow_name="test3_86",
|
||||
task_name="实验3_86"
|
||||
)
|
||||
|
||||
|
||||
# 显示执行结果
|
||||
print("\n5. 执行结果:")
|
||||
if isinstance(result, str):
|
||||
@@ -207,9 +205,9 @@ def run_experiment():
|
||||
result_dict = json.loads(result)
|
||||
if result_dict.get("success"):
|
||||
print("任务创建成功!")
|
||||
# print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
|
||||
# print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
|
||||
# print(f"- 任务结果: {result_dict.get('task')}")
|
||||
print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
|
||||
print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
|
||||
print(f"- 任务结果: {result_dict.get('task')}")
|
||||
else:
|
||||
print(f"任务创建失败: {result_dict.get('error')}")
|
||||
except:
|
||||
@@ -222,179 +220,179 @@ def run_experiment():
|
||||
print(f"- 任务结果: {result.get('task')}")
|
||||
else:
|
||||
print(f"任务创建失败: {result.get('error')}")
|
||||
|
||||
|
||||
# 可选：启动调度器
|
||||
# Bioyond.scheduler_start()
|
||||
|
||||
|
||||
return Bioyond
|
||||
|
||||
|
||||
# def prepare_materials(bioyond):
|
||||
# """准备实验材料（可选）"""
|
||||
|
||||
# # 样品板材料数据定义
|
||||
# material_data_yp_1 = {
|
||||
# "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
|
||||
# "name": "样品板-1",
|
||||
# "unit": "个",
|
||||
# "quantity": 1,
|
||||
# "details": [
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "BPDA-DD-1",
|
||||
# "quantity": 1,
|
||||
# "x": 1,
|
||||
# "y": 1,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "PEPA",
|
||||
# "quantity": 1,
|
||||
# "x": 1,
|
||||
# "y": 2,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "BPDA-DD-2",
|
||||
# "quantity": 1,
|
||||
# "x": 1,
|
||||
# "y": 3,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "BPDA-1",
|
||||
# "quantity": 1,
|
||||
# "x": 2,
|
||||
# "y": 1,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "PMDA",
|
||||
# "quantity": 1,
|
||||
# "x": 2,
|
||||
# "y": 2,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "BPDA-2",
|
||||
# "quantity": 1,
|
||||
# "x": 2,
|
||||
# "y": 3,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# }
|
||||
# ],
|
||||
# "Parameters": "{}"
|
||||
# }
|
||||
|
||||
# material_data_yp_2 = {
|
||||
# "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
|
||||
# "name": "样品板-2",
|
||||
# "unit": "个",
|
||||
# "quantity": 1,
|
||||
# "details": [
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "BPDA-DD",
|
||||
# "quantity": 1,
|
||||
# "x": 1,
|
||||
# "y": 1,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "SIDA",
|
||||
# "quantity": 1,
|
||||
# "x": 1,
|
||||
# "y": 2,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "BTDA-1",
|
||||
# "quantity": 1,
|
||||
# "x": 2,
|
||||
# "y": 1,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "BTDA-2",
|
||||
# "quantity": 1,
|
||||
# "x": 2,
|
||||
# "y": 2,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
# "name": "BTDA-3",
|
||||
# "quantity": 1,
|
||||
# "x": 2,
|
||||
# "y": 3,
|
||||
# "Parameters": "{\"molecular\": 1}"
|
||||
# }
|
||||
# ],
|
||||
# "Parameters": "{}"
|
||||
# }
|
||||
|
||||
# # 烧杯材料数据定义
|
||||
# beaker_materials = [
|
||||
# {
|
||||
# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
# "name": "PDA-1",
|
||||
# "unit": "微升",
|
||||
# "quantity": 1,
|
||||
# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
# "name": "TFDB",
|
||||
# "unit": "微升",
|
||||
# "quantity": 1,
|
||||
# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
# "name": "ODA",
|
||||
# "unit": "微升",
|
||||
# "quantity": 1,
|
||||
# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
# "name": "MPDA",
|
||||
# "unit": "微升",
|
||||
# "quantity": 1,
|
||||
# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
# },
|
||||
# {
|
||||
# "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
# "name": "PDA-2",
|
||||
# "unit": "微升",
|
||||
# "quantity": 1,
|
||||
# "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
# }
|
||||
# ]
|
||||
|
||||
# # 如果需要，可以在这里调用add_material方法添加材料
|
||||
# # 例如:
|
||||
# # result = bioyond.add_material(json.dumps(material_data_yp_1))
|
||||
# # print(f"添加材料结果: {result}")
|
||||
|
||||
# return {
|
||||
# "sample_plates": [material_data_yp_1, material_data_yp_2],
|
||||
# "beakers": beaker_materials
|
||||
# }
|
||||
def prepare_materials(bioyond):
|
||||
"""准备实验材料（可选）"""
|
||||
|
||||
# 样品板材料数据定义
|
||||
material_data_yp_1 = {
|
||||
"typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
|
||||
"name": "样品板-1",
|
||||
"unit": "个",
|
||||
"quantity": 1,
|
||||
"details": [
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "BPDA-DD-1",
|
||||
"quantity": 1,
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "PEPA",
|
||||
"quantity": 1,
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "BPDA-DD-2",
|
||||
"quantity": 1,
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "BPDA-1",
|
||||
"quantity": 1,
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "PMDA",
|
||||
"quantity": 1,
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "BPDA-2",
|
||||
"quantity": 1,
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
}
|
||||
],
|
||||
"Parameters": "{}"
|
||||
}
|
||||
|
||||
material_data_yp_2 = {
|
||||
"typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
|
||||
"name": "样品板-2",
|
||||
"unit": "个",
|
||||
"quantity": 1,
|
||||
"details": [
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "BPDA-DD",
|
||||
"quantity": 1,
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "SIDA",
|
||||
"quantity": 1,
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "BTDA-1",
|
||||
"quantity": 1,
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "BTDA-2",
|
||||
"quantity": 1,
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
|
||||
"name": "BTDA-3",
|
||||
"quantity": 1,
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"Parameters": "{\"molecular\": 1}"
|
||||
}
|
||||
],
|
||||
"Parameters": "{}"
|
||||
}
|
||||
|
||||
# 烧杯材料数据定义
|
||||
beaker_materials = [
|
||||
{
|
||||
"typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
"name": "PDA-1",
|
||||
"unit": "微升",
|
||||
"quantity": 1,
|
||||
"parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
"name": "TFDB",
|
||||
"unit": "微升",
|
||||
"quantity": 1,
|
||||
"parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
"name": "ODA",
|
||||
"unit": "微升",
|
||||
"quantity": 1,
|
||||
"parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
"name": "MPDA",
|
||||
"unit": "微升",
|
||||
"quantity": 1,
|
||||
"parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
},
|
||||
{
|
||||
"typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
|
||||
"name": "PDA-2",
|
||||
"unit": "微升",
|
||||
"quantity": 1,
|
||||
"parameters": "{\"DeviceMaterialType\":\"NMP\"}"
|
||||
}
|
||||
]
|
||||
|
||||
# 如果需要，可以在这里调用add_material方法添加材料
|
||||
# 例如:
|
||||
# result = bioyond.add_material(json.dumps(material_data_yp_1))
|
||||
# print(f"添加材料结果: {result}")
|
||||
|
||||
return {
|
||||
"sample_plates": [material_data_yp_1, material_data_yp_2],
|
||||
"beakers": beaker_materials
|
||||
}
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 运行主实验流程
|
||||
bioyond_client = run_experiment()
|
||||
|
||||
|
||||
# 可选：准备材料数据
|
||||
# materials = prepare_materials(bioyond_client)
|
||||
# print(f"\n准备的材料数据: {materials}")
|
||||
|
||||
@@ -1,783 +0,0 @@
|
||||
import json
|
||||
import requests
|
||||
from typing import List, Dict, Any
|
||||
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
||||
from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
WORKFLOW_STEP_IDS,
|
||||
WORKFLOW_TO_SECTION_MAP,
|
||||
ACTION_NAMES
|
||||
)
|
||||
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
|
||||
|
||||
|
||||
class BioyondReactionStation(BioyondWorkstation):
|
||||
"""Bioyond反应站类
|
||||
|
||||
继承自BioyondWorkstation，提供反应站特定的业务方法
|
||||
"""
|
||||
|
||||
def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
|
||||
"""初始化反应站
|
||||
|
||||
Args:
|
||||
config: 配置字典，应包含workflow_mappings等配置
|
||||
deck: Deck对象
|
||||
protocol_type: 协议类型（由ROS系统传递，此处忽略）
|
||||
**kwargs: 其他可能的参数
|
||||
"""
|
||||
if deck is None and config:
|
||||
deck = config.get('deck')
|
||||
|
||||
print(f"BioyondReactionStation初始化 - config包含workflow_mappings: {'workflow_mappings' in (config or {})}")
|
||||
if config and 'workflow_mappings' in config:
|
||||
print(f"workflow_mappings内容: {config['workflow_mappings']}")
|
||||
|
||||
super().__init__(bioyond_config=config, deck=deck)
|
||||
|
||||
print(f"BioyondReactionStation初始化完成 - workflow_mappings: {self.workflow_mappings}")
|
||||
print(f"workflow_mappings长度: {len(self.workflow_mappings)}")
|
||||
|
||||
# ==================== 工作流方法 ====================
|
||||
|
||||
def reactor_taken_out(self):
|
||||
"""反应器取出"""
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_out"}')
|
||||
reactor_taken_out_params = {"param_values": {}}
|
||||
self.pending_task_params.append(reactor_taken_out_params)
|
||||
print(f"成功添加反应器取出工作流")
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
def reactor_taken_in(
|
||||
self,
|
||||
assign_material_name: str,
|
||||
cutoff: str = "900000",
|
||||
temperature: float = -10.00
|
||||
):
|
||||
"""反应器放入
|
||||
|
||||
Args:
|
||||
assign_material_name: 物料名称（不能为空）
|
||||
cutoff: 粘度上限（需为有效数字字符串，默认 "900000"）
|
||||
temperature: 温度设定（°C，范围：-50.00 至 100.00）
|
||||
|
||||
Returns:
|
||||
str: JSON 字符串，格式为 {"suc": True}
|
||||
|
||||
Raises:
|
||||
ValueError: 若物料名称无效或 cutoff 格式错误
|
||||
"""
|
||||
if not assign_material_name:
|
||||
raise ValueError("物料名称不能为空")
|
||||
try:
|
||||
float(cutoff)
|
||||
except ValueError:
|
||||
raise ValueError("cutoff 必须是有效的数字字符串")
|
||||
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_in"}')
|
||||
material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
|
||||
if material_id is None:
|
||||
raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
|
||||
|
||||
if isinstance(temperature, str):
|
||||
temperature = float(temperature)
|
||||
|
||||
step_id = WORKFLOW_STEP_IDS["reactor_taken_in"]["config"]
|
||||
reactor_taken_in_params = {
|
||||
"param_values": {
|
||||
step_id: {
|
||||
ACTION_NAMES["reactor_taken_in"]["config"]: [
|
||||
{"m": 0, "n": 3, "Key": "cutoff", "Value": cutoff},
|
||||
{"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
|
||||
],
|
||||
ACTION_NAMES["reactor_taken_in"]["stirring"]: [
|
||||
{"m": 0, "n": 3, "Key": "temperature", "Value": f"{temperature:.2f}"}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.pending_task_params.append(reactor_taken_in_params)
|
||||
print(f"成功添加反应器放入参数: material={assign_material_name}->ID:{material_id}, cutoff={cutoff}, temp={temperature:.2f}")
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
def solid_feeding_vials(
|
||||
self,
|
||||
material_id: str,
|
||||
time: str = "0",
|
||||
torque_variation: int = 1,
|
||||
assign_material_name: str = None,
|
||||
temperature: float = 25.00
|
||||
):
|
||||
"""固体进料小瓶
|
||||
|
||||
Args:
|
||||
material_id: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
assign_material_name: 物料名称(用于获取试剂瓶位ID)
|
||||
temperature: 温度设定(°C)
|
||||
"""
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}')
|
||||
material_id_m = self.hardware_interface._get_material_id_by_name(assign_material_name) if assign_material_name else None
|
||||
|
||||
if isinstance(temperature, str):
|
||||
temperature = float(temperature)
|
||||
|
||||
feeding_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["feeding"]
|
||||
observe_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["observe"]
|
||||
|
||||
solid_feeding_vials_params = {
|
||||
"param_values": {
|
||||
feeding_step_id: {
|
||||
ACTION_NAMES["solid_feeding_vials"]["feeding"]: [
|
||||
{"m": 0, "n": 3, "Key": "materialId", "Value": material_id},
|
||||
{"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id_m} if material_id_m else {}
|
||||
]
|
||||
},
|
||||
observe_step_id: {
|
||||
ACTION_NAMES["solid_feeding_vials"]["observe"]: [
|
||||
{"m": 1, "n": 0, "Key": "time", "Value": time},
|
||||
{"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
|
||||
{"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.pending_task_params.append(solid_feeding_vials_params)
|
||||
print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, torque={torque_variation}, temp={temperature:.2f}°C")
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
def liquid_feeding_vials_non_titration(
|
||||
self,
|
||||
volume_formula: str,
|
||||
assign_material_name: str,
|
||||
titration_type: str = "1",
|
||||
time: str = "0",
|
||||
torque_variation: int = 1,
|
||||
temperature: float = 25.00
|
||||
):
|
||||
"""液体进料小瓶(非滴定)
|
||||
|
||||
Args:
|
||||
volume_formula: 分液公式(μL)
|
||||
assign_material_name: 物料名称
|
||||
titration_type: 是否滴定(1=否, 2=是)
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
temperature: 温度(°C)
|
||||
"""
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}')
|
||||
material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
|
||||
if material_id is None:
|
||||
raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
|
||||
|
||||
if isinstance(temperature, str):
|
||||
temperature = float(temperature)
|
||||
|
||||
liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["liquid"]
|
||||
observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["observe"]
|
||||
|
||||
params = {
|
||||
"param_values": {
|
||||
liquid_step_id: {
|
||||
ACTION_NAMES["liquid_feeding_vials_non_titration"]["liquid"]: [
|
||||
{"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
|
||||
{"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id},
|
||||
{"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type}
|
||||
]
|
||||
},
|
||||
observe_step_id: {
|
||||
ACTION_NAMES["liquid_feeding_vials_non_titration"]["observe"]: [
|
||||
{"m": 1, "n": 0, "Key": "time", "Value": time},
|
||||
{"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
|
||||
{"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.pending_task_params.append(params)
|
||||
print(f"成功添加液体进料小瓶(非滴定)参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
def liquid_feeding_solvents(
|
||||
self,
|
||||
assign_material_name: str,
|
||||
volume: str = None,
|
||||
solvents = None,
|
||||
titration_type: str = "1",
|
||||
time: str = "360",
|
||||
torque_variation: int = 2,
|
||||
temperature: float = 25.00
|
||||
):
|
||||
"""液体进料-溶剂
|
||||
|
||||
Args:
|
||||
assign_material_name: 物料名称
|
||||
volume: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
|
||||
solvents: 溶剂信息的字典或JSON字符串(可选),格式如下:
|
||||
{
|
||||
"additional_solvent": 33.55092503597727, # 溶剂体积(mL)
|
||||
"total_liquid_volume": 48.00916988195499
|
||||
}
|
||||
如果提供solvents,则从中提取additional_solvent并转换为μL
|
||||
titration_type: 是否滴定(1=否, 2=是)
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
temperature: 温度设定(°C)
|
||||
"""
|
||||
# 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取
|
||||
if not volume and solvents is not None:
|
||||
# 参数类型转换:如果是字符串则解析为字典
|
||||
if isinstance(solvents, str):
|
||||
try:
|
||||
solvents = json.loads(solvents)
|
||||
except json.JSONDecodeError as e:
|
||||
raise ValueError(f"solvents参数JSON解析失败: {str(e)}")
|
||||
|
||||
# 参数验证
|
||||
if not isinstance(solvents, dict):
|
||||
raise ValueError("solvents 必须是字典类型或有效的JSON字符串")
|
||||
|
||||
# 提取 additional_solvent 值
|
||||
additional_solvent = solvents.get("additional_solvent")
|
||||
if additional_solvent is None:
|
||||
raise ValueError("solvents 中没有找到 additional_solvent 字段")
|
||||
|
||||
# 转换为微升(μL) - 从毫升(mL)转换
|
||||
volume = str(float(additional_solvent) * 1000)
|
||||
elif volume is None:
|
||||
raise ValueError("必须提供 volume 或 solvents 参数之一")
|
||||
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_solvents"}')
|
||||
material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
|
||||
if material_id is None:
|
||||
raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
|
||||
|
||||
if isinstance(temperature, str):
|
||||
temperature = float(temperature)
|
||||
|
||||
liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["liquid"]
|
||||
observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["observe"]
|
||||
|
||||
params = {
|
||||
"param_values": {
|
||||
liquid_step_id: {
|
||||
ACTION_NAMES["liquid_feeding_solvents"]["liquid"]: [
|
||||
{"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
|
||||
{"m": 0, "n": 1, "Key": "volume", "Value": volume},
|
||||
{"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id}
|
||||
]
|
||||
},
|
||||
observe_step_id: {
|
||||
ACTION_NAMES["liquid_feeding_solvents"]["observe"]: [
|
||||
{"m": 1, "n": 0, "Key": "time", "Value": time},
|
||||
{"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
|
||||
{"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.pending_task_params.append(params)
|
||||
print(f"成功添加液体进料溶剂参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
def liquid_feeding_titration(
|
||||
self,
|
||||
volume_formula: str,
|
||||
assign_material_name: str,
|
||||
titration_type: str = "1",
|
||||
time: str = "90",
|
||||
torque_variation: int = 2,
|
||||
temperature: float = 25.00
|
||||
):
|
||||
"""液体进料(滴定)
|
||||
|
||||
Args:
|
||||
volume_formula: 分液公式(μL)
|
||||
assign_material_name: 物料名称
|
||||
titration_type: 是否滴定(1=否, 2=是)
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
temperature: 温度(°C)
|
||||
"""
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}')
|
||||
material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
|
||||
if material_id is None:
|
||||
raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
|
||||
|
||||
if isinstance(temperature, str):
|
||||
temperature = float(temperature)
|
||||
|
||||
liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"]
|
||||
observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"]
|
||||
|
||||
params = {
|
||||
"param_values": {
|
||||
liquid_step_id: {
|
||||
ACTION_NAMES["liquid_feeding_titration"]["liquid"]: [
|
||||
{"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
|
||||
{"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type},
|
||||
{"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
|
||||
]
|
||||
},
|
||||
observe_step_id: {
|
||||
ACTION_NAMES["liquid_feeding_titration"]["observe"]: [
|
||||
{"m": 1, "n": 0, "Key": "time", "Value": time},
|
||||
{"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
|
||||
{"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.pending_task_params.append(params)
|
||||
print(f"成功添加液体进料滴定参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
def liquid_feeding_beaker(
|
||||
self,
|
||||
volume: str = "35000",
|
||||
assign_material_name: str = "BAPP",
|
||||
time: str = "0",
|
||||
torque_variation: int = 1,
|
||||
titration_type: str = "1",
|
||||
temperature: float = 25.00
|
||||
):
|
||||
"""液体进料烧杯
|
||||
|
||||
Args:
|
||||
volume: 分液量(μL)
|
||||
assign_material_name: 物料名称(试剂瓶位)
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
titration_type: 是否滴定(1=否, 2=是)
|
||||
temperature: 温度设定(°C)
|
||||
"""
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}')
|
||||
material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
|
||||
if material_id is None:
|
||||
raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
|
||||
|
||||
if isinstance(temperature, str):
|
||||
temperature = float(temperature)
|
||||
|
||||
liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["liquid"]
|
||||
observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["observe"]
|
||||
|
||||
params = {
|
||||
"param_values": {
|
||||
liquid_step_id: {
|
||||
ACTION_NAMES["liquid_feeding_beaker"]["liquid"]: [
|
||||
{"m": 0, "n": 2, "Key": "volume", "Value": volume},
|
||||
{"m": 0, "n": 2, "Key": "assignMaterialName", "Value": material_id},
|
||||
{"m": 0, "n": 2, "Key": "titrationType", "Value": titration_type}
|
||||
]
|
||||
},
|
||||
observe_step_id: {
|
||||
ACTION_NAMES["liquid_feeding_beaker"]["observe"]: [
|
||||
{"m": 1, "n": 0, "Key": "time", "Value": time},
|
||||
{"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
|
||||
{"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.pending_task_params.append(params)
|
||||
print(f"成功添加液体进料烧杯参数: volume={volume}μL, material={assign_material_name}->ID:{material_id}")
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
def drip_back(
|
||||
self,
|
||||
assign_material_name: str,
|
||||
volume: str,
|
||||
titration_type: str = "1",
|
||||
time: str = "90",
|
||||
torque_variation: int = 2,
|
||||
temperature: float = 25.00
|
||||
):
|
||||
"""滴回去
|
||||
|
||||
Args:
|
||||
assign_material_name: 物料名称(液体种类)
|
||||
volume: 分液量(μL)
|
||||
titration_type: 是否滴定(1=否, 2=是)
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
temperature: 温度(°C)
|
||||
"""
|
||||
self.append_to_workflow_sequence('{"web_workflow_name": "drip_back"}')
