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feat/add_u
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e30c01d54e
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e30c01d54e | ||
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c4a3be1498 | ||
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e11070315d | ||
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50ebcad9d7 |
@@ -439,6 +439,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
1. 访问 Web 界面，进入"仪器耗材"模块
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||||
2. 在"仪器设备"区域找到并添加上述设备
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3. 在"物料耗材"区域找到并添加容器
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4. 在workstation中配置protocol_type包含PumpTransferProtocol
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||||
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BIN
docs/user_guide/image/add_protocol.png
Normal file
BIN
docs/user_guide/image/add_protocol.png
Normal file
Binary file not shown.
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After Width: | Height: | Size: 81 KiB |
213
tests/workflow/test.json
Normal file
213
tests/workflow/test.json
Normal file
@@ -0,0 +1,213 @@
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||||
{
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||||
"workflow": [
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||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_1",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
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||||
},
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||||
{
|
||||
"action": "transfer_liquid",
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||||
"action_args": {
|
||||
"sources": "cell_lines",
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||||
"targets": "Liquid_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_4",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
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||||
{
|
||||
"action": "transfer_liquid",
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||||
"action_args": {
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||||
"sources": "cell_lines_2",
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||||
"targets": "Liquid_5",
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||||
"asp_vol": 100.0,
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||||
"dis_vol": 74.75,
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||||
"asp_flow_rate": 94.0,
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||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
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||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_6",
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||||
"asp_vol": 100.0,
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||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
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||||
{
|
||||
"action": "transfer_liquid",
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||||
"action_args": {
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||||
"sources": "cell_lines_3",
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"targets": "dest_set",
|
||||
"asp_vol": 100.0,
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||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
}
|
||||
],
|
||||
"reagent": {
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||||
"Liquid_1": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_4": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"dest_set": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_5": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"dest_set_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"Liquid_6": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"dest_set_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"cell_lines": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_2": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_3": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -359,9 +359,7 @@ class HTTPClient:
|
||||
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,
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -30,9 +30,30 @@ from pylabrobot.liquid_handling.standard import (
|
||||
ResourceMove,
|
||||
ResourceDrop,
|
||||
)
|
||||
from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
|
||||
from pylabrobot.resources import (
|
||||
ResourceHolder,
|
||||
ResourceStack,
|
||||
Tip,
|
||||
Deck,
|
||||
Plate,
|
||||
Well,
|
||||
TipRack,
|
||||
Resource,
|
||||
Container,
|
||||
Coordinate,
|
||||
TipSpot,
|
||||
Trash,
|
||||
PlateAdapter,
|
||||
TubeRack,
|
||||
)
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import (
|
||||
LiquidHandlerAbstract,
|
||||
SimpleReturn,
|
||||
SetLiquidReturn,
|
||||
SetLiquidFromPlateReturn,
|
||||
)
|
||||
from unilabos.registry.placeholder_type import ResourceSlot
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
@@ -80,6 +101,7 @@ class PRCXI9300Deck(Deck):
|
||||
self.slots[slot - 1] = resource
|
||||
super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
|
||||
|
||||
|
||||
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。
|
||||
|
||||
@@ -108,20 +130,29 @@ class PRCXI9300Container(Plate):
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
return data
|
||||
return data
|
||||
|
||||
|
||||
class PRCXI9300Plate(Plate):
|
||||
"""
|
||||
"""
|
||||
专用孔板类：
|
||||
1. 继承自 PLR 原生 Plate，保留所有物理特性。
|
||||
2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "plate",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
if ordered_items is not None:
|
||||
items = ordered_items
|
||||
@@ -142,40 +173,34 @@ class PRCXI9300Plate(Plate):
|
||||
else:
|
||||
items = None
|
||||
ordering_param = None
|
||||
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
|
||||
)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 Plate 自己创建 Well 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
|
||||
)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
|
||||
|
||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||
try:
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -188,23 +213,32 @@ class PRCXI9300Plate(Plate):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data # 其他顶层属性也进行类型检查
|
||||
return data # 其他顶层属性也进行类型检查
|
||||
|
||||
|
||||
class PRCXI9300TipRack(TipRack):
|
||||
""" 专用吸头盒类 """
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "tip_rack",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
"""专用吸头盒类"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "tip_rack",
|
||||
ordered_items: collections.OrderedDict = None,
|
||||
ordering: Optional[collections.OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
if ordered_items is not None:
|
||||
items = ordered_items
|
||||
@@ -225,27 +259,23 @@ class PRCXI9300TipRack(TipRack):
|
||||
else:
|
||||
items = None
|
||||
ordering_param = None
|
||||
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
|
||||
)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(
|
||||
name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
|
||||
)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
category=category,
|
||||
model=model, **kwargs)
|
||||
super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
|
||||
def load_state(self, state: Dict[str, Any]) -> None:
|
||||
super().load_state(state)
|
||||
self._unilabos_state = state
|
||||
@@ -255,7 +285,7 @@ class PRCXI9300TipRack(TipRack):
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -268,26 +298,33 @@ class PRCXI9300TipRack(TipRack):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
|
||||
class PRCXI9300Trash(Trash):
|
||||
"""PRCXI 9300 的专用 Trash 类，继承自 Trash。
|
||||
|
||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||
"""
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "trash",
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "trash",
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
|
||||
if name != "trash":
|
||||
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
@@ -306,7 +343,7 @@ class PRCXI9300Trash(Trash):
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -319,29 +356,37 @@ class PRCXI9300Trash(Trash):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
class PRCXI9300TubeRack(TubeRack):
|
||||
"""
|
||||
专用管架类：用于 EP 管架、试管架等。
|
||||
继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "tube_rack",
|
||||
items: Optional[Dict[str, Any]] = None,
|
||||
ordered_items: Optional[OrderedDict] = None,
|
||||
ordering: Optional[OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs):
|
||||
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "tube_rack",
|
||||
items: Optional[Dict[str, Any]] = None,
|
||||
ordered_items: Optional[OrderedDict] = None,
|
||||
ordering: Optional[OrderedDict] = None,
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
|
||||
# 如果 ordered_items 不为 None，直接使用
|
||||
if ordered_items is not None:
|
||||
items_to_pass = ordered_items
|
||||
@@ -367,24 +412,16 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
else:
|
||||
items_to_pass = None
|
||||
ordering_param = None
|
||||
|
||||
|
||||
# 根据情况传递不同的参数
|
||||
if items_to_pass is not None:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordered_items=items_to_pass,
|
||||
model=model,
|
||||
**kwargs)
|
||||
super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
|
||||
elif ordering_param is not None:
|
||||
# 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
ordering=ordering_param,
|
||||
model=model,
|
||||
**kwargs)
|
||||
super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
|
||||
else:
|
||||
super().__init__(name, size_x, size_y, size_z,
|
||||
model=model,
|
||||
**kwargs)
|
||||
|
||||
super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
@@ -394,7 +431,7 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -407,33 +444,41 @@ class PRCXI9300TubeRack(TubeRack):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
"""
|
||||
专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
|
||||
支持注入 material_info (UUID)。
|
||||
"""
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
category: str = "plate_adapter",
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
# 参数给予默认值 (标准96孔板尺寸)
|
||||
adapter_hole_size_x: float = 127.76,
|
||||
adapter_hole_size_y: float = 85.48,
|
||||
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
|
||||
dx: Optional[float] = None,
|
||||
dy: Optional[float] = None,
|
||||
dz: float = 0.0, # 默认Z轴偏移
|
||||
**kwargs):
|
||||
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "plate_adapter",
|
||||
model: Optional[str] = None,
|
||||
material_info: Optional[Dict[str, Any]] = None,
|
||||
# 参数给予默认值 (标准96孔板尺寸)
|
||||
adapter_hole_size_x: float = 127.76,
|
||||
adapter_hole_size_y: float = 85.48,
|
||||
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
|
||||
dx: Optional[float] = None,
|
||||
dy: Optional[float] = None,
|
||||
dz: float = 0.0, # 默认Z轴偏移
|
||||
**kwargs,
|
||||
):
|
||||
|
||||
# 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
|
||||
if dx is None:
|
||||
dx = (size_x - adapter_hole_size_x) / 2
|
||||
@@ -441,20 +486,20 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
dy = (size_y - adapter_hole_size_y) / 2
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
dx=dx,
|
||||
dy=dy,
|
||||
dz=dz,
|
||||
adapter_hole_size_x=adapter_hole_size_x,
|
||||
adapter_hole_size_y=adapter_hole_size_y,
|
||||
adapter_hole_size_z=adapter_hole_size_z,
|
||||
model=model,
|
||||
**kwargs
|
||||
model=model,
|
||||
**kwargs,
|
||||
)
|
||||
|
||||
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
@@ -464,7 +509,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
data = super().serialize_state()
|
||||
except AttributeError:
|
||||
data = {}
|
||||
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
||||
safe_state = {}
|
||||
for k, v in self._unilabos_state.items():
|
||||
# 如果是 Material 字典，深入检查
|
||||
@@ -477,15 +522,16 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
||||
else:
|
||||
# 打印日志提醒（可选）
|
||||
# print(f"Warning: Removing non-serializable key {mk} from {self.name}")
|
||||
pass
|
||||
pass
|
||||
safe_state[k] = safe_material
|
||||
# 其他顶层属性也进行类型检查
|
||||
elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
|
||||
safe_state[k] = v
|
||||
|
||||
|
||||
data.update(safe_state)
|
||||
return data
|
||||
|
||||
|
||||
class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
support_touch_tip = False
|
||||
|
||||
@@ -518,7 +564,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
if "Material" in child.children[0]._unilabos_state:
|
||||
number = int(child.name.replace("T", ""))
|
||||
tablets_info.append(
|
||||
WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
|
||||
WorkTablets(
|
||||
Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
|
||||
)
|
||||
)
|
||||
if is_9320:
|
||||
print("当前设备是9320")
|
||||
@@ -538,9 +586,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
super().post_init(ros_node)
|
||||
self._unilabos_backend.post_init(ros_node)
|
||||
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
|
||||
return super().set_liquid(wells, liquid_names, volumes)
|
||||
|
||||
def set_liquid_from_plate(
|
||||
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
|
||||
) -> SetLiquidFromPlateReturn:
|
||||
return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
|
||||
|
||||
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
|
||||
return super().set_group(group_name, wells, volumes)
|
||||
|
||||
@@ -799,7 +852,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
|
||||
|
||||
async def heater_action(self, temperature: float, time: int):
|
||||
return await self._unilabos_backend.heater_action(temperature, time)
|
||||
return await self._unilabos_backend.heater_action(temperature, time)
|
||||
|
||||
async def move_plate(
|
||||
self,
|
||||
plate: Plate,
|
||||
@@ -822,10 +876,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
drop_direction,
|
||||
pickup_direction,
|
||||
pickup_distance_from_top,
|
||||
target_plate_number = to,
|
||||
target_plate_number=to,
|
||||
**backend_kwargs,
|
||||
)
|
||||
|
||||
|
||||
class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
|
||||
|
||||
@@ -878,31 +933,28 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
|
||||
|
||||
resource=pickup.resource
|
||||
offset=pickup.offset
|
||||
pickup_distance_from_top=pickup.pickup_distance_from_top
|
||||
direction=pickup.direction
|
||||
|
||||
resource = pickup.resource
|
||||
offset = pickup.offset
|
||||
pickup_distance_from_top = pickup.pickup_distance_from_top
|
||||
direction = pickup.direction
|
||||
|
||||
plate_number = int(resource.parent.name.replace("T", ""))
|
||||
is_whole_plate = True
|
||||
balance_height = 0
|
||||
step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
|
||||
|
||||
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
|
||||
|
||||
|
||||
plate_number = None
|
||||
target_plate_number = backend_kwargs.get("target_plate_number", None)
|
||||
if target_plate_number is not None:
|
||||
plate_number = int(target_plate_number.name.replace("T", ""))
|
||||
|
||||
|
||||
is_whole_plate = True
|
||||
balance_height = 0
|
||||
if plate_number is None:
|
||||
@@ -911,7 +963,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
self.steps_todo_list.append(step)
|
||||
return step
|
||||
|
||||
|
||||
async def heater_action(self, temperature: float, time: int):
|
||||
print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
|
||||
# return await self.api_client.heater_action(temperature, time)
|
||||
@@ -968,7 +1019,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
error_code = self.api_client.get_error_code()
|
||||
if error_code:
|
||||
print(f"PRCXI9300 error code detected: {error_code}")
|
||||
|
||||
|
||||
# 清除错误代码
|
||||
self.api_client.clear_error_code()
|
||||
print("PRCXI9300 error code cleared.")
|
||||
@@ -976,11 +1027,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
# 执行重置
|
||||
print("Starting PRCXI9300 reset...")
|
||||
self.api_client.call("IAutomation", "Reset")
|
||||
|
||||
|
||||
# 检查重置状态并等待完成
|
||||
while not self.is_reset_ok:
|
||||
print("Waiting for PRCXI9300 to reset...")
|
||||
if hasattr(self, '_ros_node') and self._ros_node is not None:
|
||||
if hasattr(self, "_ros_node") and self._ros_node is not None:
|
||||
await self._ros_node.sleep(1)
|
||||
else:
|
||||
await asyncio.sleep(1)
|
||||
@@ -998,7 +1049,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
"""Pick up tips from the specified resource."""
|
||||
# INSERT_YOUR_CODE
|
||||
# Ensure use_channels is converted to a list of ints if it's an array
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
if hasattr(use_channels, "tolist"):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
@@ -1052,7 +1103,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
|
||||
"""Pick up tips from the specified resource."""
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
if hasattr(use_channels, "tolist"):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
@@ -1135,7 +1186,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
"""Mix liquid in the specified resources."""
|
||||
|
||||
|
||||
plate_indexes = []
|
||||
for op in targets:
|
||||
deck = op.parent.parent.parent
|
||||
@@ -1178,7 +1229,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
|
||||
"""Aspirate liquid from the specified resources."""
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
if hasattr(use_channels, "tolist"):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
@@ -1235,7 +1286,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
|
||||
async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
|
||||
"""Dispense liquid into the specified resources."""
