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v0.10.13
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@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.15
|
||||
version: 0.10.13
|
||||
|
||||
source:
|
||||
path: ../unilabos
|
||||
@@ -9,7 +9,7 @@ source:
|
||||
build:
|
||||
python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
@@ -25,6 +25,7 @@ build:
|
||||
- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
||||
- $PYTHON -m pip install $SRC_DIR
|
||||
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.11
|
||||
@@ -86,6 +87,6 @@ requirements:
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "Uni-Lab-OS"
|
||||
|
||||
@@ -1,26 +0,0 @@
|
||||
.conda
|
||||
# .github
|
||||
.idea
|
||||
# .vscode
|
||||
output
|
||||
pylabrobot_repo
|
||||
recipes
|
||||
scripts
|
||||
service
|
||||
temp
|
||||
# unilabos/test
|
||||
# unilabos/app/web
|
||||
unilabos/device_mesh
|
||||
unilabos_data
|
||||
unilabos_msgs
|
||||
unilabos.egg-info
|
||||
CONTRIBUTORS
|
||||
# LICENSE
|
||||
MANIFEST.in
|
||||
pyrightconfig.json
|
||||
# README.md
|
||||
# README_zh.md
|
||||
setup.py
|
||||
setup.cfg
|
||||
.gitattrubutes
|
||||
**/__pycache__
|
||||
2
.github/workflows/conda-pack-build.yml
vendored
2
.github/workflows/conda-pack-build.yml
vendored
@@ -24,7 +24,7 @@ jobs:
|
||||
platform: linux-64
|
||||
env_file: unilabos-linux-64.yaml
|
||||
script_ext: sh
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
- os: macos-13 # Intel
|
||||
platform: osx-64
|
||||
env_file: unilabos-osx-64.yaml
|
||||
script_ext: sh
|
||||
|
||||
2
.github/workflows/multi-platform-build.yml
vendored
2
.github/workflows/multi-platform-build.yml
vendored
@@ -27,7 +27,7 @@ jobs:
|
||||
- os: ubuntu-latest
|
||||
platform: linux-64
|
||||
env_file: unilabos-linux-64.yaml
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
- os: macos-13 # Intel
|
||||
platform: osx-64
|
||||
env_file: unilabos-osx-64.yaml
|
||||
- os: macos-latest # ARM64
|
||||
|
||||
2
.github/workflows/unilabos-conda-build.yml
vendored
2
.github/workflows/unilabos-conda-build.yml
vendored
@@ -26,7 +26,7 @@ jobs:
|
||||
include:
|
||||
- os: ubuntu-latest
|
||||
platform: linux-64
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
- os: macos-13 # Intel
|
||||
platform: osx-64
|
||||
- os: macos-latest # ARM64
|
||||
platform: osx-arm64
|
||||
|
||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -1,4 +1,3 @@
|
||||
cursor_docs/
|
||||
configs/
|
||||
temp/
|
||||
output/
|
||||
|
||||
17
NOTICE
17
NOTICE
@@ -1,17 +0,0 @@
|
||||
# Uni-Lab-OS Licensing Notice
|
||||
|
||||
This project uses a dual licensing structure:
|
||||
|
||||
## 1. Main Framework - GPL-3.0
|
||||
|
||||
- unilabos/ (except unilabos/devices/)
|
||||
- docs/
|
||||
- tests/
|
||||
|
||||
See [LICENSE](LICENSE) for details.
|
||||
|
||||
## 2. Device Drivers - DP Technology Proprietary License
|
||||
|
||||
- unilabos/devices/
|
||||
|
||||
See [unilabos/devices/LICENSE](unilabos/devices/LICENSE) for details.
|
||||
58
README.md
58
README.md
@@ -8,13 +8,17 @@
|
||||
|
||||
**English** | [中文](README_zh.md)
|
||||
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
||||
|
||||
Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
|
||||
|
||||
## 🏆 Competition
|
||||
|
||||
Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
|
||||
|
||||
## Key Features
|
||||
|
||||
- Multi-device integration management
|
||||
@@ -27,13 +31,11 @@ Uni-Lab-OS is a platform for laboratory automation, designed to connect and cont
|
||||
|
||||
Detailed documentation can be found at:
|
||||
|
||||
- [Online Documentation](https://deepmodeling.github.io/Uni-Lab-OS/)
|
||||
- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
|
||||
|
||||
## Quick Start
|
||||
|
||||
1. Setup Conda Environment
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management:
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
@@ -42,54 +44,28 @@ mamba activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
2. Install Dev Uni-Lab-OS
|
||||
## Install Dev Uni-Lab-OS
|
||||
|
||||
```bash
|
||||
# Clone the repository
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# Install Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. Start Uni-Lab System
|
||||
3. Start Uni-Lab System:
|
||||
|
||||
Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
|
||||
|
||||
4. Best Practice
|
||||
|
||||
See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
|
||||
Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
|
||||
|
||||
## Message Format
|
||||
|
||||
Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
|
||||
|
||||
## Citation
|
||||
|
||||
If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
|
||||
|
||||
```bibtex
|
||||
@article{gao2025unilabos,
|
||||
title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
|
||||
doi = {10.48550/arXiv.2512.21766},
|
||||
publisher = {arXiv},
|
||||
author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
|
||||
Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
|
||||
Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
|
||||
Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
|
||||
year = {2025}
|
||||
}
|
||||
```
|
||||
Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
|
||||
|
||||
## License
|
||||
|
||||
This project uses a dual licensing structure:
|
||||
|
||||
- **Main Framework**: GPL-3.0 - see [LICENSE](LICENSE)
|
||||
- **Device Drivers** (`unilabos/devices/`): DP Technology Proprietary License
|
||||
|
||||
See [NOTICE](NOTICE) for complete licensing details.
|
||||
This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
|
||||
|
||||
## Project Statistics
|
||||
|
||||
@@ -101,4 +77,4 @@ See [NOTICE](NOTICE) for complete licensing details.
|
||||
|
||||
## Contact Us
|
||||
|
||||
- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
|
||||
52
README_zh.md
52
README_zh.md
@@ -8,13 +8,17 @@
|
||||
|
||||
[English](README.md) | **中文**
|
||||
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
||||
|
||||
Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
|
||||
|
||||
## 🏆 比赛
|
||||
|
||||
欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
|
||||
|
||||
## 核心特点
|
||||
|
||||
- 多设备集成管理
|
||||
@@ -27,7 +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://deepmodeling.github.io/Uni-Lab-OS/)
|
||||
- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
|
||||
|
||||
## 快速开始
|
||||
|
||||
@@ -46,50 +50,24 @@ mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
```bash
|
||||
# 克隆仓库
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. 启动 Uni-Lab 系统
|
||||
3. 启动 Uni-Lab 系统:
|
||||
|
||||
请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
|
||||
|
||||
4. 最佳实践
|
||||
|
||||
请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
|
||||
请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
|
||||
|
||||
## 消息格式
|
||||
|
||||
Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
|
||||
|
||||
## 引用
|
||||
|
||||
如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
|
||||
|
||||
```bibtex
|
||||
@article{gao2025unilabos,
|
||||
title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
|
||||
doi = {10.48550/arXiv.2512.21766},
|
||||
publisher = {arXiv},
|
||||
author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
|
||||
Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
|
||||
Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
|
||||
Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
|
||||
year = {2025}
|
||||
}
|
||||
```
|
||||
Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
|
||||
|
||||
## 许可证
|
||||
|
||||
本项目采用双许可证结构：
|
||||
|
||||
- **主框架**：GPL-3.0 - 详见 [LICENSE](LICENSE)
|
||||
- **设备驱动** (`unilabos/devices/`)：深势科技专有许可证
|
||||
|
||||
完整许可证说明请参阅 [NOTICE](NOTICE)。
|
||||
此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
|
||||
|
||||
## 项目统计
|
||||
|
||||
@@ -101,4 +79,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
|
||||
|
||||
## 联系我们
|
||||
|
||||
- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
|
||||
@@ -24,7 +24,7 @@ extensions = [
|
||||
"sphinx.ext.autodoc",
|
||||
"sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings
|
||||
"sphinx_rtd_theme",
|
||||
"sphinxcontrib.mermaid",
|
||||
"sphinxcontrib.mermaid"
|
||||
]
|
||||
|
||||
source_suffix = {
|
||||
@@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme"
|
||||
|
||||
# sphinx-book-theme 主题选项
|
||||
html_theme_options = {
|
||||
"repository_url": "https://github.com/deepmodeling/Uni-Lab-OS",
|
||||
"repository_url": "https://github.com/用户名/Uni-Lab",
|
||||
"use_repository_button": True,
|
||||
"use_issues_button": True,
|
||||
"use_edit_page_button": True,
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -12,7 +12,3 @@ sphinx-copybutton>=0.5.0
|
||||
|
||||
# 用于自动摘要生成
|
||||
sphinx-autobuild>=2024.2.4
|
||||
|
||||
# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX)
|
||||
rinohtype>=0.5.4
|
||||
sphinx-simplepdf>=1.6.0
|
||||
@@ -1807,7 +1807,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
||||
|
||||
#### 14.5 社区支持
|
||||
|
||||
- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- **GitHub Issues**：[https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
- **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
|
||||
---
|
||||
|
||||
@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
|
||||
### 使用示例
|
||||
|
||||
```python
|
||||
from unilabos.resources.resource_tracker import ResourceDictInstance
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
|
||||
|
||||
# 旧格式节点
|
||||
old_format_node = {
|
||||
@@ -477,10 +477,10 @@ old_format_node = {
|
||||
instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node)
|
||||
|
||||
# 访问标准化后的数据
|
||||
print(instance.res_content.id) # "pump_1"
|
||||
print(instance.res_content.uuid) # 自动生成的 UUID
|
||||
print(instance.res_content.id) # "pump_1"
|
||||
print(instance.res_content.uuid) # 自动生成的 UUID
|
||||
print(instance.res_content.config) # {}
|
||||
print(instance.res_content.data) # {}
|
||||
print(instance.res_content.data) # {}
|
||||
```
|
||||
|
||||
### 格式迁移建议
|
||||
@@ -857,4 +857,4 @@ class ResourceDictPosition(BaseModel):
|
||||
- 在 Web 界面中使用模板创建
|
||||
- 参考示例文件：`test/experiments/` 目录
|
||||
- 查看 ResourceDict 源码了解完整定义
|
||||
- [GitHub 讨论区](https://github.com/deepmodeling/Uni-Lab-OS/discussions)
|
||||
- [GitHub 讨论区](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
|
||||
|
||||
@@ -37,7 +37,7 @@
|
||||
|
||||
#### 第一步：下载预打包环境
|
||||
|
||||
1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/deepmodeling/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
|
||||
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 ✓）
|
||||
|
||||
@@ -189,13 +189,13 @@ conda activate unilab
|
||||
### 第一步：克隆仓库
|
||||
|
||||
```bash
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
如果您需要贡献代码，建议先 Fork 仓库：
|
||||
|
||||
1. 访问 https://github.com/deepmodeling/Uni-Lab-OS
|
||||
1. 访问 https://github.com/dptech-corp/Uni-Lab-OS
|
||||
2. 点击右上角的 "Fork" 按钮
|
||||
3. Clone 您的 Fork 版本：
|
||||
```bash
|
||||
@@ -240,7 +240,7 @@ pip uninstall unilabos -y
|
||||
|
||||
# 克隆 dev 分支（如果还未克隆）
|
||||
cd /path/to/your/workspace
|
||||
git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
git clone -b dev https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
# 或者如果已经克隆，切换到 dev 分支
|
||||
cd Uni-Lab-OS
|
||||
git checkout dev
|
||||
@@ -503,9 +503,9 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
||||
## 需要帮助？
|
||||
|
||||
- **故障排查**: 查看更详细的故障排查信息
|
||||
- **GitHub Issues**: [报告问题](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- **GitHub Issues**: [报告问题](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
- **开发者文档**: 查看开发者指南获取更多技术细节
|
||||
- **社区讨论**: [GitHub Discussions](https://github.com/deepmodeling/Uni-Lab-OS/discussions)
|
||||
- **社区讨论**: [GitHub Discussions](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
|
||||
|
||||
---
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.15
|
||||
version: 0.10.13
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
@@ -17,7 +17,7 @@ build:
|
||||
- bash $SRC_DIR/build_ament_cmake.sh
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
license: BSD-3-Clause
|
||||
description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.15"
|
||||
version: "0.10.13"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
@@ -126,7 +126,7 @@ If installation fails:
|
||||
For more help:
|
||||
- Documentation: docs/user_guide/installation.md
|
||||
- Quick Start: QUICK_START_CONDA_PACK.md
|
||||
- Issues: https://github.com/deepmodeling/Uni-Lab-OS/issues
|
||||
- Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
|
||||
|
||||
License:
|
||||
--------
|
||||
@@ -134,7 +134,7 @@ License:
|
||||
UniLabOS is licensed under GPL-3.0-only.
|
||||
See LICENSE file for details.
|
||||
|
||||
Repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
Repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
"""
|
||||
|
||||
return readme
|
||||
|
||||
@@ -2,6 +2,7 @@ import json
|
||||
import logging
|
||||
import traceback
|
||||
import uuid
|
||||
import xml.etree.ElementTree as ET
|
||||
from typing import Any, Dict, List
|
||||
|
||||
import networkx as nx
|
||||
@@ -24,15 +25,7 @@ class SimpleGraph:
|
||||
|
||||
def add_edge(self, source, target, **attrs):
|
||||
"""添加边"""
|
||||
# edge = {"source": source, "target": target, **attrs}
|
||||
edge = {
|
||||
"source": source, "target": target,
|
||||
"source_node_uuid": source,
|
||||
"target_node_uuid": target,
|
||||
"source_handle_io": "source",
|
||||
"target_handle_io": "target",
|
||||
**attrs
|
||||
}
|
||||
edge = {"source": source, "target": target, **attrs}
|
||||
self.edges.append(edge)
|
||||
|
||||
def to_dict(self):
|
||||
@@ -49,7 +42,6 @@ class SimpleGraph:
|
||||
"multigraph": False,
|
||||
"graph": {},
|
||||
"nodes": nodes_list,
|
||||
"edges": self.edges,
|
||||
"links": self.edges,
|
||||
}
|
||||
|
||||
@@ -66,8 +58,495 @@ def extract_json_from_markdown(text: str) -> str:
|
||||
return text
|
||||
|
||||
|
||||
def convert_to_type(val: str) -> Any:
|
||||
"""将字符串值转换为适当的数据类型"""
|
||||
if val == "True":
|
||||
return True
|
||||
if val == "False":
|
||||
return False
|
||||
if val == "?":
|
||||
return None
|
||||
if val.endswith(" g"):
|
||||
return float(val.split(" ")[0])
|
||||
if val.endswith("mg"):
|
||||
return float(val.split("mg")[0])
|
||||
elif val.endswith("mmol"):
|
||||
return float(val.split("mmol")[0]) / 1000
|
||||
elif val.endswith("mol"):
|
||||
return float(val.split("mol")[0])
|
||||
elif val.endswith("ml"):
|
||||
return float(val.split("ml")[0])
|
||||
elif val.endswith("RPM"):
|
||||
return float(val.split("RPM")[0])
|
||||
elif val.endswith(" °C"):
|
||||
return float(val.split(" ")[0])
|
||||
elif val.endswith(" %"):
|
||||
return float(val.split(" ")[0])
|
||||
return val
|
||||
|
||||
|
||||
def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
|
||||
"""统一的数据重构函数，根据操作类型自动选择模板"""
|
||||
refactored_data = []
|
||||
|
||||
# 定义操作映射，包含生物实验和有机化学的所有操作
|
||||
OPERATION_MAPPING = {
|
||||
# 生物实验操作
|
||||
"transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
|
||||
"transfer": "SynBioFactory-liquid_handler.biomek-transfer",
|
||||
"incubation": "SynBioFactory-liquid_handler.biomek-incubation",
|
||||
"move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
|
||||
"oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
|
||||
# 有机化学操作
|
||||
"HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
|
||||
"StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
|
||||
"StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
|
||||
"HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
|
||||
"Dissolve": "SynBioFactory-workstation-DissolveProtocol",
|
||||
"Transfer": "SynBioFactory-workstation-TransferProtocol",
|
||||
"Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
|
||||
"Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
|
||||
"Filter": "SynBioFactory-workstation-FilterProtocol",
|
||||
"Dry": "SynBioFactory-workstation-DryProtocol",
|
||||
"Add": "SynBioFactory-workstation-AddProtocol",
|
||||
}
|
||||
|
||||
UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
|
||||
|
||||
for step in data:
|
||||
operation = step.get("action")
|
||||
if not operation or operation in UNSUPPORTED_OPERATIONS:
|
||||
continue
|
||||
|
||||
# 处理重复操作
|
||||
if operation == "Repeat":
|
||||
times = step.get("times", step.get("parameters", {}).get("times", 1))
|
||||
sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
|
||||
for i in range(int(times)):
|
||||
sub_data = refactor_data(sub_steps)
|
||||
refactored_data.extend(sub_data)
|
||||
continue
|
||||
|
||||
# 获取模板名称
|
||||
template = OPERATION_MAPPING.get(operation)
|
||||
if not template:
|
||||
# 自动推断模板类型
|
||||
if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
|
||||
template = f"SynBioFactory-liquid_handler.biomek-{operation}"
|
||||
else:
|
||||
template = f"SynBioFactory-workstation-{operation}Protocol"
|
||||
|
||||
# 创建步骤数据
|
||||
step_data = {
|
||||
"template": template,
|
||||
"description": step.get("description", step.get("purpose", f"{operation} operation")),
|
||||
"lab_node_type": "Device",
|
||||
"parameters": step.get("parameters", step.get("action_args", {})),
|
||||
}
|
||||
refactored_data.append(step_data)
|
||||
|
||||
return refactored_data
|
||||
|
||||
|
||||
def build_protocol_graph(
|
||||
labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
|
||||
) -> SimpleGraph:
|
||||
"""统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
|
||||
G = SimpleGraph()
|
||||
resource_last_writer = {}
|
||||
LAB_NAME = "SynBioFactory"
|
||||
|
||||
protocol_steps = refactor_data(protocol_steps)
|
||||
|
||||
# 检查协议步骤中的模板来判断协议类型
|
||||
has_biomek_template = any(
|
||||
("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
|
||||
for step in protocol_steps
|
||||
)
|
||||
|
||||
if has_biomek_template:
|
||||
# 生物实验协议图构建
|
||||
for labware_id, labware in labware_info.items():
|
||||
node_id = str(uuid.uuid4())
|
||||
|
||||
labware_attrs = labware.copy()
|
||||
labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
|
||||
labware_attrs["description"] = labware_id
|
||||
labware_attrs["lab_node_type"] = (
|
||||
"Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
|
||||
)
|
||||
labware_attrs["device_id"] = workstation_name
|
||||
|
||||
G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
|
||||
resource_last_writer[labware_id] = f"{node_id}:labware"
|
||||
|
||||
# 处理协议步骤
|
||||
prev_node = None
|
||||
for i, step in enumerate(protocol_steps):
|
||||
node_id = str(uuid.uuid4())
|
||||
G.add_node(node_id, **step)
|
||||
|
||||
# 添加控制流边
|
||||
if prev_node is not None:
|
||||
G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
|
||||
prev_node = node_id
|
||||
|
||||
# 处理物料流
|
||||
params = step.get("parameters", {})
|
||||
if "sources" in params and params["sources"] in resource_last_writer:
|
||||
source_node, source_port = resource_last_writer[params["sources"]].split(":")
|
||||
G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
|
||||
|
||||
if "targets" in params:
|
||||
resource_last_writer[params["targets"]] = f"{node_id}:labware"
|
||||
|
||||
# 添加协议结束节点
|
||||
end_id = str(uuid.uuid4())
|
||||
G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
|
||||
if prev_node is not None:
|
||||
G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
|
||||
|
||||
else:
|
||||
# 有机化学协议图构建
|
||||
WORKSTATION_ID = workstation_name
|
||||
|
||||
# 为所有labware创建资源节点
|
||||
for item_id, item in labware_info.items():
|
||||
# item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
|
||||
node_id = str(uuid.uuid4())
|
||||
|
||||
# 判断节点类型
|
||||
if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
|
||||
if "reactor" not in str(item_id).lower():
|
||||
continue
|
||||
lab_node_type = "Sample"
|
||||
description = f"Prepare Reactor: {item_id}"
|
||||
liquid_type = []
|
||||
liquid_volume = []
|
||||
else:
|
||||
lab_node_type = "Reagent"
|
||||
description = f"Add Reagent to Flask: {item_id}"
|
||||
liquid_type = [item_id]
|
||||
liquid_volume = [1e5]
|
||||
|
||||
G.add_node(
|
||||
node_id,
|
||||
template=f"{LAB_NAME}-host_node-create_resource",
|
||||
description=description,
|
||||
lab_node_type=lab_node_type,
|
||||
res_id=item_id,
|
||||
device_id=WORKSTATION_ID,
|
||||
class_name="container",
|
||||
parent=WORKSTATION_ID,
|
||||
bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
|
||||
liquid_input_slot=[-1],
|
||||
liquid_type=liquid_type,
|
||||
liquid_volume=liquid_volume,
|
||||
slot_on_deck="",
|
||||
role=item.get("role", ""),
|
||||
)
|
||||
resource_last_writer[item_id] = f"{node_id}:labware"
|
||||
|
||||
last_control_node_id = None
|
||||
|
||||
# 处理协议步骤
|
||||
for step in protocol_steps:
|
||||
node_id = str(uuid.uuid4())
|
||||
G.add_node(node_id, **step)
|
||||
|
||||
# 控制流
|
||||
if last_control_node_id is not None:
|
||||
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
|
||||
last_control_node_id = node_id
|
||||
|
||||
# 物料流
|
||||
params = step.get("parameters", {})
|
||||
input_resources = {
|
||||
"Vessel": params.get("vessel"),
|
||||
"ToVessel": params.get("to_vessel"),
|
||||
"FromVessel": params.get("from_vessel"),
|
||||
"reagent": params.get("reagent"),
|
||||
"solvent": params.get("solvent"),
|
||||
"compound": params.get("compound"),
|
||||
"sources": params.get("sources"),
|
||||
"targets": params.get("targets"),
|
||||
}
|
||||
|
||||
for target_port, resource_name in input_resources.items():
|
||||
if resource_name and resource_name in resource_last_writer:
|
||||
source_node, source_port = resource_last_writer[resource_name].split(":")
|
||||
G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
|
||||
|
||||
output_resources = {
|
||||
"VesselOut": params.get("vessel"),
|
||||
"FromVesselOut": params.get("from_vessel"),
|
||||
"ToVesselOut": params.get("to_vessel"),
|
||||
"FiltrateOut": params.get("filtrate_vessel"),
|
||||
"reagent": params.get("reagent"),
|
||||
"solvent": params.get("solvent"),
|
||||
"compound": params.get("compound"),
|
||||
"sources_out": params.get("sources"),
|
||||
"targets_out": params.get("targets"),
|
||||
}
|
||||
|
||||
for source_port, resource_name in output_resources.items():
|
||||
if resource_name:
|
||||
resource_last_writer[resource_name] = f"{node_id}:{source_port}"
|
||||
|
||||
return G
|
||||
|
||||
|
||||
def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
|
||||
"""
|
||||
(辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
|
||||
"""
|
||||
if not protocol_graph:
|
||||
print("Cannot draw graph: Graph object is empty.")
|
||||
return
|
||||
|
||||
G = nx.DiGraph()
|
||||
|
||||
for node_id, attrs in protocol_graph.nodes.items():
|
||||
label = attrs.get("description", attrs.get("template", node_id[:8]))
|
||||
G.add_node(node_id, label=label, **attrs)
|
||||
|
||||
for edge in protocol_graph.edges:
|
||||
G.add_edge(edge["source"], edge["target"])
|
||||
|
||||
plt.figure(figsize=(20, 15))
|
||||
try:
|
||||
pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
|
||||
except Exception:
|
||||
pos = nx.shell_layout(G) # Fallback layout
|
||||
|
||||
node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
|
||||
nx.draw(
|
||||
G,
|
||||
pos,
|
||||
with_labels=False,
|
||||
node_size=2500,
|
||||
node_color="skyblue",
|
||||
node_shape="o",
|
||||
edge_color="gray",
|
||||
width=1.5,
|
||||
arrowsize=15,
|
||||
)
|
||||
nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
|
||||
|
||||
plt.title("Chemical Protocol Workflow Graph", size=15)
|
||||
plt.savefig(output_path, dpi=300, bbox_inches="tight")
|
||||
plt.close()
|
||||
print(f" - Visualization saved to '{output_path}'")
|
||||
|
||||
|
||||
from networkx.drawing.nx_agraph import to_agraph
|
||||
import re
|
||||
|
||||
COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
|
||||
|
||||
def _is_compass(port: str) -> bool:
|
||||
return isinstance(port, str) and port.lower() in COMPASS
|
||||
|
||||
def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
|
||||
"""
|
||||
使用 Graphviz 端口语法绘制协议工作流图。
|
||||
- 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
|
||||
- 否则自动为节点创建 record 形状并定义命名端口 <portname>。
|
||||
最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
|
||||
"""
|
||||
if not protocol_graph:
|
||||
print("Cannot draw graph: Graph object is empty.")
