fix pumps and liquid_handler handle

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -67,7 +67,7 @@ class PRCXI9300Deck(Deck):
 
 
 class PRCXI9300Container(Plate, TipRack):
-    """PRCXI 9300 的专用 Deck 类，继承自 Deck。
+    """PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。
 
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """

unilabos/registry/devices/liquid_handler.yaml

@@ -3997,7 +3997,34 @@ liquid_handler:
           touch_tip: false
           use_channels:
           - 0
-        handles: []
+        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
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -4363,21 +4390,7 @@ liquid_handler:
     type: python
   config_info: []
   description: Liquid handler device controlled by pylabrobot
-  handles:
+  handles: []
-    input:
-    - data_key: liquid
-      data_source: handle
-      data_type: resource
-      handler_key: liquid-input
-      io_type: target
-      label: Liquid Input
-    output:
-    - data_key: liquid
-      data_source: executor
-      data_type: resource
-      handler_key: liquid-output
-      io_type: source
-      label: Liquid Output
   icon: icon_yiyezhan.webp
   init_param_schema:
     config:

unilabos/registry/devices/pump_and_valve.yaml

@@ -366,7 +366,7 @@ solenoid_valve.mock:
       - valve_position
       type: object
   version: 1.0.0
-syringe_pump_with_valve.runze:
+syringe_pump_with_valve.runze.SY03B-T08:
   category:
   - pump_and_valve
   class:
@@ -764,8 +764,582 @@ syringe_pump_with_valve.runze:
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
-  handles: []
+  handles:
-  icon: ''
+    - data_key: fluid_port_1
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口1
+      handler_key: '1'
+      io_type: source
+      label: '1'
+      side: NORTH
+    - data_key: fluid_port_2
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口2
+      handler_key: '2'
+      io_type: source
+      label: '2'
+      side: EAST
+    - data_key: fluid_port_3
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口3
+      handler_key: '3'
+      io_type: source
+      label: '3'
+      side: EAST
+    - data_key: fluid_port_4
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口4
+      handler_key: '4'
+      io_type: source
+      label: '4'
+      side: SOUTH
+    - data_key: fluid_port_5
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口5
+      handler_key: '5'
+      io_type: source
+      label: '5'
+      side: SOUTH
+    - data_key: fluid_port_6
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口6
+      handler_key: '6'
+      io_type: source
+      label: '6'
+      side: WEST
+    - data_key: fluid_port_7
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口7
+      handler_key: '7'
+      io_type: source
+      label: '7'
+      side: WEST
+    - data_key: fluid_port_8
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口8-特殊输入
+      handler_key: '8'
+      io_type: target
+      label: '8'
+      side: WEST
+    - data_key: fluid_port_8
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口8
+      handler_key: '8'
+      io_type: source
+      label: '8'
+      side: NORTH
+  init_param_schema:
+    config:
+      properties:
+        address:
+          default: '1'
+          type: string
+        max_volume:
+          default: 25.0
+          type: number
+        mode:
+          type: string
+        port:
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        max_velocity:
+          type: number
+        mode:
+          type: integer
+        plunger_position:
+          type: string
+        position:
+          type: number
+        status:
+          type: string
+        valve_position:
+          type: string
+        velocity_end:
+          type: string
+        velocity_grade:
+          type: string
+        velocity_init:
+          type: string
+      required:
+      - status
+      - mode
+      - max_velocity
+      - velocity_grade
+      - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
+      type: object
+  version: 1.0.0
+syringe_pump_with_valve.runze.SY03B-T06:
+  category:
+  - pump_and_valve
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-initialize:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: initialize的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: initialize参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pull_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: pull_plunger的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                volume:
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pull_plunger参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: push_plunger的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                volume:
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_plunger参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_1:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_aux_input_status_1的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_1参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_2:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_aux_input_status_2的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_2参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_backlash_position:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_backlash_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_backlash_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_command_buffer_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_command_buffer_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_command_buffer_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_software_version:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_software_version的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_software_version参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          full_command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_command的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                full_command:
+                  type: string
+              required:
+              - full_command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_baudrate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          baudrate: null
+        handles: []
+        result: {}
+        schema:
+          description: set_baudrate的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                baudrate:
+                  type: string
+              required:
+              - baudrate
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_baudrate参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_max_velocity:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: set_max_velocity的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                velocity:
+                  type: number
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_max_velocity参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: null
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                max_velocity:
+                  type: number
+                position:
+                  type: number
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_valve_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                position:
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_velocity_grade:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: set_velocity_grade的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                velocity:
+                  type: string
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_velocity_grade参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_operation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: stop_operation的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_error:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_error的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_error参数
+          type: object
+        type: UniLabJsonCommand
+    hardware_interface:
+      name: hardware_interface
+      read: send_command
+      write: send_command
+    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
+    status_types:
+      max_velocity: float
+      mode: int
+      plunger_position: String
+      position: float
+      status: str
+      valve_position: str
+      velocity_end: String
+      velocity_grade: String
+      velocity_init: String
+    type: python
+  config_info: []
+  description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
+  handles:
+    - data_key: fluid_port_1
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口1
+      handler_key: '1'
+      io_type: source
+      label: '1'
+      side: NORTH
+    - data_key: fluid_port_2
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口2
+      handler_key: '2'
+      io_type: source
+      label: '2'
+      side: EAST
+    - data_key: fluid_port_3
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口3
+      handler_key: '3'
+      io_type: source
+      label: '3'
+      side: SOUTH
+    - data_key: fluid_port_4
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口4
+      handler_key: '4'
+      io_type: source
+      label: '4'
+      side: SOUTH
+    - data_key: fluid_port_5
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口5
+      handler_key: '5'
+      io_type: source
+      label: '5'
+      side: EAST
+    - data_key: fluid_port_6
+      data_source: executor
+      data_type: fluid
+      description: 八通阀门端口6
+      handler_key: '6'
+      io_type: source
+      label: '6'
+      side: NORTH
+    - data_key: fluid_port_6
+      data_source: executor
+      data_type: fluid
+      description: 六通阀门端口6-特殊输入
+      handler_key: '6'
+      io_type: target
+      label: '6-in'
+      side: WEST
   init_param_schema:
     config:
       properties:

