mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-09 00:15:10 +00:00
Compare commits
14 Commits
709eb0d91c
...
v0.10.7
| Author | SHA1 | Date | |
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9aeffebde1 | ||
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172599adcf | ||
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e5aa4d940a | ||
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4771ff2347 | ||
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8bcc92a394 | ||
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49354fcf39 | ||
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a8973ea92b | ||
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0bfb52df00 | ||
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a555c59dc2 | ||
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9ac0ad49cb | ||
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daa46aaf50 | ||
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bbd9629f98 | ||
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2d560a8182 |
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.6
|
||||
version: 0.10.7
|
||||
|
||||
source:
|
||||
path: ../unilabos
|
||||
@@ -31,11 +31,14 @@ requirements:
|
||||
- python ==3.11.11
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- zstandard
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
|
||||
376
.github/workflows/conda-pack-build.yml
vendored
Normal file
376
.github/workflows/conda-pack-build.yml
vendored
Normal file
@@ -0,0 +1,376 @@
|
||||
name: Build Conda-Pack Environment
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
description: '选择要构建的分支'
|
||||
required: true
|
||||
default: 'dev'
|
||||
type: string
|
||||
platforms:
|
||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||
required: false
|
||||
default: 'win-64'
|
||||
type: string
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
include:
|
||||
- os: ubuntu-latest
|
||||
platform: linux-64
|
||||
env_file: unilabos-linux-64.yaml
|
||||
script_ext: sh
|
||||
- os: macos-13 # Intel
|
||||
platform: osx-64
|
||||
env_file: unilabos-osx-64.yaml
|
||||
script_ext: sh
|
||||
- os: macos-latest # ARM64
|
||||
platform: osx-arm64
|
||||
env_file: unilabos-osx-arm64.yaml
|
||||
script_ext: sh
|
||||
- os: windows-latest
|
||||
platform: win-64
|
||||
env_file: unilabos-win64.yaml
|
||||
script_ext: bat
|
||||
|
||||
runs-on: ${{ matrix.os }}
|
||||
|
||||
defaults:
|
||||
run:
|
||||
# Windows uses cmd for better conda/mamba compatibility, Unix uses bash
|
||||
shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
|
||||
|
||||
steps:
|
||||
- name: Check if platform should be built
|
||||
id: should_build
|
||||
shell: bash
|
||||
run: |
|
||||
if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
else
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- uses: actions/checkout@v4
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
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-activate-base: true
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
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'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
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 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%
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
id: msgs_version_unix
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Checking installed ros-humble-unilabos-msgs version..."
|
||||
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"
|
||||
|
||||
- name: Check for newer ros-humble-unilabos-msgs (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Checking for available ros-humble-unilabos-msgs versions...
|
||||
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 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'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Checking for available ros-humble-unilabos-msgs versions..."
|
||||
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 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...
|
||||
pip uninstall unilabos -y || echo unilabos not installed via pip
|
||||
echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
|
||||
pip install .
|
||||
echo Verifying installation...
|
||||
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..."
|
||||
pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||
echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
|
||||
pip install .
|
||||
echo "Verifying installation..."
|
||||
pip show unilabos
|
||||
|
||||
- name: Display environment info (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo === Environment Information ===
|
||||
conda env list
|
||||
echo.
|
||||
echo === Installed Packages ===
|
||||
conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
|
||||
echo.
|
||||
echo === Python Packages ===
|
||||
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 ==="
|
||||
conda env list
|
||||
echo ""
|
||||
echo "=== Installed Packages ==="
|
||||
conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
|
||||
echo ""
|
||||
echo "=== Python Packages ==="
|
||||
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...
|
||||
python -c "import sys; print(f'Python version: {sys.version}')"
|
||||
echo Verifying unilabos import...
|
||||
python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
|
||||
echo Checking critical packages...
|
||||
python -c "import rclpy; print('ROS2 rclpy: OK')"
|
||||
echo Running comprehensive verification script...
|
||||
python scripts\verify_installation.py || echo Warning: Verification script reported issues
|
||||
echo Environment verification complete!
|
||||
|
||||
- name: Verify environment integrity (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Verifying Python version..."
|
||||
python -c "import sys; print(f'Python version: {sys.version}')"
|
||||
echo "Verifying unilabos import..."
|
||||
python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
|
||||
echo "Checking critical packages..."
|
||||
python -c "import rclpy; print('ROS2 rclpy: OK')"
|
||||
echo "Running comprehensive verification script..."
|
||||
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...
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo Pack file created:
|
||||
dir unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
- name: Pack conda environment (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Packing unilab environment with conda-pack..."
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo "Pack file created:"
|
||||
ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
- name: Prepare Windows distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo ==========================================
|
||||
echo Creating distribution package...
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo ==========================================
|
||||
mkdir dist-package 2>nul || cd .
|
||||
|
||||
rem Copy packed environment
|
||||
echo Adding: unilab-env-${{ matrix.platform }}.tar.gz
|
||||
copy unilab-env-${{ matrix.platform }}.tar.gz dist-package\
|
||||
|
||||
rem Copy installation script
|
||||
echo Adding: install_unilab.bat
|
||||
copy scripts\install_unilab.bat dist-package\
|
||||
|
||||
rem Copy verification script
|
||||
echo Adding: verify_installation.py
|
||||
copy scripts\verify_installation.py dist-package\
|
||||
|
||||
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
|
||||
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir /b dist-package
|
||||
echo.
|
||||
|
||||
- name: Prepare Unix/Linux distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "=========================================="
|
||||
echo "Creating distribution package..."
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "=========================================="
|
||||
mkdir -p dist-package
|
||||
|
||||
# Copy packed environment
|
||||
echo "Adding: unilab-env-${{ matrix.platform }}.tar.gz"
|
||||
cp unilab-env-${{ matrix.platform }}.tar.gz dist-package/
|
||||
|
||||
# Copy installation script
|
||||
echo "Adding: install_unilab.sh"
|
||||
cp scripts/install_unilab.sh dist-package/
|
||||
chmod +x dist-package/install_unilab.sh
|
||||
|
||||
# Copy verification script
|
||||
echo "Adding: verify_installation.py"
|
||||
cp scripts/verify_installation.py dist-package/
|
||||
|
||||
# Create README using Python script
|
||||
echo "Creating: README.txt"
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
|
||||
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
|
||||
- name: Finalize Windows distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo ==========================================
|
||||
echo Windows distribution package ready
|
||||
echo.
|
||||
echo Package will be uploaded as artifact
|
||||
echo GitHub Actions will automatically create ZIP
|
||||
echo.
|
||||
echo Contents:
|
||||
dir /b dist-package
|
||||
echo.
|
||||
echo Users will download a ZIP containing:
|
||||
echo - install_unilab.bat
|
||||
echo - unilab-env-${{ 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-${{ matrix.platform }}.tar.gz"
|
||||
echo " 3. Run: bash install_unilab.sh"
|
||||
echo ""
|
||||
|
||||
- name: Upload distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: dist-package/
|
||||
retention-days: 90
|
||||
if-no-files-found: error
|
||||
|
||||
- name: Display package info (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo ==========================================
|
||||
echo Build Summary
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.11
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
echo.
|
||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
echo.
|
||||
echo After download, extract the ZIP and run:
|
||||
echo install_unilab.bat
|
||||
echo ==========================================
|
||||
|
||||
- name: Display package info (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "=========================================="
|
||||
echo "Build Summary"
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.11"
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
echo "Package size (tar.gz):"
|
||||
ls -lh unilab-pack-*.tar.gz
|
||||
echo ""
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
|
||||
echo ""
|
||||
echo "After download:"
|
||||
echo " - Windows/macOS: Extract ZIP, then: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
|
||||
echo "=========================================="
|
||||
98
.github/workflows/deploy-docs.yml
vendored
Normal file
98
.github/workflows/deploy-docs.yml
vendored
Normal file
@@ -0,0 +1,98 @@
|
||||
name: Deploy Docs
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [main]
|
||||
pull_request:
|
||||
branches: [main]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
description: '要部署文档的分支'
|
||||
required: false
|
||||
default: 'main'
|
||||
type: string
|
||||
deploy_to_pages:
|
||||
description: '是否部署到 GitHub Pages'
|
||||
required: false
|
||||
default: true
|
||||
type: boolean
|
||||
|
||||
# 设置 GITHUB_TOKEN 权限以部署到 GitHub Pages
|
||||
permissions:
|
||||
contents: read
|
||||
pages: write
|
||||
id-token: write
|
||||
|
||||
# 只允许一个并发部署，跳过正在进行和最新排队之间的运行
|
||||
# 但是不取消正在进行的运行，因为我们希望允许这些生产部署完成
|
||||
concurrency:
|
||||
group: 'pages'
|
||||
cancel-in-progress: false
|
||||
|
||||
jobs:
|
||||
# Build documentation
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout code
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||
|
||||
- name: Setup Python environment
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
python-version: '3.10'
|
||||
|
||||
- name: Install system dependencies
|
||||
run: |
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y pandoc
|
||||
|
||||
- name: Install Python dependencies
|
||||
run: |
|
||||
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
|
||||
uses: actions/configure-pages@v4
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
|
||||
- name: Build Sphinx documentation
|
||||
run: |
|
||||
cd docs
|
||||
# Clean previous builds
|
||||
rm -rf _build
|
||||
# Build HTML documentation
|
||||
python -m sphinx -b html . _build/html -v
|
||||
|
||||
- name: Check build results
|
||||
run: |
|
||||
echo "Documentation build completed, checking output directory:"
|
||||
ls -la docs/_build/html/
|
||||
echo "Checking for index.html:"
|
||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||
|
||||
- name: Upload build artifacts
|
||||
uses: actions/upload-pages-artifact@v3
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
with:
|
||||
path: docs/_build/html
|
||||
|
||||
# Deploy to GitHub Pages
|
||||
deploy:
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
environment:
|
||||
name: github-pages
|
||||
url: ${{ steps.deployment.outputs.page_url }}
|
||||
runs-on: ubuntu-latest
|
||||
needs: build
|
||||
steps:
|
||||
- name: Deploy to GitHub Pages
|
||||
id: deployment
|
||||
uses: actions/deploy-pages@v4
|
||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -2,6 +2,7 @@ configs/
|
||||
temp/
|
||||
output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
|
||||
15
CONTRIBUTORS
Normal file
15
CONTRIBUTORS
Normal file
@@ -0,0 +1,15 @@
|
||||
156 Xuwznln <18435084+Xuwznln@users.noreply.github.com>
|
||||
39 Junhan Chang <changjh@dp.tech>
|
||||
9 wznln <18435084+Xuwznln@users.noreply.github.com>
|
||||
8 Guangxin Zhang <guangxin.zhang.bio@gmail.com>
|
||||
5 ZiWei <131428629+ZiWei09@users.noreply.github.com>
|
||||
2 Junhan Chang <changjh@pku.edu.cn>
|
||||
2 Xie Qiming <97236197+Andy6M@users.noreply.github.com>
|
||||
1 Harvey Que <103566763+Mile-Away@users.noreply.github.com>
|
||||
1 Junhan Chang <1700011741@pku.edu.cn>
|
||||
1 LccLink <1951855008@qq.com>
|
||||
1 h840473807 <47357934+h840473807@users.noreply.github.com>
|
||||
1 lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
|
||||
1 shiyubo0410 <shiyubo@dp.tech>
|
||||
1 王俊杰 <1800011822@pku.edu.cn>
|
||||
1 王俊杰 <43375851+wjjxxx@users.noreply.github.com>
|
||||
@@ -31,7 +31,7 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d
|
||||
|
||||
Detailed documentation can be found at:
|
||||
|
||||
- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
|
||||
- [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://readthedocs.dp.tech/Uni-Lab/v0.8.0/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://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
|
||||
- [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://readthedocs.dp.tech/Uni-Lab/v0.8.0/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
|
||||
|
||||
|
||||
@@ -127,16 +127,16 @@ add_action_files(
|
||||
```bash
|
||||
mamba remove --force ros-humble-unilabos-msgs
|
||||
mamba config set safety_checks disabled # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
|
||||
mamba install xxx.conda2 --offline
|
||||
mamba install xxx.conda --offline
|
||||
```
|
||||
|
||||
## 常见问题
|
||||
|
||||
**Q: 构建失败怎么办？**
|
||||
**Q: 构建失败怎么办？**
|
||||
A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
|
||||
|
||||
**Q: 如何测试特定平台？**
|
||||
**Q: 如何测试特定平台？**
|
||||
A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
|
||||
|
||||
**Q: 构建包在哪里下载？**
|
||||
**Q: 构建包在哪里下载？**
|
||||
A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。
|
||||
|
||||
147
docs/developer_guide/add_batteryPLC.md
Normal file
147
docs/developer_guide/add_batteryPLC.md
Normal file
@@ -0,0 +1,147 @@
|
||||
# 电池装配工站接入（PLC）
|
||||
|
||||
本指南将引导你完成电池装配工站（以 PLC 控制为例）的接入流程，包括新建工站文件、编写驱动与寄存器读写、生成注册表、上传及注意事项。
|
||||
|
||||
## 1. 新建工站文件
|
||||
|
||||
### 1.1 创建工站文件
|
||||
|
||||
在 `unilabos/devices/workstation/coin_cell_assembly` 目录下新建工站文件，如 `coin_cell_assembly.py`。工站类需继承 `WorkstationBase`，并在构造函数中初始化通信客户端与寄存器映射。
|
||||
|
||||
```python
|
||||
from typing import Optional
|
||||
# 工站基类
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
# Modbus 通讯与寄存器 CSV 支持
|
||||
from unilabos.device_comms.modbus_plc.client import TCPClient, BaseClient
|
||||
|
||||
class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
def __init__(
|
||||
self,
|
||||
station_resource,
|
||||
address: str = "192.168.1.20",
|
||||
port: str = "502",
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(station_resource=station_resource, *args, **kwargs)
|
||||
self.station_resource = station_resource # 物料台面（Deck）
|
||||
self.success: bool = False
|
||||
self.allow_data_read: bool = False
|
||||
self.csv_export_thread = None
|
||||
self.csv_export_running = False
|
||||
self.csv_export_file: Optional[str] = None
|
||||
|
||||
# 连接 PLC，并注册寄存器节点
|
||||
tcp = TCPClient(addr=address, port=port)
|
||||
tcp.client.connect()
|
||||
self.nodes = BaseClient.load_csv(".../PLC_register.csv")
|
||||
self.client = tcp.register_node_list(self.nodes)
|
||||
```
|
||||
|
||||
|
||||
|
||||
## 2. 编写驱动与寄存器读写
|
||||
|
||||
### 2.1 寄存器示例
|
||||
|
||||
- `COIL_SYS_START_CMD`（BOOL，地址 8010）：启动命令（脉冲式）
|
||||
- `COIL_SYS_START_STATUS`（BOOL，地址 8210）：启动状态
|
||||
- `REG_DATA_OPEN_CIRCUIT_VOLTAGE`（FLOAT32，地址 10002）：开路电压
|
||||
- `REG_DATA_ASSEMBLY_PRESSURE`（INT16，地址 10014）：压制扣电压力
|
||||
|
||||
### 2.2 最小驱动示例
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.modbus_plc.modbus import WorderOrder
|
||||
|
||||
def start_and_read_metrics(self):
|
||||
# 1) 下发启动（置 True 再复位 False）
|
||||
self.client.use_node('COIL_SYS_START_CMD').write(True)
|
||||
self.client.use_node('COIL_SYS_START_CMD').write(False)
|
||||
|
||||
# 2) 等待进入启动状态
|
||||
while True:
|
||||
status, _ = self.client.use_node('COIL_SYS_START_STATUS').read(1)
|
||||
if bool(status[0]):
|
||||
break
|
||||
|
||||
# 3) 读取关键数据（FLOAT32 需读 2 个寄存器并指定字节序）
|
||||
voltage, _ = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(
|
||||
2, word_order=WorderOrder.LITTLE
|
||||
)
|
||||
pressure, _ = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1)
|
||||
|
||||
return {
|
||||
'open_circuit_voltage': voltage,
|
||||
'assembly_pressure': pressure,
|
||||
}
|
||||
```
|
||||
|
||||
> 提示：若需参数下发，可在 PLC 端设置标志寄存器并完成握手复位，避免粘连与竞争。
|
||||
|
||||
## 3. 本地生成注册表并校验
|
||||
|
||||
完成工站类与驱动后，需要生成（或更新）工站注册表供系统识别。
|
||||
|
||||
|
||||
### 3.1 新增工站设备（或资源）首次生成注册表
|
||||
首先通过以下命令启动unilab。进入unilab系统状态检查页面
|
||||
|
||||
```bash
|
||||
python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
|
||||
```
|
||||
|
||||
点击注册表编辑，进入注册表编辑页面
|
||||
|
||||
|
||||
按照图示步骤填写自动生成注册表信息：
|
||||
|
||||
|
||||
步骤说明：
|
||||
1. 选择新增的工站`coin_cell_assembly.py`文件
|
||||
2. 点击分析按钮，分析`coin_cell_assembly.py`文件
|
||||
3. 选择`coin_cell_assembly.py`文件中继承`WorkstationBase`类
|
||||
4. 填写新增的工站.py文件与`unilabos`目录的距离。例如，新增的工站文件`coin_cell_assembly.py`路径为`unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`，则此处填写`unilabos.devices.workstation.coin_cell_assembly`。
|
||||
5. 此处填写新定义工站的类的名字（名称可以自拟）
|
||||
6. 填写新的工站注册表备注信息
|
||||
7. 生成注册表
|
||||
|
||||
以上操作步骤完成，则会生成的新的注册表ymal文件，如下图：
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### 3.2 添加新生成注册表
|
||||
在`unilabos\registry\devices`目录下新建一个yaml文件，此处新建文件命名为`coincellassemblyworkstation_device.yaml`，将上面生成的新的注册表信息粘贴到`coincellassemblyworkstation_device.yaml`文件中。
|
||||
|
||||
在终端输入以下命令进行注册表补全操作。
|
||||
```bash
|
||||
python unilabos\app\register.py --complete_registry
|
||||
```
|
||||
|
||||
|
||||
### 3.3 启动并上传注册表
|
||||
|
||||
新增设备之后，启动unilab需要增加`--upload_registry`参数，来上传注册表信息。
|
||||
|
||||
```bash
|
||||
python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK> --upload_registry
|
||||
```
|
||||
|
||||
## 4. 注意事项
|
||||
|
||||
- 在新生成的 YAML 中，确认 `module` 指向新工站类，本例中需检查`coincellassemblyworkstation_device.yaml`文件中是否指向了`coin_cell_assembly.py`文件中定义的`CoinCellAssemblyWorkstation`类文件：
|
||||
|
||||
```
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
|
||||
```
|
||||
|
||||
- 首次新增设备（或资源）需要在网页端新增注册表信息，`--complete_registry`补全注册表，`--upload_registry`上传注册表信息。
|
||||
|
||||
- 如果不是新增设备（或资源），仅对工站驱动的.py文件进行了修改，则不需要在网页端新增注册表信息。只需要运行补全注册表信息之后，上传注册表即可。
|
||||
|
||||
|
||||
@@ -111,8 +111,8 @@ new_device: # 设备名，要唯一
|
||||
|
||||
1. 以 `auto-` 开头的动作：从你 Python 类的方法自动生成
|
||||
2. 通用的驱动动作：
|
||||
- `_execute_driver_command`：同步执行驱动命令
|
||||
- `_execute_driver_command_async`：异步执行驱动命令
|
||||
- `_execute_driver_command`：同步执行驱动命令（仅本地可用）
|
||||
- `_execute_driver_command_async`：异步执行驱动命令（仅本地可用）
|
||||
|
||||
### 如果要手动定义动作
|
||||
|
||||
|
||||
BIN
docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png
Normal file
BIN
docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 428 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 310 KiB |
BIN
docs/developer_guide/image_add_batteryPLC/unilab_sys_status.png
Normal file
BIN
docs/developer_guide/image_add_batteryPLC/unilab_sys_status.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 66 KiB |
409
docs/developer_guide/materials_tutorial.md
Normal file
409
docs/developer_guide/materials_tutorial.md
Normal file
@@ -0,0 +1,409 @@
|
||||
# 物料教程（Resource）
|
||||
|
||||
本教程面向 Uni-Lab-OS 的开发者，讲解“物料”的核心概念、3种物料格式（UniLab、PyLabRobot、奔耀Bioyond）及其相互转换方法，并说明4种 children 结构表现形式及使用场景。
|
||||
|
||||
---
|
||||
|
||||
## 1. 物料是什么
|
||||
|
||||
- **物料（Resource）**：指实验工作站中的实体对象，包括设备（device）、操作甲板 （deck）、试剂、实验耗材，也包括设备上承载的具体物料或者包含的容器（如container/plate/well/瓶/孔/片等）。
|
||||
- **物料基本信息**（以 UniLab list格式为例）：
|
||||
|
||||
```jsonc
|
||||
{
|
||||
"id": "plate", // 某一类物料的唯一名称
|
||||
"name": "50ml瓶装试剂托盘", // 在云端显示的名称
|
||||
"sample_id": null, // 同类物料的不同样品
|
||||
"children": [
|
||||
"50ml试剂瓶" // 表示托盘上有一个 50ml 试剂瓶
|
||||
],
|
||||
"parent": "deck", // 此物料放置在 deck 上
|
||||
"type": "plate", // 物料类型
|
||||
"class": "plate", // 物料对应的注册/类名
|
||||
"position": {
|
||||
"x": 0, // 初始放置位置
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": { // 固有配置（尺寸、旋转等）
|
||||
"size_x": 400.0,
|
||||
"size_y": 400.0,
|
||||
"size_z": 400.0,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {
|
||||
"bottle_number": 1 // 动态数据（可变化）
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## 2. 3种物料格式概览(UniLab、PyLabRobot、奔耀Bioyond)
|
||||
|
||||
### 2.1 UniLab 物料格式（云端/项目内通用）
|
||||
|
||||
- 结构特征：顶层通常是 `nodes` 列表；每个节点是扁平字典，`children` 是子节点 `id` 列表；`parent` 为父节点 `id` 或 `null`。
|
||||
- 用途：
|
||||
- 云端数据存储、前端可视化、与图结构算法互操作
|
||||
- 在上传/下载/部署配置时作为标准交换格式
|
||||
|
||||
示例片段（UniLab 物料格式）：
|
||||
|
||||
```jsonc
|
||||
{
|
||||
"nodes": [
|
||||
|
||||
{
|
||||
"id": "a",
|
||||
"name": "name_a",
|
||||
"sample_id": 1,
|
||||
"type": "deck",
|
||||
"class": "deck",
|
||||
"parent": null,
|
||||
"children": ["b1"],
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
|
||||
"id": "b1",
|
||||
"name": "name_b1",
|
||||
"sample_id": 1,
|
||||
"type": "plate",
|
||||
"class": "plate",
|
||||
"parent": "a1",
|
||||
"children": [],
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
### 2.2 PyLabRobot（PLR）物料格式（实验流程运行时）
|
||||
|
||||
- 结构特征：严格的层级树，`children` 为“子资源字典列表”（每个子节点本身是完整对象）。
|
||||
- 用途：
|
||||
- 实验流程执行与调度，PLR 运行时期望的资源对象格式
|
||||
- 通过 `Resource.deserialize/serialize`、`load_all_state/serialize_all_state` 与对象交互
|
||||
|
||||
示例片段（PRL 物料格式）：：
|
||||
|
||||
```json
|
||||
{
|
||||
"name": "deck",
|
||||
"type": "Deck",
|
||||
"category": "deck",
|
||||
"location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
|
||||
"parent_name": null,
|
||||
"children": [
|
||||
{
|
||||
"name": "plate_1",
|
||||
"type": "Plate",
|
||||
"category": "plate_96",
|
||||
"location": {"x": 100, "y": 0, "z": 0, "type": "Coordinate"},
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
|
||||
"parent_name": "deck",
|
||||
"children": [
|
||||
{
|
||||
"name": "A1",
|
||||
"type": "Well",
|
||||
"category": "well",
|
||||
"location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
|
||||
"parent_name": "plate_1",
|
||||
"children": []
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
### 2.3 奔耀 Bioyond 物料格式（第三方来源）
|
||||
一般是厂商自己定义的json格式和字段，信息需要提取和对应。以下为示例说明。
|
||||
|
||||
- 结构特征：顶层 `data` 列表，每项包含 `typeName`、`code`、`barCode`、`name`、`quantity`、`unit`、`locations`（仓位 `whName`、`x/y/z`）、`detail`（细粒度内容，如瓶内液体或孔位物料）。
|
||||
- 用途：
|
||||
- 第三方 WMS/设备的物料清单输入
|
||||
- 需要自定义映射表将 `typeName` → PLR 类名，对 `locations`/`detail` 进行落位/赋值
|
||||
|
||||
示例片段（奔耀Bioyond 物料格式）：
|
||||
|
||||
|
||||
```json
|
||||
{
|
||||
"data": [
|
||||
{
|
||||
"id": "3a1b5c10-d4f3-01ac-1e64-5b4be2add4b1",
|
||||
"typeName": "液",
|
||||
"code": "0006-00014",
|
||||
"barCode": "",
|
||||
"name": "EMC",
|
||||
"quantity": 50,
|
||||
"lockQuantity": 2.057,
|
||||
"unit": "瓶",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a19da43-57b5-5e75-552f-8dbd0ad1075f",
|
||||
"whid": "3a19da43-57b4-a2a8-3f52-91dbbeb836db",
|
||||
"whName": "配液站内试剂仓库",
|
||||
"code": "0003-0003",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"code": "0006-00014-01",
|
||||
"name": "EMC-瓶-1",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"quantity": 500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"code": 1,
|
||||
"message": "",
|
||||
"timestamp": 0
|
||||
}
|
||||
```
|
||||
### 2.4 3种物料格式关键字段对应(UniLab、PyLabRobot、奔耀Bioyond)
|
||||
|
||||
| 含义 | UniLab | PyLabRobot (PLR) | 奔耀 Bioyond |
|
||||
| - | - | - | - |
|
||||
| 节点唯一名 | `id` | `name` | `name` |
|
||||
| 父节点引用 | `parent` | `parent_name` | `locations` 坐标（无直接父名，需映射坐标下的物料） |
|
||||
| 子节点集合 | `children`（id 列表或对象列表，视结构而定） | `children`（对象列表） | `detail`（明细，非严格树结构，需要自定义映射） |
|
||||
| 类型（抽象类别） | `type`（device/container/plate/deck/…） | `category`（plate/well/…），以及类名 `type` | `typeName`（厂商自定义，如“液”、“加样头(大)”） |
|
||||
| 运行/业务数据 | `data` | 通过 `serialize_all_state()`/`load_all_state()` 管理的状态 | `quantity`、`lockQuantity` 等业务数值 |
|
||||
| 固有配置 | `config`（size_x/size_y/size_z/model/ordering…） | 资源字典中的同名键（反序列化时按构造签名取用） | 厂商自定义字段（需映射入 PLR/UniLab 的 `config` 或 `data`） |
|
||||
| 空间位置 | `position`（x/y/z） | `location`（Coordinate） + `rotation`（Rotation） | `locations`（whName、x/y/z），不含旋转 |
|
||||
| 条码/标识 | `config.barcode`（可选） | 常放在配置键中（如 `barcode`） | `barCode` |
|
||||
| 数量单位 | 无固定键，通常在 `data` | 无固定键，通常在配置或状态中 | `unit` |
|
||||
| 物料编码 | 通常在 `config` 或 `data` 自定义 | 通常在配置中自定义 | `code` |
|
||||
|
||||
说明：
|
||||
- Bioyond 不提供显式的树形父子关系，通常通过 `locations` 将物料落位到某仓位/坐标。用 `detail` 表示子级明细。
|
||||
|
||||
---
|
||||
|
||||
## 3. children 的四种结构表示
|
||||
|
||||
- **list（扁平列表）**：每个节点是扁平字典，`children` 为子节点 `id` 数组。示例：UniLab `nodes` 中的单个节点。
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{ "id": "root", "parent": null, "children": ["child1"] },
|
||||
{ "id": "child1", "parent": "root", "children": [] }
|
||||
]
|
||||
}
|
||||
```
|
||||
- **dict（嵌套字典）**：节点的 `children` 是 `{ child_id: child_node_dict }` 字典。
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "root",
|
||||
"parent": null,
|
||||
"children": {
|
||||
"child1": { "id": "child1", "parent": "root", "children": {} }
|
||||
}
|
||||
}
|
||||
```
|
||||
- **tree（树形列表）**：顶层是 `[root_node, ...]`，每个 `node.children` 是“子节点对象列表”（而非 id 列表）。
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"id": "root",
|
||||
"parent": null,
|
||||
"children": [
|
||||
{ "id": "child1", "parent": "root", "children": [] }
|
||||
]
|
||||
}
|
||||
]
|
||||
```
|
||||
- **nestdict（顶层嵌套字典）**：顶层是 `{root_id: root_node, ...}`，或者根节点自身带 `children: {id: node}` 形态。
|
||||
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"id": "root",
|
||||
"parent": null,
|
||||
"children": {
|
||||
"child1": { "id": "child1", "parent": "root", "children": {} }
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
这些结构之间可使用 `graphio.py` 中的工具函数互转（见下一节）。
|
||||
|
||||
---
|
||||
|
||||
## 4. 转换函数及调用
|
||||
|
||||
核心代码文件：`unilabos/resources/graphio.py`
|
||||
|
||||
### 4.1 结构互转（list/dict/tree/nestdict）
|
||||
|
||||
代码引用：
|
||||
|
||||
```217:239:unilabos/resources/graphio.py
|
||||
def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
|
||||
# ... 由扁平 dict（id->node）生成树（children 为对象列表）
|
||||
```
|
||||
|
||||
```241:267:unilabos/resources/graphio.py
|
||||
def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
|
||||
# ... 由扁平 dict 生成嵌套字典（children 为 {id:node}）
|
||||
```
|
||||
|
||||
```270:273:unilabos/resources/graphio.py
|
||||
def list_to_nested_dict(nodes: list[dict]) -> dict:
|
||||
# ... 由扁平列表（children 为 id 列表）转嵌套字典
|
||||
```
|
||||
|
||||
```275:286:unilabos/resources/graphio.py
|
||||
def tree_to_list(tree: list[dict]) -> list[dict]:
|
||||
# ... 由树形列表转回扁平列表（children 还原为 id 列表）
|
||||
```
|
||||
|
||||
```289:337:unilabos/resources/graphio.py
|
||||
def nested_dict_to_list(nested_dict: dict) -> list[dict]:
|
||||
# ... 由嵌套字典转回扁平列表
|
||||
```
|
||||
|
||||
常见路径：
|
||||
|
||||
- UniLab 扁平列表 → 树：`dict_to_tree({r["id"]: r for r in resources})`
|
||||
- 树 → UniLab 扁平列表：`tree_to_list(resources_tree)`
|
||||
- 扁平列表 ↔ 嵌套字典：`list_to_nested_dict` / `nested_dict_to_list`
|
||||
|
||||
### 4.2 UniLab ↔ PyLabRobot（PLR）
|
||||
|
||||
高层封装：
|
||||
|
||||
```339:368:unilabos/resources/graphio.py
|
||||
def convert_resources_to_type(resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False):
|
||||
# UniLab -> (NestedDict or PLR)
|
||||
```
|
||||
|
||||
```371:395:unilabos/resources/graphio.py
|
||||
def convert_resources_from_type(resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False):
|
||||
# (NestedDict or PLR) -> UniLab 扁平列表
|
||||
```
|
||||
|
||||
底层转换：
|
||||
|
||||
```398:441:unilabos/resources/graphio.py
|
||||
def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
|
||||
# UniLab 单节点(树根) -> PLR Resource 对象
|
||||
```
|
||||
|
||||
```443:481:unilabos/resources/graphio.py
|
||||
def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, with_children=True):
|
||||
# PLR Resource -> UniLab 单节点(dict)
|
||||
```
|
||||
|
||||
示例：
|
||||
|
||||
```python
|
||||
from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
|
||||
# UniLab 扁平列表 -> PLR 根资源对象
|
||||
plr_root = convert_resources_to_type(resources_list=ulab_list, resource_type=ResourcePLR)
|
||||
|
||||
# PLR 资源对象 -> UniLab 扁平列表（用于保存/上传）
|
||||
ulab_flat = convert_resources_from_type(resources_list=plr_root, resource_type=ResourcePLR)
|
||||
```
|
||||
|
||||
可选项：
|
||||
|
||||
- `plr_model=True`：保留 `model` 字段（默认会移除）。
|
||||
- `with_children=False`：`resource_plr_to_ulab` 仅转换当前节点。
|
||||
|
||||
### 4.3 奔耀（Bioyond）→ PLR（及进一步到 UniLab）
|
||||
|
||||
转换入口：
|
||||
|
||||
```483:527:unilabos/resources/graphio.py
|
||||
def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
|
||||
# Bioyond 列表 -> PLR 资源列表，并可根据 deck.warehouses 将资源落位
|
||||
```
|
||||
|
||||
使用示例：
|
||||
|
||||
```python
|
||||
import json
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr, convert_resources_from_type
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
|
||||
resp = json.load(open("unilabos/devices/workstation/bioyond_cell/bioyond_test_yibin.json", encoding="utf-8"))
|
||||
materials = resp["data"]
|
||||
|
||||
# 将第三方类型name映射到 PLR 资源类名（需根据现场定义）
|
||||
type_mapping = {
|
||||
"液": "RegularContainer",
|
||||
"加样头(大)": "RegularContainer"
|
||||
}
|
||||
|
||||
plr_list = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=None)
|
||||
|
||||
# 如需上传云端（UniLab 扁平格式）：
|
||||
ulab_flat = convert_resources_from_type(plr_list, [ResourcePLR])
|
||||
```
|
||||
|
||||
说明：
|
||||
|
||||
- `type_mapping` 必须由开发者根据设备/物料种类人工维护。
|
||||
- 如传入 `deck`，且 `deck.warehouses` 命名与 `whName` 对应，可将物料安放到仓库坐标（x/y/z）。
|
||||
|
||||
---
|
||||
|
||||
## 5. 何时使用哪种格式
|
||||
|
||||
- **云端/持久化**：使用 UniLab 物料格式（扁平 `nodes` 列表，children 为 id 列表）。便于版本化、可视化与网络传输。
|
||||
- **实验工作流执行**：使用 PyLabRobot（PLR）格式。PLR 运行时依赖严格的树形资源结构与对象 API。
|
||||
- **第三方设备/系统（Bioyond）输入**：保持来源格式不变，使用 `resource_bioyond_to_plr` + 人工 `type_mapping` 将其转换为 PLR（必要时再转 UniLab）。
|
||||
|
||||
---
|
||||
|
||||
## 6. 常见问题与注意事项
|
||||
|
||||
- **children 形态不一致**：不同函数期望不同 children 形态，注意在进入转换前先用“结构互转”工具函数标准化形态。
|
||||
- **devices_only**：`dict_to_tree/dict_to_nested_dict` 支持仅保留 `type == device` 的节点。
|
||||
- **模型/类型字段**：PLR 对象序列化参数有所差异，`resource_ulab_to_plr` 内部会根据构造签名移除不兼容字段（如 `category`）。
|
||||
- **驱动初始化**：`initialize_resource(s)` 支持从注册表/类路径创建 PLR/UniLab 资源或列表。
|
||||
|
||||
参考代码：
|
||||
|
||||
```530:577:unilabos/resources/graphio.py
|
||||
def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
|
||||
# 从注册类/模块反射创建资源，或将 UniLab 字典包装为列表
|
||||
```
|
||||
|
||||
```580:597:unilabos/resources/graphio.py
|
||||
def initialize_resources(resources_config) -> list[dict]:
|
||||
# 批量初始化
|
||||
```
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -33,6 +33,8 @@ developer_guide/add_device
|
||||
developer_guide/add_action
|
||||
developer_guide/actions
|
||||
developer_guide/add_protocol
|
||||
developer_guide/add_batteryPLC
|
||||
developer_guide/materials_tutorial.md
|
||||
```
|
||||
|
||||
## 接口文档
|
||||
|
||||
13
docs/requirements.txt
Normal file
13
docs/requirements.txt
Normal file
@@ -0,0 +1,13 @@
|
||||
# Sphinx文档构建依赖
|
||||
sphinx>=7.0.0
|
||||
sphinx-rtd-theme>=2.0.0
|
||||
myst-parser>=2.0.0
|
||||
|
||||
# 用于支持Jupyter notebook文档
|
||||
myst-nb>=1.0.0
|
||||
|
||||
# 用于代码复制按钮
|
||||
sphinx-copybutton>=0.5.0
|
||||
|
||||
# 用于自动摘要生成
|
||||
sphinx-autobuild>=2024.2.4
|
||||
197
docs/user_guide/quick_install_guide.md
Normal file
197
docs/user_guide/quick_install_guide.md
Normal file
@@ -0,0 +1,197 @@
|
||||
# Uni-Lab-OS 一键安装快速指南
|
||||
|
||||
## 概述
|
||||
|
||||
本指南提供最快速的 Uni-Lab-OS 安装方法，使用预打包的 conda 环境，无需手动配置依赖。
|
||||
|
||||
## 前置要求
|
||||
|
||||
- 已安装 Conda/Miniconda/Miniforge/Mamba
|
||||
- 至少 10GB 可用磁盘空间
|
||||
- Windows 10+, macOS 10.14+, 或 Linux (Ubuntu 20.04+)
|
||||
|
||||
## 安装步骤
|
||||
|
||||
### 第一步：下载预打包环境
|
||||
|
||||
1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
|
||||
|
||||
2. 选择最新的成功构建记录（绿色勾号 ✓）
|
||||
|
||||
3. 在页面底部的 "Artifacts" 部分，下载对应你操作系统的压缩包：
|
||||
- Windows: `unilab-pack-win-64-{branch}.zip`
|
||||
- macOS (Intel): `unilab-pack-osx-64-{branch}.tar.gz`
|
||||
- macOS (Apple Silicon): `unilab-pack-osx-arm64-{branch}.tar.gz`
|
||||
- Linux: `unilab-pack-linux-64-{branch}.tar.gz`
|
||||
|
||||
### 第二步：解压并运行安装脚本
|
||||
|
||||
#### Windows
|
||||
|
||||
```batch
|
||||
REM 使用 Windows 资源管理器解压下载的 zip 文件
|
||||
REM 或使用命令行：
|
||||
tar -xzf unilab-pack-win-64-dev.zip
|
||||
|
||||
REM 进入解压后的目录
|
||||
cd unilab-pack-win-64-dev
|
||||
|
||||
REM 双击运行 install_unilab.bat
|
||||
REM 或在命令行中执行：
|
||||
install_unilab.bat
|
||||
```
|
||||
|
||||
#### macOS
|
||||
|
||||
```bash
|
||||
# 解压下载的压缩包
|
||||
tar -xzf unilab-pack-osx-arm64-dev.tar.gz
|
||||
|
||||
# 进入解压后的目录
|
||||
cd unilab-pack-osx-arm64-dev
|
||||
|
||||
# 运行安装脚本
|
||||
bash install_unilab.sh
|
||||
```
|
||||
|
||||
#### Linux
|
||||
|
||||
```bash
|
||||
# 解压下载的压缩包
|
||||
tar -xzf unilab-pack-linux-64-dev.tar.gz
|
||||
|
||||
# 进入解压后的目录
|
||||
cd unilab-pack-linux-64-dev
|
||||
|
||||
# 添加执行权限（如果需要）
|
||||
chmod +x install_unilab.sh
|
||||
|
||||
# 运行安装脚本
|
||||
./install_unilab.sh
|
||||
```
|
||||
|
||||
### 第三步：激活环境
|
||||
|
||||
```bash
|
||||
conda activate unilab
|
||||
```
|
||||
|
||||
### 第四步：验证安装（推荐）
|
||||
|
||||
```bash
|
||||
# 确保已激活环境
|
||||
conda activate unilab
|
||||
|
||||
# 运行验证脚本
|
||||
python verify_installation.py
|
||||
```
|
||||
|
||||
如果看到 "✓ All checks passed!"，说明安装成功！
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: 安装脚本找不到 conda？
|
||||
|
||||
**A:** 确保你已经安装了 conda/miniconda/miniforge，并且安装在标准位置：
|
||||
|
||||
- **Windows**:
|
||||
|
||||
- `%USERPROFILE%\miniforge3`
|
||||
- `%USERPROFILE%\miniconda3`
|
||||
- `%USERPROFILE%\anaconda3`
|
||||
- `C:\ProgramData\miniforge3`
|
||||
|
||||
- **macOS/Linux**:
|
||||
- `~/miniforge3`
|
||||
- `~/miniconda3`
|
||||
- `~/anaconda3`
|
||||
- `/opt/conda`
|
||||
|
||||
如果安装在其他位置，可以先激活 conda base 环境，然后手动运行安装脚本。
|
||||
|
||||
### Q: 安装后激活环境提示找不到？
|
||||
|
||||
**A:** 尝试以下方法：
|
||||
|
||||
```bash
|
||||
# 方法 1: 使用 conda activate
|
||||
conda activate unilab
|
||||
|
||||
# 方法 2: 使用完整路径激活（Windows）
|
||||
call C:\Users\{YourUsername}\miniforge3\envs\unilab\Scripts\activate.bat
|
||||
|
||||
# 方法 2: 使用完整路径激活（Unix）
|
||||
source ~/miniforge3/envs/unilab/bin/activate
|
||||
```
|
||||
|
||||
### Q: conda-unpack 失败怎么办？
|
||||
|
||||
**A:** 尝试手动运行：
|
||||
|
||||
```bash
|
||||
# Windows
|
||||
cd %CONDA_PREFIX%\envs\unilab
|
||||
.\Scripts\conda-unpack.exe
|
||||
|
||||
# macOS/Linux
|
||||
cd $CONDA_PREFIX/envs/unilab
|
||||
./bin/conda-unpack
|
||||
```
|
||||
|
||||
### Q: 验证脚本报错？
|
||||
|
||||
**A:** 首先确认环境已激活：
|
||||
|
||||
```bash
|
||||
# 检查当前环境
|
||||
conda env list
|
||||
|
||||
# 应该看到 unilab 前面有 * 标记
|
||||
```
|
||||
|
||||
如果仍有问题，查看具体报错信息，可能需要：
|
||||
|
||||
- 重新运行安装脚本
|
||||
- 检查磁盘空间
|
||||
- 查看详细文档
|
||||
|
||||
### Q: 环境很大，有办法减小吗？
|
||||
|
||||
**A:** 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用手动安装方式，只安装需要的组件。
|
||||
|
||||
### Q: 如何更新到最新版本？
|
||||
|
||||
**A:** 重新下载最新的预打包环境，运行安装脚本时选择覆盖现有环境。
|
||||
|
||||
或者在现有环境中更新：
|
||||
|
||||
```bash
|
||||
conda activate unilab
|
||||
|
||||
# 更新 unilabos
|
||||
cd /path/to/Uni-Lab-OS
|
||||
git pull
|
||||
pip install -e . --upgrade
|
||||
|
||||
# 更新 ros-humble-unilabos-msgs
|
||||
mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
## 下一步
|
||||
|
||||
安装完成后，你可以：
|
||||
|
||||
1. **查看启动指南**: {doc}`launch`
|
||||
2. **运行示例**: {doc}`../boot_examples/index`
|
||||
3. **配置设备**: 编辑 `unilabos_data/startup_config.json`
|
||||
4. **阅读开发文档**: {doc}`../developer_guide/workstation_architecture`
|
||||
|
||||
## 需要帮助？
|
||||
|
||||
- **文档**: [docs/user_guide/installation.md](installation.md)
|
||||
- **问题反馈**: [GitHub Issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
- **开发版安装**: 参考 {doc}`installation` 的方式二
|
||||
|
||||
---
|
||||
|
||||
**提示**: 这个预打包环境包含了从指定分支（通常是 `dev`）构建的最新代码。如果需要稳定版本，请使用方式二手动安装 release 版本。
|
||||
22
package.xml
22
package.xml
@@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>unilabos</name>
|
||||
<version>0.0.0</version>
|
||||
<description>ROS2 package for unilabos server</description>
|
||||
<maintainer email="changjh@pku.edu.cn">changjh</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<build_depend>action_msgs</build_depend>
|
||||
<exec_depend>action_msgs</exec_depend>
|
||||
<member_of_group>rosidl_interface_packages</member_of_group>
|
||||
|
||||
<test_depend>ament_copyright</test_depend>
|
||||
<test_depend>ament_flake8</test_depend>
|
||||
<test_depend>ament_pep257</test_depend>
|
||||
<test_depend>python3-pytest</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_python</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.6
|
||||
version: 0.10.7
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.6"
|
||||
version: "0.10.7"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
190
scripts/create_readme.py
Normal file
190
scripts/create_readme.py
Normal file
@@ -0,0 +1,190 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Create Distribution Package README
|
||||
===================================
|
||||
|
||||
Generate README.txt for conda-pack distribution packages.
