From 9e1e6da505e658109eed382df4676c7546e48736 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 26 Dec 2025 02:26:04 +0800 Subject: [PATCH 01/40] Add topic config --- unilabos/ros/nodes/base_device_node.py | 115 ++++++++++++++- unilabos/test/registry/example_devices.py | 49 ++----- unilabos/utils/decorator.py | 170 ++++++++++++++++++++++ 3 files changed, 289 insertions(+), 45 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 6952320f..88dd4be5 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -21,6 +21,7 @@ from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.service import Service from unilabos_msgs.action import SendCmd from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response +from unilabos.utils.decorator import get_topic_config, get_all_subscriptions from unilabos.resources.container import RegularContainer from unilabos.resources.graphio import ( @@ -48,7 +49,8 @@ from unilabos_msgs.msg import Resource # type: ignore from unilabos.ros.nodes.resource_tracker import ( DeviceNodeResourceTracker, ResourceTreeSet, - ResourceTreeInstance, ResourceDictInstance, + ResourceTreeInstance, + ResourceDictInstance, ) from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator @@ -168,6 +170,7 @@ class PropertyPublisher: msg_type, initial_period: float = 5.0, print_publish=True, + qos: int = 10, ): self.node = node self.name = name @@ -175,10 +178,11 @@ class PropertyPublisher: self.get_method = get_method self.timer_period = initial_period self.print_publish = print_publish + self.qos = qos self._value = None try: - self.publisher_ = node.create_publisher(msg_type, f"{name}", 10) + self.publisher_ = node.create_publisher(msg_type, f"{name}", qos) except AttributeError as ex: 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()}" @@ -186,7 +190,7 @@ class PropertyPublisher: self.timer = node.create_timer(self.timer_period, self.publish_property) self.__loop = get_event_loop() str_msg_type = str(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") + self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}") def get_property(self): if asyncio.iscoroutinefunction(self.get_method): @@ -326,6 +330,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): continue self.create_ros_action_server(action_name, action_value_mapping) + # 创建订阅者（通过 @subscribe 装饰器） + self._topic_subscribers: Dict[str, Any] = {} + self._setup_decorated_subscribers() + # 创建线程池执行器 self._executor = ThreadPoolExecutor( max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}" @@ -1043,6 +1051,29 @@ class BaseROS2DeviceNode(Node, Generic[T]): 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） + topic_config = {} + + # 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) + + # 如果没有配置，检测 @property 装饰的属性 + 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) + + # 使用装饰器配置或默认值 + cfg_period = topic_config.get("period") + cfg_print = topic_config.get("print_publish") + cfg_qos = topic_config.get("qos") + period: float = cfg_period if cfg_period is not None else initial_period + print_publish: bool = cfg_print if cfg_print is not None else self._print_publish + qos: int = cfg_qos if cfg_qos is not None else 10 # 获取属性值的方法 def get_device_attr(): @@ -1063,7 +1094,7 @@ 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, initial_period, self._print_publish + self, attr_name, get_device_attr, msg_type, period, print_publish, qos ) def create_ros_action_server(self, action_name, action_value_mapping): @@ -1081,6 +1112,76 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}") + def _setup_decorated_subscribers(self): + """扫描 driver_instance 中带有 @subscribe 装饰器的方法并创建订阅者""" + subscriptions = get_all_subscriptions(self.driver_instance) + + for method_name, method, config in subscriptions: + topic_template = config.get("topic") + msg_type = config.get("msg_type") + qos = config.get("qos", 10) + + if not topic_template: + self.lab_logger().warning(f"订阅方法 {method_name} 缺少 topic 配置，跳过") + continue + + # 如果没有指定 msg_type，尝试从类型注解推断 + if msg_type is None: + try: + hints = get_type_hints(method) + # 第一个参数是 self，第二个是 msg + param_names = list(hints.keys()) + if param_names: + msg_type = hints[param_names[0]] + except Exception: + pass + + if msg_type is None: + self.lab_logger().warning(f"订阅方法 {method_name} 缺少 msg_type 配置且无法从类型注解推断，跳过") + continue + + # 替换 topic 模板中的占位符 + topic = self._resolve_topic_template(topic_template) + + self.create_ros_subscriber(topic, msg_type, method, qos) + + def _resolve_topic_template(self, topic_template: str) -> str: + """ + 解析 topic 模板，替换占位符 + + 支持的占位符: + - {device_id}: 设备ID + - {namespace}: 完整命名空间 + """ + return topic_template.format( + device_id=self.device_id, + namespace=self.namespace, + ) + + def create_ros_subscriber(self, topic: str, msg_type, callback, qos: int = 10): + """ + 创建ROS订阅者 + + Args: + topic: Topic 名称 + msg_type: ROS 消息类型 + callback: 回调方法（会自动绑定到 driver_instance） + qos: QoS 深度配置 + """ + try: + subscription = self.create_subscription( + msg_type, + topic, + callback, + qos, + callback_group=self.callback_group, + ) + self._topic_subscribers[topic] = subscription + str_msg_type = str(msg_type)[8:-2] if str(msg_type).startswith(" str: + return "Idle" - 支持多种泵送模式，具有高精度流量控制和自动校准功能。 - 适用于实验室自动化系统中的液体处理任务。 - """ - - _ros_node: BaseROS2DeviceNode - - def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"): - """ - 初始化智能泵控制器 - - Args: - device_id: 设备唯一标识符 - port: 通信端口 - """ - self.device_id = device_id - self.port = port - self.is_connected = False - self.current_flow_rate = 0.0 - self.total_volume_pumped = 0.0 - self.calibration_factor = 1.0 - self.pump_mode = "continuous" # continuous, volume, rate - - def post_init(self, ros_node: BaseROS2DeviceNode): - self._ros_node = ros_node - - def connect_device(self, timeout: int = 10) -> bool: - """ - 连接到泵设备 - - Args: - timeout: 连接超时时间（秒） - - Returns: - bool: 连接是否成功 - """ - # 模拟连接过程 - self.is_connected = True + async def action(self, addr: str) -> bool: return True + + + + def disconnect_device(self) -> bool: """ 断开设备连接 diff --git a/unilabos/utils/decorator.py b/unilabos/utils/decorator.py index 77e473c0..667f3531 100644 --- a/unilabos/utils/decorator.py +++ b/unilabos/utils/decorator.py @@ -1,3 +1,9 @@ +from functools import wraps +from typing import Any, Callable, Optional, TypeVar + +F = TypeVar("F", bound=Callable[..., Any]) + + def singleton(cls): """ 单例装饰器 @@ -12,3 +18,167 @@ 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, + qos: int = 10, +) -> Callable[[F], F]: + """ + Topic订阅装饰器 + + 用于装饰 driver 类中的方法，使其成为 ROS topic 的订阅回调。 + 当 ROS2DeviceNode 初始化时，会自动扫描并创建对应的订阅者。 + + Args: + topic: Topic 名称模板，支持以下占位符： + - {device_id}: 设备ID (如 "pump_1") + - {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: + @wraps(func) + 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] + wrapper._has_subscribe = True # type: ignore[attr-defined] + + return wrapper # type: ignore[return-value] + + return decorator + + +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 + """ + if hasattr(func, "_has_subscribe") and getattr(func, "_has_subscribe", False): + return { + "topic": getattr(func, "_subscribe_topic", None), + "msg_type": getattr(func, "_subscribe_msg_type", None), + "qos": getattr(func, "_subscribe_qos", 10), + } + return {} + + +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 + """ + subscriptions = [] + for attr_name in dir(instance): + if attr_name.startswith("_"): + continue + try: + attr = getattr(instance, attr_name) + if callable(attr): + config = get_subscribe_config(attr) + if config: + subscriptions.append((attr_name, attr, config)) + except Exception: + pass + return subscriptions From 7e9e93b29c2a3c9ff22b0092a49c93e8093b1166 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 26 Dec 2025 02:28:56 +0800 Subject: [PATCH 02/40] Prcix9320 (#207) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 0.10.7 Update (#101) * Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * fix: workstation handlers and vessel_id parsing * fix: working dir error when input config path feat: report publish topic when error * modify default discovery_interval to 15s * feat: add trace log level * feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) * fix: drop_tips not using auto resource select * fix: discard_tips error * fix: discard_tips * fix: prcxi_res * add: prcxi res fix: startup slow * feat: workstation example * fix pumps and liquid_handler handle * feat: 优化protocol node节点运行日志 * fix all protocol_compilers and remove deprecated devices * feat: 新增use_remote_resource参数 * fix and remove redundant info * bugfixes on organic protocols * fix filter protocol * fix protocol node * 临时兼容错误的driver写法 * fix: prcxi import error * use call_async in all service to avoid deadlock * fix: figure_resource * Update recipe.yaml * add workstation template and battery example * feat: add sk & ak * update workstation base * Create workstation_architecture.md * refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode * refactor: ProtocolNode→WorkstationNode * Add:msgs.action (#83) * update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84) * Add:msgs.action * update: 将版本号从 0.10.3 更新为 0.10.4 * simplify resource system * uncompleted refactor * example for use WorkstationBase * feat: websocket * feat: websocket test * feat: workstation example * feat: action status * fix: station自己的方法注册错误 * fix: 还原protocol node处理方法 * fix: build * fix: missing job_id key * ws test version 1 * ws test version 2 * ws protocol * 增加物料关系上传日志 * 增加物料关系上传日志 * 修正物料关系上传 * 修复工站的tracker实例追踪失效问题 * 增加handle检测，增加material edge关系上传 * 修复event loop错误 * 修复edge上报错误 * 修复async错误 * 更新schema的title字段 * 主机节点信息等支持自动刷新 * 注册表编辑器 * 修复status密集发送时，消息出错 * 增加addr参数 * fix: addr param * fix: addr param * 取消labid 和 强制config输入 * Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup - Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes. - Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume. - Both actions include response fields for return information and success status. * Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists * Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml * result_info改为字典类型 * 新增uat的地址替换 * runze multiple pump support (cherry picked from commit 49354fcf394da52baaa4f4ae8166beaccb823e96) * remove runze multiple software obtainer (cherry picked from commit 8bcc92a39482faedcbf47104fc67cbbf15f03ba7) * support multiple backbone (cherry picked from commit 4771ff2347f66150ca092e66a6c2a97a48fee9a5) * Update runze pump format * Correct runze multiple backbone * Update runze_multiple_backbone * Correct runze pump multiple receive method. * Correct runze pump multiple receive method. * 对于PRCXI9320的transfer_group，一对多和多对多 * 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5 * fix import error * fix dupe upload registry * refactor ws client * add server timeout * Fix: run-column with correct vessel id (#86) * fix run_column * Update run_column_protocol.py (cherry picked from commit e5aa4d940ac492d5595bb48593ade5d75a2a3203) * resource_update use resource_add * 新增版位推荐功能 * 重新规定了版位推荐的入参 * update registry with nested obj * fix protocol node log_message, added create_resource return value * fix protocol node log_message, added create_resource return value * try fix add protocol * fix resource_add * 修复移液站错误的aspirate注册表 * Feature/xprbalance-zhida (#80) * feat(devices): add Zhida GC/MS pretreatment automation workstation * feat(devices): add mettler_toledo xpr balance * balance * 重新补全zhida注册表 * PRCXI9320 json * PRCXI9320 json * PRCXI9320 json * fix resource download * remove class for resource * bump version to 0.10.6 * 更新所有注册表 * 修复protocolnode的兼容性 * 修复protocolnode的兼容性 * Update install md * Add Defaultlayout * 更新物料接口 * fix dict to tree/nested-dict converter * coin_cell_station draft * refactor: rename "station_resource" to "deck" * add standardized BIOYOND resources: bottle_carrier, bottle * refactor and add BIOYOND resources tests * add BIOYOND deck assignment and pass all tests * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92) * feat: 新威电池测试系统驱动与注册文件 * feat: bring neware driver & battery.json into workstation_dev_YB2 * add bioyond studio draft * bioyond station with communication init and resource sync * fix bioyond station and registry * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * frontend_docs * create/update resources with POST/PUT for big amount/ small amount data * create/update resources with POST/PUT for big amount/ small amount data * refactor: add itemized_carrier instead of carrier consists of ResourceHolder * create warehouse by factory func * update bioyond launch json * add child_size for itemized_carrier * fix bioyond resource io * Workstation templates: Resources and its CRUD, and workstation tasks (#95) * coin_cell_station draft * refactor: rename "station_resource" to "deck" * add standardized BIOYOND resources: bottle_carrier, bottle * refactor and add BIOYOND resources tests * add BIOYOND deck assignment and pass all tests * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92) * feat: 新威电池测试系统驱动与注册文件 * feat: bring neware driver & battery.json into workstation_dev_YB2 * add bioyond studio draft * bioyond station with communication init and resource sync * fix bioyond station and registry * create/update resources with POST/PUT for big amount/ small amount data * refactor: add itemized_carrier instead of carrier consists of ResourceHolder * create warehouse by factory func * update bioyond launch json * add child_size for itemized_carrier * fix bioyond resource io --------- Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> * 更新物料接口 * Workstation dev yb2 (#100) * Refactor and extend reaction station action messages * Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities - Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability. - Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input. - Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input. - Refined `create_diamine_solution_task` to include additional parameters for better task configuration. - Enhanced schema descriptions and default values for improved user guidance. * 修复to_plr_resources * add update remove * 支持选择器注册表自动生成 支持转运物料 * 修复资源添加 * 修复transfer_resource_to_another生成 * 更新transfer_resource_to_another参数，支持spot入参 * 新增test_resource动作 * fix host_node error * fix host_node test_resource error * fix host_node test_resource error * 过滤本地动作 * 移动内部action以兼容host node * 修复同步任务报错不显示的bug * feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了 * update todo * modify bioyond/plr converter, bioyond resource registry, and tests * pass the tests * update todo * add conda-pack-build.yml * add auto install script for conda-pack-build.yml (cherry picked from commit 172599adcf5e1421f5681c985a021103ac61de82) * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * Add version in __init__.py Update conda-pack-build.yml Add create_zip_archive.py * Update conda-pack-build.yml * Update conda-pack-build.yml (with mamba) * Update conda-pack-build.yml * Fix FileNotFoundError * Try fix 'charmap' codec can't encode characters in position 16-23: character maps to * Fix unilabos msgs search error * Fix environment_check.py * Update recipe.yaml * Update registry. Update uuid loop figure method. Update install docs. * Fix nested conda pack * Fix one-key installation path error * Bump version to 0.10.7 * Workshop bj (#99) * Add LaiYu Liquid device integration and tests Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included. * feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档 refactor: 重新组织LaiYu_Liquid模块目录结构 docs: 添加SOPA移液器和步进电机控制指令文档 fix: 修正设备配置中的最大体积默认值 test: 新增工作台配置测试用例 chore: 删除过时的测试脚本和配置文件 * add * 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用 - 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py - 更新所有相关文件中的导入引用 - 保持代码功能不变，仅改善命名一致性 - 测试确认所有导入正常工作 * 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出 - 添加 LaiYuLiquidBackend 到导入列表 - 添加 LaiYuLiquidBackend 到 __all__ 导出列表 - 确保所有主要类都可以正确导入 * 修复大小写文件夹名字 * 电池装配工站二次开发教程（带目录）上传至dev (#94) * 电池装配工站二次开发教程 * Update intro.md * 物料教程 * 更新物料教程，json格式注释 * Update prcxi driver & fix transfer_liquid mix_times (#90) * Update prcxi driver & fix transfer_liquid mix_times * fix: correct mix_times type * Update liquid_handler registry * test: prcxi.py * Update registry from pr * fix ony-key script not exist * clean files --------- Co-authored-by: Junhan Chang Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Guangxin Zhang Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: LccLink <1951855008@qq.com> Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com> Co-authored-by: shiyubo0410 * fix startup env check. add auto install during one-key installation * Try fix one-key build on linux * Complete all one key installation * fix: rename schema field to resource_schema with serialization and validation aliases (#104) Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> * Fix one-key installation build Install conda-pack before pack command Add conda-pack to base when building one-key installer Fix param error when using mamba run Try fix one-key build on linux * Fix conda pack on windows * add plr_to_bioyond, and refactor bioyond stations * modify default config * Fix one-key installation build for windows * Fix workstation startup Update registry * Fix/resource UUID and doc fix (#109) * Fix ResourceTreeSet load error * Raise error when using unsupported type to create ResourceTreeSet * Fix children key error * Fix children key error * Fix workstation resource not tracking * Fix workstation deck & children resource dupe * Fix workstation deck & children resource dupe * Fix multiple resource error * Fix resource tree update * Fix resource tree update * Force confirm uuid * Tip more error log * Refactor Bioyond workstation and experiment workflow (#105) Refactored the Bioyond workstation classes to improve parameter handling and workflow management. Updated experiment.py to use BioyondReactionStation with deck and material mappings, and enhanced workflow step parameter mapping and execution logic. Adjusted JSON experiment configs, improved workflow sequence handling, and added UUID assignment to PLR materials. Removed unused station_config and material cache logic, and added detailed docstrings and debug output for workflow methods. * Fix resource get. Fix resource parent not found. Mapping uuid for all resources. * mount parent uuid * Add logging configuration based on BasicConfig in main function * fix workstation node error * fix workstation node error * Update boot example * temp fix for resource get * temp fix for resource get * provide error info when cant find plr type * pack repo info * fix to plr type error * fix to plr type error * Update regular container method * support no size init * fix comprehensive_station.json * fix comprehensive_station.json * fix type conversion * fix state loading for regular container * Update deploy-docs.yml * Update deploy-docs.yml --------- Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> * Close #107 Update doc url. * Fix/update resource (#112) * cancel upload_registry * Refactor Bioyond workstation and experiment workflow -fix (#111) * refactor(bioyond_studio): 优化材料缓存加载和参数验证逻辑 改进材料缓存加载逻辑以支持多种材料类型和详细材料处理 更新工作流参数验证中的字段名从key/value改为Key/DisplayValue 移除未使用的merge_workflow_with_parameters方法 添加get_station_info方法获取工作站基础信息 清理实验文件中的注释代码和更新导入路径 * fix: 修复资源移除时的父资源检查问题 在BaseROS2DeviceNode中，移除资源前添加对父资源是否为None的检查，避免空指针异常 同时更新Bottle和BottleCarrier类以支持**kwargs参数 修正测试文件中Liquid_feeding_beaker的大小写拼写错误 * correct return message --------- Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> * fix resource_get in action * fix(reaction_station): 清空工作流序列和参数避免重复执行 (#113) 在创建任务后清空工作流序列和参数，防止下次执行时累积重复 * Update create_resource device_id * Update ResourceTracker add more enumeration in POSE fix converter in resource_tracker * Update graphio together with workstation design. fix(reaction_station): 为步骤参数添加Value字段传个BY后端 fix(bioyond/warehouses): 修正仓库尺寸和物品排列参数 调整仓库的x轴和z轴物品数量以及物品尺寸参数，使其符合4x1x4的规格要求 fix warehouse serialize/deserialize fix bioyond converter fix itemized_carrier.unassign_child_resource allow not-loaded MSG in registry add layout serializer & converter warehouseuse A1-D4; add warehouse layout fix(graphio): 修正bioyond到plr资源转换中的坐标计算错误 Fix resource assignment and type mapping issues Corrects resource assignment in ItemizedCarrier by using the correct spot key from _ordering. Updates graphio to use 'typeName' instead of 'name' for type mapping in resource_bioyond_to_plr. Renames DummyWorkstation to BioyondWorkstation in workstation_http_service for clarity. * Update workstation & bioyond example Refine descriptions in Bioyond reaction station YAML Updated and clarified field and operation descriptions in the reaction_station_bioyond.yaml file for improved accuracy and consistency. Changes include more precise terminology, clearer parameter explanations, and standardized formatting for operation schemas. refactor(workstation): 更新反应站参数描述并添加分液站配置文件 修正反应站方法参数描述，使其更准确清晰 添加bioyond_dispensing_station.yaml配置文件 add create_workflow script and test add invisible_slots to carriers fix(warehouses): 修正bioyond_warehouse_1x4x4仓库的尺寸参数 调整仓库的num_items_x和num_items_z值以匹配实际布局，并更新物品尺寸参数 save resource get data. allow empty value for layout and cross_section_type More decks&plates support for bioyond (#115) refactor(registry): 重构反应站设备配置，简化并更新操作命令 移除旧的自动操作命令，新增针对具体化学操作的命令配置 更新模块路径和配置结构，优化参数定义和描述 fix(dispensing_station): 修正物料信息查询方法调用 将直接调用material_id_query改为通过hardware_interface调用，以符合接口设计规范 * PRCXI Update 修改prcxi连线 prcxi样例图 Create example_prcxi.json * Update resource extra & uuid. use ordering to convert identifier to idx convert identifier to site idx correct extra key update extra before transfer fix multiple instance error add resource_tree_transfer func fox itemrized carrier assign child resource support internal device material transfer remove extra key use same callback group support material extra support material extra support update_resource_site in extra * Update workstation. modify workstation_architecture docs bioyond_HR (#133) * feat: Enhance Bioyond synchronization and resource management - Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type. - Improved error handling and logging during synchronization processes. - Added functionality to save Bioyond material IDs in UniLab resources for future updates. - Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond. - Updated warehouse configurations to support new storage types and improved layout for better resource management. - Introduced new resource types such as reactors and tip boxes, with detailed specifications. - Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08). - Improved resource tracking by merging extra attributes instead of overwriting them. - Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes. * feat: 添加TipBox和Reactor的配置到bottles.yaml * fix: 修复液体投料方法中的volume参数处理逻辑 修复solid_feeding_vials方法中的volume参数处理逻辑，优化solvents参数的使用条件 更新液体投料方法，支持通过溶剂信息自动计算体积，添加solvents参数并更新文档描述 Add batch creation methods for vial and solution tasks 添加批量创建90%10%小瓶投料任务和二胺溶液配置任务的功能，更新相关参数和默认值 * 封膜仪、撕膜仪、耗材站接口 * 添加Raman和xrd相关代码 * Resource update & asyncio fix correct bioyond config prcxi example fix append_resource fix regularcontainer fix cancel error fix resource_get param fix json dumps support name change during materials change enable slave mode change uuid logger to trace level correct remove_resource stats disable slave connect websocket adjust with_children param modify devices to use correct executor (sleep, create_task) support sleep and create_task in node fix run async execution error * bump version to 0.10.9 update registry * PRCXI Reset Error Correction (#166) * change 9320 desk row number to 4 * Updated 9320 host address * Updated 9320 host address * Add **kwargs in classes: PRCXI9300Deck and PRCXI9300Container * Removed all sample_id in prcxi_9320.json to avoid KeyError * 9320 machine testing settings * Typo * Rewrite setup logic to clear error code * 初始化 step_mode 属性 * 1114物料手册定义教程byxinyu (#165) * 宜宾奔耀工站deck前端by_Xinyu * 构建物料教程byxinyu * 1114物料手册定义教程 * 3d sim (#97) * 修改lh的json启动 * 修改lh的json启动 * 修改backend，做成sim的通用backend * 修改yaml的地址，3D模型适配网页生产环境 * 添加laiyu硬件连接 * 修改移液枪的状态判断方法， 修改移液枪的状态判断方法， 添加三轴的表定点与零点之间的转换 添加三轴真实移动的backend * 修改laiyu移液站 简化移动方法， 取消软件限制位置， 修改当值使用Z轴时也需要重新复位Z轴的问题 * 更新lh以及laiyu workshop 1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写 2,修改枪头判断标准，使用枪头自身判断而不是类的判断， 3,将归零参数用毫米计算，方便手动调整， 4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉 * 修改枪头动作 * 修改虚拟仿真方法 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang * 标准化opcua设备接入unilab (#78) * 初始提交，只保留工作区当前状态 * remove redundant arm_slider meshes --------- Co-authored-by: Junhan Chang * add new laiyu liquid driver, yaml and json files (#164) * HR物料同步，前端展示位置修复 (#135) * 更新Bioyond工作站配置，添加新的物料类型映射和载架定义，优化物料查询逻辑 * 添加Bioyond实验配置文件，定义物料类型映射和设备配置 * 更新bioyond_warehouse_reagent_stack方法，修正试剂堆栈尺寸和布局描述 * 更新Bioyond实验配置，修正物料类型映射，优化设备配置 * 更新Bioyond资源同步逻辑，优化物料入库流程，增强错误处理和日志记录 * 更新Bioyond资源，添加配液站和反应站专用载架，优化仓库工厂函数的排序方式 * 更新Bioyond资源，添加配液站和反应站相关载架，优化试剂瓶和样品瓶配置 * 更新Bioyond实验配置，修正试剂瓶载架ID，确保与设备匹配 * 更新Bioyond资源，移除反应站单烧杯载架，添加反应站单烧瓶载架分类 * Refactor Bioyond resource synchronization and update bottle carrier definitions - Removed traceback printing in error handling for Bioyond synchronization. - Enhanced logging for existing Bioyond material ID usage during synchronization. - Added new bottle carrier definitions for single flask and updated existing ones. - Refactored dispensing station and reaction station bottle definitions for clarity and consistency. - Improved resource mapping and error handling in graphio for Bioyond resource conversion. - Introduced layout parameter in warehouse factory for better warehouse configuration. * 更新Bioyond仓库工厂，添加排序方式支持，优化坐标计算逻辑 * 更新Bioyond载架和甲板配置，调整样品板尺寸和仓库坐标 * 更新Bioyond资源同步，增强占用位置日志信息，修正坐标转换逻辑 * 更新Bioyond反应站和分配站配置，调整材料类型映射和ID，移除不必要的项 * support name change during materials change * fix json dumps * correct tip * 优化调度器API路径，更新相关方法描述 * 更新 BIOYOND 载架相关文档，调整 API 以支持自带试剂瓶的载架类型，修复资源获取时的子物料处理逻辑 * 实现资源删除时的同步处理，优化出库操作逻辑 * 修复 ItemizedCarrier 中的可见性逻辑 * 保存 Bioyond 原始信息到 unilabos_extra，以便出库时查询 * 根据 resource.capacity 判断是试剂瓶（载架）还是多瓶载架，走不同的奔曜转换 * Fix bioyond bottle_carriers ordering * 优化 Bioyond 物料同步逻辑，增强坐标解析和位置更新处理 * disable slave connect websocket * correct remove_resource stats * change uuid logger to trace level * enable slave mode * refactor(bioyond): 统一资源命名并优化物料同步逻辑 - 将DispensingStation和ReactionStation资源统一为PolymerStation命名 - 优化物料同步逻辑，支持耗材类型(typeMode=0)的查询 - 添加物料默认参数配置功能 - 调整仓库坐标布局 - 清理废弃资源定义 * feat(warehouses): 为仓库函数添加col_offset和layout参数 * refactor: 更新实验配置中的物料类型映射命名 将DispensingStation和ReactionStation的物料类型映射统一更名为PolymerStation，保持命名一致性 * fix: 更新实验配置中的载体名称从6VialCarrier到6StockCarrier * feat(bioyond): 实现物料创建与入库分离逻辑 将物料同步流程拆分为两个独立阶段：transfer阶段只创建物料，add阶段执行入库 简化状态检查接口，仅返回连接状态 * fix(reaction_station): 修正液体进料烧杯体积单位并增强返回结果 将液体进料烧杯的体积单位从μL改为g以匹配实际使用场景 在返回结果中添加merged_workflow和order_params字段，提供更完整的工作流信息 * feat(dispensing_station): 在任务创建返回结果中添加order_params信息 在create_order方法返回结果中增加order_params字段，以便调用方获取完整的任务参数 * fix(dispensing_station): 修改90%物料分配逻辑从分成3份改为直接使用 原逻辑将主称固体平均分成3份作为90%物料，现改为直接使用main_portion * feat(bioyond): 添加任务编码和任务ID的输出，支持批量任务创建后的状态监控 * refactor(registry): 简化设备配置中的任务结果处理逻辑 将多个单独的任务编码和ID字段合并为统一的return_info字段 更新相关描述以反映新的数据结构 * feat(工作站): 添加HTTP报送服务和任务完成状态跟踪 - 在graphio.py中添加API必需字段 - 实现工作站HTTP服务启动和停止逻辑 - 添加任务完成状态跟踪字典和等待方法 - 重写任务完成报送处理方法记录状态 - 支持批量任务完成等待和报告获取 * refactor(dispensing_station): 移除wait_for_order_completion_and_get_report功能 该功能已被wait_for_multiple_orders_and_get_reports替代，简化代码结构 * fix: 更新任务报告API错误 * fix(workstation_http_service): 修复状态查询中device_id获取逻辑 处理状态查询时安全获取device_id，避免因属性不存在导致的异常 * fix(bioyond_studio): 改进物料入库失败时的错误处理和日志记录 在物料入库API调用失败时，添加更详细的错误信息打印 同时修正station.py中对空响应和失败情况的判断逻辑 * refactor(bioyond): 优化瓶架载体的分配逻辑和注释说明 重构瓶架载体的分配逻辑，使用嵌套循环替代硬编码索引分配 添加更详细的坐标映射说明，明确PLR与Bioyond坐标的对应关系 * fix(bioyond_rpc): 修复物料入库成功时无data字段返回空的问题 当API返回成功但无data字段时，返回包含success标识的字典而非空字典 --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang * nmr * Update devices * bump version to 0.10.10 * Update repo files. * Add get_resource_with_dir & get_resource method * fix camera & workstation & warehouse & reaction station driver * update docs, test examples fix liquid_handler init bug * bump version to 0.10.11 * Add startup_json_path, disable_browser, port config * Update oss config * feat(bioyond_studio): 添加项目API接口支持及优化物料管理功能 添加通用项目API接口方法(_post_project_api, _delete_project_api)用于与LIMS系统交互 实现compute_experiment_design方法用于实验设计计算 新增brief_step_parameters等订单相关接口方法 优化物料转移逻辑，增加异步任务处理 扩展BioyondV1RPC类，添加批量物料操作、订单状态管理等功能 * feat(bioyond): 添加测量小瓶仓库和更新仓库工厂函数参数 * Support unilabos_samples key * add session_id and normal_exit * Add result schema and add TypedDict conversion. * Fix port error * Add backend api and update doc * Add get_regular_container func * Add get_regular_container func * Transfer_liquid (#176) * change 9320 desk row number to 4 * Updated 9320 host address * Updated 9320 host address * Add **kwargs in classes: PRCXI9300Deck and PRCXI9300Container * Removed all sample_id in prcxi_9320.json to avoid KeyError * 9320 machine testing settings * Typo * Typo in base_device_node.py * Enhance liquid handling functionality by adding support for multiple transfer modes (one-to-many, one-to-one, many-to-one) and improving parameter validation. Default channel usage is set when not specified. Adjusted mixing logic to ensure it only occurs when valid conditions are met. Updated documentation for clarity. * Auto dump logs, fix workstation input schema * Fix startup with remote resource error Resource dict fully change to "pose" key Update oss link Reduce pylabrobot conversion warning & force enable log dump. 更新 logo 图片 * signal when host node is ready * fix ros2 future print all logs to file fix resource dict dump error * update version to 0.10.12 * 修改sample_uuid的返回值 * 修改pose标签设定机制 * 添加 aspiate函数返回值 * 返回dispense后的sample_uuid * 添加self.pending_liquids_dict的重置方法 * 修改prcxi的json文件，解决trach错误问题 * 修改prcxijson，防止PlateT4的硬件错误 * 对laiyu移液站进行部分修改，取消多次初始化的问题 * 修改根据新的物料格式，修改可视化 * 添加切换枪头方法，添加mock振荡与加热方法 * 夹爪添加 * 删除多余的laiyu部分 * 云端可启动夹爪 * Delete __init__.py * Enhance PRCXI9300 classes with new Container and TipRack implementations, improving state management and initialization logic. Update JSON configuration to reflect type changes for containers and plates. * 修改上传数据 --------- Co-authored-by: Junhan Chang Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Guangxin Zhang Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: LccLink <1951855008@qq.com> Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com> Co-authored-by: shiyubo0410 Co-authored-by: hh.(SII) <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: Xianwei Qi Co-authored-by: WenzheG Co-authored-by: Harry Liu <113173203+ALITTLELZ@users.noreply.github.com> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: tt <166512503+tt11142023@users.noreply.github.com> Co-authored-by: xyc <49015816+xiaoyu10031@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: zhangshixiang <554662886@qq.com> Co-authored-by: ALITTLELZ --- unilabos/app/web/client.py | 25 +- unilabos/device_mesh/resource_visalization.py | 15 +- unilabos/devices/laiyu_liquid/__init__.py | 307 - .../devices/laiyu_liquid/backend/__init__.py | 9 - .../laiyu_liquid/backend/laiyu_backend.py | 334 - .../laiyu_liquid/backend/rviz_backend.py | 209 - .../laiyu_liquid/config/deckconfig.json | 2620 - .../devices/laiyu_liquid/config/deckconfig.md | 14 - .../laiyu_liquid/controllers/__init__.py | 25 - .../controllers/pipette_controller.py | 1073 - .../controllers/xyz_controller.py | 1183 - .../devices/laiyu_liquid/core/__init__.py | 44 - .../laiyu_liquid/core/abstract_protocol.py | 529 - .../laiyu_liquid/core/laiyu_liquid_main.py | 888 - .../laiyu_liquid/core/laiyu_liquid_res.py | 954 - .../devices/laiyu_liquid/docs/CHANGELOG.md | 69 - .../hardware/SOPA气动式移液器RS485控制指令.md | 267 - .../docs/hardware/步进电机控制指令.md | 162 - .../docs/hardware/硬件连接配置指南.md | 1281 - unilabos/devices/laiyu_liquid/docs/readme.md | 269 - .../devices/laiyu_liquid/drivers/__init__.py | 30 - .../drivers/sopa_pipette_driver.py | 1079 - .../drivers/xyz_stepper_driver.py | 663 - .../devices/laiyu_liquid/tests/__init__.py | 13 - .../laiyu_liquid/tests/test_deck_config.py | 315 - .../devices/laiyu_liquid_test/__init__.py | 0 .../driver_enable_move_test.py | 138 - .../laiyu_liquid_test/driver_status_test.py | 58 - .../laiyu_liquid_test/work_origin.json | 8 - .../laiyu_liquid_test/xyz_stepper_driver.py | 336 - .../laiyu/backend/laiyu_v_backend.py | 8 +- .../laiyu/controllers/pipette_controller.py | 10 +- .../liquid_handler_abstract.py | 93 +- .../devices/liquid_handling/prcxi/prcxi.py | 444 +- .../devices/bioyond_dispensing_station.yaml | 50 - unilabos/registry/devices/laiyu_liquid.yaml | 11 +- unilabos/registry/devices/liquid_handler.yaml | 437 +- unilabos/ros/nodes/base_device_node.py | 30 +- unilabos/ros/nodes/presets/host_node.py | 16 +- .../nodes/presets/resource_mesh_manager.py | 10 +- unilabos/ros/nodes/resource_tracker.py | 16 +- .../test/experiments/prcxi_9320_with_res.json | 40337 +++++++++++++++ .../experiments/prcxi_9320_with_res_test.json | 40662 ++++++++++++++++ unilabos/utils/type_check.py | 6 +- 44 files changed, 81999 insertions(+), 13048 deletions(-) delete mode 100644 unilabos/devices/laiyu_liquid/__init__.py delete mode 100644 unilabos/devices/laiyu_liquid/backend/__init__.py delete mode 100644 unilabos/devices/laiyu_liquid/backend/laiyu_backend.py delete mode 100644 unilabos/devices/laiyu_liquid/backend/rviz_backend.py delete mode 100644 unilabos/devices/laiyu_liquid/config/deckconfig.json delete mode 100644 unilabos/devices/laiyu_liquid/config/deckconfig.md delete mode 100644 unilabos/devices/laiyu_liquid/controllers/__init__.py delete mode 100644 unilabos/devices/laiyu_liquid/controllers/pipette_controller.py delete mode 100644 unilabos/devices/laiyu_liquid/controllers/xyz_controller.py delete mode 100644 unilabos/devices/laiyu_liquid/core/__init__.py delete mode 100644 unilabos/devices/laiyu_liquid/core/abstract_protocol.py delete mode 100644 unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py delete mode 100644 unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py delete mode 100644 unilabos/devices/laiyu_liquid/docs/CHANGELOG.md delete mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md delete mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md delete mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md delete mode 100644 unilabos/devices/laiyu_liquid/docs/readme.md delete mode 100644 unilabos/devices/laiyu_liquid/drivers/__init__.py delete mode 100644 unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py delete mode 100644 unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py delete mode 100644 unilabos/devices/laiyu_liquid/tests/__init__.py delete mode 100644 unilabos/devices/laiyu_liquid/tests/test_deck_config.py delete mode 100644 unilabos/devices/laiyu_liquid_test/__init__.py delete mode 100644 unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py delete mode 100644 unilabos/devices/laiyu_liquid_test/driver_status_test.py delete mode 100644 unilabos/devices/laiyu_liquid_test/work_origin.json delete mode 100644 unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py create mode 100644 unilabos/test/experiments/prcxi_9320_with_res.json create mode 100644 unilabos/test/experiments/prcxi_9320_with_res_test.json diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index 8968f033..b2fa5038 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -4,6 +4,7 @@ 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 """ +from copy import deepcopy import json import os import time @@ -75,6 +76,26 @@ class HTTPClient: Returns: Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid} """ + # 遍历 resources 及其所有子节点，将 pose.position.y 全部变为 -y + def invert_x_position(resource_instance, size_y: float = 0): + # 处理当前节点 + pose = getattr(resource_instance.res_content, "pose", None) + if pose and hasattr(pose, "position"): + position = getattr(pose, "position", None) + pose_size = getattr(pose, "size", None) + if position and hasattr(position, "y") and pose_size and hasattr(pose_size, "height"): + position.y = size_y - position.y - pose_size.height + # 递归处理子节点 + for child in getattr(resource_instance, "children", []): + _size_y = 0 + if pose and hasattr(pose, "size"): + _size_y = pose.size.height + invert_x_position(child, _size_y) + + # 处理所有树的所有节点，从树的根节点递归 + resources_reversed = deepcopy(resources) + for tree in getattr(resources_reversed, "trees", []): + invert_x_position(getattr(tree, "root_node", tree)) with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f: payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid} f.write(json.dumps(payload, indent=4)) @@ -85,14 +106,14 @@ class HTTPClient: info(f"首次添加资源，当前远程地址: {self.remote_addr}") response = requests.post( f"{self.remote_addr}/edge/material", - json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, + json={"nodes": [x for xs in resources_reversed.dump() for x in xs], "mount_uuid": mount_uuid}, headers={"Authorization": f"Lab {self.auth}"}, timeout=60, ) else: response = requests.put( f"{self.remote_addr}/edge/material", - json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, + json={"nodes": [x for xs in resources_reversed.dump() for x in xs], "mount_uuid": mount_uuid}, headers={"Authorization": f"Lab {self.auth}"}, timeout=10, ) diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py index fc37150c..ee58d67e 100644 --- a/unilabos/device_mesh/resource_visalization.py +++ b/unilabos/device_mesh/resource_visalization.py @@ -128,14 +128,21 @@ class ResourceVisualization: new_dev.set("device_name", node["id"]+"_") # if node["parent"] is not None: # new_dev.set("station_name", node["parent"]+'_') - - new_dev.set("x",str(float(node["position"]["position"]["x"])/1000)) - new_dev.set("y",str(float(node["position"]["position"]["y"])/1000)) - new_dev.set("z",str(float(node["position"]["position"]["z"])/1000)) + if "position" in node: + new_dev.set("x",str(float(node["position"]["position"]["x"])/1000)) + new_dev.set("y",str(float(node["position"]["position"]["y"])/1000)) + new_dev.set("z",str(float(node["position"]["position"]["z"])/1000)) if "rotation" in node["config"]: new_dev.set("rx",str(float(node["config"]["rotation"]["x"]))) new_dev.set("ry",str(float(node["config"]["rotation"]["y"]))) new_dev.set("r",str(float(node["config"]["rotation"]["z"]))) + if "pose" in node: + new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000)) + new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000)) + new_dev.set("z",str(float(node["pose"]["position"]["z"])/1000)) + new_dev.set("rx",str(float(node["pose"]["rotation"]["x"]))) + new_dev.set("ry",str(float(node["pose"]["rotation"]["y"]))) + new_dev.set("r",str(float(node["pose"]["rotation"]["z"]))) if "device_config" in node["config"]: for key, value in node["config"]["device_config"].items(): new_dev.set(key, str(value)) diff --git a/unilabos/devices/laiyu_liquid/__init__.py b/unilabos/devices/laiyu_liquid/__init__.py deleted file mode 100644 index 89352521..00000000 --- a/unilabos/devices/laiyu_liquid/__init__.py +++ /dev/null @@ -1,307 +0,0 @@ -""" -LaiYu_Liquid 液体处理工作站集成模块 - -该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括： -- 硬件后端和抽象接口 -- 资源定义和管理 -- 协议执行和液体传输 -- 工作台配置和布局 - -主要组件： -- LaiYuLiquidBackend: 硬件后端实现 -- LaiYuLiquid: 液体处理器抽象接口 -- 各种资源类：枪头架、板、容器等 -- 便捷创建函数和配置管理 - -使用示例： - from unilabos.devices.laiyu_liquid import ( - LaiYuLiquid, - LaiYuLiquidBackend, - create_standard_deck, - create_tip_rack_1000ul - ) - - # 创建后端和液体处理器 - backend = LaiYuLiquidBackend() - lh = LaiYuLiquid(backend=backend) - - # 创建工作台 - deck = create_standard_deck() - lh.deck = deck - - # 设置和运行 - await lh.setup() -""" - -# 版本信息 -__version__ = "1.0.0" -__author__ = "LaiYu_Liquid Integration Team" -__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块" - -# 驱动程序导入 -from .drivers import ( - XYZStepperController, - SOPAPipette, - MotorAxis, - MotorStatus, - SOPAConfig, - SOPAStatusCode, - StepperMotorDriver -) - -# 控制器导入 -from .controllers import ( - XYZController, - PipetteController, -) - -# 后端导入 -from .backend.rviz_backend import ( - LiquidHandlerRvizBackend, -) - -# 资源类和创建函数导入 -from .core.laiyu_liquid_res import ( - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack -) - -# 主设备类和配置 -from .core.laiyu_liquid_main import ( - LaiYuLiquid, - LaiYuLiquidConfig, - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack, - create_quick_setup -) - -# 后端创建函数导入 -from .backend import ( - LaiYuLiquidBackend, - create_laiyu_backend, -) - -# 导出所有公共接口 -__all__ = [ - # 版本信息 - "__version__", - "__author__", - "__description__", - - # 驱动程序 - "SOPAPipette", - "SOPAConfig", - "StepperMotorDriver", - "XYZStepperController", - - # 控制器 - "PipetteController", - "XYZController", - - # 后端 - "LiquidHandlerRvizBackend", - - # 资源创建函数 - "create_tip_rack_1000ul", - "create_tip_rack_200ul", - "create_96_well_plate", - "create_deep_well_plate", - "create_8_tube_rack", - "create_standard_deck", - "create_waste_container", - "create_wash_container", - "create_reagent_container", - "load_deck_config", - - # 后端创建函数 - "create_laiyu_backend", - - # 主要类 - "LaiYuLiquid", - "LaiYuLiquidConfig", - "LaiYuLiquidBackend", - "LaiYuLiquidDeck", - - # 工具函数 - "get_version", - "get_supported_resources", - "create_quick_setup", - "validate_installation", - "print_module_info", - "setup_logging", -] - -# 别名定义，为了向后兼容 -LaiYuLiquidDevice = LaiYuLiquid # 主设备类别名 -LaiYuLiquidController = XYZController # 控制器别名 -LaiYuLiquidDriver = XYZStepperController # 驱动器别名 - -# 模块级别的便捷函数 - -def get_version() -> str: - """ - 获取模块版本 - - Returns: - str: 版本号 - """ - return __version__ - - -def get_supported_resources() -> dict: - """ - 获取支持的资源类型 - - Returns: - dict: 支持的资源类型字典 - """ - return { - "tip_racks": { - "LaiYuLiquidTipRack": LaiYuLiquidTipRack, - }, - "containers": { - "LaiYuLiquidContainer": LaiYuLiquidContainer, - }, - "decks": { - "LaiYuLiquidDeck": LaiYuLiquidDeck, - }, - "devices": { - "LaiYuLiquid": LaiYuLiquid, - } - } - - -def create_quick_setup() -> tuple: - """ - 快速创建基本设置 - - Returns: - tuple: (backend, controllers, resources) 的元组 - """ - # 创建后端 - backend = LiquidHandlerRvizBackend() - - # 创建控制器（使用默认端口进行演示） - pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4) - xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False) - - # 创建测试资源 - tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000") - tip_rack_200 = create_tip_rack_200ul("tip_rack_200") - well_plate = create_96_well_plate("96_well_plate") - - controllers = { - 'pipette': pipette_controller, - 'xyz': xyz_controller - } - - resources = { - 'tip_rack_1000': tip_rack_1000, - 'tip_rack_200': tip_rack_200, - 'well_plate': well_plate - } - - return backend, controllers, resources - - -def validate_installation() -> bool: - """ - 验证模块安装是否正确 - - Returns: - bool: 安装是否正确 - """ - try: - # 检查核心类是否可以导入 - from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig - from .backend import LaiYuLiquidBackend - from .controllers import XYZController, PipetteController - from .drivers import XYZStepperController, SOPAPipette - - # 尝试创建基本对象 - config = LaiYuLiquidConfig() - backend = create_laiyu_backend("validation_test") - - print("模块安装验证成功") - return True - - except Exception as e: - print(f"模块安装验证失败: {e}") - return False - - -def print_module_info(): - """打印模块信息""" - print(f"LaiYu_Liquid 集成模块") - print(f"版本: {__version__}") - print(f"作者: {__author__}") - print(f"描述: {__description__}") - print(f"") - print(f"支持的资源类型:") - - resources = get_supported_resources() - for category, types in resources.items(): - print(f" {category}:") - for type_name, type_class in types.items(): - print(f" - {type_name}: {type_class.__name__}") - - print(f"") - print(f"主要功能:") - print(f" - 硬件集成: LaiYuLiquidBackend") - print(f" - 抽象接口: LaiYuLiquid") - print(f" - 资源管理: 各种资源类和创建函数") - print(f" - 协议执行: transfer_liquid 和相关函数") - print(f" - 配置管理: deck.json 和加载函数") - - -# 模块初始化时的检查 -def _check_dependencies(): - """检查依赖项""" - try: - import pylabrobot - import asyncio - import json - import logging - return True - except ImportError as e: - import logging - logging.warning(f"缺少依赖项 {e}") - return False - - -# 执行依赖检查 -_dependencies_ok = _check_dependencies() - -if not _dependencies_ok: - import logging - logging.warning("某些依赖项缺失，模块功能可能受限") - - -# 模块级别的日志配置 -import logging - -def setup_logging(level: str = "INFO"): - """ - 设置模块日志 - - Args: - level: 日志级别 (DEBUG, INFO, WARNING, ERROR) - """ - logger = logging.getLogger("LaiYu_Liquid") - logger.setLevel(getattr(logging, level.upper())) - - if not logger.handlers: - handler = logging.StreamHandler() - formatter = logging.Formatter( - '%(asctime)s - %(name)s - %(levelname)s - %(message)s' - ) - handler.setFormatter(formatter) - logger.addHandler(handler) - - return logger - - -# 默认日志设置 -_logger = setup_logging() \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/backend/__init__.py b/unilabos/devices/laiyu_liquid/backend/__init__.py deleted file mode 100644 index 4bf29392..00000000 --- a/unilabos/devices/laiyu_liquid/backend/__init__.py +++ /dev/null @@ -1,9 +0,0 @@ -""" -LaiYu液体处理设备后端模块 - -提供设备后端接口和实现 -""" - -from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend - -__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend'] \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py b/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py deleted file mode 100644 index 5e8041c0..00000000 --- a/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py +++ /dev/null @@ -1,334 +0,0 @@ -""" -LaiYu液体处理设备后端实现 - -提供设备的后端接口和控制逻辑 -""" - -import logging -from typing import Dict, Any, Optional, List -from abc import ABC, abstractmethod - -# 尝试导入PyLabRobot后端 -try: - from pylabrobot.liquid_handling.backends import LiquidHandlerBackend - PYLABROBOT_AVAILABLE = True -except ImportError: - PYLABROBOT_AVAILABLE = False - # 创建模拟后端基类 - class LiquidHandlerBackend: - def __init__(self, name: str): - self.name = name - self.is_connected = False - - def connect(self): - """连接设备""" - pass - - def disconnect(self): - """断开连接""" - pass - - -class LaiYuLiquidBackend(LiquidHandlerBackend): - """LaiYu液体处理设备后端""" - - def __init__(self, name: str = "LaiYu_Liquid_Backend"): - """ - 初始化LaiYu液体处理设备后端 - - Args: - name: 后端名称 - """ - if PYLABROBOT_AVAILABLE: - # PyLabRobot 的 LiquidHandlerBackend 不接受参数 - super().__init__() - else: - # 模拟版本接受 name 参数 - super().__init__(name) - - self.name = name - self.logger = logging.getLogger(__name__) - self.is_connected = False - self.device_info = { - "name": "LaiYu液体处理设备", - "version": "1.0.0", - "manufacturer": "LaiYu", - "model": "LaiYu_Liquid_Handler" - } - - def connect(self) -> bool: - """ - 连接到LaiYu液体处理设备 - - Returns: - bool: 连接是否成功 - """ - try: - self.logger.info("正在连接到LaiYu液体处理设备...") - # 这里应该实现实际的设备连接逻辑 - # 目前返回模拟连接成功 - self.is_connected = True - self.logger.info("成功连接到LaiYu液体处理设备") - return True - except Exception as e: - self.logger.error(f"连接LaiYu液体处理设备失败: {e}") - self.is_connected = False - return False - - def disconnect(self) -> bool: - """ - 断开与LaiYu液体处理设备的连接 - - Returns: - bool: 断开连接是否成功 - """ - try: - self.logger.info("正在断开与LaiYu液体处理设备的连接...") - # 这里应该实现实际的设备断开连接逻辑 - self.is_connected = False - self.logger.info("成功断开与LaiYu液体处理设备的连接") - return True - except Exception as e: - self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}") - return False - - def is_device_connected(self) -> bool: - """ - 检查设备是否已连接 - - Returns: - bool: 设备是否已连接 - """ - return self.is_connected - - def get_device_info(self) -> Dict[str, Any]: - """ - 获取设备信息 - - Returns: - Dict[str, Any]: 设备信息字典 - """ - return self.device_info.copy() - - def home_device(self) -> bool: - """ - 设备归零操作 - - Returns: - bool: 归零是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行归零操作") - return False - - try: - self.logger.info("正在执行设备归零操作...") - # 这里应该实现实际的设备归零逻辑 - self.logger.info("设备归零操作完成") - return True - except Exception as e: - self.logger.error(f"设备归零操作失败: {e}") - return False - - def aspirate(self, volume: float, location: Dict[str, Any]) -> bool: - """ - 吸液操作 - - Args: - volume: 吸液体积 (微升) - location: 吸液位置信息 - - Returns: - bool: 吸液是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行吸液操作") - return False - - try: - self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}") - # 这里应该实现实际的吸液逻辑 - self.logger.info("吸液操作完成") - return True - except Exception as e: - self.logger.error(f"吸液操作失败: {e}") - return False - - def dispense(self, volume: float, location: Dict[str, Any]) -> bool: - """ - 排液操作 - - Args: - volume: 排液体积 (微升) - location: 排液位置信息 - - Returns: - bool: 排液是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行排液操作") - return False - - try: - self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}") - # 这里应该实现实际的排液逻辑 - self.logger.info("排液操作完成") - return True - except Exception as e: - self.logger.error(f"排液操作失败: {e}") - return False - - def pick_up_tip(self, location: Dict[str, Any]) -> bool: - """ - 取枪头操作 - - Args: - location: 枪头位置信息 - - Returns: - bool: 取枪头是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行取枪头操作") - return False - - try: - self.logger.info(f"正在执行取枪头操作: 位置={location}") - # 这里应该实现实际的取枪头逻辑 - self.logger.info("取枪头操作完成") - return True - except Exception as e: - self.logger.error(f"取枪头操作失败: {e}") - return False - - def drop_tip(self, location: Dict[str, Any]) -> bool: - """ - 丢弃枪头操作 - - Args: - location: 丢弃位置信息 - - Returns: - bool: 丢弃枪头是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行丢弃枪头操作") - return False - - try: - self.logger.info(f"正在执行丢弃枪头操作: 位置={location}") - # 这里应该实现实际的丢弃枪头逻辑 - self.logger.info("丢弃枪头操作完成") - return True - except Exception as e: - self.logger.error(f"丢弃枪头操作失败: {e}") - return False - - def move_to(self, location: Dict[str, Any]) -> bool: - """ - 移动到指定位置 - - Args: - location: 目标位置信息 - - Returns: - bool: 移动是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行移动操作") - return False - - try: - self.logger.info(f"正在移动到位置: {location}") - # 这里应该实现实际的移动逻辑 - self.logger.info("移动操作完成") - return True - except Exception as e: - self.logger.error(f"移动操作失败: {e}") - return False - - def get_status(self) -> Dict[str, Any]: - """ - 获取设备状态 - - Returns: - Dict[str, Any]: 设备状态信息 - """ - return { - "connected": self.is_connected, - "device_info": self.device_info, - "status": "ready" if self.is_connected else "disconnected" - } - - # PyLabRobot 抽象方法实现 - def stop(self): - """停止所有操作""" - self.logger.info("停止所有操作") - pass - - @property - def num_channels(self) -> int: - """返回通道数量""" - return 1 # 单通道移液器 - - def can_pick_up_tip(self, tip_rack, tip_position) -> bool: - """检查是否可以拾取吸头""" - return True # 简化实现，总是返回True - - def pick_up_tips(self, tip_rack, tip_positions): - """拾取多个吸头""" - self.logger.info(f"拾取吸头: {tip_positions}") - pass - - def drop_tips(self, tip_rack, tip_positions): - """丢弃多个吸头""" - self.logger.info(f"丢弃吸头: {tip_positions}") - pass - - def pick_up_tips96(self, tip_rack): - """拾取96个吸头""" - self.logger.info("拾取96个吸头") - pass - - def drop_tips96(self, tip_rack): - """丢弃96个吸头""" - self.logger.info("丢弃96个吸头") - pass - - def aspirate96(self, volume, plate, well_positions): - """96通道吸液""" - self.logger.info(f"96通道吸液: 体积={volume}") - pass - - def dispense96(self, volume, plate, well_positions): - """96通道排液""" - self.logger.info(f"96通道排液: 体积={volume}") - pass - - def pick_up_resource(self, resource, location): - """拾取资源""" - self.logger.info(f"拾取资源: {resource}") - pass - - def drop_resource(self, resource, location): - """放置资源""" - self.logger.info(f"放置资源: {resource}") - pass - - def move_picked_up_resource(self, resource, location): - """移动已拾取的资源""" - self.logger.info(f"移动资源: {resource} 到 {location}") - pass - - -def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend: - """ - 创建LaiYu液体处理设备后端实例 - - Args: - name: 后端名称 - - Returns: - LaiYuLiquidBackend: 后端实例 - """ - return LaiYuLiquidBackend(name) \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/backend/rviz_backend.py b/unilabos/devices/laiyu_liquid/backend/rviz_backend.py deleted file mode 100644 index 44e7be46..00000000 --- a/unilabos/devices/laiyu_liquid/backend/rviz_backend.py +++ /dev/null @@ -1,209 +0,0 @@ - -import json -from typing import List, Optional, Union - -from pylabrobot.liquid_handling.backends.backend import ( - LiquidHandlerBackend, -) -from pylabrobot.liquid_handling.standard import ( - Drop, - DropTipRack, - MultiHeadAspirationContainer, - MultiHeadAspirationPlate, - MultiHeadDispenseContainer, - MultiHeadDispensePlate, - Pickup, - PickupTipRack, - ResourceDrop, - ResourceMove, - ResourcePickup, - SingleChannelAspiration, - SingleChannelDispense, -) -from pylabrobot.resources import Resource, Tip - -import rclpy -from rclpy.node import Node -from sensor_msgs.msg import JointState -import time -from rclpy.action import ActionClient -from unilabos_msgs.action import SendCmd -import re - -from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher - - -class LiquidHandlerRvizBackend(LiquidHandlerBackend): - """Chatter box backend for device-free testing. Prints out all operations.""" - - _pip_length = 5 - _vol_length = 8 - _resource_length = 20 - _offset_length = 16 - _flow_rate_length = 10 - _blowout_length = 10 - _lld_z_length = 10 - _kwargs_length = 15 - _tip_type_length = 12 - _max_volume_length = 16 - _fitting_depth_length = 20 - _tip_length_length = 16 - # _pickup_method_length = 20 - _filter_length = 10 - - def __init__(self, num_channels: int = 8): - """Initialize a chatter box backend.""" - super().__init__() - self._num_channels = num_channels -# rclpy.init() - if not rclpy.ok(): - rclpy.init() - self.joint_state_publisher = None - - async def setup(self): - self.joint_state_publisher = JointStatePublisher() - await super().setup() - async def stop(self): - pass - - def serialize(self) -> dict: - return {**super().serialize(), "num_channels": self.num_channels} - - @property - def num_channels(self) -> int: - return self._num_channels - - async def assigned_resource_callback(self, resource: Resource): - pass - - async def unassigned_resource_callback(self, name: str): - pass - - async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs): - - for op, channel in zip(ops, use_channels): - offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}" - row = ( - f" p{channel}: " - f"{op.resource.name[-30:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} " - f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} " - f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} " - f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} " - # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} " - f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}" - ) - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick") - # goback() - - - - - async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs): - - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash") - # goback() - - async def aspirate( - self, - ops: List[SingleChannelAspiration], - use_channels: List[int], - **backend_kwargs, - ): - # 执行吸液操作 - pass - - for o, p in zip(ops, use_channels): - offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}" - row = ( - f" p{p}: " - f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} " - f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} " - f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} " - f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} " - # f"{o.liquids if o.liquids is not None else 'none'}" - ) - for key, value in backend_kwargs.items(): - if isinstance(value, list) and all(isinstance(v, bool) for v in value): - value = "".join("T" if v else "F" for v in value) - if isinstance(value, list): - value = "".join(map(str, value)) - row += f" {value:<15}" - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "") - - - async def dispense( - self, - ops: List[SingleChannelDispense], - use_channels: List[int], - **backend_kwargs, - ): - - for o, p in zip(ops, use_channels): - offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}" - row = ( - f" p{p}: " - f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} " - f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} " - f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} " - f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} " - # f"{o.liquids if o.liquids is not None else 'none'}" - ) - for key, value in backend_kwargs.items(): - if isinstance(value, list) and all(isinstance(v, bool) for v in value): - value = "".join("T" if v else "F" for v in value) - if isinstance(value, list): - value = "".join(map(str, value)) - row += f" {value:<{LiquidHandlerRvizBackend._kwargs_length}}" - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "") - - async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs): - pass - - async def drop_tips96(self, drop: DropTipRack, **backend_kwargs): - pass - - async def aspirate96( - self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer] - ): - pass - - async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]): - pass - - async def pick_up_resource(self, pickup: ResourcePickup): - # 执行资源拾取操作 - pass - - async def move_picked_up_resource(self, move: ResourceMove): - # 执行资源移动操作 - pass - - async def drop_resource(self, drop: ResourceDrop): - # 执行资源放置操作 - pass - - def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool: - return True - \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/config/deckconfig.json b/unilabos/devices/laiyu_liquid/config/deckconfig.json deleted file mode 100644 index ddda7e0f..00000000 --- a/unilabos/devices/laiyu_liquid/config/deckconfig.json +++ /dev/null @@ -1,2620 +0,0 @@ -{ - "name": "LaiYu_Liquid_Deck", - "size_x": 340.0, - "size_y": 250.0, - "size_z": 160.0, - "coordinate_system": { - "origin": "top_left", - "x_axis": "right", - "y_axis": "down", - "z_axis": "up", - "units": "mm" - }, - "children": [ - { - "id": "module_1_8tubes", - "name": "8管位置模块", - "type": "tube_rack", - "position": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - }, - "size": { - "x": 151.0, - "y": 75.0, - "z": 75.0 - }, - "wells": [ - { - "id": "A1", - "position": { - "x": 23.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "A2", - "position": { - "x": 58.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "A3", - "position": { - "x": 93.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "A4", - "position": { - "x": 128.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B1", - "position": { - "x": 23.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B2", - "position": { - "x": 58.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B3", - "position": { - "x": 93.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B4", - "position": { - "x": 128.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - } - ], - "well_spacing": { - "x": 35.0, - "y": 35.0 - }, - "grid": { - "rows": 2, - "columns": 4, - "row_labels": ["A", "B"], - "column_labels": ["1", "2", "3", "4"] - }, - "metadata": { - "description": "8个试管位置，2x4排列", - "max_volume_ul": 77000, - "well_count": 8, - "tube_type": "50ml_falcon" - } - }, - { - "id": "module_2_96well_deep", - "name": "96深孔板", - "type": "96_well_plate", - "position": { - "x": 175.0, - "y": 11.0, - "z": 48.5 - }, - "size": { - "x": 127.1, - "y": 85.6, - "z": 45.5 - }, - "wells": [ - { - "id": "A01", - "position": { - "x": 175.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A02", - "position": { - "x": 184.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A03", - "position": { - "x": 193.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A04", - "position": { - "x": 202.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A05", - "position": { - "x": 211.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A06", - "position": { - "x": 220.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A07", - "position": { - "x": 229.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A08", - "position": { - "x": 238.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A09", - "position": { - "x": 247.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A10", - "position": { - "x": 256.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A11", - "position": { - "x": 265.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A12", - "position": { - "x": 274.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B01", - "position": { - "x": 175.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B02", - "position": { - "x": 184.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B03", - "position": { - "x": 193.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B04", - "position": { - "x": 202.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B05", - "position": { - "x": 211.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B06", - "position": { - "x": 220.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B07", - "position": { - "x": 229.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B08", - "position": { - "x": 238.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B09", - "position": { - "x": 247.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B10", - "position": { - "x": 256.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B11", - "position": { - "x": 265.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B12", - "position": { - "x": 274.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C01", - "position": { - "x": 175.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C02", - "position": { - "x": 184.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C03", - "position": { - "x": 193.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C04", - "position": { - "x": 202.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C05", - "position": { - "x": 211.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C06", - "position": { - "x": 220.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C07", - "position": { - "x": 229.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C08", - "position": { - "x": 238.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C09", - "position": { - "x": 247.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C10", - "position": { - "x": 256.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C11", - "position": { - "x": 265.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C12", - "position": { - "x": 274.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D01", - "position": { - "x": 175.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D02", - "position": { - "x": 184.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D03", - "position": { - "x": 193.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D04", - "position": { - "x": 202.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D05", - "position": { - "x": 211.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D06", - "position": { - "x": 220.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D07", - "position": { - "x": 229.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D08", - "position": { - "x": 238.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D09", - "position": { - "x": 247.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D10", - "position": { - "x": 256.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D11", - "position": { - "x": 265.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D12", - "position": { - "x": 274.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E01", - "position": { - "x": 175.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E02", - "position": { - "x": 184.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E03", - "position": { - "x": 193.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E04", - "position": { - "x": 202.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E05", - "position": { - "x": 211.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E06", - "position": { - "x": 220.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E07", - "position": { - "x": 229.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E08", - "position": { - "x": 238.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E09", - "position": { - "x": 247.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E10", - "position": { - "x": 256.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E11", - "position": { - "x": 265.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E12", - "position": { - "x": 274.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F01", - "position": { - "x": 175.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F02", - "position": { - "x": 184.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F03", - "position": { - "x": 193.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F04", - "position": { - "x": 202.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F05", - "position": { - "x": 211.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F06", - "position": { - "x": 220.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F07", - "position": { - "x": 229.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F08", - "position": { - "x": 238.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F09", - "position": { - 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"depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "F09", - "position": { - "x": 237.62, - "y": 160.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "F10", - "position": { - "x": 246.62, - "y": 160.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "F11", - "position": { - "x": 255.62, - "y": 160.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "F12", - "position": { - "x": 264.62, - "y": 160.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G01", - "position": { - "x": 165.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G02", - "position": { - "x": 174.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G03", - "position": { - "x": 183.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G04", - "position": { - "x": 192.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G05", - "position": { - "x": 201.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G06", - "position": { - "x": 210.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G07", - "position": { - "x": 219.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G08", - "position": { - "x": 228.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G09", - "position": { - "x": 237.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G10", - "position": { - "x": 246.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G11", - "position": { - "x": 255.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G12", - "position": { - "x": 264.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H01", - "position": { - "x": 165.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H02", - "position": { - "x": 174.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H03", - "position": { - "x": 183.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H04", - "position": { - "x": 192.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H05", - "position": { - "x": 201.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H06", - "position": { - "x": 210.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H07", - "position": { - "x": 219.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H08", - "position": { - "x": 228.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H09", - "position": { - "x": 237.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H10", - "position": { - "x": 246.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H11", - "position": { - "x": 255.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H12", - "position": { - "x": 264.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - } - ], - "well_spacing": { - "x": 9.0, - "y": 9.0 - }, - "grid": { - "rows": 8, - "columns": 12, - "row_labels": ["A", "B", "C", "D", "E", "F", "G", "H"], - "column_labels": ["01", "02", "03", "04", "05", "06", "07", "08", "09", "10", "11", "12"] - }, - "metadata": { - "description": "标准96孔枪头盒", - "max_volume_ul": 6000, - "well_count": 96, - "plate_type": "tip_rack" - } - } - ], - "deck_metadata": { - "total_modules": 4, - "total_wells": 201, - "deck_area": { - "used_x": 299.62, - "used_y": 260.5, - "used_z": 103.0, - "efficiency_x": 88.1, - "efficiency_y": 104.2, - "efficiency_z": 64.4 - }, - "safety_margins": { - "x_min": 10.0, - "x_max": 10.0, - "y_min": 10.0, - "y_max": 10.0, - "z_clearance": 20.0 - }, - "calibration_points": [ - { - "id": "origin", - "position": {"x": 0.0, "y": 0.0, "z": 0.0}, - "description": "工作台左上角原点" - }, - { - "id": "module_1_ref", - "position": {"x": 23.0, "y": 20.0, "z": 0.0}, - "description": "模块1试管架基准孔A1" - }, - { - "id": "module_2_ref", - "position": {"x": 175.0, "y": 11.0, "z": 48.5}, - "description": "模块2深孔板基准孔A01" - }, - { - "id": "module_3_ref", - "position": {"x": 65.0, "y": 143.5, "z": 0.0}, - "description": "模块3敞口玻璃瓶中心" - }, - { - "id": "module_4_ref", - "position": {"x": 165.62, "y": 115.5, "z": 103.0}, - "description": "模块4枪头盒基准孔A01" - } - ], - "version": "2.0", - "created_by": "Doraemon Team", - "last_updated": "2025-09-29" - } -} \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/config/deckconfig.md b/unilabos/devices/laiyu_liquid/config/deckconfig.md deleted file mode 100644 index 7359e625..00000000 --- a/unilabos/devices/laiyu_liquid/config/deckconfig.md +++ /dev/null @@ -1,14 +0,0 @@ - goto 171 178 57 H1 - goto 171 117 57 A1 - goto 172 178 130 - goto 173 179 133 - goto 173 180 133 -goto 173 180 138 -goto 173 180 125 （+10mm，在空的上面边缘） -goto 173 180 130 取不到 -goto 173 180 133 取不到 -goto 173 180 135 -goto 173 180 137 取到了！！！！ -goto 173 180 131 弹出枪头 H1 - -goto 173 117 137 A1 （+10mm，可以取到新枪头了！！！！） \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/controllers/__init__.py b/unilabos/devices/laiyu_liquid/controllers/__init__.py deleted file mode 100644 index d50b1eca..00000000 --- a/unilabos/devices/laiyu_liquid/controllers/__init__.py +++ /dev/null @@ -1,25 +0,0 @@ -""" -LaiYu_Liquid 控制器模块 - -该模块包含了LaiYu_Liquid液体处理工作站的高级控制器： -- 移液器控制器：提供液体处理的高级接口 -- XYZ运动控制器：提供三轴运动的高级接口 -""" - -# 移液器控制器导入 -from .pipette_controller import PipetteController - -# XYZ运动控制器导入 -from .xyz_controller import XYZController - -__all__ = [ - # 移液器控制器 - "PipetteController", - - # XYZ运动控制器 - "XYZController", -] - -__version__ = "1.0.0" -__author__ = "LaiYu_Liquid Controller Team" -__description__ = "LaiYu_Liquid 高级控制器集合" \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py b/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py deleted file mode 100644 index 6c314a3a..00000000 --- a/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py +++ /dev/null @@ -1,1073 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -移液控制器模块 -封装SOPA移液器的高级控制功能 -""" - -# 添加项目根目录到Python路径以解决模块导入问题 -import sys -import os - -# 无论如何都添加项目根目录到路径 -current_file = os.path.abspath(__file__) -# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py -# 向上5级到 .../Uni-Lab-OS -project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file))))) -# 强制添加项目根目录到sys.path的开头 -sys.path.insert(0, project_root) - -import time -import logging -from typing import Optional, List, Dict, Tuple -from dataclasses import dataclass -from enum import Enum - -from unilabos.devices.laiyu_liquid.drivers.sopa_pipette_driver import ( - SOPAPipette, - SOPAConfig, - SOPAStatusCode, - DetectionMode, - create_sopa_pipette, -) -from unilabos.devices.laiyu_liquid.drivers.xyz_stepper_driver import ( - XYZStepperController, - MotorAxis, - MotorStatus, - ModbusException -) - -logger = logging.getLogger(__name__) - - -class TipStatus(Enum): - """枪头状态""" - NO_TIP = "no_tip" - TIP_ATTACHED = "tip_attached" - TIP_USED = "tip_used" - - -class LiquidClass(Enum): - """液体类型""" - WATER = "water" - SERUM = "serum" - VISCOUS = "viscous" - VOLATILE = "volatile" - CUSTOM = "custom" - - -@dataclass -class LiquidParameters: - """液体处理参数""" - aspirate_speed: int = 500 # 吸液速度 - dispense_speed: int = 800 # 排液速度 - air_gap: float = 10.0 # 空气间隙 - blow_out: float = 5.0 # 吹出量 - pre_wet: bool = False # 预润湿 - mix_cycles: int = 0 # 混合次数 - mix_volume: float = 50.0 # 混合体积 - touch_tip: bool = False # 接触壁 - delay_after_aspirate: float = 0.5 # 吸液后延时 - delay_after_dispense: float = 0.5 # 排液后延时 - - -class PipetteController: - """移液控制器""" - - # 预定义液体参数 - LIQUID_PARAMS = { - LiquidClass.WATER: LiquidParameters( - aspirate_speed=500, - dispense_speed=800, - air_gap=10.0 - ), - LiquidClass.SERUM: LiquidParameters( - aspirate_speed=200, - dispense_speed=400, - air_gap=15.0, - pre_wet=True, - delay_after_aspirate=1.0 - ), - LiquidClass.VISCOUS: LiquidParameters( - aspirate_speed=100, - dispense_speed=200, - air_gap=20.0, - delay_after_aspirate=2.0, - delay_after_dispense=2.0 - ), - LiquidClass.VOLATILE: LiquidParameters( - aspirate_speed=800, - dispense_speed=1000, - air_gap=5.0, - delay_after_aspirate=0.2, - delay_after_dispense=0.2 - ) - } - - def __init__(self, port: str, address: int = 4, xyz_port: Optional[str] = None): - """ - 初始化移液控制器 - - Args: - port: 移液器串口端口 - address: 移液器RS485地址 - xyz_port: XYZ步进电机串口端口（可选，用于枪头装载等运动控制） - """ - self.config = SOPAConfig( - port=port, - address=address, - baudrate=115200 - ) - self.pipette = SOPAPipette(self.config) - self.tip_status = TipStatus.NO_TIP - self.current_volume = 0.0 - self.max_volume = 1000.0 # 默认1000ul - self.liquid_class = LiquidClass.WATER - self.liquid_params = self.LIQUID_PARAMS[LiquidClass.WATER] - - # XYZ步进电机控制器（用于运动控制） - self.xyz_controller: Optional[XYZStepperController] = None - self.xyz_port = xyz_port - self.xyz_connected = False - - # 统计信息 - self.tip_count = 0 - self.aspirate_count = 0 - self.dispense_count = 0 - - def connect(self) -> bool: - """连接移液器和XYZ步进电机控制器""" - try: - # 连接移液器 - if not self.pipette.connect(): - logger.error("移液器连接失败") - return False - logger.info("移液器连接成功") - - # 连接XYZ步进电机控制器（如果提供了端口） - if self.xyz_port: - try: - self.xyz_controller = XYZStepperController(self.xyz_port) - if self.xyz_controller.connect(): - self.xyz_connected = True - logger.info(f"XYZ步进电机控制器连接成功: {self.xyz_port}") - else: - logger.warning(f"XYZ步进电机控制器连接失败: {self.xyz_port}") - self.xyz_controller = None - except Exception as e: - logger.warning(f"XYZ步进电机控制器连接异常: {e}") - self.xyz_controller = None - self.xyz_connected = False - else: - logger.info("未配置XYZ步进电机端口，跳过运动控制器连接") - - return True - except Exception as e: - logger.error(f"设备连接失败: {e}") - return False - - def initialize(self) -> bool: - """初始化移液器""" - try: - if self.pipette.initialize(): - logger.info("移液器初始化成功") - # 检查枪头状态 - self._update_tip_status() - return True - return False - except Exception as e: - logger.error(f"移液器初始化失败: {e}") - return False - - def disconnect(self): - """断开连接""" - # 断开移液器连接 - self.pipette.disconnect() - logger.info("移液器已断开") - - # 断开 XYZ 步进电机连接 - if self.xyz_controller and self.xyz_connected: - try: - self.xyz_controller.disconnect() - self.xyz_connected = False - logger.info("XYZ 步进电机已断开") - except Exception as e: - logger.error(f"断开 XYZ 步进电机失败: {e}") - - def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool: - """ - 检查 XYZ 轴移动的安全性 - - Args: - axis: 电机轴 - target_position: 目标位置(步数) - - Returns: - 是否安全 - """ - try: - # 获取当前电机状态 - motor_position = self.xyz_controller.get_motor_status(axis) - - # 检查电机状态是否正常 (不是碰撞停止或限位停止) - if motor_position.status in [MotorStatus.COLLISION_STOP, - MotorStatus.FORWARD_LIMIT_STOP, - MotorStatus.REVERSE_LIMIT_STOP]: - logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}") - return False - - # 检查位置限制 (扩大安全范围以适应实际硬件) - # 步进电机的位置范围通常很大，这里设置更合理的范围 - if target_position < -500000 or target_position > 500000: - logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}") - return False - - # 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm) - current_position = motor_position.steps - move_distance = abs(target_position - current_position) - if move_distance > 20000: - logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步") - return False - - return True - - except Exception as e: - logger.error(f"安全检查失败: {e}") - return False - - def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool: - """ - Z轴相对移动 - - Args: - distance_mm: 移动距离(mm)，正值向下，负值向上 - speed: 移动速度(rpm) - acceleration: 加速度(rpm/s) - - Returns: - 移动是否成功 - """ - if not self.xyz_controller or not self.xyz_connected: - logger.error("XYZ 步进电机未连接，无法执行移动") - return False - - try: - # 参数验证 - if abs(distance_mm) > 15.0: - logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm") - return False - - if speed < 100 or speed > 5000: - logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000") - return False - - # 获取当前 Z 轴位置 - current_status = self.xyz_controller.get_motor_status(MotorAxis.Z) - current_z_position = current_status.steps - - # 计算移动距离对应的步数 (1mm = 1638.4步) - mm_to_steps = 1638.4 - move_distance_steps = int(distance_mm * mm_to_steps) - - # 计算目标位置 - target_z_position = current_z_position + move_distance_steps - - # 安全检查 - if not self._check_xyz_safety(MotorAxis.Z, target_z_position): - logger.error("Z轴移动安全检查失败") - return False - - logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)") - logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步") - - # 执行移动 - success = self.xyz_controller.move_to_position( - axis=MotorAxis.Z, - position=target_z_position, - speed=speed, - acceleration=acceleration, - precision=50 - ) - - if not success: - logger.error("Z轴移动命令发送失败") - return False - - # 等待移动完成 - if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0): - logger.error("Z轴移动超时") - return False - - # 验证移动结果 - final_status = self.xyz_controller.get_motor_status(MotorAxis.Z) - final_position = final_status.steps - position_error = abs(final_position - target_z_position) - - logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步") - - if position_error > 100: - logger.warning(f"Z轴位置误差较大: {position_error}步") - - return True - - except ModbusException as e: - logger.error(f"Modbus通信错误: {e}") - return False - except Exception as e: - logger.error(f"Z轴移动失败: {e}") - return False - - def emergency_stop(self) -> bool: - """ - 紧急停止所有运动 - - Returns: - 停止是否成功 - """ - success = True - - # 停止移液器操作 - try: - if self.pipette and self.connected: - # 这里可以添加移液器的紧急停止逻辑 - logger.info("移液器紧急停止") - except Exception as e: - logger.error(f"移液器紧急停止失败: {e}") - success = False - - # 停止 XYZ 轴运动 - try: - if self.xyz_controller and self.xyz_connected: - self.xyz_controller.emergency_stop() - logger.info("XYZ 轴紧急停止") - except Exception as e: - logger.error(f"XYZ 轴紧急停止失败: {e}") - success = False - - return success - - def pickup_tip(self) -> bool: - """ - 装载枪头 - Z轴向下移动10mm进行枪头装载 - - Returns: - 是否成功 - """ - if self.tip_status == TipStatus.TIP_ATTACHED: - logger.warning("已有枪头，无需重复装载") - return True - - logger.info("开始装载枪头 - Z轴向下移动10mm") - - # 使用相对移动方法，向下移动10mm - if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500): - # 更新枪头状态 - self.tip_status = TipStatus.TIP_ATTACHED - self.tip_count += 1 - self.current_volume = 0.0 - logger.info("枪头装载成功") - return True - else: - logger.error("枪头装载失败 - Z轴移动失败") - return False - - def eject_tip(self) -> bool: - """ - 弹出枪头 - - Returns: - 是否成功 - """ - if self.tip_status == TipStatus.NO_TIP: - logger.warning("无枪头可弹出") - return True - - try: - if self.pipette.eject_tip(): - self.tip_status = TipStatus.NO_TIP - self.current_volume = 0.0 - logger.info("枪头已弹出") - return True - return False - except Exception as e: - logger.error(f"弹出枪头失败: {e}") - return False - - def aspirate(self, volume: float, liquid_class: Optional[LiquidClass] = None, - detection: bool = True) -> bool: - """ - 吸液 - - Args: - volume: 吸液体积(ul) - liquid_class: 液体类型 - detection: 是否开启液位检测 - - Returns: - 是否成功 - """ - if self.tip_status != TipStatus.TIP_ATTACHED: - logger.error("无枪头，无法吸液") - return False - - if self.current_volume + volume > self.max_volume: - logger.error(f"吸液量超过枪头容量: {self.current_volume + volume} > {self.max_volume}") - return False - - # 设置液体参数 - if liquid_class: - self.set_liquid_class(liquid_class) - - try: - # 设置吸液速度 - self.pipette.set_max_speed(self.liquid_params.aspirate_speed) - - # 执行液位检测 - if detection: - if not self.pipette.liquid_level_detection(): - logger.warning("液位检测失败，继续吸液") - - # 预润湿 - if self.liquid_params.pre_wet and self.current_volume == 0: - logger.info("执行预润湿") - self._pre_wet(volume * 0.2) - - # 吸液 - if self.pipette.aspirate(volume, detection=False): - self.current_volume += volume - self.aspirate_count += 1 - - # 吸液后延时 - time.sleep(self.liquid_params.delay_after_aspirate) - - # 吸取空气间隙 - if self.liquid_params.air_gap > 0: - self.pipette.aspirate(self.liquid_params.air_gap, detection=False) - self.current_volume += self.liquid_params.air_gap - - logger.info(f"吸液完成: {volume}ul, 当前体积: {self.current_volume}ul") - return True - else: - logger.error("吸液失败") - return False - - except Exception as e: - logger.error(f"吸液异常: {e}") - return False - - def dispense(self, volume: float, blow_out: bool = False) -> bool: - """ - 排液 - - Args: - volume: 排液体积(ul) - blow_out: 是否吹出 - - Returns: - 是否成功 - """ - if self.tip_status != TipStatus.TIP_ATTACHED: - logger.error("无枪头，无法排液") - return False - - if volume > self.current_volume: - logger.error(f"排液量超过当前体积: {volume} > {self.current_volume}") - return False - - try: - # 设置排液速度 - self.pipette.set_max_speed(self.liquid_params.dispense_speed) - - # 排液 - if self.pipette.dispense(volume): - self.current_volume -= volume - self.dispense_count += 1 - - # 排液后延时 - time.sleep(self.liquid_params.delay_after_dispense) - - # 吹出 - if blow_out and self.liquid_params.blow_out > 0: - self.pipette.dispense(self.liquid_params.blow_out) - logger.debug(f"执行吹出: {self.liquid_params.blow_out}ul") - - # 接触壁 - if self.liquid_params.touch_tip: - self._touch_tip() - - logger.info(f"排液完成: {volume}ul, 剩余体积: {self.current_volume}ul") - return True - else: - logger.error("排液失败") - return False - - except Exception as e: - logger.error(f"排液异常: {e}") - return False - - def transfer(self, volume: float, - source_well: Optional[str] = None, - dest_well: Optional[str] = None, - liquid_class: Optional[LiquidClass] = None, - new_tip: bool = True, - mix_before: Optional[Tuple[int, float]] = None, - mix_after: Optional[Tuple[int, float]] = None) -> bool: - """ - 液体转移 - - Args: - volume: 转移体积 - source_well: 源孔位 - dest_well: 目标孔位 - liquid_class: 液体类型 - new_tip: 是否使用新枪头 - mix_before: 吸液前混合(次数, 体积) - mix_after: 排液后混合(次数, 体积) - - Returns: - 是否成功 - """ - try: - # 装载新枪头 - if new_tip: - self.eject_tip() - if not self.pickup_tip(): - return False - - # 设置液体类型 - if liquid_class: - self.set_liquid_class(liquid_class) - - # 吸液前混合 - if mix_before: - cycles, mix_vol = mix_before - self.mix(cycles, mix_vol) - - # 吸液 - if not self.aspirate(volume): - return False - - # 排液 - if not self.dispense(volume, blow_out=True): - return False - - # 排液后混合 - if mix_after: - cycles, mix_vol = mix_after - self.mix(cycles, mix_vol) - - logger.info(f"液体转移完成: {volume}ul") - return True - - except Exception as e: - logger.error(f"液体转移失败: {e}") - return False - - def mix(self, cycles: int = 3, volume: Optional[float] = None) -> bool: - """ - 混合 - - Args: - cycles: 混合次数 - volume: 混合体积 - - Returns: - 是否成功 - """ - volume = volume or self.liquid_params.mix_volume - - logger.info(f"开始混合: {cycles}次, {volume}ul") - - for i in range(cycles): - if not self.aspirate(volume, detection=False): - return False - if not self.dispense(volume): - return False - - logger.info("混合完成") - return True - - def _pre_wet(self, volume: float): - """预润湿""" - self.pipette.aspirate(volume, detection=False) - time.sleep(0.2) - self.pipette.dispense(volume) - time.sleep(0.2) - - def _touch_tip(self): - """接触壁(需要与运动控制配合)""" - # TODO: 实现接触壁动作 - logger.debug("执行接触壁") - time.sleep(0.5) - - def _update_tip_status(self): - """更新枪头状态""" - if self.pipette.get_tip_status(): - self.tip_status = TipStatus.TIP_ATTACHED - else: - self.tip_status = TipStatus.NO_TIP - - def set_liquid_class(self, liquid_class: LiquidClass): - """设置液体类型""" - self.liquid_class = liquid_class - if liquid_class in self.LIQUID_PARAMS: - self.liquid_params = self.LIQUID_PARAMS[liquid_class] - logger.info(f"液体类型设置为: {liquid_class.value}") - - def set_custom_parameters(self, params: LiquidParameters): - """设置自定义液体参数""" - self.liquid_params = params - self.liquid_class = LiquidClass.CUSTOM - - def calibrate_volume(self, expected: float, actual: float): - """ - 体积校准 - - Args: - expected: 期望体积 - actual: 实际体积 - """ - factor = actual / expected - self.pipette.set_calibration_factor(factor) - logger.info(f"体积校准系数: {factor}") - - def get_status(self) -> Dict: - """获取状态信息""" - return { - 'tip_status': self.tip_status.value, - 'current_volume': self.current_volume, - 'max_volume': self.max_volume, - 'liquid_class': self.liquid_class.value, - 'statistics': { - 'tip_count': self.tip_count, - 'aspirate_count': self.aspirate_count, - 'dispense_count': self.dispense_count - } - } - - def reset_statistics(self): - """重置统计信息""" - self.tip_count = 0 - self.aspirate_count = 0 - self.dispense_count = 0 - -# ============================================================================ -# 实例化代码块 - 移液控制器使用示例 -# ============================================================================ - -if __name__ == "__main__": - # 配置日志 - import logging - - # 设置日志级别 - logging.basicConfig( - level=logging.INFO, - format='%(asctime)s - %(name)s - %(levelname)s - %(message)s' - ) - - def interactive_test(): - """交互式测试模式 - 适用于已连接的设备""" - print("\n" + "=" * 60) - print("🧪 移液器交互式测试模式") - print("=" * 60) - - # 获取用户输入的连接参数 - print("\n📡 设备连接配置:") - port = input("请输入移液器串口端口 (默认: /dev/ttyUSB0): ").strip() or "/dev/ttyUSB0" - address_input = input("请输入移液器设备地址 (默认: 4): ").strip() - address = int(address_input) if address_input else 4 - - # 询问是否连接 XYZ 步进电机控制器 - xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower() - xyz_port = None - if xyz_enable in ['y', 'yes']: - xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB1): ").strip() or "/dev/ttyUSB1" - - try: - # 创建移液控制器实例 - if xyz_port: - print(f"\n🔧 创建移液控制器实例 (移液器端口: {port}, 地址: {address}, XYZ端口: {xyz_port})...") - pipette = PipetteController(port=port, address=address, xyz_port=xyz_port) - else: - print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...") - pipette = PipetteController(port=port, address=address) - - # 连接设备 - print("\n📞 连接移液器设备...") - if not pipette.connect(): - print("❌ 设备连接失败，请检查连接") - return - print("✅ 设备连接成功") - - # 初始化设备 - print("\n🚀 初始化设备...") - if not pipette.initialize(): - print("❌ 设备初始化失败") - return - print("✅ 设备初始化成功") - - # 交互式菜单 - while True: - print("\n" + "=" * 50) - print("🎮 交互式操作菜单:") - print("1. 📋 查看设备状态") - print("2. 🔧 装载枪头") - print("3. 🗑️ 弹出枪头") - print("4. 💧 吸液操作") - print("5. 💦 排液操作") - print("6. 🌀 混合操作") - print("7. 🔄 液体转移") - print("8. ⚙️ 设置液体类型") - print("9. 🎯 自定义参数") - print("10. 📊 校准体积") - print("11. 🧹 重置统计") - print("12. 🔍 液体类型测试") - print("99. 🚨 紧急停止") - print("0. 🚪 退出程序") - print("=" * 50) - - choice = input("\n请选择操作 (0-12, 99): ").strip() - - if choice == "0": - print("\n👋 退出程序...") - break - elif choice == "1": - # 查看设备状态 - status = pipette.get_status() - print("\n📊 设备状态信息:") - print(f" 🎯 枪头状态: {status['tip_status']}") - print(f" 💧 当前体积: {status['current_volume']}ul") - print(f" 📏 最大体积: {status['max_volume']}ul") - print(f" 🧪 液体类型: {status['liquid_class']}") - print(f" 📈 统计信息:") - print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}") - print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}") - print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}") - - elif choice == "2": - # 装载枪头 - print("\n🔧 装载枪头...") - if pipette.xyz_connected: - print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)") - else: - print("⚠️ 未连接 XYZ 控制器，仅执行移液器枪头装载") - - if pipette.pickup_tip(): - print("✅ 枪头装载成功") - if pipette.xyz_connected: - print("📍 Z 轴已移动到装载位置") - else: - print("❌ 枪头装载失败") - - elif choice == "3": - # 弹出枪头 - print("\n🗑️ 弹出枪头...") - if pipette.eject_tip(): - print("✅ 枪头弹出成功") - else: - print("❌ 枪头弹出失败") - - elif choice == "4": - # 吸液操作 - try: - volume = float(input("请输入吸液体积 (ul): ")) - detection = input("是否启用液面检测? (y/n, 默认y): ").strip().lower() != 'n' - print(f"\n💧 执行吸液操作 ({volume}ul)...") - if pipette.aspirate(volume, detection=detection): - print(f"✅ 吸液成功: {volume}ul") - print(f"📊 当前体积: {pipette.current_volume}ul") - else: - print("❌ 吸液失败") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "5": - # 排液操作 - try: - volume = float(input("请输入排液体积 (ul): ")) - blow_out = input("是否执行吹出操作? (y/n, 默认n): ").strip().lower() == 'y' - print(f"\n💦 执行排液操作 ({volume}ul)...") - if pipette.dispense(volume, blow_out=blow_out): - print(f"✅ 排液成功: {volume}ul") - print(f"📊 剩余体积: {pipette.current_volume}ul") - else: - print("❌ 排液失败") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "6": - # 混合操作 - try: - cycles = int(input("请输入混合次数 (默认3): ") or "3") - volume_input = input("请输入混合体积 (ul, 默认使用当前体积的50%): ").strip() - volume = float(volume_input) if volume_input else None - print(f"\n🌀 执行混合操作 ({cycles}次)...") - if pipette.mix(cycles=cycles, volume=volume): - print("✅ 混合完成") - else: - print("❌ 混合失败") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "7": - # 液体转移 - try: - volume = float(input("请输入转移体积 (ul): ")) - source = input("源孔位 (可选, 如A1): ").strip() or None - dest = input("目标孔位 (可选, 如B1): ").strip() or None - new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n' - - print(f"\n🔄 执行液体转移 ({volume}ul)...") - if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip): - print("✅ 液体转移完成") - else: - print("❌ 液体转移失败") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "8": - # 设置液体类型 - print("\n🧪 可用液体类型:") - liquid_options = { - "1": (LiquidClass.WATER, "水溶液"), - "2": (LiquidClass.SERUM, "血清"), - "3": (LiquidClass.VISCOUS, "粘稠液体"), - "4": (LiquidClass.VOLATILE, "挥发性液体") - } - - for key, (liquid_class, description) in liquid_options.items(): - print(f" {key}. {description}") - - liquid_choice = input("请选择液体类型 (1-4): ").strip() - if liquid_choice in liquid_options: - liquid_class, description = liquid_options[liquid_choice] - pipette.set_liquid_class(liquid_class) - print(f"✅ 液体类型设置为: {description}") - - # 显示参数 - params = pipette.liquid_params - print(f"📋 参数设置:") - print(f" ⬆️ 吸液速度: {params.aspirate_speed}") - print(f" ⬇️ 排液速度: {params.dispense_speed}") - print(f" 💨 空气间隙: {params.air_gap}ul") - print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}") - else: - print("❌ 无效选择") - - elif choice == "9": - # 自定义参数 - try: - print("\n⚙️ 设置自定义参数 (直接回车使用默认值):") - aspirate_speed = input("吸液速度 (默认500): ").strip() - dispense_speed = input("排液速度 (默认800): ").strip() - air_gap = input("空气间隙 (ul, 默认10.0): ").strip() - pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y' - - custom_params = LiquidParameters( - aspirate_speed=int(aspirate_speed) if aspirate_speed else 500, - dispense_speed=int(dispense_speed) if dispense_speed else 800, - air_gap=float(air_gap) if air_gap else 10.0, - pre_wet=pre_wet - ) - - pipette.set_custom_parameters(custom_params) - print("✅ 自定义参数设置完成") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "10": - # 校准体积 - try: - expected = float(input("期望体积 (ul): ")) - actual = float(input("实际测量体积 (ul): ")) - pipette.calibrate_volume(expected, actual) - print(f"✅ 校准完成，校准系数: {actual/expected:.3f}") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "11": - # 重置统计 - pipette.reset_statistics() - print("✅ 统计信息已重置") - - elif choice == "12": - # 液体类型测试 - print("\n🧪 液体类型参数对比:") - liquid_tests = [ - (LiquidClass.WATER, "水溶液"), - (LiquidClass.SERUM, "血清"), - (LiquidClass.VISCOUS, "粘稠液体"), - (LiquidClass.VOLATILE, "挥发性液体") - ] - - for liquid_class, description in liquid_tests: - params = pipette.LIQUID_PARAMS[liquid_class] - print(f"\n📋 {description} ({liquid_class.value}):") - print(f" ⬆️ 吸液速度: {params.aspirate_speed}") - print(f" ⬇️ 排液速度: {params.dispense_speed}") - print(f" 💨 空气间隙: {params.air_gap}ul") - print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}") - print(f" ⏱️ 吸液后延时: {params.delay_after_aspirate}s") - - elif choice == "99": - # 紧急停止 - print("\n🚨 执行紧急停止...") - success = pipette.emergency_stop() - if success: - print("✅ 紧急停止执行成功") - print("⚠️ 所有运动已停止，请检查设备状态") - else: - print("❌ 紧急停止执行失败") - print("⚠️ 请手动检查设备状态并采取必要措施") - - # 紧急停止后询问是否继续 - continue_choice = input("\n是否继续操作？(y/n): ").strip().lower() - if continue_choice != 'y': - print("🚪 退出程序") - break - - else: - print("❌ 无效选择，请重新输入") - - # 等待用户确认继续 - input("\n按回车键继续...") - - except KeyboardInterrupt: - print("\n\n⚠️ 用户中断操作") - except Exception as e: - print(f"\n❌ 发生异常: {e}") - finally: - # 断开连接 - print("\n📞 断开设备连接...") - try: - pipette.disconnect() - print("✅ 连接已断开") - except: - print("⚠️ 断开连接时出现问题") - - def demo_test(): - """演示测试模式 - 完整功能演示""" - print("\n" + "=" * 60) - print("🎬 移液控制器演示测试") - print("=" * 60) - - try: - # 创建移液控制器实例 - print("1. 🔧 创建移液控制器实例...") - pipette = PipetteController(port="/dev/ttyUSB0", address=4) - print("✅ 移液控制器实例创建成功") - - # 连接设备 - print("\n2. 📞 连接移液器设备...") - if pipette.connect(): - print("✅ 设备连接成功") - else: - print("❌ 设备连接失败") - return False - - # 初始化设备 - print("\n3. 🚀 初始化设备...") - if pipette.initialize(): - print("✅ 设备初始化成功") - else: - print("❌ 设备初始化失败") - return False - - # 装载枪头 - print("\n4. 🔧 装载枪头...") - if pipette.pickup_tip(): - print("✅ 枪头装载成功") - else: - print("❌ 枪头装载失败") - - # 设置液体类型 - print("\n5. 🧪 设置液体类型为血清...") - pipette.set_liquid_class(LiquidClass.SERUM) - print("✅ 液体类型设置完成") - - # 吸液操作 - print("\n6. 💧 执行吸液操作...") - volume_to_aspirate = 100.0 - if pipette.aspirate(volume_to_aspirate, detection=True): - print(f"✅ 吸液成功: {volume_to_aspirate}ul") - print(f"📊 当前体积: {pipette.current_volume}ul") - else: - print("❌ 吸液失败") - - # 排液操作 - print("\n7. 💦 执行排液操作...") - volume_to_dispense = 50.0 - if pipette.dispense(volume_to_dispense, blow_out=True): - print(f"✅ 排液成功: {volume_to_dispense}ul") - print(f"📊 剩余体积: {pipette.current_volume}ul") - else: - print("❌ 排液失败") - - # 混合操作 - print("\n8. 🌀 执行混合操作...") - if pipette.mix(cycles=3, volume=30.0): - print("✅ 混合完成") - else: - print("❌ 混合失败") - - # 获取状态信息 - print("\n9. 📊 获取设备状态...") - status = pipette.get_status() - print("设备状态信息:") - print(f" 🎯 枪头状态: {status['tip_status']}") - print(f" 💧 当前体积: {status['current_volume']}ul") - print(f" 📏 最大体积: {status['max_volume']}ul") - print(f" 🧪 液体类型: {status['liquid_class']}") - print(f" 📈 统计信息:") - print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}") - print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}") - print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}") - - # 弹出枪头 - print("\n10. 🗑️ 弹出枪头...") - if pipette.eject_tip(): - print("✅ 枪头弹出成功") - else: - print("❌ 枪头弹出失败") - - print("\n" + "=" * 60) - print("✅ 移液控制器演示测试完成") - print("=" * 60) - - return True - - except Exception as e: - print(f"\n❌ 测试过程中发生异常: {e}") - return False - - finally: - # 断开连接 - print("\n📞 断开连接...") - pipette.disconnect() - print("✅ 连接已断开") - - # 主程序入口 - print("🧪 移液器控制器测试程序") - print("=" * 40) - print("1. 🎮 交互式测试 (推荐)") - print("2. 🎬 演示测试") - print("0. 🚪 退出") - print("=" * 40) - - mode = input("请选择测试模式 (0-2): ").strip() - - if mode == "1": - interactive_test() - elif mode == "2": - demo_test() - elif mode == "0": - print("👋 再见！") - else: - print("❌ 无效选择") - - print("\n🎉 程序结束！") - print("\n💡 使用说明:") - print("1. 确保移液器硬件已正确连接") - print("2. 根据实际情况修改串口端口号") - print("3. 交互模式支持实时操作和参数调整") - print("4. 在实际使用中需要配合运动控制器进行位置移动") diff --git a/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py b/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py deleted file mode 100644 index 2526f485..00000000 --- a/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py +++ /dev/null @@ -1,1183 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -XYZ三轴步进电机控制器 -支持坐标系管理、限位开关回零、工作原点设定等功能 - -主要功能： -- 坐标系转换层（步数↔毫米） -- 限位开关回零功能 -- 工作原点示教和保存 -- 安全限位检查 -- 运动控制接口 - -""" - -import json -import os -import time -from typing import Optional, Dict, Tuple, Union -from dataclasses import dataclass, asdict -from pathlib import Path -import logging - -# 添加项目根目录到Python路径以解决模块导入问题 -import sys -import os - -# 无论如何都添加项目根目录到路径 -current_file = os.path.abspath(__file__) -# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/xyz_controller.py -# 向上5级到 .../Uni-Lab-OS -project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file))))) -# 强制添加项目根目录到sys.path的开头 -sys.path.insert(0, project_root) - -# 导入原有的驱动 -from unilabos.devices.laiyu_liquid.drivers.xyz_stepper_driver import XYZStepperController, MotorAxis, MotorStatus - -logger = logging.getLogger(__name__) - - -@dataclass -class MachineConfig: - """机械配置参数""" - # 步距配置 (基于16384步/圈的步进电机) - steps_per_mm_x: float = 204.8 # X轴步距 (16384步/圈 ÷ 80mm导程) - steps_per_mm_y: float = 204.8 # Y轴步距 (16384步/圈 ÷ 80mm导程) - steps_per_mm_z: float = 3276.8 # Z轴步距 (16384步/圈 ÷ 5mm导程) - - # 行程限制 - max_travel_x: float = 340.0 # X轴最大行程 - max_travel_y: float = 250.0 # Y轴最大行程 - max_travel_z: float = 160.0 # Z轴最大行程 - - # 安全移动参数 - safe_z_height: float = 0.0 # Z轴安全移动高度 (mm) - 液体处理工作站安全高度 - z_approach_height: float = 5.0 # Z轴接近高度 (mm) - 在目标位置上方的预备高度 - - # 回零参数 - homing_speed: int = 100 # 回零速度 (rpm) - homing_timeout: float = 30.0 # 回零超时时间 - safe_clearance: float = 1.0 # 安全间隙 (mm) - position_stable_time: float = 3.0 # 位置稳定检测时间（秒） - position_check_interval: float = 0.2 # 位置检查间隔（秒） - - # 运动参数 - default_speed: int = 100 # 默认运动速度 (rpm) - default_acceleration: int = 1000 # 默认加速度 - - -@dataclass -class CoordinateOrigin: - """坐标原点信息""" - machine_origin_steps: Dict[str, int] = None # 机械原点步数位置 - work_origin_steps: Dict[str, int] = None # 工作原点步数位置 - is_homed: bool = False # 是否已回零 - timestamp: str = "" # 设定时间戳 - - def __post_init__(self): - if self.machine_origin_steps is None: - self.machine_origin_steps = {"x": 0, "y": 0, "z": 0} - if self.work_origin_steps is None: - self.work_origin_steps = {"x": 0, "y": 0, "z": 0} - - -class CoordinateSystemError(Exception): - """坐标系统异常""" - pass - - -class XYZController(XYZStepperController): - """XYZ三轴控制器""" - - def __init__(self, port: str, baudrate: int = 115200, - machine_config: Optional[MachineConfig] = None, - config_file: str = "machine_config.json", - auto_connect: bool = True): - """ - 初始化XYZ控制器 - - Args: - port: 串口端口 - baudrate: 波特率 - machine_config: 机械配置参数 - config_file: 配置文件路径 - auto_connect: 是否自动连接设备 - """ - super().__init__(port, baudrate) - - # 机械配置 - self.machine_config = machine_config or MachineConfig() - self.config_file = config_file - - # 坐标系统 - self.coordinate_origin = CoordinateOrigin() - self.origin_file = "coordinate_origin.json" - - # 连接状态 - self.is_connected = False - - # 加载配置 - self._load_config() - self._load_coordinate_origin() - - # 自动连接设备 - if auto_connect: - self.connect_device() - - def connect_device(self) -> bool: - """ - 连接设备并初始化 - - Returns: - bool: 连接是否成功 - """ - try: - logger.info(f"正在连接设备: {self.port}") - - # 连接硬件 - if not self.connect(): - logger.error("硬件连接失败") - return False - - self.is_connected = True - logger.info("设备连接成功") - - # 使能所有轴 - enable_results = self.enable_all_axes(True) - success_count = sum(1 for result in enable_results.values() if result) - logger.info(f"轴使能结果: {success_count}/{len(enable_results)} 成功") - - # 获取系统状态 - try: - status = self.get_system_status() - logger.info(f"系统状态获取成功: {len(status)} 项信息") - except Exception as e: - logger.warning(f"获取系统状态失败: {e}") - - return True - - except Exception as e: - logger.error(f"设备连接失败: {e}") - self.is_connected = False - return False - - def disconnect_device(self): - """断开设备连接""" - try: - if self.is_connected: - self.disconnect() # 使用父类的disconnect方法 - self.is_connected = False - logger.info("设备连接已断开") - except Exception as e: - logger.error(f"断开连接失败: {e}") - - def _load_config(self): - """加载机械配置""" - try: - if os.path.exists(self.config_file): - with open(self.config_file, 'r', encoding='utf-8') as f: - config_data = json.load(f) - # 更新配置参数 - for key, value in config_data.items(): - if hasattr(self.machine_config, key): - setattr(self.machine_config, key, value) - logger.info("机械配置加载完成") - except Exception as e: - logger.warning(f"加载机械配置失败: {e}，使用默认配置") - - def _save_config(self): - """保存机械配置""" - try: - with open(self.config_file, 'w', encoding='utf-8') as f: - json.dump(asdict(self.machine_config), f, indent=2, ensure_ascii=False) - logger.info("机械配置保存完成") - except Exception as e: - logger.error(f"保存机械配置失败: {e}") - - def _load_coordinate_origin(self): - """加载坐标原点信息""" - try: - if os.path.exists(self.origin_file): - with open(self.origin_file, 'r', encoding='utf-8') as f: - origin_data = json.load(f) - self.coordinate_origin = CoordinateOrigin(**origin_data) - logger.info("坐标原点信息加载完成") - except Exception as e: - logger.warning(f"加载坐标原点失败: {e}，使用默认设置") - - def _save_coordinate_origin(self): - """保存坐标原点信息""" - try: - # 更新时间戳 - from datetime import datetime - self.coordinate_origin.timestamp = datetime.now().isoformat() - - with open(self.origin_file, 'w', encoding='utf-8') as f: - json.dump(asdict(self.coordinate_origin), f, indent=2, ensure_ascii=False) - logger.info("坐标原点信息保存完成") - except Exception as e: - logger.error(f"保存坐标原点失败: {e}") - - # ==================== 坐标转换方法 ==================== - - def mm_to_steps(self, axis: MotorAxis, mm: float) -> int: - """毫米转步数""" - if axis == MotorAxis.X: - return int(mm * self.machine_config.steps_per_mm_x) - elif axis == MotorAxis.Y: - return int(mm * self.machine_config.steps_per_mm_y) - elif axis == MotorAxis.Z: - return int(mm * self.machine_config.steps_per_mm_z) - else: - raise ValueError(f"未知轴: {axis}") - - def steps_to_mm(self, axis: MotorAxis, steps: int) -> float: - """步数转毫米""" - if axis == MotorAxis.X: - return steps / self.machine_config.steps_per_mm_x - elif axis == MotorAxis.Y: - return steps / self.machine_config.steps_per_mm_y - elif axis == MotorAxis.Z: - return steps / self.machine_config.steps_per_mm_z - else: - raise ValueError(f"未知轴: {axis}") - - def work_to_machine_steps(self, x: float = None, y: float = None, z: float = None) -> Dict[str, int]: - """工作坐标转机械坐标步数""" - machine_steps = {} - - if x is not None: - work_steps = self.mm_to_steps(MotorAxis.X, x) - machine_steps['x'] = self.coordinate_origin.work_origin_steps['x'] + work_steps - - if y is not None: - work_steps = self.mm_to_steps(MotorAxis.Y, y) - machine_steps['y'] = self.coordinate_origin.work_origin_steps['y'] + work_steps - - if z is not None: - work_steps = self.mm_to_steps(MotorAxis.Z, z) - machine_steps['z'] = self.coordinate_origin.work_origin_steps['z'] + work_steps - - return machine_steps - - def machine_to_work_coords(self, machine_steps: Dict[str, int]) -> Dict[str, float]: - """机械坐标步数转工作坐标""" - work_coords = {} - - for axis_name, steps in machine_steps.items(): - axis = MotorAxis[axis_name.upper()] - work_origin_steps = self.coordinate_origin.work_origin_steps[axis_name] - relative_steps = steps - work_origin_steps - work_coords[axis_name] = self.steps_to_mm(axis, relative_steps) - - return work_coords - - def check_travel_limits(self, x: float = None, y: float = None, z: float = None) -> bool: - """检查行程限制""" - if x is not None and (x < 0 or x > self.machine_config.max_travel_x): - raise CoordinateSystemError(f"X轴超出行程范围: {x}mm (0 ~ {self.machine_config.max_travel_x}mm)") - - if y is not None and (y < 0 or y > self.machine_config.max_travel_y): - raise CoordinateSystemError(f"Y轴超出行程范围: {y}mm (0 ~ {self.machine_config.max_travel_y}mm)") - - if z is not None and (z < 0 or z > self.machine_config.max_travel_z): - raise CoordinateSystemError(f"Z轴超出行程范围: {z}mm (0 ~ {self.machine_config.max_travel_z}mm)") - - return True - - # ==================== 回零和原点设定方法 ==================== - - def home_axis(self, axis: MotorAxis, direction: int = -1) -> bool: - """ - 单轴回零到限位开关 - 使用步数变化检测 - - Args: - axis: 要回零的轴 - direction: 回零方向 (-1负方向, 1正方向) - - Returns: - bool: 回零是否成功 - """ - if not self.is_connected: - logger.error("设备未连接，无法执行回零操作") - return False - - try: - logger.info(f"开始{axis.name}轴回零") - - # 使能电机 - if not self.enable_motor(axis, True): - raise CoordinateSystemError(f"{axis.name}轴使能失败") - - # 设置回零速度模式，根据方向设置正负 - speed = self.machine_config.homing_speed * direction - if not self.set_speed_mode(axis, speed): - raise CoordinateSystemError(f"{axis.name}轴设置回零速度失败") - - - - # 智能回零检测 - 基于步数变化 - start_time = time.time() - limit_detected = False - final_position = None - - # 步数变化检测参数（从配置获取） - position_stable_time = self.machine_config.position_stable_time - check_interval = self.machine_config.position_check_interval - last_position = None - stable_start_time = None - - logger.info(f"{axis.name}轴开始移动，监测步数变化...") - - while time.time() - start_time < self.machine_config.homing_timeout: - status = self.get_motor_status(axis) - current_position = status.steps - - # 检查是否明确触碰限位开关 - if (direction < 0 and status.status == MotorStatus.REVERSE_LIMIT_STOP) or \ - (direction > 0 and status.status == MotorStatus.FORWARD_LIMIT_STOP): - # 停止运动 - self.emergency_stop(axis) - time.sleep(0.5) - - # 记录机械原点位置 - final_position = current_position - limit_detected = True - logger.info(f"{axis.name}轴检测到限位开关信号，位置: {final_position}步") - break - - # 检查是否发生碰撞 - if status.status == MotorStatus.COLLISION_STOP: - raise CoordinateSystemError(f"{axis.name}轴回零时发生碰撞") - - # 步数变化检测逻辑 - if last_position is not None: - # 检查位置是否发生变化 - if abs(current_position - last_position) <= 1: # 允许1步的误差 - # 位置基本没有变化 - if stable_start_time is None: - stable_start_time = time.time() - logger.debug(f"{axis.name}轴位置开始稳定在 {current_position}步") - elif time.time() - stable_start_time >= position_stable_time: - # 位置稳定超过指定时间，认为已到达限位 - self.emergency_stop(axis) - time.sleep(0.5) - - final_position = current_position - limit_detected = True - logger.info(f"{axis.name}轴位置稳定{position_stable_time}秒，假设已到达限位开关，位置: {final_position}步") - break - else: - # 位置发生变化，重置稳定计时 - stable_start_time = None - logger.debug(f"{axis.name}轴位置变化: {last_position} -> {current_position}") - - last_position = current_position - time.sleep(check_interval) - - # 超时处理 - if not limit_detected: - logger.warning(f"{axis.name}轴回零超时({self.machine_config.homing_timeout}秒)，强制停止") - self.emergency_stop(axis) - time.sleep(0.5) - - # 获取当前位置作为机械原点 - try: - status = self.get_motor_status(axis) - final_position = status.steps - logger.info(f"{axis.name}轴超时后位置: {final_position}步") - except Exception as e: - logger.error(f"获取{axis.name}轴位置失败: {e}") - return False - - # 记录机械原点位置 - self.coordinate_origin.machine_origin_steps[axis.name.lower()] = final_position - - # 从限位开关退出安全距离 - try: - clearance_steps = self.mm_to_steps(axis, self.machine_config.safe_clearance) - safe_position = final_position + (clearance_steps * -direction) # 反方向退出 - - if not self.move_to_position(axis, safe_position, - self.machine_config.default_speed): - logger.warning(f"{axis.name}轴无法退出到安全位置") - else: - self.wait_for_completion(axis, 10.0) - logger.info(f"{axis.name}轴已退出到安全位置: {safe_position}步") - except Exception as e: - logger.warning(f"{axis.name}轴退出安全位置时出错: {e}") - - status_msg = "限位检测成功" if limit_detected else "超时假设成功" - logger.info(f"{axis.name}轴回零完成 ({status_msg})，机械原点: {final_position}步") - return True - - except Exception as e: - logger.error(f"{axis.name}轴回零失败: {e}") - self.emergency_stop(axis) - return False - - def home_all_axes(self, sequence: list = None) -> bool: - """ - 全轴回零 (液体处理工作站安全回零) - - 液体处理工作站回零策略： - 1. Z轴必须首先回零，避免与容器、试管架等碰撞 - 2. 然后XY轴回零，确保移动路径安全 - 3. 严格按照Z->X->Y顺序执行，不允许更改 - - Args: - sequence: 回零顺序，液体处理工作站固定为Z->X->Y，不建议修改 - - Returns: - bool: 全轴回零是否成功 - """ - if not self.is_connected: - logger.error("设备未连接，无法执行回零操作") - return False - - # 液体处理工作站安全回零序列：Z轴绝对优先 - safe_sequence = [MotorAxis.Z, MotorAxis.X, MotorAxis.Y] - - if sequence is not None and sequence != safe_sequence: - logger.warning(f"液体处理工作站不建议修改回零序列，使用安全序列: {[axis.name for axis in safe_sequence]}") - - sequence = safe_sequence # 强制使用安全序列 - - logger.info("开始全轴回零") - - try: - for axis in sequence: - if not self.home_axis(axis): - logger.error(f"全轴回零失败，停止在{axis.name}轴") - return False - - # 轴间等待时间 - time.sleep(0.5) - - # 标记为已回零 - self.coordinate_origin.is_homed = True - self._save_coordinate_origin() - - logger.info("全轴回零完成") - return True - - except Exception as e: - logger.error(f"全轴回零异常: {e}") - return False - - def set_work_origin_here(self) -> bool: - """将当前位置设置为工作原点""" - if not self.is_connected: - logger.error("设备未连接，无法设置工作原点") - return False - - try: - if not self.coordinate_origin.is_homed: - logger.warning("建议先执行回零操作再设置工作原点") - - # 获取当前各轴位置 - positions = self.get_all_positions() - - for axis in MotorAxis: - axis_name = axis.name.lower() - current_steps = positions[axis].steps - self.coordinate_origin.work_origin_steps[axis_name] = current_steps - - logger.info(f"{axis.name}轴工作原点设置为: {current_steps}步 " - f"({self.steps_to_mm(axis, current_steps):.2f}mm)") - - self._save_coordinate_origin() - logger.info("工作原点设置完成") - return True - - except Exception as e: - logger.error(f"设置工作原点失败: {e}") - return False - - # ==================== 高级运动控制方法 ==================== - - def move_to_work_coord_safe(self, x: float = None, y: float = None, z: float = None, - speed: int = None, acceleration: int = None) -> bool: - """ - 安全移动到工作坐标系指定位置 (液体处理工作站专用) - 移动策略：Z轴先上升到安全高度 -> XY轴移动到目标位置 -> Z轴下降到目标位置 - - Args: - x, y, z: 工作坐标系下的目标位置 (mm) - speed: 运动速度 (rpm) - acceleration: 加速度 (rpm/s) - - Returns: - bool: 移动是否成功 - """ - if not self.is_connected: - logger.error("设备未连接，无法执行移动操作") - return False - - try: - # 检查坐标系是否已设置 - if not self.coordinate_origin.work_origin_steps: - raise CoordinateSystemError("工作原点未设置，请先调用set_work_origin_here()") - - # 检查行程限制 - self.check_travel_limits(x, y, z) - - # 设置运动参数 - speed = speed or self.machine_config.default_speed - acceleration = acceleration or self.machine_config.default_acceleration - - # 步骤1: Z轴先上升到安全高度 - if z is not None: - safe_z_steps = self.work_to_machine_steps(None, None, self.machine_config.safe_z_height) - if not self.move_to_position(MotorAxis.Z, safe_z_steps['z'], speed, acceleration): - logger.error("Z轴上升到安全高度失败") - return False - logger.info(f"Z轴上升到安全高度: {self.machine_config.safe_z_height} mm") - - # 等待Z轴移动完成 - self.wait_for_completion(MotorAxis.Z, 10.0) - - # 步骤2: XY轴移动到目标位置 - xy_success = True - if x is not None: - machine_steps = self.work_to_machine_steps(x, None, None) - if not self.move_to_position(MotorAxis.X, machine_steps['x'], speed, acceleration): - xy_success = False - - if y is not None: - machine_steps = self.work_to_machine_steps(None, y, None) - if not self.move_to_position(MotorAxis.Y, machine_steps['y'], speed, acceleration): - xy_success = False - - if not xy_success: - logger.error("XY轴移动失败") - return False - - if x is not None or y is not None: - logger.info(f"XY轴移动到目标位置: X:{x} Y:{y} mm") - # 等待XY轴移动完成 - if x is not None: - self.wait_for_completion(MotorAxis.X, 10.0) - if y is not None: - self.wait_for_completion(MotorAxis.Y, 10.0) - - # 步骤3: Z轴下降到目标位置 - if z is not None: - machine_steps = self.work_to_machine_steps(None, None, z) - if not self.move_to_position(MotorAxis.Z, machine_steps['z'], speed, acceleration): - logger.error("Z轴下降到目标位置失败") - return False - logger.info(f"Z轴下降到目标位置: {z} mm") - self.wait_for_completion(MotorAxis.Z, 10.0) - - logger.info(f"安全移动到工作坐标 X:{x} Y:{y} Z:{z} (mm) 完成") - return True - - except Exception as e: - logger.error(f"安全移动失败: {e}") - return False - - def move_to_work_coord(self, x: float = None, y: float = None, z: float = None, - speed: int = None, acceleration: int = None) -> bool: - """ - 移动到工作坐标 (已禁用) - - 此方法已被禁用，请使用 move_to_work_coord_safe() 方法。 - - Raises: - RuntimeError: 方法已禁用 - """ - error_msg = "Method disabled, use move_to_work_coord_safe instead" - logger.error(error_msg) - raise RuntimeError(error_msg) - - def move_relative_work_coord(self, dx: float = 0, dy: float = 0, dz: float = 0, - speed: int = None, acceleration: int = None) -> bool: - """ - 相对当前位置移动 - - Args: - dx, dy, dz: 相对移动距离 (mm) - speed: 运动速度 (rpm) - acceleration: 加速度 (rpm/s) - - Returns: - bool: 移动是否成功 - """ - if not self.is_connected: - logger.error("设备未连接，无法执行移动操作") - return False - - try: - # 获取当前工作坐标 - current_work = self.get_current_work_coords() - - # 计算目标坐标 - target_x = current_work['x'] + dx if dx != 0 else None - target_y = current_work['y'] + dy if dy != 0 else None - target_z = current_work['z'] + dz if dz != 0 else None - - return self.move_to_work_coord_safe(target_x, target_y, target_z, speed, acceleration) - - except Exception as e: - logger.error(f"相对移动失败: {e}") - return False - - def get_current_work_coords(self) -> Dict[str, float]: - """获取当前工作坐标""" - if not self.is_connected: - logger.error("设备未连接，无法获取当前坐标") - return {'x': 0.0, 'y': 0.0, 'z': 0.0} - - try: - # 获取当前机械坐标 - positions = self.get_all_positions() - machine_steps = {axis.name.lower(): pos.steps for axis, pos in positions.items()} - - # 转换为工作坐标 - return self.machine_to_work_coords(machine_steps) - - except Exception as e: - logger.error(f"获取工作坐标失败: {e}") - return {'x': 0.0, 'y': 0.0, 'z': 0.0} - - def get_current_position_mm(self) -> Dict[str, float]: - """获取当前位置坐标（毫米单位）""" - return self.get_current_work_coords() - - def wait_for_move_completion(self, timeout: float = 30.0) -> bool: - """等待所有轴运动完成""" - if not self.is_connected: - return False - - for axis in MotorAxis: - if not self.wait_for_completion(axis, timeout): - return False - return True - - # ==================== 系统状态和配置方法 ==================== - - def get_system_status(self) -> Dict: - """获取系统状态信息""" - status = { - "connection": { - "is_connected": self.is_connected, - "port": self.port, - "baudrate": self.baudrate - }, - "coordinate_system": { - "is_homed": self.coordinate_origin.is_homed, - "machine_origin": self.coordinate_origin.machine_origin_steps, - "work_origin": self.coordinate_origin.work_origin_steps, - "timestamp": self.coordinate_origin.timestamp - }, - "machine_config": asdict(self.machine_config), - "current_position": {} - } - - if self.is_connected: - try: - # 获取当前位置 - positions = self.get_all_positions() - for axis, pos in positions.items(): - axis_name = axis.name.lower() - status["current_position"][axis_name] = { - "steps": pos.steps, - "mm": self.steps_to_mm(axis, pos.steps), - "status": pos.status.name if hasattr(pos.status, 'name') else str(pos.status) - } - - # 获取工作坐标 - work_coords = self.get_current_work_coords() - status["current_work_coords"] = work_coords - - except Exception as e: - status["position_error"] = str(e) - - return status - - def update_machine_config(self, **kwargs): - """更新机械配置参数""" - for key, value in kwargs.items(): - if hasattr(self.machine_config, key): - setattr(self.machine_config, key, value) - logger.info(f"更新配置参数 {key}: {value}") - else: - logger.warning(f"未知配置参数: {key}") - - # 保存配置 - self._save_config() - - def reset_coordinate_system(self): - """重置坐标系统""" - self.coordinate_origin = CoordinateOrigin() - self._save_coordinate_origin() - logger.info("坐标系统已重置") - - def __enter__(self): - """上下文管理器入口""" - return self - - def __exit__(self, exc_type, exc_val, exc_tb): - """上下文管理器出口""" - self.disconnect_device() - - -def interactive_control(controller: XYZController): - """ - 交互式控制模式 - - Args: - controller: 已连接的控制器实例 - """ - print("\n" + "="*60) - print("进入交互式控制模式") - print("="*60) - - # 显示当前状态 - def show_status(): - try: - current_pos = controller.get_current_position_mm() - print(f"\n当前位置: X={current_pos['x']:.2f}mm, Y={current_pos['y']:.2f}mm, Z={current_pos['z']:.2f}mm") - except Exception as e: - print(f"获取位置失败: {e}") - - # 显示帮助信息 - def show_help(): - print("\n可用命令:") - print(" move <轴> <距离> - 相对移动，例: move x 10.5") - print(" goto - 绝对移动到指定坐标，例: goto 10 20 5") - print(" home [轴] - 回零操作，例: home 或 home x") - print(" origin - 设置当前位置为工作原点") - print(" status - 显示当前状态") - print(" speed <速度> - 设置运动速度(rpm)，例: speed 2000") - print(" limits - 显示行程限制") - print(" config - 显示机械配置") - print(" help - 显示此帮助信息") - print(" quit/exit - 退出交互模式") - print("\n提示:") - print(" - 轴名称: x, y, z") - print(" - 距离单位: 毫米(mm)") - print(" - 正数向正方向移动，负数向负方向移动") - - # 安全回零操作 - def safe_homing(): - print("\n系统安全初始化...") - print("为确保操作安全，系统将执行回零操作") - print("提示: 已安装限位开关，超时后将假设回零成功") - - # 询问用户是否继续 - while True: - user_choice = input("是否继续执行回零操作? (y/n/skip): ").strip().lower() - if user_choice in ['y', 'yes', '是']: - print("\n开始执行全轴回零...") - print("回零过程可能需要一些时间，请耐心等待...") - - # 执行回零操作 - homing_success = controller.home_all_axes() - - if homing_success: - print("回零操作完成，系统已就绪") - # 设置当前位置为工作原点 - if controller.set_work_origin_here(): - print("工作原点已设置为回零位置") - else: - print("工作原点设置失败，但可以继续操作") - return True - else: - print("回零操作失败") - print("这可能是由于通信问题，但限位开关应该已经起作用") - - # 询问是否继续 - retry_choice = input("是否仍要继续操作? (y/n): ").strip().lower() - if retry_choice in ['y', 'yes', '是']: - print("继续操作，请手动确认设备位置安全") - return True - else: - return False - - elif user_choice in ['n', 'no', '否']: - print("用户取消回零操作，退出交互模式") - return False - elif user_choice in ['skip', 's', '跳过']: - print("跳过回零操作，请注意安全！") - print("建议在开始操作前手动执行 'home' 命令") - return True - else: - print("请输入 y(继续)/n(取消)/skip(跳过)") - - # 安全回原点操作 - def safe_return_home(): - print("\n系统安全关闭...") - print("正在将所有轴移动到安全位置...") - - try: - # 移动到工作原点 (0,0,0) - 使用安全移动方法 - if controller.move_to_work_coord_safe(0, 0, 0, speed=500): - print("已安全返回工作原点") - show_status() - else: - print("返回原点失败，请手动检查设备位置") - except Exception as e: - print(f"返回原点时出错: {e}") - - # 当前运动速度 - current_speed = controller.machine_config.default_speed - - try: - # 1. 首先执行安全回零 - if not safe_homing(): - return - - # 2. 显示初始状态和帮助 - show_status() - show_help() - - while True: - try: - # 获取用户输入 - user_input = input("\n请输入命令 (输入 help 查看帮助): ").strip().lower() - - if not user_input: - continue - - # 解析命令 - parts = user_input.split() - command = parts[0] - - if command in ['quit', 'exit', 'q']: - print("准备退出交互模式...") - # 执行安全回原点操作 - safe_return_home() - print("退出交互模式") - break - - elif command == 'help' or command == 'h': - show_help() - - elif command == 'status' or command == 's': - show_status() - print(f"当前速度: {current_speed} rpm") - print(f"是否已回零: {controller.coordinate_origin.is_homed}") - - elif command == 'move' or command == 'm': - if len(parts) != 3: - print("格式错误，正确格式: move <轴> <距离>") - print(" 例如: move x 10.5") - continue - - axis = parts[1].lower() - try: - distance = float(parts[2]) - except ValueError: - print("距离必须是数字") - continue - - if axis not in ['x', 'y', 'z']: - print("轴名称必须是 x, y 或 z") - continue - - print(f"{axis.upper()}轴移动 {distance:+.2f}mm...") - - # 执行移动 - kwargs = {f'd{axis}': distance, 'speed': current_speed} - if controller.move_relative_work_coord(**kwargs): - print(f"{axis.upper()}轴移动完成") - show_status() - else: - print(f"{axis.upper()}轴移动失败") - - elif command == 'goto' or command == 'g': - if len(parts) != 4: - print("格式错误，正确格式: goto ") - print(" 例如: goto 10 20 5") - continue - - try: - x = float(parts[1]) - y = float(parts[2]) - z = float(parts[3]) - except ValueError: - print("坐标必须是数字") - continue - - print(f"移动到坐标 ({x}, {y}, {z})...") - print("使用安全移动策略: Z轴先上升 → XY移动 → Z轴下降") - - if controller.move_to_work_coord_safe(x, y, z, speed=current_speed): - print("安全移动到目标位置完成") - show_status() - else: - print("移动失败") - - elif command == 'home': - if len(parts) == 1: - # 全轴回零 - print("开始全轴回零...") - if controller.home_all_axes(): - print("全轴回零完成") - show_status() - else: - print("回零失败") - elif len(parts) == 2: - # 单轴回零 - axis_name = parts[1].lower() - if axis_name not in ['x', 'y', 'z']: - print("轴名称必须是 x, y 或 z") - continue - - axis = MotorAxis[axis_name.upper()] - print(f"{axis_name.upper()}轴回零...") - - if controller.home_axis(axis): - print(f"{axis_name.upper()}轴回零完成") - show_status() - else: - print(f"{axis_name.upper()}轴回零失败") - else: - print("格式错误，正确格式: home 或 home <轴>") - - elif command == 'origin' or command == 'o': - print("设置当前位置为工作原点...") - if controller.set_work_origin_here(): - print("工作原点设置完成") - show_status() - else: - print("工作原点设置失败") - - elif command == 'speed': - if len(parts) != 2: - print("格式错误，正确格式: speed <速度>") - print(" 例如: speed 2000") - continue - - try: - new_speed = int(parts[1]) - if new_speed <= 0: - print("速度必须大于0") - continue - if new_speed > 10000: - print("速度不能超过10000 rpm") - continue - - current_speed = new_speed - print(f"运动速度设置为: {current_speed} rpm") - - except ValueError: - print("速度必须是整数") - - elif command == 'limits' or command == 'l': - config = controller.machine_config - print("\n行程限制:") - print(f" X轴: 0 ~ {config.max_travel_x} mm") - print(f" Y轴: 0 ~ {config.max_travel_y} mm") - print(f" Z轴: 0 ~ {config.max_travel_z} mm") - - elif command == 'config' or command == 'c': - config = controller.machine_config - print("\n机械配置:") - print(f" X轴步距: {config.steps_per_mm_x:.1f} 步/mm") - print(f" Y轴步距: {config.steps_per_mm_y:.1f} 步/mm") - print(f" Z轴步距: {config.steps_per_mm_z:.1f} 步/mm") - print(f" 回零速度: {config.homing_speed} rpm") - print(f" 默认速度: {config.default_speed} rpm") - print(f" 安全间隙: {config.safe_clearance} mm") - - else: - print(f"未知命令: {command}") - print("输入 help 查看可用命令") - - except KeyboardInterrupt: - print("\n\n用户中断，退出交互模式") - break - except Exception as e: - print(f"命令执行错误: {e}") - print("输入 help 查看正确的命令格式") - - finally: - # 确保正确断开连接 - try: - controller.disconnect_device() - print("设备连接已断开") - except Exception as e: - print(f"断开连接时出错: {e}") - - -def run_tests(): - """运行测试函数""" - print("=== XYZ控制器测试 ===") - - # 1. 测试机械配置 - print("\n1. 测试机械配置") - config = MachineConfig( - steps_per_mm_x=204.8, # 16384步/圈 ÷ 80mm导程 - steps_per_mm_y=204.8, # 16384步/圈 ÷ 80mm导程 - steps_per_mm_z=3276.8, # 16384步/圈 ÷ 5mm导程 - max_travel_x=340.0, - max_travel_y=250.0, - max_travel_z=160.0, - homing_speed=100, - default_speed=100 - ) - print(f"X轴步距: {config.steps_per_mm_x} 步/mm") - print(f"Y轴步距: {config.steps_per_mm_y} 步/mm") - print(f"Z轴步距: {config.steps_per_mm_z} 步/mm") - print(f"行程限制: X={config.max_travel_x}mm, Y={config.max_travel_y}mm, Z={config.max_travel_z}mm") - - # 2. 测试坐标原点数据结构 - print("\n2. 测试坐标原点数据结构") - origin = CoordinateOrigin() - print(f"初始状态: 已回零={origin.is_homed}") - print(f"机械原点: {origin.machine_origin_steps}") - print(f"工作原点: {origin.work_origin_steps}") - - # 设置示例数据 - origin.machine_origin_steps = {'x': 0, 'y': 0, 'z': 0} - origin.work_origin_steps = {'x': 16384, 'y': 16384, 'z': 13107} # 5mm, 5mm, 2mm (基于16384步/圈) - origin.is_homed = True - origin.timestamp = "2024-09-26 12:00:00" - print(f"设置后: 已回零={origin.is_homed}") - print(f"机械原点: {origin.machine_origin_steps}") - print(f"工作原点: {origin.work_origin_steps}") - - # 3. 测试离线功能 - print("\n3. 测试离线功能") - - # 创建离线控制器（不自动连接） - offline_controller = XYZController( - port='/dev/tty.usbserial-3130', - machine_config=config, - auto_connect=False - ) - - # 测试单位转换 - print("\n单位转换测试:") - test_distances = [1.0, 5.0, 10.0, 25.5] - for distance in test_distances: - x_steps = offline_controller.mm_to_steps(MotorAxis.X, distance) - y_steps = offline_controller.mm_to_steps(MotorAxis.Y, distance) - z_steps = offline_controller.mm_to_steps(MotorAxis.Z, distance) - print(f"{distance}mm -> X:{x_steps}步, Y:{y_steps}步, Z:{z_steps}步") - - # 反向转换验证 - x_mm = offline_controller.steps_to_mm(MotorAxis.X, x_steps) - y_mm = offline_controller.steps_to_mm(MotorAxis.Y, y_steps) - z_mm = offline_controller.steps_to_mm(MotorAxis.Z, z_steps) - print(f"反向转换: X:{x_mm:.2f}mm, Y:{y_mm:.2f}mm, Z:{z_mm:.2f}mm") - - # 测试坐标系转换 - print("\n坐标系转换测试:") - offline_controller.coordinate_origin = origin # 使用示例原点 - work_coords = [(0, 0, 0), (10, 15, 5), (50, 30, 20)] - - for x, y, z in work_coords: - try: - machine_steps = offline_controller.work_to_machine_steps(x, y, z) - print(f"工作坐标 ({x}, {y}, {z}) -> 机械步数 {machine_steps}") - - # 反向转换验证 - work_coords_back = offline_controller.machine_to_work_coords(machine_steps) - print(f"反向转换: ({work_coords_back['x']:.2f}, {work_coords_back['y']:.2f}, {work_coords_back['z']:.2f})") - except Exception as e: - print(f"转换失败: {e}") - - # 测试行程限制检查 - print("\n行程限制检查测试:") - test_positions = [ - (50, 50, 25, "正常位置"), - (250, 50, 25, "X轴超限"), - (50, 350, 25, "Y轴超限"), - (50, 50, 150, "Z轴超限"), - (-10, 50, 25, "X轴负超限"), - (50, -10, 25, "Y轴负超限"), - (50, 50, -5, "Z轴负超限") - ] - - for x, y, z, desc in test_positions: - try: - offline_controller.check_travel_limits(x, y, z) - print(f"{desc} ({x}, {y}, {z}): 有效") - except CoordinateSystemError as e: - print(f"{desc} ({x}, {y}, {z}): 超限 - {e}") - - print("\n=== 离线功能测试完成 ===") - - # 4. 硬件连接测试 - print("\n4. 硬件连接测试") - print("尝试连接真实设备...") - - # 可能的串口列表 - possible_ports = [ - '/dev/ttyCH341USB0' # CH340 USB串口转换器 - ] - - connected_controller = None - - for port in possible_ports: - try: - print(f"尝试连接端口: {port}") - controller = XYZController( - port=port, - machine_config=config, - auto_connect=True - ) - - if controller.is_connected: - print(f"成功连接到 {port}") - connected_controller = controller - - # 获取系统状态 - status = controller.get_system_status() - print("\n系统状态:") - print(f" 连接状态: {status['connection']['is_connected']}") - print(f" 是否已回零: {status['coordinate_system']['is_homed']}") - - if 'current_position' in status: - print(" 当前位置:") - for axis, pos_info in status['current_position'].items(): - print(f" {axis.upper()}轴: {pos_info['steps']}步 ({pos_info['mm']:.2f}mm)") - - # 测试基本移动功能 - print("\n测试基本移动功能:") - try: - # 获取当前位置 - current_pos = controller.get_current_position_mm() - print(f"当前工作坐标: {current_pos}") - - # 小幅移动测试 - print("执行小幅移动测试 (X+1mm)...") - if controller.move_relative_work_coord(dx=1.0, speed=500): - print("移动成功") - time.sleep(1) - new_pos = controller.get_current_position_mm() - print(f"移动后坐标: {new_pos}") - else: - print("移动失败") - - except Exception as e: - print(f"移动测试失败: {e}") - - break - - except Exception as e: - print(f"连接 {port} 失败: {e}") - continue - - if not connected_controller: - print("未找到可用的设备端口") - print("请检查:") - print(" 1. 设备是否正确连接") - print(" 2. 串口端口是否正确") - print(" 3. 设备驱动是否安装") - else: - # 进入交互式控制模式 - interactive_control(connected_controller) - - print("\n=== XYZ控制器测试完成 ===") - - -# ==================== 测试和示例代码 ==================== -if __name__ == "__main__": - run_tests() \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/core/__init__.py b/unilabos/devices/laiyu_liquid/core/__init__.py deleted file mode 100644 index 87214f83..00000000 --- a/unilabos/devices/laiyu_liquid/core/__init__.py +++ /dev/null @@ -1,44 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -LaiYu液体处理设备核心模块 - -该模块包含LaiYu液体处理设备的核心功能组件： -- LaiYu_Liquid.py: 主设备类和配置管理 -- abstract_protocol.py: 抽象协议定义 -- laiyu_liquid_res.py: 设备资源管理 - -作者: UniLab团队 -版本: 2.0.0 -""" - -from .laiyu_liquid_main import ( - LaiYuLiquid, - LaiYuLiquidConfig, - LaiYuLiquidBackend, - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack, - create_quick_setup -) - -from .laiyu_liquid_res import ( - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack -) - -__all__ = [ - # 主设备类 - 'LaiYuLiquid', - 'LaiYuLiquidConfig', - 'LaiYuLiquidBackend', - - # 设备资源 - 'LaiYuLiquidDeck', - 'LaiYuLiquidContainer', - 'LaiYuLiquidTipRack', - - # 工具函数 - 'create_quick_setup' -] \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/core/abstract_protocol.py b/unilabos/devices/laiyu_liquid/core/abstract_protocol.py deleted file mode 100644 index 9959c364..00000000 --- a/unilabos/devices/laiyu_liquid/core/abstract_protocol.py +++ /dev/null @@ -1,529 +0,0 @@ -""" -LaiYu_Liquid 抽象协议实现 - -该模块提供了液体资源管理和转移的抽象协议，包括： -- MaterialResource: 液体资源管理类 -- transfer_liquid: 液体转移函数 -- 相关的辅助类和函数 - -主要功能： -- 管理多孔位的液体资源 -- 计算和跟踪液体体积 -- 处理液体转移操作 -- 提供资源状态查询 -""" - -import logging -from typing import Dict, List, Optional, Union, Any, Tuple -from dataclasses import dataclass, field -from enum import Enum -import uuid -import time - -# pylabrobot 导入 -from pylabrobot.resources import Resource, Well, Plate - -logger = logging.getLogger(__name__) - - -class LiquidType(Enum): - """液体类型枚举""" - WATER = "water" - ETHANOL = "ethanol" - DMSO = "dmso" - BUFFER = "buffer" - SAMPLE = "sample" - REAGENT = "reagent" - WASTE = "waste" - UNKNOWN = "unknown" - - -@dataclass -class LiquidInfo: - """液体信息类""" - liquid_type: LiquidType = LiquidType.UNKNOWN - volume: float = 0.0 # 体积 (μL) - concentration: Optional[float] = None # 浓度 (mg/ml, M等) - ph: Optional[float] = None # pH值 - temperature: Optional[float] = None # 温度 (°C) - viscosity: Optional[float] = None # 粘度 (cP) - density: Optional[float] = None # 密度 (g/ml) - description: str = "" # 描述信息 - - def __str__(self) -> str: - return f"{self.liquid_type.value}({self.description})" - - -@dataclass -class WellContent: - """孔位内容类""" - volume: float = 0.0 # 当前体积 (ul) - max_volume: float = 1000.0 # 最大容量 (ul) - liquid_info: LiquidInfo = field(default_factory=LiquidInfo) - last_updated: float = field(default_factory=time.time) - - @property - def is_empty(self) -> bool: - """检查是否为空""" - return self.volume <= 0.0 - - @property - def is_full(self) -> bool: - """检查是否已满""" - return self.volume >= self.max_volume - - @property - def available_volume(self) -> float: - """可用体积""" - return max(0.0, self.max_volume - self.volume) - - @property - def fill_percentage(self) -> float: - """填充百分比""" - return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0 - - def can_add_volume(self, volume: float) -> bool: - """检查是否可以添加指定体积""" - return (self.volume + volume) <= self.max_volume - - def can_remove_volume(self, volume: float) -> bool: - """检查是否可以移除指定体积""" - return self.volume >= volume - - def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool: - """ - 添加液体体积 - - Args: - volume: 要添加的体积 (ul) - liquid_info: 液体信息 - - Returns: - bool: 是否成功添加 - """ - if not self.can_add_volume(volume): - return False - - self.volume += volume - if liquid_info: - self.liquid_info = liquid_info - self.last_updated = time.time() - return True - - def remove_volume(self, volume: float) -> bool: - """ - 移除液体体积 - - Args: - volume: 要移除的体积 (ul) - - Returns: - bool: 是否成功移除 - """ - if not self.can_remove_volume(volume): - return False - - self.volume -= volume - self.last_updated = time.time() - - # 如果完全清空，重置液体信息 - if self.volume <= 0.0: - self.volume = 0.0 - self.liquid_info = LiquidInfo() - - return True - - -class MaterialResource: - """ - 液体资源管理类 - - 该类用于管理液体处理过程中的资源状态，包括： - - 跟踪多个孔位的液体体积和类型 - - 计算总体积和可用体积 - - 处理液体的添加和移除 - - 提供资源状态查询 - """ - - def __init__( - self, - resource: Resource, - wells: Optional[List[Well]] = None, - default_max_volume: float = 1000.0 - ): - """ - 初始化材料资源 - - Args: - resource: pylabrobot 资源对象 - wells: 孔位列表，如果为None则自动获取 - default_max_volume: 默认最大体积 (ul) - """ - self.resource = resource - self.resource_id = str(uuid.uuid4()) - self.default_max_volume = default_max_volume - - # 获取孔位列表 - if wells is None: - if hasattr(resource, 'get_wells'): - self.wells = resource.get_wells() - elif hasattr(resource, 'wells'): - self.wells = resource.wells - else: - # 如果没有孔位，创建一个虚拟孔位 - self.wells = [resource] - else: - self.wells = wells - - # 初始化孔位内容 - self.well_contents: Dict[str, WellContent] = {} - for well in self.wells: - well_id = self._get_well_id(well) - self.well_contents[well_id] = WellContent( - max_volume=default_max_volume - ) - - logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}") - - def _get_well_id(self, well: Union[Well, Resource]) -> str: - """获取孔位ID""" - if hasattr(well, 'name'): - return well.name - else: - return str(id(well)) - - @property - def name(self) -> str: - """资源名称""" - return self.resource.name - - @property - def total_volume(self) -> float: - """总液体体积""" - return sum(content.volume for content in self.well_contents.values()) - - @property - def total_max_volume(self) -> float: - """总最大容量""" - return sum(content.max_volume for content in self.well_contents.values()) - - @property - def available_volume(self) -> float: - """总可用体积""" - return sum(content.available_volume for content in self.well_contents.values()) - - @property - def well_count(self) -> int: - """孔位数量""" - return len(self.wells) - - @property - def empty_wells(self) -> List[str]: - """空孔位列表""" - return [well_id for well_id, content in self.well_contents.items() - if content.is_empty] - - @property - def full_wells(self) -> List[str]: - """满孔位列表""" - return [well_id for well_id, content in self.well_contents.items() - if content.is_full] - - @property - def occupied_wells(self) -> List[str]: - """有液体的孔位列表""" - return [well_id for well_id, content in self.well_contents.items() - if not content.is_empty] - - def get_well_content(self, well_id: str) -> Optional[WellContent]: - """获取指定孔位的内容""" - return self.well_contents.get(well_id) - - def get_well_volume(self, well_id: str) -> float: - """获取指定孔位的体积""" - content = self.get_well_content(well_id) - return content.volume if content else 0.0 - - def set_well_volume( - self, - well_id: str, - volume: float, - liquid_info: Optional[LiquidInfo] = None - ) -> bool: - """ - 设置指定孔位的体积 - - Args: - well_id: 孔位ID - volume: 体积 (ul) - liquid_info: 液体信息 - - Returns: - bool: 是否成功设置 - """ - if well_id not in self.well_contents: - logger.error(f"孔位 {well_id} 不存在") - return False - - content = self.well_contents[well_id] - if volume > content.max_volume: - logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}") - return False - - content.volume = max(0.0, volume) - if liquid_info: - content.liquid_info = liquid_info - content.last_updated = time.time() - - logger.info(f"设置孔位 {well_id} 体积: {volume}ul") - return True - - def add_liquid( - self, - well_id: str, - volume: float, - liquid_info: Optional[LiquidInfo] = None - ) -> bool: - """ - 向指定孔位添加液体 - - Args: - well_id: 孔位ID - volume: 添加的体积 (ul) - liquid_info: 液体信息 - - Returns: - bool: 是否成功添加 - """ - if well_id not in self.well_contents: - logger.error(f"孔位 {well_id} 不存在") - return False - - content = self.well_contents[well_id] - success = content.add_volume(volume, liquid_info) - - if success: - logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体") - else: - logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体") - - return success - - def remove_liquid(self, well_id: str, volume: float) -> bool: - """ - 从指定孔位移除液体 - - Args: - well_id: 孔位ID - volume: 移除的体积 (ul) - - Returns: - bool: 是否成功移除 - """ - if well_id not in self.well_contents: - logger.error(f"孔位 {well_id} 不存在") - return False - - content = self.well_contents[well_id] - success = content.remove_volume(volume) - - if success: - logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体") - else: - logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体") - - return success - - def find_wells_with_volume(self, min_volume: float) -> List[str]: - """ - 查找具有指定最小体积的孔位 - - Args: - min_volume: 最小体积 (ul) - - Returns: - List[str]: 符合条件的孔位ID列表 - """ - return [well_id for well_id, content in self.well_contents.items() - if content.volume >= min_volume] - - def find_wells_with_space(self, min_space: float) -> List[str]: - """ - 查找具有指定最小空间的孔位 - - Args: - min_space: 最小空间 (ul) - - Returns: - List[str]: 符合条件的孔位ID列表 - """ - return [well_id for well_id, content in self.well_contents.items() - if content.available_volume >= min_space] - - def get_status_summary(self) -> Dict[str, Any]: - """获取资源状态摘要""" - return { - "resource_name": self.name, - "resource_id": self.resource_id, - "well_count": self.well_count, - "total_volume": self.total_volume, - "total_max_volume": self.total_max_volume, - "available_volume": self.available_volume, - "fill_percentage": (self.total_volume / self.total_max_volume) * 100.0, - "empty_wells": len(self.empty_wells), - "full_wells": len(self.full_wells), - "occupied_wells": len(self.occupied_wells) - } - - def get_detailed_status(self) -> Dict[str, Any]: - """获取详细状态信息""" - well_details = {} - for well_id, content in self.well_contents.items(): - well_details[well_id] = { - "volume": content.volume, - "max_volume": content.max_volume, - "available_volume": content.available_volume, - "fill_percentage": content.fill_percentage, - "liquid_type": content.liquid_info.liquid_type.value, - "description": content.liquid_info.description, - "last_updated": content.last_updated - } - - return { - "summary": self.get_status_summary(), - "wells": well_details - } - - -def transfer_liquid( - source: MaterialResource, - target: MaterialResource, - volume: float, - source_well_id: Optional[str] = None, - target_well_id: Optional[str] = None, - liquid_info: Optional[LiquidInfo] = None -) -> bool: - """ - 在两个材料资源之间转移液体 - - Args: - source: 源资源 - target: 目标资源 - volume: 转移体积 (ul) - source_well_id: 源孔位ID，如果为None则自动选择 - target_well_id: 目标孔位ID，如果为None则自动选择 - liquid_info: 液体信息 - - Returns: - bool: 转移是否成功 - """ - try: - # 自动选择源孔位 - if source_well_id is None: - available_wells = source.find_wells_with_volume(volume) - if not available_wells: - logger.error(f"源资源 {source.name} 没有足够体积的孔位") - return False - source_well_id = available_wells[0] - - # 自动选择目标孔位 - if target_well_id is None: - available_wells = target.find_wells_with_space(volume) - if not available_wells: - logger.error(f"目标资源 {target.name} 没有足够空间的孔位") - return False - target_well_id = available_wells[0] - - # 检查源孔位是否有足够液体 - if not source.get_well_content(source_well_id).can_remove_volume(volume): - logger.error(f"源孔位 {source_well_id} 液体不足") - return False - - # 检查目标孔位是否有足够空间 - if not target.get_well_content(target_well_id).can_add_volume(volume): - logger.error(f"目标孔位 {target_well_id} 空间不足") - return False - - # 获取源液体信息 - source_content = source.get_well_content(source_well_id) - transfer_liquid_info = liquid_info or source_content.liquid_info - - # 执行转移 - if source.remove_liquid(source_well_id, volume): - if target.add_liquid(target_well_id, volume, transfer_liquid_info): - logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]") - return True - else: - # 如果目标添加失败，回滚源操作 - source.add_liquid(source_well_id, volume, source_content.liquid_info) - logger.error("目标添加失败，已回滚源操作") - return False - else: - logger.error("源移除失败") - return False - - except Exception as e: - logger.error(f"液体转移失败: {e}") - return False - - -def create_material_resource( - name: str, - resource: Resource, - initial_volumes: Optional[Dict[str, float]] = None, - liquid_info: Optional[LiquidInfo] = None, - max_volume: float = 1000.0 -) -> MaterialResource: - """ - 创建材料资源的便捷函数 - - Args: - name: 资源名称 - resource: pylabrobot 资源对象 - initial_volumes: 初始体积字典 {well_id: volume} - liquid_info: 液体信息 - max_volume: 最大体积 - - Returns: - MaterialResource: 创建的材料资源 - """ - material_resource = MaterialResource( - resource=resource, - default_max_volume=max_volume - ) - - # 设置初始体积 - if initial_volumes: - for well_id, volume in initial_volumes.items(): - material_resource.set_well_volume(well_id, volume, liquid_info) - - return material_resource - - -def batch_transfer_liquid( - transfers: List[Tuple[MaterialResource, MaterialResource, float]], - liquid_info: Optional[LiquidInfo] = None -) -> List[bool]: - """ - 批量液体转移 - - Args: - transfers: 转移列表 [(source, target, volume), ...] - liquid_info: 液体信息 - - Returns: - List[bool]: 每个转移操作的结果 - """ - results = [] - - for source, target, volume in transfers: - result = transfer_liquid(source, target, volume, liquid_info=liquid_info) - results.append(result) - - if not result: - logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}") - - success_count = sum(results) - logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功") - - return results \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py deleted file mode 100644 index f369a208..00000000 --- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py +++ /dev/null @@ -1,888 +0,0 @@ -""" -LaiYu_Liquid 液体处理工作站主要集成文件 - -该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。 -主要包含： -- LaiYuLiquidBackend: 硬件通信后端 -- LaiYuLiquid: 主要接口类 -- 相关的异常类和容器类 -""" - -import asyncio -import logging -import time -from typing import List, Optional, Dict, Any, Union, Tuple -from dataclasses import dataclass -from abc import ABC, abstractmethod - -from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode - -# 基础导入 -try: - from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well - - PYLABROBOT_AVAILABLE = True -except ImportError: - # 如果 pylabrobot 不可用，创建基础的模拟类 - PYLABROBOT_AVAILABLE = False - - class Resource: - def __init__(self, name: str): - self.name = name - - class Deck(Resource): - pass - - class Plate(Resource): - pass - - class TipRack(Resource): - pass - - class Tip(Resource): - pass - - class Well(Resource): - pass - - -# LaiYu_Liquid 控制器导入 -try: - from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters - from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis - - CONTROLLERS_AVAILABLE = True -except ImportError: - CONTROLLERS_AVAILABLE = False - - # 创建模拟的控制器类 - class PipetteController: - def __init__(self, *args, **kwargs): - pass - - def connect(self): - return True - - def initialize(self): - return True - - class XYZController: - def __init__(self, *args, **kwargs): - pass - - def connect_device(self): - return True - - -logger = logging.getLogger(__name__) - - -class LaiYuLiquidError(RuntimeError): - """LaiYu_Liquid 设备异常""" - - pass - - -@dataclass -class LaiYuLiquidConfig: - """LaiYu_Liquid 设备配置""" - - port: str = "/dev/cu.usbserial-3130" # RS485转USB端口 - address: int = 1 # 设备地址 - baudrate: int = 9600 # 波特率 - timeout: float = 5.0 # 通信超时时间 - - # 工作台尺寸 - deck_width: float = 340.0 # 工作台宽度 (mm) - deck_height: float = 250.0 # 工作台高度 (mm) - deck_depth: float = 160.0 # 工作台深度 (mm) - - # 移液参数 - max_volume: float = 1000.0 # 最大体积 (μL) - min_volume: float = 0.1 # 最小体积 (μL) - - # 运动参数 - max_speed: float = 100.0 # 最大速度 (mm/s) - acceleration: float = 50.0 # 加速度 (mm/s²) - - # 安全参数 - safe_height: float = 50.0 # 安全高度 (mm) - tip_pickup_depth: float = 10.0 # 吸头拾取深度 (mm) - liquid_detection: bool = True # 液面检测 - - # 取枪头相关参数 - tip_pickup_speed: int = 30 # 取枪头时的移动速度 (rpm) - tip_pickup_acceleration: int = 500 # 取枪头时的加速度 (rpm/s) - tip_approach_height: float = 5.0 # 接近枪头时的高度 (mm) - tip_pickup_force_depth: float = 2.0 # 强制插入深度 (mm) - tip_pickup_retract_height: float = 20.0 # 取枪头后的回退高度 (mm) - - # 丢弃枪头相关参数 - tip_drop_height: float = 10.0 # 丢弃枪头时的高度 (mm) - tip_drop_speed: int = 50 # 丢弃枪头时的移动速度 (rpm) - trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0) # 垃圾桶位置 (mm) - - # 安全范围配置 - deck_width: float = 300.0 # 工作台宽度 (mm) - deck_height: float = 200.0 # 工作台高度 (mm) - deck_depth: float = 100.0 # 工作台深度 (mm) - safe_height: float = 50.0 # 安全高度 (mm) - position_validation: bool = True # 启用位置验证 - emergency_stop_enabled: bool = True # 启用紧急停止 - - -class LaiYuLiquidDeck: - """LaiYu_Liquid 工作台管理""" - - def __init__(self, config: LaiYuLiquidConfig): - self.config = config - self.resources: Dict[str, Resource] = {} - self.positions: Dict[str, Tuple[float, float, float]] = {} - - def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]): - """添加资源到工作台""" - self.resources[name] = resource - self.positions[name] = position - - def get_resource(self, name: str) -> Optional[Resource]: - """获取资源""" - return self.resources.get(name) - - def get_position(self, name: str) -> Optional[Tuple[float, float, float]]: - """获取资源位置""" - return self.positions.get(name) - - def list_resources(self) -> List[str]: - """列出所有资源""" - return list(self.resources.keys()) - - -class LaiYuLiquidContainer: - """LaiYu_Liquid 容器类""" - - def __init__( - self, - name: str, - size_x: float = 0, - size_y: float = 0, - size_z: float = 0, - container_type: str = "", - volume: float = 0.0, - max_volume: float = 1000.0, - lid_height: float = 0.0, - ): - self.name = name - self.size_x = size_x - self.size_y = size_y - self.size_z = size_z - self.lid_height = lid_height - self.container_type = container_type - self.volume = volume - self.max_volume = max_volume - self.last_updated = time.time() - self.child_resources = {} # 存储子资源 - - @property - def is_empty(self) -> bool: - return self.volume <= 0.0 - - @property - def is_full(self) -> bool: - return self.volume >= self.max_volume - - @property - def available_volume(self) -> float: - return max(0.0, self.max_volume - self.volume) - - def add_volume(self, volume: float) -> bool: - """添加体积""" - if self.volume + volume <= self.max_volume: - self.volume += volume - self.last_updated = time.time() - return True - return False - - def remove_volume(self, volume: float) -> bool: - """移除体积""" - if self.volume >= volume: - self.volume -= volume - self.last_updated = time.time() - return True - return False - - def assign_child_resource(self, resource, location=None): - """分配子资源 - 与 PyLabRobot 资源管理系统兼容""" - if hasattr(resource, "name"): - self.child_resources[resource.name] = {"resource": resource, "location": location} - - -class LaiYuLiquidTipRack: - """LaiYu_Liquid 吸头架类""" - - def __init__( - self, - name: str, - size_x: float = 0, - size_y: float = 0, - size_z: float = 0, - tip_count: int = 96, - tip_volume: float = 1000.0, - ): - self.name = name - self.size_x = size_x - self.size_y = size_y - self.size_z = size_z - self.tip_count = tip_count - self.tip_volume = tip_volume - self.tips_available = [True] * tip_count - self.child_resources = {} # 存储子资源 - - @property - def available_tips(self) -> int: - return sum(self.tips_available) - - @property - def is_empty(self) -> bool: - return self.available_tips == 0 - - def pick_tip(self, position: int) -> bool: - """拾取吸头""" - if 0 <= position < self.tip_count and self.tips_available[position]: - self.tips_available[position] = False - return True - return False - - def has_tip(self, position: int) -> bool: - """检查位置是否有吸头""" - if 0 <= position < self.tip_count: - return self.tips_available[position] - return False - - def assign_child_resource(self, resource, location=None): - """分配子资源到指定位置""" - self.child_resources[resource.name] = {"resource": resource, "location": location} - - -def get_module_info(): - """获取模块信息""" - return { - "name": "LaiYu_Liquid", - "version": "1.0.0", - "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能", - "author": "UniLabOS Team", - "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"], - "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]}, - } - - -class LaiYuLiquidBackend: - """LaiYu_Liquid 硬件通信后端""" - - _ros_node: BaseROS2DeviceNode - - def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None): - self.config = config - self.deck = deck # 工作台引用，用于获取资源位置信息 - self.pipette_controller = None - self.xyz_controller = None - self.is_connected = False - self.is_initialized = False - - # 状态跟踪 - self.current_position = (0.0, 0.0, 0.0) - self.tip_attached = False - self.current_volume = 0.0 - - def post_init(self, ros_node: BaseROS2DeviceNode): - self._ros_node = ros_node - - def _validate_position(self, x: float, y: float, z: float) -> bool: - """验证位置是否在安全范围内""" - try: - # 检查X轴范围 - if not (0 <= x <= self.config.deck_width): - logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]") - return False - - # 检查Y轴范围 - if not (0 <= y <= self.config.deck_height): - logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]") - return False - - # 检查Z轴范围（负值表示向下，0为工作台表面） - if not (-self.config.deck_depth <= z <= self.config.safe_height): - logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]") - return False - - return True - except Exception as e: - logger.error(f"位置验证失败: {e}") - return False - - def _check_hardware_ready(self) -> bool: - """检查硬件是否准备就绪""" - if not self.is_connected: - logger.error("设备未连接") - return False - - if CONTROLLERS_AVAILABLE: - if self.xyz_controller is None: - logger.error("XYZ控制器未初始化") - return False - - return True - - async def emergency_stop(self) -> bool: - """紧急停止所有运动""" - try: - logger.warning("执行紧急停止") - - if CONTROLLERS_AVAILABLE and self.xyz_controller: - # 停止XYZ控制器 - await self.xyz_controller.stop_all_motion() - logger.info("XYZ控制器已停止") - - if self.pipette_controller: - # 停止移液器控制器 - await self.pipette_controller.stop() - logger.info("移液器控制器已停止") - - return True - except Exception as e: - logger.error(f"紧急停止失败: {e}") - return False - - async def move_to_safe_position(self) -> bool: - """移动到安全位置""" - try: - if not self._check_hardware_ready(): - return False - - safe_position = ( - self.config.deck_width / 2, # 工作台中心X - self.config.deck_height / 2, # 工作台中心Y - self.config.safe_height, # 安全高度Z - ) - - if not self._validate_position(*safe_position): - logger.error("安全位置无效") - return False - - if CONTROLLERS_AVAILABLE and self.xyz_controller: - await self.xyz_controller.move_to_work_coord(*safe_position) - self.current_position = safe_position - logger.info(f"已移动到安全位置: {safe_position}") - return True - else: - # 模拟模式 - self.current_position = safe_position - logger.info("模拟移动到安全位置") - return True - - except Exception as e: - logger.error(f"移动到安全位置失败: {e}") - return False - - async def setup(self) -> bool: - """设置硬件连接""" - try: - if CONTROLLERS_AVAILABLE: - # 初始化移液器控制器 - self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address) - - # 初始化XYZ控制器 - machine_config = MachineConfig() - self.xyz_controller = XYZController( - port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config - ) - - # 连接设备 - pipette_connected = await asyncio.to_thread(self.pipette_controller.connect) - xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device) - - if pipette_connected and xyz_connected: - self.is_connected = True - logger.info("LaiYu_Liquid 硬件连接成功") - return True - else: - logger.error("LaiYu_Liquid 硬件连接失败") - return False - else: - # 模拟模式 - logger.info("LaiYu_Liquid 运行在模拟模式") - self.is_connected = True - return True - - except Exception as e: - logger.error(f"LaiYu_Liquid 设置失败: {e}") - return False - - async def stop(self): - """停止设备""" - try: - if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"): - await asyncio.to_thread(self.pipette_controller.disconnect) - - if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"): - await asyncio.to_thread(self.xyz_controller.disconnect) - - self.is_connected = False - self.is_initialized = False - logger.info("LaiYu_Liquid 已停止") - - except Exception as e: - logger.error(f"LaiYu_Liquid 停止失败: {e}") - - async def move_to(self, x: float, y: float, z: float) -> bool: - """移动到指定位置""" - try: - if not self.is_connected: - raise LaiYuLiquidError("设备未连接") - - # 模拟移动 - await self._ros_node.sleep(0.1) # 模拟移动时间 - self.current_position = (x, y, z) - logger.debug(f"移动到位置: ({x}, {y}, {z})") - return True - - except Exception as e: - logger.error(f"移动失败: {e}") - return False - - async def pick_up_tip(self, tip_rack: str, position: int) -> bool: - """拾取吸头 - 包含真正的Z轴下降控制""" - try: - # 硬件准备检查 - if not self._check_hardware_ready(): - return False - - if self.tip_attached: - logger.warning("已有吸头附着，无法拾取新吸头") - return False - - logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头") - - # 获取枪头架位置信息 - if self.deck is None: - logger.error("工作台未初始化") - return False - - tip_position = self.deck.get_position(tip_rack) - if tip_position is None: - logger.error(f"未找到枪头架 {tip_rack} 的位置信息") - return False - - # 计算具体枪头位置（这里简化处理，实际应根据position计算偏移） - tip_x, tip_y, tip_z = tip_position - - # 验证所有关键位置的安全性 - safe_z = tip_z + self.config.tip_approach_height - pickup_z = tip_z - self.config.tip_pickup_force_depth - retract_z = tip_z + self.config.tip_pickup_retract_height - - if not ( - self._validate_position(tip_x, tip_y, safe_z) - and self._validate_position(tip_x, tip_y, pickup_z) - and self._validate_position(tip_x, tip_y, retract_z) - ): - logger.error("枪头拾取位置超出安全范围") - return False - - if CONTROLLERS_AVAILABLE and self.xyz_controller: - # 真实硬件控制流程 - logger.info("使用真实XYZ控制器进行枪头拾取") - - try: - # 1. 移动到枪头上方的安全位置 - safe_z = tip_z + self.config.tip_approach_height - logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})") - move_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z - ) - if not move_success: - logger.error("移动到枪头上方失败") - return False - - # 2. Z轴下降到枪头位置 - pickup_z = tip_z - self.config.tip_pickup_force_depth - logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm") - z_down_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z - ) - if not z_down_success: - logger.error("Z轴下降到枪头位置失败") - return False - - # 3. 等待一小段时间确保枪头牢固附着 - await self._ros_node.sleep(0.2) - - # 4. Z轴上升到回退高度 - retract_z = tip_z + self.config.tip_pickup_retract_height - logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm") - z_up_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z - ) - if not z_up_success: - logger.error("Z轴上升失败") - return False - - # 5. 更新当前位置 - self.current_position = (tip_x, tip_y, retract_z) - - except Exception as move_error: - logger.error(f"枪头拾取过程中发生错误: {move_error}") - # 尝试移动到安全位置 - if self.config.emergency_stop_enabled: - await self.emergency_stop() - await self.move_to_safe_position() - return False - - else: - # 模拟模式 - logger.info("模拟模式：执行枪头拾取动作") - await self._ros_node.sleep(1.0) # 模拟整个拾取过程的时间 - self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height) - - # 6. 标记枪头已附着 - self.tip_attached = True - logger.info("吸头拾取成功") - return True - - except Exception as e: - logger.error(f"拾取吸头失败: {e}") - return False - - async def drop_tip(self, location: str = "trash") -> bool: - """丢弃吸头 - 包含真正的Z轴控制""" - try: - # 硬件准备检查 - if not self._check_hardware_ready(): - return False - - if not self.tip_attached: - logger.warning("没有吸头附着，无需丢弃") - return True - - logger.info(f"开始丢弃吸头到 {location}") - - # 确定丢弃位置 - if location == "trash": - # 使用配置中的垃圾桶位置 - drop_x, drop_y, drop_z = self.config.trash_position - else: - # 尝试从deck获取指定位置 - if self.deck is None: - logger.error("工作台未初始化") - return False - - drop_position = self.deck.get_position(location) - if drop_position is None: - logger.error(f"未找到丢弃位置 {location} 的信息") - return False - drop_x, drop_y, drop_z = drop_position - - # 验证丢弃位置的安全性 - safe_z = drop_z + self.config.safe_height - drop_height_z = drop_z + self.config.tip_drop_height - - if not ( - self._validate_position(drop_x, drop_y, safe_z) - and self._validate_position(drop_x, drop_y, drop_height_z) - ): - logger.error("枪头丢弃位置超出安全范围") - return False - - if CONTROLLERS_AVAILABLE and self.xyz_controller: - # 真实硬件控制流程 - logger.info("使用真实XYZ控制器进行枪头丢弃") - - try: - # 1. 移动到丢弃位置上方的安全高度 - safe_z = drop_z + self.config.tip_drop_height - logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})") - move_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z - ) - if not move_success: - logger.error("移动到丢弃位置上方失败") - return False - - # 2. Z轴下降到丢弃高度 - logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm") - z_down_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z - ) - if not z_down_success: - logger.error("Z轴下降到丢弃位置失败") - return False - - # 3. 执行枪头弹出动作（如果有移液器控制器） - if self.pipette_controller: - try: - # 发送弹出枪头命令 - await asyncio.to_thread(self.pipette_controller.eject_tip) - logger.info("执行枪头弹出命令") - except Exception as e: - logger.warning(f"枪头弹出命令失败: {e}") - - # 4. 等待一小段时间确保枪头完全脱离 - await self._ros_node.sleep(0.3) - - # 5. Z轴上升到安全高度 - logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm") - z_up_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z - ) - if not z_up_success: - logger.error("Z轴上升失败") - return False - - # 6. 更新当前位置 - self.current_position = (drop_x, drop_y, safe_z) - - except Exception as drop_error: - logger.error(f"枪头丢弃过程中发生错误: {drop_error}") - # 尝试移动到安全位置 - if self.config.emergency_stop_enabled: - await self.emergency_stop() - await self.move_to_safe_position() - return False - - else: - # 模拟模式 - logger.info("模拟模式：执行枪头丢弃动作") - await self._ros_node.sleep(0.8) # 模拟整个丢弃过程的时间 - self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height) - - # 7. 标记枪头已脱离，清空体积 - self.tip_attached = False - self.current_volume = 0.0 - logger.info("吸头丢弃成功") - return True - - except Exception as e: - logger.error(f"丢弃吸头失败: {e}") - return False - - async def aspirate(self, volume: float, location: str) -> bool: - """吸取液体""" - try: - if not self.is_connected: - raise LaiYuLiquidError("设备未连接") - - if not self.tip_attached: - raise LaiYuLiquidError("没有吸头附着") - - if volume <= 0 or volume > self.config.max_volume: - raise LaiYuLiquidError(f"体积超出范围: {volume}") - - # 模拟吸取 - await self._ros_node.sleep(0.3) - self.current_volume += volume - logger.debug(f"从 {location} 吸取 {volume} μL") - return True - - except Exception as e: - logger.error(f"吸取失败: {e}") - return False - - async def dispense(self, volume: float, location: str) -> bool: - """分配液体""" - try: - if not self.is_connected: - raise LaiYuLiquidError("设备未连接") - - if not self.tip_attached: - raise LaiYuLiquidError("没有吸头附着") - - if volume <= 0 or volume > self.current_volume: - raise LaiYuLiquidError(f"分配体积无效: {volume}") - - # 模拟分配 - await self._ros_node.sleep(0.3) - self.current_volume -= volume - logger.debug(f"向 {location} 分配 {volume} μL") - return True - - except Exception as e: - logger.error(f"分配失败: {e}") - return False - - -class LaiYuLiquid: - """LaiYu_Liquid 主要接口类""" - - def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs): - # 如果传入了关键字参数，创建配置对象 - if kwargs and config is None: - # 从kwargs中提取配置参数 - config_params = {} - for key, value in kwargs.items(): - if hasattr(LaiYuLiquidConfig, key): - config_params[key] = value - self.config = LaiYuLiquidConfig(**config_params) - else: - self.config = config or LaiYuLiquidConfig() - - # 先创建deck，然后传递给backend - self.deck = LaiYuLiquidDeck(self.config) - self.backend = LaiYuLiquidBackend(self.config, self.deck) - self.is_setup = False - - @property - def current_position(self) -> Tuple[float, float, float]: - """获取当前位置""" - return self.backend.current_position - - @property - def current_volume(self) -> float: - """获取当前体积""" - return self.backend.current_volume - - @property - def is_connected(self) -> bool: - """获取连接状态""" - return self.backend.is_connected - - @property - def is_initialized(self) -> bool: - """获取初始化状态""" - return self.backend.is_initialized - - @property - def tip_attached(self) -> bool: - """获取吸头附着状态""" - return self.backend.tip_attached - - async def setup(self) -> bool: - """设置液体处理器""" - try: - success = await self.backend.setup() - if success: - self.is_setup = True - logger.info("LaiYu_Liquid 设置完成") - return success - except Exception as e: - logger.error(f"LaiYu_Liquid 设置失败: {e}") - return False - - async def stop(self): - """停止液体处理器""" - await self.backend.stop() - self.is_setup = False - - async def transfer( - self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0 - ) -> bool: - """液体转移""" - try: - if not self.is_setup: - raise LaiYuLiquidError("设备未设置") - - # 获取源和目标位置 - source_pos = self.deck.get_position(source) - target_pos = self.deck.get_position(target) - tip_pos = self.deck.get_position(tip_rack) - - if not all([source_pos, target_pos, tip_pos]): - raise LaiYuLiquidError("位置信息不完整") - - # 执行转移步骤 - steps = [ - ("移动到吸头架", self.backend.move_to(*tip_pos)), - ("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)), - ("移动到源位置", self.backend.move_to(*source_pos)), - ("吸取液体", self.backend.aspirate(volume, source)), - ("移动到目标位置", self.backend.move_to(*target_pos)), - ("分配液体", self.backend.dispense(volume, target)), - ("丢弃吸头", self.backend.drop_tip()), - ] - - for step_name, step_coro in steps: - logger.debug(f"执行步骤: {step_name}") - success = await step_coro - if not success: - raise LaiYuLiquidError(f"步骤失败: {step_name}") - - logger.info(f"液体转移完成: {source} -> {target}, {volume} μL") - return True - - except Exception as e: - logger.error(f"液体转移失败: {e}") - return False - - def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]): - """添加资源到工作台""" - if resource_type == "plate": - resource = Plate(name) - elif resource_type == "tip_rack": - resource = TipRack(name) - else: - resource = Resource(name) - - self.deck.add_resource(name, resource, position) - - def get_status(self) -> Dict[str, Any]: - """获取设备状态""" - return { - "connected": self.backend.is_connected, - "setup": self.is_setup, - "current_position": self.backend.current_position, - "tip_attached": self.backend.tip_attached, - "current_volume": self.backend.current_volume, - "resources": self.deck.list_resources(), - } - - -def create_quick_setup() -> LaiYuLiquidDeck: - """ - 创建快速设置的LaiYu液体处理工作站 - - Returns: - LaiYuLiquidDeck: 配置好的工作台实例 - """ - # 创建默认配置 - config = LaiYuLiquidConfig() - - # 创建工作台 - deck = LaiYuLiquidDeck(config) - - # 导入资源创建函数 - try: - from .laiyu_liquid_res import ( - create_tip_rack_1000ul, - create_tip_rack_200ul, - create_96_well_plate, - create_waste_container, - ) - - # 添加基本资源 - tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000") - tip_rack_200 = create_tip_rack_200ul("tip_rack_200") - plate_96 = create_96_well_plate("plate_96") - waste = create_waste_container("waste") - - # 添加到工作台 - deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0)) - deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0)) - deck.add_resource("plate_96", plate_96, (250, 50, 0)) - deck.add_resource("waste", waste, (50, 150, 0)) - - except ImportError: - # 如果资源模块不可用，创建空的工作台 - logger.warning("资源模块不可用，创建空的工作台") - - return deck - - -__all__ = [ - "LaiYuLiquid", - "LaiYuLiquidBackend", - "LaiYuLiquidConfig", - "LaiYuLiquidDeck", - "LaiYuLiquidContainer", - "LaiYuLiquidTipRack", - "LaiYuLiquidError", - "create_quick_setup", - "get_module_info", -] diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py deleted file mode 100644 index f6adcb13..00000000 --- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py +++ /dev/null @@ -1,954 +0,0 @@ -""" -LaiYu_Liquid 资源定义模块 - -该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括： -- 各种规格的枪头架 -- 不同类型的板和容器 -- 特殊功能位置 -- 资源创建的便捷函数 - -所有资源都基于 deck.json 中的配置参数创建。 -""" - -import json -import os -from typing import Dict, List, Optional, Tuple, Any -from pathlib import Path - -# PyLabRobot 资源导入 -try: - from pylabrobot.resources import ( - Resource, Deck, Plate, TipRack, Container, Tip, - Coordinate - ) - from pylabrobot.resources.tip_rack import TipSpot - from pylabrobot.resources.well import Well as PlateWell - PYLABROBOT_AVAILABLE = True -except ImportError: - # 如果 PyLabRobot 不可用，创建模拟类 - PYLABROBOT_AVAILABLE = False - - class Resource: - def __init__(self, name: str): - self.name = name - - class Deck(Resource): - pass - - class Plate(Resource): - pass - - class TipRack(Resource): - pass - - class Container(Resource): - pass - - class Tip(Resource): - pass - - class TipSpot(Resource): - def __init__(self, name: str, **kwargs): - super().__init__(name) - # 忽略其他参数 - - class PlateWell(Resource): - pass - - class Coordinate: - def __init__(self, x: float, y: float, z: float): - self.x = x - self.y = y - self.z = z - -# 本地导入 -from .laiyu_liquid_main import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack - - -def load_deck_config() -> Dict[str, Any]: - """ - 加载工作台配置文件 - - Returns: - Dict[str, Any]: 配置字典 - """ - # 优先使用最新的deckconfig.json文件 - config_path = Path(__file__).parent / "controllers" / "deckconfig.json" - - # 如果最新配置文件不存在，回退到旧配置文件 - if not config_path.exists(): - config_path = Path(__file__).parent / "config" / "deck.json" - - try: - with open(config_path, 'r', encoding='utf-8') as f: - return json.load(f) - except FileNotFoundError: - # 如果找不到配置文件，返回默认配置 - return { - "name": "LaiYu_Liquid_Deck", - "size_x": 340.0, - "size_y": 250.0, - "size_z": 160.0 - } - - -# 加载配置 -DECK_CONFIG = load_deck_config() - - -class LaiYuTipRack1000(LaiYuLiquidTipRack): - """1000μL 枪头架""" - - def __init__(self, name: str): - """ - 初始化1000μL枪头架 - - Args: - name: 枪头架名称 - """ - super().__init__( - name=name, - size_x=127.76, - size_y=85.48, - size_z=30.0, - tip_count=96, - tip_volume=1000.0 - ) - - # 创建枪头位置 - self._create_tip_spots( - tip_count=96, - tip_spacing=9.0, - tip_type="1000ul" - ) - - def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str): - """ - 创建枪头位置 - 从配置文件中读取绝对坐标 - - Args: - tip_count: 枪头数量 - tip_spacing: 枪头间距 - tip_type: 枪头类型 - """ - # 从配置文件中获取枪头架的孔位信息 - config = DECK_CONFIG - tip_module = None - - # 查找枪头架模块 - for module in config.get("children", []): - if module.get("type") == "tip_rack": - tip_module = module - break - - if not tip_module: - # 如果配置文件中没有找到，使用默认的相对坐标计算 - rows = 8 - cols = 12 - - for row in range(rows): - for col in range(cols): - spot_name = f"{chr(65 + row)}{col + 1:02d}" - x = col * tip_spacing + tip_spacing / 2 - y = row * tip_spacing + tip_spacing / 2 - - # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的Tip需要特定参数 - tip = Tip( - has_filter=False, - total_tip_length=95.0, # 1000ul枪头长度 - maximal_volume=1000.0, # 最大体积 - fitting_depth=8.0 # 安装深度 - ) - else: - # 模拟类只需要name - tip = Tip(name=f"tip_{spot_name}") - - # 创建枪头位置 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的TipSpot需要特定参数 - tip_spot = TipSpot( - name=spot_name, - size_x=9.0, # 枪头位置宽度 - size_y=9.0, # 枪头位置深度 - size_z=95.0, # 枪头位置高度 - make_tip=lambda: tip # 创建枪头的函数 - ) - else: - # 模拟类只需要name - tip_spot = TipSpot(name=spot_name) - - # 将吸头位置分配到吸头架 - self.assign_child_resource( - tip_spot, - location=Coordinate(x, y, 0) - ) - return - - # 使用配置文件中的绝对坐标 - module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0}) - - for well_config in tip_module.get("wells", []): - spot_name = well_config["id"] - well_pos = well_config["position"] - - # 计算相对于模块的坐标（绝对坐标减去模块位置） - relative_x = well_pos["x"] - module_position["x"] - relative_y = well_pos["y"] - module_position["y"] - relative_z = well_pos["z"] - module_position["z"] - - # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的Tip需要特定参数 - tip = Tip( - has_filter=False, - total_tip_length=95.0, # 1000ul枪头长度 - maximal_volume=1000.0, # 最大体积 - fitting_depth=8.0 # 安装深度 - ) - else: - # 模拟类只需要name - tip = Tip(name=f"tip_{spot_name}") - - # 创建枪头位置 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的TipSpot需要特定参数 - tip_spot = TipSpot( - name=spot_name, - size_x=well_config.get("diameter", 9.0), # 使用配置中的直径 - size_y=well_config.get("diameter", 9.0), - size_z=well_config.get("depth", 95.0), # 使用配置中的深度 - make_tip=lambda: tip # 创建枪头的函数 - ) - else: - # 模拟类只需要name - tip_spot = TipSpot(name=spot_name) - - # 将吸头位置分配到吸头架 - self.assign_child_resource( - tip_spot, - location=Coordinate(relative_x, relative_y, relative_z) - ) - - # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot - # TipSpot的make_tip函数会在需要时创建Tip - - -class LaiYuTipRack200(LaiYuLiquidTipRack): - """200μL 枪头架""" - - def __init__(self, name: str): - """ - 初始化200μL枪头架 - - Args: - name: 枪头架名称 - """ - super().__init__( - name=name, - size_x=127.76, - size_y=85.48, - size_z=30.0, - tip_count=96, - tip_volume=200.0 - ) - - # 创建枪头位置 - self._create_tip_spots( - tip_count=96, - tip_spacing=9.0, - tip_type="200ul" - ) - - def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str): - """ - 创建枪头位置 - - Args: - tip_count: 枪头数量 - tip_spacing: 枪头间距 - tip_type: 枪头类型 - """ - rows = 8 - cols = 12 - - for row in range(rows): - for col in range(cols): - spot_name = f"{chr(65 + row)}{col + 1:02d}" - x = col * tip_spacing + tip_spacing / 2 - y = row * tip_spacing + tip_spacing / 2 - - # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的Tip需要特定参数 - tip = Tip( - has_filter=False, - total_tip_length=72.0, # 200ul枪头长度 - maximal_volume=200.0, # 最大体积 - fitting_depth=8.0 # 安装深度 - ) - else: - # 模拟类只需要name - tip = Tip(name=f"tip_{spot_name}") - - # 创建枪头位置 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的TipSpot需要特定参数 - tip_spot = TipSpot( - name=spot_name, - size_x=9.0, # 枪头位置宽度 - size_y=9.0, # 枪头位置深度 - size_z=72.0, # 枪头位置高度 - make_tip=lambda: tip # 创建枪头的函数 - ) - else: - # 模拟类只需要name - tip_spot = TipSpot(name=spot_name) - - # 将吸头位置分配到吸头架 - self.assign_child_resource( - tip_spot, - location=Coordinate(x, y, 0) - ) - - # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot - # TipSpot的make_tip函数会在需要时创建Tip - - -class LaiYu96WellPlate(LaiYuLiquidContainer): - """96孔板""" - - def __init__(self, name: str, lid_height: float = 0.0): - """ - 初始化96孔板 - - Args: - name: 板名称 - lid_height: 盖子高度 - """ - super().__init__( - name=name, - size_x=127.76, - size_y=85.48, - size_z=14.22, - container_type="96_well_plate", - volume=0.0, - max_volume=200.0, - lid_height=lid_height - ) - - # 创建孔位 - self._create_wells( - well_count=96, - well_volume=200.0, - well_spacing=9.0 - ) - - def get_size_z(self) -> float: - """获取孔位深度""" - return 10.0 # 96孔板孔位深度 - - def _create_wells(self, well_count: int, well_volume: float, well_spacing: float): - """ - 创建孔位 - 从配置文件中读取绝对坐标 - - Args: - well_count: 孔位数量 - well_volume: 孔位体积 - well_spacing: 孔位间距 - """ - # 从配置文件中获取96孔板的孔位信息 - config = DECK_CONFIG - plate_module = None - - # 查找96孔板模块 - for module in config.get("children", []): - if module.get("type") == "96_well_plate": - plate_module = module - break - - if not plate_module: - # 如果配置文件中没有找到，使用默认的相对坐标计算 - rows = 8 - cols = 12 - - for row in range(rows): - for col in range(cols): - well_name = f"{chr(65 + row)}{col + 1:02d}" - x = col * well_spacing + well_spacing / 2 - y = row * well_spacing + well_spacing / 2 - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_spacing * 0.8, - size_y=well_spacing * 0.8, - size_z=self.get_size_z(), - max_volume=well_volume - ) - - # 添加到板 - self.assign_child_resource( - well, - location=Coordinate(x, y, 0) - ) - return - - # 使用配置文件中的绝对坐标 - module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0}) - - for well_config in plate_module.get("wells", []): - well_name = well_config["id"] - well_pos = well_config["position"] - - # 计算相对于模块的坐标（绝对坐标减去模块位置） - relative_x = well_pos["x"] - module_position["x"] - relative_y = well_pos["y"] - module_position["y"] - relative_z = well_pos["z"] - module_position["z"] - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径 - size_y=well_config.get("diameter", 8.2) * 0.8, - size_z=well_config.get("depth", self.get_size_z()), - max_volume=well_config.get("volume", well_volume) - ) - - # 添加到板 - self.assign_child_resource( - well, - location=Coordinate(relative_x, relative_y, relative_z) - ) - - -class LaiYuDeepWellPlate(LaiYuLiquidContainer): - """深孔板""" - - def __init__(self, name: str, lid_height: float = 0.0): - """ - 初始化深孔板 - - Args: - name: 板名称 - lid_height: 盖子高度 - """ - super().__init__( - name=name, - size_x=127.76, - size_y=85.48, - size_z=41.3, - container_type="deep_well_plate", - volume=0.0, - max_volume=2000.0, - lid_height=lid_height - ) - - # 创建孔位 - self._create_wells( - well_count=96, - well_volume=2000.0, - well_spacing=9.0 - ) - - def get_size_z(self) -> float: - """获取孔位深度""" - return 35.0 # 深孔板孔位深度 - - def _create_wells(self, well_count: int, well_volume: float, well_spacing: float): - """ - 创建孔位 - 从配置文件中读取绝对坐标 - - Args: - well_count: 孔位数量 - well_volume: 孔位体积 - well_spacing: 孔位间距 - """ - # 从配置文件中获取深孔板的孔位信息 - config = DECK_CONFIG - plate_module = None - - # 查找深孔板模块（通常是第二个96孔板模块） - plate_modules = [] - for module in config.get("children", []): - if module.get("type") == "96_well_plate": - plate_modules.append(module) - - # 如果有多个96孔板模块，选择第二个作为深孔板 - if len(plate_modules) > 1: - plate_module = plate_modules[1] - elif len(plate_modules) == 1: - plate_module = plate_modules[0] - - if not plate_module: - # 如果配置文件中没有找到，使用默认的相对坐标计算 - rows = 8 - cols = 12 - - for row in range(rows): - for col in range(cols): - well_name = f"{chr(65 + row)}{col + 1:02d}" - x = col * well_spacing + well_spacing / 2 - y = row * well_spacing + well_spacing / 2 - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_spacing * 0.8, - size_y=well_spacing * 0.8, - size_z=self.get_size_z(), - max_volume=well_volume - ) - - # 添加到板 - self.assign_child_resource( - well, - location=Coordinate(x, y, 0) - ) - return - - # 使用配置文件中的绝对坐标 - module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0}) - - for well_config in plate_module.get("wells", []): - well_name = well_config["id"] - well_pos = well_config["position"] - - # 计算相对于模块的坐标（绝对坐标减去模块位置） - relative_x = well_pos["x"] - module_position["x"] - relative_y = well_pos["y"] - module_position["y"] - relative_z = well_pos["z"] - module_position["z"] - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径 - size_y=well_config.get("diameter", 8.2) * 0.8, - size_z=well_config.get("depth", self.get_size_z()), - max_volume=well_config.get("volume", well_volume) - ) - - # 添加到板 - self.assign_child_resource( - well, - location=Coordinate(relative_x, relative_y, relative_z) - ) - - -class LaiYuWasteContainer(Container): - """废液容器""" - - def __init__(self, name: str): - """ - 初始化废液容器 - - Args: - name: 容器名称 - """ - super().__init__( - name=name, - size_x=100.0, - size_y=100.0, - size_z=50.0, - max_volume=5000.0 - ) - - -class LaiYuWashContainer(Container): - """清洗容器""" - - def __init__(self, name: str): - """ - 初始化清洗容器 - - Args: - name: 容器名称 - """ - super().__init__( - name=name, - size_x=100.0, - size_y=100.0, - size_z=50.0, - max_volume=5000.0 - ) - - -class LaiYuReagentContainer(Container): - """试剂容器""" - - def __init__(self, name: str): - """ - 初始化试剂容器 - - Args: - name: 容器名称 - """ - super().__init__( - name=name, - size_x=50.0, - size_y=50.0, - size_z=100.0, - max_volume=2000.0 - ) - - -class LaiYu8TubeRack(LaiYuLiquidContainer): - """8管试管架""" - - def __init__(self, name: str): - """ - 初始化8管试管架 - - Args: - name: 试管架名称 - """ - super().__init__( - name=name, - size_x=151.0, - size_y=75.0, - size_z=75.0, - container_type="tube_rack", - volume=0.0, - max_volume=77000.0 - ) - - # 创建孔位 - self._create_wells( - well_count=8, - well_volume=77000.0, - well_spacing=35.0 - ) - - def get_size_z(self) -> float: - """获取孔位深度""" - return 117.0 # 试管深度 - - def _create_wells(self, well_count: int, well_volume: float, well_spacing: float): - """ - 创建孔位 - 从配置文件中读取绝对坐标 - - Args: - well_count: 孔位数量 - well_volume: 孔位体积 - well_spacing: 孔位间距 - """ - # 从配置文件中获取8管试管架的孔位信息 - config = DECK_CONFIG - tube_module = None - - # 查找8管试管架模块 - for module in config.get("children", []): - if module.get("type") == "tube_rack": - tube_module = module - break - - if not tube_module: - # 如果配置文件中没有找到，使用默认的相对坐标计算 - rows = 2 - cols = 4 - - for row in range(rows): - for col in range(cols): - well_name = f"{chr(65 + row)}{col + 1}" - x = col * well_spacing + well_spacing / 2 - y = row * well_spacing + well_spacing / 2 - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=29.0, - size_y=29.0, - size_z=self.get_size_z(), - max_volume=well_volume - ) - - # 添加到试管架 - self.assign_child_resource( - well, - location=Coordinate(x, y, 0) - ) - return - - # 使用配置文件中的绝对坐标 - module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0}) - - for well_config in tube_module.get("wells", []): - well_name = well_config["id"] - well_pos = well_config["position"] - - # 计算相对于模块的坐标（绝对坐标减去模块位置） - relative_x = well_pos["x"] - module_position["x"] - relative_y = well_pos["y"] - module_position["y"] - relative_z = well_pos["z"] - module_position["z"] - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_config.get("diameter", 29.0), - size_y=well_config.get("diameter", 29.0), - size_z=well_config.get("depth", self.get_size_z()), - max_volume=well_config.get("volume", well_volume) - ) - - # 添加到试管架 - self.assign_child_resource( - well, - location=Coordinate(relative_x, relative_y, relative_z) - ) - - -class LaiYuTipDisposal(Resource): - """枪头废料位置""" - - def __init__(self, name: str): - """ - 初始化枪头废料位置 - - Args: - name: 位置名称 - """ - super().__init__( - name=name, - size_x=100.0, - size_y=100.0, - size_z=50.0 - ) - - -class LaiYuMaintenancePosition(Resource): - """维护位置""" - - def __init__(self, name: str): - """ - 初始化维护位置 - - Args: - name: 位置名称 - """ - super().__init__( - name=name, - size_x=50.0, - size_y=50.0, - size_z=100.0 - ) - - -# 资源创建函数 -def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000: - """ - 创建1000μL枪头架 - - Args: - name: 枪头架名称 - - Returns: - LaiYuTipRack1000: 1000μL枪头架实例 - """ - return LaiYuTipRack1000(name) - - -def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200: - """ - 创建200μL枪头架 - - Args: - name: 枪头架名称 - - Returns: - LaiYuTipRack200: 200μL枪头架实例 - """ - return LaiYuTipRack200(name) - - -def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate: - """ - 创建96孔板 - - Args: - name: 板名称 - lid_height: 盖子高度 - - Returns: - LaiYu96WellPlate: 96孔板实例 - """ - return LaiYu96WellPlate(name, lid_height) - - -def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate: - """ - 创建深孔板 - - Args: - name: 板名称 - lid_height: 盖子高度 - - Returns: - LaiYuDeepWellPlate: 深孔板实例 - """ - return LaiYuDeepWellPlate(name, lid_height) - - -def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack: - """ - 创建8管试管架 - - Args: - name: 试管架名称 - - Returns: - LaiYu8TubeRack: 8管试管架实例 - """ - return LaiYu8TubeRack(name) - - -def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer: - """ - 创建废液容器 - - Args: - name: 容器名称 - - Returns: - LaiYuWasteContainer: 废液容器实例 - """ - return LaiYuWasteContainer(name) - - -def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer: - """ - 创建清洗容器 - - Args: - name: 容器名称 - - Returns: - LaiYuWashContainer: 清洗容器实例 - """ - return LaiYuWashContainer(name) - - -def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer: - """ - 创建试剂容器 - - Args: - name: 容器名称 - - Returns: - LaiYuReagentContainer: 试剂容器实例 - """ - return LaiYuReagentContainer(name) - - -def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal: - """ - 创建枪头废料位置 - - Args: - name: 位置名称 - - Returns: - LaiYuTipDisposal: 枪头废料位置实例 - """ - return LaiYuTipDisposal(name) - - -def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition: - """ - 创建维护位置 - - Args: - name: 位置名称 - - Returns: - LaiYuMaintenancePosition: 维护位置实例 - """ - return LaiYuMaintenancePosition(name) - - -def create_standard_deck() -> LaiYuLiquidDeck: - """ - 创建标准工作台配置 - - Returns: - LaiYuLiquidDeck: 配置好的工作台实例 - """ - # 从配置文件创建工作台 - deck = LaiYuLiquidDeck(config=DECK_CONFIG) - - return deck - - -def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]: - """ - 根据名称获取资源 - - Args: - deck: 工作台实例 - name: 资源名称 - - Returns: - Optional[Resource]: 找到的资源，如果不存在则返回None - """ - for child in deck.children: - if child.name == name: - return child - return None - - -def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]: - """ - 根据类型获取资源列表 - - Args: - deck: 工作台实例 - resource_type: 资源类型 - - Returns: - List[Resource]: 匹配类型的资源列表 - """ - return [child for child in deck.children if isinstance(child, resource_type)] - - -def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]: - """ - 列出所有资源 - - Args: - deck: 工作台实例 - - Returns: - Dict[str, List[str]]: 按类型分组的资源名称字典 - """ - resources = { - "tip_racks": [], - "plates": [], - "containers": [], - "positions": [] - } - - for child in deck.children: - if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)): - resources["tip_racks"].append(child.name) - elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)): - resources["plates"].append(child.name) - elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)): - resources["containers"].append(child.name) - elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)): - resources["positions"].append(child.name) - - return resources - - -# 导出的类别名（向后兼容） -TipRack1000ul = LaiYuTipRack1000 -TipRack200ul = LaiYuTipRack200 -Plate96Well = LaiYu96WellPlate -Plate96DeepWell = LaiYuDeepWellPlate -TubeRack8 = LaiYu8TubeRack -WasteContainer = LaiYuWasteContainer -WashContainer = LaiYuWashContainer -ReagentContainer = LaiYuReagentContainer -TipDisposal = LaiYuTipDisposal -MaintenancePosition = LaiYuMaintenancePosition \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md b/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md deleted file mode 100644 index a0f2b632..00000000 --- a/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md +++ /dev/null @@ -1,69 +0,0 @@ -# 更新日志 - -本文档记录了 LaiYu_Liquid 模块的所有重要变更。 - -## [1.0.0] - 2024-01-XX - -### 新增功能 -- ✅ 完整的液体处理工作站集成 -- ✅ RS485 通信协议支持 -- ✅ SOPA 气动式移液器驱动 -- ✅ XYZ 三轴步进电机控制 -- ✅ PyLabRobot 兼容后端 -- ✅ 标准化资源管理系统 -- ✅ 96孔板、离心管架、枪头架支持 -- ✅ RViz 可视化后端 -- ✅ 完整的配置管理系统 -- ✅ 抽象协议实现 -- ✅ 生产级错误处理和日志记录 - -### 技术特性 -- **硬件支持**: SOPA移液器 + XYZ三轴运动平台 -- **通信协议**: RS485总线，波特率115200 -- **坐标系统**: 机械坐标与工作坐标自动转换 -- **安全机制**: 限位保护、紧急停止、错误恢复 -- **兼容性**: 完全兼容 PyLabRobot 框架 - -### 文件结构 -``` -LaiYu_Liquid/ -├── core/ -│ └── LaiYu_Liquid.py # 主模块文件 -├── __init__.py # 模块初始化 -├── abstract_protocol.py # 抽象协议 -├── laiyu_liquid_res.py # 资源管理 -├── rviz_backend.py # RViz后端 -├── backend/ # 后端驱动 -├── config/ # 配置文件 -├── controllers/ # 控制器 -├── docs/ # 技术文档 -└── drivers/ # 底层驱动 -``` - -### 已知问题 -- 无 - -### 依赖要求 -- Python 3.8+ -- PyLabRobot -- pyserial -- asyncio - ---- - -## 版本说明 - -### 版本号格式 -采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH` - -- **MAJOR**: 不兼容的API变更 -- **MINOR**: 向后兼容的功能新增 -- **PATCH**: 向后兼容的问题修复 - -### 变更类型 -- **新增功能**: 新的功能特性 -- **变更**: 现有功能的变更 -- **弃用**: 即将移除的功能 -- **移除**: 已移除的功能 -- **修复**: 问题修复 -- **安全**: 安全相关的修复 \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md b/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md deleted file mode 100644 index 6db19eb1..00000000 --- a/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md +++ /dev/null @@ -1,267 +0,0 @@ -# SOPA气动式移液器RS485控制指令合集 - -## 1. RS485通信基本配置 - -### 1.1 支持的设备型号 -- **仅SC-STxxx-00-13支持RS485通信** -- 其他型号主要使用CAN通信 - -### 1.2 通信参数 -- **波特率**: 9600, 115200（默认值） -- **地址范围**: 1~254个设备，255为广播地址 -- **通信接口**: RS485差分信号 - -### 1.3 引脚分配（10位LIF连接器） -- **引脚7**: RS485+ (RS485通信正极) -- **引脚8**: RS485- (RS485通信负极) - -## 2. RS485通信协议格式 - -### 2.1 发送数据格式 -``` -头码 | 地址 | 命令/数据 | 尾码 | 校验和 -``` - -### 2.2 从机回应格式 -``` -头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和 -``` - -### 2.3 格式详细说明 -- **头码**: - - 终端调试: '/' (0x2F) - - OEM通信: '[' (0x5B) -- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91） -- **命令/数据**: ASCII格式的命令字符串 -- **尾码**: 'E' (0x45) -- **校验和**: 以上数据的累加值，1字节 - -## 3. 初始化和基本控制指令 - -### 3.1 初始化指令 -```bash -# 初始化活塞驱动机构 -HE - -# 示例（OEM通信）： -# 主机发送: 5B 32 48 45 1A -# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6 -# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC -``` - -### 3.2 枪头操作指令 -```bash -# 顶出枪头 -RE - -# 枪头检测状态报告 -Q28 # 返回枪头存在状态（0=不存在，1=存在） -``` - -## 4. 移液控制指令 - -### 4.1 位置控制指令 -```bash -# 绝对位置移动（微升） -A[n]E -# 示例：移动到位置0 -A0E - -# 相对抽吸（向上移动） -P[n]E -# 示例：抽吸200微升 -P200E - -# 相对分配（向下移动） -D[n]E -# 示例：分配200微升 -D200E -``` - -### 4.2 速度设置指令 -```bash -# 设置最高速度（0.1ul/秒为单位） -s[n]E -# 示例：设置最高速度为2000（200ul/秒） -s2000E - -# 设置启动速度 -b[n]E -# 示例：设置启动速度为100（10ul/秒） -b100E - -# 设置断流速度 -c[n]E -# 示例：设置断流速度为100（10ul/秒） -c100E - -# 设置加速度 -a[n]E -# 示例：设置加速度为30000 -a30000E -``` - -## 5. 液体检测和安全控制指令 - -### 5.1 吸排液检测控制 -```bash -# 开启吸排液检测 -f1E # 开启 -f0E # 关闭 - -# 设置空吸门限 -$[n]E -# 示例：设置空吸门限为4 -$4E - -# 设置泡沫门限 -![n]E -# 示例：设置泡沫门限为20 -!20E - -# 设置堵塞门限 -%[n]E -# 示例：设置堵塞门限为350 -%350E -``` - -### 5.2 液位检测指令 -```bash -# 压力式液位检测 -m0E # 设置为压力探测模式 -L[n]E # 执行液位检测，[n]为灵敏度(3~40) -k[n]E # 设置检测速度(100~2000) - -# 电容式液位检测 -m1E # 设置为电容探测模式 -``` - -## 6. 状态查询和报告指令 - -### 6.1 基本状态查询 -```bash -# 查询固件版本 -V - -# 查询设备状态 -Q[n] -# 常用查询参数： -Q01 # 报告加速度 -Q02 # 报告启动速度 -Q03 # 报告断流速度 -Q06 # 报告最大速度 -Q08 # 报告节点地址 -Q11 # 报告波特率 -Q18 # 报告当前位置 -Q28 # 报告枪头存在状态 -Q29 # 报告校准系数 -Q30 # 报告空吸门限 -Q31 # 报告堵针门限 -Q32 # 报告泡沫门限 -``` - -## 7. 配置和校准指令 - -### 7.1 校准参数设置 -```bash -# 设置校准系数 -j[n]E -# 示例：设置校准系数为1.04 -j1.04E - -# 设置补偿偏差 -e[n]E -# 示例：设置补偿偏差为2.03 -e2.03E - -# 设置吸头容量 -C[n]E -# 示例：设置1000ul吸头 -C1000E -``` - -### 7.2 高级控制参数 -```bash -# 设置回吸粘度 -][n]E -# 示例：设置回吸粘度为30 -]30E - -# 延时控制 -M[n]E -# 示例：延时1000毫秒 -M1000E -``` - -## 8. 复合操作指令示例 - -### 8.1 标准移液操作 -```bash -# 完整的200ul移液操作 -a30000b200c200s2000P200E -# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行 -``` - -### 8.2 带检测的移液操作 -```bash -# 带空吸检测的200ul抽吸 -a30000b200c200s2000f1P200f0E -# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行 -``` - -### 8.3 液面检测操作 -```bash -# 压力式液面检测 -m0k200L5E -# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测 - -# 电容式液面检测 -m1L3E -# 解析：电容模式 + 灵敏度3 + 执行检测 -``` - -## 9. 错误处理 - -### 9.1 状态字节说明 -- **00h**: 无错误 -- **01h**: 上次动作未完成 -- **02h**: 设备未初始化 -- **03h**: 设备过载 -- **04h**: 无效指令 -- **05h**: 液位探测故障 -- **0Dh**: 空吸 -- **0Eh**: 堵针 -- **10h**: 泡沫 -- **11h**: 吸液超过吸头容量 - -### 9.2 错误查询 -```bash -# 查询当前错误状态 -Q # 返回状态字节和错误代码 -``` - -## 10. 通信示例 - -### 10.1 基本通信流程 -1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成 -2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据 - -### 10.2 快速指令表 -| 操作 | 指令 | 说明 | -|------|------|------| -| 初始化 | `HE` | 初始化设备 | -| 退枪头 | `RE` | 顶出枪头 | -| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 | -| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 | -| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 | -| 压力液面检测 | `m0k200L5E` | pLLD检测 | -| 电容液面检测 | `m1L3E` | cLLD检测 | - -## 11. 注意事项 - -1. **地址限制**: RS485地址不可设为47、69、91 -2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验 -3. **ASCII格式**: 所有命令和参数都使用ASCII字符 -4. **执行指令**: 大部分命令需要以'E'结尾才能执行 -5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信 -6. **波特率设置**: 默认115200，可设置为9600 \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md b/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md deleted file mode 100644 index e7013484..00000000 --- a/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md +++ /dev/null @@ -1,162 +0,0 @@ -# 步进电机B系列控制指令详解 - -## 基本通信参数 -- **通信方式**: RS485 -- **协议**: Modbus -- **波特率**: 115200 (默认) -- **数据位**: 8位 -- **停止位**: 1位 -- **校验位**: 无 -- **默认站号**: 1 (可设置1-254) - -## 支持的功能码 -- **03H**: 读取寄存器 -- **06H**: 写入单个寄存器 -- **10H**: 写入多个寄存器 - -## 寄存器地址表 - -### 状态监控寄存器 (只读) -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 | -| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 | -| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 | -| 03H | 03H | 实际速度 | 当前转速 (rpm) | -| 05H | 03H | 电流 | 当前工作电流 (mA) | - -### 控制寄存器 (读写) -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 | -| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 | -| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 | -| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 | -| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 | - -### 位置模式寄存器 -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 | -| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 | -| 12H | 03H/06H/10H | 保留 | - | -| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) | -| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s | -| 15H | 03H/06H/10H | 精度 | 到位精度设置 | - -### 速度模式寄存器 -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| 60H | 03H/06H/10H | 保留 | - | -| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 | -| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s | - -### 设备参数寄存器 -| 地址 | 功能码 | 内容 | 默认值 | 说明 | -|------|--------|------|--------|------| -| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 | -| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 | -| E2H | 03H/06H/10H | 保留 | 0258H | - | -| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 | -| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 | -| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 | -| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) | -| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 | -| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 | -| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 | -| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 | -| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H | - -### 版本信息寄存器 (只读) -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| F0H | 03H | 版本号 | 固件版本信息 | -| F1H-F4H | 03H | 型号 | 产品型号信息 | - -## 常用控制指令示例 - -### 读取电机状态 -``` -发送: 01 03 00 00 00 01 84 0A -接收: 01 03 02 00 01 79 84 -说明: 电机状态为0001H (正在运行) -``` - -### 读取当前位置 -``` -发送: 01 03 00 01 00 02 95 CB -接收: 01 03 04 00 19 00 00 2B F4 -说明: 当前位置为1638400步 (100圈) -``` - -### 停止电机 -``` -发送: 01 10 00 04 00 01 02 00 00 A7 D4 -接收: 01 10 00 04 00 01 40 08 -说明: 急停指令 -``` - -### 位置模式运动 -``` -发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB -接收: 01 10 00 10 00 06 41 CE -说明: 以5000rpm速度运动到1638400步位置 -``` - -### 速度模式 - 正转 -``` -发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77 -接收: 01 10 00 60 00 04 C1 D4 -说明: 以5000rpm速度正转 -``` - -### 速度模式 - 反转 -``` -发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D -接收: 01 10 00 60 00 04 C1 D4 -说明: 以5000rpm速度反转 (EC78H = -5000) -``` - -### 设置设备地址 -``` -发送: 00 06 00 E0 00 02 C9 F1 -接收: 00 06 00 E0 00 02 C9 F1 -说明: 将设备地址设置为2 -``` - -## 错误码 -| 状态码 | 含义 | -|--------|------| -| 0001H | 功能码错误 | -| 0002H | 地址错误 | -| 0003H | 长度错误 | - -## CRC校验算法 -```c -public static byte[] ModBusCRC(byte[] data, int offset, int cnt) { - int wCrc = 0x0000FFFF; - byte[] CRC = new byte[2]; - for (int i = 0; i < cnt; i++) { - wCrc ^= ((data[i + offset]) & 0xFF); - for (int j = 0; j < 8; j++) { - if ((wCrc & 0x00000001) == 1) { - wCrc >>= 1; - wCrc ^= 0x0000A001; - } else { - wCrc >>= 1; - } - } - } - CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8); - CRC[0] = (byte) (wCrc & 0x000000FF); - return CRC; -} -``` - -## 注意事项 -1. 所有16位数据采用大端序传输 -2. 步数计算: 实际步数 = 高位<<16 | 低位 -3. 负数使用补码表示 -4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM -5. 光电开关需使用NPN开漏型 -6. 限位开关: LF正向, LB反向 \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md b/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md deleted file mode 100644 index 64529097..00000000 --- a/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md +++ /dev/null @@ -1,1281 +0,0 @@ -# LaiYu液体处理设备硬件连接配置指南 - -## 📋 文档概述 - -本指南提供LaiYu液体处理设备的完整硬件连接配置方案，包括快速入门、详细配置、连接验证和故障排除。适用于设备初次安装、配置变更和问题诊断。 - ---- - -## 🚀 快速入门指南 - -### 基本配置步骤 - -1. **确认硬件连接** - - 将RS485转USB设备连接到计算机 - - 确保XYZ控制器和移液器通过RS485总线连接 - - 检查设备供电状态 - -2. **获取串口信息** - ```bash - # macOS/Linux - ls /dev/cu.* | grep usbserial - - # 常见输出: /dev/cu.usbserial-3130 - ``` - -3. **基本配置参数** - ```python - # 推荐的默认配置 - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", # 🔧 替换为实际串口号 - address=4, # 移液器地址（固定） - baudrate=115200, # 推荐波特率 - timeout=5.0 # 通信超时 - ) - ``` - -4. **快速连接测试** - ```python - device = LaiYuLiquid(config) - success = await device.setup() - print(f"连接状态: {'成功' if success else '失败'}") - ``` - ---- - -## 🏗️ 硬件架构详解 - -### 系统组成 - -LaiYu液体处理设备采用RS485总线架构，包含以下核心组件： - -| 组件 | 通信协议 | 设备地址 | 默认波特率 | 功能描述 | -|------|----------|----------|------------|----------| -| **XYZ三轴控制器** | RS485 (Modbus) | X轴=1, Y轴=2, Z轴=3 | 115200 | 三维运动控制 | -| **SOPA移液器** | RS485 | 4 (推荐) | 115200 | 液体吸取分配 | -| **RS485转USB** | USB/串口 | - | 115200 | 通信接口转换 | - -### 地址分配策略 - -``` -RS485总线地址分配: -├── 地址 1: X轴步进电机 (自动分配) -├── 地址 2: Y轴步进电机 (自动分配) -├── 地址 3: Z轴步进电机 (自动分配) -├── 地址 4: SOPA移液器 (推荐配置) -└── 禁用地址: 47('/'), 69('E'), 91('[') -``` - -### 通信参数规范 - -| 参数 | XYZ控制器 | SOPA移液器 | 说明 | -|------|-----------|------------|------| -| **数据位** | 8 | 8 | 固定值 | -| **停止位** | 1 | 1 | 固定值 | -| **校验位** | 无 | 无 | 固定值 | -| **流控制** | 无 | 无 | 固定值 | - ---- - -## ⚙️ 配置参数详解 - -### 1. 核心配置类 - -#### LaiYuLiquidConfig 参数说明 - -```python -@dataclass -class LaiYuLiquidConfig: - # === 通信参数 === - port: str = "/dev/cu.usbserial-3130" # 串口设备路径 - address: int = 4 # 移液器地址（推荐值） - baudrate: int = 115200 # 通信波特率（推荐值） - timeout: float = 5.0 # 通信超时时间（秒） - - # === 工作台物理尺寸 === - deck_width: float = 340.0 # 工作台宽度 (mm) - deck_height: float = 250.0 # 工作台高度 (mm) - deck_depth: float = 160.0 # 工作台深度 (mm) - - # === 运动控制参数 === - max_speed: float = 100.0 # 最大移动速度 (mm/s) - acceleration: float = 50.0 # 加速度 (mm/s²) - safe_height: float = 50.0 # 安全移动高度 (mm) - - # === 移液参数 === - max_volume: float = 1000.0 # 最大移液体积 (μL) - min_volume: float = 0.1 # 最小移液体积 (μL) - liquid_detection: bool = True # 启用液面检测 - - # === 枪头操作参数 === - tip_pickup_speed: int = 30 # 取枪头速度 (rpm) - tip_pickup_acceleration: int = 500 # 取枪头加速度 (rpm/s) - tip_pickup_depth: float = 10.0 # 枪头插入深度 (mm) - tip_drop_height: float = 10.0 # 丢弃枪头高度 (mm) -``` - -### 2. 配置文件位置 - -#### A. 代码配置（推荐） -```python -# 在Python代码中直接配置 -from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig - -config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", # 🔧 修改为实际串口 - address=4, # 🔧 移液器地址 - baudrate=115200, # 🔧 通信波特率 - timeout=5.0 # 🔧 超时时间 -) -``` - -#### B. JSON配置文件 -```json -{ - "laiyu_liquid_config": { - "port": "/dev/cu.usbserial-3130", - "address": 4, - "baudrate": 115200, - "timeout": 5.0, - "deck_width": 340.0, - "deck_height": 250.0, - "deck_depth": 160.0, - "max_speed": 100.0, - "acceleration": 50.0, - "safe_height": 50.0 - } -} -``` - -#### C. 实验协议配置 -```json -// test/experiments/laiyu_liquid.json -{ - "device_config": { - "type": "laiyu_liquid", - "config": { - "port": "/dev/cu.usbserial-3130", - "address": 4, - "baudrate": 115200 - } - } -} -``` - -### 2. 串口设备识别 - -#### 自动识别方法（推荐） - -```python -import serial.tools.list_ports - -def find_laiyu_device(): - """自动查找LaiYu设备串口""" - ports = serial.tools.list_ports.comports() - - for port in ports: - # 根据设备描述或VID/PID识别 - if 'usbserial' in port.device.lower(): - print(f"找到可能的设备: {port.device}") - print(f"描述: {port.description}") - print(f"硬件ID: {port.hwid}") - return port.device - - return None - -# 使用示例 -device_port = find_laiyu_device() -if device_port: - print(f"检测到设备端口: {device_port}") -else: - print("未检测到设备") -``` - -#### 手动识别方法 - -| 操作系统 | 命令 | 设备路径格式 | -|---------|------|-------------| -| **macOS** | `ls /dev/cu.*` | `/dev/cu.usbserial-XXXX` | -| **Linux** | `ls /dev/ttyUSB*` | `/dev/ttyUSB0` | -| **Windows** | 设备管理器 | `COM3`, `COM4` 等 | - -#### macOS 详细识别 -```bash -# 1. 列出所有USB串口设备 -ls /dev/cu.usbserial-* - -# 2. 查看USB设备详细信息 -system_profiler SPUSBDataType | grep -A 10 "Serial" - -# 3. 实时监控设备插拔 -ls /dev/cu.* && echo "--- 请插入设备 ---" && sleep 3 && ls /dev/cu.* -``` - -#### Linux 详细识别 -```bash -# 1. 列出串口设备 -ls /dev/ttyUSB* /dev/ttyACM* - -# 2. 查看设备信息 -dmesg | grep -i "usb.*serial" -lsusb | grep -i "serial\|converter" - -# 3. 查看设备属性 -udevadm info --name=/dev/ttyUSB0 --attribute-walk -``` - -#### Windows 详细识别 -```powershell -# PowerShell命令 -Get-WmiObject -Class Win32_SerialPort | Select-Object Name, DeviceID, Description - -# 或在设备管理器中查看"端口(COM和LPT)" -``` - -### 3. 控制器特定配置 - -#### XYZ步进电机控制器 -- **地址范围**: 1-3 (X轴=1, Y轴=2, Z轴=3) -- **通信协议**: Modbus RTU -- **波特率**: 9600 或 115200 -- **数据位**: 8 -- **停止位**: 1 -- **校验位**: None - -#### XYZ控制器配置 (`controllers/xyz_controller.py`) - -XYZ控制器负责三轴运动控制，提供精确的位置控制和运动规划功能。 - -**主要功能：** -- 三轴独立控制（X、Y、Z轴） -- 位置精度控制 -- 运动速度调节 -- 安全限位检测 - -**配置参数：** -```python -xyz_config = { - "port": "/dev/ttyUSB0", # 串口设备 - "baudrate": 115200, # 波特率 - "timeout": 1.0, # 通信超时 - "max_speed": { # 最大速度限制 - "x": 1000, # X轴最大速度 - "y": 1000, # Y轴最大速度 - "z": 500 # Z轴最大速度 - }, - "acceleration": 500, # 加速度 - "home_position": [0, 0, 0] # 原点位置 -} -``` - -```python -def __init__(self, port: str, baudrate: int = 115200, - machine_config: Optional[MachineConfig] = None, - config_file: str = "machine_config.json", - auto_connect: bool = True): - """ - Args: - port: 串口端口 (如: "/dev/cu.usbserial-3130") - baudrate: 波特率 (默认: 115200) - machine_config: 机械配置参数 - config_file: 配置文件路径 - auto_connect: 是否自动连接 - """ -``` - -#### SOPA移液器 -- **地址**: 通常为 4 或更高 -- **通信协议**: 自定义协议 -- **波特率**: 115200 (推荐) -- **响应时间**: < 100ms - -#### 移液器控制器配置 (`controllers/pipette_controller.py`) - -移液器控制器负责精确的液体吸取和分配操作，支持多种移液模式和参数配置。 - -**主要功能：** -- 精确体积控制 -- 液面检测 -- 枪头管理 -- 速度调节 - -**配置参数：** -```python -@dataclass -class SOPAConfig: - # 通信参数 - port: str = "/dev/ttyUSB0" # 🔧 修改串口号 - baudrate: int = 115200 # 🔧 修改波特率 - address: int = 1 # 🔧 修改设备地址 (1-254) - timeout: float = 5.0 # 🔧 修改超时时间 - comm_type: CommunicationType = CommunicationType.TERMINAL_DEBUG -``` - -## 🔍 连接验证与测试 - -### 1. 编程方式验证连接 - -#### 创建测试脚本 -```python -#!/usr/bin/env python3 -""" -LaiYu液体处理设备连接测试脚本 -""" - -import sys -import os -sys.path.append('/Users/dp/Documents/DPT/HuaiRou/Uni-Lab-OS') - -from unilabos.devices.laiyu_liquid.core.LaiYu_Liquid import ( - LaiYuLiquid, LaiYuLiquidConfig -) - -def test_connection(): - """测试设备连接""" - - # 🔧 修改这里的配置参数 - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", # 修改为你的串口号 - address=1, # 修改为你的设备地址 - baudrate=9600, # 修改为你的波特率 - timeout=5.0 - ) - - print("🔌 正在测试LaiYu液体处理设备连接...") - print(f"串口: {config.port}") - print(f"波特率: {config.baudrate}") - print(f"设备地址: {config.address}") - print("-" * 50) - - try: - # 创建设备实例 - device = LaiYuLiquid(config) - - # 尝试连接和初始化 - print("📡 正在连接设备...") - success = await device.setup() - - if success: - print("✅ 设备连接成功!") - print(f"连接状态: {device.is_connected}") - print(f"初始化状态: {device.is_initialized}") - print(f"当前位置: {device.current_position}") - - # 获取设备状态 - status = device.get_status() - print("\n📊 设备状态:") - for key, value in status.items(): - print(f" {key}: {value}") - - else: - print("❌ 设备连接失败!") - print("请检查:") - print(" 1. 串口号是否正确") - print(" 2. 设备是否已连接并通电") - print(" 3. 波特率和设备地址是否匹配") - print(" 4. 串口是否被其他程序占用") - - except Exception as e: - print(f"❌ 连接测试出错: {e}") - print("\n🔧 故障排除建议:") - print(" 1. 检查串口设备是否存在:") - print(" macOS: ls /dev/cu.*") - print(" Linux: ls /dev/ttyUSB* /dev/ttyACM*") - print(" 2. 检查设备权限:") - print(" sudo chmod 666 /dev/cu.usbserial-*") - print(" 3. 检查设备是否被占用:") - print(" lsof | grep /dev/cu.usbserial") - - finally: - # 清理连接 - if 'device' in locals(): - await device.stop() - -if __name__ == "__main__": - import asyncio - asyncio.run(test_connection()) -``` - -### 2. 命令行验证工具 - -#### 串口通信测试 -```bash -# 安装串口调试工具 -pip install pyserial - -# 使用Python测试串口 -python -c " -import serial -try: - ser = serial.Serial('/dev/cu.usbserial-3130', 9600, timeout=1) - print('串口连接成功:', ser.is_open) - ser.close() -except Exception as e: - print('串口连接失败:', e) -" -``` - -#### 设备权限检查 -```bash -# macOS/Linux 检查串口权限 -ls -la /dev/cu.usbserial-* - -# 如果权限不足，修改权限 -sudo chmod 666 /dev/cu.usbserial-* - -# 检查串口是否被占用 -lsof | grep /dev/cu.usbserial -``` - -### 3. 连接状态指示器 - -设备提供多种方式检查连接状态： - -#### A. 属性检查 -```python -device = LaiYuLiquid(config) - -# 检查连接状态 -print(f"设备已连接: {device.is_connected}") -print(f"设备已初始化: {device.is_initialized}") -print(f"枪头已安装: {device.tip_attached}") -print(f"当前位置: {device.current_position}") -print(f"当前体积: {device.current_volume}") -``` - -#### B. 状态字典 -```python -status = device.get_status() -print("完整设备状态:", status) - -# 输出示例: -# { -# 'connected': True, -# 'initialized': True, -# 'position': (0.0, 0.0, 50.0), -# 'tip_attached': False, -# 'current_volume': 0.0, -# 'last_error': None -# } -``` - -## 🛠️ 故障排除指南 - -### 1. 连接问题诊断 - -#### 🔍 问题诊断流程 -```python -def diagnose_connection_issues(): - """连接问题诊断工具""" - import serial.tools.list_ports - import serial - - print("🔍 开始连接问题诊断...") - - # 1. 检查串口设备 - ports = list(serial.tools.list_ports.comports()) - if not ports: - print("❌ 未检测到任何串口设备") - print("💡 解决方案:") - print(" - 检查USB连接线") - print(" - 确认设备电源") - print(" - 安装设备驱动") - return - - print(f"✅ 检测到 {len(ports)} 个串口设备") - for port in ports: - print(f" 📍 {port.device}: {port.description}") - - # 2. 测试串口访问权限 - for port in ports: - try: - with serial.Serial(port.device, 9600, timeout=1): - print(f"✅ {port.device}: 访问权限正常") - except PermissionError: - print(f"❌ {port.device}: 权限不足") - print("💡 解决方案: sudo chmod 666 " + port.device) - except Exception as e: - print(f"⚠️ {port.device}: {e}") - -# 运行诊断 -diagnose_connection_issues() -``` - -#### 🚫 常见连接错误 - -| 错误类型 | 症状 | 解决方案 | -|---------|------|----------| -| **设备未找到** | `FileNotFoundError: No such file or directory` | 1. 检查USB连接
2. 确认设备驱动
3. 重新插拔设备 | -| **权限不足** | `PermissionError: Permission denied` | 1. `sudo chmod 666 /dev/ttyUSB0`
2. 添加用户到dialout组
3. 使用sudo运行 | -| **设备占用** | `SerialException: Device or resource busy` | 1. 关闭其他程序
2. `lsof /dev/ttyUSB0`查找占用
3. 重启系统 | -| **驱动问题** | 设备管理器显示未知设备 | 1. 安装CH340/CP210x驱动
2. 更新系统驱动
3. 使用原装USB线 | - -### 2. 通信问题解决 - -#### 📡 通信参数调试 -```python -def test_communication_parameters(): - """测试不同通信参数""" - import serial - - port = "/dev/cu.usbserial-3130" # 修改为实际端口 - baudrates = [9600, 19200, 38400, 57600, 115200] - - for baudrate in baudrates: - print(f"🔄 测试波特率: {baudrate}") - try: - with serial.Serial(port, baudrate, timeout=2) as ser: - # 发送测试命令 - test_cmd = b'\x01\x03\x00\x00\x00\x01\x84\x0A' - ser.write(test_cmd) - - response = ser.read(100) - if response: - print(f" ✅ 成功: 收到 {len(response)} 字节") - print(f" 📦 数据: {response.hex()}") - return baudrate - else: - print(f" ❌ 无响应") - except Exception as e: - print(f" ❌ 错误: {e}") - - return None -``` - -#### ⚡ 通信故障排除 - -| 问题类型 | 症状 | 诊断方法 | 解决方案 | -|---------|------|----------|----------| -| **通信超时** | `TimeoutError` | 检查波特率和设备地址 | 1. 调整超时时间
2. 验证波特率
3. 检查设备地址 | -| **数据校验错误** | `CRCError` | 检查数据完整性 | 1. 更换USB线
2. 降低波特率
3. 检查电磁干扰 | -| **协议错误** | 响应格式异常 | 验证命令格式 | 1. 检查协议版本
2. 确认设备类型
3. 更新固件 | -| **间歇性故障** | 时好时坏 | 监控连接稳定性 | 1. 检查连接线
2. 稳定电源
3. 减少干扰源 | - -### 3. 设备功能问题 - -#### 🎯 设备状态检查 -```python -def check_device_health(): - """设备健康状态检查""" - from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend - - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200, - timeout=5.0 - ) - - try: - backend = LaiYuLiquidBackend(config) - backend.connect() - - # 检查项目 - checks = { - "设备连接": lambda: backend.is_connected(), - "XYZ轴状态": lambda: backend.xyz_controller.get_all_positions(), - "移液器状态": lambda: backend.pipette_controller.get_status(), - "设备温度": lambda: backend.get_temperature(), - "错误状态": lambda: backend.get_error_status(), - } - - print("🏥 设备健康检查报告") - print("=" * 40) - - for check_name, check_func in checks.items(): - try: - result = check_func() - print(f"✅ {check_name}: 正常") - if result: - print(f" 📊 数据: {result}") - except Exception as e: - print(f"❌ {check_name}: 异常 - {e}") - - backend.disconnect() - - except Exception as e: - print(f"❌ 无法连接设备: {e}") -``` - -### 4. 高级故障排除 - -#### 🔧 日志分析工具 -```python -import logging - -def setup_debug_logging(): - """设置调试日志""" - logging.basicConfig( - level=logging.DEBUG, - format='%(asctime)s - %(name)s - %(levelname)s - %(message)s', - handlers=[ - logging.FileHandler('laiyu_debug.log'), - logging.StreamHandler() - ] - ) - - # 启用串口通信日志 - serial_logger = logging.getLogger('serial') - serial_logger.setLevel(logging.DEBUG) - - print("🔍 调试日志已启用，日志文件: laiyu_debug.log") -``` - -#### 📊 性能监控 -```python -def monitor_performance(): - """性能监控工具""" - import time - import psutil - - print("📊 开始性能监控...") - - start_time = time.time() - start_cpu = psutil.cpu_percent() - start_memory = psutil.virtual_memory().percent - - # 执行设备操作 - # ... 你的设备操作代码 ... - - end_time = time.time() - end_cpu = psutil.cpu_percent() - end_memory = psutil.virtual_memory().percent - - print(f"⏱️ 执行时间: {end_time - start_time:.2f} 秒") - print(f"💻 CPU使用: {end_cpu - start_cpu:.1f}%") - print(f"🧠 内存使用: {end_memory - start_memory:.1f}%") -``` - -## 📝 配置文件模板 - -### 1. 基础配置模板 - -#### 标准配置（推荐） -```python -from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend, LaiYuLiquid - -# 创建标准配置 -config = LaiYuLiquidConfig( - # === 通信参数 === - port="/dev/cu.usbserial-3130", # 🔧 修改为实际串口 - address=4, # 移液器地址（推荐） - baudrate=115200, # 通信波特率（推荐） - timeout=5.0, # 通信超时时间 - - # === 工作台尺寸 === - deck_width=340.0, # 工作台宽度 (mm) - deck_height=250.0, # 工作台高度 (mm) - deck_depth=160.0, # 工作台深度 (mm) - - # === 运动控制参数 === - max_speed=100.0, # 最大移动速度 (mm/s) - acceleration=50.0, # 加速度 (mm/s²) - safe_height=50.0, # 安全移动高度 (mm) - - # === 移液参数 === - max_volume=1000.0, # 最大移液体积 (μL) - min_volume=0.1, # 最小移液体积 (μL) - liquid_detection=True, # 启用液面检测 - - # === 枪头操作参数 === - tip_pickup_speed=30, # 取枪头速度 (rpm) - tip_pickup_acceleration=500, # 取枪头加速度 (rpm/s) - tip_pickup_depth=10.0, # 枪头插入深度 (mm) - tip_drop_height=10.0, # 丢弃枪头高度 (mm) -) - -# 创建设备实例 -backend = LaiYuLiquidBackend(config) -device = LaiYuLiquid(backend) -``` - -### 2. 高级配置模板 - -#### 多设备配置 -```python -# 配置多个LaiYu设备 -configs = { - "device_1": LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200, - deck_width=340.0, - deck_height=250.0, - deck_depth=160.0 - ), - "device_2": LaiYuLiquidConfig( - port="/dev/cu.usbserial-3131", - address=4, - baudrate=115200, - deck_width=340.0, - deck_height=250.0, - deck_depth=160.0 - ) -} - -# 创建设备实例 -devices = {} -for name, config in configs.items(): - backend = LaiYuLiquidBackend(config) - devices[name] = LaiYuLiquid(backend) -``` - -#### 自定义参数配置 -```python -# 高精度移液配置 -precision_config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200, - timeout=10.0, # 增加超时时间 - - # 精密运动控制 - max_speed=50.0, # 降低速度提高精度 - acceleration=25.0, # 降低加速度 - safe_height=30.0, # 降低安全高度 - - # 精密移液参数 - max_volume=200.0, # 小体积移液 - min_volume=0.5, # 提高最小体积 - liquid_detection=True, - - # 精密枪头操作 - tip_pickup_speed=15, # 降低取枪头速度 - tip_pickup_acceleration=250, # 降低加速度 - tip_pickup_depth=8.0, # 减少插入深度 - tip_drop_height=5.0, # 降低丢弃高度 -) -``` - -### 3. 实验协议配置 - -#### JSON配置文件模板 -```json -{ - "experiment_name": "LaiYu液体处理实验", - "version": "1.0", - "devices": { - "laiyu_liquid": { - "type": "LaiYu_Liquid", - "config": { - "port": "/dev/cu.usbserial-3130", - "address": 4, - "baudrate": 115200, - "timeout": 5.0, - "deck_width": 340.0, - "deck_height": 250.0, - "deck_depth": 160.0, - "max_speed": 100.0, - "acceleration": 50.0, - "safe_height": 50.0, - "max_volume": 1000.0, - "min_volume": 0.1, - "liquid_detection": true - } - } - }, - "deck_layout": { - "tip_rack": { - "type": "tip_rack_96", - "position": [10, 10, 0], - "tips": "1000μL" - }, - "source_plate": { - "type": "plate_96", - "position": [100, 10, 0], - "contents": "样品" - }, - "dest_plate": { - "type": "plate_96", - "position": [200, 10, 0], - "contents": "目标" - } - } -} -``` - -### 4. 完整配置示例 -```json -{ - "laiyu_liquid_config": { - "communication": { - "xyz_controller": { - "port": "/dev/cu.usbserial-3130", - "baudrate": 115200, - "timeout": 5.0 - }, - "pipette_controller": { - "port": "/dev/cu.usbserial-3131", - "baudrate": 115200, - "address": 4, - "timeout": 5.0 - } - }, - "mechanical": { - "deck_width": 340.0, - "deck_height": 250.0, - "deck_depth": 160.0, - "safe_height": 50.0 - }, - "motion": { - "max_speed": 100.0, - "acceleration": 50.0, - "tip_pickup_speed": 30, - "tip_pickup_acceleration": 500 - }, - "safety": { - "position_validation": true, - "emergency_stop_enabled": true, - "deck_width": 300.0, - "deck_height": 200.0, - "deck_depth": 100.0, - "safe_height": 50.0 - } - } -} -``` - -### 5. 完整使用示例 - -#### 基础移液操作 -```python -async def basic_pipetting_example(): - """基础移液操作示例""" - - # 1. 设备初始化 - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200 - ) - - backend = LaiYuLiquidBackend(config) - device = LaiYuLiquid(backend) - - try: - # 2. 设备设置 - await device.setup() - print("✅ 设备初始化完成") - - # 3. 回到原点 - await device.home_all_axes() - print("✅ 轴归零完成") - - # 4. 取枪头 - tip_position = (50, 50, 10) # 枪头架位置 - await device.pick_up_tip(tip_position) - print("✅ 取枪头完成") - - # 5. 移液操作 - source_pos = (100, 100, 15) # 源位置 - dest_pos = (200, 200, 15) # 目标位置 - volume = 100.0 # 移液体积 (μL) - - await device.aspirate(volume, source_pos) - print(f"✅ 吸取 {volume}μL 完成") - - await device.dispense(volume, dest_pos) - print(f"✅ 分配 {volume}μL 完成") - - # 6. 丢弃枪头 - trash_position = (300, 300, 20) - await device.drop_tip(trash_position) - print("✅ 丢弃枪头完成") - - except Exception as e: - print(f"❌ 操作失败: {e}") - - finally: - # 7. 清理资源 - await device.cleanup() - print("✅ 设备清理完成") - -# 运行示例 -import asyncio -asyncio.run(basic_pipetting_example()) -``` - -#### 批量处理示例 -```python -async def batch_processing_example(): - """批量处理示例""" - - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200 - ) - - backend = LaiYuLiquidBackend(config) - device = LaiYuLiquid(backend) - - try: - await device.setup() - await device.home_all_axes() - - # 定义位置 - tip_rack = [(50 + i*9, 50, 10) for i in range(12)] # 12个枪头位置 - source_wells = [(100 + i*9, 100, 15) for i in range(12)] # 12个源孔 - dest_wells = [(200 + i*9, 200, 15) for i in range(12)] # 12个目标孔 - - # 批量移液 - for i in range(12): - print(f"🔄 处理第 {i+1} 个样品...") - - # 取枪头 - await device.pick_up_tip(tip_rack[i]) - - # 移液 - await device.aspirate(50.0, source_wells[i]) - await device.dispense(50.0, dest_wells[i]) - - # 丢弃枪头 - await device.drop_tip((300, 300, 20)) - - print(f"✅ 第 {i+1} 个样品处理完成") - - print("🎉 批量处理完成!") - - except Exception as e: - print(f"❌ 批量处理失败: {e}") - - finally: - await device.cleanup() - -# 运行批量处理 -asyncio.run(batch_processing_example()) -``` - -## 🔧 调试与日志管理 - -### 1. 调试模式配置 - -#### 启用全局调试 -```python -import logging -from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend - -# 配置全局日志 -logging.basicConfig( - level=logging.DEBUG, - format='%(asctime)s - %(name)s - %(levelname)s - %(message)s', - handlers=[ - logging.FileHandler('laiyu_debug.log'), - logging.StreamHandler() - ] -) - -# 创建调试配置 -debug_config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200, - timeout=10.0, # 增加超时时间便于调试 - debug_mode=True # 启用调试模式 -) -``` - -#### 分级日志配置 -```python -def setup_logging(log_level="INFO"): - """设置分级日志""" - - # 日志级别映射 - levels = { - "DEBUG": logging.DEBUG, - "INFO": logging.INFO, - "WARNING": logging.WARNING, - "ERROR": logging.ERROR - } - - # 创建日志记录器 - logger = logging.getLogger('LaiYu_Liquid') - logger.setLevel(levels.get(log_level, logging.INFO)) - - # 文件处理器 - file_handler = logging.FileHandler('laiyu_operations.log') - file_formatter = logging.Formatter( - '%(asctime)s - %(name)s - %(levelname)s - %(funcName)s:%(lineno)d - %(message)s' - ) - file_handler.setFormatter(file_formatter) - - # 控制台处理器 - console_handler = logging.StreamHandler() - console_formatter = logging.Formatter('%(levelname)s - %(message)s') - console_handler.setFormatter(console_formatter) - - logger.addHandler(file_handler) - logger.addHandler(console_handler) - - return logger - -# 使用示例 -logger = setup_logging("DEBUG") -logger.info("开始LaiYu设备操作") -``` - -### 2. 通信监控 - -#### 串口通信日志 -```python -def enable_serial_logging(): - """启用串口通信日志""" - import serial - - # 创建串口日志记录器 - serial_logger = logging.getLogger('serial.communication') - serial_logger.setLevel(logging.DEBUG) - - # 创建专用的串口日志文件 - serial_handler = logging.FileHandler('laiyu_serial.log') - serial_formatter = logging.Formatter( - '%(asctime)s - SERIAL - %(message)s' - ) - serial_handler.setFormatter(serial_formatter) - serial_logger.addHandler(serial_handler) - - print("📡 串口通信日志已启用: laiyu_serial.log") - return serial_logger -``` - -#### 实时通信监控 -```python -class CommunicationMonitor: - """通信监控器""" - - def __init__(self): - self.sent_count = 0 - self.received_count = 0 - self.error_count = 0 - self.start_time = time.time() - - def log_sent(self, data): - """记录发送数据""" - self.sent_count += 1 - logging.debug(f"📤 发送 #{self.sent_count}: {data.hex()}") - - def log_received(self, data): - """记录接收数据""" - self.received_count += 1 - logging.debug(f"📥 接收 #{self.received_count}: {data.hex()}") - - def log_error(self, error): - """记录错误""" - self.error_count += 1 - logging.error(f"❌ 通信错误 #{self.error_count}: {error}") - - def get_statistics(self): - """获取统计信息""" - duration = time.time() - self.start_time - return { - "运行时间": f"{duration:.2f}秒", - "发送次数": self.sent_count, - "接收次数": self.received_count, - "错误次数": self.error_count, - "成功率": f"{((self.sent_count - self.error_count) / max(self.sent_count, 1) * 100):.1f}%" - } -``` - -### 3. 性能监控 - -#### 操作性能分析 -```python -import time -import functools - -def performance_monitor(operation_name): - """性能监控装饰器""" - def decorator(func): - @functools.wraps(func) - async def wrapper(*args, **kwargs): - start_time = time.time() - start_memory = psutil.Process().memory_info().rss / 1024 / 1024 # MB - - try: - result = await func(*args, **kwargs) - - end_time = time.time() - end_memory = psutil.Process().memory_info().rss / 1024 / 1024 # MB - - duration = end_time - start_time - memory_delta = end_memory - start_memory - - logging.info(f"⏱️ {operation_name}: {duration:.3f}s, 内存变化: {memory_delta:+.1f}MB") - - return result - - except Exception as e: - end_time = time.time() - duration = end_time - start_time - logging.error(f"❌ {operation_name} 失败 ({duration:.3f}s): {e}") - raise - - return wrapper - return decorator - -# 使用示例 -@performance_monitor("移液操作") -async def monitored_pipetting(): - await device.aspirate(100.0, (100, 100, 15)) - await device.dispense(100.0, (200, 200, 15)) -``` - -#### 系统资源监控 -```python -import psutil -import threading -import time - -class SystemMonitor: - """系统资源监控器""" - - def __init__(self, interval=1.0): - self.interval = interval - self.monitoring = False - self.data = [] - - def start_monitoring(self): - """开始监控""" - self.monitoring = True - self.monitor_thread = threading.Thread(target=self._monitor_loop) - self.monitor_thread.daemon = True - self.monitor_thread.start() - print("📊 系统监控已启动") - - def stop_monitoring(self): - """停止监控""" - self.monitoring = False - if hasattr(self, 'monitor_thread'): - self.monitor_thread.join() - print("📊 系统监控已停止") - - def _monitor_loop(self): - """监控循环""" - while self.monitoring: - cpu_percent = psutil.cpu_percent() - memory = psutil.virtual_memory() - - self.data.append({ - 'timestamp': time.time(), - 'cpu_percent': cpu_percent, - 'memory_percent': memory.percent, - 'memory_used_mb': memory.used / 1024 / 1024 - }) - - time.sleep(self.interval) - - def get_report(self): - """生成监控报告""" - if not self.data: - return "无监控数据" - - avg_cpu = sum(d['cpu_percent'] for d in self.data) / len(self.data) - avg_memory = sum(d['memory_percent'] for d in self.data) / len(self.data) - max_memory = max(d['memory_used_mb'] for d in self.data) - - return f""" -📊 系统资源监控报告 -================== -监控时长: {len(self.data) * self.interval:.1f}秒 -平均CPU使用率: {avg_cpu:.1f}% -平均内存使用率: {avg_memory:.1f}% -峰值内存使用: {max_memory:.1f}MB - """ - -# 使用示例 -monitor = SystemMonitor() -monitor.start_monitoring() - -# 执行设备操作 -# ... 你的代码 ... - -monitor.stop_monitoring() -print(monitor.get_report()) -``` - -### 4. 错误追踪 - -#### 异常处理和记录 -```python -import traceback - -class ErrorTracker: - """错误追踪器""" - - def __init__(self): - self.errors = [] - - def log_error(self, operation, error, context=None): - """记录错误""" - error_info = { - 'timestamp': time.time(), - 'operation': operation, - 'error_type': type(error).__name__, - 'error_message': str(error), - 'traceback': traceback.format_exc(), - 'context': context or {} - } - - self.errors.append(error_info) - - # 记录到日志 - logging.error(f"❌ {operation} 失败: {error}") - logging.debug(f"错误详情: {error_info}") - - def get_error_summary(self): - """获取错误摘要""" - if not self.errors: - return "✅ 无错误记录" - - error_types = {} - for error in self.errors: - error_type = error['error_type'] - error_types[error_type] = error_types.get(error_type, 0) + 1 - - summary = f"❌ 共记录 {len(self.errors)} 个错误:\n" - for error_type, count in error_types.items(): - summary += f" - {error_type}: {count} 次\n" - - return summary - -# 全局错误追踪器 -error_tracker = ErrorTracker() - -# 使用示例 -try: - await device.move_to(x=1000, y=1000, z=100) # 可能超出范围 -except Exception as e: - error_tracker.log_error("移动操作", e, {"target": (1000, 1000, 100)}) -``` - ---- - -## 📚 总结 - -本文档提供了LaiYu液体处理设备的完整硬件连接配置指南，涵盖了从基础设置到高级故障排除的所有方面。 - -### 🎯 关键要点 - -1. **标准配置**: 使用 `port="/dev/cu.usbserial-3130"`, `address=4`, `baudrate=115200` -2. **设备架构**: XYZ轴控制器(地址1-3) + SOPA移液器(地址4) -3. **连接验证**: 使用提供的测试脚本验证硬件连接 -4. **故障排除**: 参考故障排除指南解决常见问题 -5. **性能监控**: 启用日志和监控确保稳定运行 - -### 🔗 相关文档 - -- [LaiYu控制架构详解](./UniLab_LaiYu_控制架构详解.md) -- [XYZ集成功能说明](./XYZ_集成功能说明.md) -- [设备API文档](./readme.md) - -### 📞 技术支持 - -如遇到问题，请： -1. 检查硬件连接和配置 -2. 查看调试日志 -3. 参考故障排除指南 -4. 联系技术支持团队 - ---- - -*最后更新: 2024年1月* \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/readme.md b/unilabos/devices/laiyu_liquid/docs/readme.md deleted file mode 100644 index 4927138a..00000000 --- a/unilabos/devices/laiyu_liquid/docs/readme.md +++ /dev/null @@ -1,269 +0,0 @@ -# LaiYu_Liquid 液体处理工作站 - -## 概述 - -LaiYu_Liquid 是一个完全集成到 UniLabOS 的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。 - -## 系统组成 - -### 硬件组件 -- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03） -- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作 -- **通信接口**: RS485转USB模块，默认波特率115200 -- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材 - -### 软件架构 -- **驱动层**: 底层硬件通信驱动，支持RS485协议 -- **控制层**: 高级控制逻辑和坐标系管理 -- **抽象层**: 完全符合UniLabOS标准的液体处理接口 -- **资源层**: 标准化的实验器具和耗材管理 - -## 🎯 生产就绪组件 - -### ✅ 核心驱动程序 (`drivers/`) -- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动 - - 支持液体吸取、分配、检测 - - 完整的错误处理和状态管理 - - 生产级别的通信协议实现 - -- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动 - - 精确的位置控制和运动规划 - - 安全限位和错误检测 - - 高性能运动控制算法 - -### ✅ 高级控制器 (`controllers/`) -- **`pipette_controller.py`** - 移液控制器 - - 封装高级液体处理功能 - - 支持多种液体类型和处理参数 - - 智能错误恢复机制 - -- **`xyz_controller.py`** - XYZ运动控制器 - - 坐标系管理和转换 - - 运动路径优化 - - 安全运动控制 - -### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`) -- **完整的液体处理抽象接口** -- **标准化的资源管理系统** -- **与PyLabRobot兼容的后端实现** -- **生产级别的错误处理和日志记录** - -### ✅ 资源管理系统 -- **`laiyu_liquid_res.py`** - 标准化资源定义 - - 96孔板、离心管架、枪头架等标准器具 - - 自动化的资源创建和配置函数 - - 与工作台布局的完美集成 - -### ✅ 配置管理 (`config/`) -- **`config/deck.json`** - 工作台布局配置 - - 精确的空间定义和槽位管理 - - 支持多种实验器具的标准化放置 - - 可扩展的配置架构 - -- **`__init__.py`** - 模块集成和导出 - - 完整的API导出和版本管理 - - 依赖检查和安装验证 - - 专业的模块信息展示 - - - -## 🚀 核心功能特性 - -### 液体处理能力 -- **精密体积控制**: 支持1-1000μL精确分配 -- **多种液体类型**: 水性、有机溶剂、粘稠液体等 -- **智能检测**: 液位检测、气泡检测、堵塞检测 -- **自动化流程**: 完整的吸取-转移-分配工作流 - -### 运动控制系统 -- **三轴精密定位**: 微米级精度控制 -- **路径优化**: 智能运动规划和碰撞避免 -- **安全机制**: 限位保护、紧急停止、错误恢复 -- **坐标系管理**: 工作坐标与机械坐标的自动转换 - -### 资源管理 -- **标准化器具**: 支持96孔板、离心管架、枪头架等 -- **状态跟踪**: 实时监控液体体积、枪头状态等 -- **自动配置**: 基于JSON的灵活配置系统 -- **扩展性**: 易于添加新的器具类型 - -## 📁 目录结构 - -``` -LaiYu_Liquid/ -├── __init__.py # 模块初始化和API导出 -├── readme.md # 本文档 -├── backend/ # 后端驱动模块 -│ ├── __init__.py -│ └── laiyu_backend.py # PyLabRobot兼容后端 -├── core/ # 核心模块 -│ ├── core/ -│ │ └── LaiYu_Liquid.py # 主设备类 -│ ├── abstract_protocol.py # 抽象协议 -│ └── laiyu_liquid_res.py # 设备资源定义 -├── config/ # 配置文件目录 -│ └── deck.json # 工作台布局配置 -├── controllers/ # 高级控制器 -│ ├── __init__.py -│ ├── pipette_controller.py # 移液控制器 -│ └── xyz_controller.py # XYZ运动控制器 -├── docs/ # 技术文档 -│ ├── SOPA气动式移液器RS485控制指令.md -│ ├── 步进电机控制指令.md -│ └── hardware/ # 硬件相关文档 -├── drivers/ # 底层驱动程序 -│ ├── __init__.py -│ ├── sopa_pipette_driver.py # SOPA移液器驱动 -│ └── xyz_stepper_driver.py # XYZ步进电机驱动 -└── tests/ # 测试文件 -``` - -## 🔧 快速开始 - -### 1. 安装和验证 - -```python -# 验证模块安装 -from unilabos.devices.laiyu_liquid import ( - LaiYuLiquid, - LaiYuLiquidConfig, - create_quick_setup, - print_module_info -) - -# 查看模块信息 -print_module_info() - -# 快速创建默认资源 -resources = create_quick_setup() -print(f"已创建 {len(resources)} 个资源") -``` - -### 2. 基本使用示例 - -```python -from unilabos.devices.LaiYu_Liquid import ( - create_quick_setup, - create_96_well_plate, - create_laiyu_backend -) - -# 快速创建默认资源 -resources = create_quick_setup() -print(f"创建了以下资源: {list(resources.keys())}") - -# 创建96孔板 -plate_96 = create_96_well_plate("test_plate") -print(f"96孔板包含 {len(plate_96.children)} 个孔位") - -# 创建后端实例（用于PyLabRobot集成） -backend = create_laiyu_backend("LaiYu_Device") -print(f"后端设备: {backend.name}") -``` - -### 3. 后端驱动使用 - -```python -from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend - -# 创建后端实例 -backend = create_laiyu_backend("LaiYu_Liquid_Station") - -# 连接设备 -await backend.connect() - -# 设备归位 -await backend.home_device() - -# 获取设备状态 -status = await backend.get_status() -print(f"设备状态: {status}") - -# 断开连接 -await backend.disconnect() -``` - -### 4. 资源管理示例 - -```python -from unilabos.devices.LaiYu_Liquid import ( - create_centrifuge_tube_rack, - create_tip_rack, - load_deck_config -) - -# 加载工作台配置 -deck_config = load_deck_config() -print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm") - -# 创建不同类型的资源 -tube_rack = create_centrifuge_tube_rack("sample_rack") -tip_rack = create_tip_rack("tip_rack_200ul") - -print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置") -print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头") -``` - -## 🔍 技术架构 - -### 坐标系统 -- **机械坐标**: 基于步进电机的原始坐标系统 -- **工作坐标**: 用户友好的实验室坐标系统 -- **自动转换**: 透明的坐标系转换和校准 - -### 通信协议 -- **RS485总线**: 高可靠性工业通信标准 -- **Modbus协议**: 标准化的设备通信协议 -- **错误检测**: 完整的通信错误检测和恢复 - -### 安全机制 -- **限位保护**: 硬件和软件双重限位保护 -- **紧急停止**: 即时停止所有运动和操作 -- **状态监控**: 实时设备状态监控和报警 - -## 🧪 验证和测试 - -### 功能验证 -```python -# 验证模块安装 -from unilabos.devices.laiyu_liquid import validate_installation -validate_installation() - -# 查看模块信息 -from unilabos.devices.laiyu_liquid import print_module_info -print_module_info() -``` - -### 硬件连接测试 -```python -# 测试SOPA移液器连接 -from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig - -config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4) -pipette = SOPAPipette(config) -success = pipette.connect() -print(f"SOPA连接状态: {'成功' if success else '失败'}") -``` - -## 📚 维护和支持 - -### 日志记录 -- **结构化日志**: 使用Python logging模块的专业日志记录 -- **错误追踪**: 详细的错误信息和堆栈跟踪 -- **性能监控**: 操作时间和性能指标记录 - -### 配置管理 -- **JSON配置**: 灵活的JSON格式配置文件 -- **参数验证**: 自动配置参数验证和错误提示 -- **热重载**: 支持配置文件的动态重载 - -### 扩展性 -- **模块化设计**: 易于扩展和定制的模块化架构 -- **插件接口**: 支持第三方插件和扩展 -- **API兼容**: 向后兼容的API设计 - - diff --git a/unilabos/devices/laiyu_liquid/drivers/__init__.py b/unilabos/devices/laiyu_liquid/drivers/__init__.py deleted file mode 100644 index cedd47a0..00000000 --- a/unilabos/devices/laiyu_liquid/drivers/__init__.py +++ /dev/null @@ -1,30 +0,0 @@ -""" -LaiYu_Liquid 驱动程序模块 - -该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序： -- SOPA移液器驱动程序 -- XYZ步进电机驱动程序 -""" - -# SOPA移液器驱动程序导入 -from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode - -# XYZ步进电机驱动程序导入 -from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus - -__all__ = [ - # SOPA移液器 - "SOPAPipette", - "SOPAConfig", - "SOPAStatusCode", - - # XYZ步进电机 - "StepperMotorDriver", - "XYZStepperController", - "MotorAxis", - "MotorStatus", -] - -__version__ = "1.0.0" -__author__ = "LaiYu_Liquid Driver Team" -__description__ = "LaiYu_Liquid 硬件驱动程序集合" \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py b/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py deleted file mode 100644 index 3cfed55f..00000000 --- a/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py +++ /dev/null @@ -1,1079 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -SOPA气动式移液器RS485控制驱动程序 - -基于SOPA气动式移液器RS485控制指令合集编写的Python驱动程序， -支持完整的移液器控制功能，包括移液、检测、配置等操作。 - -仅支持SC-STxxx-00-13型号的RS485通信。 -""" - -import serial -import time -import logging -import threading -from typing import Optional, Union, Dict, Any, Tuple, List -from enum import Enum, IntEnum -from dataclasses import dataclass -from contextlib import contextmanager - -# 配置日志 -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger(__name__) - - -class SOPAError(Exception): - """SOPA移液器异常基类""" - pass - - -class SOPACommunicationError(SOPAError): - """通信异常""" - pass - - -class SOPADeviceError(SOPAError): - """设备异常""" - pass - - -class SOPAStatusCode(IntEnum): - """状态码枚举""" - NO_ERROR = 0x00 # 无错误 - ACTION_INCOMPLETE = 0x01 # 上次动作未完成 - NOT_INITIALIZED = 0x02 # 设备未初始化 - DEVICE_OVERLOAD = 0x03 # 设备过载 - INVALID_COMMAND = 0x04 # 无效指令 - LLD_FAULT = 0x05 # 液位探测故障 - AIR_ASPIRATE = 0x0D # 空吸 - NEEDLE_BLOCK = 0x0E # 堵针 - FOAM_DETECT = 0x10 # 泡沫 - EXCEED_TIP_VOLUME = 0x11 # 吸液超过吸头容量 - - -class CommunicationType(Enum): - """通信类型""" - TERMINAL_DEBUG = "/" # 终端调试，头码为0x2F - OEM_COMMUNICATION = "[" # OEM通信，头码为0x5B - - -class DetectionMode(IntEnum): - """液位检测模式""" - PRESSURE = 0 # 压力式检测(pLLD) - CAPACITIVE = 1 # 电容式检测(cLLD) - - -@dataclass -class SOPAConfig: - """SOPA移液器配置参数""" - # 通信参数 - port: str = "/dev/ttyUSB0" - baudrate: int = 115200 - address: int = 1 - timeout: float = 5.0 - comm_type: CommunicationType = CommunicationType.TERMINAL_DEBUG - - # 运动参数 (单位: 0.1ul/秒) - max_speed: int = 2000 # 最高速度 200ul/秒 - start_speed: int = 200 # 启动速度 20ul/秒 - cutoff_speed: int = 200 # 断流速度 20ul/秒 - acceleration: int = 30000 # 加速度 - - # 检测参数 - empty_threshold: int = 4 # 空吸门限 - foam_threshold: int = 20 # 泡沫门限 - block_threshold: int = 350 # 堵塞门限 - - # 液位检测参数 - lld_speed: int = 200 # 检测速度 (100~2000) - lld_sensitivity: int = 5 # 检测灵敏度 (3~40) - detection_mode: DetectionMode = DetectionMode.PRESSURE - - # 吸头参数 - tip_volume: int = 1000 # 吸头容量 (ul) - calibration_factor: float = 1.0 # 校准系数 - compensation_offset: float = 0.0 # 补偿偏差 - - def __post_init__(self): - """初始化后验证参数""" - self._validate_address() - - def _validate_address(self): - """ - 验证设备地址是否符合协议要求 - - 协议要求： - - 地址范围：1~254 - - 禁用地址：47, 69, 91 (对应ASCII字符 '/', 'E', '[') - """ - if not (1 <= self.address <= 254): - raise ValueError(f"设备地址必须在1-254范围内，当前地址: {self.address}") - - forbidden_addresses = [47, 69, 91] # '/', 'E', '[' - if self.address in forbidden_addresses: - forbidden_chars = {47: "'/' (0x2F)", 69: "'E' (0x45)", 91: "'[' (0x5B)"} - char_desc = forbidden_chars[self.address] - raise ValueError( - f"地址 {self.address} 不可用，因为它对应协议字符 {char_desc}。" - f"请选择其他地址（1-254，排除47、69、91）" - ) - - -class SOPAPipette: - """SOPA气动式移液器驱动类""" - - def __init__(self, config: SOPAConfig): - """ - 初始化SOPA移液器 - - Args: - config: 移液器配置参数 - """ - self.config = config - self.serial_port: Optional[serial.Serial] = None - self.is_connected = False - self.is_initialized = False - self.lock = threading.Lock() - - # 状态缓存 - self._last_status = SOPAStatusCode.NOT_INITIALIZED - self._current_position = 0 - self._tip_present = False - - def connect(self) -> bool: - """ - 连接移液器 - - Returns: - bool: 连接是否成功 - """ - try: - self.serial_port = serial.Serial( - port=self.config.port, - baudrate=self.config.baudrate, - bytesize=serial.EIGHTBITS, - parity=serial.PARITY_NONE, - stopbits=serial.STOPBITS_ONE, - timeout=self.config.timeout - ) - - if self.serial_port.is_open: - self.is_connected = True - logger.info(f"已连接到SOPA移液器，端口: {self.config.port}, 地址: {self.config.address}") - - # 查询设备信息 - version = self.get_firmware_version() - if version: - logger.info(f"固件版本: {version}") - - return True - else: - raise SOPACommunicationError("串口打开失败") - - except Exception as e: - logger.error(f"连接失败: {str(e)}") - self.is_connected = False - return False - - def disconnect(self): - """断开连接""" - if self.serial_port and self.serial_port.is_open: - self.serial_port.close() - self.is_connected = False - self.is_initialized = False - logger.info("已断开SOPA移液器连接") - - def _calculate_checksum(self, data: bytes) -> int: - """计算校验和""" - return sum(data) & 0xFF - - def _build_command(self, command: str) -> bytes: - """ - 构建完整命令字节串 - - 根据协议格式：头码 + 地址 + 命令/数据 + 尾码 + 校验和 - - Args: - command: 命令字符串 - - Returns: - bytes: 完整的命令字节串 - """ - header = self.config.comm_type.value # '/' 或 '[' - address = str(self.config.address) # 设备地址 - tail = "E" # 尾码固定为 'E' - - # 构建基础命令字符串：头码 + 地址 + 命令 + 尾码 - cmd_str = f"{header}{address}{command}{tail}" - - # 转换为字节串 - cmd_bytes = cmd_str.encode('ascii') - - # 计算校验和（所有字节的累加值） - checksum = self._calculate_checksum(cmd_bytes) - - # 返回完整命令：基础命令字节 + 校验和字节 - return cmd_bytes + bytes([checksum]) - - def _send_command(self, command: str) -> bool: - """ - 发送命令到移液器 - - Args: - command: 要发送的命令 - - Returns: - bool: 命令是否发送成功 - """ - if not self.is_connected or not self.serial_port: - raise SOPACommunicationError("设备未连接") - - with self.lock: - try: - full_command_bytes = self._build_command(command) - # 转换为可读字符串用于日志显示 - readable_cmd = ''.join(chr(b) if 32 <= b <= 126 else f'\\x{b:02X}' for b in full_command_bytes) - logger.debug(f"发送命令: {readable_cmd}") - - self.serial_port.write(full_command_bytes) - self.serial_port.flush() - - # 等待响应 - time.sleep(0.1) - return True - - except Exception as e: - logger.error(f"发送命令失败: {str(e)}") - raise SOPACommunicationError(f"发送命令失败: {str(e)}") - - def _read_response(self, timeout: float = None) -> Optional[str]: - """ - 读取设备响应 - - Args: - timeout: 超时时间 - - Returns: - Optional[str]: 设备响应字符串 - """ - if not self.is_connected or not self.serial_port: - return None - - timeout = timeout or self.config.timeout - - try: - # 设置读取超时 - self.serial_port.timeout = timeout - - response = b'' - start_time = time.time() - - while time.time() - start_time < timeout: - if self.serial_port.in_waiting > 0: - chunk = self.serial_port.read(self.serial_port.in_waiting) - response += chunk - - # 检查是否收到完整响应（以'E'结尾） - if response.endswith(b'E') or len(response) >= 20: - break - - time.sleep(0.01) - - if response: - decoded_response = response.decode('ascii', errors='ignore') - logger.debug(f"收到响应: {decoded_response}") - return decoded_response - - except Exception as e: - logger.error(f"读取响应失败: {str(e)}") - - return None - - def _send_query(self, query: str) -> Optional[str]: - """ - 发送查询命令并获取响应 - - Args: - query: 查询命令 - - Returns: - Optional[str]: 查询结果 - """ - try: - self._send_command(query) - return self._read_response() - except Exception as e: - logger.error(f"查询失败: {str(e)}") - return None - - # ==================== 基础控制方法 ==================== - - def initialize(self) -> bool: - """ - 初始化移液器 - - Returns: - bool: 初始化是否成功 - """ - try: - logger.info("初始化SOPA移液器...") - - # 发送初始化命令 - self._send_command("HE") - - # 等待初始化完成 - time.sleep(2.0) - - # 检查状态 - status = self.get_status() - if status == SOPAStatusCode.NO_ERROR: - self.is_initialized = True - logger.info("移液器初始化成功") - - # 应用配置参数 - self._apply_configuration() - return True - else: - logger.error(f"初始化失败，状态码: {status}") - return False - - except Exception as e: - logger.error(f"初始化异常: {str(e)}") - return False - - def _apply_configuration(self): - """应用配置参数""" - try: - # 设置运动参数 - self.set_acceleration(self.config.acceleration) - self.set_start_speed(self.config.start_speed) - self.set_cutoff_speed(self.config.cutoff_speed) - self.set_max_speed(self.config.max_speed) - - # 设置检测参数 - self.set_empty_threshold(self.config.empty_threshold) - self.set_foam_threshold(self.config.foam_threshold) - self.set_block_threshold(self.config.block_threshold) - - # 设置吸头参数 - self.set_tip_volume(self.config.tip_volume) - self.set_calibration_factor(self.config.calibration_factor) - - # 设置液位检测参数 - self.set_detection_mode(self.config.detection_mode) - self.set_lld_speed(self.config.lld_speed) - - logger.info("配置参数应用完成") - - except Exception as e: - logger.warning(f"应用配置参数失败: {str(e)}") - - def eject_tip(self) -> bool: - """ - 顶出枪头 - - Returns: - bool: 操作是否成功 - """ - try: - logger.info("顶出枪头") - self._send_command("RE") - time.sleep(1.0) - return True - except Exception as e: - logger.error(f"顶出枪头失败: {str(e)}") - return False - - def get_tip_status(self) -> bool: - """ - 获取枪头状态 - - Returns: - bool: True表示有枪头，False表示无枪头 - """ - try: - response = self._send_query("Q28") - if response and len(response) > 10: - # 解析响应中的枪头状态 - status_char = response[10] if len(response) > 10 else '0' - self._tip_present = (status_char == '1') - return self._tip_present - except Exception as e: - logger.error(f"获取枪头状态失败: {str(e)}") - - return False - - # ==================== 移液控制方法 ==================== - - def move_absolute(self, position: float) -> bool: - """ - 绝对位置移动 - - Args: - position: 目标位置(微升) - - Returns: - bool: 移动是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - pos_int = int(position) - logger.debug(f"绝对移动到位置: {pos_int}ul") - - self._send_command(f"A{pos_int}E") - time.sleep(0.5) - - self._current_position = pos_int - return True - - except Exception as e: - logger.error(f"绝对移动失败: {str(e)}") - return False - - def aspirate(self, volume: float, detection: bool = False) -> bool: - """ - 抽吸液体 - - Args: - volume: 抽吸体积(微升) - detection: 是否开启液体检测 - - Returns: - bool: 抽吸是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - vol_int = int(volume) - logger.info(f"抽吸液体: {vol_int}ul, 检测: {detection}") - - # 构建命令 - cmd_parts = [] - cmd_parts.append(f"a{self.config.acceleration}") - cmd_parts.append(f"b{self.config.start_speed}") - cmd_parts.append(f"c{self.config.cutoff_speed}") - cmd_parts.append(f"s{self.config.max_speed}") - - if detection: - cmd_parts.append("f1") # 开启检测 - - cmd_parts.append(f"P{vol_int}") - - if detection: - cmd_parts.append("f0") # 关闭检测 - - cmd_parts.append("E") - - command = "".join(cmd_parts) - self._send_command(command) - - # 等待操作完成 - time.sleep(max(1.0, vol_int / 100.0)) - - # 检查状态 - status = self.get_status() - if status == SOPAStatusCode.NO_ERROR: - self._current_position += vol_int - logger.info(f"抽吸成功: {vol_int}ul") - return True - elif status == SOPAStatusCode.AIR_ASPIRATE: - logger.warning("检测到空吸") - return False - elif status == SOPAStatusCode.NEEDLE_BLOCK: - logger.error("检测到堵针") - return False - else: - logger.error(f"抽吸失败，状态码: {status}") - return False - - except Exception as e: - logger.error(f"抽吸失败: {str(e)}") - return False - - def dispense(self, volume: float, detection: bool = False) -> bool: - """ - 分配液体 - - Args: - volume: 分配体积(微升) - detection: 是否开启液体检测 - - Returns: - bool: 分配是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - vol_int = int(volume) - logger.info(f"分配液体: {vol_int}ul, 检测: {detection}") - - # 构建命令 - cmd_parts = [] - cmd_parts.append(f"a{self.config.acceleration}") - cmd_parts.append(f"b{self.config.start_speed}") - cmd_parts.append(f"c{self.config.cutoff_speed}") - cmd_parts.append(f"s{self.config.max_speed}") - - if detection: - cmd_parts.append("f1") # 开启检测 - - cmd_parts.append(f"D{vol_int}") - - if detection: - cmd_parts.append("f0") # 关闭检测 - - cmd_parts.append("E") - - command = "".join(cmd_parts) - self._send_command(command) - - # 等待操作完成 - time.sleep(max(1.0, vol_int / 200.0)) - - # 检查状态 - status = self.get_status() - if status == SOPAStatusCode.NO_ERROR: - self._current_position -= vol_int - logger.info(f"分配成功: {vol_int}ul") - return True - else: - logger.error(f"分配失败，状态码: {status}") - return False - - except Exception as e: - logger.error(f"分配失败: {str(e)}") - return False - - # ==================== 液位检测方法 ==================== - - def liquid_level_detection(self, sensitivity: int = None) -> bool: - """ - 执行液位检测 - - Args: - sensitivity: 检测灵敏度 (3~40) - - Returns: - bool: 检测是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - sens = sensitivity or self.config.lld_sensitivity - - if self.config.detection_mode == DetectionMode.PRESSURE: - # 压力式液面检测 - command = f"m0k{self.config.lld_speed}L{sens}E" - else: - # 电容式液面检测 - command = f"m1L{sens}E" - - logger.info(f"执行液位检测, 模式: {self.config.detection_mode.name}, 灵敏度: {sens}") - - self._send_command(command) - time.sleep(2.0) - - # 检查检测结果 - status = self.get_status() - if status == SOPAStatusCode.NO_ERROR: - logger.info("液位检测成功") - return True - elif status == SOPAStatusCode.LLD_FAULT: - logger.error("液位检测故障") - return False - else: - logger.warning(f"液位检测异常，状态码: {status}") - return False - - except Exception as e: - logger.error(f"液位检测失败: {str(e)}") - return False - - # ==================== 参数设置方法 ==================== - - def set_max_speed(self, speed: int) -> bool: - """设置最高速度 (0.1ul/秒为单位)""" - try: - self._send_command(f"s{speed}E") - self.config.max_speed = speed - logger.debug(f"设置最高速度: {speed} (0.1ul/秒)") - return True - except Exception as e: - logger.error(f"设置最高速度失败: {str(e)}") - return False - - def set_start_speed(self, speed: int) -> bool: - """设置启动速度 (0.1ul/秒为单位)""" - try: - self._send_command(f"b{speed}E") - self.config.start_speed = speed - logger.debug(f"设置启动速度: {speed} (0.1ul/秒)") - return True - except Exception as e: - logger.error(f"设置启动速度失败: {str(e)}") - return False - - def set_cutoff_speed(self, speed: int) -> bool: - """设置断流速度 (0.1ul/秒为单位)""" - try: - self._send_command(f"c{speed}E") - self.config.cutoff_speed = speed - logger.debug(f"设置断流速度: {speed} (0.1ul/秒)") - return True - except Exception as e: - logger.error(f"设置断流速度失败: {str(e)}") - return False - - def set_acceleration(self, accel: int) -> bool: - """设置加速度""" - try: - self._send_command(f"a{accel}E") - self.config.acceleration = accel - logger.debug(f"设置加速度: {accel}") - return True - except Exception as e: - logger.error(f"设置加速度失败: {str(e)}") - return False - - def set_empty_threshold(self, threshold: int) -> bool: - """设置空吸门限""" - try: - self._send_command(f"${threshold}E") - self.config.empty_threshold = threshold - logger.debug(f"设置空吸门限: {threshold}") - return True - except Exception as e: - logger.error(f"设置空吸门限失败: {str(e)}") - return False - - def set_foam_threshold(self, threshold: int) -> bool: - """设置泡沫门限""" - try: - self._send_command(f"!{threshold}E") - self.config.foam_threshold = threshold - logger.debug(f"设置泡沫门限: {threshold}") - return True - except Exception as e: - logger.error(f"设置泡沫门限失败: {str(e)}") - return False - - def set_block_threshold(self, threshold: int) -> bool: - """设置堵塞门限""" - try: - self._send_command(f"%{threshold}E") - self.config.block_threshold = threshold - logger.debug(f"设置堵塞门限: {threshold}") - return True - except Exception as e: - logger.error(f"设置堵塞门限失败: {str(e)}") - return False - - def set_tip_volume(self, volume: int) -> bool: - """设置吸头容量""" - try: - self._send_command(f"C{volume}E") - self.config.tip_volume = volume - logger.debug(f"设置吸头容量: {volume}ul") - return True - except Exception as e: - logger.error(f"设置吸头容量失败: {str(e)}") - return False - - def set_calibration_factor(self, factor: float) -> bool: - """设置校准系数""" - try: - self._send_command(f"j{factor}E") - self.config.calibration_factor = factor - logger.debug(f"设置校准系数: {factor}") - return True - except Exception as e: - logger.error(f"设置校准系数失败: {str(e)}") - return False - - def set_detection_mode(self, mode: DetectionMode) -> bool: - """设置液位检测模式""" - try: - self._send_command(f"m{mode.value}E") - self.config.detection_mode = mode - logger.debug(f"设置检测模式: {mode.name}") - return True - except Exception as e: - logger.error(f"设置检测模式失败: {str(e)}") - return False - - def set_lld_speed(self, speed: int) -> bool: - """设置液位检测速度""" - try: - if 100 <= speed <= 2000: - self._send_command(f"k{speed}E") - self.config.lld_speed = speed - logger.debug(f"设置检测速度: {speed}") - return True - else: - logger.error("检测速度超出范围 (100~2000)") - return False - except Exception as e: - logger.error(f"设置检测速度失败: {str(e)}") - return False - - # ==================== 状态查询方法 ==================== - - def get_status(self) -> SOPAStatusCode: - """ - 获取设备状态 - - Returns: - SOPAStatusCode: 当前状态码 - """ - try: - response = self._send_query("Q") - if response and len(response) > 8: - # 解析状态字节 - status_char = response[8] if len(response) > 8 else '0' - try: - status_code = int(status_char, 16) if status_char.isdigit() or status_char.lower() in 'abcdef' else 0 - self._last_status = SOPAStatusCode(status_code) - except ValueError: - self._last_status = SOPAStatusCode.NO_ERROR - - return self._last_status - except Exception as e: - logger.error(f"获取状态失败: {str(e)}") - - return SOPAStatusCode.NO_ERROR - - def get_firmware_version(self) -> Optional[str]: - """ - 获取固件版本信息 - 处理SOPA移液器的双响应帧格式 - - Returns: - Optional[str]: 固件版本字符串，获取失败返回None - """ - try: - if not self.is_connected: - logger.debug("设备未连接，无法查询版本") - return "设备未连接" - - # 清空串口缓冲区，避免残留数据干扰 - if self.serial_port and self.serial_port.in_waiting > 0: - logger.debug(f"清空缓冲区中的 {self.serial_port.in_waiting} 字节数据") - self.serial_port.reset_input_buffer() - - # 发送版本查询命令 - 使用VE命令 - command = self._build_command("VE") - logger.debug(f"发送版本查询命令: {command}") - self.serial_port.write(command) - - # 等待响应 - time.sleep(0.3) # 增加等待时间 - - # 读取所有可用数据 - all_data = b'' - timeout_count = 0 - max_timeout = 15 # 增加最大等待时间到1.5秒 - - while timeout_count < max_timeout: - if self.serial_port.in_waiting > 0: - data = self.serial_port.read(self.serial_port.in_waiting) - all_data += data - logger.debug(f"接收到 {len(data)} 字节数据: {data.hex().upper()}") - timeout_count = 0 # 重置超时计数 - else: - time.sleep(0.1) - timeout_count += 1 - - # 检查是否收到完整的双响应帧 - if len(all_data) >= 26: # 两个13字节的响应帧 - logger.debug("收到完整的双响应帧") - break - elif len(all_data) >= 13: # 至少一个响应帧 - # 继续等待一段时间看是否有第二个帧 - if timeout_count > 5: # 等待0.5秒后如果没有更多数据就停止 - logger.debug("只收到单响应帧") - break - - logger.debug(f"总共接收到 {len(all_data)} 字节数据: {all_data.hex().upper()}") - - if len(all_data) < 13: - logger.warning("接收到的数据不足一个完整响应帧") - return "版本信息不可用" - - # 解析响应数据 - version_info = self._parse_version_response(all_data) - logger.info(f"解析得到版本信息: {version_info}") - return version_info - - except Exception as e: - logger.error(f"获取固件版本失败: {str(e)}") - return "版本信息不可用" - - def _parse_version_response(self, data: bytes) -> str: - """ - 解析版本响应数据 - - Args: - data: 原始响应数据 - - Returns: - str: 解析后的版本信息 - """ - try: - # 将数据转换为十六进制字符串用于调试 - hex_data = data.hex().upper() - logger.debug(f"收到版本响应数据: {hex_data}") - - # 查找响应帧的起始位置 - responses = [] - i = 0 - while i < len(data) - 12: - # 查找帧头 0x2F (/) - if data[i] == 0x2F: - # 检查是否是完整的13字节帧 - if i + 12 < len(data) and data[i + 11] == 0x45: # 尾码 E - frame = data[i:i+13] - responses.append(frame) - i += 13 - else: - i += 1 - else: - i += 1 - - if len(responses) < 2: - # 如果只有一个响应帧，尝试解析 - if len(responses) == 1: - return self._extract_version_from_frame(responses[0]) - else: - return f"响应格式异常: {hex_data}" - - # 解析第二个响应帧（通常包含版本信息） - version_frame = responses[1] - return self._extract_version_from_frame(version_frame) - - except Exception as e: - logger.error(f"解析版本响应失败: {str(e)}") - return f"解析失败: {data.hex().upper()}" - - def _extract_version_from_frame(self, frame: bytes) -> str: - """ - 从响应帧中提取版本信息 - - Args: - frame: 13字节的响应帧 - - Returns: - str: 版本信息字符串 - """ - try: - # 帧格式: 头码(1) + 地址(1) + 数据(9) + 尾码(1) + 校验和(1) - if len(frame) != 13: - return f"帧长度错误: {frame.hex().upper()}" - - # 提取数据部分 (索引2-10，共9字节) - data_part = frame[2:11] - - # 尝试不同的解析方法 - version_candidates = [] - - # 方法1: 查找可打印的ASCII字符 - ascii_chars = [] - for byte in data_part: - if 32 <= byte <= 126: # 可打印ASCII范围 - ascii_chars.append(chr(byte)) - - if ascii_chars: - version_candidates.append(''.join(ascii_chars)) - - # 方法2: 解析为版本号格式 (如果前几个字节是版本信息) - if len(data_part) >= 3: - # 检查是否是 V.x.y 格式 - if data_part[0] == 0x56: # 'V' - version_str = f"V{data_part[1]}.{data_part[2]}" - version_candidates.append(version_str) - - # 方法3: 十六进制表示 - hex_version = ' '.join(f'{b:02X}' for b in data_part) - version_candidates.append(f"HEX: {hex_version}") - - # 返回最合理的版本信息 - for candidate in version_candidates: - if candidate and len(candidate.strip()) > 1: - return candidate.strip() - - return f"原始数据: {frame.hex().upper()}" - - except Exception as e: - logger.error(f"提取版本信息失败: {str(e)}") - return f"提取失败: {frame.hex().upper()}" - - def get_current_position(self) -> float: - """ - 获取当前位置 - - Returns: - float: 当前位置 (微升) - """ - try: - response = self._send_query("Q18") - if response and len(response) > 10: - # 解析位置信息 - pos_str = response[8:14].strip() - try: - self._current_position = int(pos_str) - except ValueError: - pass - except Exception as e: - logger.error(f"获取位置失败: {str(e)}") - - return self._current_position - - def get_device_info(self) -> Dict[str, Any]: - """ - 获取设备完整信息 - - Returns: - Dict[str, Any]: 设备信息字典 - """ - info = { - 'firmware_version': self.get_firmware_version(), - 'current_position': self.get_current_position(), - 'tip_present': self.get_tip_status(), - 'status': self.get_status(), - 'is_connected': self.is_connected, - 'is_initialized': self.is_initialized, - 'config': { - 'address': self.config.address, - 'baudrate': self.config.baudrate, - 'max_speed': self.config.max_speed, - 'tip_volume': self.config.tip_volume, - 'detection_mode': self.config.detection_mode.name - } - } - - return info - - # ==================== 高级操作方法 ==================== - - def transfer_liquid(self, source_volume: float, dispense_volume: float = None, - with_detection: bool = True, pre_wet: bool = False) -> bool: - """ - 完整的液体转移操作 - - Args: - source_volume: 从源容器抽吸的体积 - dispense_volume: 分配到目标容器的体积（默认等于抽吸体积） - with_detection: 是否使用液体检测 - pre_wet: 是否进行预润湿 - - Returns: - bool: 操作是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - dispense_volume = dispense_volume or source_volume - - logger.info(f"开始液体转移: 抽吸{source_volume}ul -> 分配{dispense_volume}ul") - - # 预润湿（如果需要） - if pre_wet: - logger.info("执行预润湿操作") - if not self.aspirate(source_volume * 0.1, with_detection): - return False - if not self.dispense(source_volume * 0.1): - return False - - # 执行液位检测（如果启用） - if with_detection: - if not self.liquid_level_detection(): - logger.warning("液位检测失败，继续执行") - - # 抽吸液体 - if not self.aspirate(source_volume, with_detection): - logger.error("抽吸失败") - return False - - # 可选的延时 - time.sleep(0.5) - - # 分配液体 - if not self.dispense(dispense_volume, with_detection): - logger.error("分配失败") - return False - - logger.info("液体转移完成") - return True - - except Exception as e: - logger.error(f"液体转移失败: {str(e)}") - return False - - @contextmanager - def batch_operation(self): - """批量操作上下文管理器""" - logger.info("开始批量操作") - try: - yield self - finally: - logger.info("批量操作完成") - - def reset_to_home(self) -> bool: - """回到初始位置""" - return self.move_absolute(0) - - def emergency_stop(self): - """紧急停止""" - try: - if self.serial_port and self.serial_port.is_open: - # 发送停止命令（如果协议支持） - self.serial_port.write(b'\x03') # Ctrl+C - logger.warning("执行紧急停止") - except Exception as e: - logger.error(f"紧急停止失败: {str(e)}") - - def __enter__(self): - """上下文管理器入口""" - if not self.is_connected: - self.connect() - return self - - def __exit__(self, exc_type, exc_val, exc_tb): - """上下文管理器出口""" - self.disconnect() - - def __del__(self): - """析构函数""" - self.disconnect() - - -# ==================== 工厂函数和便利方法 ==================== - -def create_sopa_pipette(port: str = "/dev/ttyUSB0", address: int = 1, - baudrate: int = 115200, **kwargs) -> SOPAPipette: - """ - 创建SOPA移液器实例的便利函数 - - Args: - port: 串口端口 - address: RS485地址 - baudrate: 波特率 - **kwargs: 其他配置参数 - - Returns: - SOPAPipette: 移液器实例 - """ - config = SOPAConfig( - port=port, - address=address, - baudrate=baudrate, - **kwargs - ) - - return SOPAPipette(config) diff --git a/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py b/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py deleted file mode 100644 index 146cbb4e..00000000 --- a/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py +++ /dev/null @@ -1,663 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -XYZ三轴步进电机B系列驱动程序 -支持RS485通信，Modbus协议 -""" - -import serial -import struct -import time -import logging -from typing import Optional, Tuple, Dict, Any -from enum import Enum -from dataclasses import dataclass - -# 配置日志 -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger(__name__) - - -class MotorAxis(Enum): - """电机轴枚举""" - X = 1 - Y = 2 - Z = 3 - - -class MotorStatus(Enum): - """电机状态枚举""" - STANDBY = 0x0000 # 待机/到位 - RUNNING = 0x0001 # 运行中 - COLLISION_STOP = 0x0002 # 碰撞停 - FORWARD_LIMIT_STOP = 0x0003 # 正光电停 - REVERSE_LIMIT_STOP = 0x0004 # 反光电停 - - -class ModbusFunction(Enum): - """Modbus功能码""" - READ_HOLDING_REGISTERS = 0x03 - WRITE_SINGLE_REGISTER = 0x06 - WRITE_MULTIPLE_REGISTERS = 0x10 - - -@dataclass -class MotorPosition: - """电机位置信息""" - steps: int - speed: int - current: int - status: MotorStatus - - -class ModbusException(Exception): - """Modbus通信异常""" - pass - - -class StepperMotorDriver: - """步进电机驱动器基类""" - - # 寄存器地址常量 - REG_STATUS = 0x00 - REG_POSITION_HIGH = 0x01 - REG_POSITION_LOW = 0x02 - REG_ACTUAL_SPEED = 0x03 - REG_EMERGENCY_STOP = 0x04 - REG_CURRENT = 0x05 - REG_ENABLE = 0x06 - REG_PWM_OUTPUT = 0x07 - REG_ZERO_SINGLE = 0x0E - REG_ZERO_COMMAND = 0x0F - - # 位置模式寄存器 - REG_TARGET_POSITION_HIGH = 0x10 - REG_TARGET_POSITION_LOW = 0x11 - REG_POSITION_SPEED = 0x13 - REG_POSITION_ACCELERATION = 0x14 - REG_POSITION_PRECISION = 0x15 - - # 速度模式寄存器 - REG_SPEED_MODE_SPEED = 0x61 - REG_SPEED_MODE_ACCELERATION = 0x62 - - # 设备参数寄存器 - REG_DEVICE_ADDRESS = 0xE0 - REG_DEFAULT_SPEED = 0xE7 - REG_DEFAULT_ACCELERATION = 0xE8 - - def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0): - """ - 初始化步进电机驱动器 - - Args: - port: 串口端口名 - baudrate: 波特率 - timeout: 通信超时时间 - """ - self.port = port - self.baudrate = baudrate - self.timeout = timeout - self.serial_conn: Optional[serial.Serial] = None - - def connect(self) -> bool: - """ - 建立串口连接 - - Returns: - 连接是否成功 - """ - try: - self.serial_conn = serial.Serial( - port=self.port, - baudrate=self.baudrate, - bytesize=serial.EIGHTBITS, - parity=serial.PARITY_NONE, - stopbits=serial.STOPBITS_ONE, - timeout=self.timeout - ) - logger.info(f"已连接到串口: {self.port}") - return True - except Exception as e: - logger.error(f"串口连接失败: {e}") - return False - - def disconnect(self) -> None: - """关闭串口连接""" - if self.serial_conn and self.serial_conn.is_open: - self.serial_conn.close() - logger.info("串口连接已关闭") - - def __enter__(self): - """上下文管理器入口""" - if self.connect(): - return self - raise ModbusException("无法建立串口连接") - - def __exit__(self, exc_type, exc_val, exc_tb): - """上下文管理器出口""" - self.disconnect() - - @staticmethod - def calculate_crc(data: bytes) -> bytes: - """ - 计算Modbus CRC校验码 - - Args: - data: 待校验的数据 - - Returns: - CRC校验码 (2字节) - """ - crc = 0xFFFF - for byte in data: - crc ^= byte - for _ in range(8): - if crc & 0x0001: - crc >>= 1 - crc ^= 0xA001 - else: - crc >>= 1 - return struct.pack(' bytes: - """ - 发送Modbus命令并接收响应 - - Args: - slave_addr: 从站地址 - data: 命令数据 - - Returns: - 响应数据 - - Raises: - ModbusException: 通信异常 - """ - if not self.serial_conn or not self.serial_conn.is_open: - raise ModbusException("串口未连接") - - # 构建完整命令 - command = bytes([slave_addr]) + data - crc = self.calculate_crc(command) - full_command = command + crc - - # 清空接收缓冲区 - self.serial_conn.reset_input_buffer() - - # 发送命令 - self.serial_conn.write(full_command) - logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}") - - # 等待响应 - time.sleep(0.01) # 短暂延时 - - # 读取响应 - response = self.serial_conn.read(256) # 最大读取256字节 - if not response: - raise ModbusException("未收到响应") - - logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}") - - # 验证CRC - if len(response) < 3: - raise ModbusException("响应数据长度不足") - - data_part = response[:-2] - received_crc = response[-2:] - calculated_crc = self.calculate_crc(data_part) - - if received_crc != calculated_crc: - raise ModbusException("CRC校验失败") - - return response - - def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list: - """ - 读取保持寄存器 - - Args: - slave_addr: 从站地址 - start_addr: 起始地址 - count: 寄存器数量 - - Returns: - 寄存器值列表 - """ - data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count) - response = self._send_command(slave_addr, data) - - if len(response) < 5: - raise ModbusException("响应长度不足") - - if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value: - raise ModbusException(f"功能码错误: {response[1]:02X}") - - byte_count = response[2] - values = [] - for i in range(0, byte_count, 2): - value = struct.unpack('>H', response[3+i:5+i])[0] - values.append(value) - - return values - - def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool: - """ - 写入单个寄存器 - - Args: - slave_addr: 从站地址 - addr: 寄存器地址 - value: 寄存器值 - - Returns: - 写入是否成功 - """ - data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value) - response = self._send_command(slave_addr, data) - - return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value - - def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool: - """ - 写入多个寄存器 - - Args: - slave_addr: 从站地址 - start_addr: 起始地址 - values: 寄存器值列表 - - Returns: - 写入是否成功 - """ - byte_count = len(values) * 2 - data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, - start_addr, len(values), byte_count) - - for value in values: - data += struct.pack('>H', value) - - response = self._send_command(slave_addr, data) - - return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value - - -class XYZStepperController(StepperMotorDriver): - """XYZ三轴步进电机控制器""" - - # 电机配置常量 - STEPS_PER_REVOLUTION = 16384 # 每圈步数 - - def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0): - """ - 初始化XYZ三轴步进电机控制器 - - Args: - port: 串口端口名 - baudrate: 波特率 - timeout: 通信超时时间 - """ - super().__init__(port, baudrate, timeout) - self.axis_addresses = { - MotorAxis.X: 1, - MotorAxis.Y: 2, - MotorAxis.Z: 3 - } - - def degrees_to_steps(self, degrees: float) -> int: - """ - 将角度转换为步数 - - Args: - degrees: 角度值 - - Returns: - 对应的步数 - """ - return int(degrees * self.STEPS_PER_REVOLUTION / 360.0) - - def steps_to_degrees(self, steps: int) -> float: - """ - 将步数转换为角度 - - Args: - steps: 步数 - - Returns: - 对应的角度值 - """ - return steps * 360.0 / self.STEPS_PER_REVOLUTION - - def revolutions_to_steps(self, revolutions: float) -> int: - """ - 将圈数转换为步数 - - Args: - revolutions: 圈数 - - Returns: - 对应的步数 - """ - return int(revolutions * self.STEPS_PER_REVOLUTION) - - def steps_to_revolutions(self, steps: int) -> float: - """ - 将步数转换为圈数 - - Args: - steps: 步数 - - Returns: - 对应的圈数 - """ - return steps / self.STEPS_PER_REVOLUTION - - def get_motor_status(self, axis: MotorAxis) -> MotorPosition: - """ - 获取电机状态信息 - - Args: - axis: 电机轴 - - Returns: - 电机位置信息 - """ - addr = self.axis_addresses[axis] - - # 读取状态、位置、速度、电流 - values = self.read_registers(addr, self.REG_STATUS, 6) - - status = MotorStatus(values[0]) - position_high = values[1] - position_low = values[2] - speed = values[3] - current = values[5] - - # 合并32位位置 - position = (position_high << 16) | position_low - # 处理有符号数 - if position > 0x7FFFFFFF: - position -= 0x100000000 - - return MotorPosition(position, speed, current, status) - - def emergency_stop(self, axis: MotorAxis) -> bool: - """ - 紧急停止电机 - - Args: - axis: 电机轴 - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000) - - def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool: - """ - 使能/失能电机 - - Args: - axis: 电机轴 - enable: True为使能，False为失能 - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - value = 0x0001 if enable else 0x0000 - return self.write_single_register(addr, self.REG_ENABLE, value) - - def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000, - acceleration: int = 1000, precision: int = 100) -> bool: - """ - 移动到指定位置 - - Args: - axis: 电机轴 - position: 目标位置(步数) - speed: 运行速度(rpm) - acceleration: 加速度(rpm/s) - precision: 到位精度 - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - - # 处理32位位置 - if position < 0: - position += 0x100000000 - - position_high = (position >> 16) & 0xFFFF - position_low = position & 0xFFFF - - values = [ - position_high, # 目标位置高位 - position_low, # 目标位置低位 - 0x0000, # 保留 - speed, # 速度 - acceleration, # 加速度 - precision # 精度 - ] - - return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values) - - def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool: - """ - 设置速度模式运行 - - Args: - axis: 电机轴 - speed: 运行速度(rpm)，正值正转，负值反转 - acceleration: 加速度(rpm/s) - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - - # 处理负数 - if speed < 0: - speed = 0x10000 + speed # 补码表示 - - values = [0x0000, speed, acceleration, 0x0000] - - return self.write_multiple_registers(addr, 0x60, values) - - def home_axis(self, axis: MotorAxis) -> bool: - """ - 轴归零操作 - - Args: - axis: 电机轴 - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001) - - def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool: - """ - 等待电机运动完成 - - Args: - axis: 电机轴 - timeout: 超时时间(秒) - - Returns: - 是否在超时前完成 - """ - start_time = time.time() - - while time.time() - start_time < timeout: - status = self.get_motor_status(axis) - if status.status == MotorStatus.STANDBY: - return True - time.sleep(0.1) - - logger.warning(f"{axis.name}轴运动超时") - return False - - def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None, - speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]: - """ - 同时控制XYZ轴移动 - - Args: - x: X轴目标位置 - y: Y轴目标位置 - z: Z轴目标位置 - speed: 运行速度 - acceleration: 加速度 - - Returns: - 各轴操作结果字典 - """ - results = {} - - if x is not None: - results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration) - - if y is not None: - results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration) - - if z is not None: - results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration) - - return results - - def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None, - z_deg: Optional[float] = None, speed: int = 5000, - acceleration: int = 1000) -> Dict[MotorAxis, bool]: - """ - 使用角度值同时移动多个轴到指定位置 - - Args: - x_deg: X轴目标角度（度） - y_deg: Y轴目标角度（度） - z_deg: Z轴目标角度（度） - speed: 移动速度 - acceleration: 加速度 - - Returns: - 各轴移动操作结果 - """ - # 将角度转换为步数 - x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None - y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None - z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None - - return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration) - - def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None, - z_rev: Optional[float] = None, speed: int = 5000, - acceleration: int = 1000) -> Dict[MotorAxis, bool]: - """ - 使用圈数值同时移动多个轴到指定位置 - - Args: - x_rev: X轴目标圈数 - y_rev: Y轴目标圈数 - z_rev: Z轴目标圈数 - speed: 移动速度 - acceleration: 加速度 - - Returns: - 各轴移动操作结果 - """ - # 将圈数转换为步数 - x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None - y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None - z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None - - return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration) - - def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000, - acceleration: int = 1000, precision: int = 100) -> bool: - """ - 使用角度值移动单个轴到指定位置 - - Args: - axis: 电机轴 - degrees: 目标角度（度） - speed: 移动速度 - acceleration: 加速度 - precision: 精度 - - Returns: - 移动操作是否成功 - """ - steps = self.degrees_to_steps(degrees) - return self.move_to_position(axis, steps, speed, acceleration, precision) - - def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000, - acceleration: int = 1000, precision: int = 100) -> bool: - """ - 使用圈数值移动单个轴到指定位置 - - Args: - axis: 电机轴 - revolutions: 目标圈数 - speed: 移动速度 - acceleration: 加速度 - precision: 精度 - - Returns: - 移动操作是否成功 - """ - steps = self.revolutions_to_steps(revolutions) - return self.move_to_position(axis, steps, speed, acceleration, precision) - - def stop_all_axes(self) -> Dict[MotorAxis, bool]: - """ - 紧急停止所有轴 - - Returns: - 各轴停止结果字典 - """ - results = {} - for axis in MotorAxis: - results[axis] = self.emergency_stop(axis) - return results - - def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]: - """ - 使能/失能所有轴 - - Args: - enable: True为使能，False为失能 - - Returns: - 各轴操作结果字典 - """ - results = {} - for axis in MotorAxis: - results[axis] = self.enable_motor(axis, enable) - return results - - def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]: - """ - 获取所有轴的位置信息 - - Returns: - 各轴位置信息字典 - """ - positions = {} - for axis in MotorAxis: - positions[axis] = self.get_motor_status(axis) - return positions - - def home_all_axes(self) -> Dict[MotorAxis, bool]: - """ - 所有轴归零 - - Returns: - 各轴归零结果字典 - """ - results = {} - for axis in MotorAxis: - results[axis] = self.home_axis(axis) - return results diff --git a/unilabos/devices/laiyu_liquid/tests/__init__.py b/unilabos/devices/laiyu_liquid/tests/__init__.py deleted file mode 100644 index 7ff58fe2..00000000 --- a/unilabos/devices/laiyu_liquid/tests/__init__.py +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -LaiYu液体处理设备测试模块 - -该模块包含LaiYu液体处理设备的测试用例： -- test_deck_config.py: 工作台配置测试 - -作者: UniLab团队 -版本: 2.0.0 -""" - -__all__ = [] \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/tests/test_deck_config.py b/unilabos/devices/laiyu_liquid/tests/test_deck_config.py deleted file mode 100644 index 04688302..00000000 --- a/unilabos/devices/laiyu_liquid/tests/test_deck_config.py +++ /dev/null @@ -1,315 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -测试脚本：验证更新后的deck配置是否正常工作 -""" - -import sys -import os -import json - -# 添加项目根目录到Python路径 -project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -sys.path.insert(0, project_root) - -def test_config_loading(): - """测试配置文件加载功能""" - print("=" * 50) - print("测试配置文件加载功能") - print("=" * 50) - - try: - # 直接测试配置文件加载 - config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json") - fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json") - - config = None - config_source = "" - - if os.path.exists(config_path): - with open(config_path, 'r', encoding='utf-8') as f: - config = json.load(f) - config_source = "config/deckconfig.json" - elif os.path.exists(fallback_path): - with open(fallback_path, 'r', encoding='utf-8') as f: - config = json.load(f) - config_source = "config/deck.json" - else: - print("❌ 配置文件不存在") - return False - - print(f"✅ 配置文件加载成功: {config_source}") - print(f" - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}") - print(f" - 子模块数量: {len(config.get('children', []))}") - - # 检查各个模块是否存在 - modules = config.get('children', []) - module_types = [module.get('type') for module in modules] - module_names = [module.get('name') for module in modules] - - print(f" - 模块类型: {', '.join(set(filter(None, module_types)))}") - print(f" - 模块名称: {', '.join(filter(None, module_names))}") - - return config - except Exception as e: - print(f"❌ 配置文件加载失败: {e}") - return None - -def test_module_coordinates(config): - """测试各模块的坐标信息""" - print("\n" + "=" * 50) - print("测试模块坐标信息") - print("=" * 50) - - if not config: - print("❌ 配置为空，无法测试") - return False - - modules = config.get('children', []) - - for module in modules: - module_name = module.get('name', '未知模块') - module_type = module.get('type', '未知类型') - position = module.get('position', {}) - size = module.get('size', {}) - - print(f"\n模块: {module_name} ({module_type})") - print(f" - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})") - print(f" - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}") - - # 检查孔位信息 - wells = module.get('wells', []) - if wells: - print(f" - 孔位数量: {len(wells)}") - - # 显示前几个和后几个孔位的坐标 - sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells - for well in sample_wells: - well_id = well.get('id', '未知') - well_pos = well.get('position', {}) - print(f" {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})") - else: - print(f" - 无孔位信息") - - return True - -def test_coordinate_ranges(config): - """测试坐标范围的合理性""" - print("\n" + "=" * 50) - print("测试坐标范围合理性") - print("=" * 50) - - if not config: - print("❌ 配置为空，无法测试") - return False - - deck_size = { - 'x': config.get('size_x', 340), - 'y': config.get('size_y', 250), - 'z': config.get('size_z', 160) - } - - print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}") - - modules = config.get('children', []) - all_coordinates = [] - - for module in modules: - module_name = module.get('name', '未知模块') - wells = module.get('wells', []) - - for well in wells: - well_pos = well.get('position', {}) - x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0) - all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}")) - - if not all_coordinates: - print("❌ 没有找到任何坐标信息") - return False - - # 计算坐标范围 - x_coords = [coord[0] for coord in all_coordinates] - y_coords = [coord[1] for coord in all_coordinates] - z_coords = [coord[2] for coord in all_coordinates] - - x_range = (min(x_coords), max(x_coords)) - y_range = (min(y_coords), max(y_coords)) - z_range = (min(z_coords), max(z_coords)) - - print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}") - print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}") - print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}") - - # 检查是否超出甲板范围 - issues = [] - if x_range[1] > deck_size['x']: - issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}") - if y_range[1] > deck_size['y']: - issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}") - if z_range[1] > deck_size['z']: - issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}") - - if x_range[0] < 0: - issues.append(f"X坐标为负值: {x_range[0]}") - if y_range[0] < 0: - issues.append(f"Y坐标为负值: {y_range[0]}") - if z_range[0] < 0: - issues.append(f"Z坐标为负值: {z_range[0]}") - - if issues: - print("⚠️ 发现坐标问题:") - for issue in issues: - print(f" - {issue}") - return False - else: - print("✅ 所有坐标都在合理范围内") - return True - -def test_well_spacing(config): - """测试孔位间距的一致性""" - print("\n" + "=" * 50) - print("测试孔位间距一致性") - print("=" * 50) - - if not config: - print("❌ 配置为空，无法测试") - return False - - modules = config.get('children', []) - - for module in modules: - module_name = module.get('name', '未知模块') - module_type = module.get('type', '未知类型') - wells = module.get('wells', []) - - if len(wells) < 2: - continue - - print(f"\n模块: {module_name} ({module_type})") - - # 计算相邻孔位的间距 - spacings_x = [] - spacings_y = [] - - # 按行列排序孔位 - wells_by_row = {} - for well in wells: - well_id = well.get('id', '') - if len(well_id) >= 3: # 如A01格式 - row = well_id[0] - col = int(well_id[1:]) - if row not in wells_by_row: - wells_by_row[row] = {} - wells_by_row[row][col] = well - - # 计算同行相邻孔位的X间距 - for row, cols in wells_by_row.items(): - sorted_cols = sorted(cols.keys()) - for i in range(len(sorted_cols) - 1): - col1, col2 = sorted_cols[i], sorted_cols[i + 1] - if col2 == col1 + 1: # 相邻列 - pos1 = cols[col1].get('position', {}) - pos2 = cols[col2].get('position', {}) - spacing = abs(pos2.get('x', 0) - pos1.get('x', 0)) - spacings_x.append(spacing) - - # 计算同列相邻孔位的Y间距 - cols_by_row = {} - for well in wells: - well_id = well.get('id', '') - if len(well_id) >= 3: - row = ord(well_id[0]) - ord('A') - col = int(well_id[1:]) - if col not in cols_by_row: - cols_by_row[col] = {} - cols_by_row[col][row] = well - - for col, rows in cols_by_row.items(): - sorted_rows = sorted(rows.keys()) - for i in range(len(sorted_rows) - 1): - row1, row2 = sorted_rows[i], sorted_rows[i + 1] - if row2 == row1 + 1: # 相邻行 - pos1 = rows[row1].get('position', {}) - pos2 = rows[row2].get('position', {}) - spacing = abs(pos2.get('y', 0) - pos1.get('y', 0)) - spacings_y.append(spacing) - - # 检查间距一致性 - if spacings_x: - avg_x = sum(spacings_x) / len(spacings_x) - max_diff_x = max(abs(s - avg_x) for s in spacings_x) - print(f" - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm") - - if spacings_y: - avg_y = sum(spacings_y) / len(spacings_y) - max_diff_y = max(abs(s - avg_y) for s in spacings_y) - print(f" - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm") - - return True - -def main(): - """主测试函数""" - print("LaiYu液体处理设备配置测试") - print("测试时间:", os.popen('date').read().strip()) - - # 运行所有测试 - tests = [ - ("配置文件加载", test_config_loading), - ] - - config = None - results = [] - - for test_name, test_func in tests: - try: - if test_name == "配置文件加载": - result = test_func() - config = result if result else None - results.append((test_name, bool(result))) - else: - result = test_func(config) - results.append((test_name, result)) - except Exception as e: - print(f"❌ 测试 {test_name} 执行失败: {e}") - results.append((test_name, False)) - - # 如果配置加载成功，运行其他测试 - if config: - additional_tests = [ - ("模块坐标信息", test_module_coordinates), - ("坐标范围合理性", test_coordinate_ranges), - ("孔位间距一致性", test_well_spacing) - ] - - for test_name, test_func in additional_tests: - try: - result = test_func(config) - results.append((test_name, result)) - except Exception as e: - print(f"❌ 测试 {test_name} 执行失败: {e}") - results.append((test_name, False)) - - # 输出测试总结 - print("\n" + "=" * 50) - print("测试总结") - print("=" * 50) - - passed = sum(1 for _, result in results if result) - total = len(results) - - for test_name, result in results: - status = "✅ 通过" if result else "❌ 失败" - print(f" {test_name}: {status}") - - print(f"\n总计: {passed}/{total} 个测试通过") - - if passed == total: - print("🎉 所有测试通过！配置更新成功。") - return True - else: - print("⚠️ 部分测试失败，需要进一步检查。") - return False - -if __name__ == "__main__": - success = main() - sys.exit(0 if success else 1) \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid_test/__init__.py b/unilabos/devices/laiyu_liquid_test/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py b/unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py deleted file mode 100644 index a3c5797d..00000000 --- a/unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py +++ /dev/null @@ -1,138 +0,0 @@ - -import os -import time -import json -import logging -from xyz_stepper_driver import ModbusRTUTransport, ModbusClient, XYZStepperController, MotorStatus - -# ========== 日志配置 ========== -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger("XYZ_Debug") - - -def create_controller(port: str = "/dev/ttyUSB1", baudrate: int = 115200) -> XYZStepperController: - """ - 初始化通信层与三轴控制器 - """ - logger.info(f"🔧 初始化控制器: {port} @ {baudrate}bps") - transport = ModbusRTUTransport(port=port, baudrate=baudrate) - transport.open() - client = ModbusClient(transport) - return XYZStepperController(client=client, port=port, baudrate=baudrate) - - -def load_existing_soft_zero(ctrl: XYZStepperController, path: str = "work_origin.json") -> bool: - """ - 如果已存在软零点文件则加载，否则返回 False - """ - if not os.path.exists(path): - logger.warning("⚠ 未找到已有软零点文件，将等待人工定义新零点。") - return False - - try: - with open(path, "r", encoding="utf-8") as f: - data = json.load(f) - origin = data.get("work_origin_steps", {}) - ctrl.work_origin_steps = origin - ctrl.is_homed = True - logger.info(f"✔ 已加载软零点文件：{path}") - logger.info(f"当前软零点步数: {origin}") - return True - except Exception as e: - logger.error(f"读取软零点文件失败: {e}") - return False - - -def test_enable_axis(ctrl: XYZStepperController): - """ - 依次使能 X / Y / Z 三轴 - """ - logger.info("=== 测试各轴使能 ===") - for axis in ["X", "Y", "Z"]: - try: - result = ctrl.enable(axis, True) - if result: - vals = ctrl.get_status(axis) - st = MotorStatus(vals[3]) - logger.info(f"{axis} 轴使能成功，当前状态: {st.name}") - else: - logger.error(f"{axis} 轴使能失败") - except Exception as e: - logger.error(f"{axis} 轴使能异常: {e}") - time.sleep(0.5) - - -def test_status_read(ctrl: XYZStepperController): - """ - 读取各轴当前状态（调试） - """ - logger.info("=== 当前各轴状态 ===") - for axis in ["X", "Y", "Z"]: - try: - vals = ctrl.get_status(axis) - st = MotorStatus(vals[3]) - logger.info( - f"{axis}: steps={vals[0]}, speed={vals[1]}, " - f"current={vals[2]}, status={st.name}" - ) - except Exception as e: - logger.error(f"获取 {axis} 状态失败: {e}") - time.sleep(0.2) - - -def redefine_soft_zero(ctrl: XYZStepperController): - """ - 手动重新定义软零点 - """ - logger.info("=== ⚙️ 重新定义软零点 ===") - ctrl.define_current_as_zero("work_origin.json") - logger.info("✅ 新软零点已写入 work_origin.json") - - -def test_soft_zero_move(ctrl: XYZStepperController): - """ - 以软零点为基准执行三轴运动测试 - """ - logger.info("=== 测试软零点相对运动 ===") - ctrl.move_xyz_work(x=100.0, y=100.0, z=40.0, speed=100, acc=800) - - for axis in ["X", "Y", "Z"]: - ctrl.wait_complete(axis) - - test_status_read(ctrl) - logger.info("✅ 软零点运动测试完成") - - -def main(): - ctrl = create_controller(port="/dev/ttyUSB1", baudrate=115200) - - try: - test_enable_axis(ctrl) - test_status_read(ctrl) - - # === 初始化或加载软零点 === - loaded = load_existing_soft_zero(ctrl) - if not loaded: - logger.info("👣 首次运行，定义软零点并保存。") - ctrl.define_current_as_zero("work_origin.json") - - # === 软零点回归动作 === - ctrl.return_to_work_origin() - - # === 可选软零点运动测试 === - # test_soft_zero_move(ctrl) - - except KeyboardInterrupt: - logger.info("🛑 手动中断退出") - - except Exception as e: - logger.exception(f"❌ 调试出错: {e}") - - finally: - if hasattr(ctrl.client, "transport"): - ctrl.client.transport.close() - logger.info("串口已安全关闭 ✅") - - -if __name__ == "__main__": - main() diff --git a/unilabos/devices/laiyu_liquid_test/driver_status_test.py b/unilabos/devices/laiyu_liquid_test/driver_status_test.py deleted file mode 100644 index f6960d5b..00000000 --- a/unilabos/devices/laiyu_liquid_test/driver_status_test.py +++ /dev/null @@ -1,58 +0,0 @@ - -import logging -from xyz_stepper_driver import ( - ModbusRTUTransport, - ModbusClient, - XYZStepperController, - MotorAxis, -) - -logger = logging.getLogger("XYZStepperCommTest") -logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s") - - -def test_xyz_stepper_comm(): - """仅测试 Modbus 通信是否正常（并输出寄存器数据，不做电机运动）""" - port = "/dev/ttyUSB1" - baudrate = 115200 - timeout = 1.2 # 略长避免响应被截断 - - logger.info(f"尝试连接 Modbus 设备 {port} ...") - transport = ModbusRTUTransport(port, baudrate=baudrate, timeout=timeout) - transport.open() - - client = ModbusClient(transport) - ctrl = XYZStepperController(client) - - try: - logger.info("✅ 串口已打开，开始读取三个轴状态（打印寄存器内容） ...") - for axis in [MotorAxis.X, MotorAxis.Y, MotorAxis.Z]: - addr = ctrl.axis_addr[axis] - - try: - # # 在 get_status 前打印原始寄存器内容 - # regs = client.read_registers(addr, ctrl.REG_STATUS, 6) - # hex_regs = [f"0x{val:04X}" for val in regs] - # logger.info(f"[{axis.name}] 原始寄存器 ({len(regs)} 个): {regs} -> {hex_regs}") - - # 调用 get_status() 正常解析 - status = ctrl.get_status(axis) - logger.info( - f"[{axis.name}] ✅ 通信正常: steps={status.steps}, speed={status.speed}, " - f"current={status.current}, status={status.status.name}" - ) - - except Exception as e_axis: - logger.error(f"[{axis.name}] ❌ 通信失败: {e_axis}") - - - except Exception as e: - logger.error(f"❌ 通讯测试失败: {e}") - - finally: - transport.close() - logger.info("🔌 串口已关闭") - - -if __name__ == "__main__": - test_xyz_stepper_comm() diff --git a/unilabos/devices/laiyu_liquid_test/work_origin.json b/unilabos/devices/laiyu_liquid_test/work_origin.json deleted file mode 100644 index 935c3e3b..00000000 --- a/unilabos/devices/laiyu_liquid_test/work_origin.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "work_origin_steps": { - "x": 11799, - "y": 11476, - "z": 3312 - }, - "timestamp": "2025-11-04T15:31:09.802155" -} \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py b/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py deleted file mode 100644 index 6ad37ed7..00000000 --- a/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py +++ /dev/null @@ -1,336 +0,0 @@ - -""" -XYZ 三轴步进电机驱动（统一字符串参数版） -基于 Modbus RTU 协议 -Author: Xiuyu Chen (Modified by Assistant) -""" - -import serial # type: ignore -import struct -import time -import logging -from enum import Enum -from dataclasses import dataclass -from typing import Optional, List, Dict - -# ========== 日志配置 ========== -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger("XYZStepper") - - -# ========== 层 1：Modbus RTU ========== -class ModbusException(Exception): - pass - - -class ModbusRTUTransport: - """底层串口通信层""" - - def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.2): - self.port = port - self.baudrate = baudrate - self.timeout = timeout - self.ser: Optional[serial.Serial] = None - - def open(self): - try: - self.ser = serial.Serial( - port=self.port, - baudrate=self.baudrate, - bytesize=serial.EIGHTBITS, - parity=serial.PARITY_NONE, - stopbits=serial.STOPBITS_ONE, - timeout=0.02, - write_timeout=0.5, - ) - logger.info(f"[RTU] 串口连接成功: {self.port}") - except Exception as e: - raise ModbusException(f"无法打开串口 {self.port}: {e}") - - def close(self): - if self.ser and self.ser.is_open: - self.ser.close() - logger.info("[RTU] 串口已关闭") - - def send(self, frame: bytes): - if not self.ser or not self.ser.is_open: - raise ModbusException("串口未连接") - - self.ser.reset_input_buffer() - self.ser.write(frame) - self.ser.flush() - logger.debug(f"[TX] {frame.hex(' ').upper()}") - - def receive(self, expected_len: int) -> bytes: - if not self.ser or not self.ser.is_open: - raise ModbusException("串口未连接") - - start = time.time() - buf = bytearray() - while len(buf) < expected_len and (time.time() - start) < self.timeout: - chunk = self.ser.read(expected_len - len(buf)) - if chunk: - buf.extend(chunk) - else: - time.sleep(0.01) - return bytes(buf) - - -# ========== 层 2：Modbus 协议 ========== -class ModbusFunction(Enum): - READ_HOLDING_REGISTERS = 0x03 - WRITE_SINGLE_REGISTER = 0x06 - WRITE_MULTIPLE_REGISTERS = 0x10 - - -class ModbusClient: - """Modbus RTU 客户端""" - - def __init__(self, transport: ModbusRTUTransport): - self.transport = transport - - @staticmethod - def calc_crc(data: bytes) -> bytes: - crc = 0xFFFF - for b in data: - crc ^= b - for _ in range(8): - crc = (crc >> 1) ^ 0xA001 if crc & 1 else crc >> 1 - return struct.pack(" bytes: - frame = bytes([addr, func]) + payload - full = frame + self.calc_crc(frame) - self.transport.send(full) - time.sleep(0.01) - resp = self.transport.ser.read(256) - if not resp: - raise ModbusException("未收到响应") - - start = resp.find(bytes([addr, func])) - if start > 0: - resp = resp[start:] - if len(resp) < 5: - raise ModbusException(f"响应长度不足: {resp.hex(' ').upper()}") - if self.calc_crc(resp[:-2]) != resp[-2:]: - raise ModbusException("CRC 校验失败") - return resp - - def read_registers(self, addr: int, start: int, count: int) -> List[int]: - payload = struct.pack(">HH", start, count) - resp = self.send_request(addr, ModbusFunction.READ_HOLDING_REGISTERS.value, payload) - byte_count = resp[2] - regs = [struct.unpack(">H", resp[3 + i:5 + i])[0] for i in range(0, byte_count, 2)] - return regs - - def write_single_register(self, addr: int, reg: int, val: int) -> bool: - payload = struct.pack(">HH", reg, val) - resp = self.send_request(addr, ModbusFunction.WRITE_SINGLE_REGISTER.value, payload) - return resp[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value - - def write_multiple_registers(self, addr: int, start: int, values: List[int]) -> bool: - byte_count = len(values) * 2 - payload = struct.pack(">HHB", start, len(values), byte_count) - payload += b"".join(struct.pack(">H", v & 0xFFFF) for v in values) - resp = self.send_request(addr, ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, payload) - return resp[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value - - -# ========== 层 3：业务逻辑 ========== -class MotorAxis(Enum): - X = 1 - Y = 2 - Z = 3 - - -class MotorStatus(Enum): - STANDBY = 0 - RUNNING = 1 - COLLISION_STOP = 2 - FORWARD_LIMIT_STOP = 3 - REVERSE_LIMIT_STOP = 4 - - -@dataclass -class MotorPosition: - steps: int - speed: int - current: int - status: MotorStatus - - -class XYZStepperController: - """XYZ 三轴步进控制器（字符串接口版）""" - - STEPS_PER_REV = 16384 - LEAD_MM_X, LEAD_MM_Y, LEAD_MM_Z = 80.0, 80.0, 5.0 - STEPS_PER_MM_X = STEPS_PER_REV / LEAD_MM_X - STEPS_PER_MM_Y = STEPS_PER_REV / LEAD_MM_Y - STEPS_PER_MM_Z = STEPS_PER_REV / LEAD_MM_Z - - REG_STATUS, REG_POS_HIGH, REG_POS_LOW = 0x00, 0x01, 0x02 - REG_ACTUAL_SPEED, REG_CURRENT, REG_ENABLE = 0x03, 0x05, 0x06 - REG_ZERO_CMD, REG_TARGET_HIGH, REG_TARGET_LOW = 0x0F, 0x10, 0x11 - REG_SPEED, REG_ACCEL, REG_PRECISION, REG_START = 0x13, 0x14, 0x15, 0x16 - REG_COMMAND = 0x60 - - def __init__(self, client: Optional[ModbusClient] = None, - port="/dev/ttyUSB0", baudrate=115200, - origin_path="unilabos/devices/laiyu_liquid_test/work_origin.json"): - if client is None: - transport = ModbusRTUTransport(port, baudrate) - transport.open() - self.client = ModbusClient(transport) - else: - self.client = client - - self.axis_addr = {MotorAxis.X: 1, MotorAxis.Y: 2, MotorAxis.Z: 3} - self.work_origin_steps = {"x": 0, "y": 0, "z": 0} - self.is_homed = False - self._load_work_origin(origin_path) - - # ========== 基础工具 ========== - @staticmethod - def s16(v: int) -> int: - return v - 0x10000 if v & 0x8000 else v - - @staticmethod - def s32(h: int, l: int) -> int: - v = (h << 16) | l - return v - 0x100000000 if v & 0x80000000 else v - - @classmethod - def mm_to_steps(cls, axis: str, mm: float = 0.0) -> int: - axis = axis.upper() - if axis == "X": - return int(mm * cls.STEPS_PER_MM_X) - elif axis == "Y": - return int(mm * cls.STEPS_PER_MM_Y) - elif axis == "Z": - return int(mm * cls.STEPS_PER_MM_Z) - raise ValueError(f"未知轴: {axis}") - - @classmethod - def steps_to_mm(cls, axis: str, steps: int) -> float: - axis = axis.upper() - if axis == "X": - return steps / cls.STEPS_PER_MM_X - elif axis == "Y": - return steps / cls.STEPS_PER_MM_Y - elif axis == "Z": - return steps / cls.STEPS_PER_MM_Z - raise ValueError(f"未知轴: {axis}") - - # ========== 状态与控制 ========== - def get_status(self, axis: str = "Z") -> list: - """返回简化数组格式: [steps, speed, current, status_value]""" - if isinstance(axis, MotorAxis): - axis_enum = axis - elif isinstance(axis, str): - axis_enum = MotorAxis[axis.upper()] - else: - raise TypeError("axis 参数必须为 str 或 MotorAxis") - - vals = self.client.read_registers(self.axis_addr[axis_enum], self.REG_STATUS, 6) - return [ - self.s32(vals[1], vals[2]), - self.s16(vals[3]), - vals[4], - int(MotorStatus(vals[0]).value) - ] - - def enable(self, axis: str, state: bool) -> bool: - a = MotorAxis[axis.upper()] - return self.client.write_single_register(self.axis_addr[a], self.REG_ENABLE, 1 if state else 0) - - def wait_complete(self, axis: str, timeout=30.0) -> bool: - a = axis.upper() - start = time.time() - while time.time() - start < timeout: - vals = self.get_status(a) - st = MotorStatus(vals[3]) # 第4个元素是状态值 - if st == MotorStatus.STANDBY: - return True - if st in (MotorStatus.COLLISION_STOP, MotorStatus.FORWARD_LIMIT_STOP, MotorStatus.REVERSE_LIMIT_STOP): - logger.warning(f"{a} 轴异常停止: {st.name}") - return False - time.sleep(0.1) - logger.warning(f"{a} 轴运动超时") - return False - - # ========== 控制命令 ========== - def move_to(self, axis: str, steps: int, speed: int = 2000, acc: int = 500, precision: int = 50) -> bool: - a = MotorAxis[axis.upper()] - addr = self.axis_addr[a] - hi, lo = (steps >> 16) & 0xFFFF, steps & 0xFFFF - values = [hi, lo, speed, acc, precision] - ok = self.client.write_multiple_registers(addr, self.REG_TARGET_HIGH, values) - if ok: - self.client.write_single_register(addr, self.REG_START, 1) - return ok - - def move_xyz_work(self, x: float = 0.0, y: float = 0.0, z: float = 0.0, speed: int = 100, acc: int = 1500): - logger.info("🧭 执行安全多轴运动：Z→XY→Z") - if z is not None: - safe_z = self._to_machine_steps("Z", 0.0) - self.move_to("Z", safe_z, speed, acc) - self.wait_complete("Z") - - if x is not None or y is not None: - if x is not None: - self.move_to("X", self._to_machine_steps("X", x), speed, acc) - if y is not None: - self.move_to("Y", self._to_machine_steps("Y", y), speed, acc) - if x is not None: - self.wait_complete("X") - if y is not None: - self.wait_complete("Y") - - if z is not None: - self.move_to("Z", self._to_machine_steps("Z", z), speed, acc) - self.wait_complete("Z") - logger.info("✅ 多轴顺序运动完成") - - # ========== 坐标与零点 ========== - def _to_machine_steps(self, axis: str, mm: float) -> int: - base = self.work_origin_steps.get(axis.lower(), 0) - return base + self.mm_to_steps(axis, mm) - - def define_current_as_zero(self, save_path="work_origin.json"): - import json - from datetime import datetime - - origin = {} - for axis in ["X", "Y", "Z"]: - vals = self.get_status(axis) - origin[axis.lower()] = int(vals[0]) # 第1个是步数 - with open(save_path, "w", encoding="utf-8") as f: - json.dump({"work_origin_steps": origin, "timestamp": datetime.now().isoformat()}, f, indent=2) - self.work_origin_steps = origin - self.is_homed = True - logger.info(f"✅ 零点已定义并保存至 {save_path}") - - def _load_work_origin(self, path: str) -> bool: - import json, os - - if not os.path.exists(path): - logger.warning("⚠️ 未找到软零点文件") - return False - with open(path, "r", encoding="utf-8") as f: - data = json.load(f) - self.work_origin_steps = data.get("work_origin_steps", {"x": 0, "y": 0, "z": 0}) - self.is_homed = True - logger.info(f"📂 软零点已加载: {self.work_origin_steps}") - return True - - def return_to_work_origin(self, speed: int = 200, acc: int = 800): - logger.info("🏁 回工件软零点") - self.move_to("Z", self._to_machine_steps("Z", 0.0), speed, acc) - self.wait_complete("Z") - self.move_to("X", self.work_origin_steps.get("x", 0), speed, acc) - self.move_to("Y", self.work_origin_steps.get("y", 0), speed, acc) - self.wait_complete("X") - self.wait_complete("Y") - self.move_to("Z", self.work_origin_steps.get("z", 0), speed, acc) - self.wait_complete("Z") - logger.info("🎯 回软零点完成 ✅") diff --git a/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py b/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py index d5636b25..9e824e1b 100644 --- a/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py +++ b/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py @@ -153,7 +153,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend): if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED: print("已有枪头，无需重复拾取") return - self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100) + self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200) self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100) # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels) # goback() @@ -202,7 +202,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend): if self.hardware_interface.tip_status == TipStatus.NO_TIP: print("无枪头，无需丢弃") return - self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z) + self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200) self.hardware_interface.eject_tip self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height) @@ -267,7 +267,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend): return # 移动到吸液位置 - self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z) + self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200) self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate) @@ -340,7 +340,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend): # 移动到排液位置 - self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z) + self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200) self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate) diff --git a/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py b/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py index e6ddd4f0..17a47df1 100644 --- a/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py +++ b/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py @@ -128,6 +128,7 @@ class PipetteController: baudrate=115200 ) self.pipette = SOPAPipette(self.config) + self.pipette_port = port self.tip_status = TipStatus.NO_TIP self.current_volume = 0.0 self.max_volume = 1000.0 # 默认1000ul @@ -154,7 +155,7 @@ class PipetteController: logger.info("移液器连接成功") # 连接XYZ步进电机控制器（如果提供了端口） - if self.xyz_port: + if self.xyz_port != self.pipette_port: try: self.xyz_controller = XYZController(self.xyz_port) if self.xyz_controller.connect(): @@ -168,7 +169,12 @@ class PipetteController: self.xyz_controller = None self.xyz_connected = False else: - logger.info("未配置XYZ步进电机端口，跳过运动控制器连接") + try: + self.xyz_controller = XYZController(self.xyz_port, auto_connect=False) + self.xyz_controller.serial_conn = self.pipette.serial_port + self.xyz_controller.is_connected = True + except Exception as e: + logger.info("未配置XYZ步进电机端口，跳过运动控制器连接") return True except Exception as e: diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index e849ffb9..96289ffd 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -6,6 +6,7 @@ import traceback from collections import Counter from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast +from typing_extensions import TypedDict from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend @@ -28,12 +29,15 @@ from pylabrobot.resources import ( ) from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode - +class SimpleReturn(TypedDict): + samples: list + volumes: list class LiquidHandlerMiddleware(LiquidHandler): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs): self._simulator = simulator self.channel_num = channel_num + self.pending_liquids_dict = {} joint_config = kwargs.get("joint_config", None) if simulator: if joint_config: @@ -131,7 +135,9 @@ class LiquidHandlerMiddleware(LiquidHandler): return await self._simulate_handler.drop_tips( tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs ) - return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs) + await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs) + self.pending_liquids_dict = {} + return async def return_tips( self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs @@ -154,8 +160,10 @@ class LiquidHandlerMiddleware(LiquidHandler): offsets = [Coordinate.zero()] * len(use_channels) if self._simulator: return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) - return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) - + await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) + self.pending_liquids_dict = {} + return + def _check_containers(self, resources: Sequence[Resource]): super()._check_containers(resources) @@ -171,6 +179,8 @@ class LiquidHandlerMiddleware(LiquidHandler): spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, ): + + if self._simulator: return await self._simulate_handler.aspirate( resources, @@ -183,7 +193,7 @@ class LiquidHandlerMiddleware(LiquidHandler): spread, **backend_kwargs, ) - return await super().aspirate( + await super().aspirate( resources, vols, use_channels, @@ -195,6 +205,18 @@ class LiquidHandlerMiddleware(LiquidHandler): **backend_kwargs, ) + res_samples = [] + res_volumes = [] + for resource, volume, channel in zip(resources, vols, use_channels): + res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)}) + res_volumes.append(volume) + self.pending_liquids_dict[channel] = { + "sample_uuid": resource.unilabos_extra.get("sample_uuid", None), + "volume": volume + } + return SimpleReturn(samples=res_samples, volumes=res_volumes) + + async def dispense( self, resources: Sequence[Container], @@ -206,7 +228,7 @@ class LiquidHandlerMiddleware(LiquidHandler): blow_out_air_volume: Optional[List[Optional[float]]] = None, spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, - ): + ) -> SimpleReturn: if self._simulator: return await self._simulate_handler.dispense( resources, @@ -219,7 +241,7 @@ class LiquidHandlerMiddleware(LiquidHandler): spread, **backend_kwargs, ) - return await super().dispense( + await super().dispense( resources, vols, use_channels, @@ -229,7 +251,17 @@ class LiquidHandlerMiddleware(LiquidHandler): blow_out_air_volume, **backend_kwargs, ) + res_samples = [] + res_volumes = [] + for resource, volume, channel in zip(resources, vols, use_channels): + res_uuid = self.pending_liquids_dict[channel]["sample_uuid"] + self.pending_liquids_dict[channel]["volume"] -= volume + resource.unilabos_extra["sample_uuid"] = res_uuid + res_samples.append({"name": resource.name, "sample_uuid": res_uuid}) + res_volumes.append(volume) + return SimpleReturn(samples=res_samples, volumes=res_volumes) + async def transfer( self, source: Well, @@ -549,25 +581,66 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): support_touch_tip = True _ros_node: BaseROS2DeviceNode - def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8): + def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310): """Initialize a LiquidHandler. Args: backend: Backend to use. deck: Deck to use. """ + backend_type = None + if isinstance(backend, dict) and "type" in backend: + backend_dict = backend.copy() + type_str = backend_dict.pop("type") + try: + # Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces + backend_cls = None + if type_str in globals(): + backend_cls = globals()[type_str] + else: + # Try resolving dotted notation, e.g. "xxx.yyy.ClassName" + components = type_str.split(".") + mod = None + if len(components) > 1: + module_name = ".".join(components[:-1]) + try: + import importlib + mod = importlib.import_module(module_name) + except ImportError: + mod = None + if mod is not None: + backend_cls = getattr(mod, components[-1], None) + if backend_cls is None: + # Try pylabrobot style import (if available) + try: + import pylabrobot + backend_cls = getattr(pylabrobot, type_str, None) + 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 + 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, deck, simulator, channel_num) + super().