unilabos/registry/devices/work_station.yaml

@@ -6136,3 +6136,109 @@ workstation:
       required: []
       type: object
   version: 1.0.0
+workstation.example:
+  category:
+  - work_station
+  class:
+    action_value_mappings:
+      auto-append_resource:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: append_resource参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_resource:
+        feedback: {}
+        goal: {}
+        goal_default:
+          bind_location: null
+          bind_parent_id: null
+          liquid_input_slot: null
+          liquid_type: null
+          liquid_volume: null
+          resource_tracker: null
+          resources: null
+          slot_on_deck: null
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                bind_location:
+                  type: object
+                bind_parent_id:
+                  type: string
+                liquid_input_slot:
+                  type: array
+                liquid_type:
+                  type: array
+                liquid_volume:
+                  type: array
+                resource_tracker:
+                  type: string
+                resources:
+                  type: array
+                slot_on_deck:
+                  type: integer
+              required:
+              - resource_tracker
+              - resources
+              - bind_parent_id
+              - bind_location
+              - liquid_input_slot
+              - liquid_type
+              - liquid_volume
+              - slot_on_deck
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_resource参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.ros.nodes.presets.workstation:WorkStationExample
+    status_types: {}
+    type: ros2
+  config_info: []
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        children:
+          type: object
+        device_id:
+          type: string
+        protocol_type:
+          type: string
+        resource_tracker:
+          type: string
+      required:
+      - device_id
+      - children
+      - protocol_type
+      - resource_tracker
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/resources/organic/workstation.yaml

@@ -0,0 +1,12 @@
+get_workstation_plate_resource:
+  category:
+  - workstation
+  class:
+    module: unilabos.ros.nodes.presets.workstation:get_workstation_plate_resource
+    type: pylabrobot
+  description: workstation example resource
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/resources/plr_additional_res_reg.py

