mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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468 lines
18 KiB
Python
468 lines
18 KiB
Python
"""
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工作站基类
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Workstation Base Class - 单接口模式
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基于单一硬件接口的简化工作站架构
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支持直接模式和代理模式的自动工作流执行器选择
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"""
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import time
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import traceback
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from typing import Dict, Any, List, Optional, Union, TYPE_CHECKING
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from abc import ABC, abstractmethod
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from dataclasses import dataclass
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from enum import Enum
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if TYPE_CHECKING:
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from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
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from unilabos.devices.work_station.workstation_material_management import MaterialManagementBase
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from unilabos.devices.work_station.workstation_http_service import (
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WorkstationHTTPService, WorkstationReportRequest, MaterialUsage
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)
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from unilabos.utils.log import logger
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class WorkflowStatus(Enum):
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"""工作流状态"""
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IDLE = "idle"
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INITIALIZING = "initializing"
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RUNNING = "running"
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PAUSED = "paused"
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STOPPING = "stopping"
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STOPPED = "stopped"
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ERROR = "error"
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COMPLETED = "completed"
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@dataclass
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class WorkflowInfo:
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"""工作流信息"""
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name: str
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description: str
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estimated_duration: float # 预估持续时间（秒）
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required_materials: List[str] # 所需物料类型
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output_product: str # 输出产品类型
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parameters_schema: Dict[str, Any] # 参数架构
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class WorkstationBase(ABC):
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"""工作站基类 - 单接口模式
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核心设计原则：
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1. 每个工作站只有一个 hardware_interface
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2. 根据接口类型自动选择工作流执行器
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3. 支持直接模式和代理模式
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4. 统一的设备操作接口
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"""
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def __init__(
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self,
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device_id: str,
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deck_config: Optional[Dict[str, Any]] = None,
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http_service_config: Optional[Dict[str, Any]] = None,
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*args,
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**kwargs,
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):
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# 基本配置
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self.device_id = device_id
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self.deck_config = deck_config or {"size_x": 1000.0, "size_y": 1000.0, "size_z": 500.0}
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# HTTP服务配置
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self.http_service_config = http_service_config or {
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"enabled": True,
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"host": "127.0.0.1",
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"port": 8081
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}
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# 单一硬件接口 - 可以是具体客户端对象或代理字符串
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self.hardware_interface: Union[Any, str] = None
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# 协议节点引用（用于代理模式）
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self._protocol_node: Optional['ROS2WorkstationNode'] = None
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# 工作流执行器（基于通信接口类型自动选择）
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self.workflow_executor: Optional['WorkflowExecutor'] = None
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# 工作流状态
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self.current_workflow_status = WorkflowStatus.IDLE
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self.current_workflow_info = None
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self.workflow_start_time = None
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self.workflow_parameters = {}
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# 错误处理
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self.error_history = []
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self.action_results = {}
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# 支持的工作流（静态预定义）
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self.supported_workflows: Dict[str, WorkflowInfo] = {}
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# 初始化工作站模块
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self.material_management: MaterialManagementBase = self._create_material_management_module()
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# 注册支持的工作流
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self._register_supported_workflows()
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# 启动HTTP报送接收服务
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self.http_service = None
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self._start_http_service()
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logger.info(f"工作站 {device_id} 初始化完成（单接口模式）")
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def set_hardware_interface(self, hardware_interface: Union[Any, str]):
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"""设置硬件接口"""
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self.hardware_interface = hardware_interface
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# 根据接口类型自动创建工作流执行器
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self._setup_workflow_executor()
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logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}")
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def set_protocol_node(self, protocol_node: 'ROS2WorkstationNode'):
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"""设置协议节点引用（用于代理模式）"""
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self._protocol_node = protocol_node
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logger.info(f"工作站 {self.device_id} 关联协议节点")
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def _setup_workflow_executor(self):
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"""根据硬件接口类型自动设置工作流执行器"""
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if self.hardware_interface is None:
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return
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# 动态导入工作流执行器类
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try:
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from unilabos.devices.work_station.workflow_executors import (
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ProxyWorkflowExecutor, ModbusWorkflowExecutor,
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HttpWorkflowExecutor, PyLabRobotWorkflowExecutor
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)
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except ImportError:
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logger.warning("工作流执行器模块未找到，将使用基础执行器")
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self.workflow_executor = None
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return
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# 检查是否为代理字符串
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if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
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self.workflow_executor = ProxyWorkflowExecutor(self)
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logger.info(f"工作站 {self.device_id} 使用代理工作流执行器")
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# 检查是否为Modbus客户端
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elif hasattr(self.hardware_interface, 'write_register') and hasattr(self.hardware_interface, 'read_register'):
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self.workflow_executor = ModbusWorkflowExecutor(self)
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logger.info(f"工作站 {self.device_id} 使用Modbus工作流执行器")
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# 检查是否为HTTP客户端
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elif hasattr(self.hardware_interface, 'post') or hasattr(self.hardware_interface, 'get'):