|
||||
if hasattr(use_channels, 'tolist'):
|
||||
if hasattr(use_channels, "tolist"):
|
||||
_use_channels = use_channels.tolist()
|
||||
else:
|
||||
_use_channels = list(use_channels) if use_channels is not None else None
|
||||
@@ -1416,7 +1467,6 @@ class PRCXI9300Api:
|
||||
time.sleep(1)
|
||||
return success
|
||||
|
||||
|
||||
def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
|
||||
payload = json.dumps(
|
||||
{"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
|
||||
@@ -1543,7 +1593,7 @@ class PRCXI9300Api:
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
"Function": "Imbibing",
|
||||
@@ -1621,7 +1671,7 @@ class PRCXI9300Api:
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
"Function": "Blending",
|
||||
@@ -1681,11 +1731,11 @@ class PRCXI9300Api:
|
||||
"LiquidDispensingMethod": liquid_method,
|
||||
}
|
||||
|
||||
def clamp_jaw_pick_up(self,
|
||||
def clamp_jaw_pick_up(
|
||||
self,
|
||||
plate_no: int,
|
||||
is_whole_plate: bool,
|
||||
balance_height: int,
|
||||
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": "ClampingJaw",
|
||||
@@ -1695,7 +1745,7 @@ class PRCXI9300Api:
|
||||
"HoleRow": 1,
|
||||
"HoleCol": 1,
|
||||
"BalanceHeight": balance_height,
|
||||
"PlateOrHoleNum": f"T{plate_no}"
|
||||
"PlateOrHoleNum": f"T{plate_no}",
|
||||
}
|
||||
|
||||
def clamp_jaw_drop(
|
||||
@@ -1703,7 +1753,6 @@ class PRCXI9300Api:
|
||||
plate_no: int,
|
||||
is_whole_plate: bool,
|
||||
balance_height: int,
|
||||
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": "ClampingJaw",
|
||||
@@ -1713,7 +1762,7 @@ class PRCXI9300Api:
|
||||
"HoleRow": 1,
|
||||
"HoleCol": 1,
|
||||
"BalanceHeight": balance_height,
|
||||
"PlateOrHoleNum": f"T{plate_no}"
|
||||
"PlateOrHoleNum": f"T{plate_no}",
|
||||
}
|
||||
|
||||
def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
|
||||
@@ -1726,6 +1775,7 @@ class PRCXI9300Api:
|
||||
"AssistFun4": is_wait,
|
||||
}
|
||||
|
||||
|
||||
class DefaultLayout:
|
||||
|
||||
def __init__(self, product_name: str = "PRCXI9300"):
|
||||
@@ -2104,7 +2154,9 @@ if __name__ == "__main__":
|
||||
size_y=50,
|
||||
size_z=10,
|
||||
category="tip_rack",
|
||||
ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||
ordered_items=collections.OrderedDict(
|
||||
{k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}
|
||||
),
|
||||
)
|
||||
tip_rack_serialized = tip_rack.serialize()
|
||||
tip_rack_serialized["parent_name"] = deck.name
|
||||
@@ -2299,43 +2351,37 @@ if __name__ == "__main__":
|
||||
|
||||
A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||
with open("deck.json", "w", encoding="utf-8") as f:
|
||||
A.insert(0, {
|
||||
"id": "PRCXI",
|
||||
"name": "PRCXI",
|
||||
"parent": None,
|
||||
"type": "device",
|
||||
"class": "liquid_handler.prcxi",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_child_name": "PRCXI_Deck",
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
|
||||
A.insert(
|
||||
0,
|
||||
{
|
||||
"id": "PRCXI",
|
||||
"name": "PRCXI",
|
||||
"parent": None,
|
||||
"type": "device",
|
||||
"class": "liquid_handler.prcxi",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_child_name": "PRCXI_Deck",
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
||||
},
|
||||
"host": "192.168.0.121",
|
||||
"port": 9999,
|
||||
"timeout": 10.0,
|
||||
"axis": "Right",
|
||||
"channel_num": 1,
|
||||
"setup": False,
|
||||
"debug": True,
|
||||
"simulator": True,
|
||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
"is_9320": True,
|
||||
},
|
||||
"host": "192.168.0.121",
|
||||
"port": 9999,
|
||||
"timeout": 10.0,
|
||||
"axis": "Right",
|
||||
"channel_num": 1,
|
||||
"setup": False,
|
||||
"debug": True,
|
||||
"simulator": True,
|
||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
"is_9320": True
|
||||
"data": {},
|
||||
"children": ["PRCXI_Deck"],
|
||||
},
|
||||
"data": {},
|
||||
"children": [
|
||||
"PRCXI_Deck"
|
||||
]
|
||||
})
|
||||
)
|
||||
A[1]["parent"] = "PRCXI"
|
||||
json.dump({
|
||||
"nodes": A,
|
||||
"links": []
|
||||
}, f, indent=4, ensure_ascii=False)
|
||||
json.dump({"nodes": A, "links": []}, f, indent=4, ensure_ascii=False)
|
||||
|
||||
handler = PRCXI9300Handler(
|
||||
deck=deck,
|
||||
@@ -2377,7 +2423,6 @@ if __name__ == "__main__":
|
||||
time.sleep(5)
|
||||
os._exit(0)
|
||||
|
||||
|
||||
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
|
||||
prcxi_api.list_matrices()
|
||||
prcxi_api.get_all_materials()
|
||||
|
||||
376
unilabos/devices/motor/ZDT_X42.py
Normal file
376
unilabos/devices/motor/ZDT_X42.py
Normal file
@@ -0,0 +1,376 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
ZDT X42 Closed-Loop Stepper Motor Driver
|
||||
RS485 Serial Communication via USB-Serial Converter
|
||||
|
||||
- Baudrate: 115200
|
||||
"""
|
||||
|
||||
import serial
|
||||
import time
|
||||
import threading
|
||||
import struct
|
||||
import logging
|
||||
from typing import Optional, Any
|
||||
|
||||
try:
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
except ImportError:
|
||||
class UniversalDriver:
|
||||
def __init__(self, *args, **kwargs):
|
||||
self.logger = logging.getLogger(self.__class__.__name__)
|
||||
def execute_command_from_outer(self, command: Any): pass
|
||||
|
||||
from serial.rs485 import RS485Settings
|
||||
|
||||
|
||||
class ZDTX42Driver(UniversalDriver):
|
||||
"""
|
||||
ZDT X42 闭环步进电机驱动器
|
||||
|
||||
支持功能:
|
||||
- 速度模式运行
|
||||
- 位置模式运行 (相对/绝对)
|
||||
- 位置读取和清零
|
||||
- 使能/禁用控制
|
||||
|
||||
通信协议:
|
||||
- 帧格式: [设备ID] [功能码] [数据...] [校验位=0x6B]
|
||||
- 响应长度根据功能码决定
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
port: str,
|
||||
baudrate: int = 115200,
|
||||
device_id: int = 1,
|
||||
timeout: float = 0.5,
|
||||
debug: bool = False
|
||||
):
|
||||
"""
|
||||
初始化 ZDT X42 电机驱动
|
||||
|
||||
Args:
|
||||
port: 串口设备路径
|
||||
baudrate: 波特率 (默认 115200)
|
||||
device_id: 设备地址 (1-255)
|
||||
timeout: 通信超时时间(秒)
|
||||
debug: 是否启用调试输出
|
||||
"""
|
||||
super().__init__()
|
||||
self.id = device_id
|
||||
self.debug = debug
|
||||
self.lock = threading.RLock()
|
||||
self.status = "idle" # 对应注册表中的 status (str)
|
||||
self.position = 0 # 对应注册表中的 position (int)
|
||||
|
||||
try:
|
||||
self.ser = serial.Serial(
|
||||
port=port,
|
||||
baudrate=baudrate,
|
||||
timeout=timeout,
|
||||
bytesize=serial.EIGHTBITS,
|
||||
parity=serial.PARITY_NONE,
|
||||
stopbits=serial.STOPBITS_ONE
|
||||
)
|
||||
|
||||
# 启用 RS485 模式
|
||||
try:
|
||||
self.ser.rs485_mode = RS485Settings(
|
||||
rts_level_for_tx=True,
|
||||
rts_level_for_rx=False
|
||||
)
|
||||
except Exception:
|
||||
pass # RS485 模式是可选的
|
||||
|
||||
self.logger.info(
|
||||
f"ZDT X42 Motor connected: {port} "
|
||||
f"(Baud: {baudrate}, ID: {device_id})"
|
||||
)
|
||||
# 自动使能电机，确保初始状态可运动
|
||||
self.enable(True)
|
||||
|
||||
# 启动背景轮询线程，确保 position 实时刷新
|
||||
self._stop_event = threading.Event()
|
||||
self._polling_thread = threading.Thread(
|
||||
target=self._update_loop,
|
||||
name=f"ZDTPolling_{port}",
|
||||
daemon=True
|
||||
)
|
||||
self._polling_thread.start()
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to open serial port {port}: {e}")
|
||||
self.ser = None
|
||||
|
||||
def _update_loop(self):
|
||||
"""背景循环读取电机位置"""
|
||||
while not self._stop_event.is_set():
|
||||
try:
|
||||
self.get_position()
|
||||
except Exception as e:
|
||||
if self.debug:
|
||||
self.logger.error(f"Polling error: {e}")
|
||||
time.sleep(1.0) # 每1秒刷新一次位置数据
|
||||
|
||||
def _send(self, func_code: int, payload: list) -> bytes:
|
||||
"""
|
||||
发送指令并接收响应
|
||||
|
||||
Args:
|
||||
func_code: 功能码
|
||||
payload: 数据负载 (list of bytes)
|
||||
|
||||
Returns:
|
||||
响应数据 (bytes)
|
||||
"""
|
||||
if not self.ser:
|
||||
self.logger.error("Serial port not available")
|
||||
return b""
|
||||
|
||||
with self.lock:
|
||||
# 清空输入缓冲区
|
||||
self.ser.reset_input_buffer()
|
||||
|
||||
# 构建消息: [ID] [功能码] [数据...] [校验位=0x6B]
|
||||
message = bytes([self.id, func_code] + payload + [0x6B])
|
||||
|
||||
# 发送
|
||||
self.ser.write(message)
|
||||
|
||||
# 根据功能码决定响应长度
|
||||
# 查询类指令返回 10 字节，控制类指令返回 4 字节
|
||||
read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
|
||||
response = self.ser.read(read_len)
|
||||
|
||||
# 调试输出
|
||||
if self.debug:
|
||||
sent_hex = message.hex().upper()
|
||||
recv_hex = response.hex().upper() if response else 'TIMEOUT'
|
||||
print(f"[ID {self.id}] TX: {sent_hex} → RX: {recv_hex}")
|
||||
|
||||
return response
|
||||
|
||||
def enable(self, on: bool = True) -> bool:
|
||||
"""
|
||||
使能/禁用电机
|
||||
|
||||
Args:
|
||||
on: True=使能(锁轴), False=禁用(松轴)
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
state = 1 if on else 0
|
||||
resp = self._send(0xF3, [0xAB, state, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def move_speed(
|
||||
self,
|
||||
speed_rpm: int,
|
||||
direction: str = "CW",
|
||||
acceleration: int = 10
|
||||
) -> bool:
|
||||
"""
|
||||
速度模式运行
|
||||
|
||||
Args:
|
||||
speed_rpm: 转速 (RPM)
|
||||
direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
|
||||
acceleration: 加速度 (0-255)
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
|
||||
speed_bytes = struct.pack('>H', int(speed_rpm))
|
||||
self.status = f"moving@{speed_rpm}rpm"
|
||||
resp = self._send(0xF6, [dir_val, speed_bytes[0], speed_bytes[1], acceleration, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def move_position(
|
||||
self,
|
||||
pulses: int,
|
||||
speed_rpm: int,
|
||||
direction: str = "CW",
|
||||
acceleration: int = 10,
|
||||
absolute: bool = False
|
||||
) -> bool:
|
||||
"""
|
||||
位置模式运行
|
||||
|
||||
Args:
|
||||
pulses: 脉冲数
|
||||
speed_rpm: 转速 (RPM)
|
||||
direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
|
||||
acceleration: 加速度 (0-255)
|
||||
absolute: True=绝对位置, False=相对位置
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
|
||||
speed_bytes = struct.pack('>H', int(speed_rpm))
|
||||
self.status = f"moving_to_{pulses}"
|
||||
pulse_bytes = struct.pack('>I', int(pulses))
|
||||
abs_flag = 1 if absolute else 0
|
||||
|
||||
payload = [
|
||||
dir_val,
|
||||
speed_bytes[0], speed_bytes[1],
|
||||
acceleration,
|
||||
pulse_bytes[0], pulse_bytes[1], pulse_bytes[2], pulse_bytes[3],
|
||||
abs_flag,
|
||||
0
|
||||
]
|
||||
|
||||
resp = self._send(0xFD, payload)
|
||||
return len(resp) >= 4
|
||||
|
||||
def stop(self) -> bool:
|
||||
"""
|
||||
停止电机
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
self.status = "idle"
|
||||
resp = self._send(0xFE, [0x98, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def rotate_quarter(self, speed_rpm: int = 60, direction: str = "CW") -> bool:
|
||||
"""
|
||||
电机旋转 1/4 圈 (阻塞式)
|
||||
假设电机细分为 3200 脉冲/圈，1/4 圈 = 800 脉冲
|
||||
"""
|
||||
pulses = 800
|
||||
success = self.move_position(pulses=pulses, speed_rpm=speed_rpm, direction=direction, absolute=False)
|
||||
|
||||
if success:
|
||||
# 计算预估旋转时间并进行阻塞等待 (Time = revolutions / (RPM/60))
|
||||
# 1/4 rev / (RPM/60) = 15.0 / RPM
|
||||
estimated_time = 15.0 / max(1, speed_rpm)
|
||||
time.sleep(estimated_time + 0.5) # 额外给 0.5 秒缓冲
|
||||
self.status = "idle"
|
||||
|
||||
return success
|
||||
|
||||
def wait_time(self, duration_s: float) -> bool:
|
||||
"""
|
||||
等待指定时间 (秒)
|
||||
"""
|
||||
self.logger.info(f"Waiting for {duration_s} seconds...")
|
||||
time.sleep(duration_s)
|
||||
return True
|
||||
|
||||
def set_zero(self) -> bool:
|
||||
"""
|
||||
清零当前位置
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
resp = self._send(0x0A, [])
|
||||
return len(resp) >= 4
|
||||
|
||||
def get_position(self) -> Optional[int]:
|
||||
"""
|
||||
读取当前位置 (脉冲数)
|
||||
|
||||
Returns:
|
||||
当前位置脉冲数，失败返回 None
|
||||
"""
|
||||
resp = self._send(0x32, [])
|
||||
|
||||
if len(resp) >= 8:
|
||||
# 响应格式: [ID] [Func] [符号位] [数值4字节] [校验]
|
||||
sign = resp[2] # 0=正, 1=负
|
||||
value = struct.unpack('>I', resp[3:7])[0]
|
||||
self.position = -value if sign == 1 else value
|
||||
|
||||
if self.debug:
|
||||
print(f"[Position] Raw: {resp.hex().upper()}, Parsed: {self.position}")
|
||||
|
||||
return self.position
|
||||
|
||||
self.logger.warning("Failed to read position")
|
||||
return None
|
||||
|
||||
def close(self):
|
||||
"""关闭串口连接并停止线程"""
|
||||
if hasattr(self, '_stop_event'):
|
||||
self._stop_event.set()
|
||||
|
||||
if self.ser and self.ser.is_open:
|
||||
self.ser.close()
|
||||
self.logger.info("Serial port closed")
|
||||
|
||||
|
||||
# ============================================================
|
||||
# 测试和调试代码
|
||||
# ============================================================
|
||||
|
||||
def test_motor():
|
||||
"""基础功能测试"""
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
|
||||
print("="*60)
|
||||
print("ZDT X42 电机驱动测试")
|
||||
print("="*60)
|
||||
|
||||
driver = ZDTX42Driver(
|
||||
port="/dev/tty.usbserial-3110",
|
||||
baudrate=115200,
|
||||
device_id=2,
|
||||
debug=True
|
||||
)
|
||||
|
||||
if not driver.ser:
|
||||
print("❌ 串口打开失败")
|
||||
return
|
||||
|
||||
try:
|
||||
# 测试 1: 读取位置
|
||||
print("\n[1] 读取当前位置")
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 当前位置: {pos} 脉冲")
|
||||
|
||||
# 测试 2: 使能
|
||||
print("\n[2] 使能电机")
|
||||
driver.enable(True)
|
||||
time.sleep(0.3)
|
||||
print("✓ 电机已锁定")
|
||||
|
||||
# 测试 3: 相对位置运动
|
||||
print("\n[3] 相对位置运动 (1000脉冲)")
|
||||
driver.move_position(pulses=1000, speed_rpm=60, direction="CW")
|
||||
time.sleep(2)
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 新位置: {pos}")
|
||||
|
||||
# 测试 4: 速度运动
|
||||
print("\n[4] 速度模式 (30RPM, 3秒)")
|
||||
driver.move_speed(speed_rpm=30, direction="CW")
|
||||
time.sleep(3)
|
||||
driver.stop()
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 停止后位置: {pos}")
|
||||
|
||||
# 测试 5: 禁用
|
||||
print("\n[5] 禁用电机")
|
||||
driver.enable(False)
|
||||
print("✓ 电机已松开")
|
||||
|
||||
print("\n" + "="*60)
|
||||
print("✅ 测试完成")
|
||||
print("="*60)
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 测试失败: {e}")
|
||||
import traceback
|
||||
traceback.print_exc()
|
||||
finally:
|
||||
driver.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_motor()
|
||||
@@ -623,6 +623,119 @@ class ChinweDevice(UniversalDriver):
|
||||
time.sleep(duration)
|
||||
return True
|
||||
|
||||
def separation_step(self, motor_id: int = 5, speed: int = 60, pulses: int = 700,
|
||||
max_cycles: int = 0, timeout: int = 300) -> bool:
|
||||
"""
|
||||
分液步骤 - 液位传感器与电机联动
|
||||
当液位传感器检测到"有液"时,电机顺时针旋转指定脉冲数
|
||||
当液位传感器检测到"无液"时,电机逆时针旋转指定脉冲数
|
||||
|
||||
:param motor_id: 电机ID (必须在初始化时配置的motor_ids中)
|
||||
:param speed: 电机转速 (RPM)
|
||||
:param pulses: 每次旋转的脉冲数 (默认700约为1/4圈,假设3200脉冲/圈)
|
||||
:param max_cycles: 最大执行循环次数 (0=无限制,默认0)
|
||||
:param timeout: 整体超时时间 (秒)
|
||||
:return: 成功返回True,超时或失败返回False
|
||||
"""
|
||||
motor_id = int(motor_id)
|
||||
speed = int(speed)
|
||||
pulses = int(pulses)
|
||||
max_cycles = int(max_cycles)
|
||||
timeout = int(timeout)
|
||||
|
||||
# 检查电机是否存在
|
||||
if motor_id not in self.motors:
|
||||
self.logger.error(f"Motor {motor_id} not found in configured motors: {list(self.motors.keys())}")
|
||||
return False
|
||||
|
||||
# 检查传感器是否可用
|
||||
if not self.sensor:
|
||||
self.logger.error("Sensor not initialized")
|
||||
return False
|
||||
|
||||
motor = self.motors[motor_id]
|
||||
|
||||
# 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
|
||||
self.logger.info("Stopping polling thread for separation_step...")
|
||||
self._stop_event.set()
|
||||
if self._poll_thread and self._poll_thread.is_alive():
|
||||
self._poll_thread.join(timeout=2.0)
|
||||
|
||||
# 使能电机
|
||||
self.logger.info(f"Enabling motor {motor_id}...")
|
||||
motor.enable(True)
|
||||
time.sleep(0.2)
|
||||
|
||||
self.logger.info(f"Starting separation step: motor_id={motor_id}, speed={speed} RPM, "
|
||||
f"pulses={pulses}, max_cycles={max_cycles}, timeout={timeout}s")
|
||||
|
||||
# 记录上一次的液位状态
|
||||
last_level = None
|
||||
cycle_count = 0
|
||||
start_time = time.time()
|
||||
error_count = 0
|
||||
|
||||
try:
|
||||
while True:
|
||||
# 检查超时
|
||||
if time.time() - start_time > timeout:
|
||||
self.logger.warning(f"Separation step timeout after {timeout} seconds")
|
||||
return False
|
||||
|
||||
# 检查循环次数限制
|
||||
if max_cycles > 0 and cycle_count >= max_cycles:
|
||||
self.logger.info(f"Separation step completed: reached max_cycles={max_cycles}")
|
||||
return True
|
||||
|
||||
# 读取传感器数据
|
||||
data = self.sensor.read_level()
|
||||
|
||||
if data is None:
|
||||
error_count += 1
|
||||
if error_count > 5:
|
||||
self.logger.warning("Sensor read failed multiple times, retrying...")
