mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-05-23 21:03:26 +00:00
v0.11.3
ci(deps): bump actions/deploy-pages from 4 to 5 (#251) Bumps [actions/deploy-pages](https://github.com/actions/deploy-pages) from 4 to 5. - [Release notes](https://github.com/actions/deploy-pages/releases) - [Commits](https://github.com/actions/deploy-pages/compare/v4...v5) --- updated-dependencies: - dependency-name: actions/deploy-pages dependency-version: '5' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> ci(deps): bump actions/configure-pages from 5 to 6 (#252) Bumps [actions/configure-pages](https://github.com/actions/configure-pages) from 5 to 6. - [Release notes](https://github.com/actions/configure-pages/releases) - [Commits](https://github.com/actions/configure-pages/compare/v5...v6) --- updated-dependencies: - dependency-name: actions/configure-pages dependency-version: '6' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> ci(deps): bump actions/upload-pages-artifact from 4 to 5 (#260) Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 4 to 5. - [Release notes](https://github.com/actions/upload-pages-artifact/releases) - [Commits](https://github.com/actions/upload-pages-artifact/compare/v4...v5) --- updated-dependencies: - dependency-name: actions/upload-pages-artifact dependency-version: '5' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> ci(deps): bump conda-incubator/setup-miniconda from 3 to 4 (#261) Bumps [conda-incubator/setup-miniconda](https://github.com/conda-incubator/setup-miniconda) from 3 to 4. - [Release notes](https://github.com/conda-incubator/setup-miniconda/releases) - [Changelog](https://github.com/conda-incubator/setup-miniconda/blob/main/CHANGELOG.md) - [Commits](https://github.com/conda-incubator/setup-miniconda/compare/v3...v4) --- updated-dependencies: - dependency-name: conda-incubator/setup-miniconda dependency-version: '4' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Add PLC communication guide (#264) * Add post process station and related resources - Created JSON configuration for post_process_station and its child post_process_deck. - Added YAML definitions for post_process_station, bottle carriers, bottles, and deck resources. - Implemented Python classes for bottle carriers, bottles, decks, and warehouses to manage resources in the post process. - Established a factory method for creating warehouses with customizable dimensions and layouts. - Defined the structure and behavior of the post_process_deck and its associated warehouses. * feat(post_process): add post_process_station and related warehouse functionality - Introduced post_process_station.json to define the post-processing station structure. - Implemented post_process_warehouse.py to create warehouse configurations with customizable layouts. - Added warehouses.py for specific warehouse configurations (4x3x1). - Updated post_process_station.yaml to reflect new module paths for OpcUaClient. - Refactored bottle carriers and bottles YAML files to point to the new module paths. - Adjusted deck.yaml to align with the new organizational structure for post_process_deck. * Add PLC communication guide for AI4M Add a comprehensive developer guide (docs/developer_guide/add_PLC.md) describing the PLC integration standard used by Uni-Lab for workstation devices, using the AI4M implementation as reference. Covers rationale for using OPC UA, the opcua_nodes_*.csv node-table format, communication base classes (BaseOpcUaClient / OpcUaClientWithSubscription), data types, and subscription/cache/reconnect behavior. Documents driver patterns for AI4MDevice, three handshake paradigms (pulse, parameter handshake, id-based), registry/graph configuration (YAML/JSON), debugging tips (KEPServerEX sim, standalone run), and a checklist for onboarding new PLC-controlled equipment.
This commit is contained in:
Roy
Xuwznln
@@ -3,7 +3,7 @@
|
||||
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.11.2
|
||||
version: 0.11.3
|
||||
|
||||
source:
|
||||
path: ../../unilabos
|
||||
@@ -54,7 +54,7 @@ requirements:
|
||||
- pymodbus
|
||||
- matplotlib
|
||||
- pylibftdi
|
||||
- uni-lab::unilabos-env ==0.11.2
|
||||
- uni-lab::unilabos-env ==0.11.3
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
package:
|
||||
name: unilabos-env
|
||||
version: 0.11.2
|
||||
version: 0.11.3
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
package:
|
||||
name: unilabos-full
|
||||
version: 0.11.2
|
||||
version: 0.11.3
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
@@ -11,7 +11,7 @@ build:
|
||||
requirements:
|
||||
run:
|
||||
# Base unilabos package (includes unilabos-env)
|
||||
- uni-lab::unilabos ==0.11.2
|
||||
- uni-lab::unilabos ==0.11.3
|
||||
# Documentation tools
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
|
||||
@@ -5,9 +5,98 @@ description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses
|
||||
|
||||
# 添加新设备到 Uni-Lab-OS
|
||||
|
||||
**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
|
||||
本 Skill 是自包含的设备接入指南，不依赖外部文档。迁移给别人时，只复制 `.cursor/skills/add-device/SKILL.md` 即可获得核心规则、模板、验证方式和常见错误清单。
|
||||
|
||||
该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
|
||||
开始实现前，仍应搜索 `unilabos/devices/` 获取同类别已有设备的接口、参数名、状态字符串和返回值风格作为参考。
|
||||
|
||||
---
|
||||
|
||||
## 接入工作流
|
||||
|
||||
按下面顺序推进，并在工作中维护进度：
|
||||
|
||||
```text
|
||||
设备接入进度：
|
||||
- [ ] 1. 确定设备类别（物模型）和对外单位
|
||||
- [ ] 2. 确定通信协议
|
||||
- [ ] 3. 收集指令协议（SDK、厂商文档、寄存器表、HTTP API、用户口述）
|
||||
- [ ] 4. 对齐同类设备接口（搜索 unilabos/devices/）
|
||||
- [ ] 5. 创建驱动 unilabos/devices/<category>/<file>.py
|
||||
- [ ] 6. 验证可导入、注册表扫描、启动测试
|
||||
- [ ] 7. 如需要，配置实验图文件
|
||||
```
|
||||
|
||||
## 设备类别（物模型）
|
||||
|
||||
优先使用已有类别。只有确实无法归类时才使用 `custom`。
|
||||
|
||||
| 类别 ID | 说明 | 标准属性 | 标准动作 |
|
||||
|---|---|---|---|
|
||||
| `temperature` | 加热、冷却、温控 | `temp`, `temp_target`, `status` | `set_temperature`, `stop` |
|
||||
| `pump_and_valve` | 泵、阀门、注射器 | 见子类型表 | 见子类型表 |
|
||||
| `motor` | 电机、步进马达 | `position`, `status` | `enable`, `move_position`, `move_speed`, `stop` |
|
||||
| `heaterstirrer` | 加热搅拌一体机 | `temp`, `stir_speed`, `status` | `set_temperature`, `stir`, `stop` |
|
||||
