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https://github.com/dptech-corp/Uni-Lab-OS.git
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Compare commits
2 Commits
feature/or
...
fix/workst
| Author | SHA1 | Date | |
|---|---|---|---|
|
638bff5bab | ||
|
|
50a5086ba5 |
@@ -1,60 +0,0 @@
|
||||
# unilabos: Production package (depends on unilabos-env + pip unilabos)
|
||||
# For production deployment
|
||||
|
||||
package:
|
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name: unilabos
|
||||
version: 0.10.17
|
||||
|
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source:
|
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path: ../../unilabos
|
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target_directory: unilabos
|
||||
|
||||
build:
|
||||
python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
|
||||
- pip install %SRC_DIR%
|
||||
- if: unix
|
||||
then:
|
||||
- cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
|
||||
- cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
|
||||
- cp $RECIPE_DIR/../../setup.py $SRC_DIR
|
||||
- pip install $SRC_DIR
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.14
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- zstd
|
||||
- zstandard
|
||||
- networkx
|
||||
- typing_extensions
|
||||
- websockets
|
||||
- pint
|
||||
- fastapi
|
||||
- jinja2
|
||||
- requests
|
||||
- uvicorn
|
||||
- opcua
|
||||
- pyserial
|
||||
- pandas
|
||||
- pymodbus
|
||||
- matplotlib
|
||||
- pylibftdi
|
||||
- uni-lab::unilabos-env ==0.10.17
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS - Production package with minimal ROS2 dependencies"
|
||||
@@ -1,39 +0,0 @@
|
||||
# unilabos-env: conda environment dependencies (ROS2 + conda packages)
|
||||
|
||||
package:
|
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name: unilabos-env
|
||||
version: 0.10.17
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
requirements:
|
||||
run:
|
||||
# Python
|
||||
- zstd
|
||||
- zstandard
|
||||
- conda-forge::python ==3.11.14
|
||||
- conda-forge::opencv
|
||||
# ROS2 dependencies (from ci-check.yml)
|
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- robostack-staging::ros-humble-ros-core
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-nav2-msgs
|
||||
- robostack-staging::ros-humble-cv-bridge
|
||||
- robostack-staging::ros-humble-vision-opencv
|
||||
- robostack-staging::ros-humble-tf-transformations
|
||||
- robostack-staging::ros-humble-moveit-msgs
|
||||
- robostack-staging::ros-humble-tf2-ros
|
||||
- robostack-staging::ros-humble-tf2-ros-py
|
||||
- conda-forge::transforms3d
|
||||
- conda-forge::uv
|
||||
|
||||
# UniLabOS custom messages
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS Environment - ROS2 and conda dependencies"
|
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@@ -1,42 +0,0 @@
|
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# unilabos-full: Full package with all features
|
||||
# Depends on unilabos + complete ROS2 desktop + dev tools
|
||||
|
||||
package:
|
||||
name: unilabos-full
|
||||
version: 0.10.17
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
requirements:
|
||||
run:
|
||||
# Base unilabos package (includes unilabos-env)
|
||||
- uni-lab::unilabos ==0.10.17
|
||||
# Documentation tools
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
# Web UI
|
||||
- gradio
|
||||
- flask
|
||||
# Interactive development
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
# ROS2 full desktop (includes rviz2, gazebo, etc.)
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
# Navigation and motion control
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
# MoveIt motion planning
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
# Simulation
|
||||
- ros-humble-simulation
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
|
||||
91
.conda/recipe.yaml
Normal file
91
.conda/recipe.yaml
Normal file
@@ -0,0 +1,91 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.15
|
||||
|
||||
source:
|
||||
path: ../unilabos
|
||||
target_directory: unilabos
|
||||
|
||||
build:
|
||||
python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
|
||||
- call %PYTHON% -m pip install %SRC_DIR%
|
||||
- if: unix
|
||||
then:
|
||||
- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
|
||||
- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
|
||||
- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
||||
- $PYTHON -m pip install $SRC_DIR
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.11
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- zstandard
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
- make
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
- numpy
|
||||
- scipy
|
||||
- pandas
|
||||
- networkx
|
||||
- matplotlib
|
||||
- pint
|
||||
- pyserial
|
||||
- pyusb
|
||||
- pylibftdi
|
||||
- pymodbus
|
||||
- python-can
|
||||
- pyvisa
|
||||
- opencv
|
||||
- pydantic
|
||||
- fastapi
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websockets
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-sensor-msgs
|
||||
- robostack-staging::ros-humble-trajectory-msgs
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
- ros-humble-rosbridge-server
|
||||
- ros-humble-cv-bridge
|
||||
- ros-humble-tf2
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
- ros-humble-simulation
|
||||
- ros-humble-tf-transformations
|
||||
- transforms3d
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "Uni-Lab-OS"
|
||||
9
.conda/scripts/post-link.bat
Normal file
9
.conda/scripts/post-link.bat
Normal file
@@ -0,0 +1,9 @@
|
||||
@echo off
|
||||
setlocal enabledelayedexpansion
|
||||
|
||||
REM upgrade pip
|
||||
"%PREFIX%\python.exe" -m pip install --upgrade pip
|
||||
|
||||
REM install extra deps
|
||||
"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
|
||||
"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
9
.conda/scripts/post-link.sh
Normal file
9
.conda/scripts/post-link.sh
Normal file
@@ -0,0 +1,9 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euxo pipefail
|
||||
|
||||
# make sure pip is available
|
||||
"$PREFIX/bin/python" -m pip install --upgrade pip
|
||||
|
||||
# install extra deps
|
||||
"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
|
||||
"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
@@ -1,328 +0,0 @@
|
||||
---
|
||||
description: 设备驱动开发规范
|
||||
globs: ["unilabos/devices/**/*.py"]
|
||||
---
|
||||
|
||||
# 设备驱动开发规范
|
||||
|
||||
## 目录结构
|
||||
|
||||
```
|
||||
unilabos/devices/
|
||||
├── virtual/ # 虚拟设备（用于测试）
|
||||
│ ├── virtual_stirrer.py
|
||||
│ └── virtual_centrifuge.py
|
||||
├── liquid_handling/ # 液体处理设备
|
||||
├── balance/ # 天平设备
|
||||
├── hplc/ # HPLC设备
|
||||
├── pump_and_valve/ # 泵和阀门
|
||||
├── temperature/ # 温度控制设备
|
||||
├── workstation/ # 工作站（组合设备）
|
||||
└── ...
|
||||
```
|
||||
|
||||
## 设备类完整模板
|
||||
|
||||
```python
|
||||
import asyncio
|
||||
import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
class MyDevice:
|
||||
"""
|
||||
设备类描述
|
||||
|
||||
Attributes:
|
||||
device_id: 设备唯一标识
|
||||
config: 设备配置字典
|
||||
data: 设备状态数据
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str = None,
|
||||
config: Dict[str, Any] = None,
|
||||
**kwargs
|
||||
):
|
||||
"""
|
||||
初始化设备
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
config: 配置字典
|
||||
**kwargs: 其他参数
|
||||
"""
|
||||
# 兼容不同调用方式
|
||||
if device_id is None and 'id' in kwargs:
|
||||
device_id = kwargs.pop('id')
|
||||
if config is None and 'config' in kwargs:
|
||||
config = kwargs.pop('config')
|
||||
|
||||
self.device_id = device_id or "unknown_device"
|
||||
self.config = config or {}
|
||||
self.data = {}
|
||||
|
||||
# 从config读取参数
|
||||
self.port = self.config.get('port') or kwargs.get('port', 'COM1')
|
||||
self._max_value = self.config.get('max_value', 1000.0)
|
||||
|
||||
# 初始化日志
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
|
||||
self.logger.info(f"设备 {self.device_id} 已创建")
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""
|
||||
ROS节点注入 - 在ROS节点创建后调用
|
||||
|
||||
Args:
|
||||
ros_node: ROS2设备节点实例
|
||||
"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""
|
||||
初始化设备 - 连接硬件、设置初始状态
|
||||
|
||||
Returns:
|
||||
bool: 初始化是否成功
|
||||
"""
|
||||
self.logger.info(f"初始化设备 {self.device_id}")
|
||||
|
||||
try:
|
||||
# 执行硬件初始化
|
||||
# await self._connect_hardware()
|
||||
|
||||
# 设置初始状态
|
||||
self.data.update({
|
||||
"status": "待机",
|
||||
"is_running": False,
|
||||
"current_value": 0.0,
|
||||
})
|
||||
|
||||
self.logger.info(f"设备 {self.device_id} 初始化完成")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"初始化失败: {e}")
|
||||
self.data["status"] = f"错误: {e}"
|
||||
return False
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""
|
||||
清理设备 - 断开连接、释放资源
|
||||
|
||||
Returns:
|
||||
bool: 清理是否成功
|
||||
"""
|
||||
self.logger.info(f"清理设备 {self.device_id}")
|
||||
|
||||
self.data.update({
|
||||
"status": "离线",
|
||||
"is_running": False,
|
||||
})
|
||||
|
||||
return True
|
||||
|
||||
# ==================== 设备动作 ====================
|
||||
|
||||
async def execute_action(
|
||||
self,
|
||||
param1: float,
|
||||
param2: str = "",
|
||||
**kwargs
|
||||
) -> bool:
|
||||
"""
|
||||
执行设备动作
|
||||
|
||||
Args:
|
||||
param1: 参数1
|
||||
param2: 参数2（可选）
|
||||
|
||||
Returns:
|
||||
bool: 动作是否成功
|
||||
"""
|
||||
# 类型转换和验证
|
||||
try:
|
||||
param1 = float(param1)
|
||||
except (ValueError, TypeError) as e:
|
||||
self.logger.error(f"参数类型错误: {e}")
|
||||
return False
|
||||
|
||||
# 参数验证
|
||||
if param1 > self._max_value:
|
||||
self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
|
||||
return False
|
||||
|
||||
self.logger.info(f"执行动作: param1={param1}, param2={param2}")
|
||||
|
||||
# 更新状态
|
||||
self.data.update({
|
||||
"status": "运行中",
|
||||
"is_running": True,
|
||||
})
|
||||
|
||||
# 执行动作（带进度反馈）
|
||||
duration = 10.0 # 秒
|
||||
start_time = time_module.time()
|
||||
|
||||
while True:
|
||||
elapsed = time_module.time() - start_time
|
||||
remaining = max(0, duration - elapsed)
|
||||
progress = min(100, (elapsed / duration) * 100)
|
||||
|
||||
self.data.update({
|
||||
"status": f"运行中: {progress:.0f}%",
|
||||
"remaining_time": remaining,
|
||||
})
|
||||
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
# 完成
|
||||
self.data.update({
|
||||
"status": "完成",
|
||||
"is_running": False,
|
||||
})
|
||||
|
||||
self.logger.info("动作执行完成")
|
||||
return True
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""设备状态 - 自动发布为ROS Topic"""
|
||||
return self.data.get("status", "未知")
|
||||
|
||||
@property
|
||||
def is_running(self) -> bool:
|
||||
"""是否正在运行"""
|
||||
return self.data.get("is_running", False)
|
||||
|
||||
@property
|
||||
def current_value(self) -> float:
|
||||
"""当前值"""
|
||||
return self.data.get("current_value", 0.0)
|
||||
|
||||
# ==================== 辅助方法 ====================
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""获取设备信息"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"status": self.status,
|
||||
"is_running": self.is_running,
|
||||
"current_value": self.current_value,
|
||||
}
|
||||
|
||||
def __str__(self) -> str:
|
||||
return f"MyDevice({self.device_id}: {self.status})"
|
||||
```
|
||||
|
||||
## 关键规则
|
||||
|
||||
### 1. 参数处理
|
||||
|
||||
所有动作方法的参数都可能以字符串形式传入，必须进行类型转换：
|
||||
|
||||
```python
|
||||
async def my_action(self, value: float, **kwargs) -> bool:
|
||||
# 始终进行类型转换
|
||||
try:
|
||||
value = float(value)
|
||||
except (ValueError, TypeError) as e:
|
||||
self.logger.error(f"参数类型错误: {e}")
|
||||
return False
|
||||
```
|
||||
|
||||
### 2. vessel 参数处理
|
||||
|
||||
vessel 参数可能是字符串ID或字典：
|
||||
|
||||
```python
|
||||
def extract_vessel_id(vessel: Union[str, dict]) -> str:
|
||||
if isinstance(vessel, dict):
|
||||
return vessel.get("id", "")
|
||||
return str(vessel) if vessel else ""
|
||||
```
|
||||
|
||||
### 3. 状态更新
|
||||
|
||||
使用 `self.data` 字典存储状态，属性读取状态：
|
||||
|
||||
```python
|
||||
# 更新状态
|
||||
self.data["status"] = "运行中"
|
||||
self.data["current_speed"] = 300.0
|
||||
|
||||
# 读取状态（通过属性）
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "待机")
|
||||
```
|
||||
|
||||
### 4. 异步等待
|
||||
|
||||
使用 ROS 节点的 sleep 方法：
|
||||
|
||||
```python
|
||||
# 正确
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
# 避免（除非在纯 Python 测试环境）
|
||||
await asyncio.sleep(1.0)
|
||||
```
|
||||
|
||||
### 5. 进度反馈
|
||||
|
||||
长时间运行的操作需要提供进度反馈：
|
||||
|
||||
```python
|
||||
while remaining > 0:
|
||||
progress = (elapsed / total_time) * 100
|
||||
self.data["status"] = f"运行中: {progress:.0f}%"
|
||||
self.data["remaining_time"] = remaining
|
||||
|
||||
await self._ros_node.sleep(1.0)
|
||||
```
|
||||
|
||||
## 虚拟设备
|
||||
|
||||
虚拟设备用于测试和演示，放在 `unilabos/devices/virtual/` 目录：
|
||||
|
||||
- 类名以 `Virtual` 开头
|
||||
- 文件名以 `virtual_` 开头
|
||||
- 模拟真实设备的行为和时序
|
||||
- 使用表情符号增强日志可读性（可选）
|
||||
|
||||
## 工作站设备
|
||||
|
||||
工作站是组合多个设备的复杂设备：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
class MyWorkstation(WorkstationBase):
|
||||
"""组合工作站"""
|
||||
|
||||
async def execute_workflow(self, workflow: Dict[str, Any]) -> bool:
|
||||
"""执行工作流"""
|
||||
pass
|
||||
```
|
||||
|
||||
## 设备注册
|
||||
|
||||
设备类开发完成后，需要在注册表中注册：
|
||||
|
||||
1. 创建/编辑 `unilabos/registry/devices/my_category.yaml`
|
||||
2. 添加设备配置（参考 `virtual_device.yaml`）
|
||||
3. 运行 `--complete_registry` 自动生成 schema
|
||||
@@ -1,240 +0,0 @@
|
||||
---
|
||||
description: 协议编译器开发规范
|
||||
globs: ["unilabos/compile/**/*.py"]
|
||||
---
|
||||
|
||||
# 协议编译器开发规范
|
||||
|
||||
## 概述
|
||||
|
||||
协议编译器负责将高级实验操作（如 Stir、Add、Filter）编译为设备可执行的动作序列。
|
||||
|
||||
## 文件命名
|
||||
|
||||
- 位置: `unilabos/compile/`
|
||||
- 命名: `{operation}_protocol.py`
|
||||
- 示例: `stir_protocol.py`, `add_protocol.py`, `filter_protocol.py`
|
||||
|
||||
## 协议函数模板
|
||||
|
||||
```python
|
||||
from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
import logging
|
||||
|
||||
from .utils.unit_parser import parse_time_input
|
||||
from .utils.vessel_parser import extract_vessel_id
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def generate_{operation}_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: Union[str, dict],
|
||||
param1: Union[str, float] = "0",
|
||||
param2: float = 0.0,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成{操作}协议序列
|
||||
|
||||
Args:
|
||||
G: 物理拓扑图 (NetworkX DiGraph)
|
||||
vessel: 容器ID或Resource字典
|
||||
param1: 参数1（支持字符串单位，如 "5 min"）
|
||||
param2: 参数2
|
||||
**kwargs: 其他参数
|
||||
|
||||
Returns:
|
||||
List[Dict]: 动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 参数无效时
|
||||
"""
|
||||
# 1. 提取 vessel_id
|
||||
vessel_id = extract_vessel_id(vessel)
|
||||
|
||||
# 2. 验证参数
|
||||
if not vessel_id:
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
if vessel_id not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
# 3. 解析参数（支持单位）
|
||||
parsed_param1 = parse_time_input(param1) # "5 min" -> 300.0
|
||||
|
||||
# 4. 查找设备
|
||||
device_id = find_connected_device(G, vessel_id, device_type="my_device")
|
||||
|
||||
# 5. 生成动作序列
|
||||
action_sequence = []
|
||||
|
||||
action = {
|
||||
"device_id": device_id,
|
||||
"action_name": "my_action",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id}, # 始终使用字典格式
|
||||
"param1": float(parsed_param1),
|
||||
"param2": float(param2),
|
||||
}
|
||||
}
|
||||
action_sequence.append(action)
|
||||
|
||||
logger.info(f"生成协议: {len(action_sequence)} 个动作")
|
||||
return action_sequence
|
||||
|
||||
|
||||
def find_connected_device(
|
||||
G: nx.DiGraph,
|
||||
vessel_id: str,
|
||||
device_type: str = ""
|
||||
) -> str:
|
||||
"""
|
||||
查找与容器相连的设备
|
||||
|
||||
Args:
|
||||
G: 拓扑图
|
||||
vessel_id: 容器ID
|
||||
device_type: 设备类型关键字
|
||||
|
||||
Returns:
|
||||
str: 设备ID
|
||||
"""
|
||||
# 查找所有匹配类型的设备
|
||||
device_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '') or ''
|
||||
if device_type.lower() in node_class.lower():
|
||||
device_nodes.append(node)
|
||||
|
||||
# 检查连接
|
||||
if vessel_id and device_nodes:
|
||||
for device in device_nodes:
|
||||
if G.has_edge(device, vessel_id) or G.has_edge(vessel_id, device):
|
||||
return device
|
||||
|
||||
# 返回第一个可用设备
|
||||
if device_nodes:
|
||||
return device_nodes[0]
|
||||
|
||||
# 默认设备
|
||||
return f"{device_type}_1"
|
||||
```
|
||||
|
||||
## 关键规则
|
||||
|
||||
### 1. vessel 参数处理
|
||||
|
||||
vessel 参数可能是字符串或字典，需要统一处理：
|
||||
|
||||
```python
|
||||
def extract_vessel_id(vessel: Union[str, dict]) -> str:
|
||||
"""提取vessel_id"""
|
||||
if isinstance(vessel, dict):
|
||||
# 可能是 {"id": "xxx"} 或完整 Resource 对象
|
||||
return vessel.get("id", list(vessel.values())[0].get("id", ""))
|
||||
return str(vessel) if vessel else ""
|
||||
```
|
||||
|
||||
### 2. action_kwargs 中的 vessel
|
||||
|
||||
始终使用 `{"id": vessel_id}` 格式传递 vessel：
|
||||
|
||||
```python
|
||||
# 正确
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id}, # 字符串ID包装为字典
|
||||
}
|
||||
|
||||
# 避免
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_resource, # 不要传递完整 Resource 对象
|
||||
}
|
||||
```
|
||||
|
||||
### 3. 单位解析
|
||||
|
||||
使用 `parse_time_input` 解析时间参数：
|
||||
|
||||
```python
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
# 支持格式: "5 min", "1 h", "300", "1.5 hours"
|
||||
time_seconds = parse_time_input("5 min") # -> 300.0
|
||||
time_seconds = parse_time_input(120) # -> 120.0
|
||||
time_seconds = parse_time_input("1 h") # -> 3600.0
|
||||
```
|
||||
|
||||
### 4. 参数验证
|
||||
|
||||
所有参数必须进行验证和类型转换：
|
||||
|
||||
```python
|
||||
# 验证范围
|
||||
if speed < 10.0 or speed > 1500.0:
|
||||
logger.warning(f"速度 {speed} 超出范围，修正为 300")
|
||||
speed = 300.0
|
||||
|
||||
# 类型转换
|
||||
param = float(param) if not isinstance(param, (int, float)) else param
|
||||
```
|
||||
|
||||
### 5. 日志记录
|
||||
|
||||
使用项目日志记录器：
|
||||
|
||||
```python
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def generate_protocol(...):
|
||||
logger.info(f"开始生成协议...")
|
||||
logger.debug(f"参数: vessel={vessel_id}, time={time}")
|
||||
logger.warning(f"参数修正: {old_value} -> {new_value}")
|
||||
```
|
||||
|
||||
## 便捷函数
|
||||
|
||||
为常用操作提供便捷函数：
|
||||
|
||||
```python
|
||||
def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
speed: float = 300.0) -> List[Dict[str, Any]]:
|
||||
"""短时间搅拌（30秒）"""
|
||||
return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
|
||||
|
||||
def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
time: str = "5 min") -> List[Dict[str, Any]]:
|
||||
"""剧烈搅拌"""
|
||||
return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
|
||||
```
|
||||
|
||||
## 测试函数
|
||||
|
||||
每个协议文件应包含测试函数：
|
||||
|
||||
```python
|
||||
def test_{operation}_protocol():
|
||||
"""测试协议生成"""
|
||||
# 测试参数处理
|
||||
vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
|
||||
vessel_id = extract_vessel_id(vessel_dict)
|
||||
assert vessel_id == "flask_1"
|
||||
|
||||
# 测试单位解析
|
||||
time_s = parse_time_input("5 min")
|
||||
assert time_s == 300.0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_{operation}_protocol()
|
||||
```
|
||||
|
||||
## 现有协议参考
|
||||
|
||||
- `stir_protocol.py` - 搅拌操作
|
||||
- `add_protocol.py` - 添加物料
|
||||
- `filter_protocol.py` - 过滤操作
|
||||
- `heatchill_protocol.py` - 加热/冷却
|
||||
- `separate_protocol.py` - 分离操作
|
||||
- `evaporate_protocol.py` - 蒸发操作
|
||||
@@ -1,319 +0,0 @@
|
||||
---
|
||||
description: 注册表配置规范 (YAML)
|
||||
globs: ["unilabos/registry/**/*.yaml"]
|
||||
---
|
||||
|
||||
# 注册表配置规范
|
||||
|
||||
## 概述
|
||||
|
||||
注册表使用 YAML 格式定义设备和资源类型，是 Uni-Lab-OS 的核心配置系统。
|
||||
|
||||
## 目录结构
|
||||
|
||||
```
|
||||
unilabos/registry/
|
||||
├── devices/ # 设备类型注册
|
||||
│ ├── virtual_device.yaml
|
||||
│ ├── liquid_handler.yaml
|
||||
│ └── ...
|
||||
├── device_comms/ # 通信设备配置
|
||||
│ ├── communication_devices.yaml
|
||||
│ └── modbus_ioboard.yaml
|
||||
└── resources/ # 资源类型注册
|
||||
├── bioyond/
|
||||
├── organic/
|
||||
├── opentrons/
|
||||
└── ...