|
||||
error_count = 0
|
||||
time.sleep(0.5)
|
||||
continue
|
||||
|
||||
error_count = 0
|
||||
current_level = data['level']
|
||||
rssi = data['rssi']
|
||||
|
||||
# 检测状态变化 (包括首次检测)
|
||||
if current_level != last_level:
|
||||
cycle_count += 1
|
||||
|
||||
if current_level:
|
||||
# 有液 -> 电机顺时针旋转
|
||||
self.logger.info(f"[Cycle {cycle_count}] Liquid detected (RSSI={rssi}), "
|
||||
f"rotating motor {motor_id} clockwise {pulses} pulses")
|
||||
motor.run_position(pulses=pulses, speed_rpm=speed, direction=0, absolute=False)
|
||||
|
||||
# 等待电机完成 (预估时间)
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
else:
|
||||
# 无液 -> 电机逆时针旋转
|
||||
self.logger.info(f"[Cycle {cycle_count}] No liquid detected (RSSI={rssi}), "
|
||||
f"rotating motor {motor_id} counter-clockwise {pulses} pulses")
|
||||
motor.run_position(pulses=pulses, speed_rpm=speed, direction=1, absolute=False)
|
||||
|
||||
# 等待电机完成 (预估时间)
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
# 更新状态
|
||||
last_level = current_level
|
||||
|
||||
# 轮询间隔
|
||||
time.sleep(0.1)
|
||||
finally:
|
||||
# 恢复轮询线程
|
||||
self.logger.info("Restarting polling thread...")
|
||||
self._start_polling()
|
||||
|
||||
def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
|
||||
"""支持标准 JSON 指令调用"""
|
||||
return super().execute_command_from_outer(command_dict)
|
||||
|
||||
379
unilabos/devices/separator/xkc_sensor.py
Normal file
379
unilabos/devices/separator/xkc_sensor.py
Normal file
@@ -0,0 +1,379 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
XKC RS485 液位传感器 (Modbus RTU)
|
||||
|
||||
说明:
|
||||
1. 遵循 Modbus-RTU 协议。
|
||||
2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
|
||||
3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
|
||||
4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
|
||||
"""
|
||||
|
||||
import struct
|
||||
import threading
|
||||
import time
|
||||
import logging
|
||||
import serial
|
||||
from typing import Optional, Dict, Any, List
|
||||
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
|
||||
class TransportManager:
|
||||
"""
|
||||
统一通信管理类。
|
||||
仅支持 串口 (Serial/有线) 连接。
|
||||
"""
|
||||
def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.logger = logger
|
||||
self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
|
||||
|
||||
self.serial = None
|
||||
self._connect_serial()
|
||||
|
||||
def _connect_serial(self):
|
||||
try:
|
||||
self.serial = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
timeout=self.timeout
|
||||
)
|
||||
except Exception as e:
|
||||
raise ConnectionError(f"Serial open failed: {e}")
|
||||
|
||||
def close(self):
|
||||
"""关闭连接"""
|
||||
if self.serial and self.serial.is_open:
|
||||
self.serial.close()
|
||||
|
||||
def clear_buffer(self):
|
||||
"""清空缓冲区 (Thread-safe)"""
|
||||
with self.lock:
|
||||
if self.serial:
|
||||
self.serial.reset_input_buffer()
|
||||
|
||||
def write(self, data: bytes):
|
||||
"""发送原始字节"""
|
||||
with self.lock:
|
||||
if self.serial:
|
||||
self.serial.write(data)
|
||||
|
||||
def read(self, size: int) -> bytes:
|
||||
"""读取指定长度字节"""
|
||||
if self.serial:
|
||||
return self.serial.read(size)
|
||||
return b''
|
||||
|
||||
class XKCSensorDriver(UniversalDriver):
|
||||
"""XKC RS485 液位传感器 (Modbus RTU)"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
|
||||
threshold: int = 300, timeout: float = 3.0, debug: bool = False):
|
||||
super().__init__()
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.device_id = device_id
|
||||
self.threshold = threshold
|
||||
self.timeout = timeout
|
||||
self.debug = debug
|
||||
self.level = False
|
||||
self.rssi = 0
|
||||
self.status = {"level": self.level, "rssi": self.rssi}
|
||||
|
||||
try:
|
||||
self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
|
||||
self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
|
||||
self.transport = None
|
||||
|
||||
# 启动背景轮询线程，确保 status 实时刷新
|
||||
self._stop_event = threading.Event()
|
||||
self._polling_thread = threading.Thread(
|
||||
target=self._update_loop,
|
||||
name=f"XKCPolling_{port}",
|
||||
daemon=True
|
||||
)
|
||||
if self.transport:
|
||||
self._polling_thread.start()
|
||||
|
||||
def _update_loop(self):
|
||||
"""背景循环读取传感器数据"""
|
||||
while not self._stop_event.is_set():
|
||||
try:
|
||||
self.read_level()
|
||||
except Exception as e:
|
||||
if self.debug:
|
||||
self.logger.error(f"Polling error: {e}")
|
||||
time.sleep(2.0) # 每2秒刷新一次数据
|
||||
|
||||
def _crc(self, data: bytes) -> bytes:
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
|
||||
else: crc >>= 1
|
||||
return struct.pack('<H', crc)
|
||||
|
||||
def read_level(self) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
读取液位。
|
||||
返回: {'level': bool, 'rssi': int}
|
||||
"""
|
||||
if not self.transport:
|
||||
return None
|
||||
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
# Modbus Read Registers: 01 03 00 01 00 02 CRC
|
||||
payload = struct.pack('>HH', 0x0001, 0x0002)
|
||||
msg = struct.pack('BB', self.device_id, 0x03) + payload
|
||||
msg += self._crc(msg)
|
||||
|
||||
if self.debug:
|
||||
self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
|
||||
|
||||
self.transport.write(msg)
|
||||
|
||||
# Read header
|
||||
h = self.transport.read(3) # Addr, Func, Len
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Header: {h.hex().upper()}")
|
||||
|
||||
if len(h) < 3: return None
|
||||
length = h[2]
|
||||
|
||||
# Read body + CRC
|
||||
body = self.transport.read(length + 2)
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
|
||||
if len(body) < length + 2:
|
||||
# Firmware bug fix specific to some modules
|
||||
if len(body) == 4 and length == 4:
|
||||
pass
|
||||
else:
|
||||
return None
|
||||
|
||||
data = body[:-2]
|
||||
# 根据手册说明:
|
||||
# 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
|
||||
# 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
|
||||
|
||||
hw_level = False
|
||||
rssi = 0
|
||||
|
||||
if len(data) >= 4:
|
||||
hw_level = ((data[0] << 8) | data[1]) == 1
|
||||
rssi = (data[2] << 8) | data[3]
|
||||
elif len(data) == 2:
|
||||
# 兼容模式: 某些老固件可能只返回 1 个寄存器
|
||||
rssi = (data[0] << 8) | data[1]
|
||||
hw_level = rssi > self.threshold
|
||||
else:
|
||||
return None
|
||||
|
||||
# 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
|
||||
# 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
|
||||
self.level = hw_level or (rssi > self.threshold)
|
||||
self.rssi = rssi
|
||||
result = {
|
||||
'level': self.level,
|
||||
'rssi': self.rssi
|
||||
}
|
||||
self.status = result
|
||||
return result
|
||||
|
||||
def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
|
||||
"""
|
||||
等待液位达到目标状态 (阻塞式)
|
||||
"""
|
||||
self.logger.info(f"Waiting for level: {target_state}")
|
||||
start_time = time.time()
|
||||
while (time.time() - start_time) < timeout:
|
||||
res = self.read_level()
|
||||
if res and res.get('level') == target_state:
|
||||
return True
|
||||
time.sleep(0.5)
|
||||
self.logger.warning(f"Wait level timeout ({timeout}s)")
|
||||
return False
|
||||
|
||||
def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
|
||||
"""
|
||||
实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
|
||||
一旦检测到符合目标状态，立即返回。
|
||||
|
||||
Args:
|
||||
target_state: True 为“有液”, False 为“无液”
|
||||
timeout: 最大等待时间(秒)
|
||||
"""
|
||||
state_str = "有液" if target_state else "无液"
|
||||
self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
|
||||
|
||||
start_time = time.time()
|
||||
while (time.time() - start_time) < timeout:
|
||||
res = self.read_level() # 内部已更新 self.level 和 self.rssi
|
||||
if res:
|
||||
current_level = res.get('level')
|
||||
current_rssi = res.get('rssi')
|
||||
if current_level == target_state:
|
||||
self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
|
||||
return True
|
||||
|
||||
if self.debug:
|
||||
self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
|
||||
|
||||
time.sleep(0.2) # 高频采样
|
||||
|
||||
self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
|
||||
return False
|
||||
|
||||
def set_threshold(self, threshold: int):
|
||||
"""设置液位判定阈值"""
|
||||
self.threshold = int(threshold)
|
||||
self.logger.info(f"Threshold updated to: {self.threshold}")
|
||||
|
||||
def change_device_id(self, new_id: int) -> bool:
|
||||
"""
|
||||
修改设备的 Modbus 从站地址。
|
||||
寄存器: 0x0004, 功能码: 0x06
|
||||
"""
|
||||
if not (1 <= new_id <= 254):
|
||||
self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
|
||||
return False
|
||||
|
||||
self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
|
||||
success = self._write_single_register(0x0004, new_id)
|
||||
if success:
|
||||
self.device_id = new_id # 更新内存中的地址
|
||||
self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
|
||||
return success
|
||||
|
||||
def change_baudrate(self, baud_code: int) -> bool:
|
||||
"""
|
||||
更改通讯波特率 (寄存器: 0x0005)。
|
||||
设置成功后传感器 LED 会闪烁，通常无数据返回。
|
||||
|
||||
波特率代码对照表 (16进制):
|
||||
05: 2400
|
||||
06: 4800
|
||||
07: 9600 (默认)
|
||||
08: 14400
|
||||
09: 19200
|
||||
0A: 28800
|
||||
0C: 57600
|
||||
0D: 115200
|
||||
0E: 128000
|
||||
0F: 256000
|
||||
"""
|
||||
self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
|
||||
# 写入寄存器 0x0005
|
||||
self._write_single_register(0x0005, baud_code)
|
||||
self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
|
||||
return True
|
||||
|
||||
def factory_reset(self) -> bool:
|
||||
"""
|
||||
恢复出厂设置 (通过广播地址 FF)。
|
||||
设置地址为 01，逻辑为向 0x0004 写入 0x0002
|
||||
"""
|
||||
self.logger.info("Sending factory reset command via broadcast address FF...")
|
||||
# 广播指令通常无回显
|
||||
self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
|
||||
self.logger.info("Factory reset command sent. Device address should be 01 now.")
|
||||
return True
|
||||
|
||||
def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
|
||||
"""内部辅助函数: Modbus 功能码 06 写单个寄存器"""
|
||||
if not self.transport: return False
|
||||
|
||||
target_id = slave_id if slave_id is not None else self.device_id
|
||||
msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
|
||||
msg += self._crc(msg)
|
||||
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
if self.debug:
|
||||
self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
|
||||
|
||||
self.transport.write(msg)
|
||||
|
||||
# 广播地址、波特率修改或厂家特定指令可能无回显
|
||||
if target_id == 0xFF or reg_addr == 0x0005:
|
||||
time.sleep(0.5)
|
||||
return True
|
||||
|
||||
# 等待返回 (正常应返回相同报文)
|
||||
resp = self.transport.read(len(msg))
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Write Response: {resp.hex().upper()}")
|
||||
|
||||
return resp == msg
|
||||
|
||||
def close(self):
|
||||
if self.transport:
|
||||
self.transport.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 快速实例化测试
|
||||
import logging
|
||||
# 减少冗余日志，仅显示重要信息
|
||||
logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
|
||||
|
||||
# 硬件配置 (根据实际情况修改)
|
||||
TEST_PORT = "/dev/tty.usbserial-3110"
|
||||
SLAVE_ID = 1
|
||||
THRESHOLD = 300
|
||||
|
||||
print("\n" + "="*50)
|
||||
print(f" XKC RS485 传感器独立测试程序")
|
||||
print(f" 端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
|
||||
print("="*50)
|
||||
|
||||
sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
|
||||
|
||||
try:
|
||||
if sensor.transport:
|
||||
print(f"\n开始实时连续采样测试 (持续 15 秒)...")
|
||||
print(f"按 Ctrl+C 可提前停止\n")
|
||||
|
||||
start_time = time.time()
|
||||
duration = 15
|
||||
count = 0
|
||||
|
||||
while time.time() - start_time < duration:
|
||||
count += 1
|
||||
res = sensor.read_level()
|
||||
if res:
|
||||
rssi = res['rssi']
|
||||
level = res['level']
|
||||
status_str = "【有液】" if level else "【无液】"
|
||||
# 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
|
||||
# 为了方便查看变化，我们直接打印
|
||||
elapsed = time.time() - start_time
|
||||
print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
|
||||
else:
|
||||
print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
|
||||
|
||||
time.sleep(0.5) # 每秒采样 2 次
|
||||
|
||||
print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
|
||||
|
||||
# [3] 测试动态修改阈值
|
||||
print(f"\n[3] 动态修改阈值演示...")