|
||||
material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
|
||||
if material_id is None:
|
||||
raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
|
||||
|
||||
if isinstance(temperature, str):
|
||||
temperature = float(temperature)
|
||||
|
||||
liquid_step_id = WORKFLOW_STEP_IDS["drip_back"]["liquid"]
|
||||
observe_step_id = WORKFLOW_STEP_IDS["drip_back"]["observe"]
|
||||
|
||||
params = {
|
||||
"param_values": {
|
||||
liquid_step_id: {
|
||||
ACTION_NAMES["drip_back"]["liquid"]: [
|
||||
{"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
|
||||
{"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id},
|
||||
{"m": 0, "n": 1, "Key": "volume", "Value": volume}
|
||||
]
|
||||
},
|
||||
observe_step_id: {
|
||||
ACTION_NAMES["drip_back"]["observe"]: [
|
||||
{"m": 1, "n": 0, "Key": "time", "Value": time},
|
||||
{"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
|
||||
{"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
self.pending_task_params.append(params)
|
||||
print(f"成功添加滴回去参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
|
||||
print(f"当前队列长度: {len(self.pending_task_params)}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
# ==================== 工作流管理方法 ====================
|
||||
|
||||
def get_workflow_sequence(self) -> List[str]:
|
||||
"""获取当前工作流执行顺序
|
||||
|
||||
Returns:
|
||||
工作流名称列表
|
||||
"""
|
||||
id_to_name = {workflow_id: name for name, workflow_id in self.workflow_mappings.items()}
|
||||
workflow_names = []
|
||||
for workflow_id in self.workflow_sequence:
|
||||
workflow_name = id_to_name.get(workflow_id, workflow_id)
|
||||
workflow_names.append(workflow_name)
|
||||
print(f"工作流序列: {workflow_names}")
|
||||
return workflow_names
|
||||
|
||||
def workflow_step_query(self, workflow_id: str) -> dict:
|
||||
"""查询工作流步骤参数
|
||||
|
||||
Args:
|
||||
workflow_id: 工作流ID
|
||||
|
||||
Returns:
|
||||
工作流步骤参数字典
|
||||
"""
|
||||
return self.hardware_interface.workflow_step_query(workflow_id)
|
||||
|
||||
def create_order(self, json_str: str) -> dict:
|
||||
"""创建订单
|
||||
|
||||
Args:
|
||||
json_str: 订单参数的JSON字符串
|
||||
|
||||
Returns:
|
||||
创建结果
|
||||
"""
|
||||
return self.hardware_interface.create_order(json_str)
|
||||
|
||||
# ==================== 工作流执行核心方法 ====================
|
||||
|
||||
def process_web_workflows(self, web_workflow_json: str) -> List[Dict[str, str]]:
|
||||
"""处理网页工作流列表
|
||||
|
||||
Args:
|
||||
web_workflow_json: JSON 格式的网页工作流列表
|
||||
|
||||
Returns:
|
||||
List[Dict[str, str]]: 包含工作流 ID 和名称的字典列表
|
||||
"""
|
||||
try:
|
||||
web_workflow_data = json.loads(web_workflow_json)
|
||||
web_workflow_list = web_workflow_data.get("web_workflow_list", [])
|
||||
workflows_result = []
|
||||
for name in web_workflow_list:
|
||||
workflow_id = self.workflow_mappings.get(name, "")
|
||||
if not workflow_id:
|
||||
print(f"警告：未找到工作流名称 {name} 对应的 ID")
|
||||
continue
|
||||
workflows_result.append({"id": workflow_id, "name": name})
|
||||
print(f"process_web_workflows 输出: {workflows_result}")
|
||||
return workflows_result
|
||||
except json.JSONDecodeError as e:
|
||||
print(f"错误：无法解析 web_workflow_json: {e}")
|
||||
return []
|
||||
except Exception as e:
|
||||
print(f"错误：处理工作流失败: {e}")
|
||||
return []
|
||||
|
||||
def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
|
||||
"""
|
||||
一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
|
||||
|
||||
Args:
|
||||
workflow_name: 合并后的工作流名称
|
||||
task_name: 任务名称
|
||||
|
||||
Returns:
|
||||
任务创建结果
|
||||
"""
|
||||
web_workflow_list = self.get_workflow_sequence()
|
||||
print(f"\n{'='*60}")
|
||||
print(f"📋 处理网页工作流列表: {web_workflow_list}")
|
||||
print(f"{'='*60}")
|
||||
|
||||
web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
|
||||
workflows_result = self.process_web_workflows(web_workflow_json)
|
||||
|
||||
if not workflows_result:
|
||||
return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
|
||||
|
||||
print(f"workflows_result 类型: {type(workflows_result)}")
|
||||
print(f"workflows_result 内容: {workflows_result}")
|
||||
|
||||
workflows_with_params = self._build_workflows_with_parameters(workflows_result)
|
||||
|
||||
merge_data = {
|
||||
"name": workflow_name,
|
||||
"workflows": workflows_with_params
|
||||
}
|
||||
|
||||
# print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
|
||||
merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
|
||||
|
||||
if not merged_workflow:
|
||||
return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
|
||||
|
||||
workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
|
||||
# print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
|
||||
|
||||
order_params = [{
|
||||
"orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
|
||||
"orderName": task_name,
|
||||
"workFlowId": workflow_id,
|
||||
"borderNumber": 1,
|
||||
"paramValues": {}
|
||||
}]
|
||||
|
||||
result = self.create_order(json.dumps(order_params))
|
||||
|
||||
if not result:
|
||||
return self._create_error_result("创建任务失败", "create_order")
|
||||
|
||||
# 清空工作流序列和参数，防止下次执行时累积重复
|
||||
self.pending_task_params = []
|
||||
self.clear_workflows() # 清空工作流序列，避免重复累积
|
||||
|
||||
# print(f"\n✅ 任务创建成功: {result}")
|
||||
# print(f"\n✅ 任务创建成功")
|
||||
print(f"{'='*60}\n")
|
||||
return json.dumps({"success": True, "result": result})
|
||||
|
||||
def _build_workflows_with_parameters(self, workflows_result: list) -> list:
|
||||
"""
|
||||
构建带参数的工作流列表
|
||||
|
||||
Args:
|
||||
workflows_result: 处理后的工作流列表（应为包含 id 和 name 的字典列表）
|
||||
|
||||
Returns:
|
||||
符合新接口格式的工作流参数结构
|
||||
"""
|
||||
workflows_with_params = []
|
||||
total_params = 0
|
||||
successful_params = 0
|
||||
failed_params = []
|
||||
|
||||
for idx, workflow_info in enumerate(workflows_result):
|
||||
if not isinstance(workflow_info, dict):
|
||||
print(f"错误：workflows_result[{idx}] 不是字典，而是 {type(workflow_info)}: {workflow_info}")
|
||||
continue
|
||||
workflow_id = workflow_info.get("id")
|
||||
if not workflow_id:
|
||||
print(f"警告：workflows_result[{idx}] 缺少 'id' 键")
|
||||
continue
|
||||
workflow_name = workflow_info.get("name", "")
|
||||
# print(f"\n🔧 处理工作流 [{idx}]: {workflow_name} (ID: {workflow_id})")
|
||||
|
||||
if idx >= len(self.pending_task_params):
|
||||
# print(f" ⚠️ 无对应参数，跳过")
|
||||
workflows_with_params.append({"id": workflow_id})
|
||||
continue
|
||||
|
||||
param_data = self.pending_task_params[idx]
|
||||
param_values = param_data.get("param_values", {})
|
||||
if not param_values:
|
||||
# print(f" ⚠️ 参数为空，跳过")
|
||||
workflows_with_params.append({"id": workflow_id})
|
||||
continue
|
||||
|
||||
step_parameters = {}
|
||||
for step_id, actions_dict in param_values.items():
|
||||
# print(f" 📍 步骤ID: {step_id}")
|
||||
for action_name, param_list in actions_dict.items():
|
||||
# print(f" 🔹 模块: {action_name}, 参数数量: {len(param_list)}")
|
||||
if step_id not in step_parameters:
|
||||
step_parameters[step_id] = {}
|
||||
if action_name not in step_parameters[step_id]:
|
||||
step_parameters[step_id][action_name] = []
|
||||
for param_item in param_list:
|
||||
param_key = param_item.get("Key", "")
|
||||
param_value = param_item.get("Value", "")
|
||||
total_params += 1
|
||||
step_parameters[step_id][action_name].append({
|
||||
"Key": param_key,
|
||||
"DisplayValue": param_value,
|
||||
"Value": param_value
|
||||
})
|
||||
successful_params += 1
|
||||
# print(f" ✓ {param_key} = {param_value}")
|
||||
|
||||
workflows_with_params.append({
|
||||
"id": workflow_id,
|
||||
"stepParameters": step_parameters
|
||||
})
|
||||
|
||||
self._print_mapping_stats(total_params, successful_params, failed_params)
|
||||
return workflows_with_params
|
||||
|
||||
def _print_mapping_stats(self, total: int, success: int, failed: list):
|
||||
"""打印参数映射统计"""
|
||||
print(f"\n{'='*20} 参数映射统计 {'='*20}")
|
||||
print(f"📊 总参数数量: {total}")
|
||||
print(f"✅ 成功映射: {success}")
|
||||
print(f"❌ 映射失败: {len(failed)}")
|
||||
if not failed:
|
||||
print("🎉 成功映射所有参数！")
|
||||
else:
|
||||
print(f"⚠️ 失败的参数: {', '.join(failed)}")
|
||||
success_rate = (success/total*100) if total > 0 else 0
|
||||
print(f"📈 映射成功率: {success_rate:.1f}%")
|
||||
print("="*60)
|
||||
|
||||
def _create_error_result(self, error_msg: str, step: str) -> str:
|
||||
"""创建统一的错误返回格式"""
|
||||
print(f"❌ {error_msg}")
|
||||
return json.dumps({
|
||||
"success": False,
|
||||
"error": f"process_and_execute_workflow: {error_msg}",
|
||||
"method": "process_and_execute_workflow",
|
||||
"step": step
|
||||
})
|
||||
|
||||
def merge_workflow_with_parameters(self, json_str: str) -> dict:
|
||||
"""
|
||||
调用新接口：合并工作流并传递参数
|
||||
|
||||
Args:
|
||||
json_str: JSON格式的字符串，包含:
|
||||
- name: 工作流名称
|
||||
- workflows: [{"id": "工作流ID", "stepParameters": {...}}]
|
||||
|
||||
Returns:
|
||||
合并后的工作流信息
|
||||
"""
|
||||
try:
|
||||
data = json.loads(json_str)
|
||||
|
||||
# 在工作流名称后面添加时间戳，避免重复
|
||||
if "name" in data and data["name"]:
|
||||
timestamp = self.hardware_interface.get_current_time_iso8601().replace(":", "-").replace(".", "-")
|
||||
original_name = data["name"]
|
||||
data["name"] = f"{original_name}_{timestamp}"
|
||||
print(f"🕒 工作流名称已添加时间戳: {original_name} -> {data['name']}")
|
||||
|
||||
request_data = {
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
print(f"\n📤 发送合并请求:")
|
||||
print(f" 工作流名称: {data.get('name')}")
|
||||
print(f" 子工作流数量: {len(data.get('workflows', []))}")
|
||||
|
||||
# 打印完整的POST请求内容
|
||||
print(f"\n🔍 POST请求详细内容:")
|
||||
print(f" URL: {self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters")
|
||||
print(f" Headers: {{'Content-Type': 'application/json'}}")
|
||||
print(f" Request Data:")
|
||||
print(f" {json.dumps(request_data, indent=4, ensure_ascii=False)}")
|
||||
#
|
||||
response = requests.post(
|
||||
f"{self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters",
|
||||
json=request_data,
|
||||
headers={"Content-Type": "application/json"},
|
||||
timeout=30
|
||||
)
|
||||
|
||||
# # 打印响应详细内容
|
||||
# print(f"\n📥 POST响应详细内容:")
|
||||
# print(f" 状态码: {response.status_code}")
|
||||
# print(f" 响应头: {dict(response.headers)}")
|
||||
# print(f" 响应体: {response.text}")
|
||||
# #
|
||||
try:
|
||||
result = response.json()
|
||||
# #
|
||||
# print(f"\n📋 解析后的响应JSON:")
|
||||
# print(f" {json.dumps(result, indent=4, ensure_ascii=False)}")
|
||||
# #
|
||||
except json.JSONDecodeError:
|
||||
print(f"❌ 服务器返回非 JSON 格式响应: {response.text}")
|
||||
return None
|
||||
|
||||
if result.get("code") == 1:
|
||||
print(f"✅ 工作流合并成功（带参数）")
|
||||
return result.get("data", {})
|
||||
else:
|
||||
error_msg = result.get('message', '未知错误')
|
||||
print(f"❌ 工作流合并失败: {error_msg}")
|
||||
return None
|
||||
|
||||
except requests.exceptions.Timeout:
|
||||
print(f"❌ 合并工作流请求超时")
|
||||
return None
|
||||
except requests.exceptions.RequestException as e:
|
||||
print(f"❌ 合并工作流网络异常: {str(e)}")
|
||||
return None
|
||||
except json.JSONDecodeError as e:
|
||||
print(f"❌ 合并工作流响应解析失败: {str(e)}")
|
||||
return None
|
||||
except Exception as e:
|
||||
print(f"❌ 合并工作流异常: {str(e)}")
|
||||
return None
|
||||
|
||||
def _validate_and_refresh_workflow_if_needed(self, workflow_name: str) -> bool:
|
||||
"""验证工作流ID是否有效，如果无效则重新合并
|
||||
|
||||
Args:
|
||||
workflow_name: 工作流名称
|
||||
|
||||
Returns:
|
||||
bool: 验证或刷新是否成功
|
||||
"""
|
||||
print(f"\n🔍 验证工作流ID有效性...")
|
||||
if not self.workflow_sequence:
|
||||
print(f" ⚠️ 工作流序列为空，需要重新合并")
|
||||
return False
|
||||
first_workflow_id = self.workflow_sequence[0]
|
||||
try:
|
||||
structure = self.workflow_step_query(first_workflow_id)
|
||||
if structure:
|
||||
print(f" ✅ 工作流ID有效")
|
||||
return True
|
||||
else:
|
||||
print(f" ⚠️ 工作流ID已过期，需要重新合并")
|
||||
return False
|
||||
except Exception as e:
|
||||
print(f" ❌ 工作流ID验证失败: {e}")
|
||||
print(f" 💡 将重新合并工作流")
|
||||
return False
|
||||
File diff suppressed because it is too large
Load Diff
@@ -171,6 +171,7 @@ class WorkstationBase(ABC):
|
||||
def post_init(self, ros_node: ROS2WorkstationNode) -> None:
|
||||
# 初始化物料系统
|
||||
self._ros_node = ros_node
|
||||
self._ros_node.update_resource([self.deck])
|
||||
|
||||
def _build_resource_mappings(self, deck: Deck):
|
||||
"""递归构建资源映射"""
|
||||
|
||||
@@ -668,7 +668,7 @@ __all__ = [
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 简单测试HTTP服务
|
||||
class BioyondWorkstation:
|
||||
class DummyWorkstation:
|
||||
device_id = "WS-001"
|
||||
|
||||
def process_step_finish_report(self, report_request):
|
||||
|
||||
583
unilabos/devices/workstation/workstation_material_management.py
Normal file
583
unilabos/devices/workstation/workstation_material_management.py
Normal file
@@ -0,0 +1,583 @@
|
||||
"""
|
||||
工作站物料管理基类
|
||||
Workstation Material Management Base Class
|
||||
|
||||
基于PyLabRobot的物料管理系统
|
||||
"""
|
||||
from typing import Dict, Any, List, Optional, Union, Type
|
||||
from abc import ABC, abstractmethod
|
||||
import json
|
||||
|
||||
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
|
||||
|
||||
|
||||
class MaterialManagementBase(ABC):
|
||||
"""物料管理基类
|
||||
|
||||
定义工作站物料管理的标准接口：
|
||||
1. 物料初始化 - 根据配置创建物料资源
|
||||
2. 物料追踪 - 实时跟踪物料位置和状态
|
||||
3. 物料查找 - 按类型、位置、状态查找物料
|
||||
4. 物料转换 - PyLabRobot与UniLab资源格式转换
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
deck_config: Dict[str, Any],
|
||||
resource_tracker: DeviceNodeResourceTracker,
|
||||
children_config: Dict[str, Dict[str, Any]] = None
|
||||
):
|
||||
self.device_id = device_id
|
||||
self.deck_config = deck_config
|
||||
self.resource_tracker = resource_tracker
|
||||
self.children_config = children_config or {}
|
||||
|
||||
# 创建主台面
|
||||
self.plr_deck = self._create_deck()
|
||||
|
||||
# 扩展ResourceTracker
|
||||
self._extend_resource_tracker()
|
||||
|
||||
# 注册deck到resource tracker
|
||||
self.resource_tracker.add_resource(self.plr_deck)
|
||||
|
||||
# 初始化子资源
|
||||
self.plr_resources = {}
|
||||
self._initialize_materials()
|
||||
|
||||
def _create_deck(self) -> Deck:
|
||||
"""创建主台面"""
|
||||
return Deck(
|
||||
name=f"{self.device_id}_deck",
|
||||
size_x=self.deck_config.get("size_x", 1000.0),
|
||||
size_y=self.deck_config.get("size_y", 1000.0),
|
||||
size_z=self.deck_config.get("size_z", 500.0),
|
||||
origin=PLRCoordinate(0, 0, 0)
|
||||
)
|
||||
|
||||
def _extend_resource_tracker(self):
|
||||
"""扩展ResourceTracker以支持PyLabRobot特定功能"""
|
||||
|
||||
def find_by_type(resource_type):
|
||||
"""按类型查找资源"""
|
||||
return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
|
||||
|
||||
def find_by_category(category: str):
|
||||
"""按类别查找资源"""
|
||||
found = []
|
||||
for resource in self._get_all_resources():
|
||||
if hasattr(resource, 'category') and resource.category == category:
|
||||
found.append(resource)
|
||||
return found
|
||||
|
||||
def find_by_name_pattern(pattern: str):
|
||||
"""按名称模式查找资源"""
|
||||
import re
|
||||
found = []
|
||||
for resource in self._get_all_resources():
|
||||
if re.search(pattern, resource.name):
|
||||
found.append(resource)
|
||||
return found
|
||||
|
||||
# 动态添加方法到resource_tracker
|
||||
self.resource_tracker.find_by_type = find_by_type
|
||||
self.resource_tracker.find_by_category = find_by_category
|
||||
self.resource_tracker.find_by_name_pattern = find_by_name_pattern
|
||||
|
||||
def _find_resources_by_type_recursive(self, resource, target_type):
|
||||
"""递归查找指定类型的资源"""
|
||||
found = []
|
||||
if isinstance(resource, target_type):
|
||||
found.append(resource)
|
||||
|
||||
# 递归查找子资源
|
||||
children = getattr(resource, "children", [])
|
||||
for child in children:
|
||||
found.extend(self._find_resources_by_type_recursive(child, target_type))
|
||||
|
||||
return found
|
||||
|
||||
def _get_all_resources(self) -> List[PLRResource]:
|
||||
"""获取所有资源"""
|
||||
all_resources = []
|
||||
|
||||
def collect_resources(resource):
|
||||
all_resources.append(resource)
|
||||
children = getattr(resource, "children", [])
|
||||
for child in children:
|
||||
collect_resources(child)
|
||||
|
||||
collect_resources(self.plr_deck)
|
||||
return all_resources
|
||||
|
||||
def _initialize_materials(self):
|
||||
"""初始化物料"""
|
||||
try:
|
||||
# 确定创建顺序，确保父资源先于子资源创建
|
||||
creation_order = self._determine_creation_order()
|
||||
|
||||
# 按顺序创建资源
|
||||
for resource_id in creation_order:
|
||||
config = self.children_config[resource_id]
|
||||
self._create_plr_resource(resource_id, config)
|
||||
|
||||
logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"物料初始化失败: {e}")
|
||||
|
||||
def _determine_creation_order(self) -> List[str]:
|
||||
"""确定资源创建顺序"""
|
||||
order = []
|
||||
visited = set()
|
||||
|
||||
def visit(resource_id: str):
|
||||
if resource_id in visited:
|
||||
return
|
||||
visited.add(resource_id)
|
||||
|
||||
config = self.children_config.get(resource_id, {})
|
||||
parent_id = config.get("parent")
|
||||
|
||||
# 如果有父资源，先访问父资源
|
||||
if parent_id and parent_id in self.children_config:
|
||||
visit(parent_id)
|
||||
|
||||
order.append(resource_id)
|
||||
|
||||
for resource_id in self.children_config:
|
||||
visit(resource_id)
|
||||
|
||||
return order
|
||||
|
||||
def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
|
||||
"""创建PyLabRobot资源"""
|
||||
try:
|
||||
resource_type = config.get("type", "unknown")
|
||||
data = config.get("data", {})
|
||||
location_config = config.get("location", {})
|
||||
|
||||
# 创建位置坐标
|
||||
location = PLRCoordinate(
|
||||
x=location_config.get("x", 0.0),
|
||||
y=location_config.get("y", 0.0),
|
||||
z=location_config.get("z", 0.0)
|
||||
)
|
||||
|
||||
# 根据类型创建资源
|
||||
resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
|
||||
|
||||
if resource:
|
||||
# 设置父子关系
|
||||
parent_id = config.get("parent")
|
||||
if parent_id and parent_id in self.plr_resources:
|
||||
parent_resource = self.plr_resources[parent_id]
|
||||
parent_resource.assign_child_resource(resource, location)
|
||||
else:
|
||||
# 直接放在deck上
|
||||
self.plr_deck.assign_child_resource(resource, location)
|
||||
|
||||
# 保存资源引用
|
||||
self.plr_resources[resource_id] = resource
|
||||
|
||||
# 注册到resource tracker
|
||||
self.resource_tracker.add_resource(resource)
|
||||
|
||||
logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"创建资源失败 {resource_id}: {e}")
|
||||
|
||||
@abstractmethod
|
||||
def _create_resource_by_type(
|
||||
self,
|
||||
resource_id: str,
|
||||
resource_type: str,
|
||||
config: Dict[str, Any],
|
||||
data: Dict[str, Any],
|
||||
location: PLRCoordinate
|
||||
) -> Optional[PLRResource]:
|
||||
"""根据类型创建资源 - 子类必须实现"""
|
||||
pass
|
||||
|
||||
# ============ 物料查找接口 ============
|
||||
|
||||
def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
|
||||
"""按材料类型查找物料"""
|
||||
return self.resource_tracker.find_by_category(material_type)
|
||||
|
||||
def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
|
||||
"""按ID查找物料"""
|
||||
return self.plr_resources.get(resource_id)
|
||||
|
||||
def find_available_positions(self, position_type: str) -> List[PLRResource]:
|
||||
"""查找可用位置"""
|
||||
positions = self.resource_tracker.find_by_category(position_type)
|
||||
available = []
|
||||
|
||||
for pos in positions:
|
||||
if hasattr(pos, 'is_available') and pos.is_available():
|
||||
available.append(pos)
|
||||
elif hasattr(pos, 'children') and len(pos.children) == 0:
|
||||
available.append(pos)
|
||||
|
||||
return available
|
||||
|
||||
def get_material_inventory(self) -> Dict[str, int]:
|
||||
"""获取物料库存统计"""
|
||||
inventory = {}
|
||||
|
||||
for resource in self._get_all_resources():
|
||||
if hasattr(resource, 'category'):
|
||||
category = resource.category
|
||||
inventory[category] = inventory.get(category, 0) + 1
|
||||
|
||||
return inventory
|
||||
|
||||
# ============ 物料状态更新接口 ============
|
||||
|
||||
def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
|
||||
"""更新物料位置"""
|
||||
try:
|
||||
material = self.find_material_by_id(material_id)
|
||||
if material:
|
||||
material.location = new_location
|
||||
return True
|
||||
return False
|
||||
except Exception as e:
|
||||
logger.error(f"更新物料位置失败: {e}")
|
||||
return False
|
||||
|
||||
def move_material(self, material_id: str, target_container_id: str) -> bool:
|
||||
"""移动物料到目标容器"""
|
||||
try:
|
||||
material = self.find_material_by_id(material_id)
|
||||
target = self.find_material_by_id(target_container_id)
|
||||
|
||||
if material and target:
|
||||
# 从原位置移除
|
||||
if material.parent:
|
||||
material.parent.unassign_child_resource(material)
|
||||
|
||||
# 添加到新位置
|
||||
target.assign_child_resource(material)
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"移动物料失败: {e}")
|
||||
return False
|
||||
|
||||
# ============ 资源转换接口 ============
|
||||
|
||||
def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
|
||||
"""将PyLabRobot资源转换为UniLab格式"""