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self.workflow_executor = HttpWorkflowExecutor(self)
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logger.info(f"工作站 {self.device_id} 使用HTTP工作流执行器")
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# 检查是否为PyLabRobot设备
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elif hasattr(self.hardware_interface, 'transfer_liquid') or hasattr(self.hardware_interface, 'pickup_tips'):
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self.workflow_executor = PyLabRobotWorkflowExecutor(self)
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logger.info(f"工作站 {self.device_id} 使用PyLabRobot工作流执行器")
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else:
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logger.warning(f"工作站 {self.device_id} 无法识别硬件接口类型: {type(self.hardware_interface)}")
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self.workflow_executor = None
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# ============ 统一的设备操作接口 ============
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def call_device_method(self, method: str, *args, **kwargs) -> Any:
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"""调用设备方法的统一接口"""
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# 1. 代理模式：通过协议节点转发
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if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
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if not self._protocol_node:
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raise RuntimeError("代理模式需要设置protocol_node")
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device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀
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return self._protocol_node.call_device_method(device_id, method, *args, **kwargs)
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# 2. 直接模式：直接调用硬件接口方法
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elif self.hardware_interface and hasattr(self.hardware_interface, method):
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return getattr(self.hardware_interface, method)(*args, **kwargs)
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else:
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raise AttributeError(f"硬件接口不支持方法: {method}")
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def get_device_status(self) -> Dict[str, Any]:
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"""获取设备状态"""
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try:
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return self.call_device_method('get_status')
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except AttributeError:
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# 如果设备不支持get_status方法，返回基础状态
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return {
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"status": "unknown",
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"interface_type": type(self.hardware_interface).__name__,
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"timestamp": time.time()
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}
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def is_device_available(self) -> bool:
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"""检查设备是否可用"""
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try:
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self.get_device_status()
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return True
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except:
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return False
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# ============ 工作流控制接口 ============
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def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
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"""执行工作流 - 委托给工作流执行器"""
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if not self.workflow_executor:
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logger.error(f"工作站 {self.device_id} 工作流执行器未初始化")
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return False
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try:
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# 设置工作流状态
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self.current_workflow_status = WorkflowStatus.INITIALIZING
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self.workflow_parameters = parameters
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self.workflow_start_time = time.time()
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# 委托给工作流执行器
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success = self.workflow_executor.execute_workflow(workflow_name, parameters)
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if success:
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self.current_workflow_status = WorkflowStatus.RUNNING
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logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功")
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else:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败")
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return success
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except Exception as e:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}")
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return False
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def start_workflow(self, workflow_type: str, parameters: Dict[str, Any] = None) -> bool:
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"""启动工作流 - 兼容旧接口"""
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return self.execute_workflow(workflow_type, parameters or {})
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def stop_workflow(self, emergency: bool = False) -> bool:
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"""停止工作流"""
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if not self.workflow_executor:
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logger.warning(f"工作站 {self.device_id} 工作流执行器未初始化")
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return True
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try:
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if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]:
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logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流")
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return True
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self.current_workflow_status = WorkflowStatus.STOPPING
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# 委托给工作流执行器
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success = self.workflow_executor.stop_workflow(emergency)
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if success:
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self.current_workflow_status = WorkflowStatus.STOPPED
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logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})")
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else:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 工作流停止失败")
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return success
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except Exception as e:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}")
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return False
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# ============ 状态属性 ============
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@property
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def workflow_status(self) -> WorkflowStatus:
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"""获取当前工作流状态"""
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return self.current_workflow_status
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@property
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def is_busy(self) -> bool:
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"""检查工作站是否忙碌"""
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return self.current_workflow_status in [
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WorkflowStatus.INITIALIZING,
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WorkflowStatus.RUNNING,
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WorkflowStatus.STOPPING
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]
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@property
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def workflow_runtime(self) -> float:
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"""获取工作流运行时间（秒）"""
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if self.workflow_start_time is None:
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return 0.0
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return time.time() - self.workflow_start_time
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@property
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def error_count(self) -> int:
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"""获取错误计数"""
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return len(self.error_history)
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@property
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def last_error(self) -> Optional[Dict[str, Any]]:
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"""获取最后一个错误"""
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return self.error_history[-1] if self.error_history else None
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# ============ 抽象方法 - 子类必须实现 ============
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@abstractmethod
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def _create_material_management_module(self) -> MaterialManagementBase:
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"""创建物料管理模块 - 子类必须实现"""
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pass