|
||||
return
|
||||
|
||||
# 1) 先用 networkx 搭建有向图，保留端口属性
|
||||
G = nx.DiGraph()
|
||||
for node_id, attrs in protocol_graph.nodes.items():
|
||||
label = attrs.get("description", attrs.get("template", node_id[:8]))
|
||||
# 保留一个干净的“中心标签”，用于放在 record 的中间槽
|
||||
G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
|
||||
|
||||
edges_data = []
|
||||
in_ports_by_node = {} # 收集命名输入端口
|
||||
out_ports_by_node = {} # 收集命名输出端口
|
||||
|
||||
for edge in protocol_graph.edges:
|
||||
u = edge["source"]
|
||||
v = edge["target"]
|
||||
sp = edge.get("source_port")
|
||||
tp = edge.get("target_port")
|
||||
|
||||
# 记录到图里（保留原始端口信息）
|
||||
G.add_edge(u, v, source_port=sp, target_port=tp)
|
||||
edges_data.append((u, v, sp, tp))
|
||||
|
||||
# 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
|
||||
if sp and not _is_compass(sp):
|
||||
out_ports_by_node.setdefault(u, set()).add(str(sp))
|
||||
if tp and not _is_compass(tp):
|
||||
in_ports_by_node.setdefault(v, set()).add(str(tp))
|
||||
|
||||
# 2) 转为 AGraph，使用 Graphviz 渲染
|
||||
A = to_agraph(G)
|
||||
A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
|
||||
A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
|
||||
A.edge_attr.update(arrowsize="0.8", color="#666666")
|
||||
|
||||
# 3) 为需要命名端口的节点设置 record 形状与 label
|
||||
# 左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
|
||||
for n in A.nodes():
|
||||
node = A.get_node(n)
|
||||
core = G.nodes[n].get("_core_label", n)
|
||||
|
||||
in_ports = sorted(in_ports_by_node.get(n, []))
|
||||
out_ports = sorted(out_ports_by_node.get(n, []))
|
||||
|
||||
# 如果该节点涉及命名端口，则用 record；否则保留原 box
|
||||
if in_ports or out_ports:
|
||||
def port_fields(ports):
|
||||
if not ports:
|
||||
return " " # 必须留一个空槽占位
|
||||
# 每个端口一个小格子，<p> name
|
||||
return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
|
||||
|
||||
left = port_fields(in_ports)
|
||||
right = port_fields(out_ports)
|
||||
|
||||
# 三栏：左(入) | 中(节点名) | 右(出)
|
||||
record_label = f"{{ {left} | {core} | {right} }}"
|
||||
node.attr.update(shape="record", label=record_label)
|
||||
else:
|
||||
# 没有命名端口：普通盒子，显示核心标签
|
||||
node.attr.update(label=str(core))
|
||||
|
||||
# 4) 给边设置 headport / tailport
|
||||
# - 若端口为 compass：直接用 compass（e.g., headport="e"）
|
||||
# - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
|
||||
for (u, v, sp, tp) in edges_data:
|
||||
e = A.get_edge(u, v)
|
||||
|
||||
# Graphviz 属性：tail 是源，head 是目标
|
||||
if sp:
|
||||
if _is_compass(sp):
|
||||
e.attr["tailport"] = sp.lower()
|
||||
else:
|
||||
# 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
|
||||
e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
|
||||
|
||||
if tp:
|
||||
if _is_compass(tp):
|
||||
e.attr["headport"] = tp.lower()
|
||||
else:
|
||||
e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
|
||||
|
||||
# 可选：若想让边更贴边缘，可设置 constraint/spline 等
|
||||
# e.attr["arrowhead"] = "vee"
|
||||
|
||||
# 5) 输出
|
||||
A.draw(output_path, prog="dot")
|
||||
print(f" - Port-aware workflow rendered to '{output_path}'")
|
||||
|
||||
|
||||
def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
|
||||
"""展平嵌套的XDL程序结构"""
|
||||
flattened_operations = []
|
||||
TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
|
||||
|
||||
def extract_operations(element: ET.Element):
|
||||
if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
|
||||
if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
|
||||
flattened_operations.append(element)
|
||||
|
||||
for child in element:
|
||||
extract_operations(child)
|
||||
|
||||
for child in procedure_elem:
|
||||
extract_operations(child)
|
||||
|
||||
return flattened_operations
|
||||
|
||||
|
||||
def parse_xdl_content(xdl_content: str) -> tuple:
|
||||
"""解析XDL内容"""
|
||||
try:
|
||||
xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
|
||||
root = ET.fromstring(xdl_content_cleaned)
|
||||
|
||||
synthesis_elem = root.find("Synthesis")
|
||||
if synthesis_elem is None:
|
||||
return None, None, None
|
||||
|
||||
# 解析硬件组件
|
||||
hardware_elem = synthesis_elem.find("Hardware")
|
||||
hardware = []
|
||||
if hardware_elem is not None:
|
||||
hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
|
||||
|
||||
# 解析试剂
|
||||
reagents_elem = synthesis_elem.find("Reagents")
|
||||
reagents = []
|
||||
if reagents_elem is not None:
|
||||
reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
|
||||
|
||||
# 解析程序
|
||||
procedure_elem = synthesis_elem.find("Procedure")
|
||||
if procedure_elem is None:
|
||||
return None, None, None
|
||||
|
||||
flattened_operations = flatten_xdl_procedure(procedure_elem)
|
||||
return hardware, reagents, flattened_operations
|
||||
|
||||
except ET.ParseError as e:
|
||||
raise ValueError(f"Invalid XDL format: {e}")
|
||||
|
||||
|
||||
def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
|
||||
"""
|
||||
将XDL XML格式转换为标准的字典格式
|
||||
|
||||
Args:
|
||||
xdl_content: XDL XML内容
|
||||
|
||||
Returns:
|
||||
转换结果，包含步骤和器材信息
|
||||
"""
|
||||
try:
|
||||
hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
|
||||
if hardware is None:
|
||||
return {"error": "Failed to parse XDL content", "success": False}
|
||||
|
||||
# 将XDL元素转换为字典格式
|
||||
steps_data = []
|
||||
for elem in flattened_operations:
|
||||
# 转换参数类型
|
||||
parameters = {}
|
||||
for key, val in elem.attrib.items():
|
||||
converted_val = convert_to_type(val)
|
||||
if converted_val is not None:
|
||||
parameters[key] = converted_val
|
||||
|
||||
step_dict = {
|
||||
"operation": elem.tag,
|
||||
"parameters": parameters,
|
||||
"description": elem.get("purpose", f"Operation: {elem.tag}"),
|
||||
}
|
||||
steps_data.append(step_dict)
|
||||
|
||||
# 合并硬件和试剂为统一的labware_info格式
|
||||
labware_data = []
|
||||
labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
|
||||
labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"steps": steps_data,
|
||||
"labware": labware_data,
|
||||
"message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"XDL conversion failed: {str(e)}"
|
||||
logger.error(error_msg)
|
||||
return {"error": error_msg, "success": False}
|
||||
|
||||
|
||||
def create_workflow(
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.15',
|
||||
version='0.10.13',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
"""
|
||||
测试包根目录。
|
||||
|
||||
让 `tests.*` 模块可以被正常 import（例如给 `unilabos` 下的测试入口使用）。
|
||||
"""
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
"""
|
||||
液体处理设备相关测试。
|
||||
"""
|
||||
|
||||
|
||||
@@ -1,505 +0,0 @@
|
||||
import asyncio
|
||||
from dataclasses import dataclass
|
||||
from typing import Any, Iterable, List, Optional, Sequence, Tuple
|
||||
|
||||
import pytest
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class DummyContainer:
|
||||
name: str
|
||||
|
||||
def __repr__(self) -> str: # pragma: no cover
|
||||
return f"DummyContainer({self.name})"
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class DummyTipSpot:
|
||||
name: str
|
||||
|
||||
def __repr__(self) -> str: # pragma: no cover
|
||||
return f"DummyTipSpot({self.name})"
|
||||
|
||||
|
||||
def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
|
||||
"""Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
|
||||
for i in range(n):
|
||||
yield [DummyTipSpot(f"tip_{i}")]
|
||||
|
||||
|
||||
class FakeLiquidHandler(LiquidHandlerAbstract):
|
||||
"""不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
|
||||
|
||||
def __init__(self, channel_num: int = 8):
|
||||
# 不调用 super().__init__，避免真实硬件/后端依赖
|
||||
self.channel_num = channel_num
|
||||
self.support_touch_tip = True
|
||||
self.current_tip = iter(make_tip_iter())
|
||||
self.calls: List[Tuple[str, Any]] = []
|
||||
|
||||
async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
|
||||
self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
resources: Sequence[Any],
|
||||
vols: List[float],
|
||||
use_channels: Optional[List[int]] = None,
|
||||
flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Any = None,
|
||||
liquid_height: Any = None,
|
||||
blow_out_air_volume: Any = None,
|
||||
spread: str = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
self.calls.append(
|
||||
(
|
||||
"aspirate",
|
||||
{
|
||||
"resources": list(resources),
|
||||
"vols": list(vols),
|
||||
"use_channels": list(use_channels) if use_channels is not None else None,
|
||||
"flow_rates": list(flow_rates) if flow_rates is not None else None,
|
||||
"offsets": list(offsets) if offsets is not None else None,
|
||||
"liquid_height": list(liquid_height) if liquid_height is not None else None,
|
||||
"blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
resources: Sequence[Any],
|
||||
vols: List[float],
|
||||
use_channels: Optional[List[int]] = None,
|
||||
flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Any = None,
|
||||
liquid_height: Any = None,
|
||||
blow_out_air_volume: Any = None,
|
||||
spread: str = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
self.calls.append(
|
||||
(
|
||||
"dispense",
|
||||
{
|
||||
"resources": list(resources),
|
||||
"vols": list(vols),
|
||||
"use_channels": list(use_channels) if use_channels is not None else None,
|
||||
"flow_rates": list(flow_rates) if flow_rates is not None else None,
|
||||
"offsets": list(offsets) if offsets is not None else None,
|
||||
"liquid_height": list(liquid_height) if liquid_height is not None else None,
|
||||
"blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
async def discard_tips(self, use_channels=None, *args, **kwargs):
|
||||
# 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
|
||||
self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
|
||||
|
||||
async def custom_delay(self, seconds=0, msg=None):
|
||||
self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
|
||||
|
||||
async def touch_tip(self, targets):
|
||||
# 原实现会访问 targets.get_size_x() 等；测试里只记录调用
|
||||
self.calls.append(("touch_tip", {"targets": targets}))
|
||||
|
||||
async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
|
||||
self.calls.append(
|
||||
(
|
||||
"mix",
|
||||
{
|
||||
"targets": targets,
|
||||
"mix_time": mix_time,
|
||||
"mix_vol": mix_vol,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
def run(coro):
|
||||
return asyncio.run(coro)
|
||||
|
||||
|
||||
def test_one_to_one_single_channel_basic_calls():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(3)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[1, 2, 3],
|
||||
dis_vols=[4, 5, 6],
|
||||
mix_times=None, # 应该仍能执行（不 mix）
|
||||
)
|
||||
)
|
||||
|
||||
assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
|
||||
assert [c[0] for c in lh.calls].count("aspirate") == 3
|
||||
assert [c[0] for c in lh.calls].count("dispense") == 3
|
||||
assert [c[0] for c in lh.calls].count("discard_tips") == 3
|
||||
|
||||
# 每次 aspirate/dispense 都是单孔列表
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert aspirates[0]["resources"] == [sources[0]]
|
||||
assert aspirates[0]["vols"] == [1.0]
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert dispenses[2]["resources"] == [targets[2]]
|
||||
assert dispenses[2]["vols"] == [6.0]
|
||||
|
||||
|
||||
def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(16))
|
||||
|
||||
source = DummyContainer("S0")
|
||||
target = DummyContainer("T0")
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[5],
|
||||
dis_vols=[5],
|
||||
mix_stage="before",
|
||||
mix_times=1,
|
||||
mix_vol=3,
|
||||
)
|
||||
)
|
||||
|
||||
names = [name for name, _ in lh.calls]
|
||||
assert names.count("mix") == 1
|
||||
assert names.index("mix") < names.index("aspirate")
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_groups_by_8():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(256))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(16)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(16)]
|
||||
asp_vols = list(range(1, 17))
|
||||
dis_vols = list(range(101, 117))
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0, # 触发逻辑但不 mix
|
||||
)
|
||||
)
|
||||
|
||||
# 16 个任务 -> 2 组，每组 8 通道一起做
|
||||
assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == 2
|
||||
assert len(dispenses) == 2
|
||||
|
||||
assert aspirates[0]["resources"] == sources[0:8]
|
||||
assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
|
||||
assert dispenses[1]["resources"] == targets[8:16]
|
||||
assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(9)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(9)]
|
||||
|
||||
with pytest.raises(ValueError, match="multiple of 8"):
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=[1] * 9,
|
||||
dis_vols=[1] * 9,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(512))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(16)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(16)]
|
||||
asp_vols = [i + 1 for i in range(16)]
|
||||
dis_vols = [200 + i for i in range(16)]
|
||||
asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
|
||||
dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
|
||||
offsets = [f"offset_{i}" for i in range(16)]
|
||||
liquid_heights = [i * 0.5 for i in range(16)]
|
||||
blow_out_air_volume = [i + 0.05 for i in range(16)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
asp_flow_rates=asp_flow_rates,
|
||||
dis_flow_rates=dis_flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_heights,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == len(dispenses) == 2
|
||||
|
||||
for batch_idx in range(2):
|
||||
start = batch_idx * 8
|
||||
end = start + 8
|
||||
asp_call = aspirates[batch_idx]
|
||||
dis_call = dispenses[batch_idx]
|
||||
assert asp_call["resources"] == sources[start:end]
|
||||
assert asp_call["flow_rates"] == asp_flow_rates[start:end]
|
||||
assert asp_call["offsets"] == offsets[start:end]
|
||||
assert asp_call["liquid_height"] == liquid_heights[start:end]
|
||||
assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
|
||||
assert dis_call["flow_rates"] == dis_flow_rates[start:end]
|
||||
assert dis_call["offsets"] == offsets[start:end]
|
||||
assert dis_call["liquid_height"] == liquid_heights[start:end]
|
||||
assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(1024))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(32)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(32)]
|
||||
asp_vols = [i + 1 for i in range(32)]
|
||||
dis_vols = [300 + i for i in range(32)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(pick_calls) == 4
|
||||
assert len(aspirates) == len(dispenses) == 4
|
||||
assert aspirates[0]["resources"] == sources[0:8]
|
||||
assert aspirates[-1]["resources"] == sources[24:32]
|
||||
assert dispenses[0]["resources"] == targets[0:8]
|
||||
assert dispenses[-1]["resources"] == targets[24:32]
|
||||
|
||||
|
||||
def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
source = DummyContainer("SRC")
|
||||
targets = [DummyContainer(f"T{i}") for i in range(3)]
|
||||
dis_vols = [10, 20, 30] # sum=60
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=10, # 小于 sum(dis_vols) -> 应吸 60
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert len(aspirates) == 1
|
||||
assert aspirates[0]["resources"] == [source]
|
||||
assert aspirates[0]["vols"] == [60.0]
|
||||
assert aspirates[0]["use_channels"] == [0]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
|
||||
|
||||
|
||||
def test_one_to_many_eight_channel_basic():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
source = DummyContainer("SRC")
|
||||
targets = [DummyContainer(f"T{i}") for i in range(8)]
|
||||
dis_vols = [i + 1 for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=999, # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert aspirates[0]["resources"] == [source] * 8
|
||||
assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert dispenses[0]["resources"] == targets
|
||||
assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [5, 6, 7]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=1, # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
|
||||
assert all(d["resources"] == [target] for d in dispenses)
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_before_stage_mixes_target_once():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer("S0"), DummyContainer("S1")]
|
||||
target = DummyContainer("T")
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[5, 6],
|
||||
dis_vols=1,
|
||||
mix_stage="before",
|
||||
mix_times=2,
|
||||
mix_vol=4,
|
||||
)
|
||||
)
|
||||
|
||||
names = [name for name, _ in lh.calls]
|
||||
assert names[0] == "mix"
|
||||
assert names.count("mix") == 1
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [5, 6, 7]
|
||||
dis_vols = [1, 2, 3]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols, # 比例模式
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
|
||||
|
||||
|
||||
def test_many_to_one_eight_channel_basic():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(256))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(8)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [10 + i for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=999, # 非比例模式下每通道分液=对应 asp_vol
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert aspirates[0]["resources"] == sources
|
||||
assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
|
||||
assert dispenses[0]["resources"] == [target] * 8
|
||||
assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
|
||||
|
||||
|
||||
def test_transfer_liquid_mode_detection_unsupported_shape_raises():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer("S0"), DummyContainer("S1")]
|
||||
targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
|
||||
|
||||
with pytest.raises(ValueError, match="Unsupported transfer mode"):
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[1, 1],
|
||||
dis_vols=[1, 1, 1],
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
@@ -2,8 +2,9 @@ import pytest
|
||||
import json
|
||||
import os
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
|
||||
@@ -11,10 +11,10 @@ import os
|
||||
# 添加项目根目录到路径
|
||||
sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
|
||||
|
||||
# 导入测试模块（统一从 tests 包获取）
|
||||
from tests.ros.msgs.test_basic import TestBasicFunctionality
|
||||
from tests.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
|
||||
from tests.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
|
||||
# 导入测试模块
|
||||
from test.ros.msgs.test_basic import TestBasicFunctionality
|
||||
from test.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
|
||||
from test.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
|
||||
|
||||
|
||||
def run_tests():
|
||||
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.10.15"
|
||||
__version__ = "0.10.13"
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
import threading
|
||||
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
|
||||
@@ -19,12 +19,6 @@ if unilabos_dir not in sys.path:
|
||||
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
# Global restart flags (used by ws_client and web/server)
|
||||
_restart_requested: bool = False
|
||||
_restart_reason: str = ""
|
||||
|
||||
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
@@ -47,7 +41,7 @@ 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
|
||||
|
||||
@@ -55,8 +49,6 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
def parse_args():
|
||||
"""解析命令行参数"""
|
||||
parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
|
||||
subparsers = parser.add_subparsers(title="Valid subcommands", dest="command")
|
||||
|
||||
parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
|
||||
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
|
||||
parser.add_argument(
|
||||
@@ -161,44 +153,6 @@ def parse_args():
|
||||
default=False,
|
||||
help="Complete registry information",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--no_update_feedback",
|
||||
action="store_true",
|
||||
help="Disable sending update feedback to server",
|
||||
)
|
||||
# workflow upload subcommand
|
||||
workflow_parser = subparsers.add_parser(
|
||||
"workflow_upload",
|
||||
aliases=["wf"],
|
||||
help="Upload workflow from xdl/json/python files",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"-f",
|
||||
"--workflow_file",
|
||||
type=str,
|
||||
required=True,
|
||||
help="Path to the workflow file (JSON format)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"-n",
|
||||
"--workflow_name",
|
||||
type=str,
|
||||
default=None,
|
||||
help="Workflow name, if not provided will use the name from file or filename",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--tags",
|
||||
type=str,
|
||||
nargs="*",
|
||||
default=[],
|
||||
help="Tags for the workflow (space-separated)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--published",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Whether to publish the workflow (default: False)",
|
||||
)
|
||||
return parser
|
||||
|
||||
|
||||
@@ -214,6 +168,7 @@ def main():
|
||||
if not args_dict.get("skip_env_check", False):
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
|
||||
print_status("正在进行环境依赖检查...", "info")
|
||||
if not check_environment(auto_install=True):
|
||||
print_status("环境检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
@@ -286,12 +241,9 @@ def main():
|
||||
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
|
||||
|
||||
workflow_upload = args_dict.get("command") in ("workflow_upload", "wf")
|
||||
|
||||
# 使用远程资源启动
|
||||
if not workflow_upload and args_dict["use_remote_resource"]:
|
||||
if args_dict["use_remote_resource"]:
|
||||
print_status("使用远程资源启动", "info")
|
||||
from unilabos.app.web import http_client
|
||||
|
||||
@@ -304,10 +256,10 @@ def main():
|
||||
|
||||
BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
|
||||
BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
|
||||
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)
|
||||
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
|
||||
BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = os.popen("hostname").read().strip()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
@@ -326,38 +278,16 @@ def main():
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表
|
||||
lab_registry = build_registry(
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
|
||||
)
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
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")
|
||||
|
||||
# 处理 workflow_upload 子命令
|
||||
if workflow_upload:
|
||||
from unilabos.workflow.wf_utils import handle_workflow_upload_command
|
||||
|
||||
handle_workflow_upload_command(args_dict)
|
||||
print_status("工作流上传完成，程序退出", "info")
|
||||
os._exit(0)
|
||||
|
||||
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)
|
||||
@@ -429,7 +359,7 @@ def main():
|
||||
# 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_dict_list(request_startup_json["nodes"])
|
||||
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")
|
||||
|
||||
@@ -438,6 +368,20 @@ def main():
|
||||
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
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
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")
|
||||
|
||||
if args_dict["controllers"] is not None:
|
||||
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
|
||||
else:
|
||||
@@ -452,7 +396,6 @@ def main():
|
||||
comm_client = get_communication_client()
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(comm_client)
|
||||
|
||||
def _exit(signum, frame):
|
||||
comm_client.stop()
|
||||
sys.exit(0)
|
||||
@@ -494,13 +437,16 @@ def main():
|
||||
resource_visualization.start()
|
||||
except OSError as e:
|
||||
if "AMENT_PREFIX_PATH" in str(e):
|
||||
print_status(f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}", "warning")
|
||||
print_status(
|
||||
f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
|
||||
"warning"
|
||||
)
|
||||
print_status(
|
||||
"建议解决方案：\n"
|
||||
"1. 激活Conda环境: conda activate unilab\n"
|
||||
"2. 或使用 --backend simple 参数\n"
|
||||
"3. 或使用 --visual disable 参数禁用可视化",
|
||||
"info",
|
||||
"info"
|
||||
)
|
||||
else:
|
||||
raise
|
||||
@@ -508,19 +454,13 @@ def main():
|
||||
time.sleep(1)
|
||||
else:
|
||||
start_backend(**args_dict)
|
||||
restart_requested = start_server(
|
||||
start_server(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
if restart_requested:
|
||||
print_status("[Main] Restart requested, cleaning up...", "info")
|
||||
cleanup_for_restart()
|
||||
return
|
||||
else:
|
||||
start_backend(**args_dict)
|
||||
|
||||
# 启动服务器（默认支持WebSocket触发重启）
|
||||
restart_requested = start_server(
|
||||
start_server(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
|
||||
@@ -1,144 +0,0 @@
|
||||
"""
|
||||
UniLabOS 应用工具函数
|
||||
|
||||
提供清理、重启等工具函数
|
||||
"""
|
||||
|
||||
import gc
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
|
||||
from unilabos.utils.banner_print import print_status
|
||||
|
||||
|
||||
def cleanup_for_restart() -> bool:
|
||||
"""
|
||||
Clean up all resources for restart without exiting the process.
|
||||
|
||||
This function prepares the system for re-initialization by:
|
||||
1. Stopping all communication clients
|
||||
2. Destroying ROS nodes
|
||||
3. Resetting singletons
|
||||
4. Waiting for threads to finish
|
||||
|
||||
Returns:
|
||||
bool: True if cleanup was successful, False otherwise
|
||||
"""
|
||||
print_status("[Restart] Starting cleanup for restart...", "info")
|
||||
|
||||
# Step 1: Stop WebSocket communication client
|
||||
print_status("[Restart] Step 1: Stopping WebSocket client...", "info")
|
||||
try:
|
||||
from unilabos.app.communication import get_communication_client
|
||||
|
||||
comm_client = get_communication_client()
|
||||
if comm_client is not None:
|
||||
comm_client.stop()
|
||||
print_status("[Restart] WebSocket client stopped", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error stopping WebSocket: {e}", "warning")
|
||||
|
||||
# Step 2: Get HostNode and cleanup ROS
|
||||
print_status("[Restart] Step 2: Cleaning up ROS nodes...", "info")
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
import rclpy
|
||||
from rclpy.timer import Timer
|
||||
|
||||
host_instance = HostNode.get_instance(timeout=5)
|
||||
if host_instance is not None:
|
||||
print_status(f"[Restart] Found HostNode: {host_instance.device_id}", "info")
|
||||
|
||||
# Gracefully shutdown background threads
|
||||
print_status("[Restart] Shutting down background threads...", "info")
|
||||
HostNode.shutdown_background_threads(timeout=5.0)
|
||||
print_status("[Restart] Background threads shutdown complete", "info")
|
||||
|
||||
# Stop discovery timer
|
||||
if hasattr(host_instance, "_discovery_timer") and isinstance(host_instance._discovery_timer, Timer):
|
||||
host_instance._discovery_timer.cancel()
|
||||
print_status("[Restart] Discovery timer cancelled", "info")
|
||||
|
||||
# Destroy device nodes
|
||||
device_count = len(host_instance.devices_instances)
|
||||
print_status(f"[Restart] Destroying {device_count} device instances...", "info")
|
||||
for device_id, device_node in list(host_instance.devices_instances.items()):
|
||||
try:
|
||||
if hasattr(device_node, "ros_node_instance") and device_node.ros_node_instance is not None:
|
||||
device_node.ros_node_instance.destroy_node()
|
||||
print_status(f"[Restart] Device {device_id} destroyed", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error destroying device {device_id}: {e}", "warning")
|
||||
|
||||
# Clear devices instances
|
||||
host_instance.devices_instances.clear()
|
||||
host_instance.devices_names.clear()
|
||||
|
||||
# Destroy host node
|
||||
try:
|
||||
host_instance.destroy_node()
|
||||
print_status("[Restart] HostNode destroyed", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error destroying HostNode: {e}", "warning")
|
||||
|
||||
# Reset HostNode state
|
||||
HostNode.reset_state()
|
||||
print_status("[Restart] HostNode state reset", "info")
|
||||
|
||||
# Shutdown executor first (to stop executor.spin() gracefully)
|
||||
if hasattr(rclpy, "__executor") and rclpy.__executor is not None:
|
||||
try:
|
||||
rclpy.__executor.shutdown()
|
||||
rclpy.__executor = None # Clear for restart
|
||||
print_status("[Restart] ROS executor shutdown complete", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error shutting down executor: {e}", "warning")
|
||||
|
||||
# Shutdown rclpy
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
print_status("[Restart] rclpy shutdown complete", "info")
|
||||
|
||||
except ImportError as e:
|
||||
print_status(f"[Restart] ROS modules not available: {e}", "warning")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error in ROS cleanup: {e}", "warning")
|
||||
return False
|
||||
|
||||
# Step 3: Reset communication client singleton
|
||||
print_status("[Restart] Step 3: Resetting singletons...", "info")
|
||||
try:
|
||||
from unilabos.app import communication
|
||||
|
||||
if hasattr(communication, "_communication_client"):
|
||||
communication._communication_client = None
|
||||
print_status("[Restart] Communication client singleton reset", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error resetting communication singleton: {e}", "warning")
|
||||
|
||||
# Step 4: Wait for threads to finish
|
||||
print_status("[Restart] Step 4: Waiting for threads to finish...", "info")
|
||||
time.sleep(3) # Give threads time to finish
|
||||
|
||||
# Check remaining threads
|
||||
remaining_threads = []
|
||||
for t in threading.enumerate():
|
||||
if t.name != "MainThread" and t.is_alive():
|
||||
remaining_threads.append(t.name)
|
||||
|
||||
if remaining_threads:
|
||||
print_status(
|
||||
f"[Restart] Warning: {len(remaining_threads)} threads still running: {remaining_threads}", "warning"
|
||||
)
|
||||
else:
|
||||
print_status("[Restart] All threads stopped", "info")
|
||||
|
||||
# Step 5: Force garbage collection
|
||||
print_status("[Restart] Step 5: Running garbage collection...", "info")
|
||||
gc.collect()
|
||||
gc.collect() # Run twice for weak references
|
||||
print_status("[Restart] Garbage collection complete", "info")
|
||||
|
||||
print_status("[Restart] Cleanup complete. Ready for re-initialization.", "info")
|
||||
return True
|
||||
@@ -6,10 +6,12 @@ HTTP客户端模块
|
||||
|
||||
import json
|
||||
import os
|
||||
import time
|
||||
from threading import Thread
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
import requests
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
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
|
||||
@@ -74,8 +76,7 @@ class HTTPClient:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
|
||||
payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
|
||||
f.write(json.dumps(payload, indent=4))
|
||||
f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
|
||||
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
|
||||
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
||||
if not self.initialized or first_add:
|
||||
@@ -334,67 +335,6 @@ class HTTPClient:
|
||||
logger.error(f"响应内容: {response.text}")
|
||||
return None
|
||||
|
||||
def workflow_import(
|
||||
self,
|
||||
name: str,
|
||||
workflow_uuid: str,
|
||||
workflow_name: str,
|
||||
nodes: List[Dict[str, Any]],
|
||||
edges: List[Dict[str, Any]],
|
||||
tags: Optional[List[str]] = None,
|
||||
published: bool = False,
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
导入工作流到服务器
|
||||
|
||||
Args:
|
||||
name: 工作流名称（顶层）
|
||||
workflow_uuid: 工作流UUID
|
||||
workflow_name: 工作流名称（data内部）
|
||||
nodes: 工作流节点列表
|
||||
edges: 工作流边列表
|
||||
tags: 工作流标签列表，默认为空列表
|
||||
published: 是否发布工作流，默认为False
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据，包含 code 和 data (uuid, name)
|
||||
"""
|
||||
# target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
|
||||
payload = {
|
||||
"target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
|
||||
"name": name,
|
||||
"data": {
|
||||
"workflow_uuid": workflow_uuid,
|
||||
"workflow_name": workflow_name,
|
||||
"nodes": nodes,
|
||||
"edges": edges,
|
||||
"tags": tags if tags is not None else [],
|
||||
"published": published,
|
||||
},
|
||||
}
|
||||
# 保存请求到文件
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps(payload, indent=4, ensure_ascii=False))
|
||||
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/workflow/owner/import",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
)
|
||||
# 保存响应到文件
|
||||
with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}" + "\n" + response.text)
|
||||
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"导入工作流失败: {response.text}")
|
||||
return res
|
||||
else:
|
||||
logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
|
||||
@@ -6,6 +6,7 @@ Web服务器模块
|
||||
|
||||
import webbrowser
|
||||
|
||||
import uvicorn
|
||||
from fastapi import FastAPI, Request
|
||||
from fastapi.middleware.cors import CORSMiddleware
|
||||
from starlette.responses import Response
|
||||
@@ -95,7 +96,7 @@ def setup_server() -> FastAPI:
|
||||
return app
|
||||
|
||||
|
||||
def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> bool:
|
||||
def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None:
|
||||
"""
|
||||
启动服务器
|
||||
|
||||
@@ -103,14 +104,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
host: 服务器主机
|
||||
port: 服务器端口
|
||||
open_browser: 是否自动打开浏览器
|
||||
|
||||
Returns:
|
||||
bool: True if restart was requested, False otherwise
|
||||
"""
|
||||
import threading
|
||||
import time
|
||||
from uvicorn import Config, Server
|
||||
|
||||
# 设置服务器
|
||||
setup_server()
|
||||
|
||||
@@ -129,37 +123,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
|
||||
# 启动服务器
|
||||
info(f"[Web] 启动FastAPI服务器: {host}:{port}")
|
||||
|
||||
# 使用支持重启的模式
|
||||
config = Config(app=app, host=host, port=port, log_config=log_config)
|
||||
server = Server(config)
|
||||
|
||||
# 启动服务器线程
|
||||
server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
|
||||
server_thread.start()
|
||||
|
||||
info("[Web] Server started, monitoring for restart requests...")
|
||||
|
||||
# 监控重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
while server_thread.is_alive():
|
||||
if hasattr(main_module, "_restart_requested") and main_module._restart_requested:
|
||||
info(
|
||||
f"[Web] Restart requested via WebSocket, reason: {getattr(main_module, '_restart_reason', 'unknown')}"
|
||||
)
|
||||
main_module._restart_requested = False
|
||||
|
||||
# 停止服务器
|
||||
server.should_exit = True
|
||||
server_thread.join(timeout=5)
|
||||
|
||||
info("[Web] Server stopped, ready for restart")
|
||||
return True
|
||||
|
||||
time.sleep(1)
|
||||
|
||||
return False
|
||||
uvicorn.run(app, host=host, port=port, log_config=log_config)
|
||||
|
||||
|
||||
# 当脚本直接运行时启动服务器
|
||||
|
||||
@@ -359,7 +359,7 @@ class MessageProcessor:
|
||||
self.device_manager = device_manager
|
||||
self.queue_processor = None # 延迟设置
|
||||
self.websocket_client = None # 延迟设置
|
||||
self.session_id = str(uuid.uuid4())[:6] # 产生一个随机的session_id
|
||||
self.session_id = ""
|
||||
|
||||
# WebSocket连接
|
||||
self.websocket = None
|
||||
@@ -438,7 +438,7 @@ class MessageProcessor:
|
||||
self.connected = True
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
|
||||
logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")
|
||||
|
||||
# 启动发送协程
|
||||
send_task = asyncio.create_task(self._send_handler())
|
||||
@@ -488,16 +488,7 @@ class MessageProcessor:
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
|
||||
logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}")
|
||||
else:
|
||||
await self._process_message(message_type, message_data)
|
||||
await self._process_message(data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
@@ -512,7 +503,7 @@ class MessageProcessor:
|
||||
|
||||
async def _send_handler(self):
|
||||
"""处理发送队列中的消息"""
|
||||
logger.trace("[MessageProcessor] Send handler started")
|
||||
logger.debug("[MessageProcessor] Send handler started")
|
||||
|
||||
try:
|
||||
while self.connected and self.websocket:
|
||||
@@ -563,8 +554,11 @@ class MessageProcessor:
|
||||
finally:
|
||||
logger.debug("[MessageProcessor] Send handler stopped")
|
||||
|
||||
async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
|
||||
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")
|
||||
|
||||
logger.debug(f"[MessageProcessor] Processing message: {message_type}")
|
||||
|
||||
try:
|
||||
@@ -577,19 +571,14 @@ class MessageProcessor:
|
||||
elif message_type == "cancel_action" or message_type == "cancel_task":
|
||||
await self._handle_cancel_action(message_data)
|
||||
elif message_type == "add_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "add")
|
||||
elif message_type == "update_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "update")
|
||||
elif message_type == "remove_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "remove")
|
||||
# elif message_type == "session_id":
|
||||
# self.session_id = message_data.get("session_id")
|
||||
# logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
elif message_type == "request_restart":
|
||||
await self._handle_request_restart(message_data)
|
||||
elif message_type == "session_id":
|
||||
self.session_id = message_data.get("session_id")
|
||||
logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
else:
|
||||
logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
|
||||
|
||||
@@ -899,49 +888,6 @@ class MessageProcessor:
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_request_restart(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理重启请求
|
||||
|
||||
当LabGo发送request_restart时，执行清理并触发重启
|
||||
"""
|
||||
reason = data.get("reason", "unknown")
|
||||
delay = data.get("delay", 2) # 默认延迟2秒
|
||||
logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
|
||||
|
||||
# 发送确认消息
|
||||
if self.websocket_client:
|
||||
await self.websocket_client.send_message({
|
||||
"action": "restart_acknowledged",
|
||||
"data": {"reason": reason, "delay": delay}
|
||||
})
|
||||
|
||||
# 设置全局重启标志
|
||||
import unilabos.app.main as main_module
|
||||
main_module._restart_requested = True
|
||||
main_module._restart_reason = reason
|
||||
|
||||
# 延迟后执行清理
|
||||
await asyncio.sleep(delay)
|
||||
|
||||
# 在新线程中执行清理，避免阻塞当前事件循环
|
||||
def do_cleanup():
|
||||
import time
|
||||
time.sleep(0.5) # 给当前消息处理完成的时间
|
||||
logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
|
||||
try:
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
if cleanup_for_restart():
|
||||
logger.info("[MessageProcessor] Cleanup successful, main() will restart")
|
||||
else:
|
||||
logger.error("[MessageProcessor] Cleanup failed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error during cleanup: {e}")
|
||||
|
||||
cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
|
||||
cleanup_thread.start()
|
||||
logger.info(f"[MessageProcessor] Restart cleanup scheduled")
|
||||
|
||||
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
|
||||
):
|
||||
@@ -1019,7 +965,7 @@ class QueueProcessor:
|
||||
|
||||
def _run(self):
|
||||
"""运行队列处理主循环"""
|
||||
logger.trace("[QueueProcessor] Queue processor started")
|
||||
logger.debug("[QueueProcessor] Queue processor started")
|
||||
|
||||
while self.is_running:
|
||||
try:
|
||||
@@ -1229,6 +1175,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
else:
|
||||
url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
|
||||
|
||||
logger.debug(f"[WebSocketClient] URL: {url}")
|
||||
return url
|
||||
|
||||
def start(self) -> None:
|
||||
@@ -1241,11 +1188,13 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
logger.error("[WebSocketClient] WebSocket URL not configured")
|
||||
return
|
||||
|
||||
logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
|
||||
|
||||
# 启动两个核心线程
|
||||
self.message_processor.start()
|
||||
self.queue_processor.start()
|
||||
|
||||
logger.trace("[WebSocketClient] All threads started")
|
||||
logger.info("[WebSocketClient] All threads started")
|
||||
|
||||
def stop(self) -> None:
|
||||
"""停止WebSocket客户端"""
|
||||
@@ -1294,7 +1243,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
@@ -1336,7 +1285,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
self.message_processor.send_message(message)
|
||||
|
||||
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
|
||||
logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
|
||||
logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}")
|
||||
|
||||
def send_ping(self, ping_id: str, timestamp: float) -> None:
|
||||
"""发送ping消息"""
|
||||
@@ -1367,55 +1316,17 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
|
||||
|
||||
def publish_host_ready(self) -> None:
|
||||
"""发布host_node ready信号，包含设备和动作信息"""
|
||||
"""发布host_node ready信号"""
|
||||
if self.is_disabled or not self.is_connected():
|
||||
logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
|
||||
return
|
||||
|
||||
# 收集设备信息
|
||||
devices = []
|
||||
machine_name = BasicConfig.machine_name
|
||||
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
# 获取设备信息
|
||||
for device_id, namespace in host_node.devices_names.items():
|
||||
device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
is_online = device_key in host_node._online_devices
|
||||
|
||||
# 获取设备的动作信息
|
||||
actions = {}
|
||||
for action_id, client in host_node._action_clients.items():
|
||||
# action_id 格式: /namespace/device_id/action_name
|
||||
if device_id in action_id:
|
||||
action_name = action_id.split("/")[-1]
|
||||
actions[action_name] = {
|
||||
"action_path": action_id,
|
||||
"action_type": str(type(client).__name__),
|
||||
}
|
||||
|
||||
devices.append({
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
})
|
||||
|
||||
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
|
||||
|
||||
message = {
|
||||
"action": "host_node_ready",
|
||||
"data": {
|
||||
"status": "ready",
|
||||
"timestamp": time.time(),
|
||||
"machine_name": machine_name,
|
||||
"devices": devices,
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
logger.info(f"[WebSocketClient] Host node ready signal published with {len(devices)} devices")
|
||||
logger.info("[WebSocketClient] Host node ready signal published")
|
||||
|
||||
@@ -16,14 +16,12 @@ class BasicConfig:
|
||||
upload_registry = False
|
||||
machine_name = "undefined"
|
||||
vis_2d_enable = False
|
||||
no_update_feedback = False
|
||||
enable_resource_load = True
|
||||
communication_protocol = "websocket"
|
||||
startup_json_path = None # 填写绝对路径
|
||||
disable_browser = False # 禁止浏览器自动打开
|
||||
port = 8002 # 本地HTTP服务
|
||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||
log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG" # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
|
||||
@classmethod
|
||||
def auth_secret(cls):
|
||||
@@ -67,14 +65,13 @@ def _update_config_from_module(module):
|
||||
if not attr.startswith("_"):
|
||||
setattr(obj, attr, getattr(getattr(module, name), attr))
|
||||
|
||||
|
||||
def _update_config_from_env():
|
||||
prefix = "UNILABOS_"
|
||||
for env_key, env_value in os.environ.items():
|
||||
if not env_key.startswith(prefix):
|
||||
continue
|
||||
try:
|
||||
key_path = env_key[len(prefix) :] # Remove UNILAB_ prefix
|
||||
key_path = env_key[len(prefix):] # Remove UNILAB_ prefix
|
||||
class_field = key_path.upper().split("_", 1)
|
||||
if len(class_field) != 2:
|
||||
logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
|
||||
|
||||
@@ -6,7 +6,7 @@ Coin Cell Assembly Workstation
|
||||
"""
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
|
||||
from unilabos.device_comms.workstation_communication import (
|
||||
WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
|
||||
@@ -61,7 +61,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
# 创建资源跟踪器（如果没有提供）
|
||||
if resource_tracker is None:
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
resource_tracker = DeviceNodeResourceTracker()
|
||||
|
||||
# 初始化基类
|
||||
|
||||
@@ -1,73 +0,0 @@
|
||||
Uni-Lab-OS软件许可使用准则
|
||||
|
||||
|
||||
本软件使用准则（以下简称"本准则"）旨在规范用户在使用Uni-Lab-OS软件（以下简称"本软件"）过程中的行为和义务。在下载、安装、使用或以任何方式访问本软件之前，请务必仔细阅读并理解以下条款和条件。若您不同意本准则的全部或部分内容，请您立即停止使用本软件。一旦您开始访问、下载、安装、使用本软件，即表示您已阅读、理解并同意接受本准则的约束。
|
||||
|
||||
1、使用许可
|
||||
1.1 本软件的所有权及版权归北京深势科技有限公司（以下简称"深势科技"）所有。在遵守本准则的前提下，深势科技特此授予学术用户（以下简称"您"）一个全球范围内的、非排他性的、免版权费用的使用许可，可为了满足学术目的而使用本软件。
|
||||
|
||||
1.2 本准则下授予的许可仅适用于本软件的二进制代码版本。您不对本软件源代码拥有任何权利。
|
||||
|
||||
2、使用限制
|
||||
2.1 本准则仅授予学术用户出于学术目的使用本软件，任何商业组织、商业机构或其他非学术用户不得使用本软件，如果违反本条款，深势科技将保留一切追诉的权利。
|
||||
2.2 您将本软件用于任何商业行为，应取得深势科技的商业许可。
|
||||
2.3 您不得将本软件或任何形式的衍生作品用于任何商业目的，也不得将其出售、出租、转让、分发或以其他方式提供给任何第三方。您必须确保本软件的使用仅限于您个人学术研究，禁止您为任何其他实体的利益使用本软件（无论是否收费）。
|
||||
2.4 您不得以任何方式修改、破解、反编译、反汇编、反向工程、隔离、分离或以其他方式从任何程序或文档中提取源代码或试图发现本软件的源代码。您不得以任何方式去除、修改或屏蔽本软件中的任何版权、商标或其他专有权利声明。您不得使用本软件进行任何非法活动，包括但不限于侵犯他人的知识产权、隐私权等。
|
||||
2.5 您同意将本软件仅用于合法的学术目的，且遵守您所在国家或地区的法律法规，您将承担因违反法律法规而产生的一切法律责任。
|
||||
|
||||
3、软件所有权
|
||||
本软件在此仅作使用许可，并非出售。本软件及与软件有关的全部文档的所有权及其他所有权利（包括但不限于知识产权和商业秘密），始终是深势科技的专有财产，您不拥有任何权利，但本准则下被明确授予的有限的使用许可权利除外。
|
||||
|
||||
4、衍生作品传播规范
|
||||
若您传播基于Uni-Lab-OS程序修改形成的作品，须同时满足以下全部条件：
|
||||
4.1 作品必须包含显著声明，明确标注修改内容及修改日期；
|
||||
4.2 作品必须声明本作品依据本许可协议发布；
|
||||
4.3 必须将整个作品（包括修改部分）作为整体授予获取副本者本许可协议的保障，且该许可将自动延伸适用于作品全组件（无论其以何种形式打包）；
|
||||
4.4 若衍生作品含交互式用户界面：每个界面均须显示合规法律声明，若原始Uni-Lab-OS程序的交互界面未展示法律声明，您的衍生作品可免除此义务。
|
||||
|
||||
5、提出建议
|
||||
您可以对本软件提出建议，前提是：
|
||||
（i）您声明并保证，该建议未侵害任何第三方的任何知识产权；
|
||||
（ii）您承认，深势科技有权使用该建议，但无使用该建议的义务；
|
||||
（iii）您授予深势科技一项非独占的、不可撤销的、可分许可的、无版权费的、全球范围的著作权许可，以复制、分发、传播、公开展示、公开表演、修改、翻译、基于其制作衍生作品、生产、制作、推销、销售、提供销售和/或以其他方式整体或部分地使用该建议和基于其的衍生作品，包括但不限于，通过将该建议整体或部分地纳入深势科技的软件和/或其他软件，以及在现存的或将来任何时候存在的任何媒介中或通过该媒介体现，以及为从事上述活动而授予多个分许可；
|
||||
（iv）您特此授予深势科技一项永久的、全球范围的、非独占性的、免费的、免特许权使用费的、不可撤销的专利许可，许可其制造、委托制造、使用、要约销售、销售、进口及以其他方式转让该建议和基于其的衍生专利。上述专利许可的适用范围仅限于以下专利权利要求：您有权许可的、且仅因您的建议本身，或因您的建议与所提交的本软件结合而必然构成侵权的专利权利要求。若任何实体针对您或其他实体提起专利诉讼（包括诉讼中的交叉诉讼或反诉），主张该建议或您所贡献的软件构成直接或间接专利侵权，则依据本协议授予的、针对该建议或软件的任何专利许可，自该诉讼提起之日起终止。
|
||||
（v）您放弃对该建议的任何权利或主张，深势科技无需承担任何义务、版税或基于知识产权或其他方面的限制。
|
||||
|
||||
6、引用要求
|
||||
如您使用本软件获得的成果发表在出版物上，您应在成果中承认对Uni-Lab-OS软件的使用并标注权利人名称。引用 Uni-Lab-OS时请使用以下内容：
|
||||
@article{gao2025unilabos,
|
||||
title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
|
||||
doi = {10.48550/arXiv.2512.21766},
|
||||
publisher = {arXiv},
|
||||
author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
|
||||
year = {2025}
|
||||
}
|
||||
|
||||
7、保留权利
|
||||
您认可，所有未被明确授予您的本软件的权利，无论是当前或今后存在的，均由深势科技予以保留，任何未经深势科技明确授权而使用本软件的行为将被视为侵权，深势科技有权追究侵权者的一切法律责任。
|
||||
|
||||
8、保密信息
|
||||
您同意将本软件代码及相关文档视为深势科技的机密信息，您不会向任何第三方提供相关代码，并将采取合理审慎的使用态度来防止本软件代码及相关文档被泄露。
|
||||
|
||||
9、无保证
|
||||
该软件是"按原样"提供的，没有任何明示或暗示的保证，不包含任何代码或规范没有缺陷、适销性、适用于特定目的或不侵犯第三方权利的保证。您同意您自主承担使用本软件或与本准则有关的全部风险。
|
||||
|
||||
10、免责条款
|
||||
在任何情况下，无论基于侵权（包括过失）、合同或其他法律理论，除非适用法律强制规定（如故意或重大过失行为）或另有书面协议，深势科技不对被许可人因软件许可、使用或无法使用软件所致损害承担责任（包括任何性质的直接、间接、特殊、偶发或后果性损害，例如但不限于商誉损失、停工损失、计算机故障或失灵造成的损害，以及其他一切商业损害或损失），即使深势科技已被告知发生此类损害的可能性亦不例外。
|
||||
被许可人在再分发软件或其衍生作品时，仅能以自身名义独立承担责任进行操作，不得代表深势科技或其他被许可人。
|
||||
|
||||
11、终止
|
||||
如果您以任何方式违反本准则或未能遵守本准则的任何重要条款或条件，则您被授予的所有权利将自动终止。
|
||||
|
||||
12、举报
|
||||
如果您认为有人违反了本准则，请向深势科技进行举报，深势科技将对您的身份进行严格保密，举报邮箱changjh@dp.tech。
|
||||
|
||||
13、法律管辖
|
||||
本准则中的任何内容均不得解释为通过暗示、禁止反悔或其他方式授予本准则中授予的许可或权利以外的任何许可或权利。如果本准则的任何条款被认定为不可执行，则仅在必要的范围内对该条款进行修改，使其可执行。本准则应受中华人民共和国法律管辖，不适用法律冲突条款及《联合国国际货物销售合同公约》，因本准则产生的一切争议由北京市海淀区人民法院管辖。
|
||||
|
||||
14、未来版本
|
||||
深势科技保留不经事先通知随时变更或停止本软件或本准则的权利。
|
||||
|
||||
15、语言优先
|
||||
本准则同时具有中文版本和英文版本，如果英文版本和中文版本有冲突，以中文版本为准。
|
||||
|
||||
@@ -1,73 +0,0 @@
|
||||
Uni-Lab-OS License Agreement
|
||||
|
||||
Preamble
|
||||
This License Agreement (the "Agreement") is instituted to govern user conduct and obligations in relation to the utilization of the Uni-Lab-OS (the "Software"). By accessing, downloading, installing, or utilizing the Software in any manner, you hereby acknowledge that you have meticulously reviewed, comprehended, and consented to be legally bound by the terms herein. If you dissent from any provision of this Agreement, you must forthwith cease all interaction with the Software.