|
||||
return resource_plr_to_ulab(plr_resource)
|
||||
|
||||
def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
|
||||
"""将UniLab格式转换为PyLabRobot资源"""
|
||||
return resource_ulab_to_plr(unilab_resource)
|
||||
|
||||
def get_deck_state(self) -> Dict[str, Any]:
|
||||
"""获取Deck状态"""
|
||||
try:
|
||||
return {
|
||||
"deck_info": {
|
||||
"name": self.plr_deck.name,
|
||||
"size": {
|
||||
"x": self.plr_deck.size_x,
|
||||
"y": self.plr_deck.size_y,
|
||||
"z": self.plr_deck.size_z
|
||||
},
|
||||
"children_count": len(self.plr_deck.children)
|
||||
},
|
||||
"resources": {
|
||||
resource_id: self.convert_to_unilab_format(resource)
|
||||
for resource_id, resource in self.plr_resources.items()
|
||||
},
|
||||
"inventory": self.get_material_inventory()
|
||||
}
|
||||
except Exception as e:
|
||||
logger.error(f"获取Deck状态失败: {e}")
|
||||
return {"error": str(e)}
|
||||
|
||||
# ============ 数据持久化接口 ============
|
||||
|
||||
def save_state_to_file(self, file_path: str) -> bool:
|
||||
"""保存状态到文件"""
|
||||
try:
|
||||
state = self.get_deck_state()
|
||||
with open(file_path, 'w', encoding='utf-8') as f:
|
||||
json.dump(state, f, indent=2, ensure_ascii=False)
|
||||
logger.info(f"状态已保存到: {file_path}")
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"保存状态失败: {e}")
|
||||
return False
|
||||
|
||||
def load_state_from_file(self, file_path: str) -> bool:
|
||||
"""从文件加载状态"""
|
||||
try:
|
||||
with open(file_path, 'r', encoding='utf-8') as f:
|
||||
state = json.load(f)
|
||||
|
||||
# 重新创建资源
|
||||
self._recreate_resources_from_state(state)
|
||||
logger.info(f"状态已从文件加载: {file_path}")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"加载状态失败: {e}")
|
||||
return False
|
||||
|
||||
def _recreate_resources_from_state(self, state: Dict[str, Any]):
|
||||
"""从状态重新创建资源"""
|
||||
# 清除现有资源
|
||||
self.plr_resources.clear()
|
||||
self.plr_deck.children.clear()
|
||||
|
||||
# 从状态重新创建
|
||||
resources_data = state.get("resources", {})
|
||||
for resource_id, resource_data in resources_data.items():
|
||||
try:
|
||||
plr_resource = self.convert_from_unilab_format(resource_data)
|
||||
self.plr_resources[resource_id] = plr_resource
|
||||
self.plr_deck.assign_child_resource(plr_resource)
|
||||
except Exception as e:
|
||||
logger.error(f"重新创建资源失败 {resource_id}: {e}")
|
||||
|
||||
|
||||
class CoinCellMaterialManagement(MaterialManagementBase):
|
||||
"""纽扣电池物料管理类
|
||||
|
||||
从 button_battery_station 抽取的物料管理功能
|
||||
"""
|
||||
|
||||
def _create_resource_by_type(
|
||||
self,
|
||||
resource_id: str,
|
||||
resource_type: str,
|
||||
config: Dict[str, Any],
|
||||
data: Dict[str, Any],
|
||||
location: PLRCoordinate
|
||||
) -> Optional[PLRResource]:
|
||||
"""根据类型创建纽扣电池相关资源"""
|
||||
|
||||
# 导入纽扣电池资源类
|
||||
from unilabos.device_comms.button_battery_station import (
|
||||
MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
|
||||
TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
|
||||
)
|
||||
|
||||
try:
|
||||
if resource_type == "material_plate":
|
||||
return self._create_material_plate(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "plate_slot":
|
||||
return self._create_plate_slot(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "clip_magazine":
|
||||
return self._create_clip_magazine(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "battery_press_slot":
|
||||
return self._create_battery_press_slot(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "tip_box":
|
||||
return self._create_tip_box(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "waste_tip_box":
|
||||
return self._create_waste_tip_box(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "bottle_rack":
|
||||
return self._create_bottle_rack(resource_id, config, data, location)
|
||||
|
||||
elif resource_type == "battery":
|
||||
return self._create_battery(resource_id, config, data, location)
|
||||
|
||||
else:
|
||||
logger.warning(f"未知的资源类型: {resource_type}")
|
||||
return None
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
|
||||
return None
|
||||
|
||||
def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建料板"""
|
||||
from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
|
||||
|
||||
plate = MaterialPlate(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 80.0),
|
||||
size_y=config.get("size_y", 80.0),
|
||||
size_z=config.get("size_z", 10.0),
|
||||
hole_diameter=config.get("hole_diameter", 15.0),
|
||||
hole_depth=config.get("hole_depth", 8.0),
|
||||
hole_spacing_x=config.get("hole_spacing_x", 20.0),
|
||||
hole_spacing_y=config.get("hole_spacing_y", 20.0),
|
||||
number=data.get("number", "")
|
||||
)
|
||||
plate.location = location
|
||||
|
||||
# 如果有预填充的极片数据，创建极片
|
||||
electrode_sheets = data.get("electrode_sheets", [])
|
||||
for i, sheet_data in enumerate(electrode_sheets):
|
||||
if i < len(plate.children): # 确保不超过洞位数量
|
||||
hole = plate.children[i]
|
||||
sheet = ElectrodeSheet(
|
||||
name=f"{resource_id}_sheet_{i}",
|
||||
diameter=sheet_data.get("diameter", 14.0),
|
||||
thickness=sheet_data.get("thickness", 0.1),
|
||||
mass=sheet_data.get("mass", 0.01),
|
||||
material_type=sheet_data.get("material_type", "cathode"),
|
||||
info=sheet_data.get("info", "")
|
||||
)
|
||||
hole.place_electrode_sheet(sheet)
|
||||
|
||||
return plate
|
||||
|
||||
def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建板槽位"""
|
||||
from unilabos.device_comms.button_battery_station import PlateSlot
|
||||
|
||||
slot = PlateSlot(
|
||||
name=resource_id,
|
||||
max_plates=config.get("max_plates", 8)
|
||||
)
|
||||
slot.location = location
|
||||
return slot
|
||||
|
||||
def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建子弹夹"""
|
||||
from unilabos.device_comms.button_battery_station import ClipMagazine
|
||||
|
||||
magazine = ClipMagazine(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 150.0),
|
||||
size_y=config.get("size_y", 100.0),
|
||||
size_z=config.get("size_z", 50.0),
|
||||
hole_diameter=config.get("hole_diameter", 15.0),
|
||||
hole_depth=config.get("hole_depth", 40.0),
|
||||
hole_spacing=config.get("hole_spacing", 25.0),
|
||||
max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
|
||||
)
|
||||
magazine.location = location
|
||||
return magazine
|
||||
|
||||
def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建电池压制槽"""
|
||||
from unilabos.device_comms.button_battery_station import BatteryPressSlot
|
||||
|
||||
slot = BatteryPressSlot(
|
||||
name=resource_id,
|
||||
diameter=config.get("diameter", 20.0),
|
||||
depth=config.get("depth", 15.0)
|
||||
)
|
||||
slot.location = location
|
||||
return slot
|
||||
|
||||
def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建枪头盒"""
|
||||
from unilabos.device_comms.button_battery_station import TipBox64
|
||||
|
||||
tip_box = TipBox64(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 127.8),
|
||||
size_y=config.get("size_y", 85.5),
|
||||
size_z=config.get("size_z", 60.0),
|
||||
with_tips=data.get("with_tips", True)
|
||||
)
|
||||
tip_box.location = location
|
||||
return tip_box
|
||||
|
||||
def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建废枪头盒"""
|
||||
from unilabos.device_comms.button_battery_station import WasteTipBox
|
||||
|
||||
waste_box = WasteTipBox(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 127.8),
|
||||
size_y=config.get("size_y", 85.5),
|
||||
size_z=config.get("size_z", 60.0),
|
||||
max_tips=config.get("max_tips", 100)
|
||||
)
|
||||
waste_box.location = location
|
||||
return waste_box
|
||||
|
||||
def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建瓶架"""
|
||||
from unilabos.device_comms.button_battery_station import BottleRack
|
||||
|
||||
rack = BottleRack(
|
||||
name=resource_id,
|
||||
size_x=config.get("size_x", 210.0),
|
||||
size_y=config.get("size_y", 140.0),
|
||||
size_z=config.get("size_z", 100.0),
|
||||
bottle_diameter=config.get("bottle_diameter", 30.0),
|
||||
bottle_height=config.get("bottle_height", 100.0),
|
||||
position_spacing=config.get("position_spacing", 35.0)
|
||||
)
|
||||
rack.location = location
|
||||
return rack
|
||||
|
||||
def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
|
||||
"""创建电池"""
|
||||
from unilabos.device_comms.button_battery_station import Battery
|
||||
|
||||
battery = Battery(
|
||||
name=resource_id,
|
||||
diameter=config.get("diameter", 20.0),
|
||||
height=config.get("height", 3.2),
|
||||
max_volume=config.get("max_volume", 100.0),
|
||||
barcode=data.get("barcode", "")
|
||||
)
|
||||
battery.location = location
|
||||
return battery
|
||||
|
||||
# ============ 纽扣电池特定查找方法 ============
|
||||
|
||||
def find_material_plates(self):
|
||||
"""查找所有料板"""
|
||||
from unilabos.device_comms.button_battery_station import MaterialPlate
|
||||
return self.resource_tracker.find_by_type(MaterialPlate)
|
||||
|
||||
def find_batteries(self):
|
||||
"""查找所有电池"""
|
||||
from unilabos.device_comms.button_battery_station import Battery
|
||||
return self.resource_tracker.find_by_type(Battery)
|
||||
|
||||
def find_electrode_sheets(self):
|
||||
"""查找所有极片"""
|
||||
found = []
|
||||
plates = self.find_material_plates()
|
||||
for plate in plates:
|
||||
for hole in plate.children:
|
||||
if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
|
||||
found.append(hole._electrode_sheet)
|
||||
return found
|
||||
|
||||
def find_plate_slots(self):
|
||||
"""查找所有板槽位"""
|
||||
from unilabos.device_comms.button_battery_station import PlateSlot
|
||||
return self.resource_tracker.find_by_type(PlateSlot)
|
||||
|
||||
def find_clip_magazines(self):
|
||||
"""查找所有子弹夹"""
|
||||
from unilabos.device_comms.button_battery_station import ClipMagazine
|
||||
return self.resource_tracker.find_by_type(ClipMagazine)
|
||||
|
||||
def find_press_slots(self):
|
||||
"""查找所有压制槽"""
|
||||
from unilabos.device_comms.button_battery_station import BatteryPressSlot
|
||||
return self.resource_tracker.find_by_type(BatteryPressSlot)
|
||||
@@ -1,252 +0,0 @@
|
||||
workstation.bioyond_dispensing_station:
|
||||
category:
|
||||
- workstation
|
||||
- bioyond
|
||||
class:
|
||||
action_value_mappings:
|
||||
create_90_10_vial_feeding_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
order_name: order_name
|
||||
percent_10_1_assign_material_name: percent_10_1_assign_material_name
|
||||
percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
|
||||
percent_10_1_target_weigh: percent_10_1_target_weigh
|
||||
percent_10_1_volume: percent_10_1_volume
|
||||
percent_10_2_assign_material_name: percent_10_2_assign_material_name
|
||||
percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
|
||||
percent_10_2_target_weigh: percent_10_2_target_weigh
|
||||
percent_10_2_volume: percent_10_2_volume
|
||||
percent_10_3_assign_material_name: percent_10_3_assign_material_name
|
||||
percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
|
||||
percent_10_3_target_weigh: percent_10_3_target_weigh
|
||||
percent_10_3_volume: percent_10_3_volume
|
||||
percent_90_1_assign_material_name: percent_90_1_assign_material_name
|
||||
percent_90_1_target_weigh: percent_90_1_target_weigh
|
||||
percent_90_2_assign_material_name: percent_90_2_assign_material_name
|
||||
percent_90_2_target_weigh: percent_90_2_target_weigh
|
||||
percent_90_3_assign_material_name: percent_90_3_assign_material_name
|
||||
percent_90_3_target_weigh: percent_90_3_target_weigh
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
order_name: ''
|
||||
percent_10_1_assign_material_name: ''
|
||||
percent_10_1_liquid_material_name: ''
|
||||
percent_10_1_target_weigh: ''
|
||||
percent_10_1_volume: ''
|
||||
percent_10_2_assign_material_name: ''
|
||||
percent_10_2_liquid_material_name: ''
|
||||
percent_10_2_target_weigh: ''
|
||||
percent_10_2_volume: ''
|
||||
percent_10_3_assign_material_name: ''
|
||||
percent_10_3_liquid_material_name: ''
|
||||
percent_10_3_target_weigh: ''
|
||||
percent_10_3_volume: ''
|
||||
percent_90_1_assign_material_name: ''
|
||||
percent_90_1_target_weigh: ''
|
||||
percent_90_2_assign_material_name: ''
|
||||
percent_90_2_target_weigh: ''
|
||||
percent_90_3_assign_material_name: ''
|
||||
percent_90_3_target_weigh: ''
|
||||
speed: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationVialFeed_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
percent_10_1_assign_material_name:
|
||||
type: string
|
||||
percent_10_1_liquid_material_name:
|
||||
type: string
|
||||
percent_10_1_target_weigh:
|
||||
type: string
|
||||
percent_10_1_volume:
|
||||
type: string
|
||||
percent_10_2_assign_material_name:
|
||||
type: string
|
||||
percent_10_2_liquid_material_name:
|
||||
type: string
|
||||
percent_10_2_target_weigh:
|
||||
type: string
|
||||
percent_10_2_volume:
|
||||
type: string
|
||||
percent_10_3_assign_material_name:
|
||||
type: string
|
||||
percent_10_3_liquid_material_name:
|
||||
type: string
|
||||
percent_10_3_target_weigh:
|
||||
type: string
|
||||
percent_10_3_volume:
|
||||
type: string
|
||||
percent_90_1_assign_material_name:
|
||||
type: string
|
||||
percent_90_1_target_weigh:
|
||||
type: string
|
||||
percent_90_2_assign_material_name:
|
||||
type: string
|
||||
percent_90_2_target_weigh:
|
||||
type: string
|
||||
percent_90_3_assign_material_name:
|
||||
type: string
|
||||
percent_90_3_target_weigh:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- percent_90_1_assign_material_name
|
||||
- percent_90_1_target_weigh
|
||||
- percent_90_2_assign_material_name
|
||||
- percent_90_2_target_weigh
|
||||
- percent_90_3_assign_material_name
|
||||
- percent_90_3_target_weigh
|
||||
- percent_10_1_assign_material_name
|
||||
- percent_10_1_target_weigh
|
||||
- percent_10_1_volume
|
||||
- percent_10_1_liquid_material_name
|
||||
- percent_10_2_assign_material_name
|
||||
- percent_10_2_target_weigh
|
||||
- percent_10_2_volume
|
||||
- percent_10_2_liquid_material_name
|
||||
- percent_10_3_assign_material_name
|
||||
- percent_10_3_target_weigh
|
||||
- percent_10_3_volume
|
||||
- percent_10_3_liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationVialFeed_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationVialFeed_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationVialFeed
|
||||
type: object
|
||||
type: DispenStationVialFeed
|
||||
create_diamine_solution_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
material_name: material_name
|
||||
order_name: order_name
|
||||
speed: speed
|
||||
target_weigh: target_weigh
|
||||
temperature: temperature
|
||||
volume: volume
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
liquid_material_name: ''
|
||||
material_name: ''
|
||||
order_name: ''
|
||||
speed: ''
|
||||
target_weigh: ''
|
||||
temperature: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationSolnPrep_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
type: string
|
||||
material_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
target_weigh:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
volume:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- material_name
|
||||
- target_weigh
|
||||
- volume
|
||||
- liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationSolnPrep_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationSolnPrep_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: string
|
||||
required:
|
||||
- config
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,404 +0,0 @@
|
||||
bioyond_dispensing_station:
|
||||
category:
|
||||
- workstation
|
||||
- bioyond
|
||||
- bioyond_dispensing_station
|
||||
class:
|
||||
action_value_mappings:
|
||||
batch_create_90_10_vial_feeding_tasks:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
titration: titration
|
||||
goal_default:
|
||||
delay_time: '600'
|
||||
hold_m_name: ''
|
||||
liquid_material_name: NMP
|
||||
speed: '400'
|
||||
temperature: '40'
|
||||
titration: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: titration
|
||||
data_source: handle
|
||||
data_type: object
|
||||
handler_key: titration
|
||||
io_type: source
|
||||
label: Titration Data From Calculation Node
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BatchCreate9010VialFeedingTasks_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
default: '600'
|
||||
description: 延迟时间(秒),默认600
|
||||
type: string
|
||||
hold_m_name:
|
||||
description: 库位名称,如"C01",必填参数
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
description: 10%物料的液体物料名称,默认为"NMP"
|
||||
type: string
|
||||
speed:
|
||||
default: '400'
|
||||
description: 搅拌速度,默认400
|
||||
type: string
|
||||
temperature:
|
||||
default: '40'
|
||||
description: 温度(℃),默认40
|
||||
type: string
|
||||
titration:
|
||||
description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
|
||||
titration_solvent(滴定溶液体积mL)'
|
||||
type: string
|
||||
required:
|
||||
- titration
|
||||
- hold_m_name
|
||||
title: BatchCreate9010VialFeedingTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: BatchCreate9010VialFeedingTasks_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: BatchCreate9010VialFeedingTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
batch_create_diamine_solution_tasks:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
liquid_material_name: liquid_material_name
|
||||
solutions: solutions
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: '600'
|
||||
liquid_material_name: NMP
|
||||
solutions: ''
|
||||
speed: '400'
|
||||
temperature: '20'
|
||||
handles:
|
||||
input:
|
||||
- data_key: solutions
|
||||
data_source: handle
|
||||
data_type: array
|
||||
handler_key: solutions
|
||||
io_type: source
|
||||
label: Solution Data From Python
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BatchCreateDiamineSolutionTasks_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
default: '600'
|
||||
description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
|
||||
type: string
|
||||
solutions:
|
||||
description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
|
||||
solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
|
||||
5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
|
||||
4.5, "solvent_volume": 18}]'
|
||||
type: string
|
||||
speed:
|
||||
default: '400'
|
||||
description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
|
||||
type: string
|
||||
temperature:
|
||||
default: '20'
|
||||
description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
|
||||
type: string
|
||||
required:
|
||||
- solutions
|
||||
title: BatchCreateDiamineSolutionTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 批量任务创建结果汇总，JSON格式包含总数、成功数、失败数及每个任务的详细信息
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: BatchCreateDiamineSolutionTasks_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: BatchCreateDiamineSolutionTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
create_90_10_vial_feeding_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
order_name: order_name
|
||||
percent_10_1_assign_material_name: percent_10_1_assign_material_name
|
||||
percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
|
||||
percent_10_1_target_weigh: percent_10_1_target_weigh
|
||||
percent_10_1_volume: percent_10_1_volume
|
||||
percent_10_2_assign_material_name: percent_10_2_assign_material_name
|
||||
percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
|
||||
percent_10_2_target_weigh: percent_10_2_target_weigh
|
||||
percent_10_2_volume: percent_10_2_volume
|
||||
percent_10_3_assign_material_name: percent_10_3_assign_material_name
|
||||
percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
|
||||
percent_10_3_target_weigh: percent_10_3_target_weigh
|
||||
percent_10_3_volume: percent_10_3_volume
|
||||
percent_90_1_assign_material_name: percent_90_1_assign_material_name
|
||||
percent_90_1_target_weigh: percent_90_1_target_weigh
|
||||
percent_90_2_assign_material_name: percent_90_2_assign_material_name
|
||||
percent_90_2_target_weigh: percent_90_2_target_weigh
|
||||
percent_90_3_assign_material_name: percent_90_3_assign_material_name
|
||||
percent_90_3_target_weigh: percent_90_3_target_weigh
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
order_name: ''
|
||||
percent_10_1_assign_material_name: ''
|
||||
percent_10_1_liquid_material_name: ''
|
||||
percent_10_1_target_weigh: ''
|
||||
percent_10_1_volume: ''
|
||||
percent_10_2_assign_material_name: ''
|
||||
percent_10_2_liquid_material_name: ''
|
||||
percent_10_2_target_weigh: ''
|
||||
percent_10_2_volume: ''
|
||||
percent_10_3_assign_material_name: ''
|
||||
percent_10_3_liquid_material_name: ''
|
||||
percent_10_3_target_weigh: ''
|
||||
percent_10_3_volume: ''
|
||||
percent_90_1_assign_material_name: ''
|
||||
percent_90_1_target_weigh: ''
|
||||
percent_90_2_assign_material_name: ''
|
||||
