From 8a0116c8520f304a562c92d0a27d6af484f9c274 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 10 Feb 2026 22:44:45 +0800 Subject: [PATCH 01/43] add resource --- .../registry/resources/opentrons/lab.yaml | 6884 +++++++++++++++++ unilabos/resources/lab_resources.py | 3681 +++++++++ .../opentrons_custom_labware_defs.json | 1 + 3 files changed, 10566 insertions(+) create mode 100644 unilabos/registry/resources/opentrons/lab.yaml create mode 100644 unilabos/resources/lab_resources.py create mode 100644 unilabos/resources/opentrons_custom_labware_defs.json diff --git a/unilabos/registry/resources/opentrons/lab.yaml b/unilabos/registry/resources/opentrons/lab.yaml new file mode 100644 index 00000000..8125a3d0 --- /dev/null +++ b/unilabos/registry/resources/opentrons/lab.yaml @@ -0,0 +1,6884 @@ +lab_100ul_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_100ul_384_wellplate_100ul + type: pylabrobot + description: 100ul 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate1: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate1 + type: pylabrobot + description: Plate 1 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate2: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate2 + type: pylabrobot + description: Plate 2 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate3: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate3 + type: pylabrobot + description: Plate 3 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate4: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate4 + type: pylabrobot + description: Plate 4 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate5: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate5 + type: pylabrobot + description: Plate 5 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate6: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate6 + type: pylabrobot + description: Plate 6 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate7: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate7 + type: pylabrobot + description: Plate 7 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate8: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate8 + type: pylabrobot + description: Plate 8 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate9: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate9 + type: pylabrobot + description: Plate 9 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_3axygen96wellminitubesystemcorning_96_wellplate_1320ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_3axygen96wellminitubesystemcorning_96_wellplate_1320ul + type: pylabrobot + description: 3 Axygen 96-Well Mini Tube System, Corning 96 Well Plate 1320 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_3dprint_96_tuberack_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_3dprint_96_tuberack_200ul + type: pylabrobot + description: 3DPrint 96 Tube Rack with Nippon 0.2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_4titude_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_4titude_96_wellplate_200ul + type: pylabrobot + description: 4ti-0960/C 96 Well Full Skirted Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_4titude_framestar_pcr_plate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_4titude_framestar_pcr_plate_200ul + type: pylabrobot + description: 4titude FrameStar PCR Plate, Low Profile + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_4titudeframestar_384_wellplate_55ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_4titudeframestar_384_wellplate_55ul + type: pylabrobot + description: 4-titude FrameStar 384 Well Plate 55 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_6x4_0point6inch_t6: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_6x4_0point6inch_t6 + type: pylabrobot + description: 6x4_0.6inch_t6 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_6x5_half_inch_t1_t3: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_6x5_half_inch_t1_t3 + type: pylabrobot + description: 6x5_0.5inch_t1_t3 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_80_well_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_80_well_plate + type: pylabrobot + description: 80 Well Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96_elutionplate_ubottom_by_macherey_nagel: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_96_elutionplate_ubottom_by_macherey_nagel + type: pylabrobot + description: 96_Elutionplate_ubottom_by_Macherey_Nagel + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96_squarewell_block_macherey_nagel: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_96_squarewell_block_macherey_nagel + type: pylabrobot + description: 96 Square-Well Block by Macherey-Nagel + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96w_pcr_plate2: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_96w_pcr_plate2 + type: pylabrobot + description: 96wells_pcr_plate2 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96well_pcr_base_200ul_strip: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_96well_pcr_base_200ul_strip + type: pylabrobot + description: MicroAmp 96-Well Base with 0.2 mL Thermo Scientific PCR Tube Strip + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96wellplatemountedcappshaker_96_wellplate_360ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_96wellplatemountedcappshaker_96_wellplate_360ul + type: pylabrobot + description: 96 Well Plate Mounted CAPP Shaker 96 Well Plate 360 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ab_96_aluminumblock: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_ab_96_aluminumblock + type: pylabrobot + description: Applied Biosystems 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_2000ul + type: pylabrobot + description: Abgene 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_200ul + type: pylabrobot + description: ABgene 96 Well PCR Plate 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_200ul_isofreeze_block: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_200ul_isofreeze_block + type: pylabrobot + description: ABGene 96 Well Plate 200µl on ISOFREEZE Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_2200ul + type: pylabrobot + description: Abgene 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_330ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_330ul + type: pylabrobot + description: Abgene 96 Well Plate 330 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_330ul_round: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_330ul_round + type: pylabrobot + description: Abgene 96 Wellplate 330ul Round + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_700ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_700ul + type: pylabrobot + description: Abgene 96 Well Plate 700 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_800ul + type: pylabrobot + description: Abgene 96 Well Plate 800 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgenemidi_96_wellplate_800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgenemidi_96_wellplate_800ul + type: pylabrobot + description: Abgene Midi 96 Well Plate 800 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ag_48_tuberack_150ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_ag_48_tuberack_150ul + type: pylabrobot + description: AG 48 Tube Rack with ReadyGo 0.15 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_12_reservoir_21ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_12_reservoir_21ml + type: pylabrobot + description: Agilent 12-Channel Reservoir 21ml + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_1_reservoir_290ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_1_reservoir_290ml + type: pylabrobot + description: Agilent 1 Well Reservoir 290 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_3_reservoir_95ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_3_reservoir_95ml + type: pylabrobot + description: Agilent 3-Channel Reservoir 95ml + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_48_reservoir_5000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_48_reservoir_5000ul + type: pylabrobot + description: Agilent 48 Reservoir 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_c18omix_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_c18omix_200ul + type: pylabrobot + description: 'Agilent 96 C18 Omix 200ul (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_1200ul + type: pylabrobot + description: Agilent 96 Well Plate 1200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_1400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_1400ul + type: pylabrobot + description: Agilent 96 Well Plate 1400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_200ul + type: pylabrobot + description: Agilent 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_270ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_270ul + type: pylabrobot + description: Agilent 96 Well Plate 270 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_500ul + type: pylabrobot + description: Agilent 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilentwithnonskirted_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilentwithnonskirted_96_wellplate_200ul + type: pylabrobot + description: Agilent With Nonskirted 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_akura_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_akura_384_wellplate_50ul + type: pylabrobot + description: Akura 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_alpaqua96sneptune_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_alpaqua96sneptune_96_wellplate_200ul + type: pylabrobot + description: Alpaqua96S_Neptune 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_alpaquaprimaryv3_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_alpaquaprimaryv3_24_tuberack_2000ul + type: pylabrobot + description: Alpaqua Primary-v3 24 Tube Rack 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_alpaquasecondaryv3_24_tuberack_750ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_alpaquasecondaryv3_24_tuberack_750ul + type: pylabrobot + description: Alpaqua Secondaryv3 24 Tube Rack 750 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_altemislab_48_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_altemislab_48_wellplate_2000ul + type: pylabrobot + description: Altemis Lab 48 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_amplifyt_96_tuberack_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_amplifyt_96_tuberack_200ul + type: pylabrobot + description: Amplifyt 96 Tube Rack with Regeneron 0.2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_amplifyt_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_amplifyt_96_wellplate_200ul + type: pylabrobot + description: Amplifyt 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ananda_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_ananda_384_wellplate_100ul + type: pylabrobot + description: Ananda 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appleton_6_tuberack_50000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_appleton_6_tuberack_50000ul + type: pylabrobot + description: Appleton 6 Tube Rack 50000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystem_384_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystem_384_wellplate_40ul + type: pylabrobot + description: Appliedbiosystem 384 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_384_wellplate_20ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_384_wellplate_20ul + type: pylabrobot + description: Applied Biosystems 384 Well Plate 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_384_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_384_wellplate_40ul + type: pylabrobot + description: Applied Biosystems 384 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_96_wellplate_100ul + type: pylabrobot + description: Applied Biosystems 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block + type: pylabrobot + description: Applied Biosystems 96 Well Plate 200ul on Eppendorf Cooling Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_microamp_optical_384_wellplate_30ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_microamp_optical_384_wellplate_30ul + type: pylabrobot + description: Applied Biosystems™ MicroAmp™ Optical 384-Well Reaction Plate With + Barcode 384 Well Plate 30 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystemsenduraplate_96_aluminumblock_220ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystemsenduraplate_96_aluminumblock_220ul + type: pylabrobot + description: Applied Biosystems Enduraplate 96 Aluminum Block 220 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystemsmicroamp_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystemsmicroamp_96_aluminumblock_200ul + type: pylabrobot + description: Applied Biosystems MicroAmp 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul + type: pylabrobot + description: Applied Biosystems™ MicroAmp™ Optical 384-Well Reaction Plate With + Barcode 384 Well Plate 30 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul + type: pylabrobot + description: Applied Biosystems (ThermoFisher/Life) 4309849 With Barcode 384 Well + Plate 30 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_armadillo_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_armadillo_96_aluminumblock_200ul + type: pylabrobot + description: Armadillo 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_armadillo_96_wellplate_200ul_pcr_full_skirt: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_armadillo_96_wellplate_200ul_pcr_full_skirt + type: pylabrobot + description: Armadillo 96 Well Plate 200 µL PCR Full Skirt + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_aspir8_1_reservoir_taped: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_aspir8_1_reservoir_taped + type: pylabrobot + description: Aspir-8 Reservoir + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_aurora_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_aurora_384_wellplate_100ul + type: pylabrobot + description: Aurora 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_avantik_15_tuberack_3000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_avantik_15_tuberack_3000ul + type: pylabrobot + description: Avantik 15 Tube Rack 3000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_1_reservoir_90ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_1_reservoir_90ml + type: pylabrobot + description: Axygen 1 Well Reservoir 90 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_24_tuberack_1700ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_24_tuberack_1700ul + type: pylabrobot + description: Axygen 24 Tube Rack 1700 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_384_wellplate_50ul + type: pylabrobot + description: Axygen 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_4_reservoir_70ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_4_reservoir_70ul + type: pylabrobot + description: Axygen 4 Reservoir 70 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_4_reservoir_73000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_4_reservoir_73000ul + type: pylabrobot + description: Axygen 4 Reservoir 73 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_plate_200ul_pcr: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_plate_200ul_pcr + type: pylabrobot + description: Axygen 96 Well PCR Microplate 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_wellplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_wellplate + type: pylabrobot + description: Axygen 96 Well Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_wellplate_2000ul + type: pylabrobot + description: Axygen 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_wellplate_300ul + type: pylabrobot + description: Axygen 96 Well Plate 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_wellplate_500ul + type: pylabrobot + description: Axygen 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygenspheremag_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygenspheremag_96_wellplate_500ul + type: pylabrobot + description: Axygen Sphere Mag 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_azentalifesciences_12_reservoir_21000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_azentalifesciences_12_reservoir_21000ul + type: pylabrobot + description: Azenta Life Sciences 12 Reservoir 21000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_azentalifesciences_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_azentalifesciences_96_aluminumblock_200ul + type: pylabrobot + description: Azenta Life Sciences 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_azentalifesciences_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_azentalifesciences_96_wellplate_200ul + type: pylabrobot + description: Azenta Life Sciences 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_barcode_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_barcode_96_wellplate_200ul + type: pylabrobot + description: Barcode 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_basisdx_15_tuberack_12000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_basisdx_15_tuberack_12000ul + type: pylabrobot + description: Basis DX 15 Tube Rack 12000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bd_24_tuberack_50ml_green: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bd_24_tuberack_50ml_green + type: pylabrobot + description: BD 24 Green Tube Rack with 50 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bd_54_tuberack_5ml_black: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bd_54_tuberack_5ml_black + type: pylabrobot + description: BD 54 Tube Rack with HPLC Black 5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bd_72_tuberack_15ml_orange: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bd_72_tuberack_15ml_orange + type: pylabrobot + description: BD 72 Orange Tube Rack with 15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_beckman_24_tuberack_1000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_beckman_24_tuberack_1000ul + type: pylabrobot + description: Beckman 24 Tube Rack with Thomas 1 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_beckman_48_wellplate_1800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_beckman_48_wellplate_1800ul + type: pylabrobot + description: Beckman Fed Batch Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_beckman_8_reservoir_19000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_beckman_8_reservoir_19000ul + type: pylabrobot + description: Beckman 8 Reservoir 19000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_beckmancoulter_8_reservoir_19000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_beckmancoulter_8_reservoir_19000ul + type: pylabrobot + description: Beckman Coulter 8 Reservoir 19000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_binding_column_tuberack: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_binding_column_tuberack + type: pylabrobot + description: Binding Column Tube Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bioplastics_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bioplastics_96_aluminumblock_200ul + type: pylabrobot + description: BIOplastics 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bioplastics_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_bioplastics_96_wellplate_100ul + type: pylabrobot + description: Bioplastics 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bioplasticsbv_96_aluminumblock_100ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bioplasticsbv_96_aluminumblock_100ul + type: pylabrobot + description: BIOPlastics BV 96 Aluminum Block 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bioplasticsbv_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bioplasticsbv_96_aluminumblock_200ul + type: pylabrobot + description: BIOPlastics BV 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_384_wellplate_50ul + type: pylabrobot + description: Bio-Rad 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_384_wellplate_50ul_: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_384_wellplate_50ul_ + type: pylabrobot + description: Bio-Rad 384 Wellplate 50ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_aluminumblock_120ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_aluminumblock_120ul + type: pylabrobot + description: Biorad 96 Aluminum Block 120 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_aluminumblock_200ul + type: pylabrobot + description: Biorad 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_aluminumblock_250ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_aluminumblock_250ul + type: pylabrobot + description: Bio-Rad 96 Aluminum Block 250 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_aluminumblock_350ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_aluminumblock_350ul + type: pylabrobot + description: Bio-Rad 96 Aluminum Block 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_fragment_analyzer_plate_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_fragment_analyzer_plate_aluminumblock_200ul + type: pylabrobot + description: Fragment Analyzer Plate on 96 Well Aluminum Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_wellplate_200ul + type: pylabrobot + description: BioRad 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_wellplate_200ul_pcr: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_wellplate_200ul_pcr + type: pylabrobot + description: Bio-Rad 96 Well Plate 200 µL PCR + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_wellplate_350ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_wellplate_350ul + type: pylabrobot + description: Bio-Rad 96 Well Plate 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_wellplate_50ul + type: pylabrobot + description: Biorad 96 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biotix_96_filtertiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biotix_96_filtertiprack_10ul + type: pylabrobot + description: 'Biotix 96 filtertiprack 10ul (fallback: opentrons filter 10ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biozym_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biozym_96_aluminumblock_200ul + type: pylabrobot + description: Biozym 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_black_num_384: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_black_num_384 + type: pylabrobot + description: Life Technologies 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_brand_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_brand_384_wellplate_100ul + type: pylabrobot + description: Brand 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_brandplates_96_wellplate_360ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_brandplates_96_wellplate_360ul + type: pylabrobot + description: 96-well BRANDplate with V-bottom + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bricklabwaretype1racklong_24_wellplate_4000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_bricklabwaretype1racklong_24_wellplate_4000ul + type: pylabrobot + description: Bricklabware_type1_rack_long 24 Well Plate 4000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bricklabwaretype2rackshort_24_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_bricklabwaretype2rackshort_24_wellplate_2000ul + type: pylabrobot + description: Bricklabware_type2_rack_short 24 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_caplugs_6_tuberack_30ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_caplugs_6_tuberack_30ml + type: pylabrobot + description: Caplugs 6 Tube Rack 30 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cepheid: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_cepheid + type: pylabrobot + description: Cepheid + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cerillo_stratus_armadillo_flatbottom_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_cerillo_stratus_armadillo_flatbottom_200ul + type: pylabrobot + description: Cerillo Stratus Armadillo Flat Bottom Plate 96well 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_charlesriver_15_tuberack_10000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_charlesriver_15_tuberack_10000ul + type: pylabrobot + description: Charles River 15 Tube Rack 10000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_checkit_8_wellplate_5ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_checkit_8_wellplate_5ul + type: pylabrobot + description: Checkit 8 Well Plate 5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_chromtech_96_filter_wellplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_chromtech_96_filter_wellplate + type: pylabrobot + description: Chrom Tech filter plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_coleparmer_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_coleparmer_384_wellplate_50ul + type: pylabrobot + description: COLEPARMER 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_combo_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_combo_96_wellplate_300ul + type: pylabrobot + description: Combo 96 Well Plate Black Label on Nest Plate 300µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_12_reservoir: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_12_reservoir + type: pylabrobot + description: Corning 12 Reservoir 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_24_wellplate_3point4ml_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_24_wellplate_3point4ml_flat + type: pylabrobot + description: Corning 24 Well Plate 3.4 mL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_384_wellplate_112ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_384_wellplate_112ul_flat + type: pylabrobot + description: Corning 384 Well Plate 112 µL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_384_wellplate_20ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_384_wellplate_20ul + type: pylabrobot + description: Corning 384 Well Plate 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_384_wellplate_90ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_384_wellplate_90ul + type: pylabrobot + description: Corning 384 Well Plate 90 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_6_wellplate_16point8ml_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_6_wellplate_16point8ml_flat + type: pylabrobot + description: Corning 6 Well Plate 16.8 mL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_well_roundbottom_1ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_well_roundbottom_1ml + type: pylabrobot + description: Corning 96 Well Round Bottom 1mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_200ul + type: pylabrobot + description: Corning 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_320ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_320ul + type: pylabrobot + description: Corning 96 Well Plate 320 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_360ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_360ul + type: pylabrobot + description: Corning 96 Well Plate 360 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_360ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_360ul_flat + type: pylabrobot + description: Corning 96 Well Plate 360 µL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_flat_bottom_360ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_flat_bottom_360ul + type: pylabrobot + description: Corning 96-well Flat Clear Bottom Black Polystyrene TC-treated Microplate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_costar_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_costar_96_wellplate_200ul + type: pylabrobot + description: Costar 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_costar_96_wellplate_330ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_costar_96_wellplate_330ul + type: pylabrobot + description: Costar 96 Well Plate 330 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cryo_35_tuberack_1800ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_cryo_35_tuberack_1800ul + type: pylabrobot + description: Cryo 35 Tube Rack with Nunc 1.8 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom1mltesttube_24_wellplate_5000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom1mltesttube_24_wellplate_5000ul + type: pylabrobot + description: Custom 1 ML Test Tube 24 Well Plate 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom5mltesttube_24_wellplate_5000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom5mltesttube_24_wellplate_5000ul + type: pylabrobot + description: Custom 5 ML Test Tube 24 Well Plate 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_15_tuberack_6000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_15_tuberack_6000ul + type: pylabrobot + description: Custom 15 Tube Rack 6000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_1_other_20ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_1_other_20ul + type: pylabrobot + description: 'Custom 1 other 20ul (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_shakerslide: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_shakerslide + type: pylabrobot + description: 'Custom 24 shaker slide (fallback: corning 24 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_testtuberack_2ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_testtuberack_2ml + type: pylabrobot + description: Custom 24 Test Tube Rack 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_tuberack: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_tuberack + type: pylabrobot + description: Custom 24 Tube Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_tuberack_2000ul + type: pylabrobot + description: custom 24 Tube Rack with Custom 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_tuberack_5ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_tuberack_5ml + type: pylabrobot + description: Opentrons 24 Tube Rack with Blood Tube 5mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_tuberack_7500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_tuberack_7500ul + type: pylabrobot + description: Custom 24 Tube Rack with Vacuette 6 ml 7.5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_well_rack: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_well_rack + type: pylabrobot + description: custom_24_well_rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_wellplate_2000ul + type: pylabrobot + description: Custom 24 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_300_other_100x500ul_100x500ul_100x500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_300_other_100x500ul_100x500ul_100x500ul + type: pylabrobot + description: 'Custom 300 other (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_384_wellplate_100ul + type: pylabrobot + description: Custom 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_384_wellplate_50ul + type: pylabrobot + description: Custom 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_6_tuberack_100ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_6_tuberack_100ml + type: pylabrobot + description: Custom 6 Tube Rack 100 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_72_other_24x330ul_24x330ul_24x330ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_72_other_24x330ul_24x330ul_24x330ul + type: pylabrobot + description: 'Custom 72 other (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_striptubes_350ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_striptubes_350ul + type: pylabrobot + description: Custom 96 Strip Tubes 350µl + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_tubeholder_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_tubeholder_500ul + type: pylabrobot + description: Custom 500ul Tube Holder + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_tuberack_500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_tuberack_500ul + type: pylabrobot + description: Custom 96 Tube Rack with Custom 0.5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_tuberack_500ul_vacuum: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_tuberack_500ul_vacuum + type: pylabrobot + description: Custom 96 Tube Rack with Custom 0.5 mL with vacuum + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_wellplate_200ul + type: pylabrobot + description: Custom 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_beaker: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_beaker + type: pylabrobot + description: Custom Beaker and Stir Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_centrifuge_tube_container: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_centrifuge_tube_container + type: pylabrobot + description: Custom Centrifuge Tube Container + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_nanosep_tube_container: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_nanosep_tube_container + type: pylabrobot + description: Custom Nanosep Tube Container + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_pcr_plate_for_tempdeck: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_pcr_plate_for_tempdeck + type: pylabrobot + description: Custom PCR Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_tuberack_6ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_tuberack_6ml + type: pylabrobot + description: Custom 6mL Tube Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customabnest_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customabnest_96_wellplate_200ul + type: pylabrobot + description: Custom AB NEST 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customadapter_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customadapter_96_wellplate_200ul + type: pylabrobot + description: Custom_adapter 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customagar_24_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customagar_24_wellplate_200ul + type: pylabrobot + description: Q + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customagar_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customagar_96_wellplate_200ul + type: pylabrobot + description: Custom Agar 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customblotpaper_1_reservoir_870000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_customblotpaper_1_reservoir_870000ul + type: pylabrobot + description: Custom Blot Paper 1 Reservoir 870000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customendura_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customendura_96_wellplate_200ul + type: pylabrobot + description: Custom Endura 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customslideblockv2_8_wellplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customslideblockv2_8_wellplate + type: pylabrobot + description: Customslideblock V2 8 Well Plate 20000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cytiva_24_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_cytiva_24_wellplate_2000ul + type: pylabrobot + description: Cytiva 24 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cytiva_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_cytiva_96_wellplate_500ul + type: pylabrobot + description: Cytiva 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_deepwell_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_deepwell_96_wellplate_2000ul + type: pylabrobot + description: Quintara Deepwell 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_deepwellpro_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_deepwellpro_96_wellplate_450ul + type: pylabrobot + description: Deepwell Pro 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_doublepcr_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_doublepcr_96_wellplate_300ul + type: pylabrobot + description: Quintara Combo Pcr 96 Well Plate 300 µL on Nest Pcr + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_dynamic_array_192_24: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_dynamic_array_192_24 + type: pylabrobot + description: Standard Biotools Dynamic Array 192.24 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_dynamic_array_48_48: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_dynamic_array_48_48 + type: pylabrobot + description: Standard Biotools Dynamic Array 48.48 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_dynamic_array_96_96: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_dynamic_array_96_96 + type: pylabrobot + description: Standard Biotools Dynamic Array 96.96 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ek_scientific_reservoir: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_ek_scientific_reservoir + type: pylabrobot + description: EK Scientific 8 Row Reservoir + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_electronmicroscopysciences_1_reservoir_100000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_electronmicroscopysciences_1_reservoir_100000ul + type: pylabrobot + description: Electron Microscopy Sciences 1 Reservoir 100000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_elutionplate_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_elutionplate_96_wellplate_500ul + type: pylabrobot + description: Elution Plate 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_enduraplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_enduraplate_96_wellplate_200ul + type: pylabrobot + description: EnduraPlate 96 Well Plate 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_epmotion_1_reservoir_100000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_epmotion_1_reservoir_100000ul + type: pylabrobot + description: EpMotion 1 Reservoir 100000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_epmotion_1_reservoir_30000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_epmotion_1_reservoir_30000ul + type: pylabrobot + description: EpMotion 1 Reservoir 30000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_24_tuberack_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_24_tuberack_1500ul + type: pylabrobot + description: Eppendorf 24 Tube Rack 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_24_tuberack_generic_2point0ml_screwcap: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_24_tuberack_generic_2point0ml_screwcap + type: pylabrobot + description: Eppendorf 24 Tube Rack with Generic 2.0mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_7_reservoir_30000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_7_reservoir_30000ul + type: pylabrobot + description: Eppendorf 7 Reservoir 30000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_aluminumblock_200ul + type: pylabrobot + description: Eppendorf 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_deepwell_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_deepwell_1000ul + type: pylabrobot + description: Eppendorf 96 Deep Well Block 1000ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_deepwellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_deepwellplate_2000ul + type: pylabrobot + description: Eppendorf 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_deepwellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_deepwellplate_500ul + type: pylabrobot + description: Eppendorf 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_well_on_block: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_well_on_block + type: pylabrobot + description: Eppendorf 96 Well PCR Plate 250ul on Aluminum Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_wellplate_1000ul + type: pylabrobot + description: Eppendorf 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_wellplate_2000ul + type: pylabrobot + description: Eppendorf 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_wellplate_200ul + type: pylabrobot + description: Eppendorf 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_wellplate_500ul + type: pylabrobot + description: Eppendorf 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_twintec_on_opentrons_metal_block_033822: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_twintec_on_opentrons_metal_block_033822 + type: pylabrobot + description: Eppendorf Twintec 200uL on Opentrons Metal Block March 28 2022 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_twintex_clickbio_adapter: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_twintex_clickbio_adapter + type: pylabrobot + description: Eppendorf Twintec 200uL on Clickbio adapter + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorfdeepwell_96_wellplate_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorfdeepwell_96_wellplate_1200ul + type: pylabrobot + description: Eppendorf Deepwell 96 Well Plate 1200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorfmetaladapter_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorfmetaladapter_96_wellplate_200ul + type: pylabrobot + description: Eppendorf+metaladapter 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorftwinpointtec96_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorftwinpointtec96_96_aluminumblock_200ul + type: pylabrobot + description: Eppendorf Twin.Tec 96 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorftwinpointtec_96_aluminumblock_150ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorftwinpointtec_96_aluminumblock_150ul + type: pylabrobot + description: Eppendorf Twin.tec 96 Aluminum Block 150 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorftwinpointtec_96_wellplate_150ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorftwinpointtec_96_wellplate_150ul + type: pylabrobot + description: Eppendorf Twin.tec 96 Well Plate 150 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorftwintec_96_wellplate_150ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorftwintec_96_wellplate_150ul + type: pylabrobot + description: Eppendorf Twin.tec 96 Well Plate 150 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendort_96_deepwell_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendort_96_deepwell_1000ul + type: pylabrobot + description: Eppendorf 96 Deepwell 1000uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eptips_1000ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eptips_1000ul + type: pylabrobot + description: 'Eppendorf eptips 1000ul (fallback: opentrons 1000ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eptips_300ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eptips_300ul + type: pylabrobot + description: 'Eppendorf eptips 300ul (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eurofins_96x2ml_tuberack: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eurofins_96x2ml_tuberack + type: pylabrobot + description: Eurofins 192 Tube Rack with 96x2 mL, 96x2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_falcon_353077_96_wellplate_320ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_falcon_353077_96_wellplate_320ul + type: pylabrobot + description: Falcon 96 Well Plate 320 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_filters_and_eppendorfs_24_tuberack_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_filters_and_eppendorfs_24_tuberack_1500ul + type: pylabrobot + description: Filters_and_eppendorfs 24 Tube Rack 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_filtrouslab_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_filtrouslab_384_wellplate_50ul + type: pylabrobot + description: Filtrous Lab 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_final_96_aluminumblock_300ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_final_96_aluminumblock_300ul + type: pylabrobot + description: Final 96 Aluminum Block 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fisher_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_fisher_96_aluminumblock_200ul + type: pylabrobot + description: Fisher 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fisher_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_fisher_96_wellplate_200ul + type: pylabrobot + description: Fisher 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fisherscientific_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_fisherscientific_96_wellplate_200ul + type: pylabrobot + description: Thermofisher Scientific 96 well 200ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_flipped_384_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_flipped_384_plate + type: pylabrobot + description: Custom 384 Well Plate Flipped + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fluidigm_192_wellplate_96x10ul_96x10ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_fluidigm_192_wellplate_96x10ul_96x10ul + type: pylabrobot + description: Fluidigm 192 Well Plate 10uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fluidigm_96_wellplate_48x50ul_48x50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_fluidigm_96_wellplate_48x50ul_48x50ul + type: pylabrobot + description: Fluidigm + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fluidx_96_tuberack_1000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_fluidx_96_tuberack_1000ul + type: pylabrobot + description: fluidx 96 Tube Rack with fluidx 1 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_framestarpcr_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_framestarpcr_96_wellplate_200ul + type: pylabrobot + description: FrameStar PCR 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_froggabio_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_froggabio_96_wellplate_300ul + type: pylabrobot + description: Froggabio 96 Well Plate 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_geb_96_tiprack_1000ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_geb_96_tiprack_1000ul + type: pylabrobot + description: GEB 96 Tip Rack 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_geb_96_tiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_geb_96_tiprack_10ul + type: pylabrobot + description: GEB 96 Tip Rack 10 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_216_wellplate_85ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_216_wellplate_85ul_flat + type: pylabrobot + description: Invoy 216-Well Cartridge Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_24_tuberack_2000ul + type: pylabrobot + description: Generic 24 Tube Rack 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_96_aluminumblock_350ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_96_aluminumblock_350ul + type: pylabrobot + description: Generic 96 Aluminum Block 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_96_tiprack_200ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_96_tiprack_200ul + type: pylabrobot + description: 'Generic 96 tiprack 200ul (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_96_tiprack_20ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_96_tiprack_20ul + type: pylabrobot + description: 'Generic 96 tiprack 20ul (fallback: opentrons 20ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_96_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_96_wellplate_1500ul + type: pylabrobot + description: Generic 96 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genericmagnet_96_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_genericmagnet_96_wellplate_1500ul + type: pylabrobot + description: Generic_magnet 96 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genericstrips_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_genericstrips_96_wellplate_200ul + type: pylabrobot + description: Generic Strips 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genesee25221_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_genesee25221_96_wellplate_300ul + type: pylabrobot + description: Genesee Gene Clone 96-Well Cell Culture Plate U Bottom 300 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genesee_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_genesee_96_wellplate_200ul + type: pylabrobot + description: Genesee 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genmate_96_aluminumblock_20ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_genmate_96_aluminumblock_20ul + type: pylabrobot + description: GenMate 96 Aluminum Block 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_gracebiolabsflexwell: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_gracebiolabsflexwell + type: pylabrobot + description: 'Grace Bio-Labs FlexWell (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_384_wellplate_130ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_384_wellplate_130ul + type: pylabrobot + description: Greiner 384 Well Plate 130 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_384_wellplate_138ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_384_wellplate_138ul + type: pylabrobot + description: Greiner 384 Well Plate 138 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_384_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_384_wellplate_200ul + type: pylabrobot + description: Greiner 384 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_384_wellplate_50ul + type: pylabrobot + description: Greiner 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_96_wellplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_96_wellplate + type: pylabrobot + description: Greiner BioOne 96 Well Microplate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_96_wellplate_2000ul + type: pylabrobot + description: Greiner 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_96_wellplate_200ul + type: pylabrobot + description: Greiner 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_96_wellplate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_96_wellplate_340ul + type: pylabrobot + description: Greiner 96 Well Plate 340 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_192_wellplate_crystallization: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_192_wellplate_crystallization + type: pylabrobot + description: Greiner Bio-One CRYSTALQUICK LP 96 Well Plate 140ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_24_bloodrack_13x100: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_24_bloodrack_13x100 + type: pylabrobot + description: Greiner Bio-One, 24 blood collection tubes 1 ml to 6 ml (13x75 and + 13x100) + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_384_wellplate_100ul + type: pylabrobot + description: Greiner Bio-One 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_96_wellplate_200ul + type: pylabrobot + description: Greiner Bio-One 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_96_wellplate_200ul_650161: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_96_wellplate_200ul_650161 + type: pylabrobot + description: Greiner Bio-One 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_96_wellplate_2ml_deep: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_96_wellplate_2ml_deep + type: pylabrobot + description: Greiner Bio-One 96-Deepwell Plate 2ml + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_96_wellplate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_96_wellplate_340ul + type: pylabrobot + description: Greiner Bio-One 96 Well Plate 340 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinermasterblock_384_wellplate_225ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinermasterblock_384_wellplate_225ul + type: pylabrobot + description: Greiner Masterblock 384 Well Plate 225 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinermasterblock_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinermasterblock_96_wellplate_1000ul + type: pylabrobot + description: Greiner MASTERBLOCK 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinermasterblock_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinermasterblock_96_wellplate_500ul + type: pylabrobot + description: Greiner MASTERBLOCK 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinermicrolon_96_wellplate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinermicrolon_96_wellplate_340ul + type: pylabrobot + description: Greiner Microlon 96 Well Plate 340 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greineruvstar_96_wellplate_392ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greineruvstar_96_wellplate_392ul + type: pylabrobot + description: Greiner_UV-star 96 Well Plate 392 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_hardshell_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_hardshell_96_wellplate_200ul + type: pylabrobot + description: Hard-Shell 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_hardshellbioradpcr_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_hardshellbioradpcr_384_wellplate_50ul + type: pylabrobot + description: Hard-Shell Bio-Rad PCR 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_hellma_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_hellma_96_wellplate_300ul + type: pylabrobot + description: Hellma 96 Well Plate 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_himic_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_himic_96_wellplate_400ul + type: pylabrobot + description: HiMic 96 Well Plate 400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_htd_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_htd_96_wellplate_200ul + type: pylabrobot + description: Htd 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_iclean_15_tuberack: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_iclean_15_tuberack + type: pylabrobot + description: iClean Sample Tubes + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_illumina_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_illumina_96_wellplate_200ul + type: pylabrobot + description: Illumina 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_index_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_index_96_aluminumblock_200ul + type: pylabrobot + description: index plate on 96 well aluminum block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_index_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_index_96_wellplate_200ul + type: pylabrobot + description: Index 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_indexplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_indexplate_96_wellplate_200ul + type: pylabrobot + description: Index Plate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_innotrainot22pcrplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_innotrainot22pcrplate_96_wellplate_200ul + type: pylabrobot + description: 'Innotrain OT-2 #2 PCR Plate 96 Well Plate 200 µL' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_innotrainot2pcrplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_innotrainot2pcrplate_96_wellplate_200ul + type: pylabrobot + description: Innotrain OT-2 PCR Plate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_innovationlaboratoryproducts_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_innovationlaboratoryproducts_96_wellplate_1000ul + type: pylabrobot + description: Innovation Laboratory Products 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_irishlifesciences_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_irishlifesciences_96_wellplate_2200ul + type: pylabrobot + description: Irish Life Sciences 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_jackyshiyielution_96_wellplate_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_jackyshiyielution_96_wellplate_1200ul + type: pylabrobot + description: Jacky_Shiyi_elution 96 Well Plate 1200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_jackyshiyihigh_96_wellplate_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_jackyshiyihigh_96_wellplate_1200ul + type: pylabrobot + description: Jacky_Shiyi_high 96 Well Plate 1200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_deepwell_plate_2ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_deepwell_plate_2ml + type: pylabrobot + description: KingFisher 96 Deep Well Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_tuberack_1100ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_tuberack_1100ul + type: pylabrobot + description: KingFisher 96 Tube Rack with GoldStandard 1.1 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_wellplate_100ul + type: pylabrobot + description: Thermofisher 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_wellplate_2000ul + type: pylabrobot + description: Kingfisher 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_wellplate_200ul + type: pylabrobot + description: KingFisher 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_labcon_8strip_pcr_on_cooler: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_labcon_8strip_pcr_on_cooler + type: pylabrobot + description: Labcon 8 Strip on Cooler + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_labcon_96_wellplate_pcr_on_cooler: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_labcon_96_wellplate_pcr_on_cooler + type: pylabrobot + description: Labcon 96 Well Plate on Cooler + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_leo_99_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_leo_99_wellplate_50ul + type: pylabrobot + description: Leo 99 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_life_96_aluminumblock_240ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_life_96_aluminumblock_240ul + type: pylabrobot + description: Life 96 Aluminum Block 240 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_lvl_96_wellplate_1317point97ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_lvl_96_wellplate_1317point97ul + type: pylabrobot + description: LVL 96 Well Plate 1317.97 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_lvltechnologies_48_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_lvltechnologies_48_wellplate_2000ul + type: pylabrobot + description: LVL Technologies 48 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_master_block_384: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_master_block_384 + type: pylabrobot + description: MASTERBLOCK®, 384 WELL, PP, DEEP WELL, V-BOTTOM, + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microamp_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microamp_384_wellplate_100ul + type: pylabrobot + description: Microamp 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microamp_384_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microamp_384_wellplate_40ul + type: pylabrobot + description: Microamp 384 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microamp_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microamp_96_wellplate_100ul + type: pylabrobot + description: lockwell + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microamp_96well_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microamp_96well_200ul + type: pylabrobot + description: MicroAmp EnduraPlate Optical 96-Well Fast Clear Reaction Plate With + Barcode 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microampenduraplate_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_microampenduraplate_96_aluminumblock_200ul + type: pylabrobot + description: MicroAmp EnduraPlate 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microampoptical_384_wellplate_30ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microampoptical_384_wellplate_30ul + type: pylabrobot + description: MicroAmp Optical 384 Well Plate 30 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microampstrips_96_supportbase_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microampstrips_96_supportbase_100ul + type: pylabrobot + description: MicroAmp Strips 96 Support Base 100 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_micronic_96_rack_300ul_tubes: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_micronic_96_rack_300ul_tubes + type: pylabrobot + description: Micronic 96 Rack 0.30mL Tubes + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_micronic_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_micronic_96_wellplate_1000ul + type: pylabrobot + description: Micronic 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_micronicm9641point4_96_wellplate_1400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_micronicm9641point4_96_wellplate_1400ul + type: pylabrobot + description: Micronic_M96-4_1.4 96 Well Plate 1400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_micronics_96_tubes: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_micronics_96_tubes + type: pylabrobot + description: Micronics 96 Tubes in Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_molgen_96_well_elution_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_molgen_96_well_elution_plate + type: pylabrobot + description: Molgen 96 Well Elution Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_mtcbio_15_tuberack_10000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_mtcbio_15_tuberack_10000ul + type: pylabrobot + description: MTC Bio 15 Tube Rack 10000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neb_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_neb_96_wellplate_100ul + type: pylabrobot + description: NEB 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neo_48_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_neo_48_wellplate_40ul + type: pylabrobot + description: NEO 48 Well Chip 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neptune_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_neptune_96_aluminumblock_200ul + type: pylabrobot + description: Neptune 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neptunegensci_pcrplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_neptunegensci_pcrplate + type: pylabrobot + description: neptune_gen_pcr_200ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neptunescientificgeneseescientificadaptor_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_neptunescientificgeneseescientificadaptor_96_wellplate_200ul + type: pylabrobot + description: Neptune Scientific, Genesee Scientific (adaptor) 96 Well Plate 200 + µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest500ul_96_reservoir_500ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_nest500ul_96_reservoir_500ul + type: pylabrobot + description: NEST 500ul 96 Reservoir 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_12_reservoir_15ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_12_reservoir_15ml + type: pylabrobot + description: NEST 12 Well Reservoir 15 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_12_reservoir_15ml_icetray: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_12_reservoir_15ml_icetray + type: pylabrobot + description: NEST 12 Reservoir 15 mL with Icetray + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_1_reservoir_195ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_1_reservoir_195ml + type: pylabrobot + description: NEST 1 Well Reservoir 195 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml + type: pylabrobot + description: NEST 32 Tuberack 15ml (2 Slot) + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml + type: pylabrobot + description: NEST 32 Tuberack 5ml (2 Slot) + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_1000ul + type: pylabrobot + description: NEST 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_100ul_pcr_full_skirt: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_100ul_pcr_full_skirt + type: pylabrobot + description: NEST 96 Well Plate 100 µL PCR Full Skirt + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_2000ul + type: pylabrobot + description: nest_96_wellplate_2000ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_200ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_200ul_flat + type: pylabrobot + description: NEST 96 Well Plate 200 µL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_2200ul + type: pylabrobot + description: Nest 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_2ml_deep: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_2ml_deep + type: pylabrobot + description: NEST 96 Deep Well Plate 2mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_320ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_320ul + type: pylabrobot + description: Nest 96 Well Plate 320 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nestbioshake_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nestbioshake_96_wellplate_2000ul + type: pylabrobot + description: NEST Bioshake 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_442404_96_flat_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_442404_96_flat_wellplate_400ul + type: pylabrobot + description: Nunc Maxisorp ELISA Plate 96-Well Flat 400 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_1000ul + type: pylabrobot + description: Nunc 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_1700ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_1700ul + type: pylabrobot + description: Nunc 96 Well Plate 1700 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_2000ul + type: pylabrobot + description: Nunc 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_400ul + type: pylabrobot + description: Nunc 96 Well Plate 400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_450ul + type: pylabrobot + description: Nunc 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_500ul + type: pylabrobot + description: Nunc 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_maxisorp_96_wellplate_250ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_maxisorp_96_wellplate_250ul + type: pylabrobot + description: Nunc MaxiSorp 96 Well Plate 250ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_rectangular_agar_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_rectangular_agar_plate + type: pylabrobot + description: Nunc rectangular agar plate2 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_v96_microwell_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_v96_microwell_plate + type: pylabrobot + description: Nunc V96 Microwell Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_octea_16_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_octea_16_wellplate_40ul + type: pylabrobot + description: Octea 16 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_olympus_96_wellplate_200ul_pcr: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_olympus_96_wellplate_200ul_pcr + type: pylabrobot + description: Olympus 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_omegaquant_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_omegaquant_96_wellplate_1000ul + type: pylabrobot + description: Omegaquant 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical + type: pylabrobot + description: Opentrons 10 Tube Rack with Falcon 4x50 mL, 6x15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_10_tuberack_nest_4x50ml_6x15ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_10_tuberack_nest_4x50ml_6x15ml_conical + type: pylabrobot + description: Opentrons 10 Tube Rack with NEST 4x50 mL, 6x15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_14000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_14000ul + type: pylabrobot + description: Opentrons 15 Tube Rack with custom 14 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_15000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_15000ul + type: pylabrobot + description: Opentrons 15 Tube Rack with Sarstedt 15 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_5000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_5000ul + type: pylabrobot + description: Opentrons 15 Tube Rack with eppendorf 5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_8000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_8000ul + type: pylabrobot + description: Opentrons 15 Tube Rack with BD Diagnostics 8 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_falcon_15ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_falcon_15ml_conical + type: pylabrobot + description: Opentrons 15 Tube Rack with Falcon 15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_nest_15ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_nest_15ml_conical + type: pylabrobot + description: Opentrons 15 Tube Rack with NEST 15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_1_trash_1100ml_fixed: + category: + - trash + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_1_trash_1100ml_fixed + type: pylabrobot + description: Opentrons fixed trash 1100ml + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_1500ul + type: pylabrobot + description: Opentrons 24 Aluminum Block 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_18x0point5ml_3x1point5ml_3x1point5ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_18x0point5ml_3x1point5ml_3x1point5ml + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with Variant Tubes + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_generic_2ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_generic_2ml_screwcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with Generic 2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_0point5ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_0point5ml_screwcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 0.5 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_1point5ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_1point5ml_screwcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 1.5 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_1point5ml_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_1point5ml_snapcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 1.5 mL Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_2ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_2ml_screwcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_2ml_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_2ml_snapcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 2 mL Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_1500ul + type: pylabrobot + description: Opentrons 24 Tube Rack 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_2000ul + type: pylabrobot + description: Opentrons 24 Tube Rack with starstedt 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_500ul + type: pylabrobot + description: Opentrons 24 Tube Rack with Watson Biolab 0.5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap + type: pylabrobot + description: Opentrons 24 Tube Rack with Eppendorf 1.5 mL Safe-Lock Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap + type: pylabrobot + description: Opentrons 24 Tube Rack with Eppendorf 2 mL Safe-Lock Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic + type: pylabrobot + description: Opentrons 24 Tube Rack (Acrylic) with Eppendorf 2 mL Safe-Lock Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_generic_2ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_generic_2ml_screwcap + type: pylabrobot + description: Opentrons 24 Tube Rack with Generic 2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_0point5ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_0point5ml_screwcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 0.5 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_1point5ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_1point5ml_screwcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 1.5 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_1point5ml_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_1point5ml_snapcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 1.5 mL Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_2ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_2ml_screwcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_2ml_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_2ml_snapcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 2 mL Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_t4_t5: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_t4_t5 + type: pylabrobot + description: PoolingT4,T5 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_300ul_tiprack_flipped: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_300ul_tiprack_flipped + type: pylabrobot + description: 'Opentrons 300ul tiprack flipped (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_6_tuberack_50000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_6_tuberack_50000ul + type: pylabrobot + description: Opentrons 6 Tube Rack with VWR 50 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_6_tuberack_falcon_50ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_6_tuberack_falcon_50ml_conical + type: pylabrobot + description: Opentrons 6 Tube Rack with Falcon 50 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_6_tuberack_stellarsci_25ml_conical: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_6_tuberack_stellarsci_25ml_conical + type: pylabrobot + description: Tuberack with 6 Stellar Sci 25 mL tubes + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_aluminumblock_biorad_wellplate_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_aluminumblock_biorad_wellplate_200ul + type: pylabrobot + description: Opentrons 96 Well Aluminum Block with Bio-Rad Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_aluminumblock_generic_pcr_strip_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_aluminumblock_generic_pcr_strip_200ul + type: pylabrobot + description: Opentrons 96 Well Aluminum Block with Generic PCR Strip 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_aluminumblock_nest_wellplate_100ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_aluminumblock_nest_wellplate_100ul + type: pylabrobot + description: Opentrons 96 Well Aluminum Block with NEST Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep + type: pylabrobot + description: Opentrons 96 Deep Well Heater-Shaker Adapter with NEST Deep Well Plate + 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_filtertiprack_1000ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_filtertiprack_1000ul + type: pylabrobot + description: Opentrons OT-2 96 Filter Tip Rack 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_filtertiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_filtertiprack_10ul + type: pylabrobot + description: Opentrons OT-2 96 Filter Tip Rack 10 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_filtertiprack_200ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_filtertiprack_200ul + type: pylabrobot + description: Opentrons OT-2 96 Filter Tip Rack 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_filtertiprack_20ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_filtertiprack_20ul + type: pylabrobot + description: Opentrons OT-2 96 Filter Tip Rack 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_pcr_adapter_biorad_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_pcr_adapter_biorad_wellplate_200ul + type: pylabrobot + description: Opentrons 96 PCR Adapter with BioRad Well Plate 200 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_1000ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_1000ul + type: pylabrobot + description: Opentrons OT-2 96 Tip Rack 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_10ul + type: pylabrobot + description: Opentrons OT-2 96 Tip Rack 10 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_20ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_20ul + type: pylabrobot + description: Opentrons OT-2 96 Tip Rack 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_300ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_300ul + type: pylabrobot + description: Opentrons OT-2 96 Tip Rack 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_sarstedt_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_sarstedt_200ul + type: pylabrobot + description: Opentrons 96 tiprack with sarstedt 200ul PCR tube + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tuberack_96x5ml_custom: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tuberack_96x5ml_custom + type: pylabrobot + description: Custom 96 Tube Rack, 5mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_goldstandarddx_17_tuberack_lysis: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_goldstandarddx_17_tuberack_lysis + type: pylabrobot + description: Opentrons x Gold Standard 17 Tube Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_optiplate_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_optiplate_96_wellplate_400ul + type: pylabrobot + description: Optiplate 96 Well Plate 400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pall_96_wellplate_350ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pall_96_wellplate_350ul + type: pylabrobot + description: Pall 96 Well Plate 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcb_board_250_wells: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcb_board_250_wells + type: pylabrobot + description: PCB Board + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcr_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcr_384_wellplate_50ul + type: pylabrobot + description: Pcr 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcr_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcr_plate + type: pylabrobot + description: PCR plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcrplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcrplate_96_wellplate_200ul + type: pylabrobot + description: Pcr Plate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcrstripplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcrstripplate_96_wellplate_200ul + type: pylabrobot + description: Pcr Strip Plate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_12_reservoir_21000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_12_reservoir_21000ul + type: pylabrobot + description: Perkin Elmer 12 Reservoir 21000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_384_wellplate_105ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_384_wellplate_105ul + type: pylabrobot + description: Perkin Elmer 384 Well Plate 105 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_384_wellplate_110ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_384_wellplate_110ul + type: pylabrobot + description: Perkin Elmer 384 Well Plate 110 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_384_wellplate_145ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_384_wellplate_145ul + type: pylabrobot + description: PerkinElmer 384 Well Plate 145 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_96_wellplate_450ul + type: pylabrobot + description: PerkinElmer 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_permagen_24_tuberack_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_permagen_24_tuberack_1500ul + type: pylabrobot + description: Permagen 24 Tube Rack with Eppendorf 1.5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_phenoplate_96_wellplate_425ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_phenoplate_96_wellplate_425ul + type: pylabrobot + description: PhenoPlate 96 Well Plate 425 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_phynexus_96_tiprack_300ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_phynexus_96_tiprack_300ul + type: pylabrobot + description: 'PhyNexus 96 tiprack 300ul (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_phytips_in_opentrons_box_96_300ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_phytips_in_opentrons_box_96_300ul + type: pylabrobot + description: 'PhyTips in Opentrons box 96 300ul (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_plateone_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_plateone_96_wellplate_1000ul + type: pylabrobot + description: Plate One 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pr1ma_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pr1ma_384_wellplate_50ul + type: pylabrobot + description: Pr1ma 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_procartaplex_96_wellplate_655096: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_procartaplex_96_wellplate_655096 + type: pylabrobot + description: Procarta Plex 96 Well Plate 340 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_protifistrap_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_protifistrap_96_wellplate_400ul + type: pylabrobot + description: Protifi_S-trap 96 Well Plate 400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ps_2_resevoir: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_ps_2_resevoir + type: pylabrobot + description: PS RESERVOIR + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pyramid_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pyramid_96_wellplate_2000ul + type: pylabrobot + description: Pyramid 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_qiacuity_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_qiacuity_96_wellplate_200ul + type: pylabrobot + description: Qiacuity 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_qiagen_96_tuberack_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_qiagen_96_tuberack_1200ul + type: pylabrobot + description: QIAGEN 96 Tube Rack 1.2mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_qiagen_96_wellplate_2250ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_qiagen_96_wellplate_2250ul + type: pylabrobot + description: Qiagen 96 Well Plate 2250 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quantgene_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_quantgene_96_aluminumblock_200ul + type: pylabrobot + description: Quantgene 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quintara_12_reservoir_15000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_quintara_12_reservoir_15000ul + type: pylabrobot + description: Quintara 12 Reservoir 15000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quintara_192_deepwell_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_quintara_192_deepwell_plate + type: pylabrobot + description: Quintara Vertical Plate 192 Wells + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quintara_192_pcr_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_quintara_192_pcr_plate + type: pylabrobot + description: Quintara Vertical Plate 192 Wells + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quintara_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_quintara_96_wellplate_300ul + type: pylabrobot + description: Quintara 96 Well Plate 300 µL on Aluminum Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_reagent_1_reservoir_130000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_reagent_1_reservoir_130000ul + type: pylabrobot + description: Reagent 1 Reservoir 130000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_redefinedbiorad_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_redefinedbiorad_96_wellplate_200ul + type: pylabrobot + description: BioRad 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_regeneron_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_regeneron_96_aluminumblock_200ul + type: pylabrobot + description: Regeneron 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_roarprinted_48_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_roarprinted_48_wellplate_1500ul + type: pylabrobot + description: ROAR_printed_ 48 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_rrl_1_wellplate_180000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_rrl_1_wellplate_180000ul + type: pylabrobot + description: RRL 1 Well Plate 180000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_rrlcustom_40_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_rrlcustom_40_wellplate_1500ul + type: pylabrobot + description: RRL Custom 40 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_rssrack_15_tuberack_2500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_rssrack_15_tuberack_2500ul + type: pylabrobot + description: RSS Rack 15 Tube Rack 2500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sarstedt_24_aluminumblock_screwcap_tube_2ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_sarstedt_24_aluminumblock_screwcap_tube_2ml + type: pylabrobot + description: Sarstedt 24 well aluminum block with screwcap tube 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sarstedt_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_sarstedt_24_tuberack_2000ul + type: pylabrobot + description: Sarstedt 24 Tube Rack 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sarstedt_24_tuberack_500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_sarstedt_24_tuberack_500ul + type: pylabrobot + description: Sarstedt 24 Tube Rack 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sarstedt_384_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_sarstedt_384_wellplate_40ul + type: pylabrobot + description: Sarstedt 384 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sequalprep_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_sequalprep_96_wellplate_200ul + type: pylabrobot + description: SequalPrep 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sh_48_wellplate_2500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_sh_48_wellplate_2500ul + type: pylabrobot + description: SH 48 Well Plate 2500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_simport_96_wellplate_flipped: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_simport_96_wellplate_flipped + type: pylabrobot + description: SIMPORT 96 Well Plate 1200µL Flipped + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sorenson_96_wellplate_350ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_sorenson_96_wellplate_350ul + type: pylabrobot + description: Sorenson 96 Well Plate 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sorfa_15_tuberack_10000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_sorfa_15_tuberack_10000ul + type: pylabrobot + description: Sorfa 15 Tube Rack 10000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spestackedoncollection_96_wellplate_1600ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spestackedoncollection_96_wellplate_1600ul + type: pylabrobot + description: SPE Stacked On Collection 96 Well Plate 1600 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spex_96_wellplate_2400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spex_96_wellplate_2400ul + type: pylabrobot + description: SPEX 96 Well Plate 2400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spi_slides_4x21: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spi_slides_4x21 + type: pylabrobot + description: 'SPI slides 4x21 (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spl_96_wellplate_200ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spl_96_wellplate_200ul_flat + type: pylabrobot + description: SPL Cell Culture Plate 96 Well Flat Bottom + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spl_96_wellplate_200ul_round: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spl_96_wellplate_200ul_round + type: pylabrobot + description: SPL Cell Culture Plate 96 Well Flat Bottom + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ssibio_96_tuberack_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_ssibio_96_tuberack_200ul + type: pylabrobot + description: SSIbio 96 Tube Rack with NEST 0.2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starlab10ml24wellplate_24_wellplate_10000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_starlab10ml24wellplate_24_wellplate_10000ul + type: pylabrobot + description: StarLab 10 Ml 24 Well Plate 24 Well Plate 10000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starlab_12_reservoir_22000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_starlab_12_reservoir_22000ul + type: pylabrobot + description: Starlab 12 Reservoir 22000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starlab_1_reservoir_240000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_starlab_1_reservoir_240000ul + type: pylabrobot + description: Starlab 1 Reservoir 240000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starlab_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_starlab_96_wellplate_2200ul + type: pylabrobot + description: Starlab 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starstedt_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_starstedt_96_wellplate_200ul + type: pylabrobot + description: Starstedt 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_stellarscientific_96_cluster_tubes_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_stellarscientific_96_cluster_tubes_1200ul + type: pylabrobot + description: Stellar Scientific 96 Cluster Tubes 1200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_stellarscientific_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_stellarscientific_96_wellplate_100ul + type: pylabrobot + description: Stellar Scientific 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_striptubes_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_striptubes_96_wellplate_1000ul + type: pylabrobot + description: Striptubes 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tecan_96_wellplate_1300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tecan_96_wellplate_1300ul + type: pylabrobot + description: Tecan 96 Well Plate 1300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tecan_elisa_96well_hs: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tecan_elisa_96well_hs + type: pylabrobot + description: Tecan ELISA 96-well on Heater Shaker + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_teleshake1536_64_slides_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_teleshake1536_64_slides_100ul + type: pylabrobot + description: 'Teleshake 1536 64 slides 100ul (fallback: corning 384 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tempassure_96_strips_200ul_pcr: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tempassure_96_strips_200ul_pcr + type: pylabrobot + description: Tempassure 96 strip tubes 200ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_test_1_reservoir_300000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_test_1_reservoir_300000ul + type: pylabrobot + description: Test 1 Reservoir 300000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_1_reservoir_300ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_1_reservoir_300ul + type: pylabrobot + description: Thermo 1 Reservoir 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_384_wellplate_50ul + type: pylabrobot + description: Thermo 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_aluminumblock_200ul + type: pylabrobot + description: Thermo 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_wellplate_200ul + type: pylabrobot + description: Thermo 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_wellplate_400ul + type: pylabrobot + description: Thermo Maxisorb + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_wellplate_800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_wellplate_800ul + type: pylabrobot + description: Abgene™ 96 Well 0.8mL Thermo Scientific + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_wellplate_ab_0800_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_wellplate_ab_0800_200ul + type: pylabrobot + description: Thermo-Fast 96 Well Plate AB-0800 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_ab_0600_96_aluminumblock_300ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_ab_0600_96_aluminumblock_300ul + type: pylabrobot + description: thermo_ab_0600_96_aluminumblock_300ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_non_skirted_96_plate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_non_skirted_96_plate_300ul + type: pylabrobot + description: Thermo Scientific Non Skirted 96 Well Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofast_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofast_96_wellplate_200ul + type: pylabrobot + description: Thermo-Fast 96, Skirted PCR Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofast_96well_semiskirted_eppendorf_cooler: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofast_96well_semiskirted_eppendorf_cooler + type: pylabrobot + description: Thermofisher PCR Plate, 96-well, semi-skirted, flat deck + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_384_wellplate_50ul + type: pylabrobot + description: Thermofisher 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_40_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_40_tuberack_2000ul + type: pylabrobot + description: Thermofisher 40 Tube Rack with Thermofisher 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_95040450_96_deepwell_2ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_95040450_96_deepwell_2ml + type: pylabrobot + description: ThermoFisher 96 Deep Well Plate 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_midi_storage_plate_800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_midi_storage_plate_800ul + type: pylabrobot + description: ThermoFisher 96 MIDI Storage Plate 800uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_skirted_pcr_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_skirted_pcr_200ul + type: pylabrobot + description: ThermoFisher 96 Well Skirted PCR Plate 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_well_pcrplate_200_aluminumblock: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_well_pcrplate_200_aluminumblock + type: pylabrobot + description: thermofisher 96-well PCR Plate semi-skirted 200 uL + aluminum block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter + type: pylabrobot + description: thermofisher 96 well pcr plate semi-skirted 200 uL + plastic adapter + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_wellplate_1400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_wellplate_1400ul + type: pylabrobot + description: Thermofisher 96 Well Plate 1400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_wellplate_200ul + type: pylabrobot + description: Thermo Fisher 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_wellplate_300ul + type: pylabrobot + description: Thermofisher 96 Well Plate 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_wellplate_500ul + type: pylabrobot + description: Thermofisher 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_nunc_96_wellplate_2ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_nunc_96_wellplate_2ml + type: pylabrobot + description: Thermofisher Nunc 96 Well Plate 2mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherabgene_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherabgene_96_wellplate_2200ul + type: pylabrobot + description: ThermoFisher Abgene 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherarmadillo_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherarmadillo_96_wellplate_200ul + type: pylabrobot + description: Thermofisher Armadillo 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherdwplate_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherdwplate_96_wellplate_2000ul + type: pylabrobot + description: ThermoFisher DW Plate 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherkingfisherdeepwell_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherkingfisherdeepwell_96_wellplate_2000ul + type: pylabrobot + description: Thermo-Fisher Kingfisher Deep Well 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishermicroamp_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishermicroamp_384_wellplate_50ul + type: pylabrobot + description: ThermoFisher MicroAmp 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishermicroamp_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishermicroamp_96_aluminumblock_200ul + type: pylabrobot + description: ThermoFisher Microamp 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishermicroamp_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishermicroamp_96_wellplate_200ul + type: pylabrobot + description: ThermoFisher Microamp 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishermicroampfast96well0point1_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishermicroampfast96well0point1_96_wellplate_100ul + type: pylabrobot + description: ThermoFisher MicroAmp Fast 96-well 0.1 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishernalgene_1_reservoir_300000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishernalgene_1_reservoir_300000ul + type: pylabrobot + description: ThermoFisher Nalgene 1 Reservoir 300000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishernunc_96_aluminumblock_450ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishernunc_96_aluminumblock_450ul + type: pylabrobot + description: ThermoFisher Nunc 96 Aluminum Block 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishernunc_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishernunc_96_wellplate_2000ul + type: pylabrobot + description: ThermoFisher Nunc 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishernunc_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishernunc_96_wellplate_450ul + type: pylabrobot + description: ThermoFisher Nunc 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherscientific_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherscientific_96_wellplate_450ul + type: pylabrobot + description: ThermoFisher Scientific 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherscientific_96_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherscientific_96_wellplate_50ul + type: pylabrobot + description: Thermofisher Scientific 96 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherscientificdeepwell_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherscientificdeepwell_96_wellplate_2000ul + type: pylabrobot + description: Thermofisher Scientific Deepwell 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherscientificelutiontubes_96_wellplate_650ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherscientificelutiontubes_96_wellplate_650ul + type: pylabrobot + description: Thermo Fisher Scientific Elution Tubes 96 Well Plate 650 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientific_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientific_96_wellplate_200ul + type: pylabrobot + description: Thermo Scientific 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientific_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientific_96_wellplate_300ul + type: pylabrobot + description: 'Thermo Scientific 96 wellplate 300ul #AB0600' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientific_96_wellplate_v_450: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientific_96_wellplate_v_450 + type: pylabrobot + description: Thermo Scientific 96 Well Plate V Bottom 450 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientificmatrix_96_tuberack_1000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientificmatrix_96_tuberack_1000ul + type: pylabrobot + description: ThermoScientific Matrix 96 Tube Rack with custom 1 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientificnunc_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientificnunc_96_wellplate_2000ul + type: pylabrobot + description: Thermo Scientific Nunc 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tiprack_200ul_extended: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_tiprack_200ul_extended + type: pylabrobot + description: 'Tiprack 200ul extended (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tpp_96well_plate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tpp_96well_plate_340ul + type: pylabrobot + description: TPP Tissue culture testplate 96F 92096 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tuberack_15_tuberack_5000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_tuberack_15_tuberack_5000ul + type: pylabrobot + description: Tube Rack 15 Tube Rack 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tuberack_24_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tuberack_24_wellplate_1500ul + type: pylabrobot + description: Tuberack 24 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_twdtradewinds_24_tuberack_4000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_twdtradewinds_24_tuberack_4000ul + type: pylabrobot + description: TWD_Tradewinds 24 Tube Rack with 4mL_Scintillation_Vials 4 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_twintec_pcr_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_twintec_pcr_plate + type: pylabrobot + description: Eppendorf 96 Well Plate 150 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_two_spacing: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_two_spacing + type: pylabrobot + description: Two Spacing + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_udiplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_udiplate_96_wellplate_200ul + type: pylabrobot + description: UDIplate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usa_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usa_96_wellplate_200ul + type: pylabrobot + description: USA 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usalowbind_24_aluminumblock_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usalowbind_24_aluminumblock_2000ul + type: pylabrobot + description: USA Low Bind 24 Aluminum Block 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific8strip_96_aluminumblock_300ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific8strip_96_aluminumblock_300ul + type: pylabrobot + description: USA Scientific 8-STrip 96 Aluminum Block 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_12_reservoir_22ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_12_reservoir_22ml + type: pylabrobot + description: USA Scientific 12 Well Reservoir 22 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_aluminumblock_200ul + type: pylabrobot + description: USA Scientific 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_tiprack_200ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_tiprack_200ul + type: pylabrobot + description: USA Scientific 96 Tip Rack 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_wellplate_100ul + type: pylabrobot + description: USA Scientific 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_wellplate_200ul + type: pylabrobot + description: USA Scientific 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_wellplate_2ml_deep: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_wellplate_2ml_deep + type: pylabrobot + description: USA Scientific 96 Deep Well Plate 2.0 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_wellplate_2point4ml_deep: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_wellplate_2point4ml_deep + type: pylabrobot + description: USA Scientific 96 Deep Well Plate 2.4 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usastrips_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usastrips_96_aluminumblock_200ul + type: pylabrobot + description: USA Strips 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usastrips_96_supportbase_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usastrips_96_supportbase_200ul + type: pylabrobot + description: USA Strips 96 Support Base 200 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vial_rack_8x20ml_vials: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vial_rack_8x20ml_vials + type: pylabrobot + description: 8x20mL Vial Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_visby: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_visby + type: pylabrobot + description: visby + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vpscientific_48_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vpscientific_48_wellplate_2000ul + type: pylabrobot + description: V&P Scientific 48 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vpscientific_8_tiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vpscientific_8_tiprack_10ul + type: pylabrobot + description: 'VP Scientific 8 tiprack 10ul (fallback: opentrons 10ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_15_tuberack_5000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_15_tuberack_5000ul + type: pylabrobot + description: VWR 15 Tube Rack 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_15_tuberack_selfstanding_5ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_15_tuberack_selfstanding_5ml_conical + type: pylabrobot + description: VWR 3x5 self standing 5ml tuberack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_24_tuberack_1point5ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_24_tuberack_1point5ml + type: pylabrobot + description: VWR 24 Tube Rack 1.5mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_96_aluminumblock_200ul + type: pylabrobot + description: VWR 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_96_wellplate_1000ul + type: pylabrobot + description: VWR 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_96well_pcr_plate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_96well_pcr_plate_200ul + type: pylabrobot + description: VWR 96 well PCR plate 200 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_square_96_microplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_square_96_microplate_2000ul + type: pylabrobot + description: VWR 96 Square Micro Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwrpcr_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vwrpcr_96_wellplate_200ul + type: pylabrobot + description: VWR Pcr 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_wafer_6x4_grid: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_wafer_6x4_grid + type: pylabrobot + description: Custom Wafer 4x6 Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_waters_96_wellplate_2ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_waters_96_wellplate_2ml + type: pylabrobot + description: Waters 96 Well Plate 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_white_96well_plate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_white_96well_plate_340ul + type: pylabrobot + description: NUNC white 96F 236105 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_x_capper_rack_48_well_0point5ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_x_capper_rack_48_well_0point5ml + type: pylabrobot + description: X Capper 48 Rack 0.5mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ydp962_2sc_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_ydp962_2sc_96_wellplate_2200ul + type: pylabrobot + description: YDP-96-2.2-SC 96_wellplate_2200ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_zinsser_96_wellplate_1898ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_zinsser_96_wellplate_1898ul + type: pylabrobot + description: Zinsser 96 Well Plate 1898 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_zymo_96_wellblock: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_zymo_96_wellblock + type: pylabrobot + description: Zymo 96-Well Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_zymo_elution_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_zymo_elution_plate + type: pylabrobot + description: Zymo Elution Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/lab_resources.py b/unilabos/resources/lab_resources.py new file mode 100644 index 00000000..f78ae905 --- /dev/null +++ b/unilabos/resources/lab_resources.py @@ -0,0 +1,3681 @@ +""" +Auto-generated labware resource definitions for all protoBuilds types. +Total: 529 labware types. + +DO NOT EDIT MANUALLY - generated by scripts/generate_lab_resources.py +""" + +import json +import os +from typing import Union, cast + +from pylabrobot.resources.opentrons.load import ( + load_shared_opentrons_resource, + ot_definition_to_resource, +) +from pylabrobot.resources.plate import Plate +from pylabrobot.resources.tip_rack import TipRack +from pylabrobot.resources.tube_rack import TubeRack +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.coordinate import Coordinate + + +def resource(): + """Resource decorator placeholder - does nothing.""" + def decorator(func): + return func + return decorator + + +# --------------------------------------------------------------------------- +# Custom labware definitions bundle (loaded once) +# --------------------------------------------------------------------------- +_CUSTOM_DEFS_PATH = os.path.join( + os.path.dirname(__file__), "opentrons_custom_labware_defs.json" +) +_custom_defs_cache = None + + +def _get_custom_defs(): + global _custom_defs_cache + if _custom_defs_cache is None: + with open(_CUSTOM_DEFS_PATH, "r", encoding="utf-8") as f: + _custom_defs_cache = json.load(f) + return _custom_defs_cache + + +@resource() +def lab_100ul_384_wellplate_100ul(name: str = "100ul_384_wellplate_100ul") -> Plate: + """100ul 384 Well Plate 100 µL""" + defn = _get_custom_defs()["100ul_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate1(name: str = "127x85_agar_plate1") -> Plate: + """Plate 1 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate1"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate2(name: str = "127x85_agar_plate2") -> Plate: + """Plate 2 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate2"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate3(name: str = "127x85_agar_plate3") -> Plate: + """Plate 3 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate3"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate4(name: str = "127x85_agar_plate4") -> Plate: + """Plate 4 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate4"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate5(name: str = "127x85_agar_plate5") -> Plate: + """Plate 5 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate5"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate6(name: str = "127x85_agar_plate6") -> Plate: + """Plate 6 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate6"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate7(name: str = "127x85_agar_plate7") -> Plate: + """Plate 7 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate7"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate8(name: str = "127x85_agar_plate8") -> Plate: + """Plate 8 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate8"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate9(name: str = "127x85_agar_plate9") -> Plate: + """Plate 9 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate9"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_3axygen96wellminitubesystemcorning_96_wellplate_1320ul(name: str = "3axygen96wellminitubesystemcorning_96_wellplate_1320ul") -> Plate: + """3 Axygen 96-Well Mini Tube System, Corning 96 Well Plate 1320 µL""" + defn = _get_custom_defs()["3axygen96wellminitubesystemcorning_96_wellplate_1320ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_3dprint_96_tuberack_200ul(name: str = "3dprint_96_tuberack_200ul") -> TubeRack: + """3DPrint 96 Tube Rack with Nippon 0.2 mL""" + defn = _get_custom_defs()["3dprint_96_tuberack_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_4titude_96_wellplate_200ul(name: str = "4titude_96_wellplate_200ul") -> Plate: + """4ti-0960/C 96 Well Full Skirted Plate""" + defn = _get_custom_defs()["4titude_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_4titude_framestar_pcr_plate_200ul(name: str = "4titude_framestar_pcr_plate_200ul") -> Plate: + """4titude FrameStar PCR Plate, Low Profile""" + defn = _get_custom_defs()["4titude_framestar_pcr_plate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_4titudeframestar_384_wellplate_55ul(name: str = "4titudeframestar_384_wellplate_55ul") -> Plate: + """4-titude FrameStar 384 Well Plate 55 µL""" + defn = _get_custom_defs()["4titudeframestar_384_wellplate_55ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_6x4_0point6inch_t6(name: str = "6x4_0.6inch_t6") -> TubeRack: + """6x4_0.6inch_t6""" + defn = _get_custom_defs()["6x4_0.6inch_t6"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_6x5_half_inch_t1_t3(name: str = "6x5_half_inch_t1_t3") -> TubeRack: + """6x5_0.5inch_t1_t3""" + defn = _get_custom_defs()["6x5_half_inch_t1_t3"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_80_well_plate(name: str = "80_well_plate") -> Plate: + """80 Well Plate""" + defn = _get_custom_defs()["80_well_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96_elutionplate_ubottom_by_macherey_nagel(name: str = "96_elutionplate_ubottom_by_macherey_nagel") -> Plate: + """96_Elutionplate_ubottom_by_Macherey_Nagel""" + defn = _get_custom_defs()["96_elutionplate_ubottom_by_macherey_nagel"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96_squarewell_block_macherey_nagel(name: str = "96_squarewell_block_macherey_nagel") -> Plate: + """96 Square-Well Block by Macherey-Nagel""" + defn = _get_custom_defs()["96_squarewell_block_macherey_nagel"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96w_pcr_plate2(name: str = "96w_pcr_plate2") -> Plate: + """96wells_pcr_plate2""" + defn = _get_custom_defs()["96w_pcr_plate2"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96well_pcr_base_200ul_strip(name: str = "96well_pcr_base_200ul_strip") -> TubeRack: + """MicroAmp 96-Well Base with 0.2 mL Thermo Scientific PCR Tube Strip""" + defn = _get_custom_defs()["96well_pcr_base_200ul_strip"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96wellplatemountedcappshaker_96_wellplate_360ul(name: str = "96wellplatemountedcappshaker_96_wellplate_360ul") -> Plate: + """96 Well Plate Mounted CAPP Shaker 96 Well Plate 360 µL""" + defn = _get_custom_defs()["96wellplatemountedcappshaker_96_wellplate_360ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ab_96_aluminumblock(name: str = "ab_96_aluminumblock") -> TubeRack: + """Applied Biosystems 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["ab_96_aluminumblock"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_2000ul(name: str = "abgene_96_wellplate_2000ul") -> Plate: + """Abgene 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_200ul(name: str = "abgene_96_wellplate_200ul") -> Plate: + """ABgene 96 Well PCR Plate 200uL""" + defn = _get_custom_defs()["abgene_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_200ul_isofreeze_block(name: str = "abgene_96_wellplate_200ul_isofreeze_block") -> Plate: + """ABGene 96 Well Plate 200µl on ISOFREEZE Block""" + defn = _get_custom_defs()["abgene_96_wellplate_200ul_isofreeze_block"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_2200ul(name: str = "abgene_96_wellplate_2200ul") -> Plate: + """Abgene 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_330ul(name: str = "abgene_96_wellplate_330ul") -> Plate: + """Abgene 96 Well Plate 330 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_330ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_330ul_round(name: str = "abgene_96_wellplate_330ul_round") -> Plate: + """Abgene 96 Wellplate 330ul Round""" + defn = _get_custom_defs()["abgene_96_wellplate_330ul_round"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_700ul(name: str = "abgene_96_wellplate_700ul") -> Plate: + """Abgene 96 Well Plate 700 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_700ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_800ul(name: str = "abgene_96_wellplate_800ul") -> Plate: + """Abgene 96 Well Plate 800 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgenemidi_96_wellplate_800ul(name: str = "abgenemidi_96_wellplate_800ul") -> Plate: + """Abgene Midi 96 Well Plate 800 µL""" + defn = _get_custom_defs()["abgenemidi_96_wellplate_800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ag_48_tuberack_150ul(name: str = "ag_48_tuberack_150ul") -> TubeRack: + """AG 48 Tube Rack with ReadyGo 0.15 mL""" + defn = _get_custom_defs()["ag_48_tuberack_150ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_12_reservoir_21ml(name: str = "agilent_12_reservoir_21ml") -> Plate: + """Agilent 12-Channel Reservoir 21ml""" + defn = _get_custom_defs()["agilent_12_reservoir_21ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_1_reservoir_290ml(name: str = "agilent_1_reservoir_290ml") -> Plate: + """Agilent 1 Well Reservoir 290 mL""" + return cast(Plate, load_shared_opentrons_resource("agilent_1_reservoir_290ml", name=name)) + + +@resource() +def lab_agilent_3_reservoir_95ml(name: str = "agilent_3_reservoir_95ml") -> Plate: + """Agilent 3-Channel Reservoir 95ml""" + defn = _get_custom_defs()["agilent_3_reservoir_95ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_48_reservoir_5000ul(name: str = "agilent_48_reservoir_5000ul") -> Plate: + """Agilent 48 Reservoir 5000 µL""" + defn = _get_custom_defs()["agilent_48_reservoir_5000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_c18omix_200ul(name: str = "agilent_96_c18omix_200ul") -> Plate: + """Agilent 96 C18 Omix 200ul (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_agilent_96_wellplate_1200ul(name: str = "agilent_96_wellplate_1200ul") -> Plate: + """Agilent 96 Well Plate 1200 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_wellplate_1400ul(name: str = "agilent_96_wellplate_1400ul") -> Plate: + """Agilent 96 Well Plate 1400 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_1400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_wellplate_200ul(name: str = "agilent_96_wellplate_200ul") -> Plate: + """Agilent 96 Well Plate 200 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_wellplate_270ul(name: str = "agilent_96_wellplate_270ul") -> Plate: + """Agilent 96 Well Plate 270 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_270ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_wellplate_500ul(name: str = "agilent_96_wellplate_500ul") -> Plate: + """Agilent 96 Well Plate 500 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilentwithnonskirted_96_wellplate_200ul(name: str = "agilentwithnonskirted_96_wellplate_200ul") -> Plate: + """Agilent With Nonskirted 96 Well Plate 200 µL""" + defn = _get_custom_defs()["agilentwithnonskirted_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_akura_384_wellplate_50ul(name: str = "akura_384_wellplate_50ul") -> Plate: + """Akura 384 Well Plate 50 µL""" + defn = _get_custom_defs()["akura_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_alpaqua96sneptune_96_wellplate_200ul(name: str = "alpaqua96sneptune_96_wellplate_200ul") -> Plate: + """Alpaqua96S_Neptune 96 Well Plate 200 µL""" + defn = _get_custom_defs()["alpaqua96sneptune_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_alpaquaprimaryv3_24_tuberack_2000ul(name: str = "alpaquaprimaryv3_24_tuberack_2000ul") -> TubeRack: + """Alpaqua Primary-v3 24 Tube Rack 2000 µL""" + defn = _get_custom_defs()["alpaquaprimaryv3_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_alpaquasecondaryv3_24_tuberack_750ul(name: str = "alpaquasecondaryv3_24_tuberack_750ul") -> TubeRack: + """Alpaqua Secondaryv3 24 Tube Rack 750 µL""" + defn = _get_custom_defs()["alpaquasecondaryv3_24_tuberack_750ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_altemislab_48_wellplate_2000ul(name: str = "altemislab_48_wellplate_2000ul") -> Plate: + """Altemis Lab 48 Well Plate 2000 µL""" + defn = _get_custom_defs()["altemislab_48_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_amplifyt_96_tuberack_200ul(name: str = "amplifyt_96_tuberack_200ul") -> TubeRack: + """Amplifyt 96 Tube Rack with Regeneron 0.2 mL""" + defn = _get_custom_defs()["amplifyt_96_tuberack_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_amplifyt_96_wellplate_200ul(name: str = "amplifyt_96_wellplate_200ul") -> Plate: + """Amplifyt 96 Well Plate 200 µL""" + defn = _get_custom_defs()["amplifyt_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ananda_384_wellplate_100ul(name: str = "ananda_384_wellplate_100ul") -> Plate: + """Ananda 384 Well Plate 100 µL""" + defn = _get_custom_defs()["ananda_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appleton_6_tuberack_50000ul(name: str = "appleton_6_tuberack_50000ul") -> TubeRack: + """Appleton 6 Tube Rack 50000 µL""" + defn = _get_custom_defs()["appleton_6_tuberack_50000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystem_384_wellplate_40ul(name: str = "appliedbiosystem_384_wellplate_40ul") -> Plate: + """Appliedbiosystem 384 Well Plate 40 µL""" + defn = _get_custom_defs()["appliedbiosystem_384_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_384_wellplate_20ul(name: str = "appliedbiosystems_384_wellplate_20ul") -> Plate: + """Applied Biosystems 384 Well Plate 20 µL""" + defn = _get_custom_defs()["appliedbiosystems_384_wellplate_20ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_384_wellplate_40ul(name: str = "appliedbiosystems_384_wellplate_40ul") -> Plate: + """Applied Biosystems 384 Well Plate 40 µL""" + defn = _get_custom_defs()["appliedbiosystems_384_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_96_wellplate_100ul(name: str = "appliedbiosystems_96_wellplate_100ul") -> Plate: + """Applied Biosystems 96 Well Plate 100 µL""" + defn = _get_custom_defs()["appliedbiosystems_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block(name: str = "appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block") -> Plate: + """Applied Biosystems 96 Well Plate 200ul on Eppendorf Cooling Block""" + defn = _get_custom_defs()["appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_microamp_optical_384_wellplate_30ul(name: str = "appliedbiosystems_microamp_optical_384_wellplate_30ul") -> Plate: + """Applied Biosystems™ MicroAmp™ Optical 384-Well Reaction Plate With Barcode 384 Well Plate 30 µL""" + defn = _get_custom_defs()["appliedbiosystems_microamp_optical_384_wellplate_30ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystemsenduraplate_96_aluminumblock_220ul(name: str = "appliedbiosystemsenduraplate_96_aluminumblock_220ul") -> TubeRack: + """Applied Biosystems Enduraplate 96 Aluminum Block 220 µL""" + defn = _get_custom_defs()["appliedbiosystemsenduraplate_96_aluminumblock_220ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystemsmicroamp_96_aluminumblock_200ul(name: str = "appliedbiosystemsmicroamp_96_aluminumblock_200ul") -> TubeRack: + """Applied Biosystems MicroAmp 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["appliedbiosystemsmicroamp_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul(name: str = "appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul") -> Plate: + """Applied Biosystems™ MicroAmp™ Optical 384-Well Reaction Plate With Barcode 384 Well Plate 30 µL""" + defn = _get_custom_defs()["appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul(name: str = "appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul") -> Plate: + """Applied Biosystems (ThermoFisher/Life) 4309849 With Barcode 384 Well Plate 30 µL""" + defn = _get_custom_defs()["appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_armadillo_96_aluminumblock_200ul(name: str = "armadillo_96_aluminumblock_200ul") -> TubeRack: + """Armadillo 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["armadillo_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_armadillo_96_wellplate_200ul_pcr_full_skirt(name: str = "armadillo_96_wellplate_200ul_pcr_full_skirt") -> Plate: + """Armadillo 96 Well Plate 200 µL PCR Full Skirt""" + defn = _get_custom_defs()["armadillo_96_wellplate_200ul_pcr_full_skirt"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_aspir8_1_reservoir_taped(name: str = "aspir8_1_reservoir_taped") -> Plate: + """Aspir-8 Reservoir""" + defn = _get_custom_defs()["aspir8_1_reservoir_taped"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_aurora_384_wellplate_100ul(name: str = "aurora_384_wellplate_100ul") -> Plate: + """Aurora 384 Well Plate 100 µL""" + defn = _get_custom_defs()["aurora_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_avantik_15_tuberack_3000ul(name: str = "avantik_15_tuberack_3000ul") -> TubeRack: + """Avantik 15 Tube Rack 3000 µL""" + defn = _get_custom_defs()["avantik_15_tuberack_3000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_1_reservoir_90ml(name: str = "axygen_1_reservoir_90ml") -> Plate: + """Axygen 1 Well Reservoir 90 mL""" + return cast(Plate, load_shared_opentrons_resource("axygen_1_reservoir_90ml", name=name)) + + +@resource() +def lab_axygen_24_tuberack_1700ul(name: str = "axygen_24_tuberack_1700ul") -> TubeRack: + """Axygen 24 Tube Rack 1700 µL""" + defn = _get_custom_defs()["axygen_24_tuberack_1700ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_384_wellplate_50ul(name: str = "axygen_384_wellplate_50ul") -> Plate: + """Axygen 384 Well Plate 50 µL""" + defn = _get_custom_defs()["axygen_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_4_reservoir_70ul(name: str = "axygen_4_reservoir_70ul") -> Plate: + """Axygen 4 Reservoir 70 µL""" + defn = _get_custom_defs()["axygen_4_reservoir_70ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_4_reservoir_73000ul(name: str = "axygen_4_reservoir_73000ul") -> Plate: + """Axygen 4 Reservoir 73 mL""" + defn = _get_custom_defs()["axygen_4_reservoir_73000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_plate_200ul_pcr(name: str = "axygen_96_plate_200ul_pcr") -> Plate: + """Axygen 96 Well PCR Microplate 200uL""" + defn = _get_custom_defs()["axygen_96_plate_200ul_pcr"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_wellplate(name: str = "axygen_96_wellplate") -> Plate: + """Axygen 96 Well Plate""" + defn = _get_custom_defs()["axygen_96_wellplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_wellplate_2000ul(name: str = "axygen_96_wellplate_2000ul") -> Plate: + """Axygen 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["axygen_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_wellplate_300ul(name: str = "axygen_96_wellplate_300ul") -> Plate: + """Axygen 96 Well Plate 300 µL""" + defn = _get_custom_defs()["axygen_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_wellplate_500ul(name: str = "axygen_96_wellplate_500ul") -> Plate: + """Axygen 96 Well Plate 500 µL""" + defn = _get_custom_defs()["axygen_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygenspheremag_96_wellplate_500ul(name: str = "axygenspheremag_96_wellplate_500ul") -> Plate: + """Axygen Sphere Mag 96 Well Plate 500 µL""" + defn = _get_custom_defs()["axygenspheremag_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_azentalifesciences_12_reservoir_21000ul(name: str = "azentalifesciences_12_reservoir_21000ul") -> Plate: + """Azenta Life Sciences 12 Reservoir 21000 µL""" + defn = _get_custom_defs()["azentalifesciences_12_reservoir_21000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_azentalifesciences_96_aluminumblock_200ul(name: str = "azentalifesciences_96_aluminumblock_200ul") -> TubeRack: + """Azenta Life Sciences 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["azentalifesciences_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_azentalifesciences_96_wellplate_200ul(name: str = "azentalifesciences_96_wellplate_200ul") -> Plate: + """Azenta Life Sciences 96 Well Plate 200 µL""" + defn = _get_custom_defs()["azentalifesciences_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_barcode_96_wellplate_200ul(name: str = "barcode_96_wellplate_200ul") -> Plate: + """Barcode 96 Well Plate 200 µL""" + defn = _get_custom_defs()["barcode_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_basisdx_15_tuberack_12000ul(name: str = "basisdx_15_tuberack_12000ul") -> TubeRack: + """Basis DX 15 Tube Rack 12000 µL""" + defn = _get_custom_defs()["basisdx_15_tuberack_12000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bd_24_tuberack_50ml_green(name: str = "bd_24_tuberack_50ml_green") -> TubeRack: + """BD 24 Green Tube Rack with 50 mL Conical""" + defn = _get_custom_defs()["bd_24_tuberack_50ml_green"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bd_54_tuberack_5ml_black(name: str = "bd_54_tuberack_5ml_black") -> TubeRack: + """BD 54 Tube Rack with HPLC Black 5 mL""" + defn = _get_custom_defs()["bd_54_tuberack_5ml_black"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bd_72_tuberack_15ml_orange(name: str = "bd_72_tuberack_15ml_orange") -> TubeRack: + """BD 72 Orange Tube Rack with 15 mL Conical""" + defn = _get_custom_defs()["bd_72_tuberack_15ml_orange"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_beckman_24_tuberack_1000ul(name: str = "beckman_24_tuberack_1000ul") -> TubeRack: + """Beckman 24 Tube Rack with Thomas 1 mL""" + defn = _get_custom_defs()["beckman_24_tuberack_1000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_beckman_48_wellplate_1800ul(name: str = "beckman_48_wellplate_1800ul") -> Plate: + """Beckman Fed Batch Plate""" + defn = _get_custom_defs()["beckman_48_wellplate_1800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_beckman_8_reservoir_19000ul(name: str = "beckman_8_reservoir_19000ul") -> Plate: + """Beckman 8 Reservoir 19000 µL""" + defn = _get_custom_defs()["beckman_8_reservoir_19000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_beckmancoulter_8_reservoir_19000ul(name: str = "beckmancoulter_8_reservoir_19000ul") -> Plate: + """Beckman Coulter 8 Reservoir 19000 µL""" + defn = _get_custom_defs()["beckmancoulter_8_reservoir_19000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_binding_column_tuberack(name: str = "binding_column_tuberack") -> TubeRack: + """Binding Column Tube Rack""" + defn = _get_custom_defs()["binding_column_tuberack"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bioplastics_96_aluminumblock_200ul(name: str = "bioplastics_96_aluminumblock_200ul") -> TubeRack: + """BIOplastics 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["bioplastics_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bioplastics_96_wellplate_100ul(name: str = "bioplastics_96_wellplate_100ul") -> Plate: + """Bioplastics 96 Well Plate 100 µL""" + defn = _get_custom_defs()["bioplastics_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bioplasticsbv_96_aluminumblock_100ul(name: str = "bioplasticsbv_96_aluminumblock_100ul") -> TubeRack: + """BIOPlastics BV 96 Aluminum Block 100 µL""" + defn = _get_custom_defs()["bioplasticsbv_96_aluminumblock_100ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bioplasticsbv_96_aluminumblock_200ul(name: str = "bioplasticsbv_96_aluminumblock_200ul") -> TubeRack: + """BIOPlastics BV 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["bioplasticsbv_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_384_wellplate_50ul(name: str = "biorad_384_wellplate_50ul") -> Plate: + """Bio-Rad 384 Well Plate 50 µL""" + defn = _get_custom_defs()["biorad_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_384_wellplate_50ul_(name: str = "biorad_384_wellplate_50ul_") -> Plate: + """Bio-Rad 384 Wellplate 50ul""" + defn = _get_custom_defs()["biorad_384_wellplate_50ul_"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_aluminumblock_120ul(name: str = "biorad_96_aluminumblock_120ul") -> TubeRack: + """Biorad 96 Aluminum Block 120 µL""" + defn = _get_custom_defs()["biorad_96_aluminumblock_120ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_aluminumblock_200ul(name: str = "biorad_96_aluminumblock_200ul") -> TubeRack: + """Biorad 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["biorad_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_aluminumblock_250ul(name: str = "biorad_96_aluminumblock_250ul") -> TubeRack: + """Bio-Rad 96 Aluminum Block 250 µL""" + defn = _get_custom_defs()["biorad_96_aluminumblock_250ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_aluminumblock_350ul(name: str = "biorad_96_aluminumblock_350ul") -> TubeRack: + """Bio-Rad 96 Aluminum Block 350 µL""" + defn = _get_custom_defs()["biorad_96_aluminumblock_350ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_fragment_analyzer_plate_aluminumblock_200ul(name: str = "biorad_96_fragment_analyzer_plate_aluminumblock_200ul") -> TubeRack: + """Fragment Analyzer Plate on 96 Well Aluminum Block""" + defn = _get_custom_defs()["biorad_96_fragment_analyzer_plate_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_wellplate_200ul(name: str = "biorad_96_wellplate_200ul") -> Plate: + """BioRad 96 Well Plate 200 µL""" + defn = _get_custom_defs()["biorad_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_wellplate_200ul_pcr(name: str = "biorad_96_wellplate_200ul_pcr") -> Plate: + """Bio-Rad 96 Well Plate 200 µL PCR""" + return cast(Plate, load_shared_opentrons_resource("biorad_96_wellplate_200ul_pcr", name=name)) + + +@resource() +def lab_biorad_96_wellplate_350ul(name: str = "biorad_96_wellplate_350ul") -> Plate: + """Bio-Rad 96 Well Plate 350 µL""" + defn = _get_custom_defs()["biorad_96_wellplate_350ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_wellplate_50ul(name: str = "biorad_96_wellplate_50ul") -> Plate: + """Biorad 96 Well Plate 50 µL""" + defn = _get_custom_defs()["biorad_96_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biotix_96_filtertiprack_10ul(name: str = "biotix_96_filtertiprack_10ul") -> TipRack: + """Biotix 96 filtertiprack 10ul (fallback: opentrons filter 10ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_10ul", name=name)) + + +@resource() +def lab_biozym_96_aluminumblock_200ul(name: str = "biozym_96_aluminumblock_200ul") -> TubeRack: + """Biozym 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["biozym_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_black_num_384(name: str = "black_num_384") -> Plate: + """Life Technologies 384 Well Plate 50 µL""" + defn = _get_custom_defs()["black_num_384"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_brand_384_wellplate_100ul(name: str = "brand_384_wellplate_100ul") -> Plate: + """Brand 384 Well Plate 100 µL""" + defn = _get_custom_defs()["brand_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_brandplates_96_wellplate_360ul(name: str = "brandplates_96_wellplate_360ul") -> Plate: + """96-well BRANDplate with V-bottom""" + defn = _get_custom_defs()["brandplates_96_wellplate_360ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bricklabwaretype1racklong_24_wellplate_4000ul(name: str = "bricklabwaretype1racklong_24_wellplate_4000ul") -> Plate: + """Bricklabware_type1_rack_long 24 Well Plate 4000 µL""" + defn = _get_custom_defs()["bricklabwaretype1racklong_24_wellplate_4000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bricklabwaretype2rackshort_24_wellplate_2000ul(name: str = "bricklabwaretype2rackshort_24_wellplate_2000ul") -> Plate: + """Bricklabware_type2_rack_short 24 Well Plate 2000 µL""" + defn = _get_custom_defs()["bricklabwaretype2rackshort_24_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_caplugs_6_tuberack_30ml(name: str = "caplugs_6_tuberack_30ml") -> TubeRack: + """Caplugs 6 Tube Rack 30 mL""" + defn = _get_custom_defs()["caplugs_6_tuberack_30ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cepheid(name: str = "cepheid") -> Plate: + """Cepheid""" + defn = _get_custom_defs()["cepheid"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cerillo_stratus_armadillo_flatbottom_200ul(name: str = "cerillo_stratus_armadillo_flatbottom_200ul") -> Plate: + """Cerillo Stratus Armadillo Flat Bottom Plate 96well 200uL""" + defn = _get_custom_defs()["cerillo_stratus_armadillo_flatbottom_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_charlesriver_15_tuberack_10000ul(name: str = "charlesriver_15_tuberack_10000ul") -> TubeRack: + """Charles River 15 Tube Rack 10000 µL""" + defn = _get_custom_defs()["charlesriver_15_tuberack_10000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_checkit_8_wellplate_5ul(name: str = "checkit_8_wellplate_5ul") -> Plate: + """Checkit 8 Well Plate 5 µL""" + defn = _get_custom_defs()["checkit_8_wellplate_5ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_chromtech_96_filter_wellplate(name: str = "chromtech_96_filter_wellplate") -> Plate: + """Chrom Tech filter plate""" + defn = _get_custom_defs()["chromtech_96_filter_wellplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_coleparmer_384_wellplate_50ul(name: str = "coleparmer_384_wellplate_50ul") -> Plate: + """COLEPARMER 384 Well Plate 50 µL""" + defn = _get_custom_defs()["coleparmer_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_combo_96_wellplate_300ul(name: str = "combo_96_wellplate_300ul") -> Plate: + """Combo 96 Well Plate Black Label on Nest Plate 300µL""" + defn = _get_custom_defs()["combo_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_12_reservoir(name: str = "corning_12_reservoir") -> Plate: + """Corning 12 Reservoir 2000 µL""" + defn = _get_custom_defs()["corning_12_reservoir"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_24_wellplate_3point4ml_flat(name: str = "corning_24_wellplate_3.4ml_flat") -> Plate: + """Corning 24 Well Plate 3.4 mL Flat""" + return cast(Plate, load_shared_opentrons_resource("corning_24_wellplate_3.4ml_flat", name=name)) + + +@resource() +def lab_corning_384_wellplate_112ul_flat(name: str = "corning_384_wellplate_112ul_flat") -> Plate: + """Corning 384 Well Plate 112 µL Flat""" + return cast(Plate, load_shared_opentrons_resource("corning_384_wellplate_112ul_flat", name=name)) + + +@resource() +def lab_corning_384_wellplate_20ul(name: str = "corning_384_wellplate_20ul") -> Plate: + """Corning 384 Well Plate 20 µL""" + defn = _get_custom_defs()["corning_384_wellplate_20ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_384_wellplate_90ul(name: str = "corning_384_wellplate_90ul") -> Plate: + """Corning 384 Well Plate 90 µL""" + defn = _get_custom_defs()["corning_384_wellplate_90ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_6_wellplate_16point8ml_flat(name: str = "corning_6_wellplate_16.8ml_flat") -> Plate: + """Corning 6 Well Plate 16.8 mL Flat""" + return cast(Plate, load_shared_opentrons_resource("corning_6_wellplate_16.8ml_flat", name=name)) + + +@resource() +def lab_corning_96_well_roundbottom_1ml(name: str = "corning_96_well_roundbottom_1ml") -> Plate: + """Corning 96 Well Round Bottom 1mL""" + defn = _get_custom_defs()["corning_96_well_roundbottom_1ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_96_wellplate_200ul(name: str = "corning_96_wellplate_200ul") -> Plate: + """Corning 96 Well Plate 200 µL""" + defn = _get_custom_defs()["corning_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_96_wellplate_320ul(name: str = "corning_96_wellplate_320ul") -> Plate: + """Corning 96 Well Plate 320 µL""" + defn = _get_custom_defs()["corning_96_wellplate_320ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_96_wellplate_360ul(name: str = "corning_96_wellplate_360ul") -> Plate: + """Corning 96 Well Plate 360 µL""" + defn = _get_custom_defs()["corning_96_wellplate_360ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_96_wellplate_360ul_flat(name: str = "corning_96_wellplate_360ul_flat") -> Plate: + """Corning 96 Well Plate 360 µL Flat""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_corning_96_wellplate_flat_bottom_360ul(name: str = "corning_96_wellplate_flat_bottom_360ul") -> Plate: + """Corning 96-well Flat Clear Bottom Black Polystyrene TC-treated Microplate""" + defn = _get_custom_defs()["corning_96_wellplate_flat_bottom_360ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_costar_96_wellplate_200ul(name: str = "costar_96_wellplate_200ul") -> Plate: + """Costar 96 Well Plate 200 µL""" + defn = _get_custom_defs()["costar_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_costar_96_wellplate_330ul(name: str = "costar_96_wellplate_330ul") -> Plate: + """Costar 96 Well Plate 330 µL""" + defn = _get_custom_defs()["costar_96_wellplate_330ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cryo_35_tuberack_1800ul(name: str = "cryo_35_tuberack_1800ul") -> TubeRack: + """Cryo 35 Tube Rack with Nunc 1.8 mL""" + defn = _get_custom_defs()["cryo_35_tuberack_1800ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom1mltesttube_24_wellplate_5000ul(name: str = "custom1mltesttube_24_wellplate_5000ul") -> Plate: + """Custom 1 ML Test Tube 24 Well Plate 5000 µL""" + defn = _get_custom_defs()["custom1mltesttube_24_wellplate_5000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom5mltesttube_24_wellplate_5000ul(name: str = "custom5mltesttube_24_wellplate_5000ul") -> Plate: + """Custom 5 ML Test Tube 24 Well Plate 5000 µL""" + defn = _get_custom_defs()["custom5mltesttube_24_wellplate_5000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_15_tuberack_6000ul(name: str = "custom_15_tuberack_6000ul") -> TubeRack: + """Custom 15 Tube Rack 6000 µL""" + defn = _get_custom_defs()["custom_15_tuberack_6000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_1_other_20ul(name: str = "custom_1_other_20ul") -> Plate: + """Custom 1 other 20ul (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_custom_24_shakerslide(name: str = "custom_24_shakerslide") -> Plate: + """Custom 24 shaker slide (fallback: corning 24 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_24_wellplate_3.4ml_flat", name=name)) + + +@resource() +def lab_custom_24_testtuberack_2ml(name: str = "custom_24_testtuberack_2ml") -> TubeRack: + """Custom 24 Test Tube Rack 2 mL""" + defn = _get_custom_defs()["custom_24_testtuberack_2ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_tuberack(name: str = "custom_24_tuberack") -> Plate: + """Custom 24 Tube Rack""" + defn = _get_custom_defs()["custom_24_tuberack"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_tuberack_2000ul(name: str = "custom_24_tuberack_2000ul") -> TubeRack: + """custom 24 Tube Rack with Custom 2 mL""" + defn = _get_custom_defs()["custom_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_tuberack_5ml(name: str = "custom_24_tuberack_5ml") -> TubeRack: + """Opentrons 24 Tube Rack with Blood Tube 5mL Conical""" + defn = _get_custom_defs()["custom_24_tuberack_5ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_tuberack_7500ul(name: str = "custom_24_tuberack_7500ul") -> TubeRack: + """Custom 24 Tube Rack with Vacuette 6 ml 7.5 mL""" + defn = _get_custom_defs()["custom_24_tuberack_7500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_well_rack(name: str = "custom_24_well_rack") -> TubeRack: + """custom_24_well_rack""" + defn = _get_custom_defs()["custom_24_well_rack"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_wellplate_2000ul(name: str = "custom_24_wellplate_2000ul") -> Plate: + """Custom 24 Well Plate 2000 µL""" + defn = _get_custom_defs()["custom_24_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_300_other_100x500ul_100x500ul_100x500ul(name: str = "custom_300_other_100x500ul_100x500ul_100x500ul") -> Plate: + """Custom 300 other (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_custom_384_wellplate_100ul(name: str = "custom_384_wellplate_100ul") -> Plate: + """Custom 384 Well Plate 100 µL""" + defn = _get_custom_defs()["custom_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_384_wellplate_50ul(name: str = "custom_384_wellplate_50ul") -> Plate: + """Custom 384 Well Plate 50 µL""" + defn = _get_custom_defs()["custom_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_6_tuberack_100ml(name: str = "custom_6_tuberack_100ml") -> TubeRack: + """Custom 6 Tube Rack 100 mL""" + defn = _get_custom_defs()["custom_6_tuberack_100ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_72_other_24x330ul_24x330ul_24x330ul(name: str = "custom_72_other_24x330ul_24x330ul_24x330ul") -> Plate: + """Custom 72 other (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_custom_96_striptubes_350ul(name: str = "custom_96_striptubes_350ul") -> Plate: + """Custom 96 Strip Tubes 350µl""" + defn = _get_custom_defs()["custom_96_striptubes_350ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_96_tubeholder_500ul(name: str = "custom_96_tubeholder_500ul") -> Plate: + """Custom 500ul Tube Holder""" + defn = _get_custom_defs()["custom_96_tubeholder_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_96_tuberack_500ul(name: str = "custom_96_tuberack_500ul") -> TubeRack: + """Custom 96 Tube Rack with Custom 0.5 mL""" + defn = _get_custom_defs()["custom_96_tuberack_500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_96_tuberack_500ul_vacuum(name: str = "custom_96_tuberack_500ul_vacuum") -> TubeRack: + """Custom 96 Tube Rack with Custom 0.5 mL with vacuum""" + defn = _get_custom_defs()["custom_96_tuberack_500ul_vacuum"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_96_wellplate_200ul(name: str = "custom_96_wellplate_200ul") -> Plate: + """Custom 96 Well Plate 200 µL""" + defn = _get_custom_defs()["custom_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_beaker(name: str = "custom_beaker") -> Plate: + """Custom Beaker and Stir Plate""" + defn = _get_custom_defs()["custom_beaker"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_centrifuge_tube_container(name: str = "custom_centrifuge_tube_container") -> Plate: + """Custom Centrifuge Tube Container""" + defn = _get_custom_defs()["custom_centrifuge_tube_container"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_nanosep_tube_container(name: str = "custom_nanosep_tube_container") -> Plate: + """Custom Nanosep Tube Container""" + defn = _get_custom_defs()["custom_nanosep_tube_container"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_pcr_plate_for_tempdeck(name: str = "custom_pcr_plate_for_tempdeck") -> Plate: + """Custom PCR Plate""" + defn = _get_custom_defs()["custom_pcr_plate_for_tempdeck"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_tuberack_6ml(name: str = "custom_tuberack_6ml") -> Plate: + """Custom 6mL Tube Rack""" + defn = _get_custom_defs()["custom_tuberack_6ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customabnest_96_wellplate_200ul(name: str = "customabnest_96_wellplate_200ul") -> Plate: + """Custom AB NEST 96 Well Plate 200 µL""" + defn = _get_custom_defs()["customabnest_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customadapter_96_wellplate_200ul(name: str = "customadapter_96_wellplate_200ul") -> Plate: + """Custom_adapter 96 Well Plate 200 µL""" + defn = _get_custom_defs()["customadapter_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customagar_24_wellplate_200ul(name: str = "customagar_24_wellplate_200ul") -> Plate: + """Q""" + defn = _get_custom_defs()["customagar_24_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customagar_96_wellplate_200ul(name: str = "customagar_96_wellplate_200ul") -> Plate: + """Custom Agar 96 Well Plate 200 µL""" + defn = _get_custom_defs()["customagar_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customblotpaper_1_reservoir_870000ul(name: str = "customblotpaper_1_reservoir_870000ul") -> Plate: + """Custom Blot Paper 1 Reservoir 870000 µL""" + defn = _get_custom_defs()["customblotpaper_1_reservoir_870000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customendura_96_wellplate_200ul(name: str = "customendura_96_wellplate_200ul") -> Plate: + """Custom Endura 96 Well Plate 200 µL""" + defn = _get_custom_defs()["customendura_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customslideblockv2_8_wellplate(name: str = "customslideblockv2_8_wellplate") -> Plate: + """Customslideblock V2 8 Well Plate 20000 µL""" + defn = _get_custom_defs()["customslideblockv2_8_wellplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cytiva_24_wellplate_2000ul(name: str = "cytiva_24_wellplate_2000ul") -> Plate: + """Cytiva 24 Well Plate 2000 µL""" + defn = _get_custom_defs()["cytiva_24_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cytiva_96_wellplate_500ul(name: str = "cytiva_96_wellplate_500ul") -> Plate: + """Cytiva 96 Well Plate 500 µL""" + defn = _get_custom_defs()["cytiva_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_deepwell_96_wellplate_2000ul(name: str = "deepwell_96_wellplate_2000ul") -> Plate: + """Quintara Deepwell 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["deepwell_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_deepwellpro_96_wellplate_450ul(name: str = "deepwellpro_96_wellplate_450ul") -> Plate: + """Deepwell Pro 96 Well Plate 450 µL""" + defn = _get_custom_defs()["deepwellpro_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_doublepcr_96_wellplate_300ul(name: str = "doublepcr_96_wellplate_300ul") -> Plate: + """Quintara Combo Pcr 96 Well Plate 300 µL on Nest Pcr""" + defn = _get_custom_defs()["doublepcr_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_dynamic_array_192_24(name: str = "dynamic_array_192_24") -> Plate: + """Standard Biotools Dynamic Array 192.24""" + defn = _get_custom_defs()["dynamic_array_192_24"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_dynamic_array_48_48(name: str = "dynamic_array_48_48") -> Plate: + """Standard Biotools Dynamic Array 48.48""" + defn = _get_custom_defs()["dynamic_array_48_48"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_dynamic_array_96_96(name: str = "dynamic_array_96_96") -> Plate: + """Standard Biotools Dynamic Array 96.96""" + defn = _get_custom_defs()["dynamic_array_96_96"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ek_scientific_reservoir(name: str = "ek_scientific_reservoir") -> Plate: + """EK Scientific 8 Row Reservoir""" + defn = _get_custom_defs()["ek_scientific_reservoir"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_electronmicroscopysciences_1_reservoir_100000ul(name: str = "electronmicroscopysciences_1_reservoir_100000ul") -> Plate: + """Electron Microscopy Sciences 1 Reservoir 100000 µL""" + defn = _get_custom_defs()["electronmicroscopysciences_1_reservoir_100000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_elutionplate_96_wellplate_500ul(name: str = "elutionplate_96_wellplate_500ul") -> Plate: + """Elution Plate 96 Well Plate 500 µL""" + defn = _get_custom_defs()["elutionplate_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_enduraplate_96_wellplate_200ul(name: str = "enduraplate_96_wellplate_200ul") -> Plate: + """EnduraPlate 96 Well Plate 200uL""" + defn = _get_custom_defs()["enduraplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_epmotion_1_reservoir_100000ul(name: str = "epmotion_1_reservoir_100000ul") -> Plate: + """EpMotion 1 Reservoir 100000 µL""" + defn = _get_custom_defs()["epmotion_1_reservoir_100000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_epmotion_1_reservoir_30000ul(name: str = "epmotion_1_reservoir_30000ul") -> Plate: + """EpMotion 1 Reservoir 30000 µL""" + defn = _get_custom_defs()["epmotion_1_reservoir_30000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_24_tuberack_1500ul(name: str = "eppendorf_24_tuberack_1500ul") -> TubeRack: + """Eppendorf 24 Tube Rack 1500 µL""" + defn = _get_custom_defs()["eppendorf_24_tuberack_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_24_tuberack_generic_2point0ml_screwcap(name: str = "eppendorf_24_tuberack_generic_2.0ml_screwcap") -> Plate: + """Eppendorf 24 Tube Rack with Generic 2.0mL Screwcap""" + defn = _get_custom_defs()["eppendorf_24_tuberack_generic_2.0ml_screwcap"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_7_reservoir_30000ul(name: str = "eppendorf_7_reservoir_30000ul") -> Plate: + """Eppendorf 7 Reservoir 30000 µL""" + defn = _get_custom_defs()["eppendorf_7_reservoir_30000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_aluminumblock_200ul(name: str = "eppendorf_96_aluminumblock_200ul") -> TubeRack: + """Eppendorf 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["eppendorf_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_deepwell_1000ul(name: str = "eppendorf_96_deepwell_1000ul") -> Plate: + """Eppendorf 96 Deep Well Block 1000ul""" + defn = _get_custom_defs()["eppendorf_96_deepwell_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_deepwellplate_2000ul(name: str = "eppendorf_96_deepwellplate_2000ul") -> Plate: + """Eppendorf 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["eppendorf_96_deepwellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_deepwellplate_500ul(name: str = "eppendorf_96_deepwellplate_500ul") -> Plate: + """Eppendorf 96 Well Plate 500 µL""" + defn = _get_custom_defs()["eppendorf_96_deepwellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_well_on_block(name: str = "eppendorf_96_well_on_block") -> Plate: + """Eppendorf 96 Well PCR Plate 250ul on Aluminum Block""" + defn = _get_custom_defs()["eppendorf_96_well_on_block"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_wellplate_1000ul(name: str = "eppendorf_96_wellplate_1000ul") -> Plate: + """Eppendorf 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["eppendorf_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_wellplate_2000ul(name: str = "eppendorf_96_wellplate_2000ul") -> Plate: + """Eppendorf 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["eppendorf_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_wellplate_200ul(name: str = "eppendorf_96_wellplate_200ul") -> Plate: + """Eppendorf 96 Well Plate 200 µL""" + defn = _get_custom_defs()["eppendorf_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_wellplate_500ul(name: str = "eppendorf_96_wellplate_500ul") -> Plate: + """Eppendorf 96 Well Plate 500 µL""" + defn = _get_custom_defs()["eppendorf_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_twintec_on_opentrons_metal_block_033822(name: str = "eppendorf_twintec_on_opentrons_metal_block_033822") -> TubeRack: + """Eppendorf Twintec 200uL on Opentrons Metal Block March 28 2022""" + defn = _get_custom_defs()["eppendorf_twintec_on_opentrons_metal_block_033822"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_twintex_clickbio_adapter(name: str = "eppendorf_twintex_clickbio_adapter") -> Plate: + """Eppendorf Twintec 200uL on Clickbio adapter""" + defn = _get_custom_defs()["eppendorf_twintex_clickbio_adapter"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorfdeepwell_96_wellplate_1200ul(name: str = "eppendorfdeepwell_96_wellplate_1200ul") -> Plate: + """Eppendorf Deepwell 96 Well Plate 1200 µL""" + defn = _get_custom_defs()["eppendorfdeepwell_96_wellplate_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorfmetaladapter_96_wellplate_200ul(name: str = "eppendorfmetaladapter_96_wellplate_200ul") -> Plate: + """Eppendorf+metaladapter 96 Well Plate 200 µL""" + defn = _get_custom_defs()["eppendorfmetaladapter_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorftwinpointtec96_96_aluminumblock_200ul(name: str = "eppendorftwin.tec96_96_aluminumblock_200ul") -> TubeRack: + """Eppendorf Twin.Tec 96 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["eppendorftwin.tec96_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorftwinpointtec_96_aluminumblock_150ul(name: str = "eppendorftwin.tec_96_aluminumblock_150ul") -> TubeRack: + """Eppendorf Twin.tec 96 Aluminum Block 150 µL""" + defn = _get_custom_defs()["eppendorftwin.tec_96_aluminumblock_150ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorftwinpointtec_96_wellplate_150ul(name: str = "eppendorftwin.tec_96_wellplate_150ul") -> Plate: + """Eppendorf Twin.tec 96 Well Plate 150 µL""" + defn = _get_custom_defs()["eppendorftwin.tec_96_wellplate_150ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorftwintec_96_wellplate_150ul(name: str = "eppendorftwintec_96_wellplate_150ul") -> Plate: + """Eppendorf Twin.tec 96 Well Plate 150 µL""" + defn = _get_custom_defs()["eppendorftwintec_96_wellplate_150ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendort_96_deepwell_1000ul(name: str = "eppendort_96_deepwell_1000ul") -> Plate: + """Eppendorf 96 Deepwell 1000uL""" + defn = _get_custom_defs()["eppendort_96_deepwell_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eptips_1000ul(name: str = "eptips_1000ul") -> TipRack: + """Eppendorf eptips 1000ul (fallback: opentrons 1000ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_1000ul", name=name)) + + +@resource() +def lab_eptips_300ul(name: str = "eptips_300ul") -> TipRack: + """Eppendorf eptips 300ul (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_eurofins_96x2ml_tuberack(name: str = "eurofins_96x2ml_tuberack") -> TubeRack: + """Eurofins 192 Tube Rack with 96x2 mL, 96x2 mL Screwcap""" + defn = _get_custom_defs()["eurofins_96x2ml_tuberack"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_falcon_353077_96_wellplate_320ul(name: str = "falcon_353077_96_wellplate_320ul") -> Plate: + """Falcon 96 Well Plate 320 µL""" + defn = _get_custom_defs()["falcon_353077_96_wellplate_320ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_filters_and_eppendorfs_24_tuberack_1500ul(name: str = "filters_and_eppendorfs_24_tuberack_1500ul") -> TubeRack: + """Filters_and_eppendorfs 24 Tube Rack 1500 µL""" + defn = _get_custom_defs()["filters_and_eppendorfs_24_tuberack_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_filtrouslab_384_wellplate_50ul(name: str = "filtrouslab_384_wellplate_50ul") -> Plate: + """Filtrous Lab 384 Well Plate 50 µL""" + defn = _get_custom_defs()["filtrouslab_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_final_96_aluminumblock_300ul(name: str = "final_96_aluminumblock_300ul") -> TubeRack: + """Final 96 Aluminum Block 300 µL""" + defn = _get_custom_defs()["final_96_aluminumblock_300ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fisher_96_aluminumblock_200ul(name: str = "fisher_96_aluminumblock_200ul") -> TubeRack: + """Fisher 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["fisher_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fisher_96_wellplate_200ul(name: str = "fisher_96_wellplate_200ul") -> Plate: + """Fisher 96 Well Plate 200 µL""" + defn = _get_custom_defs()["fisher_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fisherscientific_96_wellplate_200ul(name: str = "fisherscientific_96_wellplate_200ul") -> Plate: + """Thermofisher Scientific 96 well 200ul""" + defn = _get_custom_defs()["fisherscientific_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_flipped_384_plate(name: str = "flipped_384_plate") -> Plate: + """Custom 384 Well Plate Flipped""" + defn = _get_custom_defs()["flipped_384_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fluidigm_192_wellplate_96x10ul_96x10ul(name: str = "fluidigm_192_wellplate_96x10ul_96x10ul") -> Plate: + """Fluidigm 192 Well Plate 10uL""" + defn = _get_custom_defs()["fluidigm_192_wellplate_96x10ul_96x10ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fluidigm_96_wellplate_48x50ul_48x50ul(name: str = "fluidigm_96_wellplate_48x50ul_48x50ul") -> Plate: + """Fluidigm""" + defn = _get_custom_defs()["fluidigm_96_wellplate_48x50ul_48x50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fluidx_96_tuberack_1000ul(name: str = "fluidx_96_tuberack_1000ul") -> TubeRack: + """fluidx 96 Tube Rack with fluidx 1 mL""" + defn = _get_custom_defs()["fluidx_96_tuberack_1000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_framestarpcr_96_wellplate_200ul(name: str = "framestarpcr_96_wellplate_200ul") -> Plate: + """FrameStar PCR 96 Well Plate 200 µL""" + defn = _get_custom_defs()["framestarpcr_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_froggabio_96_wellplate_300ul(name: str = "froggabio_96_wellplate_300ul") -> Plate: + """Froggabio 96 Well Plate 300 µL""" + defn = _get_custom_defs()["froggabio_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_geb_96_tiprack_1000ul(name: str = "geb_96_tiprack_1000ul") -> TipRack: + """GEB 96 Tip Rack 1000 µL""" + return cast(TipRack, load_shared_opentrons_resource("geb_96_tiprack_1000ul", name=name)) + + +@resource() +def lab_geb_96_tiprack_10ul(name: str = "geb_96_tiprack_10ul") -> TipRack: + """GEB 96 Tip Rack 10 µL""" + return cast(TipRack, load_shared_opentrons_resource("geb_96_tiprack_10ul", name=name)) + + +@resource() +def lab_generic_216_wellplate_85ul_flat(name: str = "generic_216_wellplate_85ul_flat") -> Plate: + """Invoy 216-Well Cartridge Plate""" + defn = _get_custom_defs()["generic_216_wellplate_85ul_flat"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_generic_24_tuberack_2000ul(name: str = "generic_24_tuberack_2000ul") -> TubeRack: + """Generic 24 Tube Rack 2000 µL""" + defn = _get_custom_defs()["generic_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_generic_96_aluminumblock_350ul(name: str = "generic_96_aluminumblock_350ul") -> TubeRack: + """Generic 96 Aluminum Block 350 µL""" + defn = _get_custom_defs()["generic_96_aluminumblock_350ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_generic_96_tiprack_200ul(name: str = "generic_96_tiprack_200ul") -> TipRack: + """Generic 96 tiprack 200ul (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_generic_96_tiprack_20ul(name: str = "generic_96_tiprack_20ul") -> TipRack: + """Generic 96 tiprack 20ul (fallback: opentrons 20ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_20ul", name=name)) + + +@resource() +def lab_generic_96_wellplate_1500ul(name: str = "generic_96_wellplate_1500ul") -> Plate: + """Generic 96 Well Plate 1500 µL""" + defn = _get_custom_defs()["generic_96_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genericmagnet_96_wellplate_1500ul(name: str = "genericmagnet_96_wellplate_1500ul") -> Plate: + """Generic_magnet 96 Well Plate 1500 µL""" + defn = _get_custom_defs()["genericmagnet_96_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genericstrips_96_wellplate_200ul(name: str = "genericstrips_96_wellplate_200ul") -> Plate: + """Generic Strips 96 Well Plate 200 µL""" + defn = _get_custom_defs()["genericstrips_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genesee25221_96_wellplate_300ul(name: str = "genesee25221_96_wellplate_300ul") -> Plate: + """Genesee Gene Clone 96-Well Cell Culture Plate U Bottom 300 uL""" + defn = _get_custom_defs()["genesee25221_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genesee_96_wellplate_200ul(name: str = "genesee_96_wellplate_200ul") -> Plate: + """Genesee 96 Well Plate 200 µL""" + defn = _get_custom_defs()["genesee_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genmate_96_aluminumblock_20ul(name: str = "genmate_96_aluminumblock_20ul") -> TubeRack: + """GenMate 96 Aluminum Block 20 µL""" + defn = _get_custom_defs()["genmate_96_aluminumblock_20ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_gracebiolabsflexwell(name: str = "gracebiolabsflexwell") -> Plate: + """Grace Bio-Labs FlexWell (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_greiner_384_wellplate_130ul(name: str = "greiner_384_wellplate_130ul") -> Plate: + """Greiner 384 Well Plate 130 µL""" + defn = _get_custom_defs()["greiner_384_wellplate_130ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_384_wellplate_138ul(name: str = "greiner_384_wellplate_138ul") -> Plate: + """Greiner 384 Well Plate 138 µL""" + defn = _get_custom_defs()["greiner_384_wellplate_138ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_384_wellplate_200ul(name: str = "greiner_384_wellplate_200ul") -> Plate: + """Greiner 384 Well Plate 200 µL""" + defn = _get_custom_defs()["greiner_384_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_384_wellplate_50ul(name: str = "greiner_384_wellplate_50ul") -> Plate: + """Greiner 384 Well Plate 50 µL""" + defn = _get_custom_defs()["greiner_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_96_wellplate(name: str = "greiner_96_wellplate") -> Plate: + """Greiner BioOne 96 Well Microplate""" + defn = _get_custom_defs()["greiner_96_wellplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_96_wellplate_2000ul(name: str = "greiner_96_wellplate_2000ul") -> Plate: + """Greiner 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["greiner_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_96_wellplate_200ul(name: str = "greiner_96_wellplate_200ul") -> Plate: + """Greiner 96 Well Plate 200 µL""" + defn = _get_custom_defs()["greiner_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_96_wellplate_340ul(name: str = "greiner_96_wellplate_340ul") -> Plate: + """Greiner 96 Well Plate 340 µL""" + defn = _get_custom_defs()["greiner_96_wellplate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_192_wellplate_crystallization(name: str = "greinerbioone_192_wellplate_crystallization") -> Plate: + """Greiner Bio-One CRYSTALQUICK LP 96 Well Plate 140ul""" + defn = _get_custom_defs()["greinerbioone_192_wellplate_crystallization"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_24_bloodrack_13x100(name: str = "greinerbioone_24_bloodrack_13x100") -> TubeRack: + """Greiner Bio-One, 24 blood collection tubes 1 ml to 6 ml (13x75 and 13x100)""" + defn = _get_custom_defs()["greinerbioone_24_bloodrack_13x100"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_384_wellplate_100ul(name: str = "greinerbioone_384_wellplate_100ul") -> Plate: + """Greiner Bio-One 384 Well Plate 100 µL""" + defn = _get_custom_defs()["greinerbioone_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_96_wellplate_200ul(name: str = "greinerbioone_96_wellplate_200ul") -> Plate: + """Greiner Bio-One 96 Well Plate 200 µL""" + defn = _get_custom_defs()["greinerbioone_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_96_wellplate_200ul_650161(name: str = "greinerbioone_96_wellplate_200ul_650161") -> Plate: + """Greiner Bio-One 96 Well Plate 200 µL""" + defn = _get_custom_defs()["greinerbioone_96_wellplate_200ul_650161"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_96_wellplate_2ml_deep(name: str = "greinerbioone_96_wellplate_2ml_deep") -> Plate: + """Greiner Bio-One 96-Deepwell Plate 2ml""" + defn = _get_custom_defs()["greinerbioone_96_wellplate_2ml_deep"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_96_wellplate_340ul(name: str = "greinerbioone_96_wellplate_340ul") -> Plate: + """Greiner Bio-One 96 Well Plate 340 µL""" + defn = _get_custom_defs()["greinerbioone_96_wellplate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinermasterblock_384_wellplate_225ul(name: str = "greinermasterblock_384_wellplate_225ul") -> Plate: + """Greiner Masterblock 384 Well Plate 225 µL""" + defn = _get_custom_defs()["greinermasterblock_384_wellplate_225ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinermasterblock_96_wellplate_1000ul(name: str = "greinermasterblock_96_wellplate_1000ul") -> Plate: + """Greiner MASTERBLOCK 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["greinermasterblock_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinermasterblock_96_wellplate_500ul(name: str = "greinermasterblock_96_wellplate_500ul") -> Plate: + """Greiner MASTERBLOCK 96 Well Plate 500 µL""" + defn = _get_custom_defs()["greinermasterblock_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinermicrolon_96_wellplate_340ul(name: str = "greinermicrolon_96_wellplate_340ul") -> Plate: + """Greiner Microlon 96 Well Plate 340 µL""" + defn = _get_custom_defs()["greinermicrolon_96_wellplate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greineruvstar_96_wellplate_392ul(name: str = "greineruvstar_96_wellplate_392ul") -> Plate: + """Greiner_UV-star 96 Well Plate 392 µL""" + defn = _get_custom_defs()["greineruvstar_96_wellplate_392ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_hardshell_96_wellplate_200ul(name: str = "hardshell_96_wellplate_200ul") -> Plate: + """Hard-Shell 96 Well Plate 200 µL""" + defn = _get_custom_defs()["hardshell_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_hardshellbioradpcr_384_wellplate_50ul(name: str = "hardshellbioradpcr_384_wellplate_50ul") -> Plate: + """Hard-Shell Bio-Rad PCR 384 Well Plate 50 µL""" + defn = _get_custom_defs()["hardshellbioradpcr_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_hellma_96_wellplate_300ul(name: str = "hellma_96_wellplate_300ul") -> Plate: + """Hellma 96 Well Plate 300 µL""" + defn = _get_custom_defs()["hellma_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_himic_96_wellplate_400ul(name: str = "himic_96_wellplate_400ul") -> Plate: + """HiMic 96 Well Plate 400 µL""" + defn = _get_custom_defs()["himic_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_htd_96_wellplate_200ul(name: str = "htd_96_wellplate_200ul") -> Plate: + """Htd 96 Well Plate 200 µL""" + defn = _get_custom_defs()["htd_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_iclean_15_tuberack(name: str = "iclean_15_tuberack") -> TubeRack: + """iClean Sample Tubes""" + defn = _get_custom_defs()["iclean_15_tuberack"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_illumina_96_wellplate_200ul(name: str = "illumina_96_wellplate_200ul") -> Plate: + """Illumina 96 Well Plate 200 µL""" + defn = _get_custom_defs()["illumina_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_index_96_aluminumblock_200ul(name: str = "index_96_aluminumblock_200ul") -> TubeRack: + """index plate on 96 well aluminum block""" + defn = _get_custom_defs()["index_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_index_96_wellplate_200ul(name: str = "index_96_wellplate_200ul") -> Plate: + """Index 96 Well Plate 200 µL""" + defn = _get_custom_defs()["index_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_indexplate_96_wellplate_200ul(name: str = "indexplate_96_wellplate_200ul") -> Plate: + """Index Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["indexplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_innotrainot22pcrplate_96_wellplate_200ul(name: str = "innotrainot22pcrplate_96_wellplate_200ul") -> Plate: + """Innotrain OT-2 #2 PCR Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["innotrainot22pcrplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_innotrainot2pcrplate_96_wellplate_200ul(name: str = "innotrainot2pcrplate_96_wellplate_200ul") -> Plate: + """Innotrain OT-2 PCR Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["innotrainot2pcrplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_innovationlaboratoryproducts_96_wellplate_1000ul(name: str = "innovationlaboratoryproducts_96_wellplate_1000ul") -> Plate: + """Innovation Laboratory Products 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["innovationlaboratoryproducts_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_irishlifesciences_96_wellplate_2200ul(name: str = "irishlifesciences_96_wellplate_2200ul") -> Plate: + """Irish Life Sciences 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["irishlifesciences_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_jackyshiyielution_96_wellplate_1200ul(name: str = "jackyshiyielution_96_wellplate_1200ul") -> Plate: + """Jacky_Shiyi_elution 96 Well Plate 1200 µL""" + defn = _get_custom_defs()["jackyshiyielution_96_wellplate_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_jackyshiyihigh_96_wellplate_1200ul(name: str = "jackyshiyihigh_96_wellplate_1200ul") -> Plate: + """Jacky_Shiyi_high 96 Well Plate 1200 µL""" + defn = _get_custom_defs()["jackyshiyihigh_96_wellplate_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_deepwell_plate_2ml(name: str = "kingfisher_96_deepwell_plate_2ml") -> Plate: + """KingFisher 96 Deep Well Plate""" + defn = _get_custom_defs()["kingfisher_96_deepwell_plate_2ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_tuberack_1100ul(name: str = "kingfisher_96_tuberack_1100ul") -> TubeRack: + """KingFisher 96 Tube Rack with GoldStandard 1.1 mL""" + defn = _get_custom_defs()["kingfisher_96_tuberack_1100ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_wellplate_100ul(name: str = "kingfisher_96_wellplate_100ul") -> Plate: + """Thermofisher 96 Well Plate 100 µL""" + defn = _get_custom_defs()["kingfisher_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_wellplate_2000ul(name: str = "kingfisher_96_wellplate_2000ul") -> Plate: + """Kingfisher 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["kingfisher_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_wellplate_200ul(name: str = "kingfisher_96_wellplate_200ul") -> Plate: + """KingFisher 96 Well Plate 200 µL""" + defn = _get_custom_defs()["kingfisher_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_labcon_8strip_pcr_on_cooler(name: str = "labcon_8strip_pcr_on_cooler") -> Plate: + """Labcon 8 Strip on Cooler""" + defn = _get_custom_defs()["labcon_8strip_pcr_on_cooler"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_labcon_96_wellplate_pcr_on_cooler(name: str = "labcon_96_wellplate_pcr_on_cooler") -> Plate: + """Labcon 96 Well Plate on Cooler""" + defn = _get_custom_defs()["labcon_96_wellplate_pcr_on_cooler"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_leo_99_wellplate_50ul(name: str = "leo_99_wellplate_50ul") -> Plate: + """Leo 99 Well Plate 50 µL""" + defn = _get_custom_defs()["leo_99_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_life_96_aluminumblock_240ul(name: str = "life_96_aluminumblock_240ul") -> TubeRack: + """Life 96 Aluminum Block 240 µL""" + defn = _get_custom_defs()["life_96_aluminumblock_240ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_lvl_96_wellplate_1317point97ul(name: str = "lvl_96_wellplate_1317.97ul") -> Plate: + """LVL 96 Well Plate 1317.97 µL""" + defn = _get_custom_defs()["lvl_96_wellplate_1317.97ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_lvltechnologies_48_wellplate_2000ul(name: str = "lvltechnologies_48_wellplate_2000ul") -> Plate: + """LVL Technologies 48 Well Plate 2000 µL""" + defn = _get_custom_defs()["lvltechnologies_48_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_master_block_384(name: str = "master_block_384") -> Plate: + """MASTERBLOCK®, 384 WELL, PP, DEEP WELL, V-BOTTOM,""" + defn = _get_custom_defs()["master_block_384"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microamp_384_wellplate_100ul(name: str = "microamp_384_wellplate_100ul") -> Plate: + """Microamp 384 Well Plate 100 µL""" + defn = _get_custom_defs()["microamp_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microamp_384_wellplate_40ul(name: str = "microamp_384_wellplate_40ul") -> Plate: + """Microamp 384 Well Plate 40 µL""" + defn = _get_custom_defs()["microamp_384_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microamp_96_wellplate_100ul(name: str = "microamp_96_wellplate_100ul") -> Plate: + """lockwell""" + defn = _get_custom_defs()["microamp_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microamp_96well_200ul(name: str = "microamp_96well_200ul") -> Plate: + """MicroAmp EnduraPlate Optical 96-Well Fast Clear Reaction Plate With Barcode 96 Well Plate 200 µL""" + defn = _get_custom_defs()["microamp_96well_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microampenduraplate_96_aluminumblock_200ul(name: str = "microampenduraplate_96_aluminumblock_200ul") -> TubeRack: + """MicroAmp EnduraPlate 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["microampenduraplate_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microampoptical_384_wellplate_30ul(name: str = "microampoptical_384_wellplate_30ul") -> Plate: + """MicroAmp Optical 384 Well Plate 30 µL""" + defn = _get_custom_defs()["microampoptical_384_wellplate_30ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microampstrips_96_supportbase_100ul(name: str = "microampstrips_96_supportbase_100ul") -> Plate: + """MicroAmp Strips 96 Support Base 100 uL""" + defn = _get_custom_defs()["microampstrips_96_supportbase_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_micronic_96_rack_300ul_tubes(name: str = "micronic_96_rack_300ul_tubes") -> Plate: + """Micronic 96 Rack 0.30mL Tubes""" + defn = _get_custom_defs()["micronic_96_rack_300ul_tubes"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_micronic_96_wellplate_1000ul(name: str = "micronic_96_wellplate_1000ul") -> Plate: + """Micronic 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["micronic_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_micronicm9641point4_96_wellplate_1400ul(name: str = "micronicm9641.4_96_wellplate_1400ul") -> Plate: + """Micronic_M96-4_1.4 96 Well Plate 1400 µL""" + defn = _get_custom_defs()["micronicm9641.4_96_wellplate_1400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_micronics_96_tubes(name: str = "micronics_96_tubes") -> Plate: + """Micronics 96 Tubes in Plate""" + defn = _get_custom_defs()["micronics_96_tubes"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_molgen_96_well_elution_plate(name: str = "molgen_96_well_elution_plate") -> Plate: + """Molgen 96 Well Elution Plate""" + defn = _get_custom_defs()["molgen_96_well_elution_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_mtcbio_15_tuberack_10000ul(name: str = "mtcbio_15_tuberack_10000ul") -> TubeRack: + """MTC Bio 15 Tube Rack 10000 µL""" + defn = _get_custom_defs()["mtcbio_15_tuberack_10000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neb_96_wellplate_100ul(name: str = "neb_96_wellplate_100ul") -> Plate: + """NEB 96 Well Plate 100 µL""" + defn = _get_custom_defs()["neb_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neo_48_wellplate_40ul(name: str = "neo_48_wellplate_40ul") -> Plate: + """NEO 48 Well Chip 40 µL""" + defn = _get_custom_defs()["neo_48_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neptune_96_aluminumblock_200ul(name: str = "neptune_96_aluminumblock_200ul") -> TubeRack: + """Neptune 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["neptune_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neptunegensci_pcrplate(name: str = "neptunegensci_pcrplate") -> Plate: + """neptune_gen_pcr_200ul""" + defn = _get_custom_defs()["neptunegensci_pcrplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neptunescientificgeneseescientificadaptor_96_wellplate_200ul(name: str = "neptunescientificgeneseescientificadaptor_96_wellplate_200ul") -> Plate: + """Neptune Scientific, Genesee Scientific (adaptor) 96 Well Plate 200 µL""" + defn = _get_custom_defs()["neptunescientificgeneseescientificadaptor_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest500ul_96_reservoir_500ul(name: str = "nest500ul_96_reservoir_500ul") -> Plate: + """NEST 500ul 96 Reservoir 500 µL""" + defn = _get_custom_defs()["nest500ul_96_reservoir_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_12_reservoir_15ml(name: str = "nest_12_reservoir_15ml") -> Plate: + """NEST 12 Well Reservoir 15 mL""" + return cast(Plate, load_shared_opentrons_resource("nest_12_reservoir_15ml", name=name)) + + +@resource() +def lab_nest_12_reservoir_15ml_icetray(name: str = "nest_12_reservoir_15ml_icetray") -> Plate: + """NEST 12 Reservoir 15 mL with Icetray""" + defn = _get_custom_defs()["nest_12_reservoir_15ml_icetray"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_1_reservoir_195ml(name: str = "nest_1_reservoir_195ml") -> Plate: + """NEST 1 Well Reservoir 195 mL""" + return cast(Plate, load_shared_opentrons_resource("nest_1_reservoir_195ml", name=name)) + + +@resource() +def lab_nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml(name: str = "nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml") -> TubeRack: + """NEST 32 Tuberack 15ml (2 Slot)""" + defn = _get_custom_defs()["nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml(name: str = "nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml") -> TubeRack: + """NEST 32 Tuberack 5ml (2 Slot)""" + defn = _get_custom_defs()["nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_96_wellplate_1000ul(name: str = "nest_96_wellplate_1000ul") -> Plate: + """NEST 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["nest_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_96_wellplate_100ul_pcr_full_skirt(name: str = "nest_96_wellplate_100ul_pcr_full_skirt") -> Plate: + """NEST 96 Well Plate 100 µL PCR Full Skirt""" + return cast(Plate, load_shared_opentrons_resource("nest_96_wellplate_100ul_pcr_full_skirt", name=name)) + + +@resource() +def lab_nest_96_wellplate_2000ul(name: str = "nest_96_wellplate_2000ul") -> Plate: + """nest_96_wellplate_2000ul""" + defn = _get_custom_defs()["nest_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_96_wellplate_200ul_flat(name: str = "nest_96_wellplate_200ul_flat") -> Plate: + """NEST 96 Well Plate 200 µL Flat""" + return cast(Plate, load_shared_opentrons_resource("nest_96_wellplate_200ul_flat", name=name)) + + +@resource() +def lab_nest_96_wellplate_2200ul(name: str = "nest_96_wellplate_2200ul") -> Plate: + """Nest 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["nest_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_96_wellplate_2ml_deep(name: str = "nest_96_wellplate_2ml_deep") -> Plate: + """NEST 96 Deep Well Plate 2mL""" + return cast(Plate, load_shared_opentrons_resource("nest_96_wellplate_2ml_deep", name=name)) + + +@resource() +def lab_nest_96_wellplate_320ul(name: str = "nest_96_wellplate_320ul") -> Plate: + """Nest 96 Well Plate 320 µL""" + defn = _get_custom_defs()["nest_96_wellplate_320ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nestbioshake_96_wellplate_2000ul(name: str = "nestbioshake_96_wellplate_2000ul") -> Plate: + """NEST Bioshake 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["nestbioshake_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_442404_96_flat_wellplate_400ul(name: str = "nunc_442404_96_flat_wellplate_400ul") -> Plate: + """Nunc Maxisorp ELISA Plate 96-Well Flat 400 uL""" + defn = _get_custom_defs()["nunc_442404_96_flat_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_1000ul(name: str = "nunc_96_wellplate_1000ul") -> Plate: + """Nunc 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_1700ul(name: str = "nunc_96_wellplate_1700ul") -> Plate: + """Nunc 96 Well Plate 1700 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_1700ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_2000ul(name: str = "nunc_96_wellplate_2000ul") -> Plate: + """Nunc 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_400ul(name: str = "nunc_96_wellplate_400ul") -> Plate: + """Nunc 96 Well Plate 400 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_450ul(name: str = "nunc_96_wellplate_450ul") -> Plate: + """Nunc 96 Well Plate 450 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_500ul(name: str = "nunc_96_wellplate_500ul") -> Plate: + """Nunc 96 Well Plate 500 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_maxisorp_96_wellplate_250ul(name: str = "nunc_maxisorp_96_wellplate_250ul") -> Plate: + """Nunc MaxiSorp 96 Well Plate 250ul""" + defn = _get_custom_defs()["nunc_maxisorp_96_wellplate_250ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_rectangular_agar_plate(name: str = "nunc_rectangular_agar_plate") -> Plate: + """Nunc rectangular agar plate2""" + defn = _get_custom_defs()["nunc_rectangular_agar_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_v96_microwell_plate(name: str = "nunc_v96_microwell_plate") -> Plate: + """Nunc V96 Microwell Plate""" + defn = _get_custom_defs()["nunc_v96_microwell_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_octea_16_wellplate_40ul(name: str = "octea_16_wellplate_40ul") -> Plate: + """Octea 16 Well Plate 40 µL""" + defn = _get_custom_defs()["octea_16_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_olympus_96_wellplate_200ul_pcr(name: str = "olympus_96_wellplate_200ul_pcr") -> Plate: + """Olympus 96 Well Plate 200 µL""" + defn = _get_custom_defs()["olympus_96_wellplate_200ul_pcr"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_omegaquant_96_wellplate_1000ul(name: str = "omegaquant_96_wellplate_1000ul") -> Plate: + """Omegaquant 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["omegaquant_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical(name: str = "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical") -> TubeRack: + """Opentrons 10 Tube Rack with Falcon 4x50 mL, 6x15 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical", name=name)) + + +@resource() +def lab_opentrons_10_tuberack_nest_4x50ml_6x15ml_conical(name: str = "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical") -> TubeRack: + """Opentrons 10 Tube Rack with NEST 4x50 mL, 6x15 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", name=name)) + + +@resource() +def lab_opentrons_15_tuberack_14000ul(name: str = "opentrons_15_tuberack_14000ul") -> TubeRack: + """Opentrons 15 Tube Rack with custom 14 mL""" + defn = _get_custom_defs()["opentrons_15_tuberack_14000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_15_tuberack_15000ul(name: str = "opentrons_15_tuberack_15000ul") -> TubeRack: + """Opentrons 15 Tube Rack with Sarstedt 15 mL""" + defn = _get_custom_defs()["opentrons_15_tuberack_15000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_15_tuberack_5000ul(name: str = "opentrons_15_tuberack_5000ul") -> TubeRack: + """Opentrons 15 Tube Rack with eppendorf 5 mL""" + defn = _get_custom_defs()["opentrons_15_tuberack_5000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_15_tuberack_8000ul(name: str = "opentrons_15_tuberack_8000ul") -> TubeRack: + """Opentrons 15 Tube Rack with BD Diagnostics 8 mL""" + defn = _get_custom_defs()["opentrons_15_tuberack_8000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_15_tuberack_falcon_15ml_conical(name: str = "opentrons_15_tuberack_falcon_15ml_conical") -> TubeRack: + """Opentrons 15 Tube Rack with Falcon 15 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_15_tuberack_falcon_15ml_conical", name=name)) + + +@resource() +def lab_opentrons_15_tuberack_nest_15ml_conical(name: str = "opentrons_15_tuberack_nest_15ml_conical") -> TubeRack: + """Opentrons 15 Tube Rack with NEST 15 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_15_tuberack_nest_15ml_conical", name=name)) + + +@resource() +def lab_opentrons_1_trash_1100ml_fixed(name: str = "opentrons_1_trash_1100ml_fixed") -> Trash: + """Opentrons fixed trash 1100ml""" + return Trash(name=name, size_x=600.0, size_y=400.0, size_z=150.0) + + +@resource() +def lab_opentrons_24_aluminumblock_1500ul(name: str = "opentrons_24_aluminumblock_1500ul") -> TubeRack: + """Opentrons 24 Aluminum Block 1500 µL""" + defn = _get_custom_defs()["opentrons_24_aluminumblock_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_18x0point5ml_3x1point5ml_3x1point5ml(name: str = "opentrons_24_aluminumblock_18x0.5ml_3x1.5ml_3x1.5ml") -> TubeRack: + """Opentrons 24 Well Aluminum Block with Variant Tubes""" + defn = _get_custom_defs()["opentrons_24_aluminumblock_18x0.5ml_3x1.5ml_3x1.5ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_generic_2ml_screwcap(name: str = "opentrons_24_aluminumblock_generic_2ml_screwcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with Generic 2 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_generic_2ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_0point5ml_screwcap(name: str = "opentrons_24_aluminumblock_nest_0.5ml_screwcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 0.5 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_0.5ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_1point5ml_screwcap(name: str = "opentrons_24_aluminumblock_nest_1.5ml_screwcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 1.5 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_1.5ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_1point5ml_snapcap(name: str = "opentrons_24_aluminumblock_nest_1.5ml_snapcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 1.5 mL Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_1.5ml_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_2ml_screwcap(name: str = "opentrons_24_aluminumblock_nest_2ml_screwcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 2 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_2ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_2ml_snapcap(name: str = "opentrons_24_aluminumblock_nest_2ml_snapcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 2 mL Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_2ml_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_1500ul(name: str = "opentrons_24_tuberack_1500ul") -> TubeRack: + """Opentrons 24 Tube Rack 1500 µL""" + defn = _get_custom_defs()["opentrons_24_tuberack_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_tuberack_2000ul(name: str = "opentrons_24_tuberack_2000ul") -> TubeRack: + """Opentrons 24 Tube Rack with starstedt 2 mL""" + defn = _get_custom_defs()["opentrons_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_tuberack_500ul(name: str = "opentrons_24_tuberack_500ul") -> TubeRack: + """Opentrons 24 Tube Rack with Watson Biolab 0.5 mL""" + defn = _get_custom_defs()["opentrons_24_tuberack_500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap(name: str = "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap") -> TubeRack: + """Opentrons 24 Tube Rack with Eppendorf 1.5 mL Safe-Lock Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap(name: str = "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap") -> TubeRack: + """Opentrons 24 Tube Rack with Eppendorf 2 mL Safe-Lock Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic(name: str = "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic") -> TubeRack: + """Opentrons 24 Tube Rack (Acrylic) with Eppendorf 2 mL Safe-Lock Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_generic_2ml_screwcap(name: str = "opentrons_24_tuberack_generic_2ml_screwcap") -> TubeRack: + """Opentrons 24 Tube Rack with Generic 2 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_generic_2ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_0point5ml_screwcap(name: str = "opentrons_24_tuberack_nest_0.5ml_screwcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 0.5 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_0.5ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_1point5ml_screwcap(name: str = "opentrons_24_tuberack_nest_1.5ml_screwcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 1.5 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_1.5ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_1point5ml_snapcap(name: str = "opentrons_24_tuberack_nest_1.5ml_snapcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 1.5 mL Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_1.5ml_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_2ml_screwcap(name: str = "opentrons_24_tuberack_nest_2ml_screwcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 2 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_2ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_2ml_snapcap(name: str = "opentrons_24_tuberack_nest_2ml_snapcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 2 mL Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_2ml_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_t4_t5(name: str = "opentrons_24_tuberack_t4_t5") -> TubeRack: + """PoolingT4,T5""" + defn = _get_custom_defs()["opentrons_24_tuberack_t4_t5"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_300ul_tiprack_flipped(name: str = "opentrons_300ul_tiprack_flipped") -> TipRack: + """Opentrons 300ul tiprack flipped (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_opentrons_6_tuberack_50000ul(name: str = "opentrons_6_tuberack_50000ul") -> TubeRack: + """Opentrons 6 Tube Rack with VWR 50 mL""" + defn = _get_custom_defs()["opentrons_6_tuberack_50000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_6_tuberack_falcon_50ml_conical(name: str = "opentrons_6_tuberack_falcon_50ml_conical") -> TubeRack: + """Opentrons 6 Tube Rack with Falcon 50 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_6_tuberack_falcon_50ml_conical", name=name)) + + +@resource() +def lab_opentrons_6_tuberack_stellarsci_25ml_conical(name: str = "opentrons_6_tuberack_stellarsci_25ml_conical") -> Plate: + """Tuberack with 6 Stellar Sci 25 mL tubes""" + defn = _get_custom_defs()["opentrons_6_tuberack_stellarsci_25ml_conical"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_96_aluminumblock_biorad_wellplate_200ul(name: str = "opentrons_96_aluminumblock_biorad_wellplate_200ul") -> TubeRack: + """Opentrons 96 Well Aluminum Block with Bio-Rad Well Plate 200 µL""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_96_aluminumblock_biorad_wellplate_200ul", name=name)) + + +@resource() +def lab_opentrons_96_aluminumblock_generic_pcr_strip_200ul(name: str = "opentrons_96_aluminumblock_generic_pcr_strip_200ul") -> TubeRack: + """Opentrons 96 Well Aluminum Block with Generic PCR Strip 200 µL""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_96_aluminumblock_generic_pcr_strip_200ul", name=name)) + + +@resource() +def lab_opentrons_96_aluminumblock_nest_wellplate_100ul(name: str = "opentrons_96_aluminumblock_nest_wellplate_100ul") -> TubeRack: + """Opentrons 96 Well Aluminum Block with NEST Well Plate 100 µL""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_96_aluminumblock_nest_wellplate_100ul", name=name)) + + +@resource() +def lab_opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep(name: str = "opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep") -> TubeRack: + """Opentrons 96 Deep Well Heater-Shaker Adapter with NEST Deep Well Plate 2 mL""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep", name=name)) + + +@resource() +def lab_opentrons_96_filtertiprack_1000ul(name: str = "opentrons_96_filtertiprack_1000ul") -> TipRack: + """Opentrons OT-2 96 Filter Tip Rack 1000 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_1000ul", name=name)) + + +@resource() +def lab_opentrons_96_filtertiprack_10ul(name: str = "opentrons_96_filtertiprack_10ul") -> TipRack: + """Opentrons OT-2 96 Filter Tip Rack 10 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_10ul", name=name)) + + +@resource() +def lab_opentrons_96_filtertiprack_200ul(name: str = "opentrons_96_filtertiprack_200ul") -> TipRack: + """Opentrons OT-2 96 Filter Tip Rack 200 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_200ul", name=name)) + + +@resource() +def lab_opentrons_96_filtertiprack_20ul(name: str = "opentrons_96_filtertiprack_20ul") -> TipRack: + """Opentrons OT-2 96 Filter Tip Rack 20 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_20ul", name=name)) + + +@resource() +def lab_opentrons_96_pcr_adapter_biorad_wellplate_200ul(name: str = "opentrons_96_pcr_adapter_biorad_wellplate_200ul") -> Plate: + """Opentrons 96 PCR Adapter with BioRad Well Plate 200 uL""" + defn = _get_custom_defs()["opentrons_96_pcr_adapter_biorad_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_96_tiprack_1000ul(name: str = "opentrons_96_tiprack_1000ul") -> TipRack: + """Opentrons OT-2 96 Tip Rack 1000 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_1000ul", name=name)) + + +@resource() +def lab_opentrons_96_tiprack_10ul(name: str = "opentrons_96_tiprack_10ul") -> TipRack: + """Opentrons OT-2 96 Tip Rack 10 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_10ul", name=name)) + + +@resource() +def lab_opentrons_96_tiprack_20ul(name: str = "opentrons_96_tiprack_20ul") -> TipRack: + """Opentrons OT-2 96 Tip Rack 20 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_20ul", name=name)) + + +@resource() +def lab_opentrons_96_tiprack_300ul(name: str = "opentrons_96_tiprack_300ul") -> TipRack: + """Opentrons OT-2 96 Tip Rack 300 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_opentrons_96_tiprack_sarstedt_200ul(name: str = "opentrons_96_tiprack_sarstedt_200ul") -> TubeRack: + """Opentrons 96 tiprack with sarstedt 200ul PCR tube""" + defn = _get_custom_defs()["opentrons_96_tiprack_sarstedt_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_96_tuberack_96x5ml_custom(name: str = "opentrons_96_tuberack_96x5ml_custom") -> TubeRack: + """Custom 96 Tube Rack, 5mL""" + defn = _get_custom_defs()["opentrons_96_tuberack_96x5ml_custom"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_goldstandarddx_17_tuberack_lysis(name: str = "opentrons_goldstandarddx_17_tuberack_lysis") -> TubeRack: + """Opentrons x Gold Standard 17 Tube Rack""" + defn = _get_custom_defs()["opentrons_goldstandarddx_17_tuberack_lysis"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_optiplate_96_wellplate_400ul(name: str = "optiplate_96_wellplate_400ul") -> Plate: + """Optiplate 96 Well Plate 400 µL""" + defn = _get_custom_defs()["optiplate_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pall_96_wellplate_350ul(name: str = "pall_96_wellplate_350ul") -> Plate: + """Pall 96 Well Plate 350 µL""" + defn = _get_custom_defs()["pall_96_wellplate_350ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcb_board_250_wells(name: str = "pcb_board_250_wells") -> Plate: + """PCB Board""" + defn = _get_custom_defs()["pcb_board_250_wells"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcr_384_wellplate_50ul(name: str = "pcr_384_wellplate_50ul") -> Plate: + """Pcr 384 Well Plate 50 µL""" + defn = _get_custom_defs()["pcr_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcr_plate(name: str = "pcr_plate") -> Plate: + """PCR plate""" + defn = _get_custom_defs()["pcr_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcrplate_96_wellplate_200ul(name: str = "pcrplate_96_wellplate_200ul") -> Plate: + """Pcr Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["pcrplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcrstripplate_96_wellplate_200ul(name: str = "pcrstripplate_96_wellplate_200ul") -> Plate: + """Pcr Strip Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["pcrstripplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_12_reservoir_21000ul(name: str = "perkinelmer_12_reservoir_21000ul") -> Plate: + """Perkin Elmer 12 Reservoir 21000 µL""" + defn = _get_custom_defs()["perkinelmer_12_reservoir_21000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_384_wellplate_105ul(name: str = "perkinelmer_384_wellplate_105ul") -> Plate: + """Perkin Elmer 384 Well Plate 105 µL""" + defn = _get_custom_defs()["perkinelmer_384_wellplate_105ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_384_wellplate_110ul(name: str = "perkinelmer_384_wellplate_110ul") -> Plate: + """Perkin Elmer 384 Well Plate 110 µL""" + defn = _get_custom_defs()["perkinelmer_384_wellplate_110ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_384_wellplate_145ul(name: str = "perkinelmer_384_wellplate_145ul") -> Plate: + """PerkinElmer 384 Well Plate 145 µL""" + defn = _get_custom_defs()["perkinelmer_384_wellplate_145ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_96_wellplate_450ul(name: str = "perkinelmer_96_wellplate_450ul") -> Plate: + """PerkinElmer 96 Well Plate 450 µL""" + defn = _get_custom_defs()["perkinelmer_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_permagen_24_tuberack_1500ul(name: str = "permagen_24_tuberack_1500ul") -> TubeRack: + """Permagen 24 Tube Rack with Eppendorf 1.5 mL""" + defn = _get_custom_defs()["permagen_24_tuberack_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_phenoplate_96_wellplate_425ul(name: str = "phenoplate_96_wellplate_425ul") -> Plate: + """PhenoPlate 96 Well Plate 425 µL""" + defn = _get_custom_defs()["phenoplate_96_wellplate_425ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_phynexus_96_tiprack_300ul(name: str = "phynexus_96_tiprack_300ul") -> TipRack: + """PhyNexus 96 tiprack 300ul (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_phytips_in_opentrons_box_96_300ul(name: str = "phytips_in_opentrons_box_96_300ul") -> TipRack: + """PhyTips in Opentrons box 96 300ul (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_plateone_96_wellplate_1000ul(name: str = "plateone_96_wellplate_1000ul") -> Plate: + """Plate One 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["plateone_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pr1ma_384_wellplate_50ul(name: str = "pr1ma_384_wellplate_50ul") -> Plate: + """Pr1ma 384 Well Plate 50 µL""" + defn = _get_custom_defs()["pr1ma_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_procartaplex_96_wellplate_655096(name: str = "procartaplex_96_wellplate_655096") -> Plate: + """Procarta Plex 96 Well Plate 340 µL""" + defn = _get_custom_defs()["procartaplex_96_wellplate_655096"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_protifistrap_96_wellplate_400ul(name: str = "protifistrap_96_wellplate_400ul") -> Plate: + """Protifi_S-trap 96 Well Plate 400 µL""" + defn = _get_custom_defs()["protifistrap_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ps_2_resevoir(name: str = "ps_2_resevoir") -> Plate: + """PS RESERVOIR""" + defn = _get_custom_defs()["ps_2_resevoir"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pyramid_96_wellplate_2000ul(name: str = "pyramid_96_wellplate_2000ul") -> Plate: + """Pyramid 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["pyramid_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_qiacuity_96_wellplate_200ul(name: str = "qiacuity_96_wellplate_200ul") -> Plate: + """Qiacuity 96 Well Plate 200 µL""" + defn = _get_custom_defs()["qiacuity_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_qiagen_96_tuberack_1200ul(name: str = "qiagen_96_tuberack_1200ul") -> Plate: + """QIAGEN 96 Tube Rack 1.2mL""" + defn = _get_custom_defs()["qiagen_96_tuberack_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_qiagen_96_wellplate_2250ul(name: str = "qiagen_96_wellplate_2250ul") -> Plate: + """Qiagen 96 Well Plate 2250 µL""" + defn = _get_custom_defs()["qiagen_96_wellplate_2250ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quantgene_96_aluminumblock_200ul(name: str = "quantgene_96_aluminumblock_200ul") -> TubeRack: + """Quantgene 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["quantgene_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quintara_12_reservoir_15000ul(name: str = "quintara_12_reservoir_15000ul") -> Plate: + """Quintara 12 Reservoir 15000 µL""" + defn = _get_custom_defs()["quintara_12_reservoir_15000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quintara_192_deepwell_plate(name: str = "quintara_192_deepwell_plate") -> Plate: + """Quintara Vertical Plate 192 Wells""" + defn = _get_custom_defs()["quintara_192_deepwell_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quintara_192_pcr_plate(name: str = "quintara_192_pcr_plate") -> Plate: + """Quintara Vertical Plate 192 Wells""" + defn = _get_custom_defs()["quintara_192_pcr_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quintara_96_wellplate_300ul(name: str = "quintara_96_wellplate_300ul") -> Plate: + """Quintara 96 Well Plate 300 µL on Aluminum Block""" + defn = _get_custom_defs()["quintara_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_reagent_1_reservoir_130000ul(name: str = "reagent_1_reservoir_130000ul") -> Plate: + """Reagent 1 Reservoir 130000 µL""" + defn = _get_custom_defs()["reagent_1_reservoir_130000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_redefinedbiorad_96_wellplate_200ul(name: str = "redefinedbiorad_96_wellplate_200ul") -> Plate: + """BioRad 96 Well Plate 200 µL""" + defn = _get_custom_defs()["redefinedbiorad_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_regeneron_96_aluminumblock_200ul(name: str = "regeneron_96_aluminumblock_200ul") -> TubeRack: + """Regeneron 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["regeneron_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_roarprinted_48_wellplate_1500ul(name: str = "roarprinted_48_wellplate_1500ul") -> Plate: + """ROAR_printed_ 48 Well Plate 1500 µL""" + defn = _get_custom_defs()["roarprinted_48_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_rrl_1_wellplate_180000ul(name: str = "rrl_1_wellplate_180000ul") -> Plate: + """RRL 1 Well Plate 180000 µL""" + defn = _get_custom_defs()["rrl_1_wellplate_180000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_rrlcustom_40_wellplate_1500ul(name: str = "rrlcustom_40_wellplate_1500ul") -> Plate: + """RRL Custom 40 Well Plate 1500 µL""" + defn = _get_custom_defs()["rrlcustom_40_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_rssrack_15_tuberack_2500ul(name: str = "rssrack_15_tuberack_2500ul") -> TubeRack: + """RSS Rack 15 Tube Rack 2500 µL""" + defn = _get_custom_defs()["rssrack_15_tuberack_2500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sarstedt_24_aluminumblock_screwcap_tube_2ml(name: str = "sarstedt_24_aluminumblock_screwcap_tube_2ml") -> TubeRack: + """Sarstedt 24 well aluminum block with screwcap tube 2 mL""" + defn = _get_custom_defs()["sarstedt_24_aluminumblock_screwcap_tube_2ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sarstedt_24_tuberack_2000ul(name: str = "sarstedt_24_tuberack_2000ul") -> TubeRack: + """Sarstedt 24 Tube Rack 2000 µL""" + defn = _get_custom_defs()["sarstedt_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sarstedt_24_tuberack_500ul(name: str = "sarstedt_24_tuberack_500ul") -> TubeRack: + """Sarstedt 24 Tube Rack 500 µL""" + defn = _get_custom_defs()["sarstedt_24_tuberack_500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sarstedt_384_wellplate_40ul(name: str = "sarstedt_384_wellplate_40ul") -> Plate: + """Sarstedt 384 Well Plate 40 µL""" + defn = _get_custom_defs()["sarstedt_384_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sequalprep_96_wellplate_200ul(name: str = "sequalprep_96_wellplate_200ul") -> Plate: + """SequalPrep 96 Well Plate 200 µL""" + defn = _get_custom_defs()["sequalprep_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sh_48_wellplate_2500ul(name: str = "sh_48_wellplate_2500ul") -> Plate: + """SH 48 Well Plate 2500 µL""" + defn = _get_custom_defs()["sh_48_wellplate_2500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_simport_96_wellplate_flipped(name: str = "simport_96_wellplate_flipped") -> Plate: + """SIMPORT 96 Well Plate 1200µL Flipped""" + defn = _get_custom_defs()["simport_96_wellplate_flipped"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sorenson_96_wellplate_350ul(name: str = "sorenson_96_wellplate_350ul") -> Plate: + """Sorenson 96 Well Plate 350 µL""" + defn = _get_custom_defs()["sorenson_96_wellplate_350ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sorfa_15_tuberack_10000ul(name: str = "sorfa_15_tuberack_10000ul") -> TubeRack: + """Sorfa 15 Tube Rack 10000 µL""" + defn = _get_custom_defs()["sorfa_15_tuberack_10000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_spestackedoncollection_96_wellplate_1600ul(name: str = "spestackedoncollection_96_wellplate_1600ul") -> Plate: + """SPE Stacked On Collection 96 Well Plate 1600 µL""" + defn = _get_custom_defs()["spestackedoncollection_96_wellplate_1600ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_spex_96_wellplate_2400ul(name: str = "spex_96_wellplate_2400ul") -> Plate: + """SPEX 96 Well Plate 2400 µL""" + defn = _get_custom_defs()["spex_96_wellplate_2400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_spi_slides_4x21(name: str = "spi_slides_4x21") -> Plate: + """SPI slides 4x21 (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_spl_96_wellplate_200ul_flat(name: str = "spl_96_wellplate_200ul_flat") -> Plate: + """SPL Cell Culture Plate 96 Well Flat Bottom""" + defn = _get_custom_defs()["spl_96_wellplate_200ul_flat"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_spl_96_wellplate_200ul_round(name: str = "spl_96_wellplate_200ul_round") -> Plate: + """SPL Cell Culture Plate 96 Well Flat Bottom""" + defn = _get_custom_defs()["spl_96_wellplate_200ul_round"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ssibio_96_tuberack_200ul(name: str = "ssibio_96_tuberack_200ul") -> TubeRack: + """SSIbio 96 Tube Rack with NEST 0.2 mL""" + defn = _get_custom_defs()["ssibio_96_tuberack_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starlab10ml24wellplate_24_wellplate_10000ul(name: str = "starlab10ml24wellplate_24_wellplate_10000ul") -> Plate: + """StarLab 10 Ml 24 Well Plate 24 Well Plate 10000 µL""" + defn = _get_custom_defs()["starlab10ml24wellplate_24_wellplate_10000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starlab_12_reservoir_22000ul(name: str = "starlab_12_reservoir_22000ul") -> Plate: + """Starlab 12 Reservoir 22000 µL""" + defn = _get_custom_defs()["starlab_12_reservoir_22000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starlab_1_reservoir_240000ul(name: str = "starlab_1_reservoir_240000ul") -> Plate: + """Starlab 1 Reservoir 240000 µL""" + defn = _get_custom_defs()["starlab_1_reservoir_240000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starlab_96_wellplate_2200ul(name: str = "starlab_96_wellplate_2200ul") -> Plate: + """Starlab 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["starlab_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starstedt_96_wellplate_200ul(name: str = "starstedt_96_wellplate_200ul") -> Plate: + """Starstedt 96 Well Plate 200 µL""" + defn = _get_custom_defs()["starstedt_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_stellarscientific_96_cluster_tubes_1200ul(name: str = "stellarscientific_96_cluster_tubes_1200ul") -> Plate: + """Stellar Scientific 96 Cluster Tubes 1200uL""" + defn = _get_custom_defs()["stellarscientific_96_cluster_tubes_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_stellarscientific_96_wellplate_100ul(name: str = "stellarscientific_96_wellplate_100ul") -> Plate: + """Stellar Scientific 96 Well Plate 100 µL""" + defn = _get_custom_defs()["stellarscientific_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_striptubes_96_wellplate_1000ul(name: str = "striptubes_96_wellplate_1000ul") -> Plate: + """Striptubes 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["striptubes_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tecan_96_wellplate_1300ul(name: str = "tecan_96_wellplate_1300ul") -> Plate: + """Tecan 96 Well Plate 1300 µL""" + defn = _get_custom_defs()["tecan_96_wellplate_1300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tecan_elisa_96well_hs(name: str = "tecan_elisa_96well_hs") -> Plate: + """Tecan ELISA 96-well on Heater Shaker""" + defn = _get_custom_defs()["tecan_elisa_96well_hs"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_teleshake1536_64_slides_100ul(name: str = "teleshake1536_64_slides_100ul") -> Plate: + """Teleshake 1536 64 slides 100ul (fallback: corning 384 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_384_wellplate_112ul_flat", name=name)) + + +@resource() +def lab_tempassure_96_strips_200ul_pcr(name: str = "tempassure_96_strips_200ul_pcr") -> Plate: + """Tempassure 96 strip tubes 200ul""" + defn = _get_custom_defs()["tempassure_96_strips_200ul_pcr"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_test_1_reservoir_300000ul(name: str = "test_1_reservoir_300000ul") -> Plate: + """Test 1 Reservoir 300000 µL""" + defn = _get_custom_defs()["test_1_reservoir_300000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_1_reservoir_300ul(name: str = "thermo_1_reservoir_300ul") -> Plate: + """Thermo 1 Reservoir 300 µL""" + defn = _get_custom_defs()["thermo_1_reservoir_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_384_wellplate_50ul(name: str = "thermo_384_wellplate_50ul") -> Plate: + """Thermo 384 Well Plate 50 µL""" + defn = _get_custom_defs()["thermo_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_aluminumblock_200ul(name: str = "thermo_96_aluminumblock_200ul") -> TubeRack: + """Thermo 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["thermo_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_wellplate_200ul(name: str = "thermo_96_wellplate_200ul") -> Plate: + """Thermo 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermo_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_wellplate_400ul(name: str = "thermo_96_wellplate_400ul") -> Plate: + """Thermo Maxisorb""" + defn = _get_custom_defs()["thermo_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_wellplate_800ul(name: str = "thermo_96_wellplate_800ul") -> Plate: + """Abgene™ 96 Well 0.8mL Thermo Scientific""" + defn = _get_custom_defs()["thermo_96_wellplate_800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_wellplate_ab_0800_200ul(name: str = "thermo_96_wellplate_ab_0800_200ul") -> Plate: + """Thermo-Fast 96 Well Plate AB-0800 200 µL""" + defn = _get_custom_defs()["thermo_96_wellplate_ab_0800_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_ab_0600_96_aluminumblock_300ul(name: str = "thermo_ab_0600_96_aluminumblock_300ul") -> TubeRack: + """thermo_ab_0600_96_aluminumblock_300ul""" + defn = _get_custom_defs()["thermo_ab_0600_96_aluminumblock_300ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_non_skirted_96_plate_300ul(name: str = "thermo_non_skirted_96_plate_300ul") -> Plate: + """Thermo Scientific Non Skirted 96 Well Plate""" + defn = _get_custom_defs()["thermo_non_skirted_96_plate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofast_96_wellplate_200ul(name: str = "thermofast_96_wellplate_200ul") -> Plate: + """Thermo-Fast 96, Skirted PCR Plate""" + defn = _get_custom_defs()["thermofast_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofast_96well_semiskirted_eppendorf_cooler(name: str = "thermofast_96well_semiskirted_eppendorf_cooler") -> Plate: + """Thermofisher PCR Plate, 96-well, semi-skirted, flat deck""" + defn = _get_custom_defs()["thermofast_96well_semiskirted_eppendorf_cooler"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_384_wellplate_50ul(name: str = "thermofisher_384_wellplate_50ul") -> Plate: + """Thermofisher 384 Well Plate 50 µL""" + defn = _get_custom_defs()["thermofisher_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_40_tuberack_2000ul(name: str = "thermofisher_40_tuberack_2000ul") -> TubeRack: + """Thermofisher 40 Tube Rack with Thermofisher 2 mL""" + defn = _get_custom_defs()["thermofisher_40_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_95040450_96_deepwell_2ml(name: str = "thermofisher_95040450_96_deepwell_2ml") -> Plate: + """ThermoFisher 96 Deep Well Plate 2 mL""" + defn = _get_custom_defs()["thermofisher_95040450_96_deepwell_2ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_midi_storage_plate_800ul(name: str = "thermofisher_96_midi_storage_plate_800ul") -> Plate: + """ThermoFisher 96 MIDI Storage Plate 800uL""" + defn = _get_custom_defs()["thermofisher_96_midi_storage_plate_800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_skirted_pcr_200ul(name: str = "thermofisher_96_skirted_pcr_200ul") -> Plate: + """ThermoFisher 96 Well Skirted PCR Plate 200uL""" + defn = _get_custom_defs()["thermofisher_96_skirted_pcr_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_well_pcrplate_200_aluminumblock(name: str = "thermofisher_96_well_pcrplate_200_aluminumblock") -> TubeRack: + """thermofisher 96-well PCR Plate semi-skirted 200 uL + aluminum block""" + defn = _get_custom_defs()["thermofisher_96_well_pcrplate_200_aluminumblock"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter(name: str = "thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter") -> Plate: + """thermofisher 96 well pcr plate semi-skirted 200 uL + plastic adapter""" + defn = _get_custom_defs()["thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_wellplate_1400ul(name: str = "thermofisher_96_wellplate_1400ul") -> Plate: + """Thermofisher 96 Well Plate 1400 µL""" + defn = _get_custom_defs()["thermofisher_96_wellplate_1400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_wellplate_200ul(name: str = "thermofisher_96_wellplate_200ul") -> Plate: + """Thermo Fisher 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermofisher_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_wellplate_300ul(name: str = "thermofisher_96_wellplate_300ul") -> Plate: + """Thermofisher 96 Well Plate 300 µL""" + defn = _get_custom_defs()["thermofisher_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_wellplate_500ul(name: str = "thermofisher_96_wellplate_500ul") -> Plate: + """Thermofisher 96 Well Plate 500 µL""" + defn = _get_custom_defs()["thermofisher_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_nunc_96_wellplate_2ml(name: str = "thermofisher_nunc_96_wellplate_2ml") -> Plate: + """Thermofisher Nunc 96 Well Plate 2mL""" + defn = _get_custom_defs()["thermofisher_nunc_96_wellplate_2ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherabgene_96_wellplate_2200ul(name: str = "thermofisherabgene_96_wellplate_2200ul") -> Plate: + """ThermoFisher Abgene 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["thermofisherabgene_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherarmadillo_96_wellplate_200ul(name: str = "thermofisherarmadillo_96_wellplate_200ul") -> Plate: + """Thermofisher Armadillo 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermofisherarmadillo_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherdwplate_96_wellplate_2000ul(name: str = "thermofisherdwplate_96_wellplate_2000ul") -> Plate: + """ThermoFisher DW Plate 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermofisherdwplate_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherkingfisherdeepwell_96_wellplate_2000ul(name: str = "thermofisherkingfisherdeepwell_96_wellplate_2000ul") -> Plate: + """Thermo-Fisher Kingfisher Deep Well 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermofisherkingfisherdeepwell_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishermicroamp_384_wellplate_50ul(name: str = "thermofishermicroamp_384_wellplate_50ul") -> Plate: + """ThermoFisher MicroAmp 384 Well Plate 50 µL""" + defn = _get_custom_defs()["thermofishermicroamp_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishermicroamp_96_aluminumblock_200ul(name: str = "thermofishermicroamp_96_aluminumblock_200ul") -> TubeRack: + """ThermoFisher Microamp 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["thermofishermicroamp_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishermicroamp_96_wellplate_200ul(name: str = "thermofishermicroamp_96_wellplate_200ul") -> Plate: + """ThermoFisher Microamp 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermofishermicroamp_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishermicroampfast96well0point1_96_wellplate_100ul(name: str = "thermofishermicroampfast96well0.1_96_wellplate_100ul") -> Plate: + """ThermoFisher MicroAmp Fast 96-well 0.1 96 Well Plate 100 µL""" + defn = _get_custom_defs()["thermofishermicroampfast96well0.1_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishernalgene_1_reservoir_300000ul(name: str = "thermofishernalgene_1_reservoir_300000ul") -> Plate: + """ThermoFisher Nalgene 1 Reservoir 300000 µL""" + defn = _get_custom_defs()["thermofishernalgene_1_reservoir_300000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishernunc_96_aluminumblock_450ul(name: str = "thermofishernunc_96_aluminumblock_450ul") -> TubeRack: + """ThermoFisher Nunc 96 Aluminum Block 450 µL""" + defn = _get_custom_defs()["thermofishernunc_96_aluminumblock_450ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishernunc_96_wellplate_2000ul(name: str = "thermofishernunc_96_wellplate_2000ul") -> Plate: + """ThermoFisher Nunc 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermofishernunc_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishernunc_96_wellplate_450ul(name: str = "thermofishernunc_96_wellplate_450ul") -> Plate: + """ThermoFisher Nunc 96 Well Plate 450 µL""" + defn = _get_custom_defs()["thermofishernunc_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherscientific_96_wellplate_450ul(name: str = "thermofisherscientific_96_wellplate_450ul") -> Plate: + """ThermoFisher Scientific 96 Well Plate 450 µL""" + defn = _get_custom_defs()["thermofisherscientific_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherscientific_96_wellplate_50ul(name: str = "thermofisherscientific_96_wellplate_50ul") -> Plate: + """Thermofisher Scientific 96 Well Plate 50 µL""" + defn = _get_custom_defs()["thermofisherscientific_96_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherscientificdeepwell_96_wellplate_2000ul(name: str = "thermofisherscientificdeepwell_96_wellplate_2000ul") -> Plate: + """Thermofisher Scientific Deepwell 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermofisherscientificdeepwell_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherscientificelutiontubes_96_wellplate_650ul(name: str = "thermofisherscientificelutiontubes_96_wellplate_650ul") -> Plate: + """Thermo Fisher Scientific Elution Tubes 96 Well Plate 650 µL""" + defn = _get_custom_defs()["thermofisherscientificelutiontubes_96_wellplate_650ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientific_96_wellplate_200ul(name: str = "thermoscientific_96_wellplate_200ul") -> Plate: + """Thermo Scientific 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermoscientific_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientific_96_wellplate_300ul(name: str = "thermoscientific_96_wellplate_300ul") -> Plate: + """Thermo Scientific 96 wellplate 300ul #AB0600""" + defn = _get_custom_defs()["thermoscientific_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientific_96_wellplate_v_450(name: str = "thermoscientific_96_wellplate_v_450") -> Plate: + """Thermo Scientific 96 Well Plate V Bottom 450 uL""" + defn = _get_custom_defs()["thermoscientific_96_wellplate_v_450"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientificmatrix_96_tuberack_1000ul(name: str = "thermoscientificmatrix_96_tuberack_1000ul") -> TubeRack: + """ThermoScientific Matrix 96 Tube Rack with custom 1 mL""" + defn = _get_custom_defs()["thermoscientificmatrix_96_tuberack_1000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientificnunc_96_wellplate_2000ul(name: str = "thermoscientificnunc_96_wellplate_2000ul") -> Plate: + """Thermo Scientific Nunc 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermoscientificnunc_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tiprack_200ul_extended(name: str = "tiprack_200ul_extended") -> TipRack: + """Tiprack 200ul extended (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_tpp_96well_plate_340ul(name: str = "tpp_96well_plate_340ul") -> Plate: + """TPP Tissue culture testplate 96F 92096""" + defn = _get_custom_defs()["tpp_96well_plate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tuberack_15_tuberack_5000ul(name: str = "tuberack_15_tuberack_5000ul") -> TubeRack: + """Tube Rack 15 Tube Rack 5000 µL""" + defn = _get_custom_defs()["tuberack_15_tuberack_5000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tuberack_24_wellplate_1500ul(name: str = "tuberack_24_wellplate_1500ul") -> Plate: + """Tuberack 24 Well Plate 1500 µL""" + defn = _get_custom_defs()["tuberack_24_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_twdtradewinds_24_tuberack_4000ul(name: str = "twdtradewinds_24_tuberack_4000ul") -> TubeRack: + """TWD_Tradewinds 24 Tube Rack with 4mL_Scintillation_Vials 4 mL""" + defn = _get_custom_defs()["twdtradewinds_24_tuberack_4000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_twintec_pcr_plate(name: str = "twintec_pcr_plate") -> Plate: + """Eppendorf 96 Well Plate 150 µL""" + defn = _get_custom_defs()["twintec_pcr_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_two_spacing(name: str = "two_spacing") -> Plate: + """Two Spacing""" + defn = _get_custom_defs()["two_spacing"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_udiplate_96_wellplate_200ul(name: str = "udiplate_96_wellplate_200ul") -> Plate: + """UDIplate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["udiplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usa_96_wellplate_200ul(name: str = "usa_96_wellplate_200ul") -> Plate: + """USA 96 Well Plate 200 µL""" + defn = _get_custom_defs()["usa_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usalowbind_24_aluminumblock_2000ul(name: str = "usalowbind_24_aluminumblock_2000ul") -> TubeRack: + """USA Low Bind 24 Aluminum Block 2000 µL""" + defn = _get_custom_defs()["usalowbind_24_aluminumblock_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific8strip_96_aluminumblock_300ul(name: str = "usascientific8strip_96_aluminumblock_300ul") -> TubeRack: + """USA Scientific 8-STrip 96 Aluminum Block 300 µL""" + defn = _get_custom_defs()["usascientific8strip_96_aluminumblock_300ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_12_reservoir_22ml(name: str = "usascientific_12_reservoir_22ml") -> Plate: + """USA Scientific 12 Well Reservoir 22 mL""" + return cast(Plate, load_shared_opentrons_resource("usascientific_12_reservoir_22ml", name=name)) + + +@resource() +def lab_usascientific_96_aluminumblock_200ul(name: str = "usascientific_96_aluminumblock_200ul") -> TubeRack: + """USA Scientific 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["usascientific_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_96_tiprack_200ul(name: str = "usascientific_96_tiprack_200ul") -> TipRack: + """USA Scientific 96 Tip Rack 200 µL""" + defn = _get_custom_defs()["usascientific_96_tiprack_200ul"] + return cast(TipRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_96_wellplate_100ul(name: str = "usascientific_96_wellplate_100ul") -> Plate: + """USA Scientific 96 Well Plate 100 µL""" + defn = _get_custom_defs()["usascientific_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_96_wellplate_2point4ml_deep(name: str = "usascientific_96_wellplate_2.4ml_deep") -> Plate: + """USA Scientific 96 Deep Well Plate 2.4 mL""" + return cast(Plate, load_shared_opentrons_resource("usascientific_96_wellplate_2.4ml_deep", name=name)) + + +@resource() +def lab_usascientific_96_wellplate_200ul(name: str = "usascientific_96_wellplate_200ul") -> Plate: + """USA Scientific 96 Well Plate 200 µL""" + defn = _get_custom_defs()["usascientific_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_96_wellplate_2ml_deep(name: str = "usascientific_96_wellplate_2ml_deep") -> Plate: + """USA Scientific 96 Deep Well Plate 2.0 mL""" + defn = _get_custom_defs()["usascientific_96_wellplate_2ml_deep"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usastrips_96_aluminumblock_200ul(name: str = "usastrips_96_aluminumblock_200ul") -> TubeRack: + """USA Strips 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["usastrips_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usastrips_96_supportbase_200ul(name: str = "usastrips_96_supportbase_200ul") -> Plate: + """USA Strips 96 Support Base 200 uL""" + defn = _get_custom_defs()["usastrips_96_supportbase_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vial_rack_8x20ml_vials(name: str = "vial_rack_8x20ml_vials") -> TubeRack: + """8x20mL Vial Rack""" + defn = _get_custom_defs()["vial_rack_8x20ml_vials"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_visby(name: str = "visby") -> Plate: + """visby""" + defn = _get_custom_defs()["visby"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vpscientific_48_wellplate_2000ul(name: str = "vpscientific_48_wellplate_2000ul") -> Plate: + """V&P Scientific 48 Well Plate 2000 µL""" + defn = _get_custom_defs()["vpscientific_48_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vpscientific_8_tiprack_10ul(name: str = "vpscientific_8_tiprack_10ul") -> TipRack: + """VP Scientific 8 tiprack 10ul (fallback: opentrons 10ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_10ul", name=name)) + + +@resource() +def lab_vwr_15_tuberack_5000ul(name: str = "vwr_15_tuberack_5000ul") -> TubeRack: + """VWR 15 Tube Rack 5000 µL""" + defn = _get_custom_defs()["vwr_15_tuberack_5000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_15_tuberack_selfstanding_5ml_conical(name: str = "vwr_15_tuberack_selfstanding_5ml_conical") -> TubeRack: + """VWR 3x5 self standing 5ml tuberack""" + defn = _get_custom_defs()["vwr_15_tuberack_selfstanding_5ml_conical"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_24_tuberack_1point5ml(name: str = "vwr_24_tuberack_1.5ml") -> TubeRack: + """VWR 24 Tube Rack 1.5mL""" + defn = _get_custom_defs()["vwr_24_tuberack_1.5ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_96_aluminumblock_200ul(name: str = "vwr_96_aluminumblock_200ul") -> TubeRack: + """VWR 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["vwr_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_96_wellplate_1000ul(name: str = "vwr_96_wellplate_1000ul") -> Plate: + """VWR 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["vwr_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_96well_pcr_plate_200ul(name: str = "vwr_96well_pcr_plate_200ul") -> Plate: + """VWR 96 well PCR plate 200 uL""" + defn = _get_custom_defs()["vwr_96well_pcr_plate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_square_96_microplate_2000ul(name: str = "vwr_square_96_microplate_2000ul") -> Plate: + """VWR 96 Square Micro Plate 2000 µL""" + defn = _get_custom_defs()["vwr_square_96_microplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwrpcr_96_wellplate_200ul(name: str = "vwrpcr_96_wellplate_200ul") -> Plate: + """VWR Pcr 96 Well Plate 200 µL""" + defn = _get_custom_defs()["vwrpcr_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_wafer_6x4_grid(name: str = "wafer_6x4_grid") -> Plate: + """Custom Wafer 4x6 Plate""" + defn = _get_custom_defs()["wafer_6x4_grid"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_waters_96_wellplate_2ml(name: str = "waters_96_wellplate_2ml") -> Plate: + """Waters 96 Well Plate 2 mL""" + defn = _get_custom_defs()["waters_96_wellplate_2ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_white_96well_plate_340ul(name: str = "white_96well_plate_340ul") -> Plate: + """NUNC white 96F 236105""" + defn = _get_custom_defs()["white_96well_plate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_x_capper_rack_48_well_0point5ml(name: str = "x_capper_rack_48_well_0.5ml") -> Plate: + """X Capper 48 Rack 0.5mL""" + defn = _get_custom_defs()["x_capper_rack_48_well_0.5ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ydp962_2sc_96_wellplate_2200ul(name: str = "ydp962_2sc_96_wellplate_2200ul") -> Plate: + """YDP-96-2.2-SC 96_wellplate_2200ul""" + defn = _get_custom_defs()["ydp962_2sc_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_zinsser_96_wellplate_1898ul(name: str = "zinsser_96_wellplate_1898ul") -> Plate: + """Zinsser 96 Well Plate 1898 µL""" + defn = _get_custom_defs()["zinsser_96_wellplate_1898ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_zymo_96_wellblock(name: str = "zymo_96_wellblock") -> Plate: + """Zymo 96-Well Block""" + defn = _get_custom_defs()["zymo_96_wellblock"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_zymo_elution_plate(name: str = "zymo_elution_plate") -> Plate: + """Zymo Elution Plate""" + defn = _get_custom_defs()["zymo_elution_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + diff --git a/unilabos/resources/opentrons_custom_labware_defs.json b/unilabos/resources/opentrons_custom_labware_defs.json new file mode 100644 index 00000000..67c78c3d --- /dev/null +++ b/unilabos/resources/opentrons_custom_labware_defs.json @@ -0,0 +1 @@ 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\ No newline at end of file From ee6307a568a5513f630f4e22a9250413d1d729fa Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 10 Feb 2026 22:45:51 +0800 Subject: [PATCH 02/43] registry update & workflow update --- unilabos/app/register.py | 8 ++-- .../device_comms/communication_devices.yaml | 3 ++ unilabos/registry/devices/camera.yaml | 3 ++ unilabos/registry/registry.py | 2 + unilabos/workflow/common.py | 43 ++++++++----------- unilabos/workflow/convert_from_json.py | 15 ++++--- 6 files changed, 41 insertions(+), 33 deletions(-) diff --git a/unilabos/app/register.py b/unilabos/app/register.py index 633df98f..5918b43a 100644 --- a/unilabos/app/register.py +++ b/unilabos/app/register.py @@ -38,9 +38,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[ response = http_client.resource_registry({"resources": list(devices_to_register.values())}) cost_time = time.time() - start_time if response.status_code in [200, 201]: - logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms") + logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s") else: - logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms") + logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s") except Exception as e: logger.error(f"[UniLab Register] 设备注册异常: {e}") @@ -51,9 +51,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[ response = http_client.resource_registry({"resources": list(resources_to_register.values())}) cost_time = time.time() - start_time if response.status_code in [200, 201]: - logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms") + logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s") else: - logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms") + logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s") except Exception as e: logger.error(f"[UniLab Register] 资源注册异常: {e}") diff --git a/unilabos/registry/device_comms/communication_devices.yaml b/unilabos/registry/device_comms/communication_devices.yaml index ea3f1b61..782889d4 100644 --- a/unilabos/registry/device_comms/communication_devices.yaml +++ b/unilabos/registry/device_comms/communication_devices.yaml @@ -96,10 +96,13 @@ serial: type: string port: type: string + registry_name: + type: string resource_tracker: type: object required: - device_id + - registry_name - port type: object data: diff --git a/unilabos/registry/devices/camera.yaml b/unilabos/registry/devices/camera.yaml index fe1aef28..c8b9d944 100644 --- a/unilabos/registry/devices/camera.yaml +++ b/unilabos/registry/devices/camera.yaml @@ -67,6 +67,9 @@ camera: period: default: 0.1 type: number + registry_name: + default: '' + type: string resource_tracker: type: object required: [] diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index df4758df..3d2c83e4 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -5,6 +5,7 @@ import sys import inspect import importlib import threading +import traceback from concurrent.futures import ThreadPoolExecutor, as_completed from pathlib import Path from typing import Any, Dict, List, Union, Tuple @@ -944,6 +945,7 @@ class Registry: if is_valid: results.append((file, data, device_ids)) except Exception as e: + traceback.print_exc() logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}") # 线程安全地更新注册表 diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 381cc667..3a1fee22 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -362,14 +362,16 @@ def build_protocol_graph( protocol_steps: List[Dict[str, Any]], workstation_name: str, action_resource_mapping: Optional[Dict[str, str]] = None, + labware_defs: Optional[List[Dict[str, Any]]] = None, ) -> WorkflowGraph: """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: reagent 信息字典,格式为 {name: {slot, well}, ...},用于 set_liquid 和 well 查找 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 + labware_defs: labware 定义列表,格式为 [{"name": "...", "slot": "1", "type": "lab_xxx"}, ...] """ G = WorkflowGraph() resource_last_writer = {} # reagent_name -> "node_id:port" @@ -377,18 +379,7 @@ def build_protocol_graph( protocol_steps = refactor_data(protocol_steps, action_resource_mapping) - # ==================== 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, - } - + # ==================== 第一步:按 slot 创建 create_resource 节点 ==================== # 创建 Group 节点,包含所有 create_resource 节点 group_node_id = str(uuid.uuid4()) G.add_node( @@ -404,29 +395,35 @@ def build_protocol_graph( param=None, ) - # 为每个唯一的 slot 创建 create_resource 节点 + # 直接使用 JSON 中的 labware 定义,每个 slot 一条记录,type 即 class_name res_index = 0 - for slot, info in slots_info.items(): - node_id = str(uuid.uuid4()) - res_id = info["res_id"] + for lw in (labware_defs or []): + slot = str(lw.get("slot", "")) + if not slot or slot in slot_to_create_resource: + continue # 跳过空 slot 或已处理的 slot + + lw_name = lw.get("name", f"slot {slot}") + lw_type = lw.get("type", CREATE_RESOURCE_DEFAULTS["class_name"]) + res_id = f"plate_slot_{slot}" res_index += 1 + node_id = str(uuid.uuid4()) 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}", + name=lw_name, + description=f"Create {lw_name}", lab_node_type="Labware", footer="create_resource-host_node", device_name=DEVICE_NAME_HOST, type=NODE_TYPE_DEFAULT, - parent_uuid=group_node_id, # 指向 Group 节点 - minimized=True, # 折叠显示 + parent_uuid=group_node_id, + minimized=True, param={ "res_id": res_id, "device_id": CREATE_RESOURCE_DEFAULTS["device_id"], - "class_name": CREATE_RESOURCE_DEFAULTS["class_name"], + "class_name": lw_type, "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot), "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0}, "slot_on_deck": slot, @@ -434,8 +431,6 @@ def build_protocol_graph( ) slot_to_create_resource[slot] = node_id - # create_resource 之间不需要 ready 连接 - # ==================== 第二步:为每个 reagent 创建 set_liquid_from_plate 节点 ==================== # 创建 Group 节点,包含所有 set_liquid_from_plate 节点 set_liquid_group_id = str(uuid.uuid4()) diff --git a/unilabos/workflow/convert_from_json.py b/unilabos/workflow/convert_from_json.py index ff749d72..acd0d71a 100644 --- a/unilabos/workflow/convert_from_json.py +++ b/unilabos/workflow/convert_from_json.py @@ -1,16 +1,20 @@ """ 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。 +将 workflow/reagent/labware 格式的 JSON 转换为统一工作流格式。 输入格式: { + "labware": [ + {"name": "...", "slot": "1", "type": "lab_xxx"}, + ... + ], "workflow": [ {"action": "...", "action_args": {...}}, ... ], "reagent": { - "reagent_name": {"slot": int, "well": [...], "labware": "..."}, + "reagent_name": {"slot": int, "well": [...]}, ... } } @@ -245,18 +249,18 @@ def convert_from_json( if "workflow" not in json_data or "reagent" not in json_data: 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": "..."}, ...}}' + '{"labware": [...], "workflow": [...], "reagent": {...}}' ) # 提取数据 workflow = json_data["workflow"] reagent = json_data["reagent"] + labware_defs = json_data.get("labware", []) # 新的 labware 定义列表 # 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 + # reagent 已经是字典格式,用于 set_liquid 和 well 数量查找 labware_info = reagent # 构建工作流图 @@ -265,6 +269,7 @@ def convert_from_json( protocol_steps=protocol_steps, workstation_name=workstation_name, action_resource_mapping=ACTION_RESOURCE_MAPPING, + labware_defs=labware_defs, ) # 校验句柄配置 From f9ed6cb3fb42de9cb7139e11a817a78604db0da6 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 11 Feb 2026 14:02:21 +0800 Subject: [PATCH 03/43] add test_resource_schema --- unilabos/registry/registry.py | 2 +- unilabos/resources/resource_tracker.py | 46 +++++++++++++++++++++++++ unilabos/ros/nodes/presets/host_node.py | 5 ++- 3 files changed, 51 insertions(+), 2 deletions(-) diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 1af0a4e3..844d4cf8 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -92,7 +92,7 @@ class Registry: test_resource_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_resource", {}) test_resource_schema = self._generate_unilab_json_command_schema( test_resource_method_info.get("args", []), - "auto-test_resource", + "test_resource", test_resource_method_info.get("return_annotation"), ) test_resource_schema["description"] = "用于测试物料、设备和样本。" diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 2054e2ab..e042ef80 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -38,24 +38,52 @@ class LabSample(TypedDict): extra: Dict[str, Any] +class ResourceDictPositionSizeType(TypedDict): + depth: float + width: float + height: float + + class ResourceDictPositionSize(BaseModel): depth: float = Field(description="Depth", default=0.0) # z width: float = Field(description="Width", default=0.0) # x height: float = Field(description="Height", default=0.0) # y +class ResourceDictPositionScaleType(TypedDict): + x: float + y: float + z: float + + class ResourceDictPositionScale(BaseModel): x: float = Field(description="x scale", default=0.0) y: float = Field(description="y scale", default=0.0) z: float = Field(description="z scale", default=0.0) +class ResourceDictPositionObjectType(TypedDict): + x: float + y: float + z: float + + class ResourceDictPositionObject(BaseModel): x: float = Field(description="X coordinate", default=0.0) y: float = Field(description="Y coordinate", default=0.0) z: float = Field(description="Z coordinate", default=0.0) +class ResourceDictPositionType(TypedDict): + size: ResourceDictPositionSizeType + scale: ResourceDictPositionScaleType + layout: Literal["2d", "x-y", "z-y", "x-z"] + position: ResourceDictPositionObjectType + position3d: ResourceDictPositionObjectType + rotation: ResourceDictPositionObjectType + cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] + + class ResourceDictPosition(BaseModel): size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize) scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale) @@ -74,6 +102,24 @@ class ResourceDictPosition(BaseModel): ) +class ResourceDictType(TypedDict): + id: str + uuid: str + name: str + description: str + resource_schema: Dict[str, Any] + model: Dict[str, Any] + icon: str + parent_uuid: Optional[str] + parent: Optional["ResourceDictType"] + type: Union[Literal["device"], str] + klass: str + pose: ResourceDictPositionType + config: Dict[str, Any] + data: Dict[str, Any] + extra: Dict[str, Any] + + # 统一的资源字典模型,parent 自动序列化为 parent_uuid,children 不序列化 class ResourceDict(BaseModel): id: str = Field(description="Resource ID") diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 63eda320..30c5d414 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -35,7 +35,7 @@ from unilabos.resources.resource_tracker import ( ResourceTreeInstance, RETURN_UNILABOS_SAMPLES, JSON_UNILABOS_PARAM, - PARAM_SAMPLE_UUIDS, + PARAM_SAMPLE_UUIDS, SampleUUIDsType, LabSample, ) from unilabos.ros.initialize_device import initialize_device_from_dict from unilabos.ros.msgs.message_converter import ( @@ -65,6 +65,7 @@ class DeviceActionStatus: class TestResourceReturn(TypedDict): resources: List[List[ResourceDict]] devices: List[Dict[str, Any]] + unilabos_samples: List[LabSample] class TestLatencyReturn(TypedDict): @@ -1582,6 +1583,7 @@ class HostNode(BaseROS2DeviceNode): def test_resource( self, + sample_uuids: SampleUUIDsType, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, @@ -1596,6 +1598,7 @@ class HostNode(BaseROS2DeviceNode): return { "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(), "devices": [device, *devices], + "unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()] } def handle_pong_response(self, pong_data: dict): From 8da6fdfd0bdf904637148242d686c15030bfbd49 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 11 Feb 2026 16:20:07 +0800 Subject: [PATCH 04/43] set liquid with tube --- .../liquid_handling/liquid_handler_abstract.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 3540e5e4..ec936175 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -21,7 +21,7 @@ from pylabrobot.resources import ( ResourceHolder, Lid, Trash, - Tip, + Tip, TubeRack, ) from typing_extensions import TypedDict @@ -696,10 +696,13 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 如果 liquid_names 和 volumes 为空,但 plate 和 well_names 不为空,直接返回 plate 和 wells。 """ - assert issubclass(plate.__class__, Plate), "plate must be a Plate" - plate: Plate = cast(Plate, cast(Resource, plate)) + assert issubclass(plate.__class__, Plate) or issubclass(plate.__class__, TubeRack) , f"plate must be a Plate, now: {type(plate)}" + plate: Union[Plate, TubeRack] # 根据 well_names 获取对应的 Well 对象 - wells = [plate.get_well(name) for name in well_names] + if issubclass(plate.__class__, Plate): + wells = [plate.get_well(name) for name in well_names] + elif issubclass(plate.__class__, TubeRack): + wells = [plate.get_tube(name) for name in well_names] res_volumes = [] # 如果 liquid_names 和 volumes 都为空,直接返回 From 45efbfcd12b33843d4deb2803960a16721c6657e Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 11 Feb 2026 17:33:26 +0800 Subject: [PATCH 05/43] fix deck & host_node --- .../devices/liquid_handling/prcxi/prcxi.py | 28 ++++++++++--------- unilabos/ros/nodes/base_device_node.py | 2 +- 2 files changed, 16 insertions(+), 14 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 5e21ad97..3f33c960 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -91,7 +91,7 @@ class PRCXI9300Deck(Deck): """ def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs): - super().__init__(name, size_x, size_y, size_z) + super().__init__(size_x, size_y, size_z, name) self.slots = [None] * 16 # PRCXI 9300/9320 最大有 16 个槽位 self.slot_locations = [Coordinate(0, 0, 0)] * 16 @@ -248,14 +248,15 @@ class PRCXI9300TipRack(TipRack): if ordered_items is not None: items = ordered_items elif ordering is not None: - # 检查 ordering 中的值是否是字符串(从 JSON 反序列化时的情况) - # 如果是字符串,说明这是位置名称,需要让 TipRack 自己创建 Tip 对象 - # 我们只传递位置信息(键),不传递值,使用 ordering 参数 - if ordering and isinstance(next(iter(ordering.values()), None), str): - # ordering 的值是字符串,只使用键(位置信息)创建新的 OrderedDict + # 检查 ordering 中的值类型来决定如何处理: + # - 字符串值(从 JSON 反序列化): 只用键创建 ordering_param + # - None 值(从第二次往返序列化): 同样只用键创建 ordering_param + # - 对象值(已经是实际的 Resource 对象): 直接作为 ordered_items 使用 + first_val = next(iter(ordering.values()), None) if ordering else None + if not ordering or first_val is None or isinstance(first_val, str): + # ordering 的值是字符串或 None,只使用键(位置信息)创建新的 OrderedDict # 传递 ordering 参数而不是 ordered_items,让 TipRack 自己创建 Tip 对象 items = None - # 使用 ordering 参数,只包含位置信息(键) ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: # ordering 的值已经是对象,可以直接使用 @@ -397,14 +398,15 @@ class PRCXI9300TubeRack(TubeRack): items_to_pass = ordered_items ordering_param = None elif ordering is not None: - # 检查 ordering 中的值是否是字符串(从 JSON 反序列化时的情况) - # 如果是字符串,说明这是位置名称,需要让 TubeRack 自己创建 Tube 对象 - # 我们只传递位置信息(键),不传递值,使用 ordering 参数 - if ordering and isinstance(next(iter(ordering.values()), None), str): - # ordering 的值是字符串,只使用键(位置信息)创建新的 OrderedDict + # 检查 ordering 中的值类型来决定如何处理: + # - 字符串值(从 JSON 反序列化): 只用键创建 ordering_param + # - None 值(从第二次往返序列化): 同样只用键创建 ordering_param + # - 对象值(已经是实际的 Resource 对象): 直接作为 ordered_items 使用 + first_val = next(iter(ordering.values()), None) if ordering else None + if not ordering or first_val is None or isinstance(first_val, str): + # ordering 的值是字符串或 None,只使用键(位置信息)创建新的 OrderedDict # 传递 ordering 参数而不是 ordered_items,让 TubeRack 自己创建 Tube 对象 items_to_pass = None - # 使用 ordering 参数,只包含位置信息(键) ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: # ordering 的值已经是对象,可以直接使用 diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 2c9db0c7..eddb57a2 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -460,7 +460,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): } res.response = json.dumps(final_response) # 如果driver自己就有assign的方法,那就使用driver自己的assign方法 - if hasattr(self.driver_instance, "create_resource"): + if hasattr(self.driver_instance, "create_resource") and self.node_name != "host_node": create_resource_func = getattr(self.driver_instance, "create_resource") try: ret = create_resource_func( From 5c2da9b7931710acf5f8d2ff4e21c49ca97035c9 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 11 Feb 2026 23:44:53 +0800 Subject: [PATCH 06/43] fix possible crash --- unilabos/app/ws_client.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 111a6e71..f2235e94 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -1184,6 +1184,11 @@ class QueueProcessor: logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs") for job_info in queued_jobs: + # 快照可能已过期:在遍历过程中 end_job() 可能已将此 job 移至 READY, + # 此时不应再发送 busy/need_more,否则会覆盖已发出的 free=True 通知 + if job_info.status != JobStatus.QUEUE: + continue + message = { "action": "report_action_state", "data": { From b7d3e980a951bb263feffa294e24a2beec7e1b0e Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 11 Feb 2026 16:20:07 +0800 Subject: [PATCH 07/43] set liquid with tube --- .../liquid_handling/liquid_handler_abstract.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 3540e5e4..ec936175 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -21,7 +21,7 @@ from pylabrobot.resources import ( ResourceHolder, Lid, Trash, - Tip, + Tip, TubeRack, ) from typing_extensions import TypedDict @@ -696,10 +696,13 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 如果 liquid_names 和 volumes 为空,但 plate 和 well_names 不为空,直接返回 plate 和 wells。 """ - assert issubclass(plate.__class__, Plate), "plate must be a Plate" - plate: Plate = cast(Plate, cast(Resource, plate)) + assert issubclass(plate.__class__, Plate) or issubclass(plate.__class__, TubeRack) , f"plate must be a Plate, now: {type(plate)}" + plate: Union[Plate, TubeRack] # 根据 well_names 获取对应的 Well 对象 - wells = [plate.get_well(name) for name in well_names] + if issubclass(plate.__class__, Plate): + wells = [plate.get_well(name) for name in well_names] + elif issubclass(plate.__class__, TubeRack): + wells = [plate.get_tube(name) for name in well_names] res_volumes = [] # 如果 liquid_names 和 volumes 都为空,直接返回 From cfea27460a870486eb42aff8365b43113284a302 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 11 Feb 2026 17:33:26 +0800 Subject: [PATCH 08/43] fix deck & host_node --- .../devices/liquid_handling/prcxi/prcxi.py | 28 ++++++++++--------- unilabos/ros/nodes/base_device_node.py | 2 +- 2 files changed, 16 insertions(+), 14 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 5e21ad97..3f33c960 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -91,7 +91,7 @@ class PRCXI9300Deck(Deck): """ def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs): - super().__init__(name, size_x, size_y, size_z) + super().__init__(size_x, size_y, size_z, name) self.slots = [None] * 16 # PRCXI 9300/9320 最大有 16 个槽位 self.slot_locations = [Coordinate(0, 0, 0)] * 16 @@ -248,14 +248,15 @@ class PRCXI9300TipRack(TipRack): if ordered_items is not None: items = ordered_items elif ordering is not None: - # 检查 ordering 中的值是否是字符串(从 JSON 反序列化时的情况) - # 如果是字符串,说明这是位置名称,需要让 TipRack 自己创建 Tip 对象 - # 我们只传递位置信息(键),不传递值,使用 ordering 参数 - if ordering and isinstance(next(iter(ordering.values()), None), str): - # ordering 的值是字符串,只使用键(位置信息)创建新的 OrderedDict + # 检查 ordering 中的值类型来决定如何处理: + # - 字符串值(从 JSON 反序列化): 只用键创建 ordering_param + # - None 值(从第二次往返序列化): 同样只用键创建 ordering_param + # - 对象值(已经是实际的 Resource 对象): 直接作为 ordered_items 使用 + first_val = next(iter(ordering.values()), None) if ordering else None + if not ordering or first_val is None or isinstance(first_val, str): + # ordering 的值是字符串或 None,只使用键(位置信息)创建新的 OrderedDict # 传递 ordering 参数而不是 ordered_items,让 TipRack 自己创建 Tip 对象 items = None - # 使用 ordering 参数,只包含位置信息(键) ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: # ordering 的值已经是对象,可以直接使用 @@ -397,14 +398,15 @@ class PRCXI9300TubeRack(TubeRack): items_to_pass = ordered_items ordering_param = None elif ordering is not None: - # 检查 ordering 中的值是否是字符串(从 JSON 反序列化时的情况) - # 如果是字符串,说明这是位置名称,需要让 TubeRack 自己创建 Tube 对象 - # 我们只传递位置信息(键),不传递值,使用 ordering 参数 - if ordering and isinstance(next(iter(ordering.values()), None), str): - # ordering 的值是字符串,只使用键(位置信息)创建新的 OrderedDict + # 检查 ordering 中的值类型来决定如何处理: + # - 字符串值(从 JSON 反序列化): 只用键创建 ordering_param + # - None 值(从第二次往返序列化): 同样只用键创建 ordering_param + # - 对象值(已经是实际的 Resource 对象): 直接作为 ordered_items 使用 + first_val = next(iter(ordering.values()), None) if ordering else None + if not ordering or first_val is None or isinstance(first_val, str): + # ordering 的值是字符串或 None,只使用键(位置信息)创建新的 OrderedDict # 传递 ordering 参数而不是 ordered_items,让 TubeRack 自己创建 Tube 对象 items_to_pass = None - # 使用 ordering 参数,只包含位置信息(键) ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: # ordering 的值已经是对象,可以直接使用 diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 2c9db0c7..eddb57a2 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -460,7 +460,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): } res.response = json.dumps(final_response) # 如果driver自己就有assign的方法,那就使用driver自己的assign方法 - if hasattr(self.driver_instance, "create_resource"): + if hasattr(self.driver_instance, "create_resource") and self.node_name != "host_node": create_resource_func = getattr(self.driver_instance, "create_resource") try: ret = create_resource_func( From 07cf69089783eb8cd786f70927516ba0ceec030b Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 11 Feb 2026 23:44:53 +0800 Subject: [PATCH 09/43] fix possible crash --- unilabos/app/ws_client.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 111a6e71..f2235e94 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -1184,6 +1184,11 @@ class QueueProcessor: logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs") for job_info in queued_jobs: + # 快照可能已过期:在遍历过程中 end_job() 可能已将此 job 移至 READY, + # 此时不应再发送 busy/need_more,否则会覆盖已发出的 free=True 通知 + if job_info.status != JobStatus.QUEUE: + continue + message = { "action": "report_action_state", "data": { From 2e5fac26b3b8041d1da69ff5828163f53527b7e0 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Fri, 13 Feb 2026 13:46:27 +0800 Subject: [PATCH 10/43] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=8D=95=E6=9E=AA?= =?UTF-8?q?=E5=A4=B4=E7=9A=84=E5=A4=9A=E5=AF=B9=E5=A4=9A=E7=A7=BB=E6=B6=B2?= =?UTF-8?q?=E5=88=A4=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 304 +++++++++++++----- 1 file changed, 228 insertions(+), 76 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index ec936175..ef69f8dc 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1159,11 +1159,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): Number of mix cycles. If *None* (default) no mixing occurs regardless of mix_stage. """ - + num_sources = len(sources) + num_targets = len(targets) + len_asp_vols = len(asp_vols) + len_dis_vols = len(dis_vols) # 确保 use_channels 有默认值 if use_channels is None: # 默认使用设备所有通道(例如 8 通道移液站默认就是 0-7) - use_channels = list(range(self.channel_num)) if self.channel_num > 0 else [0] + use_channels = list(range(self.channel_num)) if self.channel_num == 8 else [0] + elif len(use_channels) == 8: + if self.channel_num != 8: + raise ValueError(f"if channel_num is 8, use_channels length must be 8, but got {len(use_channels)}") + if num_sources%8 != 0 or num_targets%8 != 0 or len_asp_vols%8 != 0 or len_dis_vols%8 != 0: + raise ValueError(f"if channel_num is 8, sources, targets, asp_vols, and dis_vols length must be divisible by 8, but got {num_sources}, {num_targets}, {len_asp_vols}, and {len_dis_vols}") if is_96_well: pass # This mode is not verified. @@ -1191,90 +1199,234 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if mix_times is not None: mix_times = int(mix_times) + # 设置tip racks + self.set_tiprack(tip_racks) + # 识别传输模式(mix_times 为 None 也应该能正常移液,只是不做 mix) num_sources = len(sources) num_targets = len(targets) + len_asp_vols = len(asp_vols) + len_dis_vols = len(dis_vols) - if num_sources == 1 and num_targets > 1: - # 模式1: 一对多 (1 source -> N targets) - await self._transfer_one_to_many( - sources[0], - targets, - tip_racks, - use_channels, - asp_vols, - dis_vols, - asp_flow_rates, - dis_flow_rates, - offsets, - touch_tip, - liquid_height, - blow_out_air_volume, - spread, - mix_stage, - mix_times, - mix_vol, - mix_rate, - mix_liquid_height, - delays, - ) - elif num_sources > 1 and num_targets == 1: - # 模式2: 多对一 (N sources -> 1 target) - await self._transfer_many_to_one( - sources, - targets[0], - tip_racks, - use_channels, - asp_vols, - dis_vols, - asp_flow_rates, - dis_flow_rates, - offsets, - touch_tip, - liquid_height, - blow_out_air_volume, - spread, - mix_stage, - mix_times, - mix_vol, - mix_rate, - mix_liquid_height, - delays, - ) - elif num_sources == num_targets: - # 模式3: 一对一 (N sources -> N targets) - await self._transfer_one_to_one( - sources, - targets, - tip_racks, - use_channels, - asp_vols, - dis_vols, - asp_flow_rates, - dis_flow_rates, - offsets, - touch_tip, - liquid_height, - blow_out_air_volume, - spread, - mix_stage, - mix_times, - mix_vol, - mix_rate, - mix_liquid_height, - delays, - ) - else: - raise ValueError( - f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. " - "Supported modes: 1->N, N->1, or N->N." - ) + if num_targets != 1 and num_sources != 1: + if len_asp_vols != num_sources and len_asp_vols != num_targets: + raise ValueError(f"asp_vols length must be equal to sources or targets length, but got {len_asp_vols} and {num_sources} and {num_targets}") + if len_dis_vols != num_sources and len_dis_vols != num_targets: + raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}") + + if len(use_channels) == 1: + max_len = max(num_sources, num_targets) + for i in range(max_len): + + # 辅助函数:安全地从列表中获取元素,如果列表为空则返回None + def safe_get(lst, idx, default=None): + return [lst[idx]] if lst else default + + # 动态构建参数字典,只传递实际提供的参数 + kwargs = { + 'sources': [sources[i%num_sources]], + 'targets': [targets[i%num_targets]], + 'tip_racks': tip_racks, + 'use_channels': use_channels, + 'asp_vols': [asp_vols[i%len_asp_vols]], + 'dis_vols': [dis_vols[i%len_dis_vols]], + } + + # 条件性添加可选参数 + if asp_flow_rates is not None: + kwargs['asp_flow_rates'] = [asp_flow_rates[i%len_asp_vols]] + if dis_flow_rates is not None: + kwargs['dis_flow_rates'] = [dis_flow_rates[i%len_dis_vols]] + if offsets is not None: + kwargs['offsets'] = safe_get(offsets, i) + if touch_tip is not None: + kwargs['touch_tip'] = touch_tip if touch_tip else False + if liquid_height is not None: + kwargs['liquid_height'] = safe_get(liquid_height, i) + if blow_out_air_volume is not None: + kwargs['blow_out_air_volume'] = safe_get(blow_out_air_volume, i) + if spread is not None: + kwargs['spread'] = spread + if mix_stage is not None: + kwargs['mix_stage'] = safe_get(mix_stage, i) + if mix_times is not None: + kwargs['mix_times'] = safe_get(mix_times, i) + if mix_vol is not None: + kwargs['mix_vol'] = safe_get(mix_vol, i) + if mix_rate is not None: + kwargs['mix_rate'] = safe_get(mix_rate, i) + if mix_liquid_height is not None: + kwargs['mix_liquid_height'] = safe_get(mix_liquid_height, i) + if delays is not None: + kwargs['delays'] = safe_get(delays, i) + + await self._transfer_base_method(**kwargs) + + + + # if num_sources == 1 and num_targets > 1: + # # 模式1: 一对多 (1 source -> N targets) + # await self._transfer_one_to_many( + # sources, + # targets, + # tip_racks, + # use_channels, + # asp_vols, + # dis_vols, + # asp_flow_rates, + # dis_flow_rates, + # offsets, + # touch_tip, + # liquid_height, + # blow_out_air_volume, + # spread, + # mix_stage, + # mix_times, + # mix_vol, + # mix_rate, + # mix_liquid_height, + # delays, + # ) + # elif num_sources > 1 and num_targets == 1: + # # 模式2: 多对一 (N sources -> 1 target) + # await self._transfer_many_to_one( + # sources, + # targets[0], + # tip_racks, + # use_channels, + # asp_vols, + # dis_vols, + # asp_flow_rates, + # dis_flow_rates, + # offsets, + # touch_tip, + # liquid_height, + # blow_out_air_volume, + # spread, + # mix_stage, + # mix_times, + # mix_vol, + # mix_rate, + # mix_liquid_height, + # delays, + # ) + # elif num_sources == num_targets: + # # 模式3: 一对一 (N sources -> N targets) + # await self._transfer_one_to_one( + # sources, + # targets, + # tip_racks, + # use_channels, + # asp_vols, + # dis_vols, + # asp_flow_rates, + # dis_flow_rates, + # offsets, + # touch_tip, + # liquid_height, + # blow_out_air_volume, + # spread, + # mix_stage, + # mix_times, + # mix_vol, + # mix_rate, + # mix_liquid_height, + # delays, + # ) + # else: + # raise ValueError( + # f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. " + # "Supported modes: 1->N, N->1, or N->N." + # ) return TransferLiquidReturn( sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(), # type: ignore targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(), # type: ignore ) + async def _transfer_base_method( + self, + sources: Sequence[Container], + targets: Sequence[Container], + tip_racks: Sequence[TipRack], + use_channels: List[int], + asp_vols: List[float], + dis_vols: List[float], + **kwargs + ): + # 从kwargs中提取参数,提供默认值 + asp_flow_rates = kwargs.get('asp_flow_rates') + dis_flow_rates = kwargs.get('dis_flow_rates') + offsets = kwargs.get('offsets') + touch_tip = kwargs.get('touch_tip', False) + liquid_height = kwargs.get('liquid_height') + blow_out_air_volume = kwargs.get('blow_out_air_volume') + spread = kwargs.get('spread', 'wide') + mix_stage = kwargs.get('mix_stage') + mix_times = kwargs.get('mix_times') + mix_vol = kwargs.get('mix_vol') + mix_rate = kwargs.get('mix_rate') + mix_liquid_height = kwargs.get('mix_liquid_height') + delays = kwargs.get('delays') + + tip = [] + tip.extend(next(self.current_tip)) + await self.pick_up_tips(tip) + + if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: + await self.mix( + targets=[targets[0]], + mix_time=mix_times, + mix_vol=mix_vol, + offsets=offsets if offsets else None, + height_to_bottom=mix_liquid_height if mix_liquid_height else None, + mix_rate=mix_rate if mix_rate else None, + use_channels=use_channels, + ) + + await self.aspirate( + resources=[sources[0]], + vols=[asp_vols[0]], + use_channels=use_channels, + flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None, + offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, + liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, + blow_out_air_volume=( + [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None + ), + spread=spread, + ) + if delays is not None: + await self.custom_delay(seconds=delays[0]) + await self.dispense( + resources=[targets[0]], + vols=[dis_vols[0]], + use_channels=use_channels, + flow_rates=[dis_flow_rates[0]] if dis_flow_rates and len(dis_flow_rates) > 0 else None, + offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, + blow_out_air_volume=( + [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None + ), + liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, + spread=spread, + ) + if delays is not None and len(delays) > 1: + await self.custom_delay(seconds=delays[1]) + if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: + await self.mix( + targets=[targets[0]], + mix_time=mix_times, + mix_vol=mix_vol, + offsets=offsets if offsets else None, + height_to_bottom=mix_liquid_height if mix_liquid_height else None, + mix_rate=mix_rate if mix_rate else None, + use_channels=use_channels, + ) + if delays is not None and len(delays) > 1: + await self.custom_delay(seconds=delays[0]) + await self.touch_tip(targets[0]) + await self.discard_tips(use_channels=use_channels) + async def _transfer_one_to_one( self, sources: Sequence[Container], From 0dc273f3664e96ebcf37267e9a82b6eaaedacde8 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Tue, 24 Feb 2026 19:37:11 +0800 Subject: [PATCH 11/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=B8=8A=E4=BC=A0?= =?UTF-8?q?=E6=96=B9=E5=BC=8F=EF=BC=8C=E6=B7=BB=E5=8A=A0tip=5Frack?= =?UTF-8?q?=E7=9A=84=E8=BF=9E=E7=BA=BF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../devices/liquid_handling/prcxi/prcxi.py | 7 ++- unilabos/workflow/common.py | 57 ++++++++++++------- 2 files changed, 42 insertions(+), 22 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 3f33c960..39279bf0 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -721,7 +721,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract): delays: Optional[List[int]] = None, none_keys: List[str] = [], ) -> TransferLiquidReturn: - return await super().transfer_liquid( + if self.step_mode: + await self.create_protocol(f"transfer_liquid{time.time()}") + res = await super().transfer_liquid( sources, targets, tip_racks, @@ -744,6 +746,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract): delays=delays, none_keys=none_keys, ) + if self.step_mode: + await self.run_protocol() + return res async def custom_delay(self, seconds=0, msg=None): return await super().custom_delay(seconds, msg) diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 3a1fee22..d9038250 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -119,11 +119,14 @@ DEVICE_NAME_DEFAULT = "PRCXI" # transfer_liquid, set_liquid_from_plate 等动 # 节点类型 NODE_TYPE_DEFAULT = "ILab" # 所有节点的默认类型 +CLASS_NAMES_MAPPING = { + "plate": "PRCXI_BioER_96_wellplate", + "tip_rack": "PRCXI_300ul_Tips", +} # 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) @@ -367,11 +370,10 @@ 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: reagent 信息字典,格式为 {name: {slot, well}, ...},用于 set_liquid 和 well 查找 + labware_info: labware 信息字典,格式为 {name: {slot, well, labware, ...}, ...} protocol_steps: 协议步骤列表 workstation_name: 工作站名称 action_resource_mapping: action 到 resource_name 的映射字典,可选 - labware_defs: labware 定义列表,格式为 [{"name": "...", "slot": "1", "type": "lab_xxx"}, ...] """ G = WorkflowGraph() resource_last_writer = {} # reagent_name -> "node_id:port" @@ -379,7 +381,19 @@ def build_protocol_graph( protocol_steps = refactor_data(protocol_steps, action_resource_mapping) - # ==================== 第一步:按 slot 创建 create_resource 节点 ==================== + # ==================== 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, + "labware_id": labware_id, + } + # 创建 Group 节点,包含所有 create_resource 节点 group_node_id = str(uuid.uuid4()) G.add_node( @@ -395,41 +409,41 @@ def build_protocol_graph( param=None, ) - # 直接使用 JSON 中的 labware 定义,每个 slot 一条记录,type 即 class_name - res_index = 0 - for lw in (labware_defs or []): - slot = str(lw.get("slot", "")) - if not slot or slot in slot_to_create_resource: - continue # 跳过空 slot 或已处理的 slot - - lw_name = lw.get("name", f"slot {slot}") - lw_type = lw.get("type", CREATE_RESOURCE_DEFAULTS["class_name"]) - res_id = f"plate_slot_{slot}" - - res_index += 1 + # 为每个唯一的 slot 创建 create_resource 节点 + for slot, info in slots_info.items(): node_id = str(uuid.uuid4()) + res_id = info["res_id"] + res_type_name = info["labware"] + if "tip" in res_type_name.lower(): + res_type = "tip_rack" + else: + res_type = "plate" + G.add_node( node_id, template_name="create_resource", resource_name="host_node", - name=lw_name, - description=f"Create {lw_name}", + name=f"{res_type} {slot}", + description=f"Create plate on slot {slot}", lab_node_type="Labware", footer="create_resource-host_node", device_name=DEVICE_NAME_HOST, type=NODE_TYPE_DEFAULT, - parent_uuid=group_node_id, - minimized=True, + parent_uuid=group_node_id, # 指向 Group 节点 + minimized=True, # 折叠显示 param={ "res_id": res_id, "device_id": CREATE_RESOURCE_DEFAULTS["device_id"], - "class_name": lw_type, + "class_name": CLASS_NAMES_MAPPING[res_type], "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot), "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0}, "slot_on_deck": slot, }, ) slot_to_create_resource[slot] = node_id + if res_type == "tip_rack": + resource_last_writer[info["labware_id"]] = f"{node_id}:labware" + # create_resource 之间不需要 ready 连接 # ==================== 第二步:为每个 reagent 创建 set_liquid_from_plate 节点 ==================== # 创建 Group 节点,包含所有 set_liquid_from_plate 节点 @@ -511,6 +525,7 @@ def build_protocol_graph( "reagent": "reagent", "solvent": "solvent", "compound": "compound", + "tip_racks": "tip_rack_identifier", } OUTPUT_PORT_MAPPING = { From e1074f06d2e6e6459419ffd595d8d06d729f05ab Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Thu, 26 Feb 2026 10:52:41 +0800 Subject: [PATCH 12/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=B7=A5=E4=BD=9C?= =?UTF-8?q?=E6=B5=81=E4=B8=8A=E4=BC=A0=E4=BB=A5=E5=8F=8Alh=E7=9A=84?= =?UTF-8?q?=E7=89=A9=E6=96=99=E5=88=9D=E6=AD=A5=E5=88=A4=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 10 +-- unilabos/resources/resource_tracker.py | 69 ++++++++++++++++++- unilabos/workflow/common.py | 13 ++-- 3 files changed, 76 insertions(+), 16 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index ef69f8dc..811563a1 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1208,11 +1208,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): len_asp_vols = len(asp_vols) len_dis_vols = len(dis_vols) - if num_targets != 1 and num_sources != 1: - if len_asp_vols != num_sources and len_asp_vols != num_targets: - raise ValueError(f"asp_vols length must be equal to sources or targets length, but got {len_asp_vols} and {num_sources} and {num_targets}") - if len_dis_vols != num_sources and len_dis_vols != num_targets: - raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}") + # if num_targets != 1 and num_sources != 1: + # if len_asp_vols != num_sources and len_asp_vols != num_targets: + # raise ValueError(f"asp_vols length must be equal to sources or targets length, but got {len_asp_vols} and {num_sources} and {num_targets}") + # if len_dis_vols != num_sources and len_dis_vols != num_targets: + # raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}") if len(use_channels) == 1: max_len = max(num_sources, num_targets) diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index e042ef80..be036126 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -572,6 +572,71 @@ class ResourceTreeSet(object): d["model"] = res.config.get("model", None) return d + # deserialize 会单独处理的元数据 key,不传给构造函数 + _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"} + # deserialize 自定义逻辑使用的 key(如 TipSpot 用 prototype_tip 构建 make_tip),需保留 + _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"} + + def remove_incompatible_params(plr_d: dict) -> None: + """递归移除 PLR 类不接受的参数,避免 deserialize 报错。 + - 移除构造函数不接受的参数(如 compute_height_from_volume、ordering、category) + - 对 TubeRack:将 ordering 转为 ordered_items + - 保留 deserialize 自定义逻辑需要的 key(如 prototype_tip) + """ + if "type" in plr_d: + sub_cls = find_subclass(plr_d["type"], PLRResource) + if sub_cls is not None: + spec = inspect.signature(sub_cls) + valid_params = set(spec.parameters.keys()) + # TubeRack 特殊处理:先转换 ordering,再参与后续过滤 + if "ordering" not in valid_params and "ordering" in plr_d: + ordering = plr_d.pop("ordering", None) + if sub_cls.__name__ == "TubeRack": + plr_d["ordered_items"] = ( + _ordering_to_ordered_items(plr_d, ordering) + if ordering + else {} + ) + # 移除构造函数不接受的参数(保留 META 和 deserialize 自定义逻辑需要的 key) + for key in list(plr_d.keys()): + if ( + key not in _META_KEYS + and key not in _DESERIALIZE_PRESERVED_KEYS + and key not in valid_params + ): + plr_d.pop(key, None) + for child in plr_d.get("children", []): + remove_incompatible_params(child) + + def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict: + """将 ordering 转为 ordered_items,从 children 构建 Tube 对象""" + from pylabrobot.resources import Tube, Coordinate + from pylabrobot.serializer import deserialize as plr_deserialize + + children = plr_d.get("children", []) + ordered_items = {} + for idx, (ident, child_name) in enumerate(ordering.items()): + child_data = children[idx] if idx < len(children) else None + if child_data is None: + continue + loc_data = child_data.get("location") + loc = ( + plr_deserialize(loc_data) + if loc_data + else Coordinate(0, 0, 0) + ) + tube = Tube( + name=child_data.get("name", child_name or ident), + size_x=child_data.get("size_x", 10), + size_y=child_data.get("size_y", 10), + size_z=child_data.get("size_z", 50), + max_volume=child_data.get("max_volume", 1000), + ) + tube.location = loc + ordered_items[ident] = tube + plr_d["children"] = [] # 已并入 ordered_items,避免重复反序列化 + return ordered_items + plr_resources = [] tracker = DeviceNodeResourceTracker() @@ -591,9 +656,7 @@ class ResourceTreeSet(object): 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}" ) - spec = inspect.signature(sub_cls) - if "category" not in spec.parameters: - plr_dict.pop("category", None) + remove_incompatible_params(plr_dict) plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True) from pylabrobot.resources import Coordinate from pylabrobot.serializer import deserialize diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index d9038250..c913d9c4 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -413,17 +413,14 @@ def build_protocol_graph( for slot, info in slots_info.items(): node_id = str(uuid.uuid4()) res_id = info["res_id"] - res_type_name = info["labware"] - if "tip" in res_type_name.lower(): - res_type = "tip_rack" - else: - res_type = "plate" + res_type_name = info["labware"].lower().replace(".", "point") + res_type_name = f"lab_{res_type_name}" G.add_node( node_id, template_name="create_resource", resource_name="host_node", - name=f"{res_type} {slot}", + name=f"{res_type_name}_slot{slot}", description=f"Create plate on slot {slot}", lab_node_type="Labware", footer="create_resource-host_node", @@ -434,14 +431,14 @@ def build_protocol_graph( param={ "res_id": res_id, "device_id": CREATE_RESOURCE_DEFAULTS["device_id"], - "class_name": CLASS_NAMES_MAPPING[res_type], + "class_name": res_type_name, "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot), "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0}, "slot_on_deck": slot, }, ) slot_to_create_resource[slot] = node_id - if res_type == "tip_rack": + if "tip" in res_type_name and "rack" in res_type_name: resource_last_writer[info["labware_id"]] = f"{node_id}:labware" # create_resource 之间不需要 ready 连接 From fcea02585af3c0c9e81a3228c861c9ebe92aa1ec Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 24 Feb 2026 22:09:29 +0800 Subject: [PATCH 13/43] no opcua installation on macos --- .conda/base/recipe.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.conda/base/recipe.yaml b/.conda/base/recipe.yaml index fd20564b..9b270a44 100644 --- a/.conda/base/recipe.yaml +++ b/.conda/base/recipe.yaml @@ -46,7 +46,9 @@ requirements: - jinja2 - requests - uvicorn - - opcua # [not osx] + - if: not osx + then: + - opcua - pyserial - pandas - pymodbus From 514373c1649a0849b47ddb80a5a6ac027119ad8c Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sat, 28 Feb 2026 09:53:31 +0800 Subject: [PATCH 14/43] v0.10.18 (cherry picked from commit 06b6f0d80449c364edd66b7269079d1ed738171a) --- .conda/base/recipe.yaml | 4 ++-- .conda/environment/recipe.yaml | 2 +- .conda/full/recipe.yaml | 4 ++-- recipes/msgs/recipe.yaml | 2 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/__init__.py | 2 +- unilabos_msgs/package.xml | 2 +- 8 files changed, 10 insertions(+), 10 deletions(-) diff --git a/.conda/base/recipe.yaml b/.conda/base/recipe.yaml index 9b270a44..cf908c9d 100644 --- a/.conda/base/recipe.yaml +++ b/.conda/base/recipe.yaml @@ -3,7 +3,7 @@ package: name: unilabos - version: 0.10.17 + version: 0.10.18 source: path: ../../unilabos @@ -54,7 +54,7 @@ requirements: - pymodbus - matplotlib - pylibftdi - - uni-lab::unilabos-env ==0.10.17 + - uni-lab::unilabos-env ==0.10.18 about: repository: https://github.com/deepmodeling/Uni-Lab-OS diff --git a/.conda/environment/recipe.yaml b/.conda/environment/recipe.yaml index 3f8df0f6..56ff44d4 100644 --- a/.conda/environment/recipe.yaml +++ b/.conda/environment/recipe.yaml @@ -2,7 +2,7 @@ package: name: unilabos-env - version: 0.10.17 + version: 0.10.18 build: noarch: generic diff --git a/.conda/full/recipe.yaml b/.conda/full/recipe.yaml index 037f5b4f..ff8b4824 100644 --- a/.conda/full/recipe.yaml +++ b/.conda/full/recipe.yaml @@ -3,7 +3,7 @@ package: name: unilabos-full - version: 0.10.17 + version: 0.10.18 build: noarch: generic @@ -11,7 +11,7 @@ build: requirements: run: # Base unilabos package (includes unilabos-env) - - uni-lab::unilabos ==0.10.17 + - uni-lab::unilabos ==0.10.18 # Documentation tools - sphinx - sphinx_rtd_theme diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index f78df2e9..a3c2d2bd 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.17 + version: 0.10.18 source: path: ../../unilabos_msgs target_directory: src diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index feca503a..aeb76a0c 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.17" + version: "0.10.18" source: path: ../.. diff --git a/setup.py b/setup.py index b3a00f1d..dc7bbc73 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.17', + version='0.10.18', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/__init__.py b/unilabos/__init__.py index 50ab2b04..63e3face 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.17" +__version__ = "0.10.18" diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index 68ad1328..6957f7bf 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.17 + 0.10.18 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln From e5015cd5e00bb8f86c331d4e71aaa5606e6ece26 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 2 Mar 2026 15:52:28 +0800 Subject: [PATCH 15/43] fix size change --- unilabos/resources/resource_tracker.py | 9 +++++++++ unilabos/ros/nodes/base_device_node.py | 10 +++++++++- 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index e042ef80..629375f3 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -411,6 +411,15 @@ class ResourceTreeSet(object): "tip_spot": "tip_spot", "tube": "tube", "bottle_carrier": "bottle_carrier", + "material_hole": "material_hole", + "container": "container", + "material_plate": "material_plate", + "electrode_sheet": "electrode_sheet", + "warehouse": "warehouse", + "magazine_holder": "magazine_holder", + "resource_group": "resource_group", + "trash": "trash", + "plate_adapter": "plate_adapter", } if source in replace_info: return replace_info[source] diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index eddb57a2..7ae16961 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -924,6 +924,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): parent_appended = True # 加载状态 + # noinspection PyProtectedMember + original_instance._size_x = plr_resource._size_x + # noinspection PyProtectedMember + original_instance._size_y = plr_resource._size_y + # noinspection PyProtectedMember + original_instance._size_z = plr_resource._size_z + # noinspection PyProtectedMember + original_instance._local_size_z = plr_resource._local_size_z original_instance.location = plr_resource.location original_instance.rotation = plr_resource.rotation original_instance.barcode = plr_resource.barcode @@ -984,7 +992,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): ].call_async( r ) # type: ignore - self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}") + self.lab_logger().trace(f"确认资源云端 Add 结果: {response.response}") results.append(result) elif action == "update": if tree_set is None: From a54e7c0f230567ab5993f1323ba28a6fae050ab3 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 2 Mar 2026 18:29:25 +0800 Subject: [PATCH 16/43] new workflow & prcxi slot removal --- .../devices/liquid_handling/prcxi/prcxi.py | 117 +- unilabos/resources/graphio.py | 2 +- unilabos/resources/resource_tracker.py | 2 +- unilabos/ros/nodes/base_device_node.py | 22 +- unilabos/ros/nodes/presets/host_node.py | 2 +- .../test/experiments/prcxi_9320_slim.json | 1220 ++++++----------- unilabos/workflow/common.py | 6 +- 7 files changed, 552 insertions(+), 819 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 3f33c960..c07a6de2 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -55,6 +55,7 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import ( TransferLiquidReturn, ) from unilabos.registry.placeholder_type import ResourceSlot +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode @@ -90,20 +91,103 @@ class PRCXI9300Deck(Deck): 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, **kwargs): + # T1-T16 默认位置 (4列×4行) + _DEFAULT_SITE_POSITIONS = [ + (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T1-T4 + (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T5-T8 + (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T9-T12 + (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T13-T16 + ] + _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0} + _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + + def __init__(self, name: str, size_x: float, size_y: float, size_z: float, + sites: Optional[List[Dict[str, Any]]] = None, **kwargs): super().__init__(size_x, size_y, size_z, name) - self.slots = [None] * 16 # PRCXI 9300/9320 最大有 16 个槽位 - self.slot_locations = [Coordinate(0, 0, 0)] * 16 + if sites is not None: + self.sites: List[Dict[str, Any]] = [dict(s) for s in sites] + else: + self.sites = [] + for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS): + self.sites.append({ + "label": f"T{i + 1}", + "visible": True, + "position": {"x": x, "y": y, "z": z}, + "size": dict(self._DEFAULT_SITE_SIZE), + "content_type": list(self._DEFAULT_CONTENT_TYPE), + }) + # _ordering: label -> None, 用于外部通过 list(keys()).index(site) 将 Tn 转换为 spot index + self._ordering = collections.OrderedDict( + (site["label"], None) for site in self.sites + ) + + def _get_site_location(self, idx: int) -> Coordinate: + pos = self.sites[idx]["position"] + return Coordinate(pos["x"], pos["y"], pos["z"]) + + def _get_site_resource(self, idx: int) -> Optional[Resource]: + site_loc = self._get_site_location(idx) + for child in self.children: + if child.location == site_loc: + return child + return None + + def assign_child_resource( + self, + resource: Resource, + location: Optional[Coordinate] = None, + reassign: bool = True, + spot: Optional[int] = None, + ): + idx = spot + if spot is not None: + idx = spot + else: + for i, site in enumerate(self.sites): + site_loc = self._get_site_location(i) + if site.get("label") == resource.name: + idx = i + break + if location is not None and site_loc == location: + idx = i + break + + if idx is None: + for i in range(len(self.sites)): + if self._get_site_resource(i) is None: + idx = i + break + + if idx is None: + raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'") + + if not reassign and self._get_site_resource(idx) is not None: + raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied") + + loc = self._get_site_location(idx) + super().assign_child_resource(resource, location=loc, reassign=reassign) def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None: - if self.slots[slot - 1] is not None and not reassign: - raise ValueError(f"Spot {slot} is already occupied") + self.assign_child_resource(resource, spot=slot - 1, reassign=reassign) - self.slots[slot - 1] = resource - super().assign_child_resource(resource, location=self.slot_locations[slot - 1]) + def serialize(self) -> dict: + data = super().serialize() + sites_out = [] + for i, site in enumerate(self.sites): + occupied = self._get_site_resource(i) + sites_out.append({ + "label": site["label"], + "visible": site.get("visible", True), + "occupied_by": occupied.name if occupied is not None else None, + "position": site["position"], + "size": site["size"], + "content_type": site["content_type"], + }) + data["sites"] = sites_out + return data -class PRCXI9300Container(Plate): +class PRCXI9300Container(Container): """PRCXI 9300 的专用 Container 类,继承自 Plate,用于槽位定位和未知模块。 该类定义了 PRCXI 9300 的工作台布局和槽位信息。 @@ -116,11 +200,10 @@ class PRCXI9300Container(Plate): size_y: float, size_z: float, category: str, - ordering: collections.OrderedDict, model: Optional[str] = None, **kwargs, ): - super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model) + super().__init__(name, size_x, size_y, size_z, category=category, model=model) self._unilabos_state = {} def load_state(self, state: Dict[str, Any]) -> None: @@ -567,14 +650,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract): tablets_info = [] count = 0 for child in deck.children: - if child.children: - 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"] - ) + # 如果放其他类型的物料,是不可以的 + if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state: + number = int(child.name.replace("T", "")) + tablets_info.append( + WorkTablets( + Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"] ) + ) if is_9320: print("当前设备是9320") # 始终初始化 step_mode 属性 diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 1b8f97f1..38f96968 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -76,7 +76,7 @@ def canonicalize_nodes_data( if sample_id: logger.error(f"{node}的sample_id参数已弃用,sample_id: {sample_id}") for k in list(node.keys()): - if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose"]: + if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra"]: v = node.pop(k) node["config"][k] = v if outer_host_node_id is not None: diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 629375f3..a3e3d3f2 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -616,7 +616,7 @@ class ResourceTreeSet(object): plr_resources.append(plr_resource) except Exception as e: - logger.error(f"转换 PLR 资源失败: {e}") + logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}") import traceback logger.error(f"堆栈: {traceback.format_exc()}") diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 7ae16961..6ff8cc57 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -915,8 +915,24 @@ class BaseROS2DeviceNode(Node, Generic[T]): else [] ) if target_site is not None and sites is not None and site_names is not None: - site_index = sites.index(original_instance) - site_name = site_names[site_index] + site_index = None + try: + # sites 可能是 Resource 列表或 dict 列表 (如 PRCXI9300Deck) + # 只有itemized_carrier在使用,准备弃用 + site_index = sites.index(original_instance) + except ValueError: + # dict 类型的 sites: 通过name匹配 + for idx, site in enumerate(sites): + if original_instance.name == site["occupied_by"]: + site_index = idx + break + elif (original_instance.location.x == site["position"]["x"] and original_instance.location.y == site["position"]["y"] and original_instance.location.z == site["position"]["z"]): + site_index = idx + break + if site_index is None: + site_name = None + else: + site_name = site_names[site_index] if site_name != target_site: parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params) if parent is not None: @@ -1018,7 +1034,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): ].call_async( r ) # type: ignore - self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}") + self.lab_logger().trace(f"确认资源云端 Update 结果: {response.response}") results.append(result) elif action == "remove": result = _handle_remove(resources_uuid) diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 30c5d414..4a868523 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -1195,7 +1195,7 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点") # 还需要加入到资源图中,暂不实现,考虑资源图新的获取方式 response.response = json.dumps(uuid_mapping) - self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}") + self.lab_logger().info(f"[Host Node-Resource] Resource tree update completed, success: {success}") async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response): """ diff --git a/unilabos/test/experiments/prcxi_9320_slim.json b/unilabos/test/experiments/prcxi_9320_slim.json index 85bc90cf..a3be4506 100644 --- a/unilabos/test/experiments/prcxi_9320_slim.json +++ b/unilabos/test/experiments/prcxi_9320_slim.json @@ -1,795 +1,429 @@ { - "nodes": [ - { - "id": "PRCXI", - "name": "PRCXI", - "type": "device", - "class": "liquid_handler.prcxi", - "parent": "", - "pose": { - "size": { - "width": 562, - "height": 394, - "depth": 0 + "nodes": [ + { + "id": "PRCXI", + "name": "PRCXI", + "type": "device", + "class": "liquid_handler.prcxi", + "parent": "", + "pose": { + "size": { + "width": 562, + "height": 394, + "depth": 0 + } + }, + "config": { + "axis": "Left", + "deck": { + "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck", + "_resource_child_name": "PRCXI_Deck" + }, + "host": "10.20.30.184", + "port": 9999, + "debug": true, + "setup": true, + "is_9320": true, + "timeout": 10, + "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", + "simulator": true, + "channel_num": 2 + }, + "data": { + "reset_ok": true + }, + "schema": {}, + "description": "", + "model": null, + "position": { + "x": 0, + "y": 240, + "z": 0 + } + }, + { + "id": "PRCXI_Deck", + "name": "PRCXI_Deck", + "children": [], + "parent": "PRCXI", + "type": "deck", + "class": "", + "position": { + "x": 10, + "y": 10, + "z": 0 + }, + "config": { + "type": "PRCXI9300Deck", + "size_x": 542, + "size_y": 374, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "barcode": null, + "preferred_pickup_location": null, + "sites": [ + { + "label": "T1", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T2", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T3", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T4", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T5", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T6", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T7", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T8", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T9", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T10", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T11", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T12", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T13", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T14", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T15", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "T16", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + } + ] + }, + "data": {} } - }, - "config": { - "axis": "Left", - "deck": { - "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck", - "_resource_child_name": "PRCXI_Deck" - }, - "host": "10.20.30.184", - "port": 9999, - "debug": true, - "setup": true, - "is_9320": true, - "timeout": 10, - "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", - "simulator": true, - "channel_num": 2 - }, - "data": { - "reset_ok": true - }, - "schema": {}, - "description": "", - "model": null, - "position": { - "x": 0, - "y": 240, - "z": 0 - } - }, - { - "id": "PRCXI_Deck", - "name": "PRCXI_Deck", - - "children": [], - "parent": "PRCXI", - "type": "deck", - "class": "", - "position": { - "x": 10, - "y": 10, - "z": 0 - }, - "config": { - "type": "PRCXI9300Deck", - "size_x": 542, - "size_y": 374, - "size_z": 0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "deck", - "barcode": null - }, - "data": {} - }, - { - "id": "T1", - "name": "T1", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 0, - "y": 288, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T1", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T2", - "name": "T2", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 138, - "y": 288, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T2", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T3", - "name": "T3", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 276, - "y": 288, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T3", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T4", - "name": "T4", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 414, - "y": 288, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T4", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T5", - "name": "T5", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 0, - "y": 192, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T5", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T6", - "name": "T6", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 138, - "y": 192, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T6", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T7", - "name": "T7", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 276, - "y": 192, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T7", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T8", - "name": "T8", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 414, - "y": 192, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T8", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T9", - "name": "T9", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 0, - "y": 96, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T9", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T10", - "name": "T10", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 138, - "y": 96, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T10", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T11", - "name": "T11", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 276, - "y": 96, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T11", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T12", - "name": "T12", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 414, - "y": 96, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T12", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T13", - "name": "T13", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T13", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T14", - "name": "T14", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 138, - "y": 0, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T14", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T15", - "name": "T15", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 276, - "y": 0, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T15", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - }, - { - "id": "T16", - "name": "T16", - "children": [], - "parent": "PRCXI_Deck", - "type": "plate", - "class": "", - "position": { - "x": 414, - "y": 0, - "z": 0 - }, - "config": { - "type": "PRCXI9300Container", - "size_x": 127, - "size_y": 85.5, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "plate", - "model": null, - "barcode": null, - "ordering": {}, - "sites": [ - { - "label": "T16", - "visible": true, - "position": { "x": 0, "y": 0, "z": 0 }, - "size": { "width": 128.0, "height": 86, "depth": 0 }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - } - ] - }, - "data": {} - } - ], - "edges": [] -} + ], + "edges": [] +} \ No newline at end of file diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 3a1fee22..3e2fec92 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -26,7 +26,7 @@ res_id: plate_slot_{slot} device_id: /PRCXI class_name: PRCXI_BioER_96_wellplate - parent: /PRCXI/PRCXI_Deck/T{slot} + parent: /PRCXI/PRCXI_Deck 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 @@ -122,7 +122,7 @@ NODE_TYPE_DEFAULT = "ILab" # 所有节点的默认类型 # 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 + "parent_template": "/PRCXI/PRCXI_Deck", "class_name": "PRCXI_BioER_96_wellplate", } @@ -424,7 +424,7 @@ def build_protocol_graph( "res_id": res_id, "device_id": CREATE_RESOURCE_DEFAULTS["device_id"], "class_name": lw_type, - "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot), + "parent": CREATE_RESOURCE_DEFAULTS["parent_template"], "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0}, "slot_on_deck": slot, }, From 01df4f1115804ab1df0978dfe09ee26b05fece79 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 10 Feb 2026 22:44:45 +0800 Subject: [PATCH 17/43] add resource --- .../registry/resources/opentrons/lab.yaml | 6884 +++++++++++++++++ unilabos/resources/lab_resources.py | 3681 +++++++++ .../opentrons_custom_labware_defs.json | 1 + 3 files changed, 10566 insertions(+) create mode 100644 unilabos/registry/resources/opentrons/lab.yaml create mode 100644 unilabos/resources/lab_resources.py create mode 100644 unilabos/resources/opentrons_custom_labware_defs.json diff --git a/unilabos/registry/resources/opentrons/lab.yaml b/unilabos/registry/resources/opentrons/lab.yaml new file mode 100644 index 00000000..8125a3d0 --- /dev/null +++ b/unilabos/registry/resources/opentrons/lab.yaml @@ -0,0 +1,6884 @@ +lab_100ul_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_100ul_384_wellplate_100ul + type: pylabrobot + description: 100ul 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate1: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate1 + type: pylabrobot + description: Plate 1 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate2: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate2 + type: pylabrobot + description: Plate 2 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate3: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate3 + type: pylabrobot + description: Plate 3 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate4: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate4 + type: pylabrobot + description: Plate 4 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate5: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate5 + type: pylabrobot + description: Plate 5 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate6: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate6 + type: pylabrobot + description: Plate 6 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate7: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate7 + type: pylabrobot + description: Plate 7 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate8: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate8 + type: pylabrobot + description: Plate 8 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_127x85_agar_plate9: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_127x85_agar_plate9 + type: pylabrobot + description: Plate 9 96 Well Plate 2.5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_3axygen96wellminitubesystemcorning_96_wellplate_1320ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_3axygen96wellminitubesystemcorning_96_wellplate_1320ul + type: pylabrobot + description: 3 Axygen 96-Well Mini Tube System, Corning 96 Well Plate 1320 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_3dprint_96_tuberack_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_3dprint_96_tuberack_200ul + type: pylabrobot + description: 3DPrint 96 Tube Rack with Nippon 0.2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_4titude_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_4titude_96_wellplate_200ul + type: pylabrobot + description: 4ti-0960/C 96 Well Full Skirted Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_4titude_framestar_pcr_plate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_4titude_framestar_pcr_plate_200ul + type: pylabrobot + description: 4titude FrameStar PCR Plate, Low Profile + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_4titudeframestar_384_wellplate_55ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_4titudeframestar_384_wellplate_55ul + type: pylabrobot + description: 4-titude FrameStar 384 Well Plate 55 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_6x4_0point6inch_t6: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_6x4_0point6inch_t6 + type: pylabrobot + description: 6x4_0.6inch_t6 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_6x5_half_inch_t1_t3: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_6x5_half_inch_t1_t3 + type: pylabrobot + description: 6x5_0.5inch_t1_t3 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_80_well_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_80_well_plate + type: pylabrobot + description: 80 Well Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96_elutionplate_ubottom_by_macherey_nagel: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_96_elutionplate_ubottom_by_macherey_nagel + type: pylabrobot + description: 96_Elutionplate_ubottom_by_Macherey_Nagel + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96_squarewell_block_macherey_nagel: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_96_squarewell_block_macherey_nagel + type: pylabrobot + description: 96 Square-Well Block by Macherey-Nagel + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96w_pcr_plate2: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_96w_pcr_plate2 + type: pylabrobot + description: 96wells_pcr_plate2 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96well_pcr_base_200ul_strip: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_96well_pcr_base_200ul_strip + type: pylabrobot + description: MicroAmp 96-Well Base with 0.2 mL Thermo Scientific PCR Tube Strip + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_96wellplatemountedcappshaker_96_wellplate_360ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_96wellplatemountedcappshaker_96_wellplate_360ul + type: pylabrobot + description: 96 Well Plate Mounted CAPP Shaker 96 Well Plate 360 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ab_96_aluminumblock: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_ab_96_aluminumblock + type: pylabrobot + description: Applied Biosystems 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_2000ul + type: pylabrobot + description: Abgene 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_200ul + type: pylabrobot + description: ABgene 96 Well PCR Plate 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_200ul_isofreeze_block: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_200ul_isofreeze_block + type: pylabrobot + description: ABGene 96 Well Plate 200µl on ISOFREEZE Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_2200ul + type: pylabrobot + description: Abgene 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_330ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_330ul + type: pylabrobot + description: Abgene 96 Well Plate 330 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_330ul_round: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_330ul_round + type: pylabrobot + description: Abgene 96 Wellplate 330ul Round + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_700ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_700ul + type: pylabrobot + description: Abgene 96 Well Plate 700 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgene_96_wellplate_800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgene_96_wellplate_800ul + type: pylabrobot + description: Abgene 96 Well Plate 800 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_abgenemidi_96_wellplate_800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_abgenemidi_96_wellplate_800ul + type: pylabrobot + description: Abgene Midi 96 Well Plate 800 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ag_48_tuberack_150ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_ag_48_tuberack_150ul + type: pylabrobot + description: AG 48 Tube Rack with ReadyGo 0.15 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_12_reservoir_21ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_12_reservoir_21ml + type: pylabrobot + description: Agilent 12-Channel Reservoir 21ml + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_1_reservoir_290ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_1_reservoir_290ml + type: pylabrobot + description: Agilent 1 Well Reservoir 290 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_3_reservoir_95ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_3_reservoir_95ml + type: pylabrobot + description: Agilent 3-Channel Reservoir 95ml + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_48_reservoir_5000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_48_reservoir_5000ul + type: pylabrobot + description: Agilent 48 Reservoir 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_c18omix_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_c18omix_200ul + type: pylabrobot + description: 'Agilent 96 C18 Omix 200ul (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_1200ul + type: pylabrobot + description: Agilent 96 Well Plate 1200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_1400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_1400ul + type: pylabrobot + description: Agilent 96 Well Plate 1400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_200ul + type: pylabrobot + description: Agilent 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_270ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_270ul + type: pylabrobot + description: Agilent 96 Well Plate 270 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilent_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilent_96_wellplate_500ul + type: pylabrobot + description: Agilent 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_agilentwithnonskirted_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_agilentwithnonskirted_96_wellplate_200ul + type: pylabrobot + description: Agilent With Nonskirted 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_akura_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_akura_384_wellplate_50ul + type: pylabrobot + description: Akura 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_alpaqua96sneptune_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_alpaqua96sneptune_96_wellplate_200ul + type: pylabrobot + description: Alpaqua96S_Neptune 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_alpaquaprimaryv3_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_alpaquaprimaryv3_24_tuberack_2000ul + type: pylabrobot + description: Alpaqua Primary-v3 24 Tube Rack 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_alpaquasecondaryv3_24_tuberack_750ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_alpaquasecondaryv3_24_tuberack_750ul + type: pylabrobot + description: Alpaqua Secondaryv3 24 Tube Rack 750 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_altemislab_48_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_altemislab_48_wellplate_2000ul + type: pylabrobot + description: Altemis Lab 48 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_amplifyt_96_tuberack_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_amplifyt_96_tuberack_200ul + type: pylabrobot + description: Amplifyt 96 Tube Rack with Regeneron 0.2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_amplifyt_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_amplifyt_96_wellplate_200ul + type: pylabrobot + description: Amplifyt 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ananda_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_ananda_384_wellplate_100ul + type: pylabrobot + description: Ananda 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appleton_6_tuberack_50000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_appleton_6_tuberack_50000ul + type: pylabrobot + description: Appleton 6 Tube Rack 50000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystem_384_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystem_384_wellplate_40ul + type: pylabrobot + description: Appliedbiosystem 384 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_384_wellplate_20ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_384_wellplate_20ul + type: pylabrobot + description: Applied Biosystems 384 Well Plate 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_384_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_384_wellplate_40ul + type: pylabrobot + description: Applied Biosystems 384 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_96_wellplate_100ul + type: pylabrobot + description: Applied Biosystems 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block + type: pylabrobot + description: Applied Biosystems 96 Well Plate 200ul on Eppendorf Cooling Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystems_microamp_optical_384_wellplate_30ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystems_microamp_optical_384_wellplate_30ul + type: pylabrobot + description: Applied Biosystems™ MicroAmp™ Optical 384-Well Reaction Plate With + Barcode 384 Well Plate 30 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystemsenduraplate_96_aluminumblock_220ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystemsenduraplate_96_aluminumblock_220ul + type: pylabrobot + description: Applied Biosystems Enduraplate 96 Aluminum Block 220 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystemsmicroamp_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystemsmicroamp_96_aluminumblock_200ul + type: pylabrobot + description: Applied Biosystems MicroAmp 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul + type: pylabrobot + description: Applied Biosystems™ MicroAmp™ Optical 384-Well Reaction Plate With + Barcode 384 Well Plate 30 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul + type: pylabrobot + description: Applied Biosystems (ThermoFisher/Life) 4309849 With Barcode 384 Well + Plate 30 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_armadillo_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_armadillo_96_aluminumblock_200ul + type: pylabrobot + description: Armadillo 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_armadillo_96_wellplate_200ul_pcr_full_skirt: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_armadillo_96_wellplate_200ul_pcr_full_skirt + type: pylabrobot + description: Armadillo 96 Well Plate 200 µL PCR Full Skirt + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_aspir8_1_reservoir_taped: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_aspir8_1_reservoir_taped + type: pylabrobot + description: Aspir-8 Reservoir + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_aurora_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_aurora_384_wellplate_100ul + type: pylabrobot + description: Aurora 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_avantik_15_tuberack_3000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_avantik_15_tuberack_3000ul + type: pylabrobot + description: Avantik 15 Tube Rack 3000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_1_reservoir_90ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_1_reservoir_90ml + type: pylabrobot + description: Axygen 1 Well Reservoir 90 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_24_tuberack_1700ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_24_tuberack_1700ul + type: pylabrobot + description: Axygen 24 Tube Rack 1700 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_384_wellplate_50ul + type: pylabrobot + description: Axygen 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_4_reservoir_70ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_4_reservoir_70ul + type: pylabrobot + description: Axygen 4 Reservoir 70 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_4_reservoir_73000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_4_reservoir_73000ul + type: pylabrobot + description: Axygen 4 Reservoir 73 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_plate_200ul_pcr: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_plate_200ul_pcr + type: pylabrobot + description: Axygen 96 Well PCR Microplate 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_wellplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_wellplate + type: pylabrobot + description: Axygen 96 Well Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_wellplate_2000ul + type: pylabrobot + description: Axygen 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_wellplate_300ul + type: pylabrobot + description: Axygen 96 Well Plate 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygen_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygen_96_wellplate_500ul + type: pylabrobot + description: Axygen 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_axygenspheremag_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_axygenspheremag_96_wellplate_500ul + type: pylabrobot + description: Axygen Sphere Mag 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_azentalifesciences_12_reservoir_21000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_azentalifesciences_12_reservoir_21000ul + type: pylabrobot + description: Azenta Life Sciences 12 Reservoir 21000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_azentalifesciences_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_azentalifesciences_96_aluminumblock_200ul + type: pylabrobot + description: Azenta Life Sciences 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_azentalifesciences_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_azentalifesciences_96_wellplate_200ul + type: pylabrobot + description: Azenta Life Sciences 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_barcode_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_barcode_96_wellplate_200ul + type: pylabrobot + description: Barcode 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_basisdx_15_tuberack_12000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_basisdx_15_tuberack_12000ul + type: pylabrobot + description: Basis DX 15 Tube Rack 12000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bd_24_tuberack_50ml_green: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bd_24_tuberack_50ml_green + type: pylabrobot + description: BD 24 Green Tube Rack with 50 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bd_54_tuberack_5ml_black: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bd_54_tuberack_5ml_black + type: pylabrobot + description: BD 54 Tube Rack with HPLC Black 5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bd_72_tuberack_15ml_orange: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bd_72_tuberack_15ml_orange + type: pylabrobot + description: BD 72 Orange Tube Rack with 15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_beckman_24_tuberack_1000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_beckman_24_tuberack_1000ul + type: pylabrobot + description: Beckman 24 Tube Rack with Thomas 1 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_beckman_48_wellplate_1800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_beckman_48_wellplate_1800ul + type: pylabrobot + description: Beckman Fed Batch Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_beckman_8_reservoir_19000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_beckman_8_reservoir_19000ul + type: pylabrobot + description: Beckman 8 Reservoir 19000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_beckmancoulter_8_reservoir_19000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_beckmancoulter_8_reservoir_19000ul + type: pylabrobot + description: Beckman Coulter 8 Reservoir 19000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_binding_column_tuberack: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_binding_column_tuberack + type: pylabrobot + description: Binding Column Tube Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bioplastics_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bioplastics_96_aluminumblock_200ul + type: pylabrobot + description: BIOplastics 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bioplastics_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_bioplastics_96_wellplate_100ul + type: pylabrobot + description: Bioplastics 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bioplasticsbv_96_aluminumblock_100ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bioplasticsbv_96_aluminumblock_100ul + type: pylabrobot + description: BIOPlastics BV 96 Aluminum Block 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bioplasticsbv_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_bioplasticsbv_96_aluminumblock_200ul + type: pylabrobot + description: BIOPlastics BV 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_384_wellplate_50ul + type: pylabrobot + description: Bio-Rad 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_384_wellplate_50ul_: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_384_wellplate_50ul_ + type: pylabrobot + description: Bio-Rad 384 Wellplate 50ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_aluminumblock_120ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_aluminumblock_120ul + type: pylabrobot + description: Biorad 96 Aluminum Block 120 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_aluminumblock_200ul + type: pylabrobot + description: Biorad 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_aluminumblock_250ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_aluminumblock_250ul + type: pylabrobot + description: Bio-Rad 96 Aluminum Block 250 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_aluminumblock_350ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_aluminumblock_350ul + type: pylabrobot + description: Bio-Rad 96 Aluminum Block 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_fragment_analyzer_plate_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_fragment_analyzer_plate_aluminumblock_200ul + type: pylabrobot + description: Fragment Analyzer Plate on 96 Well Aluminum Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_wellplate_200ul + type: pylabrobot + description: BioRad 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_wellplate_200ul_pcr: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_wellplate_200ul_pcr + type: pylabrobot + description: Bio-Rad 96 Well Plate 200 µL PCR + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_wellplate_350ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_wellplate_350ul + type: pylabrobot + description: Bio-Rad 96 Well Plate 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biorad_96_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_biorad_96_wellplate_50ul + type: pylabrobot + description: Biorad 96 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biotix_96_filtertiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biotix_96_filtertiprack_10ul + type: pylabrobot + description: 'Biotix 96 filtertiprack 10ul (fallback: opentrons filter 10ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_biozym_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_biozym_96_aluminumblock_200ul + type: pylabrobot + description: Biozym 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_black_num_384: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_black_num_384 + type: pylabrobot + description: Life Technologies 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_brand_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_brand_384_wellplate_100ul + type: pylabrobot + description: Brand 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_brandplates_96_wellplate_360ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_brandplates_96_wellplate_360ul + type: pylabrobot + description: 96-well BRANDplate with V-bottom + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bricklabwaretype1racklong_24_wellplate_4000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_bricklabwaretype1racklong_24_wellplate_4000ul + type: pylabrobot + description: Bricklabware_type1_rack_long 24 Well Plate 4000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_bricklabwaretype2rackshort_24_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_bricklabwaretype2rackshort_24_wellplate_2000ul + type: pylabrobot + description: Bricklabware_type2_rack_short 24 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_caplugs_6_tuberack_30ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_caplugs_6_tuberack_30ml + type: pylabrobot + description: Caplugs 6 Tube Rack 30 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cepheid: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_cepheid + type: pylabrobot + description: Cepheid + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cerillo_stratus_armadillo_flatbottom_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_cerillo_stratus_armadillo_flatbottom_200ul + type: pylabrobot + description: Cerillo Stratus Armadillo Flat Bottom Plate 96well 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_charlesriver_15_tuberack_10000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_charlesriver_15_tuberack_10000ul + type: pylabrobot + description: Charles River 15 Tube Rack 10000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_checkit_8_wellplate_5ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_checkit_8_wellplate_5ul + type: pylabrobot + description: Checkit 8 Well Plate 5 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_chromtech_96_filter_wellplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_chromtech_96_filter_wellplate + type: pylabrobot + description: Chrom Tech filter plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_coleparmer_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_coleparmer_384_wellplate_50ul + type: pylabrobot + description: COLEPARMER 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_combo_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_combo_96_wellplate_300ul + type: pylabrobot + description: Combo 96 Well Plate Black Label on Nest Plate 300µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_12_reservoir: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_12_reservoir + type: pylabrobot + description: Corning 12 Reservoir 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_24_wellplate_3point4ml_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_24_wellplate_3point4ml_flat + type: pylabrobot + description: Corning 24 Well Plate 3.4 mL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_384_wellplate_112ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_384_wellplate_112ul_flat + type: pylabrobot + description: Corning 384 Well Plate 112 µL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_384_wellplate_20ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_384_wellplate_20ul + type: pylabrobot + description: Corning 384 Well Plate 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_384_wellplate_90ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_384_wellplate_90ul + type: pylabrobot + description: Corning 384 Well Plate 90 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_6_wellplate_16point8ml_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_6_wellplate_16point8ml_flat + type: pylabrobot + description: Corning 6 Well Plate 16.8 mL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_well_roundbottom_1ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_well_roundbottom_1ml + type: pylabrobot + description: Corning 96 Well Round Bottom 1mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_200ul + type: pylabrobot + description: Corning 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_320ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_320ul + type: pylabrobot + description: Corning 96 Well Plate 320 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_360ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_360ul + type: pylabrobot + description: Corning 96 Well Plate 360 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_360ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_360ul_flat + type: pylabrobot + description: Corning 96 Well Plate 360 µL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_corning_96_wellplate_flat_bottom_360ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_corning_96_wellplate_flat_bottom_360ul + type: pylabrobot + description: Corning 96-well Flat Clear Bottom Black Polystyrene TC-treated Microplate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_costar_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_costar_96_wellplate_200ul + type: pylabrobot + description: Costar 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_costar_96_wellplate_330ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_costar_96_wellplate_330ul + type: pylabrobot + description: Costar 96 Well Plate 330 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cryo_35_tuberack_1800ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_cryo_35_tuberack_1800ul + type: pylabrobot + description: Cryo 35 Tube Rack with Nunc 1.8 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom1mltesttube_24_wellplate_5000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom1mltesttube_24_wellplate_5000ul + type: pylabrobot + description: Custom 1 ML Test Tube 24 Well Plate 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom5mltesttube_24_wellplate_5000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom5mltesttube_24_wellplate_5000ul + type: pylabrobot + description: Custom 5 ML Test Tube 24 Well Plate 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_15_tuberack_6000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_15_tuberack_6000ul + type: pylabrobot + description: Custom 15 Tube Rack 6000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_1_other_20ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_1_other_20ul + type: pylabrobot + description: 'Custom 1 other 20ul (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_shakerslide: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_shakerslide + type: pylabrobot + description: 'Custom 24 shaker slide (fallback: corning 24 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_testtuberack_2ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_testtuberack_2ml + type: pylabrobot + description: Custom 24 Test Tube Rack 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_tuberack: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_tuberack + type: pylabrobot + description: Custom 24 Tube Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_tuberack_2000ul + type: pylabrobot + description: custom 24 Tube Rack with Custom 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_tuberack_5ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_tuberack_5ml + type: pylabrobot + description: Opentrons 24 Tube Rack with Blood Tube 5mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_tuberack_7500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_tuberack_7500ul + type: pylabrobot + description: Custom 24 Tube Rack with Vacuette 6 ml 7.5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_well_rack: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_well_rack + type: pylabrobot + description: custom_24_well_rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_24_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_24_wellplate_2000ul + type: pylabrobot + description: Custom 24 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_300_other_100x500ul_100x500ul_100x500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_300_other_100x500ul_100x500ul_100x500ul + type: pylabrobot + description: 'Custom 300 other (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_384_wellplate_100ul + type: pylabrobot + description: Custom 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_384_wellplate_50ul + type: pylabrobot + description: Custom 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_6_tuberack_100ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_6_tuberack_100ml + type: pylabrobot + description: Custom 6 Tube Rack 100 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_72_other_24x330ul_24x330ul_24x330ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_72_other_24x330ul_24x330ul_24x330ul + type: pylabrobot + description: 'Custom 72 other (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_striptubes_350ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_striptubes_350ul + type: pylabrobot + description: Custom 96 Strip Tubes 350µl + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_tubeholder_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_tubeholder_500ul + type: pylabrobot + description: Custom 500ul Tube Holder + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_tuberack_500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_tuberack_500ul + type: pylabrobot + description: Custom 96 Tube Rack with Custom 0.5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_tuberack_500ul_vacuum: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_tuberack_500ul_vacuum + type: pylabrobot + description: Custom 96 Tube Rack with Custom 0.5 mL with vacuum + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_96_wellplate_200ul + type: pylabrobot + description: Custom 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_beaker: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_beaker + type: pylabrobot + description: Custom Beaker and Stir Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_centrifuge_tube_container: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_centrifuge_tube_container + type: pylabrobot + description: Custom Centrifuge Tube Container + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_nanosep_tube_container: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_nanosep_tube_container + type: pylabrobot + description: Custom Nanosep Tube Container + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_pcr_plate_for_tempdeck: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_pcr_plate_for_tempdeck + type: pylabrobot + description: Custom PCR Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_custom_tuberack_6ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_custom_tuberack_6ml + type: pylabrobot + description: Custom 6mL Tube Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customabnest_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customabnest_96_wellplate_200ul + type: pylabrobot + description: Custom AB NEST 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customadapter_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customadapter_96_wellplate_200ul + type: pylabrobot + description: Custom_adapter 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customagar_24_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customagar_24_wellplate_200ul + type: pylabrobot + description: Q + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customagar_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customagar_96_wellplate_200ul + type: pylabrobot + description: Custom Agar 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customblotpaper_1_reservoir_870000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_customblotpaper_1_reservoir_870000ul + type: pylabrobot + description: Custom Blot Paper 1 Reservoir 870000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customendura_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customendura_96_wellplate_200ul + type: pylabrobot + description: Custom Endura 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_customslideblockv2_8_wellplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_customslideblockv2_8_wellplate + type: pylabrobot + description: Customslideblock V2 8 Well Plate 20000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cytiva_24_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_cytiva_24_wellplate_2000ul + type: pylabrobot + description: Cytiva 24 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_cytiva_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_cytiva_96_wellplate_500ul + type: pylabrobot + description: Cytiva 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_deepwell_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_deepwell_96_wellplate_2000ul + type: pylabrobot + description: Quintara Deepwell 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_deepwellpro_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_deepwellpro_96_wellplate_450ul + type: pylabrobot + description: Deepwell Pro 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_doublepcr_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_doublepcr_96_wellplate_300ul + type: pylabrobot + description: Quintara Combo Pcr 96 Well Plate 300 µL on Nest Pcr + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_dynamic_array_192_24: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_dynamic_array_192_24 + type: pylabrobot + description: Standard Biotools Dynamic Array 192.24 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_dynamic_array_48_48: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_dynamic_array_48_48 + type: pylabrobot + description: Standard Biotools Dynamic Array 48.48 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_dynamic_array_96_96: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_dynamic_array_96_96 + type: pylabrobot + description: Standard Biotools Dynamic Array 96.96 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ek_scientific_reservoir: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_ek_scientific_reservoir + type: pylabrobot + description: EK Scientific 8 Row Reservoir + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_electronmicroscopysciences_1_reservoir_100000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_electronmicroscopysciences_1_reservoir_100000ul + type: pylabrobot + description: Electron Microscopy Sciences 1 Reservoir 100000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_elutionplate_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_elutionplate_96_wellplate_500ul + type: pylabrobot + description: Elution Plate 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_enduraplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_enduraplate_96_wellplate_200ul + type: pylabrobot + description: EnduraPlate 96 Well Plate 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_epmotion_1_reservoir_100000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_epmotion_1_reservoir_100000ul + type: pylabrobot + description: EpMotion 1 Reservoir 100000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_epmotion_1_reservoir_30000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_epmotion_1_reservoir_30000ul + type: pylabrobot + description: EpMotion 1 Reservoir 30000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_24_tuberack_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_24_tuberack_1500ul + type: pylabrobot + description: Eppendorf 24 Tube Rack 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_24_tuberack_generic_2point0ml_screwcap: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_24_tuberack_generic_2point0ml_screwcap + type: pylabrobot + description: Eppendorf 24 Tube Rack with Generic 2.0mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_7_reservoir_30000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_7_reservoir_30000ul + type: pylabrobot + description: Eppendorf 7 Reservoir 30000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_aluminumblock_200ul + type: pylabrobot + description: Eppendorf 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_deepwell_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_deepwell_1000ul + type: pylabrobot + description: Eppendorf 96 Deep Well Block 1000ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_deepwellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_deepwellplate_2000ul + type: pylabrobot + description: Eppendorf 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_deepwellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_deepwellplate_500ul + type: pylabrobot + description: Eppendorf 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_well_on_block: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_well_on_block + type: pylabrobot + description: Eppendorf 96 Well PCR Plate 250ul on Aluminum Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_wellplate_1000ul + type: pylabrobot + description: Eppendorf 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_wellplate_2000ul + type: pylabrobot + description: Eppendorf 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_wellplate_200ul + type: pylabrobot + description: Eppendorf 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_96_wellplate_500ul + type: pylabrobot + description: Eppendorf 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_twintec_on_opentrons_metal_block_033822: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_twintec_on_opentrons_metal_block_033822 + type: pylabrobot + description: Eppendorf Twintec 200uL on Opentrons Metal Block March 28 2022 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorf_twintex_clickbio_adapter: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorf_twintex_clickbio_adapter + type: pylabrobot + description: Eppendorf Twintec 200uL on Clickbio adapter + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorfdeepwell_96_wellplate_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorfdeepwell_96_wellplate_1200ul + type: pylabrobot + description: Eppendorf Deepwell 96 Well Plate 1200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorfmetaladapter_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorfmetaladapter_96_wellplate_200ul + type: pylabrobot + description: Eppendorf+metaladapter 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorftwinpointtec96_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorftwinpointtec96_96_aluminumblock_200ul + type: pylabrobot + description: Eppendorf Twin.Tec 96 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorftwinpointtec_96_aluminumblock_150ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorftwinpointtec_96_aluminumblock_150ul + type: pylabrobot + description: Eppendorf Twin.tec 96 Aluminum Block 150 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorftwinpointtec_96_wellplate_150ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorftwinpointtec_96_wellplate_150ul + type: pylabrobot + description: Eppendorf Twin.tec 96 Well Plate 150 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendorftwintec_96_wellplate_150ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendorftwintec_96_wellplate_150ul + type: pylabrobot + description: Eppendorf Twin.tec 96 Well Plate 150 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eppendort_96_deepwell_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_eppendort_96_deepwell_1000ul + type: pylabrobot + description: Eppendorf 96 Deepwell 1000uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eptips_1000ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eptips_1000ul + type: pylabrobot + description: 'Eppendorf eptips 1000ul (fallback: opentrons 1000ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eptips_300ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eptips_300ul + type: pylabrobot + description: 'Eppendorf eptips 300ul (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_eurofins_96x2ml_tuberack: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_eurofins_96x2ml_tuberack + type: pylabrobot + description: Eurofins 192 Tube Rack with 96x2 mL, 96x2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_falcon_353077_96_wellplate_320ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_falcon_353077_96_wellplate_320ul + type: pylabrobot + description: Falcon 96 Well Plate 320 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_filters_and_eppendorfs_24_tuberack_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_filters_and_eppendorfs_24_tuberack_1500ul + type: pylabrobot + description: Filters_and_eppendorfs 24 Tube Rack 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_filtrouslab_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_filtrouslab_384_wellplate_50ul + type: pylabrobot + description: Filtrous Lab 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_final_96_aluminumblock_300ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_final_96_aluminumblock_300ul + type: pylabrobot + description: Final 96 Aluminum Block 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fisher_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_fisher_96_aluminumblock_200ul + type: pylabrobot + description: Fisher 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fisher_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_fisher_96_wellplate_200ul + type: pylabrobot + description: Fisher 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fisherscientific_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_fisherscientific_96_wellplate_200ul + type: pylabrobot + description: Thermofisher Scientific 96 well 200ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_flipped_384_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_flipped_384_plate + type: pylabrobot + description: Custom 384 Well Plate Flipped + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fluidigm_192_wellplate_96x10ul_96x10ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_fluidigm_192_wellplate_96x10ul_96x10ul + type: pylabrobot + description: Fluidigm 192 Well Plate 10uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fluidigm_96_wellplate_48x50ul_48x50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_fluidigm_96_wellplate_48x50ul_48x50ul + type: pylabrobot + description: Fluidigm + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_fluidx_96_tuberack_1000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_fluidx_96_tuberack_1000ul + type: pylabrobot + description: fluidx 96 Tube Rack with fluidx 1 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_framestarpcr_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_framestarpcr_96_wellplate_200ul + type: pylabrobot + description: FrameStar PCR 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_froggabio_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_froggabio_96_wellplate_300ul + type: pylabrobot + description: Froggabio 96 Well Plate 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_geb_96_tiprack_1000ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_geb_96_tiprack_1000ul + type: pylabrobot + description: GEB 96 Tip Rack 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_geb_96_tiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_geb_96_tiprack_10ul + type: pylabrobot + description: GEB 96 Tip Rack 10 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_216_wellplate_85ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_216_wellplate_85ul_flat + type: pylabrobot + description: Invoy 216-Well Cartridge Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_24_tuberack_2000ul + type: pylabrobot + description: Generic 24 Tube Rack 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_96_aluminumblock_350ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_96_aluminumblock_350ul + type: pylabrobot + description: Generic 96 Aluminum Block 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_96_tiprack_200ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_96_tiprack_200ul + type: pylabrobot + description: 'Generic 96 tiprack 200ul (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_96_tiprack_20ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_96_tiprack_20ul + type: pylabrobot + description: 'Generic 96 tiprack 20ul (fallback: opentrons 20ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_generic_96_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_generic_96_wellplate_1500ul + type: pylabrobot + description: Generic 96 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genericmagnet_96_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_genericmagnet_96_wellplate_1500ul + type: pylabrobot + description: Generic_magnet 96 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genericstrips_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_genericstrips_96_wellplate_200ul + type: pylabrobot + description: Generic Strips 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genesee25221_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_genesee25221_96_wellplate_300ul + type: pylabrobot + description: Genesee Gene Clone 96-Well Cell Culture Plate U Bottom 300 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genesee_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_genesee_96_wellplate_200ul + type: pylabrobot + description: Genesee 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_genmate_96_aluminumblock_20ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_genmate_96_aluminumblock_20ul + type: pylabrobot + description: GenMate 96 Aluminum Block 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_gracebiolabsflexwell: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_gracebiolabsflexwell + type: pylabrobot + description: 'Grace Bio-Labs FlexWell (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_384_wellplate_130ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_384_wellplate_130ul + type: pylabrobot + description: Greiner 384 Well Plate 130 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_384_wellplate_138ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_384_wellplate_138ul + type: pylabrobot + description: Greiner 384 Well Plate 138 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_384_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_384_wellplate_200ul + type: pylabrobot + description: Greiner 384 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_384_wellplate_50ul + type: pylabrobot + description: Greiner 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_96_wellplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_96_wellplate + type: pylabrobot + description: Greiner BioOne 96 Well Microplate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_96_wellplate_2000ul + type: pylabrobot + description: Greiner 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_96_wellplate_200ul + type: pylabrobot + description: Greiner 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greiner_96_wellplate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greiner_96_wellplate_340ul + type: pylabrobot + description: Greiner 96 Well Plate 340 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_192_wellplate_crystallization: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_192_wellplate_crystallization + type: pylabrobot + description: Greiner Bio-One CRYSTALQUICK LP 96 Well Plate 140ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_24_bloodrack_13x100: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_24_bloodrack_13x100 + type: pylabrobot + description: Greiner Bio-One, 24 blood collection tubes 1 ml to 6 ml (13x75 and + 13x100) + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_384_wellplate_100ul + type: pylabrobot + description: Greiner Bio-One 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_96_wellplate_200ul + type: pylabrobot + description: Greiner Bio-One 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_96_wellplate_200ul_650161: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_96_wellplate_200ul_650161 + type: pylabrobot + description: Greiner Bio-One 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_96_wellplate_2ml_deep: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_96_wellplate_2ml_deep + type: pylabrobot + description: Greiner Bio-One 96-Deepwell Plate 2ml + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinerbioone_96_wellplate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinerbioone_96_wellplate_340ul + type: pylabrobot + description: Greiner Bio-One 96 Well Plate 340 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinermasterblock_384_wellplate_225ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinermasterblock_384_wellplate_225ul + type: pylabrobot + description: Greiner Masterblock 384 Well Plate 225 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinermasterblock_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinermasterblock_96_wellplate_1000ul + type: pylabrobot + description: Greiner MASTERBLOCK 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinermasterblock_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinermasterblock_96_wellplate_500ul + type: pylabrobot + description: Greiner MASTERBLOCK 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greinermicrolon_96_wellplate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greinermicrolon_96_wellplate_340ul + type: pylabrobot + description: Greiner Microlon 96 Well Plate 340 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_greineruvstar_96_wellplate_392ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_greineruvstar_96_wellplate_392ul + type: pylabrobot + description: Greiner_UV-star 96 Well Plate 392 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_hardshell_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_hardshell_96_wellplate_200ul + type: pylabrobot + description: Hard-Shell 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_hardshellbioradpcr_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_hardshellbioradpcr_384_wellplate_50ul + type: pylabrobot + description: Hard-Shell Bio-Rad PCR 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_hellma_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_hellma_96_wellplate_300ul + type: pylabrobot + description: Hellma 96 Well Plate 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_himic_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_himic_96_wellplate_400ul + type: pylabrobot + description: HiMic 96 Well Plate 400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_htd_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_htd_96_wellplate_200ul + type: pylabrobot + description: Htd 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_iclean_15_tuberack: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_iclean_15_tuberack + type: pylabrobot + description: iClean Sample Tubes + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_illumina_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_illumina_96_wellplate_200ul + type: pylabrobot + description: Illumina 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_index_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_index_96_aluminumblock_200ul + type: pylabrobot + description: index plate on 96 well aluminum block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_index_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_index_96_wellplate_200ul + type: pylabrobot + description: Index 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_indexplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_indexplate_96_wellplate_200ul + type: pylabrobot + description: Index Plate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_innotrainot22pcrplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_innotrainot22pcrplate_96_wellplate_200ul + type: pylabrobot + description: 'Innotrain OT-2 #2 PCR Plate 96 Well Plate 200 µL' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_innotrainot2pcrplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_innotrainot2pcrplate_96_wellplate_200ul + type: pylabrobot + description: Innotrain OT-2 PCR Plate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_innovationlaboratoryproducts_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_innovationlaboratoryproducts_96_wellplate_1000ul + type: pylabrobot + description: Innovation Laboratory Products 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_irishlifesciences_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_irishlifesciences_96_wellplate_2200ul + type: pylabrobot + description: Irish Life Sciences 