|
||||
|
||||
Usage:
|
||||
python create_readme.py <platform> <branch> <output_file>
|
||||
|
||||
Arguments:
|
||||
platform: Platform identifier (win-64, linux-64, osx-64, osx-arm64)
|
||||
branch: Git branch name
|
||||
output_file: Output file path (e.g., dist-package/README.txt)
|
||||
|
||||
Example:
|
||||
python create_readme.py win-64 dev dist-package/README.txt
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import sys
|
||||
from datetime import datetime, timezone
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def get_readme_content(platform: str, branch: str) -> str:
|
||||
"""
|
||||
Generate README content for the specified platform.
|
||||
|
||||
Args:
|
||||
platform: Platform identifier
|
||||
branch: Git branch name
|
||||
|
||||
Returns:
|
||||
str: README content
|
||||
"""
|
||||
# Get current UTC time
|
||||
build_date = datetime.now(timezone.utc).strftime("%Y-%m-%d %H:%M:%S UTC")
|
||||
|
||||
# Determine platform-specific content
|
||||
is_windows = platform == "win-64"
|
||||
|
||||
if is_windows:
|
||||
archive_ext = "zip"
|
||||
install_script = "install_unilab.bat"
|
||||
platform_instructions = """Windows:
|
||||
1. Extract the downloaded ZIP file
|
||||
2. Double-click install_unilab.bat (or run in cmd)
|
||||
3. Follow the prompts"""
|
||||
else:
|
||||
archive_ext = "tar.gz"
|
||||
install_script = "install_unilab.sh"
|
||||
platform_name = {"linux-64": "linux-64", "osx-64": "osx-64", "osx-arm64": "osx-arm64"}.get(platform, platform)
|
||||
platform_instructions = f"""macOS/Linux:
|
||||
1. Download and extract unilab-pack-{platform_name}.tar.gz
|
||||
2. Run: bash install_unilab.sh
|
||||
3. Follow the prompts
|
||||
|
||||
Alternative (if downloaded from GitHub Actions):
|
||||
1. Extract the artifact ZIP file
|
||||
2. Extract unilab-pack-{platform_name}.tar.gz inside
|
||||
3. Run: bash install_unilab.sh"""
|
||||
|
||||
# Generate README content
|
||||
readme = f"""UniLabOS Conda-Pack Environment
|
||||
================================
|
||||
|
||||
This package contains a pre-built UniLabOS environment.
|
||||
|
||||
Installation Instructions:
|
||||
--------------------------
|
||||
|
||||
{platform_instructions}
|
||||
|
||||
The installation script will:
|
||||
- Automatically find your conda installation
|
||||
- Extract the environment to conda's envs/unilab directory
|
||||
- Run conda-unpack to finalize setup
|
||||
|
||||
After installation:
|
||||
conda activate unilab
|
||||
python verify_installation.py
|
||||
|
||||
Verification:
|
||||
-------------
|
||||
|
||||
The verify_installation.py script will check:
|
||||
- Python version (3.11.11)
|
||||
- ROS2 rclpy installation
|
||||
- UniLabOS installation and dependencies
|
||||
|
||||
If all checks pass, you're ready to use UniLabOS!
|
||||
|
||||
Package Contents:
|
||||
-----------------
|
||||
|
||||
- {install_script} (automatic installation script)
|
||||
- unilab-env-{platform}.tar.gz (packed conda environment)
|
||||
- verify_installation.py (environment verification tool)
|
||||
- README.txt (this file)
|
||||
|
||||
Build Information:
|
||||
------------------
|
||||
|
||||
Branch: {branch}
|
||||
Platform: {platform}
|
||||
Python: 3.11.11
|
||||
Date: {build_date}
|
||||
|
||||
Troubleshooting:
|
||||
----------------
|
||||
|
||||
If installation fails:
|
||||
|
||||
1. Ensure conda or mamba is installed
|
||||
Check: conda --version
|
||||
|
||||
2. Verify you have sufficient disk space
|
||||
Required: ~5-10 GB after extraction
|
||||
|
||||
3. Check installation permissions
|
||||
You need write access to conda's envs directory
|
||||
|
||||
4. For detailed logs, run the install script from terminal
|
||||
|
||||
For more help:
|
||||
- Documentation: docs/user_guide/installation.md
|
||||
- Quick Start: QUICK_START_CONDA_PACK.md
|
||||
- Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
|
||||
|
||||
License:
|
||||
--------
|
||||
|
||||
UniLabOS is licensed under GPL-3.0-only.
|
||||
See LICENSE file for details.
|
||||
|
||||
Repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
"""
|
||||
|
||||
return readme
|
||||
|
||||
|
||||
def main():
|
||||
"""Main entry point."""
|
||||
parser = argparse.ArgumentParser(
|
||||
description="Generate README.txt for conda-pack distribution",
|
||||
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||||
epilog="""
|
||||
Examples:
|
||||
python create_readme.py win-64 dev dist-package/README.txt
|
||||
python create_readme.py linux-64 main dist-package/README.txt
|
||||
""",
|
||||
)
|
||||
|
||||
parser.add_argument("platform", choices=["win-64", "linux-64", "osx-64", "osx-arm64"], help="Platform identifier")
|
||||
|
||||
parser.add_argument("branch", help="Git branch name")
|
||||
|
||||
parser.add_argument("output_file", help="Output file path")
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
try:
|
||||
# Generate README content
|
||||
readme_content = get_readme_content(args.platform, args.branch)
|
||||
|
||||
# Create output directory if needed
|
||||
output_path = Path(args.output_file)
|
||||
output_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
|
||||
# Write README file
|
||||
with open(output_path, "w", encoding="utf-8") as f:
|
||||
f.write(readme_content)
|
||||
|
||||
print(f"✓ README.txt created: {output_path}")
|
||||
print(f" Platform: {args.platform}")
|
||||
print(f" Branch: {args.branch}")
|
||||
|
||||
return 0
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error creating README: {e}", file=sys.stderr)
|
||||
import traceback
|
||||
|
||||
traceback.print_exc()
|
||||
return 1
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
148
scripts/create_zip_archive.py
Normal file
148
scripts/create_zip_archive.py
Normal file
@@ -0,0 +1,148 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Create ZIP Archive with ZIP64 Support
|
||||
======================================
|
||||
|
||||
This script creates a ZIP archive with ZIP64 support for large files (>2GB).
|
||||
It's used in the conda-pack build workflow to package the distribution.
|
||||
|
||||
PowerShell's Compress-Archive has a 2GB limitation, so we use Python's zipfile
|
||||
module with allowZip64=True to handle large conda-packed environments.
|
||||
|
||||
Usage:
|
||||
python create_zip_archive.py <source_dir> <output_zip> [--compression-level LEVEL]
|
||||
|
||||
Arguments:
|
||||
source_dir: Directory to compress
|
||||
output_zip: Output ZIP file path
|
||||
--compression-level: Compression level (0-9, default: 6)
|
||||
|
||||
Example:
|
||||
python create_zip_archive.py dist-package unilab-pack-win-64.zip
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
import zipfile
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def create_zip_archive(source_dir: str, output_zip: str, compression_level: int = 6) -> bool:
|
||||
"""
|
||||
Create a ZIP archive with ZIP64 support.
|
||||
|
||||
Args:
|
||||
source_dir: Directory to compress
|
||||
output_zip: Output ZIP file path
|
||||
compression_level: Compression level (0-9)
|
||||
|
||||
Returns:
|
||||
bool: True if successful
|
||||
"""
|
||||
try:
|
||||
source_path = Path(source_dir)
|
||||
output_path = Path(output_zip)
|
||||
|
||||
# Validate source directory
|
||||
if not source_path.exists():
|
||||
print(f"Error: Source directory does not exist: {source_dir}", file=sys.stderr)
|
||||
return False
|
||||
|
||||
if not source_path.is_dir():
|
||||
print(f"Error: Source path is not a directory: {source_dir}", file=sys.stderr)
|
||||
return False
|
||||
|
||||
# Remove existing output file if present
|
||||
if output_path.exists():
|
||||
print(f"Removing existing archive: {output_path}")
|
||||
output_path.unlink()
|
||||
|
||||
# Create ZIP archive
|
||||
print("=" * 70)
|
||||
print(f"Creating ZIP archive with ZIP64 support")
|
||||
print(f" Source: {source_path.absolute()}")
|
||||
print(f" Output: {output_path.absolute()}")
|
||||
print(f" Compression: Level {compression_level}")
|
||||
print("=" * 70)
|
||||
|
||||
total_size = 0
|
||||
file_count = 0
|
||||
|
||||
with zipfile.ZipFile(
|
||||
output_path, "w", zipfile.ZIP_DEFLATED, allowZip64=True, compresslevel=compression_level
|
||||
) as zipf:
|
||||
# Walk through source directory
|
||||
for root, dirs, files in os.walk(source_dir):
|
||||
for file in files:
|
||||
file_path = os.path.join(root, file)
|
||||
arcname = os.path.relpath(file_path, source_dir)
|
||||
file_size = os.path.getsize(file_path)
|
||||
|
||||
# Add file to archive
|
||||
zipf.write(file_path, arcname)
|
||||
|
||||
# Display progress
|
||||
total_size += file_size
|
||||
file_count += 1
|
||||
print(f" [{file_count:3d}] Adding: {arcname:50s} {file_size:>15,} bytes")
|
||||
|
||||
# Get final archive size
|
||||
archive_size = output_path.stat().st_size
|
||||
compression_ratio = (1 - archive_size / total_size) * 100 if total_size > 0 else 0
|
||||
|
||||
# Display summary
|
||||
print("=" * 70)
|
||||
print("Archive created successfully!")
|
||||
print(f" Files added: {file_count}")
|
||||
print(f" Total size (uncompressed): {total_size:>15,} bytes ({total_size / (1024**3):.2f} GB)")
|
||||
print(f" Archive size (compressed): {archive_size:>15,} bytes ({archive_size / (1024**3):.2f} GB)")
|
||||
print(f" Compression ratio: {compression_ratio:.1f}%")
|
||||
print("=" * 70)
|
||||
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error creating ZIP archive: {e}", file=sys.stderr)
|
||||
import traceback
|
||||
|
||||
traceback.print_exc()
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
"""Main entry point."""
|
||||
parser = argparse.ArgumentParser(
|
||||
description="Create ZIP archive with ZIP64 support for large files",
|
||||
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||||
epilog="""
|
||||
Examples:
|
||||
python create_zip_archive.py dist-package unilab-pack-win-64.zip
|
||||
python create_zip_archive.py dist-package unilab-pack-win-64.zip --compression-level 9
|
||||
""",
|
||||
)
|
||||
|
||||
parser.add_argument("source_dir", help="Directory to compress")
|
||||
|
||||
parser.add_argument("output_zip", help="Output ZIP file path")
|
||||
|
||||
parser.add_argument(
|
||||
"--compression-level",
|
||||
type=int,
|
||||
default=6,
|
||||
choices=range(0, 10),
|
||||
metavar="LEVEL",
|
||||
help="Compression level (0=no compression, 9=maximum compression, default=6)",
|
||||
)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Create archive
|
||||
success = create_zip_archive(args.source_dir, args.output_zip, args.compression_level)
|
||||
|
||||
# Exit with appropriate code
|
||||
sys.exit(0 if success else 1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
203
scripts/install_unilab.bat
Normal file
203
scripts/install_unilab.bat
Normal file
@@ -0,0 +1,203 @@
|
||||
@echo off
|
||||
setlocal enabledelayedexpansion
|
||||
|
||||
echo ================================================
|
||||
echo UniLabOS Environment Installation Script
|
||||
echo ================================================
|
||||
echo.
|
||||
|
||||
REM Get the directory where this script is located
|
||||
set "SCRIPT_DIR=%~dp0"
|
||||
cd /d "%SCRIPT_DIR%"
|
||||
|
||||
REM Find conda installation
|
||||
echo Searching for conda installation...
|
||||
|
||||
REM Method 1: Try to get conda base using 'conda info --base'
|
||||
set "CONDA_BASE="
|
||||
for /f "tokens=*" %%i in ('conda info --base 2^>nul') do (
|
||||
set "CONDA_BASE=%%i"
|
||||
)
|
||||
|
||||
if not "%CONDA_BASE%"=="" (
|
||||
echo Found conda at: %CONDA_BASE% (via conda info)
|
||||
goto :conda_found
|
||||
)
|
||||
|
||||
REM Method 2: Use 'where conda' and parse the path
|
||||
echo Trying alternative method...
|
||||
for /f "tokens=*" %%i in ('where conda 2^>nul') do (
|
||||
set "CONDA_PATH=%%i"
|
||||
goto :parse_conda_path
|
||||
)
|
||||
|
||||
echo ERROR: Could not find conda installation!
|
||||
echo Please make sure conda/mamba is installed and in your PATH.
|
||||
echo.
|
||||
pause
|
||||
exit /b 1
|
||||
|
||||
:parse_conda_path
|
||||
REM Parse conda path to find base directory
|
||||
REM Common paths:
|
||||
REM C:\Users\hp\miniforge3\Library\bin\conda.bat
|
||||
REM C:\Users\hp\miniforge3\Scripts\conda.exe
|
||||
REM C:\Users\hp\miniforge3\condabin\conda.bat
|
||||
|
||||
echo Found conda executable at: %CONDA_PATH%
|
||||
|
||||
REM Check if path contains \Library\bin\ (typical for conda.bat)
|
||||
echo %CONDA_PATH% | findstr /C:"\Library\bin\" >nul
|
||||
if not errorlevel 1 (
|
||||
REM Path like: C:\Users\hp\miniforge3\Library\bin\conda.bat
|
||||
REM Need to go up 3 levels: bin -> Library -> miniforge3
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
for %%i in ("%CONDA_BASE%..\..\..") do set "CONDA_BASE=%%~fi"
|
||||
goto :conda_found
|
||||
)
|
||||
|
||||
REM Check if path contains \Scripts\ (typical for conda.exe)
|
||||
echo %CONDA_PATH% | findstr /C:"\Scripts\" >nul
|
||||
if not errorlevel 1 (
|
||||
REM Path like: C:\Users\hp\miniforge3\Scripts\conda.exe
|
||||
REM Need to go up 2 levels: Scripts -> miniforge3
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
|
||||
goto :conda_found
|
||||
)
|
||||
|
||||
REM Check if path contains \condabin\ (typical for conda.bat)
|
||||
echo %CONDA_PATH% | findstr /C:"\condabin\" >nul
|
||||
if not errorlevel 1 (
|
||||
REM Path like: C:\Users\hp\miniforge3\condabin\conda.bat
|
||||
REM Need to go up 2 levels: condabin -> miniforge3
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
|
||||
goto :conda_found
|
||||
)
|
||||
|
||||
REM Default: assume it's 2 levels up
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
|
||||
|
||||
:conda_found
|
||||
echo Found conda base directory: %CONDA_BASE%
|
||||
echo.
|
||||
|
||||
REM Set target environment path
|
||||
set "ENV_NAME=unilab"
|
||||
set "ENV_PATH=%CONDA_BASE%\envs\%ENV_NAME%"
|
||||
|
||||
REM Check if environment already exists
|
||||
if exist "%ENV_PATH%" (
|
||||
echo WARNING: Environment '%ENV_NAME%' already exists at %ENV_PATH%
|
||||
echo.
|
||||
set /p "OVERWRITE=Do you want to overwrite it? (y/n): "
|
||||
if /i not "!OVERWRITE!"=="y" (
|
||||
echo Installation cancelled.
|
||||
pause
|
||||
exit /b 0
|
||||
)
|
||||
echo Removing existing environment...
|
||||
rmdir /s /q "%ENV_PATH%"
|
||||
)
|
||||
|
||||
REM Find the packed environment file
|
||||
set "PACK_FILE="
|
||||
for %%f in (unilab-env*.tar.gz) do (
|
||||
set "PACK_FILE=%%f"
|
||||
goto :found_pack
|
||||
)
|
||||
|
||||
:found_pack
|
||||
if "%PACK_FILE%"=="" (
|
||||
echo ERROR: Could not find unilab-env*.tar.gz file!
|
||||
echo Please make sure the packed environment file is in the same directory as this script.
|
||||
echo.
|
||||
pause
|
||||
exit /b 1
|
||||
)
|
||||
|
||||
echo Found packed environment: %PACK_FILE%
|
||||
echo.
|
||||
|
||||
REM Extract the packed environment
|
||||
echo Extracting environment to %ENV_PATH%...
|
||||
mkdir "%ENV_PATH%"
|
||||
|
||||
REM Extract using tar (available in Windows 10+)
|
||||
tar -xzf "%PACK_FILE%" -C "%ENV_PATH%"
|
||||
if errorlevel 1 (
|
||||
echo ERROR: Failed to extract environment!
|
||||
echo Make sure you have Windows 10 or later with tar support.
|
||||
pause
|
||||
exit /b 1
|
||||
)
|
||||
|
||||
echo.
|
||||
echo Unpacking conda environment...
|
||||
echo Changing to environment directory: %ENV_PATH%
|
||||
cd /d "%ENV_PATH%"
|
||||
|
||||
REM Run conda-unpack from the environment directory
|
||||
if exist "Scripts\conda-unpack.exe" (
|
||||
echo Running: .\Scripts\conda-unpack.exe
|
||||
.\Scripts\conda-unpack.exe
|
||||
) else if exist "Scripts\activate.bat" (
|
||||
echo Running: .\Scripts\activate.bat followed by conda-unpack
|
||||
call .\Scripts\activate.bat
|
||||
conda-unpack
|
||||
) else (
|
||||
echo ERROR: Could not find Scripts\conda-unpack.exe or Scripts\activate.bat!
|
||||
echo Current directory: %CD%
|
||||
echo Expected location: %ENV_PATH%\Scripts\
|
||||
pause
|
||||
exit /b 1
|
||||
)
|
||||
|
||||
if errorlevel 1 (
|
||||
echo ERROR: conda-unpack failed!
|
||||
pause
|
||||
exit /b 1
|
||||
)
|
||||
|
||||
echo.
|
||||
echo Checking UniLabOS entry point...
|
||||
REM Check if unilab-script.py exists
|
||||
set "UNILAB_SCRIPT=%ENV_PATH%\Scripts\unilab-script.py"
|
||||
if not exist "%UNILAB_SCRIPT%" (
|
||||
echo WARNING: unilab-script.py not found, creating it...
|
||||
(
|
||||
echo # -*- coding: utf-8 -*-
|
||||
echo import re
|
||||
echo import sys
|
||||
echo.
|
||||
echo from unilabos.app.main import main
|
||||
echo.
|
||||
echo if __name__ == '__main__':
|
||||
echo sys.argv[0] = re.sub^(r'(-script\.pyw?^|\.exe^)?$', '', sys.argv[0]^)
|
||||
echo sys.exit^(main^(^)^)
|
||||
) > "%UNILAB_SCRIPT%"
|
||||
echo Created: %UNILAB_SCRIPT%
|
||||
) else (
|
||||
echo Found: %UNILAB_SCRIPT%
|
||||
)
|
||||
|
||||
echo.
|
||||
echo ================================================
|
||||
echo Installation completed successfully!
|
||||
echo ================================================
|
||||
echo.
|
||||
echo To activate the environment, run:
|
||||
echo conda activate %ENV_NAME%
|
||||
echo.
|
||||
echo or
|
||||
echo.
|
||||
echo call %ENV_PATH%\Scripts\activate.bat
|
||||
echo.
|
||||
echo You can verify the installation by running:
|
||||
echo cd /d "%SCRIPT_DIR%"
|
||||
echo python verify_installation.py
|
||||
echo.
|
||||
pause
|
||||
|
||||
139
scripts/install_unilab.sh
Executable file
139
scripts/install_unilab.sh
Executable file
@@ -0,0 +1,139 @@
|
||||
#!/bin/bash
|
||||
set -e
|
||||
|
||||
echo "================================================"
|
||||
echo "UniLabOS Environment Installation Script"
|
||||
echo "================================================"
|
||||
echo ""
|
||||
|
||||
# Get the directory where this script is located
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
# Find conda installation
|
||||
echo "Searching for conda installation..."
|
||||
CONDA_BASE=""
|
||||
|
||||
# Try to find conda in PATH
|
||||
if command -v conda &> /dev/null; then
|
||||
CONDA_BASE=$(conda info --base)
|
||||
echo "Found conda at: $CONDA_BASE"
|
||||
elif [ -d "$HOME/miniforge3" ]; then
|
||||
CONDA_BASE="$HOME/miniforge3"
|
||||
echo "Found conda at: $CONDA_BASE"
|
||||
elif [ -d "$HOME/miniconda3" ]; then
|
||||
CONDA_BASE="$HOME/miniconda3"
|
||||
echo "Found conda at: $CONDA_BASE"
|
||||
elif [ -d "$HOME/anaconda3" ]; then
|
||||
CONDA_BASE="$HOME/anaconda3"
|
||||
echo "Found conda at: $CONDA_BASE"
|
||||
elif [ -d "/opt/conda" ]; then
|
||||
CONDA_BASE="/opt/conda"
|
||||
echo "Found conda at: $CONDA_BASE"
|
||||
else
|
||||
echo "ERROR: Could not find conda installation!"
|
||||
echo "Please make sure conda/mamba is installed."
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo ""
|
||||
|
||||
# Initialize conda for this shell
|
||||
if [ -f "$CONDA_BASE/etc/profile.d/conda.sh" ]; then
|
||||
source "$CONDA_BASE/etc/profile.d/conda.sh"
|
||||
fi
|
||||
|
||||
# Set target environment path
|
||||
ENV_NAME="unilab"
|
||||
ENV_PATH="$CONDA_BASE/envs/$ENV_NAME"
|
||||
|
||||
# Check if environment already exists
|
||||
if [ -d "$ENV_PATH" ]; then
|
||||
echo "WARNING: Environment '$ENV_NAME' already exists at $ENV_PATH"
|
||||
read -p "Do you want to overwrite it? (y/n): " OVERWRITE
|
||||
if [ "$OVERWRITE" != "y" ] && [ "$OVERWRITE" != "Y" ]; then
|
||||
echo "Installation cancelled."
|
||||
exit 0
|
||||
fi
|
||||
echo "Removing existing environment..."
|
||||
rm -rf "$ENV_PATH"
|
||||
fi
|
||||
|
||||
# Find the packed environment file
|
||||
PACK_FILE=$(ls unilab-env*.tar.gz 2>/dev/null | head -n 1)
|
||||
|
||||
if [ -z "$PACK_FILE" ]; then
|
||||
echo "ERROR: Could not find unilab-env*.tar.gz file!"
|
||||
echo "Please make sure the packed environment file is in the same directory as this script."
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "Found packed environment: $PACK_FILE"
|
||||
echo ""
|
||||
|
||||
# Extract the packed environment
|
||||
echo "Extracting environment to $ENV_PATH..."
|
||||
mkdir -p "$ENV_PATH"
|
||||
tar -xzf "$PACK_FILE" -C "$ENV_PATH"
|
||||
|
||||
echo ""
|
||||
echo "Unpacking conda environment..."
|
||||
echo "Changing to environment directory: $ENV_PATH"
|
||||
cd "$ENV_PATH"
|
||||
|
||||
# Run conda-unpack from the environment directory
|
||||
if [ -f "bin/conda-unpack" ]; then
|
||||
echo "Running: ./bin/conda-unpack"
|
||||
./bin/conda-unpack
|
||||
elif [ -f "bin/activate" ]; then
|
||||
echo "Running: source bin/activate followed by conda-unpack"
|
||||
source bin/activate
|
||||
conda-unpack
|
||||
else
|
||||
echo "ERROR: Could not find bin/conda-unpack or bin/activate!"
|
||||
echo "Current directory: $(pwd)"
|
||||
echo "Expected location: $ENV_PATH/bin/"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "Checking UniLabOS entry point..."
|
||||
# Check if unilab script exists in bin directory
|
||||
UNILAB_SCRIPT="$ENV_PATH/bin/unilab"
|
||||
if [ ! -f "$UNILAB_SCRIPT" ]; then
|
||||
echo "WARNING: unilab script not found, creating it..."
|
||||
cat > "$UNILAB_SCRIPT" << 'EOF'
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
import re
|
||||
import sys
|
||||
|
||||
from unilabos.app.main import main
|
||||
|
||||
if __name__ == '__main__':
|
||||
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||
sys.exit(main())
|
||||
EOF
|
||||
chmod +x "$UNILAB_SCRIPT"
|
||||
echo "Created: $UNILAB_SCRIPT"
|
||||
else
|
||||
echo "Found: $UNILAB_SCRIPT"
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "================================================"
|
||||
echo "Installation completed successfully!"
|
||||
echo "================================================"
|
||||
echo ""
|
||||
echo "To activate the environment, run:"
|
||||
echo " conda activate $ENV_NAME"
|
||||
echo ""
|
||||
echo "or"
|
||||
echo ""
|
||||
echo " source $ENV_PATH/bin/activate"
|
||||
echo ""
|
||||
echo "You can verify the installation by running:"
|
||||
echo " cd $SCRIPT_DIR"
|
||||
echo " python verify_installation.py"
|
||||
echo ""
|
||||
|
||||
153
scripts/verify_installation.py
Normal file
153
scripts/verify_installation.py
Normal file
@@ -0,0 +1,153 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
UniLabOS Installation Verification Script
|
||||
=========================================
|
||||
|
||||
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
|
||||
|
||||
Or in the conda environment:
|
||||
conda activate unilab
|
||||
python verify_installation.py
|
||||
"""
|
||||
|
||||
import sys
|
||||
import os
|
||||
|
||||
# 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")
|
||||
sys.stderr.reconfigure(encoding="utf-8", errors="replace")
|
||||
except (AttributeError, OSError):
|
||||
pass
|
||||
|
||||
# Method 2: Set environment variable for subprocess and console
|
||||
os.environ["PYTHONIOENCODING"] = "utf-8"
|
||||
|
||||
# Method 3: Try to change Windows console code page to UTF-8
|
||||
try:
|
||||
import ctypes
|
||||
|
||||
# Set console code page to UTF-8 (CP 65001)
|
||||
ctypes.windll.kernel32.SetConsoleCP(65001)
|
||||
ctypes.windll.kernel32.SetConsoleOutputCP(65001)
|
||||
except (ImportError, AttributeError, OSError):
|
||||
pass
|
||||
|
||||
# Now import other modules
|
||||
import importlib
|
||||
|
||||
# Use ASCII-safe symbols that work across all platforms
|
||||
CHECK_MARK = "[OK]"
|
||||
CROSS_MARK = "[FAIL]"
|
||||
|
||||
|
||||
def check_package(package_name: str, display_name: str = None) -> bool:
|
||||
"""
|
||||
Check if a package can be imported.
|
||||
|
||||
Args:
|
||||
package_name: Name of the package to import
|
||||
display_name: Display name (defaults to package_name)
|
||||
|
||||
Returns:
|
||||
bool: True if package is available
|
||||
"""
|
||||
if display_name is None:
|
||||
display_name = package_name
|
||||
|
||||
try:
|
||||
importlib.import_module(package_name)
|
||||
print(f" {CHECK_MARK} {display_name}")
|
||||
return True
|
||||
except ImportError:
|
||||
print(f" {CROSS_MARK} {display_name}")
|
||||
return False
|
||||
|
||||
|
||||
def check_python_version() -> bool:
|
||||
"""Check Python version."""
|
||||
version = sys.version_info
|
||||
version_str = f"{version.major}.{version.minor}.{version.micro}"
|
||||
|
||||
if version.major == 3 and version.minor >= 11:
|
||||
print(f" {CHECK_MARK} Python {version_str}")
|
||||
return True
|
||||
else:
|
||||
print(f" {CROSS_MARK} Python {version_str} (requires Python 3.11+)")
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
"""Run all verification checks."""
|
||||
print("=" * 60)
|
||||
print("UniLabOS Installation Verification")
|
||||
print("=" * 60)
|
||||
print()
|
||||
|
||||
all_passed = True
|
||||
|
||||
# Check Python version
|
||||
print("Checking Python version...")
|
||||
if not check_python_version():
|
||||
all_passed = False
|
||||
print()
|
||||
|
||||
# Check ROS2 rclpy
|
||||
print("Checking ROS2 rclpy...")
|
||||
if not check_package("rclpy", "ROS2 rclpy"):
|
||||
all_passed = False
|
||||
print()
|
||||
|
||||
# Run environment checker from unilabos
|
||||
print("Checking UniLabOS and dependencies...")
|
||||
try:
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
|
||||
print(f" {CHECK_MARK} UniLabOS installed")
|
||||
|
||||
# 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=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")
|
||||
except ImportError:
|
||||
print(f" {CROSS_MARK} UniLabOS not installed")
|
||||
all_passed = False
|
||||
except Exception as e:
|
||||
print(f" {CROSS_MARK} Environment check failed: {str(e)}")
|
||||
print()
|
||||
|
||||
# Summary
|
||||
print("=" * 60)
|
||||
print("Verification Summary")
|
||||
print("=" * 60)
|
||||
|
||||
if all_passed:
|
||||
print(f"\n{CHECK_MARK} All checks passed! Your UniLabOS installation is ready.")
|
||||
print("\nNext steps:")
|
||||
print(" 1. Review the documentation: docs/user_guide/launch.md")
|
||||
print(" 2. Try the examples: docs/boot_examples/")
|
||||
print(" 3. Configure your devices: unilabos_data/startup_config.json")
|
||||
return 0
|
||||
else:
|
||||
print(f"\n{CROSS_MARK} Some checks failed. Please review the errors above.")
|
||||
print("\nTroubleshooting:")
|
||||
print(" 1. Ensure you're in the correct conda environment: conda activate unilab")
|
||||
print(" 2. Check the installation documentation: docs/user_guide/installation.md")
|
||||
print(" 3. Try reinstalling: pip install .")