|
||||
new_threshold = 400
|
||||
sensor.set_threshold(new_threshold)
|
||||
res = sensor.read_level()
|
||||
if res:
|
||||
print(f" 采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
|
||||
sensor.set_threshold(THRESHOLD) # 还原
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n[!] 用户中断测试")
|
||||
except Exception as e:
|
||||
print(f"\n[!] 测试运行出错: {e}")
|
||||
finally:
|
||||
sensor.close()
|
||||
print("\n--- 测试程序已退出 ---\n")
|
||||
@@ -317,6 +317,47 @@ separator.chinwe:
|
||||
- port
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
separation_step:
|
||||
goal:
|
||||
max_cycles: 0
|
||||
motor_id: 5
|
||||
pulses: 700
|
||||
speed: 60
|
||||
timeout: 300
|
||||
handles: {}
|
||||
schema:
|
||||
description: 分液步骤 - 液位传感器与电机联动 (有液→顺时针, 无液→逆时针)
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
max_cycles:
|
||||
default: 0
|
||||
description: 最大循环次数 (0=无限制)
|
||||
type: integer
|
||||
motor_id:
|
||||
default: '5'
|
||||
description: 选择电机
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
title: '注: 4=搅拌, 5=旋钮'
|
||||
type: string
|
||||
pulses:
|
||||
default: 700
|
||||
description: 每次旋转脉冲数 (约1/4圈)
|
||||
type: integer
|
||||
speed:
|
||||
default: 60
|
||||
description: 电机转速 (RPM)
|
||||
type: integer
|
||||
timeout:
|
||||
default: 300
|
||||
description: 超时时间 (秒)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_sensor_level:
|
||||
goal:
|
||||
target_state: 有液
|
||||
|
||||
@@ -9284,7 +9284,13 @@ liquid_handler.prcxi:
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: input_wells
|
||||
label: InputWells
|
||||
label: 待设定液体孔
|
||||
output:
|
||||
- data_key: wells.@flatten
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: output_wells
|
||||
label: 已设定液体孔
|
||||
placeholder_keys:
|
||||
wells: unilabos_resources
|
||||
result: {}
|
||||
@@ -9400,6 +9406,163 @@ liquid_handler.prcxi:
|
||||
title: LiquidHandlerSetLiquid
|
||||
type: object
|
||||
type: LiquidHandlerSetLiquid
|
||||
set_liquid_from_plate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
liquid_names: null
|
||||
plate: null
|
||||
volumes: null
|
||||
well_names: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: plate
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: input_plate
|
||||
label: 待设定液体板
|
||||
output:
|
||||
- data_key: plate.@flatten
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: output_plate
|
||||
label: 已设定液体板
|
||||
- data_key: wells.@flatten
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: output_wells
|
||||
label: 已设定液体孔
|
||||
- data_key: volumes
|
||||
data_source: executor
|
||||
data_type: number_array
|
||||
handler_key: output_volumes
|
||||
label: 各孔设定体积
|
||||
placeholder_keys:
|
||||
plate: unilabos_resources
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
liquid_names:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
plate:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: plate
|
||||
type: object
|
||||
volumes:
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
well_names:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
required:
|
||||
- plate
|
||||
- well_names
|
||||
- liquid_names
|
||||
- volumes
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
plate:
|
||||
items: {}
|
||||
title: Plate
|
||||
type: array
|
||||
volumes:
|
||||
items:
|
||||
type: number
|
||||
title: Volumes
|
||||
type: array
|
||||
wells:
|
||||
items: {}
|
||||
title: Wells
|
||||
type: array
|
||||
required:
|
||||
- plate
|
||||
- wells
|
||||
- volumes
|
||||
title: SetLiquidFromPlateReturn
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: set_liquid_from_plate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_tiprack:
|
||||
feedback: {}
|
||||
goal:
|
||||
|
||||
286
unilabos/registry/devices/motor.yaml
Normal file
286
unilabos/registry/devices/motor.yaml
Normal file
@@ -0,0 +1,286 @@
|
||||
motor.zdt_x42:
|
||||
category:
|
||||
- motor
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-enable:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
'on': true
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
'on':
|
||||
default: true
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-get_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 获取当前电机脉冲位置。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
position:
|
||||
type: integer
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: get_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
absolute: false
|
||||
acceleration: 10
|
||||
direction: CW
|
||||
pulses: 1000
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
absolute:
|
||||
default: false
|
||||
type: boolean
|
||||
acceleration:
|
||||
default: 10
|
||||
maximum: 255
|
||||
minimum: 0
|
||||
type: integer
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
pulses:
|
||||
default: 1000
|
||||
type: integer
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 0
|
||||
type: integer
|
||||
required:
|
||||
- pulses
|
||||
- speed_rpm
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_speed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 10
|
||||
direction: CW
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 速度模式运行。控制电机以指定转速和方向持续转动。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 10
|
||||
maximum: 255
|
||||
minimum: 0
|
||||
type: integer
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 0
|
||||
type: integer
|
||||
required:
|
||||
- speed_rpm
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_speed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-rotate_quarter:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
direction: CW
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 电机旋转 1/4 圈 (阻塞式)。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 1
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: rotate_quarter参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_zero:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 将当前电机位置设为零点。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_zero参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 立即停止电机运动。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
duration_s: 1.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 等待指定时间 (秒)。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
duration_s:
|
||||
default: 1.0
|
||||
minimum: 0
|
||||
type: number
|
||||
required:
|
||||
- duration_s
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
|
||||
status_types:
|
||||
position: int
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: integer
|
||||
debug:
|
||||
default: false
|
||||
type: boolean
|
||||
device_id:
|
||||
default: 1
|
||||
type: integer
|
||||
port:
|
||||
type: string
|
||||
timeout:
|
||||
default: 0.5
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
position:
|
||||
type: integer
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
148
unilabos/registry/devices/sensor.yaml
Normal file
148
unilabos/registry/devices/sensor.yaml
Normal file
@@ -0,0 +1,148 @@
|
||||
sensor.xkc_rs485:
|
||||
category:
|
||||
- sensor
|
||||
- separator
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-change_baudrate:
|
||||
goal:
|
||||
baud_code: 7
|
||||
handles: {}
|
||||
schema:
|
||||
description: '更改通讯波特率 (设置成功后无返回，且需手动切换波特率重连)。代码表 (16进制): 05=2400, 06=4800,
|
||||
07=9600, 08=14400, 09=19200, 0A=28800, 0C=57600, 0D=115200, 0E=128000,
|
||||
0F=256000'
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
baud_code:
|
||||
description: '波特率代码 (例如: 7 为 9600, 13 即 0x0D 为 115200)'
|
||||
type: integer
|
||||
required:
|
||||
- baud_code
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-change_device_id:
|
||||
goal:
|
||||
new_id: 1
|
||||
handles: {}
|
||||
schema:
|
||||
description: 修改传感器的 Modbus 从站地址
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
new_id:
|
||||
description: 新的从站地址 (1-254)
|
||||
maximum: 254
|
||||
minimum: 1
|
||||
type: integer
|
||||
required:
|
||||
- new_id
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-factory_reset:
|
||||
goal: {}
|
||||
handles: {}
|
||||
schema:
|
||||
description: 恢复出厂设置 (地址重置为 01)
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_level:
|
||||
goal: {}
|
||||
handles: {}
|
||||
schema:
|
||||
description: 直接读取当前液位及信号强度
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_threshold:
|
||||
goal:
|
||||
threshold: 300
|
||||
handles: {}
|
||||
schema:
|
||||
description: 设置液位判定阈值
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
threshold:
|
||||
type: integer
|
||||
required:
|
||||
- threshold
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_liquid:
|
||||
goal:
|
||||
target_state: true
|
||||
timeout: 120
|
||||
handles: {}
|
||||
schema:
|
||||
description: 实时检测电导率(RSSI)并等待用户指定的状态
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
target_state:
|
||||
default: true
|
||||
description: 目标状态 (True=有液, False=无液)
|
||||
type: boolean
|
||||
timeout:
|
||||
default: 120
|
||||
description: 超时时间 (秒)
|
||||
required:
|
||||
- target_state
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_level:
|
||||
goal:
|
||||
level: true
|
||||
timeout: 10
|
||||
handles: {}
|
||||
schema:
|
||||
description: 等待液位达到目标状态
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
level:
|
||||
type: boolean
|
||||
timeout:
|
||||
type: number
|
||||
required:
|
||||
- level
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.separator.xkc_sensor:XKCSensorDriver
|
||||
status_types:
|
||||
level: bool
|
||||
rssi: int
|
||||
type: python
|
||||
config_info: []
|
||||
description: XKC RS485 非接触式液位传感器 (Modbus RTU)
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: integer
|
||||
debug:
|
||||
default: false
|
||||
type: boolean
|
||||
device_id:
|
||||
default: 1
|
||||
type: integer
|
||||
port:
|
||||
type: string
|
||||
threshold:
|
||||
default: 300
|
||||
type: integer
|
||||
timeout:
|
||||
default: 3.0
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -4,6 +4,8 @@ import os
|
||||
import sys
|
||||
import inspect
|
||||
import importlib
|
||||
import threading
|
||||
from concurrent.futures import ThreadPoolExecutor, as_completed
|
||||
from pathlib import Path
|
||||
from typing import Any, Dict, List, Union, Tuple
|
||||
|
||||
@@ -60,6 +62,7 @@ class Registry:
|
||||
self.device_module_to_registry = {}
|
||||
self.resource_type_registry = {}
|
||||
self._setup_called = False # 跟踪setup是否已调用
|
||||
self._registry_lock = threading.Lock() # 多线程加载时的锁
|
||||
# 其他状态变量
|
||||
# self.is_host_mode = False # 移至BasicConfig中
|
||||
|
||||
@@ -177,8 +180,7 @@ class Registry:
|
||||
"result": {},
|
||||
"schema": test_latency_schema,
|
||||
"goal_default": {
|
||||
arg["name"]: arg["default"]
|
||||
for arg in test_latency_method_info.get("args", [])
|
||||
arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", [])
|
||||
},
|
||||
"handles": {},
|
||||
},
|
||||
@@ -262,67 +264,115 @@ class Registry:
|
||||
# 标记setup已被调用
|
||||
self._setup_called = True
|
||||
|
||||
def _load_single_resource_file(
|
||||
self, file: Path, complete_registry: bool, upload_registry: bool
|
||||
) -> Tuple[Dict[str, Any], Dict[str, Any], bool]:
|
||||
"""
|
||||
加载单个资源文件 (线程安全)
|
||||
|
||||
Returns:
|
||||
(data, complete_data, is_valid): 资源数据, 完整数据, 是否有效
|
||||
"""
|
||||
try:
|
||||
with open(file, encoding="utf-8", mode="r") as f:
|
||||
data = yaml.safe_load(io.StringIO(f.read()))
|
||||
except Exception as e:
|
||||
logger.warning(f"[UniLab Registry] 读取资源文件失败: {file}, 错误: {e}")
|
||||
return {}, {}, False
|
||||
|
||||
if not data:
|
||||
return {}, {}, False
|
||||
|
||||
complete_data = {}
|
||||
for resource_id, resource_info in data.items():
|
||||
if "version" not in resource_info:
|
||||
resource_info["version"] = "1.0.0"
|
||||
if "category" not in resource_info:
|
||||
resource_info["category"] = [file.stem]
|
||||
elif file.stem not in resource_info["category"]:
|
||||
resource_info["category"].append(file.stem)
|
||||
elif not isinstance(resource_info.get("category"), list):
|
||||
resource_info["category"] = [resource_info["category"]]
|
||||
if "config_info" not in resource_info:
|
||||
resource_info["config_info"] = []
|
||||
if "icon" not in resource_info:
|
||||
resource_info["icon"] = ""
|
||||
if "handles" not in resource_info:
|
||||
resource_info["handles"] = []
|
||||
if "init_param_schema" not in resource_info:
|
||||
resource_info["init_param_schema"] = {}
|
||||
if "config_info" in resource_info:
|
||||
del resource_info["config_info"]
|
||||
if "file_path" in resource_info:
|
||||
del resource_info["file_path"]
|
||||
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
|
||||
if upload_registry:
|
||||
class_info = resource_info.get("class", {})
|
||||
if len(class_info) and "module" in class_info:
|
||||
if class_info.get("type") == "pylabrobot":
|
||||
res_class = get_class(class_info["module"])
|
||||
if callable(res_class) and not isinstance(res_class, type):
|
||||
res_instance = res_class(res_class.__name__)
|
||||
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
|
||||
resource_info["config_info"] = res_ulr
|
||||
resource_info["registry_type"] = "resource"
|
||||
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
|
||||
complete_data = dict(sorted(complete_data.items()))
|
||||
complete_data = copy.deepcopy(complete_data)
|
||||
|
||||
if complete_registry:
|
||||
try:
|
||||
with open(file, "w", encoding="utf-8") as f:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
except Exception as e:
|
||||
logger.warning(f"[UniLab Registry] 写入资源文件失败: {file}, 错误: {e}")
|
||||
|
||||
return data, complete_data, True
|
||||
|
||||
def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
|
||||
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)}")
|
||||
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:
|
||||
data = yaml.safe_load(io.StringIO(f.read()))
|
||||
complete_data = {}
|
||||
if data:
|
||||
# 为每个资源添加文件路径信息
|
||||
for resource_id, resource_info in data.items():
|
||||
if "version" not in resource_info:
|
||||
resource_info["version"] = "1.0.0"
|
||||
if "category" not in resource_info:
|
||||
resource_info["category"] = [file.stem]
|
||||
elif file.stem not in resource_info["category"]:
|
||||
resource_info["category"].append(file.stem)
|
||||
elif not isinstance(resource_info.get("category"), list):
|
||||
resource_info["category"] = [resource_info["category"]]
|
||||
if "config_info" not in resource_info:
|
||||
resource_info["config_info"] = []
|
||||
if "icon" not in resource_info:
|
||||
resource_info["icon"] = ""
|
||||
if "handles" not in resource_info:
|
||||
resource_info["handles"] = []
|
||||
if "init_param_schema" not in resource_info:
|
||||
resource_info["init_param_schema"] = {}
|
||||
if "config_info" in resource_info:
|
||||
del resource_info["config_info"]
|
||||
if "file_path" in resource_info:
|
||||
del resource_info["file_path"]
|
||||
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
|
||||
if upload_registry:
|
||||
class_info = resource_info.get("class", {})
|
||||
if len(class_info) and "module" in class_info:
|
||||
if class_info.get("type") == "pylabrobot":
|
||||
res_class = get_class(class_info["module"])
|
||||
if callable(res_class) and not isinstance(
|
||||
res_class, type
|
||||
): # 有的是类，有的是函数，这里暂时只登记函数类的
|
||||
res_instance = res_class(res_class.__name__)
|
||||
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
|
||||
resource_info["config_info"] = res_ulr
|
||||
resource_info["registry_type"] = "resource"
|
||||
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
complete_data = dict(sorted(complete_data.items()))
|
||||
complete_data = copy.deepcopy(complete_data)
|
||||
if complete_registry:
|
||||
with open(file, "w", encoding="utf-8") as f:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
|
||||
|
||||
if not files:
|
||||
return
|
||||
|
||||
# 使用线程池并行加载
|
||||
max_workers = min(8, len(files))
|
||||
results = []
|
||||
|
||||
with ThreadPoolExecutor(max_workers=max_workers) as executor:
|
||||
future_to_file = {
|
||||
executor.submit(self._load_single_resource_file, file, complete_registry, upload_registry): file
|
||||
for file in files
|
||||
}
|
||||
for future in as_completed(future_to_file):
|
||||
file = future_to_file[future]
|
||||
try:
|
||||
data, complete_data, is_valid = future.result()
|
||||
if is_valid:
|
||||
results.append((file, data))
|
||||
except Exception as e:
|
||||
logger.warning(f"[UniLab Registry] 处理资源文件异常: {file}, 错误: {e}")
|
||||
|
||||
# 线程安全地更新注册表
|
||||
current_resource_number = len(self.resource_type_registry) + 1
|
||||
with self._registry_lock:
|
||||
for i, (file, data) in enumerate(results):
|
||||
self.resource_type_registry.update(data)
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||
logger.trace(
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} "
|
||||
+ f"Add {list(data.keys())}"
|
||||
)
|
||||
current_resource_number += 1
|
||||
else:
|
||||
logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
|
||||
|
||||
# 记录无效文件
|
||||
valid_files = {r[0] for r in results}
|
||||
for file in files:
|
||||
if file not in valid_files:
|
||||
logger.debug(f"[UniLab Registry] Res File Not Valid YAML File: {file.absolute()}")
|
||||
|
||||
def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
|
||||
"""
|
||||
@@ -674,213 +724,244 @@ class Registry:
|
||||
"handles": {},
|
||||
}
|
||||
|
||||
def _load_single_device_file(
|
||||
self, file: Path, complete_registry: bool, get_yaml_from_goal_type
|
||||
) -> Tuple[Dict[str, Any], Dict[str, Any], bool, List[str]]:
|
||||
"""
|
||||
加载单个设备文件 (线程安全)
|
||||
|
||||
Returns:
|
||||
(data, complete_data, is_valid, device_ids): 设备数据, 完整数据, 是否有效, 设备ID列表
|
||||
"""
|
||||
try:
|
||||
with open(file, encoding="utf-8", mode="r") as f:
|
||||
data = yaml.safe_load(io.StringIO(f.read()))
|
||||
except Exception as e:
|
||||
logger.warning(f"[UniLab Registry] 读取设备文件失败: {file}, 错误: {e}")
|
||||
return {}, {}, False, []
|
||||
|
||||
if not data:
|
||||
return {}, {}, False, []
|
||||
|
||||
complete_data = {}
|
||||
action_str_type_mapping = {
|
||||
"UniLabJsonCommand": "UniLabJsonCommand",
|
||||
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
|
||||
}
|
||||
status_str_type_mapping = {}
|
||||
device_ids = []
|
||||
|
||||
for device_id, device_config in data.items():
|
||||
if "version" not in device_config:
|
||||
device_config["version"] = "1.0.0"
|
||||
if "category" not in device_config:
|
||||
device_config["category"] = [file.stem]
|
||||
elif file.stem not in device_config["category"]:
|
||||
device_config["category"].append(file.stem)
|
||||
if "config_info" not in device_config:
|
||||
device_config["config_info"] = []
|
||||
if "description" not in device_config:
|
||||
device_config["description"] = ""
|
||||
if "icon" not in device_config:
|
||||
device_config["icon"] = ""
|
||||
if "handles" not in device_config:
|
||||
device_config["handles"] = []
|
||||
if "init_param_schema" not in device_config:
|
||||
device_config["init_param_schema"] = {}
|
||||
if "class" in device_config:
|
||||
if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None:
|
||||
device_config["class"]["status_types"] = {}
|
||||
if (
|
||||
"action_value_mappings" not in device_config["class"]
|
||||
or device_config["class"]["action_value_mappings"] is None
|
||||
):
|
||||
device_config["class"]["action_value_mappings"] = {}
|
||||
enhanced_info = {}
|
||||
if complete_registry:
|
||||
device_config["class"]["status_types"].clear()
|
||||
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
|
||||
if not enhanced_info.get("dynamic_import_success", False):
|
||||
continue
|
||||
device_config["class"]["status_types"].update(
|
||||
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
|
||||
)
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
|
||||
status_type = "String"
|
||||
device_config["class"]["status_types"][status_name] = status_type
|
||||
try:
|
||||
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
|
||||
except ROSMsgNotFound:
|
||||
continue
|
||||
if target_type in [dict, list]:
|
||||
target_type = String
|
||||
status_str_type_mapping[status_type] = target_type
|
||||
device_config["class"]["status_types"] = dict(sorted(device_config["class"]["status_types"].items()))
|
||||
if complete_registry:
|
||||
old_action_configs = {}
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
old_action_configs[action_name] = action_config
|
||||
|
||||
device_config["class"]["action_value_mappings"] = {
|
||||
k: v
|
||||
for k, v in device_config["class"]["action_value_mappings"].items()
|
||||
if not k.startswith("auto-")
|
||||
}
|
||||
device_config["class"]["action_value_mappings"].update(
|
||||
{
|
||||
f"auto-{k}": {
|
||||
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": self._generate_unilab_json_command_schema(
|
||||
v["args"],
|
||||
k,
|
||||
v.get("return_annotation"),
|
||||
old_action_configs.get(f"auto-{k}", {}).get("schema"),
|
||||
),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
|
||||
"placeholder_keys": {
|
||||
i["name"]: (
|