| `balance` | 天平、称重 | `weight`, `unit`, `status` | `tare`, `read_weight` |
|
||||
| `sensor` | 传感器（液位、温度等） | `value`, `level`, `status` | `read_value`, `set_threshold` |
|
||||
| `liquid_handling` | 液体处理机器人 | `status`, `deck_state` | `transfer_liquid`, `aspirate`, `dispense` |
|
||||
| `robot_arm` | 机械臂 | `arm_pose`, `arm_status` | `moveit_task`, `pick_and_place` |
|
||||
| `workstation` | 工作站、组合设备 | `workflow_sequence`, `material_info` | `create_order`, `scheduler_start`, `scheduler_stop` |
|
||||
| `virtual` | 虚拟、模拟设备 | 按模拟的真实设备定义 | 按模拟的真实设备定义 |
|
||||
| `custom` | 不属于以上类别 | 用户自定义 | 用户自定义 |
|
||||
|
||||
`pump_and_valve` 子类型：
|
||||
|
||||
| 子类型 | 最小通用属性 | 最小通用动作 | 单位约定 |
|
||||
|---|---|---|---|
|
||||
| 注射泵（syringe pump） | `status`, `valve_position`, `position` | `initialize`, `set_valve_position`, `set_position`, `pull_plunger`, `push_plunger`, `stop_operation` | 体积=mL, 速度=mL/s |
|
||||
| 电磁阀（solenoid valve） | `status`, `valve_position` | `open`, `close`, `set_valve_position` | 无 |
|
||||
| 蠕动泵（peristaltic pump） | `status`, `speed` | `start`, `stop`, `set_speed` | 流速=mL/min |
|
||||
|
||||
对外暴露的属性和动作参数必须使用用户友好的物理单位（mL、ul、degC、RPM 等），硬件原始值转换放在驱动内部。
|
||||
|
||||
## 通信协议和指令来源
|
||||
|
||||
先确认通信方式，再确认具体指令协议。物模型只定义设备“应该做什么”，不会告诉你硬件“具体发什么字节/请求”。
|
||||
|
||||
| 协议 | 常用 config 参数 | 常用依赖 | 现有抽象 |
|
||||
|---|---|---|---|
|
||||
| Serial (RS232/RS485) | `port`, `baudrate`, `timeout` | `pyserial` | 直接使用 `serial.Serial` |
|
||||
| Modbus RTU | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| Modbus TCP | `host`, `port`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| TCP Socket | `host`, `port`, `timeout` | stdlib | 直接使用 `socket` |
|
||||
| HTTP API | `url`, `token`, `timeout` | `requests` | `device_comms/rpc.py` |
|
||||
| OPC UA | `url` | `opcua` | `device_comms/opcua_client/` |
|
||||
| 无通信（虚拟） | 无 | 无 | 在动作中模拟行为 |
|
||||
|
||||
必须从以下来源之一获得指令细节：
|
||||
|
||||
| 来源 | 处理方式 |
|
||||
|---|---|
|
||||
| 现成 SDK/驱动代码 | 读取代码，提取指令逻辑，包装进 Uni-Lab-OS 类 |
|
||||
| 协议文档/手册 | 解析命令、响应、校验、寄存器、错误码 |
|
||||
| 用户口述 | 按描述实现指令编解码，标出不确定点 |
|
||||
| 标准协议 | 使用标准实现，例如 Modbus 寄存器表、SCPI |
|
||||
| 虚拟设备 | 跳过硬件通信，在动作方法中维护模拟状态 |
|
||||
|
||||
## 对齐已有实现（强制）
|
||||
|
||||
实现前必须搜索 `unilabos/devices/` 中同类别设备：
|
||||
|
||||
- 参数名必须与已有设备保持一致；动作方法参数名是接口契约，不要随意改成 `volume_ml`、`target_temp_c` 这类新名字。
|
||||
- `status` 字符串值要和同类设备一致，优先使用英文稳定值，例如 `Idle`、`Running`、`Error`。
|
||||
- 状态属性用 `@property` + `@topic_config()` 明确声明。
|
||||
- 返回值使用结构化 dict，至少包含 `success`，需要给前端展示的信息放在 `message`、`data`、`error` 等字段。
|
||||
|
||||
## 架构选择
|
||||
|
||||
| 场景 | 推荐方式 |
|
||||
|---|---|
|
||||
| 简单设备 | 纯 Python 类 + `@device` |
|
||||
| 工作站/组合设备 | `WorkstationBase` 或项目内已有工作站模式 |
|
||||
| 液体处理 | `LiquidHandlerAbstract` / PyLabRobot 相关模式 |
|
||||
| Modbus 设备 | 复用 `device_comms/modbus_plc/` 或项目内 Modbus 示例 |
|
||||
| OPC UA 设备 | 复用 `device_comms/opcua_client/` |
|
||||
| 外部独立包 | 使用 `create-device-package` skill |
|
||||
|
||||
---
|
||||
|
||||
@@ -87,6 +176,29 @@ Args:
|
||||
- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
|
||||
- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
|
||||
|
||||
### 特殊参数类型：ResourceSlot / DeviceSlot
|
||||
|
||||
需要前端选择资源或设备时，用特殊类型注解，registry 会自动生成 `placeholder_keys`：
|
||||
|
||||
```python
|
||||
from typing import List
|
||||
from unilabos.registry.placeholder_type import DeviceSlot, ResourceSlot
|
||||
|
||||
@action(description="转移液体")
|
||||
def transfer(self, source: ResourceSlot, target: ResourceSlot, volume_ul: float) -> dict:
|
||||
"""
|
||||
Args:
|
||||
source[源资源]: 源容器或孔位。
|
||||
target[目标资源]: 目标容器或孔位。
|
||||
volume_ul[体积(ul)]: 转移体积。
|
||||
"""
|
||||
return {"success": True}
|
||||
|
||||
@action(description="同步设备")
|
||||
def sync_devices(self, devices: List[DeviceSlot]) -> dict:
|
||||
return {"success": True, "count": len(devices)}
|
||||
```
|
||||
|
||||
### @topic_config — 状态属性配置
|
||||
|
||||
```python
|
||||
@@ -194,3 +306,154 @@ class MyDevice:
|
||||
- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
|
||||
- 运行时状态存储在 `self.data` 字典中
|
||||
- 设备文件放在 `unilabos/devices/<category>/` 目录下
|
||||
|
||||
---
|
||||
|
||||
## 通信实现片段
|
||||
|
||||
Serial 文本指令：
|
||||
|
||||
```python
|
||||
def _send_command(self, cmd: str) -> str:
|
||||
self.ser.write(f"{cmd}\r\n".encode())
|
||||
return self.ser.readline().decode().strip()
|
||||
```
|
||||
|
||||
RS-485 响应解析要先定位帧头，不要用硬编码索引直接解析原始响应：
|
||||
|
||||
```python
|
||||
def _normalize_response(self, raw: str, start_marker: str = "/") -> str:
|
||||
pos = raw.find(start_marker)
|
||||
return raw[pos:] if pos >= 0 else raw
|
||||
```
|
||||
|
||||
自定义二进制帧：
|
||||
|
||||
```python
|
||||
def _build_frame(self, func_code: int, data: bytes) -> bytes:
|
||||
frame = bytearray([0xFE, func_code]) + bytearray(data)
|
||||
checksum = sum(frame[1:]) % 256
|
||||
frame.append(checksum)
|
||||
return bytes(frame)
|
||||
```
|
||||
|
||||
Modbus 寄存器映射：
|
||||
|
||||
```python
|
||||
REGISTER_MAP = {
|
||||
"temp_target": {"addr": 0x000B, "scale": 10},
|
||||
}
|
||||
|
||||
def set_temperature(self, temp: float, **kwargs) -> bool:
|
||||
reg = REGISTER_MAP["temp_target"]
|
||||
value = int(float(temp) * reg["scale"]) & 0xFFFF
|
||||
self.client.write_register(reg["addr"], value, slave=self.slave_id)
|
||||
self.data["temp_target"] = temp
|
||||
return True
|
||||
```
|
||||
|
||||
HTTP API 映射：
|
||||
|
||||
```python
|
||||
API_MAP = {
|
||||
"set_temperature": {
|
||||
"method": "POST",
|
||||
"endpoint": "/api/temperature",
|
||||
"body_key": "target",
|
||||
},
|
||||
}
|
||||
```
|
||||
|
||||
SDK 封装：
|
||||
|
||||
```python
|
||||
from my_device_sdk import DeviceController
|
||||
|
||||
class MyDevice:
|
||||
def __init__(self, device_id=None, config=None, **kwargs):
|
||||
self.config = config or {}
|
||||
self.controller = DeviceController(port=self.config.get("port", "COM1"))
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
无需手写注册表 YAML。`@device` 装饰器 + AST 扫描会在启动或检查时生成注册表条目。
|
||||
|
||||
```bash
|
||||
# 1. 模块可导入
|
||||
python -c "from unilabos.devices.<category>.<file> import <ClassName>"
|
||||
|
||||
# 2. 启动测试
|
||||
unilab -g <graph>.json
|
||||
|
||||
# 3. 仅检查注册表
|
||||
unilab --check_mode --skip_env_check
|
||||
```
|
||||
|
||||