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_jackyshiyielution_96_wellplate_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_jackyshiyielution_96_wellplate_1200ul + type: pylabrobot + description: Jacky_Shiyi_elution 96 Well Plate 1200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_jackyshiyihigh_96_wellplate_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_jackyshiyihigh_96_wellplate_1200ul + type: pylabrobot + description: Jacky_Shiyi_high 96 Well Plate 1200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_deepwell_plate_2ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_deepwell_plate_2ml + type: pylabrobot + description: KingFisher 96 Deep Well Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_tuberack_1100ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_tuberack_1100ul + type: pylabrobot + description: KingFisher 96 Tube Rack with GoldStandard 1.1 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_wellplate_100ul + type: pylabrobot + description: Thermofisher 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_wellplate_2000ul + type: pylabrobot + description: Kingfisher 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_kingfisher_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_kingfisher_96_wellplate_200ul + type: pylabrobot + description: KingFisher 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_labcon_8strip_pcr_on_cooler: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_labcon_8strip_pcr_on_cooler + type: pylabrobot + description: Labcon 8 Strip on Cooler + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_labcon_96_wellplate_pcr_on_cooler: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_labcon_96_wellplate_pcr_on_cooler + type: pylabrobot + description: Labcon 96 Well Plate on Cooler + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_leo_99_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_leo_99_wellplate_50ul + type: pylabrobot + description: Leo 99 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_life_96_aluminumblock_240ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_life_96_aluminumblock_240ul + type: pylabrobot + description: Life 96 Aluminum Block 240 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_lvl_96_wellplate_1317point97ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_lvl_96_wellplate_1317point97ul + type: pylabrobot + description: LVL 96 Well Plate 1317.97 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_lvltechnologies_48_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_lvltechnologies_48_wellplate_2000ul + type: pylabrobot + description: LVL Technologies 48 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_master_block_384: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_master_block_384 + type: pylabrobot + description: MASTERBLOCK®, 384 WELL, PP, DEEP WELL, V-BOTTOM, + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microamp_384_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microamp_384_wellplate_100ul + type: pylabrobot + description: Microamp 384 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microamp_384_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microamp_384_wellplate_40ul + type: pylabrobot + description: Microamp 384 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microamp_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microamp_96_wellplate_100ul + type: pylabrobot + description: lockwell + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microamp_96well_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microamp_96well_200ul + type: pylabrobot + description: MicroAmp EnduraPlate Optical 96-Well Fast Clear Reaction Plate With + Barcode 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microampenduraplate_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_microampenduraplate_96_aluminumblock_200ul + type: pylabrobot + description: MicroAmp EnduraPlate 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microampoptical_384_wellplate_30ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microampoptical_384_wellplate_30ul + type: pylabrobot + description: MicroAmp Optical 384 Well Plate 30 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_microampstrips_96_supportbase_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_microampstrips_96_supportbase_100ul + type: pylabrobot + description: MicroAmp Strips 96 Support Base 100 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_micronic_96_rack_300ul_tubes: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_micronic_96_rack_300ul_tubes + type: pylabrobot + description: Micronic 96 Rack 0.30mL Tubes + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_micronic_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_micronic_96_wellplate_1000ul + type: pylabrobot + description: Micronic 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_micronicm9641point4_96_wellplate_1400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_micronicm9641point4_96_wellplate_1400ul + type: pylabrobot + description: Micronic_M96-4_1.4 96 Well Plate 1400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_micronics_96_tubes: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_micronics_96_tubes + type: pylabrobot + description: Micronics 96 Tubes in Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_molgen_96_well_elution_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_molgen_96_well_elution_plate + type: pylabrobot + description: Molgen 96 Well Elution Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_mtcbio_15_tuberack_10000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_mtcbio_15_tuberack_10000ul + type: pylabrobot + description: MTC Bio 15 Tube Rack 10000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neb_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_neb_96_wellplate_100ul + type: pylabrobot + description: NEB 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neo_48_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_neo_48_wellplate_40ul + type: pylabrobot + description: NEO 48 Well Chip 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neptune_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_neptune_96_aluminumblock_200ul + type: pylabrobot + description: Neptune 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neptunegensci_pcrplate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_neptunegensci_pcrplate + type: pylabrobot + description: neptune_gen_pcr_200ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_neptunescientificgeneseescientificadaptor_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_neptunescientificgeneseescientificadaptor_96_wellplate_200ul + type: pylabrobot + description: Neptune Scientific, Genesee Scientific (adaptor) 96 Well Plate 200 + µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest500ul_96_reservoir_500ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_nest500ul_96_reservoir_500ul + type: pylabrobot + description: NEST 500ul 96 Reservoir 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_12_reservoir_15ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_12_reservoir_15ml + type: pylabrobot + description: NEST 12 Well Reservoir 15 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_12_reservoir_15ml_icetray: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_12_reservoir_15ml_icetray + type: pylabrobot + description: NEST 12 Reservoir 15 mL with Icetray + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_1_reservoir_195ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_1_reservoir_195ml + type: pylabrobot + description: NEST 1 Well Reservoir 195 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml + type: pylabrobot + description: NEST 32 Tuberack 15ml (2 Slot) + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml + type: pylabrobot + description: NEST 32 Tuberack 5ml (2 Slot) + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_1000ul + type: pylabrobot + description: NEST 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_100ul_pcr_full_skirt: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_100ul_pcr_full_skirt + type: pylabrobot + description: NEST 96 Well Plate 100 µL PCR Full Skirt + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_2000ul + type: pylabrobot + description: nest_96_wellplate_2000ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_200ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_200ul_flat + type: pylabrobot + description: NEST 96 Well Plate 200 µL Flat + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_2200ul + type: pylabrobot + description: Nest 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_2ml_deep: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_2ml_deep + type: pylabrobot + description: NEST 96 Deep Well Plate 2mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nest_96_wellplate_320ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nest_96_wellplate_320ul + type: pylabrobot + description: Nest 96 Well Plate 320 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nestbioshake_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nestbioshake_96_wellplate_2000ul + type: pylabrobot + description: NEST Bioshake 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_442404_96_flat_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_442404_96_flat_wellplate_400ul + type: pylabrobot + description: Nunc Maxisorp ELISA Plate 96-Well Flat 400 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_1000ul + type: pylabrobot + description: Nunc 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_1700ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_1700ul + type: pylabrobot + description: Nunc 96 Well Plate 1700 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_2000ul + type: pylabrobot + description: Nunc 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_400ul + type: pylabrobot + description: Nunc 96 Well Plate 400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_450ul + type: pylabrobot + description: Nunc 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_96_wellplate_500ul + type: pylabrobot + description: Nunc 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_maxisorp_96_wellplate_250ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_maxisorp_96_wellplate_250ul + type: pylabrobot + description: Nunc MaxiSorp 96 Well Plate 250ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_rectangular_agar_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_rectangular_agar_plate + type: pylabrobot + description: Nunc rectangular agar plate2 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_nunc_v96_microwell_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_nunc_v96_microwell_plate + type: pylabrobot + description: Nunc V96 Microwell Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_octea_16_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_octea_16_wellplate_40ul + type: pylabrobot + description: Octea 16 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_olympus_96_wellplate_200ul_pcr: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_olympus_96_wellplate_200ul_pcr + type: pylabrobot + description: Olympus 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_omegaquant_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_omegaquant_96_wellplate_1000ul + type: pylabrobot + description: Omegaquant 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical + type: pylabrobot + description: Opentrons 10 Tube Rack with Falcon 4x50 mL, 6x15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_10_tuberack_nest_4x50ml_6x15ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_10_tuberack_nest_4x50ml_6x15ml_conical + type: pylabrobot + description: Opentrons 10 Tube Rack with NEST 4x50 mL, 6x15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_14000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_14000ul + type: pylabrobot + description: Opentrons 15 Tube Rack with custom 14 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_15000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_15000ul + type: pylabrobot + description: Opentrons 15 Tube Rack with Sarstedt 15 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_5000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_5000ul + type: pylabrobot + description: Opentrons 15 Tube Rack with eppendorf 5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_8000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_8000ul + type: pylabrobot + description: Opentrons 15 Tube Rack with BD Diagnostics 8 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_falcon_15ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_falcon_15ml_conical + type: pylabrobot + description: Opentrons 15 Tube Rack with Falcon 15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_15_tuberack_nest_15ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_15_tuberack_nest_15ml_conical + type: pylabrobot + description: Opentrons 15 Tube Rack with NEST 15 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_1_trash_1100ml_fixed: + category: + - trash + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_1_trash_1100ml_fixed + type: pylabrobot + description: Opentrons fixed trash 1100ml + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_1500ul + type: pylabrobot + description: Opentrons 24 Aluminum Block 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_18x0point5ml_3x1point5ml_3x1point5ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_18x0point5ml_3x1point5ml_3x1point5ml + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with Variant Tubes + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_generic_2ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_generic_2ml_screwcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with Generic 2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_0point5ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_0point5ml_screwcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 0.5 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_1point5ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_1point5ml_screwcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 1.5 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_1point5ml_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_1point5ml_snapcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 1.5 mL Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_2ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_2ml_screwcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_aluminumblock_nest_2ml_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_aluminumblock_nest_2ml_snapcap + type: pylabrobot + description: Opentrons 24 Well Aluminum Block with NEST 2 mL Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_1500ul + type: pylabrobot + description: Opentrons 24 Tube Rack 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_2000ul + type: pylabrobot + description: Opentrons 24 Tube Rack with starstedt 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_500ul + type: pylabrobot + description: Opentrons 24 Tube Rack with Watson Biolab 0.5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap + type: pylabrobot + description: Opentrons 24 Tube Rack with Eppendorf 1.5 mL Safe-Lock Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap + type: pylabrobot + description: Opentrons 24 Tube Rack with Eppendorf 2 mL Safe-Lock Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic + type: pylabrobot + description: Opentrons 24 Tube Rack (Acrylic) with Eppendorf 2 mL Safe-Lock Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_generic_2ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_generic_2ml_screwcap + type: pylabrobot + description: Opentrons 24 Tube Rack with Generic 2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_0point5ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_0point5ml_screwcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 0.5 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_1point5ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_1point5ml_screwcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 1.5 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_1point5ml_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_1point5ml_snapcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 1.5 mL Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_2ml_screwcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_2ml_screwcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 2 mL Screwcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_nest_2ml_snapcap: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_nest_2ml_snapcap + type: pylabrobot + description: Opentrons 24 Tube Rack with NEST 2 mL Snapcap + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_24_tuberack_t4_t5: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_24_tuberack_t4_t5 + type: pylabrobot + description: PoolingT4,T5 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_300ul_tiprack_flipped: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_300ul_tiprack_flipped + type: pylabrobot + description: 'Opentrons 300ul tiprack flipped (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_6_tuberack_50000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_6_tuberack_50000ul + type: pylabrobot + description: Opentrons 6 Tube Rack with VWR 50 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_6_tuberack_falcon_50ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_6_tuberack_falcon_50ml_conical + type: pylabrobot + description: Opentrons 6 Tube Rack with Falcon 50 mL Conical + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_6_tuberack_stellarsci_25ml_conical: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_6_tuberack_stellarsci_25ml_conical + type: pylabrobot + description: Tuberack with 6 Stellar Sci 25 mL tubes + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_aluminumblock_biorad_wellplate_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_aluminumblock_biorad_wellplate_200ul + type: pylabrobot + description: Opentrons 96 Well Aluminum Block with Bio-Rad Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_aluminumblock_generic_pcr_strip_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_aluminumblock_generic_pcr_strip_200ul + type: pylabrobot + description: Opentrons 96 Well Aluminum Block with Generic PCR Strip 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_aluminumblock_nest_wellplate_100ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_aluminumblock_nest_wellplate_100ul + type: pylabrobot + description: Opentrons 96 Well Aluminum Block with NEST Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep + type: pylabrobot + description: Opentrons 96 Deep Well Heater-Shaker Adapter with NEST Deep Well Plate + 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_filtertiprack_1000ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_filtertiprack_1000ul + type: pylabrobot + description: Opentrons OT-2 96 Filter Tip Rack 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_filtertiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_filtertiprack_10ul + type: pylabrobot + description: Opentrons OT-2 96 Filter Tip Rack 10 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_filtertiprack_200ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_filtertiprack_200ul + type: pylabrobot + description: Opentrons OT-2 96 Filter Tip Rack 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_filtertiprack_20ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_filtertiprack_20ul + type: pylabrobot + description: Opentrons OT-2 96 Filter Tip Rack 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_pcr_adapter_biorad_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_pcr_adapter_biorad_wellplate_200ul + type: pylabrobot + description: Opentrons 96 PCR Adapter with BioRad Well Plate 200 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_1000ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_1000ul + type: pylabrobot + description: Opentrons OT-2 96 Tip Rack 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_10ul + type: pylabrobot + description: Opentrons OT-2 96 Tip Rack 10 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_20ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_20ul + type: pylabrobot + description: Opentrons OT-2 96 Tip Rack 20 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_300ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_300ul + type: pylabrobot + description: Opentrons OT-2 96 Tip Rack 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tiprack_sarstedt_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tiprack_sarstedt_200ul + type: pylabrobot + description: Opentrons 96 tiprack with sarstedt 200ul PCR tube + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_96_tuberack_96x5ml_custom: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_96_tuberack_96x5ml_custom + type: pylabrobot + description: Custom 96 Tube Rack, 5mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_opentrons_goldstandarddx_17_tuberack_lysis: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_opentrons_goldstandarddx_17_tuberack_lysis + type: pylabrobot + description: Opentrons x Gold Standard 17 Tube Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_optiplate_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_optiplate_96_wellplate_400ul + type: pylabrobot + description: Optiplate 96 Well Plate 400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pall_96_wellplate_350ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pall_96_wellplate_350ul + type: pylabrobot + description: Pall 96 Well Plate 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcb_board_250_wells: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcb_board_250_wells + type: pylabrobot + description: PCB Board + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcr_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcr_384_wellplate_50ul + type: pylabrobot + description: Pcr 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcr_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcr_plate + type: pylabrobot + description: PCR plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcrplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcrplate_96_wellplate_200ul + type: pylabrobot + description: Pcr Plate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pcrstripplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pcrstripplate_96_wellplate_200ul + type: pylabrobot + description: Pcr Strip Plate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_12_reservoir_21000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_12_reservoir_21000ul + type: pylabrobot + description: Perkin Elmer 12 Reservoir 21000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_384_wellplate_105ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_384_wellplate_105ul + type: pylabrobot + description: Perkin Elmer 384 Well Plate 105 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_384_wellplate_110ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_384_wellplate_110ul + type: pylabrobot + description: Perkin Elmer 384 Well Plate 110 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_384_wellplate_145ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_384_wellplate_145ul + type: pylabrobot + description: PerkinElmer 384 Well Plate 145 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_perkinelmer_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_perkinelmer_96_wellplate_450ul + type: pylabrobot + description: PerkinElmer 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_permagen_24_tuberack_1500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_permagen_24_tuberack_1500ul + type: pylabrobot + description: Permagen 24 Tube Rack with Eppendorf 1.5 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_phenoplate_96_wellplate_425ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_phenoplate_96_wellplate_425ul + type: pylabrobot + description: PhenoPlate 96 Well Plate 425 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_phynexus_96_tiprack_300ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_phynexus_96_tiprack_300ul + type: pylabrobot + description: 'PhyNexus 96 tiprack 300ul (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_phytips_in_opentrons_box_96_300ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_phytips_in_opentrons_box_96_300ul + type: pylabrobot + description: 'PhyTips in Opentrons box 96 300ul (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_plateone_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_plateone_96_wellplate_1000ul + type: pylabrobot + description: Plate One 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pr1ma_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pr1ma_384_wellplate_50ul + type: pylabrobot + description: Pr1ma 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_procartaplex_96_wellplate_655096: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_procartaplex_96_wellplate_655096 + type: pylabrobot + description: Procarta Plex 96 Well Plate 340 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_protifistrap_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_protifistrap_96_wellplate_400ul + type: pylabrobot + description: Protifi_S-trap 96 Well Plate 400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ps_2_resevoir: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_ps_2_resevoir + type: pylabrobot + description: PS RESERVOIR + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_pyramid_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_pyramid_96_wellplate_2000ul + type: pylabrobot + description: Pyramid 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_qiacuity_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_qiacuity_96_wellplate_200ul + type: pylabrobot + description: Qiacuity 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_qiagen_96_tuberack_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_qiagen_96_tuberack_1200ul + type: pylabrobot + description: QIAGEN 96 Tube Rack 1.2mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_qiagen_96_wellplate_2250ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_qiagen_96_wellplate_2250ul + type: pylabrobot + description: Qiagen 96 Well Plate 2250 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quantgene_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_quantgene_96_aluminumblock_200ul + type: pylabrobot + description: Quantgene 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quintara_12_reservoir_15000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_quintara_12_reservoir_15000ul + type: pylabrobot + description: Quintara 12 Reservoir 15000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quintara_192_deepwell_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_quintara_192_deepwell_plate + type: pylabrobot + description: Quintara Vertical Plate 192 Wells + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quintara_192_pcr_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_quintara_192_pcr_plate + type: pylabrobot + description: Quintara Vertical Plate 192 Wells + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_quintara_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_quintara_96_wellplate_300ul + type: pylabrobot + description: Quintara 96 Well Plate 300 µL on Aluminum Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_reagent_1_reservoir_130000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_reagent_1_reservoir_130000ul + type: pylabrobot + description: Reagent 1 Reservoir 130000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_redefinedbiorad_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_redefinedbiorad_96_wellplate_200ul + type: pylabrobot + description: BioRad 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_regeneron_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_regeneron_96_aluminumblock_200ul + type: pylabrobot + description: Regeneron 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_roarprinted_48_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_roarprinted_48_wellplate_1500ul + type: pylabrobot + description: ROAR_printed_ 48 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_rrl_1_wellplate_180000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_rrl_1_wellplate_180000ul + type: pylabrobot + description: RRL 1 Well Plate 180000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_rrlcustom_40_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_rrlcustom_40_wellplate_1500ul + type: pylabrobot + description: RRL Custom 40 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_rssrack_15_tuberack_2500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_rssrack_15_tuberack_2500ul + type: pylabrobot + description: RSS Rack 15 Tube Rack 2500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sarstedt_24_aluminumblock_screwcap_tube_2ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_sarstedt_24_aluminumblock_screwcap_tube_2ml + type: pylabrobot + description: Sarstedt 24 well aluminum block with screwcap tube 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sarstedt_24_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_sarstedt_24_tuberack_2000ul + type: pylabrobot + description: Sarstedt 24 Tube Rack 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sarstedt_24_tuberack_500ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_sarstedt_24_tuberack_500ul + type: pylabrobot + description: Sarstedt 24 Tube Rack 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sarstedt_384_wellplate_40ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_sarstedt_384_wellplate_40ul + type: pylabrobot + description: Sarstedt 384 Well Plate 40 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sequalprep_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_sequalprep_96_wellplate_200ul + type: pylabrobot + description: SequalPrep 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sh_48_wellplate_2500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_sh_48_wellplate_2500ul + type: pylabrobot + description: SH 48 Well Plate 2500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_simport_96_wellplate_flipped: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_simport_96_wellplate_flipped + type: pylabrobot + description: SIMPORT 96 Well Plate 1200µL Flipped + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sorenson_96_wellplate_350ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_sorenson_96_wellplate_350ul + type: pylabrobot + description: Sorenson 96 Well Plate 350 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_sorfa_15_tuberack_10000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_sorfa_15_tuberack_10000ul + type: pylabrobot + description: Sorfa 15 Tube Rack 10000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spestackedoncollection_96_wellplate_1600ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spestackedoncollection_96_wellplate_1600ul + type: pylabrobot + description: SPE Stacked On Collection 96 Well Plate 1600 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spex_96_wellplate_2400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spex_96_wellplate_2400ul + type: pylabrobot + description: SPEX 96 Well Plate 2400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spi_slides_4x21: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spi_slides_4x21 + type: pylabrobot + description: 'SPI slides 4x21 (fallback: corning 96 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spl_96_wellplate_200ul_flat: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spl_96_wellplate_200ul_flat + type: pylabrobot + description: SPL Cell Culture Plate 96 Well Flat Bottom + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_spl_96_wellplate_200ul_round: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_spl_96_wellplate_200ul_round + type: pylabrobot + description: SPL Cell Culture Plate 96 Well Flat Bottom + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ssibio_96_tuberack_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_ssibio_96_tuberack_200ul + type: pylabrobot + description: SSIbio 96 Tube Rack with NEST 0.2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starlab10ml24wellplate_24_wellplate_10000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_starlab10ml24wellplate_24_wellplate_10000ul + type: pylabrobot + description: StarLab 10 Ml 24 Well Plate 24 Well Plate 10000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starlab_12_reservoir_22000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_starlab_12_reservoir_22000ul + type: pylabrobot + description: Starlab 12 Reservoir 22000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starlab_1_reservoir_240000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_starlab_1_reservoir_240000ul + type: pylabrobot + description: Starlab 1 Reservoir 240000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starlab_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_starlab_96_wellplate_2200ul + type: pylabrobot + description: Starlab 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_starstedt_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_starstedt_96_wellplate_200ul + type: pylabrobot + description: Starstedt 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_stellarscientific_96_cluster_tubes_1200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_stellarscientific_96_cluster_tubes_1200ul + type: pylabrobot + description: Stellar Scientific 96 Cluster Tubes 1200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_stellarscientific_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_stellarscientific_96_wellplate_100ul + type: pylabrobot + description: Stellar Scientific 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_striptubes_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_striptubes_96_wellplate_1000ul + type: pylabrobot + description: Striptubes 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tecan_96_wellplate_1300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tecan_96_wellplate_1300ul + type: pylabrobot + description: Tecan 96 Well Plate 1300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tecan_elisa_96well_hs: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tecan_elisa_96well_hs + type: pylabrobot + description: Tecan ELISA 96-well on Heater Shaker + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_teleshake1536_64_slides_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_teleshake1536_64_slides_100ul + type: pylabrobot + description: 'Teleshake 1536 64 slides 100ul (fallback: corning 384 flat)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tempassure_96_strips_200ul_pcr: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tempassure_96_strips_200ul_pcr + type: pylabrobot + description: Tempassure 96 strip tubes 200ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_test_1_reservoir_300000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_test_1_reservoir_300000ul + type: pylabrobot + description: Test 1 Reservoir 300000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_1_reservoir_300ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_1_reservoir_300ul + type: pylabrobot + description: Thermo 1 Reservoir 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_384_wellplate_50ul + type: pylabrobot + description: Thermo 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_aluminumblock_200ul + type: pylabrobot + description: Thermo 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_wellplate_200ul + type: pylabrobot + description: Thermo 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_wellplate_400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_wellplate_400ul + type: pylabrobot + description: Thermo Maxisorb + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_wellplate_800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_wellplate_800ul + type: pylabrobot + description: Abgene™ 96 Well 0.8mL Thermo Scientific + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_96_wellplate_ab_0800_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_96_wellplate_ab_0800_200ul + type: pylabrobot + description: Thermo-Fast 96 Well Plate AB-0800 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_ab_0600_96_aluminumblock_300ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_ab_0600_96_aluminumblock_300ul + type: pylabrobot + description: thermo_ab_0600_96_aluminumblock_300ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermo_non_skirted_96_plate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermo_non_skirted_96_plate_300ul + type: pylabrobot + description: Thermo Scientific Non Skirted 96 Well Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofast_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofast_96_wellplate_200ul + type: pylabrobot + description: Thermo-Fast 96, Skirted PCR Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofast_96well_semiskirted_eppendorf_cooler: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofast_96well_semiskirted_eppendorf_cooler + type: pylabrobot + description: Thermofisher PCR Plate, 96-well, semi-skirted, flat deck + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_384_wellplate_50ul + type: pylabrobot + description: Thermofisher 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_40_tuberack_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_40_tuberack_2000ul + type: pylabrobot + description: Thermofisher 40 Tube Rack with Thermofisher 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_95040450_96_deepwell_2ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_95040450_96_deepwell_2ml + type: pylabrobot + description: ThermoFisher 96 Deep Well Plate 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_midi_storage_plate_800ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_midi_storage_plate_800ul + type: pylabrobot + description: ThermoFisher 96 MIDI Storage Plate 800uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_skirted_pcr_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_skirted_pcr_200ul + type: pylabrobot + description: ThermoFisher 96 Well Skirted PCR Plate 200uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_well_pcrplate_200_aluminumblock: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_well_pcrplate_200_aluminumblock + type: pylabrobot + description: thermofisher 96-well PCR Plate semi-skirted 200 uL + aluminum block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter + type: pylabrobot + description: thermofisher 96 well pcr plate semi-skirted 200 uL + plastic adapter + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_wellplate_1400ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_wellplate_1400ul + type: pylabrobot + description: Thermofisher 96 Well Plate 1400 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_wellplate_200ul + type: pylabrobot + description: Thermo Fisher 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_wellplate_300ul + type: pylabrobot + description: Thermofisher 96 Well Plate 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_96_wellplate_500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_96_wellplate_500ul + type: pylabrobot + description: Thermofisher 96 Well Plate 500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisher_nunc_96_wellplate_2ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisher_nunc_96_wellplate_2ml + type: pylabrobot + description: Thermofisher Nunc 96 Well Plate 2mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherabgene_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherabgene_96_wellplate_2200ul + type: pylabrobot + description: ThermoFisher Abgene 96 Well Plate 2200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherarmadillo_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherarmadillo_96_wellplate_200ul + type: pylabrobot + description: Thermofisher Armadillo 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherdwplate_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherdwplate_96_wellplate_2000ul + type: pylabrobot + description: ThermoFisher DW Plate 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherkingfisherdeepwell_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherkingfisherdeepwell_96_wellplate_2000ul + type: pylabrobot + description: Thermo-Fisher Kingfisher Deep Well 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishermicroamp_384_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishermicroamp_384_wellplate_50ul + type: pylabrobot + description: ThermoFisher MicroAmp 384 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishermicroamp_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishermicroamp_96_aluminumblock_200ul + type: pylabrobot + description: ThermoFisher Microamp 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishermicroamp_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishermicroamp_96_wellplate_200ul + type: pylabrobot + description: ThermoFisher Microamp 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishermicroampfast96well0point1_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishermicroampfast96well0point1_96_wellplate_100ul + type: pylabrobot + description: ThermoFisher MicroAmp Fast 96-well 0.1 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishernalgene_1_reservoir_300000ul: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishernalgene_1_reservoir_300000ul + type: pylabrobot + description: ThermoFisher Nalgene 1 Reservoir 300000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishernunc_96_aluminumblock_450ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishernunc_96_aluminumblock_450ul + type: pylabrobot + description: ThermoFisher Nunc 96 Aluminum Block 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishernunc_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishernunc_96_wellplate_2000ul + type: pylabrobot + description: ThermoFisher Nunc 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofishernunc_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofishernunc_96_wellplate_450ul + type: pylabrobot + description: ThermoFisher Nunc 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherscientific_96_wellplate_450ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherscientific_96_wellplate_450ul + type: pylabrobot + description: ThermoFisher Scientific 96 Well Plate 450 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherscientific_96_wellplate_50ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherscientific_96_wellplate_50ul + type: pylabrobot + description: Thermofisher Scientific 96 Well Plate 50 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherscientificdeepwell_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherscientificdeepwell_96_wellplate_2000ul + type: pylabrobot + description: Thermofisher Scientific Deepwell 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermofisherscientificelutiontubes_96_wellplate_650ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermofisherscientificelutiontubes_96_wellplate_650ul + type: pylabrobot + description: Thermo Fisher Scientific Elution Tubes 96 Well Plate 650 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientific_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientific_96_wellplate_200ul + type: pylabrobot + description: Thermo Scientific 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientific_96_wellplate_300ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientific_96_wellplate_300ul + type: pylabrobot + description: 'Thermo Scientific 96 wellplate 300ul #AB0600' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientific_96_wellplate_v_450: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientific_96_wellplate_v_450 + type: pylabrobot + description: Thermo Scientific 96 Well Plate V Bottom 450 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientificmatrix_96_tuberack_1000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientificmatrix_96_tuberack_1000ul + type: pylabrobot + description: ThermoScientific Matrix 96 Tube Rack with custom 1 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_thermoscientificnunc_96_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_thermoscientificnunc_96_wellplate_2000ul + type: pylabrobot + description: Thermo Scientific Nunc 96 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tiprack_200ul_extended: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_tiprack_200ul_extended + type: pylabrobot + description: 'Tiprack 200ul extended (fallback: opentrons 300ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tpp_96well_plate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tpp_96well_plate_340ul + type: pylabrobot + description: TPP Tissue culture testplate 96F 92096 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tuberack_15_tuberack_5000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_tuberack_15_tuberack_5000ul + type: pylabrobot + description: Tube Rack 15 Tube Rack 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_tuberack_24_wellplate_1500ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_tuberack_24_wellplate_1500ul + type: pylabrobot + description: Tuberack 24 Well Plate 1500 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_twdtradewinds_24_tuberack_4000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_twdtradewinds_24_tuberack_4000ul + type: pylabrobot + description: TWD_Tradewinds 24 Tube Rack with 4mL_Scintillation_Vials 4 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_twintec_pcr_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_twintec_pcr_plate + type: pylabrobot + description: Eppendorf 96 Well Plate 150 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_two_spacing: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_two_spacing + type: pylabrobot + description: Two Spacing + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_udiplate_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_udiplate_96_wellplate_200ul + type: pylabrobot + description: UDIplate 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usa_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usa_96_wellplate_200ul + type: pylabrobot + description: USA 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usalowbind_24_aluminumblock_2000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usalowbind_24_aluminumblock_2000ul + type: pylabrobot + description: USA Low Bind 24 Aluminum Block 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific8strip_96_aluminumblock_300ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific8strip_96_aluminumblock_300ul + type: pylabrobot + description: USA Scientific 8-STrip 96 Aluminum Block 300 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_12_reservoir_22ml: + category: + - reservoirs + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_12_reservoir_22ml + type: pylabrobot + description: USA Scientific 12 Well Reservoir 22 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_aluminumblock_200ul + type: pylabrobot + description: USA Scientific 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_tiprack_200ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_tiprack_200ul + type: pylabrobot + description: USA Scientific 96 Tip Rack 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_wellplate_100ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_wellplate_100ul + type: pylabrobot + description: USA Scientific 96 Well Plate 100 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_wellplate_200ul + type: pylabrobot + description: USA Scientific 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_wellplate_2ml_deep: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_wellplate_2ml_deep + type: pylabrobot + description: USA Scientific 96 Deep Well Plate 2.0 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usascientific_96_wellplate_2point4ml_deep: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usascientific_96_wellplate_2point4ml_deep + type: pylabrobot + description: USA Scientific 96 Deep Well Plate 2.4 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usastrips_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_usastrips_96_aluminumblock_200ul + type: pylabrobot + description: USA Strips 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_usastrips_96_supportbase_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_usastrips_96_supportbase_200ul + type: pylabrobot + description: USA Strips 96 Support Base 200 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vial_rack_8x20ml_vials: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vial_rack_8x20ml_vials + type: pylabrobot + description: 8x20mL Vial Rack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_visby: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_visby + type: pylabrobot + description: visby + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vpscientific_48_wellplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vpscientific_48_wellplate_2000ul + type: pylabrobot + description: V&P Scientific 48 Well Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vpscientific_8_tiprack_10ul: + category: + - tip_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vpscientific_8_tiprack_10ul + type: pylabrobot + description: 'VP Scientific 8 tiprack 10ul (fallback: opentrons 10ul)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_15_tuberack_5000ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_15_tuberack_5000ul + type: pylabrobot + description: VWR 15 Tube Rack 5000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_15_tuberack_selfstanding_5ml_conical: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_15_tuberack_selfstanding_5ml_conical + type: pylabrobot + description: VWR 3x5 self standing 5ml tuberack + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_24_tuberack_1point5ml: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_24_tuberack_1point5ml + type: pylabrobot + description: VWR 24 Tube Rack 1.5mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_96_aluminumblock_200ul: + category: + - tube_racks + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_96_aluminumblock_200ul + type: pylabrobot + description: VWR 96 Aluminum Block 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_96_wellplate_1000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_96_wellplate_1000ul + type: pylabrobot + description: VWR 96 Well Plate 1000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_96well_pcr_plate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_96well_pcr_plate_200ul + type: pylabrobot + description: VWR 96 well PCR plate 200 uL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwr_square_96_microplate_2000ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vwr_square_96_microplate_2000ul + type: pylabrobot + description: VWR 96 Square Micro Plate 2000 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_vwrpcr_96_wellplate_200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_vwrpcr_96_wellplate_200ul + type: pylabrobot + description: VWR Pcr 96 Well Plate 200 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_wafer_6x4_grid: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_wafer_6x4_grid + type: pylabrobot + description: Custom Wafer 4x6 Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_waters_96_wellplate_2ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_waters_96_wellplate_2ml + type: pylabrobot + description: Waters 96 Well Plate 2 mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_white_96well_plate_340ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_white_96well_plate_340ul + type: pylabrobot + description: NUNC white 96F 236105 + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_x_capper_rack_48_well_0point5ml: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_x_capper_rack_48_well_0point5ml + type: pylabrobot + description: X Capper 48 Rack 0.5mL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_ydp962_2sc_96_wellplate_2200ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_ydp962_2sc_96_wellplate_2200ul + type: pylabrobot + description: YDP-96-2.2-SC 96_wellplate_2200ul + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_zinsser_96_wellplate_1898ul: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_zinsser_96_wellplate_1898ul + type: pylabrobot + description: Zinsser 96 Well Plate 1898 µL + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_zymo_96_wellblock: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_zymo_96_wellblock + type: pylabrobot + description: Zymo 96-Well Block + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +lab_zymo_elution_plate: + category: + - plates + - lab + class: + module: unilabos.resources.lab_resources:lab_zymo_elution_plate + type: pylabrobot + description: Zymo Elution Plate + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/lab_resources.py b/unilabos/resources/lab_resources.py new file mode 100644 index 00000000..f78ae905 --- /dev/null +++ b/unilabos/resources/lab_resources.py @@ -0,0 +1,3681 @@ +""" +Auto-generated labware resource definitions for all protoBuilds types. +Total: 529 labware types. + +DO NOT EDIT MANUALLY - generated by scripts/generate_lab_resources.py +""" + +import json +import os +from typing import Union, cast + +from pylabrobot.resources.opentrons.load import ( + load_shared_opentrons_resource, + ot_definition_to_resource, +) +from pylabrobot.resources.plate import Plate +from pylabrobot.resources.tip_rack import TipRack +from pylabrobot.resources.tube_rack import TubeRack +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.coordinate import Coordinate + + +def resource(): + """Resource decorator placeholder - does nothing.""" + def decorator(func): + return func + return decorator + + +# --------------------------------------------------------------------------- +# Custom labware definitions bundle (loaded once) +# --------------------------------------------------------------------------- +_CUSTOM_DEFS_PATH = os.path.join( + os.path.dirname(__file__), "opentrons_custom_labware_defs.json" +) +_custom_defs_cache = None + + +def _get_custom_defs(): + global _custom_defs_cache + if _custom_defs_cache is None: + with open(_CUSTOM_DEFS_PATH, "r", encoding="utf-8") as f: + _custom_defs_cache = json.load(f) + return _custom_defs_cache + + +@resource() +def lab_100ul_384_wellplate_100ul(name: str = "100ul_384_wellplate_100ul") -> Plate: + """100ul 384 Well Plate 100 µL""" + defn = _get_custom_defs()["100ul_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate1(name: str = "127x85_agar_plate1") -> Plate: + """Plate 1 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate1"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate2(name: str = "127x85_agar_plate2") -> Plate: + """Plate 2 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate2"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate3(name: str = "127x85_agar_plate3") -> Plate: + """Plate 3 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate3"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate4(name: str = "127x85_agar_plate4") -> Plate: + """Plate 4 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate4"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate5(name: str = "127x85_agar_plate5") -> Plate: + """Plate 5 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate5"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate6(name: str = "127x85_agar_plate6") -> Plate: + """Plate 6 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate6"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate7(name: str = "127x85_agar_plate7") -> Plate: + """Plate 7 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate7"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate8(name: str = "127x85_agar_plate8") -> Plate: + """Plate 8 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate8"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_127x85_agar_plate9(name: str = "127x85_agar_plate9") -> Plate: + """Plate 9 96 Well Plate 2.5 µL""" + defn = _get_custom_defs()["127x85_agar_plate9"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_3axygen96wellminitubesystemcorning_96_wellplate_1320ul(name: str = "3axygen96wellminitubesystemcorning_96_wellplate_1320ul") -> Plate: + """3 Axygen 96-Well Mini Tube System, Corning 96 Well Plate 1320 µL""" + defn = _get_custom_defs()["3axygen96wellminitubesystemcorning_96_wellplate_1320ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_3dprint_96_tuberack_200ul(name: str = "3dprint_96_tuberack_200ul") -> TubeRack: + """3DPrint 96 Tube Rack with Nippon 0.2 mL""" + defn = _get_custom_defs()["3dprint_96_tuberack_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_4titude_96_wellplate_200ul(name: str = "4titude_96_wellplate_200ul") -> Plate: + """4ti-0960/C 96 Well Full Skirted Plate""" + defn = _get_custom_defs()["4titude_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_4titude_framestar_pcr_plate_200ul(name: str = "4titude_framestar_pcr_plate_200ul") -> Plate: + """4titude FrameStar PCR Plate, Low Profile""" + defn = _get_custom_defs()["4titude_framestar_pcr_plate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_4titudeframestar_384_wellplate_55ul(name: str = "4titudeframestar_384_wellplate_55ul") -> Plate: + """4-titude FrameStar 384 Well Plate 55 µL""" + defn = _get_custom_defs()["4titudeframestar_384_wellplate_55ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_6x4_0point6inch_t6(name: str = "6x4_0.6inch_t6") -> TubeRack: + """6x4_0.6inch_t6""" + defn = _get_custom_defs()["6x4_0.6inch_t6"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_6x5_half_inch_t1_t3(name: str = "6x5_half_inch_t1_t3") -> TubeRack: + """6x5_0.5inch_t1_t3""" + defn = _get_custom_defs()["6x5_half_inch_t1_t3"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_80_well_plate(name: str = "80_well_plate") -> Plate: + """80 Well Plate""" + defn = _get_custom_defs()["80_well_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96_elutionplate_ubottom_by_macherey_nagel(name: str = "96_elutionplate_ubottom_by_macherey_nagel") -> Plate: + """96_Elutionplate_ubottom_by_Macherey_Nagel""" + defn = _get_custom_defs()["96_elutionplate_ubottom_by_macherey_nagel"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96_squarewell_block_macherey_nagel(name: str = "96_squarewell_block_macherey_nagel") -> Plate: + """96 Square-Well Block by Macherey-Nagel""" + defn = _get_custom_defs()["96_squarewell_block_macherey_nagel"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96w_pcr_plate2(name: str = "96w_pcr_plate2") -> Plate: + """96wells_pcr_plate2""" + defn = _get_custom_defs()["96w_pcr_plate2"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96well_pcr_base_200ul_strip(name: str = "96well_pcr_base_200ul_strip") -> TubeRack: + """MicroAmp 96-Well Base with 0.2 mL Thermo Scientific PCR Tube Strip""" + defn = _get_custom_defs()["96well_pcr_base_200ul_strip"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_96wellplatemountedcappshaker_96_wellplate_360ul(name: str = "96wellplatemountedcappshaker_96_wellplate_360ul") -> Plate: + """96 Well Plate Mounted CAPP Shaker 96 Well Plate 360 µL""" + defn = _get_custom_defs()["96wellplatemountedcappshaker_96_wellplate_360ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ab_96_aluminumblock(name: str = "ab_96_aluminumblock") -> TubeRack: + """Applied Biosystems 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["ab_96_aluminumblock"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_2000ul(name: str = "abgene_96_wellplate_2000ul") -> Plate: + """Abgene 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_200ul(name: str = "abgene_96_wellplate_200ul") -> Plate: + """ABgene 96 Well PCR Plate 200uL""" + defn = _get_custom_defs()["abgene_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_200ul_isofreeze_block(name: str = "abgene_96_wellplate_200ul_isofreeze_block") -> Plate: + """ABGene 96 Well Plate 200µl on ISOFREEZE Block""" + defn = _get_custom_defs()["abgene_96_wellplate_200ul_isofreeze_block"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_2200ul(name: str = "abgene_96_wellplate_2200ul") -> Plate: + """Abgene 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_330ul(name: str = "abgene_96_wellplate_330ul") -> Plate: + """Abgene 96 Well Plate 330 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_330ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_330ul_round(name: str = "abgene_96_wellplate_330ul_round") -> Plate: + """Abgene 96 Wellplate 330ul Round""" + defn = _get_custom_defs()["abgene_96_wellplate_330ul_round"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_700ul(name: str = "abgene_96_wellplate_700ul") -> Plate: + """Abgene 96 Well Plate 700 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_700ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgene_96_wellplate_800ul(name: str = "abgene_96_wellplate_800ul") -> Plate: + """Abgene 96 Well Plate 800 µL""" + defn = _get_custom_defs()["abgene_96_wellplate_800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_abgenemidi_96_wellplate_800ul(name: str = "abgenemidi_96_wellplate_800ul") -> Plate: + """Abgene Midi 96 Well Plate 800 µL""" + defn = _get_custom_defs()["abgenemidi_96_wellplate_800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ag_48_tuberack_150ul(name: str = "ag_48_tuberack_150ul") -> TubeRack: + """AG 48 Tube Rack with ReadyGo 0.15 mL""" + defn = _get_custom_defs()["ag_48_tuberack_150ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_12_reservoir_21ml(name: str = "agilent_12_reservoir_21ml") -> Plate: + """Agilent 12-Channel Reservoir 21ml""" + defn = _get_custom_defs()["agilent_12_reservoir_21ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_1_reservoir_290ml(name: str = "agilent_1_reservoir_290ml") -> Plate: + """Agilent 1 Well Reservoir 290 mL""" + return cast(Plate, load_shared_opentrons_resource("agilent_1_reservoir_290ml", name=name)) + + +@resource() +def lab_agilent_3_reservoir_95ml(name: str = "agilent_3_reservoir_95ml") -> Plate: + """Agilent 3-Channel Reservoir 95ml""" + defn = _get_custom_defs()["agilent_3_reservoir_95ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_48_reservoir_5000ul(name: str = "agilent_48_reservoir_5000ul") -> Plate: + """Agilent 48 Reservoir 5000 µL""" + defn = _get_custom_defs()["agilent_48_reservoir_5000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_c18omix_200ul(name: str = "agilent_96_c18omix_200ul") -> Plate: + """Agilent 96 C18 Omix 200ul (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_agilent_96_wellplate_1200ul(name: str = "agilent_96_wellplate_1200ul") -> Plate: + """Agilent 96 Well Plate 1200 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_wellplate_1400ul(name: str = "agilent_96_wellplate_1400ul") -> Plate: + """Agilent 96 Well Plate 1400 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_1400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_wellplate_200ul(name: str = "agilent_96_wellplate_200ul") -> Plate: + """Agilent 96 Well Plate 200 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_wellplate_270ul(name: str = "agilent_96_wellplate_270ul") -> Plate: + """Agilent 96 Well Plate 270 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_270ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilent_96_wellplate_500ul(name: str = "agilent_96_wellplate_500ul") -> Plate: + """Agilent 96 Well Plate 500 µL""" + defn = _get_custom_defs()["agilent_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_agilentwithnonskirted_96_wellplate_200ul(name: str = "agilentwithnonskirted_96_wellplate_200ul") -> Plate: + """Agilent With Nonskirted 96 Well Plate 200 µL""" + defn = _get_custom_defs()["agilentwithnonskirted_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_akura_384_wellplate_50ul(name: str = "akura_384_wellplate_50ul") -> Plate: + """Akura 384 Well Plate 50 µL""" + defn = _get_custom_defs()["akura_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_alpaqua96sneptune_96_wellplate_200ul(name: str = "alpaqua96sneptune_96_wellplate_200ul") -> Plate: + """Alpaqua96S_Neptune 96 Well Plate 200 µL""" + defn = _get_custom_defs()["alpaqua96sneptune_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_alpaquaprimaryv3_24_tuberack_2000ul(name: str = "alpaquaprimaryv3_24_tuberack_2000ul") -> TubeRack: + """Alpaqua Primary-v3 24 Tube Rack 2000 µL""" + defn = _get_custom_defs()["alpaquaprimaryv3_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_alpaquasecondaryv3_24_tuberack_750ul(name: str = "alpaquasecondaryv3_24_tuberack_750ul") -> TubeRack: + """Alpaqua Secondaryv3 24 Tube Rack 750 µL""" + defn = _get_custom_defs()["alpaquasecondaryv3_24_tuberack_750ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_altemislab_48_wellplate_2000ul(name: str = "altemislab_48_wellplate_2000ul") -> Plate: + """Altemis Lab 48 Well Plate 2000 µL""" + defn = _get_custom_defs()["altemislab_48_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_amplifyt_96_tuberack_200ul(name: str = "amplifyt_96_tuberack_200ul") -> TubeRack: + """Amplifyt 96 Tube Rack with Regeneron 0.2 mL""" + defn = _get_custom_defs()["amplifyt_96_tuberack_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_amplifyt_96_wellplate_200ul(name: str = "amplifyt_96_wellplate_200ul") -> Plate: + """Amplifyt 96 Well Plate 200 µL""" + defn = _get_custom_defs()["amplifyt_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ananda_384_wellplate_100ul(name: str = "ananda_384_wellplate_100ul") -> Plate: + """Ananda 384 Well Plate 100 µL""" + defn = _get_custom_defs()["ananda_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appleton_6_tuberack_50000ul(name: str = "appleton_6_tuberack_50000ul") -> TubeRack: + """Appleton 6 Tube Rack 50000 µL""" + defn = _get_custom_defs()["appleton_6_tuberack_50000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystem_384_wellplate_40ul(name: str = "appliedbiosystem_384_wellplate_40ul") -> Plate: + """Appliedbiosystem 384 Well Plate 40 µL""" + defn = _get_custom_defs()["appliedbiosystem_384_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_384_wellplate_20ul(name: str = "appliedbiosystems_384_wellplate_20ul") -> Plate: + """Applied Biosystems 384 Well Plate 20 µL""" + defn = _get_custom_defs()["appliedbiosystems_384_wellplate_20ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_384_wellplate_40ul(name: str = "appliedbiosystems_384_wellplate_40ul") -> Plate: + """Applied Biosystems 384 Well Plate 40 µL""" + defn = _get_custom_defs()["appliedbiosystems_384_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_96_wellplate_100ul(name: str = "appliedbiosystems_96_wellplate_100ul") -> Plate: + """Applied Biosystems 96 Well Plate 100 µL""" + defn = _get_custom_defs()["appliedbiosystems_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block(name: str = "appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block") -> Plate: + """Applied Biosystems 96 Well Plate 200ul on Eppendorf Cooling Block""" + defn = _get_custom_defs()["appliedbiosystems_96_wellplate_200ul_on_eppendorf_cooling_block"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystems_microamp_optical_384_wellplate_30ul(name: str = "appliedbiosystems_microamp_optical_384_wellplate_30ul") -> Plate: + """Applied Biosystems™ MicroAmp™ Optical 384-Well Reaction Plate With Barcode 384 Well Plate 30 µL""" + defn = _get_custom_defs()["appliedbiosystems_microamp_optical_384_wellplate_30ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystemsenduraplate_96_aluminumblock_220ul(name: str = "appliedbiosystemsenduraplate_96_aluminumblock_220ul") -> TubeRack: + """Applied Biosystems Enduraplate 96 Aluminum Block 220 µL""" + defn = _get_custom_defs()["appliedbiosystemsenduraplate_96_aluminumblock_220ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystemsmicroamp_96_aluminumblock_200ul(name: str = "appliedbiosystemsmicroamp_96_aluminumblock_200ul") -> TubeRack: + """Applied Biosystems MicroAmp 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["appliedbiosystemsmicroamp_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul(name: str = "appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul") -> Plate: + """Applied Biosystems™ MicroAmp™ Optical 384-Well Reaction Plate With Barcode 384 Well Plate 30 µL""" + defn = _get_custom_defs()["appliedbiosystemsmicroampoptical384wellreactionplatewithbarcode_384_wellplate_30ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul(name: str = "appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul") -> Plate: + """Applied Biosystems (ThermoFisher/Life) 4309849 With Barcode 384 Well Plate 30 µL""" + defn = _get_custom_defs()["appliedbiosystemsthermofisherlife4309849withbarcode_384_wellplate_30ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_armadillo_96_aluminumblock_200ul(name: str = "armadillo_96_aluminumblock_200ul") -> TubeRack: + """Armadillo 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["armadillo_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_armadillo_96_wellplate_200ul_pcr_full_skirt(name: str = "armadillo_96_wellplate_200ul_pcr_full_skirt") -> Plate: + """Armadillo 96 Well Plate 200 µL PCR Full Skirt""" + defn = _get_custom_defs()["armadillo_96_wellplate_200ul_pcr_full_skirt"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_aspir8_1_reservoir_taped(name: str = "aspir8_1_reservoir_taped") -> Plate: + """Aspir-8 Reservoir""" + defn = _get_custom_defs()["aspir8_1_reservoir_taped"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_aurora_384_wellplate_100ul(name: str = "aurora_384_wellplate_100ul") -> Plate: + """Aurora 384 Well Plate 100 µL""" + defn = _get_custom_defs()["aurora_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_avantik_15_tuberack_3000ul(name: str = "avantik_15_tuberack_3000ul") -> TubeRack: + """Avantik 15 Tube Rack 3000 µL""" + defn = _get_custom_defs()["avantik_15_tuberack_3000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_1_reservoir_90ml(name: str = "axygen_1_reservoir_90ml") -> Plate: + """Axygen 1 Well Reservoir 90 mL""" + return cast(Plate, load_shared_opentrons_resource("axygen_1_reservoir_90ml", name=name)) + + +@resource() +def lab_axygen_24_tuberack_1700ul(name: str = "axygen_24_tuberack_1700ul") -> TubeRack: + """Axygen 24 Tube Rack 1700 µL""" + defn = _get_custom_defs()["axygen_24_tuberack_1700ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_384_wellplate_50ul(name: str = "axygen_384_wellplate_50ul") -> Plate: + """Axygen 384 Well Plate 50 µL""" + defn = _get_custom_defs()["axygen_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_4_reservoir_70ul(name: str = "axygen_4_reservoir_70ul") -> Plate: + """Axygen 4 Reservoir 70 µL""" + defn = _get_custom_defs()["axygen_4_reservoir_70ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_4_reservoir_73000ul(name: str = "axygen_4_reservoir_73000ul") -> Plate: + """Axygen 4 Reservoir 73 mL""" + defn = _get_custom_defs()["axygen_4_reservoir_73000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_plate_200ul_pcr(name: str = "axygen_96_plate_200ul_pcr") -> Plate: + """Axygen 96 Well PCR Microplate 200uL""" + defn = _get_custom_defs()["axygen_96_plate_200ul_pcr"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_wellplate(name: str = "axygen_96_wellplate") -> Plate: + """Axygen 96 Well Plate""" + defn = _get_custom_defs()["axygen_96_wellplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_wellplate_2000ul(name: str = "axygen_96_wellplate_2000ul") -> Plate: + """Axygen 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["axygen_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_wellplate_300ul(name: str = "axygen_96_wellplate_300ul") -> Plate: + """Axygen 96 Well Plate 300 µL""" + defn = _get_custom_defs()["axygen_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygen_96_wellplate_500ul(name: str = "axygen_96_wellplate_500ul") -> Plate: + """Axygen 96 Well Plate 500 µL""" + defn = _get_custom_defs()["axygen_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_axygenspheremag_96_wellplate_500ul(name: str = "axygenspheremag_96_wellplate_500ul") -> Plate: + """Axygen Sphere Mag 96 Well Plate 500 µL""" + defn = _get_custom_defs()["axygenspheremag_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_azentalifesciences_12_reservoir_21000ul(name: str = "azentalifesciences_12_reservoir_21000ul") -> Plate: + """Azenta Life Sciences 12 Reservoir 21000 µL""" + defn = _get_custom_defs()["azentalifesciences_12_reservoir_21000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_azentalifesciences_96_aluminumblock_200ul(name: str = "azentalifesciences_96_aluminumblock_200ul") -> TubeRack: + """Azenta Life Sciences 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["azentalifesciences_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_azentalifesciences_96_wellplate_200ul(name: str = "azentalifesciences_96_wellplate_200ul") -> Plate: + """Azenta Life Sciences 96 Well Plate 200 µL""" + defn = _get_custom_defs()["azentalifesciences_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_barcode_96_wellplate_200ul(name: str = "barcode_96_wellplate_200ul") -> Plate: + """Barcode 96 Well Plate 200 µL""" + defn = _get_custom_defs()["barcode_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_basisdx_15_tuberack_12000ul(name: str = "basisdx_15_tuberack_12000ul") -> TubeRack: + """Basis DX 15 Tube Rack 12000 µL""" + defn = _get_custom_defs()["basisdx_15_tuberack_12000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bd_24_tuberack_50ml_green(name: str = "bd_24_tuberack_50ml_green") -> TubeRack: + """BD 24 Green Tube Rack with 50 mL Conical""" + defn = _get_custom_defs()["bd_24_tuberack_50ml_green"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bd_54_tuberack_5ml_black(name: str = "bd_54_tuberack_5ml_black") -> TubeRack: + """BD 54 Tube Rack with HPLC Black 5 mL""" + defn = _get_custom_defs()["bd_54_tuberack_5ml_black"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bd_72_tuberack_15ml_orange(name: str = "bd_72_tuberack_15ml_orange") -> TubeRack: + """BD 72 Orange Tube Rack with 15 mL Conical""" + defn = _get_custom_defs()["bd_72_tuberack_15ml_orange"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_beckman_24_tuberack_1000ul(name: str = "beckman_24_tuberack_1000ul") -> TubeRack: + """Beckman 24 Tube Rack with Thomas 1 mL""" + defn = _get_custom_defs()["beckman_24_tuberack_1000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_beckman_48_wellplate_1800ul(name: str = "beckman_48_wellplate_1800ul") -> Plate: + """Beckman Fed Batch Plate""" + defn = _get_custom_defs()["beckman_48_wellplate_1800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_beckman_8_reservoir_19000ul(name: str = "beckman_8_reservoir_19000ul") -> Plate: + """Beckman 8 Reservoir 19000 µL""" + defn = _get_custom_defs()["beckman_8_reservoir_19000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_beckmancoulter_8_reservoir_19000ul(name: str = "beckmancoulter_8_reservoir_19000ul") -> Plate: + """Beckman Coulter 8 Reservoir 19000 µL""" + defn = _get_custom_defs()["beckmancoulter_8_reservoir_19000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_binding_column_tuberack(name: str = "binding_column_tuberack") -> TubeRack: + """Binding Column Tube Rack""" + defn = _get_custom_defs()["binding_column_tuberack"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bioplastics_96_aluminumblock_200ul(name: str = "bioplastics_96_aluminumblock_200ul") -> TubeRack: + """BIOplastics 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["bioplastics_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bioplastics_96_wellplate_100ul(name: str = "bioplastics_96_wellplate_100ul") -> Plate: + """Bioplastics 96 Well Plate 100 µL""" + defn = _get_custom_defs()["bioplastics_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bioplasticsbv_96_aluminumblock_100ul(name: str = "bioplasticsbv_96_aluminumblock_100ul") -> TubeRack: + """BIOPlastics BV 96 Aluminum Block 100 µL""" + defn = _get_custom_defs()["bioplasticsbv_96_aluminumblock_100ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bioplasticsbv_96_aluminumblock_200ul(name: str = "bioplasticsbv_96_aluminumblock_200ul") -> TubeRack: + """BIOPlastics BV 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["bioplasticsbv_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_384_wellplate_50ul(name: str = "biorad_384_wellplate_50ul") -> Plate: + """Bio-Rad 384 Well Plate 50 µL""" + defn = _get_custom_defs()["biorad_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_384_wellplate_50ul_(name: str = "biorad_384_wellplate_50ul_") -> Plate: + """Bio-Rad 384 Wellplate 50ul""" + defn = _get_custom_defs()["biorad_384_wellplate_50ul_"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_aluminumblock_120ul(name: str = "biorad_96_aluminumblock_120ul") -> TubeRack: + """Biorad 96 Aluminum Block 120 µL""" + defn = _get_custom_defs()["biorad_96_aluminumblock_120ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_aluminumblock_200ul(name: str = "biorad_96_aluminumblock_200ul") -> TubeRack: + """Biorad 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["biorad_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_aluminumblock_250ul(name: str = "biorad_96_aluminumblock_250ul") -> TubeRack: + """Bio-Rad 96 Aluminum Block 250 µL""" + defn = _get_custom_defs()["biorad_96_aluminumblock_250ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_aluminumblock_350ul(name: str = "biorad_96_aluminumblock_350ul") -> TubeRack: + """Bio-Rad 96 Aluminum Block 350 µL""" + defn = _get_custom_defs()["biorad_96_aluminumblock_350ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_fragment_analyzer_plate_aluminumblock_200ul(name: str = "biorad_96_fragment_analyzer_plate_aluminumblock_200ul") -> TubeRack: + """Fragment Analyzer Plate on 96 Well Aluminum Block""" + defn = _get_custom_defs()["biorad_96_fragment_analyzer_plate_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_wellplate_200ul(name: str = "biorad_96_wellplate_200ul") -> Plate: + """BioRad 96 Well Plate 200 µL""" + defn = _get_custom_defs()["biorad_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_wellplate_200ul_pcr(name: str = "biorad_96_wellplate_200ul_pcr") -> Plate: + """Bio-Rad 96 Well Plate 200 µL PCR""" + return cast(Plate, load_shared_opentrons_resource("biorad_96_wellplate_200ul_pcr", name=name)) + + +@resource() +def lab_biorad_96_wellplate_350ul(name: str = "biorad_96_wellplate_350ul") -> Plate: + """Bio-Rad 96 Well Plate 350 µL""" + defn = _get_custom_defs()["biorad_96_wellplate_350ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biorad_96_wellplate_50ul(name: str = "biorad_96_wellplate_50ul") -> Plate: + """Biorad 96 Well Plate 50 µL""" + defn = _get_custom_defs()["biorad_96_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_biotix_96_filtertiprack_10ul(name: str = "biotix_96_filtertiprack_10ul") -> TipRack: + """Biotix 96 filtertiprack 10ul (fallback: opentrons filter 10ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_10ul", name=name)) + + +@resource() +def lab_biozym_96_aluminumblock_200ul(name: str = "biozym_96_aluminumblock_200ul") -> TubeRack: + """Biozym 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["biozym_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_black_num_384(name: str = "black_num_384") -> Plate: + """Life Technologies 384 Well Plate 50 µL""" + defn = _get_custom_defs()["black_num_384"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_brand_384_wellplate_100ul(name: str = "brand_384_wellplate_100ul") -> Plate: + """Brand 384 Well Plate 100 µL""" + defn = _get_custom_defs()["brand_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_brandplates_96_wellplate_360ul(name: str = "brandplates_96_wellplate_360ul") -> Plate: + """96-well BRANDplate with V-bottom""" + defn = _get_custom_defs()["brandplates_96_wellplate_360ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bricklabwaretype1racklong_24_wellplate_4000ul(name: str = "bricklabwaretype1racklong_24_wellplate_4000ul") -> Plate: + """Bricklabware_type1_rack_long 24 Well Plate 4000 µL""" + defn = _get_custom_defs()["bricklabwaretype1racklong_24_wellplate_4000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_bricklabwaretype2rackshort_24_wellplate_2000ul(name: str = "bricklabwaretype2rackshort_24_wellplate_2000ul") -> Plate: + """Bricklabware_type2_rack_short 24 Well Plate 2000 µL""" + defn = _get_custom_defs()["bricklabwaretype2rackshort_24_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_caplugs_6_tuberack_30ml(name: str = "caplugs_6_tuberack_30ml") -> TubeRack: + """Caplugs 6 Tube Rack 30 mL""" + defn = _get_custom_defs()["caplugs_6_tuberack_30ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cepheid(name: str = "cepheid") -> Plate: + """Cepheid""" + defn = _get_custom_defs()["cepheid"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cerillo_stratus_armadillo_flatbottom_200ul(name: str = "cerillo_stratus_armadillo_flatbottom_200ul") -> Plate: + """Cerillo Stratus Armadillo Flat Bottom Plate 96well 200uL""" + defn = _get_custom_defs()["cerillo_stratus_armadillo_flatbottom_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_charlesriver_15_tuberack_10000ul(name: str = "charlesriver_15_tuberack_10000ul") -> TubeRack: + """Charles River 15 Tube Rack 10000 µL""" + defn = _get_custom_defs()["charlesriver_15_tuberack_10000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_checkit_8_wellplate_5ul(name: str = "checkit_8_wellplate_5ul") -> Plate: + """Checkit 8 Well Plate 5 µL""" + defn = _get_custom_defs()["checkit_8_wellplate_5ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_chromtech_96_filter_wellplate(name: str = "chromtech_96_filter_wellplate") -> Plate: + """Chrom Tech filter plate""" + defn = _get_custom_defs()["chromtech_96_filter_wellplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_coleparmer_384_wellplate_50ul(name: str = "coleparmer_384_wellplate_50ul") -> Plate: + """COLEPARMER 384 Well Plate 50 µL""" + defn = _get_custom_defs()["coleparmer_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_combo_96_wellplate_300ul(name: str = "combo_96_wellplate_300ul") -> Plate: + """Combo 96 Well Plate Black Label on Nest Plate 300µL""" + defn = _get_custom_defs()["combo_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_12_reservoir(name: str = "corning_12_reservoir") -> Plate: + """Corning 12 Reservoir 2000 µL""" + defn = _get_custom_defs()["corning_12_reservoir"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_24_wellplate_3point4ml_flat(name: str = "corning_24_wellplate_3.4ml_flat") -> Plate: + """Corning 24 Well Plate 3.4 mL Flat""" + return cast(Plate, load_shared_opentrons_resource("corning_24_wellplate_3.4ml_flat", name=name)) + + +@resource() +def lab_corning_384_wellplate_112ul_flat(name: str = "corning_384_wellplate_112ul_flat") -> Plate: + """Corning 384 Well Plate 112 µL Flat""" + return cast(Plate, load_shared_opentrons_resource("corning_384_wellplate_112ul_flat", name=name)) + + +@resource() +def lab_corning_384_wellplate_20ul(name: str = "corning_384_wellplate_20ul") -> Plate: + """Corning 384 Well Plate 20 µL""" + defn = _get_custom_defs()["corning_384_wellplate_20ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_384_wellplate_90ul(name: str = "corning_384_wellplate_90ul") -> Plate: + """Corning 384 Well Plate 90 µL""" + defn = _get_custom_defs()["corning_384_wellplate_90ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_6_wellplate_16point8ml_flat(name: str = "corning_6_wellplate_16.8ml_flat") -> Plate: + """Corning 6 Well Plate 16.8 mL Flat""" + return cast(Plate, load_shared_opentrons_resource("corning_6_wellplate_16.8ml_flat", name=name)) + + +@resource() +def lab_corning_96_well_roundbottom_1ml(name: str = "corning_96_well_roundbottom_1ml") -> Plate: + """Corning 96 Well Round Bottom 1mL""" + defn = _get_custom_defs()["corning_96_well_roundbottom_1ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_96_wellplate_200ul(name: str = "corning_96_wellplate_200ul") -> Plate: + """Corning 96 Well Plate 200 µL""" + defn = _get_custom_defs()["corning_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_96_wellplate_320ul(name: str = "corning_96_wellplate_320ul") -> Plate: + """Corning 96 Well Plate 320 µL""" + defn = _get_custom_defs()["corning_96_wellplate_320ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_96_wellplate_360ul(name: str = "corning_96_wellplate_360ul") -> Plate: + """Corning 96 Well Plate 360 µL""" + defn = _get_custom_defs()["corning_96_wellplate_360ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_corning_96_wellplate_360ul_flat(name: str = "corning_96_wellplate_360ul_flat") -> Plate: + """Corning 96 Well Plate 360 µL Flat""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_corning_96_wellplate_flat_bottom_360ul(name: str = "corning_96_wellplate_flat_bottom_360ul") -> Plate: + """Corning 96-well Flat Clear Bottom Black Polystyrene TC-treated Microplate""" + defn = _get_custom_defs()["corning_96_wellplate_flat_bottom_360ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_costar_96_wellplate_200ul(name: str = "costar_96_wellplate_200ul") -> Plate: + """Costar 96 Well Plate 200 µL""" + defn = _get_custom_defs()["costar_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_costar_96_wellplate_330ul(name: str = "costar_96_wellplate_330ul") -> Plate: + """Costar 96 Well Plate 330 µL""" + defn = _get_custom_defs()["costar_96_wellplate_330ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cryo_35_tuberack_1800ul(name: str = "cryo_35_tuberack_1800ul") -> TubeRack: + """Cryo 35 Tube Rack with Nunc 1.8 mL""" + defn = _get_custom_defs()["cryo_35_tuberack_1800ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom1mltesttube_24_wellplate_5000ul(name: str = "custom1mltesttube_24_wellplate_5000ul") -> Plate: + """Custom 1 ML Test Tube 24 Well Plate 5000 µL""" + defn = _get_custom_defs()["custom1mltesttube_24_wellplate_5000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom5mltesttube_24_wellplate_5000ul(name: str = "custom5mltesttube_24_wellplate_5000ul") -> Plate: + """Custom 5 ML Test Tube 24 Well Plate 5000 µL""" + defn = _get_custom_defs()["custom5mltesttube_24_wellplate_5000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_15_tuberack_6000ul(name: str = "custom_15_tuberack_6000ul") -> TubeRack: + """Custom 15 Tube Rack 6000 µL""" + defn = _get_custom_defs()["custom_15_tuberack_6000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_1_other_20ul(name: str = "custom_1_other_20ul") -> Plate: + """Custom 1 other 20ul (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_custom_24_shakerslide(name: str = "custom_24_shakerslide") -> Plate: + """Custom 24 shaker slide (fallback: corning 24 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_24_wellplate_3.4ml_flat", name=name)) + + +@resource() +def lab_custom_24_testtuberack_2ml(name: str = "custom_24_testtuberack_2ml") -> TubeRack: + """Custom 24 Test Tube Rack 2 mL""" + defn = _get_custom_defs()["custom_24_testtuberack_2ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_tuberack(name: str = "custom_24_tuberack") -> Plate: + """Custom 24 Tube Rack""" + defn = _get_custom_defs()["custom_24_tuberack"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_tuberack_2000ul(name: str = "custom_24_tuberack_2000ul") -> TubeRack: + """custom 24 Tube Rack with Custom 2 mL""" + defn = _get_custom_defs()["custom_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_tuberack_5ml(name: str = "custom_24_tuberack_5ml") -> TubeRack: + """Opentrons 24 Tube Rack with Blood Tube 5mL Conical""" + defn = _get_custom_defs()["custom_24_tuberack_5ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_tuberack_7500ul(name: str = "custom_24_tuberack_7500ul") -> TubeRack: + """Custom 24 Tube Rack with Vacuette 6 ml 7.5 mL""" + defn = _get_custom_defs()["custom_24_tuberack_7500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_well_rack(name: str = "custom_24_well_rack") -> TubeRack: + """custom_24_well_rack""" + defn = _get_custom_defs()["custom_24_well_rack"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_24_wellplate_2000ul(name: str = "custom_24_wellplate_2000ul") -> Plate: + """Custom 24 Well Plate 2000 µL""" + defn = _get_custom_defs()["custom_24_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_300_other_100x500ul_100x500ul_100x500ul(name: str = "custom_300_other_100x500ul_100x500ul_100x500ul") -> Plate: + """Custom 300 other (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_custom_384_wellplate_100ul(name: str = "custom_384_wellplate_100ul") -> Plate: + """Custom 384 Well Plate 100 µL""" + defn = _get_custom_defs()["custom_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_384_wellplate_50ul(name: str = "custom_384_wellplate_50ul") -> Plate: + """Custom 384 Well Plate 50 µL""" + defn = _get_custom_defs()["custom_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_6_tuberack_100ml(name: str = "custom_6_tuberack_100ml") -> TubeRack: + """Custom 6 Tube Rack 100 mL""" + defn = _get_custom_defs()["custom_6_tuberack_100ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_72_other_24x330ul_24x330ul_24x330ul(name: str = "custom_72_other_24x330ul_24x330ul_24x330ul") -> Plate: + """Custom 72 other (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_custom_96_striptubes_350ul(name: str = "custom_96_striptubes_350ul") -> Plate: + """Custom 96 Strip Tubes 350µl""" + defn = _get_custom_defs()["custom_96_striptubes_350ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_96_tubeholder_500ul(name: str = "custom_96_tubeholder_500ul") -> Plate: + """Custom 500ul Tube Holder""" + defn = _get_custom_defs()["custom_96_tubeholder_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_96_tuberack_500ul(name: str = "custom_96_tuberack_500ul") -> TubeRack: + """Custom 96 Tube Rack with Custom 0.5 mL""" + defn = _get_custom_defs()["custom_96_tuberack_500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_96_tuberack_500ul_vacuum(name: str = "custom_96_tuberack_500ul_vacuum") -> TubeRack: + """Custom 96 Tube Rack with Custom 0.5 mL with vacuum""" + defn = _get_custom_defs()["custom_96_tuberack_500ul_vacuum"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_96_wellplate_200ul(name: str = "custom_96_wellplate_200ul") -> Plate: + """Custom 96 Well Plate 200 µL""" + defn = _get_custom_defs()["custom_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_beaker(name: str = "custom_beaker") -> Plate: + """Custom Beaker and Stir Plate""" + defn = _get_custom_defs()["custom_beaker"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_centrifuge_tube_container(name: str = "custom_centrifuge_tube_container") -> Plate: + """Custom Centrifuge Tube Container""" + defn = _get_custom_defs()["custom_centrifuge_tube_container"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_nanosep_tube_container(name: str = "custom_nanosep_tube_container") -> Plate: + """Custom Nanosep Tube Container""" + defn = _get_custom_defs()["custom_nanosep_tube_container"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_pcr_plate_for_tempdeck(name: str = "custom_pcr_plate_for_tempdeck") -> Plate: + """Custom PCR Plate""" + defn = _get_custom_defs()["custom_pcr_plate_for_tempdeck"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_custom_tuberack_6ml(name: str = "custom_tuberack_6ml") -> Plate: + """Custom 6mL Tube Rack""" + defn = _get_custom_defs()["custom_tuberack_6ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customabnest_96_wellplate_200ul(name: str = "customabnest_96_wellplate_200ul") -> Plate: + """Custom AB NEST 96 Well Plate 200 µL""" + defn = _get_custom_defs()["customabnest_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customadapter_96_wellplate_200ul(name: str = "customadapter_96_wellplate_200ul") -> Plate: + """Custom_adapter 96 Well Plate 200 µL""" + defn = _get_custom_defs()["customadapter_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customagar_24_wellplate_200ul(name: str = "customagar_24_wellplate_200ul") -> Plate: + """Q""" + defn = _get_custom_defs()["customagar_24_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customagar_96_wellplate_200ul(name: str = "customagar_96_wellplate_200ul") -> Plate: + """Custom Agar 96 Well Plate 200 µL""" + defn = _get_custom_defs()["customagar_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customblotpaper_1_reservoir_870000ul(name: str = "customblotpaper_1_reservoir_870000ul") -> Plate: + """Custom Blot Paper 1 Reservoir 870000 µL""" + defn = _get_custom_defs()["customblotpaper_1_reservoir_870000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customendura_96_wellplate_200ul(name: str = "customendura_96_wellplate_200ul") -> Plate: + """Custom Endura 96 Well Plate 200 µL""" + defn = _get_custom_defs()["customendura_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_customslideblockv2_8_wellplate(name: str = "customslideblockv2_8_wellplate") -> Plate: + """Customslideblock V2 8 Well Plate 20000 µL""" + defn = _get_custom_defs()["customslideblockv2_8_wellplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cytiva_24_wellplate_2000ul(name: str = "cytiva_24_wellplate_2000ul") -> Plate: + """Cytiva 24 Well Plate 2000 µL""" + defn = _get_custom_defs()["cytiva_24_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_cytiva_96_wellplate_500ul(name: str = "cytiva_96_wellplate_500ul") -> Plate: + """Cytiva 96 Well Plate 500 µL""" + defn = _get_custom_defs()["cytiva_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_deepwell_96_wellplate_2000ul(name: str = "deepwell_96_wellplate_2000ul") -> Plate: + """Quintara Deepwell 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["deepwell_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_deepwellpro_96_wellplate_450ul(name: str = "deepwellpro_96_wellplate_450ul") -> Plate: + """Deepwell Pro 96 Well Plate 450 µL""" + defn = _get_custom_defs()["deepwellpro_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_doublepcr_96_wellplate_300ul(name: str = "doublepcr_96_wellplate_300ul") -> Plate: + """Quintara Combo Pcr 96 Well Plate 300 µL on Nest Pcr""" + defn = _get_custom_defs()["doublepcr_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_dynamic_array_192_24(name: str = "dynamic_array_192_24") -> Plate: + """Standard Biotools Dynamic Array 192.24""" + defn = _get_custom_defs()["dynamic_array_192_24"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_dynamic_array_48_48(name: str = "dynamic_array_48_48") -> Plate: + """Standard Biotools Dynamic Array 48.48""" + defn = _get_custom_defs()["dynamic_array_48_48"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_dynamic_array_96_96(name: str = "dynamic_array_96_96") -> Plate: + """Standard Biotools Dynamic Array 96.96""" + defn = _get_custom_defs()["dynamic_array_96_96"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ek_scientific_reservoir(name: str = "ek_scientific_reservoir") -> Plate: + """EK Scientific 8 Row Reservoir""" + defn = _get_custom_defs()["ek_scientific_reservoir"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_electronmicroscopysciences_1_reservoir_100000ul(name: str = "electronmicroscopysciences_1_reservoir_100000ul") -> Plate: + """Electron Microscopy Sciences 1 Reservoir 100000 µL""" + defn = _get_custom_defs()["electronmicroscopysciences_1_reservoir_100000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_elutionplate_96_wellplate_500ul(name: str = "elutionplate_96_wellplate_500ul") -> Plate: + """Elution Plate 96 Well Plate 500 µL""" + defn = _get_custom_defs()["elutionplate_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_enduraplate_96_wellplate_200ul(name: str = "enduraplate_96_wellplate_200ul") -> Plate: + """EnduraPlate 96 Well Plate 200uL""" + defn = _get_custom_defs()["enduraplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_epmotion_1_reservoir_100000ul(name: str = "epmotion_1_reservoir_100000ul") -> Plate: + """EpMotion 1 Reservoir 100000 µL""" + defn = _get_custom_defs()["epmotion_1_reservoir_100000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_epmotion_1_reservoir_30000ul(name: str = "epmotion_1_reservoir_30000ul") -> Plate: + """EpMotion 1 Reservoir 30000 µL""" + defn = _get_custom_defs()["epmotion_1_reservoir_30000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_24_tuberack_1500ul(name: str = "eppendorf_24_tuberack_1500ul") -> TubeRack: + """Eppendorf 24 Tube Rack 1500 µL""" + defn = _get_custom_defs()["eppendorf_24_tuberack_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_24_tuberack_generic_2point0ml_screwcap(name: str = "eppendorf_24_tuberack_generic_2.0ml_screwcap") -> Plate: + """Eppendorf 24 Tube Rack with Generic 2.0mL Screwcap""" + defn = _get_custom_defs()["eppendorf_24_tuberack_generic_2.0ml_screwcap"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_7_reservoir_30000ul(name: str = "eppendorf_7_reservoir_30000ul") -> Plate: + """Eppendorf 7 Reservoir 30000 µL""" + defn = _get_custom_defs()["eppendorf_7_reservoir_30000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_aluminumblock_200ul(name: str = "eppendorf_96_aluminumblock_200ul") -> TubeRack: + """Eppendorf 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["eppendorf_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_deepwell_1000ul(name: str = "eppendorf_96_deepwell_1000ul") -> Plate: + """Eppendorf 96 Deep Well Block 1000ul""" + defn = _get_custom_defs()["eppendorf_96_deepwell_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_deepwellplate_2000ul(name: str = "eppendorf_96_deepwellplate_2000ul") -> Plate: + """Eppendorf 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["eppendorf_96_deepwellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_deepwellplate_500ul(name: str = "eppendorf_96_deepwellplate_500ul") -> Plate: + """Eppendorf 96 Well Plate 500 µL""" + defn = _get_custom_defs()["eppendorf_96_deepwellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_well_on_block(name: str = "eppendorf_96_well_on_block") -> Plate: + """Eppendorf 96 Well PCR Plate 250ul on Aluminum Block""" + defn = _get_custom_defs()["eppendorf_96_well_on_block"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_wellplate_1000ul(name: str = "eppendorf_96_wellplate_1000ul") -> Plate: + """Eppendorf 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["eppendorf_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_wellplate_2000ul(name: str = "eppendorf_96_wellplate_2000ul") -> Plate: + """Eppendorf 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["eppendorf_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_wellplate_200ul(name: str = "eppendorf_96_wellplate_200ul") -> Plate: + """Eppendorf 96 Well Plate 200 µL""" + defn = _get_custom_defs()["eppendorf_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_96_wellplate_500ul(name: str = "eppendorf_96_wellplate_500ul") -> Plate: + """Eppendorf 96 Well Plate 500 µL""" + defn = _get_custom_defs()["eppendorf_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_twintec_on_opentrons_metal_block_033822(name: str = "eppendorf_twintec_on_opentrons_metal_block_033822") -> TubeRack: + """Eppendorf Twintec 200uL on Opentrons Metal Block March 28 2022""" + defn = _get_custom_defs()["eppendorf_twintec_on_opentrons_metal_block_033822"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorf_twintex_clickbio_adapter(name: str = "eppendorf_twintex_clickbio_adapter") -> Plate: + """Eppendorf Twintec 200uL on Clickbio adapter""" + defn = _get_custom_defs()["eppendorf_twintex_clickbio_adapter"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorfdeepwell_96_wellplate_1200ul(name: str = "eppendorfdeepwell_96_wellplate_1200ul") -> Plate: + """Eppendorf Deepwell 96 Well Plate 1200 µL""" + defn = _get_custom_defs()["eppendorfdeepwell_96_wellplate_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorfmetaladapter_96_wellplate_200ul(name: str = "eppendorfmetaladapter_96_wellplate_200ul") -> Plate: + """Eppendorf+metaladapter 96 Well Plate 200 µL""" + defn = _get_custom_defs()["eppendorfmetaladapter_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorftwinpointtec96_96_aluminumblock_200ul(name: str = "eppendorftwin.tec96_96_aluminumblock_200ul") -> TubeRack: + """Eppendorf Twin.Tec 96 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["eppendorftwin.tec96_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorftwinpointtec_96_aluminumblock_150ul(name: str = "eppendorftwin.tec_96_aluminumblock_150ul") -> TubeRack: + """Eppendorf Twin.tec 96 Aluminum Block 150 µL""" + defn = _get_custom_defs()["eppendorftwin.tec_96_aluminumblock_150ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorftwinpointtec_96_wellplate_150ul(name: str = "eppendorftwin.tec_96_wellplate_150ul") -> Plate: + """Eppendorf Twin.tec 96 Well Plate 150 µL""" + defn = _get_custom_defs()["eppendorftwin.tec_96_wellplate_150ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendorftwintec_96_wellplate_150ul(name: str = "eppendorftwintec_96_wellplate_150ul") -> Plate: + """Eppendorf Twin.tec 96 Well Plate 150 µL""" + defn = _get_custom_defs()["eppendorftwintec_96_wellplate_150ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eppendort_96_deepwell_1000ul(name: str = "eppendort_96_deepwell_1000ul") -> Plate: + """Eppendorf 96 Deepwell 1000uL""" + defn = _get_custom_defs()["eppendort_96_deepwell_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_eptips_1000ul(name: str = "eptips_1000ul") -> TipRack: + """Eppendorf eptips 1000ul (fallback: opentrons 1000ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_1000ul", name=name)) + + +@resource() +def lab_eptips_300ul(name: str = "eptips_300ul") -> TipRack: + """Eppendorf eptips 300ul (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_eurofins_96x2ml_tuberack(name: str = "eurofins_96x2ml_tuberack") -> TubeRack: + """Eurofins 192 Tube Rack with 96x2 mL, 96x2 mL Screwcap""" + defn = _get_custom_defs()["eurofins_96x2ml_tuberack"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_falcon_353077_96_wellplate_320ul(name: str = "falcon_353077_96_wellplate_320ul") -> Plate: + """Falcon 96 Well Plate 320 µL""" + defn = _get_custom_defs()["falcon_353077_96_wellplate_320ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_filters_and_eppendorfs_24_tuberack_1500ul(name: str = "filters_and_eppendorfs_24_tuberack_1500ul") -> TubeRack: + """Filters_and_eppendorfs 24 Tube Rack 1500 µL""" + defn = _get_custom_defs()["filters_and_eppendorfs_24_tuberack_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_filtrouslab_384_wellplate_50ul(name: str = "filtrouslab_384_wellplate_50ul") -> Plate: + """Filtrous Lab 384 Well Plate 50 µL""" + defn = _get_custom_defs()["filtrouslab_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_final_96_aluminumblock_300ul(name: str = "final_96_aluminumblock_300ul") -> TubeRack: + """Final 96 Aluminum Block 300 µL""" + defn = _get_custom_defs()["final_96_aluminumblock_300ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fisher_96_aluminumblock_200ul(name: str = "fisher_96_aluminumblock_200ul") -> TubeRack: + """Fisher 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["fisher_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fisher_96_wellplate_200ul(name: str = "fisher_96_wellplate_200ul") -> Plate: + """Fisher 96 Well Plate 200 µL""" + defn = _get_custom_defs()["fisher_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fisherscientific_96_wellplate_200ul(name: str = "fisherscientific_96_wellplate_200ul") -> Plate: + """Thermofisher Scientific 96 well 200ul""" + defn = _get_custom_defs()["fisherscientific_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_flipped_384_plate(name: str = "flipped_384_plate") -> Plate: + """Custom 384 Well Plate Flipped""" + defn = _get_custom_defs()["flipped_384_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fluidigm_192_wellplate_96x10ul_96x10ul(name: str = "fluidigm_192_wellplate_96x10ul_96x10ul") -> Plate: + """Fluidigm 192 Well Plate 10uL""" + defn = _get_custom_defs()["fluidigm_192_wellplate_96x10ul_96x10ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fluidigm_96_wellplate_48x50ul_48x50ul(name: str = "fluidigm_96_wellplate_48x50ul_48x50ul") -> Plate: + """Fluidigm""" + defn = _get_custom_defs()["fluidigm_96_wellplate_48x50ul_48x50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_fluidx_96_tuberack_1000ul(name: str = "fluidx_96_tuberack_1000ul") -> TubeRack: + """fluidx 96 Tube Rack with fluidx 1 mL""" + defn = _get_custom_defs()["fluidx_96_tuberack_1000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_framestarpcr_96_wellplate_200ul(name: str = "framestarpcr_96_wellplate_200ul") -> Plate: + """FrameStar PCR 96 Well Plate 200 µL""" + defn = _get_custom_defs()["framestarpcr_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_froggabio_96_wellplate_300ul(name: str = "froggabio_96_wellplate_300ul") -> Plate: + """Froggabio 96 Well Plate 300 µL""" + defn = _get_custom_defs()["froggabio_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_geb_96_tiprack_1000ul(name: str = "geb_96_tiprack_1000ul") -> TipRack: + """GEB 96 Tip Rack 1000 µL""" + return cast(TipRack, load_shared_opentrons_resource("geb_96_tiprack_1000ul", name=name)) + + +@resource() +def lab_geb_96_tiprack_10ul(name: str = "geb_96_tiprack_10ul") -> TipRack: + """GEB 96 Tip Rack 10 µL""" + return cast(TipRack, load_shared_opentrons_resource("geb_96_tiprack_10ul", name=name)) + + +@resource() +def lab_generic_216_wellplate_85ul_flat(name: str = "generic_216_wellplate_85ul_flat") -> Plate: + """Invoy 216-Well Cartridge Plate""" + defn = _get_custom_defs()["generic_216_wellplate_85ul_flat"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_generic_24_tuberack_2000ul(name: str = "generic_24_tuberack_2000ul") -> TubeRack: + """Generic 24 Tube Rack 2000 µL""" + defn = _get_custom_defs()["generic_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_generic_96_aluminumblock_350ul(name: str = "generic_96_aluminumblock_350ul") -> TubeRack: + """Generic 96 Aluminum Block 350 µL""" + defn = _get_custom_defs()["generic_96_aluminumblock_350ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_generic_96_tiprack_200ul(name: str = "generic_96_tiprack_200ul") -> TipRack: + """Generic 96 tiprack 200ul (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_generic_96_tiprack_20ul(name: str = "generic_96_tiprack_20ul") -> TipRack: + """Generic 96 tiprack 20ul (fallback: opentrons 20ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_20ul", name=name)) + + +@resource() +def lab_generic_96_wellplate_1500ul(name: str = "generic_96_wellplate_1500ul") -> Plate: + """Generic 96 Well Plate 1500 µL""" + defn = _get_custom_defs()["generic_96_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genericmagnet_96_wellplate_1500ul(name: str = "genericmagnet_96_wellplate_1500ul") -> Plate: + """Generic_magnet 96 Well Plate 1500 µL""" + defn = _get_custom_defs()["genericmagnet_96_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genericstrips_96_wellplate_200ul(name: str = "genericstrips_96_wellplate_200ul") -> Plate: + """Generic Strips 96 Well Plate 200 µL""" + defn = _get_custom_defs()["genericstrips_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genesee25221_96_wellplate_300ul(name: str = "genesee25221_96_wellplate_300ul") -> Plate: + """Genesee Gene Clone 96-Well Cell Culture Plate U Bottom 300 uL""" + defn = _get_custom_defs()["genesee25221_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genesee_96_wellplate_200ul(name: str = "genesee_96_wellplate_200ul") -> Plate: + """Genesee 96 Well Plate 200 µL""" + defn = _get_custom_defs()["genesee_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_genmate_96_aluminumblock_20ul(name: str = "genmate_96_aluminumblock_20ul") -> TubeRack: + """GenMate 96 Aluminum Block 20 µL""" + defn = _get_custom_defs()["genmate_96_aluminumblock_20ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_gracebiolabsflexwell(name: str = "gracebiolabsflexwell") -> Plate: + """Grace Bio-Labs FlexWell (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_greiner_384_wellplate_130ul(name: str = "greiner_384_wellplate_130ul") -> Plate: + """Greiner 384 Well Plate 130 µL""" + defn = _get_custom_defs()["greiner_384_wellplate_130ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_384_wellplate_138ul(name: str = "greiner_384_wellplate_138ul") -> Plate: + """Greiner 384 Well Plate 138 µL""" + defn = _get_custom_defs()["greiner_384_wellplate_138ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_384_wellplate_200ul(name: str = "greiner_384_wellplate_200ul") -> Plate: + """Greiner 384 Well Plate 200 µL""" + defn = _get_custom_defs()["greiner_384_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_384_wellplate_50ul(name: str = "greiner_384_wellplate_50ul") -> Plate: + """Greiner 384 Well Plate 50 µL""" + defn = _get_custom_defs()["greiner_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_96_wellplate(name: str = "greiner_96_wellplate") -> Plate: + """Greiner BioOne 96 Well Microplate""" + defn = _get_custom_defs()["greiner_96_wellplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_96_wellplate_2000ul(name: str = "greiner_96_wellplate_2000ul") -> Plate: + """Greiner 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["greiner_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_96_wellplate_200ul(name: str = "greiner_96_wellplate_200ul") -> Plate: + """Greiner 96 Well Plate 200 µL""" + defn = _get_custom_defs()["greiner_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greiner_96_wellplate_340ul(name: str = "greiner_96_wellplate_340ul") -> Plate: + """Greiner 96 Well Plate 340 µL""" + defn = _get_custom_defs()["greiner_96_wellplate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_192_wellplate_crystallization(name: str = "greinerbioone_192_wellplate_crystallization") -> Plate: + """Greiner Bio-One CRYSTALQUICK LP 96 Well Plate 140ul""" + defn = _get_custom_defs()["greinerbioone_192_wellplate_crystallization"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_24_bloodrack_13x100(name: str = "greinerbioone_24_bloodrack_13x100") -> TubeRack: + """Greiner Bio-One, 24 blood collection tubes 1 ml to 6 ml (13x75 and 13x100)""" + defn = _get_custom_defs()["greinerbioone_24_bloodrack_13x100"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_384_wellplate_100ul(name: str = "greinerbioone_384_wellplate_100ul") -> Plate: + """Greiner Bio-One 384 Well Plate 100 µL""" + defn = _get_custom_defs()["greinerbioone_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_96_wellplate_200ul(name: str = "greinerbioone_96_wellplate_200ul") -> Plate: + """Greiner Bio-One 96 Well Plate 200 µL""" + defn = _get_custom_defs()["greinerbioone_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_96_wellplate_200ul_650161(name: str = "greinerbioone_96_wellplate_200ul_650161") -> Plate: + """Greiner Bio-One 96 Well Plate 200 µL""" + defn = _get_custom_defs()["greinerbioone_96_wellplate_200ul_650161"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_96_wellplate_2ml_deep(name: str = "greinerbioone_96_wellplate_2ml_deep") -> Plate: + """Greiner Bio-One 96-Deepwell Plate 2ml""" + defn = _get_custom_defs()["greinerbioone_96_wellplate_2ml_deep"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinerbioone_96_wellplate_340ul(name: str = "greinerbioone_96_wellplate_340ul") -> Plate: + """Greiner Bio-One 96 Well Plate 340 µL""" + defn = _get_custom_defs()["greinerbioone_96_wellplate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinermasterblock_384_wellplate_225ul(name: str = "greinermasterblock_384_wellplate_225ul") -> Plate: + """Greiner Masterblock 384 Well Plate 225 µL""" + defn = _get_custom_defs()["greinermasterblock_384_wellplate_225ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinermasterblock_96_wellplate_1000ul(name: str = "greinermasterblock_96_wellplate_1000ul") -> Plate: + """Greiner MASTERBLOCK 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["greinermasterblock_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinermasterblock_96_wellplate_500ul(name: str = "greinermasterblock_96_wellplate_500ul") -> Plate: + """Greiner MASTERBLOCK 96 Well Plate 500 µL""" + defn = _get_custom_defs()["greinermasterblock_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greinermicrolon_96_wellplate_340ul(name: str = "greinermicrolon_96_wellplate_340ul") -> Plate: + """Greiner Microlon 96 Well Plate 340 µL""" + defn = _get_custom_defs()["greinermicrolon_96_wellplate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_greineruvstar_96_wellplate_392ul(name: str = "greineruvstar_96_wellplate_392ul") -> Plate: + """Greiner_UV-star 96 Well Plate 392 µL""" + defn = _get_custom_defs()["greineruvstar_96_wellplate_392ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_hardshell_96_wellplate_200ul(name: str = "hardshell_96_wellplate_200ul") -> Plate: + """Hard-Shell 96 Well Plate 200 µL""" + defn = _get_custom_defs()["hardshell_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_hardshellbioradpcr_384_wellplate_50ul(name: str = "hardshellbioradpcr_384_wellplate_50ul") -> Plate: + """Hard-Shell Bio-Rad PCR 384 Well Plate 50 µL""" + defn = _get_custom_defs()["hardshellbioradpcr_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_hellma_96_wellplate_300ul(name: str = "hellma_96_wellplate_300ul") -> Plate: + """Hellma 96 Well Plate 300 µL""" + defn = _get_custom_defs()["hellma_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_himic_96_wellplate_400ul(name: str = "himic_96_wellplate_400ul") -> Plate: + """HiMic 96 Well Plate 400 µL""" + defn = _get_custom_defs()["himic_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_htd_96_wellplate_200ul(name: str = "htd_96_wellplate_200ul") -> Plate: + """Htd 96 Well Plate 200 µL""" + defn = _get_custom_defs()["htd_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_iclean_15_tuberack(name: str = "iclean_15_tuberack") -> TubeRack: + """iClean Sample Tubes""" + defn = _get_custom_defs()["iclean_15_tuberack"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_illumina_96_wellplate_200ul(name: str = "illumina_96_wellplate_200ul") -> Plate: + """Illumina 96 Well Plate 200 µL""" + defn = _get_custom_defs()["illumina_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_index_96_aluminumblock_200ul(name: str = "index_96_aluminumblock_200ul") -> TubeRack: + """index plate on 96 well aluminum block""" + defn = _get_custom_defs()["index_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_index_96_wellplate_200ul(name: str = "index_96_wellplate_200ul") -> Plate: + """Index 96 Well Plate 200 µL""" + defn = _get_custom_defs()["index_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_indexplate_96_wellplate_200ul(name: str = "indexplate_96_wellplate_200ul") -> Plate: + """Index Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["indexplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_innotrainot22pcrplate_96_wellplate_200ul(name: str = "innotrainot22pcrplate_96_wellplate_200ul") -> Plate: + """Innotrain OT-2 #2 PCR Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["innotrainot22pcrplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_innotrainot2pcrplate_96_wellplate_200ul(name: str = "innotrainot2pcrplate_96_wellplate_200ul") -> Plate: + """Innotrain OT-2 PCR Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["innotrainot2pcrplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_innovationlaboratoryproducts_96_wellplate_1000ul(name: str = "innovationlaboratoryproducts_96_wellplate_1000ul") -> Plate: + """Innovation Laboratory Products 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["innovationlaboratoryproducts_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_irishlifesciences_96_wellplate_2200ul(name: str = "irishlifesciences_96_wellplate_2200ul") -> Plate: + """Irish Life Sciences 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["irishlifesciences_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_jackyshiyielution_96_wellplate_1200ul(name: str = "jackyshiyielution_96_wellplate_1200ul") -> Plate: + """Jacky_Shiyi_elution 96 Well Plate 1200 µL""" + defn = _get_custom_defs()["jackyshiyielution_96_wellplate_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_jackyshiyihigh_96_wellplate_1200ul(name: str = "jackyshiyihigh_96_wellplate_1200ul") -> Plate: + """Jacky_Shiyi_high 96 Well Plate 1200 µL""" + defn = _get_custom_defs()["jackyshiyihigh_96_wellplate_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_deepwell_plate_2ml(name: str = "kingfisher_96_deepwell_plate_2ml") -> Plate: + """KingFisher 96 Deep Well Plate""" + defn = _get_custom_defs()["kingfisher_96_deepwell_plate_2ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_tuberack_1100ul(name: str = "kingfisher_96_tuberack_1100ul") -> TubeRack: + """KingFisher 96 Tube Rack with GoldStandard 1.1 mL""" + defn = _get_custom_defs()["kingfisher_96_tuberack_1100ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_wellplate_100ul(name: str = "kingfisher_96_wellplate_100ul") -> Plate: + """Thermofisher 96 Well Plate 100 µL""" + defn = _get_custom_defs()["kingfisher_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_wellplate_2000ul(name: str = "kingfisher_96_wellplate_2000ul") -> Plate: + """Kingfisher 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["kingfisher_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_kingfisher_96_wellplate_200ul(name: str = "kingfisher_96_wellplate_200ul") -> Plate: + """KingFisher 96 Well Plate 200 µL""" + defn = _get_custom_defs()["kingfisher_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_labcon_8strip_pcr_on_cooler(name: str = "labcon_8strip_pcr_on_cooler") -> Plate: + """Labcon 8 Strip on Cooler""" + defn = _get_custom_defs()["labcon_8strip_pcr_on_cooler"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_labcon_96_wellplate_pcr_on_cooler(name: str = "labcon_96_wellplate_pcr_on_cooler") -> Plate: + """Labcon 96 Well Plate on Cooler""" + defn = _get_custom_defs()["labcon_96_wellplate_pcr_on_cooler"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_leo_99_wellplate_50ul(name: str = "leo_99_wellplate_50ul") -> Plate: + """Leo 99 Well Plate 50 µL""" + defn = _get_custom_defs()["leo_99_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_life_96_aluminumblock_240ul(name: str = "life_96_aluminumblock_240ul") -> TubeRack: + """Life 96 Aluminum Block 240 µL""" + defn = _get_custom_defs()["life_96_aluminumblock_240ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_lvl_96_wellplate_1317point97ul(name: str = "lvl_96_wellplate_1317.97ul") -> Plate: + """LVL 96 Well Plate 1317.97 µL""" + defn = _get_custom_defs()["lvl_96_wellplate_1317.97ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_lvltechnologies_48_wellplate_2000ul(name: str = "lvltechnologies_48_wellplate_2000ul") -> Plate: + """LVL Technologies 48 Well Plate 2000 µL""" + defn = _get_custom_defs()["lvltechnologies_48_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_master_block_384(name: str = "master_block_384") -> Plate: + """MASTERBLOCK®, 384 WELL, PP, DEEP WELL, V-BOTTOM,""" + defn = _get_custom_defs()["master_block_384"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microamp_384_wellplate_100ul(name: str = "microamp_384_wellplate_100ul") -> Plate: + """Microamp 384 Well Plate 100 µL""" + defn = _get_custom_defs()["microamp_384_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microamp_384_wellplate_40ul(name: str = "microamp_384_wellplate_40ul") -> Plate: + """Microamp 384 Well Plate 40 µL""" + defn = _get_custom_defs()["microamp_384_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microamp_96_wellplate_100ul(name: str = "microamp_96_wellplate_100ul") -> Plate: + """lockwell""" + defn = _get_custom_defs()["microamp_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microamp_96well_200ul(name: str = "microamp_96well_200ul") -> Plate: + """MicroAmp EnduraPlate Optical 96-Well Fast Clear Reaction Plate With Barcode 96 Well Plate 200 µL""" + defn = _get_custom_defs()["microamp_96well_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microampenduraplate_96_aluminumblock_200ul(name: str = "microampenduraplate_96_aluminumblock_200ul") -> TubeRack: + """MicroAmp EnduraPlate 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["microampenduraplate_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microampoptical_384_wellplate_30ul(name: str = "microampoptical_384_wellplate_30ul") -> Plate: + """MicroAmp Optical 384 Well Plate 30 µL""" + defn = _get_custom_defs()["microampoptical_384_wellplate_30ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_microampstrips_96_supportbase_100ul(name: str = "microampstrips_96_supportbase_100ul") -> Plate: + """MicroAmp Strips 96 Support Base 100 uL""" + defn = _get_custom_defs()["microampstrips_96_supportbase_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_micronic_96_rack_300ul_tubes(name: str = "micronic_96_rack_300ul_tubes") -> Plate: + """Micronic 96 Rack 0.30mL Tubes""" + defn = _get_custom_defs()["micronic_96_rack_300ul_tubes"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_micronic_96_wellplate_1000ul(name: str = "micronic_96_wellplate_1000ul") -> Plate: + """Micronic 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["micronic_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_micronicm9641point4_96_wellplate_1400ul(name: str = "micronicm9641.4_96_wellplate_1400ul") -> Plate: + """Micronic_M96-4_1.4 96 Well Plate 1400 µL""" + defn = _get_custom_defs()["micronicm9641.4_96_wellplate_1400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_micronics_96_tubes(name: str = "micronics_96_tubes") -> Plate: + """Micronics 96 Tubes in Plate""" + defn = _get_custom_defs()["micronics_96_tubes"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_molgen_96_well_elution_plate(name: str = "molgen_96_well_elution_plate") -> Plate: + """Molgen 96 Well Elution Plate""" + defn = _get_custom_defs()["molgen_96_well_elution_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_mtcbio_15_tuberack_10000ul(name: str = "mtcbio_15_tuberack_10000ul") -> TubeRack: + """MTC Bio 15 Tube Rack 10000 µL""" + defn = _get_custom_defs()["mtcbio_15_tuberack_10000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neb_96_wellplate_100ul(name: str = "neb_96_wellplate_100ul") -> Plate: + """NEB 96 Well Plate 100 µL""" + defn = _get_custom_defs()["neb_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neo_48_wellplate_40ul(name: str = "neo_48_wellplate_40ul") -> Plate: + """NEO 48 Well Chip 40 µL""" + defn = _get_custom_defs()["neo_48_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neptune_96_aluminumblock_200ul(name: str = "neptune_96_aluminumblock_200ul") -> TubeRack: + """Neptune 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["neptune_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neptunegensci_pcrplate(name: str = "neptunegensci_pcrplate") -> Plate: + """neptune_gen_pcr_200ul""" + defn = _get_custom_defs()["neptunegensci_pcrplate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_neptunescientificgeneseescientificadaptor_96_wellplate_200ul(name: str = "neptunescientificgeneseescientificadaptor_96_wellplate_200ul") -> Plate: + """Neptune Scientific, Genesee Scientific (adaptor) 96 Well Plate 200 µL""" + defn = _get_custom_defs()["neptunescientificgeneseescientificadaptor_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest500ul_96_reservoir_500ul(name: str = "nest500ul_96_reservoir_500ul") -> Plate: + """NEST 500ul 96 Reservoir 500 µL""" + defn = _get_custom_defs()["nest500ul_96_reservoir_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_12_reservoir_15ml(name: str = "nest_12_reservoir_15ml") -> Plate: + """NEST 12 Well Reservoir 15 mL""" + return cast(Plate, load_shared_opentrons_resource("nest_12_reservoir_15ml", name=name)) + + +@resource() +def lab_nest_12_reservoir_15ml_icetray(name: str = "nest_12_reservoir_15ml_icetray") -> Plate: + """NEST 12 Reservoir 15 mL with Icetray""" + defn = _get_custom_defs()["nest_12_reservoir_15ml_icetray"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_1_reservoir_195ml(name: str = "nest_1_reservoir_195ml") -> Plate: + """NEST 1 Well Reservoir 195 mL""" + return cast(Plate, load_shared_opentrons_resource("nest_1_reservoir_195ml", name=name)) + + +@resource() +def lab_nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml(name: str = "nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml") -> TubeRack: + """NEST 32 Tuberack 15ml (2 Slot)""" + defn = _get_custom_defs()["nest_32_tuberack_8x15ml_8x15ml_8x15ml_8x15ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml(name: str = "nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml") -> TubeRack: + """NEST 32 Tuberack 5ml (2 Slot)""" + defn = _get_custom_defs()["nest_32_tuberack_8x5ml_8x5ml_8x5ml_8x5ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_96_wellplate_1000ul(name: str = "nest_96_wellplate_1000ul") -> Plate: + """NEST 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["nest_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_96_wellplate_100ul_pcr_full_skirt(name: str = "nest_96_wellplate_100ul_pcr_full_skirt") -> Plate: + """NEST 96 Well Plate 100 µL PCR Full Skirt""" + return cast(Plate, load_shared_opentrons_resource("nest_96_wellplate_100ul_pcr_full_skirt", name=name)) + + +@resource() +def lab_nest_96_wellplate_2000ul(name: str = "nest_96_wellplate_2000ul") -> Plate: + """nest_96_wellplate_2000ul""" + defn = _get_custom_defs()["nest_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_96_wellplate_200ul_flat(name: str = "nest_96_wellplate_200ul_flat") -> Plate: + """NEST 96 Well Plate 200 µL Flat""" + return cast(Plate, load_shared_opentrons_resource("nest_96_wellplate_200ul_flat", name=name)) + + +@resource() +def lab_nest_96_wellplate_2200ul(name: str = "nest_96_wellplate_2200ul") -> Plate: + """Nest 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["nest_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nest_96_wellplate_2ml_deep(name: str = "nest_96_wellplate_2ml_deep") -> Plate: + """NEST 96 Deep Well Plate 2mL""" + return cast(Plate, load_shared_opentrons_resource("nest_96_wellplate_2ml_deep", name=name)) + + +@resource() +def lab_nest_96_wellplate_320ul(name: str = "nest_96_wellplate_320ul") -> Plate: + """Nest 96 Well Plate 320 µL""" + defn = _get_custom_defs()["nest_96_wellplate_320ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nestbioshake_96_wellplate_2000ul(name: str = "nestbioshake_96_wellplate_2000ul") -> Plate: + """NEST Bioshake 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["nestbioshake_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_442404_96_flat_wellplate_400ul(name: str = "nunc_442404_96_flat_wellplate_400ul") -> Plate: + """Nunc Maxisorp ELISA Plate 96-Well Flat 400 uL""" + defn = _get_custom_defs()["nunc_442404_96_flat_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_1000ul(name: str = "nunc_96_wellplate_1000ul") -> Plate: + """Nunc 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_1700ul(name: str = "nunc_96_wellplate_1700ul") -> Plate: + """Nunc 96 Well Plate 1700 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_1700ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_2000ul(name: str = "nunc_96_wellplate_2000ul") -> Plate: + """Nunc 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_400ul(name: str = "nunc_96_wellplate_400ul") -> Plate: + """Nunc 96 Well Plate 400 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_450ul(name: str = "nunc_96_wellplate_450ul") -> Plate: + """Nunc 96 Well Plate 450 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_96_wellplate_500ul(name: str = "nunc_96_wellplate_500ul") -> Plate: + """Nunc 96 Well Plate 500 µL""" + defn = _get_custom_defs()["nunc_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_maxisorp_96_wellplate_250ul(name: str = "nunc_maxisorp_96_wellplate_250ul") -> Plate: + """Nunc MaxiSorp 96 Well Plate 250ul""" + defn = _get_custom_defs()["nunc_maxisorp_96_wellplate_250ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_rectangular_agar_plate(name: str = "nunc_rectangular_agar_plate") -> Plate: + """Nunc rectangular agar plate2""" + defn = _get_custom_defs()["nunc_rectangular_agar_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_nunc_v96_microwell_plate(name: str = "nunc_v96_microwell_plate") -> Plate: + """Nunc V96 Microwell Plate""" + defn = _get_custom_defs()["nunc_v96_microwell_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_octea_16_wellplate_40ul(name: str = "octea_16_wellplate_40ul") -> Plate: + """Octea 16 Well Plate 40 µL""" + defn = _get_custom_defs()["octea_16_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_olympus_96_wellplate_200ul_pcr(name: str = "olympus_96_wellplate_200ul_pcr") -> Plate: + """Olympus 96 Well Plate 200 µL""" + defn = _get_custom_defs()["olympus_96_wellplate_200ul_pcr"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_omegaquant_96_wellplate_1000ul(name: str = "omegaquant_96_wellplate_1000ul") -> Plate: + """Omegaquant 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["omegaquant_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical(name: str = "opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical") -> TubeRack: + """Opentrons 10 Tube Rack with Falcon 4x50 mL, 6x15 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical", name=name)) + + +@resource() +def lab_opentrons_10_tuberack_nest_4x50ml_6x15ml_conical(name: str = "opentrons_10_tuberack_nest_4x50ml_6x15ml_conical") -> TubeRack: + """Opentrons 10 Tube Rack with NEST 4x50 mL, 6x15 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_10_tuberack_nest_4x50ml_6x15ml_conical", name=name)) + + +@resource() +def lab_opentrons_15_tuberack_14000ul(name: str = "opentrons_15_tuberack_14000ul") -> TubeRack: + """Opentrons 15 Tube Rack with custom 14 mL""" + defn = _get_custom_defs()["opentrons_15_tuberack_14000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_15_tuberack_15000ul(name: str = "opentrons_15_tuberack_15000ul") -> TubeRack: + """Opentrons 15 Tube Rack with Sarstedt 15 mL""" + defn = _get_custom_defs()["opentrons_15_tuberack_15000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_15_tuberack_5000ul(name: str = "opentrons_15_tuberack_5000ul") -> TubeRack: + """Opentrons 15 Tube Rack with eppendorf 5 mL""" + defn = _get_custom_defs()["opentrons_15_tuberack_5000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_15_tuberack_8000ul(name: str = "opentrons_15_tuberack_8000ul") -> TubeRack: + """Opentrons 15 Tube Rack with BD Diagnostics 8 mL""" + defn = _get_custom_defs()["opentrons_15_tuberack_8000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_15_tuberack_falcon_15ml_conical(name: str = "opentrons_15_tuberack_falcon_15ml_conical") -> TubeRack: + """Opentrons 15 Tube Rack with Falcon 15 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_15_tuberack_falcon_15ml_conical", name=name)) + + +@resource() +def lab_opentrons_15_tuberack_nest_15ml_conical(name: str = "opentrons_15_tuberack_nest_15ml_conical") -> TubeRack: + """Opentrons 15 Tube Rack with NEST 15 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_15_tuberack_nest_15ml_conical", name=name)) + + +@resource() +def lab_opentrons_1_trash_1100ml_fixed(name: str = "opentrons_1_trash_1100ml_fixed") -> Trash: + """Opentrons fixed trash 1100ml""" + return Trash(name=name, size_x=600.0, size_y=400.0, size_z=150.0) + + +@resource() +def lab_opentrons_24_aluminumblock_1500ul(name: str = "opentrons_24_aluminumblock_1500ul") -> TubeRack: + """Opentrons 24 Aluminum Block 1500 µL""" + defn = _get_custom_defs()["opentrons_24_aluminumblock_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_18x0point5ml_3x1point5ml_3x1point5ml(name: str = "opentrons_24_aluminumblock_18x0.5ml_3x1.5ml_3x1.5ml") -> TubeRack: + """Opentrons 24 Well Aluminum Block with Variant Tubes""" + defn = _get_custom_defs()["opentrons_24_aluminumblock_18x0.5ml_3x1.5ml_3x1.5ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_generic_2ml_screwcap(name: str = "opentrons_24_aluminumblock_generic_2ml_screwcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with Generic 2 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_generic_2ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_0point5ml_screwcap(name: str = "opentrons_24_aluminumblock_nest_0.5ml_screwcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 0.5 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_0.5ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_1point5ml_screwcap(name: str = "opentrons_24_aluminumblock_nest_1.5ml_screwcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 1.5 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_1.5ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_1point5ml_snapcap(name: str = "opentrons_24_aluminumblock_nest_1.5ml_snapcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 1.5 mL Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_1.5ml_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_2ml_screwcap(name: str = "opentrons_24_aluminumblock_nest_2ml_screwcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 2 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_2ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_aluminumblock_nest_2ml_snapcap(name: str = "opentrons_24_aluminumblock_nest_2ml_snapcap") -> TubeRack: + """Opentrons 24 Well Aluminum Block with NEST 2 mL Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_aluminumblock_nest_2ml_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_1500ul(name: str = "opentrons_24_tuberack_1500ul") -> TubeRack: + """Opentrons 24 Tube Rack 1500 µL""" + defn = _get_custom_defs()["opentrons_24_tuberack_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_tuberack_2000ul(name: str = "opentrons_24_tuberack_2000ul") -> TubeRack: + """Opentrons 24 Tube Rack with starstedt 2 mL""" + defn = _get_custom_defs()["opentrons_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_tuberack_500ul(name: str = "opentrons_24_tuberack_500ul") -> TubeRack: + """Opentrons 24 Tube Rack with Watson Biolab 0.5 mL""" + defn = _get_custom_defs()["opentrons_24_tuberack_500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap(name: str = "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap") -> TubeRack: + """Opentrons 24 Tube Rack with Eppendorf 1.5 mL Safe-Lock Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap(name: str = "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap") -> TubeRack: + """Opentrons 24 Tube Rack with Eppendorf 2 mL Safe-Lock Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic(name: str = "opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic") -> TubeRack: + """Opentrons 24 Tube Rack (Acrylic) with Eppendorf 2 mL Safe-Lock Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_generic_2ml_screwcap(name: str = "opentrons_24_tuberack_generic_2ml_screwcap") -> TubeRack: + """Opentrons 24 Tube Rack with Generic 2 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_generic_2ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_0point5ml_screwcap(name: str = "opentrons_24_tuberack_nest_0.5ml_screwcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 0.5 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_0.5ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_1point5ml_screwcap(name: str = "opentrons_24_tuberack_nest_1.5ml_screwcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 1.5 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_1.5ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_1point5ml_snapcap(name: str = "opentrons_24_tuberack_nest_1.5ml_snapcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 1.5 mL Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_1.5ml_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_2ml_screwcap(name: str = "opentrons_24_tuberack_nest_2ml_screwcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 2 mL Screwcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_2ml_screwcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_nest_2ml_snapcap(name: str = "opentrons_24_tuberack_nest_2ml_snapcap") -> TubeRack: + """Opentrons 24 Tube Rack with NEST 2 mL Snapcap""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_24_tuberack_nest_2ml_snapcap", name=name)) + + +@resource() +def lab_opentrons_24_tuberack_t4_t5(name: str = "opentrons_24_tuberack_t4_t5") -> TubeRack: + """PoolingT4,T5""" + defn = _get_custom_defs()["opentrons_24_tuberack_t4_t5"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_300ul_tiprack_flipped(name: str = "opentrons_300ul_tiprack_flipped") -> TipRack: + """Opentrons 300ul tiprack flipped (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_opentrons_6_tuberack_50000ul(name: str = "opentrons_6_tuberack_50000ul") -> TubeRack: + """Opentrons 6 Tube Rack with VWR 50 mL""" + defn = _get_custom_defs()["opentrons_6_tuberack_50000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_6_tuberack_falcon_50ml_conical(name: str = "opentrons_6_tuberack_falcon_50ml_conical") -> TubeRack: + """Opentrons 6 Tube Rack with Falcon 50 mL Conical""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_6_tuberack_falcon_50ml_conical", name=name)) + + +@resource() +def lab_opentrons_6_tuberack_stellarsci_25ml_conical(name: str = "opentrons_6_tuberack_stellarsci_25ml_conical") -> Plate: + """Tuberack with 6 Stellar Sci 25 mL tubes""" + defn = _get_custom_defs()["opentrons_6_tuberack_stellarsci_25ml_conical"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_96_aluminumblock_biorad_wellplate_200ul(name: str = "opentrons_96_aluminumblock_biorad_wellplate_200ul") -> TubeRack: + """Opentrons 96 Well Aluminum Block with Bio-Rad Well Plate 200 µL""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_96_aluminumblock_biorad_wellplate_200ul", name=name)) + + +@resource() +def lab_opentrons_96_aluminumblock_generic_pcr_strip_200ul(name: str = "opentrons_96_aluminumblock_generic_pcr_strip_200ul") -> TubeRack: + """Opentrons 96 Well Aluminum Block with Generic PCR Strip 200 µL""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_96_aluminumblock_generic_pcr_strip_200ul", name=name)) + + +@resource() +def lab_opentrons_96_aluminumblock_nest_wellplate_100ul(name: str = "opentrons_96_aluminumblock_nest_wellplate_100ul") -> TubeRack: + """Opentrons 96 Well Aluminum Block with NEST Well Plate 100 µL""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_96_aluminumblock_nest_wellplate_100ul", name=name)) + + +@resource() +def lab_opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep(name: str = "opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep") -> TubeRack: + """Opentrons 96 Deep Well Heater-Shaker Adapter with NEST Deep Well Plate 2 mL""" + return cast(TubeRack, load_shared_opentrons_resource("opentrons_96_deep_well_adapter_nest_wellplate_2ml_deep", name=name)) + + +@resource() +def lab_opentrons_96_filtertiprack_1000ul(name: str = "opentrons_96_filtertiprack_1000ul") -> TipRack: + """Opentrons OT-2 96 Filter Tip Rack 1000 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_1000ul", name=name)) + + +@resource() +def lab_opentrons_96_filtertiprack_10ul(name: str = "opentrons_96_filtertiprack_10ul") -> TipRack: + """Opentrons OT-2 96 Filter Tip Rack 10 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_10ul", name=name)) + + +@resource() +def lab_opentrons_96_filtertiprack_200ul(name: str = "opentrons_96_filtertiprack_200ul") -> TipRack: + """Opentrons OT-2 96 Filter Tip Rack 200 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_200ul", name=name)) + + +@resource() +def lab_opentrons_96_filtertiprack_20ul(name: str = "opentrons_96_filtertiprack_20ul") -> TipRack: + """Opentrons OT-2 96 Filter Tip Rack 20 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_filtertiprack_20ul", name=name)) + + +@resource() +def lab_opentrons_96_pcr_adapter_biorad_wellplate_200ul(name: str = "opentrons_96_pcr_adapter_biorad_wellplate_200ul") -> Plate: + """Opentrons 96 PCR Adapter with BioRad Well Plate 200 uL""" + defn = _get_custom_defs()["opentrons_96_pcr_adapter_biorad_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_96_tiprack_1000ul(name: str = "opentrons_96_tiprack_1000ul") -> TipRack: + """Opentrons OT-2 96 Tip Rack 1000 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_1000ul", name=name)) + + +@resource() +def lab_opentrons_96_tiprack_10ul(name: str = "opentrons_96_tiprack_10ul") -> TipRack: + """Opentrons OT-2 96 Tip Rack 10 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_10ul", name=name)) + + +@resource() +def lab_opentrons_96_tiprack_20ul(name: str = "opentrons_96_tiprack_20ul") -> TipRack: + """Opentrons OT-2 96 Tip Rack 20 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_20ul", name=name)) + + +@resource() +def lab_opentrons_96_tiprack_300ul(name: str = "opentrons_96_tiprack_300ul") -> TipRack: + """Opentrons OT-2 96 Tip Rack 300 µL""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_opentrons_96_tiprack_sarstedt_200ul(name: str = "opentrons_96_tiprack_sarstedt_200ul") -> TubeRack: + """Opentrons 96 tiprack with sarstedt 200ul PCR tube""" + defn = _get_custom_defs()["opentrons_96_tiprack_sarstedt_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_96_tuberack_96x5ml_custom(name: str = "opentrons_96_tuberack_96x5ml_custom") -> TubeRack: + """Custom 96 Tube Rack, 5mL""" + defn = _get_custom_defs()["opentrons_96_tuberack_96x5ml_custom"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_opentrons_goldstandarddx_17_tuberack_lysis(name: str = "opentrons_goldstandarddx_17_tuberack_lysis") -> TubeRack: + """Opentrons x Gold Standard 17 Tube Rack""" + defn = _get_custom_defs()["opentrons_goldstandarddx_17_tuberack_lysis"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_optiplate_96_wellplate_400ul(name: str = "optiplate_96_wellplate_400ul") -> Plate: + """Optiplate 96 Well Plate 400 µL""" + defn = _get_custom_defs()["optiplate_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pall_96_wellplate_350ul(name: str = "pall_96_wellplate_350ul") -> Plate: + """Pall 96 Well Plate 350 µL""" + defn = _get_custom_defs()["pall_96_wellplate_350ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcb_board_250_wells(name: str = "pcb_board_250_wells") -> Plate: + """PCB Board""" + defn = _get_custom_defs()["pcb_board_250_wells"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcr_384_wellplate_50ul(name: str = "pcr_384_wellplate_50ul") -> Plate: + """Pcr 384 Well Plate 50 µL""" + defn = _get_custom_defs()["pcr_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcr_plate(name: str = "pcr_plate") -> Plate: + """PCR plate""" + defn = _get_custom_defs()["pcr_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcrplate_96_wellplate_200ul(name: str = "pcrplate_96_wellplate_200ul") -> Plate: + """Pcr Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["pcrplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pcrstripplate_96_wellplate_200ul(name: str = "pcrstripplate_96_wellplate_200ul") -> Plate: + """Pcr Strip Plate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["pcrstripplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_12_reservoir_21000ul(name: str = "perkinelmer_12_reservoir_21000ul") -> Plate: + """Perkin Elmer 12 Reservoir 21000 µL""" + defn = _get_custom_defs()["perkinelmer_12_reservoir_21000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_384_wellplate_105ul(name: str = "perkinelmer_384_wellplate_105ul") -> Plate: + """Perkin Elmer 384 Well Plate 105 µL""" + defn = _get_custom_defs()["perkinelmer_384_wellplate_105ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_384_wellplate_110ul(name: str = "perkinelmer_384_wellplate_110ul") -> Plate: + """Perkin Elmer 384 Well Plate 110 µL""" + defn = _get_custom_defs()["perkinelmer_384_wellplate_110ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_384_wellplate_145ul(name: str = "perkinelmer_384_wellplate_145ul") -> Plate: + """PerkinElmer 384 Well Plate 145 µL""" + defn = _get_custom_defs()["perkinelmer_384_wellplate_145ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_perkinelmer_96_wellplate_450ul(name: str = "perkinelmer_96_wellplate_450ul") -> Plate: + """PerkinElmer 96 Well Plate 450 µL""" + defn = _get_custom_defs()["perkinelmer_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_permagen_24_tuberack_1500ul(name: str = "permagen_24_tuberack_1500ul") -> TubeRack: + """Permagen 24 Tube Rack with Eppendorf 1.5 mL""" + defn = _get_custom_defs()["permagen_24_tuberack_1500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_phenoplate_96_wellplate_425ul(name: str = "phenoplate_96_wellplate_425ul") -> Plate: + """PhenoPlate 96 Well Plate 425 µL""" + defn = _get_custom_defs()["phenoplate_96_wellplate_425ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_phynexus_96_tiprack_300ul(name: str = "phynexus_96_tiprack_300ul") -> TipRack: + """PhyNexus 96 tiprack 300ul (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_phytips_in_opentrons_box_96_300ul(name: str = "phytips_in_opentrons_box_96_300ul") -> TipRack: + """PhyTips in Opentrons box 96 300ul (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_plateone_96_wellplate_1000ul(name: str = "plateone_96_wellplate_1000ul") -> Plate: + """Plate One 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["plateone_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pr1ma_384_wellplate_50ul(name: str = "pr1ma_384_wellplate_50ul") -> Plate: + """Pr1ma 384 Well Plate 50 µL""" + defn = _get_custom_defs()["pr1ma_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_procartaplex_96_wellplate_655096(name: str = "procartaplex_96_wellplate_655096") -> Plate: + """Procarta Plex 96 Well Plate 340 µL""" + defn = _get_custom_defs()["procartaplex_96_wellplate_655096"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_protifistrap_96_wellplate_400ul(name: str = "protifistrap_96_wellplate_400ul") -> Plate: + """Protifi_S-trap 96 Well Plate 400 µL""" + defn = _get_custom_defs()["protifistrap_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ps_2_resevoir(name: str = "ps_2_resevoir") -> Plate: + """PS RESERVOIR""" + defn = _get_custom_defs()["ps_2_resevoir"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_pyramid_96_wellplate_2000ul(name: str = "pyramid_96_wellplate_2000ul") -> Plate: + """Pyramid 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["pyramid_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_qiacuity_96_wellplate_200ul(name: str = "qiacuity_96_wellplate_200ul") -> Plate: + """Qiacuity 96 Well Plate 200 µL""" + defn = _get_custom_defs()["qiacuity_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_qiagen_96_tuberack_1200ul(name: str = "qiagen_96_tuberack_1200ul") -> Plate: + """QIAGEN 96 Tube Rack 1.2mL""" + defn = _get_custom_defs()["qiagen_96_tuberack_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_qiagen_96_wellplate_2250ul(name: str = "qiagen_96_wellplate_2250ul") -> Plate: + """Qiagen 96 Well Plate 2250 µL""" + defn = _get_custom_defs()["qiagen_96_wellplate_2250ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quantgene_96_aluminumblock_200ul(name: str = "quantgene_96_aluminumblock_200ul") -> TubeRack: + """Quantgene 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["quantgene_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quintara_12_reservoir_15000ul(name: str = "quintara_12_reservoir_15000ul") -> Plate: + """Quintara 12 Reservoir 15000 µL""" + defn = _get_custom_defs()["quintara_12_reservoir_15000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quintara_192_deepwell_plate(name: str = "quintara_192_deepwell_plate") -> Plate: + """Quintara Vertical Plate 192 Wells""" + defn = _get_custom_defs()["quintara_192_deepwell_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quintara_192_pcr_plate(name: str = "quintara_192_pcr_plate") -> Plate: + """Quintara Vertical Plate 192 Wells""" + defn = _get_custom_defs()["quintara_192_pcr_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_quintara_96_wellplate_300ul(name: str = "quintara_96_wellplate_300ul") -> Plate: + """Quintara 96 Well Plate 300 µL on Aluminum Block""" + defn = _get_custom_defs()["quintara_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_reagent_1_reservoir_130000ul(name: str = "reagent_1_reservoir_130000ul") -> Plate: + """Reagent 1 Reservoir 130000 µL""" + defn = _get_custom_defs()["reagent_1_reservoir_130000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_redefinedbiorad_96_wellplate_200ul(name: str = "redefinedbiorad_96_wellplate_200ul") -> Plate: + """BioRad 96 Well Plate 200 µL""" + defn = _get_custom_defs()["redefinedbiorad_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_regeneron_96_aluminumblock_200ul(name: str = "regeneron_96_aluminumblock_200ul") -> TubeRack: + """Regeneron 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["regeneron_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_roarprinted_48_wellplate_1500ul(name: str = "roarprinted_48_wellplate_1500ul") -> Plate: + """ROAR_printed_ 48 Well Plate 1500 µL""" + defn = _get_custom_defs()["roarprinted_48_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_rrl_1_wellplate_180000ul(name: str = "rrl_1_wellplate_180000ul") -> Plate: + """RRL 1 Well Plate 180000 µL""" + defn = _get_custom_defs()["rrl_1_wellplate_180000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_rrlcustom_40_wellplate_1500ul(name: str = "rrlcustom_40_wellplate_1500ul") -> Plate: + """RRL Custom 40 Well Plate 1500 µL""" + defn = _get_custom_defs()["rrlcustom_40_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_rssrack_15_tuberack_2500ul(name: str = "rssrack_15_tuberack_2500ul") -> TubeRack: + """RSS Rack 15 Tube Rack 2500 µL""" + defn = _get_custom_defs()["rssrack_15_tuberack_2500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sarstedt_24_aluminumblock_screwcap_tube_2ml(name: str = "sarstedt_24_aluminumblock_screwcap_tube_2ml") -> TubeRack: + """Sarstedt 24 well aluminum block with screwcap tube 2 mL""" + defn = _get_custom_defs()["sarstedt_24_aluminumblock_screwcap_tube_2ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sarstedt_24_tuberack_2000ul(name: str = "sarstedt_24_tuberack_2000ul") -> TubeRack: + """Sarstedt 24 Tube Rack 2000 µL""" + defn = _get_custom_defs()["sarstedt_24_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sarstedt_24_tuberack_500ul(name: str = "sarstedt_24_tuberack_500ul") -> TubeRack: + """Sarstedt 24 Tube Rack 500 µL""" + defn = _get_custom_defs()["sarstedt_24_tuberack_500ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sarstedt_384_wellplate_40ul(name: str = "sarstedt_384_wellplate_40ul") -> Plate: + """Sarstedt 384 Well Plate 40 µL""" + defn = _get_custom_defs()["sarstedt_384_wellplate_40ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sequalprep_96_wellplate_200ul(name: str = "sequalprep_96_wellplate_200ul") -> Plate: + """SequalPrep 96 Well Plate 200 µL""" + defn = _get_custom_defs()["sequalprep_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sh_48_wellplate_2500ul(name: str = "sh_48_wellplate_2500ul") -> Plate: + """SH 48 Well Plate 2500 µL""" + defn = _get_custom_defs()["sh_48_wellplate_2500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_simport_96_wellplate_flipped(name: str = "simport_96_wellplate_flipped") -> Plate: + """SIMPORT 96 Well Plate 1200µL Flipped""" + defn = _get_custom_defs()["simport_96_wellplate_flipped"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sorenson_96_wellplate_350ul(name: str = "sorenson_96_wellplate_350ul") -> Plate: + """Sorenson 96 Well Plate 350 µL""" + defn = _get_custom_defs()["sorenson_96_wellplate_350ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_sorfa_15_tuberack_10000ul(name: str = "sorfa_15_tuberack_10000ul") -> TubeRack: + """Sorfa 15 Tube Rack 10000 µL""" + defn = _get_custom_defs()["sorfa_15_tuberack_10000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_spestackedoncollection_96_wellplate_1600ul(name: str = "spestackedoncollection_96_wellplate_1600ul") -> Plate: + """SPE Stacked On Collection 96 Well Plate 1600 µL""" + defn = _get_custom_defs()["spestackedoncollection_96_wellplate_1600ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_spex_96_wellplate_2400ul(name: str = "spex_96_wellplate_2400ul") -> Plate: + """SPEX 96 Well Plate 2400 µL""" + defn = _get_custom_defs()["spex_96_wellplate_2400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_spi_slides_4x21(name: str = "spi_slides_4x21") -> Plate: + """SPI slides 4x21 (fallback: corning 96 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_96_wellplate_360ul_flat", name=name)) + + +@resource() +def lab_spl_96_wellplate_200ul_flat(name: str = "spl_96_wellplate_200ul_flat") -> Plate: + """SPL Cell Culture Plate 96 Well Flat Bottom""" + defn = _get_custom_defs()["spl_96_wellplate_200ul_flat"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_spl_96_wellplate_200ul_round(name: str = "spl_96_wellplate_200ul_round") -> Plate: + """SPL Cell Culture Plate 96 Well Flat Bottom""" + defn = _get_custom_defs()["spl_96_wellplate_200ul_round"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ssibio_96_tuberack_200ul(name: str = "ssibio_96_tuberack_200ul") -> TubeRack: + """SSIbio 96 Tube Rack with NEST 0.2 mL""" + defn = _get_custom_defs()["ssibio_96_tuberack_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starlab10ml24wellplate_24_wellplate_10000ul(name: str = "starlab10ml24wellplate_24_wellplate_10000ul") -> Plate: + """StarLab 10 Ml 24 Well Plate 24 Well Plate 10000 µL""" + defn = _get_custom_defs()["starlab10ml24wellplate_24_wellplate_10000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starlab_12_reservoir_22000ul(name: str = "starlab_12_reservoir_22000ul") -> Plate: + """Starlab 12 Reservoir 22000 µL""" + defn = _get_custom_defs()["starlab_12_reservoir_22000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starlab_1_reservoir_240000ul(name: str = "starlab_1_reservoir_240000ul") -> Plate: + """Starlab 1 Reservoir 240000 µL""" + defn = _get_custom_defs()["starlab_1_reservoir_240000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starlab_96_wellplate_2200ul(name: str = "starlab_96_wellplate_2200ul") -> Plate: + """Starlab 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["starlab_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_starstedt_96_wellplate_200ul(name: str = "starstedt_96_wellplate_200ul") -> Plate: + """Starstedt 96 Well Plate 200 µL""" + defn = _get_custom_defs()["starstedt_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_stellarscientific_96_cluster_tubes_1200ul(name: str = "stellarscientific_96_cluster_tubes_1200ul") -> Plate: + """Stellar Scientific 96 Cluster Tubes 1200uL""" + defn = _get_custom_defs()["stellarscientific_96_cluster_tubes_1200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_stellarscientific_96_wellplate_100ul(name: str = "stellarscientific_96_wellplate_100ul") -> Plate: + """Stellar Scientific 96 Well Plate 100 µL""" + defn = _get_custom_defs()["stellarscientific_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_striptubes_96_wellplate_1000ul(name: str = "striptubes_96_wellplate_1000ul") -> Plate: + """Striptubes 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["striptubes_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tecan_96_wellplate_1300ul(name: str = "tecan_96_wellplate_1300ul") -> Plate: + """Tecan 96 Well Plate 1300 µL""" + defn = _get_custom_defs()["tecan_96_wellplate_1300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tecan_elisa_96well_hs(name: str = "tecan_elisa_96well_hs") -> Plate: + """Tecan ELISA 96-well on Heater Shaker""" + defn = _get_custom_defs()["tecan_elisa_96well_hs"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_teleshake1536_64_slides_100ul(name: str = "teleshake1536_64_slides_100ul") -> Plate: + """Teleshake 1536 64 slides 100ul (fallback: corning 384 flat)""" + return cast(Plate, load_shared_opentrons_resource("corning_384_wellplate_112ul_flat", name=name)) + + +@resource() +def lab_tempassure_96_strips_200ul_pcr(name: str = "tempassure_96_strips_200ul_pcr") -> Plate: + """Tempassure 96 strip tubes 200ul""" + defn = _get_custom_defs()["tempassure_96_strips_200ul_pcr"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_test_1_reservoir_300000ul(name: str = "test_1_reservoir_300000ul") -> Plate: + """Test 1 Reservoir 300000 µL""" + defn = _get_custom_defs()["test_1_reservoir_300000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_1_reservoir_300ul(name: str = "thermo_1_reservoir_300ul") -> Plate: + """Thermo 1 Reservoir 300 µL""" + defn = _get_custom_defs()["thermo_1_reservoir_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_384_wellplate_50ul(name: str = "thermo_384_wellplate_50ul") -> Plate: + """Thermo 384 Well Plate 50 µL""" + defn = _get_custom_defs()["thermo_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_aluminumblock_200ul(name: str = "thermo_96_aluminumblock_200ul") -> TubeRack: + """Thermo 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["thermo_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_wellplate_200ul(name: str = "thermo_96_wellplate_200ul") -> Plate: + """Thermo 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermo_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_wellplate_400ul(name: str = "thermo_96_wellplate_400ul") -> Plate: + """Thermo Maxisorb""" + defn = _get_custom_defs()["thermo_96_wellplate_400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_wellplate_800ul(name: str = "thermo_96_wellplate_800ul") -> Plate: + """Abgene™ 96 Well 0.8mL Thermo Scientific""" + defn = _get_custom_defs()["thermo_96_wellplate_800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_96_wellplate_ab_0800_200ul(name: str = "thermo_96_wellplate_ab_0800_200ul") -> Plate: + """Thermo-Fast 96 Well Plate AB-0800 200 µL""" + defn = _get_custom_defs()["thermo_96_wellplate_ab_0800_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_ab_0600_96_aluminumblock_300ul(name: str = "thermo_ab_0600_96_aluminumblock_300ul") -> TubeRack: + """thermo_ab_0600_96_aluminumblock_300ul""" + defn = _get_custom_defs()["thermo_ab_0600_96_aluminumblock_300ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermo_non_skirted_96_plate_300ul(name: str = "thermo_non_skirted_96_plate_300ul") -> Plate: + """Thermo Scientific Non Skirted 96 Well Plate""" + defn = _get_custom_defs()["thermo_non_skirted_96_plate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofast_96_wellplate_200ul(name: str = "thermofast_96_wellplate_200ul") -> Plate: + """Thermo-Fast 96, Skirted PCR Plate""" + defn = _get_custom_defs()["thermofast_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofast_96well_semiskirted_eppendorf_cooler(name: str = "thermofast_96well_semiskirted_eppendorf_cooler") -> Plate: + """Thermofisher PCR Plate, 96-well, semi-skirted, flat deck""" + defn = _get_custom_defs()["thermofast_96well_semiskirted_eppendorf_cooler"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_384_wellplate_50ul(name: str = "thermofisher_384_wellplate_50ul") -> Plate: + """Thermofisher 384 Well Plate 50 µL""" + defn = _get_custom_defs()["thermofisher_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_40_tuberack_2000ul(name: str = "thermofisher_40_tuberack_2000ul") -> TubeRack: + """Thermofisher 40 Tube Rack with Thermofisher 2 mL""" + defn = _get_custom_defs()["thermofisher_40_tuberack_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_95040450_96_deepwell_2ml(name: str = "thermofisher_95040450_96_deepwell_2ml") -> Plate: + """ThermoFisher 96 Deep Well Plate 2 mL""" + defn = _get_custom_defs()["thermofisher_95040450_96_deepwell_2ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_midi_storage_plate_800ul(name: str = "thermofisher_96_midi_storage_plate_800ul") -> Plate: + """ThermoFisher 96 MIDI Storage Plate 800uL""" + defn = _get_custom_defs()["thermofisher_96_midi_storage_plate_800ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_skirted_pcr_200ul(name: str = "thermofisher_96_skirted_pcr_200ul") -> Plate: + """ThermoFisher 96 Well Skirted PCR Plate 200uL""" + defn = _get_custom_defs()["thermofisher_96_skirted_pcr_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_well_pcrplate_200_aluminumblock(name: str = "thermofisher_96_well_pcrplate_200_aluminumblock") -> TubeRack: + """thermofisher 96-well PCR Plate semi-skirted 200 uL + aluminum block""" + defn = _get_custom_defs()["thermofisher_96_well_pcrplate_200_aluminumblock"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter(name: str = "thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter") -> Plate: + """thermofisher 96 well pcr plate semi-skirted 200 uL + plastic adapter""" + defn = _get_custom_defs()["thermofisher_96_well_pcrplate_semiskirted_200_plastic_adapter"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_wellplate_1400ul(name: str = "thermofisher_96_wellplate_1400ul") -> Plate: + """Thermofisher 96 Well Plate 1400 µL""" + defn = _get_custom_defs()["thermofisher_96_wellplate_1400ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_wellplate_200ul(name: str = "thermofisher_96_wellplate_200ul") -> Plate: + """Thermo Fisher 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermofisher_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_wellplate_300ul(name: str = "thermofisher_96_wellplate_300ul") -> Plate: + """Thermofisher 96 Well Plate 300 µL""" + defn = _get_custom_defs()["thermofisher_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_96_wellplate_500ul(name: str = "thermofisher_96_wellplate_500ul") -> Plate: + """Thermofisher 96 Well Plate 500 µL""" + defn = _get_custom_defs()["thermofisher_96_wellplate_500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisher_nunc_96_wellplate_2ml(name: str = "thermofisher_nunc_96_wellplate_2ml") -> Plate: + """Thermofisher Nunc 96 Well Plate 2mL""" + defn = _get_custom_defs()["thermofisher_nunc_96_wellplate_2ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherabgene_96_wellplate_2200ul(name: str = "thermofisherabgene_96_wellplate_2200ul") -> Plate: + """ThermoFisher Abgene 96 Well Plate 2200 µL""" + defn = _get_custom_defs()["thermofisherabgene_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherarmadillo_96_wellplate_200ul(name: str = "thermofisherarmadillo_96_wellplate_200ul") -> Plate: + """Thermofisher Armadillo 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermofisherarmadillo_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherdwplate_96_wellplate_2000ul(name: str = "thermofisherdwplate_96_wellplate_2000ul") -> Plate: + """ThermoFisher DW Plate 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermofisherdwplate_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherkingfisherdeepwell_96_wellplate_2000ul(name: str = "thermofisherkingfisherdeepwell_96_wellplate_2000ul") -> Plate: + """Thermo-Fisher Kingfisher Deep Well 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermofisherkingfisherdeepwell_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishermicroamp_384_wellplate_50ul(name: str = "thermofishermicroamp_384_wellplate_50ul") -> Plate: + """ThermoFisher MicroAmp 384 Well Plate 50 µL""" + defn = _get_custom_defs()["thermofishermicroamp_384_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishermicroamp_96_aluminumblock_200ul(name: str = "thermofishermicroamp_96_aluminumblock_200ul") -> TubeRack: + """ThermoFisher Microamp 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["thermofishermicroamp_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishermicroamp_96_wellplate_200ul(name: str = "thermofishermicroamp_96_wellplate_200ul") -> Plate: + """ThermoFisher Microamp 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermofishermicroamp_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishermicroampfast96well0point1_96_wellplate_100ul(name: str = "thermofishermicroampfast96well0.1_96_wellplate_100ul") -> Plate: + """ThermoFisher MicroAmp Fast 96-well 0.1 96 Well Plate 100 µL""" + defn = _get_custom_defs()["thermofishermicroampfast96well0.1_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishernalgene_1_reservoir_300000ul(name: str = "thermofishernalgene_1_reservoir_300000ul") -> Plate: + """ThermoFisher Nalgene 1 Reservoir 300000 µL""" + defn = _get_custom_defs()["thermofishernalgene_1_reservoir_300000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishernunc_96_aluminumblock_450ul(name: str = "thermofishernunc_96_aluminumblock_450ul") -> TubeRack: + """ThermoFisher Nunc 96 Aluminum Block 450 µL""" + defn = _get_custom_defs()["thermofishernunc_96_aluminumblock_450ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishernunc_96_wellplate_2000ul(name: str = "thermofishernunc_96_wellplate_2000ul") -> Plate: + """ThermoFisher Nunc 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermofishernunc_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofishernunc_96_wellplate_450ul(name: str = "thermofishernunc_96_wellplate_450ul") -> Plate: + """ThermoFisher Nunc 96 Well Plate 450 µL""" + defn = _get_custom_defs()["thermofishernunc_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherscientific_96_wellplate_450ul(name: str = "thermofisherscientific_96_wellplate_450ul") -> Plate: + """ThermoFisher Scientific 96 Well Plate 450 µL""" + defn = _get_custom_defs()["thermofisherscientific_96_wellplate_450ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherscientific_96_wellplate_50ul(name: str = "thermofisherscientific_96_wellplate_50ul") -> Plate: + """Thermofisher Scientific 96 Well Plate 50 µL""" + defn = _get_custom_defs()["thermofisherscientific_96_wellplate_50ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherscientificdeepwell_96_wellplate_2000ul(name: str = "thermofisherscientificdeepwell_96_wellplate_2000ul") -> Plate: + """Thermofisher Scientific Deepwell 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermofisherscientificdeepwell_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermofisherscientificelutiontubes_96_wellplate_650ul(name: str = "thermofisherscientificelutiontubes_96_wellplate_650ul") -> Plate: + """Thermo Fisher Scientific Elution Tubes 96 Well Plate 650 µL""" + defn = _get_custom_defs()["thermofisherscientificelutiontubes_96_wellplate_650ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientific_96_wellplate_200ul(name: str = "thermoscientific_96_wellplate_200ul") -> Plate: + """Thermo Scientific 96 Well Plate 200 µL""" + defn = _get_custom_defs()["thermoscientific_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientific_96_wellplate_300ul(name: str = "thermoscientific_96_wellplate_300ul") -> Plate: + """Thermo Scientific 96 wellplate 300ul #AB0600""" + defn = _get_custom_defs()["thermoscientific_96_wellplate_300ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientific_96_wellplate_v_450(name: str = "thermoscientific_96_wellplate_v_450") -> Plate: + """Thermo Scientific 96 Well Plate V Bottom 450 uL""" + defn = _get_custom_defs()["thermoscientific_96_wellplate_v_450"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientificmatrix_96_tuberack_1000ul(name: str = "thermoscientificmatrix_96_tuberack_1000ul") -> TubeRack: + """ThermoScientific Matrix 96 Tube Rack with custom 1 mL""" + defn = _get_custom_defs()["thermoscientificmatrix_96_tuberack_1000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_thermoscientificnunc_96_wellplate_2000ul(name: str = "thermoscientificnunc_96_wellplate_2000ul") -> Plate: + """Thermo Scientific Nunc 96 Well Plate 2000 µL""" + defn = _get_custom_defs()["thermoscientificnunc_96_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tiprack_200ul_extended(name: str = "tiprack_200ul_extended") -> TipRack: + """Tiprack 200ul extended (fallback: opentrons 300ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_300ul", name=name)) + + +@resource() +def lab_tpp_96well_plate_340ul(name: str = "tpp_96well_plate_340ul") -> Plate: + """TPP Tissue culture testplate 96F 92096""" + defn = _get_custom_defs()["tpp_96well_plate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tuberack_15_tuberack_5000ul(name: str = "tuberack_15_tuberack_5000ul") -> TubeRack: + """Tube Rack 15 Tube Rack 5000 µL""" + defn = _get_custom_defs()["tuberack_15_tuberack_5000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_tuberack_24_wellplate_1500ul(name: str = "tuberack_24_wellplate_1500ul") -> Plate: + """Tuberack 24 Well Plate 1500 µL""" + defn = _get_custom_defs()["tuberack_24_wellplate_1500ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_twdtradewinds_24_tuberack_4000ul(name: str = "twdtradewinds_24_tuberack_4000ul") -> TubeRack: + """TWD_Tradewinds 24 Tube Rack with 4mL_Scintillation_Vials 4 mL""" + defn = _get_custom_defs()["twdtradewinds_24_tuberack_4000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_twintec_pcr_plate(name: str = "twintec_pcr_plate") -> Plate: + """Eppendorf 96 Well Plate 150 µL""" + defn = _get_custom_defs()["twintec_pcr_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_two_spacing(name: str = "two_spacing") -> Plate: + """Two Spacing""" + defn = _get_custom_defs()["two_spacing"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_udiplate_96_wellplate_200ul(name: str = "udiplate_96_wellplate_200ul") -> Plate: + """UDIplate 96 Well Plate 200 µL""" + defn = _get_custom_defs()["udiplate_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usa_96_wellplate_200ul(name: str = "usa_96_wellplate_200ul") -> Plate: + """USA 96 Well Plate 200 µL""" + defn = _get_custom_defs()["usa_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usalowbind_24_aluminumblock_2000ul(name: str = "usalowbind_24_aluminumblock_2000ul") -> TubeRack: + """USA Low Bind 24 Aluminum Block 2000 µL""" + defn = _get_custom_defs()["usalowbind_24_aluminumblock_2000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific8strip_96_aluminumblock_300ul(name: str = "usascientific8strip_96_aluminumblock_300ul") -> TubeRack: + """USA Scientific 8-STrip 96 Aluminum Block 300 µL""" + defn = _get_custom_defs()["usascientific8strip_96_aluminumblock_300ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_12_reservoir_22ml(name: str = "usascientific_12_reservoir_22ml") -> Plate: + """USA Scientific 12 Well Reservoir 22 mL""" + return cast(Plate, load_shared_opentrons_resource("usascientific_12_reservoir_22ml", name=name)) + + +@resource() +def lab_usascientific_96_aluminumblock_200ul(name: str = "usascientific_96_aluminumblock_200ul") -> TubeRack: + """USA Scientific 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["usascientific_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_96_tiprack_200ul(name: str = "usascientific_96_tiprack_200ul") -> TipRack: + """USA Scientific 96 Tip Rack 200 µL""" + defn = _get_custom_defs()["usascientific_96_tiprack_200ul"] + return cast(TipRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_96_wellplate_100ul(name: str = "usascientific_96_wellplate_100ul") -> Plate: + """USA Scientific 96 Well Plate 100 µL""" + defn = _get_custom_defs()["usascientific_96_wellplate_100ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_96_wellplate_2point4ml_deep(name: str = "usascientific_96_wellplate_2.4ml_deep") -> Plate: + """USA Scientific 96 Deep Well Plate 2.4 mL""" + return cast(Plate, load_shared_opentrons_resource("usascientific_96_wellplate_2.4ml_deep", name=name)) + + +@resource() +def lab_usascientific_96_wellplate_200ul(name: str = "usascientific_96_wellplate_200ul") -> Plate: + """USA Scientific 96 Well Plate 200 µL""" + defn = _get_custom_defs()["usascientific_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usascientific_96_wellplate_2ml_deep(name: str = "usascientific_96_wellplate_2ml_deep") -> Plate: + """USA Scientific 96 Deep Well Plate 2.0 mL""" + defn = _get_custom_defs()["usascientific_96_wellplate_2ml_deep"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usastrips_96_aluminumblock_200ul(name: str = "usastrips_96_aluminumblock_200ul") -> TubeRack: + """USA Strips 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["usastrips_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_usastrips_96_supportbase_200ul(name: str = "usastrips_96_supportbase_200ul") -> Plate: + """USA Strips 96 Support Base 200 uL""" + defn = _get_custom_defs()["usastrips_96_supportbase_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vial_rack_8x20ml_vials(name: str = "vial_rack_8x20ml_vials") -> TubeRack: + """8x20mL Vial Rack""" + defn = _get_custom_defs()["vial_rack_8x20ml_vials"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_visby(name: str = "visby") -> Plate: + """visby""" + defn = _get_custom_defs()["visby"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vpscientific_48_wellplate_2000ul(name: str = "vpscientific_48_wellplate_2000ul") -> Plate: + """V&P Scientific 48 Well Plate 2000 µL""" + defn = _get_custom_defs()["vpscientific_48_wellplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vpscientific_8_tiprack_10ul(name: str = "vpscientific_8_tiprack_10ul") -> TipRack: + """VP Scientific 8 tiprack 10ul (fallback: opentrons 10ul)""" + return cast(TipRack, load_shared_opentrons_resource("opentrons_96_tiprack_10ul", name=name)) + + +@resource() +def lab_vwr_15_tuberack_5000ul(name: str = "vwr_15_tuberack_5000ul") -> TubeRack: + """VWR 15 Tube Rack 5000 µL""" + defn = _get_custom_defs()["vwr_15_tuberack_5000ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_15_tuberack_selfstanding_5ml_conical(name: str = "vwr_15_tuberack_selfstanding_5ml_conical") -> TubeRack: + """VWR 3x5 self standing 5ml tuberack""" + defn = _get_custom_defs()["vwr_15_tuberack_selfstanding_5ml_conical"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_24_tuberack_1point5ml(name: str = "vwr_24_tuberack_1.5ml") -> TubeRack: + """VWR 24 Tube Rack 1.5mL""" + defn = _get_custom_defs()["vwr_24_tuberack_1.5ml"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_96_aluminumblock_200ul(name: str = "vwr_96_aluminumblock_200ul") -> TubeRack: + """VWR 96 Aluminum Block 200 µL""" + defn = _get_custom_defs()["vwr_96_aluminumblock_200ul"] + return cast(TubeRack, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_96_wellplate_1000ul(name: str = "vwr_96_wellplate_1000ul") -> Plate: + """VWR 96 Well Plate 1000 µL""" + defn = _get_custom_defs()["vwr_96_wellplate_1000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_96well_pcr_plate_200ul(name: str = "vwr_96well_pcr_plate_200ul") -> Plate: + """VWR 96 well PCR plate 200 uL""" + defn = _get_custom_defs()["vwr_96well_pcr_plate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwr_square_96_microplate_2000ul(name: str = "vwr_square_96_microplate_2000ul") -> Plate: + """VWR 96 Square Micro Plate 2000 µL""" + defn = _get_custom_defs()["vwr_square_96_microplate_2000ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_vwrpcr_96_wellplate_200ul(name: str = "vwrpcr_96_wellplate_200ul") -> Plate: + """VWR Pcr 96 Well Plate 200 µL""" + defn = _get_custom_defs()["vwrpcr_96_wellplate_200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_wafer_6x4_grid(name: str = "wafer_6x4_grid") -> Plate: + """Custom Wafer 4x6 Plate""" + defn = _get_custom_defs()["wafer_6x4_grid"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_waters_96_wellplate_2ml(name: str = "waters_96_wellplate_2ml") -> Plate: + """Waters 96 Well Plate 2 mL""" + defn = _get_custom_defs()["waters_96_wellplate_2ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_white_96well_plate_340ul(name: str = "white_96well_plate_340ul") -> Plate: + """NUNC white 96F 236105""" + defn = _get_custom_defs()["white_96well_plate_340ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_x_capper_rack_48_well_0point5ml(name: str = "x_capper_rack_48_well_0.5ml") -> Plate: + """X Capper 48 Rack 0.5mL""" + defn = _get_custom_defs()["x_capper_rack_48_well_0.5ml"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_ydp962_2sc_96_wellplate_2200ul(name: str = "ydp962_2sc_96_wellplate_2200ul") -> Plate: + """YDP-96-2.2-SC 96_wellplate_2200ul""" + defn = _get_custom_defs()["ydp962_2sc_96_wellplate_2200ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_zinsser_96_wellplate_1898ul(name: str = "zinsser_96_wellplate_1898ul") -> Plate: + """Zinsser 96 Well Plate 1898 µL""" + defn = _get_custom_defs()["zinsser_96_wellplate_1898ul"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_zymo_96_wellblock(name: str = "zymo_96_wellblock") -> Plate: + """Zymo 96-Well Block""" + defn = _get_custom_defs()["zymo_96_wellblock"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + + +@resource() +def lab_zymo_elution_plate(name: str = "zymo_elution_plate") -> Plate: + """Zymo Elution Plate""" + defn = _get_custom_defs()["zymo_elution_plate"] + return cast(Plate, ot_definition_to_resource(defn, name=name)) + diff --git a/unilabos/resources/opentrons_custom_labware_defs.json b/unilabos/resources/opentrons_custom_labware_defs.json new file mode 100644 index 00000000..67c78c3d --- /dev/null +++ b/unilabos/resources/opentrons_custom_labware_defs.json @@ -0,0 +1 @@ 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\ No newline at end of file From b3bc951cae8fcb7ab36e7370f21d78d3ec1e99d5 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 10 Feb 2026 22:45:51 +0800 Subject: [PATCH 18/43] registry update & workflow update --- unilabos/workflow/common.