|
||||
|
||||
1. Grant of License
|
||||
1.1 The proprietary rights to the Software are exclusively retained by Beijing DP Technology Co., Ltd. ("DP Technology"). Subject to full compliance with this Agreement, DP Technology hereby grants academic users ("Licensee") a worldwide, non-exclusive, royalty-free license to untilise the Software solely for non-commercial academic pursuits.
|
||||
|
||||
1.2 The foregoing license applies exclusively to the Software's executable binary code. No rights whatsoever are conferred to the Software's source code.
|
||||
|
||||
2. Usage Restrictions
|
||||
2.1 This license is restricted to academic users engaging in scholastic activities. Commercial entities, institutions, or any non-academic parties are expressly prohibited from utilizing the Software. Violations of this clause shall entitle DP Technology to pursue all available legal remedies.
|
||||
2.2 The Licensee shall obtain a commercial license from DP Technology for any commercial use of the Software.
|
||||
2.3 The Licensee shall not utilise the Software or any derivative works for commercial purposes, nor distribute, sublicense, lease, transfer, or otherwise disseminate the Software to third parties. The Licensee is strictly prohibited from utilizing the Software for the benefit of any third-party entity, whether gratuitously or otherwise.
|
||||
2.4 Reverse engineering, decompilation, disassembly, code isolation, or any attempt to derive source code from the Software is strictly prohibited. The Licensee shall not alter, circumvent, or remove copyright notices, trademarks, or proprietary legends embedded in the Software. Use of the Software for unlawful activities—including but not limited to intellectual property infringement or privacy violations—is categorically barred.
|
||||
2.5 The Licensee warrants that the Software shall be utilised solely for lawful academic purposes in compliance with applicable jurisdictional statutes. All legal liabilities arising from noncompliance shall be borne exclusively by the Licensee.
|
||||
|
||||
3. Proprietary Rights
|
||||
This Agreement confers a license to utilise the Software, not a transfer of ownership. All intellectual property rights—including copyrights, patents, trade secrets, and documentation—remain the exclusive dominion of DP Technology. The Licensee acquires no entitlements beyond the limited usage privileges expressly delineated herein.
|
||||
|
||||
4. Derivative Work
|
||||
You may convey a work based on the Software, or the modifications to produce it from the Software, provided that you meet all of these conditions:
|
||||
4.1 The work must carry prominent notices stating that you modified it, and giving a relevant date.
|
||||
4.2 The work must carry prominent notices stating that it is released under this License.
|
||||
4.3 You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it.
|
||||
4.4 If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Software has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so.
|
||||
|
||||
5. Feedback and Proposals
|
||||
Licensees may submit proposals, suggestions, or improvements pertaining to the Software ("Feedback") under the following conditions:
|
||||
(a) Licensee represents and warrants that such Feedback does not infringe upon any third-party intellectual property rights;
|
||||
(b) Licensee acknowledges that DP Technology reserves the right, but assumes no obligation, to utilize such Feedback;
|
||||
(c) Licensee irrevocably grants DP Technology a non-exclusive, royalty-free, perpetual, worldwide, sublicensable copyright license to reproduce, distribute, modify, publicly perform or display, translate, create derivative works of, commercialize, and otherwise exploit the Feedback in any medium or format, whether now known or hereafter devised, including the right to grant multiple tiers of sublicenses to enable such activities;
|
||||
(d) Licensee hereby grants DP Technology a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Feedback and such Derivative Works, where such license applies only to those patent claimss licensable by Licensee that are necessarily infringed by the Feedback(s) alone or by comibination of the Feedback(s) with the Software to which such Feedback(s) were submitted. If any entity institutes patent litigation against Licensee or any other entity (including a cross-claim orcounterclaim in a lawsuit) alleging that the Feedback, or the Software to which you have contributed, constitutes direct or contributory patent infringement, then any patent licenses granted under this Agreement for the Feedback or Software shall terminate as of the date such litigation is filed.
|
||||
(e) Licensee hereby waives all claims, proprietary rights, or restrictions related to DP Technology's use of such Feedback.
|
||||
|
||||
6. Citation Requirement
|
||||
If academic or research output generated using the Software is published, Licensee must explicitly acknowledge the use of Uni-Lab-OS and attribute ownership to DP Technology. The following citation must be included:
|
||||
@article{gao2025unilabos,
|
||||
title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
|
||||
doi = {10.48550/arXiv.2512.21766},
|
||||
publisher = {arXiv},
|
||||
author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
|
||||
year = {2025}
|
||||
}
|
||||
|
||||
7. Reservation of Rights
|
||||
All rights not expressly granted herein, whether existing now or arising in the future, are exclusively reserved by DP Technology. Any unauthorized use of the Software beyond the scope of this Agreement constitutes infringement, and DP Technology reserves all legal rights to pursue remedies against violators.
|
||||
|
||||
8. Confidentiality
|
||||
Licensee agrees to treat the Software's code, documentation, and related materials as confidential information. Licensee shall not disclose such materials to third parties and shall employ reasonable safeguards to prevent unauthorized access, dissemination, or misuse.
|
||||
|
||||
9. Disclaimer of Warranties
|
||||
The software is provided "as is," without warranties of any kind, express or implied, including but not limited to warranties of merchantability, fitness for a particular purpose, non-infringement, or error-free operation. Licensee accepts all risks associated with the use of the software.
|
||||
|
||||
10. Limitation of Liability
|
||||
In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall DP Technology be liable to Licensee for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the software (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if DP Technology has been advised of the possibility of such damages.
|
||||
While redistributing the Software or Derivative Works thereof, Licensee may act only on Licensee's own behalf and on Licensee's sole responsibility, not on behalf of DP Technology or any other Licensee.
|
||||
|
||||
11. Termination
|
||||
All rights granted herein shall terminate immediately and automatically if Licensee materially breaches any provision of this Agreement.
|
||||
|
||||
12. Reporting Violations
|
||||
To report suspected violations of this Agreement, notify DP Technology via the designated email address: changjh@dp.tech. DP Technology shall maintain the confidentiality of the reporter's identity.
|
||||
|
||||
13. Governing Law and Dispute Resolution
|
||||
This Agreement shall be governed by the laws of the People's Republic of China, excluding its conflict of laws principles and the United Nations Convention on Contracts for the International Sale of Goods. Any dispute arising from this Agreement shall be exclusively adjudicated by the Haidian District People's Court in Beijing.
|
||||
|
||||
14. Amendments and Updates
|
||||
DP Technology reserves the right to modify, suspend, or terminate the Software or this Agreement at any time without prior notice.
|
||||
|
||||
15. Language Priority
|
||||
This Agreement is provided in both Chinese and English. In the event of any discrepancy, the Chinese version shall prevail.
|
||||
|
||||
@@ -13,7 +13,7 @@ from pylabrobot.resources import (
|
||||
import copy
|
||||
from unilabos_msgs.msg import Resource
|
||||
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker # type: ignore
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore
|
||||
|
||||
|
||||
class LiquidHandlerBiomek:
|
||||
|
||||
@@ -1042,19 +1042,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
One or more TipRacks providing fresh tips.
|
||||
is_96_well
|
||||
Set *True* to use the 96‑channel head.
|
||||
mix_stage
|
||||
When to mix the target wells relative to dispensing. Default "none" means
|
||||
no mixing occurs even if mix_times is provided. Use "before", "after", or
|
||||
"both" to mix at the corresponding stage(s).
|
||||
mix_times
|
||||
Number of mix cycles. If *None* (default) no mixing occurs regardless of
|
||||
mix_stage.
|
||||
"""
|
||||
|
||||
# 确保 use_channels 有默认值
|
||||
if use_channels is None:
|
||||
# 默认使用设备所有通道（例如 8 通道移液站默认就是 0-7）
|
||||
use_channels = list(range(self.channel_num)) if self.channel_num > 0 else [0]
|
||||
use_channels = [0] if self.channel_num >= 1 else list(range(self.channel_num))
|
||||
|
||||
if is_96_well:
|
||||
pass # This mode is not verified.
|
||||
@@ -1082,42 +1074,42 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
if mix_times is not None:
|
||||
mix_times = int(mix_times)
|
||||
|
||||
# 识别传输模式（mix_times 为 None 也应该能正常移液，只是不做 mix）
|
||||
num_sources = len(sources)
|
||||
num_targets = len(targets)
|
||||
|
||||
if num_sources == 1 and num_targets > 1:
|
||||
# 模式1: 一对多 (1 source -> N targets)
|
||||
await self._transfer_one_to_many(
|
||||
sources[0], targets, tip_racks, use_channels,
|
||||
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||
mix_liquid_height, delays
|
||||
)
|
||||
elif num_sources > 1 and num_targets == 1:
|
||||
# 模式2: 多对一 (N sources -> 1 target)
|
||||
await self._transfer_many_to_one(
|
||||
sources, targets[0], tip_racks, use_channels,
|
||||
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||
mix_liquid_height, delays
|
||||
)
|
||||
elif num_sources == num_targets:
|
||||
# 模式3: 一对一 (N sources -> N targets)
|
||||
await self._transfer_one_to_one(
|
||||
sources, targets, tip_racks, use_channels,
|
||||
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||
mix_liquid_height, delays
|
||||
)
|
||||
else:
|
||||
raise ValueError(
|
||||
f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
|
||||
"Supported modes: 1->N, N->1, or N->N."
|
||||
)
|
||||
# 识别传输模式
|
||||
num_sources = len(sources)
|
||||
num_targets = len(targets)
|
||||
|
||||
if num_sources == 1 and num_targets > 1:
|
||||
# 模式1: 一对多 (1 source -> N targets)
|
||||
await self._transfer_one_to_many(
|
||||
sources[0], targets, tip_racks, use_channels,
|
||||
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||
mix_liquid_height, delays
|
||||
)
|
||||
elif num_sources > 1 and num_targets == 1:
|
||||
# 模式2: 多对一 (N sources -> 1 target)
|
||||
await self._transfer_many_to_one(
|
||||
sources, targets[0], tip_racks, use_channels,
|
||||
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||
mix_liquid_height, delays
|
||||
)
|
||||
elif num_sources == num_targets:
|
||||
# 模式3: 一对一 (N sources -> N targets) - 原有逻辑
|
||||
await self._transfer_one_to_one(
|
||||
sources, targets, tip_racks, use_channels,
|
||||
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||
mix_liquid_height, delays
|
||||
)
|
||||
else:
|
||||
raise ValueError(
|
||||
f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
|
||||
"Supported modes: 1->N, N->1, or N->N."
|
||||
)
|
||||
|
||||
async def _transfer_one_to_one(
|
||||
self,
|
||||
@@ -1157,16 +1149,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=[targets[_]],
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
|
||||
await self.aspirate(
|
||||
resources=[sources[_]],
|
||||
vols=[asp_vols[_]],
|
||||
@@ -1227,16 +1209,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
|
||||
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=current_targets,
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
offsets=offsets if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
|
||||
await self.aspirate(
|
||||
resources=current_reagent_sources,
|
||||
vols=current_asp_vols,
|
||||
@@ -1318,17 +1290,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
tip.extend(next(self.current_tip))
|
||||
await self.pick_up_tips(tip)
|
||||
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
for idx, target in enumerate(targets):
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
|
||||
# 从源容器吸液（总体积）
|
||||
await self.aspirate(
|
||||
resources=[source],
|
||||
@@ -1393,16 +1354,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
|
||||
current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
|
||||
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=current_targets,
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
offsets=offsets[i:i + 8] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
|
||||
# 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
|
||||
await self.aspirate(
|
||||
resources=[source] * 8, # 8个通道都从同一个源
|
||||
@@ -1501,14 +1452,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
# 单通道模式：多次吸液，一次分液
|
||||
# 先混合前（如果需要）
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
offsets=offsets[0:1] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
# 注意：在吸液前混合源容器通常不常见，这里跳过
|
||||
pass
|
||||
|
||||
# 从每个源容器吸液并分液到目标容器
|
||||
for idx, source in enumerate(sources):
|
||||
@@ -1583,16 +1528,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||
raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
|
||||
|
||||
# 每次处理8个源
|
||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||
await self.mix(
|
||||
targets=[target],
|
||||
mix_time=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
offsets=offsets[0:1] if offsets else None,
|
||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||
mix_rate=mix_rate if mix_rate else None,
|
||||
)
|
||||
|
||||
for i in range(0, len(sources), 8):
|
||||
tip = []
|
||||
for _ in range(len(use_channels)):
|
||||
|
||||
@@ -70,16 +70,7 @@ class PRCXI9300Deck(Deck):
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
self.slots = [None] * 16 # PRCXI 9300/9320 最大有 16 个槽位
|
||||
self.slot_locations = [Coordinate(0, 0, 0)] * 16
|
||||
|
||||
def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
|
||||
if self.slots[slot - 1] is not None and not reassign:
|
||||
raise ValueError(f"Spot {slot} is already occupied")
|
||||
|
||||
self.slots[slot - 1] = resource
|
||||
super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
|
||||
|
||||
self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位
|
||||
class PRCXI9300Container(Plate):
|
||||
"""PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
|
||||
|
||||
|
||||
@@ -1,13 +0,0 @@
|
||||
"""
|
||||
说明：
|
||||
这里放一个“入口文件”，方便在 `unilabos/devices/liquid_handling` 目录下直接找到
|
||||
`transfer_liquid` 的测试。
|
||||
|
||||
实际测试用例实现放在仓库标准测试目录：
|
||||
`tests/devices/liquid_handling/test_transfer_liquid.py`
|
||||
"""
|
||||
|
||||
# 让 pytest 能从这里发现同一套测试（避免复制两份测试代码）。
|
||||
from tests.devices.liquid_handling.test_transfer_liquid import * # noqa: F401,F403
|
||||
|
||||
|
||||
@@ -1,113 +0,0 @@
|
||||
# Bioyond Cell 工作站 - 多订单返回示例
|
||||
|
||||
本文档说明了 `create_orders` 函数如何收集并返回所有订单的完成报文。
|
||||
|
||||
## 问题描述
|
||||
|
||||
之前的实现只会等待并返回第一个订单的完成报文，如果有多个订单（例如从 Excel 解析出 3 个订单），只能得到第一个订单的推送信息。
|
||||
|
||||
## 解决方案
|
||||
|
||||
修改后的 `create_orders` 函数现在会：
|
||||
|
||||
1. **提取所有 orderCode**：从 LIMS 接口返回的 `data` 列表中提取所有订单编号
|
||||
2. **逐个等待完成**：遍历所有 orderCode，调用 `wait_for_order_finish` 等待每个订单完成
|
||||
3. **收集所有报文**：将每个订单的完成报文存入 `all_reports` 列表
|
||||
4. **统一返回**：返回包含所有订单报文的 JSON 格式数据
|
||||
|
||||
## 返回格式
|
||||
|
||||
```json
|
||||
{
|
||||
"status": "all_completed",
|
||||
"total_orders": 3,
|
||||
"reports": [
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:32:09.2148671+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a082-c44a-60be-68647a35e6f1",
|
||||
"orderCode": "BSO2025122400024",
|
||||
"orderName": "DP20251224001",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
},
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:32:09.9999039+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a0a2-f7a9-9360-610021c9479d",
|
||||
"orderCode": "BSO2025122400025",
|
||||
"orderName": "DP20251224002",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
},
|
||||
{
|
||||
"token": "",
|
||||
"request_time": "2025-12-24T15:34:00.4139986+08:00",
|
||||
"data": {
|
||||
"orderId": "3a1e614d-a0cd-81ca-9f7f-2f4e93af01cd",
|
||||
"orderCode": "BSO2025122400026",
|
||||
"orderName": "DP20251224003",
|
||||
"status": "30",
|
||||
"workflowStatus": "completed",
|
||||
"usedMaterials": [...]
|
||||
}
|
||||
}
|
||||
],
|
||||
"original_response": {...}
|
||||
}
|
||||
```
|
||||
|
||||
## 使用示例
|
||||
|
||||
```python
|
||||
# 调用 create_orders
|
||||
result = workstation.create_orders("20251224.xlsx")
|
||||
|
||||
# 访问返回数据
|
||||
print(f"总订单数: {result['total_orders']}")
|
||||
print(f"状态: {result['status']}")
|
||||
|
||||
# 遍历所有订单的报文
|
||||
for i, report in enumerate(result['reports'], 1):
|
||||
order_data = report.get('data', {})
|
||||
print(f"\n订单 {i}:")
|
||||
print(f" orderCode: {order_data.get('orderCode')}")
|
||||
print(f" orderName: {order_data.get('orderName')}")
|
||||
print(f" status: {order_data.get('status')}")
|
||||
print(f" 使用物料数: {len(order_data.get('usedMaterials', []))}")
|
||||
```
|
||||
|
||||
## 控制台输出示例
|
||||
|
||||
```
|
||||
[create_orders] 即将提交订单数量: 3
|
||||
[create_orders] 接口返回: {...}
|
||||
[create_orders] 等待 3 个订单完成: ['BSO2025122400024', 'BSO2025122400025', 'BSO2025122400026']
|
||||
[create_orders] 正在等待第 1/3 个订单: BSO2025122400024
|
||||
[create_orders] ✓ 订单 BSO2025122400024 完成
|
||||
[create_orders] 正在等待第 2/3 个订单: BSO2025122400025
|
||||
[create_orders] ✓ 订单 BSO2025122400025 完成
|
||||
[create_orders] 正在等待第 3/3 个订单: BSO2025122400026
|
||||
[create_orders] ✓ 订单 BSO2025122400026 完成
|
||||
[create_orders] 所有订单已完成，共收集 3 个报文
|
||||
实验记录本========================create_orders========================
|
||||
返回报文数量: 3
|
||||
报文 1: orderCode=BSO2025122400024, status=30
|
||||
报文 2: orderCode=BSO2025122400025, status=30
|
||||
报文 3: orderCode=BSO2025122400026, status=30
|
||||
========================
|
||||
```
|
||||
|
||||
## 关键改进
|
||||
|
||||
1. ✅ **等待所有订单**：不再只等待第一个订单，而是遍历所有 orderCode
|
||||
2. ✅ **收集完整报文**：每个订单的完整推送报文都被保存在 `reports` 数组中
|
||||
3. ✅ **详细日志**：清晰显示正在等待哪个订单，以及完成情况
|
||||
4. ✅ **错误处理**：即使某个订单失败，也会记录其状态信息
|
||||
5. ✅ **统一格式**：返回的 JSON 格式便于后续处理和分析
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,204 +0,0 @@
|
||||
# BioyondCellWorkstation JSON 配置迁移经验总结
|
||||
|
||||
**日期**: 2026-01-13
|
||||
**目的**: 从 `config.py` 迁移到 JSON 配置文件
|
||||
|
||||
---
|
||||
|
||||
## 问题背景
|
||||
|
||||
原系统通过 `config.py` 管理配置，导致：
|
||||
1. HTTP 服务重复启动（父类 `BioyondWorkstation` 和子类都启动）
|
||||
2. 配置分散在代码中，不便于管理
|
||||
3. 无法通过 JSON 统一配置所有参数
|
||||
|
||||
---
|
||||
|
||||
## 解决方案：嵌套配置结构
|
||||
|
||||
### JSON 结构设计
|
||||
|
||||
**正确示例** (嵌套在 `config` 中):
|
||||
```json
|
||||
{
|
||||
"nodes": [{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"protocol_type": [],
|
||||
"bioyond_config": {
|
||||
"api_host": "http://172.16.11.219:44388",
|
||||
"api_key": "8A819E5C",
|
||||
"timeout": 30,
|
||||
"HTTP_host": "172.16.11.206",
|
||||
"HTTP_port": 8080,
|
||||
"debug_mode": false,
|
||||
"material_type_mappings": {...},
|
||||
"warehouse_mapping": {...},
|
||||
"solid_liquid_mappings": {...}
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}]
|
||||
}
|
||||
```
|
||||
|
||||
**关键点**：
|
||||
- ✅ `bioyond_config` 放在 `config` 中（会传递到 `__init__`）
|
||||
- ❌ **不要**放在 `data` 中（`data` 是运行时状态，不会传递）
|
||||
|
||||
---
|
||||
|
||||
## Python 代码适配
|
||||
|
||||
### 1. 修改 `BioyondCellWorkstation.__init__` 签名
|
||||
|
||||
**文件**: `bioyond_cell_workstation.py`
|
||||
|
||||
```python
|
||||
def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
|
||||
"""
|
||||
Args:
|
||||
bioyond_config: 从 JSON 加载的配置字典
|
||||
deck: Deck 配置
|
||||
protocol_type: 协议类型
|
||||
"""
|
||||
# 验证配置
|
||||
if bioyond_config is None:
|
||||
raise ValueError("需要 bioyond_config 参数")
|
||||
|
||||
# 保存配置
|
||||
self.bioyond_config = bioyond_config
|
||||
|
||||
# 设置 HTTP 服务去重标志
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
# 调用父类
|
||||
super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
|
||||
```
|
||||
|
||||
### 2. 替换全局变量引用
|
||||
|
||||
**修改前**（使用全局变量）:
|
||||
```python
|
||||
from config import MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING
|
||||
|
||||
def create_sample(self, board_type, ...):
|
||||
carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
|
||||
location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
|
||||
```
|
||||
|
||||
**修改后**（从配置读取）:
|
||||
```python
|
||||
def create_sample(self, board_type, ...):
|
||||
carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
|
||||
location_id = self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"][location_code]
|
||||
```
|
||||
|
||||
### 3. 修复父类配置访问
|
||||
|
||||
在 `station.py` 中安全访问配置默认值：
|
||||
|
||||
```python
|
||||
# 修改前（会 KeyError）
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"])
|
||||
}
|
||||
|
||||
# 修改后（安全访问）
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", ""))
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见陷阱
|
||||
|
||||
### ❌ 错误1：将配置放在 `data` 字段
|
||||
```json
|
||||
"config": {"deck": {...}},
|
||||
"data": {"bioyond_config": {...}} // ❌ 不会传递到 __init__
|
||||
```
|
||||
|
||||
### ❌ 错误2：扁平化配置（已废弃方案）
|
||||
虽然扁平化也能工作，但不推荐：
|
||||
```json
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"api_host": "...", // ❌ 不够清晰
|
||||
"api_key": "...",
|
||||
"HTTP_host": "..."
|
||||
}
|
||||
```
|
||||
|
||||
### ❌ 错误3：忘记替换全局变量引用
|
||||
代码中直接使用 `MATERIAL_TYPE_MAPPINGS` 等全局变量会导致 `NameError`。
|
||||
|
||||
---
|
||||
|
||||
## 云端同步注意事项
|
||||
|
||||
使用 `--upload_registry` 时，云端配置可能覆盖本地配置：
|
||||
- 首次上传时确保 JSON 完整
|
||||
- 或使用新的 `ak/sk` 避免旧配置干扰
|
||||
- 调试时可暂时移除 `--upload_registry` 参数
|
||||
|
||||
---
|
||||
|
||||
## 验证清单
|
||||
|
||||
启动成功后应看到：
|
||||
```
|
||||
✅ 从 JSON 配置加载 bioyond_config 成功
|
||||
API Host: http://...
|
||||
HTTP Service: ...