|
||||
return 1
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
7
setup.py
7
setup.py
@@ -4,13 +4,14 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.6',
|
||||
version='0.10.7',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
zip_safe=True,
|
||||
maintainer='Junhan Chang',
|
||||
maintainer_email='changjh@pku.edu.cn',
|
||||
author="The unilabos developers",
|
||||
maintainer='Junhan Chang, Xuwznln',
|
||||
maintainer_email='Junhan Chang <changjh@pku.edu.cn>, Xuwznln <18435084+Xuwznln@users.noreply.github.com>',
|
||||
description='',
|
||||
license='GPL v3',
|
||||
tests_require=['pytest'],
|
||||
|
||||
@@ -41,7 +41,7 @@
|
||||
"HydrogenateProtocol",
|
||||
"RecrystallizeProtocol"
|
||||
],
|
||||
"station_resource": {
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "deck",
|
||||
"_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
|
||||
|
||||
60
test/experiments/dispensing_station_bioyond.json
Normal file
60
test/experiments/dispensing_station_bioyond.json
Normal file
@@ -0,0 +1,60 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "dispensing_station_bioyond",
|
||||
"name": "dispensing_station_bioyond",
|
||||
"children": [
|
||||
"Bioyond_Dispensing_Deck"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "dispensing_station.bioyond",
|
||||
"config": {
|
||||
"config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44388"
|
||||
},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "Bioyond_Dispensing_Deck",
|
||||
"_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": {}
|
||||
},
|
||||
{
|
||||
"id": "Bioyond_Dispensing_Deck",
|
||||
"name": "Bioyond_Dispensing_Deck",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "dispensing_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerPreparationStation_Deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BIOYOND_PolymerPreparationStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
148
test/experiments/laiyu_liquid.json
Normal file
148
test/experiments/laiyu_liquid.json
Normal file
@@ -0,0 +1,148 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "laiyu_liquid_station",
|
||||
"name": "LaiYu液体处理工作站",
|
||||
"children": [
|
||||
"module_1_8tubes",
|
||||
"module_2_96well_deep",
|
||||
"module_3_beaker",
|
||||
"module_4_96well_tips"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "laiyu_liquid",
|
||||
"position": {
|
||||
"x": 500,
|
||||
"y": 200,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"total_modules": 4,
|
||||
"total_wells": 201,
|
||||
"safety_margin": {
|
||||
"x": 5.0,
|
||||
"y": 5.0,
|
||||
"z": 5.0
|
||||
},
|
||||
"protocol_type": ["LiquidHandlingProtocol", "PipettingProtocol", "TransferProtocol"]
|
||||
},
|
||||
"data": {
|
||||
"status": "Ready",
|
||||
"version": "1.0"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "module_1_8tubes",
|
||||
"name": "8管位置模块",
|
||||
"children": [],
|
||||
"parent": "laiyu_liquid_station",
|
||||
"type": "container",
|
||||
"class": "opentrons_24_tuberack_nest_1point5ml_snapcap",
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"module_type": "tube_rack",
|
||||
"wells_count": 8,
|
||||
"well_diameter": 29.0,
|
||||
"well_depth": 117.0,
|
||||
"well_volume": 77000.0,
|
||||
"well_shape": "circular",
|
||||
"layout": "2x4"
|
||||
},
|
||||
"data": {
|
||||
"max_volume": 77000.0,
|
||||
"current_volume": 0.0,
|
||||
"wells": ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "module_2_96well_deep",
|
||||
"name": "96深孔板",
|
||||
"children": [],
|
||||
"parent": "laiyu_liquid_station",
|
||||
"type": "plate",
|
||||
"class": "nest_96_wellplate_2ml_deep",
|
||||
"position": {
|
||||
"x": 300,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"module_type": "96_well_deep_plate",
|
||||
"wells_count": 96,
|
||||
"well_diameter": 8.2,
|
||||
"well_depth": 39.4,
|
||||
"well_volume": 2080.0,
|
||||
"well_shape": "circular",
|
||||
"layout": "8x12"
|
||||
},
|
||||
"data": {
|
||||
"max_volume": 2080.0,
|
||||
"current_volume": 0.0,
|
||||
"plate_type": "deep_well"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "module_3_beaker",
|
||||
"name": "敞口玻璃瓶",
|
||||
"children": [],
|
||||
"parent": "laiyu_liquid_station",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 500,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"module_type": "beaker_holder",
|
||||
"wells_count": 1,
|
||||
"well_diameter": 85.0,
|
||||
"well_depth": 120.0,
|
||||
"well_volume": 500000.0,
|
||||
"well_shape": "circular",
|
||||
"supported_containers": ["250ml", "500ml", "1000ml"]
|
||||
},
|
||||
"data": {
|
||||
"max_volume": 500000.0,
|
||||
"current_volume": 0.0,
|
||||
"container_type": "beaker",
|
||||
"wells": ["A1"]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "module_4_96well_tips",
|
||||
"name": "96吸头架",
|
||||
"children": [],
|
||||
"parent": "laiyu_liquid_station",
|
||||
"type": "container",
|
||||
"class": "tip_rack",
|
||||
"position": {
|
||||
"x": 700,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"module_type": "tip_rack",
|
||||
"wells_count": 96,
|
||||
"well_diameter": 8.2,
|
||||
"well_depth": 60.0,
|
||||
"well_volume": 6000.0,
|
||||
"well_shape": "circular",
|
||||
"layout": "8x12",
|
||||
"tip_type": "standard"
|
||||
},
|
||||
"data": {
|
||||
"max_volume": 6000.0,
|
||||
"current_volume": 0.0,
|
||||
"tip_capacity": "1000μL",
|
||||
"tips_available": 96
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -21,7 +21,7 @@
|
||||
"timeout": 10.0,
|
||||
"axis": "Left",
|
||||
"channel_num": 8,
|
||||
"setup": true,
|
||||
"setup": false,
|
||||
"debug": true,
|
||||
"simulator": true,
|
||||
"matrix_id": "71593"
|
||||
|
||||
@@ -19,7 +19,7 @@
|
||||
"host": "192.168.0.121",
|
||||
"port": 9999,
|
||||
"timeout": 10.0,
|
||||
"axis": "Left",
|
||||
"axis": "Right",
|
||||
"channel_num": 1,
|
||||
"setup": true,
|
||||
"debug": false,
|
||||
|
||||
69
test/experiments/reaction_station_bioyond.json
Normal file
69
test/experiments/reaction_station_bioyond.json
Normal file
@@ -0,0 +1,69 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "reaction_station_bioyond",
|
||||
"name": "reaction_station_bioyond",
|
||||
"parent": null,
|
||||
"children": [
|
||||
"Bioyond_Deck"
|
||||
],
|
||||
"type": "device",
|
||||
"class": "reaction_station.bioyond",
|
||||
"config": {
|
||||
"bioyond_config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44402",
|
||||
"workflow_mappings": {
|
||||
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
||||
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
||||
"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)": "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",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6VialCarrier"
|
||||
}
|
||||
},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
|
||||
}
|
||||
},
|
||||
"protocol_type": []
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "Bioyond_Deck",
|
||||
"name": "Bioyond_Deck",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
],
|
||||
"parent": "reaction_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
69
test/experiments/reaction_station_bioyond_test.json
Normal file
69
test/experiments/reaction_station_bioyond_test.json
Normal file
@@ -0,0 +1,69 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "reaction_station_bioyond",
|
||||
"name": "reaction_station_bioyond",
|
||||
"parent": null,
|
||||
"children": [
|
||||
"Bioyond_Deck"
|
||||
],
|
||||
"type": "device",
|
||||
"class": "workstation.bioyond",
|
||||
"config": {
|
||||
"bioyond_config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44388",
|
||||
"workflow_mappings": {
|
||||
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
||||
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
||||
"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)": "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",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6VialCarrier"
|
||||
}
|
||||
},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
|
||||
}
|
||||
},
|
||||
"protocol_type": []
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "Bioyond_Deck",
|
||||
"name": "Bioyond_Deck",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
],
|
||||
"parent": "reaction_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
394
test/experiments/test_laiyu.json
Normal file
394
test/experiments/test_laiyu.json
Normal file
@@ -0,0 +1,394 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "liquid_handler",
|
||||
"name": "liquid_handler",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "liquid_handler",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"data": {},
|
||||
"children": [
|
||||
"deck"
|
||||
],
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_child_name": "deck",
|
||||
"_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck",
|
||||
"name": "deck"
|
||||
},
|
||||
"backend": {
|
||||
"type": "UniLiquidHandlerRvizBackend"
|
||||
|
||||
},
|
||||
"simulator": true,
|
||||
"total_height": 300
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "deck",
|
||||
"name": "deck",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"tip_rack",
|
||||
"plate_well",
|
||||
"tube_rack",
|
||||
"bottle_rack"
|
||||
],
|
||||
"parent": "liquid_handler",
|
||||
"type": "deck",
|
||||
"class": "TransformXYZDeck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 18
|
||||
},
|
||||
"config": {
|
||||
"type": "TransformXYZDeck",
|
||||
"size_x": 624.3,
|
||||
"size_y": 565.2,
|
||||
"size_z": 900,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "tip_rack",
|
||||
"name": "tip_rack",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"tip_rack_A1"
|
||||
],
|
||||
"parent": "deck",
|
||||
"type": "tip_rack",
|
||||
"class": "tiprack_box",
|
||||
"position": {
|
||||
"x": 150,
|
||||
"y": 7,
|
||||
"z": 103
|
||||
},
|
||||
"config": {
|
||||
"type": "TipRack",
|
||||
"size_x": 134,
|
||||
"size_y": 96,
|
||||
"size_z": 7.0,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tip_rack",
|
||||
"model": "tiprack_box",
|
||||
"ordering": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
"id": "tip_rack_A1",
|
||||
"name": "tip_rack_A1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "tip_rack",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 11.12,
|
||||
"y": 75,
|
||||
"z": -91.54
|
||||
},
|
||||
"config": {
|
||||
"type": "TipSpot",
|
||||
"size_x": 9,
|
||||
"size_y": 9,
|
||||
"size_z": 95,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tip_spot",
|
||||
"model": null,
|
||||
"prototype_tip": {
|
||||
"type": "Tip",
|
||||
"total_tip_length": 95,
|
||||
"has_filter": false,
|
||||
"maximal_volume": 1000.0,
|
||||
"fitting_depth": 3.29
|
||||
}
|
||||
},
|
||||
"data": {
|
||||
"tip": null,
|
||||
"tip_state": null,
|
||||
"pending_tip": null
|
||||
}
|
||||
},
|
||||
|
||||
|
||||
{
|
||||
"id": "plate_well",
|
||||
"name": "plate_well",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"plate_well_A1"
|
||||
],
|
||||
"parent": "deck",
|
||||
"type": "plate",
|
||||
"class": "plate_96",
|
||||
"position": {
|
||||
"x": 161,
|
||||
"y": 116,
|
||||
"z": 48.5
|
||||
},
|
||||
"pose": {
|
||||
"position_3d": {
|
||||
"x": 161,
|
||||
"y": 116,
|
||||
"z": 48.5
|
||||
},
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
}
|
||||
},
|
||||
"config": {
|
||||
"type": "Plate",
|
||||
"size_x": 127.76,
|
||||
"size_y": 85.48,
|
||||
"size_z": 45.5,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "plate",
|
||||
"model": "plate_96",
|
||||
"ordering": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
"id": "plate_well_A1",
|
||||
"name": "plate_well_A1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "plate_well",
|
||||
"type": "device",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 10.1,
|
||||
"y": 70,
|
||||
"z": 6.1
|
||||
},
|
||||
"config": {
|
||||
"type": "Well",
|
||||
"size_x": 8.2,
|
||||
"size_y": 8.2,
|
||||
"size_z": 38,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "well",
|
||||
"model": null,
|
||||
"max_volume": 2000,
|
||||
"material_z_thickness": null,
|
||||
"compute_volume_from_height": null,
|
||||
"compute_height_from_volume": null,
|
||||
"bottom_type": "unknown",
|
||||
"cross_section_type": "rectangle"
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["water", 50.0]],
|
||||
"pending_liquids": [["water", 50.0]],
|
||||
"liquid_history": []
|
||||
}
|
||||
},
|
||||
|
||||
|
||||
{
|
||||
"id": "tube_rack",
|
||||
"name": "tube_rack",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"tube_rack_A1"
|
||||
],
|
||||
"parent": "deck",
|
||||
"type": "container",
|
||||
"class": "tube_container",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 127,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "Plate",
|
||||
"size_x": 151,
|
||||
"size_y": 75,
|
||||
"size_z": 75,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"model": "tube_container",
|
||||
"ordering": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
|
||||
{
|
||||
"id": "tube_rack_A1",
|
||||
"name": "tube_rack_A1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "tube_rack",
|
||||
"type": "device",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 6,
|
||||
"y": 38,
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Well",
|
||||
"size_x": 34,
|
||||
"size_y": 34,
|
||||
"size_z": 117,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tube",
|
||||
"model": null,
|
||||
"max_volume": 2000,
|
||||
"material_z_thickness": null,
|
||||
"compute_volume_from_height": null,
|
||||
"compute_height_from_volume": null,
|
||||
"bottom_type": "unknown",
|
||||
"cross_section_type": "rectangle"
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["water", 50.0]],
|
||||
"pending_liquids": [["water", 50.0]],
|
||||
"liquid_history": []
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
,
|
||||
|
||||
|
||||
{
|
||||
"id": "bottle_rack",
|
||||
"name": "bottle_rack",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"bottle_rack_A1"
|
||||
],
|
||||
"parent": "deck",
|
||||
"type": "container",
|
||||
"class": "bottle_container",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "Plate",
|
||||
"size_x": 130,
|
||||
"size_y": 117,
|
||||
"size_z": 8,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tube_rack",
|
||||
"model": "bottle_container",
|
||||
"ordering": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
|
||||
{
|
||||
"id": "bottle_rack_A1",
|
||||
"name": "bottle_rack_A1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "bottle_rack",
|
||||
"type": "device",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 25,
|
||||
"y": 18.5,
|
||||
"z": 8
|
||||
},
|
||||
"config": {
|
||||
"type": "Well",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 117,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tube",
|
||||
"model": null,
|
||||
"max_volume": 2000,
|
||||
"material_z_thickness": null,
|
||||
"compute_volume_from_height": null,
|
||||
"compute_height_from_volume": null,
|
||||
"bottom_type": "unknown",
|
||||
"cross_section_type": "rectangle"
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["water", 50.0]],
|
||||
"pending_liquids": [["water", 50.0]],
|
||||
"liquid_history": []
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
181
test/resources/bioyond_materials_liquidhandling_1.json
Normal file
181
test/resources/bioyond_materials_liquidhandling_1.json
Normal file
@@ -0,0 +1,181 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1c62c4-c3d2-b803-b72d-7f1153ffef3b",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00050",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 287.16699029126215,
|
||||
"lockQuantity": 285.16699029126215,
|
||||
"unit": "毫升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-efce-0939-69ca5a7dfd39",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0008",
|
||||
"x": 2,
|
||||
"y": 4,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-0e03-1bc1-1296-dae1905c4108",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00052",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 386.8990291262136,
|
||||
"lockQuantity": 45.89902912621359,
|
||||
"unit": "毫升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-f3e7-871a-e470d144296f",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0005",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-0e03-68a4-bcb3-02fc6ba72d1b",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00053",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 400.0,
|
||||
"lockQuantity": 0.0,
|
||||
"unit": "",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0006",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-d850-5439-4499f20f07fe",
|
||||
"typeName": "分装板",
|
||||
"code": "0007-00185",
|
||||
"barCode": "",
|
||||
"name": "1010",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 2.0,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0009",
|
||||
"x": 3,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-28a4-f5d0-f7e2436c575f",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-94ae-f770-27847e73ad38",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-3ed6-3607-133df89baf5b",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-f2fa-66bf-94c565d852fb",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-72b6-e015-be7b93cf09eb",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-81cf-7dad-2e51cab9ffd6",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-81d3-ad30-48134afc9ce7",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-3fa1-cc72-fda6276ae38d",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-dbdf-d966-9a8926fe1e06",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-c632-c7da-02d385b18628",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-f099-b260-e3089a2d08c3",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-561f-73b6-f8501f814dbb",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
216
test/resources/bioyond_materials_liquidhandling_2.json
Normal file
216
test/resources/bioyond_materials_liquidhandling_2.json
Normal file
@@ -0,0 +1,216 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00407",
|
||||
"barCode": "",
|
||||
"name": "ODA",
|
||||
"quantity": 25.0,
|
||||
"lockQuantity": 2.0,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-7887-9258-e8f8ab7c8a7a",
|
||||
"typeName": "样品板",
|
||||
"code": "0008-00160",
|
||||
"barCode": "",
|
||||
"name": "1010sample",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 27.69187,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0002",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cde21-a4f4-0339-f2b6-8e680ad7e8c7",
|
||||
"detailMaterialId": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
|
||||
"code": null,
|
||||
"name": "MPDA",
|
||||
"quantity": "10.505",
|
||||
"lockQuantity": "-0.0174",
|
||||
"unit": "克",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-a21a-23cf-bb7857b41947",
|
||||
"detailMaterialId": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
|
||||
"code": null,
|
||||
"name": "ODA",
|
||||
"quantity": "1.795",
|
||||
"lockQuantity": "2.0093",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-af1b-ba0b-2874836800e9",
|
||||
"detailMaterialId": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
|
||||
"code": null,
|
||||
"name": "ODA",
|
||||
"quantity": "25",
|
||||
"lockQuantity": "2",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00406",
|
||||
"barCode": "",
|
||||
"name": "ODA",
|
||||
"quantity": 1.795,
|
||||
"lockQuantity": 2.00927,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00408",
|
||||
"barCode": "",
|
||||
"name": "MPDA",
|
||||
"quantity": 10.505,
|
||||
"lockQuantity": -0.0174,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92a-08f6-c822-732ab734154c",
|
||||
"typeName": "样品板",
|
||||
"code": "0008-00161",
|
||||
"barCode": "",
|
||||
"name": "1010sample2",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 3.0,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cdeff-c92b-3ace-9623-0bcdef6fa07d",
|
||||
"detailMaterialId": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
|
||||
"code": null,
|
||||
"name": "BTDA1",
|
||||
"quantity": "0.362",
|
||||
"lockQuantity": "14.494",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-856e-f481-792b91b6dbde",
|
||||
"detailMaterialId": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
|
||||
"code": null,
|
||||
"name": "BTDA3",
|
||||
"quantity": "1.935",
|
||||
"lockQuantity": "13.067",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-d144-c5e5-ab9d94e21187",
|
||||
"detailMaterialId": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
|
||||
"code": null,
|
||||
"name": "BTDA2",
|
||||
"quantity": "1.903",
|
||||
"lockQuantity": "13.035",
|
||||
"unit": "克",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00411",
|
||||
"barCode": "",
|
||||
"name": "BTDA3",
|
||||
"quantity": 1.935,
|
||||
"lockQuantity": 13.067,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00410",
|
||||
"barCode": "",
|
||||
"name": "BTDA2",
|
||||
"quantity": 1.903,
|
||||
"lockQuantity": 13.035,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00409",
|
||||
"barCode": "",
|
||||
"name": "BTDA1",
|
||||
"quantity": 0.362,
|
||||
"lockQuantity": 14.494,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
}
|
||||
]
|
||||
193
test/resources/bioyond_materials_reaction.json
Normal file
193
test/resources/bioyond_materials_reaction.json
Normal file
@@ -0,0 +1,193 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1c67a9-aed7-b94d-9e24-bfdf10c8baa9",
|
||||
"typeName": "烧杯",
|
||||
"code": "0006-00160",
|
||||
"barCode": "",
|
||||
"name": "ODA",
|
||||
"quantity": 120000.00000000000000000000000,
|
||||
"lockQuantity": 695374.00000000000000000000000,
|
||||
"unit": "微升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
|
||||
"whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"whName": "堆栈1",
|
||||
"code": "0001-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1c67a9-aed9-1ade-5fe1-cc04b24b171c",
|
||||
"typeName": "烧杯",
|
||||
"code": "0006-00161",
|
||||
"barCode": "",
|
||||
"name": "MPDA",
|
||||
"quantity": 120000.00000000000000000000000,
|
||||
"lockQuantity": 681618.00000000000000000000000,
|
||||
"unit": "",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
|
||||
"whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"whName": "堆栈1",
|
||||
"code": "0001-0002",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1c67a9-aed9-2864-6783-2cee4e701ba6",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00041",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 300000.00000000000000000000000,
|
||||
"lockQuantity": 380000.00000000000000000000000,
|
||||
"unit": "微升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
|
||||
"whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
|
||||
"whName": "站内试剂存放堆栈",
|
||||
"code": "0003-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1c67a9-aed9-32c7-5809-3ba1b8db1aa1",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00042",
|
||||
"barCode": "",
|
||||
"name": "PGME",
|
||||
"quantity": 300000.00000000000000000000000,
|
||||
"lockQuantity": 337892.00000000000000000000000,
|
||||
"unit": "",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa3b-9fab-ca72-febc-b7c304476c78",
|
||||
"whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
|
||||
"whName": "站内试剂存放堆栈",
|
||||
"code": "0003-0002",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-d748-725e-97a2e549f085",
|
||||
"typeName": "样品板",
|
||||
"code": "0001-00004",
|
||||
"barCode": "",
|
||||
"name": "0917",
|
||||
"quantity": 1.0000000000000000000000000000,
|
||||
"lockQuantity": 4.0000000000000000000000000000,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
|
||||
"whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"whName": "堆栈1",
|
||||
"code": "0001-0009",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1c68c8-0574-69a1-9858-4637e0193451",
|
||||
"detailMaterialId": "3a1c68c8-0574-3630-bd42-bbf3623c5208",
|
||||
"code": null,
|
||||
"name": "SIDA",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "4",
|
||||
"unit": "微升",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-8d51-3191-a31f5be421e5",
|
||||
"detailMaterialId": "3a1c68c8-0574-3b20-9ad7-90755f123d53",
|
||||
"code": null,
|
||||
"name": "BTDA-2",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "4",
|
||||
"unit": "微升",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-da80-735b-53ae2197a360",
|
||||
"detailMaterialId": "3a1c68c8-0574-f2e4-33b3-90d813567939",
|
||||
"code": null,
|
||||
"name": "BTDA-DD",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "28",
|
||||
"unit": "微升",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-e717-1b1b-99891f875455",
|
||||
"detailMaterialId": "3a1c68c8-0574-a0ef-e636-68cdc98960e2",
|
||||
"code": null,
|
||||
"name": "BTDA-3",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "4",
|
||||
"unit": "微升",
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-e9bd-6cca-5e261b4f89cb",
|
||||
"detailMaterialId": "3a1c68c8-0574-9d11-5115-283e8e5510b1",
|
||||
"code": null,
|
||||
"name": "BTDA-1",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "4",
|
||||
"unit": "微升",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
48
test/resources/test_bottle_carrier.py
Normal file
48
test/resources/test_bottle_carrier.py
Normal file
@@ -0,0 +1,48 @@
|
||||
import pytest
|
||||
|
||||
from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
|
||||
|
||||
|
||||
def test_bottle_carrier() -> "BottleCarrier":
|
||||
print("创建载架...")
|
||||
|
||||
# 创建6瓶载架
|
||||
bottle_carrier = BIOYOND_Electrolyte_6VialCarrier("powder_carrier_01")
|
||||
print(f"6瓶载架: {bottle_carrier.name}, 位置数: {len(bottle_carrier.sites)}")
|
||||
|
||||
# 创建1烧杯载架
|
||||
beaker_carrier = BIOYOND_Electrolyte_1BottleCarrier("solution_carrier_01")
|
||||
print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}")
|
||||
|
||||
# 创建瓶子和烧杯
|
||||
powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01")
|
||||
solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01")
|
||||
reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01")
|
||||
|
||||
print(f"\n创建的物料:")
|
||||
print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL")
|
||||
print(f"溶液烧杯: {solution_beaker.name} - {solution_beaker.diameter}mm x {solution_beaker.height}mm, {solution_beaker.max_volume}μL")
|
||||
print(f"试剂瓶: {reagent_bottle.name} - {reagent_bottle.diameter}mm x {reagent_bottle.height}mm, {reagent_bottle.max_volume}μL")
|
||||
|
||||
# 测试放置容器
|
||||
print(f"\n测试放置容器...")
|
||||
|
||||
# 通过载架的索引操作来放置容器
|
||||
# bottle_carrier[0] = powder_bottle # 放置粉末瓶到第一个位置
|
||||
print(f"粉末瓶已放置到6瓶载架的位置 0")
|
||||
|
||||
# beaker_carrier[0] = solution_beaker # 放置烧杯到第一个位置
|
||||
print(f"溶液烧杯已放置到1烧杯载架的位置 0")
|
||||
|
||||
# 验证放置结果
|
||||
print(f"\n验证放置结果:")
|
||||
bottle_at_0 = bottle_carrier[0].resource
|
||||
beaker_at_0 = beaker_carrier[0].resource
|
||||
|
||||
if bottle_at_0:
|
||||
print(f"位置 0 的瓶子: {bottle_at_0.name}")
|
||||
if beaker_at_0:
|
||||
print(f"位置 0 的烧杯: {beaker_at_0.name}")
|
||||
|
||||
print("\n载架设置完成！")
|
||||
76
test/resources/test_converter_bioyond.py
Normal file
76
test/resources/test_converter_bioyond.py
Normal file
@@ -0,0 +1,76 @@
|
||||
import pytest
|
||||
import json
|
||||
import os
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr
|
||||
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",
|
||||
"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",
|
||||
}
|
||||
|
||||
|
||||
@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_bioyond_to_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())
|
||||
print([resource.serialize() for resource in output])
|
||||
print([resource.serialize_all_state() for resource in output])
|
||||
json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
|
||||
@@ -0,0 +1 @@
|
||||
__version__ = "0.10.7"
|
||||
|
||||
@@ -1,14 +1,15 @@
|
||||
import threading
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
# 根据选择的 backend 启动相应的功能
|
||||
def start_backend(
|
||||
backend: str,
|
||||
devices_config: dict = {},
|
||||
resources_config: list = [],
|
||||
resources_edge_config: list = [],
|
||||
devices_config: ResourceTreeSet,
|
||||
resources_config: ResourceTreeSet,
|
||||
resources_edge_config: list[dict] = [],
|
||||
graph=None,
|
||||
controllers_config: dict = {},
|
||||
bridges=[],
|
||||
|
||||
@@ -6,10 +6,12 @@ import signal
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from copy import deepcopy
|
||||
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__))
|
||||
@@ -43,7 +45,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
for i, arg in enumerate(sys.argv):
|
||||
for option_string in option_strings:
|
||||
if arg.startswith(option_string):
|
||||
new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
|
||||
new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
|
||||
sys.argv[i] = new_arg
|
||||
break
|
||||
|
||||
@@ -225,6 +227,15 @@ def main():
|
||||
else:
|
||||
HTTPConfig.remote_addr = args_dict.get("addr", "")
|
||||
|
||||
# 设置BasicConfig参数
|
||||
if args_dict.get("ak", ""):
|
||||
BasicConfig.ak = args_dict.get("ak", "")
|
||||
print_status("传入了ak参数，优先采用传入参数！", "info")
|
||||
if args_dict.get("sk", ""):
|
||||
BasicConfig.sk = args_dict.get("sk", "")
|
||||
print_status("传入了sk参数，优先采用传入参数！", "info")
|
||||
|
||||
# 使用远程资源启动
|
||||
if args_dict["use_remote_resource"]:
|
||||
print_status("使用远程资源启动", "info")
|
||||
from unilabos.app.web import http_client
|
||||
@@ -236,13 +247,6 @@ def main():
|
||||
else:
|
||||
print_status("远程资源不存在，本地将进行首次上报！", "info")
|
||||
|
||||
# 设置BasicConfig参数
|
||||
if args_dict.get("ak", ""):
|
||||
BasicConfig.ak = args_dict.get("ak", "")
|
||||
print_status("传入了ak参数，优先采用传入参数！", "info")
|
||||
if args_dict.get("sk", ""):
|
||||
BasicConfig.sk = args_dict.get("sk", "")
|
||||
print_status("传入了sk参数，优先采用传入参数！", "info")
|
||||
BasicConfig.working_dir = working_dir
|
||||
BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
|
||||
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
|
||||
@@ -257,8 +261,6 @@ def main():
|
||||
read_node_link_json,
|
||||
read_graphml,
|
||||
dict_from_graph,
|
||||
dict_to_nested_dict,
|
||||
initialize_resources,
|
||||
)
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.registry.registry import build_registry
|
||||
@@ -278,8 +280,11 @@ def main():
|
||||
if not BasicConfig.ak or not BasicConfig.sk:
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
|
||||
os._exit(1)
|
||||
graph: nx.Graph
|
||||
resource_tree_set: ResourceTreeSet
|
||||
resource_links: List[Dict[str, Any]]
|
||||
request_startup_json = http_client.request_startup_json()
|
||||
if args_dict["graph"] is None:
|
||||
request_startup_json = http_client.request_startup_json()
|
||||
if not request_startup_json:
|
||||
print_status(
|
||||
"未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
|
||||
@@ -287,57 +292,60 @@ def main():
|
||||
os._exit(1)
|
||||
else:
|
||||
print_status("联网获取设备加载文件成功", "info")
|
||||
graph, data = read_node_link_json(request_startup_json)
|
||||
graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
|
||||
else:
|
||||
file_path = args_dict["graph"]
|
||||
if file_path.endswith(".json"):
|
||||
graph, data = read_node_link_json(file_path)
|
||||
graph, resource_tree_set, resource_links = read_node_link_json(file_path)
|
||||
else:
|
||||
graph, data = read_graphml(file_path)
|
||||
graph, resource_tree_set, resource_links = read_graphml(file_path)
|
||||
import unilabos.resources.graphio as graph_res
|
||||
|
||||
graph_res.physical_setup_graph = graph
|
||||
resource_edge_info = modify_to_backend_format(data["links"])
|
||||
resource_edge_info = modify_to_backend_format(resource_links)
|
||||
materials = lab_registry.obtain_registry_resource_info()
|
||||
materials.extend(lab_registry.obtain_registry_device_info())
|
||||
materials = {k["id"]: k for k in materials}
|
||||
nodes = {k["id"]: k for k in data["nodes"]}
|
||||
# 从 ResourceTreeSet 中获取节点信息
|
||||
nodes = {node.res_content.id: node.res_content for node in resource_tree_set.all_nodes}
|
||||
edge_info = len(resource_edge_info)
|
||||
for ind, i in enumerate(resource_edge_info[::-1]):
|
||||
source_node = nodes[i["source"]]
|
||||
target_node = nodes[i["target"]]
|
||||
source_node: ResourceDict = nodes[i["source"]]
|
||||
target_node: ResourceDict = nodes[i["target"]]
|
||||
source_handle = i["sourceHandle"]
|
||||
target_handle = i["targetHandle"]
|
||||
source_handler_keys = [
|
||||
h["handler_key"] for h in materials[source_node["class"]]["handles"] if h["io_type"] == "source"
|
||||
h["handler_key"] for h in materials[source_node.klass]["handles"] if h["io_type"] == "source"
|
||||
]
|
||||
target_handler_keys = [
|
||||
h["handler_key"] for h in materials[target_node["class"]]["handles"] if h["io_type"] == "target"
|
||||
h["handler_key"] for h in materials[target_node.klass]["handles"] if h["io_type"] == "target"
|
||||
]
|
||||
if source_handle not in source_handler_keys:
|
||||
print_status(
|
||||
f"节点 {source_node['id']} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
|
||||
f"节点 {source_node.id} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
|
||||
"error",
|
||||
)
|
||||
resource_edge_info.pop(edge_info - ind - 1)
|
||||
continue
|
||||
if target_handle not in target_handler_keys:
|
||||
print_status(
|
||||
f"节点 {target_node['id']} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
|
||||
f"节点 {target_node.id} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
|
||||
"error",
|
||||
)
|
||||
resource_edge_info.pop(edge_info - ind - 1)
|
||||
continue
|
||||
|
||||
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
|
||||
# args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
|
||||
args_dict["resources_config"] = list(devices_and_resources.values())
|
||||
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
|
||||
# 如果从远端获取了物料信息，则与本地物料进行同步
|
||||
if request_startup_json and "nodes" in request_startup_json:
|
||||
print_status("开始同步远端物料到本地...", "info")
|
||||
remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
|
||||
resource_tree_set.merge_remote_resources(remote_tree_set)
|
||||
print_status("远端物料同步完成", "info")
|
||||
|
||||
print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
|
||||
for i in args_dict["resources_config"]:
|
||||
print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
|
||||
# 使用 ResourceTreeSet 代替 list
|
||||
args_dict["resources_config"] = resource_tree_set
|
||||
args_dict["devices_config"] = resource_tree_set
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
@@ -351,9 +359,7 @@ def main():
|
||||
else:
|
||||
print_status("未提供 ak 和 sk，跳过设备注册", "info")
|
||||
else:
|
||||
print_status(
|
||||
"本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning"
|
||||
)
|
||||
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
|
||||
|
||||
if args_dict["controllers"] is not None:
|
||||
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
|
||||
@@ -383,13 +389,16 @@ def main():
|
||||
# web visiualize 2D
|
||||
if args_dict["visual"] != "disable":
|
||||
enable_rviz = args_dict["visual"] == "rviz"
|
||||
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
|
||||
if devices_and_resources is not None:
|
||||
from unilabos.device_mesh.resource_visalization import (
|
||||
ResourceVisualization,
|
||||
) # 此处开启后，logger会变更为INFO，有需要请调整
|
||||
|
||||
resource_visualization = ResourceVisualization(
|
||||
devices_and_resources, args_dict["resources_config"], enable_rviz=enable_rviz
|
||||
devices_and_resources,
|
||||
[n.res_content for n in args_dict["resources_config"].all_nodes], # type: ignore # FIXME
|
||||
enable_rviz=enable_rviz,
|
||||
)
|
||||
args_dict["resources_mesh_config"] = resource_visualization.resource_model
|
||||
start_backend(**args_dict)
|
||||
|
||||
@@ -1,11 +1,6 @@
|
||||
import argparse
|
||||
import json
|
||||
import time
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.registry.registry import build_registry
|
||||
|
||||
from unilabos.app.main import load_config_from_file
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
|
||||
@@ -9,6 +9,7 @@ import os
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
import requests
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils.log import info
|
||||
from unilabos.config.config import HTTPConfig, BasicConfig
|
||||
from unilabos.utils import logger
|
||||
@@ -46,7 +47,7 @@ class HTTPClient:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/material/edge",
|
||||
f"{self.remote_addr}/edge/material/edge",
|
||||
json={
|
||||
"edges": resources,
|
||||
},
|
||||
@@ -61,6 +62,83 @@ class HTTPClient:
|
||||
logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
|
||||
return response
|
||||
|
||||
def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_add: bool) -> Dict[str, str]:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
Args:
|
||||
resources: 要添加的资源树集合（ResourceTreeSet）
|
||||
mount_uuid: 要挂载的资源的uuid
|
||||
first_add: 是否为首次添加资源，可以是host也可以是slave来的
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
# 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:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = requests.post(
|
||||
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=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=100,
|
||||
)
|
||||
|
||||
# 处理响应，构建UUID映射
|
||||
uuid_mapping = {}
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
else:
|
||||
data = res["data"]
|
||||
for i in data:
|
||||
uuid_mapping[i["uuid"]] = i["cloud_uuid"]
|
||||
else:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
for u, n in old_uuids.items():
|
||||
if u in uuid_mapping:
|
||||
n.res_content.uuid = uuid_mapping[u]
|
||||
for c in n.children:
|
||||
c.res_content.parent_uuid = n.res_content.uuid
|
||||
else:
|
||||
logger.warning(f"资源UUID未更新: {u}")
|
||||
return uuid_mapping
|
||||
|
||||
def resource_tree_get(self, uuid_list: List[str], with_children: bool) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
Args:
|
||||
uuid_list: List[str]
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
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,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
else:
|
||||
data = res["data"]["nodes"]
|
||||
return data
|
||||
else:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
return []
|
||||
|
||||
def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
添加资源
|
||||
@@ -220,7 +298,7 @@ class HTTPClient:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/resource/graph_info/",
|
||||
f"{self.remote_addr}/edge/material/download",
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=(3, 30),
|
||||
)
|
||||
|
||||
@@ -19,9 +19,12 @@ import websockets
|
||||
import ssl as ssl_module
|
||||
from queue import Queue, Empty
|
||||
from dataclasses import dataclass, field
|
||||
from typing import Optional, Dict, Any, Callable, List, Set
|
||||
from typing import Optional, Dict, Any, List
|
||||
from urllib.parse import urlparse
|
||||
from enum import Enum
|
||||
|
||||
from jedi.inference.gradual.typing import TypedDict
|
||||
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
@@ -96,6 +99,14 @@ class WebSocketMessage:
|
||||
timestamp: float = field(default_factory=time.time)
|
||||
|
||||
|
||||
class WSResourceChatData(TypedDict):
|
||||
uuid: str
|
||||
device_uuid: str
|
||||
device_id: str
|
||||
device_old_uuid: str
|
||||
device_old_id: str
|
||||
|
||||
|
||||
class DeviceActionManager:
|
||||
"""设备动作管理器 - 管理每个device_action_key的任务队列"""
|
||||
|
||||
@@ -543,7 +554,7 @@ class MessageProcessor:
|
||||
async def _process_message(self, data: Dict[str, Any]):
|
||||
"""处理收到的消息"""
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data", {})
|
||||
message_data = data.get("data")
|
||||
|
||||
logger.debug(f"[MessageProcessor] Processing message: {message_type}")
|
||||
|
||||
@@ -556,8 +567,12 @@ class MessageProcessor:
|
||||
await self._handle_job_start(message_data)
|
||||
elif message_type == "cancel_action" or message_type == "cancel_task":
|
||||
await self._handle_cancel_action(message_data)
|
||||
elif message_type == "":
|
||||
return
|
||||
elif message_type == "add_material":
|
||||
await self._handle_resource_tree_update(message_data, "add")
|
||||
elif message_type == "update_material":
|
||||
await self._handle_resource_tree_update(message_data, "update")
|
||||
elif message_type == "remove_material":
|
||||
await self._handle_resource_tree_update(message_data, "remove")
|
||||
else:
|
||||
logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
|
||||
|
||||
@@ -574,6 +589,7 @@ class MessageProcessor:
|
||||
async def _handle_query_action_state(self, data: Dict[str, Any]):
|
||||
"""处理query_action_state消息"""
|
||||
device_id = data.get("device_id", "")
|
||||
device_uuid = data.get("device_uuid", "")
|
||||
action_name = data.get("action_name", "")
|
||||
task_id = data.get("task_id", "")
|
||||
job_id = data.get("job_id", "")
|
||||
@@ -760,6 +776,92 @@ class MessageProcessor:
|
||||
else:
|
||||
logger.warning("[MessageProcessor] Cancel request missing both task_id and job_id")
|
||||
|
||||
async def _handle_resource_tree_update(self, resource_uuid_list: List[WSResourceChatData], action: str):
|
||||
"""处理资源树更新消息（add_material/update_material/remove_material）"""
|
||||
if not resource_uuid_list:
|
||||
return
|
||||
|
||||
# 按device_id和action分组
|
||||
# device_action_groups: {(device_id, action): [uuid_list]}
|
||||
device_action_groups = {}
|
||||
|
||||
for item in resource_uuid_list:
|
||||
device_id = item["device_id"]
|
||||
if not device_id:
|
||||
device_id = "host_node"
|
||||
|
||||
# 特殊处理update action: 检查是否设备迁移
|
||||
if action == "update":
|
||||
device_old_id = item.get("device_old_id", "")
|
||||
if not device_old_id:
|
||||
device_old_id = "host_node"
|
||||
|
||||
# 设备迁移：device_id != device_old_id
|
||||
if device_id != device_old_id:
|
||||
# 给旧设备发送remove
|
||||
key_remove = (device_old_id, "remove")
|
||||
if key_remove not in device_action_groups:
|
||||
device_action_groups[key_remove] = []
|
||||
device_action_groups[key_remove].append(item["uuid"])
|
||||
|
||||
# 给新设备发送add
|
||||
key_add = (device_id, "add")
|
||||
if key_add not in device_action_groups:
|
||||
device_action_groups[key_add] = []
|
||||
device_action_groups[key_add].append(item["uuid"])
|
||||
|
||||
logger.info(
|
||||
f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
|
||||
)