||||
"unilabos_resources"
|
||||
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
|
||||
or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
|
||||
else "unilabos_devices"
|
||||
)
|
||||
for i in v["args"]
|
||||
if i.get("type", "")
|
||||
in [
|
||||
"unilabos.registry.placeholder_type:ResourceSlot",
|
||||
"unilabos.registry.placeholder_type:DeviceSlot",
|
||||
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
|
||||
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
|
||||
]
|
||||
},
|
||||
}
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
if k not in device_config["class"]["action_value_mappings"]
|
||||
}
|
||||
)
|
||||
for action_name, old_config in old_action_configs.items():
|
||||
if action_name in device_config["class"]["action_value_mappings"]:
|
||||
old_schema = old_config.get("schema", {})
|
||||
if "description" in old_schema and old_schema["description"]:
|
||||
device_config["class"]["action_value_mappings"][action_name]["schema"][
|
||||
"description"
|
||||
] = old_schema["description"]
|
||||
device_config["init_param_schema"] = {}
|
||||
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
|
||||
enhanced_info["init_params"], "__init__"
|
||||
)["properties"]["goal"]
|
||||
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
|
||||
enhanced_info["status_methods"]
|
||||
)
|
||||
|
||||
device_config.pop("schema", None)
|
||||
device_config["class"]["action_value_mappings"] = dict(
|
||||
sorted(device_config["class"]["action_value_mappings"].items())
|
||||
)
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
action_config["handles"] = {}
|
||||
elif isinstance(action_config["handles"], list):
|
||||
if len(action_config["handles"]):
|
||||
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
|
||||
continue
|
||||
else:
|
||||
action_config["handles"] = {}
|
||||
if "type" in action_config:
|
||||
action_type_str: str = action_config["type"]
|
||||
if not action_type_str.startswith("UniLabJsonCommand"):
|
||||
try:
|
||||
target_type = self._replace_type_with_class(
|
||||
action_type_str, device_id, f"动作 {action_name}"
|
||||
)
|
||||
except ROSMsgNotFound:
|
||||
continue
|
||||
action_str_type_mapping[action_type_str] = target_type
|
||||
if target_type is not None:
|
||||
action_config["goal_default"] = yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
|
||||
)
|
||||
action_config["schema"] = ros_action_to_json_schema(target_type)
|
||||
else:
|
||||
logger.warning(
|
||||
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
|
||||
)
|
||||
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if action_config["type"] not in action_str_type_mapping:
|
||||
continue
|
||||
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
||||
self._add_builtin_actions(device_config, device_id)
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
device_config["registry_type"] = "device"
|
||||
device_ids.append(device_id)
|
||||
|
||||
complete_data = dict(sorted(complete_data.items()))
|
||||
complete_data = copy.deepcopy(complete_data)
|
||||
try:
|
||||
with open(file, "w", encoding="utf-8") as f:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
except Exception as e:
|
||||
logger.warning(f"[UniLab Registry] 写入设备文件失败: {file}, 错误: {e}")
|
||||
|
||||
return data, complete_data, True, device_ids
|
||||
|
||||
def load_device_types(self, path: os.PathLike, complete_registry: bool):
|
||||
# return
|
||||
abs_path = Path(path).absolute()
|
||||
devices_path = abs_path / "devices"
|
||||
device_comms_path = abs_path / "device_comms"
|
||||
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
||||
logger.trace( # type: ignore
|
||||
logger.trace(
|
||||
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
||||
+ f"total: {len(files)}"
|
||||
)
|
||||
current_device_number = len(self.device_type_registry) + 1
|
||||
|
||||
if not files:
|
||||
return
|
||||
|
||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||
|
||||
for i, file in enumerate(files):
|
||||
with open(file, encoding="utf-8", mode="r") as f:
|
||||
data = yaml.safe_load(io.StringIO(f.read()))
|
||||
complete_data = {}
|
||||
action_str_type_mapping = {
|
||||
"UniLabJsonCommand": "UniLabJsonCommand",
|
||||
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
|
||||
# 使用线程池并行加载
|
||||
max_workers = min(8, len(files))
|
||||
results = []
|
||||
|
||||
with ThreadPoolExecutor(max_workers=max_workers) as executor:
|
||||
future_to_file = {
|
||||
executor.submit(self._load_single_device_file, file, complete_registry, get_yaml_from_goal_type): file
|
||||
for file in files
|
||||
}
|
||||
status_str_type_mapping = {}
|
||||
if data:
|
||||
# 在添加到注册表前处理类型替换
|
||||
for device_id, device_config in data.items():
|
||||
# 添加文件路径信息 - 使用规范化的完整文件路径
|
||||
if "version" not in device_config:
|
||||
device_config["version"] = "1.0.0"
|
||||
if "category" not in device_config:
|
||||
device_config["category"] = [file.stem]
|
||||
elif file.stem not in device_config["category"]:
|
||||
device_config["category"].append(file.stem)
|
||||
if "config_info" not in device_config:
|
||||
device_config["config_info"] = []
|
||||
if "description" not in device_config:
|
||||
device_config["description"] = ""
|
||||
if "icon" not in device_config:
|
||||
device_config["icon"] = ""
|
||||
if "handles" not in device_config:
|
||||
device_config["handles"] = []
|
||||
if "init_param_schema" not in device_config:
|
||||
device_config["init_param_schema"] = {}
|
||||
if "class" in device_config:
|
||||
if (
|
||||
"status_types" not in device_config["class"]
|
||||
or device_config["class"]["status_types"] is None
|
||||
):
|
||||
device_config["class"]["status_types"] = {}
|
||||
if (
|
||||
"action_value_mappings" not in device_config["class"]
|
||||
or device_config["class"]["action_value_mappings"] is None
|
||||
):
|
||||
device_config["class"]["action_value_mappings"] = {}
|
||||
enhanced_info = {}
|
||||
if complete_registry:
|
||||
device_config["class"]["status_types"].clear()
|
||||
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
|
||||
if not enhanced_info.get("dynamic_import_success", False):
|
||||
continue
|
||||
device_config["class"]["status_types"].update(
|
||||
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
|
||||
)
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
|
||||
status_type = "String" # 替换成ROS的String，便于显示
|
||||
device_config["class"]["status_types"][status_name] = status_type
|
||||
try:
|
||||
target_type = self._replace_type_with_class(
|
||||
status_type, device_id, f"状态 {status_name}"
|
||||
)
|
||||
except ROSMsgNotFound:
|
||||
continue
|
||||
if target_type in [
|
||||
dict,
|
||||
list,
|
||||
]: # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换
|
||||
target_type = String
|
||||
status_str_type_mapping[status_type] = target_type
|
||||
device_config["class"]["status_types"] = dict(
|
||||
sorted(device_config["class"]["status_types"].items())
|
||||
)
|
||||
if complete_registry:
|
||||
# 保存原有的 action 配置（用于保留 schema 的 description 和 handles 等）
|
||||
old_action_configs = {}
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
old_action_configs[action_name] = action_config
|
||||
for future in as_completed(future_to_file):
|
||||
file = future_to_file[future]
|
||||
try:
|
||||
data, complete_data, is_valid, device_ids = future.result()
|
||||
if is_valid:
|
||||
results.append((file, data, device_ids))
|
||||
except Exception as e:
|
||||
logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
|
||||
|
||||
device_config["class"]["action_value_mappings"] = {
|
||||
k: v
|
||||
for k, v in device_config["class"]["action_value_mappings"].items()
|
||||
if not k.startswith("auto-")
|
||||
}
|
||||
# 处理动作值映射
|
||||
device_config["class"]["action_value_mappings"].update(
|
||||
{
|
||||
f"auto-{k}": {
|
||||
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": self._generate_unilab_json_command_schema(
|
||||
v["args"],
|
||||
k,
|
||||
v.get("return_annotation"),
|
||||
# 传入旧的 schema 以保留字段 description
|
||||
old_action_configs.get(f"auto-{k}", {}).get("schema"),
|
||||
),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
# 保留原有的 handles 配置
|
||||
"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
|
||||
"placeholder_keys": {
|
||||
i["name"]: (
|
||||
"unilabos_resources"
|
||||
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
|
||||
or i["type"]
|
||||
== ("list", "unilabos.registry.placeholder_type:ResourceSlot")
|
||||
else "unilabos_devices"
|
||||
)
|
||||
for i in v["args"]
|
||||
if i.get("type", "")
|
||||
in [
|
||||
"unilabos.registry.placeholder_type:ResourceSlot",
|
||||
"unilabos.registry.placeholder_type:DeviceSlot",
|
||||
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
|
||||
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
|
||||
]
|
||||
},
|
||||
}
|
||||
# 不生成已配置action的动作
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
if k not in device_config["class"]["action_value_mappings"]
|
||||
}
|
||||
)
|
||||
# 恢复原有的 description 信息（非 auto- 开头的动作）
|
||||
for action_name, old_config in old_action_configs.items():
|
||||
if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除
|
||||
old_schema = old_config.get("schema", {})
|
||||
if "description" in old_schema and old_schema["description"]:
|
||||
device_config["class"]["action_value_mappings"][action_name]["schema"][
|
||||
"description"
|
||||
] = old_schema["description"]
|
||||
device_config["init_param_schema"] = {}
|
||||
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
|
||||
enhanced_info["init_params"], "__init__"
|
||||
)["properties"]["goal"]
|
||||
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
|
||||
enhanced_info["status_methods"]
|
||||
)
|
||||
|
||||
device_config.pop("schema", None)
|
||||
device_config["class"]["action_value_mappings"] = dict(
|
||||
sorted(device_config["class"]["action_value_mappings"].items())
|
||||
)
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
action_config["handles"] = {}
|
||||
elif isinstance(action_config["handles"], list):
|
||||
if len(action_config["handles"]):
|
||||
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
|
||||
continue
|
||||
else:
|
||||
action_config["handles"] = {}
|
||||
if "type" in action_config:
|
||||
action_type_str: str = action_config["type"]
|
||||
# 通过Json发放指令，而不是通过特殊的ros action进行处理
|
||||
if not action_type_str.startswith("UniLabJsonCommand"):
|
||||
try:
|
||||
target_type = self._replace_type_with_class(
|
||||
action_type_str, device_id, f"动作 {action_name}"
|
||||
)
|
||||
except ROSMsgNotFound:
|
||||
continue
|
||||
action_str_type_mapping[action_type_str] = target_type
|
||||
if target_type is not None:
|
||||
action_config["goal_default"] = yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
|
||||
)
|
||||
action_config["schema"] = ros_action_to_json_schema(target_type)
|
||||
else:
|
||||
logger.warning(
|
||||
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
|
||||
)
|
||||
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items()))) # 稍后dump到文件
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if action_config["type"] not in action_str_type_mapping:
|
||||
continue
|
||||
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
||||
# 添加内置的驱动命令动作
|
||||
self._add_builtin_actions(device_config, device_id)
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
device_config["registry_type"] = "device"
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
|
||||
# 线程安全地更新注册表
|
||||
current_device_number = len(self.device_type_registry) + 1
|
||||
with self._registry_lock:
|
||||
for file, data, device_ids in results:
|
||||
self.device_type_registry.update(data)
|
||||
for device_id in device_ids:
|
||||
logger.trace(
|
||||
f"[UniLab Registry] Device-{current_device_number} Add {device_id} "
|
||||
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
||||
)
|
||||
current_device_number += 1
|
||||
complete_data = dict(sorted(complete_data.items()))
|
||||
complete_data = copy.deepcopy(complete_data)
|
||||
with open(file, "w", encoding="utf-8") as f:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
self.device_type_registry.update(data)
|
||||
else:
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
|
||||
)
|
||||
|
||||
# 记录无效文件
|
||||
valid_files = {r[0] for r in results}
|
||||
for file in files:
|
||||
if file not in valid_files:
|
||||
logger.debug(f"[UniLab Registry] Device File Not Valid YAML File: {file.absolute()}")
|
||||
|
||||
def obtain_registry_device_info(self):
|
||||
devices = []
|
||||
|
||||
@@ -260,7 +260,7 @@ def read_node_link_json(
|
||||
resource_tree_set = canonicalize_nodes_data(nodes)
|
||||
|
||||
# 标准化边数据
|
||||
links = data.get("links", [])
|
||||
links = data.get("links", data.get("edges", []))
|
||||
standardized_links = canonicalize_links_ports(links, resource_tree_set)
|
||||
|
||||
# 构建 NetworkX 图（需要转换回 dict 格式）
|
||||
|
||||
@@ -13,6 +13,9 @@ if TYPE_CHECKING:
|
||||
from pylabrobot.resources import Resource as PLRResource
|
||||
|
||||
|
||||
EXTRA_CLASS = "unilabos_resource_class"
|
||||
|
||||
|
||||
class ResourceDictPositionSize(BaseModel):
|
||||
depth: float = Field(description="Depth", default=0.0) # z
|
||||
width: float = Field(description="Width", default=0.0) # x
|
||||
@@ -393,7 +396,7 @@ class ResourceTreeSet(object):
|
||||
"parent": parent_resource, # 直接传入 ResourceDict 对象
|
||||
"parent_uuid": parent_uuid, # 使用 parent_uuid 而不是 parent 对象
|
||||
"type": replace_plr_type(d.get("category", "")),
|
||||
"class": d.get("class", ""),
|
||||
"class": extra.get(EXTRA_CLASS, ""),
|
||||
"position": pos,
|
||||
"pose": pos,
|
||||
"config": {
|
||||
@@ -443,7 +446,7 @@ class ResourceTreeSet(object):
|
||||
trees.append(tree_instance)
|
||||
return cls(trees)
|
||||
|
||||
def to_plr_resources(self) -> List["PLRResource"]:
|
||||
def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
|
||||
"""
|
||||
将 ResourceTreeSet 转换为 PLR 资源列表
|
||||
|
||||
@@ -468,6 +471,7 @@ class ResourceTreeSet(object):
|
||||
name_to_uuid[node.res_content.name] = node.res_content.uuid
|
||||
all_states[node.res_content.name] = node.res_content.data
|
||||
name_to_extra[node.res_content.name] = node.res_content.extra
|
||||
name_to_extra[node.res_content.name][EXTRA_CLASS] = node.res_content.klass
|
||||
for child in node.children:
|
||||
collect_node_data(child, name_to_uuid, all_states, name_to_extra)
|
||||
|
||||
@@ -512,7 +516,10 @@ class ResourceTreeSet(object):
|
||||
plr_dict = node_to_plr_dict(tree.root_node, has_model)
|
||||
try:
|
||||
sub_cls = find_subclass(plr_dict["type"], PLRResource)
|
||||
if sub_cls is None:
|
||||
if skip_devices and plr_dict["type"] == "device":
|
||||
logger.info(f"跳过更新 {plr_dict['name']} 设备是class")
|
||||
continue
|
||||
elif sub_cls is None:
|
||||
raise ValueError(
|
||||
f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
|
||||
)
|
||||
@@ -520,6 +527,10 @@ class ResourceTreeSet(object):
|
||||
if "category" not in spec.parameters:
|
||||
plr_dict.pop("category", None)
|
||||
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.serializer import deserialize
|
||||
location = cast(Coordinate, deserialize(plr_dict["location"]))
|
||||
plr_resource.location = location
|
||||
plr_resource.load_all_state(all_states)
|
||||
# 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
|
||||
tracker.loop_set_uuid(plr_resource, name_to_uuid)
|
||||
@@ -986,7 +997,7 @@ class DeviceNodeResourceTracker(object):
|
||||
extra = name_to_extra_map[resource_name]
|
||||
self.set_resource_extra(res, extra)
|
||||
if len(extra):
|
||||
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
|
||||
logger.trace(f"设置资源Extra: {resource_name} -> {extra}")
|
||||
return 1
|
||||
return 0
|
||||
|
||||
|
||||
@@ -884,6 +884,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
parent_appended = True
|
||||
|
||||
# 加载状态
|
||||
original_instance.location = plr_resource.location
|
||||
original_instance.rotation = plr_resource.rotation
|
||||
original_instance.barcode = plr_resource.barcode
|
||||
original_instance.load_all_state(states)
|
||||
child_count = len(original_instance.get_all_children())
|
||||
self.lab_logger().info(
|
||||
|
||||
@@ -6,8 +6,6 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
|
||||
|
||||
import rclpy
|
||||
from rosidl_runtime_py import message_to_ordereddict
|
||||
from unilabos_msgs.msg import Resource
|
||||
from unilabos_msgs.srv import ResourceUpdate
|
||||
|
||||
from unilabos.messages import * # type: ignore # protocol names
|
||||
from rclpy.action import ActionServer, ActionClient
|
||||
@@ -15,7 +13,6 @@ from rclpy.action.server import ServerGoalHandle
|
||||
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.ros.initialize_device import initialize_device_from_dict
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
get_action_type,
|
||||
@@ -231,15 +228,15 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
try:
|
||||
# 统一处理单个或多个资源
|
||||
resource_id = (
|
||||
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
|
||||
protocol_kwargs[k]["id"]
|
||||
if v == "unilabos_msgs/Resource"
|
||||
else protocol_kwargs[k][0]["id"]
|
||||
)
|
||||
resource_uuid = protocol_kwargs[k].get("uuid", None)
|
||||
r = SerialCommand_Request()
|
||||
r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
|
||||
# 发送请求并等待响应
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"resource_get"
|
||||
].call_async(
|
||||
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(
|
||||
r
|
||||
) # type: ignore
|
||||
raw_data = json.loads(response.response)
|
||||
@@ -307,12 +304,52 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
|
||||
# 向Host更新物料当前状态
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
r = ResourceUpdate.Request()
|
||||
r.resources = [
|
||||
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
|
||||
]
|
||||
response = await self._resource_clients["resource_update"].call_async(r)
|
||||
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
continue
|
||||
self.lab_logger().info(f"更新资源状态: {k}")
|
||||
try:
|
||||
# 去重：使用 seen 集合获取唯一的资源对象
|
||||
seen = set()
|
||||
unique_resources = []
|
||||
|
||||
# 获取资源数据，统一转换为列表
|
||||
resource_data = protocol_kwargs[k]
|
||||
is_sequence = v != "unilabos_msgs/Resource"
|
||||
if not is_sequence:
|
||||
resource_list = [resource_data] if isinstance(resource_data, dict) else resource_data
|
||||
else:
|
||||
# 处理序列类型，可能是嵌套列表
|
||||
resource_list = []
|
||||
if isinstance(resource_data, list):
|
||||
for item in resource_data:
|
||||
if isinstance(item, list):
|
||||
resource_list.extend(item)
|
||||
else:
|
||||
resource_list.append(item)
|
||||
else:
|
||||
resource_list = [resource_data]
|
||||
|
||||
for res_data in resource_list:
|
||||
if not isinstance(res_data, dict):
|
||||
continue
|
||||
res_name = res_data.get("id") or res_data.get("name")
|
||||
if not res_name:
|
||||
continue
|
||||
|
||||
# 使用 resource_tracker 获取本地 PLR 实例
|
||||
plr = self.resource_tracker.figure_resource({"name": res_name}, try_mode=False)
|
||||
# 获取父资源
|
||||
res = self.resource_tracker.parent_resource(plr)
|
||||
if id(res) not in seen:
|
||||
seen.add(id(res))
|
||||
unique_resources.append(res)
|
||||
|
||||
# 使用新的资源树接口更新
|
||||
if unique_resources:
|
||||
await self.update_resource(unique_resources)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"资源更新失败: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
|
||||
# 设置成功状态和返回值
|
||||
execution_success = True
|
||||
|
||||
29
unilabos/test/experiments/xkc_sensor_test.json
Normal file
29
unilabos/test/experiments/xkc_sensor_test.json
Normal file
@@ -0,0 +1,29 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "Liquid_Sensor_1",
|
||||
"name": "XKC Sensor",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "sensor.xkc_rs485",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/dev/tty.usbserial-3110",
|
||||
"baudrate": 9600,
|
||||
"device_id": 1,
|
||||
"threshold": 300,
|
||||
"timeout": 3.0
|
||||
},
|
||||
"data": {
|
||||
"level": false,
|
||||
"rssi": 0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
28
unilabos/test/experiments/zdt_motor_test.json
Normal file
28
unilabos/test/experiments/zdt_motor_test.json
Normal file
@@ -0,0 +1,28 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "ZDT_Motor",
|
||||
"name": "ZDT Motor",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "motor.zdt_x42",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/dev/tty.usbserial-3110",
|
||||
"baudrate": 115200,
|
||||
"device_id": 1,
|
||||
"debug": true
|
||||
},
|
||||
"data": {
|
||||
"position": 0,
|
||||
"status": "idle"
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,3 +1,89 @@
|
||||
"""
|
||||
工作流转换模块 - JSON 到 WorkflowGraph 的转换流程
|
||||
|
||||
==================== 输入格式 (JSON) ====================
|
||||
|
||||
{
|
||||
"workflow": [
|
||||
{"action": "transfer_liquid", "action_args": {"sources": "cell_lines", "targets": "Liquid_1", "asp_vol": 100.0, "dis_vol": 74.75, ...}},
|
||||
...