仅在旧代码无 `@device`、需要覆盖特殊字段、或做 `--complete_registry` 旧设备补全时，才考虑 YAML。新设备默认不要手写 YAML。
|
||||
|
||||
## 图文件节点模板
|
||||
|
||||
实验图 JSON 中的 `class` 对应 `@device(id=...)`，`config` 会传入 `__init__` 的 `config` 字典：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "my_device_1",
|
||||
"name": "我的设备",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "my_device",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {
|
||||
"port": "/dev/ttyUSB0",
|
||||
"baudrate": 9600
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
```
|
||||
|
||||
工作站需要同时配置 `deck` 和 `children`：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"type": "device",
|
||||
"class": "my_workstation",
|
||||
"children": ["my_deck"],
|
||||
"config": {},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "my_deck",
|
||||
"_resource_type": "unilabos.resources.my_module:MyDeck"
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "my_deck",
|
||||
"type": "deck",
|
||||
"class": "MyDeckClass",
|
||||
"parent": "my_station",
|
||||
"config": {"type": "MyDeckClass", "setup": true}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见错误清单
|
||||
|
||||
- 缺少 `@device`：设备不会被 AST 扫描发现。
|
||||
- 只有 `@property` 没有 `@topic_config()`：属性不会稳定广播到 `status_types`。
|
||||
- `post_init` 没有 `@not_action`：会被误暴露为动作。
|
||||
- `self.data = {}`：空字典会导致属性读取和 schema 初始数据不稳定，必须预填充每个状态键。
|
||||
- 动作参数重命名：不要把同类设备已有的 `volume` 改成 `volume_ml`，参数名是接口契约。
|
||||
- `status` 使用中文或临时文本：前端和工作流依赖稳定英文状态值。
|
||||
- async 方法中使用 `time.sleep()`：应使用 `await self._ros_node.sleep(seconds)`。
|
||||
- 硬编码串口响应索引：RS-485 响应前可能有噪声字节，应先定位帧头。
|
||||
- 把硬件寄存器单位暴露给用户：对外使用物理单位，驱动内部做 scale 转换。
|
||||
|
||||
@@ -10,7 +10,8 @@ description: Operate Virtual Workbench via REST API — prepare materials, move
|
||||
- **device_id**: `virtual_workbench`
|
||||
- **Python 源码**: `unilabos/devices/virtual/workbench.py`
|
||||
- **设备类**: `VirtualWorkbench`
|
||||
- **动作数**: 6（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`, `manual_confirm`）
|
||||
- **当前纳入动作**: 5 个（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`）
|
||||
- **暂跳过动作**: `manual_confirm`、扣电测试 `test`（需要启用时先从最新注册表重新提取 schema）
|
||||
- **设备描述**: 模拟工作台，包含 1 个机械臂（每次操作 2s，独占锁）和 3 个加热台（每次加热 60s，可并行）
|
||||
|
||||
### 典型工作流程
|
||||
@@ -151,7 +152,8 @@ curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||
| `auto-start_heating` | `UniLabJsonCommand` |
|
||||
| `auto-move_to_output` | `UniLabJsonCommand` |
|
||||
| `transfer` | `UniLabJsonCommandAsync` |
|
||||
| `manual_confirm` | `UniLabJsonCommand` |
|
||||
|
||||
> `manual_confirm` 和扣电测试 `test` 当前不纳入本 skill 的推荐操作范围；不要基于历史 JSON 直接调用，需先重新生成并校验 schema。
|
||||
|
||||
### 10. 查询任务状态
|
||||
|
||||
@@ -225,11 +227,9 @@ curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
| `transfer` | `resource` | ResourceSlot | 待转移物料数组 |
|
||||
| `transfer` | `target_device` | DeviceSlot | 目标设备路径 |
|
||||
| `transfer` | `mount_resource` | ResourceSlot | 目标孔位数组 |
|
||||
| `manual_confirm` | `resource` | ResourceSlot | 确认用物料数组 |
|
||||
| `manual_confirm` | `target_device` | DeviceSlot | 确认用目标设备 |
|
||||
| `manual_confirm` | `mount_resource` | ResourceSlot | 确认用目标孔位数组 |
|
||||
|
||||
> `prepare_materials`、`move_to_heating_station`、`start_heating`、`move_to_output` 这 4 个动作**无 Slot 字段**，参数为纯数值/整数。
|
||||
> `manual_confirm` 先跳过，不维护其 Slot 字段表。
|
||||
|
||||
---
|
||||
|
||||
@@ -270,3 +270,13 @@ prepare_materials (count=5)
|
||||
```
|
||||
|
||||
创建节点时，`prepare_materials` 的 5 个 output handle（`channel_1` ~ `channel_5`）分别连接到 5 个 `move_to_heating_station` 节点的 `material_input` handle。每个 `move_to_heating_station` 的 `heating_station_output` 和 `material_number_output` 连接到对应 `start_heating` 的 `station_id_input` 和 `material_number_input`。
|
||||
|
||||
`start_heating` 完成后还需要继续连接到 `move_to_output`，否则加热完成的物料不会移出加热台：
|
||||
|
||||
| source action | source handle | target action | target handle | 传递参数 |
|
||||
| ------------- | ------------- | ------------- | ------------- | -------- |
|
||||
| `auto-prepare_materials` | `channel_N` | `auto-move_to_heating_station` | `material_input` | `material_number` |
|
||||
| `auto-move_to_heating_station` | `heating_station_output` | `auto-start_heating` | `station_id_input` | `station_id` |
|
||||
| `auto-move_to_heating_station` | `material_number_output` | `auto-start_heating` | `material_number_input` | `material_number` |
|
||||
| `auto-start_heating` | `heating_done_station` | `auto-move_to_output` | `output_station_input` | `station_id` |
|
||||
| `auto-start_heating` | `heating_done_material` | `auto-move_to_output` | `output_material_input` | `material_number` |
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
# Action Index — virtual_workbench
|
||||
|
||||
6 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||
当前纳入 5 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||
|
||||
暂跳过：`manual_confirm`、扣电测试 `test`。这两个动作需要启用时，先从最新 `req_device_registry_upload.json` 重新提取 schema 并校验参数。
|
||||
|
||||
---
|
||||
|
||||
@@ -60,17 +62,18 @@
|
||||
|
||||
---
|
||||
|
||||
## 人工确认
|
||||
## 暂跳过动作
|
||||
|
||||
### `manual_confirm`
|
||||
|
||||
创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）
|
||||
创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）。当前先不纳入推荐操作范围。
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||
- **核心参数**: `resource`, `target_device`, `mount_resource`, `timeout_seconds`, `assignee_user_ids`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，物料数组
|
||||
- `target_device` — **DeviceSlot**，目标设备路径
|
||||
- `mount_resource` — **ResourceSlot**，目标孔位数组
|
||||
- `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||
- **状态**: 暂跳过。源码参数已包含扣电测试相关字段，历史 JSON 可能过期；需要启用时重新提取 schema。
|
||||
|
||||
### `test`
|
||||
|
||||
启动扣电测试。当前先不纳入本 skill。
|
||||
|
||||
- **状态**: 暂跳过。需要启用时从注册表生成 `actions/test.json` 后再补充索引。
|
||||
|
||||
2
.github/workflows/ci-check.yml
vendored
2
.github/workflows/ci-check.yml
vendored
@@ -25,7 +25,7 @@ jobs:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
|
||||
2
.github/workflows/conda-pack-build.yml
vendored
2
.github/workflows/conda-pack-build.yml
vendored
@@ -86,7 +86,7 @@ jobs:
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
|
||||
8
.github/workflows/deploy-docs.yml
vendored
8