|
||||
✅ BioyondCellWorkstation 初始化完成
|
||||
Loaded ResourceTreeSet with ... nodes
|
||||
```
|
||||
|
||||
运行时不应出现：
|
||||
- ❌ `NameError: name 'MATERIAL_TYPE_MAPPINGS' is not defined`
|
||||
- ❌ `KeyError: 'http_service_host'`
|
||||
- ❌ `bioyond_config 缺少必需参数`
|
||||
|
||||
---
|
||||
|
||||
## 调试经验
|
||||
|
||||
1. **添加调试日志**查看参数传递链路：
|
||||
- `graphio.py`: JSON 加载后的 config 内容
|
||||
- `initialize_device.py`: `device_config.res_content.config` 的键
|
||||
- `bioyond_cell_workstation.py`: `__init__` 接收到的参数
|
||||
|
||||
2. **config vs data 区别**：
|
||||
- `config`: 初始化参数，传递给 `__init__`
|
||||
- `data`: 运行时状态，不传递给 `__init__`
|
||||
|
||||
3. **参数名必须匹配**：
|
||||
- JSON 中的键名必须与 `__init__` 参数名完全一致
|
||||
|
||||
4. **调试代码清理**：完成后记得删除调试日志（🔍 DEBUG 标记）
|
||||
|
||||
---
|
||||
|
||||
## 修改文件清单
|
||||
|
||||
| 文件 | 修改内容 |
|
||||
|------|----------|
|
||||
| `yibin_electrolyte_config.json` | 创建嵌套 `config.bioyond_config` 结构 |
|
||||
| `bioyond_cell_workstation.py` | 修改 `__init__` 接收 `bioyond_config`，替换所有全局变量引用 |
|
||||
| `station.py` | 安全访问 `HTTP_SERVICE_CONFIG` 默认值 |
|
||||
|
||||
---
|
||||
|
||||
## 参考代码位置
|
||||
|
||||
- JSON 配置示例: `yibin_electrolyte_config.json` L12-L353
|
||||
- `__init__` 实现: `bioyond_cell_workstation.py` L39-L94
|
||||
- 全局变量替换示例: `bioyond_cell_workstation.py` L2005, L1863, L1966
|
||||
- HTTP 服务配置: `station.py` L629-L634
|
||||
|
||||
---
|
||||
|
||||
**总结**: 使用嵌套结构将所有配置放在 `config.bioyond_config` 中，修改 `__init__` 直接接收该参数，并替换所有全局变量引用为 `self.bioyond_config` 访问。
|
||||
@@ -1,312 +0,0 @@
|
||||
# BioyondCell 配置迁移修改总结
|
||||
|
||||
**日期**: 2026-01-13
|
||||
**目标**: 从 `config.py` 完全迁移到 JSON 配置，消除所有全局变量依赖
|
||||
|
||||
---
|
||||
|
||||
## 📋 修改概览
|
||||
|
||||
本次修改完成了 BioyondCell 模块从 Python 配置文件到 JSON 配置的完整迁移，并清理了所有对 `config.py` 全局变量的依赖。
|
||||
|
||||
### 核心成果
|
||||
|
||||
- ✅ 完全移除对 `config.py` 的导入依赖
|
||||
- ✅ 使用嵌套 JSON 结构 `config.bioyond_config`
|
||||
- ✅ 修复 7 处 `bioyond_cell_workstation.py` 中的全局变量引用
|
||||
- ✅ 修复 3 处其他文件中的全局变量引用
|
||||
- ✅ HTTP 服务去重机制完善
|
||||
- ✅ 系统成功启动并正常运行
|
||||
|
||||
---
|
||||
|
||||
## 🔧 修改文件清单
|
||||
|
||||
### 1. JSON 配置文件
|
||||
|
||||
**文件**: `yibin_electrolyte_config.json`
|
||||
|
||||
**修改**:
|
||||
- 采用嵌套结构将所有配置放在 `config.bioyond_config` 中
|
||||
- 包含：`api_host`, `api_key`, `HTTP_host`, `HTTP_port`, `material_type_mappings`, `warehouse_mapping`, `solid_liquid_mappings` 等
|
||||
|
||||
**示例结构**:
|
||||
```json
|
||||
{
|
||||
"nodes": [{
|
||||
"id": "bioyond_cell_workstation",
|
||||
"config": {
|
||||
"deck": {...},
|
||||
"protocol_type": [],
|
||||
"bioyond_config": {
|
||||
"api_host": "http://172.16.11.219:44388",
|
||||
"api_key": "8A819E5C",
|
||||
"HTTP_host": "172.16.11.206",
|
||||
"HTTP_port": 8080,
|
||||
"material_type_mappings": {...},
|
||||
"warehouse_mapping": {...},
|
||||
"solid_liquid_mappings": {...}
|
||||
}
|
||||
}
|
||||
}]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 2. bioyond_cell_workstation.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
|
||||
|
||||
#### 修改 A: `__init__` 方法签名 (L39-99)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def __init__(self, deck=None, protocol_type=None, **kwargs):
|
||||
# 从 kwargs 收集配置字段
|
||||
self.bioyond_config = {}
|
||||
for field in bioyond_field_names:
|
||||
if field in kwargs:
|
||||
self.bioyond_config[field] = kwargs.pop(field)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
|
||||
"""直接接收 bioyond_config 参数"""
|
||||
if bioyond_config is None:
|
||||
raise ValueError("需要 bioyond_config 参数")
|
||||
|
||||
self.bioyond_config = bioyond_config
|
||||
|
||||
# 设置 HTTP 服务去重标志
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
|
||||
```
|
||||
|
||||
#### 修改 B: 替换全局变量引用 (7 处)
|
||||
|
||||
| 位置 | 原代码 | 修改后 |
|
||||
|------|--------|--------|
|
||||
| L2005 | `MATERIAL_TYPE_MAPPINGS[board_type][1]` | `self.bioyond_config['material_type_mappings'][board_type][1]` |
|
||||
| L2006 | `MATERIAL_TYPE_MAPPINGS[bottle_type][1]` | `self.bioyond_config['material_type_mappings'][bottle_type][1]` |
|
||||
| L2009 | `WAREHOUSE_MAPPING` | `self.bioyond_config['warehouse_mapping']` |
|
||||
| L2013 | `WAREHOUSE_MAPPING[warehouse_name]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]` |
|
||||
| L2017 | `WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"]` |
|
||||
| L1863 | `SOLID_LIQUID_MAPPINGS.get(material_name)` | `self.bioyond_config.get('solid_liquid_mappings', {}).get(material_name)` |
|
||||
| L1966, L1976 | `MATERIAL_TYPE_MAPPINGS.items()` | `self.bioyond_config['material_type_mappings'].items()` |
|
||||
|
||||
---
|
||||
|
||||
### 3. station.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/station.py`
|
||||
|
||||
#### 修改 A: 删除 config 导入 (L26-28)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
|
||||
)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
# 已删除此导入
|
||||
```
|
||||
|
||||
#### 修改 B: `_create_communication_module` 方法 (L691-702)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
default_config = {
|
||||
**API_CONFIG,
|
||||
"workflow_mappings": WORKFLOW_MAPPINGS,
|
||||
"material_type_mappings": MATERIAL_TYPE_MAPPINGS,
|
||||
"warehouse_mapping": WAREHOUSE_MAPPING
|
||||
}
|
||||
if config:
|
||||
self.bioyond_config = {**default_config, **config}
|
||||
else:
|
||||
self.bioyond_config = default_config
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
"""创建Bioyond通信模块"""
|
||||
# 使用传入的 config 参数（来自 bioyond_config）
|
||||
# 不再依赖全局变量 API_CONFIG 等
|
||||
if config:
|
||||
self.bioyond_config = config
|
||||
else:
|
||||
# 如果没有传入配置，创建空配置（用于测试或兼容性）
|
||||
self.bioyond_config = {}
|
||||
|
||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||
```
|
||||
|
||||
#### 修改 C: HTTP 服务配置 (L627-632)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG.get("http_service_port", 0))
|
||||
}
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 4. bioyond_rpc.py
|
||||
|
||||
**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`
|
||||
|
||||
#### 修改 A: 删除 config 导入 (L12)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
# 已删除此导入
|
||||
```
|
||||
|
||||
#### 修改 B: `material_outbound` 方法 (L278-280)
|
||||
|
||||
**修改前**:
|
||||
```python
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
location_id = LOCATION_MAPPING.get(location_name, location_name)
|
||||
```
|
||||
|
||||
**修改后**:
|
||||
```python
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
# location_name 参数实际上应该直接是 location_id (UUID)
|
||||
location_id = location_name
|
||||
```
|
||||
|
||||
**说明**: `LOCATION_MAPPING` 在 `config-0113.py` 中本来就是空字典 `{}`，所以直接使用 `location_name` 逻辑等价。
|
||||
|
||||
---
|
||||
|
||||
## 🎯 关键设计决策
|
||||
|
||||
### 1. 嵌套 vs 扁平配置
|
||||
|
||||
**选择**: 嵌套结构 `config.bioyond_config`
|
||||
|
||||
**理由**:
|
||||
- ✅ 语义清晰，配置分组明确
|
||||
- ✅ 参数传递直观，直接对应 `__init__` 参数
|
||||
- ✅ 易于维护，不需要硬编码字段列表
|
||||
- ✅ 符合 UniLab 设计模式
|
||||
|
||||
### 2. HTTP 服务去重
|
||||
|
||||
**实现**: 子类设置 `_disable_auto_http_service` 标志
|
||||
|
||||
```python
|
||||
# bioyond_cell_workstation.py
|
||||
self.bioyond_config["_disable_auto_http_service"] = True
|
||||
|
||||
# station.py (post_init)
|
||||
if self.bioyond_config.get("_disable_auto_http_service"):
|
||||
logger.info("子类已自行管理HTTP服务，跳过自动启动")
|
||||
return
|
||||
```
|
||||
|
||||
### 3. 全局变量替换策略
|
||||
|
||||
**原则**: 所有配置从 `self.bioyond_config` 获取
|
||||
|
||||
**模式**:
|
||||
```python
|
||||
# 修改前
|
||||
from config import MATERIAL_TYPE_MAPPINGS
|
||||
carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
|
||||
|
||||
# 修改后
|
||||
carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## ✅ 验证结果
|
||||
|
||||
### 启动成功日志
|
||||
```
|
||||
✅ 从 JSON 配置加载 bioyond_config 成功
|
||||
API Host: http://172.16.11.219:44388
|
||||
HTTP Service: 172.16.11.206:8080
|
||||
🔧 已设置 _disable_auto_http_service 标志，防止 HTTP 服务重复启动
|
||||
✅ BioyondCellWorkstation 初始化完成
|
||||
Loaded ResourceTreeSet with 1 trees, 1785 total nodes
|
||||
```
|
||||
|
||||
### 功能验证
|
||||
- ✅ 订单创建 (`create_orders_v2`)
|
||||
- ✅ 质量比计算
|
||||
- ✅ 物料转移 (`transfer_3_to_2_to_1`)
|
||||
- ✅ HTTP 报送接收 (step_finish, sample_finish, order_finish)
|
||||
- ✅ 等待机制 (`wait_for_order_finish`)
|
||||
- ✅ 仓库 UUID 映射
|
||||
- ✅ 物料类型映射
|
||||
|
||||
---
|
||||
|
||||
## 📚 相关文档
|
||||
|
||||
- **配置迁移经验**: `2026-01-13_JSON配置迁移经验.md`
|
||||
- **任务清单**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\task.md`
|
||||
- **实施计划**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\implementation_plan.md`
|
||||
|
||||
---
|
||||
|
||||
## ⚠️ 注意事项
|
||||
|
||||
### 其他工作站模块
|
||||
|
||||
以下文件仍在使用 `config.py` 全局变量（未包含在本次修改中）:
|
||||
- `reaction_station.py` - 使用 `API_CONFIG`
|
||||
- `experiment.py` - 使用 `API_CONFIG`, `WORKFLOW_MAPPINGS`, `MATERIAL_TYPE_MAPPINGS`
|
||||
- `dispensing_station.py` - 使用 `API_CONFIG`, `WAREHOUSE_MAPPING`
|
||||
- `station.py` L176, L177, L529, L530 - 动态导入 `WAREHOUSE_MAPPING`
|
||||
|
||||
**建议**: 后续可以统一迁移这些模块到 JSON 配置。
|
||||
|
||||
### config.py 文件
|
||||
|
||||
`config.py` 文件已恢复但**不再被 bioyond_cell 使用**。可以：
|
||||
- 保留作为其他模块的参考
|
||||
- 或者完全删除（如果其他模块也迁移完成）
|
||||
|
||||
---
|
||||
|
||||
## 🚀 下一步建议
|
||||
|
||||
1. **清理调试代码** ✅ (已完成)
|
||||
2. **提交代码到 Git**
|
||||
3. **迁移其他工作站模块** (可选)
|
||||
4. **更新文档和启动脚本**
|
||||
|
||||
---
|
||||
|
||||
**修改完成日期**: 2026-01-13
|
||||
**系统状态**: ✅ 稳定运行
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -1,12 +0,0 @@
|
||||
import pubchempy as pcp
|
||||
|
||||
cas = "21324-40-3" # 示例
|
||||
comps = pcp.get_compounds(cas, namespace="name")
|
||||
if not comps:
|
||||
raise ValueError("No hit")
|
||||
|
||||
c = comps[0]
|
||||
|
||||
print("Canonical SMILES:", c.canonical_smiles)
|
||||
print("Isomeric SMILES:", c.isomeric_smiles)
|
||||
print("MW:", c.molecular_weight)
|
||||
@@ -1,7 +0,0 @@
|
||||
material_name
|
||||
LiPF6
|
||||
LiDFOB
|
||||
DTD
|
||||
LiFSI
|
||||
LiPO2F2
|
||||
|
||||
|
@@ -9,7 +9,7 @@ from datetime import datetime, timezone
|
||||
from unilabos.device_comms.rpc import BaseRequest
|
||||
from typing import Optional, List, Dict, Any
|
||||
import json
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
|
||||
|
||||
|
||||
class SimpleLogger:
|
||||
@@ -277,8 +277,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
# location_name 参数实际上应该直接是 location_id (UUID)
|
||||
location_id = location_name
|
||||
location_id = LOCATION_MAPPING.get(location_name, location_name)
|
||||
|
||||
params = {
|
||||
"materialId": material_id,
|
||||
|
||||
142
unilabos/devices/workstation/bioyond_studio/config.py
Normal file
142
unilabos/devices/workstation/bioyond_studio/config.py
Normal file
@@ -0,0 +1,142 @@
|
||||
# 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": ""
|
||||
}
|
||||
|
||||
# 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
|
||||
WAREHOUSE_MAPPING = {
|
||||
"粉末堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
# 样品板
|
||||
"A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"A2": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
|
||||
"A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
|
||||
"B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
|
||||
"B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
|
||||
"B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
|
||||
"B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
|
||||
# 分装板
|
||||
"C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
|
||||
"C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
|
||||
"C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
|
||||
"D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
|
||||
"D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
|
||||
"D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
|
||||
"D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
|
||||
}
|
||||
},
|
||||
"溶液堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
|
||||
"A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
|
||||
"A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
|
||||
"A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
|
||||
"B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
|
||||
"B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
|
||||
"B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
|
||||
"B4": "3a14198e-d724-1e28-c885-574c3df468d0",
|
||||
"C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
|
||||
"C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
|
||||
"C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
|
||||
"C4": "3a14198e-d724-28a2-a760-baa896f46b66",
|
||||
"D1": "3a14198e-d724-d378-d266-2508a224a19f",
|
||||
"D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
|
||||
"D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
|
||||
"D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
|
||||
}
|
||||
},
|
||||
"试剂堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
|
||||
"A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
|
||||
"A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
|
||||
"A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
|
||||
"B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
|
||||
"B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
|
||||
"B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
|
||||
"B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# 物料类型配置
|
||||
MATERIAL_TYPE_MAPPINGS = {
|
||||
"烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
|
||||
"试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
|
||||
"样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
|
||||
"分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
|
||||
"样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
|
||||
"90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
|
||||
"10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
|
||||
}
|
||||
|
||||
# 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": ""
|
||||
}
|
||||
}
|
||||
|
||||
LOCATION_MAPPING = {}
|
||||
|
||||
ACTION_NAMES = {}
|
||||
|
||||
HTTP_SERVICE_CONFIG = {}
|
||||
@@ -23,7 +23,9 @@ from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.config import (
|
||||
API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
|
||||
)
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
@@ -625,10 +627,10 @@ class BioyondWorkstation(WorkstationBase):
|
||||
self._set_workflow_mappings(bioyond_config["workflow_mappings"])
|
||||
|
||||
# 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
|
||||
# 从 bioyond_config 中获取，如果没有则使用默认值
|
||||
# 从 bioyond_config 中获取，如果没有则使用 HTTP_SERVICE_CONFIG 的默认值
|
||||
self._http_service_config = {
|
||||
"host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
|
||||
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]),
|
||||
"port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"])
|
||||
}
|
||||
self.http_service = None # 将在 post_init 中启动
|
||||
|
||||
@@ -647,11 +649,7 @@ class BioyondWorkstation(WorkstationBase):
|
||||
self._ros_node = ros_node
|
||||
|
||||
# 启动 HTTP 报送接收服务（现在 device_id 已可用）
|
||||
# ⚠️ 检查子类是否已经自己管理 HTTP 服务
|
||||
if self.bioyond_config.get("_disable_auto_http_service"):
|
||||
logger.info("🔧 检测到 _disable_auto_http_service 标志，跳过自动启动 HTTP 服务")
|
||||
logger.info(" 子类（BioyondCellWorkstation）已自行管理 HTTP 服务")
|
||||
elif hasattr(self, '_http_service_config'):
|
||||
if hasattr(self, '_http_service_config'):
|
||||
try:
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
@@ -690,14 +688,19 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
"""创建Bioyond通信模块"""
|
||||
# 使用传入的 config 参数（来自 bioyond_config）
|
||||
# 不再依赖全局变量 API_CONFIG 等
|
||||
if config:
|
||||
self.bioyond_config = config
|
||||
else:
|
||||
# 如果没有传入配置，创建空配置（用于测试或兼容性）
|
||||
self.bioyond_config = {}
|
||||
# 创建默认配置
|
||||
default_config = {
|
||||
**API_CONFIG,
|
||||
"workflow_mappings": WORKFLOW_MAPPINGS,
|
||||
"material_type_mappings": MATERIAL_TYPE_MAPPINGS,
|
||||
"warehouse_mapping": WAREHOUSE_MAPPING
|
||||
}
|
||||
|
||||
# 如果传入了 config，合并配置（config 中的值会覆盖默认值）
|
||||
if config:
|
||||
self.bioyond_config = {**default_config, **config}
|
||||
else:
|
||||
self.bioyond_config = default_config
|
||||
|
||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||
|
||||
|
||||
@@ -1,84 +0,0 @@
|
||||
# Modbus CSV 地址映射说明
|
||||
|
||||
本文档说明 `coin_cell_assembly_a.csv` 文件如何将命名节点映射到实际的 Modbus 地址，以及如何在代码中使用它们。
|
||||
|
||||
## 1. CSV 文件结构
|
||||
|
||||
地址表文件位于同级目录下：`coin_cell_assembly_a.csv`
|
||||
|
||||
每一行定义了一个 Modbus 节点，包含以下关键列：
|
||||
|
||||
| 列名 | 说明 | 示例 |
|
||||
|------|------|------|
|
||||
| **Name** | **节点名称** (代码中引用的 Key) | `COIL_ALUMINUM_FOIL` |
|
||||
| **DataType** | 数据类型 (BOOL, INT16, FLOAT32, STRING) | `BOOL` |
|
||||
| **Comment** | 注释说明 | `使用铝箔垫` |
|
||||
| **Attribute** | 属性 (通常留空或用于额外标记) | |
|
||||
| **DeviceType** | Modbus 寄存器类型 (`coil`, `hold_register`) | `coil` |
|
||||
| **Address** | **Modbus 地址** (十进制) | `8340` |
|
||||
|
||||
### 示例行 (铝箔垫片)
|
||||
|
||||
```csv
|
||||
COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
|
||||
```
|
||||
|
||||
- **名称**: `COIL_ALUMINUM_FOIL`
|
||||
- **类型**: `coil` (线圈，读写单个位)
|
||||
- **地址**: `8340`
|
||||
|
||||
---
|
||||
|
||||
## 2. 加载与注册流程
|
||||
|
||||
在 `coin_cell_assembly.py` 的初始化代码中：
|
||||
|
||||
1. **加载 CSV**: `BaseClient.load_csv()` 读取 CSV 并解析每行定义。
|
||||
2. **注册节点**: `modbus_client.register_node_list()` 将解析后的节点注册到 Modbus 客户端实例中。
|
||||
|
||||
```python
|
||||
# 代码位置: coin_cell_assembly.py (L174-175)
|
||||
self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
|
||||
self.client = modbus_client.register_node_list(self.nodes)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. 代码中的使用方式
|
||||
|
||||
注册后，通过 `self.client.use_node('节点名称')` 即可获取该节点对象并进行读写操作，无需关心具体地址。
|
||||
|
||||
### 控制铝箔垫片 (COIL_ALUMINUM_FOIL)
|
||||
|
||||
```python
|
||||
# 代码位置: qiming_coin_cell_code 函数 (L1048)
|
||||
self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
|
||||
```
|
||||
|
||||
- **写入 True**: 对应 Modbus 功能码 05 (Write Single Coil)，向地址 `8340` 写入 `1` (ON)。
|
||||
- **写入 False**: 向地址 `8340` 写入 `0` (OFF)。
|
||||
|
||||
> **注意**: 代码中使用了 `not lvbodian`，这意味着逻辑是反转的。如果 `lvbodian` 参数为 `True` (默认)，写入的是 `False` (不使用铝箔垫)。
|
||||
|
||||
---
|
||||
|
||||
## 4. 地址转换注意事项 (Modbus vs PLC)
|
||||
|
||||
CSV 中的 `Address` 列（如 `8340`）是 **Modbus 协议地址**。
|
||||
|
||||
如果使用 InoProShop (汇川 PLC 编程软件)，看到的可能是 **PLC 内部地址** (如 `%QX...` 或 `%MW...`)。这两者之间通常需要转换。
|
||||
|
||||
### 常见的转换规则 (示例)
|
||||
|
||||
- **Coil (线圈) %QX**:
|
||||
- `Modbus地址 = 字节地址 * 8 + 位偏移`
|
||||
- *例子*: `%QX834.0` -> `834 * 8 + 0` = `6672`
|
||||
- *注意*: 如果 CSV 中配置的是 `8340`，这可能是一个自定义映射，或者是基于不同规则（如直接对应 Word 地址的某种映射，或者可能就是地址写错了/使用了非标准映射）。
|
||||
|
||||
- **Register (寄存器) %MW**:
|
||||
- 通常直接对应，或者有偏移量 (如 Modbus 40001 = PLC MW0)。
|
||||
|
||||
### 验证方法
|
||||
由于 `test_unilab_interact.py` 中发现 `8450` (CSV风格) 不工作，而 `6760` (%QX845.0 计算值) 工作正常，**建议对 CSV 中的其他地址也进行核实**，特别是像 `8340` 这样以 0 结尾看起来像是 "字节地址+0" 的数值，可能实际上应该是 `%QX834.0` 对应的 `6672`。
|
||||
|
||||
如果发现设备控制无反应，请尝试按照标准的 Modbus 计算方式转换 PLC 地址。
|
||||
@@ -1,352 +0,0 @@
|
||||
# 2026-01-13 物料搜寻确认弹窗自动处理功能
|
||||
|
||||
## 概述
|
||||
|
||||
本次更新为设备初始化流程添加了**物料搜寻确认弹窗自动检测与处理功能**。在设备初始化过程中，PLC 会弹出物料搜寻确认对话框，现在系统可以根据用户参数自动点击"是"或"否"按钮，无需手动干预。
|
||||
|
||||
## 背景问题
|
||||
|
||||
### 原有流程
|
||||
1. 调用 `func_pack_device_init_auto_start_combined()` 初始化设备
|
||||
2. PLC 在初始化过程中弹出物料搜寻确认对话框
|
||||
3. **需要人工手动点击**"是"或"否"按钮
|
||||
4. PLC 继续完成初始化并启动
|
||||
|
||||
### 存在的问题
|
||||
- 需要人工干预，无法实现全自动化
|
||||
- 影响批量生产效率
|
||||
- 容易遗忘点击导致流程卡住
|
||||
|
||||
## 解决方案
|
||||
|
||||
### 新增 Modbus 地址配置
|
||||
|
||||
在 `coin_cell_assembly_b.csv` 第 69-71 行添加三个 coil：
|
||||
|
||||
| Name | DeviceType | Address | 说明 |
|
||||
|------|-----------|---------|------|
|
||||
| COIL_MATERIAL_SEARCH_DIALOG_APPEAR | coil | 6470 | 物料搜寻确认弹窗画面是否出现 |
|
||||
| COIL_MATERIAL_SEARCH_CONFIRM_YES | coil | 6480 | 初始化物料搜寻确认按钮"是" |
|
||||
| COIL_MATERIAL_SEARCH_CONFIRM_NO | coil | 6490 | 初始化物料搜寻确认按钮"否" |
|
||||
|
||||
**Modbus 地址转换：**
|
||||
- CSV 6470 → Modbus 5176 (弹窗出现)
|
||||
- CSV 6480 → Modbus 5184 (按钮"是")
|
||||
- CSV 6490 → Modbus 5192 (按钮"否")
|
||||
|
||||
## 代码修改详情
|
||||
|
||||
### 1. coin_cell_assembly.py
|
||||
|
||||
#### 1.1 新增辅助方法 `_handle_material_search_dialog()`
|
||||
|
||||
**位置：** 第 799-901 行
|
||||
|
||||
**功能：**
|
||||
- 监测物料搜寻确认弹窗是否出现（Coil 5176）
|
||||
- 根据 `enable_search` 参数自动点击对应按钮
|
||||
- 使用**脉冲模式**模拟真实按钮操作：`True` → 保持 0.5 秒 → `False`
|
||||
|
||||
**参数：**
|
||||
- `enable_search: bool` - True=点击"是"(启用物料搜寻), False=点击"否"(不启用)
|
||||
- `timeout: int = 30` - 等待弹窗出现的最大时间（秒）
|
||||
|
||||
**逻辑流程：**
|
||||
```python
|
||||
1. 监测 COIL_MATERIAL_SEARCH_DIALOG_APPEAR (每 0.5 秒检查一次)
|
||||
2. 检测到弹窗出现 (Coil = True)
|
||||
3. 选择按钮：
|
||||
- enable_search=True → COIL_MATERIAL_SEARCH_CONFIRM_YES
|
||||
- enable_search=False → COIL_MATERIAL_SEARCH_CONFIRM_NO
|
||||
4. 执行脉冲操作：
|
||||
- 写入 True (按下按钮)
|
||||
- 等待 0.5 秒
|
||||
- 写入 False (释放按钮)
|
||||
- 验证状态
|
||||
```
|
||||
|
||||
#### 1.2 修改 `func_pack_device_init_auto_start_combined()`
|
||||
|
||||
**位置：** 第 904-1115 行
|
||||
|
||||
**主要改动：**
|
||||
|
||||
1. **添加新参数**
|
||||
```python
|
||||
def func_pack_device_init_auto_start_combined(
|
||||
self,
|
||||
material_search_enable: bool = False # 新增参数
|
||||
) -> bool:
|
||||
```
|
||||
|
||||
2. **内联初始化逻辑并集成弹窗检测**
|
||||
- 不再调用 `self.func_pack_device_init()`
|
||||
- 将初始化逻辑直接实现在函数内
|
||||
- **在等待初始化完成的循环中实时检测弹窗**
|
||||
- 避免死锁：PLC 等待弹窗确认 ↔ 代码等待初始化完成
|
||||
|
||||
3. **关键代码片段**
|
||||
```python
|
||||
# 等待初始化完成，同时检测物料搜寻弹窗
|
||||
while (self._sys_init_status()) == False:
|
||||
# 检查超时
|
||||
if time.time() - start_wait > max_wait_time:
|
||||
raise RuntimeError(f"初始化超时")
|
||||
|
||||
# 如果还没处理弹窗，检测弹窗是否出现
|
||||
if not dialog_handled:
|
||||
dialog_state = self.client.use_node('COIL_MATERIAL_SEARCH_DIALOG_APPEAR').read(1)
|
||||
if dialog_actual: # 弹窗出现
|
||||
# 执行脉冲按钮点击
|
||||
button_node.write(True) # 按下
|
||||
time.sleep(0.5) # 保持
|
||||
button_node.write(False) # 释放
|
||||
dialog_handled = True
|
||||
|
||||
time.sleep(1)
|
||||
```
|
||||
|
||||
4. **步骤调整**
|
||||
- 步骤 0: 前置条件检查
|
||||
- 步骤 1: 设备初始化（**包含弹窗检测**）
|
||||
- 步骤 1.5: 已在步骤 1 中完成
|
||||
- 步骤 2: 切换自动模式
|
||||
- 步骤 3: 启动设备
|
||||
|
||||
### 2. coin_cell_workstation.yaml
|
||||
|
||||
**位置：** 第 292-312 行
|
||||
|
||||
**修改内容：**
|
||||
|
||||
```yaml
|
||||
auto-func_pack_device_init_auto_start_combined:
|
||||
goal_default:
|
||||
material_search_enable: false # 新增默认值
|
||||
|
||||
schema:
|
||||
description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗，并根据参数自动点击"是"或"否"按钮
|
||||
|
||||
goal:
|
||||
properties:
|
||||
material_search_enable: # 新增参数配置
|
||||
default: false
|
||||
description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
|
||||
type: boolean
|
||||
```
|
||||
|
||||
### 3. 测试脚本（已创建，用户已删除）
|
||||
|
||||
#### 3.1 test_material_search_dialog.py
|
||||
- 从 CSV 动态加载 Modbus 地址
|
||||
- 支持 4 种测试模式：
|
||||
- `query` - 查询所有状态
|
||||
- `dialog <0|1>` - 设置弹窗出现/消失
|
||||
- `yes` - 脉冲点击"是"按钮
|
||||
- `no` - 脉冲点击"否"按钮
|
||||
- 兼容 pymodbus 3.x API
|
||||
|
||||
#### 3.2 更新其他测试脚本
|
||||
- `test_coin_cell_reset.py` - 更新为 pymodbus 3.x API
|
||||
- `test_unilab_interact.py` - 更新为 pymodbus 3.x API
|
||||
|
||||
## 使用方法
|
||||
|
||||
### 参数说明
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
|------|------|--------|------|
|
||||
| `material_search_enable` | boolean | `false` | 是否启用物料搜寻功能 |
|
||||
|
||||
### 调用示例
|
||||
|
||||
#### 1. 不启用物料搜寻（默认）
|
||||
```python
|
||||
# 默认参数，点击"否"按钮
|
||||
await device.func_pack_device_init_auto_start_combined()
|
||||
```
|
||||
|
||||
或在 YAML workflow 中：
|
||||
```yaml
|
||||
# 使用默认值 false，不启用物料搜寻
|
||||
- BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
|
||||
```
|
||||
|
||||
#### 2. 启用物料搜寻
|
||||
```python
|
||||
# 显式设置为 True，点击"是"按钮
|
||||
await device.func_pack_device_init_auto_start_combined(
|
||||
material_search_enable=True
|
||||
)
|
||||
```
|
||||
|
||||
或在 YAML workflow 中：
|
||||
```yaml
|
||||
- BatteryStation/auto-func_pack_device_init_auto_start_combined:
|
||||
goal:
|
||||
material_search_enable: true # 启用物料搜寻
|
||||
```
|
||||
|
||||
## 执行日志示例
|
||||
|
||||
```
|
||||
26-01-13 [21:32:44] [INFO] 开始组合操作：设备初始化 → 物料搜寻确认 → 自动模式 → 启动
|
||||
26-01-13 [21:32:44] [INFO] 【步骤 0/4】前置条件检查...
|
||||
26-01-13 [21:32:44] [INFO] ✓ REG_UNILAB_INTERACT 检查通过
|
||||
26-01-13 [21:32:44] [INFO] ✓ COIL_GB_L_IGNORE_CMD 检查通过
|
||||
26-01-13 [21:32:44] [INFO] 【步骤 1/4】设备初始化...
|
||||
26-01-13 [21:32:44] [INFO] 切换手动模式...
|
||||
26-01-13 [21:32:46] [INFO] 发送初始化命令...
|
||||
26-01-13 [21:32:47] [INFO] 等待初始化完成（同时监测物料搜寻弹窗）...
|
||||
26-01-13 [21:33:05] [INFO] ✓ 在初始化过程中检测到物料搜寻确认弹窗！
|
||||
26-01-13 [21:33:05] [INFO] 用户选择: 不启用物料搜寻（点击否）
|
||||
26-01-13 [21:33:05] [INFO] → 按下按钮 '否'
|
||||
26-01-13 [21:33:06] [INFO] → 释放按钮 '否'
|
||||
26-01-13 [21:33:07] [INFO] ✓ 成功处理物料搜寻确认弹窗（选择: 否）
|
||||
26-01-13 [21:33:08] [INFO] ✓ 初始化状态完成
|
||||
26-01-13 [21:33:12] [INFO] ✓ 设备初始化完成
|
||||
26-01-13 [21:33:12] [INFO] 【步骤 1.5/4】物料搜寻确认已在初始化过程中完成
|
||||
26-01-13 [21:33:12] [INFO] 【步骤 2/4】切换自动模式...
|
||||
26-01-13 [21:33:15] [INFO] ✓ 切换自动模式完成
|
||||
26-01-13 [21:33:15] [INFO] 【步骤 3/4】启动设备...