|
||||
],
|
||||
"reagent": {
|
||||
"cell_lines": {"slot": 4, "well": ["A1", "A3", "A5"], "labware": "DRUG + YOYO-MEDIA"},
|
||||
"Liquid_1": {"slot": 1, "well": ["A4", "A7", "A10"], "labware": "rep 1"},
|
||||
...
|
||||
}
|
||||
}
|
||||
|
||||
==================== 转换步骤 ====================
|
||||
|
||||
第一步: 按 slot 去重创建 create_resource 节点（创建板子）
|
||||
--------------------------------------------------------------------------------
|
||||
- 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
|
||||
- 生成参数:
|
||||
res_id: plate_slot_{slot}
|
||||
device_id: /PRCXI
|
||||
class_name: PRCXI_BioER_96_wellplate
|
||||
parent: /PRCXI/PRCXI_Deck/T{slot}
|
||||
slot_on_deck: "{slot}"
|
||||
- 输出端口: labware（用于连接 set_liquid_from_plate）
|
||||
- 控制流: create_resource 之间通过 ready 端口串联
|
||||
|
||||
示例: slot=1, slot=4 -> 创建 2 个 create_resource 节点
|
||||
|
||||
第二步: 为每个 reagent 创建 set_liquid_from_plate 节点（设置液体）
|
||||
--------------------------------------------------------------------------------
|
||||
- 遍历所有 reagent，为每个试剂创建 set_liquid_from_plate 节点
|
||||
- 生成参数:
|
||||
plate: []（通过连接传递，来自 create_resource 的 labware）
|
||||
well_names: ["A1", "A3", "A5"]（来自 reagent 的 well 数组）
|
||||
liquid_names: ["cell_lines", "cell_lines", "cell_lines"]（与 well 数量一致）
|
||||
volumes: [1e5, 1e5, 1e5]（与 well 数量一致，默认体积）
|
||||
- 输入连接: create_resource (labware) -> set_liquid_from_plate (input_plate)
|
||||
- 输出端口: output_wells（用于连接 transfer_liquid）
|
||||
- 控制流: set_liquid_from_plate 连接在所有 create_resource 之后，通过 ready 端口串联
|
||||
|
||||
第三步: 解析 workflow，创建 transfer_liquid 等动作节点
|
||||
--------------------------------------------------------------------------------
|
||||
- 遍历 workflow 数组，为每个动作创建步骤节点
|
||||
- 参数重命名: asp_vol -> asp_vols, dis_vol -> dis_vols, asp_flow_rate -> asp_flow_rates, dis_flow_rate -> dis_flow_rates
|
||||
- 参数扩展: 根据 targets 的 wells 数量，将单值扩展为数组
|
||||
例: asp_vol=100.0, targets 有 3 个 wells -> asp_vols=[100.0, 100.0, 100.0]
|
||||
- 连接处理: 如果 sources/targets 已通过 set_liquid_from_plate 连接，参数值改为 []
|
||||
- 输入连接: set_liquid_from_plate (output_wells) -> transfer_liquid (sources_identifier / targets_identifier)
|
||||
- 输出端口: sources_out, targets_out（用于连接下一个 transfer_liquid）
|
||||
|
||||
==================== 连接关系图 ====================
|
||||
|
||||
控制流 (ready 端口串联):
|
||||
create_resource_1 -> create_resource_2 -> ... -> set_liquid_1 -> set_liquid_2 -> ... -> transfer_liquid_1 -> transfer_liquid_2 -> ...
|
||||
|
||||
物料流:
|
||||
[create_resource] --labware--> [set_liquid_from_plate] --output_wells--> [transfer_liquid] --sources_out/targets_out--> [下一个 transfer_liquid]
|
||||
(slot=1) (cell_lines) (input_plate) (sources_identifier) (sources_identifier)
|
||||
(slot=4) (Liquid_1) (targets_identifier) (targets_identifier)
|
||||
|
||||
==================== 端口映射 ====================
|
||||
|
||||
create_resource:
|
||||
输出: labware
|
||||
|
||||
set_liquid_from_plate:
|
||||
输入: input_plate
|
||||
输出: output_plate, output_wells
|
||||
|
||||
transfer_liquid:
|
||||
输入: sources -> sources_identifier, targets -> targets_identifier
|
||||
输出: sources -> sources_out, targets -> targets_out
|
||||
|
||||
==================== 校验规则 ====================
|
||||
|
||||
- 检查 sources/targets 是否在 reagent 中定义
|
||||
- 检查 sources 和 targets 的 wells 数量是否匹配
|
||||
- 检查参数数组长度是否与 wells 数量一致
|
||||
- 如有问题，在 footer 中添加 [WARN: ...] 标记
|
||||
"""
|
||||
|
||||
import re
|
||||
import uuid
|
||||
|
||||
@@ -8,6 +94,28 @@ from typing import Dict, List, Any, Tuple, Optional
|
||||
|
||||
Json = Dict[str, Any]
|
||||
|
||||
|
||||
# ==================== 默认配置 ====================
|
||||
|
||||
# create_resource 节点默认参数
|
||||
CREATE_RESOURCE_DEFAULTS = {
|
||||
"device_id": "/PRCXI",
|
||||
"parent_template": "/PRCXI/PRCXI_Deck/T{slot}", # {slot} 会被替换为实际的 slot 值
|
||||
"class_name": "PRCXI_BioER_96_wellplate",
|
||||
}
|
||||
|
||||
# 默认液体体积 (uL)
|
||||
DEFAULT_LIQUID_VOLUME = 1e5
|
||||
|
||||
# 参数重命名映射：单数 -> 复数（用于 transfer_liquid 等动作）
|
||||
PARAM_RENAME_MAPPING = {
|
||||
"asp_vol": "asp_vols",
|
||||
"dis_vol": "dis_vols",
|
||||
"asp_flow_rate": "asp_flow_rates",
|
||||
"dis_flow_rate": "dis_flow_rates",
|
||||
}
|
||||
|
||||
|
||||
# ---------------- Graph ----------------
|
||||
|
||||
|
||||
@@ -228,7 +336,7 @@ def refactor_data(
|
||||
|
||||
|
||||
def build_protocol_graph(
|
||||
labware_info: List[Dict[str, Any]],
|
||||
labware_info: Dict[str, Dict[str, Any]],
|
||||
protocol_steps: List[Dict[str, Any]],
|
||||
workstation_name: str,
|
||||
action_resource_mapping: Optional[Dict[str, str]] = None,
|
||||
@@ -236,112 +344,227 @@ def build_protocol_graph(
|
||||
"""统一的协议图构建函数，根据设备类型自动选择构建逻辑
|
||||
|
||||
Args:
|
||||
labware_info: labware 信息字典
|
||||
labware_info: labware 信息字典，格式为 {name: {slot, well, labware, ...}, ...}
|
||||
protocol_steps: 协议步骤列表
|
||||
workstation_name: 工作站名称
|
||||
action_resource_mapping: action 到 resource_name 的映射字典，可选
|
||||
"""
|
||||
G = WorkflowGraph()
|
||||
resource_last_writer = {}
|
||||
resource_last_writer = {} # reagent_name -> "node_id:port"
|
||||
slot_to_create_resource = {} # slot -> create_resource node_id
|
||||
|
||||
protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
|
||||
# 有机化学&移液站协议图构建
|
||||
WORKSTATION_ID = workstation_name
|
||||
|
||||
# 为所有labware创建资源节点
|
||||
res_index = 0
|
||||
# ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
|
||||
# 收集所有唯一的 slot
|
||||
slots_info = {} # slot -> {labware, res_id}
|
||||
for labware_id, item in labware_info.items():
|
||||
# item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
|
||||
node_id = str(uuid.uuid4())
|
||||
slot = str(item.get("slot", ""))
|
||||
if slot and slot not in slots_info:
|
||||
res_id = f"plate_slot_{slot}"
|
||||
slots_info[slot] = {
|
||||
"labware": item.get("labware", ""),
|
||||
"res_id": res_id,
|
||||
}
|
||||
|
||||
# 判断节点类型
|
||||
if "Rack" in str(labware_id) or "Tip" in str(labware_id):
|
||||
lab_node_type = "Labware"
|
||||
description = f"Prepare Labware: {labware_id}"
|
||||
liquid_type = []
|
||||
liquid_volume = []
|
||||
elif item.get("type") == "hardware" or "reactor" in str(labware_id).lower():
|
||||
if "reactor" not in str(labware_id).lower():
|
||||
continue
|
||||
lab_node_type = "Sample"
|
||||
description = f"Prepare Reactor: {labware_id}"
|
||||
liquid_type = []
|
||||
liquid_volume = []
|
||||
else:
|
||||
lab_node_type = "Reagent"
|
||||
description = f"Add Reagent to Flask: {labware_id}"
|
||||
liquid_type = [labware_id]
|
||||
liquid_volume = [1e5]
|
||||
# 为每个唯一的 slot 创建 create_resource 节点
|
||||
res_index = 0
|
||||
last_create_resource_id = None
|
||||
for slot, info in slots_info.items():
|
||||
node_id = str(uuid.uuid4())
|
||||
res_id = info["res_id"]
|
||||
|
||||
res_index += 1
|
||||
G.add_node(
|
||||
node_id,
|
||||
template_name="create_resource",
|
||||
resource_name="host_node",
|
||||
name=f"Res {res_index}",
|
||||
description=description,
|
||||
lab_node_type=lab_node_type,
|
||||
name=f"Plate {res_index}",
|
||||
description=f"Create plate on slot {slot}",
|
||||
lab_node_type="Labware",
|
||||
footer="create_resource-host_node",
|
||||
param={
|
||||
"res_id": labware_id,
|
||||
"device_id": WORKSTATION_ID,
|
||||
"class_name": "container",
|
||||
"parent": WORKSTATION_ID,
|
||||
"res_id": res_id,
|
||||
"device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
|
||||
"class_name": CREATE_RESOURCE_DEFAULTS["class_name"],
|
||||
"parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
|
||||
"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": "",
|
||||
"slot_on_deck": slot,
|
||||
},
|
||||
)
|
||||
resource_last_writer[labware_id] = f"{node_id}:labware"
|
||||
slot_to_create_resource[slot] = node_id
|
||||
|
||||
last_control_node_id = None
|
||||
# create_resource 之间通过 ready 串联
|
||||
if last_create_resource_id is not None:
|
||||
G.add_edge(last_create_resource_id, node_id, source_port="ready", target_port="ready")
|
||||
last_create_resource_id = node_id
|
||||
|
||||
# ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
|
||||
set_liquid_index = 0
|
||||
last_set_liquid_id = last_create_resource_id # set_liquid_from_plate 连接在 create_resource 之后
|
||||
|
||||
for labware_id, item in labware_info.items():
|
||||
# 跳过 Tip/Rack 类型
|
||||
if "Rack" in str(labware_id) or "Tip" in str(labware_id):
|
||||
continue
|
||||
if item.get("type") == "hardware":
|
||||
continue
|
||||
|
||||
slot = str(item.get("slot", ""))
|
||||
wells = item.get("well", [])
|
||||
if not wells or not slot:
|
||||
continue
|
||||
|
||||
# res_id 不能有空格
|
||||
res_id = str(labware_id).replace(" ", "_")
|
||||
well_count = len(wells)
|
||||
|
||||
node_id = str(uuid.uuid4())
|
||||
set_liquid_index += 1
|
||||
|
||||
G.add_node(
|
||||
node_id,
|
||||
template_name="set_liquid_from_plate",
|
||||
resource_name="liquid_handler.prcxi",
|
||||
name=f"SetLiquid {set_liquid_index}",
|
||||
description=f"Set liquid: {labware_id}",
|
||||
lab_node_type="Reagent",
|
||||
footer="set_liquid_from_plate-liquid_handler.prcxi",
|
||||
param={
|
||||
"plate": [], # 通过连接传递
|
||||
"well_names": wells, # 孔位名数组，如 ["A1", "A3", "A5"]
|
||||
"liquid_names": [res_id] * well_count,
|
||||
"volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
|
||||
},
|
||||
)
|
||||
|
||||
# ready 连接：上一个节点 -> set_liquid_from_plate
|
||||
if last_set_liquid_id is not None:
|
||||
G.add_edge(last_set_liquid_id, node_id, source_port="ready", target_port="ready")
|
||||
last_set_liquid_id = node_id
|
||||
|
||||
# 物料流：create_resource 的 labware -> set_liquid_from_plate 的 input_plate
|
||||
create_res_node_id = slot_to_create_resource.get(slot)
|
||||
if create_res_node_id:
|
||||
G.add_edge(create_res_node_id, node_id, source_port="labware", target_port="input_plate")
|
||||
|
||||
# set_liquid_from_plate 的输出 output_wells 用于连接 transfer_liquid
|
||||
resource_last_writer[labware_id] = f"{node_id}:output_wells"
|
||||
|
||||
last_control_node_id = last_set_liquid_id
|
||||
|
||||
# 端口名称映射：JSON 字段名 -> 实际 handle key
|
||||
INPUT_PORT_MAPPING = {
|
||||
"sources": "sources_identifier",
|
||||
"targets": "targets_identifier",
|
||||
"vessel": "vessel",
|
||||
"to_vessel": "to_vessel",
|
||||
"from_vessel": "from_vessel",
|
||||
"reagent": "reagent",
|
||||
"solvent": "solvent",
|
||||
"compound": "compound",
|
||||
}
|
||||
|
||||
OUTPUT_PORT_MAPPING = {
|
||||
"sources": "sources_out", # 输出端口是 xxx_out
|
||||
"targets": "targets_out", # 输出端口是 xxx_out
|
||||
"vessel": "vessel_out",
|
||||
"to_vessel": "to_vessel_out",
|
||||
"from_vessel": "from_vessel_out",
|
||||
"filtrate_vessel": "filtrate_out",
|
||||
"reagent": "reagent",
|
||||
"solvent": "solvent",
|
||||
"compound": "compound",
|
||||
}
|
||||
|
||||
# 需要根据 wells 数量扩展的参数列表（复数形式）
|
||||
EXPAND_BY_WELLS_PARAMS = ["asp_vols", "dis_vols", "asp_flow_rates", "dis_flow_rates"]
|
||||
|
||||
# 处理协议步骤
|
||||
for step in protocol_steps:
|
||||
node_id = str(uuid.uuid4())
|
||||
G.add_node(node_id, **step)
|
||||
params = step.get("param", {}).copy() # 复制一份，避免修改原数据
|
||||
connected_params = set() # 记录被连接的参数
|
||||
warnings = [] # 收集警告信息
|
||||
|
||||
# 参数重命名：单数 -> 复数
|
||||
for old_name, new_name in PARAM_RENAME_MAPPING.items():
|
||||
if old_name in params:
|
||||
params[new_name] = params.pop(old_name)
|
||||
|
||||
# 处理输入连接
|
||||
for param_key, target_port in INPUT_PORT_MAPPING.items():
|
||||
resource_name = params.get(param_key)
|
||||
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)
|
||||
connected_params.add(param_key)
|
||||
elif resource_name and resource_name not in resource_last_writer:
|
||||
# 资源名在 labware_info 中不存在
|
||||
warnings.append(f"{param_key}={resource_name} 未找到")
|
||||
|
||||
# 获取 targets 对应的 wells 数量，用于扩展参数
|
||||
targets_name = params.get("targets")
|
||||
sources_name = params.get("sources")
|
||||
targets_wells_count = 1
|
||||
sources_wells_count = 1
|
||||
|
||||
if targets_name and targets_name in labware_info:
|
||||
target_wells = labware_info[targets_name].get("well", [])
|
||||
targets_wells_count = len(target_wells) if target_wells else 1
|
||||
elif targets_name:
|
||||
warnings.append(f"targets={targets_name} 未在 reagent 中定义")
|
||||
|
||||
if sources_name and sources_name in labware_info:
|
||||
source_wells = labware_info[sources_name].get("well", [])
|
||||
sources_wells_count = len(source_wells) if source_wells else 1
|
||||
elif sources_name:
|
||||
warnings.append(f"sources={sources_name} 未在 reagent 中定义")
|
||||
|
||||
# 检查 sources 和 targets 的 wells 数量是否匹配
|
||||
if targets_wells_count != sources_wells_count and targets_name and sources_name:
|
||||
warnings.append(f"wells 数量不匹配: sources={sources_wells_count}, targets={targets_wells_count}")
|
||||
|
||||
# 使用 targets 的 wells 数量来扩展参数
|
||||
wells_count = targets_wells_count
|
||||
|
||||
# 扩展单值参数为数组（根据 targets 的 wells 数量）
|
||||
for expand_param in EXPAND_BY_WELLS_PARAMS:
|
||||
if expand_param in params:
|
||||
value = params[expand_param]
|
||||
# 如果是单个值，扩展为数组
|
||||
if not isinstance(value, list):
|
||||
params[expand_param] = [value] * wells_count
|
||||
# 如果已经是数组但长度不对，记录警告
|
||||
elif len(value) != wells_count:
|
||||
warnings.append(f"{expand_param} 数量({len(value)})与 wells({wells_count})不匹配")
|
||||
|
||||
# 如果 sources/targets 已通过连接传递，将参数值改为空数组
|
||||
for param_key in connected_params:
|
||||
if param_key in params:
|
||||
params[param_key] = []
|
||||
|
||||
# 更新 step 的 param 和 footer
|
||||
step_copy = step.copy()
|
||||
step_copy["param"] = params
|
||||
|
||||
# 如果有警告，修改 footer 添加警告标记（警告放前面）
|
||||
if warnings:
|
||||
original_footer = step.get("footer", "")
|
||||
step_copy["footer"] = f"[WARN: {'; '.join(warnings)}] {original_footer}"
|
||||
|
||||
G.add_node(node_id, **step_copy)
|
||||
|
||||
# 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("param", {})
|
||||
input_resources_possible_names = [
|
||||
"vessel",
|
||||
"to_vessel",
|
||||
"from_vessel",
|
||||
"reagent",
|
||||
"solvent",
|
||||
"compound",
|
||||
"sources",
|
||||
"targets",
|
||||
]
|
||||
|
||||
for target_port in input_resources_possible_names:
|
||||
resource_name = params.get(target_port)
|
||||
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 = {
|
||||
"vessel_out": params.get("vessel"),
|
||||
"from_vessel_out": params.get("from_vessel"),
|
||||
"to_vessel_out": params.get("to_vessel"),
|
||||
"filtrate_out": 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():
|
||||
# 处理输出：更新 resource_last_writer
|
||||
for param_key, output_port in OUTPUT_PORT_MAPPING.items():
|
||||
resource_name = step.get("param", {}).get(param_key) # 使用原始参数值
|
||||
if resource_name:
|
||||
resource_last_writer[resource_name] = f"{node_id}:{source_port}"
|
||||
resource_last_writer[resource_name] = f"{node_id}:{output_port}"
|
||||
|
||||
return G
|
||||
|
||||
|
||||
@@ -1,21 +1,68 @@
|
||||
"""
|
||||
JSON 工作流转换模块
|
||||
|
||||
提供从多种 JSON 格式转换为统一工作流格式的功能。
|
||||
支持的格式：
|
||||
1. workflow/reagent 格式
|
||||
2. steps_info/labware_info 格式
|
||||
将 workflow/reagent 格式的 JSON 转换为统一工作流格式。
|
||||
|
||||
输入格式:
|
||||
{
|
||||
"workflow": [
|
||||
{"action": "...", "action_args": {...}},
|
||||
...