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 3e2fec92..1cd864e0 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -424,7 +424,7 @@ def build_protocol_graph( "res_id": res_id, "device_id": CREATE_RESOURCE_DEFAULTS["device_id"], "class_name": lw_type, - "parent": CREATE_RESOURCE_DEFAULTS["parent_template"], + "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot), "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0}, "slot_on_deck": slot, }, From a9ea9f425d01c62639d38cd602af0a8eedae2dfb Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Fri, 13 Feb 2026 13:46:27 +0800 Subject: [PATCH 19/43] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=8D=95=E6=9E=AA?= =?UTF-8?q?=E5=A4=B4=E7=9A=84=E5=A4=9A=E5=AF=B9=E5=A4=9A=E7=A7=BB=E6=B6=B2?= =?UTF-8?q?=E5=88=A4=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 304 +++++++++++++----- 1 file changed, 228 insertions(+), 76 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index ec936175..ef69f8dc 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1159,11 +1159,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): Number of mix cycles. If *None* (default) no mixing occurs regardless of mix_stage. """ - + num_sources = len(sources) + num_targets = len(targets) + len_asp_vols = len(asp_vols) + len_dis_vols = len(dis_vols) # 确保 use_channels 有默认值 if use_channels is None: # 默认使用设备所有通道(例如 8 通道移液站默认就是 0-7) - use_channels = list(range(self.channel_num)) if self.channel_num > 0 else [0] + use_channels = list(range(self.channel_num)) if self.channel_num == 8 else [0] + elif len(use_channels) == 8: + if self.channel_num != 8: + raise ValueError(f"if channel_num is 8, use_channels length must be 8, but got {len(use_channels)}") + if num_sources%8 != 0 or num_targets%8 != 0 or len_asp_vols%8 != 0 or len_dis_vols%8 != 0: + raise ValueError(f"if channel_num is 8, sources, targets, asp_vols, and dis_vols length must be divisible by 8, but got {num_sources}, {num_targets}, {len_asp_vols}, and {len_dis_vols}") if is_96_well: pass # This mode is not verified. @@ -1191,90 +1199,234 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if mix_times is not None: mix_times = int(mix_times) + # 设置tip racks + self.set_tiprack(tip_racks) + # 识别传输模式(mix_times 为 None 也应该能正常移液,只是不做 mix) num_sources = len(sources) num_targets = len(targets) + len_asp_vols = len(asp_vols) + len_dis_vols = len(dis_vols) - if num_sources == 1 and num_targets > 1: - # 模式1: 一对多 (1 source -> N targets) - await self._transfer_one_to_many( - sources[0], - targets, - tip_racks, - use_channels, - asp_vols, - dis_vols, - asp_flow_rates, - dis_flow_rates, - offsets, - touch_tip, - liquid_height, - blow_out_air_volume, - spread, - mix_stage, - mix_times, - mix_vol, - mix_rate, - mix_liquid_height, - delays, - ) - elif num_sources > 1 and num_targets == 1: - # 模式2: 多对一 (N sources -> 1 target) - await self._transfer_many_to_one( - sources, - targets[0], - tip_racks, - use_channels, - asp_vols, - dis_vols, - asp_flow_rates, - dis_flow_rates, - offsets, - touch_tip, - liquid_height, - blow_out_air_volume, - spread, - mix_stage, - mix_times, - mix_vol, - mix_rate, - mix_liquid_height, - delays, - ) - elif num_sources == num_targets: - # 模式3: 一对一 (N sources -> N targets) - await self._transfer_one_to_one( - sources, - targets, - tip_racks, - use_channels, - asp_vols, - dis_vols, - asp_flow_rates, - dis_flow_rates, - offsets, - touch_tip, - liquid_height, - blow_out_air_volume, - spread, - mix_stage, - mix_times, - mix_vol, - mix_rate, - mix_liquid_height, - delays, - ) - else: - raise ValueError( - f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. " - "Supported modes: 1->N, N->1, or N->N." - ) + if num_targets != 1 and num_sources != 1: + if len_asp_vols != num_sources and len_asp_vols != num_targets: + raise ValueError(f"asp_vols length must be equal to sources or targets length, but got {len_asp_vols} and {num_sources} and {num_targets}") + if len_dis_vols != num_sources and len_dis_vols != num_targets: + raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}") + + if len(use_channels) == 1: + max_len = max(num_sources, num_targets) + for i in range(max_len): + + # 辅助函数:安全地从列表中获取元素,如果列表为空则返回None + def safe_get(lst, idx, default=None): + return [lst[idx]] if lst else default + + # 动态构建参数字典,只传递实际提供的参数 + kwargs = { + 'sources': [sources[i%num_sources]], + 'targets': [targets[i%num_targets]], + 'tip_racks': tip_racks, + 'use_channels': use_channels, + 'asp_vols': [asp_vols[i%len_asp_vols]], + 'dis_vols': [dis_vols[i%len_dis_vols]], + } + + # 条件性添加可选参数 + if asp_flow_rates is not None: + kwargs['asp_flow_rates'] = [asp_flow_rates[i%len_asp_vols]] + if dis_flow_rates is not None: + kwargs['dis_flow_rates'] = [dis_flow_rates[i%len_dis_vols]] + if offsets is not None: + kwargs['offsets'] = safe_get(offsets, i) + if touch_tip is not None: + kwargs['touch_tip'] = touch_tip if touch_tip else False + if liquid_height is not None: + kwargs['liquid_height'] = safe_get(liquid_height, i) + if blow_out_air_volume is not None: + kwargs['blow_out_air_volume'] = safe_get(blow_out_air_volume, i) + if spread is not None: + kwargs['spread'] = spread + if mix_stage is not None: + kwargs['mix_stage'] = safe_get(mix_stage, i) + if mix_times is not None: + kwargs['mix_times'] = safe_get(mix_times, i) + if mix_vol is not None: + kwargs['mix_vol'] = safe_get(mix_vol, i) + if mix_rate is not None: + kwargs['mix_rate'] = safe_get(mix_rate, i) + if mix_liquid_height is not None: + kwargs['mix_liquid_height'] = safe_get(mix_liquid_height, i) + if delays is not None: + kwargs['delays'] = safe_get(delays, i) + + await self._transfer_base_method(**kwargs) + + + + # if num_sources == 1 and num_targets > 1: + # # 模式1: 一对多 (1 source -> N targets) + # await self._transfer_one_to_many( + # sources, + # targets, + # tip_racks, + # use_channels, + # asp_vols, + # dis_vols, + # asp_flow_rates, + # dis_flow_rates, + # offsets, + # touch_tip, + # liquid_height, + # blow_out_air_volume, + # spread, + # mix_stage, + # mix_times, + # mix_vol, + # mix_rate, + # mix_liquid_height, + # delays, + # ) + # elif num_sources > 1 and num_targets == 1: + # # 模式2: 多对一 (N sources -> 1 target) + # await self._transfer_many_to_one( + # sources, + # targets[0], + # tip_racks, + # use_channels, + # asp_vols, + # dis_vols, + # asp_flow_rates, + # dis_flow_rates, + # offsets, + # touch_tip, + # liquid_height, + # blow_out_air_volume, + # spread, + # mix_stage, + # mix_times, + # mix_vol, + # mix_rate, + # mix_liquid_height, + # delays, + # ) + # elif num_sources == num_targets: + # # 模式3: 一对一 (N sources -> N targets) + # await self._transfer_one_to_one( + # sources, + # targets, + # tip_racks, + # use_channels, + # asp_vols, + # dis_vols, + # asp_flow_rates, + # dis_flow_rates, + # offsets, + # touch_tip, + # liquid_height, + # blow_out_air_volume, + # spread, + # mix_stage, + # mix_times, + # mix_vol, + # mix_rate, + # mix_liquid_height, + # delays, + # ) + # else: + # raise ValueError( + # f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. " + # "Supported modes: 1->N, N->1, or N->N." + # ) return TransferLiquidReturn( sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(), # type: ignore targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(), # type: ignore ) + async def _transfer_base_method( + self, + sources: Sequence[Container], + targets: Sequence[Container], + tip_racks: Sequence[TipRack], + use_channels: List[int], + asp_vols: List[float], + dis_vols: List[float], + **kwargs + ): + # 从kwargs中提取参数,提供默认值 + asp_flow_rates = kwargs.get('asp_flow_rates') + dis_flow_rates = kwargs.get('dis_flow_rates') + offsets = kwargs.get('offsets') + touch_tip = kwargs.get('touch_tip', False) + liquid_height = kwargs.get('liquid_height') + blow_out_air_volume = kwargs.get('blow_out_air_volume') + spread = kwargs.get('spread', 'wide') + mix_stage = kwargs.get('mix_stage') + mix_times = kwargs.get('mix_times') + mix_vol = kwargs.get('mix_vol') + mix_rate = kwargs.get('mix_rate') + mix_liquid_height = kwargs.get('mix_liquid_height') + delays = kwargs.get('delays') + + tip = [] + tip.extend(next(self.current_tip)) + await self.pick_up_tips(tip) + + if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: + await self.mix( + targets=[targets[0]], + mix_time=mix_times, + mix_vol=mix_vol, + offsets=offsets if offsets else None, + height_to_bottom=mix_liquid_height if mix_liquid_height else None, + mix_rate=mix_rate if mix_rate else None, + use_channels=use_channels, + ) + + await self.aspirate( + resources=[sources[0]], + vols=[asp_vols[0]], + use_channels=use_channels, + flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None, + offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, + liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, + blow_out_air_volume=( + [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None + ), + spread=spread, + ) + if delays is not None: + await self.custom_delay(seconds=delays[0]) + await self.dispense( + resources=[targets[0]], + vols=[dis_vols[0]], + use_channels=use_channels, + flow_rates=[dis_flow_rates[0]] if dis_flow_rates and len(dis_flow_rates) > 0 else None, + offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, + blow_out_air_volume=( + [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None + ), + liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, + spread=spread, + ) + if delays is not None and len(delays) > 1: + await self.custom_delay(seconds=delays[1]) + if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: + await self.mix( + targets=[targets[0]], + mix_time=mix_times, + mix_vol=mix_vol, + offsets=offsets if offsets else None, + height_to_bottom=mix_liquid_height if mix_liquid_height else None, + mix_rate=mix_rate if mix_rate else None, + use_channels=use_channels, + ) + if delays is not None and len(delays) > 1: + await self.custom_delay(seconds=delays[0]) + await self.touch_tip(targets[0]) + await self.discard_tips(use_channels=use_channels) + async def _transfer_one_to_one( self, sources: Sequence[Container], From 786498904d78612ce9c9c176b6d2e057dc75f2ad Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Tue, 24 Feb 2026 19:37:11 +0800 Subject: [PATCH 20/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=B8=8A=E4=BC=A0?= =?UTF-8?q?=E6=96=B9=E5=BC=8F=EF=BC=8C=E6=B7=BB=E5=8A=A0tip=5Frack?= =?UTF-8?q?=E7=9A=84=E8=BF=9E=E7=BA=BF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../devices/liquid_handling/prcxi/prcxi.py | 7 ++- unilabos/workflow/common.py | 57 ++++++++++++------- 2 files changed, 42 insertions(+), 22 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index c07a6de2..35565192 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -804,7 +804,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract): delays: Optional[List[int]] = None, none_keys: List[str] = [], ) -> TransferLiquidReturn: - return await super().transfer_liquid( + if self.step_mode: + await self.create_protocol(f"transfer_liquid{time.time()}") + res = await super().transfer_liquid( sources, targets, tip_racks, @@ -827,6 +829,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract): delays=delays, none_keys=none_keys, ) + if self.step_mode: + await self.run_protocol() + return res async def custom_delay(self, seconds=0, msg=None): return await super().custom_delay(seconds, msg) diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 1cd864e0..df075880 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -119,11 +119,14 @@ DEVICE_NAME_DEFAULT = "PRCXI" # transfer_liquid, set_liquid_from_plate 等动 # 节点类型 NODE_TYPE_DEFAULT = "ILab" # 所有节点的默认类型 +CLASS_NAMES_MAPPING = { + "plate": "PRCXI_BioER_96_wellplate", + "tip_rack": "PRCXI_300ul_Tips", +} # create_resource 节点默认参数 CREATE_RESOURCE_DEFAULTS = { "device_id": "/PRCXI", "parent_template": "/PRCXI/PRCXI_Deck", - "class_name": "PRCXI_BioER_96_wellplate", } # 默认液体体积 (uL) @@ -367,11 +370,10 @@ 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: reagent 信息字典,格式为 {name: {slot, well}, ...},用于 set_liquid 和 well 查找 + labware_info: labware 信息字典,格式为 {name: {slot, well, labware, ...}, ...} protocol_steps: 协议步骤列表 workstation_name: 工作站名称 action_resource_mapping: action 到 resource_name 的映射字典,可选 - labware_defs: labware 定义列表,格式为 [{"name": "...", "slot": "1", "type": "lab_xxx"}, ...] """ G = WorkflowGraph() resource_last_writer = {} # reagent_name -> "node_id:port" @@ -379,7 +381,19 @@ def build_protocol_graph( protocol_steps = refactor_data(protocol_steps, action_resource_mapping) - # ==================== 第一步:按 slot 创建 create_resource 节点 ==================== + # ==================== 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, + "labware_id": labware_id, + } + # 创建 Group 节点,包含所有 create_resource 节点 group_node_id = str(uuid.uuid4()) G.add_node( @@ -395,41 +409,41 @@ def build_protocol_graph( param=None, ) - # 直接使用 JSON 中的 labware 定义,每个 slot 一条记录,type 即 class_name - res_index = 0 - for lw in (labware_defs or []): - slot = str(lw.get("slot", "")) - if not slot or slot in slot_to_create_resource: - continue # 跳过空 slot 或已处理的 slot - - lw_name = lw.get("name", f"slot {slot}") - lw_type = lw.get("type", CREATE_RESOURCE_DEFAULTS["class_name"]) - res_id = f"plate_slot_{slot}" - - res_index += 1 + # 为每个唯一的 slot 创建 create_resource 节点 + for slot, info in slots_info.items(): node_id = str(uuid.uuid4()) + res_id = info["res_id"] + res_type_name = info["labware"] + if "tip" in res_type_name.lower(): + res_type = "tip_rack" + else: + res_type = "plate" + G.add_node( node_id, template_name="create_resource", resource_name="host_node", - name=lw_name, - description=f"Create {lw_name}", + name=f"{res_type} {slot}", + description=f"Create plate on slot {slot}", lab_node_type="Labware", footer="create_resource-host_node", device_name=DEVICE_NAME_HOST, type=NODE_TYPE_DEFAULT, - parent_uuid=group_node_id, - minimized=True, + parent_uuid=group_node_id, # 指向 Group 节点 + minimized=True, # 折叠显示 param={ "res_id": res_id, "device_id": CREATE_RESOURCE_DEFAULTS["device_id"], - "class_name": lw_type, + "class_name": CLASS_NAMES_MAPPING[res_type], "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot), "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0}, "slot_on_deck": slot, }, ) slot_to_create_resource[slot] = node_id + if res_type == "tip_rack": + resource_last_writer[info["labware_id"]] = f"{node_id}:labware" + # create_resource 之间不需要 ready 连接 # ==================== 第二步:为每个 reagent 创建 set_liquid_from_plate 节点 ==================== # 创建 Group 节点,包含所有 set_liquid_from_plate 节点 @@ -511,6 +525,7 @@ def build_protocol_graph( "reagent": "reagent", "solvent": "solvent", "compound": "compound", + "tip_racks": "tip_rack_identifier", } OUTPUT_PORT_MAPPING = { From 5d208c832b990fd0fd464e3bcac0697990079eaa Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Thu, 26 Feb 2026 10:52:41 +0800 Subject: [PATCH 21/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=B7=A5=E4=BD=9C?= =?UTF-8?q?=E6=B5=81=E4=B8=8A=E4=BC=A0=E4=BB=A5=E5=8F=8Alh=E7=9A=84?= =?UTF-8?q?=E7=89=A9=E6=96=99=E5=88=9D=E6=AD=A5=E5=88=A4=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 10 +-- unilabos/resources/resource_tracker.py | 69 ++++++++++++++++++- unilabos/workflow/common.py | 15 ++-- 3 files changed, 77 insertions(+), 17 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index ef69f8dc..811563a1 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1208,11 +1208,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): len_asp_vols = len(asp_vols) len_dis_vols = len(dis_vols) - if num_targets != 1 and num_sources != 1: - if len_asp_vols != num_sources and len_asp_vols != num_targets: - raise ValueError(f"asp_vols length must be equal to sources or targets length, but got {len_asp_vols} and {num_sources} and {num_targets}") - if len_dis_vols != num_sources and len_dis_vols != num_targets: - raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}") + # if num_targets != 1 and num_sources != 1: + # if len_asp_vols != num_sources and len_asp_vols != num_targets: + # raise ValueError(f"asp_vols length must be equal to sources or targets length, but got {len_asp_vols} and {num_sources} and {num_targets}") + # if len_dis_vols != num_sources and len_dis_vols != num_targets: + # raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}") if len(use_channels) == 1: max_len = max(num_sources, num_targets) diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index a3e3d3f2..7ee93ef8 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -581,6 +581,71 @@ class ResourceTreeSet(object): d["model"] = res.config.get("model", None) return d + # deserialize 会单独处理的元数据 key,不传给构造函数 + _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"} + # deserialize 自定义逻辑使用的 key(如 TipSpot 用 prototype_tip 构建 make_tip),需保留 + _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"} + + def remove_incompatible_params(plr_d: dict) -> None: + """递归移除 PLR 类不接受的参数,避免 deserialize 报错。 + - 移除构造函数不接受的参数(如 compute_height_from_volume、ordering、category) + - 对 TubeRack:将 ordering 转为 ordered_items + - 保留 deserialize 自定义逻辑需要的 key(如 prototype_tip) + """ + if "type" in plr_d: + sub_cls = find_subclass(plr_d["type"], PLRResource) + if sub_cls is not None: + spec = inspect.signature(sub_cls) + valid_params = set(spec.parameters.keys()) + # TubeRack 特殊处理:先转换 ordering,再参与后续过滤 + if "ordering" not in valid_params and "ordering" in plr_d: + ordering = plr_d.pop("ordering", None) + if sub_cls.__name__ == "TubeRack": + plr_d["ordered_items"] = ( + _ordering_to_ordered_items(plr_d, ordering) + if ordering + else {} + ) + # 移除构造函数不接受的参数(保留 META 和 deserialize 自定义逻辑需要的 key) + for key in list(plr_d.keys()): + if ( + key not in _META_KEYS + and key not in _DESERIALIZE_PRESERVED_KEYS + and key not in valid_params + ): + plr_d.pop(key, None) + for child in plr_d.get("children", []): + remove_incompatible_params(child) + + def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict: + """将 ordering 转为 ordered_items,从 children 构建 Tube 对象""" + from pylabrobot.resources import Tube, Coordinate + from pylabrobot.serializer import deserialize as plr_deserialize + + children = plr_d.get("children", []) + ordered_items = {} + for idx, (ident, child_name) in enumerate(ordering.items()): + child_data = children[idx] if idx < len(children) else None + if child_data is None: + continue + loc_data = child_data.get("location") + loc = ( + plr_deserialize(loc_data) + if loc_data + else Coordinate(0, 0, 0) + ) + tube = Tube( + name=child_data.get("name", child_name or ident), + size_x=child_data.get("size_x", 10), + size_y=child_data.get("size_y", 10), + size_z=child_data.get("size_z", 50), + max_volume=child_data.get("max_volume", 1000), + ) + tube.location = loc + ordered_items[ident] = tube + plr_d["children"] = [] # 已并入 ordered_items,避免重复反序列化 + return ordered_items + plr_resources = [] tracker = DeviceNodeResourceTracker() @@ -600,9 +665,7 @@ class ResourceTreeSet(object): 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}" ) - spec = inspect.signature(sub_cls) - if "category" not in spec.parameters: - plr_dict.pop("category", None) + remove_incompatible_params(plr_dict) plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True) from pylabrobot.resources import Coordinate from pylabrobot.serializer import deserialize diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index df075880..bf285434 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -413,17 +413,14 @@ def build_protocol_graph( for slot, info in slots_info.items(): node_id = str(uuid.uuid4()) res_id = info["res_id"] - res_type_name = info["labware"] - if "tip" in res_type_name.lower(): - res_type = "tip_rack" - else: - res_type = "plate" - + res_type_name = info["labware"].lower().replace(".", "point") + res_type_name = f"lab_{res_type_name}" + G.add_node( node_id, template_name="create_resource", resource_name="host_node", - name=f"{res_type} {slot}", + name=f"{res_type_name}_slot{slot}", description=f"Create plate on slot {slot}", lab_node_type="Labware", footer="create_resource-host_node", @@ -434,14 +431,14 @@ def build_protocol_graph( param={ "res_id": res_id, "device_id": CREATE_RESOURCE_DEFAULTS["device_id"], - "class_name": CLASS_NAMES_MAPPING[res_type], + "class_name": res_type_name, "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot), "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0}, "slot_on_deck": slot, }, ) slot_to_create_resource[slot] = node_id - if res_type == "tip_rack": + if "tip" in res_type_name and "rack" in res_type_name: resource_last_writer[info["labware_id"]] = f"{node_id}:labware" # create_resource 之间不需要 ready 连接 From 2ac1a3242ad5789f396a1ed97a05e23ee13625c2 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 3 Mar 2026 11:40:02 +0800 Subject: [PATCH 22/43] =?UTF-8?q?=E6=9B=B4=E6=96=B0prcxi=20deck=20&=20?= =?UTF-8?q?=E6=96=B0=E5=A2=9E=20unilabos=5Fresource=5Fslot?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/devices/liquid_handling/prcxi/prcxi.py | 10 +++++----- unilabos/registry/registry.py | 3 ++- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 35565192..bad3575b 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -93,13 +93,13 @@ class PRCXI9300Deck(Deck): # T1-T16 默认位置 (4列×4行) _DEFAULT_SITE_POSITIONS = [ - (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T1-T4 - (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T5-T8 - (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T9-T12 - (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T13-T16 + (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T1-T4 + (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T5-T8 + (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T9-T12 + (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T13-T16 ] _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0} - _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor"] def __init__(self, name: str, size_x: float, size_y: float, size_z: float, sites: Optional[List[Dict[str, Any]]] = None, **kwargs): diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 844d4cf8..02d80cca 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -175,7 +175,8 @@ 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", + "class_name": "unilabos_class", # 当前实验室物料的class name + "slot_on_deck": "unilabos_resource_slot:parent", # 勾选的parent的config中的sites的name,展示name,参数对应slot(index) }, }, "test_latency": { From 3f160c204958c129eda52dbde519cec057831feb Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 3 Mar 2026 11:40:02 +0800 Subject: [PATCH 23/43] =?UTF-8?q?=E6=9B=B4=E6=96=B0prcxi=20deck=20&=20?= =?UTF-8?q?=E6=96=B0=E5=A2=9E=20unilabos=5Fresource=5Fslot?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/devices/liquid_handling/prcxi/prcxi.py | 10 +++++----- unilabos/registry/registry.py | 3 ++- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index c07a6de2..f34583fe 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -93,13 +93,13 @@ class PRCXI9300Deck(Deck): # T1-T16 默认位置 (4列×4行) _DEFAULT_SITE_POSITIONS = [ - (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T1-T4 - (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T5-T8 - (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T9-T12 - (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T13-T16 + (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T1-T4 + (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T5-T8 + (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T9-T12 + (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T13-T16 ] _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0} - _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor"] def __init__(self, name: str, size_x: float, size_y: float, size_z: float, sites: Optional[List[Dict[str, Any]]] = None, **kwargs): diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 844d4cf8..02d80cca 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -175,7 +175,8 @@ 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", + "class_name": "unilabos_class", # 当前实验室物料的class name + "slot_on_deck": "unilabos_resource_slot:parent", # 勾选的parent的config中的sites的name,展示name,参数对应slot(index) }, }, "test_latency": { From 2596d48a2fe85092a70fd207974d2e1004cb3695 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 3 Mar 2026 11:43:41 +0800 Subject: [PATCH 24/43] update materials --- .../test/experiments/prcxi_9320_slim.json | 438 +++++++++--------- 1 file changed, 227 insertions(+), 211 deletions(-) diff --git a/unilabos/test/experiments/prcxi_9320_slim.json b/unilabos/test/experiments/prcxi_9320_slim.json index a3be4506..e97aa3d9 100644 --- a/unilabos/test/experiments/prcxi_9320_slim.json +++ b/unilabos/test/experiments/prcxi_9320_slim.json @@ -74,7 +74,7 @@ "occupied_by": null, "position": { "x": 0, - "y": 288, + "y": 0, "z": 0 }, "size": { @@ -87,7 +87,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -96,7 +97,7 @@ "occupied_by": null, "position": { "x": 138, - "y": 288, + "y": 0, "z": 0 }, "size": { @@ -109,7 +110,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -118,7 +120,7 @@ "occupied_by": null, "position": { "x": 276, - "y": 288, + "y": 0, "z": 0 }, "size": { @@ -131,7 +133,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -140,6 +143,213 @@ "occupied_by": null, "position": { "x": 414, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T5", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T6", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T7", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T8", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T9", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T10", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T11", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T12", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T13", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, "y": 288, "z": 0 }, @@ -153,205 +363,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" - ] - }, - { - "label": "T5", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T6", - "visible": true, - "occupied_by": null, - "position": { - "x": 138, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T7", - "visible": true, - "occupied_by": null, - "position": { - "x": 276, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T8", - "visible": true, - "occupied_by": null, - "position": { - "x": 414, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T9", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T10", - "visible": true, - "occupied_by": null, - "position": { - "x": 138, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T11", - "visible": true, - "occupied_by": null, - "position": { - "x": 276, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T12", - "visible": true, - "occupied_by": null, - "position": { - "x": 414, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T13", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -360,7 +373,7 @@ "occupied_by": null, "position": { "x": 138, - "y": 0, + "y": 288, "z": 0 }, "size": { @@ -373,7 +386,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -382,7 +396,7 @@ "occupied_by": null, "position": { "x": 276, - "y": 0, + "y": 288, "z": 0 }, "size": { @@ -395,7 +409,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -404,7 +419,7 @@ "occupied_by": null, "position": { "x": 414, - "y": 0, + "y": 288, "z": 0 }, "size": { @@ -417,7 +432,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] } ] From 7f1cc3b2a5ffe3750124f0bbba253df4598bc326 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 3 Mar 2026 11:43:41 +0800 Subject: [PATCH 25/43] update materials --- .../test/experiments/prcxi_9320_slim.json | 438 +++++++++--------- 1 file changed, 227 insertions(+), 211 deletions(-) diff --git a/unilabos/test/experiments/prcxi_9320_slim.json b/unilabos/test/experiments/prcxi_9320_slim.json index a3be4506..e97aa3d9 100644 --- a/unilabos/test/experiments/prcxi_9320_slim.json +++ b/unilabos/test/experiments/prcxi_9320_slim.json @@ -74,7 +74,7 @@ "occupied_by": null, "position": { "x": 0, - "y": 288, + "y": 0, "z": 0 }, "size": { @@ -87,7 +87,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -96,7 +97,7 @@ "occupied_by": null, "position": { "x": 138, - "y": 288, + "y": 0, "z": 0 }, "size": { @@ -109,7 +110,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -118,7 +120,7 @@ "occupied_by": null, "position": { "x": 276, - "y": 288, + "y": 0, "z": 0 }, "size": { @@ -131,7 +133,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -140,6 +143,213 @@ "occupied_by": null, "position": { "x": 414, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T5", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T6", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T7", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T8", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T9", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T10", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T11", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T12", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor" + ] + }, + { + "label": "T13", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, "y": 288, "z": 0 }, @@ -153,205 +363,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" - ] - }, - { - "label": "T5", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T6", - "visible": true, - "occupied_by": null, - "position": { - "x": 138, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T7", - "visible": true, - "occupied_by": null, - "position": { - "x": 276, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T8", - "visible": true, - "occupied_by": null, - "position": { - "x": 414, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T9", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T10", - "visible": true, - "occupied_by": null, - "position": { - "x": 138, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T11", - "visible": true, - "occupied_by": null, - "position": { - "x": 276, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T12", - "visible": true, - "occupied_by": null, - "position": { - "x": 414, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - }, - { - "label": "T13", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -360,7 +373,7 @@ "occupied_by": null, "position": { "x": 138, - "y": 0, + "y": 288, "z": 0 }, "size": { @@ -373,7 +386,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -382,7 +396,7 @@ "occupied_by": null, "position": { "x": 276, - "y": 0, + "y": 288, "z": 0 }, "size": { @@ -395,7 +409,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] }, { @@ -404,7 +419,7 @@ "occupied_by": null, "position": { "x": 414, - "y": 0, + "y": 288, "z": 0 }, "size": { @@ -417,7 +432,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "adaptor" ] } ] From b40c08714305927ce150fe325e47d73eac473ba5 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 3 Mar 2026 17:13:32 +0800 Subject: [PATCH 26/43] fix container volume --- unilabos/app/main.py | 3 ++- unilabos/resources/container.py | 11 +++-------- 2 files changed, 5 insertions(+), 9 deletions(-) diff --git a/unilabos/app/main.py b/unilabos/app/main.py index c652757c..93751262 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -1,6 +1,7 @@ import argparse import asyncio import os +import platform import shutil import signal import sys @@ -358,7 +359,7 @@ def main(): if BasicConfig.test_mode: print_status("启用测试模式:所有动作将模拟执行,不调用真实硬件", "warning") BasicConfig.communication_protocol = "websocket" - machine_name = os.popen("hostname").read().strip() + machine_name = platform.node() 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"] diff --git a/unilabos/resources/container.py b/unilabos/resources/container.py index fe19bacf..ed3871d3 100644 --- a/unilabos/resources/container.py +++ b/unilabos/resources/container.py @@ -1,10 +1,6 @@ -import json from typing import Dict, Any from pylabrobot.resources import Container -from unilabos_msgs.msg import Resource - -from unilabos.ros.msgs.message_converter import convert_from_ros_msg class RegularContainer(Container): @@ -16,12 +12,12 @@ class RegularContainer(Container): kwargs["size_y"] = 0 if "size_z" not in kwargs: kwargs["size_z"] = 0 + self.kwargs = kwargs - self.state = {} super().__init__(*args, category="container", **kwargs) def load_state(self, state: Dict[str, Any]): - self.state = state + super().load_state(state) def get_regular_container(name="container"): @@ -29,7 +25,6 @@ def get_regular_container(name="container"): r.category = "container" return r -# # class RegularContainer(object): # # 第一个参数必须是id传入 # # noinspection PyShadowingBuiltins @@ -89,4 +84,4 @@ def get_regular_container(name="container"): # return to_dict # # def __str__(self): -# return f"{self.id}" \ No newline at end of file +# return f"{self.id}" From 5c047beb83b0ab849deab73c424d2b61c2054dde Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 3 Mar 2026 18:03:53 +0800 Subject: [PATCH 27/43] support container as example add z index (cherry picked from commit 145fcaae65c6e729570c2a0507d1a0f6a43252ce) --- unilabos/resources/resource_tracker.py | 12 ++++++++++++ unilabos/test/experiments/prcxi_9320_slim.json | 1 + 2 files changed, 13 insertions(+) diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index a3e3d3f2..8ade8e1f 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -16,6 +16,7 @@ if TYPE_CHECKING: EXTRA_CLASS = "unilabos_resource_class" +FRONTEND_POSE_EXTRA = "unilabos_frontend_pose_extra" EXTRA_SAMPLE_UUID = "sample_uuid" EXTRA_UNILABOS_SAMPLE_UUID = "unilabos_sample_uuid" @@ -74,6 +75,14 @@ class ResourceDictPositionObject(BaseModel): z: float = Field(description="Z coordinate", default=0.0) +class ResourceDictPoseExtraObjectType(BaseModel): + z_index: int + + +class ResourceDictPoseExtraObject(BaseModel): + z_index: Optional[int] = Field(alias="zIndex", default=None) + + class ResourceDictPositionType(TypedDict): size: ResourceDictPositionSizeType scale: ResourceDictPositionScaleType @@ -100,6 +109,7 @@ class ResourceDictPosition(BaseModel): cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field( description="Cross section type", default="rectangle" ) + extra: Optional[ResourceDictPoseExtraObject] = Field(description="Extra data", default=None) class ResourceDictType(TypedDict): @@ -463,6 +473,7 @@ class ResourceTreeSet(object): "position3d": raw_pos, "rotation": d["rotation"], "cross_section_type": d.get("cross_section_type", "rectangle"), + "extra": extra.get(FRONTEND_POSE_EXTRA) } # 先构建当前节点的字典(不包含children) @@ -548,6 +559,7 @@ class ResourceTreeSet(object): name_to_uuid[node.res_content.name] = node.res_content.uuid all_states[node.res_content.name] = node.res_content.data name_to_extra[node.res_content.name] = node.res_content.extra + name_to_extra[node.res_content.name][FRONTEND_POSE_EXTRA] = node.res_content.pose.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) diff --git a/unilabos/test/experiments/prcxi_9320_slim.json b/unilabos/test/experiments/prcxi_9320_slim.json index e97aa3d9..2aaee6a7 100644 --- a/unilabos/test/experiments/prcxi_9320_slim.json +++ b/unilabos/test/experiments/prcxi_9320_slim.json @@ -83,6 +83,7 @@ "depth": 0 }, "content_type": [ + "container", "plate", "tip_rack", "plates", From 5f45a0b81b0266566d71d46f9b1eb9c93f9809d5 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Mon, 9 Mar 2026 19:48:57 +0800 Subject: [PATCH 28/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9transfer=20liquid?= =?UTF-8?q?=E6=96=B9=E6=B3=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 906 ++++-------------- .../devices/liquid_handling/prcxi/prcxi.py | 10 +- unilabos/registry/devices/liquid_handler.yaml | 519 +++++++--- unilabos/resources/resource_tracker.py | 23 +- unilabos/workflow/common.py | 16 +- 5 files changed, 614 insertions(+), 860 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 811563a1..47eda93d 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1,5 +1,6 @@ from __future__ import annotations +from math import e import time import traceback from collections import Counter @@ -208,7 +209,8 @@ class LiquidHandlerMiddleware(LiquidHandler): spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, ): - + if spread == "": + spread = "wide" if self._simulator: return await self._simulate_handler.aspirate( resources, @@ -221,23 +223,46 @@ class LiquidHandlerMiddleware(LiquidHandler): spread, **backend_kwargs, ) - await super().aspirate( - resources, - vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread, - **backend_kwargs, - ) + try: + await super().aspirate( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) + except ValueError as e: + if "Resource is too small to space channels" in str(e) and spread != "custom": + await super().aspirate( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread="custom", + **backend_kwargs, + ) + else: + raise res_samples = [] res_volumes = [] - for resource, volume, channel in zip(resources, vols, use_channels): - sample_uuid_value = resource.unilabos_extra.get(EXTRA_SAMPLE_UUID, None) - res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: sample_uuid_value}) + # 处理 use_channels 为 None 的情况(通常用于单通道操作) + if use_channels is None: + # 对于单通道操作,推断通道为 [0] + channels_to_use = [0] * len(resources) + else: + channels_to_use = use_channels + + for resource, volume, channel in zip(resources, vols, channels_to_use): + sample_uuid_value = getattr(resource, "unilabos_extra", {}).get(EXTRA_SAMPLE_UUID, None) + res_samples.append({"name": resource.name, "sample_uuid": sample_uuid_value}) res_volumes.append(volume) self.pending_liquids_dict[channel] = { EXTRA_SAMPLE_UUID: sample_uuid_value, @@ -257,6 +282,8 @@ class LiquidHandlerMiddleware(LiquidHandler): spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, ) -> SimpleReturn: + if spread == "": + spread = "wide" if self._simulator: return await self._simulate_handler.dispense( resources, @@ -269,16 +296,33 @@ class LiquidHandlerMiddleware(LiquidHandler): spread, **backend_kwargs, ) - await super().dispense( - resources, - vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - **backend_kwargs, - ) + try: + await super().dispense( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) + except ValueError as e: + if "Resource is too small to space channels" in str(e) and spread != "custom": + await super().dispense( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + "custom", + **backend_kwargs, + ) + else: + raise res_samples = [] res_volumes = [] for resource, volume, channel in zip(resources, vols, use_channels): @@ -668,6 +712,38 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): def post_init(self, ros_node: BaseROS2DeviceNode): self._ros_node = ros_node + async def _resolve_to_plr_resources( + self, + items: Sequence[Union[Container, TipRack, Dict[str, Any]]], + ) -> List[Union[Container, TipRack]]: + """将 dict 格式的资源解析为 PLR 实例。若全部已是 PLR,直接返回。""" + dict_items = [(i, x) for i, x in enumerate(items) if isinstance(x, dict)] + if not dict_items: + return list(items) + if not hasattr(self, "_ros_node") or self._ros_node is None: + raise ValueError( + "传入 dict 格式的 sources/targets/tip_racks 时,需通过 post_init 注入 _ros_node," + "才能从物料系统按 uuid 解析为 PLR 资源。" + ) + uuids = [x.get("uuid") or x.get("unilabos_uuid") for _, x in dict_items] + if any(u is None for u in uuids): + raise ValueError("dict 格式的资源必须包含 uuid 或 unilabos_uuid 字段") + resource_tree = await self._ros_node.get_resource(uuids) + plr_list = resource_tree.to_plr_resources(requested_uuids=uuids) + # 映射到设备本地的 resource_tracker 实例(与 deck 一致) + resolved = [] + for plr in plr_list: + local = self._ros_node.resource_tracker.figure_resource( + {"name": plr.name}, try_mode=False + ) + if hasattr(plr, "unilabos_extra") and hasattr(local, "unilabos_extra"): + local.unilabos_extra = getattr(plr, "unilabos_extra", {}).copy() + resolved.append(local) + result = list(items) + for (idx, _), plr in zip(dict_items, resolved): + result[idx] = plr + return result + @classmethod def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn: """Set the liquid in a well. @@ -848,7 +924,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for _ in range(len(sources)): tip = [] for __ in range(len(use_channels)): - tip.extend(next(self.current_tip)) + tip.extend(self._get_next_tip()) await self.pick_up_tips(tip) await self.aspirate( resources=[sources[_]], @@ -888,7 +964,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for i in range(0, len(sources), 8): tip = [] for _ in range(len(use_channels)): - tip.extend(next(self.current_tip)) + tip.extend(self._get_next_tip()) await self.pick_up_tips(tip) current_targets = waste_liquid[i : i + 8] current_reagent_sources = sources[i : i + 8] @@ -982,7 +1058,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for _ in range(len(targets)): tip = [] for x in range(len(use_channels)): - tip.extend(next(self.current_tip)) + tip.extend(self._get_next_tip()) await self.pick_up_tips(tip) await self.aspirate( @@ -1034,7 +1110,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for i in range(0, len(targets), 8): tip = [] for _ in range(len(use_channels)): - tip.extend(next(self.current_tip)) + tip.extend(self._get_next_tip()) await self.pick_up_tips(tip) current_targets = targets[i : i + 8] current_reagent_sources = reagent_sources[i : i + 8] @@ -1108,9 +1184,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): # --------------------------------------------------------------- async def transfer_liquid( self, - sources: Sequence[Container], - targets: Sequence[Container], - tip_racks: Sequence[TipRack], + sources: Sequence[Union[Container, Dict[str, Any]]], + targets: Sequence[Union[Container, Dict[str, Any]]], + tip_racks: Sequence[Union[TipRack, Dict[str, Any]]], *, use_channels: Optional[List[int]] = None, asp_vols: Union[List[float], float], @@ -1121,6 +1197,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): touch_tip: bool = False, liquid_height: Optional[List[Optional[float]]] = None, blow_out_air_volume: Optional[List[Optional[float]]] = None, + blow_out_air_volume_before: Optional[List[Optional[float]]] = None, spread: Literal["wide", "tight", "custom"] = "wide", is_96_well: bool = False, mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none", @@ -1143,12 +1220,13 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): asp_vols, dis_vols Single volume (µL) or list. Automatically expanded based on transfer mode. sources, targets - Containers (wells or plates). Length determines transfer mode: + Containers (wells or plates),可为 PLR 实例或 dict(含 uuid 字段,将自动解析)。 + Length determines transfer mode: - len(sources) == 1, len(targets) > 1: One-to-many mode - len(sources) == len(targets): One-to-one mode - len(sources) > 1, len(targets) == 1: Many-to-one mode tip_racks - One or more TipRacks providing fresh tips. + One or more TipRacks(可为 PLR 实例或含 uuid 的 dict)providing fresh tips. is_96_well Set *True* to use the 96‑channel head. mix_stage @@ -1159,12 +1237,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): Number of mix cycles. If *None* (default) no mixing occurs regardless of mix_stage. """ + # 若传入 dict(含 uuid),解析为 PLR Container/TipRack + sources = await self._resolve_to_plr_resources(sources) + targets = await self._resolve_to_plr_resources(targets) + tip_racks = list(await self._resolve_to_plr_resources(tip_racks)) num_sources = len(sources) num_targets = len(targets) len_asp_vols = len(asp_vols) len_dis_vols = len(dis_vols) # 确保 use_channels 有默认值 - if use_channels is None: + if use_channels is None or len(use_channels) == 0: # 默认使用设备所有通道(例如 8 通道移液站默认就是 0-7) use_channels = list(range(self.channel_num)) if self.channel_num == 8 else [0] elif len(use_channels) == 8: @@ -1214,13 +1296,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): # if len_dis_vols != num_sources and len_dis_vols != num_targets: # raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}") - if len(use_channels) == 1: + if len(use_channels) != 8: max_len = max(num_sources, num_targets) for i in range(max_len): # 辅助函数:安全地从列表中获取元素,如果列表为空则返回None def safe_get(lst, idx, default=None): - return [lst[idx]] if lst else default + try: + return [lst[idx]] if lst else default + except Exception as e: + return default # 动态构建参数字典,只传递实际提供的参数 kwargs = { @@ -1245,6 +1330,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): kwargs['liquid_height'] = safe_get(liquid_height, i) if blow_out_air_volume is not None: kwargs['blow_out_air_volume'] = safe_get(blow_out_air_volume, i) + if blow_out_air_volume_before is not None: + kwargs['blow_out_air_volume_before'] = safe_get(blow_out_air_volume_before, i) if spread is not None: kwargs['spread'] = spread if mix_stage is not None: @@ -1262,82 +1349,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): await self._transfer_base_method(**kwargs) - - - # if num_sources == 1 and num_targets > 1: - # # 模式1: 一对多 (1 source -> N targets) - # await self._transfer_one_to_many( - # sources, - # targets, - # tip_racks, - # use_channels, - # asp_vols, - # dis_vols, - # asp_flow_rates, - # dis_flow_rates, - # offsets, - # touch_tip, - # liquid_height, - # blow_out_air_volume, - # spread, - # mix_stage, - # mix_times, - # mix_vol, - # mix_rate, - # mix_liquid_height, - # delays, - # ) - # elif num_sources > 1 and num_targets == 1: - # # 模式2: 多对一 (N sources -> 1 target) - # await self._transfer_many_to_one( - # sources, - # targets[0], - # tip_racks, - # use_channels, - # asp_vols, - # dis_vols, - # asp_flow_rates, - # dis_flow_rates, - # offsets, - # touch_tip, - # liquid_height, - # blow_out_air_volume, - # spread, - # mix_stage, - # mix_times, - # mix_vol, - # mix_rate, - # mix_liquid_height, - # delays, - # ) - # elif num_sources == num_targets: - # # 模式3: 一对一 (N sources -> N targets) - # await self._transfer_one_to_one( - # sources, - # targets, - # tip_racks, - # use_channels, - # asp_vols, - # dis_vols, - # asp_flow_rates, - # dis_flow_rates, - # offsets, - # touch_tip, - # liquid_height, - # blow_out_air_volume, - # spread, - # mix_stage, - # mix_times, - # mix_vol, - # mix_rate, - # mix_liquid_height, - # delays, - # ) - # else: - # raise ValueError( - # f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. " - # "Supported modes: 1->N, N->1, or N->N." - # ) return TransferLiquidReturn( sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(), # type: ignore @@ -1361,6 +1372,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): touch_tip = kwargs.get('touch_tip', False) liquid_height = kwargs.get('liquid_height') blow_out_air_volume = kwargs.get('blow_out_air_volume') + blow_out_air_volume_before = kwargs.get('blow_out_air_volume_before') spread = kwargs.get('spread', 'wide') mix_stage = kwargs.get('mix_stage') mix_times = kwargs.get('mix_times') @@ -1370,9 +1382,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): delays = kwargs.get('delays') tip = [] - tip.extend(next(self.current_tip)) + tip.extend(self._get_next_tip()) await self.pick_up_tips(tip) + if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: await self.mix( targets=[targets[0]], @@ -1384,6 +1397,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): use_channels=use_channels, ) + if blow_out_air_volume_before is not None and len(blow_out_air_volume_before) > 0: + await self.aspirate( + resources=[sources[0]], + vols=[blow_out_air_volume_before[0]], + use_channels=use_channels, + flow_rates=None, + offsets=[Coordinate(x=0, y=0, z=sources[0].get_size_z())], + liquid_height=None, + blow_out_air_volume=None, + ) + await self.aspirate( resources=[sources[0]], vols=[asp_vols[0]], @@ -1426,580 +1450,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): await self.custom_delay(seconds=delays[0]) await self.touch_tip(targets[0]) await self.discard_tips(use_channels=use_channels) - - async def _transfer_one_to_one( - self, - sources: Sequence[Container], - targets: Sequence[Container], - tip_racks: Sequence[TipRack], - use_channels: List[int], - asp_vols: List[float], - dis_vols: List[float], - asp_flow_rates: Optional[List[Optional[float]]], - dis_flow_rates: Optional[List[Optional[float]]], - offsets: Optional[List[Coordinate]], - touch_tip: bool, - liquid_height: Optional[List[Optional[float]]], - blow_out_air_volume: Optional[List[Optional[float]]], - spread: Literal["wide", "tight", "custom"], - mix_stage: Optional[Literal["none", "before", "after", "both"]], - mix_times: Optional[int], - mix_vol: Optional[int], - mix_rate: Optional[int], - mix_liquid_height: Optional[float], - delays: Optional[List[int]], - ): - """一对一传输模式:N sources -> N targets""" - # 验证参数长度 - if len(asp_vols) != len(targets): - raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.") - if len(dis_vols) != len(targets): - raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.") - if len(sources) != len(targets): - raise ValueError(f"Length of `sources` {len(sources)} must match `targets` {len(targets)}.") - - if len(use_channels) == 1: - for _ in range(len(targets)): - tip = [] - for ___ in range(len(use_channels)): - tip.extend(next(self.current_tip)) - await self.pick_up_tips(tip) - - if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=[targets[_]], - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - await self.aspirate( - resources=[sources[_]], - vols=[asp_vols[_]], - use_channels=use_channels, - flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None, - offsets=[offsets[_]] if offsets and len(offsets) > _ else None, - liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None, - blow_out_air_volume=( - [blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None - ), - spread=spread, - ) - if delays is not None: - await self.custom_delay(seconds=delays[0]) - await self.dispense( - resources=[targets[_]], - vols=[dis_vols[_]], - use_channels=use_channels, - flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None, - offsets=[offsets[_]] if offsets and len(offsets) > _ else None, - blow_out_air_volume=( - [blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None - ), - liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None, - spread=spread, - ) - if delays is not None and len(delays) > 1: - await self.custom_delay(seconds=delays[1]) - if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=[targets[_]], - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - if delays is not None and len(delays) > 1: - await self.custom_delay(seconds=delays[1]) - await self.touch_tip(targets[_]) - await self.discard_tips(use_channels=use_channels) - - elif len(use_channels) == 8: - if len(targets) % 8 != 0: - raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.") - - for i in range(0, len(targets), 8): - tip = [] - for _ in range(len(use_channels)): - tip.extend(next(self.current_tip)) - await self.pick_up_tips(tip) - current_targets = targets[i : i + 8] - current_reagent_sources = sources[i : i + 8] - current_asp_vols = asp_vols[i : i + 8] - current_dis_vols = dis_vols[i : i + 8] - current_asp_flow_rates = asp_flow_rates[i : i + 8] if asp_flow_rates else None - current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8 - current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8 - current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8 - current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8 - current_asp_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8 - current_dis_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8 - current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None - - if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=current_targets, - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - await self.aspirate( - resources=current_reagent_sources, - vols=current_asp_vols, - use_channels=use_channels, - flow_rates=current_asp_flow_rates, - offsets=current_asp_offset, - blow_out_air_volume=current_asp_blow_out_air_volume, - liquid_height=current_asp_liquid_height, - spread=spread, - ) - - if delays is not None: - await self.custom_delay(seconds=delays[0]) - await self.dispense( - resources=current_targets, - vols=current_dis_vols, - use_channels=use_channels, - flow_rates=current_dis_flow_rates, - offsets=current_dis_offset, - blow_out_air_volume=current_dis_blow_out_air_volume, - liquid_height=current_dis_liquid_height, - spread=spread, - ) - if delays is not None and len(delays) > 1: - await self.custom_delay(seconds=delays[1]) - - if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=current_targets, - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - if delays is not None and len(delays) > 1: - await self.custom_delay(seconds=delays[1]) - await self.touch_tip(current_targets) - await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7]) - - async def _transfer_one_to_many( - self, - source: Container, - targets: Sequence[Container], - tip_racks: Sequence[TipRack], - use_channels: List[int], - asp_vols: List[float], - dis_vols: List[float], - asp_flow_rates: Optional[List[Optional[float]]], - dis_flow_rates: Optional[List[Optional[float]]], - offsets: Optional[List[Coordinate]], - touch_tip: bool, - liquid_height: Optional[List[Optional[float]]], - blow_out_air_volume: Optional[List[Optional[float]]], - spread: Literal["wide", "tight", "custom"], - mix_stage: Optional[Literal["none", "before", "after", "both"]], - mix_times: Optional[int], - mix_vol: Optional[int], - mix_rate: Optional[int], - mix_liquid_height: Optional[float], - delays: Optional[List[int]], - ): - """一对多传输模式:1 source -> N targets""" - # 验证和扩展体积参数 - if len(asp_vols) == 1: - # 如果只提供一个吸液体积,计算总吸液体积(所有分液体积之和) - total_asp_vol = sum(dis_vols) - asp_vol = asp_vols[0] if asp_vols[0] >= total_asp_vol else total_asp_vol - else: - raise ValueError("For one-to-many mode, `asp_vols` should be a single value or list with one element.") - - if len(dis_vols) != len(targets): - raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.") - - if len(use_channels) == 1: - # 单通道模式:一次吸液,多次分液 - tip = [] - for _ in range(len(use_channels)): - tip.extend(next(self.current_tip)) - await self.pick_up_tips(tip) - - if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: - for idx, target in enumerate(targets): - await self.mix( - targets=[target], - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets[idx : idx + 1] if offsets and len(offsets) > idx else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - # 从源容器吸液(总体积) - await self.aspirate( - resources=[source], - vols=[asp_vol], - use_channels=use_channels, - flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None, - offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, - liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, - blow_out_air_volume=( - [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None - ), - spread=spread, - ) - - if delays is not None: - await self.custom_delay(seconds=delays[0]) - - # 分多次分液到不同的目标容器 - for idx, target in enumerate(targets): - await self.dispense( - resources=[target], - vols=[dis_vols[idx]], - use_channels=use_channels, - flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None, - offsets=[offsets[idx]] if offsets and len(offsets) > idx else None, - blow_out_air_volume=( - [blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None - ), - liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None, - spread=spread, - ) - if delays is not None and len(delays) > 1: - await self.custom_delay(seconds=delays[1]) - if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=[target], - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets[idx : idx + 1] if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - if touch_tip: - await self.touch_tip([target]) - - await self.discard_tips(use_channels=use_channels) - - elif len(use_channels) == 8: - # 8通道模式:需要确保目标数量是8的倍数 - if len(targets) % 8 != 0: - raise ValueError(f"For 8-channel mode, number of targets {len(targets)} must be a multiple of 8.") - - # 每次处理8个目标 - for i in range(0, len(targets), 8): - tip = [] - for _ in range(len(use_channels)): - tip.extend(next(self.current_tip)) - await self.pick_up_tips(tip) - - current_targets = targets[i : i + 8] - current_dis_vols = dis_vols[i : i + 8] - - # 8个通道都从同一个源容器吸液,每个通道的吸液体积等于对应的分液体积 - current_asp_flow_rates = ( - asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None - ) - current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8 - current_asp_liquid_height = ( - liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8 - ) - current_asp_blow_out_air_volume = ( - blow_out_air_volume[0:1] * 8 - if blow_out_air_volume and len(blow_out_air_volume) > 0 - else [None] * 8 - ) - - if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=current_targets, - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets[i : i + 8] if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - # 从源容器吸液(8个通道都从同一个源,但每个通道的吸液体积不同) - await self.aspirate( - resources=[source] * 8, # 8个通道都从同一个源 - vols=current_dis_vols, # 每个通道的吸液体积等于对应的分液体积 - use_channels=use_channels, - flow_rates=current_asp_flow_rates, - offsets=current_asp_offset, - liquid_height=current_asp_liquid_height, - blow_out_air_volume=current_asp_blow_out_air_volume, - spread=spread, - ) - - if delays is not None: - await self.custom_delay(seconds=delays[0]) - - # 分液到8个目标 - current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None - current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8 - current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8 - current_dis_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8 - - await self.dispense( - resources=current_targets, - vols=current_dis_vols, - use_channels=use_channels, - flow_rates=current_dis_flow_rates, - offsets=current_dis_offset, - blow_out_air_volume=current_dis_blow_out_air_volume, - liquid_height=current_dis_liquid_height, - spread=spread, - ) - - if delays is not None and len(delays) > 1: - await self.custom_delay(seconds=delays[1]) - - if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=current_targets, - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - if touch_tip: - await self.touch_tip(current_targets) - - await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7]) - - async def _transfer_many_to_one( - self, - sources: Sequence[Container], - target: Container, - tip_racks: Sequence[TipRack], - use_channels: List[int], - asp_vols: List[float], - dis_vols: List[float], - asp_flow_rates: Optional[List[Optional[float]]], - dis_flow_rates: Optional[List[Optional[float]]], - offsets: Optional[List[Coordinate]], - touch_tip: bool, - liquid_height: Optional[List[Optional[float]]], - blow_out_air_volume: Optional[List[Optional[float]]], - spread: Literal["wide", "tight", "custom"], - mix_stage: Optional[Literal["none", "before", "after", "both"]], - mix_times: Optional[int], - mix_vol: Optional[int], - mix_rate: Optional[int], - mix_liquid_height: Optional[float], - delays: Optional[List[int]], - ): - """多对一传输模式:N sources -> 1 target(汇总/混合)""" - # 验证和扩展体积参数 - if len(asp_vols) != len(sources): - raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.") - - # 支持两种模式: - # 1. dis_vols 为单个值:所有源汇总,使用总吸液体积或指定分液体积 - # 2. dis_vols 长度等于 asp_vols:每个源按不同比例分液(按比例混合) - if len(dis_vols) == 1: - # 模式1:使用单个分液体积 - total_dis_vol = sum(asp_vols) - dis_vol = dis_vols[0] if dis_vols[0] >= total_dis_vol else total_dis_vol - use_proportional_mixing = False - elif len(dis_vols) == len(asp_vols): - # 模式2:按不同比例混合 - use_proportional_mixing = True - else: - raise ValueError( - f"For many-to-one mode, `dis_vols` should be a single value or list with length {len(asp_vols)} " - f"(matching `asp_vols`). Got length {len(dis_vols)}." - ) - - if len(use_channels) == 1: - # 单通道模式:多次吸液,一次分液 - # 先混合前(如果需要) - if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=[target], - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets[0:1] if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - # 从每个源容器吸液并分液到目标容器 - for idx, source in enumerate(sources): - tip = [] - for _ in range(len(use_channels)): - tip.extend(next(self.current_tip)) - await self.pick_up_tips(tip) - - await self.aspirate( - resources=[source], - vols=[asp_vols[idx]], - use_channels=use_channels, - flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None, - offsets=[offsets[idx]] if offsets and len(offsets) > idx else None, - liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None, - blow_out_air_volume=( - [blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None - ), - spread=spread, - ) - - if delays is not None: - await self.custom_delay(seconds=delays[0]) - - # 分液到目标容器 - if use_proportional_mixing: - # 按不同比例混合:使用对应的 dis_vols - dis_vol = dis_vols[idx] - dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None - dis_offset = offsets[idx] if offsets and len(offsets) > idx else None - dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None - dis_blow_out = ( - blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None - ) - else: - # 标准模式:分液体积等于吸液体积 - dis_vol = asp_vols[idx] - dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None - dis_offset = offsets[0] if offsets and len(offsets) > 0 else None - dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None - dis_blow_out = ( - blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None - ) - - await self.dispense( - resources=[target], - vols=[dis_vol], - use_channels=use_channels, - flow_rates=[dis_flow_rate] if dis_flow_rate is not None else None, - offsets=[dis_offset] if dis_offset is not None else None, - blow_out_air_volume=[dis_blow_out] if dis_blow_out is not None else None, - liquid_height=[dis_liquid_height] if dis_liquid_height is not None else None, - spread=spread, - ) - - if delays is not None and len(delays) > 1: - await self.custom_delay(seconds=delays[1]) - - await self.discard_tips(use_channels=use_channels) - - # 最后在目标容器中混合(如果需要) - if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=[target], - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets[0:1] if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - if touch_tip: - await self.touch_tip([target]) - - elif len(use_channels) == 8: - # 8通道模式:需要确保源数量是8的倍数 - if len(sources) % 8 != 0: - raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.") - - # 每次处理8个源 - if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=[target], - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets[0:1] if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - for i in range(0, len(sources), 8): - tip = [] - for _ in range(len(use_channels)): - tip.extend(next(self.current_tip)) - await self.pick_up_tips(tip) - - current_sources = sources[i : i + 8] - current_asp_vols = asp_vols[i : i + 8] - current_asp_flow_rates = asp_flow_rates[i : i + 8] if asp_flow_rates else None - current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8 - current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8 - current_asp_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8 - - # 从8个源容器吸液 - await self.aspirate( - resources=current_sources, - vols=current_asp_vols, - use_channels=use_channels, - flow_rates=current_asp_flow_rates, - offsets=current_asp_offset, - blow_out_air_volume=current_asp_blow_out_air_volume, - liquid_height=current_asp_liquid_height, - spread=spread, - ) - - if delays is not None: - await self.custom_delay(seconds=delays[0]) - - # 分液到目标容器(每个通道分液到同一个目标) - if use_proportional_mixing: - # 按比例混合:使用对应的 dis_vols - current_dis_vols = dis_vols[i : i + 8] - current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None - current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8 - current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8 - current_dis_blow_out_air_volume = ( - blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8 - ) - else: - # 标准模式:每个通道分液体积等于其吸液体积 - current_dis_vols = current_asp_vols - current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None - current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8 - current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8 - current_dis_blow_out_air_volume = ( - blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8 - ) - - await self.dispense( - resources=[target] * 8, # 8个通道都分到同一个目标 - vols=current_dis_vols, - use_channels=use_channels, - flow_rates=current_dis_flow_rates, - offsets=current_dis_offset, - blow_out_air_volume=current_dis_blow_out_air_volume, - liquid_height=current_dis_liquid_height, - spread=spread, - ) - - if delays is not None and len(delays) > 1: - await self.custom_delay(seconds=delays[1]) - - await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7]) - - # 最后在目标容器中混合(如果需要) - if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0: - await self.mix( - targets=[target], - mix_time=mix_times, - mix_vol=mix_vol, - offsets=offsets[0:1] if offsets else None, - height_to_bottom=mix_liquid_height if mix_liquid_height else None, - mix_rate=mix_rate if mix_rate else None, - ) - - if touch_tip: - await self.touch_tip([target]) # except Exception as e: # traceback.print_exc() @@ -2019,7 +1469,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): print(f"Waiting time: {msg}") print(f"Current time: {time.strftime('%H:%M:%S')}") print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}") - await self._ros_node.sleep(seconds) + # Use ROS node sleep if available, otherwise use asyncio.sleep + if hasattr(self, '_ros_node') and self._ros_node is not None: + await self._ros_node.sleep(seconds) + else: + import asyncio + await asyncio.sleep(seconds) if msg: print(f"Done: {msg}") print(f"Current time: {time.strftime('%H:%M:%S')}") @@ -2057,34 +1512,73 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): height_to_bottom: Optional[float] = None, offsets: Optional[Coordinate] = None, mix_rate: Optional[float] = None, + use_channels: Optional[List[int]] = None, none_keys: List[str] = [], ): - if mix_time is None: # No mixing required + if mix_time is None or mix_time <= 0: # No mixing required return """Mix the liquid in the target wells.""" + if mix_vol is None: + raise ValueError("`mix_vol` must be provided when `mix_time` is set.") + + targets_list: List[Container] = list(targets) + if len(targets_list) == 0: + return + + def _expand(value, count: int): + if value is None: + return [None] * count + if isinstance(value, (list, tuple)): + if len(value) != count: + raise ValueError("Length of per-target parameters must match targets.") + return list(value) + return [value] * count + + offsets_list = _expand(offsets, len(targets_list)) + heights_list = _expand(height_to_bottom, len(targets_list)) + rates_list = _expand(mix_rate, len(targets_list)) + for _ in range(mix_time): - await self.aspirate( - resources=[targets], - vols=[mix_vol], - flow_rates=[mix_rate] if mix_rate else None, - offsets=[offsets] if offsets else None, - liquid_height=[height_to_bottom] if height_to_bottom else None, - ) - await self.custom_delay(seconds=1) - await self.dispense( - resources=[targets], - vols=[mix_vol], - flow_rates=[mix_rate] if mix_rate else None, - offsets=[offsets] if offsets else None, - liquid_height=[height_to_bottom] if height_to_bottom else None, - ) + for idx, target in enumerate(targets_list): + offset_arg = ( + [offsets_list[idx]] if offsets_list[idx] is not None else None + ) + height_arg = ( + [heights_list[idx]] if heights_list[idx] is not None else None + ) + rate_arg = [rates_list[idx]] if rates_list[idx] is not None else None + + await self.aspirate( + resources=[target], + vols=[mix_vol], + use_channels=use_channels, + flow_rates=rate_arg, + offsets=offset_arg, + liquid_height=height_arg, + ) + await self.custom_delay(seconds=1) + await self.dispense( + resources=[target], + vols=[mix_vol], + use_channels=use_channels, + flow_rates=rate_arg, + offsets=offset_arg, + liquid_height=height_arg, + ) def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]: """Yield tips from a list of TipRacks one-by-one until depleted.""" for rack in tip_racks: for tip in rack: yield tip - raise RuntimeError("Out of tips!") + # raise RuntimeError("Out of tips!") + + def _get_next_tip(self): + """从 current_tip 迭代器获取下一个 tip,耗尽时抛出明确错误而非 StopIteration""" + try: + return next(self.current_tip) + except StopIteration as e: + raise RuntimeError("Tip rack exhausted: no more tips available for transfer") from e def set_tiprack(self, tip_racks: Sequence[TipRack]): """Set the tip racks for the liquid handler.""" diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index bad3575b..397aca49 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -103,7 +103,7 @@ class PRCXI9300Deck(Deck): def __init__(self, name: str, size_x: float, size_y: float, size_z: float, sites: Optional[List[Dict[str, Any]]] = None, **kwargs): - super().__init__(size_x, size_y, size_z, name) + super().__init__(name, size_x, size_y, size_z) if sites is not None: self.sites: List[Dict[str, Any]] = [dict(s) for s in sites] else: @@ -120,6 +120,7 @@ class PRCXI9300Deck(Deck): self._ordering = collections.OrderedDict( (site["label"], None) for site in self.sites ) + self.root = self.get_root() def _get_site_location(self, idx: int) -> Coordinate: pos = self.sites[idx]["position"] @@ -162,7 +163,10 @@ class PRCXI9300Deck(Deck): raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'") if not reassign and self._get_site_resource(idx) is not None: - raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied") + existing = self.root.get_resource(resource.name) + if existing is not resource and existing.parent is not None: + existing.parent.unassign_child_resource(existing) + loc = self._get_site_location(idx) super().assign_child_resource(resource, location=loc, reassign=reassign) @@ -794,6 +798,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): touch_tip: bool = False, liquid_height: Optional[List[Optional[float]]] = None, blow_out_air_volume: Optional[List[Optional[float]]] = None, + blow_out_air_volume_before: Optional[List[Optional[float]]] = None, spread: Literal["wide", "tight", "custom"] = "wide", is_96_well: bool = False, mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none", @@ -819,6 +824,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): touch_tip=touch_tip, liquid_height=liquid_height, blow_out_air_volume=blow_out_air_volume, + blow_out_air_volume_before=blow_out_air_volume_before, spread=spread, is_96_well=is_96_well, mix_stage=mix_stage, diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index b04d6317..0dbab95a 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -4976,13 +4976,13 @@ liquid_handler.biomek: handler_key: tip_rack label: tip_rack output: - - data_key: liquid + - data_key: sources data_source: handle data_type: resource handler_key: sources_out label: sources - - data_key: liquid - data_source: executor + - data_key: targets + data_source: handle data_type: resource handler_key: targets_out label: targets @@ -7656,6 +7656,43 @@ liquid_handler.prcxi: title: iter_tips参数 type: object type: UniLabJsonCommand + auto-magnetic_action: + feedback: {} + goal: {} + goal_default: + height: null + is_wait: null + module_no: null + time: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + height: + type: integer + is_wait: + type: boolean + module_no: + type: integer + time: + type: integer + required: + - time + - module_no + - height + - is_wait + type: object + result: {} + required: + - goal + title: magnetic_action参数 + type: object + type: UniLabJsonCommandAsync auto-move_to: feedback: {} goal: {} @@ -7689,6 +7726,31 @@ liquid_handler.prcxi: title: move_to参数 type: object type: UniLabJsonCommandAsync + auto-plr_pos_to_prcxi: + feedback: {} + goal: {} + goal_default: + resource: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource: + type: object + required: + - resource + type: object + result: {} + required: + - goal + title: plr_pos_to_prcxi参数 + type: object + type: UniLabJsonCommand auto-post_init: feedback: {} goal: {} @@ -7809,6 +7871,47 @@ liquid_handler.prcxi: title: shaker_action参数 type: object type: UniLabJsonCommandAsync + auto-shaking_incubation_action: + feedback: {} + goal: {} + goal_default: + amplitude: null + is_wait: null + module_no: null + temperature: null + time: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + amplitude: + type: integer + is_wait: + type: boolean + module_no: + type: integer + temperature: + type: integer + time: + type: integer + required: + - time + - module_no + - amplitude + - is_wait + - temperature + type: object + result: {} + required: + - goal + title: shaking_incubation_action参数 + type: object + type: UniLabJsonCommandAsync auto-touch_tip: feedback: {} goal: {} @@ -10034,116 +10137,28 @@ liquid_handler.prcxi: type: Transfer transfer_liquid: feedback: {} - goal: - asp_flow_rates: asp_flow_rates - asp_vols: asp_vols - blow_out_air_volume: blow_out_air_volume - delays: delays - dis_flow_rates: dis_flow_rates - dis_vols: dis_vols - is_96_well: is_96_well - liquid_height: liquid_height - mix_liquid_height: mix_liquid_height - mix_rate: mix_rate - mix_stage: mix_stage - mix_times: mix_times - mix_vol: mix_vol - none_keys: none_keys - offsets: offsets - sources: sources - spread: spread - targets: targets - tip_racks: tip_racks - touch_tip: touch_tip - use_channels: use_channels + goal: {} goal_default: - asp_flow_rates: - - 0.0 - asp_vols: - - 0.0 - blow_out_air_volume: - - 0.0 - delays: - - 0 - dis_flow_rates: - - 0.0 - dis_vols: - - 0.0 + asp_flow_rates: null + asp_vols: null + blow_out_air_volume: null + blow_out_air_volume_before: null + delays: null + dis_flow_rates: null + dis_vols: null is_96_well: false - liquid_height: - - 0.0 - mix_liquid_height: 0.0 - mix_rate: 0 - mix_stage: '' - mix_times: 0 - mix_vol: 0 - none_keys: - - '' - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - sources: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - spread: '' - targets: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - tip_racks: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' + liquid_height: null + mix_liquid_height: null + mix_rate: null + mix_stage: none + mix_times: null + mix_vol: null + none_keys: [] + offsets: null + sources: null + spread: wide + targets: null + tip_racks: null touch_tip: false use_channels: - 0 @@ -10159,7 +10174,7 @@ liquid_handler.prcxi: data_type: resource handler_key: targets_identifier label: 转移目标 - - data_key: tip_rack + - data_key: tip_racks data_source: handle data_type: resource handler_key: tip_rack_identifier @@ -10183,11 +10198,7 @@ liquid_handler.prcxi: schema: description: '' properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerTransfer_Feedback - type: object + feedback: {} goal: properties: asp_flow_rates: @@ -10202,6 +10213,10 @@ liquid_handler.prcxi: items: type: number type: array + blow_out_air_volume_before: + items: + type: number + type: array delays: items: maximum: 2147483647 @@ -10217,6 +10232,7 @@ liquid_handler.prcxi: type: number type: array is_96_well: + default: false type: boolean liquid_height: items: @@ -10229,6 +10245,7 @@ liquid_handler.prcxi: minimum: -2147483648 type: integer mix_stage: + default: none type: string mix_times: maximum: 2147483647 @@ -10239,6 +10256,7 @@ liquid_handler.prcxi: minimum: -2147483648 type: integer none_keys: + default: [] items: type: string type: array @@ -10334,6 +10352,7 @@ liquid_handler.prcxi: type: object type: array spread: + default: wide type: string targets: items: @@ -10486,6 +10505,7 @@ liquid_handler.prcxi: type: object type: array touch_tip: + default: false type: boolean use_channels: items: @@ -10494,45 +10514,221 @@ liquid_handler.prcxi: type: integer type: array required: - - asp_vols - - dis_vols - sources - targets - tip_racks - - use_channels - - asp_flow_rates - - dis_flow_rates - - offsets - - touch_tip - - liquid_height - - blow_out_air_volume - - spread - - is_96_well - - mix_stage - - mix_times - - mix_vol - - mix_rate - - mix_liquid_height - - delays - - none_keys - title: LiquidHandlerTransfer_Goal + - asp_vols + - dis_vols type: object result: + $defs: + ResourceDict: + properties: + class: + description: Resource class name + title: Class + type: string + config: + additionalProperties: true + description: Resource configuration + title: Config + type: object + data: + additionalProperties: true + description: 'Resource data, eg: container liquid data' + title: Data + type: object + description: + default: '' + description: Resource description + title: Description + type: string + extra: + additionalProperties: true + description: 'Extra data, eg: slot index' + title: Extra + type: object + icon: + default: '' + description: Resource icon + title: Icon + type: string + id: + description: Resource ID + title: Id + type: string + model: + additionalProperties: true + description: Resource model + title: Model + type: object + name: + description: Resource name + title: Name + type: string + parent: + anyOf: + - $ref: '#/$defs/ResourceDict' + - type: 'null' + default: null + description: Parent resource object + parent_uuid: + anyOf: + - type: string + - type: 'null' + default: null + description: Parent resource uuid + title: Parent Uuid + pose: + $ref: '#/$defs/ResourceDictPosition' + description: Resource position + schema: + additionalProperties: true + description: Resource schema + title: Schema + type: object + type: + anyOf: + - const: device + type: string + - type: string + description: Resource type + title: Type + uuid: + description: Resource UUID + title: Uuid + type: string + required: + - id + - uuid + - name + - type + - class + - config + - data + - extra + title: ResourceDict + type: object + ResourceDictPosition: + properties: + cross_section_type: + default: rectangle + description: Cross section type + enum: + - rectangle + - circle + - rounded_rectangle + title: Cross Section Type + type: string + layout: + default: x-y + description: Resource layout + enum: + - 2d + - x-y + - z-y + - x-z + title: Layout + type: string + position: + $ref: '#/$defs/ResourceDictPositionObject' + description: Resource position + position3d: + $ref: '#/$defs/ResourceDictPositionObject' + description: Resource position in 3D space + rotation: + $ref: '#/$defs/ResourceDictPositionObject' + description: Resource rotation + scale: + $ref: '#/$defs/ResourceDictPositionScale' + description: Resource scale + size: + $ref: '#/$defs/ResourceDictPositionSize' + description: Resource size + title: ResourceDictPosition + type: object + ResourceDictPositionObject: + properties: + x: + default: 0.0 + description: X coordinate + title: X + type: number + y: + default: 0.0 + description: Y coordinate + title: Y + type: number + z: + default: 0.0 + description: Z coordinate + title: Z + type: number + title: ResourceDictPositionObject + type: object + ResourceDictPositionScale: + properties: + x: + default: 0.0 + description: x scale + title: X + type: number + y: + default: 0.0 + description: y scale + title: Y + type: number + z: + default: 0.0 + description: z scale + title: Z + type: number + title: ResourceDictPositionScale + type: object + ResourceDictPositionSize: + properties: + depth: + default: 0.0 + description: Depth + title: Depth + type: number + height: + default: 0.0 + description: Height + title: Height + type: number + width: + default: 0.0 + description: Width + title: Width + type: number + title: ResourceDictPositionSize + type: object properties: - return_info: - type: string - success: - type: boolean + sources: + items: + items: + $ref: '#/$defs/ResourceDict' + type: array + title: Sources + type: array + targets: + items: + items: + $ref: '#/$defs/ResourceDict' + type: array + title: Targets + type: array required: - - return_info - - success - title: LiquidHandlerTransfer_Result + - sources + - targets + title: TransferLiquidReturn type: object required: - goal - title: LiquidHandlerTransfer + title: transfer_liquid参数 type: object - type: LiquidHandlerTransfer + type: UniLabJsonCommandAsync module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler status_types: reset_ok: bool @@ -10555,6 +10751,12 @@ liquid_handler.prcxi: type: string deck: type: object + deck_y: + default: 400 + type: string + deck_z: + default: 300 + type: string host: type: string is_9320: @@ -10565,17 +10767,44 @@ liquid_handler.prcxi: type: string port: type: integer + rail_interval: + default: 0 + type: string + rail_nums: + default: 4 + type: string + rail_width: + default: 27.5 + type: string setup: default: true type: string simulator: default: false type: string + start_rail: + default: 2 + type: string step_mode: default: false type: string timeout: type: number + x_increase: + default: -0.003636 + type: string + x_offset: + default: -0.8 + type: string + xy_coupling: + default: -0.0045 + type: string + y_increase: + default: -0.003636 + type: string + y_offset: + default: -37.98 + type: string required: - deck - host diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 0909e73e..6555d041 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -534,10 +534,17 @@ 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, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None + ) -> List["PLRResource"]: """ 将 ResourceTreeSet 转换为 PLR 资源列表 + Args: + skip_devices: 是否跳过 device 类型节点 + requested_uuids: 若指定,则按此 UUID 顺序返回对应资源(用于批量查询时一一对应), + 否则返回各树的根节点列表 + Returns: List[PLRResource]: PLR 资源实例列表 """ @@ -691,12 +698,24 @@ class ResourceTreeSet(object): plr_resources.append(plr_resource) except Exception as e: - logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}") + logger.error(f"转换 PLR 资源失败: {e}") import traceback logger.error(f"堆栈: {traceback.format_exc()}") raise + if requested_uuids: + # 按请求的 UUID 顺序返回对应资源(从整棵树中按 uuid 提取) + result = [] + for uid in requested_uuids: + if uid in tracker.uuid_to_resources: + result.append(tracker.uuid_to_resources[uid]) + else: + raise ValueError( + f"请求的 UUID {uid} 在资源树中未找到。" + f"可用 UUID 数量: {len(tracker.uuid_to_resources)}" + ) + return result return plr_resources @classmethod diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index bf285434..6edb6e8d 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -386,12 +386,14 @@ def build_protocol_graph( slots_info = {} # slot -> {labware, res_id} for labware_id, item in labware_info.items(): slot = str(item.get("slot", "")) + labware = item.get("labware", "") if slot and slot not in slots_info: - res_id = f"plate_slot_{slot}" + res_id = f"{labware}_slot_{slot}" slots_info[slot] = { - "labware": item.get("labware", ""), + "labware": labware, "res_id": res_id, "labware_id": labware_id, + "object": item.get("object", ""), } # 创建 Group 节点,包含所有 create_resource 节点 @@ -414,8 +416,10 @@ def build_protocol_graph( node_id = str(uuid.uuid4()) res_id = info["res_id"] res_type_name = info["labware"].lower().replace(".", "point") + object_type = info.get("object", "") res_type_name = f"lab_{res_type_name}" - + if object_type == "trash": + res_type_name = "PRCXI_trash" G.add_node( node_id, template_name="create_resource", @@ -438,7 +442,7 @@ def build_protocol_graph( }, ) slot_to_create_resource[slot] = node_id - if "tip" in res_type_name and "rack" in res_type_name: + if object_type == "tiprack": resource_last_writer[info["labware_id"]] = f"{node_id}:labware" # create_resource 之间不需要 ready 连接 @@ -475,6 +479,8 @@ def build_protocol_graph( # res_id 不能有空格 res_id = str(labware_id).replace(" ", "_") well_count = len(wells) + object_type = item.get("object", "") + liquid_volume = DEFAULT_LIQUID_VOLUME if object_type == "source" else 0 node_id = str(uuid.uuid4()) set_liquid_index += 1 @@ -495,7 +501,7 @@ def build_protocol_graph( "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, + "volumes": [liquid_volume] * well_count, }, ) From d85ff540c4c4234510e31886fbe0d29bd1802df9 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Thu, 12 Mar 2026 13:58:06 +0800 Subject: [PATCH 29/43] =?UTF-8?q?=E5=AE=8C=E6=88=90mix=EF=BC=8Cliquid=5Fhi?= =?UTF-8?q?ght=EF=BC=8Ctouch=5Ftip=EF=BC=8Cdelay=E7=AD=89=E5=8F=82?= =?UTF-8?q?=E6=95=B0=E7=9A=84=E4=BC=A0=E9=80=92?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 250 ++++++++++++++---- .../devices/liquid_handling/prcxi/prcxi.py | 11 +- unilabos/resources/resource_tracker.py | 35 ++- unilabos/workflow/common.py | 65 ++++- 4 files changed, 306 insertions(+), 55 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 47eda93d..3292e118 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -9,6 +9,7 @@ from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod from pylabrobot.liquid_handling.standard import GripDirection +from pylabrobot.resources.errors import TooLittleLiquidError, TooLittleVolumeError from pylabrobot.resources import ( Resource, TipRack, @@ -211,10 +212,37 @@ class LiquidHandlerMiddleware(LiquidHandler): ): if spread == "": spread = "wide" + + def _safe_aspirate_volumes(_resources: Sequence[Container], _vols: List[float]) -> List[float]: + """将 aspirate 体积裁剪到源容器当前液量范围内,避免 volume tracker 报错。""" + safe: List[float] = [] + for res, vol in zip(_resources, _vols): + req = max(float(vol), 0.0) + used_volume = None + try: + tracker = getattr(res, "tracker", None) + if bool(getattr(tracker, "is_disabled", False)): + # tracker 关闭时(例如预吸空气),不按液体体积裁剪 + safe.append(req) + continue + get_used = getattr(tracker, "get_used_volume", None) + if callable(get_used): + used_volume = get_used() + except Exception: + used_volume = None + + if isinstance(used_volume, (int, float)): + req = min(req, max(float(used_volume), 0.0)) + safe.append(req) + return safe + + actual_vols = _safe_aspirate_volumes(resources, vols) + if actual_vols != vols and hasattr(self, "_ros_node") and self._ros_node is not None: + self._ros_node.lab_logger().warning(f"[aspirate] volume adjusted, requested_vols={vols}, actual_vols={actual_vols}") if self._simulator: return await self._simulate_handler.aspirate( resources, - vols, + actual_vols, use_channels, flow_rates, offsets, @@ -226,7 +254,7 @@ class LiquidHandlerMiddleware(LiquidHandler): try: await super().aspirate( resources, - vols, + actual_vols, use_channels, flow_rates, offsets, @@ -239,7 +267,7 @@ class LiquidHandlerMiddleware(LiquidHandler): if "Resource is too small to space channels" in str(e) and spread != "custom": await super().aspirate( resources, - vols, + actual_vols, use_channels, flow_rates, offsets, @@ -250,6 +278,24 @@ class LiquidHandlerMiddleware(LiquidHandler): ) else: raise + except TooLittleLiquidError: + # 再兜底一次:按实时可用液量重算后重试,避免状态更新竞争导致的瞬时不足 + retry_vols = _safe_aspirate_volumes(resources, actual_vols) + if any(v > 0 for v in retry_vols): + await super().aspirate( + resources, + retry_vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) + actual_vols = retry_vols + else: + actual_vols = retry_vols res_samples = [] res_volumes = [] @@ -260,7 +306,7 @@ class LiquidHandlerMiddleware(LiquidHandler): else: channels_to_use = use_channels - for resource, volume, channel in zip(resources, vols, channels_to_use): + for resource, volume, channel in zip(resources, actual_vols, channels_to_use): sample_uuid_value = getattr(resource, "unilabos_extra", {}).get(EXTRA_SAMPLE_UUID, None) res_samples.append({"name": resource.name, "sample_uuid": sample_uuid_value}) res_volumes.append(volume) @@ -284,10 +330,32 @@ class LiquidHandlerMiddleware(LiquidHandler): ) -> SimpleReturn: if spread == "": spread = "wide" + + def _safe_dispense_volumes(_resources: Sequence[Container], _vols: List[float]) -> List[float]: + """将 dispense 体积裁剪到目标容器可用体积范围内,避免 volume tracker 报错。""" + safe: List[float] = [] + for res, vol in zip(_resources, _vols): + req = max(float(vol), 0.0) + free_volume = None + try: + tracker = getattr(res, "tracker", None) + get_free = getattr(tracker, "get_free_volume", None) + if callable(get_free): + free_volume = get_free() + except Exception: + free_volume = None + + if isinstance(free_volume, (int, float)): + req = min(req, max(float(free_volume), 0.0)) + safe.append(req) + return safe + + actual_vols = _safe_dispense_volumes(resources, vols) + if self._simulator: return await self._simulate_handler.dispense( resources, - vols, + actual_vols, use_channels, flow_rates, offsets, @@ -299,7 +367,7 @@ class LiquidHandlerMiddleware(LiquidHandler): try: await super().dispense( resources, - vols, + actual_vols, use_channels, flow_rates, offsets, @@ -312,7 +380,7 @@ class LiquidHandlerMiddleware(LiquidHandler): if "Resource is too small to space channels" in str(e) and spread != "custom": await super().dispense( resources, - vols, + actual_vols, use_channels, flow_rates, offsets, @@ -323,9 +391,31 @@ class LiquidHandlerMiddleware(LiquidHandler): ) else: raise + except TooLittleVolumeError: + # 再兜底一次:按实时 free volume 重新裁剪后重试,避免并发状态更新导致的瞬时超量 + retry_vols = _safe_dispense_volumes(resources, actual_vols) + if any(v > 0 for v in retry_vols): + await super().dispense( + resources, + retry_vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) + actual_vols = retry_vols + else: + actual_vols = retry_vols res_samples = [] res_volumes = [] - for resource, volume, channel in zip(resources, vols, use_channels): + if use_channels is None: + channels_to_use = [0] * len(resources) + else: + channels_to_use = use_channels + for resource, volume, channel in zip(resources, actual_vols, channels_to_use): res_uuid = self.pending_liquids_dict[channel][EXTRA_SAMPLE_UUID] self.pending_liquids_dict[channel]["volume"] -= volume resource.unilabos_extra[EXTRA_SAMPLE_UUID] = res_uuid @@ -728,17 +818,43 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): uuids = [x.get("uuid") or x.get("unilabos_uuid") for _, x in dict_items] if any(u is None for u in uuids): raise ValueError("dict 格式的资源必须包含 uuid 或 unilabos_uuid 字段") - resource_tree = await self._ros_node.get_resource(uuids) - plr_list = resource_tree.to_plr_resources(requested_uuids=uuids) - # 映射到设备本地的 resource_tracker 实例(与 deck 一致) + + def _resolve_from_local_by_uuids() -> List[Union[Container, TipRack]]: + resolved_locals: List[Union[Container, TipRack]] = [] + missing: List[str] = [] + for uid in uuids: + matches = self._ros_node.resource_tracker.figure_resource({"uuid": uid}, try_mode=True) + if matches: + resolved_locals.append(cast(Union[Container, TipRack], matches[0])) + else: + missing.append(str(uid)) + if missing: + raise ValueError( + f"远端资源树未返回且本地资源也未命中,缺失 UUID: {missing}" + ) + return resolved_locals + + # 优先走远端资源树查询;若远端为空或 requested_uuids 无法解析,则降级到本地 tracker 按 UUID 解析。 resolved = [] - for plr in plr_list: - local = self._ros_node.resource_tracker.figure_resource( - {"name": plr.name}, try_mode=False - ) - if hasattr(plr, "unilabos_extra") and hasattr(local, "unilabos_extra"): - local.unilabos_extra = getattr(plr, "unilabos_extra", {}).copy() - resolved.append(local) + try: + resource_tree = await self._ros_node.get_resource(uuids) + plr_list = resource_tree.to_plr_resources(requested_uuids=uuids) + for uid, plr in zip(uuids, plr_list): + local_matches = self._ros_node.resource_tracker.figure_resource({"uuid": uid}, try_mode=True) + if local_matches: + local = cast(Union[Container, TipRack], local_matches[0]) + else: + local = cast(Union[Container, TipRack], plr) + if hasattr(plr, "unilabos_extra") and hasattr(local, "unilabos_extra"): + local.unilabos_extra = getattr(plr, "unilabos_extra", {}).copy() + resolved.append(local) + if len(resolved) != len(uuids): + raise ValueError( + f"远端资源解析数量不匹配: requested={len(uuids)}, resolved={len(resolved)}" + ) + except Exception: + resolved = _resolve_from_local_by_uuids() + result = list(items) for (idx, _), plr in zip(dict_items, resolved): result[idx] = plr @@ -757,9 +873,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore ) + def _clamp_volume(resource: Union[Well, Container], volume: float) -> float: + # 防止初始化液量超过容器容量,导致后续 dispense 时 free volume 为负 + clamped = max(float(volume), 0.0) + max_volume = getattr(resource, "max_volume", None) + if isinstance(max_volume, (int, float)) and max_volume > 0: + clamped = min(clamped, float(max_volume)) + return clamped + for well, liquid_name, volume in zip(wells, liquid_names, volumes): - well.set_liquids([(liquid_name, volume)]) # type: ignore - res_volumes.append(volume) + safe_volume = _clamp_volume(well, volume) + well.set_liquids([(liquid_name, safe_volume)]) # type: ignore + res_volumes.append(safe_volume) return SetLiquidReturn( wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore @@ -789,9 +914,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): volumes=res_volumes, ) + def _clamp_volume(resource: Union[Well, Container], volume: float) -> float: + # 防止初始化液量超过容器容量,导致后续 dispense 时 free volume 为负 + clamped = max(float(volume), 0.0) + max_volume = getattr(resource, "max_volume", None) + if isinstance(max_volume, (int, float)) and max_volume > 0: + clamped = min(clamped, float(max_volume)) + return clamped + for well, liquid_name, volume in zip(wells, liquid_names, volumes): - well.set_liquids([(liquid_name, volume)]) # type: ignore - res_volumes.append(volume) + safe_volume = _clamp_volume(well, volume) + well.set_liquids([(liquid_name, safe_volume)]) # type: ignore + res_volumes.append(safe_volume) task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": wells}) submit_time = time.time() @@ -1300,11 +1434,21 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): max_len = max(num_sources, num_targets) for i in range(max_len): - # 辅助函数:安全地从列表中获取元素,如果列表为空则返回None - def safe_get(lst, idx, default=None): + # 辅助函数: + # - wrap=True: 返回 [value](用于 liquid_height 等列表参数) + # - wrap=False: 返回 value(用于 mix_* 标量参数) + def safe_get(value, idx, default=None, wrap: bool = True): + if value is None: + return default try: - return [lst[idx]] if lst else default - except Exception as e: + if isinstance(value, (list, tuple)): + if len(value) == 0: + return default + item = value[idx % len(value)] + else: + item = value + return [item] if wrap else item + except Exception: return default # 动态构建参数字典,只传递实际提供的参数 @@ -1335,15 +1479,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if spread is not None: kwargs['spread'] = spread if mix_stage is not None: - kwargs['mix_stage'] = safe_get(mix_stage, i) + kwargs['mix_stage'] = safe_get(mix_stage, i, wrap=False) if mix_times is not None: - kwargs['mix_times'] = safe_get(mix_times, i) + kwargs['mix_times'] = safe_get(mix_times, i, wrap=False) if mix_vol is not None: - kwargs['mix_vol'] = safe_get(mix_vol, i) + kwargs['mix_vol'] = safe_get(mix_vol, i, wrap=False) if mix_rate is not None: - kwargs['mix_rate'] = safe_get(mix_rate, i) + kwargs['mix_rate'] = safe_get(mix_rate, i, wrap=False) if mix_liquid_height is not None: - kwargs['mix_liquid_height'] = safe_get(mix_liquid_height, i) + kwargs['mix_liquid_height'] = safe_get(mix_liquid_height, i, wrap=False) if delays is not None: kwargs['delays'] = safe_get(delays, i) @@ -1384,7 +1528,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): tip = [] tip.extend(self._get_next_tip()) await self.pick_up_tips(tip) - + blow_out_air_volume_before_vol = 0.0 + if blow_out_air_volume_before is not None and len(blow_out_air_volume_before) > 0: + blow_out_air_volume_before_vol = float(blow_out_air_volume_before[0] or 0.0) + blow_out_air_volume_vol = 0.0 + if blow_out_air_volume is not None and len(blow_out_air_volume) > 0: + blow_out_air_volume_vol = float(blow_out_air_volume[0] or 0.0) + # PLR 的 blow_out_air_volume 是空气参数,不计入液体体积。 + # before 空气通过单独预吸实现,after 空气通过 blow_out_air_volume 参数实现。 if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0: await self.mix( @@ -1397,17 +1548,26 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): use_channels=use_channels, ) - if blow_out_air_volume_before is not None and len(blow_out_air_volume_before) > 0: - await self.aspirate( - resources=[sources[0]], - vols=[blow_out_air_volume_before[0]], - use_channels=use_channels, - flow_rates=None, - offsets=[Coordinate(x=0, y=0, z=sources[0].get_size_z())], - liquid_height=None, - blow_out_air_volume=None, - ) - + if blow_out_air_volume_before_vol > 0: + source_tracker = getattr(sources[0], "tracker", None) + source_tracker_was_disabled = bool(getattr(source_tracker, "is_disabled", False)) + try: + if source_tracker is not None and hasattr(source_tracker, "disable"): + source_tracker.disable() + await self.aspirate( + resources=[sources[0]], + vols=[blow_out_air_volume_before_vol], + use_channels=use_channels, + flow_rates=None, + offsets=[Coordinate(x=0, y=0, z=sources[0].get_size_z())], + liquid_height=None, + blow_out_air_volume=None, + spread="custom", + ) + finally: + if source_tracker is not None: + source_tracker.enable() + await self.aspirate( resources=[sources[0]], vols=[asp_vols[0]], @@ -1416,7 +1576,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, blow_out_air_volume=( - [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None + [blow_out_air_volume_vol] if blow_out_air_volume_vol > 0 else None ), spread=spread, ) @@ -1429,7 +1589,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): flow_rates=[dis_flow_rates[0]] if dis_flow_rates and len(dis_flow_rates) > 0 else None, offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, blow_out_air_volume=( - [blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None + [blow_out_air_volume_vol] if blow_out_air_volume_vol > 0 else None ), liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, spread=spread, diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 397aca49..ba58e806 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -854,9 +854,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract): offsets: Optional[Coordinate] = None, mix_rate: Optional[float] = None, none_keys: List[str] = [], + use_channels: Optional[List[int]] = [0], ): return await self._unilabos_backend.mix( - targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys + targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys, use_channels ) def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]: @@ -1285,9 +1286,15 @@ class PRCXI9300Backend(LiquidHandlerBackend): offsets: Optional[Coordinate] = None, mix_rate: Optional[float] = None, none_keys: List[str] = [], + use_channels: Optional[List[int]] = [0], ): """Mix liquid in the specified resources.""" - + if use_channels == [0]: + axis = "Left" + elif use_channels == [1]: + axis = "Right" + else: + raise ValueError("Invalid use channels: " + str(use_channels)) plate_indexes = [] for op in targets: deck = op.parent.parent.parent diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 6555d041..4798fd1a 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -706,15 +706,38 @@ class ResourceTreeSet(object): if requested_uuids: # 按请求的 UUID 顺序返回对应资源(从整棵树中按 uuid 提取) + # 优先使用 tracker.uuid_to_resources;若映射缺失,再递归遍历 PLR 树兜底搜索。 + def _find_plr_by_uuid(roots: List["PLRResource"], uid: str) -> Optional["PLRResource"]: + stack = list(roots) + while stack: + node = stack.pop() + node_uid = getattr(node, "unilabos_uuid", None) + if node_uid == uid: + return node + children = getattr(node, "children", None) or [] + stack.extend(children) + return None + result = [] + missing_uuids = [] for uid in requested_uuids: - if uid in tracker.uuid_to_resources: - result.append(tracker.uuid_to_resources[uid]) + found = tracker.uuid_to_resources.get(uid) + if found is None: + found = _find_plr_by_uuid(plr_resources, uid) + if found is not None: + # 回填缓存,后续相同 uuid 可直接命中 + tracker.uuid_to_resources[uid] = found + if found is None: + missing_uuids.append(uid) else: - raise ValueError( - f"请求的 UUID {uid} 在资源树中未找到。" - f"可用 UUID 数量: {len(tracker.uuid_to_resources)}" - ) + result.append(found) + + if missing_uuids: + raise ValueError( + f"请求的 UUID 未在资源树中找到: {missing_uuids}。" + f"可用 UUID 数量: {len(tracker.uuid_to_resources)}," + f"资源树数量: {len(self.trees)}" + ) return result return plr_resources diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 6edb6e8d..43a854c1 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -51,6 +51,7 @@ -------------------------------------------------------------------------------- - 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 +- 参数输入转换: liquid_height(按 wells 扩展);mix_stage/mix_times/mix_vol/mix_rate/mix_liquid_height 保持标量 - 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 [] @@ -543,8 +544,17 @@ def build_protocol_graph( "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"] + # 需要根据 wells 数量扩展的参数列表: + # - 复数参数(asp_vols 等)支持单值自动扩展 + # - liquid_height 按 wells 扩展为数组 + # - mix_* 参数保持标量,避免被转换为 list + EXPAND_BY_WELLS_PARAMS = [ + "asp_vols", + "dis_vols", + "asp_flow_rates", + "dis_flow_rates", + "liquid_height", + ] # 处理协议步骤 for step in protocol_steps: @@ -558,6 +568,57 @@ def build_protocol_graph( if old_name in params: params[new_name] = params.pop(old_name) + # touch_tip 输入归一化: + # - 支持 bool / 0/1 / "true"/"false" / 单元素 list + # - 最终统一为 bool 标量,避免被下游误当作序列处理 + if "touch_tip" in params: + touch_tip_value = params.get("touch_tip") + if isinstance(touch_tip_value, list): + if len(touch_tip_value) == 1: + touch_tip_value = touch_tip_value[0] + elif len(touch_tip_value) == 0: + touch_tip_value = False + else: + warnings.append(f"touch_tip 期望标量,但收到长度为 {len(touch_tip_value)} 的列表,使用首个值") + touch_tip_value = touch_tip_value[0] + if isinstance(touch_tip_value, str): + norm = touch_tip_value.strip().lower() + if norm in {"true", "1", "yes", "y", "on"}: + touch_tip_value = True + elif norm in {"false", "0", "no", "n", "off", ""}: + touch_tip_value = False + else: + warnings.append(f"touch_tip 字符串值无法识别: {touch_tip_value},按 True 处理") + touch_tip_value = True + elif isinstance(touch_tip_value, (int, float)): + touch_tip_value = bool(touch_tip_value) + elif touch_tip_value is None: + touch_tip_value = False + else: + touch_tip_value = bool(touch_tip_value) + params["touch_tip"] = touch_tip_value + + # delays 输入归一化: + # - 支持标量(int/float/字符串数字)与 list + # - 最终统一为数字列表,供下游按 delays[0]/delays[1] 使用 + if "delays" in params: + delays_value = params.get("delays") + if delays_value is None or delays_value == "": + params["delays"] = [] + else: + raw_list = delays_value if isinstance(delays_value, list) else [delays_value] + normalized_delays = [] + for delay_item in raw_list: + if isinstance(delay_item, str): + delay_item = delay_item.strip() + if delay_item == "": + continue + try: + normalized_delays.append(float(delay_item)) + except (TypeError, ValueError): + warnings.append(f"delays 包含无法转换为数字的值: {delay_item},已忽略") + params["delays"] = normalized_delays + # 处理输入连接 for param_key, target_port in INPUT_PORT_MAPPING.items(): resource_name = params.get(param_key) From b11f6eac55e1120dcb872cbc103b04b34af05d65 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Mon, 16 Mar 2026 20:42:13 +0800 Subject: [PATCH 30/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9pylabrobot=E6=9B=B4?= =?UTF-8?q?=E6=96=B0=E5=90=8E=E7=9A=84=E5=BD=B1=E5=93=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 42 ++++++++++++------- .../devices/liquid_handling/prcxi/prcxi.py | 2 +- 2 files changed, 28 insertions(+), 16 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 3292e118..a88df4b9 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -207,32 +207,44 @@ class LiquidHandlerMiddleware(LiquidHandler): offsets: Optional[List[Coordinate]] = None, liquid_height: Optional[List[Optional[float]]] = None, blow_out_air_volume: Optional[List[Optional[float]]] = None, - spread: Literal["wide", "tight", "custom"] = "wide", + spread: Literal["wide", "tight", "custom"] = "custom", **backend_kwargs, ): if spread == "": - spread = "wide" + spread = "custom" def _safe_aspirate_volumes(_resources: Sequence[Container], _vols: List[float]) -> List[float]: - """将 aspirate 体积裁剪到源容器当前液量范围内,避免 volume tracker 报错。""" + """将 aspirate 体积裁剪到源容器当前液量及 tip 剩余容量范围内,避免 volume tracker 报错。""" safe: List[float] = [] - for res, vol in zip(_resources, _vols): + _head_owner = getattr(self, '_simulate_handler', None) or self + _head = getattr(_head_owner, 'head', {}) + _channels = use_channels or list(range(len(_resources))) + for i, (res, vol) in enumerate(zip(_resources, _vols)): req = max(float(vol), 0.0) - used_volume = None + tracker_disabled = False try: tracker = getattr(res, "tracker", None) - if bool(getattr(tracker, "is_disabled", False)): - # tracker 关闭时(例如预吸空气),不按液体体积裁剪 - safe.append(req) - continue - get_used = getattr(tracker, "get_used_volume", None) - if callable(get_used): - used_volume = get_used() + tracker_disabled = bool(getattr(tracker, "is_disabled", False)) + if not tracker_disabled: + get_used = getattr(tracker, "get_used_volume", None) + if callable(get_used): + used_volume = get_used() + if isinstance(used_volume, (int, float)) and used_volume > 0: + req = min(req, float(used_volume)) except Exception: - used_volume = None + pass + + if not tracker_disabled: + try: + ch = _channels[i] if i < len(_channels) else i + if ch in _head and _head[ch].has_tip: + _tip = _head[ch].get_tip() + _tip_free = _tip.maximal_volume - _tip.tracker.get_used_volume() + if _tip_free >= 0: + req = min(req, _tip_free) + except Exception: + pass - if isinstance(used_volume, (int, float)): - req = min(req, max(float(used_volume), 0.0)) safe.append(req) return safe diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index ba58e806..642da16a 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -103,7 +103,7 @@ class PRCXI9300Deck(Deck): def __init__(self, name: str, size_x: float, size_y: float, size_z: float, sites: Optional[List[Dict[str, Any]]] = None, **kwargs): - super().__init__(name, size_x, size_y, size_z) + super().__init__( size_x, size_y, size_z, name=name) if sites is not None: self.sites: List[Dict[str, Any]] = [dict(s) for s in sites] else: From 1a267729e41f864d7af088e32a0790b629b3c25b Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Tue, 17 Mar 2026 20:29:15 +0800 Subject: [PATCH 31/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9tracker=E7=9A=84?= =?UTF-8?q?=E9=97=AE=E9=A2=98=EF=BC=8C=E5=9C=A8volumetracker=E6=8A=A5?= =?UTF-8?q?=E9=94=99=E6=97=B6=EF=BC=8C=E7=A6=81=E7=94=A8=E5=B9=B6=E8=BF=9B?= =?UTF-8?q?=E8=A1=8C=E4=B8=8B=E4=B8=80=E6=AD=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 209 ++++++++++-------- 1 file changed, 119 insertions(+), 90 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index a88df4b9..61e0918c 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -10,6 +10,7 @@ from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, Liqu from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod from pylabrobot.liquid_handling.standard import GripDirection from pylabrobot.resources.errors import TooLittleLiquidError, TooLittleVolumeError +from pylabrobot.resources.volume_tracker import no_volume_tracking from pylabrobot.resources import ( Resource, TipRack, @@ -213,60 +214,60 @@ class LiquidHandlerMiddleware(LiquidHandler): if spread == "": spread = "custom" - def _safe_aspirate_volumes(_resources: Sequence[Container], _vols: List[float]) -> List[float]: - """将 aspirate 体积裁剪到源容器当前液量及 tip 剩余容量范围内,避免 volume tracker 报错。""" - safe: List[float] = [] - _head_owner = getattr(self, '_simulate_handler', None) or self - _head = getattr(_head_owner, 'head', {}) - _channels = use_channels or list(range(len(_resources))) - for i, (res, vol) in enumerate(zip(_resources, _vols)): - req = max(float(vol), 0.0) - tracker_disabled = False + for res in resources: + tracker = getattr(res, "tracker", None) + if tracker is None or getattr(tracker, "is_disabled", False): + continue + history = getattr(tracker, "liquid_history", None) + if tracker.get_used_volume() <= 0 and isinstance(history, list) and len(history) == 0: + fill_vol = tracker.max_volume if tracker.max_volume > 0 else 50000 try: - tracker = getattr(res, "tracker", None) - tracker_disabled = bool(getattr(tracker, "is_disabled", False)) - if not tracker_disabled: - get_used = getattr(tracker, "get_used_volume", None) - if callable(get_used): - used_volume = get_used() - if isinstance(used_volume, (int, float)) and used_volume > 0: - req = min(req, float(used_volume)) + tracker.add_liquid(fill_vol) except Exception: - pass + tracker.liquid_history.append(("auto_init", fill_vol)) - if not tracker_disabled: - try: - ch = _channels[i] if i < len(_channels) else i - if ch in _head and _head[ch].has_tip: - _tip = _head[ch].get_tip() - _tip_free = _tip.maximal_volume - _tip.tracker.get_used_volume() - if _tip_free >= 0: - req = min(req, _tip_free) - except Exception: - pass - - safe.append(req) - return safe - - actual_vols = _safe_aspirate_volumes(resources, vols) - if actual_vols != vols and hasattr(self, "_ros_node") and self._ros_node is not None: - self._ros_node.lab_logger().warning(f"[aspirate] volume adjusted, requested_vols={vols}, actual_vols={actual_vols}") if self._simulator: - return await self._simulate_handler.aspirate( - resources, - actual_vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread, - **backend_kwargs, - ) + try: + return await self._simulate_handler.aspirate( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) + except (TooLittleLiquidError, TooLittleVolumeError) as e: + tracker_info = [] + for r in resources: + t = r.tracker + tracker_info.append( + f"{r.name}(used={t.get_used_volume():.1f}, " + f"free={t.get_free_volume():.1f}, max={r.max_volume})" + ) + if hasattr(self, "_ros_node") and self._ros_node is not None: + self._ros_node.lab_logger().warning( + f"[aspirate] volume tracker error, bypassing tracking. " + f"error={e}, vols={vols}, trackers={tracker_info}" + ) + with no_volume_tracking(): + return await self._simulate_handler.aspirate( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) try: await super().aspirate( resources, - actual_vols, + vols, use_channels, flow_rates, offsets, @@ -279,7 +280,7 @@ class LiquidHandlerMiddleware(LiquidHandler): if "Resource is too small to space channels" in str(e) and spread != "custom": await super().aspirate( resources, - actual_vols, + vols, use_channels, flow_rates, offsets, @@ -290,35 +291,15 @@ class LiquidHandlerMiddleware(LiquidHandler): ) else: raise - except TooLittleLiquidError: - # 再兜底一次:按实时可用液量重算后重试,避免状态更新竞争导致的瞬时不足 - retry_vols = _safe_aspirate_volumes(resources, actual_vols) - if any(v > 0 for v in retry_vols): - await super().aspirate( - resources, - retry_vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread, - **backend_kwargs, - ) - actual_vols = retry_vols - else: - actual_vols = retry_vols res_samples = [] res_volumes = [] - # 处理 use_channels 为 None 的情况(通常用于单通道操作) if use_channels is None: - # 对于单通道操作,推断通道为 [0] channels_to_use = [0] * len(resources) else: channels_to_use = use_channels - for resource, volume, channel in zip(resources, actual_vols, channels_to_use): + for resource, volume, channel in zip(resources, vols, channels_to_use): sample_uuid_value = getattr(resource, "unilabos_extra", {}).get(EXTRA_SAMPLE_UUID, None) res_samples.append({"name": resource.name, "sample_uuid": sample_uuid_value}) res_volumes.append(volume) @@ -365,17 +346,43 @@ class LiquidHandlerMiddleware(LiquidHandler): actual_vols = _safe_dispense_volumes(resources, vols) if self._simulator: - return await self._simulate_handler.dispense( - resources, - actual_vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread, - **backend_kwargs, - ) + try: + return await self._simulate_handler.dispense( + resources, + actual_vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) + except (TooLittleLiquidError, TooLittleVolumeError) as e: + tracker_info = [] + for r in resources: + t = r.tracker + tracker_info.append( + f"{r.name}(used={t.get_used_volume():.1f}, " + f"free={t.get_free_volume():.1f}, max={r.max_volume})" + ) + if hasattr(self, "_ros_node") and self._ros_node is not None: + self._ros_node.lab_logger().warning( + f"[dispense] volume tracker error, bypassing tracking. " + f"error={e}, vols={actual_vols}, trackers={tracker_info}" + ) + with no_volume_tracking(): + return await self._simulate_handler.dispense( + resources, + actual_vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) try: await super().dispense( resources, @@ -859,6 +866,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): local = cast(Union[Container, TipRack], plr) if hasattr(plr, "unilabos_extra") and hasattr(local, "unilabos_extra"): local.unilabos_extra = getattr(plr, "unilabos_extra", {}).copy() + if local is not plr and hasattr(plr, "tracker") and hasattr(local, "tracker"): + local_tracker = local.tracker + plr_tracker = plr.tracker + local_history = getattr(local_tracker, "liquid_history", None) + plr_history = getattr(plr_tracker, "liquid_history", None) + if (isinstance(local_history, list) and len(local_history) == 0 + and isinstance(plr_history, list) and len(plr_history) > 0): + local_tracker.liquid_history = list(plr_history) resolved.append(local) if len(resolved) != len(uuids): raise ValueError( @@ -868,8 +883,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): resolved = _resolve_from_local_by_uuids() result = list(items) - for (idx, _), plr in zip(dict_items, resolved): - result[idx] = plr + for (idx, orig_dict), res in zip(dict_items, resolved): + if isinstance(orig_dict, dict) and hasattr(res, "tracker"): + tracker = res.tracker + local_history = getattr(tracker, "liquid_history", None) + if isinstance(local_history, list) and len(local_history) == 0: + data = orig_dict.get("data") or {} + dict_history = data.get("liquid_history") + if isinstance(dict_history, list) and len(dict_history) > 0: + tracker.liquid_history = [ + (name, float(vol)) for name, vol in dict_history + ] + result[idx] = res return result @classmethod @@ -1070,7 +1095,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for _ in range(len(sources)): tip = [] for __ in range(len(use_channels)): - tip.extend(self._get_next_tip()) + tip.append(self._get_next_tip()) await self.pick_up_tips(tip) await self.aspirate( resources=[sources[_]], @@ -1110,7 +1135,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for i in range(0, len(sources), 8): tip = [] for _ in range(len(use_channels)): - tip.extend(self._get_next_tip()) + tip.append(self._get_next_tip()) await self.pick_up_tips(tip) current_targets = waste_liquid[i : i + 8] current_reagent_sources = sources[i : i + 8] @@ -1204,7 +1229,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for _ in range(len(targets)): tip = [] for x in range(len(use_channels)): - tip.extend(self._get_next_tip()) + tip.append(self._get_next_tip()) await self.pick_up_tips(tip) await self.aspirate( @@ -1256,7 +1281,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for i in range(0, len(targets), 8): tip = [] for _ in range(len(use_channels)): - tip.extend(self._get_next_tip()) + tip.append(self._get_next_tip()) await self.pick_up_tips(tip) current_targets = targets[i : i + 8] current_reagent_sources = reagent_sources[i : i + 8] @@ -1538,7 +1563,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): delays = kwargs.get('delays') tip = [] - tip.extend(self._get_next_tip()) + tip.append(self._get_next_tip()) await self.pick_up_tips(tip) blow_out_air_volume_before_vol = 0.0 if blow_out_air_volume_before is not None and len(blow_out_air_volume_before) > 0: @@ -1741,9 +1766,13 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]: """Yield tips from a list of TipRacks one-by-one until depleted.""" for rack in tip_racks: - for tip in rack: - yield tip - # raise RuntimeError("Out of tips!") + if isinstance(rack, TipSpot): + yield rack + elif hasattr(rack, "get_all_items"): + yield from rack.get_all_items() + else: + for tip in rack: + yield tip def _get_next_tip(self): """从 current_tip 迭代器获取下一个 tip,耗尽时抛出明确错误而非 StopIteration""" From cdbca702220bda2d192e4755d84ba33aaae690fd Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Thu, 19 Mar 2026 02:35:25 +0800 Subject: [PATCH 32/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9workflow=E4=B8=8A?= =?UTF-8?q?=E4=BC=A0=E9=80=BB=E8=BE=91=EF=BC=8C=E5=9C=A8trash=E5=88=9D?= =?UTF-8?q?=E5=A7=8B=E5=8C=96=E5=90=8E=E5=86=8D=E5=BC=80=E5=A7=8B=E7=A7=BB?= =?UTF-8?q?=E6=B6=B2=EF=BC=8C=E4=BF=AE=E6=94=B9=E6=9E=AA=E5=A4=B4pick?= =?UTF-8?q?=E5=92=8Cdrop=E7=9A=84=E5=88=A4=E6=96=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 102 +++++++++++++++--- unilabos/workflow/common.py | 8 +- 2 files changed, 96 insertions(+), 14 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 61e0918c..117a027d 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1469,6 +1469,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if len(use_channels) != 8: max_len = max(num_sources, num_targets) + prev_dropped = True # 循环开始前通道上无 tip for i in range(max_len): # 辅助函数: @@ -1528,6 +1529,29 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if delays is not None: kwargs['delays'] = safe_get(delays, i) + cur_source = sources[i % num_sources] + cur_target = targets[i % num_targets] + + # drop: 仅当下一轮的 source 和 target 都相同时才保留 tip(下一轮可以复用) + drop_tip = True + if i < max_len - 1: + next_source = sources[(i + 1) % num_sources] + next_target = targets[(i + 1) % num_targets] + if cur_target is next_target and cur_source is next_source: + drop_tip = False + + # pick_up: 仅当上一轮保留了 tip(未 drop)且 source 相同时才复用 + pick_up_tip = True + if i > 0 and not prev_dropped: + prev_source = sources[(i - 1) % num_sources] + if cur_source is prev_source: + pick_up_tip = False + + prev_dropped = drop_tip + + kwargs['pick_up'] = pick_up_tip + kwargs['drop'] = drop_tip + await self._transfer_base_method(**kwargs) @@ -1543,6 +1567,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): use_channels: List[int], asp_vols: List[float], dis_vols: List[float], + pick_up: bool = True, + drop: bool = True, **kwargs ): @@ -1563,8 +1589,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): delays = kwargs.get('delays') tip = [] - tip.append(self._get_next_tip()) - await self.pick_up_tips(tip) + if pick_up: + tip.append(self._get_next_tip()) + await self.pick_up_tips(tip) blow_out_air_volume_before_vol = 0.0 if blow_out_air_volume_before is not None and len(blow_out_air_volume_before) > 0: blow_out_air_volume_before_vol = float(blow_out_air_volume_before[0] or 0.0) @@ -1646,7 +1673,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if delays is not None and len(delays) > 1: await self.custom_delay(seconds=delays[0]) await self.touch_tip(targets[0]) - await self.discard_tips(use_channels=use_channels) + if drop: + await self.discard_tips(use_channels=use_channels) # except Exception as e: # traceback.print_exc() @@ -1768,25 +1796,75 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): for rack in tip_racks: if isinstance(rack, TipSpot): yield rack - elif hasattr(rack, "get_all_items"): - yield from rack.get_all_items() - else: - for tip in rack: - yield tip + elif isinstance(rack, TipRack): + for item in rack: + if isinstance(item, list): + yield from item + else: + yield item def _get_next_tip(self): """从 current_tip 迭代器获取下一个 tip,耗尽时抛出明确错误而非 StopIteration""" try: return next(self.current_tip) except StopIteration as e: - raise RuntimeError("Tip rack exhausted: no more tips available for transfer") from e + diag_parts = [] + tip_racks = getattr(self, 'tip_racks', None) + if tip_racks is not None: + for idx, rack in enumerate(tip_racks): + r_name = getattr(rack, 'name', '?') + r_type = type(rack).__name__ + is_tr = isinstance(rack, TipRack) + is_ts = isinstance(rack, TipSpot) + n_children = len(getattr(rack, 'children', [])) + diag_parts.append( + f"rack[{idx}] name={r_name}, type={r_type}, " + f"is_TipRack={is_tr}, is_TipSpot={is_ts}, children={n_children}" + ) + else: + diag_parts.append("tip_racks=None") + by_type = getattr(self, '_tip_racks_by_type', {}) + diag_parts.append(f"_tip_racks_by_type keys={list(by_type.keys())}") + raise RuntimeError( + f"Tip rack exhausted: no more tips available for transfer. " + f"Diagnostics: {'; '.join(diag_parts)}" + ) from e def set_tiprack(self, tip_racks: Sequence[TipRack]): - """Set the tip racks for the liquid handler.""" + """Set the tip racks for the liquid handler. + + Groups tip racks by type name (``type(rack).__name__``). + - Only actual TipRack / TipSpot instances are registered. + - If a rack has already been registered (by ``name``), it is skipped. + - If a rack is new and its type already exists, it is appended to that type's list. + - If the type is new, a new key-value pair is created. + + If the current ``tip_racks`` contain no valid TipRack/TipSpot (e.g. a + Plate was passed by mistake), the iterator falls back to all previously + registered racks. + """ + if not hasattr(self, '_tip_racks_by_type'): + self._tip_racks_by_type: Dict[str, List[TipRack]] = {} + self._seen_rack_names: Set[str] = set() + + for rack in tip_racks: + if not isinstance(rack, (TipRack, TipSpot)): + continue + rack_name = rack.name if hasattr(rack, 'name') else str(id(rack)) + if rack_name in self._seen_rack_names: + continue + self._seen_rack_names.add(rack_name) + type_key = type(rack).__name__ + if type_key not in self._tip_racks_by_type: + self._tip_racks_by_type[type_key] = [] + self._tip_racks_by_type[type_key].append(rack) + + valid_racks = [r for r in tip_racks if isinstance(r, (TipRack, TipSpot))] + if not valid_racks: + valid_racks = [r for racks in self._tip_racks_by_type.values() for r in racks] self.tip_racks = tip_racks - tip_iter = self.iter_tips(tip_racks) - self.current_tip = tip_iter + self.current_tip = self.iter_tips(valid_racks) async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0): """ diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 43a854c1..6cf19e1e 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -412,6 +412,8 @@ def build_protocol_graph( param=None, ) + trash_create_node_id = None # 记录 trash 的 create_resource 节点 + # 为每个唯一的 slot 创建 create_resource 节点 for slot, info in slots_info.items(): node_id = str(uuid.uuid4()) @@ -445,6 +447,8 @@ def build_protocol_graph( slot_to_create_resource[slot] = node_id if object_type == "tiprack": resource_last_writer[info["labware_id"]] = f"{node_id}:labware" + if object_type == "trash": + trash_create_node_id = node_id # create_resource 之间不需要 ready 连接 # ==================== 第二步:为每个 reagent 创建 set_liquid_from_plate 节点 ==================== @@ -516,8 +520,8 @@ def build_protocol_graph( # 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" - # transfer_liquid 之间通过 ready 串联,从 None 开始 - last_control_node_id = None + # transfer_liquid 之间通过 ready 串联;若存在 trash 节点,第一个 transfer_liquid 从 trash 的 ready 开始 + last_control_node_id = trash_create_node_id # 端口名称映射:JSON 字段名 -> 实际 handle key INPUT_PORT_MAPPING = { From 35bcf6765deba808e2606c8ace9af00a63763fe4 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Mon, 23 Mar 2026 00:00:57 +0800 Subject: [PATCH 33/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9rviz=E6=98=BE=E7=A4=BA?= =?UTF-8?q?=E9=80=BB=E8=BE=91=E4=B8=8Ejoint=5Fpublisher=EF=BC=8C=E6=B7=BB?= =?UTF-8?q?=E5=8A=A0moveit2=E7=9B=B8=E5=85=B3=E8=8A=82=E7=82=B9=E6=8F=8F?= =?UTF-8?q?=E8=BF=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/moveit2_integration_summary.md | 1315 +++++++++++++++++ unilabos/device_mesh/resource_visalization.py | 51 +- .../liquid_handler_abstract.py | 14 +- .../devices/liquid_handling/rviz_backend.py | 3 +- .../liquid_handler_joint_publisher_node.py | 1 + unilabos/ros/main_slave_run.py | 28 +- .../nodes/presets/resource_mesh_manager.py | 215 ++- 7 files changed, 1550 insertions(+), 77 deletions(-) create mode 100644 docs/moveit2_integration_summary.md diff --git a/docs/moveit2_integration_summary.md b/docs/moveit2_integration_summary.md new file mode 100644 index 00000000..e645f6af --- /dev/null +++ b/docs/moveit2_integration_summary.md @@ -0,0 +1,1315 @@ +# Uni-Lab-OS MoveIt2 集成架构总结 + +## 概览 + +Uni-Lab-OS 通过三个核心文件实现了对 MoveIt2(ROS 2 运动规划框架)的深度集成,形成了从**底层运动规划接口** → **业务逻辑封装** → **场景构建与启动**的完整链路。 + +``` +┌──────────────────────────────────────────────────────────────────────┐ +│ resource_visalization.py │ +│ 场景构建层:URDF/SRDF 生成、MoveIt2 节点启动 │ +│ ros2_control_node / move_group / robot_state_publisher / rviz2 │ +└────────────────────────────┬─────────────────────────────────────────┘ + │ 提供 MoveIt2 运行环境(Planning Scene、控制器) + ▼ +┌──────────────────────────────────────────────────────────────────────┐ +│ moveit_interface.py │ +│ 业务逻辑层:pick_and_place、set_position、set_status │ +│ 管理多个 MoveGroup,提供 FK/IK 计算、资源 TF 更新 │ +└────────────────────────────┬─────────────────────────────────────────┘ + │ 调用 MoveIt2 Python API + ▼ +┌──────────────────────────────────────────────────────────────────────┐ +│ moveit2.py │ +│ 底层接口层:MoveIt2 ROS 2 Python 客户端实现 │ +│ Action Client / Service Client / Collision Scene / 轨迹执行 │ +└──────────────────────────────────────────────────────────────────────┘ +``` + +--- + +## 1. `moveit2.py` — MoveIt2 底层 Python 接口 + +**路径**: `unilabos/devices/ros_dev/moveit2.py` +**行数**: ~2443 行 +**角色**: 对 MoveIt2 ROS 2 接口的完整 Python 封装,是整个运动控制的基础。 + +### 1.1 核心类:`MoveIt2` + +对 MoveIt2 框架的 ROS 2 通信协议进行了全面的 Python 封装,提供了规划、执行、运动学计算和碰撞管理的统一接口。 + +#### 1.1.1 ROS 2 通信拓扑 + +`MoveIt2` 类在初始化时创建了丰富的 ROS 2 通信端点: + +| 类型 | 名称 | 用途 | +|------|------|------| +| **Subscriber** | `/joint_states` | 实时获取关节状态(BEST_EFFORT QoS) | +| **Action Client** | `/move_action` | 通过 MoveGroup Action 一体化规划+执行 | +| **Action Client** | `/execute_trajectory` | 独立的轨迹执行 | +| **Service Client** | `/plan_kinematic_path` | 关节空间/笛卡尔空间运动规划 | +| **Service Client** | `/compute_cartesian_path` | 笛卡尔路径规划(直线插补) | +| **Service Client** | `/compute_fk` | 正运动学计算 | +| **Service Client** | `/compute_ik` | 逆运动学计算 | +| **Service Client** | `/get_planning_scene` | 获取当前规划场景 | +| **Service Client** | `/apply_planning_scene` | 应用修改后的规划场景 | +| **Publisher** | `/collision_object` | 发布碰撞物体 | +| **Publisher** | `/attached_collision_object` | 发布附着碰撞物体 | +| **Publisher** | `/trajectory_execution_event` | 发送轨迹取消指令 | + +#### 1.1.2 运动规划与执行 + +提供两种执行模式: + +- **MoveGroup Action 模式** (`use_move_group_action=True`):规划和执行合并在一个 Action 调用中完成,由 MoveIt2 内部管理整个流程。 +- **Plan + Execute 模式**:先通过 Service 调用进行路径规划(`/plan_kinematic_path` 或 `/compute_cartesian_path`),再通过 ExecuteTrajectory Action 执行。 + +关键方法: + +| 方法 | 说明 | +|------|------| +| `move_to_pose()` | 移动到目标位姿(位置 + 四元数姿态),支持笛卡尔直线规划 | +| `move_to_configuration()` | 移动到目标关节配置 | +| `plan()` / `plan_async()` | 异步路径规划,返回 `JointTrajectory` | +| `execute()` | 执行规划好的轨迹 | +| `wait_until_executed()` | 阻塞等待运动完成,返回成功/失败 | +| `cancel_execution()` | 取消当前运动 | + +#### 1.1.3 目标约束系统 + +支持多层次的目标设定: + +- **位置约束** (`set_position_goal`): 以球形区域定义目标位置的容差 +- **姿态约束** (`set_orientation_goal`): 支持 Euler 角和旋转向量两种参数化方式 +- **关节约束** (`set_joint_goal`): 直接指定目标关节角度 +- **复合约束** (`set_pose_goal`): 位置 + 姿态的组合 +- **路径约束** (`set_path_joint_constraint`, `set_path_position_constraint`, `set_path_orientation_constraint`): 对整条运动路径施加约束 +- **多目标组** (`create_new_goal_constraint`): 支持同时设置多组目标约束 + +#### 1.1.4 运动学服务 + +- **正运动学 (FK)**: `compute_fk()` / `compute_fk_async()` — 给定关节角求末端位姿 +- **逆运动学 (IK)**: `compute_ik()` / `compute_ik_async()` — 给定目标位姿求关节角,支持传入约束和避碰选项 + +#### 1.1.5 碰撞场景管理 + +提供完整的 Planning Scene 管理接口: + +| 方法 | 说明 | +|------|------| +| `add_collision_box()` | 添加长方体碰撞体 | +| `add_collision_sphere()` | 添加球形碰撞体 | +| `add_collision_cylinder()` | 添加圆柱碰撞体 | +| `add_collision_cone()` | 添加锥形碰撞体 | +| `add_collision_mesh()` | 添加三角网格碰撞体(依赖 trimesh) | +| `move_collision()` | 移动已有碰撞体 | +| `remove_collision_object()` | 移除碰撞体 | +| `attach_collision_object()` | 将碰撞体附着到机器人 link 上 | +| `detach_collision_object()` | 从机器人上分离碰撞体 | +| `allow_collisions()` | 修改 Allowed Collision Matrix,允许/禁止特定碰撞 | +| `clear_all_collision_objects()` | 清空所有碰撞物体 | + +#### 1.1.6 状态管理 + +通过 `MoveIt2State` 枚举和线程锁实现并发安全的状态管理: + +- `IDLE`: 空闲 +- `REQUESTING`: 已发送运动请求,等待接受 +- `EXECUTING`: 正在执行轨迹 + +配合 `ignore_new_calls_while_executing` 标志,防止运动冲突。 + +#### 1.1.7 辅助工具函数 + +文件末尾提供模块级工具函数: + +- `init_joint_state()`: 构造 `JointState` 消息 +- `init_execute_trajectory_goal()`: 构造 `ExecuteTrajectory.Goal` 消息 +- `init_dummy_joint_trajectory_from_state()`: 构造用于重置控制器的虚拟轨迹 + +--- + +## 2. `moveit_interface.py` — 业务逻辑封装层 + +**路径**: `unilabos/devices/ros_dev/moveit_interface.py` +**行数**: 385 行 +**角色**: 将 `MoveIt2` 底层接口封装为实验室场景中可用的高级操作(pick/place、状态切换、资源管理)。 + +### 2.1 核心类:`MoveitInterface` + +`MoveitInterface` 是连接实验室业务逻辑与 MoveIt2 运动规划的桥梁。它不直接继承 `MoveIt2`,而是通过**组合**的方式管理多个 `MoveIt2` 实例(每个 MoveGroup 一个),并在其上构建抓取放置、状态切换等实验室级操作。 + +--- + +#### 2.1.1 类属性与实例属性 + +```python +class MoveitInterface: + _ros_node: BaseROS2DeviceNode # ROS 2 节点引用(post_init 注入) + tf_buffer: Buffer # TF2 坐标变换缓冲区 + tf_listener: TransformListener # TF2 变换监听器 +``` + +**构造函数参数:** + +| 参数 | 类型 | 说明 | +|------|------|------| +| `moveit_type` | `str` | 设备类型标识,用于定位 `device_mesh/devices/{moveit_type}/config/move_group.json` 配置文件 | +| `joint_poses` | `dict` | 预定义关节位姿字典,结构为 `{move_group: {status_name: [joint_values...]}}` | +| `rotation` | `optional` | 设备旋转参数(预留) | +| `device_config` | `optional` | 设备自定义配置 | + +**实例属性:** + +| 属性 | 类型 | 初始值 | 说明 | +|------|------|--------|------| +| `data_config` | `dict` | 从 JSON 加载 | Move Group 配置,结构为 `{group_name: {base_link_name, end_effector_name, joint_names}}` | +| `arm_move_flag` | `bool` | `False` | 机械臂运动标志(预留) | +| `move_option` | `list` | `["pick", "place", "side_pick", "side_place"]` | 支持的抓取/放置动作类型 | +| `joint_poses` | `dict` | 构造函数传入 | 预定义关节位姿查找表 | +| `cartesian_flag` | `bool` | `False` | 当前是否使用笛卡尔直线规划(在 `pick_and_place` 执行过程中动态切换) | +| `mesh_group` | `list` | `["reactor", "sample", "beaker"]` | 碰撞网格分组类别 | +| `moveit2` | `dict` | `{}` | MoveIt2 实例字典,键为 Move Group 名称 | +| `resource_action` | `str/None` | `None` | 发现的 `tf_update` Action Server 名称 | +| `resource_client` | `ActionClient/None` | `None` | 用于发送资源 TF 更新请求的 Action Client | +| `resource_action_ok` | `bool` | `False` | `tf_update` Action Server 是否就绪 | + +--- + +#### 2.1.2 初始化流程:`__init__` + `post_init` + +采用**两阶段初始化**设计: + +**阶段一:`__init__`(纯数据初始化,不依赖 ROS 2)** + +``` +__init__(moveit_type, joint_poses, ...) + │ + ├── 加载 move_group.json 配置文件 + │ 路径: device_mesh/devices/{moveit_type}/config/move_group.json + │ 内容: { "arm": { "base_link_name": "base_link", + │ "end_effector_name": "tool0", + │ "joint_names": ["joint1", "joint2", ...] } } + │ + ├── 初始化状态标志 (arm_move_flag, cartesian_flag, resource_action_ok) + └── 记录 joint_poses 预定义位姿 +``` + +**阶段二:`post_init(ros_node)`(ROS 2 依赖初始化)** + +``` +post_init(ros_node) + │ + ├── 保存 ROS 节点引用 → self._ros_node + │ + ├── 创建 TF2 基础设施 + │ ├── Buffer() → self.tf_buffer + │ └── TransformListener(buffer, node) → self.tf_listener + │ + ├── 遍历 data_config 中的每个 Move Group + │ │ + │ │ 对于每个 {move_group, config}: + │ │ + │ ├── 生成带设备前缀的名称 + │ │ ├── base_link_name = "{device_id}_{config.base_link_name}" + │ │ ├── end_effector = "{device_id}_{config.end_effector_name}" + │ │ └── joint_names = ["{device_id}_{name}" for name in config.joint_names] + │ │ + │ └── 创建 MoveIt2 实例 + │ self.moveit2[move_group] = MoveIt2( + │ node=ros_node, + │ joint_names=..., + │ base_link_name=..., + │ end_effector_name=..., + │ group_name="{device_id}_{move_group}", ← MoveIt2 Planning Group 名 + │ callback_group=ros_node.callback_group, ← 共享回调组 + │ use_move_group_action=True, ← 使用 MoveGroup Action 模式 + │ ignore_new_calls_while_executing=True ← 防止运动冲突 + │ ) + │ .allowed_planning_time = 3.0 ← 规划超时 3 秒 + │ + └── 创建定时器 (1秒间隔) + → wait_for_resource_action() ← 异步等待 tf_update Action Server +``` + +**设备名前缀机制**:所有关节名、link 名、group 名都加上 `{device_id}_` 前缀。这是多设备共存的关键——当多台机械臂在同一 ROS 2 网络中运行时,前缀保证名称唯一,MoveIt2 能正确区分不同设备的规划组。 + +--- + +#### 2.1.3 资源 TF 更新服务发现 + +`MoveitInterface` 需要在运行时动态更新实验室资源(如烧杯、样品瓶)的 TF 父链接——当机械臂抓取物体时,物体的 TF 从 `world` 切换到末端执行器;放置时切换回 `world`。 + +``` +wait_for_resource_action() [定时器回调,1秒间隔] + │ + ├── 若 resource_action_ok 已为 True → 直接返回 + │ + ├── 轮询 check_tf_update_actions() + │ │ + │ ├── 遍历所有 ROS 2 Topic + │ ├── 查找 topic_type == "action_msgs/msg/GoalStatusArray" 的 Topic + │ ├── 从 Topic 名称中提取 Action 名(去掉 "/_action/status" 后缀) + │ └── 检查最后一段是否为 "tf_update" → 返回 Action 名称 + │ + ├── 创建 ActionClient(SendCmd, action_name) + ├── 等待 Action Server 就绪 (timeout=5s,循环等待) + └── 设置 resource_action_ok = True +``` + +**为什么用 Topic 发现而非硬编码?** +`tf_update` Action Server 由 `resource_mesh_manager` 节点提供,其命名空间可能随部署配置变化。通过 Topic 自动发现机制,`MoveitInterface` 能自适应不同的部署环境。 + +--- + +#### 2.1.4 底层运动方法:`moveit_task` + +```python +def moveit_task(self, move_group, position, quaternion, + speed=1, retry=10, cartesian=False, + target_link=None, offsets=[0,0,0]) +``` + +这是笛卡尔空间运动的核心封装,所有高级方法最终都通过它调用 `MoveIt2.move_to_pose()`。 + +**执行流程:** + +``` +moveit_task(move_group, position, quaternion, speed, retry, ...) + │ + ├── 速度限幅: speed_ = clamp(speed, 0.1, 1.0) + ├── 设置 MoveIt2 速度: + │ ├── moveit2[group].max_velocity = speed_ + │ └── moveit2[group].max_acceleration = speed_ + │ + ├── 计算最终位置: pose_result = position + offsets (逐元素相加) + │ + └── 重试循环 (最多 retry+1 次): + │ + ├── moveit2[group].move_to_pose( + │ target_link=target_link, ← 可指定非默认末端 link + │ position=pose_result, ← 目标 [x, y, z] + │ quat_xyzw=quaternion, ← 目标 [qx, qy, qz, qw] + │ cartesian=cartesian, ← 笛卡尔直线 or 自由空间 + │ cartesian_max_step=0.01, ← 笛卡尔插补步长 1cm + │ weight_position=1.0 ← 位置约束权重 + │ ) + │ + ├── re_ = moveit2[group].wait_until_executed() ← 阻塞等待 + │ + └── 若 re_ 为 True → 返回成功; 否则 retry -= 1 继续 +``` + +**参数说明:** + +| 参数 | 说明 | MoveIt2 对应 | +|------|------|-------------| +| `position` | 目标位置 `[x, y, z]`(米) | `move_to_pose(position=...)` | +| `quaternion` | 目标姿态四元数 `[x, y, z, w]` | `move_to_pose(quat_xyzw=...)` | +| `speed` | 速度因子 0.1~1.0,同时控制速度和加速度 | `max_velocity` + `max_acceleration` | +| `retry` | 规划失败时的最大重试次数 | N/A(应用层重试) | +| `cartesian` | 是否使用笛卡尔直线规划 | `move_to_pose(cartesian=...)` | +| `target_link` | 目标 link(默认末端执行器) | `move_to_pose(target_link=...)` | +| `offsets` | 位置偏移量 `[dx, dy, dz]` | 叠加到 `position` | + +--- + +#### 2.1.5 底层运动方法:`moveit_joint_task` + +```python +def moveit_joint_task(self, move_group, joint_positions, + joint_names=None, speed=1, retry=10) +``` + +关节空间运动的核心封装,调用 `MoveIt2.move_to_configuration()`。 + +**执行流程:** + +``` +moveit_joint_task(move_group, joint_positions, joint_names, speed, retry) + │ + ├── 关节角度转 float: joint_positions_ = [float(x) for x in joint_positions] + ├── 速度限幅: speed_ = clamp(speed, 0.1, 1.0) + ├── 设置 MoveIt2 速度 + │ + └── 重试循环: + │ + ├── moveit2[group].move_to_configuration( + │ joint_positions=joint_positions_, + │ joint_names=joint_names ← None 时使用 MoveIt2 默认关节名 + │ ) + │ + ├── re_ = moveit2[group].wait_until_executed() + │ + ├── 打印 FK 结果 (调试用): + │ compute_fk(joint_positions) → 显示对应的末端位姿 + │ + └── 若成功 → 返回; 否则 retry -= 1 +``` + +**与 `moveit_task` 的区别:** + +- `moveit_task`:目标是笛卡尔空间位姿(位置 + 姿态),MoveIt2 自动进行 IK 求解 +- `moveit_joint_task`:目标直接是关节角度,无需 IK 计算,确定性更高 +- 每次循环后调用 `compute_fk` 输出当前末端位姿,便于调试 + +--- + +#### 2.1.6 资源 TF 管理:`resource_manager` + +```python +def resource_manager(self, resource, parent_link) +``` + +通过 `SendCmd` Action 向 `tf_update` 服务发送 TF 父链接更新请求。 + +``` +resource_manager("beaker_1", "tool0") + │ + ├── 构造 SendCmd.Goal: + │ goal.command = '{"beaker_1": "tool0"}' ← JSON 格式: {资源名: 新父link} + │ + └── resource_client.send_goal(goal) ← 异步发送,不等待结果 +``` + +**在 pick/place 流程中的角色:** + +- **pick 时**:`resource_manager(resource, end_effector_name)` — 资源跟随末端执行器 +- **pick 且有 target 时**:`resource_manager(resource, target)` — 资源挂到指定 link +- **place 时**:`resource_manager(resource, "world")` — 资源释放到世界坐标系 + +--- + +#### 2.1.7 直接位姿控制:`set_position` + +```python +def set_position(self, command: str) +``` + +最简单的运动接口,解析 JSON 指令后直接委托给 `moveit_task`。 + +**JSON 指令格式:** + +```json +{ + "position": [0.3, 0.0, 0.5], + "quaternion": [0.0, 0.0, 0.0, 1.0], + "move_group": "arm", + "speed": 0.5, + "retry": 10 +} +``` + +**调用链:** + +``` +set_position(command_json) + │ + ├── JSON 解析 (替换单引号为双引号) + └── moveit_task(**cmd_dict) + └── MoveIt2.move_to_pose(...) +``` + +--- + +#### 2.1.8 预定义状态切换:`set_status` + +```python +def set_status(self, command: str) +``` + +将机械臂移动到预定义的关节配置(如 home 位、准备位等),关节角度从 `self.joint_poses` 查找表中获取。 + +**JSON 指令格式:** + +```json +{ + "status": "home", + "move_group": "arm", + "speed": 0.8, + "retry": 5 +} +``` + +**调用链:** + +``` +set_status(command_json) + │ + ├── JSON 解析 + ├── 查找预定义关节角: joint_poses[move_group][status] + │ 例: joint_poses["arm"]["home"] → [0.0, -1.57, 1.57, 0.0, 0.0, 0.0] + │ + └── moveit_joint_task(move_group, joint_positions, speed, retry) + └── MoveIt2.move_to_configuration(...) +``` + +**`joint_poses` 查找表结构:** + +```python +{ + "arm": { + "home": [0.0, -1.57, 1.57, 0.0, 0.0, 0.0], + "ready": [0.0, -0.78, 1.57, 0.0, 0.78, 0.0], + "pick_A1": [0.5, -1.2, 1.0, 0.0, 0.5, 0.3], + ... + }, + "gripper": { + "open": [0.04], + "close": [0.0], + ... + } +} +``` + +--- + +#### 2.1.9 核心方法详解:`pick_and_place` + +```python +def pick_and_place(self, command: str) +``` + +这是 `MoveitInterface` 最复杂的方法,实现了完整的抓取-放置工作流。它动态构建一个**有序函数列表** (`function_list`),然后顺序执行。 + +**JSON 指令格式(完整参数):** + +```json +{ + "option": "pick", // *必须: pick/place/side_pick/side_place + "move_group": "arm", // *必须: MoveIt2 规划组名 + "status": "pick_station_A", // *必须: 在 joint_poses 中的目标状态名 + "resource": "beaker_1", // 要操作的资源名称 + "target": "custom_link", // pick 时资源附着的目标 link (默认末端执行器) + "lift_height": 0.05, // 抬升高度 (米) + "x_distance": 0.1, // X 方向水平移动距离 (米) + "y_distance": 0.0, // Y 方向水平移动距离 (米) + "speed": 0.5, // 运动速度因子 (0.1~1.0) + "retry": 10, // 规划失败重试次数 + "constraints": [0, 0, 0, 0.5, 0, 0] // 各关节约束容差 (>0 时生效) +} +``` + +##### 阶段 1:指令解析与动作类型判定 + +``` +pick_and_place(command_json) + │ + ├── JSON 解析 + ├── 动作类型判定: + │ move_option = ["pick", "place", "side_pick", "side_place"] + │ 0 1 2 3 + │ option_index = move_option.index(cmd["option"]) + │ place_flag = option_index % 2 ← 0=pick类, 1=place类 + │ + ├── 提取运动参数: + │ config = {speed, retry, move_group} ← 从 cmd_dict 中按需提取 + │ + └── 获取目标关节位姿: + joint_positions_ = joint_poses[move_group][status] +``` + +##### 阶段 2:构建资源 TF 更新动作 + +``` +根据 place_flag 决定资源 TF 操作: + + if pick 类 (place_flag == 0): + if "target" 已指定: + function_list += [resource_manager(resource, target)] ← 挂到自定义 link + else: + function_list += [resource_manager(resource, end_effector)] ← 挂到末端执行器 + + if place 类 (place_flag == 1): + function_list += [resource_manager(resource, "world")] ← 释放到世界坐标 +``` + +##### 阶段 3:构建关节约束 + +``` +if "constraints" 存在于指令中: + for i, tolerance in enumerate(constraints): + if tolerance > 0: + JointConstraint( + joint_name = moveit2[group].joint_names[i], + position = joint_positions_[i], ← 约束中心 = 目标关节角 + tolerance_above = tolerance, + tolerance_below = tolerance, + weight = 1.0 + ) +``` + +约束的作用:限制 IK 求解的搜索空间,确保机械臂在抬升/移动过程中保持特定关节(如肘关节)在安全范围内。 + +##### 阶段 4A:有 `lift_height` 的完整流程 + +这是最复杂的场景,涉及 FK/IK 计算和多段运动拼接: + +``` +if "lift_height" 存在: + │ + ├── Step 1: FK 计算 → 获取目标关节配置对应的末端位姿 + │ retval = compute_fk(joint_positions_) ← 可能需要重试 + │ pose = [retval.position.x, .y, .z] + │ quaternion = [retval.orientation.x, .y, .z, .w] + │ + ├── Step 2: 构建"下降到目标点"动作 + │ function_list = [moveit_task(position=pose, ...)] + function_list + │ 注:此时 function_list 已包含 resource_manager,它被插入到中间 + │ + ├── Step 3: 构建"从目标点抬升"动作 + │ pose[2] += lift_height ← Z 轴抬升 + │ function_list += [moveit_task(position=pose_lifted, ...)] + │ + ├── Step 4 (可选): 水平移动 + │ if "x_distance": + │ deep_pose = copy(pose_lifted) + │ deep_pose[0] += x_distance + │ function_list = [moveit_task(pose_lifted)] + function_list + │ function_list += [moveit_task(deep_pose)] + │ elif "y_distance": + │ 类似处理 Y 方向 + │ + ├── Step 5: IK 预计算 → 将末端位姿转换为安全的关节配置 + │ retval_ik = compute_ik( + │ position = end_pose, ← 最终抬升/移动后的位姿 + │ quat_xyzw = quaternion, + │ constraints = Constraints(joint_constraints=constraints) + │ ) + │ position_ = 从 IK 结果提取各关节角度 + │ + └── Step 6: 构建"关节空间移动到起始位"动作 + function_list = [moveit_joint_task(position_)] + function_list +``` + +##### 阶段 4B:无 `lift_height` 的简单流程 + +``` +else (无 lift_height): + │ + └── 直接关节运动到目标位姿 + function_list = [moveit_joint_task(joint_positions_)] + function_list +``` + +##### 阶段 5:顺序执行动作列表 + +``` +for i, func in enumerate(function_list): + │ + ├── 设置规划模式: + │ i == 0: cartesian_flag = False ← 第一步用自由空间规划(大范围移动) + │ i > 0: cartesian_flag = True ← 后续用笛卡尔直线规划(精确控制) + │ + ├── result = func() ← 执行动作 + │ + └── if not result: + return failure ← 任一步骤失败即中止 +``` + +##### 完整 pick 流程示例(含 lift_height + x_distance) + +假设指令为:pick beaker_1 from station_A, lift 5cm, move 10cm in X + +``` +最终 function_list 执行顺序: +┌─────────────────────────────────────────────────────────────────────┐ +│ Step 0: moveit_joint_task → IK 求解的关节角 │ +│ [cartesian=False, 自由空间规划] │ +│ 机械臂从当前位置移动到抬升位 │ +├─────────────────────────────────────────────────────────────────────┤ +│ Step 1: moveit_task → 水平移动后的抬升位 (pose_lifted) │ +│ [cartesian=True, 笛卡尔直线] │ +│ 对齐到 station_A 正上方 │ +├─────────────────────────────────────────────────────────────────────┤ +│ Step 2: moveit_task → station_A 目标位姿 (FK 计算的位置) │ +│ [cartesian=True, 笛卡尔直线] │ +│ 末端执行器下降到目标点 │ +├─────────────────────────────────────────────────────────────────────┤ +│ Step 3: resource_manager("beaker_1", end_effector) │ +│ 资源 TF 附着到末端执行器 │ +├─────────────────────────────────────────────────────────────────────┤ +│ Step 4: moveit_task → 抬升位 (z + lift_height) │ +│ [cartesian=True, 笛卡尔直线] │ +│ 抓取后垂直抬升 │ +├─────────────────────────────────────────────────────────────────────┤ +│ Step 5: moveit_task → 水平偏移位 (x + x_distance) │ +│ [cartesian=True, 笛卡尔直线] │ +│ 抬升后水平移开,避免碰撞 │ +└─────────────────────────────────────────────────────────────────────┘ +``` + +##### 完整 place 流程(同结构,反向操作) + +与 pick 相同的运动轨迹,但 `resource_manager` 调用变为 `resource_manager(resource, "world")`——在 Step 3 处将资源从末端执行器释放到世界坐标系。 + +--- + +#### 2.1.10 MoveIt2 API 调用汇总 + +`MoveitInterface` 使用的 `MoveIt2` 接口及其调用位置: + +| MoveIt2 方法 | 调用位置 | 用途 | +|-------------|---------|------| +| `MoveIt2(...)` 构造 | `post_init` L51-60 | 为每个 MoveGroup 创建实例 | +| `.allowed_planning_time = 3.0` | `post_init` L61 | 设置规划超时时间 | +| `.max_velocity = speed_` | `moveit_task` L119, `moveit_joint_task` L151 | 动态设置最大速度缩放因子 | +| `.max_acceleration = speed_` | `moveit_task` L120, `moveit_joint_task` L152 | 动态设置最大加速度缩放因子 | +| `.move_to_pose(...)` | `moveit_task` L129-137 | 笛卡尔空间运动规划与执行 | +| `.wait_until_executed()` | `moveit_task` L138, `moveit_joint_task` L157 | 阻塞等待运动完成 | +| `.move_to_configuration(...)` | `moveit_joint_task` L156 | 关节空间运动规划与执行 | +| `.compute_fk(...)` | `pick_and_place` L244, `moveit_joint_task` L160 | 正运动学:关节角 → 末端位姿 | +| `.compute_ik(...)` | `pick_and_place` L298-300 | 逆运动学:末端位姿 → 关节角(含约束) | +| `.end_effector_name` | `pick_and_place` L218 | 获取末端执行器 link 名 | +| `.joint_names` | `pick_and_place` L232, L308, L313 | 获取关节名列表 | + +--- + +#### 2.1.11 错误处理策略 + +| 场景 | 处理方式 | +|------|---------| +| FK 计算失败 | 最多重试 `retry` 次(每次间隔 0.1s),超时返回 `result.success = False` | +| IK 计算失败 | 同上 | +| 运动规划失败 | 在 `moveit_task` / `moveit_joint_task` 中最多重试 `retry+1` 次 | +| 动作序列中任一步失败 | `pick_and_place` 立即中止并返回 `result.success = False` | +| 未知异常 | `pick_and_place` 和 `set_status` 捕获 Exception,重置 `cartesian_flag`,返回失败 | + +--- + +#### 2.1.12 `cartesian_flag` 状态机 + +`cartesian_flag` 控制 `moveit_task` 中是否使用笛卡尔直线规划。在 `pick_and_place` 执行过程中,它被动态切换: + +``` +执行前: cartesian_flag = (上次残留状态) + +动作序列执行: + Step 0: cartesian_flag ← False (自由空间规划,适合大范围移动) + Step 1: cartesian_flag ← True (笛卡尔直线,适合精确操作) + Step 2: cartesian_flag ← True + ... + Step N: cartesian_flag ← True + +异常时: cartesian_flag ← False (重置,防止残留影响后续操作) +``` + +这种设计的考量:第一步通常是从安全位移动到工作区附近(距离远、可能需要绕障),使用自由空间规划更灵活;后续步骤是在工作区内的精确操作(下降、抬升、平移),笛卡尔直线规划确保路径可预测。 + +--- + +#### 2.1.13 数据流总览 + +``` +外部系统 (base_device_node) + │ + │ JSON 指令字符串 + ▼ +┌── MoveitInterface ──────────────────────────────────────────────────┐ +│ │ +│ set_position(cmd) ──→ moveit_task() ──→ MoveIt2.move_to_pose() │ +│ │ +│ set_status(cmd) ──→ moveit_joint_task() ──→ MoveIt2.move_to_config│ +│ │ +│ pick_and_place(cmd) │ +│ │ │ +│ ├─ MoveIt2.compute_fk() ─── /compute_fk service ──→ move_group │ +│ ├─ MoveIt2.compute_ik() ─── /compute_ik service ──→ move_group │ +│ ├─ moveit_task() ─── /move_action ──→ move_group │ +│ ├─ moveit_joint_task() ─── /move_action ──→ move_group │ +│ └─ resource_manager() ─── SendCmd Action ──→ tf_update │ +│ │ +│ 内部状态: │ +│ joint_poses ← 预定义位姿查找表 │ +│ moveit2{} ← MoveIt2 实例池 (per MoveGroup) │ +│ tf_buffer ← TF2 坐标变换缓存 │ +│ cartesian_flag ← 规划模式状态机 │ +│ │ +└─────────────────────────────────────────────────────────────────────┘ +``` + +--- + +## 3. `resource_visalization.py` — 场景构建与 MoveIt2 启动 + +**路径**: `unilabos/device_mesh/resource_visalization.py` +**行数**: 429 行 +**角色**: 根据实验室设备/资源配置,动态生成 URDF/SRDF,并启动 MoveIt2 所需的全部 ROS 2 节点。 + +### 3.1 核心类:`ResourceVisualization` + +#### 3.1.1 模型加载与 URDF 生成 + +初始化阶段完成以下工作: + +1. **遍历设备注册表**:区分 `resource`(静态资源如 plate/deck)和 `device`(可动设备如机械臂) +2. **Resource 类型**:记录 mesh 路径和 TF 变换信息,后续用于碰撞场景 +3. **Device 类型**:通过 `xacro` 宏注入动态参数: + - 设备名前缀(`device_name`) + - 位置/旋转(从配置中提取) + - 自定义设备参数(`device_config`) +4. **MoveIt 设备**(`class` 包含 `moveit.`):额外加载: + - `ros2_control` xacro 宏 → 生成 `ros2_control` 硬件接口描述 + - SRDF xacro 宏 → 生成运动学语义描述(move group 定义、自碰撞矩阵等) + +#### 3.1.2 MoveIt2 配置初始化 (`moveit_init`) + +对每个 MoveIt 设备,加载并合并以下配置文件(均加上设备名前缀): + +| 配置文件 | 生成目标 | 作用 | +|----------|----------|------| +| `ros2_controllers.yaml` | `ros2_controllers_yaml` | 定义 ros2_control 控制器(JointTrajectoryController 等) | +| `moveit_controllers.yaml` | `moveit_controllers_yaml` | 定义 MoveIt 控制器映射 | +| `kinematics.yaml` | `moveit_nodes_kinematics` | 定义运动学求解器参数 | + +所有关节名和控制器名都加上设备 ID 前缀,确保多设备共存时不冲突。 + +#### 3.1.3 ROS 2 Launch 节点启动 + +`create_launch_description()` 方法启动以下 ROS 2 节点: + +| 节点 | 包 | 作用 | +|------|-----|------| +| `ros2_control_node` | `controller_manager` | ros2_control 硬件管理器,加载 URDF 和控制器配置 | +| `spawner` (per controller) | `controller_manager` | 激活各 JointTrajectoryController | +| `spawner` (joint_state_broadcaster) | `controller_manager` | 广播关节状态到 `/joint_states` | +| `robot_state_publisher` | `robot_state_publisher` | 根据 URDF 和关节状态发布 TF | +| `move_group` | `moveit_ros_move_group` | **MoveIt2 核心节点**,提供运动规划服务 | +| `rviz2` (可选) | `rviz2` | 3D 可视化 | + +`move_group` 节点的参数配置包括: + +- `robot_description`: 动态生成的 URDF +- `robot_description_semantic`: 动态生成的 SRDF +- `robot_description_kinematics`: 合并后的运动学配置 +- `planning_pipelines`: 从 `moveit_configs_utils` 加载的规划器配置(默认 OMPL) +- `moveit_controllers_yaml`: 控制器映射配置 +- `robot_description_planning`: 速度/加速度限制 + +--- + +## 4. 三个文件的协作关系 + +### 4.1 启动阶段 + +``` +resource_visalization.py + │ + ├── 1. 解析设备/资源配置 → 生成 URDF + SRDF + ├── 2. 合并控制器/运动学配置(带设备名前缀) + ├── 3. 启动 ros2_control_node + controller spawners + ├── 4. 启动 robot_state_publisher(发布 TF) + ├── 5. 启动 move_group(提供规划服务) + └── 6. (可选) 启动 rviz2 +``` + +### 4.2 运行阶段 + +``` +外部调用(如 base_device_node) + │ + ▼ +moveit_interface.py + │ + ├── pick_and_place() ──┬── compute_fk() ──→ moveit2.py → /compute_fk service + │ ├── compute_ik() ──→ moveit2.py → /compute_ik service + │ ├── move_to_pose() ──→ moveit2.py → /move_action or /plan + /execute + │ ├── move_to_config()──→ moveit2.py → /move_action or /plan + /execute + │ └── resource_manager()→ SendCmd Action → tf_update + │ + ├── set_position() ────→ moveit_task() ──→ moveit2.py → move_to_pose() + │ + └── set_status() ──────→ moveit_joint_task()→ moveit2.py → move_to_configuration() +``` + +### 4.3 MoveIt2 消息类型使用一览 + +| 消息/服务/Action | 文件 | 用途 | +|-----------------|------|------| +| `moveit_msgs/action/MoveGroup` | moveit2.py | 一体化规划+执行 | +| `moveit_msgs/action/ExecuteTrajectory` | moveit2.py | 独立轨迹执行 | +| `moveit_msgs/srv/GetMotionPlan` | moveit2.py | 运动规划 | +| `moveit_msgs/srv/GetCartesianPath` | moveit2.py | 笛卡尔路径规划 | +| `moveit_msgs/srv/GetPositionFK` | moveit2.py | 正运动学 | +| `moveit_msgs/srv/GetPositionIK` | moveit2.py | 逆运动学 | +| `moveit_msgs/srv/GetPlanningScene` | moveit2.py | 获取规划场景 | +| `moveit_msgs/srv/ApplyPlanningScene` | moveit2.py | 应用规划场景 | +| `moveit_msgs/msg/CollisionObject` | moveit2.py | 碰撞物体管理 | +| `moveit_msgs/msg/AttachedCollisionObject` | moveit2.py | 附着碰撞物体 | +| `moveit_msgs/msg/Constraints` | moveit2.py, moveit_interface.py | 目标/路径约束 | +| `moveit_msgs/msg/JointConstraint` | moveit2.py, moveit_interface.py | 关节约束 | +| `moveit_msgs/msg/PlanningScene` | moveit2.py | 规划场景 | + +--- + +## 5. 注册表中的 `model` 字段与 3D 模型加载 + +### 5.1 `model` 字段概述 + +在 Uni-Lab-OS 的设备/资源注册表 YAML 中,`model` 字段是连接**注册表定义**与**3D 可视化系统**的关键。它告诉 `ResourceVisualization` 如何为该设备或资源加载 3D 模型。 + +以 `arm_slider` 为例: + +```yaml +# unilabos/registry/devices/robot_arm.yaml (L355-358) +model: + mesh: arm_slider + path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro + type: device +``` + +**三个字段的作用:** + +| 字段 | 值 | 说明 | +|------|-----|------| +| `mesh` | `arm_slider` | 模型文件夹名,对应 `device_mesh/devices/arm_slider/` 目录 | +| `path` | `https://...macro_device.xacro` | 模型文件的远程下载地址(OSS),用于首次部署时下载模型资源 | +| `type` | `device` | 模型类型标识,决定 `ResourceVisualization` 的处理逻辑 | + +### 5.2 `type` 字段的两种取值 + +`model.type` 决定了 `ResourceVisualization` 如何加载和处理 3D 模型,有两条完全不同的路径: + +#### `type: device` — 动态设备(如机械臂、龙门架) + +```python +# resource_visalization.py L121-163 +if model_config['type'] == 'device': + # 1. 通过 xacro include 加载设备的 URDF 宏 + # → device_mesh/devices/{mesh}/macro_device.xacro + + # 2. 调用 xacro 宏,注入参数: + # parent_link, mesh_path, device_name, x/y/z, rx/ry/r, device_config... + + # 3. 若设备 class 包含 "moveit.": + # → 额外加载 ros2_control xacro 和 SRDF xacro + # → 注册为 moveit_nodes,后续由 moveit_init() 加载控制器配置 +``` + +**处理流程:** + +``` +注册表 model.mesh = "arm_slider" + │ + ├── 加载 URDF: device_mesh/devices/arm_slider/macro_device.xacro + │ → 生成完整的 link/joint 运动链,嵌入到全局 URDF 中 + │ + ├── 注入位置参数: x, y, z, rx, ry, r (从节点配置 position/rotation 中读取, 单位 mm→m) + │ + ├── 注入设备参数: device_config 中的键值对作为 xacro 参数 + │ + └── 若 class 含 "moveit.": + ├── 加载 ros2_control: config/macro.ros2_control.xacro + ├── 加载 SRDF: config/macro.srdf.xacro + └── 记录到 moveit_nodes → moveit_init() 加载 controllers/kinematics +``` + +#### `type: resource` — 静态资源(如微孔板、试管架) + +```python +# resource_visalization.py L111-120 +if model_config['type'] == 'resource': + # 只记录 mesh 文件路径和 TF 偏移,用于碰撞场景 + # 不注入到 URDF 运动链中 + resource_model[node_id] = { + 'mesh': f"device_mesh/resources/{mesh}", + 'mesh_tf': model_config['mesh_tf'] + } +``` + +Resource 类型的 `model` 结构更丰富,包含 TF 偏移和子物体: + +```yaml +# 例: registry/resources/opentrons/plates.yaml +model: + mesh: tecan_nested_tip_rack/meshes/plate.stl # 主体 mesh(STL 文件) + mesh_tf: [0.064, 0.043, 0, -1.5708] # 位姿偏移 [x, y, z, rotation] + children_mesh: generic_labware_tube_10_75/meshes/0_base.stl # 子物体 mesh + children_mesh_tf: [0.0018, 0.0018, 0, -1.5708] # 子物体偏移 +``` + +### 5.3 两种类型的对比 + +| 对比项 | `type: device` | `type: resource` | +|--------|---------------|-----------------| +| **模型格式** | xacro 宏(动态参数化 URDF) | STL 静态 mesh 文件 | +| **加载方式** | xacro include → 嵌入全局 URDF | 记录路径 → 后续作为碰撞体添加 | +| **位置来源** | 节点配置中的 position/rotation | `mesh_tf` 偏移数组 | +| **是否有关节** | 是(prismatic/revolute) | 否(纯静态) | +| **支持 MoveIt** | 是(通过 class 名中的 `moveit.` 触发) | 否 | +| **子物体** | 无(运动链本身定义了所有部件) | 可选 `children_mesh`(如管架中的管子) | +| **远程路径** | `path` 字段指向 OSS 下载地址 | 类似,`children_mesh_path` 指向子物体 | +| **存放目录** | `device_mesh/devices/{mesh}/` | `device_mesh/resources/{mesh}` | +| **实际示例** | arm_slider, toyo_xyz, elite_robot | 微孔板, tip rack, 试管架 | + +### 5.4 `arm_slider` 注册表完整结构 + +`arm_slider` 的注册表键名 `robotic_arm.SCARA_with_slider.moveit.virtual` 本身就编码了重要信息: + +``` +robotic_arm → 设备大类(机械臂) + .SCARA_with_slider → 具体型号(SCARA 构型 + 线性滑轨) + .moveit → ★ 标记为 MoveIt 设备(class 名包含 "moveit.") + .virtual → 仿真/虚拟设备 +``` + +**class 名中包含 `moveit.` 的关键作用**:`ResourceVisualization` 在 L151 通过 `node['class'].find('moveit.') != -1` 判断是否需要加载 MoveIt 配置。这是 **MoveIt 设备与普通 device 的唯一判别条件**——即使两者的 `model.type` 都是 `device`。 + +注册表中的关键部分: + +```yaml +robotic_arm.SCARA_with_slider.moveit.virtual: + # 设备驱动类 + class: + module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface + type: python + action_value_mappings: + pick_and_place: ... # SendCmd Action(JSON 指令) + set_position: ... # SendCmd Action + set_status: ... # SendCmd Action + auto-moveit_task: ... # 自动发现的方法(UniLabJsonCommand) + auto-moveit_joint_task: ... + auto-resource_manager: ... + auto-post_init: ... + + # 初始化参数 + init_param_schema: + config: + properties: + moveit_type: ... # → 对应 device_mesh/devices/{moveit_type}/ 文件夹 + joint_poses: ... # → 预定义关节位姿查找表 + rotation: ... + device_config: ... + + # ★ 3D 模型定义 + model: + mesh: arm_slider # → device_mesh/devices/arm_slider/ + path: https://... # → OSS 远程下载地址 + type: device # → ResourceVisualization 按 device 逻辑加载 +``` + +### 5.5 从注册表到 MoveIt2 的完整链路 + +``` +注册表 YAML +│ +│ model.mesh = "arm_slider" +│ model.type = "device" +│ class = "robotic_arm.SCARA_with_slider.moveit.virtual" +│ ^^^^^^ +│ class 含 "moveit." +▼ +ResourceVisualization.__init__() +│ +├── model.type == "device" +│ └── xacro include: devices/arm_slider/macro_device.xacro → URDF +│ +├── class 含 "moveit." +│ ├── xacro include: devices/arm_slider/config/macro.ros2_control.xacro → URDF +│ ├── xacro include: devices/arm_slider/config/macro.srdf.xacro → SRDF +│ └── moveit_nodes["device_id"] = "arm_slider" +│ +▼ +ResourceVisualization.moveit_init() +│ +├── 加载 devices/arm_slider/config/ros2_controllers.yaml +├── 加载 devices/arm_slider/config/moveit_controllers.yaml +├── 加载 devices/arm_slider/config/kinematics.yaml +└── 合并到全局配置(带设备名前缀) +│ +▼ +ResourceVisualization.create_launch_description() +│ +├── 启动 ros2_control_node(加载 URDF + 控制器配置) +├── 启动 controller spawners(激活 arm_controller、gripper_controller) +├── 启动 robot_state_publisher(发布 TF) +├── 启动 move_group(MoveIt2 核心,加载 SRDF + kinematics + planners) +└── (可选) 启动 rviz2 +│ +▼ +MoveitInterface.post_init() +│ +├── 读取 devices/arm_slider/config/move_group.json +├── 为 "arm" 组创建 MoveIt2 实例 +└── 等待 tf_update Action Server 就绪 +│ +▼ +运行时: pick_and_place / set_position / set_status +``` + +--- + +## 6. 设备模型文件夹结构:MoveIt 设备 vs 非 MoveIt 设备 + +`device_mesh/devices/` 下的每个子文件夹代表一种设备类型的 3D 模型和配置。根据设备是否需要 MoveIt2 运动规划,文件夹内容有**显著差异**。 + +### 5.1 非 MoveIt 设备示例:`slide_w140` / `hplc_station` + +非 MoveIt 设备只需要 3D 可视化和简单的关节控制(由 `liquid_handler_joint_publisher` 等自定义节点直接控制),**不需要运动规划**。 + +``` +slide_w140/ hplc_station/ +├── macro_device.xacro ├── macro_device.xacro +├── joint_config.json ├── joint_config.json +├── param_config.json ├── param_config.json +└── meshes/ └── meshes/ + └── *.STL └── *.STL +``` + +**仅 3 个配置文件:** + +| 文件 | 作用 | +|------|------| +| `macro_device.xacro` | URDF 模型(xacro 宏),定义 link/joint/visual/collision | +| `joint_config.json` | 关节名与轴向信息,供自定义关节发布器使用 | +| `param_config.json` | 设备尺寸等可配参数(如轨道长度),注入到 xacro 宏参数中 | + +**特点:** +- 没有 `config/` 子文件夹 +- 没有 SRDF、ros2_control、MoveIt 控制器等配置 +- 关节由应用层直接发布 `JointState`,不经过 ros2_control 和 MoveIt2 + +--- + +### 5.2 MoveIt 设备示例:`arm_slider` + +MoveIt 设备需要完整的运动规划支持——从 ros2_control 硬件抽象到 MoveIt2 运动学求解和碰撞矩阵。 + +``` +arm_slider/ +├── macro_device.xacro ← URDF 模型(xacro 宏) +├── joint_limit.yaml ← 关节物理限制(effort/velocity/position) +├── meshes/ ← 3D 网格文件 +│ ├── arm_slideway.STL +│ ├── arm_base.STL +│ ├── arm_link_1.STL +│ ├── arm_link_2.STL +│ ├── arm_link_3.STL +│ ├── gripper_base.STL +│ ├── gripper_right.STL +│ └── gripper_left.STL +│ +└── config/ ← ★ MoveIt 设备独有的配置目录 + ├── macro.ros2_control.xacro ← ros2_control 硬件接口定义 + ├── macro.srdf.xacro ← SRDF 语义描述(Move Group + 碰撞矩阵) + ├── move_group.json ← Move Group 定义(供 MoveitInterface 使用) + ├── ros2_controllers.yaml ← ros2_control 控制器配置 + ├── moveit_controllers.yaml ← MoveIt ↔ 控制器映射 + ├── kinematics.yaml ← 运动学求解器配置 + ├── joint_limits.yaml ← MoveIt 用关节限制(速度/加速度缩放) + ├── initial_positions.yaml ← 仿真初始关节位置 + ├── pilz_cartesian_limits.yaml ← Pilz 笛卡尔限制 + └── moveit_planners.yaml ← 规划器配置 +``` + +**比非 MoveIt 设备多出 10 个配置文件**,全部位于 `config/` 子目录。 + +--- + +### 5.3 `arm_slider` 各文件详解 + +#### 5.3.1 `macro_device.xacro` — URDF 运动链定义 + +定义了 arm_slider 的完整运动链,包含 8 个 link 和 7 个 joint: + +``` +world + └── [fixed] base_link_joint + └── device_link + └── [fixed] device_link_joint + └── arm_slideway (底座滑轨, 有 visual + collision mesh) + └── [prismatic, X轴] arm_base_joint (滑轨平移) + └── arm_base (机械臂底座) + └── [prismatic, Z轴] arm_link_1_joint (升降) + └── arm_link_1 + └── [revolute, Z轴] arm_link_2_joint (旋转关节1) + └── arm_link_2 + └── [revolute, Z轴] arm_link_3_joint (旋转关节2) + └── arm_link_3 + └── [revolute, Z轴] gripper_base_joint (夹爪旋转) + └── gripper_base (夹爪底座) + ├── [prismatic, X轴] gripper_right_joint + │ └── gripper_right + └── [prismatic, X轴, mimic] gripper_left_joint + └── gripper_left +``` + +**关键设计点:** + +- **混合关节类型**:包含 prismatic(滑轨平移 + 升降 + 夹爪)和 revolute(旋转)关节 +- **Mimic 关节**:`gripper_left_joint` 通过 `` 标签跟随 `gripper_right_joint`,实现对称夹爪联动 +- **参数化前缀**:所有 link/joint 名都带 `${station_name}${device_name}` 前缀,支持多实例 +- **外部关节限制**:从 `joint_limit.yaml` 加载 effort/velocity/position 范围 +- **完整物理属性**:每个 link 都有 ``(质量、惯量矩阵)、``(STL mesh)和 ``(碰撞体) + +#### 5.3.2 `joint_limit.yaml` — 关节物理限制 + +定义每个关节的运动范围和动力学参数,被 `macro_device.xacro` 引用: + +| 关节 | 类型 | 范围 | 说明 | +|------|------|------|------| +| `arm_base_joint` | prismatic | 0 ~ 1.5m | 滑轨水平行程 | +| `arm_link_1_joint` | prismatic | 0 ~ 0.6m | 升降行程 | +| `arm_link_2_joint` | revolute | -95° ~ 95° | 第一旋转关节 | +| `arm_link_3_joint` | revolute | -195° ~ 195° | 第二旋转关节 | +| `gripper_base_joint` | revolute | -95° ~ 95° | 夹爪旋转 | +| `gripper_right/left_joint` | prismatic | 0 ~ 0.03m | 夹爪开合 | + +#### 5.3.3 `config/macro.ros2_control.xacro` — ros2_control 硬件接口 + +定义 ros2_control 硬件抽象层,将关节映射到控制接口: + +- **硬件插件**:`mock_components/GenericSystem`(仿真模式,可替换为真实硬件驱动) +- **每个关节声明**: + - `command_interface: position` — 位置控制模式 + - `state_interface: position` — 位置反馈(含 `initial_value` 从 `initial_positions.yaml` 加载) + - `state_interface: velocity` — 速度反馈 +- **6 个关节**:`arm_base_joint` ~ `gripper_right_joint`(`gripper_left_joint` 因为是 mimic 关节,不需要独立控制接口) + +#### 5.3.4 `config/macro.srdf.xacro` — SRDF 语义描述 + +MoveIt2 的语义机器人描述,定义了: + +**Move Groups(规划组):** + +| 组名 | 类型 | 内容 | +|------|------|------| +| `{device_name}arm` | chain | `arm_slideway` → `gripper_base`(5 DOF 运动链) | +| `{device_name}arm_gripper` | joint | `gripper_right_joint`(夹爪控制) | + +**Disable Collisions(自碰撞矩阵):** + +22 条 `` 规则,标记不可能碰撞的 link 对(Adjacent / Never),减少碰撞检测计算量。例如: + +- `arm_base` ↔ `arm_slideway`:Adjacent(相邻 link,必然接触) +- `arm_link_1` ↔ `arm_link_3`:Never(物理上不可能碰撞) +- `gripper_left` ↔ `gripper_right`:Never + +#### 5.3.5 `config/move_group.json` — MoveitInterface 配置 + +供 `MoveitInterface.post_init()` 使用,定义每个 Move Group 的关节和端点: + +```json +{ + "arm": { + "joint_names": ["arm_base_joint", "arm_link_1_joint", + "arm_link_2_joint", "arm_link_3_joint", + "gripper_base_joint"], + "base_link_name": "device_link", + "end_effector_name": "gripper_base" + } +} +``` + +`MoveitInterface` 读取此文件后,为 `"arm"` 组创建一个 `MoveIt2` 实例,自动加上设备名前缀。 + +#### 5.3.6 `config/ros2_controllers.yaml` — 控制器定义 + +定义两个 `JointTrajectoryController`: + +| 控制器 | 控制的关节 | 说明 | +|--------|-----------|------| +| `arm_controller` | arm_base_joint ~ gripper_base_joint (5个) | 机械臂主体 | +| `gripper_controller` | gripper_right_joint (1个) | 夹爪 | + +被 `resource_visalization.py` 的 `moveit_init()` 读取,加上设备名前缀后合并到全局 `ros2_controllers_yaml` 中。 + +#### 5.3.7 `config/moveit_controllers.yaml` — MoveIt ↔ 控制器映射 + +告诉 MoveIt2 的 `move_group` 节点如何将规划好的轨迹发送到 ros2_control 控制器: + +- `arm_controller` → FollowJointTrajectory Action(5 个关节) +- `gripper_controller` → FollowJointTrajectory Action(1 个关节) + +#### 5.3.8 `config/kinematics.yaml` — 运动学求解器 + +```yaml +arm: + kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 +``` + +使用 **LMA (Levenberg-Marquardt Algorithm)** 运动学求解器进行正/逆运动学计算。这是 MoveIt2 的通用 IK 求解器,适用于任意运动链拓扑。 + +#### 5.3.9 其他配置文件 + +| 文件 | 作用 | +|------|------| +| `initial_positions.yaml` | 仿真启动时各关节初始角度/位置(所有为 0,夹爪张开 0.03m) | +| `joint_limits.yaml` | MoveIt 层面的速度/加速度缩放限制(覆盖 URDF 中的值) | +| `pilz_cartesian_limits.yaml` | Pilz 工业运动规划器的笛卡尔速度/加速度限制 | +| `moveit_planners.yaml` | 可用规划器列表(`ompl_interface/OMPLPlanner`) | + +--- + +### 5.4 对比:`toyo_xyz`(另一个 MoveIt 设备) + +`toyo_xyz` 是一个三轴直线运动平台(XYZ 龙门),也是 MoveIt 设备。与 `arm_slider` 对比: + +| 对比项 | `arm_slider` | `toyo_xyz` | +|--------|-------------|------------| +| **自由度** | 5 DOF (2 prismatic + 3 revolute) + 夹爪 | 3 DOF (3 prismatic) | +| **运动链** | 混合链(平移+旋转) | 纯直线链(全 prismatic) | +| **Move Group** | `arm` (5 joints) + `arm_gripper` (1 joint) | `toyo_xyz` (3 joints) | +| **末端执行器** | `gripper_base` | `slider3_link` | +| **独有文件** | `joint_limit.yaml` | `joint_config.json` + `param_config.json` | +| **xacro 参数** | 固定尺寸 | 可配长度 (`length1/2/3`) + mesh scale 缩放 | +| **IK 求解器** | LMA | LMA | + +`toyo_xyz` 的额外特点: +- `param_config.json`:定义三轴行程和滑块尺寸,通过 xacro 参数动态缩放 STL 模型 +- `joint_config.json`:简单的关节名→轴向映射,供非 MoveIt 的关节发布器使用 +- `config/full_dev.urdf.xacro`:额外的完整 URDF 文件(独立调试用) + +两者的 **MoveIt 配置文件结构完全一致**(SRDF、ros2_control、controllers、kinematics),说明 Uni-Lab-OS 的 MoveIt 设备遵循统一的模板。 + +--- + +### 5.5 MoveIt vs 非 MoveIt 设备文件对比总结 + +``` +非 MoveIt 设备 (slide_w140) MoveIt 设备 (arm_slider) +─────────────────────────── ─────────────────────────── +macro_device.xacro ✓ macro_device.xacro ✓ +joint_config.json ✓ joint_limit.yaml ✓ +param_config.json ✓ + config/ + ├── macro.ros2_control.xacro ★ ros2_control 硬件接口 + ├── macro.srdf.xacro ★ SRDF (Move Group + 碰撞) + ├── move_group.json ★ MoveitInterface 配置 + ├── ros2_controllers.yaml ★ 控制器定义 + ├── moveit_controllers.yaml ★ MoveIt↔控制器映射 + ├── kinematics.yaml ★ IK 求解器配置 + ├── joint_limits.yaml ★ MoveIt 关节限制 + ├── initial_positions.yaml ★ 仿真初始状态 + ├── pilz_cartesian_limits.yaml ★ 笛卡尔限制 + └── moveit_planners.yaml ★ 规划器列表 + +文件数: 3 文件数: 12 (3 + 10 MoveIt 专用) +``` + +**核心区别:MoveIt 设备多出的 `config/` 目录下的 10 个文件,构成了 MoveIt2 运动规划所需的完整配置栈:** + +1. **硬件层** (`macro.ros2_control.xacro`): 关节如何被控制 +2. **语义层** (`macro.srdf.xacro`): 哪些关节组成规划组,哪些碰撞可以忽略 +3. **规划层** (`kinematics.yaml`, `moveit_planners.yaml`, `pilz_cartesian_limits.yaml`): 如何求解和规划 +4. **执行层** (`ros2_controllers.yaml`, `moveit_controllers.yaml`): 轨迹如何下发到控制器 +5. **桥接层** (`move_group.json`): Uni-Lab-OS 的 `MoveitInterface` 如何连接到 MoveIt2 + +--- + +## 6. 设计特点 + +1. **多设备支持**:通过设备名前缀机制(`device_id_`),所有关节名、link 名、控制器名都是唯一的,支持在同一 ROS 2 环境中运行多台机械臂。 + +2. **动态场景构建**:`ResourceVisualization` 根据实验室配置动态生成 URDF/SRDF,无需手动编写或维护静态模型文件。 + +3. **规划/执行分离**:`MoveIt2` 类支持 MoveGroup Action(合并模式)和 Plan+Execute(分离模式),可根据场景灵活选择。 + +4. **线程安全**:`MoveIt2` 类通过 `threading.Lock` 保护关节状态和执行状态的并发访问。 + +5. **碰撞场景集成**:支持完整的碰撞物体生命周期管理(添加/移动/附着/分离/删除),可在运行时动态更新规划场景。 + +6. **资源 TF 动态更新**:`MoveitInterface` 通过 `resource_manager()` 在 pick/place 时动态更新资源的 TF 父 link,实现物体在机器人和环境之间的"跟随"效果。 + +7. **统一设备模板**:MoveIt 设备遵循统一的 `config/` 目录结构(SRDF、ros2_control、controllers、kinematics),新增设备只需按模板创建配置文件即可接入 MoveIt2 运动规划。 diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py index ee58d67e..0848bfb5 100644 --- a/unilabos/device_mesh/resource_visalization.py +++ b/unilabos/device_mesh/resource_visalization.py @@ -201,17 +201,42 @@ class ResourceVisualization: self.moveit_controllers_yaml['moveit_simple_controller_manager'][f"{name}_{controller_name}"] = moveit_dict['moveit_simple_controller_manager'][controller_name] + @staticmethod + def _ensure_ros2_env() -> dict: + """确保 ROS2 环境变量正确设置,返回可用于子进程的 env dict""" + import sys + env = dict(os.environ) + conda_prefix = os.path.dirname(os.path.dirname(sys.executable)) + + if "AMENT_PREFIX_PATH" not in env or not env["AMENT_PREFIX_PATH"].strip(): + candidate = os.pathsep.join([conda_prefix, os.path.join(conda_prefix, "Library")]) + env["AMENT_PREFIX_PATH"] = candidate + os.environ["AMENT_PREFIX_PATH"] = candidate + + extra_bin_dirs = [ + os.path.join(conda_prefix, "Library", "bin"), + os.path.join(conda_prefix, "Library", "lib"), + os.path.join(conda_prefix, "Scripts"), + conda_prefix, + ] + current_path = env.get("PATH", "") + for d in extra_bin_dirs: + if d not in current_path: + current_path = d + os.pathsep + current_path + env["PATH"] = current_path + os.environ["PATH"] = current_path + + return env + def create_launch_description(self) -> LaunchDescription: """ 创建launch描述,包含robot_state_publisher和move_group节点 - Args: - urdf_str: URDF文本 - Returns: LaunchDescription: launch描述对象 """ - # 检查ROS 2环境变量 + launch_env = self._ensure_ros2_env() + if "AMENT_PREFIX_PATH" not in os.environ: raise OSError( "ROS 2环境未正确设置。需要设置 AMENT_PREFIX_PATH 环境变量。\n" @@ -290,7 +315,7 @@ class ResourceVisualization: {"robot_description": robot_description}, ros2_controllers, ], - env=dict(os.environ) + env=launch_env, ) ) for controller in self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names']: @@ -300,7 +325,7 @@ class ResourceVisualization: executable="spawner", arguments=[f"{controller}", "--controller-manager", f"controller_manager"], output="screen", - env=dict(os.environ) + env=launch_env, ) ) controllers.append( @@ -309,7 +334,7 @@ class ResourceVisualization: executable="spawner", arguments=["joint_state_broadcaster", "--controller-manager", f"controller_manager"], output="screen", - env=dict(os.environ) + env=launch_env, ) ) for i in controllers: @@ -317,7 +342,6 @@ class ResourceVisualization: else: ros2_controllers = None - # 创建robot_state_publisher节点 robot_state_publisher = nd( package='robot_state_publisher', executable='robot_state_publisher', @@ -327,9 +351,8 @@ class ResourceVisualization: 'robot_description': robot_description, 'use_sim_time': False }, - # kinematics_dict ], - env=dict(os.environ) + env=launch_env, ) @@ -361,7 +384,7 @@ class ResourceVisualization: executable='move_group', output='screen', parameters=moveit_params, - env=dict(os.environ) + env=launch_env, ) @@ -379,13 +402,11 @@ class ResourceVisualization: arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"], output='screen', parameters=[ - {'robot_description_kinematics': kinematics_dict, - }, + {'robot_description_kinematics': kinematics_dict}, robot_description_planning, planning_pipelines, - ], - env=dict(os.environ) + env=launch_env, ) self.launch_description.add_action(rviz_node) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 117a027d..ccbec786 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -71,7 +71,8 @@ class LiquidHandlerMiddleware(LiquidHandler): if simulator: if joint_config: self._simulate_backend = UniLiquidHandlerRvizBackend( - channel_num, kwargs["total_height"], joint_config=joint_config, lh_device_id=deck.name + channel_num, kwargs["total_height"], joint_config=joint_config, lh_device_id=deck.name, + simulate_rviz=kwargs.get("simulate_rviz", True) ) else: self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num) @@ -770,6 +771,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): simulator: bool = False, channel_num: int = 8, total_height: float = 310, + **kwargs, ): """Initialize a LiquidHandler. @@ -809,14 +811,20 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): except Exception: backend_cls = None if backend_cls is not None and isinstance(backend_cls, type): - backend_type = backend_cls(**backend_dict) # pass the rest of dict as kwargs + if simulator: + backend_type = LiquidHandlerChatterboxBackend(channel_num) + else: + init_kwargs = dict(backend_dict) + init_kwargs["total_height"] = total_height + init_kwargs.update(kwargs) + backend_type = backend_cls(**init_kwargs) except Exception as exc: raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}") else: backend_type = backend self._simulator = simulator self.group_info = dict() - super().__init__(backend_type, deck, simulator, channel_num) + super().__init__(backend_type, deck, simulator, channel_num, total_height=total_height, **kwargs) def post_init(self, ros_node: BaseROS2DeviceNode): self._ros_node = ros_node diff --git a/unilabos/devices/liquid_handling/rviz_backend.py b/unilabos/devices/liquid_handling/rviz_backend.py index 3bd2c2f8..f9d83d9e 100644 --- a/unilabos/devices/liquid_handling/rviz_backend.py +++ b/unilabos/devices/liquid_handling/rviz_backend.py @@ -59,6 +59,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend): self.total_height = total_height self.joint_config = kwargs.get("joint_config", None) self.lh_device_id = kwargs.get("lh_device_id", "lh_joint_publisher") + self.simulate_rviz = kwargs.get("simulate_rviz", False) if not rclpy.ok(): rclpy.init() self.joint_state_publisher = None @@ -69,7 +70,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend): self.joint_state_publisher = LiquidHandlerJointPublisher( joint_config=self.joint_config, lh_device_id=self.lh_device_id, - simulate_rviz=True) + simulate_rviz=self.simulate_rviz) # 启动ROS executor self.executor = rclpy.executors.MultiThreadedExecutor() diff --git a/unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py b/unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py index 5b7c7252..400bcac0 100644 --- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py +++ b/unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py @@ -42,6 +42,7 @@ class LiquidHandlerJointPublisher(Node): while self.resource_action is None: self.resource_action = self.check_tf_update_actions() time.sleep(1) + self.get_logger().info(f'Waiting for TfUpdate server: {self.resource_action}') self.resource_action_client = ActionClient(self, SendCmd, self.resource_action) while not self.resource_action_client.wait_for_server(timeout_sec=1.0): diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index c24f9e8e..3d957f62 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -51,6 +51,7 @@ def main( bridges: List[Any] = [], visual: str = "disable", resources_mesh_config: dict = {}, + resources_mesh_resource_list: list = [], rclpy_init_args: List[str] = ["--log-level", "debug"], discovery_interval: float = 15.0, ) -> None: @@ -77,12 +78,12 @@ def main( if visual != "disable": from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher - # 将 ResourceTreeSet 转换为 list 用于 visual 组件 - resources_list = ( - [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes] - if resources_config - else [] - ) + # 优先使用从 main.py 传入的完整资源列表(包含所有子资源) + if resources_mesh_resource_list: + resources_list = resources_mesh_resource_list + else: + # fallback: 从 ResourceTreeSet 获取 + resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes] resource_mesh_manager = ResourceMeshManager( resources_mesh_config, resources_list, @@ -90,7 +91,7 @@ def main( device_id="resource_mesh_manager", device_uuid=str(uuid.uuid4()), ) - joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker) + joint_republisher = JointRepublisher("joint_republisher","joint_republisher", host_node.resource_tracker) # lh_joint_pub = LiquidHandlerJointPublisher( # resources_config=resources_list, resource_tracker=host_node.resource_tracker # ) @@ -114,6 +115,7 @@ def slave( bridges: List[Any] = [], visual: str = "disable", resources_mesh_config: dict = {}, + resources_mesh_resource_list: list = [], rclpy_init_args: List[str] = ["--log-level", "debug"], ) -> None: """从节点函数""" @@ -208,12 +210,12 @@ def slave( if visual != "disable": from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher - # 将 ResourceTreeSet 转换为 list 用于 visual 组件 - resources_list = ( - [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes] - if resources_config - else [] - ) + # 优先使用从 main.py 传入的完整资源列表(包含所有子资源) + if resources_mesh_resource_list: + resources_list = resources_mesh_resource_list + else: + # fallback: 从 ResourceTreeSet 获取 + resources_list = [node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes] resource_mesh_manager = ResourceMeshManager( resources_mesh_config, resources_list, diff --git a/unilabos/ros/nodes/presets/resource_mesh_manager.py b/unilabos/ros/nodes/presets/resource_mesh_manager.py index 45e330dd..3eac290b 100644 --- a/unilabos/ros/nodes/presets/resource_mesh_manager.py +++ b/unilabos/ros/nodes/presets/resource_mesh_manager.py @@ -23,17 +23,32 @@ from unilabos_msgs.action import SendCmd from rclpy.action.server import ServerGoalHandle from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode,DeviceNodeResourceTracker from unilabos.resources.graphio import initialize_resources +from unilabos.resources.resource_tracker import EXTRA_CLASS from unilabos.registry.registry import lab_registry class ResourceMeshManager(BaseROS2DeviceNode): - def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", registry_name: str = "", rate=50, **kwargs): + def __init__( + self, + resource_model: Optional[dict] = None, + resource_config: Optional[list] = None, + resource_tracker=None, + device_id: str = "resource_mesh_manager", + registry_name: str = "", + rate=50, + **kwargs, + ): """初始化资源网格管理器节点 - + Args: - resource_model (dict): 资源模型字典,包含资源的3D模型信息 - resource_config (dict): 资源配置字典,包含资源的配置信息 - device_id (str): 节点名称 + resource_model: 资源模型字典(可选,为 None 时自动从 registry 构建) + resource_config: 资源配置列表(可选,为 None 时启动后通过 ActionServer 或 load_from_resource_tree 加载) + resource_tracker: 资源追踪器 + device_id: 节点名称 + rate: TF 发布频率 """ + if resource_tracker is None: + resource_tracker = DeviceNodeResourceTracker() + super().