__init__(backend_type, deck, simulator, channel_num) def post_init(self, ros_node: BaseROS2DeviceNode): self._ros_node = ros_node @classmethod - def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]): + def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: """Set the liquid in a well.""" + res_samples = [] + res_volumes = [] for well, liquid_name, volume in zip(wells, liquid_names, volumes): well.set_liquids([(liquid_name, volume)]) # type: ignore + res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)}) + res_volumes.append(volume) + + return SimpleReturn(samples=res_samples, volumes=res_volumes) # --------------------------------------------------------------- # REMOVE LIQUID -------------------------------------------------- # --------------------------------------------------------------- diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 68cc280c..02ef20d1 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -1,12 +1,14 @@ import asyncio import collections +from collections import OrderedDict import contextlib import json import os import socket import time import uuid -from typing import Any, List, Dict, Optional, OrderedDict, Tuple, TypedDict, Union, Sequence, Iterator, Literal +from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal +from pylabrobot.liquid_handling.standard import GripDirection from pylabrobot.liquid_handling import ( LiquidHandlerBackend, @@ -28,9 +30,9 @@ from pylabrobot.liquid_handling.standard import ( ResourceMove, ResourceDrop, ) -from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, TubeRack, PlateAdapter +from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack -from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract +from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode @@ -69,7 +71,35 @@ 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) self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位 +class PRCXI9300Container(Plate): + """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。 + """ + + def __init__( + self, + name: str, + size_x: float, + 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) + self._unilabos_state = {} + + 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]]: + data = super().serialize_state() + data.update(self._unilabos_state) + return data class PRCXI9300Plate(Plate): """ 专用孔板类： @@ -83,11 +113,43 @@ class PRCXI9300Plate(Plate): model: Optional[str] = None, material_info: Optional[Dict[str, Any]] = None, **kwargs): - items = ordered_items if ordered_items is not None else ordering - super().__init__(name, size_x, size_y, size_z, - ordered_items=items, - category=category, - model=model, **kwargs) + # 如果 ordered_items 不为 None，直接使用 + 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 Plate 自己创建 Well 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 + # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 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 + items = ordering + ordering_param = None + else: + items = None + ordering_param = None + + # 根据情况传递不同的参数 + if items is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items, + category=category, + model=model, **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 Plate 自己创建 Well 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + category=category, + model=model, **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + category=category, + model=model, **kwargs) self._unilabos_state = {} if material_info: @@ -124,8 +186,7 @@ class PRCXI9300Plate(Plate): safe_state[k] = v data.update(safe_state) - return data - + return data # 其他顶层属性也进行类型检查 class PRCXI9300TipRack(TipRack): """ 专用吸头盒类 """ def __init__(self, name: str, size_x: float, size_y: float, size_z: float, @@ -135,11 +196,43 @@ class PRCXI9300TipRack(TipRack): model: Optional[str] = None, material_info: Optional[Dict[str, Any]] = None, **kwargs): - items = ordered_items if ordered_items is not None else ordering - super().__init__(name, size_x, size_y, size_z, - ordered_items=items, - category=category, - model=model, **kwargs) + # 如果 ordered_items 不为 None，直接使用 + 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 + # 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 + items = ordering + ordering_param = None + else: + items = None + ordering_param = None + + # 根据情况传递不同的参数 + if items is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items, + category=category, + model=model, **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 TipRack 自己创建 Tip 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + category=category, + model=model, **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + category=category, + model=model, **kwargs) self._unilabos_state = {} if material_info: self._unilabos_state["Material"] = material_info @@ -235,16 +328,53 @@ class PRCXI9300TubeRack(TubeRack): category: str = "tube_rack", items: Optional[Dict[str, Any]] = None, ordered_items: Optional[OrderedDict] = None, + ordering: Optional[OrderedDict] = None, model: Optional[str] = None, material_info: Optional[Dict[str, Any]] = None, **kwargs): - # 兼容处理：PLR 的 TubeRack 构造函数可能接受 items 或 ordered_items - items_to_pass = items if items is not None else ordered_items - super().__init__(name, size_x, size_y, size_z, - ordered_items=ordered_items, - model=model, - **kwargs) + # 如果 ordered_items 不为 None，直接使用 + if ordered_items is not None: + 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 + # 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 + items_to_pass = ordering + ordering_param = None + elif items is not None: + # 兼容旧的 items 参数 + items_to_pass = items + ordering_param = None + else: + items_to_pass = None + ordering_param = None + + # 根据情况传递不同的参数 + if items_to_pass is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items_to_pass, + model=model, + **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + model=model, + **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + model=model, + **kwargs) self._unilabos_state = {} if material_info: @@ -375,16 +505,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract): tablets_info = [] count = 0 for child in deck.children: - child_state = getattr(child, "_unilabos_state", {}) - if "Material" in child_state: - count += 1 - tablets_info.append( - WorkTablets( - Number=count, - Code=f"T{count}", - Material=child_state["Material"] + 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"]) ) - ) if is_9320: print("当前设备是9320") # 始终初始化 step_mode 属性 @@ -403,7 +529,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): super().post_init(ros_node) self._unilabos_backend.post_init(ros_node) - def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): + def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: return super().set_liquid(wells, liquid_names, volumes) def set_group(self, group_name: str, wells: List[Well], volumes: List[float]): @@ -660,6 +786,37 @@ class PRCXI9300Handler(LiquidHandlerAbstract): async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0): return await super().move_to(well, dis_to_top, channel) + 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 heater_action(self, temperature: float, time: int): + return await self._unilabos_backend.heater_action(temperature, time) + async def move_plate( + self, + plate: Plate, + to: Resource, + intermediate_locations: Optional[List[Coordinate]] = None, + pickup_offset: Coordinate = Coordinate.zero(), + destination_offset: Coordinate = Coordinate.zero(), + drop_direction: GripDirection = GripDirection.FRONT, + pickup_direction: GripDirection = GripDirection.FRONT, + pickup_distance_from_top: float = 13.2 - 3.33, + **backend_kwargs, + ): + + return await super().move_plate( + plate, + to, + intermediate_locations, + pickup_offset, + destination_offset, + drop_direction, + pickup_direction, + pickup_distance_from_top, + target_plate_number = to, + **backend_kwargs, + ) + class PRCXI9300Backend(LiquidHandlerBackend): """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。 @@ -700,6 +857,55 @@ class PRCXI9300Backend(LiquidHandlerBackend): self._num_channels = channel_num self._execute_setup = setup self.debug = debug + self.axis = "Left" + + async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): + step = self.api_client.shaker_action( + time=time, + module_no=module_no, + amplitude=amplitude, + 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 + offset=pickup.offset + pickup_distance_from_top=pickup.pickup_distance_from_top + direction=pickup.direction + + plate_number = int(resource.parent.name.replace("T", "")) + is_whole_plate = True + balance_height = 0 + step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height) + + self.steps_todo_list.append(step) + return step + + async def drop_resource(self, drop: ResourceDrop, **backend_kwargs): + + + plate_number = None + target_plate_number = backend_kwargs.get("target_plate_number", None) + if target_plate_number is not None: + plate_number = int(target_plate_number.name.replace("T", "")) + + + is_whole_plate = True + balance_height = 0 + if plate_number is None: + raise ValueError("target_plate_number is required when dropping a resource") + step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height) + self.steps_todo_list.append(step) + return step + + + async def heater_action(self, temperature: float, time: int): + print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n") + # return await self.api_client.heater_action(temperature, time) def post_init(self, ros_node: BaseROS2DeviceNode): self._ros_node = ros_node @@ -731,7 +937,11 @@ class PRCXI9300Backend(LiquidHandlerBackend): 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)) - return self.api_client.start() + if not self.api_client.start(): + return False + if not self.api_client.wait_for_finish(): + return False + return True @classmethod def check_channels(cls, use_channels: List[int]) -> List[int]: @@ -753,7 +963,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): # 清除错误代码 self.api_client.clear_error_code() print("PRCXI9300 error code cleared.") - + self.api_client.call("IAutomation", "Stop") # 执行重置 print("Starting PRCXI9300 reset...") self.api_client.call("IAutomation", "Reset") @@ -777,12 +987,23 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None): """Pick up tips from the specified resource.""" - + # INSERT_YOUR_CODE + # Ensure use_channels is converted to a list of ints if it's an array + if hasattr(use_channels, 'tolist'): + _use_channels = use_channels.tolist() + else: + _use_channels = list(use_channels) if use_channels is not None else None + 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 ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) # print(f"Plate index: {plate_index}, Plate name: {plate.name}") # print(f"Number of children in deck: {len(deck.children)}") @@ -807,6 +1028,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_row = tipspot_index % 8 + 1 step = self.api_client.Load( + axis=axis, dosage=0, plate_no=PlateNo, is_whole_plate=False, @@ -821,13 +1043,23 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None): """Pick up tips from the specified resource.""" - + if hasattr(use_channels, 'tolist'): + _use_channels = use_channels.tolist() + else: + _use_channels = list(use_channels) if use_channels is not None else None + if _use_channels == [0]: + axis = "Left" + elif _use_channels == [1]: + axis = "Right" + else: + raise ValueError("Invalid use channels: " + str(_use_channels)) # 检查trash # if ops[0].resource.name == "trash": - PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1 + PlateNo = ops[0].resource.parent.parent.children.index(ops[0].resource.parent) + 1 step = self.api_client.UnLoad( + axis=axis, dosage=0, plate_no=PlateNo, is_whole_plate=False, @@ -845,8 +1077,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: raise ValueError( @@ -870,6 +1102,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_row = tipspot_index % 8 + 1 step = self.api_client.UnLoad( + axis=axis, dosage=0, plate_no=PlateNo, is_whole_plate=False, @@ -893,12 +1126,12 @@ class PRCXI9300Backend(LiquidHandlerBackend): none_keys: List[str] = [], ): """Mix liquid in the specified resources.""" - + plate_indexes = [] for op in targets: - deck = op.parent.parent + deck = op.parent.parent.parent plate = op.parent - plate_index = deck.children.index(plate) + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -936,12 +1169,21 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None): """Aspirate liquid from the specified resources.""" - + if hasattr(use_channels, 'tolist'): + _use_channels = use_channels.tolist() + else: + _use_channels = list(use_channels) if use_channels is not None else None + 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 ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -969,6 +1211,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_row = tipspot_index % 8 + 1 step = self.api_client.Imbibing( + axis=axis, dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, @@ -983,12 +1226,21 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None): """Dispense liquid into the specified resources.""" - + if hasattr(use_channels, 'tolist'): + _use_channels = use_channels.tolist() + else: + _use_channels = list(use_channels) if use_channels is not None else None + 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 ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -1017,6 +1269,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_row = tipspot_index % 8 + 1 step = self.api_client.Tapping( + axis=axis, dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, @@ -1041,14 +1294,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]): raise NotImplementedError("The Opentrons backend does not support the 96 head.") - async def pick_up_resource(self, pickup: ResourcePickup): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") - async def move_picked_up_resource(self, move: ResourceMove): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") - - async def drop_resource(self, drop: ResourceDrop): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") + pass def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool: return True # PRCXI9300Backend does not have tip compatibility issues @@ -1139,6 +1386,28 @@ class PRCXI9300Api: def start(self) -> bool: return self.call("IAutomation", "Start") + def wait_for_finish(self) -> bool: + success = False + start = False + while not success: + status = self.step_state_list() + if len(status) == 1: + start = True + if status is None: + break + if len(status) == 0: + break + if status[-1]["State"] == 2 and start: + success = True + elif status[-1]["State"] > 2: + break + elif status[-1]["State"] == 0: + start = True + else: + time.sleep(1) + return success + + def call(self, service: str, method: str, params: Optional[list] = None) -> Any: payload = json.dumps( {"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":") @@ -1225,9 +1494,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", + axis: str = "Left", ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "Load", "DosageNum": dosage, "PlateNo": plate_no, @@ -1263,9 +1533,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", - ) -> Dict[str, Any]: + axis: str = "Left", + ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "Imbibing", "DosageNum": dosage, "PlateNo": plate_no, @@ -1301,9 +1572,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", + axis: str = "Left", ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "Tapping", "DosageNum": dosage, "PlateNo": plate_no, @@ -1339,9 +1611,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", - ) -> Dict[str, Any]: + axis: str = "Left", + ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "Blending", "DosageNum": dosage, "PlateNo": plate_no, @@ -1377,9 +1650,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", + axis: str = "Left", ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "UnLoad", "DosageNum": dosage, "PlateNo": plate_no, @@ -1398,6 +1672,50 @@ class PRCXI9300Api: "LiquidDispensingMethod": liquid_method, } + def clamp_jaw_pick_up(self, + plate_no: int, + is_whole_plate: bool, + balance_height: int, + + ) -> Dict[str, Any]: + return { + "StepAxis": "ClampingJaw", + "Function": "DefectiveLift", + "PlateNo": plate_no, + "IsWholePlate": is_whole_plate, + "HoleRow": 1, + "HoleCol": 1, + "BalanceHeight": balance_height, + "PlateOrHoleNum": f"T{plate_no}" + } + + def clamp_jaw_drop( + self, + plate_no: int, + is_whole_plate: bool, + balance_height: int, + + ) -> Dict[str, Any]: + return { + "StepAxis": "ClampingJaw", + "Function": "PutDown", + "PlateNo": plate_no, + "IsWholePlate": is_whole_plate, + "HoleRow": 1, + "HoleCol": 1, + "BalanceHeight": balance_height, + "PlateOrHoleNum": f"T{plate_no}" + } + + def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): + return { + "StepAxis": "Left", + "Function": "Shaking", + "AssistFun1": time, + "AssistFun2": module_no, + "AssistFun3": amplitude, + "AssistFun4": is_wait, + } class DefaultLayout: diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml index ecc0c877..5f3e1dde 100644 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml @@ -591,56 +591,6 @@ bioyond_dispensing_station: title: DispenStationSolnPrep type: object type: DispenStationSolnPrep - transfer_materials_to_reaction_station: - feedback: {} - goal: - target_device_id: target_device_id - transfer_groups: transfer_groups - goal_default: - target_device_id: '' - transfer_groups: '' - 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 - items: - properties: - materials: - description: 物料名称（手动输入，系统将通过RPC查询验证） - type: string - target_sites: - description: 目标库位（手动输入，如"A01"） - type: string - target_stack: - description: 目标堆栈名称（手动输入，如"堆栈1左"） - type: string - required: - - materials - - target_stack - - target_sites - type: object - 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 wait_for_multiple_orders_and_get_reports: feedback: {} goal: diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml index 64c0c182..98201a7d 100644 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ b/unilabos/registry/devices/laiyu_liquid.yaml @@ -1361,7 +1361,8 @@ laiyu_liquid: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -1491,9 +1492,11 @@ laiyu_liquid: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index fdfb6b5c..c611d211 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -4019,7 +4019,8 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -4175,9 +4176,11 @@ liquid_handler: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -4497,6 +4500,9 @@ liquid_handler: simulator: default: false type: boolean + total_height: + default: 310 + type: number required: - backend - deck @@ -5037,7 +5043,8 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -5180,9 +5187,11 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -7547,6 +7556,35 @@ liquid_handler.prcxi: title: custom_delay参数 type: object type: UniLabJsonCommandAsync + auto-heater_action: + feedback: {} + goal: {} + goal_default: + temperature: null + time: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + temperature: + type: number + time: + type: integer + required: + - temperature + - time + type: object + result: {} + required: + - goal + title: heater_action参数 + type: object + type: UniLabJsonCommandAsync auto-iter_tips: feedback: {} goal: {} @@ -7688,6 +7726,43 @@ liquid_handler.prcxi: title: set_group参数 type: object type: UniLabJsonCommand + auto-shaker_action: + feedback: {} + goal: {} + goal_default: + amplitude: null + is_wait: null + module_no: null + time: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + amplitude: + type: integer + is_wait: + type: boolean + module_no: + type: integer + time: + type: integer + required: + - time + - module_no + - amplitude + - is_wait + type: object + result: {} + required: + - goal + title: shaker_action参数 + type: object + type: UniLabJsonCommandAsync auto-touch_tip: feedback: {} goal: {} @@ -8347,6 +8422,341 @@ liquid_handler.prcxi: title: LiquidHandlerMix type: object type: LiquidHandlerMix + move_plate: + feedback: {} + goal: + destination_offset: destination_offset + drop_direction: drop_direction + get_direction: get_direction + intermediate_locations: intermediate_locations + pickup_direction: pickup_direction + pickup_offset: pickup_offset + plate: plate + put_direction: put_direction + resource_offset: resource_offset + to: to + goal_default: + destination_offset: + x: 0.0 + y: 0.0 + z: 0.0 + drop_direction: '' + get_direction: '' + intermediate_locations: + - x: 0.0 + y: 0.0 + z: 0.0 + pickup_direction: '' + pickup_distance_from_top: 0.0 + pickup_offset: + x: 0.0 + y: 0.0 + z: 0.0 + plate: + 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: '' + put_direction: '' + resource_offset: + x: 0.0 + y: 0.0 + z: 0.0 + to: + 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: '' + handles: {} + placeholder_keys: + plate: unilabos_resources + to: unilabos_resources + result: + name: name + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: LiquidHandlerMovePlate_Feedback + type: object + goal: + properties: + destination_offset: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: destination_offset + type: object + drop_direction: + type: string + get_direction: + type: string + intermediate_locations: + items: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: intermediate_locations + type: object + type: array + pickup_direction: + type: string + pickup_distance_from_top: + type: number + pickup_offset: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: pickup_offset + type: object + plate: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: plate + type: object + put_direction: + type: string + resource_offset: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: resource_offset + type: object + to: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to + type: object + required: + - plate + - to + - intermediate_locations + - resource_offset + - pickup_offset + - destination_offset + - pickup_direction + - drop_direction + - get_direction + - put_direction + - pickup_distance_from_top + title: LiquidHandlerMovePlate_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerMovePlate_Result + type: object + required: + - goal + title: LiquidHandlerMovePlate + type: object + type: LiquidHandlerMovePlate pick_up_tips: feedback: {} goal: @@ -9261,7 +9671,8 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -9417,9 +9828,11 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 88dd4be5..16aba6d1 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -1243,20 +1243,28 @@ class BaseROS2DeviceNode(Node, Generic[T]): plr_resource = await self.get_resource_with_dir( resource_id=resource_data["id"], with_children=True ) + if "sample_id" in resource_data: + plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"] queried_resources.append(plr_resource) self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源") # 通过资源跟踪器获取本地实例 final_resources = queried_resources if is_sequence else queried_resources[0] - final_resources = ( - self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) - if not is_sequence - else [ - self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) - for res in queried_resources - ] - ) + if not is_sequence: + plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) + # 保留unilabos_extra + if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"): + plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy() + final_resources = plr + else: + new_resources = [] + for res in queried_resources: + plr = self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) + if hasattr(res, "unilabos_extra") and hasattr(plr, "unilabos_extra"): + plr.unilabos_extra = getattr(res, "unilabos_extra", {}).copy() + new_resources.append(plr) + final_resources = new_resources action_kwargs[k] = final_resources except Exception as e: @@ -1370,7 +1378,11 @@ class BaseROS2DeviceNode(Node, Generic[T]): seen = set() unique_resources = [] for rs in akv: # todo: 这里目前只支持plr的类型 - res = self.resource_tracker.parent_resource(rs) # 获取 resource 对象 + if isinstance(rs, list): + for r in rs: + res = self.resource_tracker.parent_resource(r) # 获取 resource 对象 + else: + res = self.resource_tracker.parent_resource(r) if id(res) not in seen: seen.add(id(res)) unique_resources.append(res) diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index fa9cad12..ebc44924 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -706,7 +706,20 @@ class HostNode(BaseROS2DeviceNode): raise ValueError(f"ActionClient {action_id} not found.") action_client: ActionClient = self._action_clients[action_id] + # 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id" + def assign_sample_id(obj): + if isinstance(obj, dict): + if "sample_uuid" in obj: + obj["sample_id"] = obj["sample_uuid"] + obj.pop("sample_uuid") + for k,v in obj.items(): + if k != "unilabos_extra": + assign_sample_id(v) + elif isinstance(obj, list): + for item in obj: + assign_sample_id(item) + assign_sample_id(action_kwargs) goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs) self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}") @@ -1146,13 +1159,10 @@ class HostNode(BaseROS2DeviceNode): def _resource_get_callback(self, request: SerialCommand.Request, response: SerialCommand.Response): """ 获取资源回调 - 处理获取资源请求，从桥接器或本地查询资源数据 - Args: request: 包含资源ID的请求对象 response: 响应对象 - Returns: 响应对象，包含查询到的资源 """ diff --git a/unilabos/ros/nodes/presets/resource_mesh_manager.py b/unilabos/ros/nodes/presets/resource_mesh_manager.py index f46184b6..1ff504c4 100644 --- a/unilabos/ros/nodes/presets/resource_mesh_manager.py +++ b/unilabos/ros/nodes/presets/resource_mesh_manager.py @@ -203,9 +203,9 @@ class ResourceMeshManager(BaseROS2DeviceNode): continue # 提取位置信息并转换单位 position = { - "x": float(resource_config['position']['position']['x'])/1000, - "y": float(resource_config['position']['position']['y'])/1000, - "z": float(resource_config['position']['position']['z'])/1000 + "x": float(resource_config['pose']['position']['x'])/1000, + "y": float(resource_config['pose']['position']['y'])/1000, + "z": float(resource_config['pose']['position']['z'])/1000 } rotation_dict = { @@ -214,8 +214,8 @@ class ResourceMeshManager(BaseROS2DeviceNode): "z": 0 } - if 'rotation' in resource_config['position']: - rotation_dict = resource_config['position']['rotation'] + if 'rotation' in resource_config['pose']: + rotation_dict = resource_config['pose']['rotation'] # 从欧拉角转换为四元数 q = quaternion_from_euler( diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index 849d64a8..e3491d09 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -146,8 +146,20 @@ class ResourceDictInstance(object): content["data"] = {} if not content.get("extra"): # MagicCode content["extra"] = {} - if "pose" not in content: - content["pose"] = content.pop("position", {}) + if "position" in content: + pose = content.get("pose",{}) + if "position" not in pose : + if "position" in content["position"]: + pose["position"] = content["position"]["position"] + else: + pose["position"] = {"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) + } + content["pose"] = pose return ResourceDictInstance(ResourceDict.model_validate(content)) def get_plr_nested_dict(self) -> Dict[str, Any]: diff --git a/unilabos/test/experiments/prcxi_9320_with_res.json b/unilabos/test/experiments/prcxi_9320_with_res.json new file mode 100644 index 00000000..4804da2b --- /dev/null +++ b/unilabos/test/experiments/prcxi_9320_with_res.json @@ -0,0 +1,40337 @@ +{ + "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": false, + "setup": true, + "is_9320": true, + "timeout": 10, + "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", + "simulator": false, + "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, + "sites": [ + { + "label": "1", + "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"] + }, + { + "label": "2", + "visible": true, + "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": "3", + "visible": true, + "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": "4", + "visible": true, + "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"] + }, + { + "label": "5", + "visible": true, + "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": "6", + "visible": true, + "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": "7", + "visible": true, + "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": "8", + "visible": true, + "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": "9", + "visible": true, + "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": "10", + "visible": true, + "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": "11", + "visible": true, + "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": "12", + "visible": true, + "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": "13", + "visible": true, + "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": "14", + "visible": true, + "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": "15", + "visible": true, + "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": "16", + "visible": true, + "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"] + } + ] + }, + "data": {} + 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"PlateT15_A12", + "name": "PlateT15_A12", + + "children": [], + "parent": "PlateT15", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 71.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "PlateT15_B12", + "name": "PlateT15_B12", + + "children": [], + "parent": "PlateT15", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 62.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "PlateT15_C12", + "name": "PlateT15_C12", + + "children": [], + "parent": "PlateT15", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 53.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "PlateT15_D12", + "name": "PlateT15_D12", + + "children": [], + "parent": "PlateT15", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 44.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "PlateT15_E12", + "name": "PlateT15_E12", + + "children": [], + "parent": "PlateT15", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 35.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "PlateT15_F12", + "name": "PlateT15_F12", + + "children": [], + "parent": "PlateT15", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 26.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "PlateT15_G12", + "name": "PlateT15_G12", + + "children": [], + "parent": "PlateT15", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 17.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "PlateT15_H12", + "name": "PlateT15_H12", + + "children": [], + "parent": "PlateT15", + "type": "well", + "class": "", + "position": { + "x": 110.9545, + "y": 8.8145, + "z": 3.55 + }, + "config": { + "type": "Well", + "size_x": 4.851, + "size_y": 4.851, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "trash", + "name": "trash", + + "children": [], + "parent": "T16", + "type": "plate", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Trash", + "size_x": 127, + "size_y": 85.5, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "trash", + "model": null, + "barcode": null, + "max_volume": "Infinity", + "material_z_thickness": 0, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [], + "Material": { + "uuid": "730067cf07ae43849ddf4034299030e9" + } + } + } + ], + "edges": [] +} \ No newline at end of file diff --git a/unilabos/utils/type_check.py b/unilabos/utils/type_check.py index cffb4465..64001e56 100644 --- a/unilabos/utils/type_check.py +++ b/unilabos/utils/type_check.py @@ -78,7 +78,11 @@ 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 """ - result_info = {"error": error, "suc": suc, "return_value": return_value} + 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} return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder) From 3433766bc5a62b4ad0fcf6c014644bfd5229db40 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 26 Dec 2025 02:31:23 +0800 Subject: [PATCH 03/40] do not modify globally --- unilabos/app/web/client.py | 25 ++----------------------- 1 file changed, 2 insertions(+), 23 deletions(-) diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index b2fa5038..8968f033 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -4,7 +4,6 @@ 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 """ -from copy import deepcopy import json import os import time @@ -76,26 +75,6 @@ class HTTPClient: Returns: Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid} """ - # 遍历 resources 及其所有子节点，将 pose.position.y 全部变为 -y - def invert_x_position(resource_instance, size_y: float = 0): - # 处理当前节点 - pose = getattr(resource_instance.res_content, "pose", None) - if pose and hasattr(pose, "position"): - position = getattr(pose, "position", None) - pose_size = getattr(pose, "size", None) - if position and hasattr(position, "y") and pose_size and hasattr(pose_size, "height"): - position.y = size_y - position.y - pose_size.height - # 递归处理子节点 - for child in getattr(resource_instance, "children", []): - _size_y = 0 - if pose and hasattr(pose, "size"): - _size_y = pose.size.height - invert_x_position(child, _size_y) - - # 处理所有树的所有节点，从树的根节点递归 - resources_reversed = deepcopy(resources) - for tree in getattr(resources_reversed, "trees", []): - invert_x_position(getattr(tree, "root_node", tree)) with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f: payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid} f.write(json.dumps(payload, indent=4)) @@ -106,14 +85,14 @@ class HTTPClient: info(f"首次添加资源，当前远程地址: {self.remote_addr}") response = requests.post( f"{self.remote_addr}/edge/material", - json={"nodes": [x for xs in resources_reversed.dump() for x in xs], "mount_uuid": mount_uuid}, + json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, headers={"Authorization": f"Lab {self.auth}"}, timeout=60, ) else: response = requests.put( f"{self.remote_addr}/edge/material", - json={"nodes": [x for xs in resources_reversed.dump() for x in xs], "mount_uuid": mount_uuid}, + json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, headers={"Authorization": f"Lab {self.auth}"}, timeout=10, ) From a201d7c307d00342216326a98546efe16c078ed7 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 26 Dec 2025 02:42:54 +0800 Subject: [PATCH 04/40] update registry --- {test => tests}/resources/__init__.py | 0 .../bioyond_materials_liquidhandling_1.json | 0 .../bioyond_materials_liquidhandling_2.json | 0 .../resources/bioyond_materials_reaction.json | 0 .../resources/test_bottle_carrier.py | 0 .../resources/test_converter_bioyond.py | 0 .../resources/test_itemized_carrier.py | 0 .../resources/test_resourcetreeset.py | 0 {test => tests}/ros/__init__.py | 0 {test => tests}/ros/msgs/__init__.py | 0 {test => tests}/ros/msgs/test_basic.py | 0 {test => tests}/ros/msgs/test_conversion.py | 0 {test => tests}/ros/msgs/test_mapping.py | 0 {test => tests}/ros/msgs/test_runner.py | 0 {test => tests}/workflow/__init__.py | 0 {test => tests}/workflow/example_bio.json | 0 .../workflow/example_bio_graph.png | Bin {test => tests}/workflow/example_prcxi.json | 0 .../workflow/example_prcxi_graph.png | Bin .../example_prcxi_graph_20251022_1359.png | Bin {test => tests}/workflow/merge_workflow.py | 0 .../devices/bioyond_dispensing_station.yaml | 29 + unilabos/registry/devices/cameraSII.yaml | 2 + unilabos/registry/devices/chinwe.yaml | 141 +- .../devices/neware_battery_test_system.yaml | 84 +- unilabos/registry/devices/opcua_example.yaml | 114 +- .../devices/post_process_station.yaml | 157 +- .../post_process/bottle_carriers.yaml | 1 - .../resources/post_process/bottles.yaml | 1 - .../registry/resources/post_process/deck.yaml | 1 + .../resources/prcxi/plate_adapters.yaml | 23 +- unilabos/registry/resources/prcxi/plates.yaml | 33 +- .../registry/resources/prcxi/tip_racks.yaml | 18 +- unilabos/registry/resources/prcxi/trash.yaml | 3 +- .../registry/resources/prcxi/tube_racks.yaml | 3 +- unilabos/ros/nodes/resource_tracker.py | 2 +- .../{ => deprecated}/prcxi_9300.json | 0 .../{ => deprecated}/prcxi_9320.json | 0 .../deprecated/prcxi_9320_with_res.json | 40429 ++++++++ .../test/experiments/prcxi_9320_with_res.json | 40337 -------- .../experiments/prcxi_9320_with_res_test.json | 81400 ++++++++-------- 41 files changed, 81645 insertions(+), 81133 deletions(-) rename {test => tests}/resources/__init__.py (100%) rename {test => tests}/resources/bioyond_materials_liquidhandling_1.json (100%) rename {test => tests}/resources/bioyond_materials_liquidhandling_2.json (100%) rename {test => tests}/resources/bioyond_materials_reaction.json (100%) rename {test => tests}/resources/test_bottle_carrier.py (100%) rename {test => tests}/resources/test_converter_bioyond.py (100%) rename {test => tests}/resources/test_itemized_carrier.py (100%) rename {test => tests}/resources/test_resourcetreeset.py (100%) rename {test => tests}/ros/__init__.py (100%) rename {test => tests}/ros/msgs/__init__.py (100%) rename {test => tests}/ros/msgs/test_basic.py (100%) rename {test => tests}/ros/msgs/test_conversion.py (100%) rename {test => tests}/ros/msgs/test_mapping.py (100%) rename {test => tests}/ros/msgs/test_runner.py (100%) rename {test => tests}/workflow/__init__.py (100%) rename {test => tests}/workflow/example_bio.json (100%) rename {test => tests}/workflow/example_bio_graph.png (100%) rename {test => tests}/workflow/example_prcxi.json (100%) rename {test => tests}/workflow/example_prcxi_graph.png (100%) rename {test => tests}/workflow/example_prcxi_graph_20251022_1359.png (100%) rename {test => tests}/workflow/merge_workflow.py (100%) rename unilabos/test/experiments/{ => deprecated}/prcxi_9300.json (100%) rename unilabos/test/experiments/{ => deprecated}/prcxi_9320.json (100%) create mode 100644 unilabos/test/experiments/deprecated/prcxi_9320_with_res.json delete mode 100644 unilabos/test/experiments/prcxi_9320_with_res.json diff --git a/test/resources/__init__.py b/tests/resources/__init__.py similarity index 100% rename from test/resources/__init__.py rename to tests/resources/__init__.py diff --git a/test/resources/bioyond_materials_liquidhandling_1.json b/tests/resources/bioyond_materials_liquidhandling_1.json similarity index 100% rename from test/resources/bioyond_materials_liquidhandling_1.json rename to tests/resources/bioyond_materials_liquidhandling_1.json diff --git a/test/resources/bioyond_materials_liquidhandling_2.json b/tests/resources/bioyond_materials_liquidhandling_2.json similarity index 100% rename from test/resources/bioyond_materials_liquidhandling_2.json rename to tests/resources/bioyond_materials_liquidhandling_2.json diff --git a/test/resources/bioyond_materials_reaction.json b/tests/resources/bioyond_materials_reaction.json similarity index 100% rename from test/resources/bioyond_materials_reaction.json rename to tests/resources/bioyond_materials_reaction.json diff --git a/test/resources/test_bottle_carrier.py b/tests/resources/test_bottle_carrier.py similarity index 100% rename from test/resources/test_bottle_carrier.py rename to tests/resources/test_bottle_carrier.py diff --git a/test/resources/test_converter_bioyond.py b/tests/resources/test_converter_bioyond.py similarity index 100% rename from test/resources/test_converter_bioyond.py rename to tests/resources/test_converter_bioyond.py diff --git a/test/resources/test_itemized_carrier.py b/tests/resources/test_itemized_carrier.py similarity index 100% rename from test/resources/test_itemized_carrier.py rename to tests/resources/test_itemized_carrier.py diff --git a/test/resources/test_resourcetreeset.py b/tests/resources/test_resourcetreeset.py similarity index 100% rename from test/resources/test_resourcetreeset.py rename to tests/resources/test_resourcetreeset.py diff --git a/test/ros/__init__.py b/tests/ros/__init__.py similarity index 100% rename from test/ros/__init__.py rename to tests/ros/__init__.py diff --git a/test/ros/msgs/__init__.py b/tests/ros/msgs/__init__.py similarity index 100% rename from test/ros/msgs/__init__.py rename to tests/ros/msgs/__init__.py diff --git a/test/ros/msgs/test_basic.py b/tests/ros/msgs/test_basic.py similarity index 100% rename from test/ros/msgs/test_basic.py rename to tests/ros/msgs/test_basic.py diff --git a/test/ros/msgs/test_conversion.py b/tests/ros/msgs/test_conversion.py similarity index 100% rename from test/ros/msgs/test_conversion.py rename to tests/ros/msgs/test_conversion.py diff --git a/test/ros/msgs/test_mapping.py b/tests/ros/msgs/test_mapping.py similarity index 100% rename from test/ros/msgs/test_mapping.py rename to tests/ros/msgs/test_mapping.py diff --git a/test/ros/msgs/test_runner.py b/tests/ros/msgs/test_runner.py similarity index 100% rename from test/ros/msgs/test_runner.py rename to tests/ros/msgs/test_runner.py diff --git a/test/workflow/__init__.py b/tests/workflow/__init__.py similarity index 100% rename from test/workflow/__init__.py rename to tests/workflow/__init__.py diff --git a/test/workflow/example_bio.json b/tests/workflow/example_bio.json similarity index 100% rename from test/workflow/example_bio.json rename to tests/workflow/example_bio.json diff --git a/test/workflow/example_bio_graph.png b/tests/workflow/example_bio_graph.png similarity index 100% rename from test/workflow/example_bio_graph.png rename to tests/workflow/example_bio_graph.png diff --git a/test/workflow/example_prcxi.json b/tests/workflow/example_prcxi.json similarity index 100% rename from test/workflow/example_prcxi.json rename to tests/workflow/example_prcxi.json diff --git a/test/workflow/example_prcxi_graph.png b/tests/workflow/example_prcxi_graph.png similarity index 100% rename from test/workflow/example_prcxi_graph.png rename to tests/workflow/example_prcxi_graph.png diff --git a/test/workflow/example_prcxi_graph_20251022_1359.png b/tests/workflow/example_prcxi_graph_20251022_1359.png similarity index 100% rename from test/workflow/example_prcxi_graph_20251022_1359.png rename to tests/workflow/example_prcxi_graph_20251022_1359.png diff --git a/test/workflow/merge_workflow.py b/tests/workflow/merge_workflow.py similarity index 100% rename from test/workflow/merge_workflow.py rename to tests/workflow/merge_workflow.py diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml index 5f3e1dde..9ae76b7f 100644 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml @@ -174,6 +174,35 @@ bioyond_dispensing_station: 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: {} diff --git a/unilabos/registry/devices/cameraSII.yaml b/unilabos/registry/devices/cameraSII.yaml index d817f48a..ad2df955 100644 --- a/unilabos/registry/devices/cameraSII.yaml +++ b/unilabos/registry/devices/cameraSII.yaml @@ -9,6 +9,7 @@ cameracontroller_device: goal_default: config: null handles: {} + placeholder_keys: {} result: {} schema: description: '' @@ -31,6 +32,7 @@ cameracontroller_device: goal: {} goal_default: {} handles: {} + placeholder_keys: {} result: {} schema: description: '' diff --git a/unilabos/registry/devices/chinwe.yaml b/unilabos/registry/devices/chinwe.yaml index a9f352e4..2078d0f0 100644 --- a/unilabos/registry/devices/chinwe.yaml +++ b/unilabos/registry/devices/chinwe.yaml @@ -4,6 +4,73 @@ separator.chinwe: - chinwe class: action_value_mappings: + auto-connect: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: connect参数 + type: object + type: UniLabJsonCommand + auto-disconnect: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: disconnect参数 + type: object + type: UniLabJsonCommand + auto-execute_command_from_outer: + feedback: {} + goal: {} + goal_default: + command_dict: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + command_dict: + type: object + required: + - command_dict + type: object + result: {} + required: + - goal + title: execute_command_from_outer参数 + type: object + type: UniLabJsonCommand motor_rotate_quarter: goal: direction: 顺时针 @@ -303,42 +370,44 @@ separator.chinwe: handles: [] icon: '' init_param_schema: - goal: - baudrate: - default: 9600 - description: 串口波特率 - type: integer - motor_ids: - default: - - 4 - - 5 - description: 步进电机ID列表 - items: + config: + properties: + baudrate: + default: 9600 type: integer - type: array - port: - default: 192.168.1.200:8899 - description: 串口号或 IP:Port - type: string - pump_ids: - default: - - 1 - - 2 - - 3 - description: 注射泵ID列表 - items: + motor_ids: + items: + type: integer + type: array + port: + default: 192.168.1.200:8899 + type: string + pump_ids: + items: + type: integer + type: array + sensor_id: + default: 6 type: integer - type: array - sensor_id: - default: 6 - description: XKC传感器ID - type: integer - sensor_threshold: - default: 300 - description: 传感器液位判定阈值 - type: integer - timeout: - default: 10 - description: 通信超时时间 (秒) - type: integer + sensor_threshold: + default: 300 + type: integer + timeout: + default: 10.0 + type: number + required: [] + type: object + data: + properties: + is_connected: + type: boolean + sensor_level: + type: boolean + sensor_rssi: + type: integer + required: + - sensor_level + - sensor_rssi + - is_connected + type: object version: 2.1.0 diff --git a/unilabos/registry/devices/neware_battery_test_system.yaml b/unilabos/registry/devices/neware_battery_test_system.yaml index 0157819a..ea6bedc4 100644 --- a/unilabos/registry/devices/neware_battery_test_system.yaml +++ b/unilabos/registry/devices/neware_battery_test_system.yaml @@ -5,6 +5,73 @@ 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: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: print_status_summary参数 + type: object + type: UniLabJsonCommand + auto-test_connection: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: test_connection参数 + type: object + type: UniLabJsonCommand debug_resource_names: feedback: {} goal: {} @@ -407,6 +474,8 @@ neware_battery_test_system: status_types: channel_status: dict connection_info: dict + device_summary: dict + plate_status: dict status: str total_channels: int type: python @@ -418,36 +487,30 @@ neware_battery_test_system: config: properties: devtype: - default: '27' type: string ip: - default: 127.0.0.1 type: string machine_id: default: 1 type: integer oss_prefix: default: neware_backup - description: OSS对象路径前缀 type: string oss_upload_enabled: default: false - description: 是否启用OSS上传功能 type: boolean port: - default: 502 type: integer size_x: - default: 500.0 + default: 50 type: number size_y: - default: 500.0 + default: 50 type: number size_z: - default: 2000.0 + default: 20 type: number timeout: - default: 20 type: integer required: [] type: object @@ -459,6 +522,8 @@ neware_battery_test_system: type: object device_summary: type: object + plate_status: + type: object status: type: string total_channels: @@ -468,6 +533,7 @@ neware_battery_test_system: - channel_status - connection_info - total_channels + - plate_status - device_summary type: object version: 1.0.0 diff --git a/unilabos/registry/devices/opcua_example.yaml b/unilabos/registry/devices/opcua_example.yaml index a7e6b4e3..0f500cfa 100644 --- a/unilabos/registry/devices/opcua_example.yaml +++ b/unilabos/registry/devices/opcua_example.yaml @@ -49,7 +49,32 @@ opcua_example: title: load_config参数 type: object type: UniLabJsonCommand - auto-refresh_node_values: + 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: {} goal_default: {} @@ -67,7 +92,32 @@ opcua_example: result: {} required: - goal - title: refresh_node_values参数 + 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 type: object type: UniLabJsonCommand auto-set_node_value: @@ -99,50 +149,9 @@ 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 type: python config_info: [] @@ -152,15 +161,23 @@ opcua_example: init_param_schema: config: properties: + cache_timeout: + default: 5.0 + type: number config_path: type: string + deck: + type: string password: type: string - refresh_interval: - default: 1.0 - type: number + subscription_interval: + default: 500 + type: integer url: type: string + use_subscription: + default: true + type: boolean username: type: string required: @@ -168,9 +185,12 @@ opcua_example: type: object data: 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/post_process_station.yaml b/unilabos/registry/devices/post_process_station.yaml index cf4a11b0..be42bad4 100644 --- a/unilabos/registry/devices/post_process_station.yaml +++ b/unilabos/registry/devices/post_process_station.yaml @@ -3,6 +3,106 @@ post_process_station: - post_process_station class: action_value_mappings: + auto-load_config: + feedback: {} + goal: {} + goal_default: + config_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + config_path: + type: string + required: + - config_path + type: object + result: {} + required: + - goal + 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: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: print_cache_stats参数 + type: object + type: UniLabJsonCommand + auto-set_node_value: + feedback: {} + goal: {} + goal_default: + name: null + value: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + name: + type: string + value: + type: string + required: + - name + - value + type: object + result: {} + required: + - goal + title: set_node_value参数 + type: object + type: UniLabJsonCommand disconnect: feedback: {} goal: @@ -602,29 +702,46 @@ post_process_station: type: SendCmd module: unilabos.devices.workstation.post_process.post_process:OpcUaClient status_types: - acetone_tank_empty_alarm: Bool - atomization_fast_speed: Float64 - atomization_pressure_kpa: Int32 - cleaning_complete: Bool - device_ready: Bool - door_open_alarm: Bool - grab_complete: Bool - grab_trigger: Bool - injection_pump_push_speed: Int32 - injection_pump_suction_speed: Int32 - nmp_tank_empty_alarm: Bool - post_process_complete: Bool - post_process_trigger: Bool - raw_tank_number: Int32 - reaction_tank_number: Int32 - remote_mode: Bool - wash_slow_speed: Float64 - waste_tank_full_alarm: Bool - water_tank_empty_alarm: Bool + cache_stats: dict + node_value: String type: python config_info: [] description: 后处理站 handles: [] icon: post_process_station.webp - init_param_schema: {} + 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 + 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 + type: object 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 df0391a1..ea30cb7d 100644 --- a/unilabos/registry/resources/post_process/bottle_carriers.yaml +++ b/unilabos/registry/resources/post_process/bottle_carriers.yaml @@ -10,7 +10,6 @@ POST_PROCESS_Raw_1BottleCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 - POST_PROCESS_Reaction_1BottleCarrier: category: - bottle_carriers diff --git a/unilabos/registry/resources/post_process/bottles.yaml b/unilabos/registry/resources/post_process/bottles.yaml index 4243a216..25fc3977 100644 --- a/unilabos/registry/resources/post_process/bottles.yaml +++ b/unilabos/registry/resources/post_process/bottles.yaml @@ -8,4 +8,3 @@ POST_PROCESS_PolymerStation_Reagent_Bottle: icon: '' init_param_schema: {} version: 1.0.0 - diff --git a/unilabos/registry/resources/post_process/deck.yaml b/unilabos/registry/resources/post_process/deck.yaml index 7c1f49de..621cafc6 100644 --- a/unilabos/registry/resources/post_process/deck.yaml +++ b/unilabos/registry/resources/post_process/deck.yaml @@ -1,6 +1,7 @@ post_process_deck: category: - post_process_deck + - deck class: module: unilabos.devices.workstation.post_process.decks:post_process_deck type: pylabrobot diff --git a/unilabos/registry/resources/prcxi/plate_adapters.yaml b/unilabos/registry/resources/prcxi/plate_adapters.yaml index 027b932b..a769fee3 100644 --- a/unilabos/registry/resources/prcxi/plate_adapters.yaml +++ b/unilabos/registry/resources/prcxi/plate_adapters.yaml @@ -1,6 +1,7 @@ PRCXI_30mm_Adapter: - category: + category: - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter type: pylabrobot @@ -11,8 +12,9 @@ PRCXI_30mm_Adapter: registry_type: resource version: 1.0.0 PRCXI_Adapter: - category: - - prcxi + category: + - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter type: pylabrobot @@ -23,8 +25,9 @@ PRCXI_Adapter: registry_type: resource version: 1.0.0 PRCXI_Deep10_Adapter: - category: + category: - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter type: pylabrobot @@ -35,8 +38,9 @@ PRCXI_Deep10_Adapter: registry_type: resource version: 1.0.0 PRCXI_Deep300_Adapter: - category: + category: - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter type: pylabrobot @@ -47,8 +51,9 @@ PRCXI_Deep300_Adapter: registry_type: resource version: 1.0.0 PRCXI_PCR_Adapter: - category: + category: - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter type: pylabrobot @@ -59,8 +64,9 @@ PRCXI_PCR_Adapter: registry_type: resource version: 1.0.0 PRCXI_Reservoir_Adapter: - category: + category: - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter type: pylabrobot @@ -73,6 +79,7 @@ PRCXI_Reservoir_Adapter: PRCXI_Tip10_Adapter: category: - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter type: pylabrobot @@ -85,6 +92,7 @@ PRCXI_Tip10_Adapter: PRCXI_Tip1250_Adapter: category: - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter type: pylabrobot @@ -97,6 +105,7 @@ PRCXI_Tip1250_Adapter: PRCXI_Tip300_Adapter: category: - prcxi + - plate_adapters class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter type: pylabrobot diff --git a/unilabos/registry/resources/prcxi/plates.yaml b/unilabos/registry/resources/prcxi/plates.yaml index 68bae485..81e2ae96 100644 --- a/unilabos/registry/resources/prcxi/plates.yaml +++ b/unilabos/registry/resources/prcxi/plates.yaml @@ -1,6 +1,7 @@ PRCXI_48_DeepWell: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell type: pylabrobot @@ -11,8 +12,9 @@ PRCXI_48_DeepWell: registry_type: resource version: 1.0.0 PRCXI_96_DeepWell: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell type: pylabrobot @@ -23,8 +25,9 @@ PRCXI_96_DeepWell: registry_type: resource version: 1.0.0 PRCXI_AGenBio_4_troughplate: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate type: pylabrobot @@ -35,8 +38,9 @@ PRCXI_AGenBio_4_troughplate: registry_type: resource version: 1.0.0 PRCXI_BioER_96_wellplate: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate type: pylabrobot @@ -47,8 +51,9 @@ PRCXI_BioER_96_wellplate: registry_type: resource version: 1.0.0 PRCXI_BioRad_384_wellplate: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate type: pylabrobot @@ -59,8 +64,9 @@ PRCXI_BioRad_384_wellplate: registry_type: resource version: 1.0.0 PRCXI_CellTreat_96_wellplate: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate type: pylabrobot @@ -71,8 +77,9 @@ PRCXI_CellTreat_96_wellplate: registry_type: resource version: 1.0.0 PRCXI_PCR_Plate_200uL_nonskirted: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted type: pylabrobot @@ -83,8 +90,9 @@ PRCXI_PCR_Plate_200uL_nonskirted: registry_type: resource version: 1.0.0 PRCXI_PCR_Plate_200uL_semiskirted: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted type: pylabrobot @@ -95,8 +103,9 @@ PRCXI_PCR_Plate_200uL_semiskirted: registry_type: resource version: 1.0.0 PRCXI_PCR_Plate_200uL_skirted: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted type: pylabrobot @@ -107,8 +116,9 @@ PRCXI_PCR_Plate_200uL_skirted: registry_type: resource version: 1.0.0 PRCXI_nest_12_troughplate: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate type: pylabrobot @@ -119,8 +129,9 @@ PRCXI_nest_12_troughplate: registry_type: resource version: 1.0.0 PRCXI_nest_1_troughplate: - category: + category: - prcxi + - plates class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate type: pylabrobot diff --git a/unilabos/registry/resources/prcxi/tip_racks.yaml b/unilabos/registry/resources/prcxi/tip_racks.yaml index ef2c5995..56a16db8 100644 --- a/unilabos/registry/resources/prcxi/tip_racks.yaml +++ b/unilabos/registry/resources/prcxi/tip_racks.yaml @@ -1,6 +1,7 @@ PRCXI_1000uL_Tips: - category: + category: - prcxi + - tip_racks class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips type: pylabrobot @@ -11,8 +12,9 @@ PRCXI_1000uL_Tips: registry_type: resource version: 1.0.0 PRCXI_10uL_Tips: - category: + category: - prcxi + - tip_racks class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips type: pylabrobot @@ -23,8 +25,9 @@ PRCXI_10uL_Tips: registry_type: resource version: 1.0.0 PRCXI_10ul_eTips: - category: + category: - prcxi + - tip_racks class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips type: pylabrobot @@ -35,8 +38,9 @@ PRCXI_10ul_eTips: registry_type: resource version: 1.0.0 PRCXI_1250uL_Tips: - category: + category: - prcxi + - tip_racks class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips type: pylabrobot @@ -47,8 +51,9 @@ PRCXI_1250uL_Tips: registry_type: resource version: 1.0.0 PRCXI_200uL_Tips: - category: + category: - prcxi + - tip_racks class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips type: pylabrobot @@ -59,8 +64,9 @@ PRCXI_200uL_Tips: registry_type: resource version: 1.0.0 PRCXI_300ul_Tips: - category: + category: - prcxi + - tip_racks class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips type: pylabrobot diff --git a/unilabos/registry/resources/prcxi/trash.yaml b/unilabos/registry/resources/prcxi/trash.yaml index b71d1cf1..f87a7624 100644 --- a/unilabos/registry/resources/prcxi/trash.yaml +++ b/unilabos/registry/resources/prcxi/trash.yaml @@ -1,6 +1,7 @@ PRCXI_trash: - category: + category: - prcxi + - trash class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash type: pylabrobot diff --git a/unilabos/registry/resources/prcxi/tube_racks.yaml b/unilabos/registry/resources/prcxi/tube_racks.yaml index 4aa7e95e..0b1e07c6 100644 --- a/unilabos/registry/resources/prcxi/tube_racks.yaml +++ b/unilabos/registry/resources/prcxi/tube_racks.yaml @@ -1,6 +1,7 @@ PRCXI_EP_Adapter: - category: + category: - prcxi + - tube_racks class: module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter type: pylabrobot diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index e3491d09..aaa80799 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -448,7 +448,7 @@ class ResourceTreeSet(object): from pylabrobot.utils.object_parsing import find_subclass # 类型映射 - TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"} + TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"} def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict): """一次遍历收集 name_to_uuid, all_states 和 name_to_extra""" diff --git a/unilabos/test/experiments/prcxi_9300.json b/unilabos/test/experiments/deprecated/prcxi_9300.json similarity index 100% rename from unilabos/test/experiments/prcxi_9300.json rename to unilabos/test/experiments/deprecated/prcxi_9300.json diff --git a/unilabos/test/experiments/prcxi_9320.json b/unilabos/test/experiments/deprecated/prcxi_9320.json similarity index 100% rename from unilabos/test/experiments/prcxi_9320.json rename to unilabos/test/experiments/deprecated/prcxi_9320.json diff --git a/unilabos/test/experiments/deprecated/prcxi_9320_with_res.json b/unilabos/test/experiments/deprecated/prcxi_9320_with_res.json new file mode 100644 index 00000000..3bb8eea5 --- /dev/null +++ b/unilabos/test/experiments/deprecated/prcxi_9320_with_res.json @@ -0,0 +1,40429 @@ +{ + "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": false, + "setup": true, + "is_9320": true, + "timeout": 10, + "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", + "simulator": false, + "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, + "sites": [ + { + "label": "1", + "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" + ] + }, + { + "label": "2", + "visible": true, + "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": "3", + "visible": true, + "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": "4", + "visible": true, + "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" + ] + }, + { + "label": "5", + "visible": true, + "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": "6", + "visible": true, + "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": "7", + "visible": true, + "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": "8", + "visible": true, + "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": "9", + "visible": true, + "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": "10", + "visible": true, + "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": "11", + "visible": true, + "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": "12", + "visible": true, + "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": "13", + "visible": true, + "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": "14", + "visible": true, + "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": "15", + "visible": true, + "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": "16", + "visible": true, + "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" + ] + } + ] + }, + "data": {} + }, + { + "id": "RackT1", + "name": "RackT1", + + "children": [ + "RackT1_A1", + "RackT1_B1", + "RackT1_C1", + "RackT1_D1", + "RackT1_E1", + "RackT1_F1", + "RackT1_G1", + "RackT1_H1", + "RackT1_A2", + "RackT1_B2", + "RackT1_C2", + "RackT1_D2", + "RackT1_E2", + "RackT1_F2", + "RackT1_G2", + "RackT1_H2", + "RackT1_A3", + "RackT1_B3", + "RackT1_C3", + "RackT1_D3", + "RackT1_E3", + "RackT1_F3", + "RackT1_G3", + "RackT1_H3", + "RackT1_A4", + "RackT1_B4", + "RackT1_C4", + "RackT1_D4", + "RackT1_E4", + "RackT1_F4", + "RackT1_G4", + "RackT1_H4", + "RackT1_A5", + "RackT1_B5", + "RackT1_C5", + "RackT1_D5", + "RackT1_E5", + "RackT1_F5", + "RackT1_G5", + "RackT1_H5", + "RackT1_A6", + "RackT1_B6", + "RackT1_C6", + "RackT1_D6", + "RackT1_E6", + "RackT1_F6", + "RackT1_G6", + "RackT1_H6", + "RackT1_A7", + "RackT1_B7", + "RackT1_C7", + "RackT1_D7", + "RackT1_E7", + "RackT1_F7", + "RackT1_G7", + "RackT1_H7", + "RackT1_A8", + "RackT1_B8", + "RackT1_C8", + "RackT1_D8", + "RackT1_E8", + "RackT1_F8", + "RackT1_G8", + "RackT1_H8", + "RackT1_A9", + "RackT1_B9", + "RackT1_C9", + "RackT1_D9", + "RackT1_E9", + "RackT1_F9", + "RackT1_G9", + "RackT1_H9", + "RackT1_A10", + "RackT1_B10", + "RackT1_C10", + "RackT1_D10", + "RackT1_E10", + "RackT1_F10", + "RackT1_G10", + "RackT1_H10", + "RackT1_A11", + "RackT1_B11", + "RackT1_C11", + "RackT1_D11", + "RackT1_E11", + "RackT1_F11", + "RackT1_G11", + "RackT1_H11", + "RackT1_A12", + "RackT1_B12", + "RackT1_C12", + "RackT1_D12", + "RackT1_E12", + "RackT1_F12", + "RackT1_G12", + "RackT1_H12" + ], + "parent": "PRCXI_Deck", + "type": "tip_rack", + "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": "tip_rack", + "model": null, + "barcode": null, + "ordering": { + "A1": "tip_A1", + "B1": "tip_B1", + "C1": "tip_C1", + "D1": "tip_D1", + "E1": "tip_E1", + "F1": "tip_F1", + "G1": "tip_G1", + "H1": "tip_H1", + "A2": "tip_A2", + "B2": "tip_B2", + "C2": "tip_C2", + "D2": "tip_D2", + "E2": "tip_E2", + "F2": "tip_F2", + "G2": "tip_G2", + "H2": "tip_H2", + "A3": "tip_A3", + "B3": "tip_B3", + "C3": "tip_C3", + "D3": "tip_D3", + "E3": "tip_E3", + "F3": "tip_F3", + "G3": "tip_G3", + "H3": "tip_H3", + "A4": "tip_A4", + "B4": "tip_B4", + "C4": "tip_C4", + "D4": "tip_D4", + "E4": "tip_E4", + "F4": "tip_F4", + "G4": "tip_G4", + "H4": "tip_H4", + "A5": "tip_A5", + "B5": "tip_B5", + "C5": "tip_C5", + "D5": "tip_D5", + "E5": "tip_E5", + "F5": "tip_F5", + "G5": "tip_G5", + "H5": "tip_H5", + "A6": "tip_A6", + "B6": "tip_B6", + "C6": "tip_C6", + "D6": "tip_D6", + "E6": "tip_E6", + "F6": "tip_F6", + "G6": "tip_G6", + "H6": "tip_H6", + "A7": "tip_A7", + "B7": "tip_B7", + "C7": "tip_C7", + "D7": "tip_D7", + "E7": "tip_E7", + "F7": "tip_F7", + "G7": "tip_G7", + "H7": "tip_H7", + "A8": "tip_A8", + "B8": "tip_B8", + "C8": "tip_C8", + "D8": "tip_D8", + "E8": "tip_E8", + "F8": "tip_F8", + "G8": "tip_G8", + "H8": "tip_H8", + "A9": "tip_A9", + "B9": "tip_B9", + "C9": "tip_C9", + "D9": "tip_D9", + "E9": "tip_E9", + "F9": "tip_F9", + "G9": "tip_G9", + "H9": "tip_H9", + "A10": "tip_A10", + "B10": "tip_B10", + "C10": "tip_C10", + "D10": "tip_D10", + "E10": "tip_E10", + "F10": "tip_F10", + "G10": "tip_G10", + "H10": "tip_H10", + "A11": "tip_A11", + "B11": "tip_B11", + "C11": "tip_C11", + "D11": "tip_D11", + "E11": "tip_E11", + "F11": "tip_F11", + "G11": "tip_G11", + "H11": "tip_H11", + "A12": "tip_A12", + "B12": "tip_B12", + "C12": "tip_C12", + "D12": "tip_D12", + "E12": "tip_E12", + "F12": "tip_F12", + "G12": "tip_G12", + "H12": "tip_H12" + } + }, + "data": { + "Material": { + "uuid": "068b3815e36b4a72a59bae017011b29f", + "Code": "ZX-001-10+", + "Name": "10μL加长 Tip头" + } + } + }, + { + "id": "RackT1_A1", + "name": "RackT1_A1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 73.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + } + } + }, + { + "id": "RackT1_B1", + "name": "RackT1_B1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 64.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + } + } + }, + { + "id": "RackT1_C1", + "name": "RackT1_C1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 55.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + } + } + }, + { + "id": "RackT1_D1", + "name": "RackT1_D1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 46.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + } + } + }, + { + "id": "RackT1_E1", + "name": "RackT1_E1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 37.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + 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"730067cf07ae43849ddf4034299030e9" + } + } + } + ], + "edges": [] +} From 847a300af37c737abdc671f24ff98637db6a0773 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 26 Dec 2025 02:57:03 +0800 Subject: [PATCH 05/40] update registry --- unilabos/registry/devices/laiyu_liquid.yaml | 1922 ----------------- .../registry/devices/laiyu_liquid_test.yaml | 2 +- unilabos/registry/devices/liquid_handler.yaml | 33 +- 3 files changed, 13 insertions(+), 1944 deletions(-) delete mode 100644 unilabos/registry/devices/laiyu_liquid.yaml diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml deleted file mode 100644 index 98201a7d..00000000 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ /dev/null @@ -1,1922 +0,0 @@ -laiyu_liquid: - category: - - liquid_handler - - workstation - - laiyu_liquid - class: - action_value_mappings: - add_liquid: - feedback: {} - goal: - asp_vols: asp_vols - dis_vols: dis_vols - flow_rates: flow_rates - offsets: offsets - reagent_sources: reagent_sources - targets: targets - use_channels: use_channels - goal_default: - asp_vols: - - 0.0 - blow_out_air_volume: - - 0.0 - dis_vols: - - 0.0 - flow_rates: - - 0.0 - is_96_well: false - liquid_height: - - 0.0 - mix_liquid_height: 0.0 - mix_rate: 0 - mix_time: 0 - mix_vol: 0 - none_keys: - - '' - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - reagent_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: '' - use_channels: - - 0 - handles: {} - placeholder_keys: - reagent_sources: unilabos_resources - targets: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerAdd_Feedback - type: object - goal: - properties: - asp_vols: - items: - type: number - type: array - blow_out_air_volume: - items: - type: number - type: array - dis_vols: - items: - type: number - type: array - flow_rates: - items: - type: number - type: array - is_96_well: - type: boolean - liquid_height: - items: - type: number - type: array - mix_liquid_height: - type: number - mix_rate: - maximum: 2147483647 - minimum: -2147483648 - type: integer - mix_time: - maximum: 2147483647 - minimum: -2147483648 - type: integer - mix_vol: - maximum: 2147483647 - minimum: -2147483648 - type: integer - none_keys: - items: - type: string - type: array - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - reagent_sources: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: reagent_sources - type: object - type: array - spread: - type: string - targets: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: targets - type: object - type: array - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - required: - - asp_vols - - dis_vols - - reagent_sources - - targets - - use_channels - - flow_rates - - offsets - - liquid_height - - blow_out_air_volume - - spread - - is_96_well - - mix_time - - mix_vol - - mix_rate - - mix_liquid_height - - none_keys - title: LiquidHandlerAdd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerAdd_Result - type: object - required: - - goal - title: LiquidHandlerAdd - type: object - type: LiquidHandlerAdd - aspirate: - feedback: {} - goal: - flow_rates: flow_rates - resources: resources - use_channels: use_channels - vols: vols - goal_default: - blow_out_air_volume: - - 0.0 - flow_rates: - - 0.0 - liquid_height: - - 0.0 - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - resources: - - 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: '' - use_channels: - - 0 - vols: - - 0.0 - handles: {} - placeholder_keys: - resources: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerAspirate_Feedback - type: object - goal: - properties: - blow_out_air_volume: - items: - type: number - type: array - flow_rates: - items: - type: number - type: array - liquid_height: - items: - type: number - type: array - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - resources: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: resources - type: object - type: array - spread: - type: string - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - vols: - items: - type: number - type: array - required: - - resources - - vols - - use_channels - - flow_rates - - offsets - - liquid_height - - blow_out_air_volume - - spread - title: LiquidHandlerAspirate_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerAspirate_Result - type: object - required: - - goal - title: LiquidHandlerAspirate - type: object - type: LiquidHandlerAspirate - auto-add_resource: - feedback: {} - goal: {} - goal_default: - name: null - position: null - resource_type: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - name: - type: string - position: - items: - type: number - type: array - resource_type: - type: string - required: - - name - - resource_type - - position - type: object - result: {} - required: - - goal - title: add_resource参数 - type: object - type: UniLabJsonCommand - dispense: - feedback: {} - goal: - flow_rates: flow_rates - resources: resources - use_channels: use_channels - vols: vols - goal_default: - blow_out_air_volume: - - 0 - flow_rates: - - 0.0 - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - resources: - - 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: '' - use_channels: - - 0 - vols: - - 0.0 - handles: {} - placeholder_keys: - resources: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerDispense_Feedback - type: object - goal: - properties: - blow_out_air_volume: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - flow_rates: - items: - type: number - type: array - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - resources: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: resources - type: object - type: array - spread: - type: string - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - vols: - items: - type: number - type: array - required: - - resources - - vols - - use_channels - - flow_rates - - offsets - - blow_out_air_volume - - spread - title: LiquidHandlerDispense_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerDispense_Result - type: object - required: - - goal - title: LiquidHandlerDispense - type: object - type: LiquidHandlerDispense - drop_tip: - feedback: {} - goal: - use_channels: use_channels - goal_default: - allow_nonzero_volume: false - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - tip_spots: - - 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: '' - use_channels: - - 0 - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerDropTips_Feedback - type: object - goal: - properties: - allow_nonzero_volume: - type: boolean - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - tip_spots: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: tip_spots - type: object - type: array - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - required: - - tip_spots - - use_channels - - offsets - - allow_nonzero_volume - title: LiquidHandlerDropTips_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerDropTips_Result - type: object - required: - - goal - title: LiquidHandlerDropTips - type: object - type: LiquidHandlerDropTips - move_to: - feedback: {} - goal: - channel: channel - dis_to_top: dis_to_top - well: well - goal_default: - channel: 0 - dis_to_top: 0.0 - well: - 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: '' - handles: {} - placeholder_keys: - well: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerMoveTo_Feedback - type: object - goal: - properties: - channel: - maximum: 2147483647 - minimum: -2147483648 - type: integer - dis_to_top: - type: number - well: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: well - type: object - required: - - well - - dis_to_top - - channel - title: LiquidHandlerMoveTo_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerMoveTo_Result - type: object - required: - - goal - title: LiquidHandlerMoveTo - type: object - type: LiquidHandlerMoveTo - pick_up_tip: - feedback: {} - goal: - tip_rack: tip_rack - use_channels: use_channels - goal_default: - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - tip_spots: - - 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: '' - use_channels: - - 0 - handles: {} - placeholder_keys: - tip_rack: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerPickUpTips_Feedback - type: object - goal: - properties: - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - tip_spots: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: tip_spots - type: object - type: array - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - required: - - tip_spots - - use_channels - - offsets - title: LiquidHandlerPickUpTips_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerPickUpTips_Result - type: object - required: - - goal - title: LiquidHandlerPickUpTips - type: object - type: LiquidHandlerPickUpTips - setup: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - stop: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - transfer: - feedback: {} - goal: - source: source - target: target - tip_position: tip_position - tip_rack: tip_rack - volume: volume - 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 - 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: '' - touch_tip: false - use_channels: - - 0 - handles: {} - placeholder_keys: - source: unilabos_resources - target: unilabos_resources - tip_rack: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerTransfer_Feedback - type: object - goal: - properties: - asp_flow_rates: - items: - type: number - type: array - asp_vols: - items: - type: number - type: array - blow_out_air_volume: - items: - type: number - type: array - delays: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - dis_flow_rates: - items: - type: number - type: array - dis_vols: - items: - type: number - type: array - is_96_well: - type: boolean - liquid_height: - items: - type: number - type: array - mix_liquid_height: - type: number - mix_rate: - maximum: 2147483647 - minimum: -2147483648 - type: integer - mix_stage: - type: string - mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - mix_vol: - maximum: 2147483647 - minimum: -2147483648 - type: integer - none_keys: - items: - type: string - type: array - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - sources: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: sources - type: object - type: array - spread: - type: string - targets: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: targets - type: object - type: array - tip_racks: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: tip_racks - type: object - type: array - touch_tip: - type: boolean - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - 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 - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerTransfer_Result - type: object - required: - - goal - title: LiquidHandlerTransfer - type: object - type: LiquidHandlerTransfer - module: unilabos.devices.laiyu_liquid.core.laiyu_liquid_main:LaiYuLiquid - status_types: - current_position: String - current_volume: float - is_connected: bool - is_initialized: bool - status: dict - tip_attached: bool - type: python - config_info: - - default: /dev/cu.usbserial-3130 - description: RS485转USB端口 - name: port - type: string - - default: 1 - description: 设备地址 - name: address - type: integer - - default: 9600 - description: 波特率 - name: baudrate - type: integer - - default: 5.0 - description: 通信超时时间 (秒) - name: timeout - type: number - - default: 340.0 - description: 工作台宽度 (mm) - name: deck_width - type: number - - default: 250.0 - description: 工作台高度 (mm) - name: deck_height - type: number - - default: 160.0 - description: 工作台深度 (mm) - name: deck_depth - type: number - - default: 77000.0 - description: 最大体积 (μL) - name: max_volume - type: number - - default: 0.1 - description: 最小体积 (μL) - name: min_volume - type: number - - default: 100.0 - description: 最大速度 (mm/s) - name: max_speed - type: number - - default: 50.0 - description: 加速度 (mm/s²) - name: acceleration - type: number - - default: 50.0 - description: 安全高度 (mm) - name: safe_height - type: number - - default: 10.0 - description: 吸头拾取深度 (mm) - name: tip_pickup_depth - type: number - - default: true - description: 液面检测功能 - name: liquid_detection - type: boolean - - default: 10.0 - description: X轴最小安全边距 (mm) - name: safety_margin_x_min - type: number - - default: 10.0 - description: X轴最大安全边距 (mm) - name: safety_margin_x_max - type: number - - default: 10.0 - description: Y轴最小安全边距 (mm) - name: safety_margin_y_min - type: number - - default: 10.0 - description: Y轴最大安全边距 (mm) - name: safety_margin_y_max - type: number - - default: 20.0 - description: Z轴安全间隙 (mm) - name: safety_margin_z_clearance - type: number - description: LaiYu液体处理工作站，基于RS485通信协议的自动化液体处理设备。集成XYZ三轴运动平台和SOPA气动式移液器，支持精确的液体分配和转移操作。具备完整的硬件控制、资源管理和标准化接口，适用于实验室自动化液体处理、样品制备、试剂分配等应用场景。设备通过RS485总线控制步进电机和移液器，提供高精度的位置控制和液体处理能力。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - config: - type: string - required: [] - type: object - data: - properties: - current_position: - items: - type: number - type: array - current_volume: - type: number - is_connected: - type: boolean - is_initialized: - type: boolean - status: - type: object - tip_attached: - type: boolean - required: - - current_position - - current_volume - - is_connected - - is_initialized - - tip_attached - - status - type: object - model: - mesh: laiyu_liquid_handler - type: device - version: 1.0.0 diff --git a/unilabos/registry/devices/laiyu_liquid_test.yaml b/unilabos/registry/devices/laiyu_liquid_test.yaml index bbc0e873..282242df 100644 --- a/unilabos/registry/devices/laiyu_liquid_test.yaml +++ b/unilabos/registry/devices/laiyu_liquid_test.yaml @@ -197,7 +197,7 @@ xyz_stepper_controller: title: wait_complete参数 type: object type: UniLabJsonCommand - module: unilabos.devices.laiyu_liquid_test.xyz_stepper_driver:XYZStepperController + module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController status_types: status: list type: python diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index c611d211..b0656d12 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -4019,8 +4019,7 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -4176,11 +4175,9 @@ liquid_handler: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -5043,8 +5040,7 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -5187,11 +5183,9 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -9671,8 +9665,7 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: - - 0 + mix_times: 0 mix_vol: 0 none_keys: - '' @@ -9828,11 +9821,9 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + maximum: 2147483647 + minimum: -2147483648 + type: integer mix_vol: maximum: 2147483647 minimum: -2147483648 From e6d8d41183b18ae4d1187c8c5831e9025136e837 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 26 Dec 2025 03:26:06 +0800 Subject: [PATCH 06/40] bump version to 0.10.3 --- .conda/recipe.yaml | 2 +- recipes/msgs/recipe.yaml | 2 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/__init__.py | 2 +- .../registry/devices/laiyu_liquid_test.yaml | 515 +++++++++++++++--- unilabos_msgs/package.xml | 2 +- 7 files changed, 440 insertions(+), 87 deletions(-) diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml index 62b06337..f7dca724 100644 --- a/.conda/recipe.yaml +++ b/.conda/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: 0.10.12 + version: 0.10.13 source: path: ../unilabos diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index 86150f0d..399be6ca 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.12 + version: 0.10.13 source: path: ../../unilabos_msgs target_directory: src diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 0f79b260..34bd39c7 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.12" + version: "0.10.13" source: path: ../.. diff --git a/setup.py b/setup.py index 4f733d06..cb687c20 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.12', + version='0.10.13', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/__init__.py b/unilabos/__init__.py index a37fec72..f63b48ab 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.12" +__version__ = "0.10.13" diff --git a/unilabos/registry/devices/laiyu_liquid_test.yaml b/unilabos/registry/devices/laiyu_liquid_test.yaml index 282242df..dcaa9818 100644 --- a/unilabos/registry/devices/laiyu_liquid_test.yaml +++ b/unilabos/registry/devices/laiyu_liquid_test.yaml @@ -3,11 +3,11 @@ xyz_stepper_controller: - laiyu_liquid_test class: action_value_mappings: - auto-define_current_as_zero: + auto-degrees_to_steps: feedback: {} goal: {} goal_default: - save_path: work_origin.json + degrees: null handles: {} placeholder_keys: {} result: {} @@ -17,23 +17,22 @@ xyz_stepper_controller: feedback: {} goal: properties: - save_path: - default: work_origin.json - type: string - required: [] + degrees: + type: number + required: + - degrees type: object result: {} required: - goal - title: define_current_as_zero参数 + title: degrees_to_steps参数 type: object type: UniLabJsonCommand - auto-enable: + auto-emergency_stop: feedback: {} goal: {} goal_default: axis: null - state: null handles: {} placeholder_keys: {} result: {} @@ -44,27 +43,415 @@ xyz_stepper_controller: goal: properties: axis: - type: string - state: - type: boolean + type: object required: - axis - - state type: object result: {} required: - goal - title: enable参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand - auto-move_to: + auto-enable_all_axes: + feedback: {} + goal: {} + goal_default: + enable: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + enable: + default: true + type: boolean + required: [] + type: object + result: {} + required: + - goal + title: enable_all_axes参数 + type: object + type: UniLabJsonCommand + auto-enable_motor: feedback: {} goal: {} goal_default: - acc: 500 axis: null - precision: 50 - speed: 2000 + enable: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + axis: + type: object + enable: + default: true + type: boolean + required: + - axis + type: object + result: {} + required: + - goal + title: enable_motor参数 + type: object + type: UniLabJsonCommand + auto-home_all_axes: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: home_all_axes参数 + type: object + type: UniLabJsonCommand + auto-home_axis: + feedback: {} + goal: {} + goal_default: + axis: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + axis: + type: object + required: + - axis + type: object + result: {} + required: + - goal + title: home_axis参数 + type: object + type: UniLabJsonCommand + auto-move_to_position: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + position: null + precision: 100 + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + position: + type: integer + precision: + default: 100 + type: integer + speed: + default: 5000 + type: integer + required: + - axis + - position + type: object + result: {} + required: + - goal + title: move_to_position参数 + type: object + type: UniLabJsonCommand + auto-move_to_position_degrees: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + degrees: null + precision: 100 + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + degrees: + type: number + precision: + default: 100 + type: integer + speed: + default: 5000 + type: integer + required: + - axis + - degrees + type: object + result: {} + required: + - goal + title: move_to_position_degrees参数 + type: object + type: UniLabJsonCommand + auto-move_to_position_revolutions: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + precision: 100 + revolutions: null + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + precision: + default: 100 + type: integer + revolutions: + type: number + speed: + default: 5000 + type: integer + required: + - axis + - revolutions + type: object + result: {} + required: + - goal + title: move_to_position_revolutions参数 + type: object + type: UniLabJsonCommand + auto-move_xyz: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x: null + y: null + z: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x: + type: string + y: + type: string + z: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz参数 + type: object + type: UniLabJsonCommand + auto-move_xyz_degrees: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x_deg: null + y_deg: null + z_deg: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x_deg: + type: string + y_deg: + type: string + z_deg: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz_degrees参数 + type: object + type: UniLabJsonCommand + auto-move_xyz_revolutions: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x_rev: null + y_rev: null + z_rev: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x_rev: + type: string + y_rev: + type: string + z_rev: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz_revolutions参数 + type: object + type: UniLabJsonCommand + auto-revolutions_to_steps: + feedback: {} + goal: {} + goal_default: + revolutions: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + revolutions: + type: number + required: + - revolutions + type: object + result: {} + required: + - goal + title: revolutions_to_steps参数 + type: object + type: UniLabJsonCommand + auto-set_speed_mode: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + speed: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + speed: + type: integer + required: + - axis + - speed + type: object + result: {} + required: + - goal + title: set_speed_mode参数 + type: object + type: UniLabJsonCommand + auto-steps_to_degrees: + feedback: {} + goal: {} + goal_default: steps: null handles: {} placeholder_keys: {} @@ -75,38 +462,22 @@ xyz_stepper_controller: feedback: {} goal: properties: - acc: - default: 500 - type: integer - axis: - type: string - precision: - default: 50 - type: integer - speed: - default: 2000 - type: integer steps: type: integer required: - - axis - steps type: object result: {} required: - goal - title: move_to参数 + title: steps_to_degrees参数 type: object type: UniLabJsonCommand - auto-move_xyz_work: + auto-steps_to_revolutions: feedback: {} goal: {} goal_default: - acc: 1500 - speed: 100 - x: 0.0 - y: 0.0 - z: 0.0 + steps: null handles: {} placeholder_keys: {} result: {} @@ -116,35 +487,21 @@ xyz_stepper_controller: feedback: {} goal: properties: - acc: - default: 1500 + steps: type: integer - speed: - default: 100 - type: integer - x: - default: 0.0 - type: number - y: - default: 0.0 - type: number - z: - default: 0.0 - type: number - required: [] + required: + - steps type: object result: {} required: - goal - title: move_xyz_work参数 + title: steps_to_revolutions参数 type: object type: UniLabJsonCommand - auto-return_to_work_origin: + auto-stop_all_axes: feedback: {} goal: {} - goal_default: - acc: 800 - speed: 200 + goal_default: {} handles: {} placeholder_keys: {} result: {} @@ -153,22 +510,16 @@ xyz_stepper_controller: properties: feedback: {} goal: - properties: - acc: - default: 800 - type: integer - speed: - default: 200 - type: integer + properties: {} required: [] type: object result: {} required: - goal - title: return_to_work_origin参数 + title: stop_all_axes参数 type: object type: UniLabJsonCommand - auto-wait_complete: + auto-wait_for_completion: feedback: {} goal: {} goal_default: @@ -184,22 +535,23 @@ xyz_stepper_controller: goal: properties: axis: - type: string + type: object timeout: default: 30.0 - type: string + type: number required: - axis type: object result: {} required: - goal - title: wait_complete参数 + title: wait_for_completion参数 type: object type: UniLabJsonCommand module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController status_types: - status: list + all_positions: dict + motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition type: python config_info: [] description: 新XYZ控制器 @@ -210,23 +562,24 @@ xyz_stepper_controller: properties: baudrate: default: 115200 - type: string - client: - type: string - origin_path: - default: unilabos/devices/laiyu_liquid_test/work_origin.json - type: string + type: integer port: - default: /dev/ttyUSB0 type: string - required: [] + timeout: + default: 1.0 + type: number + required: + - port type: object data: properties: - status: - type: array + all_positions: + type: object + motor_status: + type: object required: - - status + - motor_status + - all_positions type: object registry_type: device version: 1.0.0 diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index dbb20383..325fc131 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.12 + 0.10.13 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln From 394c140830089124267a9c7bcda8dcc8b5375b05 Mon Sep 17 00:00:00 2001 From: Xianwei Qi Date: Fri, 26 Dec 2025 16:24:55 +0800 Subject: [PATCH 07/40] test_transfer_liquid --- .../liquid_handling/test_transfer_liquid.py | 505 ++++++++++++++++++ .../liquid_handler_abstract.py | 143 +++-- .../liquid_handling/test_transfer_liquid.py | 13 + 3 files changed, 622 insertions(+), 39 deletions(-) create mode 100644 test/devices/liquid_handling/test_transfer_liquid.py create mode 100644 unilabos/devices/liquid_handling/test_transfer_liquid.py diff --git a/test/devices/liquid_handling/test_transfer_liquid.py b/test/devices/liquid_handling/test_transfer_liquid.py new file mode 100644 index 00000000..9896aac5 --- /dev/null +++ b/test/devices/liquid_handling/test_transfer_liquid.py @@ -0,0 +1,505 @@ +import asyncio +from dataclasses import dataclass +from typing import Any, Iterable, List, Optional, Sequence, Tuple + +import pytest + +from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract + + +@dataclass(frozen=True) +class DummyContainer: + name: str + + def __repr__(self) -> str: # pragma: no cover + return f"DummyContainer({self.name})" + + +@dataclass(frozen=True) +class DummyTipSpot: + name: str + + def __repr__(self) -> str: # pragma: no cover + return f"DummyTipSpot({self.name})" + + +def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]: + """Yield lists so code can safely call `tip.extend(next(self.current_tip))`.""" + for i in range(n): + yield [DummyTipSpot(f"tip_{i}")] + + +class FakeLiquidHandler(LiquidHandlerAbstract): + """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。""" + + def __init__(self, channel_num: int = 8): + # 不调用 super().__init__，避免真实硬件/后端依赖 + self.channel_num = channel_num + self.support_touch_tip = True + self.current_tip = iter(make_tip_iter()) + self.calls: List[Tuple[str, Any]] = [] + + async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs): + self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels})) + + async def aspirate( + self, + resources: Sequence[Any], + vols: List[float], + use_channels: Optional[List[int]] = None, + flow_rates: Optional[List[Optional[float]]] = None, + offsets: Any = None, + liquid_height: Any = None, + blow_out_air_volume: Any = None, + spread: str = "wide", + **backend_kwargs, + ): + self.calls.append( + ( + "aspirate", + { + "resources": list(resources), + "vols": list(vols), + "use_channels": list(use_channels) if use_channels is not None else None, + "flow_rates": list(flow_rates) if flow_rates is not None else None, + "offsets": list(offsets) if offsets is not None else None, + "liquid_height": list(liquid_height) if liquid_height is not None else None, + "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None, + }, + ) + ) + + async def dispense( + self, + resources: Sequence[Any], + vols: List[float], + use_channels: Optional[List[int]] = None, + flow_rates: Optional[List[Optional[float]]] = None, + offsets: Any = None, + liquid_height: Any = None, + blow_out_air_volume: Any = None, + spread: str = "wide", + **backend_kwargs, + ): + self.calls.append( + ( + "dispense", + { + "resources": list(resources), + "vols": list(vols), + "use_channels": list(use_channels) if use_channels is not None else None, + "flow_rates": list(flow_rates) if flow_rates is not None else None, + "offsets": list(offsets) if offsets is not None else None, + "liquid_height": list(liquid_height) if liquid_height is not None else None, + "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None, + }, + ) + ) + + async def discard_tips(self, use_channels=None, *args, **kwargs): + # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数） + self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None})) + + async def custom_delay(self, seconds=0, msg=None): + self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg})) + + async def touch_tip(self, targets): + # 原实现会访问 targets.get_size_x() 等；测试里只记录调用 + self.calls.append(("touch_tip", {"targets": targets})) + + async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None): + self.calls.append( + ( + "mix", + { + "targets": targets, + "mix_time": mix_time, + "mix_vol": mix_vol, + }, + ) + ) + + +def run(coro): + return asyncio.run(coro) + + +def test_one_to_one_single_channel_basic_calls(): + lh = FakeLiquidHandler(channel_num=1) + lh.current_tip = iter(make_tip_iter(64)) + + sources = [DummyContainer(f"S{i}") for i in range(3)] + targets = [DummyContainer(f"T{i}") for i in range(3)] + + run( + lh.transfer_liquid( + sources=sources, + targets=targets, + tip_racks=[], + use_channels=[0], + asp_vols=[1, 2, 3], + dis_vols=[4, 5, 6], + mix_times=None, # 应该仍能执行（不 mix） + ) + ) + + assert [c[0] for c in lh.calls].count("pick_up_tips") == 3 + assert [c[0] for c in lh.calls].count("aspirate") == 3 + assert [c[0] for c in lh.calls].count("dispense") == 3 + assert [c[0] for c in lh.calls].count("discard_tips") == 3 + + # 每次 aspirate/dispense 都是单孔列表 + aspirates = [payload for name, payload in lh.calls if name == "aspirate"] + assert aspirates[0]["resources"] == [sources[0]] + assert aspirates[0]["vols"] == [1.0] + + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert dispenses[2]["resources"] == [targets[2]] + assert dispenses[2]["vols"] == [6.0] + + +def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate(): + lh = FakeLiquidHandler(channel_num=1) + lh.current_tip = iter(make_tip_iter(16)) + + source = DummyContainer("S0") + target = DummyContainer("T0") + + run( + lh.transfer_liquid( + sources=[source], + targets=[target], + tip_racks=[], + use_channels=[0], + asp_vols=[5], + dis_vols=[5], + mix_stage="before", + mix_times=1, + mix_vol=3, + ) + ) + + names = [name for name, _ in lh.calls] + assert names.count("mix") == 1 + assert names.index("mix") < names.index("aspirate") + + +def test_one_to_one_eight_channel_groups_by_8(): + lh = FakeLiquidHandler(channel_num=8) + lh.current_tip = iter(make_tip_iter(256)) + + sources = [DummyContainer(f"S{i}") for i in range(16)] + targets = [DummyContainer(f"T{i}") for i in range(16)] + asp_vols = list(range(1, 17)) + dis_vols = list(range(101, 117)) + + run( + lh.transfer_liquid( + sources=sources, + targets=targets, + tip_racks=[], + use_channels=list(range(8)), + asp_vols=asp_vols, + dis_vols=dis_vols, + mix_times=0, # 触发逻辑但不 mix + ) + ) + + # 16 个任务 -> 2 组，每组 8 通道一起做 + assert [c[0] for c in lh.calls].count("pick_up_tips") == 2 + aspirates = [payload for name, payload in lh.calls if name == "aspirate"] + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert len(aspirates) == 2 + assert len(dispenses) == 2 + + assert aspirates[0]["resources"] == sources[0:8] + assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]] + assert dispenses[1]["resources"] == targets[8:16] + assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]] + + +def test_one_to_one_eight_channel_requires_multiple_of_8_targets(): + lh = FakeLiquidHandler(channel_num=8) + lh.current_tip = iter(make_tip_iter(64)) + + sources = [DummyContainer(f"S{i}") for i in range(9)] + targets = [DummyContainer(f"T{i}") for i in range(9)] + + with pytest.raises(ValueError, match="multiple of 8"): + run( + lh.transfer_liquid( + sources=sources, + targets=targets, + tip_racks=[], + use_channels=list(range(8)), + asp_vols=[1] * 9, + dis_vols=[1] * 9, + mix_times=0, + ) + ) + + +def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8(): + lh = FakeLiquidHandler(channel_num=8) + lh.current_tip = iter(make_tip_iter(512)) + + sources = [DummyContainer(f"S{i}") for i in range(16)] + targets = [DummyContainer(f"T{i}") for i in range(16)] + asp_vols = [i + 1 for i in range(16)] + dis_vols = [200 + i for i in range(16)] + asp_flow_rates = [0.1 * (i + 1) for i in range(16)] + dis_flow_rates = [0.2 * (i + 1) for i in range(16)] + offsets = [f"offset_{i}" for i in range(16)] + liquid_heights = [i * 0.5 for i in range(16)] + blow_out_air_volume = [i + 0.05 for i in range(16)] + + run( + lh.transfer_liquid( + sources=sources, + targets=targets, + tip_racks=[], + use_channels=list(range(8)), + asp_vols=asp_vols, + dis_vols=dis_vols, + asp_flow_rates=asp_flow_rates, + dis_flow_rates=dis_flow_rates, + offsets=offsets, + liquid_height=liquid_heights, + blow_out_air_volume=blow_out_air_volume, + mix_times=0, + ) + ) + + aspirates = [payload for name, payload in lh.calls if name == "aspirate"] + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert len(aspirates) == len(dispenses) == 2 + + for batch_idx in range(2): + start = batch_idx * 8 + end = start + 8 + asp_call = aspirates[batch_idx] + dis_call = dispenses[batch_idx] + assert asp_call["resources"] == sources[start:end] + assert asp_call["flow_rates"] == asp_flow_rates[start:end] + assert asp_call["offsets"] == offsets[start:end] + assert asp_call["liquid_height"] == liquid_heights[start:end] + assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end] + assert dis_call["flow_rates"] == dis_flow_rates[start:end] + assert dis_call["offsets"] == offsets[start:end] + assert dis_call["liquid_height"] == liquid_heights[start:end] + assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end] + + +def test_one_to_one_eight_channel_handles_32_tasks_four_batches(): + lh = FakeLiquidHandler(channel_num=8) + lh.current_tip = iter(make_tip_iter(1024)) + + sources = [DummyContainer(f"S{i}") for i in range(32)] + targets = [DummyContainer(f"T{i}") for i in range(32)] + asp_vols = [i + 1 for i in range(32)] + dis_vols = [300 + i for i in range(32)] + + run( + lh.transfer_liquid( + sources=sources, + targets=targets, + tip_racks=[], + use_channels=list(range(8)), + asp_vols=asp_vols, + dis_vols=dis_vols, + mix_times=0, + ) + ) + + pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"] + aspirates = [payload for name, payload in lh.calls if name == "aspirate"] + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert len(pick_calls) == 4 + assert len(aspirates) == len(dispenses) == 4 + assert aspirates[0]["resources"] == sources[0:8] + assert aspirates[-1]["resources"] == sources[24:32] + assert dispenses[0]["resources"] == targets[0:8] + assert dispenses[-1]["resources"] == targets[24:32] + + +def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small(): + lh = FakeLiquidHandler(channel_num=1) + lh.current_tip = iter(make_tip_iter(64)) + + source = DummyContainer("SRC") + targets = [DummyContainer(f"T{i}") for i in range(3)] + dis_vols = [10, 20, 30] # sum=60 + + run( + lh.transfer_liquid( + sources=[source], + targets=targets, + tip_racks=[], + use_channels=[0], + asp_vols=10, # 小于 sum(dis_vols) -> 应吸 60 + dis_vols=dis_vols, + mix_times=0, + ) + ) + + aspirates = [payload for name, payload in lh.calls if name == "aspirate"] + assert len(aspirates) == 1 + assert aspirates[0]["resources"] == [source] + assert aspirates[0]["vols"] == [60.0] + assert aspirates[0]["use_channels"] == [0] + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0] + + +def test_one_to_many_eight_channel_basic(): + lh = FakeLiquidHandler(channel_num=8) + lh.current_tip = iter(make_tip_iter(128)) + + source = DummyContainer("SRC") + targets = [DummyContainer(f"T{i}") for i in range(8)] + dis_vols = [i + 1 for i in range(8)] + + run( + lh.transfer_liquid( + sources=[source], + targets=targets, + tip_racks=[], + use_channels=list(range(8)), + asp_vols=999, # one-to-many 8ch 会按 dis_vols 吸（每通道各自） + dis_vols=dis_vols, + mix_times=0, + ) + ) + + aspirates = [payload for name, payload in lh.calls if name == "aspirate"] + assert aspirates[0]["resources"] == [source] * 8 + assert aspirates[0]["vols"] == [float(v) for v in dis_vols] + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert dispenses[0]["resources"] == targets + assert dispenses[0]["vols"] == [float(v) for v in dis_vols] + + +def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default(): + lh = FakeLiquidHandler(channel_num=1) + lh.current_tip = iter(make_tip_iter(128)) + + sources = [DummyContainer(f"S{i}") for i in range(3)] + target = DummyContainer("T") + asp_vols = [5, 6, 7] + + run( + lh.transfer_liquid( + sources=sources, + targets=[target], + tip_racks=[], + use_channels=[0], + asp_vols=asp_vols, + dis_vols=1, # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol + mix_times=0, + ) + ) + + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols] + assert all(d["resources"] == [target] for d in dispenses) + + +def test_many_to_one_single_channel_before_stage_mixes_target_once(): + lh = FakeLiquidHandler(channel_num=1) + lh.current_tip = iter(make_tip_iter(128)) + + sources = [DummyContainer("S0"), DummyContainer("S1")] + target = DummyContainer("T") + + run( + lh.transfer_liquid( + sources=sources, + targets=[target], + tip_racks=[], + use_channels=[0], + asp_vols=[5, 6], + dis_vols=1, + mix_stage="before", + mix_times=2, + mix_vol=4, + ) + ) + + names = [name for name, _ in lh.calls] + assert names[0] == "mix" + assert names.count("mix") == 1 + + +def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source(): + lh = FakeLiquidHandler(channel_num=1) + lh.current_tip = iter(make_tip_iter(128)) + + sources = [DummyContainer(f"S{i}") for i in range(3)] + target = DummyContainer("T") + asp_vols = [5, 6, 7] + dis_vols = [1, 2, 3] + + run( + lh.transfer_liquid( + sources=sources, + targets=[target], + tip_racks=[], + use_channels=[0], + asp_vols=asp_vols, + dis_vols=dis_vols, # 比例模式 + mix_times=0, + ) + ) + + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols] + + +def test_many_to_one_eight_channel_basic(): + lh = FakeLiquidHandler(channel_num=8) + lh.current_tip = iter(make_tip_iter(256)) + + sources = [DummyContainer(f"S{i}") for i in range(8)] + target = DummyContainer("T") + asp_vols = [10 + i for i in range(8)] + + run( + lh.transfer_liquid( + sources=sources, + targets=[target], + tip_racks=[], + use_channels=list(range(8)), + asp_vols=asp_vols, + dis_vols=999, # 非比例模式下每通道分液=对应 asp_vol + mix_times=0, + ) + ) + + aspirates = [payload for name, payload in lh.calls if name == "aspirate"] + dispenses = [payload for name, payload in lh.calls if name == "dispense"] + assert aspirates[0]["resources"] == sources + assert aspirates[0]["vols"] == [float(v) for v in asp_vols] + assert dispenses[0]["resources"] == [target] * 8 + assert dispenses[0]["vols"] == [float(v) for v in asp_vols] + + +def test_transfer_liquid_mode_detection_unsupported_shape_raises(): + lh = FakeLiquidHandler(channel_num=8) + lh.current_tip = iter(make_tip_iter(64)) + + sources = [DummyContainer("S0"), DummyContainer("S1")] + targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")] + + with pytest.raises(ValueError, match="Unsupported transfer mode"): + run( + lh.transfer_liquid( + sources=sources, + targets=targets, + tip_racks=[], + use_channels=[0], + asp_vols=[1, 1], + dis_vols=[1, 1, 1], + mix_times=0, + ) + ) + diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index e849ffb9..306902ff 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -969,11 +969,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): One or more TipRacks providing fresh tips. is_96_well Set *True* to use the 96‑channel head. + mix_stage + When to mix the target wells relative to dispensing. Default "none" means + no mixing occurs even if mix_times is provided. Use "before", "after", or + "both" to mix at the corresponding stage(s). + mix_times + Number of mix cycles. If *None* (default) no mixing occurs regardless of + mix_stage. """ # 确保 use_channels 有默认值 if use_channels is None: - use_channels = [0] if self.channel_num >= 1 else list(range(self.channel_num)) + # 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] if is_96_well: pass # This mode is not verified. @@ -1001,42 +1009,42 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): if mix_times is not None: mix_times = int(mix_times) - # 识别传输模式 - num_sources = len(sources) - num_targets = len(targets) - - 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) - 原有逻辑 - 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." - ) + # 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) + + 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." + ) async def _transfer_one_to_one( self, @@ -1076,6 +1084,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 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[_]], @@ -1136,6 +1154,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 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, @@ -1217,6 +1245,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 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], @@ -1281,6 +1320,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 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 @@ -1379,8 +1428,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): # 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: - # 注意：在吸液前混合源容器通常不常见，这里跳过 - pass + 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): @@ -1455,6 +1510,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): 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)): diff --git a/unilabos/devices/liquid_handling/test_transfer_liquid.py b/unilabos/devices/liquid_handling/test_transfer_liquid.py new file mode 100644 index 00000000..5d50f0a6 --- /dev/null +++ b/unilabos/devices/liquid_handling/test_transfer_liquid.py @@ -0,0 +1,13 @@ +""" +说明： +这里放一个“入口文件”，方便在 `unilabos/devices/liquid_handling` 目录下直接找到 +`transfer_liquid` 的测试。 + +实际测试用例实现放在仓库标准测试目录： +`test/devices/liquid_handling/test_transfer_liquid.py` +""" + +# 让 pytest 能从这里发现同一套测试（避免复制两份测试代码）。 +from test.devices.liquid_handling.test_transfer_liquid import * # noqa: F401,F403 + + From 75bb5ec553ea5052cb1b7661a75219b5cd74d147 Mon Sep 17 00:00:00 2001 From: Xianwei Qi Date: Fri, 26 Dec 2025 16:42:50 +0800 Subject: [PATCH 08/40] test_transfer_liquid_2 --- tests/__init__.py | 7 +++++++ tests/devices/__init__.py | 1 + tests/devices/liquid_handling/__init__.py | 5 +++++ .../devices/liquid_handling/test_transfer_liquid.py | 0 tests/ros/msgs/test_runner.py | 8 ++++---- unilabos/devices/liquid_handling/test_transfer_liquid.py | 4 ++-- 6 files changed, 19 insertions(+), 6 deletions(-) create mode 100644 tests/__init__.py create mode 100644 tests/devices/__init__.py create mode 100644 tests/devices/liquid_handling/__init__.py rename {test => tests}/devices/liquid_handling/test_transfer_liquid.py (100%) diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 00000000..5c26f48f --- /dev/null +++ b/tests/__init__.py @@ -0,0 +1,7 @@ +""" +测试包根目录。 + +让 `tests.*` 模块可以被正常 import（例如给 `unilabos` 下的测试入口使用）。 +""" + + diff --git a/tests/devices/__init__.py b/tests/devices/__init__.py new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/tests/devices/__init__.py @@ -0,0 +1 @@ + diff --git a/tests/devices/liquid_handling/__init__.py b/tests/devices/liquid_handling/__init__.py new file mode 100644 index 00000000..b16b30e2 --- /dev/null +++ b/tests/devices/liquid_handling/__init__.py @@ -0,0 +1,5 @@ +""" +液体处理设备相关测试。 +""" + + diff --git a/test/devices/liquid_handling/test_transfer_liquid.py b/tests/devices/liquid_handling/test_transfer_liquid.py similarity index 100% rename from test/devices/liquid_handling/test_transfer_liquid.py rename to tests/devices/liquid_handling/test_transfer_liquid.py diff --git a/tests/ros/msgs/test_runner.py b/tests/ros/msgs/test_runner.py index fe4cb096..02d352db 100644 --- a/tests/ros/msgs/test_runner.py +++ b/tests/ros/msgs/test_runner.py @@ -11,10 +11,10 @@ import os # 添加项目根目录到路径 sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))) -# 导入测试模块 -from test.ros.msgs.test_basic import TestBasicFunctionality -from test.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion -from test.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping +# 导入测试模块（统一从 tests 包获取） +from tests.ros.msgs.test_basic import TestBasicFunctionality +from tests.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion +from tests.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping def run_tests(): diff --git a/unilabos/devices/liquid_handling/test_transfer_liquid.py b/unilabos/devices/liquid_handling/test_transfer_liquid.py index 5d50f0a6..f13980f0 100644 --- a/unilabos/devices/liquid_handling/test_transfer_liquid.py +++ b/unilabos/devices/liquid_handling/test_transfer_liquid.py @@ -4,10 +4,10 @@ `transfer_liquid` 的测试。 实际测试用例实现放在仓库标准测试目录： -`test/devices/liquid_handling/test_transfer_liquid.py` +`tests/devices/liquid_handling/test_transfer_liquid.py` """ # 让 pytest 能从这里发现同一套测试（避免复制两份测试代码）。 -from test.devices.liquid_handling.test_transfer_liquid import * # noqa: F401,F403 +from tests.devices.liquid_handling.test_transfer_liquid import * # noqa: F401,F403 From a1c34f138e83a5103b32c0a7b78fd29981c89cef Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sun, 28 Dec 2025 23:22:50 +0800 Subject: [PATCH 09/40] Close #208. Fix mock devices. (cherry picked from commit 28f93737acea10d45e6a2dd0d6110d8777735ec5) --- unilabos/app/ws_client.py | 2 +- .../experiments/mock_devices/mock_all.json | 20 +++++++++---------- .../mock_devices/mock_chiller.json | 2 +- .../experiments/mock_devices/mock_filter.json | 2 +- .../experiments/mock_devices/mock_heater.json | 2 +- .../experiments/mock_devices/mock_pump.json | 2 +- .../mock_devices/mock_rotavap.json | 2 +- .../mock_devices/mock_separator.json | 2 +- .../mock_devices/mock_solenoid_valve.json | 2 +- .../mock_devices/mock_stirrer.json | 2 +- .../mock_devices/mock_stirrer_new.json | 2 +- .../experiments/mock_devices/mock_vacuum.json | 2 +- .../mock_protocol/centrifugeteststation.json | 2 +- .../mock_protocol/filterteststation.json | 2 +- .../mock_protocol/heatchillteststation.json | 2 +- .../mock_protocol/stirteststation.json | 2 +- 16 files changed, 25 insertions(+), 25 deletions(-) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 8c44712f..6da4f5f3 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -1240,7 +1240,7 @@ class WebSocketClient(BaseCommunicationClient): }, } self.message_processor.send_message(message) - logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}") + logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}") def publish_job_status( self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None diff --git a/unilabos/test/experiments/mock_devices/mock_all.json b/unilabos/test/experiments/mock_devices/mock_all.json index 10d224f5..7327b54a 100644 --- a/unilabos/test/experiments/mock_devices/mock_all.json +++ b/unilabos/test/experiments/mock_devices/mock_all.json @@ -8,7 +8,7 @@ ], "parent": null, "type": "device", - "class": "mock_chiller", + "class": "virtual_heatchill", "position": { "x": 620.6111111111111, "y": 171, @@ -49,7 +49,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_filter", + "class": "virtual_filter", "position": { "x": 620.6111111111111, "y": 171, @@ -80,7 +80,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_heater", + "class": "virtual_heatchill", "position": { "x": 620.6111111111111, "y": 171, @@ -108,7 +108,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_pump", + "class": "virtual_transfer_pump", "position": { "x": 620.6111111111111, "y": 171, @@ -147,7 +147,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_rotavap", + "class": "virtual_rotavap", "position": { "x": 620.6111111111111, "y": 171, @@ -175,7 +175,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_separator", + "class": "virtual_separator", "position": { "x": 620.6111111111111, "y": 171, @@ -213,7 +213,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_solenoid_valve", + "class": "virtual_solenoid_valve", "position": { "x": 620.6111111111111, "y": 171, @@ -233,7 +233,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_stirrer_new", + "class": "virtual_stirrer", "position": { "x": 620.6111111111111, "y": 171, @@ -261,7 +261,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_stirrer", + "class": "virtual_stirrer", "position": { "x": 620.6111111111111, "y": 171, @@ -289,7 +289,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_vacuum", + "class": "virtual_vacuum_pump", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_chiller.json b/unilabos/test/experiments/mock_devices/mock_chiller.json index fc0e2f4c..26e48d5c 100644 --- a/unilabos/test/experiments/mock_devices/mock_chiller.json +++ b/unilabos/test/experiments/mock_devices/mock_chiller.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_chiller", + "class": "virtual_heatchill", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_filter.json b/unilabos/test/experiments/mock_devices/mock_filter.json index d8d80299..d58e8c77 100644 --- a/unilabos/test/experiments/mock_devices/mock_filter.json +++ b/unilabos/test/experiments/mock_devices/mock_filter.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_filter", + "class": "virtual_filter", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_heater.json b/unilabos/test/experiments/mock_devices/mock_heater.json index 1aca9688..ebb82fd9 100644 --- a/unilabos/test/experiments/mock_devices/mock_heater.json +++ b/unilabos/test/experiments/mock_devices/mock_heater.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_heater", + "class": "virtual_heatchill", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_pump.json b/unilabos/test/experiments/mock_devices/mock_pump.json index d1c13945..6b546706 100644 --- a/unilabos/test/experiments/mock_devices/mock_pump.json +++ b/unilabos/test/experiments/mock_devices/mock_pump.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_pump", + "class": "virtual_transfer_pump", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_rotavap.json b/unilabos/test/experiments/mock_devices/mock_rotavap.json index b28cfe2a..04f0276f 100644 --- a/unilabos/test/experiments/mock_devices/mock_rotavap.json +++ b/unilabos/test/experiments/mock_devices/mock_rotavap.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_rotavap", + "class": "virtual_rotavap", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_separator.json b/unilabos/test/experiments/mock_devices/mock_separator.json index 20f26718..2fc7ce79 100644 --- a/unilabos/test/experiments/mock_devices/mock_separator.json +++ b/unilabos/test/experiments/mock_devices/mock_separator.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_separator", + "class": "virtual_separator", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_solenoid_valve.json b/unilabos/test/experiments/mock_devices/mock_solenoid_valve.json index e4e23cc1..50d60c74 100644 --- a/unilabos/test/experiments/mock_devices/mock_solenoid_valve.json +++ b/unilabos/test/experiments/mock_devices/mock_solenoid_valve.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_solenoid_valve", + "class": "virtual_solenoid_valve", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_stirrer.json b/unilabos/test/experiments/mock_devices/mock_stirrer.json index 9dfc59c7..be419de6 100644 --- a/unilabos/test/experiments/mock_devices/mock_stirrer.json +++ b/unilabos/test/experiments/mock_devices/mock_stirrer.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_stirrer", + "class": "virtual_stirrer", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_stirrer_new.json b/unilabos/test/experiments/mock_devices/mock_stirrer_new.json index 837b2fec..b0f58db3 100644 --- a/unilabos/test/experiments/mock_devices/mock_stirrer_new.json +++ b/unilabos/test/experiments/mock_devices/mock_stirrer_new.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_stirrer_new", + "class": "virtual_stirrer", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_devices/mock_vacuum.json b/unilabos/test/experiments/mock_devices/mock_vacuum.json index 31406aea..66d43773 100644 --- a/unilabos/test/experiments/mock_devices/mock_vacuum.json +++ b/unilabos/test/experiments/mock_devices/mock_vacuum.json @@ -6,7 +6,7 @@ "children": [], "parent": null, "type": "device", - "class": "mock_vacuum", + "class": "virtual_vacuum_pump", "position": { "x": 620.6111111111111, "y": 171, diff --git a/unilabos/test/experiments/mock_protocol/centrifugeteststation.json b/unilabos/test/experiments/mock_protocol/centrifugeteststation.json index e6918349..eefed3e3 100644 --- a/unilabos/test/experiments/mock_protocol/centrifugeteststation.json +++ b/unilabos/test/experiments/mock_protocol/centrifugeteststation.json @@ -32,7 +32,7 @@ "children": [], "parent": "CentrifugeTestStation", "type": "device", - "class": "virtual_pump", + "class": "virtual_transfer_pump", "position": { "x": 520.6111111111111, "y": 300, diff --git a/unilabos/test/experiments/mock_protocol/filterteststation.json b/unilabos/test/experiments/mock_protocol/filterteststation.json index a816def8..8069e80c 100644 --- a/unilabos/test/experiments/mock_protocol/filterteststation.json +++ b/unilabos/test/experiments/mock_protocol/filterteststation.json @@ -32,7 +32,7 @@ "children": [], "parent": "FilterTestStation", "type": "device", - "class": "virtual_pump", + "class": "virtual_transfer_pump", "position": { "x": 520.6111111111111, "y": 300, diff --git a/unilabos/test/experiments/mock_protocol/heatchillteststation.json b/unilabos/test/experiments/mock_protocol/heatchillteststation.json index 9d243b84..f103e13d 100644 --- a/unilabos/test/experiments/mock_protocol/heatchillteststation.json +++ b/unilabos/test/experiments/mock_protocol/heatchillteststation.json @@ -32,7 +32,7 @@ "children": [], "parent": "HeatChillTestStation", "type": "device", - "class": "virtual_pump", + "class": "virtual_transfer_pump", "position": { "x": 520.6111111111111, "y": 300, diff --git a/unilabos/test/experiments/mock_protocol/stirteststation.json b/unilabos/test/experiments/mock_protocol/stirteststation.json index 20694d1b..4563c9cf 100644 --- a/unilabos/test/experiments/mock_protocol/stirteststation.json +++ b/unilabos/test/experiments/mock_protocol/stirteststation.json @@ -32,7 +32,7 @@ "children": [], "parent": "StirTestStation", "type": "device", - "class": "virtual_pump", + "class": "virtual_transfer_pump", "position": { "x": 520.6111111111111, "y": 300, From 66c18c080ab035ceabdba7c92af519a9f558ac82 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 Jan 2026 02:03:43 +0800 Subject: [PATCH 10/40] Update create_resource to resource tree mode. --- unilabos/app/main.py | 2 +- unilabos/app/ws_client.py | 60 +++++- .../devices/liquid_handling/prcxi/prcxi.py | 11 +- unilabos/resources/graphio.py | 2 +- unilabos/ros/nodes/base_device_node.py | 192 +++++++++--------- unilabos/ros/nodes/presets/host_node.py | 9 +- unilabos/ros/nodes/presets/workstation.py | 2 +- unilabos/ros/nodes/resource_tracker.py | 10 +- 8 files changed, 179 insertions(+), 109 deletions(-) diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 2a2facd4..3af50cbb 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -418,7 +418,7 @@ def main(): # 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: print_status("开始同步远端物料到本地...", "info") - remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"]) + 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") diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 6da4f5f3..23f139d2 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -579,6 +579,8 @@ 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 == "request_reload": + await self._handle_request_reload(message_data) else: logger.debug(f"[MessageProcessor] Unknown message type: {message_type}") @@ -888,6 +890,20 @@ class MessageProcessor: ) thread.start() + async def _handle_request_reload(self, data: Dict[str, Any]): + """ + 处理重载请求 + + 当LabGo发送request_reload时，重新发送设备注册信息 + """ + reason = data.get("reason", "unknown") + logger.info(f"[MessageProcessor] Received reload request, reason: {reason}") + + # 重新发送host_node_ready信息 + if self.websocket_client: + self.websocket_client.publish_host_ready() + logger.info("[MessageProcessor] Re-sent host_node_ready after reload request") + async def _send_action_state_response( self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int ): @@ -1282,7 +1298,7 @@ class WebSocketClient(BaseCommunicationClient): self.message_processor.send_message(message) job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name) - logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}") + logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}") def send_ping(self, ping_id: str, timestamp: float) -> None: """发送ping消息""" @@ -1313,17 +1329,55 @@ class WebSocketClient(BaseCommunicationClient): logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}") def publish_host_ready(self) -> None: - """发布host_node ready信号""" + """发布host_node ready信号，包含设备和动作信息""" if self.is_disabled or not self.is_connected(): logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal") return + # 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}" + 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(): + # action_id 格式: /namespace/device_id/action_name + if device_id in action_id: + action_name = action_id.split("/")[-1] + actions[action_name] = { + "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, + }) + + logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready") + except Exception as e: + logger.warning(f"[WebSocketClient] Error collecting device info: {e}") + message = { "action": "host_node_ready", "data": { "status": "ready", "timestamp": time.time(), + "machine_name": machine_name, + "devices": devices, }, } self.message_processor.send_message(message) - logger.info("[WebSocketClient] Host node ready signal published") + logger.info(f"[WebSocketClient] Host node ready signal published with {len(devices)} devices") diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 02ef20d1..e0c7e80b 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -70,7 +70,16 @@ 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) - self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位 + self.slots = [None] * 16 # PRCXI 9300/9320 最大有 16 个槽位 + self.slot_locations = [Coordinate(0, 0, 0)] * 16 + + 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.slots[slot - 1] = resource + super().assign_child_resource(resource, location=self.slot_locations[slot - 1]) + class PRCXI9300Container(Plate): """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。 diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 4541cb02..8744b457 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -134,7 +134,7 @@ def canonicalize_nodes_data( parent_instance.children.append(current_instance) # 第五步：创建 ResourceTreeSet - resource_tree_set = ResourceTreeSet.from_nested_list(standardized_instances) + resource_tree_set = ResourceTreeSet.from_nested_instance_list(standardized_instances) return resource_tree_set diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 16aba6d1..e0b1b9aa 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -5,7 +5,8 @@ import json import threading import time import traceback -from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union +from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \ + Tuple from concurrent.futures import ThreadPoolExecutor import asyncio @@ -362,78 +363,82 @@ class BaseROS2DeviceNode(Node, Generic[T]): return res async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response): + from pylabrobot.resources.resource import Resource as ResourcePLR + from pylabrobot.resources.deck import Deck + from pylabrobot.resources import Coordinate + from pylabrobot.resources import Plate # 物料传输到对应的node节点 - rclient = self.create_client(ResourceAdd, "/resources/add") - rclient.wait_for_service() - rclient2 = self.create_client(ResourceAdd, "/resources/add") - rclient2.wait_for_service() - request = ResourceAdd.Request() - request2 = ResourceAdd.Request() + client = self._resource_clients["c2s_update_resource_tree"] + request = SerialCommand.Request() + request2 = SerialCommand.Request() command_json = json.loads(req.command) namespace = command_json["namespace"] bind_parent_id = command_json["bind_parent_id"] edge_device_id = command_json["edge_device_id"] location = command_json["bind_location"] other_calling_param = command_json["other_calling_param"] - resources = command_json["resource"] + input_resources = command_json["resource"] initialize_full = other_calling_param.pop("initialize_full", False) # 用来增加液体 ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", []) - LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", []) - LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", []) + LIQUID_VOLUME: List[float] = other_calling_param.pop("LIQUID_VOLUME", []) + LIQUID_INPUT_SLOT: List[int] = other_calling_param.pop("LIQUID_INPUT_SLOT", []) slot = other_calling_param.pop("slot", "-1") - resource = None - if slot != "-1": # slot为负数的时候采用assign方法 + if slot != -1: # slot为负数的时候采用assign方法 other_calling_param["slot"] = slot - # 本地拿到这个物料，可能需要先做初始化? - if isinstance(resources, list): - if ( - len(resources) == 1 and isinstance(resources[0], list) and not initialize_full - ): # 取消，不存在的情况 - # 预先initialize过，以整组的形式传入 - request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]] - elif initialize_full: - resources = initialize_resources(resources) - request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources] - else: - request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources] - else: - if initialize_full: - resources = initialize_resources([resources]) - request.resources = [convert_to_ros_msg(Resource, resources)] - if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1: - container_instance = request.resources[0] - container_query_dict: dict = resources + # 本地拿到这个物料，可能需要先做初始化 + if isinstance(input_resources, list) and initialize_full: + input_resources = initialize_resources(input_resources) + elif initialize_full: + input_resources = initialize_resources([input_resources]) + rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources) + parent_resource = None + if bind_parent_id != self.node_name: + parent_resource = self.resource_tracker.figure_resource( + {"name": bind_parent_id} + ) + for r in rts.root_nodes: + # noinspection PyUnresolvedReferences + r.res_content.parent_uuid = parent_resource.unilabos_uuid + + if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer): + # noinspection PyTypeChecker + container_instance: RegularContainer = rts.root_nodes[0] found_resources = self.resource_tracker.figure_resource( - {"id": container_query_dict["name"]}, try_mode=True + {"id": container_instance.name}, try_mode=True ) if not len(found_resources): self.resource_tracker.add_resource(container_instance) - logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器") + logger.info(f"添加物料{container_instance.name}到资源跟踪器") else: assert ( len(found_resources) == 1 - ), f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统" - resource = found_resources[0] - if isinstance(resource, Resource): - regular_container = RegularContainer(resource.id) - regular_container.ulr_resource = resource - regular_container.ulr_resource_data.update(json.loads(container_instance.data)) - logger.info(f"更新物料{container_query_dict['name']}的数据{resource.data} ULR") - elif isinstance(resource, dict): - if "data" not in resource: - resource["data"] = {} - resource["data"].update(json.loads(container_instance.data)) - request.resources[0].name = resource["name"] - logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict") + ), f"找到多个同名物料: {container_instance.name}, 请检查物料系统" + found_resource = found_resources[0] + if isinstance(found_resource, RegularContainer): + logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}") + found_resource.state.update(json.loads(container_instance.state)) + elif isinstance(found_resource, dict): + raise ValueError("已不支持 字典 版本的RegularContainer") else: logger.info( - f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}" + f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}" ) - response: ResourceAdd.Response = await rclient.call_async(request) - # 应该先add_resource了 + # noinspection PyUnresolvedReferences + request.command = json.dumps({ + "action": "add", + "data": { + "data": rts.dump(), + "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "", + "first_add": True, + }, + }) + tree_response: SerialCommand.Response = await client.call_async(request) + uuid_maps = json.loads(tree_response.response) + self.resource_tracker.loop_update_uuid(input_resources, uuid_maps) + self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes") final_response = { - "created_resources": [ROS2MessageInstance(i).get_python_dict() for i in request.resources], + "created_resources": rts.dump(), "liquid_input_resources": [], } res.response = json.dumps(final_response) @@ -458,59 +463,60 @@ class BaseROS2DeviceNode(Node, Generic[T]): ) res.response = get_result_info_str(traceback.format_exc(), False, {}) return res - # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中 - if bind_parent_id != self.node_name: - resource = self.resource_tracker.figure_resource( - {"name": bind_parent_id} - ) # 拿到父节点，进行具体assign等操作 - # request.resources = [convert_to_ros_msg(Resource, resources)] - try: - from pylabrobot.resources.resource import Resource as ResourcePLR - from pylabrobot.resources.deck import Deck - from pylabrobot.resources import Coordinate - from pylabrobot.resources import OTDeck - from pylabrobot.resources import Plate - - contain_model = not isinstance(resource, Deck) - if isinstance(resource, ResourcePLR): - # resources.list() - plr_instance = ResourceTreeSet.from_raw_list(resources).to_plr_resources()[0] - # resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources})) - # plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model) - + if len(rts.root_nodes) == 1 and parent_resource is not None: + plr_instance = rts.to_plr_resources()[0] if isinstance(plr_instance, Plate): - empty_liquid_info_in = [(None, 0)] * plr_instance.num_items + empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items + if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1: + ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT) + LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT) + self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个") for liquid_type, liquid_volume, liquid_input_slot in zip( ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT ): empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume) plr_instance.set_well_liquids(empty_liquid_info_in) - input_wells_ulr = [ - convert_to_ros_msg( - Resource, - resource_plr_to_ulab(plr_instance.get_well(LIQUID_INPUT_SLOT), with_children=False), - ) - for r in LIQUID_INPUT_SLOT - ] - final_response["liquid_input_resources"] = [ - ROS2MessageInstance(i).get_python_dict() for i in input_wells_ulr - ] + try: + # noinspection PyProtectedMember + keys = list(plr_instance._ordering.keys()) + for ind, r in enumerate(LIQUID_INPUT_SLOT[:]): + if isinstance(r, int): + # noinspection PyTypeChecker + LIQUID_INPUT_SLOT[ind] = keys[r] + input_wells = [plr_instance.get_well(r) for r in LIQUID_INPUT_SLOT] + except AttributeError: + # 按照id回去失败，回退到children + input_wells = [] + for r in LIQUID_INPUT_SLOT: + input_wells.append(plr_instance.children[r]) + final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump() res.response = json.dumps(final_response) - if isinstance(resource, OTDeck) and "slot" in other_calling_param: + if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param: other_calling_param["slot"] = int(other_calling_param["slot"]) - resource.assign_child_at_slot(plr_instance, **other_calling_param) + parent_resource.assign_child_at_slot(plr_instance, **other_calling_param) else: - _discard_slot = other_calling_param.pop("slot", "-1") - resource.assign_child_resource( + _discard_slot = other_calling_param.pop("slot", -1) + parent_resource.assign_child_resource( plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param, ) - request2.resources = [ - convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)]) - ] - rclient2.call(request2) + # 调整了液体以及Deck之后要重新Assign + # noinspection PyUnresolvedReferences + request.command = json.dumps({ + "action": "add", + "data": { + "data": ResourceTreeSet.from_plr_resources([parent_resource]).dump(), + "mount_uuid": parent_resource.parent.unilabos_uuid if parent_resource.parent is not None else self.uuid, + "first_add": False, + }, + }) + tree_response: SerialCommand.Response = await client.call_async(request) + uuid_maps = json.loads(tree_response.response) + self.resource_tracker.loop_update_uuid(input_resources, uuid_maps) + self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes") + # 这里created_resources不包含parent_resource # 发送给ResourceMeshManager action_client = ActionClient( self, @@ -521,7 +527,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): goal = SendCmd.Goal() goal.command = json.dumps( { - "resources": resources, + "resources": input_resources, "bind_parent_id": bind_parent_id, } ) @@ -614,7 +620,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): ) ) # type: ignore raw_nodes = json.loads(response.response) - tree_set = ResourceTreeSet.from_raw_list(raw_nodes) + tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes) self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树") return tree_set @@ -642,7 +648,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): raw_data = json.loads(response.response) # 转换为 PLR 资源 - tree_set = ResourceTreeSet.from_raw_list(raw_data) + tree_set = ResourceTreeSet.from_raw_dict_list(raw_data) plr_resource = tree_set.to_plr_resources()[0] self.lab_logger().debug(f"获取资源 {resource_id} 成功") return plr_resource @@ -1523,7 +1529,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): raw_data = json.loads(response.response) # 转换为 PLR 资源 - tree_set = ResourceTreeSet.from_raw_list(raw_data) + tree_set = ResourceTreeSet.from_raw_dict_list(raw_data) plr_resource = tree_set.to_plr_resources()[0] # 通过资源跟踪器获取本地实例 diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index ebc44924..971b6dd4 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -45,6 +45,7 @@ from unilabos.ros.nodes.resource_tracker import ( ) from unilabos.utils import logger from unilabos.utils.exception import DeviceClassInvalid +from unilabos.utils.log import warning from unilabos.utils.type_check import serialize_result_info from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot @@ -180,7 +181,7 @@ class HostNode(BaseROS2DeviceNode): 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-Resource] 根节点物料{tree}序列化失败！") + warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！") except Exception as ex: logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}") # 初始化Node基类，传递空参数覆盖列表 @@ -455,10 +456,10 @@ class HostNode(BaseROS2DeviceNode): async def create_resource( self, - device_id: str, + device_id: DeviceSlot, res_id: str, class_name: str, - parent: str, + parent: ResourceSlot, bind_locations: Point, liquid_input_slot: list[int] = [], liquid_type: list[str] = [], @@ -805,7 +806,7 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id[:8]}): {status}") if goal_status != GoalStatus.STATUS_CANCELED: - self.lab_logger().debug(f"[Host Node] Result data: {result_data}") + self.lab_logger().trace(f"[Host Node] Result data: {result_data}") # 清理 _goals 中的记录 if job_id in self._goals: diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py index 7325dda6..91cd0ef6 100644 --- a/unilabos/ros/nodes/presets/workstation.py +++ b/unilabos/ros/nodes/presets/workstation.py @@ -244,7 +244,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode): r ) # type: ignore raw_data = json.loads(response.response) - tree_set = ResourceTreeSet.from_raw_list(raw_data) + tree_set = ResourceTreeSet.from_raw_dict_list(raw_data) target = tree_set.dump() protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target except Exception as ex: diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index aaa80799..09e77493 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -523,7 +523,7 @@ class ResourceTreeSet(object): return plr_resources @classmethod - def from_raw_list(cls, raw_list: List[Dict[str, Any]]) -> "ResourceTreeSet": + def from_raw_dict_list(cls, raw_list: List[Dict[str, Any]]) -> "ResourceTreeSet": """ 从原始字典列表创建 ResourceTreeSet，自动建立 parent-children 关系 @@ -573,10 +573,10 @@ class ResourceTreeSet(object): parent_instance.children.append(instance) # 第四步：使用 from_nested_list 创建 ResourceTreeSet - return cls.from_nested_list(instances) + return cls.from_nested_instance_list(instances) @classmethod - def from_nested_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet": + def from_nested_instance_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet": """ 从扁平化的资源列表创建ResourceTreeSet，自动按根节点分组 @@ -785,7 +785,7 @@ class ResourceTreeSet(object): """ nested_lists = [] for tree_data in data: - nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees) + nested_lists.extend(ResourceTreeSet.from_raw_dict_list(tree_data).trees) return cls(nested_lists) @@ -965,7 +965,7 @@ class DeviceNodeResourceTracker(object): if current_uuid in self.uuid_to_resources: self.uuid_to_resources.pop(current_uuid) self.uuid_to_resources[new_uuid] = res - logger.debug(f"更新uuid: {current_uuid} -> {new_uuid}") + logger.trace(f"更新uuid: {current_uuid} -> {new_uuid}") replaced = 1 return replaced From 2e14bf197cf69d854a7d9742e6657e5110855121 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 Jan 2026 19:26:42 +0800 Subject: [PATCH 11/40] Fix and tested new create_resource. --- unilabos/ros/nodes/base_device_node.