|
||||
else:
|
||||
# 正常update
|
||||
key = (device_id, "update")
|
||||
if key not in device_action_groups:
|
||||
device_action_groups[key] = []
|
||||
device_action_groups[key].append(item["uuid"])
|
||||
else:
|
||||
# add或remove action，直接分组
|
||||
key = (device_id, action)
|
||||
if key not in device_action_groups:
|
||||
device_action_groups[key] = []
|
||||
device_action_groups[key].append(item["uuid"])
|
||||
|
||||
logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
|
||||
|
||||
# 为每个(device_id, action)创建独立的更新线程
|
||||
for (device_id, actual_action), items in device_action_groups.items():
|
||||
logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
|
||||
|
||||
def _notify_resource_tree(dev_id, act, item_list):
|
||||
try:
|
||||
host_node = HostNode.get_instance(timeout=5)
|
||||
if not host_node:
|
||||
logger.error(f"[MessageProcessor] HostNode instance not available for {act}")
|
||||
return
|
||||
|
||||
success = host_node.notify_resource_tree_update(dev_id, act, item_list)
|
||||
|
||||
if success:
|
||||
logger.info(
|
||||
f"[MessageProcessor] Resource tree {act} completed for device {dev_id}, "
|
||||
f"items: {len(item_list)}"
|
||||
)
|
||||
else:
|
||||
logger.warning(f"[MessageProcessor] Resource tree {act} failed for device {dev_id}")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error in resource tree {act} for device {dev_id}: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
# 在新线程中执行通知
|
||||
thread = threading.Thread(
|
||||
target=_notify_resource_tree,
|
||||
args=(device_id, actual_action, items),
|
||||
daemon=True,
|
||||
name=f"ResourceTreeUpdate-{actual_action}-{device_id}",
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _send_action_state_response(
|
||||
self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
|
||||
):
|
||||
@@ -1008,6 +1110,8 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
|
||||
# 构建WebSocket URL
|
||||
self.websocket_url = self._build_websocket_url()
|
||||
if not self.websocket_url:
|
||||
self.websocket_url = "" # 默认空字符串，避免None
|
||||
|
||||
# 两个核心线程
|
||||
self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
|
||||
|
||||
@@ -0,0 +1,150 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="liquid_transform_xyz" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
|
||||
<xacro:macro name="liquid_transform_xyz" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}base_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xyz.urdf | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<link name="${station_name}${device_name}base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.15478184748283 0.171048654921622 0.119246989054835"/>
|
||||
<mass value="10.6178517218032"/>
|
||||
<inertia ixx="0.178863713357329" ixy="1.50019641847353E-05" ixz="1.35368730492005E-05" iyy="0.174395775755846" iyz="-9.90771939078091E-06" izz="0.34100152139765"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="${station_name}${device_name}x_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.325214039540178 0.00943452607370124 0.0482611114301988"/>
|
||||
<mass value="2.10887387421016"/>
|
||||
<inertia ixx="0.0012305846984949" ixy="5.54649260270946E-07" ixz="3.84099347741331E-07" iyy="0.0349382006090243" iyz="-0.000103697818531446" izz="0.0354178972785773"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/x_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/x_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}x_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="-0.141499999999982 0.334850000000045 0.357700036886815"/>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}x_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="50" lower="-0.3" upper="0" velocity="1"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}y_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.50235389641123E-05 -0.00104302241099613 -0.0439486470514941"/>
|
||||
<mass value="0.57605998885478"/>
|
||||
<inertia ixx="0.00193021581150653" ixy="3.53777102560584E-08" ixz="2.57202248177777E-07" iyy="0.00224712797067005" iyz="-3.96170906880708E-07" izz="0.000419338880142789"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/y_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/y_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}y_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0.2855 -0.0330000368868711 0.0578"/>
|
||||
<parent link="${station_name}${device_name}x_link"/>
|
||||
<child link="${station_name}${device_name}y_link"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="50" lower="-0.25" upper="0.25" velocity="1"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}z_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.07272060046598E-06 -0.00954902784618396 0.017834416924223"/>
|
||||
<mass value="0.199932032754258"/>
|
||||
<inertia ixx="0.000219989530768707" ixy="-7.50956522121896E-10" ixz="-1.265045524863E-07" iyy="0.000245054780375167" iyz="-3.76753893185657E-06" izz="4.29092763044732E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/z_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/z_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}z_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0.000950000000001387 -0.0737000000000002 0"/>
|
||||
<parent link="${station_name}${device_name}y_link"/>
|
||||
<child link="${station_name}${device_name}z_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="50" lower="-0.2" upper="0" velocity="1"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}p_link">
|
||||
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}p_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.0139999999999999 -0.10575"/>
|
||||
<parent link="${station_name}${device_name}z_link"/>
|
||||
<child link="${station_name}${device_name}p_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
29
unilabos/devices/battery/battery.json
Normal file
29
unilabos/devices/battery/battery.json
Normal file
@@ -0,0 +1,29 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "NEWARE_BATTERY_TEST_SYSTEM",
|
||||
"name": "Neware Battery Test System",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "neware_battery_test_system",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"ip": "127.0.0.1",
|
||||
"port": 502,
|
||||
"machine_id": 1,
|
||||
"devtype": "27",
|
||||
"timeout": 20,
|
||||
"size_x": 500.0,
|
||||
"size_y": 500.0,
|
||||
"size_z": 2000.0
|
||||
},
|
||||
"data": {},
|
||||
"children": []
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
1042
unilabos/devices/battery/neware_battery_test_system.py
Normal file
1042
unilabos/devices/battery/neware_battery_test_system.py
Normal file
File diff suppressed because it is too large
Load Diff
307
unilabos/devices/laiyu_liquid/__init__.py
Normal file
307
unilabos/devices/laiyu_liquid/__init__.py
Normal file
@@ -0,0 +1,307 @@
|
||||
"""
|
||||
LaiYu_Liquid 液体处理工作站集成模块
|
||||
|
||||
该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括：
|
||||
- 硬件后端和抽象接口
|
||||
- 资源定义和管理
|
||||
- 协议执行和液体传输
|
||||
- 工作台配置和布局
|
||||
|
||||
主要组件：
|
||||
- LaiYuLiquidBackend: 硬件后端实现
|
||||
- LaiYuLiquid: 液体处理器抽象接口
|
||||
- 各种资源类：枪头架、板、容器等
|
||||
- 便捷创建函数和配置管理
|
||||
|
||||
使用示例：
|
||||
from unilabos.devices.laiyu_liquid import (
|
||||
LaiYuLiquid,
|
||||
LaiYuLiquidBackend,
|
||||
create_standard_deck,
|
||||
create_tip_rack_1000ul
|
||||
)
|
||||
|
||||
# 创建后端和液体处理器
|
||||
backend = LaiYuLiquidBackend()
|
||||
lh = LaiYuLiquid(backend=backend)
|
||||
|
||||
# 创建工作台
|
||||
deck = create_standard_deck()
|
||||
lh.deck = deck
|
||||
|
||||
# 设置和运行
|
||||
await lh.setup()
|
||||
"""
|
||||
|
||||
# 版本信息
|
||||
__version__ = "1.0.0"
|
||||
__author__ = "LaiYu_Liquid Integration Team"
|
||||
__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块"
|
||||
|
||||
# 驱动程序导入
|
||||
from .drivers import (
|
||||
XYZStepperController,
|
||||
SOPAPipette,
|
||||
MotorAxis,
|
||||
MotorStatus,
|
||||
SOPAConfig,
|
||||
SOPAStatusCode,
|
||||
StepperMotorDriver
|
||||
)
|
||||
|
||||
# 控制器导入
|
||||
from .controllers import (
|
||||
XYZController,
|
||||
PipetteController,
|
||||
)
|
||||
|
||||
# 后端导入
|
||||
from .backend.rviz_backend import (
|
||||
LiquidHandlerRvizBackend,
|
||||
)
|
||||
|
||||
# 资源类和创建函数导入
|
||||
from .core.laiyu_liquid_res import (
|
||||
LaiYuLiquidDeck,
|
||||
LaiYuLiquidContainer,
|
||||
LaiYuLiquidTipRack
|
||||
)
|
||||
|
||||
# 主设备类和配置
|
||||
from .core.laiyu_liquid_main import (
|
||||
LaiYuLiquid,
|
||||
LaiYuLiquidConfig,
|
||||
LaiYuLiquidDeck,
|
||||
LaiYuLiquidContainer,
|
||||
LaiYuLiquidTipRack,
|
||||
create_quick_setup
|
||||
)
|
||||
|
||||
# 后端创建函数导入
|
||||
from .backend import (
|
||||
LaiYuLiquidBackend,
|
||||
create_laiyu_backend,
|
||||
)
|
||||
|
||||
# 导出所有公共接口
|
||||
__all__ = [
|
||||
# 版本信息
|
||||
"__version__",
|
||||
"__author__",
|
||||
"__description__",
|
||||
|
||||
# 驱动程序
|
||||
"SOPAPipette",
|
||||
"SOPAConfig",
|
||||
"StepperMotorDriver",
|
||||
"XYZStepperController",
|
||||
|
||||
# 控制器
|
||||
"PipetteController",
|
||||
"XYZController",
|
||||
|
||||
# 后端
|
||||
"LiquidHandlerRvizBackend",
|
||||
|
||||
# 资源创建函数
|
||||
"create_tip_rack_1000ul",
|
||||
"create_tip_rack_200ul",
|
||||
"create_96_well_plate",
|
||||
"create_deep_well_plate",
|
||||
"create_8_tube_rack",
|
||||
"create_standard_deck",
|
||||
"create_waste_container",
|
||||
"create_wash_container",
|
||||
"create_reagent_container",
|
||||
"load_deck_config",
|
||||
|
||||
# 后端创建函数
|
||||
"create_laiyu_backend",
|
||||
|
||||
# 主要类
|
||||
"LaiYuLiquid",
|
||||
"LaiYuLiquidConfig",
|
||||
"LaiYuLiquidBackend",
|
||||
"LaiYuLiquidDeck",
|
||||
|
||||
# 工具函数
|
||||
"get_version",
|
||||
"get_supported_resources",
|
||||
"create_quick_setup",
|
||||
"validate_installation",
|
||||
"print_module_info",
|
||||
"setup_logging",
|
||||
]
|
||||
|
||||
# 别名定义，为了向后兼容
|
||||
LaiYuLiquidDevice = LaiYuLiquid # 主设备类别名
|
||||
LaiYuLiquidController = XYZController # 控制器别名
|
||||
LaiYuLiquidDriver = XYZStepperController # 驱动器别名
|
||||
|
||||
# 模块级别的便捷函数
|
||||
|
||||
def get_version() -> str:
|
||||
"""
|
||||
获取模块版本
|
||||
|
||||
Returns:
|
||||
str: 版本号
|
||||
"""
|
||||
return __version__
|
||||
|
||||
|
||||
def get_supported_resources() -> dict:
|
||||
"""
|
||||
获取支持的资源类型
|
||||
|
||||
Returns:
|
||||
dict: 支持的资源类型字典
|
||||
"""
|
||||
return {
|
||||
"tip_racks": {
|
||||
"LaiYuLiquidTipRack": LaiYuLiquidTipRack,
|
||||
},
|
||||
"containers": {
|
||||
"LaiYuLiquidContainer": LaiYuLiquidContainer,
|
||||
},
|
||||
"decks": {
|
||||
"LaiYuLiquidDeck": LaiYuLiquidDeck,
|
||||
},
|
||||
"devices": {
|
||||
"LaiYuLiquid": LaiYuLiquid,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
def create_quick_setup() -> tuple:
|
||||
"""
|
||||
快速创建基本设置
|
||||
|
||||
Returns:
|
||||
tuple: (backend, controllers, resources) 的元组
|
||||
"""
|
||||
# 创建后端
|
||||
backend = LiquidHandlerRvizBackend()
|
||||
|
||||
# 创建控制器（使用默认端口进行演示）
|
||||
pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4)
|
||||
xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False)
|
||||
|
||||
# 创建测试资源
|
||||
tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
|
||||
tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
|
||||
well_plate = create_96_well_plate("96_well_plate")
|
||||
|
||||
controllers = {
|
||||
'pipette': pipette_controller,
|
||||
'xyz': xyz_controller
|
||||
}
|
||||
|
||||
resources = {
|
||||
'tip_rack_1000': tip_rack_1000,
|
||||
'tip_rack_200': tip_rack_200,
|
||||
'well_plate': well_plate
|
||||
}
|
||||
|
||||
return backend, controllers, resources
|
||||
|
||||
|
||||
def validate_installation() -> bool:
|
||||
"""
|
||||
验证模块安装是否正确
|
||||
|
||||
Returns:
|
||||
bool: 安装是否正确
|
||||
"""
|
||||
try:
|
||||
# 检查核心类是否可以导入
|
||||
from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig
|
||||
from .backend import LaiYuLiquidBackend
|
||||
from .controllers import XYZController, PipetteController
|
||||
from .drivers import XYZStepperController, SOPAPipette
|
||||
|
||||
# 尝试创建基本对象
|
||||
config = LaiYuLiquidConfig()
|
||||
backend = create_laiyu_backend("validation_test")
|
||||
|
||||
print("模块安装验证成功")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
print(f"模块安装验证失败: {e}")
|
||||
return False
|
||||
|
||||
|
||||
def print_module_info():
|
||||
"""打印模块信息"""
|
||||
print(f"LaiYu_Liquid 集成模块")
|
||||
print(f"版本: {__version__}")
|
||||
print(f"作者: {__author__}")
|
||||
print(f"描述: {__description__}")
|
||||
print(f"")
|
||||
print(f"支持的资源类型:")
|
||||
|
||||
resources = get_supported_resources()
|
||||
for category, types in resources.items():
|
||||
print(f" {category}:")
|
||||
for type_name, type_class in types.items():
|
||||
print(f" - {type_name}: {type_class.__name__}")
|
||||
|
||||
print(f"")
|
||||
print(f"主要功能:")
|
||||
print(f" - 硬件集成: LaiYuLiquidBackend")
|
||||
print(f" - 抽象接口: LaiYuLiquid")
|
||||
print(f" - 资源管理: 各种资源类和创建函数")
|
||||
print(f" - 协议执行: transfer_liquid 和相关函数")
|
||||
print(f" - 配置管理: deck.json 和加载函数")
|
||||
|
||||
|
||||
# 模块初始化时的检查
|
||||
def _check_dependencies():
|
||||
"""检查依赖项"""
|
||||
try:
|
||||
import pylabrobot
|
||||
import asyncio
|
||||
import json
|
||||
import logging
|
||||
return True
|
||||
except ImportError as e:
|
||||
import logging
|
||||
logging.warning(f"缺少依赖项 {e}")
|
||||
return False
|
||||
|
||||
|
||||
# 执行依赖检查
|
||||
_dependencies_ok = _check_dependencies()
|
||||
|
||||
if not _dependencies_ok:
|
||||
import logging
|
||||
logging.warning("某些依赖项缺失，模块功能可能受限")
|
||||
|
||||
|
||||
# 模块级别的日志配置
|
||||
import logging
|
||||
|
||||
def setup_logging(level: str = "INFO"):
|
||||
"""
|
||||
设置模块日志
|
||||
|
||||
Args:
|
||||
level: 日志级别 (DEBUG, INFO, WARNING, ERROR)
|
||||
"""
|
||||
logger = logging.getLogger("LaiYu_Liquid")
|
||||
logger.setLevel(getattr(logging, level.upper()))
|
||||
|
||||
if not logger.handlers:
|
||||
handler = logging.StreamHandler()
|
||||
formatter = logging.Formatter(
|
||||
'%(asctime)s - %(name)s - %(levelname)s - %(message)s'
|
||||
)
|
||||
handler.setFormatter(formatter)
|
||||
logger.addHandler(handler)
|
||||
|
||||
return logger
|
||||
|
||||
|
||||
# 默认日志设置
|
||||
_logger = setup_logging()
|
||||
9
unilabos/devices/laiyu_liquid/backend/__init__.py
Normal file
9
unilabos/devices/laiyu_liquid/backend/__init__.py
Normal file
@@ -0,0 +1,9 @@
|
||||
"""
|
||||
LaiYu液体处理设备后端模块
|
||||
|
||||
提供设备后端接口和实现
|
||||
"""
|
||||
|
||||
from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
|
||||
|
||||
__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
|
||||
334
unilabos/devices/laiyu_liquid/backend/laiyu_backend.py
Normal file
334
unilabos/devices/laiyu_liquid/backend/laiyu_backend.py
Normal file
@@ -0,0 +1,334 @@
|
||||
"""
|
||||
LaiYu液体处理设备后端实现
|
||||
|
||||
提供设备的后端接口和控制逻辑
|
||||
"""
|
||||
|
||||
import logging
|
||||
from typing import Dict, Any, Optional, List
|
||||
from abc import ABC, abstractmethod
|
||||
|
||||
# 尝试导入PyLabRobot后端
|
||||
try:
|
||||
from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
except ImportError:
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
# 创建模拟后端基类
|
||||
class LiquidHandlerBackend:
|
||||
def __init__(self, name: str):
|
||||
self.name = name
|
||||
self.is_connected = False
|
||||
|
||||
def connect(self):
|
||||
"""连接设备"""
|
||||
pass
|
||||
|
||||
def disconnect(self):
|
||||
"""断开连接"""
|
||||
pass
|
||||
|
||||
|
||||
class LaiYuLiquidBackend(LiquidHandlerBackend):
|
||||
"""LaiYu液体处理设备后端"""
|
||||
|
||||
def __init__(self, name: str = "LaiYu_Liquid_Backend"):
|
||||
"""
|
||||
初始化LaiYu液体处理设备后端
|
||||
|
||||
Args:
|
||||
name: 后端名称
|
||||
"""
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot 的 LiquidHandlerBackend 不接受参数
|
||||
super().__init__()
|
||||
else:
|
||||
# 模拟版本接受 name 参数
|
||||
super().__init__(name)
|
||||
|
||||
self.name = name
|
||||
self.logger = logging.getLogger(__name__)
|
||||
self.is_connected = False
|
||||
self.device_info = {
|
||||
"name": "LaiYu液体处理设备",
|
||||
"version": "1.0.0",
|
||||
"manufacturer": "LaiYu",
|
||||
"model": "LaiYu_Liquid_Handler"
|
||||
}
|
||||
|
||||
def connect(self) -> bool:
|
||||
"""
|
||||
连接到LaiYu液体处理设备
|
||||
|
||||
Returns:
|
||||
bool: 连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.logger.info("正在连接到LaiYu液体处理设备...")
|
||||
# 这里应该实现实际的设备连接逻辑
|
||||
# 目前返回模拟连接成功
|
||||
self.is_connected = True
|
||||
self.logger.info("成功连接到LaiYu液体处理设备")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
|
||||
self.is_connected = False
|
||||
return False
|
||||
|
||||
def disconnect(self) -> bool:
|
||||
"""
|
||||
断开与LaiYu液体处理设备的连接
|
||||
|
||||
Returns:
|
||||
bool: 断开连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.logger.info("正在断开与LaiYu液体处理设备的连接...")
|
||||
# 这里应该实现实际的设备断开连接逻辑
|
||||
self.is_connected = False
|
||||
self.logger.info("成功断开与LaiYu液体处理设备的连接")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
|
||||
return False
|
||||
|
||||
def is_device_connected(self) -> bool:
|
||||
"""
|
||||
检查设备是否已连接
|
||||
|
||||
Returns:
|
||||
bool: 设备是否已连接
|
||||
"""
|
||||
return self.is_connected
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备信息
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 设备信息字典
|
||||
"""
|
||||
return self.device_info.copy()
|
||||
|
||||
def home_device(self) -> bool:
|
||||
"""
|
||||
设备归零操作
|
||||
|
||||
Returns:
|
||||
bool: 归零是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行归零操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info("正在执行设备归零操作...")
|
||||
# 这里应该实现实际的设备归零逻辑
|
||||
self.logger.info("设备归零操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"设备归零操作失败: {e}")
|
||||
return False
|
||||
|
||||
def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
吸液操作
|
||||
|
||||
Args:
|
||||
volume: 吸液体积 (微升)
|
||||
location: 吸液位置信息
|
||||
|
||||
Returns:
|
||||
bool: 吸液是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行吸液操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
|
||||
# 这里应该实现实际的吸液逻辑
|
||||
self.logger.info("吸液操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"吸液操作失败: {e}")
|
||||
return False
|
||||
|
||||
def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
排液操作
|
||||
|
||||
Args:
|
||||
volume: 排液体积 (微升)
|
||||
location: 排液位置信息
|
||||
|
||||
Returns:
|
||||
bool: 排液是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行排液操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
|
||||
# 这里应该实现实际的排液逻辑
|
||||
self.logger.info("排液操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"排液操作失败: {e}")
|
||||
return False
|
||||
|
||||
def pick_up_tip(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
取枪头操作
|
||||
|
||||
Args:
|
||||
location: 枪头位置信息
|
||||
|
||||
Returns:
|
||||
bool: 取枪头是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行取枪头操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行取枪头操作: 位置={location}")
|
||||
# 这里应该实现实际的取枪头逻辑
|
||||
self.logger.info("取枪头操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"取枪头操作失败: {e}")
|
||||
return False
|
||||
|
||||
def drop_tip(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
丢弃枪头操作
|
||||
|
||||
Args:
|
||||
location: 丢弃位置信息
|
||||
|
||||
Returns:
|
||||
bool: 丢弃枪头是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行丢弃枪头操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
|
||||
# 这里应该实现实际的丢弃枪头逻辑
|
||||
self.logger.info("丢弃枪头操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"丢弃枪头操作失败: {e}")
|
||||
return False
|
||||
|
||||
def move_to(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
|
||||
Args:
|
||||
location: 目标位置信息
|
||||
|
||||
Returns:
|
||||
bool: 移动是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行移动操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在移动到位置: {location}")
|
||||
# 这里应该实现实际的移动逻辑
|
||||
self.logger.info("移动操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动操作失败: {e}")
|
||||
return False
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备状态
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 设备状态信息
|
||||
"""
|
||||
return {
|
||||
"connected": self.is_connected,
|
||||
"device_info": self.device_info,
|
||||
"status": "ready" if self.is_connected else "disconnected"
|
||||
}
|
||||
|
||||
# PyLabRobot 抽象方法实现
|
||||
def stop(self):
|
||||
"""停止所有操作"""
|
||||
self.logger.info("停止所有操作")
|
||||
pass
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
"""返回通道数量"""
|
||||
return 1 # 单通道移液器
|
||||
|
||||
def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
|
||||
"""检查是否可以拾取吸头"""
|
||||
return True # 简化实现，总是返回True
|
||||
|
||||
def pick_up_tips(self, tip_rack, tip_positions):
|
||||
"""拾取多个吸头"""
|
||||
self.logger.info(f"拾取吸头: {tip_positions}")
|
||||
pass
|
||||
|
||||
def drop_tips(self, tip_rack, tip_positions):
|
||||
"""丢弃多个吸头"""
|
||||
self.logger.info(f"丢弃吸头: {tip_positions}")
|
||||
pass
|
||||
|
||||
def pick_up_tips96(self, tip_rack):
|
||||
"""拾取96个吸头"""
|
||||
self.logger.info("拾取96个吸头")
|
||||
pass
|
||||
|
||||
def drop_tips96(self, tip_rack):
|
||||
"""丢弃96个吸头"""
|
||||
self.logger.info("丢弃96个吸头")
|
||||
pass
|
||||
|
||||
def aspirate96(self, volume, plate, well_positions):
|
||||
"""96通道吸液"""
|
||||
self.logger.info(f"96通道吸液: 体积={volume}")
|
||||
pass
|
||||
|
||||
def dispense96(self, volume, plate, well_positions):
|
||||
"""96通道排液"""
|
||||
self.logger.info(f"96通道排液: 体积={volume}")
|
||||
pass
|
||||
|
||||
def pick_up_resource(self, resource, location):
|
||||
"""拾取资源"""
|
||||
self.logger.info(f"拾取资源: {resource}")
|
||||
pass
|
||||
|
||||
def drop_resource(self, resource, location):
|
||||
"""放置资源"""
|
||||
self.logger.info(f"放置资源: {resource}")
|
||||
pass
|
||||
|
||||
def move_picked_up_resource(self, resource, location):
|
||||
"""移动已拾取的资源"""
|
||||
self.logger.info(f"移动资源: {resource} 到 {location}")
|
||||
pass
|
||||
|
||||
|
||||
def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
|
||||
"""
|
||||
创建LaiYu液体处理设备后端实例
|
||||
|
||||
Args:
|
||||
name: 后端名称
|
||||
|
||||
Returns:
|
||||
LaiYuLiquidBackend: 后端实例
|
||||
"""
|
||||
return LaiYuLiquidBackend(name)
|
||||
209
unilabos/devices/laiyu_liquid/backend/rviz_backend.py
Normal file
209
unilabos/devices/laiyu_liquid/backend/rviz_backend.py
Normal file
@@ -0,0 +1,209 @@
|
||||
|
||||
import json
|
||||
from typing import List, Optional, Union
|
||||
|
||||
from pylabrobot.liquid_handling.backends.backend import (
|
||||
LiquidHandlerBackend,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
Drop,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationContainer,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadDispenseContainer,
|
||||
MultiHeadDispensePlate,
|
||||
Pickup,
|
||||
PickupTipRack,
|
||||
ResourceDrop,
|
||||
ResourceMove,
|
||||
ResourcePickup,
|
||||
SingleChannelAspiration,
|
||||
SingleChannelDispense,
|
||||
)
|
||||
from pylabrobot.resources import Resource, Tip
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from sensor_msgs.msg import JointState
|
||||
import time
|
||||
from rclpy.action import ActionClient
|
||||
from unilabos_msgs.action import SendCmd
|
||||
import re
|
||||
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
|
||||
|
||||
|
||||
class LiquidHandlerRvizBackend(LiquidHandlerBackend):
|
||||
"""Chatter box backend for device-free testing. Prints out all operations."""
|
||||
|
||||
_pip_length = 5
|
||||
_vol_length = 8
|
||||
_resource_length = 20
|
||||
_offset_length = 16
|
||||
_flow_rate_length = 10
|
||||
_blowout_length = 10
|
||||
_lld_z_length = 10
|
||||
_kwargs_length = 15
|
||||
_tip_type_length = 12
|
||||
_max_volume_length = 16
|
||||
_fitting_depth_length = 20
|
||||
_tip_length_length = 16
|
||||
# _pickup_method_length = 20
|
||||
_filter_length = 10
|
||||
|
||||
def __init__(self, num_channels: int = 8):
|
||||
"""Initialize a chatter box backend."""
|
||||
super().__init__()
|
||||
self._num_channels = num_channels
|
||||
# rclpy.init()
|
||||
if not rclpy.ok():
|
||||
rclpy.init()
|
||||
self.joint_state_publisher = None
|
||||
|
||||
async def setup(self):
|
||||
self.joint_state_publisher = JointStatePublisher()
|
||||
await super().setup()
|
||||
async def stop(self):
|
||||
pass
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
pass
|
||||
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
pass
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}"
|
||||
)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick")
|
||||
# goback()
|
||||
|
||||
|
||||
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash")
|
||||
# goback()
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
# 执行吸液操作
|
||||
pass
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<15}"
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
|
||||
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{LiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<{LiquidHandlerRvizBackend._kwargs_length}}"
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
x = coordinate.x
|
||||
y = coordinate.y
|
||||
z = coordinate.z + 70
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "")
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
pass
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
pass
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
pass
|
||||
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
pass
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
# 执行资源拾取操作
|
||||
pass
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
# 执行资源移动操作
|
||||
pass
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
# 执行资源放置操作
|
||||
pass
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
2620
unilabos/devices/laiyu_liquid/config/deckconfig.json
Normal file
2620
unilabos/devices/laiyu_liquid/config/deckconfig.json
Normal file
File diff suppressed because it is too large
Load Diff
14
unilabos/devices/laiyu_liquid/config/deckconfig.md
Normal file
14
unilabos/devices/laiyu_liquid/config/deckconfig.md
Normal file
@@ -0,0 +1,14 @@
|
||||
goto 171 178 57 H1
|
||||
goto 171 117 57 A1
|
||||
goto 172 178 130
|
||||
goto 173 179 133
|
||||
goto 173 180 133
|
||||
goto 173 180 138
|
||||
goto 173 180 125 （+10mm，在空的上面边缘）
|
||||
goto 173 180 130 取不到
|
||||
goto 173 180 133 取不到
|
||||
goto 173 180 135
|
||||
goto 173 180 137 取到了！！！！
|
||||
goto 173 180 131 弹出枪头 H1
|
||||
|
||||
goto 173 117 137 A1 （+10mm，可以取到新枪头了！！！！）
|
||||
25
unilabos/devices/laiyu_liquid/controllers/__init__.py
Normal file
25
unilabos/devices/laiyu_liquid/controllers/__init__.py
Normal file
@@ -0,0 +1,25 @@
|
||||
"""
|
||||
LaiYu_Liquid 控制器模块
|
||||
|
||||
该模块包含了LaiYu_Liquid液体处理工作站的高级控制器：
|
||||
- 移液器控制器：提供液体处理的高级接口
|
||||
- XYZ运动控制器：提供三轴运动的高级接口
|
||||
"""
|
||||
|
||||
# 移液器控制器导入
|
||||
from .pipette_controller import PipetteController
|
||||
|
||||
# XYZ运动控制器导入
|
||||
from .xyz_controller import XYZController
|
||||
|
||||
__all__ = [
|
||||
# 移液器控制器
|
||||
"PipetteController",
|
||||
|
||||
# XYZ运动控制器
|
||||
"XYZController",
|
||||
]
|
||||
|
||||
__version__ = "1.0.0"
|
||||
__author__ = "LaiYu_Liquid Controller Team"
|
||||
__description__ = "LaiYu_Liquid 高级控制器集合"
|
||||
1073
unilabos/devices/laiyu_liquid/controllers/pipette_controller.py
Normal file
1073
unilabos/devices/laiyu_liquid/controllers/pipette_controller.py
Normal file
File diff suppressed because it is too large
Load Diff
1183
unilabos/devices/laiyu_liquid/controllers/xyz_controller.py
Normal file
1183
unilabos/devices/laiyu_liquid/controllers/xyz_controller.py
Normal file
File diff suppressed because it is too large
Load Diff
44
unilabos/devices/laiyu_liquid/core/__init__.py
Normal file
44
unilabos/devices/laiyu_liquid/core/__init__.py
Normal file
@@ -0,0 +1,44 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
LaiYu液体处理设备核心模块
|
||||
|
||||
该模块包含LaiYu液体处理设备的核心功能组件：
|
||||
- LaiYu_Liquid.py: 主设备类和配置管理
|
||||
- abstract_protocol.py: 抽象协议定义
|
||||
- laiyu_liquid_res.py: 设备资源管理
|
||||
|
||||
作者: UniLab团队
|
||||
版本: 2.0.0
|
||||
"""
|
||||
|
||||
from .laiyu_liquid_main import (
|
||||
LaiYuLiquid,
|
||||
LaiYuLiquidConfig,
|
||||
LaiYuLiquidBackend,
|
||||
LaiYuLiquidDeck,
|
||||
LaiYuLiquidContainer,
|
||||
LaiYuLiquidTipRack,
|
||||
create_quick_setup
|
||||
)
|
||||
|
||||
from .laiyu_liquid_res import (
|
||||
LaiYuLiquidDeck,
|
||||
LaiYuLiquidContainer,
|
||||
LaiYuLiquidTipRack
|
||||
)
|
||||
|
||||
__all__ = [
|
||||
# 主设备类
|
||||
'LaiYuLiquid',
|
||||
'LaiYuLiquidConfig',
|
||||
'LaiYuLiquidBackend',
|
||||
|
||||
# 设备资源
|
||||
'LaiYuLiquidDeck',
|
||||
'LaiYuLiquidContainer',
|
||||
'LaiYuLiquidTipRack',
|
||||
|
||||
# 工具函数
|
||||
'create_quick_setup'
|
||||
]
|
||||
529
unilabos/devices/laiyu_liquid/core/abstract_protocol.py
Normal file
529
unilabos/devices/laiyu_liquid/core/abstract_protocol.py
Normal file
@@ -0,0 +1,529 @@
|
||||
"""
|
||||
LaiYu_Liquid 抽象协议实现
|
||||
|
||||
该模块提供了液体资源管理和转移的抽象协议，包括：
|
||||
- MaterialResource: 液体资源管理类
|
||||
- transfer_liquid: 液体转移函数
|
||||
- 相关的辅助类和函数
|
||||
|
||||
主要功能：
|
||||
- 管理多孔位的液体资源
|
||||
- 计算和跟踪液体体积
|
||||
- 处理液体转移操作
|
||||
- 提供资源状态查询
|
||||
"""
|
||||
|
||||
import logging
|
||||
from typing import Dict, List, Optional, Union, Any, Tuple
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
import uuid
|
||||
import time
|
||||
|
||||
# pylabrobot 导入
|
||||
from pylabrobot.resources import Resource, Well, Plate
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
class LiquidType(Enum):
|
||||
"""液体类型枚举"""
|
||||
WATER = "water"
|
||||
ETHANOL = "ethanol"
|
||||
DMSO = "dmso"
|
||||
BUFFER = "buffer"
|
||||
SAMPLE = "sample"
|
||||
REAGENT = "reagent"
|
||||
WASTE = "waste"
|
||||
UNKNOWN = "unknown"
|
||||
|
||||
|
||||
@dataclass
|
||||
class LiquidInfo:
|
||||
"""液体信息类"""
|
||||
liquid_type: LiquidType = LiquidType.UNKNOWN
|
||||
volume: float = 0.0 # 体积 (μL)
|
||||
concentration: Optional[float] = None # 浓度 (mg/ml, M等)
|
||||
ph: Optional[float] = None # pH值
|
||||
temperature: Optional[float] = None # 温度 (°C)
|
||||
viscosity: Optional[float] = None # 粘度 (cP)
|
||||
density: Optional[float] = None # 密度 (g/ml)
|
||||
description: str = "" # 描述信息
|
||||
|
||||
def __str__(self) -> str:
|
||||
return f"{self.liquid_type.value}({self.description})"
|
||||
|
||||
|
||||
@dataclass
|
||||
class WellContent:
|
||||
"""孔位内容类"""
|
||||
volume: float = 0.0 # 当前体积 (ul)
|
||||
max_volume: float = 1000.0 # 最大容量 (ul)
|
||||
liquid_info: LiquidInfo = field(default_factory=LiquidInfo)
|
||||
last_updated: float = field(default_factory=time.time)
|
||||
|
||||
@property
|
||||
def is_empty(self) -> bool:
|
||||
"""检查是否为空"""
|
||||
return self.volume <= 0.0
|
||||
|
||||
@property
|
||||
def is_full(self) -> bool:
|
||||
"""检查是否已满"""
|
||||
return self.volume >= self.max_volume
|
||||
|
||||
@property
|
||||
def available_volume(self) -> float:
|
||||
"""可用体积"""
|
||||
return max(0.0, self.max_volume - self.volume)
|
||||
|
||||
@property
|
||||
def fill_percentage(self) -> float:
|
||||
"""填充百分比"""
|
||||
return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0
|
||||
|
||||
def can_add_volume(self, volume: float) -> bool:
|
||||
"""检查是否可以添加指定体积"""
|
||||
return (self.volume + volume) <= self.max_volume
|
||||
|
||||
def can_remove_volume(self, volume: float) -> bool:
|
||||
"""检查是否可以移除指定体积"""
|
||||
return self.volume >= volume
|
||||
|
||||
def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool:
|
||||
"""
|
||||
添加液体体积
|
||||
|
||||
Args:
|
||||
volume: 要添加的体积 (ul)
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
bool: 是否成功添加
|
||||
"""
|
||||
if not self.can_add_volume(volume):
|
||||
return False
|
||||
|
||||
self.volume += volume
|
||||
if liquid_info:
|
||||
self.liquid_info = liquid_info
|
||||
self.last_updated = time.time()
|
||||
return True
|
||||
|
||||
def remove_volume(self, volume: float) -> bool:
|
||||
"""
|
||||
移除液体体积
|
||||
|
||||
Args:
|
||||
volume: 要移除的体积 (ul)
|
||||
|
||||
Returns:
|
||||
bool: 是否成功移除
|
||||
"""
|
||||
if not self.can_remove_volume(volume):
|
||||
return False
|
||||
|
||||
self.volume -= volume
|
||||
self.last_updated = time.time()
|
||||
|
||||
# 如果完全清空，重置液体信息
|
||||
if self.volume <= 0.0:
|
||||
self.volume = 0.0
|
||||
self.liquid_info = LiquidInfo()
|
||||
|
||||
return True
|
||||
|
||||
|
||||
class MaterialResource:
|
||||
"""
|
||||
液体资源管理类
|
||||
|
||||
该类用于管理液体处理过程中的资源状态，包括：
|
||||
- 跟踪多个孔位的液体体积和类型
|
||||
- 计算总体积和可用体积
|
||||
- 处理液体的添加和移除
|
||||
- 提供资源状态查询
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
resource: Resource,
|
||||
wells: Optional[List[Well]] = None,
|
||||
default_max_volume: float = 1000.0
|
||||
):
|
||||
"""
|
||||
初始化材料资源
|
||||
|
||||
Args:
|
||||
resource: pylabrobot 资源对象
|
||||
wells: 孔位列表，如果为None则自动获取
|
||||
default_max_volume: 默认最大体积 (ul)
|
||||
"""
|
||||
self.resource = resource
|
||||
self.resource_id = str(uuid.uuid4())
|
||||
self.default_max_volume = default_max_volume
|
||||
|
||||
# 获取孔位列表
|
||||
if wells is None:
|
||||
if hasattr(resource, 'get_wells'):
|
||||
self.wells = resource.get_wells()
|
||||
elif hasattr(resource, 'wells'):
|
||||
self.wells = resource.wells
|
||||
else:
|
||||
# 如果没有孔位，创建一个虚拟孔位
|
||||
self.wells = [resource]
|
||||
else:
|
||||
self.wells = wells
|
||||
|
||||
# 初始化孔位内容
|
||||
self.well_contents: Dict[str, WellContent] = {}
|
||||
for well in self.wells:
|
||||
well_id = self._get_well_id(well)
|
||||
self.well_contents[well_id] = WellContent(
|
||||
max_volume=default_max_volume
|
||||
)
|
||||
|
||||
logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}")
|
||||
|
||||
def _get_well_id(self, well: Union[Well, Resource]) -> str:
|
||||
"""获取孔位ID"""
|
||||
if hasattr(well, 'name'):
|
||||
return well.name
|
||||
else:
|
||||
return str(id(well))
|
||||
|
||||
@property
|
||||
def name(self) -> str:
|
||||
"""资源名称"""
|
||||
return self.resource.name
|
||||
|
||||
@property
|
||||
def total_volume(self) -> float:
|
||||
"""总液体体积"""
|
||||
return sum(content.volume for content in self.well_contents.values())
|
||||
|
||||
@property
|
||||
def total_max_volume(self) -> float:
|
||||
"""总最大容量"""
|
||||
return sum(content.max_volume for content in self.well_contents.values())
|
||||
|
||||
@property
|
||||
def available_volume(self) -> float:
|
||||
"""总可用体积"""
|
||||
return sum(content.available_volume for content in self.well_contents.values())
|
||||
|
||||
@property
|
||||
def well_count(self) -> int:
|
||||
"""孔位数量"""
|
||||
return len(self.wells)
|
||||
|
||||
@property
|
||||
def empty_wells(self) -> List[str]:
|
||||
"""空孔位列表"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if content.is_empty]
|
||||
|
||||
@property
|
||||
def full_wells(self) -> List[str]:
|
||||
"""满孔位列表"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if content.is_full]
|
||||
|
||||
@property
|
||||
def occupied_wells(self) -> List[str]:
|
||||
"""有液体的孔位列表"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if not content.is_empty]
|
||||
|
||||
def get_well_content(self, well_id: str) -> Optional[WellContent]:
|
||||
"""获取指定孔位的内容"""
|
||||
return self.well_contents.get(well_id)
|
||||
|
||||
def get_well_volume(self, well_id: str) -> float:
|
||||
"""获取指定孔位的体积"""
|
||||
content = self.get_well_content(well_id)
|
||||
return content.volume if content else 0.0
|
||||
|
||||
def set_well_volume(
|
||||
self,
|
||||
well_id: str,
|
||||
volume: float,
|
||||
liquid_info: Optional[LiquidInfo] = None
|
||||
) -> bool:
|
||||
"""
|
||||
设置指定孔位的体积
|
||||
|
||||
Args:
|
||||
well_id: 孔位ID
|
||||
volume: 体积 (ul)
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
bool: 是否成功设置
|
||||
"""
|
||||
if well_id not in self.well_contents:
|
||||
logger.error(f"孔位 {well_id} 不存在")
|
||||
return False
|
||||
|
||||
content = self.well_contents[well_id]
|
||||
if volume > content.max_volume:
|
||||
logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}")
|
||||
return False
|
||||
|
||||
content.volume = max(0.0, volume)
|
||||
if liquid_info:
|
||||
content.liquid_info = liquid_info
|
||||
content.last_updated = time.time()
|
||||
|
||||
logger.info(f"设置孔位 {well_id} 体积: {volume}ul")
|
||||
return True
|
||||
|
||||
def add_liquid(
|
||||
self,
|
||||
well_id: str,
|
||||
volume: float,
|
||||
liquid_info: Optional[LiquidInfo] = None
|
||||
) -> bool:
|
||||
"""
|
||||
向指定孔位添加液体
|
||||
|
||||
Args:
|
||||
well_id: 孔位ID
|
||||
volume: 添加的体积 (ul)
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
bool: 是否成功添加
|
||||
"""
|
||||
if well_id not in self.well_contents:
|
||||
logger.error(f"孔位 {well_id} 不存在")
|
||||
return False
|
||||
|
||||
content = self.well_contents[well_id]
|
||||
success = content.add_volume(volume, liquid_info)
|
||||
|
||||
if success:
|
||||
logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体")
|
||||
else:
|
||||
logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体")
|
||||
|
||||
return success
|
||||
|
||||
def remove_liquid(self, well_id: str, volume: float) -> bool:
|
||||
"""
|
||||
从指定孔位移除液体
|
||||
|
||||
Args:
|
||||
well_id: 孔位ID
|
||||
volume: 移除的体积 (ul)
|
||||
|
||||
Returns:
|
||||
bool: 是否成功移除
|
||||
"""
|
||||
if well_id not in self.well_contents:
|
||||
logger.error(f"孔位 {well_id} 不存在")
|
||||
return False
|
||||
|
||||
content = self.well_contents[well_id]
|
||||
success = content.remove_volume(volume)
|
||||
|
||||
if success:
|
||||
logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体")
|
||||
else:
|
||||
logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体")
|
||||
|
||||
return success
|
||||
|
||||
def find_wells_with_volume(self, min_volume: float) -> List[str]:
|
||||
"""
|
||||
查找具有指定最小体积的孔位
|
||||
|
||||
Args:
|
||||
min_volume: 最小体积 (ul)
|
||||
|
||||
Returns:
|
||||
List[str]: 符合条件的孔位ID列表
|
||||
"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if content.volume >= min_volume]
|
||||
|
||||
def find_wells_with_space(self, min_space: float) -> List[str]:
|
||||
"""
|
||||
查找具有指定最小空间的孔位
|
||||
|
||||
Args:
|
||||
min_space: 最小空间 (ul)
|
||||
|
||||
Returns:
|
||||
List[str]: 符合条件的孔位ID列表
|
||||
"""
|
||||
return [well_id for well_id, content in self.well_contents.items()
|
||||
if content.available_volume >= min_space]
|
||||
|
||||
def get_status_summary(self) -> Dict[str, Any]:
|
||||
"""获取资源状态摘要"""
|
||||
return {
|
||||
"resource_name": self.name,
|
||||
"resource_id": self.resource_id,
|
||||
"well_count": self.well_count,
|
||||
"total_volume": self.total_volume,
|
||||
"total_max_volume": self.total_max_volume,
|
||||
"available_volume": self.available_volume,
|
||||
"fill_percentage": (self.total_volume / self.total_max_volume) * 100.0,
|
||||
"empty_wells": len(self.empty_wells),
|
||||
"full_wells": len(self.full_wells),
|
||||
"occupied_wells": len(self.occupied_wells)
|
||||
}
|
||||
|
||||
def get_detailed_status(self) -> Dict[str, Any]:
|
||||
"""获取详细状态信息"""
|
||||
well_details = {}
|
||||
for well_id, content in self.well_contents.items():
|
||||
well_details[well_id] = {
|
||||
"volume": content.volume,
|
||||
"max_volume": content.max_volume,
|
||||
"available_volume": content.available_volume,
|
||||
"fill_percentage": content.fill_percentage,
|
||||
"liquid_type": content.liquid_info.liquid_type.value,
|
||||
"description": content.liquid_info.description,
|
||||
"last_updated": content.last_updated
|
||||
}
|
||||
|
||||
return {
|
||||
"summary": self.get_status_summary(),
|
||||
"wells": well_details
|
||||
}
|
||||
|
||||
|
||||
def transfer_liquid(
|
||||
source: MaterialResource,
|
||||
target: MaterialResource,
|
||||
volume: float,
|
||||
source_well_id: Optional[str] = None,
|
||||
target_well_id: Optional[str] = None,
|
||||
liquid_info: Optional[LiquidInfo] = None
|
||||
) -> bool:
|
||||
"""
|
||||
在两个材料资源之间转移液体
|
||||
|
||||
Args:
|
||||
source: 源资源
|
||||
target: 目标资源
|
||||
volume: 转移体积 (ul)
|
||||
source_well_id: 源孔位ID，如果为None则自动选择
|
||||
target_well_id: 目标孔位ID，如果为None则自动选择
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
bool: 转移是否成功
|
||||
"""
|
||||
try:
|
||||
# 自动选择源孔位
|
||||
if source_well_id is None:
|
||||
available_wells = source.find_wells_with_volume(volume)
|
||||
if not available_wells:
|
||||
logger.error(f"源资源 {source.name} 没有足够体积的孔位")
|
||||
return False
|
||||
source_well_id = available_wells[0]
|
||||
|
||||
# 自动选择目标孔位
|
||||
if target_well_id is None:
|
||||
available_wells = target.find_wells_with_space(volume)
|
||||
if not available_wells:
|
||||
logger.error(f"目标资源 {target.name} 没有足够空间的孔位")
|
||||
return False
|
||||
target_well_id = available_wells[0]
|
||||
|
||||
# 检查源孔位是否有足够液体
|
||||
if not source.get_well_content(source_well_id).can_remove_volume(volume):
|
||||
logger.error(f"源孔位 {source_well_id} 液体不足")
|
||||
return False
|
||||
|
||||
# 检查目标孔位是否有足够空间
|
||||
if not target.get_well_content(target_well_id).can_add_volume(volume):
|
||||
logger.error(f"目标孔位 {target_well_id} 空间不足")
|
||||
return False
|
||||
|
||||
# 获取源液体信息
|
||||
source_content = source.get_well_content(source_well_id)
|
||||
transfer_liquid_info = liquid_info or source_content.liquid_info
|
||||
|
||||
# 执行转移
|
||||
if source.remove_liquid(source_well_id, volume):
|
||||
if target.add_liquid(target_well_id, volume, transfer_liquid_info):
|
||||
logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]")
|
||||
return True
|
||||
else:
|
||||
# 如果目标添加失败，回滚源操作
|
||||
source.add_liquid(source_well_id, volume, source_content.liquid_info)
|
||||
logger.error("目标添加失败，已回滚源操作")
|
||||
return False
|
||||
else:
|
||||
logger.error("源移除失败")
|
||||
return False
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"液体转移失败: {e}")
|
||||
return False
|
||||
|
||||
|
||||
def create_material_resource(
|
||||
name: str,
|
||||
resource: Resource,
|
||||
initial_volumes: Optional[Dict[str, float]] = None,
|
||||
liquid_info: Optional[LiquidInfo] = None,
|
||||
max_volume: float = 1000.0
|
||||
) -> MaterialResource:
|
||||
"""
|
||||
创建材料资源的便捷函数
|
||||
|
||||
Args:
|
||||
name: 资源名称
|
||||
resource: pylabrobot 资源对象
|
||||
initial_volumes: 初始体积字典 {well_id: volume}
|
||||
liquid_info: 液体信息
|
||||
max_volume: 最大体积
|
||||
|
||||
Returns:
|
||||
MaterialResource: 创建的材料资源
|
||||
"""
|
||||
material_resource = MaterialResource(
|
||||
resource=resource,
|
||||
default_max_volume=max_volume
|
||||
)
|
||||
|
||||
# 设置初始体积
|
||||
if initial_volumes:
|
||||
for well_id, volume in initial_volumes.items():
|
||||
material_resource.set_well_volume(well_id, volume, liquid_info)
|
||||
|
||||
return material_resource
|
||||
|
||||
|
||||
def batch_transfer_liquid(
|
||||
transfers: List[Tuple[MaterialResource, MaterialResource, float]],
|
||||
liquid_info: Optional[LiquidInfo] = None
|
||||
) -> List[bool]:
|
||||
"""
|
||||
批量液体转移
|
||||
|
||||
Args:
|
||||
transfers: 转移列表 [(source, target, volume), ...]