percent_90_2_target_weigh: ''
|
||||
percent_90_3_assign_material_name: ''
|
||||
percent_90_3_target_weigh: ''
|
||||
speed: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationVialFeed_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
percent_10_1_assign_material_name:
|
||||
type: string
|
||||
percent_10_1_liquid_material_name:
|
||||
type: string
|
||||
percent_10_1_target_weigh:
|
||||
type: string
|
||||
percent_10_1_volume:
|
||||
type: string
|
||||
percent_10_2_assign_material_name:
|
||||
type: string
|
||||
percent_10_2_liquid_material_name:
|
||||
type: string
|
||||
percent_10_2_target_weigh:
|
||||
type: string
|
||||
percent_10_2_volume:
|
||||
type: string
|
||||
percent_10_3_assign_material_name:
|
||||
type: string
|
||||
percent_10_3_liquid_material_name:
|
||||
type: string
|
||||
percent_10_3_target_weigh:
|
||||
type: string
|
||||
percent_10_3_volume:
|
||||
type: string
|
||||
percent_90_1_assign_material_name:
|
||||
type: string
|
||||
percent_90_1_target_weigh:
|
||||
type: string
|
||||
percent_90_2_assign_material_name:
|
||||
type: string
|
||||
percent_90_2_target_weigh:
|
||||
type: string
|
||||
percent_90_3_assign_material_name:
|
||||
type: string
|
||||
percent_90_3_target_weigh:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- percent_90_1_assign_material_name
|
||||
- percent_90_1_target_weigh
|
||||
- percent_90_2_assign_material_name
|
||||
- percent_90_2_target_weigh
|
||||
- percent_90_3_assign_material_name
|
||||
- percent_90_3_target_weigh
|
||||
- percent_10_1_assign_material_name
|
||||
- percent_10_1_target_weigh
|
||||
- percent_10_1_volume
|
||||
- percent_10_1_liquid_material_name
|
||||
- percent_10_2_assign_material_name
|
||||
- percent_10_2_target_weigh
|
||||
- percent_10_2_volume
|
||||
- percent_10_2_liquid_material_name
|
||||
- percent_10_3_assign_material_name
|
||||
- percent_10_3_target_weigh
|
||||
- percent_10_3_volume
|
||||
- percent_10_3_liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationVialFeed_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationVialFeed_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationVialFeed
|
||||
type: object
|
||||
type: DispenStationVialFeed
|
||||
create_diamine_solution_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
material_name: material_name
|
||||
order_name: order_name
|
||||
speed: speed
|
||||
target_weigh: target_weigh
|
||||
temperature: temperature
|
||||
volume: volume
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
liquid_material_name: ''
|
||||
material_name: ''
|
||||
order_name: ''
|
||||
speed: ''
|
||||
target_weigh: ''
|
||||
temperature: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationSolnPrep_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
type: string
|
||||
material_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
target_weigh:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
volume:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- material_name
|
||||
- target_weigh
|
||||
- volume
|
||||
- liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationSolnPrep_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationSolnPrep_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: preparation_station.webp
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: string
|
||||
required:
|
||||
- config
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
1582
unilabos/registry/devices/dispensing_station_bioyond.yaml
Normal file
1582
unilabos/registry/devices/dispensing_station_bioyond.yaml
Normal file
File diff suppressed because it is too large
Load Diff
@@ -1361,7 +1361,8 @@ laiyu_liquid:
|
||||
mix_liquid_height: 0.0
|
||||
mix_rate: 0
|
||||
mix_stage: ''
|
||||
mix_times: 0
|
||||
mix_times:
|
||||
- 0
|
||||
mix_vol: 0
|
||||
none_keys:
|
||||
- ''
|
||||
@@ -1491,9 +1492,11 @@ laiyu_liquid:
|
||||
mix_stage:
|
||||
type: string
|
||||
mix_times:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
items:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
type: array
|
||||
mix_vol:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
|
||||
@@ -3994,7 +3994,8 @@ liquid_handler:
|
||||
mix_liquid_height: 0.0
|
||||
mix_rate: 0
|
||||
mix_stage: ''
|
||||
mix_times: 0
|
||||
mix_times:
|
||||
- 0
|
||||
mix_vol: 0
|
||||
none_keys:
|
||||
- ''
|
||||
@@ -4150,9 +4151,11 @@ liquid_handler:
|
||||
mix_stage:
|
||||
type: string
|
||||
mix_times:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
items:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
type: array
|
||||
mix_vol:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
@@ -5012,7 +5015,8 @@ liquid_handler.biomek:
|
||||
mix_liquid_height: 0.0
|
||||
mix_rate: 0
|
||||
mix_stage: ''
|
||||
mix_times: 0
|
||||
mix_times:
|
||||
- 0
|
||||
mix_vol: 0
|
||||
none_keys:
|
||||
- ''
|
||||
@@ -5155,9 +5159,11 @@ liquid_handler.biomek:
|
||||
mix_stage:
|
||||
type: string
|
||||
mix_times:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
items:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
type: array
|
||||
mix_vol:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
@@ -7801,7 +7807,8 @@ liquid_handler.prcxi:
|
||||
mix_liquid_height: 0.0
|
||||
mix_rate: 0
|
||||
mix_stage: ''
|
||||
mix_times: 0
|
||||
mix_times:
|
||||
- 0
|
||||
mix_vol: 0
|
||||
none_keys:
|
||||
- ''
|
||||
@@ -7930,9 +7937,11 @@ liquid_handler.prcxi:
|
||||
mix_stage:
|
||||
type: string
|
||||
mix_times:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
items:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
type: array
|
||||
mix_vol:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -708,8 +708,6 @@ class Registry:
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if action_config["type"] not in action_str_type_mapping:
|
||||
continue
|
||||
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
||||
# 添加内置的驱动命令动作
|
||||
self._add_builtin_actions(device_config, device_id)
|
||||
|
||||
@@ -48,25 +48,3 @@ 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
|
||||
|
||||
@@ -22,21 +22,3 @@ BIOYOND_PolymerReactionStation_Deck:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
YB_Deck11:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.resources.bioyond.decks:YB_Deck
|
||||
type: pylabrobot
|
||||
description: BIOYOND PolymerReactionStation Deck
|
||||
handles: []
|
||||
icon: 配液站.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ container:
|
||||
- container
|
||||
class:
|
||||
module: unilabos.resources.container:RegularContainer
|
||||
type: pylabrobot
|
||||
type: unilabos
|
||||
description: regular organic container
|
||||
handles:
|
||||
- data_key: fluid_in
|
||||
|
||||
@@ -10,17 +10,3 @@ prcxi_opentrons_96_tiprack_10ul:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
|
||||
tip_adaptor_1250ul_2:
|
||||
category:
|
||||
- prcxi
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.prcxi.prcxi_materials:tip_adaptor_1250ul
|
||||
type: pylabrobot
|
||||
description: Tip头适配器 1250uL
|
||||
handles: [ ]
|
||||
icon: ''
|
||||
init_param_schema: { }
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
@@ -90,89 +90,3 @@ 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
|
||||
|
||||
@@ -1,27 +1,11 @@
|
||||
from os import name
|
||||
from pylabrobot.resources import Deck, Coordinate, Rotation
|
||||
|
||||
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
|
||||
)
|
||||
from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling
|
||||
|
||||
|
||||
class BIOYOND_PolymerReactionStation_Deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
self,
|
||||
name: str = "PolymerReactionStation_Deck",
|
||||
size_x: float = 2700.0,
|
||||
size_y: float = 1080.0,
|
||||
@@ -35,22 +19,15 @@ 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
|
||||
"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"),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"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
|
||||
"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),
|
||||
}
|
||||
self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
|
||||
|
||||
@@ -60,7 +37,7 @@ 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,
|
||||
@@ -89,60 +66,3 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
class BIOYOND_YB_Deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "YB_Deck",
|
||||
size_x: float = 4150,
|
||||
size_y: float = 1400.0,
|
||||
size_z: float = 2670.0,
|
||||
category: str = "deck",
|
||||
setup: bool = False
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
self.warehouses = {
|
||||
"321窗口": bioyond_warehouse_1x2x2("321窗口"),
|
||||
"43窗口": bioyond_warehouse_1x2x2("43窗口"),
|
||||
"手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
|
||||
"手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
|
||||
"加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
|
||||
"加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
|
||||
|
||||
"15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"),
|
||||
"母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
|
||||
"大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
|
||||
"大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
|
||||
}
|
||||
# warehouse 的位置
|
||||
self.warehouse_locations = {
|
||||
"321窗口": Coordinate(-150.0, 158.0, 0.0),
|
||||
"43窗口": Coordinate(4160.0, 158.0, 0.0),
|
||||
"手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
|
||||
"手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
|
||||
"加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
|
||||
"加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
|
||||
|
||||
"15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
|
||||
"母液加样右": Coordinate(2152.0, 333.0, 0.0),
|
||||
"大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
|
||||
"大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
|
||||
}
|
||||
|
||||
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()
|
||||
return by
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -2,42 +2,22 @@ from unilabos.resources.warehouse import WareHouse, warehouse_factory
|
||||
|
||||
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)"""
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4,
|
||||
num_items_x=1,
|
||||
num_items_y=4,
|
||||
num_items_z=1,
|
||||
num_items_z=4,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
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
|
||||
)
|
||||
|
||||
|
||||
|
||||
def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x2仓库"""
|
||||
return warehouse_factory(
|
||||
@@ -54,113 +34,7 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
|
||||
category="warehouse",
|
||||
removed_positions=None
|
||||
)
|
||||
# 定义benyond的堆栈
|
||||
def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_y=2,
|
||||
num_items_z=2,
|
||||
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_10x1x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=10,
|
||||
num_items_y=1,
|
||||
num_items_z=1,
|
||||
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_1x3x3(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_y=3,
|
||||
num_items_z=3,
|
||||
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_2x1x3(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2,
|
||||
num_items_y=1,
|
||||
num_items_z=3,
|
||||
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_3x3x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3,
|
||||
num_items_y=3,
|
||||
num_items_z=1,
|
||||
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_5x1x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=5,
|
||||
num_items_y=1,
|
||||
num_items_z=1,
|
||||
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_3x3x1_2(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3,
|
||||
num_items_y=3,
|
||||
num_items_z=1,
|
||||
dx=12.0,
|
||||
dy=12.0,
|
||||
dz=12.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
|
||||
"""创建BioYond开关盖加液模块台面"""
|
||||
@@ -177,72 +51,4 @@ 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",
|
||||
)
|
||||
@@ -1,85 +1,67 @@
|
||||
import json
|
||||
from typing import Dict, Any
|
||||
|
||||
from pylabrobot.resources import Container
|
||||
from unilabos_msgs.msg import Resource
|
||||
|
||||
from unilabos.ros.msgs.message_converter import convert_from_ros_msg
|
||||
|
||||
|
||||
class RegularContainer(Container):
|
||||
def __init__(self, *args, **kwargs):
|
||||
pose = kwargs.pop("pose", None)
|
||||
if "size_x" not in kwargs:
|
||||
kwargs["size_x"] = 0
|
||||
if "size_y" not in kwargs:
|
||||
kwargs["size_y"] = 0
|
||||
if "size_z" not in kwargs:
|
||||
kwargs["size_z"] = 0
|
||||
self.kwargs = kwargs
|
||||
self.state = {}
|
||||
super().__init__(*args, category="container", **kwargs)
|
||||
class RegularContainer(object):
|
||||
# 第一个参数必须是id传入
|
||||
# noinspection PyShadowingBuiltins
|
||||
def __init__(self, id: str):
|
||||
self.id = id
|
||||
self.ulr_resource = Resource()
|
||||
self._data = None
|
||||
|
||||
def load_state(self, state: Dict[str, Any]):
|
||||
self.state = state
|
||||
#
|
||||
# class RegularContainer(object):
|
||||
# # 第一个参数必须是id传入
|
||||
# # noinspection PyShadowingBuiltins
|
||||
# def __init__(self, id: str):
|
||||
# self.id = id
|
||||
# self.ulr_resource = Resource()
|
||||
# self._data = None
|
||||
#
|
||||
# @property
|
||||
# def ulr_resource_data(self):
|
||||
# if self._data is None:
|
||||
# self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
|
||||
# return self._data
|
||||
#
|
||||
# @ulr_resource_data.setter
|
||||
# def ulr_resource_data(self, value: dict):
|
||||
# self._data = value
|
||||
# self.ulr_resource.data = json.dumps(self._data)
|
||||
#
|
||||
# @property
|
||||
# def liquid_type(self):
|
||||
# return self.ulr_resource_data.get("liquid_type", None)
|
||||
#
|
||||
# @liquid_type.setter
|
||||
# def liquid_type(self, value: str):
|
||||
# if value is not None:
|
||||
# self.ulr_resource_data["liquid_type"] = value
|
||||
# else:
|
||||
# self.ulr_resource_data.pop("liquid_type", None)
|
||||
#
|
||||
# @property
|
||||
# def liquid_volume(self):
|
||||
# return self.ulr_resource_data.get("liquid_volume", None)
|
||||
#
|
||||
# @liquid_volume.setter
|
||||
# def liquid_volume(self, value: float):
|
||||
# if value is not None:
|
||||
# self.ulr_resource_data["liquid_volume"] = value
|
||||
# else:
|
||||
# self.ulr_resource_data.pop("liquid_volume", None)
|
||||
#
|
||||
# def get_ulr_resource(self) -> Resource:
|
||||
# """
|
||||
# 获取UlrResource对象
|
||||
# :return: UlrResource对象
|
||||
# """
|
||||
# self.ulr_resource_data = self.ulr_resource_data # 确保数据被更新
|
||||
# return self.ulr_resource
|
||||
#
|
||||
# def get_ulr_resource_as_dict(self) -> Resource:
|
||||
# """
|
||||
# 获取UlrResource对象
|
||||
# :return: UlrResource对象
|
||||
# """
|
||||
# to_dict = convert_from_ros_msg(self.get_ulr_resource())
|
||||
# to_dict["type"] = "container"
|
||||
# return to_dict
|
||||
#
|
||||
# def __str__(self):
|
||||
# return f"{self.id}"
|
||||
@property
|
||||
def ulr_resource_data(self):
|
||||
if self._data is None:
|
||||
self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
|
||||
return self._data
|
||||
|
||||
@ulr_resource_data.setter
|
||||
def ulr_resource_data(self, value: dict):
|
||||
self._data = value
|
||||
self.ulr_resource.data = json.dumps(self._data)
|
||||
|
||||
@property
|
||||
def liquid_type(self):
|
||||
return self.ulr_resource_data.get("liquid_type", None)
|
||||
|
||||
@liquid_type.setter
|
||||
def liquid_type(self, value: str):
|
||||
if value is not None:
|
||||
self.ulr_resource_data["liquid_type"] = value
|
||||
else:
|
||||
self.ulr_resource_data.pop("liquid_type", None)
|
||||
|
||||
@property
|
||||
def liquid_volume(self):
|
||||
return self.ulr_resource_data.get("liquid_volume", None)
|
||||
|
||||
@liquid_volume.setter
|
||||
def liquid_volume(self, value: float):
|
||||
if value is not None:
|
||||
self.ulr_resource_data["liquid_volume"] = value
|
||||
else:
|
||||
self.ulr_resource_data.pop("liquid_volume", None)
|
||||
|
||||
def get_ulr_resource(self) -> Resource:
|
||||
"""
|
||||
获取UlrResource对象
|
||||
:return: UlrResource对象
|
||||
"""
|
||||
self.ulr_resource_data = self.ulr_resource_data # 确保数据被更新
|
||||
return self.ulr_resource
|
||||
|
||||
def get_ulr_resource_as_dict(self) -> Resource:
|
||||
"""
|
||||
获取UlrResource对象
|
||||
:return: UlrResource对象
|
||||
"""
|
||||
to_dict = convert_from_ros_msg(self.get_ulr_resource())
|
||||
to_dict["type"] = "container"
|
||||
return to_dict
|
||||
|
||||
def __str__(self):
|
||||
return f"{self.id}"
|
||||
@@ -1,23 +1,18 @@
|
||||
import importlib
|
||||
import inspect
|
||||
import json
|
||||
import os.path
|
||||
import traceback
|
||||
from typing import Union, Any, Dict, List, Tuple
|
||||
import uuid
|
||||
from typing import Union, Any, Dict, List
|
||||
import networkx as nx
|
||||
from pylabrobot.resources import ResourceHolder
|
||||
from unilabos_msgs.msg import Resource
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier
|
||||
from unilabos.ros.msgs.message_converter import convert_to_ros_msg
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
)
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.banner_print import print_status
|
||||
|
||||
try:
|
||||
@@ -49,33 +44,6 @@ def canonicalize_nodes_data(
|
||||
if node.get("label") is not None:
|
||||
node_id = node.pop("label")
|
||||
node["id"] = node["name"] = node_id
|
||||
if not isinstance(node.get("config"), dict):
|
||||
node["config"] = {}
|
||||
if not node.get("type"):
|
||||
node["type"] = "device"
|
||||
print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'type', defaulting to 'device'", "warning")
|
||||
if node.get("name", None) is None:
|
||||
node["name"] = node.get("id")
|
||||
print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'name', defaulting to {node['name']}", "warning")
|
||||
if not isinstance(node.get("position"), dict):
|
||||
node["position"] = {"position": {}}
|
||||
x = node.pop("x", None)
|
||||
if x is not None:
|
||||
node["position"]["position"]["x"] = x
|
||||
y = node.pop("y", None)
|
||||
if y is not None:
|
||||
node["position"]["position"]["y"] = y
|
||||
z = node.pop("z", None)
|
||||
if z is not None:
|
||||
node["position"]["position"]["z"] = z
|
||||
if "sample_id" in node:
|
||||
sample_id = node.pop("sample_id")
|
||||
if sample_id:
|
||||
logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
|
||||
for k in list(node.keys()):
|
||||
if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
|
||||
v = node.pop(k)
|
||||
node["config"][k] = v
|
||||
|
||||
# 第二步：处理parent_relation
|
||||
id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
|
||||
@@ -333,10 +301,6 @@ def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dic
|
||||
"nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes],
|
||||
"links": standardized_links,
|
||||
}
|
||||
dump_json_path = os.path.join(BasicConfig.working_dir, os.path.basename(graphml_file).rsplit(".")[0] + ".json")
|
||||
with open(dump_json_path, "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps(graph_data, indent=4, ensure_ascii=False))
|
||||
print_status(f"GraphML converted to JSON and saved to {dump_json_path}", "info")
|
||||
physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
|
||||
handle_communications(physical_setup_graph)
|
||||
|
||||
@@ -535,7 +499,6 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
|
||||
|
||||
def resource_ulab_to_plr_inner(resource: dict):
|
||||
all_states[resource["name"]] = resource["data"]
|
||||
extra = resource.pop("extra", {})
|
||||
d = {
|
||||
"name": resource["name"],
|
||||
"type": resource["type"],
|
||||
@@ -576,18 +539,16 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
|
||||
replace_info = {
|
||||
"plate": "plate",
|
||||
"well": "well",
|
||||
"tip_spot": "tip_spot",
|
||||
"trash": "trash",
|
||||
"tip_spot": "container",
|
||||
"trash": "container",
|
||||
"deck": "deck",
|
||||
"tip_rack": "tip_rack",
|
||||
"warehouse": "warehouse",
|
||||
"container": "container",
|
||||
"tip_rack": "container",
|
||||
}
|
||||
if source in replace_info:
|
||||
return replace_info[source]
|
||||
else:
|
||||
print("转换pylabrobot的时候，出现未知类型", source)
|
||||
return source
|
||||
return "container"
|
||||
|
||||
def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:
|
||||
r = {
|
||||
@@ -615,13 +576,13 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
|
||||
return r
|
||||
|
||||
|
||||
def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[str, Tuple[str, str]] = {}, deck: Any = None) -> list[dict]:
|
||||
def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
|
||||
"""
|
||||
将 bioyond 物料格式转换为 ulab 物料格式
|
||||
|
||||
Args:
|
||||
bioyond_materials: bioyond 系统的物料查询结果列表
|
||||