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index e0b1b9aa..30c2b88f 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -430,7 +430,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): "data": { "data": rts.dump(), "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "", - "first_add": True, + "first_add": False, }, }) tree_response: SerialCommand.Response = await client.call_async(request) @@ -504,11 +504,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): ) # 调整了液体以及Deck之后要重新Assign # noinspection PyUnresolvedReferences + rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource]) + if rts_with_parent.root_nodes[0].res_content.uuid_parent is None: + rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid request.command = json.dumps({ "action": "add", "data": { - "data": ResourceTreeSet.from_plr_resources([parent_resource]).dump(), - "mount_uuid": parent_resource.parent.unilabos_uuid if parent_resource.parent is not None else self.uuid, + "data": rts_with_parent.dump(), + "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent, "first_add": False, }, }) From f2b993643f82da172565cadc3919be69ec82f993 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 Jan 2026 19:40:29 +0800 Subject: [PATCH 12/40] Fix drag materials. --- unilabos/ros/nodes/base_device_node.py | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 30c2b88f..e810b0bb 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -796,7 +796,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): } def _handle_update( - plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] + plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] ) -> Dict[str, Any]: """ 处理资源更新操作的内部函数 @@ -810,6 +810,9 @@ class BaseROS2DeviceNode(Node, Generic[T]): 操作结果字典 """ for plr_resource, tree in zip(plr_resources, tree_set.trees): + if isinstance(plr_resource, ResourceDictInstance): + self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新") + continue states = plr_resource.serialize_all_state() original_instance: ResourcePLR = self.resource_tracker.figure_resource( {"uuid": tree.root_node.res_content.uuid}, try_mode=False @@ -889,7 +892,12 @@ class BaseROS2DeviceNode(Node, Generic[T]): elif action == "update": if tree_set is None: raise ValueError("tree_set不能为None") - plr_resources = tree_set.to_plr_resources() + plr_resources = [] + for tree in tree_set.trees: + if tree.root_node.res_content.type == "device": + plr_resources.append(tree.root_node) + else: + plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) result = _handle_update(plr_resources, tree_set, additional_add_params) results.append(result) elif action == "remove": From e227cddab334d3d2eec90113e231eb01aa30f48e Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 Jan 2026 20:37:22 +0800 Subject: [PATCH 13/40] Update LICENSE --- .conda/recipe.yaml | 5 +-- .cursorignore | 26 ++++++++++++ .gitignore | 1 + NOTICE | 17 ++++++++ README.md | 46 ++++++++++++++------ README_zh.md | 46 ++++++++++++++------ docs/user_guide/best_practice.md | 2 +- docs/user_guide/graph_files.md | 2 +- docs/user_guide/installation.md | 12 +++--- recipes/msgs/recipe.yaml | 2 +- scripts/create_readme.py | 4 +- unilabos/devices/LICENSE | 73 ++++++++++++++++++++++++++++++++ unilabos/devices/LICENSE_eng | 73 ++++++++++++++++++++++++++++++++ 13 files changed, 267 insertions(+), 42 deletions(-) create mode 100644 .cursorignore create mode 100644 NOTICE create mode 100644 unilabos/devices/LICENSE create mode 100644 unilabos/devices/LICENSE_eng diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml index f7dca724..979de17f 100644 --- a/.conda/recipe.yaml +++ b/.conda/recipe.yaml @@ -9,7 +9,7 @@ source: build: python: entry_points: - - unilab = unilabos.app.main:main + - unilab = unilabos.app.main:main script: - set PIP_NO_INDEX= - if: win @@ -25,7 +25,6 @@ build: - cp $RECIPE_DIR/../setup.py $SRC_DIR - $PYTHON -m pip install $SRC_DIR - requirements: host: - python ==3.11.11 @@ -87,6 +86,6 @@ requirements: - uni-lab::ros-humble-unilabos-msgs about: - repository: https://github.com/dptech-corp/Uni-Lab-OS + repository: https://github.com/deepmodeling/Uni-Lab-OS license: GPL-3.0-only description: "Uni-Lab-OS" diff --git a/.cursorignore b/.cursorignore new file mode 100644 index 00000000..7b0d4f90 --- /dev/null +++ b/.cursorignore @@ -0,0 +1,26 @@ +.conda +# .github +.idea +# .vscode +output +pylabrobot_repo +recipes +scripts +service +temp +# unilabos/test +# unilabos/app/web +unilabos/device_mesh +unilabos_data +unilabos_msgs +unilabos.egg-info +CONTRIBUTORS +# LICENSE +MANIFEST.in +pyrightconfig.json +# README.md +# README_zh.md +setup.py +setup.cfg +.gitattrubutes +**/__pycache__ diff --git a/.gitignore b/.gitignore index 71d8d0d5..610be614 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ +cursor_docs/ configs/ temp/ output/ diff --git a/NOTICE b/NOTICE new file mode 100644 index 00000000..7198cb92 --- /dev/null +++ b/NOTICE @@ -0,0 +1,17 @@ +# Uni-Lab-OS Licensing Notice + +This project uses a dual licensing structure: + +## 1. Main Framework - GPL-3.0 + +- unilabos/ (except unilabos/devices/) +- docs/ +- tests/ + +See [LICENSE](LICENSE) for details. + +## 2. Device Drivers - DP Technology Proprietary License + +- unilabos/devices/ + +See [unilabos/devices/LICENSE](unilabos/devices/LICENSE) for details. diff --git a/README.md b/README.md index 2e0288f3..7cf43d9a 100644 --- a/README.md +++ b/README.md @@ -8,17 +8,13 @@ **English** | [中文](README_zh.md) -[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers) -[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members) -[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues) -[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE) +[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/stargazers) +[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/network/members) +[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/issues) +[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE) Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows. -## 🏆 Competition - -Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS! - ## Key Features - Multi-device integration management @@ -31,7 +27,7 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d Detailed documentation can be found at: -- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/) +- [Online Documentation](https://deepmodeling.github.io/Uni-Lab-OS/) ## Quick Start @@ -48,7 +44,7 @@ mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge ```bash # Clone the repository -git clone https://github.com/dptech-corp/Uni-Lab-OS.git +git clone https://github.com/deepmodeling/Uni-Lab-OS.git cd Uni-Lab-OS # Install Uni-Lab-OS @@ -57,15 +53,37 @@ pip install . 3. Start Uni-Lab System: -Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html) +Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html) ## Message Format -Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page. +Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page. + +## Citation + +If you use Uni-Lab-OS in academic research, please cite: + +```bibtex +@article{gao2025unilabos, + title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories}, + doi = {10.48550/arXiv.2512.21766}, + publisher = {arXiv}, + author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and + Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and + Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and + Yan, Zhuang and Yan, Junchi and Zhang, Linfeng}, + year = {2025} +} +``` ## License -This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details. +This project uses a dual licensing structure: + +- **Main Framework**: GPL-3.0 - see [LICENSE](LICENSE) +- **Device Drivers** (`unilabos/devices/`): DP Technology Proprietary License + +See [NOTICE](NOTICE) for complete licensing details. ## Project Statistics @@ -77,4 +95,4 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for det ## Contact Us -- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) +- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues) diff --git a/README_zh.md b/README_zh.md index 76976ebf..e635e71a 100644 --- a/README_zh.md +++ b/README_zh.md @@ -8,17 +8,13 @@ [English](README.md) | **中文** -[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers) -[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members) -[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues) -[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE) +[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/stargazers) +[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/network/members) +[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/issues) +[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE) Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。 -## 🏆 比赛 - -欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！ - ## 核心特点 - 多设备集成管理 @@ -31,7 +27,7 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控 详细文档可在以下位置找到: -- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/) +- [在线文档](https://deepmodeling.github.io/Uni-Lab-OS/) ## 快速开始 @@ -50,7 +46,7 @@ mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge ```bash # 克隆仓库 -git clone https://github.com/dptech-corp/Uni-Lab-OS.git +git clone https://github.com/deepmodeling/Uni-Lab-OS.git cd Uni-Lab-OS # 安装 Uni-Lab-OS @@ -59,15 +55,37 @@ pip install . 3. 启动 Uni-Lab 系统: -请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html) +请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html) ## 消息格式 -Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。 +Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。 + +## 引用 + +如果您在学术研究中使用 Uni-Lab-OS，请引用： + +```bibtex +@article{gao2025unilabos, + title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories}, + doi = {10.48550/arXiv.2512.21766}, + publisher = {arXiv}, + author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and + Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and + Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and + Yan, Zhuang and Yan, Junchi and Zhang, Linfeng}, + year = {2025} +} +``` ## 许可证 -此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。 +本项目采用双许可证结构： + +- **主框架**：GPL-3.0 - 详见 [LICENSE](LICENSE) +- **设备驱动** (`unilabos/devices/`)：深势科技专有许可证 + +完整许可证说明请参阅 [NOTICE](NOTICE)。 ## 项目统计 @@ -79,4 +97,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 ## 联系我们 -- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) +- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues) diff --git a/docs/user_guide/best_practice.md b/docs/user_guide/best_practice.md index 5b960e8e..e1ffc249 100644 --- a/docs/user_guide/best_practice.md +++ b/docs/user_guide/best_practice.md @@ -1807,7 +1807,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \ #### 14.5 社区支持 -- **GitHub Issues**：[https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) +- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues) - **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com) --- diff --git a/docs/user_guide/graph_files.md b/docs/user_guide/graph_files.md index a8f86aaf..44c3faf0 100644 --- a/docs/user_guide/graph_files.md +++ b/docs/user_guide/graph_files.md @@ -857,4 +857,4 @@ class ResourceDictPosition(BaseModel): - 在 Web 界面中使用模板创建 - 参考示例文件：`test/experiments/` 目录 - 查看 ResourceDict 源码了解完整定义 -- [GitHub 讨论区](https://github.com/dptech-corp/Uni-Lab-OS/discussions) +- [GitHub 讨论区](https://github.com/deepmodeling/Uni-Lab-OS/discussions) diff --git a/docs/user_guide/installation.md b/docs/user_guide/installation.md index d3fd4982..3f94f2ff 100644 --- a/docs/user_guide/installation.md +++ b/docs/user_guide/installation.md @@ -37,7 +37,7 @@ #### 第一步：下载预打包环境 -1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml) +1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/deepmodeling/Uni-Lab-OS/actions/workflows/conda-pack-build.yml) 2. 选择最新的成功构建记录（绿色勾号 ✓） @@ -189,13 +189,13 @@ conda activate unilab ### 第一步：克隆仓库 ```bash -git clone https://github.com/dptech-corp/Uni-Lab-OS.git +git clone https://github.com/deepmodeling/Uni-Lab-OS.git cd Uni-Lab-OS ``` 如果您需要贡献代码，建议先 Fork 仓库： -1. 访问 https://github.com/dptech-corp/Uni-Lab-OS +1. 访问 https://github.com/deepmodeling/Uni-Lab-OS 2. 点击右上角的 "Fork" 按钮 3. Clone 您的 Fork 版本： ```bash @@ -240,7 +240,7 @@ pip uninstall unilabos -y # 克隆 dev 分支（如果还未克隆） cd /path/to/your/workspace -git clone -b dev https://github.com/dptech-corp/Uni-Lab-OS.git +git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git # 或者如果已经克隆，切换到 dev 分支 cd Uni-Lab-OS git checkout dev @@ -503,9 +503,9 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f ## 需要帮助？ - **故障排查**: 查看更详细的故障排查信息 -- **GitHub Issues**: [报告问题](https://github.com/dptech-corp/Uni-Lab-OS/issues) +- **GitHub Issues**: [报告问题](https://github.com/deepmodeling/Uni-Lab-OS/issues) - **开发者文档**: 查看开发者指南获取更多技术细节 -- **社区讨论**: [GitHub Discussions](https://github.com/dptech-corp/Uni-Lab-OS/discussions) +- **社区讨论**: [GitHub Discussions](https://github.com/deepmodeling/Uni-Lab-OS/discussions) --- diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index 399be6ca..484ed7c6 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -17,7 +17,7 @@ build: - bash $SRC_DIR/build_ament_cmake.sh about: - repository: https://github.com/dptech-corp/Uni-Lab-OS + repository: https://github.com/deepmodeling/Uni-Lab-OS license: BSD-3-Clause description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS." diff --git a/scripts/create_readme.py b/scripts/create_readme.py index 708f0004..c4f39330 100644 --- a/scripts/create_readme.py +++ b/scripts/create_readme.py @@ -126,7 +126,7 @@ If installation fails: For more help: - Documentation: docs/user_guide/installation.md - Quick Start: QUICK_START_CONDA_PACK.md - - Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues + - Issues: https://github.com/deepmodeling/Uni-Lab-OS/issues License: -------- @@ -134,7 +134,7 @@ License: UniLabOS is licensed under GPL-3.0-only. See LICENSE file for details. -Repository: https://github.com/dptech-corp/Uni-Lab-OS +Repository: https://github.com/deepmodeling/Uni-Lab-OS """ return readme diff --git a/unilabos/devices/LICENSE b/unilabos/devices/LICENSE new file mode 100644 index 00000000..f72c497f --- /dev/null +++ b/unilabos/devices/LICENSE @@ -0,0 +1,73 @@ +Uni-Lab-OS软件许可使用准则 + + +本软件使用准则（以下简称"本准则"）旨在规范用户在使用Uni-Lab-OS软件（以下简称"本软件"）过程中的行为和义务。在下载、安装、使用或以任何方式访问本软件之前，请务必仔细阅读并理解以下条款和条件。若您不同意本准则的全部或部分内容，请您立即停止使用本软件。一旦您开始访问、下载、安装、使用本软件，即表示您已阅读、理解并同意接受本准则的约束。 + +1、使用许可 +1.1 本软件的所有权及版权归北京深势科技有限公司（以下简称"深势科技"）所有。在遵守本准则的前提下，深势科技特此授予学术用户（以下简称"您"）一个全球范围内的、非排他性的、免版权费用的使用许可，可为了满足学术目的而使用本软件。 + +1.2 本准则下授予的许可仅适用于本软件的二进制代码版本。您不对本软件源代码拥有任何权利。 + +2、使用限制 +2.1 本准则仅授予学术用户出于学术目的使用本软件，任何商业组织、商业机构或其他非学术用户不得使用本软件，如果违反本条款，深势科技将保留一切追诉的权利。 +2.2 您将本软件用于任何商业行为，应取得深势科技的商业许可。 +2.3 您不得将本软件或任何形式的衍生作品用于任何商业目的，也不得将其出售、出租、转让、分发或以其他方式提供给任何第三方。您必须确保本软件的使用仅限于您个人学术研究，禁止您为任何其他实体的利益使用本软件（无论是否收费）。 +2.4 您不得以任何方式修改、破解、反编译、反汇编、反向工程、隔离、分离或以其他方式从任何程序或文档中提取源代码或试图发现本软件的源代码。您不得以任何方式去除、修改或屏蔽本软件中的任何版权、商标或其他专有权利声明。您不得使用本软件进行任何非法活动，包括但不限于侵犯他人的知识产权、隐私权等。 +2.5 您同意将本软件仅用于合法的学术目的，且遵守您所在国家或地区的法律法规，您将承担因违反法律法规而产生的一切法律责任。 + +3、软件所有权 +本软件在此仅作使用许可，并非出售。本软件及与软件有关的全部文档的所有权及其他所有权利（包括但不限于知识产权和商业秘密），始终是深势科技的专有财产，您不拥有任何权利，但本准则下被明确授予的有限的使用许可权利除外。 + +4、衍生作品传播规范 +若您传播基于Uni-Lab-OS程序修改形成的作品，须同时满足以下全部条件： +4.1 作品必须包含显著声明，明确标注修改内容及修改日期； +4.2 作品必须声明本作品依据本许可协议发布； +4.3 必须将整个作品（包括修改部分）作为整体授予获取副本者本许可协议的保障，且该许可将自动延伸适用于作品全组件（无论其以何种形式打包）； +4.4 若衍生作品含交互式用户界面：每个界面均须显示合规法律声明，若原始Uni-Lab-OS程序的交互界面未展示法律声明，您的衍生作品可免除此义务。 + +5、提出建议 +您可以对本软件提出建议，前提是： +（i）您声明并保证，该建议未侵害任何第三方的任何知识产权； +（ii）您承认，深势科技有权使用该建议，但无使用该建议的义务； +（iii）您授予深势科技一项非独占的、不可撤销的、可分许可的、无版权费的、全球范围的著作权许可，以复制、分发、传播、公开展示、公开表演、修改、翻译、基于其制作衍生作品、生产、制作、推销、销售、提供销售和/或以其他方式整体或部分地使用该建议和基于其的衍生作品，包括但不限于，通过将该建议整体或部分地纳入深势科技的软件和/或其他软件，以及在现存的或将来任何时候存在的任何媒介中或通过该媒介体现，以及为从事上述活动而授予多个分许可； +（iv）您特此授予深势科技一项永久的、全球范围的、非独占性的、免费的、免特许权使用费的、不可撤销的专利许可，许可其制造、委托制造、使用、要约销售、销售、进口及以其他方式转让该建议和基于其的衍生专利。上述专利许可的适用范围仅限于以下专利权利要求：您有权许可的、且仅因您的建议本身，或因您的建议与所提交的本软件结合而必然构成侵权的专利权利要求。若任何实体针对您或其他实体提起专利诉讼（包括诉讼中的交叉诉讼或反诉），主张该建议或您所贡献的软件构成直接或间接专利侵权，则依据本协议授予的、针对该建议或软件的任何专利许可，自该诉讼提起之日起终止。 +（v）您放弃对该建议的任何权利或主张，深势科技无需承担任何义务、版税或基于知识产权或其他方面的限制。 + +6、引用要求 +如您使用本软件获得的成果发表在出版物上，您应在成果中承认对Uni-Lab-OS软件的使用并标注权利人名称。引用 Uni-Lab-OS时请使用以下内容： +@article{gao2025unilabos, + title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories}, + doi = {10.48550/arXiv.2512.21766}, + publisher = {arXiv}, + author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and Yan, Zhuang and Yan, Junchi and Zhang, Linfeng}, + year = {2025} +} + +7、保留权利 +您认可，所有未被明确授予您的本软件的权利，无论是当前或今后存在的，均由深势科技予以保留，任何未经深势科技明确授权而使用本软件的行为将被视为侵权，深势科技有权追究侵权者的一切法律责任。 + +8、保密信息 +您同意将本软件代码及相关文档视为深势科技的机密信息，您不会向任何第三方提供相关代码，并将采取合理审慎的使用态度来防止本软件代码及相关文档被泄露。 + +9、无保证 +该软件是"按原样"提供的，没有任何明示或暗示的保证，不包含任何代码或规范没有缺陷、适销性、适用于特定目的或不侵犯第三方权利的保证。您同意您自主承担使用本软件或与本准则有关的全部风险。 + +10、免责条款 +在任何情况下，无论基于侵权（包括过失）、合同或其他法律理论，除非适用法律强制规定（如故意或重大过失行为）或另有书面协议，深势科技不对被许可人因软件许可、使用或无法使用软件所致损害承担责任（包括任何性质的直接、间接、特殊、偶发或后果性损害，例如但不限于商誉损失、停工损失、计算机故障或失灵造成的损害，以及其他一切商业损害或损失），即使深势科技已被告知发生此类损害的可能性亦不例外。 +被许可人在再分发软件或其衍生作品时，仅能以自身名义独立承担责任进行操作，不得代表深势科技或其他被许可人。 + +11、终止 +如果您以任何方式违反本准则或未能遵守本准则的任何重要条款或条件，则您被授予的所有权利将自动终止。 + +12、举报 +如果您认为有人违反了本准则，请向深势科技进行举报，深势科技将对您的身份进行严格保密，举报邮箱changjh@dp.tech。 + +13、法律管辖 +本准则中的任何内容均不得解释为通过暗示、禁止反悔或其他方式授予本准则中授予的许可或权利以外的任何许可或权利。如果本准则的任何条款被认定为不可执行，则仅在必要的范围内对该条款进行修改，使其可执行。本准则应受中华人民共和国法律管辖，不适用法律冲突条款及《联合国国际货物销售合同公约》，因本准则产生的一切争议由北京市海淀区人民法院管辖。 + +14、未来版本 +深势科技保留不经事先通知随时变更或停止本软件或本准则的权利。 + +15、语言优先 +本准则同时具有中文版本和英文版本，如果英文版本和中文版本有冲突，以中文版本为准。 + diff --git a/unilabos/devices/LICENSE_eng b/unilabos/devices/LICENSE_eng new file mode 100644 index 00000000..33699a33 --- /dev/null +++ b/unilabos/devices/LICENSE_eng @@ -0,0 +1,73 @@ +Uni-Lab-OS License Agreement + +Preamble +This License Agreement (the "Agreement") is instituted to govern user conduct and obligations in relation to the utilization of the Uni-Lab-OS (the "Software"). By accessing, downloading, installing, or utilizing the Software in any manner, you hereby acknowledge that you have meticulously reviewed, comprehended, and consented to be legally bound by the terms herein. If you dissent from any provision of this Agreement, you must forthwith cease all interaction with the Software. + +1. Grant of License +1.1 The proprietary rights to the Software are exclusively retained by Beijing DP Technology Co., Ltd. ("DP Technology"). Subject to full compliance with this Agreement, DP Technology hereby grants academic users ("Licensee") a worldwide, non-exclusive, royalty-free license to untilise the Software solely for non-commercial academic pursuits. + +1.2 The foregoing license applies exclusively to the Software's executable binary code. No rights whatsoever are conferred to the Software's source code. + +2. Usage Restrictions +2.1 This license is restricted to academic users engaging in scholastic activities. Commercial entities, institutions, or any non-academic parties are expressly prohibited from utilizing the Software. Violations of this clause shall entitle DP Technology to pursue all available legal remedies. +2.2 The Licensee shall obtain a commercial license from DP Technology for any commercial use of the Software. +2.3 The Licensee shall not utilise the Software or any derivative works for commercial purposes, nor distribute, sublicense, lease, transfer, or otherwise disseminate the Software to third parties. The Licensee is strictly prohibited from utilizing the Software for the benefit of any third-party entity, whether gratuitously or otherwise. +2.4 Reverse engineering, decompilation, disassembly, code isolation, or any attempt to derive source code from the Software is strictly prohibited. The Licensee shall not alter, circumvent, or remove copyright notices, trademarks, or proprietary legends embedded in the Software. Use of the Software for unlawful activities—including but not limited to intellectual property infringement or privacy violations—is categorically barred. +2.5 The Licensee warrants that the Software shall be utilised solely for lawful academic purposes in compliance with applicable jurisdictional statutes. All legal liabilities arising from noncompliance shall be borne exclusively by the Licensee. + +3. Proprietary Rights +This Agreement confers a license to utilise the Software, not a transfer of ownership. All intellectual property rights—including copyrights, patents, trade secrets, and documentation—remain the exclusive dominion of DP Technology. The Licensee acquires no entitlements beyond the limited usage privileges expressly delineated herein. + +4. Derivative Work +You may convey a work based on the Software, or the modifications to produce it from the Software, provided that you meet all of these conditions: +4.1 The work must carry prominent notices stating that you modified it, and giving a relevant date. +4.2 The work must carry prominent notices stating that it is released under this License. +4.3 You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it. +4.4 If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Software has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so. + +5. Feedback and Proposals +Licensees may submit proposals, suggestions, or improvements pertaining to the Software ("Feedback") under the following conditions: +(a) Licensee represents and warrants that such Feedback does not infringe upon any third-party intellectual property rights; +(b) Licensee acknowledges that DP Technology reserves the right, but assumes no obligation, to utilize such Feedback; +(c) Licensee irrevocably grants DP Technology a non-exclusive, royalty-free, perpetual, worldwide, sublicensable copyright license to reproduce, distribute, modify, publicly perform or display, translate, create derivative works of, commercialize, and otherwise exploit the Feedback in any medium or format, whether now known or hereafter devised, including the right to grant multiple tiers of sublicenses to enable such activities; +(d) Licensee hereby grants DP Technology a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Feedback and such Derivative Works, where such license applies only to those patent claimss licensable by Licensee that are necessarily infringed by the Feedback(s) alone or by comibination of the Feedback(s) with the Software to which such Feedback(s) were submitted. If any entity institutes patent litigation against Licensee or any other entity (including a cross-claim orcounterclaim in a lawsuit) alleging that the Feedback, or the Software to which you have contributed, constitutes direct or contributory patent infringement, then any patent licenses granted under this Agreement for the Feedback or Software shall terminate as of the date such litigation is filed. +(e) Licensee hereby waives all claims, proprietary rights, or restrictions related to DP Technology's use of such Feedback. + +6. Citation Requirement +If academic or research output generated using the Software is published, Licensee must explicitly acknowledge the use of Uni-Lab-OS and attribute ownership to DP Technology. The following citation must be included: +@article{gao2025unilabos, + title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories}, + doi = {10.48550/arXiv.2512.21766}, + publisher = {arXiv}, + author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and Yan, Zhuang and Yan, Junchi and Zhang, Linfeng}, + year = {2025} +} + +7. Reservation of Rights +All rights not expressly granted herein, whether existing now or arising in the future, are exclusively reserved by DP Technology. Any unauthorized use of the Software beyond the scope of this Agreement constitutes infringement, and DP Technology reserves all legal rights to pursue remedies against violators. + +8. Confidentiality +Licensee agrees to treat the Software's code, documentation, and related materials as confidential information. Licensee shall not disclose such materials to third parties and shall employ reasonable safeguards to prevent unauthorized access, dissemination, or misuse. + +9. Disclaimer of Warranties +The software is provided "as is," without warranties of any kind, express or implied, including but not limited to warranties of merchantability, fitness for a particular purpose, non-infringement, or error-free operation. Licensee accepts all risks associated with the use of the software. + +10. Limitation of Liability +In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall DP Technology be liable to Licensee for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the software (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if DP Technology has been advised of the possibility of such damages. +While redistributing the Software or Derivative Works thereof, Licensee may act only on Licensee's own behalf and on Licensee's sole responsibility, not on behalf of DP Technology or any other Licensee. + +11. Termination +All rights granted herein shall terminate immediately and automatically if Licensee materially breaches any provision of this Agreement. + +12. Reporting Violations +To report suspected violations of this Agreement, notify DP Technology via the designated email address: changjh@dp.tech. DP Technology shall maintain the confidentiality of the reporter's identity. + +13. Governing Law and Dispute Resolution +This Agreement shall be governed by the laws of the People's Republic of China, excluding its conflict of laws principles and the United Nations Convention on Contracts for the International Sale of Goods. Any dispute arising from this Agreement shall be exclusively adjudicated by the Haidian District People's Court in Beijing. + +14. Amendments and Updates +DP Technology reserves the right to modify, suspend, or terminate the Software or this Agreement at any time without prior notice. + +15. Language Priority +This Agreement is provided in both Chinese and English. In the event of any discrepancy, the Chinese version shall prevail. + From 78bf57f590e93c8876fe025e1851744fe88c4fac Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 Jan 2026 20:41:23 +0800 Subject: [PATCH 14/40] Bump version to 0.10.4 --- .conda/recipe.yaml | 2 +- recipes/msgs/recipe.yaml | 2 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/__init__.py | 2 +- unilabos/test/experiments/prcxi_9320_with_res_test.json | 4 ++-- unilabos_msgs/package.xml | 2 +- 7 files changed, 8 insertions(+), 8 deletions(-) diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml index 979de17f..8dccb800 100644 --- a/.conda/recipe.yaml +++ b/.conda/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: 0.10.13 + version: 0.10.14 source: path: ../unilabos diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index 484ed7c6..88b68277 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.13 + version: 0.10.14 source: path: ../../unilabos_msgs target_directory: src diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 34bd39c7..45a0098a 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.13" + version: "0.10.14" source: path: ../.. diff --git a/setup.py b/setup.py index cb687c20..290a9a21 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.13', + version='0.10.14', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/__init__.py b/unilabos/__init__.py index f63b48ab..a9f358e1 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.13" +__version__ = "0.10.14" diff --git a/unilabos/test/experiments/prcxi_9320_with_res_test.json b/unilabos/test/experiments/prcxi_9320_with_res_test.json index d29918cd..5462dcf3 100644 --- a/unilabos/test/experiments/prcxi_9320_with_res_test.json +++ b/unilabos/test/experiments/prcxi_9320_with_res_test.json @@ -21,12 +21,12 @@ }, "host": "10.20.30.184", "port": 9999, - "debug": false, + "debug": true, "setup": true, "is_9320": true, "timeout": 10, "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", - "simulator": false, + "simulator": true, "channel_num": 2 }, "data": { diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index 325fc131..02beacfd 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.13 + 0.10.14 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln From 3d2d428a96144d7b4f3bb6a3dba8fe076a9ad6c0 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 Jan 2026 20:54:20 +0800 Subject: [PATCH 15/40] Update README.md Modify resource_tracker file module path. (cherry picked from commit 8066c200b9d16a2abaadc0d773ac87a366f52a2d) --- README.md | 14 ++++++++++---- README_zh.md | 8 ++++++-- docs/user_guide/graph_files.md | 8 ++++---- tests/resources/test_resourcetreeset.py | 3 +-- unilabos/app/backend.py | 2 +- unilabos/app/main.py | 2 +- unilabos/app/web/client.py | 4 +--- .../device_comms/coin_cell_assembly_workstation.py | 4 ++-- unilabos/devices/liquid_handling/biomek.py | 2 +- unilabos/resources/graphio.py | 2 +- .../{ros/nodes => resources}/resource_tracker.py | 0 unilabos/ros/device_node_wrapper.py | 2 +- unilabos/ros/initialize_device.py | 3 +-- unilabos/ros/main_slave_run.py | 2 +- unilabos/ros/nodes/base_device_node.py | 9 +-------- unilabos/ros/nodes/presets/host_node.py | 4 +--- unilabos/ros/nodes/presets/workstation.py | 5 ++--- unilabos/ros/utils/driver_creator.py | 7 +++---- 18 files changed, 38 insertions(+), 43 deletions(-) rename unilabos/{ros/nodes => resources}/resource_tracker.py (100%) diff --git a/README.md b/README.md index 7cf43d9a..f10cc0f0 100644 --- a/README.md +++ b/README.md @@ -31,7 +31,9 @@ Detailed documentation can be found at: ## Quick Start -Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system: +1. Setup Conda Environment + +Uni-Lab-OS recommends using `mamba` for environment management: ```bash # Create new environment @@ -40,7 +42,7 @@ mamba activate unilab mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge ``` -## Install Dev Uni-Lab-OS +2. Install Dev Uni-Lab-OS ```bash # Clone the repository @@ -51,17 +53,21 @@ cd Uni-Lab-OS pip install . ``` -3. Start Uni-Lab System: +3. Start Uni-Lab System Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html) +4. Best Practice + +See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html) + ## Message Format Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page. ## Citation -If you use Uni-Lab-OS in academic research, please cite: +If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite: ```bibtex @article{gao2025unilabos, diff --git a/README_zh.md b/README_zh.md index e635e71a..c4dba7d1 100644 --- a/README_zh.md +++ b/README_zh.md @@ -53,17 +53,21 @@ cd Uni-Lab-OS pip install . ``` -3. 启动 Uni-Lab 系统: +3. 启动 Uni-Lab 系统 请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html) +4. 最佳实践 + +请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html) + ## 消息格式 Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。 ## 引用 -如果您在学术研究中使用 Uni-Lab-OS，请引用： +如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用： ```bibtex @article{gao2025unilabos, diff --git a/docs/user_guide/graph_files.md b/docs/user_guide/graph_files.md index 44c3faf0..d6902829 100644 --- a/docs/user_guide/graph_files.md +++ b/docs/user_guide/graph_files.md @@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法 ### 使用示例 ```python -from unilabos.ros.nodes.resource_tracker import ResourceDictInstance +from unilabos.resources.resource_tracker import ResourceDictInstance # 旧格式节点 old_format_node = { @@ -477,10 +477,10 @@ old_format_node = { instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node) # 访问标准化后的数据 -print(instance.res_content.id) # "pump_1" -print(instance.res_content.uuid) # 自动生成的 UUID +print(instance.res_content.id) # "pump_1" +print(instance.res_content.uuid) # 自动生成的 UUID print(instance.res_content.config) # {} -print(instance.res_content.data) # {} +print(instance.res_content.data) # {} ``` ### 格式迁移建议 diff --git a/tests/resources/test_resourcetreeset.py b/tests/resources/test_resourcetreeset.py index 1ba9ab20..cd1ff91a 100644 --- a/tests/resources/test_resourcetreeset.py +++ b/tests/resources/test_resourcetreeset.py @@ -2,9 +2,8 @@ import pytest import json import os -from pylabrobot.resources import Resource as ResourcePLR from unilabos.resources.graphio import resource_bioyond_to_plr -from unilabos.ros.nodes.resource_tracker import ResourceTreeSet +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.registry.registry import lab_registry from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck diff --git a/unilabos/app/backend.py b/unilabos/app/backend.py index b2bc0af2..4af03cb0 100644 --- a/unilabos/app/backend.py +++ b/unilabos/app/backend.py @@ -1,6 +1,6 @@ import threading -from unilabos.ros.nodes.resource_tracker import ResourceTreeSet +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.utils import logger diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 3af50cbb..6738b2f8 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -315,7 +315,7 @@ def main(): 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.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict + from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict # 显示启动横幅 print_unilab_banner(args_dict) diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index 8968f033..64a9418b 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -6,12 +6,10 @@ HTTP客户端模块 import json import os -import time -from threading import Thread from typing import List, Dict, Any, Optional import requests -from unilabos.ros.nodes.resource_tracker import ResourceTreeSet +from unilabos.resources.resource_tracker import ResourceTreeSet from unilabos.utils.log import info from unilabos.config.config import HTTPConfig, BasicConfig from unilabos.utils import logger diff --git a/unilabos/device_comms/coin_cell_assembly_workstation.py b/unilabos/device_comms/coin_cell_assembly_workstation.py index 62d9b09c..187f4117 100644 --- a/unilabos/device_comms/coin_cell_assembly_workstation.py +++ b/unilabos/device_comms/coin_cell_assembly_workstation.py @@ -6,7 +6,7 @@ Coin Cell Assembly Workstation """ from typing import Dict, Any, List, Optional, Union -from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker +from unilabos.resources.resource_tracker import DeviceNodeResourceTracker from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo from unilabos.device_comms.workstation_communication import ( WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication @@ -61,7 +61,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # 创建资源跟踪器（如果没有提供） if resource_tracker is None: - from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker + from unilabos.resources.resource_tracker import DeviceNodeResourceTracker resource_tracker = DeviceNodeResourceTracker() # 初始化基类 diff --git a/unilabos/devices/liquid_handling/biomek.py b/unilabos/devices/liquid_handling/biomek.py index 3fe3049d..7fbafd7e 100644 --- a/unilabos/devices/liquid_handling/biomek.py +++ b/unilabos/devices/liquid_handling/biomek.py @@ -13,7 +13,7 @@ from pylabrobot.resources import ( import copy from unilabos_msgs.msg import Resource -from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore +from unilabos.resources.resource_tracker import DeviceNodeResourceTracker # type: ignore class LiquidHandlerBiomek: diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 8744b457..faf0482a 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -13,7 +13,7 @@ from unilabos.config.config import BasicConfig from unilabos.resources.container import RegularContainer from unilabos.resources.itemized_carrier import ItemizedCarrier, BottleCarrier from unilabos.ros.msgs.message_converter import convert_to_ros_msg -from unilabos.ros.nodes.resource_tracker import ( +from unilabos.resources.resource_tracker import ( ResourceDictInstance, ResourceTreeSet, ) diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/resources/resource_tracker.py similarity index 100% rename from unilabos/ros/nodes/resource_tracker.py rename to unilabos/resources/resource_tracker.py diff --git a/unilabos/ros/device_node_wrapper.py b/unilabos/ros/device_node_wrapper.py index f5e80c58..db9caa41 100644 --- a/unilabos/ros/device_node_wrapper.py +++ b/unilabos/ros/device_node_wrapper.py @@ -5,7 +5,7 @@ from unilabos.ros.msgs.message_converter import ( get_action_type, ) from unilabos.ros.nodes.base_device_node import init_wrapper, ROS2DeviceNode -from unilabos.ros.nodes.resource_tracker import ResourceDictInstance +from unilabos.resources.resource_tracker import ResourceDictInstance # 定义泛型类型变量 T = TypeVar("T") diff --git a/unilabos/ros/initialize_device.py b/unilabos/ros/initialize_device.py index 55ac1455..675814ad 100644 --- a/unilabos/ros/initialize_device.py +++ b/unilabos/ros/initialize_device.py @@ -1,10 +1,9 @@ -import copy from typing import Optional from unilabos.registry.registry import lab_registry from unilabos.ros.device_node_wrapper import ros2_device_node from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError -from unilabos.ros.nodes.resource_tracker import ResourceDictInstance +from unilabos.resources.resource_tracker import ResourceDictInstance from unilabos.utils import logger from unilabos.utils.exception import DeviceClassInvalid from unilabos.utils.import_manager import default_manager diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index 4373cea3..b79c3683 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -10,7 +10,7 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Response from unilabos.app.register import register_devices_and_resources from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager -from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet +from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos_msgs.srv import SerialCommand # type: ignore from rclpy.executors import MultiThreadedExecutor diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index e810b0bb..954a6532 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -1,4 +1,3 @@ -import copy import inspect import io import json @@ -13,7 +12,6 @@ import asyncio import rclpy import yaml -from msgcenterpy import ROS2MessageInstance from rclpy.node import Node from rclpy.action import ActionServer, ActionClient from rclpy.action.server import ServerGoalHandle @@ -26,11 +24,7 @@ from unilabos.utils.decorator import get_topic_config, get_all_subscriptions from unilabos.resources.container import RegularContainer from unilabos.resources.graphio import ( - resource_ulab_to_plr, initialize_resources, - dict_to_tree, - resource_plr_to_ulab, - tree_to_list, ) from unilabos.resources.plr_additional_res_reg import register from unilabos.ros.msgs.message_converter import ( @@ -47,7 +41,7 @@ from unilabos_msgs.srv import ( ) # type: ignore from unilabos_msgs.msg import Resource # type: ignore -from unilabos.ros.nodes.resource_tracker import ( +from unilabos.resources.resource_tracker import ( DeviceNodeResourceTracker, ResourceTreeSet, ResourceTreeInstance, @@ -363,7 +357,6 @@ class BaseROS2DeviceNode(Node, Generic[T]): return res async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response): - from pylabrobot.resources.resource import Resource as ResourcePLR from pylabrobot.resources.deck import Deck from pylabrobot.resources import Coordinate from pylabrobot.resources import Plate diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 971b6dd4..e0a66bf8 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -10,7 +10,6 @@ from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Type from action_msgs.msg import GoalStatus from geometry_msgs.msg import Point from rclpy.action import ActionClient, get_action_server_names_and_types_by_node -from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.service import Service from unilabos_msgs.msg import Resource # type: ignore from unilabos_msgs.srv import ( @@ -19,7 +18,6 @@ from unilabos_msgs.srv import ( ResourceUpdate, ResourceList, SerialCommand, - ResourceGet, ) # type: ignore from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unique_identifier_msgs.msg import UUID @@ -37,7 +35,7 @@ from unilabos.ros.msgs.message_converter import ( ) from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker from unilabos.ros.nodes.presets.controller_node import ControllerNode -from unilabos.ros.nodes.resource_tracker import ( +from unilabos.resources.resource_tracker import ( ResourceDict, ResourceDictInstance, ResourceTreeSet, diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py index 91cd0ef6..ed3fe144 100644 --- a/unilabos/ros/nodes/presets/workstation.py +++ b/unilabos/ros/nodes/presets/workstation.py @@ -12,11 +12,10 @@ from unilabos_msgs.srv import ResourceUpdate from unilabos.messages import * # type: ignore # protocol names from rclpy.action import ActionServer, ActionClient from rclpy.action.server import ServerGoalHandle -from rclpy.callback_groups import ReentrantCallbackGroup from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unilabos.compile import action_protocol_generators -from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list +from unilabos.resources.graphio import nested_dict_to_list from unilabos.ros.initialize_device import initialize_device_from_dict from unilabos.ros.msgs.message_converter import ( get_action_type, @@ -24,7 +23,7 @@ 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.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDictInstance +from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDictInstance from unilabos.utils.type_check import get_result_info_str if TYPE_CHECKING: diff --git a/unilabos/ros/utils/driver_creator.py b/unilabos/ros/utils/driver_creator.py index 7a60474a..35aca5ec 100644 --- a/unilabos/ros/utils/driver_creator.py +++ b/unilabos/ros/utils/driver_creator.py @@ -11,10 +11,9 @@ import traceback from abc import abstractmethod from typing import Type, Any, Dict, Optional, TypeVar, Generic, List -from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr -from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \ +from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \ ResourceTreeInstance -from unilabos.utils import logger, import_manager +from unilabos.utils import logger from unilabos.utils.cls_creator import create_instance_from_config # 定义泛型类型变量 @@ -135,7 +134,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]): Returns: 处理后的数据 """ - from pylabrobot.resources import Deck, Resource + from pylabrobot.resources import Resource if states is None: states = {} From 12c0770c92e8dc5abf95a5151fed134f43784ce1 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 Jan 2026 21:11:10 +0800 Subject: [PATCH 16/40] Fix build on macos-intel --- .github/workflows/conda-pack-build.yml | 2 +- .github/workflows/multi-platform-build.yml | 2 +- .github/workflows/unilabos-conda-build.yml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/conda-pack-build.yml b/.github/workflows/conda-pack-build.yml index 7e278a9b..3a379fa5 100644 --- a/.github/workflows/conda-pack-build.yml +++ b/.github/workflows/conda-pack-build.yml @@ -24,7 +24,7 @@ jobs: platform: linux-64 env_file: unilabos-linux-64.yaml script_ext: sh - - os: macos-13 # Intel + - os: macos-15 # Intel (via Rosetta) platform: osx-64 env_file: unilabos-osx-64.yaml script_ext: sh diff --git a/.github/workflows/multi-platform-build.yml b/.github/workflows/multi-platform-build.yml index a8785da8..bcba6dbf 100644 --- a/.github/workflows/multi-platform-build.yml +++ b/.github/workflows/multi-platform-build.yml @@ -27,7 +27,7 @@ jobs: - os: ubuntu-latest platform: linux-64 env_file: unilabos-linux-64.yaml - - os: macos-13 # Intel + - os: macos-15 # Intel (via Rosetta) platform: osx-64 env_file: unilabos-osx-64.yaml - os: macos-latest # ARM64 diff --git a/.github/workflows/unilabos-conda-build.yml b/.github/workflows/unilabos-conda-build.yml index 65f6fba4..214f9bfc 100644 --- a/.github/workflows/unilabos-conda-build.yml +++ b/.github/workflows/unilabos-conda-build.yml @@ -26,7 +26,7 @@ jobs: include: - os: ubuntu-latest platform: linux-64 - - os: macos-13 # Intel + - os: macos-15 # Intel (via Rosetta) platform: osx-64 - os: macos-latest # ARM64 platform: osx-arm64 From f26eb69eca79cc78485010541467a8b7986e23de Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 8 Jan 2026 03:04:32 +0800 Subject: [PATCH 17/40] Fix size not pass through. --- unilabos/resources/resource_tracker.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 09e77493..610ba3dd 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -14,9 +14,9 @@ if TYPE_CHECKING: class ResourceDictPositionSize(BaseModel): - depth: float = Field(description="Depth", default=0.0) - width: float = Field(description="Width", default=0.0) - height: float = Field(description="Height", default=0.0) + 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 ResourceDictPositionScale(BaseModel): @@ -469,9 +469,9 @@ class ResourceTreeSet(object): **res.config, "name": res.name, "type": res.config.get("type", plr_type), - "size_x": res.config.get("size_x", 0), - "size_y": res.config.get("size_y", 0), - "size_z": res.config.get("size_z", 0), + "size_x": res.pose.size.width, + "size_y": res.pose.size.height, + "size_z": res.pose.size.depth, "location": { "x": res.pose.position.x, "y": res.pose.position.y, From bad1db509434110946f244b7eb581ef3e9362c59 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 8 Jan 2026 03:04:57 +0800 Subject: [PATCH 18/40] location not passed to ItemizedCarrier when assign child resource --- unilabos/resources/itemized_carrier.py | 1 + 1 file changed, 1 insertion(+) diff --git a/unilabos/resources/itemized_carrier.py b/unilabos/resources/itemized_carrier.py index 3b3454a1..a5207d4c 100644 --- a/unilabos/resources/itemized_carrier.py +++ b/unilabos/resources/itemized_carrier.py @@ -149,6 +149,7 @@ class ItemizedCarrier(ResourcePLR): if not reassign and self.sites[idx] is not None: raise ValueError(f"a site with index {idx} already exists") + location = list(self.child_locations.values())[idx] super().assign_child_resource(resource, location=location, reassign=reassign) self.sites[idx] = resource From 1c312772ae0a1863563ecdb3678122c0cca64ef8 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 8 Jan 2026 03:05:17 +0800 Subject: [PATCH 19/40] Force update resource when adding new resource / transfer to another resource --- unilabos/ros/nodes/base_device_node.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 954a6532..66a48c4e 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -881,6 +881,13 @@ class BaseROS2DeviceNode(Node, Generic[T]): raise ValueError("tree_set不能为None") plr_resources = tree_set.to_plr_resources() result = _handle_add(plr_resources, tree_set, additional_add_params) + new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources) + r = SerialCommand.Request() + r.command = json.dumps( + {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 + response: SerialCommand_Response = await self._resource_clients[ + "c2s_update_resource_tree"].call_async(r) # type: ignore + self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}") results.append(result) elif action == "update": if tree_set is None: @@ -1758,6 +1765,7 @@ class ROS2DeviceNode: or driver_class.__name__ == "LiquidHandlerBiomek" or driver_class.__name__ == "PRCXI9300Handler" or driver_class.__name__ == "TransformXYZHandler" + or driver_class.__name__ == "OpcUaClient" ) # 创建设备类实例 From 93cb3073966660de076fb428e1d2c897b95cca2c Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 8 Jan 2026 03:45:30 +0800 Subject: [PATCH 20/40] Fix update with different spot and same parent --- unilabos/ros/nodes/base_device_node.py | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 66a48c4e..489b4e56 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -844,6 +844,16 @@ class BaseROS2DeviceNode(Node, Generic[T]): and original_parent_resource is not None ): self.transfer_to_new_resource(original_instance, tree, additional_add_params) + else: + # 判断是否变更了resource_site + target_site = original_instance.unilabos_extra.get("update_resource_site") + sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None + site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") 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] + if site_name != target_site: + self.transfer_to_new_resource(original_instance, tree, additional_add_params) # 加载状态 original_instance.load_all_state(states) @@ -898,7 +908,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): plr_resources.append(tree.root_node) else: plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) + new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources) result = _handle_update(plr_resources, tree_set, additional_add_params) + r = SerialCommand.Request() + r.command = json.dumps( + {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 + response: SerialCommand_Response = await self._resource_clients[ + "c2s_update_resource_tree"].call_async(r) # type: ignore + self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}") results.append(result) elif action == "remove": result = _handle_remove(resources_uuid) From daea1ab54da860adb7693682b4698f5cb117fbc3 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 8 Jan 2026 15:26:31 +0800 Subject: [PATCH 21/40] temp cancel update req --- unilabos/ros/nodes/base_device_node.py | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 489b4e56..5d7379e7 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -790,7 +790,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): def _handle_update( plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] - ) -> Dict[str, Any]: + ) -> Tuple[Dict[str, Any], List[ResourcePLR]]: """ 处理资源更新操作的内部函数 @@ -802,6 +802,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): Returns: 操作结果字典 """ + original_instances = [] for plr_resource, tree in zip(plr_resources, tree_set.trees): if isinstance(plr_resource, ResourceDictInstance): self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新") @@ -861,13 +862,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().info( f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个" ) + original_instances.append(original_instance) # 调用driver的update回调 func = getattr(self.driver_instance, "resource_tree_update", None) if callable(func): - func(plr_resources) + func(original_instances) - return {"success": True, "action": "update"} + return {"success": True, "action": "update"}, original_instances try: data = json.loads(req.command) @@ -908,14 +910,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): plr_resources.append(tree.root_node) else: plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) - new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources) - result = _handle_update(plr_resources, tree_set, additional_add_params) - r = SerialCommand.Request() - r.command = json.dumps( - {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 - response: SerialCommand_Response = await self._resource_clients[ - "c2s_update_resource_tree"].call_async(r) # type: ignore - self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}") + result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params) + # new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) + # r = SerialCommand.Request() + # r.command = json.dumps( + # {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 + # response: SerialCommand_Response = await self._resource_clients[ + # "c2s_update_resource_tree"].call_async(r) # type: ignore + # self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}") results.append(result) elif action == "remove": result = _handle_remove(resources_uuid) From 01655902909cd05cf718f6f7f5e1c17e0961b057 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 8 Jan 2026 15:37:49 +0800 Subject: [PATCH 22/40] bump version to 0.10.15 --- .conda/recipe.yaml | 2 +- recipes/msgs/recipe.yaml | 2 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/__init__.py | 2 +- unilabos_msgs/package.xml | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml index 8dccb800..2b041c80 100644 --- a/.conda/recipe.yaml +++ b/.conda/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: 0.10.14 + version: 0.10.15 source: path: ../unilabos diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index 88b68277..6d329081 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.14 + version: 0.10.15 source: path: ../../unilabos_msgs target_directory: src diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 45a0098a..be3f1a16 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.14" + version: "0.10.15" source: path: ../.. diff --git a/setup.py b/setup.py index 290a9a21..b6ae5edb 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.14', + version='0.10.15', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/__init__.py b/unilabos/__init__.py index a9f358e1..d5ac10aa 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.14" +__version__ = "0.10.15" diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index 02beacfd..b9c26326 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.14 + 0.10.15 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln From 657f952e7afcabd025decafcf5a4e299e86186f7 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 9 Jan 2026 12:01:57 +0800 Subject: [PATCH 23/40] Create session_id by edge. --- unilabos/app/ws_client.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 23f139d2..8a00a9ee 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -359,7 +359,7 @@ class MessageProcessor: self.device_manager = device_manager self.queue_processor = None # 延迟设置 self.websocket_client = None # 延迟设置 - self.session_id = "" + self.session_id = str(uuid.uuid4())[:6] # 产生一个随机的session_id # WebSocket连接 self.websocket = None @@ -576,9 +576,9 @@ class MessageProcessor: await self._handle_resource_tree_update(message_data, "update") elif message_type == "remove_material": await self._handle_resource_tree_update(message_data, "remove") - 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 == "session_id": + # self.session_id = message_data.get("session_id") + # logger.info(f"[MessageProcessor] Session ID: {self.session_id}") elif message_type == "request_reload": await self._handle_request_reload(message_data) else: From aacf3497e035bed4efc293f5ce667fbe42c9afe7 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 9 Jan 2026 17:18:39 +0800 Subject: [PATCH 24/40] Add no_update_feedback option. --- docs/conf.py | 4 +- docs/developer_guide/action_includes.md | 1024 +---------------------- docs/requirements.txt | 4 + unilabos/app/main.py | 6 + unilabos/app/ws_client.py | 6 +- unilabos/config/config.py | 1 + unilabos/ros/nodes/base_device_node.py | 17 +- 7 files changed, 62 insertions(+), 1000 deletions(-) diff --git a/docs/conf.py b/docs/conf.py index f15f0e6f..60a22b6d 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -24,7 +24,7 @@ extensions = [ "sphinx.ext.autodoc", "sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings "sphinx_rtd_theme", - "sphinxcontrib.mermaid" + "sphinxcontrib.mermaid", ] source_suffix = { @@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme" # sphinx-book-theme 主题选项 html_theme_options = { - "repository_url": "https://github.com/用户名/Uni-Lab", + "repository_url": "https://github.com/deepmodeling/Uni-Lab-OS", "use_repository_button": True, "use_issues_button": True, "use_edit_page_button": True, diff --git a/docs/developer_guide/action_includes.md b/docs/developer_guide/action_includes.md index 206f94e2..be1316cc 100644 --- a/docs/developer_guide/action_includes.md +++ b/docs/developer_guide/action_includes.md @@ -1,4 +1,5 @@ -## 基础通用操作 +## 简单单变量动作函数 + ### `SendCmd` @@ -6,343 +7,49 @@ :language: yaml ``` ---- +---- +## 常量有机化学操作 -### `FloatSingleInput` +Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。 -```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action -:language: yaml -``` ---- -### `IntSingleInput` - -```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action -:language: yaml -``` - ---- - -### `Point3DSeparateInput` - -```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action -:language: yaml -``` - ---- - -### `StrSingleInput` - -```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action -:language: yaml -``` - ---- - -### `Wait` - -```{literalinclude} ../../unilabos_msgs/action/Wait.action -:language: yaml -``` - ---- - -## 化学实验操作 - -Uni-Lab 化学操作指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作。 - -### 物料添加 - -#### `Add` - -```{literalinclude} ../../unilabos_msgs/action/Add.action -:language: yaml -``` - ---- - -#### `AddSolid` - -```{literalinclude} ../../unilabos_msgs/action/AddSolid.action -:language: yaml -``` - ---- - -### 液体转移与泵控制 - -#### `PumpTransfer` - -```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action -:language: yaml -``` - ---- - -#### `SetPumpPosition` - -```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action -:language: yaml -``` - ---- - -#### `Transfer` - -```{literalinclude} ../../unilabos_msgs/action/Transfer.action -:language: yaml -``` - ---- - -### 温度控制 - -#### `HeatChill` - -```{literalinclude} ../../unilabos_msgs/action/HeatChill.action -:language: yaml -``` - ---- - -#### `HeatChillStart` - -```{literalinclude} ../../unilabos_msgs/action/HeatChillStart.action -:language: yaml -``` - ---- - -#### `HeatChillStop` - -```{literalinclude} ../../unilabos_msgs/action/HeatChillStop.action -:language: yaml -``` - ---- - -### 搅拌控制 - -#### `StartStir` - -```{literalinclude} ../../unilabos_msgs/action/StartStir.action -:language: yaml -``` - ---- - -#### `Stir` - -```{literalinclude} ../../unilabos_msgs/action/Stir.action -:language: yaml -``` - ---- - -#### `StopStir` - -```{literalinclude} ../../unilabos_msgs/action/StopStir.action -:language: yaml -``` - ---- - -### 气体与真空控制 - -#### `EvacuateAndRefill` - -```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action -:language: yaml -``` - ---- - -#### `Purge` - -```{literalinclude} ../../unilabos_msgs/action/Purge.action -:language: yaml -``` - ---- - -#### `StartPurge` - -```{literalinclude} ../../unilabos_msgs/action/StartPurge.action -:language: yaml -``` - ---- - -#### `StopPurge` - -```{literalinclude} ../../unilabos_msgs/action/StopPurge.action -:language: yaml -``` - ---- - -### 分离与过滤 - -#### `Centrifuge` - -```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action -:language: yaml -``` - ---- - -#### `Filter` - -```{literalinclude} ../../unilabos_msgs/action/Filter.action -:language: yaml -``` - ---- - -#### `FilterThrough` - -```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action -:language: yaml -``` - ---- - -#### `RunColumn` - -```{literalinclude} ../../unilabos_msgs/action/RunColumn.action -:language: yaml -``` - ---- - -#### `Separate` - -```{literalinclude} ../../unilabos_msgs/action/Separate.action -:language: yaml -``` - ---- - -### 化学处理 - -#### `AdjustPH` - -```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action -:language: yaml -``` - ---- - -#### `Crystallize` - -```{literalinclude} ../../unilabos_msgs/action/Crystallize.action -:language: yaml -``` - ---- - -#### `Dissolve` - -```{literalinclude} ../../unilabos_msgs/action/Dissolve.action -:language: yaml -``` - ---- - -#### `Dry` - -```{literalinclude} ../../unilabos_msgs/action/Dry.action -:language: yaml -``` - ---- - -#### `Evaporate` - -```{literalinclude} ../../unilabos_msgs/action/Evaporate.action -:language: yaml -``` - ---- - -#### `Hydrogenate` - -```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action -:language: yaml -``` - ---- - -#### `Recrystallize` - -```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action -:language: yaml -``` - ---- - -#### `WashSolid` - -```{literalinclude} ../../unilabos_msgs/action/WashSolid.action -:language: yaml -``` - ---- - -### 清洁与维护 - -#### `Clean` +### `Clean` ```{literalinclude} ../../unilabos_msgs/action/Clean.action :language: yaml ``` ---- +---- -#### `CleanVessel` +### `HeatChillStart` -```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action +```{literalinclude} ../../unilabos_msgs/action/HeatChillStart.action :language: yaml ``` ---- +---- -#### `EmptyIn` +### `HeatChillStop` -```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action +```{literalinclude} ../../unilabos_msgs/action/HeatChillStop.action :language: yaml ``` ---- +---- -#### `ResetHandling` +### `PumpTransfer` -```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action +```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action :language: yaml ``` ---- +---- +## 移液工作站及相关生物自动化设备操作 -## 生物自动化操作 +Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。 -Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含移液工作站的各类操作。 -### `LiquidHandlerAdd` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action -:language: yaml -``` - ---- - -### `LiquidHandlerAspirate` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action -:language: yaml -``` - ---- ### `LiquidHandlerDiscardTips` @@ -350,15 +57,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerDispense` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerDropTips` @@ -366,7 +65,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerDropTips96` @@ -374,31 +73,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerIncubateBiomek` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action -:language: yaml -``` - ---- - -### `LiquidHandlerMix` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action -:language: yaml -``` - ---- - -### `LiquidHandlerMoveBiomek` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerMoveLid` @@ -406,7 +81,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerMovePlate` @@ -414,7 +89,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerMoveResource` @@ -422,23 +97,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerMoveTo` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action -:language: yaml -``` - ---- - -### `LiquidHandlerOscillateBiomek` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerPickUpTips` @@ -446,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerPickUpTips96` @@ -454,23 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerProtocolCreation` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action -:language: yaml -``` - ---- - -### `LiquidHandlerRemove` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerReturnTips` @@ -478,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerReturnTips96` @@ -486,31 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerSetGroup` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action -:language: yaml -``` - ---- - -### `LiquidHandlerSetLiquid` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action -:language: yaml -``` - ---- - -### `LiquidHandlerSetTipRack` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerStamp` @@ -518,597 +137,22 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- +## 多工作站及小车运行、物料转移 -### `LiquidHandlerTransfer` -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action -:language: yaml -``` - ---- - -### `LiquidHandlerTransferBiomek` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action -:language: yaml -``` - ---- - -### `LiquidHandlerTransferGroup` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action -:language: yaml -``` - ---- - -## 专用工作站操作 - -### 反应工作站 - -#### `ReactionStationDripBack` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationDripBack.action -:language: yaml -``` - ---- - -#### `ReactionStationLiquidFeedBeaker` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedBeaker.action -:language: yaml -``` - ---- - -#### `ReactionStationLiquidFeedSolvents` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedSolvents.action -:language: yaml -``` - ---- - -#### `ReactionStationLiquidFeedTitration` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedTitration.action -:language: yaml -``` - ---- - -#### `ReactionStationLiquidFeedVialsNonTitration` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedVialsNonTitration.action -:language: yaml -``` - ---- - -#### `ReactionStationProExecu` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationProExecu.action -:language: yaml -``` - ---- - -#### `ReactionStationReactorTakenOut` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationReactorTakenOut.action -:language: yaml -``` - ---- - -#### `ReactionStationReaTackIn` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationReaTackIn.action -:language: yaml -``` - ---- - -#### `ReactionStationSolidFeedVial` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationSolidFeedVial.action -:language: yaml -``` - ---- - -### 固体分配站 - -#### `SolidDispenseAddPowderTube` - -```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action -:language: yaml -``` - ---- - -### 分液工作站 - -#### `DispenStationSolnPrep` - -```{literalinclude} ../../unilabos_msgs/action/DispenStationSolnPrep.action -:language: yaml -``` - ---- - -#### `DispenStationVialFeed` - -```{literalinclude} ../../unilabos_msgs/action/DispenStationVialFeed.action -:language: yaml -``` - ---- - -### 后处理工作站 - -#### `PostProcessGrab` - -```{literalinclude} ../../unilabos_msgs/action/PostProcessGrab.action -:language: yaml -``` - ---- - -#### `PostProcessTriggerClean` - -```{literalinclude} ../../unilabos_msgs/action/PostProcessTriggerClean.action -:language: yaml -``` - ---- - -#### `PostProcessTriggerPostPro` - -```{literalinclude} ../../unilabos_msgs/action/PostProcessTriggerPostPro.action -:language: yaml -``` - ---- - -## 系统管理与资源调度 - -### 资源与布局管理 - -#### `DefaultLayoutRecommendLayout` - -```{literalinclude} ../../unilabos_msgs/action/DefaultLayoutRecommendLayout.action -:language: yaml -``` - ---- - -#### `ResourceCreateFromOuter` - -```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action -:language: yaml -``` - ---- - -#### `ResourceCreateFromOuterEasy` - -```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action -:language: yaml -``` - ---- - -### 多工作站协调 - -#### `AGVTransfer` +### `AGVTransfer` ```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action :language: yaml ``` ---- +---- -#### `WorkStationRun` +### `WorkStationRun` ```{literalinclude} ../../unilabos_msgs/action/WorkStationRun.action :language: yaml ``` ---- - -## 机器人控制（ROS2 标准） - -Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`。 - -### 机械臂与关节控制 - -#### `FollowJointTrajectory` - -```yaml -# The trajectory for all revolute, continuous or prismatic joints -trajectory_msgs/JointTrajectory trajectory -# The trajectory for all planar or floating joints (i.e. individual joints with more than one DOF) -trajectory_msgs/MultiDOFJointTrajectory multi_dof_trajectory - -# Tolerances for the trajectory. If the measured joint values fall -# outside the tolerances the trajectory goal is aborted. Any -# tolerances that are not specified (by being omitted or set to 0) are -# set to the defaults for the action server (often taken from the -# parameter server). - -# Tolerances applied to the joints as the trajectory is executed. If -# violated, the goal aborts with error_code set to -# PATH_TOLERANCE_VIOLATED. -JointTolerance[] path_tolerance -JointComponentTolerance[] component_path_tolerance - -# To report success, the joints must be within goal_tolerance of the -# final trajectory value. The goal must be achieved by time the -# trajectory ends plus goal_time_tolerance. (goal_time_tolerance -# allows some leeway in time, so that the trajectory goal can still -# succeed even if the joints reach the goal some time after the -# precise end time of the trajectory). -# -# If the joints are not within goal_tolerance after "trajectory finish -# time" + goal_time_tolerance, the goal aborts with error_code set to -# GOAL_TOLERANCE_VIOLATED -JointTolerance[] goal_tolerance -JointComponentTolerance[] component_goal_tolerance -builtin_interfaces/Duration goal_time_tolerance - ---- -int32 error_code -int32 SUCCESSFUL = 0 -int32 INVALID_GOAL = -1 -int32 INVALID_JOINTS = -2 -int32 OLD_HEADER_TIMESTAMP = -3 -int32 PATH_TOLERANCE_VIOLATED = -4 -int32 GOAL_TOLERANCE_VIOLATED = -5 - -# Human readable description of the error code. Contains complementary -# information that is especially useful when execution fails, for instance: -# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested -# trajectory is in the past). -# - INVALID_JOINTS: The mismatch between the expected controller joints -# and those provided in the goal. -# - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint -# violated which tolerance, and by how much. -string error_string - ---- -std_msgs/Header header -string[] joint_names -trajectory_msgs/JointTrajectoryPoint desired -trajectory_msgs/JointTrajectoryPoint actual -trajectory_msgs/JointTrajectoryPoint error - -string[] multi_dof_joint_names -trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired -trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual -trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error - -``` - ---- - -#### `JointTrajectory` - -```yaml -trajectory_msgs/JointTrajectory trajectory ---- - ---- -``` - ---- - -#### `PointHead` - -```yaml -geometry_msgs/PointStamped target -geometry_msgs/Vector3 pointing_axis -string pointing_frame -builtin_interfaces/Duration min_duration -float64 max_velocity ---- - ---- -float64 pointing_angle_error -``` - ---- - -#### `SingleJointPosition` - -```yaml -float64 position -builtin_interfaces/Duration min_duration -float64 max_velocity ---- - ---- -std_msgs/Header header -float64 position -float64 velocity -float64 error -``` - ---- - -### 夹爪控制 - -#### `GripperCommand` - -```yaml -GripperCommand command ---- -float64 position # The current gripper gap size (in meters) -float64 effort # The current effort exerted (in Newtons) -bool stalled # True iff the gripper is exerting max effort and not moving -bool reached_goal # True iff the gripper position has reached the commanded setpoint ---- -float64 position # The current gripper gap size (in meters) -float64 effort # The current effort exerted (in Newtons) -bool stalled # True iff the gripper is exerting max effort and not moving -bool reached_goal # True iff the gripper position has reached the commanded setpoint - -``` - ---- - -#### `ParallelGripperCommand` - -```yaml -# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides. -sensor_msgs/JointState command -# name: the name(s) of the joint this command is requesting -# position: desired position of each gripper joint (radians or meters) -# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second) -# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters) ---- -sensor_msgs/JointState state # The current gripper state. -# position of each joint (radians or meters) -# optional: velocity of each joint (radians or meters / second) -# optional: effort of each joint (Newtons or Newton-meters) -bool stalled # True if the gripper is exerting max effort and not moving -bool reached_goal # True if the gripper position has reached the commanded setpoint ---- -sensor_msgs/JointState state # The current gripper state. -# position of each joint (radians or meters) -# optional: velocity of each joint (radians or meters / second) -# optional: effort of each joint (Newtons or Newton-meters) - -``` - ---- - -### 导航与路径规划 - -#### `AssistedTeleop` - -```yaml -#goal definition -builtin_interfaces/Duration time_allowance ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback -builtin_interfaces/Duration current_teleop_duration -``` - ---- - -#### `BackUp` - -```yaml -#goal definition -geometry_msgs/Point target -float32 speed -builtin_interfaces/Duration time_allowance ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -float32 distance_traveled -``` - ---- - -#### `ComputePathThroughPoses` - -```yaml -#goal definition -geometry_msgs/PoseStamped[] goals -geometry_msgs/PoseStamped start -string planner_id -bool use_start # If false, use current robot pose as path start, if true, use start above instead ---- -#result definition -nav_msgs/Path path -builtin_interfaces/Duration planning_time ---- -#feedback definition -``` - ---- - -#### `ComputePathToPose` - -```yaml -#goal definition -geometry_msgs/PoseStamped goal -geometry_msgs/PoseStamped start -string planner_id -bool use_start # If false, use current robot pose as path start, if true, use start above instead ---- -#result definition -nav_msgs/Path path -builtin_interfaces/Duration planning_time ---- -#feedback definition -``` - ---- - -#### `DriveOnHeading` - -```yaml -#goal definition -geometry_msgs/Point target -float32 speed -builtin_interfaces/Duration time_allowance ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -float32 distance_traveled -``` - ---- - -#### `DummyBehavior` - -```yaml -#goal definition -std_msgs/String command ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -``` - ---- - -#### `FollowPath` - -```yaml -#goal definition -nav_msgs/Path path -string controller_id -string goal_checker_id ---- -#result definition -std_msgs/Empty result ---- -#feedback definition -float32 distance_to_goal -float32 speed -``` - ---- - -#### `FollowWaypoints` - -```yaml -#goal definition -geometry_msgs/PoseStamped[] poses ---- -#result definition -int32[] missed_waypoints ---- -#feedback definition -uint32 current_waypoint -``` - ---- - -#### `NavigateThroughPoses` - -```yaml -#goal definition -geometry_msgs/PoseStamped[] poses -string behavior_tree ---- -#result definition -std_msgs/Empty result ---- -#feedback definition -geometry_msgs/PoseStamped current_pose -builtin_interfaces/Duration navigation_time -builtin_interfaces/Duration estimated_time_remaining -int16 number_of_recoveries -float32 distance_remaining -int16 number_of_poses_remaining -``` - ---- - -#### `NavigateToPose` - -```yaml -#goal definition -geometry_msgs/PoseStamped pose -string behavior_tree ---- -#result definition -std_msgs/Empty result ---- -#feedback definition -geometry_msgs/PoseStamped current_pose -builtin_interfaces/Duration navigation_time -builtin_interfaces/Duration estimated_time_remaining -int16 number_of_recoveries -float32 distance_remaining -``` - ---- - -#### `SmoothPath` - -```yaml -#goal definition -nav_msgs/Path path -string smoother_id -builtin_interfaces/Duration max_smoothing_duration -bool check_for_collisions ---- -#result definition -nav_msgs/Path path -builtin_interfaces/Duration smoothing_duration -bool was_completed ---- -#feedback definition -``` - ---- - -#### `Spin` - -```yaml -#goal definition -float32 target_yaw -builtin_interfaces/Duration time_allowance ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -float32 angular_distance_traveled -``` - ---- - -#### `Wait` (Nav2) - -> **注意**：这是 ROS2 nav2_msgs 的标准 Wait action，与 unilabos_msgs 的 Wait action 不同。 - -```yaml -#goal definition -builtin_interfaces/Duration time ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -builtin_interfaces/Duration time_left -``` - ---- +---- diff --git a/docs/requirements.txt b/docs/requirements.txt index 1cc92477..591cc07a 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -12,3 +12,7 @@ sphinx-copybutton>=0.5.0 # 用于自动摘要生成 sphinx-autobuild>=2024.2.4 + +# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX) +rinohtype>=0.5.4 +sphinx-simplepdf>=1.6.0 \ No newline at end of file diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 6738b2f8..3ad7310e 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -156,6 +156,11 @@ def parse_args(): default=False, help="Complete registry information", ) + parser.add_argument( + "--no_update_feedback", + action="store_true", + help="Disable sending update feedback to server", + ) # workflow upload subcommand workflow_parser = subparsers.add_parser( "workflow_upload", @@ -297,6 +302,7 @@ def main(): BasicConfig.is_host_mode = not args_dict.get("is_slave", False) BasicConfig.slave_no_host = args_dict.get("slave_no_host", False) BasicConfig.upload_registry = args_dict.get("upload_registry", False) + BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False) BasicConfig.communication_protocol = "websocket" machine_name = os.popen("hostname").read().strip() machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name]) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 8a00a9ee..4933b617 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -488,7 +488,11 @@ class MessageProcessor: async for message in self.websocket: try: data = json.loads(message) - await self._process_message(data) + if self.session_id and self.session_id == data.get("edge_session"): + await self._process_message(data) + else: + 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')}") except json.JSONDecodeError: logger.error(f"[MessageProcessor] Invalid JSON received: {message}") except Exception as e: diff --git a/unilabos/config/config.py b/unilabos/config/config.py index 1e409662..f3dba5da 100644 --- a/unilabos/config/config.py +++ b/unilabos/config/config.py @@ -16,6 +16,7 @@ class BasicConfig: upload_registry = False machine_name = "undefined" vis_2d_enable = False + no_update_feedback = False enable_resource_load = True communication_protocol = "websocket" startup_json_path = None # 填写绝对路径 diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 5d7379e7..89c4d39b 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -20,6 +20,8 @@ from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.service import Service 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.resources.container import RegularContainer @@ -911,13 +913,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): else: plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params) - # new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) - # r = SerialCommand.Request() - # r.command = json.dumps( - # {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 - # response: SerialCommand_Response = await self._resource_clients[ - # "c2s_update_resource_tree"].call_async(r) # type: ignore - # self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}") + if not BasicConfig.no_update_feedback: + new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) + r = SerialCommand.Request() + r.command = json.dumps( + {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 + response: SerialCommand_Response = await self._resource_clients[ + "c2s_update_resource_tree"].call_async(r) # type: ignore + self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}") results.append(result) elif action == "remove": result = _handle_remove(resources_uuid) From 965bf36e8d55f1c6298360d13cc83fb240277cad Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sun, 11 Jan 2026 21:25:36 +0800 Subject: [PATCH 25/40] Add restart. Temp allow action message. --- unilabos/app/main.py | 15 ++- unilabos/app/utils.py | 144 ++++++++++++++++++++++++ unilabos/app/web/server.py | 42 ++++++- unilabos/app/ws_client.py | 66 ++++++++--- unilabos/ros/main_slave_run.py | 9 +- unilabos/ros/nodes/presets/host_node.py | 105 ++++++++++++++--- 6 files changed, 342 insertions(+), 39 deletions(-) create mode 100644 unilabos/app/utils.py diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 3ad7310e..8ec26c03 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -19,6 +19,11 @@ if unilabos_dir not in sys.path: from unilabos.utils.banner_print import print_status, print_unilab_banner from unilabos.config.config import load_config, BasicConfig, HTTPConfig +from unilabos.app.utils import cleanup_for_restart + +# Global restart flags (used by ws_client and web/server) +_restart_requested: bool = False +_restart_reason: str = "" def load_config_from_file(config_path): @@ -503,13 +508,19 @@ def main(): time.sleep(1) else: start_backend(**args_dict) - start_server( + restart_requested = start_server( open_browser=not args_dict["disable_browser"], port=BasicConfig.port, ) + if restart_requested: + print_status("[Main] Restart requested, cleaning up...", "info") + cleanup_for_restart() + return else: start_backend(**args_dict) - start_server( + + # 启动服务器（默认支持WebSocket触发重启） + restart_requested = start_server( open_browser=not args_dict["disable_browser"], port=BasicConfig.port, ) diff --git a/unilabos/app/utils.py b/unilabos/app/utils.py new file mode 100644 index 00000000..d10c2e05 --- /dev/null +++ b/unilabos/app/utils.py @@ -0,0 +1,144 @@ +""" +UniLabOS 应用工具函数 + +提供清理、重启等工具函数 +""" + +import gc +import os +import threading +import time + +from unilabos.utils.banner_print import print_status + + +def cleanup_for_restart() -> bool: + """ + Clean up all resources for restart without exiting the process. + + This function prepares the system for re-initialization by: + 1. Stopping all communication clients + 2. Destroying ROS nodes + 3. Resetting singletons + 4. Waiting for threads to finish + + Returns: + bool: True if cleanup was successful, False otherwise + """ + print_status("[Restart] Starting cleanup for restart...", "info") + + # Step 1: Stop WebSocket communication client + print_status("[Restart] Step 1: Stopping WebSocket client...", "info") + try: + from unilabos.app.communication import get_communication_client + + comm_client = get_communication_client() + if comm_client is not None: + comm_client.stop() + print_status("[Restart] WebSocket client stopped", "info") + except Exception as e: + print_status(f"[Restart] Error stopping WebSocket: {e}", "warning") + + # Step 2: Get HostNode and cleanup ROS + print_status("[Restart] Step 2: Cleaning up ROS nodes...", "info") + try: + from unilabos.ros.nodes.presets.host_node import HostNode + import rclpy + from rclpy.timer import Timer + + host_instance = HostNode.get_instance(timeout=5) + if host_instance is not None: + print_status(f"[Restart] Found HostNode: {host_instance.device_id}", "info") + + # Gracefully shutdown background threads + print_status("[Restart] Shutting down background threads...", "info") + HostNode.shutdown_background_threads(timeout=5.0) + print_status("[Restart] Background threads shutdown complete", "info") + + # Stop discovery timer + if hasattr(host_instance, "_discovery_timer") and isinstance(host_instance._discovery_timer, Timer): + host_instance._discovery_timer.cancel() + print_status("[Restart] Discovery timer cancelled", "info") + + # Destroy device nodes + device_count = len(host_instance.devices_instances) + print_status(f"[Restart] Destroying {device_count} device instances...", "info") + for device_id, device_node in list(host_instance.devices_instances.items()): + try: + if hasattr(device_node, "ros_node_instance") and device_node.ros_node_instance is not None: + device_node.ros_node_instance.destroy_node() + print_status(f"[Restart] Device {device_id} destroyed", "info") + except Exception as e: + print_status(f"[Restart] Error destroying device {device_id}: {e}", "warning") + + # Clear devices instances + host_instance.devices_instances.clear() + host_instance.devices_names.clear() + + # Destroy host node + try: + host_instance.destroy_node() + print_status("[Restart] HostNode destroyed", "info") + except Exception as e: + print_status(f"[Restart] Error destroying HostNode: {e}", "warning") + + # Reset HostNode state + HostNode.reset_state() + print_status("[Restart] HostNode state reset", "info") + + # Shutdown executor first (to stop executor.spin() gracefully) + if hasattr(rclpy, "__executor") and rclpy.__executor is not None: + try: + rclpy.__executor.shutdown() + rclpy.__executor = None # Clear for restart + print_status("[Restart] ROS executor shutdown complete", "info") + except Exception as e: + print_status(f"[Restart] Error shutting down executor: {e}", "warning") + + # Shutdown rclpy + if rclpy.ok(): + rclpy.shutdown() + print_status("[Restart] rclpy shutdown complete", "info") + + except ImportError as e: + print_status(f"[Restart] ROS modules not available: {e}", "warning") + except Exception as e: + print_status(f"[Restart] Error in ROS cleanup: {e}", "warning") + return False + + # Step 3: Reset communication client singleton + print_status("[Restart] Step 3: Resetting singletons...", "info") + try: + from unilabos.app import communication + + if hasattr(communication, "_communication_client"): + communication._communication_client = None + print_status("[Restart] Communication client singleton reset", "info") + except Exception as e: + print_status(f"[Restart] Error resetting communication singleton: {e}", "warning") + + # Step 4: Wait for threads to finish + print_status("[Restart] Step 4: Waiting for threads to finish...", "info") + time.sleep(3) # Give threads time to finish + + # Check remaining threads + remaining_threads = [] + for t in threading.enumerate(): + if t.name != "MainThread" and t.is_alive(): + remaining_threads.append(t.name) + + if remaining_threads: + print_status( + f"[Restart] Warning: {len(remaining_threads)} threads still running: {remaining_threads}", "warning" + ) + else: + print_status("[Restart] All threads stopped", "info") + + # Step 5: Force garbage collection + print_status("[Restart] Step 5: Running garbage collection...", "info") + gc.collect() + gc.collect() # Run twice for weak references + print_status("[Restart] Garbage collection complete", "info") + + print_status("[Restart] Cleanup complete. Ready for re-initialization.", "info") + return True diff --git a/unilabos/app/web/server.py b/unilabos/app/web/server.py index 2a85d107..8d090162 100644 --- a/unilabos/app/web/server.py +++ b/unilabos/app/web/server.py @@ -6,7 +6,6 @@ Web服务器模块 import webbrowser -import uvicorn from fastapi import FastAPI, Request from fastapi.middleware.cors import CORSMiddleware from starlette.responses import Response @@ -96,7 +95,7 @@ def setup_server() -> FastAPI: return app -def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None: +def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> bool: """ 启动服务器 @@ -104,7 +103,14 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T host: 服务器主机 port: 服务器端口 open_browser: 是否自动打开浏览器 + + Returns: + bool: True if restart was requested, False otherwise """ + import threading + import time + from uvicorn import Config, Server + # 设置服务器 setup_server() @@ -123,7 +129,37 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T # 启动服务器 info(f"[Web] 启动FastAPI服务器: {host}:{port}") - uvicorn.run(app, host=host, port=port, log_config=log_config) + + # 使用支持重启的模式 + config = Config(app=app, host=host, port=port, log_config=log_config) + server = Server(config) + + # 启动服务器线程 + server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server") + server_thread.start() + + info("[Web] Server started, monitoring for restart requests...") + + # 监控重启标志 + import unilabos.app.main as main_module + + while server_thread.is_alive(): + if hasattr(main_module, "_restart_requested") and main_module._restart_requested: + info( + f"[Web] Restart requested via WebSocket, reason: {getattr(main_module, '_restart_reason', 'unknown')}" + ) + main_module._restart_requested = False + + # 停止服务器 + server.should_exit = True + server_thread.join(timeout=5) + + info("[Web] Server stopped, ready for restart") + return True + + time.sleep(1) + + return False # 当脚本直接运行时启动服务器 diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 4933b617..4c87d362 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -488,11 +488,16 @@ class MessageProcessor: 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(data) + await self._process_message(message_type, message_data) else: - 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')}") + 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: @@ -558,11 +563,8 @@ class MessageProcessor: finally: logger.debug("[MessageProcessor] Send handler stopped") - async def _process_message(self, data: Dict[str, Any]): + async def _process_message(self, message_type: str, message_data: Dict[str, Any]): """处理收到的消息""" - message_type = data.get("action", "") - message_data = data.get("data") - logger.debug(f"[MessageProcessor] Processing message: {message_type}") try: @@ -575,16 +577,19 @@ class MessageProcessor: elif message_type == "cancel_action" or message_type == "cancel_task": await self._handle_cancel_action(message_data) elif message_type == "add_material": + # noinspection PyTypeChecker await self._handle_resource_tree_update(message_data, "add") elif message_type == "update_material": + # noinspection PyTypeChecker await self._handle_resource_tree_update(message_data, "update") elif message_type == "remove_material": + # noinspection PyTypeChecker await self._handle_resource_tree_update(message_data, "remove") # 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 == "request_reload": - await self._handle_request_reload(message_data) + elif message_type == "request_restart": + await self._handle_request_restart(message_data) else: logger.debug(f"[MessageProcessor] Unknown message type: {message_type}") @@ -894,19 +899,48 @@ class MessageProcessor: ) thread.start() - async def _handle_request_reload(self, data: Dict[str, Any]): + async def _handle_request_restart(self, data: Dict[str, Any]): """ - 处理重载请求 + 处理重启请求 - 当LabGo发送request_reload时，重新发送设备注册信息 + 当LabGo发送request_restart时，执行清理并触发重启 """ reason = data.get("reason", "unknown") - logger.info(f"[MessageProcessor] Received reload request, reason: {reason}") + delay = data.get("delay", 2) # 默认延迟2秒 + logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s") - # 重新发送host_node_ready信息 + # 发送确认消息 if self.websocket_client: - self.websocket_client.publish_host_ready() - logger.info("[MessageProcessor] Re-sent host_node_ready after reload request") + await self.websocket_client.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") async def _send_action_state_response( self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index b79c3683..c24f9e8e 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -1,4 +1,5 @@ import json + # from nt import device_encoding import threading import time @@ -55,7 +56,11 @@ def main( ) -> None: """主函数""" - rclpy.init(args=rclpy_init_args) + # Support restart - check if rclpy is already initialized + if not rclpy.ok(): + rclpy.init(args=rclpy_init_args) + else: + logger.info("[ROS] rclpy already initialized, reusing context") executor = rclpy.__executor = MultiThreadedExecutor() # 创建主机节点 host_node = HostNode( @@ -88,7 +93,7 @@ def main( joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker) # lh_joint_pub = LiquidHandlerJointPublisher( # resources_config=resources_list, resource_tracker=host_node.resource_tracker - # ) + # ) executor.add_node(resource_mesh_manager) executor.add_node(joint_republisher) # executor.add_node(lh_joint_pub) diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index e0a66bf8..69c12f89 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -70,6 +70,8 @@ class HostNode(BaseROS2DeviceNode): _instance: ClassVar[Optional["HostNode"]] = None _ready_event: ClassVar[threading.Event] = threading.Event() + _shutting_down: ClassVar[bool] = False # Flag to signal shutdown to background threads + _background_threads: ClassVar[List[threading.Thread]] = [] # Track all background threads for cleanup _device_action_status: ClassVar[collections.defaultdict[str, DeviceActionStatus]] = collections.defaultdict( DeviceActionStatus ) @@ -81,6 +83,48 @@ class HostNode(BaseROS2DeviceNode): return cls._instance return None + @classmethod + def shutdown_background_threads(cls, timeout: float = 5.0) -> None: + """ + Gracefully shutdown all background threads for clean exit or restart. + + This method: + 1. Sets shutdown flag to stop background operations + 2. Waits for background threads to finish with timeout + 3. Cleans up finished threads from tracking list + + Args: + timeout: Maximum time to wait for each thread (seconds) + """ + cls._shutting_down = True + + # Wait for background threads to finish + active_threads = [] + for t in cls._background_threads: + if t.is_alive(): + t.join(timeout=timeout) + if t.is_alive(): + active_threads.append(t.name) + + if active_threads: + logger.warning(f"[Host Node] Some background threads still running: {active_threads}") + + # Clear the thread list + cls._background_threads.clear() + logger.info(f"[Host Node] Background threads shutdown complete") + + @classmethod + def reset_state(cls) -> None: + """ + Reset the HostNode singleton state for restart or clean exit. + Call this after destroying the instance. + """ + cls._instance = None + cls._ready_event.clear() + cls._shutting_down = False + cls._background_threads.clear() + logger.info("[Host Node] State reset complete") + def __init__( self, device_id: str, @@ -294,12 +338,37 @@ class HostNode(BaseROS2DeviceNode): bridge.publish_host_ready() self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}") - def _send_re_register(self, sclient): - sclient.wait_for_service() - request = SerialCommand.Request() - request.command = "" - future = sclient.call_async(request) - response = future.result() + def _send_re_register(self, sclient, device_namespace: str): + """ + Send re-register command to a device. This is a one-time operation. + + Args: + sclient: The service client + device_namespace: The device namespace for logging + """ + try: + # Use timeout to prevent indefinite blocking + if not sclient.wait_for_service(timeout_sec=10.0): + self.lab_logger().debug(f"[Host Node] Re-register timeout for {device_namespace}") + return + + # Check shutdown flag after wait + if self._shutting_down: + self.lab_logger().debug(f"[Host Node] Re-register aborted for {device_namespace} (shutdown)") + return + + request = SerialCommand.Request() + request.command = "" + future = sclient.call_async(request) + # Use timeout for result as well + future.result(timeout_sec=5.0) + self.lab_logger().debug(f"[Host Node] Re-register completed for {device_namespace}") + except Exception as e: + # Gracefully handle destruction during shutdown + if "destruction was requested" in str(e) or self._shutting_down: + self.lab_logger().debug(f"[Host Node] Re-register aborted for {device_namespace} (cleanup)") + else: + self.lab_logger().warning(f"[Host Node] Re-register failed for {device_namespace}: {e}") def _discover_devices(self) -> None: """ @@ -331,23 +400,27 @@ class HostNode(BaseROS2DeviceNode): self._create_action_clients_for_device(device_id, namespace) self._online_devices.add(device_key) sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device") - threading.Thread( + t = threading.Thread( target=self._send_re_register, - args=(sclient,), + args=(sclient, namespace), daemon=True, name=f"ROSDevice{self.device_id}_re_register_device_{namespace}", - ).start() + ) + self._background_threads.append(t) + t.start() elif device_key not in self._online_devices: # 设备重新上线 self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}") self._online_devices.add(device_key) sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device") - threading.Thread( + t = threading.Thread( target=self._send_re_register, - args=(sclient,), + args=(sclient, namespace), daemon=True, name=f"ROSDevice{self.device_id}_re_register_device_{namespace}", - ).start() + ) + self._background_threads.append(t) + t.start() # 检测离线设备 offline_devices = self._online_devices - current_devices @@ -705,13 +778,14 @@ class HostNode(BaseROS2DeviceNode): raise ValueError(f"ActionClient {action_id} not found.") action_client: ActionClient = self._action_clients[action_id] + # 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id" def assign_sample_id(obj): if isinstance(obj, dict): if "sample_uuid" in obj: obj["sample_id"] = obj["sample_uuid"] obj.pop("sample_uuid") - for k,v in obj.items(): + for k, v in obj.items(): if k != "unilabos_extra": assign_sample_id(v) elif isinstance(obj, list): @@ -742,9 +816,7 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted") self._goals[item.job_id] = goal_handle goal_future = goal_handle.get_result_async() - goal_future.add_done_callback( - lambda f: self.get_result_callback(item, action_id, f) - ) + goal_future.add_done_callback(lambda f: self.get_result_callback(item, action_id, f)) goal_future.result() def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None: @@ -1167,6 +1239,7 @@ class HostNode(BaseROS2DeviceNode): """ try: from unilabos.app.web import http_client + data = json.loads(request.command) if "uuid" in data and data["uuid"] is not None: http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"]) From ec015e16cda0ed41db4cfcf36a34dc89fe530714 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 12 Jan 2026 21:17:28 +0800 Subject: [PATCH 26/40] Add create_resource and test_resource example. --- unilabos/registry/registry.py | 34 ++++++-- unilabos/resources/graphio.py | 6 +- unilabos/resources/resource_tracker.py | 50 ++++++++++-- unilabos/ros/nodes/base_device_node.py | 101 ++++++++++++++---------- unilabos/ros/nodes/presets/host_node.py | 19 +++-- 5 files changed, 144 insertions(+), 66 deletions(-) diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 20e02451..ee0b460e 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -124,11 +124,25 @@ class Registry: "output": [ { "handler_key": "labware", - "label": "Labware", "data_type": "resource", - "data_source": "handle", - "data_key": "liquid", - } + "label": "Labware", + "data_source": "executor", + "data_key": "created_resource_tree", + }, + { + "handler_key": "liquid_slots", + "data_type": "resource", + "label": "LiquidSlots", + "data_source": "executor", + "data_key": "liquid_input_resource_tree", + }, + { + "handler_key": "materials", + "data_type": "resource", + "label": "AllMaterials", + "data_source": "executor", + "data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten", + }, ] }, "placeholder_keys": { @@ -186,7 +200,17 @@ class Registry: "resources": "unilabos_resources", }, "goal_default": {}, - "handles": {}, + "handles": { + "input": [ + { + "handler_key": "input_resources", + "data_type": "resource", + "label": "InputResources", + "data_source": "handle", + "data_key": "resources", # 不为空 + }, + ] + }, }, }, }, diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index faf0482a..252c8f45 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -1151,11 +1151,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni if resource_class_config["type"] == "pylabrobot": resource_plr = RESOURCE(name=resource_config["name"]) if resource_type != ResourcePLR: - tree_sets = ResourceTreeSet.from_plr_resources([resource_plr]) - # r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None)) - # # r = resource_plr_to_ulab(resource_plr=resource_plr) - # if resource_config.get("position") is not None: - # r["position"] = resource_config["position"] + tree_sets = ResourceTreeSet.from_plr_resources([resource_plr], known_newly_created=True) r = tree_sets.dump() else: r = resource_plr diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 610ba3dd..d93cb4ec 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -147,17 +147,17 @@ class ResourceDictInstance(object): if not content.get("extra"): # MagicCode content["extra"] = {} if "position" in content: - pose = content.get("pose",{}) - if "position" not in pose : + pose = content.get("pose", {}) + if "position" not in pose: if "position" in content["position"]: pose["position"] = content["position"]["position"] else: pose["position"] = {"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) + "width": content["config"].get("size_x", 0), + "height": content["config"].get("size_y", 0), + "depth": content["config"].get("size_z", 0), } content["pose"] = pose return ResourceDictInstance(ResourceDict.model_validate(content)) @@ -322,7 +322,7 @@ class ResourceTreeSet(object): ) @classmethod - def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet": + def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet": """ 从plr资源创建ResourceTreeSet """ @@ -349,7 +349,8 @@ class ResourceTreeSet(object): if not uid: uid = str(uuid.uuid4()) res.unilabos_uuid = uid - logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}") + if not known_newly_created: + logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}") # 获取unilabos_extra，默认为空字典 extra = getattr(res, "unilabos_extra", {}) @@ -448,7 +449,13 @@ class ResourceTreeSet(object): from pylabrobot.utils.object_parsing import find_subclass # 类型映射 - TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"} + TYPE_MAP = { + "plate": "Plate", + "well": "Well", + "deck": "Deck", + "container": "RegularContainer", + "tip_spot": "TipSpot", + } def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict): """一次遍历收集 name_to_uuid, all_states 和 name_to_extra""" @@ -918,6 +925,33 @@ class DeviceNodeResourceTracker(object): return self._traverse_and_process(resource, process) + def loop_find_with_uuid(self, resource, target_uuid: str): + """ + 递归遍历资源树，根据 uuid 查找并返回对应的资源 + + Args: + resource: 资源对象（可以是list、dict或实例） + target_uuid: 要查找的uuid + + Returns: + 找到的资源对象，未找到则返回None + """ + found_resource = None + + def process(res): + nonlocal found_resource + if found_resource is not None: + return 0 # 已找到，跳过后续处理 + current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid") + if current_uuid and current_uuid == target_uuid: + found_resource = res + logger.trace(f"找到资源UUID: {target_uuid}") + return 1 + return 0 + + self._traverse_and_process(resource, process) + return found_resource + def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int: """ 递归遍历资源树，根据 name 设置所有节点的 extra diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 89c4d39b..3b08707f 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -431,10 +431,11 @@ class BaseROS2DeviceNode(Node, Generic[T]): tree_response: SerialCommand.Response = await client.call_async(request) uuid_maps = json.loads(tree_response.response) self.resource_tracker.loop_update_uuid(input_resources, uuid_maps) + rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources) self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes") final_response = { - "created_resources": rts.dump(), - "liquid_input_resources": [], + "created_resource_tree": rts.dump(), + "liquid_input_resource_tree": [], } 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 @@ -485,7 +486,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): input_wells = [] for r in LIQUID_INPUT_SLOT: input_wells.append(plr_instance.children[r]) - final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump() + final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(input_wells).dump() res.response = json.dumps(final_response) if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param: other_calling_param["slot"] = int(other_calling_param["slot"]) @@ -1263,7 +1264,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name) action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"]) - self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}") + self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {str(action_kwargs)[:1000]}") + self.lab_logger().trace(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}") error_skip = False # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过 if action_name not in ["create_resource_detailed", "create_resource"]: @@ -1330,9 +1332,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): execution_success = True except Exception as _: execution_error = traceback.format_exc() - error( - f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}" - ) + error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}") + trace(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}") future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs) future.add_done_callback(_handle_future_exception) @@ -1352,8 +1353,9 @@ class BaseROS2DeviceNode(Node, Generic[T]): except Exception as _: execution_error = traceback.format_exc() error( - f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}" - ) + f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}") + trace( + f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}") future.add_done_callback(_handle_future_exception) @@ -1497,8 +1499,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): resource_data = function_args[arg_name] if isinstance(resource_data, dict) and "id" in resource_data: try: - converted_resource = self._convert_resource_sync(resource_data) - function_args[arg_name] = converted_resource + function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0] except Exception as e: self.lab_logger().error( f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}" @@ -1512,12 +1513,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): resource_list = function_args[arg_name] if isinstance(resource_list, list): try: - converted_resources = [] - for resource_data in resource_list: - if isinstance(resource_data, dict) and "id" in resource_data: - converted_resource = self._convert_resource_sync(resource_data) - converted_resources.append(converted_resource) - function_args[arg_name] = converted_resources + uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r] + function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else [] except Exception as e: self.lab_logger().error( f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}" @@ -1530,20 +1527,27 @@ class BaseROS2DeviceNode(Node, Generic[T]): f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}" ) - def _convert_resource_sync(self, resource_data: Dict[str, Any]): - """同步转换资源数据为实例""" - # 创建资源查询请求 - r = SerialCommand.Request() - r.command = json.dumps( - { - "id": resource_data.get("id", None), - "uuid": resource_data.get("uuid", None), - "with_children": True, - } - ) - - # 同步调用资源查询服务 - future = self._resource_clients["resource_get"].call_async(r) + def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]: + """同步转换资源 UUID 为实例 + + Args: + *uuids: 一个或多个资源 UUID + + Returns: + 单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表 + """ + if not uuids: + raise ValueError("至少需要提供一个 UUID") + + uuids_list = list(uuids) + future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request( + command=json.dumps( + { + "data": {"data": uuids_list, "with_children": True}, + "action": "get", + } + ) + )) # 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒） timeout = 30.0 @@ -1553,27 +1557,40 @@ class BaseROS2DeviceNode(Node, Generic[T]): elapsed += 0.05 if not future.done(): - raise Exception(f"资源查询超时: {resource_data}") + raise Exception(f"资源查询超时: {uuids_list}") response = future.result() if response is None: - raise Exception(f"资源查询返回空结果: {resource_data}") + raise Exception(f"资源查询返回空结果: {uuids_list}") raw_data = json.loads(response.response) # 转换为 PLR 资源 tree_set = ResourceTreeSet.from_raw_dict_list(raw_data) - plr_resource = tree_set.to_plr_resources()[0] + if not len(tree_set.trees): + raise Exception(f"资源查询返回空树: {raw_data}") + plr_resources = tree_set.to_plr_resources() # 通过资源跟踪器获取本地实例 - res = self.resource_tracker.figure_resource(plr_resource, try_mode=True) - if len(res) == 0: - self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例") - return plr_resource - elif len(res) == 1: - return res[0] - else: - raise ValueError(f"资源转换得到多个实例: {res}") + figured_resources: List[ResourcePLR] = [] + for plr_resource, tree in zip(plr_resources, tree_set.trees): + res = self.resource_tracker.figure_resource(plr_resource, try_mode=True) + if len(res) == 0: + self.lab_logger().warning(f"资源转换未能索引到实例: {tree.root_node.res_content}，返回新建实例") + figured_resources.append(plr_resource) + elif len(res) == 1: + figured_resources.append(res[0]) + else: + raise ValueError(f"资源转换得到多个实例: {res}") + + mapped_plr_resources = [] + for uuid in uuids_list: + for plr_resource in figured_resources: + r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid) + mapped_plr_resources.append(r) + break + + return mapped_plr_resources async def _execute_driver_command_async(self, string: str): try: diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 69c12f89..b31f59bc 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -23,6 +23,7 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialComma from unique_identifier_msgs.msg import UUID from unilabos.registry.registry import lab_registry +from unilabos.resources.container import RegularContainer from unilabos.resources.graphio import initialize_resource from unilabos.resources.registry import add_schema from unilabos.ros.initialize_device import initialize_device_from_dict @@ -586,11 +587,10 @@ class HostNode(BaseROS2DeviceNode): ) try: - new_li = [] + assert len(response) == 1, "Create Resource应当只返回一个结果" for i in response: res = json.loads(i) - new_li.append(res) - return {"resources": new_li, "liquid_input_resources": new_li} + return res except Exception as ex: pass _n = "\n" @@ -795,7 +795,8 @@ class HostNode(BaseROS2DeviceNode): assign_sample_id(action_kwargs) goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs) - self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}") + self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}") + self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}") action_client.wait_for_server() goal_uuid_obj = UUID(uuid=list(u.bytes)) @@ -1133,11 +1134,11 @@ class HostNode(BaseROS2DeviceNode): 接收序列化的 ResourceTreeSet 数据并进行处理 """ - self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received") try: # 解析请求数据 data = json.loads(request.command) action = data["action"] + self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received") data = data["data"] if action == "add": await self._resource_tree_action_add_callback(data, response) @@ -1453,8 +1454,14 @@ class HostNode(BaseROS2DeviceNode): } def test_resource( - self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot] + self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None ) -> TestResourceReturn: + if resources is None: + resources = [] + if devices is None: + devices = [] + if resource is None: + resource = RegularContainer("test_resource传入None") return { "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(), "devices": [device, *devices], From a66603ec1cbf7a4d93bf4964fa1b25531159aa9a Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 12 Jan 2026 22:24:01 +0800 Subject: [PATCH 27/40] Add set_liquid example. --- unilabos/registry/devices/liquid_handler.yaml | 8 ++++++- unilabos/registry/registry.py | 4 ++-- unilabos/ros/msgs/message_converter.py | 6 +++++- unilabos/ros/nodes/base_device_node.py | 21 ++++++++++++------- unilabos/ros/nodes/presets/host_node.py | 4 ++-- 5 files changed, 30 insertions(+), 13 deletions(-) diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index b0656d12..298eb701 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -9278,7 +9278,13 @@ liquid_handler.prcxi: z: 0.0 sample_id: '' type: '' - handles: {} + handles: + input: + - data_key: wells + data_source: handle + data_type: resource + handler_key: input_wells + label: InputWells placeholder_keys: wells: unilabos_resources result: {} diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index ee0b460e..64aba3c8 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -127,14 +127,14 @@ class Registry: "data_type": "resource", "label": "Labware", "data_source": "executor", - "data_key": "created_resource_tree", + "data_key": "created_resource_tree.@flatten", }, { "handler_key": "liquid_slots", "data_type": "resource", "label": "LiquidSlots", "data_source": "executor", - "data_key": "liquid_input_resource_tree", + "data_key": "liquid_input_resource_tree.@flatten", }, { "handler_key": "materials", diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py index e8570d31..632d5e1a 100644 --- a/unilabos/ros/msgs/message_converter.py +++ b/unilabos/ros/msgs/message_converter.py @@ -159,10 +159,14 @@ _msg_converter: Dict[Type, Any] = { else Pose() ), config=json.dumps(x.get("config", {})), - data=json.dumps(x.get("data", {})), + data=json.dumps(obtain_data_with_uuid(x)), ), } +def obtain_data_with_uuid(x: dict): + data = x.get("data", {}) + data["unilabos_uuid"] = x.get("uuid", None) + return data def json_or_yaml_loads(data: str) -> Any: try: diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 3b08707f..8dd4a285 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -430,8 +430,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): }) tree_response: SerialCommand.Response = await client.call_async(request) uuid_maps = json.loads(tree_response.response) - self.resource_tracker.loop_update_uuid(input_resources, uuid_maps) - rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources) + plr_instances = rts.to_plr_resources() + for plr_instance in plr_instances: + self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps) + rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances) self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes") final_response = { "created_resource_tree": rts.dump(), @@ -461,7 +463,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): return res try: if len(rts.root_nodes) == 1 and parent_resource is not None: - plr_instance = rts.to_plr_resources()[0] + plr_instance = plr_instances[0] if isinstance(plr_instance, Plate): empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1: @@ -1281,9 +1283,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 批量查询资源 queried_resources = [] for resource_data in resource_inputs: - plr_resource = await self.get_resource_with_dir( - resource_id=resource_data["id"], with_children=True - ) + unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid") + if unilabos_uuid is None: + plr_resource = await self.get_resource_with_dir( + resource_id=resource_data["id"], with_children=True + ) + else: + resource_tree = await self.get_resource([unilabos_uuid]) + plr_resource = resource_tree.to_plr_resources()[0] if "sample_id" in resource_data: plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"] queried_resources.append(plr_resource) @@ -1423,7 +1430,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): for r in rs: res = self.resource_tracker.parent_resource(r) # 获取 resource 对象 else: - res = self.resource_tracker.parent_resource(r) + res = self.resource_tracker.parent_resource(rs) if id(res) not in seen: seen.add(id(res)) unique_resources.append(res) diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index b31f59bc..0f6b6973 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -1244,7 +1244,7 @@ class HostNode(BaseROS2DeviceNode): data = json.loads(request.command) if "uuid" in data and data["uuid"] is not None: http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"]) - elif "id" in data and data["id"].startswith("/"): + elif "id" in data: http_req = http_client.resource_get(data["id"], data["with_children"]) else: raise ValueError("没有使用正确的物料 id 或 uuid") @@ -1463,7 +1463,7 @@ class HostNode(BaseROS2DeviceNode): if resource is None: resource = RegularContainer("test_resource传入None") return { - "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(), + "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(), "devices": [device, *devices], } From 02cd8de4c51cbe8e9d8e1febed3827b4aca8d068 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 13 Jan 2026 17:49:11 +0800 Subject: [PATCH 28/40] Add None conversion for tube rack etc. --- unilabos/resources/container.py | 2 +- unilabos/resources/resource_tracker.py | 10 ++++++++-- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/unilabos/resources/container.py b/unilabos/resources/container.py index f9772442..fe19bacf 100644 --- a/unilabos/resources/container.py +++ b/unilabos/resources/container.py @@ -27,7 +27,7 @@ class RegularContainer(Container): def get_regular_container(name="container"): r = RegularContainer(name=name) r.category = "container" - return RegularContainer(name=name) + return r # # class RegularContainer(object): diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index d93cb4ec..ea8e5cf5 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -1,7 +1,7 @@ import inspect import traceback import uuid -from pydantic import BaseModel, field_serializer, field_validator +from pydantic import BaseModel, field_serializer, field_validator, ValidationError from pydantic import Field from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union @@ -160,7 +160,11 @@ class ResourceDictInstance(object): "depth": content["config"].get("size_z", 0), } content["pose"] = pose - return ResourceDictInstance(ResourceDict.model_validate(content)) + try: + res_dict = ResourceDict.model_validate(content) + return ResourceDictInstance(res_dict) + except ValidationError as err: + raise err def get_plr_nested_dict(self) -> Dict[str, Any]: """获取资源实例的嵌套字典表示""" @@ -339,6 +343,8 @@ class ResourceTreeSet(object): } 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) return source From 31c9f9a17236d9fc1b349f44e8df0156e3c622fc Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 13 Jan 2026 20:21:37 +0800 Subject: [PATCH 29/40] =?UTF-8?q?=E7=89=A9=E6=96=99=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E4=B9=9F=E6=98=AF=E7=94=A8=E7=88=B6=E8=8A=82=E7=82=B9=E8=BF=9B?= =?UTF-8?q?=E8=A1=8C=E6=8A=A5=E9=80=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/app/ws_client.py | 6 +- unilabos/resources/resource_tracker.py | 2 +- unilabos/ros/nodes/base_device_node.py | 185 ++++++++++++++---------- unilabos/ros/nodes/presets/host_node.py | 9 +- 4 files changed, 114 insertions(+), 88 deletions(-) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 4c87d362..ea8c8e77 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -848,7 +848,7 @@ class MessageProcessor: device_action_groups[key_add].append(item["uuid"]) logger.info( - f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}" + f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}" ) else: # 正常update @@ -863,11 +863,11 @@ class MessageProcessor: device_action_groups[key] = [] device_action_groups[key].append(item["uuid"]) - logger.info(f"触发物料更新 {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(): - logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}") + logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}") def _notify_resource_tree(dev_id, act, item_list): try: diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index ea8e5cf5..afd4c3b9 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -1143,7 +1143,7 @@ class DeviceNodeResourceTracker(object): for key in keys_to_remove: self.resource2parent_resource.pop(key, None) - logger.debug(f"成功移除资源: {resource}") + logger.trace(f"[ResourceTracker] 成功移除资源: {resource}") return True def clear_resource(self): diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 8dd4a285..c99df6c4 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -656,61 +656,71 @@ class BaseROS2DeviceNode(Node, Generic[T]): def transfer_to_new_resource( self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any] - ): + ) -> Optional["ResourcePLR"]: parent_uuid = tree.root_node.res_content.parent_uuid - if parent_uuid: - parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid) - if parent_resource is None: + if not parent_uuid: + self.lab_logger().warning( + f"物料{plr_resource} parent未知，挂载到当前节点下，额外参数：{additional_add_params}" + ) + return None + if parent_uuid == self.uuid: + self.lab_logger().warning( + f"物料{plr_resource}请求挂载到{self.identifier}，额外参数：{additional_add_params}" + ) + return None + parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid) + if parent_resource is None: + self.lab_logger().warning( + f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在" + ) + else: + try: + # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步 + additional_params = {} + extra = getattr(plr_resource, "unilabos_extra", {}) + if len(extra): + self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra)) + if "update_resource_site" in extra: + additional_add_params["site"] = extra["update_resource_site"] + site = additional_add_params.get("site", None) + spec = inspect.signature(parent_resource.assign_child_resource) + if "spot" in spec.parameters: + ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering") + if ordering_dict: + site = list(ordering_dict.keys()).index(site) + additional_params["spot"] = site + old_parent = plr_resource.parent + if old_parent is not None: + # plr并不支持同一个deck的加载和卸载 + self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载") + old_parent.unassign_child_resource(plr_resource) self.lab_logger().warning( - f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在" + f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}" ) - else: - try: - # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步 - additional_params = {} - extra = getattr(plr_resource, "unilabos_extra", {}) - if len(extra): - self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra)) - if "update_resource_site" in extra: - additional_add_params["site"] = extra["update_resource_site"] - site = additional_add_params.get("site", None) - spec = inspect.signature(parent_resource.assign_child_resource) - if "spot" in spec.parameters: - ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering") - if ordering_dict: - site = list(ordering_dict.keys()).index(site) - additional_params["spot"] = site - old_parent = plr_resource.parent - if old_parent is not None: - # plr并不支持同一个deck的加载和卸载 - self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载") - old_parent.unassign_child_resource(plr_resource) - self.lab_logger().warning( - f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}" - ) - # ⭐ assign 之前，需要从 resources 列表中移除 - # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源 - # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children - resource_id = id(plr_resource) - for i, r in enumerate(self.resource_tracker.resources): - if id(r) == resource_id: - self.resource_tracker.resources.pop(i) - self.lab_logger().debug( - f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）" - ) - break + # ⭐ assign 之前，需要从 resources 列表中移除 + # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源 + # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children + resource_id = id(plr_resource) + for i, r in enumerate(self.resource_tracker.resources): + if id(r) == resource_id: + self.resource_tracker.resources.pop(i) + self.lab_logger().debug( + f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）" + ) + break - parent_resource.assign_child_resource(plr_resource, location=None, **additional_params) + parent_resource.assign_child_resource(plr_resource, location=None, **additional_params) - func = getattr(self.driver_instance, "resource_tree_transfer", None) - if callable(func): - # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了） - func(old_parent, plr_resource, parent_resource) - except Exception as e: - self.lab_logger().warning( - f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}" - ) + func = getattr(self.driver_instance, "resource_tree_transfer", None) + if callable(func): + # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了） + func(old_parent, plr_resource, parent_resource) + return parent_resource + except Exception as e: + self.lab_logger().warning( + f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}" + ) async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response): """ @@ -725,7 +735,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): def _handle_add( plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] - ) -> Dict[str, Any]: + ) -> Tuple[Dict[str, Any], List[ResourcePLR]]: """ 处理资源添加操作的内部函数 @@ -737,15 +747,20 @@ class BaseROS2DeviceNode(Node, Generic[T]): Returns: 操作结果字典 """ + parents = [] # 放的是被变更的物料 / 被变更的物料父级 for plr_resource, tree in zip(plr_resources, tree_set.trees): self.resource_tracker.add_resource(plr_resource) - self.transfer_to_new_resource(plr_resource, tree, additional_add_params) + parent = self.transfer_to_new_resource(plr_resource, tree, additional_add_params) + if parent is not None: + parents.append(parent) + else: + parents.append(plr_resource) func = getattr(self.driver_instance, "resource_tree_add", None) if callable(func): func(plr_resources) - return {"success": True, "action": "add"} + return {"success": True, "action": "add"}, parents def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]: """ @@ -780,11 +795,11 @@ class BaseROS2DeviceNode(Node, Generic[T]): if plr_resource.parent is not None: plr_resource.parent.unassign_child_resource(plr_resource) self.resource_tracker.remove_resource(plr_resource) - self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点") + self.lab_logger().info(f"[资源同步] 移除物料 {plr_resource} 及其子节点") for other_plr_resource in other_plr_resources: self.resource_tracker.remove_resource(other_plr_resource) - self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点") + self.lab_logger().info(f"[资源同步] 移除物料 {other_plr_resource} 及其子节点") return { "success": True, @@ -816,11 +831,16 @@ class BaseROS2DeviceNode(Node, Generic[T]): original_instance: ResourcePLR = self.resource_tracker.figure_resource( {"uuid": tree.root_node.res_content.uuid}, try_mode=False ) + original_parent_resource = original_instance.parent + original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None) + target_parent_resource_uuid = tree.root_node.res_content.uuid_parent + not_same_parent = original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None + old_name = original_instance.name + new_name = plr_resource.name + parent_appended = False - # Update操作中包含改名：需要先remove再add - if original_instance.name != plr_resource.name: - old_name = original_instance.name - new_name = plr_resource.name + # Update操作中包含改名：需要先remove再add，这里更新父节点即可 + if not not_same_parent and old_name != new_name: self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}") # 收集所有相关的uuid（包括子节点） @@ -829,12 +849,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): _handle_add([original_instance], tree_set, additional_add_params) self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}") + original_instances.append(original_parent_resource) + parent_appended = True # 常规更新：不涉及改名 - original_parent_resource = original_instance.parent - original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None) - target_parent_resource_uuid = tree.root_node.res_content.uuid_parent - self.lab_logger().info( f"物料{original_instance} 原始父节点{original_parent_resource_uuid} " f"目标父节点{target_parent_resource_uuid} 更新" @@ -845,13 +863,12 @@ class BaseROS2DeviceNode(Node, Generic[T]): original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501 # 如果父节点变化，需要重新挂载 - if ( - original_parent_resource_uuid != target_parent_resource_uuid - and original_parent_resource is not None - ): - self.transfer_to_new_resource(original_instance, tree, additional_add_params) + if not_same_parent: + parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params) + original_instances.append(parent) + parent_appended = True else: - # 判断是否变更了resource_site + # 判断是否变更了resource_site，重新登记 target_site = original_instance.unilabos_extra.get("update_resource_site") sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else [] @@ -859,7 +876,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): site_index = sites.index(original_instance) site_name = site_names[site_index] if site_name != target_site: - self.transfer_to_new_resource(original_instance, tree, additional_add_params) + parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params) + if parent is not None: + original_instances.append(parent) + parent_appended = True # 加载状态 original_instance.load_all_state(states) @@ -867,7 +887,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().info( f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个" ) - original_instances.append(original_instance) + if not parent_appended: + original_instances.append(original_instance) # 调用driver的update回调 func = getattr(self.driver_instance, "resource_tree_update", None) @@ -884,8 +905,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): action = i.get("action") # remove, add, update resources_uuid: List[str] = i.get("data") # 资源数据 additional_add_params = i.get("additional_add_params", {}) # 额外参数 - self.lab_logger().info( - f"[Resource Tree Update] Processing {action} operation, " f"resources count: {len(resources_uuid)}" + self.lab_logger().trace( + f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}" ) tree_set = None if action in ["add", "update"]: @@ -897,8 +918,13 @@ class BaseROS2DeviceNode(Node, Generic[T]): if tree_set is None: raise ValueError("tree_set不能为None") plr_resources = tree_set.to_plr_resources() - result = _handle_add(plr_resources, tree_set, additional_add_params) - new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources) + result, parents = _handle_add(plr_resources, tree_set, additional_add_params) + parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None] + de_dupe_parents = list(set(parents)) + new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents) # 去重 + for tree in new_tree_set.trees: + if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node": + tree.root_node.res_content.parent_uuid = self.uuid r = SerialCommand.Request() r.command = json.dumps( {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 @@ -917,7 +943,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params) if not BasicConfig.no_update_feedback: - new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) + new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) # 去重 + for tree in new_tree_set.trees: + if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node": + tree.root_node.res_content.parent_uuid = self.uuid r = SerialCommand.Request() r.command = json.dumps( {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 @@ -937,15 +966,15 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 返回处理结果 result_json = {"results": results, "total": len(data)} res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder) - self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations") + # self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations") except json.JSONDecodeError as e: error_msg = f"Invalid JSON format: {str(e)}" - self.lab_logger().error(f"[Resource Tree Update] {error_msg}") + self.lab_logger().error(f"[资源同步] {error_msg}") res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False) except Exception as e: error_msg = f"Unexpected error: {str(e)}" - self.lab_logger().error(f"[Resource Tree Update] {error_msg}") + self.lab_logger().error(f"[资源同步] {error_msg}") self.lab_logger().error(traceback.format_exc()) res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False) diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 0f6b6973..cf9fd704 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -362,8 +362,7 @@ class HostNode(BaseROS2DeviceNode): request.command = "" future = sclient.call_async(request) # Use timeout for result as well - future.result(timeout_sec=5.0) - self.lab_logger().debug(f"[Host Node] Re-register completed for {device_namespace}") + future.result() except Exception as e: # Gracefully handle destruction during shutdown if "destruction was requested" in str(e) or self._shutting_down: @@ -1515,7 +1514,7 @@ class HostNode(BaseROS2DeviceNode): # 构建服务地址 srv_address = f"/srv{namespace}/s2c_resource_tree" - self.lab_logger().info(f"[Host Node-Resource] Notifying {device_id} for resource tree {action} operation") + self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------") # 创建服务客户端 sclient = self.create_client(SerialCommand, srv_address) @@ -1550,9 +1549,7 @@ class HostNode(BaseROS2DeviceNode): time.sleep(0.05) response = future.result() - self.lab_logger().info( - f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}" - ) + self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------") return True except Exception as e: From 9dfd58e9af00b3525d1b4e0cc5c17abe820d9758 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 14 Jan 2026 14:17:29 +0800 Subject: [PATCH 30/40] fix parent_uuid fetch when bind_parent_id == node_name --- unilabos/ros/nodes/base_device_node.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index c99df6c4..efe287d8 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -392,9 +392,12 @@ class BaseROS2DeviceNode(Node, Generic[T]): parent_resource = self.resource_tracker.figure_resource( {"name": bind_parent_id} ) - for r in rts.root_nodes: - # noinspection PyUnresolvedReferences - r.res_content.parent_uuid = parent_resource.unilabos_uuid + for r in rts.root_nodes: + # noinspection PyUnresolvedReferences + r.res_content.parent_uuid = parent_resource.unilabos_uuid + else: + for r in rts.root_nodes: + r.res_content.parent_uuid = self.uuid if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer): # noinspection PyTypeChecker From ad21644db0692dbe922e218e9ebdbf745a32c554 Mon Sep 17 00:00:00 2001 From: ZiWei <131428629+ZiWei09@users.noreply.github.com> Date: Wed, 14 Jan 2026 18:42:14 +0800 Subject: [PATCH 31/40] =?UTF-8?q?fix:=20WareHouse=20=E7=9A=84=E4=B8=8D?= =?UTF-8?q?=E5=8F=AF=E5=93=88=E5=B8=8C=E7=B1=BB=E5=9E=8B=E9=94=99=E8=AF=AF?= =?UTF-8?q?=EF=BC=8C=E4=BC=98=E5=8C=96=E7=88=B6=E8=8A=82=E7=82=B9=E5=8E=BB?= =?UTF-8?q?=E9=87=8D=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/ros/nodes/base_device_node.py | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index efe287d8..c248882b 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -923,7 +923,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): plr_resources = tree_set.to_plr_resources() result, parents = _handle_add(plr_resources, tree_set, additional_add_params) parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None] - de_dupe_parents = list(set(parents)) + # de_dupe_parents = list(set(parents)) + # Fix unhashable type error for WareHouse + de_dupe_parents = [] + _seen_ids = set() + for p in parents: + if id(p) not in _seen_ids: + _seen_ids.add(id(p)) + de_dupe_parents.append(p) new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents) # 去重 for tree in new_tree_set.trees: if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node": @@ -1568,16 +1575,16 @@ class BaseROS2DeviceNode(Node, Generic[T]): def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]: """同步转换资源 UUID 为实例 - + Args: *uuids: 一个或多个资源 UUID - + Returns: 单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表 """ if not uuids: raise ValueError("至少需要提供一个 UUID") - + uuids_list = list(uuids) future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request( command=json.dumps( From 4c8022ee955bb506df67770f652051b7e78b588b Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sat, 17 Jan 2026 15:44:18 +0800 Subject: [PATCH 32/40] Workstation yb merge dev ready 260113 (#216) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数 * feat(bioyond): 添加测量小瓶功能，支持基本参数配置 * feat(bioyond): 添加测量小瓶配置，支持新设备参数 * feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈 * feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积 * feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理 * feat(bioyond): 调整反应器位置配置，统一坐标格式 * feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常 * feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置 * feat(opcua): 增强节点ID解析兼容性和数据类型处理 改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符 添加数据类型转换处理，确保写入值时类型匹配 优化错误提示信息，便于调试节点连接问题 * feat(registry): 新增后处理站的设备配置文件 添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述 * 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑 * 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置 * fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property * fix:同步工作流序列 * feat: remove commented workflow synchronization from `reaction_station.py`. * 添加时间约束功能及相关配置 * fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项 * fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存 * fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息 * feat：添加实验报告简化功能，去除冗余信息并保留关键信息 * feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态 * fix: 修复添加物料时数据格式错误 * Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations - Removed redundant action value mappings from bioyond_dispensing_station. - Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters. - Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End). - Simplified descriptions and updated measurement units from μL to mL where applicable. - Removed unused commands from reaction_station_bioyond to streamline the configuration. * fix：Change the material unit from μL to mL * fix：refresh_material_cache * feat: 动态获取工作流步骤ID，优化工作流配置 * feat: 添加清空服务端所有非核心工作流功能 * fix：修复Bottle类的序列化和反序列化方法 * feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息 * Add debug log * feat(workstation): update bioyond config migration and coin cell material search logic - Migrate bioyond_cell config to JSON structure and remove global variable dependencies - Implement material search confirmation dialog auto-handling - Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md * Refactor module paths for Bioyond devices in YAML configuration files - Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure. - Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase. * fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑 * refactor: Move config from module to instance initialization * fix: 修正 reaction_station 目录名拼写错误 * feat: Integrate material search logic and cleanup deprecated files - Update coin_cell_assembly.py with material search dialog handling - Update YB_warehouses.py with latest warehouse configurations - Remove outdated documentation and test data files * Refactor: Use instance attributes for action names and workflow step IDs * refactor: Split tipbox storage into left and right warehouses * refactor: Merge tipbox storage left and right into single warehouse --------- Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Andy6M --- unilabos/app/ws_client.py | 20 +- unilabos/device_comms/opcua_client/client.py | 558 +- .../opcua_client/node/uniopcua.py | 30 +- unilabos/devices/workstation/README.md | 4 - .../bioyond_cell/20251229_多订单返回说明.md | 113 + .../bioyond_cell/202601091.xlsx | Bin 0 -> 10149 bytes .../bioyond_cell/20260113_JSON配置迁移经验.md | 204 + .../bioyond_cell/20260113_配置迁移修改总结.md | 312 + .../bioyond_cell/bioyond_cell_workstation.py | 2112 +++ .../bioyond_cell/material_template.xlsx | Bin 0 -> 10674 bytes .../bioyond_cell/outbound_template.xlsx | Bin 0 -> 9125 bytes .../bioyond_cell/批量出库模板使用说明.md | 157 + .../workstation/bioyond_studio/bioyond_rpc.py | 69 +- .../workstation/bioyond_studio/config.py | 142 - .../bioyond_studio/config.py.deprecated | 329 + .../dispensing_station.py | 510 +- .../reaction_station.py | 1034 +- .../workstation/bioyond_studio/station.py | 289 +- .../20251230_Modbus_CSV_Mapping_Guide.md | 84 + .../20260113_物料搜寻确认弹窗自动处理功能.md | 352 + .../coin_cell_assembly/YB_YH_materials.py | 645 + .../button_battery_station.py | 1289 -- .../coin_cell_assembly/coin_cell_assembly.py | 1350 +- .../coin_cell_assembly_b.csv | 133 + .../coin_cell_assembly/new_cellconfig4.json | 14472 ---------------- .../workstation/workstation_http_service.py | 8 +- unilabos/registry/devices/bioyond_cell.yaml | 847 + .../devices/bioyond_dispensing_station.yaml | 410 +- .../devices/coin_cell_workstation.yaml | 850 + .../devices/reaction_station_bioyond.yaml | 418 +- .../bioyond/README_RESOURCE_ARCHITECTURE.md | 170 + .../registry/resources/bioyond/YB_bottle.yaml | 92 + .../resources/bioyond/YB_bottle_carriers.yaml | 182 + .../registry/resources/bioyond/bottles.yaml | 11 + unilabos/registry/resources/bioyond/deck.yaml | 16 +- unilabos/resources/battery/__init__.py | 0 unilabos/resources/battery/bottle_carriers.py | 56 + unilabos/resources/battery/electrode_sheet.py | 195 + unilabos/resources/battery/magazine.py | 344 + .../resources/bioyond/README_WAREHOUSE.md | 548 + .../resources/bioyond/YB_bottle_carriers.py | 653 + unilabos/resources/bioyond/YB_bottles.py | 163 + unilabos/resources/bioyond/YB_warehouses.py | 384 + unilabos/resources/bioyond/bottles.py | 17 + unilabos/resources/bioyond/decks.py | 44 +- unilabos/resources/bioyond/warehouses.py | 64 +- unilabos/resources/graphio.py | 69 +- unilabos/resources/itemized_carrier.py | 38 +- unilabos/resources/resource_tracker.py | 10 + unilabos/resources/warehouse.py | 9 +- unilabos/ros/nodes/base_device_node.py | 2 +- unilabos/ros/nodes/presets/host_node.py | 2 +- .../dispensing_station_bioyond.json | 162 +- .../experiments/reaction_station_bioyond.json | 280 +- unilabos/utils/README_LOGGING.md | 187 + unilabos/utils/log.py | 16 + yibin_electrolyte_config_example.json | 126 + 57 files changed, 13468 insertions(+), 17113 deletions(-) create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/20251229_多订单返回说明.md create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/202601091.xlsx create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_JSON配置迁移经验.md create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_配置迁移修改总结.md create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/outbound_template.xlsx create mode 100644 unilabos/devices/workstation/bioyond_studio/bioyond_cell/批量出库模板使用说明.md delete mode 100644 unilabos/devices/workstation/bioyond_studio/config.py create mode 100644 unilabos/devices/workstation/bioyond_studio/config.py.deprecated rename unilabos/devices/workstation/bioyond_studio/{ => dispensing_station}/dispensing_station.py (79%) rename unilabos/devices/workstation/bioyond_studio/{ => reaction_station}/reaction_station.py (55%) create mode 100644 unilabos/devices/workstation/coin_cell_assembly/20251230_Modbus_CSV_Mapping_Guide.md create mode 100644 unilabos/devices/workstation/coin_cell_assembly/20260113_物料搜寻确认弹窗自动处理功能.md create mode 100644 unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py create mode 100644 unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv delete mode 100644 unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json create mode 100644 unilabos/registry/devices/bioyond_cell.yaml create mode 100644 unilabos/registry/devices/coin_cell_workstation.yaml create mode 100644 unilabos/registry/resources/bioyond/README_RESOURCE_ARCHITECTURE.md 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/resources/battery/__init__.py create mode 100644 unilabos/resources/battery/bottle_carriers.py create mode 100644 unilabos/resources/battery/electrode_sheet.py create mode 100644 unilabos/resources/battery/magazine.py create mode 100644 unilabos/resources/bioyond/README_WAREHOUSE.md create mode 100644 unilabos/resources/bioyond/YB_bottle_carriers.py create mode 100644 unilabos/resources/bioyond/YB_bottles.py create mode 100644 unilabos/resources/bioyond/YB_warehouses.py create mode 100644 unilabos/utils/README_LOGGING.md create mode 100644 yibin_electrolyte_config_example.json diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index ea8c8e77..95526f0c 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -902,28 +902,28 @@ class MessageProcessor: 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} }) - + # 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 @@ -937,7 +937,7 @@ class MessageProcessor: 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") @@ -1375,7 +1375,7 @@ 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: @@ -1383,7 +1383,7 @@ class WebSocketClient(BaseCommunicationClient): for device_id, namespace in host_node.devices_names.items(): 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(): @@ -1394,7 +1394,7 @@ class WebSocketClient(BaseCommunicationClient): "action_path": action_id, "action_type": str(type(client).