|
||||
26-01-13 [21:33:18] [INFO] ✓ 启动设备完成
|
||||
26-01-13 [21:33:18] [INFO] 组合操作完成：设备已成功初始化、确认物料搜寻、切换自动模式并启动
|
||||
```
|
||||
|
||||
## 技术要点
|
||||
|
||||
### 1. 脉冲模式按钮操作
|
||||
模拟真实按钮按压过程：
|
||||
1. 写入 `True` (按下)
|
||||
2. 保持 0.5 秒
|
||||
3. 写入 `False` (释放)
|
||||
4. 验证状态
|
||||
|
||||
### 2. 避免死锁
|
||||
**问题：** PLC 在初始化过程中等待弹窗确认，而代码等待初始化完成
|
||||
**解决：** 在初始化等待循环中实时检测弹窗，一旦出现立即处理
|
||||
|
||||
### 3. 超时保护
|
||||
- 弹窗检测超时：30 秒（在 `_handle_material_search_dialog` 中）
|
||||
- 初始化超时：120 秒（在 `func_pack_device_init_auto_start_combined` 中）
|
||||
|
||||
### 4. PyModbus 3.x API 兼容
|
||||
所有 Modbus 操作使用 keyword arguments：
|
||||
```python
|
||||
# 读取
|
||||
client.read_coils(address=5176, count=1)
|
||||
|
||||
# 写入
|
||||
client.write_coil(address=5184, value=True)
|
||||
```
|
||||
|
||||
## 向后兼容性
|
||||
|
||||
### 保留的原有函数
|
||||
- `func_pack_device_init()` - 单独的初始化函数，不包含弹窗处理
|
||||
- 仍可在 YAML 中通过 `auto-func_pack_device_init` 调用
|
||||
- 用于不需要自动处理弹窗的场景
|
||||
|
||||
### 新增的功能
|
||||
- 在 `func_pack_device_init_auto_start_combined()` 中集成弹窗处理
|
||||
- 通过参数控制，默认行为与之前兼容（点击"否"）
|
||||
|
||||
## 验证测试
|
||||
|
||||
### 测试场景
|
||||
|
||||
#### 场景 1：默认参数（不启用物料搜寻）
|
||||
```bash
|
||||
# 调用时不传参数
|
||||
BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
|
||||
```
|
||||
**预期结果：**
|
||||
- ✅ 检测到弹窗
|
||||
- ✅ 自动点击"否"按钮
|
||||
- ✅ 初始化完成并启动成功
|
||||
|
||||
#### 场景 2：启用物料搜寻
|
||||
```bash
|
||||
# 设置 material_search_enable=true
|
||||
BatteryStation/auto-func_pack_device_init_auto_start_combined:
|
||||
goal:
|
||||
material_search_enable: true
|
||||
```
|
||||
**预期结果：**
|
||||
- ✅ 检测到弹窗
|
||||
- ✅ 自动点击"是"按钮
|
||||
- ✅ 初始化完成并启动成功
|
||||
|
||||
### 实际测试结果
|
||||
|
||||
**测试时间：** 2026-01-13 21:32:43
|
||||
**测试参数：** `material_search_enable: false`
|
||||
**测试结果：** ✅ 成功
|
||||
|
||||
**关键时间节点：**
|
||||
- 21:33:05 - 检测到弹窗
|
||||
- 21:33:05 - 按下"否"按钮
|
||||
- 21:33:06 - 释放"否"按钮
|
||||
- 21:33:07 - 弹窗处理完成
|
||||
- 21:33:08 - 初始化状态完成
|
||||
- 21:33:18 - 整个流程完成
|
||||
|
||||
**总耗时：** 约 35 秒（包含初始化全过程）
|
||||
|
||||
## 注意事项
|
||||
|
||||
1. **CSV 配置依赖**
|
||||
- 确保 `coin_cell_assembly_b.csv` 包含 69-71 行的 coil 配置
|
||||
- 地址转换逻辑：`modbus_addr = (csv_addr // 10) * 8 + (csv_addr % 10)`
|
||||
|
||||
2. **默认行为**
|
||||
- 默认 `material_search_enable=false`，即不启用物料搜寻
|
||||
- 如需启用，必须显式设置为 `true`
|
||||
|
||||
3. **日志级别**
|
||||
- 弹窗检测过程中的 `waiting for init_cmd` 使用 DEBUG 级别
|
||||
- 关键操作（检测到弹窗、按钮操作）使用 INFO 级别
|
||||
|
||||
4. **原有函数保留**
|
||||
- `func_pack_device_init()` 仍然可用，但不包含弹窗处理
|
||||
- 如果单独调用此函数，仍需手动处理弹窗
|
||||
|
||||
## 文件清单
|
||||
|
||||
### 修改的文件
|
||||
1. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`
|
||||
- 新增 `_handle_material_search_dialog()` 方法
|
||||
- 修改 `func_pack_device_init_auto_start_combined()` 函数
|
||||
|
||||
2. `d:\UniLabdev\Uni-Lab-OS\unilabos\registry\devices\coin_cell_workstation.yaml`
|
||||
- 更新 `auto-func_pack_device_init_auto_start_combined` 配置
|
||||
- 添加 `material_search_enable` 参数说明
|
||||
|
||||
3. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly_b.csv`
|
||||
- 第 69-71 行添加三个 coil 配置
|
||||
|
||||
### 创建的测试文件（已删除）
|
||||
1. `test_material_search_dialog.py` - 物料搜寻弹窗测试脚本
|
||||
2. `test_coin_cell_reset.py` - 复位功能测试（更新为 pymodbus 3.x）
|
||||
3. `test_unilab_interact.py` - Unilab 交互测试（更新为 pymodbus 3.x）
|
||||
|
||||
## 总结
|
||||
|
||||
本次更新成功实现了设备初始化过程中物料搜寻确认弹窗的自动化处理，主要优势：
|
||||
|
||||
✅ **全自动化** - 无需人工干预
|
||||
✅ **参数可配** - 灵活控制是否启用物料搜寻
|
||||
✅ **实时检测** - 在初始化等待循环中检测，避免死锁
|
||||
✅ **脉冲模式** - 模拟真实按钮操作
|
||||
✅ **向后兼容** - 保留原有函数，不影响现有流程
|
||||
✅ **完整日志** - 详细记录每一步操作
|
||||
✅ **超时保护** - 防止无限等待
|
||||
|
||||
该功能已通过实际测试验证，可投入生产使用。
|
||||
|
||||
---
|
||||
|
||||
**文档版本：** 1.0
|
||||
**创建日期：** 2026-01-13
|
||||
**作者：** Antigravity AI Assistant
|
||||
**最后更新：** 2026-01-13 21:36
|
||||
@@ -1,645 +0,0 @@
|
||||
"""
|
||||
纽扣电池组装工作站物料类定义
|
||||
Button Battery Assembly Station Resource Classes
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from collections import OrderedDict
|
||||
from typing import Any, Dict, List, Optional, TypedDict, Union, cast
|
||||
|
||||
from pylabrobot.resources.coordinate import Coordinate
|
||||
from pylabrobot.resources.container import Container
|
||||
from pylabrobot.resources.deck import Deck
|
||||
from pylabrobot.resources.itemized_resource import ItemizedResource
|
||||
from pylabrobot.resources.resource import Resource
|
||||
from pylabrobot.resources.resource_stack import ResourceStack
|
||||
from pylabrobot.resources.tip_rack import TipRack, TipSpot
|
||||
from pylabrobot.resources.trash import Trash
|
||||
from pylabrobot.resources.utils import create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery
|
||||
from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
|
||||
from unilabos.resources.battery.electrode_sheet import ElectrodeSheet
|
||||
|
||||
|
||||
|
||||
# TODO: 这个应该只能放一个极片
|
||||
class MaterialHoleState(TypedDict):
|
||||
diameter: int
|
||||
depth: int
|
||||
max_sheets: int
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
class MaterialHole(Resource):
|
||||
"""料板洞位类"""
|
||||
children: List[ElectrodeSheet] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "material_hole",
|
||||
**kwargs
|
||||
):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: MaterialHoleState = MaterialHoleState(
|
||||
diameter=20,
|
||||
depth=10,
|
||||
max_sheets=1,
|
||||
info=None
|
||||
)
|
||||
|
||||
def get_all_sheet_info(self):
|
||||
info_list = []
|
||||
for sheet in self.children:
|
||||
info_list.append(sheet._unilabos_state["info"])
|
||||
return info_list
|
||||
|
||||
#这个函数函数好像没用，一般不会集中赋值质量
|
||||
def set_all_sheet_mass(self):
|
||||
for sheet in self.children:
|
||||
sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
#移动极片前先取出对象
|
||||
def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
|
||||
for sheet in self.children:
|
||||
if sheet.name == name:
|
||||
return sheet
|
||||
return None
|
||||
|
||||
def has_electrode_sheet(self) -> bool:
|
||||
"""检查洞位是否有极片"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def assign_child_resource(
|
||||
self,
|
||||
resource: ElectrodeSheet,
|
||||
location: Optional[Coordinate],
|
||||
reassign: bool = True,
|
||||
):
|
||||
"""放置极片"""
|
||||
# TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
|
||||
#if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
|
||||
# raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
|
||||
#if len(self.children) >= self._unilabos_state["max_sheets"]:
|
||||
# raise ValueError(f"洞位已满，无法放置更多极片")
|
||||
super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
# 根据children的编号取物料对象。
|
||||
def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
|
||||
return self.children[index]
|
||||
|
||||
|
||||
class MaterialPlateState(TypedDict):
|
||||
hole_spacing_x: float
|
||||
hole_spacing_y: float
|
||||
hole_diameter: float
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
class MaterialPlate(ItemizedResource[MaterialHole]):
|
||||
"""料板类 - 4x4个洞位，每个洞位放1个极片"""
|
||||
|
||||
children: List[MaterialHole]
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
ordered_items: Optional[Dict[str, MaterialHole]] = None,
|
||||
ordering: Optional[OrderedDict[str, str]] = None,
|
||||
category: str = "material_plate",
|
||||
model: Optional[str] = None,
|
||||
fill: bool = False
|
||||
):
|
||||
"""初始化料板
|
||||
|
||||
Args:
|
||||
name: 料板名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
|
||||
hole_spacing_x: X方向洞位间距 (mm)
|
||||
hole_spacing_y: Y方向洞位间距 (mm)
|
||||
number: 编号
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
self._unilabos_state: MaterialPlateState = MaterialPlateState(
|
||||
hole_spacing_x=24.0,
|
||||
hole_spacing_y=24.0,
|
||||
hole_diameter=20.0,
|
||||
info="",
|
||||
)
|
||||
# 创建4x4的洞位
|
||||
# TODO: 这里要改，对应不同形状
|
||||
holes = create_ordered_items_2d(
|
||||
klass=MaterialHole,
|
||||
num_items_x=4,
|
||||
num_items_y=4,
|
||||
dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
|
||||
dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
|
||||
dz=size_z,
|
||||
item_dx=self._unilabos_state["hole_spacing_x"],
|
||||
item_dy=self._unilabos_state["hole_spacing_y"],
|
||||
size_x = 16,
|
||||
size_y = 16,
|
||||
size_z = 16,
|
||||
)
|
||||
if fill:
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=holes,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
else:
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=ordered_items,
|
||||
ordering=ordering,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
def update_locations(self):
|
||||
# TODO:调多次相加
|
||||
holes = create_ordered_items_2d(
|
||||
klass=MaterialHole,
|
||||
num_items_x=4,
|
||||
num_items_y=4,
|
||||
dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中
|
||||
dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中
|
||||
dz=self._size_z,
|
||||
item_dx=self._unilabos_state["hole_spacing_x"],
|
||||
item_dy=self._unilabos_state["hole_spacing_y"],
|
||||
size_x = 1,
|
||||
size_y = 1,
|
||||
size_z = 1,
|
||||
)
|
||||
for item, original_item in zip(holes.items(), self.children):
|
||||
original_item.location = item[1].location
|
||||
|
||||
|
||||
class PlateSlot(ResourceStack):
|
||||
"""板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
max_plates: int = 8,
|
||||
category: str = "plate_slot",
|
||||
model: Optional[str] = None
|
||||
):
|
||||
"""初始化板槽位
|
||||
|
||||
Args:
|
||||
name: 槽位名称
|
||||
max_plates: 最大板数量
|
||||
category: 类别
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
direction="z", # Z方向堆叠
|
||||
resources=[],
|
||||
)
|
||||
self.max_plates = max_plates
|
||||
self.category = category
|
||||
|
||||
def can_add_plate(self) -> bool:
|
||||
"""检查是否可以添加板"""
|
||||
return len(self.children) < self.max_plates
|
||||
|
||||
def add_plate(self, plate: MaterialPlate) -> None:
|
||||
"""添加料板"""
|
||||
if not self.can_add_plate():
|
||||
raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
|
||||
self.assign_child_resource(plate)
|
||||
|
||||
def get_top_plate(self) -> MaterialPlate:
|
||||
"""获取最上方的板"""
|
||||
if len(self.children) == 0:
|
||||
raise ValueError(f"槽位 {self.name} 为空")
|
||||
return cast(MaterialPlate, self.get_top_item())
|
||||
|
||||
def take_top_plate(self) -> MaterialPlate:
|
||||
"""取出最上方的板"""
|
||||
top_plate = self.get_top_plate()
|
||||
self.unassign_child_resource(top_plate)
|
||||
return top_plate
|
||||
|
||||
def can_access_for_picking(self) -> bool:
|
||||
"""检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"max_plates": self.max_plates,
|
||||
}
|
||||
|
||||
|
||||
#是一种类型注解，不用self
|
||||
class BatteryState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float
|
||||
height: float
|
||||
assembly_pressure: float
|
||||
electrolyte_volume: float
|
||||
electrolyte_name: str
|
||||
|
||||
class Battery(Resource):
|
||||
"""电池类 - 可容纳极片"""
|
||||
children: List[ElectrodeSheet] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category: str = "battery",
|
||||
):
|
||||
"""初始化电池
|
||||
|
||||
Args:
|
||||
name: 电池名称
|
||||
diameter: 直径 (mm)
|
||||
height: 高度 (mm)
|
||||
max_volume: 最大容量 (μL)
|
||||
barcode: 二维码编号
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1,
|
||||
size_y=1,
|
||||
size_z=1,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryState = BatteryState(
|
||||
diameter = 1.0,
|
||||
height = 1.0,
|
||||
assembly_pressure = 1.0,
|
||||
electrolyte_volume = 1.0,
|
||||
electrolyte_name = "DP001"
|
||||
)
|
||||
|
||||
def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
|
||||
to_add_name = bottle._unilabos_state["electrolyte_name"]
|
||||
if bottle.aspirate_electrolyte(10):
|
||||
if self.add_electrolyte(to_add_name, 10):
|
||||
pass
|
||||
else:
|
||||
bottle._unilabos_state["electrolyte_volume"] += 10
|
||||
|
||||
def set_electrolyte(self, name: str, volume: float) -> None:
|
||||
"""设置电解液信息"""
|
||||
self._unilabos_state["electrolyte_name"] = name
|
||||
self._unilabos_state["electrolyte_volume"] = volume
|
||||
#这个应该没用，不会有加了后再加的事情
|
||||
def add_electrolyte(self, name: str, volume: float) -> bool:
|
||||
"""添加电解液信息"""
|
||||
if name != self._unilabos_state["electrolyte_name"]:
|
||||
return False
|
||||
self._unilabos_state["electrolyte_volume"] += volume
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
# 电解液作为属性放进去
|
||||
|
||||
class BatteryPressSlotState(TypedDict):
|
||||
"""电池状态字典"""
|
||||
diameter: float =20.0
|
||||
depth: float = 4.0
|
||||
|
||||
class BatteryPressSlot(Resource):
|
||||
"""电池压制槽类 - 设备，可容纳一个电池"""
|
||||
children: List[Battery] = []
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "BatteryPressSlot",
|
||||
category: str = "battery_press_slot",
|
||||
):
|
||||
"""初始化电池压制槽
|
||||
|
||||
Args:
|
||||
name: 压制槽名称
|
||||
diameter: 直径 (mm)
|
||||
depth: 深度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=10,
|
||||
size_y=12,
|
||||
size_z=13,
|
||||
category=category,
|
||||
)
|
||||
self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
|
||||
|
||||
def has_battery(self) -> bool:
|
||||
"""检查是否有电池"""
|
||||
return len(self.children) > 0
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
def assign_child_resource(
|
||||
self,
|
||||
resource: Battery,
|
||||
location: Optional[Coordinate],
|
||||
reassign: bool = True,
|
||||
):
|
||||
"""放置极片"""
|
||||
# TODO: 让高京看下槽位只有一个电池时是否这么写。
|
||||
if self.has_battery():
|
||||
raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
|
||||
super().assign_child_resource(resource, location, reassign)
|
||||
|
||||
# 根据children的编号取物料对象。
|
||||
def get_battery_info(self, index: int) -> Battery:
|
||||
return self.children[0]
|
||||
|
||||
|
||||
def TipBox64(
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
category: str = "tip_rack",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""64孔枪头盒类"""
|
||||
from pylabrobot.resources.tip import Tip
|
||||
|
||||
# 创建12x8=96个枪头位
|
||||
def make_tip():
|
||||
return Tip(
|
||||
has_filter=False,
|
||||
total_tip_length=20.0,
|
||||
maximal_volume=1000, # 1mL
|
||||
fitting_depth=8.0,
|
||||
)
|
||||
|
||||
tip_spots = create_ordered_items_2d(
|
||||
klass=TipSpot,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=8.0,
|
||||
dy=8.0,
|
||||
dz=0.0,
|
||||
item_dx=9.0,
|
||||
item_dy=9.0,
|
||||
size_x=10,
|
||||
size_y=10,
|
||||
size_z=0.0,
|
||||
make_tip=make_tip,
|
||||
)
|
||||
idx_available = list(range(0, 32)) + list(range(64, 96))
|
||||
tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available}
|
||||
tip_rack = TipRack(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
# ordered_items=tip_spots_available,
|
||||
ordered_items=tip_spots,
|
||||
category=category,
|
||||
model=model,
|
||||
with_tips=False,
|
||||
)
|
||||
tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32) # 前32和后32个有枪头，中间32个无枪头
|
||||
return tip_rack
|
||||
|
||||
|
||||
class WasteTipBoxstate(TypedDict):
|
||||
""""废枪头盒状态字典"""
|
||||
max_tips: int = 100
|
||||
tip_count: int = 0
|
||||
|
||||
#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
|
||||
class WasteTipBox(Trash):
|
||||
"""废枪头盒类 - 100个枪头容量"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float = 127.8,
|
||||
size_y: float = 85.5,
|
||||
size_z: float = 60.0,
|
||||
material_z_thickness=0,
|
||||
max_volume=float("inf"),
|
||||
category="trash",
|
||||
model=None,
|
||||
compute_volume_from_height=None,
|
||||
compute_height_from_volume=None,
|
||||
):
|
||||
"""初始化废枪头盒
|
||||
|
||||
Args:
|
||||
name: 废枪头盒名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
max_tips: 最大枪头容量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
|
||||
|
||||
def add_tip(self) -> None:
|
||||
"""添加废枪头"""
|
||||
if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
|
||||
raise ValueError(f"废枪头盒 {self.name} 已满")
|
||||
self._unilabos_state["tip_count"] += 1
|
||||
|
||||
def get_tip_count(self) -> int:
|
||||
"""获取枪头数量"""
|
||||
return self._unilabos_state["tip_count"]
|
||||
|
||||
def empty(self) -> None:
|
||||
"""清空废枪头盒"""
|
||||
self._unilabos_state["tip_count"] = 0
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
|
||||
class CoincellDeck(Deck):
|
||||
"""纽扣电池组装工作站台面类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "coin_cell_deck",
|
||||
size_x: float = 1450.0, # 1m
|
||||
size_y: float = 1450.0, # 1m
|
||||
size_z: float = 100.0, # 0.9m
|
||||
origin: Coordinate = Coordinate(-2200, 0, 0),
|
||||
category: str = "coin_cell_deck",
|
||||
setup: bool = False, # 是否自动执行 setup
|
||||
):
|
||||
"""初始化纽扣电池组装工作站台面
|
||||
|
||||
Args:
|
||||
name: 台面名称
|
||||
size_x: 长度 (mm) - 1m
|
||||
size_y: 宽度 (mm) - 1m
|
||||
size_z: 高度 (mm) - 0.9m
|
||||
origin: 原点坐标
|
||||
category: 类别
|
||||
setup: 是否自动执行 setup 配置标准布局
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=1450.0,
|
||||
size_y=1450.0,
|
||||
size_z=100.0,
|
||||
origin=origin,
|
||||
)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
"""设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""
|
||||
# ====================================== 子弹夹 ============================================
|
||||
|
||||
# 正极片（4个洞位，2x2布局）
|
||||
zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
|
||||
self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0))
|
||||
|
||||
# 正极壳、平垫片（6个洞位，2x2+2布局）
|
||||
zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
|
||||
self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0))
|
||||
|
||||
# 负极壳、弹垫片（6个洞位，2x2+2布局）
|
||||
fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
|
||||
self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0))
|
||||
|
||||
# 成品弹夹（6个洞位，3x2布局）
|
||||
chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
|
||||
self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0))
|
||||
|
||||
# ====================================== 物料板 ============================================
|
||||
# 创建物料板（料盘carrier）- 4x4布局
|
||||
# 负极料盘
|
||||
fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0))
|
||||
# for i in range(16):
|
||||
# fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
# fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
|
||||
|
||||
# 隔膜料盘
|
||||
gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
|
||||
self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0))
|
||||
# for i in range(16):
|
||||
# gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
|
||||
# gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
|
||||
|
||||
# ====================================== 瓶架、移液枪 ============================================
|
||||
# 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒
|
||||
# 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
|
||||
|
||||
# bottle_rack_3x4 = BottleRack(
|
||||
# name="bottle_rack_3x4",
|
||||
# size_x=210.0,
|
||||
# size_y=140.0,
|
||||
# size_z=100.0,
|
||||
# num_items_x=2,
|
||||
# num_items_y=4,
|
||||
# position_spacing=35.0,
|
||||
# orientation="vertical",
|
||||
# )
|
||||
# self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
|
||||
|
||||
# 电解液缓存位 - 6x2布局
|
||||
bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
|
||||
self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0))
|
||||
# 电解液回收位6x2
|
||||
bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
|
||||
self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0))
|
||||
|
||||
tip_box = TipBox64(name="tip_box_64")
|
||||
self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0))
|
||||
|
||||
waste_tip_box = WasteTipBox(name="waste_tip_box")
|
||||
self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
|
||||
|
||||
|
||||
def YH_Deck(name=""):
|
||||
cd = CoincellDeck(name=name)
|
||||
cd.setup()
|
||||
return cd
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
deck = create_coin_cell_deck()
|
||||
print(deck)
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -1,133 +0,0 @@
|
||||
Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
|
||||
COIL_SYS_START_CMD,BOOL,,,,coil,8010,
|
||||
COIL_SYS_STOP_CMD,BOOL,,,,coil,8020,
|
||||
COIL_SYS_RESET_CMD,BOOL,,,,coil,8030,
|
||||
COIL_SYS_HAND_CMD,BOOL,,,,coil,8040,
|
||||
COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050,
|
||||
COIL_SYS_INIT_CMD,BOOL,,,,coil,8060,
|
||||
COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700,
|
||||
COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd
|
||||
COIL_SYS_START_STATUS,BOOL,,,,coil,8210,
|
||||
COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220,
|
||||
COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230,
|
||||
COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240,
|
||||
COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250,
|
||||
COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260,
|
||||
COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500,
|
||||
COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status
|
||||
REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000,
|
||||
REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num
|
||||
REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol
|
||||
REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type
|
||||
REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure
|
||||
REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num
|
||||
REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage
|
||||
REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004,
|
||||
REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006,
|
||||
REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008,
|
||||
REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight
|
||||
REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time
|
||||
REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure
|
||||
REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume
|
||||
REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num
|
||||
REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code()
|
||||
REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code()
|
||||
REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code()
|
||||
REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure
|
||||
REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content
|
||||
REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content
|
||||
UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720,
|
||||
UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520,
|
||||
REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496,
|
||||
REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
|
||||
UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
|
||||
UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
|
||||
REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
|
||||
REG_UNILAB_INTERACT,BOOL,,,,coil,8450,
|
||||
,,,,,coil,8320,
|
||||
COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340,
|
||||
REG_MSG_NE_PLATE_MATRIX,INT16,,,,hold_register,440,
|
||||
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,,,hold_register,450,
|
||||
REG_MSG_TIP_BOX_MATRIX,INT16,,,,hold_register,480,
|
||||
REG_MSG_NE_PLATE_NUM,INT16,,,,hold_register,443,
|
||||
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,,,hold_register,453,
|
||||
REG_MSG_PRESS_MODE,BOOL,,,,coil,8360,
|
||||
,BOOL,,,,coil,8300,
|
||||
,BOOL,,,,coil,8310,
|
||||
COIL_GB_L_IGNORE_CMD,BOOL,,,,coil,8320,
|
||||
COIL_GB_R_IGNORE_CMD,BOOL,,,,coil,8420,
|
||||
,BOOL,,,,coil,8350,
|
||||
COIL_ELECTROLYTE_DUAL_DROP_MODE,BOOL,,,,coil,8370,
|
||||
,BOOL,,,,coil,8380,
|
||||
,BOOL,,,,coil,8390,
|
||||
,BOOL,,,,coil,8400,
|
||||
,BOOL,,,,coil,8410,
|
||||
REG_MSG_DUAL_DROP_FIRST_VOLUME,INT16,,,,hold_register,4001,
|
||||
COIL_DUAL_DROP_SUCTION_TIMING,BOOL,,,,coil,8430,
|
||||
COIL_DUAL_DROP_START_TIMING,BOOL,,,,coil,8470,
|
||||
REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,,,coil,8460,
|
||||
COIL_MATERIAL_SEARCH_DIALOG_APPEAR,BOOL,,,,coil,6470,
|
||||
COIL_MATERIAL_SEARCH_CONFIRM_YES,BOOL,,,,coil,6480,
|
||||
COIL_MATERIAL_SEARCH_CONFIRM_NO,BOOL,,,,coil,6490,
|
||||
COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,异常100-系统异常
|
||||
COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,异常101-急停
|
||||
COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,异常111-手套箱急停
|
||||
COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,异常112-手套箱内光栅遮挡
|
||||
COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,异常160-移液枪头缺料
|
||||
COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,异常161-正极壳缺料
|
||||
COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,异常162-铝箔垫缺料
|
||||
COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,异常163-正极片缺料
|
||||
COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,异常164-隔膜缺料
|
||||
COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,异常165-负极片缺料
|
||||
COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,异常166-平垫缺料
|
||||
COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,异常167-弹垫缺料
|
||||
COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,异常168-负极壳缺料
|
||||
COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,异常169-成品电池满料
|
||||
COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,异常201-伺服轴01异常
|
||||
COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,异常202-伺服轴02异常
|
||||
COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,异常203-伺服轴03异常
|
||||
COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,异常204-伺服轴04异常
|
||||
COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,异常205-伺服轴05异常
|
||||
COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,异常206-伺服轴06异常
|
||||
COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,异常207-伺服轴07异常
|
||||
COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,异常208-伺服轴08异常
|
||||
COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,异常209-伺服轴09异常
|
||||
COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,异常210-伺服轴10异常
|
||||
COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,异常211-伺服轴11异常
|
||||
COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,异常212-伺服轴12异常
|
||||
COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,异常213-伺服轴13异常
|
||||
COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,异常214-伺服轴14异常
|
||||
COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,异常250-其他元件异常
|
||||
COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,异常251-移液枪通讯异常
|
||||
COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,异常252-移液枪报警
|
||||
COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,异常256-电爪异常
|
||||
COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,异常262-RB报警：未知点位错误
|
||||
COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,异常263-RB报警：X、Y、Z参数超限制
|
||||
COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,异常264-RB报警：视觉参数误差过大
|
||||
COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,异常265-RB报警：1#吸嘴取料失败
|
||||
COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,异常266-RB报警：2#吸嘴取料失败
|
||||
COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,异常267-RB报警：3#吸嘴取料失败
|
||||
COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,异常268-RB报警：4#吸嘴取料失败
|
||||
COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,异常269-RB报警：取物料盘失败
|
||||
COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,异常280-RB碰撞异常
|
||||
COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,异常290-视觉系统通讯异常
|
||||
COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,异常291-视觉对位NG异常
|
||||
COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,异常292-扫码枪通讯异常
|
||||
COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,异常310-开电移载吸嘴吸真空异常
|
||||
COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,异常311-开电移载吸嘴破真空异常
|
||||
COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,异常312-称重移载吸嘴吸真空异常
|
||||
COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,异常313-称重移载吸嘴破真空异常
|
||||
COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,异常340-开路电压吸嘴移载气缸异常
|
||||
COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,异常342-开路电压吸嘴升降气缸异常
|
||||
COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,异常344-开路电压旋压气缸异常
|
||||
COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,异常350-称重吸嘴移载气缸异常
|
||||
COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,异常352-称重吸嘴升降气缸异常
|
||||
COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,异常354-清洗无尘布移载气缸异常
|
||||
COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,异常356-清洗无尘布压紧气缸异常
|
||||
COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,异常360-电解液瓶定位气缸异常
|
||||
COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,异常362-移液枪头盒定位气缸异常
|
||||
COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,异常364-试剂瓶夹爪升降气缸异常
|
||||
COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,异常366-试剂瓶夹爪气缸异常
|
||||
COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,异常370-压制模块吹气气缸异常
|
||||
COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,异常151-电解液瓶定位在籍异常
|
||||
COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,异常152-电解液瓶盖在籍异常
|
||||
|
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
@@ -1,847 +0,0 @@
|
||||
bioyond_cell:
|
||||
category:
|
||||
- bioyond_cell
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-auto_batch_outbound_from_xlsx:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
xlsx_path: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
xlsx_path:
|
||||
type: string
|
||||
required:
|
||||
- xlsx_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: auto_batch_outbound_from_xlsx参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-auto_feeding4to3:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
xlsx_path: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
xlsx_path:
|
||||
default: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025122301.xlsx
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: auto_feeding4to3参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-create_and_inbound_materials:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_names: null
|
||||
type_id: 3a190ca0-b2f6-9aeb-8067-547e72c11469
|
||||
warehouse_name: 粉末加样头堆栈
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_names:
|
||||
type: string
|
||||
type_id:
|
||||
default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
|
||||
type: string
|
||||
warehouse_name:
|
||||
default: 粉末加样头堆栈
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_and_inbound_materials参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-create_material:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
location_name_or_id: null
|
||||
material_name: null
|
||||
type_id: null
|
||||
warehouse_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
location_name_or_id:
|
||||
type: string
|
||||
material_name:
|
||||
type: string
|
||||
type_id:
|
||||
type: string
|
||||
warehouse_name:
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
- type_id
|
||||
- warehouse_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_material参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-create_materials:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mappings: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
mappings:
|
||||
type: object
|
||||
required:
|
||||
- mappings
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_materials参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-create_orders:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
xlsx_path: null
|
||||
handles:
|
||||
output:
|
||||
- data_key: total_orders
|
||||
data_source: executor
|
||||
data_type: integer
|
||||
handler_key: bottle_count
|
||||
io_type: sink
|
||||
label: 配液瓶数
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
xlsx_path:
|
||||
type: string
|
||||
required:
|
||||
- xlsx_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_orders参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-create_orders_v2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
xlsx_path: null
|
||||
handles:
|
||||
output:
|
||||
- data_key: total_orders
|
||||
data_source: executor
|
||||
data_type: integer
|
||||
handler_key: bottle_count
|
||||
io_type: sink
|
||||
label: 配液瓶数
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 从Excel解析并创建实验（V2版本）
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
xlsx_path:
|
||||
type: string
|
||||
required:
|
||||
- xlsx_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_orders_v2参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-create_sample:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
board_type: null
|
||||
bottle_type: null
|
||||
location_code: null
|
||||
name: null
|
||||
warehouse_name: 手动堆栈
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
board_type:
|
||||
type: string
|
||||
bottle_type:
|
||||
type: string
|
||||
location_code:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
warehouse_name:
|
||||
default: 手动堆栈
|
||||
type: string
|
||||
required:
|
||||
- name
|
||||
- board_type
|
||||
- bottle_type
|
||||
- location_code
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_sample参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-order_list_v2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
beginTime: ''
|
||||
endTime: ''
|
||||
filter: ''
|
||||
pageCount: 1
|
||||
skipCount: 0
|
||||
sorting: ''
|
||||
status: ''
|
||||
timeType: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
beginTime:
|
||||
default: ''
|
||||
type: string
|
||||
endTime:
|
||||
default: ''
|
||||
type: string
|
||||
filter:
|
||||
default: ''
|
||||
type: string
|
||||
pageCount:
|
||||
default: 1
|
||||
type: integer
|
||||
skipCount:
|
||||
default: 0
|
||||
type: integer
|
||||
sorting:
|
||||
default: ''
|
||||
type: string
|
||||
status:
|
||||
default: ''
|
||||
type: string
|
||||
timeType:
|
||||
default: ''
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: order_list_v2参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-process_order_finish_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
report_request: null
|
||||
used_materials: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
type: string
|
||||
used_materials:
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_order_finish_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-process_sample_finish_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
report_request: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_sample_finish_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-process_step_finish_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
report_request: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_step_finish_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-report_material_change:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_obj: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_obj:
|
||||
type: object
|
||||
required:
|
||||
- material_obj
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: report_material_change参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_tree_transfer:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
old_parent: null
|
||||
parent_resource: null
|
||||
plr_resource: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
old_parent:
|
||||
type: object
|
||||
parent_resource:
|
||||
type: object
|
||||
plr_resource:
|
||||
type: object
|
||||
required:
|
||||
- old_parent
|
||||
- plr_resource
|
||||
- parent_resource
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_tree_transfer参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-scheduler_continue:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_continue参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-scheduler_reset:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_reset参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-scheduler_start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-scheduler_start_and_auto_feeding:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
xlsx_path: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 组合函数:先启动调度,然后执行自动化上料
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
xlsx_path:
|
||||
default: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start_and_auto_feeding参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-scheduler_start_and_auto_feeding_v2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
xlsx_path: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 组合函数V2版本(测试):先启动调度,然后执行自动化上料(使用非阻塞轮询等待)
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
xlsx_path:
|
||||
default: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start_and_auto_feeding_v2参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-scheduler_stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-storage_batch_inbound:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
items: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
items:
|
||||
items:
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- items
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: storage_batch_inbound参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-storage_inbound:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
location_id: null
|
||||
material_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
location_id:
|
||||
type: string
|
||||
material_id:
|
||||
type: string
|
||||
required:
|
||||
- material_id
|
||||
- location_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: storage_inbound参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-transfer_1_to_2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_1_to_2参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-transfer_3_to_2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
source_wh_id: 3a19debc-84b4-0359-e2d4-b3beea49348b
|
||||
source_x: 1
|
||||
source_y: 1
|
||||
source_z: 1
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 3-2 物料转运，从3号位置转运到2号位置
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
source_wh_id:
|
||||
default: 3a19debc-84b4-0359-e2d4-b3beea49348b
|
||||
description: 来源仓库ID
|
||||
type: string
|
||||
source_x:
|
||||
default: 1
|
||||
description: 来源位置X坐标
|
||||
type: integer
|
||||
source_y:
|
||||
default: 1
|
||||
description: 来源位置Y坐标
|
||||
type: integer
|
||||
source_z:
|
||||
default: 1
|
||||
description: 来源位置Z坐标
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_3_to_2参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-transfer_3_to_2_to_1:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
source_wh_id: 3a19debc-84b4-0359-e2d4-b3beea49348b
|
||||
source_x: 1
|
||||
source_y: 1
|
||||
source_z: 1
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
source_wh_id:
|
||||
default: 3a19debc-84b4-0359-e2d4-b3beea49348b
|
||||
type: string
|
||||
source_x:
|
||||
default: 1
|
||||
type: integer
|
||||
source_y:
|
||||
default: 1
|
||||
type: integer
|
||||
source_z:
|
||||
default: 1
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_3_to_2_to_1参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-update_push_ip:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ip: null
|
||||
port: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ip:
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: update_push_ip参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_order_finish:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
order_code: null
|
||||
timeout: 36000
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
order_code:
|
||||
type: string
|
||||
timeout:
|
||||
default: 36000
|
||||
type: integer
|
||||
required:
|
||||
- order_code
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_order_finish参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_transfer_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
filter_text: null
|
||||
interval: 5
|
||||
timeout: 3000
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
filter_text:
|
||||
type: string
|
||||
interval:
|
||||
default: 5
|
||||
type: integer
|
||||
timeout:
|