type_mapping: 物料类型映射字典，格式 {bioyond_type: [plr_class_name, class_uuid]}
|
||||
type_mapping: 物料类型映射字典，格式 {bioyond_type: plr_class_name}
|
||||
location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}
|
||||
|
||||
Returns:
|
||||
@@ -631,168 +592,85 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
|
||||
for material in bioyond_materials:
|
||||
className = (
|
||||
type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
|
||||
type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
|
||||
)
|
||||
|
||||
plr_material_result = initialize_resource(
|
||||
plr_material: ResourcePLR = 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())
|
||||
|
||||
# 处理子物料（detail）
|
||||
if material.get("detail") and len(material["detail"]) > 0:
|
||||
for bottle in reversed(plr_material.children):
|
||||
plr_material.unassign_child_resource(bottle)
|
||||
child_ids = []
|
||||
for detail in material["detail"]:
|
||||
number = (
|
||||
(detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y
|
||||
+ (detail.get("y", 0) - 1) * plr_material.num_items_y
|
||||
+ (detail.get("x", 0) - 1)
|
||||
+ (detail.get("x", 0) - 1) * plr_material.num_items_x
|
||||
+ (detail.get("y", 0) - 1)
|
||||
)
|
||||
typeName = detail.get("typeName", detail.get("name", ""))
|
||||
if typeName in type_mapping:
|
||||
bottle = plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": type_mapping[typeName][0]}, resource_type=ResourcePLR
|
||||
bottle = plr_material[number]
|
||||
if detail["name"] in type_mapping:
|
||||
# plr_material.unassign_child_resource(bottle)
|
||||
plr_material.sites[number] = None
|
||||
plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
|
||||
)
|
||||
else:
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
bottle.code = detail.get("code", "")
|
||||
else:
|
||||
# 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)
|
||||
]
|
||||
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", []):
|
||||
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 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)
|
||||
)
|
||||
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
|
||||
|
||||
|
||||
def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
|
||||
def resource_plr_to_bioyond(plr_materials: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
|
||||
bioyond_materials = []
|
||||
for resource in plr_resources:
|
||||
if hasattr(resource, "capacity") and resource.capacity > 1:
|
||||
material = {
|
||||
"typeId": type_mapping.get(resource.model)[1],
|
||||
"name": resource.name,
|
||||
"unit": "个",
|
||||
"quantity": 1,
|
||||
"details": [],
|
||||
"Parameters": "{}"
|
||||
}
|
||||
for bottle in resource.children:
|
||||
if isinstance(resource, ItemizedCarrier):
|
||||
site = resource.get_child_identifier(bottle)
|
||||
else:
|
||||
site = {"x": bottle.location.x - 1, "y": bottle.location.y - 1}
|
||||
detail_item = {
|
||||
"typeId": type_mapping.get(bottle.model)[1],
|
||||
"name": bottle.name,
|
||||
for plr_material in plr_materials:
|
||||
material = {
|
||||
"name": plr_material.name,
|
||||
"typeName": plr_material.__class__.__name__,
|
||||
"code": plr_material.code,
|
||||
"quantity": 0,
|
||||
"detail": [],
|
||||
"locations": [],
|
||||
}
|
||||
if hasattr(plr_material, "capacity") and plr_material.capacity > 1:
|
||||
for idx in range(plr_material.capacity):
|
||||
bottle = plr_material[idx]
|
||||
detail = {
|
||||
"x": (idx // (plr_material.num_items_x * plr_material.num_items_y)) + 1,
|
||||
"y": ((idx % (plr_material.num_items_x * plr_material.num_items_y)) // plr_material.num_items_x) + 1,
|
||||
"z": (idx % plr_material.num_items_x) + 1,
|
||||
"code": bottle.code if hasattr(bottle, "code") else "",
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"x": site["x"] + 1,
|
||||
"y": site["y"] + 1,
|
||||
"molecular": 1,
|
||||
"Parameters": json.dumps({"molecular": 1})
|
||||
}
|
||||
material["details"].append(detail_item)
|
||||
material["detail"].append(detail)
|
||||
material["quantity"] = 1.0
|
||||
else:
|
||||
bottle = resource[0] if resource.capacity > 0 else resource
|
||||
material = {
|
||||
"typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
|
||||
"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": "{}"
|
||||
}
|
||||
|
||||
if resource.parent is not None and isinstance(resource.parent, ItemizedCarrier):
|
||||
site_in_parent = resource.parent.get_child_identifier(resource)
|
||||
material["locations"] = [
|
||||
{
|
||||
"id": warehouse_mapping[resource.parent.name]["site_uuids"][site_in_parent["identifier"]],
|
||||
"whid": warehouse_mapping[resource.parent.name]["uuid"],
|
||||
"whName": resource.parent.name,
|
||||
"x": site_in_parent["z"] + 1,
|
||||
"y": site_in_parent["y"] + 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
|
||||
print(f"material_data: {material}")
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
material["quantity"] = sum(qty for _, qty in bottle.tracker.liquids) if hasattr(plr_material, "tracker") else 0
|
||||
bioyond_materials.append(material)
|
||||
return bioyond_materials
|
||||
|
||||
@@ -817,8 +695,6 @@ 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
|
||||
@@ -833,16 +709,14 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
|
||||
if resource_class_config["type"] == "pylabrobot":
|
||||
resource_plr = RESOURCE(name=resource_config["name"])
|
||||
if resource_type != ResourcePLR:
|
||||
tree_sets = ResourceTreeSet.from_plr_resources([resource_plr])
|
||||
# r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
|
||||
# # r = resource_plr_to_ulab(resource_plr=resource_plr)
|
||||
# if resource_config.get("position") is not None:
|
||||
# r["position"] = resource_config["position"]
|
||||
r = tree_sets.dump()
|
||||
r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
|
||||
# r = resource_plr_to_ulab(resource_plr=resource_plr)
|
||||
if resource_config.get("position") is not None:
|
||||
r["position"] = resource_config["position"]
|
||||
r = tree_to_list([r])
|
||||
else:
|
||||
r = resource_plr
|
||||
elif resource_class_config["type"] == "unilabos":
|
||||
raise ValueError(f"No more support for unilabos Resource class {resource_class_config}")
|
||||
res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
|
||||
res_instance.ulr_resource = convert_to_ros_msg(
|
||||
Resource, {k: v for k, v in resource_config.items() if k != "class"}
|
||||
|
||||
@@ -32,7 +32,6 @@ class Bottle(Well):
|
||||
barcode: Optional[str] = "",
|
||||
category: str = "container",
|
||||
model: Optional[str] = None,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(
|
||||
name=name,
|
||||
@@ -74,11 +73,9 @@ class ItemizedCarrier(ResourcePLR):
|
||||
num_items_x: int = 0,
|
||||
num_items_y: int = 0,
|
||||
num_items_z: int = 0,
|
||||
layout: str = "x-y",
|
||||
sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
|
||||
category: Optional[str] = "carrier",
|
||||
model: Optional[str] = None,
|
||||
invisible_slots: Optional[str] = None,
|
||||
):
|
||||
super().__init__(
|
||||
name=name,
|
||||
@@ -90,9 +87,6 @@ class ItemizedCarrier(ResourcePLR):
|
||||
)
|
||||
self.num_items = len(sites)
|
||||
self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
|
||||
self.invisible_slots = [] if invisible_slots is None else invisible_slots
|
||||
self.layout = "z-y" if self.num_items_z > 1 and self.num_items_x == 1 else "x-z" if self.num_items_z > 1 and self.num_items_y == 1 else "x-y"
|
||||
|
||||
if isinstance(sites, dict):
|
||||
sites = sites or {}
|
||||
self.sites: List[Optional[ResourcePLR]] = list(sites.values())
|
||||
@@ -155,7 +149,7 @@ class ItemizedCarrier(ResourcePLR):
|
||||
def assign_resource_to_site(self, resource: ResourcePLR, spot: int):
|
||||
if self.sites[spot] is not None and not isinstance(self.sites[spot], ResourceHolder):
|
||||
raise ValueError(f"spot {spot} already has a resource, {resource}")
|
||||
self.assign_child_resource(resource, location=self.child_locations.get(list(self._ordering.keys())[spot]), spot=spot)
|
||||
self.assign_child_resource(resource, location=self.child_locations.get(str(spot)), spot=spot)
|
||||
|
||||
def unassign_child_resource(self, resource: ResourcePLR):
|
||||
found = False
|
||||
@@ -166,92 +160,8 @@ class ItemizedCarrier(ResourcePLR):
|
||||
break
|
||||
if not found:
|
||||
raise ValueError(f"Resource {resource} is not assigned to this carrier")
|
||||
super().unassign_child_resource(resource)
|
||||
# if hasattr(resource, "unassign"):
|
||||
# resource.unassign()
|
||||
|
||||
def get_child_identifier(self, child: ResourcePLR):
|
||||
"""Get the identifier information for a given child resource.
|
||||
|
||||
Args:
|
||||
child: The Resource object to find the identifier for
|
||||
|
||||
Returns:
|
||||
dict: A dictionary containing:
|
||||
- identifier: The string identifier (e.g. "A1", "B2")
|
||||
- idx: The integer index in the sites list
|
||||
- x: The x index (column index, 0-based)
|
||||
- y: The y index (row index, 0-based)
|
||||
- z: The z index (layer index, 0-based)
|
||||
|
||||
Raises:
|
||||
ValueError: If the child resource is not found in this carrier
|
||||
"""
|
||||
# Find the child resource in sites
|
||||
for idx, resource in enumerate(self.sites):
|
||||
if resource is child:
|
||||
# Get the identifier from ordering keys
|
||||
identifier = list(self._ordering.keys())[idx]
|
||||
|
||||
# Parse identifier to get x, y, z indices
|
||||
x_idx, y_idx, z_idx = self._parse_identifier_to_indices(identifier, idx)
|
||||
|
||||
return {
|
||||
"identifier": identifier,
|
||||
"idx": idx,
|
||||
"x": x_idx,
|
||||
"y": y_idx,
|
||||
"z": z_idx
|
||||
}
|
||||
|
||||
# If not found, raise an error
|
||||
raise ValueError(f"Resource {child} is not assigned to this carrier")
|
||||
|
||||
def _parse_identifier_to_indices(self, identifier: str, idx: int) -> Tuple[int, int, int]:
|
||||
"""Parse identifier string to get x, y, z indices.
|
||||
|
||||
Args:
|
||||
identifier: String identifier like "A1", "B2", etc.
|
||||
idx: Linear index as fallback for calculation
|
||||
|
||||
Returns:
|
||||
Tuple of (x_idx, y_idx, z_idx)
|
||||
"""
|
||||
# If we have explicit dimensions, calculate from idx
|
||||
if self.num_items_x > 0 and self.num_items_y > 0:
|
||||
# Calculate 3D indices from linear index
|
||||
z_idx = idx // (self.num_items_x * self.num_items_y) if self.num_items_z > 0 else 0
|
||||
remaining = idx % (self.num_items_x * self.num_items_y)
|
||||
y_idx = remaining // self.num_items_x
|
||||
x_idx = remaining % self.num_items_x
|
||||
return x_idx, y_idx, z_idx
|
||||
|
||||
# Fallback: parse from Excel-style identifier
|
||||
if isinstance(identifier, str) and len(identifier) >= 2:
|
||||
# Extract row (letter) and column (number)
|
||||
row_letters = ""
|
||||
col_numbers = ""
|
||||
|
||||
for char in identifier:
|
||||
if char.isalpha():
|
||||
row_letters += char
|
||||
elif char.isdigit():
|
||||
col_numbers += char
|
||||
|
||||
if row_letters and col_numbers:
|
||||
# Convert letter(s) to row index (A=0, B=1, etc.)
|
||||
y_idx = 0
|
||||
for char in row_letters:
|
||||
y_idx = y_idx * 26 + (ord(char.upper()) - ord('A'))
|
||||
|
||||
# Convert number to column index (1-based to 0-based)
|
||||
x_idx = int(col_numbers) - 1
|
||||
z_idx = 0 # Default layer
|
||||
|
||||
return x_idx, y_idx, z_idx
|
||||
|
||||
# If all else fails, assume linear arrangement
|
||||
return idx, 0, 0
|
||||
if hasattr(resource, "unassign"):
|
||||
resource.unassign()
|
||||
|
||||
def __getitem__(
|
||||
self,
|
||||
@@ -409,10 +319,9 @@ class ItemizedCarrier(ResourcePLR):
|
||||
"num_items_x": self.num_items_x,
|
||||
"num_items_y": self.num_items_y,
|
||||
"num_items_z": self.num_items_z,
|
||||
"layout": self.layout,
|
||||
"sites": [{
|
||||
"label": str(identifier),
|
||||
"visible": False if identifier in self.invisible_slots else True,
|
||||
"visible": True if self[identifier] is not None else False,
|
||||
"occupied_by": self[identifier].name
|
||||
if isinstance(self[identifier], ResourcePLR) and not isinstance(self[identifier], ResourceHolder) else
|
||||
self[identifier] if isinstance(self[identifier], str) else None,
|
||||
@@ -435,8 +344,6 @@ class BottleCarrier(ItemizedCarrier):
|
||||
sites: Optional[Dict[Union[int, str], ResourceHolder]] = None,
|
||||
category: str = "bottle_carrier",
|
||||
model: Optional[str] = None,
|
||||
invisible_slots: List[str] = None,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(
|
||||
name=name,
|
||||
@@ -446,5 +353,4 @@ class BottleCarrier(ItemizedCarrier):
|
||||
sites=sites,
|
||||
category=category,
|
||||
model=model,
|
||||
invisible_slots=invisible_slots,
|
||||
)
|
||||
|
||||
@@ -5,13 +5,10 @@ from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_reso
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
|
||||
|
||||
|
||||
LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
|
||||
|
||||
|
||||
def warehouse_factory(
|
||||
name: str,
|
||||
num_items_x: int = 1,
|
||||
num_items_y: int = 4,
|
||||
num_items_x: int = 4,
|
||||
num_items_y: int = 1,
|
||||
num_items_z: int = 4,
|
||||
dx: float = 137.0,
|
||||
dy: float = 96.0,
|
||||
@@ -23,7 +20,6 @@ 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 = []
|
||||
@@ -37,19 +33,14 @@ def warehouse_factory(
|
||||
locations.append(Coordinate(x, y, z))
|
||||
if removed_positions:
|
||||
locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
|
||||
_sites = create_homogeneous_resources(
|
||||
sites = create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=locations,
|
||||
resource_size_x=127.0,
|
||||
resource_size_y=86.0,
|
||||
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)
|
||||
# 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,
|
||||
@@ -77,7 +68,6 @@ class WareHouse(ItemizedCarrier):
|
||||
num_items_x: int,
|
||||
num_items_y: int,
|
||||
num_items_z: int,
|
||||
layout: str = "x-y",
|
||||
sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
@@ -93,7 +83,6 @@ class WareHouse(ItemizedCarrier):
|
||||
num_items_x=num_items_x,
|
||||
num_items_y=num_items_y,
|
||||
num_items_z=num_items_z,
|
||||
layout=layout,
|
||||
sites=sites,
|
||||
category=category,
|
||||
model=model,
|
||||
|
||||
@@ -26,7 +26,6 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
|
||||
d = None
|
||||
original_device_config = copy.deepcopy(device_config)
|
||||
device_class_config = device_config["class"]
|
||||
uid = device_config["uuid"]
|
||||
if isinstance(device_class_config, str): # 如果是字符串，则直接去lab_registry中查找，获取class
|
||||
if len(device_class_config) == 0:
|
||||
raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
|
||||
@@ -51,7 +50,7 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
|
||||
)
|
||||
try:
|
||||
d = DEVICE(
|
||||
device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
|
||||
device_id=device_id, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
|
||||
)
|
||||
except DeviceInitError as ex:
|
||||
return d
|
||||
|
||||
@@ -6,7 +6,6 @@ from typing import Optional, Dict, Any, List
|
||||
import rclpy
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Response
|
||||
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
|
||||
@@ -109,51 +108,66 @@ def slave(
|
||||
rclpy_init_args: List[str] = ["--log-level", "debug"],
|
||||
) -> None:
|
||||
"""从节点函数"""
|
||||
# 1. 初始化 ROS2
|
||||
if not rclpy.ok():
|
||||
rclpy.init(args=rclpy_init_args)
|
||||
executor = rclpy.__executor
|
||||
if not executor:
|
||||
executor = rclpy.__executor = MultiThreadedExecutor()
|
||||
devices_instances = {}
|
||||
for device_config in devices_config.root_nodes:
|
||||
device_id = device_config.res_content.id
|
||||
if device_config.res_content.type != "device":
|
||||
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
|
||||
devices_instances[device_id] = d
|
||||
# 默认初始化
|
||||
# if d is not None and isinstance(d, Node):
|
||||
# executor.add_node(d)
|
||||
# else:
|
||||
# print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
|
||||
|
||||
# 1.5 启动 executor 线程
|
||||
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
|
||||
thread.start()
|
||||
|
||||
# 2. 创建 Slave Machine Node
|
||||
n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
|
||||
executor.add_node(n)
|
||||
|
||||
# 3. 向 Host 报送节点信息和物料，获取 UUID 映射
|
||||
uuid_mapping = {}
|
||||
if visual != "disable":
|
||||
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
|
||||
|
||||
resource_mesh_manager = ResourceMeshManager(
|
||||
resources_mesh_config,
|
||||
resources_config, # type: ignore FIXME
|
||||
resource_tracker=DeviceNodeResourceTracker(),
|
||||
device_id="resource_mesh_manager",
|
||||
)
|
||||
joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
|
||||
|
||||
executor.add_node(resource_mesh_manager)
|
||||
executor.add_node(joint_republisher)
|
||||
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
|
||||
thread.start()
|
||||
|
||||
if not BasicConfig.slave_no_host:
|
||||
# 3.1 报送节点信息
|
||||
sclient = n.create_client(SerialCommand, "/node_info_update")
|
||||
sclient.wait_for_service()
|
||||
|
||||
registry_config = {}
|
||||
devices_to_register, resources_to_register = register_devices_and_resources(lab_registry, True)
|
||||
registry_config.update(devices_to_register)
|
||||
registry_config.update(resources_to_register)
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps(
|
||||
{
|
||||
"machine_name": BasicConfig.machine_name,
|
||||
"type": "slave",
|
||||
"devices_config": devices_config.dump(),
|
||||
"registry_config": registry_config,
|
||||
"registry_config": lab_registry.obtain_registry_device_info(),
|
||||
},
|
||||
ensure_ascii=False,
|
||||
cls=TypeEncoder,
|
||||
)
|
||||
sclient.call_async(request).result()
|
||||
response = sclient.call_async(request).result()
|
||||
logger.info(f"Slave node info updated.")
|
||||
|
||||
# 3.2 报送物料树，获取 UUID 映射
|
||||
if resources_config:
|
||||
rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
|
||||
rclient.wait_for_service()
|
||||
# 使用新的 c2s_update_resource_tree 服务
|
||||
rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
|
||||
rclient.wait_for_service()
|
||||
|
||||
# 序列化 ResourceTreeSet 为 JSON
|
||||
if resources_config:
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps(
|
||||
{
|
||||
@@ -166,61 +180,35 @@ def slave(
|
||||
},
|
||||
ensure_ascii=False,
|
||||
)
|
||||
tree_response: SerialCommand_Response = rclient.call(request)
|
||||
tree_response: SerialCommand_Response = rclient.call_async(request).result()
|
||||
uuid_mapping = json.loads(tree_response.response)
|
||||
logger.info(f"Slave resource tree added. UUID mapping: {len(uuid_mapping)} nodes")
|
||||
|
||||
# 3.3 使用 UUID 映射更新 resources_config 的 UUID（参考 client.py 逻辑）
|
||||
old_uuids = {node.res_content.uuid: node for node in resources_config.all_nodes}
|
||||
for old_uuid, node in old_uuids.items():
|
||||
if old_uuid in uuid_mapping:
|
||||
new_uuid = uuid_mapping[old_uuid]
|
||||
node.res_content.uuid = new_uuid
|
||||
# 更新所有子节点的 parent_uuid
|
||||
for child in node.children:
|
||||
child.res_content.parent_uuid = new_uuid
|
||||
# 创建反向映射：new_uuid -> old_uuid
|
||||
reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
|
||||
for node in resources_config.root_nodes:
|
||||
if node.res_content.type == "device":
|
||||
for sub_node in node.children:
|
||||
# 只有二级子设备
|
||||
if sub_node.res_content.type != "device":
|
||||
device_tracker = devices_instances[node.res_content.id].resource_tracker
|
||||
# sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
|
||||
old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
|
||||
if old_uuid:
|
||||
# 找到旧UUID，使用UUID查找
|
||||
resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
|
||||
else:
|
||||
# 未找到旧UUID，使用name查找
|
||||
resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
|
||||
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
|
||||
else:
|
||||
logger.warning(f"资源UUID未更新: {old_uuid}")
|
||||
logger.error("Slave模式不允许新增非设备节点下的物料")
|
||||
continue
|
||||
if tree_response:
|
||||
logger.info(f"Slave resource tree added. Response: {tree_response.response}")
|
||||
else:
|
||||
logger.warning("Slave resource tree add response is None")
|
||||
else:
|
||||
logger.info("No resources to add.")
|
||||
|
||||
# 4. 初始化所有设备实例（此时 resources_config 的 UUID 已更新）
|
||||
devices_instances = {}
|
||||
for device_config in devices_config.root_nodes:
|
||||
device_id = device_config.res_content.id
|
||||
if device_config.res_content.type == "device":
|
||||
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
|
||||
if d is not None:
|
||||
devices_instances[device_id] = d
|
||||
logger.info(f"Device {device_id} initialized.")
|
||||
else:
|
||||
logger.warning(f"Device {device_id} initialization failed.")