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@abstractmethod
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def _register_supported_workflows(self):
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"""注册支持的工作流 - 子类必须实现"""
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pass
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# ============ HTTP服务管理 ============
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def _start_http_service(self):
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"""启动HTTP报送接收服务"""
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try:
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if not self.http_service_config.get("enabled", True):
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logger.info(f"工作站 {self.device_id} HTTP报送接收服务已禁用")
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return
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host = self.http_service_config.get("host", "127.0.0.1")
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port = self.http_service_config.get("port", 8081)
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self.http_service = WorkstationHTTPService(
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workstation_handler=self,
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host=host,
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port=port
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)
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logger.info(f"工作站 {self.device_id} HTTP报送接收服务启动成功: {host}:{port}")
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except Exception as e:
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logger.error(f"工作站 {self.device_id} 启动HTTP报送接收服务失败: {e}")
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self.http_service = None
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def _stop_http_service(self):
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"""停止HTTP报送接收服务"""
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try:
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if self.http_service:
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self.http_service.stop()
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self.http_service = None
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logger.info(f"工作站 {self.device_id} HTTP报送接收服务已停止")
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except Exception as e:
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logger.error(f"工作站 {self.device_id} 停止HTTP报送接收服务失败: {e}")
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# ============ 报送处理方法 ============
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def process_material_change_report(self, report) -> Dict[str, Any]:
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"""处理物料变更报送"""
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try:
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logger.info(f"处理物料变更报送: {report.workstation_id} -> {report.resource_id} ({report.change_type})")
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result = {
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'processed': True,
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'resource_id': report.resource_id,
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'change_type': report.change_type,
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'timestamp': time.time()
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}
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# 更新本地物料管理系统
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if hasattr(self, 'material_management'):
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try:
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self.material_management.sync_external_material_change(report)
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except Exception as e:
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logger.warning(f"同步物料变更到本地管理系统失败: {e}")
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return result
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except Exception as e:
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logger.error(f"处理物料变更报送失败: {e}")
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return {'processed': False, 'error': str(e)}
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def process_step_finish_report(self, request: WorkstationReportRequest) -> Dict[str, Any]:
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"""处理步骤完成报送（统一LIMS协议规范）"""
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try:
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data = request.data
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logger.info(f"处理步骤完成报送: {data['orderCode']} - {data['stepName']}")
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result = {
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'processed': True,
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'order_code': data['orderCode'],
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'step_id': data['stepId'],
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'timestamp': time.time()
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}
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return result
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except Exception as e:
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logger.error(f"处理步骤完成报送失败: {e}")
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return {'processed': False, 'error': str(e)}
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def process_sample_finish_report(self, request: WorkstationReportRequest) -> Dict[str, Any]:
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"""处理样品完成报送"""
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try:
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data = request.data
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logger.info(f"处理样品完成报送: {data['sampleId']}")
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result = {
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'processed': True,
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'sample_id': data['sampleId'],
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'timestamp': time.time()
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}
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return result
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except Exception as e:
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logger.error(f"处理样品完成报送失败: {e}")
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return {'processed': False, 'error': str(e)}
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def process_order_finish_report(self, request: WorkstationReportRequest, used_materials: List[MaterialUsage]) -> Dict[str, Any]:
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"""处理订单完成报送"""
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try:
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data = request.data
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logger.info(f"处理订单完成报送: {data['orderCode']}")
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result = {
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'processed': True,
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'order_code': data['orderCode'],
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'used_materials': len(used_materials),
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'timestamp': time.time()
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}
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return result
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except Exception as e:
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logger.error(f"处理订单完成报送失败: {e}")
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return {'processed': False, 'error': str(e)}
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def handle_external_error(self, error_request):
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"""处理外部错误报告"""
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try:
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logger.error(f"收到外部错误报告: {error_request}")
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# 记录错误
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error_record = {
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'timestamp': time.time(),
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'error_type': error_request.get('error_type', 'unknown'),
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'error_message': error_request.get('message', ''),
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'source': error_request.get('source', 'external'),
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'context': error_request.get('context', {})
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}
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self.error_history.append(error_record)
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# 处理紧急停止情况
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if error_request.get('emergency_stop', False):
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self._trigger_emergency_stop(error_record['error_message'])
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return {'processed': True, 'error_id': len(self.error_history)}
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except Exception as e:
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logger.error(f"处理外部错误失败: {e}")
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return {'processed': False, 'error': str(e)}
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def _trigger_emergency_stop(self, reason: str):
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"""触发紧急停止"""
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logger.critical(f"触发紧急停止: {reason}")
|
||
self.stop_workflow(emergency=True)
|
||
|
||
def __del__(self):
|
||
"""清理资源"""
|
||
try:
|
||
self._stop_http_service()
|
||
except:
|
||
pass
|