__name__), } - + devices.append({ "device_id": device_id, "namespace": namespace, @@ -1403,7 +1403,7 @@ class WebSocketClient(BaseCommunicationClient): "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/device_comms/opcua_client/client.py b/unilabos/device_comms/opcua_client/client.py index b45cded2..27a401ff 100644 --- a/unilabos/device_comms/opcua_client/client.py +++ b/unilabos/device_comms/opcua_client/client.py @@ -141,7 +141,7 @@ class BaseClient(UniversalDriver): try: self.client.connect() logger.info('client connected!') - + # 连接后开始查找节点 if self._variables_to_find: self._find_nodes() @@ -150,36 +150,36 @@ class BaseClient(UniversalDriver): raise else: raise ValueError('client is not initialized') - + def _find_nodes(self) -> None: """查找服务器中的节点""" if not self.client: raise ValueError('client is not connected') - + logger.info(f'开始查找 {len(self._variables_to_find)} 个节点...') try: # 获取根节点 root = self.client.get_root_node() objects = root.get_child(["0:Objects"]) - + # 记录查找前的状态 before_count = len(self._node_registry) - + # 查找节点 self._find_nodes_recursive(objects) - + # 记录查找后的状态 after_count = len(self._node_registry) newly_found = after_count - before_count - + logger.info(f"本次查找新增 {newly_found} 个节点，当前共 {after_count} 个") - + # 检查是否所有节点都已找到 not_found = [] for var_name, var_info in self._variables_to_find.items(): if var_name not in self._node_registry: not_found.append(var_name) - + if not_found: logger.warning(f"⚠ 以下 {len(not_found)} 个节点未找到: {', '.join(not_found[:10])}{'...' if len(not_found) > 10 else ''}") logger.warning(f"提示：请检查这些节点名称是否与服务器的 BrowseName 完全匹配（包括大小写、空格等）") @@ -188,7 +188,7 @@ class BaseClient(UniversalDriver): logger.info(f"尝试在服务器中查找第一个未找到的节点 '{not_found[0]}' 的相似节点...") else: logger.info(f"✓ 所有 {len(self._variables_to_find)} 个节点均已找到并注册") - + except Exception as e: logger.error(f"查找节点失败: {e}") traceback.print_exc() @@ -199,14 +199,14 @@ class BaseClient(UniversalDriver): # 获取当前节点的浏览名称 browse_name = node.get_browse_name() node_name = browse_name.Name - + # 检查是否是我们要找的变量 if node_name in self._variables_to_find and node_name not in self._node_registry: var_info = self._variables_to_find[node_name] node_type = var_info.get("node_type") data_type = var_info.get("data_type") node_id_str = str(node.nodeid) - + # 根据节点类型创建相应的对象 if node_type == NodeType.VARIABLE: self._node_registry[node_name] = Variable(self.client, node_name, node_id_str, data_type) @@ -219,11 +219,11 @@ class BaseClient(UniversalDriver): parent_node_id = str(parent_node.nodeid) self._node_registry[node_name] = Method(self.client, node_name, node_id_str, parent_node_id, data_type) logger.info(f"✓ 找到方法节点: '{node_name}', NodeId: {node_id_str}, ParentId: {parent_node_id}") - + # 递归处理子节点 for child in node.get_children(): self._find_nodes_recursive(child) - + except Exception as e: # 忽略处理单个节点时的错误，继续处理其他节点 pass @@ -238,50 +238,50 @@ class BaseClient(UniversalDriver): df = pd.read_csv(file_path) df = df.drop_duplicates(subset='Name', keep='first') # 重复的数据应该报错 nodes = [] - + # 检查是否包含英文名称列和节点语言列 has_english_name = 'EnglishName' in df.columns has_node_language = 'NodeLanguage' in df.columns - + # 如果存在英文名称列，创建名称映射字典 name_mapping = {} reverse_mapping = {} - + for _, row in df.iterrows(): name = row.get('Name') node_type_str = row.get('NodeType') data_type_str = row.get('DataType') - + # 获取英文名称和节点语言（如果有） english_name = row.get('EnglishName') if has_english_name else None node_language = row.get('NodeLanguage') if has_node_language else 'English' # 默认为英文 - + # 如果有英文名称，添加到映射字典 if english_name and not pd.isna(english_name) and node_language == 'Chinese': name_mapping[english_name] = name reverse_mapping[name] = english_name - + if not name or not node_type_str: logger.warning(f"跳过无效行: 名称或节点类型缺失") continue - + # 只支持VARIABLE和METHOD两种类型 if node_type_str not in ['VARIABLE', 'METHOD']: logger.warning(f"不支持的节点类型: {node_type_str}，仅支持VARIABLE和METHOD") continue - + try: node_type = NodeType[node_type_str] except KeyError: logger.warning(f"无效的节点类型: {node_type_str}") continue - + # 对于VARIABLE节点，必须指定数据类型 if node_type == NodeType.VARIABLE: if not data_type_str or pd.isna(data_type_str): logger.warning(f"变量节点 {name} 必须指定数据类型") continue - + try: data_type = DataType[data_type_str] except KeyError: @@ -295,14 +295,14 @@ class BaseClient(UniversalDriver): data_type = DataType[data_type_str] except KeyError: logger.warning(f"无效的数据类型: {data_type_str}，将使用默认值") - + # 创建节点对象，节点ID留空，将通过自动查找功能获取 nodes.append(OpcUaNode( name=name, node_type=node_type, data_type=data_type )) - + # 返回节点列表和名称映射字典 return nodes, name_mapping, reverse_mapping @@ -328,7 +328,7 @@ class BaseClient(UniversalDriver): logger.info(f"重新查找成功: '{chinese_name}', NodeId: {node.node_id}") return node raise ValueError(f'节点 {chinese_name} (英文名: {name}) 未注册或未找到') - + # 直接使用原始名称查找 if name not in self._node_registry: if name in self._variables_to_find: @@ -368,14 +368,14 @@ class BaseClient(UniversalDriver): for node in node_list: if node is None: continue - + if node.name in self._node_registry: logger.debug(f'节点 "{node.name}" 已存在于注册表') exist = self._node_registry[node.name] if exist.type != node.node_type: raise ValueError(f'节点 {node.name} 类型 {node.node_type} 与已存在的类型 {exist.type} 不一致') continue - + # 将节点添加到待查找列表 self._variables_to_find[node.name] = { "node_type": node.node_type, @@ -385,11 +385,11 @@ class BaseClient(UniversalDriver): logger.debug(f'添加节点 "{node.name}" ({node.node_type}) 到待查找列表') logger.info(f'节点注册完成：新增 {new_nodes_count} 个待查找节点，总计 {len(self._variables_to_find)} 个') - + # 如果客户端已连接，立即开始查找 if self.client: self._find_nodes() - + return self def run_opcua_workflow(self, workflow: OpcUaWorkflow) -> None: @@ -480,7 +480,7 @@ class BaseClient(UniversalDriver): def create_node_function(self, func_name: str = None, node_name: str = None, mode: str = None, value: Any = None, **kwargs) -> Callable[[Callable[[str], OpcUaNodeBase]], bool]: def execute_node_function(use_node: Callable[[str], OpcUaNodeBase]) -> Union[bool, Tuple[Any, bool]]: target_node = use_node(node_name) - + # 检查是否有对应的参数值可用 current_value = value if hasattr(self, '_workflow_params') and func_name in self._workflow_params: @@ -488,19 +488,21 @@ class BaseClient(UniversalDriver): print(f"使用参数值 {func_name} = {current_value}") else: print(f"执行 {node_name}, {type(target_node).__name__}, {target_node.node_id}, {mode}, {current_value}") - + if mode == 'read': result_str = self.read_node(node_name) - + try: # 将字符串转换为字典 result_str = result_str.replace("'", '"') # 替换单引号为双引号以便JSON解析 result_dict = json.loads(result_str) - + # 从字典获取值和错误标志 val = result_dict.get("value") err = result_dict.get("error") - + + print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}), 错误 = {err}") + print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}, 错误 = {err}") return val, err except Exception as e: @@ -510,7 +512,7 @@ class BaseClient(UniversalDriver): # 构造完整的JSON输入，包含node_name和value input_json = json.dumps({"node_name": node_name, "value": current_value}) result_str = self.write_node(input_json) - + try: # 解析返回的字符串为字典 result_str = result_str.replace("'", '"') # 替换单引号为双引号以便JSON解析 @@ -527,19 +529,19 @@ class BaseClient(UniversalDriver): print(f"调用方法 {node_name} 参数 = {args}, 返回值 = {result}") return result return False - + if func_name is None: func_name = f"{node_name}_{mode}_{str(value)}" - + print(f"创建 node function: {mode}, {func_name}") self.function_name[func_name] = execute_node_function - + return execute_node_function - + def create_init_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): """ 创建初始化函数 - + 参数: func_name: 函数名称 write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} @@ -599,25 +601,25 @@ class BaseClient(UniversalDriver): except Exception as e: print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}") return True - + if func_name is None: func_name = f"init_function_{str(time.time())}" - + print(f"创建初始化函数: {func_name}") self.function_name[func_name] = execute_init_function return execute_init_function - + def create_stop_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): """ 创建停止函数 - + 参数: func_name: 函数名称 write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} """ if write_nodes is None: raise ValueError("必须提供write_nodes参数") - + def execute_stop_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: if isinstance(write_nodes, list): # 处理节点列表，默认值都是False @@ -647,25 +649,25 @@ class BaseClient(UniversalDriver): except Exception as e: print(f"停止函数: 解析写入结果失败: {e}, 原始结果: {result_str}") return True - + if func_name is None: func_name = f"stop_function_{str(time.time())}" - + print(f"创建停止函数: {func_name}") self.function_name[func_name] = execute_stop_function return execute_stop_function - + def create_cleanup_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): """ 创建清理函数 - + 参数: func_name: 函数名称 write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} """ if write_nodes is None: raise ValueError("必须提供write_nodes参数") - + def execute_cleanup_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: if isinstance(write_nodes, list): # 处理节点列表，默认值都是False @@ -695,10 +697,10 @@ class BaseClient(UniversalDriver): except Exception as e: print(f"清理函数: 解析写入结果失败: {e}, 原始结果: {result_str}") return True - + if func_name is None: func_name = f"cleanup_function_{str(time.time())}" - + print(f"创建清理函数: {func_name}") self.function_name[func_name] = execute_cleanup_function return execute_cleanup_function @@ -706,7 +708,7 @@ class BaseClient(UniversalDriver): def create_start_function(self, func_name: str, stop_condition_expression: str = "True", write_nodes: Union[Dict[str, Any], List[str]] = None, condition_nodes: Union[Dict[str, str], List[str]] = None): """ 创建开始函数 - + 参数: func_name: 函数名称 stop_condition_expression: 停止条件表达式，可直接引用节点名称 @@ -756,16 +758,16 @@ class BaseClient(UniversalDriver): print(f"直接写入 {node_name} = {current_value}, 结果: {success}") except Exception as e: print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}") - + # 如果没有条件节点，立即返回 if not condition_nodes: return True - + # 处理条件检查和等待 while True: next_loop = False condition_source = {} - + # 直接读取条件节点 if isinstance(condition_nodes, list): # 处理节点列表 @@ -779,11 +781,11 @@ class BaseClient(UniversalDriver): read_res = result_dict.get("value") read_err = result_dict.get("error", False) print(f"直接读取 {node_name} 返回值 = {read_res}, 错误 = {read_err}") - + if read_err: next_loop = True break - + # 将节点值存入条件源字典，使用节点名称作为键 condition_source[node_name] = read_res # 为了向后兼容，也保留read_i格式 @@ -804,11 +806,11 @@ class BaseClient(UniversalDriver): read_res = result_dict.get("value") read_err = result_dict.get("error", False) print(f"直接读取 {node_name} 返回值 = {read_res}, 错误 = {read_err}") - + if read_err: next_loop = True break - + # 将节点值存入条件源字典 condition_source[node_name] = read_res # 也保存使用函数名作为键 @@ -817,13 +819,13 @@ class BaseClient(UniversalDriver): print(f"解析直接读取结果失败: {e}, 原始结果: {result_str}") next_loop = True break - + if not next_loop: if stop_condition_expression: # 添加调试信息 print(f"条件源数据: {condition_source}") condition_source["__RESULT"] = None - + # 确保安全地执行条件表达式 try: # 先尝试使用eval更安全的方式计算表达式 @@ -837,10 +839,10 @@ class BaseClient(UniversalDriver): except Exception as e2: print(f"使用exec执行表达式也失败: {e2}") condition_source["__RESULT"] = False - + res = condition_source["__RESULT"] print(f"取得计算结果: {res}, 条件表达式: {stop_condition_expression}") - + if res: print("满足停止条件，结束工作流") break @@ -849,21 +851,21 @@ class BaseClient(UniversalDriver): break else: time.sleep(0.3) - + return True - + self.function_name[func_name] = execute_start_function return execute_start_function create_action_from_json = None - + def create_action_from_json(self, data: Union[Dict, Any]) -> WorkflowAction: """ 从JSON配置创建工作流动作 - + 参数: data: 动作JSON数据 - + 返回: WorkflowAction对象 """ @@ -874,7 +876,7 @@ class BaseClient(UniversalDriver): stop_function = None init_function = None cleanup_function = None - + # 提取start_function相关信息 if hasattr(data, "start_function") and data.start_function: start_function = data.start_function @@ -888,31 +890,31 @@ class BaseClient(UniversalDriver): write_nodes = start_function["write_nodes"] if "condition_nodes" in start_function: condition_nodes = start_function["condition_nodes"] - + # 提取stop_function信息 if hasattr(data, "stop_function") and data.stop_function: stop_function = data.stop_function elif isinstance(data, dict) and data.get("stop_function"): stop_function = data.get("stop_function") - + # 提取init_function信息 if hasattr(data, "init_function") and data.init_function: init_function = data.init_function elif isinstance(data, dict) and data.get("init_function"): init_function = data.get("init_function") - + # 提取cleanup_function信息 if hasattr(data, "cleanup_function") and data.cleanup_function: cleanup_function = data.cleanup_function elif isinstance(data, dict) and data.get("cleanup_function"): cleanup_function = data.get("cleanup_function") - + # 创建工作流动作组件 init = None start = None stop = None cleanup = None - + # 处理init function if init_function: init_params = {"func_name": init_function.get("func_name")} @@ -921,9 +923,9 @@ class BaseClient(UniversalDriver): else: # 如果没有write_nodes，创建一个空字典 init_params["write_nodes"] = {} - + init = self.create_init_function(**init_params) - + # 处理start function if start_function: start_params = { @@ -933,7 +935,7 @@ class BaseClient(UniversalDriver): "condition_nodes": condition_nodes } start = self.create_start_function(**start_params) - + # 处理stop function if stop_function: stop_params = { @@ -941,7 +943,7 @@ class BaseClient(UniversalDriver): "write_nodes": stop_function.get("write_nodes", {}) } stop = self.create_stop_function(**stop_params) - + # 处理cleanup function if cleanup_function: cleanup_params = { @@ -949,22 +951,22 @@ class BaseClient(UniversalDriver): "write_nodes": cleanup_function.get("write_nodes", {}) } cleanup = self.create_cleanup_function(**cleanup_params) - + return WorkflowAction(init=init, start=start, stop=stop, cleanup=cleanup) - + workflow_name: Dict[str, OpcUaWorkflowModel] = {} def create_workflow_from_json(self, data: List[Dict]) -> None: """ 从JSON配置创建工作流程序 - + 参数: data: 工作流配置列表 """ for ind, flow_dict in enumerate(data): print(f"正在创建 workflow {ind}, {flow_dict['name']}") actions = [] - + for i in flow_dict["action"]: if isinstance(i, str): print(f"沿用已有 workflow 作为 action: {i}") @@ -973,14 +975,14 @@ class BaseClient(UniversalDriver): print("创建 action") # 直接将字典转换为SimplifiedActionJson对象或直接使用字典 action = self.create_action_from_json(i) - + actions.append(action) - + # 获取参数 parameters = flow_dict.get("parameters", []) - + flow_instance = OpcUaWorkflowModel( - name=flow_dict["name"], + name=flow_dict["name"], actions=actions, parameters=parameters, description=flow_dict.get("description", "") @@ -1005,19 +1007,19 @@ class BaseClient(UniversalDriver): register_params = data.register_node_list_from_csv_path create_flow = data.create_flow execute_flow = data.execute_flow if hasattr(data, "execute_flow") else [] - + # 注册节点 if register_params: print(f"注册节点 csv: {register_params}") self.register_node_list_from_csv_path(**register_params) - + # 创建工作流 print("创建工作流") self.create_workflow_from_json(create_flow) - + # 注册工作流为实例方法 self.register_workflows_as_methods() - + # 如果存在execute_flow字段，则执行指定的工作流（向后兼容） if execute_flow: print("执行工作流") @@ -1029,12 +1031,12 @@ class BaseClient(UniversalDriver): # 获取工作流的参数信息（如果存在） workflow_params = getattr(workflow, 'parameters', []) or [] workflow_desc = getattr(workflow, 'description', None) or f"执行工作流: {workflow_name}" - + # 创建执行工作流的方法 def create_workflow_method(wf_name=workflow_name, wf=workflow, params=workflow_params): def workflow_method(*args, **kwargs): logger.info(f"执行工作流: {wf_name}, 参数: {args}, {kwargs}") - + # 处理传入的参数 if params and (args or kwargs): # 将位置参数转换为关键字参数 @@ -1042,31 +1044,31 @@ class BaseClient(UniversalDriver): for i, param_name in enumerate(params): if i < len(args): params_dict[param_name] = args[i] - + # 合并关键字参数 params_dict.update(kwargs) - + # 保存参数，供节点函数使用 self._workflow_params = params_dict else: self._workflow_params = {} - + # 执行工作流 result = self.run_opcua_workflow_model(wf) - + # 清理参数 self._workflow_params = {} - + return result - + # 设置方法的文档字符串 workflow_method.__doc__ = workflow_desc if params: param_doc = ", ".join(params) workflow_method.__doc__ += f"\n参数: {param_doc}" - + return workflow_method - + # 注册为实例方法 method = create_workflow_method() setattr(self, workflow_name, method) @@ -1082,7 +1084,7 @@ class BaseClient(UniversalDriver): try: node = self.use_node(node_name) value, error = node.read() - + # 创建结果字典 result = { "value": value, @@ -1090,7 +1092,7 @@ class BaseClient(UniversalDriver): "node_name": node_name, "timestamp": time.time() } - + # 返回JSON字符串 return json.dumps(result) except Exception as e: @@ -1104,7 +1106,7 @@ class BaseClient(UniversalDriver): "timestamp": time.time() } return json.dumps(result) - + def write_node(self, json_input: str) -> str: """ 写入节点值的便捷方法 @@ -1118,24 +1120,24 @@ class BaseClient(UniversalDriver): # 解析JSON格式的输入 if not isinstance(json_input, str): json_input = str(json_input) - + try: input_data = json.loads(json_input) if not isinstance(input_data, dict): return json.dumps({"error": True, "error_message": "输入必须是包含node_name和value的JSON对象", "success": False}) - + # 从JSON中提取节点名称和值 node_name = input_data.get("node_name") value = input_data.get("value") - + if node_name is None: return json.dumps({"error": True, "error_message": "JSON中缺少node_name字段", "success": False}) except json.JSONDecodeError as e: return json.dumps({"error": True, "error_message": f"JSON解析错误: {str(e)}", "success": False}) - + node = self.use_node(node_name) error = node.write(value) - + # 创建结果字典 result = { "value": value, @@ -1144,7 +1146,7 @@ class BaseClient(UniversalDriver): "timestamp": time.time(), "success": not error } - + return json.dumps(result) except Exception as e: logger.error(f"写入节点失败: {e}") @@ -1155,7 +1157,7 @@ class BaseClient(UniversalDriver): "success": False } return json.dumps(result) - + def call_method(self, node_name: str, *args) -> Tuple[Any, bool]: """ 调用方法节点的便捷方法 @@ -1175,11 +1177,11 @@ class BaseClient(UniversalDriver): class OpcUaClient(BaseClient): def __init__( - self, - url: str, + self, + url: str, deck: Optional[Union[post_process_deck, Dict[str, Any]]] = None, - config_path: str = None, - username: str = None, + config_path: str = None, + username: str = None, password: str = None, use_subscription: bool = True, cache_timeout: float = 5.0, @@ -1190,9 +1192,10 @@ class OpcUaClient(BaseClient): # 降低OPCUA库的日志级别 import logging logging.getLogger("opcua").setLevel(logging.WARNING) - + super().__init__() + # ===== 关键修改：参照 BioyondWorkstation 处理 deck ===== super().__init__() @@ -1215,15 +1218,15 @@ class OpcUaClient(BaseClient): if hasattr(self.deck, 'children'): warehouse_count = len(self.deck.children) logger.info(f"Deck 初始化完成，加载 {warehouse_count} 个资源") - - + + # OPC UA 客户端初始化 client = Client(url) - + if username and password: client.set_user(username) client.set_password(password) - + self._set_client(client) # 订阅相关属性 @@ -1231,30 +1234,30 @@ class OpcUaClient(BaseClient): self._subscription = None self._subscription_handles = {} self._subscription_interval = subscription_interval - + # 缓存相关属性 self._node_values = {} # 修改为支持时间戳的缓存结构 self._cache_timeout = cache_timeout - + # 连接状态监控 self._connection_check_interval = 30.0 # 连接检查间隔(秒) self._connection_monitor_running = False self._connection_monitor_thread = None - + # 添加线程锁，保护OPC UA客户端的并发访问 import threading self._client_lock = threading.RLock() - + # 连接到服务器 self._connect() - + # 如果提供了配置文件路径，则加载配置并注册工作流 if config_path: self.load_config(config_path) - + # 启动连接监控 self._start_connection_monitor() - + def _connect(self) -> None: """连接到OPC UA服务器""" @@ -1263,23 +1266,23 @@ class OpcUaClient(BaseClient): try: self.client.connect() logger.info('✓ 客户端已连接!') - + # 连接后开始查找节点 if self._variables_to_find: self._find_nodes() - + # 如果启用订阅模式，设置订阅 if self._use_subscription: self._setup_subscriptions() else: logger.info("订阅模式已禁用，将使用按需读取模式") - + except Exception as e: logger.error(f'客户端连接失败: {e}') raise else: raise ValueError('客户端未初始化') - + class SubscriptionHandler: """freeopcua订阅处理器：必须实现 datachange_notification 方法""" def __init__(self, outer): @@ -1300,22 +1303,22 @@ class OpcUaClient(BaseClient): """设置 OPC UA 订阅""" if not self.client or not self._use_subscription: return - + with self._client_lock: try: logger.info(f"开始设置订阅 (发布间隔: {self._subscription_interval}ms)...") - + # 创建订阅 handler = OpcUaClient.SubscriptionHandler(self) self._subscription = self.client.create_subscription( self._subscription_interval, handler ) - + # 为所有变量节点创建监控项 subscribed_count = 0 skipped_count = 0 - + for node_name, node in self._node_registry.items(): # 只为变量节点创建订阅 if node.type == NodeType.VARIABLE and node.node_id: @@ -1333,16 +1336,16 @@ class OpcUaClient(BaseClient): logger.warning(f"✗ 订阅节点 {node_name} 失败: {e}") else: skipped_count += 1 - + logger.info(f"订阅设置完成: 成功 {subscribed_count} 个, 跳过 {skipped_count} 个") - + except Exception as e: logger.error(f"设置订阅失败: {e}") traceback.print_exc() # 订阅失败时回退到按需读取模式 self._use_subscription = False logger.warning("订阅模式设置失败，已自动切换到按需读取模式") - + def _on_subscription_datachange(self, node, val, data): """订阅数据变化处理器（供内部 SubscriptionHandler 调用）""" try: @@ -1360,11 +1363,11 @@ class OpcUaClient(BaseClient): break except Exception as e: logger.error(f"处理订阅数据失败: {e}") - + def get_node_value(self, name, use_cache=True, force_read=False): """ 获取节点值（智能缓存版本） - + 参数: name: 节点名称（支持中文名或英文名） use_cache: 是否使用缓存 @@ -1373,11 +1376,28 @@ class OpcUaClient(BaseClient): # 处理名称映射 if name in self._name_mapping: chinese_name = self._name_mapping[name] + # 优先从缓存获取值 + if chinese_name in self._node_values: + return self._node_values[chinese_name] + # 缓存中没有则直接读取 + value, _ = self.use_node(chinese_name).read() + return value + # 如果提供的是中文名，直接使用 + elif name in self._node_registry: + # 优先从缓存获取值 + if name in self._node_values: + return self._node_values[name] + # 缓存中没有则直接读取 + value, _ = self.use_node(name).read() + return value + else: + raise ValueError(f"未找到名称为 '{name}' 的节点") + elif name in self._node_registry: chinese_name = name else: raise ValueError(f"未找到名称为 '{name}' 的节点") - + # 如果强制读取，直接从服务器读取 if force_read: with self._client_lock: @@ -1389,18 +1409,18 @@ class OpcUaClient(BaseClient): 'source': 'forced_read' } return value - + # 检查缓存 if use_cache and chinese_name in self._node_values: cache_entry = self._node_values[chinese_name] cache_age = time.time() - cache_entry['timestamp'] - + # 如果是订阅模式，缓存永久有效（由订阅更新） # 如果是按需读取模式，检查缓存超时 if cache_entry.get('source') == 'subscription' or cache_age < self._cache_timeout: logger.debug(f"从缓存读取: {chinese_name} = {cache_entry['value']} (age: {cache_age:.2f}s, source: {cache_entry.get('source', 'unknown')})") return cache_entry['value'] - + # 缓存过期或不存在，从服务器读取 with self._client_lock: try: @@ -1419,7 +1439,7 @@ class OpcUaClient(BaseClient): except Exception as e: logger.error(f"读取节点 {chinese_name} 出错: {e}") return None - + def set_node_value(self, name, value): """ 设置节点值 @@ -1432,12 +1452,28 @@ class OpcUaClient(BaseClient): chinese_name = name else: raise ValueError(f"未找到名称为 '{name}' 的节点") - + + # 写入值 + error = node.write(value) + if not error: + # 更新缓存 + if hasattr(node, 'name'): + self._node_values[node.name] = value + return True + return False + + def _refresh_worker(self): + """节点值刷新线程的工作函数""" + self._refresh_running = True + logger.info(f"节点值刷新线程已启动，刷新间隔: {self._refresh_interval}秒") + + while self._refresh_running: + with self._client_lock: try: node = self.use_node(chinese_name) error = node.write(value) - + if not error: # 写入成功，立即更新缓存 self._node_values[chinese_name] = { @@ -1453,7 +1489,7 @@ class OpcUaClient(BaseClient): except Exception as e: logger.error(f"写入节点 {chinese_name} 出错: {e}") return False - + def _check_connection(self) -> bool: """检查连接状态""" try: @@ -1466,22 +1502,33 @@ class OpcUaClient(BaseClient): logger.warning(f"连接检查失败: {e}") return False return False - + def _connection_monitor_worker(self): """连接监控线程工作函数""" self._connection_monitor_running = True logger.info(f"连接监控线程已启动 (检查间隔: {self._connection_check_interval}秒)") - + reconnect_attempts = 0 max_reconnect_attempts = 5 - + while self._connection_monitor_running: try: + self.refresh_node_values() + except Exception as e: + logger.error(f"节点值刷新过程出错: {e}") + + # 等待下一次刷新 + time.sleep(self._refresh_interval) + + def start_node_refresh(self): + """启动节点值刷新线程""" + if self._refresh_thread is not None and self._refresh_thread.is_alive(): + logger.warning("节点值刷新线程已在运行") # 检查连接状态 if not self._check_connection(): logger.warning("检测到连接断开，尝试重新连接...") reconnect_attempts += 1 - + if reconnect_attempts <= max_reconnect_attempts: try: # 尝试重新连接 @@ -1491,14 +1538,14 @@ class OpcUaClient(BaseClient): self.client.disconnect() except: pass - + self.client.connect() logger.info("✓ 重新连接成功") - + # 重新设置订阅 if self._use_subscription: self._setup_subscriptions() - + reconnect_attempts = 0 except Exception as e: logger.error(f"重新连接失败 (尝试 {reconnect_attempts}/{max_reconnect_attempts}): {e}") @@ -1509,34 +1556,44 @@ class OpcUaClient(BaseClient): else: # 连接正常，重置重连计数 reconnect_attempts = 0 - + except Exception as e: logger.error(f"连接监控出错: {e}") - + # 等待下次检查 time.sleep(self._connection_check_interval) - + def _start_connection_monitor(self): """启动连接监控线程""" if self._connection_monitor_thread is not None and self._connection_monitor_thread.is_alive(): logger.warning("连接监控线程已在运行") return - + import threading + self._refresh_thread = threading.Thread(target=self._refresh_worker, daemon=True) + self._refresh_thread.start() + + def stop_node_refresh(self): + """停止节点值刷新线程""" + self._refresh_running = False + if self._refresh_thread and self._refresh_thread.is_alive(): + self._refresh_thread.join(timeout=2.0) + logger.info("节点值刷新线程已停止") + self._connection_monitor_thread = threading.Thread( - target=self._connection_monitor_worker, + target=self._connection_monitor_worker, daemon=True, name="OpcUaConnectionMonitor" ) self._connection_monitor_thread.start() - + def _stop_connection_monitor(self): """停止连接监控线程""" self._connection_monitor_running = False if self._connection_monitor_thread and self._connection_monitor_thread.is_alive(): self._connection_monitor_thread.join(timeout=2.0) logger.info("连接监控线程已停止") - + def read_node(self, node_name: str) -> str: """ 读取节点值的便捷方法（使用缓存） @@ -1545,11 +1602,11 @@ class OpcUaClient(BaseClient): try: # 使用get_node_value方法，自动处理缓存 value = self.get_node_value(node_name, use_cache=True) - + # 获取缓存信息 chinese_name = self._name_mapping.get(node_name, node_name) cache_info = self._node_values.get(chinese_name, {}) - + result = { "value": value, "error": False, @@ -1558,7 +1615,7 @@ class OpcUaClient(BaseClient): "cache_age": time.time() - cache_info.get('timestamp', time.time()), "source": cache_info.get('source', 'unknown') } - + return json.dumps(result) except Exception as e: logger.error(f"读取节点 {node_name} 失败: {e}") @@ -1582,21 +1639,21 @@ class OpcUaClient(BaseClient): 'cache_timeout': self._cache_timeout, 'using_subscription': self._use_subscription } - + for node_name, cache_entry in self._node_values.items(): source = cache_entry.get('source', 'unknown') cache_age = current_time - cache_entry['timestamp'] - + if source == 'subscription': stats['subscription_nodes'] += 1 elif source in ['on_demand_read', 'forced_read', 'write']: stats['on_demand_nodes'] += 1 - + if cache_age > self._cache_timeout: stats['expired_nodes'] += 1 - + return stats - + def print_cache_stats(self): """打印缓存统计信息""" stats = self.get_cache_stats() @@ -1610,37 +1667,41 @@ class OpcUaClient(BaseClient): print(f" - 已过期节点: {stats['expired_nodes']}") print(f"缓存超时时间: {stats['cache_timeout']}秒") print("="*80 + "\n") - + def load_config(self, config_path: str) -> None: """从JSON配置文件加载并注册工作流""" try: with open(config_path, 'r', encoding='utf-8') as f: config_data = json.load(f) - + # 处理节点注册 if "register_node_list_from_csv_path" in config_data: config_dir = os.path.dirname(os.path.abspath(config_path)) - + + # 处理CSV路径，如果是相对路径，则相对于配置文件所在目录 + if "path" in config_data["register_node_list_from_csv_path"]: csv_path = config_data["register_node_list_from_csv_path"]["path"] if not os.path.isabs(csv_path): csv_path = os.path.join(config_dir, csv_path) config_data["register_node_list_from_csv_path"]["path"] = csv_path - + + # 直接使用字典 + self.register_node_list_from_csv_path(**config_data["register_node_list_from_csv_path"]) - + if self.client and self._variables_to_find: logger.info("CSV加载完成，开始查找服务器节点...") self._find_nodes() - + # 处理工作流创建 if "create_flow" in config_data: self.create_workflow_from_json(config_data["create_flow"]) self.register_workflows_as_methods() - - # 将所有节点注册为属性 + + # 将所有节点注册为属性（只注册已找到的节点） self._register_nodes_as_attributes() - + # 打印统计信息 found_count = len(self._node_registry) total_count = len(self._variables_to_find) @@ -1648,23 +1709,114 @@ class OpcUaClient(BaseClient): logger.warning(f"节点查找完成：找到 {found_count}/{total_count} 个节点") else: logger.info(f"✓ 节点查找完成：所有 {found_count} 个节点均已找到") - + # 如果使用订阅模式，重新设置订阅（确保新节点被订阅） if self._use_subscription and found_count > 0: self._setup_subscriptions() - + logger.info(f"成功从 {config_path} 加载配置") except Exception as e: logger.error(f"加载配置文件 {config_path} 失败: {e}") traceback.print_exc() - + + def print_node_registry_status(self): + """打印节点注册状态，用于调试""" + print("\n" + "="*80) + print("节点注册状态诊断报告") + print("="*80) + print(f"\n待查找节点总数: {len(self._variables_to_find)}") + print(f"已找到节点总数: {len(self._node_registry)}") + print(f"未找到节点总数: {len(self._variables_to_find) - len(self._node_registry)}") + + # 显示已找到的节点（前10个） + if self._node_registry: + print(f"\n✓ 已找到的节点 (显示前10个):") + for i, (name, node) in enumerate(list(self._node_registry.items())[:10]): + eng_name = self._reverse_mapping.get(name, "") + eng_info = f" ({eng_name})" if eng_name else "" + print(f" {i+1}. '{name}'{eng_info}") + print(f" NodeId: {node.node_id}") + print(f" Type: {node.type}") + + # 显示未找到的节点 + not_found = [name for name in self._variables_to_find if name not in self._node_registry] + if not_found: + print(f"\n✗ 未找到的节点 (显示前20个):") + for i, name in enumerate(not_found[:20]): + eng_name = self._reverse_mapping.get(name, "") + eng_info = f" ({eng_name})" if eng_name else "" + node_info = self._variables_to_find[name] + print(f" {i+1}. '{name}'{eng_info} - {node_info['node_type']}") + + print("\n" + "="*80) + print("提示：") + print("1. 如果大量节点未找到，请检查CSV中的节点名称是否与服务器BrowseName完全匹配") + print("2. 可以使用 client.browse_server_nodes() 查看服务器的实际节点结构") + print("3. 节点名称区分大小写，且包括所有空格和特殊字符") + print("="*80 + "\n") + + def browse_server_nodes(self, max_depth=3, start_path=["0:Objects"]): + """浏览服务器节点树，用于调试和对比""" + if not self.client: + print("客户端未连接") + return + + print("\n" + "="*80) + print(f"服务器节点浏览 (最大深度: {max_depth})") + print("="*80 + "\n") + + try: + root = self.client.get_root_node() + start_node = root.get_child(start_path) + self._browse_node_recursive(start_node, depth=0, max_depth=max_depth) + except Exception as e: + print(f"浏览失败: {e}") + traceback.print_exc() + + def _browse_node_recursive(self, node, depth=0, max_depth=3): + """递归浏览节点""" + if depth > max_depth: + return + + try: + browse_name = node.get_browse_name() + node_class = node.get_node_class() + indent = " " * depth + + # 显示节点信息 + print(f"{indent}├─ {browse_name.Name}") + print(f"{indent}│ NodeId: {str(node.nodeid)}") + print(f"{indent}│ NodeClass: {node_class}") + + # 如果是变量，显示数据类型 + if node_class == NodeClass.Variable: + try: + data_type = node.get_data_type() + print(f"{indent}│ DataType: {data_type}") + except: + pass + + # 递归处理子节点（限制数量避免输出过多） + if depth < max_depth: + children = node.get_children() + for i, child in enumerate(children[:20]): # 每层最多显示20个子节点 + self._browse_node_recursive(child, depth + 1, max_depth) + if len(children) > 20: + print(f"{indent} ... ({len(children) - 20} more children)") + except Exception as e: + # 忽略单个节点的错误 + pass + def disconnect(self): + # 停止刷新线程 + self.stop_node_refresh() + """断开连接并清理资源""" logger.info("正在断开连接...") - + # 停止连接监控 self._stop_connection_monitor() - + # 删除订阅 if self._subscription: try: @@ -1673,7 +1825,7 @@ class OpcUaClient(BaseClient): logger.info("订阅已删除") except Exception as e: logger.warning(f"删除订阅失败: {e}") - + # 断开客户端连接 if self.client: try: @@ -1682,22 +1834,22 @@ class OpcUaClient(BaseClient): logger.info("✓ OPC UA 客户端已断开连接") except Exception as e: logger.error(f"断开连接失败: {e}") - + def _register_nodes_as_attributes(self): """将所有节点注册为实例属性""" for node_name, node in self._node_registry.items(): if not node.node_id or node.node_id == "": logger.warning(f"⚠ 节点 '{node_name}' 的 node_id 为空，跳过注册为属性") continue - + eng_name = self._reverse_mapping.get(node_name) attr_name = eng_name if eng_name else node_name.replace(' ', '_').replace('-', '_') - + def create_property_getter(node_key): def getter(self): return self.get_node_value(node_key, use_cache=True) return getter - + setattr(OpcUaClient, attr_name, property(create_property_getter(node_name))) logger.debug(f"已注册节点 '{node_name}' 为属性 '{attr_name}'") @@ -1705,14 +1857,14 @@ class OpcUaClient(BaseClient): """ROS2 节点就绪后的初始化""" if not (hasattr(self, 'deck') and self.deck): return - + if not (hasattr(ros_node, 'resource_tracker') and ros_node.resource_tracker): logger.warning("resource_tracker 不存在，无法注册 deck") return - + # 1. 本地注册（必需） ros_node.resource_tracker.add_resource(self.deck) - + # 2. 上传云端 try: from unilabos.ros.nodes.base_device_node import ROS2DeviceNode @@ -1728,30 +1880,30 @@ class OpcUaClient(BaseClient): if __name__ == '__main__': # 示例用法 - + # 使用配置文件创建客户端并自动注册工作流 import os current_dir = os.path.dirname(os.path.abspath(__file__)) config_path = os.path.join(current_dir, "opcua_huairou.json") - + # 创建OPC UA客户端并加载配置 try: client = OpcUaClient( url="opc.tcp://192.168.1.88:4840/freeopcua/server/", # 替换为实际的OPC UA服务器地址 config_path="D:\\Uni-Lab-OS\\unilabos\\device_comms\\opcua_client\\opcua_huairou.json" # 传入配置文件路径 ) - + # 列出所有已注册的工作流 print("\n已注册的工作流：") for workflow_name in client.workflow_name: print(f" - {workflow_name}") - + # 测试trigger_grab_action工作流 - 使用英文参数名 print("\n测试trigger_grab_action工作流 - 使用英文参数名:") client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=2) # client.set_node_value("reaction_tank_number", 2) - + # 读取节点值 - 使用英文节点名 grab_complete = client.get_node_value("grab_complete") reaction_tank = client.get_node_value("reaction_tank_number") @@ -1761,19 +1913,19 @@ if __name__ == '__main__': print(f" - 抓取完成状态: {grab_complete}") print(f" - 当前反应罐号码: {reaction_tank}") print(f" - 当前原料罐号码: {raw_tank}") - + # 测试节点值写入 - 使用英文节点名 print("\n测试节点值写入 (使用英文节点名):") success = client.set_node_value("atomization_fast_speed", 150.5) print(f" - 写入搅拌浆雾化快速 = 150.5, 结果: {success}") - + # 读取写入的值 atomization_speed = client.get_node_value("atomization_fast_speed") print(f" - 读取搅拌浆雾化快速: {atomization_speed}") - + # 断开连接 client.disconnect() - + except Exception as e: print(f"错误: {e}") traceback.print_exc() diff --git a/unilabos/device_comms/opcua_client/node/uniopcua.py b/unilabos/device_comms/opcua_client/node/uniopcua.py index d99a5fd7..a06d780c 100644 --- a/unilabos/device_comms/opcua_client/node/uniopcua.py +++ b/unilabos/device_comms/opcua_client/node/uniopcua.py @@ -43,7 +43,7 @@ class Base(ABC): self._type = typ self._data_type = data_type self._node: Optional[Node] = None - + def _get_node(self) -> Node: if self._node is None: try: @@ -66,7 +66,7 @@ class Base(ABC): # 直接以字符串形式处理 if isinstance(nid, str): nid = nid.strip() - + # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)' # 提取括号内的内容 match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid) @@ -116,16 +116,16 @@ class Base(ABC): def read(self) -> Tuple[Any, bool]: """读取节点值，返回(值, 是否出错)""" pass - + @abstractmethod def write(self, value: Any) -> bool: """写入节点值，返回是否出错""" pass - + @property def type(self) -> NodeType: return self._type - + @property def node_id(self) -> str: return self._node_id @@ -210,15 +210,15 @@ class Method(Base): super().__init__(client, name, node_id, NodeType.METHOD, data_type) self._parent_node_id = parent_node_id self._parent_node = None - + def _get_parent_node(self) -> Node: if self._parent_node is None: try: # 处理父节点ID，使用与_get_node相同的解析逻辑 import re - + nid = self._parent_node_id - + # 如果已经是 NodeId 对象，直接使用 try: from opcua.ua import NodeId as UaNodeId @@ -227,16 +227,16 @@ class Method(Base): return self._parent_node except Exception: pass - + # 字符串处理 if isinstance(nid, str): nid = nid.strip() - + # 处理包含类名的格式 match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid) if match_wrapped: nid = match_wrapped.group(2).strip() - + # 常见短格式 if re.match(r'^ns=\d+;[is]=', nid): self._parent_node = self._client.get_node(nid) @@ -271,7 +271,7 @@ class Method(Base): def write(self, value: Any) -> bool: """方法节点不支持写入操作""" return True - + def call(self, *args) -> Tuple[Any, bool]: """调用方法，返回(返回值, 是否出错)""" try: @@ -285,7 +285,7 @@ class Method(Base): class Object(Base): def __init__(self, client: Client, name: str, node_id: str): super().__init__(client, name, node_id, NodeType.OBJECT, None) - + def read(self) -> Tuple[Any, bool]: """对象节点不支持直接读取操作""" return None, True @@ -293,7 +293,7 @@ class Object(Base): def write(self, value: Any) -> bool: """对象节点不支持直接写入操作""" return True - + def get_children(self) -> Tuple[List[Node], bool]: """获取子节点列表，返回(子节点列表, 是否出错)""" try: @@ -301,4 +301,4 @@ class Object(Base): return children, False except Exception as e: print(f"获取对象 {self._name} 的子节点失败: {e}") - return [], True \ No newline at end of file + return [], True diff --git a/unilabos/devices/workstation/README.md b/unilabos/devices/workstation/README.md index f96ed7f0..1c38f401 100644 --- a/unilabos/devices/workstation/README.md +++ b/unilabos/devices/workstation/README.md @@ -1,9 +1,5 @@ # 工作站抽象基类物料系统架构说明 -## 设计理念 - -基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。 - ### 核心原则 1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系 diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20251229_多订单返回说明.md b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20251229_多订单返回说明.md new file mode 100644 index 00000000..baecac95 --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20251229_多订单返回说明.md @@ -0,0 +1,113 @@ +# Bioyond Cell 工作站 - 多订单返回示例 + +本文档说明了 `create_orders` 函数如何收集并返回所有订单的完成报文。 + +## 问题描述 + +之前的实现只会等待并返回第一个订单的完成报文，如果有多个订单（例如从 Excel 解析出 3 个订单），只能得到第一个订单的推送信息。 + +## 解决方案 + +修改后的 `create_orders` 函数现在会： + +1. **提取所有 orderCode**：从 LIMS 接口返回的 `data` 列表中提取所有订单编号 +2. **逐个等待完成**：遍历所有 orderCode，调用 `wait_for_order_finish` 等待每个订单完成 +3. **收集所有报文**：将每个订单的完成报文存入 `all_reports` 列表 +4. **统一返回**：返回包含所有订单报文的 JSON 格式数据 + +## 返回格式 + +```json +{ + "status": "all_completed", + "total_orders": 3, + "reports": [ + { + "token": "", + "request_time": "2025-12-24T15:32:09.2148671+08:00", + "data": { + "orderId": "3a1e614d-a082-c44a-60be-68647a35e6f1", + "orderCode": "BSO2025122400024", + "orderName": "DP20251224001", + "status": "30", + "workflowStatus": "completed", + "usedMaterials": [...] + } + }, + { + "token": "", + "request_time": "2025-12-24T15:32:09.9999039+08:00", + "data": { + "orderId": "3a1e614d-a0a2-f7a9-9360-610021c9479d", + "orderCode": "BSO2025122400025", + "orderName": "DP20251224002", + "status": "30", + "workflowStatus": "completed", + "usedMaterials": [...] + } + }, + { + "token": "", + "request_time": "2025-12-24T15:34:00.4139986+08:00", + "data": { + "orderId": "3a1e614d-a0cd-81ca-9f7f-2f4e93af01cd", + "orderCode": "BSO2025122400026", + "orderName": "DP20251224003", + "status": "30", + "workflowStatus": "completed", + "usedMaterials": [...] + } + } + ], + "original_response": {...} +} +``` + +## 使用示例 + +```python +# 调用 create_orders +result = workstation.create_orders("20251224.xlsx") + +# 访问返回数据 +print(f"总订单数: {result['total_orders']}") +print(f"状态: {result['status']}") + +# 遍历所有订单的报文 +for i, report in enumerate(result['reports'], 1): + order_data = report.get('data', {}) + print(f"\n订单 {i}:") + print(f" orderCode: {order_data.get('orderCode')}") + print(f" orderName: {order_data.get('orderName')}") + print(f" status: {order_data.get('status')}") + print(f" 使用物料数: {len(order_data.get('usedMaterials', []))}") +``` + +## 控制台输出示例 + +``` +[create_orders] 即将提交订单数量: 3 +[create_orders] 接口返回: {...} +[create_orders] 等待 3 个订单完成: ['BSO2025122400024', 'BSO2025122400025', 'BSO2025122400026'] +[create_orders] 正在等待第 1/3 个订单: BSO2025122400024 +[create_orders] ✓ 订单 BSO2025122400024 完成 +[create_orders] 正在等待第 2/3 个订单: BSO2025122400025 +[create_orders] ✓ 订单 BSO2025122400025 完成 +[create_orders] 正在等待第 3/3 个订单: BSO2025122400026 +[create_orders] ✓ 订单 BSO2025122400026 完成 +[create_orders] 所有订单已完成，共收集 3 个报文 +实验记录本========================create_orders======================== +返回报文数量: 3 +报文 1: orderCode=BSO2025122400024, status=30 +报文 2: orderCode=BSO2025122400025, status=30 +报文 3: orderCode=BSO2025122400026, status=30 +======================== +``` + +## 关键改进 + +1. ✅ **等待所有订单**：不再只等待第一个订单，而是遍历所有 orderCode +2. ✅ **收集完整报文**：每个订单的完整推送报文都被保存在 `reports` 数组中 +3. ✅ **详细日志**：清晰显示正在等待哪个订单，以及完成情况 +4. ✅ **错误处理**：即使某个订单失败，也会记录其状态信息 +5. ✅ **统一格式**：返回的 JSON 格式便于后续处理和分析 diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/202601091.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/202601091.xlsx new file mode 100644 index 0000000000000000000000000000000000000000..9088a16ae42e97f3319e4a0b83882ba690962975 GIT binary patch literal 10149 zcmeHN^;?u{*Bu&%8oDH_*UUY8t+nsHZxsb3WC8#x0384T&;ar=ciqhq001l$0019=j;JSP z3v~iRonEQC+kqVoINWTksk4z0nKA*0@caM0{)<Nq;wEs)bcpJI%HTkFb4u8E}S7i(xC zP(IhUm)mTH5@RP%a+nDrm*6LT^(qpQ3ef%l4dJs2?L^vQ(yKsZrE1Sj?|sh7wA3qv 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new file mode 100644 index 00000000..c48cd439 --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_JSON配置迁移经验.md @@ -0,0 +1,204 @@ +# BioyondCellWorkstation JSON 配置迁移经验总结 + +**日期**: 2026-01-13 +**目的**: 从 `config.py` 迁移到 JSON 配置文件 + +--- + +## 问题背景 + +原系统通过 `config.py` 管理配置，导致： +1. HTTP 服务重复启动（父类 `BioyondWorkstation` 和子类都启动） +2. 配置分散在代码中，不便于管理 +3. 无法通过 JSON 统一配置所有参数 + +--- + +## 解决方案：嵌套配置结构 + +### JSON 结构设计 + +**正确示例** (嵌套在 `config` 中): +```json +{ + "nodes": [{ + "id": "bioyond_cell_workstation", + "config": { + "deck": {...}, + "protocol_type": [], + "bioyond_config": { + "api_host": "http://172.16.11.219:44388", + "api_key": "8A819E5C", + "timeout": 30, + "HTTP_host": "172.16.11.206", + "HTTP_port": 8080, + "debug_mode": false, + "material_type_mappings": {...}, + "warehouse_mapping": {...}, + "solid_liquid_mappings": {...} + } + }, + "data": {} + }] +} +``` + +**关键点**： +- ✅ `bioyond_config` 放在 `config` 中（会传递到 `__init__`） +- ❌ **不要**放在 `data` 中（`data` 是运行时状态，不会传递） + +--- + +## Python 代码适配 + +### 1. 修改 `BioyondCellWorkstation.__init__` 签名 + +**文件**: `bioyond_cell_workstation.py` + +```python +def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs): + """ + Args: + bioyond_config: 从 JSON 加载的配置字典 + deck: Deck 配置 + protocol_type: 协议类型 + """ + # 验证配置 + if bioyond_config is None: + raise ValueError("需要 bioyond_config 参数") + + # 保存配置 + self.bioyond_config = bioyond_config + + # 设置 HTTP 服务去重标志 + self.bioyond_config["_disable_auto_http_service"] = True + + # 调用父类 + super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs) +``` + +### 2. 替换全局变量引用 + +**修改前**（使用全局变量）: +```python +from config import MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING + +def create_sample(self, board_type, ...): + carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1] + location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code] +``` + +**修改后**（从配置读取）: +```python +def create_sample(self, board_type, ...): + carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1] + location_id = self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"][location_code] +``` + +### 3. 修复父类配置访问 + +在 `station.py` 中安全访问配置默认值： + +```python +# 修改前（会 KeyError） +self._http_service_config = { + "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]) +} + +# 修改后（安全访问） +self._http_service_config = { + "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", "")) +} +``` + +--- + +## 常见陷阱 + +### ❌ 错误1：将配置放在 `data` 字段 +```json +"config": {"deck": {...}}, +"data": {"bioyond_config": {...}} // ❌ 不会传递到 __init__ +``` + +### ❌ 错误2：扁平化配置（已废弃方案） +虽然扁平化也能工作，但不推荐： +```json +"config": { + "deck": {...}, + "api_host": "...", // ❌ 不够清晰 + "api_key": "...", + "HTTP_host": "..." +} +``` + +### ❌ 错误3：忘记替换全局变量引用 +代码中直接使用 `MATERIAL_TYPE_MAPPINGS` 等全局变量会导致 `NameError`。 + +--- + +## 云端同步注意事项 + +使用 `--upload_registry` 时，云端配置可能覆盖本地配置： +- 首次上传时确保 JSON 完整 +- 或使用新的 `ak/sk` 避免旧配置干扰 +- 调试时可暂时移除 `--upload_registry` 参数 + +--- + +## 验证清单 + +启动成功后应看到： +``` +✅ 从 JSON 配置加载 bioyond_config 成功 + API Host: http://... + HTTP Service: ... +✅ BioyondCellWorkstation 初始化完成 +Loaded ResourceTreeSet with ... nodes +``` + +运行时不应出现： +- ❌ `NameError: name 'MATERIAL_TYPE_MAPPINGS' is not defined` +- ❌ `KeyError: 'http_service_host'` +- ❌ `bioyond_config 缺少必需参数` + +--- + +## 调试经验 + +1. **添加调试日志**查看参数传递链路： + - `graphio.py`: JSON 加载后的 config 内容 + - `initialize_device.py`: `device_config.res_content.config` 的键 + - `bioyond_cell_workstation.py`: `__init__` 接收到的参数 + +2. **config vs data 区别**： + - `config`: 初始化参数，传递给 `__init__` + - `data`: 运行时状态，不传递给 `__init__` + +3. **参数名必须匹配**： + - JSON 中的键名必须与 `__init__` 参数名完全一致 + +4. **调试代码清理**：完成后记得删除调试日志（🔍 DEBUG 标记） + +--- + +## 修改文件清单 + +| 文件 | 修改内容 | +|------|----------| +| `yibin_electrolyte_config.json` | 创建嵌套 `config.bioyond_config` 结构 | +| `bioyond_cell_workstation.py` | 修改 `__init__` 接收 `bioyond_config`，替换所有全局变量引用 | +| `station.py` | 安全访问 `HTTP_SERVICE_CONFIG` 默认值 | + +--- + +## 参考代码位置 + +- JSON 配置示例: `yibin_electrolyte_config.json` L12-L353 +- `__init__` 实现: `bioyond_cell_workstation.py` L39-L94 +- 全局变量替换示例: `bioyond_cell_workstation.py` L2005, L1863, L1966 +- HTTP 服务配置: `station.py` L629-L634 + +--- + +**总结**: 使用嵌套结构将所有配置放在 `config.bioyond_config` 中，修改 `__init__` 直接接收该参数，并替换所有全局变量引用为 `self.bioyond_config` 访问。 diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_配置迁移修改总结.md b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_配置迁移修改总结.md new file mode 100644 index 00000000..1113549e --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_配置迁移修改总结.md @@ -0,0 +1,312 @@ +# BioyondCell 配置迁移修改总结 + +**日期**: 2026-01-13 +**目标**: 从 `config.py` 完全迁移到 JSON 配置，消除所有全局变量依赖 + +--- + +## 📋 修改概览 + +本次修改完成了 BioyondCell 模块从 Python 配置文件到 JSON 配置的完整迁移，并清理了所有对 `config.py` 全局变量的依赖。 + +### 核心成果 + +- ✅ 完全移除对 `config.py` 的导入依赖 +- ✅ 使用嵌套 JSON 结构 `config.bioyond_config` +- ✅ 修复 7 处 `bioyond_cell_workstation.py` 中的全局变量引用 +- ✅ 修复 3 处其他文件中的全局变量引用 +- ✅ HTTP 服务去重机制完善 +- ✅ 系统成功启动并正常运行 + +--- + +## 🔧 修改文件清单 + +### 1. JSON 配置文件 + +**文件**: `yibin_electrolyte_config.json` + +**修改**: +- 采用嵌套结构将所有配置放在 `config.bioyond_config` 中 +- 包含：`api_host`, `api_key`, `HTTP_host`, `HTTP_port`, `material_type_mappings`, `warehouse_mapping`, `solid_liquid_mappings` 等 + +**示例结构**: +```json +{ + "nodes": [{ + "id": "bioyond_cell_workstation", + "config": { + "deck": {...}, + "protocol_type": [], + "bioyond_config": { + "api_host": "http://172.16.11.219:44388", + "api_key": "8A819E5C", + "HTTP_host": "172.16.11.206", + "HTTP_port": 8080, + "material_type_mappings": {...}, + "warehouse_mapping": {...}, + "solid_liquid_mappings": {...} + } + } + }] +} +``` + +--- + +### 2. bioyond_cell_workstation.py + +**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` + +#### 修改 A: `__init__` 方法签名 (L39-99) + +**修改前**: +```python +def __init__(self, deck=None, protocol_type=None, **kwargs): + # 从 kwargs 收集配置字段 + self.bioyond_config = {} + for field in bioyond_field_names: + if field in kwargs: + self.bioyond_config[field] = kwargs.pop(field) +``` + +**修改后**: +```python +def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs): + """直接接收 bioyond_config 参数""" + if bioyond_config is None: + raise ValueError("需要 bioyond_config 参数") + + self.bioyond_config = bioyond_config + + # 设置 HTTP 服务去重标志 + self.bioyond_config["_disable_auto_http_service"] = True + + super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs) +``` + +#### 修改 B: 替换全局变量引用 (7 处) + +| 位置 | 原代码 | 修改后 | +|------|--------|--------| +| L2005 | `MATERIAL_TYPE_MAPPINGS[board_type][1]` | `self.bioyond_config['material_type_mappings'][board_type][1]` | +| L2006 | `MATERIAL_TYPE_MAPPINGS[bottle_type][1]` | `self.bioyond_config['material_type_mappings'][bottle_type][1]` | +| L2009 | `WAREHOUSE_MAPPING` | `self.bioyond_config['warehouse_mapping']` | +| L2013 | `WAREHOUSE_MAPPING[warehouse_name]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]` | +| L2017 | `WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"]` | +| L1863 | `SOLID_LIQUID_MAPPINGS.get(material_name)` | `self.bioyond_config.get('solid_liquid_mappings', {}).get(material_name)` | +| L1966, L1976 | `MATERIAL_TYPE_MAPPINGS.items()` | `self.bioyond_config['material_type_mappings'].items()` | + +--- + +### 3. station.py + +**位置**: `unilabos/devices/workstation/bioyond_studio/station.py` + +#### 修改 A: 删除 config 导入 (L26-28) + +**修改前**: +```python +from unilabos.devices.workstation.bioyond_studio.config import ( + API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG +) +``` + +**修改后**: +```python +# 已删除此导入 +``` + +#### 修改 B: `_create_communication_module` 方法 (L691-702) + +**修改前**: +```python +def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None: + default_config = { + **API_CONFIG, + "workflow_mappings": WORKFLOW_MAPPINGS, + "material_type_mappings": MATERIAL_TYPE_MAPPINGS, + "warehouse_mapping": WAREHOUSE_MAPPING + } + if config: + self.bioyond_config = {**default_config, **config} + else: + self.bioyond_config = default_config +``` + +**修改后**: +```python +def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None: + """创建Bioyond通信模块""" + # 使用传入的 config 参数（来自 bioyond_config） + # 不再依赖全局变量 API_CONFIG 等 + if config: + self.bioyond_config = config + else: + # 如果没有传入配置，创建空配置（用于测试或兼容性） + self.bioyond_config = {} + + self.hardware_interface = BioyondV1RPC(self.bioyond_config) +``` + +#### 修改 C: HTTP 服务配置 (L627-632) + +**修改前**: +```python +self._http_service_config = { + "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", "")), + "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG.get("http_service_port", 0)) +} +``` + +**修改后**: +```python +self._http_service_config = { + "host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")), + "port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0)) +} +``` + +--- + +### 4. bioyond_rpc.py + +**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py` + +#### 修改 A: 删除 config 导入 (L12) + +**修改前**: +```python +from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING +``` + +**修改后**: +```python +# 已删除此导入 +``` + +#### 修改 B: `material_outbound` 方法 (L278-280) + +**修改前**: +```python +def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict: + """指定库位出库物料（通过库位名称）""" + location_id = LOCATION_MAPPING.get(location_name, location_name) +``` + +**修改后**: +```python +def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict: + """指定库位出库物料（通过库位名称）""" + # location_name 参数实际上应该直接是 location_id (UUID) + location_id = location_name +``` + +**说明**: `LOCATION_MAPPING` 在 `config-0113.py` 中本来就是空字典 `{}`，所以直接使用 `location_name` 逻辑等价。 + +--- + +## 🎯 关键设计决策 + +### 1. 嵌套 vs 扁平配置 + +**选择**: 嵌套结构 `config.bioyond_config` + +**理由**: +- ✅ 语义清晰，配置分组明确 +- ✅ 参数传递直观，直接对应 `__init__` 参数 +- ✅ 易于维护，不需要硬编码字段列表 +- ✅ 符合 UniLab 设计模式 + +### 2. HTTP 服务去重 + +**实现**: 子类设置 `_disable_auto_http_service` 标志 + +```python +# bioyond_cell_workstation.py +self.bioyond_config["_disable_auto_http_service"] = True + +# station.py (post_init) +if self.bioyond_config.get("_disable_auto_http_service"): + logger.info("子类已自行管理HTTP服务，跳过自动启动") + return +``` + +### 3. 全局变量替换策略 + +**原则**: 所有配置从 `self.bioyond_config` 获取 + +**模式**: +```python +# 修改前 +from config import MATERIAL_TYPE_MAPPINGS +carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1] + +# 修改后 +carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1] +``` + +--- + +## ✅ 验证结果 + +### 启动成功日志 +``` +✅ 从 JSON 配置加载 bioyond_config 成功 + API Host: http://172.16.11.219:44388 + HTTP Service: 172.16.11.206:8080 +🔧 已设置 _disable_auto_http_service 标志，防止 HTTP 服务重复启动 +✅ BioyondCellWorkstation 初始化完成 +Loaded ResourceTreeSet with 1 trees, 1785 total nodes +``` + +### 功能验证 +- ✅ 订单创建 (`create_orders_v2`) +- ✅ 质量比计算 +- ✅ 物料转移 (`transfer_3_to_2_to_1`) +- ✅ HTTP 报送接收 (step_finish, sample_finish, order_finish) +- ✅ 等待机制 (`wait_for_order_finish`) +- ✅ 仓库 UUID 映射 +- ✅ 物料类型映射 + +--- + +## 📚 相关文档 + +- **配置迁移经验**: `2026-01-13_JSON配置迁移经验.md` +- **任务清单**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\task.md` +- **实施计划**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\implementation_plan.md` + +--- + +## ⚠️ 注意事项 + +### 其他工作站模块 + +以下文件仍在使用 `config.py` 全局变量（未包含在本次修改中）: +- `reaction_station.py` - 使用 `API_CONFIG` +- `experiment.py` - 使用 `API_CONFIG`, `WORKFLOW_MAPPINGS`, `MATERIAL_TYPE_MAPPINGS` +- `dispensing_station.py` - 使用 `API_CONFIG`, `WAREHOUSE_MAPPING` +- `station.py` L176, L177, L529, L530 - 动态导入 `WAREHOUSE_MAPPING` + +**建议**: 后续可以统一迁移这些模块到 JSON 配置。 + +### config.py 文件 + +`config.py` 文件已恢复但**不再被 bioyond_cell 使用**。可以： +- 保留作为其他模块的参考 +- 或者完全删除（如果其他模块也迁移完成） + +--- + +## 🚀 下一步建议 + +1. **清理调试代码** ✅ (已完成) +2. **提交代码到 Git** +3. **迁移其他工作站模块** (可选) +4. **更新文档和启动脚本** + +--- + +**修改完成日期**: 2026-01-13 +**系统状态**: ✅ 稳定运行 diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py new file mode 100644 index 00000000..333b7b28 --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -0,0 +1,2112 @@ +# -*- coding: utf-8 -*- +from cgi import print_arguments +from doctest import debug +from typing import Dict, Any, List, Optional +import requests +from pylabrobot.resources.resource import Resource as ResourcePLR +from pathlib import Path +import pandas as pd +import time +from datetime import datetime, timedelta +import re +import threading +import json +from copy import deepcopy +from urllib3 import response +from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation, BioyondResourceSynchronizer +# ⚠️ config.py 已废弃 - 所有配置现在从 JSON 文件加载 +# from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, ... +from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService +from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck +from unilabos.utils.log import logger +from unilabos.registry.registry import lab_registry + +def _iso_local_now_ms() -> str: + # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z + dt = datetime.now() + # print(dt) + return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z" + + +class BioyondCellWorkstation(BioyondWorkstation): + """ + 集成 Bioyond LIMS 的工作站示例， + 覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) → + 运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) → + 查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28) + """ + + def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs): + """ + 初始化 BioyondCellWorkstation + + Args: + bioyond_config: 从 JSON 文件加载的 bioyond 配置字典 + 包含 api_host, api_key, HTTP_host, HTTP_port 等配置 + deck: Deck 配置（可选，会从 JSON 中自动处理） + protocol_type: 协议类型（可选） + **kwargs: 其他参数（如 children 等） + """ + + # ⚠️ 配置验证：确保传入了必需的配置 + if bioyond_config is None: + raise ValueError( + "BioyondCellWorkstation 需要 bioyond_config 参数！\n" + "请在 JSON 配置文件的 config 中添加 bioyond_config 字段，例如：\n" + "\"config\": {\n" + " \"bioyond_config\": {\n" + " \"api_host\": \"http://...\",\n" + " \"api_key\": \"...\",\n" + " ...\n" + " }\n" + "}" + ) + + # 验证 bioyond_config 的类型 + if not isinstance(bioyond_config, dict): + raise ValueError( + f"bioyond_config 必须是字典类型，实际类型: {type(bioyond_config).__name__}" + ) + + # 保存配置 + self.bioyond_config = bioyond_config + + # 验证必需的配置参数 + required_keys = ['api_host', 'api_key', 'HTTP_host', 'HTTP_port', + 'material_type_mappings', 'warehouse_mapping'] + missing_keys = [key for key in required_keys if key not in self.bioyond_config] + if missing_keys: + raise ValueError( + f"bioyond_config 缺少必需参数: {', '.join(missing_keys)}\n" + f"请检查 JSON 配置文件中的 bioyond_config 字段" + ) + + logger.info("✅ 从 JSON 配置加载 bioyond_config 成功") + logger.info(f" API Host: {self.bioyond_config.get('api_host')}") + logger.info(f" HTTP Service: {self.bioyond_config.get('HTTP_host')}:{self.bioyond_config.get('HTTP_port')}") + + # 设置调试模式 + self.debug_mode = self.bioyond_config.get("debug_mode", False) + self.http_service_started = self.debug_mode + self._device_id = "bioyond_cell_workstation" # 默认值，后续会从_ros_node获取 + + # ⚠️ 关键：设置标志位，告诉父类不要在 post_init 中启动 HTTP 服务 + # 因为子类会在这里自己启动 HTTP 服务 + self.bioyond_config["_disable_auto_http_service"] = True + logger.info("🔧 已设置 _disable_auto_http_service 标志，防止 HTTP 服务重复启动") + + # 调用父类初始化（传入完整的 bioyond_config） + super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs) + + # 更新奔耀端的报送 IP 地址 + self.update_push_ip() + logger.info("已更新奔耀端推送 IP 地址") + + # 启动 HTTP 服务线程（子类自己管理） + t = threading.Thread(target=self._start_http_service, daemon=True, name="unilab_http") + t.start() + logger.info("HTTP 服务线程已启动") + + # 初始化订单报送事件 + self.order_finish_event = threading.Event() + self.last_order_status = None + self.last_order_code = None + + logger.info(f"✅ BioyondCellWorkstation 初始化完成 (debug_mode={self.debug_mode})") + + @property + def device_id(self): + """获取设备ID，优先从_ros_node获取，否则返回默认值""" + if hasattr(self, '_ros_node') and self._ros_node is not None: + return getattr(self._ros_node, 'device_id', self._device_id) + return self._device_id + + def _start_http_service(self): + """启动 HTTP 服务""" + host = self.bioyond_config.get("HTTP_host", "") + port = self.bioyond_config.get("HTTP_port", None) + try: + self.service = WorkstationHTTPService(self, host=host, port=port) + self.service.start() + self.http_service_started = True + logger.info(f"WorkstationHTTPService 成功启动: {host}:{port}") + while True: + time.sleep(1) #一直挂着，直到进程退出 + except Exception as e: + self.http_service_started = False + logger.error(f"启动 WorkstationHTTPService 失败: {e}", exc_info=True) + + + # http报送服务，返回数据部分 + def process_step_finish_report(self, report_request): + stepId = report_request.data.get("stepId") + logger.info(f"步骤完成: stepId: {stepId}, stepName:{report_request.data.get('stepName')}") + return report_request.data.get('executionStatus') + + def process_sample_finish_report(self, report_request): + logger.info(f"通量完成: {report_request.data.get('sampleId')}") + return {"status": "received"} + + def process_order_finish_report(self, report_request, used_materials=None): + order_code = report_request.data.get("orderCode") + status = report_request.data.get("status") + + # 🔍 详细调试日志 + logger.info(f"[DEBUG] ========== 收到 order_finish 报送 ==========") + logger.info(f"[DEBUG] 报送的 orderCode: '{order_code}' (type: {type(order_code).__name__})") + logger.info(f"[DEBUG] 当前等待的 last_order_code: '{self.last_order_code}' (type: {type(self.last_order_code).__name__})") + logger.info(f"[DEBUG] 报送状态: {status}") + logger.info(f"[DEBUG] orderCode 是否匹配: {self.last_order_code == order_code}") + logger.info(f"[DEBUG] Event 当前状态 (触发前): is_set={self.order_finish_event.is_set()}") + logger.info(f"report_request: {report_request}") + logger.info(f"任务完成: {order_code}, status={status}") + + # 保存完整报文 + self.last_order_report = report_request.data + + # 如果是当前等待的订单，触发事件 + if self.last_order_code == order_code: + logger.info(f"[DEBUG] ✅ orderCode 匹配！触发 order_finish_event") + self.order_finish_event.set() + logger.info(f"[DEBUG] Event 状态 (触发后): is_set={self.order_finish_event.is_set()}") + else: + logger.warning(f"[DEBUG] ❌ orderCode 不匹配，不触发 event") + logger.warning(f"[DEBUG] 期望: '{self.last_order_code}'") + logger.warning(f"[DEBUG] 实际: '{order_code}'") + + logger.info(f"[DEBUG] ========================================") + return {"status": "received"} + + def wait_for_order_finish(self, order_code: str, timeout: int = 36000) -> Dict[str, Any]: + """ + 等待指定 orderCode 的 /report/order_finish 报送。 + Args: + order_code: 任务编号 + timeout: 超时时间（秒） + Returns: + 完整的报送数据 + 状态判断结果 + """ + if not order_code: + logger.error("wait_for_order_finish() 被调用，但 order_code 为空！") + return {"status": "error", "message": "empty order_code"} + + self.last_order_code = order_code + self.last_order_report = None + self.order_finish_event.clear() + + logger.info(f"等待任务完成报送: orderCode={order_code} (timeout={timeout}s)") + + if not self.order_finish_event.wait(timeout=timeout): + logger.error(f"等待任务超时: orderCode={order_code}") + return {"status": "timeout", "orderCode": order_code} + + # 报送数据匹配验证 + report = self.last_order_report or {} + report_code = report.get("orderCode") + status = str(report.get("status", "")) + + if report_code != order_code: + logger.warning(f"收到的报送 orderCode 不匹配: {report_code} ≠ {order_code}") + return {"status": "mismatch", "report": report} + + if status == "30": + logger.info(f"任务成功完成 (orderCode={order_code})") + return {"status": "success", "report": report} + elif status == "-11": + logger.error(f"任务异常停止 (orderCode={order_code})") + return {"status": "abnormal_stop", "report": report} + elif status == "-12": + logger.warning(f"任务人工停止 (orderCode={order_code})") + return {" status": "manual_stop", "report": report} + else: + logger.warning(f"任务未知状态 ({status}) (orderCode={order_code})") + return {"status": f"unknown_{status}", "report": report} + + def wait_for_order_finish_polling(self, order_code: str, timeout: int = 36000, poll_interval: float = 0.5) -> Dict[str, Any]: + """ + 等待指定 orderCode 的 /report/order_finish 报送（非阻塞轮询版本）。 + + 与 wait_for_order_finish 的区别： + - 使用轮询而非阻塞等待，每隔 poll_interval 秒检查一次 + - 允许 ROS2 在等待期间处理 feedback 消息 + - 适用于长时间运行的 ROS2 Action + + Args: + order_code: 任务编号 + timeout: 超时时间（秒） + poll_interval: 轮询间隔（秒），默认 0.5 秒 + Returns: + 完整的报送数据 + 状态判断结果 + """ + if not order_code: + logger.error("wait_for_order_finish_polling() 被调用，但 order_code 为空！") + return {"status": "error", "message": "empty order_code"} + + self.last_order_code = order_code + self.last_order_report = None + self.order_finish_event.clear() + + logger.info(f"[轮询模式] 等待任务完成报送: orderCode={order_code} (timeout={timeout}s, poll_interval={poll_interval}s)") + logger.info(f"[轮询模式] [DEBUG] last_order_code 已设置为: '{self.last_order_code}'") + logger.info(f"[轮询模式] [DEBUG] Event 初始状态: is_set={self.order_finish_event.is_set()}") + + start_time = time.time() + poll_count = 0 + while not self.order_finish_event.is_set(): + poll_count += 1 + elapsed = time.time() - start_time + + # 每 10 次轮询（约 5 秒）输出一次状态 + if poll_count % 10 == 0: + logger.info(f"[轮询模式] [DEBUG] 轮询中... 已等待 {elapsed:.1f}s (第{poll_count}次检查)") + logger.info(f"[轮询模式] [DEBUG] Event.is_set() = {self.order_finish_event.is_set()}") + + # 检查是否超时 + if elapsed > timeout: + logger.error(f"[轮询模式] 等待任务超时: orderCode={order_code}") + logger.error(f"[轮询模式] [DEBUG] 总共轮询了 {poll_count} 次，耗时 {elapsed:.1f}s") + return {"status": "timeout", "orderCode": order_code} + + # 短暂 sleep，让出控制权给 ROS2 处理 feedback + time.sleep(poll_interval) + + # 事件已触发，获取报送数据 + logger.info(f"[轮询模式] [DEBUG] ✅ Event 已触发！共轮询 {poll_count} 次") + report = self.last_order_report or {} + report_code = report.get("orderCode") + status = str(report.get("status", "")) + + logger.info(f"[轮询模式] [DEBUG] 报送数据: orderCode='{report_code}', status={status}") + + # 报送数据匹配验证 + if report_code != order_code: + logger.warning(f"[轮询模式] 收到的报送 orderCode 不匹配: {report_code} ≠ {order_code}") + return {"status": "mismatch", "report": report} + + # 状态判断 + if status == "30": + logger.info(f"[轮询模式] 任务成功完成 (orderCode={order_code})") + return {"status": "success", "report": report} + elif status == "-11": + logger.error(f"[轮询模式] 任务异常停止 (orderCode={order_code})") + return {"status": "abnormal_stop", "report": report} + elif status == "-12": + logger.warning(f"[轮询模式] 任务人工停止 (orderCode={order_code})") + return {"status": "manual_stop", "report": report} + else: + logger.warning(f"[轮询模式] 任务未知状态 ({status}) (orderCode={order_code})") + return {"status": f"unknown_{status}", "report": report} + + + def get_material_info(self, material_id: str) -> Dict[str, Any]: + """查询物料详细信息（物料详情接口） + + Args: + material_id: 物料 ID (GUID) + + Returns: + 物料详情，包含 name, typeName, locations 等 + """ + result = self._post_lims("/api/lims/storage/material-info", material_id) + return result.get("data", {}) + + def _process_order_reagents(self, report: Dict[str, Any]) -> Dict[str, Any]: + """处理订单完成报文中的试剂数据，计算质量比 + + Args: + report: 订单完成推送的 report 数据 + + Returns: + { + "real_mass_ratio": {"试剂A": 0.6, "试剂B": 0.4}, + "target_mass_ratio": {"试剂A": 0.6, "试剂B": 0.4}, + "reagent_details": [...] # 详细数据 + } + """ + used_materials = report.get("usedMaterials", []) + + # 1. 筛选试剂（typemode="2"，注意是小写且是字符串） + reagents = [m for m in used_materials if str(m.get("typemode")) == "2"] + + if not reagents: + logger.warning("订单完成报文中没有试剂（typeMode=2）") + return { + "real_mass_ratio": {}, + "target_mass_ratio": {}, + "reagent_details": [] + } + + # 2. 查询试剂名称 + reagent_data = [] + for reagent in reagents: + material_id = reagent.get("materialId") + if not material_id: + continue + + try: + info = self.get_material_info(material_id) + name = info.get("name", f"Unknown_{material_id[:8]}") + real_qty = float(reagent.get("realQuantity", 0.0)) + used_qty = float(reagent.get("usedQuantity", 0.0)) + + reagent_data.append({ + "name": name, + "material_id": material_id, + "real_quantity": real_qty, + "used_quantity": used_qty + }) + logger.info(f"试剂: {name}, 目标={used_qty}g, 实际={real_qty}g") + except Exception as e: + logger.error(f"查询物料信息失败: {material_id}, {e}") + continue + + if not reagent_data: + return { + "real_mass_ratio": {}, + "target_mass_ratio": {}, + "reagent_details": [] + } + + # 3. 计算质量比 + def calculate_mass_ratio(items: List[Dict], key: str) -> Dict[str, float]: + total = sum(item[key] for item in items) + if total == 0: + logger.warning(f"总质量为0，无法计算{key}质量比") + return {item["name"]: 0.0 for item in items} + return {item["name"]: round(item[key] / total, 4) for item in items} + + real_mass_ratio = calculate_mass_ratio(reagent_data, "real_quantity") + target_mass_ratio = calculate_mass_ratio(reagent_data, "used_quantity") + + logger.info(f"真实质量比: {real_mass_ratio}") + logger.info(f"目标质量比: {target_mass_ratio}") + + return { + "real_mass_ratio": real_mass_ratio, + "target_mass_ratio": target_mass_ratio, + "reagent_details": reagent_data + } + + + # -------------------- 基础HTTP封装 -------------------- + def _url(self, path: str) -> str: + return f"{self.bioyond_config['api_host'].rstrip('/')}/{path.lstrip('/')}" + + def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: + """LIMS API：大多数接口用 {apiKey/requestTime,data} 包装""" + payload = { + "apiKey": self.bioyond_config["api_key"], + "requestTime": _iso_local_now_ms() + } + if data is not None: + payload["data"] = data + + if self.debug_mode: + # 模拟返回，不发真实请求 + logger.info(f"[DEBUG] POST {path} with payload={payload}") + + return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"} + + try: + logger.info(json.dumps(payload, ensure_ascii=False)) + response = requests.post( + self._url(path), + json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"} + ) # 拼接网址+post bioyond接口 + response.raise_for_status() + return response.json() + except Exception as e: + logger.info(f"{self.bioyond_config['api_host'].rstrip('/')}/{path.lstrip('/')}") + logger.error(f"POST {path} 失败: {e}") + return {"error": str(e)} + + def _put_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]: + """LIMS API：PUT {apiKey/requestTime,data} 包装""" + payload = { + "apiKey": self.bioyond_config["api_key"], + "requestTime": _iso_local_now_ms() + } + if data is not None: + payload["data"] = data + + if self.debug_mode: + logger.info(f"[DEBUG] PUT {path} with payload={payload}") + return {"debug_mode": True, "url": self._url(path), "payload": payload, "status": "ok"} + + try: + response = requests.put( + self._url(path), + json=payload, + timeout=self.bioyond_config.get("timeout", 30), + headers={"Content-Type": "application/json"} + ) + response.raise_for_status() + return response.json() + except Exception as e: + logger.info(f"{self.bioyond_config['api_host'].rstrip('/')}/{path.lstrip('/')}") + logger.error(f"PUT {path} 失败: {e}") + return {"error": str(e)} + + # -------------------- 3.36 更新推送 IP 地址 -------------------- + def update_push_ip(self, ip: Optional[str] = None, port: Optional[int] = None) -> Dict[str, Any]: + """ + 3.36 更新推送 IP 地址接口（PUT） + URL: /api/lims/order/ip-config + 请求体：{ apiKey, requestTime, data: { ip, port } } + """ + target_ip = ip or self.bioyond_config.get("HTTP_host", "") + target_port = int(port or self.bioyond_config.get("HTTP_port", 0)) + data = {"ip": target_ip, "port": target_port} + + # 固定接口路径，不做其他路径兼容 + path = "/api/lims/order/ip-config" + return self._put_lims(path, data) + + # -------------------- 单点接口封装 -------------------- + # 2.17 入库物料（单个） + def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]: + return self._post_lims("/api/lims/storage/inbound", { + "materialId": material_id, + "locationId": location_id + }) + + # 2.18 批量入库（多个） + def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]: + """ + items = [{"materialId": "...", "locationId": "..."}, ...] + """ + return self._post_lims("/api/lims/storage/batch-inbound", items) + + + def auto_feeding4to3( + self, + # ★ 修改点：默认模板路径 + xlsx_path: Optional[str] = "D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\material_template.xlsx", + # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- + WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, + WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, + WH4_x3_y1_z1_3_materialName: str = "", WH4_x3_y1_z1_3_quantity: float = 0.0, + WH4_x4_y1_z1_4_materialName: str = "", WH4_x4_y1_z1_4_quantity: float = 0.0, + WH4_x5_y1_z1_5_materialName: str = "", WH4_x5_y1_z1_5_quantity: float = 0.0, + WH4_x1_y2_z1_6_materialName: str = "", WH4_x1_y2_z1_6_quantity: float = 0.0, + WH4_x2_y2_z1_7_materialName: str = "", WH4_x2_y2_z1_7_quantity: float = 0.0, + WH4_x3_y2_z1_8_materialName: str = "", WH4_x3_y2_z1_8_quantity: float = 0.0, + WH4_x4_y2_z1_9_materialName: str = "", WH4_x4_y2_z1_9_quantity: float = 0.0, + WH4_x5_y2_z1_10_materialName: str = "", WH4_x5_y2_z1_10_quantity: float = 0.0, + WH4_x1_y3_z1_11_materialName: str = "", WH4_x1_y3_z1_11_quantity: float = 0.0, + WH4_x2_y3_z1_12_materialName: str = "", WH4_x2_y3_z1_12_quantity: float = 0.0, + + # ---------------- WH4 - 原液瓶面 (Z=2, 9个点位) ---------------- + WH4_x1_y1_z2_1_materialName: str = "", WH4_x1_y1_z2_1_quantity: float = 0.0, WH4_x1_y1_z2_1_materialType: str = "", WH4_x1_y1_z2_1_targetWH: str = "", + WH4_x2_y1_z2_2_materialName: str = "", WH4_x2_y1_z2_2_quantity: float = 0.0, WH4_x2_y1_z2_2_materialType: str = "", WH4_x2_y1_z2_2_targetWH: str = "", + WH4_x3_y1_z2_3_materialName: str = "", WH4_x3_y1_z2_3_quantity: float = 0.0, WH4_x3_y1_z2_3_materialType: str = "", WH4_x3_y1_z2_3_targetWH: str = "", + WH4_x1_y2_z2_4_materialName: str = "", WH4_x1_y2_z2_4_quantity: float = 0.0, WH4_x1_y2_z2_4_materialType: str = "", WH4_x1_y2_z2_4_targetWH: str = "", + WH4_x2_y2_z2_5_materialName: str = "", WH4_x2_y2_z2_5_quantity: float = 0.0, WH4_x2_y2_z2_5_materialType: str = "", WH4_x2_y2_z2_5_targetWH: str = "", + WH4_x3_y2_z2_6_materialName: str = "", WH4_x3_y2_z2_6_quantity: float = 0.0, WH4_x3_y2_z2_6_materialType: str = "", WH4_x3_y2_z2_6_targetWH: str = "", + WH4_x1_y3_z2_7_materialName: str = "", WH4_x1_y3_z2_7_quantity: float = 0.0, WH4_x1_y3_z2_7_materialType: str = "", WH4_x1_y3_z2_7_targetWH: str = "", + WH4_x2_y3_z2_8_materialName: str = "", WH4_x2_y3_z2_8_quantity: float = 0.0, WH4_x2_y3_z2_8_materialType: str = "", WH4_x2_y3_z2_8_targetWH: str = "", + WH4_x3_y3_z2_9_materialName: str = "", WH4_x3_y3_z2_9_quantity: float = 0.0, WH4_x3_y3_z2_9_materialType: str = "", WH4_x3_y3_z2_9_targetWH: str = "", + + # ---------------- WH3 - 人工堆栈 (Z=3, 15个点位) ---------------- + WH3_x1_y1_z3_1_materialType: str = "", WH3_x1_y1_z3_1_materialId: str = "", WH3_x1_y1_z3_1_quantity: float = 0, + WH3_x2_y1_z3_2_materialType: str = "", WH3_x2_y1_z3_2_materialId: str = "", WH3_x2_y1_z3_2_quantity: float = 0, + WH3_x3_y1_z3_3_materialType: str = "", WH3_x3_y1_z3_3_materialId: str = "", WH3_x3_y1_z3_3_quantity: float = 0, + WH3_x1_y2_z3_4_materialType: str = "", WH3_x1_y2_z3_4_materialId: str = "", WH3_x1_y2_z3_4_quantity: float = 0, + WH3_x2_y2_z3_5_materialType: str = "", WH3_x2_y2_z3_5_materialId: str = "", WH3_x2_y2_z3_5_quantity: float = 0, + WH3_x3_y2_z3_6_materialType: str = "", WH3_x3_y2_z3_6_materialId: str = "", WH3_x3_y2_z3_6_quantity: float = 0, + WH3_x1_y3_z3_7_materialType: str = "", WH3_x1_y3_z3_7_materialId: str = "", WH3_x1_y3_z3_7_quantity: float = 0, + WH3_x2_y3_z3_8_materialType: str = "", WH3_x2_y3_z3_8_materialId: str = "", WH3_x2_y3_z3_8_quantity: float = 0, + WH3_x3_y3_z3_9_materialType: str = "", WH3_x3_y3_z3_9_materialId: str = "", WH3_x3_y3_z3_9_quantity: float = 0, + WH3_x1_y4_z3_10_materialType: str = "", WH3_x1_y4_z3_10_materialId: str = "", WH3_x1_y4_z3_10_quantity: float = 0, + WH3_x2_y4_z3_11_materialType: str = "", WH3_x2_y4_z3_11_materialId: str = "", WH3_x2_y4_z3_11_quantity: float = 0, + WH3_x3_y4_z3_12_materialType: str = "", WH3_x3_y4_z3_12_materialId: str = "", WH3_x3_y4_z3_12_quantity: float = 0, + WH3_x1_y5_z3_13_materialType: str = "", WH3_x1_y5_z3_13_materialId: str = "", WH3_x1_y5_z3_13_quantity: float = 0, + WH3_x2_y5_z3_14_materialType: str = "", WH3_x2_y5_z3_14_materialId: str = "", WH3_x2_y5_z3_14_quantity: float = 0, + WH3_x3_y5_z3_15_materialType: str = "", WH3_x3_y5_z3_15_materialId: str = "", WH3_x3_y5_z3_15_quantity: float = 0, + ): + """ + 自动化上料（支持两种模式） + - Excel 路径存在 → 从 Excel 模板解析 + - Excel 路径不存在 → 使用手动参数 + """ + items: List[Dict[str, Any]] = [] + + # ---------- 模式 1: Excel 导入 ---------- + if xlsx_path: + path = Path(__file__).parent / Path(xlsx_path) + if path.exists(): # ★ 修改点：路径存在才加载 + try: + df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + # 四号手套箱加样头面 + for _, row in df.iloc[1:13, 2:7].iterrows(): + if pd.notna(row[5]): + items.append({ + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialName": str(row[5]).strip(), + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + }) + # 四号手套箱原液瓶面 + for _, row in df.iloc[14:23, 2:9].iterrows(): + if pd.notna(row[5]): + items.append({ + "sourceWHName": "四号手套箱堆栈", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialName": str(row[5]).strip(), + "quantity": float(row[6]) if pd.notna(row[6]) else 0.0, + "materialType": str(row[7]).strip() if pd.notna(row[7]) else "", + "targetWH": str(row[8]).strip() if pd.notna(row[8]) else "", + }) + # 三号手套箱人工堆栈 + for _, row in df.iloc[25:40, 2:7].iterrows(): + if pd.notna(row[5]) or pd.notna(row[6]): + items.append({ + "sourceWHName": "三号手套箱人工堆栈", + "posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]), + "materialType": str(row[5]).strip() if pd.notna(row[5]) else "", + "materialId": str(row[6]).strip() if pd.notna(row[6]) else "", + "quantity": 1 + }) + else: + logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。") + + # ---------- 模式 2: 手动填写 ---------- + if not items: + params = locals() + for name, value in params.items(): + if name.startswith("四号手套箱堆栈") and "materialName" in name and value: + idx = name.split("_") + items.append({ + "sourceWHName": "四号手套箱堆栈", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialName": value, + "quantity": float(params.get(name.replace("materialName", "quantity"), 0.0)) + }) + elif name.startswith("四号手套箱堆栈") and "materialType" in name and (value or params.get(name.replace("materialType", "materialName"), "")): + idx = name.split("_") + items.append({ + "sourceWHName": "四号手套箱堆栈", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialName": params.get(name.replace("materialType", "materialName"), ""), + "quantity": float(params.get(name.replace("materialType", "quantity"), 0.0)), + "materialType": value, + "targetWH": params.get(name.replace("materialType", "targetWH"), ""), + }) + elif name.startswith("三号手套箱人工堆栈") and "materialType" in name and (value or params.get(name.replace("materialType", "materialId"), "")): + idx = name.split("_") + items.append({ + "sourceWHName": "三号手套箱人工堆栈", + "posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]), + "materialType": value, + "materialId": params.get(name.replace("materialType", "materialId"), ""), + "quantity": int(params.get(name.replace("materialType", "quantity"), 1)), + }) + + if not items: + logger.warning("没有有效的上料条目，已跳过提交。") + return {"code": 0, "message": "no valid items", "data": []} + logger.info(items) + response = self._post_lims("/api/lims/order/auto-feeding4to3", items) + + # 等待任务报送成功 + order_code = response.get("data", {}).get("orderCode") + if not order_code: + logger.error("上料任务未返回有效 orderCode！") + return response + # 等待完成报送 + result = self.wait_for_order_finish(order_code) + print("\n" + "="*60) + print("实验记录本结果auto_feeding4to3") + print("="*60) + print(json.dumps(result, indent=2, ensure_ascii=False)) + print("="*60 + "\n") + return result + + def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]: + """ + 3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound） + """ + path = Path(xlsx_path) + if not path.exists(): + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + + def pick(names: List[str]) -> Optional[str]: + for n in names: + if n in df.columns: + return n + return None + + c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"]) + c_wh = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"]) + c_qty = pick(["数量", "quantity"]) + c_x = pick(["x", "X", "posX", "坐标X"]) + c_y = pick(["y", "Y", "posY", "坐标Y"]) + c_z = pick(["z", "Z", "posZ", "坐标Z"]) + + required = [c_loc, c_wh, c_qty, c_x, c_y, c_z] + if any(c is None for c in required): + raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。") + + def as_int(v, d=0): + try: + if pd.isna(v): return d + return int(v) + except Exception: + try: + return int(float(v)) + except Exception: + return d + + def as_float(v, d=0.0): + try: + if pd.isna(v): return d + return float(v) + except Exception: + return d + + def as_str(v, d=""): + if v is None or (isinstance(v, float) and pd.isna(v)): return d + s = str(v).strip() + return s if s else d + + items: List[Dict[str, Any]] = [] + for _, row in df.iterrows(): + items.append({ + "locationId": as_str(row[c_loc]), + "warehouseId": as_str(row[c_wh]), + "quantity": as_float(row[c_qty]), + "x": as_int(row[c_x]), + "y": as_int(row[c_y]), + "z": as_int(row[c_z]), + }) + + response = self._post_lims("/api/lims/storage/auto-batch-out-bound", items) + self.wait_for_response_orders(response, "auto_batch_outbound_from_xlsx") + return response + + # 2.14 新建实验 + def create_orders(self, xlsx_path: str) -> Dict[str, Any]: + """ + 从 Excel 解析并创建实验（2.14） + 约定： + - batchId = Excel 文件名（不含扩展名） + - 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列） + - totalMass 自动计算为所有物料质量之和 + - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） + """ + default_path = Path("D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025122301.xlsx") + path = Path(xlsx_path) if xlsx_path else default_path + print(f"[create_orders] 使用 Excel 路径: {path}") + if path != default_path: + print("[create_orders] 来源: 调用方传入自定义路径") + else: + print("[create_orders] 来源: 使用默认模板路径") + + if not path.exists(): + print(f"[create_orders] ⚠️ Excel 文件不存在: {path}") + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + print(f"[create_orders] Excel 读取成功，行数: {len(df)}, 列: {list(df.columns)}") + + # 列名容错：返回可选列名，找不到则返回 None + def _pick(col_names: List[str]) -> Optional[str]: + for c in col_names: + if c in df.columns: + return c + return None + + col_order_name = _pick(["配方ID", "orderName", "订单编号"]) + col_create_time = _pick(["创建日期", "createTime"]) + col_bottle_type = _pick(["配液瓶类型", "bottleType"]) + col_mix_time = _pick(["混匀时间(s)", "mixTime"]) + col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"]) + col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) + col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) + col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) + print("[create_orders] 列匹配结果:", { + "order_name": col_order_name, + "create_time": col_create_time, + "bottle_type": col_bottle_type, + "mix_time": col_mix_time, + "load": col_load, + "pouch": col_pouch, + "conductivity": col_cond, + "conductivity_bottle_count": col_cond_cnt, + }) + + # 物料列：所有以 (g) 结尾 + material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] + print(f"[create_orders] 识别到的物料列: {material_cols}") + if not material_cols: + raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") + + batch_id = path.stem + + def _to_ymd_slash(v) -> str: + # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期 + if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "": + ts = datetime.now() + else: + try: + ts = pd.to_datetime(v) + except Exception: + ts = datetime.now() + return f"{ts.year}/{ts.month}/{ts.day}" + + def _as_int(val, default=0) -> int: + try: + if pd.isna(val): + return default + return int(val) + except Exception: + return default + + def _as_float(val, default=0.0) -> float: + try: + if pd.isna(val): + return default + return float(val) + except Exception: + return default + + def _as_str(val, default="") -> str: + if val is None or (isinstance(val, float) and pd.isna(val)): + return default + s = str(val).strip() + return s if s else default + + orders: List[Dict[str, Any]] = [] + + for idx, row in df.iterrows(): + mats: List[Dict[str, Any]] = [] + total_mass = 0.0 + + for mcol in material_cols: + val = row.get(mcol, None) + if val is None or (isinstance(val, float) and pd.isna(val)): + continue + try: + mass = float(val) + except Exception: + continue + if mass > 0: + mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) + total_mass += mass + else: + if mass < 0: + print(f"[create_orders] 第 {idx+1} 行物料 {mcol} 数值为负数: {mass}") + + order_data = { + "batchId": batch_id, + "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}", + "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), + "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", + "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, + "loadSheddingInfo": _as_float(row[col_load]) if col_load else 0.0, + "pouchCellInfo": _as_float(row[col_pouch]) if col_pouch else 0, + "conductivityInfo": _as_float(row[col_cond]) if col_cond else 0, + "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, + "materialInfos": mats, + "totalMass": round(total_mass, 4) # 自动汇总 + } + print(f"[create_orders] 第 {idx+1} 行解析结果: orderName={order_data['orderName']}, " + f"loadShedding={order_data['loadSheddingInfo']}, pouchCell={order_data['pouchCellInfo']}, " + f"conductivity={order_data['conductivityInfo']}, totalMass={order_data['totalMass']}, " + f"material_count={len(mats)}") + + if order_data["totalMass"] <= 0: + print(f"[create_orders] ⚠️ 第 {idx+1} 行总质量 <= 0，可能导致 LIMS 校验失败") + if not mats: + print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料") + + orders.append(order_data) + print("================================================") + print("orders:", orders) + + print(f"[create_orders] 即将提交订单数量: {len(orders)}") + response = self._post_lims("/api/lims/order/orders", orders) + print(f"[create_orders] 接口返回: {response}") + + # 提取所有返回的 orderCode + data_list = response.get("data", []) + if not data_list: + logger.error("创建订单未返回有效数据！") + return response + + # 收集所有 orderCode + order_codes = [] + for order_item in data_list: + code = order_item.get("orderCode") + if code: + order_codes.append(code) + + if not order_codes: + logger.error("未找到任何有效的 orderCode！") + return response + + print(f"[create_orders] 等待 {len(order_codes)} 个订单完成: {order_codes}") + + # 等待所有订单完成并收集报文 + all_reports = [] + for idx, order_code in enumerate(order_codes, 1): + print(f"[create_orders] 正在等待第 {idx}/{len(order_codes)} 个订单: {order_code}") + result = self.wait_for_order_finish(order_code) + + # 提取报文数据 + if result.get("status") == "success": + report = result.get("report", {}) + + # [新增] 处理试剂数据，计算质量比 + try: + mass_ratios = self._process_order_reagents(report) + report["mass_ratios"] = mass_ratios # 添加到报文中 + logger.info(f"已计算订单 {order_code} 的试剂质量比") + except Exception as e: + logger.error(f"计算试剂质量比失败: {e}") + report["mass_ratios"] = { + "real_mass_ratio": {}, + "target_mass_ratio": {}, + "reagent_details": [], + "error": str(e) + } + + all_reports.append(report) + print(f"[create_orders] ✓ 订单 {order_code} 完成") + else: + logger.warning(f"订单 {order_code} 状态异常: {result.get('status')}") + # 即使订单失败，也记录下这个结果 + all_reports.append({ + "orderCode": order_code, + "status": result.get("status"), + "error": result.get("message", "未知错误") + }) + + print(f"[create_orders] 所有订单已完成，共收集 {len(all_reports)} 个报文") + print("实验记录本========================create_orders========================") + + # 返回所有订单的完成报文 + final_result = { + "status": "all_completed", + "total_orders": len(order_codes), + "reports": all_reports, + "original_response": response + } + + print(f"返回报文数量: {len(all_reports)}") + for i, report in enumerate(all_reports, 1): + print(f"报文 {i}: orderCode={report.get('orderCode', 'N/A')}, status={report.get('status', 'N/A')}") + print("========================") + + return final_result + + def create_orders_v2(self, xlsx_path: str) -> Dict[str, Any]: + """ + 从 Excel 解析并创建实验（2.14）- V2版本 + 约定： + - batchId = Excel 文件名（不含扩展名） + - 物料列：所有以 "(g)" 结尾（不再读取"总质量(g)"列） + - totalMass 自动计算为所有物料质量之和 + - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） + """ + default_path = Path("D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025122301.xlsx") + path = Path(xlsx_path) if xlsx_path else default_path + print(f"[create_orders_v2] 使用 Excel 路径: {path}") + if path != default_path: + print("[create_orders_v2] 来源: 调用方传入自定义路径") + else: + print("[create_orders_v2] 来源: 使用默认模板路径") + + if not path.exists(): + print(f"[create_orders_v2] ⚠️ Excel 文件不存在: {path}") + raise FileNotFoundError(f"未找到 Excel 文件：{path}") + + try: + df = pd.read_excel(path, sheet_name=0, engine="openpyxl") + except Exception as e: + raise RuntimeError(f"读取 Excel 失败：{e}") + print(f"[create_orders_v2] Excel 读取成功，行数: {len(df)}, 列: {list(df.columns)}") + + # 列名容错：返回可选列名，找不到则返回 None + def _pick(col_names: List[str]) -> Optional[str]: + for c in col_names: + if c in df.columns: + return c + return None + + col_order_name = _pick(["配方ID", "orderName", "订单编号"]) + col_create_time = _pick(["创建日期", "createTime"]) + col_bottle_type = _pick(["配液瓶类型", "bottleType"]) + col_mix_time = _pick(["混匀时间(s)", "mixTime"]) + col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"]) + col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) + col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) + col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) + print("[create_orders_v2] 列匹配结果:", { + "order_name": col_order_name, + "create_time": col_create_time, + "bottle_type": col_bottle_type, + "mix_time": col_mix_time, + "load": col_load, + "pouch": col_pouch, + "conductivity": col_cond, + "conductivity_bottle_count": col_cond_cnt, + }) + + # 物料列：所有以 (g) 结尾 + material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] + print(f"[create_orders_v2] 识别到的物料列: {material_cols}") + if not material_cols: + raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") + + batch_id = path.stem + + def _to_ymd_slash(v) -> str: + # 统一为 "YYYY/M/D"；为空或解析失败则用当前日期 + if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "": + ts = datetime.now() + else: + try: + ts = pd.to_datetime(v) + except Exception: + ts = datetime.now() + return f"{ts.year}/{ts.month}/{ts.day}" + + def _as_int(val, default=0) -> int: + try: + if pd.isna(val): + return default + return int(val) + except Exception: + return default + + def _as_float(val, default=0.0) -> float: + try: + if pd.isna(val): + return default + return float(val) + except Exception: + return default + + def _as_str(val, default="") -> str: + if val is None or (isinstance(val, float) and pd.isna(val)): + return default + s = str(val).strip() + return s if s else default + + orders: List[Dict[str, Any]] = [] + + for idx, row in df.iterrows(): + mats: List[Dict[str, Any]] = [] + total_mass = 0.0 + + for mcol in material_cols: + val = row.get(mcol, None) + if val is None or (isinstance(val, float) and pd.isna(val)): + continue + try: + mass = float(val) + except Exception: + continue + if mass > 0: + mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) + total_mass += mass + else: + if mass < 0: + print(f"[create_orders_v2] 第 {idx+1} 行物料 {mcol} 数值为负数: {mass}") + + order_data = { + "batchId": batch_id, + "orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}", + "createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None), + "bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶", + "mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0, + "loadSheddingInfo": _as_float(row[col_load]) if col_load else 0.0, + "pouchCellInfo": _as_float(row[col_pouch]) if col_pouch else 0, + "conductivityInfo": _as_float(row[col_cond]) if col_cond else 0, + "conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0, + "materialInfos": mats, + "totalMass": round(total_mass, 4) # 自动汇总 + } + print(f"[create_orders_v2] 第 {idx+1} 行解析结果: orderName={order_data['orderName']}, " + f"loadShedding={order_data['loadSheddingInfo']}, pouchCell={order_data['pouchCellInfo']}, " + f"conductivity={order_data['conductivityInfo']}, totalMass={order_data['totalMass']}, " + f"material_count={len(mats)}") + + if order_data["totalMass"] <= 0: + print(f"[create_orders_v2] ⚠️ 第 {idx+1} 行总质量 <= 0，可能导致 LIMS 校验失败") + if not mats: + print(f"[create_orders_v2] ⚠️ 第 {idx+1} 行未找到有效物料") + + orders.append(order_data) + print("================================================") + print("orders:", orders) + + print(f"[create_orders_v2] 即将提交订单数量: {len(orders)}") + response = self._post_lims("/api/lims/order/orders", orders) + print(f"[create_orders_v2] 接口返回: {response}") + + # 提取所有返回的 orderCode + data_list = response.get("data", []) + if not data_list: + logger.error("创建订单未返回有效数据！") + return response + + # 收集所有 orderCode + order_codes = [] + for order_item in data_list: + code = order_item.get("orderCode") + if code: + order_codes.append(code) + + if not order_codes: + logger.error("未找到任何有效的 orderCode！") + return response + + print(f"[create_orders_v2] 等待 {len(order_codes)} 个订单完成: {order_codes}") + + # ========== 步骤1: 等待所有订单完成并收集报文（不计算质量比）========== + all_reports = [] + for idx, order_code in enumerate(order_codes, 1): + print(f"[create_orders_v2] 正在等待第 {idx}/{len(order_codes)} 个订单: {order_code}") + result = self.wait_for_order_finish(order_code) + + # 提取报文数据 + if result.get("status") == "success": + report = result.get("report", {}) + all_reports.append(report) + print(f"[create_orders_v2] ✓ 订单 {order_code} 完成") + else: + logger.warning(f"订单 {order_code} 状态异常: {result.get('status')}") + # 即使订单失败，也记录下这个结果 + all_reports.append({ + "orderCode": order_code, + "status": result.get("status"), + "error": result.get("message", "未知错误") + }) + + print(f"[create_orders_v2] 所有订单已完成，共收集 {len(all_reports)} 个报文") + + # ========== 步骤2: 统一计算所有订单的质量比 ========== + print(f"[create_orders_v2] 开始统一计算 {len(all_reports)} 个订单的质量比...") + all_mass_ratios = [] # 存储所有订单的质量比，与reports顺序一致 + + for idx, report in enumerate(all_reports, 1): + order_code = report.get("orderCode", "N/A") + print(f"[create_orders_v2] 计算第 {idx}/{len(all_reports)} 个订单 {order_code} 的质量比...") + + # 只为成功完成的订单计算质量比 + if "error" not in report: + try: + mass_ratios = self._process_order_reagents(report) + # 精简输出，只保留核心质量比信息 + all_mass_ratios.append({ + "orderCode": order_code, + "orderName": report.get("orderName", "N/A"), + "real_mass_ratio": mass_ratios.get("real_mass_ratio", {}), + "target_mass_ratio": mass_ratios.get("target_mass_ratio", {}) + }) + logger.info(f"✓ 已计算订单 {order_code} 的试剂质量比") + except Exception as e: + logger.error(f"计算订单 {order_code} 质量比失败: {e}") + all_mass_ratios.append({ + "orderCode": order_code, + "orderName": report.get("orderName", "N/A"), + "real_mass_ratio": {}, + "target_mass_ratio": {}, + "error": str(e) + }) + else: + # 失败的订单不计算质量比 + all_mass_ratios.append({ + "orderCode": order_code, + "orderName": report.get("orderName", "N/A"), + "real_mass_ratio": {}, + "target_mass_ratio": {}, + "error": "订单未成功完成" + }) + + print(f"[create_orders_v2] 质量比计算完成") + print("实验记录本========================create_orders_v2========================") + + # 返回所有订单的完成报文 + final_result = { + "status": "all_completed", + "total_orders": len(order_codes), + "bottle_count": len(order_codes), # 明确标注瓶数，用于下游check + "reports": all_reports, # 原始订单报文（不含质量比） + "mass_ratios": all_mass_ratios, # 所有质量比统一放在这里 + "original_response": response + } + + print(f"返回报文数量: {len(all_reports)}") + for i, report in enumerate(all_reports, 1): + print(f"报文 {i}: orderCode={report.get('orderCode', 'N/A')}, status={report.get('status', 'N/A')}") + print("========================") + + return final_result + + # 2.7 启动调度 + def scheduler_start(self) -> Dict[str, Any]: + return self._post_lims("/api/lims/scheduler/start") + # 3.10 停止调度 + def scheduler_stop(self) -> Dict[str, Any]: + + """ + 停止调度 (3.10) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/stop") + + # 2.9 继续调度 + def scheduler_continue(self) -> Dict[str, Any]: + """ + 继续调度 (2.9) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/continue") + def scheduler_reset(self) -> Dict[str, Any]: + """ + 复位调度 (2.11) + 请求体只包含 apiKey 和 requestTime + """ + return self._post_lims("/api/lims/scheduler/reset") + + def scheduler_start_and_auto_feeding( + self, + # ★ Excel路径参数 + xlsx_path: Optional[str] = "D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\material_template.xlsx", + # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- + WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, + WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, + WH4_x3_y1_z1_3_materialName: str = "", WH4_x3_y1_z1_3_quantity: float = 0.0, + WH4_x4_y1_z1_4_materialName: str = "", WH4_x4_y1_z1_4_quantity: float = 0.0, + WH4_x5_y1_z1_5_materialName: str = "", WH4_x5_y1_z1_5_quantity: float = 0.0, + WH4_x1_y2_z1_6_materialName: str = "", WH4_x1_y2_z1_6_quantity: float = 0.0, + WH4_x2_y2_z1_7_materialName: str = "", WH4_x2_y2_z1_7_quantity: float = 0.0, + WH4_x3_y2_z1_8_materialName: str = "", WH4_x3_y2_z1_8_quantity: float = 0.0, + WH4_x4_y2_z1_9_materialName: str = "", WH4_x4_y2_z1_9_quantity: float = 0.0, + WH4_x5_y2_z1_10_materialName: str = "", WH4_x5_y2_z1_10_quantity: float = 0.0, + WH4_x1_y3_z1_11_materialName: str = "", WH4_x1_y3_z1_11_quantity: float = 0.0, + WH4_x2_y3_z1_12_materialName: str = "", WH4_x2_y3_z1_12_quantity: float = 0.0, + + # ---------------- WH4 - 原液瓶面 (Z=2, 9个点位) ---------------- + WH4_x1_y1_z2_1_materialName: str = "", WH4_x1_y1_z2_1_quantity: float = 0.0, WH4_x1_y1_z2_1_materialType: str = "", WH4_x1_y1_z2_1_targetWH: str = "", + WH4_x2_y1_z2_2_materialName: str = "", WH4_x2_y1_z2_2_quantity: float = 0.0, WH4_x2_y1_z2_2_materialType: str = "", WH4_x2_y1_z2_2_targetWH: str = "", + WH4_x3_y1_z2_3_materialName: str = "", WH4_x3_y1_z2_3_quantity: float = 0.0, WH4_x3_y1_z2_3_materialType: str = "", WH4_x3_y1_z2_3_targetWH: str = "", + WH4_x1_y2_z2_4_materialName: str = "", WH4_x1_y2_z2_4_quantity: float = 0.0, WH4_x1_y2_z2_4_materialType: str = "", WH4_x1_y2_z2_4_targetWH: str = "", + WH4_x2_y2_z2_5_materialName: str = "", WH4_x2_y2_z2_5_quantity: float = 0.0, WH4_x2_y2_z2_5_materialType: str = "", WH4_x2_y2_z2_5_targetWH: str = "", + WH4_x3_y2_z2_6_materialName: str = "", WH4_x3_y2_z2_6_quantity: float = 0.0, WH4_x3_y2_z2_6_materialType: str = "", WH4_x3_y2_z2_6_targetWH: str = "", + WH4_x1_y3_z2_7_materialName: str = "", WH4_x1_y3_z2_7_quantity: float = 0.0, WH4_x1_y3_z2_7_materialType: str = "", WH4_x1_y3_z2_7_targetWH: str = "", + WH4_x2_y3_z2_8_materialName: str = "", WH4_x2_y3_z2_8_quantity: float = 0.0, WH4_x2_y3_z2_8_materialType: str = "", WH4_x2_y3_z2_8_targetWH: str = "", + WH4_x3_y3_z2_9_materialName: str = "", WH4_x3_y3_z2_9_quantity: float = 0.0, WH4_x3_y3_z2_9_materialType: str = "", WH4_x3_y3_z2_9_targetWH: str = "", + + # ---------------- WH3 - 人工堆栈 (Z=3, 15个点位) ---------------- + WH3_x1_y1_z3_1_materialType: str = "", WH3_x1_y1_z3_1_materialId: str = "", WH3_x1_y1_z3_1_quantity: float = 0, + WH3_x2_y1_z3_2_materialType: str = "", WH3_x2_y1_z3_2_materialId: str = "", WH3_x2_y1_z3_2_quantity: float = 0, + WH3_x3_y1_z3_3_materialType: str = "", WH3_x3_y1_z3_3_materialId: str = "", WH3_x3_y1_z3_3_quantity: float = 0, + WH3_x1_y2_z3_4_materialType: str = "", WH3_x1_y2_z3_4_materialId: str = "", WH3_x1_y2_z3_4_quantity: float = 0, + WH3_x2_y2_z3_5_materialType: str = "", WH3_x2_y2_z3_5_materialId: str = "", WH3_x2_y2_z3_5_quantity: float = 0, + WH3_x3_y2_z3_6_materialType: str = "", WH3_x3_y2_z3_6_materialId: str = "", WH3_x3_y2_z3_6_quantity: float = 0, + WH3_x1_y3_z3_7_materialType: str = "", WH3_x1_y3_z3_7_materialId: str = "", WH3_x1_y3_z3_7_quantity: float = 0, + WH3_x2_y3_z3_8_materialType: str = "", WH3_x2_y3_z3_8_materialId: str = "", WH3_x2_y3_z3_8_quantity: float = 0, + WH3_x3_y3_z3_9_materialType: str = "", WH3_x3_y3_z3_9_materialId: str = "", WH3_x3_y3_z3_9_quantity: float = 0, + WH3_x1_y4_z3_10_materialType: str = "", WH3_x1_y4_z3_10_materialId: str = "", WH3_x1_y4_z3_10_quantity: float = 0, + WH3_x2_y4_z3_11_materialType: str = "", WH3_x2_y4_z3_11_materialId: str = "", WH3_x2_y4_z3_11_quantity: float = 0, + WH3_x3_y4_z3_12_materialType: str = "", WH3_x3_y4_z3_12_materialId: str = "", WH3_x3_y4_z3_12_quantity: float = 0, + WH3_x1_y5_z3_13_materialType: str = "", WH3_x1_y5_z3_13_materialId: str = "", WH3_x1_y5_z3_13_quantity: float = 0, + WH3_x2_y5_z3_14_materialType: str = "", WH3_x2_y5_z3_14_materialId: str = "", WH3_x2_y5_z3_14_quantity: float = 0, + WH3_x3_y5_z3_15_materialType: str = "", WH3_x3_y5_z3_15_materialId: str = "", WH3_x3_y5_z3_15_quantity: float = 0, + ) -> Dict[str, Any]: + """ + 组合函数：先启动调度，然后执行自动化上料 + + 此函数简化了工作流操作，将两个有顺序依赖的操作组合在一起： + 1. 启动调度（scheduler_start） + 2. 自动化上料（auto_feeding4to3） + + 参数与 auto_feeding4to3 完全相同，支持 Excel 和手动参数两种模式 + + Returns: + 包含调度启动结果和上料结果的字典 + """ + logger.info("=" * 60) + logger.info("开始执行组合操作：启动调度 + 自动化上料") + logger.info("=" * 60) + + # 步骤1: 启动调度 + logger.info("【步骤 1/2】启动调度...") + scheduler_result = self.scheduler_start() + logger.info(f"调度启动结果: {scheduler_result}") + + # 检查调度是否启动成功 + if scheduler_result.get("code") != 1: + logger.error(f"调度启动失败: {scheduler_result}") + return { + "success": False, + "step": "scheduler_start", + "scheduler_result": scheduler_result, + "error": "调度启动失败" + } + + logger.info("✓ 调度启动成功") + + # 步骤2: 执行自动化上料 + logger.info("【步骤 2/2】执行自动化上料...") + feeding_result = self.auto_feeding4to3( + xlsx_path=xlsx_path, + WH4_x1_y1_z1_1_materialName=WH4_x1_y1_z1_1_materialName, WH4_x1_y1_z1_1_quantity=WH4_x1_y1_z1_1_quantity, + WH4_x2_y1_z1_2_materialName=WH4_x2_y1_z1_2_materialName, WH4_x2_y1_z1_2_quantity=WH4_x2_y1_z1_2_quantity, + WH4_x3_y1_z1_3_materialName=WH4_x3_y1_z1_3_materialName, WH4_x3_y1_z1_3_quantity=WH4_x3_y1_z1_3_quantity, + WH4_x4_y1_z1_4_materialName=WH4_x4_y1_z1_4_materialName, WH4_x4_y1_z1_4_quantity=WH4_x4_y1_z1_4_quantity, + WH4_x5_y1_z1_5_materialName=WH4_x5_y1_z1_5_materialName, WH4_x5_y1_z1_5_quantity=WH4_x5_y1_z1_5_quantity, + WH4_x1_y2_z1_6_materialName=WH4_x1_y2_z1_6_materialName, WH4_x1_y2_z1_6_quantity=WH4_x1_y2_z1_6_quantity, + WH4_x2_y2_z1_7_materialName=WH4_x2_y2_z1_7_materialName, WH4_x2_y2_z1_7_quantity=WH4_x2_y2_z1_7_quantity, + WH4_x3_y2_z1_8_materialName=WH4_x3_y2_z1_8_materialName, WH4_x3_y2_z1_8_quantity=WH4_x3_y2_z1_8_quantity, + WH4_x4_y2_z1_9_materialName=WH4_x4_y2_z1_9_materialName, WH4_x4_y2_z1_9_quantity=WH4_x4_y2_z1_9_quantity, + WH4_x5_y2_z1_10_materialName=WH4_x5_y2_z1_10_materialName, WH4_x5_y2_z1_10_quantity=WH4_x5_y2_z1_10_quantity, + WH4_x1_y3_z1_11_materialName=WH4_x1_y3_z1_11_materialName, WH4_x1_y3_z1_11_quantity=WH4_x1_y3_z1_11_quantity, + WH4_x2_y3_z1_12_materialName=WH4_x2_y3_z1_12_materialName, WH4_x2_y3_z1_12_quantity=WH4_x2_y3_z1_12_quantity, + WH4_x1_y1_z2_1_materialName=WH4_x1_y1_z2_1_materialName, WH4_x1_y1_z2_1_quantity=WH4_x1_y1_z2_1_quantity, + WH4_x1_y1_z2_1_materialType=WH4_x1_y1_z2_1_materialType, WH4_x1_y1_z2_1_targetWH=WH4_x1_y1_z2_1_targetWH, + WH4_x2_y1_z2_2_materialName=WH4_x2_y1_z2_2_materialName, WH4_x2_y1_z2_2_quantity=WH4_x2_y1_z2_2_quantity, + WH4_x2_y1_z2_2_materialType=WH4_x2_y1_z2_2_materialType, WH4_x2_y1_z2_2_targetWH=WH4_x2_y1_z2_2_targetWH, + WH4_x3_y1_z2_3_materialName=WH4_x3_y1_z2_3_materialName, WH4_x3_y1_z2_3_quantity=WH4_x3_y1_z2_3_quantity, + WH4_x3_y1_z2_3_materialType=WH4_x3_y1_z2_3_materialType, WH4_x3_y1_z2_3_targetWH=WH4_x3_y1_z2_3_targetWH, + WH4_x1_y2_z2_4_materialName=WH4_x1_y2_z2_4_materialName, WH4_x1_y2_z2_4_quantity=WH4_x1_y2_z2_4_quantity, + WH4_x1_y2_z2_4_materialType=WH4_x1_y2_z2_4_materialType, WH4_x1_y2_z2_4_targetWH=WH4_x1_y2_z2_4_targetWH, + WH4_x2_y2_z2_5_materialName=WH4_x2_y2_z2_5_materialName, WH4_x2_y2_z2_5_quantity=WH4_x2_y2_z2_5_quantity, + WH4_x2_y2_z2_5_materialType=WH4_x2_y2_z2_5_materialType, WH4_x2_y2_z2_5_targetWH=WH4_x2_y2_z2_5_targetWH, + WH4_x3_y2_z2_6_materialName=WH4_x3_y2_z2_6_materialName, WH4_x3_y2_z2_6_quantity=WH4_x3_y2_z2_6_quantity, + WH4_x3_y2_z2_6_materialType=WH4_x3_y2_z2_6_materialType, WH4_x3_y2_z2_6_targetWH=WH4_x3_y2_z2_6_targetWH, + WH4_x1_y3_z2_7_materialName=WH4_x1_y3_z2_7_materialName, WH4_x1_y3_z2_7_quantity=WH4_x1_y3_z2_7_quantity, + WH4_x1_y3_z2_7_materialType=WH4_x1_y3_z2_7_materialType, WH4_x1_y3_z2_7_targetWH=WH4_x1_y3_z2_7_targetWH, + WH4_x2_y3_z2_8_materialName=WH4_x2_y3_z2_8_materialName, WH4_x2_y3_z2_8_quantity=WH4_x2_y3_z2_8_quantity, + WH4_x2_y3_z2_8_materialType=WH4_x2_y3_z2_8_materialType, WH4_x2_y3_z2_8_targetWH=WH4_x2_y3_z2_8_targetWH, + WH4_x3_y3_z2_9_materialName=WH4_x3_y3_z2_9_materialName, WH4_x3_y3_z2_9_quantity=WH4_x3_y3_z2_9_quantity, + WH4_x3_y3_z2_9_materialType=WH4_x3_y3_z2_9_materialType, WH4_x3_y3_z2_9_targetWH=WH4_x3_y3_z2_9_targetWH, + WH3_x1_y1_z3_1_materialType=WH3_x1_y1_z3_1_materialType, WH3_x1_y1_z3_1_materialId=WH3_x1_y1_z3_1_materialId, WH3_x1_y1_z3_1_quantity=WH3_x1_y1_z3_1_quantity, + WH3_x2_y1_z3_2_materialType=WH3_x2_y1_z3_2_materialType, WH3_x2_y1_z3_2_materialId=WH3_x2_y1_z3_2_materialId, WH3_x2_y1_z3_2_quantity=WH3_x2_y1_z3_2_quantity, + WH3_x3_y1_z3_3_materialType=WH3_x3_y1_z3_3_materialType, WH3_x3_y1_z3_3_materialId=WH3_x3_y1_z3_3_materialId, WH3_x3_y1_z3_3_quantity=WH3_x3_y1_z3_3_quantity, + WH3_x1_y2_z3_4_materialType=WH3_x1_y2_z3_4_materialType, WH3_x1_y2_z3_4_materialId=WH3_x1_y2_z3_4_materialId, WH3_x1_y2_z3_4_quantity=WH3_x1_y2_z3_4_quantity, + WH3_x2_y2_z3_5_materialType=WH3_x2_y2_z3_5_materialType, WH3_x2_y2_z3_5_materialId=WH3_x2_y2_z3_5_materialId, WH3_x2_y2_z3_5_quantity=WH3_x2_y2_z3_5_quantity, + WH3_x3_y2_z3_6_materialType=WH3_x3_y2_z3_6_materialType, WH3_x3_y2_z3_6_materialId=WH3_x3_y2_z3_6_materialId, WH3_x3_y2_z3_6_quantity=WH3_x3_y2_z3_6_quantity, + WH3_x1_y3_z3_7_materialType=WH3_x1_y3_z3_7_materialType, WH3_x1_y3_z3_7_materialId=WH3_x1_y3_z3_7_materialId, WH3_x1_y3_z3_7_quantity=WH3_x1_y3_z3_7_quantity, + WH3_x2_y3_z3_8_materialType=WH3_x2_y3_z3_8_materialType, WH3_x2_y3_z3_8_materialId=WH3_x2_y3_z3_8_materialId, WH3_x2_y3_z3_8_quantity=WH3_x2_y3_z3_8_quantity, + WH3_x3_y3_z3_9_materialType=WH3_x3_y3_z3_9_materialType, WH3_x3_y3_z3_9_materialId=WH3_x3_y3_z3_9_materialId, WH3_x3_y3_z3_9_quantity=WH3_x3_y3_z3_9_quantity, + WH3_x1_y4_z3_10_materialType=WH3_x1_y4_z3_10_materialType, WH3_x1_y4_z3_10_materialId=WH3_x1_y4_z3_10_materialId, WH3_x1_y4_z3_10_quantity=WH3_x1_y4_z3_10_quantity, + WH3_x2_y4_z3_11_materialType=WH3_x2_y4_z3_11_materialType, WH3_x2_y4_z3_11_materialId=WH3_x2_y4_z3_11_materialId, WH3_x2_y4_z3_11_quantity=WH3_x2_y4_z3_11_quantity, + WH3_x3_y4_z3_12_materialType=WH3_x3_y4_z3_12_materialType, WH3_x3_y4_z3_12_materialId=WH3_x3_y4_z3_12_materialId, WH3_x3_y4_z3_12_quantity=WH3_x3_y4_z3_12_quantity, + WH3_x1_y5_z3_13_materialType=WH3_x1_y5_z3_13_materialType, WH3_x1_y5_z3_13_materialId=WH3_x1_y5_z3_13_materialId, WH3_x1_y5_z3_13_quantity=WH3_x1_y5_z3_13_quantity, + WH3_x2_y5_z3_14_materialType=WH3_x2_y5_z3_14_materialType, WH3_x2_y5_z3_14_materialId=WH3_x2_y5_z3_14_materialId, WH3_x2_y5_z3_14_quantity=WH3_x2_y5_z3_14_quantity, + WH3_x3_y5_z3_15_materialType=WH3_x3_y5_z3_15_materialType, WH3_x3_y5_z3_15_materialId=WH3_x3_y5_z3_15_materialId, WH3_x3_y5_z3_15_quantity=WH3_x3_y5_z3_15_quantity, + ) + + logger.info("=" * 60) + logger.info("组合操作完成") + logger.info("=" * 60) + + return { + "success": True, + "scheduler_result": scheduler_result, + "feeding_result": feeding_result + } + + + def scheduler_start_and_auto_feeding_v2( + self, + # ★ Excel路径参数 + xlsx_path: Optional[str] = "D:\\UniLab\\Uni-Lab-OS\\unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\material_template.xlsx", + # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- + WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, + WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, + WH4_x3_y1_z1_3_materialName: str = "", WH4_x3_y1_z1_3_quantity: float = 0.0, + WH4_x4_y1_z1_4_materialName: str = "", WH4_x4_y1_z1_4_quantity: float = 0.0, + WH4_x5_y1_z1_5_materialName: str = "", WH4_x5_y1_z1_5_quantity: float = 0.0, + WH4_x1_y2_z1_6_materialName: str = "", WH4_x1_y2_z1_6_quantity: float = 0.0, + WH4_x2_y2_z1_7_materialName: str = "", WH4_x2_y2_z1_7_quantity: float = 0.0, + WH4_x3_y2_z1_8_materialName: str = "", WH4_x3_y2_z1_8_quantity: float = 0.0, + WH4_x4_y2_z1_9_materialName: str = "", WH4_x4_y2_z1_9_quantity: float = 0.0, + WH4_x5_y2_z1_10_materialName: str = "", WH4_x5_y2_z1_10_quantity: float = 0.0, + WH4_x1_y3_z1_11_materialName: str = "", WH4_x1_y3_z1_11_quantity: float = 0.0, + WH4_x2_y3_z1_12_materialName: str = "", WH4_x2_y3_z1_12_quantity: float = 0.0, + + # ---------------- WH4 - 原液瓶面 (Z=2, 9个点位) ---------------- + WH4_x1_y1_z2_1_materialName: str = "", WH4_x1_y1_z2_1_quantity: float = 0.0, WH4_x1_y1_z2_1_materialType: str = "", WH4_x1_y1_z2_1_targetWH: str = "", + WH4_x2_y1_z2_2_materialName: str = "", WH4_x2_y1_z2_2_quantity: float = 0.0, WH4_x2_y1_z2_2_materialType: str = "", WH4_x2_y1_z2_2_targetWH: str = "", + WH4_x3_y1_z2_3_materialName: str = "", WH4_x3_y1_z2_3_quantity: float = 0.0, WH4_x3_y1_z2_3_materialType: str = "", WH4_x3_y1_z2_3_targetWH: str = "", + WH4_x1_y2_z2_4_materialName: str = "", WH4_x1_y2_z2_4_quantity: float = 0.0, WH4_x1_y2_z2_4_materialType: str = "", WH4_x1_y2_z2_4_targetWH: str = "", + WH4_x2_y2_z2_5_materialName: str = "", WH4_x2_y2_z2_5_quantity: float = 0.0, WH4_x2_y2_z2_5_materialType: str = "", WH4_x2_y2_z2_5_targetWH: str = "", + WH4_x3_y2_z2_6_materialName: str = "", WH4_x3_y2_z2_6_quantity: float = 0.0, WH4_x3_y2_z2_6_materialType: str = "", WH4_x3_y2_z2_6_targetWH: str = "", + WH4_x1_y3_z2_7_materialName: str = "", WH4_x1_y3_z2_7_quantity: float = 0.0, WH4_x1_y3_z2_7_materialType: str = "", WH4_x1_y3_z2_7_targetWH: str = "", + WH4_x2_y3_z2_8_materialName: str = "", WH4_x2_y3_z2_8_quantity: float = 0.0, WH4_x2_y3_z2_8_materialType: str = "", WH4_x2_y3_z2_8_targetWH: str = "", + WH4_x3_y3_z2_9_materialName: str = "", WH4_x3_y3_z2_9_quantity: float = 0.0, WH4_x3_y3_z2_9_materialType: str = "", WH4_x3_y3_z2_9_targetWH: str = "", + + # ---------------- WH3 - 人工堆栈 (Z=3, 15个点位) ---------------- + WH3_x1_y1_z3_1_materialType: str = "", WH3_x1_y1_z3_1_materialId: str = "", WH3_x1_y1_z3_1_quantity: float = 0, + WH3_x2_y1_z3_2_materialType: str = "", WH3_x2_y1_z3_2_materialId: str = "", WH3_x2_y1_z3_2_quantity: float = 0, + WH3_x3_y1_z3_3_materialType: str = "", WH3_x3_y1_z3_3_materialId: str = "", WH3_x3_y1_z3_3_quantity: float = 0, + WH3_x1_y2_z3_4_materialType: str = "", WH3_x1_y2_z3_4_materialId: str = "", WH3_x1_y2_z3_4_quantity: float = 0, + WH3_x2_y2_z3_5_materialType: str = "", WH3_x2_y2_z3_5_materialId: str = "", WH3_x2_y2_z3_5_quantity: float = 0, + WH3_x3_y2_z3_6_materialType: str = "", WH3_x3_y2_z3_6_materialId: str = "", WH3_x3_y2_z3_6_quantity: float = 0, + WH3_x1_y3_z3_7_materialType: str = "", WH3_x1_y3_z3_7_materialId: str = "", WH3_x1_y3_z3_7_quantity: float = 0, + WH3_x2_y3_z3_8_materialType: str = "", WH3_x2_y3_z3_8_materialId: str = "", WH3_x2_y3_z3_8_quantity: float = 0, + WH3_x3_y3_z3_9_materialType: str = "", WH3_x3_y3_z3_9_materialId: str = "", WH3_x3_y3_z3_9_quantity: float = 0, + WH3_x1_y4_z3_10_materialType: str = "", WH3_x1_y4_z3_10_materialId: str = "", WH3_x1_y4_z3_10_quantity: float = 0, + WH3_x2_y4_z3_11_materialType: str = "", WH3_x2_y4_z3_11_materialId: str = "", WH3_x2_y4_z3_11_quantity: float = 0, + WH3_x3_y4_z3_12_materialType: str = "", WH3_x3_y4_z3_12_materialId: str = "", WH3_x3_y4_z3_12_quantity: float = 0, + WH3_x1_y5_z3_13_materialType: str = "", WH3_x1_y5_z3_13_materialId: str = "", WH3_x1_y5_z3_13_quantity: float = 0, + WH3_x2_y5_z3_14_materialType: str = "", WH3_x2_y5_z3_14_materialId: str = "", WH3_x2_y5_z3_14_quantity: float = 0, + WH3_x3_y5_z3_15_materialType: str = "", WH3_x3_y5_z3_15_materialId: str = "", WH3_x3_y5_z3_15_quantity: float = 0, + ) -> Dict[str, Any]: + """ + 组合函数 V2 版本（测试版）：先启动调度，然后执行自动化上料 + + ⚠️ 这是测试版本，使用非阻塞轮询等待方式，避免 ROS2 Action feedback publisher 失效 + + 与 V1 的区别： + - 使用 wait_for_order_finish_polling 替代原有的阻塞等待 + - 允许 ROS2 在等待期间正常发布 feedback 消息 + - 适用于长时间运行的任务 + + 参数与 scheduler_start_and_auto_feeding 完全相同 + + Returns: + 包含调度启动结果和上料结果的字典 + """ + logger.info("=" * 60) + logger.info("[V2测试版本] 开始执行组合操作：启动调度 + 自动化上料") + logger.info("=" * 60) + + # 步骤1: 启动调度 + logger.info("【步骤 1/2】启动调度...") + scheduler_result = self.scheduler_start() + logger.info(f"调度启动结果: {scheduler_result}") + + # 检查调度是否启动成功 + if scheduler_result.get("code") != 1: + logger.error(f"调度启动失败: {scheduler_result}") + return { + "success": False, + "step": "scheduler_start", + "scheduler_result": scheduler_result, + "error": "调度启动失败" + } + + logger.info("✓ 调度启动成功") + + # 步骤2: 执行自动化上料（这里会调用 auto_feeding4to3，内部使用轮询等待） + logger.info("【步骤 2/2】执行自动化上料...") + + # 临时替换 wait_for_order_finish 为轮询版本 + original_wait_func = self.wait_for_order_finish + self.wait_for_order_finish = self.wait_for_order_finish_polling + + try: + feeding_result = self.auto_feeding4to3( + xlsx_path=xlsx_path, + WH4_x1_y1_z1_1_materialName=WH4_x1_y1_z1_1_materialName, WH4_x1_y1_z1_1_quantity=WH4_x1_y1_z1_1_quantity, + WH4_x2_y1_z1_2_materialName=WH4_x2_y1_z1_2_materialName, WH4_x2_y1_z1_2_quantity=WH4_x2_y1_z1_2_quantity, + WH4_x3_y1_z1_3_materialName=WH4_x3_y1_z1_3_materialName, WH4_x3_y1_z1_3_quantity=WH4_x3_y1_z1_3_quantity, + WH4_x4_y1_z1_4_materialName=WH4_x4_y1_z1_4_materialName, WH4_x4_y1_z1_4_quantity=WH4_x4_y1_z1_4_quantity, + WH4_x5_y1_z1_5_materialName=WH4_x5_y1_z1_5_materialName, WH4_x5_y1_z1_5_quantity=WH4_x5_y1_z1_5_quantity, + WH4_x1_y2_z1_6_materialName=WH4_x1_y2_z1_6_materialName, WH4_x1_y2_z1_6_quantity=WH4_x1_y2_z1_6_quantity, + WH4_x2_y2_z1_7_materialName=WH4_x2_y2_z1_7_materialName, WH4_x2_y2_z1_7_quantity=WH4_x2_y2_z1_7_quantity, + WH4_x3_y2_z1_8_materialName=WH4_x3_y2_z1_8_materialName, WH4_x3_y2_z1_8_quantity=WH4_x3_y2_z1_8_quantity, + WH4_x4_y2_z1_9_materialName=WH4_x4_y2_z1_9_materialName, WH4_x4_y2_z1_9_quantity=WH4_x4_y2_z1_9_quantity, + WH4_x5_y2_z1_10_materialName=WH4_x5_y2_z1_10_materialName, WH4_x5_y2_z1_10_quantity=WH4_x5_y2_z1_10_quantity, + WH4_x1_y3_z1_11_materialName=WH4_x1_y3_z1_11_materialName, WH4_x1_y3_z1_11_quantity=WH4_x1_y3_z1_11_quantity, + WH4_x2_y3_z1_12_materialName=WH4_x2_y3_z1_12_materialName, WH4_x2_y3_z1_12_quantity=WH4_x2_y3_z1_12_quantity, + WH4_x1_y1_z2_1_materialName=WH4_x1_y1_z2_1_materialName, WH4_x1_y1_z2_1_quantity=WH4_x1_y1_z2_1_quantity, + WH4_x1_y1_z2_1_materialType=WH4_x1_y1_z2_1_materialType, WH4_x1_y1_z2_1_targetWH=WH4_x1_y1_z2_1_targetWH, + WH4_x2_y1_z2_2_materialName=WH4_x2_y1_z2_2_materialName, WH4_x2_y1_z2_2_quantity=WH4_x2_y1_z2_2_quantity, + WH4_x2_y1_z2_2_materialType=WH4_x2_y1_z2_2_materialType, WH4_x2_y1_z2_2_targetWH=WH4_x2_y1_z2_2_targetWH, + WH4_x3_y1_z2_3_materialName=WH4_x3_y1_z2_3_materialName, WH4_x3_y1_z2_3_quantity=WH4_x3_y1_z2_3_quantity, + WH4_x3_y1_z2_3_materialType=WH4_x3_y1_z2_3_materialType, WH4_x3_y1_z2_3_targetWH=WH4_x3_y1_z2_3_targetWH, + WH4_x1_y2_z2_4_materialName=WH4_x1_y2_z2_4_materialName, WH4_x1_y2_z2_4_quantity=WH4_x1_y2_z2_4_quantity, + WH4_x1_y2_z2_4_materialType=WH4_x1_y2_z2_4_materialType, WH4_x1_y2_z2_4_targetWH=WH4_x1_y2_z2_4_targetWH, + WH4_x2_y2_z2_5_materialName=WH4_x2_y2_z2_5_materialName, WH4_x2_y2_z2_5_quantity=WH4_x2_y2_z2_5_quantity, + WH4_x2_y2_z2_5_materialType=WH4_x2_y2_z2_5_materialType, WH4_x2_y2_z2_5_targetWH=WH4_x2_y2_z2_5_targetWH, + WH4_x3_y2_z2_6_materialName=WH4_x3_y2_z2_6_materialName, WH4_x3_y2_z2_6_quantity=WH4_x3_y2_z2_6_quantity, + WH4_x3_y2_z2_6_materialType=WH4_x3_y2_z2_6_materialType, WH4_x3_y2_z2_6_targetWH=WH4_x3_y2_z2_6_targetWH, + WH4_x1_y3_z2_7_materialName=WH4_x1_y3_z2_7_materialName, WH4_x1_y3_z2_7_quantity=WH4_x1_y3_z2_7_quantity, + WH4_x1_y3_z2_7_materialType=WH4_x1_y3_z2_7_materialType, WH4_x1_y3_z2_7_targetWH=WH4_x1_y3_z2_7_targetWH, + WH4_x2_y3_z2_8_materialName=WH4_x2_y3_z2_8_materialName, WH4_x2_y3_z2_8_quantity=WH4_x2_y3_z2_8_quantity, + WH4_x2_y3_z2_8_materialType=WH4_x2_y3_z2_8_materialType, WH4_x2_y3_z2_8_targetWH=WH4_x2_y3_z2_8_targetWH, + WH4_x3_y3_z2_9_materialName=WH4_x3_y3_z2_9_materialName, WH4_x3_y3_z2_9_quantity=WH4_x3_y3_z2_9_quantity, + WH4_x3_y3_z2_9_materialType=WH4_x3_y3_z2_9_materialType, WH4_x3_y3_z2_9_targetWH=WH4_x3_y3_z2_9_targetWH, + WH3_x1_y1_z3_1_materialType=WH3_x1_y1_z3_1_materialType, WH3_x1_y1_z3_1_materialId=WH3_x1_y1_z3_1_materialId, WH3_x1_y1_z3_1_quantity=WH3_x1_y1_z3_1_quantity, + WH3_x2_y1_z3_2_materialType=WH3_x2_y1_z3_2_materialType, WH3_x2_y1_z3_2_materialId=WH3_x2_y1_z3_2_materialId, WH3_x2_y1_z3_2_quantity=WH3_x2_y1_z3_2_quantity, + WH3_x3_y1_z3_3_materialType=WH3_x3_y1_z3_3_materialType, WH3_x3_y1_z3_3_materialId=WH3_x3_y1_z3_3_materialId, WH3_x3_y1_z3_3_quantity=WH3_x3_y1_z3_3_quantity, + WH3_x1_y2_z3_4_materialType=WH3_x1_y2_z3_4_materialType, WH3_x1_y2_z3_4_materialId=WH3_x1_y2_z3_4_materialId, WH3_x1_y2_z3_4_quantity=WH3_x1_y2_z3_4_quantity, + WH3_x2_y2_z3_5_materialType=WH3_x2_y2_z3_5_materialType, WH3_x2_y2_z3_5_materialId=WH3_x2_y2_z3_5_materialId, WH3_x2_y2_z3_5_quantity=WH3_x2_y2_z3_5_quantity, + WH3_x3_y2_z3_6_materialType=WH3_x3_y2_z3_6_materialType, WH3_x3_y2_z3_6_materialId=WH3_x3_y2_z3_6_materialId, WH3_x3_y2_z3_6_quantity=WH3_x3_y2_z3_6_quantity, + WH3_x1_y3_z3_7_materialType=WH3_x1_y3_z3_7_materialType, WH3_x1_y3_z3_7_materialId=WH3_x1_y3_z3_7_materialId, WH3_x1_y3_z3_7_quantity=WH3_x1_y3_z3_7_quantity, + WH3_x2_y3_z3_8_materialType=WH3_x2_y3_z3_8_materialType, WH3_x2_y3_z3_8_materialId=WH3_x2_y3_z3_8_materialId, WH3_x2_y3_z3_8_quantity=WH3_x2_y3_z3_8_quantity, + WH3_x3_y3_z3_9_materialType=WH3_x3_y3_z3_9_materialType, WH3_x3_y3_z3_9_materialId=WH3_x3_y3_z3_9_materialId, WH3_x3_y3_z3_9_quantity=WH3_x3_y3_z3_9_quantity, + WH3_x1_y4_z3_10_materialType=WH3_x1_y4_z3_10_materialType, WH3_x1_y4_z3_10_materialId=WH3_x1_y4_z3_10_materialId, WH3_x1_y4_z3_10_quantity=WH3_x1_y4_z3_10_quantity, + WH3_x2_y4_z3_11_materialType=WH3_x2_y4_z3_11_materialType, WH3_x2_y4_z3_11_materialId=WH3_x2_y4_z3_11_materialId, WH3_x2_y4_z3_11_quantity=WH3_x2_y4_z3_11_quantity, + WH3_x3_y4_z3_12_materialType=WH3_x3_y4_z3_12_materialType, WH3_x3_y4_z3_12_materialId=WH3_x3_y4_z3_12_materialId, WH3_x3_y4_z3_12_quantity=WH3_x3_y4_z3_12_quantity, + WH3_x1_y5_z3_13_materialType=WH3_x1_y5_z3_13_materialType, WH3_x1_y5_z3_13_materialId=WH3_x1_y5_z3_13_materialId, WH3_x1_y5_z3_13_quantity=WH3_x1_y5_z3_13_quantity, + WH3_x2_y5_z3_14_materialType=WH3_x2_y5_z3_14_materialType, WH3_x2_y5_z3_14_materialId=WH3_x2_y5_z3_14_materialId, WH3_x2_y5_z3_14_quantity=WH3_x2_y5_z3_14_quantity, + WH3_x3_y5_z3_15_materialType=WH3_x3_y5_z3_15_materialType, WH3_x3_y5_z3_15_materialId=WH3_x3_y5_z3_15_materialId, WH3_x3_y5_z3_15_quantity=WH3_x3_y5_z3_15_quantity, + ) + finally: + # 恢复原有函数 + self.wait_for_order_finish = original_wait_func + + logger.info("=" * 60) + logger.info("[V2测试版本] 组合操作完成") + logger.info("=" * 60) + + return { + "success": True, + "scheduler_result": scheduler_result, + "feeding_result": feeding_result, + "version": "v2_polling" + } + + + # 2.24 物料变更推送 + def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]: + """ + material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等） + """ + return self._post_report_raw("/report/material_change", material_obj) + + # 2.32 3-2-1 物料转运 + def transfer_3_to_2_to_1(self, + # source_wh_id: Optional[str] = None, + source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b', + source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]: + payload: Dict[str, Any] = { + "sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z + } + if source_wh_id: + payload["sourceWHID"] = source_wh_id + + response = self._post_lims("/api/lims/order/transfer-task3To2To1", payload) + # 等待任务报送成功 + order_code = response.get("data", {}).get("orderCode") + if not order_code: + logger.error("上料任务未返回有效 orderCode！") + return response + # 等待完成报送 + result = self.wait_for_order_finish(order_code) + return result + + def transfer_3_to_2(self, + source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b', + source_x: int = 1, + source_y: int = 1, + source_z: int = 1) -> Dict[str, Any]: + """ + 2.34 3-2 物料转运接口 + + 新建从 3 -> 2 的搬运任务 + + Args: + source_wh_id: 来源仓库 Id (默认为3号仓库) + source_x: 来源位置 X 坐标 + source_y: 来源位置 Y 坐标 + source_z: 来源位置 Z 坐标 + + Returns: + dict: 包含任务 orderId 和 orderCode 的响应 + """ + payload: Dict[str, Any] = { + "sourcePosX": source_x, + "sourcePosY": source_y, + "sourcePosZ": source_z + } + if source_wh_id: + payload["sourceWHID"] = source_wh_id + + logger.info(f"[transfer_3_to_2] 开始转运: 仓库={source_wh_id}, 位置=({source_x}, {source_y}, {source_z})") + response = self._post_lims("/api/lims/order/transfer-task3To2", payload) + + # 等待任务报送成功 + order_code = response.get("data", {}).get("orderCode") + if not order_code: + logger.error("[transfer_3_to_2] 转运任务未返回有效 orderCode！") + return response + + logger.info(f"[transfer_3_to_2] 转运任务已创建: {order_code}") + # 等待完成报送 + result = self.wait_for_order_finish(order_code) + logger.info(f"[transfer_3_to_2] 转运任务完成: {order_code}") + return result + + # 3.35 1→2 物料转运 + def transfer_1_to_2(self) -> Dict[str, Any]: + """ + 1→2 物料转运 + URL: /api/lims/order/transfer-task1To2 + 只需要 apiKey 和 requestTime + """ + logger.info("[transfer_1_to_2] 开始 1→2 物料转运") + response = self._post_lims("/api/lims/order/transfer-task1To2") + logger.info(f"[transfer_1_to_2] API Response: {response}") + + # 等待任务报送成功 - 处理不同的响应格式 + order_code = None + data_field = response.get("data") + + if isinstance(data_field, dict): + order_code = data_field.get("orderCode") + elif isinstance(data_field, str): + # 某些接口可能直接返回 orderCode 字符串 + order_code = data_field + + if not order_code: + logger.error(f"[transfer_1_to_2] 转运任务未返回有效 orderCode！响应: {response}") + return response + + logger.info(f"[transfer_1_to_2] 转运任务已创建: {order_code}") + # 等待完成报送 + result = self.wait_for_order_finish(order_code) + logger.info(f"[transfer_1_to_2] 转运任务完成: {order_code}") + return result + + # 2.5 批量查询实验报告(post过滤关键字查询) + def order_list_v2(self, + timeType: str = "", + beginTime: str = "", + endTime: str = "", + status: str = "", # 60表示正在运行,80表示完成，90表示失败 + filter: str = "", + skipCount: int = 0, + pageCount: int = 1, # 显示多少页数据 + sorting: str = "") -> Dict[str, Any]: + """ + 批量查询实验报告的详细信息 (2.5) + URL: /api/lims/order/order-list + 参数默认值和接口文档保持一致 + """ + data: Dict[str, Any] = { + "timeType": timeType, + "beginTime": beginTime, + "endTime": endTime, + "status": status, + "filter": filter, + "skipCount": skipCount, + "pageCount": pageCount, + "sorting": sorting + } + return self._post_lims("/api/lims/order/order-list", data) + + # 一直post执行bioyond接口查询任务状态 + def wait_for_transfer_task(self, timeout: int = 3000, interval: int = 5, filter_text: Optional[str] = None) -> bool: + """ + 轮询查询物料转移任务是否成功完成 (status=80) + - timeout: 最大等待秒数 (默认600秒) + - interval: 轮询间隔秒数 (默认3秒) + 返回 True 表示找到并成功完成，False 表示超时未找到 + """ + now = datetime.now() + beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ") + endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ") + print(beginTime, endTime) + + deadline = time.time() + timeout + + while time.time() < deadline: + result = self.order_list_v2( + timeType="", + beginTime=beginTime, + endTime=endTime, + status="", + filter=filter_text, + skipCount=0, + pageCount=1, + sorting="" + ) + print(result) + + items = result.get("data", {}).get("items", []) + for item in items: + name = item.get("name", "") + status = item.get("status") + # 改成用 filter_text 判断 + if (not filter_text or filter_text in name) and status == 80: + logger.info(f"硬件转移动作完成: {name}, status={status}") + return True + + logger.info(f"等待中: {name}, status={status}") + time.sleep(interval) + + logger.warning("超时未找到成功的物料转移任务") + return False + + def create_materials(self, mappings: Dict[str, Dict[str, Any]]) -> List[Dict[str, Any]]: + """ + 将 SOLID_LIQUID_MAPPINGS 中的所有物料逐个 POST 到 /api/lims/storage/material + """ + results = [] + + for name, data in mappings.items(): + data = { + "typeId": data["typeId"], + "code": data.get("code", ""), + "barCode": data.get("barCode", ""), + "name": data["name"], + "unit": data.get("unit", "g"), + "parameters": data.get("parameters", ""), + "quantity": data.get("quantity", ""), + "warningQuantity": data.get("warningQuantity", ""), + "details": data.get("details", []) + } + + logger.info(f"正在创建第 {i}/{total} 个固体物料: {name}") + result = self._post_lims("/api/lims/storage/material", material_data) + + if result and result.get("code") == 1: + # data 字段可能是字符串（物料ID）或字典（包含id字段） + data = result.get("data") + if isinstance(data, str): + # data 直接是物料ID字符串 + material_id = data + elif isinstance(data, dict): + # data 是字典，包含id字段 + material_id = data.get("id") + else: + material_id = None + + if material_id: + created_materials.append({ + "name": name, + "materialId": material_id, + "typeId": type_id + }) + logger.info(f"✓ 成功创建物料: {name}, ID: {material_id}") + else: + logger.error(f"✗ 创建物料失败: {name}, 未返回ID") + logger.error(f" 响应数据: {result}") + else: + error_msg = result.get("error") or result.get("message", "未知错误") + logger.error(f"✗ 创建物料失败: {name}") + logger.error(f" 错误信息: {error_msg}") + logger.error(f" 完整响应: {result}") + + # 避免请求过快 + time.sleep(0.3) + + logger.info(f"物料创建完成，成功创建 {len(created_materials)}/{total} 个固体物料") + return created_materials + + def _sync_materials_safe(self) -> bool: + """仅使用 BioyondResourceSynchronizer 执行同步（与 station.py 保持一致）。""" + if hasattr(self, 'resource_synchronizer') and self.resource_synchronizer: + try: + return bool(self.resource_synchronizer.sync_from_external()) + except Exception as e: + logger.error(f"同步失败: {e}") + return False + logger.warning("资源同步器未初始化") + return False + + def _load_warehouse_locations(self, warehouse_name: str) -> tuple[List[str], List[str]]: + """从配置加载仓库位置信息 + + Args: + warehouse_name: 仓库名称 + + Returns: + (location_ids, position_names) 元组 + """ + warehouse_mapping = self.bioyond_config.get("warehouse_mapping", WAREHOUSE_MAPPING) + + if warehouse_name not in warehouse_mapping: + raise ValueError(f"配置中未找到仓库: {warehouse_name}。可用: {list(warehouse_mapping.keys())}") + + site_uuids = warehouse_mapping[warehouse_name].get("site_uuids", {}) + if not site_uuids: + raise ValueError(f"仓库 {warehouse_name} 没有配置位置") + + # 按顺序获取位置ID和名称 + location_ids = [] + position_names = [] + for key in sorted(site_uuids.keys()): + location_ids.append(site_uuids[key]) + position_names.append(key) + + return location_ids, position_names + + + def create_and_inbound_materials( + self, + material_names: Optional[List[str]] = None, + type_id: str = "3a190ca0-b2f6-9aeb-8067-547e72c11469", + warehouse_name: str = "粉末加样头堆栈" + ) -> Dict[str, Any]: + """ + 传参与默认列表方式创建物料并入库（不使用CSV）。 + + Args: + material_names: 物料名称列表；默认使用 [LiPF6, LiDFOB, DTD, LiFSI, LiPO2F2] + type_id: 物料类型ID + warehouse_name: 目标仓库名（用于取位置信息） + + Returns: + 执行结果字典 + """ + logger.info("=" * 60) + logger.info(f"开始执行：从参数创建物料并批量入库到 {warehouse_name}") + logger.info("=" * 60) + + try: + # 1) 准备物料名称（默认值） + default_materials = ["LiPF6", "LiDFOB", "DTD", "LiFSI", "LiPO2F2"] + mat_names = [m.strip() for m in (material_names or default_materials) if str(m).strip()] + if not mat_names: + return {"success": False, "error": "物料名称列表为空"} + + # 2) 加载仓库位置信息 + all_location_ids, position_names = self._load_warehouse_locations(warehouse_name) + logger.info(f"✓ 加载 {len(all_location_ids)} 个位置 ({position_names[0]} ~ {position_names[-1]})") + + # 限制数量不超过可用位置 + if len(mat_names) > len(all_location_ids): + logger.warning(f"物料数量超出位置数量，仅处理前 {len(all_location_ids)} 个") + mat_names = mat_names[:len(all_location_ids)] + + # 3) 创建物料 + logger.info(f"\n【步骤1/3】创建 {len(mat_names)} 个固体物料...") + created_materials = self.create_solid_materials(mat_names, type_id) + if not created_materials: + return {"success": False, "error": "没有成功创建任何物料"} + + # 4) 批量入库 + logger.info(f"\n【步骤2/3】批量入库物料...") + location_ids = all_location_ids[:len(created_materials)] + selected_positions = position_names[:len(created_materials)] + + inbound_items = [ + {"materialId": mat["materialId"], "locationId": loc_id} + for mat, loc_id in zip(created_materials, location_ids) + ] + + for material, position in zip(created_materials, selected_positions): + logger.info(f" - {material['name']} → {position}") + + result = self.storage_batch_inbound(inbound_items) + if result.get("code") != 1: + logger.error(f"✗ 批量入库失败: {result}") + return {"success": False, "error": "批量入库失败", "created_materials": created_materials, "inbound_result": result} + + logger.info("✓ 批量入库成功") + + # 5) 同步 + logger.info(f"\n【步骤3/3】同步物料数据...") + if self._sync_materials_safe(): + logger.info("✓ 物料数据同步完成") + else: + logger.warning("⚠ 物料数据同步未完成（可忽略，不影响已创建与入库的数据）") + + logger.info("\n" + "=" * 60) + logger.info("流程完成") + logger.info("=" * 60 + "\n") + + return { + "success": True, + "created_materials": created_materials, + "inbound_result": result, + "total_created": len(created_materials), + "total_inbound": len(inbound_items), + "warehouse": warehouse_name, + "positions": selected_positions + } + + except Exception as e: + logger.error(f"✗ 执行失败: {e}") + return {"success": False, "error": str(e)} + + def create_material( + self, + material_name: str, + type_id: str, + warehouse_name: str, + location_name_or_id: Optional[str] = None + ) -> Dict[str, Any]: + """创建单个物料并可选入库。 + Args: + material_name: 物料名称（会优先匹配配置模板）。 + type_id: 物料类型 ID（若为空则尝试从配置推断）。 + warehouse_name: 需要入库的仓库名称；若为空则仅创建不入库。 + location_name_or_id: 具体库位名称（如 A01）或库位 UUID，由用户指定。 + Returns: + 包含创建结果、物料ID以及入库结果的字典。 + """ + material_name = (material_name or "").strip() + + resolved_type_id = (type_id or "").strip() + # 优先从配置中获取模板数据 + template = self.bioyond_config.get('solid_liquid_mappings', {}).get(material_name) + if not template: + raise ValueError(f"在配置中未找到物料 {material_name} 的模板，请检查 bioyond_config.solid_liquid_mappings。") + material_data: Dict[str, Any] + material_data = deepcopy(template) + # 最终确保 typeId 为调用方传入的值 + if resolved_type_id: + material_data["typeId"] = resolved_type_id + material_data["name"] = material_name + # 生成唯一编码 + def _generate_code(prefix: str) -> str: + normalized = re.sub(r"\W+", "_", prefix) + normalized = normalized.strip("_") or "material" + return f"{normalized}_{datetime.now().strftime('%Y%m%d%H%M%S')}" + if not material_data.get("code"): + material_data["code"] = _generate_code(material_name) + if not material_data.get("barCode"): + material_data["barCode"] = "" + # 处理数量字段类型 + def _to_number(value: Any, default: float = 0.0) -> float: + try: + if value is None: + return default + if isinstance(value, (int, float)): + return float(value) + if isinstance(value, str) and value.strip() == "": + return default + return float(value) + except (TypeError, ValueError): + return default + material_data["quantity"] = _to_number(material_data.get("quantity"), 1.0) + material_data["warningQuantity"] = _to_number(material_data.get("warningQuantity"), 0.0) + unit = material_data.get("unit") or "个" + material_data["unit"] = unit + if not material_data.get("parameters"): + material_data["parameters"] = json.dumps({"unit": unit}, ensure_ascii=False) + # 补充子物料信息 + details = material_data.get("details") or [] + if not isinstance(details, list): + logger.warning("details 字段不是列表，已忽略。") + details = [] + else: + for idx, detail in enumerate(details, start=1): + if not isinstance(detail, dict): + continue + if not detail.get("code"): + detail["code"] = f"{material_data['code']}_{idx:02d}" + if not detail.get("name"): + detail["name"] = f"{material_name}_detail_{idx:02d}" + if not detail.get("unit"): + detail["unit"] = unit + if not detail.get("parameters"): + detail["parameters"] = json.dumps({"unit": detail.get("unit", unit)}, ensure_ascii=False) + if "quantity" in detail: + detail["quantity"] = _to_number(detail.get("quantity"), 1.0) + material_data["details"] = details + create_result = self._post_lims("/api/lims/storage/material", material_data) + # 解析创建结果中的物料 ID + material_id: Optional[str] = None + if isinstance(create_result, dict): + data_field = create_result.get("data") + if isinstance(data_field, str): + material_id = data_field + elif isinstance(data_field, dict): + material_id = data_field.get("id") or data_field.get("materialId") + inbound_result: Optional[Dict[str, Any]] = None + location_id: Optional[str] = None + # 按用户指定位置入库 + if warehouse_name and material_id and location_name_or_id: + try: + location_ids, position_names = self._load_warehouse_locations(warehouse_name) + position_to_id = {name: loc_id for name, loc_id in zip(position_names, location_ids)} + target_location_id = position_to_id.get(location_name_or_id, location_name_or_id) + if target_location_id: + location_id = target_location_id + inbound_result = self.storage_inbound(material_id, target_location_id) + else: + inbound_result = {"error": f"未找到匹配的库位: {location_name_or_id}"} + except Exception as exc: + logger.error(f"获取仓库 {warehouse_name} 位置失败: {exc}") + inbound_result = {"error": str(exc)} + return { + "success": bool(isinstance(create_result, dict) and create_result.get("code") == 1 and material_id), + "material_name": material_name, + "material_id": material_id, + "warehouse": warehouse_name, + "location_id": location_id, + "location_name_or_id": location_name_or_id, + "create_result": create_result, + "inbound_result": inbound_result, + } + def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR): + # ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{ + # "old_parent": old_parent, + # "plr_resource": plr_resource, + # "parent_resource": parent_resource, + # }) + print("resource_tree_transfer", plr_resource, parent_resource) + if hasattr(plr_resource, "unilabos_extra") and plr_resource.unilabos_extra: + if "update_resource_site" in plr_resource.unilabos_extra: + site = plr_resource.unilabos_extra["update_resource_site"] + plr_model = plr_resource.model + board_type = None + for key, (moudle_name,moudle_uuid) in self.bioyond_config['material_type_mappings'].items(): + if plr_model == moudle_name: + board_type = key + break + if board_type is None: + pass + bottle1 = plr_resource.children[0] + + bottle_moudle = bottle1.model + bottle_type = None + for key, (moudle_name, moudle_uuid) in self.bioyond_config['material_type_mappings'].items(): + if bottle_moudle == moudle_name: + bottle_type = key + break + + # 从 parent_resource 获取仓库名称 + warehouse_name = parent_resource.name if parent_resource else "手动堆栈" + logger.info(f"拖拽上料: {plr_resource.name} -> {warehouse_name} / {site}") + + self.create_sample(plr_resource.name, board_type, bottle_type, site, warehouse_name) + return + self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}") + + def create_sample( + self, + name: str, + board_type: str, + bottle_type: str, + location_code: str, + warehouse_name: str = "手动堆栈" + ) -> Dict[str, Any]: + """创建配液板物料并自动入库。 + Args: + name: 物料名称 + board_type: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板" + bottle_type: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)" + location_code: 库位编号，例如 "A01" + warehouse_name: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等 + """ + carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1] + bottle_type_id = self.bioyond_config['material_type_mappings'][bottle_type][1] + + # 从指定仓库获取库位UUID + if warehouse_name not in self.bioyond_config['warehouse_mapping']: + logger.error(f"未找到仓库: {warehouse_name}，回退到手动堆栈") + warehouse_name = "手动堆栈" + + if location_code not in self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"]: + logger.error(f"仓库 {warehouse_name} 中未找到库位 {location_code}") + raise ValueError(f"库位 {location_code} 在仓库 {warehouse_name} 中不存在") + + location_id = self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"][location_code] + logger.info(f"创建样品入库: {name} -> {warehouse_name}/{location_code} (UUID: {location_id})") + + # 新建小瓶 + details = [] + for y in range(1, 5): + for x in range(1, 3): + details.append({ + "typeId": bottle_type_id, + "code": "", + "name": str(bottle_type) + str(x) + str(y), + "quantity": "1", + "x": x, + "y": y, + "z": 1, + "unit": "个", + "parameters": json.dumps({"unit": "个"}, ensure_ascii=False), + }) + + data = { + "typeId": carrier_type_id, + "code": "", + "barCode": "", + "name": name, + "unit": "块", + "parameters": json.dumps({"unit": "块"}, ensure_ascii=False), + "quantity": "1", + "details": details, + } + # print("xxx:",data) + create_result = self._post_lims("/api/lims/storage/material", data) + sample_uuid = create_result.get("data") + + final_result = self._post_lims("/api/lims/storage/inbound", { + "materialId": sample_uuid, + "locationId": location_id, + }) + return final_result + + + + +if __name__ == "__main__": + lab_registry.setup() + deck = BIOYOND_YB_Deck(setup=True) + ws = BioyondCellWorkstation(deck=deck) + # ws.create_sample(name="test", board_type="配液瓶(小)板", bottle_type="配液瓶(小)", location_code="B01") + # logger.info(ws.scheduler_stop()) + # logger.info(ws.scheduler_start()) + + # 继续后续流程 + logger.info(ws.auto_feeding4to3()) #搬运物料到3号箱 + # # # 使用正斜杠或 Path 对象来指定文件路径 + # excel_path = Path("unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\2025092701.xlsx") + # logger.info(ws.create_orders(excel_path)) + # logger.info(ws.transfer_3_to_2_to_1()) + + # logger.info(ws.transfer_1_to_2()) + # logger.info(ws.scheduler_start()) + + + while True: + time.sleep(1) + # re=ws.scheduler_stop() + # re = ws.transfer_3_to_2_to_1() + + # print(re) + # logger.info("调度启动完成") + + # ws.scheduler_continue() + # 3.30 上料：读取模板 Excel 自动解析并 POST + # r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板.xlsx") + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("4号箱向3号箱转运物料转移任务已完成") + + # ws.scheduler_start() + # print(r1["payload"]["data"]) # 调试模式下可直接看到要发的 JSON items + + # # 新建实验 + # response = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092701.xlsx") + # logger.info(response) + # data_list = response.get("data", []) + # order_name = data_list[0].get("orderName", "") + + # ws.wait_for_transfer_task(filter_text=order_name) + # ws.wait_for_transfer_task(filter_text='DP20250927001') + # logger.info("3号站内实验完成") + # # ws.scheduler_start() + # # print(res) + # ws.transfer_3_to_2_to_1() + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("3号站向2号站向1号站转移任务完成") + # r321 = self.wait_for_transfer_task() + #1号站启动 + # ws.transfer_1_to_2() + # ws.wait_for_transfer_task(filter_text="物料转移任务") + # logger.info("1号站向2号站转移任务完成") + # logger.info("全流程结束") + + # 3.31 下料：同理 + # r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx") + # print(r2["payload"]["data"]) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx new file mode 100644 index 0000000000000000000000000000000000000000..88b233daa2fae48e13e53695798580f473a95c90 GIT binary patch literal 10674 zcmeHN%;4^X1a}zRf;+(>XmEEYNRR-*B@hT22yR1g4R^A; z_wH_X?_cn~{o$OMIbHQT)BQYE)m5bmMnEJ0AOlbV000%B1Y_UJ3Jw6kL;?Wt0jTf> 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+**文件**: `outbound_template.xlsx` +**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作 +**API 端点**: `/api/lims/storage/auto-batch-out-bound` + +--- + +## 📋 Excel 列说明 + +| 列名 | 说明 | 示例 | 必填 | +|------|------|------|------| +| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 | +| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 | +| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 | +| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 | +| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 | +| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 | +| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 | + +### 📐 坐标说明 + +**x, y, z** 是库位在仓库内的**三维坐标**： + +``` +仓库（例如 WH4） +├── Z=1（第1层/加样头面） +│ ├── X=1, Y=1（位置 A） +│ ├── X=2, Y=1（位置 B） +│ ├── X=3, Y=1（位置 C） +│ └── ... +│ +└── Z=2（第2层/原液瓶面） + ├── X=1, Y=1（位置 A） + ├── X=2, Y=1（位置 B） + └── ... +``` + +- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等） +- **x, y, z**: 在该仓库内的三维坐标 +- **locationId**: 该坐标位置的唯一 UUID + +### 🎯 起点与终点 + +**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。 + +``` +出库流程： +起点（Excel 指定） → ？终点（LIMS/工作流决定） + ↓ +locationId, x, y, z → 由 LIMS 系统或当前工作流自动分配 +``` + +**终点由以下方式确定：** +- **LIMS 系统自动分配**：根据当前任务自动规划目标位置 +- **工作流预定义**：在创建出库任务时已绑定目标位置 +- **暂存区**：默认放到出库暂存区，等待下一步操作 + +💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库 + +--- + +## 🔍 如何获取 UUID？ + +### 方法 1：从配置文件获取 + +参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`： + +```json +{ + "warehouse_mapping": { + "配液站内试剂仓库": { + "site_uuids": { + "A01": "3a19da43-57b5-294f-d663-154a1cc32270", + "B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2", + "C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f" + } + }, + "手动堆栈": { + "site_uuids": { + "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea", + "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe" + } + } + } +} +``` + +### 方法 2：通过 API 查询 + +```python +material_info = hardware_interface.material_id_query(workflow_id) +locations = material_info.get("locations", []) +``` + +--- + +## 📝 填写示例 + +### 示例 1：从配液站内试剂仓库出库 + +| locationId | warehouseId | quantity | x | y | z | 备注说明 | +|------------|-------------|----------|---|---|---|----------| +| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 | +| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 | + +### 示例 2：从手动堆栈出库 + +| locationId | warehouseId | quantity | x | y | z | 备注说明 | +|------------|-------------|----------|---|---|---|----------| +| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 | +| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 | + +--- + +## 💻 使用方法 + +```python +from bioyond_cell_workstation import BioyondCellWorkstation + +# 初始化工作站 +workstation = BioyondCellWorkstation(config=config, deck=deck) + +# 调用批量出库方法 +result = workstation.auto_batch_outbound_from_xlsx( + xlsx_path="outbound_template.xlsx" +) +``` + +--- + +## ⚠️ 注意事项 + +1. **locationId 必须是有效的 UUID**，不能使用库位名称 +2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置 +3. **quantity 必须是数字**，可以是整数或浮点数 +4. Excel 文件必须包含表头行 +5. 空行会被自动跳过 +6. 确保 UUID 与实际库位对应，否则 API 会报错 + +--- + +## 📚 相关文件 + +- **配置文件**: `yibin_electrolyte_config.json` +- **Python 代码**: `bioyond_cell_workstation.py` (L630-695) +- **生成脚本**: `create_outbound_template.py` +- **上料模板**: `material_template.xlsx` + +--- + +## 🔄 重新生成模板 + +```bash +conda activate newunilab +python create_outbound_template.py +``` diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py index afd515aa..c365be7a 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py @@ -9,7 +9,7 @@ from datetime import datetime, timezone from unilabos.device_comms.rpc import BaseRequest from typing import Optional, List, Dict, Any import json -from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING + class SimpleLogger: @@ -49,6 +49,14 @@ class BioyondV1RPC(BaseRequest): self.config = config self.api_key = config["api_key"] self.host = config["api_host"] + + # 初始化 location_mapping + # 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化 + self.location_mapping = {} + warehouse_mapping = self.config.get("warehouse_mapping", {}) + for warehouse_name, warehouse_config in warehouse_mapping.items(): + if "site_uuids" in warehouse_config: + self.location_mapping.update(warehouse_config["site_uuids"]) self._logger = SimpleLogger() self.material_cache = {} self._load_material_cache() @@ -176,7 +184,40 @@ class BioyondV1RPC(BaseRequest): return {} print(f"add material data: {response['data']}") - return response.get("data", {}) + + # 自动更新缓存 + data = response.get("data", {}) + if data: + if isinstance(data, str): + # 如果返回的是字符串，通常是ID + mat_id = data + name = params.get("name") + else: + # 如果返回的是字典，尝试获取name和id + name = data.get("name") or params.get("name") + mat_id = data.get("id") + + if name and mat_id: + self.material_cache[name] = mat_id + print(f"已自动更新缓存: {name} -> {mat_id}") + + # 处理返回数据中的 details (如果有) + # 有些 API 返回结构可能直接包含 details，或者在 data 字段中 + details = data.get("details", []) if isinstance(data, dict) else [] + if not details and isinstance(data, dict): + details = data.get("detail", []) + + if details: + for detail in details: + d_name = detail.get("name") + # 尝试从不同字段获取 ID + d_id = detail.get("id") or detail.get("detailMaterialId") + + if d_name and d_id: + self.material_cache[d_name] = d_id + print(f"已自动更新 detail 缓存: {d_name} -> {d_id}") + + return data def query_matial_type_id(self, data) -> list: """查找物料typeid""" @@ -203,7 +244,7 @@ class BioyondV1RPC(BaseRequest): params={ "apiKey": self.api_key, "requestTime": self.get_current_time_iso8601(), - "data": {}, + "data": 0, }) if not response or response['code'] != 1: return [] @@ -273,11 +314,19 @@ class BioyondV1RPC(BaseRequest): if not response or response['code'] != 1: return {} + + # 自动更新缓存 - 移除被删除的物料 + for name, mid in list(self.material_cache.items()): + if mid == material_id: + del self.material_cache[name] + print(f"已从缓存移除物料: {name}") + break + return response.get("data", {}) def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict: """指定库位出库物料（通过库位名称）""" - location_id = LOCATION_MAPPING.get(location_name, location_name) + location_id = self.location_mapping.get(location_name, location_name) params = { "materialId": material_id, @@ -1103,6 +1152,10 @@ class BioyondV1RPC(BaseRequest): for detail_material in detail_materials: detail_name = detail_material.get("name") detail_id = detail_material.get("detailMaterialId") + if not detail_id: + # 尝试其他可能的字段 + detail_id = detail_material.get("id") + if detail_name and detail_id: self.material_cache[detail_name] = detail_id print(f"加载detail材料: {detail_name} -> ID: {detail_id}") @@ -1123,6 +1176,14 @@ class BioyondV1RPC(BaseRequest): print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}") return material_id + # 如果缓存中没有，尝试刷新缓存 + print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...") + self.refresh_material_cache() + if material_name_or_id in self.material_cache: + material_id = self.material_cache[material_name_or_id] + print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}") + return material_id + print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值") return material_name_or_id diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py deleted file mode 100644 index e06c4135..00000000 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ /dev/null @@ -1,142 +0,0 @@ -# config.py -""" -配置文件 - 包含所有配置信息和映射关系 -""" - -# API配置 -API_CONFIG = { - "api_key": "", - "api_host": "" -} - -# 工作流映射配置 -WORKFLOW_MAPPINGS = { - "reactor_taken_out": "", - "reactor_taken_in": "", - "Solid_feeding_vials": "", - "Liquid_feeding_vials(non-titration)": "", - "Liquid_feeding_solvents": "", - "Liquid_feeding(titration)": "", - "liquid_feeding_beaker": "", - "Drip_back": "", -} - -# 工作流名称到DisplaySectionName的映射 -WORKFLOW_TO_SECTION_MAP = { - 'reactor_taken_in': '反应器放入', - 'liquid_feeding_beaker': '液体投料-烧杯', - 'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）', - 'Liquid_feeding_solvents': '液体投料-溶剂', - 'Solid_feeding_vials': '固体投料-小瓶', - 'Liquid_feeding(titration)': '液体投料-滴定', - 'reactor_taken_out': '反应器取出' -} - -# 库位映射配置 -WAREHOUSE_MAPPING = { - "粉末堆栈": { - "uuid": "", - "site_uuids": { - # 样品板 - "A1": "3a14198e-6929-31f0-8a22-0f98f72260df", - "A2": "3a14198e-6929-4379-affa-9a2935c17f99", - "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af", - "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54", - "B1": "3a14198e-6929-f525-9a1b-1857552b28ee", - "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d", - "B3": "3a14198e-6929-2d86-a468-602175a2b5aa", - "B4": "3a14198e-6929-1a98-ae57-e97660c489ad", - # 分装板 - "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a", - "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95", - "C3": "3a14198e-6929-72ac-32ce-9b50245682b8", - "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118", - "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2", - "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf", - "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963", - "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884" - } - }, - "溶液堆栈": { - "uuid": "", - "site_uuids": { - "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383", - "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791", - "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6", - "A4": "3a14198e-d724-df6d-5e32-5483b3cab583", - "B1": "3a14198e-d724-d818-6d4f-5725191a24b5", - "B2": "3a14198e-d724-be8a-5e0b-012675e195c6", - "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8", - "B4": "3a14198e-d724-1e28-c885-574c3df468d0", - "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31", - "C2": "3a14198e-d724-ab4e-48cb-817c3c146707", - "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33", - "C4": "3a14198e-d724-28a2-a760-baa896f46b66", - "D1": "3a14198e-d724-d378-d266-2508a224a19f", - "D2": "3a14198e-d724-f56e-468b-0110a8feb36a", - "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c", - "D4": "3a14198e-d724-0ddd-9654-f9352a421de9" - } - }, - "试剂堆栈": { - "uuid": "", - "site_uuids": { - "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36", - "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f", - "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094", - "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f", - "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8", - "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4", - "B3": "3a14198c-c2d0-725e-523d-34c037ac2440", - "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" - } - } -} - -# 物料类型配置 -MATERIAL_TYPE_MAPPINGS = { - "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), - "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""), - "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"), - "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), - "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), - "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), - "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"), -} - -# 步骤参数配置（各工作流的步骤UUID） -WORKFLOW_STEP_IDS = { - "reactor_taken_in": { - "config": "" - }, - "liquid_feeding_beaker": { - "liquid": "", - "observe": "" - }, - "liquid_feeding_vials_non_titration": { - "liquid": "", - "observe": "" - }, - "liquid_feeding_solvents": { - "liquid": "", - "observe": "" - }, - "solid_feeding_vials": { - "feeding": "", - "observe": "" - }, - "liquid_feeding_titration": { - "liquid": "", - "observe": "" - }, - "drip_back": { - "liquid": "", - "observe": "" - } -} - -LOCATION_MAPPING = {} - -ACTION_NAMES = {} - -HTTP_SERVICE_CONFIG = {} \ No newline at end of file diff --git a/unilabos/devices/workstation/bioyond_studio/config.py.deprecated b/unilabos/devices/workstation/bioyond_studio/config.py.deprecated new file mode 100644 index 00000000..cccd0873 --- /dev/null +++ b/unilabos/devices/workstation/bioyond_studio/config.py.deprecated @@ -0,0 +1,329 @@ +# config.py +""" +Bioyond工作站配置文件 +包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息 +""" + +from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck + +# ============================================================================ +# 基础配置 +# ============================================================================ + +# API配置 +API_CONFIG = { + "api_key": "DE9BDDA0", + "api_host": "http://192.168.1.200:44402" +} + +# HTTP 报送服务配置 +HTTP_SERVICE_CONFIG = { + "http_service_host": "127.0.0.1", # 监听地址 + "http_service_port": 8080, # 监听端口 +} + +# Deck配置 - 反应站工作台配置 +DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True) + +# ============================================================================ +# 工作流配置 +# ============================================================================ + +# 工作流ID映射 +WORKFLOW_MAPPINGS = { + "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1", + "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6", + "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6", + "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47", + "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046", + "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6", + "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784", + "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a", +} + +# 工作流名称到显示名称的映射 +WORKFLOW_TO_SECTION_MAP = { + 'reactor_taken_in': '反应器放入', + 'reactor_taken_out': '反应器取出', + 'Solid_feeding_vials': '固体投料-小瓶', + 'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）', + 'Liquid_feeding_solvents': '液体投料-溶剂', + 'Liquid_feeding(titration)': '液体投料-滴定', + 'liquid_feeding_beaker': '液体投料-烧杯', + 'Drip_back': '液体回滴' +} + +# 工作流步骤ID配置 +WORKFLOW_STEP_IDS = { + "reactor_taken_in": { + "config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154" + }, + "liquid_feeding_beaker": { + "liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3", + "observe": "1753c0de-dffc-4ee6-8458-805a2e227362" + }, + "liquid_feeding_vials_non_titration": { + "liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861", + "observe": "3a167d99-6172-b67b-5f22-a7892197142e" + }, + "liquid_feeding_solvents": { + "liquid": "1fcea355-2545-462b-b727-350b69a313bf", + "observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8" + }, + "solid_feeding_vials": { + "feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a", + "observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05" + }, + "liquid_feeding_titration": { + "liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54", + "observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5" + }, + "drip_back": { + "liquid": "371be86a-ab77-4769-83e5-54580547c48a", + "observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1" + } +} + +# 工作流动作名称配置 +ACTION_NAMES = { + "reactor_taken_in": { + "config": "通量-配置", + "stirring": "反应模块-开始搅拌" + }, + "solid_feeding_vials": { + "feeding": "粉末加样模块-投料", + "observe": "反应模块-观察搅拌结果" + }, + "liquid_feeding_vials_non_titration": { + "liquid": "稀释液瓶加液位-液体投料", + "observe": "反应模块-滴定结果观察" + }, + "liquid_feeding_solvents": { + "liquid": "试剂AB放置位-试剂吸液分液", + "observe": "反应模块-观察搅拌结果" + }, + "liquid_feeding_titration": { + "liquid": "稀释液瓶加液位-稀释液吸液分液", + "observe": "反应模块-滴定结果观察" + }, + "liquid_feeding_beaker": { + "liquid": "烧杯溶液放置位-烧杯吸液分液", + "observe": "反应模块-观察搅拌结果" + }, + "drip_back": { + "liquid": "试剂AB放置位-试剂吸液分液", + "observe": "反应模块-向下滴定结果观察" + } +} + +# ============================================================================ +# 仓库配置 +# ============================================================================ +# 说明: +# - 出库和入库操作都需要UUID +WAREHOUSE_MAPPING = { + # ========== 反应站仓库 ========== + + # 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04) + "堆栈1左": { + "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366", + "site_uuids": { + "A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3", + "A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f", + "A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8", + "A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb", + "B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32", + "B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c", + "B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3", + "B04": "3a14aa17-0d49-1231-99be-d5870e6478e9", + "C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b", + "C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c", + "C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29", + "C04": "3a14aa17-0d49-8335-3bff-01da69ea4911", + "D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5", + "D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32", + "D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8", + "D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099", + }, + }, + + # 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08) + "堆栈1右": { + "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366", + "site_uuids": { + "A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd", + "A06": "3a14aa17-0d49-60c8-2b00-40b17198f397", + "A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25", + "A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d", + "B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad", + "B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe", + "B07": "3a14aa17-0d49-11a6-b861-ee895121bf52", + "B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0", + "C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368", + "C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be", + "C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7", + "C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0", + "D05": "3a14aa17-0d49-e843-f961-ea173326a14b", + "D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b", + "D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0", + "D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22", + }, + }, + + # 站内试剂存放堆栈 + "站内试剂存放堆栈": { + "uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c", + "site_uuids": { + "A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5", + "A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78" + } + }, + + + # 测量小瓶仓库（测密度） + "测量小瓶仓库": { + "uuid": "3a15012f-705b-c0de-3f9e-950c205f9921", + "site_uuids": { + "A01": "3a15012f-705e-0524-3161-c523b5aebc97", + "A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8", + "A03": "3a15012f-705e-a5d6-edac-bdbfec236260", + "B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d", + "B02": "3a15012f-705e-e499-180d-de06d60d0b21", + "B03": "3a15012f-705e-eff6-63f1-09f742096b26" + } + }, + + # 站内Tip盒堆栈 - 用于存放枪头盒 (耗材) + "站内Tip盒堆栈": { + "uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a", + "site_uuids": { + "A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a", + "A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24", + "A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501", + "B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8", + "B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac", + "B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7" + } + }, + # ========== 配液站仓库 ========== + "粉末堆栈": { + "uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0", + "site_uuids": { + "A01": "3a14198e-6929-31f0-8a22-0f98f72260df", + "A02": "3a14198e-6929-4379-affa-9a2935c17f99", + "A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af", + "A04": "3a14198e-6929-5e99-2b79-80720f7cfb54", + "B01": "3a14198e-6929-f525-9a1b-1857552b28ee", + "B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d", + "B03": "3a14198e-6929-2d86-a468-602175a2b5aa", + "B04": "3a14198e-6929-1a98-ae57-e97660c489ad", + "C01": "3a14198e-6929-46fe-841e-03dd753f1e4a", + "C02": "3a14198e-6929-72ac-32ce-9b50245682b8", + "C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2", + "C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963", + "D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95", + "D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118", + "D03": "3a14198e-6929-dde1-fc78-34a84b71afdf", + "D04": "3a14198e-6929-7ac8-915a-fea51cb2e884" + } + }, + "溶液堆栈": { + "uuid": "3a14198e-d723-2c13-7d12-50143e190a23", + "site_uuids": { + "A01": "3a14198e-d724-e036-afdc-2ae39a7f3383", + "A02": "3a14198e-d724-d818-6d4f-5725191a24b5", + "A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31", + "A04": "3a14198e-d724-d378-d266-2508a224a19f", + "B01": "3a14198e-d724-afa4-fc82-0ac8a9016791", + "B02": "3a14198e-d724-be8a-5e0b-012675e195c6", + "B03": "3a14198e-d724-ab4e-48cb-817c3c146707", + "B04": "3a14198e-d724-f56e-468b-0110a8feb36a", + "C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6", + "C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8", + "C03": "3a14198e-d724-7f18-1853-39d0c62e1d33", + "C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c", + "D01": "3a14198e-d724-df6d-5e32-5483b3cab583", + "D02": "3a14198e-d724-1e28-c885-574c3df468d0", + "D03": "3a14198e-d724-28a2-a760-baa896f46b66", + "D04": "3a14198e-d724-0ddd-9654-f9352a421de9" + } + }, + "试剂堆栈": { + "uuid": "3a14198c-c2cc-0290-e086-44a428fba248", + "site_uuids": { + "A01": "3a14198c-c2cf-8b40-af28-b467808f1c36", # x=1, y=1, code=0001-0001 + "A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094", # x=1, y=2, code=0001-0002 + "A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8", # x=1, y=3, code=0001-0003 + "A04": "3a14198c-c2d0-725e-523d-34c037ac2440", # x=1, y=4, code=0001-0004 + "B01": "3a14198c-c2d0-f3e7-871a-e470d144296f", # x=2, y=1, code=0001-0005 + "B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f", # x=2, y=2, code=0001-0006 + "B03": "3a14198c-c2d0-1559-105d-0ea30682cab4", # x=2, y=3, code=0001-0007 + "B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" # x=2, y=4, code=0001-0008 + } + } +} + +# ============================================================================ +# 物料类型配置 +# ============================================================================ +# 说明: +# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID +# - 这个映射基于 resource.model 属性 (不是显示名称!) +# - UUID为空表示该类型暂未在Bioyond系统中定义 +MATERIAL_TYPE_MAPPINGS = { + # ================================================配液站资源============================================================ + # ==================================================样品=============================================================== + "BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), # 配液站-样品-烧杯 + "BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"), # 配液站-样品-试剂瓶 + "BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), # 配液站-样品-分装板 + "BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"), # 配液站-样品-分装板-第一排小瓶 + "BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), # 配液站-样品-分装板-第二排小瓶 + # ==================================================试剂=============================================================== + "BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"), # 配液站-试剂-样品板（8孔） + "BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), # 配液站-试剂-样品板-样品瓶 + +} + +# ============================================================================ +# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取） +# ============================================================================ + +LOCATION_MAPPING = {} +for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items(): + if "site_uuids" in warehouse_config: + LOCATION_MAPPING.update(warehouse_config["site_uuids"]) + +# ============================================================================ +# 物料默认参数配置 +# ============================================================================ +# 说明: +# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等） +# - 格式: 物料名称 → {参数字典} +# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段 +# - unit: 物料的计量单位（会用于 unit 字段） +# - density/densityUnit: 密度信息（会添加到 Parameters 中） + +MATERIAL_DEFAULT_PARAMETERS = { + # 溶剂类 + "NMP": { + "unit": "毫升", + "density": "1.03", + "densityUnit": "g/mL", + "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)" + }, + # 可以继续添加其他物料... +} + +# ============================================================================ +# 物料类型默认参数配置 +# ============================================================================ +# 说明: +# - 为特定物料类型（UUID）自动添加默认参数 +# - 格式: Bioyond类型UUID → {参数字典} +# - 优先级低于按名称匹配的配置 +MATERIAL_TYPE_PARAMETERS = { + # 示例: + # "3a14196b-24f2-ca49-9081-0cab8021bf1a": { # 烧杯 + # "unit": "个" + # } +} diff --git a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py b/unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py similarity index 79% rename from unilabos/devices/workstation/bioyond_studio/dispensing_station.py rename to unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py index 6d512720..dc48487b 100644 --- a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py +++ b/unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py @@ -4,7 +4,8 @@ import time from typing import Optional, Dict, Any, List from typing_extensions import TypedDict import requests -from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG +import pint + from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation @@ -25,13 +26,89 @@ class ComputeExperimentDesignReturn(TypedDict): class BioyondDispensingStation(BioyondWorkstation): def __init__( self, - config, - # 桌子 - deck, - *args, + config: dict = None, + deck=None, + protocol_type=None, **kwargs, - ): - super().__init__(config, deck, *args, **kwargs) + ): + """初始化配液站 + + Args: + config: 配置字典,应包含material_type_mappings等配置 + deck: Deck对象 + protocol_type: 协议类型(由ROS系统传递,此处忽略) + **kwargs: 其他可能的参数 + """ + if config is None: + config = {} + + # 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key) + config.update(kwargs) + + if deck is None and config: + deck = config.get('deck') + + # 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步) + # 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上 + if config and "warehouse_mapping" in config and deck: + warehouse_mapping = config["warehouse_mapping"] + print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)") + + user_deck = deck + # 初始化 warehouses 字典 + if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None: + user_deck.warehouses = {} + + # 1. 尝试从 children 中查找匹配的资源 + for child in user_deck.children: + # 简单判断: 如果名字在 mapping 中，就认为是 warehouse + if child.name in warehouse_mapping: + user_deck.warehouses[child.name] = child + print(f" - 从子资源中找到 warehouse: {child.name}") + + # 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况) + if not user_deck.warehouses and hasattr(user_deck, "setup"): + print(" - 尝试调用 deck.setup() 初始化仓库...") + try: + user_deck.setup() + # setup 后重新检查 + if hasattr(user_deck, "warehouses") and user_deck.warehouses: + print(f" - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库") + except Exception as e: + print(f" - 调用 setup() 失败: {e}") + + # 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告) + if not user_deck.warehouses: + print(" - ⚠️ 仍然无法找到任何 warehouse 资源！") + + for wh_name, wh_config in warehouse_mapping.items(): + target_uuid = wh_config.get("uuid") + + # 尝试在 deck.warehouses 中查找 + wh_resource = None + if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses: + wh_resource = user_deck.warehouses[wh_name] + + # 如果没找到，尝试在所有子资源中查找 + if not wh_resource: + wh_resource = user_deck.get_resource(wh_name) + + if wh_resource: + if target_uuid: + current_uuid = getattr(wh_resource, "uuid", None) + print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}") + + # 动态添加 uuid 属性 + wh_resource.uuid = target_uuid + # 同时也确保 category 正确，避免 graphio 识别错误 + # wh_resource.category = "warehouse" + else: + print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID") + else: + print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'") + + super().__init__(bioyond_config=config, deck=deck) + # self.config = config # self.api_key = config["api_key"] # self.host = config["api_host"] @@ -43,6 +120,41 @@ class BioyondDispensingStation(BioyondWorkstation): # 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}} self.order_completion_status = {} + # 初始化 pint 单位注册表 + self.ureg = pint.UnitRegistry() + + # 化合物信息 + self.compound_info = { + "MolWt": { + "MDA": 108.14 * self.ureg.g / self.ureg.mol, + "TDA": 122.16 * self.ureg.g / self.ureg.mol, + "PAPP": 521.62 * self.ureg.g / self.ureg.mol, + "BTDA": 322.23 * self.ureg.g / self.ureg.mol, + "BPDA": 294.22 * self.ureg.g / self.ureg.mol, + "6FAP": 366.26 * self.ureg.g / self.ureg.mol, + "PMDA": 218.12 * self.ureg.g / self.ureg.mol, + "MPDA": 108.14 * self.ureg.g / self.ureg.mol, + "SIDA": 248.51 * self.ureg.g / self.ureg.mol, + "ODA": 200.236 * self.ureg.g / self.ureg.mol, + "4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol, + "134": 292.34 * self.ureg.g / self.ureg.mol, + }, + "FuncGroup": { + "MDA": "Amine", + "TDA": "Amine", + "PAPP": "Amine", + "BTDA": "Anhydride", + "BPDA": "Anhydride", + "6FAP": "Amine", + "MPDA": "Amine", + "SIDA": "Amine", + "PMDA": "Anhydride", + "ODA": "Amine", + "4,4'-ODA": "Amine", + "134": "Amine", + } + } + def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]: """项目接口通用POST调用 @@ -54,7 +166,7 @@ class BioyondDispensingStation(BioyondWorkstation): dict: 服务端响应，失败时返回 {code:0,message,...} """ request_data = { - "apiKey": API_CONFIG["api_key"], + "apiKey": self.bioyond_config["api_key"], "requestTime": self.hardware_interface.get_current_time_iso8601(), "data": data } @@ -85,7 +197,7 @@ class BioyondDispensingStation(BioyondWorkstation): dict: 服务端响应，失败时返回 {code:0,message,...} """ request_data = { - "apiKey": API_CONFIG["api_key"], + "apiKey": self.bioyond_config["api_key"], "requestTime": self.hardware_interface.get_current_time_iso8601(), "data": data } @@ -118,20 +230,22 @@ class BioyondDispensingStation(BioyondWorkstation): ratio = json.loads(ratio) except Exception: ratio = {} - root = str(Path(__file__).resolve().parents[3]) - if root not in sys.path: - sys.path.append(root) - try: - mod = importlib.import_module("tem.compute") - except Exception as e: - raise BioyondException(f"无法导入计算模块: {e}") try: wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent mt = float(m_tot) if isinstance(m_tot, str) else m_tot tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent except Exception as e: raise BioyondException(f"参数解析失败: {e}") - res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp) + + # 2. 调用内部计算方法 + res = self._generate_experiment_design( + ratio=ratio, + wt_percent=wp, + m_tot=mt, + titration_percent=tp + ) + + # 3. 构造返回结果 out = { "solutions": res.get("solutions", []), "titration": res.get("titration", {}), @@ -140,11 +254,248 @@ class BioyondDispensingStation(BioyondWorkstation): "return_info": json.dumps(res, ensure_ascii=False) } return out + except BioyondException: raise except Exception as e: raise BioyondException(str(e)) + def _generate_experiment_design( + self, + ratio: dict, + wt_percent: float = 0.25, + m_tot: float = 70, + titration_percent: float = 0.03, + ) -> dict: + """内部方法：生成实验设计 + + 根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。 + + 参数: + ratio: 化合物配比字典，格式: {"compound_name": ratio_value} + wt_percent: 固体重量百分比 + m_tot: 反应混合物总质量(g) + titration_percent: 滴定溶液百分比 + + 返回: + 包含实验设计详细参数的字典 + """ + # 溶剂密度 + ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml + # 二酐溶解度 + solubility = 0.02 * self.ureg.g / self.ureg.ml + # 投入固体时最小溶剂体积 + V_min = 30 * self.ureg.ml + m_tot = m_tot * self.ureg.g + + # 保持ratio中的顺序 + compound_names = list(ratio.keys()) + compound_ratios = list(ratio.values()) + + # 验证所有化合物是否在 compound_info 中定义 + undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]] + if undefined_compounds: + available = list(self.compound_info["MolWt"].keys()) + raise ValueError( + f"以下化合物未在 compound_info 中定义: {undefined_compounds}。" + f"可用的化合物: {available}" + ) + + # 获取各化合物的分子量和官能团类型 + molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names] + func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names] + + # 记录化合物信息用于调试 + self.hardware_interface._logger.info(f"化合物名称: {compound_names}") + self.hardware_interface._logger.info(f"官能团类型: {func_groups}") + + # 按原始顺序分离二胺和二酐 + ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups)) + diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"] + anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"] + + if not diamine_compounds or not anhydride_compounds: + raise ValueError( + f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。" + f"当前二胺: {[c[0] for c in diamine_compounds]}, " + f"当前二酐: {[c[0] for c in anhydride_compounds]}" + ) + + # 计算加权平均分子量 (基于摩尔比) + total_molar_ratio = sum(compound_ratios) + weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights)) + + # 取最后一个二酐用于滴定 + titration_anhydride = anhydride_compounds[-1] + solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else [] + + # 二胺溶液配制参数 - 每种二胺单独配制 + diamine_solutions = [] + total_diamine_volume = 0 * self.ureg.ml + + # 计算反应物的总摩尔量 + n_reactant = m_tot * wt_percent / weighted_molecular_weight + + for name, ratio_val, mw, order_index in diamine_compounds: + # 跳过 SIDA + if name == "SIDA": + continue + + # 计算该二胺需要的摩尔数 + n_diamine_needed = n_reactant * ratio_val + + # 二胺溶液配制参数 (每种二胺固定配制参数) + m_diamine_solid = 5.0 * self.ureg.g # 每种二胺固体质量 + V_solvent_for_this = 20 * self.ureg.ml # 每种二胺溶剂体积 + m_solvent_for_this = ρ_solvent * V_solvent_for_this + + # 计算该二胺溶液的浓度 + c_diamine = (m_diamine_solid / mw) / V_solvent_for_this + + # 计算需要移取的溶液体积 + V_diamine_needed = n_diamine_needed / c_diamine + + diamine_solutions.append({ + "name": name, + "order": order_index, + "solid_mass": m_diamine_solid.magnitude, + "solvent_volume": V_solvent_for_this.magnitude, + "concentration": c_diamine.magnitude, + "volume_needed": V_diamine_needed.magnitude, + "molar_ratio": ratio_val + }) + + total_diamine_volume += V_diamine_needed + + # 按原始顺序排序 + diamine_solutions.sort(key=lambda x: x["order"]) + + # 计算滴定二酐的质量 + titration_name, titration_ratio, titration_mw, _ = titration_anhydride + m_titration_anhydride = n_reactant * titration_ratio * titration_mw + m_titration_90 = m_titration_anhydride * (1 - titration_percent) + m_titration_10 = m_titration_anhydride * titration_percent + + # 计算其他固体二酐的质量 (按顺序) + solid_anhydride_masses = [] + for name, ratio_val, mw, order_index in solid_anhydrides: + mass = n_reactant * ratio_val * mw + solid_anhydride_masses.append({ + "name": name, + "order": order_index, + "mass": mass.magnitude, + "molar_ratio": ratio_val + }) + + # 按原始顺序排序 + solid_anhydride_masses.sort(key=lambda x: x["order"]) + + # 计算溶剂用量 + total_diamine_solution_mass = sum( + sol["volume_needed"] * ρ_solvent for sol in diamine_solutions + ) * self.ureg.ml + + # 预估滴定溶剂量、计算补加溶剂量 + m_solvent_titration = m_titration_10 / solubility * ρ_solvent + m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration + + # 检查最小溶剂体积要求 + total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent + m_tot_min = V_min / total_liquid_volume * m_tot + + # 如果需要，按比例放大 + scale_factor = 1.0 + if m_tot_min > m_tot: + scale_factor = (m_tot_min / m_tot).magnitude + m_titration_90 *= scale_factor + m_titration_10 *= scale_factor + m_solvent_add *= scale_factor + m_solvent_titration *= scale_factor + + # 更新二胺溶液用量 + for sol in diamine_solutions: + sol["volume_needed"] *= scale_factor + + # 更新固体二酐用量 + for anhydride in solid_anhydride_masses: + anhydride["mass"] *= scale_factor + + m_tot = m_tot_min + + # 生成投料顺序 + feeding_order = [] + + # 1. 固体二酐 (按顺序) + for anhydride in solid_anhydride_masses: + feeding_order.append({ + "step": len(feeding_order) + 1, + "type": "solid_anhydride", + "name": anhydride["name"], + "amount": anhydride["mass"], + "order": anhydride["order"] + }) + + # 2. 二胺溶液 (按顺序) + for sol in diamine_solutions: + feeding_order.append({ + "step": len(feeding_order) + 1, + "type": "diamine_solution", + "name": sol["name"], + "amount": sol["volume_needed"], + "order": sol["order"] + }) + + # 3. 主要二酐粉末 + feeding_order.append({ + "step": len(feeding_order) + 1, + "type": "main_anhydride", + "name": titration_name, + "amount": m_titration_90.magnitude, + "order": titration_anhydride[3] + }) + + # 4. 补加溶剂 + if m_solvent_add > 0: + feeding_order.append({ + "step": len(feeding_order) + 1, + "type": "additional_solvent", + "name": "溶剂", + "amount": m_solvent_add.magnitude, + "order": 999 + }) + + # 5. 滴定二酐溶液 + feeding_order.append({ + "step": len(feeding_order) + 1, + "type": "titration_anhydride", + "name": f"{titration_name} 滴定液", + "amount": m_titration_10.magnitude, + "titration_solvent": m_solvent_titration.magnitude, + "order": titration_anhydride[3] + }) + + # 返回实验设计结果 + results = { + "total_mass": m_tot.magnitude, + "scale_factor": scale_factor, + "solutions": diamine_solutions, + "solids": solid_anhydride_masses, + "titration": { + "name": titration_name, + "main_portion": m_titration_90.magnitude, + "titration_portion": m_titration_10.magnitude, + "titration_solvent": m_solvent_titration.magnitude, + }, + "solvents": { + "additional_solvent": m_solvent_add.magnitude, + "total_liquid_volume": total_liquid_volume.magnitude + }, + "feeding_order": feeding_order, + "minimum_required_mass": m_tot_min.magnitude + } + + return results + # 90%10%小瓶投料任务创建方法 def create_90_10_vial_feeding_task(self, order_name: str = None, @@ -961,6 +1312,108 @@ class BioyondDispensingStation(BioyondWorkstation): 'actualVolume': actual_volume } + def _simplify_report(self, report) -> Dict[str, Any]: + """简化实验报告，只保留关键信息，去除冗余的工作流参数""" + if not isinstance(report, dict): + return report + + data = report.get('data', {}) + if not isinstance(data, dict): + return report + + # 提取关键信息 + simplified = { + 'name': data.get('name'), + 'code': data.get('code'), + 'requester': data.get('requester'), + 'workflowName': data.get('workflowName'), + 'workflowStep': data.get('workflowStep'), + 'requestTime': data.get('requestTime'), + 'startPreparationTime': data.get('startPreparationTime'), + 'completeTime': data.get('completeTime'), + 'useTime': data.get('useTime'), + 'status': data.get('status'), + 'statusName': data.get('statusName'), + } + + # 提取物料信息（简化版） + pre_intakes = data.get('preIntakes', []) + if pre_intakes and isinstance(pre_intakes, list): + first_intake = pre_intakes[0] + sample_materials = first_intake.get('sampleMaterials', []) + + # 简化物料信息 + simplified_materials = [] + for material in sample_materials: + if isinstance(material, dict): + mat_info = { + 'materialName': material.get('materialName'), + 'materialTypeName': material.get('materialTypeName'), + 'materialCode': material.get('materialCode'), + 'materialLocation': material.get('materialLocation'), + } + + # 解析parameters中的关键信息（如密度、加料历史等） + params_str = material.get('parameters', '{}') + try: + params = json.loads(params_str) if isinstance(params_str, str) else params_str + if isinstance(params, dict): + # 只保留关键参数 + if 'density' in params: + mat_info['density'] = params['density'] + if 'feedingHistory' in params: + mat_info['feedingHistory'] = params['feedingHistory'] + if 'liquidVolume' in params: + mat_info['liquidVolume'] = params['liquidVolume'] + if 'm_diamine_tot' in params: + mat_info['m_diamine_tot'] = params['m_diamine_tot'] + if 'wt_diamine' in params: + mat_info['wt_diamine'] = params['wt_diamine'] + except: + pass + + simplified_materials.append(mat_info) + + simplified['sampleMaterials'] = simplified_materials + + # 提取extraProperties中的实际值 + extra_props = first_intake.get('extraProperties', {}) + if isinstance(extra_props, dict): + simplified_extra = {} + for key, value in extra_props.items(): + try: + parsed_value = json.loads(value) if isinstance(value, str) else value + simplified_extra[key] = parsed_value + except: + simplified_extra[key] = value + simplified['extraProperties'] = simplified_extra + + return { + 'data': simplified, + 'code': report.get('code'), + 'message': report.get('message'), + 'timestamp': report.get('timestamp') + } + + def scheduler_start(self) -> dict: + """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 + + Returns: + dict: 包含return_info的字典，return_info为整型(1=成功) + + Raises: + BioyondException: 调度器启动失败时抛出异常 + """ + result = self.hardware_interface.scheduler_start() + self.hardware_interface._logger.info(f"调度器启动结果: {result}") + + if result != 1: + error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。" + self.hardware_interface._logger.error(error_msg) + raise BioyondException(error_msg) + + return {"return_info": result} + # 等待多个任务完成并获取实验报告 def wait_for_multiple_orders_and_get_reports(self, batch_create_result: str = None, @@ -1002,7 +1455,12 @@ class BioyondDispensingStation(BioyondWorkstation): # 验证batch_create_result参数 if not batch_create_result or batch_create_result == "": - raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle") + raise BioyondException( + "batch_create_result参数为空，请确保:\n" + "1. batch_create节点与wait节点之间正确连接了handle\n" + "2. batch_create节点成功执行并返回了结果\n" + "3. 检查上游batch_create任务是否成功创建了订单" + ) # 解析batch_create_result JSON对象 try: @@ -1031,7 +1489,17 @@ class BioyondDispensingStation(BioyondWorkstation): # 验证提取的数据 if not order_codes: - raise BioyondException("batch_create_result中未找到order_codes字段或为空") + self.hardware_interface._logger.error( + f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}" + ) + raise BioyondException( + "batch_create_result中未找到order_codes或为空。\n" + "可能的原因:\n" + "1. batch_create任务执行失败（检查任务是否报错）\n" + "2. 物料配置问题（如'物料样品板分配失败'）\n" + "3. Bioyond系统状态异常\n" + f"请检查batch_create任务的执行结果" + ) if not order_ids: raise BioyondException("batch_create_result中未找到order_ids字段或为空") @@ -1114,6 +1582,8 @@ class BioyondDispensingStation(BioyondWorkstation): self.hardware_interface._logger.info( f"成功获取任务 {order_code} 的实验报告" ) + # 简化报告，去除冗余信息 + report = self._simplify_report(report) reports.append({ "order_code": order_code, @@ -1288,7 +1758,7 @@ class BioyondDispensingStation(BioyondWorkstation): f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}" ) - from .config import WAREHOUSE_MAPPING + warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {}) results = [] successful_count = 0 failed_count = 0 diff --git a/unilabos/devices/workstation/bioyond_studio/reaction_station.py b/unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py similarity index 55% rename from unilabos/devices/workstation/bioyond_studio/reaction_station.py rename to unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py index ffb83fd3..c7f3194a 100644 --- a/unilabos/devices/workstation/bioyond_studio/reaction_station.py +++ b/unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py @@ -2,17 +2,15 @@ import json import time import requests from typing import List, Dict, Any +import json +import requests from pathlib import Path from datetime import datetime from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import MachineState from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String -from unilabos.devices.workstation.bioyond_studio.config import ( - WORKFLOW_STEP_IDS, - WORKFLOW_TO_SECTION_MAP, - ACTION_NAMES -) -from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG + + class BioyondReactor: @@ -49,21 +47,84 @@ class BioyondReactor: class BioyondReactionStation(BioyondWorkstation): """Bioyond反应站类 - 继承自BioyondWorkstation，提供反应站特定的业务方法 + 继承自BioyondWorkstation,提供反应站特定的业务方法 """ def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs): """初始化反应站 Args: - config: 配置字典，应包含workflow_mappings等配置 + config: 配置字典,应包含workflow_mappings等配置 deck: Deck对象 - protocol_type: 协议类型（由ROS系统传递，此处忽略） + protocol_type: 协议类型(由ROS系统传递,此处忽略) **kwargs: 其他可能的参数 """ + if config is None: + config = {} + + # 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key) + config.update(kwargs) + if deck is None and config: deck = config.get('deck') + # 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步) + # 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上 + if config and "warehouse_mapping" in config and deck: + warehouse_mapping = config["warehouse_mapping"] + print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)") + + user_deck = deck + # 初始化 warehouses 字典 + if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None: + user_deck.warehouses = {} + + # 1. 尝试从 children 中查找匹配的资源 + for child in user_deck.children: + # 简单判断: 如果名字在 mapping 中，就认为是 warehouse + if child.name in warehouse_mapping: + user_deck.warehouses[child.name] = child + print(f" - 从子资源中找到 warehouse: {child.name}") + + # 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况) + if not user_deck.warehouses and hasattr(user_deck, "setup"): + print(" - 尝试调用 deck.setup() 初始化仓库...") + try: + user_deck.setup() + # setup 后重新检查 + if hasattr(user_deck, "warehouses") and user_deck.warehouses: + print(f" - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库") + except Exception as e: + print(f" - 调用 setup() 失败: {e}") + + # 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告) + if not user_deck.warehouses: + print(" - ⚠️ 仍然无法找到任何 warehouse 资源！") + + for wh_name, wh_config in warehouse_mapping.items(): + target_uuid = wh_config.get("uuid") + + # 尝试在 deck.warehouses 中查找 + wh_resource = None + if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses: + wh_resource = user_deck.warehouses[wh_name] + + # 如果没找到，尝试在所有子资源中查找 + if not wh_resource: + wh_resource = user_deck.get_resource(wh_name) + + if wh_resource: + if target_uuid: + current_uuid = getattr(wh_resource, "uuid", None) + print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}") + wh_resource.uuid = target_uuid + else: + print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID") + else: + print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'") + + super().__init__(bioyond_config=config, deck=deck) + print(f"BioyondReactionStation初始化 - config包含workflow_mappings: {'workflow_mappings' in (config or {})}") if config and 'workflow_mappings' in config: print(f"workflow_mappings内容: {config['workflow_mappings']}") @@ -86,6 +147,147 @@ class BioyondReactionStation(BioyondWorkstation): self._frame_to_reactor_id = {1: "reactor_1", 2: "reactor_2", 3: "reactor_3", 4: "reactor_4", 5: "reactor_5"} + # 用于缓存从 Bioyond 查询的工作流序列 + self._cached_workflow_sequence = [] + # 用于缓存待处理的时间约束 + self.pending_time_constraints = [] + + # 从配置中获取 action_names + self.action_names = self.bioyond_config.get("action_names", {}) + + # 动态获取工作流步骤ID + self.workflow_step_ids = self._fetch_workflow_step_ids() + + def _fetch_workflow_step_ids(self) -> Dict[str, Dict[str, str]]: + """动态获取工作流步骤ID""" + print("正在从LIMS获取最新工作流步骤ID...") + + api_host = self.bioyond_config.get("api_host") + api_key = self.bioyond_config.get("api_key") + + if not api_host or not api_key: + print("API配置缺失，无法动态获取工作流步骤ID") + return {} + + def call_api(endpoint, data=None): + url = f"{api_host}{endpoint}" + payload = { + "apiKey": api_key, + "requestTime": datetime.now().isoformat(), + "data": data if data else {} + } + try: + response = requests.post(url, json=payload, headers={"Content-Type": "application/json"}, timeout=5) + return response.json() + except Exception as e: + print(f"调用API {endpoint} 失败: {e}") + return None + + # 1. 获取工作流列表 + resp = call_api("/api/lims/workflow/work-flow-list", {"type": 2, "includeDetail": True}) + if not resp: + print("无法获取工作流列表") + return {} + + workflows = resp.get("data", []) + if isinstance(workflows, dict): + if "list" in workflows: + workflows = workflows["list"] + elif "items" in workflows: + workflows = workflows["items"] + + if not workflows: + print("工作流列表为空") + return {} + + new_ids = {} + + #从配置中获取workflow_to_section_map + workflow_to_section_map = self.bioyond_config.get("workflow_to_section_map", {}) + + # 2. 遍历映射表 + for internal_name, section_name in workflow_to_section_map.items(): + # 查找对应的工作流对象 + wf_obj = next((w for w in workflows if w.get("name") == section_name), None) + if not wf_obj: + # print(f"未找到工作流: {section_name}") + continue + + # 获取 subWorkflowId + sub_wf_id = None + if wf_obj.get("subWorkflows"): + sub_wfs = wf_obj.get("subWorkflows") + if len(sub_wfs) > 0: + sub_wf_id = sub_wfs[0].get("id") + + if not sub_wf_id: + # print(f"工作流 {section_name} 没有子工作流ID") + continue + + # 3. 获取步骤参数 + step_resp = call_api("/api/lims/workflow/sub-workflow-step-parameters", sub_wf_id) + if not step_resp or not step_resp.get("data"): + # print(f"无法获取工作流 {section_name} 的步骤参数") + continue + + steps_data = step_resp.get("data", {}) + step_name_to_id = {} + + if isinstance(steps_data, dict): + for s_id, step_list in steps_data.items(): + if isinstance(step_list, list): + for step in step_list: + s_name = step.get("name") + if s_name: + step_name_to_id[s_name] = s_id + + # 4. 匹配 ACTION_NAMES + target_key = internal_name + normalized_key = internal_name.lower().replace('(', '_').replace(')', '').replace('-', '_') + + if internal_name in self.action_names: + target_key = internal_name + elif normalized_key in self.action_names: + target_key = normalized_key + elif internal_name.lower() in self.action_names: + target_key = internal_name.lower() + + if target_key in self.action_names: + new_ids[target_key] = {} + for key, action_display_name in self.action_names[target_key].items(): + step_id = step_name_to_id.get(action_display_name) + if step_id: + new_ids[target_key][key] = step_id + else: + print(f"警告: 工作流 '{section_name}' 中未找到步骤 '{action_display_name}'") + + if not new_ids: + print("未能获取任何新的步骤ID，使用默认配置") + return self.bioyond_config.get("workflow_step_ids", {}) + + print("成功更新工作流步骤ID") + return new_ids + + + @property + def workflow_sequence(self) -> str: + """工作流序列属性 - 返回初始化时查询的工作流列表 + + Returns: + str: 工作流信息的 JSON 字符串 + """ + import json + return json.dumps(self._cached_workflow_sequence, ensure_ascii=False) + + @workflow_sequence.setter + def workflow_sequence(self, value: List[str]): + """设置工作流序列 + + Args: + value: 工作流 ID 列表 + """ + self._cached_workflow_sequence = value + # ==================== 工作流方法 ==================== def reactor_taken_out(self): @@ -97,6 +299,27 @@ class BioyondReactionStation(BioyondWorkstation): print(f"当前队列长度: {len(self.pending_task_params)}") return json.dumps({"suc": True}) + def scheduler_start(self) -> dict: + """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 + + Returns: + dict: 包含return_info的字典,return_info为整型(1=成功) + + Raises: + BioyondException: 调度器启动失败时抛出异常 + """ + from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException + + result = self.hardware_interface.scheduler_start() + self.hardware_interface._logger.info(f"调度器启动结果: {result}") + + if result != 1: + error_msg = "启动调度器失败: 有未处理错误,调度无法启动。请检查Bioyond系统状态。" + self.hardware_interface._logger.error(error_msg) + raise BioyondException(error_msg) + + return {"return_info": result} + def reactor_taken_in( self, assign_material_name: str, @@ -106,12 +329,12 @@ class BioyondReactionStation(BioyondWorkstation): """反应器放入 Args: - assign_material_name: 物料名称（不能为空） - cutoff: 粘度上限（需为有效数字字符串，默认 "900000"） - temperature: 温度设定（°C，范围：-50.00 至 100.00） + assign_material_name: 物料名称(不能为空) + cutoff: 粘度上限(需为有效数字字符串,默认 "900000") + temperature: 温度设定(C,范围:-50.00 至 100.00) Returns: - str: JSON 字符串，格式为 {"suc": True} + str: JSON 字符串,格式为 {"suc": True} Raises: ValueError: 若物料名称无效或 cutoff 格式错误 @@ -131,15 +354,16 @@ class BioyondReactionStation(BioyondWorkstation): if isinstance(temperature, str): temperature = float(temperature) - step_id = WORKFLOW_STEP_IDS["reactor_taken_in"]["config"] + + step_id = self.workflow_step_ids["reactor_taken_in"]["config"] reactor_taken_in_params = { "param_values": { step_id: { - ACTION_NAMES["reactor_taken_in"]["config"]: [ + self.action_names["reactor_taken_in"]["config"]: [ {"m": 0, "n": 3, "Key": "cutoff", "Value": cutoff}, {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id} ], - ACTION_NAMES["reactor_taken_in"]["stirring"]: [ + self.action_names["reactor_taken_in"]["stirring"]: [ {"m": 0, "n": 3, "Key": "temperature", "Value": f"{temperature:.2f}"} ] } @@ -162,33 +386,40 @@ class BioyondReactionStation(BioyondWorkstation): """固体进料小瓶 Args: - material_id: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟） + material_id: 粉末类型ID, Salt=1, Flour=2, BTDA=3 time: 观察时间(分钟) - torque_variation: 是否观察(int类型, 1=否, 2=是) + torque_variation: 是否观察(NO=1, YES=2) assign_material_name: 物料名称(用于获取试剂瓶位ID) - temperature: 温度设定(°C) + temperature: 温度设定(C) """ + # 参数映射 + material_map = {"Salt": "1", "Flour": "2", "BTDA": "3", "1": "1", "2": "2", "3": "3"} + torque_map = {"NO": "1", "YES": "2", 1: "1", 2: "2", "1": "1", "2": "2"} + + mapped_material_id = material_map.get(str(material_id), str(material_id)) + mapped_torque_variation = int(torque_map.get(str(torque_variation), "1")) + self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}') material_id_m = self.hardware_interface._get_material_id_by_name(assign_material_name) if assign_material_name else None if isinstance(temperature, str): temperature = float(temperature) - feeding_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["feeding"] - observe_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["observe"] + feeding_step_id = self.workflow_step_ids["solid_feeding_vials"]["feeding"] + observe_step_id = self.workflow_step_ids["solid_feeding_vials"]["observe"] solid_feeding_vials_params = { "param_values": { feeding_step_id: { - ACTION_NAMES["solid_feeding_vials"]["feeding"]: [ - {"m": 0, "n": 3, "Key": "materialId", "Value": material_id}, + self.action_names["solid_feeding_vials"]["feeding"]: [ + {"m": 0, "n": 3, "Key": "materialId", "Value": mapped_material_id}, {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id_m} if material_id_m else {} ] }, observe_step_id: { - ACTION_NAMES["solid_feeding_vials"]["observe"]: [ + self.action_names["solid_feeding_vials"]["observe"]: [ {"m": 1, "n": 0, "Key": "time", "Value": time}, - {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)}, + {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(mapped_torque_variation)}, {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"} ] } @@ -196,7 +427,7 @@ class BioyondReactionStation(BioyondWorkstation): } self.pending_task_params.append(solid_feeding_vials_params) - print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, torque={torque_variation}, temp={temperature:.2f}°C") + print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, torque={torque_variation}, temp={temperature:.2f}C") print(f"当前队列长度: {len(self.pending_task_params)}") return json.dumps({"suc": True}) @@ -214,11 +445,18 @@ class BioyondReactionStation(BioyondWorkstation): Args: volume_formula: 分液公式(μL) assign_material_name: 物料名称 - titration_type: 是否滴定(1=否, 2=是) + titration_type: 是否滴定(NO=1, YES=2) time: 观察时间(分钟) - torque_variation: 是否观察(int类型, 1=否, 2=是) - temperature: 温度(°C) + torque_variation: 是否观察(NO=1, YES=2) + temperature: 温度(C) """ + # 参数映射 + titration_map = {"NO": "1", "YES": "2", "1": "1", "2": "2"} + torque_map = {"NO": "1", "YES": "2", 1: "1", 2: "2", "1": "1", "2": "2"} + + mapped_titration_type = titration_map.get(str(titration_type), "1") + mapped_torque_variation = int(torque_map.get(str(torque_variation), "1")) + self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}') material_id = self.hardware_interface._get_material_id_by_name(assign_material_name) if material_id is None: @@ -227,22 +465,22 @@ class BioyondReactionStation(BioyondWorkstation): if isinstance(temperature, str): temperature = float(temperature) - liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["liquid"] - observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["observe"] + liquid_step_id = self.workflow_step_ids["liquid_feeding_vials_non_titration"]["liquid"] + observe_step_id = self.workflow_step_ids["liquid_feeding_vials_non_titration"]["observe"] params = { "param_values": { liquid_step_id: { - ACTION_NAMES["liquid_feeding_vials_non_titration"]["liquid"]: [ + self.action_names["liquid_feeding_vials_non_titration"]["liquid"]: [ {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula}, {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}, - {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type} + {"m": 0, "n": 3, "Key": "titrationType", "Value": mapped_titration_type} ] }, observe_step_id: { - ACTION_NAMES["liquid_feeding_vials_non_titration"]["observe"]: [ + self.action_names["liquid_feeding_vials_non_titration"]["observe"]: [ {"m": 1, "n": 0, "Key": "time", "Value": time}, - {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)}, + {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(mapped_torque_variation)}, {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"} ] } @@ -275,11 +513,18 @@ class BioyondReactionStation(BioyondWorkstation): "total_liquid_volume": 48.00916988195499 } 如果提供solvents,则从中提取additional_solvent并转换为μL - titration_type: 是否滴定(1=否, 2=是) + titration_type: 是否滴定(NO=1, YES=2) time: 观察时间(分钟) - torque_variation: 是否观察(int类型, 1=否, 2=是) - temperature: 温度设定(°C) + torque_variation: 是否观察(NO=1, YES=2) + temperature: 温度设定(C) """ + # 参数映射 + titration_map = {"NO": "1", "YES": "2", "1": "1", "2": "2"} + torque_map = {"NO": "1", "YES": "2", 1: "1", 2: "2", "1": "1", "2": "2"} + + mapped_titration_type = titration_map.get(str(titration_type), "1") + mapped_torque_variation = int(torque_map.get(str(torque_variation), "1")) + # 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取 if not volume and solvents is not None: # 参数类型转换:如果是字符串则解析为字典 @@ -311,22 +556,22 @@ class BioyondReactionStation(BioyondWorkstation): if isinstance(temperature, str): temperature = float(temperature) - liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["liquid"] - observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["observe"] + liquid_step_id = self.workflow_step_ids["liquid_feeding_solvents"]["liquid"] + observe_step_id = self.workflow_step_ids["liquid_feeding_solvents"]["observe"] params = { "param_values": { liquid_step_id: { - ACTION_NAMES["liquid_feeding_solvents"]["liquid"]: [ - {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type}, + self.action_names["liquid_feeding_solvents"]["liquid"]: [ + {"m": 0, "n": 1, "Key": "titrationType", "Value": mapped_titration_type}, {"m": 0, "n": 1, "Key": "volume", "Value": volume}, {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id} ] }, observe_step_id: { - ACTION_NAMES["liquid_feeding_solvents"]["observe"]: [ + self.action_names["liquid_feeding_solvents"]["observe"]: [ {"m": 1, "n": 0, "Key": "time", "Value": time}, - {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)}, + {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(mapped_torque_variation)}, {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"} ] } @@ -362,10 +607,10 @@ class BioyondReactionStation(BioyondWorkstation): x_value: 手工输入的x值,格式如 "1-2-3" feeding_order_data: feeding_order JSON字符串或对象,用于获取m二酐值 extracted_actuals: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume - titration_type: 是否滴定(1=否, 2=是),默认2 + titration_type: 是否滴定(NO=1, YES=2),默认2 time: 观察时间(分钟) - torque_variation: 是否观察(int类型, 1=否, 2=是) - temperature: 温度(°C) + torque_variation: 是否观察(NO=1, YES=2) + temperature: 温度(C) 自动公式模板: 1000*(m二酐-x)*V二酐滴定/m二酐滴定 其中: @@ -374,6 +619,13 @@ class BioyondReactionStation(BioyondWorkstation): - x = x_value (手工输入) - m二酐 = feeding_order中type为"main_anhydride"的amount值 """ + # 参数映射 + titration_map = {"NO": "1", "YES": "2", "1": "1", "2": "2"} + torque_map = {"NO": "1", "YES": "2", 1: "1", 2: "2", "1": "1", "2": "2"} + + mapped_titration_type = titration_map.get(str(titration_type), "2") + mapped_torque_variation = int(torque_map.get(str(torque_variation), "1")) + self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}') material_id = self.hardware_interface._get_material_id_by_name(assign_material_name) if material_id is None: @@ -460,22 +712,22 @@ class BioyondReactionStation(BioyondWorkstation): elif not volume_formula: raise ValueError("必须提供 volume_formula 或 (x_value + feeding_order_data + extracted_actuals)") - liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"] - observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"] + liquid_step_id = self.workflow_step_ids["liquid_feeding_titration"]["liquid"] + observe_step_id = self.workflow_step_ids["liquid_feeding_titration"]["observe"] params = { "param_values": { liquid_step_id: { - ACTION_NAMES["liquid_feeding_titration"]["liquid"]: [ + self.action_names["liquid_feeding_titration"]["liquid"]: [ {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula}, - {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type}, + {"m": 0, "n": 3, "Key": "titrationType", "Value": mapped_titration_type}, {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id} ] }, observe_step_id: { - ACTION_NAMES["liquid_feeding_titration"]["observe"]: [ + self.action_names["liquid_feeding_titration"]["observe"]: [ {"m": 1, "n": 0, "Key": "time", "Value": time}, - {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)}, + {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(mapped_torque_variation)}, {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"} ] } @@ -518,6 +770,89 @@ class BioyondReactionStation(BioyondWorkstation): 'actualVolume': actual_volume } + def _simplify_report(self, report) -> Dict[str, Any]: + """简化实验报告,只保留关键信息,去除冗余的工作流参数""" + if not isinstance(report, dict): + return report + + data = report.get('data', {}) + if not isinstance(data, dict): + return report + + # 提取关键信息 + simplified = { + 'name': data.get('name'), + 'code': data.get('code'), + 'requester': data.get('requester'), + 'workflowName': data.get('workflowName'), + 'workflowStep': data.get('workflowStep'), + 'requestTime': data.get('requestTime'), + 'startPreparationTime': data.get('startPreparationTime'), + 'completeTime': data.get('completeTime'), + 'useTime': data.get('useTime'), + 'status': data.get('status'), + 'statusName': data.get('statusName'), + } + + # 提取物料信息(简化版) + pre_intakes = data.get('preIntakes', []) + if pre_intakes and isinstance(pre_intakes, list): + first_intake = pre_intakes[0] + sample_materials = first_intake.get('sampleMaterials', []) + + # 简化物料信息 + simplified_materials = [] + for material in sample_materials: + if isinstance(material, dict): + mat_info = { + 'materialName': material.get('materialName'), + 'materialTypeName': material.get('materialTypeName'), + 'materialCode': material.get('materialCode'), + 'materialLocation': material.get('materialLocation'), + } + + # 解析parameters中的关键信息 + params_str = material.get('parameters', '{}') + try: + params = json.loads(params_str) if isinstance(params_str, str) else params_str + if isinstance(params, dict): + # 只保留关键参数 + if 'density' in params: + mat_info['density'] = params['density'] + if 'feedingHistory' in params: + mat_info['feedingHistory'] = params['feedingHistory'] + if 'liquidVolume' in params: + mat_info['liquidVolume'] = params['liquidVolume'] + if 'm_diamine_tot' in params: + mat_info['m_diamine_tot'] = params['m_diamine_tot'] + if 'wt_diamine' in params: + mat_info['wt_diamine'] = params['wt_diamine'] + except: + pass + + simplified_materials.append(mat_info) + + simplified['sampleMaterials'] = simplified_materials + + # 提取extraProperties中的实际值 + extra_props = first_intake.get('extraProperties', {}) + if isinstance(extra_props, dict): + simplified_extra = {} + for key, value in extra_props.items(): + try: + parsed_value = json.loads(value) if isinstance(value, str) else value + simplified_extra[key] = parsed_value + except: + simplified_extra[key] = value + simplified['extraProperties'] = simplified_extra + + return { + 'data': simplified, + 'code': report.get('code'), + 'message': report.get('message'), + 'timestamp': report.get('timestamp') + } + def extract_actuals_from_batch_reports(self, batch_reports_result: str) -> dict: print(f"[DEBUG] extract_actuals 收到原始数据: {batch_reports_result[:500]}...") # 打印前500字符 try: @@ -671,7 +1006,12 @@ class BioyondReactionStation(BioyondWorkstation): timeout = int(timeout) if timeout else 7200 check_interval = int(check_interval) if check_interval else 10 if not batch_create_result or batch_create_result == "": - raise ValueError("batch_create_result为空") + raise ValueError( + "batch_create_result参数为空,请确保:\n" + "1. batch_create节点与wait节点之间正确连接了handle\n" + "2. batch_create节点成功执行并返回了结果\n" + "3. 检查上游batch_create任务是否成功创建了订单" + ) try: if isinstance(batch_create_result, str) and '[...]' in batch_create_result: batch_create_result = batch_create_result.replace('[...]', '[]') @@ -687,7 +1027,14 @@ class BioyondReactionStation(BioyondWorkstation): except Exception as e: raise ValueError(f"解析batch_create_result失败: {e}") if not order_codes or not order_ids: - raise ValueError("缺少order_codes或order_ids") + raise ValueError( + "batch_create_result中未找到order_codes或order_ids,或者为空。\n" + "可能的原因:\n" + "1. batch_create任务执行失败(检查任务是否报错)\n" + "2. 物料配置问题(如'物料样品板分配失败')\n" + "3. Bioyond系统状态异常\n" + f"batch_create_result内容: {batch_create_result[:200]}..." + ) if not isinstance(order_codes, list): order_codes = [order_codes] if not isinstance(order_ids, list): @@ -696,6 +1043,17 @@ class BioyondReactionStation(BioyondWorkstation): raise ValueError("order_codes与order_ids数量不匹配") total = len(order_codes) pending = {c: {"order_id": order_ids[i], "completed": False} for i, c in enumerate(order_codes)} + + # 发布初始状态事件 + for i, oc in enumerate(order_codes): + self._publish_task_status( + task_id=order_ids[i], + task_code=oc, + task_type="bioyond_workflow", + status="running", + progress=0.0 + ) + reports = [] start_time = time.time() while pending: @@ -711,6 +1069,14 @@ class BioyondReactionStation(BioyondWorkstation): "extracted": None, "elapsed_time": elapsed_time }) + # 发布超时事件 + self._publish_task_status( + task_id=pending[oc]["order_id"], + task_code=oc, + task_type="bioyond_workflow", + status="timeout", + result={"elapsed_time": elapsed_time} + ) break completed_round = [] for oc in list(pending.keys()): @@ -721,6 +1087,9 @@ class BioyondReactionStation(BioyondWorkstation): rep = self.hardware_interface.order_report(oid) if not rep: rep = {"error": "无法获取报告"} + else: + # 简化报告,去除冗余信息 + rep = self._simplify_report(rep) reports.append({ "order_code": oc, "order_id": oid, @@ -730,6 +1099,15 @@ class BioyondReactionStation(BioyondWorkstation): "extracted": self._extract_actuals_from_report(rep), "elapsed_time": elapsed_time }) + # 发布完成事件 + self._publish_task_status( + task_id=oid, + task_code=oc, + task_type="bioyond_workflow", + status="completed", + progress=1.0, + result=rep + ) completed_round.append(oc) del self.order_completion_status[oc] except Exception as e: @@ -743,6 +1121,14 @@ class BioyondReactionStation(BioyondWorkstation): "error": str(e), "elapsed_time": elapsed_time }) + # 发布错误事件 + self._publish_task_status( + task_id=oid, + task_code=oc, + task_type="bioyond_workflow", + status="error", + result={"error": str(e)} + ) completed_round.append(oc) for oc in completed_round: del pending[oc] @@ -782,9 +1168,16 @@ class BioyondReactionStation(BioyondWorkstation): assign_material_name: 物料名称(试剂瓶位) time: 观察时间(分钟) torque_variation: 是否观察(int类型, 1=否, 2=是) - titration_type: 是否滴定(1=否, 2=是) - temperature: 温度设定(°C) + titration_type: 是否滴定(NO=1, YES=2) + temperature: 温度设定(C) """ + # 参数映射 + titration_map = {"NO": "1", "YES": "2", "1": "1", "2": "2"} + torque_map = {"NO": "1", "YES": "2", 1: "1", 2: "2", "1": "1", "2": "2"} + + mapped_titration_type = titration_map.get(str(titration_type), "1") + mapped_torque_variation = int(torque_map.get(str(torque_variation), "1")) + self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}') material_id = self.hardware_interface._get_material_id_by_name(assign_material_name) if material_id is None: @@ -793,22 +1186,22 @@ class BioyondReactionStation(BioyondWorkstation): if isinstance(temperature, str): temperature = float(temperature) - liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["liquid"] - observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["observe"] + liquid_step_id = self.workflow_step_ids["liquid_feeding_beaker"]["liquid"] + observe_step_id = self.workflow_step_ids["liquid_feeding_beaker"]["observe"] params = { "param_values": { liquid_step_id: { - ACTION_NAMES["liquid_feeding_beaker"]["liquid"]: [ + self.action_names["liquid_feeding_beaker"]["liquid"]: [ {"m": 0, "n": 2, "Key": "volume", "Value": volume}, {"m": 0, "n": 2, "Key": "assignMaterialName", "Value": material_id}, - {"m": 0, "n": 2, "Key": "titrationType", "Value": titration_type} + {"m": 0, "n": 2, "Key": "titrationType", "Value": mapped_titration_type} ] }, observe_step_id: { - ACTION_NAMES["liquid_feeding_beaker"]["observe"]: [ + self.action_names["liquid_feeding_beaker"]["observe"]: [ {"m": 1, "n": 0, "Key": "time", "Value": time}, - {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)}, + {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(mapped_torque_variation)}, {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"} ] } @@ -834,11 +1227,18 @@ class BioyondReactionStation(BioyondWorkstation): Args: assign_material_name: 物料名称(液体种类) volume: 分液量(μL) - titration_type: 是否滴定(1=否, 2=是) + titration_type: 是否滴定(NO=1, YES=2) time: 观察时间(分钟) - torque_variation: 是否观察(int类型, 1=否, 2=是) - temperature: 温度(°C) + torque_variation: 是否观察(NO=1, YES=2) + temperature: 温度(C) """ + # 参数映射 + titration_map = {"NO": "1", "YES": "2", "1": "1", "2": "2"} + torque_map = {"NO": "1", "YES": "2", 1: "1", 2: "2", "1": "1", "2": "2"} + + mapped_titration_type = titration_map.get(str(titration_type), "1") + mapped_torque_variation = int(torque_map.get(str(torque_variation), "1")) + self.append_to_workflow_sequence('{"web_workflow_name": "drip_back"}') material_id = self.hardware_interface._get_material_id_by_name(assign_material_name) if material_id is None: @@ -847,22 +1247,22 @@ class BioyondReactionStation(BioyondWorkstation): if isinstance(temperature, str): temperature = float(temperature) - liquid_step_id = WORKFLOW_STEP_IDS["drip_back"]["liquid"] - observe_step_id = WORKFLOW_STEP_IDS["drip_back"]["observe"] + liquid_step_id = self.workflow_step_ids["drip_back"]["liquid"] + observe_step_id = self.workflow_step_ids["drip_back"]["observe"] params = { "param_values": { liquid_step_id: { - ACTION_NAMES["drip_back"]["liquid"]: [ - {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type}, + self.action_names["drip_back"]["liquid"]: [ + {"m": 0, "n": 1, "Key": "titrationType", "Value": mapped_titration_type}, {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id}, {"m": 0, "n": 1, "Key": "volume", "Value": volume} ] }, observe_step_id: { - ACTION_NAMES["drip_back"]["observe"]: [ + self.action_names["drip_back"]["observe"]: [ {"m": 1, "n": 0, "Key": "time", "Value": time}, - {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)}, + {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(mapped_torque_variation)}, {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"} ] } @@ -874,6 +1274,53 @@ class BioyondReactionStation(BioyondWorkstation): print(f"当前队列长度: {len(self.pending_task_params)}") return json.dumps({"suc": True}) + def add_time_constraint( + self, + duration: int, + start_step_key: str = "", + end_step_key: str = "", + start_point: int = 0, + end_point: int = 0 + ): + """添加时间约束 + + Args: + duration: 时间(秒) + start_step_key: 起点步骤Key (可选, 默认为空则自动选择) + end_step_key: 终点步骤Key (可选, 默认为空则自动选择) + start_point: 起点计时点 (Start=0, End=1) + end_point: 终点计时点 (Start=0, End=1) + """ + # 参数映射 + point_map = {"Start": 0, "End": 1, 0: 0, 1: 1, "0": 0, "1": 1} + + mapped_start_point = point_map.get(start_point, 0) + mapped_end_point = point_map.get(end_point, 0) + + # 注意:此方法应在添加完起点工作流后,添加终点工作流前调用 + + + current_count = len(self._cached_workflow_sequence) + if current_count == 0: + print("⚠️ 无法添加时间约束:当前没有工作流") + return + + start_index = current_count - 1 + end_index = current_count # 指向下一个即将添加的工作流 + + constraint = { + "start_index": start_index, + "start_step_key": start_step_key, + "end_index": end_index, + "end_step_key": end_step_key, + "duration": duration, + "start_point": mapped_start_point, + "end_point": mapped_end_point + } + self.pending_time_constraints.append(constraint) + print(f"已添加时间约束: Workflow[{start_index}].{start_step_key} -> Workflow[{end_index}].{end_step_key} ({duration}s)") + return json.dumps({"suc": True}) + # ==================== 工作流管理方法 ==================== def get_workflow_sequence(self) -> List[str]: @@ -884,12 +1331,115 @@ class BioyondReactionStation(BioyondWorkstation): """ id_to_name = {workflow_id: name for name, workflow_id in self.workflow_mappings.items()} workflow_names = [] - for workflow_id in self.workflow_sequence: + # 使用内部缓存的列表,而不是属性(属性返回 JSON 字符串) + for workflow_id in self._cached_workflow_sequence: workflow_name = id_to_name.get(workflow_id, workflow_id) workflow_names.append(workflow_name) - print(f"工作流序列: {workflow_names}") return workflow_names + def sync_workflow_sequence_from_bioyond(self) -> dict: + """从 Bioyond 系统同步工作流序列 + + 查询 Bioyond 系统中的工作流列表,并更新本地 workflow_sequence + + Returns: + dict: 包含同步结果的字典 + - success: bool, 是否成功 + - workflows: list, 工作流列表 + - message: str, 结果消息 + """ + try: + print(f"[同步工作流序列] 开始从 Bioyond 系统查询工作流...") + + # 检查 hardware_interface 是否可用 + if not hasattr(self, 'hardware_interface') or self.hardware_interface is None: + error_msg = "hardware_interface 未初始化" + print(f"❌ [同步工作流序列] {error_msg}") + return { + "success": False, + "workflows": [], + "message": error_msg + } + + # 查询所有工作流 + query_params = json.dumps({}) + print(f"[同步工作流序列] 调用 hardware_interface.query_workflow...") + workflows_data = self.hardware_interface.query_workflow(query_params) + + print(f"[同步工作流序列] 查询返回数据: {workflows_data}") + + if not workflows_data: + error_msg = "未能从 Bioyond 系统获取工作流数据(返回为空)" + print(f"⚠️ [同步工作流序列] {error_msg}") + return { + "success": False, + "workflows": [], + "message": error_msg + } + + # 获取工作流列表 - Bioyond API 返回的字段是 items,不是 list + workflow_list = workflows_data.get("items", workflows_data.get("list", [])) + print(f"[同步工作流序列] 从 Bioyond 查询到 {len(workflow_list)} 个工作流") + + if len(workflow_list) == 0: + warning_msg = "Bioyond 系统中暂无工作流" + print(f"⚠️ [同步工作流序列] {warning_msg}") + # 清空缓存 + self._cached_workflow_sequence = [] + return { + "success": True, + "workflows": [], + "message": warning_msg + } + + # 清空当前序列 + workflow_ids = [] + + # 构建结果 + synced_workflows = [] + for workflow in workflow_list: + workflow_id = workflow.get("id") + workflow_name = workflow.get("name") + workflow_status = workflow.get("status") # 工作流状态 + + print(f" - 工作流: {workflow_name} (ID: {workflow_id[:8] if workflow_id else 'N/A'}..., 状态: {workflow_status})") + + synced_workflows.append({ + "id": workflow_id, + "name": workflow_name, + "status": workflow_status, + "createTime": workflow.get("createTime"), + "updateTime": workflow.get("updateTime") + }) + + # 添加所有工作流 ID 到执行序列 + if workflow_id: + workflow_ids.append(workflow_id) + + # 更新缓存 + self._cached_workflow_sequence = workflow_ids + + success_msg = f"成功同步 {len(synced_workflows)} 个工作流到本地序列" + print(f"✅ [同步工作流序列] {success_msg}") + print(f"[同步工作流序列] 当前 workflow_sequence: {self._cached_workflow_sequence}") + + return { + "success": True, + "workflows": synced_workflows, + "message": success_msg + } + + except Exception as e: + error_msg = f"从 Bioyond 同步工作流序列失败: {e}" + print(f"❌ [同步工作流序列] {error_msg}") + import traceback + traceback.print_exc() + return { + "success": False, + "workflows": [], + "message": error_msg + } + def workflow_step_query(self, workflow_id: str) -> dict: """查询工作流步骤参数 @@ -912,9 +1462,69 @@ class BioyondReactionStation(BioyondWorkstation): """ return self.hardware_interface.create_order(json_str) + def clear_workflows(self): + """清空缓存的工作流序列和参数""" + self._cached_workflow_sequence = [] + self.pending_time_constraints = [] + print("已清空工作流序列缓存和时间约束队列") + + def clean_all_server_workflows(self) -> Dict[str, Any]: + """ + 清空服务端所有非核心工作流 + 逻辑： + 1. 利用 3.2 接口查询所有工作流 (includeDetail=False) + 2. 提取所有 ID + 3. 利用 3.38 接口 (hard_delete_merged_workflows) 批量删除 + """ + print("正在查询服务端工作流列表...") + try: + # 查询工作流列表 + # 仅需要ID，所以设置 includeDetail=False + query_params = {"includeDetail": False, "type": 0} + query_result = self._post_project_api("/api/lims/workflow/work-flow-list", query_params) + + if query_result.get("code") != 1: + return query_result + + data_obj = query_result.get("data") + + # 处理返回值可能是列表或者分页对象的不同情况 + if isinstance(data_obj, list): + workflows = data_obj + elif isinstance(data_obj, dict): + # 尝试从常见分页字段获取列表 + workflows = data_obj.get("items", data_obj.get("list", [])) + else: + workflows = [] + + if not workflows: + print("无需删除: 服务端无工作流") + return {"code": 1, "message": "服务端无工作流", "timestamp": int(time.time())} + + ids_to_delete = [] + for wf in workflows: + if isinstance(wf, dict): + wf_id = wf.get("id") + if wf_id: + ids_to_delete.append(str(wf_id)) + + if not ids_to_delete: + print("无需删除: 无有效工作流ID") + return {"code": 1, "message": "无有效工作流ID", "timestamp": int(time.time())} + + print(f"查询到 {len(ids_to_delete)} 个工作流，准备调用硬删除接口...") + # 硬删除 + return self.hard_delete_merged_workflows(ids_to_delete) + + except Exception as e: + print(f"❌ 清空工作流业务异常: {str(e)}") + return {"code": 0, "message": str(e), "timestamp": int(time.time())} + def hard_delete_merged_workflows(self, workflow_ids: List[str]) -> Dict[str, Any]: """ - 调用新接口：硬删除合并后的工作流 + 调用新接口:硬删除合并后的工作流 + 根据用户反馈，/api/lims/order/workflows 接口存在校验问题 + 改用 /api/data/order/workflows?workFlowGuids=... 接口 Args: workflow_ids: 要删除的工作流ID数组 @@ -925,7 +1535,30 @@ class BioyondReactionStation(BioyondWorkstation): try: if not isinstance(workflow_ids, list): raise ValueError("workflow_ids必须是字符串数组") - return self._delete_project_api("/api/lims/order/workflows", workflow_ids) + + # 使用新 Endpoint: /api/data/order/workflows + endpoint = "/api/data/order/workflows" + url = f"{self.hardware_interface.host}{endpoint}" + + print(f"\n📤 硬删除请求 (Query Param): {url}") + print(f"IDs count: {len(workflow_ids)}") + + # 使用 requests 的 params 传递数组，会生成 workFlowGuids=id1&workFlowGuids=id2 的形式 + params = {"workFlowGuids": workflow_ids} + + response = requests.delete( + url, + params=params, + timeout=60 + ) + + if response.status_code == 200: + print("✅ 删除请求成功") + return {"code": 1, "message": "删除成功", "timestamp": int(time.time())} + else: + print(f"❌ 删除失败: status={response.status_code}, content={response.text}") + return {"code": 0, "message": f"HTTP {response.status_code}: {response.text}", "timestamp": int(time.time())} + except Exception as e: print(f"❌ 硬删除异常: {str(e)}") return {"code": 0, "message": str(e), "timestamp": int(time.time())} @@ -936,14 +1569,14 @@ class BioyondReactionStation(BioyondWorkstation): """项目接口通用POST调用 参数: - endpoint: 接口路径（例如 /api/lims/order/skip-titration-steps） + endpoint: 接口路径(例如 /api/lims/order/skip-titration-steps) data: 请求体中的 data 字段内容 返回: - dict: 服务端响应，失败时返回 {code:0,message,...} + dict: 服务端响应,失败时返回 {code:0,message,...} """ request_data = { - "apiKey": API_CONFIG["api_key"], + "apiKey": self.bioyond_config["api_key"], "requestTime": self.hardware_interface.get_current_time_iso8601(), "data": data } @@ -976,35 +1609,57 @@ class BioyondReactionStation(BioyondWorkstation): """项目接口通用DELETE调用 参数: - endpoint: 接口路径（例如 /api/lims/order/workflows） + endpoint: 接口路径(例如 /api/lims/order/workflows) data: 请求体中的 data 字段内容 返回: - dict: 服务端响应，失败时返回 {code:0,message,...} + dict: 服务端响应,失败时返回 {code:0,message,...} """ request_data = { - "apiKey": API_CONFIG["api_key"], + "apiKey": self.bioyond_config["api_key"], "requestTime": self.hardware_interface.get_current_time_iso8601(), "data": data } print(f"\n📤 项目DELETE请求: {self.hardware_interface.host}{endpoint}") print(json.dumps(request_data, indent=4, ensure_ascii=False)) try: - response = requests.delete( + # 使用 requests.request 显式发送 Body，避免 requests.delete 可能的兼容性问题 + response = requests.request( + "DELETE", f"{self.hardware_interface.host}{endpoint}", - json=request_data, + data=json.dumps(request_data), headers={"Content-Type": "application/json"}, timeout=30 ) - result = response.json() + + try: + result = response.json() + except json.JSONDecodeError: + print(f"❌ 非JSON响应: {response.text}") + return {"code": 0, "message": "非JSON响应", "timestamp": int(time.time())} + if result.get("code") == 1: print("✅ 请求成功") else: - print(f"❌ 请求失败: {result.get('message','未知错误')}") + # 尝试提取详细错误信息 (兼容 Abp 等框架的 error 结构) + msg = result.get('message') + if not msg: + error_obj = result.get('error', {}) + if isinstance(error_obj, dict): + msg = error_obj.get('message') + details = error_obj.get('details') + if details: + msg = f"{msg}: {details}" + + if not msg: + msg = f"未知错误 (Status: {response.status_code})" + + print(f"❌ 请求失败: {msg}") + # 打印完整返回以供调试 + print(f"服务端返回: {json.dumps(result, ensure_ascii=False)}") + return result - except json.JSONDecodeError: - print("❌ 非JSON响应") - return {"code": 0, "message": "非JSON响应", "timestamp": int(time.time())} + except requests.exceptions.Timeout: print("❌ 请求超时") return {"code": 0, "message": "请求超时", "timestamp": int(time.time())} @@ -1030,16 +1685,16 @@ class BioyondReactionStation(BioyondWorkstation): for name in web_workflow_list: workflow_id = self.workflow_mappings.get(name, "") if not workflow_id: - print(f"警告：未找到工作流名称 {name} 对应的 ID") + print(f"警告:未找到工作流名称 {name} 对应的 ID") continue workflows_result.append({"id": workflow_id, "name": name}) print(f"process_web_workflows 输出: {workflows_result}") return workflows_result except json.JSONDecodeError as e: - print(f"错误：无法解析 web_workflow_json: {e}") + print(f"错误:无法解析 web_workflow_json: {e}") return [] except Exception as e: - print(f"错误：处理工作流失败: {e}") + print(f"错误:处理工作流失败: {e}") return [] def _build_workflows_with_parameters(self, workflows_result: list) -> list: @@ -1047,7 +1702,7 @@ class BioyondReactionStation(BioyondWorkstation): 构建带参数的工作流列表 Args: - workflows_result: 处理后的工作流列表（应为包含 id 和 name 的字典列表） + workflows_result: 处理后的工作流列表(应为包含 id 和 name 的字典列表) Returns: 符合新接口格式的工作流参数结构 @@ -1059,24 +1714,24 @@ class BioyondReactionStation(BioyondWorkstation): for idx, workflow_info in enumerate(workflows_result): if not isinstance(workflow_info, dict): - print(f"错误：workflows_result[{idx}] 不是字典，而是 {type(workflow_info)}: {workflow_info}") + print(f"错误:workflows_result[{idx}] 不是字典,而是 {type(workflow_info)}: {workflow_info}") continue workflow_id = workflow_info.get("id") if not workflow_id: - print(f"警告：workflows_result[{idx}] 缺少 'id' 键") + print(f"警告:workflows_result[{idx}] 缺少 'id' 键") continue workflow_name = workflow_info.get("name", "") # print(f"\n🔧 处理工作流 [{idx}]: {workflow_name} (ID: {workflow_id})") if idx >= len(self.pending_task_params): - # print(f" ⚠️ 无对应参数，跳过") + # print(f" ⚠️ 无对应参数,跳过") workflows_with_params.append({"id": workflow_id}) continue param_data = self.pending_task_params[idx] param_values = param_data.get("param_values", {}) if not param_values: - # print(f" ⚠️ 参数为空，跳过") + # print(f" ⚠️ 参数为空,跳过") workflows_with_params.append({"id": workflow_id}) continue @@ -1135,10 +1790,10 @@ class BioyondReactionStation(BioyondWorkstation): def merge_workflow_with_parameters(self, json_str: str) -> dict: """ - 调用新接口：合并工作流并传递参数 + 调用新接口:合并工作流并传递参数 Args: - json_str: JSON格式的字符串，包含: + json_str: JSON格式的字符串,包含: - name: 工作流名称 - workflows: [{"id": "工作流ID", "stepParameters": {...}}] @@ -1148,7 +1803,7 @@ class BioyondReactionStation(BioyondWorkstation): try: data = json.loads(json_str) - # 在工作流名称后面添加时间戳，避免重复 + # 在工作流名称后面添加时间戳,避免重复 if "name" in data and data["name"]: timestamp = self.hardware_interface.get_current_time_iso8601().replace(":", "-").replace(".", "-") original_name = data["name"] @@ -1156,7 +1811,7 @@ class BioyondReactionStation(BioyondWorkstation): print(f"🕒 工作流名称已添加时间戳: {original_name} -> {data['name']}") request_data = { - "apiKey": API_CONFIG["api_key"], + "apiKey": self.bioyond_config["api_key"], "requestTime": self.hardware_interface.get_current_time_iso8601(), "data": data } @@ -1195,7 +1850,7 @@ class BioyondReactionStation(BioyondWorkstation): return None if result.get("code") == 1: - print(f"✅ 工作流合并成功（带参数）") + print(f"✅ 工作流合并成功(带参数)") return result.get("data", {}) else: error_msg = result.get('message', '未知错误') @@ -1216,7 +1871,7 @@ class BioyondReactionStation(BioyondWorkstation): return None def _validate_and_refresh_workflow_if_needed(self, workflow_name: str) -> bool: - """验证工作流ID是否有效，如果无效则重新合并 + """验证工作流ID是否有效,如果无效则重新合并 Args: workflow_name: 工作流名称 @@ -1225,17 +1880,17 @@ class BioyondReactionStation(BioyondWorkstation): bool: 验证或刷新是否成功 """ print(f"\n🔍 验证工作流ID有效性...") - if not self.workflow_sequence: - print(f" ⚠️ 工作流序列为空，需要重新合并") + if not self._cached_workflow_sequence: + print(f" ⚠️ 工作流序列为空,需要重新合并") return False - first_workflow_id = self.workflow_sequence[0] + first_workflow_id = self._cached_workflow_sequence[0] try: structure = self.workflow_step_query(first_workflow_id) if structure: print(f" ✅ 工作流ID有效") return True else: - print(f" ⚠️ 工作流ID已过期，需要重新合并") + print(f" ⚠️ 工作流ID已过期,需要重新合并") return False except Exception as e: print(f" ❌ 工作流ID验证失败: {e}") @@ -1244,7 +1899,7 @@ class BioyondReactionStation(BioyondWorkstation): def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict: """ - 一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务 + 一站式处理工作流程:解析网页工作流列表,合并工作流(带参数),然后发布任务 Args: workflow_name: 合并后的工作流名称 @@ -1269,12 +1924,111 @@ class BioyondReactionStation(BioyondWorkstation): workflows_with_params = self._build_workflows_with_parameters(workflows_result) + # === 构建时间约束 (tcmBs) === + tcm_bs_list = [] + if self.pending_time_constraints: + print(f"\n🔗 处理时间约束 ({len(self.pending_time_constraints)} 个)...") + + + # 建立索引到名称的映射 + workflow_names_by_index = [w["name"] for w in workflows_result] + + # 默认步骤映射表 + DEFAULT_STEP_KEYS = { + "Solid_feeding_vials": "feeding", + "liquid_feeding_beaker": "liquid", + "Liquid_feeding_vials(non-titration)": "liquid", + "Liquid_feeding_solvents": "liquid", + "Liquid_feeding(titration)": "liquid", + "Drip_back": "liquid", + "reactor_taken_in": "config" + } + + for c in self.pending_time_constraints: + try: + start_idx = c["start_index"] + end_idx = c["end_index"] + + if start_idx >= len(workflow_names_by_index) or end_idx >= len(workflow_names_by_index): + print(f" ❌ 约束索引越界: {start_idx} -> {end_idx} (总数: {len(workflow_names_by_index)})") + continue + + start_wf_name = workflow_names_by_index[start_idx] + end_wf_name = workflow_names_by_index[end_idx] + + # 辅助函数:根据名称查找 config 中的 key + def find_config_key(name): + # 1. 直接匹配 + if name in self.workflow_step_ids: + return name + # 2. 尝试反向查找 WORKFLOW_TO_SECTION_MAP (如果需要) + # 3. 尝试查找 WORKFLOW_MAPPINGS 的 key (忽略大小写匹配或特定映射) + + # 硬编码常见映射 (Web名称 -> Config Key) + mapping = { + "Solid_feeding_vials": "solid_feeding_vials", + "Liquid_feeding_vials(non-titration)": "liquid_feeding_vials_non_titration", + "Liquid_feeding_solvents": "liquid_feeding_solvents", + "Liquid_feeding(titration)": "liquid_feeding_titration", + "Drip_back": "drip_back" + } + return mapping.get(name, name) + + start_config_key = find_config_key(start_wf_name) + end_config_key = find_config_key(end_wf_name) + + # 查找 UUID + if start_config_key not in self.workflow_step_ids: + print(f" ❌ 找不到工作流 {start_wf_name} (Key: {start_config_key}) 的步骤配置") + continue + if end_config_key not in self.workflow_step_ids: + print(f" ❌ 找不到工作流 {end_wf_name} (Key: {end_config_key}) 的步骤配置") + continue + + # 确定步骤 Key + start_key = c["start_step_key"] + if not start_key: + start_key = DEFAULT_STEP_KEYS.get(start_wf_name) + if not start_key: + print(f" ❌ 未指定起点步骤Key且无默认值: {start_wf_name}") + continue + + end_key = c["end_step_key"] + if not end_key: + end_key = DEFAULT_STEP_KEYS.get(end_wf_name) + if not end_key: + print(f" ❌ 未指定终点步骤Key且无默认值: {end_wf_name}") + continue + + start_step_id = self.workflow_step_ids[start_config_key].get(start_key) + end_step_id = self.workflow_step_ids[end_config_key].get(end_key) + + if not start_step_id or not end_step_id: + print(f" ❌ 无法解析步骤ID: {start_config_key}.{start_key} -> {end_config_key}.{end_key}") + continue + + tcm_bs_list.append({ + "startWorkflowIndex": start_idx, + "startStepId": start_step_id, + "startComparePoint": c["start_point"], + "endWorkflowIndex": end_idx, + "endStepId": end_step_id, + "endComparePoint": c["end_point"], + "ct": c["duration"], + "description": f"Constraint {start_idx}->{end_idx}" + }) + print(f" ✅ 添加约束: {start_wf_name}({start_key}) -> {end_wf_name}({end_key})") + + except Exception as e: + print(f" ❌ 处理约束时出错: {e}") + merge_data = { "name": workflow_name, - "workflows": workflows_with_params + "workflows": workflows_with_params, + "tcmBs": tcm_bs_list } - # print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}") + # print(f"\n🔄 合并工作流(带参数),名称: {workflow_name}") merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data)) if not merged_workflow: @@ -1291,20 +2045,28 @@ class BioyondReactionStation(BioyondWorkstation): "paramValues": {} }] - result = self.create_order(json.dumps(order_params)) - - if not result: - return self._create_error_result("创建任务失败", "create_order") - - # 清空工作流序列和参数，防止下次执行时累积重复 - self.pending_task_params = [] - self.clear_workflows() # 清空工作流序列，避免重复累积 + # 尝试创建订单:无论成功或失败,都需要在本次尝试结束后清理本地队列,避免下一次重复累积 + try: + result = self.create_order(json.dumps(order_params)) + if not result: + # 返回错误结果之前先记录情况(稍后由 finally 清理队列) + print("⚠️ 创建任务返回空或失败响应,稍后将清理本地队列以避免重复累积") + return self._create_error_result("创建任务失败", "create_order") + finally: + # 无论任务创建成功与否,都要清空本地保存的参数和工作流序列,防止下次重复 + try: + self.pending_task_params = [] + self.clear_workflows() # 清空工作流序列,避免重复累积 + print("✅ 已清理 pending_task_params 与 workflow_sequence") + except Exception as _ex: + # 记录清理失败,但不要阻塞原始返回 + print(f"❌ 清理队列时发生异常: {_ex}") # print(f"\n✅ 任务创建成功: {result}") # print(f"\n✅ 任务创建成功") print(f"{'='*60}\n") - # 返回结果，包含合并后的工作流数据和订单参数 + # 返回结果,包含合并后的工作流数据和订单参数 return json.dumps({ "success": True, "result": result, @@ -1321,10 +2083,42 @@ class BioyondReactionStation(BioyondWorkstation): preintake_id: 通量ID Returns: - Dict[str, Any]: 服务器响应，包含状态码、消息和时间戳 + Dict[str, Any]: 服务器响应,包含状态码,消息和时间戳 """ try: return self._post_project_api("/api/lims/order/skip-titration-steps", preintake_id) except Exception as e: print(f"❌ 跳过滴定异常: {str(e)}") return {"code": 0, "message": str(e), "timestamp": int(time.time())} + + def set_reactor_temperature(self, reactor_id: int, temperature: float) -> str: + """ + 设置反应器温度 + + Args: + reactor_id: 反应器编号 (1-5) + temperature: 目标温度 (°C) + + Returns: + str: JSON 字符串,格式为 {"suc": True/False, "msg": "描述信息"} + """ + if reactor_id not in range(1, 6): + return json.dumps({"suc": False, "msg": "反应器编号必须在 1-5 之间"}) + + try: + payload = { + "deviceTypeName": f"反应模块{chr(64 + reactor_id)}", # 1->A, 2->B... + "temperature": float(temperature) + } + resp = requests.post( + f"{self.hardware_interface.host}/api/lims/device/set-reactor-temperatue", + json=payload, + headers={"Content-Type": "application/json"}, + timeout=10 + ) + if resp.status_code == 200: + return json.dumps({"suc": True, "msg": "温度设置成功"}) + else: + return json.dumps({"suc": False, "msg": f"温度设置失败,HTTP {resp.status_code}"}) + except Exception as e: + return json.dumps({"suc": False, "msg": f"温度设置异常: {str(e)}"}) diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index e349b083..327d8195 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -6,6 +6,7 @@ Bioyond Workstation Implementation """ import time import traceback +import threading from datetime import datetime from typing import Dict, Any, List, Optional, Union import json @@ -23,12 +24,94 @@ from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String from pylabrobot.resources.resource import Resource as ResourcePLR -from unilabos.devices.workstation.bioyond_studio.config import ( - API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG -) + from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService +class ConnectionMonitor: + """Bioyond连接监控器""" + def __init__(self, workstation, check_interval=30): + self.workstation = workstation + self.check_interval = check_interval + self._running = False + self._thread = None + self._last_status = "unknown" + + def start(self): + if self._running: + return + self._running = True + self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor") + self._thread.start() + logger.info("Bioyond连接监控器已启动") + + def stop(self): + self._running = False + if self._thread: + self._thread.join(timeout=2) + logger.info("Bioyond连接监控器已停止") + + def _monitor_loop(self): + while self._running: + try: + # 使用 lightweight API 检查连接 + # query_matial_type_list 是比较快的查询 + start_time = time.time() + result = self.workstation.hardware_interface.material_type_list() + + status = "online" if result else "offline" + msg = "Connection established" if status == "online" else "Failed to get material type list" + + if status != self._last_status: + logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}") + self._publish_event(status, msg) + self._last_status = status + + # 发布心跳 (可选，或者只在状态变更时发布) + # self._publish_event(status, msg) + + except Exception as e: + logger.error(f"Bioyond连接检查异常: {e}") + if self._last_status != "error": + self._publish_event("error", str(e)) + self._last_status = "error" + + time.sleep(self.check_interval) + + def _publish_event(self, status, message): + try: + if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node: + event_data = { + "status": status, + "message": message, + "timestamp": datetime.now().isoformat() + } + + # 动态发布消息，需要在 ROS2DeviceNode 中有对应支持 + # 这里假设通用事件发布机制，使用 String 类型的 topic + # 话题: //events/device_status + ns = self.workstation._ros_node.namespace + topic = f"{ns}/events/device_status" + + # 使用 ROS2DeviceNode 的发布功能 + # 如果没有预定义的 publisher，需要动态创建 + # 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制 + # 这里我们先尝试用 String json 发布 + + # 在 ROS2DeviceNode 中通常需要先 create_publisher + # 为了简单起见，我们检查是否已有 publisher，没有则创建 + if not hasattr(self.workstation, "_device_status_pub"): + self.workstation._device_status_pub = self.workstation._ros_node.create_publisher( + String, topic, 10 + ) + + self.workstation._device_status_pub.publish( + convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False)) + ) + except Exception as e: + logger.error(f"发布设备状态事件失败: {e}") + + class BioyondResourceSynchronizer(ResourceSynchronizer): """Bioyond资源同步器 @@ -174,9 +257,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): else: logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库") - # 第1步：获取仓库配置 - from .config import WAREHOUSE_MAPPING - warehouse_mapping = WAREHOUSE_MAPPING + # 第1步：从配置中获取仓库配置 + warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {}) # 确定目标仓库名称 parent_name = None @@ -238,14 +320,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): # 第2步：转换为 Bioyond 格式 logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...") - # 导入物料默认参数配置 - from .config import MATERIAL_DEFAULT_PARAMETERS + # 从配置中获取物料默认参数 + material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {}) + material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {}) + + # 合并参数配置：物料名称参数 + typeId参数（转换为 type: 格式） + merged_params = material_default_params.copy() + for type_id, params in material_type_params.items(): + merged_params[f"type:{type_id}"] = params bioyond_material = resource_plr_to_bioyond( [resource], type_mapping=self.workstation.bioyond_config["material_type_mappings"], warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"], - material_params=MATERIAL_DEFAULT_PARAMETERS + material_params=merged_params )[0] logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...") @@ -468,13 +556,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): return material_bioyond_id # 转换为 Bioyond 格式 - from .config import MATERIAL_DEFAULT_PARAMETERS + # 从配置中获取物料默认参数 + material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {}) + material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {}) + + # 合并参数配置：物料名称参数 + typeId参数（转换为 type: 格式） + merged_params = material_default_params.copy() + for type_id, params in material_type_params.items(): + merged_params[f"type:{type_id}"] = params bioyond_material = resource_plr_to_bioyond( [resource], type_mapping=self.workstation.bioyond_config["material_type_mappings"], warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"], - material_params=MATERIAL_DEFAULT_PARAMETERS + material_params=merged_params )[0] # ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位 @@ -528,8 +623,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): logger.info(f"[物料入库] 目标库位: {update_site}") # 获取仓库配置和目标库位 UUID - from .config import WAREHOUSE_MAPPING - warehouse_mapping = WAREHOUSE_MAPPING + warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {}) parent_name = None target_location_uuid = None @@ -584,6 +678,44 @@ class BioyondWorkstation(WorkstationBase): 集成Bioyond物料管理的工作站实现 """ + def _publish_task_status( + self, + task_id: str, + task_type: str, + status: str, + result: dict = None, + progress: float = 0.0, + task_code: str = None + ): + """发布任务状态事件""" + try: + if not getattr(self, "_ros_node", None): + return + + event_data = { + "task_id": task_id, + "task_code": task_code, + "task_type": task_type, + "status": status, + "progress": progress, + "timestamp": datetime.now().isoformat() + } + if result: + event_data["result"] = result + + topic = f"{self._ros_node.namespace}/events/task_status" + + if not hasattr(self, "_task_status_pub"): + self._task_status_pub = self._ros_node.create_publisher( + String, topic, 10 + ) + + self._task_status_pub.publish( + convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False)) + ) + except Exception as e: + logger.error(f"发布任务状态事件失败: {e}") + def __init__( self, bioyond_config: Optional[Dict[str, Any]] = None, @@ -605,10 +737,28 @@ class BioyondWorkstation(WorkstationBase): raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置") # 初始化 warehouses 属性 - self.deck.warehouses = {} - for resource in self.deck.children: - if isinstance(resource, WareHouse): - self.deck.warehouses[resource.name] = resource + if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None: + self.deck.warehouses = {} + + # 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复） + if not self.deck.warehouses: + for resource in self.deck.children: + # 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可 + is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse" + + # 如果配置中有定义，也可以认定为 warehouse + if not is_warehouse and "warehouse_mapping" in bioyond_config: + if resource.name in bioyond_config["warehouse_mapping"]: + is_warehouse = True + + if is_warehouse: + self.deck.warehouses[resource.name] = resource + # 确保 category 被正确设置，方便后续使用 + if getattr(resource, "category", "") != "warehouse": + try: + resource.category = "warehouse" + except: + pass # 创建通信模块 self._create_communication_module(bioyond_config) @@ -627,18 +777,22 @@ class BioyondWorkstation(WorkstationBase): self._set_workflow_mappings(bioyond_config["workflow_mappings"]) # 准备 HTTP 报送接收服务配置（延迟到 post_init 启动） - # 从 bioyond_config 中获取，如果没有则使用 HTTP_SERVICE_CONFIG 的默认值 + # 从 bioyond_config 中的 http_service_config 获取 + http_service_cfg = bioyond_config.get("http_service_config", {}) self._http_service_config = { - "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]), - "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"]) + "host": http_service_cfg.get("http_service_host", "127.0.0.1"), + "port": http_service_cfg.get("http_service_port", 8080) } - self.http_service = None # 将在 post_init 中启动 + self.http_service = None # 将在 post_init 启动 + self.connection_monitor = None # 将在 post_init 启动 logger.info(f"Bioyond工作站初始化完成") def __del__(self): """析构函数：清理资源，停止 HTTP 服务""" try: + if hasattr(self, 'connection_monitor') and self.connection_monitor: + self.connection_monitor.stop() if hasattr(self, 'http_service') and self.http_service is not None: logger.info("正在停止 HTTP 报送服务...") self.http_service.stop() @@ -648,8 +802,19 @@ class BioyondWorkstation(WorkstationBase): def post_init(self, ros_node: ROS2WorkstationNode): self._ros_node = ros_node + # 启动连接监控 + try: + self.connection_monitor = ConnectionMonitor(self) + self.connection_monitor.start() + except Exception as e: + logger.error(f"启动连接监控失败: {e}") + # 启动 HTTP 报送接收服务（现在 device_id 已可用） - if hasattr(self, '_http_service_config'): + # ⚠️ 检查子类是否已经自己管理 HTTP 服务 + if self.bioyond_config.get("_disable_auto_http_service"): + logger.info("🔧 检测到 _disable_auto_http_service 标志，跳过自动启动 HTTP 服务") + logger.info(" 子类（BioyondCellWorkstation）已自行管理 HTTP 服务") + elif hasattr(self, '_http_service_config'): try: self.http_service = WorkstationHTTPService( workstation_instance=self, @@ -688,19 +853,14 @@ class BioyondWorkstation(WorkstationBase): def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None: """创建Bioyond通信模块""" - # 创建默认配置 - default_config = { - **API_CONFIG, - "workflow_mappings": WORKFLOW_MAPPINGS, - "material_type_mappings": MATERIAL_TYPE_MAPPINGS, - "warehouse_mapping": WAREHOUSE_MAPPING - } - - # 如果传入了 config，合并配置（config 中的值会覆盖默认值） + # 直接使用传入的配置，不再使用默认值 + # 所有配置必须从 JSON 文件中提供 if config: - self.bioyond_config = {**default_config, **config} + self.bioyond_config = config else: - self.bioyond_config = default_config + # 如果没有配置，使用空字典（会导致后续错误，但这是预期的） + self.bioyond_config = {} + print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置") self.hardware_interface = BioyondV1RPC(self.bioyond_config) @@ -1014,7 +1174,15 @@ class BioyondWorkstation(WorkstationBase): workflow_id = self._get_workflow(actual_workflow_name) if workflow_id: - self.workflow_sequence.append(workflow_id) + # 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况 + if isinstance(self.workflow_sequence, list): + self.workflow_sequence.append(workflow_id) + elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list): + self._cached_workflow_sequence.append(workflow_id) + else: + print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}") + return False + print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}") return True return False @@ -1215,6 +1383,22 @@ class BioyondWorkstation(WorkstationBase): # TODO: 根据实际业务需求处理步骤完成逻辑 # 例如：更新数据库、触发后续流程等 + # 发布任务状态事件 (running/progress update) + self._publish_task_status( + task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID + task_code=data.get('orderCode'), + task_type="bioyond_step", + status="running", + progress=0.5, # 步骤完成视为任务进行中 + result={"step_name": data.get('stepName'), "step_id": data.get('stepId')} + ) + + # 更新物料信息 + # 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步 + logger.info(f"[步骤完成报送] 触发物料同步...") + self.resource_synchronizer.sync_from_external() + + return { "processed": True, "step_id": data.get('stepId'), @@ -1249,6 +1433,17 @@ class BioyondWorkstation(WorkstationBase): # TODO: 根据实际业务需求处理通量完成逻辑 + # 发布任务状态事件 + self._publish_task_status( + task_id=data.get('orderCode'), + task_code=data.get('orderCode'), + task_type="bioyond_sample", + status="running", + progress=0.7, + result={"sample_id": data.get('sampleId'), "status": status_desc} + ) + + return { "processed": True, "sample_id": data.get('sampleId'), @@ -1288,6 +1483,32 @@ class BioyondWorkstation(WorkstationBase): # TODO: 根据实际业务需求处理任务完成逻辑 # 例如：更新物料库存、生成报表等 + # 映射状态到事件状态 + event_status = "completed" + if str(data.get('status')) in ["-11", "-12"]: + event_status = "error" + elif str(data.get('status')) == "30": + event_status = "completed" + else: + event_status = "running" # 其他状态视为运行中（或根据实际定义） + + # 发布任务状态事件 + self._publish_task_status( + task_id=data.get('orderCode'), + task_code=data.get('orderCode'), + task_type="bioyond_order", + status=event_status, + progress=1.0 if event_status in ["completed", "error"] else 0.9, + result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)} + ) + + # 更新物料信息 + # 任务完成后，且状态为完成时，触发同步以更新最终物料状态 + if event_status == "completed": + logger.info(f"[任务完成报送] 触发物料同步...") + self.resource_synchronizer.sync_from_external() + + return { "processed": True, "order_code": data.get('orderCode'), diff --git a/unilabos/devices/workstation/coin_cell_assembly/20251230_Modbus_CSV_Mapping_Guide.md b/unilabos/devices/workstation/coin_cell_assembly/20251230_Modbus_CSV_Mapping_Guide.md new file mode 100644 index 00000000..8af63e7a --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/20251230_Modbus_CSV_Mapping_Guide.md @@ -0,0 +1,84 @@ +# Modbus CSV 地址映射说明 + +本文档说明 `coin_cell_assembly_a.csv` 文件如何将命名节点映射到实际的 Modbus 地址，以及如何在代码中使用它们。 + +## 1. CSV 文件结构 + +地址表文件位于同级目录下：`coin_cell_assembly_a.csv` + +每一行定义了一个 Modbus 节点，包含以下关键列： + +| 列名 | 说明 | 示例 | +|------|------|------| +| **Name** | **节点名称** (代码中引用的 Key) | `COIL_ALUMINUM_FOIL` | +| **DataType** | 数据类型 (BOOL, INT16, FLOAT32, STRING) | `BOOL` | +| **Comment** | 注释说明 | `使用铝箔垫` | +| **Attribute** | 属性 (通常留空或用于额外标记) | | +| **DeviceType** | Modbus 寄存器类型 (`coil`, `hold_register`) | `coil` | +| **Address** | **Modbus 地址** (十进制) | `8340` | + +### 示例行 (铝箔垫片) + +```csv +COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340, +``` + +- **名称**: `COIL_ALUMINUM_FOIL` +- **类型**: `coil` (线圈，读写单个位) +- **地址**: `8340` + +--- + +## 2. 加载与注册流程 + +在 `coin_cell_assembly.py` 的初始化代码中： + +1. **加载 CSV**: `BaseClient.load_csv()` 读取 CSV 并解析每行定义。 +2. **注册节点**: `modbus_client.register_node_list()` 将解析后的节点注册到 Modbus 客户端实例中。 + +```python +# 代码位置: coin_cell_assembly.py (L174-175) +self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) +self.client = modbus_client.register_node_list(self.nodes) +``` + +--- + +## 3. 代码中的使用方式 + +注册后，通过 `self.client.use_node('节点名称')` 即可获取该节点对象并进行读写操作，无需关心具体地址。 + +### 控制铝箔垫片 (COIL_ALUMINUM_FOIL) + +```python +# 代码位置: qiming_coin_cell_code 函数 (L1048) +self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian) +``` + +- **写入 True**: 对应 Modbus 功能码 05 (Write Single Coil)，向地址 `8340` 写入 `1` (ON)。 +- **写入 False**: 向地址 `8340` 写入 `0` (OFF)。 + +> **注意**: 代码中使用了 `not lvbodian`，这意味着逻辑是反转的。如果 `lvbodian` 参数为 `True` (默认)，写入的是 `False` (不使用铝箔垫)。 + +--- + +## 4. 地址转换注意事项 (Modbus vs PLC) + +CSV 中的 `Address` 列（如 `8340`）是 **Modbus 协议地址**。 + +如果使用 InoProShop (汇川 PLC 编程软件)，看到的可能是 **PLC 内部地址** (如 `%QX...` 或 `%MW...`)。这两者之间通常需要转换。 + +### 常见的转换规则 (示例) + +- **Coil (线圈) %QX**: + - `Modbus地址 = 字节地址 * 8 + 位偏移` + - *例子*: `%QX834.0` -> `834 * 8 + 0` = `6672` + - *注意*: 如果 CSV 中配置的是 `8340`，这可能是一个自定义映射，或者是基于不同规则（如直接对应 Word 地址的某种映射，或者可能就是地址写错了/使用了非标准映射）。 + +- **Register (寄存器) %MW**: + - 通常直接对应，或者有偏移量 (如 Modbus 40001 = PLC MW0)。 + +### 验证方法 +由于 `test_unilab_interact.py` 中发现 `8450` (CSV风格) 不工作，而 `6760` (%QX845.0 计算值) 工作正常，**建议对 CSV 中的其他地址也进行核实**，特别是像 `8340` 这样以 0 结尾看起来像是 "字节地址+0" 的数值，可能实际上应该是 `%QX834.0` 对应的 `6672`。 + +如果发现设备控制无反应，请尝试按照标准的 Modbus 计算方式转换 PLC 地址。 diff --git a/unilabos/devices/workstation/coin_cell_assembly/20260113_物料搜寻确认弹窗自动处理功能.md b/unilabos/devices/workstation/coin_cell_assembly/20260113_物料搜寻确认弹窗自动处理功能.md new file mode 100644 index 00000000..96104b6f --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/20260113_物料搜寻确认弹窗自动处理功能.md @@ -0,0 +1,352 @@ +# 2026-01-13 物料搜寻确认弹窗自动处理功能 + +## 概述 + +本次更新为设备初始化流程添加了**物料搜寻确认弹窗自动检测与处理功能**。在设备初始化过程中，PLC 会弹出物料搜寻确认对话框，现在系统可以根据用户参数自动点击"是"或"否"按钮，无需手动干预。 + +## 背景问题 + +### 原有流程 +1. 调用 `func_pack_device_init_auto_start_combined()` 初始化设备 +2. PLC 在初始化过程中弹出物料搜寻确认对话框 +3. **需要人工手动点击**"是"或"否"按钮 +4. PLC 继续完成初始化并启动 + +### 存在的问题 +- 需要人工干预，无法实现全自动化 +- 影响批量生产效率 +- 容易遗忘点击导致流程卡住 + +## 解决方案 + +### 新增 Modbus 地址配置 + +在 `coin_cell_assembly_b.csv` 第 69-71 行添加三个 coil： + +| Name | DeviceType | Address | 说明 | +|------|-----------|---------|------| +| COIL_MATERIAL_SEARCH_DIALOG_APPEAR | coil | 6470 | 物料搜寻确认弹窗画面是否出现 | +| COIL_MATERIAL_SEARCH_CONFIRM_YES | coil | 6480 | 初始化物料搜寻确认按钮"是" | +| COIL_MATERIAL_SEARCH_CONFIRM_NO | coil | 6490 | 初始化物料搜寻确认按钮"否" | + +**Modbus 地址转换：** +- CSV 6470 → Modbus 5176 (弹窗出现) +- CSV 6480 → Modbus 5184 (按钮"是") +- CSV 6490 → Modbus 5192 (按钮"否") + +## 代码修改详情 + +### 1. coin_cell_assembly.py + +#### 1.1 新增辅助方法 `_handle_material_search_dialog()` + +**位置：** 第 799-901 行 + +**功能：** +- 监测物料搜寻确认弹窗是否出现（Coil 5176） +- 根据 `enable_search` 参数自动点击对应按钮 +- 使用**脉冲模式**模拟真实按钮操作：`True` → 保持 0.5 秒 → `False` + +**参数：** +- `enable_search: bool` - True=点击"是"(启用物料搜寻), False=点击"否"(不启用) +- `timeout: int = 30` - 等待弹窗出现的最大时间（秒） + +**逻辑流程：** +```python +1. 监测 COIL_MATERIAL_SEARCH_DIALOG_APPEAR (每 0.5 秒检查一次) +2. 检测到弹窗出现 (Coil = True) +3. 选择按钮： + - enable_search=True → COIL_MATERIAL_SEARCH_CONFIRM_YES + - enable_search=False → COIL_MATERIAL_SEARCH_CONFIRM_NO +4. 执行脉冲操作： + - 写入 True (按下按钮) + - 等待 0.5 秒 + - 写入 False (释放按钮) + - 验证状态 +``` + +#### 1.2 修改 `func_pack_device_init_auto_start_combined()` + +**位置：** 第 904-1115 行 + +**主要改动：** + +1. **添加新参数** + ```python + def func_pack_device_init_auto_start_combined( + self, + material_search_enable: bool = False # 新增参数 + ) -> bool: + ``` + +2. **内联初始化逻辑并集成弹窗检测** + - 不再调用 `self.func_pack_device_init()` + - 将初始化逻辑直接实现在函数内 + - **在等待初始化完成的循环中实时检测弹窗** + - 避免死锁：PLC 等待弹窗确认 ↔ 代码等待初始化完成 + +3. **关键代码片段** + ```python + # 等待初始化完成，同时检测物料搜寻弹窗 + while (self._sys_init_status()) == False: + # 检查超时 + if time.time() - start_wait > max_wait_time: + raise RuntimeError(f"初始化超时") + + # 如果还没处理弹窗，检测弹窗是否出现 + if not dialog_handled: + dialog_state = self.client.use_node('COIL_MATERIAL_SEARCH_DIALOG_APPEAR').read(1) + if dialog_actual: # 弹窗出现 + # 执行脉冲按钮点击 + button_node.write(True) # 按下 + time.sleep(0.5) # 保持 + button_node.write(False) # 释放 + dialog_handled = True + + time.sleep(1) + ``` + +4. **步骤调整** + - 步骤 0: 前置条件检查 + - 步骤 1: 设备初始化（**包含弹窗检测**） + - 步骤 1.5: 已在步骤 1 中完成 + - 步骤 2: 切换自动模式 + - 步骤 3: 启动设备 + +### 2. coin_cell_workstation.yaml + +**位置：** 第 292-312 行 + +**修改内容：** + +```yaml +auto-func_pack_device_init_auto_start_combined: + goal_default: + material_search_enable: false # 新增默认值 + + 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 + + goal: + properties: + material_search_enable: # 新增参数配置 + 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 +``` + +### 3. 测试脚本（已创建，用户已删除） + +#### 3.1 test_material_search_dialog.py +- 从 CSV 动态加载 Modbus 地址 +- 支持 4 种测试模式： + - `query` - 查询所有状态 + - `dialog <0|1>` - 设置弹窗出现/消失 + - `yes` - 脉冲点击"是"按钮 + - `no` - 脉冲点击"否"按钮 +- 兼容 pymodbus 3.x API + +#### 3.2 更新其他测试脚本 +- `test_coin_cell_reset.py` - 更新为 pymodbus 3.x API +- `test_unilab_interact.py` - 更新为 pymodbus 3.x API + +## 使用方法 + +### 参数说明 + +| 参数 | 类型 | 默认值 | 说明 | +|------|------|--------|------| +| `material_search_enable` | boolean | `false` | 是否启用物料搜寻功能 | + +### 调用示例 + +#### 1. 不启用物料搜寻（默认） +```python +# 默认参数，点击"否"按钮 +await device.func_pack_device_init_auto_start_combined() +``` + +或在 YAML workflow 中： +```yaml +# 使用默认值 false，不启用物料搜寻 +- BatteryStation/auto-func_pack_device_init_auto_start_combined: {} +``` + +#### 2. 启用物料搜寻 +```python +# 显式设置为 True，点击"是"按钮 +await device.func_pack_device_init_auto_start_combined( + material_search_enable=True +) +``` + +或在 YAML workflow 中： +```yaml +- BatteryStation/auto-func_pack_device_init_auto_start_combined: + goal: + material_search_enable: true # 启用物料搜寻 +``` + +## 执行日志示例 + +``` +26-01-13 [21:32:44] [INFO] 开始组合操作：设备初始化 → 物料搜寻确认 → 自动模式 → 启动 +26-01-13 [21:32:44] [INFO] 【步骤 0/4】前置条件检查... +26-01-13 [21:32:44] [INFO] ✓ REG_UNILAB_INTERACT 检查通过 +26-01-13 [21:32:44] [INFO] ✓ COIL_GB_L_IGNORE_CMD 检查通过 +26-01-13 [21:32:44] [INFO] 【步骤 1/4】设备初始化... +26-01-13 [21:32:44] [INFO] 切换手动模式... +26-01-13 [21:32:46] [INFO] 发送初始化命令... +26-01-13 [21:32:47] [INFO] 等待初始化完成（同时监测物料搜寻弹窗）... +26-01-13 [21:33:05] [INFO] ✓ 在初始化过程中检测到物料搜寻确认弹窗！ +26-01-13 [21:33:05] [INFO] 用户选择: 不启用物料搜寻（点击否） +26-01-13 [21:33:05] [INFO] → 按下按钮 '否' +26-01-13 [21:33:06] [INFO] → 释放按钮 '否' +26-01-13 [21:33:07] [INFO] ✓ 成功处理物料搜寻确认弹窗（选择: 否） +26-01-13 [21:33:08] [INFO] ✓ 初始化状态完成 +26-01-13 [21:33:12] [INFO] ✓ 设备初始化完成 +26-01-13 [21:33:12] [INFO] 【步骤 1.5/4】物料搜寻确认已在初始化过程中完成 +26-01-13 [21:33:12] [INFO] 【步骤 2/4】切换自动模式... +26-01-13 [21:33:15] [INFO] ✓ 切换自动模式完成 +26-01-13 [21:33:15] [INFO] 【步骤 3/4】启动设备... +26-01-13 [21:33:18] [INFO] ✓ 启动设备完成 +26-01-13 [21:33:18] [INFO] 组合操作完成：设备已成功初始化、确认物料搜寻、切换自动模式并启动 +``` + +## 技术要点 + +### 1. 脉冲模式按钮操作 +模拟真实按钮按压过程： +1. 写入 `True` (按下) +2. 保持 0.5 秒 +3. 写入 `False` (释放) +4. 验证状态 + +### 2. 避免死锁 +**问题：** PLC 在初始化过程中等待弹窗确认，而代码等待初始化完成 +**解决：** 在初始化等待循环中实时检测弹窗，一旦出现立即处理 + +### 3. 超时保护 +- 弹窗检测超时：30 秒（在 `_handle_material_search_dialog` 中） +- 初始化超时：120 秒（在 `func_pack_device_init_auto_start_combined` 中） + +### 4. PyModbus 3.x API 兼容 +所有 Modbus 操作使用 keyword arguments： +```python +# 读取 +client.read_coils(address=5176, count=1) + +# 写入 +client.write_coil(address=5184, value=True) +``` + +## 向后兼容性 + +### 保留的原有函数 +- `func_pack_device_init()` - 单独的初始化函数，不包含弹窗处理 +- 仍可在 YAML 中通过 `auto-func_pack_device_init` 调用 +- 用于不需要自动处理弹窗的场景 + +### 新增的功能 +- 在 `func_pack_device_init_auto_start_combined()` 中集成弹窗处理 +- 通过参数控制，默认行为与之前兼容（点击"否"） + +## 验证测试 + +### 测试场景 + +#### 场景 1：默认参数（不启用物料搜寻） +```bash +# 调用时不传参数 +BatteryStation/auto-func_pack_device_init_auto_start_combined: {} +``` +**预期结果：** +- ✅ 检测到弹窗 +- ✅ 自动点击"否"按钮 +- ✅ 初始化完成并启动成功 + +#### 场景 2：启用物料搜寻 +```bash +# 设置 material_search_enable=true +BatteryStation/auto-func_pack_device_init_auto_start_combined: + goal: + material_search_enable: true +``` +**预期结果：** +- ✅ 检测到弹窗 +- ✅ 自动点击"是"按钮 +- ✅ 初始化完成并启动成功 + +### 实际测试结果 + +**测试时间：** 2026-01-13 21:32:43 +**测试参数：** `material_search_enable: false` +**测试结果：** ✅ 成功 + +**关键时间节点：** +- 21:33:05 - 检测到弹窗 +- 21:33:05 - 按下"否"按钮 +- 21:33:06 - 释放"否"按钮 +- 21:33:07 - 弹窗处理完成 +- 21:33:08 - 初始化状态完成 +- 21:33:18 - 整个流程完成 + +**总耗时：** 约 35 秒（包含初始化全过程） + +## 注意事项 + +1. **CSV 配置依赖** + - 确保 `coin_cell_assembly_b.csv` 包含 69-71 行的 coil 配置 + - 地址转换逻辑：`modbus_addr = (csv_addr // 10) * 8 + (csv_addr % 10)` + +2. **默认行为** + - 默认 `material_search_enable=false`，即不启用物料搜寻 + - 如需启用，必须显式设置为 `true` + +3. **日志级别** + - 弹窗检测过程中的 `waiting for init_cmd` 使用 DEBUG 级别 + - 关键操作（检测到弹窗、按钮操作）使用 INFO 级别 + +4. **原有函数保留** + - `func_pack_device_init()` 仍然可用，但不包含弹窗处理 + - 如果单独调用此函数，仍需手动处理弹窗 + +## 文件清单 + +### 修改的文件 +1. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py` + - 新增 `_handle_material_search_dialog()` 方法 + - 修改 `func_pack_device_init_auto_start_combined()` 函数 + +2. `d:\UniLabdev\Uni-Lab-OS\unilabos\registry\devices\coin_cell_workstation.yaml` + - 更新 `auto-func_pack_device_init_auto_start_combined` 配置 + - 添加 `material_search_enable` 参数说明 + +3. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly_b.csv` + - 第 69-71 行添加三个 coil 配置 + +### 创建的测试文件（已删除） +1. `test_material_search_dialog.py` - 物料搜寻弹窗测试脚本 +2. `test_coin_cell_reset.py` - 复位功能测试（更新为 pymodbus 3.x） +3. `test_unilab_interact.py` - Unilab 交互测试（更新为 pymodbus 3.x） + +## 总结 + +本次更新成功实现了设备初始化过程中物料搜寻确认弹窗的自动化处理，主要优势： + +✅ **全自动化** - 无需人工干预 +✅ **参数可配** - 灵活控制是否启用物料搜寻 +✅ **实时检测** - 在初始化等待循环中检测，避免死锁 +✅ **脉冲模式** - 模拟真实按钮操作 +✅ **向后兼容** - 保留原有函数，不影响现有流程 +✅ **完整日志** - 详细记录每一步操作 +✅ **超时保护** - 防止无限等待 + +该功能已通过实际测试验证，可投入生产使用。 + +--- + +**文档版本：** 1.0 +**创建日期：** 2026-01-13 +**作者：** Antigravity AI Assistant +**最后更新：** 2026-01-13 21:36 diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py new file mode 100644 index 00000000..c9187e65 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -0,0 +1,645 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + +from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery +from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier +from unilabos.resources.battery.electrode_sheet import ElectrodeSheet + + + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + #if len(self.children) >= self._unilabos_state["max_sheets"]: + # raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + assembly_pressure: float + electrolyte_volume: float + electrolyte_name: str + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x=1, + size_y=1, + size_z=1, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState( + diameter = 1.0, + height = 1.0, + assembly_pressure = 1.0, + electrolyte_volume = 1.0, + electrolyte_name = "DP001" + ) + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #这个应该没用，不会有加了后再加的事情 + def add_electrolyte(self, name: str, volume: float) -> bool: + """添加电解液信息""" + if name != self._unilabos_state["electrolyte_name"]: + return False + self._unilabos_state["electrolyte_volume"] += volume + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# 电解液作为属性放进去 + +class BatteryPressSlotState(TypedDict): + """电池状态字典""" + diameter: float =20.0 + depth: float = 4.0 + +class BatteryPressSlot(Resource): + """电池压制槽类 - 设备，可容纳一个电池""" + children: List[Battery] = [] + + def __init__( + self, + name: str = "BatteryPressSlot", + category: str = "battery_press_slot", + ): + """初始化电池压制槽 + + Args: + name: 压制槽名称 + diameter: 直径 (mm) + depth: 深度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=10, + size_y=12, + size_z=13, + category=category, + ) + self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() + + def has_battery(self) -> bool: + """检查是否有电池""" + return len(self.children) > 0 + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + def assign_child_resource( + self, + resource: Battery, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 让高京看下槽位只有一个电池时是否这么写。 + if self.has_battery(): + raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_battery_info(self, index: int) -> Battery: + return self.children[0] + + +def TipBox64( + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_rack", + model: Optional[str] = None, +): + """64孔枪头盒类""" + from pylabrobot.resources.tip import Tip + + # 创建12x8=96个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=12, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + idx_available = list(range(0, 32)) + list(range(64, 96)) + tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available} + tip_rack = TipRack( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + # ordered_items=tip_spots_available, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=False, + ) + tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32) # 前32和后32个有枪头，中间32个无枪头 + return tip_rack + + +class WasteTipBoxstate(TypedDict): + """"废枪头盒状态字典""" + max_tips: int = 100 + tip_count: int = 0 + +#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 +class WasteTipBox(Trash): + """废枪头盒类 - 100个枪头容量""" + + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + material_z_thickness=0, + max_volume=float("inf"), + category="trash", + model=None, + compute_volume_from_height=None, + compute_height_from_volume=None, + ): + """初始化废枪头盒 + + Args: + name: 废枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + max_tips: 最大枪头容量 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + + def add_tip(self) -> None: + """添加废枪头""" + if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: + raise ValueError(f"废枪头盒 {self.name} 已满") + self._unilabos_state["tip_count"] += 1 + + def get_tip_count(self) -> int: + """获取枪头数量""" + return self._unilabos_state["tip_count"] + + def empty(self) -> None: + """清空废枪头盒""" + self._unilabos_state["tip_count"] = 0 + + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +class CoincellDeck(Deck): + """纽扣电池组装工作站台面类""" + + def __init__( + self, + name: str = "coin_cell_deck", + size_x: float = 1450.0, # 1m + size_y: float = 1450.0, # 1m + size_z: float = 100.0, # 0.9m + origin: Coordinate = Coordinate(-2200, 0, 0), + category: str = "coin_cell_deck", + setup: bool = False, # 是否自动执行 setup + ): + """初始化纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) - 1m + size_y: 宽度 (mm) - 1m + size_z: 高度 (mm) - 0.9m + origin: 原点坐标 + category: 类别 + setup: 是否自动执行 setup 配置标准布局 + """ + super().__init__( + name=name, + size_x=1450.0, + size_y=1450.0, + size_z=100.0, + origin=origin, + ) + if setup: + self.setup() + + def setup(self) -> None: + """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置""" + # ====================================== 子弹夹 ============================================ + + # 正极片（4个洞位，2x2布局） + zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹") + self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0)) + + # 正极壳、平垫片（6个洞位，2x2+2布局） + zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹") + self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0)) + + # 负极壳、弹垫片（6个洞位，2x2+2布局） + fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹") + self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0)) + + # 成品弹夹（6个洞位，3x2布局） + chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹") + self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0)) + + # ====================================== 物料板 ============================================ + # 创建物料板（料盘carrier）- 4x4布局 + # 负极料盘 + fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0)) + # for i in range(16): + # fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + # fujiliaopan.children[i].assign_child_resource(fujipian, location=None) + + # 隔膜料盘 + gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True) + self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0)) + # for i in range(16): + # gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) + # gemoliaopan.children[i].assign_child_resource(gemopian, location=None) + + # ====================================== 瓶架、移液枪 ============================================ + # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 + # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板 + + # bottle_rack_3x4 = BottleRack( + # name="bottle_rack_3x4", + # size_x=210.0, + # size_y=140.0, + # size_z=100.0, + # num_items_x=2, + # num_items_y=4, + # position_spacing=35.0, + # orientation="vertical", + # ) + # self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0)) + + # 电解液缓存位 - 6x2布局 + bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2") + self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0)) + # 电解液回收位6x2 + bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2") + self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0)) + + tip_box = TipBox64(name="tip_box_64") + self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0)) + + waste_tip_box = WasteTipBox(name="waste_tip_box") + self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0)) + + +def YH_Deck(name=""): + cd = CoincellDeck(name=name) + cd.setup() + return cd + + +if __name__ == "__main__": + deck = create_coin_cell_deck() + print(deck) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py b/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py deleted file mode 100644 index f663a217..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py +++ /dev/null @@ -1,1289 +0,0 @@ -""" -纽扣电池组装工作站物料类定义 -Button Battery Assembly Station Resource Classes -""" - -from __future__ import annotations - -from collections import OrderedDict -from typing import Any, Dict, List, Optional, TypedDict, Union, cast - -from pylabrobot.resources.coordinate import Coordinate -from pylabrobot.resources.container import Container -from pylabrobot.resources.deck import Deck -from pylabrobot.resources.itemized_resource import ItemizedResource -from pylabrobot.resources.resource import Resource -from pylabrobot.resources.resource_stack import ResourceStack -from pylabrobot.resources.tip_rack import TipRack, TipSpot -from pylabrobot.resources.trash import Trash -from pylabrobot.resources.utils import create_ordered_items_2d - - -class ElectrodeSheetState(TypedDict): - diameter: float # 直径 (mm) - thickness: float # 厚度 (mm) - mass: float # 质量 (g) - material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） - info: Optional[str] # 附加信息 - -class ElectrodeSheet(Resource): - """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" - - def __init__( - self, - name: str = "极片", - size_x=10, - size_y=10, - size_z=10, - category: str = "electrode_sheet", - model: Optional[str] = None, - ): - """初始化极片 - - Args: - name: 极片名称 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( - diameter=14, - thickness=0.1, - mass=0.5, - material_type="copper", - info=None - ) - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - #序列化 - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# TODO: 这个应该只能放一个极片 -class MaterialHoleState(TypedDict): - diameter: int - depth: int - max_sheets: int - info: Optional[str] # 附加信息 - -class MaterialHole(Resource): - """料板洞位类""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "material_hole", - **kwargs - ): - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - ) - self._unilabos_state: MaterialHoleState = MaterialHoleState( - diameter=20, - depth=10, - max_sheets=1, - info=None - ) - - def get_all_sheet_info(self): - info_list = [] - for sheet in self.children: - info_list.append(sheet._unilabos_state["info"]) - return info_list - - #这个函数函数好像没用，一般不会集中赋值质量 - def set_all_sheet_mass(self): - for sheet in self.children: - sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - #移动极片前先取出对象 - def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: - for sheet in self.children: - if sheet.name == name: - return sheet - return None - - def has_electrode_sheet(self) -> bool: - """检查洞位是否有极片""" - return len(self.children) > 0 - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 - if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: - raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") - if len(self.children) >= self._unilabos_state["max_sheets"]: - raise ValueError(f"洞位已满，无法放置更多极片") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: - return self.children[index] - - - -class MaterialPlateState(TypedDict): - hole_spacing_x: float - hole_spacing_y: float - hole_diameter: float - info: Optional[str] # 附加信息 - - - -class MaterialPlate(ItemizedResource[MaterialHole]): - """料板类 - 4x4个洞位，每个洞位放1个极片""" - - children: List[MaterialHole] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - ordered_items: Optional[Dict[str, MaterialHole]] = None, - ordering: Optional[OrderedDict[str, str]] = None, - category: str = "material_plate", - model: Optional[str] = None, - fill: bool = False - ): - """初始化料板 - - Args: - name: 料板名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing_x: X方向洞位间距 (mm) - hole_spacing_y: Y方向洞位间距 (mm) - number: 编号 - category: 类别 - model: 型号 - """ - self._unilabos_state: MaterialPlateState = MaterialPlateState( - hole_spacing_x=24.0, - hole_spacing_y=24.0, - hole_diameter=20.0, - info="", - ) - # 创建4x4的洞位 - # TODO: 这里要改，对应不同形状 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 16, - size_y = 16, - size_z = 16, - ) - if fill: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - else: - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=ordered_items, - ordering=ordering, - category=category, - model=model, - ) - - def update_locations(self): - # TODO:调多次相加 - holes = create_ordered_items_2d( - klass=MaterialHole, - num_items_x=4, - num_items_y=4, - dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 - dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 - dz=self._size_z, - item_dx=self._unilabos_state["hole_spacing_x"], - item_dy=self._unilabos_state["hole_spacing_y"], - size_x = 1, - size_y = 1, - size_z = 1, - ) - for item, original_item in zip(holes.items(), self.children): - original_item.location = item[1].location - - -class PlateSlot(ResourceStack): - """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - max_plates: int = 8, - category: str = "plate_slot", - model: Optional[str] = None - ): - """初始化板槽位 - - Args: - name: 槽位名称 - max_plates: 最大板数量 - category: 类别 - """ - super().__init__( - name=name, - direction="z", # Z方向堆叠 - resources=[], - ) - self.max_plates = max_plates - self.category = category - - def can_add_plate(self) -> bool: - """检查是否可以添加板""" - return len(self.children) < self.max_plates - - def add_plate(self, plate: MaterialPlate) -> None: - """添加料板""" - if not self.can_add_plate(): - raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") - self.assign_child_resource(plate) - - def get_top_plate(self) -> MaterialPlate: - """获取最上方的板""" - if len(self.children) == 0: - raise ValueError(f"槽位 {self.name} 为空") - return cast(MaterialPlate, self.get_top_item()) - - def take_top_plate(self) -> MaterialPlate: - """取出最上方的板""" - top_plate = self.get_top_plate() - self.unassign_child_resource(top_plate) - return top_plate - - def can_access_for_picking(self) -> bool: - """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" - return len(self.children) > 0 - - def serialize(self) -> dict: - return { - **super().serialize(), - "max_plates": self.max_plates, - } - - -class ClipMagazineHole(Container): - """子弹夹洞位类""" - children: List[ElectrodeSheet] = [] - def __init__( - self, - name: str, - diameter: float, - depth: float, - category: str = "clip_magazine_hole", - ): - """初始化子弹夹洞位 - - Args: - name: 洞位名称 - diameter: 洞直径 (mm) - depth: 洞深度 (mm) - category: 类别 - """ - super().__init__( - name=name, - size_x=diameter, - size_y=diameter, - size_z=depth, - category=category, - ) - self.diameter = diameter - self.depth = depth - - def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: - """检查是否可以添加极片 - - 根据洞的深度和极片的厚度来判断是否可以添加极片 - """ - # 检查极片直径是否适合洞的直径 - if sheet._unilabos_state["diameter"] > self.diameter: - return False - - # 计算当前已添加极片的总厚度 - current_thickness = sum(s._unilabos_state["thickness"] for s in self.children) - - # 检查添加新极片后总厚度是否超过洞的深度 - if current_thickness + sheet._unilabos_state["thickness"] > self.depth: - return False - - return True - - - def assign_child_resource( - self, - resource: ElectrodeSheet, - location: Optional[Coordinate] = None, - reassign: bool = True, - ): - """放置极片到洞位中 - - Args: - resource: 要放置的极片 - location: 极片在洞位中的位置（对于洞位，通常为None） - reassign: 是否允许重新分配 - """ - # 检查是否可以添加极片 - if not self.can_add_sheet(resource): - raise ValueError(f"无法向洞位 {self.name} 添加极片：直径或厚度不匹配") - - # 调用父类方法实际执行分配 - super().assign_child_resource(resource, location, reassign) - - def unassign_child_resource(self, resource: ElectrodeSheet): - """从洞位中移除极片 - - Args: - resource: 要移除的极片 - """ - if resource not in self.children: - raise ValueError(f"极片 {resource.name} 不在洞位 {self.name} 中") - - # 调用父类方法实际执行移除 - super().unassign_child_resource(resource) - - - - def serialize_state(self) -> Dict[str, Any]: - return { - "sheet_count": len(self.children), - "sheets": [sheet.serialize() for sheet in self.children], - } -class ClipMagazine_four(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有4个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine_four", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建4个洞位，排成2x2布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=2, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -# TODO: 这个要改 -class ClipMagazine(ItemizedResource[ClipMagazineHole]): - """子弹夹类 - 有6个洞位，每个洞位放多个极片""" - children: List[ClipMagazineHole] - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - hole_diameter: float = 14.0, - hole_depth: float = 10.0, - hole_spacing: float = 25.0, - max_sheets_per_hole: int = 100, - category: str = "clip_magazine", - model: Optional[str] = None, - ): - """初始化子弹夹 - - Args: - name: 子弹夹名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - hole_diameter: 洞直径 (mm) - hole_depth: 洞深度 (mm) - hole_spacing: 洞位间距 (mm) - max_sheets_per_hole: 每个洞位最大极片数量 - category: 类别 - model: 型号 - """ - # 创建6个洞位，排成2x3布局 - holes = create_ordered_items_2d( - klass=ClipMagazineHole, - num_items_x=3, - num_items_y=2, - dx=(size_x - 2 * hole_spacing) / 2, # 居中 - dy=(size_y - hole_spacing) / 2, # 居中 - dz=size_z - 0, - item_dx=hole_spacing, - item_dy=hole_spacing, - diameter=hole_diameter, - depth=hole_depth, - ) - - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=holes, - category=category, - model=model, - ) - - # 保存洞位的直径和深度 - self.hole_diameter = hole_diameter - self.hole_depth = hole_depth - self.max_sheets_per_hole = max_sheets_per_hole - - def serialize(self) -> dict: - return { - **super().serialize(), - "hole_diameter": self.hole_diameter, - "hole_depth": self.hole_depth, - "max_sheets_per_hole": self.max_sheets_per_hole, - } -#是一种类型注解，不用self -class BatteryState(TypedDict): - """电池状态字典""" - diameter: float - height: float - - electrolyte_name: str - electrolyte_volume: float - -class Battery(Resource): - """电池类 - 可容纳极片""" - children: List[ElectrodeSheet] = [] - - def __init__( - self, - name: str, - category: str = "battery", - ): - """初始化电池 - - Args: - name: 电池名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大容量 (μL) - barcode: 二维码编号 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BatteryState = BatteryState() - - def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: - to_add_name = bottle._unilabos_state["electrolyte_name"] - if bottle.aspirate_electrolyte(10): - if self.add_electrolyte(to_add_name, 10): - pass - else: - bottle._unilabos_state["electrolyte_volume"] += 10 - - def set_electrolyte(self, name: str, volume: float) -> None: - """设置电解液信息""" - self._unilabos_state["electrolyte_name"] = name - self._unilabos_state["electrolyte_volume"] = volume - #这个应该没用，不会有加了后再加的事情 - def add_electrolyte(self, name: str, volume: float) -> bool: - """添加电解液信息""" - if name != self._unilabos_state["electrolyte_name"]: - return False - self._unilabos_state["electrolyte_volume"] += volume - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -# 电解液作为属性放进去 - -class BatteryPressSlotState(TypedDict): - """电池状态字典""" - diameter: float =20.0 - depth: float = 4.0 - -class BatteryPressSlot(Resource): - """电池压制槽类 - 设备，可容纳一个电池""" - children: List[Battery] = [] - - def __init__( - self, - name: str = "BatteryPressSlot", - category: str = "battery_press_slot", - ): - """初始化电池压制槽 - - Args: - name: 压制槽名称 - diameter: 直径 (mm) - depth: 深度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=10, - size_y=12, - size_z=13, - category=category, - ) - self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() - - def has_battery(self) -> bool: - """检查是否有电池""" - return len(self.children) > 0 - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - def assign_child_resource( - self, - resource: Battery, - location: Optional[Coordinate], - reassign: bool = True, - ): - """放置极片""" - if self.has_battery(): - raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") - super().assign_child_resource(resource, location, reassign) - - # 根据children的编号取物料对象。 - def get_battery_info(self, index: int) -> Battery: - return self.children[0] - -class TipBox64State(TypedDict): - """电池状态字典""" - tip_diameter: float = 5.0 - tip_length: float = 50.0 - with_tips: bool = True - -class TipBox64(TipRack): - """64孔枪头盒类""" - - children: List[TipSpot] = [] - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "tip_box_64", - model: Optional[str] = None, - ): - """初始化64孔枪头盒 - - Args: - name: 枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - tip_diameter: 枪头直径 (mm) - tip_length: 枪头长度 (mm) - category: 类别 - model: 型号 - with_tips: 是否带枪头 - """ - from pylabrobot.resources.tip import Tip - - # 创建8x8=64个枪头位 - def make_tip(): - return Tip( - has_filter=False, - total_tip_length=20.0, - maximal_volume=1000, # 1mL - fitting_depth=8.0, - ) - - tip_spots = create_ordered_items_2d( - klass=TipSpot, - num_items_x=8, - num_items_y=8, - dx=8.0, - dy=8.0, - dz=0.0, - item_dx=9.0, - item_dy=9.0, - size_x=10, - size_y=10, - size_z=0.0, - make_tip=make_tip, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - # 记录网格参数用于前端渲染 - self._grid_params = { - "num_items_x": 8, - "num_items_y": 8, - "dx": 8.0, - "dy": 8.0, - "item_dx": 9.0, - "item_dy": 9.0, - } - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - ordered_items=tip_spots, - category=category, - model=model, - with_tips=True, - ) - - def serialize(self) -> dict: - return { - **super().serialize(), - **self._grid_params, - } - - - -class WasteTipBoxstate(TypedDict): - """"废枪头盒状态字典""" - max_tips: int = 100 - tip_count: int = 0 - -#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 -class WasteTipBox(Trash): - """废枪头盒类 - 100个枪头容量""" - - def __init__( - self, - name: str, - size_x: float = 127.8, - size_y: float = 85.5, - size_z: float = 60.0, - category: str = "waste_tip_box", - model: Optional[str] = None, - ): - """初始化废枪头盒 - - Args: - name: 废枪头盒名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - max_tips: 最大枪头容量 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() - - def add_tip(self) -> None: - """添加废枪头""" - if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: - raise ValueError(f"废枪头盒 {self.name} 已满") - self._unilabos_state["tip_count"] += 1 - - def get_tip_count(self) -> int: - """获取枪头数量""" - return self._unilabos_state["tip_count"] - - def empty(self) -> None: - """清空废枪头盒""" - self._unilabos_state["tip_count"] = 0 - - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - -class BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - name_to_index: dict - - -class BottleRackState(TypedDict): - """ bottle_diameter: 瓶子直径 (mm) - bottle_height: 瓶子高度 (mm) - position_spacing: 位置间距 (mm)""" - bottle_diameter: float - bottle_height: float - position_spacing: float - name_to_index: dict - - -class BottleRack(Resource): - """瓶架类 - 12个待配位置+12个已配位置""" - children: List[Resource] = [] - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str = "bottle_rack", - model: Optional[str] = None, - num_items_x: int = 3, - num_items_y: int = 4, - position_spacing: float = 35.0, - orientation: str = "horizontal", - padding_x: float = 20.0, - padding_y: float = 20.0, - ): - """初始化瓶架 - - Args: - name: 瓶架名称 - size_x: 长度 (mm) - size_y: 宽度 (mm) - size_z: 高度 (mm) - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - category=category, - model=model, - ) - # 初始化状态 - self._unilabos_state: BottleRackState = BottleRackState( - bottle_diameter=30.0, - bottle_height=100.0, - position_spacing=position_spacing, - name_to_index={}, - ) - # 基于网格生成瓶位坐标映射（居中摆放） - # 使用内边距，避免点跑到容器外（前端渲染不按mm等比缩放时更稳妥） - origin_x = padding_x - origin_y = padding_y - self.index_to_pos = {} - for j in range(num_items_y): - for i in range(num_items_x): - idx = j * num_items_x + i - if orientation == "vertical": - # 纵向：沿 y 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + j * position_spacing, - y=origin_y + i * position_spacing, - z=0, - ) - else: - # 横向（默认）：沿 x 方向优先排列 - self.index_to_pos[idx] = Coordinate( - x=origin_x + i * position_spacing, - y=origin_y + j * position_spacing, - z=0, - ) - self.name_to_index = {} - self.name_to_pos = {} - self.num_items_x = num_items_x - self.num_items_y = num_items_y - self.orientation = orientation - self.padding_x = padding_x - self.padding_y = padding_y - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update( - self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - # TODO: 这里有些问题要重新写一下 - def assign_child_resource_old(self, resource: Resource, location=Coordinate.zero(), reassign=True): - capacity = self.num_items_x * self.num_items_y - assert len(self.children) < capacity, "瓶架已满，无法添加更多瓶子" - index = len(self.children) - location = self.index_to_pos.get(index, Coordinate.zero()) - self.name_to_pos[resource.name] = location - self.name_to_index[resource.name] = index - return super().assign_child_resource(resource, location, reassign) - - def assign_child_resource(self, resource: Resource, index: int): - capacity = self.num_items_x * self.num_items_y - assert 0 <= index < capacity, "无效的瓶子索引" - self.name_to_index[resource.name] = index - location = self.index_to_pos[index] - return super().assign_child_resource(resource, location) - - def unassign_child_resource(self, resource: Bottle): - super().unassign_child_resource(resource) - self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) - - def serialize(self) -> dict: - return { - **super().serialize(), - "num_items_x": self.num_items_x, - "num_items_y": self.num_items_y, - "position_spacing": self._unilabos_state.get("position_spacing", 35.0), - "orientation": self.orientation, - "padding_x": self.padding_x, - "padding_y": self.padding_y, - } - - -class BottleState(TypedDict): - diameter: float - height: float - electrolyte_name: str - electrolyte_volume: float - max_volume: float - -class Bottle(Resource): - """瓶子类 - 容纳电解液""" - - def __init__( - self, - name: str, - category: str = "bottle", - ): - """初始化瓶子 - - Args: - name: 瓶子名称 - diameter: 直径 (mm) - height: 高度 (mm) - max_volume: 最大体积 (μL) - barcode: 二维码 - category: 类别 - model: 型号 - """ - super().__init__( - name=name, - size_x=1, - size_y=1, - size_z=1, - category=category, - ) - self._unilabos_state: BottleState = BottleState() - - def aspirate_electrolyte(self, volume: float) -> bool: - current_volume = self._unilabos_state["electrolyte_volume"] - assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." - self._unilabos_state["electrolyte_volume"] -= volume - return True - - def load_state(self, state: Dict[str, Any]) -> None: - """格式不变""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - """格式不变""" - data = super().serialize_state() - data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - -class CoincellDeck(Deck): - """纽扣电池组装工作站台面类""" - - def __init__( - self, - name: str = "coin_cell_deck", - size_x: float = 1620.0, # 3.66m - size_y: float = 1270.0, # 1.23m - size_z: float = 500.0, - origin: Coordinate = Coordinate(0, 0, 0), - category: str = "coin_cell_deck", - ): - """初始化纽扣电池组装工作站台面 - - Args: - name: 台面名称 - size_x: 长度 (mm) - 3.66m - size_y: 宽度 (mm) - 1.23m - size_z: 高度 (mm) - origin: 原点坐标 - category: 类别 - """ - super().__init__( - name=name, - size_x=size_x, - size_y=size_y, - size_z=size_z, - origin=origin, - category=category, - ) - -#if __name__ == "__main__": -# # 转移极片的测试代码 -# deck = CoincellDeck("coin_cell_deck") -# ban_cao_wei = PlateSlot("ban_cao_wei", max_plates=8) -# deck.assign_child_resource(ban_cao_wei, Coordinate(x=0, y=0, z=0)) -# -# plate_1 = MaterialPlate("plate_1", 1,1,1, fill=True) -# for i, hole in enumerate(plate_1.children): -# sheet = ElectrodeSheet(f"hole_{i}_sheet_1") -# sheet._unilabos_state = { -# "diameter": 14, -# "info": "NMC", -# "mass": 5.0, -# "material_type": "positive_electrode", -# "thickness": 0.1 -# } -# hole._unilabos_state = { -# "depth": 1.0, -# "diameter": 14, -# "info": "", -# "max_sheets": 1 -# } -# hole.assign_child_resource(sheet, Coordinate.zero()) -# plate_1._unilabos_state = { -# "hole_spacing_x": 20.0, -# "hole_spacing_y": 20.0, -# "hole_diameter": 5, -# "info": "这是第一块料板" -# } -# plate_1.update_locations() -# ban_cao_wei.assign_child_resource(plate_1, Coordinate.zero()) -# # zi_dan_jia = ClipMagazine("zi_dan_jia", 1, 1, 1) -# # deck.assign_child_resource(ban_cao_wei, Coordinate(x=200, y=200, z=0)) -# -# from unilabos.resources.graphio import * -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# with open("test.json", "w") as f: -# json.dump(A, f) -# -# -#def get_plate_with_14mm_hole(name=""): -# plate = MaterialPlate(name=name) -# for i in range(4): -# for j in range(4): -# hole = MaterialHole(f"{i+1}x{j+1}") -# hole._unilabos_state["diameter"] = 14 -# hole._unilabos_state["max_sheets"] = 1 -# plate.assign_child_resource(hole) -# return plate - -def create_a_liaopan(): - liaopan = MaterialPlate(name="liaopan", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) - return liaopan - -def create_a_coin_cell_deck(): - deck = Deck(size_x=1200, - size_y=800, - size_z=900) - - #liaopan = TipBox64(name="liaopan") - - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan1, Coordinate(x=0, y=0, z=0)) - #创建一个极片 - for i in range(16): - jipian = ElectrodeSheet(name=f"jipian_{i}", size_x= 12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian, location=None) - #创建一个4*4的物料板 - liaopan2 = MaterialPlate(name="liaopan2", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan2, Coordinate(x=500, y=0, z=0)) - - #创建一个4*4的物料板 - liaopan3 = MaterialPlate(name="liaopan3", size_x=120.8, size_y=120.5, size_z=10.0, fill=True) - #把物料板放到桌子上 - deck.assign_child_resource(liaopan3, Coordinate(x=1000, y=0, z=0)) - - print(deck) - - return deck - - -import json - -if __name__ == "__main__": - electrode1 = BatteryPressSlot() - #print(electrode1.get_size_x()) - #print(electrode1.get_size_y()) - #print(electrode1.get_size_z()) - #jipian = ElectrodeSheet() - #jipian._unilabos_state["diameter"] = 18 - #print(jipian.serialize()) - #print(jipian.serialize_state()) - - deck = CoincellDeck() - """======================================子弹夹============================================""" - zip_dan_jia = ClipMagazine_four("zi_dan_jia", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia, Coordinate(x=1400, y=50, z=0)) - zip_dan_jia2 = ClipMagazine_four("zi_dan_jia2", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia2, Coordinate(x=1600, y=200, z=0)) - zip_dan_jia3 = ClipMagazine("zi_dan_jia3", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia3, Coordinate(x=1500, y=200, z=0)) - zip_dan_jia4 = ClipMagazine("zi_dan_jia4", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia4, Coordinate(x=1500, y=300, z=0)) - zip_dan_jia5 = ClipMagazine("zi_dan_jia5", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia5, Coordinate(x=1600, y=300, z=0)) - zip_dan_jia6 = ClipMagazine("zi_dan_jia6", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia6, Coordinate(x=1530, y=500, z=0)) - zip_dan_jia7 = ClipMagazine("zi_dan_jia7", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia7, Coordinate(x=1180, y=400, z=0)) - zip_dan_jia8 = ClipMagazine("zi_dan_jia8", 80, 80, 10) - deck.assign_child_resource(zip_dan_jia8, Coordinate(x=1280, y=400, z=0)) - for i in range(4): - jipian = ElectrodeSheet(name=f"zi_dan_jia_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia2.children[i].assign_child_resource(jipian, location=None) - for i in range(4): - jipian2 = ElectrodeSheet(name=f"zi_dan_jia2_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia.children[i].assign_child_resource(jipian2, location=None) - for i in range(6): - jipian3 = ElectrodeSheet(name=f"zi_dan_jia3_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia3.children[i].assign_child_resource(jipian3, location=None) - for i in range(6): - jipian4 = ElectrodeSheet(name=f"zi_dan_jia4_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia4.children[i].assign_child_resource(jipian4, location=None) - for i in range(6): - jipian5 = ElectrodeSheet(name=f"zi_dan_jia5_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia5.children[i].assign_child_resource(jipian5, location=None) - for i in range(6): - jipian6 = ElectrodeSheet(name=f"zi_dan_jia6_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia6.children[i].assign_child_resource(jipian6, location=None) - for i in range(6): - jipian7 = ElectrodeSheet(name=f"zi_dan_jia7_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia7.children[i].assign_child_resource(jipian7, location=None) - for i in range(6): - jipian8 = ElectrodeSheet(name=f"zi_dan_jia8_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - zip_dan_jia8.children[i].assign_child_resource(jipian8, location=None) - """======================================子弹夹============================================""" - #liaopan = TipBox64(name="liaopan") - """======================================物料板============================================""" - #创建一个4*4的物料板 - liaopan1 = MaterialPlate(name="liaopan1", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan1, Coordinate(x=1010, y=50, z=0)) - for i in range(16): - jipian_1 = ElectrodeSheet(name=f"{liaopan1.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan1.children[i].assign_child_resource(jipian_1, location=None) - - liaopan2 = MaterialPlate(name="liaopan2", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan2, Coordinate(x=1130, y=50, z=0)) - - liaopan3 = MaterialPlate(name="liaopan3", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan3, Coordinate(x=1250, y=50, z=0)) - - liaopan4 = MaterialPlate(name="liaopan4", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan4, Coordinate(x=1010, y=150, z=0)) - for i in range(16): - jipian_4 = ElectrodeSheet(name=f"{liaopan4.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1) - liaopan4.children[i].assign_child_resource(jipian_4, location=None) - liaopan5 = MaterialPlate(name="liaopan5", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan5, Coordinate(x=1130, y=150, z=0)) - liaopan6 = MaterialPlate(name="liaopan6", size_x=120, size_y=100, size_z=10.0, fill=True) - deck.assign_child_resource(liaopan6, Coordinate(x=1250, y=150, z=0)) - #liaopan.children[3].assign_child_resource(jipian, location=None) - """======================================物料板============================================""" - """======================================瓶架，移液枪============================================""" - # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒 - bottle_rack_3x4 = BottleRack( - name="bottle_rack_3x4", - size_x=210.0, - size_y=140.0, - size_z=100.0, - num_items_x=3, - num_items_y=4, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_3x4, Coordinate(x=100, y=200, z=0)) - - bottle_rack_6x2 = BottleRack( - name="bottle_rack_6x2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2, Coordinate(x=300, y=300, z=0)) - - bottle_rack_6x2_2 = BottleRack( - name="bottle_rack_6x2_2", - size_x=120.0, - size_y=250.0, - size_z=100.0, - num_items_x=6, - num_items_y=2, - position_spacing=35.0, - orientation="vertical", - ) - deck.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=430, y=300, z=0)) - - - # 将 ElectrodeSheet 放满 3x4 与 6x2 的所有孔位 - for idx in range(bottle_rack_3x4.num_items_x * bottle_rack_3x4.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_3x4_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_3x4.assign_child_resource(sheet, index=idx) - - for idx in range(bottle_rack_6x2.num_items_x * bottle_rack_6x2.num_items_y): - sheet = ElectrodeSheet(name=f"sheet_6x2_{idx}", size_x=12, size_y=12, size_z=0.1) - bottle_rack_6x2.assign_child_resource(sheet, index=idx) - - tip_box = TipBox64(name="tip_box_64") - deck.assign_child_resource(tip_box, Coordinate(x=300, y=100, z=0)) - - waste_tip_box = WasteTipBox(name="waste_tip_box") - deck.assign_child_resource(waste_tip_box, Coordinate(x=300, y=200, z=0)) - """======================================瓶架，移液枪============================================""" - print(deck) - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "56bbed5b-6e30-438c-b06d-f69eaa63bb45" - BasicConfig.sk = "238222fe-0bf7-4350-a426-e5ced8011dcf" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - - # 检查序列化后的资源 - - json.dump({"nodes": resources, "links": []}, open("button_battery_decks_unilab.json", "w"), indent=2) - - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 4758bdda..91efd45f 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -1,44 +1,171 @@ import csv +import inspect import json import os import threading import time +import types from datetime import datetime from typing import Any, Dict, Optional -from pylabrobot.resources import Resource as PLRResource +from functools import wraps +from pylabrobot.resources import Deck, Resource as PLRResource from unilabos_msgs.msg import Resource from unilabos.device_comms.modbus_plc.client import ModbusTcpClient -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate from unilabos.devices.workstation.workstation_base import WorkstationBase from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import * from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck +from unilabos.resources.graphio import convert_resources_to_type +from unilabos.utils.log import logger +import struct + + +def _decode_float32_correct(registers): + """ + 正确解码FLOAT32类型的Modbus寄存器 + + Args: + registers: 从Modbus读取的原始寄存器值列表 + + Returns: + 正确解码的浮点数值 + + Note: + 根据test_glove_box_pressure.py验证的配置: + - Byte Order: Big (Modbus标准) + - Word Order: Little (PLC配置) + """ + if not registers or len(registers) < 2: + return 0.0 + + try: + # Word Order: Little - 交换两个寄存器的顺序 + # Byte Order: Big - 每个寄存器内部使用大端字节序 + low_word = registers[0] + high_word = registers[1] + + # 将两个16位寄存器组合成一个32位值 (Little Word Order) + # 使用大端字节序 ('>') 将每个寄存器转换为字节 + byte_string = struct.pack('>HH', high_word, low_word) + + # 将字节字符串解码为浮点数 (大端) + value = struct.unpack('>f', byte_string)[0] + + return value + except Exception as e: + logger.error(f"解码FLOAT32失败: {e}, registers: {registers}") + return 0.0 + + +def _ensure_modbus_slave_kw_alias(modbus_client): + if modbus_client is None: + return + + method_names = [ + "read_coils", + "write_coils", + "write_coil", + "read_discrete_inputs", + "read_holding_registers", + "write_register", + "write_registers", + ] + + def _wrap(func): + signature = inspect.signature(func) + has_var_kwargs = any(param.kind == param.VAR_KEYWORD for param in signature.parameters.values()) + accepts_unit = has_var_kwargs or "unit" in signature.parameters + accepts_slave = has_var_kwargs or "slave" in signature.parameters + + @wraps(func) + def _wrapped(self, *args, **kwargs): + if "slave" in kwargs and not accepts_slave: + slave_value = kwargs.pop("slave") + if accepts_unit and "unit" not in kwargs: + kwargs["unit"] = slave_value + if "unit" in kwargs and not accepts_unit: + unit_value = kwargs.pop("unit") + if accepts_slave and "slave" not in kwargs: + kwargs["slave"] = unit_value + return func(self, *args, **kwargs) + + _wrapped._has_slave_alias = True + return _wrapped + + for name in method_names: + if not hasattr(modbus_client, name): + continue + bound_method = getattr(modbus_client, name) + func = getattr(bound_method, "__func__", None) + if func is None: + continue + if getattr(func, "_has_slave_alias", False): + continue + wrapped = _wrap(func) + setattr(modbus_client, name, types.MethodType(wrapped, modbus_client)) + + +def _coerce_deck_input(deck: Any) -> Optional[Deck]: + if deck is None: + return None + + if isinstance(deck, Deck): + return deck + + if isinstance(deck, PLRResource): + return deck if isinstance(deck, Deck) else None + + candidates = None + if isinstance(deck, dict): + if "nodes" in deck and isinstance(deck["nodes"], list): + candidates = deck["nodes"] + else: + candidates = [deck] + elif isinstance(deck, list): + candidates = deck + + if candidates is None: + return None + + try: + converted = convert_resources_to_type(resources_list=candidates, resource_type=Deck) + if isinstance(converted, Deck): + return converted + if isinstance(converted, list): + for item in converted: + if isinstance(item, Deck): + return item + except Exception as exc: + logger.warning(f"deck 转换 Deck 失败: {exc}") + return None + #构建物料系统 class CoinCellAssemblyWorkstation(WorkstationBase): - def __init__( - self, - deck: CoincellDeck, - address: str = "192.168.1.20", + def __init__(self, + config: dict = None, + deck=None, + address: str = "172.16.28.102", port: str = "502", - debug_mode: bool = True, + debug_mode: bool = False, *args, - **kwargs, - ): - super().__init__( - #桌子 - deck=deck, - *args, - **kwargs, - ) + **kwargs): + + if deck is None and config: + deck = config.get('deck') + if deck is None: + logger.info("没有传入依华deck，检查启动json文件") + super().__init__(deck=deck, *args, **kwargs,) self.debug_mode = debug_mode - self.deck = deck + """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) - print("modbus_client", modbus_client) + logger.debug(f"创建 Modbus 客户端: {modbus_client}") + _ensure_modbus_slave_kw_alias(modbus_client.client) if not debug_mode: modbus_client.client.connect() count = 100 @@ -49,27 +176,21 @@ class CoinCellAssemblyWorkstation(WorkstationBase): time.sleep(2) if not modbus_client.client.is_socket_open(): raise ValueError('modbus tcp connection failed') + self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_b.csv')) + self.client = modbus_client.register_node_list(self.nodes) else: print("测试模式，跳过连接") + self.nodes, self.client = None, None """ 工站的配置 """ - self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) - self.client = modbus_client.register_node_list(self.nodes) + self.success = False self.allow_data_read = False #允许读取函数运行标志位 self.csv_export_thread = None self.csv_export_running = False self.csv_export_file = None - #创建一个物料台面，包含两个极片板 - #self.deck = create_a_coin_cell_deck() - - #self._ros_node.update_resource(self.deck) - - #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - # "resources": [self.deck] - #}) + self.coin_num_N = 0 #已组装电池数量 - def post_init(self, ros_node: ROS2WorkstationNode): self._ros_node = ros_node #self.deck = create_a_coin_cell_deck() @@ -418,48 +539,72 @@ class CoinCellAssemblyWorkstation(WorkstationBase): """单颗电池组装时间 (秒, REAL/FLOAT32)""" if self.debug_mode: return 0 - time, read_err = self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').read(2, word_order=WorderOrder.LITTLE) - return time + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_ASSEMBLY_PER_TIME').address, count=2) + if result.isError(): + logger.error(f"读取组装时间失败") + return 0.0 + return _decode_float32_correct(result.registers) @property def data_open_circuit_voltage(self) -> float: """开路电压值 (FLOAT32)""" if self.debug_mode: return 0 - vol, read_err = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(2, word_order=WorderOrder.LITTLE) - return vol + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').address, count=2) + if result.isError(): + logger.error(f"读取开路电压失败") + return 0.0 + return _decode_float32_correct(result.registers) @property def data_axis_x_pos(self) -> float: """分液X轴当前位置 (FLOAT32)""" if self.debug_mode: return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_X_POS').read(2, word_order=WorderOrder.LITTLE) - return pos + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_AXIS_X_POS').address, count=2) + if result.isError(): + logger.error(f"读取X轴位置失败") + return 0.0 + return _decode_float32_correct(result.registers) @property def data_axis_y_pos(self) -> float: """分液Y轴当前位置 (FLOAT32)""" if self.debug_mode: return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Y_POS').read(2, word_order=WorderOrder.LITTLE) - return pos + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_AXIS_Y_POS').address, count=2) + if result.isError(): + logger.error(f"读变Y轴位置失败") + return 0.0 + return _decode_float32_correct(result.registers) @property def data_axis_z_pos(self) -> float: """分液Z轴当前位置 (FLOAT32)""" if self.debug_mode: return 0 - pos, read_err = self.client.use_node('REG_DATA_AXIS_Z_POS').read(2, word_order=WorderOrder.LITTLE) - return pos + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_AXIS_Z_POS').address, count=2) + if result.isError(): + logger.error(f"读取Z轴位置失败") + return 0.0 + return _decode_float32_correct(result.registers) @property def data_pole_weight(self) -> float: """当前电池正极片称重数据 (FLOAT32)""" if self.debug_mode: return 0 - weight, read_err = self.client.use_node('REG_DATA_POLE_WEIGHT').read(2, word_order=WorderOrder.LITTLE) - return weight + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_POLE_WEIGHT').address, count=2) + if result.isError(): + logger.error(f"读取极片质量失败") + return 0.0 + return _decode_float32_correct(result.registers) @property def data_assembly_pressure(self) -> int: @@ -489,52 +634,97 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def data_coin_cell_code(self) -> str: """电池二维码序列号 (STRING)""" try: - # 尝试不同的字节序读取 + # 读取 STRING 类型数据 code_little, read_err = self.client.use_node('REG_DATA_COIN_CELL_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) - clean_code = code_little[-8:][::-1] - return clean_code + + # PyModbus 3.x 返回 string 类型 + if not isinstance(code_little, str): + logger.warning(f"电池二维码返回的类型不支持: {type(code_little)}, 值: {repr(code_little)}") + return "N/A" + + # 从字符串末尾查找连续的字母数字字符（反转字符串） + import re + reversed_str = code_little[::-1] + match = re.match(r'^([A-Za-z0-9]+)', reversed_str) + + if not match: + logger.warning(f"未找到有效的电池二维码数据，原始字符串: {repr(code_little)}") + return "N/A" + + # 提取匹配到的字符串（已经是正确顺序） + decoded = match.group(1)[:8] # 只取前8个字符 + + return decoded if decoded else "N/A" except Exception as e: - print(f"读取电池二维码失败: {e}") + logger.error(f"读取电池二维码失败: {e}") return "N/A" @property def data_electrolyte_code(self) -> str: + """电解液二维码序列号 (STRING)""" try: - # 尝试不同的字节序读取 + # 读取 STRING 类型数据 code_little, read_err = self.client.use_node('REG_DATA_ELECTROLYTE_CODE').read(10, word_order=WorderOrder.LITTLE) - print(code_little) - clean_code = code_little[-8:][::-1] - return clean_code + + # PyModbus 3.x 返回 string 类型 + if not isinstance(code_little, str): + logger.warning(f"电解液二维码返回的类型不支持: {type(code_little)}, 值: {repr(code_little)}") + return "N/A" + + # 从字符串末尾查找连续的字母数字字符（反转字符串） + import re + reversed_str = code_little[::-1] + match = re.match(r'^([A-Za-z0-9]+)', reversed_str) + + if not match: + logger.warning(f"未找到有效的电解液二维码数据，原始字符串: {repr(code_little)}") + return "N/A" + + # 提取匹配到的字符串（已经是正确顺序） + decoded = match.group(1)[:8] # 只取前8个字符 + + return decoded if decoded else "N/A" except Exception as e: - print(f"读取电解液二维码失败: {e}") + logger.error(f"读取电解液二维码失败: {e}") return "N/A" # ===================== 环境监控区 ====================== @property def data_glove_box_pressure(self) -> float: - """手套箱压力 (bar, FLOAT32)""" + """手套箱压力 (mbar, FLOAT32)""" if self.debug_mode: return 0 - status, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').read(2, word_order=WorderOrder.LITTLE) - return status + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_GLOVE_BOX_PRESSURE').address, count=2) + if result.isError(): + logger.error(f"读取手套箱压力失败") + return 0.0 + return _decode_float32_correct(result.registers) @property def data_glove_box_o2_content(self) -> float: """手套箱氧含量 (ppm, FLOAT32)""" if self.debug_mode: return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_GLOVE_BOX_O2_CONTENT').address, count=2) + if result.isError(): + logger.error(f"读取手套箱氧含量失败") + return 0.0 + return _decode_float32_correct(result.registers) @property def data_glove_box_water_content(self) -> float: """手套箱水含量 (ppm, FLOAT32)""" if self.debug_mode: return 0 - value, read_err = self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').read(2, word_order=WorderOrder.LITTLE) - return value + # 读取原始寄存器并正确解码FLOAT32 + result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_GLOVE_BOX_WATER_CONTENT').address, count=2) + if result.isError(): + logger.error(f"读取手套箱水含量失败") + return 0.0 + return _decode_float32_correct(result.registers) # @property # def data_stack_vision_code(self) -> int: @@ -606,7 +796,326 @@ class CoinCellAssemblyWorkstation(WorkstationBase): print("waiting for start_cmd") time.sleep(1) - def func_pack_send_bottle_num(self, bottle_num: int): + def _handle_material_search_dialog(self, enable_search: bool, timeout: int = 30) -> None: + """处理物料搜寻确认弹窗 + + 监测弹窗是否出现，并根据参数自动点击"是"或"否"按钮（脉冲模式） + + Args: + enable_search: True=点击"是"启用物料搜寻, False=点击"否"不启用物料搜寻 + timeout: 等待弹窗出现的最大时间（秒），默认30秒 + + Raises: + RuntimeError: 超时未检测到弹窗，或操作失败 + """ + logger.info(f"开始监测物料搜寻确认弹窗（超时: {timeout}秒）...") + logger.info(f"用户选择: {'启用物料搜寻（点击是）' if enable_search else '不启用物料搜寻（点击否）'}") + + start_time = time.time() + dialog_appeared = False + + # 步骤1: 监测弹窗是否出现 + while time.time() - start_time < timeout: + try: + dialog_node = self.client.use_node('COIL_MATERIAL_SEARCH_DIALOG_APPEAR') + dialog_state, read_err = dialog_node.read(1) + + if read_err: + logger.warning("读取弹窗状态时出错，继续监测...") + time.sleep(0.5) + continue + + # 提取实际值 + if isinstance(dialog_state, (list, tuple)): + dialog_actual = dialog_state[0] if len(dialog_state) > 0 else False + else: + dialog_actual = dialog_state + + if dialog_actual: + logger.info("✓ 检测到物料搜寻确认弹窗出现！") + dialog_appeared = True + break + + except Exception as e: + logger.warning(f"读取弹窗状态异常: {e}，继续监测...") + + time.sleep(0.5) # 每0.5秒检查一次 + + if not dialog_appeared: + error_msg = f"❌ 超时未检测到物料搜寻确认弹窗（等待了 {timeout} 秒）" + logger.error(error_msg) + raise RuntimeError(error_msg) + + # 步骤2: 执行脉冲按钮点击 + button_name = "是" if enable_search else "否" + coil_name = "COIL_MATERIAL_SEARCH_CONFIRM_YES" if enable_search else "COIL_MATERIAL_SEARCH_CONFIRM_NO" + + logger.info(f"执行脉冲按钮点击: '{button_name}'") + + try: + button_node = self.client.use_node(coil_name) + + # 读取初始状态 + initial_state, _ = button_node.read(1) + logger.debug(f"按钮'{button_name}'初始状态: {initial_state}") + + # 脉冲步骤1: 设置为 True + logger.info(f" → 按下按钮 '{button_name}' (设置为 True)") + button_node.write(True) + time.sleep(0.5) # 保持0.5秒 + + # 验证已按下 + pressed_state, _ = button_node.read(1) + if isinstance(pressed_state, (list, tuple)): + pressed_actual = pressed_state[0] if len(pressed_state) > 0 else False + else: + pressed_actual = pressed_state + + if pressed_actual: + logger.info(f" ✓ 按钮 '{button_name}' 已按下") + else: + logger.warning(f" ⚠ 按钮 '{button_name}' 状态未变为 True，当前值: {pressed_actual}") + + # 脉冲步骤2: 释放按钮 (设置为 False) + logger.info(f" → 释放按钮 '{button_name}' (设置为 False)") + button_node.write(False) + time.sleep(0.3) + + # 验证已释放 + released_state, _ = button_node.read(1) + if isinstance(released_state, (list, tuple)): + released_actual = released_state[0] if len(released_state) > 0 else False + else: + released_actual = released_state + + if not released_actual: + logger.info(f" ✓ 按钮 '{button_name}' 已释放（脉冲完成）") + else: + logger.warning(f" ⚠ 按钮 '{button_name}' 未正确释放，当前值: {released_actual}") + + logger.info(f"✓ 成功处理物料搜寻确认弹窗（选择: {button_name}）") + + except Exception as e: + error_msg = f"❌ 执行按钮'{button_name}'脉冲操作时失败: {e}" + logger.error(error_msg) + raise RuntimeError(error_msg) + + + def func_pack_device_init_auto_start_combined(self, material_search_enable: bool = False) -> bool: + """ + 组合函数：设备初始化 + 切换自动模式 + 启动 + + 整合了原有的三个独立函数： + 1. func_pack_device_init() - 设备初始化 + 2. func_pack_device_auto() - 切换自动模式 + 3. func_pack_device_start() - 启动设备 + + Args: + material_search_enable: 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）。 + + Returns: + bool: 操作成功返回 True，失败返回 False + """ + logger.info("=" * 60) + logger.info("开始组合操作：设备初始化 → 物料搜寻确认 → 自动模式 → 启动") + logger.info("=" * 60) + + # 步骤0: 前置条件检查 + logger.info("\n【步骤 0/4】前置条件检查...") + try: + # 检查 REG_UNILAB_INTERACT (应该为False，表示使用Unilab交互) + unilab_interact_node = self.client.use_node('REG_UNILAB_INTERACT') + unilab_interact_value, read_err = unilab_interact_node.read(1) + + if read_err: + error_msg = "❌ 无法读取 REG_UNILAB_INTERACT 状态！请检查设备连接。" + logger.error(error_msg) + raise RuntimeError(error_msg) + + # 提取实际值（处理可能的列表或单值） + if isinstance(unilab_interact_value, (list, tuple)): + unilab_interact_actual = unilab_interact_value[0] if len(unilab_interact_value) > 0 else None + else: + unilab_interact_actual = unilab_interact_value + + logger.info(f" REG_UNILAB_INTERACT 当前值: {unilab_interact_actual}") + + if unilab_interact_actual != False: + error_msg = ( + "❌ 前置条件检查失败！\n" + f" REG_UNILAB_INTERACT = {unilab_interact_actual} (期望值: False)\n" + " 说明: 当前设备设置为'忽略Unilab交互'模式\n" + " 操作: 请在HMI上确认并切换为'使用Unilab交互'模式\n" + " 提示: REG_UNILAB_INTERACT应该为False才能继续" + ) + logger.error(error_msg) + raise RuntimeError(error_msg) + + logger.info(" ✓ REG_UNILAB_INTERACT 检查通过 (值为False，使用Unilab交互)") + + # 检查 COIL_GB_L_IGNORE_CMD (应该为False，表示使用左手套箱) + gb_l_ignore_node = self.client.use_node('COIL_GB_L_IGNORE_CMD') + gb_l_ignore_value, read_err = gb_l_ignore_node.read(1) + + if read_err: + error_msg = "❌ 无法读取 COIL_GB_L_IGNORE_CMD 状态！请检查设备连接。" + logger.error(error_msg) + raise RuntimeError(error_msg) + + # 提取实际值 + if isinstance(gb_l_ignore_value, (list, tuple)): + gb_l_ignore_actual = gb_l_ignore_value[0] if len(gb_l_ignore_value) > 0 else None + else: + gb_l_ignore_actual = gb_l_ignore_value + + logger.info(f" COIL_GB_L_IGNORE_CMD 当前值: {gb_l_ignore_actual}") + + if gb_l_ignore_actual != False: + error_msg = ( + "❌ 前置条件检查失败！\n" + f" COIL_GB_L_IGNORE_CMD = {gb_l_ignore_actual} (期望值: False)\n" + " 说明: 当前设备设置为'忽略左手套箱'模式\n" + " 操作: 请在HMI上确认并切换为'使用左手套箱'模式\n" + " 提示: COIL_GB_L_IGNORE_CMD应该为False才能继续" + ) + logger.error(error_msg) + raise RuntimeError(error_msg) + + logger.info(" ✓ COIL_GB_L_IGNORE_CMD 检查通过 (值为False，使用左手套箱)") + logger.info("✓ 所有前置条件检查通过！") + + except ValueError as e: + # 节点未找到 + error_msg = f"❌ 配置错误：{str(e)}\n请检查CSV配置文件是否包含必要的节点。" + logger.error(error_msg) + raise RuntimeError(error_msg) + except Exception as e: + # 其他异常 + error_msg = f"❌ 前置条件检查异常：{str(e)}" + logger.error(error_msg) + raise + + # 步骤1: 设备初始化（包含弹窗检测） + logger.info("\n【步骤 1/4】设备初始化...") + try: + # 切换手动模式 + logger.info("切换手动模式...") + self._sys_hand_cmd(True) + time.sleep(1) + while (self._sys_hand_status()) == False: + logger.debug("waiting for hand_cmd") + time.sleep(1) + + # 设备初始化命令 + logger.info("发送初始化命令...") + self._sys_init_cmd(True) + time.sleep(1) + + # 等待初始化完成，同时检测物料搜寻弹窗 + logger.info("等待初始化完成（同时监测物料搜寻弹窗）...") + dialog_handled = False + max_wait_time = 120 # 最多等待120秒 + start_wait = time.time() + + while (self._sys_init_status()) == False: + # 检查是否超时 + if time.time() - start_wait > max_wait_time: + raise RuntimeError(f"初始化超时（超过 {max_wait_time} 秒）") + + # 如果还没处理弹窗，检测弹窗是否出现 + if not dialog_handled: + try: + dialog_node = self.client.use_node('COIL_MATERIAL_SEARCH_DIALOG_APPEAR') + dialog_state, read_err = dialog_node.read(1) + + if not read_err: + # 提取实际值 + if isinstance(dialog_state, (list, tuple)): + dialog_actual = dialog_state[0] if len(dialog_state) > 0 else False + else: + dialog_actual = dialog_state + + # 如果弹窗出现，立即处理 + if dialog_actual: + logger.info("✓ 在初始化过程中检测到物料搜寻确认弹窗！") + logger.info(f"用户选择: {'启用物料搜寻（点击是）' if material_search_enable else '不启用物料搜寻（点击否）'}") + + # 执行脉冲按钮点击 + button_name = "是" if material_search_enable else "否" + coil_name = "COIL_MATERIAL_SEARCH_CONFIRM_YES" if material_search_enable else "COIL_MATERIAL_SEARCH_CONFIRM_NO" + + button_node = self.client.use_node(coil_name) + + # 脉冲：True -> 等待 -> False + logger.info(f" → 按下按钮 '{button_name}'") + button_node.write(True) + time.sleep(0.5) + logger.info(f" → 释放按钮 '{button_name}'") + button_node.write(False) + time.sleep(0.3) + + logger.info(f"✓ 成功处理物料搜寻确认弹窗（选择: {button_name}）") + dialog_handled = True + + except Exception as e: + logger.debug(f"检测弹窗时出错: {e}") + + logger.debug("waiting for init_cmd") + time.sleep(1) + + logger.info("✓ 初始化状态完成") + + # 手动按钮置回False + self._sys_hand_cmd(False) + time.sleep(1) + while (self._sys_hand_cmd()) == True: + logger.debug("waiting for hand_cmd to False") + time.sleep(1) + + # 初始化命令置回False + self._sys_init_cmd(False) + time.sleep(1) + while (self._sys_init_cmd()) == True: + logger.debug("waiting for init_cmd to False") + time.sleep(1) + + logger.info("✓ 设备初始化完成") + except Exception as e: + logger.error(f"❌ 设备初始化失败: {e}") + return False + + # 步骤1.5已经在步骤1中处理，跳过 + logger.info("\n【步骤 1.5/4】物料搜寻确认已在初始化过程中完成") + + # 步骤2: 切换自动模式 + logger.info("\n【步骤 2/4】切换自动模式...") + try: + self.func_pack_device_auto() + logger.info("✓ 切换自动模式完成") + except Exception as e: + logger.error(f"❌ 切换自动模式失败: {e}") + return False + + # 步骤3: 启动设备 + logger.info("\n【步骤 3/4】启动设备...") + try: + self.func_pack_device_start() + logger.info("✓ 启动设备完成") + except Exception as e: + logger.error(f"❌ 启动设备失败: {e}") + return False + + logger.info("\n" + "=" * 60) + logger.info("组合操作完成：设备已成功初始化、确认物料搜寻、切换自动模式并启动") + logger.info("=" * 60) + + return True + + def func_pack_send_bottle_num(self, bottle_num): + bottle_num = int(bottle_num) #发送电解液平台数 print("启动") while (self._unilab_rece_electrolyte_bottle_num()) == False: @@ -628,6 +1137,111 @@ class CoinCellAssemblyWorkstation(WorkstationBase): time.sleep(1) #自动按钮置False + def func_sendbottle_allpack_multi( + self, + elec_num, + elec_use_num, + elec_vol: int = 50, + # 电解液双滴模式参数 + dual_drop_mode: bool = False, + dual_drop_first_volume: int = 25, + dual_drop_suction_timing: bool = False, + dual_drop_start_timing: bool = False, + assembly_type: int = 7, + assembly_pressure: int = 4200, + # 来自原 qiming_coin_cell_code 的参数 + fujipian_panshu: int = 0, + fujipian_juzhendianwei: int = 0, + gemopanshu: int = 0, + gemo_juzhendianwei: int = 0, + qiangtou_juzhendianwei: int = 0, + lvbodian: bool = True, + battery_pressure_mode: bool = True, + battery_clean_ignore: bool = False, + file_path: str = "/Users/sml/work" + ) -> Dict[str, Any]: + """ + 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，用于连续批次生产。 + 适用场景：设备已完成初始化和启动，仍在自动模式下运行。 + + Args: + elec_num: 电解液瓶数 + elec_use_num: 每瓶电解液组装的电池数 + elec_vol: 电解液吸液量 (μL) + dual_drop_mode: 电解液添加模式 (False=单次滴液, True=二次滴液) + dual_drop_first_volume: 二次滴液第一次排液体积 (μL) + dual_drop_suction_timing: 二次滴液吸液时机 (False=正常吸液, True=先吸液) + dual_drop_start_timing: 二次滴液开始滴液时机 (False=正极片前, True=正极片后) + assembly_type: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫) + assembly_pressure: 电池压制力 (N) + fujipian_panshu: 负极片盘数 + fujipian_juzhendianwei: 负极片矩阵点位 + gemopanshu: 隔膜盘数 + gemo_juzhendianwei: 隔膜矩阵点位 + qiangtou_juzhendianwei: 枪头盒矩阵点位 + lvbodian: 是否使用铝箔垫片 + battery_pressure_mode: 是否启用压力模式 + battery_clean_ignore: 是否忽略电池清洁 + file_path: 实验记录保存路径 + + Returns: + dict: 包含组装结果的字典 + + 注意： + - 第一次启动需先调用 func_pack_device_init_auto_start_combined() + - 后续批次直接调用此函数即可 + """ + logger.info("=" * 60) + logger.info("开始发送瓶数+简化组装流程...") + logger.info(f"电解液瓶数: {elec_num}, 每瓶电池数: {elec_use_num}") + logger.info("=" * 60) + + # 步骤1: 发送电解液瓶数（触发物料搬运） + logger.info("步骤1/2: 发送电解液瓶数，触发物料搬运...") + try: + self.func_pack_send_bottle_num(elec_num) + logger.info("✓ 瓶数发送完成，物料搬运中...") + except Exception as e: + logger.error(f"发送瓶数失败: {e}") + return { + "success": False, + "error": f"发送瓶数失败: {e}", + "total_batteries": 0, + "batteries": [] + } + + # 步骤2: 执行简化组装流程 + logger.info("步骤2/2: 开始简化组装流程...") + result = self.func_allpack_cmd_simp( + elec_num=elec_num, + elec_use_num=elec_use_num, + elec_vol=elec_vol, + dual_drop_mode=dual_drop_mode, + dual_drop_first_volume=dual_drop_first_volume, + dual_drop_suction_timing=dual_drop_suction_timing, + dual_drop_start_timing=dual_drop_start_timing, + assembly_type=assembly_type, + assembly_pressure=assembly_pressure, + fujipian_panshu=fujipian_panshu, + fujipian_juzhendianwei=fujipian_juzhendianwei, + gemopanshu=gemopanshu, + gemo_juzhendianwei=gemo_juzhendianwei, + qiangtou_juzhendianwei=qiangtou_juzhendianwei, + lvbodian=lvbodian, + battery_pressure_mode=battery_pressure_mode, + battery_clean_ignore=battery_clean_ignore, + file_path=file_path + ) + + logger.info("=" * 60) + logger.info("发送瓶数+简化组装流程完成") + logger.info(f"总组装电池数: {result.get('total_batteries', 0)}") + logger.info("=" * 60) + + return result + # 下发参数 #def func_pack_send_msg_cmd(self, elec_num: int, elec_use_num: int, elec_vol: float, assembly_type: int, assembly_pressure: int) -> bool: @@ -654,16 +1268,25 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # self.success = True # return self.success - def func_pack_send_msg_cmd(self, elec_use_num) -> bool: + def func_pack_send_msg_cmd(self, elec_use_num, elec_vol, assembly_type, assembly_pressure) -> bool: """UNILAB写参数""" while (self.request_rec_msg_status) == False: print("wait for request_rec_msg_status to True") time.sleep(1) self.success = False #self._unilab_send_msg_electrolyte_num(elec_num) - time.sleep(1) + #设置平行样数目 self._unilab_send_msg_electrolyte_use_num(elec_use_num) time.sleep(1) + #发送电解液加注量 + self._unilab_send_msg_electrolyte_vol(elec_vol) + time.sleep(1) + #发送电解液组装类型 + self._unilab_send_msg_assembly_type(assembly_type) + time.sleep(1) + #发送电池压制力 + self._unilab_send_msg_assembly_pressure(assembly_pressure) + time.sleep(1) self._unilab_send_msg_succ_cmd(True) time.sleep(1) while (self.request_rec_msg_status) == True: @@ -680,23 +1303,111 @@ class CoinCellAssemblyWorkstation(WorkstationBase): while self.request_send_msg_status == False: print("waiting for send_read_msg_status to True") time.sleep(1) - data_open_circuit_voltage = self.data_open_circuit_voltage - data_pole_weight = self.data_pole_weight + + # 处理开路电压 - 确保是数值类型 + try: + data_open_circuit_voltage = self.data_open_circuit_voltage + if isinstance(data_open_circuit_voltage, (list, tuple)) and len(data_open_circuit_voltage) > 0: + data_open_circuit_voltage = float(data_open_circuit_voltage[0]) + else: + data_open_circuit_voltage = float(data_open_circuit_voltage) + except Exception as e: + print(f"读取开路电压失败: {e}") + logger.error(f"读取开路电压失败: {e}") + data_open_circuit_voltage = 0.0 + + # 处理极片质量 - 确保是数值类型 + try: + data_pole_weight = self.data_pole_weight + if isinstance(data_pole_weight, (list, tuple)) and len(data_pole_weight) > 0: + data_pole_weight = float(data_pole_weight[0]) + else: + data_pole_weight = float(data_pole_weight) + except Exception as e: + print(f"读取正极片重量失败: {e}") + logger.error(f"读取正极片重量失败: {e}") + data_pole_weight = 0.0 + data_assembly_time = self.data_assembly_time data_assembly_pressure = self.data_assembly_pressure data_electrolyte_volume = self.data_electrolyte_volume data_coin_num = self.data_coin_num - data_electrolyte_code = self.data_electrolyte_code - data_coin_cell_code = self.data_coin_cell_code - print("data_open_circuit_voltage", data_open_circuit_voltage) - print("data_pole_weight", data_pole_weight) - print("data_assembly_time", data_assembly_time) - print("data_assembly_pressure", data_assembly_pressure) - print("data_electrolyte_volume", data_electrolyte_volume) - print("data_coin_num", data_coin_num) - print("data_electrolyte_code", data_electrolyte_code) - print("data_coin_cell_code", data_coin_cell_code) + + # 处理电解液二维码 - 确保是字符串类型 + try: + data_electrolyte_code = self.data_electrolyte_code + if isinstance(data_electrolyte_code, str): + data_electrolyte_code = data_electrolyte_code.strip() + else: + data_electrolyte_code = str(data_electrolyte_code) + except Exception as e: + print(f"读取电解液二维码失败: {e}") + logger.error(f"读取电解液二维码失败: {e}") + data_electrolyte_code = "N/A" + + # 处理电池二维码 - 确保是字符串类型 + try: + data_coin_cell_code = self.data_coin_cell_code + if isinstance(data_coin_cell_code, str): + data_coin_cell_code = data_coin_cell_code.strip() + else: + data_coin_cell_code = str(data_coin_cell_code) + except Exception as e: + print(f"读取电池二维码失败: {e}") + logger.error(f"读取电池二维码失败: {e}") + data_coin_cell_code = "N/A" + logger.debug(f"data_open_circuit_voltage: {data_open_circuit_voltage}") + logger.debug(f"data_pole_weight: {data_pole_weight}") + logger.debug(f"data_assembly_time: {data_assembly_time}") + logger.debug(f"data_assembly_pressure: {data_assembly_pressure}") + logger.debug(f"data_electrolyte_volume: {data_electrolyte_volume}") + logger.debug(f"data_coin_num: {data_coin_num}") + logger.debug(f"data_electrolyte_code: {data_electrolyte_code}") + logger.debug(f"data_coin_cell_code: {data_coin_cell_code}") #接收完信息后，读取完毕标志位置True + liaopan3 = self.deck.get_resource("成品弹夹") + + # 生成唯一的电池名称（使用时间戳确保唯一性） + timestamp_suffix = datetime.now().strftime("%Y%m%d_%H%M%S_%f") + battery_name = f"battery_{self.coin_num_N}_{timestamp_suffix}" + + # 检查目标位置是否已有资源，如果有则先卸载 + target_slot = liaopan3.children[self.coin_num_N] + if target_slot.children: + logger.warning(f"位置 {self.coin_num_N} 已有资源，将先卸载旧资源") + try: + # 卸载所有现有子资源 + for child in list(target_slot.children): + target_slot.unassign_child_resource(child) + logger.info(f"已卸载旧资源: {child.name}") + except Exception as e: + logger.error(f"卸载旧资源时出错: {e}") + + # 创建新的电池资源 + battery = ElectrodeSheet(name=battery_name, size_x=14, size_y=14, size_z=2) + battery._unilabos_state = { + "electrolyte_name": data_coin_cell_code, + "data_electrolyte_code": data_electrolyte_code, + "open_circuit_voltage": data_open_circuit_voltage, + "assembly_pressure": data_assembly_pressure, + "electrolyte_volume": data_electrolyte_volume + } + + # 分配新资源到目标位置 + try: + target_slot.assign_child_resource(battery, location=None) + logger.info(f"成功分配电池 {battery_name} 到位置 {self.coin_num_N}") + except Exception as e: + logger.error(f"分配电池资源失败: {e}") + # 如果分配失败，尝试使用更简单的方法 + raise + + #print(jipian2.parent) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.deck] + }) + + self._unilab_rec_msg_succ_cmd(True) time.sleep(1) #等待允许读取标志位置False @@ -754,10 +1465,27 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.success = True return self.success + def qiming_coin_cell_code(self, fujipian_panshu:int, fujipian_juzhendianwei:int=0, gemopanshu:int=0, gemo_juzhendianwei:int=0, lvbodian:bool=True, battery_pressure_mode:bool=True, battery_pressure:int=4000, battery_clean_ignore:bool=False) -> bool: + self.success = False + self.client.use_node('REG_MSG_NE_PLATE_NUM').write(fujipian_panshu) + self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei) + self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu) + self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei) + self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian) + self.client.use_node('REG_MSG_PRESS_MODE').write(not battery_pressure_mode) + # self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(battery_pressure) + self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore) + self.success = True + + return self.success - - def func_allpack_cmd(self, elec_num, elec_use_num, file_path: str="D:\\coin_cell_data") -> bool: + def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="/Users/sml/work") -> Dict[str, Any]: + elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) summary_csv_file = os.path.join(file_path, "duandian.csv") + + # 用于收集所有电池的数据 + battery_data_list = [] + # 如果断点文件存在，先读取之前的进度 if os.path.exists(summary_csv_file): read_status_flag = True @@ -775,7 +1503,12 @@ class CoinCellAssemblyWorkstation(WorkstationBase): print("断点文件与当前任务匹配，继续") else: print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") - return False + return { + "success": False, + "error": "断点文件参数不匹配", + "total_batteries": 0, + "batteries": [] + } print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") else: @@ -784,54 +1517,88 @@ class CoinCellAssemblyWorkstation(WorkstationBase): elec_num_N = 0 elec_use_num_N = 0 coin_num_N = 0 - - print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") - + for i in range(20): + print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") + print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") + print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") #如果是第一次运行，则进行初始化、切换自动、启动, 如果是断点重启则跳过。 if read_status_flag == False: + pass #初始化 - self.func_pack_device_init() + #self.func_pack_device_init() #切换自动 - self.func_pack_device_auto() + #self.func_pack_device_auto() #启动，小车收回 - self.func_pack_device_start() + #self.func_pack_device_start() #发送电解液瓶数量，启动搬运,多搬运没事 - self.func_pack_send_bottle_num(elec_num) + #self.func_pack_send_bottle_num(elec_num) last_i = elec_num_N last_j = elec_use_num_N for i in range(last_i, elec_num): print(f"开始第{last_i+i+1}瓶电解液的组装") #第一个循环从上次断点继续，后续循环从0开始 j_start = last_j if i == last_i else 0 - self.func_pack_send_msg_cmd(elec_use_num-j_start) + self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure) for j in range(j_start, elec_use_num): print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") + #读取电池组装数据并存入csv self.func_pack_get_msg_cmd(file_path) + + # 收集当前电池的数据 + # 处理电池二维码 + try: + battery_qr_code = self.data_coin_cell_code + except Exception as e: + print(f"读取电池二维码失败: {e}") + battery_qr_code = "N/A" + + # 处理电解液二维码 + try: + electrolyte_qr_code = self.data_electrolyte_code + except Exception as e: + print(f"读取电解液二维码失败: {e}") + electrolyte_qr_code = "N/A" + + # 处理开路电压 - 确保是数值类型 + try: + open_circuit_voltage = self.data_open_circuit_voltage + if isinstance(open_circuit_voltage, (list, tuple)) and len(open_circuit_voltage) > 0: + open_circuit_voltage = float(open_circuit_voltage[0]) + else: + open_circuit_voltage = float(open_circuit_voltage) + except Exception as e: + print(f"读取开路电压失败: {e}") + open_circuit_voltage = 0.0 + + # 处理极片质量 - 确保是数值类型 + try: + pole_weight = self.data_pole_weight + if isinstance(pole_weight, (list, tuple)) and len(pole_weight) > 0: + pole_weight = float(pole_weight[0]) + else: + pole_weight = float(pole_weight) + except Exception as e: + print(f"读取正极片重量失败: {e}") + pole_weight = 0.0 + + battery_info = { + "battery_index": coin_num_N + 1, + "battery_barcode": battery_qr_code, + "electrolyte_barcode": electrolyte_qr_code, + "open_circuit_voltage": open_circuit_voltage, + "pole_weight": pole_weight, + "assembly_time": self.data_assembly_time, + "assembly_pressure": self.data_assembly_pressure, + "electrolyte_volume": self.data_electrolyte_volume + } + battery_data_list.append(battery_info) + print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['battery_barcode']}, 电解液码={battery_info['electrolyte_barcode']}") + time.sleep(1) - - #这里定义物料系统 # TODO:读完再将电池数加一还是进入循环就将电池数加一需要考虑 - liaopan1 = self.deck.get_resource("liaopan1") - liaopan4 = self.deck.get_resource("liaopan4") - jipian1 = liaopan1.children[coin_num_N].children[0] - jipian4 = liaopan4.children[coin_num_N].children[0] - #print(jipian1) - #从料盘上去物料解绑后放到另一盘上 - jipian1.parent.unassign_child_resource(jipian1) - jipian4.parent.unassign_child_resource(jipian4) - - #print(jipian2.parent) - battery = Battery(name = f"battery_{coin_num_N}") - battery.assign_child_resource(jipian1, location=None) - battery.assign_child_resource(jipian4, location=None) - - zidanjia6 = self.deck.get_resource("zi_dan_jia6") - - zidanjia6.children[0].assign_child_resource(battery, location=None) - # 生成断点文件 # 生成包含elec_num_N、coin_num_N、timestamp的CSV文件 @@ -842,6 +1609,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) csvfile.flush() coin_num_N += 1 + self.coin_num_N = coin_num_N elec_use_num_N += 1 elec_num_N += 1 elec_use_num_N = 0 @@ -850,8 +1618,284 @@ class CoinCellAssemblyWorkstation(WorkstationBase): os.remove(summary_csv_file) #全部完成后等待依华发送完成信号 self.func_pack_send_finished_cmd() + + # 返回JSON格式数据 + result = { + "success": True, + "total_batteries": len(battery_data_list), + "batteries": battery_data_list, + "summary": { + "electrolyte_bottles_used": elec_num, + "batteries_per_bottle": elec_use_num, + "electrolyte_volume": elec_vol, + "assembly_type": assembly_type, + "assembly_pressure": assembly_pressure + } + } + + print(f"\n{'='*60}") + print(f"组装完成统计:") + print(f" 总组装电池数: {result['total_batteries']}") + print(f" 使用电解液瓶数: {elec_num}") + print(f" 每瓶电池数: {elec_use_num}") + print(f"{'='*60}\n") + + return result + def func_allpack_cmd_simp( + self, + elec_num, + elec_use_num, + elec_vol: int = 50, + # 电解液双滴模式参数 + dual_drop_mode: bool = False, + dual_drop_first_volume: int = 25, + dual_drop_suction_timing: bool = False, + dual_drop_start_timing: bool = False, + assembly_type: int = 7, + assembly_pressure: int = 4200, + # 来自原 qiming_coin_cell_code 的参数 + fujipian_panshu: int = 0, + fujipian_juzhendianwei: int = 0, + gemopanshu: int = 0, + gemo_juzhendianwei: int = 0, + qiangtou_juzhendianwei: int = 0, + lvbodian: bool = True, + battery_pressure_mode: bool = True, + battery_clean_ignore: bool = False, + file_path: str = "/Users/sml/work" + ) -> Dict[str, Any]: + """ + 简化版电池组装函数，整合了原 qiming_coin_cell_code 的参数设置和双滴模式 + + 此函数是 func_allpack_cmd 的增强版本，自动处理以下配置： + - 负极片和隔膜的盘数及矩阵点位 + - 枪头盒矩阵点位 + - 铝箔垫片使用设置 + - 压力模式和清洁忽略选项 + - 电解液双滴模式（分两次滴液） + + Args: + elec_num: 电解液瓶数 + elec_use_num: 每瓶电解液组装的电池数 + elec_vol: 电解液吸液量 (μL) + dual_drop_mode: 电解液添加模式 (False=单次滴液, True=二次滴液) + dual_drop_first_volume: 二次滴液第一次排液体积 (μL) + dual_drop_suction_timing: 二次滴液吸液时机 (False=正常吸液, True=先吸液) + dual_drop_start_timing: 二次滴液开始滴液时机 (False=正极片前, True=正极片后) + assembly_type: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫) + assembly_pressure: 电池压制力 (N) + fujipian_panshu: 负极片盘数 + fujipian_juzhendianwei: 负极片矩阵点位 + gemopanshu: 隔膜盘数 + gemo_juzhendianwei: 隔膜矩阵点位 + qiangtou_juzhendianwei: 枪头盒矩阵点位 + lvbodian: 是否使用铝箔垫片 + battery_pressure_mode: 是否启用压力模式 + battery_clean_ignore: 是否忽略电池清洁 + file_path: 实验记录保存路径 + + Returns: + dict: 包含组装结果的字典 + """ + # 参数类型转换 + elec_num = int(elec_num) + elec_use_num = int(elec_use_num) + elec_vol = int(elec_vol) + dual_drop_first_volume = int(dual_drop_first_volume) + assembly_type = int(assembly_type) + assembly_pressure = int(assembly_pressure) + fujipian_panshu = int(fujipian_panshu) + fujipian_juzhendianwei = int(fujipian_juzhendianwei) + gemopanshu = int(gemopanshu) + gemo_juzhendianwei = int(gemo_juzhendianwei) + qiangtou_juzhendianwei = int(qiangtou_juzhendianwei) + + # 步骤1: 设置设备参数（原 qiming_coin_cell_code 的功能） + logger.info("=" * 60) + logger.info("设置设备参数...") + logger.info(f" 负极片盘数: {fujipian_panshu}, 矩阵点位: {fujipian_juzhendianwei}") + logger.info(f" 隔膜盘数: {gemopanshu}, 矩阵点位: {gemo_juzhendianwei}") + logger.info(f" 枪头盒矩阵点位: {qiangtou_juzhendianwei}") + logger.info(f" 铝箔垫片: {lvbodian}, 压力模式: {battery_pressure_mode}") + logger.info(f" 压制力: {assembly_pressure}") + logger.info(f" 忽略电池清洁: {battery_clean_ignore}") + logger.info("=" * 60) + + # 写入基础参数到PLC + self.client.use_node('REG_MSG_NE_PLATE_NUM').write(fujipian_panshu) + self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei) + self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu) + self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei) + self.client.use_node('REG_MSG_TIP_BOX_MATRIX').write(qiangtou_juzhendianwei) + self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian) + self.client.use_node('REG_MSG_PRESS_MODE').write(not battery_pressure_mode) + self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore) + + # 设置电解液双滴模式参数 + self.client.use_node('COIL_ELECTROLYTE_DUAL_DROP_MODE').write(dual_drop_mode) + self.client.use_node('REG_MSG_DUAL_DROP_FIRST_VOLUME').write(dual_drop_first_volume) + self.client.use_node('COIL_DUAL_DROP_SUCTION_TIMING').write(dual_drop_suction_timing) + self.client.use_node('COIL_DUAL_DROP_START_TIMING').write(dual_drop_start_timing) + + if dual_drop_mode: + logger.info(f"✓ 双滴模式已启用: 第一次排液={dual_drop_first_volume}μL, " + f"吸液时机={'先吸液' if dual_drop_suction_timing else '正常吸液'}, " + f"滴液时机={'正极片后' if dual_drop_start_timing else '正极片前'}") + else: + logger.info("✓ 单次滴液模式") + + logger.info("✓ 设备参数设置完成") + + # 步骤2: 执行组装流程（复用 func_allpack_cmd 的主体逻辑） + summary_csv_file = os.path.join(file_path, "duandian.csv") + + # 用于收集所有电池的数据 + battery_data_list = [] + + # 如果断点文件存在，先读取之前的进度 + if os.path.exists(summary_csv_file): + read_status_flag = True + with open(summary_csv_file, 'r', newline='', encoding='utf-8') as csvfile: + reader = csv.reader(csvfile) + header = next(reader) # 跳过标题行 + data_row = next(reader) # 读取数据行 + if len(data_row) >= 2: + elec_num_r = int(data_row[0]) + elec_use_num_r = int(data_row[1]) + elec_num_N = int(data_row[2]) + elec_use_num_N = int(data_row[3]) + coin_num_N = int(data_row[4]) + if elec_num_r == elec_num and elec_use_num_r == elec_use_num: + print("断点文件与当前任务匹配，继续") + else: + print("断点文件中elec_num、elec_use_num与当前任务不匹配，请检查任务下发参数或修改断点文件") + return { + "success": False, + "error": "断点文件参数不匹配", + "total_batteries": 0, + "batteries": [] + } + print(f"从断点文件读取进度: elec_num_N={elec_num_N}, elec_use_num_N={elec_use_num_N}, coin_num_N={coin_num_N}") + + else: + read_status_flag = False + print("未找到断点文件，从头开始") + elec_num_N = 0 + elec_use_num_N = 0 + coin_num_N = 0 + + for i in range(20): + print(f"剩余电解液瓶数: {elec_num}, 已组装电池数: {elec_use_num}") + print(f"剩余电解液瓶数: {type(elec_num)}, 已组装电池数: {type(elec_use_num)}") + print(f"剩余电解液瓶数: {type(int(elec_num))}, 已组装电池数: {type(int(elec_use_num))}") + + last_i = elec_num_N + last_j = elec_use_num_N + for i in range(last_i, elec_num): + print(f"开始第{last_i+i+1}瓶电解液的组装") + # 第一个循环从上次断点继续，后续循环从0开始 + j_start = last_j if i == last_i else 0 + self.func_pack_send_msg_cmd(elec_use_num-j_start, elec_vol, assembly_type, assembly_pressure) + + for j in range(j_start, elec_use_num): + print(f"开始第{last_i+i+1}瓶电解液的第{j+j_start+1}个电池组装") + + # 读取电池组装数据并存入csv + self.func_pack_get_msg_cmd(file_path) + + # 收集当前电池的数据 + try: + battery_qr_code = self.data_coin_cell_code + except Exception as e: + print(f"读取电池二维码失败: {e}") + battery_qr_code = "N/A" + + try: + electrolyte_qr_code = self.data_electrolyte_code + except Exception as e: + print(f"读取电解液二维码失败: {e}") + electrolyte_qr_code = "N/A" + + try: + open_circuit_voltage = self.data_open_circuit_voltage + if isinstance(open_circuit_voltage, (list, tuple)) and len(open_circuit_voltage) > 0: + open_circuit_voltage = float(open_circuit_voltage[0]) + else: + open_circuit_voltage = float(open_circuit_voltage) + except Exception as e: + print(f"读取开路电压失败: {e}") + open_circuit_voltage = 0.0 + + try: + pole_weight = self.data_pole_weight + if isinstance(pole_weight, (list, tuple)) and len(pole_weight) > 0: + pole_weight = float(pole_weight[0]) + else: + pole_weight = float(pole_weight) + except Exception as e: + print(f"读取正极片重量失败: {e}") + pole_weight = 0.0 + + battery_info = { + "battery_index": coin_num_N + 1, + "battery_barcode": battery_qr_code, + "electrolyte_barcode": electrolyte_qr_code, + "open_circuit_voltage": open_circuit_voltage, + "pole_weight": pole_weight, + "assembly_time": self.data_assembly_time, + "assembly_pressure": self.data_assembly_pressure, + "electrolyte_volume": self.data_electrolyte_volume + } + battery_data_list.append(battery_info) + print(f"已收集第 {coin_num_N + 1} 个电池数据: 电池码={battery_info['battery_barcode']}, 电解液码={battery_info['electrolyte_barcode']}") + + time.sleep(1) + + # 生成断点文件 + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + with open(summary_csv_file, 'w', newline='', encoding='utf-8') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['elec_num','elec_use_num', 'elec_num_N', 'elec_use_num_N', 'coin_num_N', 'timestamp']) + writer.writerow([elec_num, elec_use_num, elec_num_N, elec_use_num_N, coin_num_N, timestamp]) + csvfile.flush() + coin_num_N += 1 + self.coin_num_N = coin_num_N + elec_use_num_N += 1 + elec_num_N += 1 + elec_use_num_N = 0 + + # 循环正常结束，则删除断点文件 + os.remove(summary_csv_file) + # 全部完成后等待依华发送完成信号 + self.func_pack_send_finished_cmd() + + # 返回JSON格式数据 + result = { + "success": True, + "total_batteries": len(battery_data_list), + "batteries": battery_data_list, + "summary": { + "electrolyte_bottles_used": elec_num, + "batteries_per_bottle": elec_use_num, + "electrolyte_volume": elec_vol, + "assembly_type": assembly_type, + "assembly_pressure": assembly_pressure, + "dual_drop_mode": dual_drop_mode + } + } + + print(f"\n{'='*60}") + print(f"组装完成统计:") + print(f" 总组装电池数: {result['total_batteries']}") + print(f" 使用电解液瓶数: {elec_num}") + print(f" 每瓶电池数: {elec_use_num}") + print(f" 双滴模式: {'启用' if dual_drop_mode else '禁用'}") + print(f"{'='*60}\n") + + return result + def func_pack_device_stop(self) -> bool: """打包指令：设备停止""" for i in range(3): @@ -878,36 +1922,27 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def fun_wuliao_test(self) -> bool: #找到data_init中构建的2个物料盘 - #liaopan1 = self.deck.get_resource("liaopan1") - #liaopan4 = self.deck.get_resource("liaopan4") - #for coin_num_N in range(16): - # liaopan1 = self.deck.get_resource("liaopan1") - # liaopan4 = self.deck.get_resource("liaopan4") - # jipian1 = liaopan1.children[coin_num_N].children[0] - # jipian4 = liaopan4.children[coin_num_N].children[0] - # #print(jipian1) - # #从料盘上去物料解绑后放到另一盘上 - # jipian1.parent.unassign_child_resource(jipian1) - # jipian4.parent.unassign_child_resource(jipian4) - # - # #print(jipian2.parent) - # battery = Battery(name = f"battery_{coin_num_N}") - # battery.assign_child_resource(jipian1, location=None) - # battery.assign_child_resource(jipian4, location=None) - # - # zidanjia6 = self.deck.get_resource("zi_dan_jia6") - # zidanjia6.children[0].assign_child_resource(battery, location=None) - # ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - # "resources": [self.deck] - # }) - # time.sleep(2) - for i in range(20): - print(f"输出{i}") - time.sleep(2) - + liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") + for i in range(16): + battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) + battery._unilabos_state = { + "diameter": 20.0, + "height": 20.0, + "assembly_pressure": i, + "electrolyte_volume": 20.0, + "electrolyte_name": f"DP{i}" + } + liaopan3.children[i].assign_child_resource(battery, location=None) + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.deck] + }) + # for i in range(40): + # print(f"fun_wuliao_test 运行结束{i}") + # time.sleep(1) + # time.sleep(40) # 数据读取与输出 - def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): + def func_read_data_and_output(self, file_path: str="/Users/sml/work"): # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 if self.csv_export_running: return False, "读取已在运行中" @@ -1012,7 +2047,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): # else: # print("子弹夹洞位0没有极片") # - # #把电解液从瓶中取到电池夹子中 + # # TODO:#把电解液从瓶中取到电池夹子中 # battery_site = deck.get_resource("battery_press_1") # clip_magazine_battery = deck.get_resource("clip_magazine_battery") # if battery_site.has_battery(): @@ -1102,41 +2137,16 @@ class CoinCellAssemblyWorkstation(WorkstationBase): ''' + if __name__ == "__main__": - from pylabrobot.resources import Resource - Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) - #Coin_Cell.func_pack_device_init() - #Coin_Cell.func_pack_device_auto() - #Coin_Cell.func_pack_device_start() - #Coin_Cell.func_pack_send_bottle_num(2) - #Coin_Cell.func_pack_send_msg_cmd(2) - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_send_finished_cmd() -# - #Coin_Cell.func_allpack_cmd(3, 2) - #print(Coin_Cell.data_stack_vision_code) - #print("success") - #创建一个物料台面 - - #deck = create_a_coin_cell_deck() - - ##在台面上找到料盘和极片 - #liaopan1 = deck.get_resource("liaopan1") - #liaopan2 = deck.get_resource("liaopan2") - #jipian1 = liaopan1.children[1].children[0] -# - ##print(jipian1) - ##把物料解绑后放到另一盘上 - #jipian1.parent.unassign_child_resource(jipian1) - #liaopan2.children[1].assign_child_resource(jipian1, location=None) - ##print(jipian2.parent) - from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - - with open("./button_battery_decks_unilab.json", "r", encoding="utf-8") as f: - bioyond_resources_unilab = json.load(f) - print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") - ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) - print(f"转换结果类型: {type(ulab_resources)}") - print(ulab_resources) - + # 简单测试 + workstation = CoinCellAssemblyWorkstation(deck=CoincellDeck(setup=True, name="coin_cell_deck")) + # workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False) + # print(f"工作站创建成功: {workstation.deck.name}") + # print(f"料盘数量: {len(workstation.deck.children)}") + workstation.func_pack_device_init() + workstation.func_pack_device_auto() + workstation.func_pack_device_start() + workstation.func_pack_send_bottle_num(16) + workstation.func_allpack_cmd(elec_num=16, elec_use_num=16, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/calvincao/Desktop/work/Uni-Lab-OS-hhm") + \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv new file mode 100644 index 00000000..e46d1de5 --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv @@ -0,0 +1,133 @@ +Name,DataType,InitValue,Comment,Attribute,DeviceType,Address, +COIL_SYS_START_CMD,BOOL,,,,coil,8010, +COIL_SYS_STOP_CMD,BOOL,,,,coil,8020, +COIL_SYS_RESET_CMD,BOOL,,,,coil,8030, +COIL_SYS_HAND_CMD,BOOL,,,,coil,8040, +COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050, +COIL_SYS_INIT_CMD,BOOL,,,,coil,8060, +COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700, +COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd +COIL_SYS_START_STATUS,BOOL,,,,coil,8210, +COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220, +COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230, +COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240, +COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250, +COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260, +COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500, +COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status +REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000, +REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num +REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol +REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type +REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure +REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num +REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage +REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004, +REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006, +REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008, +REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight +REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time +REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure +REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume +REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num +REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code() +REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code() +REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code() +REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure +REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content +REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content +UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720, +UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520, +REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496, +REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, +UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, +UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, +REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 +REG_UNILAB_INTERACT,BOOL,,,,coil,8450, +,,,,,coil,8320, +COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340, +REG_MSG_NE_PLATE_MATRIX,INT16,,,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,,,hold_register,443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,,,hold_register,453, +REG_MSG_PRESS_MODE,BOOL,,,,coil,8360, +,BOOL,,,,coil,8300, +,BOOL,,,,coil,8310, +COIL_GB_L_IGNORE_CMD,BOOL,,,,coil,8320, +COIL_GB_R_IGNORE_CMD,BOOL,,,,coil,8420, +,BOOL,,,,coil,8350, +COIL_ELECTROLYTE_DUAL_DROP_MODE,BOOL,,,,coil,8370, +,BOOL,,,,coil,8380, +,BOOL,,,,coil,8390, +,BOOL,,,,coil,8400, +,BOOL,,,,coil,8410, +REG_MSG_DUAL_DROP_FIRST_VOLUME,INT16,,,,hold_register,4001, +COIL_DUAL_DROP_SUCTION_TIMING,BOOL,,,,coil,8430, +COIL_DUAL_DROP_START_TIMING,BOOL,,,,coil,8470, +REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,,,coil,8460, +COIL_MATERIAL_SEARCH_DIALOG_APPEAR,BOOL,,,,coil,6470, +COIL_MATERIAL_SEARCH_CONFIRM_YES,BOOL,,,,coil,6480, +COIL_MATERIAL_SEARCH_CONFIRM_NO,BOOL,,,,coil,6490, +COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,异常100-系统异常 +COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,异常101-急停 +COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,异常111-手套箱急停 +COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,异常112-手套箱内光栅遮挡 +COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,异常160-移液枪头缺料 +COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,异常161-正极壳缺料 +COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,异常162-铝箔垫缺料 +COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,异常163-正极片缺料 +COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,异常164-隔膜缺料 +COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,异常165-负极片缺料 +COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,异常166-平垫缺料 +COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,异常167-弹垫缺料 +COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,异常168-负极壳缺料 +COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,异常169-成品电池满料 +COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,异常201-伺服轴01异常 +COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,异常202-伺服轴02异常 +COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,异常203-伺服轴03异常 +COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,异常204-伺服轴04异常 +COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,异常205-伺服轴05异常 +COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,异常206-伺服轴06异常 +COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,异常207-伺服轴07异常 +COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,异常208-伺服轴08异常 +COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,异常209-伺服轴09异常 +COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,异常210-伺服轴10异常 +COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,异常211-伺服轴11异常 +COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,异常212-伺服轴12异常 +COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,异常213-伺服轴13异常 +COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,异常214-伺服轴14异常 +COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,异常250-其他元件异常 +COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,异常251-移液枪通讯异常 +COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,异常252-移液枪报警 +COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,异常256-电爪异常 +COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,异常262-RB报警：未知点位错误 +COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,异常263-RB报警：X、Y、Z参数超限制 +COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,异常264-RB报警：视觉参数误差过大 +COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,异常265-RB报警：1#吸嘴取料失败 +COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,异常266-RB报警：2#吸嘴取料失败 +COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,异常267-RB报警：3#吸嘴取料失败 +COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,异常268-RB报警：4#吸嘴取料失败 +COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,异常269-RB报警：取物料盘失败 +COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,异常280-RB碰撞异常 +COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,异常290-视觉系统通讯异常 +COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,异常291-视觉对位NG异常 +COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,异常292-扫码枪通讯异常 +COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,异常310-开电移载吸嘴吸真空异常 +COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,异常311-开电移载吸嘴破真空异常 +COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,异常312-称重移载吸嘴吸真空异常 +COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,异常313-称重移载吸嘴破真空异常 +COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,异常340-开路电压吸嘴移载气缸异常 +COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,异常342-开路电压吸嘴升降气缸异常 +COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,异常344-开路电压旋压气缸异常 +COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,异常350-称重吸嘴移载气缸异常 +COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,异常352-称重吸嘴升降气缸异常 +COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,异常354-清洗无尘布移载气缸异常 +COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,异常356-清洗无尘布压紧气缸异常 +COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,异常360-电解液瓶定位气缸异常 +COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,异常362-移液枪头盒定位气缸异常 +COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,异常364-试剂瓶夹爪升降气缸异常 +COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,异常366-试剂瓶夹爪气缸异常 +COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,异常370-压制模块吹气气缸异常 +COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,异常151-电解液瓶定位在籍异常 +COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,异常152-电解液瓶盖在籍异常 diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json deleted file mode 100644 index 7e371327..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json +++ /dev/null @@ -1,14472 +0,0 @@ -{ - "nodes": [ - { - "id": "BatteryStation", - "name": "扣电工作站", - "children": [ - "coin_cell_deck" - ], - "parent": null, - "type": "device", - "class": "bettery_station_registry", - "position": { - "x": 600, - "y": 400, - "z": 0 - }, - "config": { - "debug_mode": false, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定", - "protocol_type": [], - "deck": { - "data": { - "_resource_child_name": "coin_cell_deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", - "port": 502 - }, - "data": {} - }, - { - "id": "coin_cell_deck", - "name": "coin_cell_deck", - "sample_id": null, - "children": [ - "zi_dan_jia", - "zi_dan_jia2", - "zi_dan_jia3", - "zi_dan_jia4", - "zi_dan_jia5", - "zi_dan_jia6", - "zi_dan_jia7", - "zi_dan_jia8", - "liaopan1", - "liaopan2", - "liaopan3", - "liaopan4", - "liaopan5", - "liaopan6", - "bottle_rack_3x4", - "bottle_rack_6x2", - "bottle_rack_6x2_2", - "tip_box_64", - "waste_tip_box" - ], - "parent": null, - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "CoincellDeck", - "size_x": 1620.0, - "size_y": 1270.0, - "size_z": 500.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "coin_cell_deck", - "barcode": null - }, - "data": {} - }, - { - "id": "zi_dan_jia", - "name": "zi_dan_jia", - "sample_id": null, - "children": [ - "zi_dan_jia_clipmagazinehole_0_0", - "zi_dan_jia_clipmagazinehole_0_1", - "zi_dan_jia_clipmagazinehole_1_0", - "zi_dan_jia_clipmagazinehole_1_1" - ], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 1400, - "y": 50, - "z": 0 - }, - "config": { - "type": "ClipMagazine_four", - "size_x": 80, - "size_y": 80, - "size_z": 10, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "clip_magazine_four", - "model": null, - "barcode": null, - "ordering": { - "A1": "zi_dan_jia_clipmagazinehole_0_0", - "B1": "zi_dan_jia_clipmagazinehole_0_1", - "A2": "zi_dan_jia_clipmagazinehole_1_0", - "B2": "zi_dan_jia_clipmagazinehole_1_1" - }, - "hole_diameter": 14.0, - "hole_depth": 10.0, - "max_sheets_per_hole": 100 - }, - "data": {} - }, - { - "id": "zi_dan_jia_clipmagazinehole_0_0", - "name": "zi_dan_jia_clipmagazinehole_0_0", - "sample_id": null, - "children": [ - "zi_dan_jia2_jipian_0" - ], - "parent": "zi_dan_jia", - "type": "container", - "class": "", - "position": { - "x": 15.0, - "y": 52.5, - "z": 10 - }, - "config": { - "type": "ClipMagazineHole", - "size_x": 14.0, - "size_y": 14.0, - "size_z": 10.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "clip_magazine_hole", - "model": null, - "barcode": null, - "max_volume": 1960.0, - "material_z_thickness": null, - "compute_volume_from_height": null, - "compute_height_from_volume": null - }, - "data": { - "sheet_count": 1, - "sheets": [ - { - "name": "zi_dan_jia2_jipian_0", - "type": "ElectrodeSheet", - "size_x": 12, - "size_y": 12, - "size_z": 0.1, - "location": null, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "electrode_sheet", - "model": null, - "barcode": null, - "children": [], - "parent_name": "zi_dan_jia_clipmagazinehole_0_0" - } - ] - } - }, - { - "id": "zi_dan_jia2_jipian_0", - "name": "zi_dan_jia2_jipian_0", - "sample_id": null, - "children": 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"tip_box_64_tipspot_7_4", - "name": "tip_box_64_tipspot_7_4", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 35.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_5", - "name": "tip_box_64_tipspot_7_5", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 26.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_6", - "name": "tip_box_64_tipspot_7_6", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 17.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "tip_box_64_tipspot_7_7", - "name": "tip_box_64_tipspot_7_7", - "sample_id": null, - "children": [], - "parent": "tip_box_64", - "type": "container", - "class": "", - "position": { - "x": 71.0, - "y": 8.0, - "z": 0.0 - }, - "config": { - "type": "TipSpot", - "size_x": 10, - "size_y": 10, - "size_z": 0.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "tip_spot", - "model": null, - "barcode": null, - "prototype_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - }, - "data": { - "tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - }, - "tip_state": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - }, - "pending_tip": { - "type": "Tip", - "total_tip_length": 20.0, - "has_filter": false, - "maximal_volume": 1000, - "fitting_depth": 8.0 - } - } - }, - { - "id": "waste_tip_box", - "name": "waste_tip_box", - "sample_id": null, - "children": [], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 300, - "y": 200, - "z": 0 - }, - "config": { - "type": "WasteTipBox", - "size_x": 127.8, - "size_y": 85.5, - "size_z": 60.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "waste_tip_box", - "model": null, - "barcode": null, - "max_volume": "Infinity", - "material_z_thickness": 0, - "compute_volume_from_height": null, - "compute_height_from_volume": null - }, - "data": { - "liquids": [], - "pending_liquids": [], - "liquid_history": [] - } - } - ], - "links": [] -} \ No newline at end of file diff --git a/unilabos/devices/workstation/workstation_http_service.py b/unilabos/devices/workstation/workstation_http_service.py index 11d87693..82fb6cb5 100644 --- a/unilabos/devices/workstation/workstation_http_service.py +++ b/unilabos/devices/workstation/workstation_http_service.py @@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler): # 验证必需字段 if 'brand' in request_data: if request_data['brand'] == "bioyond": # 奔曜 - error_msg = request_data["text"] - logger.info(f"收到奔曜错误处理报送: {error_msg}") + material_data = request_data["text"] + logger.info(f"收到奔曜物料变更报送: {material_data}") return HttpResponse( success=True, - message=f"错误处理报送已收到: {error_msg}", - acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}", + message=f"物料变更报送已收到: {material_data}", + acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}", data=None ) else: diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml new file mode 100644 index 00000000..9243e21e --- /dev/null +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -0,0 +1,847 @@ +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: {} + required: + - goal + title: auto_batch_outbound_from_xlsx参数 + type: object + type: UniLabJsonCommand + auto-auto_feeding4to3: + feedback: {} + goal: {} + goal_default: + 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: + xlsx_path: + default: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025122301.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: + type: string + 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: {} + 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: {} + 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: + type: object + required: + - mappings + type: object + result: {} + 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: {} + 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: {} + 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: {} + 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: {} + 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: {} + 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: {} + 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: {} + 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: {} + required: + - goal + title: scheduler_start参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start_and_auto_feeding: + feedback: {} + goal: {} + goal_default: + 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: + 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: scheduler_start_and_auto_feeding参数 + type: object + type: UniLabJsonCommand + auto-scheduler_start_and_auto_feeding_v2: + feedback: {} + goal: {} + goal_default: + 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: + 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: 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: {} + 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: + type: object + type: array + required: + - items + type: object + result: {} + 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: {} + 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: {} + 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: {} + 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: {} + 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: string + required: [] + type: object + result: {} + 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: {} + required: + - goal + title: wait_for_order_finish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: {} + 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: String + type: python + config_info: [] + description: '' + handles: [] + icon: benyao2.webp + init_param_schema: + config: + properties: + config: + type: object + deck: + type: string + protocol_type: + type: string + required: [] + type: object + data: + properties: + device_id: + type: string + required: + - device_id + type: object + registry_type: device + version: 1.0.0 diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml index 9ae76b7f..97b55cc1 100644 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml @@ -5,229 +5,6 @@ bioyond_dispensing_station: - bioyond_dispensing_station class: action_value_mappings: - auto-brief_step_parameters: - feedback: {} - goal: {} - goal_default: - data: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - data: - type: object - required: - - data - type: object - result: {} - required: - - goal - title: brief_step_parameters参数 - type: object - type: UniLabJsonCommand - auto-compute_experiment_design: - feedback: {} - goal: {} - goal_default: - m_tot: '70' - ratio: null - titration_percent: '0.03' - wt_percent: '0.25' - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - m_tot: - default: '70' - type: string - ratio: - type: object - titration_percent: - default: '0.03' - type: string - wt_percent: - default: '0.25' - type: string - required: - - ratio - type: object - result: - properties: - feeding_order: - items: {} - title: Feeding Order - type: array - return_info: - title: Return Info - type: string - solutions: - items: {} - title: Solutions - type: array - solvents: - additionalProperties: true - title: Solvents - type: object - titration: - additionalProperties: true - title: Titration - type: object - required: - - solutions - - titration - - solvents - - feeding_order - - return_info - title: ComputeExperimentDesignReturn - type: object - required: - - goal - 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: @@ -394,6 +171,99 @@ bioyond_dispensing_station: title: BatchCreateDiamineSolutionTasks 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: '' + 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 + result: + feeding_order: feeding_order + return_info: return_info + solutions: solutions + solvents: solvents + titration: titration + 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: string + 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 + type: object + result: + properties: + feeding_order: + type: array + return_info: + type: string + solutions: + type: array + solvents: + type: object + titration: + type: object + required: + - solutions + - titration + - solvents + - feeding_order + - return_info + title: ComputeExperimentDesign_Result + type: object + required: + - goal + title: ComputeExperimentDesign + type: object + type: UniLabJsonCommand create_90_10_vial_feeding_task: feedback: {} goal: @@ -620,6 +490,89 @@ bioyond_dispensing_station: title: DispenStationSolnPrep type: object type: DispenStationSolnPrep + scheduler_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: + return_info: return_info + 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: + properties: + return_info: + description: 调度器启动结果，成功返回1，失败返回0 + type: integer + required: + - return_info + 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: '' + transfer_groups: '' + 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 + items: + properties: + materials: + description: 物料名称（手动输入，系统将通过RPC查询验证） + type: string + target_sites: + description: 目标库位（手动输入，如"A01"） + type: string + target_stack: + description: 目标堆栈名称（从列表选择） + enum: + - 堆栈1左 + - 堆栈1右 + - 站内试剂存放堆栈 + type: string + required: + - materials + - target_stack + - target_sites + type: object + 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 wait_for_multiple_orders_and_get_reports: feedback: {} goal: @@ -688,7 +641,7 @@ bioyond_dispensing_station: title: WaitForMultipleOrdersAndGetReports 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 +652,16 @@ 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/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml new file mode 100644 index 00000000..c8a671a7 --- /dev/null +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -0,0 +1,850 @@ +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: {} + 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: {} + 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: {} + 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: {} + 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: {} + 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: {} + 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: integer + 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: {} + 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: {} + 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: {} + 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-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-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: {} + 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: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status + - data_assembly_coin_cell_num + - data_assembly_time + - data_open_circuit_voltage + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_num + - data_coin_cell_code + - data_electrolyte_code + - data_glove_box_pressure + - data_glove_box_o2_content + - data_glove_box_water_content + type: object + registry_type: device + version: 1.0.0 diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index b7d10a60..cf46d7ef 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -4,213 +4,88 @@ reaction_station.bioyond: - reaction_station_bioyond class: action_value_mappings: - auto-create_order: + add_time_constraint: feedback: {} - goal: {} + 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: - json_str: null + duration: 0 + end_point: 0 + end_step_key: '' + start_point: 0 + start_step_key: '' handles: {} - placeholder_keys: {} result: {} schema: - description: '' + 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: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: create_order参数 - type: object - type: UniLabJsonCommand - auto-hard_delete_merged_workflows: - feedback: {} - goal: {} - goal_default: - workflow_ids: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - workflow_ids: - items: - type: string - type: array - required: - - workflow_ids - type: object - result: {} - required: - - goal - title: hard_delete_merged_workflows参数 - type: object - type: UniLabJsonCommand - auto-merge_workflow_with_parameters: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: merge_workflow_with_parameters参数 - type: object - type: UniLabJsonCommand - auto-process_temperature_cutoff_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_temperature_cutoff_report参数 - type: object - type: UniLabJsonCommand - auto-process_web_workflows: - feedback: {} - goal: {} - goal_default: - web_workflow_json: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - web_workflow_json: - type: string - required: - - web_workflow_json - type: object - result: {} - required: - - goal - title: process_web_workflows参数 - type: object - type: UniLabJsonCommand - auto-skip_titration_steps: - feedback: {} - goal: {} - goal_default: - preintake_id: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - preintake_id: - type: string - required: - - preintake_id - type: object - result: {} - required: - - goal - title: skip_titration_steps参数 - type: object - type: UniLabJsonCommand - auto-wait_for_multiple_orders_and_get_reports: - feedback: {} - goal: {} - goal_default: - batch_create_result: null - check_interval: 10 - timeout: 7200 - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - batch_create_result: - type: string - check_interval: - default: 10 - type: integer - timeout: - default: 7200 + duration: + description: 时间(秒) type: integer + end_point: + default: Start + description: 终点计时点 (Start=开始前, End=结束后) + enum: + - Start + - End + type: string + end_step_key: + description: 终点步骤Key (可选, 默认为空则自动选择) + type: string + start_point: + default: Start + description: 起点计时点 (Start=开始前, End=结束后) + enum: + - Start + - End + type: string + start_step_key: + 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 + clean_all_server_workflows: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: + code: code + message: message + 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: {} - required: - - goal - title: wait_for_multiple_orders_and_get_reports参数 - type: object - type: UniLabJsonCommand - auto-workflow_step_query: - feedback: {} - goal: {} - goal_default: - workflow_id: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: + result: properties: - workflow_id: + code: + description: 操作结果代码(1表示成功) + type: integer + message: + description: 结果描述 type: string - required: - - workflow_id type: object - result: {} required: - goal - title: workflow_step_query参数 + title: clean_all_server_workflows参数 type: object type: UniLabJsonCommand drip_back: @@ -247,13 +122,19 @@ reaction_station.bioyond: description: 观察时间(分钟) type: string titration_type: - description: 是否滴定(1=否, 2=是) + description: 是否滴定(NO=否, YES=是) + enum: + - 'NO' + - 'YES' type: string torque_variation: - description: 是否观察 (1=否, 2=是) + description: 是否观察 (NO=否, YES=是) + enum: + - 'NO' + - 'YES' type: string volume: - description: 分液公式(μL) + description: 分液公式(mL) type: string required: - volume @@ -353,13 +234,19 @@ reaction_station.bioyond: description: 观察时间(分钟) type: string titration_type: - description: 是否滴定(1=否, 2=是) + description: 是否滴定(NO=否, YES=是) + enum: + - 'NO' + - 'YES' type: string torque_variation: - description: 是否观察 (1=否, 2=是) + description: 是否观察 (NO=否, YES=是) + enum: + - 'NO' + - 'YES' type: string volume: - description: 分液公式(μL) + description: 分液公式(mL) type: string required: - volume @@ -403,7 +290,7 @@ reaction_station.bioyond: label: Solvents Data From Calculation Node 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: @@ -423,15 +310,21 @@ reaction_station.bioyond: 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 + default: 'NO' + description: 是否滴定(NO=否, YES=是),默认NO + enum: + - 'NO' + - 'YES' type: string torque_variation: - default: '2' - description: 是否观察 (1=否, 2=是),默认2 + default: 'YES' + description: 是否观察 (NO=否, YES=是),默认YES + enum: + - 'NO' + - 'YES' type: string 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 @@ -504,15 +397,21 @@ reaction_station.bioyond: 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 + default: 'YES' + description: 是否滴定(NO=否, YES=是),默认YES + enum: + - 'NO' + - 'YES' type: string torque_variation: - default: '2' - description: 是否观察 (1=否, 2=是),默认2 + default: 'YES' + description: 是否观察 (NO=否, YES=是),默认YES + enum: + - 'NO' + - 'YES' type: string 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 @@ -560,13 +459,19 @@ reaction_station.bioyond: description: 观察时间(分钟) type: string titration_type: - description: 是否滴定(1=否, 2=是) + description: 是否滴定(NO=否, YES=是) + enum: + - 'NO' + - 'YES' type: string torque_variation: - description: 是否观察 (1=否, 2=是) + description: 是否观察 (NO=否, YES=是) + enum: + - 'NO' + - 'YES' type: string volume_formula: - description: 分液公式(μL) + description: 分液公式(mL) type: string required: - volume_formula @@ -680,6 +585,35 @@ reaction_station.bioyond: title: reactor_taken_out参数 type: object type: UniLabJsonCommand + scheduler_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: + return_info: return_info + 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: + properties: + return_info: + description: 调度器启动结果，成功返回1，失败返回0 + type: integer + required: + - return_info + title: scheduler_start结果 + type: object + required: + - goal + title: scheduler_start参数 + type: object + type: UniLabJsonCommand solid_feeding_vials: feedback: {} goal: @@ -706,7 +640,11 @@ 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） + enum: + - Salt + - Flour + - BTDA type: string temperature: description: 温度设定(°C) @@ -715,7 +653,10 @@ reaction_station.bioyond: description: 观察时间(分钟) type: string torque_variation: - description: 是否观察 (1=否, 2=是) + description: 是否观察 (NO=否, YES=是) + enum: + - 'NO' + - 'YES' type: string required: - assign_material_name @@ -730,9 +671,19 @@ 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: + average_viscosity: Float64 + force: Float64 + in_temperature: Float64 + out_temperature: Float64 + pt100_temperature: Float64 + sensor_average_temperature: Float64 + setting_temperature: Float64 + speed: Float64 + target_temperature: Float64 + viscosity: Float64 workflow_sequence: String type: python config_info: [] @@ -765,34 +716,19 @@ reaction_station.reactor: - reactor - reaction_station_bioyond class: - action_value_mappings: - auto-update_metrics: - feedback: {} - goal: {} - goal_default: - payload: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - payload: - type: object - required: - - payload - type: object - result: {} - required: - - goal - title: update_metrics参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor - status_types: {} + action_value_mappings: {} + module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor + status_types: + average_viscosity: Float64 + force: Float64 + in_temperature: Float64 + out_temperature: Float64 + pt100_temperature: Float64 + sensor_average_temperature: Float64 + setting_temperature: Float64 + speed: Float64 + target_temperature: Float64 + viscosity: Float64 type: python config_info: [] description: 反应站子设备-反应器 diff --git a/unilabos/registry/resources/bioyond/README_RESOURCE_ARCHITECTURE.md b/unilabos/registry/resources/bioyond/README_RESOURCE_ARCHITECTURE.md new file mode 100644 index 00000000..cc84ef78 --- /dev/null +++ b/unilabos/registry/resources/bioyond/README_RESOURCE_ARCHITECTURE.md @@ -0,0 +1,170 @@ +# UniLabOS 资源注册架构详解 + +> **目标受众**: 主要开发 `unilabos/registry/devices` 抽象层的开发者 +> **最后更新**: 2026-01-11 +> **维护者**: Uni-Lab-OS 开发团队 + +本文档详细说明 UniLabOS 资源注册系统的架构、资源的完整生命周期，以及如何实现动态物料位置追踪。 + +--- + +## 📚 目录 + +- [核心概念](#核心概念) +- [三层架构详解](#三层架构详解) +- [资源注册机制](#资源注册机制) +- [物料生命周期管理](#物料生命周期管理) +- [动态物料位置追踪](#动态物料位置追踪) +- [实战案例](#实战案例) +- [常见问题排查](#常见问题排查) + +--- + +## 核心概念 + +### 1. Resources vs Registry + +UniLabOS 采用**声明式注册**模式，将资源的**定义**（Python）与**注册信息**（YAML）分离： + +``` +┌──────────────────────────────────────────────────────────┐ +│ unilabos/resources (Python 实现) │ +│ - 定义资源的物理属性、行为和创建逻辑 │ +│ - 例如: 瓶子的尺寸、容量、材质 │ +├──────────────────────────────────────────────────────────┤ +│ unilabos/registry/resources (YAML 注册表) │ +│ - 声明哪些资源可以被前端使用 │ +│ - 定义资源的分类、图标、初始化参数 │ +└──────────────────────────────────────────────────────────┘ +``` + +**为什么要分离？** + +1. **解耦**: Python 代码可以定义无限多的资源类，但只有在 YAML 中注册的才能被前端识别 +2. **灵活性**: 无需修改 Python 代码，只需修改 YAML 就能添加/移除可用资源 +3. **可扩展性**: 第三方开发者可以通过 YAML 注册自己的资源，无需修改核心代码 + +--- + +## 三层架构详解 + +UniLabOS 资源系统采用**三层架构**，实现从前端UI到底层硬件的完整映射： + +### 架构图 + +``` +┌─────────────────────────────────────────────────────┐ +│ 第1层: YAML 注册表 (registry/resources) │ +│ - 告诉系统"哪些资源可用" │ +│ - 前端通过此层获取可用资源列表 │ +│ - 文件: YB_bottle.yaml, YB_bottle_carriers.yaml │ +├─────────────────────────────────────────────────────┤ +│ 第2层: Python 实现 (resources/bioyond) │ +│ - 定义资源的具体属性和行为 │ +│ - 创建资源实例的工厂函数 │ +│ - 文件: YB_bottles.py, YB_bottle_carriers.py │ +├─────────────────────────────────────────────────────┤ +│ 第3层: Hardware/API 集成 (devices/workstation) │ +│ - 连接 Bioyond 系统 API │ +│ - 同步物料位置和状态 │ +│ - 文件: station.py, bioyond_rpc.py, config.py │ +└─────────────────────────────────────────────────────┘ +``` + +### 第1层: YAML 注册表 + +#### YB_bottle.yaml - 单个瓶子注册 + +```yaml +YB_5ml_fenyeping: + category: + - yb3 # 系统分类 + - YB_bottle # 资源类型 + class: + module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping # Python 函数路径 + type: pylabrobot # 框架类型 + description: YB_5ml_fenyeping # 前端显示名称 + handles: [] + icon: '' # 图标路径 + init_param_schema: {} # 初始化参数 schema + registry_type: resource + version: 1.0.0 +``` + +**作用:** +- 前端通过读取此文件知道有一个叫 "YB_5ml_fenyeping" 的资源 +- 用户拖拽时，系统会调用 `YB_bottles:YB_5ml_fenyeping()` 创建实例 + +#### YB_bottle_carriers.yaml - 载架（容器）注册 + +```yaml +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 # 5ml分液瓶板 +``` + +**作用:** +- 载架是容器，里面可以放多个瓶子 +- 例如: `YB_5ml_fenyepingban` 是一个 4x2 布局的板，可以放 8 个 5ml 瓶子 + +### 第2层: Python 实现 + +#### YB_bottles.py - 瓶子工厂函数 + +```python +def YB_5ml_fenyeping( + name: str, + diameter: float = 20.0, # 直径 (mm) + height: float = 50.0, # 高度 (mm) + max_volume: float = 5000.0, # 最大容量 (μL) + barcode: str = None, +) -> Bottle: + \"\"\"创建5ml分液瓶\"\"\" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_5ml_fenyeping", # ⭐ 与 YAML 中的名称对应 + ) +``` + +**关键点:** +- 函数名 `YB_5ml_fenyeping` 必须与 YAML 中的 `module` 路径末尾一致 +- 返回一个 `Bottle` 对象（PyLabRobot 资源类型） +- `model` 字段用于在 Bioyond 系统中识别资源类型 + +**详细文档请参考完整版 README** + +--- + +## 相关文件索引 + +### 核心文件 + +| 文件 | 功能 | 路径 | +|------|------|------| +| `YB_bottle.yaml` | 瓶子注册表 | `unilabos/registry/resources/bioyond/` | +| `YB_bottle_carriers.yaml` | 载架注册表 | `unilabos/registry/resources/bioyond/` | +| `deck.yaml` | Deck注册表 | `unilabos/registry/resources/bioyond/` | +| `YB_bottles.py` | 瓶子实现 | `unilabos/resources/bioyond/` | +| `YB_bottle_carriers.py` | 载架实现 | `unilabos/resources/bioyond/` | +| `YB_warehouses.py` | 仓库实现 | `unilabos/resources/bioyond/` | +| `decks.py` | Deck布局 | `unilabos/resources/bioyond/` | +| `station.py` | 物料同步 | `unilabos/devices/workstation/bioyond_studio/` | +| `config.py` | UUID映射 | `unilabos/devices/workstation/bioyond_studio/` | + +### 仓库相关文档 + +- [README_WAREHOUSE.md](../../resources/bioyond/README_WAREHOUSE.md) - 仓库系统开发指南 + +--- + +**维护者:** Uni-Lab-OS 开发团队 +**最后更新:** 2026-01-11 diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml new file mode 100644 index 00000000..f8e17261 --- /dev/null +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -0,0 +1,92 @@ +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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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..4698a266 --- /dev/null +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -0,0 +1,182 @@ +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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + 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: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index 79aa712b..ecc5525d 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -20,6 +20,17 @@ BIOYOND_PolymerStation_Liquid_Vial: icon: '' init_param_schema: {} version: 1.0.0 +BIOYOND_PolymerStation_Measurement_Vial: + category: + - bottles + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Measurement_Vial + type: pylabrobot + description: 聚合站-测量小瓶（测密度） + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 BIOYOND_PolymerStation_Reactor: category: - bottles diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index bc158508..8d6993b1 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -22,15 +22,27 @@ BIOYOND_PolymerReactionStation_Deck: 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: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/battery/__init__.py b/unilabos/resources/battery/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/unilabos/resources/battery/bottle_carriers.py b/unilabos/resources/battery/bottle_carriers.py new file mode 100644 index 00000000..9d9827cd --- /dev/null +++ b/unilabos/resources/battery/bottle_carriers.py @@ -0,0 +1,56 @@ +from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d + +from unilabos.resources.itemized_carrier import Bottle, BottleCarrier +from unilabos.resources.bioyond.YB_bottles import ( + YB_pei_ye_xiao_Bottle, +) +# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial + + +def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier: + """12瓶载架 - 2x6布局""" + # 载架尺寸 (mm) + carrier_size_x = 120.0 + carrier_size_y = 250.0 + carrier_size_z = 50.0 + + # 瓶位尺寸 + bottle_diameter = 35.0 + bottle_spacing_x = 35.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (6 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=2, + num_items_y=6, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="Electrolyte_12VialCarrier", + ) + carrier.num_items_x = 2 + carrier.num_items_y = 6 + carrier.num_items_z = 1 + for i in range(12): + carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}") + return carrier diff --git a/unilabos/resources/battery/electrode_sheet.py b/unilabos/resources/battery/electrode_sheet.py new file mode 100644 index 00000000..22f98aff --- /dev/null +++ b/unilabos/resources/battery/electrode_sheet.py @@ -0,0 +1,195 @@ +from typing import Any, Dict, Optional, TypedDict + +from pylabrobot.resources import Resource as ResourcePLR +from pylabrobot.resources import Container + + +electrode_colors = { + "PositiveCan": "#ff0000", + "PositiveElectrode": "#cc3333", + "NegativeCan": "#000000", + "NegativeElectrode": "#666666", + "SpringWasher": "#8b7355", + "FlatWasher": "a9a9a9", + "AluminumFoil": "#ffcccc", + "Battery": "#00ff00", +} + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（铜、铝、不锈钢、弹簧钢等） + color: str # 材料类型对应的颜色 + info: Optional[str] # 附加信息 + + +class ElectrodeSheet(ResourcePLR): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x: float = 10, + size_y: float = 10, + size_z: float = 10, + category: str = "electrode_sheet", + model: Optional[str] = None, + **kwargs + ): + """初始化极片 + + Args: + name: 极片名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + **kwargs: 其他参数传递给父类 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + **kwargs + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + color="#8b4513", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +def PositiveCan(name: str) -> ElectrodeSheet: + """创建正极壳""" + sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=3.0, model="PositiveCan") + sheet.load_state({"diameter": 20.0, "thickness": 0.5, "mass": 0.5, "material_type": "aluminum", "color": electrode_colors["PositiveCan"], "info": None}) + return sheet + + +def PositiveElectrode(name: str) -> ElectrodeSheet: + """创建正极片""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="PositiveElectrode") + sheet.load_state({"material_type": "positive_electrode", "color": electrode_colors["PositiveElectrode"]}) + return sheet + + +def NegativeCan(name: str) -> ElectrodeSheet: + """创建负极壳""" + sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=2.0, model="NegativeCan") + sheet.load_state({"material_type": "steel", "color": electrode_colors["NegativeCan"]}) + return sheet + + +def NegativeElectrode(name: str) -> ElectrodeSheet: + """创建负极片""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="NegativeElectrode") + sheet.load_state({"material_type": "negative_electrode", "color": electrode_colors["NegativeElectrode"]}) + return sheet + + +def SpringWasher(name: str) -> ElectrodeSheet: + """创建弹片""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.5, model="SpringWasher") + sheet.load_state({"material_type": "spring_steel", "color": electrode_colors["SpringWasher"]}) + return sheet + + +def FlatWasher(name: str) -> ElectrodeSheet: + """创建垫片""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.2, model="FlatWasher") + sheet.load_state({"material_type": "steel", "color": electrode_colors["FlatWasher"]}) + return sheet + + +def AluminumFoil(name: str) -> ElectrodeSheet: + """创建铝箔""" + sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.05, model="AluminumFoil") + sheet.load_state({"material_type": "aluminum", "color": electrode_colors["AluminumFoil"]}) + return sheet + + +class BatteryState(TypedDict): + color: str # 材料类型对应的颜色 + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + + +class Battery(Container): + """电池类 - 包含组装好的电池""" + + def __init__( + self, + name: str = "电池", + size_x: float = 12, + size_y: float = 12, + size_z: float = 6, + category: str = "battery", + model: Optional[str] = None, + **kwargs + ): + """初始化电池 + + Args: + name: 电池名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + **kwargs: 其他参数传递给父类 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + **kwargs + ) + self._unilabos_state: BatteryState = BatteryState( + color=electrode_colors["Battery"], + electrolyte_name="无", + data_electrolyte_code="", + open_circuit_voltage=0.0, + assembly_pressure=0.0, + electrolyte_volume=0.0, + info=None + ) + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data \ No newline at end of file diff --git a/unilabos/resources/battery/magazine.py b/unilabos/resources/battery/magazine.py new file mode 100644 index 00000000..04328a40 --- /dev/null +++ b/unilabos/resources/battery/magazine.py @@ -0,0 +1,344 @@ +from typing import Dict, List, Optional, OrderedDict, Union, Callable +import math + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources import Resource, ResourceStack, ItemizedResource +from pylabrobot.resources.carrier import create_homogeneous_resources + +from unilabos.resources.battery.electrode_sheet import ( + PositiveCan, PositiveElectrode, + NegativeCan, NegativeElectrode, + SpringWasher, FlatWasher, + AluminumFoil, + Battery +) + + +class Magazine(ResourceStack): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + direction: str = 'z', + resources: Optional[List[Resource]] = None, + max_sheets: int = 100, + **kwargs + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + direction: 堆叠方向 + resources: 资源列表 + max_sheets: 最大极片数量 + """ + super().__init__( + name=name, + direction=direction, + resources=resources, + ) + self.max_sheets = max_sheets + + @property + def size_x(self) -> float: + return self.get_size_x() + + @property + def size_y(self) -> float: + return self.get_size_y() + + @property + def size_z(self) -> float: + return self.get_size_z() + + def serialize(self) -> dict: + return { + **super().serialize(), + "size_x": self.size_x or 10.0, + "size_y": self.size_y or 10.0, + "size_z": self.size_z or 10.0, + "max_sheets": self.max_sheets, + } + + +class MagazineHolder(ItemizedResource): + """子弹夹类 - 有多个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, Magazine]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + max_sheets_per_hole: int = 100, + cross_section_type: str = "circle", + category: str = "magazine_holder", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + # 保存洞位的直径和深度 + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + self.cross_section_type = cross_section_type + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + "cross_section_type": self.cross_section_type, + } + + +def magazine_factory( + name: str, + size_x: float, + size_y: float, + size_z: float, + locations: List[Coordinate], + klasses: Optional[List[Callable[[str], str]]] = None, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + max_sheets_per_hole: int = 100, + category: str = "magazine_holder", + model: Optional[str] = None, +) -> 'MagazineHolder': + """工厂函数：创建子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + locations: 洞位坐标列表 + klasses: 每个洞位中极片的类列表 + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + for loc in locations: + loc.x -= hole_diameter / 2 + loc.y -= hole_diameter / 2 + + # 创建洞位 + _sites = create_homogeneous_resources( + klass=Magazine, + locations=locations, + resource_size_x=hole_diameter, + resource_size_y=hole_diameter, + name_prefix=name, + max_sheets=max_sheets_per_hole, + ) + + # 生成编号键 + keys = [f"A{i+1}" for i in range(len(locations))] + sites = dict(zip(keys, _sites.values())) + + holder = MagazineHolder( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=sites, + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category=category, + model=model, + ) + + if klasses is not None: + for i, klass in enumerate(klasses): + hole_key = keys[i] + hole = holder.children[i] + for j in reversed(range(max_sheets_per_hole)): + item_name = f"{hole_key}_sheet{j+1}" + item = klass(name=item_name) + hole.assign_child_resource(item) + return holder + + +def MagazineHolder_6_Cathode( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 40.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 20.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建6孔子弹夹 - 六边形排布""" + center_x = size_x / 2 + center_y = size_y / 2 + + locations = [] + + # 周围6个孔，按六边形排布 + for i in range(6): + angle = i * 60 * math.pi / 180 # 每60度一个孔 + x = center_x + hole_spacing * math.cos(angle) + y = center_y + hole_spacing * math.sin(angle) + locations.append(Coordinate(x, y, size_z - hole_depth)) + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan], + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="magazine_holder", + model="MagazineHolder_6_Cathode", + ) + + +def MagazineHolder_6_Anode( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 40.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 20.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建6孔子弹夹 - 六边形排布""" + center_x = size_x / 2 + center_y = size_y / 2 + + locations = [] + + # 周围6个孔，按六边形排布 + for i in range(6): + angle = i * 60 * math.pi / 180 # 每60度一个孔 + x = center_x + hole_spacing * math.cos(angle) + y = center_y + hole_spacing * math.sin(angle) + locations.append(Coordinate(x, y, size_z - hole_depth)) + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan], + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="magazine_holder", + model="MagazineHolder_6_Anode", + ) + + +def MagazineHolder_6_Battery( + name: str, + size_x: float = 80.0, + size_y: float = 80.0, + size_z: float = 40.0, + hole_diameter: float = 14.0, + hole_depth: float = 10.0, + hole_spacing: float = 20.0, + max_sheets_per_hole: int = 100, +) -> MagazineHolder: + """创建6孔子弹夹 - 六边形排布""" + center_x = size_x / 2 + center_y = size_y / 2 + + locations = [] + + # 周围6个孔，按六边形排布 + for i in range(6): + angle = i * 60 * math.pi / 180 # 每60度一个孔 + x = center_x + hole_spacing * math.cos(angle) + y = center_y + hole_spacing * math.sin(angle) + locations.append(Coordinate(x, y, size_z - hole_depth)) + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + klasses=None, # 初始化时，不放入装好的电池 + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="magazine_holder", + model="MagazineHolder_6_Battery", + ) + + +def MagazineHolder_4_Cathode( + name: str, +) -> MagazineHolder: + """创建4孔子弹夹 - 正方形四角排布""" + size_x: float = 80.0 + size_y: float = 80.0 + size_z: float = 10.0 + hole_diameter: float = 14.0 + hole_depth: float = 10.0 + hole_spacing: float = 25.0 + max_sheets_per_hole: int = 100 + + # 计算4个洞位的坐标（正方形四角排布） + center_x = size_x / 2 + center_y = size_y / 2 + offset = hole_spacing / 2 + + locations = [ + Coordinate(center_x - offset, center_y - offset, size_z - hole_depth), # 左下 + Coordinate(center_x + offset, center_y - offset, size_z - hole_depth), # 右下 + Coordinate(center_x - offset, center_y + offset, size_z - hole_depth), # 左上 + Coordinate(center_x + offset, center_y + offset, size_z - hole_depth), # 右上 + ] + + return magazine_factory( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + locations=locations, + klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode], + hole_diameter=hole_diameter, + hole_depth=hole_depth, + max_sheets_per_hole=max_sheets_per_hole, + category="magazine_holder", + model="MagazineHolder_4_Cathode", + ) diff --git a/unilabos/resources/bioyond/README_WAREHOUSE.md b/unilabos/resources/bioyond/README_WAREHOUSE.md new file mode 100644 index 00000000..6d1a62e1 --- /dev/null +++ b/unilabos/resources/bioyond/README_WAREHOUSE.md @@ -0,0 +1,548 @@ +# Bioyond 仓库系统开发指南 + +本文档详细说明 Bioyond 仓库（Warehouse）系统的架构、配置和使用方法，帮助开发者快速理解和维护仓库相关代码。 + +## 📚 目录 + +- [系统架构](#系统架构) +- [核心概念](#核心概念) +- [三层映射关系](#三层映射关系) +- [warehouse_factory 详解](#warehouse_factory-详解) +- [创建新仓库](#创建新仓库) +- [常见问题](#常见问题) +- [调试技巧](#调试技巧) + +--- + +## 系统架构 + +Bioyond 仓库系统采用**三层架构**，实现从前端显示到后端 API 的完整映射： + +``` +┌─────────────────────────────────────────────────────────┐ +│ 前端显示层 (YB_warehouses.py) │ +│ - warehouse_factory 自动生成库位网格 │ +│ - 生成库位名称：A01, B02, C03... │ +│ - 存储在 WareHouse.sites 字典中 │ +└────────────────┬────────────────────────────────────────┘ + │ + ▼ +┌─────────────────────────────────────────────────────────┐ +│ Deck 布局层 (decks.py) │ +│ - 定义仓库在 Deck 上的物理位置 │ +│ - 组织多个仓库形成完整布局 │ +└────────────────┬────────────────────────────────────────┘ + │ + ▼ +┌─────────────────────────────────────────────────────────┐ +│ UUID 映射层 (config.py) │ +│ - 将库位名称映射到 Bioyond 系统 UUID │ +│ - 用于 API 调用时的物料入库操作 │ +└─────────────────────────────────────────────────────────┘ +``` + +--- + +## 核心概念 + +### 仓库（Warehouse） + +仓库是一个**三维网格**，用于存放物料。由以下参数定义： + +- **num_items_x**: 列数（X 轴） +- **num_items_y**: 行数（Y 轴） +- **num_items_z**: 层数（Z 轴） + +例如：`5行×3列×1层` = 5×3×1 = 15个库位 + +### 库位（Site） + +库位是仓库中的单个存储位置，由**字母行+数字列**命名： + +- **字母行**：A, B, C, D, E, F...（对应 Y 轴） +- **数字列**：01, 02, 03, 04...（对应 X 轴或 Z 轴） + +示例：`A01`, `B02`, `C03` + +### 布局模式（Layout） + +控制库位的排序和 Y 坐标计算： + +| 模式 | 说明 | 生成顺序 | Y 坐标计算 | 显示效果 | +|------|------|----------|-----------|---------| +| `col-major` | 列优先（默认） | A01, B01, C01, A02... | `dy + (num_y - row - 1) * item_dy` | A 可能在下 | +| `row-major` | 行优先 | A01, A02, A03, B01... | `dy + row * item_dy` | **A 在上** ✓ | + +**重要：** 使用 `row-major` 可以避免上下颠倒问题！ + +--- + +## 三层映射关系 + +### 示例：手动传递窗右（A01-E03） + +#### 1️⃣ 前端显示层 - [`YB_warehouses.py`](YB_warehouses.py) + +```python +def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse: + """创建 5行×3列×1层 仓库""" + return warehouse_factory( + name=name, + num_items_x=3, # 3列 + num_items_y=5, # 5行 + num_items_z=1, # 1层 + row_offset=row_offset, + layout="row-major", + ) +``` + +**自动生成的库位：** A01, A02, A03, B01, B02, B03, ..., E01, E02, E03 + +#### 2️⃣ Deck 布局层 - [`decks.py`](decks.py) + +```python +self.warehouses = { + "手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0), +} +self.warehouse_locations = { + "手动传递窗右": Coordinate(4160.0, 877.0, 0.0), +} +``` + +**作用：** +- 创建仓库实例 +- 设置在 Deck 上的物理坐标 + +#### 3️⃣ UUID 映射层 - [`config.py`](../../devices/workstation/bioyond_studio/config.py) + +```python +WAREHOUSE_MAPPING = { + "手动传递窗右": { + "uuid": "", + "site_uuids": { + "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea", + "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe", + # ... 其他库位 + } + } +} +``` + +**作用：** +- 用户拖拽物料到"手动传递窗右"的"A01"位置时 +- 系统查找 `WAREHOUSE_MAPPING["手动传递窗右"]["site_uuids"]["A01"]` +- 获取 UUID `"3a19deae-2c7a-36f5-5e41-02c5b66feaea"` +- 调用 Bioyond API 将物料入库到该 UUID 位置 + +--- + +## 实际配置案例 + +### 案例：手动传递窗左/右的完整配置 + +本案例展示如何为"手动传递窗右"和"手动传递窗左"建立完整的三层映射。 + +#### 背景需求 +- **手动传递窗右**: 需要 A01-E03（5行×3列=15个库位） +- **手动传递窗左**: 需要 F01-J03（5行×3列=15个库位） +- 这两个仓库共享同一个物理堆栈的 UUID（"手动堆栈"） + +#### 实施步骤 + +**1️⃣ 修复前端布局** - [`YB_warehouses.py`](YB_warehouses.py) + +```python +# 创建新的 5×3×1 仓库函数（之前是错误的 1×3×3） +def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse: + """创建5行×3列×1层仓库，支持行偏移生成不同字母行""" + return warehouse_factory( + name=name, + num_items_x=3, # 3列 + num_items_y=5, # 5行 ← 修正 + num_items_z=1, # 1层 ← 修正 + row_offset=row_offset, # ← 支持 F-J 行 + layout="row-major", # ← 避免上下颠倒 + ) +``` + +**2️⃣ 更新 Deck 配置** - [`decks.py`](decks.py) + +```python +from unilabos.resources.bioyond.YB_warehouses import ( + bioyond_warehouse_5x3x1, # 新增导入 +) + +class BIOYOND_YB_Deck(Deck): + def setup(self) -> None: + self.warehouses = { + # 修改前: bioyond_warehouse_1x3x3 (错误尺寸) + # 修改后: bioyond_warehouse_5x3x1 (正确尺寸) + "手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0), # A01-E03 + "手动传递窗左": bioyond_warehouse_5x3x1("手动传递窗左", row_offset=5), # F01-J03 + } +``` + +**3️⃣ 添加 UUID 映射** - [`config.py`](../../devices/workstation/bioyond_studio/config.py) + +```python +WAREHOUSE_MAPPING = { + # 保持原有的"手动堆栈"配置不变（A01-J03共30个库位） + "手动堆栈": { + "uuid": "", + "site_uuids": { + "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea", + # ... A02-E03 共15个 + "F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a", + # ... F02-J03 共15个 + } + }, + + # [新增] 手动传递窗右 - 复用"手动堆栈"的 A01-E03 UUID + "手动传递窗右": { + "uuid": "", + "site_uuids": { + "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea", # ← 与手动堆栈A01相同 + "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe", + "A03": "3a19deae-2c7a-5876-c454-6b7e224ca927", + "B01": "3a19deae-2c7a-2426-6d71-e9de3cb158b1", + "B02": "3a19deae-2c7a-79b0-5e44-efaafd1e4cf3", + "B03": "3a19deae-2c7a-b9eb-f4e3-e308e0cf839a", + "C01": "3a19deae-2c7a-32bc-768e-556647e292f3", + "C02": "3a19deae-2c7a-e97a-8484-f5a4599447c4", + "C03": "3a19deae-2c7a-3056-6504-10dc73fbc276", + "D01": "3a19deae-2c7a-ffad-875e-8c4cda61d440", + "D02": "3a19deae-2c7a-61be-601c-b6fb5610499a", + "D03": "3a19deae-2c7a-c0f7-05a7-e3fe2491e560", + "E01": "3a19deae-2c7a-a6f4-edd1-b436a7576363", + "E02": "3a19deae-2c7a-4367-96dd-1ca2186f4910", + "E03": "3a19deae-2c7a-b163-2219-23df15200311", + } + }, + + # [新增] 手动传递窗左 - 复用"手动堆栈"的 F01-J03 UUID + "手动传递窗左": { + "uuid": "", + "site_uuids": { + "F01": "3a19deae-2c7a-d594-fd6a-0d20de3c7c4a", # ← 与手动堆栈F01相同 + "F02": "3a19deae-2c7a-a194-ea63-8b342b8d8679", + "F03": "3a19deae-2c7a-f7c4-12bd-425799425698", + "G01": "3a19deae-2c7a-0b56-72f1-8ab86e53b955", + "G02": "3a19deae-2c7a-204e-95ed-1f1950f28343", + "G03": "3a19deae-2c7a-392b-62f1-4907c66343f8", + "H01": "3a19deae-2c7a-5602-e876-d27aca4e3201", + "H02": "3a19deae-2c7a-f15c-70e0-25b58a8c9702", + "H03": "3a19deae-2c7a-780b-8965-2e1345f7e834", + "I01": "3a19deae-2c7a-8849-e172-07de14ede928", + "I02": "3a19deae-2c7a-4772-a37f-ff99270bafc0", + "I03": "3a19deae-2c7a-cce7-6e4a-25ea4a2068c4", + "J01": "3a19deae-2c7a-1848-de92-b5d5ed054cc6", + "J02": "3a19deae-2c7a-1d45-b4f8-6f866530e205", + "J03": "3a19deae-2c7a-f237-89d9-8fe19025dee9" + } + }, +} +``` + +#### 关键要点 + +1. **UUID 可以复用**: 三个仓库（手动堆栈、手动传递窗右、手动传递窗左）可以共享相同的物理库位 UUID +2. **库位名称必须匹配**: 前端生成的库位名称（如 F01）必须与 config.py 中的键名完全一致 +3. **row_offset 的妙用**: + - `row_offset=0` → 生成 A-E 行 + - `row_offset=5` → 生成 F-J 行（跳过前5个字母） + +#### 验证结果 + +配置完成后，拖拽测试： + +| 拖拽位置 | 前端库位 | 查找路径 | UUID | 结果 | +|---------|---------|---------|------|------| +| 手动传递窗右/A01 | A01 | `WAREHOUSE_MAPPING["手动传递窗右"]["site_uuids"]["A01"]` | `3a19...eaea` | ✅ 正确入库 | +| 手动传递窗左/F01 | F01 | `WAREHOUSE_MAPPING["手动传递窗左"]["site_uuids"]["F01"]` | `3a19...c4a` | ✅ 正确入库 | +| 手动堆栈/A01 | A01 | `WAREHOUSE_MAPPING["手动堆栈"]["site_uuids"]["A01"]` | `3a19...eaea` | ✅ 仍然正常 | + + +--- + +## warehouse_factory 详解 + +### 函数签名 + +```python +def warehouse_factory( + name: str, + num_items_x: int = 1, # 列数 + num_items_y: int = 4, # 行数 + num_items_z: int = 4, # 层数 + dx: float = 137.0, # X 起始偏移 + dy: float = 96.0, # Y 起始偏移 + dz: float = 120.0, # Z 起始偏移 + item_dx: float = 10.0, # X 间距 + item_dy: float = 10.0, # Y 间距 + item_dz: float = 10.0, # Z 间距 + col_offset: int = 0, # 列偏移（影响数字） + row_offset: int = 0, # 行偏移（影响字母） + layout: str = "col-major", # 布局模式 +) -> WareHouse: +``` + +### 参数说明 + +#### 尺寸参数 +- **num_items_x, y, z**: 定义仓库的网格尺寸 +- **注意**: 当 `num_items_z > 1` 时，Z 轴会被映射为数字列 + +#### 位置参数 +- **dx, dy, dz**: 第一个库位的起始坐标 +- **item_dx, dy, dz**: 库位之间的间距 + +#### 偏移参数 +- **col_offset**: 列起始偏移，用于生成 A05-D08 等命名 + ```python + col_offset=4 # 生成 A05, A06, A07, A08 + ``` + +- **row_offset**: 行起始偏移，用于生成 F01-J03 等命名 + ```python + row_offset=5 # 生成 F01, F02, F03（跳过 A-E） + ``` + +#### 布局参数 +- **layout**: + - `"col-major"`: 列优先（默认），可能导致上下颠倒 + - `"row-major"`: 行优先，**推荐使用**，A 显示在上 + +### 库位生成逻辑 + +```python +# row-major 模式（推荐） +keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}" + for j in range(num_y) + for i in range(num_x)] + +# 示例：num_y=2, num_x=3, row_offset=0, col_offset=0 +# 生成：A01, A02, A03, B01, B02, B03 +``` + +### Y 坐标计算 + +```python +if layout == "row-major": + # A 在上（Y 较小） + y = dy + row * item_dy +else: + # A 在下（Y 较大）- 不推荐 + y = dy + (num_items_y - row - 1) * item_dy +``` + +--- + +## 创建新仓库 + +### 步骤 1: 在 YB_warehouses.py 中创建函数 + +```python +def bioyond_warehouse_3x4x1(name: str) -> WareHouse: + """创建 3行×4列×1层 仓库 + + 布局: + A01 | A02 | A03 | A04 + B01 | B02 | B03 | B04 + C01 | C02 | C03 | C04 + """ + return warehouse_factory( + name=name, + num_items_x=4, # 4列 + num_items_y=3, # 3行 + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=120.0, + item_dz=120.0, + category="warehouse", + layout="row-major", # ⭐ 推荐使用 + ) +``` + +### 步骤 2: 在 decks.py 中使用 + +```python +# 1. 导入函数 +from unilabos.resources.bioyond.YB_warehouses import ( + bioyond_warehouse_3x4x1, # 新增 +) + +# 2. 在 setup() 中添加 +self.warehouses = { + "我的新仓库": bioyond_warehouse_3x4x1("我的新仓库"), +} +self.warehouse_locations = { + "我的新仓库": Coordinate(100.0, 200.0, 0.0), +} +``` + +### 步骤 3: 在 config.py 中配置 UUID（可选） + +```python +WAREHOUSE_MAPPING = { + "我的新仓库": { + "uuid": "", + "site_uuids": { + "A01": "从 Bioyond 系统获取的 UUID", + "A02": "从 Bioyond 系统获取的 UUID", + # ... 其他 11 个库位 + } + } +} +``` + +**注意：** 如果不需要拖拽入库功能，可跳过此步骤。 + +--- + +## 常见问题 + +### Q1: 为什么库位显示上下颠倒（C 在上，A 在下）？ + +**原因：** 使用了默认的 `col-major` 布局。 + +**解决：** 在 `warehouse_factory` 中添加 `layout="row-major"` + +```python +return warehouse_factory( + ... + layout="row-major", # ← 添加这行 +) +``` + +### Q2: 我需要 1×3×3 还是 3×3×1？ + +**判断方法：** +- **1×3×3**: 1列×3行×3**层**（垂直堆叠，有高度） +- **3×3×1**: 3行×3列×1**层**（平面网格） + +**推荐：** 大多数情况使用 `X×Y×1`（平面网格）更直观。 + +### Q3: 如何生成 F01-J03 而非 A01-E03？ + +**方法：** 使用 `row_offset` 参数 + +```python +bioyond_warehouse_5x3x1("仓库名", row_offset=5) +# row_offset=5 跳过 A-E，从 F 开始 +``` + +### Q4: 拖拽物料后找不到 UUID 怎么办？ + +**检查清单：** +1. `config.py` 中是否有该仓库的配置？ +2. 仓库名称是否完全匹配？ +3. 库位名称（如 A01）是否在 `site_uuids` 中？ + +**示例错误：** +```python +# decks.py +"手动传递窗右": bioyond_warehouse_5x3x1(...) + +# config.py - ❌ 名称不匹配 +"手动传递窗": { ... } # 缺少"右"字 +``` + +### Q5: 库位重叠怎么办？ + +**原因：** 间距（`item_dx/dy/dz`）太小。 + +**解决：** 增大间距参数 + +```python +item_dx=150.0, # 增大 X 间距 +item_dy=130.0, # 增大 Y 间距 +``` + +--- + +## 调试技巧 + +### 1. 查看生成的库位 + +```python +warehouse = bioyond_warehouse_5x3x1("测试仓库") +print(list(warehouse.sites.keys())) +# 输出：['A01', 'A02', 'A03', 'B01', 'B02', ...] +``` + +### 2. 检查库位坐标 + +```python +for name, site in warehouse.sites.items(): + print(f"{name}: {site.location}") +# 输出： +# A01: Coordinate(x=10.0, y=10.0, z=120.0) +# A02: Coordinate(x=147.0, y=10.0, z=120.0) +# ... +``` + +### 3. 验证 UUID 映射 + +```python +from unilabos.devices.workstation.bioyond_studio.config import WAREHOUSE_MAPPING + +warehouse_name = "手动传递窗右" +location_code = "A01" + +if warehouse_name in WAREHOUSE_MAPPING: + uuid = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"].get(location_code) + print(f"{warehouse_name}/{location_code} → {uuid}") +else: + print(f"❌ 未找到仓库: {warehouse_name}") +``` + +--- + +## 文件关系图 + +``` +unilabos/ +├── resources/ +│ ├── warehouse.py # warehouse_factory 核心实现 +│ └── bioyond/ +│ ├── YB_warehouses.py # ⭐ 仓库函数定义 +│ ├── decks.py # ⭐ Deck 布局配置 +│ └── README_WAREHOUSE.md # 📖 本文档 +└── devices/ + └── workstation/ + └── bioyond_studio/ + ├── config.py # ⭐ UUID 映射配置 + └── bioyond_cell/ + └── bioyond_cell_workstation.py # 业务逻辑 +``` + +--- + +## 版本历史 + +- **v1.1** (2026-01-08): 补充实际配置案例 + - 添加"手动传递窗右"和"手动传递窗左"的完整配置示例 + - 展示 UUID 复用的实际应用 + - 说明三个仓库共享物理堆栈的配置方法 + +- **v1.0** (2026-01-07): 初始版本 + - 新增 `row_offset` 参数支持 + - 创建 `bioyond_warehouse_5x3x1` 和 `bioyond_warehouse_2x2x1` + - 修复多个仓库的上下颠倒问题 + +--- + +## 相关资源 + +- [warehouse.py](../warehouse.py) - 核心工厂函数实现 +- [YB_warehouses.py](YB_warehouses.py) - 所有仓库定义 +- [decks.py](decks.py) - Deck 布局配置 +- [config.py](../../devices/workstation/bioyond_studio/config.py) - UUID 映射 + +--- + +**维护者：** Uni-Lab-OS 开发团队 +**最后更新：** 2026-01-07 diff --git a/unilabos/resources/bioyond/YB_bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py new file mode 100644 index 00000000..29a53242 --- /dev/null +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -0,0 +1,653 @@ +from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d + +from unilabos.resources.itemized_carrier import Bottle, BottleCarrier +from unilabos.resources.bioyond.YB_bottles import ( + YB_jia_yang_tou_da, + YB_ye_Bottle, + YB_ye_100ml_Bottle, + YB_gao_nian_ye_Bottle, + YB_5ml_fenyeping, + YB_20ml_fenyeping, + YB_pei_ye_xiao_Bottle, + YB_pei_ye_da_Bottle, + YB_qiang_tou, +) +# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial + + +def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier: + """6瓶载架 - 2x3布局""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 50.0 + + # 瓶位尺寸 + bottle_diameter = 30.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=3, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="Electrolyte_6VialCarrier", + ) + carrier.num_items_x = 3 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + # for i in range(6): + # carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}") + return carrier + + +def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: + """1瓶载架 - 单个中央位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 100.0 + + # 烧杯尺寸 + beaker_diameter = 80.0 + + # 计算中央位置 + center_x = (carrier_size_x - beaker_diameter) / 2 + center_y = (carrier_size_y - beaker_diameter) / 2 + center_z = 5.0 + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(center_x, center_y, center_z)], + resource_size_x=beaker_diameter, + resource_size_y=beaker_diameter, + name_prefix=name, + ), + model="Electrolyte_1BottleCarrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + # carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1") + return carrier + + +def YB_6StockCarrier(name: str) -> BottleCarrier: + """6瓶载架 - 2x3布局""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 50.0 + + # 瓶位尺寸 + bottle_diameter = 20.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=3, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="6StockCarrier", + ) + carrier.num_items_x = 3 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 + # for i in range(6): + # carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}") + return carrier + + +def YB_6VialCarrier(name: str) -> BottleCarrier: + """6瓶载架 - 2x3布局""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 50.0 + + # 瓶位尺寸 + bottle_diameter = 30.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=3, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="6VialCarrier", + ) + carrier.num_items_x = 3 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 + # for i in range(3): + # carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}") + # for i in range(3, 6): + # carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") + return carrier + +# 1瓶载架 - 单个中央位置 +def YB_ye(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯尺寸 + beaker_diameter = 60.0 + + # 计算中央位置 + center_x = (carrier_size_x - beaker_diameter) / 2 + center_y = (carrier_size_y - beaker_diameter) / 2 + center_z = 5.0 + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(center_x, center_y, center_z)], + resource_size_x=beaker_diameter, + resource_size_y=beaker_diameter, + name_prefix=name, + ), + model="YB_ye", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_ye_Bottle(f"{name}_flask_1") + return carrier + + +# 高粘液瓶载架 - 单个中央位置 +def YB_gaonianye(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯尺寸 + beaker_diameter = 60.0 + + # 计算中央位置 + center_x = (carrier_size_x - beaker_diameter) / 2 + center_y = (carrier_size_y - beaker_diameter) / 2 + center_z = 5.0 + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(center_x, center_y, center_z)], + resource_size_x=beaker_diameter, + resource_size_y=beaker_diameter, + name_prefix=name, + ), + model="YB_gaonianye", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1") + return carrier + + +# 100ml液体瓶载架 - 单个中央位置 +def YB_100ml_yeti(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯尺寸 + beaker_diameter = 60.0 + + # 计算中央位置 + center_x = (carrier_size_x - beaker_diameter) / 2 + center_y = (carrier_size_y - beaker_diameter) / 2 + center_z = 5.0 + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(center_x, center_y, center_z)], + resource_size_x=beaker_diameter, + resource_size_y=beaker_diameter, + name_prefix=name, + ), + model="YB_100ml_yeti", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1") + return carrier + +# 5ml分液瓶板 - 4x2布局，8个位置 +def YB_5ml_fenyepingban(name: str) -> BottleCarrier: + + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 50.0 + + # 瓶位尺寸 + bottle_diameter = 15.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=4, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_5ml_fenyepingban", + ) + carrier.num_items_x = 4 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] + for i in range(8): + carrier[i] = YB_5ml_fenyeping(f"{name}_vial_{ordering[i]}") + return carrier + +# 20ml分液瓶板 - 4x2布局，8个位置 +def YB_20ml_fenyepingban(name: str) -> BottleCarrier: + + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 70.0 + + # 瓶位尺寸 + bottle_diameter = 20.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=4, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_20ml_fenyepingban", + ) + carrier.num_items_x = 4 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] + for i in range(8): + carrier[i] = YB_20ml_fenyeping(f"{name}_vial_{ordering[i]}") + return carrier + +# 配液瓶(小)板 - 4x2布局，8个位置 +def YB_peiyepingxiaoban(name: str) -> BottleCarrier: + + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 65.0 + + # 瓶位尺寸 + bottle_diameter = 35.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=4, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_peiyepingxiaoban", + ) + carrier.num_items_x = 4 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] + for i in range(8): + carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}") + return carrier + + +# 配液瓶(大)板 - 2x2布局，4个位置 +def YB_peiyepingdaban(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 95.0 + + # 瓶位尺寸 + bottle_diameter = 55.0 + bottle_spacing_x = 60.0 # X方向间距 + bottle_spacing_y = 60.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=2, + num_items_y=2, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_peiyepingdaban", + ) + carrier.num_items_x = 2 + carrier.num_items_y = 2 + carrier.num_items_z = 1 + ordering = ["A1", "A2", "B1", "B2"] + for i in range(4): + carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}") + return carrier + +# 加样头(大)板 - 1x1布局，1个位置 +def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 95.0 + + # 瓶位尺寸 + bottle_diameter = 35.0 + bottle_spacing_x = 42.0 # X方向间距 + bottle_spacing_y = 35.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2 + start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=1, + num_items_y=1, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=bottle_spacing_x, + item_dy=bottle_spacing_y, + size_x=bottle_diameter, + size_y=bottle_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_jia_yang_tou_da_Carrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1") + return carrier + + +def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier: + """适配器块 - 单个中央位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 30.0 + + # 适配器尺寸 + adapter_diameter = 80.0 + + # 计算中央位置 + center_x = (carrier_size_x - adapter_diameter) / 2 + center_y = (carrier_size_y - adapter_diameter) / 2 + center_z = 0.0 + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(center_x, center_y, center_z)], + resource_size_x=adapter_diameter, + resource_size_y=adapter_diameter, + name_prefix=name, + ), + model="YB_shi_pei_qi_kuai", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + # 适配器块本身不包含瓶子，只是一个支撑结构 + return carrier + + +def YB_qiang_tou_he(name: str) -> BottleCarrier: + """枪头盒 - 8x12布局，96个位置""" + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 55.0 + + # 枪头尺寸 + tip_diameter = 10.0 + tip_spacing_x = 9.0 # X方向间距 + tip_spacing_y = 9.0 # Y方向间距 + + # 计算起始位置 (居中排列) + start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2 + start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2 + + sites = create_ordered_items_2d( + klass=ResourceHolder, + num_items_x=12, + num_items_y=8, + dx=start_x, + dy=start_y, + dz=5.0, + item_dx=tip_spacing_x, + item_dy=tip_spacing_y, + size_x=tip_diameter, + size_y=tip_diameter, + size_z=carrier_size_z, + ) + for k, v in sites.items(): + v.name = f"{name}_{v.name}" + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=sites, + model="YB_qiang_tou_he", + ) + carrier.num_items_x = 12 + carrier.num_items_y = 8 + carrier.num_items_z = 1 + # 创建96个枪头 + for i in range(96): + row = chr(65 + i // 12) # A-H + col = (i % 12) + 1 # 1-12 + carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}") + return carrier + diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py new file mode 100644 index 00000000..acbbf35b --- /dev/null +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -0,0 +1,163 @@ +from unilabos.resources.itemized_carrier import Bottle, BottleCarrier +# 工厂函数 +"""加样头（大）""" +def YB_jia_yang_tou_da( + name: str, + diameter: float = 20.0, + height: float = 100.0, + max_volume: float = 30000.0, # 30mL + barcode: str = None, +) -> Bottle: + """创建粉末瓶""" + return Bottle( + name=name, + diameter=diameter,# 未知 + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_jia_yang_tou_da", + ) + +"""液1x1""" +def YB_ye_Bottle( + name: str, + diameter: float = 40.0, + height: float = 70.0, + max_volume: float = 50000.0, # 50mL + barcode: str = None, +) -> Bottle: + """创建液体瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_ye_Bottle", + ) + +"""100ml液体""" +def YB_ye_100ml_Bottle( + name: str, + diameter: float = 50.0, + height: float = 90.0, + max_volume: float = 100000.0, # 100mL + barcode: str = None, +) -> Bottle: + """创建100ml液体瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_100ml_yeti", + ) + +"""高粘液""" +def YB_gao_nian_ye_Bottle( + name: str, + diameter: float = 40.0, + height: float = 70.0, + max_volume: float = 50000.0, # 50mL + barcode: str = None, +) -> Bottle: + """创建高粘液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="High_Viscosity_Liquid", + ) + +"""5ml分液瓶""" +def YB_5ml_fenyeping( + name: str, + diameter: float = 20.0, + height: float = 50.0, + max_volume: float = 5000.0, # 5mL + barcode: str = None, +) -> Bottle: + """创建5ml分液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_5ml_fenyeping", + ) + +"""20ml分液瓶""" +def YB_20ml_fenyeping( + name: str, + diameter: float = 30.0, + height: float = 65.0, + max_volume: float = 20000.0, # 20mL + barcode: str = None, +) -> Bottle: + """创建20ml分液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_20ml_fenyeping", + ) + +"""配液瓶(小)""" +def YB_pei_ye_xiao_Bottle( + name: str, + diameter: float = 35.0, + height: float = 60.0, + max_volume: float = 30000.0, # 30mL + barcode: str = None, +) -> Bottle: + """创建配液瓶(小)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_pei_ye_xiao_Bottle", + ) + +"""配液瓶(大)""" +def YB_pei_ye_da_Bottle( + name: str, + diameter: float = 55.0, + height: float = 100.0, + max_volume: float = 150000.0, # 150mL + barcode: str = None, +) -> Bottle: + """创建配液瓶(大)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_pei_ye_da_Bottle", + ) + +"""枪头""" +def YB_qiang_tou( + name: str, + diameter: float = 10.0, + height: float = 50.0, + max_volume: float = 1000.0, # 1mL + barcode: str = None, +) -> Bottle: + """创建枪头""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="YB_qiang_tou", + ) diff --git a/unilabos/resources/bioyond/YB_warehouses.py b/unilabos/resources/bioyond/YB_warehouses.py new file mode 100644 index 00000000..7b3ab510 --- /dev/null +++ b/unilabos/resources/bioyond/YB_warehouses.py @@ -0,0 +1,384 @@ +from unilabos.resources.warehouse import WareHouse, warehouse_factory + +# ================ 反应站相关堆栈 ================ + +def bioyond_warehouse_1x4x4(name: str) -> WareHouse: + """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04) + + 使用行优先排序，前端展示为: + A01 | A02 | A03 | A04 + B01 | B02 | B03 | B04 + C01 | C02 | C03 | C04 + D01 | D02 | D03 | D04 + """ + return warehouse_factory( + name=name, + num_items_x=4, # 4列 + num_items_y=4, # 4行 + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=147.0, + item_dy=106.0, + item_dz=130.0, + category="warehouse", + col_offset=0, # 从01开始: A01, A02, A03, A04 + layout="row-major", # ⭐ 改为行优先排序 + ) + +def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse: + """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)""" + return warehouse_factory( + name=name, + num_items_x=4, + num_items_y=4, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=147.0, + item_dy=106.0, + item_dz=130.0, + category="warehouse", + col_offset=4, # 从05开始: A05, A06, A07, A08 + layout="row-major", # ⭐ 改为行优先排序 + ) + +def bioyond_warehouse_density_vial(name: str) -> WareHouse: + """创建测量小瓶仓库(测密度) A01～B03""" + return warehouse_factory( + name=name, + num_items_x=3, # 3列（01-03） + num_items_y=2, # 2行（A-B） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=40.0, + item_dy=40.0, + item_dz=50.0, + # 用更小的 resource_size 来表现 "小点的孔位" + resource_size_x=30.0, + resource_size_y=30.0, + resource_size_z=12.0, + category="warehouse", + col_offset=0, + layout="row-major", + ) + +def bioyond_warehouse_reagent_storage(name: str) -> WareHouse: + """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）""" + return warehouse_factory( + name=name, + num_items_x=2, # 2列（01-02） + num_items_y=1, # 1行（A） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + +def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse: + """创建BioYond站内Tip盒堆栈（A01～B03, 2行×3列）""" + return warehouse_factory( + name=name, + num_items_x=3, # 3列（01-03） + num_items_y=2, # 2行（A-B） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + col_offset=0, + layout="row-major", + ) + +def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse: + """已弃用,创建BioYond移液站内10%分装液体准备仓库（A01～B04）""" + return warehouse_factory( + name=name, + num_items_x=4, # 4列（01-04） + num_items_y=2, # 2行（A-B） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + col_offset=0, + layout="row-major", + ) + +# ================ 配液站相关堆栈 ================ + +def bioyond_warehouse_reagent_stack(name: str) -> WareHouse: + """创建BioYond 试剂堆栈 2x4x1 (2行×4列: A01-A04, B01-B04) + + 使用行优先排序，前端展示为: + A01 | A02 | A03 | A04 + B01 | B02 | B03 | B04 + """ + return warehouse_factory( + name=name, + num_items_x=4, # 4列 (01-04) + num_items_y=2, # 2行 (A-B) + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=147.0, + item_dy=106.0, + item_dz=130.0, + category="warehouse", + col_offset=0, # 从01开始 + layout="row-major", # ⭐ 使用行优先排序: A01,A02,A03,A04, B01,B02,B03,B04 + ) + + # 定义bioyond的堆栈 + +# =================== Other =================== + +def bioyond_warehouse_1x4x2(name: str) -> WareHouse: + """创建BioYond 4x2x1仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=4, + num_items_z=2, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + removed_positions=None + ) + +def bioyond_warehouse_1x2x2(name: str) -> WareHouse: + """创建BioYond 1x2x2仓库（1列×2行×2层）- 旧版本，已弃用 + + 布局（2层）: + 层1: A01 + B01 + 层2: A02 + B02 + """ + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=2, + num_items_z=2, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + layout="row-major", # 使用行优先避免上下颠倒 + ) + +def bioyond_warehouse_2x2x1(name: str) -> WareHouse: + """创建BioYond 2x2x1仓库（2行×2列×1层） + + 布局: + A01 | A02 + B01 | B02 + """ + return warehouse_factory( + name=name, + num_items_x=2, # 2列 + num_items_y=2, # 2行 + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + layout="row-major", # 使用行优先避免上下颠倒 + ) + + +def bioyond_warehouse_10x1x1(name: str) -> WareHouse: + """创建BioYond 10x1x1仓库""" + return warehouse_factory( + name=name, + num_items_x=10, + num_items_y=1, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + +def bioyond_warehouse_1x3x3(name: str) -> WareHouse: + """创建BioYond 1x3x3仓库""" + return warehouse_factory( + name=name, + num_items_x=1, + num_items_y=3, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=120.0, # 增大Y方向间距以避免重叠 + item_dz=120.0, + category="warehouse", + ) + +def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse: + """创建BioYond 5x3x1仓库（5行×3列×1层） + + 标准布局（row_offset=0）: + A01 | A02 | A03 + B01 | B02 | B03 + C01 | C02 | C03 + D01 | D02 | D03 + E01 | E02 | E03 + + 带偏移布局（row_offset=5）: + F01 | F02 | F03 + G01 | G02 | G03 + H01 | H02 | H03 + I01 | I02 | I03 + J01 | J02 | J03 + """ + return warehouse_factory( + name=name, + num_items_x=3, # 3列 + num_items_y=5, # 5行 + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=120.0, + item_dz=120.0, + category="warehouse", + col_offset=0, + row_offset=row_offset, # 支持行偏移 + layout="row-major", # 使用行优先避免颠倒 + ) + + +def bioyond_warehouse_3x3x1(name: str) -> WareHouse: + """创建BioYond 3x3x1仓库（3行×3列×1层） + + 布局: + A01 | A02 | A03 + B01 | B02 | B03 + C01 | C02 | C03 + """ + return warehouse_factory( + name=name, + num_items_x=3, + num_items_y=3, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + layout="row-major", # ⭐ 使用行优先避免上下颠倒 + ) +def bioyond_warehouse_2x1x3(name: str) -> WareHouse: + """创建BioYond 2x1x3仓库""" + return warehouse_factory( + name=name, + num_items_x=2, + num_items_y=1, + num_items_z=3, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + + +def bioyond_warehouse_5x1x1(name: str) -> WareHouse: + """已弃用：创建BioYond 5x1x1仓库""" + return warehouse_factory( + name=name, + num_items_x=5, + num_items_y=1, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + +def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse: + """已弃用：创建BioYond 3x3x1仓库""" + return warehouse_factory( + name=name, + num_items_x=3, + num_items_y=3, + num_items_z=1, + dx=12.0, + dy=12.0, + dz=12.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + +def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: + """创建BioYond开关盖加液模块台面""" + return warehouse_factory( + name=name, + num_items_x=2, + num_items_y=5, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + removed_positions=None + ) + +def bioyond_warehouse_1x8x4(name: str) -> WareHouse: + """创建BioYond 8x4x1反应站堆栈（A01～D08）""" + return warehouse_factory( + name=name, + num_items_x=8, # 8列（01-08） + num_items_y=4, # 4行（A-D） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=147.0, + item_dy=106.0, + item_dz=130.0, + category="warehouse", + ) diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py index d60d65ab..7045d8b7 100644 --- a/unilabos/resources/bioyond/bottles.py +++ b/unilabos/resources/bioyond/bottles.py @@ -193,3 +193,20 @@ def BIOYOND_PolymerStation_Flask( barcode=barcode, model="BIOYOND_PolymerStation_Flask", ) + +def BIOYOND_PolymerStation_Measurement_Vial( + name: str, + diameter: float = 25.0, + height: float = 60.0, + max_volume: float = 20000.0, # 20mL + barcode: str = None, +) -> Bottle: + """创建测量小瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_Measurement_Vial", + ) diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index 5572536b..5f3b2c4e 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,14 +1,16 @@ from os import name from pylabrobot.resources import Deck, Coordinate, Rotation -from unilabos.resources.bioyond.warehouses import ( +from unilabos.resources.bioyond.YB_warehouses import ( bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x4_right, # 新增：右侧仓库 (A05～D08) bioyond_warehouse_1x4x2, bioyond_warehouse_reagent_stack, # 新增：试剂堆栈 (A1-B4) bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, + bioyond_warehouse_2x2x1, # 新增：321和43窗口 (2行×2列) bioyond_warehouse_1x3x3, + bioyond_warehouse_5x3x1, # 新增：手动传递窗仓库 (5行×3列) bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, @@ -16,9 +18,12 @@ from unilabos.resources.bioyond.warehouses import ( bioyond_warehouse_1x8x4, bioyond_warehouse_reagent_storage, # bioyond_warehouse_liquid_preparation, - bioyond_warehouse_tipbox_storage, # 新增：Tip盒堆栈 bioyond_warehouse_density_vial, ) +from unilabos.resources.bioyond.warehouses import ( + bioyond_warehouse_tipbox_storage_left, # 新增：Tip盒堆栈(左) + bioyond_warehouse_tipbox_storage_right, # 新增：Tip盒堆栈(右) +) class BIOYOND_PolymerReactionStation_Deck(Deck): @@ -45,24 +50,22 @@ class BIOYOND_PolymerReactionStation_Deck(Deck): "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"), # 右侧堆栈: A05～D08 "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"), # A01～A02 # "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"), # A01～B04 - "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"), # A01～B03, 存放枪头盒. + "站内Tip盒堆栈(左)": bioyond_warehouse_tipbox_storage_left("站内Tip盒堆栈(左)"), # A02～B03 + "站内Tip盒堆栈(右)": bioyond_warehouse_tipbox_storage_right("站内Tip盒堆栈(右)"), # A01～B01 "测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"), # A01～B03 } self.warehouse_locations = { - "堆栈1左": Coordinate(0.0, 430.0, 0.0), # 左侧位置 - "堆栈1右": Coordinate(2500.0, 430.0, 0.0), # 右侧位置 - "站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0), - # "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0), - "站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0), - "测量小瓶仓库(测密度)": Coordinate(922.0, 552.0, 0.0), + "堆栈1左": Coordinate(-200.0, 400.0, 0.0), # 左侧位置 + "堆栈1右": Coordinate(2350.0, 400.0, 0.0), # 右侧位置 + "站内试剂存放堆栈": Coordinate(640.0, 400.0, 0.0), + "站内Tip盒堆栈(左)": Coordinate(300.0, 100.0, 0.0), + "站内Tip盒堆栈(右)": Coordinate(2250.0, 100.0, 0.0), # 向右偏移 2 * item_dx (137.0) + "测量小瓶仓库(测密度)": Coordinate(1000.0, 530.0, 0.0), } - self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90) - self.warehouses["测量小瓶仓库(测密度)"].rotation = Rotation(z=270) for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) - class BIOYOND_PolymerPreparationStation_Deck(Deck): def __init__( self, @@ -90,9 +93,9 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck): "溶液堆栈": bioyond_warehouse_1x4x4("溶液堆栈"), # 4行×4列 (A01-D04) } self.warehouse_locations = { - "粉末堆栈": Coordinate(0.0, 450.0, 0.0), - "试剂堆栈": Coordinate(1850.0, 200.0, 0.0), - "溶液堆栈": Coordinate(2500.0, 450.0, 0.0), + "粉末堆栈": Coordinate(-200.0, 400.0, 0.0), + "试剂堆栈": Coordinate(1750.0, 160.0, 0.0), + "溶液堆栈": Coordinate(2350.0, 400.0, 0.0), } for warehouse_name, warehouse in self.warehouses.items(): @@ -115,10 +118,10 @@ class BIOYOND_YB_Deck(Deck): def setup(self) -> None: # 添加仓库 self.warehouses = { - "321窗口": bioyond_warehouse_1x2x2("321窗口"), - "43窗口": bioyond_warehouse_1x2x2("43窗口"), - "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"), - "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"), + "321窗口": bioyond_warehouse_2x2x1("321窗口"), # 2行×2列 + "43窗口": bioyond_warehouse_2x2x1("43窗口"), # 2行×2列 + "手动传递窗右": bioyond_warehouse_5x3x1("手动传递窗右", row_offset=0), # A01-E03 + "手动传递窗左": bioyond_warehouse_5x3x1("手动传递窗左", row_offset=5), # F01-J03 "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"), "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"), @@ -126,6 +129,7 @@ class BIOYOND_YB_Deck(Deck): "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"), "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"), "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"), + "2号手套箱内部堆栈": bioyond_warehouse_3x3x1("2号手套箱内部堆栈"), # 新增：3行×3列 (A01-C03) } # warehouse 的位置 self.warehouse_locations = { @@ -140,10 +144,12 @@ class BIOYOND_YB_Deck(Deck): "母液加样右": Coordinate(2152.0, 333.0, 0.0), "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0), "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0), + "2号手套箱内部堆栈": Coordinate(-800, -500.0, 0.0), # 新增：位置需根据实际硬件调整 } for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + def YB_Deck(name: str) -> Deck: by=BIOYOND_YB_Deck(name=name) by.setup() diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index ae9e473d..547af1e3 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -46,48 +46,62 @@ def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse: ) def bioyond_warehouse_density_vial(name: str) -> WareHouse: - """创建测量小瓶仓库(测密度) A01～B03""" + """创建测量小瓶仓库(测密度) - 竖向排列2列3行 + 布局（从下到上，从左到右）： + | A03 | B03 | ← 顶部 + | A02 | B02 | ← 中部 + | A01 | B01 | ← 底部 + """ return warehouse_factory( name=name, - num_items_x=3, # 3列（01-03） - num_items_y=2, # 2行（A-B） + num_items_x=2, # 2列（A, B） + num_items_y=3, # 3行（01-03，从下到上） num_items_z=1, # 1层 dx=10.0, dy=10.0, dz=10.0, - item_dx=40.0, - item_dy=40.0, + item_dx=40.0, # 列间距（A到B的横向距离） + item_dy=40.0, # 行间距（01到02到03的竖向距离） item_dz=50.0, - # 用更小的 resource_size 来表现 "小点的孔位" + # ⭐ 竖向warehouse：槽位尺寸也是竖向的（小瓶已经是正方形，无需调整） resource_size_x=30.0, resource_size_y=30.0, resource_size_z=12.0, category="warehouse", col_offset=0, - layout="row-major", + layout="vertical-col-major", # ⭐ 竖向warehouse专用布局 ) def bioyond_warehouse_reagent_storage(name: str) -> WareHouse: - """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）""" + """创建BioYond站内试剂存放堆栈 - 竖向排列1列2行 + 布局（竖向，从下到上）： + | A02 | ← 顶部 + | A01 | ← 底部 + """ return warehouse_factory( name=name, - num_items_x=2, # 2列（01-02） - num_items_y=1, # 1行（A） + num_items_x=1, # 1列 + num_items_y=2, # 2行（01-02，从下到上） num_items_z=1, # 1层 dx=10.0, dy=10.0, dz=10.0, - item_dx=137.0, - item_dy=96.0, + item_dx=96.0, # 列间距（这里只有1列，不重要） + item_dy=137.0, # 行间距（A01到A02的竖向距离） item_dz=120.0, + # ⭐ 竖向warehouse：交换槽位尺寸，使槽位框也是竖向的 + resource_size_x=86.0, # 原来的 resource_size_y + resource_size_y=127.0, # 原来的 resource_size_x + resource_size_z=25.0, category="warehouse", + layout="vertical-col-major", # ⭐ 竖向warehouse专用布局 ) -def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse: - """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒""" +def bioyond_warehouse_tipbox_storage_left(name: str) -> WareHouse: + """创建BioYond站内Tip盒堆栈左侧部分（A02～B03），2列2行""" return warehouse_factory( name=name, - num_items_x=3, # 3列（01-03） + num_items_x=2, # 2列 num_items_y=2, # 2行（A-B） num_items_z=1, # 1层 dx=10.0, @@ -97,7 +111,25 @@ def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse: item_dy=96.0, item_dz=120.0, category="warehouse", - col_offset=0, + col_offset=1, # 从02开始: A02, A03 + layout="row-major", + ) + +def bioyond_warehouse_tipbox_storage_right(name: str) -> WareHouse: + """创建BioYond站内Tip盒堆栈右侧部分（A01～B01），1列2行""" + return warehouse_factory( + name=name, + num_items_x=1, # 1列 + num_items_y=2, # 2行（A-B） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + col_offset=0, # 从01开始: A01 layout="row-major", ) diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 252c8f45..1c514d44 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -779,6 +779,22 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st if not locations: logger.debug(f"[物料位置] {unique_name} 没有location信息，跳过warehouse放置") + # ⭐ 预先检查：如果物料的任何location在竖向warehouse中，提前交换尺寸 + # 这样可以避免多个location时尺寸不一致的问题 + needs_size_swap = False + for loc in locations: + wh_name_check = loc.get("whName") + if wh_name_check in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]: + needs_size_swap = True + break + + if needs_size_swap and hasattr(plr_material, 'size_x') and hasattr(plr_material, 'size_y'): + original_x = plr_material.size_x + original_y = plr_material.size_y + plr_material.size_x = original_y + plr_material.size_y = original_x + logger.debug(f" 物料 {unique_name} 将放入竖向warehouse，预先交换尺寸: {original_x}×{original_y} → {plr_material.size_x}×{plr_material.size_y}") + for loc in locations: wh_name = loc.get("whName") logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})") @@ -795,12 +811,20 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右") continue + # 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射 + if wh_name == "站内Tip盒堆栈": + y_val = loc.get("y", 1) + if y_val == 1: + wh_name = "站内Tip盒堆栈(右)" + elif y_val in [2, 3]: + wh_name = "站内Tip盒堆栈(左)" + y = y - 1 # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列 + if hasattr(deck, "warehouses") and wh_name in deck.warehouses: warehouse = deck.warehouses[wh_name] logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})") # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1) - # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ... x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D) y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...) z = loc.get("z", 1) # 层号 (1-based, 通常为1) @@ -809,12 +833,23 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st if wh_name == "堆栈1右": y = y - 4 # 将5-8映射到1-4 - # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈） - # Bioyond的y坐标表示线性位置序号，而不是列号 - if warehouse.num_items_y == 1: - # 1行warehouse: 直接用y作为线性索引 - idx = y - 1 - logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}") + # 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库） + # 这些warehouse使用 vertical-col-major 布局 + if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]: + # vertical-col-major 布局的坐标映射： + # - Bioyond的x(1=A,2=B)对应warehouse的列(col, x方向) + # - Bioyond的y(1=01,2=02,3=03)对应warehouse的行(row, y方向)，从下到上 + # vertical-col-major 中: row=0 对应底部，row=n-1 对应顶部 + # Bioyond y=1(01) 对应底部 → row=0, y=2(02) 对应中间 → row=1 + # 索引计算: idx = row * num_cols + col + col_idx = x - 1 # Bioyond的x(A,B) → col索引(0,1) + row_idx = y - 1 # Bioyond的y(01,02,03) → row索引(0,1,2) + layer_idx = z - 1 + + idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + row_idx * warehouse.num_items_y + col_idx + logger.debug(f"🔍 竖向warehouse {wh_name}: Bioyond(x={x},y={y},z={z}) → warehouse(col={col_idx},row={row_idx},layer={layer_idx}) → idx={idx}, capacity={warehouse.capacity}") + + # 普通横向warehouse的处理 else: # 多行warehouse: 根据 layout 使用不同的索引计算 row_idx = x - 1 # x表示行: 转为0-based @@ -838,6 +873,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st if 0 <= idx < warehouse.capacity: if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder): + # 物料尺寸已在放入warehouse前根据需要进行了交换 warehouse[idx] = plr_material logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})") else: @@ -1011,11 +1047,24 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict logger.debug(f" 📭 [单瓶物料] {resource.name} 无液体，使用资源名: {material_name}") # 🎯 处理物料默认参数和单位 - # 检查是否有该物料名称的默认参数配置 + # 优先级: typeId参数 > 物料名称参数 > 默认值 default_unit = "个" # 默认单位 material_parameters = {} - if material_name in material_params: + # 1️⃣ 首先检查是否有 typeId 对应的参数配置（从 material_params 中获取，key 格式为 "type:"） + type_params_key = f"type:{type_id}" + if type_params_key in material_params: + params_config = material_params[type_params_key].copy() + + # 提取 unit 字段（如果有） + if "unit" in params_config: + default_unit = params_config.pop("unit") # 从参数中移除，放到外层 + + # 剩余的字段放入 Parameters + material_parameters = params_config + logger.debug(f" 🔧 [物料参数-按typeId] 为 typeId={type_id[:8]}... 