|
||||
```
|
||||
|
||||
## 设备注册表格式
|
||||
|
||||
### 基本结构
|
||||
|
||||
```yaml
|
||||
device_type_id:
|
||||
# 基本信息
|
||||
description: "设备描述"
|
||||
version: "1.0.0"
|
||||
category:
|
||||
- category_name
|
||||
icon: "icon_device.webp"
|
||||
|
||||
# 类配置
|
||||
class:
|
||||
module: "unilabos.devices.my_module:MyClass"
|
||||
type: python
|
||||
|
||||
# 状态类型（属性 -> ROS消息类型）
|
||||
status_types:
|
||||
status: String
|
||||
temperature: Float64
|
||||
is_running: Bool
|
||||
|
||||
# 动作映射
|
||||
action_value_mappings:
|
||||
action_name:
|
||||
type: UniLabJsonCommand # 或 UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
handles: {}
|
||||
```
|
||||
|
||||
### action_value_mappings 详细格式
|
||||
|
||||
```yaml
|
||||
action_value_mappings:
|
||||
# 同步动作
|
||||
my_sync_action:
|
||||
type: UniLabJsonCommand
|
||||
goal:
|
||||
param1: param1
|
||||
param2: param2
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
message: message
|
||||
goal_default:
|
||||
param1: 0.0
|
||||
param2: ""
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
device_param: unilabos_devices # 设备选择器
|
||||
resource_param: unilabos_resources # 资源选择器
|
||||
schema:
|
||||
title: "动作名称参数"
|
||||
description: "动作描述"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties:
|
||||
param1:
|
||||
type: number
|
||||
param2:
|
||||
type: string
|
||||
required:
|
||||
- param1
|
||||
feedback: {}
|
||||
result:
|
||||
type: object
|
||||
properties:
|
||||
success:
|
||||
type: boolean
|
||||
message:
|
||||
type: string
|
||||
required:
|
||||
- goal
|
||||
|
||||
# 异步动作
|
||||
my_async_action:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback:
|
||||
progress: progress
|
||||
current_status: status
|
||||
result:
|
||||
success: success
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### 自动生成的动作
|
||||
|
||||
以 `auto-` 开头的动作由系统自动生成：
|
||||
|
||||
```yaml
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
|
||||
auto-cleanup:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### handles 配置
|
||||
|
||||
用于工作流编辑器中的数据流连接：
|
||||
|
||||
```yaml
|
||||
handles:
|
||||
input:
|
||||
- handler_key: "input_resource"
|
||||
data_type: "resource"
|
||||
label: "输入资源"
|
||||
data_source: "handle"
|
||||
data_key: "resources"
|
||||
output:
|
||||
- handler_key: "output_labware"
|
||||
data_type: "resource"
|
||||
label: "输出器皿"
|
||||
data_source: "executor"
|
||||
data_key: "created_resource.@flatten"
|
||||
```
|
||||
|
||||
## 资源注册表格式
|
||||
|
||||
```yaml
|
||||
resource_type_id:
|
||||
description: "资源描述"
|
||||
version: "1.0.0"
|
||||
category:
|
||||
- category_name
|
||||
icon: ""
|
||||
handles: []
|
||||
init_param_schema: {}
|
||||
|
||||
class:
|
||||
module: "unilabos.resources.my_module:MyResource"
|
||||
type: pylabrobot # 或 python
|
||||
```
|
||||
|
||||
### PyLabRobot 资源示例
|
||||
|
||||
```yaml
|
||||
BIOYOND_Electrolyte_6VialCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
- bioyond
|
||||
class:
|
||||
module: "unilabos.resources.bioyond.bottle_carriers:BIOYOND_Electrolyte_6VialCarrier"
|
||||
type: pylabrobot
|
||||
version: "1.0.0"
|
||||
```
|
||||
|
||||
## 状态类型映射
|
||||
|
||||
Python 类型到 ROS 消息类型的映射：
|
||||
|
||||
| Python 类型 | ROS 消息类型 |
|
||||
|------------|-------------|
|
||||
| `str` | `String` |
|
||||
| `bool` | `Bool` |
|
||||
| `int` | `Int64` |
|
||||
| `float` | `Float64` |
|
||||
| `list` | `String` (序列化) |
|
||||
| `dict` | `String` (序列化) |
|
||||
|
||||
## 自动完善注册表
|
||||
|
||||
使用 `--complete_registry` 参数自动生成 schema：
|
||||
|
||||
```bash
|
||||
python -m unilabos.app.main --complete_registry
|
||||
```
|
||||
|
||||
这会：
|
||||
1. 扫描设备类的方法签名
|
||||
2. 自动生成 `auto-` 前缀的动作
|
||||
3. 生成 JSON Schema
|
||||
4. 更新 YAML 文件
|
||||
|
||||
## 验证规则
|
||||
|
||||
1. **device_type_id** 必须唯一
|
||||
2. **module** 路径必须正确可导入
|
||||
3. **status_types** 的类型必须是有效的 ROS 消息类型
|
||||
4. **schema** 必须是有效的 JSON Schema
|
||||
|
||||
## 示例：完整设备配置
|
||||
|
||||
```yaml
|
||||
virtual_stirrer:
|
||||
category:
|
||||
- virtual_device
|
||||
description: "虚拟搅拌器设备"
|
||||
version: "1.0.0"
|
||||
icon: "icon_stirrer.webp"
|
||||
handles: []
|
||||
init_param_schema: {}
|
||||
|
||||
class:
|
||||
module: "unilabos.devices.virtual.virtual_stirrer:VirtualStirrer"
|
||||
type: python
|
||||
|
||||
status_types:
|
||||
status: String
|
||||
operation_mode: String
|
||||
current_speed: Float64
|
||||
is_stirring: Bool
|
||||
remaining_time: Float64
|
||||
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema:
|
||||
title: "initialize参数"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
|
||||
stir:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal:
|
||||
stir_time: stir_time
|
||||
stir_speed: stir_speed
|
||||
settling_time: settling_time
|
||||
feedback:
|
||||
current_speed: current_speed
|
||||
remaining_time: remaining_time
|
||||
result:
|
||||
success: success
|
||||
goal_default:
|
||||
stir_time: 60.0
|
||||
stir_speed: 300.0
|
||||
settling_time: 30.0
|
||||
handles: {}
|
||||
schema:
|
||||
title: "stir参数"
|
||||
description: "搅拌操作"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties:
|
||||
stir_time:
|
||||
type: number
|
||||
description: "搅拌时间（秒）"
|
||||
stir_speed:
|
||||
type: number
|
||||
description: "搅拌速度（RPM）"
|
||||
settling_time:
|
||||
type: number
|
||||
description: "沉降时间（秒）"
|
||||
required:
|
||||
- stir_time
|
||||
- stir_speed
|
||||
feedback:
|
||||
type: object
|
||||
properties:
|
||||
current_speed:
|
||||
type: number
|
||||
remaining_time:
|
||||
type: number
|
||||
result:
|
||||
type: object
|
||||
properties:
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
```
|
||||
@@ -1,233 +0,0 @@
|
||||
---
|
||||
description: ROS 2 集成开发规范
|
||||
globs: ["unilabos/ros/**/*.py", "**/*_node.py"]
|
||||
---
|
||||
|
||||
# ROS 2 集成开发规范
|
||||
|
||||
## 概述
|
||||
|
||||
Uni-Lab-OS 使用 ROS 2 作为设备通信中间件，基于 rclpy 实现。
|
||||
|
||||
## 核心组件
|
||||
|
||||
### BaseROS2DeviceNode
|
||||
|
||||
设备节点基类，提供：
|
||||
- ROS Topic 自动发布（状态属性）
|
||||
- Action Server 自动创建（设备动作）
|
||||
- 资源管理服务
|
||||
- 异步任务调度
|
||||
|
||||
```python
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
```
|
||||
|
||||
### 消息转换器
|
||||
|
||||
```python
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
msg_converter_manager,
|
||||
ros_action_to_json_schema,
|
||||
ros_message_to_json_schema,
|
||||
)
|
||||
```
|
||||
|
||||
## 设备与 ROS 集成
|
||||
|
||||
### post_init 方法
|
||||
|
||||
设备类必须实现 `post_init` 方法接收 ROS 节点：
|
||||
|
||||
```python
|
||||
class MyDevice:
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点注入"""
|
||||
self._ros_node = ros_node
|
||||
```
|
||||
|
||||
### 状态属性发布
|
||||
|
||||
设备的 `@property` 属性会自动发布为 ROS Topic：
|
||||
|
||||
```python
|
||||
class MyDevice:
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
|
||||
# 自动发布到 /{namespace}/temperature Topic
|
||||
```
|
||||
|
||||
### Topic 配置装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import topic_config
|
||||
|
||||
class MyDevice:
|
||||
@property
|
||||
@topic_config(period=1.0, print_publish=False, qos=10)
|
||||
def fast_data(self) -> float:
|
||||
"""高频数据 - 每秒发布一次"""
|
||||
return self._fast_data
|
||||
|
||||
@property
|
||||
@topic_config(period=5.0)
|
||||
def slow_data(self) -> str:
|
||||
"""低频数据 - 每5秒发布一次"""
|
||||
return self._slow_data
|
||||
```
|
||||
|
||||
### 订阅装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import subscribe
|
||||
|
||||
class MyDevice:
|
||||
@subscribe(topic="/external/sensor_data", qos=10)
|
||||
def on_sensor_data(self, msg):
|
||||
"""订阅外部Topic"""
|
||||
self._sensor_value = msg.data
|
||||
```
|
||||
|
||||
## 异步操作
|
||||
|
||||
### 使用 ROS 节点睡眠
|
||||
|
||||
```python
|
||||
# 推荐：使用ROS节点的睡眠方法
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
# 不推荐：直接使用asyncio（可能导致回调阻塞）
|
||||
await asyncio.sleep(1.0)
|
||||
```
|
||||
|
||||
### 获取事件循环
|
||||
|
||||
```python
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
|
||||
loop = get_event_loop()
|
||||
```
|
||||
|
||||
## 消息类型
|
||||
|
||||
### unilabos_msgs 包
|
||||
|
||||
```python
|
||||
from unilabos_msgs.msg import Resource
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
ResourceDelete,
|
||||
ResourceUpdate,
|
||||
ResourceList,
|
||||
SerialCommand,
|
||||
)
|
||||
from unilabos_msgs.action import SendCmd
|
||||
```
|
||||
|
||||
### Resource 消息结构
|
||||
|
||||
```python
|
||||
Resource:
|
||||
id: str
|
||||
name: str
|
||||
category: str
|
||||
type: str
|
||||
parent: str
|
||||
children: List[str]
|
||||
config: str # JSON字符串
|
||||
data: str # JSON字符串
|
||||
sample_id: str
|
||||
pose: Pose
|
||||
```
|
||||
|
||||
## 日志适配器
|
||||
|
||||
```python
|
||||
from unilabos.utils.log import info, debug, warning, error, trace
|
||||
|
||||
class MyDevice:
|
||||
def __init__(self):
|
||||
# 创建设备专属日志器
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
```
|
||||
|
||||
ROSLoggerAdapter 同时向自定义日志和 ROS 日志发送消息。
|
||||
|
||||
## Action Server
|
||||
|
||||
设备动作自动创建为 ROS Action Server：
|
||||
|
||||
```yaml
|
||||
# 在注册表中配置
|
||||
action_value_mappings:
|
||||
my_action:
|
||||
type: UniLabJsonCommandAsync # 异步Action
|
||||
goal: {...}
|
||||
feedback: {...}
|
||||
result: {...}
|
||||
```
|
||||
|
||||
### Action 类型
|
||||
|
||||
- **UniLabJsonCommand**: 同步动作
|
||||
- **UniLabJsonCommandAsync**: 异步动作（支持feedback）
|
||||
|
||||
## 服务客户端
|
||||
|
||||
```python
|
||||
from rclpy.client import Client
|
||||
|
||||
# 调用其他节点的服务
|
||||
response = await self._ros_node.call_service(
|
||||
service_name="/other_node/service",
|
||||
request=MyServiceRequest(...)
|
||||
)
|
||||
```
|
||||
|
||||
## 命名空间
|
||||
|
||||
设备节点使用命名空间隔离：
|
||||
|
||||
```
|
||||
/{device_id}/ # 设备命名空间
|
||||
/{device_id}/status # 状态Topic
|
||||
/{device_id}/temperature # 温度Topic
|
||||
/{device_id}/my_action # 动作Server
|
||||
```
|
||||
|
||||
## 调试
|
||||
|
||||
### 查看 Topic
|
||||
|
||||
```bash
|
||||
ros2 topic list
|
||||
ros2 topic echo /{device_id}/status
|
||||
```
|
||||
|
||||
### 查看 Action
|
||||
|
||||
```bash
|
||||
ros2 action list
|
||||
ros2 action info /{device_id}/my_action
|
||||
```
|
||||
|
||||
### 查看 Service
|
||||
|
||||
```bash
|
||||
ros2 service list
|
||||
ros2 service call /{device_id}/resource_list unilabos_msgs/srv/ResourceList
|
||||
```
|
||||
|
||||
## 最佳实践
|
||||
|
||||
1. **状态属性命名**: 使用蛇形命名法（snake_case）
|
||||
2. **Topic 频率**: 根据数据变化频率调整，避免过高频率
|
||||
3. **Action 反馈**: 长时间操作提供进度反馈
|
||||
4. **错误处理**: 使用 try-except 捕获并记录错误
|
||||
5. **资源清理**: 在 cleanup 方法中正确清理资源
|
||||
@@ -1,357 +0,0 @@
|
||||
---
|
||||
description: 测试开发规范
|
||||
globs: ["tests/**/*.py", "**/test_*.py"]
|
||||
---
|
||||
|
||||
# 测试开发规范
|
||||
|
||||
## 目录结构
|
||||
|
||||
```
|
||||
tests/
|
||||
├── __init__.py
|
||||
├── devices/ # 设备测试
|
||||
│ └── liquid_handling/
|
||||
│ └── test_transfer_liquid.py
|
||||
├── resources/ # 资源测试
|
||||
│ ├── test_bottle_carrier.py
|
||||
│ └── test_resourcetreeset.py
|
||||
├── ros/ # ROS消息测试
|
||||
│ └── msgs/
|
||||
│ ├── test_basic.py
|
||||
│ ├── test_conversion.py
|
||||
│ └── test_mapping.py
|
||||
└── workflow/ # 工作流测试
|
||||
└── merge_workflow.py
|
||||
```
|
||||
|
||||
## 测试框架
|
||||
|
||||
使用 pytest 作为测试框架：
|
||||
|
||||
```bash
|
||||
# 运行所有测试
|
||||
pytest tests/
|
||||
|
||||
# 运行特定测试文件
|
||||
pytest tests/resources/test_bottle_carrier.py
|
||||
|
||||
# 运行特定测试函数
|
||||
pytest tests/resources/test_bottle_carrier.py::test_bottle_carrier
|
||||
|
||||
# 显示详细输出
|
||||
pytest -v tests/
|
||||
|
||||
# 显示打印输出
|
||||
pytest -s tests/
|
||||
```
|
||||
|
||||
## 测试文件模板
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from typing import List, Dict, Any
|
||||
|
||||
# 导入被测试的模块
|
||||
from unilabos.resources.bioyond.bottle_carriers import (
|
||||
BIOYOND_Electrolyte_6VialCarrier,
|
||||
)
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Solid_Vial,
|
||||
)
|
||||
|
||||
|
||||
class TestBottleCarrier:
|
||||
"""BottleCarrier 测试类"""
|
||||
|
||||
def setup_method(self):
|
||||
"""每个测试方法前执行"""
|
||||
self.carrier = BIOYOND_Electrolyte_6VialCarrier("test_carrier")
|
||||
|
||||
def teardown_method(self):
|
||||
"""每个测试方法后执行"""
|
||||
pass
|
||||
|
||||
def test_carrier_creation(self):
|
||||
"""测试载架创建"""
|
||||
assert self.carrier.name == "test_carrier"
|
||||
assert len(self.carrier.sites) == 6
|
||||
|
||||
def test_bottle_placement(self):
|
||||
"""测试瓶子放置"""
|
||||
bottle = BIOYOND_PolymerStation_Solid_Vial("test_bottle")
|
||||
# 测试逻辑...
|
||||
assert bottle.name == "test_bottle"
|
||||
|
||||
|
||||
def test_standalone_function():
|
||||
"""独立测试函数"""
|
||||
result = some_function()
|
||||
assert result is True
|
||||
|
||||
|
||||
# 参数化测试
|
||||
@pytest.mark.parametrize("input,expected", [
|
||||
("5 min", 300.0),
|
||||
("1 h", 3600.0),
|
||||
("120", 120.0),
|
||||
(60, 60.0),
|
||||
])
|
||||
def test_time_parsing(input, expected):
|
||||
"""测试时间解析"""
|
||||
from unilabos.compile.utils.unit_parser import parse_time_input
|
||||
assert parse_time_input(input) == expected
|
||||
|
||||
|
||||
# 异常测试
|
||||
def test_invalid_input_raises_error():
|
||||
"""测试无效输入抛出异常"""
|
||||
with pytest.raises(ValueError) as exc_info:
|
||||
invalid_function("bad_input")
|
||||
assert "invalid" in str(exc_info.value).lower()
|
||||
|
||||
|
||||
# 跳过条件测试
|
||||
@pytest.mark.skipif(
|
||||
not os.environ.get("ROS_DISTRO"),
|
||||
reason="需要ROS环境"
|
||||
)
|
||||
def test_ros_feature():
|
||||
"""需要ROS环境的测试"""
|
||||
pass
|
||||
```
|
||||
|
||||
## 设备测试
|
||||
|
||||
### 虚拟设备测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
import asyncio
|
||||
from unittest.mock import MagicMock, AsyncMock
|
||||
|
||||
from unilabos.devices.virtual.virtual_stirrer import VirtualStirrer
|
||||
|
||||
|
||||
class TestVirtualStirrer:
|
||||
"""VirtualStirrer 测试"""
|
||||
|
||||
@pytest.fixture
|
||||
def stirrer(self):
|
||||
"""创建测试用搅拌器"""
|
||||
device = VirtualStirrer(
|
||||
device_id="test_stirrer",
|
||||
config={"max_speed": 1500.0, "min_speed": 50.0}
|
||||
)
|
||||
|
||||
# Mock ROS节点
|
||||
mock_node = MagicMock()
|
||||
mock_node.sleep = AsyncMock(return_value=None)
|
||||
device.post_init(mock_node)
|
||||
|
||||
return device
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_initialize(self, stirrer):
|
||||
"""测试初始化"""
|
||||
result = await stirrer.initialize()
|
||||
assert result is True
|
||||
assert stirrer.status == "待机中"
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_stir_action(self, stirrer):
|
||||
"""测试搅拌动作"""
|
||||
await stirrer.initialize()
|
||||
|
||||
result = await stirrer.stir(
|
||||
stir_time=5.0,
|
||||
stir_speed=300.0,
|
||||
settling_time=2.0
|
||||
)
|
||||
|
||||
assert result is True
|
||||
assert stirrer.operation_mode == "Completed"
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_stir_invalid_speed(self, stirrer):
|
||||
"""测试无效速度"""
|
||||
await stirrer.initialize()
|
||||
|
||||
# 速度超出范围
|
||||
result = await stirrer.stir(
|
||||
stir_time=5.0,
|
||||
stir_speed=2000.0, # 超过max_speed
|
||||
settling_time=0.0
|
||||
)
|
||||
|
||||
assert result is False
|
||||
assert "错误" in stirrer.status
|
||||
```
|
||||
|
||||
### 异步测试配置
|
||||
|
||||
```python
|
||||
# conftest.py
|
||||
import pytest
|
||||
import asyncio
|
||||
|
||||
|
||||
@pytest.fixture(scope="session")
|
||||
def event_loop():
|
||||
"""创建事件循环"""
|
||||
loop = asyncio.get_event_loop_policy().new_event_loop()
|
||||
yield loop
|
||||
loop.close()
|
||||
```
|
||||
|
||||
## 资源测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
)
|
||||
|
||||
|
||||
def test_resource_tree_creation():
|
||||
"""测试资源树创建"""
|
||||
tree_set = ResourceTreeSet()
|
||||
|
||||
# 添加资源
|
||||
resource = {"id": "res_1", "name": "Resource 1"}
|
||||
tree_set.add_resource(resource)
|
||||
|
||||
# 验证
|
||||
assert len(tree_set.all_nodes) == 1
|
||||
assert tree_set.get_resource("res_1") is not None
|
||||
|
||||
|
||||
def test_resource_tree_merge():
|
||||
"""测试资源树合并"""
|
||||
local_set = ResourceTreeSet()
|
||||
remote_set = ResourceTreeSet()
|
||||
|
||||
# 设置数据...
|
||||
|
||||
local_set.merge_remote_resources(remote_set)