|
||||
],
|
||||
"reagent": {
|
||||
"reagent_name": {"slot": int, "well": [...], "labware": "..."},
|
||||
...
|
||||
}
|
||||
}
|
||||
"""
|
||||
|
||||
import json
|
||||
from os import PathLike
|
||||
from pathlib import Path
|
||||
from typing import Any, Dict, List, Optional, Set, Tuple, Union
|
||||
from typing import Any, Dict, List, Optional, Tuple, Union
|
||||
|
||||
from unilabos.workflow.common import WorkflowGraph, build_protocol_graph
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
|
||||
# ==================== 字段映射配置 ====================
|
||||
|
||||
# action 到 resource_name 的映射
|
||||
ACTION_RESOURCE_MAPPING: Dict[str, str] = {
|
||||
# 生物实验操作
|
||||
"transfer_liquid": "liquid_handler.prcxi",
|
||||
"transfer": "liquid_handler.prcxi",
|
||||
"incubation": "incubator.prcxi",
|
||||
"move_labware": "labware_mover.prcxi",
|
||||
"oscillation": "shaker.prcxi",
|
||||
# 有机化学操作
|
||||
"HeatChillToTemp": "heatchill.chemputer",
|
||||
"StopHeatChill": "heatchill.chemputer",
|
||||
"StartHeatChill": "heatchill.chemputer",
|
||||
"HeatChill": "heatchill.chemputer",
|
||||
"Dissolve": "stirrer.chemputer",
|
||||
"Transfer": "liquid_handler.chemputer",
|
||||
"Evaporate": "rotavap.chemputer",
|
||||
"Recrystallize": "reactor.chemputer",
|
||||
"Filter": "filter.chemputer",
|
||||
"Dry": "dryer.chemputer",
|
||||
"Add": "liquid_handler.chemputer",
|
||||
}
|
||||
|
||||
# action_args 字段到 parameters 字段的映射
|
||||
# 格式: {"old_key": "new_key"}, 仅映射需要重命名的字段
|
||||
ARGS_FIELD_MAPPING: Dict[str, str] = {
|
||||
# 如果需要字段重命名，在这里配置
|
||||
# "old_field_name": "new_field_name",
|
||||
}
|
||||
|
||||
# 默认工作站名称
|
||||
DEFAULT_WORKSTATION = "PRCXI"
|
||||
|
||||
|
||||
# ==================== 核心转换函数 ====================
|
||||
|
||||
|
||||
def get_action_handles(resource_name: str, template_name: str) -> Dict[str, List[str]]:
|
||||
"""
|
||||
从 registry 获取指定设备和动作的 handles 配置
|
||||
@@ -39,12 +86,10 @@ def get_action_handles(resource_name: str, template_name: str) -> Dict[str, List
|
||||
handles = action_config.get("handles", {})
|
||||
|
||||
if isinstance(handles, dict):
|
||||
# 处理 input handles (作为 target)
|
||||
for handle in handles.get("input", []):
|
||||
handler_key = handle.get("handler_key", "")
|
||||
if handler_key:
|
||||
result["source"].append(handler_key)
|
||||
# 处理 output handles (作为 source)
|
||||
for handle in handles.get("output", []):
|
||||
handler_key = handle.get("handler_key", "")
|
||||
if handler_key:
|
||||
@@ -69,12 +114,9 @@ def validate_workflow_handles(graph: WorkflowGraph) -> Tuple[bool, List[str]]:
|
||||
for edge in graph.edges:
|
||||
left_uuid = edge.get("source")
|
||||
right_uuid = edge.get("target")
|
||||
# target_handle_key是target, right的输入节点（入节点）
|
||||
# source_handle_key是source, left的输出节点（出节点）
|
||||
right_source_conn_key = edge.get("target_handle_key", "")
|
||||
left_target_conn_key = edge.get("source_handle_key", "")
|
||||
|
||||
# 获取源节点和目标节点信息
|
||||
left_node = nodes.get(left_uuid, {})
|
||||
right_node = nodes.get(right_uuid, {})
|
||||
|
||||
@@ -83,164 +125,93 @@ def validate_workflow_handles(graph: WorkflowGraph) -> Tuple[bool, List[str]]:
|
||||
right_res_name = right_node.get("resource_name", "")
|
||||
right_template_name = right_node.get("template_name", "")
|
||||
|
||||
# 获取源节点的 output handles
|
||||
left_node_handles = get_action_handles(left_res_name, left_template_name)
|
||||
target_valid_keys = left_node_handles.get("target", [])
|
||||
target_valid_keys.append("ready")
|
||||
|
||||
# 获取目标节点的 input handles
|
||||
right_node_handles = get_action_handles(right_res_name, right_template_name)
|
||||
source_valid_keys = right_node_handles.get("source", [])
|
||||
source_valid_keys.append("ready")
|
||||
|
||||
# 如果节点配置了 output handles，则 source_port 必须有效
|
||||
# 验证目标节点（right）的输入端口
|
||||
if not right_source_conn_key:
|
||||
node_name = left_node.get("name", left_uuid[:8])
|
||||
errors.append(f"源节点 '{node_name}' 的 source_handle_key 为空，" f"应设置为: {source_valid_keys}")
|
||||
node_name = right_node.get("name", right_uuid[:8])
|
||||
errors.append(f"目标节点 '{node_name}' 的输入端口 (target_handle_key) 为空，应设置为: {source_valid_keys}")
|
||||
elif right_source_conn_key not in source_valid_keys:
|
||||
node_name = left_node.get("name", left_uuid[:8])
|
||||
node_name = right_node.get("name", right_uuid[:8])
|
||||
errors.append(
|
||||
f"源节点 '{node_name}' 的 source 端点 '{right_source_conn_key}' 不存在，" f"支持的端点: {source_valid_keys}"
|
||||
f"目标节点 '{node_name}' 的输入端口 '{right_source_conn_key}' 不存在，支持的输入端口: {source_valid_keys}"
|
||||
)
|
||||
|
||||
# 如果节点配置了 input handles，则 target_port 必须有效
|
||||
# 验证源节点（left）的输出端口
|
||||
if not left_target_conn_key:
|
||||
node_name = right_node.get("name", right_uuid[:8])
|
||||
errors.append(f"目标节点 '{node_name}' 的 target_handle_key 为空，" f"应设置为: {target_valid_keys}")
|
||||
node_name = left_node.get("name", left_uuid[:8])
|
||||
errors.append(f"源节点 '{node_name}' 的输出端口 (source_handle_key) 为空，应设置为: {target_valid_keys}")
|
||||
elif left_target_conn_key not in target_valid_keys:
|
||||
node_name = right_node.get("name", right_uuid[:8])
|
||||
node_name = left_node.get("name", left_uuid[:8])
|
||||
errors.append(
|
||||
f"目标节点 '{node_name}' 的 target 端点 '{left_target_conn_key}' 不存在，"
|
||||
f"支持的端点: {target_valid_keys}"
|
||||
f"源节点 '{node_name}' 的输出端口 '{left_target_conn_key}' 不存在，支持的输出端口: {target_valid_keys}"
|
||||
)
|
||||
|
||||
return len(errors) == 0, errors
|
||||
|
||||
|
||||
# action 到 resource_name 的映射
|
||||
ACTION_RESOURCE_MAPPING: Dict[str, str] = {
|
||||
# 生物实验操作
|
||||
"transfer_liquid": "liquid_handler.prcxi",
|
||||
"transfer": "liquid_handler.prcxi",
|
||||
"incubation": "incubator.prcxi",
|
||||
"move_labware": "labware_mover.prcxi",
|
||||
"oscillation": "shaker.prcxi",
|
||||
# 有机化学操作
|
||||
"HeatChillToTemp": "heatchill.chemputer",
|
||||
"StopHeatChill": "heatchill.chemputer",
|
||||
"StartHeatChill": "heatchill.chemputer",
|
||||
"HeatChill": "heatchill.chemputer",
|
||||
"Dissolve": "stirrer.chemputer",
|
||||
"Transfer": "liquid_handler.chemputer",
|
||||
"Evaporate": "rotavap.chemputer",
|
||||
"Recrystallize": "reactor.chemputer",
|
||||
"Filter": "filter.chemputer",
|
||||
"Dry": "dryer.chemputer",
|
||||
"Add": "liquid_handler.chemputer",
|
||||
}
|
||||
|
||||
|
||||
def normalize_steps(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
|
||||
def normalize_workflow_steps(workflow: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
将不同格式的步骤数据规范化为统一格式
|
||||
将 workflow 格式的步骤数据规范化
|
||||
|
||||
支持的输入格式：
|
||||
- action + parameters
|
||||
- action + action_args
|
||||
- operation + parameters
|
||||
输入格式:
|
||||
[{"action": "...", "action_args": {...}}, ...]
|
||||
|
||||
输出格式:
|
||||
[{"action": "...", "parameters": {...}, "step_number": int}, ...]
|
||||
|
||||
Args:
|
||||
data: 原始步骤数据列表
|
||||
workflow: workflow 数组
|
||||
|
||||
Returns:
|
||||
规范化后的步骤列表，格式为 [{"action": str, "parameters": dict, "description": str?, "step_number": int?}, ...]
|
||||
规范化后的步骤列表
|
||||
"""
|
||||
normalized = []
|
||||
for idx, step in enumerate(data):
|
||||
# 获取动作名称（支持 action 或 operation 字段）
|
||||
action = step.get("action") or step.get("operation")
|
||||
for idx, step in enumerate(workflow):
|
||||
action = step.get("action")
|
||||
if not action:
|
||||
continue
|
||||
|
||||
# 获取参数（支持 parameters 或 action_args 字段）
|
||||
raw_params = step.get("parameters") or step.get("action_args") or {}
|
||||
params = dict(raw_params)
|
||||
# 获取参数: action_args
|
||||
raw_params = step.get("action_args", {})
|
||||
params = {}
|
||||
|
||||
# 规范化 source/target -> sources/targets
|
||||
if "source" in raw_params and "sources" not in raw_params:
|
||||
params["sources"] = raw_params["source"]
|
||||
if "target" in raw_params and "targets" not in raw_params:
|
||||
params["targets"] = raw_params["target"]
|
||||
# 应用字段映射
|
||||
for key, value in raw_params.items():
|
||||
mapped_key = ARGS_FIELD_MAPPING.get(key, key)
|
||||
params[mapped_key] = value
|
||||
|
||||
# 获取描述（支持 description 或 purpose 字段）
|
||||
description = step.get("description") or step.get("purpose")
|
||||
step_dict = {
|
||||
"action": action,
|
||||
"parameters": params,
|
||||
"step_number": idx + 1,
|
||||
}
|
||||
|
||||
# 获取步骤编号（优先使用原始数据中的 step_number，否则使用索引+1）
|
||||
step_number = step.get("step_number", idx + 1)
|
||||
|
||||
step_dict = {"action": action, "parameters": params, "step_number": step_number}
|
||||
if description:
|
||||
step_dict["description"] = description
|
||||
# 保留描述字段
|
||||
if "description" in step:
|
||||
step_dict["description"] = step["description"]
|
||||
|
||||
normalized.append(step_dict)
|
||||
|
||||
return normalized
|
||||
|
||||
|
||||
def normalize_labware(data: List[Dict[str, Any]]) -> Dict[str, Dict[str, Any]]:
|
||||
"""
|
||||
将不同格式的 labware 数据规范化为统一的字典格式
|
||||
|
||||
支持的输入格式：
|
||||
- reagent_name + material_name + positions
|
||||
- name + labware + slot
|
||||
|
||||
Args:
|
||||
data: 原始 labware 数据列表
|
||||
|
||||
Returns:
|
||||
规范化后的 labware 字典，格式为 {name: {"slot": int, "labware": str, "well": list, "type": str, "role": str, "name": str}, ...}
|
||||
"""
|
||||
labware = {}
|
||||
for item in data:
|
||||
# 获取 key 名称（优先使用 reagent_name，其次是 material_name 或 name）
|
||||
reagent_name = item.get("reagent_name")
|
||||
key = reagent_name or item.get("material_name") or item.get("name")
|
||||
if not key:
|
||||
continue
|
||||
|
||||
key = str(key)
|
||||
|
||||
# 处理重复 key，自动添加后缀
|
||||
idx = 1
|
||||
original_key = key
|
||||
while key in labware:
|
||||
idx += 1
|
||||
key = f"{original_key}_{idx}"
|
||||
|
||||
labware[key] = {
|
||||
"slot": item.get("positions") or item.get("slot"),
|
||||
"labware": item.get("material_name") or item.get("labware"),
|
||||
"well": item.get("well", []),
|
||||
"type": item.get("type", "reagent"),
|
||||
"role": item.get("role", ""),
|
||||
"name": key,
|
||||
}
|
||||
|
||||
return labware
|
||||
|
||||
|
||||
def convert_from_json(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = "PRCXi",
|
||||
workstation_name: str = DEFAULT_WORKSTATION,
|
||||
validate: bool = True,
|
||||
) -> WorkflowGraph:
|
||||
"""
|
||||
从 JSON 数据或文件转换为 WorkflowGraph
|
||||
|
||||
支持的 JSON 格式：
|
||||
1. {"workflow": [...], "reagent": {...}} - 直接格式
|
||||
2. {"steps_info": [...], "labware_info": [...]} - 需要规范化的格式
|
||||
JSON 格式:
|
||||
{"workflow": [...], "reagent": {...}}
|
||||
|
||||
Args:
|
||||
data: JSON 文件路径、字典数据、或 JSON 字符串
|
||||
@@ -251,7 +222,7 @@ def convert_from_json(
|
||||
WorkflowGraph: 构建好的工作流图
|
||||
|
||||
Raises:
|
||||
ValueError: 不支持的 JSON 格式 或 句柄校验失败
|
||||
ValueError: 不支持的 JSON 格式
|
||||
FileNotFoundError: 文件不存在
|
||||
json.JSONDecodeError: JSON 解析失败
|
||||
"""
|
||||
@@ -262,7 +233,6 @@ def convert_from_json(
|
||||
with path.open("r", encoding="utf-8") as fp:
|
||||
json_data = json.load(fp)
|
||||
elif isinstance(data, str):
|
||||
# 尝试作为 JSON 字符串解析
|
||||
json_data = json.loads(data)
|
||||
else:
|
||||
raise FileNotFoundError(f"文件不存在: {data}")
|
||||
@@ -271,30 +241,24 @@ def convert_from_json(
|
||||
else:
|
||||
raise TypeError(f"不支持的数据类型: {type(data)}")
|
||||
|
||||
# 根据格式解析数据
|
||||
if "workflow" in json_data and "reagent" in json_data:
|
||||
# 格式1: workflow/reagent（已经是规范格式）
|
||||
protocol_steps = json_data["workflow"]
|
||||
labware_info = json_data["reagent"]
|
||||
elif "steps_info" in json_data and "labware_info" in json_data:
|
||||
# 格式2: steps_info/labware_info（需要规范化）
|
||||
protocol_steps = normalize_steps(json_data["steps_info"])
|
||||
labware_info = normalize_labware(json_data["labware_info"])
|
||||
elif "steps" in json_data and "labware" in json_data:
|
||||
# 格式3: steps/labware（另一种常见格式）
|
||||
protocol_steps = normalize_steps(json_data["steps"])
|
||||
if isinstance(json_data["labware"], list):
|
||||
labware_info = normalize_labware(json_data["labware"])
|
||||
else:
|
||||
labware_info = json_data["labware"]
|
||||
else:
|
||||
# 校验格式
|
||||
if "workflow" not in json_data or "reagent" not in json_data:
|
||||
raise ValueError(
|
||||
"不支持的 JSON 格式。支持的格式：\n"
|
||||
"1. {'workflow': [...], 'reagent': {...}}\n"
|
||||
"2. {'steps_info': [...], 'labware_info': [...]}\n"
|
||||
"3. {'steps': [...], 'labware': [...]}"
|
||||
"不支持的 JSON 格式。请使用标准格式:\n"
|
||||
'{"workflow": [{"action": "...", "action_args": {...}}, ...], '
|
||||
'"reagent": {"name": {"slot": int, "well": [...], "labware": "..."}, ...}}'
|
||||
)
|
||||
|
||||
# 提取数据
|
||||
workflow = json_data["workflow"]
|
||||
reagent = json_data["reagent"]
|
||||
|
||||
# 规范化步骤数据
|
||||
protocol_steps = normalize_workflow_steps(workflow)
|
||||
|
||||
# reagent 已经是字典格式，直接使用
|
||||
labware_info = reagent
|
||||
|
||||
# 构建工作流图
|
||||
graph = build_protocol_graph(
|
||||