__init__( driver_instance=self, device_id=device_id, @@ -42,12 +57,14 @@ class ResourceMeshManager(BaseROS2DeviceNode): action_value_mappings={}, hardware_interface={}, print_publish=False, - resource_tracker=resource_tracker, + resource_tracker=resource_tracker, device_uuid=kwargs.get("uuid", str(uuid.uuid4())), - ) + ) - self.resource_model = resource_model - self.resource_config_dict = {item['uuid']: item for item in resource_config} + self.resource_model = resource_model if resource_model is not None else {} + self.resource_config_dict = ( + {item['uuid']: item for item in resource_config} if resource_config else {} + ) self.move_group_ready = False self.resource_tf_dict = {} self.tf_broadcaster = TransformBroadcaster(self) @@ -63,7 +80,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): self.mesh_path = Path(__file__).parent.parent.parent.parent.absolute() self.msg_type = 'resource_status' self.resource_status_dict = {} - + callback_group = ReentrantCallbackGroup() self._get_planning_scene_service = self.create_client( srv_type=GetPlanningScene, @@ -76,8 +93,7 @@ class ResourceMeshManager(BaseROS2DeviceNode): ), callback_group=callback_group, ) - - # Create a service for applying the planning scene + self._apply_planning_scene_service = self.create_client( srv_type=ApplyPlanningScene, srv_name="/apply_planning_scene", @@ -103,27 +119,36 @@ class ResourceMeshManager(BaseROS2DeviceNode): AttachedCollisionObject, "/attached_collision_object", 0 ) - # 创建一个Action Server用于修改resource_tf_dict self._action_server = ActionServer( self, SendCmd, f"tf_update", self.tf_update, - callback_group=callback_group + callback_group=callback_group, ) - # 创建一个Action Server用于添加新的资源模型与resource_tf_dict self._add_resource_mesh_action_server = ActionServer( self, SendCmd, f"add_resource_mesh", self.add_resource_mesh_callback, - callback_group=callback_group + callback_group=callback_group, ) - self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict) - self.create_timer(1/self.rate, self.publish_resource_tf) - self.create_timer(1/self.rate, self.check_resource_pose_changes) + self._reload_resource_mesh_action_server = ActionServer( + self, + SendCmd, + f"reload_resource_mesh", + self._reload_resource_mesh_callback, + callback_group=callback_group, + ) + + if self.resource_config_dict: + self.resource_tf_dict = self.resource_mesh_setup(self.resource_config_dict) + else: + self.get_logger().info("未提供 resource_config,将通过 ActionServer 或 load_from_resource_tree 加载") + self.create_timer(1 / self.rate, self.publish_resource_tf) + self.create_timer(1 / self.rate, self.check_resource_pose_changes) def check_move_group_ready(self): """检查move_group节点是否已初始化完成""" @@ -140,56 +165,156 @@ class ResourceMeshManager(BaseROS2DeviceNode): self.add_resource_collision_meshes(self.resource_tf_dict) - def add_resource_mesh_callback(self, goal_handle : ServerGoalHandle): + def _build_resource_model_for_config(self, resource_config_dict: dict): + """从 registry 中为给定的资源配置自动构建 resource_model(mesh 信息)""" + registry = lab_registry + for _uuid, res_cfg in resource_config_dict.items(): + resource_id = res_cfg.get('id', '') + resource_class = res_cfg.get('class', '') + if not resource_class: + continue + if resource_class not in registry.resource_type_registry: + continue + reg_entry = registry.resource_type_registry[resource_class] + if 'model' not in reg_entry: + continue + model_config = reg_entry['model'] + if model_config.get('type') != 'resource': + continue + if resource_id in self.resource_model: + continue + self.resource_model[resource_id] = { + 'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}", + 'mesh_tf': model_config['mesh_tf'], + } + if model_config.get('children_mesh') is not None: + self.resource_model[f"{resource_id}_"] = { + 'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}", + 'mesh_tf': model_config['children_mesh_tf'], + } + + def load_from_resource_tree(self): + """从 resource_tracker 中读取资源树,自动构建 resource_config_dict / resource_model 并刷新 TF""" + new_config_dict: dict = {} + + def _collect_plr_resource(res, parent_uuid: Optional[str] = None): + res_uuid = getattr(res, 'unilabos_uuid', None) + if not res_uuid: + res_uuid = str(uuid.uuid4()) + extra = getattr(res, 'unilabos_extra', {}) or {} + resource_class = extra.get(EXTRA_CLASS, '') + + location = getattr(res, 'location', None) + pos_x = float(location.x) if location else 0.0 + pos_y = float(location.y) if location else 0.0 + pos_z = float(location.z) if location else 0.0 + + rotation = extra.get('rotation', {'x': 0, 'y': 0, 'z': 0}) + + new_config_dict[res_uuid] = { + 'id': res.name, + 'uuid': res_uuid, + 'class': resource_class, + 'parent_uuid': parent_uuid, + 'pose': { + 'position': {'x': pos_x, 'y': pos_y, 'z': pos_z}, + 'rotation': rotation, + }, + } + + for child in getattr(res, 'children', []) or []: + _collect_plr_resource(child, res_uuid) + + for resource in self.resource_tracker.resources: + root_parent_uuid = None + plr_parent = getattr(resource, 'parent', None) + if plr_parent is not None: + root_parent_uuid = getattr(plr_parent, 'unilabos_uuid', None) + _collect_plr_resource(resource, root_parent_uuid) + + if not new_config_dict: + self.get_logger().warning("resource_tracker 中没有找到任何资源") + return + + self.resource_config_dict = {**self.resource_config_dict, **new_config_dict} + self._build_resource_model_for_config(new_config_dict) + + tf_dict = self.resource_mesh_setup(new_config_dict) + self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict} + self.publish_resource_tf() + if self.move_group_ready: + self.add_resource_collision_meshes(tf_dict) + self.get_logger().info(f"从资源树加载了 {len(new_config_dict)} 个资源") + + def _reload_resource_mesh_callback(self, goal_handle: ServerGoalHandle): + """ActionServer 回调:重新从资源树加载所有 mesh""" + try: + self.load_from_resource_tree() + except Exception as e: + self.get_logger().error(f"重新加载资源失败: {e}") + goal_handle.abort() + return SendCmd.Result(success=False) + goal_handle.succeed() + return SendCmd.Result(success=True) + + def add_resource_mesh_callback(self, goal_handle: ServerGoalHandle): tf_update_msg = goal_handle.request - try: - self.add_resource_mesh(tf_update_msg.command) + try: + parsed = json.loads(tf_update_msg.command.replace("'", '"')) + if 'resources' in parsed: + for res_config in parsed['resources']: + self.add_resource_mesh(json.dumps(res_config)) + else: + self.add_resource_mesh(tf_update_msg.command) except Exception as e: self.get_logger().error(f"添加资源失败: {e}") goal_handle.abort() return SendCmd.Result(success=False) goal_handle.succeed() return SendCmd.Result(success=True) - - def add_resource_mesh(self,resource_config_str:str): - """刷新资源配置""" + def add_resource_mesh(self, resource_config_str: str): + """添加单个资源的 mesh 配置""" registry = lab_registry - resource_config = json.loads(resource_config_str.replace("'",'"')) - + resource_config = json.loads(resource_config_str.replace("'", '"')) + if resource_config['id'] in self.resource_config_dict: self.get_logger().info(f'资源 {resource_config["id"]} 已存在') return - if resource_config['class'] in registry.resource_type_registry.keys(): - model_config = registry.resource_type_registry[resource_config['class']]['model'] - if model_config['type'] == 'resource': - self.resource_model[resource_config['id']] = { - 'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}", - 'mesh_tf': model_config['mesh_tf']} - if 'children_mesh' in model_config.keys(): - self.resource_model[f"{resource_config['id']}_"] = { - 'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}", - 'mesh_tf': model_config['children_mesh_tf'] + resource_class = resource_config.get('class', '') + if resource_class and resource_class in registry.resource_type_registry: + reg_entry = registry.resource_type_registry[resource_class] + if 'model' in reg_entry: + model_config = reg_entry['model'] + if model_config.get('type') == 'resource': + self.resource_model[resource_config['id']] = { + 'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['mesh']}", + 'mesh_tf': model_config['mesh_tf'], } + if model_config.get('children_mesh') is not None: + self.resource_model[f"{resource_config['id']}_"] = { + 'mesh': f"{str(self.mesh_path)}/device_mesh/resources/{model_config['children_mesh']}", + 'mesh_tf': model_config['children_mesh_tf'], + } resources = initialize_resources([resource_config]) resource_dict = {item['id']: item for item in resources} - self.resource_config_dict = {**self.resource_config_dict,**resource_dict} + self.resource_config_dict = {**self.resource_config_dict, **resource_dict} tf_dict = self.resource_mesh_setup(resource_dict) - self.resource_tf_dict = {**self.resource_tf_dict,**tf_dict} + self.resource_tf_dict = {**self.resource_tf_dict, **tf_dict} self.publish_resource_tf() self.add_resource_collision_meshes(tf_dict) - - def resource_mesh_setup(self, resource_config_dict:dict): - """move_group初始化完成后的设置""" + def resource_mesh_setup(self, resource_config_dict: dict): + """根据资源配置字典设置 TF 关系""" self.get_logger().info('开始设置资源网格管理器') - #遍历resource_config中的资源配置,判断panent是否在resource_model中, resource_tf_dict = {} for resource_uuid, resource_config in resource_config_dict.items(): parent = None resource_id = resource_config['id'] - if resource_config['parent_uuid'] is not None and resource_config['parent_uuid'] != "": - parent = resource_config_dict[resource_config['parent_uuid']]['id'] + parent_uuid = resource_config.get('parent_uuid') + if parent_uuid is not None and parent_uuid != "": + parent_entry = resource_config_dict.get(parent_uuid) or self.resource_config_dict.get(parent_uuid) + parent = parent_entry['id'] if parent_entry else None parent_link = 'world' if parent in self.resource_model: From 04c0564366abacbd87d559662eb98ee125b7d31a Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Wed, 25 Mar 2026 06:04:36 +0800 Subject: [PATCH 34/43] Update .gitignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 610be614..56965177 100644 --- a/.gitignore +++ b/.gitignore @@ -250,3 +250,4 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2 test_config.py +/.claude From ad2e5a1c040bec7af58886e799b233ad64366c13 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Wed, 25 Mar 2026 19:42:25 +0800 Subject: [PATCH 35/43] =?UTF-8?q?=E6=9B=B4=E6=96=B0prcxi=E7=9A=84=E7=89=88?= =?UTF-8?q?=E9=9D=A2=E6=9B=B4=E6=96=B0=E4=B8=8E=E5=B7=A5=E4=BD=9C=E6=B5=81?= =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=96=B9=E6=B3=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 + .../devices/liquid_handling/prcxi/prcxi.py | 245 +++++++++++++++--- unilabos/resources/resource_tracker.py | 8 +- unilabos/workflow/common.py | 32 ++- 4 files changed, 237 insertions(+), 49 deletions(-) diff --git a/.gitignore b/.gitignore index 56965177..af60a804 100644 --- a/.gitignore +++ b/.gitignore @@ -251,3 +251,4 @@ test_config.py /.claude +/.cursor diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index f9cc0507..235d1e2a 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -793,8 +793,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract): rail_interval=0, x_increase = -0.003636, y_increase = -0.003636, - x_offset = -0.8, - y_offset = -37.98, + x_offset = 9.2, + y_offset = -27.98, deck_z = 300, deck_y = 400, rail_width=27.5, @@ -809,28 +809,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract): self.x_offset = x_offset self.y_offset = y_offset self.xy_coupling = xy_coupling - + self.left_2_claw = Coordinate(-130.2, 34, -134) + self.right_2_left = Coordinate(22,-1, 8) tablets_info = {} plate_positions = [] - for child in deck.children: - number = int(child.name.replace("T", "")) - - if child.children: - if "Material" in child.children[0]._unilabos_state: - tablets_info[number] = child.children[0]._unilabos_state["Material"].get("uuid", "730067cf07ae43849ddf4034299030e9") - else: - tablets_info[number] = "730067cf07ae43849ddf4034299030e9" - else: - tablets_info[number] = "730067cf07ae43849ddf4034299030e9" - pos = self.plr_pos_to_prcxi(child) - plate_positions.append( - { - "Number": number, - "XPos": pos.x, - "YPos": pos.y, - "ZPos": pos.z - } - ) if is_9320: @@ -850,8 +832,180 @@ class PRCXI9300Handler(LiquidHandlerAbstract): ) super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num) - - def plr_pos_to_prcxi(self, resource: Resource): + self._first_transfer_done = False + + @staticmethod + def _get_slot_number(resource) -> Optional[int]: + """从 resource 的 unilabos_extra["update_resource_site"](如 "T13")或位置反算槽位号。""" + extra = getattr(resource, "unilabos_extra", {}) or {} + site = extra.get("update_resource_site", "") + if site: + digits = "".join(c for c in str(site) if c.isdigit()) + return int(digits) if digits else None + # 使用 resource.location.x 和 resource.location.y 反算槽位号 + # 参考 _DEFAULT_SITE_POSITIONS: x = (i%4)*137.5+5, y = (int(i/4))*96+13 + loc = getattr(resource, "location", None) + if loc is not None and loc.x is not None and loc.y is not None: + col = round((loc.x - 5) / 137.5) # 0-3 + row = round(3-(loc.y - 13) / 96) # 0-3 + idx = row * 4 + col # 0-15 + if 0 <= idx < 16: + return idx + 1 # 槽位号从 1 开始 + + return None + + def _match_and_create_matrix(self): + """首次 transfer_liquid 时,根据 deck 上的 resource 自动匹配耗材并创建 WorkTabletMatrix。""" + backend = self._unilabos_backend + api = backend.api_client + + if backend.matrix_id: + return + + material_list = api.get_all_materials() + if not material_list: + return + + # 按 materialEnum 分组: {enum_value: [material, ...]} + material_dict = {} + material_uuid_map = {} + for m in material_list: + enum_key = m.get("materialEnum") + material_dict.setdefault(enum_key, []).append(m) + if "uuid" in m: + material_uuid_map[m["uuid"]] = m + + work_tablets = [] + slot_none = [i for i in range(1, 17)] + + for child in self.deck.children: + + resource = child + number = self._get_slot_number(resource) + if number is None: + continue + + # 如果 resource 已有 Material UUID,直接使用 + if hasattr(resource, "_unilabos_state") and "Material" in getattr(resource, "_unilabos_state", {}): + mat_uuid = resource._unilabos_state["Material"].get("uuid") + if mat_uuid and mat_uuid in material_uuid_map: + work_tablets.append({"Number": number, "Material": material_uuid_map[mat_uuid]}) + continue + + # 根据 resource 类型推断 materialEnum + # MaterialEnum: Other=0, Tips=1, DeepWellPlate=2, PCRPlate=3, ELISAPlate=4, Reservoir=5, WasteBox=6 + expected_enum = None + if isinstance(resource, PRCXI9300TipRack) or isinstance(resource, TipRack): + expected_enum = 1 # Tips + elif isinstance(resource, PRCXI9300Trash) or isinstance(resource, Trash): + expected_enum = 6 # WasteBox + elif isinstance(resource, (PRCXI9300Plate, Plate)): + expected_enum = None # Plate 可能是 DeepWellPlate/PCRPlate/ELISAPlate,不限定 + + + # 根据 expected_enum 筛选候选耗材列表 + if expected_enum is not None: + candidates = material_dict.get(expected_enum, []) + else: + # expected_enum 未确定时,搜索所有耗材 + candidates = material_list + + # 根据 children 个数和容量匹配最相似的耗材 + num_children = len(resource.children) + child_max_volume = None + if resource.children: + first_child = resource.children[0] + if hasattr(first_child, "max_volume") and first_child.max_volume is not None: + child_max_volume = first_child.max_volume + + best_material = None + best_score = float("inf") + + for material in candidates: + hole_count = (material.get("HoleRow", 0) or 0) * (material.get("HoleColum", 0) or 0) + material_volume = material.get("Volume", 0) or 0 + + # 孔数差异(高权重优先匹配孔数) + hole_diff = abs(num_children - hole_count) + # 容量差异(归一化) + if child_max_volume is not None and material_volume > 0: + vol_diff = abs(child_max_volume - material_volume) / material_volume + else: + vol_diff = 0 + + score = hole_diff * 1000 + vol_diff + if score < best_score: + best_score = score + best_material = material + + if best_material: + work_tablets.append({"Number": number, "Material": best_material}) + slot_none.remove(number) + + if not work_tablets: + return + + matrix_id = str(uuid.uuid4()) + matrix_info = { + "MatrixId": matrix_id, + "MatrixName": matrix_id, + "WorkTablets": work_tablets + + [{"Number": number, "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"}} for number in slot_none], + } + res = api.add_WorkTablet_Matrix(matrix_info) + if res.get("Success"): + backend.matrix_id = matrix_id + backend.matrix_info = matrix_info + + # 重新计算所有槽位的位置(初始化时 deck 可能为空,此时才有资源) + pipetting_positions = [] + plate_positions = [] + for child in self.deck.children: + number = self._get_slot_number(child) + + if number is None: + continue + + pos = self.plr_pos_to_prcxi(child) + plate_positions.append({"Number": number, "XPos": pos.x, "YPos": pos.y, "ZPos": pos.z}) + + if child.children: + pip_pos = self.plr_pos_to_prcxi(child.children[0], self.left_2_claw) + else: + pip_pos = self.plr_pos_to_prcxi(child, Coordinate(50, self.left_2_claw.y, self.left_2_claw.z)) + half_x = child.get_size_x() / 2 * abs(1 + self.x_increase) + z_wall = child.get_size_z() + + pipetting_positions.append({ + "Number": number, + "XPos": pip_pos.x, + "YPos": pip_pos.y, + "ZPos": pip_pos.z, + "X_Left": half_x, + "X_Right": half_x, + "ZAgainstTheWall": pip_pos.z - z_wall, + "X2Pos": pip_pos.x + self.right_2_left.x, + "Y2Pos": pip_pos.y + self.right_2_left.y, + "Z2Pos": pip_pos.z + self.right_2_left.z, + "X2_Left": half_x, + "X2_Right": half_x, + "ZAgainstTheWall2": pip_pos.z - z_wall, + }) + + if pipetting_positions: + api.update_pipetting_position(matrix_id, pipetting_positions) + # 更新 backend 中的 plate_positions + backend.plate_positions = plate_positions + + if plate_positions: + api.update_clamp_jaw_position(matrix_id, plate_positions) + + + print(f"Auto-matched materials and created matrix: {matrix_id}") + else: + raise PRCXIError(f"Failed to create auto-matched matrix: {res.get('Message', 'Unknown error')}") + + def plr_pos_to_prcxi(self, resource: Resource, offset: Coordinate = Coordinate(0, 0, 0)): resource_pos = resource.get_absolute_location(x="c",y="c",z="t") x = resource_pos.x y = resource_pos.y @@ -869,9 +1023,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract): prcxi_y = (self.deck_y - y)*(1+self.y_increase) + self.y_offset prcxi_z = self.deck_z - z - prcxi_x = min(max(0, prcxi_x),self.deck_x) - prcxi_y = min(max(0, prcxi_y),self.deck_y) - prcxi_z = min(max(0, prcxi_z),self.deck_z) + prcxi_x = min(max(0, prcxi_x+offset.x),self.deck_x) + prcxi_y = min(max(0, prcxi_y+offset.y),self.deck_y) + prcxi_z = min(max(0, prcxi_z+offset.z),self.deck_z) return Coordinate(prcxi_x, prcxi_y, prcxi_z) @@ -1008,6 +1162,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract): delays: Optional[List[int]] = None, none_keys: List[str] = [], ) -> TransferLiquidReturn: + if not self._first_transfer_done: + self._match_and_create_matrix() + self._first_transfer_done = True if self.step_mode: await self.create_protocol(f"transfer_liquid{time.time()}") res = await super().transfer_liquid( @@ -1069,10 +1226,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract): offsets: Optional[List[Coordinate]] = None, **backend_kwargs, ): - if self.step_mode: - await self.create_protocol(f"单点动作{time.time()}") - await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) - await self.run_protocol() return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs) async def aspirate( @@ -1432,7 +1585,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): await asyncio.sleep(1) print("PRCXI9300 reset successfully.") - self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions) + # self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions) except ConnectionRefusedError as e: raise RuntimeError( @@ -1460,8 +1613,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent.parent - plate_index = deck.children.index(plate.parent) + deck = plate.parent + plate_index = deck.children.index(plate) # print(f"Plate index: {plate_index}, Plate name: {plate.name}") # print(f"Number of children in deck: {len(deck.children)}") @@ -1535,8 +1688,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent.parent - plate_index = deck.children.index(plate.parent) + deck = plate.parent + plate_index = deck.children.index(plate) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: raise ValueError( @@ -1595,7 +1748,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): for op in targets: deck = op.parent.parent.parent plate = op.parent - plate_index = deck.children.index(plate.parent) + plate_index = deck.children.index(plate) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -1646,8 +1799,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent.parent - plate_index = deck.children.index(plate.parent) + deck = plate.parent + plate_index = deck.children.index(plate) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -1703,8 +1856,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent.parent - plate_index = deck.children.index(plate.parent) + deck = plate.parent + plate_index = deck.children.index(plate) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -1939,11 +2092,19 @@ class PRCXI9300Api: def update_clamp_jaw_position(self, target_matrix_id: str, plate_positions: List[Dict[str, Any]]): position_params = { - "MatrixId": target_matrix_id, + "MatrixId": target_matrix_id, "WorkTablets": plate_positions } return self.call("IMatrix", "UpdateClampJawPosition", [position_params]) + def update_pipetting_position(self, target_matrix_id: str, pipetting_positions: List[Dict[str, Any]]): + """UpdatePipettingPosition - 更新移液位置""" + position_params = { + "MatrixId": target_matrix_id, + "WorkTablets": pipetting_positions + } + return self.call("IMatrix", "UpdatePipettingPosition", [position_params]) + def add_WorkTablet_Matrix(self, matrix: MatrixInfo): return self.call("IMatrix", "AddWorkTabletMatrix2" if self.is_9320 else "AddWorkTabletMatrix", [matrix]) diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 2aadd78f..62193f42 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -774,7 +774,13 @@ class ResourceTreeSet(object): ValueError: 当建立关系时发现不一致 """ # 第一步:将字典列表转换为 ResourceDictInstance 列表 - instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in raw_list] + parsed_list = [] + for node_dict in raw_list: + if isinstance(node_dict, str): + import json + node_dict = json.loads(node_dict) + parsed_list.append(node_dict) + instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in parsed_list] # 第二步:建立映射关系 uuid_to_instance: Dict[str, ResourceDictInstance] = {} diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 6cf19e1e..7614e8a1 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -142,6 +142,16 @@ PARAM_RENAME_MAPPING = { } +def _map_deck_slot(raw_slot: str, object_type: str = "") -> str: + """协议槽位 -> 实际 deck:4→13,8→14,12+trash→16,其余不变。""" + s = "" if raw_slot is None else str(raw_slot).strip() + if not s: + return "" + if s == "12" and (object_type or "").strip().lower() == "trash": + return "16" + return {"4": "13", "8": "14"}.get(s, s) + + # ---------------- Graph ---------------- @@ -386,7 +396,8 @@ def build_protocol_graph( # 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", "")) + object_type = item.get("object", "") or "" + slot = _map_deck_slot(str(item.get("slot", "")), object_type) labware = item.get("labware", "") if slot and slot not in slots_info: res_id = f"{labware}_slot_{slot}" @@ -394,7 +405,7 @@ def build_protocol_graph( "labware": labware, "res_id": res_id, "labware_id": labware_id, - "object": item.get("object", ""), + "object": object_type, } # 创建 Group 节点,包含所有 create_resource 节点 @@ -476,7 +487,8 @@ def build_protocol_graph( if item.get("type") == "hardware": continue - slot = str(item.get("slot", "")) + object_type = item.get("object", "") or "" + slot = _map_deck_slot(str(item.get("slot", "")), object_type) wells = item.get("well", []) if not wells or not slot: continue @@ -484,7 +496,6 @@ def build_protocol_graph( # res_id 不能有空格 res_id = str(labware_id).replace(" ", "_") well_count = len(wells) - object_type = item.get("object", "") liquid_volume = DEFAULT_LIQUID_VOLUME if object_type == "source" else 0 node_id = str(uuid.uuid4()) @@ -520,8 +531,12 @@ def build_protocol_graph( # 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" - # transfer_liquid 之间通过 ready 串联;若存在 trash 节点,第一个 transfer_liquid 从 trash 的 ready 开始 + # 收集所有 create_resource 节点 ID,用于让第一个 transfer_liquid 等待所有资源创建完成 + all_create_resource_node_ids = list(slot_to_create_resource.values()) + + # transfer_liquid 之间通过 ready 串联;第一个 transfer_liquid 需要等待所有 create_resource 完成 last_control_node_id = trash_create_node_id + is_first_action_node = True # 端口名称映射:JSON 字段名 -> 实际 handle key INPUT_PORT_MAPPING = { @@ -689,7 +704,12 @@ def build_protocol_graph( G.add_node(node_id, **step_copy) # 控制流 - if last_control_node_id is not None: + if is_first_action_node: + # 第一个 transfer_liquid 需要等待所有 create_resource 完成 + for cr_node_id in all_create_resource_node_ids: + G.add_edge(cr_node_id, node_id, source_port="ready", target_port="ready") + is_first_action_node = False + elif 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 From 1ab1ed69d44b8b70b758cfd5d987ee88a5255a36 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Wed, 25 Mar 2026 19:48:39 +0800 Subject: [PATCH 36/43] Merge branch 'dev' into feat/lab_resource --- .conda/base/recipe.yaml | 4 +- .conda/environment/recipe.yaml | 2 +- .conda/full/recipe.yaml | 4 +- .github/workflows/ci-check.yml | 2 +- .gitignore | 2 + AGENTS.md | 87 + CLAUDE.md | 4 + docs/developer_guide/add_device.md | 109 +- docs/developer_guide/add_registry.md | 65 +- docs/developer_guide/networking_overview.md | 4 +- docs/user_guide/launch.md | 5 +- recipes/msgs/recipe.yaml | 2 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/__init__.py | 2 +- unilabos/app/main.py | 201 +- unilabos/app/register.py | 56 +- unilabos/app/web/api.py | 6 +- unilabos/app/web/client.py | 44 +- unilabos/app/web/server.py | 4 +- unilabos/app/ws_client.py | 279 +- unilabos/config/config.py | 3 +- unilabos/device_comms/universal_driver.py | 1 - .../devices/virtual/virtual_sample_demo.py | 88 + unilabos/devices/virtual/workbench.py | 351 ++- unilabos/registry/ast_registry_scanner.py | 1044 +++++++ unilabos/registry/decorators.py | 658 +++++ unilabos/registry/devices/Qone_nmr.yaml | 58 +- unilabos/registry/devices/bioyond_cell.yaml | 2171 ++++++++++++++ .../devices/bioyond_dispensing_station.yaml | 746 +++-- unilabos/registry/devices/camera.yaml | 81 - unilabos/registry/devices/cameraSII.yaml | 8 +- .../devices/characterization_chromatic.yaml | 64 +- .../devices/characterization_optic.yaml | 15 +- unilabos/registry/devices/chinwe.yaml | 231 +- .../devices/coin_cell_workstation.yaml | 834 ++++++ unilabos/registry/devices/gas_handler.yaml | 82 +- unilabos/registry/devices/hotel.yaml | 2 +- .../registry/devices/laiyu_liquid_test.yaml | 93 +- .../devices/neware_battery_test_system.yaml | 228 +- unilabos/registry/devices/opcua_example.yaml | 124 +- unilabos/registry/devices/opsky_ATR30007.yaml | 3 +- .../devices/organic_miscellaneous.yaml | 75 +- .../devices/post_process_station.yaml | 187 +- unilabos/registry/devices/pump_and_valve.yaml | 144 +- .../devices/reaction_station_bioyond.yaml | 462 ++- unilabos/registry/devices/robot_agv.yaml | 15 +- unilabos/registry/devices/robot_arm.yaml | 120 +- unilabos/registry/devices/robot_gripper.yaml | 62 +- .../registry/devices/robot_linear_motion.yaml | 236 +- .../registry/devices/solid_dispenser.yaml | 130 +- unilabos/registry/devices/temperature.yaml | 130 +- unilabos/registry/devices/virtual_device.yaml | 2091 ++++++------- unilabos/registry/devices/work_station.yaml | 1272 +++++--- unilabos/registry/devices/xrd_d7mate.yaml | 226 +- unilabos/registry/devices/zhida_gcms.yaml | 112 +- unilabos/registry/registry.py | 2626 ++++++++++++----- .../registry/resources/bioyond/YB_bottle.yaml | 85 + .../resources/bioyond/YB_bottle_carriers.yaml | 168 ++ .../resources/bioyond/bottle_carriers.yaml | 4 - unilabos/registry/resources/bioyond/deck.yaml | 18 +- .../resources/common/resource_container.yaml | 103 - .../registry/resources/laiyu/container.yaml | 2 - unilabos/registry/resources/laiyu/deck.yaml | 1 - .../registry/resources/opentrons/deck.yaml | 2 - .../resources/opentrons/plate_adapters.yaml | 1 - .../registry/resources/opentrons/plates.yaml | 15 - .../resources/opentrons/reservoirs.yaml | 6 - .../resources/opentrons/tip_racks.yaml | 11 - .../resources/opentrons/tube_racks.yaml | 20 - .../registry/resources/organic/container.yaml | 1 - .../post_process/bottle_carriers.yaml | 2 - .../registry/resources/post_process/deck.yaml | 1 - .../resources/prcxi/plate_adapters.yaml | 9 - unilabos/registry/resources/prcxi/plates.yaml | 11 - .../registry/resources/prcxi/tip_racks.yaml | 6 - unilabos/registry/resources/prcxi/trash.yaml | 1 - .../registry/resources/prcxi/tube_racks.yaml | 1 - unilabos/registry/utils.py | 714 +++++ unilabos/resources/container.py | 4 +- unilabos/resources/graphio.py | 20 +- unilabos/resources/resource_tracker.py | 97 +- unilabos/ros/msgs/message_converter.py | 135 +- unilabos/ros/nodes/base_device_node.py | 135 +- unilabos/ros/nodes/presets/camera.py | 7 + unilabos/ros/nodes/presets/host_node.py | 264 +- unilabos/ros/nodes/presets/workstation.py | 99 +- unilabos/utils/decorator.py | 200 +- unilabos/utils/environment_check.py | 318 +- unilabos/utils/import_manager.py | 564 +--- unilabos/utils/requirements.txt | 3 +- unilabos/utils/tools.py | 37 +- unilabos/utils/type_check.py | 33 +- unilabos_msgs/package.xml | 2 +- 94 files changed, 13141 insertions(+), 5618 deletions(-) create mode 100644 AGENTS.md create mode 100644 CLAUDE.md create mode 100644 unilabos/devices/virtual/virtual_sample_demo.py create mode 100644 unilabos/registry/ast_registry_scanner.py create mode 100644 unilabos/registry/decorators.py create mode 100644 unilabos/registry/devices/bioyond_cell.yaml delete mode 100644 unilabos/registry/devices/camera.yaml create mode 100644 unilabos/registry/devices/coin_cell_workstation.yaml create mode 100644 unilabos/registry/resources/bioyond/YB_bottle.yaml create mode 100644 unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml create mode 100644 unilabos/registry/utils.py diff --git a/.conda/base/recipe.yaml b/.conda/base/recipe.yaml index cf908c9d..a63dda77 100644 --- a/.conda/base/recipe.yaml +++ b/.conda/base/recipe.yaml @@ -3,7 +3,7 @@ package: name: unilabos - version: 0.10.18 + version: 0.10.19 source: path: ../../unilabos @@ -54,7 +54,7 @@ requirements: - pymodbus - matplotlib - pylibftdi - - uni-lab::unilabos-env ==0.10.18 + - uni-lab::unilabos-env ==0.10.19 about: repository: https://github.com/deepmodeling/Uni-Lab-OS diff --git a/.conda/environment/recipe.yaml b/.conda/environment/recipe.yaml index 56ff44d4..e9fd3e24 100644 --- a/.conda/environment/recipe.yaml +++ b/.conda/environment/recipe.yaml @@ -2,7 +2,7 @@ package: name: unilabos-env - version: 0.10.18 + version: 0.10.19 build: noarch: generic diff --git a/.conda/full/recipe.yaml b/.conda/full/recipe.yaml index ff8b4824..ab0e0c9f 100644 --- a/.conda/full/recipe.yaml +++ b/.conda/full/recipe.yaml @@ -3,7 +3,7 @@ package: name: unilabos-full - version: 0.10.18 + version: 0.10.19 build: noarch: generic @@ -11,7 +11,7 @@ build: requirements: run: # Base unilabos package (includes unilabos-env) - - uni-lab::unilabos ==0.10.18 + - uni-lab::unilabos ==0.10.19 # Documentation tools - sphinx - sphinx_rtd_theme diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml index 57245d94..402edc26 100644 --- a/.github/workflows/ci-check.yml +++ b/.github/workflows/ci-check.yml @@ -49,7 +49,7 @@ jobs: uv pip uninstall enum34 || echo enum34 not installed, skipping uv pip install . - - name: Run check mode (complete_registry) + - name: Run check mode (AST registry validation) run: | call conda activate check-env echo Running check mode... diff --git a/.gitignore b/.gitignore index af60a804..85b05d73 100644 --- a/.gitignore +++ b/.gitignore @@ -4,6 +4,8 @@ temp/ output/ unilabos_data/ pyrightconfig.json +.cursorignore +device_package*/ ## Python # Byte-compiled / optimized / DLL files diff --git a/AGENTS.md b/AGENTS.md new file mode 100644 index 00000000..2f9efa06 --- /dev/null +++ b/AGENTS.md @@ -0,0 +1,87 @@ +# AGENTS.md + +This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository. + +Also follow the monorepo-level rules in `../AGENTS.md`. + +## Build & Development + +```bash +# Install in editable mode (requires mamba env with python 3.11) +pip install -e . +uv pip install -r unilabos/utils/requirements.txt + +# Run with a device graph +unilab --graph --config --backend ros +unilab --graph --config --backend simple # no ROS2 needed + +# Common CLI flags +unilab --app_bridges websocket fastapi # communication bridges +unilab --test_mode # simulate hardware, no real execution +unilab --check_mode # CI validation of registry imports +unilab --skip_env_check # skip auto-install of dependencies +unilab --visual rviz|web|disable # visualization mode +unilab --is_slave # run as slave node + +# Workflow upload subcommand +unilab workflow_upload -f -n --tags tag1 tag2 + +# Tests +pytest tests/ # all tests +pytest tests/resources/test_resourcetreeset.py # single test file +pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method # single test +``` + +## Architecture + +### Startup Flow + +`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client. + +### Core Layers + +**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`. + +**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`). + +**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers. + +**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases). + +**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences. + +**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud. + +**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default. + +### Configuration System + +- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files +- Config files are `.py` files with matching class names (see `config/example_config.py`) +- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`) +- Device topology defined in graph files (JSON with node-link format, or GraphML) + +### Key Data Flow + +1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)` +2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances +3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend) +4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`) + +### Test Data + +Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`. + +## Code Conventions + +- Code comments and log messages in simplified Chinese +- Python 3.11+, type hints expected +- Pydantic models for data validation (`resource_tracker.py`) +- Singleton pattern via `@singleton` decorator (`utils/decorator.py`) +- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths +- CLI argument dashes auto-converted to underscores for consistency + +## Licensing + +- Framework code: GPL-3.0 +- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute diff --git a/CLAUDE.md b/CLAUDE.md new file mode 100644 index 00000000..bd5ce566 --- /dev/null +++ b/CLAUDE.md @@ -0,0 +1,4 @@ + +Please follow the rules defined in: + +@AGENTS.md diff --git a/docs/developer_guide/add_device.md b/docs/developer_guide/add_device.md index dc95274f..15ba4e08 100644 --- a/docs/developer_guide/add_device.md +++ b/docs/developer_guide/add_device.md @@ -15,6 +15,9 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用, **示例:** ```python +from unilabos.registry.decorators import device, topic_config + +@device(id="mock_gripper", category=["gripper"], description="Mock Gripper") class MockGripper: def __init__(self): self._position: float = 0.0 @@ -23,19 +26,23 @@ class MockGripper: self._status = "Idle" @property + @topic_config() # 添加 @topic_config 才会定时广播 def position(self) -> float: return self._position @property + @topic_config() def velocity(self) -> float: return self._velocity @property + @topic_config() def torque(self) -> float: return self._torque - # 会被自动识别的设备属性,接入 Uni-Lab 时会定时对外广播 + # 使用 @topic_config 装饰的属性,接入 Uni-Lab 时会定时对外广播 @property + @topic_config(period=2.0) # 可自定义发布周期 def status(self) -> str: return self._status @@ -149,7 +156,7 @@ my_device: # 设备唯一标识符 系统会自动分析您的 Python 驱动类并生成: -- `status_types`:从 `@property` 装饰的方法自动识别状态属性 +- `status_types`:从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性 - `action_value_mappings`:从类方法自动生成动作映射 - `init_param_schema`:从 `__init__` 方法分析初始化参数 - `schema`:前端显示用的属性类型定义 @@ -179,7 +186,9 @@ Uni-Lab 设备驱动是一个 Python 类,需要遵循以下结构: ```python from typing import Dict, Any +from unilabos.registry.decorators import device, topic_config +@device(id="my_device", category=["general"], description="My Device") class MyDevice: """设备类文档字符串 @@ -198,8 +207,9 @@ class MyDevice: # 初始化硬件连接 @property + @topic_config() # 必须添加 @topic_config 才会广播 def status(self) -> str: - """设备状态(会自动广播)""" + """设备状态(通过 @topic_config 广播)""" return self._status def my_action(self, param: float) -> Dict[str, Any]: @@ -217,34 +227,61 @@ class MyDevice: ## 状态属性 vs 动作方法 -### 状态属性(@property) +### 状态属性(@property + @topic_config) -状态属性会被自动识别并定期广播: +状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播: ```python +from unilabos.registry.decorators import topic_config + @property +@topic_config() # 必须添加,否则不会广播 def temperature(self) -> float: """当前温度""" return self._read_temperature() @property +@topic_config(period=2.0) # 可自定义发布周期(秒) def status(self) -> str: """设备状态: idle, running, error""" return self._status @property +@topic_config(name="ready") # 可自定义发布名称 def is_ready(self) -> bool: """设备是否就绪""" return self._status == "idle" ``` +也可以使用普通方法(非 @property)配合 `@topic_config`: + +```python +@topic_config(period=10.0) +def get_sensor_data(self) -> Dict[str, float]: + """获取传感器数据(get_ 前缀会自动去除,发布名为 sensor_data)""" + return {"temp": self._temp, "humidity": self._humidity} +``` + +**`@topic_config` 参数**: + +| 参数 | 类型 | 默认值 | 说明 | +|------|------|--------|------| +| `period` | float | 5.0 | 发布周期(秒) | +| `print_publish` | bool | 节点默认 | 是否打印发布日志 | +| `qos` | int | 10 | QoS 深度 | +| `name` | str | None | 自定义发布名称 | + +**发布名称优先级**:`@topic_config(name=...)` > `get_` 前缀去除 > 方法名 + **特点**: -- 使用`@property`装饰器 -- 只读,不能有参数 -- 自动添加到注册表的`status_types` +- 必须使用 `@topic_config` 装饰器 +- 支持 `@property` 和普通方法 +- 添加到注册表的 `status_types` - 定期发布到 ROS2 topic +> **⚠️ 重要:** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。 + ### 动作方法 动作方法是设备可以执行的操作: @@ -497,6 +534,7 @@ class LiquidHandler: self._status = "idle" @property + @topic_config() def status(self) -> str: return self._status @@ -886,7 +924,52 @@ class MyDevice: ## 最佳实践 -### 1. 类型注解 +### 1. 使用 `@device` 装饰器标识设备类 + +```python +from unilabos.registry.decorators import device + +@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp") +class MyDevice: + ... +``` + +- `id`:设备唯一标识符,用于注册表匹配 +- `category`:分类列表,前端用于分组显示 +- `description`:设备描述 +- `icon`:图标文件名(可选) + +### 2. 使用 `@topic_config` 声明需要广播的状态 + +```python +from unilabos.registry.decorators import topic_config + +# ✓ @property + @topic_config → 会广播 +@property +@topic_config(period=2.0) +def temperature(self) -> float: + return self._temp + +# ✓ 普通方法 + @topic_config → 会广播(get_ 前缀自动去除) +@topic_config(period=10.0) +def get_sensor_data(self) -> Dict[str, float]: + return {"temp": self._temp} + +# ✓ 使用 name 参数自定义发布名称 +@property +@topic_config(name="ready") +def is_ready(self) -> bool: + return self._status == "idle" + +# ✗ 仅有 @property,没有 @topic_config → 不会广播 +@property +def internal_state(self) -> str: + return self._state +``` + +> **注意:** 与 `@property` 连用时,`@topic_config` 必须放在 `@property` 下面。 + +### 3. 类型注解 ```python from typing import Dict, Any, Optional, List @@ -901,7 +984,7 @@ def method( pass ``` -### 2. 文档字符串 +### 4. 文档字符串 ```python def method(self, param: float) -> Dict[str, Any]: @@ -923,7 +1006,7 @@ def method(self, param: float) -> Dict[str, Any]: pass ``` -### 3. 配置验证 +### 5. 配置验证 ```python def __init__(self, config: Dict[str, Any]): @@ -937,7 +1020,7 @@ def __init__(self, config: Dict[str, Any]): self.baudrate = config['baudrate'] ``` -### 4. 资源清理 +### 6. 资源清理 ```python def __del__(self): @@ -946,7 +1029,7 @@ def __del__(self): self.connection.close() ``` -### 5. 设计前端友好的返回值 +### 7. 设计前端友好的返回值 **记住:返回值会直接显示在 Web 界面** diff --git a/docs/developer_guide/add_registry.md b/docs/developer_guide/add_registry.md index 36caa943..38d3f893 100644 --- a/docs/developer_guide/add_registry.md +++ b/docs/developer_guide/add_registry.md @@ -422,18 +422,20 @@ placeholder_keys: ### status_types -系统会扫描你的 Python 类,从状态方法(property 或 get\_方法)自动生成这部分: +系统会扫描你的 Python 类,从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分: ```yaml status_types: - current_temperature: float # 从 get_current_temperature() 或 @property current_temperature - is_heating: bool # 从 get_is_heating() 或 @property is_heating - status: str # 从 get_status() 或 @property status + current_temperature: float # 从 @topic_config 装饰的 @property 或方法 + is_heating: bool + status: str ``` **注意事项**: -- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性 +- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性 +- 没有 `@topic_config` 的 `@property` 不会生成 status_types,也不会广播 +- `get_` 前缀的方法名会自动去除前缀(如 `get_temperature` → `temperature`) - 类型会自动转成相应的类型(如 `str`、`float`、`bool`) - 如果类型是 `Any`、`None` 或未知的,默认使用 `String` @@ -537,11 +539,13 @@ class AdvancedLiquidHandler: self._temperature = 25.0 @property + @topic_config() def status(self) -> str: """设备状态""" return self._status @property + @topic_config() def temperature(self) -> float: """当前温度""" return self._temperature @@ -809,21 +813,23 @@ my_temperature_controller: 你的设备类需要符合以下要求: ```python -from unilabos.common.device_base import DeviceBase +from unilabos.registry.decorators import device, topic_config -class MyDevice(DeviceBase): +@device(id="my_device", category=["temperature"], description="My Device") +class MyDevice: def __init__(self, config): """初始化,参数会自动分析到 init_param_schema.config""" - super().__init__(config) self.port = config.get('port', '/dev/ttyUSB0') - # 状态方法(会自动生成到 status_types) + # 状态方法(必须添加 @topic_config 才会生成到 status_types 并广播) @property + @topic_config() def status(self): """返回设备状态""" return "idle" @property + @topic_config() def temperature(self): """返回当前温度""" return 25.0 @@ -1039,7 +1045,34 @@ resource.type # "resource" ### 代码规范 -1. **始终使用类型注解** +1. **使用 `@device` 装饰器标识设备类** + +```python +from unilabos.registry.decorators import device + +@device(id="my_device", category=["heating"], description="My Device") +class MyDevice: + ... +``` + +2. **使用 `@topic_config` 声明广播属性** + +```python +from unilabos.registry.decorators import topic_config + +# ✓ 需要广播的状态属性 +@property +@topic_config(period=2.0) +def temperature(self) -> float: + return self._temp + +# ✗ 仅有 @property 不会广播 +@property +def internal_counter(self) -> int: + return self._counter +``` + +3. **始终使用类型注解** ```python # ✓ 好 @@ -1051,7 +1084,7 @@ def method(self, resource, device): pass ``` -2. **提供有意义的参数名** +4. **提供有意义的参数名** ```python # ✓ 好 - 清晰的参数名 @@ -1063,7 +1096,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot): pass ``` -3. **使用 Optional 表示可选参数** +5. **使用 Optional 表示可选参数** ```python from typing import Optional @@ -1076,7 +1109,7 @@ def method( pass ``` -4. **添加详细的文档字符串** +6. **添加详细的文档字符串** ```python def method( @@ -1096,13 +1129,13 @@ def method( pass ``` -5. **方法命名规范** +7. **方法命名规范** - - 状态方法使用 `@property` 装饰器或 `get_` 前缀 + - 状态方法使用 `@property` + `@topic_config` 装饰器,或普通方法 + `@topic_config` - 动作方法使用动词开头 - 保持命名清晰、一致 -6. **完善的错误处理** +8. **完善的错误处理** - 实现完善的错误处理 - 添加日志记录 - 提供有意义的错误信息 diff --git a/docs/developer_guide/networking_overview.md b/docs/developer_guide/networking_overview.md index 40b308d3..19f16312 100644 --- a/docs/developer_guide/networking_overview.md +++ b/docs/developer_guide/networking_overview.md @@ -221,10 +221,10 @@ Laboratory A Laboratory B ```bash # 实验室A -unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource +unilab --ak your_ak --sk your_sk --upload_registry # 实验室B -unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource +unilab --ak your_ak --sk your_sk --upload_registry ``` --- diff --git a/docs/user_guide/launch.md b/docs/user_guide/launch.md index 402e39aa..34caa5b9 100644 --- a/docs/user_guide/launch.md +++ b/docs/user_guide/launch.md @@ -22,7 +22,6 @@ options: --is_slave Run the backend as slave node (without host privileges). --slave_no_host Skip waiting for host service in slave mode --upload_registry Upload registry information when starting unilab - --use_remote_resource Use remote resources when starting unilab --config CONFIG Configuration file path, supports .py format Python config files --port PORT Port for web service information page --disable_browser Disable opening information page on startup @@ -85,7 +84,7 @@ Uni-Lab 的启动过程分为以下几个阶段: 支持两种方式: - **本地文件**:使用 `-g` 指定图谱文件(支持 JSON 和 GraphML 格式) -- **远程资源**:使用 `--use_remote_resource` 从云端获取 +- **远程资源**:不指定本地文件即可 ### 7. 注册表构建 @@ -196,7 +195,7 @@ unilab --config path/to/your/config.py unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry # 使用远程资源启动 -unilab --ak your_ak --sk your_sk --use_remote_resource +unilab --ak your_ak --sk your_sk # 更新注册表 unilab --ak your_ak --sk your_sk --complete_registry diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index a3c2d2bd..fc8a5ccf 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.18 + version: 0.10.19 source: path: ../../unilabos_msgs target_directory: src diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index aeb76a0c..91e07b24 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.18" + version: "0.10.19" source: path: ../.. diff --git a/setup.py b/setup.py index dc7bbc73..7ca06f2e 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.18', + version='0.10.19', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/__init__.py b/unilabos/__init__.py index 63e3face..eebdd757 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.18" +__version__ = "0.10.19" diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 93751262..6c097682 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -4,6 +4,7 @@ import os import platform import shutil import signal +import subprocess import sys import threading import time @@ -25,6 +26,84 @@ from unilabos.config.config import load_config, BasicConfig, HTTPConfig _restart_requested: bool = False _restart_reason: str = "" +RESTART_EXIT_CODE = 42 + + +def _build_child_argv(): + """Build sys.argv for child process, stripping supervisor-only arguments.""" + result = [] + skip_next = False + for arg in sys.argv: + if skip_next: + skip_next = False + continue + if arg in ("--restart_mode", "--restart-mode"): + continue + if arg in ("--auto_restart_count", "--auto-restart-count"): + skip_next = True + continue + if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="): + continue + result.append(arg) + return result + + +def _run_as_supervisor(max_restarts: int): + """ + Supervisor process that spawns and monitors child processes. + + Similar to Uvicorn's --reload: the supervisor itself does no heavy work, + it only launches the real process as a child and restarts it when the child + exits with RESTART_EXIT_CODE. + """ + child_argv = [sys.executable] + _build_child_argv() + restart_count = 0 + + print_status( + f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), " + f"child command: {' '.join(child_argv)}", + "info", + ) + + while True: + print_status( + f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...", + "info", + ) + + try: + process = subprocess.Popen(child_argv) + exit_code = process.wait() + except KeyboardInterrupt: + print_status("[Supervisor] Interrupted, terminating child process...", "info") + process.terminate() + try: + process.wait(timeout=10) + except subprocess.TimeoutExpired: + process.kill() + process.wait() + sys.exit(1) + + if exit_code == RESTART_EXIT_CODE: + restart_count += 1 + if restart_count > max_restarts: + print_status( + f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting", + "warning", + ) + sys.exit(1) + print_status( + f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...", + "info", + ) + time.sleep(2) + else: + if exit_code != 0: + print_status(f"[Supervisor] Child exited with code {exit_code}", "warning") + else: + print_status("[Supervisor] Child exited normally", "info") + sys.exit(exit_code) + def load_config_from_file(config_path): if config_path is None: @@ -66,6 +145,13 @@ def parse_args(): action="append", help="Path to the registry directory", ) + parser.add_argument( + "--devices", + type=str, + default=None, + action="append", + help="Path to Python code directory for AST-based device/resource scanning", + ) parser.add_argument( "--working_dir", type=str, @@ -155,18 +241,18 @@ def parse_args(): action="store_true", help="Skip environment dependency check on startup", ) - parser.add_argument( - "--complete_registry", - action="store_true", - 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( + "--complete_registry", + action="store_true", + default=False, + help="Complete and rewrite YAML registry files using AST analysis results", + ) parser.add_argument( "--no_update_feedback", action="store_true", @@ -178,6 +264,30 @@ def parse_args(): default=False, help="Test mode: all actions simulate execution and return mock results without running real hardware", ) + parser.add_argument( + "--external_devices_only", + action="store_true", + default=False, + help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry", + ) + parser.add_argument( + "--extra_resource", + action="store_true", + default=False, + help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)", + ) + parser.add_argument( + "--restart_mode", + action="store_true", + default=False, + help="Enable supervisor mode: automatically restart the process when triggered via WebSocket", + ) + parser.add_argument( + "--auto_restart_count", + type=int, + default=500, + help="Maximum number of automatic restarts in restart mode (default: 500)", + ) # workflow upload subcommand workflow_parser = subparsers.add_parser( "workflow_upload", @@ -228,16 +338,28 @@ def main(): args = parser.parse_args() args_dict = vars(args) + # Supervisor mode: spawn child processes and monitor for restart + if args_dict.get("restart_mode", False): + _run_as_supervisor(args_dict.get("auto_restart_count", 5)) + return + # 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: - from unilabos.utils.environment_check import check_environment + from unilabos.utils.environment_check import check_environment, check_device_package_requirements if not check_environment(auto_install=True): print_status("环境检查失败,程序退出", "error") os._exit(1) + + # 第一次设备包依赖检查:build_registry 之前,确保 import map 可用 + devices_dirs_for_req = args_dict.get("devices", None) + if devices_dirs_for_req: + if not check_device_package_requirements(devices_dirs_for_req): + print_status("设备包依赖检查失败,程序退出", "error") + os._exit(1) else: print_status("跳过环境依赖检查", "warning") @@ -358,6 +480,9 @@ def main(): BasicConfig.test_mode = args_dict.get("test_mode", False) if BasicConfig.test_mode: print_status("启用测试模式:所有动作将模拟执行,不调用真实硬件", "warning") + BasicConfig.extra_resource = args_dict.get("extra_resource", False) + if BasicConfig.extra_resource: + print_status("启用额外资源加载:将加载lab_开头的labware资源定义", "info") BasicConfig.communication_protocol = "websocket" machine_name = platform.node() machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name]) @@ -365,39 +490,53 @@ def main(): BasicConfig.vis_2d_enable = args_dict["2d_vis"] BasicConfig.check_mode = check_mode - from unilabos.resources.graphio import ( - read_node_link_json, - read_graphml, - dict_from_graph, - ) - from unilabos.app.communication import get_communication_client from unilabos.registry.registry import build_registry - from unilabos.app.backend import start_backend - from unilabos.app.web import http_client - from unilabos.app.web import start_server - from unilabos.app.register import register_devices_and_resources - from unilabos.resources.graphio import modify_to_backend_format - from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict # 显示启动横幅 print_unilab_banner(args_dict) - # 注册表 - check_mode 时强制启用 complete_registry + # Step 0: AST 分析优先 + YAML 注册表加载 + # check_mode 和 upload_registry 都会执行实际 import 验证 + devices_dirs = args_dict.get("devices", None) complete_registry = args_dict.get("complete_registry", False) or check_mode - lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry) + external_only = args_dict.get("external_devices_only", False) + lab_registry = build_registry( + registry_paths=args_dict["registry_path"], + devices_dirs=devices_dirs, + upload_registry=BasicConfig.upload_registry, + check_mode=check_mode, + complete_registry=complete_registry, + external_only=external_only, + ) - # Check mode: complete_registry 完成后直接退出,git diff 检测由 CI workflow 执行 + # Check mode: 注册表验证完成后直接退出 if check_mode: - print_status("Check mode: complete_registry 完成,退出", "info") + device_count = len(lab_registry.device_type_registry) + resource_count = len(lab_registry.resource_type_registry) + print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源),退出", "info") os._exit(0) + # 以下导入依赖 ROS2 环境,check_mode 已退出不需要 + from unilabos.resources.graphio import ( + read_node_link_json, + read_graphml, + dict_from_graph, + modify_to_backend_format, + ) + from unilabos.app.communication import get_communication_client + from unilabos.app.backend import start_backend + from unilabos.app.web import http_client + from unilabos.app.web import start_server + from unilabos.app.register import register_devices_and_resources + from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict + + # Step 1: 上传全部注册表到服务端,同步保存到 unilabos_data if BasicConfig.upload_registry: - # 设备注册到服务端 - 需要 ak 和 sk if BasicConfig.ak and BasicConfig.sk: - print_status("开始注册设备到服务端...", "info") + # print_status("开始注册设备到服务端...", "info") try: register_devices_and_resources(lab_registry) - print_status("设备注册完成", "info") + # print_status("设备注册完成", "info") except Exception as e: print_status(f"设备注册失败: {e}", "error") else: @@ -482,12 +621,16 @@ def main(): continue # 如果从远端获取了物料信息,则与本地物料进行同步 - if request_startup_json and "nodes" in request_startup_json: + if file_path is not None and request_startup_json and "nodes" in request_startup_json: print_status("开始同步远端物料到本地...", "info") remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"]) resource_tree_set.merge_remote_resources(remote_tree_set) print_status("远端物料同步完成", "info") + # 第二次设备包依赖检查:云端物料同步后,community 包可能引入新的 requirements + # TODO: 当 community device package 功能上线后,在这里调用 + # install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx") + # 使用 ResourceTreeSet 代替 list args_dict["resources_config"] = resource_tree_set args_dict["devices_config"] = resource_tree_set @@ -579,6 +722,10 @@ def main(): open_browser=not args_dict["disable_browser"], port=BasicConfig.port, ) + if restart_requested: + print_status("[Main] Restart requested, cleaning up...", "info") + cleanup_for_restart() + os._exit(RESTART_EXIT_CODE) if __name__ == "__main__": diff --git a/unilabos/app/register.py b/unilabos/app/register.py index 5918b43a..5940364e 100644 --- a/unilabos/app/register.py +++ b/unilabos/app/register.py @@ -1,9 +1,8 @@ -import json import time -from typing import Optional, Tuple, Dict, Any +from typing import Any, Dict, Optional, Tuple from unilabos.utils.log import logger -from unilabos.utils.type_check import TypeEncoder +from unilabos.utils.tools import normalize_json as _normalize_device def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]: @@ -11,50 +10,63 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[ 注册设备和资源到服务器(仅支持HTTP) """ - # 注册资源信息 - 使用HTTP方式 from unilabos.app.web.client import http_client logger.info("[UniLab Register] 开始注册设备和资源...") - # 注册设备信息 devices_to_register = {} for device_info in lab_registry.obtain_registry_device_info(): - devices_to_register[device_info["id"]] = json.loads( - json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder) - ) - logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}") + devices_to_register[device_info["id"]] = _normalize_device(device_info) + logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}") resources_to_register = {} for resource_info in lab_registry.obtain_registry_resource_info(): resources_to_register[resource_info["id"]] = resource_info - logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}") + logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}") if gather_only: return devices_to_register, resources_to_register - # 注册设备 + if devices_to_register: try: start_time = time.time() - response = http_client.resource_registry({"resources": list(devices_to_register.values())}) + response = http_client.resource_registry( + {"resources": list(devices_to_register.values())}, + tag="device_registry", + ) cost_time = time.time() - start_time - if response.status_code in [200, 201]: - logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s") + res_data = response.json() if response.status_code == 200 else {} + skipped = res_data.get("data", {}).get("skipped", False) + if skipped: + logger.info( + f"[UniLab Register] 设备注册跳过(内容未变化)" + f" {len(devices_to_register)} 个 {cost_time:.3f}s" + ) + elif response.status_code in [200, 201]: + logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s") else: - logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s") + logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s") except Exception as e: logger.error(f"[UniLab Register] 设备注册异常: {e}") - # 注册资源 if resources_to_register: try: start_time = time.time() - response = http_client.resource_registry({"resources": list(resources_to_register.values())}) + response = http_client.resource_registry( + {"resources": list(resources_to_register.values())}, + tag="resource_registry", + ) cost_time = time.time() - start_time - if response.status_code in [200, 201]: - logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s") + res_data = response.json() if response.status_code == 200 else {} + skipped = res_data.get("data", {}).get("skipped", False) + if skipped: + logger.info( + f"[UniLab Register] 资源注册跳过(内容未变化)" + f" {len(resources_to_register)} 个 {cost_time:.3f}s" + ) + elif response.status_code in [200, 201]: + logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s") else: - logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s") + logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s") except Exception as e: logger.error(f"[UniLab Register] 资源注册异常: {e}") - - logger.info("[UniLab Register] 设备和资源注册完成.") diff --git a/unilabos/app/web/api.py b/unilabos/app/web/api.py index 0f6077c8..99981f77 100644 --- a/unilabos/app/web/api.py +++ b/unilabos/app/web/api.py @@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict): "result": {}, "schema": lab_registry._generate_unilab_json_command_schema(v["args"], k), "goal_default": {i["name"]: i["default"] for i in v["args"]}, - "handles": [], + "handles": {}, } # 不生成已配置action的动作 for k, v in enhanced_info["action_methods"].items() @@ -1340,5 +1340,5 @@ def setup_api_routes(app): # 启动广播任务 @app.on_event("startup") async def startup_event(): - asyncio.create_task(broadcast_device_status()) - asyncio.create_task(broadcast_status_page_data()) + asyncio.create_task(broadcast_device_status(), name="web-api-startup-device") + asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status") diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index b43b0f44..b1cc67eb 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -3,11 +3,13 @@ HTTP客户端模块 提供与远程服务器通信的客户端功能,只有host需要用 """ - +import gzip import json import os from typing import List, Dict, Any, Optional +from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty + import requests from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.utils.log import info @@ -280,22 +282,54 @@ class HTTPClient: ) return response - def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response: + def resource_registry( + self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry", + ) -> requests.Response: """ - 注册资源到服务器 + 注册资源到服务器,同步保存请求/响应到 unilabos_data Args: registry_data: 注册表数据,格式为 {resource_id: resource_info} / [{resource_info}] + tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry") Returns: Response: API响应对象 """ + # 序列化一次,同时用于保存和发送 + json_bytes = _fast_dumps(registry_data) + + # 保存请求数据到 unilabos_data + req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json") + try: + os.makedirs(BasicConfig.working_dir, exist_ok=True) + with open(req_path, "wb") as f: + f.write(_fast_dumps_pretty(registry_data)) + logger.trace(f"注册表请求数据已保存: {req_path}") + except Exception as e: + logger.warning(f"保存注册表请求数据失败: {e}") + + compressed_body = gzip.compress(json_bytes) + headers = { + "Authorization": f"Lab {self.auth}", + "Content-Type": "application/json", + "Content-Encoding": "gzip", + } response = requests.post( f"{self.remote_addr}/lab/resource", - json=registry_data, - headers={"Authorization": f"Lab {self.auth}"}, + data=compressed_body, + headers=headers, timeout=30, ) + + # 保存响应数据到 unilabos_data + res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json") + try: + with open(res_path, "w", encoding="utf-8") as f: + f.write(f"{response.status_code}\n{response.text}") + logger.trace(f"注册表响应数据已保存: {res_path}") + except Exception as e: + logger.warning(f"保存注册表响应数据失败: {e}") + if response.status_code not in [200, 201]: logger.error(f"注册资源失败: {response.status_code}, {response.text}") if response.status_code == 200: diff --git a/unilabos/app/web/server.py b/unilabos/app/web/server.py index 8d090162..981edeca 100644 --- a/unilabos/app/web/server.py +++ b/unilabos/app/web/server.py @@ -86,7 +86,7 @@ def setup_server() -> FastAPI: # 设置页面路由 try: setup_web_pages(pages) - info("[Web] 已加载Web UI模块") + # info("[Web] 已加载Web UI模块") except ImportError as e: info(f"[Web] 未找到Web页面模块: {str(e)}") except Exception as e: @@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server") server_thread.start() - info("[Web] Server started, monitoring for restart requests...") + # info("[Web] Server started, monitoring for restart requests...") # 监控重启标志 import unilabos.app.main as main_module diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 2f7f0991..a4fb6433 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -23,9 +23,10 @@ from typing import Optional, Dict, Any, List from urllib.parse import urlparse from enum import Enum -from jedi.inference.gradual.typing import TypedDict +from typing_extensions import TypedDict from unilabos.app.model import JobAddReq +from unilabos.resources.resource_tracker import ResourceDictType from unilabos.ros.nodes.presets.host_node import HostNode from unilabos.utils.type_check import serialize_result_info from unilabos.app.communication import BaseCommunicationClient @@ -164,7 +165,7 @@ 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.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}") + logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}") return True def start_job(self, job_id: str) -> bool: @@ -231,8 +232,9 @@ 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.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}") + # 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 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}") @@ -248,7 +250,7 @@ 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.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}") + logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}") return next_job return None @@ -302,7 +304,7 @@ 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.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}") + logger.trace(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]: @@ -315,7 +317,7 @@ 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.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel") + logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel") return True # 如果是排队中的任务 @@ -329,7 +331,7 @@ class DeviceActionManager: job_log = format_job_log( job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name ) - logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}") + logger.trace(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) @@ -407,6 +409,7 @@ class MessageProcessor: # 线程控制 self.is_running = False self.thread = None + self._loop = None # asyncio event loop引用,用于外部关闭websocket self.reconnect_count = 0 logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}") @@ -433,22 +436,31 @@ class MessageProcessor: def stop(self) -> None: """停止消息处理线程""" self.is_running = False + # 主动关闭websocket以快速中断消息接收循环 + ws = self.websocket + loop = self._loop + if ws and loop and loop.is_running(): + try: + asyncio.run_coroutine_threadsafe(ws.close(), loop) + except Exception: + pass if self.thread and self.thread.is_alive(): self.thread.join(timeout=2) logger.info("[MessageProcessor] Stopped") def _run(self): """运行消息处理主循环""" - loop = asyncio.new_event_loop() + self._loop = asyncio.new_event_loop() try: - asyncio.set_event_loop(loop) - loop.run_until_complete(self._connection_handler()) + asyncio.set_event_loop(self._loop) + self._loop.run_until_complete(self._connection_handler()) except Exception as e: logger.error(f"[MessageProcessor] Thread error: {str(e)}") logger.error(traceback.format_exc()) finally: - if loop: - loop.close() + if self._loop: + self._loop.close() + self._loop = None async def _connection_handler(self): """处理WebSocket连接和重连逻辑""" @@ -465,8 +477,10 @@ class MessageProcessor: async with websockets.connect( self.websocket_url, ssl=ssl_context, + open_timeout=20, ping_interval=WSConfig.ping_interval, ping_timeout=10, + close_timeout=5, additional_headers={ "Authorization": f"Lab {BasicConfig.auth_secret()}", "EdgeSession": f"{self.session_id}", @@ -477,77 +491,94 @@ class MessageProcessor: self.connected = True self.reconnect_count = 0 - logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}") + logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}") # 启动发送协程 - send_task = asyncio.create_task(self._send_handler()) + send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task") + + # 每次连接(含重连)后重新向服务端注册, + # 否则服务端不知道客户端已上线,不会推送消息。 + if self.websocket_client: + self.websocket_client.publish_host_ready() try: # 接收消息循环 await self._message_handler() finally: + # 必须在 async with __aexit__ 之前停止 send_task, + # 否则 send_task 会在关闭握手期间继续发送数据, + # 干扰 websockets 库的内部清理,导致 task 泄漏。 + self.connected = False send_task.cancel() try: await send_task except asyncio.CancelledError: pass - self.connected = False except websockets.exceptions.ConnectionClosed: - logger.warning("[MessageProcessor] Connection closed") - self.connected = False + logger.warning("[MessageProcessor] 与服务端连接中断") + except TimeoutError: + logger.warning( + f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次),请检查您的网络状况" + ) + except websockets.exceptions.InvalidStatus as e: + logger.warning( + f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出" + ) except Exception as e: - logger.error(f"[MessageProcessor] Connection error: {str(e)}") logger.error(traceback.format_exc()) - self.connected = False + logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}") finally: + self.connected = False self.websocket = None # 重连逻辑 - if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts: + if not self.is_running: + break + if self.reconnect_count < WSConfig.max_reconnect_attempts: self.reconnect_count += 1 + backoff = WSConfig.reconnect_interval logger.info( - f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s " - f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})" + f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})" ) - await asyncio.sleep(WSConfig.reconnect_interval) - elif self.reconnect_count >= WSConfig.max_reconnect_attempts: + await asyncio.sleep(backoff) + else: logger.error("[MessageProcessor] Max reconnection attempts reached") break - else: - self.reconnect_count -= 1 async def _message_handler(self): - """处理接收到的消息""" + """处理接收到的消息。 + + ConnectionClosed 不在此处捕获,让其向上传播到 _connection_handler, + 以便 async with websockets.connect() 的 __aexit__ 能感知连接已断, + 正确清理内部 task,避免 task 泄漏。 + """ if not self.websocket: logger.error("[MessageProcessor] WebSocket connection is None") return - try: - async for message in self.websocket: - try: - data = json.loads(message) - message_type = data.get("action", "") - message_data = data.get("data") - if self.session_id and self.session_id == data.get("edge_session"): - await self._process_message(message_type, message_data) + async for message in self.websocket: + try: + data = json.loads(message) + message_type = data.get("action", "") + message_data = data.get("data") + if self.session_id and self.session_id == data.get("edge_session"): + 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')}" + ) 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')}") - else: - await self._process_message(message_type, message_data) - except json.JSONDecodeError: - logger.error(f"[MessageProcessor] Invalid JSON received: {message}") - except Exception as e: - logger.error(f"[MessageProcessor] Error processing message: {str(e)}") - logger.error(traceback.format_exc()) - - except websockets.exceptions.ConnectionClosed: - logger.info("[MessageProcessor] Message handler stopped - connection closed") - except Exception as e: - logger.error(f"[MessageProcessor] Message handler error: {str(e)}") - logger.error(traceback.format_exc()) + await self._process_message(message_type, message_data) + except json.JSONDecodeError: + logger.error(f"[MessageProcessor] Invalid JSON received: {message}") + except Exception as e: + logger.error(f"[MessageProcessor] Error processing message: {str(e)}") + logger.error(traceback.format_exc()) async def _send_handler(self): """处理发送队列中的消息""" @@ -596,6 +627,7 @@ class MessageProcessor: except asyncio.CancelledError: logger.debug("[MessageProcessor] Send handler cancelled") + raise except Exception as e: logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}") logger.error(traceback.format_exc()) @@ -604,7 +636,7 @@ class MessageProcessor: async def _process_message(self, message_type: str, message_data: Dict[str, Any]): """处理收到的消息""" - logger.debug(f"[MessageProcessor] Processing message: {message_type}") + logger.trace(f"[MessageProcessor] Processing message: {message_type}") try: if message_type == "pong": @@ -627,6 +659,10 @@ class MessageProcessor: # elif message_type == "session_id": # self.session_id = message_data.get("session_id") # logger.info(f"[MessageProcessor] Session ID: {self.session_id}") + elif message_type == "add_device": + await self._handle_device_manage(message_data, "add") + elif message_type == "remove_device": + await self._handle_device_manage(message_data, "remove") elif message_type == "request_restart": await self._handle_request_restart(message_data) else: @@ -698,13 +734,13 @@ class MessageProcessor: await self._send_action_state_response( device_id, action_name, task_id, job_id, "query_action_status", True, 0 ) - logger.info(f"[MessageProcessor] Job {job_log} can start immediately") + logger.trace(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.info(f"[MessageProcessor] Job {job_log} queued") + logger.trace(f"[MessageProcessor] Job {job_log} queued") # 通知QueueProcessor有新的队列更新 if self.queue_processor: @@ -718,6 +754,32 @@ class MessageProcessor: req = JobAddReq(**data) job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action) + + # 服务端对always_free动作可能跳过query_action_state直接发job_start, + # 此时job尚未注册,需要自动补注册 + existing_job = self.device_manager.get_job_info(req.job_id) + if not existing_job: + action_name = req.action + device_action_key = f"/devices/{req.device_id}/{action_name}" + action_always_free = self._check_action_always_free(req.device_id, action_name) + + if action_always_free: + job_info = JobInfo( + job_id=req.job_id, + task_id=req.task_id, + device_id=req.device_id, + action_name=action_name, + device_action_key=device_action_key, + status=JobStatus.QUEUE, + start_time=time.time(), + always_free=True, + ) + self.device_manager.add_queue_request(job_info) + logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start") + else: + logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)") + return + success = self.device_manager.start_job(req.job_id) if not success: logger.error(f"[MessageProcessor] Failed to start job {job_log}") @@ -911,9 +973,7 @@ 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") @@ -927,7 +987,9 @@ 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(): @@ -963,45 +1025,77 @@ class MessageProcessor: ) thread.start() + async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str): + """Handle add_device / remove_device from LabGo server.""" + if not device_list: + return + + for item in device_list: + target_node_id = item.get("target_node_id", "host_node") + + def _notify(target_id: str, act: str, cfg: ResourceDictType): + try: + host_node = HostNode.get_instance(timeout=5) + if not host_node: + logger.error(f"[DeviceManage] HostNode not available for {act}_device") + return + success = host_node.notify_device_manage(target_id, act, cfg) + if success: + logger.info(f"[DeviceManage] {act}_device completed on {target_id}") + else: + logger.warning(f"[DeviceManage] {act}_device failed on {target_id}") + except Exception as e: + logger.error(f"[DeviceManage] Error in {act}_device: {e}") + logger.error(traceback.format_exc()) + + thread = threading.Thread( + target=_notify, + args=(target_node_id, action, item), + daemon=True, + name=f"DeviceManage-{action}-{item.get('id', '')}", + ) + thread.start() + async def _handle_request_restart(self, data: Dict[str, Any]): """ 处理重启请求 - + 当LabGo发送request_restart时,执行清理并触发重启 """ reason = data.get("reason", "unknown") delay = data.get("delay", 2) # 默认延迟2秒 logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s") - + # 发送确认消息 - if self.websocket_client: - await self.websocket_client.send_message({ - "action": "restart_acknowledged", - "data": {"reason": reason, "delay": delay} - }) - + self.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 - + # 延迟后执行清理 await asyncio.sleep(delay) - + # 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: logger.error("[MessageProcessor] Cleanup failed") except Exception as e: logger.error(f"[MessageProcessor] Error during cleanup: {e}") - + cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True) cleanup_thread.start() logger.info(f"[MessageProcessor] Restart cleanup scheduled") @@ -1077,6 +1171,7 @@ class QueueProcessor: def stop(self) -> None: """停止队列处理线程""" self.is_running = False + self.queue_update_event.set() # 立即唤醒等待中的线程 if self.thread and self.thread.is_alive(): self.thread.join(timeout=2) logger.info("[QueueProcessor] Stopped") @@ -1197,7 +1292,7 @@ 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.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}") + logger.trace(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}") @@ -1220,7 +1315,7 @@ class QueueProcessor: job_info.action_name, ) - logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}") + logger.trace(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) @@ -1240,8 +1335,8 @@ 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.info(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.debug(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() @@ -1330,8 +1425,8 @@ class WebSocketClient(BaseCommunicationClient): message = {"action": "normal_exit", "data": {"session_id": session_id}} self.message_processor.send_message(message) logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}") - # 给一点时间让消息发送出去 - time.sleep(1) + # send_handler 每100ms检查一次队列,等300ms足以让消息发出 + time.sleep(0.3) except Exception as e: logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}") @@ -1383,7 +1478,7 @@ class WebSocketClient(BaseCommunicationClient): except (KeyError, AttributeError): logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status") - logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}") + # logger.debug(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) @@ -1444,15 +1539,17 @@ class WebSocketClient(BaseCommunicationClient): # 收集设备信息 devices = [] machine_name = BasicConfig.machine_name - + try: host_node = HostNode.get_instance(0) 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 actions = {} for action_id, client in host_node._action_clients.items(): @@ -1463,16 +1560,18 @@ class WebSocketClient(BaseCommunicationClient): "action_path": action_id, "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: logger.warning(f"[WebSocketClient] Error collecting device info: {e}") diff --git a/unilabos/config/config.py b/unilabos/config/config.py index 4b7d91a4..b80d3b60 100644 --- a/unilabos/config/config.py +++ b/unilabos/config/config.py @@ -24,6 +24,7 @@ class BasicConfig: 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 test_mode = False # 测试模式,所有动作不实际执行,返回模拟结果 + extra_resource = False # 是否加载lab_开头的额外资源 # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL' log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG" @@ -40,7 +41,7 @@ class BasicConfig: class WSConfig: reconnect_interval = 5 # 重连间隔(秒) max_reconnect_attempts = 999 # 最大重连次数 - ping_interval = 30 # ping间隔(秒) + ping_interval = 20 # ping间隔(秒) # HTTP配置 diff --git a/unilabos/device_comms/universal_driver.py b/unilabos/device_comms/universal_driver.py index 281e0cd9..0ff41805 100644 --- a/unilabos/device_comms/universal_driver.py +++ b/unilabos/device_comms/universal_driver.py @@ -1,4 +1,3 @@ - from abc import abstractmethod from functools import wraps import inspect diff --git a/unilabos/devices/virtual/virtual_sample_demo.py b/unilabos/devices/virtual/virtual_sample_demo.py new file mode 100644 index 00000000..0b785dc3 --- /dev/null +++ b/unilabos/devices/virtual/virtual_sample_demo.py @@ -0,0 +1,88 @@ +"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo""" + +import asyncio +import logging +import random +import time +from typing import Any, Dict, List, Optional + + +class VirtualSampleDemo: + """虚拟样品追踪演示设备,提供两种典型返回模式: + - measure_samples: 等长输入输出 (前端按 index 自动对齐) + - split_and_measure: 输出比输入长,附带 samples 列标注归属 + """ + + def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): + 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_sample_demo" + self.config = config or {} + self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}") + self.data: Dict[str, Any] = {"status": "Idle"} + + # ------------------------------------------------------------------ + # Action 1: 等长输入输出,无 samples 列 + # ------------------------------------------------------------------ + async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]: + """模拟光度测量。absorbance = concentration * 0.05 + noise + + 入参和出参 list 长度相等,前端按 index 自动对齐。 + """ + self.logger.info(f"measure_samples: concentrations={concentrations}") + absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations] + return {"concentrations": concentrations, "absorbance": absorbance} + + # ------------------------------------------------------------------ + # Action 2: 输出比输入长,带 samples 列 + # ------------------------------------------------------------------ + async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]: + """将每个样品均分为 split_count 份后逐份测量。 + + 返回的 list 长度 = len(volumes) * split_count, + 附带 samples 列标注每行属于第几个输入样品 (0-based index)。 + """ + self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}") + out_volumes: List[float] = [] + readings: List[float] = [] + samples: List[int] = [] + + for idx, vol in enumerate(volumes): + split_vol = round(vol / split_count, 2) + for _ in range(split_count): + out_volumes.append(split_vol) + readings.append(round(random.uniform(0.1, 1.0), 4)) + samples.append(idx) + + return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples} + + # ------------------------------------------------------------------ + # Action 3: 入参和出参都带 samples 列(不等长) + # ------------------------------------------------------------------ + async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]: + """对 split_and_measure 的输出做二次分析。 + + 入参 readings/samples 长度相同但 > 原始样品数, + 出参同样带 samples 列,长度与入参一致。 + """ + self.logger.info(f"analyze_readings: readings={readings}, samples={samples}") + scores: List[float] = [] + passed: List[bool] = [] + threshold = 0.4 + + for r in readings: + score = round(r * 100 + random.gauss(0, 2), 2) + scores.append(score) + passed.append(r >= threshold) + + return {"scores": scores, "passed": passed, "unilabos_samples": samples} + + # ------------------------------------------------------------------ + # 状态属性 + # ------------------------------------------------------------------ + @property + def status(self) -> str: + return self.data.get("status", "Idle") diff --git a/unilabos/devices/virtual/workbench.py b/unilabos/devices/virtual/workbench.py index f5fae47e..d67db398 100644 --- a/unilabos/devices/virtual/workbench.py +++ b/unilabos/devices/virtual/workbench.py @@ -1,15 +1,15 @@ """ Virtual Workbench Device - 模拟工作台设备 -包含: +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 +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 +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 +注意: 调用来自线程池, 使用 threading.Lock 进行同步 """ import logging @@ -21,9 +21,11 @@ from threading import Lock, RLock from typing_extensions import TypedDict +from unilabos.registry.decorators import ( + device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action +) from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode -from unilabos.utils.decorator import not_action, always_free -from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES +from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample # ============ TypedDict 返回类型定义 ============ @@ -57,6 +59,8 @@ class MoveToOutputResult(TypedDict): success: bool station_id: int material_id: str + output_position: str + message: str unilabos_samples: List[LabSample] @@ -81,9 +85,9 @@ 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 + 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 + COMPLETED = "completed" # 加热完成, 等待取走 class ArmState(Enum): @@ -105,19 +109,24 @@ class HeatingStation: heating_progress: float = 0.0 +@device( + id="virtual_workbench", + category=["virtual_device"], + description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing", +) 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 + - 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 + 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 @@ -145,19 +154,19 @@ class VirtualWorkbench: self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME)) self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS)) - # 机械臂状态和锁 (使用threading.Lock) + # 机械臂状态和锁 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() + # 加热台状态 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 + self._stations_lock = RLock() # 任务追踪 - self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info + self._active_tasks: Dict[str, Dict[str, Any]] = {} self._tasks_lock = Lock() # 处理其他kwargs参数 @@ -183,7 +192,6 @@ class VirtualWorkbench: """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 @@ -191,7 +199,6 @@ class VirtualWorkbench: station.material_number = None station.heating_progress = 0.0 - # 初始化状态 self.data.update( { "status": "Ready", @@ -257,11 +264,7 @@ class VirtualWorkbench: 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 - """ + """查找空闲的加热台""" with self._stations_lock: for station_id, station in self._heating_stations.items(): if station.state == HeatingStationState.IDLE: @@ -269,23 +272,12 @@ class VirtualWorkbench: 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 - """ + """获取机械臂使用权(阻塞直到获取)""" 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 @@ -298,6 +290,22 @@ class VirtualWorkbench: 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})") + @action( + auto_prefix=True, + 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", + handles=[ + ActionOutputHandle(key="channel_1", data_type="workbench_material", + label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR), + ActionOutputHandle(key="channel_2", data_type="workbench_material", + label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR), + ActionOutputHandle(key="channel_3", data_type="workbench_material", + label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR), + ActionOutputHandle(key="channel_4", data_type="workbench_material", + label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR), + ActionOutputHandle(key="channel_5", data_type="workbench_material", + label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR), + ], + ) def prepare_materials( self, sample_uuids: SampleUUIDsType, @@ -306,19 +314,14 @@ class VirtualWorkbench: """ 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 + 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。 """ - # 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}") + self.logger.info( + f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}" + ) return { "success": True, @@ -329,9 +332,28 @@ class VirtualWorkbench: "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}", - "unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()] + "unilabos_samples": [ + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}), + ) + for sample_uuid, content in sample_uuids.items() + ], } + @action( + auto_prefix=True, + 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", + handles=[ + ActionInputHandle(key="material_input", data_type="workbench_material", + label="物料编号", data_key="material_number", data_source=DataSource.HANDLE), + ActionOutputHandle(key="heating_station_output", data_type="workbench_station", + label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR), + ActionOutputHandle(key="material_number_output", data_type="workbench_material", + label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR), + ], + ) def move_to_heating_station( self, sample_uuids: SampleUUIDsType, @@ -340,20 +362,12 @@ class VirtualWorkbench: """ 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 + 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 """ - # 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", @@ -361,33 +375,27 @@ class VirtualWorkbench: } 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.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...") 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 @@ -395,11 +403,11 @@ class VirtualWorkbench: 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)") + 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: @@ -412,8 +420,16 @@ class VirtualWorkbench: "material_number": material_number, "message": f"{material_id}已成功移动到加热台{station_id}", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } except Exception as e: @@ -427,11 +443,33 @@ class VirtualWorkbench: "material_number": material_number, "message": f"移动失败: {str(e)}", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } - @always_free + @action( + auto_prefix=True, + always_free=True, + description="启动指定加热台的加热程序", + handles=[ + ActionInputHandle(key="station_id_input", data_type="workbench_station", + label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE), + ActionInputHandle(key="material_number_input", data_type="workbench_material", + label="物料编号", data_key="material_number", data_source=DataSource.HANDLE), + ActionOutputHandle(key="heating_done_station", data_type="workbench_station", + label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR), + ActionOutputHandle(key="heating_done_material", data_type="workbench_material", + label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR), + ], + ) def start_heating( self, sample_uuids: SampleUUIDsType, @@ -440,13 +478,6 @@ class VirtualWorkbench: ) -> 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") @@ -458,8 +489,16 @@ class VirtualWorkbench: "material_number": material_number, "message": f"无效的加热台ID: {station_id}", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } with self._stations_lock: @@ -473,8 +512,16 @@ class VirtualWorkbench: "material_number": material_number, "message": f"加热台{station_id}上没有物料", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } if station.state == HeatingStationState.HEATING: @@ -485,13 +532,20 @@ class VirtualWorkbench: "material_number": material_number, "message": f"加热台{station_id}已经在加热中", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } material_id = station.current_material - # 开始加热 station.state = HeatingStationState.HEATING station.heating_start_time = time.time() station.heating_progress = 0.0 @@ -502,7 +556,6 @@ class VirtualWorkbench: self._update_data_status(f"加热台{station_id}开始加热{material_id}") - # 打印当前所有正在加热的台位 with self._stations_lock: heating_list = [ f"加热台{sid}:{s.current_material}" @@ -511,7 +564,6 @@ class VirtualWorkbench: ] self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}") - # 模拟加热过程 start_time = time.time() last_countdown_log = start_time while True: @@ -524,7 +576,6 @@ class VirtualWorkbench: self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%") - # 每5秒打印一次倒计时 if time.time() - last_countdown_log >= 5.0: self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s") last_countdown_log = time.time() @@ -534,7 +585,6 @@ class VirtualWorkbench: 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 @@ -553,10 +603,28 @@ class VirtualWorkbench: "material_number": material_number, "message": f"加热台{station_id}加热完成", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } + @action( + auto_prefix=True, + description="将物料从加热台移动到输出位置Cn", + handles=[ + ActionInputHandle(key="output_station_input", data_type="workbench_station", + label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE), + ActionInputHandle(key="output_material_input", data_type="workbench_material", + label="物料编号", data_key="material_number", data_source=DataSource.HANDLE), + ], + ) def move_to_output( self, sample_uuids: SampleUUIDsType, @@ -565,15 +633,8 @@ class VirtualWorkbench: ) -> 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 + output_number = material_number if station_id not in self._heating_stations: return { @@ -583,8 +644,16 @@ class VirtualWorkbench: "output_position": f"C{output_number}", "message": f"无效的加热台ID: {station_id}", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } with self._stations_lock: @@ -599,8 +668,16 @@ class VirtualWorkbench: "output_position": f"C{output_number}", "message": f"加热台{station_id}上没有物料", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } if station.state != HeatingStationState.COMPLETED: @@ -611,8 +688,16 @@ class VirtualWorkbench: "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})", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } output_position = f"C{output_number}" @@ -624,18 +709,17 @@ class VirtualWorkbench: 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}...") + 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 @@ -643,17 +727,17 @@ class VirtualWorkbench: 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)") + self.logger.info( + f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)" + ) return { "success": True, @@ -662,8 +746,17 @@ class VirtualWorkbench: "output_position": output_position, "message": f"{material_id}已成功移动到{output_position}", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) + else (content.serialize() if content is not None else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } except Exception as e: @@ -677,83 +770,105 @@ class VirtualWorkbench: "output_position": output_position, "message": f"移动失败: {str(e)}", "unilabos_samples": [ - LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for - sample_uuid, content in sample_uuids.items()] + LabSample( + sample_uuid=sample_uuid, + oss_path="", + extra=( + {"material_uuid": content} + if isinstance(content, str) else (content.serialize() if content else {}) + ), + ) + for sample_uuid, content in sample_uuids.items() + ], } # ============ 状态属性 ============ @property + @topic_config() def status(self) -> str: return self.data.get("status", "Unknown") @property + @topic_config() def arm_state(self) -> str: return self._arm_state.value @property + @topic_config() def arm_current_task(self) -> str: return self._arm_current_task or "" @property + @topic_config() 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 + @topic_config() 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 + @topic_config() 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 + @topic_config() 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 + @topic_config() 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 + @topic_config() 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 + @topic_config() 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 + @topic_config() 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 + @topic_config() 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 + @topic_config() def active_tasks_count(self) -> int: with self._tasks_lock: return len(self._active_tasks) @property + @topic_config() def message(self) -> str: return self.data.get("message", "") diff --git a/unilabos/registry/ast_registry_scanner.py b/unilabos/registry/ast_registry_scanner.py new file mode 100644 index 00000000..80aba3e2 --- /dev/null +++ b/unilabos/registry/ast_registry_scanner.py @@ -0,0 +1,1044 @@ +""" +AST-based Registry Scanner + +Statically parse Python files to extract @device, @action, @topic_config, @resource +decorator metadata without importing any modules. This is ~100x faster than importlib +since it only reads and parses text files. + +Includes a file-level cache: each file's MD5 hash, size and mtime are tracked so +unchanged files skip AST parsing entirely. The cache is persisted as JSON in the +working directory (``unilabos_data/ast_scan_cache.json``). + +Usage: + from unilabos.registry.ast_registry_scanner import scan_directory + + # Scan all device and resource files under a package directory + result = scan_directory("unilabos", python_path="/project") + # => {"devices": {device_id: {...}, ...}, "resources": {resource_id: {...}, ...}} +""" + +import ast +import hashlib +import json +import time +from concurrent.futures import ThreadPoolExecutor, as_completed +from pathlib import Path +from typing import Any, Dict, List, Optional, Tuple, Union + + +# --------------------------------------------------------------------------- +# Constants +# --------------------------------------------------------------------------- + +MAX_SCAN_DEPTH = 10 # 最大目录递归深度 +MAX_SCAN_FILES = 1000 # 最大扫描文件数量 +_CACHE_VERSION = 1 # 缓存格式版本号,格式变更时递增 + +# 合法的装饰器来源模块 +_REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators" + + +# --------------------------------------------------------------------------- +# File-level cache helpers +# --------------------------------------------------------------------------- + + +def _file_fingerprint(filepath: Path) -> Dict[str, Any]: + """Return size, mtime and MD5 hash for *filepath*.""" + stat = filepath.stat() + md5 = hashlib.md5(filepath.read_bytes()).hexdigest() + return {"size": stat.st_size, "mtime": stat.st_mtime, "md5": md5} + + +def load_scan_cache(cache_path: Optional[Path]) -> Dict[str, Any]: + """Load the AST scan cache from *cache_path*. Returns empty structure on any error.""" + if cache_path is None or not cache_path.is_file(): + return {"version": _CACHE_VERSION, "files": {}} + try: + raw = cache_path.read_text(encoding="utf-8") + data = json.loads(raw) + if data.get("version") != _CACHE_VERSION: + return {"version": _CACHE_VERSION, "files": {}} + return data + except Exception: + return {"version": _CACHE_VERSION, "files": {}} + + +def save_scan_cache(cache_path: Optional[Path], cache: Dict[str, Any]) -> None: + """Persist *cache* to *cache_path* (atomic-ish via temp file).""" + if cache_path is None: + return + try: + cache_path.parent.mkdir(parents=True, exist_ok=True) + tmp = cache_path.with_suffix(".tmp") + tmp.write_text(json.dumps(cache, ensure_ascii=False, indent=1), encoding="utf-8") + tmp.replace(cache_path) + except Exception: + pass + + +def _is_cache_hit(entry: Dict[str, Any], fp: Dict[str, Any]) -> bool: + """Check if a cache entry matches the current file fingerprint.""" + return ( + entry.get("md5") == fp["md5"] + and entry.get("size") == fp["size"] + ) + + +# --------------------------------------------------------------------------- +# Public API +# --------------------------------------------------------------------------- + + +def _collect_py_files( + root_dir: Path, + max_depth: int = MAX_SCAN_DEPTH, + max_files: int = MAX_SCAN_FILES, + exclude_files: Optional[set] = None, +) -> List[Path]: + """ + 收集 root_dir 下的 .py 文件,限制最大递归深度和文件数量。 + + Args: + root_dir: 扫描根目录 + max_depth: 最大递归深度 (默认 10 层) + max_files: 最大文件数量 (默认 1000 个) + exclude_files: 要排除的文件名集合 (如 {"lab_resources.py"}) + + Returns: + 排序后的 .py 文件路径列表 + """ + result: List[Path] = [] + _exclude = exclude_files or set() + + def _walk(dir_path: Path, depth: int): + if depth > max_depth or len(result) >= max_files: + return + try: + entries = sorted(dir_path.iterdir()) + except (PermissionError, OSError): + return + for entry in entries: + if len(result) >= max_files: + return + if entry.is_file() and entry.suffix == ".py" and not entry.name.startswith("__"): + if entry.name not in _exclude: + result.append(entry) + elif entry.is_dir() and not entry.name.startswith(("__", ".")): + _walk(entry, depth + 1) + + _walk(root_dir, 0) + return result + + +def scan_directory( + root_dir: Union[str, Path], + python_path: Union[str, Path] = "", + max_depth: int = MAX_SCAN_DEPTH, + max_files: int = MAX_SCAN_FILES, + executor: ThreadPoolExecutor = None, + exclude_files: Optional[set] = None, + cache: Optional[Dict[str, Any]] = None, + include_files: Optional[List[Union[str, Path]]] = None, +) -> Dict[str, Any]: + """ + Recursively scan .py files under *root_dir* for @device and @resource + decorated classes/functions. + + Uses a thread pool to parse files in parallel for faster I/O. + When *cache* is provided, files whose fingerprint (MD5 + size) hasn't + changed since the last scan are served from cache without re-parsing. + + Returns: + {"devices": {device_id: meta, ...}, "resources": {resource_id: meta, ...}} + + Args: + root_dir: Directory to scan (e.g. "unilabos/devices"). + python_path: The directory that should be on sys.path, i.e. the parent + of the top-level package. Module paths are derived as + filepath relative to this directory. If empty, defaults to + root_dir's parent. + max_depth: Maximum directory recursion depth (default 10). + max_files: Maximum number of .py files to scan (default 1000). + executor: Shared ThreadPoolExecutor (required). The caller manages its + lifecycle. + exclude_files: 要排除的文件名集合 (如 {"lab_resources.py"}) + cache: Mutable cache dict (``load_scan_cache()`` result). Hits are read + from here; misses are written back so the caller can persist later. + include_files: 指定扫描的文件列表,提供时跳过目录递归收集,直接扫描这些文件。 + """ + if executor is None: + raise ValueError("executor is required and must not be None") + + root_dir = Path(root_dir).resolve() + if not python_path: + python_path = root_dir.parent + else: + python_path = Path(python_path).resolve() + + # --- Collect files (depth/count limited) --- + if include_files is not None: + py_files = [Path(f).resolve() for f in include_files if Path(f).resolve().exists()] + else: + py_files = _collect_py_files(root_dir, max_depth=max_depth, max_files=max_files, exclude_files=exclude_files) + + cache_files: Dict[str, Any] = cache.get("files", {}) if cache else {} + + # --- Parallel scan (with cache fast-path) --- + devices: Dict[str, dict] = {} + resources: Dict[str, dict] = {} + cache_hits = 0 + cache_misses = 0 + + def _parse_one_cached(py_file: Path) -> Tuple[List[dict], List[dict], bool]: + """Returns (devices, resources, was_cache_hit).""" + key = str(py_file) + try: + fp = _file_fingerprint(py_file) + except OSError: + return [], [], False + + cached_entry = cache_files.get(key) + if cached_entry and _is_cache_hit(cached_entry, fp): + return cached_entry.get("devices", []), cached_entry.get("resources", []), True + + try: + devs, ress = _parse_file(py_file, python_path) + except (SyntaxError, Exception): + devs, ress = [], [] + + cache_files[key] = { + "md5": fp["md5"], + "size": fp["size"], + "mtime": fp["mtime"], + "devices": devs, + "resources": ress, + } + return devs, ress, False + + def _collect_results(futures_dict: Dict): + nonlocal cache_hits, cache_misses + for future in as_completed(futures_dict): + devs, ress, hit = future.result() + if hit: + cache_hits += 1 + else: + cache_misses += 1 + for dev in devs: + device_id = dev.get("device_id") + if device_id: + if device_id in devices: + existing = devices[device_id].get("file_path", "?") + new_file = dev.get("file_path", "?") + raise ValueError( + f"@device id 重复: '{device_id}' 同时出现在 {existing} 和 {new_file}" + ) + devices[device_id] = dev + for res in ress: + resource_id = res.get("resource_id") + if resource_id: + if resource_id in resources: + existing = resources[resource_id].get("file_path", "?") + new_file = res.get("file_path", "?") + raise ValueError( + f"@resource id 重复: '{resource_id}' 同时出现在 {existing} 和 {new_file}" + ) + resources[resource_id] = res + + futures = {executor.submit(_parse_one_cached, f): f for f in py_files} + _collect_results(futures) + + if cache is not None: + cache["files"] = cache_files + + return { + "devices": devices, + "resources": resources, + "_cache_stats": {"hits": cache_hits, "misses": cache_misses, "total": len(py_files)}, + } + + + + +# --------------------------------------------------------------------------- +# File-level parsing +# --------------------------------------------------------------------------- + +# 已知继承自 rclpy.node.Node 的基类名 (用于 AST 静态检测) +_KNOWN_ROS2_BASE_CLASSES = {"Node", "BaseROS2DeviceNode"} +_KNOWN_ROS2_MODULES = {"rclpy", "rclpy.node"} + + +def _detect_class_type(cls_node: ast.ClassDef, import_map: Dict[str, str]) -> str: + """ + 检测类是否继承自 rclpy Node,返回 'ros2' 或 'python'。 + + 通过检查类的基类名称和 import_map 中的模块路径来判断: + 1. 基类名在已知 ROS2 基类集合中 + 2. 基类在 import_map 中解析到 rclpy 相关模块 + 3. 基类在 import_map 中解析到 BaseROS2DeviceNode + """ + for base in cls_node.bases: + base_name = "" + if isinstance(base, ast.Name): + base_name = base.id + elif isinstance(base, ast.Attribute): + base_name = base.attr + elif isinstance(base, ast.Subscript) and isinstance(base.value, ast.Name): + # Generic[T] 形式,如 BaseROS2DeviceNode[SomeType] + base_name = base.value.id + + if not base_name: + continue + + # 直接匹配已知 ROS2 基类名 + if base_name in _KNOWN_ROS2_BASE_CLASSES: + return "ros2" + + # 通过 import_map 检查模块路径 + module_path = import_map.get(base_name, "") + if any(mod in module_path for mod in _KNOWN_ROS2_MODULES): + return "ros2" + if "BaseROS2DeviceNode" in module_path: + return "ros2" + + return "python" + + +def _parse_file( + filepath: Path, + python_path: Path, +) -> Tuple[List[dict], List[dict]]: + """ + Parse a single .py file using ast and extract all @device-decorated classes + and @resource-decorated functions/classes. + + Returns: + (devices, resources) -- two lists of metadata dicts. + """ + source = filepath.read_text(encoding="utf-8", errors="replace") + tree = ast.parse(source, filename=str(filepath)) + + # Derive module path from file path + module_path = _filepath_to_module(filepath, python_path) + + # Build import map from the file (includes same-file class defs) + import_map = _collect_imports(tree, module_path) + + devices: List[dict] = [] + resources: List[dict] = [] + + for node in ast.iter_child_nodes(tree): + # --- @device on classes --- + if isinstance(node, ast.ClassDef): + device_decorator = _find_decorator(node, "device") + if device_decorator is not None and _is_registry_decorator("device", import_map): + device_args = _extract_decorator_args(device_decorator, import_map) + class_body = _extract_class_body(node, import_map) + + # Support ids + id_meta (multi-device) or id (single device) + device_ids: List[str] = [] + if device_args.get("ids") is not None: + device_ids = list(device_args["ids"]) + else: + did = device_args.get("id") or device_args.get("device_id") + device_ids = [did] if did else [f"{module_path}:{node.name}"] + + id_meta = device_args.get("id_meta") or {} + base_meta = { + "class_name": node.name, + "module": f"{module_path}:{node.name}", + "file_path": str(filepath).replace("\\", "/"), + "category": device_args.get("category", []), + "description": device_args.get("description", ""), + "display_name": device_args.get("display_name", ""), + "icon": device_args.get("icon", ""), + "version": device_args.get("version", "1.0.0"), + "device_type": _detect_class_type(node, import_map), + "handles": device_args.get("handles", []), + "model": device_args.get("model"), + "hardware_interface": device_args.get("hardware_interface"), + "actions": class_body.get("actions", {}), + "status_properties": class_body.get("status_properties", {}), + "init_params": class_body.get("init_params", []), + "auto_methods": class_body.get("auto_methods", {}), + "import_map": import_map, + } + for did in device_ids: + meta = dict(base_meta) + meta["device_id"] = did + overrides = id_meta.get(did, {}) + for key in ("handles", "description", "icon", "model", "hardware_interface"): + if key in overrides: + meta[key] = overrides[key] + devices.append(meta) + + # --- @resource on classes --- + resource_decorator = _find_decorator(node, "resource") + if resource_decorator is not None and _is_registry_decorator("resource", import_map): + res_meta = _extract_resource_meta( + resource_decorator, node.name, module_path, filepath, import_map, + is_function=False, + init_node=_find_init_in_class(node), + ) + resources.append(res_meta) + + # --- @resource on module-level functions --- + elif isinstance(node, (ast.FunctionDef, ast.AsyncFunctionDef)): + resource_decorator = _find_method_decorator(node, "resource") + if resource_decorator is not None and _is_registry_decorator("resource", import_map): + res_meta = _extract_resource_meta( + resource_decorator, node.name, module_path, filepath, import_map, + is_function=True, + func_node=node, + ) + resources.append(res_meta) + + return devices, resources + + +def _find_init_in_class(cls_node: ast.ClassDef) -> Optional[ast.FunctionDef]: + """Find __init__ method in a class.""" + for item in cls_node.body: + if isinstance(item, ast.FunctionDef) and item.name == "__init__": + return item + return None + + +def _extract_resource_meta( + decorator_node: Union[ast.Call, ast.Name], + name: str, + module_path: str, + filepath: Path, + import_map: Dict[str, str], + is_function: bool = False, + func_node: Optional[Union[ast.FunctionDef, ast.AsyncFunctionDef]] = None, + init_node: Optional[ast.FunctionDef] = None, +) -> dict: + """ + Extract resource metadata from a @resource decorator on a function or class. + """ + res_args = _extract_decorator_args(decorator_node, import_map) + + resource_id = res_args.get("id") or res_args.get("resource_id") + if resource_id is None: + resource_id = f"{module_path}:{name}" + + # Extract init/function params + init_params: List[dict] = [] + if is_function and func_node is not None: + init_params = _extract_method_params(func_node, import_map) + elif not is_function and init_node is not None: + init_params = _extract_method_params(init_node, import_map) + + return { + "resource_id": resource_id, + "name": name, + "module": f"{module_path}:{name}", + "file_path": str(filepath).replace("\\", "/"), + "is_function": is_function, + "category": res_args.get("category", []), + "description": res_args.get("description", ""), + "icon": res_args.get("icon", ""), + "version": res_args.get("version", "1.0.0"), + "class_type": res_args.get("class_type", "pylabrobot"), + "handles": res_args.get("handles", []), + "model": res_args.get("model"), + "init_params": init_params, + } + + +# --------------------------------------------------------------------------- +# Import map collection +# --------------------------------------------------------------------------- + + +def _collect_imports(tree: ast.Module, module_path: str = "") -> Dict[str, str]: + """ + Walk all Import/ImportFrom nodes in the AST tree, build a mapping from + local name to fully-qualified import path. + + Also includes top-level class/function definitions from the same file, + so that same-file TypedDict / Enum / dataclass references can be resolved. + + Returns: + {"SendCmd": "unilabos_msgs.action:SendCmd", + "StrSingleInput": "unilabos_msgs.action:StrSingleInput", + "InputHandle": "unilabos.registry.decorators:InputHandle", + "SetLiquidReturn": "unilabos.devices.liquid_handling.liquid_handler_abstract:SetLiquidReturn", + ...} + """ + import_map: Dict[str, str] = {} + + for node in ast.walk(tree): + if isinstance(node, ast.ImportFrom): + module = node.module or "" + for alias in node.names: + local_name = alias.asname if alias.asname else alias.name + import_map[local_name] = f"{module}:{alias.name}" + elif isinstance(node, ast.Import): + for alias in node.names: + local_name = alias.asname if alias.asname else alias.name + import_map[local_name] = alias.name + + # 同文件顶层 class / function 定义 + if module_path: + for node in tree.body: + if isinstance(node, ast.ClassDef): + import_map.setdefault(node.name, f"{module_path}:{node.name}") + elif isinstance(node, ast.FunctionDef) or isinstance(node, ast.AsyncFunctionDef): + import_map.setdefault(node.name, f"{module_path}:{node.name}") + elif isinstance(node, ast.Assign): + # 顶层赋值 (如 MotorAxis = Enum(...)) + for target in node.targets: + if isinstance(target, ast.Name): + import_map.setdefault(target.id, f"{module_path}:{target.id}") + + return import_map + + + +# --------------------------------------------------------------------------- +# Decorator finding & argument extraction +# --------------------------------------------------------------------------- + + +def _find_decorator( + node: Union[ast.ClassDef, ast.FunctionDef, ast.AsyncFunctionDef], + decorator_name: str, +) -> Optional[ast.Call]: + """ + Find a specific decorator call on a class or function definition. + + Handles both: + - @device(...) -> ast.Call with func=ast.Name(id="device") + - @module.device(...) -> ast.Call with func=ast.Attribute(attr="device") + """ + for dec in node.decorator_list: + if isinstance(dec, ast.Call): + if isinstance(dec.func, ast.Name) and dec.func.id == decorator_name: + return dec + if isinstance(dec.func, ast.Attribute) and dec.func.attr == decorator_name: + return dec + elif isinstance(dec, ast.Name) and dec.id == decorator_name: + # @device without parens (unlikely but handle it) + return None # Can't extract args from bare decorator + return None + + +def _find_method_decorator(func_node: ast.FunctionDef, decorator_name: str) -> Optional[Union[ast.Call, ast.Name]]: + """Find a decorator on a method.""" + for dec in func_node.decorator_list: + if isinstance(dec, ast.Call): + if isinstance(dec.func, ast.Name) and dec.func.id == decorator_name: + return dec + if isinstance(dec.func, ast.Attribute) and dec.func.attr == decorator_name: + return dec + elif isinstance(dec, ast.Name) and dec.id == decorator_name: + # @action without parens, or @topic_config without parens + return dec + return None + + +def _has_decorator(func_node: ast.FunctionDef, decorator_name: str) -> bool: + """Check if a method has a specific decorator (with or without call).""" + for dec in func_node.decorator_list: + if isinstance(dec, ast.Call): + if isinstance(dec.func, ast.Name) and dec.func.id == decorator_name: + return True + if isinstance(dec.func, ast.Attribute) and dec.func.attr == decorator_name: + return True + elif isinstance(dec, ast.Name) and dec.id == decorator_name: + return True + return False + + +def _is_registry_decorator(name: str, import_map: Dict[str, str]) -> bool: + """Check that *name* was imported from ``unilabos.registry.decorators``.""" + source = import_map.get(name, "") + return _REGISTRY_DECORATOR_MODULE in source + + +def _extract_decorator_args( + node: Union[ast.Call, ast.Name], + import_map: Dict[str, str], +) -> dict: + """ + Extract keyword arguments from a decorator call AST node. + + Resolves Name references (e.g. SendCmd, Side.NORTH) via import_map. + Handles literal values (strings, ints, bools, lists, dicts, None). + """ + if isinstance(node, ast.Name): + return {} # Bare decorator, no args + if not isinstance(node, ast.Call): + return {} + + result: dict = {} + + for kw in node.keywords: + if kw.arg is None: + continue # **kwargs, skip + result[kw.arg] = _ast_node_to_value(kw.value, import_map) + + return result + + +# --------------------------------------------------------------------------- +# AST node value conversion +# --------------------------------------------------------------------------- + + +def _ast_node_to_value(node: ast.expr, import_map: Dict[str, str]) -> Any: + """ + Convert an AST expression node to a Python value. + + Handles: + - Literals (str, int, float, bool, None) + - Lists, Tuples, Dicts, Sets + - Name references (e.g. SendCmd -> resolved via import_map) + - Attribute access (e.g. Side.NORTH -> resolved) + - Function/class calls (e.g. InputHandle(...) -> structured dict) + - Unary operators (e.g. -1) + """ + # --- Constant (str, int, float, bool, None) --- + if isinstance(node, ast.Constant): + return node.value + + # --- Name (e.g. SendCmd, True, False, None) --- + if isinstance(node, ast.Name): + return _resolve_name(node.id, import_map) + + # --- Attribute (e.g. Side.NORTH, DataSource.HANDLE) --- + if isinstance(node, ast.Attribute): + return _resolve_attribute(node, import_map) + + # --- List --- + if isinstance(node, ast.List): + return [_ast_node_to_value(elt, import_map) for elt in node.elts] + + # --- Tuple --- + if isinstance(node, ast.Tuple): + return [_ast_node_to_value(elt, import_map) for elt in node.elts] + + # --- Dict --- + if isinstance(node, ast.Dict): + result = {} + for k, v in zip(node.keys, node.values): + if k is None: + continue # **kwargs spread + key = _ast_node_to_value(k, import_map) + val = _ast_node_to_value(v, import_map) + result[key] = val + return result + + # --- Set --- + if isinstance(node, ast.Set): + return [_ast_node_to_value(elt, import_map) for elt in node.elts] + + # --- Call (e.g. InputHandle(...), OutputHandle(...)) --- + if isinstance(node, ast.Call): + return _ast_call_to_value(node, import_map) + + # --- UnaryOp (e.g. -1, -0.5) --- + if isinstance(node, ast.UnaryOp): + if isinstance(node.op, ast.USub): + operand = _ast_node_to_value(node.operand, import_map) + if isinstance(operand, (int, float)): + return -operand + elif isinstance(node.op, ast.Not): + operand = _ast_node_to_value(node.operand, import_map) + return not operand + + # --- BinOp (e.g. "a" + "b") --- + if isinstance(node, ast.BinOp): + if isinstance(node.op, ast.Add): + left = _ast_node_to_value(node.left, import_map) + right = _ast_node_to_value(node.right, import_map) + if isinstance(left, str) and isinstance(right, str): + return left + right + + # --- JoinedStr (f-string) --- + if isinstance(node, ast.JoinedStr): + return "" + + # Fallback: return the AST dump as a string marker + return f"" + + +def _resolve_name(name: str, import_map: Dict[str, str]) -> str: + """ + Resolve a bare Name reference via import_map. + + E.g. "SendCmd" -> "unilabos_msgs.action:SendCmd" + "True" -> True (handled by ast.Constant in Python 3.8+) + """ + if name in import_map: + return import_map[name] + # Fallback: return the name as-is + return name + + +_DECORATOR_ENUM_CLASSES = frozenset({"Side", "DataSource", "NodeType"}) + + +def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str: + """ + Resolve an attribute access like Side.NORTH or DataSource.HANDLE. + + 对于来自 ``unilabos.registry.decorators`` 的枚举类 (Side / DataSource / NodeType), + 直接返回枚举成员名 (如 ``"NORTH"`` / ``"HANDLE"`` / ``"MANUAL_CONFIRM"``), + 省去消费端二次 rsplit 解析。其它 import 仍返回完整模块路径。 + """ + parts = [] + current = node + while isinstance(current, ast.Attribute): + parts.append(current.attr) + current = current.value + if isinstance(current, ast.Name): + parts.append(current.id) + + parts.reverse() + # parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"] or ["NodeType", "MANUAL_CONFIRM"] + + if len(parts) >= 2: + base = parts[0] + attr = ".".join(parts[1:]) + + if base in _DECORATOR_ENUM_CLASSES: + source = import_map.get(base, "") + if not source or _REGISTRY_DECORATOR_MODULE in source: + return parts[-1] + + if base in import_map: + return f"{import_map[base]}.{attr}" + + return ".".join(parts) + + +def _ast_call_to_value(node: ast.Call, import_map: Dict[str, str]) -> dict: + """ + Convert a function/class call like InputHandle(key="in", ...) to a structured dict. + + Returns: + {"_call": "unilabos.registry.decorators:InputHandle", + "key": "in", "data_type": "fluid", ...} + """ + # Resolve the call target + if isinstance(node.func, ast.Name): + call_name = _resolve_name(node.func.id, import_map) + elif isinstance(node.func, ast.Attribute): + call_name = _resolve_attribute(node.func, import_map) + else: + call_name = "" + + result: dict = {"_call": call_name} + + # Positional args + for i, arg in enumerate(node.args): + result[f"_pos_{i}"] = _ast_node_to_value(arg, import_map) + + # Keyword args + for kw in node.keywords: + if kw.arg is None: + continue + result[kw.arg] = _ast_node_to_value(kw.value, import_map) + + return result + + +# --------------------------------------------------------------------------- +# Class body extraction +# --------------------------------------------------------------------------- + + +def _extract_class_body( + cls_node: ast.ClassDef, + import_map: Dict[str, str], +) -> dict: + """ + Walk the class body to extract: + - @action-decorated methods + - @property with @topic_config (status properties) + - get_* methods with @topic_config + - __init__ parameters + - Public methods without @action (auto-actions) + """ + result: dict = { + "actions": {}, # method_name -> action_info + "status_properties": {}, # prop_name -> status_info + "init_params": [], # [{"name": ..., "type": ..., "default": ...}, ...] + "auto_methods": {}, # method_name -> method_info (no @action decorator) + } + + for item in cls_node.body: + if not isinstance(item, (ast.FunctionDef, ast.AsyncFunctionDef)): + continue + + method_name = item.name + + # --- __init__ --- + if method_name == "__init__": + result["init_params"] = _extract_method_params(item, import_map) + continue + + # --- Skip private/dunder --- + if method_name.startswith("_"): + continue + + # --- Check for @property or @topic_config → status property --- + is_property = _has_decorator(item, "property") + has_topic = ( + _has_decorator(item, "topic_config") + and _is_registry_decorator("topic_config", import_map) + ) + + if is_property or has_topic: + topic_args = {} + topic_dec = _find_method_decorator(item, "topic_config") + if topic_dec is not None: + topic_args = _extract_decorator_args(topic_dec, import_map) + + return_type = _get_annotation_str(item.returns, import_map) + # 非 @property 的 @topic_config 方法,用去掉 get_ 前缀的名称 + prop_name = method_name[4:] if method_name.startswith("get_") and not is_property else method_name + + result["status_properties"][prop_name] = { + "name": prop_name, + "return_type": return_type, + "is_property": is_property, + "topic_config": topic_args if topic_args else None, + } + continue + + # --- Check for @action --- + action_dec = _find_method_decorator(item, "action") + if action_dec is not None and _is_registry_decorator("action", import_map): + action_args = _extract_decorator_args(action_dec, import_map) + # 补全 @action 装饰器的默认值(与 decorators.py 中 action() 签名一致) + action_args.setdefault("action_type", None) + action_args.setdefault("goal", {}) + action_args.setdefault("feedback", {}) + action_args.setdefault("result", {}) + action_args.setdefault("handles", {}) + action_args.setdefault("goal_default", {}) + action_args.setdefault("placeholder_keys", {}) + action_args.setdefault("always_free", False) + action_args.setdefault("is_protocol", False) + action_args.setdefault("description", "") + action_args.setdefault("auto_prefix", False) + action_args.setdefault("parent", False) + method_params = _extract_method_params(item, import_map) + return_type = _get_annotation_str(item.returns, import_map) + is_async = isinstance(item, ast.AsyncFunctionDef) + method_doc = ast.get_docstring(item) + + result["actions"][method_name] = { + "action_args": action_args, + "params": method_params, + "return_type": return_type, + "is_async": is_async, + "docstring": method_doc, + } + continue + + # --- Check for @not_action --- + if _has_decorator(item, "not_action") and _is_registry_decorator("not_action", import_map): + continue + + # --- get_ 前缀且无额外参数(仅 self)→ status property --- + if method_name.startswith("get_"): + real_args = [a for a in item.args.args if a.arg != "self"] + if len(real_args) == 0: + prop_name = method_name[4:] + return_type = _get_annotation_str(item.returns, import_map) + if prop_name not in result["status_properties"]: + result["status_properties"][prop_name] = { + "name": prop_name, + "return_type": return_type, + "is_property": False, + "topic_config": None, + } + continue + + # --- Public method without @action => auto-action --- + if method_name in ("post_init", "__str__", "__repr__"): + continue + + method_params = _extract_method_params(item, import_map) + return_type = _get_annotation_str(item.returns, import_map) + is_async = isinstance(item, ast.AsyncFunctionDef) + method_doc = ast.get_docstring(item) + + auto_entry: dict = { + "params": method_params, + "return_type": return_type, + "is_async": is_async, + "docstring": method_doc, + } + if _has_decorator(item, "always_free") and _is_registry_decorator("always_free", import_map): + auto_entry["always_free"] = True + result["auto_methods"][method_name] = auto_entry + + return result + + +# --------------------------------------------------------------------------- +# Method parameter extraction +# --------------------------------------------------------------------------- + + +_PARAM_SKIP_NAMES = frozenset({"sample_uuids"}) + + +def _extract_method_params( + func_node: Union[ast.FunctionDef, ast.AsyncFunctionDef], + import_map: Optional[Dict[str, str]] = None, +) -> List[dict]: + """ + Extract parameters from a class method definition. + + Automatically skips the first positional argument (self / cls) and any + domain-specific names listed in ``_PARAM_SKIP_NAMES``. + + Returns: + [{"name": "position", "type": "str", "default": None, "required": True}, ...] + """ + if import_map is None: + import_map = {} + params: List[dict] = [] + + args = func_node.args + + # Skip the first positional arg (self/cls) -- always present for class methods + # noinspection PyUnresolvedReferences + positional_args = args.args[1:] if args.args else [] + + # defaults align to the *end* of the args list; offset must account for the skipped arg + num_args = len(args.args) + num_defaults = len(args.defaults) + first_default_idx = num_args - num_defaults + + for i, arg in enumerate(positional_args, start=1): + name = arg.arg + if name in _PARAM_SKIP_NAMES: + continue + + param_info: dict = {"name": name} + + # Type annotation + if arg.annotation: + param_info["type"] = _get_annotation_str(arg.annotation, import_map) + else: + param_info["type"] = "" + + # Default value + default_idx = i - first_default_idx + if 0 <= default_idx < len(args.defaults): + default_val = _ast_node_to_value(args.defaults[default_idx], import_map) + param_info["default"] = default_val + param_info["required"] = False + else: + param_info["default"] = None + param_info["required"] = True + + params.append(param_info) + + # Keyword-only arguments (self/cls never appear here) + for i, arg in enumerate(args.kwonlyargs): + name = arg.arg + if name in _PARAM_SKIP_NAMES: + continue + + param_info: dict = {"name": name} + + if arg.annotation: + param_info["type"] = _get_annotation_str(arg.annotation, import_map) + else: + param_info["type"] = "" + + if i < len(args.kw_defaults) and args.kw_defaults[i] is not None: + param_info["default"] = _ast_node_to_value(args.kw_defaults[i], import_map) + param_info["required"] = False + else: + param_info["default"] = None + param_info["required"] = True + + params.append(param_info) + + return params + + +def _get_annotation_str(node: Optional[ast.expr], import_map: Dict[str, str]) -> str: + """Convert a type annotation AST node to a string representation. + + 保持类型字符串为合法 Python 表达式 (可被 ast.parse 解析)。 + 不在此处做 import_map 替换 — 由上层在需要时通过 import_map 解析。 + """ + if node is None: + return "" + + if isinstance(node, ast.Constant): + return str(node.value) + + if isinstance(node, ast.Name): + return node.id + + if isinstance(node, ast.Attribute): + parts = [] + current = node + while isinstance(current, ast.Attribute): + parts.append(current.attr) + current = current.value + if isinstance(current, ast.Name): + parts.append(current.id) + parts.reverse() + return ".".join(parts) + + # Handle subscript types like List[str], Dict[str, int], Optional[str] + if isinstance(node, ast.Subscript): + base = _get_annotation_str(node.value, import_map) + if isinstance(node.slice, ast.Tuple): + args = ", ".join(_get_annotation_str(elt, import_map) for elt in node.slice.elts) + else: + args = _get_annotation_str(node.slice, import_map) + return f"{base}[{args}]" + + # Handle Union types (X | Y in Python 3.10+) + if isinstance(node, ast.BinOp) and isinstance(node.op, ast.BitOr): + left = _get_annotation_str(node.left, import_map) + right = _get_annotation_str(node.right, import_map) + return f"Union[{left}, {right}]" + + return ast.dump(node) + + +# --------------------------------------------------------------------------- +# Module path derivation +# --------------------------------------------------------------------------- + + +def _filepath_to_module(filepath: Path, python_path: Path) -> str: + """ + 通过 *python_path*(sys.path 中的根目录)推导 Python 模块路径。 + + 做法:取 filepath 相对于 python_path 的路径,将目录分隔符替换为 '.'。 + + E.g. filepath = "/project/unilabos/devices/pump/valve.py" + python_path = "/project" + => "unilabos.devices.pump.valve" + """ + try: + relative = filepath.relative_to(python_path) + except ValueError: + return str(filepath) + + parts = list(relative.parts) + # 去掉 .py 后缀 + if parts and parts[-1].endswith(".py"): + parts[-1] = parts[-1][:-3] + # 去掉 __init__ + if parts and parts[-1] == "__init__": + parts.pop() + + return ".".join(parts) diff --git a/unilabos/registry/decorators.py b/unilabos/registry/decorators.py new file mode 100644 index 00000000..25a2e57f --- /dev/null +++ b/unilabos/registry/decorators.py @@ -0,0 +1,658 @@ +""" +装饰器注册表系统 + +通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。 + +Usage: + from unilabos.registry.decorators import ( + device, action, resource, + InputHandle, OutputHandle, + ActionInputHandle, ActionOutputHandle, + HardwareInterface, Side, DataSource, NodeType, + ) + + @device( + id="solenoid_valve.mock", + category=["pump_and_valve"], + description="模拟电磁阀设备", + handles=[ + InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH), + OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH), + ], + hardware_interface=HardwareInterface( + name="hardware_interface", + read="send_command", + write="send_command", + ), + ) + class SolenoidValveMock: + @action(action_type=EmptyIn) + def close(self): + ... + + @action( + handles=[ + ActionInputHandle(key="in", data_type="fluid", label="in"), + ActionOutputHandle(key="out", data_type="fluid", label="out"), + ], + ) + def set_valve_position(self, position): + ... + + # 无 @action 装饰器 => auto- 前缀动作 + def is_open(self): + ... +""" + +from enum import Enum +from functools import wraps +from typing import Any, Callable, Dict, List, Optional, TypeVar + +from pydantic import BaseModel, ConfigDict, Field + +F = TypeVar("F", bound=Callable[..., Any]) + +# --------------------------------------------------------------------------- +# 枚举 +# --------------------------------------------------------------------------- + + +class Side(str, Enum): + """UI 上 Handle 的显示位置""" + + NORTH = "NORTH" + SOUTH = "SOUTH" + EAST = "EAST" + WEST = "WEST" + + +class DataSource(str, Enum): + """Handle 的数据来源""" + + HANDLE = "handle" # 从上游 handle 获取数据 (用于 InputHandle) + EXECUTOR = "executor" # 从执行器输出数据 (用于 OutputHandle) + + +class NodeType(str, Enum): + """动作的节点类型(用于区分 ILab 节点和人工确认节点等)""" + + ILAB = "ILab" + MANUAL_CONFIRM = "manual_confirm" + + +# --------------------------------------------------------------------------- +# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type) +# --------------------------------------------------------------------------- + + +class _DeviceHandleBase(BaseModel): + """设备/资源端口基类 (内部使用)""" + + model_config = ConfigDict(populate_by_name=True) + + key: str = Field(serialization_alias="handler_key") + data_type: str + label: str + side: Optional[Side] = None + data_key: Optional[str] = None + data_source: Optional[str] = None + description: Optional[str] = None + + # 子类覆盖 + io_type: str = "" + + def to_registry_dict(self) -> Dict[str, Any]: + return self.model_dump(by_alias=True, exclude_none=True) + + +class InputHandle(_DeviceHandleBase): + """ + 输入端口 (io_type="target"), 用于 @device / @resource handles + + Example: + InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH) + """ + + io_type: str = "target" + + +class OutputHandle(_DeviceHandleBase): + """ + 输出端口 (io_type="source"), 用于 @device / @resource handles + + Example: + OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH) + """ + + io_type: str = "source" + + +# --------------------------------------------------------------------------- +# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组) +# --------------------------------------------------------------------------- + + +class _ActionHandleBase(BaseModel): + """动作端口基类 (内部使用)""" + + model_config = ConfigDict(populate_by_name=True) + + key: str = Field(serialization_alias="handler_key") + data_type: str + label: str + side: Optional[Side] = None + data_key: Optional[str] = None + data_source: Optional[str] = None + description: Optional[str] = None + io_type: Optional[str] = None # source/sink (dataflow) or target/source (device-style) + + def to_registry_dict(self) -> Dict[str, Any]: + return self.model_dump(by_alias=True, exclude_none=True) + + +class ActionInputHandle(_ActionHandleBase): + """ + 动作输入端口, 用于 @action handles, 序列化后归入 "input" 组 + + Example: + ActionInputHandle( + key="material_input", data_type="workbench_material", + label="物料编号", data_key="material_number", data_source="handle", + ) + """ + + pass + + +class ActionOutputHandle(_ActionHandleBase): + """ + 动作输出端口, 用于 @action handles, 序列化后归入 "output" 组 + + Example: + ActionOutputHandle( + key="station_output", data_type="workbench_station", + label="加热台ID", data_key="station_id", data_source="executor", + ) + """ + + pass + + +# --------------------------------------------------------------------------- +# HardwareInterface +# --------------------------------------------------------------------------- + + +class HardwareInterface(BaseModel): + """ + 硬件通信接口定义 + + 描述设备与底层硬件通信的方式 (串口、Modbus 等)。 + + Example: + HardwareInterface(name="hardware_interface", read="send_command", write="send_command") + """ + + name: str + read: Optional[str] = None + write: Optional[str] = None + extra_info: Optional[List[str]] = None + + +# --------------------------------------------------------------------------- +# 全局注册表 -- 记录所有被装饰器标记的类/函数 +# --------------------------------------------------------------------------- +_registered_devices: Dict[str, type] = {} # device_id -> class +_registered_resources: Dict[str, Any] = {} # resource_id -> class or function + + +def _device_handles_to_list( + handles: Optional[List[_DeviceHandleBase]], +) -> List[Dict[str, Any]]: + """将设备/资源 Handle 列表序列化为字典列表 (含 io_type)""" + if handles is None: + return [] + return [h.to_registry_dict() for h in handles] + + +def _action_handles_to_dict( + handles: Optional[List[_ActionHandleBase]], +) -> Dict[str, Any]: + """ + 将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。 + + ActionInputHandle => "input", ActionOutputHandle => "output" + """ + if handles is None: + return {} + input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)] + output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)] + result: Dict[str, Any] = {} + if input_list: + result["input"] = input_list + if output_list: + result["output"] = output_list + return result + + +# --------------------------------------------------------------------------- +# @device 类装饰器 +# --------------------------------------------------------------------------- + + +# noinspection PyShadowingBuiltins +def device( + id: Optional[str] = None, + ids: Optional[List[str]] = None, + id_meta: Optional[Dict[str, Dict[str, Any]]] = None, + category: Optional[List[str]] = None, + description: str = "", + display_name: str = "", + icon: str = "", + version: str = "1.0.0", + handles: Optional[List[_DeviceHandleBase]] = None, + model: Optional[Dict[str, Any]] = None, + device_type: str = "python", + hardware_interface: Optional[HardwareInterface] = None, +): + """ + 设备类装饰器 + + 将类标记为一个 UniLab-OS 设备,并附加注册表元数据。 + + 支持两种模式: + 1. 单设备: id="xxx", category=[...] + 2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}} + + Args: + id: 单设备时的注册表唯一标识 + ids: 多设备时的 id 列表,与 id_meta 配合使用 + id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model) + category: 设备分类标签列表 (必填) + description: 设备描述 + display_name: 人类可读的设备显示名称,缺失时默认使用 id + icon: 图标路径 + version: 版本号 + handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用) + model: 可选的 3D 模型配置 + device_type: 设备实现类型 ("python" / "ros2") + hardware_interface: 硬件通信接口 (HardwareInterface) + """ + # Resolve device ids + if ids is not None: + device_ids = list(ids) + if not device_ids: + raise ValueError("@device ids 不能为空") + id_meta = id_meta or {} + elif id is not None: + device_ids = [id] + id_meta = {} + else: + raise ValueError("@device 必须提供 id 或 ids") + + if category is None: + raise ValueError("@device category 必填") + + base_meta = { + "category": category, + "description": description, + "display_name": display_name, + "icon": icon, + "version": version, + "handles": _device_handles_to_list(handles), + "model": model, + "device_type": device_type, + "hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None), + } + + def decorator(cls): + cls._device_registry_meta = base_meta + cls._device_registry_id_meta = id_meta + cls._device_registry_ids = device_ids + + for did in device_ids: + if did in _registered_devices: + raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册") + _registered_devices[did] = cls + + return cls + + return decorator + + +# --------------------------------------------------------------------------- +# @action 方法装饰器 +# --------------------------------------------------------------------------- + +# 区分 "用户没传 action_type" 和 "用户传了 None" +_ACTION_TYPE_UNSET = object() + + +# noinspection PyShadowingNames +def action( + action_type: Any = _ACTION_TYPE_UNSET, + goal: Optional[Dict[str, str]] = None, + feedback: Optional[Dict[str, str]] = None, + result: Optional[Dict[str, str]] = None, + handles: Optional[List[_ActionHandleBase]] = None, + goal_default: Optional[Dict[str, Any]] = None, + placeholder_keys: Optional[Dict[str, str]] = None, + always_free: bool = False, + is_protocol: bool = False, + description: str = "", + auto_prefix: bool = False, + parent: bool = False, + node_type: Optional["NodeType"] = None, +): + """ + 动作方法装饰器 + + 标记方法为注册表动作。有三种用法: + 1. @action(action_type=EmptyIn, ...) -- 非 auto, 使用指定 ROS Action 类型 + 2. @action() -- 非 auto, UniLabJsonCommand (从方法签名生成 schema) + 3. 不加 @action -- auto- 前缀, UniLabJsonCommand + + Protocol 用法: + @action(action_type=Add, is_protocol=True) + def AddProtocol(self): ... + 标记该动作为高级协议 (protocol),运行时通过 ROS Action 路由到 + protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。 + + Args: + action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill). + 不传/默认 = UniLabJsonCommand (非 auto). + goal: Goal 字段映射 (ROS字段名 -> 设备参数名). + protocol 模式下可留空,系统自动生成 identity 映射. + feedback: Feedback 字段映射 + result: Result 字段映射 + handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle) + goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并 + placeholder_keys: 参数占位符配置 + always_free: 是否为永久闲置动作 (不受排队限制) + is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。 + description: 动作描述 + auto_prefix: 若为 True,动作名使用 auto-{method_name} 形式(与无 @action 时一致) + parent: 若为 True,当方法参数为空 (*args, **kwargs) 时,通过 MRO 从父类获取真实方法参数 + node_type: 动作的节点类型 (NodeType.ILAB / NodeType.MANUAL_CONFIRM)。 + 不填写时不写入注册表。 + """ + + def decorator(func: F) -> F: + @wraps(func) + def wrapper(*args, **kwargs): + return func(*args, **kwargs) + + # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand) + resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type + + meta = { + "action_type": resolved_type, + "goal": goal or {}, + "feedback": feedback or {}, + "result": result or {}, + "handles": _action_handles_to_dict(handles), + "goal_default": goal_default or {}, + "placeholder_keys": placeholder_keys or {}, + "always_free": always_free, + "is_protocol": is_protocol, + "description": description, + "auto_prefix": auto_prefix, + "parent": parent, + } + if node_type is not None: + meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type) + wrapper._action_registry_meta = meta # type: ignore[attr-defined] + + # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容 + if always_free: + wrapper._is_always_free = True # type: ignore[attr-defined] + + return wrapper # type: ignore[return-value] + + return decorator + + +def get_action_meta(func) -> Optional[Dict[str, Any]]: + """获取方法上的 @action 装饰器元数据""" + return getattr(func, "_action_registry_meta", None) + + +def has_action_decorator(func) -> bool: + """检查函数是否带有 @action 装饰器""" + return hasattr(func, "_action_registry_meta") + + +# --------------------------------------------------------------------------- +# @resource 类/函数装饰器 +# --------------------------------------------------------------------------- + + +def resource( + id: str, + category: List[str], + description: str = "", + icon: str = "", + version: str = "1.0.0", + handles: Optional[List[_DeviceHandleBase]] = None, + model: Optional[Dict[str, Any]] = None, + class_type: str = "pylabrobot", +): + """ + 资源类/函数装饰器 + + 将类或工厂函数标记为一个 UniLab-OS 资源,附加注册表元数据。 + + Args: + id: 注册表唯一标识 (必填, 不可重复) + category: 资源分类标签列表 (必填) + description: 资源描述 + icon: 图标路径 + version: 版本号 + handles: 端口列表 (InputHandle / OutputHandle) + model: 可选的 3D 模型配置 + class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos") + """ + + def decorator(obj): + meta = { + "resource_id": id, + "category": category, + "description": description, + "icon": icon, + "version": version, + "handles": _device_handles_to_list(handles), + "model": model, + "class_type": class_type, + } + obj._resource_registry_meta = meta + + if id in _registered_resources: + raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册") + _registered_resources[id] = obj + + return obj + + return decorator + + +def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]: + """ + 获取类上的 @device 装饰器元数据。 + + 当 device_id 存在且类使用 ids+id_meta 时,返回合并后的 meta + (base_meta 与 id_meta[device_id] 深度合并)。 + """ + base = getattr(cls, "_device_registry_meta", None) + if base is None: + return None + id_meta = getattr(cls, "_device_registry_id_meta", None) or {} + if device_id is None or device_id not in id_meta: + result = dict(base) + ids = getattr(cls, "_device_registry_ids", None) + result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None) + return result + + overrides = id_meta[device_id] + result = dict(base) + result["device_id"] = device_id + for key in ["handles", "description", "icon", "model"]: + if key in overrides: + val = overrides[key] + if key == "handles" and isinstance(val, list): + # handles 必须是 Handle 对象列表 + result[key] = [h.to_registry_dict() for h in val] + else: + result[key] = val + return result + + +def get_resource_meta(obj) -> Optional[Dict[str, Any]]: + """获取对象上的 @resource 装饰器元数据""" + return getattr(obj, "_resource_registry_meta", None) + + +def get_all_registered_devices() -> Dict[str, type]: + """获取所有已注册的设备类""" + return _registered_devices.copy() + + +def get_all_registered_resources() -> Dict[str, Any]: + """获取所有已注册的资源""" + return _registered_resources.copy() + + +def clear_registry(): + """清空全局注册表 (用于测试)""" + _registered_devices.clear() + _registered_resources.clear() + + +# --------------------------------------------------------------------------- +# 枚举值归一化 +# --------------------------------------------------------------------------- + + +def normalize_enum_value(raw: Any, enum_cls) -> Optional[str]: + """将 AST 提取的枚举成员名 / YAML 值字符串 / 旧格式长路径统一归一化为枚举值。 + + 适用于 Side、DataSource、NodeType 等继承自 ``str, Enum`` 的装饰器枚举。 + + 处理以下格式: + - "MANUAL_CONFIRM" → NodeType["MANUAL_CONFIRM"].value = "manual_confirm" + - "manual_confirm" → NodeType("manual_confirm").value = "manual_confirm" + - "HANDLE" → DataSource["HANDLE"].value = "handle" + - "NORTH" → Side["NORTH"].value = "NORTH" + - 旧缓存长路径 "unilabos...NodeType.MANUAL_CONFIRM" → 先 rsplit 再查找 + """ + if not raw: + return None + raw_str = str(raw) + if "." in raw_str: + raw_str = raw_str.rsplit(".", 1)[-1] + try: + return enum_cls[raw_str].value + except KeyError: + pass + try: + return enum_cls(raw_str).value + except ValueError: + return raw_str + + +# --------------------------------------------------------------------------- +# topic_config / not_action / always_free 装饰器 +# --------------------------------------------------------------------------- + + +def topic_config( + period: Optional[float] = None, + print_publish: Optional[bool] = None, + qos: Optional[int] = None, + name: Optional[str] = None, +) -> Callable[[F], F]: + """ + Topic发布配置装饰器 + + 用于装饰 get_{attr_name} 方法或 @property,控制对应属性的ROS topic发布行为。 + + Args: + period: 发布周期(秒)。None 表示使用默认值 5.0 + print_publish: 是否打印发布日志。None 表示使用节点默认配置 + qos: QoS深度配置。None 表示使用默认值 10 + name: 自定义发布名称。None 表示使用方法名(去掉 get_ 前缀) + + Note: + 与 @property 连用时,@topic_config 必须放在 @property 下面, + 这样装饰器执行顺序为:先 topic_config 添加配置,再 property 包装。 + """ + + def decorator(func: F) -> F: + @wraps(func) + def wrapper(*args, **kwargs): + return func(*args, **kwargs) + + wrapper._topic_period = period # type: ignore[attr-defined] + wrapper._topic_print_publish = print_publish # type: ignore[attr-defined] + wrapper._topic_qos = qos # type: ignore[attr-defined] + wrapper._topic_name = name # type: ignore[attr-defined] + wrapper._has_topic_config = True # type: ignore[attr-defined] + + return wrapper # type: ignore[return-value] + + return decorator + + +def get_topic_config(func) -> dict: + """获取函数上的 topic 配置 (period, print_publish, qos, name)""" + if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False): + return { + "period": getattr(func, "_topic_period", None), + "print_publish": getattr(func, "_topic_print_publish", None), + "qos": getattr(func, "_topic_qos", None), + "name": getattr(func, "_topic_name", None), + } + return {} + + +def always_free(func: F) -> F: + """ + 标记动作为永久闲置(不受busy队列限制)的装饰器 + + 被此装饰器标记的 action 方法,在执行时不会受到设备级别的排队限制, + 任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。 + """ + + @wraps(func) + def wrapper(*args, **kwargs): + return func(*args, **kwargs) + + wrapper._is_always_free = True # type: ignore[attr-defined] + + return wrapper # type: ignore[return-value] + + +def is_always_free(func) -> bool: + """检查函数是否被标记为永久闲置""" + return getattr(func, "_is_always_free", False) + + +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,使其在注册表扫描时不被识别为动作。 + 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。 + """ + + @wraps(func) + def wrapper(*args, **kwargs): + return func(*args, **kwargs) + + 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""" + return getattr(func, "_is_not_action", False) diff --git a/unilabos/registry/devices/Qone_nmr.yaml b/unilabos/registry/devices/Qone_nmr.yaml index fa182c77..5c5f1f8a 100644 --- a/unilabos/registry/devices/Qone_nmr.yaml +++ b/unilabos/registry/devices/Qone_nmr.yaml @@ -13,21 +13,18 @@ Qone_nmr: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -71,31 +68,6 @@ Qone_nmr: title: monitor_folder_for_new_content参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: string - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand auto-strings_to_txt: feedback: {} goal: {} @@ -138,21 +110,18 @@ Qone_nmr: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -167,32 +136,31 @@ Qone_nmr: goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml new file mode 100644 index 00000000..f57cd35c --- /dev/null +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -0,0 +1,2171 @@ +bioyond_cell: + category: + - bioyond_cell + class: + action_value_mappings: + auto-auto_batch_outbound_from_xlsx: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: + type: object + required: + - goal + title: auto_batch_outbound_from_xlsx参数 + type: object + type: UniLabJsonCommand + auto-auto_feeding4to3: + feedback: {} + goal: {} + goal_default: + WH3_x1_y1_z3_1_materialId: '' + WH3_x1_y1_z3_1_materialType: '' + WH3_x1_y1_z3_1_quantity: 0 + WH3_x1_y2_z3_4_materialId: '' + WH3_x1_y2_z3_4_materialType: '' + WH3_x1_y2_z3_4_quantity: 0 + WH3_x1_y3_z3_7_materialId: '' + WH3_x1_y3_z3_7_materialType: '' + WH3_x1_y3_z3_7_quantity: 0 + WH3_x1_y4_z3_10_materialId: '' + WH3_x1_y4_z3_10_materialType: '' + WH3_x1_y4_z3_10_quantity: 0 + WH3_x1_y5_z3_13_materialId: '' + WH3_x1_y5_z3_13_materialType: '' + WH3_x1_y5_z3_13_quantity: 0 + WH3_x2_y1_z3_2_materialId: '' + WH3_x2_y1_z3_2_materialType: '' + WH3_x2_y1_z3_2_quantity: 0 + WH3_x2_y2_z3_5_materialId: '' + WH3_x2_y2_z3_5_materialType: '' + WH3_x2_y2_z3_5_quantity: 0 + WH3_x2_y3_z3_8_materialId: '' + WH3_x2_y3_z3_8_materialType: '' + WH3_x2_y3_z3_8_quantity: 0 + WH3_x2_y4_z3_11_materialId: '' + WH3_x2_y4_z3_11_materialType: '' + WH3_x2_y4_z3_11_quantity: 0 + WH3_x2_y5_z3_14_materialId: '' + WH3_x2_y5_z3_14_materialType: '' + WH3_x2_y5_z3_14_quantity: 0 + WH3_x3_y1_z3_3_materialId: '' + WH3_x3_y1_z3_3_materialType: '' + WH3_x3_y1_z3_3_quantity: 0 + WH3_x3_y2_z3_6_materialId: '' + WH3_x3_y2_z3_6_materialType: '' + WH3_x3_y2_z3_6_quantity: 0 + WH3_x3_y3_z3_9_materialId: '' + WH3_x3_y3_z3_9_materialType: '' + WH3_x3_y3_z3_9_quantity: 0 + WH3_x3_y4_z3_12_materialId: '' + WH3_x3_y4_z3_12_materialType: '' + WH3_x3_y4_z3_12_quantity: 0 + WH3_x3_y5_z3_15_materialId: '' + WH3_x3_y5_z3_15_materialType: '' + WH3_x3_y5_z3_15_quantity: 0 + WH4_x1_y1_z1_1_materialName: '' + WH4_x1_y1_z1_1_quantity: 0.0 + WH4_x1_y1_z2_1_materialName: '' + WH4_x1_y1_z2_1_materialType: '' + WH4_x1_y1_z2_1_quantity: 0.0 + WH4_x1_y1_z2_1_targetWH: '' + WH4_x1_y2_z1_6_materialName: '' + WH4_x1_y2_z1_6_quantity: 0.0 + WH4_x1_y2_z2_4_materialName: '' + WH4_x1_y2_z2_4_materialType: '' + WH4_x1_y2_z2_4_quantity: 0.0 + WH4_x1_y2_z2_4_targetWH: '' + WH4_x1_y3_z1_11_materialName: '' + WH4_x1_y3_z1_11_quantity: 0.0 + WH4_x1_y3_z2_7_materialName: '' + WH4_x1_y3_z2_7_materialType: '' + WH4_x1_y3_z2_7_quantity: 0.0 + WH4_x1_y3_z2_7_targetWH: '' + WH4_x2_y1_z1_2_materialName: '' + WH4_x2_y1_z1_2_quantity: 0.0 + WH4_x2_y1_z2_2_materialName: '' + WH4_x2_y1_z2_2_materialType: '' + WH4_x2_y1_z2_2_quantity: 0.0 + WH4_x2_y1_z2_2_targetWH: '' + WH4_x2_y2_z1_7_materialName: '' + WH4_x2_y2_z1_7_quantity: 0.0 + WH4_x2_y2_z2_5_materialName: '' + WH4_x2_y2_z2_5_materialType: '' + WH4_x2_y2_z2_5_quantity: 0.0 + WH4_x2_y2_z2_5_targetWH: '' + WH4_x2_y3_z1_12_materialName: '' + WH4_x2_y3_z1_12_quantity: 0.0 + WH4_x2_y3_z2_8_materialName: '' + WH4_x2_y3_z2_8_materialType: '' + WH4_x2_y3_z2_8_quantity: 0.0 + WH4_x2_y3_z2_8_targetWH: '' + WH4_x3_y1_z1_3_materialName: '' + WH4_x3_y1_z1_3_quantity: 0.0 + WH4_x3_y1_z2_3_materialName: '' + WH4_x3_y1_z2_3_materialType: '' + WH4_x3_y1_z2_3_quantity: 0.0 + WH4_x3_y1_z2_3_targetWH: '' + WH4_x3_y2_z1_8_materialName: '' + WH4_x3_y2_z1_8_quantity: 0.0 + WH4_x3_y2_z2_6_materialName: '' + WH4_x3_y2_z2_6_materialType: '' + WH4_x3_y2_z2_6_quantity: 0.0 + WH4_x3_y2_z2_6_targetWH: '' + WH4_x3_y3_z2_9_materialName: '' + WH4_x3_y3_z2_9_materialType: '' + WH4_x3_y3_z2_9_quantity: 0.0 + WH4_x3_y3_z2_9_targetWH: '' + WH4_x4_y1_z1_4_materialName: '' + WH4_x4_y1_z1_4_quantity: 0.0 + WH4_x4_y2_z1_9_materialName: '' + WH4_x4_y2_z1_9_quantity: 0.0 + WH4_x5_y1_z1_5_materialName: '' + WH4_x5_y1_z1_5_quantity: 0.0 + WH4_x5_y2_z1_10_materialName: '' + WH4_x5_y2_z1_10_quantity: 0.0 + xlsx_path: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + WH3_x1_y1_z3_1_materialId: + default: '' + type: string + WH3_x1_y1_z3_1_materialType: + default: '' + type: string + WH3_x1_y1_z3_1_quantity: + default: 0 + type: number + WH3_x1_y2_z3_4_materialId: + default: '' + type: string + WH3_x1_y2_z3_4_materialType: + default: '' + type: string + WH3_x1_y2_z3_4_quantity: + default: 0 + type: number + WH3_x1_y3_z3_7_materialId: + default: '' + type: string + WH3_x1_y3_z3_7_materialType: + default: '' + type: string + WH3_x1_y3_z3_7_quantity: + default: 0 + type: number + WH3_x1_y4_z3_10_materialId: + default: '' + type: string + WH3_x1_y4_z3_10_materialType: + default: '' + type: string + WH3_x1_y4_z3_10_quantity: + default: 0 + type: number + WH3_x1_y5_z3_13_materialId: + default: '' + type: string + WH3_x1_y5_z3_13_materialType: + default: '' + type: string + WH3_x1_y5_z3_13_quantity: + default: 0 + type: number + WH3_x2_y1_z3_2_materialId: + default: '' + type: string + WH3_x2_y1_z3_2_materialType: + default: '' + type: string + WH3_x2_y1_z3_2_quantity: + default: 0 + type: number + WH3_x2_y2_z3_5_materialId: + default: '' + type: string + WH3_x2_y2_z3_5_materialType: + default: '' + type: string + WH3_x2_y2_z3_5_quantity: + default: 0 + type: number + WH3_x2_y3_z3_8_materialId: + default: '' + type: string + WH3_x2_y3_z3_8_materialType: + default: '' + type: string + WH3_x2_y3_z3_8_quantity: + default: 0 + type: number + WH3_x2_y4_z3_11_materialId: + default: '' + type: string + WH3_x2_y4_z3_11_materialType: + default: '' + type: string + WH3_x2_y4_z3_11_quantity: + default: 0 + type: number + WH3_x2_y5_z3_14_materialId: + default: '' + type: string + WH3_x2_y5_z3_14_materialType: + default: '' + type: string + WH3_x2_y5_z3_14_quantity: + default: 0 + type: number + WH3_x3_y1_z3_3_materialId: + default: '' + type: string + WH3_x3_y1_z3_3_materialType: + default: '' + type: string + WH3_x3_y1_z3_3_quantity: + default: 0 + type: number + WH3_x3_y2_z3_6_materialId: + default: '' + type: string + WH3_x3_y2_z3_6_materialType: + default: '' + type: string + WH3_x3_y2_z3_6_quantity: + default: 0 + type: number + WH3_x3_y3_z3_9_materialId: + default: '' + type: string + WH3_x3_y3_z3_9_materialType: + default: '' + type: string + WH3_x3_y3_z3_9_quantity: + default: 0 + type: number + WH3_x3_y4_z3_12_materialId: + default: '' + type: string + WH3_x3_y4_z3_12_materialType: + default: '' + type: string + WH3_x3_y4_z3_12_quantity: + default: 0 + type: number + WH3_x3_y5_z3_15_materialId: + default: '' + type: string + WH3_x3_y5_z3_15_materialType: + default: '' + type: string + WH3_x3_y5_z3_15_quantity: + default: 0 + type: number + WH4_x1_y1_z1_1_materialName: + default: '' + type: string + WH4_x1_y1_z1_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_materialName: + default: '' + type: string + WH4_x1_y1_z2_1_materialType: + default: '' + type: string + WH4_x1_y1_z2_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_targetWH: + default: '' + type: string + WH4_x1_y2_z1_6_materialName: + default: '' + type: string + WH4_x1_y2_z1_6_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_materialName: + default: '' + type: string + WH4_x1_y2_z2_4_materialType: + default: '' + type: string + WH4_x1_y2_z2_4_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_targetWH: + default: '' + type: string + WH4_x1_y3_z1_11_materialName: + default: '' + type: string + WH4_x1_y3_z1_11_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_materialName: + default: '' + type: string + WH4_x1_y3_z2_7_materialType: + default: '' + type: string + WH4_x1_y3_z2_7_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_targetWH: + default: '' + type: string + WH4_x2_y1_z1_2_materialName: + default: '' + type: string + WH4_x2_y1_z1_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_materialName: + default: '' + type: string + WH4_x2_y1_z2_2_materialType: + default: '' + type: string + WH4_x2_y1_z2_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_targetWH: + default: '' + type: string + WH4_x2_y2_z1_7_materialName: + default: '' + type: string + WH4_x2_y2_z1_7_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_materialName: + default: '' + type: string + WH4_x2_y2_z2_5_materialType: + default: '' + type: string + WH4_x2_y2_z2_5_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_targetWH: + default: '' + type: string + WH4_x2_y3_z1_12_materialName: + default: '' + type: string + WH4_x2_y3_z1_12_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_materialName: + default: '' + type: string + WH4_x2_y3_z2_8_materialType: + default: '' + type: string + WH4_x2_y3_z2_8_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_targetWH: + default: '' + type: string + WH4_x3_y1_z1_3_materialName: + default: '' + type: string + WH4_x3_y1_z1_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_materialName: + default: '' + type: string + WH4_x3_y1_z2_3_materialType: + default: '' + type: string + WH4_x3_y1_z2_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_targetWH: + default: '' + type: string + WH4_x3_y2_z1_8_materialName: + default: '' + type: string + WH4_x3_y2_z1_8_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_materialName: + default: '' + type: string + WH4_x3_y2_z2_6_materialType: + default: '' + type: string + WH4_x3_y2_z2_6_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_targetWH: + default: '' + type: string + WH4_x3_y3_z2_9_materialName: + default: '' + type: string + WH4_x3_y3_z2_9_materialType: + default: '' + type: string + WH4_x3_y3_z2_9_quantity: + default: 0.0 + type: number + WH4_x3_y3_z2_9_targetWH: + default: '' + type: string + WH4_x4_y1_z1_4_materialName: + default: '' + type: string + WH4_x4_y1_z1_4_quantity: + default: 0.0 + type: number + WH4_x4_y2_z1_9_materialName: + default: '' + type: string + WH4_x4_y2_z1_9_quantity: + default: 0.0 + type: number + WH4_x5_y1_z1_5_materialName: + default: '' + type: string + WH4_x5_y1_z1_5_quantity: + default: 0.0 + type: number + WH4_x5_y2_z1_10_materialName: + default: '' + type: string + WH4_x5_y2_z1_10_quantity: + default: 0.0 + type: number + xlsx_path: + default: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + type: string + required: [] + type: object + result: {} + required: + - goal + title: auto_feeding4to3参数 + type: object + type: UniLabJsonCommand + auto-create_and_inbound_materials: + feedback: {} + goal: {} + goal_default: + material_names: null + type_id: 3a190ca0-b2f6-9aeb-8067-547e72c11469 + warehouse_name: 粉末加样头堆栈 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + material_names: + items: + type: string + type: array + type_id: + default: 3a190ca0-b2f6-9aeb-8067-547e72c11469 + type: string + warehouse_name: + default: 粉末加样头堆栈 + type: string + required: [] + type: object + result: + type: object + required: + - goal + title: create_and_inbound_materials参数 + type: object + type: UniLabJsonCommand + auto-create_material: + feedback: {} + goal: {} + goal_default: + location_name_or_id: null + material_name: null + type_id: null + warehouse_name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + location_name_or_id: + type: string + material_name: + type: string + type_id: + type: string + warehouse_name: + type: string + required: + - material_name + - type_id + - warehouse_name + type: object + result: + type: object + required: + - goal + title: create_material参数 + type: object + type: UniLabJsonCommand + auto-create_materials: + feedback: {} + goal: {} + goal_default: + mappings: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + mappings: + additionalProperties: + type: object + type: object + required: + - mappings + type: object + result: + items: + type: object + type: array + required: + - goal + title: create_materials参数 + type: object + type: UniLabJsonCommand + auto-create_orders: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: + output: + - data_key: total_orders + data_source: executor + data_type: integer + handler_key: bottle_count + io_type: sink + label: 配液瓶数 + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: + type: object + required: + - goal + title: create_orders参数 + type: object + type: UniLabJsonCommand + auto-create_orders_v2: + feedback: {} + goal: {} + goal_default: + xlsx_path: null + handles: + output: + - data_key: total_orders + data_source: executor + data_type: integer + handler_key: bottle_count + io_type: sink + label: 配液瓶数 + placeholder_keys: {} + result: {} + schema: + description: 从Excel解析并创建实验(V2版本) + properties: + feedback: {} + goal: + properties: + xlsx_path: + type: string + required: + - xlsx_path + type: object + result: + type: object + required: + - goal + title: create_orders_v2参数 + type: object + type: UniLabJsonCommand + auto-create_sample: + feedback: {} + goal: {} + goal_default: + board_type: null + bottle_type: null + location_code: null + name: null + warehouse_name: 手动堆栈 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + board_type: + type: string + bottle_type: + type: string + location_code: + type: string + name: + type: string + warehouse_name: + default: 手动堆栈 + type: string + required: + - name + - board_type + - bottle_type + - location_code + type: object + result: + type: object + required: + - goal + title: create_sample参数 + type: object + type: UniLabJsonCommand + auto-order_list_v2: + feedback: {} + goal: {} + goal_default: + beginTime: '' + endTime: '' + filter: '' + pageCount: 1 + skipCount: 0 + sorting: '' + status: '' + timeType: '' + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + beginTime: + default: '' + type: string + endTime: + default: '' + type: string + filter: + default: '' + type: string + pageCount: + default: 1 + type: integer + skipCount: + default: 0 + type: integer + sorting: + default: '' + type: string + status: + default: '' + type: string + timeType: + default: '' + type: string + required: [] + type: object + result: + type: object + required: + - goal + title: order_list_v2参数 + type: object + type: UniLabJsonCommand + auto-process_order_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + used_materials: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + used_materials: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_order_finish_report参数 + type: object + type: UniLabJsonCommand + auto-process_sample_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_sample_finish_report参数 + type: object + type: UniLabJsonCommand + auto-process_step_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_step_finish_report参数 + type: object + type: UniLabJsonCommand + auto-report_material_change: + feedback: {} + goal: {} + goal_default: + material_obj: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + material_obj: + type: object + required: + - material_obj + type: object + result: + type: object + required: + - goal + title: report_material_change参数 + type: object + type: UniLabJsonCommand + auto-resource_tree_transfer: + feedback: {} + goal: {} + goal_default: + old_parent: null + parent_resource: null + plr_resource: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + old_parent: + type: object + parent_resource: + type: object + plr_resource: + type: object + required: + - old_parent + - plr_resource + - parent_resource + type: object + result: {} + required: + - goal + title: resource_tree_transfer参数 + type: object + type: UniLabJsonCommand + auto-scheduler_continue: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: object + required: + - goal + title: scheduler_continue参数 + type: object + type: UniLabJsonCommand + auto-scheduler_reset: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: object + required: + - goal + title: scheduler_reset参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: object + required: + - goal + title: scheduler_start参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start_and_auto_feeding: + feedback: {} + goal: {} + goal_default: + WH3_x1_y1_z3_1_materialId: '' + WH3_x1_y1_z3_1_materialType: '' + WH3_x1_y1_z3_1_quantity: 0 + WH3_x1_y2_z3_4_materialId: '' + WH3_x1_y2_z3_4_materialType: '' + WH3_x1_y2_z3_4_quantity: 0 + WH3_x1_y3_z3_7_materialId: '' + WH3_x1_y3_z3_7_materialType: '' + WH3_x1_y3_z3_7_quantity: 0 + WH3_x1_y4_z3_10_materialId: '' + WH3_x1_y4_z3_10_materialType: '' + WH3_x1_y4_z3_10_quantity: 0 + WH3_x1_y5_z3_13_materialId: '' + WH3_x1_y5_z3_13_materialType: '' + WH3_x1_y5_z3_13_quantity: 0 + WH3_x2_y1_z3_2_materialId: '' + WH3_x2_y1_z3_2_materialType: '' + WH3_x2_y1_z3_2_quantity: 0 + WH3_x2_y2_z3_5_materialId: '' + WH3_x2_y2_z3_5_materialType: '' + WH3_x2_y2_z3_5_quantity: 0 + WH3_x2_y3_z3_8_materialId: '' + WH3_x2_y3_z3_8_materialType: '' + WH3_x2_y3_z3_8_quantity: 0 + WH3_x2_y4_z3_11_materialId: '' + WH3_x2_y4_z3_11_materialType: '' + WH3_x2_y4_z3_11_quantity: 0 + WH3_x2_y5_z3_14_materialId: '' + WH3_x2_y5_z3_14_materialType: '' + WH3_x2_y5_z3_14_quantity: 0 + WH3_x3_y1_z3_3_materialId: '' + WH3_x3_y1_z3_3_materialType: '' + WH3_x3_y1_z3_3_quantity: 0 + WH3_x3_y2_z3_6_materialId: '' + WH3_x3_y2_z3_6_materialType: '' + WH3_x3_y2_z3_6_quantity: 0 + WH3_x3_y3_z3_9_materialId: '' + WH3_x3_y3_z3_9_materialType: '' + WH3_x3_y3_z3_9_quantity: 0 + WH3_x3_y4_z3_12_materialId: '' + WH3_x3_y4_z3_12_materialType: '' + WH3_x3_y4_z3_12_quantity: 0 + WH3_x3_y5_z3_15_materialId: '' + WH3_x3_y5_z3_15_materialType: '' + WH3_x3_y5_z3_15_quantity: 0 + WH4_x1_y1_z1_1_materialName: '' + WH4_x1_y1_z1_1_quantity: 0.0 + WH4_x1_y1_z2_1_materialName: '' + WH4_x1_y1_z2_1_materialType: '' + WH4_x1_y1_z2_1_quantity: 0.0 + WH4_x1_y1_z2_1_targetWH: '' + WH4_x1_y2_z1_6_materialName: '' + WH4_x1_y2_z1_6_quantity: 0.0 + WH4_x1_y2_z2_4_materialName: '' + WH4_x1_y2_z2_4_materialType: '' + WH4_x1_y2_z2_4_quantity: 0.0 + WH4_x1_y2_z2_4_targetWH: '' + WH4_x1_y3_z1_11_materialName: '' + WH4_x1_y3_z1_11_quantity: 0.0 + WH4_x1_y3_z2_7_materialName: '' + WH4_x1_y3_z2_7_materialType: '' + WH4_x1_y3_z2_7_quantity: 0.0 + WH4_x1_y3_z2_7_targetWH: '' + WH4_x2_y1_z1_2_materialName: '' + WH4_x2_y1_z1_2_quantity: 0.0 + WH4_x2_y1_z2_2_materialName: '' + WH4_x2_y1_z2_2_materialType: '' + WH4_x2_y1_z2_2_quantity: 0.0 + WH4_x2_y1_z2_2_targetWH: '' + WH4_x2_y2_z1_7_materialName: '' + WH4_x2_y2_z1_7_quantity: 0.0 + WH4_x2_y2_z2_5_materialName: '' + WH4_x2_y2_z2_5_materialType: '' + WH4_x2_y2_z2_5_quantity: 0.0 + WH4_x2_y2_z2_5_targetWH: '' + WH4_x2_y3_z1_12_materialName: '' + WH4_x2_y3_z1_12_quantity: 0.0 + WH4_x2_y3_z2_8_materialName: '' + WH4_x2_y3_z2_8_materialType: '' + WH4_x2_y3_z2_8_quantity: 0.0 + WH4_x2_y3_z2_8_targetWH: '' + WH4_x3_y1_z1_3_materialName: '' + WH4_x3_y1_z1_3_quantity: 0.0 + WH4_x3_y1_z2_3_materialName: '' + WH4_x3_y1_z2_3_materialType: '' + WH4_x3_y1_z2_3_quantity: 0.0 + WH4_x3_y1_z2_3_targetWH: '' + WH4_x3_y2_z1_8_materialName: '' + WH4_x3_y2_z1_8_quantity: 0.0 + WH4_x3_y2_z2_6_materialName: '' + WH4_x3_y2_z2_6_materialType: '' + WH4_x3_y2_z2_6_quantity: 0.0 + WH4_x3_y2_z2_6_targetWH: '' + WH4_x3_y3_z2_9_materialName: '' + WH4_x3_y3_z2_9_materialType: '' + WH4_x3_y3_z2_9_quantity: 0.0 + WH4_x3_y3_z2_9_targetWH: '' + WH4_x4_y1_z1_4_materialName: '' + WH4_x4_y1_z1_4_quantity: 0.0 + WH4_x4_y2_z1_9_materialName: '' + WH4_x4_y2_z1_9_quantity: 0.0 + WH4_x5_y1_z1_5_materialName: '' + WH4_x5_y1_z1_5_quantity: 0.0 + WH4_x5_y2_z1_10_materialName: '' + WH4_x5_y2_z1_10_quantity: 0.0 + xlsx_path: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 组合函数:先启动调度,然后执行自动化上料 + properties: + feedback: {} + goal: + properties: + WH3_x1_y1_z3_1_materialId: + default: '' + type: string + WH3_x1_y1_z3_1_materialType: + default: '' + type: string + WH3_x1_y1_z3_1_quantity: + default: 0 + type: number + WH3_x1_y2_z3_4_materialId: + default: '' + type: string + WH3_x1_y2_z3_4_materialType: + default: '' + type: string + WH3_x1_y2_z3_4_quantity: + default: 0 + type: number + WH3_x1_y3_z3_7_materialId: + default: '' + type: string + WH3_x1_y3_z3_7_materialType: + default: '' + type: string + WH3_x1_y3_z3_7_quantity: + default: 0 + type: number + WH3_x1_y4_z3_10_materialId: + default: '' + type: string + WH3_x1_y4_z3_10_materialType: + default: '' + type: string + WH3_x1_y4_z3_10_quantity: + default: 0 + type: number + WH3_x1_y5_z3_13_materialId: + default: '' + type: string + WH3_x1_y5_z3_13_materialType: + default: '' + type: string + WH3_x1_y5_z3_13_quantity: + default: 0 + type: number + WH3_x2_y1_z3_2_materialId: + default: '' + type: string + WH3_x2_y1_z3_2_materialType: + default: '' + type: string + WH3_x2_y1_z3_2_quantity: + default: 0 + type: number + WH3_x2_y2_z3_5_materialId: + default: '' + type: string + WH3_x2_y2_z3_5_materialType: + default: '' + type: string + WH3_x2_y2_z3_5_quantity: + default: 0 + type: number + WH3_x2_y3_z3_8_materialId: + default: '' + type: string + WH3_x2_y3_z3_8_materialType: + default: '' + type: string + WH3_x2_y3_z3_8_quantity: + default: 0 + type: number + WH3_x2_y4_z3_11_materialId: + default: '' + type: string + WH3_x2_y4_z3_11_materialType: + default: '' + type: string + WH3_x2_y4_z3_11_quantity: + default: 0 + type: number + WH3_x2_y5_z3_14_materialId: + default: '' + type: string + WH3_x2_y5_z3_14_materialType: + default: '' + type: string + WH3_x2_y5_z3_14_quantity: + default: 0 + type: number + WH3_x3_y1_z3_3_materialId: + default: '' + type: string + WH3_x3_y1_z3_3_materialType: + default: '' + type: string + WH3_x3_y1_z3_3_quantity: + default: 0 + type: number + WH3_x3_y2_z3_6_materialId: + default: '' + type: string + WH3_x3_y2_z3_6_materialType: + default: '' + type: string + WH3_x3_y2_z3_6_quantity: + default: 0 + type: number + WH3_x3_y3_z3_9_materialId: + default: '' + type: string + WH3_x3_y3_z3_9_materialType: + default: '' + type: string + WH3_x3_y3_z3_9_quantity: + default: 0 + type: number + WH3_x3_y4_z3_12_materialId: + default: '' + type: string + WH3_x3_y4_z3_12_materialType: + default: '' + type: string + WH3_x3_y4_z3_12_quantity: + default: 0 + type: number + WH3_x3_y5_z3_15_materialId: + default: '' + type: string + WH3_x3_y5_z3_15_materialType: + default: '' + type: string + WH3_x3_y5_z3_15_quantity: + default: 0 + type: number + WH4_x1_y1_z1_1_materialName: + default: '' + type: string + WH4_x1_y1_z1_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_materialName: + default: '' + type: string + WH4_x1_y1_z2_1_materialType: + default: '' + type: string + WH4_x1_y1_z2_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_targetWH: + default: '' + type: string + WH4_x1_y2_z1_6_materialName: + default: '' + type: string + WH4_x1_y2_z1_6_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_materialName: + default: '' + type: string + WH4_x1_y2_z2_4_materialType: + default: '' + type: string + WH4_x1_y2_z2_4_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_targetWH: + default: '' + type: string + WH4_x1_y3_z1_11_materialName: + default: '' + type: string + WH4_x1_y3_z1_11_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_materialName: + default: '' + type: string + WH4_x1_y3_z2_7_materialType: + default: '' + type: string + WH4_x1_y3_z2_7_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_targetWH: + default: '' + type: string + WH4_x2_y1_z1_2_materialName: + default: '' + type: string + WH4_x2_y1_z1_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_materialName: + default: '' + type: string + WH4_x2_y1_z2_2_materialType: + default: '' + type: string + WH4_x2_y1_z2_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_targetWH: + default: '' + type: string + WH4_x2_y2_z1_7_materialName: + default: '' + type: string + WH4_x2_y2_z1_7_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_materialName: + default: '' + type: string + WH4_x2_y2_z2_5_materialType: + default: '' + type: string + WH4_x2_y2_z2_5_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_targetWH: + default: '' + type: string + WH4_x2_y3_z1_12_materialName: + default: '' + type: string + WH4_x2_y3_z1_12_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_materialName: + default: '' + type: string + WH4_x2_y3_z2_8_materialType: + default: '' + type: string + WH4_x2_y3_z2_8_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_targetWH: + default: '' + type: string + WH4_x3_y1_z1_3_materialName: + default: '' + type: string + WH4_x3_y1_z1_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_materialName: + default: '' + type: string + WH4_x3_y1_z2_3_materialType: + default: '' + type: string + WH4_x3_y1_z2_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_targetWH: + default: '' + type: string + WH4_x3_y2_z1_8_materialName: + default: '' + type: string + WH4_x3_y2_z1_8_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_materialName: + default: '' + type: string + WH4_x3_y2_z2_6_materialType: + default: '' + type: string + WH4_x3_y2_z2_6_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_targetWH: + default: '' + type: string + WH4_x3_y3_z2_9_materialName: + default: '' + type: string + WH4_x3_y3_z2_9_materialType: + default: '' + type: string + WH4_x3_y3_z2_9_quantity: + default: 0.0 + type: number + WH4_x3_y3_z2_9_targetWH: + default: '' + type: string + WH4_x4_y1_z1_4_materialName: + default: '' + type: string + WH4_x4_y1_z1_4_quantity: + default: 0.0 + type: number + WH4_x4_y2_z1_9_materialName: + default: '' + type: string + WH4_x4_y2_z1_9_quantity: + default: 0.0 + type: number + WH4_x5_y1_z1_5_materialName: + default: '' + type: string + WH4_x5_y1_z1_5_quantity: + default: 0.0 + type: number + WH4_x5_y2_z1_10_materialName: + default: '' + type: string + WH4_x5_y2_z1_10_quantity: + default: 0.0 + type: number + xlsx_path: + default: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + type: string + required: [] + type: object + result: + type: object + required: + - goal + title: scheduler_start_and_auto_feeding参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start_and_auto_feeding_v2: + feedback: {} + goal: {} + goal_default: + WH3_x1_y1_z3_1_materialId: '' + WH3_x1_y1_z3_1_materialType: '' + WH3_x1_y1_z3_1_quantity: 0 + WH3_x1_y2_z3_4_materialId: '' + WH3_x1_y2_z3_4_materialType: '' + WH3_x1_y2_z3_4_quantity: 0 + WH3_x1_y3_z3_7_materialId: '' + WH3_x1_y3_z3_7_materialType: '' + WH3_x1_y3_z3_7_quantity: 0 + WH3_x1_y4_z3_10_materialId: '' + WH3_x1_y4_z3_10_materialType: '' + WH3_x1_y4_z3_10_quantity: 0 + WH3_x1_y5_z3_13_materialId: '' + WH3_x1_y5_z3_13_materialType: '' + WH3_x1_y5_z3_13_quantity: 0 + WH3_x2_y1_z3_2_materialId: '' + WH3_x2_y1_z3_2_materialType: '' + WH3_x2_y1_z3_2_quantity: 0 + WH3_x2_y2_z3_5_materialId: '' + WH3_x2_y2_z3_5_materialType: '' + WH3_x2_y2_z3_5_quantity: 0 + WH3_x2_y3_z3_8_materialId: '' + WH3_x2_y3_z3_8_materialType: '' + WH3_x2_y3_z3_8_quantity: 0 + WH3_x2_y4_z3_11_materialId: '' + WH3_x2_y4_z3_11_materialType: '' + WH3_x2_y4_z3_11_quantity: 0 + WH3_x2_y5_z3_14_materialId: '' + WH3_x2_y5_z3_14_materialType: '' + WH3_x2_y5_z3_14_quantity: 0 + WH3_x3_y1_z3_3_materialId: '' + WH3_x3_y1_z3_3_materialType: '' + WH3_x3_y1_z3_3_quantity: 0 + WH3_x3_y2_z3_6_materialId: '' + WH3_x3_y2_z3_6_materialType: '' + WH3_x3_y2_z3_6_quantity: 0 + WH3_x3_y3_z3_9_materialId: '' + WH3_x3_y3_z3_9_materialType: '' + WH3_x3_y3_z3_9_quantity: 0 + WH3_x3_y4_z3_12_materialId: '' + WH3_x3_y4_z3_12_materialType: '' + WH3_x3_y4_z3_12_quantity: 0 + WH3_x3_y5_z3_15_materialId: '' + WH3_x3_y5_z3_15_materialType: '' + WH3_x3_y5_z3_15_quantity: 0 + WH4_x1_y1_z1_1_materialName: '' + WH4_x1_y1_z1_1_quantity: 0.0 + WH4_x1_y1_z2_1_materialName: '' + WH4_x1_y1_z2_1_materialType: '' + WH4_x1_y1_z2_1_quantity: 0.0 + WH4_x1_y1_z2_1_targetWH: '' + WH4_x1_y2_z1_6_materialName: '' + WH4_x1_y2_z1_6_quantity: 0.0 + WH4_x1_y2_z2_4_materialName: '' + WH4_x1_y2_z2_4_materialType: '' + WH4_x1_y2_z2_4_quantity: 0.0 + WH4_x1_y2_z2_4_targetWH: '' + WH4_x1_y3_z1_11_materialName: '' + WH4_x1_y3_z1_11_quantity: 0.0 + WH4_x1_y3_z2_7_materialName: '' + WH4_x1_y3_z2_7_materialType: '' + WH4_x1_y3_z2_7_quantity: 0.0 + WH4_x1_y3_z2_7_targetWH: '' + WH4_x2_y1_z1_2_materialName: '' + WH4_x2_y1_z1_2_quantity: 0.0 + WH4_x2_y1_z2_2_materialName: '' + WH4_x2_y1_z2_2_materialType: '' + WH4_x2_y1_z2_2_quantity: 0.0 + WH4_x2_y1_z2_2_targetWH: '' + WH4_x2_y2_z1_7_materialName: '' + WH4_x2_y2_z1_7_quantity: 0.0 + WH4_x2_y2_z2_5_materialName: '' + WH4_x2_y2_z2_5_materialType: '' + WH4_x2_y2_z2_5_quantity: 0.0 + WH4_x2_y2_z2_5_targetWH: '' + WH4_x2_y3_z1_12_materialName: '' + WH4_x2_y3_z1_12_quantity: 0.0 + WH4_x2_y3_z2_8_materialName: '' + WH4_x2_y3_z2_8_materialType: '' + WH4_x2_y3_z2_8_quantity: 0.0 + WH4_x2_y3_z2_8_targetWH: '' + WH4_x3_y1_z1_3_materialName: '' + WH4_x3_y1_z1_3_quantity: 0.0 + WH4_x3_y1_z2_3_materialName: '' + WH4_x3_y1_z2_3_materialType: '' + WH4_x3_y1_z2_3_quantity: 0.0 + WH4_x3_y1_z2_3_targetWH: '' + WH4_x3_y2_z1_8_materialName: '' + WH4_x3_y2_z1_8_quantity: 0.0 + WH4_x3_y2_z2_6_materialName: '' + WH4_x3_y2_z2_6_materialType: '' + WH4_x3_y2_z2_6_quantity: 0.0 + WH4_x3_y2_z2_6_targetWH: '' + WH4_x3_y3_z2_9_materialName: '' + WH4_x3_y3_z2_9_materialType: '' + WH4_x3_y3_z2_9_quantity: 0.0 + WH4_x3_y3_z2_9_targetWH: '' + WH4_x4_y1_z1_4_materialName: '' + WH4_x4_y1_z1_4_quantity: 0.0 + WH4_x4_y2_z1_9_materialName: '' + WH4_x4_y2_z1_9_quantity: 0.0 + WH4_x5_y1_z1_5_materialName: '' + WH4_x5_y1_z1_5_quantity: 0.0 + WH4_x5_y2_z1_10_materialName: '' + WH4_x5_y2_z1_10_quantity: 0.0 + xlsx_path: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 组合函数V2版本(测试):先启动调度,然后执行自动化上料(使用非阻塞轮询等待) + properties: + feedback: {} + goal: + properties: + WH3_x1_y1_z3_1_materialId: + default: '' + type: string + WH3_x1_y1_z3_1_materialType: + default: '' + type: string + WH3_x1_y1_z3_1_quantity: + default: 0 + type: number + WH3_x1_y2_z3_4_materialId: + default: '' + type: string + WH3_x1_y2_z3_4_materialType: + default: '' + type: string + WH3_x1_y2_z3_4_quantity: + default: 0 + type: number + WH3_x1_y3_z3_7_materialId: + default: '' + type: string + WH3_x1_y3_z3_7_materialType: + default: '' + type: string + WH3_x1_y3_z3_7_quantity: + default: 0 + type: number + WH3_x1_y4_z3_10_materialId: + default: '' + type: string + WH3_x1_y4_z3_10_materialType: + default: '' + type: string + WH3_x1_y4_z3_10_quantity: + default: 0 + type: number + WH3_x1_y5_z3_13_materialId: + default: '' + type: string + WH3_x1_y5_z3_13_materialType: + default: '' + type: string + WH3_x1_y5_z3_13_quantity: + default: 0 + type: number + WH3_x2_y1_z3_2_materialId: + default: '' + type: string + WH3_x2_y1_z3_2_materialType: + default: '' + type: string + WH3_x2_y1_z3_2_quantity: + default: 0 + type: number + WH3_x2_y2_z3_5_materialId: + default: '' + type: string + WH3_x2_y2_z3_5_materialType: + default: '' + type: string + WH3_x2_y2_z3_5_quantity: + default: 0 + type: number + WH3_x2_y3_z3_8_materialId: + default: '' + type: string + WH3_x2_y3_z3_8_materialType: + default: '' + type: string + WH3_x2_y3_z3_8_quantity: + default: 0 + type: number + WH3_x2_y4_z3_11_materialId: + default: '' + type: string + WH3_x2_y4_z3_11_materialType: + default: '' + type: string + WH3_x2_y4_z3_11_quantity: + default: 0 + type: number + WH3_x2_y5_z3_14_materialId: + default: '' + type: string + WH3_x2_y5_z3_14_materialType: + default: '' + type: string + WH3_x2_y5_z3_14_quantity: + default: 0 + type: number + WH3_x3_y1_z3_3_materialId: + default: '' + type: string + WH3_x3_y1_z3_3_materialType: + default: '' + type: string + WH3_x3_y1_z3_3_quantity: + default: 0 + type: number + WH3_x3_y2_z3_6_materialId: + default: '' + type: string + WH3_x3_y2_z3_6_materialType: + default: '' + type: string + WH3_x3_y2_z3_6_quantity: + default: 0 + type: number + WH3_x3_y3_z3_9_materialId: + default: '' + type: string + WH3_x3_y3_z3_9_materialType: + default: '' + type: string + WH3_x3_y3_z3_9_quantity: + default: 0 + type: number + WH3_x3_y4_z3_12_materialId: + default: '' + type: string + WH3_x3_y4_z3_12_materialType: + default: '' + type: string + WH3_x3_y4_z3_12_quantity: + default: 0 + type: number + WH3_x3_y5_z3_15_materialId: + default: '' + type: string + WH3_x3_y5_z3_15_materialType: + default: '' + type: string + WH3_x3_y5_z3_15_quantity: + default: 0 + type: number + WH4_x1_y1_z1_1_materialName: + default: '' + type: string + WH4_x1_y1_z1_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_materialName: + default: '' + type: string + WH4_x1_y1_z2_1_materialType: + default: '' + type: string + WH4_x1_y1_z2_1_quantity: + default: 0.0 + type: number + WH4_x1_y1_z2_1_targetWH: + default: '' + type: string + WH4_x1_y2_z1_6_materialName: + default: '' + type: string + WH4_x1_y2_z1_6_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_materialName: + default: '' + type: string + WH4_x1_y2_z2_4_materialType: + default: '' + type: string + WH4_x1_y2_z2_4_quantity: + default: 0.0 + type: number + WH4_x1_y2_z2_4_targetWH: + default: '' + type: string + WH4_x1_y3_z1_11_materialName: + default: '' + type: string + WH4_x1_y3_z1_11_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_materialName: + default: '' + type: string + WH4_x1_y3_z2_7_materialType: + default: '' + type: string + WH4_x1_y3_z2_7_quantity: + default: 0.0 + type: number + WH4_x1_y3_z2_7_targetWH: + default: '' + type: string + WH4_x2_y1_z1_2_materialName: + default: '' + type: string + WH4_x2_y1_z1_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_materialName: + default: '' + type: string + WH4_x2_y1_z2_2_materialType: + default: '' + type: string + WH4_x2_y1_z2_2_quantity: + default: 0.0 + type: number + WH4_x2_y1_z2_2_targetWH: + default: '' + type: string + WH4_x2_y2_z1_7_materialName: + default: '' + type: string + WH4_x2_y2_z1_7_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_materialName: + default: '' + type: string + WH4_x2_y2_z2_5_materialType: + default: '' + type: string + WH4_x2_y2_z2_5_quantity: + default: 0.0 + type: number + WH4_x2_y2_z2_5_targetWH: + default: '' + type: string + WH4_x2_y3_z1_12_materialName: + default: '' + type: string + WH4_x2_y3_z1_12_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_materialName: + default: '' + type: string + WH4_x2_y3_z2_8_materialType: + default: '' + type: string + WH4_x2_y3_z2_8_quantity: + default: 0.0 + type: number + WH4_x2_y3_z2_8_targetWH: + default: '' + type: string + WH4_x3_y1_z1_3_materialName: + default: '' + type: string + WH4_x3_y1_z1_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_materialName: + default: '' + type: string + WH4_x3_y1_z2_3_materialType: + default: '' + type: string + WH4_x3_y1_z2_3_quantity: + default: 0.0 + type: number + WH4_x3_y1_z2_3_targetWH: + default: '' + type: string + WH4_x3_y2_z1_8_materialName: + default: '' + type: string + WH4_x3_y2_z1_8_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_materialName: + default: '' + type: string + WH4_x3_y2_z2_6_materialType: + default: '' + type: string + WH4_x3_y2_z2_6_quantity: + default: 0.0 + type: number + WH4_x3_y2_z2_6_targetWH: + default: '' + type: string + WH4_x3_y3_z2_9_materialName: + default: '' + type: string + WH4_x3_y3_z2_9_materialType: + default: '' + type: string + WH4_x3_y3_z2_9_quantity: + default: 0.0 + type: number + WH4_x3_y3_z2_9_targetWH: + default: '' + type: string + WH4_x4_y1_z1_4_materialName: + default: '' + type: string + WH4_x4_y1_z1_4_quantity: + default: 0.0 + type: number + WH4_x4_y2_z1_9_materialName: + default: '' + type: string + WH4_x4_y2_z1_9_quantity: + default: 0.0 + type: number + WH4_x5_y1_z1_5_materialName: + default: '' + type: string + WH4_x5_y1_z1_5_quantity: + default: 0.0 + type: number + WH4_x5_y2_z1_10_materialName: + default: '' + type: string + WH4_x5_y2_z1_10_quantity: + default: 0.0 + type: number + xlsx_path: + default: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx + type: string + required: [] + type: object + result: + type: object + required: + - goal + title: scheduler_start_and_auto_feeding_v2参数 + type: object + type: UniLabJsonCommand + auto-scheduler_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: object + required: + - goal + title: scheduler_stop参数 + type: object + type: UniLabJsonCommand + auto-storage_batch_inbound: + feedback: {} + goal: {} + goal_default: + items: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + items: + items: + additionalProperties: + type: string + type: object + type: array + required: + - items + type: object + result: + type: object + required: + - goal + title: storage_batch_inbound参数 + type: object + type: UniLabJsonCommand + auto-storage_inbound: + feedback: {} + goal: {} + goal_default: + location_id: null + material_id: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + location_id: + type: string + material_id: + type: string + required: + - material_id + - location_id + type: object + result: + type: object + required: + - goal + title: storage_inbound参数 + type: object + type: UniLabJsonCommand + auto-transfer_1_to_2: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: object + required: + - goal + title: transfer_1_to_2参数 + type: object + type: UniLabJsonCommand + auto-transfer_3_to_2: + feedback: {} + goal: {} + goal_default: + source_wh_id: 3a19debc-84b4-0359-e2d4-b3beea49348b + source_x: 1 + source_y: 1 + source_z: 1 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 3-2 物料转运,从3号位置转运到2号位置 + properties: + feedback: {} + goal: + properties: + source_wh_id: + default: 3a19debc-84b4-0359-e2d4-b3beea49348b + description: 来源仓库ID + type: string + source_x: + default: 1 + description: 来源位置X坐标 + type: integer + source_y: + default: 1 + description: 来源位置Y坐标 + type: integer + source_z: + default: 1 + description: 来源位置Z坐标 + type: integer + required: [] + type: object + result: + type: object + required: + - goal + title: transfer_3_to_2参数 + type: object + type: UniLabJsonCommand + auto-transfer_3_to_2_to_1: + feedback: {} + goal: {} + goal_default: + source_wh_id: 3a19debc-84b4-0359-e2d4-b3beea49348b + source_x: 1 + source_y: 1 + source_z: 1 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + source_wh_id: + default: 3a19debc-84b4-0359-e2d4-b3beea49348b + type: string + source_x: + default: 1 + type: integer + source_y: + default: 1 + type: integer + source_z: + default: 1 + type: integer + required: [] + type: object + result: + type: object + required: + - goal + title: transfer_3_to_2_to_1参数 + type: object + type: UniLabJsonCommand + auto-update_push_ip: + feedback: {} + goal: {} + goal_default: + ip: null + port: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ip: + type: string + port: + type: integer + required: [] + type: object + result: + type: object + required: + - goal + title: update_push_ip参数 + type: object + type: UniLabJsonCommand + auto-wait_for_order_finish: + feedback: {} + goal: {} + goal_default: + order_code: null + timeout: 36000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + order_code: + type: string + timeout: + default: 36000 + type: integer + required: + - order_code + type: object + result: + type: object + required: + - goal + title: wait_for_order_finish参数 + type: object + type: UniLabJsonCommand + auto-wait_for_order_finish_polling: + feedback: {} + goal: {} + goal_default: + order_code: null + poll_interval: 0.5 + timeout: 36000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + order_code: + type: string + poll_interval: + default: 0.5 + type: number + timeout: + default: 36000 + type: integer + required: + - order_code + type: object + result: + type: object + required: + - goal + title: wait_for_order_finish_polling参数 + type: object + type: UniLabJsonCommand + auto-wait_for_transfer_task: + feedback: {} + goal: {} + goal_default: + filter_text: null + interval: 5 + timeout: 3000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + filter_text: + type: string + interval: + default: 5 + type: integer + timeout: + default: 3000 + type: integer + required: [] + type: object + result: + type: boolean + required: + - goal + title: wait_for_transfer_task参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation + status_types: + device_id: '' + type: python + config_info: [] + description: '' + handles: [] + icon: benyao2.webp + init_param_schema: + config: + properties: + bioyond_config: + type: object + deck: + type: string + protocol_type: + type: string + required: [] + type: object + data: + properties: + device_id: + type: string + required: + - device_id + type: object + version: 1.0.0 diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml index 9ae76b7f..547b54ff 100644 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml @@ -24,39 +24,321 @@ bioyond_dispensing_station: required: - data type: object - result: {} + result: + type: object required: - goal title: brief_step_parameters参数 type: object type: UniLabJsonCommand - auto-compute_experiment_design: + auto-process_order_finish_report: feedback: {} goal: {} goal_default: - m_tot: '70' - ratio: null - titration_percent: '0.03' - wt_percent: '0.25' + report_request: null + used_materials: null handles: {} placeholder_keys: {} result: {} schema: description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + used_materials: + type: string + required: + - report_request + - used_materials + type: object + result: + type: object + required: + - goal + title: process_order_finish_report参数 + type: object + type: UniLabJsonCommand + auto-project_order_report: + feedback: {} + goal: {} + goal_default: + order_id: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + order_id: + type: string + required: + - order_id + type: object + result: + type: object + required: + - goal + title: project_order_report参数 + type: object + type: UniLabJsonCommand + auto-query_resource_by_name: + feedback: {} + goal: {} + goal_default: + material_name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + material_name: + type: string + required: + - material_name + type: object + result: {} + required: + - goal + title: query_resource_by_name参数 + type: object + type: UniLabJsonCommand + auto-workflow_sample_locations: + feedback: {} + goal: {} + goal_default: + workflow_id: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + workflow_id: + type: string + required: + - workflow_id + type: object + result: + type: object + required: + - goal + title: workflow_sample_locations参数 + type: object + type: UniLabJsonCommand + batch_create_90_10_vial_feeding_tasks: + feedback: {} + goal: + delay_time: delay_time + hold_m_name: hold_m_name + liquid_material_name: liquid_material_name + speed: speed + temperature: temperature + titration: titration + goal_default: + delay_time: null + hold_m_name: null + liquid_material_name: NMP + speed: null + temperature: null + titration: null + handles: + input: + - data_key: titration + data_source: handle + data_type: object + handler_key: titration + io_type: source + label: Titration Data From Calculation Node + output: + - data_key: return_info + data_source: executor + data_type: string + handler_key: BATCH_CREATE_RESULT + io_type: sink + label: Complete Batch Create Result JSON (contains order_codes and order_ids) + placeholder_keys: {} + result: {} + schema: + description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。 + properties: + feedback: + title: BatchCreate9010VialFeedingTasks_Feedback + goal: + properties: + delay_time: + description: 延迟时间(秒),默认600 + type: string + hold_m_name: + description: 库位名称,如"C01",必填参数 + type: string + liquid_material_name: + default: NMP + description: 10%物料的液体物料名称,默认为"NMP" + type: string + speed: + description: 搅拌速度,默认400 + type: string + temperature: + description: 温度(℃),默认40 + type: string + titration: + description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g), + titration_solvent(滴定溶液体积mL)' + type: string + required: + - titration + title: BatchCreate9010VialFeedingTasks_Goal + type: object + result: + title: BatchCreate9010VialFeedingTasks_Result + type: string + required: + - goal + title: batch_create_90_10_vial_feeding_tasks参数 + type: object + type: UniLabJsonCommand + batch_create_diamine_solution_tasks: + feedback: {} + goal: + delay_time: delay_time + liquid_material_name: liquid_material_name + solutions: solutions + speed: speed + temperature: temperature + goal_default: + delay_time: null + liquid_material_name: NMP + solutions: null + speed: null + temperature: null + handles: + input: + - data_key: solutions + data_source: handle + data_type: array + handler_key: solutions + io_type: source + label: Solution Data From Python + output: + - data_key: return_info + data_source: executor + data_type: string + handler_key: BATCH_CREATE_RESULT + io_type: sink + label: Complete Batch Create Result JSON (contains order_codes and order_ids) + placeholder_keys: {} + result: {} + schema: + description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务,每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。 + properties: + feedback: + title: BatchCreateDiamineSolutionTasks_Feedback + goal: + properties: + delay_time: + description: 溶液配置完成后的延迟时间(秒),用于充分混合和溶解,默认600秒 + type: string + liquid_material_name: + default: NMP + description: 液体溶剂名称,用于溶解固体物料,默认为NMP(N-甲基吡咯烷酮) + type: string + solutions: + description: '溶液列表,JSON数组格式,每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g), + solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass": + 5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass": + 4.5, "solvent_volume": 18}]' + type: string + speed: + description: 搅拌速度(rpm),用于混合溶液,默认400转/分钟 + type: string + temperature: + description: 配置温度(℃),溶液配置过程的目标温度,默认20℃(室温) + type: string + required: + - solutions + title: BatchCreateDiamineSolutionTasks_Goal + type: object + result: + title: BatchCreateDiamineSolutionTasks_Result + type: string + required: + - goal + title: batch_create_diamine_solution_tasks参数 + type: object + type: UniLabJsonCommand + compute_experiment_design: + feedback: {} + goal: + m_tot: m_tot + ratio: ratio + titration_percent: titration_percent + wt_percent: wt_percent + goal_default: + m_tot: '70' + ratio: null + titration_percent: '0.03' + wt_percent: '0.25' + handles: + output: + - data_key: solutions + data_source: executor + data_type: array + handler_key: solutions + io_type: sink + label: Solution Data From Python + - data_key: titration + data_source: executor + data_type: object + handler_key: titration + io_type: sink + label: Titration Data From Calculation Node + - data_key: solvents + data_source: executor + data_type: object + handler_key: solvents + io_type: sink + label: Solvents Data From Calculation Node + - data_key: feeding_order + data_source: executor + data_type: array + handler_key: feeding_order + io_type: sink + label: Feeding Order Data From Calculation Node + placeholder_keys: {} + result: {} + schema: + description: 计算实验设计,输出solutions/titration/solvents/feeding_order用于后续节点。 properties: feedback: {} goal: properties: m_tot: default: '70' + description: 总质量(g) type: string ratio: + description: 组分摩尔比的对象,保持输入顺序,如{"MDA":1,"BTDA":1} type: object titration_percent: default: '0.03' + description: 滴定比例(10%部分) type: string wt_percent: default: '0.25' + description: 目标固含质量分数 type: string required: - ratio @@ -95,305 +377,6 @@ bioyond_dispensing_station: title: compute_experiment_design参数 type: object type: UniLabJsonCommand - auto-process_order_finish_report: - feedback: {} - goal: {} - goal_default: - report_request: null - used_materials: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - report_request: - type: string - used_materials: - type: string - required: - - report_request - - used_materials - type: object - result: {} - required: - - goal - title: process_order_finish_report参数 - type: object - type: UniLabJsonCommand - auto-project_order_report: - feedback: {} - goal: {} - goal_default: - order_id: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - order_id: - type: string - required: - - order_id - type: object - result: {} - required: - - goal - title: project_order_report参数 - type: object - type: UniLabJsonCommand - auto-query_resource_by_name: - feedback: {} - goal: {} - goal_default: - material_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - material_name: - type: string - required: - - material_name - type: object - result: {} - required: - - goal - title: query_resource_by_name参数 - type: object - type: UniLabJsonCommand - auto-transfer_materials_to_reaction_station: - feedback: {} - goal: {} - goal_default: - target_device_id: null - transfer_groups: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - target_device_id: - type: string - transfer_groups: - type: array - required: - - target_device_id - - transfer_groups - type: object - result: {} - required: - - goal - title: transfer_materials_to_reaction_station参数 - type: object - type: UniLabJsonCommand - auto-workflow_sample_locations: - feedback: {} - goal: {} - goal_default: - workflow_id: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - workflow_id: - type: string - required: - - workflow_id - type: object - result: {} - required: - - goal - title: workflow_sample_locations参数 - type: object - type: UniLabJsonCommand - batch_create_90_10_vial_feeding_tasks: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - speed: speed - temperature: temperature - titration: titration - goal_default: - delay_time: '600' - hold_m_name: '' - liquid_material_name: NMP - speed: '400' - temperature: '40' - titration: '' - handles: - input: - - data_key: titration - data_source: handle - data_type: object - handler_key: titration - io_type: source - label: Titration Data From Calculation Node - output: - - data_key: return_info - data_source: executor - data_type: string - handler_key: BATCH_CREATE_RESULT - io_type: sink - label: Complete Batch Create Result JSON (contains order_codes and order_ids) - result: - return_info: return_info - schema: - description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。 - properties: - feedback: - properties: {} - required: [] - title: BatchCreate9010VialFeedingTasks_Feedback - type: object - goal: - properties: - delay_time: - default: '600' - description: 延迟时间(秒),默认600 - type: string - hold_m_name: - description: 库位名称,如"C01",必填参数 - type: string - liquid_material_name: - default: NMP - description: 10%物料的液体物料名称,默认为"NMP" - type: string - speed: - default: '400' - description: 搅拌速度,默认400 - type: string - temperature: - default: '40' - description: 温度(℃),默认40 - type: string - titration: - description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g), - titration_solvent(滴定溶液体积mL)' - type: string - required: - - titration - - hold_m_name - title: BatchCreate9010VialFeedingTasks_Goal - type: object - result: - properties: - return_info: - description: 批量任务创建结果汇总JSON字符串,包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息) - type: string - required: - - return_info - title: BatchCreate9010VialFeedingTasks_Result - type: object - required: - - goal - title: BatchCreate9010VialFeedingTasks - type: object - type: UniLabJsonCommand - batch_create_diamine_solution_tasks: - feedback: {} - goal: - delay_time: delay_time - liquid_material_name: liquid_material_name - solutions: solutions - speed: speed - temperature: temperature - goal_default: - delay_time: '600' - liquid_material_name: NMP - solutions: '' - speed: '400' - temperature: '20' - handles: - input: - - data_key: solutions - data_source: handle - data_type: array - handler_key: solutions - io_type: source - label: Solution Data From Python - output: - - data_key: return_info - data_source: executor - data_type: string - handler_key: BATCH_CREATE_RESULT - io_type: sink - label: Complete Batch Create Result JSON (contains order_codes and order_ids) - result: - return_info: return_info - schema: - description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务,每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。 - properties: - feedback: - properties: {} - required: [] - title: BatchCreateDiamineSolutionTasks_Feedback - type: object - goal: - properties: - delay_time: - default: '600' - description: 溶液配置完成后的延迟时间(秒),用于充分混合和溶解,默认600秒 - type: string - liquid_material_name: - default: NMP - description: 液体溶剂名称,用于溶解固体物料,默认为NMP(N-甲基吡咯烷酮) - type: string - solutions: - description: '溶液列表,JSON数组格式,每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g), - solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass": - 5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass": - 4.5, "solvent_volume": 18}]' - type: string - speed: - default: '400' - description: 搅拌速度(rpm),用于混合溶液,默认400转/分钟 - type: string - temperature: - default: '20' - description: 配置温度(℃),溶液配置过程的目标温度,默认20℃(室温) - type: string - required: - - solutions - title: BatchCreateDiamineSolutionTasks_Goal - type: object - result: - properties: - return_info: - description: 批量任务创建结果汇总JSON字符串,包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息) - type: string - required: - - return_info - title: BatchCreateDiamineSolutionTasks_Result - type: object - required: - - goal - title: BatchCreateDiamineSolutionTasks - type: object - type: UniLabJsonCommand create_90_10_vial_feeding_task: feedback: {} goal: @@ -445,17 +428,18 @@ bioyond_dispensing_station: speed: '' temperature: '' handles: {} + placeholder_keys: {} result: return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: DispenStationVialFeed_Feedback type: object goal: + additionalProperties: false properties: delay_time: type: string @@ -503,38 +487,13 @@ bioyond_dispensing_station: type: string temperature: type: string - required: - - order_name - - percent_90_1_assign_material_name - - percent_90_1_target_weigh - - percent_90_2_assign_material_name - - percent_90_2_target_weigh - - percent_90_3_assign_material_name - - percent_90_3_target_weigh - - percent_10_1_assign_material_name - - percent_10_1_target_weigh - - percent_10_1_volume - - percent_10_1_liquid_material_name - - percent_10_2_assign_material_name - - percent_10_2_target_weigh - - percent_10_2_volume - - percent_10_2_liquid_material_name - - percent_10_3_assign_material_name - - percent_10_3_target_weigh - - percent_10_3_volume - - percent_10_3_liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name title: DispenStationVialFeed_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: DispenStationVialFeed_Result type: object required: @@ -565,17 +524,18 @@ bioyond_dispensing_station: temperature: '' volume: '' handles: {} + placeholder_keys: {} result: return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: DispenStationSolnPrep_Feedback type: object goal: + additionalProperties: false properties: delay_time: type: string @@ -595,24 +555,13 @@ bioyond_dispensing_station: type: string volume: type: string - required: - - order_name - - material_name - - target_weigh - - volume - - liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name title: DispenStationSolnPrep_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: DispenStationSolnPrep_Result type: object required: @@ -620,6 +569,64 @@ bioyond_dispensing_station: title: DispenStationSolnPrep type: object type: DispenStationSolnPrep + scheduler_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 启动调度器 - 启动Bioyond配液站的任务调度器,开始执行队列中的任务 + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + title: scheduler_start结果 + type: object + required: + - goal + title: scheduler_start参数 + type: object + type: UniLabJsonCommand + transfer_materials_to_reaction_station: + feedback: {} + goal: + target_device_id: target_device_id + transfer_groups: transfer_groups + goal_default: + target_device_id: null + transfer_groups: null + handles: {} + placeholder_keys: + target_device_id: unilabos_devices + result: {} + schema: + description: 将配液站完成的物料(溶液、样品等)转移到指定反应站的堆栈库位。支持配置多组转移任务,每组包含物料名称、目标堆栈和目标库位。 + properties: + feedback: {} + goal: + properties: + target_device_id: + description: 目标反应站设备ID(从设备列表中选择,所有转移组都使用同一个目标设备) + type: string + transfer_groups: + description: 转移任务组列表,每组包含物料名称、目标堆栈和目标库位,可以添加多组 + type: array + required: + - target_device_id + - transfer_groups + type: object + result: + type: object + required: + - goal + title: transfer_materials_to_reaction_station参数 + type: object + type: UniLabJsonCommand wait_for_multiple_orders_and_get_reports: feedback: {} goal: @@ -627,9 +634,9 @@ bioyond_dispensing_station: check_interval: check_interval timeout: timeout goal_default: - batch_create_result: '' - check_interval: '10' - timeout: '7200' + batch_create_result: null + check_interval: 10 + timeout: 7200 handles: input: - data_key: batch_create_result @@ -645,50 +652,38 @@ bioyond_dispensing_station: handler_key: batch_reports_result io_type: sink label: Batch Order Completion Reports - result: - return_info: return_info + placeholder_keys: {} + result: {} schema: description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象,并行监控所有任务状态并返回每个任务的报告。 properties: feedback: - properties: {} - required: [] title: WaitForMultipleOrdersAndGetReports_Feedback - type: object goal: properties: batch_create_result: description: 批量创建任务的返回结果对象,包含order_codes和order_ids数组。从上游batch_create节点通过handle传递 type: string check_interval: - default: '10' + default: 10 description: 检查任务状态的时间间隔(秒),默认每10秒检查一次所有待完成任务 - type: string + type: integer timeout: - default: '7200' + default: 7200 description: 等待超时时间(秒),默认7200秒(2小时)。超过此时间未完成的任务将标记为timeout - type: string - required: - - batch_create_result + type: integer + required: [] title: WaitForMultipleOrdersAndGetReports_Goal type: object result: - properties: - return_info: - description: 'JSON格式的批量任务完成信息,包含: total(总数), completed(成功数), timeout(超时数), - error(错误数), elapsed_time(总耗时), reports(报告数组,每个元素包含order_code, - order_id, status, completion_status, report, elapsed_time)' - type: string - required: - - return_info title: WaitForMultipleOrdersAndGetReports_Result type: object required: - goal - title: WaitForMultipleOrdersAndGetReports + title: wait_for_multiple_orders_and_get_reports参数 type: object type: UniLabJsonCommand - module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation + module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation status_types: {} type: python config_info: [] @@ -699,15 +694,16 @@ bioyond_dispensing_station: config: properties: config: - type: string + type: object deck: type: string - required: - - config - - deck + protocol_type: + type: string + required: [] type: object data: properties: {} required: [] type: object + model: {} version: 1.0.0 diff --git a/unilabos/registry/devices/camera.yaml b/unilabos/registry/devices/camera.yaml deleted file mode 100644 index c8b9d944..00000000 --- a/unilabos/registry/devices/camera.yaml +++ /dev/null @@ -1,81 +0,0 @@ -camera: - category: - - camera - class: - action_value_mappings: - auto-destroy_node: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 用于安全地关闭摄像头设备,释放摄像头资源,停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。 - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: destroy_node参数 - type: object - type: UniLabJsonCommand - auto-timer_callback: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧,将OpenCV格式的图像转换为ROS Image消息格式,并发布到指定的视频话题。默认以10Hz频率执行,确保视频流的连续性和实时性。 - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: timer_callback参数 - type: object - type: UniLabJsonCommand - module: unilabos.ros.nodes.presets.camera:VideoPublisher - status_types: {} - type: ros2 - config_info: [] - description: VideoPublisher摄像头设备节点,用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头(如USB摄像头、内置摄像头等),定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - camera_index: - default: 0 - type: string - device_id: - default: video_publisher - type: string - device_uuid: - default: '' - type: string - period: - default: 0.1 - type: number - registry_name: - default: '' - type: string - resource_tracker: - type: object - required: [] - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/cameraSII.yaml b/unilabos/registry/devices/cameraSII.yaml index ad2df955..446357d0 100644 --- a/unilabos/registry/devices/cameraSII.yaml +++ b/unilabos/registry/devices/cameraSII.yaml @@ -18,7 +18,7 @@ cameracontroller_device: goal: properties: config: - type: string + type: object required: [] type: object result: {} @@ -42,7 +42,8 @@ cameracontroller_device: properties: {} required: [] type: object - result: {} + result: + type: object required: - goal title: stop参数 @@ -50,7 +51,7 @@ cameracontroller_device: type: UniLabJsonCommand module: unilabos.devices.cameraSII.cameraUSB:CameraController status_types: - status: dict + status: Dict[str, Any] type: python config_info: [] description: Uni-Lab-OS 摄像头驱动(Linux USB 摄像头版,无 PTZ) @@ -103,5 +104,4 @@ cameracontroller_device: required: - status type: object - registry_type: device version: 1.0.0 diff --git a/unilabos/registry/devices/characterization_chromatic.yaml b/unilabos/registry/devices/characterization_chromatic.yaml index f3059b58..1b33b9e2 100644 --- a/unilabos/registry/devices/characterization_chromatic.yaml +++ b/unilabos/registry/devices/characterization_chromatic.yaml @@ -141,30 +141,26 @@ hplc.agilent: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -175,7 +171,6 @@ hplc.agilent: module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver status_types: could_run: bool - data_file: String device_status: str driver_init_ok: bool finish_status: str @@ -199,10 +194,6 @@ hplc.agilent: properties: could_run: type: boolean - data_file: - items: - type: string - type: array device_status: type: string driver_init_ok: @@ -216,14 +207,13 @@ hplc.agilent: success: type: boolean required: - - status_text - - device_status - could_run + - device_status - driver_init_ok - - is_running - - success - finish_status - - data_file + - is_running + - status_text + - success type: object version: 1.0.0 hplc.agilent-zhida: @@ -236,26 +226,25 @@ hplc.agilent-zhida: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -315,21 +304,18 @@ hplc.agilent-zhida: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -341,35 +327,35 @@ hplc.agilent-zhida: feedback: {} goal: string: string + text: text goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -407,7 +393,7 @@ hplc.agilent-zhida: status: type: object required: - - status - methods + - status type: object version: 1.0.0 diff --git a/unilabos/registry/devices/characterization_optic.yaml b/unilabos/registry/devices/characterization_optic.yaml index 80dcf93d..a7c0e98d 100644 --- a/unilabos/registry/devices/characterization_optic.yaml +++ b/unilabos/registry/devices/characterization_optic.yaml @@ -120,42 +120,41 @@ raman.home_made: type: object type: UniLabJsonCommand raman_cmd: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: diff --git a/unilabos/registry/devices/chinwe.yaml b/unilabos/registry/devices/chinwe.yaml index 2078d0f0..ac4d00bb 100644 --- a/unilabos/registry/devices/chinwe.yaml +++ b/unilabos/registry/devices/chinwe.yaml @@ -19,7 +19,8 @@ separator.chinwe: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: connect参数 @@ -65,135 +66,145 @@ separator.chinwe: required: - command_dict type: object - result: {} + result: + type: boolean required: - goal title: execute_command_from_outer参数 type: object type: UniLabJsonCommand motor_rotate_quarter: + feedback: {} goal: direction: 顺时针 motor_id: 4 speed: 60 + goal_default: + direction: 顺时针 + motor_id: null + speed: 60 handles: {} + placeholder_keys: {} + result: {} schema: description: 电机旋转 1/4 圈 properties: + feedback: {} goal: properties: direction: default: 顺时针 description: 旋转方向 - enum: - - 顺时针 - - 逆时针 type: string motor_id: - default: '4' description: 选择电机 (4:搅拌, 5:旋钮) - enum: - - '4' - - '5' - type: string + type: integer speed: default: 60 description: 速度 (RPM) type: integer required: - motor_id - - speed type: object + result: {} + required: + - goal + title: motor_rotate_quarter参数 + type: object type: UniLabJsonCommand motor_run_continuous: + feedback: {} goal: direction: 顺时针 motor_id: 4 speed: 60 + goal_default: + direction: 顺时针 + motor_id: null + speed: null handles: {} + placeholder_keys: {} + result: {} schema: description: 电机一直旋转 (速度模式) properties: + feedback: {} goal: properties: direction: default: 顺时针 description: 旋转方向 - enum: - - 顺时针 - - 逆时针 type: string motor_id: - default: '4' description: 选择电机 (4:搅拌, 5:旋钮) - enum: - - '4' - - '5' - type: string + type: integer speed: - default: 60 description: 速度 (RPM) type: integer required: - motor_id - speed type: object + result: {} + required: + - goal + title: motor_run_continuous参数 + type: object type: UniLabJsonCommand motor_stop: + feedback: {} goal: motor_id: 4 + goal_default: + motor_id: null handles: {} + placeholder_keys: {} + result: {} schema: description: 停止指定步进电机 properties: + feedback: {} goal: properties: motor_id: - default: '4' description: 选择电机 - enum: - - '4' - - '5' title: '注: 4=搅拌, 5=旋钮' - type: string + type: integer required: - motor_id type: object + result: {} + required: + - goal + title: motor_stop参数 + type: object type: UniLabJsonCommand pump_aspirate: + feedback: {} goal: pump_id: 1 valve_port: 1 volume: 1000 + goal_default: + pump_id: null + valve_port: null + volume: null handles: {} + placeholder_keys: {} + result: {} schema: description: 注射泵吸液 properties: + feedback: {} goal: properties: pump_id: - default: '1' description: 选择泵 - enum: - - '1' - - '2' - - '3' - type: string + type: integer valve_port: - default: '1' description: 阀门端口 - enum: - - '1' - - '2' - - '3' - - '4' - - '5' - - '6' - - '7' - - '8' - type: string + type: integer volume: - default: 1000 description: 吸液步数 type: integer required: @@ -201,41 +212,38 @@ separator.chinwe: - volume - valve_port type: object + result: {} + required: + - goal + title: pump_aspirate参数 + type: object type: UniLabJsonCommand pump_dispense: + feedback: {} goal: pump_id: 1 valve_port: 1 volume: 1000 + goal_default: + pump_id: null + valve_port: null + volume: null handles: {} + placeholder_keys: {} + result: {} schema: description: 注射泵排液 properties: + feedback: {} goal: properties: pump_id: - default: '1' description: 选择泵 - enum: - - '1' - - '2' - - '3' - type: string + type: integer valve_port: - default: '1' description: 阀门端口 - enum: - - '1' - - '2' - - '3' - - '4' - - '5' - - '6' - - '7' - - '8' - type: string + type: integer volume: - default: 1000 description: 排液步数 type: integer required: @@ -243,121 +251,152 @@ separator.chinwe: - volume - valve_port type: object + result: {} + required: + - goal + title: pump_dispense参数 + type: object type: UniLabJsonCommand pump_initialize: + feedback: {} goal: drain_port: 0 output_port: 0 pump_id: 1 speed: 10 + goal_default: + drain_port: 0 + output_port: 0 + pump_id: null + speed: 10 handles: {} + placeholder_keys: {} + result: {} schema: description: 初始化指定注射泵 properties: + feedback: {} goal: properties: drain_port: default: 0 description: 排液口索引 - type: integer + type: string output_port: default: 0 description: 输出口索引 - type: integer - pump_id: - default: '1' - description: 选择泵 - enum: - - '1' - - '2' - - '3' - title: '注: 1号泵, 2号泵, 3号泵' type: string + pump_id: + description: 选择泵 + title: '注: 1号泵, 2号泵, 3号泵' + type: integer speed: default: 10 description: 运动速度 - type: integer + type: string required: - pump_id type: object + result: {} + required: + - goal + title: pump_initialize参数 + type: object type: UniLabJsonCommand pump_valve: + feedback: {} goal: port: 1 pump_id: 1 + goal_default: + port: null + pump_id: null handles: {} + placeholder_keys: {} + result: {} schema: description: 切换指定泵的阀门端口 properties: + feedback: {} goal: properties: port: - default: '1' description: 阀门端口号 (1-8) - enum: - - '1' - - '2' - - '3' - - '4' - - '5' - - '6' - - '7' - - '8' - type: string + type: integer pump_id: - default: '1' description: 选择泵 - enum: - - '1' - - '2' - - '3' - type: string + type: integer required: - pump_id - port type: object + result: {} + required: + - goal + title: pump_valve参数 + type: object type: UniLabJsonCommand wait_sensor_level: + feedback: {} goal: target_state: 有液 timeout: 30 + goal_default: + target_state: 有液 + timeout: 30 handles: {} + placeholder_keys: {} + result: {} schema: description: 等待传感器液位条件 properties: + feedback: {} goal: properties: target_state: default: 有液 description: 目标液位状态 - enum: - - 有液 - - 无液 type: string timeout: default: 30 description: 超时时间 (秒) type: integer - required: - - target_state + required: [] type: object + result: + type: boolean + required: + - goal + title: wait_sensor_level参数 + type: object type: UniLabJsonCommand wait_time: + feedback: {} goal: duration: 10 + goal_default: + duration: null handles: {} + placeholder_keys: {} + result: {} schema: description: 等待指定时间 properties: + feedback: {} goal: properties: duration: - default: 10 description: 等待时间 (秒) type: integer required: - duration type: object + result: + type: boolean + required: + - goal + title: wait_time参数 + type: object type: UniLabJsonCommand module: unilabos.devices.separator.chinwe:ChinweDevice status_types: @@ -406,8 +445,8 @@ separator.chinwe: sensor_rssi: type: integer required: + - is_connected - sensor_level - sensor_rssi - - is_connected type: object version: 2.1.0 diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml new file mode 100644 index 00000000..df5a3508 --- /dev/null +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -0,0 +1,834 @@ +coincellassemblyworkstation_device: + category: + - coin_cell_workstation + class: + action_value_mappings: + auto-change_hole_sheet_to_2: + feedback: {} + goal: {} + goal_default: + hole: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + hole: + type: object + required: + - hole + type: object + result: {} + required: + - goal + title: change_hole_sheet_to_2参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_plate: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fill_plate参数 + type: object + type: UniLabJsonCommandAsync + auto-fun_wuliao_test: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: boolean + required: + - goal + title: fun_wuliao_test参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd: + feedback: {} + goal: {} + goal_default: + assembly_pressure: 4200 + assembly_type: 7 + elec_num: null + elec_use_num: null + elec_vol: 50 + file_path: /Users/sml/work + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_pressure: + default: 4200 + type: integer + assembly_type: + default: 7 + type: integer + elec_num: + type: string + elec_use_num: + type: string + elec_vol: + default: 50 + type: integer + file_path: + default: /Users/sml/work + type: string + required: + - elec_num + - elec_use_num + type: object + result: + type: object + required: + - goal + title: func_allpack_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd_simp: + feedback: {} + goal: {} + goal_default: + assembly_pressure: 4200 + assembly_type: 7 + battery_clean_ignore: false + battery_pressure_mode: true + dual_drop_first_volume: 25 + dual_drop_mode: false + dual_drop_start_timing: false + dual_drop_suction_timing: false + elec_num: null + elec_use_num: null + elec_vol: 50 + file_path: /Users/sml/work + fujipian_juzhendianwei: 0 + fujipian_panshu: 0 + gemo_juzhendianwei: 0 + gemopanshu: 0 + lvbodian: true + qiangtou_juzhendianwei: 0 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 简化版电池组装函数,整合了参数设置和双滴模式 + properties: + feedback: {} + goal: + properties: + assembly_pressure: + default: 4200 + description: 电池压制力(N) + type: integer + assembly_type: + default: 7 + description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫) + type: integer + battery_clean_ignore: + default: false + description: 是否忽略电池清洁步骤 + type: boolean + battery_pressure_mode: + default: true + description: 是否启用压力模式 + type: boolean + dual_drop_first_volume: + default: 25 + description: 二次滴液第一次排液体积(μL) + type: integer + dual_drop_mode: + default: false + description: 电解液添加模式(false=单次滴液, true=二次滴液) + type: boolean + dual_drop_start_timing: + default: false + description: 二次滴液开始滴液时机(false=正极片前, true=正极片后) + type: boolean + dual_drop_suction_timing: + default: false + description: 二次滴液吸液时机(false=正常吸液, true=先吸液) + type: boolean + elec_num: + description: 电解液瓶数 + type: string + elec_use_num: + description: 每瓶电解液组装电池数 + type: string + elec_vol: + default: 50 + description: 电解液吸液量(μL) + type: integer + file_path: + default: /Users/sml/work + description: 实验记录保存路径 + type: string + fujipian_juzhendianwei: + default: 0 + description: 负极片矩阵点位。盘位置从1开始计数,有效范围:1-8, 13-20 (写入值比实际位置少1,例如:写0取盘位1,写1取盘位2) + type: integer + fujipian_panshu: + default: 0 + description: 负极片盘数 + type: integer + gemo_juzhendianwei: + default: 0 + description: 隔膜矩阵点位。盘位置从1开始计数,有效范围:1-8, 13-20 (写入值比实际位置少1,例如:写0取盘位1,写1取盘位2) + type: integer + gemopanshu: + default: 0 + description: 隔膜盘数 + type: integer + lvbodian: + default: true + description: 是否使用铝箔垫片 + type: boolean + qiangtou_juzhendianwei: + default: 0 + description: 枪头盒矩阵点位。盘位置从1开始计数,有效范围:1-32, 64-96 (写入值比实际位置少1,例如:写0取盘位1,写1取盘位2) + type: integer + required: + - elec_num + - elec_use_num + type: object + result: + type: object + required: + - goal + title: func_allpack_cmd_simp参数 + type: object + type: UniLabJsonCommand + auto-func_get_csv_export_status: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_get_csv_export_status参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_auto: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_auto参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_init参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init_auto_start_combined: + feedback: {} + goal: {} + goal_default: + material_search_enable: false + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗,并根据参数自动点击"是"或"否"按钮 + properties: + feedback: {} + goal: + properties: + material_search_enable: + default: false + description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗,此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻) + type: boolean + required: [] + type: object + result: + type: boolean + required: + - goal + title: func_pack_device_init_auto_start_combined参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_start参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: boolean + required: + - goal + title: func_pack_device_stop参数 + type: object + type: UniLabJsonCommand + auto-func_pack_get_msg_cmd: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: + type: boolean + required: + - goal + title: func_pack_get_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_bottle_num: + feedback: {} + goal: {} + goal_default: + bottle_num: null + handles: + input: + - data_key: bottle_num + data_source: workflow + data_type: integer + handler_key: bottle_count + io_type: source + label: 配液瓶数 + required: true + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + bottle_num: + type: string + required: + - bottle_num + type: object + result: {} + required: + - goal + title: func_pack_send_bottle_num参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_finished_cmd: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: boolean + required: + - goal + title: func_pack_send_finished_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_msg_cmd: + feedback: {} + goal: {} + goal_default: + assembly_pressure: null + assembly_type: null + elec_use_num: null + elec_vol: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_pressure: + type: string + assembly_type: + type: string + elec_use_num: + type: string + elec_vol: + type: string + required: + - elec_use_num + - elec_vol + - assembly_type + - assembly_pressure + type: object + result: + type: boolean + required: + - goal + title: func_pack_send_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_read_data_and_output: + feedback: {} + goal: {} + goal_default: + file_path: /Users/sml/work + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: /Users/sml/work + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_read_data_and_output参数 + type: object + type: UniLabJsonCommand + auto-func_sendbottle_allpack_multi: + feedback: {} + goal: {} + goal_default: + assembly_pressure: 4200 + assembly_type: 7 + battery_clean_ignore: false + battery_pressure_mode: true + dual_drop_first_volume: 25 + dual_drop_mode: false + dual_drop_start_timing: false + dual_drop_suction_timing: false + elec_num: null + elec_use_num: null + elec_vol: 50 + file_path: /Users/sml/work + fujipian_juzhendianwei: 0 + fujipian_panshu: 0 + gemo_juzhendianwei: 0 + gemopanshu: 0 + lvbodian: true + qiangtou_juzhendianwei: 0 + handles: + input: + - data_key: elec_num + data_source: workflow + data_type: integer + handler_key: bottle_count + io_type: source + label: 配液瓶数 + required: true + placeholder_keys: {} + result: {} + schema: + description: 发送瓶数+简化组装函数(适用于第二批次及后续批次),合并了发送瓶数和简化组装流程 + properties: + feedback: {} + goal: + properties: + assembly_pressure: + default: 4200 + description: 电池压制力(N) + type: integer + assembly_type: + default: 7 + description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫) + type: integer + battery_clean_ignore: + default: false + description: 是否忽略电池清洁步骤 + type: boolean + battery_pressure_mode: + default: true + description: 是否启用压力模式 + type: boolean + dual_drop_first_volume: + default: 25 + description: 二次滴液第一次排液体积(μL) + type: integer + dual_drop_mode: + default: false + description: 电解液添加模式(false=单次滴液, true=二次滴液) + type: boolean + dual_drop_start_timing: + default: false + description: 二次滴液开始滴液时机(false=正极片前, true=正极片后) + type: boolean + dual_drop_suction_timing: + default: false + description: 二次滴液吸液时机(false=正常吸液, true=先吸液) + type: boolean + elec_num: + description: 电解液瓶数,如果在workflow中已通过handles连接上游(create_orders的bottle_count输出),则此参数会自动从上游获取,无需手动填写;如果单独使用此函数(没有上游连接),则必须手动填写电解液瓶数 + type: string + elec_use_num: + description: 每瓶电解液组装电池数 + type: string + elec_vol: + default: 50 + description: 电解液吸液量(μL) + type: integer + file_path: + default: /Users/sml/work + description: 实验记录保存路径 + type: string + fujipian_juzhendianwei: + default: 0 + description: 负极片矩阵点位。盘位置从1开始计数,有效范围:1-8, 13-20 (写入值比实际位置少1,例如:写0取盘位1,写1取盘位2) + type: integer + fujipian_panshu: + default: 0 + description: 负极片盘数 + type: integer + gemo_juzhendianwei: + default: 0 + description: 隔膜矩阵点位。盘位置从1开始计数,有效范围:1-8, 13-20 (写入值比实际位置少1,例如:写0取盘位1,写1取盘位2) + type: integer + gemopanshu: + default: 0 + description: 隔膜盘数 + type: integer + lvbodian: + default: true + description: 是否使用铝箔垫片 + type: boolean + qiangtou_juzhendianwei: + default: 0 + description: 枪头盒矩阵点位。盘位置从1开始计数,有效范围:1-32, 64-96 (写入值比实际位置少1,例如:写0取盘位1,写1取盘位2) + type: integer + required: + - elec_num + - elec_use_num + type: object + result: + type: object + required: + - goal + title: func_sendbottle_allpack_multi参数 + type: object + type: UniLabJsonCommand + auto-func_stop_read_data: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_stop_read_data参数 + type: object + type: UniLabJsonCommand + auto-modify_deck_name: + feedback: {} + goal: {} + goal_default: + resource_name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource_name: + type: string + required: + - resource_name + type: object + result: {} + required: + - goal + title: modify_deck_name参数 + type: object + type: UniLabJsonCommand + auto-qiming_coin_cell_code: + feedback: {} + goal: {} + goal_default: + battery_clean_ignore: false + battery_pressure: 4000 + battery_pressure_mode: true + fujipian_juzhendianwei: 0 + fujipian_panshu: null + gemo_juzhendianwei: 0 + gemopanshu: 0 + lvbodian: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + battery_clean_ignore: + default: false + type: boolean + battery_pressure: + default: 4000 + type: integer + battery_pressure_mode: + default: true + type: boolean + fujipian_juzhendianwei: + default: 0 + type: integer + fujipian_panshu: + type: integer + gemo_juzhendianwei: + default: 0 + type: integer + gemopanshu: + default: 0 + type: integer + lvbodian: + default: true + type: boolean + required: + - fujipian_panshu + type: object + result: + type: boolean + required: + - goal + title: qiming_coin_cell_code参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation + status_types: + data_assembly_coin_cell_num: int + data_assembly_pressure: int + data_assembly_time: float + data_axis_x_pos: float + data_axis_y_pos: float + data_axis_z_pos: float + data_coin_cell_code: str + data_coin_num: int + data_electrolyte_code: str + data_electrolyte_volume: int + data_glove_box_o2_content: float + data_glove_box_pressure: float + data_glove_box_water_content: float + data_open_circuit_voltage: float + data_pole_weight: float + request_rec_msg_status: bool + request_send_msg_status: bool + sys_mode: str + sys_status: str + type: python + config_info: [] + description: '' + handles: [] + icon: koudian.webp + init_param_schema: + config: + properties: + address: + default: 172.16.28.102 + type: string + config: + type: object + debug_mode: + default: false + type: boolean + deck: + type: string + port: + default: '502' + type: string + required: [] + type: object + data: + properties: + data_assembly_coin_cell_num: + type: integer + data_assembly_pressure: + type: integer + data_assembly_time: + type: number + data_axis_x_pos: + type: number + data_axis_y_pos: + type: number + data_axis_z_pos: + type: number + data_coin_cell_code: + type: string + data_coin_num: + type: integer + data_electrolyte_code: + type: string + data_electrolyte_volume: + type: integer + data_glove_box_o2_content: + type: number + data_glove_box_pressure: + type: number + data_glove_box_water_content: + type: number + data_open_circuit_voltage: + type: number + data_pole_weight: + type: number + request_rec_msg_status: + type: boolean + request_send_msg_status: + type: boolean + sys_mode: + type: string + sys_status: + type: string + required: + - data_assembly_coin_cell_num + - data_assembly_pressure + - data_assembly_time + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_coin_cell_code + - data_coin_num + - data_electrolyte_code + - data_electrolyte_volume + - data_glove_box_o2_content + - data_glove_box_pressure + - data_glove_box_water_content + - data_open_circuit_voltage + - data_pole_weight + - request_rec_msg_status + - request_send_msg_status + - sys_mode + - sys_status + type: object + version: 1.0.0 diff --git a/unilabos/registry/devices/gas_handler.yaml b/unilabos/registry/devices/gas_handler.yaml index 65218619..ad212575 100644 --- a/unilabos/registry/devices/gas_handler.yaml +++ b/unilabos/registry/devices/gas_handler.yaml @@ -50,26 +50,25 @@ gas_source.mock: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -82,26 +81,25 @@ gas_source.mock: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -116,32 +114,31 @@ gas_source.mock: goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -232,26 +229,25 @@ vacuum_pump.mock: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -264,26 +260,25 @@ vacuum_pump.mock: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -298,32 +293,31 @@ vacuum_pump.mock: goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: diff --git a/unilabos/registry/devices/hotel.yaml b/unilabos/registry/devices/hotel.yaml index 3fd0ea5b..fdcc89dd 100644 --- a/unilabos/registry/devices/hotel.yaml +++ b/unilabos/registry/devices/hotel.yaml @@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel: action_value_mappings: {} module: unilabos.devices.resource_container.container:HotelContainer status_types: - rotation: String + rotation: '' type: python config_info: [] description: Thermo Orbitor RS2 Hotel容器设备,用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控,主要用于存储实验样品、试剂瓶或其他实验器具,支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。 diff --git a/unilabos/registry/devices/laiyu_liquid_test.yaml b/unilabos/registry/devices/laiyu_liquid_test.yaml index dcaa9818..6d87f429 100644 --- a/unilabos/registry/devices/laiyu_liquid_test.yaml +++ b/unilabos/registry/devices/laiyu_liquid_test.yaml @@ -22,7 +22,8 @@ xyz_stepper_controller: required: - degrees type: object - result: {} + result: + type: integer required: - goal title: degrees_to_steps参数 @@ -47,7 +48,8 @@ xyz_stepper_controller: required: - axis type: object - result: {} + result: + type: boolean required: - goal title: emergency_stop参数 @@ -72,7 +74,10 @@ xyz_stepper_controller: type: boolean required: [] type: object - result: {} + result: + additionalProperties: + type: boolean + type: object required: - goal title: enable_all_axes参数 @@ -101,7 +106,8 @@ xyz_stepper_controller: required: - axis type: object - result: {} + result: + type: boolean required: - goal title: enable_motor参数 @@ -122,7 +128,10 @@ xyz_stepper_controller: properties: {} required: [] type: object - result: {} + result: + additionalProperties: + type: boolean + type: object required: - goal title: home_all_axes参数 @@ -147,7 +156,8 @@ xyz_stepper_controller: required: - axis type: object - result: {} + result: + type: boolean required: - goal title: home_axis参数 @@ -188,7 +198,8 @@ xyz_stepper_controller: - axis - position type: object - result: {} + result: + type: boolean required: - goal title: move_to_position参数 @@ -229,7 +240,8 @@ xyz_stepper_controller: - axis - degrees type: object - result: {} + result: + type: boolean required: - goal title: move_to_position_degrees参数 @@ -270,7 +282,8 @@ xyz_stepper_controller: - axis - revolutions type: object - result: {} + result: + type: boolean required: - goal title: move_to_position_revolutions参数 @@ -301,14 +314,17 @@ xyz_stepper_controller: default: 5000 type: integer x: - type: string + type: integer y: - type: string + type: integer z: - type: string + type: integer required: [] type: object - result: {} + result: + additionalProperties: + type: boolean + type: object required: - goal title: move_xyz参数 @@ -339,14 +355,17 @@ xyz_stepper_controller: default: 5000 type: integer x_deg: - type: string + type: number y_deg: - type: string + type: number z_deg: - type: string + type: number required: [] type: object - result: {} + result: + additionalProperties: + type: boolean + type: object required: - goal title: move_xyz_degrees参数 @@ -377,14 +396,17 @@ xyz_stepper_controller: default: 5000 type: integer x_rev: - type: string + type: number y_rev: - type: string + type: number z_rev: - type: string + type: number required: [] type: object - result: {} + result: + additionalProperties: + type: boolean + type: object required: - goal title: move_xyz_revolutions参数 @@ -409,7 +431,8 @@ xyz_stepper_controller: required: - revolutions type: object - result: {} + result: + type: integer required: - goal title: revolutions_to_steps参数 @@ -442,7 +465,8 @@ xyz_stepper_controller: - axis - speed type: object - result: {} + result: + type: boolean required: - goal title: set_speed_mode参数 @@ -467,7 +491,8 @@ xyz_stepper_controller: required: - steps type: object - result: {} + result: + type: number required: - goal title: steps_to_degrees参数 @@ -492,7 +517,8 @@ xyz_stepper_controller: required: - steps type: object - result: {} + result: + type: number required: - goal title: steps_to_revolutions参数 @@ -513,7 +539,10 @@ xyz_stepper_controller: properties: {} required: [] type: object - result: {} + result: + additionalProperties: + type: boolean + type: object required: - goal title: stop_all_axes参数 @@ -542,7 +571,8 @@ xyz_stepper_controller: required: - axis type: object - result: {} + result: + type: boolean required: - goal title: wait_for_completion参数 @@ -550,8 +580,7 @@ xyz_stepper_controller: type: UniLabJsonCommand module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController status_types: - all_positions: dict - motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition + all_positions: Dict[MotorAxis, MotorPosition] type: python config_info: [] description: 新XYZ控制器 @@ -574,12 +603,10 @@ xyz_stepper_controller: data: properties: all_positions: - type: object - motor_status: + additionalProperties: + type: object type: object required: - - motor_status - all_positions type: object - registry_type: device version: 1.0.0 diff --git a/unilabos/registry/devices/neware_battery_test_system.yaml b/unilabos/registry/devices/neware_battery_test_system.yaml index ea6bedc4..4f3b972a 100644 --- a/unilabos/registry/devices/neware_battery_test_system.yaml +++ b/unilabos/registry/devices/neware_battery_test_system.yaml @@ -5,31 +5,6 @@ neware_battery_test_system: - battery_test class: action_value_mappings: - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: string - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand auto-print_status_summary: feedback: {} goal: {} @@ -66,7 +41,8 @@ neware_battery_test_system: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: test_connection参数 @@ -77,9 +53,8 @@ neware_battery_test_system: goal: {} goal_default: {} handles: {} - result: - return_info: return_info - success: success + placeholder_keys: {} + result: {} schema: description: 调试方法:显示所有资源的实际名称 properties: @@ -89,19 +64,10 @@ neware_battery_test_system: required: [] type: object result: - properties: - return_info: - description: 资源调试信息 - type: string - success: - description: 是否成功 - type: boolean - required: - - return_info - - success type: object required: - goal + title: debug_resource_names参数 type: object type: UniLabJsonCommand export_status_json: @@ -111,9 +77,8 @@ neware_battery_test_system: goal_default: filepath: bts_status.json handles: {} - result: - return_info: return_info - success: success + placeholder_keys: {} + result: {} schema: description: 导出当前状态数据到JSON文件 properties: @@ -127,19 +92,10 @@ neware_battery_test_system: required: [] type: object result: - properties: - return_info: - description: 导出操作结果信息 - type: string - success: - description: 导出是否成功 - type: boolean - required: - - return_info - - success type: object required: - goal + title: export_status_json参数 type: object type: UniLabJsonCommand get_device_summary: @@ -181,10 +137,8 @@ neware_battery_test_system: goal_default: plate_num: null handles: {} - result: - plate_data: plate_data - return_info: return_info - success: success + placeholder_keys: {} + result: {} schema: description: 获取指定盘或所有盘的状态信息 properties: @@ -193,29 +147,14 @@ neware_battery_test_system: properties: plate_num: description: 盘号 (1 或 2),如果为null则返回所有盘的状态 - maximum: 2 - minimum: 1 type: integer required: [] type: object result: - properties: - plate_data: - description: 盘状态数据(单盘或所有盘) - type: object - return_info: - description: 操作结果信息 - type: string - success: - description: 查询是否成功 - type: boolean - required: - - return_info - - success - - plate_data type: object required: - goal + title: get_plate_status参数 type: object type: UniLabJsonCommand print_status_summary_action: @@ -223,9 +162,8 @@ neware_battery_test_system: goal: {} goal_default: {} handles: {} - result: - return_info: return_info - success: success + placeholder_keys: {} + result: {} schema: description: 打印通道状态摘要信息到控制台 properties: @@ -235,28 +173,21 @@ neware_battery_test_system: required: [] type: object result: - properties: - return_info: - description: 打印操作结果信息 - type: string - success: - description: 打印是否成功 - type: boolean - required: - - return_info - - success type: object required: - goal + title: print_status_summary_action参数 type: object type: UniLabJsonCommand query_plate_action: feedback: {} goal: - string: plate_id + plate_id: plate_id + string: string goal_default: string: '' handles: {} + placeholder_keys: {} result: return_info: return_info success: success @@ -264,27 +195,23 @@ neware_battery_test_system: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -298,13 +225,11 @@ neware_battery_test_system: csv_path: string output_dir: string goal_default: - csv_path: '' + csv_path: null output_dir: . handles: {} - result: - return_info: return_info - submitted_count: submitted_count - success: success + placeholder_keys: {} + result: {} schema: description: 从CSV文件批量提交Neware测试任务 properties: @@ -315,31 +240,17 @@ neware_battery_test_system: description: 输入CSV文件的绝对路径 type: string output_dir: + default: . description: 输出目录(用于存储XML和备份文件),默认当前目录 type: string required: - csv_path type: object result: - properties: - return_info: - description: 执行结果详细信息 - type: string - submitted_count: - description: 成功提交的任务数量 - type: integer - success: - description: 是否成功 - type: boolean - total_count: - description: CSV文件中的总行数 - type: integer - required: - - return_info - - success type: object required: - goal + title: submit_from_csv参数 type: object type: UniLabJsonCommand test_connection_action: @@ -347,9 +258,8 @@ neware_battery_test_system: goal: {} goal_default: {} handles: {} - result: - return_info: return_info - success: success + placeholder_keys: {} + result: {} schema: description: 测试与电池测试系统的TCP连接 properties: @@ -359,19 +269,10 @@ neware_battery_test_system: required: [] type: object result: - properties: - return_info: - description: 连接测试结果信息 - type: string - success: - description: 连接测试是否成功 - type: boolean - required: - - return_info - - success type: object required: - goal + title: test_connection_action参数 type: object type: UniLabJsonCommand upload_backup_to_oss: @@ -392,12 +293,8 @@ neware_battery_test_system: handler_key: uploaded_files io_type: sink label: Uploaded Files (with standard flow info) - result: - failed_files: failed_files - return_info: return_info - success: success - total_count: total_count - uploaded_count: uploaded_count + placeholder_keys: {} + result: {} schema: description: 上传备份文件到阿里云OSS properties: @@ -417,65 +314,17 @@ neware_battery_test_system: required: [] type: object result: - properties: - failed_files: - description: 上传失败的文件名列表 - items: - type: string - type: array - return_info: - description: 上传操作结果信息 - type: string - success: - description: 上传是否成功 - type: boolean - total_count: - description: 总文件数 - type: integer - uploaded_count: - description: 成功上传的文件数 - type: integer - uploaded_files: - description: 成功上传的文件详情列表 - items: - properties: - Battery_Code: - description: 电池编码 - type: string - Electrolyte_Code: - description: 电解液编码 - type: string - filename: - description: 文件名 - type: string - url: - description: OSS下载链接 - type: string - required: - - filename - - url - - Battery_Code - - Electrolyte_Code - type: object - type: array - required: - - return_info - - success - - uploaded_count - - total_count - - failed_files - - uploaded_files type: object required: - goal + title: upload_backup_to_oss参数 type: object type: UniLabJsonCommand module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem status_types: - channel_status: dict - connection_info: dict + channel_status: Dict[int, Dict] + connection_info: Dict[str, str] device_summary: dict - plate_status: dict status: str total_channels: int type: python @@ -517,23 +366,24 @@ neware_battery_test_system: data: properties: channel_status: + additionalProperties: + type: object type: object connection_info: + additionalProperties: + type: string type: object device_summary: type: object - plate_status: - type: object status: type: string total_channels: type: integer required: - - status - channel_status - connection_info - - total_channels - - plate_status - device_summary + - status + - total_channels type: object version: 1.0.0 diff --git a/unilabos/registry/devices/opcua_example.yaml b/unilabos/registry/devices/opcua_example.yaml index 0f500cfa..271fd682 100644 --- a/unilabos/registry/devices/opcua_example.yaml +++ b/unilabos/registry/devices/opcua_example.yaml @@ -49,32 +49,7 @@ opcua_example: title: load_config参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: string - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - auto-print_cache_stats: + auto-refresh_node_values: feedback: {} goal: {} goal_default: {} @@ -92,32 +67,7 @@ opcua_example: result: {} required: - goal - title: print_cache_stats参数 - type: object - type: UniLabJsonCommand - auto-read_node: - feedback: {} - goal: {} - goal_default: - node_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - node_name: - type: string - required: - - node_name - type: object - result: {} - required: - - goal - title: read_node参数 + title: refresh_node_values参数 type: object type: UniLabJsonCommand auto-set_node_value: @@ -149,10 +99,50 @@ opcua_example: title: set_node_value参数 type: object type: UniLabJsonCommand + auto-start_node_refresh: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: start_node_refresh参数 + type: object + type: UniLabJsonCommand + auto-stop_node_refresh: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: stop_node_refresh参数 + type: object + type: UniLabJsonCommand module: unilabos.device_comms.opcua_client.client:OpcUaClient - status_types: - cache_stats: dict - node_value: String + status_types: {} type: python config_info: [] description: null @@ -161,36 +151,22 @@ opcua_example: init_param_schema: config: properties: - cache_timeout: - default: 5.0 - type: number config_path: type: string - deck: - type: string password: type: string - subscription_interval: - default: 500 - type: integer + refresh_interval: + default: 1.0 + type: number url: type: string - use_subscription: - default: true - type: boolean username: type: string required: - url type: object data: - properties: - cache_stats: - type: object - node_value: - type: string - required: - - node_value - - cache_stats + properties: {} + required: [] type: object version: 1.0.0 diff --git a/unilabos/registry/devices/opsky_ATR30007.yaml b/unilabos/registry/devices/opsky_ATR30007.yaml index ee8b8871..a3fa7df8 100644 --- a/unilabos/registry/devices/opsky_ATR30007.yaml +++ b/unilabos/registry/devices/opsky_ATR30007.yaml @@ -80,7 +80,8 @@ opsky_ATR30007: type: string required: [] type: object - result: {} + result: + type: object required: - goal title: run_once参数 diff --git a/unilabos/registry/devices/organic_miscellaneous.yaml b/unilabos/registry/devices/organic_miscellaneous.yaml index 3085c823..c1290bea 100644 --- a/unilabos/registry/devices/organic_miscellaneous.yaml +++ b/unilabos/registry/devices/organic_miscellaneous.yaml @@ -100,42 +100,41 @@ rotavap.one: type: object type: UniLabJsonCommand set_timer: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -250,9 +249,13 @@ separator.homemade: feedback: status: status goal: + event: event settling_time: settling_time stir_speed: stir_speed - stir_time: stir_time, + stir_time: stir_time + time: time + time_spec: time_spec + vessel: vessel goal_default: event: '' settling_time: '' @@ -281,34 +284,42 @@ separator.homemade: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: + message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: Stir_Feedback type: object goal: + additionalProperties: false properties: event: type: string settling_time: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number stir_time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: type: string time_spec: type: string vessel: + additionalProperties: false properties: category: type: string @@ -327,16 +338,26 @@ separator.homemade: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -346,12 +367,19 @@ separator.homemade: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -381,17 +409,10 @@ separator.homemade: - data title: vessel type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time title: Stir_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -399,10 +420,6 @@ separator.homemade: type: string success: type: boolean - required: - - success - - message - - return_info title: Stir_Result type: object required: @@ -418,36 +435,34 @@ separator.homemade: goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: diff --git a/unilabos/registry/devices/post_process_station.yaml b/unilabos/registry/devices/post_process_station.yaml index be42bad4..1614a2c3 100644 --- a/unilabos/registry/devices/post_process_station.yaml +++ b/unilabos/registry/devices/post_process_station.yaml @@ -28,31 +28,6 @@ post_process_station: title: load_config参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: string - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand auto-print_cache_stats: feedback: {} goal: {} @@ -104,42 +79,41 @@ post_process_station: type: object type: UniLabJsonCommand disconnect: - feedback: {} + feedback: + status: status goal: - command: {} + command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -149,42 +123,41 @@ post_process_station: type: SendCmd read_node: feedback: - result: result + status: status goal: - command: node_name + command: command + node_name: node_name goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -283,17 +256,19 @@ post_process_station: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: PostProcessTriggerClean_Feedback type: object goal: + additionalProperties: false properties: acetone_inner_wall_cleaning_count: maximum: 2147483647 minimum: -2147483648 type: integer acetone_inner_wall_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number acetone_inner_wall_cleaning_waste_time: maximum: 2147483647 @@ -304,6 +279,8 @@ post_process_station: minimum: -2147483648 type: integer acetone_outer_wall_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number acetone_outer_wall_cleaning_wait_time: maximum: 2147483647 @@ -322,6 +299,8 @@ post_process_station: minimum: -2147483648 type: integer acetone_stirrer_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number acetone_stirrer_cleaning_wait_time: maximum: 2147483647 @@ -348,6 +327,8 @@ post_process_station: minimum: -2147483648 type: integer nmp_inner_wall_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number nmp_inner_wall_cleaning_waste_time: maximum: 2147483647 @@ -358,6 +339,8 @@ post_process_station: minimum: -2147483648 type: integer nmp_outer_wall_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number nmp_outer_wall_cleaning_wait_time: maximum: 2147483647 @@ -376,6 +359,8 @@ post_process_station: minimum: -2147483648 type: integer nmp_stirrer_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number nmp_stirrer_cleaning_wait_time: maximum: 2147483647 @@ -394,6 +379,8 @@ post_process_station: minimum: -2147483648 type: integer water_inner_wall_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number water_inner_wall_cleaning_waste_time: maximum: 2147483647 @@ -404,6 +391,8 @@ post_process_station: minimum: -2147483648 type: integer water_outer_wall_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number water_outer_wall_cleaning_wait_time: maximum: 2147483647 @@ -422,6 +411,8 @@ post_process_station: minimum: -2147483648 type: integer water_stirrer_cleaning_injection: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number water_stirrer_cleaning_wait_time: maximum: 2147483647 @@ -431,55 +422,13 @@ post_process_station: maximum: 2147483647 minimum: -2147483648 type: integer - required: - - nmp_outer_wall_cleaning_injection - - nmp_outer_wall_cleaning_count - - nmp_outer_wall_cleaning_wait_time - - nmp_outer_wall_cleaning_waste_time - - nmp_inner_wall_cleaning_injection - - nmp_inner_wall_cleaning_count - - nmp_pump_cleaning_suction_count - - nmp_inner_wall_cleaning_waste_time - - nmp_stirrer_cleaning_injection - - nmp_stirrer_cleaning_count - - nmp_stirrer_cleaning_wait_time - - nmp_stirrer_cleaning_waste_time - - water_outer_wall_cleaning_injection - - water_outer_wall_cleaning_count - - water_outer_wall_cleaning_wait_time - - water_outer_wall_cleaning_waste_time - - water_inner_wall_cleaning_injection - - water_inner_wall_cleaning_count - - water_pump_cleaning_suction_count - - water_inner_wall_cleaning_waste_time - - water_stirrer_cleaning_injection - - water_stirrer_cleaning_count - - water_stirrer_cleaning_wait_time - - water_stirrer_cleaning_waste_time - - acetone_outer_wall_cleaning_injection - - acetone_outer_wall_cleaning_count - - acetone_outer_wall_cleaning_wait_time - - acetone_outer_wall_cleaning_waste_time - - acetone_inner_wall_cleaning_injection - - acetone_inner_wall_cleaning_count - - acetone_pump_cleaning_suction_count - - acetone_inner_wall_cleaning_waste_time - - acetone_stirrer_cleaning_injection - - acetone_stirrer_cleaning_count - - acetone_stirrer_cleaning_wait_time - - acetone_stirrer_cleaning_waste_time - - pipe_blowing_time - - injection_pump_forward_empty_suction_count - - injection_pump_reverse_empty_suction_count - - filtration_liquid_selection title: PostProcessTriggerClean_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: PostProcessTriggerClean_Result type: object required: @@ -502,11 +451,11 @@ post_process_station: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: PostProcessGrab_Feedback type: object goal: + additionalProperties: false properties: raw_tank_number: maximum: 2147483647 @@ -516,17 +465,13 @@ post_process_station: maximum: 2147483647 minimum: -2147483648 type: integer - required: - - reaction_tank_number - - raw_tank_number title: PostProcessGrab_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: PostProcessGrab_Result type: object required: @@ -573,13 +518,15 @@ post_process_station: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: PostProcessTriggerPostPro_Feedback type: object goal: + additionalProperties: false properties: atomization_fast_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number atomization_pressure_kpa: maximum: 2147483647 @@ -594,8 +541,12 @@ post_process_station: minimum: -2147483648 type: integer first_wash_water_amount: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number initial_water_amount: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number injection_pump_push_speed: maximum: 2147483647 @@ -622,32 +573,20 @@ post_process_station: minimum: -2147483648 type: integer second_wash_water_amount: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number wash_slow_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - atomization_fast_speed - - wash_slow_speed - - injection_pump_suction_speed - - injection_pump_push_speed - - raw_liquid_suction_count - - first_wash_water_amount - - second_wash_water_amount - - first_powder_mixing_tim - - second_powder_mixing_time - - first_powder_wash_count - - second_powder_wash_count - - initial_water_amount - - pre_filtration_mixing_time - - atomization_pressure_kpa title: PostProcessTriggerPostPro_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: PostProcessTriggerPostPro_Result type: object required: @@ -669,30 +608,26 @@ post_process_station: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -702,8 +637,7 @@ post_process_station: type: SendCmd module: unilabos.devices.workstation.post_process.post_process:OpcUaClient status_types: - cache_stats: dict - node_value: String + cache_stats: Dict[str, Any] type: python config_info: [] description: 后处理站 @@ -718,7 +652,9 @@ post_process_station: config_path: type: string deck: - type: string + anyOf: + - type: object + - type: object password: type: string subscription_interval: @@ -738,10 +674,7 @@ post_process_station: properties: cache_stats: type: object - node_value: - type: string required: - - node_value - cache_stats type: object version: 1.0.0 diff --git a/unilabos/registry/devices/pump_and_valve.yaml b/unilabos/registry/devices/pump_and_valve.yaml index 40fd9d3e..95a082d5 100644 --- a/unilabos/registry/devices/pump_and_valve.yaml +++ b/unilabos/registry/devices/pump_and_valve.yaml @@ -136,36 +136,36 @@ solenoid_valve: set_valve_position: feedback: {} goal: - string: position + position: position + string: string goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -278,26 +278,25 @@ solenoid_valve.mock: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -310,26 +309,25 @@ solenoid_valve.mock: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -422,6 +420,27 @@ syringe_pump_with_valve.runze.SY03B-T06: title: initialize参数 type: object type: UniLabJsonCommand + auto-list: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: list的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: list参数 + type: object + type: UniLabJsonCommand auto-pull_plunger: feedback: {} goal: {} @@ -695,7 +714,10 @@ syringe_pump_with_valve.runze.SY03B-T06: goal: properties: position: - type: string + anyOf: + - type: integer + - type: string + - type: number required: - position type: object @@ -720,7 +742,9 @@ syringe_pump_with_valve.runze.SY03B-T06: goal: properties: velocity: - type: string + anyOf: + - type: integer + - type: string required: - velocity type: object @@ -780,13 +804,13 @@ syringe_pump_with_valve.runze.SY03B-T06: status_types: max_velocity: float mode: int - plunger_position: String + plunger_position: '' position: float status: str valve_position: str - velocity_end: String - velocity_grade: String - velocity_init: String + velocity_end: '' + velocity_grade: '' + velocity_init: '' type: python config_info: [] description: 润泽精密注射泵设备,集成阀门控制的高精度流体输送系统。该设备通过串口通信控制,支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。 @@ -885,15 +909,15 @@ syringe_pump_with_valve.runze.SY03B-T06: velocity_init: type: string required: - - status - - mode - max_velocity + - mode + - plunger_position + - position + - status + - valve_position + - velocity_end - velocity_grade - velocity_init - - velocity_end - - valve_position - - position - - plunger_position type: object version: 1.0.0 syringe_pump_with_valve.runze.SY03B-T08: @@ -943,6 +967,27 @@ syringe_pump_with_valve.runze.SY03B-T08: title: initialize参数 type: object type: UniLabJsonCommand + auto-list: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: list的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: list参数 + type: object + type: UniLabJsonCommand auto-pull_plunger: feedback: {} goal: {} @@ -1216,7 +1261,10 @@ syringe_pump_with_valve.runze.SY03B-T08: goal: properties: position: - type: string + anyOf: + - type: integer + - type: string + - type: number required: - position type: object @@ -1241,7 +1289,9 @@ syringe_pump_with_valve.runze.SY03B-T08: goal: properties: velocity: - type: string + anyOf: + - type: integer + - type: string required: - velocity type: object @@ -1301,13 +1351,13 @@ syringe_pump_with_valve.runze.SY03B-T08: status_types: max_velocity: float mode: int - plunger_position: String + plunger_position: '' position: float status: str valve_position: str - velocity_end: String - velocity_grade: String - velocity_init: String + velocity_end: '' + velocity_grade: '' + velocity_init: '' type: python config_info: [] description: 润泽精密注射泵设备,集成阀门控制的高精度流体输送系统。该设备通过串口通信控制,支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。 @@ -1422,14 +1472,14 @@ syringe_pump_with_valve.runze.SY03B-T08: velocity_init: type: string required: - - status - - mode - max_velocity + - mode + - plunger_position + - position + - status + - valve_position + - velocity_end - velocity_grade - velocity_init - - velocity_end - - valve_position - - position - - plunger_position type: object version: 1.0.0 diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index b7d10a60..1372140d 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -4,6 +4,78 @@ reaction_station.bioyond: - reaction_station_bioyond class: action_value_mappings: + add_time_constraint: + feedback: {} + goal: + duration: duration + end_point: end_point + end_step_key: end_step_key + start_point: start_point + start_step_key: start_step_key + goal_default: + duration: null + end_point: 0 + end_step_key: '' + start_point: 0 + start_step_key: '' + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 添加时间约束 - 在两个工作流之间添加时间约束 + properties: + feedback: {} + goal: + properties: + duration: + description: 时间(秒) + type: integer + end_point: + default: 0 + description: 终点计时点 (Start=开始前, End=结束后) + type: integer + end_step_key: + default: '' + description: 终点步骤Key (可选, 默认为空则自动选择) + type: string + start_point: + default: 0 + description: 起点计时点 (Start=开始前, End=结束后) + type: integer + start_step_key: + default: '' + description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择) + type: string + required: + - duration + type: object + result: {} + required: + - goal + title: add_time_constraint参数 + type: object + type: UniLabJsonCommand + auto-clear_workflows: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: clear_workflows参数 + type: object + type: UniLabJsonCommand auto-create_order: feedback: {} goal: {} @@ -23,7 +95,8 @@ reaction_station.bioyond: required: - json_str type: object - result: {} + result: + type: object required: - goal title: create_order参数 @@ -50,7 +123,8 @@ reaction_station.bioyond: required: - workflow_ids type: object - result: {} + result: + type: object required: - goal title: hard_delete_merged_workflows参数 @@ -75,7 +149,8 @@ reaction_station.bioyond: required: - json_str type: object - result: {} + result: + type: object required: - goal title: merge_workflow_with_parameters参数 @@ -100,7 +175,8 @@ reaction_station.bioyond: required: - report_request type: object - result: {} + result: + type: object required: - goal title: process_temperature_cutoff_report参数 @@ -125,12 +201,47 @@ reaction_station.bioyond: required: - web_workflow_json type: object - result: {} + result: + items: + additionalProperties: + type: string + type: object + type: array required: - goal title: process_web_workflows参数 type: object type: UniLabJsonCommand + auto-set_reactor_temperature: + feedback: {} + goal: {} + goal_default: + reactor_id: null + temperature: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + reactor_id: + type: integer + temperature: + type: number + required: + - reactor_id + - temperature + type: object + result: + type: string + required: + - goal + title: set_reactor_temperature参数 + type: object + type: UniLabJsonCommand auto-skip_titration_steps: feedback: {} goal: {} @@ -150,12 +261,35 @@ reaction_station.bioyond: required: - preintake_id type: object - result: {} + result: + type: object required: - goal title: skip_titration_steps参数 type: object type: UniLabJsonCommand + auto-sync_workflow_sequence_from_bioyond: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: object + required: + - goal + title: sync_workflow_sequence_from_bioyond参数 + type: object + type: UniLabJsonCommand auto-wait_for_multiple_orders_and_get_reports: feedback: {} goal: {} @@ -182,12 +316,40 @@ reaction_station.bioyond: type: integer required: [] type: object - result: {} + result: + type: object required: - goal title: wait_for_multiple_orders_and_get_reports参数 type: object type: UniLabJsonCommand + auto-workflow_sequence: + feedback: {} + goal: {} + goal_default: + value: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + value: + items: + type: string + type: array + required: + - value + type: object + result: {} + required: + - goal + title: workflow_sequence参数 + type: object + type: UniLabJsonCommand auto-workflow_step_query: feedback: {} goal: {} @@ -207,12 +369,35 @@ reaction_station.bioyond: required: - workflow_id type: object - result: {} + result: + type: object required: - goal title: workflow_step_query参数 type: object type: UniLabJsonCommand + clean_all_server_workflows: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 清空服务端所有非核心工作流 (保留核心流程) + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + type: object + required: + - goal + title: clean_all_server_workflows参数 + type: object + type: UniLabJsonCommand drip_back: feedback: {} goal: @@ -223,13 +408,14 @@ reaction_station.bioyond: torque_variation: torque_variation volume: volume goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume: '' + assign_material_name: null + temperature: 25.0 + time: '90' + titration_type: '1' + torque_variation: 2 + volume: null handles: {} + placeholder_keys: {} result: {} schema: description: 滴回去 @@ -241,27 +427,27 @@ reaction_station.bioyond: description: 物料名称(不能为空) type: string temperature: + default: 25.0 description: 温度设定(°C) - type: string + type: number time: + default: '90' description: 观察时间(分钟) type: string titration_type: - description: 是否滴定(1=否, 2=是) + default: '1' + description: 是否滴定(NO=否, YES=是) type: string torque_variation: - description: 是否观察 (1=否, 2=是) - type: string + default: 2 + description: 是否观察 (NO=否, YES=是) + type: integer volume: - description: 分液公式(μL) + description: 分液公式(mL) type: string required: - - volume - assign_material_name - - time - - torque_variation - - titration_type - - temperature + - volume type: object result: {} required: @@ -274,7 +460,7 @@ reaction_station.bioyond: goal: batch_reports_result: batch_reports_result goal_default: - batch_reports_result: '' + batch_reports_result: null handles: input: - data_key: batch_reports_result @@ -290,8 +476,8 @@ reaction_station.bioyond: handler_key: ACTUALS_EXTRACTED io_type: sink label: Extracted Actuals - result: - return_info: return_info + placeholder_keys: {} + result: {} schema: description: 从批量任务完成报告中提取每个订单的实际加料量,输出extracted列表。 properties: @@ -305,13 +491,6 @@ reaction_station.bioyond: - batch_reports_result type: object result: - properties: - return_info: - description: JSON字符串,包含actuals数组,每项含order_code, order_id, actualTargetWeigh, - actualVolume - type: string - required: - - return_info title: extract_actuals_from_batch_reports结果 type: object required: @@ -329,13 +508,14 @@ reaction_station.bioyond: torque_variation: torque_variation volume: volume goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume: '' + assign_material_name: BAPP + temperature: 25.0 + time: '0' + titration_type: '1' + torque_variation: 1 + volume: '350' handles: {} + placeholder_keys: {} result: {} schema: description: 液体进料烧杯 @@ -344,30 +524,30 @@ reaction_station.bioyond: goal: properties: assign_material_name: + default: BAPP description: 物料名称 type: string temperature: + default: 25.0 description: 温度设定(°C) - type: string + type: number time: + default: '0' description: 观察时间(分钟) type: string titration_type: - description: 是否滴定(1=否, 2=是) + default: '1' + description: 是否滴定(NO=否, YES=是) type: string torque_variation: - description: 是否观察 (1=否, 2=是) - type: string + default: 1 + description: 是否观察 (NO=否, YES=是) + type: integer volume: - description: 分液公式(μL) + default: '350' + description: 分液公式(mL) type: string - required: - - volume - - assign_material_name - - time - - torque_variation - - titration_type - - temperature + required: [] type: object result: {} required: @@ -386,13 +566,13 @@ reaction_station.bioyond: torque_variation: torque_variation volume: volume goal_default: - assign_material_name: '' - solvents: '' - temperature: '25.00' + assign_material_name: null + solvents: null + temperature: 25.0 time: '360' titration_type: '1' - torque_variation: '2' - volume: '' + torque_variation: 2 + volume: null handles: input: - data_key: solvents @@ -401,9 +581,10 @@ reaction_station.bioyond: handler_key: solvents io_type: source label: Solvents Data From Calculation Node + placeholder_keys: {} result: {} schema: - description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。 + description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。 properties: feedback: {} goal: @@ -415,23 +596,23 @@ reaction_station.bioyond: description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume' type: string temperature: - default: '25.00' + default: 25.0 description: 温度设定(°C),默认25.00 - type: string + type: number time: default: '360' description: 观察时间(分钟),默认360 type: string titration_type: default: '1' - description: 是否滴定(1=否, 2=是),默认1 + description: 是否滴定(NO=否, YES=是),默认NO type: string torque_variation: - default: '2' - description: 是否观察 (1=否, 2=是),默认2 - type: string + default: 2 + description: 是否观察 (NO=否, YES=是),默认YES + type: integer volume: - description: 分液量(μL)。可直接提供,或通过solvents参数自动计算 + description: 分液量(mL)。可直接提供,或通过solvents参数自动计算 type: string required: - assign_material_name @@ -455,15 +636,15 @@ reaction_station.bioyond: volume_formula: volume_formula x_value: x_value goal_default: - assign_material_name: '' - extracted_actuals: '' - feeding_order_data: '' - temperature: '25.00' + assign_material_name: null + extracted_actuals: null + feeding_order_data: null + temperature: 25.0 time: '90' titration_type: '2' - torque_variation: '2' - volume_formula: '' - x_value: '' + torque_variation: 2 + volume_formula: null + x_value: null handles: input: - data_key: extracted_actuals @@ -478,6 +659,7 @@ reaction_station.bioyond: handler_key: feeding_order io_type: source label: Feeding Order Data From Calculation Node + placeholder_keys: {} result: {} schema: description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定" @@ -496,23 +678,23 @@ reaction_station.bioyond: {"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}' type: string temperature: - default: '25.00' + default: 25.0 description: 温度设定(°C),默认25.00 - type: string + type: number time: default: '90' description: 观察时间(分钟),默认90 type: string titration_type: default: '2' - description: 是否滴定(1=否, 2=是),默认2 + description: 是否滴定(NO=否, YES=是),默认YES type: string torque_variation: - default: '2' - description: 是否观察 (1=否, 2=是),默认2 - type: string + default: 2 + description: 是否观察 (NO=否, YES=是),默认YES + type: integer volume_formula: - description: 分液公式(μL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成 + description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成 type: string x_value: description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算 @@ -536,13 +718,14 @@ reaction_station.bioyond: torque_variation: torque_variation volume_formula: volume_formula goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume_formula: '' + assign_material_name: null + temperature: 25.0 + time: '0' + titration_type: '1' + torque_variation: 1 + volume_formula: null handles: {} + placeholder_keys: {} result: {} schema: description: 液体进料小瓶(非滴定) @@ -554,27 +737,27 @@ reaction_station.bioyond: description: 物料名称 type: string temperature: + default: 25.0 description: 温度设定(°C) - type: string + type: number time: + default: '0' description: 观察时间(分钟) type: string titration_type: - description: 是否滴定(1=否, 2=是) + default: '1' + description: 是否滴定(NO=否, YES=是) type: string torque_variation: - description: 是否观察 (1=否, 2=是) - type: string + default: 1 + description: 是否观察 (NO=否, YES=是) + type: integer volume_formula: - description: 分液公式(μL) + description: 分液公式(mL) type: string required: - volume_formula - assign_material_name - - time - - torque_variation - - titration_type - - temperature type: object result: {} required: @@ -588,9 +771,10 @@ reaction_station.bioyond: task_name: task_name workflow_name: workflow_name goal_default: - task_name: '' - workflow_name: '' + task_name: null + workflow_name: null handles: {} + placeholder_keys: {} result: {} schema: description: 处理并执行工作流 @@ -608,7 +792,8 @@ reaction_station.bioyond: - workflow_name - task_name type: object - result: {} + result: + type: object required: - goal title: process_and_execute_workflow参数 @@ -621,10 +806,11 @@ reaction_station.bioyond: cutoff: cutoff temperature: temperature goal_default: - assign_material_name: '' - cutoff: '' - temperature: '' + assign_material_name: null + cutoff: '900000' + temperature: -10.0 handles: {} + placeholder_keys: {} result: {} schema: description: 反应器放入 - 将反应器放入工作站,配置物料名称、粘度上限和温度参数 @@ -636,14 +822,14 @@ reaction_station.bioyond: description: 物料名称 type: string cutoff: + default: '900000' description: 粘度上限 type: string temperature: + default: -10.0 description: 温度设定(°C) - type: string + type: number required: - - cutoff - - temperature - assign_material_name type: object result: {} @@ -657,6 +843,7 @@ reaction_station.bioyond: goal: {} goal_default: {} handles: {} + placeholder_keys: {} result: {} schema: description: 反应器取出 - 从工作站中取出反应器,无需参数的简单操作 @@ -666,20 +853,35 @@ reaction_station.bioyond: properties: {} required: [] type: object - result: - properties: - code: - description: 操作结果代码(1表示成功,0表示失败) - type: integer - return_info: - description: 操作结果详细信息 - type: string - type: object + result: {} required: - goal title: reactor_taken_out参数 type: object type: UniLabJsonCommand + scheduler_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: 启动调度器 - 启动Bioyond工作站的任务调度器,开始执行队列中的任务 + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + title: scheduler_start结果 + type: object + required: + - goal + title: scheduler_start参数 + type: object + type: UniLabJsonCommand solid_feeding_vials: feedback: {} goal: @@ -689,12 +891,13 @@ reaction_station.bioyond: time: time torque_variation: torque_variation goal_default: - assign_material_name: '' - material_id: '' - temperature: '' - time: '' - torque_variation: '' + assign_material_name: null + material_id: null + temperature: 25.0 + time: '0' + torque_variation: 1 handles: {} + placeholder_keys: {} result: {} schema: description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料,支持多种粉末类型(盐、面粉、BTDA) @@ -706,23 +909,22 @@ reaction_station.bioyond: description: 物料名称(用于获取试剂瓶位ID) type: string material_id: - description: 粉末类型ID,1=盐(21分钟),2=面粉(27分钟),3=BTDA(38分钟) + description: 粉末类型ID,Salt=盐(21分钟),Flour=面粉(27分钟),BTDA=BTDA(38分钟) type: string temperature: + default: 25.0 description: 温度设定(°C) - type: string + type: number time: + default: '0' description: 观察时间(分钟) type: string torque_variation: - description: 是否观察 (1=否, 2=是) - type: string + default: 1 + description: 是否观察 (NO=否, YES=是) + type: integer required: - - assign_material_name - material_id - - time - - torque_variation - - temperature type: object result: {} required: @@ -730,10 +932,10 @@ reaction_station.bioyond: title: solid_feeding_vials参数 type: object type: UniLabJsonCommand - module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation + module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation protocol_type: [] status_types: - workflow_sequence: String + workflow_sequence: str type: python config_info: [] description: Bioyond反应站 @@ -753,9 +955,7 @@ reaction_station.bioyond: data: properties: workflow_sequence: - items: - type: string - type: array + type: string required: - workflow_sequence type: object @@ -791,7 +991,7 @@ reaction_station.reactor: title: update_metrics参数 type: object type: UniLabJsonCommand - module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor + module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor status_types: {} type: python config_info: [] diff --git a/unilabos/registry/devices/robot_agv.yaml b/unilabos/registry/devices/robot_agv.yaml index 9f45bd5e..b37a0c46 100644 --- a/unilabos/registry/devices/robot_agv.yaml +++ b/unilabos/registry/devices/robot_agv.yaml @@ -37,42 +37,41 @@ agv.SEER: type: object type: UniLabJsonCommand send_nav_task: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: diff --git a/unilabos/registry/devices/robot_arm.yaml b/unilabos/registry/devices/robot_arm.yaml index 147eab4d..ff357ad4 100644 --- a/unilabos/registry/devices/robot_arm.yaml +++ b/unilabos/registry/devices/robot_arm.yaml @@ -122,31 +122,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual: title: moveit_task参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: post_init的参数schema - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand auto-resource_manager: feedback: {} goal: {} @@ -198,41 +173,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual: type: object type: UniLabJsonCommand pick_and_place: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -241,41 +216,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual: type: object type: SendCmd set_position: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -284,41 +259,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual: type: object type: SendCmd set_status: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -455,42 +430,41 @@ robotic_arm.UR: type: object type: UniLabJsonCommand move_pos_task: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -532,8 +506,8 @@ robotic_arm.UR: type: string required: - arm_pose - - gripper_pose - arm_status + - gripper_pose - gripper_status type: object version: 1.0.0 @@ -726,41 +700,41 @@ robotic_arm.elite: type: object type: UniLabJsonCommand modbus_task_cmd: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -770,8 +744,8 @@ robotic_arm.elite: type: SendCmd module: unilabos.devices.arm.elite_robot:EliteRobot status_types: - actual_joint_positions: String - arm_pose: String + actual_joint_positions: '' + arm_pose: list[float] type: python config_info: [] description: Elite robot arm @@ -797,8 +771,8 @@ robotic_arm.elite: type: number type: array required: - - arm_pose - actual_joint_positions + - arm_pose type: object model: mesh: elite_robot diff --git a/unilabos/registry/devices/robot_gripper.yaml b/unilabos/registry/devices/robot_gripper.yaml index 295c48a0..4f579e24 100644 --- a/unilabos/registry/devices/robot_gripper.yaml +++ b/unilabos/registry/devices/robot_gripper.yaml @@ -114,11 +114,12 @@ gripper.misumi_rz: goal: properties: data: - type: string + type: object required: - data type: object - result: {} + result: + type: object required: - goal title: modbus_crc参数 @@ -398,30 +399,26 @@ gripper.misumi_rz: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -504,71 +501,82 @@ gripper.mock: type: UniLabJsonCommand push_to: feedback: - effort: torque + effort: effort position: position + reached_goal: reached_goal + stalled: stalled goal: - command.max_effort: torque - command.position: position + command: command + position: position + torque: torque + velocity: velocity goal_default: command: max_effort: 0.0 position: 0.0 handles: {} + placeholder_keys: {} result: - effort: torque + effort: effort position: position + reached_goal: reached_goal + stalled: stalled schema: description: '' properties: feedback: + additionalProperties: false properties: effort: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number position: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number reached_goal: type: boolean stalled: type: boolean - required: - - position - - effort - - stalled - - reached_goal title: GripperCommand_Feedback type: object goal: + additionalProperties: false properties: command: + additionalProperties: false properties: max_effort: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number position: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - position - max_effort title: command type: object - required: - - command title: GripperCommand_Goal type: object result: + additionalProperties: false properties: effort: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number position: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number reached_goal: type: boolean stalled: type: boolean - required: - - position - - effort - - stalled - - reached_goal title: GripperCommand_Result type: object required: @@ -604,8 +612,8 @@ gripper.mock: type: number required: - position - - velocity - - torque - status + - torque + - velocity type: object version: 1.0.0 diff --git a/unilabos/registry/devices/robot_linear_motion.yaml b/unilabos/registry/devices/robot_linear_motion.yaml index 0f8506e9..74b01e80 100644 --- a/unilabos/registry/devices/robot_linear_motion.yaml +++ b/unilabos/registry/devices/robot_linear_motion.yaml @@ -24,6 +24,27 @@ linear_motion.grbl: title: initialize参数 type: object type: UniLabJsonCommand + auto-list: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: list的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: list参数 + type: object + type: UniLabJsonCommand auto-set_position: feedback: {} goal: {} @@ -93,44 +114,39 @@ linear_motion.grbl: type: UniLabJsonCommandAsync move_through_points: feedback: - current_pose.pose.position: position - estimated_time_remaining.sec: time_remaining - navigation_time.sec: time_spent - number_of_poses_remaining: pose_number_remaining + current_pose: current_pose + distance_remaining: distance_remaining + estimated_time_remaining: estimated_time_remaining + navigation_time: navigation_time + number_of_poses_remaining: number_of_poses_remaining + number_of_recoveries: number_of_recoveries goal: - poses[].pose.position: positions[] + behavior_tree: behavior_tree + poses: poses + positions: positions goal_default: behavior_tree: '' - poses: - - header: - frame_id: '' - stamp: - nanosec: 0 - sec: 0 - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 + poses: [] handles: {} - result: {} + placeholder_keys: {} + result: + result: result schema: description: '' properties: feedback: + additionalProperties: false properties: current_pose: + additionalProperties: false properties: header: + additionalProperties: false properties: frame_id: type: string stamp: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -151,16 +167,26 @@ linear_motion.grbl: title: header type: object pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -170,12 +196,19 @@ linear_motion.grbl: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -194,8 +227,11 @@ linear_motion.grbl: title: current_pose type: object distance_remaining: + maximum: 3.4028235e+38 + minimum: -3.4028235e+38 type: number estimated_time_remaining: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -211,6 +247,7 @@ linear_motion.grbl: title: estimated_time_remaining type: object navigation_time: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -233,16 +270,10 @@ linear_motion.grbl: maximum: 32767 minimum: -32768 type: integer - required: - - current_pose - - navigation_time - - estimated_time_remaining - - number_of_recoveries - - distance_remaining - - number_of_poses_remaining title: NavigateThroughPoses_Feedback type: object goal: + additionalProperties: false properties: behavior_tree: type: string @@ -256,12 +287,8 @@ linear_motion.grbl: stamp: properties: nanosec: - maximum: 4294967295 - minimum: 0 type: integer sec: - maximum: 2147483647 - minimum: -2147483648 type: integer required: - sec @@ -314,23 +341,17 @@ linear_motion.grbl: required: - header - pose - title: poses type: object type: array - required: - - poses - - behavior_tree title: NavigateThroughPoses_Goal type: object result: + additionalProperties: false properties: result: - properties: {} - required: [] + additionalProperties: true title: result type: object - required: - - result title: NavigateThroughPoses_Result type: object required: @@ -340,9 +361,15 @@ linear_motion.grbl: type: NavigateThroughPoses set_spindle_speed: feedback: - position: spindle_speed + error: error + header: header + position: position + velocity: velocity goal: - position: spindle_speed + max_velocity: max_velocity + min_duration: min_duration + position: position + spindle_speed: spindle_speed goal_default: max_velocity: 0.0 min_duration: @@ -350,19 +377,25 @@ linear_motion.grbl: sec: 0 position: 0.0 handles: {} + placeholder_keys: {} result: {} schema: description: '' properties: feedback: + additionalProperties: false properties: error: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number header: + additionalProperties: false properties: frame_id: type: string stamp: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -383,21 +416,24 @@ linear_motion.grbl: title: header type: object position: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number velocity: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - header - - position - - velocity - - error title: SingleJointPosition_Feedback type: object goal: + additionalProperties: false properties: max_velocity: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number min_duration: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -413,16 +449,13 @@ linear_motion.grbl: title: min_duration type: object position: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - position - - min_duration - - max_velocity title: SingleJointPosition_Goal type: object result: - properties: {} - required: [] + additionalProperties: true title: SingleJointPosition_Result type: object required: @@ -432,7 +465,7 @@ linear_motion.grbl: type: SingleJointPosition module: unilabos.devices.cnc.grbl_sync:GrblCNC status_types: - position: unilabos.messages:Point3D + position: Point3D spindle_speed: float status: str type: python @@ -471,9 +504,9 @@ linear_motion.grbl: status: type: string required: - - status - position - spindle_speed + - status type: object version: 1.0.0 linear_motion.toyo_xyz.sim: @@ -600,31 +633,6 @@ linear_motion.toyo_xyz.sim: title: moveit_task参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: post_init的参数schema - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand auto-resource_manager: feedback: {} goal: {} @@ -676,41 +684,41 @@ linear_motion.toyo_xyz.sim: type: object type: UniLabJsonCommand pick_and_place: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -719,41 +727,41 @@ linear_motion.toyo_xyz.sim: type: object type: SendCmd set_position: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -762,41 +770,41 @@ linear_motion.toyo_xyz.sim: type: object type: SendCmd set_status: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -939,30 +947,26 @@ motor.iCL42: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -1000,8 +1004,8 @@ motor.iCL42: success: type: boolean required: - - motor_position - is_executing_run + - motor_position - success type: object version: 1.0.0 diff --git a/unilabos/registry/devices/solid_dispenser.yaml b/unilabos/registry/devices/solid_dispenser.yaml index 9bceb54b..46280631 100644 --- a/unilabos/registry/devices/solid_dispenser.yaml +++ b/unilabos/registry/devices/solid_dispenser.yaml @@ -14,19 +14,24 @@ solid_dispenser.laiyu: powder_tube_number: 0 target_tube_position: '' handles: {} + placeholder_keys: {} result: actual_mass_mg: actual_mass_mg + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: SolidDispenseAddPowderTube_Feedback type: object goal: + additionalProperties: false properties: compound_mass: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number powder_tube_number: maximum: 2147483647 @@ -34,24 +39,19 @@ solid_dispenser.laiyu: type: integer target_tube_position: type: string - required: - - powder_tube_number - - target_tube_position - - compound_mass title: SolidDispenseAddPowderTube_Goal type: object result: + additionalProperties: false properties: actual_mass_mg: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number return_info: type: string success: type: boolean - required: - - return_info - - actual_mass_mg - - success title: SolidDispenseAddPowderTube_Result type: object required: @@ -74,11 +74,12 @@ solid_dispenser.laiyu: goal: properties: data: - type: string + type: object required: - data type: object - result: {} + result: + type: object required: - goal title: calculate_crc参数 @@ -99,11 +100,12 @@ solid_dispenser.laiyu: goal: properties: command: - type: string + type: object required: - command type: object - result: {} + result: + type: object required: - goal title: send_command参数 @@ -112,36 +114,37 @@ solid_dispenser.laiyu: discharge: feedback: {} goal: - float_input: float_input + float_in: float_in goal_default: float_in: 0.0 handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: FloatSingleInput_Feedback type: object goal: + additionalProperties: false properties: float_in: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - float_in title: FloatSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: FloatSingleInput_Result type: object required: @@ -156,32 +159,31 @@ solid_dispenser.laiyu: goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -200,38 +202,41 @@ solid_dispenser.laiyu: y: 0.0 z: 0.0 handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: Point3DSeparateInput_Feedback type: object goal: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - x - - y - - z title: Point3DSeparateInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: Point3DSeparateInput_Result type: object required: @@ -246,34 +251,33 @@ solid_dispenser.laiyu: goal_default: int_input: 0 handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: IntSingleInput_Feedback type: object goal: + additionalProperties: false properties: int_input: maximum: 2147483647 minimum: -2147483648 type: integer - required: - - int_input title: IntSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: IntSingleInput_Result type: object required: @@ -288,34 +292,33 @@ solid_dispenser.laiyu: goal_default: int_input: 0 handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: IntSingleInput_Feedback type: object goal: + additionalProperties: false properties: int_input: maximum: 2147483647 minimum: -2147483648 type: integer - required: - - int_input title: IntSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: IntSingleInput_Result type: object required: @@ -328,26 +331,25 @@ solid_dispenser.laiyu: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: diff --git a/unilabos/registry/devices/temperature.yaml b/unilabos/registry/devices/temperature.yaml index 874fe517..9e60adb1 100644 --- a/unilabos/registry/devices/temperature.yaml +++ b/unilabos/registry/devices/temperature.yaml @@ -34,7 +34,8 @@ chiller: - register_address - value type: object - result: {} + result: + type: object required: - goal title: build_modbus_frame参数 @@ -63,7 +64,8 @@ chiller: required: - temperature type: object - result: {} + result: + type: integer required: - goal title: convert_temperature_to_modbus_value参数 @@ -84,11 +86,12 @@ chiller: goal: properties: data: - type: string + type: object required: - data type: object - result: {} + result: + type: object required: - goal title: modbus_crc参数 @@ -116,42 +119,41 @@ chiller: type: object type: UniLabJsonCommand set_temperature: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -266,9 +268,15 @@ heaterstirrer.dalong: feedback: status: status goal: + pressure: pressure purpose: purpose + reflux_solvent: reflux_solvent + stir: stir + stir_speed: stir_speed temp: temp + temp_spec: temp_spec time: time + time_spec: time_spec vessel: vessel goal_default: pressure: '' @@ -301,20 +309,23 @@ heaterstirrer.dalong: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: + message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: HeatChill_Feedback type: object goal: + additionalProperties: false properties: pressure: type: string @@ -325,8 +336,12 @@ heaterstirrer.dalong: stir: type: boolean stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp_spec: type: string @@ -335,6 +350,7 @@ heaterstirrer.dalong: time_spec: type: string vessel: + additionalProperties: false properties: category: type: string @@ -353,16 +369,26 @@ heaterstirrer.dalong: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -372,12 +398,19 @@ heaterstirrer.dalong: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -407,20 +440,10 @@ heaterstirrer.dalong: - data title: vessel type: object - required: - - vessel - - temp - - time - - temp_spec - - time_spec - - pressure - - reflux_solvent - - stir - - stir_speed - - purpose title: HeatChill_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -428,10 +451,6 @@ heaterstirrer.dalong: type: string success: type: boolean - required: - - success - - message - - return_info title: HeatChill_Result type: object required: @@ -440,42 +459,42 @@ heaterstirrer.dalong: type: object type: HeatChill set_temp_target: - feedback: {} + feedback: + status: status goal: - command: temp + command: command + temp: temp goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -484,42 +503,42 @@ heaterstirrer.dalong: type: object type: SendCmd set_temp_warning: - feedback: {} + feedback: + status: status goal: - command: temp + command: command + temp: temp goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -569,8 +588,8 @@ heaterstirrer.dalong: - status - stir_speed - temp - - temp_warning - temp_target + - temp_warning type: object version: 1.0.0 tempsensor: @@ -691,42 +710,41 @@ tempsensor: type: object type: UniLabJsonCommand set_warning: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index f0635755..0fce3824 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -18,7 +18,8 @@ virtual_centrifuge: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -39,41 +40,17 @@ virtual_centrifuge: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 type: object type: UniLabJsonCommandAsync - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand centrifuge: feedback: current_speed: current_speed - current_status: status + current_status: current_status current_temp: current_temp progress: progress goal: @@ -106,38 +83,50 @@ virtual_centrifuge: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: current_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number current_status: type: string current_temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_speed - - current_temp - - current_status title: Centrifuge_Feedback type: object goal: + additionalProperties: false properties: speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -156,16 +145,26 @@ virtual_centrifuge: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -175,12 +174,19 @@ virtual_centrifuge: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -210,14 +216,10 @@ virtual_centrifuge: - data title: vessel type: object - required: - - vessel - - speed - - time - - temp title: Centrifuge_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -225,10 +227,6 @@ virtual_centrifuge: type: string success: type: boolean - required: - - success - - message - - return_info title: Centrifuge_Result type: object required: @@ -267,7 +265,7 @@ virtual_centrifuge: config: properties: config: - type: string + type: object device_id: type: string required: [] @@ -299,18 +297,18 @@ virtual_centrifuge: time_remaining: type: number required: - - status - centrifuge_state - current_speed - - target_speed - current_temp - - target_temp - max_speed - max_temp - - min_temp - - time_remaining - - progress - message + - min_temp + - progress + - status + - target_speed + - target_temp + - time_remaining type: object version: 1.0.0 virtual_column: @@ -333,7 +331,8 @@ virtual_column: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -354,45 +353,26 @@ virtual_column: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 type: object type: UniLabJsonCommandAsync - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand run_column: feedback: - current_status: current_status - processed_volume: processed_volume progress: progress + status: status goal: column: column from_vessel: from_vessel + pct1: pct1 + pct2: pct2 + ratio: ratio + rf: rf + solvent1: solvent1 + solvent2: solvent2 to_vessel: to_vessel goal_default: column: '' @@ -443,29 +423,32 @@ virtual_column: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: - message: current_status - return_info: current_status + message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: RunColumn_Feedback type: object goal: + additionalProperties: false properties: column: type: string from_vessel: + additionalProperties: false properties: category: type: string @@ -484,16 +467,26 @@ virtual_column: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -503,12 +496,19 @@ virtual_column: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -551,6 +551,7 @@ virtual_column: solvent2: type: string to_vessel: + additionalProperties: false properties: category: type: string @@ -569,16 +570,26 @@ virtual_column: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -588,12 +599,19 @@ virtual_column: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -623,19 +641,10 @@ virtual_column: - data title: to_vessel type: object - required: - - from_vessel - - to_vessel - - column - - rf - - pct1 - - pct2 - - solvent1 - - solvent2 - - ratio title: RunColumn_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -643,10 +652,6 @@ virtual_column: type: string success: type: boolean - required: - - success - - message - - return_info title: RunColumn_Result type: object required: @@ -722,17 +727,17 @@ virtual_column: status: type: string required: - - status + - column_diameter + - column_length - column_state - current_flow_rate + - current_phase + - current_status + - final_volume - max_flow_rate - - column_length - - column_diameter - processed_volume - progress - - current_status - - current_phase - - final_volume + - status type: object version: 1.0.0 virtual_filter: @@ -755,7 +760,8 @@ virtual_filter: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -776,37 +782,13 @@ virtual_filter: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 type: object type: UniLabJsonCommandAsync - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand filter: feedback: current_status: current_status @@ -868,35 +850,40 @@ virtual_filter: type: '' volume: 0.0 handles: {} + placeholder_keys: {} result: message: message - return_info: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: current_status: type: string current_temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number filtered_volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_temp - - filtered_volume - - current_status title: Filter_Feedback type: object goal: + additionalProperties: false properties: continue_heatchill: type: boolean filtrate_vessel: + additionalProperties: false properties: category: type: string @@ -915,16 +902,26 @@ virtual_filter: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -934,12 +931,19 @@ virtual_filter: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -972,10 +976,15 @@ virtual_filter: stir: type: boolean stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -994,16 +1003,26 @@ virtual_filter: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1013,12 +1032,19 @@ virtual_filter: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1049,18 +1075,13 @@ virtual_filter: title: vessel type: object volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - vessel - - filtrate_vessel - - stir - - stir_speed - - temp - - continue_heatchill - - volume title: Filter_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -1068,10 +1089,6 @@ virtual_filter: type: string success: type: boolean - required: - - success - - message - - return_info title: Filter_Result type: object required: @@ -1123,7 +1140,7 @@ virtual_filter: config: properties: config: - type: string + type: object device_id: type: string required: [] @@ -1149,15 +1166,15 @@ virtual_filter: status: type: string required: - - status - - progress - - current_temp - current_status + - current_temp - filtered_volume - - message - - max_temp - max_stir_speed + - max_temp - max_volume + - message + - progress + - status type: object version: 1.0.0 virtual_gas_source: @@ -1180,7 +1197,8 @@ virtual_gas_source: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -1201,7 +1219,8 @@ virtual_gas_source: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 @@ -1254,26 +1273,25 @@ virtual_gas_source: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -1286,26 +1304,25 @@ virtual_gas_source: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -1320,32 +1337,31 @@ virtual_gas_source: goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -1373,7 +1389,7 @@ virtual_gas_source: config: properties: config: - type: string + type: object device_id: type: string required: [] @@ -1406,7 +1422,8 @@ virtual_heatchill: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -1427,46 +1444,26 @@ virtual_heatchill: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 type: object type: UniLabJsonCommandAsync - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand heat_chill: feedback: status: status goal: + pressure: pressure purpose: purpose + reflux_solvent: reflux_solvent stir: stir stir_speed: stir_speed temp: temp + temp_spec: temp_spec time: time + time_spec: time_spec vessel: vessel goal_default: pressure: '' @@ -1499,20 +1496,23 @@ virtual_heatchill: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: + message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: HeatChill_Feedback type: object goal: + additionalProperties: false properties: pressure: type: string @@ -1523,8 +1523,12 @@ virtual_heatchill: stir: type: boolean stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp_spec: type: string @@ -1533,6 +1537,7 @@ virtual_heatchill: time_spec: type: string vessel: + additionalProperties: false properties: category: type: string @@ -1551,16 +1556,26 @@ virtual_heatchill: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1570,12 +1585,19 @@ virtual_heatchill: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1605,20 +1627,10 @@ virtual_heatchill: - data title: vessel type: object - required: - - vessel - - temp - - time - - temp_spec - - time_spec - - pressure - - reflux_solvent - - stir - - stir_speed - - purpose title: HeatChill_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -1626,10 +1638,6 @@ virtual_heatchill: type: string success: type: boolean - required: - - success - - message - - return_info title: HeatChill_Result type: object required: @@ -1668,26 +1676,31 @@ virtual_heatchill: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: HeatChillStart_Feedback type: object goal: + additionalProperties: false properties: purpose: type: string temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -1706,16 +1719,26 @@ virtual_heatchill: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1725,12 +1748,19 @@ virtual_heatchill: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1760,21 +1790,15 @@ virtual_heatchill: - data title: vessel type: object - required: - - vessel - - temp - - purpose title: HeatChillStart_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: HeatChillStart_Result type: object required: @@ -1809,22 +1833,25 @@ virtual_heatchill: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: HeatChillStop_Feedback type: object goal: + additionalProperties: false properties: vessel: + additionalProperties: false properties: category: type: string @@ -1843,16 +1870,26 @@ virtual_heatchill: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1862,12 +1899,19 @@ virtual_heatchill: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1897,19 +1941,15 @@ virtual_heatchill: - data title: vessel type: object - required: - - vessel title: HeatChillStop_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: HeatChillStop_Result type: object required: @@ -1971,15 +2011,15 @@ virtual_heatchill: stir_speed: type: number required: - - status - - operation_mode - is_stirring - - stir_speed - - remaining_time - - progress + - max_stir_speed - max_temp - min_temp - - max_stir_speed + - operation_mode + - progress + - remaining_time + - status + - stir_speed type: object version: 1.0.0 virtual_multiway_valve: @@ -2027,7 +2067,8 @@ virtual_multiway_valve: required: - port_number type: object - result: {} + result: + type: boolean required: - goal title: is_at_port参数 @@ -2052,7 +2093,8 @@ virtual_multiway_valve: required: - position type: object - result: {} + result: + type: boolean required: - goal title: is_at_position参数 @@ -2073,7 +2115,8 @@ virtual_multiway_valve: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: is_at_pump_position参数 @@ -2193,42 +2236,41 @@ virtual_multiway_valve: type: object type: UniLabJsonCommand set_position: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -2237,42 +2279,41 @@ virtual_multiway_valve: type: object type: SendCmd set_valve_position: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -2402,13 +2443,13 @@ virtual_multiway_valve: valve_state: type: string required: - - status - - valve_state - - current_position - - target_position - current_port - - valve_position + - current_position - flow_path + - status + - target_position + - valve_position + - valve_state type: object version: 1.0.0 virtual_rotavap: @@ -2431,7 +2472,8 @@ virtual_rotavap: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -2452,43 +2494,22 @@ virtual_rotavap: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 type: object type: UniLabJsonCommandAsync - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand evaporate: feedback: current_device: current_device status: status + time_remaining: time_remaining + time_spent: time_spent goal: pressure: pressure + solvent: solvent stir_speed: stir_speed temp: temp time: time @@ -2520,19 +2541,22 @@ virtual_rotavap: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: - message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: current_device: type: string status: type: string time_remaining: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -2548,6 +2572,7 @@ virtual_rotavap: title: time_remaining type: object time_spent: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -2562,26 +2587,29 @@ virtual_rotavap: - nanosec title: time_spent type: object - required: - - status - - current_device - - time_spent - - time_remaining title: Evaporate_Feedback type: object goal: + additionalProperties: false properties: pressure: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number solvent: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: type: string vessel: + additionalProperties: false properties: category: type: string @@ -2600,16 +2628,26 @@ virtual_rotavap: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2619,12 +2657,19 @@ virtual_rotavap: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2654,24 +2699,15 @@ virtual_rotavap: - data title: vessel type: object - required: - - vessel - - pressure - - temp - - time - - stir_speed - - solvent title: Evaporate_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: Evaporate_Result type: object required: @@ -2725,7 +2761,7 @@ virtual_rotavap: config: properties: config: - type: string + type: object device_id: type: string required: [] @@ -2755,17 +2791,214 @@ virtual_rotavap: vacuum_pressure: type: number required: - - status - - rotavap_state - current_temp - - rotation_speed - - vacuum_pressure - evaporated_volume - - progress - - message - - max_temp - max_rotation_speed + - max_temp + - message + - progress - remaining_time + - rotation_speed + - rotavap_state + - status + - vacuum_pressure + type: object + version: 1.0.0 +virtual_sample_demo: + category: + - virtual_device + class: + action_value_mappings: + analyze_readings: + feedback: {} + goal: + readings: readings + samples: samples + goal_default: + readings: null + samples: null + handles: + input: + - data_key: readings + data_source: handle + data_type: sample_list + handler_key: readings_in + label: 测量读数 + - data_key: samples + data_source: handle + data_type: sample_index + handler_key: samples_in + label: 样品索引 + output: + - data_key: scores + data_source: executor + data_type: sample_list + handler_key: scores_out + label: 分析得分 + - data_key: passed + data_source: executor + data_type: sample_list + handler_key: passed_out + label: 是否通过 + - data_key: samples + data_source: executor + data_type: sample_index + handler_key: samples_result_out + label: 样品索引 + placeholder_keys: {} + result: {} + schema: + description: 对 split_and_measure 输出做二次分析,入参和出参都带 samples 列 + properties: + feedback: + title: AnalyzeReadings_Feedback + goal: + properties: + readings: + description: 测量读数(来自 split_and_measure) + items: + type: number + type: array + samples: + description: 每行归属的输入样品 index (0-based) + items: + type: integer + type: array + required: + - readings + - samples + title: AnalyzeReadings_Goal + type: object + result: + title: AnalyzeReadings_Result + type: object + required: + - goal + title: analyze_readings参数 + type: object + type: UniLabJsonCommandAsync + measure_samples: + feedback: {} + goal: + concentrations: concentrations + goal_default: + concentrations: null + handles: + output: + - data_key: concentrations + data_source: executor + data_type: sample_list + handler_key: concentrations_out + label: 浓度列表 + - data_key: absorbance + data_source: executor + data_type: sample_list + handler_key: absorbance_out + label: 吸光度列表 + placeholder_keys: {} + result: {} + schema: + description: 模拟光度测量,入参出参等长 + properties: + feedback: + title: MeasureSamples_Feedback + goal: + properties: + concentrations: + description: 样品浓度列表 + items: + type: number + type: array + required: + - concentrations + title: MeasureSamples_Goal + type: object + result: + title: MeasureSamples_Result + type: object + required: + - goal + title: measure_samples参数 + type: object + type: UniLabJsonCommandAsync + split_and_measure: + feedback: {} + goal: + split_count: split_count + volumes: volumes + goal_default: + split_count: 3 + volumes: null + handles: + output: + - data_key: readings + data_source: executor + data_type: sample_list + handler_key: readings_out + label: 测量读数 + - data_key: samples + data_source: executor + data_type: sample_index + handler_key: samples_out + label: 样品索引 + - data_key: volumes + data_source: executor + data_type: sample_list + handler_key: volumes_out + label: 均分体积 + placeholder_keys: {} + result: {} + schema: + description: 均分样品后逐份测量,输出带 samples 列标注归属 + properties: + feedback: + title: SplitAndMeasure_Feedback + goal: + properties: + split_count: + default: 3 + description: 每个样品均分的份数 + type: integer + volumes: + description: 样品体积列表 + items: + type: number + type: array + required: + - volumes + title: SplitAndMeasure_Goal + type: object + result: + title: SplitAndMeasure_Result + type: object + required: + - goal + title: split_and_measure参数 + type: object + type: UniLabJsonCommandAsync + module: unilabos.devices.virtual.virtual_sample_demo:VirtualSampleDemo + status_types: + status: str + type: python + config_info: [] + description: Virtual sample tracking demo device + handles: [] + icon: '' + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + status: + type: string + required: + - status type: object version: 1.0.0 virtual_separator: @@ -2788,7 +3021,8 @@ virtual_separator: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -2809,44 +3043,21 @@ virtual_separator: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 type: object type: UniLabJsonCommandAsync - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand separate: feedback: - current_status: status progress: progress + status: status goal: from_vessel: from_vessel product_phase: product_phase + product_vessel: product_vessel purpose: purpose repeats: repeats separation_vessel: separation_vessel @@ -2857,7 +3068,10 @@ virtual_separator: stir_time: stir_time through: through to_vessel: to_vessel + vessel: vessel + volume: volume waste_phase_to_vessel: waste_phase_to_vessel + waste_vessel: waste_vessel goal_default: from_vessel: category: '' @@ -3010,26 +3224,30 @@ virtual_separator: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: Separate_Feedback type: object goal: + additionalProperties: false properties: from_vessel: + additionalProperties: false properties: category: type: string @@ -3048,16 +3266,26 @@ virtual_separator: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3067,12 +3295,19 @@ virtual_separator: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3105,6 +3340,7 @@ virtual_separator: product_phase: type: string product_vessel: + additionalProperties: false properties: category: type: string @@ -3123,16 +3359,26 @@ virtual_separator: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3142,12 +3388,19 @@ virtual_separator: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3184,6 +3437,7 @@ virtual_separator: minimum: -2147483648 type: integer separation_vessel: + additionalProperties: false properties: category: type: string @@ -3202,16 +3456,26 @@ virtual_separator: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3221,12 +3485,19 @@ virtual_separator: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3257,18 +3528,25 @@ virtual_separator: title: separation_vessel type: object settling_time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number solvent: type: string solvent_volume: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number stir_time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number through: type: string to_vessel: + additionalProperties: false properties: category: type: string @@ -3287,16 +3565,26 @@ virtual_separator: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3306,12 +3594,19 @@ virtual_separator: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3342,6 +3637,7 @@ virtual_separator: title: to_vessel type: object vessel: + additionalProperties: false properties: category: type: string @@ -3360,16 +3656,26 @@ virtual_separator: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3379,12 +3685,19 @@ virtual_separator: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3417,6 +3730,7 @@ virtual_separator: volume: type: string waste_phase_to_vessel: + additionalProperties: false properties: category: type: string @@ -3435,16 +3749,26 @@ virtual_separator: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3454,12 +3778,19 @@ virtual_separator: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3490,6 +3821,7 @@ virtual_separator: title: waste_phase_to_vessel type: object waste_vessel: + additionalProperties: false properties: category: type: string @@ -3508,16 +3840,26 @@ virtual_separator: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3527,12 +3869,19 @@ virtual_separator: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3562,27 +3911,10 @@ virtual_separator: - data title: waste_vessel type: object - required: - - vessel - - purpose - - product_phase - - from_vessel - - separation_vessel - - to_vessel - - waste_phase_to_vessel - - product_vessel - - waste_vessel - - solvent - - solvent_volume - - volume - - through - - repeats - - stir_time - - stir_speed - - settling_time title: Separate_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -3590,10 +3922,6 @@ virtual_separator: type: string success: type: boolean - required: - - success - - message - - return_info title: Separate_Result type: object required: @@ -3645,7 +3973,7 @@ virtual_separator: config: properties: config: - type: string + type: object device_id: type: string required: [] @@ -3671,15 +3999,15 @@ virtual_separator: volume: type: number required: - - status - - separator_state - - volume - has_phases - - phase_separation - - stir_speed - - settling_time - - progress - message + - phase_separation + - progress + - separator_state + - settling_time + - status + - stir_speed + - volume type: object version: 1.0.0 virtual_solenoid_valve: @@ -3702,7 +4030,8 @@ virtual_solenoid_valve: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -3723,7 +4052,8 @@ virtual_solenoid_valve: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 @@ -3744,37 +4074,13 @@ virtual_solenoid_valve: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: is_closed参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand auto-reset: feedback: {} goal: {} @@ -3819,31 +4125,28 @@ virtual_solenoid_valve: type: UniLabJsonCommand close: feedback: {} - goal: - command: CLOSED + goal: {} goal_default: {} handles: {} + placeholder_keys: {} result: - success: success + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -3856,26 +4159,25 @@ virtual_solenoid_valve: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -3890,32 +4192,31 @@ virtual_solenoid_valve: goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -3924,44 +4225,41 @@ virtual_solenoid_valve: type: object type: StrSingleInput set_valve_position: - feedback: {} + feedback: + status: status goal: command: command goal_default: command: '' handles: {} + placeholder_keys: {} result: - message: message + return_info: return_info success: success - valve_position: valve_position schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: SendCmd_Feedback type: object goal: + additionalProperties: false properties: command: type: string - required: - - command title: SendCmd_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: SendCmd_Result type: object required: @@ -4016,10 +4314,10 @@ virtual_solenoid_valve: valve_state: type: string required: - - status - - valve_state - is_open + - status - valve_position + - valve_state type: object version: 1.0.0 virtual_solid_dispenser: @@ -4029,9 +4327,10 @@ virtual_solid_dispenser: action_value_mappings: add_solid: feedback: - current_status: status + current_status: current_status progress: progress goal: + amount: amount equiv: equiv event: event mass: mass @@ -4040,7 +4339,12 @@ virtual_solid_dispenser: rate_spec: rate_spec ratio: ratio reagent: reagent + stir: stir + stir_speed: stir_speed + time: time vessel: vessel + viscous: viscous + volume: volume goal_default: amount: '' equiv: '' @@ -4077,6 +4381,7 @@ virtual_solid_dispenser: viscous: false volume: '' handles: {} + placeholder_keys: {} result: message: message return_info: return_info @@ -4085,17 +4390,18 @@ virtual_solid_dispenser: description: '' properties: feedback: + additionalProperties: false properties: current_status: type: string progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_status title: Add_Feedback type: object goal: + additionalProperties: false properties: amount: type: string @@ -4118,10 +4424,13 @@ virtual_solid_dispenser: stir: type: boolean stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: type: string vessel: + additionalProperties: false properties: category: type: string @@ -4140,16 +4449,26 @@ virtual_solid_dispenser: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4159,12 +4478,19 @@ virtual_solid_dispenser: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4198,25 +4524,10 @@ virtual_solid_dispenser: type: boolean volume: type: string - required: - - vessel - - reagent - - volume - - mass - - amount - - time - - stir - - stir_speed - - viscous - - purpose - - event - - mol - - rate_spec - - equiv - - ratio title: Add_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -4224,10 +4535,6 @@ virtual_solid_dispenser: type: string success: type: boolean - required: - - success - - message - - return_info title: Add_Result type: object required: @@ -4250,7 +4557,8 @@ virtual_solid_dispenser: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -4275,7 +4583,8 @@ virtual_solid_dispenser: required: - reagent_name type: object - result: {} + result: + type: string required: - goal title: find_solid_reagent_bottle参数 @@ -4296,7 +4605,8 @@ virtual_solid_dispenser: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 @@ -4321,7 +4631,8 @@ virtual_solid_dispenser: required: - mass_str type: object - result: {} + result: + type: number required: - goal title: parse_mass_string参数 @@ -4346,37 +4657,13 @@ virtual_solid_dispenser: required: - mol_str type: object - result: {} + result: + type: number required: - goal title: parse_mol_string参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser status_types: current_reagent: str @@ -4425,9 +4712,9 @@ virtual_solid_dispenser: total_operations: type: integer required: - - status - current_reagent - dispensed_amount + - status - total_operations type: object version: 1.0.0 @@ -4451,7 +4738,8 @@ virtual_stirrer: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -4472,40 +4760,18 @@ virtual_stirrer: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 type: object type: UniLabJsonCommandAsync - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand start_stir: feedback: - status: status + current_speed: current_speed + current_status: current_status + progress: progress goal: purpose: purpose stir_speed: stir_speed @@ -4534,32 +4800,40 @@ virtual_stirrer: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: + message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: current_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number current_status: type: string progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_speed - - current_status title: StartStir_Feedback type: object goal: + additionalProperties: false properties: purpose: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -4578,16 +4852,26 @@ virtual_stirrer: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4597,12 +4881,19 @@ virtual_stirrer: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4632,13 +4923,10 @@ virtual_stirrer: - data title: vessel type: object - required: - - vessel - - stir_speed - - purpose title: StartStir_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -4646,10 +4934,6 @@ virtual_stirrer: type: string success: type: boolean - required: - - success - - message - - return_info title: StartStir_Result type: object required: @@ -4661,9 +4945,13 @@ virtual_stirrer: feedback: status: status goal: + event: event settling_time: settling_time stir_speed: stir_speed stir_time: stir_time + time: time + time_spec: time_spec + vessel: vessel goal_default: event: '' settling_time: '' @@ -4692,34 +4980,42 @@ virtual_stirrer: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: + message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: Stir_Feedback type: object goal: + additionalProperties: false properties: event: type: string settling_time: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number stir_time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: type: string time_spec: type: string vessel: + additionalProperties: false properties: category: type: string @@ -4738,16 +5034,26 @@ virtual_stirrer: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4757,12 +5063,19 @@ virtual_stirrer: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4792,17 +5105,10 @@ virtual_stirrer: - data title: vessel type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time title: Stir_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -4810,10 +5116,6 @@ virtual_stirrer: type: string success: type: boolean - required: - - success - - message - - return_info title: Stir_Result type: object required: @@ -4823,7 +5125,8 @@ virtual_stirrer: type: Stir stop_stir: feedback: - status: status + current_status: current_status + progress: progress goal: vessel: vessel goal_default: @@ -4848,25 +5151,30 @@ virtual_stirrer: sample_id: '' type: '' handles: {} + placeholder_keys: {} result: + message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: current_status: type: string progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_status title: StopStir_Feedback type: object goal: + additionalProperties: false properties: vessel: + additionalProperties: false properties: category: type: string @@ -4885,16 +5193,26 @@ virtual_stirrer: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4904,12 +5222,19 @@ virtual_stirrer: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4939,11 +5264,10 @@ virtual_stirrer: - data title: vessel type: object - required: - - vessel title: StopStir_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -4951,10 +5275,6 @@ virtual_stirrer: type: string success: type: boolean - required: - - success - - message - - return_info title: StopStir_Result type: object required: @@ -4966,7 +5286,7 @@ virtual_stirrer: status_types: current_speed: float current_vessel: str - device_info: dict + device_info: Dict[str, Any] is_stirring: bool max_speed: float min_speed: float @@ -5016,15 +5336,15 @@ virtual_stirrer: status: type: string required: - - status - - operation_mode - - current_vessel - current_speed + - current_vessel + - device_info - is_stirring - - remaining_time - max_speed - min_speed - - device_info + - operation_mode + - remaining_time + - status type: object version: 1.0.0 virtual_transfer_pump: @@ -5075,7 +5395,8 @@ virtual_transfer_pump: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -5172,7 +5493,8 @@ virtual_transfer_pump: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 @@ -5193,7 +5515,8 @@ virtual_transfer_pump: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: is_empty参数 @@ -5214,37 +5537,13 @@ virtual_transfer_pump: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: is_full参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand auto-pull_plunger: feedback: {} goal: {} @@ -5359,38 +5658,44 @@ virtual_transfer_pump: max_velocity: 0.0 position: 0.0 handles: {} + placeholder_keys: {} result: message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: current_position: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - current_position - - progress title: SetPumpPosition_Feedback type: object goal: + additionalProperties: false properties: max_velocity: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number position: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - position - - max_velocity title: SetPumpPosition_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -5398,10 +5703,6 @@ virtual_transfer_pump: type: string success: type: boolean - required: - - return_info - - success - - message title: SetPumpPosition_Result type: object required: @@ -5416,6 +5717,8 @@ virtual_transfer_pump: transferred_volume: transferred_volume goal: amount: amount + aspirate_velocity: aspirate_velocity + dispense_velocity: dispense_velocity from_vessel: from_vessel rinsing_repeats: rinsing_repeats rinsing_solvent: rinsing_solvent @@ -5437,27 +5740,31 @@ virtual_transfer_pump: viscous: false volume: 0.0 handles: {} + placeholder_keys: {} result: message: message + return_info: return_info success: success schema: description: '' properties: feedback: + additionalProperties: false properties: current_status: type: string progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number transferred_volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - transferred_volume - - current_status title: Transfer_Feedback type: object goal: + additionalProperties: false properties: amount: type: string @@ -5470,31 +5777,27 @@ virtual_transfer_pump: rinsing_solvent: type: string rinsing_volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number solid: type: boolean time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number to_vessel: type: string viscous: type: boolean volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid title: Transfer_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -5502,10 +5805,6 @@ virtual_transfer_pump: type: string success: type: boolean - required: - - success - - message - - return_info title: Transfer_Result type: object required: @@ -5558,12 +5857,12 @@ virtual_transfer_pump: transfer_rate: type: number required: - - status - - position - current_volume - max_velocity - - transfer_rate + - position - remaining_capacity + - status + - transfer_rate type: object version: 1.0.0 virtual_vacuum_pump: @@ -5586,7 +5885,8 @@ virtual_vacuum_pump: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: cleanup参数 @@ -5607,7 +5907,8 @@ virtual_vacuum_pump: properties: {} required: [] type: object - result: {} + result: + type: boolean required: - goal title: initialize参数 @@ -5660,26 +5961,25 @@ virtual_vacuum_pump: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -5692,26 +5992,25 @@ virtual_vacuum_pump: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -5726,32 +6025,31 @@ virtual_vacuum_pump: goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -5779,7 +6077,7 @@ virtual_vacuum_pump: config: properties: config: - type: string + type: object device_id: type: string required: [] @@ -5792,482 +6090,3 @@ 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: - $defs: - LabSample: - properties: - extra: - additionalProperties: true - title: Extra - type: object - oss_path: - title: Oss Path - type: string - sample_uuid: - title: Sample Uuid - type: string - required: - - sample_uuid - - oss_path - - extra - title: LabSample - type: object - 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 - unilabos_samples: - items: - $ref: '#/$defs/LabSample' - title: Unilabos Samples - type: array - required: - - success - - station_id - - material_id - - material_number - - message - - unilabos_samples - 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: - $defs: - LabSample: - properties: - extra: - additionalProperties: true - title: Extra - type: object - oss_path: - title: Oss Path - type: string - sample_uuid: - title: Sample Uuid - type: string - required: - - sample_uuid - - oss_path - - extra - title: LabSample - type: object - 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 - unilabos_samples: - items: - $ref: '#/$defs/LabSample' - title: Unilabos Samples - type: array - required: - - success - - station_id - - material_id - - unilabos_samples - 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: - $defs: - LabSample: - properties: - extra: - additionalProperties: true - title: Extra - type: object - oss_path: - title: Oss Path - type: string - sample_uuid: - title: Sample Uuid - type: string - required: - - sample_uuid - - oss_path - - extra - title: LabSample - type: object - 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 - unilabos_samples: - items: - $ref: '#/$defs/LabSample' - title: Unilabos Samples - type: array - required: - - success - - count - - material_1 - - material_2 - - material_3 - - material_4 - - material_5 - - message - - unilabos_samples - title: PrepareMaterialsResult - type: object - required: - - goal - title: prepare_materials参数 - type: object - type: UniLabJsonCommand - auto-start_heating: - always_free: true - 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: - $defs: - LabSample: - properties: - extra: - additionalProperties: true - title: Extra - type: object - oss_path: - title: Oss Path - type: string - sample_uuid: - title: Sample Uuid - type: string - required: - - sample_uuid - - oss_path - - extra - title: LabSample - type: object - 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 - unilabos_samples: - items: - $ref: '#/$defs/LabSample' - title: Unilabos Samples - type: array - required: - - success - - station_id - - material_id - - material_number - - message - - unilabos_samples - 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 diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index e1be7f3d..87a2fabe 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -59,16 +59,17 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: AGVTransfer_Feedback type: object goal: + additionalProperties: false properties: from_repo: + additionalProperties: false properties: category: type: string @@ -87,16 +88,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -106,12 +117,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -144,6 +162,7 @@ workstation: from_repo_position: type: string to_repo: + additionalProperties: false properties: category: type: string @@ -162,16 +181,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -181,12 +210,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -218,22 +254,15 @@ workstation: type: object to_repo_position: type: string - required: - - from_repo - - from_repo_position - - to_repo - - to_repo_position title: AGVTransfer_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: AGVTransfer_Result type: object required: @@ -319,17 +348,18 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_status: type: string progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_status title: Add_Feedback type: object goal: + additionalProperties: false properties: amount: type: string @@ -352,10 +382,13 @@ workstation: stir: type: boolean stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: type: string vessel: + additionalProperties: false properties: category: type: string @@ -374,16 +407,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -393,12 +436,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -432,25 +482,10 @@ workstation: type: boolean volume: type: string - required: - - vessel - - reagent - - volume - - mass - - amount - - time - - stir - - stir_speed - - viscous - - purpose - - event - - mol - - rate_spec - - equiv - - ratio title: Add_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -458,10 +493,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Add_Result type: object required: @@ -528,23 +559,27 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: AdjustPH_Feedback type: object goal: + additionalProperties: false properties: ph_value: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number reagent: type: string vessel: + additionalProperties: false properties: category: type: string @@ -563,16 +598,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -582,12 +627,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -617,13 +669,10 @@ workstation: - data title: vessel type: object - required: - - vessel - - ph_value - - reagent title: AdjustPH_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -631,10 +680,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: AdjustPH_Result type: object required: @@ -693,31 +738,41 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number current_status: type: string current_temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_speed - - current_temp - - current_status title: Centrifuge_Feedback type: object goal: + additionalProperties: false properties: speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -736,16 +791,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -755,12 +820,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -790,14 +862,10 @@ workstation: - data title: vessel type: object - required: - - vessel - - speed - - time - - temp title: Centrifuge_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -805,10 +873,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Centrifuge_Result type: object required: @@ -874,12 +938,14 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_device: type: string status: type: string time_remaining: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -895,6 +961,7 @@ workstation: title: time_remaining type: object time_spent: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -909,14 +976,10 @@ workstation: - nanosec title: time_spent type: object - required: - - status - - current_device - - time_spent - - time_remaining title: Clean_Feedback type: object goal: + additionalProperties: false properties: repeats: maximum: 2147483647 @@ -925,8 +988,11 @@ workstation: solvent: type: string temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -945,16 +1011,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -964,12 +1040,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1000,24 +1083,18 @@ workstation: title: vessel type: object volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - vessel - - solvent - - volume - - temp - - repeats title: Clean_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: Clean_Result type: object required: @@ -1083,17 +1160,18 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: CleanVessel_Feedback type: object goal: + additionalProperties: false properties: repeats: maximum: 2147483647 @@ -1102,8 +1180,11 @@ workstation: solvent: type: string temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -1122,16 +1203,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1141,12 +1232,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1177,16 +1275,13 @@ workstation: title: vessel type: object volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - vessel - - solvent - - volume - - temp - - repeats title: CleanVessel_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -1194,10 +1289,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: CleanVessel_Result type: object required: @@ -1280,17 +1371,18 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: Dissolve_Feedback type: object goal: + additionalProperties: false properties: amount: type: string @@ -1305,12 +1397,15 @@ workstation: solvent: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: type: string time: type: string vessel: + additionalProperties: false properties: category: type: string @@ -1329,16 +1424,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1348,12 +1453,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1385,21 +1497,10 @@ workstation: type: object volume: type: string - required: - - vessel - - solvent - - volume - - amount - - temp - - time - - stir_speed - - mass - - mol - - reagent - - event title: Dissolve_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -1407,10 +1508,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Dissolve_Result type: object required: @@ -1465,21 +1562,23 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: Dry_Feedback type: object goal: + additionalProperties: false properties: compound: type: string vessel: + additionalProperties: false properties: category: type: string @@ -1498,16 +1597,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1517,12 +1626,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1552,12 +1668,10 @@ workstation: - data title: vessel type: object - required: - - compound - - vessel title: Dry_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -1565,10 +1679,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Dry_Result type: object required: @@ -1623,12 +1733,14 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_device: type: string status: type: string time_remaining: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -1644,6 +1756,7 @@ workstation: title: time_remaining type: object time_spent: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -1658,18 +1771,15 @@ workstation: - nanosec title: time_spent type: object - required: - - status - - current_device - - time_spent - - time_remaining title: EvacuateAndRefill_Feedback type: object goal: + additionalProperties: false properties: gas: type: string vessel: + additionalProperties: false properties: category: type: string @@ -1688,16 +1798,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1707,12 +1827,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1742,20 +1869,15 @@ workstation: - data title: vessel type: object - required: - - vessel - - gas title: EvacuateAndRefill_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: EvacuateAndRefill_Result type: object required: @@ -1823,12 +1945,14 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_device: type: string status: type: string time_remaining: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -1844,6 +1968,7 @@ workstation: title: time_remaining type: object time_spent: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -1858,26 +1983,29 @@ workstation: - nanosec title: time_spent type: object - required: - - status - - current_device - - time_spent - - time_remaining title: Evaporate_Feedback type: object goal: + additionalProperties: false properties: pressure: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number solvent: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: type: string vessel: + additionalProperties: false properties: category: type: string @@ -1896,16 +2024,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1915,12 +2053,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -1950,24 +2095,15 @@ workstation: - data title: vessel type: object - required: - - vessel - - pressure - - temp - - time - - stir_speed - - solvent title: Evaporate_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: Evaporate_Result type: object required: @@ -2062,27 +2198,31 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_status: type: string current_temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number filtered_volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_temp - - filtered_volume - - current_status title: Filter_Feedback type: object goal: + additionalProperties: false properties: continue_heatchill: type: boolean filtrate_vessel: + additionalProperties: false properties: category: type: string @@ -2101,16 +2241,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2120,12 +2270,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2158,10 +2315,15 @@ workstation: stir: type: boolean stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -2180,16 +2342,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2199,12 +2371,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2235,18 +2414,13 @@ workstation: title: vessel type: object volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - vessel - - filtrate_vessel - - stir - - stir_speed - - temp - - continue_heatchill - - volume title: Filter_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -2254,10 +2428,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Filter_Result type: object required: @@ -2376,17 +2546,18 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: FilterThrough_Feedback type: object goal: + additionalProperties: false properties: eluting_repeats: maximum: 2147483647 @@ -2395,8 +2566,11 @@ workstation: eluting_solvent: type: string eluting_volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number filter_through: + additionalProperties: false properties: category: type: string @@ -2415,16 +2589,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2434,12 +2618,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2470,6 +2661,7 @@ workstation: title: filter_through type: object from_vessel: + additionalProperties: false properties: category: type: string @@ -2488,16 +2680,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2507,12 +2709,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2543,8 +2752,11 @@ workstation: title: from_vessel type: object residence_time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number to_vessel: + additionalProperties: false properties: category: type: string @@ -2563,16 +2775,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2582,12 +2804,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2617,17 +2846,10 @@ workstation: - data title: to_vessel type: object - required: - - from_vessel - - to_vessel - - filter_through - - eluting_solvent - - eluting_volume - - eluting_repeats - - residence_time title: FilterThrough_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -2635,10 +2857,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: FilterThrough_Result type: object required: @@ -2709,14 +2927,14 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: HeatChill_Feedback type: object goal: + additionalProperties: false properties: pressure: type: string @@ -2727,8 +2945,12 @@ workstation: stir: type: boolean stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp_spec: type: string @@ -2737,6 +2959,7 @@ workstation: time_spec: type: string vessel: + additionalProperties: false properties: category: type: string @@ -2755,16 +2978,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2774,12 +3007,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2809,20 +3049,10 @@ workstation: - data title: vessel type: object - required: - - vessel - - temp - - time - - temp_spec - - time_spec - - pressure - - reflux_solvent - - stir - - stir_speed - - purpose title: HeatChill_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -2830,10 +3060,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: HeatChill_Result type: object required: @@ -2890,20 +3116,23 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: HeatChillStart_Feedback type: object goal: + additionalProperties: false properties: purpose: type: string temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -2922,16 +3151,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2941,12 +3180,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -2976,21 +3222,15 @@ workstation: - data title: vessel type: object - required: - - vessel - - temp - - purpose title: HeatChillStart_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: HeatChillStart_Result type: object required: @@ -3043,16 +3283,17 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: HeatChillStop_Feedback type: object goal: + additionalProperties: false properties: vessel: + additionalProperties: false properties: category: type: string @@ -3071,16 +3312,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3090,12 +3341,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3125,19 +3383,15 @@ workstation: - data title: vessel type: object - required: - - vessel title: HeatChillStop_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: HeatChillStop_Result type: object required: @@ -3194,23 +3448,25 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: Hydrogenate_Feedback type: object goal: + additionalProperties: false properties: temp: type: string time: type: string vessel: + additionalProperties: false properties: category: type: string @@ -3229,16 +3485,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3248,12 +3514,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3283,13 +3556,10 @@ workstation: - data title: vessel type: object - required: - - temp - - time - - vessel title: Hydrogenate_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -3297,10 +3567,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Hydrogenate_Result type: object required: @@ -3416,12 +3682,14 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_device: type: string status: type: string time_remaining: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -3437,6 +3705,7 @@ workstation: title: time_remaining type: object time_spent: + additionalProperties: false properties: nanosec: maximum: 4294967295 @@ -3451,22 +3720,21 @@ workstation: - nanosec title: time_spent type: object - required: - - status - - current_device - - time_spent - - time_remaining title: PumpTransfer_Feedback type: object goal: + additionalProperties: false properties: amount: type: string event: type: string flowrate: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number from_vessel: + additionalProperties: false properties: category: type: string @@ -3485,16 +3753,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3504,12 +3782,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3548,14 +3833,19 @@ workstation: rinsing_solvent: type: string rinsing_volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number solid: type: boolean through: type: string time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number to_vessel: + additionalProperties: false properties: category: type: string @@ -3574,16 +3864,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3593,12 +3893,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3629,38 +3936,24 @@ workstation: title: to_vessel type: object transfer_flowrate: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number viscous: type: boolean volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - - flowrate - - transfer_flowrate - - rate_spec - - event - - through title: PumpTransfer_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: PumpTransfer_Result type: object required: @@ -3731,17 +4024,18 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: Recrystallize_Feedback type: object goal: + additionalProperties: false properties: ratio: type: string @@ -3750,6 +4044,7 @@ workstation: solvent2: type: string vessel: + additionalProperties: false properties: category: type: string @@ -3768,16 +4063,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3787,12 +4092,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3824,15 +4136,10 @@ workstation: type: object volume: type: string - required: - - ratio - - solvent1 - - solvent2 - - vessel - - volume title: Recrystallize_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -3840,10 +4147,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Recrystallize_Result type: object required: @@ -3890,21 +4193,23 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: ResetHandling_Feedback type: object goal: + additionalProperties: false properties: solvent: type: string vessel: + additionalProperties: false properties: category: type: string @@ -3923,16 +4228,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3942,12 +4257,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -3977,12 +4299,10 @@ workstation: - data title: vessel type: object - required: - - solvent - - vessel title: ResetHandling_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -3990,10 +4310,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: ResetHandling_Result type: object required: @@ -4087,21 +4403,23 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: RunColumn_Feedback type: object goal: + additionalProperties: false properties: column: type: string from_vessel: + additionalProperties: false properties: category: type: string @@ -4120,16 +4438,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4139,12 +4467,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4187,6 +4522,7 @@ workstation: solvent2: type: string to_vessel: + additionalProperties: false properties: category: type: string @@ -4205,16 +4541,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4224,12 +4570,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4259,19 +4612,10 @@ workstation: - data title: to_vessel type: object - required: - - from_vessel - - to_vessel - - column - - rf - - pct1 - - pct2 - - solvent1 - - solvent2 - - ratio title: RunColumn_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -4279,10 +4623,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: RunColumn_Result type: object required: @@ -4495,19 +4835,21 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: Separate_Feedback type: object goal: + additionalProperties: false properties: from_vessel: + additionalProperties: false properties: category: type: string @@ -4526,16 +4868,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4545,12 +4897,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4583,6 +4942,7 @@ workstation: product_phase: type: string product_vessel: + additionalProperties: false properties: category: type: string @@ -4601,16 +4961,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4620,12 +4990,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4662,6 +5039,7 @@ workstation: minimum: -2147483648 type: integer separation_vessel: + additionalProperties: false properties: category: type: string @@ -4680,16 +5058,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4699,12 +5087,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4735,18 +5130,25 @@ workstation: title: separation_vessel type: object settling_time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number solvent: type: string solvent_volume: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number stir_time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number through: type: string to_vessel: + additionalProperties: false properties: category: type: string @@ -4765,16 +5167,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4784,12 +5196,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4820,6 +5239,7 @@ workstation: title: to_vessel type: object vessel: + additionalProperties: false properties: category: type: string @@ -4838,16 +5258,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4857,12 +5287,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4895,6 +5332,7 @@ workstation: volume: type: string waste_phase_to_vessel: + additionalProperties: false properties: category: type: string @@ -4913,16 +5351,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4932,12 +5380,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -4968,6 +5423,7 @@ workstation: title: waste_phase_to_vessel type: object waste_vessel: + additionalProperties: false properties: category: type: string @@ -4986,16 +5442,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5005,12 +5471,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5040,27 +5513,10 @@ workstation: - data title: waste_vessel type: object - required: - - vessel - - purpose - - product_phase - - from_vessel - - separation_vessel - - to_vessel - - waste_phase_to_vessel - - product_vessel - - waste_vessel - - solvent - - solvent_volume - - volume - - through - - repeats - - stir_time - - stir_speed - - settling_time title: Separate_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -5068,10 +5524,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Separate_Result type: object required: @@ -5128,26 +5580,31 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number current_status: type: string progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_speed - - current_status title: StartStir_Feedback type: object goal: + additionalProperties: false properties: purpose: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number vessel: + additionalProperties: false properties: category: type: string @@ -5166,16 +5623,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5185,12 +5652,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5220,13 +5694,10 @@ workstation: - data title: vessel type: object - required: - - vessel - - stir_speed - - purpose title: StartStir_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -5234,10 +5705,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: StartStir_Result type: object required: @@ -5302,28 +5769,33 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: status: type: string - required: - - status title: Stir_Feedback type: object goal: + additionalProperties: false properties: event: type: string settling_time: type: string stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number stir_time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: type: string time_spec: type: string vessel: + additionalProperties: false properties: category: type: string @@ -5342,16 +5814,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5361,12 +5843,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5396,17 +5885,10 @@ workstation: - data title: vessel type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time title: Stir_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -5414,10 +5896,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Stir_Result type: object required: @@ -5470,19 +5948,21 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_status: type: string progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - current_status title: StopStir_Feedback type: object goal: + additionalProperties: false properties: vessel: + additionalProperties: false properties: category: type: string @@ -5501,16 +5981,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5520,12 +6010,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5555,11 +6052,10 @@ workstation: - data title: vessel type: object - required: - - vessel title: StopStir_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -5567,10 +6063,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: StopStir_Result type: object required: @@ -5638,20 +6130,22 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: current_status: type: string progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number transferred_volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - progress - - transferred_volume - - current_status title: Transfer_Feedback type: object goal: + additionalProperties: false properties: amount: type: string @@ -5664,31 +6158,27 @@ workstation: rinsing_solvent: type: string rinsing_volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number solid: type: boolean time: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number to_vessel: type: string viscous: type: boolean volume: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid title: Transfer_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -5696,10 +6186,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: Transfer_Result type: object required: @@ -5807,21 +6293,23 @@ workstation: description: '' properties: feedback: + additionalProperties: false properties: progress: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number status: type: string - required: - - status - - progress title: WashSolid_Feedback type: object goal: + additionalProperties: false properties: event: type: string filtrate_vessel: + additionalProperties: false properties: category: type: string @@ -5840,16 +6328,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5859,12 +6357,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5907,12 +6412,17 @@ workstation: stir: type: boolean stir_speed: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number temp: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number time: type: string vessel: + additionalProperties: false properties: category: type: string @@ -5931,16 +6441,26 @@ workstation: parent: type: string pose: + additionalProperties: false properties: orientation: + additionalProperties: false properties: w: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5950,12 +6470,19 @@ workstation: title: orientation type: object position: + additionalProperties: false properties: x: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number y: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number z: + maximum: 1.7976931348623157e+308 + minimum: -1.7976931348623157e+308 type: number required: - x @@ -5989,23 +6516,10 @@ workstation: type: string volume_spec: type: string - required: - - vessel - - solvent - - volume - - filtrate_vessel - - temp - - stir - - stir_speed - - time - - repeats - - volume_spec - - repeats_spec - - mass - - event title: WashSolid_Goal type: object result: + additionalProperties: false properties: message: type: string @@ -6013,10 +6527,6 @@ workstation: type: string success: type: boolean - required: - - success - - message - - return_info title: WashSolid_Result type: object required: @@ -6035,7 +6545,7 @@ workstation: config: properties: deck: - type: string + type: object protocol_type: items: type: string diff --git a/unilabos/registry/devices/xrd_d7mate.yaml b/unilabos/registry/devices/xrd_d7mate.yaml index cbdf8aa8..2b49ae55 100644 --- a/unilabos/registry/devices/xrd_d7mate.yaml +++ b/unilabos/registry/devices/xrd_d7mate.yaml @@ -45,31 +45,6 @@ xrd_d7mate: title: connect参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: string - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand auto-start_from_string: feedback: {} goal: {} @@ -85,11 +60,14 @@ xrd_d7mate: goal: properties: params: - type: string + anyOf: + - type: string + - type: object required: - params type: object - result: {} + result: + type: object required: - goal title: start_from_string参数 @@ -105,21 +83,18 @@ xrd_d7mate: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -130,38 +105,38 @@ xrd_d7mate: get_sample_down: feedback: {} goal: - sample_station: 1 + int_input: int_input + sample_station: sample_station goal_default: int_input: 0 handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: IntSingleInput_Feedback type: object goal: + additionalProperties: false properties: int_input: maximum: 2147483647 minimum: -2147483648 type: integer - required: - - int_input title: IntSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: IntSingleInput_Result type: object required: @@ -179,21 +154,18 @@ xrd_d7mate: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -211,21 +183,18 @@ xrd_d7mate: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -238,26 +207,25 @@ xrd_d7mate: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -274,42 +242,35 @@ xrd_d7mate: sample_id: '' start_theta: 10.0 goal_default: - end_theta: 80.0 - exp_time: 0.5 - increment: 0.02 - sample_id: Sample001 - start_theta: 10.0 + end_theta: null + exp_time: null + increment: null + sample_id: null + start_theta: null handles: {} + placeholder_keys: {} result: {} schema: description: 送样完成后,发送样品信息和采集参数 properties: feedback: - properties: {} - required: [] title: SampleReadyInput_Feedback - type: object goal: properties: end_theta: description: 结束角度(≥5.5°,且必须大于start_theta) - minimum: 5.5 type: number exp_time: description: 曝光时间(0.1-5.0秒) - maximum: 5.0 - minimum: 0.1 type: number increment: description: 角度增量(≥0.005) - minimum: 0.005 type: number sample_id: description: 样品标识符 type: string start_theta: description: 起始角度(≥5°) - minimum: 5.0 type: number required: - sample_id @@ -320,19 +281,11 @@ xrd_d7mate: title: SampleReadyInput_Goal type: object result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success title: SampleReadyInput_Result type: object required: - goal - title: SampleReadyInput + title: send_sample_ready参数 type: object type: UniLabJsonCommand set_power_off: @@ -340,26 +293,25 @@ xrd_d7mate: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -372,26 +324,25 @@ xrd_d7mate: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -405,18 +356,16 @@ xrd_d7mate: current: 30.0 voltage: 40.0 goal_default: - current: 30.0 - voltage: 40.0 + current: null + voltage: null handles: {} + placeholder_keys: {} result: {} schema: description: 设置高压电源电压和电流 properties: feedback: - properties: {} - required: [] title: VoltageCurrentInput_Feedback - type: object goal: properties: current: @@ -431,19 +380,11 @@ xrd_d7mate: title: VoltageCurrentInput_Goal type: object result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success title: VoltageCurrentInput_Result type: object required: - goal - title: VoltageCurrentInput + title: set_voltage_current参数 type: object type: UniLabJsonCommand start: @@ -453,11 +394,12 @@ xrd_d7mate: end_theta: 80.0 exp_time: 0.1 increment: 0.05 - sample_id: 样品名称 + sample_id: '' start_theta: 10.0 string: '' wait_minutes: 3.0 handles: {} + placeholder_keys: {} result: {} schema: description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。 @@ -466,54 +408,42 @@ xrd_d7mate: goal: properties: end_theta: + default: 80.0 description: 结束角度(≥5.5°,且必须大于start_theta) - minimum: 5.5 - type: string + type: number exp_time: + default: 0.1 description: 曝光时间(0.1-5.0秒) - maximum: 5.0 - minimum: 0.1 - type: string + type: number increment: + default: 0.05 description: 角度增量(≥0.005) - minimum: 0.005 - type: string + type: number sample_id: + default: '' description: 样品标识符 type: string start_theta: + default: 10.0 description: 起始角度(≥5°) - minimum: 5.0 - type: string + type: number string: + default: '' description: 字符串格式的参数输入,如果提供则优先解析使用 type: string wait_minutes: + default: 3.0 description: 允许上样后等待分钟数 - minimum: 0.0 type: number - required: - - sample_id - - start_theta - - end_theta - - increment - - exp_time + required: [] title: StartWorkflow_Goal type: object result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success title: StartWorkflow_Result type: object required: - goal - title: StartWorkflow + title: start参数 type: object type: UniLabJsonCommand start_auto_mode: @@ -521,17 +451,15 @@ xrd_d7mate: goal: status: true goal_default: - status: true + status: null handles: {} + placeholder_keys: {} result: {} schema: description: 启动或停止自动模式 properties: feedback: - properties: {} - required: [] title: BoolSingleInput_Feedback - type: object goal: properties: status: @@ -542,25 +470,16 @@ xrd_d7mate: title: BoolSingleInput_Goal type: object result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success title: BoolSingleInput_Result type: object required: - goal - title: BoolSingleInput + title: start_auto_mode参数 type: object type: UniLabJsonCommand module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient status_types: current_acquire_data: dict - sample_down: dict sample_request: dict sample_status: dict type: python @@ -586,16 +505,13 @@ xrd_d7mate: properties: current_acquire_data: type: object - sample_down: - type: object sample_request: type: object sample_status: type: object required: - - sample_request - current_acquire_data + - sample_request - sample_status - - sample_down type: object version: 1.0.0 diff --git a/unilabos/registry/devices/zhida_gcms.yaml b/unilabos/registry/devices/zhida_gcms.yaml index 607af9b9..37adbd79 100644 --- a/unilabos/registry/devices/zhida_gcms.yaml +++ b/unilabos/registry/devices/zhida_gcms.yaml @@ -8,26 +8,25 @@ zhida_gcms: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -77,31 +76,6 @@ zhida_gcms: title: connect参数 type: object type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: string - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand get_methods: feedback: {} goal: {} @@ -112,21 +86,18 @@ zhida_gcms: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -144,21 +115,18 @@ zhida_gcms: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -176,21 +144,18 @@ zhida_gcms: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -203,26 +168,25 @@ zhida_gcms: goal: {} goal_default: {} handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Feedback type: object goal: - properties: {} - required: [] + additionalProperties: true title: EmptyIn_Goal type: object result: + additionalProperties: false properties: return_info: type: string - required: - - return_info title: EmptyIn_Result type: object required: @@ -234,35 +198,35 @@ zhida_gcms: feedback: {} goal: string: string + text: text goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -273,36 +237,36 @@ zhida_gcms: start_with_csv_file: feedback: {} goal: + csv_file_path: csv_file_path string: string goal_default: string: '' handles: {} - result: {} + placeholder_keys: {} + result: + return_info: return_info + success: success schema: description: '' properties: feedback: - properties: {} - required: [] + additionalProperties: true title: StrSingleInput_Feedback type: object goal: + additionalProperties: false properties: string: type: string - required: - - string title: StrSingleInput_Goal type: object result: + additionalProperties: false properties: return_info: type: string success: type: boolean - required: - - return_info - - success title: StrSingleInput_Result type: object required: @@ -343,8 +307,8 @@ zhida_gcms: version: type: object required: - - status - methods + - status - version type: object version: 1.0.0 diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 02d80cca..15b1b537 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -1,20 +1,60 @@ +""" +统一注册表系统 + +合并了原 Registry (YAML 加载) 和 DecoratorRegistry (装饰器/AST 扫描) 的功能, +提供单一入口来构建、验证和查询设备/资源注册表。 +""" + import copy +import importlib +import inspect import io import os import sys -import inspect -import importlib import threading +import time import traceback from concurrent.futures import ThreadPoolExecutor, as_completed from pathlib import Path -from typing import Any, Dict, List, Union, Tuple +from typing import Any, Dict, List, Optional, Tuple, Union import yaml +from unilabos_msgs.action import EmptyIn, ResourceCreateFromOuter, ResourceCreateFromOuterEasy from unilabos_msgs.msg import Resource from unilabos.config.config import BasicConfig +from unilabos.registry.decorators import ( + get_device_meta, + get_action_meta, + get_resource_meta, + has_action_decorator, + get_all_registered_devices, + get_all_registered_resources, + is_not_action, + is_always_free, + get_topic_config, + NodeType, + normalize_enum_value, +) +from unilabos.registry.utils import ( + ROSMsgNotFound, + parse_docstring, + get_json_schema_type, + parse_type_node, + type_node_to_schema, + resolve_type_object, + type_to_schema, + detect_slot_type, + detect_placeholder_keys, + normalize_ast_handles, + normalize_ast_action_handles, + wrap_action_schema, + preserve_field_descriptions, + resolve_method_params_via_import, + SIMPLE_TYPE_MAP, +) from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.ros.msgs.message_converter import ( msg_converter_manager, ros_action_to_json_schema, @@ -23,234 +63,1453 @@ from unilabos.ros.msgs.message_converter import ( ) from unilabos.utils import logger from unilabos.utils.decorator import singleton -from unilabos.utils.import_manager import get_enhanced_class_info, get_class +from unilabos.utils.cls_creator import import_class +from unilabos.utils.import_manager import get_enhanced_class_info from unilabos.utils.type_check import NoAliasDumper +from msgcenterpy.instances.json_schema_instance import JSONSchemaMessageInstance +from msgcenterpy.instances.ros2_instance import ROS2MessageInstance -DEFAULT_PATHS = [Path(__file__).absolute().parent] - - -class ROSMsgNotFound(Exception): - pass +_module_hash_cache: Dict[str, Optional[str]] = {} @singleton class Registry: + """ + 统一注册表。 + + 核心流程: + 1. AST 静态扫描 @device/@resource 装饰器 (快速, 无需 import) + 2. 加载 YAML 注册表 (兼容旧格式) + 3. 设置 host_node 内置设备 + 4. verify & resolve (实际 import 验证 + 类型解析) + """ + def __init__(self, registry_paths=None): import ctypes try: + # noinspection PyUnusedImports import unilabos_msgs except ImportError: logger.error("[UniLab Registry] unilabos_msgs模块未找到,请确保已根据官方文档安装unilabos_msgs包。") sys.exit(1) try: ctypes.CDLL(str(Path(unilabos_msgs.__file__).parent / "unilabos_msgs_s__rosidl_typesupport_c.pyd")) - except OSError as e: + except OSError: pass - self.registry_paths = DEFAULT_PATHS.copy() # 使用copy避免修改默认值 + self.registry_paths = [Path(__file__).absolute().parent] if registry_paths: self.registry_paths.extend(registry_paths) - self.ResourceCreateFromOuter = self._replace_type_with_class( - "ResourceCreateFromOuter", "host_node", f"动作 create_resource_detailed" - ) - self.ResourceCreateFromOuterEasy = self._replace_type_with_class( - "ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource" - ) - self.EmptyIn = self._replace_type_with_class("EmptyIn", "host_node", f"") - self.StrSingleInput = self._replace_type_with_class("StrSingleInput", "host_node", f"") - self.device_type_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 + logger.debug(f"[UniLab Registry] registry_paths: {self.registry_paths}") - def setup(self, complete_registry=False, upload_registry=False): - # 检查是否已调用过setup + self.device_type_registry: Dict[str, Any] = {} + self.resource_type_registry: Dict[str, Any] = {} + self._type_resolve_cache: Dict[str, Any] = {} + + self._setup_called = False + self._startup_executor: Optional[ThreadPoolExecutor] = None + + # ------------------------------------------------------------------ + # 统一入口 + # ------------------------------------------------------------------ + + def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False, external_only=False): + """统一构建注册表入口。""" if self._setup_called: logger.critical("[UniLab Registry] setup方法已被调用过,不允许多次调用") return - 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 + self._startup_executor = ThreadPoolExecutor( + max_workers=8, thread_name_prefix="RegistryStartup" ) - # 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。" + # 1. AST 静态扫描 (快速, 无需 import) + self._run_ast_scan(devices_dirs, upload_registry=upload_registry, external_only=external_only) - test_resource_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_resource", {}) - test_resource_schema = self._generate_unilab_json_command_schema( - test_resource_method_info.get("args", []), - "test_resource", - test_resource_method_info.get("return_annotation"), - ) - test_resource_schema["description"] = "用于测试物料、设备和样本。" + # 2. Host node 内置设备 + self._setup_host_node() - self.device_type_registry.update( - { - "host_node": { - "description": "UniLabOS主机节点", - "class": { - "module": "unilabos.ros.nodes.presets.host_node", - "type": "python", - "status_types": {}, - "action_value_mappings": { - "create_resource_detailed": { - "type": self.ResourceCreateFromOuter, - "goal": { - "resources": "resources", - "device_ids": "device_ids", - "bind_parent_ids": "bind_parent_ids", - "bind_locations": "bind_locations", - "other_calling_params": "other_calling_params", - }, - "feedback": {}, - "result": {"success": "success"}, - "schema": ros_action_to_json_schema( - self.ResourceCreateFromOuter, "用于创建或更新物料资源,每次传入多个物料信息。" - ), - "goal_default": yaml.safe_load( - io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal)) - ), - "handles": {}, - }, - "create_resource": { - "type": self.ResourceCreateFromOuterEasy, - "goal": { - "res_id": "res_id", - "class_name": "class_name", - "parent": "parent", - "device_id": "device_id", - "bind_locations": "bind_locations", - "liquid_input_slot": "liquid_input_slot[]", - "liquid_type": "liquid_type[]", - "liquid_volume": "liquid_volume[]", - "slot_on_deck": "slot_on_deck", - }, - "feedback": {}, - "result": {"success": "success"}, - "schema": ros_action_to_json_schema( - self.ResourceCreateFromOuterEasy, "用于创建或更新物料资源,每次传入一个物料信息。" - ), - "goal_default": yaml.safe_load( - io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal)) - ), - "handles": { - "output": [ - { - "handler_key": "labware", - "data_type": "resource", - "label": "Labware", - "data_source": "executor", - "data_key": "created_resource_tree.@flatten", - }, - { - "handler_key": "liquid_slots", - "data_type": "resource", - "label": "LiquidSlots", - "data_source": "executor", - "data_key": "liquid_input_resource_tree.@flatten", - }, - { - "handler_key": "materials", - "data_type": "resource", - "label": "AllMaterials", - "data_source": "executor", - "data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten", - }, - ] - }, - "placeholder_keys": { - "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", # 当前实验室物料的class name - "slot_on_deck": "unilabos_resource_slot:parent", # 勾选的parent的config中的sites的name,展示name,参数对应slot(index) - }, - }, - "test_latency": { - "type": ( - "UniLabJsonCommandAsync" - if test_latency_method_info.get("is_async", False) - else "UniLabJsonCommand" - ), - "goal": {}, - "feedback": {}, - "result": {}, - "schema": test_latency_schema, - "goal_default": { - arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", []) - }, - "handles": {}, - }, - "auto-test_resource": { - "type": "UniLabJsonCommand", - "goal": {}, - "feedback": {}, - "result": {}, - "schema": test_resource_schema, - "placeholder_keys": { - "device": "unilabos_devices", - "devices": "unilabos_devices", - "resource": "unilabos_resources", - "resources": "unilabos_resources", - }, - "goal_default": {}, - "handles": { - "input": [ - { - "handler_key": "input_resources", - "data_type": "resource", - "label": "InputResources", - "data_source": "handle", - "data_key": "resources", # 不为空 - }, - ] - }, - }, - }, - }, - "version": "1.0.0", - "category": [], - "config_info": [], - "icon": "icon_device.webp", - "registry_type": "device", - "handles": [], # virtue采用了不同的handle - "init_param_schema": {}, - "file_path": "/", - } - } - ) - # 为host_node添加内置的驱动命令动作 - self._add_builtin_actions(self.device_type_registry["host_node"], "host_node") - logger.trace(f"[UniLab Registry] ----------Setup----------") - self.registry_paths = [Path(path).absolute() for path in self.registry_paths] - for i, path in enumerate(self.registry_paths): - sys_path = path.parent - logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}") - sys.path.append(str(sys_path)) - self.load_device_types(path, complete_registry) - if BasicConfig.enable_resource_load: - self.load_resource_types(path, complete_registry, upload_registry) - else: - logger.warning("跳过了资源注册表加载!") - logger.info("[UniLab Registry] 注册表设置完成") - # 标记setup已被调用 + # 3. YAML 注册表加载 (兼容旧格式) — external_only 模式下跳过 + if external_only: + logger.info("[UniLab Registry] external_only 模式: 跳过 YAML 注册表加载") + else: + self.registry_paths = [Path(path).absolute() for path in self.registry_paths] + for i, path in enumerate(self.registry_paths): + sys_path = path.parent + logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}") + sys.path.append(str(sys_path)) + self.load_device_types(path, complete_registry=complete_registry) + if BasicConfig.enable_resource_load: + self.load_resource_types(path, upload_registry, complete_registry=complete_registry) + else: + logger.warning( + "[UniLab Registry] 资源加载已禁用 (enable_resource_load=False),跳过资源注册表加载" + ) + self._startup_executor.shutdown(wait=True) + self._startup_executor = None self._setup_called = True + logger.trace(f"[UniLab Registry] ----------Setup Complete----------") + + # ------------------------------------------------------------------ + # Host node 设置 + # ------------------------------------------------------------------ + + def _setup_host_node(self): + """设置 host_node 内置设备 — 基于 _run_ast_scan 已扫描的结果进行覆写。""" + # 从 AST 扫描结果中取出 host_node 的 action_value_mappings + ast_entry = self.device_type_registry.get("host_node", {}) + ast_actions = ast_entry.get("class", {}).get("action_value_mappings", {}) + + # 取出 AST 生成的 action entries, 补充特定覆写 + test_latency_action = ast_actions.get("auto-test_latency", {}) + test_resource_action = ast_actions.get("auto-test_resource", {}) + manual_confirm_action = ast_actions.get("manual_confirm", {}) + test_resource_action["handles"] = { + "input": [ + { + "handler_key": "input_resources", + "data_type": "resource", + "label": "InputResources", + "data_source": "handle", + "data_key": "resources", + }, + ] + } + + create_resource_action = ast_actions.get("auto-create_resource", {}) + raw_create_resource_schema = ros_action_to_json_schema( + ResourceCreateFromOuterEasy, "用于创建或更新物料资源,每次传入一个物料信息。" + ) + raw_create_resource_schema["properties"]["result"] = create_resource_action["schema"]["properties"]["result"] + + # 覆写: 保留硬编码的 ROS2 action + AST 生成的 auto-method + self.device_type_registry["host_node"] = { + "class": { + "module": "unilabos.ros.nodes.presets.host_node:HostNode", + "status_types": {}, + "action_value_mappings": { + "create_resource": { + "type": ResourceCreateFromOuterEasy, + "goal": { + "res_id": "res_id", + "class_name": "class_name", + "parent": "parent", + "device_id": "device_id", + "bind_locations": "bind_locations", + "liquid_input_slot": "liquid_input_slot[]", + "liquid_type": "liquid_type[]", + "liquid_volume": "liquid_volume[]", + "slot_on_deck": "slot_on_deck", + }, + "feedback": {}, + "result": {"success": "success"}, + "schema": raw_create_resource_schema, + "goal_default": ROS2MessageInstance(ResourceCreateFromOuterEasy.Goal()).get_python_dict(), + "handles": { + "output": [ + { + "handler_key": "labware", + "data_type": "resource", + "label": "Labware", + "data_source": "executor", + "data_key": "created_resource_tree.@flatten", + }, + { + "handler_key": "liquid_slots", + "data_type": "resource", + "label": "LiquidSlots", + "data_source": "executor", + "data_key": "liquid_input_resource_tree.@flatten", + }, + { + "handler_key": "materials", + "data_type": "resource", + "label": "AllMaterials", + "data_source": "executor", + "data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten", + }, + ] + }, + "placeholder_keys": { + "res_id": "unilabos_resources", + "device_id": "unilabos_devices", + "parent": "unilabos_nodes", + "class_name": "unilabos_class", + }, + "always_free": True, + }, + "test_latency": test_latency_action, + "auto-test_resource": test_resource_action, + "manual_confirm": manual_confirm_action, + }, + "init_params": {}, + }, + "version": "1.0.0", + "category": [], + "config_info": [], + "icon": "icon_device.webp", + "registry_type": "device", + "description": "Host Node", + "handles": [], + "init_param_schema": {}, + "file_path": "/", + } + self._add_builtin_actions(self.device_type_registry["host_node"], "host_node") + + # ------------------------------------------------------------------ + # AST 静态扫描 + # ------------------------------------------------------------------ + + def _run_ast_scan(self, devices_dirs=None, upload_registry=False, external_only=False): + """ + 执行 AST 静态扫描,从 Python 代码中提取 @device / @resource 装饰器元数据。 + 无需 import 任何驱动模块,速度极快。 + + 所有缓存(AST 扫描 / build 结果 / config_info)统一存放在 + registry_cache.pkl 一个文件中,删除即可完全重置。 + """ + import time as _time + from unilabos.registry.ast_registry_scanner import scan_directory + + scan_t0 = _time.perf_counter() + + # 确保 executor 存在 + own_executor = False + if self._startup_executor is None: + self._startup_executor = ThreadPoolExecutor( + max_workers=8, thread_name_prefix="RegistryStartup" + ) + own_executor = True + + # ---- 统一缓存:一个 pkl 包含所有数据 ---- + unified_cache = self._load_config_cache() + ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}}) + + # 默认:扫描 unilabos 包所在的父目录 + pkg_root = Path(__file__).resolve().parent.parent # .../unilabos + python_path = pkg_root.parent # .../Uni-Lab-OS + scan_root = pkg_root # 扫描 unilabos/ 整个包 + + # 额外的 --devices 目录:把它们的父目录加入 sys.path + extra_dirs: list[Path] = [] + if devices_dirs: + for d in devices_dirs: + d_path = Path(d).resolve() + if not d_path.is_dir(): + logger.warning(f"[UniLab Registry] --devices 路径不存在或不是目录: {d_path}") + continue + parent_dir = str(d_path.parent) + if parent_dir not in sys.path: + sys.path.insert(0, parent_dir) + logger.info(f"[UniLab Registry] 添加 Python 路径: {parent_dir}") + extra_dirs.append(d_path) + + # 主扫描 + if external_only: + core_files = [ + pkg_root / "ros" / "nodes" / "presets" / "host_node.py", + pkg_root / "resources" / "container.py", + ] + scan_result = scan_directory( + scan_root, python_path=python_path, executor=self._startup_executor, + cache=ast_cache, include_files=core_files, + ) + logger.info( + f"[UniLab Registry] external_only 模式: 仅扫描核心文件 " + f"({', '.join(f.name for f in core_files)})" + ) + else: + exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None + scan_result = scan_directory( + scan_root, python_path=python_path, executor=self._startup_executor, + exclude_files=exclude_files, cache=ast_cache, + ) + if exclude_files: + logger.info( + f"[UniLab Registry] 排除扫描文件: {exclude_files} " + f"(可通过 --extra_resource 启用加载)" + ) + + # 合并缓存统计 + total_stats = scan_result.pop("_cache_stats", {"hits": 0, "misses": 0, "total": 0}) + + # 额外目录逐个扫描并合并 + for d_path in extra_dirs: + extra_result = scan_directory( + d_path, python_path=str(d_path.parent), executor=self._startup_executor, + cache=ast_cache, + ) + extra_stats = extra_result.pop("_cache_stats", {"hits": 0, "misses": 0, "total": 0}) + total_stats["hits"] += extra_stats["hits"] + total_stats["misses"] += extra_stats["misses"] + total_stats["total"] += extra_stats["total"] + + for did, dmeta in extra_result.get("devices", {}).items(): + if did in scan_result.get("devices", {}): + existing = scan_result["devices"][did].get("file_path", "?") + new_file = dmeta.get("file_path", "?") + raise ValueError( + f"@device id 重复: '{did}' 同时出现在 {existing} 和 {new_file}" + ) + scan_result.setdefault("devices", {})[did] = dmeta + for rid, rmeta in extra_result.get("resources", {}).items(): + if rid in scan_result.get("resources", {}): + existing = scan_result["resources"][rid].get("file_path", "?") + new_file = rmeta.get("file_path", "?") + raise ValueError( + f"@resource id 重复: '{rid}' 同时出现在 {existing} 和 {new_file}" + ) + scan_result.setdefault("resources", {})[rid] = rmeta + + # 缓存命中统计 + if total_stats["total"] > 0: + logger.info( + f"[UniLab Registry] AST 缓存统计: " + f"{total_stats['hits']}/{total_stats['total']} 命中, " + f"{total_stats['misses']} 重新解析" + ) + + ast_devices = scan_result.get("devices", {}) + ast_resources = scan_result.get("resources", {}) + + # build 结果缓存:当所有 AST 文件命中时跳过 _build_*_entry_from_ast + all_ast_hit = total_stats["misses"] == 0 and total_stats["total"] > 0 + cached_build = unified_cache.get("_build_results") if all_ast_hit else None + + if cached_build: + cached_devices = cached_build.get("devices", {}) + cached_resources = cached_build.get("resources", {}) + if set(cached_devices) == set(ast_devices) and set(cached_resources) == set(ast_resources): + self.device_type_registry.update(cached_devices) + self.resource_type_registry.update(cached_resources) + logger.info( + f"[UniLab Registry] build 缓存命中: 跳过 {len(cached_devices)} 设备 + " + f"{len(cached_resources)} 资源的 entry 构建" + ) + else: + cached_build = None + + if not cached_build: + build_t0 = _time.perf_counter() + + for device_id, ast_meta in ast_devices.items(): + entry = self._build_device_entry_from_ast(device_id, ast_meta) + if entry: + self.device_type_registry[device_id] = entry + + for resource_id, ast_meta in ast_resources.items(): + entry = self._build_resource_entry_from_ast(resource_id, ast_meta) + if entry: + self.resource_type_registry[resource_id] = entry + + build_elapsed = _time.perf_counter() - build_t0 + logger.info(f"[UniLab Registry] entry 构建耗时: {build_elapsed:.2f}s") + + unified_cache["_build_results"] = { + "devices": {k: v for k, v in self.device_type_registry.items() if k in ast_devices}, + "resources": {k: v for k, v in self.resource_type_registry.items() if k in ast_resources}, + } + + # upload 模式下,利用线程池并行 import pylabrobot 资源并生成 config_info + if upload_registry: + self._populate_resource_config_info(config_cache=unified_cache) + + # 统一保存一次 + self._save_config_cache(unified_cache) + + ast_device_count = len(ast_devices) + ast_resource_count = len(ast_resources) + scan_elapsed = _time.perf_counter() - scan_t0 + if ast_device_count > 0 or ast_resource_count > 0: + logger.info( + f"[UniLab Registry] AST 扫描完成: {ast_device_count} 设备, " + f"{ast_resource_count} 资源 (耗时 {scan_elapsed:.2f}s)" + ) + + if own_executor: + self._startup_executor.shutdown(wait=False) + self._startup_executor = None + + # ------------------------------------------------------------------ + # 类型辅助 (共享, 去重后的单一实现) + # ------------------------------------------------------------------ + + def _replace_type_with_class(self, type_name: str, device_id: str, field_name: str) -> Any: + """将类型名称替换为实际的 ROS 消息类对象(带缓存)""" + if not type_name or type_name == "": + return type_name + + cached = self._type_resolve_cache.get(type_name) + if cached is not None: + return cached + + result = self._resolve_type_uncached(type_name, device_id, field_name) + self._type_resolve_cache[type_name] = result + return result + + def _resolve_type_uncached(self, type_name: str, device_id: str, field_name: str) -> Any: + """实际的类型解析逻辑(无缓存)""" + # 泛型类型映射 + if "[" in type_name: + generic_mapping = { + "List[int]": "Int64MultiArray", + "list[int]": "Int64MultiArray", + "List[float]": "Float64MultiArray", + "list[float]": "Float64MultiArray", + "List[bool]": "Int8MultiArray", + "list[bool]": "Int8MultiArray", + } + mapped = generic_mapping.get(type_name) + if mapped: + cls = msg_converter_manager.search_class(mapped) + if cls: + return cls + logger.debug( + f"[Registry] 设备 {device_id} 的 {field_name} " + f"泛型类型 '{type_name}' 映射为 String" + ) + return String + + convert_manager = { + "str": "String", + "bool": "Bool", + "int": "Int64", + "float": "Float64", + } + type_name = convert_manager.get(type_name, type_name) + if ":" in type_name: + type_class = msg_converter_manager.get_class(type_name) + else: + type_class = msg_converter_manager.search_class(type_name) + if type_class: + return type_class + else: + logger.trace( + f"[Registry] 类型 '{type_name}' 非 ROS2 消息类型 (设备 {device_id} {field_name}),映射为 String" + ) + return String + + # ---- 类型字符串 -> JSON Schema type ---- + # (常量和工具函数已移至 unilabos.registry.utils) + + def _generate_schema_from_info( + self, param_name: str, param_type: Union[str, Tuple[str]], param_default: Any, + import_map: Optional[Dict[str, str]] = None, + ) -> Dict[str, Any]: + """根据参数信息生成 JSON Schema。 + 支持复杂类型字符串如 'Optional[Dict[str, Any]]'、'List[int]' 等。 + 当提供 import_map 时,可解析 TypedDict 等自定义类型。""" + + prop_schema: Dict[str, Any] = {} + + if isinstance(param_type, str) and ("[" in param_type or "|" in param_type): + # 复杂泛型 — ast.parse 解析结构,递归生成 schema + node = parse_type_node(param_type) + if node is not None: + prop_schema = type_node_to_schema(node, import_map) + # slot 标记 fallback(正常不应走到这里,上层会拦截) + if "$slot" in prop_schema: + prop_schema = {"type": "object"} + else: + prop_schema["type"] = "string" + elif isinstance(param_type, str): + # 简单类型名,但可能是 import_map 中的自定义类型 + json_type = SIMPLE_TYPE_MAP.get(param_type.lower()) + if json_type: + prop_schema["type"] = json_type + elif ":" in param_type: + type_obj = resolve_type_object(param_type) + if type_obj is not None: + prop_schema = type_to_schema(type_obj) + else: + prop_schema["type"] = "object" + elif import_map and param_type in import_map: + type_obj = resolve_type_object(import_map[param_type]) + if type_obj is not None: + prop_schema = type_to_schema(type_obj) + else: + prop_schema["type"] = "object" + else: + json_type = get_json_schema_type(param_type) + if json_type == "string" and param_type and param_type.lower() not in SIMPLE_TYPE_MAP: + prop_schema["type"] = "object" + else: + prop_schema["type"] = json_type + elif isinstance(param_type, tuple): + if len(param_type) == 2: + outer_type, inner_type = param_type + outer_json_type = get_json_schema_type(outer_type) + prop_schema["type"] = outer_json_type + # Any 值类型不加 additionalProperties/items (等同于无约束) + if isinstance(inner_type, str) and inner_type in ("Any", "None", "Unknown"): + pass + else: + inner_json_type = get_json_schema_type(inner_type) + if outer_json_type == "array": + prop_schema["items"] = {"type": inner_json_type} + elif outer_json_type == "object": + prop_schema["additionalProperties"] = {"type": inner_json_type} + else: + prop_schema["type"] = "string" + else: + prop_schema["type"] = get_json_schema_type(param_type) + + if param_default is not None: + prop_schema["default"] = param_default + + return prop_schema + + def _generate_unilab_json_command_schema( + self, method_args: list, docstring: Optional[str] = None, + import_map: Optional[Dict[str, str]] = None, + ) -> Dict[str, Any]: + """根据方法参数和 docstring 生成 UniLabJsonCommand schema""" + doc_info = parse_docstring(docstring) + param_descs = doc_info.get("params", {}) + + schema = { + "type": "object", + "properties": {}, + "required": [], + } + for arg_info in method_args: + param_name = arg_info.get("name", "") + param_type = arg_info.get("type", "") + param_default = arg_info.get("default") + param_required = arg_info.get("required", True) + + is_slot, is_list_slot = detect_slot_type(param_type) + if is_slot == "ResourceSlot": + if is_list_slot: + schema["properties"][param_name] = { + "items": ros_message_to_json_schema(Resource, param_name), + "type": "array", + } + else: + schema["properties"][param_name] = ros_message_to_json_schema( + Resource, param_name + ) + elif is_slot == "DeviceSlot": + schema["properties"][param_name] = {"type": "string", "description": "device reference"} + else: + schema["properties"][param_name] = self._generate_schema_from_info( + param_name, param_type, param_default, import_map=import_map + ) + + if param_name in param_descs: + schema["properties"][param_name]["description"] = param_descs[param_name] + + if param_required: + schema["required"].append(param_name) + + return schema + + def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]: + """根据 status 方法信息生成 status_types schema""" + status_schema: Dict[str, Any] = { + "type": "object", + "properties": {}, + "required": [], + } + for status_name, status_info in status_methods.items(): + return_type = status_info.get("return_type", "str") + status_schema["properties"][status_name] = self._generate_schema_from_info( + status_name, return_type, None + ) + status_schema["required"].append(status_name) + return status_schema + + # ------------------------------------------------------------------ + # 方法签名分析 -- 委托给 ImportManager + # ------------------------------------------------------------------ + + @staticmethod + def _analyze_method_signature(method) -> Dict[str, Any]: + """分析方法签名,提取参数信息""" + from unilabos.utils.import_manager import default_manager + try: + return default_manager._analyze_method_signature(method) + except (ValueError, TypeError): + return {"args": [], "is_async": inspect.iscoroutinefunction(method)} + + @staticmethod + def _get_return_type_from_method(method) -> str: + """获取方法的返回类型字符串""" + from unilabos.utils.import_manager import default_manager + return default_manager._get_return_type_from_method(method) + + # ------------------------------------------------------------------ + # 动态类信息提取 (import-based) + # ------------------------------------------------------------------ + + def _extract_class_info(self, cls: type) -> Dict[str, Any]: + """ + 从类中提取 init 参数、状态方法和动作方法信息。 + """ + result = { + "class_name": cls.__name__, + "init_params": self._analyze_method_signature(cls.__init__)["args"], + "status_methods": {}, + "action_methods": {}, + "explicit_actions": {}, + "decorated_no_type_actions": {}, + } + + for name, method in cls.__dict__.items(): + if name.startswith("_"): + continue + + # property => status + if isinstance(method, property): + return_type = self._get_return_type_from_method(method.fget) if method.fget else "Any" + status_entry = { + "name": name, + "return_type": return_type, + } + if method.fget: + tc = get_topic_config(method.fget) + if tc: + status_entry["topic_config"] = tc + result["status_methods"][name] = status_entry + + if method.fset: + setter_info = self._analyze_method_signature(method.fset) + action_meta = get_action_meta(method.fset) + if action_meta and action_meta.get("action_type") is not None: + result["explicit_actions"][name] = { + "method_info": setter_info, + "action_meta": action_meta, + } + continue + + if not callable(method): + continue + + if is_not_action(method): + continue + + # @topic_config 装饰的非 property 方法视为状态方法,不作为 action + tc = get_topic_config(method) + if tc: + return_type = self._get_return_type_from_method(method) + prop_name = name[4:] if name.startswith("get_") else name + result["status_methods"][prop_name] = { + "name": prop_name, + "return_type": return_type, + "topic_config": tc, + } + continue + + method_info = self._analyze_method_signature(method) + action_meta = get_action_meta(method) + + if action_meta: + action_type = action_meta.get("action_type") + if action_type is not None: + result["explicit_actions"][name] = { + "method_info": method_info, + "action_meta": action_meta, + } + else: + result["decorated_no_type_actions"][name] = { + "method_info": method_info, + "action_meta": action_meta, + } + elif has_action_decorator(method): + result["explicit_actions"][name] = { + "method_info": method_info, + "action_meta": action_meta or {}, + } + else: + result["action_methods"][name] = method_info + + return result + + # ------------------------------------------------------------------ + # 内置动作 + # ------------------------------------------------------------------ + + def _add_builtin_actions(self, device_config: Dict[str, Any], device_id: str): + """为设备添加内置的驱动命令动作(运行时需要,上报注册表时会过滤掉)""" + str_single_input = self._replace_type_with_class("StrSingleInput", device_id, "内置动作") + for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]: + try: + goal_default = ROS2MessageInstance(str_single_input.Goal()).get_python_dict() + except Exception: + goal_default = {"string": ""} + + device_config["class"]["action_value_mappings"][additional_action] = { + "type": str_single_input, + "goal": {"string": "string"}, + "feedback": {}, + "result": {}, + "schema": ros_action_to_json_schema(str_single_input), + "goal_default": goal_default, + "handles": {}, + } + + # ------------------------------------------------------------------ + # AST-based 注册表条目构建 + # ------------------------------------------------------------------ + + def _build_device_entry_from_ast(self, device_id: str, ast_meta: dict) -> Dict[str, Any]: + """ + Build a device registry entry from AST-scanned metadata. + Uses only string types -- no module imports required (except for TypedDict resolution). + """ + module_str = ast_meta.get("module", "") + file_path = ast_meta.get("file_path", "") + imap = ast_meta.get("import_map") or {} + + # --- status_types (string version) --- + status_types_str: Dict[str, str] = {} + for name, info in ast_meta.get("status_properties", {}).items(): + ret_type = info.get("return_type", "str") + if not ret_type or ret_type in ("Any", "None", "Unknown", ""): + ret_type = "String" + # 归一化泛型容器类型: Dict[str, Any] → dict, List[int] → list 等 + elif "[" in ret_type: + base = ret_type.split("[", 1)[0].strip() + base_lower = base.lower() + if base_lower in ("dict", "mapping", "ordereddict"): + ret_type = "dict" + elif base_lower in ("list", "tuple", "set", "sequence", "iterable"): + ret_type = "list" + elif base_lower == "optional": + # Optional[X] → 取内部类型再归一化 + inner = ret_type.split("[", 1)[1].rsplit("]", 1)[0].strip() + inner_lower = inner.lower() + if inner_lower in ("dict", "mapping"): + ret_type = "dict" + elif inner_lower in ("list", "tuple", "set"): + ret_type = "list" + else: + ret_type = inner + status_types_str[name] = ret_type + status_types_str = dict(sorted(status_types_str.items())) + + # --- action_value_mappings --- + action_value_mappings: Dict[str, Any] = {} + + def _build_json_command_entry(method_name, method_info, action_args=None): + """构建 UniLabJsonCommand 类型的 action entry""" + is_async = method_info.get("is_async", False) + type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand" + params = method_info.get("params", []) + method_doc = method_info.get("docstring") + goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap) + + if action_args is not None: + action_name = action_args.get("action_name", method_name) + if action_args.get("auto_prefix"): + action_name = f"auto-{action_name}" + else: + action_name = f"auto-{method_name}" + + # Source C: 从 schema 生成类型默认值 + goal_default = JSONSchemaMessageInstance.generate_default_from_schema(goal_schema) + # Source B: method param 显式 default 覆盖 Source C + for p in params: + if p.get("default") is not None: + goal_default[p["name"]] = p["default"] + # goal 为 identity mapping {param_name: param_name}, 默认值只放在 goal_default + goal = {p["name"]: p["name"] for p in params} + + # @action 中的显式 goal/goal_default 覆盖 + goal_override = dict((action_args or {}).get("goal", {})) + goal_default_override = dict((action_args or {}).get("goal_default", {})) + if goal_override: + override_values = set(goal_override.values()) + goal = {k: v for k, v in goal.items() if not (k == v and v in override_values)} + goal.update(goal_override) + goal_default.update(goal_default_override) + + # action handles: 从 @action(handles=[...]) 提取并转换为标准格式 + raw_handles = (action_args or {}).get("handles") + handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {}) + + # placeholder_keys: 优先用装饰器显式配置,否则从参数类型检测 + pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params) + + # 从方法返回值类型生成 result schema + result_schema = None + ret_type_str = method_info.get("return_type", "") + if ret_type_str and ret_type_str not in ("None", "Any", ""): + result_schema = self._generate_schema_from_info( + "result", ret_type_str, None, imap + ) + + entry = { + "type": type_str, + "goal": goal, + "feedback": (action_args or {}).get("feedback") or {}, + "result": (action_args or {}).get("result") or {}, + "schema": wrap_action_schema(goal_schema, action_name, result_schema=result_schema), + "goal_default": goal_default, + "handles": handles, + "placeholder_keys": pk, + } + if (action_args or {}).get("always_free") or method_info.get("always_free"): + entry["always_free"] = True + nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType) + if nt: + entry["node_type"] = nt + return action_name, entry + + # 1) auto- actions + for method_name, method_info in ast_meta.get("auto_methods", {}).items(): + action_name, action_entry = _build_json_command_entry(method_name, method_info) + action_value_mappings[action_name] = action_entry + + # 2) @action() without action_type + for method_name, method_info in ast_meta.get("actions", {}).items(): + action_args = method_info.get("action_args", {}) + if action_args.get("action_type"): + continue + action_name, action_entry = _build_json_command_entry(method_name, method_info, action_args) + action_value_mappings[action_name] = action_entry + + # 3) @action(action_type=X) + for method_name, method_info in ast_meta.get("actions", {}).items(): + action_args = method_info.get("action_args", {}) + action_type = action_args.get("action_type") + if not action_type: + continue + + action_name = action_args.get("action_name", method_name) + if action_args.get("auto_prefix"): + action_name = f"auto-{action_name}" + + raw_handles = action_args.get("handles") + handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {}) + + method_params = method_info.get("params", []) + + # goal/feedback/result: 字段映射 + # parent=True 时直接通过 import class + MRO 获取; 否则从 AST 方法参数获取, 最后从 ROS2 Goal 获取 + # feedback/result 从 ROS2 获取; 默认 identity mapping {k: k}, 再用 @action 参数 update + goal_override = dict(action_args.get("goal", {})) + feedback_override = dict(action_args.get("feedback", {})) + result_override = dict(action_args.get("result", {})) + goal_default_override = dict(action_args.get("goal_default", {})) + + if action_args.get("parent"): + # @action(parent=True): 直接通过 import class + MRO 获取父类方法签名 + goal = resolve_method_params_via_import(module_str, method_name) + else: + # 从 AST 方法参数构建 goal identity mapping + real_params = [p for p in method_params if p["name"] not in ("self", "cls")] + goal = {p["name"]: p["name"] for p in real_params} + + feedback = {} + result = {} + schema = {} + goal_default = {} + + # 尝试 import ROS2 action type 获取 feedback/result/schema/goal_default, 以及 goal fallback + if ":" not in action_type: + action_type = imap.get(action_type, action_type) + action_type_obj = resolve_type_object(action_type) if ":" in action_type else None + if action_type_obj is None: + logger.warning( + f"[AST] device action '{action_name}': resolve_type_object('{action_type}') returned None" + ) + if action_type_obj is not None: + # 始终从 ROS2 Goal 获取字段作为基础, 再用方法参数覆盖 + try: + if hasattr(action_type_obj, "Goal"): + goal_fields = action_type_obj.Goal.get_fields_and_field_types() + ros2_goal = {k: k for k in goal_fields} + ros2_goal.update(goal) + goal = ros2_goal + except Exception as e: + logger.debug(f"[AST] device action '{action_name}': Goal enrichment from ROS2 failed: {e}") + try: + if hasattr(action_type_obj, "Feedback"): + fb_fields = action_type_obj.Feedback.get_fields_and_field_types() + feedback = {k: k for k in fb_fields} + except Exception as e: + logger.debug(f"[AST] device action '{action_name}': Feedback enrichment failed: {e}") + try: + if hasattr(action_type_obj, "Result"): + res_fields = action_type_obj.Result.get_fields_and_field_types() + result = {k: k for k in res_fields} + except Exception as e: + logger.debug(f"[AST] device action '{action_name}': Result enrichment failed: {e}") + try: + schema = ros_action_to_json_schema(action_type_obj) + except Exception: + pass + # 直接从 ROS2 Goal 实例获取默认值 (msgcenterpy) + try: + goal_default = ROS2MessageInstance(action_type_obj.Goal()).get_python_dict() + except Exception: + pass + + # 如果 ROS2 action type 未提供 result schema, 用方法返回值类型生成 fallback + if not schema.get("properties", {}).get("result"): + ret_type_str = method_info.get("return_type", "") + if ret_type_str and ret_type_str not in ("None", "Any", ""): + ret_schema = self._generate_schema_from_info( + "result", ret_type_str, None, imap + ) + if ret_schema: + schema.setdefault("properties", {})["result"] = ret_schema + + # @action 中的显式 goal/feedback/result/goal_default 覆盖默认值 + # 移除被 override 取代的 identity 条目 (如 {source: source} 被 {sources: source} 取代) + if goal_override: + override_values = set(goal_override.values()) + goal = {k: v for k, v in goal.items() if not (k == v and v in override_values)} + goal.update(goal_override) + feedback.update(feedback_override) + result.update(result_override) + goal_default.update(goal_default_override) + + action_entry = { + "type": action_type.split(":")[-1], + "goal": goal, + "feedback": feedback, + "result": result, + "schema": schema, + "goal_default": goal_default, + "handles": handles, + "placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params), + } + if action_args.get("always_free") or method_info.get("always_free"): + action_entry["always_free"] = True + nt = normalize_enum_value(action_args.get("node_type"), NodeType) + if nt: + action_entry["node_type"] = nt + action_value_mappings[action_name] = action_entry + + action_value_mappings = dict(sorted(action_value_mappings.items())) + + # --- init_param_schema = { config: , data: } --- + init_params = ast_meta.get("init_params", []) + config_schema = self._generate_schema_from_ast_params(init_params, "__init__", import_map=imap) + data_schema = self._generate_status_schema_from_ast( + ast_meta.get("status_properties", {}), imap + ) + init_schema: Dict[str, Any] = { + "config": config_schema, + "data": data_schema, + } + + # --- handles --- + handles_raw = ast_meta.get("handles", []) + handles = normalize_ast_handles(handles_raw) + + entry: Dict[str, Any] = { + "category": ast_meta.get("category", []), + "class": { + "module": module_str, + "status_types": status_types_str, + "action_value_mappings": action_value_mappings, + "type": ast_meta.get("device_type", "python"), + }, + "config_info": [], + "description": ast_meta.get("description", ""), + "handles": handles, + "icon": ast_meta.get("icon", ""), + "init_param_schema": init_schema, + "version": ast_meta.get("version", "1.0.0"), + "registry_type": "device", + "file_path": file_path, + } + model = ast_meta.get("model") + if model is not None: + entry["model"] = model + hardware_interface = ast_meta.get("hardware_interface") + if hardware_interface is not None: + # AST 解析 HardwareInterface(...) 得到 {"_call": "...", "name": ..., "read": ..., "write": ...} + # 归一化为 YAML 格式,去掉 _call + if isinstance(hardware_interface, dict) and "_call" in hardware_interface: + hardware_interface = {k: v for k, v in hardware_interface.items() if k != "_call"} + entry["class"]["hardware_interface"] = hardware_interface + return entry + + def _generate_schema_from_ast_params( + self, params: list, method_name: str, docstring: Optional[str] = None, + import_map: Optional[Dict[str, str]] = None, + ) -> Dict[str, Any]: + """Generate JSON Schema from AST-extracted parameter list.""" + doc_info = parse_docstring(docstring) + param_descs = doc_info.get("params", {}) + + schema: Dict[str, Any] = { + "type": "object", + "properties": {}, + "required": [], + } + for p in params: + pname = p.get("name", "") + ptype = p.get("type", "") + pdefault = p.get("default") + prequired = p.get("required", True) + + # --- 检测 ResourceSlot / DeviceSlot (兼容 runtime 和 AST 两种格式) --- + is_slot, is_list_slot = detect_slot_type(ptype) + if is_slot == "ResourceSlot": + if is_list_slot: + schema["properties"][pname] = { + "items": ros_message_to_json_schema(Resource, pname), + "type": "array", + } + else: + schema["properties"][pname] = ros_message_to_json_schema(Resource, pname) + elif is_slot == "DeviceSlot": + schema["properties"][pname] = {"type": "string", "description": "device reference"} + else: + schema["properties"][pname] = self._generate_schema_from_info( + pname, ptype, pdefault, import_map + ) + + if pname in param_descs: + schema["properties"][pname]["description"] = param_descs[pname] + + if prequired: + schema["required"].append(pname) + + return schema + + def _generate_status_schema_from_ast( + self, status_properties: Dict[str, Any], + import_map: Optional[Dict[str, str]] = None, + ) -> Dict[str, Any]: + """Generate status_types schema from AST-extracted status properties.""" + schema: Dict[str, Any] = { + "type": "object", + "properties": {}, + "required": [], + } + for name, info in status_properties.items(): + ret_type = info.get("return_type", "str") + schema["properties"][name] = self._generate_schema_from_info( + name, ret_type, None, import_map + ) + schema["required"].append(name) + return schema + + def _build_resource_entry_from_ast(self, resource_id: str, ast_meta: dict) -> Dict[str, Any]: + """Build a resource registry entry from AST-scanned metadata.""" + module_str = ast_meta.get("module", "") + file_path = ast_meta.get("file_path", "") + + handles_raw = ast_meta.get("handles", []) + handles = normalize_ast_handles(handles_raw) + + entry: Dict[str, Any] = { + "category": ast_meta.get("category", []), + "class": { + "module": module_str, + "type": ast_meta.get("class_type", "python"), + }, + "config_info": [], + "description": ast_meta.get("description", ""), + "handles": handles, + "icon": ast_meta.get("icon", ""), + "init_param_schema": {}, + "version": ast_meta.get("version", "1.0.0"), + "registry_type": "resource", + "file_path": file_path, + } + + if ast_meta.get("model"): + entry["model"] = ast_meta["model"] + + return entry + + # ------------------------------------------------------------------ + # 定向 AST 扫描(供 complete_registry Case 1 使用) + # ------------------------------------------------------------------ + + def _ast_scan_module(self, module_str: str) -> Optional[Dict[str, Any]]: + """对单个 module_str 做定向 AST 扫描,返回 ast_meta 或 None。 + + 用于 complete_registry 模式下 YAML 中存在但 AST 全量扫描未覆盖的设备/资源。 + 仅做文件定位 + AST 解析,不实例化类。 + """ + from unilabos.registry.ast_registry_scanner import _parse_file + + mod_part = module_str.split(":")[0] + try: + mod = importlib.import_module(mod_part) + src_file = Path(inspect.getfile(mod)) + except Exception: + return None + + python_path = Path(__file__).resolve().parent.parent.parent + try: + devs, ress = _parse_file(src_file, python_path) + except Exception: + return None + + for d in devs: + if d.get("module") == module_str: + return d + for r in ress: + if r.get("module") == module_str: + return r + return None + + # ------------------------------------------------------------------ + # config_info 缓存 (pickle 格式,比 JSON 快 ~10x,debug 模式下差异更大) + # ------------------------------------------------------------------ + + @staticmethod + def _get_config_cache_path() -> Optional[Path]: + if BasicConfig.working_dir: + return Path(BasicConfig.working_dir) / "registry_cache.pkl" + return None + + _CACHE_VERSION = 4 + + def _load_config_cache(self) -> dict: + import pickle + cache_path = self._get_config_cache_path() + if cache_path is None or not cache_path.is_file(): + return {} + try: + data = pickle.loads(cache_path.read_bytes()) + if not isinstance(data, dict) or data.get("_version") != self._CACHE_VERSION: + return {} + return data + except Exception: + return {} + + def _save_config_cache(self, cache: dict) -> None: + import pickle + cache_path = self._get_config_cache_path() + if cache_path is None: + return + try: + cache["_version"] = self._CACHE_VERSION + cache_path.parent.mkdir(parents=True, exist_ok=True) + tmp = cache_path.with_suffix(".tmp") + tmp.write_bytes(pickle.dumps(cache, protocol=pickle.HIGHEST_PROTOCOL)) + tmp.replace(cache_path) + except Exception as e: + logger.debug(f"[UniLab Registry] 缓存保存失败: {e}") + + @staticmethod + def _module_source_hash(module_str: str) -> Optional[str]: + """Fast MD5 of the source file backing *module_str*. Results are + cached for the process lifetime so the same file is never read twice.""" + if module_str in _module_hash_cache: + return _module_hash_cache[module_str] + + import hashlib + import importlib.util + mod_part = module_str.split(":")[0] if ":" in module_str else module_str + result = None + try: + spec = importlib.util.find_spec(mod_part) + if spec and spec.origin and os.path.isfile(spec.origin): + result = hashlib.md5(open(spec.origin, "rb").read()).hexdigest() + except Exception: + pass + _module_hash_cache[module_str] = result + return result + + def _populate_resource_config_info(self, config_cache: Optional[dict] = None): + """ + 利用线程池并行 import pylabrobot 资源类,生成 config_info。 + 仅在 upload_registry=True 时调用。 + + 启用缓存:以 module_str 为 key,记录源文件 MD5。若源文件未变则 + 直接复用上次的 config_info,跳过 import + 实例化 + dump。 + + Args: + config_cache: 共享的缓存 dict。未提供时自行加载/保存; + 由 load_resource_types 传入时由调用方统一保存。 + """ + import time as _time + + executor = self._startup_executor + if executor is None: + return + + # 筛选需要 import 的 pylabrobot 资源(跳过已有 config_info 的缓存条目) + pylabrobot_entries = { + rid: entry + for rid, entry in self.resource_type_registry.items() + if entry.get("class", {}).get("type") == "pylabrobot" + and entry.get("class", {}).get("module") + and not entry.get("config_info") + } + if not pylabrobot_entries: + return + + t0 = _time.perf_counter() + own_cache = config_cache is None + if own_cache: + config_cache = self._load_config_cache() + cache_hits = 0 + cache_misses = 0 + + def _import_and_dump(resource_id: str, module_str: str): + """Import class, create instance, dump tree. Returns (rid, config_info).""" + try: + res_class = import_class(module_str) + if callable(res_class) and not isinstance(res_class, type): + res_instance = res_class(res_class.__name__) + tree_set = ResourceTreeSet.from_plr_resources([res_instance], known_newly_created=True, old_size=True) + dumped = tree_set.dump(old_position=True) + return resource_id, dumped[0] if dumped else [] + except Exception as e: + logger.warning(f"[UniLab Registry] 资源 {resource_id} config_info 生成失败: {e}") + return resource_id, [] + + # Separate into cache-hit vs cache-miss + need_generate: dict = {} # rid -> module_str + for rid, entry in pylabrobot_entries.items(): + module_str = entry["class"]["module"] + cached = config_cache.get(module_str) + if cached and isinstance(cached, dict) and "config_info" in cached: + src_hash = self._module_source_hash(module_str) + if src_hash is not None and cached.get("src_hash") == src_hash: + self.resource_type_registry[rid]["config_info"] = cached["config_info"] + cache_hits += 1 + continue + need_generate[rid] = module_str + + cache_misses = len(need_generate) + + if need_generate: + future_to_rid = { + executor.submit(_import_and_dump, rid, mod): rid + for rid, mod in need_generate.items() + } + for future in as_completed(future_to_rid): + try: + resource_id, config_info = future.result() + self.resource_type_registry[resource_id]["config_info"] = config_info + module_str = need_generate[resource_id] + src_hash = self._module_source_hash(module_str) + config_cache[module_str] = { + "src_hash": src_hash, + "config_info": config_info, + } + except Exception as e: + rid = future_to_rid[future] + logger.warning(f"[UniLab Registry] 资源 {rid} config_info 线程异常: {e}") + + if own_cache: + self._save_config_cache(config_cache) + + elapsed = _time.perf_counter() - t0 + total = cache_hits + cache_misses + logger.info( + f"[UniLab Registry] config_info 缓存统计: " + f"{cache_hits}/{total} 命中, {cache_misses} 重新生成 " + f"(耗时 {elapsed:.2f}s)" + ) + + # ------------------------------------------------------------------ + # Verify & Resolve (实际 import 验证) + # ------------------------------------------------------------------ + + def verify_and_resolve_registry(self): + """ + 对 AST 扫描得到的注册表执行实际 import 验证(使用共享线程池并行)。 + """ + errors = [] + import_success_count = 0 + resolved_count = 0 + total_items = len(self.device_type_registry) + len(self.resource_type_registry) + + lock = threading.Lock() + + def _verify_device(device_id: str, entry: dict): + nonlocal import_success_count, resolved_count + module_str = entry.get("class", {}).get("module", "") + if not module_str or ":" not in module_str: + with lock: + import_success_count += 1 + return None + + try: + cls = import_class(module_str) + with lock: + import_success_count += 1 + resolved_count += 1 + + # 尝试用动态信息增强注册表 + try: + self.resolve_types_for_device(device_id, cls) + except Exception as e: + logger.debug(f"[UniLab Registry/Verify] 设备 {device_id} 类型解析失败: {e}") + + return None + except Exception as e: + logger.warning( + f"[UniLab Registry/Verify] 设备 {device_id}: " + f"导入模块 {module_str} 失败: {e}" + ) + return f"device:{device_id}: {e}" + + def _verify_resource(resource_id: str, entry: dict): + nonlocal import_success_count + module_str = entry.get("class", {}).get("module", "") + if not module_str or ":" not in module_str: + with lock: + import_success_count += 1 + return None + + try: + import_class(module_str) + with lock: + import_success_count += 1 + return None + except Exception as e: + logger.warning( + f"[UniLab Registry/Verify] 资源 {resource_id}: " + f"导入模块 {module_str} 失败: {e}" + ) + return f"resource:{resource_id}: {e}" + + executor = self._startup_executor or ThreadPoolExecutor(max_workers=8) + try: + device_futures = {} + resource_futures = {} + + for device_id, entry in list(self.device_type_registry.items()): + fut = executor.submit(_verify_device, device_id, entry) + device_futures[fut] = device_id + + for resource_id, entry in list(self.resource_type_registry.items()): + fut = executor.submit(_verify_resource, resource_id, entry) + resource_futures[fut] = resource_id + + for future in as_completed(device_futures): + result = future.result() + if result: + errors.append(result) + + for future in as_completed(resource_futures): + result = future.result() + if result: + errors.append(result) + finally: + if self._startup_executor is None: + executor.shutdown(wait=True) + + if errors: + logger.warning( + f"[UniLab Registry/Verify] 验证完成: {import_success_count}/{total_items} 成功, " + f"{len(errors)} 个错误" + ) + else: + logger.info( + f"[UniLab Registry/Verify] 验证完成: {import_success_count}/{total_items} 全部通过, " + f"{resolved_count} 设备类型已解析" + ) + + return errors + + def resolve_types_for_device(self, device_id: str, cls=None): + """ + 将 AST 扫描得到的字符串类型引用替换为实际的 ROS 消息类对象。 + """ + entry = self.device_type_registry.get(device_id) + if not entry: + return + + class_info = entry.get("class", {}) + + # 解析 status_types + status_types = class_info.get("status_types", {}) + resolved_status = {} + for name, type_ref in status_types.items(): + if isinstance(type_ref, str): + resolved = self._replace_type_with_class(type_ref, device_id, f"状态 {name}") + if resolved: + resolved_status[name] = resolved + else: + resolved_status[name] = type_ref + else: + resolved_status[name] = type_ref + class_info["status_types"] = resolved_status + + # 解析 action_value_mappings + _KEEP_AS_STRING = {"UniLabJsonCommand", "UniLabJsonCommandAsync"} + action_mappings = class_info.get("action_value_mappings", {}) + for action_name, action_config in action_mappings.items(): + type_ref = action_config.get("type", "") + if isinstance(type_ref, str) and type_ref and type_ref not in _KEEP_AS_STRING: + resolved = self._replace_type_with_class(type_ref, device_id, f"动作 {action_name}") + if resolved: + action_config["type"] = resolved + if not action_config.get("schema"): + try: + action_config["schema"] = ros_action_to_json_schema(resolved) + except Exception: + pass + if not action_config.get("goal_default"): + try: + action_config["goal_default"] = ROS2MessageInstance(resolved.Goal()).get_python_dict() + except Exception: + pass + + # 如果提供了类,用动态信息增强 + if cls is not None: + try: + dynamic_info = self._extract_class_info(cls) + + for name, info in dynamic_info.get("status_methods", {}).items(): + if name not in resolved_status: + ret_type = info.get("return_type", "str") + resolved = self._replace_type_with_class(ret_type, device_id, f"状态 {name}") + if resolved: + class_info["status_types"][name] = resolved + + for action_name_key, action_config in action_mappings.items(): + type_obj = action_config.get("type") + if isinstance(type_obj, str) and type_obj in ( + "UniLabJsonCommand", "UniLabJsonCommandAsync" + ): + method_name = action_name_key + if method_name.startswith("auto-"): + method_name = method_name[5:] + + actual_method = getattr(cls, method_name, None) + if actual_method: + method_info = self._analyze_method_signature(actual_method) + schema = self._generate_unilab_json_command_schema( + method_info["args"], + docstring=getattr(actual_method, "__doc__", None), + ) + action_config["schema"] = schema + except Exception as e: + logger.debug(f"[Registry] 设备 {device_id} 动态增强失败: {e}") + + # 添加内置动作 + self._add_builtin_actions(entry, device_id) + + def resolve_all_types(self): + """将所有注册表条目中的字符串类型引用替换为实际的 ROS2 消息类对象。 + + 仅做 ROS2 消息类型查找,不 import 任何设备模块,速度快且无副作用。 + """ + t0 = time.time() + for device_id in list(self.device_type_registry): + try: + self.resolve_types_for_device(device_id) + except Exception as e: + logger.debug(f"[Registry] 设备 {device_id} 类型解析失败: {e}") + logger.info( + f"[UniLab Registry] 类型解析完成: {len(self.device_type_registry)} 设备 " + f"(耗时 {time.time() - t0:.2f}s)" + ) + + # ------------------------------------------------------------------ + # YAML 注册表加载 (兼容旧格式) + # ------------------------------------------------------------------ def _load_single_resource_file( - self, file: Path, complete_registry: bool, upload_registry: bool + self, file: Path, complete_registry: bool ) -> Tuple[Dict[str, Any], Dict[str, Any], bool]: """ 加载单个资源文件 (线程安全) @@ -269,7 +1528,20 @@ class Registry: return {}, {}, False complete_data = {} + skip_ids = set() for resource_id, resource_info in data.items(): + if not isinstance(resource_info, dict): + continue + + # AST 已有该资源 → 跳过,提示冗余 + if self.resource_type_registry.get(resource_id): + logger.warning( + f"[UniLab Registry] 资源 '{resource_id}' 已由 AST 扫描注册," + f"YAML 定义冗余,跳过 YAML 处理" + ) + skip_ids.add(resource_id) + continue + if "version" not in resource_info: resource_info["version"] = "1.0.0" if "category" not in resource_info: @@ -290,427 +1562,135 @@ class Registry: 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[resource_id] = copy.deepcopy(dict(sorted(resource_info.items()))) + + for rid in skip_ids: + data.pop(rid, None) complete_data = dict(sorted(complete_data.items())) - complete_data = copy.deepcopy(complete_data) if complete_registry: + write_data = copy.deepcopy(complete_data) + for res_id, res_cfg in write_data.items(): + res_cfg.pop("file_path", None) + res_cfg.pop("registry_type", None) try: with open(file, "w", encoding="utf-8") as f: - yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper) + yaml.dump(write_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): + def load_resource_types(self, path: os.PathLike, upload_registry: bool, complete_registry: bool = False): 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)}") + resources_path = abs_path / "resources" + files = list(resources_path.rglob("*.yaml")) + logger.trace( + f"[UniLab Registry] resources: {resources_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 = [] + import hashlib as _hl - 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}") + # --- YAML-level cache: per-file entries with config_info --- + config_cache = self._load_config_cache() if upload_registry else None + yaml_cache: dict = config_cache.get("_yaml_resources", {}) if config_cache else {} + yaml_cache_hits = 0 + yaml_cache_misses = 0 + uncached_files: list[Path] = [] + yaml_file_rids: dict[str, list[str]] = {} - # 线程安全地更新注册表 - current_resource_number = len(self.resource_type_registry) + 1 - with self._registry_lock: - for i, (file, data) in enumerate(results): - self.resource_type_registry.update(data) - logger.trace( - f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} " - + 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()}") - - def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]: - """ - 从模块字符串中提取类和方法的docstring信息 - - Args: - module_string: 模块字符串,格式为 "module.path:ClassName" - - Returns: - 包含类和方法docstring信息的字典 - """ - docstrings = {"class_docstring": "", "methods": {}} - - if not module_string or ":" not in module_string: - return docstrings - - try: - module_path, class_name = module_string.split(":", 1) - - # 动态导入模块 - module = importlib.import_module(module_path) - - # 获取类 - if hasattr(module, class_name): - cls = getattr(module, class_name) - - # 获取类的docstring - class_doc = inspect.getdoc(cls) - if class_doc: - docstrings["class_docstring"] = class_doc.strip() - - # 获取所有方法的docstring - for method_name, method in inspect.getmembers(cls, predicate=inspect.isfunction): - method_doc = inspect.getdoc(method) - if method_doc: - docstrings["methods"][method_name] = method_doc.strip() - - # 也获取属性方法的docstring - for method_name, method in inspect.getmembers(cls, predicate=lambda x: isinstance(x, property)): - if hasattr(method, "fget") and method.fget: - method_doc = inspect.getdoc(method.fget) - if method_doc: - docstrings["methods"][method_name] = method_doc.strip() - - except Exception as e: - logger.warning(f"[UniLab Registry] 无法提取docstring信息,模块: {module_string}, 错误: {str(e)}") - - return docstrings - - def _replace_type_with_class(self, type_name: str, device_id: str, field_name: str) -> Any: - """ - 将类型名称替换为实际的类对象 - - Args: - type_name: 类型名称 - device_id: 设备ID,用于错误信息 - field_name: 字段名称,用于错误信息 - - Returns: - 找到的类对象或原始字符串 - - Raises: - SystemExit: 如果找不到类型则终止程序 - """ - # 如果类型名为空,跳过替换 - if not type_name or type_name == "": - logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空,跳过替换") - return type_name - convert_manager = { # 将python基本对象转为ros2基本对象 - "str": "String", - "bool": "Bool", - "int": "Int64", - "float": "Float64", - } - type_name = convert_manager.get(type_name, type_name) # 替换为ROS2类型 - if ":" in type_name: - type_class = msg_converter_manager.get_class(type_name) + if complete_registry: + uncached_files = files + yaml_cache_misses = len(files) else: - type_class = msg_converter_manager.search_class(type_name) - if type_class: - return type_class - else: - logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}") - raise ROSMsgNotFound(f"类型 '{type_name}' 未找到,用于设备 {device_id} 的 {field_name}") + for file in files: + file_key = str(file.absolute()).replace("\\", "/") + if upload_registry and yaml_cache: + try: + yaml_md5 = _hl.md5(file.read_bytes()).hexdigest() + except OSError: + uncached_files.append(file) + yaml_cache_misses += 1 + continue + cached = yaml_cache.get(file_key) + if cached and cached.get("yaml_md5") == yaml_md5: + module_hashes: dict = cached.get("module_hashes", {}) + all_ok = all( + self._module_source_hash(m) == h + for m, h in module_hashes.items() + ) if module_hashes else True + if all_ok and cached.get("entries"): + for rid, entry in cached["entries"].items(): + self.resource_type_registry[rid] = entry + yaml_cache_hits += 1 + continue + uncached_files.append(file) + yaml_cache_misses += 1 - def _get_json_schema_type(self, type_str: str) -> str: - """ - 根据类型字符串返回对应的JSON Schema类型 - - Args: - type_str: 类型字符串 - - Returns: - JSON Schema类型字符串 - """ - type_lower = type_str.lower() - type_mapping = { - ("str", "string"): "string", - ("int", "integer"): "integer", - ("float", "number"): "number", - ("bool", "boolean"): "boolean", - ("list", "array"): "array", - ("dict", "object"): "object", + # Process uncached YAML files with thread pool + executor = self._startup_executor + future_to_file = { + executor.submit(self._load_single_resource_file, file, complete_registry): file + for file in uncached_files } - # 遍历映射找到匹配的类型 - for type_variants, json_type in type_mapping.items(): - if type_lower in type_variants: - return json_type + for future in as_completed(future_to_file): + file = future_to_file[future] + try: + data, complete_data, is_valid = future.result() + if is_valid: + self.resource_type_registry.update(complete_data) + file_key = str(file.absolute()).replace("\\", "/") + yaml_file_rids[file_key] = list(complete_data.keys()) + except Exception as e: + logger.warning(f"[UniLab Registry] 加载资源文件失败: {file}, 错误: {e}") - # 特殊处理包含冒号的类型(如ROS消息类型) - if ":" in type_lower: - return "object" + # upload 模式下,统一利用线程池为 pylabrobot 资源生成 config_info + if upload_registry: + self._populate_resource_config_info(config_cache=config_cache) - # 默认返回字符串类型 - return "string" + # Update YAML cache for newly processed files (entries now have config_info) + if yaml_file_rids and config_cache is not None: + for file_key, rids in yaml_file_rids.items(): + entries = {} + module_hashes = {} + for rid in rids: + entry = self.resource_type_registry.get(rid) + if entry: + entries[rid] = copy.deepcopy(entry) + mod_str = entry.get("class", {}).get("module", "") + if mod_str and mod_str not in module_hashes: + src_h = self._module_source_hash(mod_str) + if src_h: + module_hashes[mod_str] = src_h + try: + yaml_md5 = _hl.md5(Path(file_key).read_bytes()).hexdigest() + except OSError: + continue + yaml_cache[file_key] = { + "yaml_md5": yaml_md5, + "module_hashes": module_hashes, + "entries": entries, + } + config_cache["_yaml_resources"] = yaml_cache + self._save_config_cache(config_cache) - def _generate_schema_from_info( - self, - param_name: str, - param_type: Union[str, Tuple[str]], - param_default: Any, - ) -> Dict[str, Any]: - """ - 根据参数信息生成JSON Schema - """ - prop_schema = {} - - # 处理嵌套类型(Tuple[str]) - if isinstance(param_type, tuple): - if len(param_type) == 2: - outer_type, inner_type = param_type - outer_json_type = self._get_json_schema_type(outer_type) - inner_json_type = self._get_json_schema_type(inner_type) - - prop_schema["type"] = outer_json_type - - # 根据外层类型设置内层类型信息 - if outer_json_type == "array": - prop_schema["items"] = {"type": inner_json_type} - elif outer_json_type == "object": - prop_schema["additionalProperties"] = {"type": inner_json_type} - else: - # 不是标准的嵌套类型,默认为字符串 - prop_schema["type"] = "string" - else: - # 处理非嵌套类型 - if param_type: - prop_schema["type"] = self._get_json_schema_type(param_type) - else: - # 如果没有类型信息,默认为字符串 - prop_schema["type"] = "string" - - # 设置默认值 - if param_default is not None: - prop_schema["default"] = param_default - - return prop_schema - - def _generate_status_types_schema(self, status_types: Dict[str, Any]) -> Dict[str, Any]: - """ - 根据状态类型生成JSON Schema - """ - status_schema = { - "type": "object", - "properties": {}, - "required": [], - } - for status_name, status_type in status_types.items(): - status_schema["properties"][status_name] = self._generate_schema_from_info( - status_name, status_type["return_type"], None + total_yaml = yaml_cache_hits + yaml_cache_misses + if upload_registry and total_yaml > 0: + logger.info( + f"[UniLab Registry] YAML 资源缓存: " + f"{yaml_cache_hits}/{total_yaml} 文件命中, " + f"{yaml_cache_misses} 重新加载" ) - status_schema["required"].append(status_name) - return status_schema - - def _generate_unilab_json_command_schema( - self, - method_args: List[Dict[str, Any]], - method_name: str, - return_annotation: Any = None, - previous_schema: Dict[str, Any] | None = None, - ) -> Dict[str, Any]: - """ - 根据UniLabJsonCommand方法信息生成JSON Schema,暂不支持嵌套类型 - - Args: - method_args: 方法信息字典,包含args等 - method_name: 方法名称 - return_annotation: 返回类型注解,用于生成result schema(仅支持TypedDict) - previous_schema: 之前的 schema,用于保留 goal/feedback/result 下一级字段的 description - - Returns: - JSON Schema格式的参数schema - """ - schema = { - "type": "object", - "properties": {}, - "required": [], - } - for arg_info in method_args: - param_name = arg_info.get("name", "") - param_type = arg_info.get("type", "") - param_default = arg_info.get("default") - param_required = arg_info.get("required", True) - if param_type == "unilabos.registry.placeholder_type:ResourceSlot": - schema["properties"][param_name] = ros_message_to_json_schema(Resource, param_name) - elif param_type == ("list", "unilabos.registry.placeholder_type:ResourceSlot"): - schema["properties"][param_name] = { - "items": ros_message_to_json_schema(Resource, param_name), - "type": "array", - } - else: - schema["properties"][param_name] = self._generate_schema_from_info( - param_name, param_type, param_default - ) - if param_required: - schema["required"].append(param_name) - - # 生成result schema(仅当return_annotation是TypedDict时) - result_schema = {} - if return_annotation is not None and self._is_typed_dict(return_annotation): - result_schema = self._generate_typed_dict_result_schema(return_annotation) - - final_schema = { - "title": f"{method_name}参数", - "description": f"", - "type": "object", - "properties": {"goal": schema, "feedback": {}, "result": result_schema}, - "required": ["goal"], - } - - # 保留之前 schema 中 goal/feedback/result 下一级字段的 description - if previous_schema: - self._preserve_field_descriptions(final_schema, previous_schema) - - return final_schema - - 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 - - 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 _is_typed_dict(self, annotation: Any) -> bool: - """ - 检查类型注解是否是TypedDict - - Args: - annotation: 类型注解对象 - - Returns: - 是否为TypedDict - """ - if annotation is None or annotation == inspect.Parameter.empty: - return False - - # 使用 typing_extensions.is_typeddict 进行检查(Python < 3.12 兼容) - try: - from typing_extensions import is_typeddict - - return is_typeddict(annotation) - except ImportError: - # 回退方案:检查 TypedDict 特有的属性 - if isinstance(annotation, type): - return hasattr(annotation, "__required_keys__") and hasattr(annotation, "__optional_keys__") - return False - - def _generate_typed_dict_result_schema(self, return_annotation: Any) -> Dict[str, Any]: - """ - 根据TypedDict类型生成result的JSON Schema - - Args: - return_annotation: TypedDict类型注解 - - Returns: - JSON Schema格式的result schema - """ - if not self._is_typed_dict(return_annotation): - return {} - - try: - from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance - - result_schema = TypedDictMessageInstance.get_json_schema_from_typed_dict(return_annotation) - return result_schema - except ImportError: - logger.warning("[UniLab Registry] msgcenterpy未安装,无法生成TypedDict的result schema") - return {} - except Exception as e: - logger.warning(f"[UniLab Registry] 生成TypedDict result schema失败: {e}") - return {} - - def _add_builtin_actions(self, device_config: Dict[str, Any], device_id: str): - """ - 为设备配置添加内置的执行驱动命令动作 - - Args: - device_config: 设备配置字典 - device_id: 设备ID - """ - from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type - - if "class" not in device_config: - return - - if "action_value_mappings" not in device_config["class"]: - device_config["class"]["action_value_mappings"] = {} - - for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]: - device_config["class"]["action_value_mappings"][additional_action] = { - "type": self._replace_type_with_class("StrSingleInput", device_id, f"动作 {additional_action}"), - "goal": {"string": "string"}, - "feedback": {}, - "result": {}, - "schema": ros_action_to_json_schema( - self._replace_type_with_class("StrSingleInput", device_id, f"动作 {additional_action}") - ), - "goal_default": yaml.safe_load( - io.StringIO( - get_yaml_from_goal_type( - self._replace_type_with_class( - "StrSingleInput", device_id, f"动作 {additional_action}" - ).Goal - ) - ) - ), - "handles": {}, - } def _load_single_device_file( - self, file: Path, complete_registry: bool, get_yaml_from_goal_type + self, file: Path, complete_registry: bool ) -> Tuple[Dict[str, Any], Dict[str, Any], bool, List[str]]: """ 加载单个设备文件 (线程安全) @@ -736,7 +1716,12 @@ class Registry: status_str_type_mapping = {} device_ids = [] + skip_ids = set() for device_id, device_config in data.items(): + if not isinstance(device_config, dict): + continue + + # 补全默认字段 if "version" not in device_config: device_config["version"] = "1.0.0" if "category" not in device_config: @@ -753,7 +1738,18 @@ class Registry: device_config["handles"] = [] if "init_param_schema" not in device_config: device_config["init_param_schema"] = {} + if "class" in device_config: + # --- AST 已有该设备 → 跳过,提示冗余 --- + if self.device_type_registry.get(device_id): + logger.warning( + f"[UniLab Registry] 设备 '{device_id}' 已由 AST 扫描注册," + f"YAML 定义冗余,跳过 YAML 处理" + ) + skip_ids.add(device_id) + continue + + # --- 正常 YAML 处理 --- if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None: device_config["class"]["status_types"] = {} if ( @@ -761,15 +1757,21 @@ class Registry: or device_config["class"]["action_value_mappings"] is None ): device_config["class"]["action_value_mappings"] = {} + enhanced_info = {} + enhanced_import_map: Dict[str, str] = {} if complete_registry: + original_status_keys = set(device_config["class"]["status_types"].keys()) 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): + enhanced_info = get_enhanced_class_info(device_config["class"]["module"]) + if not enhanced_info.get("ast_analysis_success", False): continue - device_config["class"]["status_types"].update( - {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()} - ) + enhanced_import_map = enhanced_info.get("import_map", {}) + for st_k, st_v in enhanced_info["status_methods"].items(): + if st_k in original_status_keys: + device_config["class"]["status_types"][st_k] = st_v["return_type"] + + # --- status_types: 字符串 → class 映射 --- 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" @@ -782,68 +1784,140 @@ class Registry: 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 + old_action_configs = dict(device_config["class"]["action_value_mappings"]) 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"), - ] - }, - **({"always_free": True} if v.get("always_free") else {}), - } - 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"] - ) + for k, v in enhanced_info["action_methods"].items(): + if k in device_config["class"]["action_value_mappings"]: + action_key = k + elif k.startswith("get_"): + continue + else: + action_key = f"auto-{k}" + goal_schema = self._generate_unilab_json_command_schema( + v["args"], import_map=enhanced_import_map + ) + ret_type = v.get("return_type", "") + result_schema = None + if ret_type and ret_type not in ("None", "Any", ""): + result_schema = self._generate_schema_from_info( + "result", ret_type, None, import_map=enhanced_import_map + ) + old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {}) + new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema) + old_schema = old_cfg.get("schema", {}) + if old_schema: + preserve_field_descriptions(new_schema, old_schema) + if "description" in old_schema: + new_schema["description"] = old_schema["description"] + new_schema.setdefault("description", "") + old_type = old_cfg.get("type", "") + entry_goal = old_cfg.get("goal", {}) + entry_feedback = {} + entry_result = {} + entry_schema = new_schema + entry_goal_default = {i["name"]: i.get("default") for i in v["args"]} + + if old_type and not old_type.startswith("UniLabJsonCommand"): + entry_type = old_type + try: + action_type_obj = self._replace_type_with_class( + old_type, device_id, f"动作 {action_key}" + ) + except ROSMsgNotFound: + action_type_obj = None + if action_type_obj is not None and not isinstance(action_type_obj, str): + real_params = [p for p in v["args"]] + ros_goal = {p["name"]: p["name"] for p in real_params} + try: + if hasattr(action_type_obj, "Goal"): + goal_fields = action_type_obj.Goal.get_fields_and_field_types() + ros2_goal = {f: f for f in goal_fields} + ros2_goal.update(ros_goal) + entry_goal = ros2_goal + except Exception: + pass + try: + if hasattr(action_type_obj, "Feedback"): + fb_fields = action_type_obj.Feedback.get_fields_and_field_types() + entry_feedback = {f: f for f in fb_fields} + except Exception: + pass + try: + if hasattr(action_type_obj, "Result"): + res_fields = action_type_obj.Result.get_fields_and_field_types() + entry_result = {f: f for f in res_fields} + except Exception: + pass + try: + entry_schema = ros_action_to_json_schema(action_type_obj) + if old_schema: + preserve_field_descriptions(entry_schema, old_schema) + if "description" in old_schema: + entry_schema["description"] = old_schema["description"] + entry_schema.setdefault("description", "") + except Exception: + pass + try: + entry_goal_default = ROS2MessageInstance( + action_type_obj.Goal() + ).get_python_dict() + except Exception: + entry_goal_default = old_cfg.get("goal_default", {}) + else: + entry_type = "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand" + + merged_pk = dict(old_cfg.get("placeholder_keys", {})) + merged_pk.update(detect_placeholder_keys(v["args"])) + + entry = { + "type": entry_type, + "goal": entry_goal, + "feedback": entry_feedback, + "result": entry_result, + "schema": entry_schema, + "goal_default": entry_goal_default, + "handles": old_cfg.get("handles", []), + "placeholder_keys": merged_pk, + } + if v.get("always_free"): + entry["always_free"] = True + old_node_type = old_cfg.get("node_type") + if old_node_type in [NodeType.ILAB.value, NodeType.MANUAL_CONFIRM.value]: + entry["node_type"] = old_node_type + device_config["class"]["action_value_mappings"][action_key] = entry + + device_config["init_param_schema"] = {} + init_schema = self._generate_unilab_json_command_schema( + enhanced_info["init_params"], "__init__", + import_map=enhanced_import_map, + ) + device_config["init_param_schema"]["config"] = init_schema + + data_schema: Dict[str, Any] = { + "type": "object", + "properties": {}, + "required": [], + } + for st_name in device_config["class"]["status_types"]: + st_type_str = device_config["class"]["status_types"][st_name] + if isinstance(st_type_str, str): + data_schema["properties"][st_name] = self._generate_schema_from_info( + st_name, st_type_str, None, import_map=enhanced_import_map + ) + else: + data_schema["properties"][st_name] = {"type": "string"} + data_schema["required"].append(st_name) + device_config["init_param_schema"]["data"] = data_schema + + # --- action_value_mappings: 处理非 UniLabJsonCommand 类型 --- device_config.pop("schema", None) device_config["class"]["action_value_mappings"] = dict( sorted(device_config["class"]["action_value_mappings"].items()) @@ -868,37 +1942,82 @@ class Registry: 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)) - ) + try: + action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict() + except Exception: + action_config["goal_default"] = {} + prev_schema = action_config.get("schema", {}) action_config["schema"] = ros_action_to_json_schema(target_type) + if prev_schema: + preserve_field_descriptions(action_config["schema"], prev_schema) + if "description" in prev_schema: + action_config["schema"]["description"] = prev_schema["description"] + action_config["schema"].setdefault("description", "") else: logger.warning( f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空,跳过替换" ) + + # deepcopy 保存可序列化的 complete_data(此时 type 字段仍为字符串) + device_config["file_path"] = str(file.absolute()).replace("\\", "/") + device_config["registry_type"] = "device" complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items()))) + + # 之后才把 type 字符串替换为 class 对象(仅用于运行时 data) 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] + if status_type in status_str_type_mapping: + 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"]] + if action_config.get("type") in action_str_type_mapping: + 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) + for did in skip_ids: + data.pop(did, None) + 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}") + if complete_registry: + write_data = copy.deepcopy(complete_data) + for dev_id, dev_cfg in write_data.items(): + dev_cfg.pop("file_path", None) + dev_cfg.pop("registry_type", None) + try: + with open(file, "w", encoding="utf-8") as f: + yaml.dump(write_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): + def _rebuild_device_runtime_data(self, complete_data: Dict[str, Any]) -> Dict[str, Any]: + """从 complete_data(纯字符串)重建运行时数据(type 字段替换为 class 对象)。""" + data = copy.deepcopy(complete_data) + for device_id, device_config in data.items(): + if "class" not in device_config: + continue + # status_types: str → class + for st_name, st_type in device_config["class"].get("status_types", {}).items(): + if isinstance(st_type, str): + device_config["class"]["status_types"][st_name] = self._replace_type_with_class( + st_type, device_id, f"状态 {st_name}" + ) + # action type: str → class (non-UniLabJsonCommand only) + for _act_name, act_cfg in device_config["class"].get("action_value_mappings", {}).items(): + t_ref = act_cfg.get("type", "") + if isinstance(t_ref, str) and t_ref and not t_ref.startswith("UniLabJsonCommand"): + resolved = self._replace_type_with_class(t_ref, device_id, f"动作 {_act_name}") + if resolved: + act_cfg["type"] = resolved + self._add_builtin_actions(device_config, device_id) + return data + + def load_device_types(self, path: os.PathLike, complete_registry: bool = False): + import hashlib as _hl + t0 = time.time() abs_path = Path(path).absolute() devices_path = abs_path / "devices" device_comms_path = abs_path / "device_comms" @@ -911,44 +2030,80 @@ class Registry: if not files: return - from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type + config_cache = self._load_config_cache() + yaml_dev_cache: dict = config_cache.get("_yaml_devices", {}) + cache_hits = 0 + uncached_files: list[Path] = [] - # 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 future in as_completed(future_to_file): - file = future_to_file[future] + if complete_registry: + uncached_files = files + else: + for file in files: + file_key = str(file.absolute()).replace("\\", "/") try: - data, complete_data, is_valid, device_ids = future.result() - if is_valid: - results.append((file, data, device_ids)) - except Exception as e: - traceback.print_exc() - logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}") + yaml_md5 = _hl.md5(file.read_bytes()).hexdigest() + except OSError: + uncached_files.append(file) + continue + cached = yaml_dev_cache.get(file_key) + if cached and cached.get("yaml_md5") == yaml_md5 and cached.get("entries"): + complete_data = cached["entries"] + # 过滤掉 AST 已有的设备 + complete_data = { + did: cfg for did, cfg in complete_data.items() + if not self.device_type_registry.get(did) + } + runtime_data = self._rebuild_device_runtime_data(complete_data) + self.device_type_registry.update(runtime_data) + cache_hits += 1 + continue + uncached_files.append(file) - # 线程安全地更新注册表 - current_device_number = len(self.device_type_registry) + 1 - with self._registry_lock: - for file, data, device_ids in results: - self.device_type_registry.update(data) - for device_id in device_ids: - logger.trace( - f"[UniLab Registry] Device-{current_device_number} Add {device_id} " - + f"[{data[device_id].get('name', '未命名设备')}]" - ) - current_device_number += 1 + executor = self._startup_executor + future_to_file = { + executor.submit( + self._load_single_device_file, file, complete_registry + ): file + for file in uncached_files + } - # 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()}") + 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: + runtime_data = {did: data[did] for did in device_ids if did in data} + self.device_type_registry.update(runtime_data) + # 写入缓存 + file_key = str(file.absolute()).replace("\\", "/") + try: + yaml_md5 = _hl.md5(file.read_bytes()).hexdigest() + yaml_dev_cache[file_key] = { + "yaml_md5": yaml_md5, + "entries": _complete_data, + } + except OSError: + pass + except Exception as e: + logger.warning(f"[UniLab Registry] 加载设备文件失败: {file}, 错误: {e}") + + if uncached_files and yaml_dev_cache: + latest_cache = self._load_config_cache() + latest_cache["_yaml_devices"] = yaml_dev_cache + self._save_config_cache(latest_cache) + + total = len(files) + extra = " (complete_registry 跳过缓存)" if complete_registry else "" + logger.info( + f"[UniLab Registry] YAML 设备加载: " + f"{cache_hits}/{total} 缓存命中, " + f"{len(uncached_files)} 重新加载 " + f"(耗时 {time.time() - t0:.2f}s){extra}" + ) + + # ------------------------------------------------------------------ + # 注册表信息输出 + # ------------------------------------------------------------------ def obtain_registry_device_info(self): devices = [] @@ -956,7 +2111,6 @@ class Registry: device_info_copy = copy.deepcopy(device_info) if "class" in device_info_copy and "action_value_mappings" in device_info_copy["class"]: action_mappings = device_info_copy["class"]["action_value_mappings"] - # 过滤掉内置的驱动命令动作 builtin_actions = ["_execute_driver_command", "_execute_driver_command_async"] filtered_action_mappings = { action_name: action_config @@ -966,6 +2120,9 @@ class Registry: device_info_copy["class"]["action_value_mappings"] = filtered_action_mappings for action_name, action_config in filtered_action_mappings.items(): + type_obj = action_config.get("type") + if hasattr(type_obj, "__name__"): + action_config["type"] = type_obj.__name__ if "schema" in action_config and action_config["schema"]: schema = action_config["schema"] # 确保schema结构存在 @@ -989,6 +2146,10 @@ class Registry: action_config["schema"]["properties"]["goal"]["_unilabos_placeholder_info"] = action_config[ "placeholder_keys" ] + status_types = device_info_copy["class"].get("status_types", {}) + for status_name, status_type in status_types.items(): + if hasattr(status_type, "__name__"): + status_types[status_name] = status_type.__name__ msg = {"id": device_id, **device_info_copy} devices.append(msg) @@ -1001,35 +2162,76 @@ class Registry: resources.append(msg) return resources + def get_yaml_output(self, device_id: str) -> str: + """将指定设备的注册表条目导出为 YAML 字符串。""" + entry = self.device_type_registry.get(device_id) + if not entry: + return "" + + entry = copy.deepcopy(entry) + + if "class" in entry: + status_types = entry["class"].get("status_types", {}) + for name, type_obj in status_types.items(): + if hasattr(type_obj, "__name__"): + status_types[name] = type_obj.__name__ + + for action_name, action_config in entry["class"].get("action_value_mappings", {}).items(): + type_obj = action_config.get("type") + if hasattr(type_obj, "__name__"): + action_config["type"] = type_obj.__name__ + + entry.pop("registry_type", None) + entry.pop("file_path", None) + + if "class" in entry and "action_value_mappings" in entry["class"]: + entry["class"]["action_value_mappings"] = { + k: v + for k, v in entry["class"]["action_value_mappings"].items() + if not k.startswith("_execute_driver_command") + } + + return yaml.dump( + {device_id: entry}, + allow_unicode=True, + default_flow_style=False, + Dumper=NoAliasDumper, + ) + + +# --------------------------------------------------------------------------- +# 全局单例实例 & 构建入口 +# --------------------------------------------------------------------------- -# 全局单例实例 lab_registry = Registry() -def build_registry(registry_paths=None, complete_registry=False, upload_registry=False): +def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False): """ 构建或获取Registry单例实例 - - Args: - registry_paths: 额外的注册表路径列表 - - Returns: - Registry实例 """ logger.info("[UniLab Registry] 构建注册表实例") - # 由于使用了单例,这里不需要重新创建实例 global lab_registry - # 如果有额外路径,添加到registry_paths if registry_paths: current_paths = lab_registry.registry_paths.copy() - # 检查是否有新路径需要添加 for path in registry_paths: if path not in current_paths: lab_registry.registry_paths.append(path) - # 初始化注册表 - lab_registry.setup(complete_registry, upload_registry) + lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only) + + # 将 AST 扫描的字符串类型替换为实际 ROS2 消息类(仅查找 ROS2 类型,不 import 设备模块) + lab_registry.resolve_all_types() + + if check_mode: + lab_registry.verify_and_resolve_registry() + + # noinspection PyProtectedMember + if lab_registry._startup_executor is not None: + # noinspection PyProtectedMember + lab_registry._startup_executor.shutdown(wait=False) + lab_registry._startup_executor = None return lab_registry diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml new file mode 100644 index 00000000..19917372 --- /dev/null +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -0,0 +1,85 @@ +YB_20ml_fenyeping: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping + type: pylabrobot + description: YB_20ml_fenyeping + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_5ml_fenyeping: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping + type: pylabrobot + description: YB_5ml_fenyeping + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_jia_yang_tou_da: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da + type: pylabrobot + description: YB_jia_yang_tou_da + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_pei_ye_da_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle + type: pylabrobot + description: YB_pei_ye_da_Bottle + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_pei_ye_xiao_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle + type: pylabrobot + description: YB_pei_ye_xiao_Bottle + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_qiang_tou: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou + type: pylabrobot + description: YB_qiang_tou + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_ye_Bottle: + category: + - yb3 + - YB_bottle_carriers + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle + type: pylabrobot + description: YB_ye_Bottle + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml new file mode 100644 index 00000000..76b6b938 --- /dev/null +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -0,0 +1,168 @@ +YB_100ml_yeti: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti + type: pylabrobot + description: YB_100ml_yeti + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_20ml_fenyepingban: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban + type: pylabrobot + description: YB_20ml_fenyepingban + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_5ml_fenyepingban: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_5ml_fenyepingban + type: pylabrobot + description: YB_5ml_fenyepingban + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_6StockCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier + type: pylabrobot + description: YB_6StockCarrier + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_6VialCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier + type: pylabrobot + description: YB_6VialCarrier + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_gao_nian_ye_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle + type: pylabrobot + description: YB_gao_nian_ye_Bottle + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_gaonianye: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye + type: pylabrobot + description: YB_gaonianye + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_jia_yang_tou_da_Carrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier + type: pylabrobot + description: YB_jia_yang_tou_da_Carrier + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_peiyepingdaban: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban + type: pylabrobot + description: YB_peiyepingdaban + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_peiyepingxiaoban: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban + type: pylabrobot + description: YB_peiyepingxiaoban + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_qiang_tou_he: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he + type: pylabrobot + description: YB_qiang_tou_he + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_shi_pei_qi_kuai: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai + type: pylabrobot + description: YB_shi_pei_qi_kuai + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_ye: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye + type: pylabrobot + description: YB_ye_Bottle_Carrier + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +YB_ye_100ml_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle + type: pylabrobot + description: YB_ye_100ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/bottle_carriers.yaml b/unilabos/registry/resources/bioyond/bottle_carriers.yaml index 764a8aa5..f72cc10d 100644 --- a/unilabos/registry/resources/bioyond/bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/bottle_carriers.yaml @@ -8,7 +8,6 @@ BIOYOND_PolymerStation_1BottleCarrier: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 BIOYOND_PolymerStation_1FlaskCarrier: category: @@ -20,7 +19,6 @@ BIOYOND_PolymerStation_1FlaskCarrier: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 BIOYOND_PolymerStation_6StockCarrier: category: @@ -32,7 +30,6 @@ BIOYOND_PolymerStation_6StockCarrier: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 BIOYOND_PolymerStation_8StockCarrier: category: @@ -44,5 +41,4 @@ BIOYOND_PolymerStation_8StockCarrier: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index bc158508..5770a2d1 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -8,7 +8,6 @@ BIOYOND_PolymerPreparationStation_Deck: handles: [] icon: 配液站.webp init_param_schema: {} - registry_type: resource version: 1.0.0 BIOYOND_PolymerReactionStation_Deck: category: @@ -20,17 +19,26 @@ BIOYOND_PolymerReactionStation_Deck: handles: [] icon: 反应站.webp init_param_schema: {} - registry_type: resource version: 1.0.0 -YB_Deck11: +BIOYOND_YB_Deck: category: - deck class: module: unilabos.resources.bioyond.decks:YB_Deck type: pylabrobot - description: BIOYOND PolymerReactionStation Deck + description: BIOYOND ElectrolyteFormulationStation Deck handles: [] icon: 配液站.webp init_param_schema: {} - registry_type: resource + version: 1.0.0 +CoincellDeck: + category: + - deck + class: + module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck + type: pylabrobot + description: YIHUA CoinCellAssembly Deck + handles: [] + icon: koudian.webp + init_param_schema: {} version: 1.0.0 diff --git a/unilabos/registry/resources/common/resource_container.yaml b/unilabos/registry/resources/common/resource_container.yaml index 48dcab59..3f0aa9d2 100644 --- a/unilabos/registry/resources/common/resource_container.yaml +++ b/unilabos/registry/resources/common/resource_container.yaml @@ -1,24 +1,3 @@ -disposal: - category: - - disposal - - waste - - resource_container - class: - module: unilabos.resources.disposal:Disposal - type: unilabos - description: 废料处理位置,用于处理实验废料 - handles: - - data_key: disposal_access - data_source: handle - data_type: fluid - handler_key: access - io_type: target - label: access - side: NORTH - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 hplc_plate: category: - resource_container @@ -40,56 +19,6 @@ hplc_plate: - 3.1416 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro type: resource - registry_type: resource - version: 1.0.0 -maintenance: - category: - - maintenance - - position - - resource_container - class: - module: unilabos.resources.maintenance:Maintenance - type: unilabos - description: 维护位置,用于设备维护和校准 - handles: - - data_key: maintenance_access - data_source: handle - data_type: mechanical - handler_key: access - io_type: target - label: access - side: NORTH - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -plate: - category: - - plate - - labware - - resource_container - class: - module: unilabos.resources.plate:Plate - type: unilabos - description: 实验板,用于放置样品和试剂 - handles: - - data_key: plate_access - data_source: handle - data_type: mechanical - handler_key: access - io_type: target - label: access - side: NORTH - - data_key: sample_wells - data_source: handle - data_type: fluid - handler_key: wells - io_type: target - label: wells - side: CENTER - icon: '' - init_param_schema: {} - registry_type: resource version: 1.0.0 plate_96: category: @@ -112,7 +41,6 @@ plate_96: - 0 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro type: resource - registry_type: resource version: 1.0.0 plate_96_high: category: @@ -135,35 +63,6 @@ plate_96_high: - 1.5708 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro type: resource - registry_type: resource - version: 1.0.0 -tip_rack: - category: - - tip_rack - - labware - - resource_container - class: - module: unilabos.resources.tip_rack:TipRack - type: unilabos - description: 枪头架资源,用于存放和管理移液器枪头 - handles: - - data_key: tip_access - data_source: handle - data_type: mechanical - handler_key: access - io_type: target - label: access - side: NORTH - - data_key: tip_pickup - data_source: handle - data_type: mechanical - handler_key: pickup - io_type: target - label: pickup - side: SOUTH - icon: '' - init_param_schema: {} - registry_type: resource version: 1.0.0 tiprack_96_high: category: @@ -195,7 +94,6 @@ tiprack_96_high: - 1.5708 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro type: resource - registry_type: resource version: 1.0.0 tiprack_box: category: @@ -227,5 +125,4 @@ tiprack_box: - 0 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro type: resource - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/laiyu/container.yaml b/unilabos/registry/resources/laiyu/container.yaml index 1652956e..586e3cfe 100644 --- a/unilabos/registry/resources/laiyu/container.yaml +++ b/unilabos/registry/resources/laiyu/container.yaml @@ -29,7 +29,6 @@ bottle_container: - 0 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro type: resource - registry_type: resource version: 1.0.0 tube_container: category: @@ -62,5 +61,4 @@ tube_container: - 0 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro type: resource - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/laiyu/deck.yaml b/unilabos/registry/resources/laiyu/deck.yaml index e6d930a5..85da0ca7 100644 --- a/unilabos/registry/resources/laiyu/deck.yaml +++ b/unilabos/registry/resources/laiyu/deck.yaml @@ -12,5 +12,4 @@ TransformXYZDeck: mesh: liquid_transform_xyz path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro type: device - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/opentrons/deck.yaml b/unilabos/registry/resources/opentrons/deck.yaml index 8fa35ee5..10e91cef 100644 --- a/unilabos/registry/resources/opentrons/deck.yaml +++ b/unilabos/registry/resources/opentrons/deck.yaml @@ -12,7 +12,6 @@ OTDeck: mesh: opentrons_liquid_handler path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro type: device - registry_type: resource version: 1.0.0 hplc_station: category: @@ -28,5 +27,4 @@ hplc_station: mesh: hplc_station path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro type: device - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/opentrons/plate_adapters.yaml b/unilabos/registry/resources/opentrons/plate_adapters.yaml index d2942d46..d09bf784 100644 --- a/unilabos/registry/resources/opentrons/plate_adapters.yaml +++ b/unilabos/registry/resources/opentrons/plate_adapters.yaml @@ -8,5 +8,4 @@ Opentrons_96_adapter_Vb: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/opentrons/plates.yaml b/unilabos/registry/resources/opentrons/plates.yaml index 02267ae0..20a71995 100644 --- a/unilabos/registry/resources/opentrons/plates.yaml +++ b/unilabos/registry/resources/opentrons/plates.yaml @@ -8,7 +8,6 @@ appliedbiosystemsmicroamp_384_wellplate_40ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 biorad_384_wellplate_50ul: category: @@ -20,7 +19,6 @@ biorad_384_wellplate_50ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 biorad_96_wellplate_200ul_pcr: category: @@ -32,7 +30,6 @@ biorad_96_wellplate_200ul_pcr: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 corning_12_wellplate_6point9ml_flat: category: @@ -44,7 +41,6 @@ corning_12_wellplate_6point9ml_flat: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 corning_24_wellplate_3point4ml_flat: category: @@ -56,7 +52,6 @@ corning_24_wellplate_3point4ml_flat: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 corning_384_wellplate_112ul_flat: category: @@ -68,7 +63,6 @@ corning_384_wellplate_112ul_flat: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 corning_48_wellplate_1point6ml_flat: category: @@ -80,7 +74,6 @@ corning_48_wellplate_1point6ml_flat: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 corning_6_wellplate_16point8ml_flat: category: @@ -92,7 +85,6 @@ corning_6_wellplate_16point8ml_flat: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 corning_96_wellplate_360ul_flat: category: @@ -104,7 +96,6 @@ corning_96_wellplate_360ul_flat: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 nest_96_wellplate_100ul_pcr_full_skirt: category: @@ -136,7 +127,6 @@ nest_96_wellplate_100ul_pcr_full_skirt: - 1.5708 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro type: resource - registry_type: resource version: 1.0.0 nest_96_wellplate_200ul_flat: category: @@ -148,7 +138,6 @@ nest_96_wellplate_200ul_flat: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 nest_96_wellplate_2ml_deep: category: @@ -171,7 +160,6 @@ nest_96_wellplate_2ml_deep: - 1.5708 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro type: resource - registry_type: resource version: 1.0.0 thermoscientificnunc_96_wellplate_1300ul: category: @@ -183,7 +171,6 @@ thermoscientificnunc_96_wellplate_1300ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 thermoscientificnunc_96_wellplate_2000ul: category: @@ -195,7 +182,6 @@ thermoscientificnunc_96_wellplate_2000ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 usascientific_96_wellplate_2point4ml_deep: category: @@ -207,5 +193,4 @@ usascientific_96_wellplate_2point4ml_deep: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/opentrons/reservoirs.yaml b/unilabos/registry/resources/opentrons/reservoirs.yaml index b2f7857b..6b2033d9 100644 --- a/unilabos/registry/resources/opentrons/reservoirs.yaml +++ b/unilabos/registry/resources/opentrons/reservoirs.yaml @@ -8,7 +8,6 @@ agilent_1_reservoir_290ml: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 axygen_1_reservoir_90ml: category: @@ -20,7 +19,6 @@ axygen_1_reservoir_90ml: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 nest_12_reservoir_15ml: category: @@ -32,7 +30,6 @@ nest_12_reservoir_15ml: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 nest_1_reservoir_195ml: category: @@ -44,7 +41,6 @@ nest_1_reservoir_195ml: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 nest_1_reservoir_290ml: category: @@ -56,7 +52,6 @@ nest_1_reservoir_290ml: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 usascientific_12_reservoir_22ml: category: @@ -68,5 +63,4 @@ usascientific_12_reservoir_22ml: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/opentrons/tip_racks.yaml b/unilabos/registry/resources/opentrons/tip_racks.yaml index cbc7d6f1..d1682b2a 100644 --- a/unilabos/registry/resources/opentrons/tip_racks.yaml +++ b/unilabos/registry/resources/opentrons/tip_racks.yaml @@ -8,7 +8,6 @@ eppendorf_96_tiprack_1000ul_eptips: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 eppendorf_96_tiprack_10ul_eptips: category: @@ -20,7 +19,6 @@ eppendorf_96_tiprack_10ul_eptips: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 geb_96_tiprack_1000ul: category: @@ -32,7 +30,6 @@ geb_96_tiprack_1000ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 geb_96_tiprack_10ul: category: @@ -44,7 +41,6 @@ geb_96_tiprack_10ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_96_filtertiprack_1000ul: category: @@ -75,7 +71,6 @@ opentrons_96_filtertiprack_1000ul: - 1.5708 path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro type: resource - registry_type: resource version: 1.0.0 opentrons_96_filtertiprack_10ul: category: @@ -87,7 +82,6 @@ opentrons_96_filtertiprack_10ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_96_filtertiprack_200ul: category: @@ -99,7 +93,6 @@ opentrons_96_filtertiprack_200ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_96_filtertiprack_20ul: category: @@ -111,7 +104,6 @@ opentrons_96_filtertiprack_20ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_96_tiprack_1000ul: category: @@ -123,7 +115,6 @@ opentrons_96_tiprack_1000ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_96_tiprack_10ul: category: @@ -135,7 +126,6 @@ opentrons_96_tiprack_10ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_96_tiprack_20ul: category: @@ -147,7 +137,6 @@ opentrons_96_tiprack_20ul: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_96_tiprack_300ul: category: diff --git a/unilabos/registry/resources/opentrons/tube_racks.yaml b/unilabos/registry/resources/opentrons/tube_racks.yaml index 32bf3e36..33ec5dc9 100644 --- a/unilabos/registry/resources/opentrons/tube_racks.yaml +++ b/unilabos/registry/resources/opentrons/tube_racks.yaml @@ -8,7 +8,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic: category: @@ -20,7 +19,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_10_tuberack_nest_4x50ml_6x15ml_conical: category: @@ -32,7 +30,6 @@ opentrons_10_tuberack_nest_4x50ml_6x15ml_conical: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_15_tuberack_falcon_15ml_conical: category: @@ -44,7 +41,6 @@ opentrons_15_tuberack_falcon_15ml_conical: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_15_tuberack_nest_15ml_conical: category: @@ -56,7 +52,6 @@ opentrons_15_tuberack_nest_15ml_conical: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_aluminumblock_generic_2ml_screwcap: category: @@ -68,7 +63,6 @@ opentrons_24_aluminumblock_generic_2ml_screwcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_aluminumblock_nest_1point5ml_snapcap: category: @@ -80,7 +74,6 @@ opentrons_24_aluminumblock_nest_1point5ml_snapcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap: category: @@ -92,7 +85,6 @@ opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap: category: @@ -104,7 +96,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic: category: @@ -116,7 +107,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic: category: @@ -128,7 +118,6 @@ opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_generic_2ml_screwcap: category: @@ -140,7 +129,6 @@ opentrons_24_tuberack_generic_2ml_screwcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_nest_0point5ml_screwcap: category: @@ -152,7 +140,6 @@ opentrons_24_tuberack_nest_0point5ml_screwcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_nest_1point5ml_screwcap: category: @@ -164,7 +151,6 @@ opentrons_24_tuberack_nest_1point5ml_screwcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_nest_1point5ml_snapcap: category: @@ -176,7 +162,6 @@ opentrons_24_tuberack_nest_1point5ml_snapcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_nest_2ml_screwcap: category: @@ -188,7 +173,6 @@ opentrons_24_tuberack_nest_2ml_screwcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_24_tuberack_nest_2ml_snapcap: category: @@ -200,7 +184,6 @@ opentrons_24_tuberack_nest_2ml_snapcap: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_6_tuberack_falcon_50ml_conical: category: @@ -212,7 +195,6 @@ opentrons_6_tuberack_falcon_50ml_conical: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_6_tuberack_nest_50ml_conical: category: @@ -224,7 +206,6 @@ opentrons_6_tuberack_nest_50ml_conical: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 opentrons_96_well_aluminum_block: category: @@ -236,5 +217,4 @@ opentrons_96_well_aluminum_block: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/organic/container.yaml b/unilabos/registry/resources/organic/container.yaml index a8fb9b6c..240cdf79 100644 --- a/unilabos/registry/resources/organic/container.yaml +++ b/unilabos/registry/resources/organic/container.yaml @@ -29,5 +29,4 @@ container: side: WEST icon: Flask.webp init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/post_process/bottle_carriers.yaml b/unilabos/registry/resources/post_process/bottle_carriers.yaml index ea30cb7d..45054311 100644 --- a/unilabos/registry/resources/post_process/bottle_carriers.yaml +++ b/unilabos/registry/resources/post_process/bottle_carriers.yaml @@ -8,7 +8,6 @@ POST_PROCESS_Raw_1BottleCarrier: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 POST_PROCESS_Reaction_1BottleCarrier: category: @@ -20,5 +19,4 @@ POST_PROCESS_Reaction_1BottleCarrier: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/post_process/deck.yaml b/unilabos/registry/resources/post_process/deck.yaml index 621cafc6..e5d4cc8d 100644 --- a/unilabos/registry/resources/post_process/deck.yaml +++ b/unilabos/registry/resources/post_process/deck.yaml @@ -9,5 +9,4 @@ post_process_deck: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/prcxi/plate_adapters.yaml b/unilabos/registry/resources/prcxi/plate_adapters.yaml index a769fee3..3e960f2e 100644 --- a/unilabos/registry/resources/prcxi/plate_adapters.yaml +++ b/unilabos/registry/resources/prcxi/plate_adapters.yaml @@ -9,7 +9,6 @@ PRCXI_30mm_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_Adapter: category: @@ -22,7 +21,6 @@ PRCXI_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_Deep10_Adapter: category: @@ -35,7 +33,6 @@ PRCXI_Deep10_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_Deep300_Adapter: category: @@ -48,7 +45,6 @@ PRCXI_Deep300_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_PCR_Adapter: category: @@ -61,7 +57,6 @@ PRCXI_PCR_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_Reservoir_Adapter: category: @@ -74,7 +69,6 @@ PRCXI_Reservoir_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_Tip10_Adapter: category: @@ -87,7 +81,6 @@ PRCXI_Tip10_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_Tip1250_Adapter: category: @@ -100,7 +93,6 @@ PRCXI_Tip1250_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_Tip300_Adapter: category: @@ -113,5 +105,4 @@ PRCXI_Tip300_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/prcxi/plates.yaml b/unilabos/registry/resources/prcxi/plates.yaml index 81e2ae96..b8527dbf 100644 --- a/unilabos/registry/resources/prcxi/plates.yaml +++ b/unilabos/registry/resources/prcxi/plates.yaml @@ -9,7 +9,6 @@ PRCXI_48_DeepWell: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_96_DeepWell: category: @@ -22,7 +21,6 @@ PRCXI_96_DeepWell: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_AGenBio_4_troughplate: category: @@ -35,7 +33,6 @@ PRCXI_AGenBio_4_troughplate: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_BioER_96_wellplate: category: @@ -48,7 +45,6 @@ PRCXI_BioER_96_wellplate: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_BioRad_384_wellplate: category: @@ -61,7 +57,6 @@ PRCXI_BioRad_384_wellplate: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_CellTreat_96_wellplate: category: @@ -74,7 +69,6 @@ PRCXI_CellTreat_96_wellplate: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_PCR_Plate_200uL_nonskirted: category: @@ -87,7 +81,6 @@ PRCXI_PCR_Plate_200uL_nonskirted: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_PCR_Plate_200uL_semiskirted: category: @@ -100,7 +93,6 @@ PRCXI_PCR_Plate_200uL_semiskirted: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_PCR_Plate_200uL_skirted: category: @@ -113,7 +105,6 @@ PRCXI_PCR_Plate_200uL_skirted: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_nest_12_troughplate: category: @@ -126,7 +117,6 @@ PRCXI_nest_12_troughplate: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_nest_1_troughplate: category: @@ -139,5 +129,4 @@ PRCXI_nest_1_troughplate: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/prcxi/tip_racks.yaml b/unilabos/registry/resources/prcxi/tip_racks.yaml index 56a16db8..f6d2e7f0 100644 --- a/unilabos/registry/resources/prcxi/tip_racks.yaml +++ b/unilabos/registry/resources/prcxi/tip_racks.yaml @@ -9,7 +9,6 @@ PRCXI_1000uL_Tips: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_10uL_Tips: category: @@ -22,7 +21,6 @@ PRCXI_10uL_Tips: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_10ul_eTips: category: @@ -35,7 +33,6 @@ PRCXI_10ul_eTips: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_1250uL_Tips: category: @@ -48,7 +45,6 @@ PRCXI_1250uL_Tips: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_200uL_Tips: category: @@ -61,7 +57,6 @@ PRCXI_200uL_Tips: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 PRCXI_300ul_Tips: category: @@ -74,5 +69,4 @@ PRCXI_300ul_Tips: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/prcxi/trash.yaml b/unilabos/registry/resources/prcxi/trash.yaml index f87a7624..952a832b 100644 --- a/unilabos/registry/resources/prcxi/trash.yaml +++ b/unilabos/registry/resources/prcxi/trash.yaml @@ -9,5 +9,4 @@ PRCXI_trash: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/resources/prcxi/tube_racks.yaml b/unilabos/registry/resources/prcxi/tube_racks.yaml index 0b1e07c6..6510c16c 100644 --- a/unilabos/registry/resources/prcxi/tube_racks.yaml +++ b/unilabos/registry/resources/prcxi/tube_racks.yaml @@ -9,5 +9,4 @@ PRCXI_EP_Adapter: handles: [] icon: '' init_param_schema: {} - registry_type: resource version: 1.0.0 diff --git a/unilabos/registry/utils.py b/unilabos/registry/utils.py new file mode 100644 index 00000000..eb342c5c --- /dev/null +++ b/unilabos/registry/utils.py @@ -0,0 +1,714 @@ +""" +注册表工具函数 + +从 registry.py 中提取的纯工具函数,包括: +- docstring 解析 +- 类型字符串 → JSON Schema 转换 +- AST 类型节点解析 +- TypedDict / Slot / Handle 等辅助检测 +""" + +import inspect +import logging +import re +import typing +from typing import Any, Dict, List, Optional, Tuple, Union + +from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance + +from unilabos.utils.cls_creator import import_class +from unilabos.registry.decorators import Side, DataSource, normalize_enum_value + +_logger = logging.getLogger(__name__) + + +# --------------------------------------------------------------------------- +# 异常 +# --------------------------------------------------------------------------- + + +class ROSMsgNotFound(Exception): + pass + + +# --------------------------------------------------------------------------- +# Docstring 解析 (Google-style) +# --------------------------------------------------------------------------- + +_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$") + + +def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]: + """ + 解析 Google-style docstring,提取描述和参数说明。 + + Returns: + {"description": "短描述", "params": {"param1": "参数1描述", ...}} + """ + result: Dict[str, Any] = {"description": "", "params": {}} + if not docstring: + return result + + lines = docstring.strip().splitlines() + if not lines: + return result + + result["description"] = lines[0].strip() + + in_args = False + current_param: Optional[str] = None + current_desc_parts: list = [] + + for line in lines[1:]: + stripped = line.strip() + section_match = _SECTION_RE.match(stripped) + if section_match: + if current_param is not None: + result["params"][current_param] = "\n".join(current_desc_parts).strip() + current_param = None + current_desc_parts = [] + section_name = section_match.group(1).lower() + in_args = section_name in ("args", "arguments", "parameters", "params") + continue + + if not in_args: + continue + + if ":" in stripped and not stripped.startswith(" "): + if current_param is not None: + result["params"][current_param] = "\n".join(current_desc_parts).strip() + param_part, _, desc_part = stripped.partition(":") + param_name = param_part.strip().split("(")[0].strip() + current_param = param_name + current_desc_parts = [desc_part.strip()] + elif current_param is not None: + aline = line + if aline.startswith(" "): + aline = aline[4:] + elif aline.startswith("\t"): + aline = aline[1:] + current_desc_parts.append(aline.strip()) + + if current_param is not None: + result["params"][current_param] = "\n".join(current_desc_parts).strip() + + return result + + +# --------------------------------------------------------------------------- +# 类型常量 +# --------------------------------------------------------------------------- + +SIMPLE_TYPE_MAP = { + "str": "string", + "string": "string", + "int": "integer", + "integer": "integer", + "float": "number", + "number": "number", + "bool": "boolean", + "boolean": "boolean", + "list": "array", + "array": "array", + "dict": "object", + "object": "object", +} + +ARRAY_TYPES = {"list", "List", "tuple", "Tuple", "set", "Set", "Sequence", "Iterable"} +OBJECT_TYPES = {"dict", "Dict", "Mapping"} +WRAPPER_TYPES = {"Optional"} +SLOT_TYPES = {"ResourceSlot", "DeviceSlot"} + + +# --------------------------------------------------------------------------- +# 简单类型映射 +# --------------------------------------------------------------------------- + + +def get_json_schema_type(type_str: str) -> str: + """简单类型名 -> JSON Schema type""" + return SIMPLE_TYPE_MAP.get(type_str.lower(), "string") + + +# --------------------------------------------------------------------------- +# AST 类型解析 +# --------------------------------------------------------------------------- + + +def parse_type_node(type_str: str): + """将类型注解字符串解析为 AST 节点,失败返回 None。""" + import ast as _ast + + try: + return _ast.parse(type_str.strip(), mode="eval").body + except Exception: + return None + + +def _collect_bitor(node, out: list): + """递归收集 X | Y | Z 的所有分支。""" + import ast as _ast + + if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr): + _collect_bitor(node.left, out) + _collect_bitor(node.right, out) + else: + out.append(node) + + +def type_node_to_schema( + node, + import_map: Optional[Dict[str, str]] = None, +) -> Dict[str, Any]: + """将 AST 类型注解节点递归转换为 JSON Schema dict。 + + 当提供 import_map 时,对于未知类名会尝试通过 import_map 解析模块路径, + 然后 import 真实类型对象来生成 schema (支持 TypedDict 等)。 + + 映射规则: + - Optional[X] → X 的 schema (剥掉 Optional) + - Union[X, Y] → {"anyOf": [X_schema, Y_schema]} + - List[X] / Tuple[X] / Set[X] → {"type": "array", "items": X_schema} + - Dict[K, V] → {"type": "object", "additionalProperties": V_schema} + - Literal["a", "b"] → {"type": "string", "enum": ["a", "b"]} + - TypedDict (via import_map) → {"type": "object", "properties": {...}} + - 基本类型 str/int/... → {"type": "string"/"integer"/...} + """ + import ast as _ast + + # --- Name 节点: str / int / dict / ResourceSlot / 自定义类 --- + if isinstance(node, _ast.Name): + name = node.id + if name in SLOT_TYPES: + return {"$slot": name} + json_type = SIMPLE_TYPE_MAP.get(name.lower()) + if json_type: + return {"type": json_type} + # 尝试通过 import_map 解析并 import 真实类型 + if import_map and name in import_map: + type_obj = resolve_type_object(import_map[name]) + if type_obj is not None: + return type_to_schema(type_obj) + # 未知类名 → 无法转 schema 的自定义类型默认当 object + return {"type": "object"} + + if isinstance(node, _ast.Constant): + if isinstance(node.value, str): + return {"type": SIMPLE_TYPE_MAP.get(node.value.lower(), "string")} + return {"type": "string"} + + # --- Subscript 节点: List[X], Dict[K,V], Optional[X], Literal[...] 等 --- + if isinstance(node, _ast.Subscript): + base_name = node.value.id if isinstance(node.value, _ast.Name) else "" + + # Optional[X] → 剥掉 + if base_name in WRAPPER_TYPES: + return type_node_to_schema(node.slice, import_map) + + # Union[X, None] → 剥掉 None; Union[X, Y] → anyOf + if base_name == "Union": + elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice] + non_none = [ + e + for e in elts + if not (isinstance(e, _ast.Constant) and e.value is None) + and not (isinstance(e, _ast.Name) and e.id == "None") + ] + if len(non_none) == 1: + return type_node_to_schema(non_none[0], import_map) + if len(non_none) > 1: + return {"anyOf": [type_node_to_schema(e, import_map) for e in non_none]} + return {"type": "string"} + + # Literal["a", "b", 1] → enum + if base_name == "Literal": + elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice] + values = [] + for e in elts: + if isinstance(e, _ast.Constant): + values.append(e.value) + elif isinstance(e, _ast.Name): + values.append(e.id) + if values: + return {"type": "string", "enum": values} + return {"type": "string"} + + # List / Tuple / Set → array + if base_name in ARRAY_TYPES: + if isinstance(node.slice, _ast.Tuple) and node.slice.elts: + inner_node = node.slice.elts[0] + else: + inner_node = node.slice + return {"type": "array", "items": type_node_to_schema(inner_node, import_map)} + + # Dict → object + if base_name in OBJECT_TYPES: + schema: Dict[str, Any] = {"type": "object"} + if isinstance(node.slice, _ast.Tuple) and len(node.slice.elts) >= 2: + val_node = node.slice.elts[1] + # Dict[str, Any] → 不加 additionalProperties (Any 等同于无约束) + is_any = (isinstance(val_node, _ast.Name) and val_node.id == "Any") or ( + isinstance(val_node, _ast.Constant) and val_node.value is None + ) + if not is_any: + val_schema = type_node_to_schema(val_node, import_map) + schema["additionalProperties"] = val_schema + return schema + + # --- BinOp: X | Y (Python 3.10+) → 当 Union 处理 --- + if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr): + parts: list = [] + _collect_bitor(node, parts) + non_none = [ + p + for p in parts + if not (isinstance(p, _ast.Constant) and p.value is None) + and not (isinstance(p, _ast.Name) and p.id == "None") + ] + if len(non_none) == 1: + return type_node_to_schema(non_none[0], import_map) + if len(non_none) > 1: + return {"anyOf": [type_node_to_schema(p, import_map) for p in non_none]} + return {"type": "string"} + + return {"type": "string"} + + +# --------------------------------------------------------------------------- +# 真实类型对象解析 (import-based) +# --------------------------------------------------------------------------- + + +def resolve_type_object(type_ref: str) -> Optional[Any]: + """通过 'module.path:ClassName' 格式的引用 import 并返回真实类型对象。 + + 对于 typing 内置名 (str, int, List 等) 直接返回 None (由 AST 路径处理)。 + import 失败时静默返回 None。 + """ + if ":" not in type_ref: + return None + try: + return import_class(type_ref) + except Exception: + return None + + +def is_typed_dict_class(obj: Any) -> bool: + """检查对象是否是 TypedDict 类。""" + if obj is None: + return False + try: + from typing_extensions import is_typeddict + + return is_typeddict(obj) + except ImportError: + if isinstance(obj, type): + return hasattr(obj, "__required_keys__") and hasattr(obj, "__optional_keys__") + return False + + +def type_to_schema(tp: Any) -> Dict[str, Any]: + """将真实 typing 对象递归转换为 JSON Schema dict。 + + 支持: + - 基本类型: str, int, float, bool → {"type": "string"/"integer"/...} + - typing 泛型: List[X], Dict[K,V], Optional[X], Union[X,Y], Literal[...] + - TypedDict → {"type": "object", "properties": {...}, "required": [...]} + - 自定义类 (ResourceSlot 等) → {"$slot": "..."} 或 {"type": "string"} + """ + origin = getattr(tp, "__origin__", None) + args = getattr(tp, "__args__", None) + + # --- None / NoneType --- + if tp is type(None): + return {"type": "null"} + + # --- 基本类型 --- + if tp is str: + return {"type": "string"} + if tp is int: + return {"type": "integer"} + if tp is float: + return {"type": "number"} + if tp is bool: + return {"type": "boolean"} + + # --- TypedDict --- + if is_typed_dict_class(tp): + try: + return TypedDictMessageInstance.get_json_schema_from_typed_dict(tp) + except Exception: + return {"type": "object"} + + # --- Literal --- + if origin is typing.Literal: + values = list(args) if args else [] + return {"type": "string", "enum": values} + + # --- Optional / Union --- + if origin is typing.Union: + non_none = [a for a in (args or ()) if a is not type(None)] + if len(non_none) == 1: + return type_to_schema(non_none[0]) + if len(non_none) > 1: + return {"anyOf": [type_to_schema(a) for a in non_none]} + return {"type": "string"} + + # --- List / Sequence / Set / Tuple / Iterable --- + if origin in (list, tuple, set, frozenset) or ( + origin is not None + and getattr(origin, "__name__", "") in ("Sequence", "Iterable", "Iterator", "MutableSequence") + ): + if args: + return {"type": "array", "items": type_to_schema(args[0])} + return {"type": "array"} + + # --- Dict / Mapping --- + if origin in (dict,) or (origin is not None and getattr(origin, "__name__", "") in ("Mapping", "MutableMapping")): + schema: Dict[str, Any] = {"type": "object"} + if args and len(args) >= 2: + schema["additionalProperties"] = type_to_schema(args[1]) + return schema + + # --- Slot 类型 --- + if isinstance(tp, type): + name = tp.__name__ + if name in SLOT_TYPES: + return {"$slot": name} + + # --- 其他未知类型 fallback --- + if isinstance(tp, type): + return {"type": "object"} + return {"type": "string"} + + +# --------------------------------------------------------------------------- +# Slot / Placeholder 检测 +# --------------------------------------------------------------------------- + + +def detect_slot_type(ptype) -> Tuple[Optional[str], bool]: + """检测参数类型是否为 ResourceSlot / DeviceSlot。 + + 兼容多种格式: + - runtime: "unilabos.registry.placeholder_type:ResourceSlot" + - runtime tuple: ("list", "unilabos.registry.placeholder_type:ResourceSlot") + - AST 裸名: "ResourceSlot", "List[ResourceSlot]", "Optional[ResourceSlot]" + + Returns: (slot_name | None, is_list) + """ + ptype_str = str(ptype) + + # 快速路径: 字符串里根本没有 Slot + if "ResourceSlot" not in ptype_str and "DeviceSlot" not in ptype_str: + return (None, False) + + # runtime 格式: 完整模块路径 + if isinstance(ptype, str): + if ptype.endswith(":ResourceSlot") or ptype == "ResourceSlot": + return ("ResourceSlot", False) + if ptype.endswith(":DeviceSlot") or ptype == "DeviceSlot": + return ("DeviceSlot", False) + # AST 复杂格式: List[ResourceSlot], Optional[ResourceSlot] 等 + if "[" in ptype: + node = parse_type_node(ptype) + if node is not None: + schema = type_node_to_schema(node) + # 直接是 slot + if "$slot" in schema: + return (schema["$slot"], False) + # array 包裹 slot: {"type": "array", "items": {"$slot": "..."}} + items = schema.get("items", {}) + if isinstance(items, dict) and "$slot" in items: + return (items["$slot"], True) + return (None, False) + + # runtime tuple 格式 + if isinstance(ptype, tuple) and len(ptype) == 2: + inner_str = str(ptype[1]) + if "ResourceSlot" in inner_str: + return ("ResourceSlot", True) + if "DeviceSlot" in inner_str: + return ("DeviceSlot", True) + + return (None, False) + + +def detect_placeholder_keys(params: list) -> Dict[str, str]: + """Detect parameters that reference ResourceSlot or DeviceSlot.""" + result: Dict[str, str] = {} + for p in params: + ptype = p.get("type", "") + if "ResourceSlot" in str(ptype): + result[p["name"]] = "unilabos_resources" + elif "DeviceSlot" in str(ptype): + result[p["name"]] = "unilabos_devices" + return result + + +# --------------------------------------------------------------------------- +# Handle 规范化 +# --------------------------------------------------------------------------- + + +def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]: + """Convert AST-parsed handle structures to the standard registry format.""" + if not handles_raw: + return [] + + # handle_type → io_type 映射 (AST 内部类名 → YAML 标准字段值) + _HANDLE_TYPE_TO_IO_TYPE = { + "input": "target", + "output": "source", + "action_input": "action_target", + "action_output": "action_source", + } + + result: List[Dict[str, Any]] = [] + for h in handles_raw: + if isinstance(h, dict): + call = h.get("_call", "") + if "InputHandle" in call: + handle_type = "input" + elif "OutputHandle" in call: + handle_type = "output" + elif "ActionInputHandle" in call: + handle_type = "action_input" + elif "ActionOutputHandle" in call: + handle_type = "action_output" + else: + handle_type = h.get("handle_type", "unknown") + + io_type = _HANDLE_TYPE_TO_IO_TYPE.get(handle_type, handle_type) + + entry: Dict[str, Any] = { + "handler_key": h.get("key", ""), + "data_type": h.get("data_type", ""), + "io_type": io_type, + } + side = h.get("side") + if side: + entry["side"] = normalize_enum_value(side, Side) or side + label = h.get("label") + if label: + entry["label"] = label + data_key = h.get("data_key") + if data_key: + entry["data_key"] = data_key + data_source = h.get("data_source") + if data_source: + entry["data_source"] = normalize_enum_value(data_source, DataSource) or data_source + description = h.get("description") + if description: + entry["description"] = description + + result.append(entry) + return result + + +def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]: + """Convert AST-parsed action handle list to {"input": [...], "output": [...]}. + + Mirrors the runtime behavior of decorators._action_handles_to_dict: + - ActionInputHandle => grouped under "input" + - ActionOutputHandle => grouped under "output" + Field mapping: key -> handler_key (matches Pydantic serialization_alias). + """ + if not handles_raw or not isinstance(handles_raw, list): + return {} + + input_list: List[Dict[str, Any]] = [] + output_list: List[Dict[str, Any]] = [] + + for h in handles_raw: + if not isinstance(h, dict): + continue + call = h.get("_call", "") + is_input = "ActionInputHandle" in call or "InputHandle" in call + is_output = "ActionOutputHandle" in call or "OutputHandle" in call + + entry: Dict[str, Any] = { + "handler_key": h.get("key", ""), + "data_type": h.get("data_type", ""), + "label": h.get("label", ""), + } + _FIELD_ENUM_MAP = {"side": Side, "data_source": DataSource} + for opt_key in ("side", "data_key", "data_source", "description", "io_type"): + val = h.get(opt_key) + if val is not None: + if opt_key in _FIELD_ENUM_MAP: + val = normalize_enum_value(val, _FIELD_ENUM_MAP[opt_key]) or val + entry[opt_key] = val + + # io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it) + if "io_type" not in entry and is_input: + entry["io_type"] = "source" + + if is_input: + input_list.append(entry) + elif is_output: + output_list.append(entry) + + result: Dict[str, Any] = {} + if input_list: + result["input"] = input_list + # Always include output (empty list when no outputs) to match YAML + result["output"] = output_list + return result + + +# --------------------------------------------------------------------------- +# Schema 辅助 +# --------------------------------------------------------------------------- + + +def wrap_action_schema( + goal_schema: Dict[str, Any], + action_name: str, + description: str = "", + result_schema: Optional[Dict[str, Any]] = None, + feedback_schema: Optional[Dict[str, Any]] = None, +) -> Dict[str, Any]: + """ + 将 goal 参数 schema 包装为标准的 action schema 格式: + { "properties": { "goal": ..., "feedback": ..., "result": ... }, ... } + """ + # 去掉 auto- 前缀用于 title/description,与 YAML 路径保持一致 + display_name = action_name.removeprefix("auto-") + return { + "title": f"{display_name}参数", + "description": description or f"{display_name}的参数schema", + "type": "object", + "properties": { + "goal": goal_schema, + "feedback": feedback_schema or {}, + "result": result_schema or {}, + }, + "required": ["goal"], + } + + +def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]): + """递归保留之前 schema 中各字段的 description / title。 + + 覆盖顶层以及嵌套 properties(如 goal.properties.xxx.description)。 + """ + if not prev_schema or not new_schema: + return + prev_props = prev_schema.get("properties", {}) + new_props = new_schema.get("properties", {}) + for field_name, prev_field in prev_props.items(): + if field_name not in new_props: + continue + new_field = new_props[field_name] + if not isinstance(prev_field, dict) or not isinstance(new_field, dict): + continue + if "title" in prev_field: + new_field.setdefault("title", prev_field["title"]) + if "description" in prev_field: + new_field.setdefault("description", prev_field["description"]) + if "properties" in prev_field and "properties" in new_field: + preserve_field_descriptions(new_field, prev_field) + + +def strip_ros_descriptions(schema: Any): + """递归清除 ROS schema 中自动生成的无意义 description(含 rosidl_parser 内存地址)。""" + if isinstance(schema, dict): + desc = schema.get("description", "") + if isinstance(desc, str) and "rosidl_parser" in desc: + del schema["description"] + for v in schema.values(): + strip_ros_descriptions(v) + elif isinstance(schema, list): + for item in schema: + strip_ros_descriptions(item) + + +# --------------------------------------------------------------------------- +# 深度对比 +# --------------------------------------------------------------------------- + + +def _short(val, limit=120): + """截断过长的值用于日志显示。""" + s = repr(val) + return s if len(s) <= limit else s[:limit] + "..." + + +def deep_diff(old, new, path="", max_depth=10) -> list: + """递归对比两个对象,返回所有差异的描述列表。""" + diffs = [] + if max_depth <= 0: + if old != new: + diffs.append(f"{path}: (达到最大深度) OLD≠NEW") + return diffs + + if type(old) != type(new): + diffs.append(f"{path}: 类型不同 OLD={type(old).__name__}({_short(old)}) NEW={type(new).__name__}({_short(new)})") + return diffs + + if isinstance(old, dict): + old_keys = set(old.keys()) + new_keys = set(new.keys()) + for k in sorted(new_keys - old_keys): + diffs.append(f"{path}.{k}: 新增字段 (AST有, YAML无) = {_short(new[k])}") + for k in sorted(old_keys - new_keys): + diffs.append(f"{path}.{k}: 缺失字段 (YAML有, AST无) = {_short(old[k])}") + for k in sorted(old_keys & new_keys): + diffs.extend(deep_diff(old[k], new[k], f"{path}.{k}", max_depth - 1)) + elif isinstance(old, (list, tuple)): + if len(old) != len(new): + diffs.append(f"{path}: 列表长度不同 OLD={len(old)} NEW={len(new)}") + for i in range(min(len(old), len(new))): + diffs.extend(deep_diff(old[i], new[i], f"{path}[{i}]", max_depth - 1)) + if len(new) > len(old): + for i in range(len(old), len(new)): + diffs.append(f"{path}[{i}]: 新增元素 = {_short(new[i])}") + elif len(old) > len(new): + for i in range(len(new), len(old)): + diffs.append(f"{path}[{i}]: 缺失元素 = {_short(old[i])}") + else: + if old != new: + diffs.append(f"{path}: OLD={_short(old)} NEW={_short(new)}") + return diffs + + +# --------------------------------------------------------------------------- +# MRO 方法参数解析 +# --------------------------------------------------------------------------- + + +def resolve_method_params_via_import(module_str: str, method_name: str) -> Dict[str, str]: + """当 AST 方法参数为空 (如 *args, **kwargs) 时, import class 并通过 MRO 获取真实方法参数. + + 返回 identity mapping {param_name: param_name}. + """ + if not module_str or ":" not in module_str: + return {} + try: + cls = import_class(module_str) + except Exception as e: + _logger.debug(f"[AST] resolve_method_params_via_import: import_class('{module_str}') failed: {e}") + return {} + + try: + for base_cls in cls.__mro__: + if method_name not in base_cls.__dict__: + continue + method = base_cls.__dict__[method_name] + actual = getattr(method, "__wrapped__", method) + if isinstance(actual, (staticmethod, classmethod)): + actual = actual.__func__ + if not callable(actual): + continue + sig = inspect.signature(actual, follow_wrapped=True) + params = [ + p.name for p in sig.parameters.values() + if p.name not in ("self", "cls") + and p.kind not in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD) + ] + if params: + return {p: p for p in params} + except Exception as e: + _logger.debug(f"[AST] resolve_method_params_via_import: MRO walk for '{method_name}' failed: {e}") + return {} diff --git a/unilabos/resources/container.py b/unilabos/resources/container.py index ed3871d3..08d40af0 100644 --- a/unilabos/resources/container.py +++ b/unilabos/resources/container.py @@ -12,9 +12,11 @@ class RegularContainer(Container): kwargs["size_y"] = 0 if "size_z" not in kwargs: kwargs["size_z"] = 0 + if "category" not in kwargs: + kwargs["category"] = "container" self.kwargs = kwargs - super().__init__(*args, category="container", **kwargs) + super().__init__(*args, **kwargs) def load_state(self, state: Dict[str, Any]): super().load_state(state) diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index d9686107..76af4db0 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -76,7 +76,7 @@ def canonicalize_nodes_data( if sample_id: logger.error(f"{node}的sample_id参数已弃用,sample_id: {sample_id}") for k in list(node.keys()): - if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra"]: + if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra", "machine_name"]: v = node.pop(k) node["config"][k] = v if outer_host_node_id is not None: @@ -288,6 +288,15 @@ def read_node_link_json( physical_setup_graph = nx.node_link_graph(graph_data, edges="links", multigraph=False) handle_communications(physical_setup_graph) + # Stamp machine_name on device trees only (resources are cloud-managed) + local_machine = BasicConfig.machine_name or "本地" + for tree in resource_tree_set.trees: + if tree.root_node.res_content.type != "device": + continue + for node in tree.get_all_nodes(): + if not node.res_content.machine_name: + node.res_content.machine_name = local_machine + return physical_setup_graph, resource_tree_set, standardized_links @@ -372,6 +381,15 @@ def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dic physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False) handle_communications(physical_setup_graph) + # Stamp machine_name on device trees only (resources are cloud-managed) + local_machine = BasicConfig.machine_name or "本地" + for tree in resource_tree_set.trees: + if tree.root_node.res_content.type != "device": + continue + for node in tree.get_all_nodes(): + if not node.res_content.machine_name: + node.res_content.machine_name = local_machine + return physical_setup_graph, resource_tree_set, standardized_links diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 62193f42..1b037676 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -75,14 +75,6 @@ class ResourceDictPositionObject(BaseModel): z: float = Field(description="Z coordinate", default=0.0) -class ResourceDictPoseExtraObjectType(BaseModel): - z_index: int - - -class ResourceDictPoseExtraObject(BaseModel): - z_index: Optional[int] = Field(alias="zIndex", default=None) - - class ResourceDictPositionType(TypedDict): size: ResourceDictPositionSizeType scale: ResourceDictPositionScaleType @@ -109,7 +101,7 @@ class ResourceDictPosition(BaseModel): cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field( description="Cross section type", default="rectangle" ) - extra: Optional[ResourceDictPoseExtraObject] = Field(description="Extra data", default=None) + extra: Optional[Dict[str, Any]] = Field(description="Extra data", default=None) class ResourceDictType(TypedDict): @@ -128,6 +120,7 @@ class ResourceDictType(TypedDict): config: Dict[str, Any] data: Dict[str, Any] extra: Dict[str, Any] + machine_name: str class ResourceDictType(TypedDict): @@ -167,6 +160,7 @@ class ResourceDict(BaseModel): config: Dict[str, Any] = Field(description="Resource configuration") data: Dict[str, Any] = Field(description="Resource data, eg: container liquid data") extra: Dict[str, Any] = Field(description="Extra data, eg: slot index") + machine_name: str = Field(description="Machine this resource belongs to", default="") @field_serializer("parent_uuid") def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]): @@ -222,22 +216,30 @@ class ResourceDictInstance(object): self.typ = "dict" @classmethod - def get_resource_instance_from_dict(cls, content: Dict[str, Any]) -> "ResourceDictInstance": + def get_resource_instance_from_dict(cls, content: ResourceDictType) -> "ResourceDictInstance": """从字典创建资源实例""" if "id" not in content: content["id"] = content["name"] if "uuid" not in content: content["uuid"] = str(uuid.uuid4()) if "description" in content and content["description"] is None: + # noinspection PyTypedDict del content["description"] if "model" in content and content["model"] is None: + # noinspection PyTypedDict del content["model"] + # noinspection PyTypedDict if "schema" in content and content["schema"] is None: + # noinspection PyTypedDict del content["schema"] + # noinspection PyTypedDict if "x" in content.get("position", {}): # 说明是老版本的position格式,转换成新的 + # noinspection PyTypedDict content["position"] = {"position": content["position"]} + # noinspection PyTypedDict if not content.get("class"): + # noinspection PyTypedDict content["class"] = "" if not content.get("config"): # todo: 后续从后端保证字段非空 content["config"] = {} @@ -248,16 +250,18 @@ class ResourceDictInstance(object): if "position" in content: pose = content.get("pose", {}) if "position" not in pose: + # noinspection PyTypedDict if "position" in content["position"]: + # noinspection PyTypedDict pose["position"] = content["position"]["position"] else: - pose["position"] = {"x": 0, "y": 0, "z": 0} + pose["position"] = ResourceDictPositionObjectType(x=0, y=0, z=0) if "size" not in pose: - pose["size"] = { - "width": content["config"].get("size_x", 0), - "height": content["config"].get("size_y", 0), - "depth": content["config"].get("size_z", 0), - } + pose["size"] = ResourceDictPositionSizeType( + width= content["config"].get("size_x", 0), + height= content["config"].get("size_y", 0), + depth= content["config"].get("size_z", 0), + ) content["pose"] = pose try: res_dict = ResourceDict.model_validate(content) @@ -425,7 +429,7 @@ class ResourceTreeSet(object): ) @classmethod - def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet": + def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False, old_size=False) -> "ResourceTreeSet": """ 从plr资源创建ResourceTreeSet """ @@ -448,13 +452,20 @@ class ResourceTreeSet(object): "resource_group": "resource_group", "trash": "trash", "plate_adapter": "plate_adapter", + "consumable": "consumable", + "tool": "tool", + "condenser": "condenser", + "crucible": "crucible", + "reagent_bottle": "reagent_bottle", + "flask": "flask", + "beaker": "beaker", } if source in replace_info: return replace_info[source] elif source is None: return "" else: - print("转换pylabrobot的时候,出现未知类型", source) + logger.trace(f"转换pylabrobot的时候,出现未知类型 {source}") return source def build_uuid_mapping(res: "PLRResource", uuid_list: list, parent_uuid: Optional[str] = None): @@ -509,7 +520,7 @@ class ResourceTreeSet(object): k: v for k, v in d.items() if k - not in [ + not in ([ "name", "children", "parent_name", @@ -520,7 +531,15 @@ class ResourceTreeSet(object): "size_z", "cross_section_type", "bottom_type", - ] + ] if not old_size else [ + "name", + "children", + "parent_name", + "location", + "rotation", + "cross_section_type", + "bottom_type", + ]) }, "data": states[d["name"]], "extra": extra, @@ -920,7 +939,8 @@ class ResourceTreeSet(object): if remote_root_type == "device": # 情况1: 一级是 device if remote_root_id not in local_device_map: - logger.warning(f"Device '{remote_root_id}' 在本地不存在,跳过该 device 下的物料同步") + if remote_root_id != "host_node": + logger.warning(f"Device '{remote_root_id}' 在本地不存在,跳过该 device 下的物料同步") continue local_device = local_device_map[remote_root_id] @@ -967,14 +987,27 @@ class ResourceTreeSet(object): f"从远端同步了 {added_count} 个物料子树" ) else: - # 情况2: 二级是物料(不是 device) - if remote_child_name not in local_children_map: - # 引入整个子树 - remote_child.res_content.parent = local_device.res_content - local_device.children.append(remote_child) - logger.info(f"Device '{remote_root_id}': 从远端同步物料子树 '{remote_child_name}'") - else: - logger.info(f"物料 '{remote_root_id}/{remote_child_name}' 已存在,跳过") + # 二级物料已存在,比较三级子节点是否缺失 + local_material = local_children_map[remote_child_name] + local_material_children_map = {child.res_content.name: child for child in + local_material.children} + added_count = 0 + for remote_sub in remote_child.children: + remote_sub_name = remote_sub.res_content.name + if remote_sub_name not in local_material_children_map: + remote_sub.res_content.parent = local_material.res_content + local_material.children.append(remote_sub) + added_count += 1 + else: + logger.info( + f"物料 '{remote_root_id}/{remote_child_name}/{remote_sub_name}' " + f"已存在,跳过" + ) + if added_count > 0: + logger.info( + f"物料 '{remote_root_id}/{remote_child_name}': " + f"从远端同步了 {added_count} 个子物料" + ) else: # 情况1: 一级节点是物料(不是 device) # 检查是否已存在 @@ -997,7 +1030,7 @@ class ResourceTreeSet(object): return self - def dump(self) -> List[List[Dict[str, Any]]]: + def dump(self, old_position=False) -> List[List[Dict[str, Any]]]: """ 将 ResourceTreeSet 序列化为嵌套列表格式 @@ -1013,6 +1046,10 @@ class ResourceTreeSet(object): # 获取树的所有节点并序列化 tree_nodes = [node.res_content.model_dump(by_alias=True) for node in tree.get_all_nodes()] result.append(tree_nodes) + if old_position: + for r in result: + for rr in r: + rr["position"] = rr["pose"]["position"] return result @classmethod diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py index 3a19b517..83e6f456 100644 --- a/unilabos/ros/msgs/message_converter.py +++ b/unilabos/ros/msgs/message_converter.py @@ -11,6 +11,7 @@ from io import StringIO from typing import Iterable, Any, Dict, Type, TypeVar, Union import yaml +from msgcenterpy.instances.ros2_instance import ROS2MessageInstance from pydantic import BaseModel from dataclasses import asdict, is_dataclass @@ -361,14 +362,7 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any: if hasattr(ros_msg, key): attr = getattr(ros_msg, key) if isinstance(attr, (float, int, str, bool)): - # 处理list类型的值,取第一个元素或抛出错误 - if isinstance(value, list): - if len(value) > 0: - setattr(ros_msg, key, type(attr)(value[0])) - else: - setattr(ros_msg, key, type(attr)()) # 使用默认值 - else: - setattr(ros_msg, key, type(attr)(value)) + setattr(ros_msg, key, type(attr)(value)) elif isinstance(attr, (list, tuple)) and isinstance(value, Iterable): td = ros_msg.SLOT_TYPES[ind].value_type if isinstance(td, NamespacedType): @@ -381,35 +375,9 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any: setattr(ros_msg, key, []) # FIXME elif "array.array" in str(type(attr)): if attr.typecode == "f" or attr.typecode == "d": - # 如果是单个值,转换为列表 - if value is None: - value = [] - elif not isinstance(value, Iterable) or isinstance(value, (str, bytes)): - value = [value] setattr(ros_msg, key, [float(i) for i in value]) else: - # 对于整数数组,需要确保是序列且每个值在有效范围内 - if value is None: - value = [] - elif not isinstance(value, Iterable) or isinstance(value, (str, bytes)): - # 如果是单个值,转换为列表 - value = [value] - # 确保每个整数值在有效范围内(-2147483648 到 2147483647) - converted_value = [] - for i in value: - if i is None: - continue # 跳过 None 值 - if isinstance(i, (int, float)): - int_val = int(i) - # 确保在 int32 范围内 - if int_val < -2147483648: - int_val = -2147483648 - elif int_val > 2147483647: - int_val = 2147483647 - converted_value.append(int_val) - else: - converted_value.append(i) - setattr(ros_msg, key, converted_value) + setattr(ros_msg, key, value) else: nested_ros_msg = convert_to_ros_msg(type(attr)(), value) setattr(ros_msg, key, nested_ros_msg) @@ -749,6 +717,19 @@ def ros_field_type_to_json_schema( # return {'type': 'object', 'description': f'未知类型: {field_type}'} +def _strip_rosidl_descriptions(schema: Any) -> None: + """递归清除 rosidl_parser 自动生成的无意义 description(含内存地址)。""" + if isinstance(schema, dict): + desc = schema.get("description", "") + if isinstance(desc, str) and "rosidl_parser" in desc: + del schema["description"] + for v in schema.values(): + _strip_rosidl_descriptions(v) + elif isinstance(schema, list): + for item in schema: + _strip_rosidl_descriptions(item) + + def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any]: """ 将 ROS 消息类转换为 JSON Schema @@ -760,56 +741,23 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any Returns: 对应的 JSON Schema 定义 """ - schema = {"type": "object", "properties": {}, "required": []} - - # 优先使用字段名作为标题,否则使用类名 + schema = ROS2MessageInstance(msg_class()).get_json_schema() schema["title"] = field_name - - # 获取消息的字段和字段类型 - try: - for ind, slot_info in enumerate(msg_class._fields_and_field_types.items()): - slot_name, slot_type = slot_info - type_info = msg_class.SLOT_TYPES[ind] - field_schema = ros_field_type_to_json_schema(type_info, slot_name) - schema["properties"][slot_name] = field_schema - schema["required"].append(slot_name) - # if hasattr(msg_class, 'get_fields_and_field_types'): - # fields_and_types = msg_class.get_fields_and_field_types() - # - # for field_name, field_type in fields_and_types.items(): - # # 将 ROS 字段类型转换为 JSON Schema - # field_schema = ros_field_type_to_json_schema(field_type) - # - # schema['properties'][field_name] = field_schema - # schema['required'].append(field_name) - # elif hasattr(msg_class, '__slots__') and hasattr(msg_class, '_fields_and_field_types'): - # # 直接从实例属性获取 - # for field_name in msg_class.__slots__: - # # 移除前导下划线(如果有) - # clean_name = field_name[1:] if field_name.startswith('_') else field_name - # - # # 从 _fields_and_field_types 获取类型 - # if clean_name in msg_class._fields_and_field_types: - # field_type = msg_class._fields_and_field_types[clean_name] - # field_schema = ros_field_type_to_json_schema(field_type) - # - # schema['properties'][clean_name] = field_schema - # schema['required'].append(clean_name) - except Exception as e: - # 如果获取字段类型失败,添加错误信息 - schema["description"] = f"解析消息字段时出错: {str(e)}" - logger.error(f"解析 {msg_class.__name__} 消息字段失败: {str(e)}") - + schema.pop("description", None) + _strip_rosidl_descriptions(schema) return schema -def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]: +def ros_action_to_json_schema( + action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None +) -> 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 @@ -843,9 +791,46 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An "required": ["goal"], } + _strip_rosidl_descriptions(schema) + + # 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]: diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index ddb4bf1a..b9515af1 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -34,7 +34,8 @@ from unilabos_msgs.action import SendCmd from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unilabos.config.config import BasicConfig -from unilabos.utils.decorator import get_topic_config, get_all_subscriptions +from unilabos.registry.decorators import get_topic_config +from unilabos.utils.decorator import get_all_subscriptions from unilabos.resources.container import RegularContainer from unilabos.resources.graphio import ( @@ -57,6 +58,7 @@ from unilabos_msgs.msg import Resource # type: ignore from unilabos.resources.resource_tracker import ( DeviceNodeResourceTracker, + ResourceDictType, ResourceTreeSet, ResourceTreeInstance, ResourceDictInstance, @@ -194,9 +196,9 @@ class PropertyPublisher: self._value = None try: self.publisher_ = node.create_publisher(msg_type, f"{name}", qos) - except AttributeError as ex: + except Exception as e: self.node.lab_logger().error( - 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()}" + f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败,可能由于注册表有误,类型: {msg_type},错误: {e}" ) self.timer = node.create_timer(self.timer_period, self.publish_property) self.__loop = ROS2DeviceNode.get_asyncio_loop() @@ -569,9 +571,11 @@ class BaseROS2DeviceNode(Node, Generic[T]): future.add_done_callback(done_cb) except ImportError: self.lab_logger().error("Host请求添加物料时,本环境并不存在pylabrobot") + res.response = get_result_info_str(traceback.format_exc(), False, {}) except Exception as e: self.lab_logger().error("Host请求添加物料时出错") self.lab_logger().error(traceback.format_exc()) + res.response = get_result_info_str(traceback.format_exc(), False, {}) return res # noinspection PyTypeChecker @@ -594,6 +598,12 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.s2c_resource_tree, # type: ignore callback_group=self.callback_group, ), + "s2c_device_manage": self.create_service( + SerialCommand, + f"/srv{self.namespace}/s2c_device_manage", + self.s2c_device_manage, # type: ignore + callback_group=self.callback_group, + ), } # 向全局在线设备注册表添加设备信息 @@ -1062,6 +1072,48 @@ class BaseROS2DeviceNode(Node, Generic[T]): return res + async def s2c_device_manage(self, req: SerialCommand_Request, res: SerialCommand_Response): + """Handle add/remove device requests from HostNode via SerialCommand.""" + try: + cmd = json.loads(req.command) + action = cmd.get("action", "") + data = cmd.get("data", {}) + device_id = data.get("device_id", "") + + if not device_id: + res.response = json.dumps({"success": False, "error": "device_id required"}) + return res + + if action == "add": + result = self.create_device(device_id, data) + elif action == "remove": + result = self.destroy_device(device_id) + else: + result = {"success": False, "error": f"Unknown action: {action}"} + + res.response = json.dumps(result, ensure_ascii=False) + + except NotImplementedError as e: + self.lab_logger().warning(f"[DeviceManage] {e}") + res.response = json.dumps({"success": False, "error": str(e)}) + except Exception as e: + self.lab_logger().error(f"[DeviceManage] Error: {e}") + res.response = json.dumps({"success": False, "error": str(e)}) + + return res + + def create_device(self, device_id: str, config: "ResourceDictType") -> dict: + """Create a sub-device dynamically. Override in HostNode / WorkstationNode.""" + raise NotImplementedError( + f"{self.__class__.__name__} does not support dynamic device creation" + ) + + def destroy_device(self, device_id: str) -> dict: + """Destroy a sub-device dynamically. Override in HostNode / WorkstationNode.""" + raise NotImplementedError( + f"{self.__class__.__name__} does not support dynamic device removal" + ) + async def transfer_resource_to_another( self, plr_resources: List["ResourcePLR"], @@ -1204,22 +1256,40 @@ class BaseROS2DeviceNode(Node, Generic[T]): return self._lab_logger def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0): - """创建ROS发布者""" - # 检测装饰器配置(支持 get_{attr_name} 方法和 @property) + """创建ROS发布者,仅当方法/属性有 @topic_config 装饰器时才创建。""" + # 检测 @topic_config 装饰器配置 topic_config = {} + driver_class = type(self.driver_instance) - # 优先检测 get_{attr_name} 方法 - if hasattr(self.driver_instance, f"get_{attr_name}"): - getter_method = getattr(self.driver_instance, f"get_{attr_name}") - topic_config = get_topic_config(getter_method) + # 区分 @property 和普通方法两种情况 + is_prop = hasattr(driver_class, attr_name) and isinstance( + getattr(driver_class, attr_name), property + ) - # 如果没有配置,检测 @property 装饰的属性 + if is_prop: + # @property: 检测 fget 上的 @topic_config + class_attr = getattr(driver_class, attr_name) + if class_attr.fget is not None: + topic_config = get_topic_config(class_attr.fget) + else: + # 普通方法: 直接检测 attr_name 方法上的 @topic_config + if hasattr(self.driver_instance, attr_name): + method = getattr(self.driver_instance, attr_name) + if callable(method): + topic_config = get_topic_config(method) + + # 没有 @topic_config 装饰器则跳过发布 if not topic_config: - driver_class = type(self.driver_instance) - if hasattr(driver_class, attr_name): - class_attr = getattr(driver_class, attr_name) - if isinstance(class_attr, property) and class_attr.fget is not None: - topic_config = get_topic_config(class_attr.fget) + return + + # 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name + cfg_name = topic_config.get("name") + if cfg_name: + publish_name = cfg_name + elif attr_name.startswith("get_"): + publish_name = attr_name[4:] + else: + publish_name = attr_name # 使用装饰器配置或默认值 cfg_period = topic_config.get("period") @@ -1232,10 +1302,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 获取属性值的方法 def get_device_attr(): try: - if hasattr(self.driver_instance, f"get_{attr_name}"): - return getattr(self.driver_instance, f"get_{attr_name}")() - else: + if is_prop: return getattr(self.driver_instance, attr_name) + else: + return getattr(self.driver_instance, attr_name)() except AttributeError as ex: if ex.args[0].startswith(f"AttributeError: '{self.driver_instance.__class__.