|
||||
liquid_info: 液体信息
|
||||
|
||||
Returns:
|
||||
List[bool]: 每个转移操作的结果
|
||||
"""
|
||||
results = []
|
||||
|
||||
for source, target, volume in transfers:
|
||||
result = transfer_liquid(source, target, volume, liquid_info=liquid_info)
|
||||
results.append(result)
|
||||
|
||||
if not result:
|
||||
logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}")
|
||||
|
||||
success_count = sum(results)
|
||||
logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功")
|
||||
|
||||
return results
|
||||
881
unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
Normal file
881
unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
Normal file
@@ -0,0 +1,881 @@
|
||||
"""
|
||||
LaiYu_Liquid 液体处理工作站主要集成文件
|
||||
|
||||
该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。
|
||||
主要包含：
|
||||
- LaiYuLiquidBackend: 硬件通信后端
|
||||
- LaiYuLiquid: 主要接口类
|
||||
- 相关的异常类和容器类
|
||||
"""
|
||||
|
||||
import asyncio
|
||||
import logging
|
||||
import time
|
||||
from typing import List, Optional, Dict, Any, Union, Tuple
|
||||
from dataclasses import dataclass
|
||||
from abc import ABC, abstractmethod
|
||||
|
||||
# 基础导入
|
||||
try:
|
||||
from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
except ImportError:
|
||||
# 如果 pylabrobot 不可用，创建基础的模拟类
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
|
||||
class Resource:
|
||||
def __init__(self, name: str):
|
||||
self.name = name
|
||||
|
||||
class Deck(Resource):
|
||||
pass
|
||||
|
||||
class Plate(Resource):
|
||||
pass
|
||||
|
||||
class TipRack(Resource):
|
||||
pass
|
||||
|
||||
class Tip(Resource):
|
||||
pass
|
||||
|
||||
class Well(Resource):
|
||||
pass
|
||||
|
||||
# LaiYu_Liquid 控制器导入
|
||||
try:
|
||||
from .controllers.pipette_controller import (
|
||||
PipetteController, TipStatus, LiquidClass, LiquidParameters
|
||||
)
|
||||
from .controllers.xyz_controller import (
|
||||
XYZController, MachineConfig, CoordinateOrigin, MotorAxis
|
||||
)
|
||||
CONTROLLERS_AVAILABLE = True
|
||||
except ImportError:
|
||||
CONTROLLERS_AVAILABLE = False
|
||||
# 创建模拟的控制器类
|
||||
class PipetteController:
|
||||
def __init__(self, *args, **kwargs):
|
||||
pass
|
||||
|
||||
def connect(self):
|
||||
return True
|
||||
|
||||
def initialize(self):
|
||||
return True
|
||||
|
||||
class XYZController:
|
||||
def __init__(self, *args, **kwargs):
|
||||
pass
|
||||
|
||||
def connect_device(self):
|
||||
return True
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
class LaiYuLiquidError(RuntimeError):
|
||||
"""LaiYu_Liquid 设备异常"""
|
||||
pass
|
||||
|
||||
|
||||
@dataclass
|
||||
class LaiYuLiquidConfig:
|
||||
"""LaiYu_Liquid 设备配置"""
|
||||
port: str = "/dev/cu.usbserial-3130" # RS485转USB端口
|
||||
address: int = 1 # 设备地址
|
||||
baudrate: int = 9600 # 波特率
|
||||
timeout: float = 5.0 # 通信超时时间
|
||||
|
||||
# 工作台尺寸
|
||||
deck_width: float = 340.0 # 工作台宽度 (mm)
|
||||
deck_height: float = 250.0 # 工作台高度 (mm)
|
||||
deck_depth: float = 160.0 # 工作台深度 (mm)
|
||||
|
||||
# 移液参数
|
||||
max_volume: float = 1000.0 # 最大体积 (μL)
|
||||
min_volume: float = 0.1 # 最小体积 (μL)
|
||||
|
||||
# 运动参数
|
||||
max_speed: float = 100.0 # 最大速度 (mm/s)
|
||||
acceleration: float = 50.0 # 加速度 (mm/s²)
|
||||
|
||||
# 安全参数
|
||||
safe_height: float = 50.0 # 安全高度 (mm)
|
||||
tip_pickup_depth: float = 10.0 # 吸头拾取深度 (mm)
|
||||
liquid_detection: bool = True # 液面检测
|
||||
|
||||
# 取枪头相关参数
|
||||
tip_pickup_speed: int = 30 # 取枪头时的移动速度 (rpm)
|
||||
tip_pickup_acceleration: int = 500 # 取枪头时的加速度 (rpm/s)
|
||||
tip_approach_height: float = 5.0 # 接近枪头时的高度 (mm)
|
||||
tip_pickup_force_depth: float = 2.0 # 强制插入深度 (mm)
|
||||
tip_pickup_retract_height: float = 20.0 # 取枪头后的回退高度 (mm)
|
||||
|
||||
# 丢弃枪头相关参数
|
||||
tip_drop_height: float = 10.0 # 丢弃枪头时的高度 (mm)
|
||||
tip_drop_speed: int = 50 # 丢弃枪头时的移动速度 (rpm)
|
||||
trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0) # 垃圾桶位置 (mm)
|
||||
|
||||
# 安全范围配置
|
||||
deck_width: float = 300.0 # 工作台宽度 (mm)
|
||||
deck_height: float = 200.0 # 工作台高度 (mm)
|
||||
deck_depth: float = 100.0 # 工作台深度 (mm)
|
||||
safe_height: float = 50.0 # 安全高度 (mm)
|
||||
position_validation: bool = True # 启用位置验证
|
||||
emergency_stop_enabled: bool = True # 启用紧急停止
|
||||
|
||||
|
||||
class LaiYuLiquidDeck:
|
||||
"""LaiYu_Liquid 工作台管理"""
|
||||
|
||||
def __init__(self, config: LaiYuLiquidConfig):
|
||||
self.config = config
|
||||
self.resources: Dict[str, Resource] = {}
|
||||
self.positions: Dict[str, Tuple[float, float, float]] = {}
|
||||
|
||||
def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]):
|
||||
"""添加资源到工作台"""
|
||||
self.resources[name] = resource
|
||||
self.positions[name] = position
|
||||
|
||||
def get_resource(self, name: str) -> Optional[Resource]:
|
||||
"""获取资源"""
|
||||
return self.resources.get(name)
|
||||
|
||||
def get_position(self, name: str) -> Optional[Tuple[float, float, float]]:
|
||||
"""获取资源位置"""
|
||||
return self.positions.get(name)
|
||||
|
||||
def list_resources(self) -> List[str]:
|
||||
"""列出所有资源"""
|
||||
return list(self.resources.keys())
|
||||
|
||||
|
||||
class LaiYuLiquidContainer:
|
||||
"""LaiYu_Liquid 容器类"""
|
||||
|
||||
def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0):
|
||||
self.name = name
|
||||
self.size_x = size_x
|
||||
self.size_y = size_y
|
||||
self.size_z = size_z
|
||||
self.lid_height = lid_height
|
||||
self.container_type = container_type
|
||||
self.volume = volume
|
||||
self.max_volume = max_volume
|
||||
self.last_updated = time.time()
|
||||
self.child_resources = {} # 存储子资源
|
||||
|
||||
@property
|
||||
def is_empty(self) -> bool:
|
||||
return self.volume <= 0.0
|
||||
|
||||
@property
|
||||
def is_full(self) -> bool:
|
||||
return self.volume >= self.max_volume
|
||||
|
||||
@property
|
||||
def available_volume(self) -> float:
|
||||
return max(0.0, self.max_volume - self.volume)
|
||||
|
||||
def add_volume(self, volume: float) -> bool:
|
||||
"""添加体积"""
|
||||
if self.volume + volume <= self.max_volume:
|
||||
self.volume += volume
|
||||
self.last_updated = time.time()
|
||||
return True
|
||||
return False
|
||||
|
||||
def remove_volume(self, volume: float) -> bool:
|
||||
"""移除体积"""
|
||||
if self.volume >= volume:
|
||||
self.volume -= volume
|
||||
self.last_updated = time.time()
|
||||
return True
|
||||
return False
|
||||
|
||||
def assign_child_resource(self, resource, location=None):
|
||||
"""分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
|
||||
if hasattr(resource, 'name'):
|
||||
self.child_resources[resource.name] = {
|
||||
'resource': resource,
|
||||
'location': location
|
||||
}
|
||||
|
||||
|
||||
class LaiYuLiquidTipRack:
|
||||
"""LaiYu_Liquid 吸头架类"""
|
||||
|
||||
def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0):
|
||||
self.name = name
|
||||
self.size_x = size_x
|
||||
self.size_y = size_y
|
||||
self.size_z = size_z
|
||||
self.tip_count = tip_count
|
||||
self.tip_volume = tip_volume
|
||||
self.tips_available = [True] * tip_count
|
||||
self.child_resources = {} # 存储子资源
|
||||
|
||||
@property
|
||||
def available_tips(self) -> int:
|
||||
return sum(self.tips_available)
|
||||
|
||||
@property
|
||||
def is_empty(self) -> bool:
|
||||
return self.available_tips == 0
|
||||
|
||||
def pick_tip(self, position: int) -> bool:
|
||||
"""拾取吸头"""
|
||||
if 0 <= position < self.tip_count and self.tips_available[position]:
|
||||
self.tips_available[position] = False
|
||||
return True
|
||||
return False
|
||||
|
||||
def has_tip(self, position: int) -> bool:
|
||||
"""检查位置是否有吸头"""
|
||||
if 0 <= position < self.tip_count:
|
||||
return self.tips_available[position]
|
||||
return False
|
||||
|
||||
def assign_child_resource(self, resource, location=None):
|
||||
"""分配子资源到指定位置"""
|
||||
self.child_resources[resource.name] = {
|
||||
'resource': resource,
|
||||
'location': location
|
||||
}
|
||||
|
||||
|
||||
def get_module_info():
|
||||
"""获取模块信息"""
|
||||
return {
|
||||
"name": "LaiYu_Liquid",
|
||||
"version": "1.0.0",
|
||||
"description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
|
||||
"author": "UniLabOS Team",
|
||||
"capabilities": [
|
||||
"移液器控制",
|
||||
"XYZ轴运动控制",
|
||||
"吸头架管理",
|
||||
"板和容器管理",
|
||||
"资源位置管理"
|
||||
],
|
||||
"dependencies": {
|
||||
"required": ["serial"],
|
||||
"optional": ["pylabrobot"]
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
class LaiYuLiquidBackend:
|
||||
"""LaiYu_Liquid 硬件通信后端"""
|
||||
|
||||
def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None):
|
||||
self.config = config
|
||||
self.deck = deck # 工作台引用，用于获取资源位置信息
|
||||
self.pipette_controller = None
|
||||
self.xyz_controller = None
|
||||
self.is_connected = False
|
||||
self.is_initialized = False
|
||||
|
||||
# 状态跟踪
|
||||
self.current_position = (0.0, 0.0, 0.0)
|
||||
self.tip_attached = False
|
||||
self.current_volume = 0.0
|
||||
|
||||
def _validate_position(self, x: float, y: float, z: float) -> bool:
|
||||
"""验证位置是否在安全范围内"""
|
||||
try:
|
||||
# 检查X轴范围
|
||||
if not (0 <= x <= self.config.deck_width):
|
||||
logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]")
|
||||
return False
|
||||
|
||||
# 检查Y轴范围
|
||||
if not (0 <= y <= self.config.deck_height):
|
||||
logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]")
|
||||
return False
|
||||
|
||||
# 检查Z轴范围（负值表示向下，0为工作台表面）
|
||||
if not (-self.config.deck_depth <= z <= self.config.safe_height):
|
||||
logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]")
|
||||
return False
|
||||
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"位置验证失败: {e}")
|
||||
return False
|
||||
|
||||
def _check_hardware_ready(self) -> bool:
|
||||
"""检查硬件是否准备就绪"""
|
||||
if not self.is_connected:
|
||||
logger.error("设备未连接")
|
||||
return False
|
||||
|
||||
if CONTROLLERS_AVAILABLE:
|
||||
if self.xyz_controller is None:
|
||||
logger.error("XYZ控制器未初始化")
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
async def emergency_stop(self) -> bool:
|
||||
"""紧急停止所有运动"""
|
||||
try:
|
||||
logger.warning("执行紧急停止")
|
||||
|
||||
if CONTROLLERS_AVAILABLE and self.xyz_controller:
|
||||
# 停止XYZ控制器
|
||||
await self.xyz_controller.stop_all_motion()
|
||||
logger.info("XYZ控制器已停止")
|
||||
|
||||
if self.pipette_controller:
|
||||
# 停止移液器控制器
|
||||
await self.pipette_controller.stop()
|
||||
logger.info("移液器控制器已停止")
|
||||
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"紧急停止失败: {e}")
|
||||
return False
|
||||
|
||||
async def move_to_safe_position(self) -> bool:
|
||||
"""移动到安全位置"""
|
||||
try:
|
||||
if not self._check_hardware_ready():
|
||||
return False
|
||||
|
||||
safe_position = (
|
||||
self.config.deck_width / 2, # 工作台中心X
|
||||
self.config.deck_height / 2, # 工作台中心Y
|
||||
self.config.safe_height # 安全高度Z
|
||||
)
|
||||
|
||||
if not self._validate_position(*safe_position):
|
||||
logger.error("安全位置无效")
|
||||
return False
|
||||
|
||||
if CONTROLLERS_AVAILABLE and self.xyz_controller:
|
||||
await self.xyz_controller.move_to_work_coord(*safe_position)
|
||||
self.current_position = safe_position
|
||||
logger.info(f"已移动到安全位置: {safe_position}")
|
||||
return True
|
||||
else:
|
||||
# 模拟模式
|
||||
self.current_position = safe_position
|
||||
logger.info("模拟移动到安全位置")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"移动到安全位置失败: {e}")
|
||||
return False
|
||||
|
||||
async def setup(self) -> bool:
|
||||
"""设置硬件连接"""
|
||||
try:
|
||||
if CONTROLLERS_AVAILABLE:
|
||||
# 初始化移液器控制器
|
||||
self.pipette_controller = PipetteController(
|
||||
port=self.config.port,
|
||||
address=self.config.address
|
||||
)
|
||||
|
||||
# 初始化XYZ控制器
|
||||
machine_config = MachineConfig()
|
||||
self.xyz_controller = XYZController(
|
||||
port=self.config.port,
|
||||
baudrate=self.config.baudrate,
|
||||
machine_config=machine_config
|
||||
)
|
||||
|
||||
# 连接设备
|
||||
pipette_connected = await asyncio.to_thread(self.pipette_controller.connect)
|
||||
xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device)
|
||||
|
||||
if pipette_connected and xyz_connected:
|
||||
self.is_connected = True
|
||||
logger.info("LaiYu_Liquid 硬件连接成功")
|
||||
return True
|
||||
else:
|
||||
logger.error("LaiYu_Liquid 硬件连接失败")
|
||||
return False
|
||||
else:
|
||||
# 模拟模式
|
||||
logger.info("LaiYu_Liquid 运行在模拟模式")
|
||||
self.is_connected = True
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"LaiYu_Liquid 设置失败: {e}")
|
||||
return False
|
||||
|
||||
async def stop(self):
|
||||
"""停止设备"""
|
||||
try:
|
||||
if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'):
|
||||
await asyncio.to_thread(self.pipette_controller.disconnect)
|
||||
|
||||
if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'):
|
||||
await asyncio.to_thread(self.xyz_controller.disconnect)
|
||||
|
||||
self.is_connected = False
|
||||
self.is_initialized = False
|
||||
logger.info("LaiYu_Liquid 已停止")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"LaiYu_Liquid 停止失败: {e}")
|
||||
|
||||
async def move_to(self, x: float, y: float, z: float) -> bool:
|
||||
"""移动到指定位置"""
|
||||
try:
|
||||
if not self.is_connected:
|
||||
raise LaiYuLiquidError("设备未连接")
|
||||
|
||||
# 模拟移动
|
||||
await asyncio.sleep(0.1) # 模拟移动时间
|
||||
self.current_position = (x, y, z)
|
||||
logger.debug(f"移动到位置: ({x}, {y}, {z})")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"移动失败: {e}")
|
||||
return False
|
||||
|
||||
async def pick_up_tip(self, tip_rack: str, position: int) -> bool:
|
||||
"""拾取吸头 - 包含真正的Z轴下降控制"""
|
||||
try:
|
||||
# 硬件准备检查
|
||||
if not self._check_hardware_ready():
|
||||
return False
|
||||
|
||||
if self.tip_attached:
|
||||
logger.warning("已有吸头附着，无法拾取新吸头")
|
||||
return False
|
||||
|
||||
logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头")
|
||||
|
||||
# 获取枪头架位置信息
|
||||
if self.deck is None:
|
||||
logger.error("工作台未初始化")
|
||||
return False
|
||||
|
||||
tip_position = self.deck.get_position(tip_rack)
|
||||
if tip_position is None:
|
||||
logger.error(f"未找到枪头架 {tip_rack} 的位置信息")
|
||||
return False
|
||||
|
||||
# 计算具体枪头位置（这里简化处理，实际应根据position计算偏移）
|
||||
tip_x, tip_y, tip_z = tip_position
|
||||
|
||||
# 验证所有关键位置的安全性
|
||||
safe_z = tip_z + self.config.tip_approach_height
|
||||
pickup_z = tip_z - self.config.tip_pickup_force_depth
|
||||
retract_z = tip_z + self.config.tip_pickup_retract_height
|
||||
|
||||
if not (self._validate_position(tip_x, tip_y, safe_z) and
|
||||
self._validate_position(tip_x, tip_y, pickup_z) and
|
||||
self._validate_position(tip_x, tip_y, retract_z)):
|
||||
logger.error("枪头拾取位置超出安全范围")
|
||||
return False
|
||||
|
||||
if CONTROLLERS_AVAILABLE and self.xyz_controller:
|
||||
# 真实硬件控制流程
|
||||
logger.info("使用真实XYZ控制器进行枪头拾取")
|
||||
|
||||
try:
|
||||
# 1. 移动到枪头上方的安全位置
|
||||
safe_z = tip_z + self.config.tip_approach_height
|
||||
logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
|
||||
move_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord,
|
||||
tip_x, tip_y, safe_z
|
||||
)
|
||||
if not move_success:
|
||||
logger.error("移动到枪头上方失败")
|
||||
return False
|
||||
|
||||
# 2. Z轴下降到枪头位置
|
||||
pickup_z = tip_z - self.config.tip_pickup_force_depth
|
||||
logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
|
||||
z_down_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord,
|
||||
tip_x, tip_y, pickup_z
|
||||
)
|
||||
if not z_down_success:
|
||||
logger.error("Z轴下降到枪头位置失败")
|
||||
return False
|
||||
|
||||
# 3. 等待一小段时间确保枪头牢固附着
|
||||
await asyncio.sleep(0.2)
|
||||
|
||||
# 4. Z轴上升到回退高度
|
||||
retract_z = tip_z + self.config.tip_pickup_retract_height
|
||||
logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
|
||||
z_up_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord,
|
||||
tip_x, tip_y, retract_z
|
||||
)
|
||||
if not z_up_success:
|
||||
logger.error("Z轴上升失败")
|
||||
return False
|
||||
|
||||
# 5. 更新当前位置
|
||||
self.current_position = (tip_x, tip_y, retract_z)
|
||||
|
||||
except Exception as move_error:
|
||||
logger.error(f"枪头拾取过程中发生错误: {move_error}")
|
||||
# 尝试移动到安全位置
|
||||
if self.config.emergency_stop_enabled:
|
||||
await self.emergency_stop()
|
||||
await self.move_to_safe_position()
|
||||
return False
|
||||
|
||||
else:
|
||||
# 模拟模式
|
||||
logger.info("模拟模式：执行枪头拾取动作")
|
||||
await asyncio.sleep(1.0) # 模拟整个拾取过程的时间
|
||||
self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
|
||||
|
||||
# 6. 标记枪头已附着
|
||||
self.tip_attached = True
|
||||
logger.info("吸头拾取成功")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"拾取吸头失败: {e}")
|
||||
return False
|
||||
|
||||
async def drop_tip(self, location: str = "trash") -> bool:
|
||||
"""丢弃吸头 - 包含真正的Z轴控制"""
|
||||
try:
|
||||
# 硬件准备检查
|
||||
if not self._check_hardware_ready():
|
||||
return False
|
||||
|
||||
if not self.tip_attached:
|
||||
logger.warning("没有吸头附着，无需丢弃")
|
||||
return True
|
||||
|
||||
logger.info(f"开始丢弃吸头到 {location}")
|
||||
|
||||
# 确定丢弃位置
|
||||
if location == "trash":
|
||||
# 使用配置中的垃圾桶位置
|
||||
drop_x, drop_y, drop_z = self.config.trash_position
|
||||
else:
|
||||
# 尝试从deck获取指定位置
|
||||
if self.deck is None:
|
||||
logger.error("工作台未初始化")
|
||||
return False
|
||||
|
||||
drop_position = self.deck.get_position(location)
|
||||
if drop_position is None:
|
||||
logger.error(f"未找到丢弃位置 {location} 的信息")
|
||||
return False
|
||||
drop_x, drop_y, drop_z = drop_position
|
||||
|
||||
# 验证丢弃位置的安全性
|
||||
safe_z = drop_z + self.config.safe_height
|
||||
drop_height_z = drop_z + self.config.tip_drop_height
|
||||
|
||||
if not (self._validate_position(drop_x, drop_y, safe_z) and
|
||||
self._validate_position(drop_x, drop_y, drop_height_z)):
|
||||
logger.error("枪头丢弃位置超出安全范围")
|
||||
return False
|
||||
|
||||
if CONTROLLERS_AVAILABLE and self.xyz_controller:
|
||||
# 真实硬件控制流程
|
||||
logger.info("使用真实XYZ控制器进行枪头丢弃")
|
||||
|
||||
try:
|
||||
# 1. 移动到丢弃位置上方的安全高度
|
||||
safe_z = drop_z + self.config.tip_drop_height
|
||||
logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
|
||||
move_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord,
|
||||
drop_x, drop_y, safe_z
|
||||
)
|
||||
if not move_success:
|
||||
logger.error("移动到丢弃位置上方失败")
|
||||
return False
|
||||
|
||||
# 2. Z轴下降到丢弃高度
|
||||
logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
|
||||
z_down_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord,
|
||||
drop_x, drop_y, drop_z
|
||||
)
|
||||
if not z_down_success:
|
||||
logger.error("Z轴下降到丢弃位置失败")
|
||||
return False
|
||||
|
||||
# 3. 执行枪头弹出动作（如果有移液器控制器）
|
||||
if self.pipette_controller:
|
||||
try:
|
||||
# 发送弹出枪头命令
|
||||
await asyncio.to_thread(self.pipette_controller.eject_tip)
|
||||
logger.info("执行枪头弹出命令")
|
||||
except Exception as e:
|
||||
logger.warning(f"枪头弹出命令失败: {e}")
|
||||
|
||||
# 4. 等待一小段时间确保枪头完全脱离
|
||||
await asyncio.sleep(0.3)
|
||||
|
||||
# 5. Z轴上升到安全高度
|
||||
logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
|
||||
z_up_success = await asyncio.to_thread(
|
||||
self.xyz_controller.move_to_work_coord,
|
||||
drop_x, drop_y, safe_z
|
||||
)
|
||||
if not z_up_success:
|
||||
logger.error("Z轴上升失败")
|
||||
return False
|
||||
|
||||
# 6. 更新当前位置
|
||||
self.current_position = (drop_x, drop_y, safe_z)
|
||||
|
||||
except Exception as drop_error:
|
||||
logger.error(f"枪头丢弃过程中发生错误: {drop_error}")
|
||||
# 尝试移动到安全位置
|
||||
if self.config.emergency_stop_enabled:
|
||||
await self.emergency_stop()
|
||||
await self.move_to_safe_position()
|
||||
return False
|
||||
|
||||
else:
|
||||
# 模拟模式
|
||||
logger.info("模拟模式：执行枪头丢弃动作")
|
||||
await asyncio.sleep(0.8) # 模拟整个丢弃过程的时间
|
||||
self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
|
||||
|
||||
# 7. 标记枪头已脱离，清空体积
|
||||
self.tip_attached = False
|
||||
self.current_volume = 0.0
|
||||
logger.info("吸头丢弃成功")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"丢弃吸头失败: {e}")
|
||||
return False
|
||||
|
||||
async def aspirate(self, volume: float, location: str) -> bool:
|
||||
"""吸取液体"""
|
||||
try:
|
||||
if not self.is_connected:
|
||||
raise LaiYuLiquidError("设备未连接")
|
||||
|
||||
if not self.tip_attached:
|
||||
raise LaiYuLiquidError("没有吸头附着")
|
||||
|
||||
if volume <= 0 or volume > self.config.max_volume:
|
||||
raise LaiYuLiquidError(f"体积超出范围: {volume}")
|
||||
|
||||
# 模拟吸取
|
||||
await asyncio.sleep(0.3)
|
||||
self.current_volume += volume
|
||||
logger.debug(f"从 {location} 吸取 {volume} μL")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"吸取失败: {e}")
|
||||
return False
|
||||
|
||||
async def dispense(self, volume: float, location: str) -> bool:
|
||||
"""分配液体"""
|
||||
try:
|
||||
if not self.is_connected:
|
||||
raise LaiYuLiquidError("设备未连接")
|
||||
|
||||
if not self.tip_attached:
|
||||
raise LaiYuLiquidError("没有吸头附着")
|
||||
|
||||
if volume <= 0 or volume > self.current_volume:
|
||||
raise LaiYuLiquidError(f"分配体积无效: {volume}")
|
||||
|
||||
# 模拟分配
|
||||
await asyncio.sleep(0.3)
|
||||
self.current_volume -= volume
|
||||
logger.debug(f"向 {location} 分配 {volume} μL")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"分配失败: {e}")
|
||||
return False
|
||||
|
||||
|
||||
class LaiYuLiquid:
|
||||
"""LaiYu_Liquid 主要接口类"""
|
||||
|
||||
def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs):
|
||||
# 如果传入了关键字参数，创建配置对象
|
||||
if kwargs and config is None:
|
||||
# 从kwargs中提取配置参数
|
||||
config_params = {}
|
||||
for key, value in kwargs.items():
|
||||
if hasattr(LaiYuLiquidConfig, key):
|
||||
config_params[key] = value
|
||||
self.config = LaiYuLiquidConfig(**config_params)
|
||||
else:
|
||||
self.config = config or LaiYuLiquidConfig()
|
||||
|
||||
# 先创建deck，然后传递给backend
|
||||
self.deck = LaiYuLiquidDeck(self.config)
|
||||
self.backend = LaiYuLiquidBackend(self.config, self.deck)
|
||||
self.is_setup = False
|
||||
|
||||
@property
|
||||
def current_position(self) -> Tuple[float, float, float]:
|
||||
"""获取当前位置"""
|
||||
return self.backend.current_position
|
||||
|
||||
@property
|
||||
def current_volume(self) -> float:
|
||||
"""获取当前体积"""
|
||||
return self.backend.current_volume
|
||||
|
||||
@property
|
||||
def is_connected(self) -> bool:
|
||||
"""获取连接状态"""
|
||||
return self.backend.is_connected
|
||||
|
||||
@property
|
||||
def is_initialized(self) -> bool:
|
||||
"""获取初始化状态"""
|
||||
return self.backend.is_initialized
|
||||
|
||||
@property
|
||||
def tip_attached(self) -> bool:
|
||||
"""获取吸头附着状态"""
|
||||
return self.backend.tip_attached
|
||||
|
||||
async def setup(self) -> bool:
|
||||
"""设置液体处理器"""
|
||||
try:
|
||||
success = await self.backend.setup()
|
||||
if success:
|
||||
self.is_setup = True
|
||||
logger.info("LaiYu_Liquid 设置完成")
|
||||
return success
|
||||
except Exception as e:
|
||||
logger.error(f"LaiYu_Liquid 设置失败: {e}")
|
||||
return False
|
||||
|
||||
async def stop(self):
|
||||
"""停止液体处理器"""
|
||||
await self.backend.stop()
|
||||
self.is_setup = False
|
||||
|
||||
async def transfer(self, source: str, target: str, volume: float,
|
||||
tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool:
|
||||
"""液体转移"""
|
||||
try:
|
||||
if not self.is_setup:
|
||||
raise LaiYuLiquidError("设备未设置")
|
||||
|
||||
# 获取源和目标位置
|
||||
source_pos = self.deck.get_position(source)
|
||||
target_pos = self.deck.get_position(target)
|
||||
tip_pos = self.deck.get_position(tip_rack)
|
||||
|
||||
if not all([source_pos, target_pos, tip_pos]):
|
||||
raise LaiYuLiquidError("位置信息不完整")
|
||||
|
||||
# 执行转移步骤
|
||||
steps = [
|
||||
("移动到吸头架", self.backend.move_to(*tip_pos)),
|
||||
("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)),
|
||||
("移动到源位置", self.backend.move_to(*source_pos)),
|
||||
("吸取液体", self.backend.aspirate(volume, source)),
|
||||
("移动到目标位置", self.backend.move_to(*target_pos)),
|
||||
("分配液体", self.backend.dispense(volume, target)),
|
||||
("丢弃吸头", self.backend.drop_tip())
|
||||
]
|
||||
|
||||
for step_name, step_coro in steps:
|
||||
logger.debug(f"执行步骤: {step_name}")
|
||||
success = await step_coro
|
||||
if not success:
|
||||
raise LaiYuLiquidError(f"步骤失败: {step_name}")
|
||||
|
||||
logger.info(f"液体转移完成: {source} -> {target}, {volume} μL")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"液体转移失败: {e}")
|
||||
return False
|
||||
|
||||
def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]):
|
||||
"""添加资源到工作台"""
|
||||
if resource_type == "plate":
|
||||
resource = Plate(name)
|
||||
elif resource_type == "tip_rack":
|
||||
resource = TipRack(name)
|
||||
else:
|
||||
resource = Resource(name)
|
||||
|
||||
self.deck.add_resource(name, resource, position)
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""获取设备状态"""
|
||||
return {
|
||||
"connected": self.backend.is_connected,
|
||||
"setup": self.is_setup,
|
||||
"current_position": self.backend.current_position,
|
||||
"tip_attached": self.backend.tip_attached,
|
||||
"current_volume": self.backend.current_volume,
|
||||
"resources": self.deck.list_resources()
|
||||
}
|
||||
|
||||
|
||||
def create_quick_setup() -> LaiYuLiquidDeck:
|
||||
"""
|
||||
创建快速设置的LaiYu液体处理工作站
|
||||
|
||||
Returns:
|
||||
LaiYuLiquidDeck: 配置好的工作台实例
|
||||
"""
|
||||
# 创建默认配置
|
||||
config = LaiYuLiquidConfig()
|
||||
|
||||
# 创建工作台
|
||||
deck = LaiYuLiquidDeck(config)
|
||||
|
||||
# 导入资源创建函数
|
||||
try:
|
||||
from .laiyu_liquid_res import (
|
||||
create_tip_rack_1000ul,
|
||||
create_tip_rack_200ul,
|
||||
create_96_well_plate,
|
||||
create_waste_container
|
||||
)
|
||||
|
||||
# 添加基本资源
|
||||
tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
|
||||
tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
|
||||
plate_96 = create_96_well_plate("plate_96")
|
||||
waste = create_waste_container("waste")
|
||||
|
||||
# 添加到工作台
|
||||
deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0))
|
||||
deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0))
|
||||
deck.add_resource("plate_96", plate_96, (250, 50, 0))
|
||||
deck.add_resource("waste", waste, (50, 150, 0))
|
||||
|
||||
except ImportError:
|
||||
# 如果资源模块不可用，创建空的工作台
|
||||
logger.warning("资源模块不可用，创建空的工作台")
|
||||
|
||||
return deck
|
||||
|
||||
|
||||
__all__ = [
|
||||
"LaiYuLiquid",
|
||||
"LaiYuLiquidBackend",
|
||||
"LaiYuLiquidConfig",
|
||||
"LaiYuLiquidDeck",
|
||||
"LaiYuLiquidContainer",
|
||||
"LaiYuLiquidTipRack",
|
||||
"LaiYuLiquidError",
|
||||
"create_quick_setup",
|
||||
"get_module_info"
|
||||
]
|
||||
954
unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py
Normal file
954
unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py
Normal file
@@ -0,0 +1,954 @@
|
||||
"""
|
||||
LaiYu_Liquid 资源定义模块
|
||||
|
||||
该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括：
|
||||
- 各种规格的枪头架
|
||||
- 不同类型的板和容器
|
||||
- 特殊功能位置
|
||||
- 资源创建的便捷函数
|
||||
|
||||
所有资源都基于 deck.json 中的配置参数创建。
|
||||
"""
|
||||
|
||||
import json
|
||||
import os
|
||||
from typing import Dict, List, Optional, Tuple, Any
|
||||
from pathlib import Path
|
||||
|
||||
# PyLabRobot 资源导入
|
||||
try:
|
||||
from pylabrobot.resources import (
|
||||
Resource, Deck, Plate, TipRack, Container, Tip,
|
||||
Coordinate
|
||||
)
|
||||
from pylabrobot.resources.tip_rack import TipSpot
|
||||
from pylabrobot.resources.well import Well as PlateWell
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
except ImportError:
|
||||
# 如果 PyLabRobot 不可用，创建模拟类
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
|
||||
class Resource:
|
||||
def __init__(self, name: str):
|
||||
self.name = name
|
||||
|
||||
class Deck(Resource):
|
||||
pass
|
||||
|
||||
class Plate(Resource):
|
||||
pass
|
||||
|
||||
class TipRack(Resource):
|
||||
pass
|
||||
|
||||
class Container(Resource):
|
||||
pass
|
||||
|
||||
class Tip(Resource):
|
||||
pass
|
||||
|
||||
class TipSpot(Resource):
|
||||
def __init__(self, name: str, **kwargs):
|
||||
super().__init__(name)
|
||||
# 忽略其他参数
|
||||
|
||||
class PlateWell(Resource):
|
||||
pass
|
||||
|
||||
class Coordinate:
|
||||
def __init__(self, x: float, y: float, z: float):
|
||||
self.x = x
|
||||
self.y = y
|
||||
self.z = z
|
||||
|
||||
# 本地导入
|
||||
from .laiyu_liquid_main import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack
|
||||
|
||||
|
||||
def load_deck_config() -> Dict[str, Any]:
|
||||
"""
|
||||
加载工作台配置文件
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 配置字典
|
||||
"""
|
||||
# 优先使用最新的deckconfig.json文件
|
||||
config_path = Path(__file__).parent / "controllers" / "deckconfig.json"
|
||||
|
||||
# 如果最新配置文件不存在，回退到旧配置文件
|
||||
if not config_path.exists():
|
||||
config_path = Path(__file__).parent / "config" / "deck.json"
|
||||
|
||||
try:
|
||||
with open(config_path, 'r', encoding='utf-8') as f:
|
||||
return json.load(f)
|
||||
except FileNotFoundError:
|
||||
# 如果找不到配置文件，返回默认配置
|
||||
return {
|
||||
"name": "LaiYu_Liquid_Deck",
|
||||
"size_x": 340.0,
|
||||
"size_y": 250.0,
|
||||
"size_z": 160.0
|
||||
}
|
||||
|
||||
|
||||
# 加载配置
|
||||
DECK_CONFIG = load_deck_config()
|
||||
|
||||
|
||||
class LaiYuTipRack1000(LaiYuLiquidTipRack):
|
||||
"""1000μL 枪头架"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化1000μL枪头架
|
||||
|
||||
Args:
|
||||
name: 枪头架名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=30.0,
|
||||
tip_count=96,
|
||||
tip_volume=1000.0
|
||||
)
|
||||
|
||||
# 创建枪头位置
|
||||
self._create_tip_spots(
|
||||
tip_count=96,
|
||||
tip_spacing=9.0,
|
||||
tip_type="1000ul"
|
||||
)
|
||||
|
||||
def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
|
||||
"""
|
||||
创建枪头位置 - 从配置文件中读取绝对坐标
|
||||
|
||||
Args:
|
||||
tip_count: 枪头数量
|
||||
tip_spacing: 枪头间距
|
||||
tip_type: 枪头类型
|
||||
"""
|
||||
# 从配置文件中获取枪头架的孔位信息
|
||||
config = DECK_CONFIG
|
||||
tip_module = None
|
||||
|
||||
# 查找枪头架模块
|
||||
for module in config.get("children", []):
|
||||
if module.get("type") == "tip_rack":
|
||||
tip_module = module
|
||||
break
|
||||
|
||||
if not tip_module:
|
||||
# 如果配置文件中没有找到，使用默认的相对坐标计算
|
||||
rows = 8
|
||||
cols = 12
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
spot_name = f"{chr(65 + row)}{col + 1:02d}"
|
||||
x = col * tip_spacing + tip_spacing / 2
|
||||
y = row * tip_spacing + tip_spacing / 2
|
||||
|
||||
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的Tip需要特定参数
|
||||
tip = Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=95.0, # 1000ul枪头长度
|
||||
maximal_volume=1000.0, # 最大体积
|
||||
fitting_depth=8.0 # 安装深度
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip = Tip(name=f"tip_{spot_name}")
|
||||
|
||||
# 创建枪头位置
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的TipSpot需要特定参数
|
||||
tip_spot = TipSpot(
|
||||
name=spot_name,
|
||||
size_x=9.0, # 枪头位置宽度
|
||||
size_y=9.0, # 枪头位置深度
|
||||
size_z=95.0, # 枪头位置高度
|
||||
make_tip=lambda: tip # 创建枪头的函数
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip_spot = TipSpot(name=spot_name)
|
||||
|
||||
# 将吸头位置分配到吸头架
|
||||
self.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
return
|
||||
|
||||
# 使用配置文件中的绝对坐标
|
||||
module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0})
|
||||
|
||||
for well_config in tip_module.get("wells", []):
|
||||
spot_name = well_config["id"]
|
||||
well_pos = well_config["position"]
|
||||
|
||||
# 计算相对于模块的坐标（绝对坐标减去模块位置）
|
||||
relative_x = well_pos["x"] - module_position["x"]
|
||||
relative_y = well_pos["y"] - module_position["y"]
|
||||
relative_z = well_pos["z"] - module_position["z"]
|
||||
|
||||
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的Tip需要特定参数
|
||||
tip = Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=95.0, # 1000ul枪头长度