|
||||
|
||||
# 5. 如果启用可视化，创建可视化相关节点
|
||||
if visual != "disable":
|
||||
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
|
||||
|
||||
# 将 ResourceTreeSet 转换为 list 用于 visual 组件
|
||||
resources_list = (
|
||||
[node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
|
||||
if resources_config
|
||||
else []
|
||||
)
|
||||
resource_mesh_manager = ResourceMeshManager(
|
||||
resources_mesh_config,
|
||||
resources_list,
|
||||
resource_tracker=DeviceNodeResourceTracker(),
|
||||
device_id="resource_mesh_manager",
|
||||
)
|
||||
joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
|
||||
lh_joint_pub = LiquidHandlerJointPublisher(
|
||||
resources_config=resources_list, resource_tracker=DeviceNodeResourceTracker()
|
||||
)
|
||||
executor.add_node(resource_mesh_manager)
|
||||
executor.add_node(joint_republisher)
|
||||
executor.add_node(lh_joint_pub)
|
||||
|
||||
# 7. 保持运行
|
||||
while True:
|
||||
time.sleep(1)
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ import threading
|
||||
import time
|
||||
import traceback
|
||||
import uuid
|
||||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
|
||||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
import asyncio
|
||||
@@ -49,11 +49,11 @@ from unilabos_msgs.msg import Resource # type: ignore
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
DeviceNodeResourceTracker,
|
||||
ResourceTreeSet, ResourceTreeInstance,
|
||||
ResourceTreeSet,
|
||||
)
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
from rclpy.task import Task, Future
|
||||
from unilabos.utils.async_util import run_async_func
|
||||
from unilabos.utils.import_manager import default_manager
|
||||
from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
|
||||
from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
|
||||
@@ -132,7 +132,6 @@ class ROSLoggerAdapter:
|
||||
def init_wrapper(
|
||||
self,
|
||||
device_id: str,
|
||||
device_uuid: str,
|
||||
driver_class: type[T],
|
||||
device_config: Dict[str, Any],
|
||||
status_types: Dict[str, Any],
|
||||
@@ -151,7 +150,6 @@ def init_wrapper(
|
||||
if children is None:
|
||||
children = []
|
||||
kwargs["device_id"] = device_id
|
||||
kwargs["device_uuid"] = device_uuid
|
||||
kwargs["driver_class"] = driver_class
|
||||
kwargs["device_config"] = device_config
|
||||
kwargs["driver_params"] = driver_params
|
||||
@@ -268,7 +266,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self,
|
||||
driver_instance: T,
|
||||
device_id: str,
|
||||
device_uuid: str,
|
||||
status_types: Dict[str, Any],
|
||||
action_value_mappings: Dict[str, Any],
|
||||
hardware_interface: Dict[str, Any],
|
||||
@@ -281,7 +278,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
Args:
|
||||
driver_instance: 设备实例
|
||||
device_id: 设备标识符
|
||||
device_uuid: 设备标识符
|
||||
status_types: 需要发布的状态和传感器信息
|
||||
action_value_mappings: 设备动作
|
||||
hardware_interface: 硬件接口配置
|
||||
@@ -289,7 +285,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
"""
|
||||
self.driver_instance = driver_instance
|
||||
self.device_id = device_id
|
||||
self.uuid = device_uuid
|
||||
self.uuid = str(uuid.uuid4())
|
||||
self.publish_high_frequency = False
|
||||
self.callback_group = ReentrantCallbackGroup()
|
||||
self.resource_tracker = resource_tracker
|
||||
@@ -338,12 +334,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
# 创建资源管理客户端
|
||||
self._resource_clients: Dict[str, Client] = {
|
||||
"resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
|
||||
"resource_get": self.create_client(SerialCommand, "/resources/get", callback_group=self.callback_group),
|
||||
"resource_delete": self.create_client(ResourceDelete, "/resources/delete", callback_group=self.callback_group),
|
||||
"resource_update": self.create_client(ResourceUpdate, "/resources/update", callback_group=self.callback_group),
|
||||
"resource_list": self.create_client(ResourceList, "/resources/list", callback_group=self.callback_group),
|
||||
"c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree", callback_group=self.callback_group),
|
||||
"resource_add": self.create_client(ResourceAdd, "/resources/add"),
|
||||
"resource_get": self.create_client(SerialCommand, "/resources/get"),
|
||||
"resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
|
||||
"resource_update": self.create_client(ResourceUpdate, "/resources/update"),
|
||||
"resource_list": self.create_client(ResourceList, "/resources/list"),
|
||||
"c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree"),
|
||||
}
|
||||
|
||||
def re_register_device(req, res):
|
||||
@@ -466,9 +462,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
contain_model = not isinstance(resource, Deck)
|
||||
if isinstance(resource, ResourcePLR):
|
||||
# resources.list()
|
||||
plr_instance = ResourceTreeSet.from_raw_list(resources).to_plr_resources()[0]
|
||||
# resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
|
||||
# plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
|
||||
resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
|
||||
plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
|
||||
|
||||
if isinstance(plr_instance, Plate):
|
||||
empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
|
||||
@@ -556,23 +551,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
rclpy.get_global_executor().add_node(self)
|
||||
self.lab_logger().debug(f"ROS节点初始化完成")
|
||||
|
||||
async def sleep(self, rel_time: float, callback_group=None):
|
||||
if callback_group is None:
|
||||
callback_group = self.callback_group
|
||||
await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
|
||||
|
||||
@classmethod
|
||||
async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
|
||||
return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
|
||||
|
||||
async def update_resource(self, resources: List["ResourcePLR"]):
|
||||
r = SerialCommand.Request()
|
||||
tree_set = ResourceTreeSet.from_plr_resources(resources)
|
||||
for tree in tree_set.trees:
|
||||
root_node = tree.root_node
|
||||
if not root_node.res_content.uuid_parent:
|
||||
logger.warning(f"更新无父节点物料{root_node}，自动以当前设备作为根节点")
|
||||
root_node.res_content.parent_uuid = self.uuid
|
||||
r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})
|
||||
response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||
try:
|
||||
@@ -583,52 +564,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
self.lab_logger().debug(f"资源更新结果: {response}")
|
||||
|
||||
def transfer_to_new_resource(self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]):
|
||||
parent_uuid = tree.root_node.res_content.parent_uuid
|
||||
if parent_uuid:
|
||||
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
|
||||
if parent_resource is None:
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
|
||||
)
|
||||
else:
|
||||
try:
|
||||
# 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
|
||||
additional_params = {}
|
||||
extra = getattr(plr_resource, "unilabos_extra", {})
|
||||
if len(extra):
|
||||
self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
|
||||
if "update_resource_site" in extra:
|
||||
additional_add_params["site"] = extra["update_resource_site"]
|
||||
site = additional_add_params.get("site", None)
|
||||
spec = inspect.signature(parent_resource.assign_child_resource)
|
||||
if "spot" in spec.parameters:
|
||||
ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
|
||||
if ordering_dict:
|
||||
site = list(ordering_dict.keys()).index(site)
|
||||
additional_params["spot"] = site
|
||||
old_parent = plr_resource.parent
|
||||
if old_parent is not None:
|
||||
# plr并不支持同一个deck的加载和卸载
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求从{old_parent}卸载"
|
||||
)
|
||||
old_parent.unassign_child_resource(plr_resource)
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
|
||||
)
|
||||
parent_resource.assign_child_resource(
|
||||
plr_resource, location=None, **additional_params
|
||||
)
|
||||
func = getattr(self.driver_instance, "resource_tree_transfer", None)
|
||||
if callable(func):
|
||||
# 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
|
||||
func(old_parent, plr_resource, parent_resource)
|
||||
except Exception as e:
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
|
||||
)
|
||||
|
||||
async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
|
||||
"""
|
||||
处理资源树更新请求
|
||||
@@ -638,146 +573,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
- update: 更新现有资源
|
||||
- remove: 从资源树中移除资源
|
||||
"""
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
|
||||
def _handle_add(
|
||||
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
处理资源添加操作的内部函数
|
||||
|
||||
Args:
|
||||
plr_resources: PLR资源列表
|
||||
tree_set: 资源树集合
|
||||
additional_add_params: 额外的添加参数
|
||||
|
||||
Returns:
|
||||
操作结果字典
|
||||
"""
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
self.resource_tracker.add_resource(plr_resource)
|
||||
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
|
||||
|
||||
func = getattr(self.driver_instance, "resource_tree_add", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
|
||||
return {"success": True, "action": "add"}
|
||||
|
||||
def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
|
||||
"""
|
||||
处理资源移除操作的内部函数
|
||||
|
||||
Args:
|
||||
resources_uuid: 要移除的资源UUID列表
|
||||
|
||||
Returns:
|
||||
操作结果字典，包含移除的资源列表
|
||||
"""
|
||||
found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
|
||||
[{"uuid": uid} for uid in resources_uuid], try_mode=True
|
||||
)
|
||||
found_plr_resources = []
|
||||
other_plr_resources = []
|
||||
|
||||
for found_resource in found_resources:
|
||||
for resource in found_resource:
|
||||
if issubclass(resource.__class__, ResourcePLR):
|
||||
found_plr_resources.append(resource)
|
||||
else:
|
||||
other_plr_resources.append(resource)
|
||||
|
||||
# 调用driver的remove回调
|
||||
func = getattr(self.driver_instance, "resource_tree_remove", None)
|
||||
if callable(func):
|
||||
func(found_plr_resources)
|
||||
|
||||
# 从parent卸载并从tracker移除
|
||||
for plr_resource in found_plr_resources:
|
||||
if plr_resource.parent is not None:
|
||||
plr_resource.parent.unassign_child_resource(plr_resource)
|
||||
self.resource_tracker.remove_resource(plr_resource)
|
||||
self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
|
||||
|
||||
for other_plr_resource in other_plr_resources:
|
||||
self.resource_tracker.remove_resource(other_plr_resource)
|
||||
self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"action": "remove",
|
||||
# "removed_plr": found_plr_resources,
|
||||
# "removed_other": other_plr_resources,
|
||||
}
|
||||
|
||||
def _handle_update(
|
||||
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
处理资源更新操作的内部函数
|
||||
|
||||
Args:
|
||||
plr_resources: PLR资源列表（包含新状态）
|
||||
tree_set: 资源树集合
|
||||
additional_add_params: 额外的参数
|
||||
|
||||
Returns:
|
||||
操作结果字典
|
||||
"""
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
states = plr_resource.serialize_all_state()
|
||||
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
|
||||
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
|
||||
)
|
||||
|
||||
# Update操作中包含改名：需要先remove再add
|
||||
if original_instance.name != plr_resource.name:
|
||||
old_name = original_instance.name
|
||||
new_name = plr_resource.name
|
||||
self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
|
||||
|
||||
# 收集所有相关的uuid（包括子节点）
|
||||
_handle_remove([original_instance.unilabos_uuid])
|
||||
original_instance.name = new_name
|
||||
_handle_add([original_instance], tree_set, additional_add_params)
|
||||
|
||||
self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
|
||||
|
||||
# 常规更新：不涉及改名
|
||||
original_parent_resource = original_instance.parent
|
||||
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
|
||||
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
|
||||
|
||||
self.lab_logger().info(
|
||||
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
|
||||
f"目标父节点{target_parent_resource_uuid} 更新"
|
||||
)
|
||||
|
||||
# 更新extra
|
||||
if getattr(plr_resource, "unilabos_extra", None) is not None:
|
||||
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501
|
||||
|
||||
# 如果父节点变化，需要重新挂载
|
||||
if (
|
||||
original_parent_resource_uuid != target_parent_resource_uuid
|
||||
and original_parent_resource is not None
|
||||
):
|
||||
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
||||
|
||||
# 加载状态
|
||||
original_instance.load_all_state(states)
|
||||
child_count = len(original_instance.get_all_children())
|
||||
self.lab_logger().info(
|
||||
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
|
||||
)
|
||||
|
||||
# 调用driver的update回调
|
||||
func = getattr(self.driver_instance, "resource_tree_update", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
|
||||
return {"success": True, "action": "update"}
|
||||
|
||||
try:
|
||||
data = json.loads(req.command)
|
||||
results = []
|
||||
@@ -796,7 +591,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
].call_async(
|
||||
SerialCommand.Request(
|
||||
command=json.dumps(
|
||||
{"data": {"data": resources_uuid, "with_children": True if action == "add" else False}, "action": "get"}
|
||||
{"data": {"data": resources_uuid, "with_children": False}, "action": "get"}
|
||||
)
|
||||
)
|
||||
) # type: ignore
|
||||
@@ -804,20 +599,65 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
|
||||
try:
|
||||
if action == "add":
|
||||
if tree_set is None:
|
||||
raise ValueError("tree_set不能为None")
|
||||
# 添加资源到资源跟踪器
|
||||
plr_resources = tree_set.to_plr_resources()
|
||||
result = _handle_add(plr_resources, tree_set, additional_add_params)
|
||||
results.append(result)
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
self.resource_tracker.add_resource(plr_resource)
|
||||
parent_uuid = tree.root_node.res_content.parent_uuid
|
||||
if parent_uuid:
|
||||
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
|
||||
if parent_resource is None:
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
|
||||
)
|
||||
else:
|
||||
try:
|
||||
# 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
|
||||
additional_params = {}
|
||||
site = additional_add_params.get("site", None)
|
||||
spec = inspect.signature(parent_resource.assign_child_resource)
|
||||
if "spot" in spec.parameters:
|
||||
additional_params["spot"] = site
|
||||
parent_resource.assign_child_resource(
|
||||
plr_resource, location=None, **additional_params
|
||||
)
|
||||
except Exception as e:
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
|
||||
)
|
||||
func = getattr(self.driver_instance, "resource_tree_add", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
results.append({"success": True, "action": "add"})
|
||||
elif action == "update":
|
||||
if tree_set is None:
|
||||
raise ValueError("tree_set不能为None")
|
||||
# 更新资源
|
||||
plr_resources = tree_set.to_plr_resources()
|
||||
result = _handle_update(plr_resources, tree_set, additional_add_params)
|
||||
results.append(result)
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
states = plr_resource.serialize_all_state()
|
||||
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
|
||||
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
|
||||
)
|
||||
original_instance.load_all_state(states)
|
||||
self.lab_logger().info(
|
||||
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
|
||||
)
|
||||
|
||||
func = getattr(self.driver_instance, "resource_tree_update", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
results.append({"success": True, "action": "update"})
|
||||
elif action == "remove":
|
||||
result = _handle_remove(resources_uuid)
|
||||
results.append(result)
|
||||
# 移除资源
|
||||
plr_resources: List[ResourcePLR] = [
|
||||
self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
|
||||
]
|
||||
func = getattr(self.driver_instance, "resource_tree_remove", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
for plr_resource in plr_resources:
|
||||
plr_resource.parent.unassign_child_resource(plr_resource)
|
||||
self.resource_tracker.remove_resource(plr_resource)
|
||||
results.append({"success": True, "action": "remove"})
|
||||
except Exception as e:
|
||||
error_msg = f"Error processing {action} operation: {str(e)}"
|
||||
self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
|
||||
@@ -826,7 +666,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
# 返回处理结果
|
||||
result_json = {"results": results, "total": len(data)}
|
||||
res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
|
||||
res.response = json.dumps(result_json, ensure_ascii=False)
|
||||
self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
|
||||
|
||||
except json.JSONDecodeError as e:
|
||||
@@ -1016,7 +856,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
action_type,
|
||||
action_name,
|
||||
execute_callback=self._create_execute_callback(action_name, action_value_mapping),
|
||||
callback_group=self.callback_group,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
|
||||
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
@@ -1080,7 +920,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
queried_resources = []
|
||||
for resource_data in resource_inputs:
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps({"id": resource_data["id"], "uuid": resource_data.get("uuid", None), "with_children": True})
|
||||
r.command = json.dumps({"id": resource_data["id"], "with_children": True})
|
||||
# 发送请求并等待响应
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"resource_get"
|
||||
@@ -1096,15 +936,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
# 通过资源跟踪器获取本地实例
|
||||
final_resources = queried_resources if is_sequence else queried_resources[0]
|
||||
final_resources = (
|
||||
self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
|
||||
if not is_sequence
|
||||
else [
|
||||
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
|
||||
for res in queried_resources
|
||||
]
|
||||
)
|
||||
action_kwargs[k] = final_resources
|
||||
action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
|
||||
@@ -1324,7 +1156,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
|
||||
def _convert_resource_sync(self, resource_data: Dict[str, Any]):
|
||||
"""同步转换资源数据为实例"""
|
||||
# 创建资源查询请求
|
||||
@@ -1492,27 +1323,18 @@ class ROS2DeviceNode:
|
||||
它不继承设备类，而是通过代理模式访问设备类的属性和方法。
|
||||
"""
|
||||
|
||||
@classmethod
|
||||
def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
|
||||
def _handle_future_exception(fut):
|
||||
try:
|
||||
fut.result()
|
||||
except Exception as e:
|
||||
error(f"异步任务 {func.__name__} 报错了")
|
||||
error(traceback.format_exc())
|
||||
|
||||
future = rclpy.get_global_executor().create_task(func(**kwargs))
|
||||
if trace_error:
|
||||
future.add_done_callback(_handle_future_exception)
|
||||
return future
|
||||
# 类变量，用于循环管理
|
||||
_loop = None
|
||||
_loop_running = False
|
||||
_loop_thread = None
|
||||
|
||||
@classmethod
|
||||
async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
|
||||
future = Future()
|
||||
timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
|
||||
await future
|
||||
timer.cancel()
|
||||
node.destroy_timer(timer)
|
||||
def get_loop(cls):
|
||||
return cls._loop
|
||||
|
||||
@classmethod
|
||||
def run_async_func(cls, func, trace_error=True, **kwargs):
|
||||
return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
|
||||
|
||||
@property
|
||||
def driver_instance(self):
|
||||
@@ -1525,7 +1347,6 @@ class ROS2DeviceNode:
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
device_uuid: str,
|
||||
driver_class: Type[T],
|
||||
device_config: Dict[str, Any],
|
||||
driver_params: Dict[str, Any],
|
||||
@@ -1541,7 +1362,6 @@ class ROS2DeviceNode:
|
||||
|
||||
Args:
|
||||
device_id: 设备标识符
|
||||
device_uuid: 设备uuid
|
||||
driver_class: 设备类
|
||||
device_config: 原始初始化的json
|
||||
driver_params: driver初始化的参数
|
||||
@@ -1552,6 +1372,11 @@ class ROS2DeviceNode:
|
||||
print_publish: 是否打印发布信息
|
||||
driver_is_ros:
|
||||
"""
|
||||
# 在初始化时检查循环状态
|
||||
if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
|
||||
pass
|
||||
elif ROS2DeviceNode._loop_thread is None:
|
||||
self._start_loop()
|
||||
|
||||
# 保存设备类是否支持异步上下文
|
||||
self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
|
||||
@@ -1611,7 +1436,6 @@ class ROS2DeviceNode:
|
||||
children=children,
|
||||
driver_instance=self._driver_instance, # type: ignore
|
||||
device_id=device_id,
|
||||
device_uuid=device_uuid,
|
||||
status_types=status_types,
|
||||
action_value_mappings=action_value_mappings,
|
||||
hardware_interface=hardware_interface,
|
||||
@@ -1622,7 +1446,6 @@ class ROS2DeviceNode:
|
||||
self._ros_node = BaseROS2DeviceNode(
|
||||
driver_instance=self._driver_instance,
|
||||
device_id=device_id,
|
||||
device_uuid=device_uuid,
|
||||
status_types=status_types,
|
||||
action_value_mappings=action_value_mappings,
|
||||
hardware_interface=hardware_interface,
|
||||
@@ -1640,6 +1463,17 @@ class ROS2DeviceNode:
|
||||
except Exception as e:
|
||||
self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
|
||||
|
||||
def _start_loop(self):
|
||||
def run_event_loop():
|
||||
loop = asyncio.new_event_loop()
|
||||
ROS2DeviceNode._loop = loop
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_forever()
|
||||
|
||||
ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
|
||||
ROS2DeviceNode._loop_thread.start()
|
||||
logger.info(f"循环线程已启动")
|
||||
|
||||
|
||||
class DeviceInfoType(TypedDict):
|
||||
id: str
|
||||
|
||||
@@ -19,7 +19,6 @@ from unilabos_msgs.srv import (
|
||||
ResourceUpdate,
|
||||
ResourceList,
|
||||
SerialCommand,
|
||||
ResourceGet,
|
||||
) # type: ignore
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
from unique_identifier_msgs.msg import UUID
|
||||
@@ -42,7 +41,6 @@ from unilabos.ros.nodes.resource_tracker import (
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
)
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.exception import DeviceClassInvalid
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
@@ -101,6 +99,17 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
if self._instance is not None:
|
||||
self._instance.lab_logger().critical("[Host Node] HostNode instance already exists.")