__name__}' object"): self.lab_logger().error( @@ -1247,8 +1317,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): ) self.lab_logger().error(traceback.format_exc()) - self._property_publishers[attr_name] = PropertyPublisher( - self, attr_name, get_device_attr, msg_type, period, print_publish, qos + self._property_publishers[publish_name] = PropertyPublisher( + self, publish_name, get_device_attr, msg_type, period, print_publish, qos ) def create_ros_action_server(self, action_name, action_value_mapping): @@ -1256,14 +1326,17 @@ class BaseROS2DeviceNode(Node, Generic[T]): action_type = action_value_mapping["type"] str_action_type = str(action_type)[8:-2] - self._action_servers[action_name] = ActionServer( - self, - action_type, - action_name, - execute_callback=self._create_execute_callback(action_name, action_value_mapping), - callback_group=self.callback_group, - ) - + try: + self._action_servers[action_name] = ActionServer( + self, + action_type, + action_name, + execute_callback=self._create_execute_callback(action_name, action_value_mapping), + callback_group=self.callback_group, + ) + except Exception as e: + self.lab_logger().error(f"创建ActionServer失败,Device: {self.device_id}, Action Name: {action_name}, Action Type: {action_type}, Error: {e}") + return self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}") def _setup_decorated_subscribers(self): @@ -1815,7 +1888,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): continue # 处理单个 ResourceSlot - if arg_type == "unilabos.registry.placeholder_type:ResourceSlot": + _is_resource_slot = isinstance(arg_type, str) and arg_type.endswith(":ResourceSlot") + if _is_resource_slot: resource_data = function_args[arg_name] if isinstance(resource_data, dict) and "id" in resource_data: try: @@ -1829,8 +1903,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 处理 ResourceSlot 列表 elif isinstance(arg_type, tuple) and len(arg_type) == 2: - resource_slot_type = "unilabos.registry.placeholder_type:ResourceSlot" - if arg_type[0] == "list" and arg_type[1] == resource_slot_type: + if arg_type[0] == "list" and isinstance(arg_type[1], str) and arg_type[1].endswith(":ResourceSlot"): resource_list = function_args[arg_name] if isinstance(resource_list, list): try: diff --git a/unilabos/ros/nodes/presets/camera.py b/unilabos/ros/nodes/presets/camera.py index 2267f676..e94f001f 100644 --- a/unilabos/ros/nodes/presets/camera.py +++ b/unilabos/ros/nodes/presets/camera.py @@ -4,7 +4,14 @@ import cv2 from sensor_msgs.msg import Image from cv_bridge import CvBridge from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker +from unilabos.registry.decorators import device + +@device( + id="camera", + category=["camera"], + description="""VideoPublisher摄像头设备节点,用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头(如USB摄像头、内置摄像头等),定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。""", +) class VideoPublisher(BaseROS2DeviceNode): def __init__(self, device_id='video_publisher', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None): # 初始化BaseROS2DeviceNode,使用自身作为driver_instance diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 4a868523..2cac28f4 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -12,6 +12,7 @@ from geometry_msgs.msg import Point from rclpy.action import ActionClient, get_action_server_names_and_types_by_node from rclpy.service import Service from typing_extensions import TypedDict +from unilabos_msgs.action import EmptyIn, StrSingleInput, ResourceCreateFromOuterEasy, ResourceCreateFromOuter from unilabos_msgs.msg import Resource # type: ignore from unilabos_msgs.srv import ( ResourceAdd, @@ -23,6 +24,7 @@ from unilabos_msgs.srv import ( from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unique_identifier_msgs.msg import UUID +from unilabos.registry.decorators import device, action, NodeType from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot from unilabos.registry.registry import lab_registry from unilabos.resources.container import RegularContainer @@ -30,6 +32,7 @@ from unilabos.resources.graphio import initialize_resource from unilabos.resources.registry import add_schema from unilabos.resources.resource_tracker import ( ResourceDict, + ResourceDictType, ResourceDictInstance, ResourceTreeSet, ResourceTreeInstance, @@ -65,7 +68,13 @@ class DeviceActionStatus: class TestResourceReturn(TypedDict): resources: List[List[ResourceDict]] devices: List[Dict[str, Any]] - unilabos_samples: List[LabSample] + # unilabos_samples: List[LabSample] + + +class CreateResourceReturn(TypedDict): + created_resource_tree: List[List[ResourceDict]] + liquid_input_resource_tree: List[Dict[str, Any]] + # unilabos_samples: List[LabSample] class TestLatencyReturn(TypedDict): @@ -80,6 +89,7 @@ class TestLatencyReturn(TypedDict): status: str +@device(id="host_node", category=[], description="Host Node", icon="icon_device.webp") class HostNode(BaseROS2DeviceNode): """ 主机节点类,负责管理设备、资源和控制器 @@ -268,44 +278,44 @@ class HostNode(BaseROS2DeviceNode): self._action_clients: Dict[str, ActionClient] = { # 为了方便了解实际的数据类型,host的默认写好 "/devices/host_node/create_resource": ActionClient( self, - lab_registry.ResourceCreateFromOuterEasy, + ResourceCreateFromOuterEasy, "/devices/host_node/create_resource", callback_group=self.callback_group, ), "/devices/host_node/create_resource_detailed": ActionClient( self, - lab_registry.ResourceCreateFromOuter, + ResourceCreateFromOuter, "/devices/host_node/create_resource_detailed", callback_group=self.callback_group, ), "/devices/host_node/test_latency": ActionClient( self, - lab_registry.EmptyIn, + EmptyIn, "/devices/host_node/test_latency", callback_group=self.callback_group, ), "/devices/host_node/test_resource": ActionClient( self, - lab_registry.EmptyIn, + EmptyIn, "/devices/host_node/test_resource", callback_group=self.callback_group, ), "/devices/host_node/_execute_driver_command": ActionClient( self, - lab_registry.StrSingleInput, + StrSingleInput, "/devices/host_node/_execute_driver_command", callback_group=self.callback_group, ), "/devices/host_node/_execute_driver_command_async": ActionClient( self, - lab_registry.StrSingleInput, + StrSingleInput, "/devices/host_node/_execute_driver_command_async", callback_group=self.callback_group, ), } # 用来存储多个ActionClient实例 - self._action_value_mappings: Dict[str, Dict] = ( - {} - ) # device_id -> action_value_mappings(本地+远程设备统一存储) + self._action_value_mappings: Dict[str, Dict] = { + device_id: self._action_value_mappings + } # device_id -> action_value_mappings(本地+远程设备统一存储) self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings) self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态 self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备 @@ -323,10 +333,18 @@ class HostNode(BaseROS2DeviceNode): self._discover_devices() # 初始化所有本机设备节点,多一次过滤,防止重复初始化 + local_machine = BasicConfig.machine_name for device_config in devices_config.root_nodes: device_id = device_config.res_content.id if device_config.res_content.type != "device": continue + dev_machine = device_config.res_content.machine_name + if dev_machine and local_machine and dev_machine != local_machine: + self.lab_logger().info( + f"[Host Node] Device {device_id} belongs to machine '{dev_machine}', " + f"local is '{local_machine}', skipping initialization." + ) + continue if device_id not in self.devices_names: self.initialize_device(device_id, device_config) else: @@ -556,7 +574,7 @@ class HostNode(BaseROS2DeviceNode): liquid_type: list[str] = [], liquid_volume: list[int] = [], slot_on_deck: str = "", - ): + ) -> CreateResourceReturn: # 暂不支持多对同名父子同时存在 res_creation_input = { "id": res_id.split("/")[-1], @@ -609,6 +627,8 @@ class HostNode(BaseROS2DeviceNode): assert len(response) == 1, "Create Resource应当只返回一个结果" for i in response: res = json.loads(i) + if "suc" in res: + raise ValueError(res.get("error")) return res except Exception as ex: pass @@ -650,7 +670,12 @@ class HostNode(BaseROS2DeviceNode): action_id = f"/devices/{device_id}/{action_name}" if action_id not in self._action_clients: action_type = action_value_mapping["type"] - self._action_clients[action_id] = ActionClient(self, action_type, action_id) + try: + self._action_clients[action_id] = ActionClient(self, action_type, action_id) + except Exception as e: + self.lab_logger().error( + f"创建ActionClient失败,Device: {device_id}, Action Name: {action_name}, Action Type: {action_type}, Error: {e}") + continue self.lab_logger().trace( f"[Host Node] Created ActionClient (Local): {action_id}" ) # 子设备再创建用的是Discover发现的 @@ -1250,9 +1275,9 @@ class HostNode(BaseROS2DeviceNode): # 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings if registry_name and registry_name in self._slave_registry_configs: - action_mappings = self._slave_registry_configs[registry_name].get( - "class", {} - ).get("action_value_mappings", {}) + action_mappings = ( + self._slave_registry_configs[registry_name].get("class", {}).get("action_value_mappings", {}) + ) if action_mappings: self._action_value_mappings[edge_device_id] = action_mappings self.lab_logger().info( @@ -1272,14 +1297,19 @@ class HostNode(BaseROS2DeviceNode): # 解析 devices_config,建立 device_id -> action_value_mappings 映射 if devices_config: + machine_name = info["machine_name"] + # Stamp machine_name on each device dict before parsing for device_tree in devices_config: for device_dict in device_tree: + device_dict["machine_name"] = machine_name device_id = device_dict.get("id", "") class_name = device_dict.get("class", "") if device_id and class_name and class_name in self._slave_registry_configs: - action_mappings = self._slave_registry_configs[class_name].get( - "class", {} - ).get("action_value_mappings", {}) + action_mappings = ( + self._slave_registry_configs[class_name] + .get("class", {}) + .get("action_value_mappings", {}) + ) if action_mappings: self._action_value_mappings[device_id] = action_mappings self.lab_logger().info( @@ -1287,6 +1317,18 @@ class HostNode(BaseROS2DeviceNode): f"for remote device {device_id} (class: {class_name})" ) + # Merge slave devices_config into self.devices_config tree + try: + slave_tree_set = ResourceTreeSet.load(devices_config) # slave一定是根节点的tree + for tree in slave_tree_set.trees: + self.devices_config.trees.append(tree) + self.lab_logger().info( + f"[Host Node] Merged {len(slave_tree_set.trees)} slave device trees " + f"(machine: {machine_name}) into devices_config" + ) + except Exception as e: + self.lab_logger().error(f"[Host Node] Failed to merge slave devices_config: {e}") + self.lab_logger().debug(f"[Host Node] Node info update: {info}") response.response = "OK" except Exception as e: @@ -1581,6 +1623,18 @@ class HostNode(BaseROS2DeviceNode): } return res + @action(always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={ + "assignee_user_ids": "unilabos_manual_confirm" + }, goal_default={ + "timeout_seconds": 3600, + "assignee_user_ids": [] + }) + def manual_confirm(self, timeout_seconds: int, assignee_user_ids: list[str], **kwargs) -> dict: + """ + timeout_seconds: 超时时间(秒),默认3600秒 + """ + return kwargs + def test_resource( self, sample_uuids: SampleUUIDsType, @@ -1695,3 +1749,177 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().error(f"[Host Node-Resource] Error notifying resource tree update: {str(e)}") self.lab_logger().error(traceback.format_exc()) return False + + # ------------------------------------------------------------------ + # Device lifecycle (add / remove) — pure forwarder + # ------------------------------------------------------------------ + + def notify_device_manage(self, target_node_id: str, action: str, config: ResourceDictType) -> bool: + """Forward an add/remove device command to the target node via ROS2 SerialCommand. + + The HostNode does NOT interpret the command; it simply resolves the + target namespace and forwards the request to ``s2c_device_manage``. + + If *target_node_id* equals the HostNode's own device_id (i.e. the + command targets the host itself), we call our local ``create_device`` + / ``destroy_device`` directly instead of going through ROS2. + """ + try: + # If the target is the host itself, handle locally + device_id = config["id"] + if target_node_id == self.device_id: + if action == "add": + return self.create_device(device_id, config).get("success", False) + elif action == "remove": + return self.destroy_device(device_id).get("success", False) + + if target_node_id not in self.devices_names: + self.lab_logger().error( + f"[Host Node-DeviceMgr] Target {target_node_id} not found in devices_names" + ) + return False + + namespace = self.devices_names[target_node_id] + device_key = f"{namespace}/{target_node_id}" + if device_key not in self._online_devices: + self.lab_logger().error(f"[Host Node-DeviceMgr] Target {device_key} is offline") + return False + + srv_address = f"/srv{namespace}/s2c_device_manage" + self.lab_logger().info( + f"[Host Node-DeviceMgr] Forwarding {action}_device to {target_node_id} ({srv_address})" + ) + + sclient = self.create_client(SerialCommand, srv_address) + if not sclient.wait_for_service(timeout_sec=5.0): + self.lab_logger().error(f"[Host Node-DeviceMgr] Service {srv_address} not available") + return False + + request = SerialCommand.Request() + request.command = json.dumps({"action": action, "data": config}, ensure_ascii=False) + + future = sclient.call_async(request) + timeout = 30.0 + start_time = time.time() + while not future.done(): + if time.time() - start_time > timeout: + self.lab_logger().error( + f"[Host Node-DeviceMgr] Timeout waiting for {action}_device on {target_node_id}" + ) + return False + time.sleep(0.05) + + response = future.result() + self.lab_logger().info( + f"[Host Node-DeviceMgr] {action}_device on {target_node_id} completed" + ) + return True + + except Exception as e: + self.lab_logger().error(f"[Host Node-DeviceMgr] Error: {e}") + self.lab_logger().error(traceback.format_exc()) + return False + + def create_device(self, device_id: str, config: ResourceDictType) -> dict: + """Dynamically create a root-level device on the host.""" + if not device_id: + return {"success": False, "error": "device_id required"} + + if device_id in self.devices_names: + return {"success": False, "error": f"Device {device_id} already exists"} + + try: + config.setdefault("id", device_id) + config.setdefault("type", "device") + config.setdefault("machine_name", BasicConfig.machine_name or "本地") + res_dict = ResourceDictInstance.get_resource_instance_from_dict(config) + + self.initialize_device(device_id, res_dict) + + if device_id not in self.devices_names: + return {"success": False, "error": f"initialize_device failed for {device_id}"} + + # Add to config tree (devices_config) + tree = ResourceTreeInstance(res_dict) + self.devices_config.trees.append(tree) + + # Add to resource tracker so s2c_resource_tree can find it + try: + for plr_resource in ResourceTreeSet([tree]).to_plr_resources(): + self._resource_tracker.add_resource(plr_resource) + except Exception as ex: + self.lab_logger().warning(f"[Host Node-DeviceMgr] PLR resource registration skipped: {ex}") + + self.lab_logger().info(f"[Host Node-DeviceMgr] Device {device_id} created successfully") + return {"success": True, "device_id": device_id} + + except Exception as e: + self.lab_logger().error(f"[Host Node-DeviceMgr] Failed to create {device_id}: {e}") + self.lab_logger().error(traceback.format_exc()) + return {"success": False, "error": str(e)} + + def destroy_device(self, device_id: str) -> dict: + """Remove a root-level device from the host.""" + if not device_id: + return {"success": False, "error": "device_id required"} + + if device_id not in self.devices_names: + return {"success": False, "error": f"Device {device_id} not found"} + + if device_id == self.device_id: + return {"success": False, "error": "Cannot destroy host_node itself"} + + try: + namespace = self.devices_names[device_id] + device_key = f"{namespace}/{device_id}" + + # Remove action clients + action_prefix = f"/devices/{device_id}/" + to_remove = [k for k in self._action_clients if k.startswith(action_prefix)] + for k in to_remove: + try: + self._action_clients[k].destroy() + except Exception: + pass + del self._action_clients[k] + + # Remove from config tree (devices_config) + self.devices_config.trees = [ + t for t in self.devices_config.trees + if t.root_node.res_content.id != device_id + ] + + # Remove from resource tracker + try: + tracked = self._resource_tracker.uuid_to_resources.copy() + for uid, res in tracked.items(): + res_id = res.get("id") if isinstance(res, dict) else getattr(res, "name", None) + if res_id == device_id: + self._resource_tracker.remove_resource(res) + except Exception as ex: + self.lab_logger().warning(f"[Host Node-DeviceMgr] Resource tracker cleanup: {ex}") + + # Clean internal state + self._online_devices.discard(device_key) + self.devices_names.pop(device_id, None) + self.device_machine_names.pop(device_id, None) + self._action_value_mappings.pop(device_id, None) + + # Destroy the ROS2 node of the device + instance = self.devices_instances.pop(device_id, None) + if instance is not None: + try: + # noinspection PyProtectedMember + ros_node = getattr(instance, "_ros_node", None) + if ros_node is not None: + ros_node.destroy_node() + except Exception as e: + self.lab_logger().warning(f"[Host Node-DeviceMgr] Error destroying ROS node for {device_id}: {e}") + + self.lab_logger().info(f"[Host Node-DeviceMgr] Device {device_id} destroyed") + return {"success": True, "device_id": device_id} + + except Exception as e: + self.lab_logger().error(f"[Host Node-DeviceMgr] Failed to destroy {device_id}: {e}") + self.lab_logger().error(traceback.format_exc()) + return {"success": False, "error": str(e)} diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py index 902e2967..7f9f2aed 100644 --- a/unilabos/ros/nodes/presets/workstation.py +++ b/unilabos/ros/nodes/presets/workstation.py @@ -20,7 +20,7 @@ from unilabos.ros.msgs.message_converter import ( convert_from_ros_msg_with_mapping, ) from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode -from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDictInstance +from unilabos.resources.resource_tracker import ResourceDictType, ResourceTreeSet, ResourceDictInstance from unilabos.utils.type_check import get_result_info_str if TYPE_CHECKING: @@ -177,6 +177,103 @@ class ROS2WorkstationNode(BaseROS2DeviceNode): self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}") return d + def create_device(self, device_id: str, config: ResourceDictType) -> dict: + """Dynamically add a sub-device to this workstation.""" + if not device_id: + return {"success": False, "error": "device_id required"} + + if device_id in self.sub_devices: + return {"success": False, "error": f"Sub-device {device_id} already exists"} + + try: + from unilabos.config.config import BasicConfig + config.setdefault("id", device_id) + config.setdefault("type", "device") + config.setdefault("machine_name", BasicConfig.machine_name or "本地") + res_dict = ResourceDictInstance.get_resource_instance_from_dict(config) + + d = self.initialize_device(device_id, res_dict) + if d is None: + return {"success": False, "error": f"initialize_device returned None for {device_id}"} + + # Add to children config list + self.children.append(res_dict) + + # Add to resource tracker + try: + from unilabos.resources.resource_tracker import ResourceTreeInstance + tree = ResourceTreeInstance(res_dict) + for plr_resource in ResourceTreeSet([tree]).to_plr_resources(): + self.resource_tracker.add_resource(plr_resource) + except Exception as ex: + self.lab_logger().warning(f"[Workstation-DeviceMgr] PLR resource registration skipped: {ex}") + + self.lab_logger().info(f"[Workstation-DeviceMgr] Sub-device {device_id} created") + return {"success": True, "device_id": device_id} + + except Exception as e: + self.lab_logger().error(f"[Workstation-DeviceMgr] Failed to create {device_id}: {e}") + self.lab_logger().error(traceback.format_exc()) + return {"success": False, "error": str(e)} + + def destroy_device(self, device_id: str) -> dict: + """Dynamically remove a sub-device from this workstation.""" + if not device_id: + return {"success": False, "error": "device_id required"} + + if device_id not in self.sub_devices: + return {"success": False, "error": f"Sub-device {device_id} not found"} + + try: + # Remove from children config list + self.children = [ + c for c in self.children + if c.res_content.id != device_id + ] + + # Remove from resource tracker + try: + tracked = self.resource_tracker.uuid_to_resources.copy() + for uid, res in tracked.items(): + res_id = res.get("id") if isinstance(res, dict) else getattr(res, "name", None) + if res_id == device_id: + self.resource_tracker.remove_resource(res) + except Exception as ex: + self.lab_logger().warning(f"[Workstation-DeviceMgr] Resource tracker cleanup: {ex}") + + # Remove action clients for this sub-device + action_prefix = f"/devices/{device_id}/" + to_remove = [k for k in self._action_clients if k.startswith(action_prefix)] + for k in to_remove: + try: + self._action_clients[k].destroy() + except Exception: + pass + del self._action_clients[k] + + # Destroy the ROS2 node + instance = self.sub_devices.pop(device_id, None) + if instance is not None: + ros_node = getattr(instance, "ros_node_instance", None) + if ros_node is not None: + try: + ros_node.destroy_node() + except Exception as e: + self.lab_logger().warning( + f"[Workstation-DeviceMgr] Error destroying ROS node for {device_id}: {e}" + ) + + # Remove from communication map if present + self.communication_node_id_to_instance.pop(device_id, None) + + self.lab_logger().info(f"[Workstation-DeviceMgr] Sub-device {device_id} destroyed") + return {"success": True, "device_id": device_id} + + except Exception as e: + self.lab_logger().error(f"[Workstation-DeviceMgr] Failed to destroy {device_id}: {e}") + self.lab_logger().error(traceback.format_exc()) + return {"success": False, "error": str(e)} + def create_ros_action_server(self, action_name, action_value_mapping): """创建ROS动作服务器""" if action_name not in self.protocol_names: diff --git a/unilabos/utils/decorator.py b/unilabos/utils/decorator.py index 22a90736..15793b14 100644 --- a/unilabos/utils/decorator.py +++ b/unilabos/utils/decorator.py @@ -19,74 +19,6 @@ def singleton(cls): return get_instance -def topic_config( - period: Optional[float] = None, - print_publish: Optional[bool] = None, - qos: Optional[int] = None, -) -> Callable[[F], F]: - """ - Topic发布配置装饰器 - - 用于装饰 get_{attr_name} 方法或 @property,控制对应属性的ROS topic发布行为。 - - Args: - period: 发布周期(秒)。None 表示使用默认值 5.0 - print_publish: 是否打印发布日志。None 表示使用节点默认配置 - qos: QoS深度配置。None 表示使用默认值 10 - - Example: - class MyDriver: - # 方式1: 装饰 get_{attr_name} 方法 - @topic_config(period=1.0, print_publish=False, qos=5) - def get_temperature(self): - return self._temperature - - # 方式2: 与 @property 连用(topic_config 放在下面) - @property - @topic_config(period=0.1) - def position(self): - return self._position - - Note: - 与 @property 连用时,@topic_config 必须放在 @property 下面, - 这样装饰器执行顺序为:先 topic_config 添加配置,再 property 包装。 - """ - - def decorator(func: F) -> F: - @wraps(func) - def wrapper(*args, **kwargs): - return func(*args, **kwargs) - - # 在函数上附加配置属性 (type: ignore 用于动态属性) - wrapper._topic_period = period # type: ignore[attr-defined] - wrapper._topic_print_publish = print_publish # type: ignore[attr-defined] - wrapper._topic_qos = qos # type: ignore[attr-defined] - wrapper._has_topic_config = True # type: ignore[attr-defined] - - return wrapper # type: ignore[return-value] - - return decorator - - -def get_topic_config(func) -> dict: - """ - 获取函数上的topic配置 - - Args: - func: 被装饰的函数 - - Returns: - 包含 period, print_publish, qos 的配置字典 - """ - if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False): - return { - "period": getattr(func, "_topic_period", None), - "print_publish": getattr(func, "_topic_print_publish", None), - "qos": getattr(func, "_topic_qos", None), - } - return {} - - def subscribe( topic: str, msg_type: Optional[type] = None, @@ -104,24 +36,6 @@ def subscribe( - {namespace}: 完整命名空间 (如 "/devices/pump_1") msg_type: ROS 消息类型。如果为 None,需要在回调函数的类型注解中指定 qos: QoS 深度配置,默认为 10 - - Example: - from std_msgs.msg import String, Float64 - - class MyDriver: - @subscribe(topic="/devices/{device_id}/set_speed", msg_type=Float64) - def on_speed_update(self, msg: Float64): - self._speed = msg.data - print(f"Speed updated to: {self._speed}") - - @subscribe(topic="{namespace}/command") - def on_command(self, msg: String): - # msg_type 可从类型注解推断 - self.execute_command(msg.data) - - Note: - - 回调方法的第一个参数是 self,第二个参数是收到的 ROS 消息 - - topic 中的占位符会在创建订阅时被实际值替换 """ def decorator(func: F) -> F: @@ -129,7 +43,6 @@ def subscribe( def wrapper(*args, **kwargs): return func(*args, **kwargs) - # 在函数上附加订阅配置 wrapper._subscribe_topic = topic # type: ignore[attr-defined] wrapper._subscribe_msg_type = msg_type # type: ignore[attr-defined] wrapper._subscribe_qos = qos # type: ignore[attr-defined] @@ -141,15 +54,7 @@ def subscribe( def get_subscribe_config(func) -> dict: - """ - 获取函数上的订阅配置 - - Args: - func: 被装饰的函数 - - Returns: - 包含 topic, msg_type, qos 的配置字典 - """ + """获取函数上的订阅配置 (topic, msg_type, qos)""" if hasattr(func, "_has_subscribe") and getattr(func, "_has_subscribe", False): return { "topic": getattr(func, "_subscribe_topic", None), @@ -163,9 +68,6 @@ def get_all_subscriptions(instance) -> list: """ 扫描实例的所有方法,获取带有 @subscribe 装饰器的方法及其配置 - Args: - instance: 要扫描的实例 - Returns: 包含 (method_name, method, config) 元组的列表 """ @@ -184,92 +86,14 @@ def get_all_subscriptions(instance) -> list: return subscriptions -def always_free(func: F) -> F: - """ - 标记动作为永久闲置(不受busy队列限制)的装饰器 - - 被此装饰器标记的 action 方法,在执行时不会受到设备级别的排队限制, - 任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。 - - Example: - class MyDriver: - @always_free - def query_status(self, param: str): - # 这个动作可以随时执行,不需要排队 - return self._status - - def transfer(self, volume: float): - # 这个动作会按正常排队逻辑执行 - pass - - Note: - - 可以与其他装饰器组合使用,@always_free 应放在最外层 - - 仅影响 WebSocket 调度层的 busy/free 判断,不影响 ROS2 层 - """ - - @wraps(func) - def wrapper(*args, **kwargs): - return func(*args, **kwargs) - - wrapper._is_always_free = True # type: ignore[attr-defined] - - return wrapper # type: ignore[return-value] - - -def is_always_free(func) -> bool: - """ - 检查函数是否被标记为永久闲置 - - Args: - func: 被检查的函数 - - Returns: - 如果函数被 @always_free 装饰则返回 True,否则返回 False - """ - return getattr(func, "_is_always_free", False) - - -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) +# --------------------------------------------------------------------------- +# 向后兼容重导出 -- 已迁移到 unilabos.registry.decorators +# --------------------------------------------------------------------------- +from unilabos.registry.decorators import ( # noqa: E402, F401 + topic_config, + get_topic_config, + always_free, + is_always_free, + not_action, + is_not_action, +) diff --git a/unilabos/utils/environment_check.py b/unilabos/utils/environment_check.py index 73c0b10b..366694be 100644 --- a/unilabos/utils/environment_check.py +++ b/unilabos/utils/environment_check.py @@ -6,54 +6,199 @@ import argparse import importlib import locale +import shutil import subprocess import sys +from pathlib import Path +from typing import List, Optional from unilabos.utils.banner_print import print_status +# --------------------------------------------------------------------------- +# 底层安装工具 +# --------------------------------------------------------------------------- + +def _is_chinese_locale() -> bool: + try: + lang = locale.getdefaultlocale()[0] + return bool(lang and ("zh" in lang.lower() or "chinese" in lang.lower())) + except Exception: + return False + + +_USE_UV: Optional[bool] = None + + +def _has_uv() -> bool: + global _USE_UV + if _USE_UV is None: + _USE_UV = shutil.which("uv") is not None + return _USE_UV + + +def _install_packages( + packages: List[str], + upgrade: bool = False, + label: str = "", +) -> bool: + """ + 安装/升级一组包。优先 uv pip install,回退 sys pip。 + 逐个安装,任意一个失败不影响后续包。 + + Returns: + True if all succeeded, False otherwise. + """ + if not packages: + return True + + is_chinese = _is_chinese_locale() + use_uv = _has_uv() + failed: List[str] = [] + + for pkg in packages: + action_word = "升级" if upgrade else "安装" + if label: + print_status(f"[{label}] 正在{action_word} {pkg}...", "info") + else: + print_status(f"正在{action_word} {pkg}...", "info") + + if use_uv: + cmd = ["uv", "pip", "install"] + if upgrade: + cmd.append("--upgrade") + cmd.append(pkg) + if is_chinese: + cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"]) + else: + cmd = [sys.executable, "-m", "pip", "install"] + if upgrade: + cmd.append("--upgrade") + cmd.append(pkg) + if is_chinese: + cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"]) + + try: + result = subprocess.run(cmd, capture_output=True, text=True, timeout=300) + if result.returncode == 0: + installer = "uv" if use_uv else "pip" + print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success") + else: + stderr_short = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error" + print_status(f"× {pkg} {action_word}失败: {stderr_short}", "error") + failed.append(pkg) + except subprocess.TimeoutExpired: + print_status(f"× {pkg} {action_word}超时 (300s)", "error") + failed.append(pkg) + except Exception as e: + print_status(f"× {pkg} {action_word}异常: {e}", "error") + failed.append(pkg) + + if failed: + print_status(f"有 {len(failed)} 个包操作失败: {', '.join(failed)}", "error") + return False + return True + + +# --------------------------------------------------------------------------- +# requirements.txt 安装(可多次调用) +# --------------------------------------------------------------------------- + +def install_requirements_txt(req_path: str | Path, label: str = "") -> bool: + """ + 读取一个 requirements.txt 文件,检查缺失的包并安装。 + + Args: + req_path: requirements.txt 文件路径 + label: 日志前缀标签(如 "device_package_sim") + + Returns: + True if all ok, False if any install failed. + """ + req_path = Path(req_path) + if not req_path.exists(): + return True + + tag = label or req_path.parent.name + print_status(f"[{tag}] 检查依赖: {req_path}", "info") + + reqs: List[str] = [] + with open(req_path, "r", encoding="utf-8") as f: + for line in f: + line = line.strip() + if line and not line.startswith("#") and not line.startswith("-"): + reqs.append(line) + + if not reqs: + return True + + missing: List[str] = [] + for req in reqs: + pkg_import = req.split(">=")[0].split("==")[0].split("<")[0].split("[")[0].split(">")[0].strip() + pkg_import = pkg_import.replace("-", "_") + try: + importlib.import_module(pkg_import) + except ImportError: + missing.append(req) + + if not missing: + print_status(f"[{tag}] ✓ 依赖检查通过 ({len(reqs)} 个包)", "success") + return True + + print_status(f"[{tag}] 缺失 {len(missing)} 个依赖: {', '.join(missing)}", "warning") + return _install_packages(missing, label=tag) + + +def check_device_package_requirements(devices_dirs: list[str]) -> bool: + """ + 检查 --devices 指定的所有外部设备包目录中的 requirements.txt。 + 对每个目录查找 requirements.txt(先在目录内找,再在父目录找)。 + """ + if not devices_dirs: + return True + + all_ok = True + for d in devices_dirs: + d_path = Path(d).resolve() + req_file = d_path / "requirements.txt" + if not req_file.exists(): + req_file = d_path.parent / "requirements.txt" + if not req_file.exists(): + continue + if not install_requirements_txt(req_file, label=d_path.name): + all_ok = False + + return all_ok + + +# --------------------------------------------------------------------------- +# UniLabOS 核心环境检查 +# --------------------------------------------------------------------------- + class EnvironmentChecker: """环境检查器""" def __init__(self): - # 定义必需的包及其安装名称的映射 self.required_packages = { - # 包导入名 : pip安装名 - # "pymodbus.framer.FramerType": "pymodbus==3.9.2", "websockets": "websockets", "msgcenterpy": "msgcenterpy", + "orjson": "orjson", "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) self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"} - # 包版本要求(包名: 最低版本) self.version_requirements = { - "msgcenterpy": "0.1.5", # msgcenterpy 最低版本要求 + "msgcenterpy": "0.1.8", } - self.missing_packages = [] - self.failed_installs = [] - self.packages_need_upgrade = [] - - # 检测系统语言 - self.is_chinese = self._is_chinese_locale() - - def _is_chinese_locale(self) -> bool: - """检测系统是否为中文环境""" - try: - lang = locale.getdefaultlocale()[0] - if lang and ("zh" in lang.lower() or "chinese" in lang.lower()): - return True - except Exception: - pass - return False + self.missing_packages: List[tuple] = [] + self.failed_installs: List[tuple] = [] + self.packages_need_upgrade: List[tuple] = [] def check_package_installed(self, package_name: str) -> bool: - """检查包是否已安装""" try: importlib.import_module(package_name) return True @@ -61,7 +206,6 @@ class EnvironmentChecker: return False def get_package_version(self, package_name: str) -> str | None: - """获取已安装包的版本""" try: module = importlib.import_module(package_name) return getattr(module, "__version__", None) @@ -69,88 +213,32 @@ class EnvironmentChecker: return None def compare_version(self, current: str, required: str) -> bool: - """ - 比较版本号 - Returns: - True: current >= required - False: current < required - """ try: current_parts = [int(x) for x in current.split(".")] required_parts = [int(x) for x in required.split(".")] - - # 补齐长度 max_len = max(len(current_parts), len(required_parts)) current_parts.extend([0] * (max_len - len(current_parts))) required_parts.extend([0] * (max_len - len(required_parts))) - return current_parts >= required_parts except Exception: - return True # 如果无法比较,假设版本满足要求 - - def install_package(self, package_name: str, pip_name: str, upgrade: bool = False) -> bool: - """安装包""" - try: - action = "升级" if upgrade else "安装" - print_status(f"正在{action} {package_name} ({pip_name})...", "info") - - # 构建安装命令 - cmd = [sys.executable, "-m", "pip", "install"] - - # 如果是升级操作,添加 --upgrade 参数 - if upgrade: - cmd.append("--upgrade") - - cmd.append(pip_name) - - # 如果是中文环境,使用清华镜像源 - if self.is_chinese: - cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"]) - - # 执行安装 - result = subprocess.run(cmd, capture_output=True, text=True, timeout=300) # 5分钟超时 - - if result.returncode == 0: - print_status(f"✓ {package_name} {action}成功", "success") - return True - else: - print_status(f"× {package_name} {action}失败: {result.stderr}", "error") - return False - - except subprocess.TimeoutExpired: - print_status(f"× {package_name} {action}超时", "error") - return False - except Exception as e: - print_status(f"× {package_name} {action}异常: {str(e)}", "error") - return False - - def upgrade_package(self, package_name: str, pip_name: str) -> bool: - """升级包""" - return self.install_package(package_name, pip_name, upgrade=True) + return True def check_all_packages(self) -> bool: - """检查所有必需的包""" print_status("开始检查环境依赖...", "info") - # 检查常规包 for import_name, pip_name in self.required_packages.items(): if not self.check_package_installed(import_name): self.missing_packages.append((import_name, pip_name)) - else: - # 检查版本要求 - if import_name in self.version_requirements: - current_version = self.get_package_version(import_name) - required_version = self.version_requirements[import_name] + elif import_name in self.version_requirements: + current_version = self.get_package_version(import_name) + required_version = self.version_requirements[import_name] + if current_version and not self.compare_version(current_version, required_version): + print_status( + f"{import_name} 版本过低 (当前: {current_version}, 需要: >={required_version})", + "warning", + ) + self.packages_need_upgrade.append((import_name, pip_name)) - if current_version: - if not self.compare_version(current_version, required_version): - print_status( - f"{import_name} 版本过低 (当前: {current_version}, 需要: >={required_version})", - "warning", - ) - self.packages_need_upgrade.append((import_name, pip_name)) - - # 检查特殊包 for package_name, install_url in self.special_packages.items(): if not self.check_package_installed(package_name): self.missing_packages.append((package_name, install_url)) @@ -169,7 +257,6 @@ class EnvironmentChecker: return False def install_missing_packages(self, auto_install: bool = True) -> bool: - """安装缺失的包""" if not self.missing_packages and not self.packages_need_upgrade: return True @@ -177,62 +264,36 @@ class EnvironmentChecker: if self.missing_packages: print_status("缺失以下包:", "warning") for import_name, pip_name in self.missing_packages: - print_status(f" - {import_name} (pip install {pip_name})", "warning") + print_status(f" - {import_name} ({pip_name})", "warning") if self.packages_need_upgrade: print_status("需要升级以下包:", "warning") for import_name, pip_name in self.packages_need_upgrade: - print_status(f" - {import_name} (pip install --upgrade {pip_name})", "warning") + print_status(f" - {import_name} ({pip_name})", "warning") return False - # 安装缺失的包 if self.missing_packages: - print_status(f"开始自动安装 {len(self.missing_packages)} 个缺失的包...", "info") + pkgs = [pip_name for _, pip_name in self.missing_packages] + if not _install_packages(pkgs, label="unilabos"): + self.failed_installs.extend(self.missing_packages) - success_count = 0 - for import_name, pip_name in self.missing_packages: - if self.install_package(import_name, pip_name): - success_count += 1 - else: - self.failed_installs.append((import_name, pip_name)) - - print_status(f"✓ 成功安装 {success_count}/{len(self.missing_packages)} 个包", "success") - - # 升级需要更新的包 if self.packages_need_upgrade: - print_status(f"开始自动升级 {len(self.packages_need_upgrade)} 个包...", "info") + pkgs = [pip_name for _, pip_name in self.packages_need_upgrade] + if not _install_packages(pkgs, upgrade=True, label="unilabos"): + self.failed_installs.extend(self.packages_need_upgrade) - upgrade_success_count = 0 - for import_name, pip_name in self.packages_need_upgrade: - if self.upgrade_package(import_name, pip_name): - upgrade_success_count += 1 - else: - self.failed_installs.append((import_name, pip_name)) - - print_status(f"✓ 成功升级 {upgrade_success_count}/{len(self.packages_need_upgrade)} 个包", "success") - - if self.failed_installs: - print_status(f"有 {len(self.failed_installs)} 个包操作失败:", "error") - for import_name, pip_name in self.failed_installs: - print_status(f" - {import_name} ({pip_name})", "error") - return False - - return True + return not self.failed_installs def verify_installation(self) -> bool: - """验证安装结果""" if not self.missing_packages and not self.packages_need_upgrade: return True print_status("验证安装结果...", "info") - failed_verification = [] - # 验证新安装的包 for import_name, pip_name in self.missing_packages: if not self.check_package_installed(import_name): failed_verification.append((import_name, pip_name)) - # 验证升级的包 for import_name, pip_name in self.packages_need_upgrade: if not self.check_package_installed(import_name): failed_verification.append((import_name, pip_name)) @@ -269,17 +330,14 @@ def check_environment(auto_install: bool = True, show_details: bool = True) -> b """ checker = EnvironmentChecker() - # 检查包 if checker.check_all_packages(): return True - # 安装缺失的包 if not checker.install_missing_packages(auto_install): if show_details: print_status("请手动安装缺失的包后重新启动程序", "error") return False - # 验证安装 if not checker.verify_installation(): if show_details: print_status("安装验证失败,请检查网络连接或手动安装", "error") @@ -289,14 +347,12 @@ def check_environment(auto_install: bool = True, show_details: bool = True) -> b if __name__ == "__main__": - # 命令行参数解析 parser = argparse.ArgumentParser(description="UniLabOS 环境依赖检查工具") parser.add_argument("--no-auto-install", action="store_true", help="仅检查环境,不自动安装缺失的包") parser.add_argument("--silent", action="store_true", help="静默模式,不显示详细信息") args = parser.parse_args() - # 执行环境检查 auto_install = not args.no_auto_install show_details = not args.silent diff --git a/unilabos/utils/import_manager.py b/unilabos/utils/import_manager.py index 82fad6e8..7fe2f501 100644 --- a/unilabos/utils/import_manager.py +++ b/unilabos/utils/import_manager.py @@ -21,15 +21,11 @@ __all__ = [ "get_class", "get_module", "init_from_list", - "get_class_info_static", - "get_registry_class_info", + "get_enhanced_class_info", ] -from ast import Constant - from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS from unilabos.utils import logger -from unilabos.utils.decorator import is_not_action, is_always_free class ImportManager: @@ -45,6 +41,7 @@ class ImportManager: self._modules: Dict[str, Any] = {} self._classes: Dict[str, Type] = {} self._functions: Dict[str, Callable] = {} + self._search_miss: set = set() if module_list: for module_path in module_list: @@ -159,187 +156,113 @@ class ImportManager: Returns: 找到的类对象,如果未找到则返回None """ - # 如果cls_name是builtins中的关键字,则返回对应类 if class_name in builtins.__dict__: return builtins.__dict__[class_name] - # 首先在已索引的类中查找 if class_name in self._classes: return self._classes[class_name] + cache_key = class_name.lower() if search_lower else class_name + if cache_key in self._search_miss: + return None + if search_lower: classes = {name.lower(): obj for name, obj in self._classes.items()} if class_name in classes: return classes[class_name] - # 遍历所有已加载的模块进行搜索 for module_path, module in self._modules.items(): for name, obj in inspect.getmembers(module): if inspect.isclass(obj) and ( (name.lower() == class_name.lower()) if search_lower else (name == class_name) ): - # 将找到的类添加到索引中 self._classes[name] = obj self._classes[f"{module_path}:{name}"] = obj return obj + self._search_miss.add(cache_key) return None - def get_enhanced_class_info(self, module_path: str, use_dynamic: bool = True) -> Dict[str, Any]: - """ - 获取增强的类信息,支持动态导入和静态分析 + def get_enhanced_class_info(self, module_path: str, **_kwargs) -> Dict[str, Any]: + """通过 AST 分析获取类的增强信息。 + + 复用 ``ast_registry_scanner`` 的 ``_collect_imports`` / ``_extract_class_body``, + 与 AST 扫描注册表完全一致。 Args: - module_path: 模块路径,格式为 "module.path" 或 "module.path:ClassName" - use_dynamic: 是否优先使用动态导入 + module_path: 格式 ``"module.path:ClassName"`` Returns: - 包含详细类信息的字典 + ``{"module_path", "ast_analysis_success", "import_map", + "init_params", "status_methods", "action_methods"}`` """ - result = { + from unilabos.registry.ast_registry_scanner import ( + _collect_imports, + _extract_class_body, + _filepath_to_module, + ) + + result: Dict[str, Any] = { "module_path": module_path, - "dynamic_import_success": False, - "static_analysis_success": False, - "init_params": {}, - "status_methods": {}, # get_ 开头和 @property 方法 - "action_methods": {}, # set_ 开头和其他非_开头方法 - } - - # 尝试动态导入 - dynamic_info = None - static_info = None - if use_dynamic: - try: - dynamic_info = self._get_dynamic_class_info(module_path) - result["dynamic_import_success"] = True - logger.debug(f"[ImportManager] 动态导入类 {module_path} 成功") - except Exception as e: - logger.warning( - f"[UniLab Registry] 在补充注册表时,动态导入类 " - f"{module_path} 失败(将使用静态分析," - f"建议修复导入错误,以实现更好的注册表识别效果!): {e}" - ) - use_dynamic = False - if not use_dynamic: - # 尝试静态分析 - try: - static_info = self._get_static_class_info(module_path) - result["static_analysis_success"] = True - logger.debug(f"[ImportManager] 静态分析类 {module_path} 成功") - except Exception as e: - logger.warning(f"[ImportManager] 静态分析类 {module_path} 失败: {e}") - - # 合并信息(优先使用动态导入的信息) - if dynamic_info: - result.update(dynamic_info) - elif static_info: - result.update(static_info) - - return result - - def _get_dynamic_class_info(self, class_path: str) -> Dict[str, Any]: - """使用inspect模块动态获取类信息""" - cls = get_class(class_path) - class_name = cls.__name__ - - result = { - "class_name": class_name, - "init_params": self._analyze_method_signature(cls.__init__)["args"], + "ast_analysis_success": False, + "import_map": {}, + "init_params": [], "status_methods": {}, "action_methods": {}, } - # 分析类的所有成员 - for name, method in cls.__dict__.items(): - if name.startswith("_"): - continue - # 检查是否是property - if isinstance(method, property): - # @property 装饰的方法 - # noinspection PyTypeChecker - return_type = self._get_return_type_from_method(method.fget) if method.fget else "Any" - prop_info = { - "name": name, - "return_type": return_type, - } - result["status_methods"][name] = prop_info - - # 检查是否有对应的setter - if method.fset: - setter_info = self._analyze_method_signature(method.fset) - result["action_methods"][name] = setter_info - - elif inspect.ismethod(method) or inspect.isfunction(method): - if name.startswith("get_"): - actual_name = name[4:] # 去掉get_前缀 - if actual_name in result["status_methods"]: - continue - # get_ 开头的方法归类为status - method_info = self._analyze_method_signature(method) - result["status_methods"][actual_name] = method_info - elif not name.startswith("_"): - # 其他非_开头的方法归类为action - method_info = self._analyze_method_signature(method) - # 检查是否被 @always_free 装饰器标记 - if is_always_free(method): - method_info["always_free"] = True - result["action_methods"][name] = method_info - - return result - - def _get_static_class_info(self, module_path: str) -> Dict[str, Any]: - """使用AST静态分析获取类信息""" module_name, class_name = module_path.rsplit(":", 1) - # 将模块路径转换为文件路径 file_path = self._module_path_to_file_path(module_name) if not file_path or not os.path.exists(file_path): - raise FileNotFoundError(f"找不到模块文件: {module_name} -> {file_path}") + logger.warning(f"[ImportManager] 找不到模块文件: {module_name} -> {file_path}") + return result - with open(file_path, "r", encoding="utf-8") as f: - source_code = f.read() + try: + with open(file_path, "r", encoding="utf-8") as f: + tree = ast.parse(f.read(), filename=file_path) + except Exception as e: + logger.warning(f"[ImportManager] 解析文件 {file_path} 失败: {e}") + return result - tree = ast.parse(source_code) + # 推导 module dotted path → 构建 import_map + python_path = Path(file_path) + for sp in sorted(sys.path, key=len, reverse=True): + try: + Path(file_path).relative_to(sp) + python_path = Path(sp) + break + except ValueError: + continue + module_dotted = _filepath_to_module(Path(file_path), python_path) + import_map = _collect_imports(tree, module_dotted) + result["import_map"] = import_map - # 查找目标类 + # 定位目标类 AST 节点 target_class = None for node in ast.walk(tree): - if isinstance(node, ast.ClassDef): - if node.name == class_name: - target_class = node - break + if isinstance(node, ast.ClassDef) and node.name == class_name: + target_class = node + break if target_class is None: - raise AttributeError(f"在文件 {file_path} 中找不到类 {class_name}") + logger.warning(f"[ImportManager] 在文件 {file_path} 中找不到类 {class_name}") + return result - result = { - "class_name": class_name, - "init_params": {}, - "status_methods": {}, - "action_methods": {}, + body = _extract_class_body(target_class, import_map) + + # 映射到统一字段名(与 registry.py complete_registry 消费端一致) + result["init_params"] = body.get("init_params", []) + result["status_methods"] = body.get("status_properties", {}) + result["action_methods"] = { + k: { + "args": v.get("params", []), + "return_type": v.get("return_type", ""), + "is_async": v.get("is_async", False), + "always_free": v.get("always_free", False), + "docstring": v.get("docstring"), + } + for k, v in body.get("auto_methods", {}).items() } - - # 分析类的方法 - for node in target_class.body: - if isinstance(node, ast.FunctionDef): - method_info = self._analyze_method_node(node) - method_name = node.name - if method_name == "__init__": - result["init_params"] = method_info["args"] - elif method_name.startswith("_"): - continue - elif self._is_property_method(node): - # @property 装饰的方法 - result["status_methods"][method_name] = method_info - elif method_name.startswith("get_"): - # get_ 开头的方法归类为status - actual_name = method_name[4:] # 去掉get_前缀 - if actual_name not in result["status_methods"]: - result["status_methods"][actual_name] = method_info - else: - # 其他非_开头的方法归类为action - # 检查是否被 @always_free 装饰器标记 - if self._is_always_free_method(node): - method_info["always_free"] = True - result["action_methods"][method_name] = method_info + result["ast_analysis_success"] = True return result def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]: @@ -395,23 +318,26 @@ class ImportManager: "name": method.__name__, "args": args, "return_type": self._get_type_string(signature.return_annotation), - "return_annotation": signature.return_annotation, # 保留原始类型注解,用于TypedDict等特殊处理 "is_async": inspect.iscoroutinefunction(method), } - def _get_return_type_from_method(self, method) -> str: + def _get_return_type_from_method(self, method) -> Union[str, Tuple[str, Any]]: """从方法中获取返回类型""" signature = inspect.signature(method) return self._get_type_string(signature.return_annotation) def _get_type_string(self, annotation) -> Union[str, Tuple[str, Any]]: - """将类型注解转换为Class Library中可搜索的类名""" + """将类型注解转换为类型字符串。 + + 非内建类返回 ``module:ClassName`` 全路径(如 + ``"unilabos.registry.placeholder_type:ResourceSlot"``), + 避免短名冲突;内建类型直接返回短名(如 ``"str"``、``"int"``)。 + """ if annotation == inspect.Parameter.empty: - return "Any" # 如果没有注解,返回Any + return "Any" if annotation is None: - return "None" # 明确的None类型 + return "None" if hasattr(annotation, "__origin__"): - # 处理typing模块的类型 origin = annotation.__origin__ if origin in (list, set, tuple): if hasattr(annotation, "__args__") and annotation.__args__: @@ -426,126 +352,26 @@ class ImportManager: return "dict" elif origin is Optional: return "Unknown" - return f"Unknown" + return "Unknown" annotation_str = str(annotation) - # 处理typing模块的复杂类型 if "typing." in annotation_str: - # 简化typing类型显示 return ( annotation_str.replace("typing.", "") if getattr(annotation, "_name", None) is None else annotation._name.lower() ) - # 如果是类型对象 if hasattr(annotation, "__name__"): - # 如果是内置类型 - if annotation.__module__ == "builtins": - return annotation.__name__ - else: - # 如果是自定义类,返回完整路径 - return f"{annotation.__module__}:{annotation.__name__}" - # 如果是typing模块的类型 + module = getattr(annotation, "__module__", None) + if module and module != "builtins": + return f"{module}:{annotation.__name__}" + return annotation.__name__ elif hasattr(annotation, "_name"): return annotation._name - # 如果是字符串形式的类型注解 elif isinstance(annotation, str): return annotation else: return annotation_str - def _is_property_method(self, node: ast.FunctionDef) -> bool: - """检查是否是@property装饰的方法""" - for decorator in node.decorator_list: - if isinstance(decorator, ast.Name) and decorator.id == "property": - return True - return False - - def _is_setter_method(self, node: ast.FunctionDef) -> bool: - """检查是否是@xxx.setter装饰的方法""" - for decorator in node.decorator_list: - if isinstance(decorator, ast.Attribute) and decorator.attr == "setter": - 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 _is_always_free_method(self, node: ast.FunctionDef) -> bool: - """检查是否是@always_free装饰的方法""" - for decorator in node.decorator_list: - if isinstance(decorator, ast.Name) and decorator.id == "always_free": - 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: - if isinstance(decorator, ast.Attribute) and decorator.attr == "setter": - if isinstance(decorator.value, ast.Name): - return decorator.value.id - return node.name - - def get_class_info_static(self, module_class_path: str) -> Dict[str, Any]: - """ - 静态分析获取类的方法信息,不需要实际导入模块 - - Args: - module_class_path: 格式为 "module.path:ClassName" 的字符串 - - Returns: - 包含类方法信息的字典 - """ - try: - if ":" not in module_class_path: - raise ValueError("module_class_path必须是 'module.path:ClassName' 格式") - - module_path, class_name = module_class_path.rsplit(":", 1) - - # 将模块路径转换为文件路径 - file_path = self._module_path_to_file_path(module_path) - if not file_path or not os.path.exists(file_path): - logger.warning(f"找不到模块文件: {module_path} -> {file_path}") - return {} - - # 解析源码 - with open(file_path, "r", encoding="utf-8") as f: - source_code = f.read() - - tree = ast.parse(source_code) - - # 查找目标类 - class_node = None - for node in ast.walk(tree): - if isinstance(node, ast.ClassDef) and node.name == class_name: - class_node = node - break - - if not class_node: - logger.warning(f"在模块 {module_path} 中找不到类 {class_name}") - return {} - - # 分析类的方法 - methods_info = {} - for node in class_node.body: - if isinstance(node, ast.FunctionDef): - method_info = self._analyze_method_node(node) - methods_info[node.name] = method_info - - return { - "class_name": class_name, - "module_path": module_path, - "file_path": file_path, - "methods": methods_info, - } - - except Exception as e: - logger.error(f"静态分析类 {module_class_path} 时出错: {str(e)}") - return {} - def _module_path_to_file_path(self, module_path: str) -> Optional[str]: for path in sys.path: potential_path = Path(path) / module_path.replace(".", "/") @@ -560,222 +386,6 @@ class ImportManager: return None - def _analyze_method_node(self, node: ast.FunctionDef) -> Dict[str, Any]: - """分析方法节点,提取参数和返回类型信息""" - method_info = { - "name": node.name, - "args": [], - "return_type": None, - "is_async": isinstance(node, ast.AsyncFunctionDef), - } - # 获取默认值列表 - defaults = node.args.defaults - num_defaults = len(defaults) - - # 计算必需参数数量 - total_args = len(node.args.args) - num_required = total_args - num_defaults - - # 提取参数信息 - for i, arg in enumerate(node.args.args): - if arg.arg == "self": - continue - # 跳过 sample_uuids 参数(由系统自动注入) - if arg.arg == PARAM_SAMPLE_UUIDS: - continue - arg_info = { - "name": arg.arg, - "type": None, - "default": None, - "required": i < num_required, - } - - # 提取类型注解 - if arg.annotation: - arg_info["type"] = ast.unparse(arg.annotation) if hasattr(ast, "unparse") else str(arg.annotation) - - # 提取默认值并推断类型 - if i >= num_required: - default_index = i - num_required - if default_index < len(defaults): - default_value: Constant = defaults[default_index] # type: ignore - assert isinstance(default_value, Constant), "暂不支持对非常量类型进行推断,可反馈开源仓库" - arg_info["default"] = default_value.value - # 如果没有类型注解,尝试从默认值推断类型 - if not arg_info["type"]: - arg_info["type"] = self._get_type_string(type(arg_info["default"])) - method_info["args"].append(arg_info) - - # 提取返回类型 - if node.returns: - method_info["return_type"] = ast.unparse(node.returns) if hasattr(ast, "unparse") else str(node.returns) - - return method_info - - def _infer_type_from_default(self, node: ast.AST) -> Optional[str]: - """从默认值推断参数类型""" - if isinstance(node, ast.Constant): - value = node.value - if isinstance(value, bool): - return "bool" - elif isinstance(value, int): - return "int" - elif isinstance(value, float): - return "float" - elif isinstance(value, str): - return "str" - elif value is None: - return "Optional[Any]" - elif isinstance(node, ast.List): - return "List" - elif isinstance(node, ast.Dict): - return "Dict" - elif isinstance(node, ast.Tuple): - return "Tuple" - elif isinstance(node, ast.Set): - return "Set" - elif isinstance(node, ast.Name): - # 常见的默认值模式 - if node.id in ["None"]: - return "Optional[Any]" - elif node.id in ["True", "False"]: - return "bool" - - return None - - def _infer_types_from_docstring(self, method_info: Dict[str, Any]) -> None: - """从docstring中推断参数类型""" - docstring = method_info.get("docstring", "") - if not docstring: - return - - lines = docstring.split("\n") - in_args_section = False - - for line in lines: - line = line.strip() - - # 检测Args或Arguments段落 - if line.lower().startswith(("args:", "arguments:")): - in_args_section = True - continue - elif line.startswith(("returns:", "return:", "yields:", "raises:")): - in_args_section = False - continue - elif not line or not in_args_section: - continue - - # 解析参数行,格式通常是: param_name (type): description 或 param_name: description - if ":" in line: - parts = line.split(":", 1) - param_part = parts[0].strip() - - # 提取参数名和类型 - param_name = None - param_type = None - - if "(" in param_part and ")" in param_part: - # 格式: param_name (type) - param_name = param_part.split("(")[0].strip() - type_part = param_part.split("(")[1].split(")")[0].strip() - param_type = type_part - else: - # 格式: param_name - param_name = param_part - - # 更新对应参数的类型信息 - if param_name: - for arg_info in method_info["args"]: - if arg_info["name"] == param_name and not arg_info["type"]: - if param_type: - arg_info["inferred_type"] = param_type - elif not arg_info["inferred_type"]: - # 从描述中推断类型 - description = parts[1].strip().lower() - if any(word in description for word in ["path", "file", "directory", "filename"]): - arg_info["inferred_type"] = "str" - elif any( - word in description for word in ["port", "number", "count", "size", "length"] - ): - arg_info["inferred_type"] = "int" - elif any( - word in description for word in ["rate", "ratio", "percentage", "temperature"] - ): - arg_info["inferred_type"] = "float" - elif any(word in description for word in ["flag", "enable", "disable", "option"]): - arg_info["inferred_type"] = "bool" - - def get_registry_class_info(self, module_class_path: str) -> Dict[str, Any]: - """ - 获取适用于注册表的类信息,包含完整的类型推断 - - Args: - module_class_path: 格式为 "module.path:ClassName" 的字符串 - - Returns: - 适用于注册表的类信息字典 - """ - class_info = self.get_class_info_static(module_class_path) - if not class_info: - return {} - - registry_info = { - "class_name": class_info["class_name"], - "module_path": class_info["module_path"], - "file_path": class_info["file_path"], - "methods": {}, - "properties": [], - "init_params": {}, - "action_methods": {}, - } - - for method_name, method_info in class_info["methods"].items(): - # 分类处理不同类型的方法 - if method_info["is_property"]: - registry_info["properties"].append( - { - "name": method_name, - "return_type": method_info.get("return_type"), - "docstring": method_info.get("docstring"), - } - ) - elif method_name == "__init__": - # 处理初始化参数 - init_params = {} - for arg in method_info["args"]: - if arg["name"] != "self": - param_info = { - "name": arg["name"], - "type": arg.get("type") or arg.get("inferred_type"), - "required": arg.get("is_required", True), - "default": arg.get("default"), - } - init_params[arg["name"]] = param_info - registry_info["init_params"] = init_params - elif not method_name.startswith("_"): - # 处理公共方法(可能的action方法) - action_info = { - "name": method_name, - "params": {}, - "return_type": method_info.get("return_type"), - "docstring": method_info.get("docstring"), - "num_required": method_info.get("num_required", 0) - 1, # 减去self - "num_defaults": method_info.get("num_defaults", 0), - } - - for arg in method_info["args"]: - if arg["name"] != "self": - param_info = { - "name": arg["name"], - "type": arg.get("type") or arg.get("inferred_type"), - "required": arg.get("is_required", True), - "default": arg.get("default"), - } - action_info["params"][arg["name"]] = param_info - - registry_info["action_methods"][method_name] = action_info - - return registry_info # 全局实例,便于直接使用 @@ -803,16 +413,6 @@ def init_from_list(module_list: List[str]) -> None: default_manager = ImportManager(module_list) -def get_class_info_static(module_class_path: str) -> Dict[str, Any]: - """静态分析获取类信息的便捷函数""" - return default_manager.get_class_info_static(module_class_path) - - -def get_registry_class_info(module_class_path: str) -> Dict[str, Any]: - """获取适用于注册表的类信息的便捷函数""" - return default_manager.get_registry_class_info(module_class_path) - - -def get_enhanced_class_info(module_path: str, use_dynamic: bool = True) -> Dict[str, Any]: +def get_enhanced_class_info(module_path: str, **kwargs) -> Dict[str, Any]: """获取增强的类信息的便捷函数""" - return default_manager.get_enhanced_class_info(module_path, use_dynamic) + return default_manager.get_enhanced_class_info(module_path, **kwargs) diff --git a/unilabos/utils/requirements.txt b/unilabos/utils/requirements.txt index 65d724fc..105d387d 100644 --- a/unilabos/utils/requirements.txt +++ b/unilabos/utils/requirements.txt @@ -1,7 +1,8 @@ networkx typing_extensions websockets -msgcenterpy>=0.1.5 +msgcenterpy>=0.1.8 +orjson>=3.11 opentrons_shared_data pint fastapi diff --git a/unilabos/utils/tools.py b/unilabos/utils/tools.py index 89195cbd..3c7b742e 100644 --- a/unilabos/utils/tools.py +++ b/unilabos/utils/tools.py @@ -1,4 +1,39 @@ +import json + +from unilabos.utils.type_check import TypeEncoder, json_default + +try: + import orjson + + def fast_dumps(obj, **kwargs) -> bytes: + """JSON 序列化为 bytes,优先使用 orjson。""" + return orjson.dumps(obj, option=orjson.OPT_NON_STR_KEYS, default=json_default) + + def fast_dumps_pretty(obj, **kwargs) -> bytes: + """JSON 序列化为 bytes(带缩进),优先使用 orjson。""" + return orjson.dumps( + obj, + option=orjson.OPT_NON_STR_KEYS | orjson.OPT_INDENT_2, + default=json_default, + ) + + def normalize_json(info: dict) -> dict: + """经 JSON 序列化/反序列化一轮来清理非标准类型。""" + return orjson.loads(orjson.dumps(info, default=json_default)) + +except ImportError: + + def fast_dumps(obj, **kwargs) -> bytes: # type: ignore[misc] + return json.dumps(obj, ensure_ascii=False, cls=TypeEncoder).encode("utf-8") + + def fast_dumps_pretty(obj, **kwargs) -> bytes: # type: ignore[misc] + return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8") + + def normalize_json(info: dict) -> dict: # type: ignore[misc] + return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder)) + + # 辅助函数:将UUID数组转换为字符串 def uuid_to_str(uuid_array) -> str: """将UUID字节数组转换为十六进制字符串""" - return "".join(format(byte, "02x") for byte in uuid_array) \ No newline at end of file + return "".join(format(byte, "02x") for byte in uuid_array) diff --git a/unilabos/utils/type_check.py b/unilabos/utils/type_check.py index 64001e56..5477eca3 100644 --- a/unilabos/utils/type_check.py +++ b/unilabos/utils/type_check.py @@ -15,14 +15,21 @@ def get_type_class(type_hint): return final_type +def json_default(obj): + """将 type 对象序列化为类名,其余 fallback 到 str()。""" + if isinstance(obj, type): + return str(obj)[8:-2] + return str(obj) + + class TypeEncoder(json.JSONEncoder): """自定义JSON编码器处理特殊类型""" def default(self, obj): - # 优先处理类型对象 - if isinstance(obj, type): - return str(obj)[8:-2] - return super().default(obj) + try: + return json_default(obj) + except Exception: + return super().default(obj) class NoAliasDumper(yaml.SafeDumper): @@ -43,13 +50,10 @@ class ResultInfoEncoder(json.JSONEncoder): """专门用于处理任务执行结果信息的JSON编码器""" def default(self, obj): - # 优先处理类型对象 if isinstance(obj, type): - return str(obj)[8:-2] + return json_default(obj) - # 对于无法序列化的对象,统一转换为字符串 try: - # 尝试调用 __dict__ 或者其他序列化方法 if hasattr(obj, "__dict__"): return obj.__dict__ elif hasattr(obj, "_asdict"): # namedtuple @@ -59,10 +63,8 @@ class ResultInfoEncoder(json.JSONEncoder): elif hasattr(obj, "dict"): return obj.dict() else: - # 如果都不行,转换为字符串 return str(obj) except Exception: - # 如果转换失败,直接返回字符串表示 return str(obj) @@ -78,11 +80,12 @@ def get_result_info_str(error: str, suc: bool, return_value=None) -> str: Returns: JSON字符串格式的结果信息 """ - samples = None - if isinstance(return_value, dict): - if "samples" in return_value: - samples = return_value.pop("samples") - result_info = {"error": error, "suc": suc, "return_value": return_value, "samples": samples} + # 请在返回的字典中使用 unilabos_samples进行返回 + # samples = None + # if isinstance(return_value, dict): + # if "samples" in return_value and type(return_value["samples"]) in [list, tuple] and type(return_value["samples"][0]) == dict: + # samples = return_value.pop("samples") + result_info = {"error": error, "suc": suc, "return_value": return_value} return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder) diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index 6957f7bf..ead5eded 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.18 + 0.10.19 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln From edd67e4880b73b06286368a167b8816b8655cb38 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Fri, 27 Mar 2026 19:50:51 +0800 Subject: [PATCH 37/43] Merge branch 'dev' into feat/lab_resource --- unilabos/resources/resource_tracker.py | 151 +++---------------------- 1 file changed, 16 insertions(+), 135 deletions(-) diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 1b037676..3fb945b6 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -123,24 +123,6 @@ class ResourceDictType(TypedDict): machine_name: str -class ResourceDictType(TypedDict): - id: str - uuid: str - name: str - description: str - resource_schema: Dict[str, Any] - model: Dict[str, Any] - icon: str - parent_uuid: Optional[str] - parent: Optional["ResourceDictType"] - type: Union[Literal["device"], str] - klass: str - pose: ResourceDictPositionType - config: Dict[str, Any] - data: Dict[str, Any] - extra: Dict[str, Any] - - # 统一的资源字典模型,parent 自动序列化为 parent_uuid,children 不序列化 class ResourceDict(BaseModel): id: str = Field(description="Resource ID") @@ -571,17 +553,10 @@ class ResourceTreeSet(object): trees.append(tree_instance) return cls(trees) - def to_plr_resources( - self, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None - ) -> List["PLRResource"]: + def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]: """ 将 ResourceTreeSet 转换为 PLR 资源列表 - Args: - skip_devices: 是否跳过 device 类型节点 - requested_uuids: 若指定,则按此 UUID 顺序返回对应资源(用于批量查询时一一对应), - 否则返回各树的根节点列表 - Returns: List[PLRResource]: PLR 资源实例列表 """ @@ -637,71 +612,6 @@ class ResourceTreeSet(object): d["model"] = res.config.get("model", None) return d - # deserialize 会单独处理的元数据 key,不传给构造函数 - _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"} - # deserialize 自定义逻辑使用的 key(如 TipSpot 用 prototype_tip 构建 make_tip),需保留 - _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"} - - def remove_incompatible_params(plr_d: dict) -> None: - """递归移除 PLR 类不接受的参数,避免 deserialize 报错。 - - 移除构造函数不接受的参数(如 compute_height_from_volume、ordering、category) - - 对 TubeRack:将 ordering 转为 ordered_items - - 保留 deserialize 自定义逻辑需要的 key(如 prototype_tip) - """ - if "type" in plr_d: - sub_cls = find_subclass(plr_d["type"], PLRResource) - if sub_cls is not None: - spec = inspect.signature(sub_cls) - valid_params = set(spec.parameters.keys()) - # TubeRack 特殊处理:先转换 ordering,再参与后续过滤 - if "ordering" not in valid_params and "ordering" in plr_d: - ordering = plr_d.pop("ordering", None) - if sub_cls.__name__ == "TubeRack": - plr_d["ordered_items"] = ( - _ordering_to_ordered_items(plr_d, ordering) - if ordering - else {} - ) - # 移除构造函数不接受的参数(保留 META 和 deserialize 自定义逻辑需要的 key) - for key in list(plr_d.keys()): - if ( - key not in _META_KEYS - and key not in _DESERIALIZE_PRESERVED_KEYS - and key not in valid_params - ): - plr_d.pop(key, None) - for child in plr_d.get("children", []): - remove_incompatible_params(child) - - def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict: - """将 ordering 转为 ordered_items,从 children 构建 Tube 对象""" - from pylabrobot.resources import Tube, Coordinate - from pylabrobot.serializer import deserialize as plr_deserialize - - children = plr_d.get("children", []) - ordered_items = {} - for idx, (ident, child_name) in enumerate(ordering.items()): - child_data = children[idx] if idx < len(children) else None - if child_data is None: - continue - loc_data = child_data.get("location") - loc = ( - plr_deserialize(loc_data) - if loc_data - else Coordinate(0, 0, 0) - ) - tube = Tube( - name=child_data.get("name", child_name or ident), - size_x=child_data.get("size_x", 10), - size_y=child_data.get("size_y", 10), - size_z=child_data.get("size_z", 50), - max_volume=child_data.get("max_volume", 1000), - ) - tube.location = loc - ordered_items[ident] = tube - plr_d["children"] = [] # 已并入 ordered_items,避免重复反序列化 - return ordered_items - plr_resources = [] tracker = DeviceNodeResourceTracker() @@ -721,7 +631,9 @@ class ResourceTreeSet(object): 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}" ) - remove_incompatible_params(plr_dict) + spec = inspect.signature(sub_cls) + 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 @@ -735,47 +647,12 @@ class ResourceTreeSet(object): plr_resources.append(plr_resource) except Exception as e: - logger.error(f"转换 PLR 资源失败: {e}") + logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}") import traceback logger.error(f"堆栈: {traceback.format_exc()}") raise - if requested_uuids: - # 按请求的 UUID 顺序返回对应资源(从整棵树中按 uuid 提取) - # 优先使用 tracker.uuid_to_resources;若映射缺失,再递归遍历 PLR 树兜底搜索。 - def _find_plr_by_uuid(roots: List["PLRResource"], uid: str) -> Optional["PLRResource"]: - stack = list(roots) - while stack: - node = stack.pop() - node_uid = getattr(node, "unilabos_uuid", None) - if node_uid == uid: - return node - children = getattr(node, "children", None) or [] - stack.extend(children) - return None - - result = [] - missing_uuids = [] - for uid in requested_uuids: - found = tracker.uuid_to_resources.get(uid) - if found is None: - found = _find_plr_by_uuid(plr_resources, uid) - if found is not None: - # 回填缓存,后续相同 uuid 可直接命中 - tracker.uuid_to_resources[uid] = found - if found is None: - missing_uuids.append(uid) - else: - result.append(found) - - if missing_uuids: - raise ValueError( - f"请求的 UUID 未在资源树中找到: {missing_uuids}。" - f"可用 UUID 数量: {len(tracker.uuid_to_resources)}," - f"资源树数量: {len(self.trees)}" - ) - return result return plr_resources @classmethod @@ -793,13 +670,7 @@ class ResourceTreeSet(object): ValueError: 当建立关系时发现不一致 """ # 第一步:将字典列表转换为 ResourceDictInstance 列表 - parsed_list = [] - for node_dict in raw_list: - if isinstance(node_dict, str): - import json - node_dict = json.loads(node_dict) - parsed_list.append(node_dict) - instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in parsed_list] + instances = [ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in raw_list] # 第二步:建立映射关系 uuid_to_instance: Dict[str, ResourceDictInstance] = {} @@ -870,6 +741,16 @@ class ResourceTreeSet(object): """ return [tree.root_node for tree in self.trees] + @property + def root_nodes_uuid(self) -> List[ResourceDictInstance]: + """ + 获取所有树的根节点 + + Returns: + 所有根节点的资源实例列表 + """ + return [tree.root_node.res_content.uuid for tree in self.trees] + @property def all_nodes(self) -> List[ResourceDictInstance]: """ From afddc6e40caf332afa8c866542250cb2f5015c42 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Tue, 31 Mar 2026 14:32:48 +0800 Subject: [PATCH 38/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=B8=8A=E4=BC=A0?= =?UTF-8?q?=E5=B7=A5=E4=BD=9C=E6=B5=81=E9=83=A8=E5=88=86=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/workflow/common.py | 331 +++++++++++++++++- unilabos/workflow/convert_from_json.py | 22 +- .../legacy/convert_from_json_legacy.py | 7 + 3 files changed, 341 insertions(+), 19 deletions(-) diff --git a/unilabos/workflow/common.py b/unilabos/workflow/common.py index 7614e8a1..5965a460 100644 --- a/unilabos/workflow/common.py +++ b/unilabos/workflow/common.py @@ -152,6 +152,253 @@ def _map_deck_slot(raw_slot: str, object_type: str = "") -> str: return {"4": "13", "8": "14"}.get(s, s) +def _labware_def_index(labware_defs: Optional[List[Dict[str, Any]]]) -> Dict[str, Dict[str, Any]]: + m: Dict[str, Dict[str, Any]] = {} + for d in labware_defs or []: + for k in ("id", "name", "reagent_id", "reagent"): + key = d.get(k) + if key is not None and str(key): + m[str(key)] = d + return m + + +def _labware_hint_text(labware_id: str, item: Dict[str, Any]) -> str: + """合并 id 与协议里的 labware 描述(OpenTrons 全名常在 labware 字段)。""" + parts = [str(labware_id), str(item.get("labware", "") or "")] + return " ".join(parts).lower() + + +def _infer_reagent_kind(labware_id: str, item: Dict[str, Any]) -> str: + ot = (item.get("object") or "").strip().lower() + if ot == "trash": + return "trash" + if ot == "tiprack": + return "tip_rack" + lid = _labware_hint_text(labware_id, item) + if "trash" in lid: + return "trash" + # tiprack / tip + rack(顺序在 tuberack 之前) + if "tiprack" in lid or ("tip" in lid and "rack" in lid): + return "tip_rack" + # 离心管架 / OpenTrons tuberack(勿与 96 tiprack 混淆) + if "tuberack" in lid or "tube_rack" in lid: + return "tube_rack" + if "eppendorf" in lid and "rack" in lid: + return "tube_rack" + if "safelock" in lid and "rack" in lid: + return "tube_rack" + if "rack" in lid and "tip" not in lid: + return "tube_rack" + return "plate" + + +def _infer_tube_rack_num_positions(labware_id: str, item: Dict[str, Any]) -> int: + """从 ``24_tuberack`` 等命名中解析孔位数;解析不到则默认 24(与 PRCXI_EP_Adapter 4×6 一致)。""" + hint = _labware_hint_text(labware_id, item) + m = re.search(r"(\d+)_tuberack", hint) + if m: + return int(m.group(1)) + m = re.search(r"tuberack[_\s]*(\d+)", hint) + if m: + return int(m.group(1)) + m = re.search(r"(\d+)\s*[-_]?\s*pos(?:ition)?s?", hint) + if m: + return int(m.group(1)) + return 96 + + +def _tip_volume_hint(item: Dict[str, Any], labware_id: str) -> Optional[float]: + s = _labware_hint_text(labware_id, item) + for v in (1250, 1000, 300, 200, 10): + if f"{v}ul" in s or f"{v}μl" in s or f"{v}u" in s: + return float(v) + if f" {v} " in f" {s} ": + return float(v) + return None + + +def _volume_template_covers_requirement(template: Dict[str, Any], req: Optional[float], kind: str) -> bool: + """有明确需求体积时,模板标称 Volume 必须 >= 需求;无 Volume 的模板不参与(trash 除外)。""" + if kind == "trash": + return True + if req is None or req <= 0: + return True + mv = float(template.get("Volume") or 0) + if mv <= 0: + return False + return mv >= req + + +def _direct_labware_class_name(item: Dict[str, Any]) -> str: + """仅用于 tip_rack 且 ``preserve_tip_rack_incoming_class=True``:``class_name``/``class`` 原样;否则 ``labware`` → ``lab_*``。""" + explicit = item.get("class_name") or item.get("class") + if explicit is not None and str(explicit).strip() != "": + return str(explicit).strip() + lw = str(item.get("labware", "") or "").strip() + if lw: + return f"lab_{lw.lower().replace('.', 'point').replace(' ', '_')}" + return "" + + +def _match_score_prcxi_template( + template: Dict[str, Any], + num_children: int, + child_max_volume: Optional[float], +) -> float: + """孔数差主导;有需求体积且模板已满足 >= 时,余量比例 (模板-需求)/需求 越小越好(优先选刚好够的)。""" + hole_count = int(template.get("hole_count") or 0) + hole_diff = abs(num_children - hole_count) + material_volume = float(template.get("Volume") or 0) + req = child_max_volume + if req is not None and req > 0 and material_volume > 0: + vol_diff = (material_volume - req) / max(req, 1e-9) + elif material_volume > 0 and req is not None: + vol_diff = abs(float(req) - material_volume) / material_volume + else: + vol_diff = 0.0 + return hole_diff * 1000 + vol_diff + + +def _apply_prcxi_labware_auto_match( + labware_info: Dict[str, Dict[str, Any]], + labware_defs: Optional[List[Dict[str, Any]]] = None, + *, + preserve_tip_rack_incoming_class: bool = True, +) -> None: + """上传构建图前:按孔数+容量将 reagent 条目匹配到 ``prcxi_labware`` 注册类名,写入 ``prcxi_class_name``。 + 若给出需求体积,仅选用模板标称 Volume >= 该值的物料,并在满足条件的模板中选余量最小者。 + + ``preserve_tip_rack_incoming_class=True``(默认)时:**仅 tip_rack** 不做模板匹配,类名由 ``class_name``/``class`` 或 + ``labware``(``lab_*``)直接给出;**plate / tube_rack / trash 等**仍按注册模板匹配。 + ``False`` 时 **全部**(含 tip_rack)走模板匹配。""" + if not labware_info: + return + + default_prcxi_tip_class = CLASS_NAMES_MAPPING.get("tip_rack", "PRCXI_300ul_Tips") + + try: + from unilabos.devices.liquid_handling.prcxi.prcxi_labware import get_prcxi_labware_template_specs + except Exception: + return + + templates = get_prcxi_labware_template_specs() + if not templates: + return + + def_map = _labware_def_index(labware_defs) + + for labware_id, item in labware_info.items(): + if item.get("prcxi_class_name"): + continue + + kind = _infer_reagent_kind(labware_id, item) + + if preserve_tip_rack_incoming_class and kind == "tip_rack": + inc_s = _direct_labware_class_name(item) + if inc_s == default_prcxi_tip_class: + inc_s = "" + if inc_s: + item["prcxi_class_name"] = inc_s + continue + + explicit = item.get("class_name") or item.get("class") + if explicit and str(explicit).startswith("PRCXI_"): + item["prcxi_class_name"] = str(explicit) + continue + + extra = def_map.get(str(labware_id), {}) + + wells = item.get("well") or [] + well_n = len(wells) if isinstance(wells, list) else 0 + num_from_def = int(extra.get("num_wells") or extra.get("well_count") or item.get("num_wells") or 0) + + if kind == "trash": + num_children = 0 + elif kind == "tip_rack": + num_children = num_from_def if num_from_def > 0 else 96 + elif kind == "tube_rack": + if num_from_def > 0: + num_children = num_from_def + elif well_n > 0: + num_children = well_n + else: + num_children = _infer_tube_rack_num_positions(labware_id, item) + else: + num_children = num_from_def if num_from_def > 0 else 96 + + child_max_volume = item.get("max_volume") + if child_max_volume is None: + child_max_volume = extra.get("max_volume") + try: + child_max_volume_f = float(child_max_volume) if child_max_volume is not None else None + except (TypeError, ValueError): + child_max_volume_f = None + + if kind == "tip_rack" and child_max_volume_f is None: + child_max_volume_f = _tip_volume_hint(item, labware_id) or 300.0 + + candidates = [t for t in templates if t["kind"] == kind] + if not candidates: + continue + + best = None + best_score = float("inf") + for t in candidates: + if kind != "trash" and int(t.get("hole_count") or 0) <= 0: + continue + if not _volume_template_covers_requirement(t, child_max_volume_f, kind): + continue + sc = _match_score_prcxi_template(t, num_children, child_max_volume_f) + if sc < best_score: + best_score = sc + best = t + + if best: + item["prcxi_class_name"] = best["class_name"] + + +def _reconcile_slot_carrier_prcxi_class( + labware_info: Dict[str, Dict[str, Any]], + *, + preserve_tip_rack_incoming_class: bool = False, +) -> None: + """同一 deck 槽位上多条 reagent 时,按载体类型优先级统一 ``prcxi_class_name``,避免先遍历到 96 板后槽位被错误绑定。 + + ``preserve_tip_rack_incoming_class=True`` 时:tip_rack 条目不参与同槽类名合并(不被覆盖、也不把 tip 类名扩散到同槽其它条目)。""" + by_slot: Dict[str, List[Tuple[str, Dict[str, Any]]]] = {} + for lid, item in labware_info.items(): + ot = item.get("object", "") or "" + slot = _map_deck_slot(str(item.get("slot", "")), ot) + if not slot: + continue + by_slot.setdefault(str(slot), []).append((lid, item)) + + priority = {"trash": 0, "tube_rack": 1, "tip_rack": 2, "plate": 3} + + for _slot, pairs in by_slot.items(): + if len(pairs) < 2: + continue + + def _rank(p: Tuple[str, Dict[str, Any]]) -> int: + return priority.get(_infer_reagent_kind(p[0], p[1]), 9) + + pairs_sorted = sorted(pairs, key=_rank) + best_cls = None + for lid, it in pairs_sorted: + if preserve_tip_rack_incoming_class and _infer_reagent_kind(lid, it) == "tip_rack": + continue + c = it.get("prcxi_class_name") + if c: + best_cls = c + break + if not best_cls: + continue + for lid, it in pairs: + if preserve_tip_rack_incoming_class and _infer_reagent_kind(lid, it) == "tip_rack": + continue + it["prcxi_class_name"] = best_cls + + # ---------------- Graph ---------------- @@ -377,6 +624,7 @@ def build_protocol_graph( workstation_name: str, action_resource_mapping: Optional[Dict[str, str]] = None, labware_defs: Optional[List[Dict[str, Any]]] = None, + preserve_tip_rack_incoming_class: bool = True, ) -> WorkflowGraph: """统一的协议图构建函数,根据设备类型自动选择构建逻辑 @@ -385,28 +633,67 @@ def build_protocol_graph( 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 + labware_defs: 可选,``[{"id": "...", "num_wells": 96, "max_volume": 2200}, ...]`` 等,辅助 PRCXI 模板匹配 + preserve_tip_rack_incoming_class: 默认 True 时**仅 tip_rack** 不跑模板匹配(类名由传入的 class/labware 决定); + **其它载体**仍按 PRCXI 模板匹配。False 时 **全部**(含 tip_rack)都走模板匹配。 """ G = WorkflowGraph() resource_last_writer = {} # reagent_name -> "node_id:port" slot_to_create_resource = {} # slot -> create_resource node_id + _apply_prcxi_labware_auto_match( + labware_info, + labware_defs, + preserve_tip_rack_incoming_class=preserve_tip_rack_incoming_class, + ) + _reconcile_slot_carrier_prcxi_class( + labware_info, + preserve_tip_rack_incoming_class=preserve_tip_rack_incoming_class, + ) + protocol_steps = refactor_data(protocol_steps, action_resource_mapping) # ==================== 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} + # 按槽聚合:同一 slot 多条 reagent 时不能只取遍历顺序第一条,否则 tip 的 prcxi_class_name / object 会被其它条目盖住 + by_slot: Dict[str, List[Tuple[str, Dict[str, Any]]]] = {} for labware_id, item in labware_info.items(): object_type = item.get("object", "") or "" slot = _map_deck_slot(str(item.get("slot", "")), object_type) - labware = item.get("labware", "") - if slot and slot not in slots_info: - res_id = f"{labware}_slot_{slot}" - slots_info[slot] = { - "labware": labware, - "res_id": res_id, - "labware_id": labware_id, - "object": object_type, - } + if not slot: + continue + by_slot.setdefault(slot, []).append((labware_id, item)) + + slots_info: Dict[str, Dict[str, Any]] = {} + for slot, pairs in by_slot.items(): + def _ot_tip(it: Dict[str, Any]) -> bool: + return str(it.get("object", "") or "").strip().lower() == "tiprack" + + tip_pairs = [(lid, it) for lid, it in pairs if _ot_tip(it)] + chosen_lid = "" + chosen_item: Dict[str, Any] = {} + prcxi_val: Optional[str] = None + + scan = tip_pairs if tip_pairs else pairs + for lid, it in scan: + c = it.get("prcxi_class_name") + if c: + chosen_lid, chosen_item, prcxi_val = lid, it, str(c) + break + if not chosen_lid and scan: + chosen_lid, chosen_item = scan[0] + pv = chosen_item.get("prcxi_class_name") + prcxi_val = str(pv) if pv else None + + labware = str(chosen_item.get("labware", "") or "") + res_id = f"{labware}_slot_{slot}" if labware.strip() else f"{chosen_lid}_slot_{slot}" + res_id = res_id.replace(" ", "_") + slots_info[slot] = { + "labware": labware, + "res_id": res_id, + "labware_id": chosen_lid, + "object": chosen_item.get("object", "") or "", + "prcxi_class_name": prcxi_val, + } # 创建 Group 节点,包含所有 create_resource 节点 group_node_id = str(uuid.uuid4()) @@ -429,11 +716,21 @@ def build_protocol_graph( for slot, info in slots_info.items(): node_id = str(uuid.uuid4()) res_id = info["res_id"] - res_type_name = info["labware"].lower().replace(".", "point") - object_type = info.get("object", "") - res_type_name = f"lab_{res_type_name}" - if object_type == "trash": + object_type = info.get("object", "") or "" + ot_lo = str(object_type).strip().lower() + matched = info.get("prcxi_class_name") + if ot_lo == "trash": res_type_name = "PRCXI_trash" + elif matched: + res_type_name = matched + elif ot_lo == "tiprack": + if preserve_tip_rack_incoming_class: + lid = str(info.get("labware_id") or "").strip() or "tip_rack" + res_type_name = f"lab_{lid.lower().replace('.', 'point').replace(' ', '_')}" + else: + res_type_name = CLASS_NAMES_MAPPING.get("tip_rack", "PRCXI_300ul_Tips") + else: + res_type_name = f"lab_{info['labware'].lower().replace('.', 'point')}" G.add_node( node_id, template_name="create_resource", @@ -456,9 +753,9 @@ def build_protocol_graph( }, ) slot_to_create_resource[slot] = node_id - if object_type == "tiprack": + if ot_lo == "tiprack": resource_last_writer[info["labware_id"]] = f"{node_id}:labware" - if object_type == "trash": + if ot_lo == "trash": trash_create_node_id = node_id # create_resource 之间不需要 ready 连接 diff --git a/unilabos/workflow/convert_from_json.py b/unilabos/workflow/convert_from_json.py index acd0d71a..cd88552b 100644 --- a/unilabos/workflow/convert_from_json.py +++ b/unilabos/workflow/convert_from_json.py @@ -210,6 +210,7 @@ def convert_from_json( data: Union[str, PathLike, Dict[str, Any]], workstation_name: str = DEFAULT_WORKSTATION, validate: bool = True, + preserve_tip_rack_incoming_class: bool = True, ) -> WorkflowGraph: """ 从 JSON 数据或文件转换为 WorkflowGraph @@ -221,6 +222,8 @@ def convert_from_json( 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 + preserve_tip_rack_incoming_class: True(默认)时仅 tip_rack 不跑模板、按传入类名/labware;其它载体仍自动匹配。 + False 时全部走模板。JSON 根 ``preserve_tip_rack_incoming_class`` 可覆盖此参数。 Returns: WorkflowGraph: 构建好的工作流图 @@ -263,6 +266,10 @@ def convert_from_json( # reagent 已经是字典格式,用于 set_liquid 和 well 数量查找 labware_info = reagent + preserve = preserve_tip_rack_incoming_class + if "preserve_tip_rack_incoming_class" in json_data: + preserve = bool(json_data["preserve_tip_rack_incoming_class"]) + # 构建工作流图 graph = build_protocol_graph( labware_info=labware_info, @@ -270,6 +277,7 @@ def convert_from_json( workstation_name=workstation_name, action_resource_mapping=ACTION_RESOURCE_MAPPING, labware_defs=labware_defs, + preserve_tip_rack_incoming_class=preserve, ) # 校验句柄配置 @@ -287,6 +295,7 @@ def convert_from_json( def convert_json_to_node_link( data: Union[str, PathLike, Dict[str, Any]], workstation_name: str = DEFAULT_WORKSTATION, + preserve_tip_rack_incoming_class: bool = True, ) -> Dict[str, Any]: """ 将 JSON 数据转换为 node-link 格式的字典 @@ -298,13 +307,18 @@ def convert_json_to_node_link( Returns: Dict: node-link 格式的工作流数据 """ - graph = convert_from_json(data, workstation_name) + graph = convert_from_json( + data, + workstation_name, + preserve_tip_rack_incoming_class=preserve_tip_rack_incoming_class, + ) return graph.to_node_link_dict() def convert_json_to_workflow_list( data: Union[str, PathLike, Dict[str, Any]], workstation_name: str = DEFAULT_WORKSTATION, + preserve_tip_rack_incoming_class: bool = True, ) -> List[Dict[str, Any]]: """ 将 JSON 数据转换为工作流列表格式 @@ -316,5 +330,9 @@ def convert_json_to_workflow_list( Returns: List: 工作流节点列表 """ - graph = convert_from_json(data, workstation_name) + graph = convert_from_json( + data, + workstation_name, + preserve_tip_rack_incoming_class=preserve_tip_rack_incoming_class, + ) return graph.to_dict() diff --git a/unilabos/workflow/legacy/convert_from_json_legacy.py b/unilabos/workflow/legacy/convert_from_json_legacy.py index 7a6d2b40..3d830d94 100644 --- a/unilabos/workflow/legacy/convert_from_json_legacy.py +++ b/unilabos/workflow/legacy/convert_from_json_legacy.py @@ -234,6 +234,7 @@ def convert_from_json( data: Union[str, PathLike, Dict[str, Any]], workstation_name: str = "PRCXi", validate: bool = True, + preserve_tip_rack_incoming_class: bool = True, ) -> WorkflowGraph: """ 从 JSON 数据或文件转换为 WorkflowGraph @@ -246,6 +247,7 @@ def convert_from_json( 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 + preserve_tip_rack_incoming_class: True 时仅 tip 不跑模板;False 时全部匹配;JSON 根字段同名可覆盖 Returns: WorkflowGraph: 构建好的工作流图 @@ -295,12 +297,17 @@ def convert_from_json( "3. {'steps': [...], 'labware': [...]}" ) + preserve = preserve_tip_rack_incoming_class + if "preserve_tip_rack_incoming_class" in json_data: + preserve = bool(json_data["preserve_tip_rack_incoming_class"]) + # 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, + preserve_tip_rack_incoming_class=preserve, ) # 校验句柄配置 From 6b3f9756a094b5ed6fb4738dfff1c9d76d5340c0 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Tue, 31 Mar 2026 14:33:50 +0800 Subject: [PATCH 39/43] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=9C=9F=E6=9C=BA?= =?UTF-8?q?=E8=BF=90=E5=8A=A8=E6=96=B9=E5=BC=8F=EF=BC=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 102 +++++++--- .../devices/liquid_handling/prcxi/prcxi.py | 180 +++++++++++------- .../liquid_handling/prcxi/prcxi_labware.py | 102 +++++++++- 3 files changed, 285 insertions(+), 99 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index ccbec786..09f3f006 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -215,17 +215,38 @@ class LiquidHandlerMiddleware(LiquidHandler): if spread == "": spread = "custom" - for res in resources: + for i, res in enumerate(resources): tracker = getattr(res, "tracker", None) if tracker is None or getattr(tracker, "is_disabled", False): continue - history = getattr(tracker, "liquid_history", None) - if tracker.get_used_volume() <= 0 and isinstance(history, list) and len(history) == 0: - fill_vol = tracker.max_volume if tracker.max_volume > 0 else 50000 + need = float(vols[i]) if i < len(vols) else 0.0 + if blow_out_air_volume and i < len(blow_out_air_volume) and blow_out_air_volume[i] is not None: + need += float(blow_out_air_volume[i] or 0.0) + if need <= 0: + continue + try: + used = float(tracker.get_used_volume()) + except Exception: + used = 0.0 + if used >= need: + continue + mv = float(getattr(tracker, "max_volume", 0) or 0) + if used <= 0: + # 与旧逻辑一致:空孔优先加满(或极大默认),避免仅有 history 记录但 used=0 时不补液 + fill_vol = mv if mv > 0 else max(need, 50000.0) + else: + fill_vol = need - used + if mv > 0: + fill_vol = min(fill_vol, max(0.0, mv - used)) + try: + tracker.add_liquid(fill_vol) + except Exception: try: - tracker.add_liquid(fill_vol) + tracker.add_liquid(max(need - used, 1.0)) except Exception: - tracker.liquid_history.append(("auto_init", fill_vol)) + history = getattr(tracker, "liquid_history", None) + if isinstance(history, list): + history.append(("auto_init", max(fill_vol, need, 1.0))) if self._simulator: try: @@ -277,6 +298,37 @@ class LiquidHandlerMiddleware(LiquidHandler): spread, **backend_kwargs, ) + except (TooLittleLiquidError, TooLittleVolumeError) as e: + tracker_info = [] + for r in resources: + t = getattr(r, "tracker", None) + if t is None: + tracker_info.append(f"{r.name}(no_tracker)") + else: + try: + tracker_info.append( + f"{r.name}(used={t.get_used_volume():.1f}, " + f"free={t.get_free_volume():.1f}, max={getattr(r, 'max_volume', '?')})" + ) + except Exception: + tracker_info.append(f"{r.name}(tracker_err)") + if hasattr(self, "_ros_node") and self._ros_node is not None: + self._ros_node.lab_logger().warning( + f"[aspirate] hardware tracker shortfall, retry without volume tracking. " + f"error={e}, vols={vols}, trackers={tracker_info}" + ) + with no_volume_tracking(): + await super().aspirate( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) except ValueError as e: if "Resource is too small to space channels" in str(e) and spread != "custom": await super().aspirate( @@ -1620,25 +1672,25 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): use_channels=use_channels, ) - if blow_out_air_volume_before_vol > 0: - source_tracker = getattr(sources[0], "tracker", None) - source_tracker_was_disabled = bool(getattr(source_tracker, "is_disabled", False)) - try: - if source_tracker is not None and hasattr(source_tracker, "disable"): - source_tracker.disable() - await self.aspirate( - resources=[sources[0]], - vols=[blow_out_air_volume_before_vol], - use_channels=use_channels, - flow_rates=None, - offsets=[Coordinate(x=0, y=0, z=sources[0].get_size_z())], - liquid_height=None, - blow_out_air_volume=None, - spread="custom", - ) - finally: - if source_tracker is not None: - source_tracker.enable() + # if blow_out_air_volume_before_vol > 0: + # source_tracker = getattr(sources[0], "tracker", None) + # source_tracker_was_disabled = bool(getattr(source_tracker, "is_disabled", False)) + # try: + # if source_tracker is not None and hasattr(source_tracker, "disable"): + # source_tracker.disable() + # await self.aspirate( + # resources=[sources[0]], + # vols=[blow_out_air_volume_before_vol], + # use_channels=use_channels, + # flow_rates=None, + # offsets=[Coordinate(x=0, y=0, z=sources[0].get_size_z())], + # liquid_height=None, + # blow_out_air_volume=None, + # spread="custom", + # ) + # finally: + # if source_tracker is not None: + # source_tracker.enable() await self.aspirate( resources=[sources[0]], diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 235d1e2a..9309e23f 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -86,6 +86,23 @@ class MatrixInfo(TypedDict): WorkTablets: list[WorkTablets] +def _get_slot_number(resource) -> Optional[int]: + """从 resource 的 unilabos_extra["update_resource_site"](如 "T13")或位置反算槽位号。""" + extra = getattr(resource, "unilabos_extra", {}) or {} + site = extra.get("update_resource_site", "") + if site: + digits = "".join(c for c in str(site) if c.isdigit()) + return int(digits) if digits else None + loc = getattr(resource, "location", None) + if loc is not None and loc.x is not None and loc.y is not None: + col = round((loc.x - 5) / 137.5) + row = round(3 - (loc.y - 13) / 96) + idx = row * 4 + col + if 0 <= idx < 16: + return idx + 1 + return None + + class PRCXI9300Deck(Deck): """PRCXI 9300 的专用 Deck 类,继承自 Deck。 @@ -837,22 +854,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): @staticmethod def _get_slot_number(resource) -> Optional[int]: """从 resource 的 unilabos_extra["update_resource_site"](如 "T13")或位置反算槽位号。""" - extra = getattr(resource, "unilabos_extra", {}) or {} - site = extra.get("update_resource_site", "") - if site: - digits = "".join(c for c in str(site) if c.isdigit()) - return int(digits) if digits else None - # 使用 resource.location.x 和 resource.location.y 反算槽位号 - # 参考 _DEFAULT_SITE_POSITIONS: x = (i%4)*137.5+5, y = (int(i/4))*96+13 - loc = getattr(resource, "location", None) - if loc is not None and loc.x is not None and loc.y is not None: - col = round((loc.x - 5) / 137.5) # 0-3 - row = round(3-(loc.y - 13) / 96) # 0-3 - idx = row * 4 + col # 0-15 - if 0 <= idx < 16: - return idx + 1 # 槽位号从 1 开始 - - return None + return _get_slot_number(resource) def _match_and_create_matrix(self): """首次 transfer_liquid 时,根据 deck 上的 resource 自动匹配耗材并创建 WorkTabletMatrix。""" @@ -972,7 +974,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): if child.children: pip_pos = self.plr_pos_to_prcxi(child.children[0], self.left_2_claw) else: - pip_pos = self.plr_pos_to_prcxi(child, Coordinate(50, self.left_2_claw.y, self.left_2_claw.z)) + pip_pos = self.plr_pos_to_prcxi(child, Coordinate(-100, self.left_2_claw.y, self.left_2_claw.z)) half_x = child.get_size_x() / 2 * abs(1 + self.x_increase) z_wall = child.get_size_z() @@ -1006,7 +1008,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract): raise PRCXIError(f"Failed to create auto-matched matrix: {res.get('Message', 'Unknown error')}") def plr_pos_to_prcxi(self, resource: Resource, offset: Coordinate = Coordinate(0, 0, 0)): - resource_pos = resource.get_absolute_location(x="c",y="c",z="t") + z_pos = 'c' + if isinstance(resource, Tip): + z_pos = 'b' + resource_pos = resource.get_absolute_location(x="c",y="c",z=z_pos) x = resource_pos.x y = resource_pos.y z = resource_pos.z @@ -1437,6 +1442,24 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.deck_z = deck_z self.tip_length = 0 + @staticmethod + def _deck_plate_slot_no(plate, deck) -> int: + """台面板位槽号(1–16):与 PRCXI9300Handler._get_slot_number 一致;无法解析时退回 deck 子项顺序 +1。""" + sn = PRCXI9300Handler._get_slot_number(plate) + if sn is not None: + return sn + return deck.children.index(plate) + 1 + + @staticmethod + def _resource_num_items_y(resource) -> int: + """板/TipRack 等在 Y 向孔位数;无 ``num_items_y`` 或非正数时返回 1。""" + ny = getattr(resource, "num_items_y", None) + try: + n = int(ny) if ny is not None else 1 + except (TypeError, ValueError): + n = 1 + return n if n >= 1 else 1 + async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): step = self.api_client.shaker_action( time=time, @@ -1610,33 +1633,33 @@ class PRCXI9300Backend(LiquidHandlerBackend): axis = "Right" else: raise ValueError("Invalid use channels: " + str(_use_channels)) - plate_indexes = [] + plate_slots = [] for op in ops: plate = op.resource.parent deck = plate.parent - plate_index = deck.children.index(plate) - # print(f"Plate index: {plate_index}, Plate name: {plate.name}") - # print(f"Number of children in deck: {len(deck.children)}") + plate_slots.append(self._deck_plate_slot_no(plate, deck)) - plate_indexes.append(plate_index) - - if len(set(plate_indexes)) != 1: - raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes)) + if len(set(plate_slots)) != 1: + raise ValueError("All pickups must be from the same plate (slot). Found different slots: " + str(plate_slots)) + _rack = ops[0].resource.parent + ny = self._resource_num_items_y(_rack) tip_columns = [] for op in ops: tipspot = op.resource + if self._resource_num_items_y(tipspot.parent) != ny: + raise ValueError("All pickups must use tip racks with the same num_items_y") tipspot_index = tipspot.parent.children.index(tipspot) - tip_columns.append(tipspot_index // 8) + tip_columns.append(tipspot_index // ny) if len(set(tip_columns)) != 1: raise ValueError( "All pickups must be from the same tip column. Found different columns: " + str(tip_columns) ) - PlateNo = plate_indexes[0] + 1 + PlateNo = plate_slots[0] hole_col = tip_columns[0] + 1 hole_row = 1 if self.num_channels != 8: - hole_row = tipspot_index % 8 + 1 + hole_row = tipspot_index % ny + 1 step = self.api_client.Load( axis=axis, @@ -1647,8 +1670,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_col=hole_col, blending_times=0, balance_height=0, - plate_or_hole=f"H{hole_col}-8,T{PlateNo}", - hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels != 8 else "1,2,3,4,5", + plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}", + hole_numbers=f"{(hole_col - 1) * ny + hole_row}" if self._num_channels != 8 else "1,2,3,4,5", ) self.steps_todo_list.append(step) @@ -1666,8 +1689,9 @@ class PRCXI9300Backend(LiquidHandlerBackend): raise ValueError("Invalid use channels: " + str(_use_channels)) # 检查trash # if ops[0].resource.name == "trash": - - PlateNo = ops[0].resource.parent.parent.children.index(ops[0].resource.parent) + 1 + _plate = ops[0].resource + _deck = _plate.parent + PlateNo = self._deck_plate_slot_no(_plate, _deck) step = self.api_client.UnLoad( axis=axis, @@ -1685,32 +1709,35 @@ class PRCXI9300Backend(LiquidHandlerBackend): return # print(ops[0].resource.parent.children.index(ops[0].resource)) - plate_indexes = [] + plate_slots = [] for op in ops: plate = op.resource.parent deck = plate.parent - plate_index = deck.children.index(plate) - plate_indexes.append(plate_index) - if len(set(plate_indexes)) != 1: + plate_slots.append(self._deck_plate_slot_no(plate, deck)) + if len(set(plate_slots)) != 1: raise ValueError( - "All drop_tips must be from the same plate. Found different plates: " + str(plate_indexes) + "All drop_tips must be from the same plate (slot). Found different slots: " + str(plate_slots) ) + _rack = ops[0].resource.parent + ny = self._resource_num_items_y(_rack) tip_columns = [] for op in ops: tipspot = op.resource + if self._resource_num_items_y(tipspot.parent) != ny: + raise ValueError("All drop_tips must use tip racks with the same num_items_y") tipspot_index = tipspot.parent.children.index(tipspot) - tip_columns.append(tipspot_index // 8) + tip_columns.append(tipspot_index // ny) if len(set(tip_columns)) != 1: raise ValueError( "All drop_tips must be from the same tip column. Found different columns: " + str(tip_columns) ) - PlateNo = plate_indexes[0] + 1 + PlateNo = plate_slots[0] hole_col = tip_columns[0] + 1 - + hole_row = 1 if self.num_channels != 8: - hole_row = tipspot_index % 8 + 1 + hole_row = tipspot_index % ny + 1 step = self.api_client.UnLoad( axis=axis, @@ -1721,7 +1748,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_col=hole_col, blending_times=0, balance_height=0, - plate_or_hole=f"H{hole_col}-8,T{PlateNo}", + plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}", hole_numbers="1,2,3,4,5,6,7,8", ) self.steps_todo_list.append(step) @@ -1744,31 +1771,34 @@ class PRCXI9300Backend(LiquidHandlerBackend): axis = "Right" else: raise ValueError("Invalid use channels: " + str(use_channels)) - plate_indexes = [] + plate_slots = [] for op in targets: deck = op.parent.parent.parent plate = op.parent - plate_index = deck.children.index(plate) - plate_indexes.append(plate_index) + plate_slots.append(self._deck_plate_slot_no(plate, deck)) - if len(set(plate_indexes)) != 1: - raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes)) + if len(set(plate_slots)) != 1: + raise ValueError("All mix targets must be from the same plate (slot). Found different slots: " + str(plate_slots)) + _plate0 = targets[0].parent + ny = self._resource_num_items_y(_plate0) tip_columns = [] for op in targets: + if self._resource_num_items_y(op.parent) != ny: + raise ValueError("All mix targets must be on plates with the same num_items_y") tipspot_index = op.parent.children.index(op) - tip_columns.append(tipspot_index // 8) + tip_columns.append(tipspot_index // ny) if len(set(tip_columns)) != 1: raise ValueError( - "All pickups must be from the same tip column. Found different columns: " + str(tip_columns) + "All mix targets must be in the same column group. Found different columns: " + str(tip_columns) ) - PlateNo = plate_indexes[0] + 1 + PlateNo = plate_slots[0] hole_col = tip_columns[0] + 1 hole_row = 1 if self.num_channels != 8: - hole_row = tipspot_index % 8 + 1 + hole_row = tipspot_index % ny + 1 assert mix_time > 0 step = self.api_client.Blending( @@ -1779,7 +1809,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_col=hole_col, blending_times=mix_time, balance_height=0, - plate_or_hole=f"H{hole_col}-8,T{PlateNo}", + plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}", hole_numbers="1,2,3,4,5,6,7,8", ) self.steps_todo_list.append(step) @@ -1796,36 +1826,39 @@ class PRCXI9300Backend(LiquidHandlerBackend): axis = "Right" else: raise ValueError("Invalid use channels: " + str(_use_channels)) - plate_indexes = [] + plate_slots = [] for op in ops: plate = op.resource.parent deck = plate.parent - plate_index = deck.children.index(plate) - plate_indexes.append(plate_index) + plate_slots.append(self._deck_plate_slot_no(plate, deck)) - if len(set(plate_indexes)) != 1: - raise ValueError("All pickups must be from the same plate. Found different plates: " + str(plate_indexes)) + if len(set(plate_slots)) != 1: + raise ValueError("All aspirate must be from the same plate (slot). Found different slots: " + str(plate_slots)) + _plate0 = ops[0].resource.parent + ny = self._resource_num_items_y(_plate0) tip_columns = [] for op in ops: tipspot = op.resource + if self._resource_num_items_y(tipspot.parent) != ny: + raise ValueError("All aspirate wells must be on plates with the same num_items_y") tipspot_index = tipspot.parent.children.index(tipspot) - tip_columns.append(tipspot_index // 8) + tip_columns.append(tipspot_index // ny) if len(set(tip_columns)) != 1: raise ValueError( - "All pickups must be from the same tip column. Found different columns: " + str(tip_columns) + "All aspirate must be from the same tip column. Found different columns: " + str(tip_columns) ) volumes = [op.volume for op in ops] if len(set(volumes)) != 1: raise ValueError("All aspirate volumes must be the same. Found different volumes: " + str(volumes)) - PlateNo = plate_indexes[0] + 1 + PlateNo = plate_slots[0] hole_col = tip_columns[0] + 1 hole_row = 1 if self.num_channels != 8: - hole_row = tipspot_index % 8 + 1 + hole_row = tipspot_index % ny + 1 step = self.api_client.Imbibing( axis=axis, @@ -1836,7 +1869,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_col=hole_col, blending_times=0, balance_height=0, - plate_or_hole=f"H{hole_col}-8,T{PlateNo}", + plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}", hole_numbers="1,2,3,4,5,6,7,8", ) self.steps_todo_list.append(step) @@ -1853,21 +1886,24 @@ class PRCXI9300Backend(LiquidHandlerBackend): axis = "Right" else: raise ValueError("Invalid use channels: " + str(_use_channels)) - plate_indexes = [] + plate_slots = [] for op in ops: plate = op.resource.parent deck = plate.parent - plate_index = deck.children.index(plate) - plate_indexes.append(plate_index) + plate_slots.append(self._deck_plate_slot_no(plate, deck)) - if len(set(plate_indexes)) != 1: - raise ValueError("All dispense must be from the same plate. Found different plates: " + str(plate_indexes)) + if len(set(plate_slots)) != 1: + raise ValueError("All dispense must be from the same plate (slot). Found different slots: " + str(plate_slots)) + _plate0 = ops[0].resource.parent + ny = self._resource_num_items_y(_plate0) tip_columns = [] for op in ops: tipspot = op.resource + if self._resource_num_items_y(tipspot.parent) != ny: + raise ValueError("All dispense wells must be on plates with the same num_items_y") tipspot_index = tipspot.parent.children.index(tipspot) - tip_columns.append(tipspot_index // 8) + tip_columns.append(tipspot_index // ny) if len(set(tip_columns)) != 1: raise ValueError( @@ -1878,12 +1914,12 @@ class PRCXI9300Backend(LiquidHandlerBackend): if len(set(volumes)) != 1: raise ValueError("All dispense volumes must be the same. Found different volumes: " + str(volumes)) - PlateNo = plate_indexes[0] + 1 + PlateNo = plate_slots[0] hole_col = tip_columns[0] + 1 hole_row = 1 if self.num_channels != 8: - hole_row = tipspot_index % 8 + 1 + hole_row = tipspot_index % ny + 1 step = self.api_client.Tapping( axis=axis, @@ -1894,7 +1930,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_col=hole_col, blending_times=0, balance_height=0, - plate_or_hole=f"H{hole_col}-8,T{PlateNo}", + plate_or_hole=f"H{hole_col}-{ny},T{PlateNo}", hole_numbers="1,2,3,4,5,6,7,8", ) self.steps_todo_list.append(step) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py b/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py index b87e1e23..ce754a78 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py @@ -1,4 +1,4 @@ -from typing import Optional +from typing import Any, Callable, Dict, List, Optional, Tuple from pylabrobot.resources import Tube, Coordinate from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType from pylabrobot.resources.tip import Tip, TipCreator @@ -838,4 +838,102 @@ def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter: "Name": "30mm适配器", "SupplyType": 2 } - ) \ No newline at end of file + ) + + +# --------------------------------------------------------------------------- +# 协议上传 / workflow 用:与设备端耗材字典字段对齐的模板描述(供 common 自动匹配) +# --------------------------------------------------------------------------- + +_PRCXI_TEMPLATE_SPECS_CACHE: Optional[List[Dict[str, Any]]] = None + + +def _probe_prcxi_resource(factory: Callable[..., Any]) -> Any: + probe = "__unilab_template_probe__" + if factory.__name__ == "PRCXI_trash": + return factory() + return factory(probe) + + +def _first_child_capacity_for_match(resource: Any) -> float: + """Well max_volume 或 Tip 的 maximal_volume,用于与设备端 Volume 类似的打分。""" + ch = getattr(resource, "children", None) or [] + if not ch: + return 0.0 + c0 = ch[0] + mv = getattr(c0, "max_volume", None) + if mv is not None: + return float(mv) + tip = getattr(c0, "tip", None) + if tip is not None: + mv2 = getattr(tip, "maximal_volume", None) + if mv2 is not None: + return float(mv2) + return 0.0 + + +# (factory, kind) — 不含各类 Adapter,避免与真实板子误匹配 +PRCXI_TEMPLATE_FACTORY_KINDS: List[Tuple[Callable[..., Any], str]] = [ + (PRCXI_BioER_96_wellplate, "plate"), + (PRCXI_nest_1_troughplate, "plate"), + (PRCXI_BioRad_384_wellplate, "plate"), + (PRCXI_AGenBio_4_troughplate, "plate"), + (PRCXI_nest_12_troughplate, "plate"), + (PRCXI_CellTreat_96_wellplate, "plate"), + (PRCXI_10ul_eTips, "tip_rack"), + (PRCXI_300ul_Tips, "tip_rack"), + (PRCXI_PCR_Plate_200uL_nonskirted, "plate"), + (PRCXI_PCR_Plate_200uL_semiskirted, "plate"), + (PRCXI_PCR_Plate_200uL_skirted, "plate"), + (PRCXI_trash, "trash"), + (PRCXI_96_DeepWell, "plate"), + (PRCXI_EP_Adapter, "tube_rack"), + (PRCXI_1250uL_Tips, "tip_rack"), + (PRCXI_10uL_Tips, "tip_rack"), + (PRCXI_1000uL_Tips, "tip_rack"), + (PRCXI_200uL_Tips, "tip_rack"), + (PRCXI_48_DeepWell, "plate"), +] + + +def get_prcxi_labware_template_specs() -> List[Dict[str, Any]]: + """返回与 ``prcxi._match_and_create_matrix`` 中耗材字段兼容的模板列表,用于按孔数+容量打分。""" + global _PRCXI_TEMPLATE_SPECS_CACHE + if _PRCXI_TEMPLATE_SPECS_CACHE is not None: + return _PRCXI_TEMPLATE_SPECS_CACHE + + out: List[Dict[str, Any]] = [] + for factory, kind in PRCXI_TEMPLATE_FACTORY_KINDS: + try: + r = _probe_prcxi_resource(factory) + except Exception: + continue + nx = int(getattr(r, "num_items_x", None) or 0) + ny = int(getattr(r, "num_items_y", None) or 0) + nchild = len(getattr(r, "children", []) or []) + hole_count = nx * ny if nx > 0 and ny > 0 else nchild + hole_row = ny if nx > 0 and ny > 0 else 0 + hole_col = nx if nx > 0 and ny > 0 else 0 + mi = getattr(r, "material_info", None) or {} + vol = _first_child_capacity_for_match(r) + menum = mi.get("materialEnum") + if menum is None and kind == "tip_rack": + menum = 1 + elif menum is None and kind == "trash": + menum = 6 + out.append( + { + "class_name": factory.__name__, + "kind": kind, + "materialEnum": menum, + "HoleRow": hole_row, + "HoleColum": hole_col, + "Volume": vol, + "hole_count": hole_count, + "material_uuid": mi.get("uuid"), + "material_code": mi.get("Code"), + } + ) + + _PRCXI_TEMPLATE_SPECS_CACHE = out + return out \ No newline at end of file From ad66fc1841f7143548314f193087ba485b9a87ca Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Tue, 31 Mar 2026 14:57:51 +0800 Subject: [PATCH 40/43] =?UTF-8?q?=E5=85=B6=E4=BB=96=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=EF=BC=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CLAUDE.md | 95 ++++- unilabos/ros/nodes/presets/host_node.py | 46 +- .../test/experiments/prcxi_9320_slim.json | 394 +----------------- 3 files changed, 148 insertions(+), 387 deletions(-) diff --git a/CLAUDE.md b/CLAUDE.md index bd5ce566..16fa5732 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -1,4 +1,95 @@ +# CLAUDE.md -Please follow the rules defined in: +This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository. -@AGENTS.md +## Build & Development + +```bash +# Install (requires mamba env with python 3.11) +mamba create -n unilab python=3.11.14 +mamba activate unilab +mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge +pip install -e . +uv pip install -r unilabos/utils/requirements.txt + +# Run with a device graph +unilab --graph --config --backend ros +unilab --graph --config --backend simple # no ROS2 needed + +# Common CLI flags +unilab --app_bridges websocket fastapi # communication bridges +unilab --test_mode # simulate hardware, no real execution +unilab --check_mode # CI validation of registry imports (AST-based) +unilab --skip_env_check # skip auto-install of dependencies +unilab --visual rviz|web|disable # visualization mode +unilab --is_slave # run as slave node +unilab --restart_mode # auto-restart on config changes (supervisor/child process) + +# Workflow upload subcommand +unilab workflow_upload -f -n --tags tag1 tag2 + +# Tests +pytest tests/ # all tests +pytest tests/resources/test_resourcetreeset.py # single test file +pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method # single test + +# CI check (matches .github/workflows/ci-check.yml) +python -m unilabos --check_mode --skip_env_check +``` + +## Architecture + +### Startup Flow + +`unilab` CLI (entry point in `setup.py`) → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client. + +### Core Layers + +**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices. Two registration mechanisms: YAML definitions in `registry/devices/*.yaml` and Python decorators (`@device`, `@action`, `@resource` in `registry/decorators.py`). AST scanning discovers decorated classes without importing them. Class paths resolved to Python classes via `utils/import_manager.py`. + +**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources. Graph I/O in `resources/graphio.py` reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`. + +**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by category (liquid_handling, hplc, balance, arm, etc.). Each driver class gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` into a `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`) with publishers, subscribers, and action servers. + +**ROS2 Layer** (`unilabos/ros/`): Preset node types in `ros/nodes/presets/` — `host_node` (main orchestrator, ~90KB), `controller_node`, `workstation`, `serial_node`, `camera`, `resource_mesh_manager`. Custom messages in `unilabos_msgs/` (80+ action types, pre-built via conda `ros-humble-unilabos-msgs`). + +**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) registered in `__init__.py:action_protocol_generators` dict. Utility parsers in `compile/utils/` (vessel, unit, logger). + +**Workflow** (`unilabos/workflow/`): Converts workflow definitions from multiple formats — JSON (`convert_from_json.py`, `common.py`), Python scripts (`from_python_script.py`), XDL (`from_xdl.py`) — into executable `WorkflowGraph`. Legacy converters in `workflow/legacy/`. + +**Communication** (`unilabos/device_comms/`): Hardware adapters — OPC-UA, Modbus PLC, RPC, universal driver. `app/communication.py` provides factory pattern for WebSocket connections. + +**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 templates (`pages.py`), HTTP client (`client.py`). Default port 8002. + +### Configuration System + +- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — class-level attributes, loaded from Python `.py` config files (see `config/example_config.py`) +- Environment variable overrides with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`) +- Device topology defined in graph files (JSON node-link format or GraphML) + +### Key Data Flow + +1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)` +2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances +3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend) +4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`) + +### Test Data + +Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`. + +## Code Conventions + +- Code comments and log messages in **simplified Chinese** +- Python 3.11+, type hints expected +- Pydantic models for data validation (`resource_tracker.py`) +- Singleton pattern via `@singleton` decorator (`utils/decorator.py`) +- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths +- CLI argument dashes auto-converted to underscores for consistency +- No linter/formatter configuration enforced (no ruff, black, flake8, mypy configs) +- Documentation built with Sphinx (Chinese language, `sphinx_rtd_theme`, `myst_parser`) + +## Licensing + +- Framework code: GPL-3.0 +- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 2cac28f4..65de69e1 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -22,6 +22,7 @@ from unilabos_msgs.srv import ( SerialCommand, ) # type: ignore from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response +from unilabos_msgs.action import SendCmd from unique_identifier_msgs.msg import UUID from unilabos.registry.decorators import device, action, NodeType @@ -313,9 +314,15 @@ class HostNode(BaseROS2DeviceNode): callback_group=self.callback_group, ), } # 用来存储多个ActionClient实例 - self._action_value_mappings: Dict[str, Dict] = { - device_id: self._action_value_mappings - } # device_id -> action_value_mappings(本地+远程设备统一存储) + self._add_resource_mesh_client = ActionClient( + self, + SendCmd, + "/devices/resource_mesh_manager/add_resource_mesh", + callback_group=self.callback_group, + ) + self._action_value_mappings: Dict[str, Dict] = ( + {} + ) # device_id -> action_value_mappings(本地+远程设备统一存储) self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings) self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态 self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备 @@ -1131,6 +1138,27 @@ class HostNode(BaseROS2DeviceNode): ), } + def _notify_resource_mesh_add(self, resource_tree_set: ResourceTreeSet): + """通知 ResourceMeshManager 添加资源的 mesh 可视化""" + if not self._add_resource_mesh_client.server_is_ready(): + self.lab_logger().debug("[Host Node] ResourceMeshManager 未就绪,跳过 mesh 添加通知") + return + + resource_configs = [] + for node in resource_tree_set.all_nodes: + res_dict = node.res_content.model_dump(by_alias=True) + if res_dict.get("type") == "device": + continue + resource_configs.append(res_dict) + + if not resource_configs: + return + + goal_msg = SendCmd.Goal() + goal_msg.command = json.dumps({"resources": resource_configs}) + self._add_resource_mesh_client.send_goal_async(goal_msg) + self.lab_logger().info(f"[Host Node] 已发送 {len(resource_configs)} 个资源 mesh 添加请求") + async def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response): # OK resource_tree_set = ResourceTreeSet.load(data["data"]) mount_uuid = data["mount_uuid"] @@ -1171,6 +1199,12 @@ class HostNode(BaseROS2DeviceNode): response.response = json.dumps(uuid_mapping) if success else "FAILED" self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}") + if success: + try: + self._notify_resource_mesh_add(resource_tree_set) + except Exception as e: + self.lab_logger().error(f"[Host Node] 通知 ResourceMeshManager 添加 mesh 失败: {e}") + async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK uuid_list: List[str] = data["data"] with_children: bool = data["with_children"] @@ -1222,6 +1256,12 @@ class HostNode(BaseROS2DeviceNode): response.response = json.dumps(uuid_mapping) self.lab_logger().info(f"[Host Node-Resource] Resource tree update completed, success: {success}") + if success: + try: + self._notify_resource_mesh_add(new_tree_set) + except Exception as e: + self.lab_logger().error(f"[Host Node] 通知 ResourceMeshManager 更新 mesh 失败: {e}") + async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response): """ 子节点通知Host物料树更新 diff --git a/unilabos/test/experiments/prcxi_9320_slim.json b/unilabos/test/experiments/prcxi_9320_slim.json index 2aaee6a7..eced1e71 100644 --- a/unilabos/test/experiments/prcxi_9320_slim.json +++ b/unilabos/test/experiments/prcxi_9320_slim.json @@ -8,8 +8,8 @@ "parent": "", "pose": { "size": { - "width": 562, - "height": 394, + "width": 550, + "height": 400, "depth": 0 } }, @@ -21,13 +21,14 @@ }, "host": "10.20.30.184", "port": 9999, - "debug": true, - "setup": true, + "debug": false, + "setup": false, "is_9320": true, "timeout": 10, - "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", - "simulator": true, - "channel_num": 2 + "matrix_id": "", + "simulator": false, + "channel_num": 2, + "step_mode": true }, "data": { "reset_ok": true @@ -55,9 +56,9 @@ }, "config": { "type": "PRCXI9300Deck", - "size_x": 542, - "size_y": 374, - "size_z": 0, + "size_x": 550, + "size_y": 400, + "size_z": 17, "rotation": { "x": 0, "y": 0, @@ -66,378 +67,7 @@ }, "category": "deck", "barcode": null, - "preferred_pickup_location": null, - "sites": [ - { - "label": "T1", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "container", - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T2", - "visible": true, - "occupied_by": null, - "position": { - "x": 138, - "y": 0, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T3", - "visible": true, - "occupied_by": null, - "position": { - "x": 276, - "y": 0, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T4", - "visible": true, - "occupied_by": null, - "position": { - "x": 414, - "y": 0, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T5", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T6", - "visible": true, - "occupied_by": null, - "position": { - "x": 138, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T7", - "visible": true, - "occupied_by": null, - "position": { - "x": 276, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T8", - "visible": true, - "occupied_by": null, - "position": { - "x": 414, - "y": 96, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T9", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T10", - "visible": true, - "occupied_by": null, - "position": { - "x": 138, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T11", - "visible": true, - "occupied_by": null, - "position": { - "x": 276, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T12", - "visible": true, - "occupied_by": null, - "position": { - "x": 414, - "y": 192, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T13", - "visible": true, - "occupied_by": null, - "position": { - "x": 0, - "y": 288, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T14", - "visible": true, - "occupied_by": null, - "position": { - "x": 138, - "y": 288, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T15", - "visible": true, - "occupied_by": null, - "position": { - "x": 276, - "y": 288, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - }, - { - "label": "T16", - "visible": true, - "occupied_by": null, - "position": { - "x": 414, - "y": 288, - "z": 0 - }, - "size": { - "width": 128.0, - "height": 86, - "depth": 0 - }, - "content_type": [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack", - "adaptor" - ] - } - ] + "preferred_pickup_location": null }, "data": {} } From a48985720cead04d163ccc4ada2b29bef16dee45 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Tue, 31 Mar 2026 16:11:11 +0800 Subject: [PATCH 41/43] =?UTF-8?q?=E6=B7=BB=E5=8A=A0run=5Fprotocol=E5=8F=82?= =?UTF-8?q?=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/devices/liquid_handling/prcxi/prcxi.py | 15 +++++++++------ unilabos/registry/devices/liquid_handler.yaml | 7 +++++-- 2 files changed, 14 insertions(+), 8 deletions(-) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 9309e23f..6b9d3d07 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -1064,8 +1064,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract): ): self._unilabos_backend.create_protocol(protocol_name) - async def run_protocol(self): - return self._unilabos_backend.run_protocol() + async def run_protocol(self, protocol_id: str = None): + return self._unilabos_backend.run_protocol(protocol_id) async def remove_liquid( self, @@ -1559,12 +1559,15 @@ class PRCXI9300Backend(LiquidHandlerBackend): raise AssertionError(f"Failed to create matrix: {res.get('Message', 'Unknown error')}") print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}") - def run_protocol(self): + def run_protocol(self, protocol_id: str = None): assert self.is_reset_ok, "PRCXI9300Backend is not reset successfully. Please call setup() first." run_time = time.time() - solution_id = self.api_client.add_solution( - f"protocol_{run_time}", self.matrix_id, self.steps_todo_list - ) + if protocol_id == "" or protocol_id is None: + solution_id = self.api_client.add_solution( + f"protocol_{run_time}", self.matrix_id, self.steps_todo_list + ) + else: + solution_id = protocol_id print(f"PRCXI9300Backend created solution with ID: {solution_id}") self.api_client.load_solution(solution_id) print(json.dumps(self.steps_todo_list, indent=2)) diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 0dbab95a..145ee47f 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -7779,7 +7779,8 @@ liquid_handler.prcxi: auto-run_protocol: feedback: {} goal: {} - goal_default: {} + goal_default: + protocol_id: null handles: {} placeholder_keys: {} result: {} @@ -7788,7 +7789,9 @@ liquid_handler.prcxi: properties: feedback: {} goal: - properties: {} + properties: + protocol_id: + type: string required: [] type: object result: {} From 5c9c8a4ee966e6d42f9b0cc53f8ad95bf59c42c6 Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Tue, 31 Mar 2026 18:48:20 +0800 Subject: [PATCH 42/43] Merge branch 'prcix9320' into sjs_middle_school --- test/devices/test_prcxi.py | 539 ++++++++++++++++++ .../devices/liquid_handling/prcxi/prcxi.py | 462 ++++++--------- .../liquid_handling/prcxi/prcxi_modules.py | 150 +++++ .../registry/resources/prcxi/modules.yaml | 70 +++ unilabos/resources/plr_additional_res_reg.py | 3 + unilabos/resources/resource_tracker.py | 133 ++++- unilabos/ros/nodes/presets/host_node.py | 6 +- .../test/experiments/prcxi_9300_slim.json | 232 ++++++++ .../test/experiments/prcxi_9320_slim.json | 432 +++++++++++++- .../experiments/prcxi_9320_with_res_test.json | 48 +- 10 files changed, 1751 insertions(+), 324 deletions(-) create mode 100644 test/devices/test_prcxi.py create mode 100644 unilabos/devices/liquid_handling/prcxi/prcxi_modules.py create mode 100644 unilabos/registry/resources/prcxi/modules.yaml create mode 100644 unilabos/test/experiments/prcxi_9300_slim.json diff --git a/test/devices/test_prcxi.py b/test/devices/test_prcxi.py new file mode 100644 index 00000000..bb32965d --- /dev/null +++ b/test/devices/test_prcxi.py @@ -0,0 +1,539 @@ +import pytest +import json +import os +import asyncio +import collections +from typing import List, Dict, Any + +from pylabrobot.resources import Coordinate +from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul, opentrons_96_tiprack_10ul +from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep + +from unilabos.devices.liquid_handling.prcxi.prcxi import ( + PRCXI9300Deck, + PRCXI9300Container, + PRCXI9300Trash, + PRCXI9300Handler, + PRCXI9300Backend, + DefaultLayout, + Material, + WorkTablets, + MatrixInfo +) + + +@pytest.fixture +def prcxi_materials() -> Dict[str, Any]: + """加载 PRCXI 物料数据""" + print("加载 PRCXI 物料数据...") + material_path = os.path.join(os.path.dirname(__file__), "..", "..", "unilabos", "devices", "liquid_handling", "prcxi", "prcxi_material.json") + with open(material_path, "r", encoding="utf-8") as f: + data = json.load(f) + print(f"加载了 {len(data)} 条物料数据") + return data + + +@pytest.fixture +def prcxi_9300_deck() -> PRCXI9300Deck: + """创建 PRCXI 9300 工作台""" + return PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100, model="9300") + + +@pytest.fixture +def prcxi_9320_deck() -> PRCXI9300Deck: + """创建 PRCXI 9320 工作台""" + return PRCXI9300Deck(name="PRCXI_Deck_9320", size_x=100, size_y=100, size_z=100, model="9320") + + +@pytest.fixture +def prcxi_9300_handler(prcxi_9300_deck) -> PRCXI9300Handler: + """创建 PRCXI 9300 处理器(模拟模式)""" + return PRCXI9300Handler( + deck=prcxi_9300_deck, + host="192.168.1.201", + port=9999, + timeout=10.0, + channel_num=8, + axis="Left", + setup=False, + debug=True, + simulator=True, + matrix_id="test-matrix-9300" + ) + + +@pytest.fixture +def prcxi_9320_handler(prcxi_9320_deck) -> PRCXI9300Handler: + """创建 PRCXI 9320 处理器(模拟模式)""" + return PRCXI9300Handler( + deck=prcxi_9320_deck, + host="192.168.1.201", + port=9999, + timeout=10.0, + channel_num=1, + axis="Right", + setup=False, + debug=True, + simulator=True, + matrix_id="test-matrix-9320", + is_9320=True + ) + + +@pytest.fixture +def tip_rack_300ul(prcxi_materials) -> PRCXI9300Container: + """创建 300μL 枪头盒""" + tip_rack = PRCXI9300Container( + name="tip_rack_300ul", + size_x=50, + size_y=50, + size_z=10, + category="tip_rack", + ordering=collections.OrderedDict() + ) + tip_rack.load_state({ + "Material": { + "uuid": prcxi_materials["300μL Tip头"]["uuid"], + "Code": "ZX-001-300", + "Name": "300μL Tip头" + } + }) + return tip_rack + + +@pytest.fixture +def tip_rack_10ul(prcxi_materials) -> PRCXI9300Container: + """创建 10μL 枪头盒""" + tip_rack = PRCXI9300Container( + name="tip_rack_10ul", + size_x=50, + size_y=50, + size_z=10, + category="tip_rack", + ordering=collections.OrderedDict() + ) + tip_rack.load_state({ + "Material": { + "uuid": prcxi_materials["10μL加长 Tip头"]["uuid"], + "Code": "ZX-001-10+", + "Name": "10μL加长 Tip头" + } + }) + return tip_rack + + +@pytest.fixture +def well_plate_96(prcxi_materials) -> PRCXI9300Container: + """创建 96 孔板""" + plate = PRCXI9300Container( + name="well_plate_96", + size_x=50, + size_y=50, + size_z=10, + category="plate", + ordering=collections.OrderedDict() + ) + plate.load_state({ + "Material": { + "uuid": prcxi_materials["96深孔板"]["uuid"], + "Code": "ZX-019-2.2", + "Name": "96深孔板" + } + }) + return plate + + +@pytest.fixture +def deep_well_plate(prcxi_materials) -> PRCXI9300Container: + """创建深孔板""" + plate = PRCXI9300Container( + name="deep_well_plate", + size_x=50, + size_y=50, + size_z=10, + category="plate", + ordering=collections.OrderedDict() + ) + plate.load_state({ + "Material": { + "uuid": prcxi_materials["96深孔板"]["uuid"], + "Code": "ZX-019-2.2", + "Name": "96深孔板" + } + }) + return plate + + +@pytest.fixture +def trash_container(prcxi_materials) -> PRCXI9300Trash: + """创建垃圾桶""" + trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash") + trash.load_state({ + "Material": { + "uuid": prcxi_materials["废弃槽"]["uuid"] + } + }) + return trash + + +@pytest.fixture +def default_layout_9300() -> DefaultLayout: + """创建 PRCXI 9300 默认布局""" + return DefaultLayout("PRCXI9300") + + +@pytest.fixture +def default_layout_9320() -> DefaultLayout: + """创建 PRCXI 9320 默认布局""" + return DefaultLayout("PRCXI9320") + + +class TestPRCXIDeckSetup: + """测试 PRCXI 工作台设置功能""" + + def test_prcxi_9300_deck_creation(self, prcxi_9300_deck): + """测试 PRCXI 9300 工作台创建""" + assert prcxi_9300_deck.name == "PRCXI_Deck_9300" + assert len(prcxi_9300_deck.sites) == 6 + assert prcxi_9300_deck._size_x == 100 + assert prcxi_9300_deck._size_y == 100 + assert prcxi_9300_deck._size_z == 100 + + def test_prcxi_9320_deck_creation(self, prcxi_9320_deck): + """测试 PRCXI 9320 工作台创建""" + assert prcxi_9320_deck.name == "PRCXI_Deck_9320" + assert len(prcxi_9320_deck.sites) == 16 + assert prcxi_9320_deck._size_x == 100 + assert prcxi_9320_deck._size_y == 100 + assert prcxi_9320_deck._size_z == 100 + + def test_container_assignment(self, prcxi_9300_deck, tip_rack_300ul, well_plate_96, trash_container): + """测试容器分配到工作台""" + # 分配枪头盒 + prcxi_9300_deck.assign_child_resource(tip_rack_300ul, location=Coordinate(0, 0, 0)) + assert tip_rack_300ul in prcxi_9300_deck.children + + # 分配孔板 + prcxi_9300_deck.assign_child_resource(well_plate_96, location=Coordinate(0, 0, 0)) + assert well_plate_96 in prcxi_9300_deck.children + + # 分配垃圾桶 + prcxi_9300_deck.assign_child_resource(trash_container, location=Coordinate(0, 0, 0)) + assert trash_container in prcxi_9300_deck.children + + def test_container_material_loading(self, tip_rack_300ul, well_plate_96, prcxi_materials): + """测试容器物料信息加载""" + # 测试枪头盒物料信息 + tip_material = tip_rack_300ul._unilabos_state["Material"] + assert tip_material["uuid"] == prcxi_materials["300μL Tip头"]["uuid"] + assert tip_material["Name"] == "300μL Tip头" + + # 测试孔板物料信息 + plate_material = well_plate_96._unilabos_state["Material"] + assert plate_material["uuid"] == prcxi_materials["96深孔板"]["uuid"] + assert plate_material["Name"] == "96深孔板" + + +class TestPRCXISingleStepOperations: + """测试 PRCXI 单步操作功能""" + + @pytest.mark.asyncio + async def test_pick_up_tips_single_channel(self, prcxi_9320_handler, prcxi_9320_deck, tip_rack_10ul): + """测试单通道拾取枪头""" + # 将枪头盒添加到工作台 + prcxi_9320_deck.assign_child_resource(tip_rack_10ul, location=Coordinate(0, 0, 0)) + + # 初始化处理器 + await prcxi_9320_handler.setup() + + # 设置枪头盒 + prcxi_9320_handler.set_tiprack([tip_rack_10ul]) + + # 创建模拟的枪头位置 + from pylabrobot.resources import TipSpot, Tip + tip = Tip(has_filter=False, total_tip_length=10, maximal_volume=10, fitting_depth=5) + tip_spot = TipSpot("A1", size_x=1, size_y=1, size_z=1, make_tip=lambda: tip) + tip_rack_10ul.assign_child_resource(tip_spot, location=Coordinate(0, 0, 0)) + + # 直接测试后端方法 + from pylabrobot.liquid_handling import Pickup + pickup = Pickup(resource=tip_spot, offset=None, tip=tip) + await prcxi_9320_handler._unilabos_backend.pick_up_tips([pickup], [0]) + + # 验证步骤已添加到待办列表 + assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1 + step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0] + assert step["Function"] == "Load" + + @pytest.mark.asyncio + async def test_pick_up_tips_multi_channel(self, prcxi_9300_handler, tip_rack_300ul): + """测试多通道拾取枪头""" + # 设置枪头盒 + prcxi_9300_handler.set_tiprack([tip_rack_300ul]) + + # 拾取8个枪头 + tip_spots = tip_rack_300ul.children[:8] + await prcxi_9300_handler.pick_up_tips(tip_spots, [0, 1, 2, 3, 4, 5, 6, 7]) + + # 验证步骤已添加到待办列表 + assert len(prcxi_9300_handler._unilabos_backend.steps_todo_list) == 1 + step = prcxi_9300_handler._unilabos_backend.steps_todo_list[0] + assert step["Function"] == "Load" + + @pytest.mark.asyncio + async def test_aspirate_single_channel(self, prcxi_9320_handler, well_plate_96): + """测试单通道吸取液体""" + # 设置液体 + well = well_plate_96.get_item("A1") + prcxi_9320_handler.set_liquid([well], ["water"], [50]) + + # 吸取液体 + await prcxi_9320_handler.aspirate([well], [50], [0]) + + # 验证步骤已添加到待办列表 + assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1 + step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0] + assert step["Function"] == "Imbibing" + assert step["DosageNum"] == 50 + + @pytest.mark.asyncio + async def test_dispense_single_channel(self, prcxi_9320_handler, well_plate_96): + """测试单通道分配液体""" + # 分配液体 + well = well_plate_96.get_item("A1") + await prcxi_9320_handler.dispense([well], [25], [0]) + + # 验证步骤已添加到待办列表 + assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1 + step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0] + assert step["Function"] == "Tapping" + assert step["DosageNum"] == 25 + + @pytest.mark.asyncio + async def test_mix_single_channel(self, prcxi_9320_handler, well_plate_96): + """测试单通道混合液体""" + # 混合液体 + well = well_plate_96.get_item("A1") + await prcxi_9320_handler.mix([well], mix_time=3, mix_vol=50) + + # 验证步骤已添加到待办列表 + assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1 + step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0] + assert step["Function"] == "Blending" + assert step["BlendingTimes"] == 3 + assert step["DosageNum"] == 50 + + @pytest.mark.asyncio + async def test_drop_tips_to_trash(self, prcxi_9320_handler, trash_container): + """测试丢弃枪头到垃圾桶""" + # 丢弃枪头 + await prcxi_9320_handler.drop_tips([trash_container], [0]) + + # 验证步骤已添加到待办列表 + assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1 + step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0] + assert step["Function"] == "UnLoad" + + @pytest.mark.asyncio + async def test_discard_tips(self, prcxi_9320_handler): + """测试丢弃枪头""" + # 丢弃枪头 + await prcxi_9320_handler.discard_tips([0]) + + # 验证步骤已添加到待办列表 + assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1 + step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0] + assert step["Function"] == "UnLoad" + + @pytest.mark.asyncio + async def test_liquid_transfer_workflow(self, prcxi_9320_handler, tip_rack_10ul, well_plate_96): + """测试完整的液体转移工作流程""" + # 设置枪头盒和液体 + prcxi_9320_handler.set_tiprack([tip_rack_10ul]) + source_well = well_plate_96.get_item("A1") + target_well = well_plate_96.get_item("B1") + prcxi_9320_handler.set_liquid([source_well], ["water"], [100]) + + # 创建协议 + await prcxi_9320_handler.create_protocol(protocol_name="Test Transfer Protocol") + + # 执行转移流程 + tip_spot = tip_rack_10ul.get_item("A1") + await prcxi_9320_handler.pick_up_tips([tip_spot], [0]) + await prcxi_9320_handler.aspirate([source_well], [50], [0]) + await prcxi_9320_handler.dispense([target_well], [50], [0]) + await prcxi_9320_handler.discard_tips([0]) + + # 验证所有步骤都已添加 + assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 4 + functions = [step["Function"] for step in prcxi_9320_handler._unilabos_backend.steps_todo_list] + assert functions == ["Load", "Imbibing", "Tapping", "UnLoad"] + + +class TestPRCXILayoutRecommendation: + """测试 PRCXI 板位推荐功能""" + + def test_9300_layout_creation(self, default_layout_9300): + """测试 PRCXI 9300 布局创建""" + layout_info = default_layout_9300.get_layout() + assert layout_info["rows"] == 2 + assert layout_info["columns"] == 3 + assert len(layout_info["layout"]) == 6 + assert layout_info["trash_slot"] == 6 + assert "waste_liquid_slot" not in layout_info + + def test_9320_layout_creation(self, default_layout_9320): + """测试 PRCXI 9320 布局创建""" + layout_info = default_layout_9320.get_layout() + assert layout_info["rows"] == 4 + assert layout_info["columns"] == 4 + assert len(layout_info["layout"]) == 16 + assert layout_info["trash_slot"] == 16 + assert layout_info["waste_liquid_slot"] == 12 + + def test_layout_recommendation_9320(self, default_layout_9320, prcxi_materials): + """测试 PRCXI 9320 板位推荐功能""" + # 添加物料信息 + default_layout_9320.add_lab_resource(prcxi_materials) + + # 推荐布局 + needs = [ + ("reagent_1", "96 细胞培养皿", 3), + ("reagent_2", "12道储液槽", 1), + ("reagent_3", "200μL Tip头", 7), + ("reagent_4", "10μL加长 Tip头", 1), + ] + + matrix_layout, layout_list = default_layout_9320.recommend_layout(needs) + + # 验证返回结果 + assert "MatrixId" in matrix_layout + assert "MatrixName" in matrix_layout + assert "MatrixCount" in matrix_layout + assert "WorkTablets" in matrix_layout + assert len(layout_list) == 12 # 3+1+7+1 = 12个位置 + + # 验证推荐的位置不包含预留位置 + reserved_positions = {12, 16} + recommended_positions = [item["positions"] for item in layout_list] + for pos in recommended_positions: + assert pos not in reserved_positions + + def test_layout_recommendation_insufficient_space(self, default_layout_9320, prcxi_materials): + """测试板位推荐空间不足的情况""" + # 添加物料信息 + default_layout_9320.add_lab_resource(prcxi_materials) + + # 尝试推荐超过可用空间的布局 + needs = [ + ("reagent_1", "96 细胞培养皿", 15), # 需要15个位置,但只有14个可用 + ] + + with pytest.raises(ValueError, match="需要 .* 个位置,但只有 .* 个可用位置"): + default_layout_9320.recommend_layout(needs) + + def test_layout_recommendation_material_not_found(self, default_layout_9320, prcxi_materials): + """测试板位推荐物料不存在的情况""" + # 添加物料信息 + default_layout_9320.add_lab_resource(prcxi_materials) + + # 尝试推荐不存在的物料 + needs = [ + ("reagent_1", "不存在的物料", 1), + ] + + with pytest.raises(ValueError, match="Material .* not found in lab resources"): + default_layout_9320.recommend_layout(needs) + + +class TestPRCXIBackendOperations: + """测试 PRCXI 后端操作功能""" + + def test_backend_initialization(self, prcxi_9300_handler): + """测试后端初始化""" + backend = prcxi_9300_handler._unilabos_backend + assert isinstance(backend, PRCXI9300Backend) + assert backend._num_channels == 8 + assert backend.debug is True + + def test_protocol_creation(self, prcxi_9300_handler): + """测试协议创建""" + backend = prcxi_9300_handler._unilabos_backend + backend.create_protocol("Test Protocol") + assert backend.protocol_name == "Test Protocol" + assert len(backend.steps_todo_list) == 0 + + def test_channel_validation(self): + """测试通道验证""" + # 测试正确的8通道配置 + valid_channels = [0, 1, 2, 3, 4, 5, 6, 7] + result = PRCXI9300Backend.check_channels(valid_channels) + assert result == valid_channels + + # 测试错误的通道配置 + invalid_channels = [0, 1, 2, 3] + result = PRCXI9300Backend.check_channels(invalid_channels) + assert result == [0, 1, 2, 3, 4, 5, 6, 7] + + def test_matrix_info_creation(self, prcxi_9300_handler): + """测试矩阵信息创建""" + backend = prcxi_9300_handler._unilabos_backend + backend.create_protocol("Test Protocol") + + # 模拟运行协议时的矩阵信息创建 + run_time = 1234567890 + matrix_info = MatrixInfo( + MatrixId=f"{int(run_time)}", + MatrixName=f"protocol_{run_time}", + MatrixCount=len(backend.tablets_info), + WorkTablets=backend.tablets_info, + ) + + assert matrix_info["MatrixId"] == str(int(run_time)) + assert matrix_info["MatrixName"] == f"protocol_{run_time}" + assert "WorkTablets" in matrix_info + + +class TestPRCXIContainerOperations: + """测试 PRCXI 容器操作功能""" + + def test_container_serialization(self, tip_rack_300ul): + """测试容器序列化""" + serialized = tip_rack_300ul.serialize_state() + assert "Material" in serialized + assert serialized["Material"]["Name"] == "300μL Tip头" + + def test_container_deserialization(self, tip_rack_300ul): + """测试容器反序列化""" + # 序列化 + serialized = tip_rack_300ul.serialize_state() + + # 创建新容器并反序列化 + new_tip_rack = PRCXI9300Container( + name="new_tip_rack", + size_x=50, + size_y=50, + size_z=10, + category="tip_rack", + ordering=collections.OrderedDict() + ) + new_tip_rack.load_state(serialized) + + assert new_tip_rack._unilabos_state["Material"]["Name"] == "300μL Tip头" + + def test_trash_container_creation(self, prcxi_materials): + """测试垃圾桶容器创建""" + trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash") + trash.load_state({ + "Material": { + "uuid": prcxi_materials["废弃槽"]["uuid"] + } + }) + + assert trash.name == "trash" + assert trash._unilabos_state["Material"]["uuid"] == prcxi_materials["废弃槽"]["uuid"] + + +if __name__ == "__main__": + # 运行测试 + pytest.main([__file__, "-v"]) \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 6b9d3d07..82a83e28 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -57,7 +57,8 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import ( ) from unilabos.registry.placeholder_type import ResourceSlot from unilabos.resources.itemized_carrier import ItemizedCarrier -from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode +from unilabos.resources.resource_tracker import ResourceTreeSet +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class PRCXIError(RuntimeError): @@ -109,11 +110,19 @@ class PRCXI9300Deck(Deck): 该类定义了 PRCXI 9300 的工作台布局和槽位信息。 """ - # T1-T16 默认位置 (4列×4行) - _DEFAULT_SITE_POSITIONS = [((i%4)*137.5+5, (3-int(i/4))*96+13, 0) for i in range(0, 16)] + _9320_SITE_POSITIONS = [((i%4)*137.5+5, (3-int(i/4))*96+13, 0) for i in range(0, 16)] + + # 9300: 3列×2行 = 6 slots,间距与9320相同(X: 138mm, Y: 96mm) + _9300_SITE_POSITIONS = [ + (0, 96, 0), (138, 96, 0), (276, 96, 0), # T1-T3 (第1行, 上) + (0, 0, 0), (138, 0, 0), (276, 0, 0), # T4-T6 (第2行, 下) + ] + + # 向后兼容别名 + _DEFAULT_SITE_POSITIONS = _9320_SITE_POSITIONS _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0} - _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor"] + _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor", "plateadapter", "module", "trash"] def __init__(self, name: str, size_x: float, size_y: float, size_z: float, sites: Optional[List[Dict[str, Any]]] = None, **kwargs): @@ -190,6 +199,7 @@ class PRCXI9300Deck(Deck): def serialize(self) -> dict: data = super().serialize() + data["model"] = self.model sites_out = [] for i, site in enumerate(self.sites): occupied = self._get_site_resource(i) @@ -276,30 +286,9 @@ class PRCXI9300Plate(Plate): elif value is None: ordering_param = ordering else: - # ordering 的值是对象(可能是 Well 对象),检查是否有有效的 location - # 如果是反序列化过程,Well 对象可能没有正确的 location,需要让 Plate 重新创建 - sample_value = next(iter(ordering.values()), None) - if sample_value is not None and hasattr(sample_value, 'location'): - # 如果是 Well 对象但 location 为 None,说明是反序列化过程 - # 让 Plate 自己创建 Well 对象 - if sample_value.location is None: - items = None - ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) - else: - # Well 对象有有效的 location,可以直接使用 - items = ordering - ordering_param = None - elif sample_value is None: - # ordering 的值都是 None,让 Plate 自己创建 Well 对象 - items = None - ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) - else: - # 其他情况,直接使用 - items = ordering - ordering_param = None - else: - items = None - ordering_param = collections.OrderedDict() # 提供空的 ordering + # ordering 的值已经是对象,可以直接使用 + items = ordering + ordering_param = None # 根据情况传递不同的参数 if items is not None: @@ -381,16 +370,9 @@ class PRCXI9300TipRack(TipRack): items = None ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: - # ordering 的值已经是对象,需要过滤掉 None 值 - # 只保留有效的对象,用于 ordered_items 参数 - valid_items = {k: v for k, v in ordering.items() if v is not None} - if valid_items: - items = valid_items - ordering_param = None - else: - # 如果没有有效对象,使用 ordering 参数 - items = None - ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) + # ordering 的值已经是对象,可以直接使用 + items = ordering + ordering_param = None else: items = None ordering_param = None @@ -449,11 +431,17 @@ class PRCXI9300Trash(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 = "plate", - 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) @@ -521,25 +509,20 @@ class PRCXI9300TubeRack(TubeRack): items_to_pass = ordered_items ordering_param = None elif ordering is not None: - # 检查 ordering 中的值是否是字符串(从 JSON 反序列化时的情况) - if ordering and isinstance(next(iter(ordering.values()), None), str): - # ordering 的值是字符串,这种情况下我们让 TubeRack 使用默认行为 - # 不在初始化时创建 items,而是在 deserialize 后处理 + # 检查 ordering 中的值类型来决定如何处理: + # - 字符串值(从 JSON 反序列化): 只用键创建 ordering_param + # - None 值(从第二次往返序列化): 同样只用键创建 ordering_param + # - 对象值(已经是实际的 Resource 对象): 直接作为 ordered_items 使用 + first_val = next(iter(ordering.values()), None) if ordering else None + if not ordering or first_val is None or isinstance(first_val, str): + # ordering 的值是字符串或 None,只使用键(位置信息)创建新的 OrderedDict + # 传递 ordering 参数而不是 ordered_items,让 TubeRack 自己创建 Tube 对象 items_to_pass = None - ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) # 提供空的 ordering 来满足要求 - # 保存 ordering 信息以便后续处理 - self._temp_ordering = ordering + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) else: - # ordering 的值已经是对象,需要过滤掉 None 值 - # 只保留有效的对象,用于 ordered_items 参数 - valid_items = {k: v for k, v in ordering.items() if v is not None} - if valid_items: - items_to_pass = valid_items - ordering_param = None - else: - # 如果没有有效对象,创建空的 ordered_items - items_to_pass = {} - ordering_param = None + # ordering 的值已经是对象,可以直接使用 + items_to_pass = ordering + ordering_param = None elif items is not None: # 兼容旧的 items 参数 items_to_pass = items @@ -561,29 +544,6 @@ class PRCXI9300TubeRack(TubeRack): if material_info: self._unilabos_state["Material"] = material_info - # 如果有临时 ordering 信息,在初始化完成后处理 - if hasattr(self, '_temp_ordering') and self._temp_ordering: - self._process_temp_ordering() - - def _process_temp_ordering(self): - """处理临时的 ordering 信息,创建相应的 Tube 对象""" - from pylabrobot.resources import Tube, Coordinate - - for location, item_type in self._temp_ordering.items(): - if item_type == 'Tube' or item_type == 'tube': - # 为每个位置创建 Tube 对象 - tube = Tube(name=f"{self.name}_{location}", size_x=10, size_y=10, size_z=50, max_volume=2000.0) - # 使用 assign_child_resource 添加到 rack 中 - self.assign_child_resource(tube, location=Coordinate(0, 0, 0)) - - # 清理临时数据 - del self._temp_ordering - - def load_state(self, state: Dict[str, Any]) -> None: - """从给定的状态加载工作台信息。""" - # super().load_state(state) - self._unilabos_state = state - def serialize_state(self) -> Dict[str, Dict[str, Any]]: try: data = super().serialize_state() @@ -610,62 +570,66 @@ class PRCXI9300TubeRack(TubeRack): data.update(safe_state) return data -class PRCXI9300PlateAdapterSite(ItemizedCarrier): + + +class PRCXI9300ModuleSite(ItemizedCarrier): + """ + PRCXI 功能模块的基础站点类(加热/冷却/震荡/磁吸等)。 + + - 继承 ItemizedCarrier,可被拖放到 Deck 槽位上 + - 顶面有一个 ResourceHolder 站点,可吸附板类资源(叠放) + - content_type 包含 "plateadapter" 以支持适配器叠放 + - 支持 material_info 注入 + """ + def __init__(self, name: str, size_x: float, size_y: float, size_z: float, material_info: Optional[Dict[str, Any]] = None, **kwargs): - # 处理 sites 参数的不同格式 - sites = create_homogeneous_resources( - klass=ResourceHolder, - locations=[Coordinate(0, 0, 0)], - resource_size_x=size_x, - resource_size_y=size_y, - resource_size_z=size_z, - name_prefix=name, + klass=ResourceHolder, + locations=[Coordinate(0, 0, 0)], + resource_size_x=size_x, + resource_size_y=size_y, + resource_size_z=size_z, + name_prefix=name, )[0] - - # 确保不传递重复的参数 + kwargs.pop('layout', None) sites_in = kwargs.pop('sites', None) - # 创建默认的sites字典 sites_dict = {name: sites} - # 优先从 sites_in 读取 'content_type',否则使用默认值 content_type = [ - "plate", - "tip_rack", - "plates", - "tip_racks", - "tube_rack" - ] - # 如果提供了sites参数,则用sites_in中的值替换sites_dict中对应的元素 + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "plateadapter", + ] + if sites_in is not None and isinstance(sites_in, dict): for site_key, site_value in sites_in.items(): if site_key in sites_dict: sites_dict[site_key] = site_value - - super().__init__(name, size_x, size_y, size_z, - sites=sites_dict, - num_items_x=kwargs.pop('num_items_x', 1), - num_items_y=kwargs.pop('num_items_y', 1), - num_items_z=kwargs.pop('num_items_z', 1), - content_type=content_type, - **kwargs) + + super().__init__( + name, size_x, size_y, size_z, + sites=sites_dict, + num_items_x=kwargs.pop('num_items_x', 1), + num_items_y=kwargs.pop('num_items_y', 1), + num_items_z=kwargs.pop('num_items_z', 1), + content_type=content_type, + **kwargs, + ) self._unilabos_state = {} if material_info: self._unilabos_state["Material"] = material_info - def assign_child_resource(self, resource, location=Coordinate(0, 0, 0), reassign=True, spot=None): - """重写 assign_child_resource 方法,对于适配器位置,不使用索引分配""" - # 直接调用 Resource 的 assign_child_resource,避免 ItemizedCarrier 的索引逻辑 from pylabrobot.resources.resource import Resource Resource.assign_child_resource(self, resource, location=location, reassign=reassign) def unassign_child_resource(self, resource): - """重写 unassign_child_resource 方法,对于适配器位置,不使用 sites 列表""" - # 直接调用 Resource 的 unassign_child_resource,避免 ItemizedCarrier 的 sites 逻辑 from pylabrobot.resources.resource import Resource Resource.unassign_child_resource(self, resource) @@ -675,13 +639,10 @@ class PRCXI9300PlateAdapterSite(ItemizedCarrier): except AttributeError: data = {} - # 包含 sites 配置信息,但避免序列化 ResourceHolder 对象 if hasattr(self, 'sites') and self.sites: - # 只保存 sites 的基本信息,不保存 ResourceHolder 对象本身 sites_info = [] for site in self.sites: if hasattr(site, '__class__') and 'pylabrobot' in str(site.__class__.__module__): - # 对于 pylabrobot 对象,只保存基本信息 sites_info.append({ "__pylabrobot_object__": True, "class": site.__class__.__name__, @@ -692,13 +653,23 @@ class PRCXI9300PlateAdapterSite(ItemizedCarrier): sites_info.append(site) data['sites'] = sites_info + if hasattr(self, "_unilabos_state") and self._unilabos_state: + safe_state: Dict[str, Any] = {} + for k, v in self._unilabos_state.items(): + if k == "Material" and isinstance(v, dict): + safe_material: Dict[str, Any] = {} + for mk, mv in v.items(): + if isinstance(mv, (str, int, float, bool, list, dict, type(None))): + safe_material[mk] = mv + safe_state[k] = safe_material + elif isinstance(v, (str, int, float, bool, list, dict, type(None))): + safe_state[k] = v + data.update(safe_state) + return data def load_state(self, state: Dict[str, Any]) -> None: - """加载状态,包括 sites 配置信息""" super().load_state(state) - - # 从状态中恢复 sites 配置信息 if 'sites' in state: self.sites = [state['sites']] @@ -793,7 +764,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): def __init__( self, - deck: Deck, + deck: PRCXI9300Deck, host: str, port: int, timeout: float, @@ -828,12 +799,25 @@ class PRCXI9300Handler(LiquidHandlerAbstract): self.xy_coupling = xy_coupling self.left_2_claw = Coordinate(-130.2, 34, -134) self.right_2_left = Coordinate(22,-1, 8) - tablets_info = {} plate_positions = [] - + tablets_info = [] + + if is_9320 is None: + is_9320 = getattr(deck, 'model', '9300') == '9320' if is_9320: print("当前设备是9320") + else: + for site_id in range(len(deck.sites)): + child = deck._get_site_resource(site_id) + # 如果放其他类型的物料,是不可以的 + if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state: + number = site_id + 1 + tablets_info.append( + WorkTablets( + Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"] + ) + ) # 始终初始化 step_mode 属性 self.step_mode = False if step_mode: @@ -841,13 +825,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract): self.step_mode = step_mode else: print("9300设备不支持 单点动作模式") - self._unilabos_backend = PRCXI9300Backend( - tablets_info, plate_positions, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320, - x_increase, y_increase, x_offset, y_offset, - deck_z, deck_x=self.deck_x, deck_y=self.deck_y, xy_coupling=xy_coupling + tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320 ) - super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num) self._first_transfer_done = False @@ -1245,32 +1225,18 @@ class PRCXI9300Handler(LiquidHandlerAbstract): spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, ): - try: - return await super().aspirate( - resources, - vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread, - **backend_kwargs, - ) - except ValueError as e: - if "Resource is too small to space channels" in str(e) and spread != "custom": - return await super().aspirate( - resources, - vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread="custom", - **backend_kwargs, - ) - raise + + return await super().aspirate( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) async def drop_tips( self, @@ -1294,33 +1260,17 @@ class PRCXI9300Handler(LiquidHandlerAbstract): spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, ): - try: - return await super().dispense( - resources, - vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - spread, - **backend_kwargs, - ) - except ValueError as e: - if "Resource is too small to space channels" in str(e) and spread != "custom": - # 目标资源过小无法分布多通道时,退化为 custom(所有通道对准中心) - return await super().dispense( - resources, - vols, - use_channels, - flow_rates, - offsets, - liquid_height, - blow_out_air_volume, - "custom", - **backend_kwargs, - ) - raise + return await super().dispense( + resources, + vols, + use_channels, + flow_rates, + offsets, + liquid_height, + blow_out_air_volume, + spread, + **backend_kwargs, + ) async def discard_tips( self, @@ -1340,11 +1290,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract): async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait) - async def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool): - return await self._unilabos_backend.magnetic_action(time, module_no, height, is_wait) - - async def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int): - return await self._unilabos_backend.shaking_incubation_action(time, module_no, amplitude, is_wait, temperature) async def heater_action(self, temperature: float, time: int): return await self._unilabos_backend.heater_action(temperature, time) @@ -1361,7 +1306,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): **backend_kwargs, ): - res = await super().move_plate( + return await super().move_plate( plate, to, intermediate_locations, @@ -1373,12 +1318,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract): target_plate_number=to, **backend_kwargs, ) - plate.unassign() - to.assign_child_resource(plate, location=Coordinate(0, 0, 0)) - ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.deck] - }) - return res class PRCXI9300Backend(LiquidHandlerBackend): @@ -1403,7 +1342,6 @@ class PRCXI9300Backend(LiquidHandlerBackend): def __init__( self, tablets_info: list[WorkTablets], - plate_positions: dict[int, Coordinate], host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, @@ -1412,19 +1350,10 @@ class PRCXI9300Backend(LiquidHandlerBackend): setup=True, debug=False, matrix_id="", - is_9320=False, - x_increase = 0, - y_increase = 0, - x_offset = 0, - y_offset = 0, - deck_z = 300, - deck_x = 0, - deck_y = 0, - xy_coupling = 0.0, + is_9320=False, ) -> None: super().__init__() self.tablets_info = tablets_info - self.plate_positions = plate_positions self.matrix_id = matrix_id self.api_client = PRCXI9300Api(host, port, timeout, axis, debug, is_9320) self.host, self.port, self.timeout = host, port, timeout @@ -1432,15 +1361,6 @@ class PRCXI9300Backend(LiquidHandlerBackend): self._execute_setup = setup self.debug = debug self.axis = "Left" - self.x_increase = x_increase - self.y_increase = y_increase - self.xy_coupling = xy_coupling - self.x_offset = x_offset - self.y_offset = y_offset - self.deck_x = deck_x - self.deck_y = deck_y - self.deck_z = deck_z - self.tip_length = 0 @staticmethod def _deck_plate_slot_no(plate, deck) -> int: @@ -1470,27 +1390,6 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.steps_todo_list.append(step) return step - async def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int): - step = self.api_client.shaking_incubation_action( - time=time, - module_no=module_no, - amplitude=amplitude, - is_wait=is_wait, - temperature=temperature, - ) - self.steps_todo_list.append(step) - return step - - async def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool): - step = self.api_client.magnetic_action( - time=time, - module_no=module_no, - height=height, - is_wait=is_wait, - ) - self.steps_todo_list.append(step) - return step - async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs): resource = pickup.resource @@ -1529,8 +1428,6 @@ class PRCXI9300Backend(LiquidHandlerBackend): self._ros_node = ros_node def create_protocol(self, protocol_name): - if protocol_name == "": - protocol_name = f"protocol_{time.time()}" self.protocol_name = protocol_name self.steps_todo_list = [] @@ -2047,10 +1944,10 @@ class PRCXI9300Api: start = False while not success: status = self.step_state_list() - if status is None: - break if len(status) == 1: start = True + if status is None: + break if len(status) == 0: break if status[-1]["State"] == 2 and start: @@ -2386,26 +2283,6 @@ class PRCXI9300Api: "AssistFun4": is_wait, } - def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int): - return { - "StepAxis": "Left", - "Function": "Shaking_Incubation", - "AssistFun1": time, - "AssistFun2": module_no, - "AssistFun3": amplitude, - "AssistFun4": is_wait, - "AssistFun5": temperature, - } - - def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool): - return { - "StepAxis": "Left", - "Function": "Magnetic", - "AssistFun1": time, - "AssistFun2": module_no, - "AssistFun3": height, - "AssistFun4": is_wait, - } class DefaultLayout: @@ -2420,8 +2297,20 @@ class DefaultLayout: self.rows = 2 self.columns = 3 self.layout = [1, 2, 3, 4, 5, 6] - self.trash_slot = 3 - self.waste_liquid_slot = 6 + self.trash_slot = 6 + self.default_layout = { + "MatrixId": f"{time.time()}", + "MatrixName": f"{time.time()}", + "MatrixCount": 6, + "WorkTablets": [ + {"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, + {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, + {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, + {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, + {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, + {"Number": 6, "Code": "T6", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # trash + ], + } elif product_name == "PRCXI9320": self.rows = 4 @@ -2437,94 +2326,96 @@ class DefaultLayout: { "Number": 1, "Code": "T1", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 2, "Code": "T2", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 3, "Code": "T3", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 4, "Code": "T4", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 5, "Code": "T5", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 6, "Code": "T6", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 7, "Code": "T7", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 8, "Code": "T8", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 9, "Code": "T9", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 10, "Code": "T10", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 11, "Code": "T11", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 12, "Code": "T12", - "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"}, + "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}, }, # 这个设置成废液槽,用储液槽表示 { "Number": 13, "Code": "T13", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 14, "Code": "T14", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 15, "Code": "T15", - "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"}, + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, }, { "Number": 16, "Code": "T16", - "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"}, + "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}, }, # 这个设置成垃圾桶,用储液槽表示 ], } def get_layout(self) -> Dict[str, Any]: - return { + result = { "rows": self.rows, "columns": self.columns, "layout": self.layout, "trash_slot": self.trash_slot, - "waste_liquid_slot": self.waste_liquid_slot, } + if hasattr(self, 'waste_liquid_slot'): + result["waste_liquid_slot"] = self.waste_liquid_slot + return result def get_trash_slot(self) -> int: return self.trash_slot @@ -2542,15 +2433,18 @@ class DefaultLayout: if material_name not in self.labresource: raise ValueError(f"Material {reagent_name} not found in lab resources.") - # 预留位置12和16不动 - reserved_positions = {12, 16} - available_positions = [i for i in range(1, 17) if i not in reserved_positions] + # 预留位置动态计算 + reserved_positions = {self.trash_slot} + if hasattr(self, 'waste_liquid_slot'): + reserved_positions.add(self.waste_liquid_slot) + total_slots = self.rows * self.columns + available_positions = [i for i in range(1, total_slots + 1) if i not in reserved_positions] # 计算总需求 total_needed = sum(count for _, _, count in needs) if total_needed > len(available_positions): raise ValueError( - f"需要 {total_needed} 个位置,但只有 {len(available_positions)} 个可用位置(排除位置12和16)" + f"需要 {total_needed} 个位置,但只有 {len(available_positions)} 个可用位置(排除预留位置 {reserved_positions})" ) # 依次分配位置 diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_modules.py b/unilabos/devices/liquid_handling/prcxi/prcxi_modules.py new file mode 100644 index 00000000..b7cef1b0 --- /dev/null +++ b/unilabos/devices/liquid_handling/prcxi/prcxi_modules.py @@ -0,0 +1,150 @@ +from typing import Any, Dict, Optional + +from .prcxi import PRCXI9300ModuleSite + + +class PRCXI9300FunctionalModule(PRCXI9300ModuleSite): + """ + PRCXI 9300 功能模块基类(加热/冷却/震荡/加热震荡/磁吸等)。 + + 设计目标: + - 作为一个可以在工作台上拖拽摆放的实体资源(继承自 PRCXI9300ModuleSite -> ItemizedCarrier)。 + - 顶面存在一个站点(site),可吸附标准板类资源(plate / tip_rack / tube_rack 等)。 + - 支持注入 `material_info` (UUID 等),并且在 serialize_state 时做安全过滤。 + """ + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + module_type: Optional[str] = None, + category: str = "module", + model: Optional[str] = None, + material_info: Optional[Dict[str, Any]] = None, + **kwargs: Any, + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + material_info=material_info, + model=model, + category=category, + **kwargs, + ) + + # 记录模块类型(加热 / 冷却 / 震荡 / 加热震荡 / 磁吸) + self.module_type = module_type or "generic" + + # 与 PRCXI9300PlateAdapter 一致,使用 _unilabos_state 保存扩展信息 + if not hasattr(self, "_unilabos_state") or self._unilabos_state is None: + self._unilabos_state = {} + + # super().__init__ 已经在有 material_info 时写入 "Material",这里仅确保存在 + if material_info is not None and "Material" not in self._unilabos_state: + self._unilabos_state["Material"] = material_info + + # 额外标记 category 和模块类型,便于前端或上层逻辑区分 + self._unilabos_state.setdefault("category", category) + self._unilabos_state["module_type"] = module_type + + +# ============================================================================ +# 具体功能模块定义 +# 这里的尺寸和 material_info 目前为占位参数,后续可根据实际测量/JSON 配置进行更新。 +# 顶面站点尺寸与模块外形一致,保证可以吸附标准 96 板/储液槽等。 +# ============================================================================ + + +def PRCXI_Heating_Module(name: str) -> PRCXI9300FunctionalModule: + """加热模块(顶面可吸附标准板)。""" + return PRCXI9300FunctionalModule( + name=name, + size_x=127.76, + size_y=85.48, + size_z=40.0, + module_type="heating", + model="PRCXI_Heating_Module", + material_info={ + "uuid": "TODO-HEATING-MODULE-UUID", + "Code": "HEAT-MOD", + "Name": "PRCXI 加热模块", + "SupplyType": 3, + }, + ) + + +def PRCXI_MetalCooling_Module(name: str) -> PRCXI9300FunctionalModule: + """金属冷却模块(顶面可吸附标准板)。""" + return PRCXI9300FunctionalModule( + name=name, + size_x=127.76, + size_y=85.48, + size_z=40.0, + module_type="metal_cooling", + model="PRCXI_MetalCooling_Module", + material_info={ + "uuid": "TODO-METAL-COOLING-MODULE-UUID", + "Code": "METAL-COOL-MOD", + "Name": "PRCXI 金属冷却模块", + "SupplyType": 3, + }, + ) + + +def PRCXI_Shaking_Module(name: str) -> PRCXI9300FunctionalModule: + """震荡模块(顶面可吸附标准板)。""" + return PRCXI9300FunctionalModule( + name=name, + size_x=127.76, + size_y=85.48, + size_z=50.0, + module_type="shaking", + model="PRCXI_Shaking_Module", + material_info={ + "uuid": "TODO-SHAKING-MODULE-UUID", + "Code": "SHAKE-MOD", + "Name": "PRCXI 震荡模块", + "SupplyType": 3, + }, + ) + + +def PRCXI_Heating_Shaking_Module(name: str) -> PRCXI9300FunctionalModule: + """加热震荡模块(顶面可吸附标准板)。""" + return PRCXI9300FunctionalModule( + name=name, + size_x=127.76, + size_y=85.48, + size_z=55.0, + module_type="heating_shaking", + model="PRCXI_Heating_Shaking_Module", + material_info={ + "uuid": "TODO-HEATING-SHAKING-MODULE-UUID", + "Code": "HEAT-SHAKE-MOD", + "Name": "PRCXI 加热震荡模块", + "SupplyType": 3, + }, + ) + + +def PRCXI_Magnetic_Module(name: str) -> PRCXI9300FunctionalModule: + """磁吸模块(顶面可吸附标准板)。""" + return PRCXI9300FunctionalModule( + name=name, + size_x=127.76, + size_y=85.48, + size_z=30.0, + module_type="magnetic", + model="PRCXI_Magnetic_Module", + material_info={ + "uuid": "TODO-MAGNETIC-MODULE-UUID", + "Code": "MAG-MOD", + "Name": "PRCXI 磁吸模块", + "SupplyType": 3, + }, + ) + diff --git a/unilabos/registry/resources/prcxi/modules.yaml b/unilabos/registry/resources/prcxi/modules.yaml new file mode 100644 index 00000000..b35a6ece --- /dev/null +++ b/unilabos/registry/resources/prcxi/modules.yaml @@ -0,0 +1,70 @@ +PRCXI_Heating_Module: + category: + - prcxi + - modules + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Heating_Module + type: pylabrobot + description: '加热模块 (Code: HEAT-MOD)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +PRCXI_MetalCooling_Module: + category: + - prcxi + - modules + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_MetalCooling_Module + type: pylabrobot + description: '金属冷却模块 (Code: METAL-COOL-MOD)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +PRCXI_Shaking_Module: + category: + - prcxi + - modules + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Shaking_Module + type: pylabrobot + description: '震荡模块 (Code: SHAKE-MOD)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +PRCXI_Heating_Shaking_Module: + category: + - prcxi + - modules + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Heating_Shaking_Module + type: pylabrobot + description: '加热震荡模块 (Code: HEAT-SHAKE-MOD)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + +PRCXI_Magnetic_Module: + category: + - prcxi + - modules + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Magnetic_Module + type: pylabrobot + description: '磁吸模块 (Code: MAG-MOD)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 + diff --git a/unilabos/resources/plr_additional_res_reg.py b/unilabos/resources/plr_additional_res_reg.py index 1c019ded..a4be086e 100644 --- a/unilabos/resources/plr_additional_res_reg.py +++ b/unilabos/resources/plr_additional_res_reg.py @@ -9,6 +9,9 @@ def register(): from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TipRack from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Trash from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TubeRack + from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300ModuleSite + # noinspection PyUnresolvedReferences + from unilabos.devices.liquid_handling.prcxi.prcxi_modules import PRCXI9300FunctionalModule # noinspection PyUnresolvedReferences from unilabos.devices.workstation.workstation_base import WorkStationContainer diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 3fb945b6..6a0755b5 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -123,6 +123,24 @@ class ResourceDictType(TypedDict): machine_name: str +class ResourceDictType(TypedDict): + id: str + uuid: str + name: str + description: str + resource_schema: Dict[str, Any] + model: Dict[str, Any] + icon: str + parent_uuid: Optional[str] + parent: Optional["ResourceDictType"] + type: Union[Literal["device"], str] + klass: str + pose: ResourceDictPositionType + config: Dict[str, Any] + data: Dict[str, Any] + extra: Dict[str, Any] + + # 统一的资源字典模型,parent 自动序列化为 parent_uuid,children 不序列化 class ResourceDict(BaseModel): id: str = Field(description="Resource ID") @@ -441,6 +459,8 @@ class ResourceTreeSet(object): "reagent_bottle": "reagent_bottle", "flask": "flask", "beaker": "beaker", + "module": "module", + "carrier": "carrier", } if source in replace_info: return replace_info[source] @@ -553,10 +573,17 @@ 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, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None + ) -> List["PLRResource"]: """ 将 ResourceTreeSet 转换为 PLR 资源列表 + Args: + skip_devices: 是否跳过 device 类型节点 + requested_uuids: 若指定,则按此 UUID 顺序返回对应资源(用于批量查询时一一对应), + 否则返回各树的根节点列表 + Returns: List[PLRResource]: PLR 资源实例列表 """ @@ -571,6 +598,8 @@ class ResourceTreeSet(object): "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot", + "module": "PRCXI9300ModuleSite", + "carrier": "ItemizedCarrier", } def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict): @@ -612,6 +641,71 @@ class ResourceTreeSet(object): d["model"] = res.config.get("model", None) return d + # deserialize 会单独处理的元数据 key,不传给构造函数 + _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"} + # deserialize 自定义逻辑使用的 key(如 TipSpot 用 prototype_tip 构建 make_tip),需保留 + _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"} + + def remove_incompatible_params(plr_d: dict) -> None: + """递归移除 PLR 类不接受的参数,避免 deserialize 报错。 + - 移除构造函数不接受的参数(如 compute_height_from_volume、ordering、category) + - 对 TubeRack:将 ordering 转为 ordered_items + - 保留 deserialize 自定义逻辑需要的 key(如 prototype_tip) + """ + if "type" in plr_d: + sub_cls = find_subclass(plr_d["type"], PLRResource) + if sub_cls is not None: + spec = inspect.signature(sub_cls) + valid_params = set(spec.parameters.keys()) + # TubeRack 特殊处理:先转换 ordering,再参与后续过滤 + if "ordering" not in valid_params and "ordering" in plr_d: + ordering = plr_d.pop("ordering", None) + if sub_cls.__name__ == "TubeRack": + plr_d["ordered_items"] = ( + _ordering_to_ordered_items(plr_d, ordering) + if ordering + else {} + ) + # 移除构造函数不接受的参数(保留 META 和 deserialize 自定义逻辑需要的 key) + for key in list(plr_d.keys()): + if ( + key not in _META_KEYS + and key not in _DESERIALIZE_PRESERVED_KEYS + and key not in valid_params + ): + plr_d.pop(key, None) + for child in plr_d.get("children", []): + remove_incompatible_params(child) + + def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict: + """将 ordering 转为 ordered_items,从 children 构建 Tube 对象""" + from pylabrobot.resources import Tube, Coordinate + from pylabrobot.serializer import deserialize as plr_deserialize + + children = plr_d.get("children", []) + ordered_items = {} + for idx, (ident, child_name) in enumerate(ordering.items()): + child_data = children[idx] if idx < len(children) else None + if child_data is None: + continue + loc_data = child_data.get("location") + loc = ( + plr_deserialize(loc_data) + if loc_data + else Coordinate(0, 0, 0) + ) + tube = Tube( + name=child_data.get("name", child_name or ident), + size_x=child_data.get("size_x", 10), + size_y=child_data.get("size_y", 10), + size_z=child_data.get("size_z", 50), + max_volume=child_data.get("max_volume", 1000), + ) + tube.location = loc + ordered_items[ident] = tube + plr_d["children"] = [] # 已并入 ordered_items,避免重复反序列化 + return ordered_items + plr_resources = [] tracker = DeviceNodeResourceTracker() @@ -631,9 +725,7 @@ class ResourceTreeSet(object): 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}" ) - spec = inspect.signature(sub_cls) - if "category" not in spec.parameters: - plr_dict.pop("category", None) + remove_incompatible_params(plr_dict) plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True) from pylabrobot.resources import Coordinate from pylabrobot.serializer import deserialize @@ -653,6 +745,18 @@ class ResourceTreeSet(object): logger.error(f"堆栈: {traceback.format_exc()}") raise + if requested_uuids: + # 按请求的 UUID 顺序返回对应资源(从整棵树中按 uuid 提取) + result = [] + for uid in requested_uuids: + if uid in tracker.uuid_to_resources: + result.append(tracker.uuid_to_resources[uid]) + else: + raise ValueError( + f"请求的 UUID {uid} 在资源树中未找到。" + f"可用 UUID 数量: {len(tracker.uuid_to_resources)}" + ) + return result return plr_resources @classmethod @@ -741,16 +845,6 @@ class ResourceTreeSet(object): """ return [tree.root_node for tree in self.trees] - @property - def root_nodes_uuid(self) -> List[ResourceDictInstance]: - """ - 获取所有树的根节点 - - Returns: - 所有根节点的资源实例列表 - """ - return [tree.root_node.res_content.uuid for tree in self.trees] - @property def all_nodes(self) -> List[ResourceDictInstance]: """ @@ -868,6 +962,17 @@ class ResourceTreeSet(object): f"从远端同步了 {added_count} 个物料子树" ) else: + # 二级是物料 + if remote_child_name not in local_children_map: + # 本地不存在该物料,直接引入 + remote_child.res_content.parent = local_device.res_content + local_device.children.append(remote_child) + local_children_map[remote_child_name] = remote_child + logger.info( + f"物料 '{remote_root_id}/{remote_child_name}': " + f"从远端同步了整个子树" + ) + continue # 二级物料已存在,比较三级子节点是否缺失 local_material = local_children_map[remote_child_name] local_material_children_map = {child.res_content.name: child for child in diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 65de69e1..369ed5ae 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -320,9 +320,9 @@ class HostNode(BaseROS2DeviceNode): "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group, ) - self._action_value_mappings: Dict[str, Dict] = ( - {} - ) # device_id -> action_value_mappings(本地+远程设备统一存储) + self._action_value_mappings: Dict[str, Dict] = { + device_id: self._action_value_mappings + } # device_id -> action_value_mappings(本地+远程设备统一存储) self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings) self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态 self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备 diff --git a/unilabos/test/experiments/prcxi_9300_slim.json b/unilabos/test/experiments/prcxi_9300_slim.json new file mode 100644 index 00000000..3e7bd448 --- /dev/null +++ b/unilabos/test/experiments/prcxi_9300_slim.json @@ -0,0 +1,232 @@ +{ + "nodes": [ + { + "id": "PRCXI", + "name": "PRCXI", + "type": "device", + "class": "liquid_handler.prcxi", + "parent": "", + "pose": { + "size": { + "width": 424, + "height": 202, + "depth": 0 + } + }, + "config": { + "axis": "Left", + "deck": { + "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck", + "_resource_child_name": "PRCXI_Deck" + }, + "host": "10.20.31.167", + "port": 9999, + "debug": false, + "setup": true, + "timeout": 10, + "simulator": false, + "channel_num": 8 + }, + "data": { + "reset_ok": true + }, + "schema": {}, + "description": "", + "model": null, + "position": { + "x": 0, + "y": 240, + "z": 0 + } + }, + { + "id": "PRCXI_Deck", + "name": "PRCXI_Deck", + "children": [], + "parent": "PRCXI", + "type": "deck", + "class": "", + "position": { + "x": 10, + "y": 10, + "z": 0 + }, + "config": { + "type": "PRCXI9300Deck", + "size_x": 404, + "size_y": 182, + "size_z": 0, + "model": "9300", + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "barcode": null, + "preferred_pickup_location": null, + "sites": [ + { + "label": "T1", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T2", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T3", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T4", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T5", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T6", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + } + ] + }, + "data": {} + } + ], + "edges": [] +} diff --git a/unilabos/test/experiments/prcxi_9320_slim.json b/unilabos/test/experiments/prcxi_9320_slim.json index eced1e71..6b01e4ca 100644 --- a/unilabos/test/experiments/prcxi_9320_slim.json +++ b/unilabos/test/experiments/prcxi_9320_slim.json @@ -21,14 +21,13 @@ }, "host": "10.20.30.184", "port": 9999, - "debug": false, - "setup": false, + "debug": true, + "setup": true, "is_9320": true, "timeout": 10, - "matrix_id": "", - "simulator": false, - "channel_num": 2, - "step_mode": true + "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", + "simulator": true, + "channel_num": 2 }, "data": { "reset_ok": true @@ -67,7 +66,426 @@ }, "category": "deck", "barcode": null, - "preferred_pickup_location": null + "preferred_pickup_location": null, + "sites": [ + { + "label": "T1", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "container", + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T2", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T3", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T4", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 288, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T5", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T6", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T7", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T8", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 192, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T9", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T10", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T11", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T12", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 96, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T13", + "visible": true, + "occupied_by": null, + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T14", + "visible": true, + "occupied_by": null, + "position": { + "x": 138, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T15", + "visible": true, + "occupied_by": null, + "position": { + "x": 276, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + }, + { + "label": "T16", + "visible": true, + "occupied_by": null, + "position": { + "x": 414, + "y": 0, + "z": 0 + }, + "size": { + "width": 128.0, + "height": 86, + "depth": 0 + }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack", + "adaptor", + "plateadapter", + "module", + "trash" + ] + } + ] }, "data": {} } diff --git a/unilabos/test/experiments/prcxi_9320_with_res_test.json b/unilabos/test/experiments/prcxi_9320_with_res_test.json index 831cecce..2cf9ffb6 100644 --- a/unilabos/test/experiments/prcxi_9320_with_res_test.json +++ b/unilabos/test/experiments/prcxi_9320_with_res_test.json @@ -108,7 +108,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -153,7 +154,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -198,7 +200,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -243,7 +246,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -288,7 +292,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -333,7 +338,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -378,7 +384,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -423,7 +430,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -468,7 +476,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -513,7 +522,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -558,7 +568,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -603,7 +614,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -648,7 +660,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -693,7 +706,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -738,7 +752,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] @@ -783,7 +798,8 @@ "tip_rack", "plates", "tip_racks", - "tube_rack" + "tube_rack", + "plateadapter" ] } ] From 8164d990ccc299583dfabc7957100c0d42f70b2b Mon Sep 17 00:00:00 2001 From: q434343 <554662886@qq.com> Date: Wed, 1 Apr 2026 11:50:42 +0800 Subject: [PATCH 43/43] =?UTF-8?q?=E9=80=82=E9=85=8D=E5=89=8D=E5=90=B8?= =?UTF-8?q?=E7=A9=BA=E6=B0=94=E9=83=A8=E5=88=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../liquid_handler_abstract.py | 42 +++++++++---------- .../devices/liquid_handling/prcxi/prcxi.py | 2 + 2 files changed, 22 insertions(+), 22 deletions(-) diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 09f3f006..a10e1eed 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -1672,25 +1672,25 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): use_channels=use_channels, ) - # if blow_out_air_volume_before_vol > 0: - # source_tracker = getattr(sources[0], "tracker", None) - # source_tracker_was_disabled = bool(getattr(source_tracker, "is_disabled", False)) - # try: - # if source_tracker is not None and hasattr(source_tracker, "disable"): - # source_tracker.disable() - # await self.aspirate( - # resources=[sources[0]], - # vols=[blow_out_air_volume_before_vol], - # use_channels=use_channels, - # flow_rates=None, - # offsets=[Coordinate(x=0, y=0, z=sources[0].get_size_z())], - # liquid_height=None, - # blow_out_air_volume=None, - # spread="custom", - # ) - # finally: - # if source_tracker is not None: - # source_tracker.enable() + if blow_out_air_volume_before_vol > 0: + source_tracker = getattr(sources[0], "tracker", None) + source_tracker_was_disabled = bool(getattr(source_tracker, "is_disabled", False)) + try: + if source_tracker is not None and hasattr(source_tracker, "disable"): + source_tracker.disable() + await self.aspirate( + resources=[sources[0]], + vols=[0], + use_channels=use_channels, + flow_rates=None, + offsets=[Coordinate(x=0, y=0, z=sources[0].get_size_z())], + liquid_height=None, + blow_out_air_volume=[blow_out_air_volume_before_vol], + spread="custom", + ) + finally: + if source_tracker is not None: + source_tracker.enable() await self.aspirate( resources=[sources[0]], @@ -1712,9 +1712,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): use_channels=use_channels, flow_rates=[dis_flow_rates[0]] if dis_flow_rates and len(dis_flow_rates) > 0 else None, offsets=[offsets[0]] if offsets and len(offsets) > 0 else None, - blow_out_air_volume=( - [blow_out_air_volume_vol] if blow_out_air_volume_vol > 0 else None - ), + blow_out_air_volume=[blow_out_air_volume_vol+blow_out_air_volume_before_vol], liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None, spread=spread, ) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 9309e23f..3d3dce45 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -1816,6 +1816,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None): """Aspirate liquid from the specified resources.""" + if ops[0].blow_out_air_volume and ops[0].volume == 0: + return if hasattr(use_channels, "tolist"): _use_channels = use_channels.tolist() else: