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https://github.com/dptech-corp/Uni-Lab-OS.git
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a2a827d7ac
Refine descriptions in Bioyond reaction station YAML Updated and clarified field and operation descriptions in the reaction_station_bioyond.yaml file for improved accuracy and consistency. Changes include more precise terminology, clearer parameter explanations, and standardized formatting for operation schemas. refactor(workstation): 更新反应站参数描述并添加分液站配置文件 修正反应站方法参数描述，使其更准确清晰 添加bioyond_dispensing_station.yaml配置文件 add create_workflow script and test add invisible_slots to carriers fix(warehouses): 修正bioyond_warehouse_1x4x4仓库的尺寸参数 调整仓库的num_items_x和num_items_z值以匹配实际布局，并更新物品尺寸参数 save resource get data. allow empty value for layout and cross_section_type More decks&plates support for bioyond (#115) refactor(registry): 重构反应站设备配置，简化并更新操作命令 移除旧的自动操作命令，新增针对具体化学操作的命令配置 更新模块路径和配置结构，优化参数定义和描述 fix(dispensing_station): 修正物料信息查询方法调用 将直接调用material_id_query改为通过hardware_interface调用，以符合接口设计规范
335 lines
12 KiB
Python
335 lines
12 KiB
Python
"""
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HTTP客户端模块
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提供与远程服务器通信的客户端功能，只有host需要用
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"""
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import json
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import os
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from typing import List, Dict, Any, Optional
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import requests
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from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
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from unilabos.utils.log import info
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from unilabos.config.config import HTTPConfig, BasicConfig
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from unilabos.utils import logger
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class HTTPClient:
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"""HTTP客户端，用于与远程服务器通信"""
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def __init__(self, remote_addr: Optional[str] = None, auth: Optional[str] = None) -> None:
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"""
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初始化HTTP客户端
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Args:
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remote_addr: 远程服务器地址，如果不提供则从配置中获取
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auth: 授权信息
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"""
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self.initialized = False
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self.remote_addr = remote_addr or HTTPConfig.remote_addr
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if auth is not None:
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self.auth = auth
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else:
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auth_secret = BasicConfig.auth_secret()
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self.auth = auth_secret
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info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
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info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
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def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
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"""
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添加资源
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Args:
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resources: 要添加的资源列表
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database_process_later: 后台处理资源
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Returns:
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Response: API响应对象
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"""
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response = requests.post(
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f"{self.remote_addr}/edge/material/edge",
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json={
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"edges": resources,
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},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=100,
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)
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if response.status_code == 200:
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res = response.json()
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if "code" in res and res["code"] != 0:
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logger.error(f"添加物料关系失败: {response.text}")
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if response.status_code != 200 and response.status_code != 201:
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logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
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return response
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def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_add: bool) -> Dict[str, str]:
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"""
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添加资源
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Args:
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resources: 要添加的资源树集合（ResourceTreeSet）
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mount_uuid: 要挂载的资源的uuid
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first_add: 是否为首次添加资源，可以是host也可以是slave来的
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Returns:
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Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
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"""
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with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
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f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
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# 从序列化数据中提取所有节点的UUID（保存旧UUID）
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old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
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if not self.initialized or first_add:
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self.initialized = True
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info(f"首次添加资源，当前远程地址: {self.remote_addr}")
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response = requests.post(
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f"{self.remote_addr}/edge/material",
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json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=100,
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)
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else:
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response = requests.put(
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f"{self.remote_addr}/edge/material",
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json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=100,
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)
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with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f:
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f.write(f"{response.status_code}" + "\n" + response.text)
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# 处理响应，构建UUID映射
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uuid_mapping = {}
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if response.status_code == 200:
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res = response.json()
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if "code" in res and res["code"] != 0:
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logger.error(f"添加物料失败: {response.text}")
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else:
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data = res["data"]
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for i in data:
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uuid_mapping[i["uuid"]] = i["cloud_uuid"]
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else:
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logger.error(f"添加物料失败: {response.text}")
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for u, n in old_uuids.items():
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if u in uuid_mapping:
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n.res_content.uuid = uuid_mapping[u]
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for c in n.children:
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c.res_content.parent_uuid = n.res_content.uuid
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else:
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logger.warning(f"资源UUID未更新: {u}")
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return uuid_mapping
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def resource_tree_get(self, uuid_list: List[str], with_children: bool) -> List[Dict[str, Any]]:
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"""
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添加资源
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Args:
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uuid_list: List[str]
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Returns:
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Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
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"""
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with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
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f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
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response = requests.post(
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f"{self.remote_addr}/edge/material/query",
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json={"uuids": uuid_list, "with_children": with_children},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=100,
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)
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with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_get.json"), "w", encoding="utf-8") as f:
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f.write(f"{response.status_code}" + "\n" + response.text)
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if response.status_code == 200:
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res = response.json()
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if "code" in res and res["code"] != 0:
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logger.error(f"查询物料失败: {response.text}")
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else:
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data = res["data"]["nodes"]
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return data
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else:
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logger.error(f"查询物料失败: {response.text}")
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return []
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def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
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"""
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添加资源
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Args:
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resources: 要添加的资源列表
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Returns:
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Response: API响应对象
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"""
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if not self.initialized:
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self.initialized = True
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info(f"首次添加资源，当前远程地址: {self.remote_addr}")
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response = requests.post(
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f"{self.remote_addr}/lab/material",
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json={"nodes": resources},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=100,
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)
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else:
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response = requests.put(
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f"{self.remote_addr}/lab/material",
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json={"nodes": resources},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=100,
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)
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if response.status_code == 200:
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res = response.json()
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if "code" in res and res["code"] != 0:
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logger.error(f"添加物料失败: {response.text}")
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if response.status_code != 200:
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logger.error(f"添加物料失败: {response.text}")
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return response
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def resource_get(self, id: str, with_children: bool = False) -> Dict[str, Any]:
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"""
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获取资源
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Args:
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id: 资源ID
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with_children: 是否包含子资源
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Returns:
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Dict: 返回的资源数据
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"""
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with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
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f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
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response = requests.get(
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f"{self.remote_addr}/lab/material",
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params={"id": id, "with_children": with_children},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=20,
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)
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with open(os.path.join(BasicConfig.working_dir, "res_resource_get.json"), "w", encoding="utf-8") as f:
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f.write(f"{response.status_code}" + "\n" + response.text)
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return response.json()
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def resource_del(self, id: str) -> requests.Response:
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"""
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删除资源
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Args:
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id: 要删除的资源ID
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Returns:
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Response: API响应对象
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"""
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response = requests.delete(
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f"{self.remote_addr}/lab/resource/batch_delete/",
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params={"id": id},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=20,
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)
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return response
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def resource_update(self, resources: List[Dict[str, Any]]) -> requests.Response:
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"""
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更新资源
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Args:
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resources: 要更新的资源列表
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Returns:
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Response: API响应对象
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"""
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if not self.initialized:
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self.initialized = True
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info(f"首次添加资源，当前远程地址: {self.remote_addr}")
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response = requests.post(
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f"{self.remote_addr}/lab/material",
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json={"nodes": resources},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=100,
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)
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else:
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response = requests.put(
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f"{self.remote_addr}/lab/material",
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json={"nodes": resources},
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=100,
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)
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if response.status_code == 200:
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res = response.json()
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if "code" in res and res["code"] != 0:
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logger.error(f"添加物料失败: {response.text}")
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if response.status_code != 200:
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logger.error(f"添加物料失败: {response.text}")
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return response.json()
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def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
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"""
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上传文件到服务器
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使用multipart/form-data格式上传文件，类似curl -F "files=@filepath"
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Args:
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file_path: 要上传的文件路径
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scene: 上传场景，可选值为"user"或"models"，默认为"models"
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Returns:
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Response: API响应对象
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"""
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with open(file_path, "rb") as file:
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files = {"files": file}
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logger.info(f"上传文件: {file_path} 到 {scene}")
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response = requests.post(
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f"{self.remote_addr}/api/account/file_upload/{scene}",
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files=files,
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=30, # 上传文件可能需要更长的超时时间
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)
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return response
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def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
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"""
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注册资源到服务器
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Args:
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registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
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Returns:
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Response: API响应对象
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"""
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response = requests.post(
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f"{self.remote_addr}/lab/resource",
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json=registry_data,
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=30,
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)
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if response.status_code not in [200, 201]:
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logger.error(f"注册资源失败: {response.status_code}, {response.text}")
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return response
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def request_startup_json(self) -> Optional[Dict[str, Any]]:
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"""
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请求启动配置
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Args:
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startup_json: 启动配置JSON数据
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Returns:
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Response: API响应对象
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"""
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response = requests.get(
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f"{self.remote_addr}/edge/material/download",
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headers={"Authorization": f"Lab {self.auth}"},
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timeout=(3, 30),
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)
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if response.status_code != 200:
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logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
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else:
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try:
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with open(os.path.join(BasicConfig.working_dir, "startup_config.json"), "w", encoding="utf-8") as f:
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f.write(response.text)
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target_dict = json.loads(response.text)
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if "data" in target_dict:
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target_dict = target_dict["data"]
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return target_dict
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except json.JSONDecodeError as e:
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logger.error(f"解析启动配置JSON失败: {str(e.args)}\n响应内容: {response.text}")
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logger.error(f"响应内容: {response.text}")
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return None
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# 创建默认客户端实例
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http_client = HTTPClient()
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