|
||||
|
||||
# 验证合并结果...
|
||||
```
|
||||
|
||||
## ROS 消息测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
msg_converter_manager,
|
||||
)
|
||||
|
||||
|
||||
def test_message_conversion():
|
||||
"""测试消息转换"""
|
||||
# Python -> ROS
|
||||
python_data = {"id": "test", "value": 42}
|
||||
ros_msg = convert_to_ros_msg(python_data, MyMsgType)
|
||||
|
||||
assert ros_msg.id == "test"
|
||||
assert ros_msg.value == 42
|
||||
|
||||
# ROS -> Python
|
||||
result = convert_from_ros_msg_with_mapping(ros_msg, mapping)
|
||||
assert result["id"] == "test"
|
||||
```
|
||||
|
||||
## 协议测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
import networkx as nx
|
||||
from unilabos.compile.stir_protocol import (
|
||||
generate_stir_protocol,
|
||||
extract_vessel_id,
|
||||
)
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def topology_graph():
|
||||
"""创建测试拓扑图"""
|
||||
G = nx.DiGraph()
|
||||
G.add_node("flask_1", **{"class": "flask"})
|
||||
G.add_node("stirrer_1", **{"class": "virtual_stirrer"})
|
||||
G.add_edge("stirrer_1", "flask_1")
|
||||
return G
|
||||
|
||||
|
||||
def test_generate_stir_protocol(topology_graph):
|
||||
"""测试搅拌协议生成"""
|
||||
actions = generate_stir_protocol(
|
||||
G=topology_graph,
|
||||
vessel="flask_1",
|
||||
time="5 min",
|
||||
stir_speed=300.0
|
||||
)
|
||||
|
||||
assert len(actions) == 1
|
||||
assert actions[0]["device_id"] == "stirrer_1"
|
||||
assert actions[0]["action_name"] == "stir"
|
||||
|
||||
|
||||
def test_extract_vessel_id():
|
||||
"""测试vessel_id提取"""
|
||||
# 字典格式
|
||||
assert extract_vessel_id({"id": "flask_1"}) == "flask_1"
|
||||
|
||||
# 字符串格式
|
||||
assert extract_vessel_id("flask_2") == "flask_2"
|
||||
|
||||
# 空值
|
||||
assert extract_vessel_id("") == ""
|
||||
```
|
||||
|
||||
## 测试标记
|
||||
|
||||
```python
|
||||
# 慢速测试
|
||||
@pytest.mark.slow
|
||||
def test_long_running():
|
||||
pass
|
||||
|
||||
# 需要网络
|
||||
@pytest.mark.network
|
||||
def test_network_call():
|
||||
pass
|
||||
|
||||
# 需要ROS
|
||||
@pytest.mark.ros
|
||||
def test_ros_feature():
|
||||
pass
|
||||
```
|
||||
|
||||
运行特定标记的测试：
|
||||
|
||||
```bash
|
||||
pytest -m "not slow" # 排除慢速测试
|
||||
pytest -m ros # 仅ROS测试
|
||||
```
|
||||
|
||||
## 覆盖率
|
||||
|
||||
```bash
|
||||
# 生成覆盖率报告
|
||||
pytest --cov=unilabos tests/
|
||||
|
||||
# HTML报告
|
||||
pytest --cov=unilabos --cov-report=html tests/
|
||||
```
|
||||
|
||||
## 最佳实践
|
||||
|
||||
1. **测试命名**: `test_{功能}_{场景}_{预期结果}`
|
||||
2. **独立性**: 每个测试独立运行，不依赖其他测试
|
||||
3. **Mock外部依赖**: 使用 unittest.mock 模拟外部服务
|
||||
4. **参数化**: 使用 `@pytest.mark.parametrize` 减少重复代码
|
||||
5. **fixtures**: 使用 fixtures 共享测试设置
|
||||
6. **断言清晰**: 每个断言只验证一件事
|
||||
@@ -1,353 +0,0 @@
|
||||
---
|
||||
description: Uni-Lab-OS 实验室自动化平台开发规范 - 核心规则
|
||||
globs: ["**/*.py", "**/*.yaml", "**/*.json"]
|
||||
---
|
||||
|
||||
# Uni-Lab-OS 项目开发规范
|
||||
|
||||
## 项目概述
|
||||
|
||||
Uni-Lab-OS 是一个实验室自动化操作系统，用于连接和控制各种实验设备，实现实验工作流的自动化和标准化。
|
||||
|
||||
## 技术栈
|
||||
|
||||
- **Python 3.11** - 核心开发语言
|
||||
- **ROS 2** - 设备通信中间件 (rclpy)
|
||||
- **Conda/Mamba** - 包管理 (robostack-staging, conda-forge)
|
||||
- **FastAPI** - Web API 服务
|
||||
- **WebSocket** - 实时通信
|
||||
- **NetworkX** - 拓扑图管理
|
||||
- **YAML** - 配置和注册表定义
|
||||
- **PyLabRobot** - 实验室自动化库集成
|
||||
- **pytest** - 测试框架
|
||||
- **asyncio** - 异步编程
|
||||
|
||||
## 项目结构
|
||||
|
||||
```
|
||||
unilabos/
|
||||
├── app/ # 应用入口、Web服务、后端
|
||||
├── compile/ # 协议编译器 (stir, add, filter 等)
|
||||
├── config/ # 配置管理
|
||||
├── devices/ # 设备驱动 (真实/虚拟)
|
||||
├── device_comms/ # 设备通信协议
|
||||
├── device_mesh/ # 3D网格和可视化
|
||||
├── registry/ # 设备和资源类型注册表 (YAML)
|
||||
├── resources/ # 资源定义
|
||||
├── ros/ # ROS 2 集成
|
||||
├── utils/ # 工具函数
|
||||
└── workflow/ # 工作流管理
|
||||
```
|
||||
|
||||
## 代码规范
|
||||
|
||||
### Python 风格
|
||||
|
||||
1. **类型注解**：所有函数必须使用类型注解
|
||||
```python
|
||||
def transfer_liquid(
|
||||
source: str,
|
||||
destination: str,
|
||||
volume: float,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
```
|
||||
|
||||
2. **Docstring**：使用 Google 风格的文档字符串
|
||||
```python
|
||||
def initialize(self) -> bool:
|
||||
"""
|
||||
初始化设备
|
||||
|
||||
Returns:
|
||||
bool: 初始化是否成功
|
||||
"""
|
||||
```
|
||||
|
||||
3. **导入顺序**：
|
||||
- 标准库
|
||||
- 第三方库
|
||||
- ROS 相关 (rclpy, unilabos_msgs)
|
||||
- 项目内部模块
|
||||
|
||||
### 异步编程
|
||||
|
||||
1. 设备操作方法使用 `async def`
|
||||
2. 使用 `await self._ros_node.sleep()` 而非 `asyncio.sleep()`
|
||||
3. 长时间运行操作需提供进度反馈
|
||||
|
||||
```python
|
||||
async def stir(self, stir_time: float, stir_speed: float, **kwargs) -> bool:
|
||||
"""执行搅拌操作"""
|
||||
start_time = time_module.time()
|
||||
while True:
|
||||
elapsed = time_module.time() - start_time
|
||||
remaining = max(0, stir_time - elapsed)
|
||||
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"status": f"搅拌中: {stir_speed} RPM"
|
||||
})
|
||||
|
||||
if remaining <= 0:
|
||||
break
|
||||
await self._ros_node.sleep(1.0)
|
||||
return True
|
||||
```
|
||||
|
||||
### 日志规范
|
||||
|
||||
使用项目自定义日志系统：
|
||||
|
||||
```python
|
||||
from unilabos.utils.log import logger, info, debug, warning, error, trace
|
||||
|
||||
# 在设备类中使用
|
||||
self.logger = logging.getLogger(f"DeviceName.{self.device_id}")
|
||||
self.logger.info("设备初始化完成")
|
||||
```
|
||||
|
||||
## 设备驱动开发
|
||||
|
||||
### 设备类结构
|
||||
|
||||
```python
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class MyDevice:
|
||||
"""设备驱动类"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
self.device_id = device_id or "unknown_device"
|
||||
self.config = config or {}
|
||||
self.data = {} # 设备状态数据
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点注入"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化设备"""
|
||||
pass
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""清理设备"""
|
||||
pass
|
||||
|
||||
# 状态属性 - 自动发布为 ROS Topic
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "待机")
|
||||
```
|
||||
|
||||
### 状态属性装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import topic_config
|
||||
|
||||
class MyDevice:
|
||||
@property
|
||||
@topic_config(period=1.0, qos=10) # 每秒发布一次
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
```
|
||||
|
||||
### 虚拟设备
|
||||
|
||||
虚拟设备放置在 `unilabos/devices/virtual/` 目录下，命名为 `virtual_*.py`
|
||||
|
||||
## 注册表配置
|
||||
|
||||
### 设备注册表 (YAML)
|
||||
|
||||
位置: `unilabos/registry/devices/*.yaml`
|
||||
|
||||
```yaml
|
||||
my_device_type:
|
||||
category:
|
||||
- my_category
|
||||
description: "设备描述"
|
||||
version: "1.0.0"
|
||||
class:
|
||||
module: "unilabos.devices.my_device:MyDevice"
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
temperature: Float64
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### 资源注册表 (YAML)
|
||||
|
||||
位置: `unilabos/registry/resources/**/*.yaml`
|
||||
|
||||
```yaml
|
||||
my_container:
|
||||
category:
|
||||
- container
|
||||
class:
|
||||
module: "unilabos.resources.my_resource:MyContainer"
|
||||
type: pylabrobot
|
||||
version: "1.0.0"
|
||||
```
|
||||
|
||||
## 协议编译器
|
||||
|
||||
位置: `unilabos/compile/*_protocol.py`
|
||||
|
||||
### 协议生成函数模板
|
||||
|
||||
```python
|
||||
from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
|
||||
def generate_my_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: Union[str, dict],
|
||||
param1: float = 0.0,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成操作协议序列
|
||||
|
||||
Args:
|
||||
G: 物理拓扑图
|
||||
vessel: 容器ID或字典
|
||||
param1: 参数1
|
||||
|
||||
Returns:
|
||||
List[Dict]: 动作序列
|
||||
"""
|
||||
# 提取vessel_id
|
||||
vessel_id = vessel if isinstance(vessel, str) else vessel.get("id", "")
|
||||
|
||||
# 查找设备
|
||||
device_id = find_connected_device(G, vessel_id)
|
||||
|
||||
# 生成动作
|
||||
action_sequence = [{
|
||||
"device_id": device_id,
|
||||
"action_name": "my_action",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"param1": float(param1)
|
||||
}
|
||||
}]
|
||||
|
||||
return action_sequence
|
||||
```
|
||||
|
||||
## 测试规范
|
||||
|
||||
### 测试文件位置
|
||||
|
||||
- 单元测试: `tests/` 目录
|
||||
- 设备测试: `tests/devices/`
|
||||
- 资源测试: `tests/resources/`
|
||||
- ROS消息测试: `tests/ros/msgs/`
|
||||
|
||||
### 测试命名
|
||||
|
||||
```python
|
||||
# tests/devices/my_device/test_my_device.py
|
||||
|
||||
import pytest
|
||||
|
||||
def test_device_initialization():
|
||||
"""测试设备初始化"""
|
||||
pass
|
||||
|
||||
def test_device_action():
|
||||
"""测试设备动作"""
|
||||
pass
|
||||
```
|
||||
|
||||
## 错误处理
|
||||
|
||||
```python
|
||||
from unilabos.utils.exception import UniLabException
|
||||
|
||||
try:
|
||||
result = await device.execute_action()
|
||||
except ValueError as e:
|
||||
self.logger.error(f"参数错误: {e}")
|
||||
self.data["status"] = "错误: 参数无效"
|
||||
return False
|
||||
except Exception as e:
|
||||
self.logger.error(f"执行失败: {e}")
|
||||
raise
|
||||
```
|
||||
|
||||
## 配置管理
|
||||
|
||||
```python
|
||||
from unilabos.config.config import BasicConfig, HTTPConfig
|
||||
|
||||
# 读取配置
|
||||
port = BasicConfig.port
|
||||
is_host = BasicConfig.is_host_mode
|
||||
|
||||
# 配置文件: local_config.py
|
||||
```
|
||||
|
||||
## 常用工具
|
||||
|
||||
### 单例模式
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import singleton
|
||||
|
||||
@singleton
|
||||
class MyManager:
|
||||
pass
|
||||
```
|
||||
|
||||
### 类型检查
|
||||
|
||||
```python
|
||||
from unilabos.utils.type_check import NoAliasDumper
|
||||
|
||||
yaml.dump(data, f, Dumper=NoAliasDumper)
|
||||
```
|
||||
|
||||
### 导入管理
|
||||
|
||||
```python
|
||||
from unilabos.utils.import_manager import get_class
|
||||
|
||||
device_class = get_class("unilabos.devices.my_device:MyDevice")
|
||||
```
|
||||
|
||||
## Git 提交规范
|
||||
|
||||
提交信息格式:
|
||||
```
|
||||
<type>(<scope>): <subject>
|
||||
|
||||
<body>
|
||||
```
|
||||
|
||||
类型:
|
||||
- `feat`: 新功能
|
||||
- `fix`: 修复bug
|
||||
- `docs`: 文档更新
|
||||
- `refactor`: 重构
|
||||
- `test`: 测试相关
|
||||
- `chore`: 构建/工具相关
|
||||
|
||||
示例:
|
||||
```
|
||||
feat(devices): 添加虚拟搅拌器设备
|
||||
|
||||
- 实现VirtualStirrer类
|
||||
- 支持定时搅拌和持续搅拌模式
|
||||
- 添加速度验证逻辑
|
||||
```
|
||||
212
.cursorignore
212
.cursorignore
@@ -1,188 +1,26 @@
|
||||
# ============================================================
|
||||
# Uni-Lab-OS Cursor Ignore 配置，控制 Cursor AI 的文件索引范围
|
||||
# ============================================================
|
||||
|
||||
# ==================== 敏感配置文件 ====================
|
||||
# 本地配置（可能包含密钥）
|
||||
**/local_config.py
|
||||
test_config.py
|
||||
local_test*.py
|
||||
|
||||
# 环境变量和密钥
|
||||
.env
|
||||
.env.*
|
||||
**/.certs/
|
||||
*.pem
|
||||
*.key
|
||||
credentials.json
|
||||
secrets.yaml
|
||||
|
||||
# ==================== 二进制和 3D 模型文件 ====================
|
||||
# 3D 模型文件（无需索引）
|
||||
*.stl
|
||||
*.dae
|
||||
*.glb
|
||||
*.gltf
|
||||
*.obj
|
||||
*.fbx
|
||||
*.blend
|
||||
|
||||
# URDF/Xacro 机器人描述文件（大型XML）
|
||||
*.xacro
|
||||
|
||||
# 图片文件
|
||||
*.png
|
||||
*.jpg
|
||||
*.jpeg
|
||||
*.gif
|
||||
*.webp
|
||||
*.ico
|
||||
*.svg
|
||||
*.bmp
|
||||
|
||||
# 压缩包
|
||||
*.zip
|
||||
*.tar
|
||||
*.tar.gz
|
||||
*.tgz
|
||||
*.bz2
|
||||
*.rar
|
||||
*.7z
|
||||
|
||||
# ==================== Python 生成文件 ====================
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
*.so
|
||||
*.pyd
|
||||
*.egg
|
||||
*.egg-info/
|
||||
.eggs/
|
||||
dist/
|
||||
build/
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# ==================== IDE 和编辑器 ====================
|
||||
.idea/
|
||||
.vscode/
|
||||
*.swp
|
||||
*.swo
|
||||
*~
|
||||
.#*
|
||||
|
||||
# ==================== 测试和覆盖率 ====================
|
||||
.pytest_cache/
|
||||
.coverage
|
||||
.coverage.*
|
||||
htmlcov/
|
||||
.tox/
|
||||
.nox/
|
||||
coverage.xml
|
||||
*.cover
|
||||
|
||||
# ==================== 虚拟环境 ====================
|
||||
.venv/
|
||||
venv/
|
||||
env/
|
||||
ENV/
|
||||
|
||||
# ==================== ROS 2 生成文件 ====================
|
||||
# ROS 构建目录
|
||||
build/
|
||||
install/
|
||||
log/
|
||||
logs/
|
||||
devel/
|
||||
|
||||
# ROS 消息生成
|
||||
msg_gen/
|
||||
srv_gen/
|
||||
msg/*Action.msg
|
||||
msg/*ActionFeedback.msg
|
||||
msg/*ActionGoal.msg
|
||||
msg/*ActionResult.msg
|
||||
msg/*Feedback.msg
|
||||
msg/*Goal.msg
|
||||
msg/*Result.msg
|
||||
msg/_*.py
|
||||
srv/_*.py
|
||||
build_isolated/
|
||||
devel_isolated/
|
||||
|
||||
# ROS 动态配置
|
||||
*.cfgc
|
||||
/cfg/cpp/
|
||||
/cfg/*.py
|
||||
|
||||
# ==================== 项目特定目录 ====================
|
||||
# 工作数据目录
|
||||
unilabos_data/
|
||||
|
||||
# 临时和输出目录
|
||||
temp/
|
||||
output/
|
||||
cursor_docs/
|
||||
configs/
|
||||
|
||||
# 文档构建
|
||||
docs/_build/
|
||||
/site
|
||||
|
||||
# ==================== 大型数据文件 ====================
|
||||
# 点云数据
|
||||
*.pcd
|
||||
|
||||
# GraphML 图形文件
|
||||
*.graphml
|
||||
|
||||
# 日志文件
|
||||
*.log
|
||||
|
||||
# 数据库
|
||||
*.sqlite3
|
||||
*.db
|
||||
|
||||
# Jupyter 检查点
|
||||
.ipynb_checkpoints/
|
||||
|
||||
# ==================== 设备网格资源 ====================
|
||||
# 3D 网格文件目录（包含大量 STL/DAE 文件）
|
||||
unilabos/device_mesh/devices/**/*.stl
|
||||
unilabos/device_mesh/devices/**/*.dae
|
||||
unilabos/device_mesh/resources/**/*.stl
|
||||
unilabos/device_mesh/resources/**/*.glb
|
||||
unilabos/device_mesh/resources/**/*.xacro
|
||||
|
||||
# RViz 配置
|
||||
*.rviz
|
||||
|
||||
# ==================== 系统文件 ====================
|
||||
.DS_Store
|
||||
Thumbs.db
|
||||
desktop.ini
|
||||
|
||||
# ==================== 锁文件 ====================
|
||||
poetry.lock
|
||||
Pipfile.lock
|
||||
pdm.lock
|
||||
package-lock.json
|
||||
yarn.lock
|
||||
|
||||
# ==================== 类型检查缓存 ====================
|
||||
.mypy_cache/
|
||||
.dmypy.json
|
||||
.pytype/
|
||||
.pyre/
|
||||
.conda
|
||||
# .github
|
||||
.idea
|
||||
# .vscode
|
||||
output
|
||||
pylabrobot_repo
|
||||
recipes
|
||||
scripts
|
||||
service
|
||||
temp
|
||||
# unilabos/test
|
||||
# unilabos/app/web
|
||||
unilabos/device_mesh
|
||||
unilabos_data
|
||||
unilabos_msgs
|
||||
unilabos.egg-info
|
||||
CONTRIBUTORS
|
||||
# LICENSE
|
||||
MANIFEST.in
|
||||
pyrightconfig.json
|
||||
|
||||
# ==================== 其他 ====================
|
||||
# Catkin
|
||||
CATKIN_IGNORE
|
||||
|
||||
# Eclipse/Qt
|
||||
.project
|
||||
.cproject
|
||||
CMakeLists.txt.user
|
||||
*.user
|
||||
qtcreator-*
|
||||
# README.md
|
||||
# README_zh.md
|
||||
setup.py
|
||||
setup.cfg
|
||||
.gitattrubutes
|
||||
**/__pycache__
|
||||
|
||||
19
.github/dependabot.yml
vendored
19
.github/dependabot.yml
vendored
@@ -1,19 +0,0 @@
|
||||
version: 2
|
||||
updates:
|
||||
# GitHub Actions
|
||||
- package-ecosystem: "github-actions"
|
||||
directory: "/"
|
||||
target-branch: "dev"
|
||||
schedule:
|
||||
interval: "weekly"
|
||||
day: "monday"
|
||||
time: "06:00"
|
||||
open-pull-requests-limit: 5
|
||||
reviewers:
|
||||
- "msgcenterpy-team"
|
||||
labels:
|
||||
- "dependencies"
|
||||
- "github-actions"
|
||||
commit-message:
|
||||
prefix: "ci"
|
||||
include: "scope"
|
||||
67
.github/workflows/ci-check.yml
vendored
67
.github/workflows/ci-check.yml
vendored
@@ -1,67 +0,0 @@
|
||||
name: CI Check
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [main, dev]
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
|
||||
jobs:
|
||||
registry-check:
|
||||
runs-on: windows-latest
|
||||
|
||||
env:
|
||||
# Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
|
||||
PYTHONIOENCODING: utf-8
|
||||
PYTHONUTF8: 1
|
||||
|
||||
defaults:
|
||||
run:
|
||||
shell: cmd
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: robostack-staging,conda-forge,uni-lab
|
||||
channel-priority: flexible
|
||||
activate-environment: check-env
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||
run: |
|
||||
echo Installing ROS dependencies...
|
||||
mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
|
||||
|
||||
- name: Install pip dependencies and unilabos
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Installing pip dependencies...
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
|
||||
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
||||
uv pip install .
|
||||
|
||||
- name: Run check mode (complete_registry)
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Running check mode...
|
||||
python -m unilabos --check_mode --skip_env_check
|
||||
|
||||
- name: Check for uncommitted changes
|
||||
shell: bash
|
||||
run: |
|
||||
if ! git diff --exit-code; then
|
||||
echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
|
||||
echo "变化的文件:"
|
||||
git diff --name-only
|
||||
exit 1
|
||||
fi
|
||||
echo "检查通过：无文件变化"
|
||||
43
.github/workflows/conda-pack-build.yml
vendored
43
.github/workflows/conda-pack-build.yml
vendored
@@ -13,11 +13,6 @@ on:
|
||||
required: false
|
||||
default: 'win-64'
|
||||
type: string
|
||||
build_full:
|
||||
description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
@@ -62,7 +57,7 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
@@ -74,7 +69,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -86,14 +81,7 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
echo Build full: ${{ github.event.inputs.build_full }}
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Installing unilabos-full ^(complete package^)...
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
) else (
|
||||
echo Installing unilabos ^(minimal package^)...
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
)
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
@@ -101,14 +89,7 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
echo "Build full: ${{ github.event.inputs.build_full }}"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Installing unilabos-full (complete package)..."
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
else
|
||||
echo "Installing unilabos (minimal package)..."
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
fi
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
@@ -312,7 +293,7 @@ jobs:
|
||||
|
||||
- name: Upload distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: dist-package/
|
||||
@@ -327,12 +308,7 @@ jobs:
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.14
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
)
|
||||
echo Python version: 3.11.11
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
@@ -352,12 +328,7 @@ jobs:
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
fi
|
||||
echo "Python version: 3.11.11"
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
|
||||
37
.github/workflows/deploy-docs.yml
vendored
37
.github/workflows/deploy-docs.yml
vendored
@@ -1,12 +1,10 @@
|
||||
name: Deploy Docs
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发（仅 main 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
push:
|
||||
branches: [main]
|
||||
pull_request:
|
||||
branches: [main]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -35,19 +33,12 @@ concurrency:
|
||||
jobs:
|
||||
# Build documentation
|
||||
build:
|
||||
# 只在以下情况运行：
|
||||
# 1. workflow_run 触发且 CI Check 成功
|
||||
# 2. 手动触发
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout code
|
||||
uses: actions/checkout@v6
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
# workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
|
||||
ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
|
||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -55,7 +46,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -84,10 +75,8 @@ jobs:
|
||||
|
||||
- name: Setup Pages
|
||||
id: pages
|
||||
uses: actions/configure-pages@v5
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/configure-pages@v4
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
|
||||
- name: Build Sphinx documentation
|
||||
run: |
|
||||
@@ -105,18 +94,14 @@ jobs:
|
||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||
|
||||
- name: Upload build artifacts
|
||||
uses: actions/upload-pages-artifact@v4
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/upload-pages-artifact@v3
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
with:
|
||||
path: docs/_build/html
|
||||
|
||||
# Deploy to GitHub Pages
|
||||
deploy:
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
environment:
|
||||
name: github-pages
|
||||
url: ${{ steps.deployment.outputs.page_url }}
|
||||
|
||||
46
.github/workflows/multi-platform-build.yml
vendored
46
.github/workflows/multi-platform-build.yml
vendored
@@ -1,16 +1,11 @@
|
||||
name: Multi-Platform Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types:
|
||||
- completed
|
||||
branches: [main, dev]
|
||||
# 支持 tag 推送（不依赖 CI Check）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
@@ -22,37 +17,9 @@ on:
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -77,10 +44,8 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -104,6 +69,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -149,7 +115,7 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: conda-package-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
|
||||
113
.github/workflows/unilabos-conda-build.yml
vendored
113
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,62 +1,25 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||
required: false
|
||||
default: 'linux-64'
|
||||
build_full:
|
||||
description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
upload_to_anaconda:
|
||||
description: '是否上传到Anaconda.org'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -77,10 +40,8 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -104,6 +65,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -119,61 +81,12 @@ jobs:
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
||||
echo "Building packages:"
|
||||
echo " - unilabos-env (environment dependencies)"
|
||||
echo " - unilabos (with pip package)"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
echo "Building UniLabOS package"
|
||||
|
||||
- name: Build unilabos-env (conda environment only, noarch)
|
||||
- name: Build conda package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-env (conda environment dependencies)..."
|
||||
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: Upload unilabos-env to Anaconda.org (if enabled)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-env to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-env*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos (with pip package)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos package..."
|
||||
# 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
|
||||
rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos to Anaconda.org (if enabled)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos-full - Only when explicitly requested
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true' &&
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-full to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-full*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: List built packages
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -195,9 +108,17 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: conda-package-unilabos-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
if-no-files-found: warn
|
||||
retention-days: 30
|
||||
|
||||
- name: Upload to Anaconda.org (uni-lab organization)
|
||||
if: github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
for package in $(find ./output -name "*.conda"); do
|
||||
echo "Uploading $package to uni-lab organization..."