||||
default: 3000
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_transfer_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
|
||||
status_types:
|
||||
device_id: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: benyao2.webp
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
deck:
|
||||
type: string
|
||||
protocol_type:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
device_id:
|
||||
type: string
|
||||
required:
|
||||
- device_id
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
@@ -1,850 +0,0 @@
|
||||
coincellassemblyworkstation_device:
|
||||
category:
|
||||
- coin_cell_workstation
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-change_hole_sheet_to_2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
hole: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
hole:
|
||||
type: object
|
||||
required:
|
||||
- hole
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: change_hole_sheet_to_2参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-fill_plate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: fill_plate参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
auto-fun_wuliao_test:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: fun_wuliao_test参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_allpack_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
assembly_pressure: 4200
|
||||
assembly_type: 7
|
||||
elec_num: null
|
||||
elec_use_num: null
|
||||
elec_vol: 50
|
||||
file_path: /Users/sml/work
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 4200
|
||||
type: integer
|
||||
assembly_type:
|
||||
default: 7
|
||||
type: integer
|
||||
elec_num:
|
||||
type: string
|
||||
elec_use_num:
|
||||
type: string
|
||||
elec_vol:
|
||||
default: 50
|
||||
type: integer
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
type: string
|
||||
required:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_allpack_cmd_simp:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
assembly_pressure: 4200
|
||||
assembly_type: 7
|
||||
battery_clean_ignore: false
|
||||
battery_pressure_mode: true
|
||||
dual_drop_first_volume: 25
|
||||
dual_drop_mode: false
|
||||
dual_drop_start_timing: false
|
||||
dual_drop_suction_timing: false
|
||||
elec_num: null
|
||||
elec_use_num: null
|
||||
elec_vol: 50
|
||||
file_path: /Users/sml/work
|
||||
fujipian_juzhendianwei: 0
|
||||
fujipian_panshu: 0
|
||||
gemo_juzhendianwei: 0
|
||||
gemopanshu: 0
|
||||
lvbodian: true
|
||||
qiangtou_juzhendianwei: 0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 简化版电池组装函数，整合了参数设置和双滴模式
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 4200
|
||||
description: 电池压制力(N)
|
||||
type: integer
|
||||
assembly_type:
|
||||
default: 7
|
||||
description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
|
||||
type: integer
|
||||
battery_clean_ignore:
|
||||
default: false
|
||||
description: 是否忽略电池清洁步骤
|
||||
type: boolean
|
||||
battery_pressure_mode:
|
||||
default: true
|
||||
description: 是否启用压力模式
|
||||
type: boolean
|
||||
dual_drop_first_volume:
|
||||
default: 25
|
||||
description: 二次滴液第一次排液体积(μL)
|
||||
type: integer
|
||||
dual_drop_mode:
|
||||
default: false
|
||||
description: 电解液添加模式(false=单次滴液, true=二次滴液)
|
||||
type: boolean
|
||||
dual_drop_start_timing:
|
||||
default: false
|
||||
description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
|
||||
type: boolean
|
||||
dual_drop_suction_timing:
|
||||
default: false
|
||||
description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
|
||||
type: boolean
|
||||
elec_num:
|
||||
description: 电解液瓶数
|
||||
type: string
|
||||
elec_use_num:
|
||||
description: 每瓶电解液组装电池数
|
||||
type: string
|
||||
elec_vol:
|
||||
default: 50
|
||||
description: 电解液吸液量(μL)
|
||||
type: integer
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
description: 实验记录保存路径
|
||||
type: string
|
||||
fujipian_juzhendianwei:
|
||||
default: 0
|
||||
description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
fujipian_panshu:
|
||||
default: 0
|
||||
description: 负极片盘数
|
||||
type: integer
|
||||
gemo_juzhendianwei:
|
||||
default: 0
|
||||
description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
gemopanshu:
|
||||
default: 0
|
||||
description: 隔膜盘数
|
||||
type: integer
|
||||
lvbodian:
|
||||
default: true
|
||||
description: 是否使用铝箔垫片
|
||||
type: boolean
|
||||
qiangtou_juzhendianwei:
|
||||
default: 0
|
||||
description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
required:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd_simp参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_get_csv_export_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_get_csv_export_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_auto:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_auto参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_init_auto_start_combined:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_search_enable: false
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗，并根据参数自动点击"是"或"否"按钮
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_search_enable:
|
||||
default: false
|
||||
description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_init_auto_start_combined参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_start参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_device_stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_get_msg_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: D:\coin_cell_data
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
default: D:\coin_cell_data
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_get_msg_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_send_bottle_num:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
bottle_num: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: bottle_num
|
||||
data_source: workflow
|
||||
data_type: integer
|
||||
handler_key: bottle_count
|
||||
io_type: source
|
||||
label: 配液瓶数
|
||||
required: true
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
bottle_num:
|
||||
type: integer
|
||||
required:
|
||||
- bottle_num
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_bottle_num参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_send_finished_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_finished_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_pack_send_msg_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
assembly_pressure: null
|
||||
assembly_type: null
|
||||
elec_use_num: null
|
||||
elec_vol: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
type: string
|
||||
assembly_type:
|
||||
type: string
|
||||
elec_use_num:
|
||||
type: string
|
||||
elec_vol:
|
||||
type: string
|
||||
required:
|
||||
- elec_use_num
|
||||
- elec_vol
|
||||
- assembly_type
|
||||
- assembly_pressure
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_msg_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_read_data_and_output:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: /Users/sml/work
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_read_data_and_output参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_sendbottle_allpack_multi:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
assembly_pressure: 4200
|
||||
assembly_type: 7
|
||||
battery_clean_ignore: false
|
||||
battery_pressure_mode: true
|
||||
dual_drop_first_volume: 25
|
||||
dual_drop_mode: false
|
||||
dual_drop_start_timing: false
|
||||
dual_drop_suction_timing: false
|
||||
elec_num: null
|
||||
elec_use_num: null
|
||||
elec_vol: 50
|
||||
file_path: /Users/sml/work
|
||||
fujipian_juzhendianwei: 0
|
||||
fujipian_panshu: 0
|
||||
gemo_juzhendianwei: 0
|
||||
gemopanshu: 0
|
||||
lvbodian: true
|
||||
qiangtou_juzhendianwei: 0
|
||||
handles:
|
||||
input:
|
||||
- data_key: elec_num
|
||||
data_source: workflow
|
||||
data_type: integer
|
||||
handler_key: bottle_count
|
||||
io_type: source
|
||||
label: 配液瓶数
|
||||
required: true
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 发送瓶数+简化组装函数(适用于第二批次及后续批次)，合并了发送瓶数和简化组装流程
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 4200
|
||||
description: 电池压制力(N)
|
||||
type: integer
|
||||
assembly_type:
|
||||
default: 7
|
||||
description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
|
||||
type: integer
|
||||
battery_clean_ignore:
|
||||
default: false
|
||||
description: 是否忽略电池清洁步骤
|
||||
type: boolean
|
||||
battery_pressure_mode:
|
||||
default: true
|
||||
description: 是否启用压力模式
|
||||
type: boolean
|
||||
dual_drop_first_volume:
|
||||
default: 25
|
||||
description: 二次滴液第一次排液体积(μL)
|
||||
type: integer
|
||||
dual_drop_mode:
|
||||
default: false
|
||||
description: 电解液添加模式(false=单次滴液, true=二次滴液)
|
||||
type: boolean
|
||||
dual_drop_start_timing:
|
||||
default: false
|
||||
description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
|
||||
type: boolean
|
||||
dual_drop_suction_timing:
|
||||
default: false
|
||||
description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
|
||||
type: boolean
|
||||
elec_num:
|
||||
description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
|
||||
type: string
|
||||
elec_use_num:
|
||||
description: 每瓶电解液组装电池数
|
||||
type: string
|
||||
elec_vol:
|
||||
default: 50
|
||||
description: 电解液吸液量(μL)
|
||||
type: integer
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
description: 实验记录保存路径
|
||||
type: string
|
||||
fujipian_juzhendianwei:
|
||||
default: 0
|
||||
description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
fujipian_panshu:
|
||||
default: 0
|
||||
description: 负极片盘数
|
||||
type: integer
|
||||
gemo_juzhendianwei:
|
||||
default: 0
|
||||
description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
gemopanshu:
|
||||
default: 0
|
||||
description: 隔膜盘数
|
||||
type: integer
|
||||
lvbodian:
|
||||
default: true
|
||||
description: 是否使用铝箔垫片
|
||||
type: boolean
|
||||
qiangtou_juzhendianwei:
|
||||
default: 0
|
||||
description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
required:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_sendbottle_allpack_multi参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_stop_read_data:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_stop_read_data参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-modify_deck_name:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
resource_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
resource_name:
|
||||
type: string
|
||||
required:
|
||||
- resource_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: modify_deck_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-qiming_coin_cell_code:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
battery_clean_ignore: false
|
||||
battery_pressure: 4000
|
||||
battery_pressure_mode: true
|
||||
fujipian_juzhendianwei: 0
|
||||
fujipian_panshu: null
|
||||
gemo_juzhendianwei: 0
|
||||
gemopanshu: 0
|
||||
lvbodian: true
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
battery_clean_ignore:
|
||||
default: false
|
||||
type: boolean
|
||||
battery_pressure:
|
||||
default: 4000
|
||||
type: integer
|
||||
battery_pressure_mode:
|
||||
default: true
|
||||
type: boolean
|
||||
fujipian_juzhendianwei:
|
||||
default: 0
|
||||
type: integer
|
||||
fujipian_panshu:
|
||||
type: integer
|
||||
gemo_juzhendianwei:
|
||||
default: 0
|
||||
type: integer
|
||||
gemopanshu:
|
||||
default: 0
|
||||
type: integer
|
||||
lvbodian:
|
||||
default: true
|
||||
type: boolean
|
||||
required:
|
||||
- fujipian_panshu
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: qiming_coin_cell_code参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
|
||||
status_types:
|
||||
data_assembly_coin_cell_num: int
|
||||
data_assembly_pressure: int
|
||||
data_assembly_time: float
|
||||
data_axis_x_pos: float
|
||||
data_axis_y_pos: float
|
||||
data_axis_z_pos: float
|
||||
data_coin_cell_code: str
|
||||
data_coin_num: int
|
||||
data_electrolyte_code: str
|
||||
data_electrolyte_volume: int
|
||||
data_glove_box_o2_content: float
|
||||
data_glove_box_pressure: float
|
||||
data_glove_box_water_content: float
|
||||
data_open_circuit_voltage: float
|
||||
data_pole_weight: float
|
||||
request_rec_msg_status: bool
|
||||
request_send_msg_status: bool
|
||||
sys_mode: str
|
||||
sys_status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: koudian.webp
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
address:
|
||||
default: 172.16.28.102
|
||||
type: string
|
||||
config:
|
||||
type: object
|
||||
debug_mode:
|
||||
default: false
|
||||
type: boolean
|
||||
deck:
|
||||
type: string
|
||||
port:
|
||||
default: '502'
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
data_assembly_coin_cell_num:
|
||||
type: integer
|
||||
data_assembly_pressure:
|
||||
type: integer
|
||||
data_assembly_time:
|
||||
type: number
|
||||
data_axis_x_pos:
|
||||
type: number
|
||||
data_axis_y_pos:
|
||||
type: number
|
||||
data_axis_z_pos:
|
||||
type: number
|
||||
data_coin_cell_code:
|
||||
type: string
|
||||
data_coin_num:
|
||||
type: integer
|
||||
data_electrolyte_code:
|
||||
type: string
|
||||
data_electrolyte_volume:
|
||||
type: integer
|
||||
data_glove_box_o2_content:
|
||||
type: number
|
||||
data_glove_box_pressure:
|
||||
type: number
|
||||
data_glove_box_water_content:
|
||||
type: number
|
||||
data_open_circuit_voltage:
|
||||
type: number
|
||||
data_pole_weight:
|
||||
type: number
|
||||
request_rec_msg_status:
|
||||
type: boolean
|
||||
request_send_msg_status:
|
||||
type: boolean
|
||||
sys_mode:
|
||||
type: string
|
||||
sys_status:
|
||||
type: string
|
||||
required:
|
||||
- sys_status
|
||||
- sys_mode
|
||||
- request_rec_msg_status
|
||||
- request_send_msg_status
|
||||
- data_assembly_coin_cell_num
|
||||
- data_assembly_time
|
||||
- data_open_circuit_voltage
|
||||
- data_axis_x_pos
|
||||
- data_axis_y_pos
|
||||
- data_axis_z_pos
|
||||
- data_pole_weight
|
||||
- data_assembly_pressure
|
||||
- data_electrolyte_volume
|
||||
- data_coin_num
|
||||
- data_coin_cell_code
|
||||
- data_electrolyte_code
|
||||
- data_glove_box_pressure
|
||||
- data_glove_box_o2_content
|
||||
- data_glove_box_water_content
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
@@ -9737,34 +9737,7 @@ liquid_handler.prcxi:
|
||||
touch_tip: false
|
||||
use_channels:
|
||||
- 0
|
||||
handles:
|
||||
input:
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets
|
||||
label: targets
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: tip_rack
|
||||
label: tip_rack
|
||||
output:
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources_out
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets_out
|
||||
label: targets
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
sources: unilabos_resources
|
||||
targets: unilabos_resources
|
||||
|
||||
@@ -222,7 +222,7 @@ class Registry:
|
||||
abs_path = Path(path).absolute()
|
||||
resource_path = abs_path / "resources"
|
||||
files = list(resource_path.glob("*/*.yaml"))
|
||||
logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
|
||||
logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
|
||||
current_resource_number = len(self.resource_type_registry) + 1
|
||||
for i, file in enumerate(files):
|
||||
with open(file, encoding="utf-8", mode="r") as f:
|
||||
|
||||
@@ -1,170 +0,0 @@
|
||||
# UniLabOS 资源注册架构详解
|
||||
|
||||
> **目标受众**: 主要开发 `unilabos/registry/devices` 抽象层的开发者
|
||||
> **最后更新**: 2026-01-11
|
||||
> **维护者**: Uni-Lab-OS 开发团队
|
||||
|
||||
本文档详细说明 UniLabOS 资源注册系统的架构、资源的完整生命周期，以及如何实现动态物料位置追踪。
|
||||
|
||||
---
|
||||
|
||||
## 📚 目录
|
||||
|
||||
- [核心概念](#核心概念)
|
||||
- [三层架构详解](#三层架构详解)
|
||||
- [资源注册机制](#资源注册机制)
|
||||
- [物料生命周期管理](#物料生命周期管理)
|
||||
- [动态物料位置追踪](#动态物料位置追踪)
|
||||
- [实战案例](#实战案例)
|
||||
- [常见问题排查](#常见问题排查)
|
||||
|
||||
---
|
||||
|
||||
## 核心概念
|
||||
|
||||
### 1. Resources vs Registry
|
||||
|
||||
UniLabOS 采用**声明式注册**模式，将资源的**定义**（Python）与**注册信息**（YAML）分离：
|
||||
|
||||
```
|
||||
┌──────────────────────────────────────────────────────────┐
|
||||
│ unilabos/resources (Python 实现) │
|
||||
│ - 定义资源的物理属性、行为和创建逻辑 │
|
||||
│ - 例如: 瓶子的尺寸、容量、材质 │
|
||||
├──────────────────────────────────────────────────────────┤
|
||||
│ unilabos/registry/resources (YAML 注册表) │
|
||||
│ - 声明哪些资源可以被前端使用 │
|
||||
│ - 定义资源的分类、图标、初始化参数 │
|
||||
└──────────────────────────────────────────────────────────┘
|
||||
```
|
||||
|
||||
**为什么要分离？**
|
||||
|
||||
1. **解耦**: Python 代码可以定义无限多的资源类，但只有在 YAML 中注册的才能被前端识别
|
||||
2. **灵活性**: 无需修改 Python 代码，只需修改 YAML 就能添加/移除可用资源
|
||||
3. **可扩展性**: 第三方开发者可以通过 YAML 注册自己的资源，无需修改核心代码
|
||||
|
||||
---
|
||||
|
||||
## 三层架构详解
|
||||
|
||||
UniLabOS 资源系统采用**三层架构**，实现从前端UI到底层硬件的完整映射：
|
||||
|
||||
### 架构图
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────────────────┐
|
||||
│ 第1层: YAML 注册表 (registry/resources) │
|
||||
│ - 告诉系统"哪些资源可用" │
|
||||
│ - 前端通过此层获取可用资源列表 │
|
||||
│ - 文件: YB_bottle.yaml, YB_bottle_carriers.yaml │
|
||||
├─────────────────────────────────────────────────────┤
|
||||
│ 第2层: Python 实现 (resources/bioyond) │
|
||||
│ - 定义资源的具体属性和行为 │
|
||||
│ - 创建资源实例的工厂函数 │
|
||||
│ - 文件: YB_bottles.py, YB_bottle_carriers.py │
|
||||
├─────────────────────────────────────────────────────┤
|
||||
│ 第3层: Hardware/API 集成 (devices/workstation) │
|
||||
│ - 连接 Bioyond 系统 API │
|
||||
│ - 同步物料位置和状态 │
|
||||
│ - 文件: station.py, bioyond_rpc.py, config.py │
|
||||
└─────────────────────────────────────────────────────┘
|
||||
```
|
||||
|
||||
### 第1层: YAML 注册表
|
||||
|
||||
#### YB_bottle.yaml - 单个瓶子注册
|
||||
|
||||
```yaml
|
||||
YB_5ml_fenyeping:
|
||||
category:
|
||||
- yb3 # 系统分类
|
||||
- YB_bottle # 资源类型
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping # Python 函数路径
|
||||
type: pylabrobot # 框架类型
|
||||
description: YB_5ml_fenyeping # 前端显示名称
|
||||
handles: []
|
||||
icon: '' # 图标路径
|
||||
init_param_schema: {} # 初始化参数 schema
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
```
|
||||
|
||||
**作用:**
|
||||
- 前端通过读取此文件知道有一个叫 "YB_5ml_fenyeping" 的资源
|
||||
- 用户拖拽时，系统会调用 `YB_bottles:YB_5ml_fenyeping()` 创建实例
|
||||
|
||||
#### YB_bottle_carriers.yaml - 载架（容器）注册
|
||||
|
||||
```yaml
|
||||
YB_5ml_fenyepingban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
|
||||
type: pylabrobot
|
||||
description: YB_5ml_fenyepingban # 5ml分液瓶板
|
||||
```
|
||||
|
||||
**作用:**
|
||||
- 载架是容器，里面可以放多个瓶子
|
||||
- 例如: `YB_5ml_fenyepingban` 是一个 4x2 布局的板，可以放 8 个 5ml 瓶子
|
||||
|
||||
### 第2层: Python 实现
|
||||
|
||||
#### YB_bottles.py - 瓶子工厂函数
|
||||
|
||||
```python
|
||||
def YB_5ml_fenyeping(
|
||||
name: str,
|
||||
diameter: float = 20.0, # 直径 (mm)
|
||||
height: float = 50.0, # 高度 (mm)
|
||||
max_volume: float = 5000.0, # 最大容量 (μL)
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
\"\"\"创建5ml分液瓶\"\"\"
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_5ml_fenyeping", # ⭐ 与 YAML 中的名称对应
|
||||
)
|
||||
```
|
||||
|
||||
**关键点:**
|
||||
- 函数名 `YB_5ml_fenyeping` 必须与 YAML 中的 `module` 路径末尾一致
|
||||
- 返回一个 `Bottle` 对象（PyLabRobot 资源类型）
|
||||
- `model` 字段用于在 Bioyond 系统中识别资源类型
|
||||
|
||||
**详细文档请参考完整版 README**
|
||||
|
||||
---
|
||||
|
||||
## 相关文件索引
|
||||
|
||||
### 核心文件
|
||||
|
||||
| 文件 | 功能 | 路径 |
|
||||
|------|------|------|
|
||||
| `YB_bottle.yaml` | 瓶子注册表 | `unilabos/registry/resources/bioyond/` |
|
||||
| `YB_bottle_carriers.yaml` | 载架注册表 | `unilabos/registry/resources/bioyond/` |
|
||||
| `deck.yaml` | Deck注册表 | `unilabos/registry/resources/bioyond/` |
|
||||
| `YB_bottles.py` | 瓶子实现 | `unilabos/resources/bioyond/` |
|
||||
| `YB_bottle_carriers.py` | 载架实现 | `unilabos/resources/bioyond/` |
|
||||
| `YB_warehouses.py` | 仓库实现 | `unilabos/resources/bioyond/` |
|
||||
| `decks.py` | Deck布局 | `unilabos/resources/bioyond/` |
|
||||
| `station.py` | 物料同步 | `unilabos/devices/workstation/bioyond_studio/` |
|
||||
| `config.py` | UUID映射 | `unilabos/devices/workstation/bioyond_studio/` |
|
||||
|
||||
### 仓库相关文档
|
||||
|
||||
- [README_WAREHOUSE.md](../../resources/bioyond/README_WAREHOUSE.md) - 仓库系统开发指南
|
||||
|
||||
---
|
||||
|
||||
**维护者:** Uni-Lab-OS 开发团队
|
||||
**最后更新:** 2026-01-11
|
||||
@@ -1,92 +0,0 @@
|
||||
YB_20ml_fenyeping:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
|
||||
type: pylabrobot
|
||||
description: YB_20ml_fenyeping
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_5ml_fenyeping:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
|
||||
type: pylabrobot
|
||||
description: YB_5ml_fenyeping
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_jia_yang_tou_da:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
|
||||
type: pylabrobot
|
||||
description: YB_jia_yang_tou_da
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_pei_ye_da_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_pei_ye_da_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_pei_ye_xiao_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_pei_ye_xiao_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_qiang_tou:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
|
||||
type: pylabrobot
|
||||
description: YB_qiang_tou
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_ye_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
@@ -1,182 +0,0 @@
|
||||
YB_100ml_yeti:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
|
||||
type: pylabrobot
|
||||
description: YB_100ml_yeti
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_20ml_fenyepingban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
|
||||
type: pylabrobot
|
||||
description: YB_20ml_fenyepingban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_5ml_fenyepingban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban
|
||||
type: pylabrobot
|
||||
description: YB_5ml_fenyepingban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_6StockCarrier:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier
|
||||
type: pylabrobot
|
||||
description: YB_6StockCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_6VialCarrier:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier
|
||||
type: pylabrobot
|
||||
description: YB_6VialCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_gao_nian_ye_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_gao_nian_ye_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_gaonianye:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
|
||||
type: pylabrobot
|
||||
description: YB_gaonianye
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_jia_yang_tou_da_Carrier:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
|
||||
type: pylabrobot
|
||||
description: YB_jia_yang_tou_da_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_peiyepingdaban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
|
||||
type: pylabrobot
|
||||
description: YB_peiyepingdaban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_peiyepingxiaoban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
|
||||
type: pylabrobot
|
||||
description: YB_peiyepingxiaoban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_qiang_tou_he:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
|
||||
type: pylabrobot
|
||||
description: YB_qiang_tou_he
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_shi_pei_qi_kuai:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
|
||||
type: pylabrobot
|
||||
description: YB_shi_pei_qi_kuai
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
|
||||
type: pylabrobot
|
||||
description: YB_ye_Bottle_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye_100ml_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_ye_100ml_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
@@ -22,27 +22,15 @@ BIOYOND_PolymerReactionStation_Deck:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_YB_Deck:
|
||||
YB_Deck11:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.resources.bioyond.decks:YB_Deck
|
||||
type: pylabrobot
|
||||
description: BIOYOND ElectrolyteFormulationStation Deck
|
||||
description: BIOYOND PolymerReactionStation Deck
|
||||
handles: []
|
||||
icon: 配液站.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
CoincellDeck:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck
|
||||
type: pylabrobot
|
||||
description: YIHUA CoinCellAssembly Deck
|
||||
handles: []
|
||||
icon: koudian.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,56 +0,0 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
from unilabos.resources.bioyond.YB_bottles import (
|
||||
YB_pei_ye_xiao_Bottle,
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
|
||||
|
||||
def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
|
||||
"""12瓶载架 - 2x6布局"""
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 120.0
|
||||
carrier_size_y = 250.0
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 35.0
|
||||
bottle_spacing_x = 35.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (6 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=2,
|
||||
num_items_y=6,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="Electrolyte_12VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 2
|
||||
carrier.num_items_y = 6
|
||||
carrier.num_items_z = 1
|
||||
for i in range(12):
|
||||
carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
|
||||
return carrier
|
||||
@@ -1,195 +0,0 @@
|
||||
from typing import Any, Dict, Optional, TypedDict
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from pylabrobot.resources import Container
|
||||
|
||||
|
||||
electrode_colors = {
|
||||
"PositiveCan": "#ff0000",
|
||||
"PositiveElectrode": "#cc3333",
|
||||
"NegativeCan": "#000000",
|
||||
"NegativeElectrode": "#666666",
|
||||
"SpringWasher": "#8b7355",
|
||||
"FlatWasher": "a9a9a9",
|
||||
"AluminumFoil": "#ffcccc",
|
||||
"Battery": "#00ff00",
|
||||
}
|
||||
|
||||
class ElectrodeSheetState(TypedDict):
|
||||
diameter: float # 直径 (mm)
|
||||
thickness: float # 厚度 (mm)
|
||||
mass: float # 质量 (g)
|
||||
material_type: str # 材料类型（铜、铝、不锈钢、弹簧钢等）
|
||||
color: str # 材料类型对应的颜色
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
|
||||
class ElectrodeSheet(ResourcePLR):
|
||||
"""极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "极片",
|
||||
size_x: float = 10,
|
||||
size_y: float = 10,
|
||||
size_z: float = 10,
|
||||
category: str = "electrode_sheet",
|
||||
model: Optional[str] = None,
|
||||
**kwargs
|
||||
):
|
||||
"""初始化极片
|
||||
|
||||
Args:
|
||||
name: 极片名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
**kwargs: 其他参数传递给父类
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
**kwargs
|
||||
)
|
||||
self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
|
||||
diameter=14,
|
||||
thickness=0.1,
|
||||
mass=0.5,
|
||||
material_type="copper",
|
||||
color="#8b4513",
|
||||
info=None
|
||||
)
|
||||
|
||||
# TODO: 这个还要不要？给self._unilabos_state赋值的？
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
#序列化
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
|
||||
|
||||
def PositiveCan(name: str) -> ElectrodeSheet:
|
||||
"""创建正极壳"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=3.0, model="PositiveCan")
|
||||
sheet.load_state({"diameter": 20.0, "thickness": 0.5, "mass": 0.5, "material_type": "aluminum", "color": electrode_colors["PositiveCan"], "info": None})
|
||||
return sheet
|
||||
|
||||
|
||||
def PositiveElectrode(name: str) -> ElectrodeSheet:
|
||||
"""创建正极片"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="PositiveElectrode")
|
||||
sheet.load_state({"material_type": "positive_electrode", "color": electrode_colors["PositiveElectrode"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def NegativeCan(name: str) -> ElectrodeSheet:
|
||||
"""创建负极壳"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=2.0, model="NegativeCan")
|
||||
sheet.load_state({"material_type": "steel", "color": electrode_colors["NegativeCan"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def NegativeElectrode(name: str) -> ElectrodeSheet:
|
||||
"""创建负极片"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="NegativeElectrode")
|
||||
sheet.load_state({"material_type": "negative_electrode", "color": electrode_colors["NegativeElectrode"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def SpringWasher(name: str) -> ElectrodeSheet:
|
||||
"""创建弹片"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.5, model="SpringWasher")
|
||||
sheet.load_state({"material_type": "spring_steel", "color": electrode_colors["SpringWasher"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def FlatWasher(name: str) -> ElectrodeSheet:
|
||||
"""创建垫片"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.2, model="FlatWasher")
|
||||
sheet.load_state({"material_type": "steel", "color": electrode_colors["FlatWasher"]})
|
||||
return sheet
|
||||
|
||||
|
||||
def AluminumFoil(name: str) -> ElectrodeSheet:
|
||||
"""创建铝箔"""
|
||||
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.05, model="AluminumFoil")
|
||||
sheet.load_state({"material_type": "aluminum", "color": electrode_colors["AluminumFoil"]})
|
||||
return sheet
|
||||
|
||||
|
||||
class BatteryState(TypedDict):
|
||||
color: str # 材料类型对应的颜色
|
||||
electrolyte_name: str
|
||||
data_electrolyte_code: str
|
||||
open_circuit_voltage: float
|
||||
assembly_pressure: float
|
||||
electrolyte_volume: float
|
||||
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
|
||||
class Battery(Container):
|
||||
"""电池类 - 包含组装好的电池"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "电池",
|
||||
size_x: float = 12,
|
||||
size_y: float = 12,
|
||||
size_z: float = 6,
|
||||
category: str = "battery",
|
||||
model: Optional[str] = None,
|
||||
**kwargs
|
||||
):
|
||||
"""初始化电池
|
||||
|
||||
Args:
|
||||
name: 电池名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
category: 类别
|
||||
model: 型号
|
||||
**kwargs: 其他参数传递给父类
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category=category,
|
||||
model=model,
|
||||
**kwargs
|
||||
)
|
||||
self._unilabos_state: BatteryState = BatteryState(
|
||||
color=electrode_colors["Battery"],
|
||||
electrolyte_name="无",
|
||||
data_electrolyte_code="",
|
||||
open_circuit_voltage=0.0,
|
||||
assembly_pressure=0.0,
|
||||
electrolyte_volume=0.0,
|
||||
info=None
|
||||
)
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
"""格式不变"""
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
#序列化
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
"""格式不变"""
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
|
||||
return data
|
||||
@@ -1,344 +0,0 @@
|
||||
from typing import Dict, List, Optional, OrderedDict, Union, Callable
|
||||
import math
|
||||
|
||||
from pylabrobot.resources.coordinate import Coordinate
|
||||
from pylabrobot.resources import Resource, ResourceStack, ItemizedResource
|
||||
from pylabrobot.resources.carrier import create_homogeneous_resources
|
||||
|
||||
from unilabos.resources.battery.electrode_sheet import (
|
||||
PositiveCan, PositiveElectrode,
|
||||
NegativeCan, NegativeElectrode,
|
||||
SpringWasher, FlatWasher,
|
||||
AluminumFoil,
|
||||
Battery
|
||||
)
|
||||
|
||||
|
||||
class Magazine(ResourceStack):
|
||||
"""子弹夹洞位类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
direction: str = 'z',
|
||||
resources: Optional[List[Resource]] = None,
|
||||
max_sheets: int = 100,
|
||||
**kwargs
|
||||
):
|
||||
"""初始化子弹夹洞位
|
||||
|
||||
Args:
|
||||
name: 洞位名称
|
||||
direction: 堆叠方向
|
||||
resources: 资源列表
|
||||
max_sheets: 最大极片数量
|
||||
"""
|
||||
super().__init__(
|
||||
name=name,
|
||||
direction=direction,
|
||||
resources=resources,
|
||||
)
|
||||
self.max_sheets = max_sheets
|
||||
|
||||
@property
|
||||
def size_x(self) -> float:
|
||||
return self.get_size_x()
|
||||
|
||||
@property
|
||||
def size_y(self) -> float:
|
||||
return self.get_size_y()
|
||||
|
||||
@property
|
||||
def size_z(self) -> float:
|
||||
return self.get_size_z()
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"size_x": self.size_x or 10.0,
|
||||
"size_y": self.size_y or 10.0,
|
||||
"size_z": self.size_z or 10.0,
|
||||
"max_sheets": self.max_sheets,
|
||||
}
|
||||
|
||||
|
||||
class MagazineHolder(ItemizedResource):
|
||||
"""子弹夹类 - 有多个洞位，每个洞位放多个极片"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
ordered_items: Optional[Dict[str, Magazine]] = None,
|
||||
ordering: Optional[OrderedDict[str, str]] = None,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
cross_section_type: str = "circle",
|
||||
category: str = "magazine_holder",
|
||||
model: Optional[str] = None,
|
||||
):
|
||||
"""初始化子弹夹
|
||||
|
||||
Args:
|
||||
name: 子弹夹名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
|
||||
max_sheets_per_hole: 每个洞位最大极片数量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=ordered_items,
|
||||
ordering=ordering,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
# 保存洞位的直径和深度
|
||||
self.hole_diameter = hole_diameter
|
||||
self.hole_depth = hole_depth
|
||||
self.max_sheets_per_hole = max_sheets_per_hole
|
||||
self.cross_section_type = cross_section_type
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {
|
||||
**super().serialize(),
|
||||
"hole_diameter": self.hole_diameter,
|
||||
"hole_depth": self.hole_depth,
|
||||
"max_sheets_per_hole": self.max_sheets_per_hole,
|
||||
"cross_section_type": self.cross_section_type,
|
||||
}
|
||||
|
||||
|
||||
def magazine_factory(
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
locations: List[Coordinate],
|
||||
klasses: Optional[List[Callable[[str], str]]] = None,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
category: str = "magazine_holder",
|
||||
model: Optional[str] = None,
|
||||
) -> 'MagazineHolder':
|
||||
"""工厂函数：创建子弹夹
|
||||
|
||||
Args:
|
||||
name: 子弹夹名称
|
||||
size_x: 长度 (mm)
|
||||
size_y: 宽度 (mm)
|
||||
size_z: 高度 (mm)
|
||||
locations: 洞位坐标列表
|
||||
klasses: 每个洞位中极片的类列表
|
||||
hole_diameter: 洞直径 (mm)
|
||||
hole_depth: 洞深度 (mm)
|
||||
max_sheets_per_hole: 每个洞位最大极片数量
|
||||
category: 类别
|
||||
model: 型号
|
||||
"""
|
||||
for loc in locations:
|
||||
loc.x -= hole_diameter / 2
|
||||
loc.y -= hole_diameter / 2
|
||||
|
||||
# 创建洞位
|
||||
_sites = create_homogeneous_resources(
|
||||
klass=Magazine,
|
||||
locations=locations,
|
||||
resource_size_x=hole_diameter,
|
||||
resource_size_y=hole_diameter,
|
||||
name_prefix=name,
|
||||
max_sheets=max_sheets_per_hole,
|
||||
)
|
||||
|
||||
# 生成编号键
|
||||
keys = [f"A{i+1}" for i in range(len(locations))]
|
||||
sites = dict(zip(keys, _sites.values()))
|
||||
|
||||
holder = MagazineHolder(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
ordered_items=sites,
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category=category,
|
||||
model=model,
|
||||
)
|
||||
|
||||
if klasses is not None:
|
||||
for i, klass in enumerate(klasses):
|
||||
hole_key = keys[i]
|
||||
hole = holder.children[i]
|
||||
for j in reversed(range(max_sheets_per_hole)):
|
||||
item_name = f"{hole_key}_sheet{j+1}"
|
||||
item = klass(name=item_name)
|
||||
hole.assign_child_resource(item)
|
||||
return holder
|
||||
|
||||
|
||||
def MagazineHolder_6_Cathode(
|
||||
name: str,
|
||||
size_x: float = 80.0,
|
||||
size_y: float = 80.0,
|
||||
size_z: float = 40.0,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
hole_spacing: float = 20.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
) -> MagazineHolder:
|
||||
"""创建6孔子弹夹 - 六边形排布"""
|
||||
center_x = size_x / 2
|
||||
center_y = size_y / 2
|
||||
|
||||
locations = []
|
||||
|
||||
# 周围6个孔，按六边形排布
|
||||
for i in range(6):
|
||||
angle = i * 60 * math.pi / 180 # 每60度一个孔
|
||||
x = center_x + hole_spacing * math.cos(angle)
|
||||
y = center_y + hole_spacing * math.sin(angle)
|
||||
locations.append(Coordinate(x, y, size_z - hole_depth))
|
||||
|
||||
return magazine_factory(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category="magazine_holder",
|
||||
model="MagazineHolder_6_Cathode",
|
||||
)
|
||||
|
||||
|
||||
def MagazineHolder_6_Anode(
|
||||
name: str,
|
||||
size_x: float = 80.0,
|
||||
size_y: float = 80.0,
|
||||
size_z: float = 40.0,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
hole_spacing: float = 20.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
) -> MagazineHolder:
|
||||
"""创建6孔子弹夹 - 六边形排布"""
|
||||
center_x = size_x / 2
|
||||
center_y = size_y / 2
|
||||
|
||||
locations = []
|
||||
|
||||
# 周围6个孔，按六边形排布
|
||||
for i in range(6):
|
||||
angle = i * 60 * math.pi / 180 # 每60度一个孔
|
||||
x = center_x + hole_spacing * math.cos(angle)
|
||||
y = center_y + hole_spacing * math.sin(angle)
|
||||
locations.append(Coordinate(x, y, size_z - hole_depth))
|
||||
|
||||
return magazine_factory(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category="magazine_holder",
|
||||
model="MagazineHolder_6_Anode",
|
||||
)
|
||||
|
||||
|
||||
def MagazineHolder_6_Battery(
|
||||
name: str,
|
||||
size_x: float = 80.0,
|
||||
size_y: float = 80.0,
|
||||
size_z: float = 40.0,
|
||||
hole_diameter: float = 14.0,
|
||||
hole_depth: float = 10.0,
|
||||
hole_spacing: float = 20.0,
|
||||
max_sheets_per_hole: int = 100,
|
||||
) -> MagazineHolder:
|
||||
"""创建6孔子弹夹 - 六边形排布"""
|
||||
center_x = size_x / 2
|
||||
center_y = size_y / 2
|
||||
|
||||
locations = []
|
||||
|
||||
# 周围6个孔，按六边形排布
|
||||
for i in range(6):
|
||||
angle = i * 60 * math.pi / 180 # 每60度一个孔
|
||||
x = center_x + hole_spacing * math.cos(angle)
|
||||
y = center_y + hole_spacing * math.sin(angle)
|
||||
locations.append(Coordinate(x, y, size_z - hole_depth))
|
||||
|
||||
return magazine_factory(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=None, # 初始化时，不放入装好的电池
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category="magazine_holder",
|
||||
model="MagazineHolder_6_Battery",
|
||||
)
|
||||
|
||||
|
||||
def MagazineHolder_4_Cathode(
|
||||
name: str,
|
||||
) -> MagazineHolder:
|
||||
"""创建4孔子弹夹 - 正方形四角排布"""
|
||||
size_x: float = 80.0
|
||||
size_y: float = 80.0
|
||||
size_z: float = 10.0
|
||||
hole_diameter: float = 14.0
|
||||
hole_depth: float = 10.0
|
||||
hole_spacing: float = 25.0
|
||||
max_sheets_per_hole: int = 100
|
||||
|
||||
# 计算4个洞位的坐标（正方形四角排布）
|
||||
center_x = size_x / 2
|
||||
center_y = size_y / 2
|
||||
offset = hole_spacing / 2
|
||||
|
||||
locations = [
|
||||
Coordinate(center_x - offset, center_y - offset, size_z - hole_depth), # 左下
|
||||
Coordinate(center_x + offset, center_y - offset, size_z - hole_depth), # 右下
|
||||
Coordinate(center_x - offset, center_y + offset, size_z - hole_depth), # 左上
|
||||
Coordinate(center_x + offset, center_y + offset, size_z - hole_depth), # 右上
|
||||
]
|
||||
|
||||
return magazine_factory(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
category="magazine_holder",
|
||||
model="MagazineHolder_4_Cathode",
|
||||
)
|
||||
@@ -1,548 +0,0 @@
|
||||
# Bioyond 仓库系统开发指南
|
||||
|
||||
本文档详细说明 Bioyond 仓库（Warehouse）系统的架构、配置和使用方法，帮助开发者快速理解和维护仓库相关代码。
|
||||
|
||||
## 📚 目录
|
||||
|
||||
- [系统架构](#系统架构)
|
||||
- [核心概念](#核心概念)
|
||||
- [三层映射关系](#三层映射关系)
|
||||
- [warehouse_factory 详解](#warehouse_factory-详解)
|
||||
- [创建新仓库](#创建新仓库)
|
||||
- [常见问题](#常见问题)
|
||||
- [调试技巧](#调试技巧)
|
||||
|
||||
---
|
||||
|
||||
## 系统架构
|
||||
|
||||
Bioyond 仓库系统采用**三层架构**，实现从前端显示到后端 API 的完整映射：
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────────────────────┐
|
||||
│ 前端显示层 (YB_warehouses.py) │
|
||||
│ - warehouse_factory 自动生成库位网格 │
|
||||
│ - 生成库位名称：A01, B02, C03... │
|
||||
│ - 存储在 WareHouse.sites 字典中 │
|
||||
└────────────────┬────────────────────────────────────────┘
|
||||
│
|
||||
▼
|
||||
┌─────────────────────────────────────────────────────────┐
|
||||
│ Deck 布局层 (decks.py) │
|
||||
│ - 定义仓库在 Deck 上的物理位置 │
|
||||
│ - 组织多个仓库形成完整布局 │
|
||||
└────────────────┬────────────────────────────────────────┘
|
||||
│
|
||||
▼
|
||||
