fix comprehensive_station.json

.github/workflows/conda-pack-build.yml

@@ -242,6 +242,10 @@ jobs:
           echo Adding: verify_installation.py
           copy scripts\verify_installation.py dist-package\
 
+          rem Copy source code repository (including .git)
+          echo Adding: Uni-Lab-OS source repository
+          robocopy . dist-package\Uni-Lab-OS /E /XD dist-package /NFL /NDL /NJH /NJS /NC /NS || if %ERRORLEVEL% LSS 8 exit /b 0
+
           rem Create README using Python script
           echo Creating: README.txt
           python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
@@ -274,6 +278,10 @@ jobs:
           echo "Adding: verify_installation.py"
           cp scripts/verify_installation.py dist-package/
 
+          # Copy source code repository (including .git)
+          echo "Adding: Uni-Lab-OS source repository"
+          rsync -a --exclude='dist-package' . dist-package/Uni-Lab-OS
+
           # Create README using Python script
           echo "Creating: README.txt"
           python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -170,7 +170,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 200,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -194,7 +199,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 200,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -218,7 +228,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 300,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -242,7 +257,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 900,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -266,7 +286,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 950,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -335,6 +360,8 @@
             },
             "config": {
                 "max_volume": 500.0,
+                "type": "RegularContainer",
+                "category": "container",
                 "max_temp": 200.0,
                 "min_temp": -20.0,
                 "has_stirrer": true,
@@ -419,7 +446,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 2000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 500,
+                "size_y": 400,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -439,7 +471,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 2000.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 1100,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -649,7 +686,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 900,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -669,7 +711,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 950,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -689,7 +736,12 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "type": "RegularContainer",
+                "category": "container",
+                "size_x": 1050,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -733,6 +785,11 @@
             },
             "config": {
                 "max_volume": 500.0,
+                "size_x": 550,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                 "reagent": "sodium_chloride",
                 "physical_state": "solid"
             },
@@ -756,6 +813,11 @@
             },
             "config": {
                 "volume": 500.0,
+                "size_x": 600,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                 "reagent": "sodium_carbonate",
                 "physical_state": "solid"
             },
@@ -779,6 +841,11 @@
             },
             "config": {
                 "volume": 500.0,
+                "size_x": 650,
+                "size_y": 250,
+                "size_z": 0,
+                "type": "RegularContainer",
+                "category": "container",
                 "reagent": "magnesium_chloride",
                 "physical_state": "solid"
             },

unilabos/registry/resources/organic/container.yaml

@@ -3,7 +3,7 @@ container:
   - container
   class:
     module: unilabos.resources.container:RegularContainer
-    type: unilabos
+    type: pylabrobot
   description: regular organic container
   handles:
   - data_key: fluid_in

unilabos/resources/container.py

@@ -1,67 +1,81 @@
 import json
 
+from pylabrobot.resources import Container
 from unilabos_msgs.msg import Resource
 
 from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 
-class RegularContainer(object):
-    # 第一个参数必须是id传入
-    # noinspection PyShadowingBuiltins
-    def __init__(self, id: str):
-        self.id = id
-        self.ulr_resource = Resource()
-        self._data = None
+class RegularContainer(Container):
+    def __init__(self, *args, **kwargs):
+        if "size_x" not in kwargs:
+            kwargs["size_x"] = 0
+        if "size_y" not in kwargs:
+            kwargs["size_y"] = 0
+        if "size_z" not in kwargs:
+            kwargs["size_z"] = 0
+        self.kwargs = kwargs
+        super().__init__(*args, **kwargs)
 
-    @property
-    def ulr_resource_data(self):
-        if self._data is None:
-            self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
-        return self._data
 
