Merge branch 'dev' into feat/lab_resource

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