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -4,7 +4,6 @@ temp/
|
||||
output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
.cursorignore
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
recursive-include unilabos/test *
|
||||
recursive-include unilabos/utils *
|
||||
recursive-include unilabos/registry *.yaml
|
||||
recursive-include unilabos/app/web/static *
|
||||
recursive-include unilabos/app/web/templates *
|
||||
|
||||
38
README.md
38
README.md
@@ -31,46 +31,26 @@ Detailed documentation can be found at:
|
||||
|
||||
## Quick Start
|
||||
|
||||
### 1. Setup Conda Environment
|
||||
1. Setup Conda Environment
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
|
||||
|
||||
| Package | Use Case | Contents |
|
||||
|---------|----------|----------|
|
||||
| `unilabos` | **Recommended for most users** | Complete package, ready to use |
|
||||
| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
|
||||
| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
|
||||
Uni-Lab-OS recommends using `mamba` for environment management:
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# Option A: Standard installation (recommended for most users)
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# Option B: For developers (editable mode development)
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# Then install unilabos and dependencies:
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Option C: Full installation (simulation/visualization)
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**When to use which?**
|
||||
- **unilabos**: Standard installation for production deployment and general usage (recommended)
|
||||
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
|
||||
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
|
||||
|
||||
### 2. Clone Repository (Optional, for developers)
|
||||
2. Install Dev Uni-Lab-OS
|
||||
|
||||
```bash
|
||||
# Clone the repository (only needed for development or examples)
|
||||
# Clone the repository
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# Install Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. Start Uni-Lab System
|
||||
|
||||
38
README_zh.md
38
README_zh.md
@@ -31,46 +31,26 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
||||
|
||||
## 快速开始
|
||||
|
||||
### 1. 配置 Conda 环境
|
||||
1. 配置 Conda 环境
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
|
||||
|
||||
| 安装包 | 适用场景 | 包含内容 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
|
||||
```bash
|
||||
# 创建新环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整安装（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**如何选择？**
|
||||
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
|
||||
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
|
||||
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
|
||||
|
||||
### 2. 克隆仓库（可选，供开发者使用）
|
||||
2. 安装开发版 Uni-Lab-OS:
|
||||
|
||||
```bash
|
||||
# 克隆仓库（仅开发或查看示例时需要）
|
||||
# 克隆仓库
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. 启动 Uni-Lab 系统
|
||||
|
||||
@@ -31,14 +31,6 @@
|
||||
|
||||
详细的安装步骤请参考 [安装指南](installation.md)。
|
||||
|
||||
**选择合适的安装包：**
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||
|
||||
**关键步骤：**
|
||||
|
||||
```bash
|
||||
@@ -46,30 +38,15 @@
|
||||
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
||||
|
||||
# 2. 创建 Conda 环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
|
||||
# 3. 激活环境
|
||||
mamba activate unilab
|
||||
|
||||
# 4. 安装 Uni-Lab-OS（选择其一）
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
# 4. 安装 Uni-Lab-OS
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
|
||||
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
|
||||
|
||||
# 方案 C：完整版（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**选择建议：**
|
||||
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
|
||||
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
|
||||
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
||||
|
||||
#### 1.2 验证安装
|
||||
|
||||
```bash
|
||||
@@ -439,9 +416,6 @@ 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
|
||||
2. 在"仪器设备"区域找到并添加上述设备
|
||||
3. 在"物料耗材"区域找到并添加容器
|
||||
4. 在workstation中配置protocol_type包含PumpTransferProtocol
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -794,43 +768,7 @@ Waiting for host service...
|
||||
|
||||
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
||||
|
||||
#### 9.1 开发环境准备
|
||||
|
||||
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
|
||||
|
||||
```bash
|
||||
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
|
||||
# 2. 克隆代码
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或手动安装：
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
|
||||
**为什么使用这种方式？**
|
||||
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
|
||||
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
|
||||
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
||||
- 使用 `uv` 替代 `pip`，安装速度更快
|
||||
- 可编辑模式：代码修改**立即生效**，无需重新安装
|
||||
|
||||
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
|
||||
|
||||
```bash
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
#### 9.2 为什么需要自定义设备？
|
||||
#### 9.1 为什么需要自定义设备？
|
||||
|
||||
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
||||
|
||||
@@ -839,7 +777,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
|
||||
- 特殊的实验流程
|
||||
- 第三方设备集成
|
||||
|
||||
#### 9.3 创建 Python 包
|
||||
#### 9.2 创建 Python 包
|
||||
|
||||
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
||||
|
||||
@@ -876,7 +814,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
|
||||
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
||||
```
|
||||
|
||||
#### 9.4 创建 setup.py
|
||||
#### 9.3 创建 setup.py
|
||||
|
||||
```python
|
||||
# my_lab_devices/setup.py
|
||||
@@ -907,7 +845,7 @@ setup(
|
||||
)
|
||||
```
|
||||
|
||||
#### 9.5 开发安装
|
||||
#### 9.4 开发安装
|
||||
|
||||
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
||||
|
||||
@@ -922,7 +860,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
- 方便调试和测试
|
||||
- 支持版本控制（git）
|
||||
|
||||
#### 9.6 编写设备驱动
|
||||
#### 9.5 编写设备驱动
|
||||
|
||||
创建设备驱动文件：
|
||||
|
||||
@@ -1063,7 +1001,7 @@ class MyPump:
|
||||
- **返回 Dict**：所有动作方法返回字典类型
|
||||
- **文档字符串**：详细说明参数和功能
|
||||
|
||||
#### 9.7 测试设备驱动
|
||||
#### 9.6 测试设备驱动
|
||||
|
||||
创建简单的测试脚本：
|
||||
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 81 KiB |
@@ -13,26 +13,15 @@
|
||||
- 开发者需要 Git 和基本的 Python 开发知识
|
||||
- 自定义 msgs 需要 GitHub 账号
|
||||
|
||||
## 安装包选择
|
||||
|
||||
Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
|
||||
|--------|----------|----------|----------|
|
||||
| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
|
||||
| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
|
||||
| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
|
||||
|
||||
## 安装方式选择
|
||||
|
||||
根据您的使用场景，选择合适的安装方式：
|
||||
|
||||
| 安装方式 | 适用人群 | 推荐安装包 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 快速体验、演示 | 预打包环境 | 离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | **大多数用户** | `unilabos` | 完整功能，开箱即用 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env` | 可编辑模式，支持自定义开发 | 20-30 分钟 |
|
||||
| **仿真/可视化** | 仿真测试、可视化调试 | `unilabos-full` | 含 Gazebo、rviz2、MoveIt | 30-60 分钟 |
|
||||
| 安装方式 | 适用人群 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | 标准用户、生产环境 | 灵活配置，版本可控 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs | 20-30 分钟 |
|
||||
|
||||
---
|
||||
|
||||
@@ -155,38 +144,17 @@ bash Miniforge3-$(uname)-$(uname -m).sh
|
||||
使用以下命令创建 Uni-Lab 专用环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.14 # 目前ros2组件依赖版本大多为3.11.14
|
||||
mamba create -n unilab python=3.11.11 # 目前ros2组件依赖版本大多为3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# 选择安装包（三选一）：
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和 pip 依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整版（含仿真和可视化工具）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**参数说明**:
|
||||
|
||||
- `-n unilab`: 创建名为 "unilab" 的环境
|
||||
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
|
||||
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
|
||||
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
|
||||
- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
|
||||
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
||||
|
||||
**包选择建议**：
|
||||
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
|
||||
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
|
||||
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
|
||||
|
||||
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
||||
|
||||
```bash
|
||||
@@ -195,14 +163,8 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
||||
|
||||
# 然后重新执行安装命令（推荐标准安装）
|
||||
# 然后重新执行安装命令
|
||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
||||
|
||||
# 或完整版（仿真/可视化）
|
||||
mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
|
||||
|
||||
# pip 安装时使用清华镜像（开发者安装时使用）
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
### 第三步：激活环境
|
||||
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
### 第二步：安装开发环境（unilabos-env）
|
||||
### 第二步：安装基础环境
|
||||
|
||||
**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
|
||||
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
|
||||
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
|
||||
- 包含 `uv` 工具，用于快速安装 pip 依赖
|
||||
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
|
||||
**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
|
||||
|
||||
#### 选项 A：通过一键安装（推荐）
|
||||
|
||||
参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
|
||||
|
||||
```bash
|
||||
# 创建并激活环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
|
||||
# 安装开发者环境包（ROS2 + conda 依赖 + uv）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
### 第三步：安装 pip 依赖和可编辑模式安装
|
||||
#### 选项 B：通过手动安装
|
||||
|
||||
克隆代码并安装依赖：
|
||||
参考上文"方式二：手动安装"，创建并安装环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.11
|
||||
conda activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
|
||||
|
||||
### 第三步：切换到开发版本
|
||||
|
||||
现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
|
||||
|
||||
```bash
|
||||
# 确保环境已激活
|
||||
conda activate unilab
|
||||
|
||||
# 克隆仓库（如果还未克隆）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
|
||||
pip uninstall unilabos -y
|
||||
|
||||
# 切换到 dev 分支（可选）
|
||||
# 克隆 dev 分支（如果还未克隆）
|
||||
cd /path/to/your/workspace
|
||||
git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
# 或者如果已经克隆，切换到 dev 分支
|
||||
cd Uni-Lab-OS
|
||||
git checkout dev
|
||||
git pull
|
||||
```
|
||||
|
||||
**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
|
||||
|
||||
```bash
|
||||
# 自动检测中文环境，如果是中文系统则使用清华镜像
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或者手动指定：
|
||||
python scripts/dev_install.py --china # 强制使用清华镜像
|
||||
python scripts/dev_install.py --no-mirror # 强制使用 PyPI
|
||||
python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
|
||||
python scripts/dev_install.py --use-pip # 使用 pip 而非 uv
|
||||
```
|
||||
|
||||
**手动安装**（如果脚本安装失败或速度太慢）：
|
||||
|
||||
```bash
|
||||
# 1. 安装 unilabos（可编辑模式）
|
||||
pip install -e .
|
||||
|
||||
# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 国内用户使用清华镜像：
|
||||
# 以可编辑模式安装开发版 unilabos
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
**注意**：
|
||||
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
|
||||
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
|
||||
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
|
||||
**参数说明**：
|
||||
|
||||
**为什么使用可编辑模式？**
|
||||
|
||||
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
|
||||
- 适合开发调试：修改代码后直接运行测试
|
||||
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
|
||||
|
||||
**验证安装**：
|
||||
|
||||
```bash
|
||||
# 检查 unilabos 版本
|
||||
python -c "import unilabos; print(unilabos.__version__)"
|
||||
|
||||
# 检查安装位置（应该指向你的代码目录）
|
||||
pip show unilabos | grep Location
|
||||
```
|
||||
- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
|
||||
- `-i`: 使用清华镜像源加速下载
|
||||
- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
|
||||
|
||||
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
||||
|
||||
@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab
|
||||
|
||||
### 问题 8: 环境很大，有办法减小吗？
|
||||
|
||||
**解决方案**:
|
||||
|
||||
1. **使用 `unilabos` 标准版**（推荐大多数用户）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
|
||||
|
||||
2. **使用 `unilabos-env` 开发者版**（最小化）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后手动安装依赖
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
开发者版只包含环境依赖，体积最小约 2GB。
|
||||
|
||||
3. **按需安装额外组件**：
|
||||
如果后续需要特定功能，可以单独安装：
|
||||
```bash
|
||||
# 需要 Jupyter
|
||||
mamba install jupyter jupyros
|
||||
|
||||
# 需要可视化
|
||||
mamba install matplotlib opencv
|
||||
|
||||
# 需要仿真（注意：这会安装大量依赖）
|
||||
mamba install ros-humble-gazebo-ros
|
||||
```
|
||||
|
||||
4. **预打包环境问题**：
|
||||
预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
|
||||
|
||||
**包选择建议**：
|
||||
| 需求 | 推荐包 | 预估大小 |
|
||||
|------|--------|----------|
|
||||
| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
|
||||
| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
|
||||
| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
|
||||
**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
|
||||
|
||||
### 问题 9: 如何更新到最新版本？
|
||||
|
||||
@@ -616,7 +511,6 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
||||
|
||||
**提示**:
|
||||
|
||||
- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
|
||||
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
|
||||
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
|
||||
- **快速体验和演示**推荐使用方式一（一键安装）
|
||||
- 生产环境推荐使用方式二（手动安装）的稳定版本
|
||||
- 开发和测试推荐使用方式三（开发者安装）
|
||||
- 快速体验和演示推荐使用方式一（一键安装）
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.17
|
||||
version: 0.10.15
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
@@ -25,7 +25,7 @@ requirements:
|
||||
build:
|
||||
- ${{ compiler('cxx') }}
|
||||
- ${{ compiler('c') }}
|
||||
- python ==3.11.14
|
||||
- python ==3.11.11
|
||||
- numpy
|
||||
- if: build_platform != target_platform
|
||||
then:
|
||||
@@ -63,14 +63,14 @@ requirements:
|
||||
- robostack-staging::ros-humble-rosidl-default-generators
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
run:
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-ros-workspace
|
||||
- robostack-staging::ros-humble-rosidl-default-runtime
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
- if: osx and x86_64
|
||||
then:
|
||||
- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.17"
|
||||
version: "0.10.15"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
@@ -85,7 +85,7 @@ Verification:
|
||||
-------------
|
||||
|
||||
The verify_installation.py script will check:
|
||||
- Python version (3.11.14)
|
||||
- Python version (3.11.11)
|
||||
- ROS2 rclpy installation
|
||||
- UniLabOS installation and dependencies
|
||||
|
||||
@@ -104,7 +104,7 @@ Build Information:
|
||||
|
||||
Branch: {branch}
|
||||
Platform: {platform}
|
||||
Python: 3.11.14
|
||||
Python: 3.11.11
|
||||
Date: {build_date}
|
||||
|
||||
Troubleshooting:
|
||||
|
||||
@@ -1,214 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Development installation script for UniLabOS.
|
||||
Auto-detects Chinese locale and uses appropriate mirror.
|
||||
|
||||
Usage:
|
||||
python scripts/dev_install.py
|
||||
python scripts/dev_install.py --no-mirror # Force no mirror
|
||||
python scripts/dev_install.py --china # Force China mirror
|
||||
python scripts/dev_install.py --skip-deps # Skip pip dependencies installation
|
||||
|
||||
Flow:
|
||||
1. pip install -e . (install unilabos in editable mode)
|
||||
2. Detect Chinese locale
|
||||
3. Use uv to install pip dependencies from requirements.txt
|
||||
4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
|
||||
"""
|
||||
|
||||
import locale
|
||||
import subprocess
|
||||
import sys
|
||||
import argparse
|
||||
from pathlib import Path
|
||||
|
||||
# Tsinghua mirror URL
|
||||
TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||
|
||||
|
||||
def is_chinese_locale() -> bool:
|
||||
"""
|
||||
Detect if system is in Chinese locale.
|
||||
Same logic as EnvironmentChecker._is_chinese_locale()
|
||||
"""
|
||||
try:
|
||||
lang = locale.getdefaultlocale()[0]
|
||||
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
return False
|
||||
|
||||
|
||||
def run_command(cmd: list, description: str, retry: int = 2) -> bool:
|
||||
"""Run command with retry support."""
|
||||
print(f"[INFO] {description}")
|
||||
print(f"[CMD] {' '.join(cmd)}")
|
||||
|
||||
for attempt in range(retry + 1):
|
||||
try:
|
||||
result = subprocess.run(cmd, check=True, timeout=600)
|
||||
print(f"[OK] {description}")
|
||||
return True
|
||||
except subprocess.CalledProcessError as e:
|
||||
if attempt < retry:
|
||||
print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
|
||||
else:
|
||||
print(f"[ERROR] {description} failed: {e}")
|
||||
return False
|
||||
except subprocess.TimeoutExpired:
|
||||
print(f"[ERROR] {description} timed out")
|
||||
return False
|
||||
return False
|
||||
|
||||
|
||||
def install_editable(project_root: Path, use_mirror: bool) -> bool:
|
||||
"""Install unilabos in editable mode using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing unilabos in editable mode")
|
||||
|
||||
|
||||
def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Install pip dependencies using uv (installed via conda-forge::uv)."""
|
||||
cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with uv", retry=2)
|
||||
|
||||
|
||||
def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Fallback: Install pip dependencies using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with pip", retry=2)
|
||||
|
||||
|
||||
def check_uv_available() -> bool:
|
||||
"""Check if uv is available (installed via conda-forge::uv)."""
|
||||
try:
|
||||
subprocess.run(["uv", "--version"], capture_output=True, check=True)
|
||||
return True
|
||||
except (subprocess.CalledProcessError, FileNotFoundError):
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
|
||||
parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
|
||||
parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
|
||||
parser.add_argument(
|
||||
"--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
|
||||
)
|
||||
parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Determine project root
|
||||
script_dir = Path(__file__).parent
|
||||
project_root = script_dir.parent
|
||||
requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
|
||||
|
||||
if not (project_root / "setup.py").exists():
|
||||
print(f"[ERROR] setup.py not found in {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print("=" * 60)
|
||||
print("UniLabOS Development Installation")
|
||||
print("=" * 60)
|
||||
print(f"Project root: {project_root}")
|
||||
print()
|
||||
|
||||
# Determine mirror usage based on locale
|
||||
if args.no_mirror:
|
||||
use_mirror = False
|
||||
print("[INFO] Mirror disabled by --no-mirror flag")
|
||||
elif args.china:
|
||||
use_mirror = True
|
||||
print("[INFO] China mirror enabled by --china flag")
|
||||
else:
|
||||
use_mirror = is_chinese_locale()
|
||||
if use_mirror:
|
||||
print("[INFO] Chinese locale detected, using Tsinghua mirror")
|
||||
else:
|
||||
print("[INFO] Non-Chinese locale detected, using default PyPI")
|
||||
|
||||
print()
|
||||
|
||||
# Step 1: Install unilabos in editable mode
|
||||
print("[STEP 1] Installing unilabos in editable mode...")
|
||||
if not install_editable(project_root, use_mirror):
|
||||
print("[ERROR] Failed to install unilabos")
|
||||
print()
|
||||
print("Manual fallback:")
|
||||
if use_mirror:
|
||||
print(f" pip install -e {project_root} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" pip install -e {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print()
|
||||
|
||||
# Step 2: Install pip dependencies
|
||||
if args.skip_deps:
|
||||
print("[INFO] Skipping pip dependencies installation (--skip-deps)")
|
||||
else:
|
||||
print("[STEP 2] Installing pip dependencies...")
|
||||
|
||||
if not requirements_file.exists():
|
||||
print(f"[WARN] Requirements file not found: {requirements_file}")
|
||||
print("[INFO] Skipping dependencies installation")
|
||||
else:
|
||||
# Try uv first (faster), fallback to pip
|
||||
if args.use_pip:
|
||||
print("[INFO] Using pip (--use-pip flag)")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
elif check_uv_available():
|
||||
print("[INFO] Using uv (installed via conda-forge::uv)")
|
||||
success = install_requirements_uv(requirements_file, use_mirror)
|
||||
if not success:
|
||||
print("[WARN] uv failed, falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
else:
|
||||
print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
|
||||
print("[INFO] Falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
|
||||
if not success:
|
||||
print()
|
||||
print("[WARN] Failed to install some dependencies automatically.")
|
||||
print("You can manually install them:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" uv pip install -r {requirements_file}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file}")
|
||||
|
||||
print()
|
||||
print("=" * 60)
|
||||
print("Installation complete!")
|
||||
print("=" * 60)
|
||||
print()
|
||||
print("Note: Some special packages (like pylabrobot) are installed")
|
||||
print("automatically at runtime by unilabos if needed.")
|
||||
print()
|
||||
print("Verify installation:")
|
||||
print(' python -c "import unilabos; print(unilabos.__version__)"')
|
||||
print()
|
||||
print("If you encounter issues, you can manually install dependencies:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(" uv pip install -r unilabos/utils/requirements.txt")
|
||||
print()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.17',
|
||||
version='0.10.15',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -1,213 +0,0 @@
|
||||
{
|
||||
"workflow": [
|
||||
{
|
||||
"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
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"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
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_5",
|
||||
"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_6",
|
||||
"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",
|
||||
"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_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": {
|
||||
"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"
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.10.17"
|
||||
__version__ = "0.10.15"
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
"""Entry point for `python -m unilabos`."""