-    @ulr_resource_data.setter
-    def ulr_resource_data(self, value: dict):
-        self._data = value
-        self.ulr_resource.data = json.dumps(self._data)
-
-    @property
-    def liquid_type(self):
-        return self.ulr_resource_data.get("liquid_type", None)
-
-    @liquid_type.setter
-    def liquid_type(self, value: str):
-        if value is not None:
-            self.ulr_resource_data["liquid_type"] = value
-        else:
-            self.ulr_resource_data.pop("liquid_type", None)
-
-    @property
-    def liquid_volume(self):
-        return self.ulr_resource_data.get("liquid_volume", None)
-
-    @liquid_volume.setter
-    def liquid_volume(self, value: float):
-        if value is not None:
-            self.ulr_resource_data["liquid_volume"] = value
-        else:
-            self.ulr_resource_data.pop("liquid_volume", None)
-
-    def get_ulr_resource(self) -> Resource:
-        """
-        获取UlrResource对象
-        :return: UlrResource对象
-        """
-        self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
-        return self.ulr_resource
-
-    def get_ulr_resource_as_dict(self) -> Resource:
-        """
-        获取UlrResource对象
-        :return: UlrResource对象
-        """
-        to_dict = convert_from_ros_msg(self.get_ulr_resource())
-        to_dict["type"] = "container"
-        return to_dict
-
-    def __str__(self):
-        return f"{self.id}"
+#
+# class RegularContainer(object):
+#     # 第一个参数必须是id传入
+#     # noinspection PyShadowingBuiltins
+#     def __init__(self, id: str):
+#         self.id = id
+#         self.ulr_resource = Resource()
+#         self._data = None
+#
+#     @property
+#     def ulr_resource_data(self):
+#         if self._data is None:
+#             self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
+#         return self._data
+#
+#     @ulr_resource_data.setter
+#     def ulr_resource_data(self, value: dict):
+#         self._data = value
+#         self.ulr_resource.data = json.dumps(self._data)
+#
+#     @property
+#     def liquid_type(self):
+#         return self.ulr_resource_data.get("liquid_type", None)
+#
+#     @liquid_type.setter
+#     def liquid_type(self, value: str):
+#         if value is not None:
+#             self.ulr_resource_data["liquid_type"] = value
+#         else:
+#             self.ulr_resource_data.pop("liquid_type", None)
+#
+#     @property
+#     def liquid_volume(self):
+#         return self.ulr_resource_data.get("liquid_volume", None)
+#
+#     @liquid_volume.setter
+#     def liquid_volume(self, value: float):
+#         if value is not None:
+#             self.ulr_resource_data["liquid_volume"] = value
+#         else:
+#             self.ulr_resource_data.pop("liquid_volume", None)
+#
+#     def get_ulr_resource(self) -> Resource:
+#         """
+#         获取UlrResource对象
+#         :return: UlrResource对象
+#         """
+#         self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
+#         return self.ulr_resource
+#
+#     def get_ulr_resource_as_dict(self) -> Resource:
+#         """
+#         获取UlrResource对象
+#         :return: UlrResource对象
+#         """
+#         to_dict = convert_from_ros_msg(self.get_ulr_resource())
+#         to_dict["type"] = "container"
+#         return to_dict
+#
+#     def __str__(self):
+#         return f"{self.id}"

unilabos/resources/graphio.py

@@ -781,6 +781,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
             else:
                 r = resource_plr
         elif resource_class_config["type"] == "unilabos":
+            raise ValueError(f"No more support for unilabos Resource class {resource_class_config}")
             res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
             res_instance.ulr_resource = convert_to_ros_msg(
                 Resource, {k: v for k, v in resource_config.items() if k != "class"}

unilabos/ros/nodes/resource_tracker.py

@@ -306,10 +306,7 @@ class ResourceTreeSet(object):
             replace_info = {
                 "plate": "plate",
                 "well": "well",
-                "tip_spot": "container",
-                "trash": "container",
                 "deck": "deck",
-                "tip_rack": "container",
             }
             if source in replace_info:
                 return replace_info[source]
@@ -388,7 +385,7 @@ class ResourceTreeSet(object):
         import inspect
 
         # 类型映射
-        TYPE_MAP = {"plate": "plate", "well": "well", "container": "tip_spot", "deck": "deck", "tip_rack": "tip_rack"}
+        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck"}
 
         def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
             """一次遍历收集 name_to_uuid 和 all_states"""
@@ -400,13 +397,13 @@ class ResourceTreeSet(object):
         def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
             """转换节点为 PLR 字典格式"""
             res = node.res_content
-            plr_type = TYPE_MAP.get(res.type, "tip_spot")
+            plr_type = TYPE_MAP.get(res.type, res.type)
             if res.type not in TYPE_MAP:
                 logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
 
             d = {
                 "name": res.name,
-                "type": plr_type,
+                "type": res.type,
                 "size_x": res.config.get("size_x", 0),
                 "size_y": res.config.get("size_y", 0),
                 "size_z": res.config.get("size_z", 0),
@@ -417,7 +414,7 @@ class ResourceTreeSet(object):
                     "type": "Coordinate",
                 },
                 "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-                "category": plr_type,
+                "category": res.config.get("category", plr_type),
                 "children": [node_to_plr_dict(child, has_model) for child in node.children],
                 "parent_name": res.parent_instance_name,
                 **res.config,
@@ -439,7 +436,7 @@ class ResourceTreeSet(object):
             try:
                 sub_cls = find_subclass(plr_dict["type"], PLRResource)
                 if sub_cls is None:
-                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类")
+                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}")
                 spec = inspect.signature(sub_cls)
                 if "category" not in spec.parameters:
                     plr_dict.pop("category", None)