|
||||
# 初始化Node基类，传递空参数覆盖列表
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
status_types={},
|
||||
action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
|
||||
hardware_interface={},
|
||||
print_publish=False,
|
||||
resource_tracker=self._resource_tracker, # host node并不是通过initialize 包一层传进来的
|
||||
)
|
||||
|
||||
# 设置单例实例
|
||||
self.__class__._instance = self
|
||||
@@ -118,78 +127,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
bridges = []
|
||||
self.bridges = bridges
|
||||
|
||||
# 创建 host_node 作为一个单独的 ResourceTree
|
||||
host_node_dict = {
|
||||
"id": "host_node",
|
||||
"uuid": str(uuid.uuid4()),
|
||||
"parent_uuid": "",
|
||||
"name": "host_node",
|
||||
"type": "device",
|
||||
"class": "host_node",
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [],
|
||||
"description": "",
|
||||
"schema": {},
|
||||
"model": {},
|
||||
"icon": "",
|
||||
}
|
||||
|
||||
# 创建 host_node 的 ResourceTree
|
||||
host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
|
||||
host_node_tree = ResourceTreeInstance(host_node_instance)
|
||||
resources_config.trees.insert(0, host_node_tree)
|
||||
try:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "resource_tree_add") and resources_config:
|
||||
from unilabos.app.web.client import HTTPClient
|
||||
|
||||
client: HTTPClient = bridge
|
||||
resource_start_time = time.time()
|
||||
# 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
|
||||
uuid_mapping = client.resource_tree_add(resources_config, "", True)
|
||||
device_uuid = resources_config.root_nodes[0].res_content.uuid
|
||||
resource_end_time = time.time()
|
||||
logger.info(
|
||||
f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
|
||||
)
|
||||
for edge in self.resources_edge_config:
|
||||
edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
|
||||
edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
|
||||
resource_add_res = client.resource_edge_add(self.resources_edge_config)
|
||||
resource_edge_end_time = time.time()
|
||||
logger.info(
|
||||
f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
|
||||
)
|
||||
# resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
|
||||
# resources_config 的 root node 是
|
||||
# # 创建反向映射：new_uuid -> old_uuid
|
||||
# reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
|
||||
for tree in resources_config.trees:
|
||||
node = tree.root_node
|
||||
if node.res_content.type == "device":
|
||||
continue
|
||||
else:
|
||||
try:
|
||||
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
self._resource_tracker.add_resource(plr_resource)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！")
|
||||
except Exception as ex:
|
||||
logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
|
||||
# 初始化Node基类，传递空参数覆盖列表
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
device_uuid=host_node_dict["uuid"],
|
||||
status_types={},
|
||||
action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
|
||||
hardware_interface={},
|
||||
print_publish=False,
|
||||
resource_tracker=self._resource_tracker, # host node并不是通过initialize 包一层传进来的
|
||||
)
|
||||
|
||||
# 创建设备、动作客户端和目标存储
|
||||
self.devices_names: Dict[str, str] = {device_id: self.namespace} # 存储设备名称和命名空间的映射
|
||||
self.devices_instances: Dict[str, ROS2DeviceNode] = {} # 存储设备实例
|
||||
@@ -270,10 +207,84 @@ class HostNode(BaseROS2DeviceNode):
|
||||
].items():
|
||||
controller_config["update_rate"] = update_rate
|
||||
self.initialize_controller(controller_id, controller_config)
|
||||
# 创建 host_node 作为一个单独的 ResourceTree
|
||||
|
||||
host_node_dict = {
|
||||
"id": "host_node",
|
||||
"uuid": str(uuid.uuid4()),
|
||||
"parent_uuid": "",
|
||||
"name": "host_node",
|
||||
"type": "device",
|
||||
"class": "host_node",
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [],
|
||||
"description": "",
|
||||
"schema": {},
|
||||
"model": {},
|
||||
"icon": "",
|
||||
}
|
||||
|
||||
# 创建 host_node 的 ResourceTree
|
||||
host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
|
||||
host_node_tree = ResourceTreeInstance(host_node_instance)
|
||||
resources_config.trees.insert(0, host_node_tree)
|
||||
try:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "resource_tree_add") and resources_config:
|
||||
from unilabos.app.web.client import HTTPClient
|
||||
|
||||
client: HTTPClient = bridge
|
||||
resource_start_time = time.time()
|
||||
# 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
|
||||
uuid_mapping = client.resource_tree_add(resources_config, "", True)
|
||||
resource_end_time = time.time()
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
|
||||
)
|
||||
for edge in self.resources_edge_config:
|
||||
edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
|
||||
edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
|
||||
resource_add_res = client.resource_edge_add(self.resources_edge_config)
|
||||
resource_edge_end_time = time.time()
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
|
||||
)
|
||||
# resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
|
||||
# resources_config 的 root node 是
|
||||
# 创建反向映射：new_uuid -> old_uuid
|
||||
reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
|
||||
for tree in resources_config.trees:
|
||||
node = tree.root_node
|
||||
if node.res_content.type == "device":
|
||||
for sub_node in node.children:
|
||||
# 只有二级子设备
|
||||
if sub_node.res_content.type != "device":
|
||||
# slave节点走c2s更新接口，拿到add自行update uuid
|
||||
device_tracker = self.devices_instances[node.res_content.id].resource_tracker
|
||||
# sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
|
||||
old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
|
||||
if old_uuid:
|
||||
# 找到旧UUID，使用UUID查找
|
||||
resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
|
||||
else:
|
||||
# 未找到旧UUID，使用name查找
|
||||
resource_instance = device_tracker.figure_resource(
|
||||
{"name": sub_node.res_content.name}
|
||||
)
|
||||
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
|
||||
else:
|
||||
try:
|
||||
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
self.resource_tracker.add_resource(plr_resource)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
|
||||
except Exception as ex:
|
||||
self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
# 创建定时器，定期发现设备
|
||||
self._discovery_timer = self.create_timer(
|
||||
discovery_interval, self._discovery_devices_callback, callback_group=self.callback_group
|
||||
discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
|
||||
)
|
||||
|
||||
# 添加ping-pong相关属性
|
||||
@@ -482,7 +493,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
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.split("/")[-1]]
|
||||
device_ids = [device_id]
|
||||
bind_parent_id = [res_creation_input["parent"]]
|
||||
bind_location = [bind_locations]
|
||||
other_calling_param = [
|
||||
@@ -606,7 +617,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
topic,
|
||||
lambda msg, d=device_id, p=property_name: self.property_callback(msg, d, p),
|
||||
1,
|
||||
callback_group=self.callback_group,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
# 标记为已订阅
|
||||
self._subscribed_topics.add(topic)
|
||||
@@ -734,116 +745,46 @@ class HostNode(BaseROS2DeviceNode):
|
||||
def get_result_callback(self, item: "QueueItem", action_id: str, future) -> None:
|
||||
"""获取结果回调"""
|
||||
job_id = item.job_id
|
||||
|
||||
try:
|
||||
result = future.result()
|
||||
result_msg = result.result
|
||||
goal_status = result.status
|
||||
|
||||
# 检查是否是被取消的任务
|
||||
if goal_status == GoalStatus.STATUS_CANCELED:
|
||||
self.lab_logger().info(f"[Host Node] Goal {action_id} ({job_id[:8]}) was cancelled")
|
||||
result_msg = future.result().result
|
||||
result_data = convert_from_ros_msg(result_msg)
|
||||
status = "success"
|
||||
return_info_str = result_data.get("return_info")
|
||||
if return_info_str is not None:
|
||||
try:
|
||||
return_info = json.loads(return_info_str)
|
||||
suc = return_info.get("suc", False)
|
||||
if not suc:
|
||||
status = "failed"
|
||||
except json.JSONDecodeError:
|
||||
status = "failed"
|
||||
return_info = serialize_result_info("Job was cancelled", False, {})
|
||||
return_info = serialize_result_info("", False, result_data)
|
||||
self.lab_logger().critical("错误的return_info类型，请断点修复")
|
||||
else:
|
||||
# 无 return_info 字段时，回退到 success 字段（若存在）
|
||||
suc_field = result_data.get("success")
|
||||
if isinstance(suc_field, bool):
|
||||
status = "success" if suc_field else "failed"
|
||||
return_info = serialize_result_info("", suc_field, result_data)
|
||||
else:
|
||||
result_data = convert_from_ros_msg(result_msg)
|
||||
status = "success"
|
||||
return_info_str = result_data.get("return_info")
|
||||
if return_info_str is not None:
|
||||
try:
|
||||
return_info = json.loads(return_info_str)
|
||||
suc = return_info.get("suc", False)
|
||||
if not suc:
|
||||
status = "failed"
|
||||
except json.JSONDecodeError:
|
||||
status = "failed"
|
||||
return_info = serialize_result_info("", False, result_data)
|
||||
self.lab_logger().critical("错误的return_info类型，请断点修复")
|
||||
else:
|
||||
# 无 return_info 字段时，回退到 success 字段（若存在）
|
||||
suc_field = result_data.get("success")
|
||||
if isinstance(suc_field, bool):
|
||||
status = "success" if suc_field else "failed"
|
||||
return_info = serialize_result_info("", suc_field, result_data)
|
||||
else:
|
||||
# 最保守的回退：标记失败并返回空JSON
|
||||
status = "failed"
|
||||
return_info = serialize_result_info("缺少return_info", False, result_data)
|
||||
# 最保守的回退：标记失败并返回空JSON
|
||||
status = "failed"
|
||||
return_info = serialize_result_info("缺少return_info", False, result_data)
|
||||
|
||||
self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id[:8]}): {status}")
|
||||
if goal_status != GoalStatus.STATUS_CANCELED:
|
||||
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
|
||||
self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id}): {status}")
|
||||
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
|
||||
|
||||
# 清理 _goals 中的记录
|
||||
if job_id in self._goals:
|
||||
del self._goals[job_id]
|
||||
self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
|
||||
|
||||
# 发布状态到桥接器
|
||||
if job_id:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
if goal_status == GoalStatus.STATUS_CANCELED:
|
||||
bridge.publish_job_status({}, item, status, return_info)
|
||||
else:
|
||||
bridge.publish_job_status(result_data, item, status, return_info)
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"[Host Node] Error in get_result_callback for {action_id} ({job_id[:8]}): {str(e)}"
|
||||
)
|
||||
import traceback
|
||||
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
|
||||
# 清理 _goals 中的记录
|
||||
if job_id in self._goals:
|
||||
del self._goals[job_id]
|
||||
|
||||
# 发布失败状态
|
||||
if job_id:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
bridge.publish_job_status(
|
||||
{}, item, "failed", serialize_result_info(f"Callback error: {str(e)}", False, {})
|
||||
)
|
||||
bridge.publish_job_status(result_data, item, status, return_info)
|
||||
|
||||
def cancel_goal(self, goal_uuid: str) -> bool:
|
||||
"""
|
||||
取消目标
|
||||
|
||||
Args:
|
||||
goal_uuid: 目标UUID（job_id）
|
||||
|
||||
Returns:
|
||||
bool: 如果找到目标并发起取消请求返回True，否则返回False
|
||||
"""
|
||||
def cancel_goal(self, goal_uuid: str) -> None:
|
||||
"""取消目标"""
|
||||
if goal_uuid in self._goals:
|
||||
self.lab_logger().info(f"[Host Node] Cancelling goal {goal_uuid[:8]}")
|
||||
goal_handle = self._goals[goal_uuid]
|
||||
|
||||
# 发起异步取消请求
|
||||
cancel_future = goal_handle.cancel_goal_async()
|
||||
|
||||
# 添加取消完成的回调
|
||||
cancel_future.add_done_callback(lambda future: self._cancel_goal_callback(goal_uuid, future))
|
||||
return True
|
||||
self.lab_logger().info(f"[Host Node] Cancelling goal {goal_uuid}")
|
||||
self._goals[goal_uuid].cancel_goal_async()
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Goal {goal_uuid[:8]} not found in _goals, cannot cancel")
|
||||
return False
|
||||
|
||||
def _cancel_goal_callback(self, goal_uuid: str, future) -> None:
|
||||
"""取消目标的回调"""
|
||||
try:
|
||||
cancel_response = future.result()
|
||||
if cancel_response.goals_canceling:
|
||||
self.lab_logger().info(f"[Host Node] Goal {goal_uuid[:8]} cancel request accepted")
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Goal {goal_uuid[:8]} cancel request rejected")
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node] Error cancelling goal {goal_uuid[:8]}: {str(e)}")
|
||||
import traceback
|
||||
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
self.lab_logger().warning(f"[Host Node] Goal {goal_uuid} not found, cannot cancel")
|
||||
|
||||
def get_goal_status(self, job_id: str) -> int:
|
||||
"""获取目标状态"""
|
||||
@@ -887,41 +828,41 @@ class HostNode(BaseROS2DeviceNode):
|
||||
def _init_host_service(self):
|
||||
self._resource_services: Dict[str, Service] = {
|
||||
"resource_add": self.create_service(
|
||||
ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=self.callback_group
|
||||
ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
"resource_get": self.create_service(
|
||||
SerialCommand, "/resources/get", self._resource_get_callback, callback_group=self.callback_group
|
||||
SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
"resource_delete": self.create_service(
|
||||
ResourceDelete,
|
||||
"/resources/delete",
|
||||
self._resource_delete_callback,
|
||||
callback_group=self.callback_group,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
),
|
||||
"resource_update": self.create_service(
|
||||
ResourceUpdate,
|
||||
"/resources/update",
|
||||
self._resource_update_callback,
|
||||
callback_group=self.callback_group,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
),
|
||||
"resource_list": self.create_service(
|
||||
ResourceList, "/resources/list", self._resource_list_callback, callback_group=self.callback_group
|
||||
ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
"node_info_update": self.create_service(
|
||||
SerialCommand,
|
||||
"/node_info_update",
|
||||
self._node_info_update_callback,
|
||||
callback_group=self.callback_group,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
),
|
||||
"c2s_update_resource_tree": self.create_service(
|
||||
SerialCommand,
|
||||
"/c2s_update_resource_tree",
|
||||
self._resource_tree_update_callback,
|
||||
callback_group=self.callback_group,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
),
|
||||
}
|
||||
|
||||
async def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response): # OK
|
||||
def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response): # OK
|
||||
resource_tree_set = ResourceTreeSet.load(data["data"])
|
||||
mount_uuid = data["mount_uuid"]
|
||||
first_add = data["first_add"]
|
||||
@@ -935,10 +876,11 @@ class HostNode(BaseROS2DeviceNode):
|
||||
success = False
|
||||
uuid_mapping = {}
|
||||
if len(self.bridges) > 0:
|
||||
from unilabos.app.web.client import HTTPClient, http_client
|
||||
from unilabos.app.web.client import HTTPClient
|
||||
|
||||
client: HTTPClient = self.bridges[-1]
|
||||
resource_start_time = time.time()
|
||||
uuid_mapping = http_client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
|
||||
uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
|
||||
success = True
|
||||
resource_end_time = time.time()
|
||||
self.lab_logger().info(
|
||||
@@ -961,7 +903,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
response.response = json.dumps(uuid_mapping) if success else "FAILED"
|
||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
|
||||
|
||||
async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
|
||||
def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
|
||||
uuid_list: List[str] = data["data"]
|
||||
with_children: bool = data["with_children"]
|
||||
from unilabos.app.web.client import http_client
|
||||
@@ -969,7 +911,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
resource_response = http_client.resource_tree_get(uuid_list, with_children)
|
||||
response.response = json.dumps(resource_response)
|
||||
|
||||
async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
|
||||
def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
|
||||
"""
|
||||
子节点通知Host物料树删除
|
||||
"""
|
||||
@@ -977,7 +919,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
response.response = "OK"
|
||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree remove completed")
|
||||
|
||||
async def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
|
||||
def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
|
||||
"""
|
||||
子节点通知Host物料树更新
|
||||
"""
|
||||
@@ -990,29 +932,20 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
uuid_to_trees: Dict[str, List[ResourceTreeInstance]] = collections.defaultdict(list)
|
||||
for tree in resource_tree_set.trees:
|
||||
uuid_to_trees[tree.root_node.res_content.parent_uuid].append(tree)
|
||||
resource_start_time = time.time()
|
||||
uuid_mapping = http_client.resource_tree_update(resource_tree_set, "", False)
|
||||
success = bool(uuid_mapping)
|
||||
resource_end_time = time.time()
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
|
||||
)
|
||||
if uuid_mapping:
|
||||
self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
|
||||
# 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
|
||||
response.response = json.dumps(uuid_mapping)
|
||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
|
||||
|
||||
for uid, trees in uuid_to_trees.items():
|
||||
new_tree_set = ResourceTreeSet(trees)
|
||||
resource_start_time = time.time()
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-Resource] 物料 {[root_node.res_content.id for root_node in new_tree_set.root_nodes]} {uid} 挂载 {trees[0].root_node.res_content.parent_uuid} 请求更新上传"
|
||||
)
|
||||
uuid_mapping = http_client.resource_tree_add(new_tree_set, uid, False)
|
||||
success = bool(uuid_mapping)
|
||||
resource_end_time = time.time()
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
|
||||
)
|
||||
if uuid_mapping:
|
||||
self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
|
||||
# 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
|
||||
response.response = json.dumps(uuid_mapping)
|
||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
|
||||
|
||||
async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
|
||||
def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
|
||||
"""
|
||||
子节点通知Host物料树更新
|
||||
|
||||
@@ -1025,13 +958,13 @@ class HostNode(BaseROS2DeviceNode):
|
||||
action = data["action"]
|
||||
data = data["data"]
|
||||
if action == "add":
|
||||
await self._resource_tree_action_add_callback(data, response)
|
||||
self._resource_tree_action_add_callback(data, response)
|
||||
elif action == "get":
|
||||
await self._resource_tree_action_get_callback(data, response)
|
||||
self._resource_tree_action_get_callback(data, response)
|
||||
elif action == "update":
|
||||
await self._resource_tree_action_update_callback(data, response)
|
||||
self._resource_tree_action_update_callback(data, response)
|
||||
elif action == "remove":
|
||||
await self._resource_tree_action_remove_callback(data, response)
|
||||
self._resource_tree_action_remove_callback(data, response)
|
||||
else:
|
||||
self.lab_logger().error(f"[Host Node-Resource] Invalid action: {action}")
|
||||
response.response = "ERROR"
|
||||
@@ -1046,10 +979,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
更新节点信息回调
|
||||
"""
|
||||
# self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
|
||||
self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
|
||||
try:
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.app.web.client import HTTPClient, http_client
|
||||
|
||||
info = json.loads(request.command)
|
||||
if "SYNC_SLAVE_NODE_INFO" in info:
|
||||
@@ -1058,10 +990,10 @@ class HostNode(BaseROS2DeviceNode):
|
||||
edge_device_id = info["edge_device_id"]
|
||||
self.device_machine_names[edge_device_id] = machine_name
|
||||
else:
|
||||
devices_config = info.pop("devices_config")
|
||||
registry_config = info.pop("registry_config")
|
||||
if registry_config:
|
||||
http_client.resource_registry({"resources": registry_config})
|
||||
comm_client = get_communication_client()
|
||||
registry_config = info["registry_config"]
|
||||
for device_config in registry_config:
|
||||
comm_client.publish_registry(device_config["id"], device_config)
|
||||
self.lab_logger().debug(f"[Host Node] Node info update: {info}")
|
||||
response.response = "OK"
|
||||
except Exception as e:
|
||||
@@ -1087,9 +1019,10 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
success = False
|
||||
if len(self.bridges) > 0: # 边的提交待定
|
||||
from unilabos.app.web.client import HTTPClient, http_client
|
||||
from unilabos.app.web.client import HTTPClient
|
||||
|
||||
r = http_client.resource_add(add_schema(resources))
|
||||
client: HTTPClient = self.bridges[-1]
|
||||
r = client.resource_add(add_schema(resources))
|
||||
success = bool(r)
|
||||
|
||||
response.success = success
|
||||
@@ -1127,12 +1060,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
try:
|
||||
data = json.loads(request.command)
|
||||
if "uuid" in data and data["uuid"] is not None:
|
||||
http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
|
||||
elif "id" in data and data["id"].startswith("/"):
|
||||
http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
|
||||
else:
|
||||
raise ValueError("没有使用正确的物料 id 或 uuid")
|
||||
http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
|
||||
response.response = json.dumps(http_req["data"])
|
||||
return response
|
||||
except Exception as e:
|
||||
|
||||
@@ -6,14 +6,13 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
|
||||
|
||||
import rclpy
|
||||
from rosidl_runtime_py import message_to_ordereddict
|
||||
from unilabos_msgs.msg import Resource
|
||||
from unilabos_msgs.srv import ResourceUpdate
|
||||
|
||||
from unilabos.messages import * # type: ignore # protocol names
|
||||
from rclpy.action import ActionServer, ActionClient
|
||||
from rclpy.action.server import ServerGoalHandle
|
||||
from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import ResourceGet, ResourceUpdate # type: ignore
|
||||
|
||||
from unilabos.compile import action_protocol_generators
|
||||
from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
|
||||
@@ -21,11 +20,11 @@ from unilabos.ros.initialize_device import initialize_device_from_dict
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
get_action_type,
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils.type_check import get_result_info_str
|
||||
from unilabos.utils.type_check import serialize_result_info, get_result_info_str
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
@@ -51,7 +50,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
*,
|
||||
driver_instance: "WorkstationBase",
|
||||
device_id: str,
|
||||
device_uuid: str,
|
||||
status_types: Dict[str, Any],
|
||||
action_value_mappings: Dict[str, Any],
|
||||
hardware_interface: Dict[str, Any],
|
||||
@@ -66,7 +64,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
super().__init__(
|
||||
driver_instance=driver_instance,
|
||||
device_id=device_id,
|
||||
device_uuid=device_uuid,
|
||||
status_types=status_types,
|
||||
action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
|
||||
hardware_interface=hardware_interface,
|
||||
@@ -194,7 +191,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
action_type,
|
||||
action_name,
|
||||
execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
|
||||
callback_group=self.callback_group,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
return
|
||||
@@ -225,29 +222,16 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
# 向Host查询物料当前状态
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
self.lab_logger().info(f"{protocol_name} 查询资源状态: Key: {k} Type: {v}")
|
||||
|
||||
try:
|
||||
# 统一处理单个或多个资源
|
||||
resource_id = (
|
||||
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
|
||||
)
|
||||
resource_uuid = protocol_kwargs[k].get("uuid", None)
|
||||
r = SerialCommand_Request()
|
||||
r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
|
||||
# 发送请求并等待响应
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"resource_get"
|
||||
].call_async(
|
||||
r
|
||||
) # type: ignore
|
||||
raw_data = json.loads(response.response)
|
||||
tree_set = ResourceTreeSet.from_raw_list(raw_data)
|
||||
target = tree_set.dump()
|
||||
protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target
|
||||
except Exception as ex:
|
||||
self.lab_logger().error(f"查询资源失败: {k}, 错误: {ex}\n{traceback.format_exc()}")
|
||||
raise
|
||||
r = ResourceGet.Request()
|
||||
resource_id = (
|
||||
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
|
||||
)
|
||||
r.id = resource_id
|
||||
r.with_children = True
|
||||
response = await self._resource_clients["resource_get"].call_async(r)
|
||||
protocol_kwargs[k] = list_to_nested_dict(
|
||||
[convert_from_ros_msg(rs) for rs in response.resources]
|
||||
)
|
||||
|
||||
self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
|
||||
|
||||
|
||||
@@ -1,8 +1,7 @@
|
||||
import traceback
|
||||
import uuid
|
||||
from pydantic import BaseModel, field_serializer, field_validator
|
||||
from pydantic import Field
|
||||
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
|
||||
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
@@ -32,7 +31,7 @@ class ResourceDictPositionObject(BaseModel):
|
||||
class ResourceDictPosition(BaseModel):
|
||||
size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
|
||||
scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
|
||||
layout: Literal["2d", "x-y", "z-y", "x-z"] = Field(description="Resource layout", default="x-y")
|
||||
layout: Literal["2d"] = Field(description="Resource layout", default="2d")
|
||||
position: ResourceDictPositionObject = Field(
|
||||
description="Resource position", default_factory=ResourceDictPositionObject
|
||||
)
|
||||
@@ -42,9 +41,6 @@ class ResourceDictPosition(BaseModel):
|
||||
rotation: ResourceDictPositionObject = Field(
|
||||
description="Resource rotation", default_factory=ResourceDictPositionObject
|
||||
)
|
||||
cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(
|
||||
description="Cross section type", default="rectangle"
|
||||
)
|
||||
|
||||
|
||||
# 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
|
||||
@@ -53,20 +49,16 @@ class ResourceDict(BaseModel):
|
||||
uuid: str = Field(description="Resource UUID")
|
||||
name: str = Field(description="Resource name")
|
||||
description: str = Field(description="Resource description", default="")
|
||||
resource_schema: Dict[str, Any] = Field(
|
||||
description="Resource schema", default_factory=dict, serialization_alias="schema", validation_alias="schema"
|
||||
)
|
||||
schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict)
|
||||
model: Dict[str, Any] = Field(description="Resource model", default_factory=dict)
|
||||
icon: str = Field(description="Resource icon", default="")
|
||||
parent_uuid: Optional["str"] = Field(description="Parent resource uuid", default=None) # 先设定parent_uuid
|
||||
parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True)
|
||||
type: Union[Literal["device"], str] = Field(description="Resource type")
|
||||
type: Literal["device"] | str = Field(description="Resource type")
|
||||
klass: str = Field(alias="class", description="Resource class name")
|
||||
position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
|
||||
pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
|
||||
config: Dict[str, Any] = Field(description="Resource configuration")
|
||||
data: Dict[str, Any] = Field(description="Resource data")
|
||||
extra: Dict[str, Any] = Field(description="Extra data")
|
||||
|
||||
@field_serializer("parent_uuid")
|
||||
def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):
|
||||
@@ -143,16 +135,12 @@ class ResourceDictInstance(object):
|
||||
content["config"] = {}
|
||||
if not content.get("data"):
|
||||
content["data"] = {}
|
||||
if not content.get("extra"): # MagicCode
|
||||
content["extra"] = {}
|
||||
if "pose" not in content:
|
||||
content["pose"] = content.get("position", {})
|
||||
return ResourceDictInstance(ResourceDict.model_validate(content))
|
||||
|
||||
def get_nested_dict(self) -> Dict[str, Any]:
|
||||
"""获取资源实例的嵌套字典表示"""
|
||||
res_dict = self.res_content.model_dump(by_alias=True)
|
||||
res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
|
||||
res_dict["children"] = {child.res_content.name: child.get_nested_dict() for child in self.children}
|
||||
res_dict["parent"] = self.res_content.parent_instance_name
|
||||
res_dict["position"] = self.res_content.position.position.model_dump()
|
||||
return res_dict
|
||||
@@ -225,7 +213,7 @@ class ResourceTreeInstance(object):
|
||||
if node.res_content.uuid:
|
||||
known_uuids.add(node.res_content.uuid)
|
||||
else:
|
||||
logger.warning(f"警告: 资源 {node.res_content.id} 没有uuid")
|
||||
print(f"警告: 资源 {node.res_content.id} 没有uuid")
|
||||
|
||||
# 验证并递归处理子节点
|
||||
for child in node.children:
|
||||
@@ -301,6 +289,8 @@ class ResourceTreeSet(object):
|
||||
elif isinstance(resource_list[0], ResourceTreeInstance):
|
||||
# 已经是ResourceTree列表
|
||||
self.trees = cast(List[ResourceTreeInstance], resource_list)
|
||||
elif isinstance(resource_list[0], list):
|
||||
pass
|
||||
else:
|
||||
raise TypeError(
|
||||
f"不支持的类型: {type(resource_list[0])}。"
|
||||
@@ -317,52 +307,27 @@ class ResourceTreeSet(object):
|
||||
replace_info = {
|
||||
"plate": "plate",
|
||||
"well": "well",
|
||||
"tip_spot": "container",
|
||||
"trash": "container",
|
||||
"deck": "deck",
|
||||
"tip_rack": "tip_rack",
|
||||
"tip_spot": "tip_spot",
|
||||
"tube": "tube",
|
||||
"bottle_carrier": "bottle_carrier",
|
||||
"tip_rack": "container",
|
||||
}
|
||||
if source in replace_info:
|
||||
return replace_info[source]
|
||||
else:
|
||||
print("转换pylabrobot的时候，出现未知类型", source)
|
||||
return source
|
||||
return "container"
|
||||
|
||||
def build_uuid_mapping(res: "PLRResource", uuid_list: list, parent_uuid: Optional[str] = None):
|
||||
"""递归构建uuid和extra映射字典，返回(current_uuid, parent_uuid, extra)元组列表"""
|
||||
uid = getattr(res, "unilabos_uuid", "")
|
||||
if not uid:
|
||||
uid = str(uuid.uuid4())
|
||||
res.unilabos_uuid = uid
|
||||
logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
|
||||
|
||||
# 获取unilabos_extra，默认为空字典
|
||||
extra = getattr(res, "unilabos_extra", {})
|
||||
|
||||
uuid_list.append((uid, parent_uuid, extra))
|
||||
def build_uuid_mapping(res: "PLRResource", uuid_list: list):
|
||||
"""递归构建uuid映射字典"""
|
||||
uuid_list.append(getattr(res, "unilabos_uuid", ""))
|
||||
for child in res.children:
|
||||
build_uuid_mapping(child, uuid_list, uid)
|
||||
build_uuid_mapping(child, uuid_list)
|
||||
|
||||
def resource_plr_inner(
|
||||
d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
|
||||
) -> ResourceDictInstance:
|
||||
current_uuid, parent_uuid, extra = uuids.pop(0)
|
||||
|
||||
raw_pos = (
|
||||
{"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
|
||||
if d["location"]
|
||||
else {"x": 0, "y": 0, "z": 0}
|
||||
)
|
||||
pos = {
|
||||
"size": {"width": d["size_x"], "height": d["size_y"], "depth": d["size_z"]},
|
||||
"scale": {"x": 1.0, "y": 1.0, "z": 1.0},
|
||||
"layout": d.get("layout", "x-y"),
|
||||
"position": raw_pos,
|
||||
"position3d": raw_pos,
|
||||
"rotation": d["rotation"],
|
||||
"cross_section_type": d.get("cross_section_type", "rectangle"),
|
||||
}
|
||||
current_uuid = uuids.pop(0)
|
||||
|
||||
# 先构建当前节点的字典（不包含children）
|
||||
r_dict = {
|
||||
@@ -370,30 +335,15 @@ class ResourceTreeSet(object):
|
||||
"uuid": current_uuid,
|
||||
"name": d["name"],
|
||||
"parent": parent_resource, # 直接传入 ResourceDict 对象
|
||||
"parent_uuid": parent_uuid, # 使用 parent_uuid 而不是 parent 对象
|
||||
"type": replace_plr_type(d.get("category", "")),
|
||||
"class": d.get("class", ""),
|
||||
"position": pos,
|
||||
"pose": pos,
|
||||
"config": {
|
||||
k: v
|
||||
for k, v in d.items()
|
||||
if k
|
||||
not in [
|
||||
"name",
|
||||
"children",
|
||||
"parent_name",
|
||||
"location",
|
||||
"rotation",
|
||||
"size_x",
|
||||
"size_y",
|
||||
"size_z",
|
||||
"cross_section_type",
|
||||
"bottom_type",
|
||||
]
|
||||
},
|
||||
"position": (
|
||||
{"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
|
||||
if d["location"]
|
||||
else {"x": 0, "y": 0, "z": 0}
|
||||
),
|
||||
"config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
|
||||
"data": states[d["name"]],
|
||||
"extra": extra,
|
||||
}
|
||||
|
||||
# 先转换为 ResourceDictInstance，获取其中的 ResourceDict
|
||||
@@ -411,7 +361,7 @@ class ResourceTreeSet(object):
|
||||
for resource in resources:
|
||||
# 构建uuid列表
|
||||
uuid_list = []
|
||||
build_uuid_mapping(resource, uuid_list, getattr(resource.parent, "unilabos_uuid", None))
|
||||
build_uuid_mapping(resource, uuid_list)
|
||||
|
||||
serialized_data = resource.serialize()
|
||||
all_states = resource.serialize_all_state()
|
||||
@@ -434,27 +384,25 @@ class ResourceTreeSet(object):
|
||||
import inspect
|
||||
|
||||
# 类型映射
|
||||
TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
|
||||
TYPE_MAP = {"plate": "plate", "well": "well", "container": "tip_spot", "deck": "deck", "tip_rack": "tip_rack"}
|
||||
|
||||
def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
|
||||
"""一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
|
||||
def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
|
||||
"""一次遍历收集 name_to_uuid 和 all_states"""
|
||||
name_to_uuid[node.res_content.name] = node.res_content.uuid
|
||||
all_states[node.res_content.name] = node.res_content.data
|
||||
name_to_extra[node.res_content.name] = node.res_content.extra
|
||||
for child in node.children:
|
||||
collect_node_data(child, name_to_uuid, all_states, name_to_extra)
|
||||
collect_node_data(child, name_to_uuid, all_states)
|
||||
|
||||
def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
|
||||
"""转换节点为 PLR 字典格式"""
|
||||
res = node.res_content
|
||||
plr_type = TYPE_MAP.get(res.type, res.type)
|
||||
plr_type = TYPE_MAP.get(res.type, "tip_spot")
|
||||
if res.type not in TYPE_MAP:
|
||||
logger.warning(f"未知类型 {res.type}")
|
||||
logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
|
||||
|
||||
d = {
|
||||
**res.config,
|
||||
"name": res.name,
|
||||
"type": res.config.get("type", plr_type),
|
||||
"type": plr_type,
|
||||
"size_x": res.config.get("size_x", 0),
|
||||
"size_y": res.config.get("size_y", 0),
|
||||
"size_z": res.config.get("size_z", 0),
|
||||
@@ -465,38 +413,36 @@ class ResourceTreeSet(object):
|
||||
"type": "Coordinate",
|
||||
},
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
|
||||
"category": res.config.get("category", plr_type),
|
||||
"category": plr_type,
|
||||
"children": [node_to_plr_dict(child, has_model) for child in node.children],
|
||||
"parent_name": res.parent_instance_name,
|
||||
**res.config,
|
||||
}
|
||||
if has_model:
|
||||
d["model"] = res.config.get("model", None)
|
||||
return d
|
||||
|
||||
plr_resources = []
|
||||
trees = []
|
||||
tracker = DeviceNodeResourceTracker()
|
||||
|
||||
for tree in self.trees:
|
||||
name_to_uuid: Dict[str, str] = {}
|
||||
all_states: Dict[str, Any] = {}
|
||||
name_to_extra: Dict[str, dict] = {}
|
||||
collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra)
|
||||
collect_node_data(tree.root_node, name_to_uuid, all_states)
|
||||
has_model = tree.root_node.res_content.type != "deck"
|
||||
plr_dict = node_to_plr_dict(tree.root_node, has_model)
|
||||
try:
|
||||
sub_cls = find_subclass(plr_dict["type"], PLRResource)
|
||||
if sub_cls is None:
|
||||
raise ValueError(
|
||||
f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
|
||||
)
|
||||
raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类")
|
||||
spec = inspect.signature(sub_cls)
|
||||
if "category" not in spec.parameters:
|
||||
plr_dict.pop("category", None)
|
||||
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
|
||||
plr_resource.load_all_state(all_states)
|
||||
# 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
|
||||
# 使用 DeviceNodeResourceTracker 设置 UUID
|
||||
tracker.loop_set_uuid(plr_resource, name_to_uuid)
|
||||
tracker.loop_set_extra(plr_resource, name_to_extra)
|
||||
plr_resources.append(plr_resource)
|
||||
|
||||
except Exception as e:
|
||||
@@ -769,9 +715,16 @@ class ResourceTreeSet(object):
|
||||
Returns:
|
||||
ResourceTreeSet: 反序列化后的资源树集合
|
||||
"""
|
||||
# 将每个字典转换为 ResourceInstanceDict
|
||||
# FIXME: 需要重新确定parent关系
|
||||
nested_lists = []
|
||||
for tree_data in data:
|
||||
nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees)
|
||||
flatten_instances = [
|
||||
ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in tree_data
|
||||
]
|
||||
nested_lists.append(flatten_instances)
|
||||
|
||||
# 使用现有的构造函数创建 ResourceTreeSet
|
||||
return cls(nested_lists)
|
||||
|
||||
|
||||
@@ -824,8 +777,7 @@ class DeviceNodeResourceTracker(object):
|
||||
else:
|
||||
return getattr(resource, uuid_attr, None)
|
||||
|
||||
@classmethod
|
||||
def set_resource_uuid(cls, resource, new_uuid: str):
|
||||
def _set_resource_uuid(self, resource, new_uuid: str):
|
||||
"""
|
||||
设置资源的 uuid，统一处理 dict 和 instance 两种类型
|
||||
|
||||
@@ -838,24 +790,6 @@ class DeviceNodeResourceTracker(object):
|
||||
else:
|
||||
setattr(resource, "unilabos_uuid", new_uuid)
|
||||
|
||||
@staticmethod
|
||||
def set_resource_extra(resource, extra: dict):
|
||||
"""
|
||||
设置资源的 extra，统一处理 dict 和 instance 两种类型
|
||||
|
||||
Args:
|
||||
resource: 资源对象（dict或实例）
|
||||
extra: extra字典值
|
||||
"""
|
||||
if isinstance(resource, dict):
|
||||
c_extra = resource.get("extra", {})
|
||||
c_extra.update(extra)
|
||||
resource["extra"] = c_extra
|
||||
else:
|
||||
c_extra = getattr(resource, "unilabos_extra", {})
|
||||
c_extra.update(extra)
|
||||
setattr(resource, "unilabos_extra", c_extra)
|
||||
|
||||
def _traverse_and_process(self, resource, process_func) -> int:
|
||||
"""
|
||||
递归遍历资源树，对每个节点执行处理函数
|
||||
@@ -896,33 +830,9 @@ class DeviceNodeResourceTracker(object):
|
||||
resource_name = self._get_resource_attr(res, "name")
|
||||
if resource_name and resource_name in name_to_uuid_map:
|
||||
new_uuid = name_to_uuid_map[resource_name]
|
||||
self.set_resource_uuid(res, new_uuid)
|
||||
self._set_resource_uuid(res, new_uuid)
|
||||
self.uuid_to_resources[new_uuid] = res
|
||||
logger.trace(f"设置资源UUID: {resource_name} -> {new_uuid}")
|
||||
return 1
|
||||
return 0
|
||||
|
||||
return self._traverse_and_process(resource, process)
|
||||
|
||||
def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int:
|
||||
"""
|
||||
递归遍历资源树，根据 name 设置所有节点的 extra
|
||||
|
||||
Args:
|
||||
resource: 资源对象（可以是dict或实例）
|
||||
name_to_extra_map: name到extra的映射字典，{name: extra}
|
||||
|
||||
Returns:
|
||||
更新的资源数量
|
||||
"""
|
||||
|
||||
def process(res):
|
||||
resource_name = self._get_resource_attr(res, "name")
|
||||
if resource_name and resource_name in name_to_extra_map:
|
||||
extra = name_to_extra_map[resource_name]
|
||||
self.set_resource_extra(res, extra)
|
||||
if len(extra):
|
||||
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
|
||||
logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
|
||||
return 1
|
||||
return 0
|
||||
|
||||
@@ -942,41 +852,19 @@ class DeviceNodeResourceTracker(object):
|
||||
|
||||
def process(res):
|
||||
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
|
||||
replaced = 0
|
||||
if current_uuid and current_uuid in uuid_map:
|
||||
new_uuid = uuid_map[current_uuid]
|
||||
if current_uuid != new_uuid:
|
||||
self.set_resource_uuid(res, new_uuid)
|
||||
self._set_resource_uuid(res, new_uuid)
|
||||
# 更新uuid_to_resources映射
|
||||
if current_uuid in self.uuid_to_resources:
|
||||
self.uuid_to_resources.pop(current_uuid)
|
||||
self.uuid_to_resources[new_uuid] = res
|
||||
logger.debug(f"更新uuid: {current_uuid} -> {new_uuid}")
|
||||
replaced = 1
|
||||
return replaced
|
||||
|
||||
return self._traverse_and_process(resource, process)
|
||||
|
||||
def loop_gather_uuid(self, resource) -> List[str]:
|
||||
"""
|
||||
递归遍历资源树，收集所有节点的uuid
|
||||
|
||||
Args:
|
||||
resource: 资源对象（可以是dict或实例）
|
||||
|
||||
Returns:
|
||||
收集到的uuid列表
|
||||
"""
|
||||
uuid_list = []
|
||||
|
||||
def process(res):
|
||||
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
|
||||
if current_uuid:
|
||||
uuid_list.append(current_uuid)
|
||||
return 1
|
||||
return 0
|
||||
|
||||
self._traverse_and_process(resource, process)
|
||||
return uuid_list
|
||||
return self._traverse_and_process(resource, process)
|
||||
|
||||
def _collect_uuid_mapping(self, resource):
|
||||
"""
|
||||
@@ -989,17 +877,13 @@ class DeviceNodeResourceTracker(object):
|
||||
def process(res):
|
||||
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
|
||||
if current_uuid:
|
||||
old = self.uuid_to_resources.get(current_uuid)
|
||||
self.uuid_to_resources[current_uuid] = res
|
||||
logger.trace(
|
||||
f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}"
|
||||
)
|
||||
return 1
|
||||
logger.debug(f"收集资源UUID映射: {current_uuid} -> {res}")
|
||||
return 0
|
||||
|
||||
self._traverse_and_process(resource, process)
|
||||
|
||||
def _remove_uuid_mapping(self, resource) -> int:
|
||||
def _remove_uuid_mapping(self, resource):
|
||||
"""
|
||||
递归清除资源的 uuid 映射
|
||||
|
||||
@@ -1011,11 +895,10 @@ class DeviceNodeResourceTracker(object):
|
||||
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
|
||||
if current_uuid and current_uuid in self.uuid_to_resources:
|
||||
self.uuid_to_resources.pop(current_uuid)
|
||||
logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}")
|
||||
return 1
|
||||
logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}")
|
||||
return 0
|
||||
|
||||
return self._traverse_and_process(resource, process)
|
||||
self._traverse_and_process(resource, process)
|
||||
|
||||
def parent_resource(self, resource):
|
||||
if id(resource) in self.resource2parent_resource:
|
||||
@@ -1030,23 +913,9 @@ class DeviceNodeResourceTracker(object):
|
||||
Args:
|
||||
resource: 资源对象（可以是dict或实例）
|
||||
"""
|
||||
root_uuids = {}
|
||||
for r in self.resources:
|
||||
res_uuid = r.get("uuid") if isinstance(r, dict) else getattr(r, "unilabos_uuid", None)
|
||||
if res_uuid:
|
||||
root_uuids[res_uuid] = r
|
||||
if id(r) == id(resource):
|
||||
return
|
||||
|
||||
# 这里只做uuid的根节点比较
|
||||
if isinstance(resource, dict):
|
||||
res_uuid = resource.get("uuid")
|
||||
else:
|
||||
res_uuid = getattr(resource, "unilabos_uuid", None)
|
||||
if res_uuid in root_uuids:
|
||||
old_res = root_uuids[res_uuid]
|
||||
# self.remove_resource(old_res)
|
||||
logger.warning(f"资源{resource}已存在，旧资源: {old_res}")
|
||||
self.resources.append(resource)
|
||||
# 递归收集uuid映射
|
||||
self._collect_uuid_mapping(resource)
|
||||
@@ -1070,12 +939,13 @@ class DeviceNodeResourceTracker(object):
|
||||
removed = True
|
||||
break
|
||||
|
||||
# 递归清除uuid映射
|
||||
count = self._remove_uuid_mapping(resource)
|
||||
if not count:
|
||||
if not removed:
|
||||
logger.warning(f"尝试移除不存在的资源: {resource}")
|
||||
return False
|
||||
|
||||
# 递归清除uuid映射
|
||||
self._remove_uuid_mapping(resource)
|
||||
|
||||
# 清除 resource2parent_resource 中与该资源相关的映射
|
||||
# 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射
|
||||
keys_to_remove = []
|
||||
@@ -1098,9 +968,7 @@ class DeviceNodeResourceTracker(object):
|
||||
self.uuid_to_resources.clear()
|
||||
self.resource2parent_resource.clear()
|
||||
|
||||
def figure_resource(
|
||||
self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False
|
||||
) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]:
|
||||
def figure_resource(self, query_resource, try_mode=False):
|
||||
if isinstance(query_resource, list):
|
||||
return [self.figure_resource(r, try_mode) for r in query_resource]
|
||||
elif (
|
||||
@@ -1178,19 +1046,13 @@ class DeviceNodeResourceTracker(object):
|
||||
) -> List[Tuple[Any, Any]]:
|
||||
res_list = []
|
||||
# print(resource, target_resource_cls_type, identifier_key, compare_value)
|
||||
children = []
|
||||
if not isinstance(resource, dict):
|
||||
children = getattr(resource, "children", [])
|
||||
else:
|
||||
children = resource.get("children")
|
||||
if children is not None:
|
||||
children = list(children.values()) if isinstance(children, dict) else children
|
||||
children = getattr(resource, "children", [])
|
||||
for child in children:
|
||||
res_list.extend(
|
||||
self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)
|
||||
)
|
||||
if issubclass(type(resource), target_resource_cls_type):
|
||||
if type(resource) == dict:
|
||||
if target_resource_cls_type == dict:
|
||||
# 对于字典类型，直接检查 identifier_key
|
||||
if identifier_key in resource:
|
||||
if resource[identifier_key] == compare_value:
|
||||
|
||||
@@ -336,9 +336,6 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
|
||||
try:
|
||||
# 创建实例，额外补充一个给protocol node的字段，后面考虑取消
|
||||
data["children"] = self.children
|
||||
for material_id, child in self.children.items():
|
||||
if child["type"] != "device":
|
||||
self.resource_tracker.add_resource(self.children[material_id])
|
||||
deck_dict = data.get("deck")
|
||||
if deck_dict:
|
||||
from pylabrobot.resources import Deck, Resource
|
||||
|
||||
22
unilabos/utils/async_util.py
Normal file
22
unilabos/utils/async_util.py
Normal file
@@ -0,0 +1,22 @@
|
||||
import asyncio
|
||||
import traceback
|
||||
from asyncio import get_event_loop
|
||||
|
||||
from unilabos.utils.log import error
|
||||
|
||||
|
||||
def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
|
||||
if loop is None:
|
||||
loop = get_event_loop()
|
||||
|
||||
def _handle_future_exception(fut):
|
||||
try:
|
||||
fut.result()
|
||||
except Exception as e:
|
||||
error(f"异步任务 {func.__name__} 报错了")
|
||||
error(traceback.format_exc())
|
||||
|
||||
future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
|
||||
if trace_error:
|
||||
future.add_done_callback(_handle_future_exception)
|
||||
return future
|
||||
@@ -191,8 +191,7 @@ def configure_logger(loglevel=None):
|
||||
|
||||
# 添加处理器到根日志记录器
|
||||
root_logger.addHandler(console_handler)
|
||||
logging.getLogger("asyncio").setLevel(logging.INFO)
|
||||
logging.getLogger("urllib3").setLevel(logging.INFO)
|
||||
|
||||
|
||||
# 配置日志系统
|
||||
configure_logger()
|
||||
|
||||
Reference in New Issue
Block a user