┌─────────────────────────────────────────────────────────┐
|
||||
│ UUID 映射层 (config.py) │
|
||||
│ - 将库位名称映射到 Bioyond 系统 UUID │
|
||||
│ - 用于 API 调用时的物料入库操作 │
|
||||
└─────────────────────────────────────────────────────────┘
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 核心概念
|
||||
|
||||
### 仓库（Warehouse）
|
||||
|
||||
仓库是一个**三维网格**，用于存放物料。由以下参数定义：
|
||||
|
||||
- **num_items_x**: 列数（X 轴）
|
||||
- **num_items_y**: 行数（Y 轴）
|
||||
- **num_items_z**: 层数（Z 轴）
|
||||
|
||||
例如：`5行×3列×1层` = 5×3×1 = 15个库位
|
||||
|
||||
### 库位（Site）
|
||||
|
||||
库位是仓库中的单个存储位置，由**字母行+数字列**命名：
|
||||
|
||||
- **字母行**：A, B, C, D, E, F...（对应 Y 轴）
|
||||
- **数字列**：01, 02, 03, 04...（对应 X 轴或 Z 轴）
|
||||
|
||||
示例：`A01`, `B02`, `C03`
|
||||
|
||||
### 布局模式（Layout）
|
||||
|
||||
控制库位的排序和 Y 坐标计算：
|
||||
|
||||
| 模式 | 说明 | 生成顺序 | Y 坐标计算 | 显示效果 |
|
||||
|------|------|----------|-----------|---------|
|
||||
| `col-major` | 列优先（默认） | A01, B01, C01, A02... | `dy + (num_y - row - 1) * item_dy` | A 可能在下 |
|
||||
| `row-major` | 行优先 | A01, A02, A03, B01... | `dy + row * item_dy` | **A 在上** ✓ |
|
||||
|
||||
**重要：** 使用 `row-major` 可以避免上下颠倒问题！
|
||||
|
||||
---
|
||||
|
||||
## 三层映射关系
|
||||
|
||||
### 示例：手动传递窗右（A01-E03）
|
||||
|
||||
#### 1️⃣ 前端显示层 - [`YB_warehouses.py`](YB_warehouses.py)
|
||||
|
||||
```python
|
||||
def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
|
||||
"""创建 5行×3列×1层 仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, # 3列
|
||||
num_items_y=5, # 5行
|
||||
num_items_z=1, # 1层
|
||||
row_offset=row_offset,
|
||||
layout="row-major",
|
||||
)
|
||||
```
|
||||
|
||||
**自动生成的库位：** A01, A02, A03, B01, B02, B03, ..., E01, E02, E03
|
||||
|
||||
#### 2️⃣ Deck 布局层 - [`decks.py`](decks.py)
|
||||
|
||||
```python
|
||||
self.warehouses = {
|
||||
"手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
|
||||
}
|
||||
```
|
||||
|
||||
**作用：**
|
||||
- 创建仓库实例
|
||||
- 设置在 Deck 上的物理坐标
|
||||
|
||||
#### 3️⃣ UUID 映射层 - [`config.py`](../../devices/workstation/bioyond_studio/config.py)
|
||||
|
||||
```python
|
||||
WAREHOUSE_MAPPING = {
|
||||
"手动传递窗右": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
|
||||
"A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe",
|
||||
# ... 其他库位
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**作用：**
|
||||
- 用户拖拽物料到"手动传递窗右"的"A01"位置时
|
||||
- 系统查找 `WAREHOUSE_MAPPING["手动传递窗右"]["site_uuids"]["A01"]`
|
||||
- 获取 UUID `"3a19deae-2c7a-36f5-5e41-02c5b66feaea"`
|
||||
- 调用 Bioyond API 将物料入库到该 UUID 位置
|
||||
|
||||
---
|
||||
|
||||
## 实际配置案例
|
||||
|
||||
### 案例：手动传递窗左/右的完整配置
|
||||
|
||||
本案例展示如何为"手动传递窗右"和"手动传递窗左"建立完整的三层映射。
|
||||
|
||||
#### 背景需求
|
||||
- **手动传递窗右**: 需要 A01-E03（5行×3列=15个库位）
|
||||
- **手动传递窗左**: 需要 F01-J03（5行×3列=15个库位）
|
||||
- 这两个仓库共享同一个物理堆栈的 UUID（"手动堆栈"）
|
||||
|
||||
#### 实施步骤
|
||||
|
||||
**1️⃣ 修复前端布局** - [`YB_warehouses.py`](YB_warehouses.py)
|
||||
|
||||
```python
|
||||
# 创建新的 5×3×1 仓库函数（之前是错误的 1×3×3）
|
||||
def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
|
||||
"""创建5行×3列×1层仓库，支持行偏移生成不同字母行"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, # 3列
|
||||
num_items_y=5, # 5行 ← 修正
|
||||
num_items_z=1, # 1层 ← 修正
|
||||
row_offset=row_offset, # ← 支持 F-J 行
|
||||
layout="row-major", # ← 避免上下颠倒
|
||||
)
|
||||
```
|
||||
|
||||
**2️⃣ 更新 Deck 配置** - [`decks.py`](decks.py)
|
||||
|
||||
```python
|
||||
from unilabos.resources.bioyond.YB_warehouses import (
|
||||
bioyond_warehouse_5x3x1, # 新增导入
|
||||
)
|
||||
|
||||
class BIOYOND_YB_Deck(Deck):
|
||||
def setup(self) -> None:
|
||||
self.warehouses = {
|
||||
# 修改前: bioyond_warehouse_1x3x3 (错误尺寸)
|
||||
# 修改后: bioyond_warehouse_5x3x1 (正确尺寸)
|
||||
"手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0), # A01-E03
|
||||
"手动传递窗左": bioyond_warehouse_5x3x1("手动传递窗左", row_offset=5), # F01-J03
|
||||
}
|
||||
```
|
||||
|
||||
**3️⃣ 添加 UUID 映射** - [`config.py`](../../devices/workstation/bioyond_studio/config.py)
|
||||
|
||||
```python
|
||||
WAREHOUSE_MAPPING = {
|
||||
# 保持原有的"手动堆栈"配置不变（A01-J03共30个库位）
|
||||
"手动堆栈": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
|
||||
# ... A02-E03 共15个
|
||||
"F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a",
|
||||
# ... F02-J03 共15个
|
||||
}
|
||||
},
|
||||
|
||||
# [新增] 手动传递窗右 - 复用"手动堆栈"的 A01-E03 UUID
|
||||
"手动传递窗右": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea", # ← 与手动堆栈A01相同
|
||||
"A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe",
|
||||
"A03": "3a19deae-2c7a-5876-c454-6b7e224ca927",
|
||||
"B01": "3a19deae-2c7a-2426-6d71-e9de3cb158b1",
|
||||
"B02": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3",
|
||||
"B03": "3a19deae-2c7a-b9eb-f4e3-e308e0cf839a",
|
||||
"C01": "3a19deae-2c7a-32bc-768e-556647e292f3",
|
||||
"C02": "3a19deae-2c7a-e97a-8484-f5a4599447c4",
|
||||
"C03": "3a19deae-2c7a-3056-6504-10dc73fbc276",
|
||||
"D01": "3a19deae-2c7a-ffad-875e-8c4cda61d440",
|
||||
"D02": "3a19deae-2c7a-61be-601c-b6fb5610499a",
|
||||
"D03": "3a19deae-2c7a-c0f7-05a7-e3fe2491e560",
|
||||
"E01": "3a19deae-2c7a-a6f4-edd1-b436a7576363",
|
||||
"E02": "3a19deae-2c7a-4367-96dd-1ca2186f4910",
|
||||
"E03": "3a19deae-2c7a-b163-2219-23df15200311",
|
||||
}
|
||||
},
|
||||
|
||||
# [新增] 手动传递窗左 - 复用"手动堆栈"的 F01-J03 UUID
|
||||
"手动传递窗左": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a", # ← 与手动堆栈F01相同
|
||||
"F02": "3a19deae-2c7a-a194-ea63-8b342b8d8679",
|
||||
"F03": "3a19deae-2c7a-f7c4-12bd-425799425698",
|
||||
"G01": "3a19deae-2c7a-0b56-72f1-8ab86e53b955",
|
||||
"G02": "3a19deae-2c7a-204e-95ed-1f1950f28343",
|
||||
"G03": "3a19deae-2c7a-392b-62f1-4907c66343f8",
|
||||
"H01": "3a19deae-2c7a-5602-e876-d27aca4e3201",
|
||||
"H02": "3a19deae-2c7a-f15c-70e0-25b58a8c9702",
|
||||
"H03": "3a19deae-2c7a-780b-8965-2e1345f7e834",
|
||||
"I01": "3a19deae-2c7a-8849-e172-07de14ede928",
|
||||
"I02": "3a19deae-2c7a-4772-a37f-ff99270bafc0",
|
||||
"I03": "3a19deae-2c7a-cce7-6e4a-25ea4a2068c4",
|
||||
"J01": "3a19deae-2c7a-1848-de92-b5d5ed054cc6",
|
||||
"J02": "3a19deae-2c7a-1d45-b4f8-6f866530e205",
|
||||
"J03": "3a19deae-2c7a-f237-89d9-8fe19025dee9"
|
||||
}
|
||||
},
|
||||
}
|
||||
```
|
||||
|
||||
#### 关键要点
|
||||
|
||||
1. **UUID 可以复用**: 三个仓库（手动堆栈、手动传递窗右、手动传递窗左）可以共享相同的物理库位 UUID
|
||||
2. **库位名称必须匹配**: 前端生成的库位名称（如 F01）必须与 config.py 中的键名完全一致
|
||||
3. **row_offset 的妙用**:
|
||||
- `row_offset=0` → 生成 A-E 行
|
||||
- `row_offset=5` → 生成 F-J 行（跳过前5个字母）
|
||||
|
||||
#### 验证结果
|
||||
|
||||
配置完成后，拖拽测试：
|
||||
|
||||
| 拖拽位置 | 前端库位 | 查找路径 | UUID | 结果 |
|
||||
|---------|---------|---------|------|------|
|
||||
| 手动传递窗右/A01 | A01 | `WAREHOUSE_MAPPING["手动传递窗右"]["site_uuids"]["A01"]` | `3a19...eaea` | ✅ 正确入库 |
|
||||
| 手动传递窗左/F01 | F01 | `WAREHOUSE_MAPPING["手动传递窗左"]["site_uuids"]["F01"]` | `3a19...c4a` | ✅ 正确入库 |
|
||||
| 手动堆栈/A01 | A01 | `WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"]["A01"]` | `3a19...eaea` | ✅ 仍然正常 |
|
||||
|
||||
|
||||
---
|
||||
|
||||
## warehouse_factory 详解
|
||||
|
||||
### 函数签名
|
||||
|
||||
```python
|
||||
def warehouse_factory(
|
||||
name: str,
|
||||
num_items_x: int = 1, # 列数
|
||||
num_items_y: int = 4, # 行数
|
||||
num_items_z: int = 4, # 层数
|
||||
dx: float = 137.0, # X 起始偏移
|
||||
dy: float = 96.0, # Y 起始偏移
|
||||
dz: float = 120.0, # Z 起始偏移
|
||||
item_dx: float = 10.0, # X 间距
|
||||
item_dy: float = 10.0, # Y 间距
|
||||
item_dz: float = 10.0, # Z 间距
|
||||
col_offset: int = 0, # 列偏移（影响数字）
|
||||
row_offset: int = 0, # 行偏移（影响字母）
|
||||
layout: str = "col-major", # 布局模式
|
||||
) -> WareHouse:
|
||||
```
|
||||
|
||||
### 参数说明
|
||||
|
||||
#### 尺寸参数
|
||||
- **num_items_x, y, z**: 定义仓库的网格尺寸
|
||||
- **注意**: 当 `num_items_z > 1` 时，Z 轴会被映射为数字列
|
||||
|
||||
#### 位置参数
|
||||
- **dx, dy, dz**: 第一个库位的起始坐标
|
||||
- **item_dx, dy, dz**: 库位之间的间距
|
||||
|
||||
#### 偏移参数
|
||||
- **col_offset**: 列起始偏移，用于生成 A05-D08 等命名
|
||||
```python
|
||||
col_offset=4 # 生成 A05, A06, A07, A08
|
||||
```
|
||||
|
||||
- **row_offset**: 行起始偏移，用于生成 F01-J03 等命名
|
||||
```python
|
||||
row_offset=5 # 生成 F01, F02, F03（跳过 A-E）
|
||||
```
|
||||
|
||||
#### 布局参数
|
||||
- **layout**:
|
||||
- `"col-major"`: 列优先（默认），可能导致上下颠倒
|
||||
- `"row-major"`: 行优先，**推荐使用**，A 显示在上
|
||||
|
||||
### 库位生成逻辑
|
||||
|
||||
```python
|
||||
# row-major 模式（推荐）
|
||||
keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}"
|
||||
for j in range(num_y)
|
||||
for i in range(num_x)]
|
||||
|
||||
# 示例：num_y=2, num_x=3, row_offset=0, col_offset=0
|
||||
# 生成：A01, A02, A03, B01, B02, B03
|
||||
```
|
||||
|
||||
### Y 坐标计算
|
||||
|
||||
```python
|
||||
if layout == "row-major":
|
||||
# A 在上（Y 较小）
|
||||
y = dy + row * item_dy
|
||||
else:
|
||||
# A 在下（Y 较大）- 不推荐
|
||||
y = dy + (num_items_y - row - 1) * item_dy
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 创建新仓库
|
||||
|
||||
### 步骤 1: 在 YB_warehouses.py 中创建函数
|
||||
|
||||
```python
|
||||
def bioyond_warehouse_3x4x1(name: str) -> WareHouse:
|
||||
"""创建 3行×4列×1层 仓库
|
||||
|
||||
布局:
|
||||
A01 | A02 | A03 | A04
|
||||
B01 | B02 | B03 | B04
|
||||
C01 | C02 | C03 | C04
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, # 4列
|
||||
num_items_y=3, # 3行
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=120.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
layout="row-major", # ⭐ 推荐使用
|
||||
)
|
||||
```
|
||||
|
||||
### 步骤 2: 在 decks.py 中使用
|
||||
|
||||
```python
|
||||
# 1. 导入函数
|
||||
from unilabos.resources.bioyond.YB_warehouses import (
|
||||
bioyond_warehouse_3x4x1, # 新增
|
||||
)
|
||||
|
||||
# 2. 在 setup() 中添加
|
||||
self.warehouses = {
|
||||
"我的新仓库": bioyond_warehouse_3x4x1("我的新仓库"),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"我的新仓库": Coordinate(100.0, 200.0, 0.0),
|
||||
}
|
||||
```
|
||||
|
||||
### 步骤 3: 在 config.py 中配置 UUID（可选）
|
||||
|
||||
```python
|
||||
WAREHOUSE_MAPPING = {
|
||||
"我的新仓库": {
|
||||
"uuid": "",
|
||||
"site_uuids": {
|
||||
"A01": "从 Bioyond 系统获取的 UUID",
|
||||
"A02": "从 Bioyond 系统获取的 UUID",
|
||||
# ... 其他 11 个库位
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**注意：** 如果不需要拖拽入库功能，可跳过此步骤。
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q1: 为什么库位显示上下颠倒（C 在上，A 在下）？
|
||||
|
||||
**原因：** 使用了默认的 `col-major` 布局。
|
||||
|
||||
**解决：** 在 `warehouse_factory` 中添加 `layout="row-major"`
|
||||
|
||||
```python
|
||||
return warehouse_factory(
|
||||
...
|
||||
layout="row-major", # ← 添加这行
|
||||
)
|
||||
```
|
||||
|
||||
### Q2: 我需要 1×3×3 还是 3×3×1？
|
||||
|
||||
**判断方法：**
|
||||
- **1×3×3**: 1列×3行×3**层**（垂直堆叠，有高度）
|
||||
- **3×3×1**: 3行×3列×1**层**（平面网格）
|
||||
|
||||
**推荐：** 大多数情况使用 `X×Y×1`（平面网格）更直观。
|
||||
|
||||
### Q3: 如何生成 F01-J03 而非 A01-E03？
|
||||
|
||||
**方法：** 使用 `row_offset` 参数
|
||||
|
||||
```python
|
||||
bioyond_warehouse_5x3x1("仓库名", row_offset=5)
|
||||
# row_offset=5 跳过 A-E，从 F 开始
|
||||
```
|
||||
|
||||
### Q4: 拖拽物料后找不到 UUID 怎么办？
|
||||
|
||||
**检查清单：**
|
||||
1. `config.py` 中是否有该仓库的配置？
|
||||
2. 仓库名称是否完全匹配？
|
||||
3. 库位名称（如 A01）是否在 `site_uuids` 中？
|
||||
|
||||
**示例错误：**
|
||||
```python
|
||||
# decks.py
|
||||
"手动传递窗右": bioyond_warehouse_5x3x1(...)
|
||||
|
||||
# config.py - ❌ 名称不匹配
|
||||
"手动传递窗": { ... } # 缺少"右"字
|
||||
```
|
||||
|
||||
### Q5: 库位重叠怎么办？
|
||||
|
||||
**原因：** 间距（`item_dx/dy/dz`）太小。
|
||||
|
||||
**解决：** 增大间距参数
|
||||
|
||||
```python
|
||||
item_dx=150.0, # 增大 X 间距
|
||||
item_dy=130.0, # 增大 Y 间距
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 调试技巧
|
||||
|
||||
### 1. 查看生成的库位
|
||||
|
||||
```python
|
||||
warehouse = bioyond_warehouse_5x3x1("测试仓库")
|
||||
print(list(warehouse.sites.keys()))
|
||||
# 输出：['A01', 'A02', 'A03', 'B01', 'B02', ...]
|
||||
```
|
||||
|
||||
### 2. 检查库位坐标
|
||||
|
||||
```python
|
||||
for name, site in warehouse.sites.items():
|
||||
print(f"{name}: {site.location}")
|
||||
# 输出：
|
||||
# A01: Coordinate(x=10.0, y=10.0, z=120.0)
|
||||
# A02: Coordinate(x=147.0, y=10.0, z=120.0)
|
||||
# ...
|
||||
```
|
||||
|
||||
### 3. 验证 UUID 映射
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.bioyond_studio.config import WAREHOUSE_MAPPING
|
||||
|
||||
warehouse_name = "手动传递窗右"
|
||||
location_code = "A01"
|
||||
|
||||
if warehouse_name in WAREHOUSE_MAPPING:
|
||||
uuid = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"].get(location_code)
|
||||
print(f"{warehouse_name}/{location_code} → {uuid}")
|
||||
else:
|
||||
print(f"❌ 未找到仓库: {warehouse_name}")
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 文件关系图
|
||||
|
||||
```
|
||||
unilabos/
|
||||
├── resources/
|
||||
│ ├── warehouse.py # warehouse_factory 核心实现
|
||||
│ └── bioyond/
|
||||
│ ├── YB_warehouses.py # ⭐ 仓库函数定义
|
||||
│ ├── decks.py # ⭐ Deck 布局配置
|
||||
│ └── README_WAREHOUSE.md # 📖 本文档
|
||||
└── devices/
|
||||
└── workstation/
|
||||
└── bioyond_studio/
|
||||
├── config.py # ⭐ UUID 映射配置
|
||||
└── bioyond_cell/
|
||||
└── bioyond_cell_workstation.py # 业务逻辑
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 版本历史
|
||||
|
||||
- **v1.1** (2026-01-08): 补充实际配置案例
|
||||
- 添加"手动传递窗右"和"手动传递窗左"的完整配置示例
|
||||
- 展示 UUID 复用的实际应用
|
||||
- 说明三个仓库共享物理堆栈的配置方法
|
||||
|
||||
- **v1.0** (2026-01-07): 初始版本
|
||||
- 新增 `row_offset` 参数支持
|
||||
- 创建 `bioyond_warehouse_5x3x1` 和 `bioyond_warehouse_2x2x1`
|
||||
- 修复多个仓库的上下颠倒问题
|
||||
|
||||
---
|
||||
|
||||
## 相关资源
|
||||
|
||||
- [warehouse.py](../warehouse.py) - 核心工厂函数实现
|
||||
- [YB_warehouses.py](YB_warehouses.py) - 所有仓库定义
|
||||
- [decks.py](decks.py) - Deck 布局配置
|
||||
- [config.py](../../devices/workstation/bioyond_studio/config.py) - UUID 映射
|
||||
|
||||
---
|
||||
|
||||
**维护者：** Uni-Lab-OS 开发团队
|
||||
**最后更新：** 2026-01-07
|
||||
@@ -1,653 +0,0 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
from unilabos.resources.bioyond.YB_bottles import (
|
||||
YB_jia_yang_tou_da,
|
||||
YB_ye_Bottle,
|
||||
YB_ye_100ml_Bottle,
|
||||
YB_gao_nian_ye_Bottle,
|
||||
YB_5ml_fenyeping,
|
||||
YB_20ml_fenyeping,
|
||||
YB_pei_ye_xiao_Bottle,
|
||||
YB_pei_ye_da_Bottle,
|
||||
YB_qiang_tou,
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
|
||||
|
||||
def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 30.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="Electrolyte_6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
# for i in range(6):
|
||||
# carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""1瓶载架 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 100.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 80.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="Electrolyte_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_6StockCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="6StockCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
# for i in range(6):
|
||||
# carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 30.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
# for i in range(3):
|
||||
# carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}")
|
||||
# for i in range(3, 6):
|
||||
# carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
# 1瓶载架 - 单个中央位置
|
||||
def YB_ye(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_ye",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_ye_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
# 高粘液瓶载架 - 单个中央位置
|
||||
def YB_gaonianye(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_gaonianye",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
# 100ml液体瓶载架 - 单个中央位置
|
||||
def YB_100ml_yeti(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_100ml_yeti",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
# 5ml分液瓶板 - 4x2布局，8个位置
|
||||
def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 15.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=4,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_5ml_fenyepingban",
|
||||
)
|
||||
carrier.num_items_x = 4
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
|
||||
for i in range(8):
|
||||
carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
# 20ml分液瓶板 - 4x2布局，8个位置
|
||||
def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 70.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=4,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_20ml_fenyepingban",
|
||||
)
|
||||
carrier.num_items_x = 4
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
|
||||
for i in range(8):
|
||||
carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
# 配液瓶(小)板 - 4x2布局，8个位置
|
||||
def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 65.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 35.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=4,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_peiyepingxiaoban",
|
||||
)
|
||||
carrier.num_items_x = 4
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
|
||||
for i in range(8):
|
||||
carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
# 配液瓶(大)板 - 2x2布局，4个位置
|
||||
def YB_peiyepingdaban(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 95.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 55.0
|
||||
bottle_spacing_x = 60.0 # X方向间距
|
||||
bottle_spacing_y = 60.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=2,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_peiyepingdaban",
|
||||
)
|
||||
carrier.num_items_x = 2
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "B1", "B2"]
|
||||
for i in range(4):
|
||||
carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
# 加样头(大)板 - 1x1布局，1个位置
|
||||
def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 95.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 35.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=1,
|
||||
num_items_y=1,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_jia_yang_tou_da_Carrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
|
||||
"""适配器块 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 30.0
|
||||
|
||||
# 适配器尺寸
|
||||
adapter_diameter = 80.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - adapter_diameter) / 2
|
||||
center_y = (carrier_size_y - adapter_diameter) / 2
|
||||
center_z = 0.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=adapter_diameter,
|
||||
resource_size_y=adapter_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_shi_pei_qi_kuai",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# 适配器块本身不包含瓶子，只是一个支撑结构
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_qiang_tou_he(name: str) -> BottleCarrier:
|
||||
"""枪头盒 - 8x12布局，96个位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 55.0
|
||||
|
||||
# 枪头尺寸
|
||||
tip_diameter = 10.0
|
||||
tip_spacing_x = 9.0 # X方向间距
|
||||
tip_spacing_y = 9.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2
|
||||
start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=12,
|
||||
num_items_y=8,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=tip_spacing_x,
|
||||
item_dy=tip_spacing_y,
|
||||
size_x=tip_diameter,
|
||||
size_y=tip_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_qiang_tou_he",
|
||||
)
|
||||
carrier.num_items_x = 12
|
||||
carrier.num_items_y = 8
|
||||
carrier.num_items_z = 1
|
||||
# 创建96个枪头
|
||||
for i in range(96):
|
||||
row = chr(65 + i // 12) # A-H
|
||||
col = (i % 12) + 1 # 1-12
|
||||
carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
|
||||
return carrier
|
||||
|
||||
@@ -1,163 +0,0 @@
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
# 工厂函数
|
||||
"""加样头（大）"""
|
||||
def YB_jia_yang_tou_da(
|
||||
name: str,
|
||||
diameter: float = 20.0,
|
||||
height: float = 100.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建粉末瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,# 未知
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_jia_yang_tou_da",
|
||||
)
|
||||
|
||||
"""液1x1"""
|
||||
def YB_ye_Bottle(
|
||||
name: str,
|
||||
diameter: float = 40.0,
|
||||
height: float = 70.0,
|
||||
max_volume: float = 50000.0, # 50mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建液体瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_ye_Bottle",
|
||||
)
|
||||
|
||||
"""100ml液体"""
|
||||
def YB_ye_100ml_Bottle(
|
||||
name: str,
|
||||
diameter: float = 50.0,
|
||||
height: float = 90.0,
|
||||
max_volume: float = 100000.0, # 100mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建100ml液体瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_100ml_yeti",
|
||||
)
|
||||
|
||||
"""高粘液"""
|
||||
def YB_gao_nian_ye_Bottle(
|
||||
name: str,
|
||||
diameter: float = 40.0,
|
||||
height: float = 70.0,
|
||||
max_volume: float = 50000.0, # 50mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建高粘液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="High_Viscosity_Liquid",
|
||||
)
|
||||
|
||||
"""5ml分液瓶"""
|
||||
def YB_5ml_fenyeping(
|
||||
name: str,
|
||||
diameter: float = 20.0,
|
||||
height: float = 50.0,
|
||||
max_volume: float = 5000.0, # 5mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建5ml分液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_5ml_fenyeping",
|
||||
)
|
||||
|
||||
"""20ml分液瓶"""
|
||||
def YB_20ml_fenyeping(
|
||||
name: str,
|
||||
diameter: float = 30.0,
|
||||
height: float = 65.0,
|
||||
max_volume: float = 20000.0, # 20mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建20ml分液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_20ml_fenyeping",
|
||||
)
|
||||
|
||||
"""配液瓶(小)"""
|
||||
def YB_pei_ye_xiao_Bottle(
|
||||
name: str,
|
||||
diameter: float = 35.0,
|
||||
height: float = 60.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建配液瓶(小)"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_pei_ye_xiao_Bottle",
|
||||
)
|
||||
|
||||
"""配液瓶(大)"""
|
||||
def YB_pei_ye_da_Bottle(
|
||||
name: str,
|
||||
diameter: float = 55.0,
|
||||
height: float = 100.0,
|
||||
max_volume: float = 150000.0, # 150mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建配液瓶(大)"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_pei_ye_da_Bottle",
|
||||
)
|
||||
|
||||
"""枪头"""
|
||||
def YB_qiang_tou(
|
||||
name: str,
|
||||
diameter: float = 10.0,
|
||||
height: float = 50.0,
|
||||
max_volume: float = 1000.0, # 1mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建枪头"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_qiang_tou",
|
||||
)
|
||||
@@ -1,384 +0,0 @@
|
||||
from unilabos.resources.warehouse import WareHouse, warehouse_factory
|
||||
|
||||
# ================ 反应站相关堆栈 ================
|
||||
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)
|
||||
|
||||
使用行优先排序，前端展示为:
|
||||
A01 | A02 | A03 | A04
|
||||
B01 | B02 | B03 | B04
|
||||
C01 | C02 | C03 | C04
|
||||
D01 | D02 | D03 | D04
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, # 4列
|
||||
num_items_y=4, # 4行
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
col_offset=0, # 从01开始: A01, A02, A03, A04
|
||||
layout="row-major", # ⭐ 改为行优先排序
|
||||
)
|
||||
|
||||
def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4,
|
||||
num_items_y=4,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
col_offset=4, # 从05开始: A05, A06, A07, A08
|
||||
layout="row-major", # ⭐ 改为行优先排序
|
||||
)
|
||||
|
||||
def bioyond_warehouse_density_vial(name: str) -> WareHouse:
|
||||
"""创建测量小瓶仓库(测密度) A01～B03"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, # 3列（01-03）
|
||||
num_items_y=2, # 2行（A-B）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=40.0,
|
||||
item_dy=40.0,
|
||||
item_dz=50.0,
|
||||
# 用更小的 resource_size 来表现 "小点的孔位"
|
||||
resource_size_x=30.0,
|
||||
resource_size_y=30.0,
|
||||
resource_size_z=12.0,
|
||||
category="warehouse",
|
||||
col_offset=0,
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
||||
"""创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2, # 2列（01-02）
|
||||
num_items_y=1, # 1行（A）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
|
||||
"""创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, # 3列（01-03）
|
||||
num_items_y=2, # 2行（A-B）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
col_offset=0,
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
|
||||
"""已弃用,创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, # 4列（01-04）
|
||||
num_items_y=2, # 2行（A-B）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
col_offset=0,
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
# ================ 配液站相关堆栈 ================
|
||||
|
||||
def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
|
||||
"""创建BioYond 试剂堆栈 2x4x1 (2行×4列: A01-A04, B01-B04)
|
||||
|
||||
使用行优先排序，前端展示为:
|
||||
A01 | A02 | A03 | A04
|
||||
B01 | B02 | B03 | B04
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, # 4列 (01-04)
|
||||
num_items_y=2, # 2行 (A-B)
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
col_offset=0, # 从01开始
|
||||
layout="row-major", # ⭐ 使用行优先排序: A01,A02,A03,A04, B01,B02,B03,B04
|
||||
)
|
||||
|
||||
# 定义bioyond的堆栈
|
||||
|
||||
# =================== Other ===================
|
||||
|
||||
def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x2x1仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_y=4,
|
||||
num_items_z=2,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
removed_positions=None
|
||||
)
|
||||
|
||||
def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
|
||||
"""创建BioYond 1x2x2仓库（1列×2行×2层）- 旧版本，已弃用
|
||||
|
||||
布局（2层）:
|
||||
层1: A01
|
||||
B01
|
||||
层2: A02
|
||||
B02
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_y=2,
|
||||
num_items_z=2,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
layout="row-major", # 使用行优先避免上下颠倒
|
||||
)
|
||||
|
||||
def bioyond_warehouse_2x2x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 2x2x1仓库（2行×2列×1层）
|
||||
|
||||
布局:
|
||||
A01 | A02
|
||||
B01 | B02
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2, # 2列
|
||||
num_items_y=2, # 2行
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
layout="row-major", # 使用行优先避免上下颠倒
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 10x1x1仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=10,
|
||||
num_items_y=1,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
|
||||
"""创建BioYond 1x3x3仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_y=3,
|
||||
num_items_z=3,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=120.0, # 增大Y方向间距以避免重叠
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
|
||||
"""创建BioYond 5x3x1仓库（5行×3列×1层）
|
||||
|
||||
标准布局（row_offset=0）:
|
||||
A01 | A02 | A03
|
||||
B01 | B02 | B03
|
||||
C01 | C02 | C03
|
||||
D01 | D02 | D03
|
||||
E01 | E02 | E03
|
||||
|
||||
带偏移布局（row_offset=5）:
|
||||
F01 | F02 | F03
|
||||
G01 | G02 | G03
|
||||
H01 | H02 | H03
|
||||
I01 | I02 | I03
|
||||
J01 | J02 | J03
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, # 3列
|
||||
num_items_y=5, # 5行
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=120.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
col_offset=0,
|
||||
row_offset=row_offset, # 支持行偏移
|
||||
layout="row-major", # 使用行优先避免颠倒
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
|
||||
"""创建BioYond 3x3x1仓库（3行×3列×1层）
|
||||
|
||||
布局:
|
||||
A01 | A02 | A03
|
||||
B01 | B02 | B03
|
||||
C01 | C02 | C03
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3,
|
||||
num_items_y=3,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
layout="row-major", # ⭐ 使用行优先避免上下颠倒
|
||||
)
|
||||
def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
|
||||
"""创建BioYond 2x1x3仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2,
|
||||
num_items_y=1,
|
||||
num_items_z=3,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
|
||||
"""已弃用：创建BioYond 5x1x1仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=5,
|
||||
num_items_y=1,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
|
||||
"""已弃用：创建BioYond 3x3x1仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3,
|
||||
num_items_y=3,
|
||||
num_items_z=1,
|
||||
dx=12.0,
|
||||
dy=12.0,
|
||||
dz=12.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
|
||||
def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
|
||||
"""创建BioYond开关盖加液模块台面"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=2,
|
||||
num_items_y=5,
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=137.0,
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
removed_positions=None
|
||||
)
|
||||
|
||||
def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
|
||||
"""创建BioYond 8x4x1反应站堆栈（A01～D08）"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=8, # 8列（01-08）
|
||||
num_items_y=4, # 4行（A-D）
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
)
|
||||
@@ -1,16 +1,14 @@
|
||||
from os import name
|
||||
from pylabrobot.resources import Deck, Coordinate, Rotation
|
||||
|
||||
from unilabos.resources.bioyond.YB_warehouses import (
|
||||
from unilabos.resources.bioyond.warehouses import (
|
||||
bioyond_warehouse_1x4x4,
|
||||
bioyond_warehouse_1x4x4_right, # 新增：右侧仓库 (A05～D08)
|
||||
bioyond_warehouse_1x4x2,
|
||||
bioyond_warehouse_reagent_stack, # 新增：试剂堆栈 (A1-B4)
|
||||
bioyond_warehouse_liquid_and_lid_handling,
|
||||
bioyond_warehouse_1x2x2,
|
||||
bioyond_warehouse_2x2x1, # 新增：321和43窗口 (2行×2列)
|
||||
bioyond_warehouse_1x3x3,
|
||||
bioyond_warehouse_5x3x1, # 新增：手动传递窗仓库 (5行×3列)
|
||||
bioyond_warehouse_10x1x1,
|
||||
bioyond_warehouse_3x3x1,
|
||||
bioyond_warehouse_3x3x1_2,
|
||||
@@ -117,10 +115,10 @@ class BIOYOND_YB_Deck(Deck):
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
self.warehouses = {
|
||||
"321窗口": bioyond_warehouse_2x2x1("321窗口"), # 2行×2列
|
||||
"43窗口": bioyond_warehouse_2x2x1("43窗口"), # 2行×2列
|
||||
"手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0), # A01-E03
|
||||
"手动传递窗左": bioyond_warehouse_5x3x1("手动传递窗左", row_offset=5), # F01-J03
|
||||
"321窗口": bioyond_warehouse_1x2x2("321窗口"),
|
||||
"43窗口": bioyond_warehouse_1x2x2("43窗口"),
|
||||
"手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
|
||||
"手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
|
||||
"加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
|
||||
"加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
|
||||
|
||||
@@ -128,7 +126,6 @@ class BIOYOND_YB_Deck(Deck):
|
||||
"母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
|
||||
"大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
|
||||
"大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
|
||||
"2号手套箱内部堆栈": bioyond_warehouse_3x3x1("2号手套箱内部堆栈"), # 新增：3行×3列 (A01-C03)
|
||||
}
|
||||
# warehouse 的位置
|
||||
self.warehouse_locations = {
|
||||
@@ -143,7 +140,6 @@ class BIOYOND_YB_Deck(Deck):
|
||||
"母液加样右": Coordinate(2152.0, 333.0, 0.0),
|
||||
"大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
|
||||
"大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
|
||||
"2号手套箱内部堆栈": Coordinate(-800, -500.0, 0.0), # 新增：位置需根据实际硬件调整
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
|
||||
@@ -13,7 +13,7 @@ from unilabos.config.config import BasicConfig
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier, BottleCarrier
|
||||
from unilabos.ros.msgs.message_converter import convert_to_ros_msg
|
||||
from unilabos.resources.resource_tracker import (
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
)
|
||||
@@ -42,7 +42,7 @@ def canonicalize_nodes_data(
|
||||
Returns:
|
||||
ResourceTreeSet: 标准化后的资源树集合
|
||||
"""
|
||||
print_status(f"{len(nodes)} Resources loaded", "info")
|
||||
print_status(f"{len(nodes)} Resources loaded:", "info")
|
||||
|
||||
# 第一步：基本预处理（处理graphml的label字段）
|
||||
outer_host_node_id = None
|
||||
@@ -134,7 +134,7 @@ def canonicalize_nodes_data(
|
||||
parent_instance.children.append(current_instance)
|
||||
|
||||
# 第五步：创建 ResourceTreeSet
|
||||
resource_tree_set = ResourceTreeSet.from_nested_instance_list(standardized_instances)
|
||||
resource_tree_set = ResourceTreeSet.from_nested_list(standardized_instances)
|
||||
return resource_tree_set
|
||||
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@ class Bottle(Well):
|
||||
size_x: float = 0.0,
|
||||
size_y: float = 0.0,
|
||||
size_z: float = 0.0,
|
||||
barcode: Optional[str] = None,
|
||||
barcode: Optional[str] = "",
|
||||
category: str = "container",
|
||||
model: Optional[str] = None,
|
||||
**kwargs,
|
||||
@@ -54,6 +54,7 @@ class Bottle(Well):
|
||||
**super().serialize(),
|
||||
"diameter": self.diameter,
|
||||
"height": self.height,
|
||||
"barcode": self.barcode,
|
||||
}
|
||||
|
||||
T = TypeVar("T", bound=ResourceHolder)
|
||||
@@ -148,7 +149,6 @@ class ItemizedCarrier(ResourcePLR):
|
||||
|
||||
if not reassign and self.sites[idx] is not None:
|
||||
raise ValueError(f"a site with index {idx} already exists")
|
||||
location = list(self.child_locations.values())[idx]
|
||||
super().assign_child_resource(resource, location=location, reassign=reassign)
|
||||
self.sites[idx] = resource
|
||||
|
||||
|
||||
@@ -27,7 +27,6 @@ def warehouse_factory(
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
col_offset: int = 0, # 列起始偏移量，用于生成A05-D08等命名
|
||||
row_offset: int = 0, # 行起始偏移量，用于生成F01-J03等命名
|
||||
layout: str = "col-major", # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
|
||||
):
|
||||
# 创建位置坐标
|
||||
@@ -66,10 +65,10 @@ def warehouse_factory(
|
||||
if layout == "row-major":
|
||||
# 行优先顺序: A01,A02,A03,A04, B01,B02,B03,B04
|
||||
# locations[0] 对应 row=0, y最大（前端顶部）→ 应该是 A01
|
||||
keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}" for j in range(len_y) for i in range(len_x)]
|
||||
keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for j in range(len_y) for i in range(len_x)]
|
||||
else:
|
||||
# 列优先顺序: A01,B01,C01,D01, A02,B02,C02,D02
|
||||
keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
|
||||
keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
|
||||
|
||||
sites = {i: site for i, site in zip(keys, _sites.values())}
|
||||
|
||||
|
||||
@@ -5,7 +5,7 @@ from unilabos.ros.msgs.message_converter import (
|
||||
get_action_type,
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import init_wrapper, ROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import ResourceDictInstance
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
|
||||
|
||||
# 定义泛型类型变量
|
||||
T = TypeVar("T")
|
||||
|
||||
@@ -1,9 +1,10 @@
|
||||
import copy
|
||||
from typing import Optional
|
||||
|
||||
from unilabos.registry.registry import lab_registry
|
||||
from unilabos.ros.device_node_wrapper import ros2_device_node
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
|
||||
from unilabos.resources.resource_tracker import ResourceDictInstance
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.exception import DeviceClassInvalid
|
||||
from unilabos.utils.import_manager import default_manager
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
import json
|
||||
|
||||
# from nt import device_encoding
|
||||
import threading
|
||||
import time
|
||||
@@ -11,7 +10,7 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Response
|
||||
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
|
||||
from unilabos_msgs.srv import SerialCommand # type: ignore
|
||||
from rclpy.executors import MultiThreadedExecutor
|
||||
@@ -56,11 +55,7 @@ def main(
|
||||
) -> None:
|
||||
"""主函数"""
|
||||
|
||||
# Support restart - check if rclpy is already initialized
|
||||
if not rclpy.ok():
|
||||
rclpy.init(args=rclpy_init_args)
|
||||
else:
|
||||
logger.info("[ROS] rclpy already initialized, reusing context")
|
||||
rclpy.init(args=rclpy_init_args)
|
||||
executor = rclpy.__executor = MultiThreadedExecutor()
|
||||
# 创建主机节点
|
||||
host_node = HostNode(
|
||||
@@ -93,7 +88,7 @@ def main(
|
||||
joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
|
||||
# lh_joint_pub = LiquidHandlerJointPublisher(
|
||||
# resources_config=resources_list, resource_tracker=host_node.resource_tracker
|
||||
# )
|
||||
# )
|
||||
executor.add_node(resource_mesh_manager)
|
||||
executor.add_node(joint_republisher)
|
||||
# executor.add_node(lh_joint_pub)
|
||||
|
||||
@@ -1,17 +1,18 @@
|
||||
import copy
|
||||
import inspect
|
||||
import io
|
||||
import json
|
||||
import threading
|
||||
import time
|
||||
import traceback
|
||||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
|
||||
Tuple
|
||||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
import asyncio
|
||||
|
||||
import rclpy
|
||||
import yaml
|
||||
from msgcenterpy import ROS2MessageInstance
|
||||
from rclpy.node import Node
|
||||
from rclpy.action import ActionServer, ActionClient
|
||||
from rclpy.action.server import ServerGoalHandle
|
||||
@@ -20,13 +21,15 @@ from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from rclpy.service import Service
|
||||
from unilabos_msgs.action import SendCmd
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.utils.decorator import get_topic_config, get_all_subscriptions
|
||||
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.graphio import (
|
||||
resource_ulab_to_plr,
|
||||
initialize_resources,
|
||||
dict_to_tree,
|
||||
resource_plr_to_ulab,
|
||||
tree_to_list,
|
||||
)
|
||||
from unilabos.resources.plr_additional_res_reg import register
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
@@ -43,7 +46,7 @@ from unilabos_msgs.srv import (
|
||||
) # type: ignore
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
|
||||
from unilabos.resources.resource_tracker import (
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
DeviceNodeResourceTracker,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
@@ -359,81 +362,78 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
return res
|
||||
|
||||
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
|
||||
from pylabrobot.resources.deck import Deck
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources import Plate
|
||||
# 物料传输到对应的node节点
|
||||
client = self._resource_clients["c2s_update_resource_tree"]
|
||||
request = SerialCommand.Request()
|
||||
request2 = SerialCommand.Request()
|
||||
rclient = self.create_client(ResourceAdd, "/resources/add")
|
||||
rclient.wait_for_service()
|
||||
rclient2 = self.create_client(ResourceAdd, "/resources/add")
|
||||
rclient2.wait_for_service()
|
||||
request = ResourceAdd.Request()
|
||||
request2 = ResourceAdd.Request()
|
||||
command_json = json.loads(req.command)
|
||||
namespace = command_json["namespace"]
|
||||
bind_parent_id = command_json["bind_parent_id"]
|
||||
edge_device_id = command_json["edge_device_id"]
|
||||
location = command_json["bind_location"]
|
||||
other_calling_param = command_json["other_calling_param"]
|
||||
input_resources = command_json["resource"]
|
||||
resources = command_json["resource"]
|
||||
initialize_full = other_calling_param.pop("initialize_full", False)
|
||||
# 用来增加液体
|
||||
ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
|
||||
LIQUID_VOLUME: List[float] = other_calling_param.pop("LIQUID_VOLUME", [])
|
||||
LIQUID_INPUT_SLOT: List[int] = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
|
||||
LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
|
||||
LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
|
||||
slot = other_calling_param.pop("slot", "-1")
|
||||
if slot != -1: # slot为负数的时候采用assign方法
|
||||
resource = None
|
||||
if slot != "-1": # slot为负数的时候采用assign方法
|
||||
other_calling_param["slot"] = slot
|
||||
# 本地拿到这个物料，可能需要先做初始化
|
||||
if isinstance(input_resources, list) and initialize_full:
|
||||
input_resources = initialize_resources(input_resources)
|
||||
elif initialize_full:
|
||||
input_resources = initialize_resources([input_resources])
|
||||
rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
|
||||
parent_resource = None
|
||||
if bind_parent_id != self.node_name:
|
||||
parent_resource = self.resource_tracker.figure_resource(
|
||||
{"name": bind_parent_id}
|
||||
)
|
||||
for r in rts.root_nodes:
|
||||
# noinspection PyUnresolvedReferences
|
||||
r.res_content.parent_uuid = parent_resource.unilabos_uuid
|
||||
|
||||
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
|
||||
# noinspection PyTypeChecker
|
||||
container_instance: RegularContainer = rts.root_nodes[0]