|
||||
maximal_volume=1000.0, # 最大体积
|
||||
fitting_depth=8.0 # 安装深度
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip = Tip(name=f"tip_{spot_name}")
|
||||
|
||||
# 创建枪头位置
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的TipSpot需要特定参数
|
||||
tip_spot = TipSpot(
|
||||
name=spot_name,
|
||||
size_x=well_config.get("diameter", 9.0), # 使用配置中的直径
|
||||
size_y=well_config.get("diameter", 9.0),
|
||||
size_z=well_config.get("depth", 95.0), # 使用配置中的深度
|
||||
make_tip=lambda: tip # 创建枪头的函数
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip_spot = TipSpot(name=spot_name)
|
||||
|
||||
# 将吸头位置分配到吸头架
|
||||
self.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(relative_x, relative_y, relative_z)
|
||||
)
|
||||
|
||||
# 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
|
||||
# TipSpot的make_tip函数会在需要时创建Tip
|
||||
|
||||
|
||||
class LaiYuTipRack200(LaiYuLiquidTipRack):
|
||||
"""200μL 枪头架"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化200μL枪头架
|
||||
|
||||
Args:
|
||||
name: 枪头架名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=30.0,
|
||||
tip_count=96,
|
||||
tip_volume=200.0
|
||||
)
|
||||
|
||||
# 创建枪头位置
|
||||
self._create_tip_spots(
|
||||
tip_count=96,
|
||||
tip_spacing=9.0,
|
||||
tip_type="200ul"
|
||||
)
|
||||
|
||||
def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
|
||||
"""
|
||||
创建枪头位置
|
||||
|
||||
Args:
|
||||
tip_count: 枪头数量
|
||||
tip_spacing: 枪头间距
|
||||
tip_type: 枪头类型
|
||||
"""
|
||||
rows = 8
|
||||
cols = 12
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
spot_name = f"{chr(65 + row)}{col + 1:02d}"
|
||||
x = col * tip_spacing + tip_spacing / 2
|
||||
y = row * tip_spacing + tip_spacing / 2
|
||||
|
||||
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的Tip需要特定参数
|
||||
tip = Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=72.0, # 200ul枪头长度
|
||||
maximal_volume=200.0, # 最大体积
|
||||
fitting_depth=8.0 # 安装深度
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip = Tip(name=f"tip_{spot_name}")
|
||||
|
||||
# 创建枪头位置
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot的TipSpot需要特定参数
|
||||
tip_spot = TipSpot(
|
||||
name=spot_name,
|
||||
size_x=9.0, # 枪头位置宽度
|
||||
size_y=9.0, # 枪头位置深度
|
||||
size_z=72.0, # 枪头位置高度
|
||||
make_tip=lambda: tip # 创建枪头的函数
|
||||
)
|
||||
else:
|
||||
# 模拟类只需要name
|
||||
tip_spot = TipSpot(name=spot_name)
|
||||
|
||||
# 将吸头位置分配到吸头架
|
||||
self.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
|
||||
# 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
|
||||
# TipSpot的make_tip函数会在需要时创建Tip
|
||||
|
||||
|
||||
class LaiYu96WellPlate(LaiYuLiquidContainer):
|
||||
"""96孔板"""
|
||||
|
||||
def __init__(self, name: str, lid_height: float = 0.0):
|
||||
"""
|
||||
初始化96孔板
|
||||
|
||||
Args:
|
||||
name: 板名称
|
||||
lid_height: 盖子高度
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=14.22,
|
||||
container_type="96_well_plate",
|
||||
volume=0.0,
|
||||
max_volume=200.0,
|
||||
lid_height=lid_height
|
||||
)
|
||||
|
||||
# 创建孔位
|
||||
self._create_wells(
|
||||
well_count=96,
|
||||
well_volume=200.0,
|
||||
well_spacing=9.0
|
||||
)
|
||||
|
||||
def get_size_z(self) -> float:
|
||||
"""获取孔位深度"""
|
||||
return 10.0 # 96孔板孔位深度
|
||||
|
||||
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
|
||||
"""
|
||||
创建孔位 - 从配置文件中读取绝对坐标
|
||||
|
||||
Args:
|
||||
well_count: 孔位数量
|
||||
well_volume: 孔位体积
|
||||
well_spacing: 孔位间距
|
||||
"""
|
||||
# 从配置文件中获取96孔板的孔位信息
|
||||
config = DECK_CONFIG
|
||||
plate_module = None
|
||||
|
||||
# 查找96孔板模块
|
||||
for module in config.get("children", []):
|
||||
if module.get("type") == "96_well_plate":
|
||||
plate_module = module
|
||||
break
|
||||
|
||||
if not plate_module:
|
||||
# 如果配置文件中没有找到，使用默认的相对坐标计算
|
||||
rows = 8
|
||||
cols = 12
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
well_name = f"{chr(65 + row)}{col + 1:02d}"
|
||||
x = col * well_spacing + well_spacing / 2
|
||||
y = row * well_spacing + well_spacing / 2
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_spacing * 0.8,
|
||||
size_y=well_spacing * 0.8,
|
||||
size_z=self.get_size_z(),
|
||||
max_volume=well_volume
|
||||
)
|
||||
|
||||
# 添加到板
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
return
|
||||
|
||||
# 使用配置文件中的绝对坐标
|
||||
module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
|
||||
|
||||
for well_config in plate_module.get("wells", []):
|
||||
well_name = well_config["id"]
|
||||
well_pos = well_config["position"]
|
||||
|
||||
# 计算相对于模块的坐标（绝对坐标减去模块位置）
|
||||
relative_x = well_pos["x"] - module_position["x"]
|
||||
relative_y = well_pos["y"] - module_position["y"]
|
||||
relative_z = well_pos["z"] - module_position["z"]
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径
|
||||
size_y=well_config.get("diameter", 8.2) * 0.8,
|
||||
size_z=well_config.get("depth", self.get_size_z()),
|
||||
max_volume=well_config.get("volume", well_volume)
|
||||
)
|
||||
|
||||
# 添加到板
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(relative_x, relative_y, relative_z)
|
||||
)
|
||||
|
||||
|
||||
class LaiYuDeepWellPlate(LaiYuLiquidContainer):
|
||||
"""深孔板"""
|
||||
|
||||
def __init__(self, name: str, lid_height: float = 0.0):
|
||||
"""
|
||||
初始化深孔板
|
||||
|
||||
Args:
|
||||
name: 板名称
|
||||
lid_height: 盖子高度
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=127.76,
|
||||
size_y=85.48,
|
||||
size_z=41.3,
|
||||
container_type="deep_well_plate",
|
||||
volume=0.0,
|
||||
max_volume=2000.0,
|
||||
lid_height=lid_height
|
||||
)
|
||||
|
||||
# 创建孔位
|
||||
self._create_wells(
|
||||
well_count=96,
|
||||
well_volume=2000.0,
|
||||
well_spacing=9.0
|
||||
)
|
||||
|
||||
def get_size_z(self) -> float:
|
||||
"""获取孔位深度"""
|
||||
return 35.0 # 深孔板孔位深度
|
||||
|
||||
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
|
||||
"""
|
||||
创建孔位 - 从配置文件中读取绝对坐标
|
||||
|
||||
Args:
|
||||
well_count: 孔位数量
|
||||
well_volume: 孔位体积
|
||||
well_spacing: 孔位间距
|
||||
"""
|
||||
# 从配置文件中获取深孔板的孔位信息
|
||||
config = DECK_CONFIG
|
||||
plate_module = None
|
||||
|
||||
# 查找深孔板模块（通常是第二个96孔板模块）
|
||||
plate_modules = []
|
||||
for module in config.get("children", []):
|
||||
if module.get("type") == "96_well_plate":
|
||||
plate_modules.append(module)
|
||||
|
||||
# 如果有多个96孔板模块，选择第二个作为深孔板
|
||||
if len(plate_modules) > 1:
|
||||
plate_module = plate_modules[1]
|
||||
elif len(plate_modules) == 1:
|
||||
plate_module = plate_modules[0]
|
||||
|
||||
if not plate_module:
|
||||
# 如果配置文件中没有找到，使用默认的相对坐标计算
|
||||
rows = 8
|
||||
cols = 12
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
well_name = f"{chr(65 + row)}{col + 1:02d}"
|
||||
x = col * well_spacing + well_spacing / 2
|
||||
y = row * well_spacing + well_spacing / 2
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_spacing * 0.8,
|
||||
size_y=well_spacing * 0.8,
|
||||
size_z=self.get_size_z(),
|
||||
max_volume=well_volume
|
||||
)
|
||||
|
||||
# 添加到板
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
return
|
||||
|
||||
# 使用配置文件中的绝对坐标
|
||||
module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
|
||||
|
||||
for well_config in plate_module.get("wells", []):
|
||||
well_name = well_config["id"]
|
||||
well_pos = well_config["position"]
|
||||
|
||||
# 计算相对于模块的坐标（绝对坐标减去模块位置）
|
||||
relative_x = well_pos["x"] - module_position["x"]
|
||||
relative_y = well_pos["y"] - module_position["y"]
|
||||
relative_z = well_pos["z"] - module_position["z"]
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径
|
||||
size_y=well_config.get("diameter", 8.2) * 0.8,
|
||||
size_z=well_config.get("depth", self.get_size_z()),
|
||||
max_volume=well_config.get("volume", well_volume)
|
||||
)
|
||||
|
||||
# 添加到板
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(relative_x, relative_y, relative_z)
|
||||
)
|
||||
|
||||
|
||||
class LaiYuWasteContainer(Container):
|
||||
"""废液容器"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化废液容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=100.0,
|
||||
size_y=100.0,
|
||||
size_z=50.0,
|
||||
max_volume=5000.0
|
||||
)
|
||||
|
||||
|
||||
class LaiYuWashContainer(Container):
|
||||
"""清洗容器"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化清洗容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=100.0,
|
||||
size_y=100.0,
|
||||
size_z=50.0,
|
||||
max_volume=5000.0
|
||||
)
|
||||
|
||||
|
||||
class LaiYuReagentContainer(Container):
|
||||
"""试剂容器"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化试剂容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=50.0,
|
||||
size_y=50.0,
|
||||
size_z=100.0,
|
||||
max_volume=2000.0
|
||||
)
|
||||
|
||||
|
||||
class LaiYu8TubeRack(LaiYuLiquidContainer):
|
||||
"""8管试管架"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化8管试管架
|
||||
|
||||
Args:
|
||||
name: 试管架名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=151.0,
|
||||
size_y=75.0,
|
||||
size_z=75.0,
|
||||
container_type="tube_rack",
|
||||
volume=0.0,
|
||||
max_volume=77000.0
|
||||
)
|
||||
|
||||
# 创建孔位
|
||||
self._create_wells(
|
||||
well_count=8,
|
||||
well_volume=77000.0,
|
||||
well_spacing=35.0
|
||||
)
|
||||
|
||||
def get_size_z(self) -> float:
|
||||
"""获取孔位深度"""
|
||||
return 117.0 # 试管深度
|
||||
|
||||
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
|
||||
"""
|
||||
创建孔位 - 从配置文件中读取绝对坐标
|
||||
|
||||
Args:
|
||||
well_count: 孔位数量
|
||||
well_volume: 孔位体积
|
||||
well_spacing: 孔位间距
|
||||
"""
|
||||
# 从配置文件中获取8管试管架的孔位信息
|
||||
config = DECK_CONFIG
|
||||
tube_module = None
|
||||
|
||||
# 查找8管试管架模块
|
||||
for module in config.get("children", []):
|
||||
if module.get("type") == "tube_rack":
|
||||
tube_module = module
|
||||
break
|
||||
|
||||
if not tube_module:
|
||||
# 如果配置文件中没有找到，使用默认的相对坐标计算
|
||||
rows = 2
|
||||
cols = 4
|
||||
|
||||
for row in range(rows):
|
||||
for col in range(cols):
|
||||
well_name = f"{chr(65 + row)}{col + 1}"
|
||||
x = col * well_spacing + well_spacing / 2
|
||||
y = row * well_spacing + well_spacing / 2
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=29.0,
|
||||
size_y=29.0,
|
||||
size_z=self.get_size_z(),
|
||||
max_volume=well_volume
|
||||
)
|
||||
|
||||
# 添加到试管架
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(x, y, 0)
|
||||
)
|
||||
return
|
||||
|
||||
# 使用配置文件中的绝对坐标
|
||||
module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0})
|
||||
|
||||
for well_config in tube_module.get("wells", []):
|
||||
well_name = well_config["id"]
|
||||
well_pos = well_config["position"]
|
||||
|
||||
# 计算相对于模块的坐标（绝对坐标减去模块位置）
|
||||
relative_x = well_pos["x"] - module_position["x"]
|
||||
relative_y = well_pos["y"] - module_position["y"]
|
||||
relative_z = well_pos["z"] - module_position["z"]
|
||||
|
||||
# 创建孔位
|
||||
well = PlateWell(
|
||||
name=well_name,
|
||||
size_x=well_config.get("diameter", 29.0),
|
||||
size_y=well_config.get("diameter", 29.0),
|
||||
size_z=well_config.get("depth", self.get_size_z()),
|
||||
max_volume=well_config.get("volume", well_volume)
|
||||
)
|
||||
|
||||
# 添加到试管架
|
||||
self.assign_child_resource(
|
||||
well,
|
||||
location=Coordinate(relative_x, relative_y, relative_z)
|
||||
)
|
||||
|
||||
|
||||
class LaiYuTipDisposal(Resource):
|
||||
"""枪头废料位置"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化枪头废料位置
|
||||
|
||||
Args:
|
||||
name: 位置名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=100.0,
|
||||
size_y=100.0,
|
||||
size_z=50.0
|
||||
)
|
||||
|
||||
|
||||
class LaiYuMaintenancePosition(Resource):
|
||||
"""维护位置"""
|
||||
|
||||
def __init__(self, name: str):
|
||||
"""
|
||||
初始化维护位置
|
||||
|
||||
Args:
|
||||
name: 位置名称
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=50.0,
|
||||
size_y=50.0,
|
||||
size_z=100.0
|
||||
)
|
||||
|
||||
|
||||
# 资源创建函数
|
||||
def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000:
|
||||
"""
|
||||
创建1000μL枪头架
|
||||
|
||||
Args:
|
||||
name: 枪头架名称
|
||||
|
||||
Returns:
|
||||
LaiYuTipRack1000: 1000μL枪头架实例
|
||||
"""
|
||||
return LaiYuTipRack1000(name)
|
||||
|
||||
|
||||
def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200:
|
||||
"""
|
||||
创建200μL枪头架
|
||||
|
||||
Args:
|
||||
name: 枪头架名称
|
||||
|
||||
Returns:
|
||||
LaiYuTipRack200: 200μL枪头架实例
|
||||
"""
|
||||
return LaiYuTipRack200(name)
|
||||
|
||||
|
||||
def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate:
|
||||
"""
|
||||
创建96孔板
|
||||
|
||||
Args:
|
||||
name: 板名称
|
||||
lid_height: 盖子高度
|
||||
|
||||
Returns:
|
||||
LaiYu96WellPlate: 96孔板实例
|
||||
"""
|
||||
return LaiYu96WellPlate(name, lid_height)
|
||||
|
||||
|
||||
def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate:
|
||||
"""
|
||||
创建深孔板
|
||||
|
||||
Args:
|
||||
name: 板名称
|
||||
lid_height: 盖子高度
|
||||
|
||||
Returns:
|
||||
LaiYuDeepWellPlate: 深孔板实例
|
||||
"""
|
||||
return LaiYuDeepWellPlate(name, lid_height)
|
||||
|
||||
|
||||
def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack:
|
||||
"""
|
||||
创建8管试管架
|
||||
|
||||
Args:
|
||||
name: 试管架名称
|
||||
|
||||
Returns:
|
||||
LaiYu8TubeRack: 8管试管架实例
|
||||
"""
|
||||
return LaiYu8TubeRack(name)
|
||||
|
||||
|
||||
def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer:
|
||||
"""
|
||||
创建废液容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
|
||||
Returns:
|
||||
LaiYuWasteContainer: 废液容器实例
|
||||
"""
|
||||
return LaiYuWasteContainer(name)
|
||||
|
||||
|
||||
def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer:
|
||||
"""
|
||||
创建清洗容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
|
||||
Returns:
|
||||
LaiYuWashContainer: 清洗容器实例
|
||||
"""
|
||||
return LaiYuWashContainer(name)
|
||||
|
||||
|
||||
def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer:
|
||||
"""
|
||||
创建试剂容器
|
||||
|
||||
Args:
|
||||
name: 容器名称
|
||||
|
||||
Returns:
|
||||
LaiYuReagentContainer: 试剂容器实例
|
||||
"""
|
||||
return LaiYuReagentContainer(name)
|
||||
|
||||
|
||||
def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal:
|
||||
"""
|
||||
创建枪头废料位置
|
||||
|
||||
Args:
|
||||
name: 位置名称
|
||||
|
||||
Returns:
|
||||
LaiYuTipDisposal: 枪头废料位置实例
|
||||
"""
|
||||
return LaiYuTipDisposal(name)
|
||||
|
||||
|
||||
def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition:
|
||||
"""
|
||||
创建维护位置
|
||||
|
||||
Args:
|
||||
name: 位置名称
|
||||
|
||||
Returns:
|
||||
LaiYuMaintenancePosition: 维护位置实例
|
||||
"""
|
||||
return LaiYuMaintenancePosition(name)
|
||||
|
||||
|
||||
def create_standard_deck() -> LaiYuLiquidDeck:
|
||||
"""
|
||||
创建标准工作台配置
|
||||
|
||||
Returns:
|
||||
LaiYuLiquidDeck: 配置好的工作台实例
|
||||
"""
|
||||
# 从配置文件创建工作台
|
||||
deck = LaiYuLiquidDeck(config=DECK_CONFIG)
|
||||
|
||||
return deck
|
||||
|
||||
|
||||
def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]:
|
||||
"""
|
||||
根据名称获取资源
|
||||
|
||||
Args:
|
||||
deck: 工作台实例
|
||||
name: 资源名称
|
||||
|
||||
Returns:
|
||||
Optional[Resource]: 找到的资源，如果不存在则返回None
|
||||
"""
|
||||
for child in deck.children:
|
||||
if child.name == name:
|
||||
return child
|
||||
return None
|
||||
|
||||
|
||||
def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]:
|
||||
"""
|
||||
根据类型获取资源列表
|
||||
|
||||
Args:
|
||||
deck: 工作台实例
|
||||
resource_type: 资源类型
|
||||
|
||||
Returns:
|
||||
List[Resource]: 匹配类型的资源列表
|
||||
"""
|
||||
return [child for child in deck.children if isinstance(child, resource_type)]
|
||||
|
||||
|
||||
def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]:
|
||||
"""
|
||||
列出所有资源
|
||||
|
||||
Args:
|
||||
deck: 工作台实例
|
||||
|
||||
Returns:
|
||||
Dict[str, List[str]]: 按类型分组的资源名称字典
|
||||
"""
|
||||
resources = {
|
||||
"tip_racks": [],
|
||||
"plates": [],
|
||||
"containers": [],
|
||||
"positions": []
|
||||
}
|
||||
|
||||
for child in deck.children:
|
||||
if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)):
|
||||
resources["tip_racks"].append(child.name)
|
||||
elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)):
|
||||
resources["plates"].append(child.name)
|
||||
elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)):
|
||||
resources["containers"].append(child.name)
|
||||
elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)):
|
||||
resources["positions"].append(child.name)
|
||||
|
||||
return resources
|
||||
|
||||
|
||||
# 导出的类别名（向后兼容）
|
||||
TipRack1000ul = LaiYuTipRack1000
|
||||
TipRack200ul = LaiYuTipRack200
|
||||
Plate96Well = LaiYu96WellPlate
|
||||
Plate96DeepWell = LaiYuDeepWellPlate
|
||||
TubeRack8 = LaiYu8TubeRack
|
||||
WasteContainer = LaiYuWasteContainer
|
||||
WashContainer = LaiYuWashContainer
|
||||
ReagentContainer = LaiYuReagentContainer
|
||||
TipDisposal = LaiYuTipDisposal
|
||||
MaintenancePosition = LaiYuMaintenancePosition
|
||||
69
unilabos/devices/laiyu_liquid/docs/CHANGELOG.md
Normal file
69
unilabos/devices/laiyu_liquid/docs/CHANGELOG.md
Normal file
@@ -0,0 +1,69 @@
|
||||
# 更新日志
|
||||
|
||||
本文档记录了 LaiYu_Liquid 模块的所有重要变更。
|
||||
|
||||
## [1.0.0] - 2024-01-XX
|
||||
|
||||
### 新增功能
|
||||
- ✅ 完整的液体处理工作站集成
|
||||
- ✅ RS485 通信协议支持
|
||||
- ✅ SOPA 气动式移液器驱动
|
||||
- ✅ XYZ 三轴步进电机控制
|
||||
- ✅ PyLabRobot 兼容后端
|
||||
- ✅ 标准化资源管理系统
|
||||
- ✅ 96孔板、离心管架、枪头架支持
|
||||
- ✅ RViz 可视化后端
|
||||
- ✅ 完整的配置管理系统
|
||||
- ✅ 抽象协议实现
|
||||
- ✅ 生产级错误处理和日志记录
|
||||
|
||||
### 技术特性
|
||||
- **硬件支持**: SOPA移液器 + XYZ三轴运动平台
|
||||
- **通信协议**: RS485总线，波特率115200
|
||||
- **坐标系统**: 机械坐标与工作坐标自动转换
|
||||
- **安全机制**: 限位保护、紧急停止、错误恢复
|
||||
- **兼容性**: 完全兼容 PyLabRobot 框架
|
||||
|
||||
### 文件结构
|
||||
```
|
||||
LaiYu_Liquid/
|
||||
├── core/
|
||||
│ └── LaiYu_Liquid.py # 主模块文件
|
||||
├── __init__.py # 模块初始化
|
||||
├── abstract_protocol.py # 抽象协议
|
||||
├── laiyu_liquid_res.py # 资源管理
|
||||
├── rviz_backend.py # RViz后端
|
||||
├── backend/ # 后端驱动
|
||||
├── config/ # 配置文件
|
||||
├── controllers/ # 控制器
|
||||
├── docs/ # 技术文档
|
||||
└── drivers/ # 底层驱动
|
||||
```
|
||||
|
||||
### 已知问题
|
||||
- 无
|
||||
|
||||
### 依赖要求
|
||||
- Python 3.8+
|
||||
- PyLabRobot
|
||||
- pyserial
|
||||
- asyncio
|
||||
|
||||
---
|
||||
|
||||
## 版本说明
|
||||
|
||||
### 版本号格式
|
||||
采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH`
|
||||
|
||||
- **MAJOR**: 不兼容的API变更
|
||||
- **MINOR**: 向后兼容的功能新增
|
||||
- **PATCH**: 向后兼容的问题修复
|
||||
|
||||
### 变更类型
|
||||
- **新增功能**: 新的功能特性
|
||||
- **变更**: 现有功能的变更
|
||||
- **弃用**: 即将移除的功能
|
||||
- **移除**: 已移除的功能
|
||||
- **修复**: 问题修复
|
||||
- **安全**: 安全相关的修复
|
||||
@@ -0,0 +1,267 @@
|
||||
# SOPA气动式移液器RS485控制指令合集
|
||||
|
||||
## 1. RS485通信基本配置
|
||||
|
||||
### 1.1 支持的设备型号
|
||||
- **仅SC-STxxx-00-13支持RS485通信**
|
||||
- 其他型号主要使用CAN通信
|
||||
|
||||
### 1.2 通信参数
|
||||
- **波特率**: 9600, 115200（默认值）
|
||||
- **地址范围**: 1~254个设备，255为广播地址
|
||||
- **通信接口**: RS485差分信号
|
||||
|
||||
### 1.3 引脚分配（10位LIF连接器）
|
||||
- **引脚7**: RS485+ (RS485通信正极)
|
||||
- **引脚8**: RS485- (RS485通信负极)
|
||||
|
||||
## 2. RS485通信协议格式
|
||||
|
||||
### 2.1 发送数据格式
|
||||
```
|
||||
头码 | 地址 | 命令/数据 | 尾码 | 校验和
|
||||
```
|
||||
|
||||
### 2.2 从机回应格式
|
||||
```
|
||||
头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和
|
||||
```
|
||||
|
||||
### 2.3 格式详细说明
|
||||
- **头码**:
|
||||
- 终端调试: '/' (0x2F)
|
||||
- OEM通信: '[' (0x5B)
|
||||
- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91）
|
||||
- **命令/数据**: ASCII格式的命令字符串
|
||||
- **尾码**: 'E' (0x45)
|
||||
- **校验和**: 以上数据的累加值，1字节
|
||||
|
||||
## 3. 初始化和基本控制指令
|
||||
|
||||
### 3.1 初始化指令
|
||||
```bash
|
||||
# 初始化活塞驱动机构
|
||||
HE
|
||||
|
||||
# 示例（OEM通信）：
|
||||
# 主机发送: 5B 32 48 45 1A
|
||||
# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6
|
||||
# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC
|
||||
```
|
||||
|
||||
### 3.2 枪头操作指令
|
||||
```bash
|
||||
# 顶出枪头
|
||||
RE
|
||||
|
||||
# 枪头检测状态报告
|
||||
Q28 # 返回枪头存在状态（0=不存在，1=存在）
|
||||
```
|
||||
|
||||
## 4. 移液控制指令
|
||||
|
||||
### 4.1 位置控制指令
|
||||
```bash
|
||||
# 绝对位置移动（微升）
|
||||
A[n]E
|
||||
# 示例：移动到位置0
|
||||
A0E
|
||||
|
||||
# 相对抽吸（向上移动）
|
||||
P[n]E
|
||||
# 示例：抽吸200微升
|
||||
P200E
|
||||
|
||||
# 相对分配（向下移动）
|
||||
D[n]E
|
||||
# 示例：分配200微升
|
||||
D200E
|
||||
```
|
||||
|
||||
### 4.2 速度设置指令
|
||||
```bash
|
||||
# 设置最高速度（0.1ul/秒为单位）
|
||||
s[n]E
|
||||
# 示例：设置最高速度为2000（200ul/秒）
|
||||
s2000E
|
||||
|
||||
# 设置启动速度
|
||||
b[n]E
|
||||
# 示例：设置启动速度为100（10ul/秒）
|
||||
b100E
|
||||
|
||||
# 设置断流速度
|
||||
c[n]E
|
||||
# 示例：设置断流速度为100（10ul/秒）
|
||||
c100E
|
||||
|
||||
# 设置加速度
|
||||
a[n]E
|
||||
# 示例：设置加速度为30000
|
||||
a30000E
|
||||
```
|
||||
|
||||
## 5. 液体检测和安全控制指令
|
||||
|
||||
### 5.1 吸排液检测控制
|
||||
```bash
|
||||
# 开启吸排液检测
|
||||
f1E # 开启
|
||||
f0E # 关闭
|
||||
|
||||
# 设置空吸门限
|
||||
$[n]E
|
||||
# 示例：设置空吸门限为4
|
||||
$4E
|
||||
|
||||
# 设置泡沫门限
|
||||
![n]E
|
||||
# 示例：设置泡沫门限为20
|
||||
!20E
|
||||
|
||||
# 设置堵塞门限
|
||||
%[n]E
|
||||
# 示例：设置堵塞门限为350
|
||||
%350E
|
||||
```
|
||||
|
||||
### 5.2 液位检测指令
|
||||
```bash
|
||||
# 压力式液位检测
|
||||
m0E # 设置为压力探测模式
|
||||
L[n]E # 执行液位检测，[n]为灵敏度(3~40)
|
||||
k[n]E # 设置检测速度(100~2000)
|
||||
|
||||
# 电容式液位检测
|
||||
m1E # 设置为电容探测模式
|
||||
```
|
||||
|
||||
## 6. 状态查询和报告指令
|
||||
|
||||
### 6.1 基本状态查询
|
||||
```bash
|
||||
# 查询固件版本
|
||||
V
|
||||
|
||||
# 查询设备状态
|
||||
Q[n]
|
||||
# 常用查询参数：
|
||||
Q01 # 报告加速度
|
||||
Q02 # 报告启动速度
|
||||
Q03 # 报告断流速度
|
||||
Q06 # 报告最大速度
|
||||
Q08 # 报告节点地址
|
||||
Q11 # 报告波特率
|
||||
Q18 # 报告当前位置
|
||||
Q28 # 报告枪头存在状态
|
||||
Q29 # 报告校准系数
|
||||
Q30 # 报告空吸门限
|
||||
Q31 # 报告堵针门限
|
||||
Q32 # 报告泡沫门限
|
||||
```
|
||||
|
||||
## 7. 配置和校准指令
|
||||
|
||||
### 7.1 校准参数设置
|
||||
```bash
|
||||
# 设置校准系数
|
||||
j[n]E
|
||||
# 示例：设置校准系数为1.04
|
||||
j1.04E
|
||||
|
||||
# 设置补偿偏差
|
||||
e[n]E
|
||||
# 示例：设置补偿偏差为2.03
|
||||
e2.03E
|
||||
|
||||
# 设置吸头容量
|
||||
C[n]E
|
||||
# 示例：设置1000ul吸头
|
||||
C1000E
|
||||
```
|
||||
|
||||
### 7.2 高级控制参数
|
||||
```bash
|
||||
# 设置回吸粘度
|
||||
][n]E
|
||||
# 示例：设置回吸粘度为30
|
||||
]30E
|
||||
|
||||
# 延时控制
|
||||
M[n]E
|
||||
# 示例：延时1000毫秒
|
||||
M1000E
|
||||
```
|
||||
|
||||
## 8. 复合操作指令示例
|
||||
|
||||
### 8.1 标准移液操作
|
||||
```bash
|
||||
# 完整的200ul移液操作
|
||||
a30000b200c200s2000P200E
|
||||
# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行
|
||||
```
|
||||
|
||||
### 8.2 带检测的移液操作
|
||||
```bash
|
||||
# 带空吸检测的200ul抽吸
|
||||
a30000b200c200s2000f1P200f0E
|
||||
# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行
|
||||
```
|
||||
|
||||
### 8.3 液面检测操作
|
||||
```bash
|
||||
# 压力式液面检测
|
||||
m0k200L5E
|
||||
# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测
|
||||
|
||||
# 电容式液面检测
|
||||
m1L3E
|
||||
# 解析：电容模式 + 灵敏度3 + 执行检测
|
||||
```
|
||||
|
||||
## 9. 错误处理
|
||||
|
||||
### 9.1 状态字节说明
|
||||
- **00h**: 无错误
|
||||
- **01h**: 上次动作未完成
|
||||
- **02h**: 设备未初始化
|
||||
- **03h**: 设备过载
|
||||
- **04h**: 无效指令
|
||||
- **05h**: 液位探测故障
|
||||
- **0Dh**: 空吸
|
||||
- **0Eh**: 堵针
|
||||
- **10h**: 泡沫
|
||||
- **11h**: 吸液超过吸头容量
|
||||
|
||||
### 9.2 错误查询
|
||||
```bash
|
||||
# 查询当前错误状态
|
||||
Q # 返回状态字节和错误代码
|
||||
```
|
||||
|
||||
## 10. 通信示例
|
||||
|
||||
### 10.1 基本通信流程
|
||||
1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成
|
||||
2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据
|
||||
|
||||
### 10.2 快速指令表
|
||||
| 操作 | 指令 | 说明 |
|
||||
|------|------|------|
|
||||
| 初始化 | `HE` | 初始化设备 |
|
||||
| 退枪头 | `RE` | 顶出枪头 |
|
||||
| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 |
|
||||
| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 |
|
||||
| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 |
|
||||
| 压力液面检测 | `m0k200L5E` | pLLD检测 |
|
||||
| 电容液面检测 | `m1L3E` | cLLD检测 |
|
||||
|
||||
## 11. 注意事项
|
||||
|
||||
1. **地址限制**: RS485地址不可设为47、69、91
|
||||
2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验
|
||||
3. **ASCII格式**: 所有命令和参数都使用ASCII字符
|
||||
4. **执行指令**: 大部分命令需要以'E'结尾才能执行
|
||||
5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信
|
||||
6. **波特率设置**: 默认115200，可设置为9600
|
||||
162
unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md
Normal file
162
unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md
Normal file
@@ -0,0 +1,162 @@
|
||||
# 步进电机B系列控制指令详解
|
||||
|
||||
## 基本通信参数
|
||||
- **通信方式**: RS485
|
||||
- **协议**: Modbus
|
||||
- **波特率**: 115200 (默认)
|
||||
- **数据位**: 8位
|
||||
- **停止位**: 1位
|
||||
- **校验位**: 无
|
||||
- **默认站号**: 1 (可设置1-254)
|
||||
|
||||
## 支持的功能码
|
||||
- **03H**: 读取寄存器
|
||||
- **06H**: 写入单个寄存器
|
||||
- **10H**: 写入多个寄存器
|
||||
|
||||
## 寄存器地址表
|
||||
|
||||
### 状态监控寄存器 (只读)
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 |
|
||||
| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 |
|
||||
| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 |
|
||||
| 03H | 03H | 实际速度 | 当前转速 (rpm) |
|
||||
| 05H | 03H | 电流 | 当前工作电流 (mA) |
|
||||
|
||||
### 控制寄存器 (读写)
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 |
|
||||
| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 |
|
||||
| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 |
|
||||
| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 |
|
||||
| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 |
|
||||
|
||||
### 位置模式寄存器
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 |
|
||||
| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 |
|
||||
| 12H | 03H/06H/10H | 保留 | - |
|
||||
| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) |
|
||||
| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
|
||||
| 15H | 03H/06H/10H | 精度 | 到位精度设置 |
|
||||
|
||||
### 速度模式寄存器
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| 60H | 03H/06H/10H | 保留 | - |
|
||||
| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 |
|
||||
| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
|
||||
|
||||
### 设备参数寄存器
|
||||
| 地址 | 功能码 | 内容 | 默认值 | 说明 |
|
||||
|------|--------|------|--------|------|
|
||||
| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 |
|
||||
| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 |
|
||||
| E2H | 03H/06H/10H | 保留 | 0258H | - |
|
||||
| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 |
|
||||
| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 |
|
||||
| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 |
|
||||
| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) |
|
||||
| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 |
|
||||
| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 |
|
||||
| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 |
|
||||
| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 |
|
||||
| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H |
|
||||
|
||||
### 版本信息寄存器 (只读)
|
||||
| 地址 | 功能码 | 内容 | 说明 |
|
||||
|------|--------|------|------|
|
||||
| F0H | 03H | 版本号 | 固件版本信息 |
|
||||
| F1H-F4H | 03H | 型号 | 产品型号信息 |
|
||||
|
||||
## 常用控制指令示例
|
||||
|
||||
### 读取电机状态
|
||||
```
|
||||
发送: 01 03 00 00 00 01 84 0A
|
||||
接收: 01 03 02 00 01 79 84
|
||||
说明: 电机状态为0001H (正在运行)
|
||||
```
|
||||
|
||||
### 读取当前位置
|
||||
```
|
||||
发送: 01 03 00 01 00 02 95 CB
|
||||
接收: 01 03 04 00 19 00 00 2B F4
|
||||
说明: 当前位置为1638400步 (100圈)
|
||||
```
|
||||
|
||||
### 停止电机
|
||||
```
|
||||
发送: 01 10 00 04 00 01 02 00 00 A7 D4
|
||||
接收: 01 10 00 04 00 01 40 08
|
||||
说明: 急停指令
|
||||
```
|
||||
|
||||
### 位置模式运动
|
||||
```
|
||||
发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB
|
||||
接收: 01 10 00 10 00 06 41 CE
|
||||
说明: 以5000rpm速度运动到1638400步位置
|
||||
```
|
||||
|
||||
### 速度模式 - 正转
|
||||
```
|
||||
发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77
|
||||
接收: 01 10 00 60 00 04 C1 D4
|
||||
说明: 以5000rpm速度正转
|
||||
```
|
||||
|
||||
### 速度模式 - 反转
|
||||
```
|
||||
发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D
|
||||
接收: 01 10 00 60 00 04 C1 D4
|
||||
说明: 以5000rpm速度反转 (EC78H = -5000)
|
||||
```
|
||||
|
||||
### 设置设备地址
|
||||
```
|
||||
发送: 00 06 00 E0 00 02 C9 F1
|
||||
接收: 00 06 00 E0 00 02 C9 F1
|
||||
说明: 将设备地址设置为2
|
||||
```
|
||||
|
||||
## 错误码
|
||||
| 状态码 | 含义 |
|
||||
|--------|------|
|
||||
| 0001H | 功能码错误 |
|
||||
| 0002H | 地址错误 |
|
||||
| 0003H | 长度错误 |
|
||||
|
||||
## CRC校验算法
|
||||
```c
|
||||
public static byte[] ModBusCRC(byte[] data, int offset, int cnt) {
|
||||
int wCrc = 0x0000FFFF;
|
||||
byte[] CRC = new byte[2];
|
||||
for (int i = 0; i < cnt; i++) {
|
||||
wCrc ^= ((data[i + offset]) & 0xFF);
|
||||
for (int j = 0; j < 8; j++) {
|
||||
if ((wCrc & 0x00000001) == 1) {
|
||||
wCrc >>= 1;
|
||||
wCrc ^= 0x0000A001;
|
||||
} else {
|
||||
wCrc >>= 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8);
|
||||
CRC[0] = (byte) (wCrc & 0x000000FF);
|
||||
return CRC;
|
||||
}
|
||||
```
|
||||
|
||||
## 注意事项
|
||||
1. 所有16位数据采用大端序传输
|
||||
2. 步数计算: 实际步数 = 高位<<16 | 低位
|
||||
3. 负数使用补码表示
|
||||
4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM
|
||||
5. 光电开关需使用NPN开漏型
|
||||
6. 限位开关: LF正向, LB反向
|
||||
1281
unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md
Normal file
1281
unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md
Normal file
File diff suppressed because it is too large
Load Diff
269
unilabos/devices/laiyu_liquid/docs/readme.md
Normal file
269
unilabos/devices/laiyu_liquid/docs/readme.md
Normal file
@@ -0,0 +1,269 @@
|
||||
# LaiYu_Liquid 液体处理工作站
|
||||
|
||||
## 概述
|
||||
|
||||
LaiYu_Liquid 是一个完全集成到 UniLabOS 的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。
|
||||
|
||||
## 系统组成
|
||||
|
||||
### 硬件组件
|
||||
- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03）
|
||||
- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作
|
||||
- **通信接口**: RS485转USB模块，默认波特率115200
|
||||
- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材
|
||||
|
||||
### 软件架构
|
||||
- **驱动层**: 底层硬件通信驱动，支持RS485协议
|
||||
- **控制层**: 高级控制逻辑和坐标系管理
|
||||
- **抽象层**: 完全符合UniLabOS标准的液体处理接口
|
||||
- **资源层**: 标准化的实验器具和耗材管理
|
||||
|
||||
## 🎯 生产就绪组件
|
||||
|
||||
### ✅ 核心驱动程序 (`drivers/`)
|
||||
- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动
|
||||
- 支持液体吸取、分配、检测
|
||||
- 完整的错误处理和状态管理
|
||||
- 生产级别的通信协议实现
|
||||
|
||||
- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动
|
||||
- 精确的位置控制和运动规划
|
||||
- 安全限位和错误检测
|
||||
- 高性能运动控制算法
|
||||
|
||||
### ✅ 高级控制器 (`controllers/`)
|
||||
- **`pipette_controller.py`** - 移液控制器
|
||||
- 封装高级液体处理功能
|
||||
- 支持多种液体类型和处理参数
|
||||
- 智能错误恢复机制
|
||||
|
||||
- **`xyz_controller.py`** - XYZ运动控制器
|
||||
- 坐标系管理和转换
|
||||
- 运动路径优化
|
||||
- 安全运动控制
|
||||
|
||||
### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`)
|
||||
- **完整的液体处理抽象接口**
|
||||
- **标准化的资源管理系统**
|
||||
- **与PyLabRobot兼容的后端实现**
|
||||
- **生产级别的错误处理和日志记录**
|
||||
|
||||
### ✅ 资源管理系统
|
||||
- **`laiyu_liquid_res.py`** - 标准化资源定义
|
||||
- 96孔板、离心管架、枪头架等标准器具
|
||||
- 自动化的资源创建和配置函数
|
||||
- 与工作台布局的完美集成
|
||||
|
||||
### ✅ 配置管理 (`config/`)
|
||||
- **`config/deck.json`** - 工作台布局配置
|
||||
- 精确的空间定义和槽位管理
|
||||
- 支持多种实验器具的标准化放置
|
||||
- 可扩展的配置架构
|
||||
|
||||
- **`__init__.py`** - 模块集成和导出
|
||||
- 完整的API导出和版本管理
|
||||
- 依赖检查和安装验证
|
||||
- 专业的模块信息展示
|
||||
|
||||
<!-- ### ✅ 可视化支持
|
||||
- **`rviz_backend.py`** - RViz可视化后端
|
||||
- 实时运动状态可视化
|
||||
- 液体处理过程监控
|
||||
- 与ROS系统的无缝集成 -->
|
||||
|
||||
## 🚀 核心功能特性
|
||||
|
||||
### 液体处理能力
|
||||
- **精密体积控制**: 支持1-1000μL精确分配
|
||||
- **多种液体类型**: 水性、有机溶剂、粘稠液体等
|
||||
- **智能检测**: 液位检测、气泡检测、堵塞检测
|
||||
- **自动化流程**: 完整的吸取-转移-分配工作流
|
||||
|
||||
### 运动控制系统
|
||||
- **三轴精密定位**: 微米级精度控制
|
||||
- **路径优化**: 智能运动规划和碰撞避免
|
||||
- **安全机制**: 限位保护、紧急停止、错误恢复
|
||||
- **坐标系管理**: 工作坐标与机械坐标的自动转换
|
||||
|
||||
### 资源管理
|
||||
- **标准化器具**: 支持96孔板、离心管架、枪头架等
|
||||
- **状态跟踪**: 实时监控液体体积、枪头状态等
|
||||
- **自动配置**: 基于JSON的灵活配置系统
|
||||
- **扩展性**: 易于添加新的器具类型
|
||||
|
||||
## 📁 目录结构
|
||||
|
||||
```
|
||||
LaiYu_Liquid/
|
||||