.github/workflows/deploy-docs.yml
vendored
@@ -51,7 +51,7 @@ jobs:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
@@ -84,7 +84,7 @@ jobs:
|
||||
|
||||
- name: Setup Pages
|
||||
id: pages
|
||||
uses: actions/configure-pages@v5
|
||||
uses: actions/configure-pages@v6
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
@@ -105,7 +105,7 @@ jobs:
|
||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||
|
||||
- name: Upload build artifacts
|
||||
uses: actions/upload-pages-artifact@v4
|
||||
uses: actions/upload-pages-artifact@v5
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
@@ -125,4 +125,4 @@ jobs:
|
||||
steps:
|
||||
- name: Deploy to GitHub Pages
|
||||
id: deployment
|
||||
uses: actions/deploy-pages@v4
|
||||
uses: actions/deploy-pages@v5
|
||||
|
||||
2
.github/workflows/multi-platform-build.yml
vendored
2
.github/workflows/multi-platform-build.yml
vendored
@@ -101,7 +101,7 @@ jobs:
|
||||
|
||||
- name: Setup Miniforge
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
|
||||
2
.github/workflows/unilabos-conda-build.yml
vendored
2
.github/workflows/unilabos-conda-build.yml
vendored
@@ -94,7 +94,7 @@ jobs:
|
||||
|
||||
- name: Setup Miniforge
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
|
||||
611
docs/developer_guide/add_PLC.md
Normal file
611
docs/developer_guide/add_PLC.md
Normal file
@@ -0,0 +1,611 @@
|
||||
# PLC 通信标准与设备驱动编写指南（基于 AI4M 工站）
|
||||
|
||||
> 本文档以 `unilabos/devices/workstation/AI4M`（水凝胶检测工站）为参考实现，
|
||||
> 介绍如何将 PLC 控制的实验设备接入 Uni-Lab-OS：包含通信协议选型、节点表标准、
|
||||
> 通信基类、设备驱动、Registry 配置以及调试方法。
|
||||
>
|
||||
> 阅读对象：负责现场调试与设备接入的同学。
|
||||
|
||||
---
|
||||
|
||||
## 0. 总览：一台 PLC 设备从硬件到云端的链路
|
||||
|
||||
```
|
||||
PLC（西门子 / 倍福 / 三菱 / 汇川 / 国产 PLC ...）
|
||||
▲
|
||||
│ 各家 PLC 私有协议（S7 / Modbus / EtherCAT ...）
|
||||
│
|
||||
┌──────────┴──────────┐
|
||||
│ OPC UA Server │ ← 统一在 PLC 侧或独立网关上配置
|
||||
│ （内置或 KEPServer）│
|
||||
└──────────┬──────────┘
|
||||
│ OPC UA over TCP（标准协议）
|
||||
│
|
||||
┌──────────┴──────────┐
|
||||
│ Uni-Lab 设备驱动 │ ← 本教程主体
|
||||
│ AI4MDevice │
|
||||
│ ├─ base_opcua_client.py 通信基类
|
||||
│ ├─ opcua_nodes_*.csv 节点表（标准）
|
||||
│ └─ AI4M.py 动作函数
|
||||
└──────────┬──────────┘
|
||||
│ ROS2 Action / 云端 HTTP
|
||||
▼
|
||||
实验记录本 / 云端调度
|
||||
```
|
||||
|
||||
**统一约定**：所有 PLC 设备**只暴露 OPC UA 接口**给 Uni-Lab，PC 端不直接处理 S7 / Modbus 等底层协议。
|
||||
这是 Uni-Lab 在工站类设备上的 PLC 通信标准。
|
||||
|
||||
---
|
||||
|
||||
## 1. 为什么选 OPC UA 作为标准？
|
||||
|
||||
| 维度 | 自研 TCP/串口协议 | Modbus | **OPC UA** |
|
||||
|---|---|---|---|
|
||||
| 厂家无关 | ✗ | 部分 | **✓** |
|
||||
| 自带类型系统 | ✗ | ✗（裸寄存器） | **✓（Boolean/Int16/Float...）** |
|
||||
| 命名空间 / 节点树 | ✗ | ✗（地址=魔数） | **✓（带名字、可分组）** |
|
||||
| 订阅推送 | ✗ | ✗ | **✓（DataChange Notification）** |
|
||||
| 鉴权 / 加密 | 自己造 | ✗ | **✓** |
|
||||
| 与 PLC 工程师沟通成本 | 高 | 中 | **低（按变量名沟通）** |
|
||||
|
||||
实际接入时，PLC 工程师只需要在 PLC 侧把约定的"上位通讯变量"暴露到 OPC UA Server，
|
||||
我们在 PC 侧就能用 `节点名 + 数据类型` 直接读写，不用管底层是 S7 还是 Modbus。
|
||||
|
||||
---
|
||||
|
||||
## 2. 节点表标准：`opcua_nodes_xxx.csv`
|
||||
|
||||
PLC 侧暴露的所有变量统一**用一张 CSV 表**描述，这是 PC 端和 PLC 端**唯一的接口契约**。
|
||||
位置示例：`unilabos/devices/workstation/AI4M/opcua_nodes_AI4M.csv`。
|
||||
|
||||
### 2.1 列定义
|
||||
|
||||
| 列名 | 是否必填 | 说明 |
|
||||
|---|---|---|
|
||||
| `Name` | ✅ | 节点名（PLC 工程师在 PLC 项目中真实使用的变量名，通常是中文/原始名） |
|
||||
| `EnglishName` | 推荐 | 英文别名，**PC 端代码全部用这个名字**调用 |
|
||||
| `NodeType` | ✅ | `VARIABLE`（变量）或 `METHOD`（方法），AI4M 全部用变量 |
|
||||
| `DataType` | ✅ | `BOOLEAN` / `INT16` / `INT32` / `FLOAT` / `DOUBLE` / `STRING` ... |
|
||||
| `NodeLanguage` | 推荐 | `Chinese` / `English`，配合 `EnglishName` 做映射 |
|
||||
| `NodeId` | ✅ | OPC UA 标准 NodeId，格式 `ns=<namespace>;s=<string>` 或 `ns=<n>;i=<int>` |
|
||||
|
||||
### 2.2 真实样例（节选自 `opcua_nodes_AI4M.csv`）
|
||||
|
||||
| Name | EnglishName | NodeType | DataType | NodeLanguage | NodeId |
|
||||
|---|---|---|---|---|---|
|
||||
| 机器人空闲 | `robot_ready` | VARIABLE | BOOLEAN | Chinese | `ns=4;s=上位通讯变量\|机器人空闲` |
|
||||
| 机器人取烧杯编号 | `robot_pick_beaker_id` | VARIABLE | INT16 | Chinese | `ns=4;s=上位通讯变量\|机器人取烧杯编号` |
|
||||
| 检测1请求参数 | `station_1_request_params` | VARIABLE | BOOLEAN | Chinese | `ns=4;s=上位通讯变量\|检测1请求参数` |
|
||||
| 检测1工艺完成 | `station_1_process_complete` | VARIABLE | BOOLEAN | Chinese | `ns=4;s=上位通讯变量\|检测1工艺完成` |
|
||||
| 磁力搅拌参数设置_C[0].搅拌速度 | `mag_stirrer_c0_stir_speed` | VARIABLE | INT16 | Chinese | `ns=4;s=上位通讯变量\|磁力搅拌参数设置_C[0].搅拌速度` |
|
||||
| 报警复位 | `alarm_reset` | VARIABLE | BOOLEAN | Chinese | `ns=4;s=上位通讯变量\|报警复位` |
|
||||
|
||||
### 2.3 设计规范（必读）
|
||||
|
||||
1. **命名按"角色-编号-属性"分层**，便于代码批量寻址：
|
||||
- `mag_stirrer_c{0..4}_stir_speed`（搅拌仪 0~4 的搅拌速度）
|
||||
- `station_{1..3}_process_complete`（检测站 1~3 的完成信号）
|
||||
- `robot_rack_pick_beaker_{1..5}_complete`（取烧杯 1~5 的完成信号）
|
||||
|
||||
这样在驱动里可以直接 `f"mag_stirrer_c{idx}_stir_speed"` 拼出节点名。
|
||||
|
||||
2. **数据类型与 PLC 侧严格一致**：
|
||||
- `BOOL` → `BOOLEAN`，`INT/WORD` → `INT16/UINT16`，`DINT` → `INT32`，`REAL` → `FLOAT`。
|
||||
- 类型不一致会触发 `BadTypeMismatch`，写入失败。
|
||||
|
||||
3. **NodeId 必须从 PLC 工程或 OPC UA Server 中导出**，不要自己拼。
|
||||
常见格式：
|
||||
- 西门子 1500：`ns=4;s=上位通讯变量|<变量名>`
|
||||
- 倍福 TwinCAT：`ns=4;s=PLC1.MAIN.<变量名>`
|
||||
- KEPServerEX：`ns=2;s=Channel1.Device1.<Tag>`
|
||||
|
||||
4. **每个工站一个独立 CSV**，不要共用。
|
||||
AI4M 中真机用 `opcua_nodes_AI4M.csv`，仿真用 `opcua_nodes_AI4M_sim.csv`。
|
||||
|
||||
---
|
||||
|
||||
## 3. 通信基类架构
|
||||
|
||||
文件：`unilabos/devices/workstation/AI4M/base_opcua_client.py`
|
||||
|
||||
整个通信层分两层：
|
||||
|
||||
```
|
||||
BaseOpcUaClient # 最小可用：连接 + 节点注册 + 读写 + 方法调用
|
||||
▲
|
||||
│ 继承
|
||||
│
|
||||
OpcUaClientWithSubscription # 生产可用：+ 订阅推送 + 缓存 + 自动重连
|
||||
▲
|
||||
│ 继承
|
||||
│
|
||||
AI4MDevice # 业务驱动：在它之上写设备动作函数
|
||||
```
|
||||
|
||||
### 3.1 `BaseOpcUaClient` 核心能力
|
||||
|
||||
```python
|
||||
class BaseOpcUaClient(UniversalDriver):
|
||||
client: Optional[Client] = None
|
||||
_node_registry: Dict[str, OpcUaNodeBase] = {} # name -> Variable/Method
|
||||
_name_mapping: Dict[str, str] = {} # 英文名 -> 中文名
|
||||
_reverse_mapping: Dict[str, str] = {} # 中文名 -> 英文名
|
||||
_found_node_objects: Dict[str, Any] = {} # 缓存 ua.Node 用于订阅
|
||||
|
||||
@classmethod
|
||||
def load_csv(cls, file_path) -> Tuple[List[OpcUaNode], dict, dict]: ...