|
||||
|
||||
from unilabos.app.main import main
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -7,6 +7,7 @@ import sys
|
||||
import threading
|
||||
import time
|
||||
from typing import Dict, Any, List
|
||||
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
@@ -16,9 +17,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
# Global restart flags (used by ws_client and web/server)
|
||||
_restart_requested: bool = False
|
||||
@@ -160,12 +161,6 @@ def parse_args():
|
||||
default=False,
|
||||
help="Complete registry information",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--check_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Run in check mode for CI: validates registry imports and ensures no file changes",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--no_update_feedback",
|
||||
action="store_true",
|
||||
@@ -216,10 +211,7 @@ def main():
|
||||
args_dict = vars(args)
|
||||
|
||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||
skip_env_check = args_dict.get("skip_env_check", False)
|
||||
check_mode = args_dict.get("check_mode", False)
|
||||
|
||||
if not skip_env_check:
|
||||
if not args_dict.get("skip_env_check", False):
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
|
||||
if not check_environment(auto_install=True):
|
||||
@@ -230,21 +222,7 @@ def main():
|
||||
|
||||
# 加载配置文件，优先加载config，然后从env读取
|
||||
config_path = args_dict.get("config")
|
||||
|
||||
if check_mode:
|
||||
args_dict["working_dir"] = os.path.abspath(os.getcwd())
|
||||
# 当 skip_env_check 时，默认使用当前目录作为 working_dir
|
||||
if skip_env_check and not args_dict.get("working_dir") and not config_path:
|
||||
working_dir = os.path.abspath(os.getcwd())
|
||||
print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
|
||||
# 检查当前目录是否有 local_config.py
|
||||
local_config_in_cwd = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(local_config_in_cwd):
|
||||
config_path = local_config_in_cwd
|
||||
print_status(f"发现本地配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
elif os.getcwd().endswith("unilabos_data"):
|
||||
if os.getcwd().endswith("unilabos_data"):
|
||||
working_dir = os.path.abspath(os.getcwd())
|
||||
else:
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
@@ -263,7 +241,7 @@ def main():
|
||||
working_dir = os.path.dirname(config_path)
|
||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
elif not skip_env_check and not config_path and (
|
||||
elif not config_path and (
|
||||
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
||||
):
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
@@ -277,11 +255,9 @@ def main():
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
else:
|
||||
os._exit(1)
|
||||
|
||||
# 加载配置文件 (check_mode 跳过)
|
||||
# 加载配置文件
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
if not check_mode:
|
||||
load_config_from_file(config_path)
|
||||
load_config_from_file(config_path)
|
||||
|
||||
# 根据配置重新设置日志级别
|
||||
from unilabos.utils.log import configure_logger, logger
|
||||
@@ -337,7 +313,6 @@ def main():
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
BasicConfig.machine_name = machine_name
|
||||
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
||||
BasicConfig.check_mode = check_mode
|
||||
|
||||
from unilabos.resources.graphio import (
|
||||
read_node_link_json,
|
||||
@@ -356,14 +331,10 @@ def main():
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表 - check_mode 时强制启用 complete_registry
|
||||
complete_registry = args_dict.get("complete_registry", False) or check_mode
|
||||
lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
|
||||
|
||||
# Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
|
||||
if check_mode:
|
||||
print_status("Check mode: complete_registry 完成，退出", "info")
|
||||
os._exit(0)
|
||||
# 注册表
|
||||
lab_registry = build_registry(
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
|
||||
)
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
|
||||
@@ -4,40 +4,8 @@ UniLabOS 应用工具函数
|
||||
提供清理、重启等工具函数
|
||||
"""
|
||||
|
||||
import glob
|
||||
import os
|
||||
import shutil
|
||||
import sys
|
||||
|
||||
|
||||
def patch_rclpy_dll_windows():
|
||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||
return
|
||||
try:
|
||||
import rclpy
|
||||
|
||||
return
|
||||
except ImportError as e:
|
||||
if not str(e).startswith("DLL load failed"):
|
||||
return
|
||||
cp = os.environ["CONDA_PREFIX"]
|
||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
if not os.path.exists(impl) or not pyd:
|
||||
return
|
||||
with open(impl, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
||||
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
||||
shutil.copy2(impl, impl + ".bak")
|
||||
with open(impl, "w", encoding="utf-8") as f:
|
||||
f.write(patch + content)
|
||||
|
||||
|
||||
patch_rclpy_dll_windows()
|
||||
|
||||
import gc
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
|
||||
|
||||
@@ -359,7 +359,9 @@ 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,
|
||||
|
||||
@@ -58,14 +58,14 @@ class JobResultStore:
|
||||
feedback=feedback or {},
|
||||
timestamp=time.time(),
|
||||
)
|
||||
logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
|
||||
def get_and_remove(self, job_id: str) -> Optional[JobResult]:
|
||||
"""获取并删除任务结果"""
|
||||
with self._results_lock:
|
||||
result = self._results.pop(job_id, None)
|
||||
if result:
|
||||
logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
return result
|
||||
|
||||
def get_result(self, job_id: str) -> Optional[JobResult]:
|
||||
|
||||
@@ -23,7 +23,7 @@ from typing import Optional, Dict, Any, List
|
||||
from urllib.parse import urlparse
|
||||
from enum import Enum
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
from jedi.inference.gradual.typing import TypedDict
|
||||
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
@@ -154,7 +154,7 @@ class DeviceActionManager:
|
||||
job_info.set_ready_timeout(10) # 设置10秒超时
|
||||
self.active_jobs[device_key] = job_info
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
return True
|
||||
|
||||
def start_job(self, job_id: str) -> bool:
|
||||
@@ -210,9 +210,8 @@ class DeviceActionManager:
|
||||
job_info.update_timestamp()
|
||||
# 从all_jobs中移除已结束的job
|
||||
del self.all_jobs[job_id]
|
||||
# job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
# logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
pass
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
else:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
|
||||
@@ -228,7 +227,7 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
return next_job
|
||||
|
||||
return None
|
||||
@@ -269,7 +268,7 @@ class DeviceActionManager:
|
||||
# 从all_jobs中移除
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
|
||||
# 启动下一个任务
|
||||
if device_key in self.device_queues and self.device_queues[device_key]:
|
||||
@@ -282,7 +281,7 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
return True
|
||||
|
||||
# 如果是排队中的任务
|
||||
@@ -296,7 +295,7 @@ class DeviceActionManager:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
return True
|
||||
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
@@ -495,12 +494,8 @@ class MessageProcessor:
|
||||
await self._process_message(message_type, message_data)
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(
|
||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
||||
)
|
||||
logger.debug(
|
||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
|
||||
logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}")
|
||||
else:
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
@@ -570,7 +565,7 @@ class MessageProcessor:
|
||||
|
||||
async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
|
||||
"""处理收到的消息"""
|
||||
logger.trace(f"[MessageProcessor] Processing message: {message_type}")
|
||||
logger.debug(f"[MessageProcessor] Processing message: {message_type}")
|
||||
|
||||
try:
|
||||
if message_type == "pong":
|
||||
@@ -642,13 +637,13 @@ class MessageProcessor:
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", True, 0
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
else:
|
||||
# 需要排队
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", False, 10
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
||||
logger.info(f"[MessageProcessor] Job {job_log} queued")
|
||||
|
||||
# 通知QueueProcessor有新的队列更新
|
||||
if self.queue_processor:
|
||||
@@ -852,7 +847,9 @@ class MessageProcessor:
|
||||
device_action_groups[key_add] = []
|
||||
device_action_groups[key_add].append(item["uuid"])
|
||||
|
||||
logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
|
||||
logger.info(
|
||||
f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}"
|
||||
)
|
||||
else:
|
||||
# 正常update
|
||||
key = (device_id, "update")
|
||||
@@ -866,9 +863,7 @@ class MessageProcessor:
|
||||
device_action_groups[key] = []
|
||||
device_action_groups[key].append(item["uuid"])
|
||||
|
||||
logger.trace(
|
||||
f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
|
||||
)
|
||||
logger.trace(f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
|
||||
|
||||
# 为每个(device_id, action)创建独立的更新线程
|
||||
for (device_id, actual_action), items in device_action_groups.items():
|
||||
@@ -916,13 +911,13 @@ class MessageProcessor:
|
||||
|
||||
# 发送确认消息
|
||||
if self.websocket_client:
|
||||
await self.websocket_client.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
await self.websocket_client.send_message({
|
||||
"action": "restart_acknowledged",
|
||||
"data": {"reason": reason, "delay": delay}
|
||||
})
|
||||
|
||||
# 设置全局重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
main_module._restart_requested = True
|
||||
main_module._restart_reason = reason
|
||||
|
||||
@@ -932,12 +927,10 @@ class MessageProcessor:
|
||||
# 在新线程中执行清理，避免阻塞当前事件循环
|
||||
def do_cleanup():
|
||||
import time
|
||||
|
||||
time.sleep(0.5) # 给当前消息处理完成的时间
|
||||
logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
|
||||
try:
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
if cleanup_for_restart():
|
||||
logger.info("[MessageProcessor] Cleanup successful, main() will restart")
|
||||
else:
|
||||
@@ -1135,7 +1128,7 @@ class QueueProcessor:
|
||||
success = self.message_processor.send_message(message)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
if success:
|
||||
logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
else:
|
||||
logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
|
||||
|
||||
@@ -1158,7 +1151,7 @@ class QueueProcessor:
|
||||
job_info.action_name,
|
||||
)
|
||||
|
||||
logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
|
||||
# 结束任务，获取下一个可执行的任务
|
||||
next_job = self.device_manager.end_job(job_id)
|
||||
@@ -1178,8 +1171,8 @@ class QueueProcessor:
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
# next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
# logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
|
||||
# 立即触发下一轮状态检查
|
||||
self.notify_queue_update()
|
||||
@@ -1321,7 +1314,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
except (KeyError, AttributeError):
|
||||
logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
|
||||
|
||||
# logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
||||
logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
||||
|
||||
# 通知队列处理器job完成（包括timeout的job）
|
||||
self.queue_processor.handle_job_completed(item.job_id, status)
|
||||
@@ -1388,9 +1381,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
if host_node:
|
||||
# 获取设备信息
|
||||
for device_id, namespace in host_node.devices_names.items():
|
||||
device_key = (
|
||||
f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
)
|
||||
device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
is_online = device_key in host_node._online_devices
|
||||
|
||||
# 获取设备的动作信息
|
||||
@@ -1404,16 +1395,14 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
"action_type": str(type(client).__name__),
|
||||
}
|
||||
|
||||
devices.append(
|
||||
{
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
}
|
||||
)
|
||||
devices.append({
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
})
|
||||
|
||||
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
|
||||
except Exception as e:
|
||||
|
||||
@@ -22,7 +22,6 @@ class BasicConfig:
|
||||
startup_json_path = None # 填写绝对路径
|
||||
disable_browser = False # 禁止浏览器自动打开
|
||||
port = 8002 # 本地HTTP服务
|
||||
check_mode = False # CI 检查模式，用于验证 registry 导入和文件一致性
|
||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -30,30 +30,9 @@ 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,
|
||||
SetLiquidReturn,
|
||||
SetLiquidFromPlateReturn,
|
||||
)
|
||||
from unilabos.registry.placeholder_type import ResourceSlot
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
@@ -101,7 +80,6 @@ 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。
|
||||
|
||||
@@ -130,29 +108,20 @@ 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
|
||||
@@ -173,34 +142,40 @@ 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
|
||||
@@ -213,32 +188,23 @@ 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
|
||||
@@ -259,23 +225,27 @@ 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
|
||||
@@ -285,7 +255,7 @@ 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
|
||||
@@ -298,33 +268,26 @@ 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)
|
||||
@@ -343,7 +306,7 @@ 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
|
||||
@@ -356,37 +319,29 @@ 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
|
||||
@@ -412,16 +367,24 @@ 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
|
||||
@@ -431,7 +394,7 @@ 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
|
||||
@@ -444,41 +407,33 @@ 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
|
||||
@@ -486,20 +441,20 @@ 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
|
||||
@@ -509,7 +464,7 @@ 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
|
||||
@@ -522,16 +477,15 @@ 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
|
||||
|
||||
@@ -564,9 +518,7 @@ 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")
|
||||
@@ -586,14 +538,9 @@ 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]) -> SetLiquidReturn:
|
||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
|
||||
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)
|
||||
|
||||
@@ -852,8 +799,7 @@ 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,
|
||||
@@ -876,11 +822,10 @@ 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。
|
||||
|
||||
@@ -933,28 +878,31 @@ 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
|
||||
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
|
||||
|
||||
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:
|
||||
@@ -963,6 +911,7 @@ 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)
|
||||
@@ -1019,7 +968,7 @@ 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.")
|
||||
@@ -1027,11 +976,11 @@ 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)
|
||||
@@ -1049,7 +998,7 @@ 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
|
||||
@@ -1103,7 +1052,7 @@ 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
|
||||
@@ -1186,7 +1135,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
"""Mix liquid in the specified resources."""
|
||||
|
||||
|
||||
plate_indexes = []
|
||||
for op in targets:
|
||||
deck = op.parent.parent.parent
|
||||
@@ -1229,7 +1178,7 @@ 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
|
||||
@@ -1286,7 +1235,7 @@ 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
|
||||
@@ -1467,6 +1416,7 @@ 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=(",", ":")
|
||||
@@ -1593,7 +1543,7 @@ class PRCXI9300Api:
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
"Function": "Imbibing",
|
||||
@@ -1671,7 +1621,7 @@ class PRCXI9300Api:
|
||||
assist_fun5: str = "",
|
||||
liquid_method: str = "NormalDispense",
|
||||
axis: str = "Left",
|
||||
) -> Dict[str, Any]:
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": axis,
|
||||
"Function": "Blending",
|
||||
@@ -1731,11 +1681,11 @@ 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",
|
||||
@@ -1745,7 +1695,7 @@ class PRCXI9300Api:
|
||||
"HoleRow": 1,
|
||||
"HoleCol": 1,
|
||||
"BalanceHeight": balance_height,
|
||||
"PlateOrHoleNum": f"T{plate_no}",
|
||||
"PlateOrHoleNum": f"T{plate_no}"
|
||||
}
|
||||
|
||||
def clamp_jaw_drop(
|
||||
@@ -1753,6 +1703,7 @@ class PRCXI9300Api:
|
||||
plate_no: int,
|
||||
is_whole_plate: bool,
|
||||
balance_height: int,
|
||||
|
||||
) -> Dict[str, Any]:
|
||||
return {
|
||||
"StepAxis": "ClampingJaw",
|
||||
@@ -1762,7 +1713,7 @@ 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):
|
||||
@@ -1775,7 +1726,6 @@ class PRCXI9300Api:
|
||||
"AssistFun4": is_wait,
|
||||
}
|
||||
|
||||
|
||||
class DefaultLayout:
|
||||
|
||||
def __init__(self, product_name: str = "PRCXI9300"):
|
||||
@@ -2154,9 +2104,7 @@ 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
|
||||
@@ -2351,37 +2299,43 @@ 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",
|
||||
},
|
||||
"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"],
|
||||
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
|
||||
},
|
||||
"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,
|
||||
@@ -2423,6 +2377,7 @@ 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()
|
||||
|
||||
@@ -1,376 +0,0 @@
|
||||
# -*- 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()
|
||||
@@ -623,119 +623,6 @@ 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)
|
||||
|
||||
@@ -1,379 +0,0 @@
|
||||
# -*- 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")
|
||||
@@ -1,687 +0,0 @@
|
||||
"""
|
||||
Virtual Workbench Device - 模拟工作台设备
|
||||
包含：
|
||||
- 1个机械臂 (每次操作3s, 独占锁)
|
||||
- 3个加热台 (每次加热10s, 可并行)
|
||||
|
||||
工作流程：
|
||||
1. A1-A5 物料同时启动，竞争机械臂
|
||||
2. 机械臂将物料移动到空闲加热台
|
||||
3. 加热完成后，机械臂将物料移动到C1-C5
|
||||
|
||||
注意：调用来自线程池，使用 threading.Lock 进行同步
|
||||
"""
|
||||
import logging
|
||||
import time
|
||||
from typing import Dict, Any, Optional
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from threading import Lock, RLock
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.utils.decorator import not_action
|
||||
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
|
||||
class MoveToHeatingStationResult(TypedDict):
|
||||
"""move_to_heating_station 返回类型"""
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
material_number: int
|
||||
message: str
|
||||
|
||||
|
||||
class StartHeatingResult(TypedDict):
|
||||
"""start_heating 返回类型"""
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
material_number: int
|
||||
message: str
|
||||
|
||||
|
||||
class MoveToOutputResult(TypedDict):
|
||||
"""move_to_output 返回类型"""
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
|
||||
|
||||
class PrepareMaterialsResult(TypedDict):
|
||||
"""prepare_materials 返回类型 - 批量准备物料"""
|
||||
success: bool
|
||||
count: int
|
||||
material_1: int # 物料编号1
|
||||
material_2: int # 物料编号2
|
||||
material_3: int # 物料编号3
|
||||
material_4: int # 物料编号4
|
||||
material_5: int # 物料编号5
|
||||
message: str
|
||||
|
||||
|
||||
# ============ 状态枚举 ============
|
||||
|
||||
class HeatingStationState(Enum):
|
||||
"""加热台状态枚举"""
|
||||
IDLE = "idle" # 空闲
|
||||
OCCUPIED = "occupied" # 已放置物料，等待加热
|
||||
HEATING = "heating" # 加热中
|
||||
COMPLETED = "completed" # 加热完成，等待取走
|
||||
|
||||
|
||||
class ArmState(Enum):
|
||||
"""机械臂状态枚举"""
|
||||
IDLE = "idle" # 空闲
|
||||
BUSY = "busy" # 工作中
|
||||
|
||||
|
||||
@dataclass
|
||||
class HeatingStation:
|
||||
"""加热台数据结构"""
|
||||
station_id: int
|
||||
state: HeatingStationState = HeatingStationState.IDLE
|
||||
current_material: Optional[str] = None # 当前物料 (如 "A1", "A2")
|
||||
material_number: Optional[int] = None # 物料编号 (1-5)
|
||||
heating_start_time: Optional[float] = None
|
||||
heating_progress: float = 0.0
|
||||
|
||||
|
||||
class VirtualWorkbench:
|
||||
"""
|
||||
Virtual Workbench Device - 虚拟工作台设备
|
||||
|
||||
模拟一个包含1个机械臂和3个加热台的工作站
|
||||
- 机械臂操作耗时3秒，同一时间只能执行一个操作
|
||||
- 加热台加热耗时10秒，3个加热台可并行工作
|
||||
|
||||
工作流:
|
||||
1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
|
||||
2. 获取机械臂后，查找空闲加热台
|
||||
3. 机械臂将物料放入加热台，开始加热
|
||||
4. 加热完成后，机械臂将物料移动到目标位置Cn
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
# 配置常量
|
||||
ARM_OPERATION_TIME: float = 3.0 # 机械臂操作时间(秒)
|
||||
HEATING_TIME: float = 10.0 # 加热时间(秒)
|
||||
NUM_HEATING_STATIONS: int = 3 # 加热台数量
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and "id" in kwargs:
|
||||
device_id = kwargs.pop("id")
|
||||
if config is None and "config" in kwargs:
|
||||
config = kwargs.pop("config")
|
||||
|
||||
self.device_id = device_id or "virtual_workbench"
|
||||
self.config = config or {}
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {}
|
||||
|
||||
# 从config中获取可配置参数
|
||||
self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
|
||||
self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
|
||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))
|
||||
|
||||
# 机械臂状态和锁 (使用threading.Lock)
|
||||
self._arm_lock = Lock()
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task: Optional[str] = None
|
||||
|
||||
# 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
|
||||
self._heating_stations: Dict[int, HeatingStation] = {
|
||||
i: HeatingStation(station_id=i)
|
||||
for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
}
|
||||
self._stations_lock = RLock() # 可重入锁，保护加热台状态
|
||||
|
||||
# 任务追踪
|
||||
self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info
|
||||
self._tasks_lock = Lock()
|
||||
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
|
||||
self.logger.info(
|
||||
f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
|
||||
f"加热时间: {self.HEATING_TIME}s | "
|
||||
f"加热台数量: {self.NUM_HEATING_STATIONS}"
|
||||
)
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点初始化后回调"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
@not_action
|
||||
def initialize(self) -> bool:
|
||||
"""初始化虚拟工作台"""
|
||||
self.logger.info(f"初始化虚拟工作台 {self.device_id}")
|
||||
|
||||
# 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
|
||||
with self._stations_lock:
|
||||
for station in self._heating_stations.values():
|
||||
station.state = HeatingStationState.IDLE
|
||||
station.current_material = None
|
||||
station.material_number = None
|
||||
station.heating_progress = 0.0
|
||||
|
||||
# 初始化状态
|
||||
self.data.update({
|
||||
"status": "Ready",
|
||||
"arm_state": ArmState.IDLE.value,
|
||||
"arm_current_task": None,
|
||||
"heating_stations": self._get_stations_status(),
|
||||
"active_tasks_count": 0,
|
||||
"message": "工作台就绪",
|
||||
})
|
||||
|
||||
self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
|
||||
return True
|
||||
|
||||
@not_action
|
||||
def cleanup(self) -> bool:
|
||||
"""清理虚拟工作台"""
|
||||
self.logger.info(f"清理虚拟工作台 {self.device_id}")
|
||||
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task = None
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations.clear()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks.clear()
|
||||
|
||||
self.data.update({
|
||||
"status": "Offline",
|
||||
"arm_state": ArmState.IDLE.value,
|
||||
"heating_stations": {},
|
||||
"message": "工作台已关闭",
|
||||
})
|
||||
return True
|
||||
|
||||
def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
|
||||
"""获取所有加热台状态"""
|
||||
with self._stations_lock:
|
||||
return {
|
||||
station_id: {
|
||||
"state": station.state.value,
|
||||
"current_material": station.current_material,
|
||||
"material_number": station.material_number,
|
||||
"heating_progress": station.heating_progress,
|
||||
}
|
||||
for station_id, station in self._heating_stations.items()
|
||||
}
|
||||
|
||||
def _update_data_status(self, message: Optional[str] = None):
|
||||
"""更新状态数据"""
|
||||
self.data.update({
|
||||
"arm_state": self._arm_state.value,
|
||||
"arm_current_task": self._arm_current_task,
|
||||
"heating_stations": self._get_stations_status(),
|
||||
"active_tasks_count": len(self._active_tasks),
|
||||
})
|
||||
if message:
|
||||
self.data["message"] = message
|
||||
|
||||
def _find_available_heating_station(self) -> Optional[int]:
|
||||
"""查找空闲的加热台
|
||||
|
||||
Returns:
|
||||
空闲加热台ID，如果没有则返回None
|
||||
"""
|
||||
with self._stations_lock:
|
||||
for station_id, station in self._heating_stations.items():
|
||||
if station.state == HeatingStationState.IDLE:
|
||||
return station_id
|
||||
return None
|
||||
|
||||
def _acquire_arm(self, task_description: str) -> bool:
|
||||
"""获取机械臂使用权（阻塞直到获取）
|
||||
|
||||
Args:
|
||||
task_description: 任务描述，用于日志
|
||||
|
||||
Returns:
|
||||
是否成功获取
|
||||
"""
|
||||
self.logger.info(f"[{task_description}] 等待获取机械臂...")
|
||||
|
||||
# 阻塞等待获取锁
|
||||
self._arm_lock.acquire()
|
||||
|
||||
self._arm_state = ArmState.BUSY
|
||||
self._arm_current_task = task_description
|
||||
self._update_data_status(f"机械臂执行: {task_description}")
|
||||
|
||||
self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
|
||||
return True
|
||||
|
||||
def _release_arm(self):
|
||||
"""释放机械臂"""
|
||||
task = self._arm_current_task
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task = None
|
||||
self._arm_lock.release()
|
||||
self._update_data_status(f"机械臂已释放 (完成: {task})")
|
||||
self.logger.info(f"机械臂已释放 (完成: {task})")
|
||||
|
||||
def prepare_materials(
|
||||
self,
|
||||
count: int = 5,
|
||||
) -> PrepareMaterialsResult:
|
||||
"""
|
||||
批量准备物料 - 虚拟起始节点
|
||||
|
||||
作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
|
||||
输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
|
||||
|
||||
Args:
|
||||
count: 待生成的物料数量，默认5 (生成 A1-A5)
|
||||
|
||||
Returns:
|
||||
PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
|
||||
"""
|
||||
# 生成物料列表 A1 - A{count}
|
||||
materials = [i for i in range(1, count + 1)]
|
||||
|
||||
self.logger.info(
|
||||
f"[准备物料] 生成 {count} 个物料: "
|
||||
f"A1-A{count} -> material_1~material_{count}"
|
||||
)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"count": count,
|
||||
"material_1": materials[0] if len(materials) > 0 else 0,
|
||||
"material_2": materials[1] if len(materials) > 1 else 0,
|
||||
"material_3": materials[2] if len(materials) > 2 else 0,
|
||||
"material_4": materials[3] if len(materials) > 3 else 0,
|
||||
"material_5": materials[4] if len(materials) > 4 else 0,
|
||||
"message": f"已准备 {count} 个物料: A1-A{count}",
|
||||
}
|
||||
|
||||
def move_to_heating_station(
|
||||
self,
|
||||
material_number: int,
|
||||
) -> MoveToHeatingStationResult:
|
||||
"""
|
||||
将物料从An位置移动到加热台
|
||||
|
||||
多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
|
||||
|
||||
Args:
|
||||
material_number: 物料编号 (1-5)
|
||||
|
||||
Returns:
|
||||
MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
|
||||
"""
|
||||
# 根据物料编号生成物料ID
|
||||
material_id = f"A{material_number}"
|
||||
task_desc = f"移动{material_id}到加热台"
|
||||
self.logger.info(f"[任务] {task_desc} - 开始执行")
|
||||
|
||||
# 记录任务
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id] = {
|
||||
"status": "waiting_for_arm",
|
||||
"start_time": time.time(),
|
||||
}
|
||||
|
||||
try:
|
||||
# 步骤1: 等待获取机械臂使用权(竞争)
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm"
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 步骤2: 查找空闲加热台
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "finding_station"
|
||||
station_id = None
|
||||
|
||||
# 循环等待直到找到空闲加热台
|
||||
while station_id is None:
|
||||
station_id = self._find_available_heating_station()
|
||||
if station_id is None:
|
||||
self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
|
||||
# 释放机械臂，等待后重试
|
||||
self._release_arm()
|
||||
time.sleep(0.5)
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
|
||||
self._heating_stations[station_id].current_material = material_id
|
||||
self._heating_stations[station_id].material_number = material_number
|
||||
|
||||
# 步骤4: 模拟机械臂移动操作 (3秒)
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving"
|
||||
self._active_tasks[material_id]["assigned_station"] = station_id
|
||||
self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
|
||||
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
# 步骤5: 放入加热台完成
|
||||
self._update_data_status(f"{material_id}已放入加热台{station_id}")
|
||||
self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
|
||||
|
||||
# 释放机械臂
|
||||
self._release_arm()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "placed_on_station"
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"{material_id}已成功移动到加热台{station_id}",
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": -1,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
}
|
||||
|
||||
def start_heating(
|
||||
self,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> StartHeatingResult:
|
||||
"""
|
||||
启动指定加热台的加热程序
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
|
||||
material_number: 物料编号，从 move_to_heating_station 的 handle 传入
|
||||
|
||||
Returns:
|
||||
StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
|
||||
"""
|
||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
|
||||
if station.current_material is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
}
|
||||
|
||||
if station.state == HeatingStationState.HEATING:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": station.current_material,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}已经在加热中",
|
||||
}
|
||||
|
||||
material_id = station.current_material
|
||||
|
||||
# 开始加热
|
||||
station.state = HeatingStationState.HEATING
|
||||
station.heating_start_time = time.time()
|
||||
station.heating_progress = 0.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
||||
|
||||
# 模拟加热过程 (10秒)
|
||||
start_time = time.time()
|
||||
while True:
|
||||
elapsed = time.time() - start_time
|
||||
progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].heating_progress = progress
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||
|
||||
if elapsed >= self.HEATING_TIME:
|
||||
break
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
# 加热完成
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.COMPLETED
|
||||
self._heating_stations[station_id].heating_progress = 100.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating_completed"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热完成")
|
||||
self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}加热完成",
|
||||
}
|
||||
|
||||
def move_to_output(
|
||||
self,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
|
||||
material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
|
||||
|
||||
Returns:
|
||||
MoveToOutputResult: 包含执行结果
|
||||
"""
|
||||
output_number = material_number # 物料编号决定输出位置
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
material_id = station.current_material
|
||||
|
||||
if material_id is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
}
|
||||
|
||||
if station.state != HeatingStationState.COMPLETED:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
|
||||
}
|
||||
|
||||
output_position = f"C{output_number}"
|
||||
task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
|
||||
self.logger.info(f"[任务] {task_desc}")
|
||||
|
||||
try:
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
|
||||
|
||||
# 获取机械臂
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving_to_output"
|
||||
|
||||
# 模拟机械臂操作 (3秒)
|
||||
self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
# 清空加热台
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.IDLE
|
||||
self._heating_stations[station_id].current_material = None
|
||||
self._heating_stations[station_id].material_number = None
|
||||
self._heating_stations[station_id].heating_progress = 0.0
|
||||
self._heating_stations[station_id].heating_start_time = None
|
||||
|
||||
# 释放机械臂
|
||||
self._release_arm()
|
||||
|
||||
# 任务完成
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "completed"
|
||||
self._active_tasks[material_id]["end_time"] = time.time()
|
||||
|
||||
self._update_data_status(f"{material_id}已移动到{output_position}")
|
||||
self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": output_position,
|
||||
"message": f"{material_id}已成功移动到{output_position}",
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动到输出位置失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": output_position,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
}
|
||||
|
||||
# ============ 状态属性 ============
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
def arm_state(self) -> str:
|
||||
return self._arm_state.value
|
||||
|
||||
@property
|
||||
def arm_current_task(self) -> str:
|
||||
return self._arm_current_task or ""
|
||||
|
||||
@property
|
||||
def heating_station_1_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_1_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_1_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def heating_station_2_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_2_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_2_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def heating_station_3_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_3_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_3_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def active_tasks_count(self) -> int:
|
||||
with self._tasks_lock:
|
||||
return len(self._active_tasks)
|
||||
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
||||
|
||||
# 第1步：从配置中获取仓库配置
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
|
||||
# 确定目标仓库名称
|
||||
parent_name = None
|
||||
|
||||
@@ -317,47 +317,6 @@ 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
|
||||
|
||||
@@ -9284,13 +9284,7 @@ liquid_handler.prcxi:
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: input_wells
|
||||
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
|
||||
label: InputWells
|
||||
placeholder_keys:
|
||||
wells: unilabos_resources
|
||||
result: {}
|
||||
@@ -9406,163 +9400,6 @@ 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:
|
||||
@@ -9908,21 +9745,21 @@ liquid_handler.prcxi:
|
||||
- 0
|
||||
handles:
|
||||
input:
|
||||
- data_key: sources
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources_identifier
|
||||
label: 待移动液体
|
||||
- data_key: targets
|
||||
data_source: handle
|
||||
handler_key: sources
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets_identifier
|
||||
label: 转移目标
|
||||
- data_key: tip_rack
|
||||
data_source: handle
|
||||
handler_key: targets
|
||||
label: targets
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: tip_rack_identifier
|
||||
label: 墙头盒
|
||||
handler_key: tip_rack
|
||||
label: tip_rack
|
||||
output:
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
|
||||
@@ -1,286 +0,0 @@
|
||||
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
|
||||
@@ -1,148 +0,0 @@
|
||||
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
|
||||
@@ -5792,381 +5792,3 @@ virtual_vacuum_pump:
|
||||
- status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_workbench:
|
||||
category:
|
||||
- virtual_device
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-move_to_heating_station:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_number: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: material_number
|
||||
data_source: handle
|
||||
data_type: workbench_material
|
||||
handler_key: material_input
|
||||
label: 物料编号
|
||||
output:
|
||||
- data_key: station_id
|
||||
data_source: executor
|
||||
data_type: workbench_station
|
||||
handler_key: heating_station_output
|
||||
label: 加热台ID
|
||||
- data_key: material_number
|
||||
data_source: executor
|
||||
data_type: workbench_material
|
||||
handler_key: material_number_output
|
||||
label: 物料编号
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 将物料从An位置移动到空闲加热台，返回分配的加热台ID
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_number:
|
||||
description: 物料编号，1-5，物料ID自动生成为A{n}
|
||||
type: integer
|
||||
required:
|
||||
- material_number
|
||||
type: object
|
||||
result:
|
||||
description: move_to_heating_station 返回类型
|
||||
properties:
|
||||
material_id:
|
||||
title: Material Id
|
||||
type: string
|
||||
material_number:
|
||||
title: Material Number
|
||||
type: integer
|
||||
message:
|
||||
title: Message
|
||||
type: string
|
||||
station_id:
|
||||
description: 分配的加热台ID
|
||||
title: Station Id
|
||||
type: integer
|
||||
success:
|
||||
title: Success
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- station_id
|
||||
- material_id
|
||||
- material_number
|
||||
- message
|
||||
title: MoveToHeatingStationResult
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: move_to_heating_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to_output:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_number: null
|
||||
station_id: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: station_id
|
||||
data_source: handle
|
||||
data_type: workbench_station
|
||||
handler_key: output_station_input
|
||||
label: 加热台ID
|
||||
- data_key: material_number
|
||||
data_source: handle
|
||||
data_type: workbench_material
|
||||
handler_key: output_material_input
|
||||
label: 物料编号
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 将物料从加热台移动到输出位置Cn
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_number:
|
||||
description: 物料编号，用于确定输出位置Cn
|
||||
type: integer
|
||||
station_id:
|
||||
description: 加热台ID，1-3，从上一节点传入
|
||||
type: integer
|
||||
required:
|
||||
- station_id
|
||||
- material_number
|
||||
type: object
|
||||
result:
|
||||
description: move_to_output 返回类型
|
||||
properties:
|
||||
material_id:
|
||||
title: Material Id
|
||||
type: string
|
||||
station_id:
|
||||
title: Station Id
|
||||
type: integer
|
||||
success:
|
||||
title: Success
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- station_id
|
||||
- material_id
|
||||
title: MoveToOutputResult
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: move_to_output参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-prepare_materials:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
count: 5
|
||||
handles:
|
||||
output:
|
||||
- data_key: material_1
|
||||
data_source: executor
|
||||
data_type: workbench_material
|
||||
handler_key: channel_1
|
||||
label: 实验1
|
||||
- data_key: material_2
|
||||
data_source: executor
|
||||
data_type: workbench_material
|
||||
handler_key: channel_2
|
||||
label: 实验2
|
||||
- data_key: material_3
|
||||
data_source: executor
|
||||
data_type: workbench_material
|
||||
handler_key: channel_3
|
||||
label: 实验3
|
||||
- data_key: material_4
|
||||
data_source: executor
|
||||
data_type: workbench_material
|
||||
handler_key: channel_4
|
||||
label: 实验4
|
||||
- data_key: material_5
|
||||
data_source: executor
|
||||
data_type: workbench_material
|
||||
handler_key: channel_5
|
||||
label: 实验5
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 批量准备物料 - 虚拟起始节点，生成A1-A5物料，输出5个handle供后续节点使用
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
count:
|
||||
default: 5
|
||||
description: 待生成的物料数量，默认5 (生成 A1-A5)
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
description: prepare_materials 返回类型 - 批量准备物料
|
||||
properties:
|
||||
count:
|
||||
title: Count
|
||||
type: integer
|
||||
material_1:
|
||||
title: Material 1
|
||||
type: integer
|
||||
material_2:
|
||||
title: Material 2
|
||||
type: integer
|
||||
material_3:
|
||||
title: Material 3
|
||||
type: integer
|
||||
material_4:
|
||||
title: Material 4
|
||||
type: integer
|
||||
material_5:
|
||||
title: Material 5
|
||||
type: integer
|
||||
message:
|
||||
title: Message
|
||||
type: string
|
||||
success:
|
||||
title: Success
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- count
|
||||
- material_1
|
||||
- material_2
|
||||
- material_3
|
||||
- material_4
|
||||
- material_5
|
||||
- message
|
||||
title: PrepareMaterialsResult
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: prepare_materials参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_heating:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_number: null
|
||||
station_id: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: station_id
|
||||
data_source: handle
|
||||
data_type: workbench_station
|
||||
handler_key: station_id_input
|
||||
label: 加热台ID
|
||||
- data_key: material_number
|
||||
data_source: handle
|
||||
data_type: workbench_material
|
||||
handler_key: material_number_input
|
||||
label: 物料编号
|
||||
output:
|
||||
- data_key: station_id
|
||||
data_source: executor
|
||||
data_type: workbench_station
|
||||
handler_key: heating_done_station
|
||||
label: 加热完成-加热台ID
|
||||
- data_key: material_number
|
||||
data_source: executor
|
||||
data_type: workbench_material
|
||||
handler_key: heating_done_material
|
||||
label: 加热完成-物料编号
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动指定加热台的加热程序
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_number:
|
||||
description: 物料编号，从上一节点传入
|
||||
type: integer
|
||||
station_id:
|
||||
description: 加热台ID，1-3，从上一节点传入
|
||||
type: integer
|
||||
required:
|
||||
- station_id
|
||||
- material_number
|
||||
type: object
|
||||
result:
|
||||
description: start_heating 返回类型
|
||||
properties:
|
||||
material_id:
|
||||
title: Material Id
|
||||
type: string
|
||||
material_number:
|
||||
title: Material Number
|
||||
type: integer
|
||||
message:
|
||||
title: Message
|
||||
type: string
|
||||
station_id:
|
||||
title: Station Id
|
||||
type: integer
|
||||
success:
|
||||
title: Success
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- station_id
|
||||
- material_id
|
||||
- material_number
|
||||
- message
|
||||
title: StartHeatingResult
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: start_heating参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.virtual.workbench:VirtualWorkbench
|
||||
status_types:
|
||||
active_tasks_count: int
|
||||
arm_current_task: str
|
||||
arm_state: str
|
||||
heating_station_1_material: str
|
||||
heating_station_1_progress: float
|
||||
heating_station_1_state: str
|
||||
heating_station_2_material: str
|
||||
heating_station_2_progress: float
|
||||
heating_station_2_state: str
|
||||
heating_station_3_material: str
|
||||
heating_station_3_progress: float
|
||||
heating_station_3_state: str
|
||||
message: str
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent
|
||||
material processing
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: string
|
||||
device_id:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
active_tasks_count:
|
||||
type: integer
|
||||
arm_current_task:
|
||||
type: string
|
||||
arm_state:
|
||||
type: string
|
||||
heating_station_1_material:
|
||||
type: string
|
||||
heating_station_1_progress:
|
||||
type: number
|
||||
heating_station_1_state:
|
||||
type: string
|
||||
heating_station_2_material:
|
||||
type: string
|
||||
heating_station_2_progress:
|
||||
type: number
|
||||
heating_station_2_state:
|
||||
type: string
|
||||
heating_station_3_material:
|
||||
type: string
|
||||
heating_station_3_progress:
|
||||
type: number
|
||||
heating_station_3_state:
|
||||
type: string
|
||||
message:
|
||||
type: string
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- arm_state
|
||||
- arm_current_task
|
||||
- heating_station_1_state
|
||||
- heating_station_1_material
|
||||
- heating_station_1_progress
|
||||
- heating_station_2_state
|
||||
- heating_station_2_material
|
||||
- heating_station_2_progress
|
||||
- heating_station_3_state
|
||||
- heating_station_3_material
|
||||
- heating_station_3_progress
|
||||
- active_tasks_count
|
||||
- message
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -4,8 +4,6 @@ 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
|
||||
|
||||
@@ -62,7 +60,6 @@ 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
|
||||
|
||||
@@ -74,20 +71,6 @@ class Registry:
|
||||
|
||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||
|
||||
# 获取 HostNode 类的增强信息，用于自动生成 action schema
|
||||
host_node_enhanced_info = get_enhanced_class_info(
|
||||
"unilabos.ros.nodes.presets.host_node:HostNode", use_dynamic=True
|
||||
)
|
||||
|
||||
# 为 test_latency 生成 schema，保留原有 description
|
||||
test_latency_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_latency", {})
|
||||
test_latency_schema = self._generate_unilab_json_command_schema(
|
||||
test_latency_method_info.get("args", []),
|
||||
"test_latency",
|
||||
test_latency_method_info.get("return_annotation"),
|
||||
)
|
||||
test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
|
||||
|
||||
self.device_type_registry.update(
|
||||
{
|
||||
"host_node": {
|
||||
@@ -166,22 +149,17 @@ class Registry:
|
||||
"res_id": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择
|
||||
"device_id": "unilabos_devices", # 将当前实验室的全部设备id作为下拉框可选择
|
||||
"parent": "unilabos_nodes", # 将当前实验室的设备/物料作为下拉框可选择
|
||||
"class_name": "unilabos_class",
|
||||
},
|
||||
},
|
||||
"test_latency": {
|
||||
"type": (
|
||||
"UniLabJsonCommandAsync"
|
||||
if test_latency_method_info.get("is_async", False)
|
||||
else "UniLabJsonCommand"
|
||||
),
|
||||
"type": self.EmptyIn,
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": test_latency_schema,
|
||||
"goal_default": {
|
||||
arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", [])
|
||||
},
|
||||
"schema": ros_action_to_json_schema(
|
||||
self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
|
||||
),
|
||||
"goal_default": {},
|
||||
"handles": {},
|
||||
},
|
||||
"auto-test_resource": {
|
||||
@@ -264,115 +242,67 @@ 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.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
|
||||
logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
|
||||
current_resource_number = len(self.resource_type_registry) + 1
|
||||
with self._registry_lock:
|
||||
for i, (file, data) in enumerate(results):
|
||||
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)
|
||||
|
||||
self.resource_type_registry.update(data)
|
||||
logger.trace(
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} "
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||
+ f"Add {list(data.keys())}"
|
||||
)
|
||||
current_resource_number += 1
|
||||
|
||||
# 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()}")
|
||||
else:
|
||||
logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
|
||||
|
||||
def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
|
||||
"""
|
||||
@@ -610,9 +540,11 @@ class Registry:
|
||||
|
||||
return final_schema
|
||||
|
||||
def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None:
|
||||
def _preserve_field_descriptions(
|
||||
self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
|
||||
) -> None:
|
||||
"""
|
||||
保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
|
||||
保留之前 schema 中 goal/feedback/result 下一级字段的 description
|
||||
|
||||
Args:
|
||||
new_schema: 新生成的 schema（会被修改）
|
||||
@@ -634,9 +566,6 @@ class Registry:
|
||||
# 保留字段的 description
|
||||
if "description" in prev_field and prev_field["description"]:
|
||||
field_schema["description"] = prev_field["description"]
|
||||
# 保留字段的 title（用户自定义的中文名）
|
||||
if "title" in prev_field and prev_field["title"]:
|
||||
field_schema["title"] = prev_field["title"]
|
||||
|
||||
def _is_typed_dict(self, annotation: Any) -> bool:
|
||||
"""
|
||||
@@ -724,244 +653,213 @@ 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(
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
||||
+ f"total: {len(files)}"
|
||||
)
|
||||
|
||||
if not files:
|
||||
return
|
||||
|
||||
current_device_number = len(self.device_type_registry) + 1
|
||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||
|
||||
# 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
|
||||
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",
|
||||
}
|
||||
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}")
|
||||
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
|
||||
|
||||
# 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} "
|
||||
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} "
|
||||
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
||||
)
|
||||
current_device_number += 1
|
||||
|
||||
# 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()}")
|
||||
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()}"
|
||||
)
|
||||
|
||||
def obtain_registry_device_info(self):
|
||||
devices = []
|
||||
|
||||
@@ -46,16 +46,3 @@ BIOYOND_PolymerStation_8StockCarrier:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_TipBox:
|
||||
category:
|
||||
- bottle_carriers
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox
|
||||
type: pylabrobot
|
||||
description: BIOYOND_PolymerStation_TipBox (4x6布局，24个枪头孔位)
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -82,3 +82,14 @@ BIOYOND_PolymerStation_Solution_Beaker:
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_TipBox:
|
||||
category:
|
||||
- bottles
|
||||
- tip_boxes
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
@@ -9,28 +9,6 @@ from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Reagent_Bottle,
|
||||
BIOYOND_PolymerStation_Flask,
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
|
||||
"""创建单个枪头资源
|
||||
|
||||
Args:
|
||||
name: 枪头名称
|
||||
size_x: 枪头宽度 (mm)
|
||||
size_y: 枪头长度 (mm)
|
||||
size_z: 枪头高度 (mm)
|
||||
|
||||
Returns:
|
||||
Container: 枪头容器
|
||||
"""
|
||||
return Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip",
|
||||
model="BIOYOND_PolymerStation_Tip",
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
|
||||
|
||||
|
||||
@@ -344,88 +322,3 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_TipBox(
|
||||
name: str,
|
||||
size_x: float = 127.76, # 枪头盒宽度
|
||||
size_y: float = 85.48, # 枪头盒长度
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
) -> BottleCarrier:
|
||||
"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
size_x: 枪头盒宽度 (mm)
|
||||
size_y: 枪头盒长度 (mm)
|
||||
size_z: 枪头盒高度 (mm)
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
BottleCarrier: 包含24个枪头孔位的枪头盒载架
|
||||
|
||||
布局说明:
|
||||
- 4行×6列 (A-D, 1-6)
|
||||
- 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
|
||||
- 起始位置居中对齐
|
||||
- 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
|
||||
"""
|
||||
# 枪头孔位参数
|
||||
num_cols = 6 # 1-6 (x方向)
|
||||
num_rows = 4 # A-D (y方向)
|
||||
tip_diameter = 8.0 # 枪头孔位直径
|
||||
tip_spacing_x = 18.0 # 列间距 (增加到18mm，更宽松)
|
||||
tip_spacing_y = 18.0 # 行间距 (增加到18mm，更宽松)
|
||||
|
||||
# 计算起始位置 (居中对齐)
|
||||
total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
|
||||
total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
|
||||
start_x = (size_x - total_width) / 2
|
||||
start_y = (size_y - total_height) / 2
|
||||
|
||||
# 使用 create_ordered_items_2d 创建孔位
|
||||
# create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
|
||||
# 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=num_cols,
|
||||
num_items_y=num_rows,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=tip_spacing_x,
|
||||
item_dy=tip_spacing_y,
|
||||
size_x=tip_diameter,
|
||||
size_y=tip_diameter,
|
||||
size_z=50.0, # 枪头深度
|
||||
)
|
||||
|
||||
# 更新 sites 中每个 ResourceHolder 的名称
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
# 创建枪头盒载架
|
||||
# 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
|
||||
tip_box = BottleCarrier(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
sites=sites, # 直接使用数字索引的 sites
|
||||
model="BIOYOND_PolymerStation_TipBox",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = num_cols
|
||||
tip_box.num_items_y = num_rows
|
||||
tip_box.num_items_z = 1
|
||||
|
||||
# ⭐ 枪头盒不需要放入子资源
|
||||
# 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
|
||||
# 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
|
||||
# 这样前端会显示24个空槽位，可以用于放置枪头
|
||||
|
||||
return tip_box
|
||||
|
||||
@@ -116,9 +116,7 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
):
|
||||
"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
|
||||
|
||||
注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
|
||||
"""创建4×6枪头盒 (24个枪头)
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
@@ -128,11 +126,55 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
BottleCarrier: 包含24个枪头孔位的枪头盒载架
|
||||
TipBoxCarrier: 包含24个枪头孔位的枪头盒
|
||||
"""
|
||||
# 重定向到 bottle_carriers.py 中的实现
|
||||
from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier
|
||||
return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode)
|
||||
from pylabrobot.resources import Container, Coordinate
|
||||
|
||||
# 创建枪头盒容器
|
||||
tip_box = Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip_rack",
|
||||
model="BIOYOND_PolymerStation_TipBox_4x6",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = 6 # 6列
|
||||
tip_box.num_items_y = 4 # 4行
|
||||
|
||||
# 创建24个枪头孔位 (4行×6列)
|
||||
# 假设孔位间距为 9mm
|
||||
tip_spacing_x = 9.0 # 列间距
|
||||
tip_spacing_y = 9.0 # 行间距
|
||||
start_x = 14.38 # 第一个孔位的x偏移
|
||||
start_y = 11.24 # 第一个孔位的y偏移
|
||||
|
||||
for row in range(4): # A, B, C, D
|
||||
for col in range(6): # 1-6
|
||||
spot_name = f"{chr(65 + row)}{col + 1}" # A1, A2, ..., D6
|
||||
x = start_x + col * tip_spacing_x
|
||||
y = start_y + row * tip_spacing_y
|
||||
|
||||
# 创建枪头孔位容器
|
||||
tip_spot = Container(
|
||||
name=spot_name,
|
||||
size_x=8.0, # 单个枪头孔位大小
|
||||
size_y=8.0,
|
||||
size_z=size_z - 10.0, # 略低于盒子高度
|
||||
category="tip_spot",
|
||||
)
|
||||
|
||||
# 添加到枪头盒
|
||||
tip_box.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x=x, y=y, z=0)
|
||||
)
|
||||
|
||||
return tip_box
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Flask(
|
||||
|
||||
@@ -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", data.get("edges", []))
|
||||
links = data.get("links", [])
|
||||
standardized_links = canonicalize_links_ports(links, resource_tree_set)
|
||||
|
||||
# 构建 NetworkX 图（需要转换回 dict 格式）
|
||||
@@ -597,8 +597,6 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
|
||||
"tube": "tube",
|
||||
"bottle_carrier": "bottle_carrier",
|
||||
"plate_adapter": "plate_adapter",
|
||||
"electrode_sheet": "electrode_sheet",
|
||||
"material_hole": "material_hole",
|
||||
}
|
||||
if source in replace_info:
|
||||
return replace_info[source]
|
||||
@@ -759,12 +757,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
bottle = plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
|
||||
)
|
||||
# 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well）
|
||||
# ResourceHolder 等不支持液体追踪的容器跳过
|
||||
if hasattr(bottle, "tracker"):
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
logger.debug(f" └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
|
||||
else:
|
||||
@@ -773,11 +768,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
# 只对有 capacity 属性的容器（液体容器）处理液体追踪
|
||||
if hasattr(plr_material, 'capacity'):
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
# 确保 bottle 有 tracker 属性才设置液体信息
|
||||
if hasattr(bottle, "tracker"):
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
|
||||
plr_materials.append(plr_material)
|
||||
|
||||
@@ -806,29 +799,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
wh_name = loc.get("whName")
|
||||
logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
# 必须在warehouse映射之前先获取坐标，以便后续调整
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
|
||||
# 根据列号(y)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
# 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
if wh_name == "堆栈1":
|
||||
if 1 <= y <= 4:
|
||||
x_val = loc.get("x", 1)
|
||||
if 1 <= x_val <= 4:
|
||||
wh_name = "堆栈1左"
|
||||
elif 5 <= y <= 8:
|
||||
elif 5 <= x_val <= 8:
|
||||
wh_name = "堆栈1右"
|
||||
y = y - 4 # 调整列号: 5-8映射到1-4
|
||||
else:
|
||||
logger.warning(f"物料 {material['name']} 的列号 y={y} 超出范围，无法映射到堆栈1左或堆栈1右")
|
||||
logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
|
||||
continue
|
||||
|
||||
# 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
|
||||
if wh_name == "站内Tip盒堆栈":
|
||||
if y == 1:
|
||||
y_val = loc.get("y", 1)
|
||||
if y_val == 1:
|
||||
wh_name = "站内Tip盒堆栈(右)"
|
||||
elif y in [2, 3]:
|
||||
elif y_val in [2, 3]:
|
||||
wh_name = "站内Tip盒堆栈(左)"
|
||||
y = y - 1 # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
|
||||
|
||||
@@ -836,6 +824,15 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
warehouse = deck.warehouses[wh_name]
|
||||
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
|
||||
if wh_name == "堆栈1右":
|
||||
y = y - 4 # 将5-8映射到1-4
|
||||
|
||||
# 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
|
||||
# 这些warehouse使用 vertical-col-major 布局
|
||||
if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
|
||||
|
||||
@@ -18,9 +18,3 @@ def register():
|
||||
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
|
||||
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
|
||||
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.resources.bioyond.decks import (
|
||||
BIOYOND_PolymerReactionStation_Deck,
|
||||
BIOYOND_PolymerPreparationStation_Deck,
|
||||
BIOYOND_YB_Deck,
|
||||
)
|
||||
|
||||
@@ -13,9 +13,6 @@ 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
|
||||
@@ -341,7 +338,6 @@ class ResourceTreeSet(object):
|
||||
"deck": "deck",
|
||||
"tip_rack": "tip_rack",
|
||||
"tip_spot": "tip_spot",
|
||||
"tip": "tip", # 添加 tip 类型支持
|
||||
"tube": "tube",
|
||||
"bottle_carrier": "bottle_carrier",
|
||||
}
|
||||
@@ -397,7 +393,7 @@ 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": extra.get(EXTRA_CLASS, ""),
|
||||
"class": d.get("class", ""),
|
||||
"position": pos,
|
||||
"pose": pos,
|
||||
"config": {
|
||||
@@ -447,7 +443,7 @@ class ResourceTreeSet(object):
|
||||
trees.append(tree_instance)
|
||||
return cls(trees)
|
||||
|
||||
def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
|
||||
def to_plr_resources(self) -> List["PLRResource"]:
|
||||
"""
|
||||
将 ResourceTreeSet 转换为 PLR 资源列表
|
||||
|
||||
@@ -472,7 +468,6 @@ 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)
|
||||
|
||||
@@ -517,10 +512,7 @@ class ResourceTreeSet(object):
|
||||
plr_dict = node_to_plr_dict(tree.root_node, has_model)
|
||||
try:
|
||||
sub_cls = find_subclass(plr_dict["type"], PLRResource)
|
||||
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:
|
||||
if 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}"
|
||||
)
|
||||
@@ -528,10 +520,6 @@ 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)
|
||||
@@ -998,7 +986,7 @@ class DeviceNodeResourceTracker(object):
|
||||
extra = name_to_extra_map[resource_name]
|
||||
self.set_resource_extra(res, extra)
|
||||
if len(extra):
|
||||
logger.trace(f"设置资源Extra: {resource_name} -> {extra}")
|
||||
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
|
||||
return 1
|
||||
return 0
|
||||
|
||||
|
||||
@@ -770,16 +770,13 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
|
||||
return schema
|
||||
|
||||
|
||||
def ros_action_to_json_schema(
|
||||
action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None
|
||||
) -> Dict[str, Any]:
|
||||
def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
|
||||
"""
|
||||
将 ROS Action 类转换为 JSON Schema
|
||||
|
||||
Args:
|
||||
action_class: ROS Action 类
|
||||
description: 描述
|
||||
previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
|
||||
|
||||
Returns:
|
||||
完整的 JSON Schema 定义
|
||||
@@ -813,44 +810,9 @@ def ros_action_to_json_schema(
|
||||
"required": ["goal"],
|
||||
}
|
||||
|
||||
# 保留之前 schema 中 goal/feedback/result 下一级字段的 description
|
||||
if previous_schema:
|
||||
_preserve_field_descriptions(schema, previous_schema)
|
||||
|
||||
return schema
|
||||
|
||||
|
||||
def _preserve_field_descriptions(
|
||||
new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
|
||||
) -> None:
|
||||
"""
|
||||
保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
|
||||
|
||||
Args:
|
||||
new_schema: 新生成的 schema（会被修改）
|
||||
previous_schema: 之前的 schema
|
||||
"""
|
||||
for section in ["goal", "feedback", "result"]:
|
||||
new_section = new_schema.get("properties", {}).get(section, {})
|
||||
prev_section = previous_schema.get("properties", {}).get(section, {})
|
||||
|
||||
if not new_section or not prev_section:
|
||||
continue
|
||||
|
||||
new_props = new_section.get("properties", {})
|
||||
prev_props = prev_section.get("properties", {})
|
||||
|
||||
for field_name, field_schema in new_props.items():
|
||||
if field_name in prev_props:
|
||||
prev_field = prev_props[field_name]
|
||||
# 保留字段的 description
|
||||
if "description" in prev_field and prev_field["description"]:
|
||||
field_schema["description"] = prev_field["description"]
|
||||
# 保留字段的 title（用户自定义的中文名）
|
||||
if "title" in prev_field and prev_field["title"]:
|
||||
field_schema["title"] = prev_field["title"]
|
||||
|
||||
|
||||
def convert_ros_action_to_jsonschema(
|
||||
action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json"
|
||||
) -> Dict[str, Any]:
|
||||
|
||||
@@ -49,6 +49,7 @@ from unilabos.resources.resource_tracker import (
|
||||
ResourceTreeInstance,
|
||||
ResourceDictInstance,
|
||||
)
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
from rclpy.task import Task, Future
|
||||
from unilabos.utils.import_manager import default_manager
|
||||
@@ -184,7 +185,7 @@ class PropertyPublisher:
|
||||
f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
|
||||
)
|
||||
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
||||
self.__loop = ROS2DeviceNode.get_asyncio_loop()
|
||||
self.__loop = get_event_loop()
|
||||
str_msg_type = str(msg_type)[8:-2]
|
||||
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
|
||||
|
||||
@@ -884,9 +885,6 @@ 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(
|
||||
@@ -1322,32 +1320,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
|
||||
|
||||
# 批量查询资源
|
||||
queried_resources: list = [None] * len(resource_inputs)
|
||||
uuid_indices: list[tuple[int, str, dict]] = [] # (index, uuid, resource_data)
|
||||
|
||||
# 第一遍：处理没有uuid的资源，收集有uuid的资源信息
|
||||
for idx, resource_data in enumerate(resource_inputs):
|
||||
queried_resources = []
|
||||
for resource_data in resource_inputs:
|
||||
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
|
||||
if unilabos_uuid is None:
|
||||
plr_resource = await self.get_resource_with_dir(
|
||||
resource_id=resource_data["id"], with_children=True
|
||||
)
|
||||
if "sample_id" in resource_data:
|
||||
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
|
||||
queried_resources[idx] = plr_resource
|
||||
else:
|
||||
uuid_indices.append((idx, unilabos_uuid, resource_data))
|
||||
|
||||
# 第二遍：批量查询有uuid的资源
|
||||
if uuid_indices:
|
||||
uuids = [item[1] for item in uuid_indices]
|
||||
resource_tree = await self.get_resource(uuids)
|
||||
plr_resources = resource_tree.to_plr_resources()
|
||||
for i, (idx, _, resource_data) in enumerate(uuid_indices):
|
||||
plr_resource = plr_resources[i]
|
||||
if "sample_id" in resource_data:
|
||||
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
|
||||
queried_resources[idx] = plr_resource
|
||||
resource_tree = await self.get_resource([unilabos_uuid])
|
||||
plr_resource = resource_tree.to_plr_resources()[0]
|
||||
if "sample_id" in resource_data:
|
||||
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
|
||||
queried_resources.append(plr_resource)
|
||||
|
||||
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
|
||||
|
||||
@@ -1772,15 +1757,6 @@ class ROS2DeviceNode:
|
||||
它不继承设备类，而是通过代理模式访问设备类的属性和方法。
|
||||
"""
|
||||
|
||||
# 类变量，用于循环管理
|
||||
_asyncio_loop = None
|
||||
_asyncio_loop_running = False
|
||||
_asyncio_loop_thread = None
|
||||
|
||||
@classmethod
|
||||
def get_asyncio_loop(cls):
|
||||
return cls._asyncio_loop
|
||||
|
||||
@staticmethod
|
||||
async def safe_task_wrapper(trace_callback, func, **kwargs):
|
||||
try:
|
||||
@@ -1857,11 +1833,6 @@ class ROS2DeviceNode:
|
||||
print_publish: 是否打印发布信息
|
||||
driver_is_ros:
|
||||
"""
|
||||
# 在初始化时检查循环状态
|
||||
if ROS2DeviceNode._asyncio_loop_running and ROS2DeviceNode._asyncio_loop_thread is not None:
|
||||
pass
|
||||
elif ROS2DeviceNode._asyncio_loop_thread is None:
|
||||
self._start_loop()
|
||||
|
||||
# 保存设备类是否支持异步上下文
|
||||
self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
|
||||
@@ -1953,17 +1924,6 @@ class ROS2DeviceNode:
|
||||
except Exception as e:
|
||||
self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
|
||||
|
||||
def _start_loop(self):
|
||||
def run_event_loop():
|
||||
loop = asyncio.new_event_loop()
|
||||
ROS2DeviceNode._asyncio_loop = loop
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_forever()
|
||||
|
||||
ROS2DeviceNode._asyncio_loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
|
||||
ROS2DeviceNode._asyncio_loop_thread.start()
|
||||
logger.info(f"循环线程已启动")
|
||||
|
||||
|
||||
class DeviceInfoType(TypedDict):
|
||||
id: str
|
||||
|
||||
@@ -5,8 +5,7 @@ import threading
|
||||
import time
|
||||
import traceback
|
||||
import uuid
|
||||
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
|
||||
from typing_extensions import TypedDict
|
||||
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union
|
||||
|
||||
from action_msgs.msg import GoalStatus
|
||||
from geometry_msgs.msg import Point
|
||||
@@ -63,18 +62,6 @@ class TestResourceReturn(TypedDict):
|
||||
devices: List[DeviceSlot]
|
||||
|
||||
|
||||
class TestLatencyReturn(TypedDict):
|
||||
"""test_latency方法的返回值类型"""
|
||||
|
||||
avg_rtt_ms: float
|
||||
avg_time_diff_ms: float
|
||||
max_time_error_ms: float
|
||||
task_delay_ms: float
|
||||
raw_delay_ms: float
|
||||
test_count: int
|
||||
status: str
|
||||
|
||||
|
||||
class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
主机节点类，负责管理设备、资源和控制器
|
||||
@@ -808,7 +795,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
||||
|
||||
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
|
||||
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
|
||||
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
|
||||
action_client.wait_for_server()
|
||||
goal_uuid_obj = UUID(uuid=list(u.bytes))
|
||||
@@ -867,13 +853,8 @@ class HostNode(BaseROS2DeviceNode):
|
||||
# 适配后端的一些额外处理
|
||||
return_value = return_info.get("return_value")
|
||||
if isinstance(return_value, dict):
|
||||
unilabos_samples = return_value.pop("unilabos_samples", None)
|
||||
if isinstance(unilabos_samples, list) and unilabos_samples:
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
|
||||
f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
|
||||
f"{'...' if len(unilabos_samples) > 5 else ''}"
|
||||
)
|
||||
unilabos_samples = return_info.get("unilabos_samples")
|
||||
if isinstance(unilabos_samples, list):
|
||||
return_info["unilabos_samples"] = unilabos_samples
|
||||
suc = return_info.get("suc", False)
|
||||
if not suc:
|
||||
@@ -900,7 +881,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
# 清理 _goals 中的记录
|
||||
if job_id in self._goals:
|
||||
del self._goals[job_id]
|
||||
self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals")
|
||||
self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
|
||||
|
||||
# 存储结果供 HTTP API 查询
|
||||
try:
|
||||
@@ -1345,20 +1326,10 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
|
||||
return response
|
||||
|
||||
def test_latency(self) -> TestLatencyReturn:
|
||||
def test_latency(self):
|
||||
"""
|
||||
测试网络延迟的action实现
|
||||
通过5次ping-pong机制校对时间误差并计算实际延迟
|
||||
|
||||
Returns:
|
||||
TestLatencyReturn: 包含延迟测试结果的字典，包括：
|
||||
- avg_rtt_ms: 平均往返时间（毫秒）
|
||||
- avg_time_diff_ms: 平均时间差（毫秒）
|
||||
- max_time_error_ms: 最大时间误差（毫秒）
|
||||
- task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算
|
||||
- raw_delay_ms: 原始时间差（毫秒），-1表示无法计算
|
||||
- test_count: 有效测试次数
|
||||
- status: 测试状态，"success"表示成功，"all_timeout"表示全部超时
|
||||
"""
|
||||
import uuid as uuid_module
|
||||
|
||||
@@ -1421,15 +1392,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
if not ping_results:
|
||||
self.lab_logger().error("❌ 所有ping-pong测试都失败了")
|
||||
return {
|
||||
"avg_rtt_ms": -1.0,
|
||||
"avg_time_diff_ms": -1.0,
|
||||
"max_time_error_ms": -1.0,
|
||||
"task_delay_ms": -1.0,
|
||||
"raw_delay_ms": -1.0,
|
||||
"test_count": 0,
|
||||
"status": "all_timeout",
|
||||
}
|
||||
return {"status": "all_timeout"}
|
||||
|
||||
# 统计分析
|
||||
rtts = [r["rtt_ms"] for r in ping_results]
|
||||
@@ -1437,7 +1400,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
avg_rtt_ms = sum(rtts) / len(rtts)
|
||||
avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
|
||||
max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs)))
|
||||
max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
|
||||
|
||||
self.lab_logger().info("-" * 50)
|
||||
self.lab_logger().info("[测试统计]")
|
||||
@@ -1477,7 +1440,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
self.lab_logger().info("=" * 60)
|
||||
|
||||
res: TestLatencyReturn = {
|
||||
return {
|
||||
"avg_rtt_ms": avg_rtt_ms,
|
||||
"avg_time_diff_ms": avg_time_diff_ms,
|
||||
"max_time_error_ms": max_time_diff_error_ms,
|
||||
@@ -1488,14 +1451,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"test_count": len(ping_results),
|
||||
"status": "success",
|
||||
}
|
||||
return res
|
||||
|
||||
def test_resource(
|
||||
self,
|
||||
resource: ResourceSlot = None,
|
||||
resources: List[ResourceSlot] = None,
|
||||
device: DeviceSlot = None,
|
||||
devices: List[DeviceSlot] = None,
|
||||
self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None
|
||||
) -> TestResourceReturn:
|
||||
if resources is None:
|
||||
resources = []
|
||||
@@ -1556,9 +1514,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
# 构建服务地址
|
||||
srv_address = f"/srv{namespace}/s2c_resource_tree"
|
||||
self.lab_logger().trace(
|
||||
f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------"
|
||||
)
|
||||
self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------")
|
||||
|
||||
# 创建服务客户端
|
||||
sclient = self.create_client(SerialCommand, srv_address)
|
||||
@@ -1593,9 +1549,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
time.sleep(0.05)
|
||||
|
||||
response = future.result()
|
||||
self.lab_logger().trace(
|
||||
f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------"
|
||||
)
|
||||
self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
|
||||
@@ -6,6 +6,8 @@ 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
|
||||
@@ -13,6 +15,7 @@ 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,
|
||||
@@ -228,15 +231,15 @@ 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)
|
||||
@@ -304,52 +307,12 @@ 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 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())
|
||||
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)
|
||||
|
||||
# 设置成功状态和返回值
|
||||
execution_success = True
|
||||
|
||||
182
unilabos/ros/x/rclpyx.py
Normal file
182
unilabos/ros/x/rclpyx.py
Normal file
@@ -0,0 +1,182 @@
|
||||
import asyncio
|
||||
from asyncio import events
|
||||
import threading
|
||||
|
||||
import rclpy
|
||||
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
|
||||
from rclpy.executors import await_or_execute, Executor
|
||||
from rclpy.action import ActionClient, ActionServer
|
||||
from rclpy.action.server import ServerGoalHandle, GoalResponse, GoalInfo, GoalStatus
|
||||
from std_msgs.msg import String
|
||||
from action_tutorials_interfaces.action import Fibonacci
|
||||
|
||||
|
||||
loop = None
|
||||
|
||||
def get_event_loop():
|
||||
global loop
|
||||
return loop
|
||||
|
||||
|
||||
async def default_handle_accepted_callback_async(goal_handle):
|
||||
"""Execute the goal."""
|
||||
await goal_handle.execute()
|
||||
|
||||
|
||||
class ServerGoalHandleX(ServerGoalHandle):
|
||||
def __init__(self, *args, **kwargs):
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
async def execute(self, execute_callback=None):
|
||||
# It's possible that there has been a request to cancel the goal prior to executing.
|
||||
# In this case we want to avoid the illegal state transition to EXECUTING
|
||||
# but still call the users execute callback to let them handle canceling the goal.
|
||||
if not self.is_cancel_requested:
|
||||
self._update_state(_rclpy.GoalEvent.EXECUTE)
|
||||
await self._action_server.notify_execute_async(self, execute_callback)
|
||||
|
||||
|
||||
class ActionServerX(ActionServer):
|
||||
def __init__(self, *args, **kwargs):
|
||||
super().__init__(*args, **kwargs)
|
||||
self.register_handle_accepted_callback(default_handle_accepted_callback_async)
|
||||
|
||||
async def _execute_goal_request(self, request_header_and_message):
|
||||
request_header, goal_request = request_header_and_message
|
||||
goal_uuid = goal_request.goal_id
|
||||
goal_info = GoalInfo()
|
||||
goal_info.goal_id = goal_uuid
|
||||
|
||||
self._node.get_logger().debug('New goal request with ID: {0}'.format(goal_uuid.uuid))
|
||||
|
||||
# Check if goal ID is already being tracked by this action server
|
||||
with self._lock:
|
||||
goal_id_exists = self._handle.goal_exists(goal_info)
|
||||
|
||||
accepted = False
|
||||
if not goal_id_exists:
|
||||
# Call user goal callback
|
||||
response = await await_or_execute(self._goal_callback, goal_request.goal)
|
||||
if not isinstance(response, GoalResponse):
|
||||
self._node.get_logger().warning(
|
||||
'Goal request callback did not return a GoalResponse type. Rejecting goal.')
|
||||
else:
|
||||
accepted = GoalResponse.ACCEPT == response
|
||||
|
||||
if accepted:
|
||||
# Stamp time of acceptance
|
||||
goal_info.stamp = self._node.get_clock().now().to_msg()
|
||||
|
||||
# Create a goal handle
|
||||
try:
|
||||
with self._lock:
|
||||
goal_handle = ServerGoalHandleX(self, goal_info, goal_request.goal)
|
||||
except RuntimeError as e:
|
||||
self._node.get_logger().error(
|
||||
'Failed to accept new goal with ID {0}: {1}'.format(goal_uuid.uuid, e))
|
||||
accepted = False
|
||||
else:
|
||||
self._goal_handles[bytes(goal_uuid.uuid)] = goal_handle
|
||||
|
||||
# Send response
|
||||
response_msg = self._action_type.Impl.SendGoalService.Response()
|
||||
response_msg.accepted = accepted
|
||||
response_msg.stamp = goal_info.stamp
|
||||
self._handle.send_goal_response(request_header, response_msg)
|
||||
|
||||
if not accepted:
|
||||
self._node.get_logger().debug('New goal rejected: {0}'.format(goal_uuid.uuid))
|
||||
return
|
||||
|
||||
self._node.get_logger().debug('New goal accepted: {0}'.format(goal_uuid.uuid))
|
||||
|
||||
# Provide the user a reference to the goal handle
|
||||
# await await_or_execute(self._handle_accepted_callback, goal_handle)
|
||||
asyncio.create_task(self._handle_accepted_callback(goal_handle))
|
||||
|
||||
async def notify_execute_async(self, goal_handle, execute_callback):
|
||||
# Use provided callback, defaulting to a previously registered callback
|
||||
if execute_callback is None:
|
||||
if self._execute_callback is None:
|
||||
return
|
||||
execute_callback = self._execute_callback
|
||||
|
||||
# Schedule user callback for execution
|
||||
self._node.get_logger().info(f"{events.get_running_loop()}")
|
||||
asyncio.create_task(self._execute_goal(execute_callback, goal_handle))
|
||||
# loop = asyncio.new_event_loop()
|
||||
# asyncio.set_event_loop(loop)
|
||||
# task = loop.create_task(self._execute_goal(execute_callback, goal_handle))
|
||||
# await task
|
||||
|
||||
|
||||
class ActionClientX(ActionClient):
|
||||
feedback_queue = asyncio.Queue()
|
||||
|
||||
async def feedback_cb(self, msg):
|
||||
await self.feedback_queue.put(msg)
|
||||
|
||||
async def send_goal_async(self, goal_msg):
|
||||
goal_future = super().send_goal_async(
|
||||
goal_msg,
|
||||
feedback_callback=self.feedback_cb
|
||||
)
|
||||
client_goal_handle = await asyncio.ensure_future(goal_future)
|
||||
if not client_goal_handle.accepted:
|
||||
raise Exception("Goal rejected.")
|
||||
result_future = client_goal_handle.get_result_async()
|
||||
while True:
|
||||
feedback_future = asyncio.ensure_future(self.feedback_queue.get())
|
||||
tasks = [result_future, feedback_future]
|
||||
await asyncio.wait(tasks, return_when=asyncio.FIRST_COMPLETED)
|
||||
if result_future.done():
|
||||
result = result_future.result().result
|
||||
yield (None, result)
|
||||
break
|
||||
else:
|
||||
feedback = feedback_future.result().feedback
|
||||
yield (feedback, None)
|
||||
|
||||
|
||||
async def main(node):
|
||||
print('Node started.')
|
||||
action_client = ActionClientX(node, Fibonacci, 'fibonacci')
|
||||
goal_msg = Fibonacci.Goal()
|
||||
goal_msg.order = 10
|
||||
async for (feedback, result) in action_client.send_goal_async(goal_msg):
|
||||
if feedback:
|
||||
print(f'Feedback: {feedback}')
|
||||
else:
|
||||
print(f'Result: {result}')
|
||||
print('Finished.')
|
||||
|
||||
|
||||
async def ros_loop_node(node):
|
||||
while rclpy.ok():
|
||||
rclpy.spin_once(node, timeout_sec=0)
|
||||
await asyncio.sleep(1e-4)
|
||||
|
||||
|
||||
async def ros_loop(executor: Executor):
|
||||
while rclpy.ok():
|
||||
executor.spin_once(timeout_sec=0)
|
||||
await asyncio.sleep(1e-4)
|
||||
|
||||
|
||||
def run_event_loop():
|
||||
global loop
|
||||
loop = asyncio.new_event_loop()
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_forever()
|
||||
|
||||
|
||||
def run_event_loop_in_thread():
|
||||
thread = threading.Thread(target=run_event_loop, args=())
|
||||
thread.start()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
rclpy.init()
|
||||
node = rclpy.create_node('async_subscriber')
|
||||
future = asyncio.wait([ros_loop(node), main()])
|
||||
asyncio.get_event_loop().run_until_complete(future)
|
||||
@@ -1,28 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "workbench_1",
|
||||
"name": "虚拟工作台",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "virtual_workbench",
|
||||
"position": {
|
||||
"x": 400,
|
||||
"y": 300,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"arm_operation_time": 3.0,
|
||||
"heating_time": 10.0,
|
||||
"num_heating_stations": 3
|
||||
},
|
||||
"data": {
|
||||
"status": "Ready",
|
||||
"arm_state": "idle",
|
||||
"message": "工作台就绪"
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,29 +0,0 @@
|
||||
{
|
||||
"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": []
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
{
|
||||
"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": []
|
||||
}
|
||||
187
unilabos/utils/README_LOGGING.md
Normal file
187
unilabos/utils/README_LOGGING.md
Normal file
@@ -0,0 +1,187 @@
|
||||
# UniLabOS 日志配置说明
|
||||
|
||||
> **文件位置**: `unilabos/utils/log.py`
|
||||
> **最后更新**: 2026-01-11
|
||||
> **维护者**: Uni-Lab-OS 开发团队
|
||||
|
||||
本文档说明 UniLabOS 日志系统中对第三方库和内部模块的日志级别配置，避免控制台被过多的 DEBUG 日志淹没。
|
||||
|
||||
---
|
||||
|
||||
## 📋 已屏蔽的日志
|
||||
|
||||
以下库/模块的日志已被设置为 **WARNING** 或 **INFO** 级别，不再显示 DEBUG 日志：
|
||||
|
||||
### 1. pymodbus（Modbus 通信库）
|
||||
|
||||
**配置位置**: `log.py` 第196-200行
|
||||
|
||||
```python
|
||||
# pymodbus 库的日志太详细，设置为 WARNING
|
||||
logging.getLogger('pymodbus').setLevel(logging.WARNING)
|
||||
logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
|
||||
logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
|
||||
logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
|
||||
```
|
||||
|
||||
**屏蔽原因**:
|
||||
- pymodbus 在 DEBUG 级别会输出每一次 Modbus 通信的详细信息
|
||||
- 包括 `Processing: 0x5 0x1e 0x0 0x0...` 等原始数据
|
||||
- 包括 `decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...)` 等解码信息
|
||||
- 这些信息对日常使用价值不大，但会快速刷屏
|
||||
|
||||
**典型被屏蔽的日志**:
|
||||
```
|
||||
[DEBUG] Processing: 0x5 0x1e 0x0 0x0 0x0 0x7 0x1 0x3 0x4 0x0 0x0 0x0 0x0 [handleFrame:72] [pymodbus.logging.base]
|
||||
[DEBUG] decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...) [decode:79] [pymodbus.logging.decoders]
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 2. websockets（WebSocket 库）
|
||||
|
||||
**配置位置**: `log.py` 第202-205行
|
||||
|
||||
```python
|
||||
# websockets 库的日志输出较多，设置为 WARNING
|
||||
logging.getLogger('websockets').setLevel(logging.WARNING)
|
||||
logging.getLogger('websockets.client').setLevel(logging.WARNING)
|
||||
logging.getLogger('websockets.server').setLevel(logging.WARNING)
|
||||
```
|
||||
|
||||
**屏蔽原因**:
|
||||
- WebSocket 连接、断开、心跳等信息在 DEBUG 级别会频繁输出
|
||||
- 对于长时间运行的服务，这些日志意义不大
|
||||
|
||||
---
|
||||
|
||||
### 3. ROS Host Node（设备状态更新）
|
||||
|
||||
**配置位置**: `log.py` 第207-208行
|
||||
|
||||
```python
|
||||
# ROS 节点的状态更新日志过于频繁，设置为 INFO
|
||||
logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
|
||||
```
|
||||
|
||||
**屏蔽原因**:
|
||||
- 设备状态更新（如手套箱压力）每隔几秒就会更新一次
|
||||
- DEBUG 日志会记录每一次状态变化，导致日志刷屏
|
||||
- 这些频繁的状态更新对调试价值不大
|
||||
|
||||
**典型被屏蔽的日志**:
|
||||
```
|
||||
[DEBUG] [/devices/host_node] Status updated: BatteryStation.data_glove_box_pressure = 4.229457855224609 [property_callback:666] [unilabos.ros.nodes.presets.host_node]
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 4. asyncio 和 urllib3
|
||||
|
||||
**配置位置**: `log.py` 第224-225行
|
||||
|
||||
```python
|
||||
logging.getLogger("asyncio").setLevel(logging.INFO)
|
||||
logging.getLogger("urllib3").setLevel(logging.INFO)
|
||||
```
|
||||
|
||||
**屏蔽原因**:
|
||||
- asyncio: 异步 IO 的内部调试信息
|
||||
- urllib3: HTTP 请求库的连接池、重试等详细信息
|
||||
|
||||
---
|
||||
|
||||
## 🔧 如何临时启用这些日志（调试用）
|
||||
|
||||
### 方法1: 修改 log.py（永久启用）
|
||||
|
||||
在 `log.py` 的 `configure_logger()` 函数中，将对应库的日志级别改为 `logging.DEBUG`:
|
||||
|
||||
```python
|
||||
# 临时启用 pymodbus 的 DEBUG 日志
|
||||
logging.getLogger('pymodbus').setLevel(logging.DEBUG)
|
||||
logging.getLogger('pymodbus.logging').setLevel(logging.DEBUG)
|
||||
logging.getLogger('pymodbus.logging.base').setLevel(logging.DEBUG)
|
||||
logging.getLogger('pymodbus.logging.decoders').setLevel(logging.DEBUG)
|
||||
```
|
||||
|
||||
### 方法2: 在代码中临时启用（单次调试）
|
||||
|
||||
在需要调试的代码文件中添加：
|
||||
|
||||
```python
|
||||
import logging
|
||||
|
||||
# 临时启用 pymodbus DEBUG 日志
|
||||
logging.getLogger('pymodbus').setLevel(logging.DEBUG)
|
||||
|
||||
# 你的 Modbus 调试代码
|
||||
...
|
||||
|
||||
# 调试完成后恢复
|
||||
logging.getLogger('pymodbus').setLevel(logging.WARNING)
|
||||
```
|
||||
|
||||
### 方法3: 使用环境变量或配置文件（推荐）
|
||||
|
||||
未来可以考虑在启动参数中添加 `--debug-modbus` 等选项来动态控制。
|
||||
|
||||
---
|
||||
|
||||
## 📊 日志级别说明
|
||||
|
||||
| 级别 | 数值 | 用途 | 是否显示 |
|
||||
|------|------|------|---------|
|
||||
| TRACE | 5 | 最详细的跟踪信息 | ✅ |
|
||||
| DEBUG | 10 | 调试信息 | ✅ |
|
||||
| INFO | 20 | 一般信息 | ✅ |
|
||||
| WARNING | 30 | 警告信息 | ✅ |
|
||||
| ERROR | 40 | 错误信息 | ✅ |
|
||||
| CRITICAL | 50 | 严重错误 | ✅ |
|
||||
|
||||
**当前配置**:
|
||||
- UniLabOS 自身代码: DEBUG 及以上全部显示
|
||||
- pymodbus/websockets: **WARNING** 及以上显示（屏蔽 DEBUG/INFO）
|
||||
- ROS host_node: **INFO** 及以上显示（屏蔽 DEBUG）
|
||||
|
||||
---
|
||||
|
||||
## ⚠️ 重要提示
|
||||
|
||||
### 修改生效时间
|
||||
- 修改 `log.py` 后需要 **重启 unilab 服务** 才能生效
|
||||
- 不需要重新安装或重新编译
|
||||
|
||||
### 调试 Modbus 通信问题
|
||||
如果需要调试 Modbus 通信故障，应该：
|
||||
1. 临时启用 pymodbus DEBUG 日志（方法2）
|
||||
2. 复现问题
|
||||
3. 查看详细的通信日志
|
||||
4. 调试完成后记得恢复 WARNING 级别
|
||||
|
||||
### 调试设备状态问题
|
||||
如果需要调试设备状态更新问题：
|
||||
```python
|
||||
logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.DEBUG)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📝 维护记录
|
||||
|
||||
| 日期 | 修改内容 | 操作人 |
|
||||
|------|---------|--------|
|
||||
| 2026-01-11 | 初始创建，添加 pymodbus、websockets、ROS host_node 屏蔽 | - |
|
||||
| 2026-01-07 | 添加 pymodbus 和 websockets 屏蔽（log-0107.py） | - |
|
||||
|
||||
---
|
||||
|
||||
## 🔗 相关文件
|
||||
|
||||
- `log.py` - 日志配置主文件
|
||||
- `unilabos/devices/workstation/coin_cell_assembly/` - 使用 Modbus 的扣电工作站代码
|
||||
- `unilabos/ros/nodes/presets/host_node.py` - ROS 主机节点代码
|
||||
|
||||
---
|
||||
|
||||
**维护提示**: 如果添加了新的第三方库或发现新的日志刷屏问题，请在此文档中记录并更新 `log.py` 配置。
|
||||
@@ -182,49 +182,3 @@ def get_all_subscriptions(instance) -> list:
|
||||
except Exception:
|
||||
pass
|
||||
return subscriptions
|
||||
|
||||
|
||||
def not_action(func: F) -> F:
|
||||
"""
|
||||
标记方法为非动作的装饰器
|
||||
|
||||
用于装饰 driver 类中的方法，使其在 complete_registry 时不被识别为动作。
|
||||
适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
|
||||
|
||||
Example:
|
||||
class MyDriver:
|
||||
@not_action
|
||||
def helper_method(self):
|
||||
# 这个方法不会被注册为动作
|
||||
pass
|
||||
|
||||
def actual_action(self, param: str):
|
||||
# 这个方法会被注册为动作
|
||||
self.helper_method()
|
||||
|
||||
Note:
|
||||
- 可以与其他装饰器组合使用，@not_action 应放在最外层
|
||||
- 仅影响 complete_registry 的动作识别，不影响方法的正常调用
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# 在函数上附加标记
|
||||
wrapper._is_not_action = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
|
||||
def is_not_action(func) -> bool:
|
||||
"""
|
||||
检查函数是否被标记为非动作
|
||||
|
||||
Args:
|
||||
func: 被检查的函数
|
||||
|
||||
Returns:
|
||||
如果函数被 @not_action 装饰则返回 True，否则返回 False
|
||||
"""
|
||||
return getattr(func, "_is_not_action", False)
|
||||
|
||||
@@ -24,7 +24,6 @@ class EnvironmentChecker:
|
||||
"msgcenterpy": "msgcenterpy",
|
||||
"opentrons_shared_data": "opentrons_shared_data",
|
||||
"typing_extensions": "typing_extensions",
|
||||
"crcmod": "crcmod-plus",
|
||||
}
|
||||
|
||||
# 特殊安装包（需要特殊处理的包）
|
||||
|
||||
@@ -28,7 +28,6 @@ __all__ = [
|
||||
from ast import Constant
|
||||
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.decorator import is_not_action
|
||||
|
||||
|
||||
class ImportManager:
|
||||
@@ -276,9 +275,6 @@ class ImportManager:
|
||||
method_info = self._analyze_method_signature(method)
|
||||
result["status_methods"][actual_name] = method_info
|
||||
elif not name.startswith("_"):
|
||||
# 检查是否被 @not_action 装饰器标记
|
||||
if is_not_action(method):
|
||||
continue
|
||||
# 其他非_开头的方法归类为action
|
||||
method_info = self._analyze_method_signature(method)
|
||||
result["action_methods"][name] = method_info
|
||||
@@ -334,9 +330,6 @@ class ImportManager:
|
||||
if actual_name not in result["status_methods"]:
|
||||
result["status_methods"][actual_name] = method_info
|
||||
else:
|
||||
# 检查是否被 @not_action 装饰器标记
|
||||
if self._is_not_action_method(node):
|
||||
continue
|
||||
# 其他非_开头的方法归类为action
|
||||
result["action_methods"][method_name] = method_info
|
||||
return result
|
||||
@@ -457,13 +450,6 @@ class ImportManager:
|
||||
return True
|
||||
return False
|
||||
|
||||
def _is_not_action_method(self, node: ast.FunctionDef) -> bool:
|
||||
"""检查是否是@not_action装饰的方法"""
|
||||
for decorator in node.decorator_list:
|
||||
if isinstance(decorator, ast.Name) and decorator.id == "not_action":
|
||||
return True
|
||||
return False
|
||||
|
||||
def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
|
||||
"""从setter装饰器中获取属性名"""
|
||||
for decorator in node.decorator_list:
|
||||
|
||||
@@ -1,11 +1,7 @@
|
||||
import psutil
|
||||
import pywinauto
|
||||
try:
|
||||
from pywinauto_recorder import UIApplication
|
||||
from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
|
||||
except ImportError:
|
||||
print("未安装pywinauto_recorder，部分功能无法使用，安装时注意enum")
|
||||
pass
|
||||
from pywinauto_recorder import UIApplication
|
||||
from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
|
||||
from pywinauto.controls.uiawrapper import UIAWrapper
|
||||
from pywinauto.application import WindowSpecification
|
||||
from pywinauto import findbestmatch
|
||||
|
||||
@@ -1,18 +0,0 @@
|
||||
networkx
|
||||
typing_extensions
|
||||
websockets
|
||||
msgcenterpy>=0.1.5
|
||||
opentrons_shared_data
|
||||
pint
|
||||
fastapi
|
||||
jinja2
|
||||
requests
|
||||
uvicorn
|
||||
pyautogui
|
||||
opcua
|
||||
pyserial
|
||||
pandas
|
||||
crcmod-plus
|
||||
pymodbus
|
||||
matplotlib
|
||||
pylibftdi
|
||||
@@ -1,89 +1,3 @@
|
||||
"""
|
||||
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
|
||||
|
||||
@@ -94,28 +8,6 @@ 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 ----------------
|
||||
|
||||
|
||||
@@ -336,7 +228,7 @@ def refactor_data(
|
||||
|
||||
|
||||
def build_protocol_graph(
|
||||
labware_info: Dict[str, Dict[str, Any]],
|
||||
labware_info: List[Dict[str, Any]],
|
||||
protocol_steps: List[Dict[str, Any]],
|
||||
workstation_name: str,
|
||||
action_resource_mapping: Optional[Dict[str, str]] = None,
|
||||
@@ -344,227 +236,112 @@ 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，格式为 {name: {slot, well, labware, ...}, ...}
|
||||
labware_info: labware 信息字典
|
||||
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 = {} # reagent_name -> "node_id:port"
|
||||
slot_to_create_resource = {} # slot -> create_resource node_id
|
||||
resource_last_writer = {}
|
||||
|
||||
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
|
||||
|
||||
# ==================== 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():
|
||||
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,
|
||||
}
|
||||
|
||||
# 为每个唯一的 slot 创建 create_resource 节点
|
||||
# 为所有labware创建资源节点
|
||||
res_index = 0
|
||||
last_create_resource_id = None
|
||||
for slot, info in slots_info.items():
|
||||
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())
|
||||
res_id = info["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]
|
||||
|
||||
res_index += 1
|
||||
G.add_node(
|
||||
node_id,
|
||||
template_name="create_resource",
|
||||
resource_name="host_node",
|
||||
name=f"Plate {res_index}",
|
||||
description=f"Create plate on slot {slot}",
|
||||
lab_node_type="Labware",
|
||||
name=f"Res {res_index}",
|
||||
description=description,
|
||||
lab_node_type=lab_node_type,
|
||||
footer="create_resource-host_node",
|
||||
param={
|
||||
"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),
|
||||
"res_id": labware_id,
|
||||
"device_id": WORKSTATION_ID,
|
||||
"class_name": "container",
|
||||
"parent": WORKSTATION_ID,
|
||||
"bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
|
||||
"slot_on_deck": slot,
|
||||
"liquid_input_slot": [-1],
|
||||
"liquid_type": liquid_type,
|
||||
"liquid_volume": liquid_volume,
|
||||
"slot_on_deck": "",
|
||||
},
|
||||
)
|
||||
slot_to_create_resource[slot] = node_id
|
||||
resource_last_writer[labware_id] = f"{node_id}:labware"
|
||||
|
||||
# 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"]
|
||||
last_control_node_id = None
|
||||
|
||||
# 处理协议步骤
|
||||
for step in protocol_steps:
|
||||
node_id = str(uuid.uuid4())
|
||||
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)
|
||||
G.add_node(node_id, **step)
|
||||
|
||||
# 控制流
|
||||
if last_control_node_id is not None:
|
||||
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
|
||||
last_control_node_id = node_id
|
||||
|
||||
# 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
|
||||
# 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():
|
||||
if resource_name:
|
||||
resource_last_writer[resource_name] = f"{node_id}:{output_port}"
|
||||
resource_last_writer[resource_name] = f"{node_id}:{source_port}"
|
||||
|
||||
return G
|
||||
|
||||
|
||||
@@ -1,68 +1,21 @@
|
||||
"""
|
||||
JSON 工作流转换模块
|
||||
|
||||
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": "..."},
|
||||
...
|
||||
}
|
||||
}
|
||||
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, Tuple, Union
|
||||
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
|
||||
|
||||
|
||||
# ==================== 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
|
||||
@@ -86,10 +39,12 @@ 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:
|
||||
@@ -114,9 +69,12 @@ 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, {})
|
||||
|
||||
@@ -125,93 +83,164 @@ 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")
|
||||
|
||||
# 验证目标节点（right）的输入端口
|
||||
# 如果节点配置了 output handles，则 source_port 必须有效
|
||||
if not right_source_conn_key:
|
||||
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}")
|
||||
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 = 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}' 的输入端口 '{right_source_conn_key}' 不存在，支持的输入端口: {source_valid_keys}"
|
||||
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}"
|
||||
)
|
||||
|
||||
# 验证源节点（left）的输出端口
|
||||
# 如果节点配置了 input handles，则 target_port 必须有效
|
||||
if not left_target_conn_key:
|
||||
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}")
|
||||
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 = left_node.get("name", left_uuid[:8])
|
||||
node_name = right_node.get("name", right_uuid[:8])
|
||||
errors.append(
|
||||
f"源节点 '{node_name}' 的输出端口 '{left_target_conn_key}' 不存在，支持的输出端口: {target_valid_keys}"
|
||||
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
|
||||
|
||||
|
||||
def normalize_workflow_steps(workflow: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
|
||||
# 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 workflow 格式的步骤数据规范化
|
||||
将不同格式的步骤数据规范化为统一格式
|
||||
|
||||
输入格式:
|
||||
[{"action": "...", "action_args": {...}}, ...]
|
||||
|
||||
输出格式:
|
||||
[{"action": "...", "parameters": {...}, "step_number": int}, ...]
|
||||
支持的输入格式：
|
||||
- action + parameters
|
||||
- action + action_args
|
||||
- operation + parameters
|
||||
|
||||
Args:
|
||||
workflow: workflow 数组
|
||||
data: 原始步骤数据列表
|
||||
|
||||
Returns:
|
||||
规范化后的步骤列表
|
||||
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(workflow):
|
||||
action = step.get("action")
|
||||
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: action_args
|
||||
raw_params = step.get("action_args", {})
|
||||
params = {}
|
||||
# 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)
|
||||
|
||||
# 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
|
||||
# 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"]
|
||||
|
||||
step_dict = {
|
||||
"action": action,
|
||||
"parameters": params,
|
||||
"step_number": idx + 1,
|
||||
}
|
||||
# 获取描述（支持 description 或 purpose 字段）
|
||||
description = step.get("description") or step.get("purpose")
|
||||
|
||||
# 保留描述字段
|
||||
if "description" in step:
|
||||
step_dict["description"] = step["description"]
|
||||
# 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 = DEFAULT_WORKSTATION,
|
||||
workstation_name: str = "PRCXi",
|
||||
validate: bool = True,
|
||||
) -> WorkflowGraph:
|
||||
"""
|
||||
从 JSON 数据或文件转换为 WorkflowGraph
|
||||
|
||||
JSON 格式:
|
||||
{"workflow": [...], "reagent": {...}}
|
||||
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
|
||||
@@ -222,7 +251,7 @@ def convert_from_json(
|
||||
WorkflowGraph: 构建好的工作流图
|
||||
|
||||
Raises:
|
||||
ValueError: 不支持的 JSON 格式
|
||||
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
|
||||
"""
|
||||
@@ -233,6 +262,7 @@ 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}")
|
||||
@@ -241,24 +271,30 @@ def convert_from_json(
|
||||
else:
|
||||
raise TypeError(f"不支持的数据类型: {type(data)}")
|
||||
|
||||
# 校验格式
|
||||
if "workflow" not in json_data or "reagent" not in json_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。请使用标准格式:\n"
|
||||
'{"workflow": [{"action": "...", "action_args": {...}}, ...], '
|
||||
'"reagent": {"name": {"slot": int, "well": [...], "labware": "..."}, ...}}'
|
||||
"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': [...]}"
|
||||
)
|
||||
|
||||
# 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,
|
||||
@@ -281,7 +317,7 @@ def convert_from_json(
|
||||
|
||||
def convert_json_to_node_link(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = DEFAULT_WORKSTATION,
|
||||
workstation_name: str = "PRCXi",
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将 JSON 数据转换为 node-link 格式的字典
|
||||
@@ -299,7 +335,7 @@ def convert_json_to_node_link(
|
||||
|
||||
def convert_json_to_workflow_list(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = DEFAULT_WORKSTATION,
|
||||
workstation_name: str = "PRCXi",
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
将 JSON 数据转换为工作流列表格式
|
||||
@@ -313,3 +349,8 @@ 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
|
||||
|
||||
@@ -1,356 +0,0 @@
|
||||
"""
|
||||
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
|
||||
@@ -2,7 +2,7 @@
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>unilabos_msgs</name>
|
||||
<version>0.10.17</version>
|
||||
<version>0.10.15</version>
|
||||
<description>ROS2 Messages package for unilabos devices</description>
|
||||
<maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
|
||||
<maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>
|
||||
|
||||
Reference in New Issue
Block a user