├── __init__.py # 模块初始化和API导出
|
||||
├── readme.md # 本文档
|
||||
├── backend/ # 后端驱动模块
|
||||
│ ├── __init__.py
|
||||
│ └── laiyu_backend.py # PyLabRobot兼容后端
|
||||
├── core/ # 核心模块
|
||||
│ ├── core/
|
||||
│ │ └── LaiYu_Liquid.py # 主设备类
|
||||
│ ├── abstract_protocol.py # 抽象协议
|
||||
│ └── laiyu_liquid_res.py # 设备资源定义
|
||||
├── config/ # 配置文件目录
|
||||
│ └── deck.json # 工作台布局配置
|
||||
├── controllers/ # 高级控制器
|
||||
│ ├── __init__.py
|
||||
│ ├── pipette_controller.py # 移液控制器
|
||||
│ └── xyz_controller.py # XYZ运动控制器
|
||||
├── docs/ # 技术文档
|
||||
│ ├── SOPA气动式移液器RS485控制指令.md
|
||||
│ ├── 步进电机控制指令.md
|
||||
│ └── hardware/ # 硬件相关文档
|
||||
├── drivers/ # 底层驱动程序
|
||||
│ ├── __init__.py
|
||||
│ ├── sopa_pipette_driver.py # SOPA移液器驱动
|
||||
│ └── xyz_stepper_driver.py # XYZ步进电机驱动
|
||||
└── tests/ # 测试文件
|
||||
```
|
||||
|
||||
## 🔧 快速开始
|
||||
|
||||
### 1. 安装和验证
|
||||
|
||||
```python
|
||||
# 验证模块安装
|
||||
from unilabos.devices.laiyu_liquid import (
|
||||
LaiYuLiquid,
|
||||
LaiYuLiquidConfig,
|
||||
create_quick_setup,
|
||||
print_module_info
|
||||
)
|
||||
|
||||
# 查看模块信息
|
||||
print_module_info()
|
||||
|
||||
# 快速创建默认资源
|
||||
resources = create_quick_setup()
|
||||
print(f"已创建 {len(resources)} 个资源")
|
||||
```
|
||||
|
||||
### 2. 基本使用示例
|
||||
|
||||
```python
|
||||
from unilabos.devices.LaiYu_Liquid import (
|
||||
create_quick_setup,
|
||||
create_96_well_plate,
|
||||
create_laiyu_backend
|
||||
)
|
||||
|
||||
# 快速创建默认资源
|
||||
resources = create_quick_setup()
|
||||
print(f"创建了以下资源: {list(resources.keys())}")
|
||||
|
||||
# 创建96孔板
|
||||
plate_96 = create_96_well_plate("test_plate")
|
||||
print(f"96孔板包含 {len(plate_96.children)} 个孔位")
|
||||
|
||||
# 创建后端实例（用于PyLabRobot集成）
|
||||
backend = create_laiyu_backend("LaiYu_Device")
|
||||
print(f"后端设备: {backend.name}")
|
||||
```
|
||||
|
||||
### 3. 后端驱动使用
|
||||
|
||||
```python
|
||||
from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend
|
||||
|
||||
# 创建后端实例
|
||||
backend = create_laiyu_backend("LaiYu_Liquid_Station")
|
||||
|
||||
# 连接设备
|
||||
await backend.connect()
|
||||
|
||||
# 设备归位
|
||||
await backend.home_device()
|
||||
|
||||
# 获取设备状态
|
||||
status = await backend.get_status()
|
||||
print(f"设备状态: {status}")
|
||||
|
||||
# 断开连接
|
||||
await backend.disconnect()
|
||||
```
|
||||
|
||||
### 4. 资源管理示例
|
||||
|
||||
```python
|
||||
from unilabos.devices.LaiYu_Liquid import (
|
||||
create_centrifuge_tube_rack,
|
||||
create_tip_rack,
|
||||
load_deck_config
|
||||
)
|
||||
|
||||
# 加载工作台配置
|
||||
deck_config = load_deck_config()
|
||||
print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm")
|
||||
|
||||
# 创建不同类型的资源
|
||||
tube_rack = create_centrifuge_tube_rack("sample_rack")
|
||||
tip_rack = create_tip_rack("tip_rack_200ul")
|
||||
|
||||
print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置")
|
||||
print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头")
|
||||
```
|
||||
|
||||
## 🔍 技术架构
|
||||
|
||||
### 坐标系统
|
||||
- **机械坐标**: 基于步进电机的原始坐标系统
|
||||
- **工作坐标**: 用户友好的实验室坐标系统
|
||||
- **自动转换**: 透明的坐标系转换和校准
|
||||
|
||||
### 通信协议
|
||||
- **RS485总线**: 高可靠性工业通信标准
|
||||
- **Modbus协议**: 标准化的设备通信协议
|
||||
- **错误检测**: 完整的通信错误检测和恢复
|
||||
|
||||
### 安全机制
|
||||
- **限位保护**: 硬件和软件双重限位保护
|
||||
- **紧急停止**: 即时停止所有运动和操作
|
||||
- **状态监控**: 实时设备状态监控和报警
|
||||
|
||||
## 🧪 验证和测试
|
||||
|
||||
### 功能验证
|
||||
```python
|
||||
# 验证模块安装
|
||||
from unilabos.devices.laiyu_liquid import validate_installation
|
||||
validate_installation()
|
||||
|
||||
# 查看模块信息
|
||||
from unilabos.devices.laiyu_liquid import print_module_info
|
||||
print_module_info()
|
||||
```
|
||||
|
||||
### 硬件连接测试
|
||||
```python
|
||||
# 测试SOPA移液器连接
|
||||
from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig
|
||||
|
||||
config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4)
|
||||
pipette = SOPAPipette(config)
|
||||
success = pipette.connect()
|
||||
print(f"SOPA连接状态: {'成功' if success else '失败'}")
|
||||
```
|
||||
|
||||
## 📚 维护和支持
|
||||
|
||||
### 日志记录
|
||||
- **结构化日志**: 使用Python logging模块的专业日志记录
|
||||
- **错误追踪**: 详细的错误信息和堆栈跟踪
|
||||
- **性能监控**: 操作时间和性能指标记录
|
||||
|
||||
### 配置管理
|
||||
- **JSON配置**: 灵活的JSON格式配置文件
|
||||
- **参数验证**: 自动配置参数验证和错误提示
|
||||
- **热重载**: 支持配置文件的动态重载
|
||||
|
||||
### 扩展性
|
||||
- **模块化设计**: 易于扩展和定制的模块化架构
|
||||
- **插件接口**: 支持第三方插件和扩展
|
||||
- **API兼容**: 向后兼容的API设计
|
||||
|
||||
|
||||
30
unilabos/devices/laiyu_liquid/drivers/__init__.py
Normal file
30
unilabos/devices/laiyu_liquid/drivers/__init__.py
Normal file
@@ -0,0 +1,30 @@
|
||||
"""
|
||||
LaiYu_Liquid 驱动程序模块
|
||||
|
||||
该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序：
|
||||
- SOPA移液器驱动程序
|
||||
- XYZ步进电机驱动程序
|
||||
"""
|
||||
|
||||
# SOPA移液器驱动程序导入
|
||||
from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode
|
||||
|
||||
# XYZ步进电机驱动程序导入
|
||||
from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus
|
||||
|
||||
__all__ = [
|
||||
# SOPA移液器
|
||||
"SOPAPipette",
|
||||
"SOPAConfig",
|
||||
"SOPAStatusCode",
|
||||
|
||||
# XYZ步进电机
|
||||
"StepperMotorDriver",
|
||||
"XYZStepperController",
|
||||
"MotorAxis",
|
||||
"MotorStatus",
|
||||
]
|
||||
|
||||
__version__ = "1.0.0"
|
||||
__author__ = "LaiYu_Liquid Driver Team"
|
||||
__description__ = "LaiYu_Liquid 硬件驱动程序集合"
|
||||
1079
unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py
Normal file
1079
unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py
Normal file
File diff suppressed because it is too large
Load Diff
663
unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py
Normal file
663
unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py
Normal file
@@ -0,0 +1,663 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
XYZ三轴步进电机B系列驱动程序
|
||||
支持RS485通信，Modbus协议
|
||||
"""
|
||||
|
||||
import serial
|
||||
import struct
|
||||
import time
|
||||
import logging
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
from enum import Enum
|
||||
from dataclasses import dataclass
|
||||
|
||||
# 配置日志
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
class MotorAxis(Enum):
|
||||
"""电机轴枚举"""
|
||||
X = 1
|
||||
Y = 2
|
||||
Z = 3
|
||||
|
||||
|
||||
class MotorStatus(Enum):
|
||||
"""电机状态枚举"""
|
||||
STANDBY = 0x0000 # 待机/到位
|
||||
RUNNING = 0x0001 # 运行中
|
||||
COLLISION_STOP = 0x0002 # 碰撞停
|
||||
FORWARD_LIMIT_STOP = 0x0003 # 正光电停
|
||||
REVERSE_LIMIT_STOP = 0x0004 # 反光电停
|
||||
|
||||
|
||||
class ModbusFunction(Enum):
|
||||
"""Modbus功能码"""
|
||||
READ_HOLDING_REGISTERS = 0x03
|
||||
WRITE_SINGLE_REGISTER = 0x06
|
||||
WRITE_MULTIPLE_REGISTERS = 0x10
|
||||
|
||||
|
||||
@dataclass
|
||||
class MotorPosition:
|
||||
"""电机位置信息"""
|
||||
steps: int
|
||||
speed: int
|
||||
current: int
|
||||
status: MotorStatus
|
||||
|
||||
|
||||
class ModbusException(Exception):
|
||||
"""Modbus通信异常"""
|
||||
pass
|
||||
|
||||
|
||||
class StepperMotorDriver:
|
||||
"""步进电机驱动器基类"""
|
||||
|
||||
# 寄存器地址常量
|
||||
REG_STATUS = 0x00
|
||||
REG_POSITION_HIGH = 0x01
|
||||
REG_POSITION_LOW = 0x02
|
||||
REG_ACTUAL_SPEED = 0x03
|
||||
REG_EMERGENCY_STOP = 0x04
|
||||
REG_CURRENT = 0x05
|
||||
REG_ENABLE = 0x06
|
||||
REG_PWM_OUTPUT = 0x07
|
||||
REG_ZERO_SINGLE = 0x0E
|
||||
REG_ZERO_COMMAND = 0x0F
|
||||
|
||||
# 位置模式寄存器
|
||||
REG_TARGET_POSITION_HIGH = 0x10
|
||||
REG_TARGET_POSITION_LOW = 0x11
|
||||
REG_POSITION_SPEED = 0x13
|
||||
REG_POSITION_ACCELERATION = 0x14
|
||||
REG_POSITION_PRECISION = 0x15
|
||||
|
||||
# 速度模式寄存器
|
||||
REG_SPEED_MODE_SPEED = 0x61
|
||||
REG_SPEED_MODE_ACCELERATION = 0x62
|
||||
|
||||
# 设备参数寄存器
|
||||
REG_DEVICE_ADDRESS = 0xE0
|
||||
REG_DEFAULT_SPEED = 0xE7
|
||||
REG_DEFAULT_ACCELERATION = 0xE8
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
|
||||
"""
|
||||
初始化步进电机驱动器
|
||||
|
||||
Args:
|
||||
port: 串口端口名
|
||||
baudrate: 波特率
|
||||
timeout: 通信超时时间
|
||||
"""
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.serial_conn: Optional[serial.Serial] = None
|
||||
|
||||
def connect(self) -> bool:
|
||||
"""
|
||||
建立串口连接
|
||||
|
||||
Returns:
|
||||
连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.serial_conn = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
bytesize=serial.EIGHTBITS,
|
||||
parity=serial.PARITY_NONE,
|
||||
stopbits=serial.STOPBITS_ONE,
|
||||
timeout=self.timeout
|
||||
)
|
||||
logger.info(f"已连接到串口: {self.port}")
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"串口连接失败: {e}")
|
||||
return False
|
||||
|
||||
def disconnect(self) -> None:
|
||||
"""关闭串口连接"""
|
||||
if self.serial_conn and self.serial_conn.is_open:
|
||||
self.serial_conn.close()
|
||||
logger.info("串口连接已关闭")
|
||||
|
||||
def __enter__(self):
|
||||
"""上下文管理器入口"""
|
||||
if self.connect():
|
||||
return self
|
||||
raise ModbusException("无法建立串口连接")
|
||||
|
||||
def __exit__(self, exc_type, exc_val, exc_tb):
|
||||
"""上下文管理器出口"""
|
||||
self.disconnect()
|
||||
|
||||
@staticmethod
|
||||
def calculate_crc(data: bytes) -> bytes:
|
||||
"""
|
||||
计算Modbus CRC校验码
|
||||
|
||||
Args:
|
||||
data: 待校验的数据
|
||||
|
||||
Returns:
|
||||
CRC校验码 (2字节)
|
||||
"""
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001:
|
||||
crc >>= 1
|
||||
crc ^= 0xA001
|
||||
else:
|
||||
crc >>= 1
|
||||
return struct.pack('<H', crc)
|
||||
|
||||
def _send_command(self, slave_addr: int, data: bytes) -> bytes:
|
||||
"""
|
||||
发送Modbus命令并接收响应
|
||||
|
||||
Args:
|
||||
slave_addr: 从站地址
|
||||
data: 命令数据
|
||||
|
||||
Returns:
|
||||
响应数据
|
||||
|
||||
Raises:
|
||||
ModbusException: 通信异常
|
||||
"""
|
||||
if not self.serial_conn or not self.serial_conn.is_open:
|
||||
raise ModbusException("串口未连接")
|
||||
|
||||
# 构建完整命令
|
||||
command = bytes([slave_addr]) + data
|
||||
crc = self.calculate_crc(command)
|
||||
full_command = command + crc
|
||||
|
||||
# 清空接收缓冲区
|
||||
self.serial_conn.reset_input_buffer()
|
||||
|
||||
# 发送命令
|
||||
self.serial_conn.write(full_command)
|
||||
logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}")
|
||||
|
||||
# 等待响应
|
||||
time.sleep(0.01) # 短暂延时
|
||||
|
||||
# 读取响应
|
||||
response = self.serial_conn.read(256) # 最大读取256字节
|
||||
if not response:
|
||||
raise ModbusException("未收到响应")
|
||||
|
||||
logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}")
|
||||
|
||||
# 验证CRC
|
||||
if len(response) < 3:
|
||||
raise ModbusException("响应数据长度不足")
|
||||
|
||||
data_part = response[:-2]
|
||||
received_crc = response[-2:]
|
||||
calculated_crc = self.calculate_crc(data_part)
|
||||
|
||||
if received_crc != calculated_crc:
|
||||
raise ModbusException("CRC校验失败")
|
||||
|
||||
return response
|
||||
|
||||
def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list:
|
||||
"""
|
||||
读取保持寄存器
|
||||
|
||||
Args:
|
||||
slave_addr: 从站地址
|
||||
start_addr: 起始地址
|
||||
count: 寄存器数量
|
||||
|
||||
Returns:
|
||||
寄存器值列表
|
||||
"""
|
||||
data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count)
|
||||
response = self._send_command(slave_addr, data)
|
||||
|
||||
if len(response) < 5:
|
||||
raise ModbusException("响应长度不足")
|
||||
|
||||
if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value:
|
||||
raise ModbusException(f"功能码错误: {response[1]:02X}")
|
||||
|
||||
byte_count = response[2]
|
||||
values = []
|
||||
for i in range(0, byte_count, 2):
|
||||
value = struct.unpack('>H', response[3+i:5+i])[0]
|
||||
values.append(value)
|
||||
|
||||
return values
|
||||
|
||||
def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool:
|
||||
"""
|
||||
写入单个寄存器
|
||||
|
||||
Args:
|
||||
slave_addr: 从站地址
|
||||
addr: 寄存器地址
|
||||
value: 寄存器值
|
||||
|
||||
Returns:
|
||||
写入是否成功
|
||||
"""
|
||||
data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value)
|
||||
response = self._send_command(slave_addr, data)
|
||||
|
||||
return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
|
||||
|
||||
def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool:
|
||||
"""
|
||||
写入多个寄存器
|
||||
|
||||
Args:
|
||||
slave_addr: 从站地址
|
||||
start_addr: 起始地址
|
||||
values: 寄存器值列表
|
||||
|
||||
Returns:
|
||||
写入是否成功
|
||||
"""
|
||||
byte_count = len(values) * 2
|
||||
data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value,
|
||||
start_addr, len(values), byte_count)
|
||||
|
||||
for value in values:
|
||||
data += struct.pack('>H', value)
|
||||
|
||||
response = self._send_command(slave_addr, data)
|
||||
|
||||
return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
|
||||
|
||||
|
||||
class XYZStepperController(StepperMotorDriver):
|
||||
"""XYZ三轴步进电机控制器"""
|
||||
|
||||
# 电机配置常量
|
||||
STEPS_PER_REVOLUTION = 16384 # 每圈步数
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
|
||||
"""
|
||||
初始化XYZ三轴步进电机控制器
|
||||
|
||||
Args:
|
||||
port: 串口端口名
|
||||
baudrate: 波特率
|
||||
timeout: 通信超时时间
|
||||
"""
|
||||
super().__init__(port, baudrate, timeout)
|
||||
self.axis_addresses = {
|
||||
MotorAxis.X: 1,
|
||||
MotorAxis.Y: 2,
|
||||
MotorAxis.Z: 3
|
||||
}
|
||||
|
||||
def degrees_to_steps(self, degrees: float) -> int:
|
||||
"""
|
||||
将角度转换为步数
|
||||
|
||||
Args:
|
||||
degrees: 角度值
|
||||
|
||||
Returns:
|
||||
对应的步数
|
||||
"""
|
||||
return int(degrees * self.STEPS_PER_REVOLUTION / 360.0)
|
||||
|
||||
def steps_to_degrees(self, steps: int) -> float:
|
||||
"""
|
||||
将步数转换为角度
|
||||
|
||||
Args:
|
||||
steps: 步数
|
||||
|
||||
Returns:
|
||||
对应的角度值
|
||||
"""
|
||||
return steps * 360.0 / self.STEPS_PER_REVOLUTION
|
||||
|
||||
def revolutions_to_steps(self, revolutions: float) -> int:
|
||||
"""
|
||||
将圈数转换为步数
|
||||
|
||||
Args:
|
||||
revolutions: 圈数
|
||||
|
||||
Returns:
|
||||
对应的步数
|
||||
"""
|
||||
return int(revolutions * self.STEPS_PER_REVOLUTION)
|
||||
|
||||
def steps_to_revolutions(self, steps: int) -> float:
|
||||
"""
|
||||
将步数转换为圈数
|
||||
|
||||
Args:
|
||||
steps: 步数
|
||||
|
||||
Returns:
|
||||
对应的圈数
|
||||
"""
|
||||
return steps / self.STEPS_PER_REVOLUTION
|
||||
|
||||
def get_motor_status(self, axis: MotorAxis) -> MotorPosition:
|
||||
"""
|
||||
获取电机状态信息
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
|
||||
Returns:
|
||||
电机位置信息
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
|
||||
# 读取状态、位置、速度、电流
|
||||
values = self.read_registers(addr, self.REG_STATUS, 6)
|
||||
|
||||
status = MotorStatus(values[0])
|
||||
position_high = values[1]
|
||||
position_low = values[2]
|
||||
speed = values[3]
|
||||
current = values[5]
|
||||
|
||||
# 合并32位位置
|
||||
position = (position_high << 16) | position_low
|
||||
# 处理有符号数
|
||||
if position > 0x7FFFFFFF:
|
||||
position -= 0x100000000
|
||||
|
||||
return MotorPosition(position, speed, current, status)
|
||||
|
||||
def emergency_stop(self, axis: MotorAxis) -> bool:
|
||||
"""
|
||||
紧急停止电机
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000)
|
||||
|
||||
def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool:
|
||||
"""
|
||||
使能/失能电机
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
enable: True为使能，False为失能
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
value = 0x0001 if enable else 0x0000
|
||||
return self.write_single_register(addr, self.REG_ENABLE, value)
|
||||
|
||||
def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000,
|
||||
acceleration: int = 1000, precision: int = 100) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
position: 目标位置(步数)
|
||||
speed: 运行速度(rpm)
|
||||
acceleration: 加速度(rpm/s)
|
||||
precision: 到位精度
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
|
||||
# 处理32位位置
|
||||
if position < 0:
|
||||
position += 0x100000000
|
||||
|
||||
position_high = (position >> 16) & 0xFFFF
|
||||
position_low = position & 0xFFFF
|
||||
|
||||
values = [
|
||||
position_high, # 目标位置高位
|
||||
position_low, # 目标位置低位
|
||||
0x0000, # 保留
|
||||
speed, # 速度
|
||||
acceleration, # 加速度
|
||||
precision # 精度
|
||||
]
|
||||
|
||||
return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values)
|
||||
|
||||
def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool:
|
||||
"""
|
||||
设置速度模式运行
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
speed: 运行速度(rpm)，正值正转，负值反转
|
||||
acceleration: 加速度(rpm/s)
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
|
||||
# 处理负数
|
||||
if speed < 0:
|
||||
speed = 0x10000 + speed # 补码表示
|
||||
|
||||
values = [0x0000, speed, acceleration, 0x0000]
|
||||
|
||||
return self.write_multiple_registers(addr, 0x60, values)
|
||||
|
||||
def home_axis(self, axis: MotorAxis) -> bool:
|
||||
"""
|
||||
轴归零操作
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
|
||||
Returns:
|
||||
操作是否成功
|
||||
"""
|
||||
addr = self.axis_addresses[axis]
|
||||
return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001)
|
||||
|
||||
def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool:
|
||||
"""
|
||||
等待电机运动完成
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
timeout: 超时时间(秒)
|
||||
|
||||
Returns:
|
||||
是否在超时前完成
|
||||
"""
|
||||
start_time = time.time()
|
||||
|
||||
while time.time() - start_time < timeout:
|
||||
status = self.get_motor_status(axis)
|
||||
if status.status == MotorStatus.STANDBY:
|
||||
return True
|
||||
time.sleep(0.1)
|
||||
|
||||
logger.warning(f"{axis.name}轴运动超时")
|
||||
return False
|
||||
|
||||
def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None,
|
||||
speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
同时控制XYZ轴移动
|
||||
|
||||
Args:
|
||||
x: X轴目标位置
|
||||
y: Y轴目标位置
|
||||
z: Z轴目标位置
|
||||
speed: 运行速度
|
||||
acceleration: 加速度
|
||||
|
||||
Returns:
|
||||
各轴操作结果字典
|
||||
"""
|
||||
results = {}
|
||||
|
||||
if x is not None:
|
||||
results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration)
|
||||
|
||||
if y is not None:
|
||||
results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration)
|
||||
|
||||
if z is not None:
|
||||
results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration)
|
||||
|
||||
return results
|
||||
|
||||
def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None,
|
||||
z_deg: Optional[float] = None, speed: int = 5000,
|
||||
acceleration: int = 1000) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
使用角度值同时移动多个轴到指定位置
|
||||
|
||||
Args:
|
||||
x_deg: X轴目标角度（度）
|
||||
y_deg: Y轴目标角度（度）
|
||||
z_deg: Z轴目标角度（度）
|
||||
speed: 移动速度
|
||||
acceleration: 加速度
|
||||
|
||||
Returns:
|
||||
各轴移动操作结果
|
||||
"""
|
||||
# 将角度转换为步数
|
||||
x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None
|
||||
y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None
|
||||
z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None
|
||||
|
||||
return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
|
||||
|
||||
def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None,
|
||||
z_rev: Optional[float] = None, speed: int = 5000,
|
||||
acceleration: int = 1000) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
使用圈数值同时移动多个轴到指定位置
|
||||
|
||||
Args:
|
||||
x_rev: X轴目标圈数
|
||||
y_rev: Y轴目标圈数
|
||||
z_rev: Z轴目标圈数
|
||||
speed: 移动速度
|
||||
acceleration: 加速度
|
||||
|
||||
Returns:
|
||||
各轴移动操作结果
|
||||
"""
|
||||
# 将圈数转换为步数
|
||||
x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None
|
||||
y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None
|
||||
z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None
|
||||
|
||||
return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
|
||||
|
||||
def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000,
|
||||
acceleration: int = 1000, precision: int = 100) -> bool:
|
||||
"""
|
||||
使用角度值移动单个轴到指定位置
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
degrees: 目标角度（度）
|
||||
speed: 移动速度
|
||||
acceleration: 加速度
|
||||
precision: 精度
|
||||
|
||||
Returns:
|
||||
移动操作是否成功
|
||||
"""
|
||||
steps = self.degrees_to_steps(degrees)
|
||||
return self.move_to_position(axis, steps, speed, acceleration, precision)
|
||||
|
||||
def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000,
|
||||
acceleration: int = 1000, precision: int = 100) -> bool:
|
||||
"""
|
||||
使用圈数值移动单个轴到指定位置
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
revolutions: 目标圈数
|
||||
speed: 移动速度
|
||||
acceleration: 加速度
|
||||
precision: 精度
|
||||
|
||||
Returns:
|
||||
移动操作是否成功
|
||||
"""
|
||||
steps = self.revolutions_to_steps(revolutions)
|
||||
return self.move_to_position(axis, steps, speed, acceleration, precision)
|
||||
|
||||
def stop_all_axes(self) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
紧急停止所有轴
|
||||
|
||||
Returns:
|
||||
各轴停止结果字典
|
||||
"""
|
||||
results = {}
|
||||
for axis in MotorAxis:
|
||||
results[axis] = self.emergency_stop(axis)
|
||||
return results
|
||||
|
||||
def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
使能/失能所有轴
|
||||
|
||||
Args:
|
||||
enable: True为使能，False为失能
|
||||
|
||||
Returns:
|
||||
各轴操作结果字典
|
||||
"""
|
||||
results = {}
|
||||
for axis in MotorAxis:
|
||||
results[axis] = self.enable_motor(axis, enable)
|
||||
return results
|
||||
|
||||
def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]:
|
||||
"""
|
||||
获取所有轴的位置信息
|
||||
|
||||
Returns:
|
||||
各轴位置信息字典
|
||||
"""
|
||||
positions = {}
|
||||
for axis in MotorAxis:
|
||||
positions[axis] = self.get_motor_status(axis)
|
||||
return positions
|
||||
|
||||
def home_all_axes(self) -> Dict[MotorAxis, bool]:
|
||||
"""
|
||||
所有轴归零
|
||||
|
||||
Returns:
|
||||
各轴归零结果字典
|
||||
"""
|
||||
results = {}
|
||||
for axis in MotorAxis:
|
||||
results[axis] = self.home_axis(axis)
|
||||
return results
|
||||
13
unilabos/devices/laiyu_liquid/tests/__init__.py
Normal file
13
unilabos/devices/laiyu_liquid/tests/__init__.py
Normal file
@@ -0,0 +1,13 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
LaiYu液体处理设备测试模块
|
||||
|
||||
该模块包含LaiYu液体处理设备的测试用例：
|
||||
- test_deck_config.py: 工作台配置测试
|
||||
|
||||
作者: UniLab团队
|
||||
版本: 2.0.0
|
||||
"""
|
||||
|
||||
__all__ = []
|
||||
315
unilabos/devices/laiyu_liquid/tests/test_deck_config.py
Normal file
315
unilabos/devices/laiyu_liquid/tests/test_deck_config.py
Normal file
@@ -0,0 +1,315 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
测试脚本：验证更新后的deck配置是否正常工作
|
||||
"""
|
||||
|
||||
import sys
|
||||
import os
|
||||
import json
|
||||
|
||||
# 添加项目根目录到Python路径
|
||||
project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
|
||||
sys.path.insert(0, project_root)
|
||||
|
||||
def test_config_loading():
|
||||
"""测试配置文件加载功能"""
|
||||
print("=" * 50)
|
||||
print("测试配置文件加载功能")
|
||||
print("=" * 50)
|
||||
|
||||
try:
|
||||
# 直接测试配置文件加载
|
||||
config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json")
|
||||
fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json")
|
||||
|
||||
config = None
|
||||
config_source = ""
|
||||
|
||||
if os.path.exists(config_path):
|
||||
with open(config_path, 'r', encoding='utf-8') as f:
|
||||
config = json.load(f)
|
||||
config_source = "config/deckconfig.json"
|
||||
elif os.path.exists(fallback_path):
|
||||
with open(fallback_path, 'r', encoding='utf-8') as f:
|
||||
config = json.load(f)
|
||||
config_source = "config/deck.json"
|
||||
else:
|
||||
print("❌ 配置文件不存在")
|
||||
return False
|
||||
|
||||
print(f"✅ 配置文件加载成功: {config_source}")
|
||||
print(f" - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}")
|
||||
print(f" - 子模块数量: {len(config.get('children', []))}")
|
||||
|
||||
# 检查各个模块是否存在
|
||||
modules = config.get('children', [])
|
||||
module_types = [module.get('type') for module in modules]
|
||||
module_names = [module.get('name') for module in modules]
|
||||
|
||||
print(f" - 模块类型: {', '.join(set(filter(None, module_types)))}")
|
||||
print(f" - 模块名称: {', '.join(filter(None, module_names))}")
|
||||
|
||||
return config
|
||||
except Exception as e:
|
||||
print(f"❌ 配置文件加载失败: {e}")
|
||||
return None
|
||||
|
||||
def test_module_coordinates(config):
|
||||
"""测试各模块的坐标信息"""
|
||||
print("\n" + "=" * 50)
|
||||
print("测试模块坐标信息")
|
||||
print("=" * 50)
|
||||
|
||||
if not config:
|
||||
print("❌ 配置为空，无法测试")
|
||||
return False
|
||||
|
||||
modules = config.get('children', [])
|
||||
|
||||
for module in modules:
|
||||
module_name = module.get('name', '未知模块')
|
||||
module_type = module.get('type', '未知类型')
|
||||
position = module.get('position', {})
|
||||
size = module.get('size', {})
|
||||
|
||||
print(f"\n模块: {module_name} ({module_type})")
|
||||
print(f" - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})")
|
||||
print(f" - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}")
|
||||
|
||||
# 检查孔位信息
|
||||
wells = module.get('wells', [])
|
||||
if wells:
|
||||
print(f" - 孔位数量: {len(wells)}")
|
||||
|
||||
# 显示前几个和后几个孔位的坐标
|
||||
sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells
|
||||
for well in sample_wells:
|
||||
well_id = well.get('id', '未知')
|
||||
well_pos = well.get('position', {})
|
||||
print(f" {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})")
|
||||
else:
|
||||
print(f" - 无孔位信息")
|
||||
|
||||
return True
|
||||
|
||||
def test_coordinate_ranges(config):
|
||||
"""测试坐标范围的合理性"""
|
||||
print("\n" + "=" * 50)
|
||||
print("测试坐标范围合理性")
|
||||
print("=" * 50)
|
||||
|
||||
if not config:
|
||||
print("❌ 配置为空，无法测试")
|
||||
return False
|
||||
|
||||
deck_size = {
|
||||
'x': config.get('size_x', 340),
|
||||
'y': config.get('size_y', 250),
|
||||
'z': config.get('size_z', 160)
|
||||
}
|
||||
|
||||
print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}")
|
||||
|
||||
modules = config.get('children', [])
|
||||
all_coordinates = []
|
||||
|
||||
for module in modules:
|
||||
module_name = module.get('name', '未知模块')
|
||||
wells = module.get('wells', [])
|
||||
|
||||
for well in wells:
|
||||
well_pos = well.get('position', {})
|
||||
x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0)
|
||||
all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}"))
|
||||
|
||||
if not all_coordinates:
|
||||
print("❌ 没有找到任何坐标信息")
|
||||
return False
|
||||
|
||||
# 计算坐标范围
|
||||
x_coords = [coord[0] for coord in all_coordinates]
|
||||
y_coords = [coord[1] for coord in all_coordinates]
|
||||
z_coords = [coord[2] for coord in all_coordinates]
|
||||
|
||||
x_range = (min(x_coords), max(x_coords))
|
||||
y_range = (min(y_coords), max(y_coords))
|
||||
z_range = (min(z_coords), max(z_coords))
|
||||
|
||||
print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}")
|
||||
print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}")
|
||||
print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}")
|
||||
|
||||
# 检查是否超出甲板范围
|
||||
issues = []
|
||||
if x_range[1] > deck_size['x']:
|
||||
issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}")
|
||||
if y_range[1] > deck_size['y']:
|
||||
issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}")
|
||||
if z_range[1] > deck_size['z']:
|
||||
issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}")
|
||||
|
||||
if x_range[0] < 0:
|
||||
issues.append(f"X坐标为负值: {x_range[0]}")
|
||||
if y_range[0] < 0:
|
||||
issues.append(f"Y坐标为负值: {y_range[0]}")
|
||||
if z_range[0] < 0:
|
||||
issues.append(f"Z坐标为负值: {z_range[0]}")
|
||||
|
||||
if issues:
|
||||
print("⚠️ 发现坐标问题:")
|
||||
for issue in issues:
|
||||
print(f" - {issue}")
|
||||
return False
|
||||
else:
|
||||
print("✅ 所有坐标都在合理范围内")
|
||||
return True
|
||||
|
||||
def test_well_spacing(config):
|
||||
"""测试孔位间距的一致性"""
|
||||
print("\n" + "=" * 50)
|
||||
print("测试孔位间距一致性")
|
||||
print("=" * 50)
|
||||
|
||||
if not config:
|
||||
print("❌ 配置为空，无法测试")
|
||||
return False
|
||||
|
||||
modules = config.get('children', [])
|
||||
|
||||
for module in modules:
|
||||
module_name = module.get('name', '未知模块')
|
||||
module_type = module.get('type', '未知类型')
|
||||
wells = module.get('wells', [])
|
||||
|
||||
if len(wells) < 2:
|
||||
continue
|
||||
|
||||
print(f"\n模块: {module_name} ({module_type})")
|
||||
|
||||
# 计算相邻孔位的间距
|
||||
spacings_x = []
|
||||
spacings_y = []
|
||||
|
||||
# 按行列排序孔位
|
||||
wells_by_row = {}
|
||||
for well in wells:
|
||||
well_id = well.get('id', '')
|
||||
if len(well_id) >= 3: # 如A01格式
|
||||
row = well_id[0]
|
||||
col = int(well_id[1:])
|
||||
if row not in wells_by_row:
|
||||
wells_by_row[row] = {}
|
||||
wells_by_row[row][col] = well
|
||||
|
||||
# 计算同行相邻孔位的X间距
|
||||
for row, cols in wells_by_row.items():
|
||||
sorted_cols = sorted(cols.keys())
|
||||
for i in range(len(sorted_cols) - 1):
|
||||
col1, col2 = sorted_cols[i], sorted_cols[i + 1]
|
||||
if col2 == col1 + 1: # 相邻列
|
||||
pos1 = cols[col1].get('position', {})
|
||||
pos2 = cols[col2].get('position', {})
|
||||
spacing = abs(pos2.get('x', 0) - pos1.get('x', 0))
|
||||
spacings_x.append(spacing)
|
||||
|
||||
# 计算同列相邻孔位的Y间距
|
||||
cols_by_row = {}
|
||||
for well in wells:
|
||||
well_id = well.get('id', '')
|
||||
if len(well_id) >= 3:
|
||||
row = ord(well_id[0]) - ord('A')
|
||||
col = int(well_id[1:])
|
||||
if col not in cols_by_row:
|
||||
cols_by_row[col] = {}
|
||||
cols_by_row[col][row] = well
|
||||
|
||||
for col, rows in cols_by_row.items():
|
||||
sorted_rows = sorted(rows.keys())
|
||||
for i in range(len(sorted_rows) - 1):
|
||||
row1, row2 = sorted_rows[i], sorted_rows[i + 1]
|
||||
if row2 == row1 + 1: # 相邻行
|
||||
pos1 = rows[row1].get('position', {})
|
||||
pos2 = rows[row2].get('position', {})
|
||||
spacing = abs(pos2.get('y', 0) - pos1.get('y', 0))
|
||||
spacings_y.append(spacing)
|
||||
|
||||
# 检查间距一致性
|
||||
if spacings_x:
|
||||
avg_x = sum(spacings_x) / len(spacings_x)
|
||||
max_diff_x = max(abs(s - avg_x) for s in spacings_x)
|
||||
print(f" - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm")
|
||||
|
||||
if spacings_y:
|
||||
avg_y = sum(spacings_y) / len(spacings_y)
|
||||
max_diff_y = max(abs(s - avg_y) for s in spacings_y)
|
||||
print(f" - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm")
|
||||
|
||||
return True
|
||||
|
||||
def main():
|
||||
"""主测试函数"""
|
||||
print("LaiYu液体处理设备配置测试")
|
||||
print("测试时间:", os.popen('date').read().strip())
|
||||
|
||||
# 运行所有测试
|
||||
tests = [
|
||||
("配置文件加载", test_config_loading),
|
||||
]
|
||||
|
||||
config = None
|
||||
results = []
|
||||
|
||||
for test_name, test_func in tests:
|
||||
try:
|
||||
if test_name == "配置文件加载":
|
||||
result = test_func()
|
||||
config = result if result else None
|
||||
results.append((test_name, bool(result)))
|
||||
else:
|
||||
result = test_func(config)
|
||||
results.append((test_name, result))
|
||||
except Exception as e:
|
||||
print(f"❌ 测试 {test_name} 执行失败: {e}")
|
||||
results.append((test_name, False))
|
||||
|
||||
# 如果配置加载成功，运行其他测试
|
||||
if config:
|
||||
additional_tests = [
|
||||
("模块坐标信息", test_module_coordinates),
|
||||
("坐标范围合理性", test_coordinate_ranges),
|
||||
("孔位间距一致性", test_well_spacing)
|
||||
]
|
||||
|
||||
for test_name, test_func in additional_tests:
|
||||
try:
|
||||
result = test_func(config)
|
||||
results.append((test_name, result))
|
||||
except Exception as e:
|
||||
print(f"❌ 测试 {test_name} 执行失败: {e}")
|
||||
results.append((test_name, False))
|
||||
|
||||
# 输出测试总结
|
||||
print("\n" + "=" * 50)
|
||||
print("测试总结")
|
||||
print("=" * 50)
|
||||
|
||||
passed = sum(1 for _, result in results if result)
|
||||
total = len(results)
|
||||
|
||||
for test_name, result in results:
|
||||
status = "✅ 通过" if result else "❌ 失败"
|
||||
print(f" {test_name}: {status}")
|
||||
|
||||
print(f"\n总计: {passed}/{total} 个测试通过")
|
||||
|
||||
if passed == total:
|
||||
print("🎉 所有测试通过！配置更新成功。")
|
||||
return True
|
||||
else:
|
||||
print("⚠️ 部分测试失败，需要进一步检查。")
|
||||
return False
|
||||
|
||||
if __name__ == "__main__":
|
||||
success = main()
|
||||
sys.exit(0 if success else 1)
|
||||
@@ -923,7 +923,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
is_96_well: bool = False,
|
||||
mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
|
||||
mix_times: Optional[List[int]] = None,
|
||||
mix_times: Optional[int] = None,
|
||||
mix_vol: Optional[int] = None,
|
||||
mix_rate: Optional[int] = None,
|
||||
mix_liquid_height: Optional[float] = None,
|
||||
|
||||
@@ -2,6 +2,7 @@ import asyncio
|
||||
import collections
|
||||
import contextlib
|
||||
import json
|
||||
import os
|
||||
import socket
|
||||
import time
|
||||
from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
|
||||
@@ -548,7 +549,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
blending_times=0,
|
||||
balance_height=0,
|
||||
plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
|
||||
hole_numbers="1,2,3,4,5,6,7,8",
|
||||
hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels == 1 else "1,2,3,4,5",
|
||||
)
|
||||
self.steps_todo_list.append(step)
|
||||
|
||||
@@ -1618,24 +1619,39 @@ if __name__ == "__main__":
|
||||
host="192.168.0.121",
|
||||
port=9999,
|
||||
timeout=10.0,
|
||||
setup=False,
|
||||
setup=True,
|
||||
debug=False,
|
||||
matrix_id="5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
channel_num=1,
|
||||
axis="Left",
|
||||
axis="Right",
|
||||
simulator=False,
|
||||
is_9320=True,
|
||||
) # Initialize the handler with the deck and host settings
|
||||
)
|
||||
backend: PRCXI9300Backend = handler.backend
|
||||
res = backend.api_client.get_all_materials()
|
||||
handler.set_tiprack([plate8]) # Set the tip rack for the handler
|
||||
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
||||
from pylabrobot.resources import set_volume_tracking
|
||||
|
||||
# from pylabrobot.resources import set_tip_tracking
|
||||
set_volume_tracking(enabled=True)
|
||||
# res = backend.api_client.get_all_materials()
|
||||
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
|
||||
handler.set_tiprack([plate1, plate5]) # Set the tip rack for the handler
|
||||
handler.set_liquid([plate9.get_well("H12")], ["water"], [5])
|
||||
asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))
|
||||
asyncio.run(handler.pick_up_tips([plate5.get_item("C5")], [0]))
|
||||
asyncio.run(handler.aspirate([plate9.get_item("H12")], [5], [0]))
|
||||
|
||||
|
||||
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
|
||||
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]))
|
||||
asyncio.run(handler.mix([plate10.get_item("H12")], mix_time=3, mix_vol=5))
|
||||
asyncio.run(handler.discard_tips([0]))
|
||||
asyncio.run(handler.run_protocol())
|
||||
time.sleep(5)
|
||||
os._exit(0)
|
||||
# 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)
|
||||
@@ -1652,7 +1668,7 @@ if __name__ == "__main__":
|
||||
# # json.dump(A, f, indent=4, ensure_ascii=False)
|
||||
|
||||
# print(plate11.get_well(0).tracker.get_used_volume())
|
||||
asyncio.run(handler.create_protocol(protocol_name="Test Protocol")) # Initialize the backend and setup the connection
|
||||
# Initialize the backend and setup the connection
|
||||
asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking
|
||||
|
||||
|
||||
|
||||
304
unilabos/devices/liquid_handling/rviz_backend.py
Normal file
304
unilabos/devices/liquid_handling/rviz_backend.py
Normal file
@@ -0,0 +1,304 @@
|
||||
|
||||
import json
|
||||
from typing import List, Optional, Union
|
||||
|
||||
from pylabrobot.liquid_handling.backends.backend import (
|
||||
LiquidHandlerBackend,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
Drop,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationContainer,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadDispenseContainer,
|
||||
MultiHeadDispensePlate,
|
||||
Pickup,
|
||||
PickupTipRack,
|
||||
ResourceDrop,
|
||||
ResourceMove,
|
||||
ResourcePickup,
|
||||
SingleChannelAspiration,
|
||||
SingleChannelDispense,
|
||||
)
|
||||
from pylabrobot.resources import Resource, Tip
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from sensor_msgs.msg import JointState
|
||||
import time
|
||||
from rclpy.action import ActionClient
|
||||
from unilabos_msgs.action import SendCmd
|
||||
import re
|
||||
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
|
||||
|
||||
|
||||
class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
|
||||
"""Chatter box backend for device-free testing. Prints out all operations."""
|
||||
|
||||
_pip_length = 5
|
||||
_vol_length = 8
|
||||
_resource_length = 20
|
||||
_offset_length = 16
|
||||
_flow_rate_length = 10
|
||||
_blowout_length = 10
|
||||
_lld_z_length = 10
|
||||
_kwargs_length = 15
|
||||
_tip_type_length = 12
|
||||
_max_volume_length = 16
|
||||
_fitting_depth_length = 20
|
||||
_tip_length_length = 16
|
||||
# _pickup_method_length = 20
|
||||
_filter_length = 10
|
||||
|
||||
def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310):
|
||||
"""Initialize a chatter box backend."""
|
||||
super().__init__()
|
||||
self._num_channels = num_channels
|
||||
self.tip_length = tip_length
|
||||
self.total_height = total_height
|
||||
# rclpy.init()
|
||||
if not rclpy.ok():
|
||||
rclpy.init()
|
||||
self.joint_state_publisher = None
|
||||
|
||||
async def setup(self):
|
||||
self.joint_state_publisher = JointStatePublisher()
|
||||
await super().setup()
|
||||
|
||||
print("Setting up the liquid handler.")
|
||||
|
||||
async def stop(self):
|
||||
print("Stopping the liquid handler.")
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
print(f"Resource {resource.name} was assigned to the liquid handler.")
|
||||
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
print(f"Resource {name} was unassigned from the liquid handler.")
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
print("Picking up tips:")
|
||||
# print(ops.tip)
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerRvizBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerRvizBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerRvizBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerRvizBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerRvizBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerRvizBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerRvizBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerRvizBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
# print(op.resource.get_absolute_location())
|
||||
|
||||
self.tip_length = ops[0].tip.total_tip_length
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print("moving")
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
|
||||
# goback()
|
||||
|
||||
|
||||
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
print("Dropping tips:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerRvizBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerRvizBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerRvizBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerRvizBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerRvizBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerRvizBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerRvizBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerRvizBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerRvizBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash",channels=use_channels)
|
||||
# goback()
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
print("Aspirating:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerRvizBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerRvizBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerRvizBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<15}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
|
||||
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
# print("Dispensing:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerRvizBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerRvizBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerRvizBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerRvizBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerRvizBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerRvizBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerRvizBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerRvizBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerRvizBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<{UniLiquidHandlerRvizBackend._kwargs_length}}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
print(f"Picking up tips from {pickup.resource.name}.")
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
print(f"Dropping tips to {drop.resource.name}.")
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
if isinstance(aspiration, MultiHeadAspirationPlate):
|
||||
resource = aspiration.wells[0].parent
|
||||
else:
|
||||
resource = aspiration.container
|
||||
print(f"Aspirating {aspiration.volume} from {resource}.")
|
||||
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
if isinstance(dispense, MultiHeadDispensePlate):
|
||||
resource = dispense.wells[0].parent
|
||||
else:
|
||||
resource = dispense.container
|
||||
print(f"Dispensing {dispense.volume} to {resource}.")
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
print(f"Picking up resource: {pickup}")
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
print(f"Moving picked up resource: {move}")
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
print(f"Dropping resource: {drop}")
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
1951
unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
Normal file
1951
unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
Normal file
File diff suppressed because it is too large
Load Diff
129
unilabos/devices/workstation/bioyond_studio/config.py
Normal file
129
unilabos/devices/workstation/bioyond_studio/config.py
Normal file
@@ -0,0 +1,129 @@
|
||||
# config.py
|
||||
"""
|
||||
配置文件 - 包含所有配置信息和映射关系
|
||||
"""
|
||||
|
||||
# API配置
|
||||
API_CONFIG = {
|
||||
"api_key": "",
|
||||
"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": "",
|
||||
"reactor_taken_in": "",
|
||||
"Solid_feeding_vials": "",
|
||||
"Liquid_feeding_vials(non-titration)": "",
|
||||
"Liquid_feeding_solvents": "",
|
||||
"Liquid_feeding(titration)": "",
|
||||
"liquid_feeding_beaker": "",
|
||||
"Drip_back": "",
|
||||
}
|
||||
|
||||
# 工作流名称到DisplaySectionName的映射
|
||||
WORKFLOW_TO_SECTION_MAP = {
|
||||
'reactor_taken_in': '反应器放入',
|
||||
'liquid_feeding_beaker': '液体投料-烧杯',
|
||||
'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
|
||||
'Liquid_feeding_solvents': '液体投料-溶剂',
|
||||
'Solid_feeding_vials': '固体投料-小瓶',
|
||||
'Liquid_feeding(titration)': '液体投料-滴定',
|
||||
'reactor_taken_out': '反应器取出'
|
||||
}
|
||||
|
||||
# 库位映射配置
|
||||
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",
|
||||
"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）
|
||||
WORKFLOW_STEP_IDS = {
|
||||
"reactor_taken_in": {
|
||||
"config": ""
|
||||
},
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "",
|
||||
"observe": ""
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "",
|
||||
"observe": ""
|
||||
}
|
||||
}
|
||||
398
unilabos/devices/workstation/bioyond_studio/experiment.py
Normal file
398
unilabos/devices/workstation/bioyond_studio/experiment.py
Normal file
@@ -0,0 +1,398 @@
|
||||
# experiment_workflow.py
|
||||
"""
|
||||
实验流程主程序
|
||||
"""
|
||||
|
||||
import json
|
||||
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
|
||||
}
|
||||
|
||||
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.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",
|
||||
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",
|
||||
assign_material_name="ODA",
|
||||
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",
|
||||
assign_material_name="MPDA",
|
||||
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(
|
||||
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",
|
||||
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",
|
||||
torque_variation="2",
|
||||
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",
|
||||
torque_variation="2",
|
||||
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",
|
||||
torque_variation="2",
|
||||
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="1000",
|
||||
assign_material_name="BTDA-DD",
|
||||
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",
|
||||
assign_material_name="BTDA-DD",
|
||||
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",
|
||||
assign_material_name="BTDA-DD",
|
||||
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",
|
||||
assign_material_name="BTDA-DD",
|
||||
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",
|
||||
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",
|
||||
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_86",
|
||||
task_name="实验3_86"
|
||||
)
|
||||
|
||||
# 显示执行结果
|
||||
print("\n5. 执行结果:")
|
||||
if isinstance(result, str):
|
||||
try:
|
||||
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')}")
|
||||
else:
|
||||
print(f"任务创建失败: {result_dict.get('error')}")
|
||||
except:
|
||||
print(f"结果解析失败: {result}")
|
||||
else:
|
||||
if result.get("success"):
|
||||
print("任务创建成功!")
|
||||
print(f"- 工作流: {result.get('workflow', {}).get('name')}")
|
||||
print(f"- 工作流ID: {result.get('workflow', {}).get('id')}")
|
||||
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
|
||||
}
|
||||
|
||||
|
||||
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}")
|
||||
2389
unilabos/devices/workstation/bioyond_studio/station.py
Normal file
2389
unilabos/devices/workstation/bioyond_studio/station.py
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
14472
unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
Normal file
14472
unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json
Normal file
File diff suppressed because it is too large
Load Diff
@@ -112,17 +112,17 @@ class ResourceSynchronizer(ABC):
|
||||
self.workstation = workstation
|
||||
|
||||
@abstractmethod
|
||||
async def sync_from_external(self) -> bool:
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统同步物料到本地deck"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
async def sync_to_external(self, plr_resource: PLRResource) -> bool:
|
||||
def sync_to_external(self, plr_resource: PLRResource) -> bool:
|
||||
"""将本地物料同步到外部系统"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
|
||||
def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
|
||||
"""处理外部系统的变更通知"""
|
||||
pass
|
||||
|
||||
@@ -147,17 +147,15 @@ class WorkstationBase(ABC):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
station_resource: PLRResource,
|
||||
deck: Deck,
|
||||
*args,
|
||||
**kwargs, # 必须有kwargs
|
||||
):
|
||||
# 基本配置
|
||||
print(station_resource)
|
||||
self.deck_config = station_resource
|
||||
|
||||
# PLR 物料系统
|
||||
self.deck: Optional[Deck] = None
|
||||
self.deck: Optional[Deck] = deck
|
||||
self.plr_resources: Dict[str, PLRResource] = {}
|
||||
|
||||
self.resource_synchronizer = None # type: Optional[ResourceSynchronizer]
|
||||
# 硬件接口
|
||||
self.hardware_interface: Union[Any, str] = None
|
||||
|
||||
@@ -173,46 +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._initialize_material_system()
|
||||
|
||||
def _initialize_material_system(self):
|
||||
"""初始化物料系统 - 使用 graphio 转换"""
|
||||
pass
|
||||
|
||||
def _create_complete_resource_config(self) -> Dict[str, Any]:
|
||||
"""创建完整的资源配置 - 合并 deck_config 和 children"""
|
||||
# 创建主 deck 配置
|
||||
return {}
|
||||
|
||||
def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]:
|
||||
"""标准化子资源配置"""
|
||||
return {
|
||||
"id": resource_id,
|
||||
"name": config.get("name", resource_id),
|
||||
"type": config.get("type", "container"),
|
||||
"position": self._normalize_position(config.get("position", {})),
|
||||
"config": config.get("config", {}),
|
||||
"data": config.get("data", {}),
|
||||
"children": [], # 简化版本：只支持一层子资源
|
||||
"parent": parent_id,
|
||||
}
|
||||
|
||||
def _normalize_position(self, position: Any) -> Dict[str, float]:
|
||||
"""标准化位置信息"""
|
||||
if isinstance(position, dict):
|
||||
return {
|
||||
"x": float(position.get("x", 0)),
|
||||
"y": float(position.get("y", 0)),
|
||||
"z": float(position.get("z", 0)),
|
||||
}
|
||||
elif isinstance(position, (list, tuple)) and len(position) >= 2:
|
||||
return {
|
||||
"x": float(position[0]),
|
||||
"y": float(position[1]),
|
||||
"z": float(position[2]) if len(position) > 2 else 0.0,
|
||||
}
|
||||
else:
|
||||
return {"x": 0.0, "y": 0.0, "z": 0.0}
|
||||
self._ros_node.update_resource([self.deck])
|
||||
|
||||
def _build_resource_mappings(self, deck: Deck):
|
||||
"""递归构建资源映射"""
|
||||
@@ -296,14 +255,14 @@ class WorkstationBase(ABC):
|
||||
"""按类型查找资源"""
|
||||
return [res for res in self.plr_resources.values() if isinstance(res, resource_type)]
|
||||
|
||||
async def sync_with_external_system(self) -> bool:
|
||||
def sync_with_external_system(self) -> bool:
|
||||
"""与外部物料系统同步"""
|
||||
if not self.resource_synchronizer:
|
||||
logger.info(f"工作站 {self._ros_node.device_id} 没有配置资源同步器")
|
||||
return True
|
||||
|
||||
try:
|
||||
success = await self.resource_synchronizer.sync_from_external()
|
||||
success = self.resource_synchronizer.sync_from_external()
|
||||
if success:
|
||||
logger.info(f"工作站 {self._ros_node.device_id} 外部同步成功")
|
||||
else:
|
||||
@@ -391,5 +350,5 @@ class WorkstationBase(ABC):
|
||||
|
||||
|
||||
class ProtocolNode(WorkstationBase):
|
||||
def __init__(self, station_resource: Optional[PLRResource], *args, **kwargs):
|
||||
super().__init__(station_resource, *args, **kwargs)
|
||||
def __init__(self, deck: Optional[PLRResource], *args, **kwargs):
|
||||
super().__init__(deck, *args, **kwargs)
|
||||
|
||||
@@ -149,6 +149,22 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
)
|
||||
self._send_response(error_response)
|
||||
|
||||
def do_OPTIONS(self):
|
||||
"""处理OPTIONS请求 - CORS预检请求"""
|
||||
try:
|
||||
# 发送CORS响应头
|
||||
self.send_response(200)
|
||||
self.send_header('Access-Control-Allow-Origin', '*')
|
||||
self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
|
||||
self.send_header('Access-Control-Allow-Headers', 'Content-Type, Authorization')
|
||||
self.send_header('Access-Control-Max-Age', '86400')
|
||||
self.end_headers()
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"OPTIONS请求处理失败: {e}")
|
||||
self.send_response(500)
|
||||
self.end_headers()
|
||||
|
||||
def _handle_step_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理步骤完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
@@ -206,7 +222,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
|
||||
# 验证data字段内容
|
||||
data = request_data['data']
|
||||
data_required_fields = ['orderCode', 'orderName', 'sampleId', 'startTime', 'endTime', 'Status']
|
||||
data_required_fields = ['orderCode', 'orderName', 'sampleId', 'startTime', 'endTime', 'status']
|
||||
if data_missing_fields := [field for field in data_required_fields if field not in data]:
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
@@ -227,7 +243,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
"0": "待生产", "2": "进样", "10": "开始",
|
||||
"20": "完成", "-2": "异常停止", "-3": "人工停止"
|
||||
}
|
||||
status_desc = status_names.get(str(data['Status']), f"状态{data['Status']}")
|
||||
status_desc = status_names.get(str(data['status']), f"状态{data['status']}")
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
@@ -380,6 +396,21 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
"""处理物料变更报送"""
|
||||
try:
|
||||
# 验证必需字段
|
||||
if 'brand' in request_data:
|
||||
if request_data['brand'] == "bioyond": # 奔曜
|
||||
error_msg = request_data["text"]
|
||||
logger.info(f"收到奔曜错误处理报送: {error_msg}")
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"错误处理报送已收到: {error_msg}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
|
||||
data=None
|
||||
)
|
||||
else:
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"缺少厂家信息（brand字段）"
|
||||
)
|
||||
required_fields = ['workstation_id', 'timestamp', 'resource_id', 'change_type']
|
||||
if missing_fields := [field for field in required_fields if field not in request_data]:
|
||||
return HttpResponse(
|
||||
@@ -407,23 +438,45 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
def _handle_error_handling_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理错误处理报送"""
|
||||
try:
|
||||
# 验证必需字段
|
||||
required_fields = ['workstation_id', 'timestamp', 'error_type', 'error_message']
|
||||
if missing_fields := [field for field in required_fields if field not in request_data]:
|
||||
# 检查是否为奔曜格式的错误报送
|
||||
if 'brand' in request_data and str(request_data['brand']).lower() == "bioyond":
|
||||
# 奔曜格式处理
|
||||
if 'text' not in request_data:
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message="奔曜格式缺少text字段"
|
||||
)
|
||||
|
||||
error_data = request_data["text"]
|
||||
logger.info(f"收到奔曜错误处理报送: {error_data}")
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.handle_external_error(error_data)
|
||||
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
success=True,
|
||||
message=f"错误处理报送已收到: 任务{error_data.get('task', 'unknown')}, 错误代码{error_data.get('code', 'unknown')}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_data.get('task', 'unknown')}",
|
||||
data=result
|
||||
)
|
||||
else:
|
||||
# 标准格式处理
|
||||
required_fields = ['workstation_id', 'timestamp', 'error_type', 'error_message']
|
||||
if missing_fields := [field for field in required_fields if field not in request_data]:
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.handle_external_error(request_data)
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"错误处理报送已处理: {request_data['error_type']} - {request_data['error_message']}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{request_data.get('action_id', 'unknown')}",
|
||||
data=result
|
||||
)
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.handle_external_error(request_data)
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"错误处理报送已处理: {request_data['error_type']} - {request_data['error_message']}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{request_data.get('action_id', 'unknown')}",
|
||||
data=result
|
||||
)
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理错误处理报送失败: {e}")
|
||||
@@ -548,13 +601,19 @@ class WorkstationHTTPService:
|
||||
"""停止HTTP服务"""
|
||||
try:
|
||||
if self.running and self.server:
|
||||
logger.info("正在停止工作站HTTP报送服务...")
|
||||
self.running = False
|
||||
self.server.shutdown()
|
||||
self.server.server_close()
|
||||
|
||||
# 停止serve_forever循环
|
||||
self.server.shutdown()
|
||||
|
||||
# 等待服务器线程结束
|
||||
if self.server_thread and self.server_thread.is_alive():
|
||||
self.server_thread.join(timeout=5.0)
|
||||
|
||||
# 关闭服务器套接字
|
||||
self.server.server_close()
|
||||
|
||||
logger.info("工作站HTTP报送服务已停止")
|
||||
|
||||
except Exception as e:
|
||||
@@ -563,11 +622,13 @@ class WorkstationHTTPService:
|
||||
def _run_server(self):
|
||||
"""运行HTTP服务器"""
|
||||
try:
|
||||
while self.running:
|
||||
self.server.handle_request()
|
||||
# 使用serve_forever()让服务持续运行
|
||||
self.server.serve_forever()
|
||||
except Exception as e:
|
||||
if self.running: # 只在非正常停止时记录错误
|
||||
logger.error(f"HTTP服务运行错误: {e}")
|
||||
finally:
|
||||
logger.info("HTTP服务器线程已退出")
|
||||
|
||||
@property
|
||||
def is_running(self) -> bool:
|
||||
@@ -603,3 +664,49 @@ __all__ = [
|
||||
'MaterialChangeReport',
|
||||
'TaskExecutionReport'
|
||||
]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 简单测试HTTP服务
|
||||
class DummyWorkstation:
|
||||
device_id = "WS-001"
|
||||
|
||||
def process_step_finish_report(self, report_request):
|
||||
return {"processed": True}
|
||||
|
||||
def process_sample_finish_report(self, report_request):
|
||||
return {"processed": True}
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials):
|
||||
return {"processed": True}
|
||||
|
||||
def process_material_change_report(self, report_data):
|
||||
return {"processed": True}
|
||||
|
||||
def handle_external_error(self, error_data):
|
||||
return {"handled": True}
|
||||
|
||||
workstation = DummyWorkstation()
|
||||
http_service = WorkstationHTTPService(workstation)
|
||||
|
||||
try:
|
||||
http_service.start()
|
||||
print(f"测试服务器已启动: {http_service.service_url}")
|
||||
print("按 Ctrl+C 停止服务器")
|
||||
print("服务将持续运行，等待接收HTTP请求...")
|
||||
|
||||
# 保持服务器运行 - 使用更好的等待机制
|
||||
try:
|
||||
while http_service.is_running:
|
||||
time.sleep(1)
|
||||
except KeyboardInterrupt:
|
||||
print("\n接收到停止信号...")
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n正在停止服务器...")
|
||||
http_service.stop()
|
||||
print("服务器已停止")
|
||||
except Exception as e:
|
||||
print(f"服务器运行错误: {e}")
|
||||
http_service.stop()
|
||||
|
||||
|
||||
@@ -10,6 +10,7 @@ serial:
|
||||
request: null
|
||||
response: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: handle_serial_request的参数schema
|
||||
@@ -36,6 +37,7 @@ serial:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: read_data的参数schema
|
||||
@@ -57,6 +59,7 @@ serial:
|
||||
goal_default:
|
||||
command: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
|
||||
@@ -8,6 +8,7 @@ camera.USB:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
|
||||
@@ -28,6 +29,7 @@ camera.USB:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
|
||||
|
||||
@@ -8,6 +8,7 @@ hplc.agilent:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
|
||||
@@ -29,6 +30,7 @@ hplc.agilent:
|
||||
goal_default:
|
||||
file_path: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
|
||||
@@ -55,6 +57,7 @@ hplc.agilent:
|
||||
resource: null
|
||||
wf_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
|
||||
@@ -83,6 +86,7 @@ hplc.agilent:
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
|
||||
@@ -106,6 +110,7 @@ hplc.agilent:
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
|
||||
@@ -263,6 +268,7 @@ hplc.agilent-zhida:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
|
||||
@@ -283,6 +289,7 @@ hplc.agilent-zhida:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
|
||||
|
||||
@@ -9,6 +9,7 @@ raman.home_made:
|
||||
goal_default:
|
||||
int_time: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。
|
||||
@@ -33,6 +34,7 @@ raman.home_made:
|
||||
goal_default:
|
||||
output_voltage_laser: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。
|
||||
@@ -58,6 +60,7 @@ raman.home_made:
|
||||
int_time: null
|
||||
laser_power: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。
|
||||
@@ -88,6 +91,7 @@ raman.home_made:
|
||||
laser_power: null
|
||||
sample_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。
|
||||
|
||||
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
@@ -8,6 +8,7 @@ gas_source.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -28,6 +29,7 @@ gas_source.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
@@ -188,6 +190,7 @@ vacuum_pump.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
@@ -208,6 +211,7 @@ vacuum_pump.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
|
||||
1922
unilabos/registry/devices/laiyu_liquid.yaml
Normal file
1922
unilabos/registry/devices/laiyu_liquid.yaml
Normal file
File diff suppressed because it is too large
Load Diff
@@ -564,6 +564,7 @@ liquid_handler:
|
||||
protocol_type: null
|
||||
protocol_version: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 创建实验协议函数。用于建立新的液体处理实验协议，定义协议名称、描述、版本、作者、日期等基本信息。该函数支持协议模板化管理，便于实验流程的标准化和重复性。适用于实验设计、方法开发、标准操作程序建立等需要协议管理的应用场景。
|
||||
@@ -607,6 +608,7 @@ liquid_handler:
|
||||
msg: null
|
||||
seconds: 0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 自定义延时函数。在实验流程中插入可配置的等待时间，用于满足特定的反应时间、孵育时间或设备稳定时间要求。支持自定义延时消息和秒数设置，提供流程控制和时间管理功能。适用于酶反应等待、温度平衡、样品孵育等需要时间控制的实验步骤。
|
||||
@@ -633,6 +635,7 @@ liquid_handler:
|
||||
goal_default:
|
||||
tip_racks: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
|
||||
@@ -659,6 +662,7 @@ liquid_handler:
|
||||
volumes: null
|
||||
wells: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -689,6 +693,7 @@ liquid_handler:
|
||||
goal_default:
|
||||
tip_racks: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
|
||||
@@ -713,6 +718,7 @@ liquid_handler:
|
||||
goal_default:
|
||||
targets: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 吸头碰触函数。控制移液器吸头轻触容器边缘或底部，用于去除吸头外壁附着的液滴，提高移液精度和减少污染。该函数支持多目标位置操作，可配置碰触参数和位置偏移。适用于精密移液、减少液体残留、防止交叉污染等需要提高移液质量的实验操作。
|
||||
@@ -739,6 +745,7 @@ liquid_handler:
|
||||
target_group_name: null
|
||||
unit_volume: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
@@ -4495,6 +4502,7 @@ liquid_handler.biomek:
|
||||
resources: null
|
||||
slot_on_deck: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: create_resource的参数schema
|
||||
@@ -4554,6 +4562,7 @@ liquid_handler.biomek:
|
||||
parent: null
|
||||
slot_on_deck: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: instrument_setup_biomek的参数schema
|
||||
@@ -6042,6 +6051,7 @@ liquid_handler.prcxi:
|
||||
protocol_type: ''
|
||||
protocol_version: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: create_protocol的参数schema
|
||||
@@ -6087,6 +6097,7 @@ liquid_handler.prcxi:
|
||||
msg: null
|
||||
seconds: 0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: custom_delay的参数schema
|
||||
@@ -6113,6 +6124,7 @@ liquid_handler.prcxi:
|
||||
goal_default:
|
||||
tip_racks: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: iter_tips的参数schema
|
||||
@@ -6139,6 +6151,7 @@ liquid_handler.prcxi:
|
||||
dis_to_top: 0
|
||||
well: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: move_to的参数schema
|
||||
@@ -6168,6 +6181,7 @@ liquid_handler.prcxi:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: run_protocol的参数schema
|
||||
@@ -6183,12 +6197,50 @@ liquid_handler.prcxi:
|
||||
title: run_protocol参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-set_group:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
group_name: null
|
||||
volumes: null
|
||||
wells: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
group_name:
|
||||
type: string
|
||||
volumes:
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
wells:
|
||||
items:
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- group_name
|
||||
- wells
|
||||
- volumes
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_group参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-touch_tip:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
targets: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: touch_tip的参数schema
|
||||
@@ -6207,6 +6259,39 @@ liquid_handler.prcxi:
|
||||
title: touch_tip参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-transfer_group:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
source_group_name: null
|
||||
target_group_name: null
|
||||
unit_volume: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
source_group_name:
|
||||
type: string
|
||||
target_group_name:
|
||||
type: string
|
||||
unit_volume:
|
||||
type: number
|
||||
required:
|
||||
- source_group_name
|
||||
- target_group_name
|
||||
- unit_volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_group参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
discard_tips:
|
||||
feedback: {}
|
||||
goal:
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user