|
||||
def register_node_list(self, node_list) -> "BaseOpcUaClient": ...
|
||||
def use_node(self, name) -> OpcUaNodeBase: ...
|
||||
def read_node(self, node_name: str) -> str: ... # 返回 JSON
|
||||
def write_node(self, json_input: str) -> str: ...
|
||||
def call_method(self, node_name, *args) -> Tuple[Any, bool]: ...
|
||||
```
|
||||
|
||||
它做的事情可以归纳为四步：
|
||||
|
||||
1. **`load_csv`**：读取节点表，建立 `Name ↔ EnglishName` 双向映射。
|
||||
2. **`register_node_list`**：把节点登记进 `_variables_to_find` 待查找列表。
|
||||
3. **`_connect` → `_find_nodes`**：连上 OPC UA 后，按 `NodeId` 把每个节点解析成 `Variable` / `Method` 对象，放进 `_node_registry`。
|
||||
4. **`use_node(name)`**：业务代码取节点的唯一入口，**支持中英文混用**，找不到会自动重试一次。
|
||||
|
||||
### 3.2 `OpcUaClientWithSubscription` 增强能力
|
||||
|
||||
在 `BaseOpcUaClient` 基础上提供三个生产环境必备的能力：
|
||||
|
||||
#### a) 订阅缓存（高频读零开销）
|
||||
|
||||
```python
|
||||
def _setup_subscriptions(self):
|
||||
self._subscription = self.client.create_subscription(
|
||||
self._subscription_interval, # 默认 500ms
|
||||
SubscriptionHandler(self),
|
||||
)
|
||||
for node_name, node in self._node_registry.items():
|
||||
if node.type == NodeType.VARIABLE and node.node_id:
|
||||
handle = self._subscription.subscribe_data_change(ua_node)
|
||||
self._subscription_handles[node_name] = handle
|
||||
```
|
||||
|
||||
当 PLC 侧变量变化时，`datachange_notification` 回调会把新值写进 `self._node_values[name]`，
|
||||
后续 `get_node_value` 优先读缓存——**业务代码可以放心地写 `while not self.get_node_value(...): time.sleep(1)` 而不用担心 OPC UA 频繁请求**。
|
||||
|
||||
#### b) 智能缓存的 `get_node_value`
|
||||
|
||||
```python
|
||||
def get_node_value(self, name, use_cache=True, force_read=False):
|
||||
# 1. 中英文名归一化
|
||||
chinese_name = self._name_mapping.get(name, name)
|
||||
|
||||
# 2. force_read=True 强制透传到 OPC UA Server
|
||||
if force_read: ...
|
||||
|
||||
# 3. 命中订阅推送 → 直接返回缓存
|
||||
# 4. 命中按需读 + 未过期（cache_timeout=5s）→ 返回缓存
|
||||
# 5. 否则发起 read 并更新缓存
|
||||
```
|
||||
|
||||
#### c) 连接监控 + 自动重连
|
||||
|
||||
后台线程每 30s 调一次 `client.get_namespace_array()` 探活，断线则自动 `disconnect → connect → 重新订阅`，最多重试 5 次。
|
||||
|
||||
### 3.3 数据类型 / 节点类型
|
||||
|
||||
`unilabos/device_comms/opcua_client/node/uniopcua.py`：
|
||||
|
||||
```python
|
||||
class DataType(Enum):
|
||||
BOOLEAN = VariantType.Boolean
|
||||
INT16 = VariantType.Int16
|
||||
INT32 = VariantType.Int32
|
||||
FLOAT = VariantType.Float
|
||||
STRING = VariantType.String
|
||||
# ...
|
||||
|
||||
class NodeType(Enum):
|
||||
VARIABLE = NodeClass.Variable
|
||||
METHOD = NodeClass.Method
|
||||
OBJECT = NodeClass.Object
|
||||
```
|
||||
|
||||
`Variable.write()` 内部会按 `DataType` 做强制类型转换，
|
||||
所以 CSV 里的 `DataType` 列就是"PC 端转换写入值的类型说明书"。
|
||||
|
||||
---
|
||||
|
||||
## 4. 编写设备驱动：以 `AI4MDevice` 为例
|
||||
|
||||
文件：`unilabos/devices/workstation/AI4M/AI4M.py`
|
||||
|
||||
### 4.1 继承通信基类，最小骨架
|
||||
|
||||
```python
|
||||
from typing import Optional
|
||||
from unilabos.devices.workstation.AI4M.base_opcua_client import OpcUaClientWithSubscription
|
||||
|
||||
class AI4MDevice(OpcUaClientWithSubscription):
|
||||
def __init__(
|
||||
self,
|
||||
url: str, # opc.tcp://192.168.1.10:4840
|
||||
deck: Optional[AI4M_deck] = None, # 物料台面（资源树）
|
||||
csv_path: str = None, # 节点表 CSV
|
||||
username: str = None,
|
||||
password: str = None,
|
||||
use_subscription: bool = True,
|
||||
cache_timeout: float = 5.0,
|
||||
subscription_interval: int = 500,
|
||||
*args, **kwargs,
|
||||
):
|
||||
super().__init__(
|
||||
url=url, username=username, password=password,
|
||||
use_subscription=use_subscription,
|
||||
cache_timeout=cache_timeout,
|
||||
subscription_interval=subscription_interval,
|
||||
*args, **kwargs,
|
||||
)
|
||||
|
||||
# 物料台面初始化（见教程 4. 物料系统）
|
||||
self.deck = deck or AI4M_deck(setup=True)
|
||||
self._robot_lock = threading.Lock()
|
||||
|
||||
# 关键：加载节点表
|
||||
if csv_path:
|
||||
self.load_nodes_from_csv(csv_path)
|
||||
```
|
||||
|
||||
`load_nodes_from_csv` 会一次性完成：解析 CSV → 注册节点 → 解析 NodeId → 建立订阅，
|
||||
**之后整个驱动都通过 `self.get_node_value(name)` / `self.set_node_value(name, value)` 操作 PLC**。
|
||||
|
||||
### 4.2 PLC 通信的核心模式：握手协议（Handshake）
|
||||
|
||||
PLC 编程的本质是"扫描周期 + 状态机"，PC 端**绝对不能用 fire-and-forget 的方式发指令**。
|
||||
和 PLC 配合的标准模式是 **"PC 写指令 → PC 等待 PLC 回执 → PC 复位指令"**。
|
||||
|
||||
AI4M 中所有 `trigger_*` 函数都遵循以下三种握手范式之一：
|
||||
|
||||
#### 范式 A：脉冲触发 + 完成信号（最常用）
|
||||
|
||||
```python
|
||||
def trigger_init(self) -> dict:
|
||||
# ① 复位上一轮残留
|
||||
self.set_node_value("alarm_reset", True); time.sleep(1.0)
|
||||
self.set_node_value("alarm_reset", False)
|
||||
self.set_node_value("manual_auto_switch", False)
|
||||
|
||||
# ② 等待 PLC 退出自动模式
|
||||
while self.get_node_value("auto_mode"):
|
||||
time.sleep(1.0)
|
||||
|
||||
# ③ 发起初始化脉冲（True → False）
|
||||
self.set_node_value("initialize", True); time.sleep(1.0)
|
||||
self.set_node_value("initialize", False)
|
||||
|
||||
# ④ 等待 PLC 给出完成信号
|
||||