labware_info=labware_info,
|
||||
@@ -317,7 +281,7 @@ def convert_from_json(
|
||||
|
||||
def convert_json_to_node_link(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = "PRCXi",
|
||||
workstation_name: str = DEFAULT_WORKSTATION,
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将 JSON 数据转换为 node-link 格式的字典
|
||||
@@ -335,7 +299,7 @@ def convert_json_to_node_link(
|
||||
|
||||
def convert_json_to_workflow_list(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = "PRCXi",
|
||||
workstation_name: str = DEFAULT_WORKSTATION,
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
将 JSON 数据转换为工作流列表格式
|
||||
@@ -349,8 +313,3 @@ def convert_json_to_workflow_list(
|
||||
"""
|
||||
graph = convert_from_json(data, workstation_name)
|
||||
return graph.to_dict()
|
||||
|
||||
|
||||
# 为了向后兼容，保留下划线前缀的别名
|
||||
_normalize_steps = normalize_steps
|
||||
_normalize_labware = normalize_labware
|
||||
|
||||
356
unilabos/workflow/legacy/convert_from_json_legacy.py
Normal file
356
unilabos/workflow/legacy/convert_from_json_legacy.py
Normal file
@@ -0,0 +1,356 @@
|
||||
"""
|
||||
JSON 工作流转换模块
|
||||
|
||||
提供从多种 JSON 格式转换为统一工作流格式的功能。
|
||||
支持的格式：
|
||||
1. workflow/reagent 格式
|
||||
2. steps_info/labware_info 格式
|
||||
"""
|
||||
|
||||
import json
|
||||
from os import PathLike
|
||||
from pathlib import Path
|
||||
from typing import Any, Dict, List, Optional, Set, Tuple, Union
|
||||
|
||||
from unilabos.workflow.common import WorkflowGraph, build_protocol_graph
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
|
||||
def get_action_handles(resource_name: str, template_name: str) -> Dict[str, List[str]]:
|
||||
"""
|
||||
从 registry 获取指定设备和动作的 handles 配置
|
||||
|
||||
Args:
|
||||
resource_name: 设备资源名称，如 "liquid_handler.prcxi"
|
||||
template_name: 动作模板名称，如 "transfer_liquid"
|
||||
|
||||
Returns:
|
||||
包含 source 和 target handler_keys 的字典:
|
||||
{"source": ["sources_out", "targets_out", ...], "target": ["sources", "targets", ...]}
|
||||
"""
|
||||
result = {"source": [], "target": []}
|
||||
|
||||
device_info = lab_registry.device_type_registry.get(resource_name, {})
|
||||
if not device_info:
|
||||
return result
|
||||
|
||||
action_mappings = device_info.get("class", {}).get("action_value_mappings", {})
|
||||
action_config = action_mappings.get(template_name, {})
|
||||
handles = action_config.get("handles", {})
|
||||
|
||||
if isinstance(handles, dict):
|
||||
# 处理 input handles (作为 target)
|
||||
for handle in handles.get("input", []):
|
||||
handler_key = handle.get("handler_key", "")
|
||||
if handler_key:
|
||||
result["source"].append(handler_key)
|
||||
# 处理 output handles (作为 source)
|
||||
for handle in handles.get("output", []):
|
||||
handler_key = handle.get("handler_key", "")
|
||||
if handler_key:
|
||||
result["target"].append(handler_key)
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def validate_workflow_handles(graph: WorkflowGraph) -> Tuple[bool, List[str]]:
|
||||
"""
|
||||
校验工作流图中所有边的句柄配置是否正确
|
||||
|
||||
Args:
|
||||
graph: 工作流图对象
|
||||
|
||||
Returns:
|
||||
(is_valid, errors): 是否有效，错误信息列表
|
||||
"""
|
||||
errors = []
|
||||
nodes = graph.nodes
|
||||
|
||||
for edge in graph.edges:
|
||||
left_uuid = edge.get("source")
|
||||
right_uuid = edge.get("target")
|
||||
# target_handle_key是target, right的输入节点（入节点）
|
||||
# source_handle_key是source, left的输出节点（出节点）
|
||||
right_source_conn_key = edge.get("target_handle_key", "")
|
||||
left_target_conn_key = edge.get("source_handle_key", "")
|
||||
|
||||
# 获取源节点和目标节点信息
|
||||
left_node = nodes.get(left_uuid, {})
|
||||
right_node = nodes.get(right_uuid, {})
|
||||
|
||||
left_res_name = left_node.get("resource_name", "")
|
||||
left_template_name = left_node.get("template_name", "")
|
||||
right_res_name = right_node.get("resource_name", "")
|
||||
right_template_name = right_node.get("template_name", "")
|
||||
|
||||
# 获取源节点的 output handles
|
||||
left_node_handles = get_action_handles(left_res_name, left_template_name)
|
||||
target_valid_keys = left_node_handles.get("target", [])
|
||||
target_valid_keys.append("ready")
|
||||
|
||||
# 获取目标节点的 input handles
|
||||
right_node_handles = get_action_handles(right_res_name, right_template_name)
|
||||
source_valid_keys = right_node_handles.get("source", [])
|
||||
source_valid_keys.append("ready")
|
||||
|
||||
# 如果节点配置了 output handles，则 source_port 必须有效
|
||||
if not right_source_conn_key:
|
||||
node_name = left_node.get("name", left_uuid[:8])
|
||||
errors.append(f"源节点 '{node_name}' 的 source_handle_key 为空，" f"应设置为: {source_valid_keys}")
|
||||
elif right_source_conn_key not in source_valid_keys:
|
||||
node_name = left_node.get("name", left_uuid[:8])
|
||||
errors.append(
|
||||
f"源节点 '{node_name}' 的 source 端点 '{right_source_conn_key}' 不存在，" f"支持的端点: {source_valid_keys}"
|
||||
)
|
||||
|
||||
# 如果节点配置了 input handles，则 target_port 必须有效
|
||||
if not left_target_conn_key:
|
||||
node_name = right_node.get("name", right_uuid[:8])
|
||||
errors.append(f"目标节点 '{node_name}' 的 target_handle_key 为空，" f"应设置为: {target_valid_keys}")
|
||||
elif left_target_conn_key not in target_valid_keys:
|
||||
node_name = right_node.get("name", right_uuid[:8])
|
||||
errors.append(
|
||||
f"目标节点 '{node_name}' 的 target 端点 '{left_target_conn_key}' 不存在，"
|
||||
f"支持的端点: {target_valid_keys}"
|
||||
)
|
||||
|
||||
return len(errors) == 0, errors
|
||||
|
||||
|
||||
# action 到 resource_name 的映射
|
||||
ACTION_RESOURCE_MAPPING: Dict[str, str] = {
|
||||
# 生物实验操作
|
||||
"transfer_liquid": "liquid_handler.prcxi",
|
||||
"transfer": "liquid_handler.prcxi",
|
||||
"incubation": "incubator.prcxi",
|
||||
"move_labware": "labware_mover.prcxi",
|
||||
"oscillation": "shaker.prcxi",
|
||||
# 有机化学操作
|
||||
"HeatChillToTemp": "heatchill.chemputer",
|
||||
"StopHeatChill": "heatchill.chemputer",
|
||||
"StartHeatChill": "heatchill.chemputer",
|
||||
"HeatChill": "heatchill.chemputer",
|
||||
"Dissolve": "stirrer.chemputer",
|
||||
"Transfer": "liquid_handler.chemputer",
|
||||
"Evaporate": "rotavap.chemputer",
|
||||
"Recrystallize": "reactor.chemputer",
|
||||
"Filter": "filter.chemputer",
|
||||
"Dry": "dryer.chemputer",
|
||||
"Add": "liquid_handler.chemputer",
|
||||
}
|
||||
|
||||
|
||||
def normalize_steps(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
将不同格式的步骤数据规范化为统一格式
|
||||
|
||||
支持的输入格式：
|
||||
- action + parameters
|
||||
- action + action_args
|
||||
- operation + parameters
|
||||
|
||||
Args:
|
||||
data: 原始步骤数据列表
|
||||
|
||||
Returns:
|
||||
规范化后的步骤列表，格式为 [{"action": str, "parameters": dict, "description": str?, "step_number": int?}, ...]
|
||||
"""
|
||||
normalized = []
|
||||
for idx, step in enumerate(data):
|
||||
# 获取动作名称（支持 action 或 operation 字段）
|
||||
action = step.get("action") or step.get("operation")
|
||||
if not action:
|
||||
continue
|
||||
|
||||
# 获取参数（支持 parameters 或 action_args 字段）
|
||||
raw_params = step.get("parameters") or step.get("action_args") or {}
|
||||
params = dict(raw_params)
|
||||
|
||||
# 规范化 source/target -> sources/targets
|
||||
if "source" in raw_params and "sources" not in raw_params:
|
||||
params["sources"] = raw_params["source"]
|
||||
if "target" in raw_params and "targets" not in raw_params:
|
||||
params["targets"] = raw_params["target"]
|
||||
|
||||
# 获取描述（支持 description 或 purpose 字段）
|
||||
description = step.get("description") or step.get("purpose")
|
||||
|
||||
# 获取步骤编号（优先使用原始数据中的 step_number，否则使用索引+1）
|
||||
step_number = step.get("step_number", idx + 1)
|
||||
|
||||
step_dict = {"action": action, "parameters": params, "step_number": step_number}
|
||||
if description:
|
||||
step_dict["description"] = description
|
||||
|
||||
normalized.append(step_dict)
|
||||
|
||||
return normalized
|
||||
|
||||
|
||||
def normalize_labware(data: List[Dict[str, Any]]) -> Dict[str, Dict[str, Any]]:
|
||||
"""
|
||||
将不同格式的 labware 数据规范化为统一的字典格式
|
||||
|
||||
支持的输入格式：
|
||||
- reagent_name + material_name + positions
|
||||
- name + labware + slot
|
||||
|
||||
Args:
|
||||
data: 原始 labware 数据列表
|
||||
|
||||
Returns:
|
||||
规范化后的 labware 字典，格式为 {name: {"slot": int, "labware": str, "well": list, "type": str, "role": str, "name": str}, ...}
|
||||
"""
|
||||
labware = {}
|
||||
for item in data:
|
||||
# 获取 key 名称（优先使用 reagent_name，其次是 material_name 或 name）
|
||||
reagent_name = item.get("reagent_name")
|
||||
key = reagent_name or item.get("material_name") or item.get("name")
|
||||
if not key:
|
||||
continue
|
||||
|
||||
key = str(key)
|
||||
|
||||
# 处理重复 key，自动添加后缀
|
||||
idx = 1
|
||||
original_key = key
|
||||
while key in labware:
|
||||
idx += 1
|
||||
key = f"{original_key}_{idx}"
|
||||
|
||||
labware[key] = {
|
||||
"slot": item.get("positions") or item.get("slot"),
|
||||
"labware": item.get("material_name") or item.get("labware"),
|
||||
"well": item.get("well", []),
|
||||
"type": item.get("type", "reagent"),
|
||||
"role": item.get("role", ""),
|
||||
"name": key,
|
||||
}
|
||||
|
||||
return labware
|
||||
|
||||
|
||||
def convert_from_json(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = "PRCXi",
|
||||
validate: bool = True,
|
||||
) -> WorkflowGraph:
|
||||
"""
|
||||
从 JSON 数据或文件转换为 WorkflowGraph
|
||||
|
||||
支持的 JSON 格式：
|
||||
1. {"workflow": [...], "reagent": {...}} - 直接格式
|
||||
2. {"steps_info": [...], "labware_info": [...]} - 需要规范化的格式
|
||||
|
||||
Args:
|
||||
data: JSON 文件路径、字典数据、或 JSON 字符串
|
||||
workstation_name: 工作站名称，默认 "PRCXi"
|
||||
validate: 是否校验句柄配置，默认 True
|
||||
|
||||
Returns:
|
||||
WorkflowGraph: 构建好的工作流图
|
||||
|
||||
Raises:
|
||||
ValueError: 不支持的 JSON 格式 或 句柄校验失败
|
||||
FileNotFoundError: 文件不存在
|
||||
json.JSONDecodeError: JSON 解析失败
|
||||
"""
|
||||
# 处理输入数据
|
||||
if isinstance(data, (str, PathLike)):
|
||||
path = Path(data)
|
||||
if path.exists():
|
||||
with path.open("r", encoding="utf-8") as fp:
|
||||
json_data = json.load(fp)
|
||||
elif isinstance(data, str):
|
||||
# 尝试作为 JSON 字符串解析
|
||||
json_data = json.loads(data)
|
||||
else:
|
||||
raise FileNotFoundError(f"文件不存在: {data}")
|
||||
elif isinstance(data, dict):
|
||||
json_data = data
|
||||
else:
|
||||
raise TypeError(f"不支持的数据类型: {type(data)}")
|
||||
|
||||
# 根据格式解析数据
|
||||
if "workflow" in json_data and "reagent" in json_data:
|
||||
# 格式1: workflow/reagent（已经是规范格式）
|
||||
protocol_steps = json_data["workflow"]
|
||||
labware_info = json_data["reagent"]
|
||||
elif "steps_info" in json_data and "labware_info" in json_data:
|
||||
# 格式2: steps_info/labware_info（需要规范化）
|
||||
protocol_steps = normalize_steps(json_data["steps_info"])
|
||||
labware_info = normalize_labware(json_data["labware_info"])
|
||||
elif "steps" in json_data and "labware" in json_data:
|
||||
# 格式3: steps/labware（另一种常见格式）
|
||||
protocol_steps = normalize_steps(json_data["steps"])
|
||||
if isinstance(json_data["labware"], list):
|
||||
labware_info = normalize_labware(json_data["labware"])
|
||||
else:
|
||||
labware_info = json_data["labware"]
|
||||
else:
|
||||
raise ValueError(
|
||||
"不支持的 JSON 格式。支持的格式：\n"
|
||||
"1. {'workflow': [...], 'reagent': {...}}\n"
|
||||
"2. {'steps_info': [...], 'labware_info': [...]}\n"
|
||||
"3. {'steps': [...], 'labware': [...]}"
|
||||
)
|
||||
|
||||
# 构建工作流图
|
||||
graph = build_protocol_graph(
|
||||
labware_info=labware_info,
|
||||
protocol_steps=protocol_steps,
|
||||
workstation_name=workstation_name,
|
||||
action_resource_mapping=ACTION_RESOURCE_MAPPING,
|
||||
)
|
||||
|
||||
# 校验句柄配置
|
||||
if validate:
|
||||
is_valid, errors = validate_workflow_handles(graph)
|
||||
if not is_valid:
|
||||
import warnings
|
||||
|
||||
for error in errors:
|
||||
warnings.warn(f"句柄校验警告: {error}")
|
||||
|
||||
return graph
|
||||
|
||||
|
||||
def convert_json_to_node_link(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = "PRCXi",
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将 JSON 数据转换为 node-link 格式的字典
|
||||
|
||||
Args:
|
||||
data: JSON 文件路径、字典数据、或 JSON 字符串
|
||||
workstation_name: 工作站名称，默认 "PRCXi"
|
||||
|
||||
Returns:
|
||||
Dict: node-link 格式的工作流数据
|
||||
"""
|
||||
graph = convert_from_json(data, workstation_name)
|
||||
return graph.to_node_link_dict()
|
||||
|
||||
|
||||
def convert_json_to_workflow_list(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = "PRCXi",
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
将 JSON 数据转换为工作流列表格式
|
||||
|
||||
Args:
|
||||
data: JSON 文件路径、字典数据、或 JSON 字符串
|
||||
workstation_name: 工作站名称，默认 "PRCXi"
|
||||
|
||||
Returns:
|
||||
List: 工作流节点列表
|
||||
"""
|
||||
graph = convert_from_json(data, workstation_name)
|
||||
return graph.to_dict()
|
||||
|
||||
|
||||
# 为了向后兼容，保留下划线前缀的别名
|
||||
_normalize_steps = normalize_steps
|
||||
_normalize_labware = normalize_labware
|
||||
Reference in New Issue
Block a user