@@ -0,0 +1,9 @@
+
+
+def register():
+    # noinspection PyUnresolvedReferences
+    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
+    # noinspection PyUnresolvedReferences
+    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
+    # noinspection PyUnresolvedReferences
+    from unilabos.ros.nodes.presets.workstation import WorkStationContainer

unilabos/ros/nodes/base_device_node.py

@@ -31,6 +31,7 @@ from unilabos.resources.graphio import (
     resource_plr_to_ulab,
     tree_to_list,
 )
+from unilabos.resources.plr_additional_res_reg import register
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
@@ -941,17 +942,14 @@ class ROS2DeviceNode:
         if use_pylabrobot_creator:
             # 先对pylabrobot的子资源进行加载，不然subclass无法认出
             # 在下方对于加载Deck等Resource要手动import
-            # noinspection PyUnresolvedReferences
+            register()
-            from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
-            # noinspection PyUnresolvedReferences
-            from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
             self._driver_creator = PyLabRobotCreator(
                 driver_class, children=children, resource_tracker=self.resource_tracker
             )
         else:
             from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
 
-            if self._driver_class is ROS2ProtocolNode:
+            if issubclass(self._driver_class, ROS2ProtocolNode):  # 是ProtocolNode的子节点，就要调用ProtocolNodeCreator
                 self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
             else:
                 self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)

unilabos/ros/nodes/presets/workstation.py

@@ -0,0 +1,84 @@
+import collections
+from typing import Union, Dict, Any, Optional
+
+from unilabos_msgs.msg import Resource
+from pylabrobot.resources import Resource as PLRResource, Plate, TipRack, Coordinate
+from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+
+class WorkStationContainer(Plate, TipRack):
+    """
+    WorkStation 专用 Container 类，继承自 Plate和TipRack
+    注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化
+    """
+
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict, model: Optional[str] = None,):
+        """
+        这里的初始化入参要和plr的保持一致
+        """
+        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
+        self._unilabos_state = {}  # 必须有此行，自己的类描述的是物料的
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """从给定的状态加载工作台信息。"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        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 get_workstation_plate_resource(name: str) -> PLRResource:  # 要给定一个返回plr的方法
+    """
+    用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml
+    可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错
+    :param name: 资源名称
+    :return: Resource对象
+    """
+    plate = WorkStationContainer(name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+    tip_rack = WorkStationContainer("tip_rack_inside_plate", size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict())
+    plate.assign_child_resource(tip_rack, Coordinate.zero())
+    return plate
+
+
+class WorkStationExample(ROS2ProtocolNode):
+    def __init__(self,
+                 # 你可以在这里增加任意的参数，对应启动json填写相应的参数内容
+                 device_id: str,
+                 children: dict,
+                 protocol_type: Union[str, list[str]],
+                 resource_tracker: DeviceNodeResourceTracker
+                 ):
+        super().__init__(device_id, children, protocol_type, resource_tracker)
+
+    def create_resource(
+        self,
+        resource_tracker: DeviceNodeResourceTracker,
+        resources: list[Resource],
+        bind_parent_id: str,
+        bind_location: dict[str, float],
+        liquid_input_slot: list[int],
+        liquid_type: list[str],
+        liquid_volume: list[int],
+        slot_on_deck: int,
+    ) -> Dict[str, Any]:
+        return {  # edge侧返回给前端的创建物料的结果。云端调用初始化瓶子等。执行该函数时，物料已经上报给云端，一般不需要继承使用
+
+        }
+
+    def transfer_bottle(self, tip_rack: PLRResource, base_plate: PLRResource):  # 使用自定义物料的举例
+        """
+        将tip_rack assign给base_plate，两个入参都得是PLRResource，unilabos会代替当前物料操作，自动刷新他们的父子关系等状态
+        """
+        pass
+
+    def trigger_resource_update(self, from_plate: PLRResource, to_base_plate: PLRResource):
+        """
+        有些时候物料发生了子设备的迁移，一般对该设备的最大一级的物料进行操作，例如要将A物料搬移到B物料上，他们不共同拥有一个物料
+        该步骤操作结束后，会主动刷新from_plate的父物料，与to_base_plate的父物料（如没有则刷新自身）
+
+        """
+        to_base_plate.assign_child_resource(from_plate, Coordinate.zero())
+        pass