while not self.get_node_value("init finished"):
|
||||
time.sleep(1.0)
|
||||
|
||||
return {"message": "设备初始化完成"}
|
||||
```
|
||||
|
||||
要点：
|
||||
- **"PC 写一个 BOOL 拉高再拉低"** 模拟脉冲，PLC 用上升沿触发动作。
|
||||
- **`get_node_value` 要在 while 循环里轮询**，配合订阅缓存基本无压力。
|
||||
- **每个动作必须有"开始"和"完成"两个独立的 BOOL 节点**，不能复用。
|
||||
|
||||
#### 范式 B：参数下发 + 请求/已执行/完成 三步握手（带数据的工艺）
|
||||
|
||||
```python
|
||||
def trigger_station_process(self, station_id: int, mag_stir_speed: int, ...):
|
||||
request_node = f"station_{station_id}_request_params"
|
||||
params_received_node = f"station_{station_id}_params_received"
|
||||
start_node = f"station_{station_id}_start"
|
||||
complete_node = f"station_{station_id}_process_complete"
|
||||
|
||||
# ① PC 复位三个状态位（避免上一轮影响）
|
||||
self._reset_station_process_flags(station_id)
|
||||
|
||||
# ② 等 PLC 主动请求参数（PLC 准备好了才接收）
|
||||
while not self.get_node_value(request_node):
|
||||
time.sleep(1.0)
|
||||
|
||||
# ③ PC 下发参数（注意：PLC 内部数组是 0-based，PC 暴露给用户是 1-based）
|
||||
station_idx = station_id - 1
|
||||
self.set_node_value(f"mag_stirrer_c{station_idx}_stir_speed", mag_stir_speed)
|
||||
self.set_node_value(f"mag_stirrer_c{station_idx}_heat_temp", mag_stir_heat_temp)
|
||||
self.set_node_value(f"mag_stirrer_c{station_idx}_time_set", mag_stir_time_set)
|
||||
self.set_node_value(f"syringe_pump_{station_idx}_abs_position_set", syringe_pump_abs_pos)
|
||||
|
||||
# ④ PC 通知 PLC "参数已就绪"，等 PLC 回复"已执行"
|
||||
self.set_node_value(start_node, True)
|
||||
while not self.get_node_value(params_received_node):
|
||||
time.sleep(1.0)
|
||||
|
||||
# ⑤ 等 PLC 完成整个工艺
|
||||
while not self.get_node_value(complete_node):
|
||||
time.sleep(5.0)
|
||||
|
||||
self.set_node_value(start_node, False) # 复位，方便下一轮
|
||||
return {"station_id": station_id, "message": "..."}
|
||||
```
|
||||
|
||||
四个状态位的语义：
|
||||
|
||||
| 信号 | 方向 | 含义 |
|
||||
|---|---|---|
|
||||
| `station_X_request_params` | **PLC → PC** | "我准备好了，把参数给我" |
|
||||
| `station_X_start` | **PC → PLC** | "参数我已经写好了，开干" |
|
||||
| `station_X_params_received` | **PLC → PC** | "参数我已经吃下了" |
|
||||
| `station_X_process_complete` | **PLC → PC** | "工艺已经做完" |
|
||||
|
||||
**这是 PLC 通信教科书级别的标准范式**，所有带数据下发的动作都建议照抄。
|
||||
|
||||
#### 范式 C：编号下发 + 编号对应的完成信号（多目标互锁）
|
||||
|
||||
```python
|
||||
def trigger_robot_pick_beaker(self, pick_beaker_id: int, place_station_id: int = None, ...):
|
||||
# ① 等机器人空闲（互锁）
|
||||
while not self.get_node_value("robot_ready"):
|
||||
time.sleep(1.0)
|
||||
|
||||
# ② 阶段一：下发"取哪一杯"编号 + 等"取这一杯完成"
|
||||
pick_complete_node = f"robot_rack_pick_beaker_{pick_beaker_id}_complete"
|
||||
self.set_node_value("robot_pick_beaker_id", pick_beaker_id)
|
||||
while not self.get_node_value(pick_complete_node):
|
||||
time.sleep(1.0)
|
||||
|
||||
# ③ 阶段二：下发"放到哪个工站"编号 + 等"放完成"
|
||||
place_complete_node = f"robot_place_station_{place_station_id}_complete"
|
||||
self._reset_station_process_flags(place_station_id)
|
||||
self.set_node_value("robot_place_station_id", place_station_id)
|
||||
while not self.get_node_value(place_complete_node):
|
||||
time.sleep(1.0)
|
||||
```
|
||||
|
||||
要点：
|
||||
- **同一个动作的多个目标用"编号变量 + 编号对应的完成信号"实现**，不要每个目标都开一个开始位。
|
||||
- **配合 Python 端 `threading.Lock()` 做软互锁**，避免多个线程争抢机器人。
|
||||
- **每个阶段有独立的完成信号**，串行等待，不能合并。
|
||||
|
||||
### 4.3 一些容易踩坑的细节
|
||||
|
||||
1. **节点名映射**
|
||||
`set_node_value("alarm_reset", True)` 实际写入的是 CSV 中文名 `报警复位`，
|
||||
`get_node_value` 同理。**业务代码全部用 EnglishName**，不要直接用中文。
|
||||
|
||||
2. **PLC 数组索引和 PC 不一致**
|
||||
AI4M 里 PC 暴露 `station_id ∈ {1, 2, 3}`，但 PLC 内部数组是 `C[0..2]`，
|
||||
驱动里要做 `station_idx = station_id - 1`，**这种映射只在驱动层做一次**，
|
||||
不要让上层（registry / 实验记录本）感知。
|
||||
|
||||
3. **订阅模式下 BOOL 节点的边沿同步**
|
||||
订阅有 ~500ms 延迟。如果你刚 `set_node_value(x, True)` 就立刻 `get_node_value(x)`，
|
||||
读到的可能还是 `False`（订阅还没推回来）。
|
||||
解决方案：**写完后用 `force_read=True` 透传一次** 或加一段 `time.sleep`。
|
||||
|
||||
4. **永远不要忘记复位**
|
||||
`start` 拉 True 后必须有地方拉回 False，否则下一轮 PLC 上升沿不触发。
|
||||
AI4M 在 `_reset_station_process_flags` 中统一做：
|
||||
|
||||
```python
|
||||
def _reset_station_process_flags(self, station_id: int) -> None:
|
||||
self.set_node_value(f"station_{station_id}_process_complete", False)
|
||||
self.set_node_value(f"station_{station_id}_start", False)
|
||||
self.set_node_value(f"station_{station_id}_params_received", False)
|
||||
```
|
||||
|
||||
5. **耗时长的等待 sleep 加大**
|
||||
工艺等待用 `time.sleep(5.0)`，机器人等待用 `time.sleep(1.0)`，初始化等待 `time.sleep(1.0)`，
|
||||
不要全部用 0.1s 轮询，会把日志刷爆。
|
||||
|
||||
---
|
||||
|
||||
## 5. 把驱动接到 Uni-Lab：Registry + Graph
|
||||
|
||||
### 5.1 Registry YAML（动作 schema）
|
||||
|
||||
文件：`unilabos/registry/devices/AI4M_station.yaml`
|
||||
|
||||
```yaml
|
||||
AI4M_station:
|
||||
category: [AI4M_station]
|
||||
class:
|
||||
module: unilabos.devices.workstation.AI4M.AI4M:AI4MDevice # ← 入口类
|
||||
type: python
|
||||
action_value_mappings:
|
||||
auto-trigger_init:
|
||||
schema:
|
||||
description: 设备初始化...
|
||||
properties:
|
||||
goal: { properties: {}, required: [], type: object }
|
||||
result:
|
||||
properties: { message: { type: string } }
|
||||
required: [message]
|
||||
type: object
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
|
||||
auto-trigger_station_process:
|
||||
always_free: true
|
||||
schema:
|
||||
description: 执行检测工艺流程
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
station_id: { type: integer, description: 检测编号 1-3 }
|
||||
mag_stir_stir_speed: { type: integer }
|
||||
mag_stir_heat_temp: { type: integer }
|
||||
mag_stir_time_set: { type: integer }
|
||||
syringe_pump_abs_position_set:{ type: integer }
|
||||
required: [station_id, mag_stir_stir_speed, mag_stir_heat_temp,
|
||||
mag_stir_time_set, syringe_pump_abs_position_set]
|
||||
type: object
|
||||
result: { ... }
|
||||
type: UniLabJsonCommand
|
||||
|
||||
init_param_schema:
|
||||
config:
|
||||
type: object
|
||||
required: [url]
|
||||
properties:
|
||||
url: { type: string, description: OPC UA 服务器地址 }
|
||||
csv_path: { type: string, description: 节点配置 CSV 路径 }
|
||||
deck: { type: string, description: 资源树配置 }
|
||||
username: { type: string }
|
||||
password: { type: string }
|
||||
use_subscription: { type: boolean, default: true }
|
||||
cache_timeout: { type: number, default: 5.0 }
|
||||
subscription_interval: { type: integer, default: 500 }
|
||||
```
|
||||
|
||||
规则总结：
|
||||
- `class.module` 指向驱动类（`module:ClassName`）。
|
||||
- `action_value_mappings` 中的 key 形如 `auto-<方法名>`，对应驱动里的同名 Python 方法。
|
||||
- `schema.goal` 自动转成 ROS2 Action 的 goal 消息，`schema.result` 转 result。
|
||||
- `init_param_schema.config` 对应 `__init__` 的入参，**所有需要现场改的参数都要列出来**（最重要的就是 `url` 和 `csv_path`）。
|
||||
- `always_free: true` 表示该动作不占用工站独占锁（多检测站可并发执行）。
|
||||
|
||||
### 5.2 Graph JSON（实例化）
|
||||
|
||||
文件：`unilabos/devices/workstation/AI4M/AI4M.json`
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "AI4M_station",
|
||||
"name": "AI4M_station",
|
||||
"type": "device",
|
||||
"class": "AI4M_station",
|
||||
"children": ["AI4M_deck"],
|
||||
"parent": null,
|
||||
"config": {
|
||||
"url": "opc.tcp://192.168.1.10:4840",
|
||||
"csv_path": "opcua_nodes_AI4M.csv",
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "AI4M_deck",
|
||||
"_resource_type": "unilabos.devices.workstation.AI4M.decks:AI4M_deck"
|
||||
}
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "AI4M_deck",
|
||||
"type": "deck",
|
||||
"class": "AI4M_deck",
|
||||
"parent": "AI4M_station",
|
||||
"config": { "type": "AI4M_deck" }
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
要点：
|
||||
- `class` 必须和 Registry YAML 的顶层 key 完全一致（`AI4M_station`）。
|
||||
- `config` 字段**逐字传给驱动 `__init__`**，所以 Graph JSON = "现场参数表"。
|
||||
- 多套相同设备时拷贝一份，把 `id` / `url` 改掉即可（参考 `AI4M002_station`）。
|
||||
|
||||
### 5.3 启动命令（来自 `start.md`）
|
||||
|
||||
```cmd
|
||||
# 真机
|
||||
python unilabos/app/main.py -g unilabos/devices/workstation/AI4M/AI4M.json `
|
||||
--ak <ak> --sk <sk> --upload_registry --addr <api_url> --disable_browser
|
||||
|
||||
# 仿真（KEPServerEX 跑在本机 49320 端口）
|
||||
python unilabos/app/main.py -g unilabos/devices/workstation/AI4M/AI4Msim.json `
|
||||
--ak <ak> --sk <sk> --upload_registry --disable_browser
|
||||
```
|
||||
|
||||
`--upload_registry` 会把 `AI4M_station.yaml` 的 schema 上传到云端，
|
||||
之后实验记录本就能看到所有 `auto-*` 动作。
|
||||
|
||||
---
|
||||
|
||||
## 6. 调试方法
|
||||
|
||||
### 6.1 用 KEPServerEX 仿真 PLC
|
||||
|
||||
不带 PLC 的开发机上，可以用 KEPServerEX（或 `python-opcua` 自建 server）模拟。
|
||||
AI4M 提供了一份仿真节点表 `opcua_nodes_AI4M_sim.csv`，**只改 NodeId 不改语义**，
|
||||
所以驱动代码无需任何改动即可在本机调试。
|
||||
|
||||
### 6.2 单独跑驱动（不开 ROS）
|
||||
|
||||
在驱动文件末尾的 `if __name__ == '__main__':` 段：
|
||||
|
||||
```python
|
||||
if __name__ == '__main__':
|
||||
A4 = AI4MDevice(
|
||||
url="opc.tcp://192.168.1.10:4840",
|
||||
csv_path="opcua_nodes_AI4M.csv",
|
||||
)
|
||||
A4.trigger_init()
|
||||
print("初始化完成")
|
||||
A4.trigger_robot_pick_beaker(1, 1)
|
||||
```
|
||||
|
||||
**新动作上线前一定要在这里裸跑一遍**，确认握手时序正确，再往上接 ROS。
|
||||
|
||||
### 6.3 看日志判断卡在哪
|
||||
|
||||
`base_opcua_client.py` 的日志已经覆盖了所有关键节点：
|
||||
|
||||
```
|
||||
✓ 客户端已连接!
|
||||
✓ 找到变量节点: 'robot_ready', NodeId: ns=4;s=...