|
||||
# 本地拿到这个物料，可能需要先做初始化?
|
||||
if isinstance(resources, list):
|
||||
if (
|
||||
len(resources) == 1 and isinstance(resources[0], list) and not initialize_full
|
||||
): # 取消，不存在的情况
|
||||
# 预先initialize过，以整组的形式传入
|
||||
request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
|
||||
elif initialize_full:
|
||||
resources = initialize_resources(resources)
|
||||
request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
|
||||
else:
|
||||
request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
|
||||
else:
|
||||
if initialize_full:
|
||||
resources = initialize_resources([resources])
|
||||
request.resources = [convert_to_ros_msg(Resource, resources)]
|
||||
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
|
||||
container_instance = request.resources[0]
|
||||
container_query_dict: dict = resources
|
||||
found_resources = self.resource_tracker.figure_resource(
|
||||
{"id": container_instance.name}, try_mode=True
|
||||
{"id": container_query_dict["name"]}, try_mode=True
|
||||
)
|
||||
if not len(found_resources):
|
||||
self.resource_tracker.add_resource(container_instance)
|
||||
logger.info(f"添加物料{container_instance.name}到资源跟踪器")
|
||||
logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器")
|
||||
else:
|
||||
assert (
|
||||
len(found_resources) == 1
|
||||
), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
|
||||
found_resource = found_resources[0]
|
||||
if isinstance(found_resource, RegularContainer):
|
||||
logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
|
||||
found_resource.state.update(json.loads(container_instance.state))
|
||||
elif isinstance(found_resource, dict):
|
||||
raise ValueError("已不支持 字典 版本的RegularContainer")
|
||||
), f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
|
||||
resource = found_resources[0]
|
||||
if isinstance(resource, Resource):
|
||||
regular_container = RegularContainer(resource.id)
|
||||
regular_container.ulr_resource = resource
|
||||
regular_container.ulr_resource_data.update(json.loads(container_instance.data))
|
||||
logger.info(f"更新物料{container_query_dict['name']}的数据{resource.data} ULR")
|
||||
elif isinstance(resource, dict):
|
||||
if "data" not in resource:
|
||||
resource["data"] = {}
|
||||
resource["data"].update(json.loads(container_instance.data))
|
||||
request.resources[0].name = resource["name"]
|
||||
logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
|
||||
else:
|
||||
logger.info(
|
||||
f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
|
||||
f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}"
|
||||
)
|
||||
# noinspection PyUnresolvedReferences
|
||||
request.command = json.dumps({
|
||||
"action": "add",
|
||||
"data": {
|
||||
"data": rts.dump(),
|
||||
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
|
||||
"first_add": False,
|
||||
},
|
||||
})
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||
self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
|
||||
response: ResourceAdd.Response = await rclient.call_async(request)
|
||||
# 应该先add_resource了
|
||||
final_response = {
|
||||
"created_resources": rts.dump(),
|
||||
"created_resources": [ROS2MessageInstance(i).get_python_dict() for i in request.resources],
|
||||
"liquid_input_resources": [],
|
||||
}
|
||||
res.response = json.dumps(final_response)
|
||||
@@ -458,63 +458,59 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
)
|
||||
res.response = get_result_info_str(traceback.format_exc(), False, {})
|
||||
return res
|
||||
# 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
|
||||
if bind_parent_id != self.node_name:
|
||||
resource = self.resource_tracker.figure_resource(
|
||||
{"name": bind_parent_id}
|
||||
) # 拿到父节点，进行具体assign等操作
|
||||
# request.resources = [convert_to_ros_msg(Resource, resources)]
|
||||
|
||||
try:
|
||||
if len(rts.root_nodes) == 1 and parent_resource is not None:
|
||||
plr_instance = rts.to_plr_resources()[0]
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
from pylabrobot.resources.deck import Deck
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources import OTDeck
|
||||
from pylabrobot.resources import Plate
|
||||
|
||||
contain_model = not isinstance(resource, Deck)
|
||||
if isinstance(resource, ResourcePLR):
|
||||
# resources.list()
|
||||
plr_instance = ResourceTreeSet.from_raw_list(resources).to_plr_resources()[0]
|
||||
# resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
|
||||
# plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
|
||||
|
||||
if isinstance(plr_instance, Plate):
|
||||
empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
|
||||
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
|
||||
ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
|
||||
LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
|
||||
self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个")
|
||||
empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
|
||||
for liquid_type, liquid_volume, liquid_input_slot in zip(
|
||||
ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
|
||||
):
|
||||
empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
|
||||
plr_instance.set_well_liquids(empty_liquid_info_in)
|
||||
try:
|
||||
# noinspection PyProtectedMember
|
||||
keys = list(plr_instance._ordering.keys())
|
||||
for ind, r in enumerate(LIQUID_INPUT_SLOT[:]):
|
||||
if isinstance(r, int):
|
||||
# noinspection PyTypeChecker
|
||||
LIQUID_INPUT_SLOT[ind] = keys[r]
|
||||
input_wells = [plr_instance.get_well(r) for r in LIQUID_INPUT_SLOT]
|
||||
except AttributeError:
|
||||
# 按照id回去失败，回退到children
|
||||
input_wells = []
|
||||
for r in LIQUID_INPUT_SLOT:
|
||||
input_wells.append(plr_instance.children[r])
|
||||
final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
|
||||
input_wells_ulr = [
|
||||
convert_to_ros_msg(
|
||||
Resource,
|
||||
resource_plr_to_ulab(plr_instance.get_well(LIQUID_INPUT_SLOT), with_children=False),
|
||||
)
|
||||
for r in LIQUID_INPUT_SLOT
|
||||
]
|
||||
final_response["liquid_input_resources"] = [
|
||||
ROS2MessageInstance(i).get_python_dict() for i in input_wells_ulr
|
||||
]
|
||||
res.response = json.dumps(final_response)
|
||||
if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
|
||||
if isinstance(resource, OTDeck) and "slot" in other_calling_param:
|
||||
other_calling_param["slot"] = int(other_calling_param["slot"])
|
||||
parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
|
||||
resource.assign_child_at_slot(plr_instance, **other_calling_param)
|
||||
else:
|
||||
_discard_slot = other_calling_param.pop("slot", -1)
|
||||
parent_resource.assign_child_resource(
|
||||
_discard_slot = other_calling_param.pop("slot", "-1")
|
||||
resource.assign_child_resource(
|
||||
plr_instance,
|
||||
Coordinate(location["x"], location["y"], location["z"]),
|
||||
**other_calling_param,
|
||||
)
|
||||
# 调整了液体以及Deck之后要重新Assign
|
||||
# noinspection PyUnresolvedReferences
|
||||
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
|
||||
if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
|
||||
rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
|
||||
request.command = json.dumps({
|
||||
"action": "add",
|
||||
"data": {
|
||||
"data": rts_with_parent.dump(),
|
||||
"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
|
||||
"first_add": False,
|
||||
},
|
||||
})
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||
self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
|
||||
# 这里created_resources不包含parent_resource
|
||||
request2.resources = [
|
||||
convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])
|
||||
]
|
||||
rclient2.call(request2)
|
||||
# 发送给ResourceMeshManager
|
||||
action_client = ActionClient(
|
||||
self,
|
||||
@@ -525,7 +521,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
goal = SendCmd.Goal()
|
||||
goal.command = json.dumps(
|
||||
{
|
||||
"resources": input_resources,
|
||||
"resources": resources,
|
||||
"bind_parent_id": bind_parent_id,
|
||||
}
|
||||
)
|
||||
@@ -618,7 +614,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
)
|
||||
) # type: ignore
|
||||
raw_nodes = json.loads(response.response)
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes)
|
||||
tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
|
||||
self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树")
|
||||
return tree_set
|
||||
|
||||
@@ -646,7 +642,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raw_data = json.loads(response.response)
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
tree_set = ResourceTreeSet.from_raw_list(raw_data)
|
||||
plr_resource = tree_set.to_plr_resources()[0]
|
||||
self.lab_logger().debug(f"获取资源 {resource_id} 成功")
|
||||
return plr_resource
|
||||
@@ -791,8 +787,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
}
|
||||
|
||||
def _handle_update(
|
||||
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||
) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
|
||||
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
处理资源更新操作的内部函数
|
||||
|
||||
@@ -804,11 +800,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
Returns:
|
||||
操作结果字典
|
||||
"""
|
||||
original_instances = []
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
if isinstance(plr_resource, ResourceDictInstance):
|
||||
self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新")
|
||||
continue
|
||||
states = plr_resource.serialize_all_state()
|
||||
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
|
||||
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
|
||||
@@ -847,16 +839,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
and original_parent_resource is not None
|
||||
):
|
||||
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
||||
else:
|
||||
# 判断是否变更了resource_site
|
||||
target_site = original_instance.unilabos_extra.get("update_resource_site")
|
||||
sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
|
||||
site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
|
||||
if target_site is not None and sites is not None and site_names is not None:
|
||||
site_index = sites.index(original_instance)
|
||||
site_name = site_names[site_index]
|
||||
if site_name != target_site:
|
||||
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
||||
|
||||
# 加载状态
|
||||
original_instance.load_all_state(states)
|
||||
@@ -864,14 +846,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self.lab_logger().info(
|
||||
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
|
||||
)
|
||||
original_instances.append(original_instance)
|
||||
|
||||
# 调用driver的update回调
|
||||
func = getattr(self.driver_instance, "resource_tree_update", None)
|
||||
if callable(func):
|
||||
func(original_instances)
|
||||
func(plr_resources)
|
||||
|
||||
return {"success": True, "action": "update"}, original_instances
|
||||
return {"success": True, "action": "update"}
|
||||
|
||||
try:
|
||||
data = json.loads(req.command)
|
||||
@@ -895,32 +876,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise ValueError("tree_set不能为None")
|
||||
plr_resources = tree_set.to_plr_resources()
|
||||
result = _handle_add(plr_resources, tree_set, additional_add_params)
|
||||
new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps(
|
||||
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||
self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
|
||||
results.append(result)
|
||||
elif action == "update":
|
||||
if tree_set is None:
|
||||
raise ValueError("tree_set不能为None")
|
||||
plr_resources = []
|
||||
for tree in tree_set.trees:
|
||||
if tree.root_node.res_content.type == "device":
|
||||
plr_resources.append(tree.root_node)
|
||||
else:
|
||||
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
|
||||
result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
|
||||
if not BasicConfig.no_update_feedback:
|
||||
new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps(
|
||||
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||
self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
|
||||
plr_resources = tree_set.to_plr_resources()
|
||||
result = _handle_update(plr_resources, tree_set, additional_add_params)
|
||||
results.append(result)
|
||||
elif action == "remove":
|
||||
result = _handle_remove(resources_uuid)
|
||||
@@ -1562,7 +1523,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raw_data = json.loads(response.response)
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
tree_set = ResourceTreeSet.from_raw_list(raw_data)
|
||||
plr_resource = tree_set.to_plr_resources()[0]
|
||||
|
||||
# 通过资源跟踪器获取本地实例
|
||||
@@ -1787,7 +1748,6 @@ class ROS2DeviceNode:
|
||||
or driver_class.__name__ == "LiquidHandlerBiomek"
|
||||
or driver_class.__name__ == "PRCXI9300Handler"
|
||||
or driver_class.__name__ == "TransformXYZHandler"
|
||||
or driver_class.__name__ == "OpcUaClient"
|
||||
)
|
||||
|
||||
# 创建设备类实例
|
||||
|
||||
@@ -10,6 +10,7 @@ from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Type
|
||||
from action_msgs.msg import GoalStatus
|
||||
from geometry_msgs.msg import Point
|
||||
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
||||
from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from rclpy.service import Service
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import (
|
||||
@@ -18,6 +19,7 @@ from unilabos_msgs.srv import (
|
||||
ResourceUpdate,
|
||||
ResourceList,
|
||||
SerialCommand,
|
||||
ResourceGet,
|
||||
) # type: ignore
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
from unique_identifier_msgs.msg import UUID
|
||||
@@ -35,7 +37,7 @@ from unilabos.ros.msgs.message_converter import (
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.presets.controller_node import ControllerNode
|
||||
from unilabos.resources.resource_tracker import (
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
ResourceDict,
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
@@ -43,7 +45,6 @@ from unilabos.resources.resource_tracker import (
|
||||
)
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.exception import DeviceClassInvalid
|
||||
from unilabos.utils.log import warning
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
|
||||
@@ -70,8 +71,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
_instance: ClassVar[Optional["HostNode"]] = None
|
||||
_ready_event: ClassVar[threading.Event] = threading.Event()
|
||||
_shutting_down: ClassVar[bool] = False # Flag to signal shutdown to background threads
|
||||
_background_threads: ClassVar[List[threading.Thread]] = [] # Track all background threads for cleanup
|
||||
_device_action_status: ClassVar[collections.defaultdict[str, DeviceActionStatus]] = collections.defaultdict(
|
||||
DeviceActionStatus
|
||||
)
|
||||
@@ -83,48 +82,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
return cls._instance
|
||||
return None
|
||||
|
||||
@classmethod
|
||||
def shutdown_background_threads(cls, timeout: float = 5.0) -> None:
|
||||
"""
|
||||
Gracefully shutdown all background threads for clean exit or restart.
|
||||
|
||||
This method:
|
||||
1. Sets shutdown flag to stop background operations
|
||||
2. Waits for background threads to finish with timeout
|
||||
3. Cleans up finished threads from tracking list
|
||||
|
||||
Args:
|
||||
timeout: Maximum time to wait for each thread (seconds)
|
||||
"""
|
||||
cls._shutting_down = True
|
||||
|
||||
# Wait for background threads to finish
|
||||
active_threads = []
|
||||
for t in cls._background_threads:
|
||||
if t.is_alive():
|
||||
t.join(timeout=timeout)
|
||||
if t.is_alive():
|
||||
active_threads.append(t.name)
|
||||
|
||||
if active_threads:
|
||||
logger.warning(f"[Host Node] Some background threads still running: {active_threads}")
|
||||
|
||||
# Clear the thread list
|
||||
cls._background_threads.clear()
|
||||
logger.info(f"[Host Node] Background threads shutdown complete")
|
||||
|
||||
@classmethod
|
||||
def reset_state(cls) -> None:
|
||||
"""
|
||||
Reset the HostNode singleton state for restart or clean exit.
|
||||
Call this after destroying the instance.
|
||||
"""
|
||||
cls._instance = None
|
||||
cls._ready_event.clear()
|
||||
cls._shutting_down = False
|
||||
cls._background_threads.clear()
|
||||
logger.info("[Host Node] State reset complete")
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
@@ -223,7 +180,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
self._resource_tracker.add_resource(plr_resource)
|
||||
except Exception as ex:
|
||||
warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！")
|
||||
self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！")
|
||||
except Exception as ex:
|
||||
logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
|
||||
# 初始化Node基类，传递空参数覆盖列表
|
||||
@@ -338,37 +295,12 @@ class HostNode(BaseROS2DeviceNode):
|
||||
bridge.publish_host_ready()
|
||||
self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}")
|
||||
|
||||
def _send_re_register(self, sclient, device_namespace: str):
|
||||
"""
|
||||
Send re-register command to a device. This is a one-time operation.
|
||||
|
||||
Args:
|
||||
sclient: The service client
|
||||
device_namespace: The device namespace for logging
|
||||
"""
|
||||
try:
|
||||
# Use timeout to prevent indefinite blocking
|
||||
if not sclient.wait_for_service(timeout_sec=10.0):
|
||||
self.lab_logger().debug(f"[Host Node] Re-register timeout for {device_namespace}")
|
||||
return
|
||||
|
||||
# Check shutdown flag after wait
|
||||
if self._shutting_down:
|
||||
self.lab_logger().debug(f"[Host Node] Re-register aborted for {device_namespace} (shutdown)")
|
||||
return
|
||||
|
||||
request = SerialCommand.Request()
|
||||
request.command = ""
|
||||
future = sclient.call_async(request)
|
||||
# Use timeout for result as well
|
||||
future.result(timeout_sec=5.0)
|
||||
self.lab_logger().debug(f"[Host Node] Re-register completed for {device_namespace}")
|
||||
except Exception as e:
|
||||
# Gracefully handle destruction during shutdown
|
||||
if "destruction was requested" in str(e) or self._shutting_down:
|
||||
self.lab_logger().debug(f"[Host Node] Re-register aborted for {device_namespace} (cleanup)")
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Re-register failed for {device_namespace}: {e}")
|
||||
def _send_re_register(self, sclient):
|
||||
sclient.wait_for_service()
|
||||
request = SerialCommand.Request()
|
||||
request.command = ""
|
||||
future = sclient.call_async(request)
|
||||
response = future.result()
|
||||
|
||||
def _discover_devices(self) -> None:
|
||||
"""
|
||||
@@ -400,27 +332,23 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self._create_action_clients_for_device(device_id, namespace)
|
||||
self._online_devices.add(device_key)
|
||||
sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
|
||||
t = threading.Thread(
|
||||
threading.Thread(
|
||||
target=self._send_re_register,
|
||||
args=(sclient, namespace),
|
||||
args=(sclient,),
|
||||
daemon=True,
|
||||
name=f"ROSDevice{self.device_id}_re_register_device_{namespace}",
|
||||
)
|
||||
self._background_threads.append(t)
|
||||
t.start()
|
||||
).start()
|
||||
elif device_key not in self._online_devices:
|
||||
# 设备重新上线
|
||||
self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
|
||||
self._online_devices.add(device_key)
|
||||
sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
|
||||
t = threading.Thread(
|
||||
threading.Thread(
|
||||
target=self._send_re_register,
|
||||
args=(sclient, namespace),
|
||||
args=(sclient,),
|
||||
daemon=True,
|
||||
name=f"ROSDevice{self.device_id}_re_register_device_{namespace}",
|
||||
)
|
||||
self._background_threads.append(t)
|
||||
t.start()
|
||||
).start()
|
||||
|
||||
# 检测离线设备
|
||||
offline_devices = self._online_devices - current_devices
|
||||
@@ -527,10 +455,10 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
async def create_resource(
|
||||
self,
|
||||
device_id: DeviceSlot,
|
||||
device_id: str,
|
||||
res_id: str,
|
||||
class_name: str,
|
||||
parent: ResourceSlot,
|
||||
parent: str,
|
||||
bind_locations: Point,
|
||||
liquid_input_slot: list[int] = [],
|
||||
liquid_type: list[str] = [],
|
||||
@@ -736,7 +664,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
if bCreate:
|
||||
self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}")
|
||||
else:
|
||||
self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}")
|
||||
self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}")
|
||||
|
||||
def send_goal(
|
||||
self,
|
||||
@@ -778,14 +706,13 @@ class HostNode(BaseROS2DeviceNode):
|
||||
raise ValueError(f"ActionClient {action_id} not found.")
|
||||
|
||||
action_client: ActionClient = self._action_clients[action_id]
|
||||
|
||||
# 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
|
||||
def assign_sample_id(obj):
|
||||
if isinstance(obj, dict):
|
||||
if "sample_uuid" in obj:
|
||||
obj["sample_id"] = obj["sample_uuid"]
|
||||
obj.pop("sample_uuid")
|
||||
for k, v in obj.items():
|
||||
for k,v in obj.items():
|
||||
if k != "unilabos_extra":
|
||||
assign_sample_id(v)
|
||||
elif isinstance(obj, list):
|
||||
@@ -816,7 +743,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
|
||||
self._goals[item.job_id] = goal_handle
|
||||
goal_future = goal_handle.get_result_async()
|
||||
goal_future.add_done_callback(lambda f: self.get_result_callback(item, action_id, f))
|
||||
goal_future.add_done_callback(
|
||||
lambda f: self.get_result_callback(item, action_id, f)
|
||||
)
|
||||
goal_future.result()
|
||||
|
||||
def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
|
||||
@@ -876,7 +805,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id[:8]}): {status}")
|
||||
if goal_status != GoalStatus.STATUS_CANCELED:
|
||||
self.lab_logger().trace(f"[Host Node] Result data: {result_data}")
|
||||
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
|
||||
|
||||
# 清理 _goals 中的记录
|
||||
if job_id in self._goals:
|
||||
@@ -1238,13 +1167,11 @@ class HostNode(BaseROS2DeviceNode):
|
||||
响应对象，包含查询到的资源
|
||||
"""
|
||||
try:
|
||||
from unilabos.app.web import http_client
|
||||
|
||||
data = json.loads(request.command)
|
||||
if "uuid" in data and data["uuid"] is not None:
|
||||
http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
|
||||
http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
|
||||
elif "id" in data and data["id"].startswith("/"):
|
||||
http_req = http_client.resource_get(data["id"], data["with_children"])
|
||||
http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
|
||||
else:
|
||||
raise ValueError("没有使用正确的物料 id 或 uuid")
|
||||
response.response = json.dumps(http_req["data"])
|
||||
|
||||
@@ -12,10 +12,11 @@ from unilabos_msgs.srv import ResourceUpdate
|
||||
from unilabos.messages import * # type: ignore # protocol names
|
||||
from rclpy.action import ActionServer, ActionClient
|
||||
from rclpy.action.server import ServerGoalHandle
|
||||
from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
|
||||
from unilabos.compile import action_protocol_generators
|
||||
from unilabos.resources.graphio import nested_dict_to_list
|
||||
from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
|
||||
from unilabos.ros.initialize_device import initialize_device_from_dict
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
get_action_type,
|
||||
@@ -23,7 +24,7 @@ from unilabos.ros.msgs.message_converter import (
|
||||
convert_from_ros_msg_with_mapping,
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDictInstance
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDictInstance
|
||||
from unilabos.utils.type_check import get_result_info_str
|
||||
|
||||
if TYPE_CHECKING:
|
||||
@@ -243,7 +244,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
r
|
||||
) # type: ignore
|
||||
raw_data = json.loads(response.response)
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
tree_set = ResourceTreeSet.from_raw_list(raw_data)
|
||||
target = tree_set.dump()
|
||||
protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target
|
||||
except Exception as ex:
|
||||
|
||||
@@ -14,9 +14,9 @@ if TYPE_CHECKING:
|
||||
|
||||
|
||||
class ResourceDictPositionSize(BaseModel):
|
||||
depth: float = Field(description="Depth", default=0.0) # z
|
||||
width: float = Field(description="Width", default=0.0) # x
|
||||
height: float = Field(description="Height", default=0.0) # y
|
||||
depth: float = Field(description="Depth", default=0.0)
|
||||
width: float = Field(description="Width", default=0.0)
|
||||
height: float = Field(description="Height", default=0.0)
|
||||
|
||||
|
||||
class ResourceDictPositionScale(BaseModel):
|
||||
@@ -66,8 +66,8 @@ class ResourceDict(BaseModel):
|
||||
klass: str = Field(alias="class", description="Resource class name")
|
||||
pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
|
||||
config: Dict[str, Any] = Field(description="Resource configuration")
|
||||
data: Dict[str, Any] = Field(description="Resource data, eg: container liquid data")
|
||||
extra: Dict[str, Any] = Field(description="Extra data, eg: slot index")
|
||||
data: Dict[str, Any] = Field(description="Resource data")
|
||||
extra: Dict[str, Any] = Field(description="Extra data")
|
||||
|
||||
@field_serializer("parent_uuid")
|
||||
def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):
|
||||
@@ -469,9 +469,9 @@ class ResourceTreeSet(object):
|
||||
**res.config,
|
||||
"name": res.name,
|
||||
"type": res.config.get("type", plr_type),
|
||||
"size_x": res.pose.size.width,
|
||||
"size_y": res.pose.size.height,
|
||||
"size_z": res.pose.size.depth,
|
||||
"size_x": res.config.get("size_x", 0),
|
||||
"size_y": res.config.get("size_y", 0),
|
||||
"size_z": res.config.get("size_z", 0),
|
||||
"location": {
|
||||
"x": res.pose.position.x,
|
||||
"y": res.pose.position.y,
|
||||
@@ -523,7 +523,7 @@ class ResourceTreeSet(object):
|
||||
return plr_resources
|
||||
|
||||
@classmethod
|
||||
def from_raw_dict_list(cls, raw_list: List[Dict[str, Any]]) -> "ResourceTreeSet":
|
||||
def from_raw_list(cls, raw_list: List[Dict[str, Any]]) -> "ResourceTreeSet":
|
||||
"""
|
||||
从原始字典列表创建 ResourceTreeSet，自动建立 parent-children 关系
|
||||
|
||||
@@ -573,10 +573,10 @@ class ResourceTreeSet(object):
|
||||
parent_instance.children.append(instance)
|
||||
|
||||
# 第四步：使用 from_nested_list 创建 ResourceTreeSet
|
||||
return cls.from_nested_instance_list(instances)
|
||||
return cls.from_nested_list(instances)
|
||||
|
||||
@classmethod
|
||||
def from_nested_instance_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet":
|
||||
def from_nested_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet":
|
||||
"""
|
||||
从扁平化的资源列表创建ResourceTreeSet，自动按根节点分组
|
||||
|
||||
@@ -785,7 +785,7 @@ class ResourceTreeSet(object):
|
||||
"""
|
||||
nested_lists = []
|
||||
for tree_data in data:
|
||||
nested_lists.extend(ResourceTreeSet.from_raw_dict_list(tree_data).trees)
|
||||
nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees)
|
||||
return cls(nested_lists)
|
||||
|
||||
|
||||
@@ -965,7 +965,7 @@ class DeviceNodeResourceTracker(object):
|
||||
if current_uuid in self.uuid_to_resources:
|
||||
self.uuid_to_resources.pop(current_uuid)
|
||||
self.uuid_to_resources[new_uuid] = res
|
||||
logger.trace(f"更新uuid: {current_uuid} -> {new_uuid}")
|
||||
logger.debug(f"更新uuid: {current_uuid} -> {new_uuid}")
|
||||
replaced = 1
|
||||
return replaced
|
||||
|
||||
@@ -11,9 +11,10 @@ import traceback
|
||||
from abc import abstractmethod
|
||||
from typing import Type, Any, Dict, Optional, TypeVar, Generic, List
|
||||
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
|
||||
from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
|
||||
ResourceTreeInstance
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils import logger, import_manager
|
||||
from unilabos.utils.cls_creator import create_instance_from_config
|
||||
|
||||
# 定义泛型类型变量
|
||||
@@ -134,7 +135,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
||||
Returns:
|
||||
处理后的数据
|
||||
"""
|
||||
from pylabrobot.resources import Resource
|
||||
from pylabrobot.resources import Deck, Resource
|
||||
|
||||
if states is None:
|
||||
states = {}
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"class": "mock_chiller",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -49,7 +49,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_filter",
|
||||
"class": "mock_filter",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -80,7 +80,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"class": "mock_heater",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -108,7 +108,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"class": "mock_pump",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -147,7 +147,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_rotavap",
|
||||
"class": "mock_rotavap",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -175,7 +175,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_separator",
|
||||
"class": "mock_separator",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -213,7 +213,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_solenoid_valve",
|
||||
"class": "mock_solenoid_valve",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -233,7 +233,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"class": "mock_stirrer_new",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -261,7 +261,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"class": "mock_stirrer",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
@@ -289,7 +289,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_vacuum_pump",
|
||||
"class": "mock_vacuum",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"class": "mock_chiller",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_filter",
|
||||
"class": "mock_filter",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"class": "mock_heater",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_transfer_pump",
|
||||
"class": "mock_pump",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_rotavap",
|
||||
"class": "mock_rotavap",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_separator",
|
||||
"class": "mock_separator",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_solenoid_valve",
|
||||
"class": "mock_solenoid_valve",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"class": "mock_stirrer",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"class": "mock_stirrer_new",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_vacuum_pump",
|
||||
"class": "mock_vacuum",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user