|
||||
✓ 已订阅节点: robot_ready
|
||||
✓ 节点查找完成：所有 142 个节点均已找到
|
||||
```
|
||||
|
||||
如果看到 `⚠ 以下 N 个节点未找到`，**99% 是 CSV 里的 NodeId 写错了**，回去对一下 PLC 工程导出的 NodeId。
|
||||
|
||||
### 6.4 检查节点是否能直接读写
|
||||
|
||||
```python
|
||||
# 透传读，绕过订阅缓存
|
||||
A4.get_node_value("robot_ready", force_read=True)
|
||||
|
||||
# 直接读 JSON 形式（适合从 HTTP/调试面板调）
|
||||
A4.read_node("robot_ready")
|
||||
|
||||
# 写
|
||||
A4.set_node_value("alarm_reset", True)
|
||||
A4.write_node('{"node_name": "alarm_reset", "value": false}')
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 7. 接入新 PLC 设备的 Checklist
|
||||
|
||||
接到一台新工站时，按下面顺序做就能保证不漏：
|
||||
|
||||
- [ ] 1. 让 PLC 工程师把上位通讯变量整理到 OPC UA Server，导出 NodeId 清单。
|
||||
- [ ] 2. 在 `unilabos/devices/workstation/<设备名>/` 下新建目录，复制 `AI4M/base_opcua_client.py` 不动。
|
||||
- [ ] 3. 整理 `opcua_nodes_<设备名>.csv`，6 列填齐，并补上 `EnglishName`。
|
||||
- [ ] 4. 在该目录写设备驱动 `<设备名>.py`，继承 `OpcUaClientWithSubscription`：
|
||||
- [ ] `__init__` 调用 `super().__init__` + `self.load_nodes_from_csv(csv_path)`。
|
||||
- [ ] 每个动作函数用范式 A/B/C 写握手协议。
|
||||
- [ ] 每个动作函数都返回 `dict`，至少含 `message` 字段。
|
||||
- [ ] 5. 在 `unilabos/registry/devices/` 下新建 `<设备名>_station.yaml`，配置 `init_param_schema` 和 `action_value_mappings`。
|
||||
- [ ] 6. 在该目录新建 `<设备名>.json`（Graph），填好 `url` 和 `csv_path`。
|
||||
- [ ] 7. 用 `if __name__ == '__main__':` 单独跑驱动确认握手 OK。
|
||||
- [ ] 8. 用 `python unilabos/app/main.py -g <Graph> --upload_registry ...` 上线，到实验记录本下发动作回归。
|
||||
|
||||
---
|
||||
|
||||
## 8. 参考实现速查
|
||||
|
||||
| 关注点 | 在 AI4M 中看哪里 |
|
||||
|---|---|
|
||||
| OPC UA 通信基类 | `base_opcua_client.py` |
|
||||
| 节点定义类型系统 | `unilabos/device_comms/opcua_client/node/uniopcua.py` |
|
||||
| 节点表 CSV 标准 | `opcua_nodes_AI4M.csv` |
|
||||
| 设备驱动入口类 | `AI4M.py: AI4MDevice` |
|
||||
| 握手范式 A（脉冲+完成） | `AI4M.py: trigger_init` |
|
||||
| 握手范式 B（请求/参数/完成） | `AI4M.py: trigger_station_process` |
|
||||
| 握手范式 C（编号+完成） | `AI4M.py: trigger_robot_pick_beaker` |
|
||||
| 自动模式批量参数下发 | `AI4M.py: download_auto_params` |
|
||||
| Registry schema | `unilabos/registry/devices/AI4M_station.yaml` |
|
||||
| Graph 实例化 | `AI4M.json` / `AI4Msim.json` |
|
||||
| 启动命令 | `start.md` |
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.11.2
|
||||
version: 0.11.3
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.11.2"
|
||||
version: "0.11.3"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.11.2',
|
||||
version='0.11.3',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.11.2"
|
||||
__version__ = "0.11.3"
|
||||
|
||||
@@ -1034,11 +1034,16 @@ class MessageProcessor:
|
||||
|
||||
success = host_node.notify_resource_tree_update(dev_id, act, item_list)
|
||||
|
||||
if success:
|
||||
if success is True:
|
||||
logger.info(
|
||||
f"[MessageProcessor] Resource tree {act} completed for device {dev_id}, "
|
||||
f"items: {len(item_list)}"
|
||||
)
|
||||
elif success is None:
|
||||
logger.info(
|
||||
f"[MessageProcessor] Resource tree {act} skipped for device {dev_id}: "
|
||||
"在线增加设备暂不支持"
|
||||
)
|
||||
else:
|
||||
logger.warning(f"[MessageProcessor] Resource tree {act} failed for device {dev_id}")
|
||||
|
||||
@@ -1062,6 +1067,11 @@ class MessageProcessor:
|
||||
|
||||
for item in device_list:
|
||||
target_node_id = item.get("target_node_id", "host_node")
|
||||
if action == "add":
|
||||
logger.info(
|
||||
f"[DeviceManage] 在线增加设备暂不支持，跳过 add_device: {item.get('id', '')}"
|
||||
)
|
||||
continue
|
||||
|
||||
def _notify(target_id: str, act: str, cfg: ResourceDictType):
|
||||
try:
|
||||
|
||||
@@ -45,6 +45,7 @@ from unilabos.resources.graphio import (
|
||||
)
|
||||
from unilabos.resources.plr_additional_res_reg import register
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
String,
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
convert_to_ros_msg_with_mapping,
|
||||
@@ -250,7 +251,8 @@ class PropertyPublisher:
|
||||
):
|
||||
self.node = node
|
||||
self.name = name
|
||||
self.msg_type = msg_type
|
||||
self.msg_type = self._normalize_msg_type(msg_type)
|
||||
self.original_msg_type = msg_type
|
||||
self.get_method = get_method
|
||||
self.timer_period = initial_period
|
||||
self.print_publish = print_publish
|
||||
@@ -258,16 +260,36 @@ class PropertyPublisher:
|
||||
|
||||
self._value = None
|
||||
try:
|
||||
self.publisher_ = node.create_publisher(msg_type, f"{name}", qos)
|
||||
self.publisher_ = node.create_publisher(self.msg_type, f"{name}", qos)
|
||||
except Exception as e:
|
||||
self.node.lab_logger().error(
|
||||
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}"
|
||||
f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，"
|
||||
f"可能由于注册表有误，类型: {msg_type}，错误: {e}"
|
||||
)
|
||||
self.msg_type = String
|
||||
try:
|
||||
self.publisher_ = node.create_publisher(self.msg_type, f"{name}", qos)
|
||||
self.node.lab_logger().warning(
|
||||
f"属性 {name} 的发布类型已降级为 String，原始类型: {msg_type}"
|
||||
)
|
||||
except Exception:
|
||||
self.publisher_ = None
|
||||
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
||||
self.__loop = ROS2DeviceNode.get_asyncio_loop()
|
||||
str_msg_type = str(msg_type)[8:-2]
|
||||
str_msg_type = str(self.msg_type)[8:-2]
|
||||
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
|
||||
|
||||
@staticmethod
|
||||
def _normalize_msg_type(msg_type):
|
||||
if msg_type in (dict, list, tuple, set) or msg_type in ("dict", "list", "tuple", "set"):
|
||||
return String
|
||||
return msg_type
|
||||
|
||||
def _normalize_value(self, value):
|
||||
if self.msg_type is String and isinstance(value, (dict, list, tuple, set)):
|
||||
return json.dumps(value, ensure_ascii=False, cls=TypeEncoder)
|
||||
return value
|
||||
|
||||
def get_property(self):
|
||||
if asyncio.iscoroutinefunction(self.get_method):
|
||||
# 如果是异步函数，运行事件循环并等待结果
|
||||
@@ -302,12 +324,16 @@ class PropertyPublisher:
|
||||
pass
|
||||
# self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
|
||||
if value is not None:
|
||||
if self.publisher_ is None:
|
||||
return
|
||||
value = self._normalize_value(value)
|
||||
msg = convert_to_ros_msg(self.msg_type, value)
|
||||
self.publisher_.publish(msg)
|
||||
# self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
|
||||
except Exception as e:
|
||||
topic = getattr(self.publisher_, "topic", self.name)
|
||||
self.node.lab_logger().error(
|
||||
f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
|
||||
f"【.publish_property】发布属性 {topic} 出错: {str(e)}\n{traceback.format_exc()}"
|
||||
)
|
||||
|
||||
def change_frequency(self, period):
|
||||
|
||||
@@ -1691,7 +1691,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
else:
|
||||
self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")
|
||||
|
||||
def notify_resource_tree_update(self, device_id: str, action: str, resource_uuid_list: List[str]) -> bool:
|
||||
def notify_resource_tree_update(
|
||||
self, device_id: str, action: str, resource_uuid_list: List[str]
|
||||
) -> Optional[bool]:
|
||||
"""
|
||||
通知设备节点更新资源树
|
||||
|
||||
@@ -1701,13 +1703,14 @@ class HostNode(BaseROS2DeviceNode):
|
||||
resource_uuid_list: 资源UUIDs
|
||||
|
||||
Returns:
|
||||
bool: 操作是否成功
|
||||
True if the update completed, False if it failed, None if it was intentionally skipped.
|
||||
"""
|
||||
try:
|
||||
# 检查设备是否存在
|
||||
if device_id not in self.devices_names:
|
||||
self.lab_logger().error(f"[Host Node-Resource] Device {device_id} not found in devices_names")
|
||||
return False
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-Resource] 在线增加设备暂不支持，跳过设备 {device_id} 的资源树 {action} 更新"
|
||||
)
|
||||
return None
|
||||
|
||||
namespace = self.devices_names[device_id]
|
||||
device_key = f"{namespace}/{device_id}"
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>unilabos_msgs</name>
|
||||
<version>0.11.2</version>
|
||||
<version>0.11.3</version>
|
||||
<description>ROS2 Messages package for unilabos devices</description>
|
||||
<maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
|
||||
<maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>
|
||||
|
||||
Reference in New Issue
Block a user