应用配置: unit={default_unit}, parameters={material_parameters}") + # 2️⃣ 其次检查是否有该物料名称的默认参数配置 + elif material_name in material_params: params_config = material_params[material_name].copy() # 提取 unit 字段（如果有） @@ -1024,7 +1073,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict # 剩余的字段放入 Parameters material_parameters = params_config - logger.debug(f" 🔧 [物料参数] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}") + logger.debug(f" 🔧 [物料参数-按名称] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}") # 转换为 JSON 字符串 parameters_json = json.dumps(material_parameters) if material_parameters else "{}" diff --git a/unilabos/resources/itemized_carrier.py b/unilabos/resources/itemized_carrier.py index a5207d4c..fe55c39e 100644 --- a/unilabos/resources/itemized_carrier.py +++ b/unilabos/resources/itemized_carrier.py @@ -29,7 +29,7 @@ class Bottle(Well): size_x: float = 0.0, size_y: float = 0.0, size_z: float = 0.0, - barcode: Optional[str] = "", + barcode: Optional[str] = None, category: str = "container", model: Optional[str] = None, **kwargs, @@ -50,13 +50,45 @@ class Bottle(Well): self.barcode = barcode def serialize(self) -> dict: + # Pylabrobot expects barcode to be an object with serialize(), but here it is a str. + # We temporarily unset it to avoid AttributeError in super().serialize(). + _barcode = self.barcode + self.barcode = None + try: + data = super().serialize() + finally: + self.barcode = _barcode + return { - **super().serialize(), + **data, "diameter": self.diameter, "height": self.height, - "barcode": self.barcode, } + @classmethod + def deserialize(cls, data: dict, allow_marshal: bool = False): + # Extract barcode before calling parent deserialize to avoid type error + barcode_data = data.pop("barcode", None) + + # Call parent deserialize + instance = super(Bottle, cls).deserialize(data, allow_marshal=allow_marshal) + + # Set barcode as string (not as Barcode object) + if barcode_data: + if isinstance(barcode_data, str): + instance.barcode = barcode_data + elif isinstance(barcode_data, dict): + # If it's a dict (Barcode serialized format), extract the data field + instance.barcode = barcode_data.get("data", "") + else: + instance.barcode = "" + + # Set additional attributes + instance.diameter = data.get("diameter", instance._size_x) + instance.height = data.get("height", instance._size_z) + + return instance + T = TypeVar("T", bound=ResourceHolder) S = TypeVar("S", bound=ResourceHolder) diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index afd4c3b9..4097782d 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -621,6 +621,16 @@ 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]: """ diff --git a/unilabos/resources/warehouse.py b/unilabos/resources/warehouse.py index 4dcda6d9..929a4e4d 100644 --- a/unilabos/resources/warehouse.py +++ b/unilabos/resources/warehouse.py @@ -27,6 +27,7 @@ def warehouse_factory( category: str = "warehouse", model: Optional[str] = None, col_offset: int = 0, # 列起始偏移量，用于生成A05-D08等命名 + row_offset: int = 0, # 行起始偏移量，用于生成F01-J03等命名 layout: str = "col-major", # 新增：排序方式，"col-major"=列优先，"row-major"=行优先 ): # 创建位置坐标 @@ -42,6 +43,10 @@ def warehouse_factory( if layout == "row-major": # 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值 y = dy + row * item_dy + elif layout == "vertical-col-major": + # 竖向warehouse: row=0 对应顶部（y小），row=n-1 对应底部（y大） + # 但标签 01 应该在底部，所以使用反向映射 + y = dy + (num_items_y - row - 1) * item_dy else: # 列优先：保持原逻辑（row=0 对应较大的 y） y = dy + (num_items_y - row - 1) * item_dy @@ -65,10 +70,10 @@ def warehouse_factory( if layout == "row-major": # 行优先顺序: A01,A02,A03,A04, B01,B02,B03,B04 # locations[0] 对应 row=0, y最大（前端顶部）→ 应该是 A01 - keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for j in range(len_y) for i in range(len_x)] + keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}" for j in range(len_y) for i in range(len_x)] else: # 列优先顺序: A01,B01,C01,D01, A02,B02,C02,D02 - keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)] + keys = [f"{LETTERS[j + row_offset]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)] sites = {i: site for i, site in zip(keys, _sites.values())} diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index c248882b..737167ab 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -625,7 +625,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): ) # type: ignore raw_nodes = json.loads(response.response) tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes) - self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树") + self.lab_logger().trace(f"获取资源结果: {len(tree_set.trees)} 个资源树 {tree_set.root_nodes}") return tree_set async def get_resource_with_dir(self, resource_id: str, with_children: bool = True) -> "ResourcePLR": diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index cf9fd704..101476a1 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -735,7 +735,7 @@ class HostNode(BaseROS2DeviceNode): if bCreate: self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}") else: - self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}") + self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}") def send_goal( self, diff --git a/unilabos/test/experiments/dispensing_station_bioyond.json b/unilabos/test/experiments/dispensing_station_bioyond.json index 0be4129a..a6bd5332 100644 --- a/unilabos/test/experiments/dispensing_station_bioyond.json +++ b/unilabos/test/experiments/dispensing_station_bioyond.json @@ -9,49 +9,125 @@ "parent": null, "type": "device", "class": "bioyond_dispensing_station", - "config": { - "config": { - "api_key": "DE9BDDA0", - "api_host": "http://192.168.1.200:44388", - "material_type_mappings": { - "BIOYOND_PolymerStation_1FlaskCarrier": [ - "烧杯", - "3a14196b-24f2-ca49-9081-0cab8021bf1a" - ], - "BIOYOND_PolymerStation_1BottleCarrier": [ - "试剂瓶", - "3a14196b-8bcf-a460-4f74-23f21ca79e72" - ], - "BIOYOND_PolymerStation_6StockCarrier": [ - "分装板", - "3a14196e-5dfe-6e21-0c79-fe2036d052c4" - ], - "BIOYOND_PolymerStation_Liquid_Vial": [ - "10%分装小瓶", - "3a14196c-76be-2279-4e22-7310d69aed68" - ], - "BIOYOND_PolymerStation_Solid_Vial": [ - "90%分装小瓶", - "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea" - ], - "BIOYOND_PolymerStation_8StockCarrier": [ - "样品板", - "3a14196e-b7a0-a5da-1931-35f3000281e9" - ], - "BIOYOND_PolymerStation_Solid_Stock": [ - "样品瓶", - "3a14196a-cf7d-8aea-48d8-b9662c7dba94" - ] - } - }, - "deck": { - "data": { - "_resource_child_name": "Bioyond_Dispensing_Deck", - "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck" - } - }, - "protocol_type": [] + "position": { + "x": 0, + "y": 0, + "z": 0 }, + "config": { + "api_key": "YOUR_API_KEY", + "api_host": "http://your-api-host:port", + "material_type_mappings": { + "BIOYOND_PolymerStation_1FlaskCarrier": [ + "烧杯", + "uuid-placeholder-flask" + ], + "BIOYOND_PolymerStation_1BottleCarrier": [ + "试剂瓶", + "uuid-placeholder-bottle" + ], + "BIOYOND_PolymerStation_6StockCarrier": [ + "分装板", + "uuid-placeholder-stock-6" + ], + "BIOYOND_PolymerStation_Liquid_Vial": [ + "10%分装小瓶", + "uuid-placeholder-liquid-vial" + ], + "BIOYOND_PolymerStation_Solid_Vial": [ + "90%分装小瓶", + "uuid-placeholder-solid-vial" + ], + "BIOYOND_PolymerStation_8StockCarrier": [ + "样品板", + "uuid-placeholder-stock-8" + ], + "BIOYOND_PolymerStation_Solid_Stock": [ + "样品瓶", + "uuid-placeholder-solid-stock" + ] + }, + "warehouse_mapping": { + "粉末堆栈": { + "uuid": "uuid-placeholder-powder-stack", + "site_uuids": { + "A01": "uuid-placeholder-powder-A01", + "A02": "uuid-placeholder-powder-A02", + "A03": "uuid-placeholder-powder-A03", + "A04": "uuid-placeholder-powder-A04", + "B01": "uuid-placeholder-powder-B01", + "B02": "uuid-placeholder-powder-B02", + "B03": "uuid-placeholder-powder-B03", + "B04": "uuid-placeholder-powder-B04", + "C01": "uuid-placeholder-powder-C01", + "C02": "uuid-placeholder-powder-C02", + "C03": "uuid-placeholder-powder-C03", + "C04": "uuid-placeholder-powder-C04", + "D01": "uuid-placeholder-powder-D01", + "D02": "uuid-placeholder-powder-D02", + "D03": "uuid-placeholder-powder-D03", + "D04": "uuid-placeholder-powder-D04" + } + }, + "溶液堆栈": { + "uuid": "uuid-placeholder-liquid-stack", + "site_uuids": { + "A01": "uuid-placeholder-liquid-A01", + "A02": "uuid-placeholder-liquid-A02", + "A03": "uuid-placeholder-liquid-A03", + "A04": "uuid-placeholder-liquid-A04", + "B01": "uuid-placeholder-liquid-B01", + "B02": "uuid-placeholder-liquid-B02", + "B03": "uuid-placeholder-liquid-B03", + "B04": "uuid-placeholder-liquid-B04", + "C01": "uuid-placeholder-liquid-C01", + "C02": "uuid-placeholder-liquid-C02", + "C03": "uuid-placeholder-liquid-C03", + "C04": "uuid-placeholder-liquid-C04", + "D01": "uuid-placeholder-liquid-D01", + "D02": "uuid-placeholder-liquid-D02", + "D03": "uuid-placeholder-liquid-D03", + "D04": "uuid-placeholder-liquid-D04" + } + }, + "试剂堆栈": { + "uuid": "uuid-placeholder-reagent-stack", + "site_uuids": { + "A01": "uuid-placeholder-reagent-A01", + "A02": "uuid-placeholder-reagent-A02", + "A03": "uuid-placeholder-reagent-A03", + "A04": "uuid-placeholder-reagent-A04", + "B01": "uuid-placeholder-reagent-B01", + "B02": "uuid-placeholder-reagent-B02", + "B03": "uuid-placeholder-reagent-B03", + "B04": "uuid-placeholder-reagent-B04" + } + } + }, + "http_service_config": { + "http_service_host": "127.0.0.1", + "http_service_port": 8080 + }, + "material_default_parameters": { + "NMP": { + "unit": "毫升", + "density": "1.03", + "densityUnit": "g/mL", + "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)" + } + }, + "material_type_parameters": {} + }, + "deck": { + "data": { + "_resource_child_name": "Bioyond_Dispensing_Deck", + "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck" + } + }, + "size_x": 2700.0, + "size_y": 1080.0, + "size_z": 1500.0, + "protocol_type": [], "data": {} }, { @@ -80,4 +156,4 @@ "data": {} } ] -} +} \ No newline at end of file diff --git a/unilabos/test/experiments/reaction_station_bioyond.json b/unilabos/test/experiments/reaction_station_bioyond.json index 5cbe5b43..74f2d6d9 100644 --- a/unilabos/test/experiments/reaction_station_bioyond.json +++ b/unilabos/test/experiments/reaction_station_bioyond.json @@ -14,60 +14,200 @@ ], "type": "device", "class": "reaction_station.bioyond", - "position": {"x": 0, "y": 3800, "z": 0}, - "config": { - "config": { - "api_key": "DE9BDDA0", - "api_host": "http://192.168.1.200:44402", - "workflow_mappings": { - "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1", - "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6", - "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6", - "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47", - "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046", - "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6", - "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784", - "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a" - }, - "material_type_mappings": { - "BIOYOND_PolymerStation_Reactor": [ - "反应器", - "3a14233b-902d-0d7b-4533-3f60f1c41c1b" - ], - "BIOYOND_PolymerStation_1BottleCarrier": [ - "试剂瓶", - "3a14233b-56e3-6c53-a8ab-fcaac163a9ba" - ], - "BIOYOND_PolymerStation_1FlaskCarrier": [ - "烧杯", - "3a14233b-f0a9-ba84-eaa9-0d4718b361b6" - ], - "BIOYOND_PolymerStation_6StockCarrier": [ - "样品板", - "3a142339-80de-8f25-6093-1b1b1b6c322e" - ], - "BIOYOND_PolymerStation_Solid_Vial": [ - "90%分装小瓶", - "3a14233a-26e1-28f8-af6a-60ca06ba0165" - ], - "BIOYOND_PolymerStation_Liquid_Vial": [ - "10%分装小瓶", - "3a14233a-84a3-088d-6676-7cb4acd57c64" - ], - "BIOYOND_PolymerStation_TipBox": [ - "枪头盒", - "3a143890-9d51-60ac-6d6f-6edb43c12041" - ] - } - }, - "deck": { - "data": { - "_resource_child_name": "Bioyond_Deck", - "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck" - } - }, - "protocol_type": [] + "position": { + "x": 0, + "y": 1100, + "z": 0 }, + "config": { + "api_key": "YOUR_API_KEY", + "api_host": "http://your-api-host:port", + "workflow_mappings": { + "reactor_taken_out": "workflow-uuid-reactor-out", + "reactor_taken_in": "workflow-uuid-reactor-in", + "Solid_feeding_vials": "workflow-uuid-solid-vials", + "Liquid_feeding_vials(non-titration)": "workflow-uuid-liquid-vials", + "Liquid_feeding_solvents": "workflow-uuid-solvents", + "Liquid_feeding(titration)": "workflow-uuid-titration", + "liquid_feeding_beaker": "workflow-uuid-beaker", + "Drip_back": "workflow-uuid-drip-back" + }, + "material_type_mappings": { + "BIOYOND_PolymerStation_Reactor": [ + "反应器", + "uuid-placeholder-reactor" + ], + "BIOYOND_PolymerStation_1BottleCarrier": [ + "试剂瓶", + "uuid-placeholder-bottle" + ], + "BIOYOND_PolymerStation_1FlaskCarrier": [ + "烧杯", + "uuid-placeholder-beaker" + ], + "BIOYOND_PolymerStation_6StockCarrier": [ + "样品板", + "uuid-placeholder-sample-plate" + ], + "BIOYOND_PolymerStation_Solid_Vial": [ + "90%分装小瓶", + "uuid-placeholder-solid-vial" + ], + "BIOYOND_PolymerStation_Liquid_Vial": [ + "10%分装小瓶", + "uuid-placeholder-liquid-vial" + ], + "BIOYOND_PolymerStation_TipBox": [ + "枪头盒", + "uuid-placeholder-tipbox" + ], + "BIOYOND_PolymerStation_Measurement_Vial": [ + "测量小瓶", + "uuid-placeholder-measure-vial" + ] + }, + "warehouse_mapping": { + "堆栈1左": { + "uuid": "uuid-placeholder-stack1-left", + "site_uuids": { + "A01": "uuid-placeholder-site-A01", + "A02": "uuid-placeholder-site-A02", + "A03": "uuid-placeholder-site-A03", + "A04": "uuid-placeholder-site-A04", + "B01": "uuid-placeholder-site-B01", + "B02": "uuid-placeholder-site-B02", + "B03": "uuid-placeholder-site-B03", + "B04": "uuid-placeholder-site-B04", + "C01": "uuid-placeholder-site-C01", + "C02": "uuid-placeholder-site-C02", + "C03": "uuid-placeholder-site-C03", + "C04": "uuid-placeholder-site-C04", + "D01": "uuid-placeholder-site-D01", + "D02": "uuid-placeholder-site-D02", + "D03": "uuid-placeholder-site-D03", + "D04": "uuid-placeholder-site-D04" + } + }, + "堆栈1右": { + "uuid": "uuid-placeholder-stack1-right", + "site_uuids": { + "A05": "uuid-placeholder-site-A05", + "A06": "uuid-placeholder-site-A06", + "A07": "uuid-placeholder-site-A07", + "A08": "uuid-placeholder-site-A08", + "B05": "uuid-placeholder-site-B05", + "B06": "uuid-placeholder-site-B06", + "B07": "uuid-placeholder-site-B07", + "B08": "uuid-placeholder-site-B08", + "C05": "uuid-placeholder-site-C05", + "C06": "uuid-placeholder-site-C06", + "C07": "uuid-placeholder-site-C07", + "C08": "uuid-placeholder-site-C08", + "D05": "uuid-placeholder-site-D05", + "D06": "uuid-placeholder-site-D06", + "D07": "uuid-placeholder-site-D07", + "D08": "uuid-placeholder-site-D08" + } + }, + "站内试剂存放堆栈": { + "uuid": "uuid-placeholder-reagent-stack", + "site_uuids": { + "A01": "uuid-placeholder-reagent-A01", + "A02": "uuid-placeholder-reagent-A02" + } + }, + "测量小瓶仓库(测密度)": { + "uuid": "uuid-placeholder-density-stack", + "site_uuids": { + "A01": "uuid-placeholder-density-A01", + "A02": "uuid-placeholder-density-A02", + "A03": "uuid-placeholder-density-A03", + "B01": "uuid-placeholder-density-B01", + "B02": "uuid-placeholder-density-B02", + "B03": "uuid-placeholder-density-B03" + } + }, + "站内Tip盒堆栈(左)": { + "uuid": "uuid-placeholder-tipstack-left", + "site_uuids": { + "A02": "uuid-placeholder-tip-A02", + "A03": "uuid-placeholder-tip-A03", + "B02": "uuid-placeholder-tip-B02", + "B03": "uuid-placeholder-tip-B03" + } + }, + "站内Tip盒堆栈(右)": { + "uuid": "uuid-placeholder-tipstack-right", + "site_uuids": { + "A01": "uuid-placeholder-tip-A01", + "B01": "uuid-placeholder-tip-B01" + } + } + }, + "workflow_to_section_map": { + "reactor_taken_in": "反应器放入", + "reactor_taken_out": "反应器取出", + "Solid_feeding_vials": "固体投料-小瓶", + "Liquid_feeding_vials(non-titration)": "液体投料-小瓶（非滴定）", + "Liquid_feeding_solvents": "液体投料-溶剂", + "Liquid_feeding(titration)": "液体投料-滴定", + "liquid_feeding_beaker": "液体投料-烧杯", + "Drip_back": "液体回滴" + }, + "action_names": { + "reactor_taken_in": { + "config": "通量-配置", + "stirring": "反应模块-开始搅拌" + }, + "solid_feeding_vials": { + "feeding": "粉末加样模块-投料", + "observe": "反应模块-观察搅拌结果" + }, + "liquid_feeding_vials_non_titration": { + "liquid": "稀释液瓶加液位-液体投料", + "observe": "反应模块-滴定结果观察" + }, + "liquid_feeding_solvents": { + "liquid": "试剂AB放置位-试剂吸液分液", + "observe": "反应模块-观察搅拌结果" + }, + "liquid_feeding_titration": { + "liquid": "稀释液瓶加液位-稀释液吸液分液", + "observe": "反应模块-滴定结果观察" + }, + "liquid_feeding_beaker": { + "liquid": "烧杯溶液放置位-烧杯吸液分液", + "observe": "反应模块-观察搅拌结果" + }, + "drip_back": { + "liquid": "试剂AB放置位-试剂吸液分液", + "observe": "反应模块-向下滴定结果观察" + } + }, + "http_service_config": { + "http_service_host": "127.0.0.1", + "http_service_port": 8080 + }, + "material_default_parameters": { + "NMP": { + "unit": "毫升", + "density": "1.03", + "densityUnit": "g/mL", + "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)" + } + }, + "material_type_parameters": {} + }, + "deck": { + "data": { + "_resource_child_name": "Bioyond_Deck", + "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck" + } + }, + "size_x": 2700.0, + "size_y": 1080.0, + "size_z": 2500.0, + "protocol_type": [], "data": {} }, { @@ -77,7 +217,11 @@ "parent": "reaction_station_bioyond", "type": "device", "class": "reaction_station.reactor", - "position": {"x": 1150, "y": 380, "z": 0}, + "position": { + "x": 1150, + "y": 300, + "z": 0 + }, "config": {}, "data": {} }, @@ -88,7 +232,11 @@ "parent": "reaction_station_bioyond", "type": "device", "class": "reaction_station.reactor", - "position": {"x": 1365, "y": 380, "z": 0}, + "position": { + "x": 1365, + "y": 300, + "z": 0 + }, "config": {}, "data": {} }, @@ -99,7 +247,11 @@ "parent": "reaction_station_bioyond", "type": "device", "class": "reaction_station.reactor", - "position": {"x": 1580, "y": 380, "z": 0}, + "position": { + "x": 1580, + "y": 300, + "z": 0 + }, "config": {}, "data": {} }, @@ -110,7 +262,11 @@ "parent": "reaction_station_bioyond", "type": "device", "class": "reaction_station.reactor", - "position": {"x": 1790, "y": 380, "z": 0}, + "position": { + "x": 1790, + "y": 300, + "z": 0 + }, "config": {}, "data": {} }, @@ -121,7 +277,11 @@ "parent": "reaction_station_bioyond", "type": "device", "class": "reaction_station.reactor", - "position": {"x": 2010, "y": 380, "z": 0}, + "position": { + "x": 2010, + "y": 300, + "z": 0 + }, "config": {}, "data": {} }, @@ -134,7 +294,7 @@ "class": "BIOYOND_PolymerReactionStation_Deck", "position": { "x": 0, - "y": 0, + "y": 1100, "z": 0 }, "config": { @@ -150,4 +310,4 @@ "data": {} } ] -} +} \ No newline at end of file diff --git a/unilabos/utils/README_LOGGING.md b/unilabos/utils/README_LOGGING.md new file mode 100644 index 00000000..9cb551bb --- /dev/null +++ b/unilabos/utils/README_LOGGING.md @@ -0,0 +1,187 @@ +# UniLabOS 日志配置说明 + +> **文件位置**: `unilabos/utils/log.py` +> **最后更新**: 2026-01-11 +> **维护者**: Uni-Lab-OS 开发团队 + +本文档说明 UniLabOS 日志系统中对第三方库和内部模块的日志级别配置，避免控制台被过多的 DEBUG 日志淹没。 + +--- + +## 📋 已屏蔽的日志 + +以下库/模块的日志已被设置为 **WARNING** 或 **INFO** 级别，不再显示 DEBUG 日志： + +### 1. pymodbus（Modbus 通信库） + +**配置位置**: `log.py` 第196-200行 + +```python +# pymodbus 库的日志太详细，设置为 WARNING +logging.getLogger('pymodbus').setLevel(logging.WARNING) +logging.getLogger('pymodbus.logging').setLevel(logging.WARNING) +logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING) +logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING) +``` + +**屏蔽原因**: +- pymodbus 在 DEBUG 级别会输出每一次 Modbus 通信的详细信息 +- 包括 `Processing: 0x5 0x1e 0x0 0x0...` 等原始数据 +- 包括 `decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...)` 等解码信息 +- 这些信息对日常使用价值不大，但会快速刷屏 + +**典型被屏蔽的日志**: +``` +[DEBUG] Processing: 0x5 0x1e 0x0 0x0 0x0 0x7 0x1 0x3 0x4 0x0 0x0 0x0 0x0 [handleFrame:72] [pymodbus.logging.base] +[DEBUG] decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...) [decode:79] [pymodbus.logging.decoders] +``` + +--- + +### 2. websockets（WebSocket 库） + +**配置位置**: `log.py` 第202-205行 + +```python +# websockets 库的日志输出较多，设置为 WARNING +logging.getLogger('websockets').setLevel(logging.WARNING) +logging.getLogger('websockets.client').setLevel(logging.WARNING) +logging.getLogger('websockets.server').setLevel(logging.WARNING) +``` + +**屏蔽原因**: +- WebSocket 连接、断开、心跳等信息在 DEBUG 级别会频繁输出 +- 对于长时间运行的服务，这些日志意义不大 + +--- + +### 3. ROS Host Node（设备状态更新） + +**配置位置**: `log.py` 第207-208行 + +```python +# ROS 节点的状态更新日志过于频繁，设置为 INFO +logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO) +``` + +**屏蔽原因**: +- 设备状态更新（如手套箱压力）每隔几秒就会更新一次 +- DEBUG 日志会记录每一次状态变化，导致日志刷屏 +- 这些频繁的状态更新对调试价值不大 + +**典型被屏蔽的日志**: +``` +[DEBUG] [/devices/host_node] Status updated: BatteryStation.data_glove_box_pressure = 4.229457855224609 [property_callback:666] [unilabos.ros.nodes.presets.host_node] +``` + +--- + +### 4. asyncio 和 urllib3 + +**配置位置**: `log.py` 第224-225行 + +```python +logging.getLogger("asyncio").setLevel(logging.INFO) +logging.getLogger("urllib3").setLevel(logging.INFO) +``` + +**屏蔽原因**: +- asyncio: 异步 IO 的内部调试信息 +- urllib3: HTTP 请求库的连接池、重试等详细信息 + +--- + +## 🔧 如何临时启用这些日志（调试用） + +### 方法1: 修改 log.py（永久启用） + +在 `log.py` 的 `configure_logger()` 函数中，将对应库的日志级别改为 `logging.DEBUG`: + +```python +# 临时启用 pymodbus 的 DEBUG 日志 +logging.getLogger('pymodbus').setLevel(logging.DEBUG) +logging.getLogger('pymodbus.logging').setLevel(logging.DEBUG) +logging.getLogger('pymodbus.logging.base').setLevel(logging.DEBUG) +logging.getLogger('pymodbus.logging.decoders').setLevel(logging.DEBUG) +``` + +### 方法2: 在代码中临时启用（单次调试） + +在需要调试的代码文件中添加： + +```python +import logging + +# 临时启用 pymodbus DEBUG 日志 +logging.getLogger('pymodbus').setLevel(logging.DEBUG) + +# 你的 Modbus 调试代码 +... + +# 调试完成后恢复 +logging.getLogger('pymodbus').setLevel(logging.WARNING) +``` + +### 方法3: 使用环境变量或配置文件（推荐） + +未来可以考虑在启动参数中添加 `--debug-modbus` 等选项来动态控制。 + +--- + +## 📊 日志级别说明 + +| 级别 | 数值 | 用途 | 是否显示 | +|------|------|------|---------| +| TRACE | 5 | 最详细的跟踪信息 | ✅ | +| DEBUG | 10 | 调试信息 | ✅ | +| INFO | 20 | 一般信息 | ✅ | +| WARNING | 30 | 警告信息 | ✅ | +| ERROR | 40 | 错误信息 | ✅ | +| CRITICAL | 50 | 严重错误 | ✅ | + +**当前配置**: +- UniLabOS 自身代码: DEBUG 及以上全部显示 +- pymodbus/websockets: **WARNING** 及以上显示（屏蔽 DEBUG/INFO） +- ROS host_node: **INFO** 及以上显示（屏蔽 DEBUG） + +--- + +## ⚠️ 重要提示 + +### 修改生效时间 +- 修改 `log.py` 后需要 **重启 unilab 服务** 才能生效 +- 不需要重新安装或重新编译 + +### 调试 Modbus 通信问题 +如果需要调试 Modbus 通信故障，应该： +1. 临时启用 pymodbus DEBUG 日志（方法2） +2. 复现问题 +3. 查看详细的通信日志 +4. 调试完成后记得恢复 WARNING 级别 + +### 调试设备状态问题 +如果需要调试设备状态更新问题： +```python +logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.DEBUG) +``` + +--- + +## 📝 维护记录 + +| 日期 | 修改内容 | 操作人 | +|------|---------|--------| +| 2026-01-11 | 初始创建，添加 pymodbus、websockets、ROS host_node 屏蔽 | - | +| 2026-01-07 | 添加 pymodbus 和 websockets 屏蔽（log-0107.py） | - | + +--- + +## 🔗 相关文件 + +- `log.py` - 日志配置主文件 +- `unilabos/devices/workstation/coin_cell_assembly/` - 使用 Modbus 的扣电工作站代码 +- `unilabos/ros/nodes/presets/host_node.py` - ROS 主机节点代码 + +--- + +**维护提示**: 如果添加了新的第三方库或发现新的日志刷屏问题，请在此文档中记录并更新 `log.py` 配置。 diff --git a/unilabos/utils/log.py b/unilabos/utils/log.py index ffe13c02..f10bd518 100644 --- a/unilabos/utils/log.py +++ b/unilabos/utils/log.py @@ -191,6 +191,21 @@ def configure_logger(loglevel=None, working_dir=None): # 添加处理器到根日志记录器 root_logger.addHandler(console_handler) + + # 降低第三方库的日志级别，避免过多输出 + # pymodbus 库的日志太详细，设置为 WARNING + logging.getLogger('pymodbus').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING) + logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING) + + # websockets 库的日志输出较多，设置为 WARNING + logging.getLogger('websockets').setLevel(logging.WARNING) + logging.getLogger('websockets.client').setLevel(logging.WARNING) + logging.getLogger('websockets.server').setLevel(logging.WARNING) + + # ROS 节点的状态更新日志过于频繁，设置为 INFO + logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO) # 如果指定了工作目录，添加文件处理器 if working_dir is not None: @@ -215,6 +230,7 @@ def configure_logger(loglevel=None, working_dir=None): logging.getLogger("urllib3").setLevel(logging.INFO) + # 配置日志系统 configure_logger() diff --git a/yibin_electrolyte_config_example.json b/yibin_electrolyte_config_example.json new file mode 100644 index 00000000..d5efc357 --- /dev/null +++ b/yibin_electrolyte_config_example.json @@ -0,0 +1,126 @@ +{ + "nodes": [ + { + "id": "bioyond_cell_workstation", + "name": "配液分液工站 (示例)", + "parent": null, + "children": [ + "YB_Bioyond_Deck" + ], + "type": "device", + "class": "bioyond_cell", + "config": { + "deck": { + "data": { + "_resource_child_name": "YB_Bioyond_Deck", + "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck" + } + }, + "protocol_type": [], + "bioyond_config": { + "api_host": "http://YOUR_API_HOST:PORT", + "api_key": "YOUR_API_KEY", + "timeout": 30, + "report_token": "YOUR_REPORT_TOKEN", + "HTTP_host": "YOUR_LOCAL_IP", + "HTTP_port": 8080, + "debug_mode": false, + "material_type_mappings": { + "100ml液体": [ + "YB_100ml_yeti", + "00000000-0000-0000-0000-000000000000" + ], + "液": [ + "YB_ye", + "00000000-0000-0000-0000-000000000000" + ], + "高粘液": [ + "YB_gaonianye", + "00000000-0000-0000-0000-000000000000" + ], + "加样头(大)": [ + "YB_jia_yang_tou_da_Carrier", + "00000000-0000-0000-0000-000000000000" + ], + "5ml分液瓶板": [ + "YB_5ml_fenyepingban", + "00000000-0000-0000-0000-000000000000" + ], + "5ml分液瓶": [ + "YB_5ml_fenyeping", + "00000000-0000-0000-0000-000000000000" + ], + "20ml分液瓶板": [ + "YB_20ml_fenyepingban", + "00000000-0000-0000-0000-000000000000" + ], + "20ml分液瓶": [ + "YB_20ml_fenyeping", + "00000000-0000-0000-0000-000000000000" + ], + "配液瓶(小)板": [ + "YB_peiyepingxiaoban", + "00000000-0000-0000-0000-000000000000" + ], + "配液瓶(小)": [ + "YB_pei_ye_xiao_Bottle", + "00000000-0000-0000-0000-000000000000" + ], + "枪头盒": [ + "YB_qiang_tou_he", + "00000000-0000-0000-0000-000000000000" + ] + }, + "warehouse_mapping": { + "示例堆栈": { + "uuid": "00000000-0000-0000-0000-000000000000", + "site_uuids": { + "A01": "00000000-0000-0000-0000-000000000000", + "B01": "00000000-0000-0000-0000-000000000000" + } + } + }, + "solid_liquid_mappings": { + "示例物料": { + "typeId": "00000000-0000-0000-0000-000000000000", + "code": "", + "barCode": "", + "name": "Example_Material", + "unit": "g", + "parameters": "", + "quantity": "2", + "warningQuantity": "1", + "details": [] + } + } + } + }, + "data": {} + }, + { + "id": "YB_Bioyond_Deck", + "name": "YB_Bioyond_Deck", + "children": [], + "parent": "bioyond_cell_workstation", + "type": "deck", + "class": "BIOYOND_YB_Deck", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "BIOYOND_YB_Deck", + "setup": true, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + } + }, + "data": {} + } + ], + "links": [] +} \ No newline at end of file From ec7ca6a1fea55d3fcf2a06e1a77d534856f045cb Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sat, 17 Jan 2026 16:50:20 +0800 Subject: [PATCH 33/40] Fix/workstation yb revision (#217) * Revert log change & update registry * Revert opcua client & move electrolyte node --- unilabos/device_comms/opcua_client/client.py | 907 +++--------- unilabos/registry/devices/bioyond.yaml | 589 -------- unilabos/registry/devices/bioyond_cell.yaml | 1311 ++++++++++++++++- .../devices/bioyond_dispensing_station.yaml | 129 ++ .../devices/coin_cell_workstation.yaml | 2 +- unilabos/registry/devices/opcua_example.yaml | 114 +- .../devices/reaction_station_bioyond.yaml | 362 ++++- unilabos/registry/registry.py | 72 +- .../yibin_electrolyte_config_example.json | 0 unilabos/utils/log.py | 15 - 10 files changed, 2057 insertions(+), 1444 deletions(-) delete mode 100644 unilabos/registry/devices/bioyond.yaml rename yibin_electrolyte_config_example.json => unilabos/test/experiments/yibin_electrolyte_config_example.json (100%) diff --git a/unilabos/device_comms/opcua_client/client.py b/unilabos/device_comms/opcua_client/client.py index 27a401ff..9c8eb506 100644 --- a/unilabos/device_comms/opcua_client/client.py +++ b/unilabos/device_comms/opcua_client/client.py @@ -5,6 +5,7 @@ from typing import Any, Union, List, Dict, Callable, Optional, Tuple from pydantic import BaseModel from opcua import Client, ua +from opcua.ua import NodeClass import pandas as pd import os @@ -12,7 +13,7 @@ from unilabos.device_comms.opcua_client.node.uniopcua import Base as OpcUaNodeBa from unilabos.device_comms.opcua_client.node.uniopcua import Variable, Method, NodeType, DataType from unilabos.device_comms.universal_driver import UniversalDriver from unilabos.utils.log import logger -from unilabos.devices.workstation.post_process.decks import post_process_deck + class OpcUaNode(BaseModel): name: str @@ -54,6 +55,8 @@ class OpcUaWorkflowModel(BaseModel): """ 前后端Json解析用 """ + + class NodeFunctionJson(BaseModel): func_name: str node_name: str @@ -116,8 +119,6 @@ class BaseClient(UniversalDriver): _variables_to_find: Dict[str, Dict[str, Any]] = {} _name_mapping: Dict[str, str] = {} # 英文名到中文名的映射 _reverse_mapping: Dict[str, str] = {} # 中文名到英文名的映射 - # 直接缓存已找到的 ua.Node 对象，避免因字符串 NodeId 格式导致订阅失败 - _found_node_objects: Dict[str, Any] = {} def __init__(self): super().__init__() @@ -126,9 +127,6 @@ class BaseClient(UniversalDriver): # 初始化名称映射字典 self._name_mapping = {} self._reverse_mapping = {} - # 初始化线程锁（在子类中会被重新创建，这里提供默认实现） - import threading - self._client_lock = threading.RLock() def _set_client(self, client: Optional[Client]) -> None: if client is None: @@ -156,24 +154,15 @@ class BaseClient(UniversalDriver): if not self.client: raise ValueError('client is not connected') - logger.info(f'开始查找 {len(self._variables_to_find)} 个节点...') + logger.info('开始查找节点...') try: # 获取根节点 root = self.client.get_root_node() objects = root.get_child(["0:Objects"]) - # 记录查找前的状态 - before_count = len(self._node_registry) - # 查找节点 self._find_nodes_recursive(objects) - # 记录查找后的状态 - after_count = len(self._node_registry) - newly_found = after_count - before_count - - logger.info(f"本次查找新增 {newly_found} 个节点，当前共 {after_count} 个") - # 检查是否所有节点都已找到 not_found = [] for var_name, var_info in self._variables_to_find.items(): @@ -181,13 +170,9 @@ class BaseClient(UniversalDriver): not_found.append(var_name) if not_found: - logger.warning(f"⚠ 以下 {len(not_found)} 个节点未找到: {', '.join(not_found[:10])}{'...' if len(not_found) > 10 else ''}") - logger.warning(f"提示：请检查这些节点名称是否与服务器的 BrowseName 完全匹配（包括大小写、空格等）") - # 提供一个示例来帮助调试 - if not_found: - logger.info(f"尝试在服务器中查找第一个未找到的节点 '{not_found[0]}' 的相似节点...") + logger.warning(f"以下节点未找到: {', '.join(not_found)}") else: - logger.info(f"✓ 所有 {len(self._variables_to_find)} 个节点均已找到并注册") + logger.info("所有节点均已找到") except Exception as e: logger.error(f"查找节点失败: {e}") @@ -205,20 +190,18 @@ class BaseClient(UniversalDriver): var_info = self._variables_to_find[node_name] node_type = var_info.get("node_type") data_type = var_info.get("data_type") - node_id_str = str(node.nodeid) # 根据节点类型创建相应的对象 if node_type == NodeType.VARIABLE: - self._node_registry[node_name] = Variable(self.client, node_name, node_id_str, data_type) - logger.info(f"✓ 找到变量节点: '{node_name}', NodeId: {node_id_str}, DataType: {data_type}") - # 缓存真实的 ua.Node 对象用于订阅 - self._found_node_objects[node_name] = node + self._node_registry[node_name] = Variable(self.client, node_name, str(node.nodeid), data_type) + logger.info(f"找到变量节点: {node_name}") elif node_type == NodeType.METHOD: # 对于方法节点，需要获取父节点ID parent_node = node.get_parent() parent_node_id = str(parent_node.nodeid) - self._node_registry[node_name] = Method(self.client, node_name, node_id_str, parent_node_id, data_type) - logger.info(f"✓ 找到方法节点: '{node_name}', NodeId: {node_id_str}, ParentId: {parent_node_id}") + self._node_registry[node_name] = Method(self.client, node_name, str(node.nodeid), parent_node_id, + data_type) + logger.info(f"找到方法节点: {node_name}") # 递归处理子节点 for child in node.get_children(): @@ -316,17 +299,13 @@ class BaseClient(UniversalDriver): if name in self._name_mapping: chinese_name = self._name_mapping[name] if chinese_name in self._node_registry: - node = self._node_registry[chinese_name] - logger.debug(f"使用节点: '{name}' -> '{chinese_name}', NodeId: {node.node_id}") - return node + return self._node_registry[chinese_name] elif chinese_name in self._variables_to_find: logger.warning(f"节点 {chinese_name} (英文名: {name}) 尚未找到，尝试重新查找") if self.client: self._find_nodes() if chinese_name in self._node_registry: - node = self._node_registry[chinese_name] - logger.info(f"重新查找成功: '{chinese_name}', NodeId: {node.node_id}") - return node + return self._node_registry[chinese_name] raise ValueError(f'节点 {chinese_name} (英文名: {name}) 未注册或未找到') # 直接使用原始名称查找 @@ -336,14 +315,9 @@ class BaseClient(UniversalDriver): if self.client: self._find_nodes() if name in self._node_registry: - node = self._node_registry[name] - logger.info(f"重新查找成功: '{name}', NodeId: {node.node_id}") - return node - logger.error(f"❌ 节点 '{name}' 未注册或未找到。已注册节点: {list(self._node_registry.keys())[:5]}...") + return self._node_registry[name] raise ValueError(f'节点 {name} 未注册或未找到') - node = self._node_registry[name] - logger.debug(f"使用节点: '{name}', NodeId: {node.node_id}") - return node + return self._node_registry[name] def get_node_registry(self) -> Dict[str, OpcUaNodeBase]: return self._node_registry @@ -364,13 +338,12 @@ class BaseClient(UniversalDriver): return self logger.info(f'开始注册 {len(node_list)} 个节点...') - new_nodes_count = 0 for node in node_list: if node is None: continue if node.name in self._node_registry: - logger.debug(f'节点 "{node.name}" 已存在于注册表') + logger.info(f'节点 {node.name} 已存在') exist = self._node_registry[node.name] if exist.type != node.node_type: raise ValueError(f'节点 {node.name} 类型 {node.node_type} 与已存在的类型 {exist.type} 不一致') @@ -381,10 +354,9 @@ class BaseClient(UniversalDriver): "node_type": node.node_type, "data_type": node.data_type } - new_nodes_count += 1 - logger.debug(f'添加节点 "{node.name}" ({node.node_type}) 到待查找列表') + logger.info(f'添加节点 {node.name} 到待查找列表') - logger.info(f'节点注册完成：新增 {new_nodes_count} 个待查找节点，总计 {len(self._variables_to_find)} 个') + logger.info('节点注册完成') # 如果客户端已连接，立即开始查找 if self.client: @@ -477,7 +449,8 @@ class BaseClient(UniversalDriver): function_name: Dict[str, Callable[[Callable[[str], OpcUaNodeBase]], bool]] = {} - def create_node_function(self, func_name: str = None, node_name: str = None, mode: str = None, value: Any = None, **kwargs) -> Callable[[Callable[[str], OpcUaNodeBase]], bool]: + def create_node_function(self, func_name: str = None, node_name: str = None, mode: str = None, value: Any = None, + **kwargs) -> Callable[[Callable[[str], OpcUaNodeBase]], bool]: def execute_node_function(use_node: Callable[[str], OpcUaNodeBase]) -> Union[bool, Tuple[Any, bool]]: target_node = use_node(node_name) @@ -502,8 +475,6 @@ class BaseClient(UniversalDriver): err = result_dict.get("error") print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}), 错误 = {err}") - - print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}, 错误 = {err}") return val, err except Exception as e: print(f"解析读取结果失败: {e}, 原始结果: {result_str}") @@ -551,25 +522,15 @@ class BaseClient(UniversalDriver): raise ValueError("必须提供write_nodes参数") def execute_init_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: - """根据 _workflow_params 为各节点写入真实数值。 - - 约定: - - write_nodes 为 list 时: 节点名 == 参数名，从 _workflow_params[node_name] 取值； - - write_nodes 为 dict 时: - * value 为字符串且在 _workflow_params 中: 当作参数名去取值； - * 否则 value 视为常量直接写入。 - """ - - params = getattr(self, "_workflow_params", {}) or {} - if isinstance(write_nodes, list): - # 节点列表形式: 节点名与参数名一致 + # 处理节点列表 for node_name in write_nodes: - if node_name not in params: - print(f"初始化函数: 参数中未找到 {node_name}, 跳过写入") - continue + # 尝试从参数中获取同名参数的值 + current_value = True # 默认值 + if hasattr(self, '_workflow_params') and node_name in self._workflow_params: + current_value = self._workflow_params[node_name] + print(f"初始化函数: 从参数获取值 {node_name} = {current_value}") - current_value = params[node_name] print(f"初始化函数: 写入节点 {node_name} = {current_value}") input_json = json.dumps({"node_name": node_name, "value": current_value}) result_str = self.write_node(input_json) @@ -581,14 +542,14 @@ class BaseClient(UniversalDriver): except Exception as e: print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}") elif isinstance(write_nodes, dict): - # 映射形式: 节点名 -> 参数名或常量 + # 处理节点字典，使用指定的值 for node_name, node_value in write_nodes.items(): - if isinstance(node_value, str) and node_value in params: - current_value = params[node_value] + # 检查值是否是字符串类型的参数名 + current_value = node_value + if isinstance(node_value, str) and hasattr(self, + '_workflow_params') and node_value in self._workflow_params: + current_value = self._workflow_params[node_value] print(f"初始化函数: 从参数获取值 {node_value} = {current_value}") - else: - current_value = node_value - print(f"初始化函数: 使用常量值 写入 {node_name} = {current_value}") print(f"初始化函数: 写入节点 {node_name} = {current_value}") input_json = json.dumps({"node_name": node_name, "value": current_value}) @@ -705,7 +666,9 @@ class BaseClient(UniversalDriver): self.function_name[func_name] = execute_cleanup_function return execute_cleanup_function - def create_start_function(self, func_name: str, stop_condition_expression: str = "True", write_nodes: Union[Dict[str, Any], List[str]] = None, condition_nodes: Union[Dict[str, str], List[str]] = None): + def create_start_function(self, func_name: str, stop_condition_expression: str = "True", + write_nodes: Union[Dict[str, Any], List[str]] = None, + condition_nodes: Union[Dict[str, str], List[str]] = None): """ 创建开始函数 @@ -715,21 +678,22 @@ class BaseClient(UniversalDriver): write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} condition_nodes: 条件节点列表 [节点名1, 节点名2] """ + def execute_start_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: - """开始函数: 写入触发节点, 然后轮询条件节点直到满足停止条件。""" - - params = getattr(self, "_workflow_params", {}) or {} - - # 先处理写入节点（触发位等） + # 直接处理写入节点 if write_nodes: if isinstance(write_nodes, list): - # 列表形式: 节点名与参数名一致, 若无参数则直接写 True - for node_name in write_nodes: - if node_name in params: - current_value = params[node_name] - else: - current_value = True + # 处理节点列表，默认值都是True + for i, node_name in enumerate(write_nodes): + # 尝试获取与节点对应的参数值 + param_name = f"write_{i}" + # 获取参数值（如果有） + current_value = True # 默认值 + if hasattr(self, '_workflow_params') and param_name in self._workflow_params: + current_value = self._workflow_params[param_name] + + # 直接写入节点 print(f"直接写入节点 {node_name} = {current_value}") input_json = json.dumps({"node_name": node_name, "value": current_value}) result_str = self.write_node(input_json) @@ -741,13 +705,14 @@ class BaseClient(UniversalDriver): except Exception as e: print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}") elif isinstance(write_nodes, dict): - # 字典形式: 节点名 -> 常量值(如 True/False) + # 处理节点字典，值是指定的 for node_name, node_value in write_nodes.items(): - if node_name in params: - current_value = params[node_name] - else: - current_value = node_value + # 尝试获取参数值（如果节点名与参数名匹配） + current_value = node_value # 使用指定的默认值 + if hasattr(self, '_workflow_params') and node_name in self._workflow_params: + current_value = self._workflow_params[node_name] + # 直接写入节点 print(f"直接写入节点 {node_name} = {current_value}") input_json = json.dumps({"node_name": node_name, "value": current_value}) result_str = self.write_node(input_json) @@ -775,7 +740,6 @@ class BaseClient(UniversalDriver): # 直接读取节点 result_str = self.read_node(node_name) try: - time.sleep(1) result_str = result_str.replace("'", '"') result_dict = json.loads(result_str) read_res = result_dict.get("value") @@ -1079,33 +1043,31 @@ class BaseClient(UniversalDriver): 读取节点值的便捷方法 返回包含result字段的字典 """ - # 使用锁保护客户端访问 - with self._client_lock: - try: - node = self.use_node(node_name) - value, error = node.read() + try: + node = self.use_node(node_name) + value, error = node.read() - # 创建结果字典 - result = { - "value": value, - "error": error, - "node_name": node_name, - "timestamp": time.time() - } + # 创建结果字典 + result = { + "value": value, + "error": error, + "node_name": node_name, + "timestamp": time.time() + } - # 返回JSON字符串 - return json.dumps(result) - except Exception as e: - logger.error(f"读取节点 {node_name} 失败: {e}") - # 创建错误结果字典 - result = { - "value": None, - "error": True, - "node_name": node_name, - "error_message": str(e), - "timestamp": time.time() - } - return json.dumps(result) + # 返回JSON字符串 + return json.dumps(result) + except Exception as e: + logger.error(f"读取节点 {node_name} 失败: {e}") + # 创建错误结果字典 + result = { + "value": None, + "error": True, + "node_name": node_name, + "error_message": str(e), + "timestamp": time.time() + } + return json.dumps(result) def write_node(self, json_input: str) -> str: """ @@ -1114,49 +1076,48 @@ class BaseClient(UniversalDriver): eg:'{\"node_name\":\"反应罐号码\",\"value\":\"2\"}' 返回JSON格式的字符串，包含操作结果 """ - # 使用锁保护客户端访问 - with self._client_lock: + try: + # 解析JSON格式的输入 + if not isinstance(json_input, str): + json_input = str(json_input) + try: - # 解析JSON格式的输入 - if not isinstance(json_input, str): - json_input = str(json_input) + input_data = json.loads(json_input) + if not isinstance(input_data, dict): + return json.dumps( + {"error": True, "error_message": "输入必须是包含node_name和value的JSON对象", "success": False}) - try: - input_data = json.loads(json_input) - if not isinstance(input_data, dict): - return json.dumps({"error": True, "error_message": "输入必须是包含node_name和value的JSON对象", "success": False}) + # 从JSON中提取节点名称和值 + node_name = input_data.get("node_name") + value = input_data.get("value") - # 从JSON中提取节点名称和值 - node_name = input_data.get("node_name") - value = input_data.get("value") + if node_name is None: + return json.dumps({"error": True, "error_message": "JSON中缺少node_name字段", "success": False}) + except json.JSONDecodeError as e: + return json.dumps({"error": True, "error_message": f"JSON解析错误: {str(e)}", "success": False}) - if node_name is None: - return json.dumps({"error": True, "error_message": "JSON中缺少node_name字段", "success": False}) - except json.JSONDecodeError as e: - return json.dumps({"error": True, "error_message": f"JSON解析错误: {str(e)}", "success": False}) + node = self.use_node(node_name) + error = node.write(value) - node = self.use_node(node_name) - error = node.write(value) + # 创建结果字典 + result = { + "value": value, + "error": error, + "node_name": node_name, + "timestamp": time.time(), + "success": not error + } - # 创建结果字典 - result = { - "value": value, - "error": error, - "node_name": node_name, - "timestamp": time.time(), - "success": not error - } - - return json.dumps(result) - except Exception as e: - logger.error(f"写入节点失败: {e}") - result = { - "error": True, - "error_message": str(e), - "timestamp": time.time(), - "success": False - } - return json.dumps(result) + return json.dumps(result) + except Exception as e: + logger.error(f"写入节点失败: {e}") + result = { + "error": True, + "error_message": str(e), + "timestamp": time.time(), + "success": False + } + return json.dumps(result) def call_method(self, node_name: str, *args) -> Tuple[Any, bool]: """ @@ -1176,51 +1137,14 @@ class BaseClient(UniversalDriver): class OpcUaClient(BaseClient): - def __init__( - self, - url: str, - deck: Optional[Union[post_process_deck, Dict[str, Any]]] = None, - config_path: str = None, - username: str = None, - password: str = None, - use_subscription: bool = True, - cache_timeout: float = 5.0, - subscription_interval: int = 500, - *args, - **kwargs, - ): + def __init__(self, url: str, config_path: str = None, username: str = None, password: str = None, + refresh_interval: float = 1.0): # 降低OPCUA库的日志级别 import logging logging.getLogger("opcua").setLevel(logging.WARNING) super().__init__() - - # ===== 关键修改：参照 BioyondWorkstation 处理 deck ===== - - super().__init__() - - # 处理 deck 参数 - if deck is None: - self.deck = post_process_deck(setup=True) - elif isinstance(deck, dict): - self.deck = post_process_deck(setup=True) - elif hasattr(deck, 'children'): - self.deck = deck - else: - raise ValueError(f"deck 参数类型不支持: {type(deck)}") - - if self.deck is None: - raise ValueError("Deck 配置不能为空") - - # 统计仓库信息 - warehouse_count = 0 - if hasattr(self.deck, 'children'): - warehouse_count = len(self.deck.children) - logger.info(f"Deck 初始化完成，加载 {warehouse_count} 个资源") - - - # OPC UA 客户端初始化 client = Client(url) if username and password: @@ -1228,152 +1152,75 @@ class OpcUaClient(BaseClient): client.set_password(password) self._set_client(client) - - # 订阅相关属性 - self._use_subscription = use_subscription - self._subscription = None - self._subscription_handles = {} - self._subscription_interval = subscription_interval - - # 缓存相关属性 - self._node_values = {} # 修改为支持时间戳的缓存结构 - self._cache_timeout = cache_timeout - - # 连接状态监控 - self._connection_check_interval = 30.0 # 连接检查间隔(秒) - self._connection_monitor_running = False - self._connection_monitor_thread = None - - # 添加线程锁，保护OPC UA客户端的并发访问 - import threading - self._client_lock = threading.RLock() - - # 连接到服务器 self._connect() + # 节点值缓存和刷新相关属性 + self._node_values = {} # 缓存节点值 + self._refresh_interval = refresh_interval # 刷新间隔(秒) + self._refresh_running = False + self._refresh_thread = None + # 如果提供了配置文件路径，则加载配置并注册工作流 if config_path: self.load_config(config_path) - # 启动连接监控 - self._start_connection_monitor() + # 启动节点值刷新线程 + self.start_node_refresh() + def _register_nodes_as_attributes(self): + """将所有节点注册为实例属性，可以通过self.node_name访问""" + for node_name, node in self._node_registry.items(): + # 检查是否有对应的英文名称 + eng_name = self._reverse_mapping.get(node_name) + if eng_name: + # 如果有对应的英文名称，使用英文名称作为属性名 + attr_name = eng_name + else: + # 如果没有对应的英文名称，使用原始名称，但替换空格和特殊字符 + attr_name = node_name.replace(' ', '_').replace('-', '_') - def _connect(self) -> None: - """连接到OPC UA服务器""" - logger.info('尝试连接到 OPC UA 服务器...') - if self.client: - try: - self.client.connect() - logger.info('✓ 客户端已连接!') + # 创建获取节点值的属性方法，使用中文名称获取节点值 + def create_property_getter(node_key): + def getter(self): + # 优先从缓存获取值 + if node_key in self._node_values: + return self._node_values[node_key] + # 缓存中没有则直接读取 + value, _ = self.use_node(node_key).read() + return value - # 连接后开始查找节点 - if self._variables_to_find: - self._find_nodes() + return getter - # 如果启用订阅模式，设置订阅 - if self._use_subscription: - self._setup_subscriptions() - else: - logger.info("订阅模式已禁用，将使用按需读取模式") + # 使用property装饰器将方法注册为类属性 + setattr(OpcUaClient, attr_name, property(create_property_getter(node_name))) + logger.info(f"已注册节点 '{node_name}' 为属性 '{attr_name}'") - except Exception as e: - logger.error(f'客户端连接失败: {e}') - raise - else: - raise ValueError('客户端未初始化') - - class SubscriptionHandler: - """freeopcua订阅处理器：必须实现 datachange_notification 方法""" - def __init__(self, outer): - self.outer = outer - - def datachange_notification(self, node, val, data): - # 委托给外层类的处理函数 - try: - self.outer._on_subscription_datachange(node, val, data) - except Exception as e: - logger.error(f"订阅数据回调处理失败: {e}") - - # 可选：事件通知占位，避免库调用时报缺失 - def event_notification(self, event): - pass - - def _setup_subscriptions(self): - """设置 OPC UA 订阅""" - if not self.client or not self._use_subscription: + def refresh_node_values(self): + """刷新所有节点的值到缓存""" + if not self.client: + logger.warning("客户端未初始化，无法刷新节点值") return - with self._client_lock: - try: - logger.info(f"开始设置订阅 (发布间隔: {self._subscription_interval}ms)...") - - # 创建订阅 - handler = OpcUaClient.SubscriptionHandler(self) - self._subscription = self.client.create_subscription( - self._subscription_interval, - handler - ) - - # 为所有变量节点创建监控项 - subscribed_count = 0 - skipped_count = 0 - - for node_name, node in self._node_registry.items(): - # 只为变量节点创建订阅 - if node.type == NodeType.VARIABLE and node.node_id: - try: - # 优先使用在查找阶段缓存的真实 ua.Node 对象 - ua_node = self._found_node_objects.get(node_name) - if ua_node is None: - ua_node = self.client.get_node(node.node_id) - handle = self._subscription.subscribe_data_change(ua_node) - self._subscription_handles[node_name] = handle - subscribed_count += 1 - logger.debug(f"✓ 已订阅节点: {node_name}") - except Exception as e: - skipped_count += 1 - logger.warning(f"✗ 订阅节点 {node_name} 失败: {e}") - else: - skipped_count += 1 - - logger.info(f"订阅设置完成: 成功 {subscribed_count} 个, 跳过 {skipped_count} 个") - - except Exception as e: - logger.error(f"设置订阅失败: {e}") - traceback.print_exc() - # 订阅失败时回退到按需读取模式 - self._use_subscription = False - logger.warning("订阅模式设置失败，已自动切换到按需读取模式") - - def _on_subscription_datachange(self, node, val, data): - """订阅数据变化处理器（供内部 SubscriptionHandler 调用）""" try: - node_id = str(node.nodeid) - current_time = time.time() - # 查找对应的节点名称 - for node_name, node_obj in self._node_registry.items(): - if node_obj.node_id == node_id: - self._node_values[node_name] = { - 'value': val, - 'timestamp': current_time, - 'source': 'subscription' - } - logger.debug(f"订阅更新: {node_name} = {val}") - break + # 简单检查连接状态，如果不连接会抛出异常 + self.client.get_namespace_array() except Exception as e: - logger.error(f"处理订阅数据失败: {e}") + logger.warning(f"客户端连接异常，无法刷新节点值: {e}") + return - def get_node_value(self, name, use_cache=True, force_read=False): - """ - 获取节点值（智能缓存版本） + for node_name, node in self._node_registry.items(): + try: + if hasattr(node, 'read'): + value, error = node.read() + if not error: + self._node_values[node_name] = value + # logger.debug(f"已刷新节点 '{node_name}' 的值: {value}") + except Exception as e: + logger.error(f"刷新节点 '{node_name}' 失败: {e}") - 参数: - name: 节点名称（支持中文名或英文名） - use_cache: 是否使用缓存 - force_read: 是否强制从服务器读取（忽略缓存） - """ - # 处理名称映射 + def get_node_value(self, name): + """获取节点值，支持中文名和英文名""" + # 如果提供的是英文名，转换为中文名 if name in self._name_mapping: chinese_name = self._name_mapping[name] # 优先从缓存获取值 @@ -1393,63 +1240,15 @@ class OpcUaClient(BaseClient): else: raise ValueError(f"未找到名称为 '{name}' 的节点") - elif name in self._node_registry: - chinese_name = name - else: - raise ValueError(f"未找到名称为 '{name}' 的节点") - - # 如果强制读取，直接从服务器读取 - if force_read: - with self._client_lock: - value, _ = self.use_node(chinese_name).read() - # 更新缓存 - self._node_values[chinese_name] = { - 'value': value, - 'timestamp': time.time(), - 'source': 'forced_read' - } - return value - - # 检查缓存 - if use_cache and chinese_name in self._node_values: - cache_entry = self._node_values[chinese_name] - cache_age = time.time() - cache_entry['timestamp'] - - # 如果是订阅模式，缓存永久有效（由订阅更新） - # 如果是按需读取模式，检查缓存超时 - if cache_entry.get('source') == 'subscription' or cache_age < self._cache_timeout: - logger.debug(f"从缓存读取: {chinese_name} = {cache_entry['value']} (age: {cache_age:.2f}s, source: {cache_entry.get('source', 'unknown')})") - return cache_entry['value'] - - # 缓存过期或不存在，从服务器读取 - with self._client_lock: - try: - value, error = self.use_node(chinese_name).read() - if not error: - # 更新缓存 - self._node_values[chinese_name] = { - 'value': value, - 'timestamp': time.time(), - 'source': 'on_demand_read' - } - return value - else: - logger.warning(f"读取节点 {chinese_name} 失败") - return None - except Exception as e: - logger.error(f"读取节点 {chinese_name} 出错: {e}") - return None - def set_node_value(self, name, value): - """ - 设置节点值 - 写入成功后会立即更新本地缓存 - """ - # 处理名称映射 + """设置节点值，支持中文名和英文名""" + # 如果提供的是英文名，转换为中文名 if name in self._name_mapping: chinese_name = self._name_mapping[name] + node = self.use_node(chinese_name) + # 如果提供的是中文名，直接使用 elif name in self._node_registry: - chinese_name = name + node = self.use_node(name) else: raise ValueError(f"未找到名称为 '{name}' 的节点") @@ -1468,50 +1267,6 @@ class OpcUaClient(BaseClient): logger.info(f"节点值刷新线程已启动，刷新间隔: {self._refresh_interval}秒") while self._refresh_running: - - with self._client_lock: - try: - node = self.use_node(chinese_name) - error = node.write(value) - - if not error: - # 写入成功，立即更新缓存 - self._node_values[chinese_name] = { - 'value': value, - 'timestamp': time.time(), - 'source': 'write' - } - logger.debug(f"写入成功: {chinese_name} = {value}") - return True - else: - logger.warning(f"写入节点 {chinese_name} 失败") - return False - except Exception as e: - logger.error(f"写入节点 {chinese_name} 出错: {e}") - return False - - def _check_connection(self) -> bool: - """检查连接状态""" - try: - with self._client_lock: - if self.client: - # 尝试获取命名空间数组来验证连接 - self.client.get_namespace_array() - return True - except Exception as e: - logger.warning(f"连接检查失败: {e}") - return False - return False - - def _connection_monitor_worker(self): - """连接监控线程工作函数""" - self._connection_monitor_running = True - logger.info(f"连接监控线程已启动 (检查间隔: {self._connection_check_interval}秒)") - - reconnect_attempts = 0 - max_reconnect_attempts = 5 - - while self._connection_monitor_running: try: self.refresh_node_values() except Exception as e: @@ -1524,49 +1279,6 @@ class OpcUaClient(BaseClient): """启动节点值刷新线程""" if self._refresh_thread is not None and self._refresh_thread.is_alive(): logger.warning("节点值刷新线程已在运行") - # 检查连接状态 - if not self._check_connection(): - logger.warning("检测到连接断开，尝试重新连接...") - reconnect_attempts += 1 - - if reconnect_attempts <= max_reconnect_attempts: - try: - # 尝试重新连接 - with self._client_lock: - if self.client: - try: - self.client.disconnect() - except: - pass - - self.client.connect() - logger.info("✓ 重新连接成功") - - # 重新设置订阅 - if self._use_subscription: - self._setup_subscriptions() - - reconnect_attempts = 0 - except Exception as e: - logger.error(f"重新连接失败 (尝试 {reconnect_attempts}/{max_reconnect_attempts}): {e}") - time.sleep(5) # 重连失败后等待5秒 - else: - logger.error(f"达到最大重连次数 ({max_reconnect_attempts})，停止重连") - self._connection_monitor_running = False - else: - # 连接正常，重置重连计数 - reconnect_attempts = 0 - - except Exception as e: - logger.error(f"连接监控出错: {e}") - - # 等待下次检查 - time.sleep(self._connection_check_interval) - - def _start_connection_monitor(self): - """启动连接监控线程""" - if self._connection_monitor_thread is not None and self._connection_monitor_thread.is_alive(): - logger.warning("连接监控线程已在运行") return import threading @@ -1580,94 +1292,6 @@ class OpcUaClient(BaseClient): self._refresh_thread.join(timeout=2.0) logger.info("节点值刷新线程已停止") - self._connection_monitor_thread = threading.Thread( - target=self._connection_monitor_worker, - daemon=True, - name="OpcUaConnectionMonitor" - ) - self._connection_monitor_thread.start() - - def _stop_connection_monitor(self): - """停止连接监控线程""" - self._connection_monitor_running = False - if self._connection_monitor_thread and self._connection_monitor_thread.is_alive(): - self._connection_monitor_thread.join(timeout=2.0) - logger.info("连接监控线程已停止") - - def read_node(self, node_name: str) -> str: - """ - 读取节点值的便捷方法（使用缓存） - 返回JSON格式字符串 - """ - try: - # 使用get_node_value方法，自动处理缓存 - value = self.get_node_value(node_name, use_cache=True) - - # 获取缓存信息 - chinese_name = self._name_mapping.get(node_name, node_name) - cache_info = self._node_values.get(chinese_name, {}) - - result = { - "value": value, - "error": False, - "node_name": node_name, - "timestamp": time.time(), - "cache_age": time.time() - cache_info.get('timestamp', time.time()), - "source": cache_info.get('source', 'unknown') - } - - return json.dumps(result) - except Exception as e: - logger.error(f"读取节点 {node_name} 失败: {e}") - result = { - "value": None, - "error": True, - "node_name": node_name, - "error_message": str(e), - "timestamp": time.time() - } - return json.dumps(result) - - def get_cache_stats(self) -> Dict[str, Any]: - """获取缓存统计信息""" - current_time = time.time() - stats = { - 'total_cached_nodes': len(self._node_values), - 'subscription_nodes': 0, - 'on_demand_nodes': 0, - 'expired_nodes': 0, - 'cache_timeout': self._cache_timeout, - 'using_subscription': self._use_subscription - } - - for node_name, cache_entry in self._node_values.items(): - source = cache_entry.get('source', 'unknown') - cache_age = current_time - cache_entry['timestamp'] - - if source == 'subscription': - stats['subscription_nodes'] += 1 - elif source in ['on_demand_read', 'forced_read', 'write']: - stats['on_demand_nodes'] += 1 - - if cache_age > self._cache_timeout: - stats['expired_nodes'] += 1 - - return stats - - def print_cache_stats(self): - """打印缓存统计信息""" - stats = self.get_cache_stats() - print("\n" + "="*80) - print("缓存统计信息") - print("="*80) - print(f"总缓存节点数: {stats['total_cached_nodes']}") - print(f"订阅模式: {'启用' if stats['using_subscription'] else '禁用'}") - print(f" - 订阅更新节点: {stats['subscription_nodes']}") - print(f" - 按需读取节点: {stats['on_demand_nodes']}") - print(f" - 已过期节点: {stats['expired_nodes']}") - print(f"缓存超时时间: {stats['cache_timeout']}秒") - print("="*80 + "\n") - def load_config(self, config_path: str) -> None: """从JSON配置文件加载并注册工作流""" try: @@ -1676,206 +1300,42 @@ class OpcUaClient(BaseClient): # 处理节点注册 if "register_node_list_from_csv_path" in config_data: + # 获取配置文件所在目录 config_dir = os.path.dirname(os.path.abspath(config_path)) # 处理CSV路径，如果是相对路径，则相对于配置文件所在目录 - if "path" in config_data["register_node_list_from_csv_path"]: csv_path = config_data["register_node_list_from_csv_path"]["path"] if not os.path.isabs(csv_path): + # 转换为绝对路径 csv_path = os.path.join(config_dir, csv_path) config_data["register_node_list_from_csv_path"]["path"] = csv_path # 直接使用字典 - self.register_node_list_from_csv_path(**config_data["register_node_list_from_csv_path"]) - if self.client and self._variables_to_find: - logger.info("CSV加载完成，开始查找服务器节点...") - self._find_nodes() - # 处理工作流创建 if "create_flow" in config_data: + # 直接传递字典列表 self.create_workflow_from_json(config_data["create_flow"]) + # 将工作流注册为实例方法 self.register_workflows_as_methods() - # 将所有节点注册为属性（只注册已找到的节点） + # 将所有节点注册为属性 self._register_nodes_as_attributes() - # 打印统计信息 - found_count = len(self._node_registry) - total_count = len(self._variables_to_find) - if found_count < total_count: - logger.warning(f"节点查找完成：找到 {found_count}/{total_count} 个节点") - else: - logger.info(f"✓ 节点查找完成：所有 {found_count} 个节点均已找到") - - # 如果使用订阅模式，重新设置订阅（确保新节点被订阅） - if self._use_subscription and found_count > 0: - self._setup_subscriptions() - logger.info(f"成功从 {config_path} 加载配置") except Exception as e: logger.error(f"加载配置文件 {config_path} 失败: {e}") traceback.print_exc() - def print_node_registry_status(self): - """打印节点注册状态，用于调试""" - print("\n" + "="*80) - print("节点注册状态诊断报告") - print("="*80) - print(f"\n待查找节点总数: {len(self._variables_to_find)}") - print(f"已找到节点总数: {len(self._node_registry)}") - print(f"未找到节点总数: {len(self._variables_to_find) - len(self._node_registry)}") - - # 显示已找到的节点（前10个） - if self._node_registry: - print(f"\n✓ 已找到的节点 (显示前10个):") - for i, (name, node) in enumerate(list(self._node_registry.items())[:10]): - eng_name = self._reverse_mapping.get(name, "") - eng_info = f" ({eng_name})" if eng_name else "" - print(f" {i+1}. '{name}'{eng_info}") - print(f" NodeId: {node.node_id}") - print(f" Type: {node.type}") - - # 显示未找到的节点 - not_found = [name for name in self._variables_to_find if name not in self._node_registry] - if not_found: - print(f"\n✗ 未找到的节点 (显示前20个):") - for i, name in enumerate(not_found[:20]): - eng_name = self._reverse_mapping.get(name, "") - eng_info = f" ({eng_name})" if eng_name else "" - node_info = self._variables_to_find[name] - print(f" {i+1}. '{name}'{eng_info} - {node_info['node_type']}") - - print("\n" + "="*80) - print("提示：") - print("1. 如果大量节点未找到，请检查CSV中的节点名称是否与服务器BrowseName完全匹配") - print("2. 可以使用 client.browse_server_nodes() 查看服务器的实际节点结构") - print("3. 节点名称区分大小写，且包括所有空格和特殊字符") - print("="*80 + "\n") - - def browse_server_nodes(self, max_depth=3, start_path=["0:Objects"]): - """浏览服务器节点树，用于调试和对比""" - if not self.client: - print("客户端未连接") - return - - print("\n" + "="*80) - print(f"服务器节点浏览 (最大深度: {max_depth})") - print("="*80 + "\n") - - try: - root = self.client.get_root_node() - start_node = root.get_child(start_path) - self._browse_node_recursive(start_node, depth=0, max_depth=max_depth) - except Exception as e: - print(f"浏览失败: {e}") - traceback.print_exc() - - def _browse_node_recursive(self, node, depth=0, max_depth=3): - """递归浏览节点""" - if depth > max_depth: - return - - try: - browse_name = node.get_browse_name() - node_class = node.get_node_class() - indent = " " * depth - - # 显示节点信息 - print(f"{indent}├─ {browse_name.Name}") - print(f"{indent}│ NodeId: {str(node.nodeid)}") - print(f"{indent}│ NodeClass: {node_class}") - - # 如果是变量，显示数据类型 - if node_class == NodeClass.Variable: - try: - data_type = node.get_data_type() - print(f"{indent}│ DataType: {data_type}") - except: - pass - - # 递归处理子节点（限制数量避免输出过多） - if depth < max_depth: - children = node.get_children() - for i, child in enumerate(children[:20]): # 每层最多显示20个子节点 - self._browse_node_recursive(child, depth + 1, max_depth) - if len(children) > 20: - print(f"{indent} ... ({len(children) - 20} more children)") - except Exception as e: - # 忽略单个节点的错误 - pass - def disconnect(self): # 停止刷新线程 self.stop_node_refresh() - """断开连接并清理资源""" - logger.info("正在断开连接...") - - # 停止连接监控 - self._stop_connection_monitor() - - # 删除订阅 - if self._subscription: - try: - with self._client_lock: - self._subscription.delete() - logger.info("订阅已删除") - except Exception as e: - logger.warning(f"删除订阅失败: {e}") - - # 断开客户端连接 if self.client: - try: - with self._client_lock: - self.client.disconnect() - logger.info("✓ OPC UA 客户端已断开连接") - except Exception as e: - logger.error(f"断开连接失败: {e}") - - def _register_nodes_as_attributes(self): - """将所有节点注册为实例属性""" - for node_name, node in self._node_registry.items(): - if not node.node_id or node.node_id == "": - logger.warning(f"⚠ 节点 '{node_name}' 的 node_id 为空，跳过注册为属性") - continue - - eng_name = self._reverse_mapping.get(node_name) - attr_name = eng_name if eng_name else node_name.replace(' ', '_').replace('-', '_') - - def create_property_getter(node_key): - def getter(self): - return self.get_node_value(node_key, use_cache=True) - return getter - - setattr(OpcUaClient, attr_name, property(create_property_getter(node_name))) - logger.debug(f"已注册节点 '{node_name}' 为属性 '{attr_name}'") - - def post_init(self, ros_node): - """ROS2 节点就绪后的初始化""" - if not (hasattr(self, 'deck') and self.deck): - return - - if not (hasattr(ros_node, 'resource_tracker') and ros_node.resource_tracker): - logger.warning("resource_tracker 不存在，无法注册 deck") - return - - # 1. 本地注册（必需） - ros_node.resource_tracker.add_resource(self.deck) - - # 2. 上传云端 - try: - from unilabos.ros.nodes.base_device_node import ROS2DeviceNode - ROS2DeviceNode.run_async_func( - ros_node.update_resource, - True, - resources=[self.deck] - ) - logger.info("Deck 已上传到云端") - except Exception as e: - logger.error(f"上传失败: {e}") + self.client.disconnect() + logger.info("OPC UA client disconnected") if __name__ == '__main__': @@ -1883,14 +1343,15 @@ if __name__ == '__main__': # 使用配置文件创建客户端并自动注册工作流 import os + current_dir = os.path.dirname(os.path.abspath(__file__)) config_path = os.path.join(current_dir, "opcua_huairou.json") # 创建OPC UA客户端并加载配置 try: client = OpcUaClient( - url="opc.tcp://192.168.1.88:4840/freeopcua/server/", # 替换为实际的OPC UA服务器地址 - config_path="D:\\Uni-Lab-OS\\unilabos\\device_comms\\opcua_client\\opcua_huairou.json" # 传入配置文件路径 + url="opc.tcp://localhost:4840/freeopcua/server/", # 替换为实际的OPC UA服务器地址 + config_path=config_path # 传入配置文件路径 ) # 列出所有已注册的工作流 @@ -1900,9 +1361,7 @@ if __name__ == '__main__': # 测试trigger_grab_action工作流 - 使用英文参数名 print("\n测试trigger_grab_action工作流 - 使用英文参数名:") - client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=2) - # client.set_node_value("reaction_tank_number", 2) - + client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=3) # 读取节点值 - 使用英文节点名 grab_complete = client.get_node_value("grab_complete") diff --git a/unilabos/registry/devices/bioyond.yaml b/unilabos/registry/devices/bioyond.yaml deleted file mode 100644 index 3325a260..00000000 --- a/unilabos/registry/devices/bioyond.yaml +++ /dev/null @@ -1,589 +0,0 @@ -workstation.bioyond_dispensing_station: - category: - - workstation - - bioyond - class: - action_value_mappings: - auto-batch_create_90_10_vial_feeding_tasks: - feedback: {} - goal: {} - goal_default: - delay_time: null - hold_m_name: null - liquid_material_name: NMP - speed: null - temperature: null - titration: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - liquid_material_name: - default: NMP - type: string - speed: - type: string - temperature: - type: string - titration: - type: string - required: - - titration - type: object - result: {} - required: - - goal - title: batch_create_90_10_vial_feeding_tasks参数 - type: object - type: UniLabJsonCommand - auto-batch_create_diamine_solution_tasks: - feedback: {} - goal: {} - goal_default: - delay_time: null - liquid_material_name: NMP - solutions: null - speed: null - temperature: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - delay_time: - type: string - liquid_material_name: - default: NMP - type: string - solutions: - type: string - speed: - type: string - temperature: - type: string - required: - - solutions - type: object - result: {} - required: - - goal - title: batch_create_diamine_solution_tasks参数 - type: object - type: UniLabJsonCommand - auto-brief_step_parameters: - feedback: {} - goal: {} - goal_default: - data: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - data: - type: object - required: - - data - type: object - result: {} - required: - - goal - title: brief_step_parameters参数 - type: object - type: UniLabJsonCommand - auto-compute_experiment_design: - feedback: {} - goal: {} - goal_default: - m_tot: '70' - ratio: null - titration_percent: '0.03' - wt_percent: '0.25' - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - m_tot: - default: '70' - type: string - ratio: - type: object - titration_percent: - default: '0.03' - type: string - wt_percent: - default: '0.25' - type: string - required: - - ratio - type: object - result: - properties: - feeding_order: - items: {} - title: Feeding Order - type: array - return_info: - title: Return Info - type: string - solutions: - items: {} - title: Solutions - type: array - solvents: - additionalProperties: true - title: Solvents - type: object - titration: - additionalProperties: true - title: Titration - type: object - required: - - solutions - - titration - - solvents - - feeding_order - - return_info - title: ComputeExperimentDesignReturn - type: object - required: - - goal - 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-wait_for_multiple_orders_and_get_reports: - feedback: {} - goal: {} - goal_default: - batch_create_result: null - check_interval: 10 - timeout: 7200 - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - batch_create_result: - type: string - check_interval: - default: 10 - type: integer - timeout: - default: 7200 - type: integer - required: [] - type: object - result: {} - required: - - goal - title: wait_for_multiple_orders_and_get_reports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 - create_90_10_vial_feeding_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - order_name: order_name - percent_10_1_assign_material_name: percent_10_1_assign_material_name - percent_10_1_liquid_material_name: percent_10_1_liquid_material_name - percent_10_1_target_weigh: percent_10_1_target_weigh - percent_10_1_volume: percent_10_1_volume - percent_10_2_assign_material_name: percent_10_2_assign_material_name - percent_10_2_liquid_material_name: percent_10_2_liquid_material_name - percent_10_2_target_weigh: percent_10_2_target_weigh - percent_10_2_volume: percent_10_2_volume - percent_10_3_assign_material_name: percent_10_3_assign_material_name - percent_10_3_liquid_material_name: percent_10_3_liquid_material_name - percent_10_3_target_weigh: percent_10_3_target_weigh - percent_10_3_volume: percent_10_3_volume - percent_90_1_assign_material_name: percent_90_1_assign_material_name - percent_90_1_target_weigh: percent_90_1_target_weigh - percent_90_2_assign_material_name: percent_90_2_assign_material_name - percent_90_2_target_weigh: percent_90_2_target_weigh - percent_90_3_assign_material_name: percent_90_3_assign_material_name - percent_90_3_target_weigh: percent_90_3_target_weigh - speed: speed - temperature: temperature - goal_default: - delay_time: '' - hold_m_name: '' - order_name: '' - percent_10_1_assign_material_name: '' - percent_10_1_liquid_material_name: '' - percent_10_1_target_weigh: '' - percent_10_1_volume: '' - percent_10_2_assign_material_name: '' - percent_10_2_liquid_material_name: '' - percent_10_2_target_weigh: '' - percent_10_2_volume: '' - percent_10_3_assign_material_name: '' - percent_10_3_liquid_material_name: '' - percent_10_3_target_weigh: '' - percent_10_3_volume: '' - 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: '' - speed: '' - temperature: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationVialFeed_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - order_name: - type: string - percent_10_1_assign_material_name: - type: string - percent_10_1_liquid_material_name: - type: string - percent_10_1_target_weigh: - type: string - percent_10_1_volume: - type: string - percent_10_2_assign_material_name: - type: string - percent_10_2_liquid_material_name: - type: string - percent_10_2_target_weigh: - type: string - percent_10_2_volume: - type: string - percent_10_3_assign_material_name: - type: string - percent_10_3_liquid_material_name: - type: string - percent_10_3_target_weigh: - type: string - percent_10_3_volume: - type: string - percent_90_1_assign_material_name: - type: string - percent_90_1_target_weigh: - type: string - percent_90_2_assign_material_name: - type: string - percent_90_2_target_weigh: - type: string - percent_90_3_assign_material_name: - type: string - percent_90_3_target_weigh: - type: string - speed: - 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: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationVialFeed_Result - type: object - required: - - goal - title: DispenStationVialFeed - type: object - type: DispenStationVialFeed - create_diamine_solution_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - material_name: material_name - order_name: order_name - speed: speed - target_weigh: target_weigh - temperature: temperature - volume: volume - goal_default: - delay_time: '' - hold_m_name: '' - liquid_material_name: '' - material_name: '' - order_name: '' - speed: '' - target_weigh: '' - temperature: '' - volume: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationSolnPrep_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - liquid_material_name: - type: string - material_name: - type: string - order_name: - type: string - speed: - type: string - target_weigh: - type: string - temperature: - 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: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationSolnPrep_Result - type: object - required: - - goal - title: DispenStationSolnPrep - type: object - type: DispenStationSolnPrep - module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - config: - type: string - deck: - type: string - required: - - config - - deck - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index 9243e21e..fc4b75cb 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -32,7 +32,112 @@ bioyond_cell: feedback: {} goal: {} goal_default: - xlsx_path: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx + 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: {} @@ -42,8 +147,323 @@ bioyond_cell: 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/2025122301.xlsx + default: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx type: string required: [] type: object @@ -507,7 +927,112 @@ bioyond_cell: feedback: {} goal: {} goal_default: - xlsx_path: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx + 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: {} @@ -517,8 +1042,323 @@ bioyond_cell: 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 + default: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx type: string required: [] type: object @@ -532,7 +1372,112 @@ bioyond_cell: feedback: {} goal: {} goal_default: - xlsx_path: D:/UniLab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx + 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: {} @@ -542,8 +1487,323 @@ bioyond_cell: 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 + default: D:\UniLab\Uni-Lab-OS\unilabos\devices\workstation\bioyond_studio\bioyond_cell\material_template.xlsx type: string required: [] type: object @@ -785,6 +2045,39 @@ bioyond_cell: 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: {} + required: + - goal + title: wait_for_order_finish_polling参数 + type: object + type: UniLabJsonCommand auto-wait_for_transfer_task: feedback: {} goal: {} @@ -820,6 +2113,7 @@ bioyond_cell: module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation status_types: device_id: String + material_info: dict type: python config_info: [] description: '' @@ -828,7 +2122,7 @@ bioyond_cell: init_param_schema: config: properties: - config: + bioyond_config: type: object deck: type: string @@ -840,8 +2134,11 @@ bioyond_cell: properties: device_id: type: string + material_info: + type: object required: - device_id + - material_info type: object registry_type: device version: 1.0.0 diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml index 97b55cc1..7b9ebc90 100644 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml @@ -5,6 +5,135 @@ bioyond_dispensing_station: - bioyond_dispensing_station class: action_value_mappings: + auto-brief_step_parameters: + feedback: {} + goal: {} + goal_default: + data: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + data: + type: object + required: + - data + type: object + result: {} + required: + - goal + title: brief_step_parameters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-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: diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml index c8a671a7..2e9f6073 100644 --- a/unilabos/registry/devices/coin_cell_workstation.yaml +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -405,7 +405,7 @@ coincellassemblyworkstation_device: goal: properties: bottle_num: - type: integer + type: string required: - bottle_num type: object diff --git a/unilabos/registry/devices/opcua_example.yaml b/unilabos/registry/devices/opcua_example.yaml index 0f500cfa..a7e6b4e3 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: @@ -149,9 +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 type: python config_info: [] @@ -161,23 +152,15 @@ 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: @@ -185,12 +168,9 @@ opcua_example: type: object data: 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/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index cf46d7ef..8b4622dc 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -58,6 +58,313 @@ reaction_station.bioyond: 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: {} + goal_default: + json_str: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + json_str: + type: string + required: + - json_str + type: object + result: {} + required: + - goal + title: create_order参数 + type: object + type: UniLabJsonCommand + auto-hard_delete_merged_workflows: + feedback: {} + goal: {} + goal_default: + workflow_ids: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + workflow_ids: + items: + type: string + type: array + required: + - workflow_ids + type: object + result: {} + required: + - goal + title: hard_delete_merged_workflows参数 + type: object + type: UniLabJsonCommand + auto-merge_workflow_with_parameters: + feedback: {} + goal: {} + goal_default: + json_str: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + json_str: + type: string + required: + - json_str + type: object + result: {} + required: + - goal + title: merge_workflow_with_parameters参数 + type: object + type: UniLabJsonCommand + auto-process_temperature_cutoff_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_temperature_cutoff_report参数 + type: object + type: UniLabJsonCommand + auto-process_web_workflows: + feedback: {} + goal: {} + goal_default: + web_workflow_json: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + web_workflow_json: + type: string + required: + - web_workflow_json + type: object + result: {} + 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: {} + required: + - goal + title: set_reactor_temperature参数 + type: object + type: UniLabJsonCommand + auto-skip_titration_steps: + feedback: {} + goal: {} + goal_default: + preintake_id: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + preintake_id: + type: string + required: + - preintake_id + type: object + result: {} + 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: {} + required: + - goal + title: sync_workflow_sequence_from_bioyond参数 + type: object + type: UniLabJsonCommand + auto-wait_for_multiple_orders_and_get_reports: + feedback: {} + goal: {} + goal_default: + batch_create_result: null + check_interval: 10 + timeout: 7200 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + batch_create_result: + type: string + check_interval: + default: 10 + type: integer + timeout: + default: 7200 + type: integer + required: [] + type: object + result: {} + 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: {} + 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_step_query参数 + type: object + type: UniLabJsonCommand clean_all_server_workflows: feedback: {} goal: {} @@ -674,17 +981,7 @@ reaction_station.bioyond: module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation protocol_type: [] status_types: - average_viscosity: Float64 - force: Float64 - in_temperature: Float64 - out_temperature: Float64 - pt100_temperature: Float64 - sensor_average_temperature: Float64 - setting_temperature: Float64 - speed: Float64 - target_temperature: Float64 - viscosity: Float64 - workflow_sequence: String + workflow_sequence: str type: python config_info: [] description: Bioyond反应站 @@ -704,9 +1001,7 @@ reaction_station.bioyond: data: properties: workflow_sequence: - items: - type: string - type: array + type: string required: - workflow_sequence type: object @@ -716,19 +1011,34 @@ reaction_station.reactor: - reactor - reaction_station_bioyond class: - action_value_mappings: {} + action_value_mappings: + auto-update_metrics: + feedback: {} + goal: {} + goal_default: + payload: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + payload: + type: object + required: + - payload + type: object + result: {} + required: + - goal + title: update_metrics参数 + type: object + type: UniLabJsonCommand module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor - status_types: - average_viscosity: Float64 - force: Float64 - in_temperature: Float64 - out_temperature: Float64 - pt100_temperature: Float64 - sensor_average_temperature: Float64 - setting_temperature: Float64 - speed: Float64 - target_temperature: Float64 - viscosity: Float64 + status_types: {} type: python config_info: [] description: 反应站子设备-反应器 diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 64aba3c8..f09b79c1 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -479,7 +479,11 @@ class Registry: return status_schema def _generate_unilab_json_command_schema( - self, method_args: List[Dict[str, Any]], method_name: str, return_annotation: Any = None + 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 @@ -488,6 +492,7 @@ class Registry: 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 @@ -521,7 +526,7 @@ class Registry: if return_annotation is not None and self._is_typed_dict(return_annotation): result_schema = self._generate_typed_dict_result_schema(return_annotation) - return { + final_schema = { "title": f"{method_name}参数", "description": f"", "type": "object", @@ -529,6 +534,39 @@ class Registry: "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 + + 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"] + def _is_typed_dict(self, annotation: Any) -> bool: """ 检查类型注解是否是TypedDict @@ -697,13 +735,10 @@ class Registry: sorted(device_config["class"]["status_types"].items()) ) if complete_registry: - # 保存原有的description信息 - old_descriptions = {} + # 保存原有的 action 配置（用于保留 schema 的 description 和 handles 等） + old_action_configs = {} for action_name, action_config in device_config["class"]["action_value_mappings"].items(): - if "description" in action_config.get("schema", {}): - description = action_config["schema"]["description"] - if len(description): - old_descriptions[action_name] = action_config["schema"]["description"] + old_action_configs[action_name] = action_config device_config["class"]["action_value_mappings"] = { k: v @@ -719,10 +754,15 @@ class Registry: "feedback": {}, "result": {}, "schema": self._generate_unilab_json_command_schema( - v["args"], k, v.get("return_annotation") + v["args"], + k, + v.get("return_annotation"), + # 传入旧的 schema 以保留字段 description + old_action_configs.get(f"auto-{k}", {}).get("schema"), ), "goal_default": {i["name"]: i["default"] for i in v["args"]}, - "handles": [], + # 保留原有的 handles 配置 + "handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []), "placeholder_keys": { i["name"]: ( "unilabos_resources" @@ -746,12 +786,14 @@ class Registry: if k not in device_config["class"]["action_value_mappings"] } ) - # 恢复原有的description信息（auto开头的不修改） - for action_name, description in old_descriptions.items(): + # 恢复原有的 description 信息（非 auto- 开头的动作） + for action_name, old_config in old_action_configs.items(): if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除 - device_config["class"]["action_value_mappings"][action_name]["schema"][ - "description" - ] = description + 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__" diff --git a/yibin_electrolyte_config_example.json b/unilabos/test/experiments/yibin_electrolyte_config_example.json similarity index 100% rename from yibin_electrolyte_config_example.json rename to unilabos/test/experiments/yibin_electrolyte_config_example.json diff --git a/unilabos/utils/log.py b/unilabos/utils/log.py index f10bd518..cee3269b 100644 --- a/unilabos/utils/log.py +++ b/unilabos/utils/log.py @@ -191,21 +191,6 @@ def configure_logger(loglevel=None, working_dir=None): # 添加处理器到根日志记录器 root_logger.addHandler(console_handler) - - # 降低第三方库的日志级别，避免过多输出 - # pymodbus 库的日志太详细，设置为 WARNING - logging.getLogger('pymodbus').setLevel(logging.WARNING) - logging.getLogger('pymodbus.logging').setLevel(logging.WARNING) - logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING) - logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING) - - # websockets 库的日志输出较多，设置为 WARNING - logging.getLogger('websockets').setLevel(logging.WARNING) - logging.getLogger('websockets.client').setLevel(logging.WARNING) - logging.getLogger('websockets.server').setLevel(logging.WARNING) - - # ROS 节点的状态更新日志过于频繁，设置为 INFO - logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO) # 如果指定了工作目录，添加文件处理器 if working_dir is not None: From 216f19fb6201ebff48b8dd11894ba94c1f6ad268 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 26 Jan 2026 02:15:13 +0800 Subject: [PATCH 34/40] Workbench example, adjust log level, and ci check (#220) * TestLatency Return Value Example & gitignore update * Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode & * Add CI Check --- .conda/scripts/post-link.bat | 9 - .conda/scripts/post-link.sh | 9 - .cursorignore | 26 - .github/dependabot.yml | 19 + .github/workflows/ci-check.yml | 52 + .gitignore | 1 + unilabos/app/main.py | 24 +- unilabos/app/web/controller.py | 4 +- unilabos/app/ws_client.py | 31 +- unilabos/config/config.py | 1 + unilabos/devices/virtual/workbench.py | 687 ++ unilabos/registry/devices/virtual_device.yaml | 6054 +---------------- unilabos/registry/registry.py | 38 +- unilabos/ros/msgs/message_converter.py | 40 +- unilabos/ros/nodes/presets/host_node.py | 67 +- unilabos/test/experiments/virtual_bench.json | 28 + unilabos/utils/decorator.py | 46 + unilabos/utils/import_manager.py | 14 + 18 files changed, 1329 insertions(+), 5821 deletions(-) delete mode 100644 .conda/scripts/post-link.bat delete mode 100644 .conda/scripts/post-link.sh delete mode 100644 .cursorignore create mode 100644 .github/dependabot.yml create mode 100644 .github/workflows/ci-check.yml create mode 100644 unilabos/devices/virtual/workbench.py create mode 100644 unilabos/test/experiments/virtual_bench.json diff --git a/.conda/scripts/post-link.bat b/.conda/scripts/post-link.bat deleted file mode 100644 index 352b78ca..00000000 --- a/.conda/scripts/post-link.bat +++ /dev/null @@ -1,9 +0,0 @@ -@echo off -setlocal enabledelayedexpansion - -REM upgrade pip -"%PREFIX%\python.exe" -m pip install --upgrade pip - -REM install extra deps -"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data -"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git diff --git a/.conda/scripts/post-link.sh b/.conda/scripts/post-link.sh deleted file mode 100644 index ef96f159..00000000 --- a/.conda/scripts/post-link.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env bash -set -euxo pipefail - -# make sure pip is available -"$PREFIX/bin/python" -m pip install --upgrade pip - -# install extra deps -"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data -"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git diff --git a/.cursorignore b/.cursorignore deleted file mode 100644 index 7b0d4f90..00000000 --- a/.cursorignore +++ /dev/null @@ -1,26 +0,0 @@ -.conda -# .github -.idea -# .vscode -output -pylabrobot_repo -recipes -scripts -service -temp -# unilabos/test -# unilabos/app/web -unilabos/device_mesh -unilabos_data -unilabos_msgs -unilabos.egg-info -CONTRIBUTORS -# LICENSE -MANIFEST.in -pyrightconfig.json -# README.md -# README_zh.md -setup.py -setup.cfg -.gitattrubutes -**/__pycache__ diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 00000000..20a5faa5 --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,19 @@ +version: 2 +updates: +# GitHub Actions +- package-ecosystem: "github-actions" + directory: "/" + target-branch: "dev" + schedule: + interval: "weekly" + day: "monday" + time: "06:00" + open-pull-requests-limit: 5 + reviewers: + - "msgcenterpy-team" + labels: + - "dependencies" + - "github-actions" + commit-message: + prefix: "ci" + include: "scope" diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml new file mode 100644 index 00000000..fa5ada7c --- /dev/null +++ b/.github/workflows/ci-check.yml @@ -0,0 +1,52 @@ +name: CI Check + +on: + pull_request: + branches: [main, dev] + +jobs: + registry-check: + runs-on: ubuntu-latest + + defaults: + run: + shell: bash -l {0} + + steps: + - uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: Setup Miniconda + uses: conda-incubator/setup-miniconda@v3 + with: + miniconda-version: 'latest' + channels: conda-forge,robostack-staging,uni-lab,defaults + channel-priority: strict + activate-environment: check-env + auto-activate-base: false + auto-update-conda: false + show-channel-urls: true + + - name: Install minimal ROS dependencies + run: | + conda install ros-humble-ros-core ros-humble-std-msgs ros-humble-geometry-msgs ros-humble-control-msgs -c robostack-staging -c conda-forge + + - name: Install unilabos-msgs and project + run: | + conda install ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge + pip install -e . + + - name: Run check mode (complete_registry) + run: | + python -m unilabos --check_mode --skip_env_check + + - name: Check for uncommitted changes + run: | + if ! git diff --exit-code; then + echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更" + echo "变化的文件:" + git diff --name-only + exit 1 + fi + echo "检查通过：无文件变化" diff --git a/.gitignore b/.gitignore index 610be614..838331e3 100644 --- a/.gitignore +++ b/.gitignore @@ -4,6 +4,7 @@ temp/ output/ unilabos_data/ pyrightconfig.json +.cursorignore ## Python # Byte-compiled / optimized / DLL files diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 8ec26c03..8cea5f63 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -161,6 +161,12 @@ def parse_args(): 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( "--no_update_feedback", action="store_true", @@ -314,6 +320,12 @@ def main(): BasicConfig.machine_name = machine_name BasicConfig.vis_2d_enable = args_dict["2d_vis"] + # Check mode 处理 + check_mode = args_dict.get("check_mode", False) + BasicConfig.check_mode = check_mode + if check_mode: + print_status("Check mode 启用，将进行 complete_registry 检查", "info") + from unilabos.resources.graphio import ( read_node_link_json, read_graphml, @@ -331,10 +343,14 @@ def main(): # 显示启动横幅 print_unilab_banner(args_dict) - # 注册表 - lab_registry = build_registry( - args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry - ) + # 注册表 - check_mode 时强制启用 complete_registry + complete_registry = args_dict.get("complete_registry", False) or check_mode + lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry) + + # Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行 + if check_mode: + print_status("Check mode: complete_registry 完成，退出", "info") + os._exit(0) if BasicConfig.upload_registry: # 设备注册到服务端 - 需要 ak 和 sk diff --git a/unilabos/app/web/controller.py b/unilabos/app/web/controller.py index 9b0f1ff6..acd1f56b 100644 --- a/unilabos/app/web/controller.py +++ b/unilabos/app/web/controller.py @@ -58,14 +58,14 @@ class JobResultStore: feedback=feedback or {}, timestamp=time.time(), ) - logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}") + logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}") def get_and_remove(self, job_id: str) -> Optional[JobResult]: """获取并删除任务结果""" with self._results_lock: result = self._results.pop(job_id, None) if result: - logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}") + logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}") return result def get_result(self, job_id: str) -> Optional[JobResult]: diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 95526f0c..17d69ac6 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -154,7 +154,7 @@ 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: @@ -210,8 +210,9 @@ 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}") @@ -227,7 +228,7 @@ 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 @@ -268,7 +269,7 @@ 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]: @@ -281,7 +282,7 @@ 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 @@ -295,7 +296,7 @@ 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) @@ -565,7 +566,7 @@ 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": @@ -637,13 +638,13 @@ 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: @@ -1128,7 +1129,7 @@ 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}") @@ -1151,7 +1152,7 @@ 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) @@ -1171,8 +1172,8 @@ 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() @@ -1314,7 +1315,7 @@ 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) diff --git a/unilabos/config/config.py b/unilabos/config/config.py index f3dba5da..c91a07d4 100644 --- a/unilabos/config/config.py +++ b/unilabos/config/config.py @@ -22,6 +22,7 @@ class BasicConfig: startup_json_path = None # 填写绝对路径 disable_browser = False # 禁止浏览器自动打开 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 # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL' log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG" diff --git a/unilabos/devices/virtual/workbench.py b/unilabos/devices/virtual/workbench.py new file mode 100644 index 00000000..7a8e1454 --- /dev/null +++ b/unilabos/devices/virtual/workbench.py @@ -0,0 +1,687 @@ +""" +Virtual Workbench Device - 模拟工作台设备 +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 +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 + +注意：调用来自线程池，使用 threading.Lock 进行同步 +""" +import logging +import time +from typing import Dict, Any, Optional +from dataclasses import dataclass +from enum import Enum +from threading import Lock, RLock + +from typing_extensions import TypedDict + +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode +from unilabos.utils.decorator import not_action + + +# ============ TypedDict 返回类型定义 ============ + +class MoveToHeatingStationResult(TypedDict): + """move_to_heating_station 返回类型""" + success: bool + station_id: int + material_id: str + material_number: int + message: str + + +class StartHeatingResult(TypedDict): + """start_heating 返回类型""" + success: bool + station_id: int + material_id: str + material_number: int + message: str + + +class MoveToOutputResult(TypedDict): + """move_to_output 返回类型""" + success: bool + station_id: int + material_id: str + + +class PrepareMaterialsResult(TypedDict): + """prepare_materials 返回类型 - 批量准备物料""" + success: bool + count: int + material_1: int # 物料编号1 + material_2: int # 物料编号2 + material_3: int # 物料编号3 + material_4: int # 物料编号4 + material_5: int # 物料编号5 + message: str + + +# ============ 状态枚举 ============ + +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 + HEATING = "heating" # 加热中 + COMPLETED = "completed" # 加热完成，等待取走 + + +class ArmState(Enum): + """机械臂状态枚举""" + IDLE = "idle" # 空闲 + BUSY = "busy" # 工作中 + + +@dataclass +class HeatingStation: + """加热台数据结构""" + station_id: int + state: HeatingStationState = HeatingStationState.IDLE + current_material: Optional[str] = None # 当前物料 (如 "A1", "A2") + material_number: Optional[int] = None # 物料编号 (1-5) + heating_start_time: Optional[float] = None + heating_progress: float = 0.0 + + +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 + + 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 + """ + + _ros_node: BaseROS2DeviceNode + + # 配置常量 + ARM_OPERATION_TIME: float = 3.0 # 机械臂操作时间(秒) + HEATING_TIME: float = 10.0 # 加热时间(秒) + NUM_HEATING_STATIONS: int = 3 # 加热台数量 + + def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): + # 处理可能的不同调用方式 + 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 "virtual_workbench" + self.config = config or {} + + self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}") + self.data: Dict[str, Any] = {} + + # 从config中获取可配置参数 + self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0)) + self.HEATING_TIME = float(self.config.get("heating_time", 10.0)) + self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3)) + + # 机械臂状态和锁 (使用threading.Lock) + 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() + 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 + + # 任务追踪 + self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info + self._tasks_lock = Lock() + + # 处理其他kwargs参数 + skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"} + for key, value in kwargs.items(): + if key not in skip_keys and not hasattr(self, key): + setattr(self, key, value) + + self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===") + self.logger.info( + f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | " + f"加热时间: {self.HEATING_TIME}s | " + f"加热台数量: {self.NUM_HEATING_STATIONS}" + ) + + @not_action + def post_init(self, ros_node: BaseROS2DeviceNode): + """ROS节点初始化后回调""" + self._ros_node = ros_node + + @not_action + def initialize(self) -> bool: + """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 + station.current_material = None + station.material_number = None + station.heating_progress = 0.0 + + # 初始化状态 + self.data.update({ + "status": "Ready", + "arm_state": ArmState.IDLE.value, + "arm_current_task": None, + "heating_stations": self._get_stations_status(), + "active_tasks_count": 0, + "message": "工作台就绪", + }) + + self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪") + return True + + @not_action + def cleanup(self) -> bool: + """清理虚拟工作台""" + self.logger.info(f"清理虚拟工作台 {self.device_id}") + + self._arm_state = ArmState.IDLE + self._arm_current_task = None + + with self._stations_lock: + self._heating_stations.clear() + + with self._tasks_lock: + self._active_tasks.clear() + + self.data.update({ + "status": "Offline", + "arm_state": ArmState.IDLE.value, + "heating_stations": {}, + "message": "工作台已关闭", + }) + return True + + def _get_stations_status(self) -> Dict[int, Dict[str, Any]]: + """获取所有加热台状态""" + with self._stations_lock: + return { + station_id: { + "state": station.state.value, + "current_material": station.current_material, + "material_number": station.material_number, + "heating_progress": station.heating_progress, + } + for station_id, station in self._heating_stations.items() + } + + def _update_data_status(self, message: Optional[str] = None): + """更新状态数据""" + self.data.update({ + "arm_state": self._arm_state.value, + "arm_current_task": self._arm_current_task, + "heating_stations": self._get_stations_status(), + "active_tasks_count": len(self._active_tasks), + }) + if message: + 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 + """ + with self._stations_lock: + for station_id, station in self._heating_stations.items(): + if station.state == HeatingStationState.IDLE: + return station_id + 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 + """ + 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 + + def _release_arm(self): + """释放机械臂""" + task = self._arm_current_task + self._arm_state = ArmState.IDLE + self._arm_current_task = None + self._arm_lock.release() + 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})") + + def prepare_materials( + self, + count: int = 5, + ) -> PrepareMaterialsResult: + """ + 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 + """ + # 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}" + ) + + return { + "success": True, + "count": count, + "material_1": materials[0] if len(materials) > 0 else 0, + "material_2": materials[1] if len(materials) > 1 else 0, + "material_3": materials[2] if len(materials) > 2 else 0, + "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}", + } + + def move_to_heating_station( + self, + material_number: int, + ) -> MoveToHeatingStationResult: + """ + 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 + """ + # 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", + "start_time": time.time(), + } + + 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._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 + self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...") + + 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)") + + # 释放机械臂 + self._release_arm() + + with self._tasks_lock: + self._active_tasks[material_id]["status"] = "placed_on_station" + + return { + "success": True, + "station_id": station_id, + "material_id": material_id, + "material_number": material_number, + "message": f"{material_id}已成功移动到加热台{station_id}", + } + + except Exception as e: + self.logger.error(f"[{material_id}] 移动失败: {str(e)}") + if self._arm_lock.locked(): + self._release_arm() + return { + "success": False, + "station_id": -1, + "material_id": material_id, + "material_number": material_number, + "message": f"移动失败: {str(e)}", + } + + def start_heating( + self, + station_id: int, + material_number: int, + ) -> 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") + + if station_id not in self._heating_stations: + return { + "success": False, + "station_id": station_id, + "material_id": "", + "material_number": material_number, + "message": f"无效的加热台ID: {station_id}", + } + + with self._stations_lock: + station = self._heating_stations[station_id] + + if station.current_material is None: + return { + "success": False, + "station_id": station_id, + "material_id": "", + "material_number": material_number, + "message": f"加热台{station_id}上没有物料", + } + + if station.state == HeatingStationState.HEATING: + return { + "success": False, + "station_id": station_id, + "material_id": station.current_material, + "material_number": material_number, + "message": f"加热台{station_id}已经在加热中", + } + + material_id = station.current_material + + # 开始加热 + station.state = HeatingStationState.HEATING + station.heating_start_time = time.time() + station.heating_progress = 0.0 + + with self._tasks_lock: + if material_id in self._active_tasks: + self._active_tasks[material_id]["status"] = "heating" + + self._update_data_status(f"加热台{station_id}开始加热{material_id}") + + # 模拟加热过程 (10秒) + start_time = time.time() + while True: + elapsed = time.time() - start_time + progress = min(100.0, (elapsed / self.HEATING_TIME) * 100) + + with self._stations_lock: + self._heating_stations[station_id].heating_progress = progress + + self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%") + + if elapsed >= self.HEATING_TIME: + break + + 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 + + with self._tasks_lock: + if material_id in self._active_tasks: + self._active_tasks[material_id]["status"] = "heating_completed" + + self._update_data_status(f"加热台{station_id}加热完成") + self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)") + + return { + "success": True, + "station_id": station_id, + "material_id": material_id, + "material_number": material_number, + "message": f"加热台{station_id}加热完成", + } + + def move_to_output( + self, + station_id: int, + material_number: int, + ) -> 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 + + if station_id not in self._heating_stations: + return { + "success": False, + "station_id": station_id, + "material_id": "", + "output_position": f"C{output_number}", + "message": f"无效的加热台ID: {station_id}", + } + + with self._stations_lock: + station = self._heating_stations[station_id] + material_id = station.current_material + + if material_id is None: + return { + "success": False, + "station_id": station_id, + "material_id": "", + "output_position": f"C{output_number}", + "message": f"加热台{station_id}上没有物料", + } + + if station.state != HeatingStationState.COMPLETED: + return { + "success": False, + "station_id": station_id, + "material_id": material_id, + "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})", + } + + output_position = f"C{output_number}" + task_desc = f"从加热台{station_id}移动{material_id}到{output_position}" + self.logger.info(f"[任务] {task_desc}") + + try: + with self._tasks_lock: + 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}...") + 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 + self._heating_stations[station_id].material_number = None + 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)") + + return { + "success": True, + "station_id": station_id, + "material_id": material_id, + "output_position": output_position, + "message": f"{material_id}已成功移动到{output_position}", + } + + except Exception as e: + self.logger.error(f"移动到输出位置失败: {str(e)}") + if self._arm_lock.locked(): + self._release_arm() + return { + "success": False, + "station_id": station_id, + "material_id": "", + "output_position": output_position, + "message": f"移动失败: {str(e)}", + } + + # ============ 状态属性 ============ + + @property + def status(self) -> str: + return self.data.get("status", "Unknown") + + @property + def arm_state(self) -> str: + return self._arm_state.value + + @property + def arm_current_task(self) -> str: + return self._arm_current_task or "" + + @property + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + def active_tasks_count(self) -> int: + with self._tasks_lock: + return len(self._active_tasks) + + @property + def message(self) -> str: + return self.data.get("message", "") diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 77ac5336..b1b1ab64 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -1,267 +1,324 @@ -virtual_centrifuge: +virtual_workbench: category: - virtual_device class: action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-post_init: + auto-move_to_heating_station: feedback: {} goal: {} goal_default: - ros_node: null - handles: {} + 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: '' + 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: - ros_node: - type: object + material_number: + description: 物料编号，1-5，物料ID自动生成为A{n} + type: integer 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_temp: current_temp - progress: progress - goal: - speed: speed - temp: temp - time: time - vessel: vessel - goal_default: - speed: 0.0 - temp: 0.0 - time: 0.0 - vessel: - 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: '' - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - current_temp: - type: number - progress: - type: number - required: - - progress - - current_speed - - current_temp - - current_status - title: Centrifuge_Feedback - type: object - goal: - properties: - speed: - type: number - temp: - type: number - time: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - speed - - time - - temp - title: Centrifuge_Goal + - material_number type: object result: + 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 - return_info: - type: string + station_id: + description: 分配的加热台ID + title: Station Id + type: integer success: + title: Success type: boolean required: - success + - station_id + - material_id + - material_number - message - - return_info - title: Centrifuge_Result + title: MoveToHeatingStationResult type: object required: - goal - title: Centrifuge + title: move_to_heating_station参数 type: object - type: Centrifuge - module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge + 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: + 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 + required: + - success + - station_id + - material_id + 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: + 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 + required: + - success + - count + - material_1 + - material_2 + - material_3 + - material_4 + - material_5 + - message + title: PrepareMaterialsResult + type: object + required: + - goal + title: prepare_materials参数 + type: object + type: UniLabJsonCommand + auto-start_heating: + 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: + 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 + required: + - success + - station_id + - material_id + - material_number + - message + title: StartHeatingResult + type: object + required: + - goal + title: start_heating参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.virtual.workbench:VirtualWorkbench status_types: - centrifuge_state: str - current_speed: float - current_temp: float - max_speed: float - max_temp: float + 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 - min_temp: float - progress: float status: str - target_speed: float - target_temp: float - time_remaining: float type: python config_info: [] - description: Virtual Centrifuge for CentrifugeProtocol Testing - handles: - - data_key: vessel - data_source: handle - data_type: transport - description: 需要离心的样品容器 - handler_key: centrifuge - io_type: target - label: centrifuge - side: NORTH + description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent + material processing + handles: [] icon: '' init_param_schema: config: @@ -274,5521 +331,48 @@ virtual_centrifuge: type: object data: properties: - centrifuge_state: + active_tasks_count: + type: integer + arm_current_task: type: string - current_speed: + arm_state: + type: string + heating_station_1_material: + type: string + heating_station_1_progress: type: number - current_temp: + heating_station_1_state: + type: string + heating_station_2_material: + type: string + heating_station_2_progress: type: number - max_speed: - type: number - max_temp: + 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 - min_temp: - type: number - progress: - type: number status: type: string - target_speed: - type: number - target_temp: - type: number - 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 + - 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 -virtual_column: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - 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 - goal: - column: column - from_vessel: from_vessel - to_vessel: to_vessel - goal_default: - column: '' - from_vessel: - 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: '' - pct1: '' - pct2: '' - ratio: '' - rf: '' - solvent1: '' - solvent2: '' - to_vessel: - 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: '' - handles: {} - result: - message: current_status - return_info: current_status - success: success - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: RunColumn_Feedback - type: object - goal: - properties: - column: - type: string - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - pct1: - type: string - pct2: - type: string - ratio: - type: string - rf: - type: string - solvent1: - type: string - solvent2: - type: string - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - required: - - from_vessel - - to_vessel - - column - - rf - - pct1 - - pct2 - - solvent1 - - solvent2 - - ratio - title: RunColumn_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: RunColumn_Result - type: object - required: - - goal - title: RunColumn - type: object - type: RunColumn - module: unilabos.devices.virtual.virtual_column:VirtualColumn - status_types: - column_diameter: float - column_length: float - column_state: str - current_flow_rate: float - current_phase: str - current_status: str - final_volume: float - max_flow_rate: float - processed_volume: float - progress: float - status: str - type: python - config_info: [] - description: Virtual Column Chromatography Device for RunColumn Protocol Testing - handles: - - data_key: from_vessel - data_source: handle - data_type: transport - description: 样品输入口 - handler_key: columnin - io_type: target - label: columnin - side: WEST - - data_key: to_vessel - data_source: handle - data_type: transport - description: 产物输出口 - handler_key: columnout - io_type: source - label: columnout - side: EAST - icon: '' - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - column_diameter: - type: number - column_length: - type: number - column_state: - type: string - current_flow_rate: - type: number - current_phase: - type: string - current_status: - type: string - final_volume: - type: number - max_flow_rate: - type: number - processed_volume: - type: number - progress: - type: number - status: - type: string - required: - - status - - column_state - - current_flow_rate - - max_flow_rate - - column_length - - column_diameter - - processed_volume - - progress - - current_status - - current_phase - - final_volume - type: object - version: 1.0.0 -virtual_filter: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - 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 - current_temp: current_temp - filtered_volume: filtered_volume - progress: progress - goal: - continue_heatchill: continue_heatchill - filtrate_vessel: filtrate_vessel - stir: stir - stir_speed: stir_speed - temp: temp - vessel: vessel - volume: volume - goal_default: - continue_heatchill: false - filtrate_vessel: - 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: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - vessel: - 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: '' - volume: 0.0 - handles: {} - result: - message: message - return_info: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - current_temp: - type: number - filtered_volume: - type: number - progress: - type: number - required: - - progress - - current_temp - - filtered_volume - - current_status - title: Filter_Feedback - type: object - goal: - properties: - continue_heatchill: - type: boolean - filtrate_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: filtrate_vessel - type: object - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: number - required: - - vessel - - filtrate_vessel - - stir - - stir_speed - - temp - - continue_heatchill - - volume - title: Filter_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Filter_Result - type: object - required: - - goal - title: Filter - type: object - type: Filter - module: unilabos.devices.virtual.virtual_filter:VirtualFilter - status_types: - current_status: str - current_temp: float - filtered_volume: float - max_stir_speed: float - max_temp: float - max_volume: float - message: str - progress: float - status: str - type: python - config_info: [] - description: Virtual Filter for FilterProtocol Testing - handles: - - data_key: vessel_in - data_source: handle - data_type: transport - description: 需要过滤的样品容器 - handler_key: filterin - io_type: target - label: filter_in - side: NORTH - - data_key: filtrate_out - data_source: handle - data_type: transport - description: 滤液出口 - handler_key: filtrateout - io_type: source - label: filtrate_out - side: SOUTH - - data_key: retentate_out - data_source: handle - data_type: transport - description: 滤渣/固体出口 - handler_key: retentateout - io_type: source - label: retentate_out - side: EAST - icon: '' - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - current_status: - type: string - current_temp: - type: number - filtered_volume: - type: number - max_stir_speed: - type: number - max_temp: - type: number - max_volume: - type: number - message: - type: string - progress: - type: number - status: - type: string - required: - - status - - progress - - current_temp - - current_status - - filtered_volume - - message - - max_temp - - max_stir_speed - - max_volume - type: object - version: 1.0.0 -virtual_gas_source: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-is_closed: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_closed的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_closed参数 - type: object - type: UniLabJsonCommand - auto-is_open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_open的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_open参数 - type: object - type: UniLabJsonCommand - close: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - set_status: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource - status_types: - status: str - type: python - config_info: [] - description: Virtual gas source - handles: - - data_key: fluid_out - data_source: executor - data_type: fluid - description: 气源出气口 - handler_key: gassource - io_type: source - label: gassource - side: SOUTH - icon: '' - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - status: - type: string - required: - - status - type: object - version: 1.0.0 -virtual_heatchill: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - 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: - purpose: purpose - stir: stir - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - goal_default: - pressure: '' - purpose: '' - reflux_solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - temp_spec: '' - time: '' - time_spec: '' - vessel: - 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: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChill_Feedback - type: object - goal: - properties: - pressure: - type: string - purpose: - type: string - reflux_solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - temp_spec: - type: string - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - 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: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: HeatChill_Result - type: object - required: - - goal - title: HeatChill - type: object - type: HeatChill - heat_chill_start: - feedback: - status: status - goal: - purpose: purpose - temp: temp - vessel: vessel - goal_default: - purpose: '' - temp: 0.0 - vessel: - 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: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStart_Feedback - type: object - goal: - properties: - purpose: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - temp - - purpose - title: HeatChillStart_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStart_Result - type: object - required: - - goal - title: HeatChillStart - type: object - type: HeatChillStart - heat_chill_stop: - feedback: - status: status - goal: - vessel: vessel - goal_default: - vessel: - 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: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStop_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - title: HeatChillStop_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStop_Result - type: object - required: - - goal - title: HeatChillStop - type: object - type: HeatChillStop - module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill - status_types: - is_stirring: bool - max_stir_speed: float - max_temp: float - min_temp: float - operation_mode: str - progress: float - remaining_time: float - status: str - stir_speed: float - type: python - config_info: [] - description: Virtual HeatChill for HeatChillProtocol Testing - handles: - - data_key: vessel - data_source: handle - data_type: mechanical - description: 加热/冷却器的物理连接口 - handler_key: heatchill - io_type: source - label: heatchill - side: NORTH - icon: Heater.webp - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - is_stirring: - type: boolean - max_stir_speed: - type: number - max_temp: - type: number - min_temp: - type: number - operation_mode: - type: string - progress: - type: number - remaining_time: - type: number - status: - type: string - stir_speed: - type: number - required: - - status - - operation_mode - - is_stirring - - stir_speed - - remaining_time - - progress - - max_temp - - min_temp - - max_stir_speed - type: object - version: 1.0.0 -virtual_multiway_valve: - category: - - virtual_device - class: - action_value_mappings: - auto-close: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: close的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: close参数 - type: object - type: UniLabJsonCommand - auto-is_at_port: - feedback: {} - goal: {} - goal_default: - port_number: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_at_port的参数schema - properties: - feedback: {} - goal: - properties: - port_number: - type: integer - required: - - port_number - type: object - result: {} - required: - - goal - title: is_at_port参数 - type: object - type: UniLabJsonCommand - auto-is_at_position: - feedback: {} - goal: {} - goal_default: - position: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_at_position的参数schema - properties: - feedback: {} - goal: - properties: - position: - type: integer - required: - - position - type: object - result: {} - required: - - goal - title: is_at_position参数 - type: object - type: UniLabJsonCommand - auto-is_at_pump_position: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_at_pump_position的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_at_pump_position参数 - type: object - type: UniLabJsonCommand - auto-open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: open参数 - type: object - type: UniLabJsonCommand - auto-reset: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: reset的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: reset参数 - type: object - type: UniLabJsonCommand - auto-set_to_port: - feedback: {} - goal: {} - goal_default: - port_number: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: set_to_port的参数schema - properties: - feedback: {} - goal: - properties: - port_number: - type: integer - required: - - port_number - type: object - result: {} - required: - - goal - title: set_to_port参数 - type: object - type: UniLabJsonCommand - auto-set_to_pump_position: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: set_to_pump_position的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: set_to_pump_position参数 - type: object - type: UniLabJsonCommand - auto-switch_between_pump_and_port: - feedback: {} - goal: {} - goal_default: - port_number: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: switch_between_pump_and_port的参数schema - properties: - feedback: {} - goal: - properties: - port_number: - type: integer - required: - - port_number - type: object - result: {} - required: - - goal - title: switch_between_pump_and_port参数 - type: object - type: UniLabJsonCommand - set_position: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - set_valve_position: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve - status_types: - current_port: str - current_position: int - flow_path: str - status: str - target_position: int - valve_position: int - valve_state: str - type: python - config_info: [] - description: Virtual 8-Way Valve for flow direction control - handles: - - data_key: fluid_in - data_source: handle - data_type: fluid - description: 八通阀门进液口 - handler_key: transferpump - io_type: target - label: transferpump - side: NORTH - - data_key: fluid_port_1 - data_source: executor - data_type: fluid - description: 八通阀门端口1 - handler_key: '1' - io_type: source - label: '1' - side: NORTH - - data_key: fluid_port_2 - data_source: executor - data_type: fluid - description: 八通阀门端口2 - handler_key: '2' - io_type: source - label: '2' - side: EAST - - data_key: fluid_port_3 - data_source: executor - data_type: fluid - description: 八通阀门端口3 - handler_key: '3' - io_type: source - label: '3' - side: EAST - - data_key: fluid_port_4 - data_source: executor - data_type: fluid - description: 八通阀门端口4 - handler_key: '4' - io_type: source - label: '4' - side: SOUTH - - data_key: fluid_port_5 - data_source: executor - data_type: fluid - description: 八通阀门端口5 - handler_key: '5' - io_type: source - label: '5' - side: SOUTH - - data_key: fluid_port_6 - data_source: executor - data_type: fluid - description: 八通阀门端口6 - handler_key: '6' - io_type: source - label: '6' - side: WEST - - data_key: fluid_port_7 - data_source: executor - data_type: fluid - description: 八通阀门端口7 - handler_key: '7' - io_type: source - label: '7' - side: WEST - - data_key: fluid_port_8 - data_source: executor - data_type: fluid - description: 八通阀门端口8-特殊输入 - handler_key: '8' - io_type: target - label: '8' - side: WEST - - data_key: fluid_port_8 - data_source: executor - data_type: fluid - description: 八通阀门端口8 - handler_key: '8' - io_type: source - label: '8' - side: NORTH - icon: EightPipeline.webp - init_param_schema: - config: - properties: - port: - default: VIRTUAL - type: string - positions: - default: 8 - type: integer - required: [] - type: object - data: - properties: - current_port: - type: string - current_position: - type: integer - flow_path: - type: string - status: - type: string - target_position: - type: integer - valve_position: - type: integer - valve_state: - type: string - required: - - status - - valve_state - - current_position - - target_position - - current_port - - valve_position - - flow_path - type: object - version: 1.0.0 -virtual_rotavap: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - 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 - goal: - pressure: pressure - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - goal_default: - pressure: 0.0 - solvent: '' - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - 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: '' - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Evaporate_Feedback - type: object - goal: - properties: - pressure: - type: number - solvent: - type: string - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - pressure - - temp - - time - - stir_speed - - solvent - title: Evaporate_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Evaporate_Result - type: object - required: - - goal - title: Evaporate - type: object - type: Evaporate - module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap - status_types: - current_temp: float - evaporated_volume: float - max_rotation_speed: float - max_temp: float - message: str - progress: float - remaining_time: float - rotation_speed: float - rotavap_state: str - status: str - vacuum_pressure: float - type: python - config_info: [] - description: Virtual Rotary Evaporator for EvaporateProtocol Testing - handles: - - data_key: vessel_in - data_source: handle - data_type: fluid - description: 样品连接口 - handler_key: samplein - io_type: target - label: sample_in - side: NORTH - - data_key: product_out - data_source: handle - data_type: fluid - description: 浓缩产物出口 - handler_key: productout - io_type: source - label: product_out - side: SOUTH - - data_key: solvent_out - data_source: handle - data_type: fluid - description: 冷凝溶剂出口 - handler_key: solventout - io_type: source - label: solvent_out - side: EAST - icon: Rotaryevaporator.webp - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - current_temp: - type: number - evaporated_volume: - type: number - max_rotation_speed: - type: number - max_temp: - type: number - message: - type: string - progress: - type: number - remaining_time: - type: number - rotation_speed: - type: number - rotavap_state: - type: string - status: - type: string - vacuum_pressure: - type: number - required: - - status - - rotavap_state - - current_temp - - rotation_speed - - vacuum_pressure - - evaporated_volume - - progress - - message - - max_temp - - max_rotation_speed - - remaining_time - type: object - version: 1.0.0 -virtual_separator: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - 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 - goal: - from_vessel: from_vessel - product_phase: product_phase - purpose: purpose - repeats: repeats - separation_vessel: separation_vessel - settling_time: settling_time - solvent: solvent - solvent_volume: solvent_volume - stir_speed: stir_speed - stir_time: stir_time - through: through - to_vessel: to_vessel - waste_phase_to_vessel: waste_phase_to_vessel - goal_default: - from_vessel: - 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: '' - product_phase: '' - product_vessel: - 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: '' - purpose: '' - repeats: 0 - separation_vessel: - 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: '' - settling_time: 0.0 - solvent: '' - solvent_volume: '' - stir_speed: 0.0 - stir_time: 0.0 - through: '' - to_vessel: - 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: '' - vessel: - 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: '' - volume: '' - waste_phase_to_vessel: - 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: '' - waste_vessel: - 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: '' - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Separate_Feedback - type: object - goal: - properties: - from_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: from_vessel - type: object - product_phase: - type: string - product_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: product_vessel - type: object - purpose: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - separation_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: separation_vessel - type: object - settling_time: - type: number - solvent: - type: string - solvent_volume: - type: string - stir_speed: - type: number - stir_time: - type: number - through: - type: string - to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: to_vessel - type: object - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - volume: - type: string - waste_phase_to_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: waste_phase_to_vessel - type: object - waste_vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - 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: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Separate_Result - type: object - required: - - goal - title: Separate - type: object - type: Separate - module: unilabos.devices.virtual.virtual_separator:VirtualSeparator - status_types: - has_phases: bool - message: str - phase_separation: bool - progress: float - separator_state: str - settling_time: float - status: str - stir_speed: float - volume: float - type: python - config_info: [] - description: Virtual Separator for SeparateProtocol Testing - handles: - - data_key: from_vessel - data_source: handle - data_type: fluid - description: 需要分离的混合液体输入口 - handler_key: separatorin - io_type: target - label: separator_in - side: NORTH - - data_key: bottom_outlet - data_source: executor - data_type: fluid - description: 下相（重相）液体输出口 - handler_key: bottomphaseout - io_type: source - label: bottom_phase_out - side: SOUTH - - data_key: mechanical_port - data_source: handle - data_type: mechanical - description: 用于连接搅拌器等机械设备的接口 - handler_key: bind - io_type: target - label: bind - side: WEST - icon: Separator.webp - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - has_phases: - type: boolean - message: - type: string - phase_separation: - type: boolean - progress: - type: number - separator_state: - type: string - settling_time: - type: number - status: - type: string - stir_speed: - type: number - volume: - type: number - required: - - status - - separator_state - - volume - - has_phases - - phase_separation - - stir_speed - - settling_time - - progress - - message - type: object - version: 1.0.0 -virtual_solenoid_valve: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-is_closed: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_closed的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - 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: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: reset的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: reset参数 - type: object - type: UniLabJsonCommandAsync - auto-toggle: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: toggle的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: toggle参数 - type: object - type: UniLabJsonCommand - close: - feedback: {} - goal: - command: CLOSED - goal_default: {} - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - set_status: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - set_valve_position: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - message: message - success: success - valve_position: valve_position - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve - status_types: - is_open: bool - status: str - valve_position: str - valve_state: str - type: python - config_info: [] - description: Virtual Solenoid Valve for simple on/off flow control - handles: - - data_key: fluid_port_in - data_source: handle - data_type: fluid - description: 电磁阀的进液口 - handler_key: in - io_type: target - label: in - side: NORTH - - data_key: fluid_port_out - data_source: handle - data_type: fluid - description: 电磁阀的出液口 - handler_key: out - io_type: source - label: out - side: SOUTH - icon: '' - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - is_open: - type: boolean - status: - type: string - valve_position: - type: string - valve_state: - type: string - required: - - status - - valve_state - - is_open - - valve_position - type: object - version: 1.0.0 -virtual_solid_dispenser: - category: - - virtual_device - class: - action_value_mappings: - add_solid: - feedback: - current_status: status - progress: progress - goal: - equiv: equiv - event: event - mass: mass - mol: mol - purpose: purpose - rate_spec: rate_spec - ratio: ratio - reagent: reagent - vessel: vessel - goal_default: - amount: '' - equiv: '' - event: '' - mass: '' - mol: '' - purpose: '' - rate_spec: '' - ratio: '' - reagent: '' - stir: false - stir_speed: 0.0 - time: '' - vessel: - 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: '' - viscous: false - volume: '' - handles: {} - result: - message: message - return_info: return_info - success: success - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: Add_Feedback - type: object - goal: - properties: - amount: - type: string - equiv: - type: string - event: - type: string - mass: - type: string - mol: - type: string - purpose: - type: string - rate_spec: - type: string - ratio: - type: string - reagent: - type: string - stir: - type: boolean - stir_speed: - type: number - time: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - viscous: - 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: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Add_Result - type: object - required: - - goal - title: Add - type: object - type: Add - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-find_solid_reagent_bottle: - feedback: {} - goal: {} - goal_default: - reagent_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - reagent_name: - type: string - required: - - reagent_name - type: object - result: {} - required: - - goal - title: find_solid_reagent_bottle参数 - type: object - type: UniLabJsonCommand - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-parse_mass_string: - feedback: {} - goal: {} - goal_default: - mass_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - mass_str: - type: string - required: - - mass_str - type: object - result: {} - required: - - goal - title: parse_mass_string参数 - type: object - type: UniLabJsonCommand - auto-parse_mol_string: - feedback: {} - goal: {} - goal_default: - mol_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - mol_str: - type: string - required: - - mol_str - type: object - result: {} - 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 - dispensed_amount: float - status: str - total_operations: int - type: python - config_info: [] - description: Virtual Solid Dispenser for Add Protocol Testing - supports mass and - molar additions - handles: - - data_key: solid_out - data_source: executor - data_type: resource - description: 固体试剂输出口 - handler_key: SolidOut - io_type: source - label: SolidOut - side: SOUTH - - data_key: solid_in - data_source: handle - data_type: resource - description: 固体试剂输入口（连接试剂瓶） - handler_key: SolidIn - io_type: target - label: SolidIn - side: NORTH - icon: '' - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - current_reagent: - type: string - dispensed_amount: - type: number - status: - type: string - total_operations: - type: integer - required: - - status - - current_reagent - - dispensed_amount - - total_operations - type: object - version: 1.0.0 -virtual_stirrer: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - 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 - goal: - purpose: purpose - stir_speed: stir_speed - vessel: vessel - goal_default: - purpose: '' - stir_speed: 0.0 - vessel: - 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: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - progress: - type: number - required: - - progress - - current_speed - - current_status - title: StartStir_Feedback - type: object - goal: - properties: - purpose: - type: string - stir_speed: - type: number - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - stir_speed - - purpose - title: StartStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StartStir_Result - type: object - required: - - goal - title: StartStir - type: object - type: StartStir - stir: - feedback: - status: status - goal: - settling_time: settling_time - stir_speed: stir_speed - stir_time: stir_time - goal_default: - event: '' - settling_time: '' - stir_speed: 0.0 - stir_time: 0.0 - time: '' - time_spec: '' - vessel: - 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: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: Stir_Feedback - type: object - goal: - properties: - event: - type: string - settling_time: - type: string - stir_speed: - type: number - stir_time: - type: number - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time - title: Stir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Stir_Result - type: object - required: - - goal - title: Stir - type: object - type: Stir - stop_stir: - feedback: - status: status - goal: - vessel: vessel - goal_default: - vessel: - 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: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: StopStir_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: vessel - type: object - required: - - vessel - title: StopStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StopStir_Result - type: object - required: - - goal - title: StopStir - type: object - type: StopStir - module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer - status_types: - current_speed: float - current_vessel: str - device_info: dict - is_stirring: bool - max_speed: float - min_speed: float - operation_mode: str - remaining_time: float - status: str - type: python - config_info: [] - description: Virtual Stirrer for StirProtocol Testing - handles: - - data_key: vessel - data_source: handle - data_type: mechanical - description: 搅拌器的机械连接口 - handler_key: stirrer - io_type: source - label: stirrer - side: NORTH - icon: Stirrer.webp - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - current_speed: - type: number - current_vessel: - type: string - device_info: - type: object - is_stirring: - type: boolean - max_speed: - type: number - min_speed: - type: number - operation_mode: - type: string - remaining_time: - type: number - status: - type: string - required: - - status - - operation_mode - - current_vessel - - current_speed - - is_stirring - - remaining_time - - max_speed - - min_speed - - device_info - type: object - version: 1.0.0 -virtual_transfer_pump: - category: - - virtual_device - class: - action_value_mappings: - auto-aspirate: - feedback: {} - goal: {} - goal_default: - velocity: null - volume: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: aspirate的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - volume: - type: number - required: - - volume - type: object - result: {} - required: - - goal - title: aspirate参数 - type: object - type: UniLabJsonCommandAsync - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-dispense: - feedback: {} - goal: {} - goal_default: - velocity: null - volume: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: dispense的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - volume: - type: number - required: - - volume - type: object - result: {} - required: - - goal - title: dispense参数 - type: object - type: UniLabJsonCommandAsync - auto-empty_syringe: - feedback: {} - goal: {} - goal_default: - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: empty_syringe的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - required: [] - type: object - result: {} - required: - - goal - title: empty_syringe参数 - type: object - type: UniLabJsonCommandAsync - auto-fill_syringe: - feedback: {} - goal: {} - goal_default: - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: fill_syringe的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - required: [] - type: object - result: {} - required: - - goal - title: fill_syringe参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-is_empty: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_empty的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_empty参数 - type: object - type: UniLabJsonCommand - auto-is_full: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_full的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - 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: {} - goal_default: - velocity: null - volume: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: pull_plunger的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - volume: - type: number - required: - - volume - type: object - result: {} - required: - - goal - title: pull_plunger参数 - type: object - type: UniLabJsonCommandAsync - auto-push_plunger: - feedback: {} - goal: {} - goal_default: - velocity: null - volume: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: push_plunger的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - volume: - type: number - required: - - volume - type: object - result: {} - required: - - goal - title: push_plunger参数 - type: object - type: UniLabJsonCommandAsync - auto-set_max_velocity: - feedback: {} - goal: {} - goal_default: - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: set_max_velocity的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - required: - - velocity - type: object - result: {} - required: - - goal - title: set_max_velocity参数 - type: object - type: UniLabJsonCommand - auto-stop_operation: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: stop_operation的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: stop_operation参数 - type: object - type: UniLabJsonCommandAsync - set_position: - feedback: - current_position: current_position - progress: progress - status: status - goal: - max_velocity: max_velocity - position: position - goal_default: - max_velocity: 0.0 - position: 0.0 - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_position: - type: number - progress: - type: number - status: - type: string - required: - - status - - current_position - - progress - title: SetPumpPosition_Feedback - type: object - goal: - properties: - max_velocity: - type: number - position: - type: number - required: - - position - - max_velocity - title: SetPumpPosition_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - - message - title: SetPumpPosition_Result - type: object - required: - - goal - title: SetPumpPosition - type: object - type: SetPumpPosition - transfer: - feedback: - current_status: current_status - progress: progress - transferred_volume: transferred_volume - goal: - amount: amount - from_vessel: from_vessel - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - time: time - to_vessel: to_vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - from_vessel: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - time: 0.0 - to_vessel: '' - viscous: false - volume: 0.0 - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - transferred_volume: - type: number - required: - - progress - - transferred_volume - - current_status - title: Transfer_Feedback - type: object - goal: - properties: - amount: - type: string - from_vessel: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - time: - type: number - to_vessel: - type: string - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - title: Transfer_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Transfer_Result - type: object - required: - - goal - title: Transfer - type: object - type: Transfer - module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump - status_types: - current_volume: float - max_velocity: float - position: float - remaining_capacity: float - status: str - transfer_rate: float - type: python - config_info: [] - description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style) - handles: - - data_key: fluid_port - data_source: handle - data_type: fluid - description: 注射器式转移泵的连接口 - handler_key: transferpump - io_type: source - label: transferpump - side: SOUTH - icon: Pump.webp - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - current_volume: - type: number - max_velocity: - type: number - position: - type: number - remaining_capacity: - type: number - status: - type: string - transfer_rate: - type: number - required: - - status - - position - - current_volume - - max_velocity - - transfer_rate - - remaining_capacity - type: object - version: 1.0.0 -virtual_vacuum_pump: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-is_closed: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_closed的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_closed参数 - type: object - type: UniLabJsonCommand - auto-is_open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_open的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_open参数 - type: object - type: UniLabJsonCommand - close: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - set_status: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump - status_types: - status: str - type: python - config_info: [] - description: Virtual vacuum pump - handles: - - data_key: fluid_in - data_source: handle - data_type: fluid - description: 真空泵进气口 - handler_key: vacuumpump - io_type: source - label: vacuumpump - side: SOUTH - icon: Vacuum.webp - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - status: - type: string - required: - - status - type: object - version: 1.0.0 diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index f09b79c1..e486d6ce 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -71,6 +71,20 @@ class Registry: 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 + ) + + # 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。" + self.device_type_registry.update( { "host_node": { @@ -152,14 +166,19 @@ class Registry: }, }, "test_latency": { - "type": self.EmptyIn, + "type": ( + "UniLabJsonCommandAsync" + if test_latency_method_info.get("is_async", False) + else "UniLabJsonCommand" + ), "goal": {}, "feedback": {}, "result": {}, - "schema": ros_action_to_json_schema( - self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。" - ), - "goal_default": {}, + "schema": test_latency_schema, + "goal_default": { + arg["name"]: arg["default"] + for arg in test_latency_method_info.get("args", []) + }, "handles": {}, }, "auto-test_resource": { @@ -540,11 +559,9 @@ class Registry: return final_schema - def _preserve_field_descriptions( - self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any] - ) -> None: + 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 + 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） @@ -566,6 +583,9 @@ class Registry: # 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: """ diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py index 632d5e1a..b526d5f5 100644 --- a/unilabos/ros/msgs/message_converter.py +++ b/unilabos/ros/msgs/message_converter.py @@ -770,13 +770,16 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any 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 @@ -810,9 +813,44 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An "required": ["goal"], } + # 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/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 101476a1..9a27e049 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -5,7 +5,8 @@ import threading import time import traceback import uuid -from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union +from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union +from typing_extensions import TypedDict from action_msgs.msg import GoalStatus from geometry_msgs.msg import Point @@ -62,6 +63,18 @@ class TestResourceReturn(TypedDict): devices: List[DeviceSlot] +class TestLatencyReturn(TypedDict): + """test_latency方法的返回值类型""" + + avg_rtt_ms: float + avg_time_diff_ms: float + max_time_error_ms: float + task_delay_ms: float + raw_delay_ms: float + test_count: int + status: str + + class HostNode(BaseROS2DeviceNode): """ 主机节点类，负责管理设备、资源和控制器 @@ -853,8 +866,13 @@ class HostNode(BaseROS2DeviceNode): # 适配后端的一些额外处理 return_value = return_info.get("return_value") if isinstance(return_value, dict): - unilabos_samples = return_info.get("unilabos_samples") - if isinstance(unilabos_samples, list): + unilabos_samples = return_value.pop("unilabos_samples", None) + if isinstance(unilabos_samples, list) and unilabos_samples: + self.lab_logger().info( + f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): " + f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}" + f"{'...' if len(unilabos_samples) > 5 else ''}" + ) return_info["unilabos_samples"] = unilabos_samples suc = return_info.get("suc", False) if not suc: @@ -881,7 +899,7 @@ class HostNode(BaseROS2DeviceNode): # 清理 _goals 中的记录 if job_id in self._goals: del self._goals[job_id] - self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals") + self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals") # 存储结果供 HTTP API 查询 try: @@ -1326,10 +1344,20 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}") return response - def test_latency(self): + def test_latency(self) -> TestLatencyReturn: """ 测试网络延迟的action实现 通过5次ping-pong机制校对时间误差并计算实际延迟 + + Returns: + TestLatencyReturn: 包含延迟测试结果的字典，包括： + - avg_rtt_ms: 平均往返时间（毫秒） + - avg_time_diff_ms: 平均时间差（毫秒） + - max_time_error_ms: 最大时间误差（毫秒） + - task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算 + - raw_delay_ms: 原始时间差（毫秒），-1表示无法计算 + - test_count: 有效测试次数 + - status: 测试状态，"success"表示成功，"all_timeout"表示全部超时 """ import uuid as uuid_module @@ -1392,7 +1420,15 @@ class HostNode(BaseROS2DeviceNode): if not ping_results: self.lab_logger().error("❌ 所有ping-pong测试都失败了") - return {"status": "all_timeout"} + return { + "avg_rtt_ms": -1.0, + "avg_time_diff_ms": -1.0, + "max_time_error_ms": -1.0, + "task_delay_ms": -1.0, + "raw_delay_ms": -1.0, + "test_count": 0, + "status": "all_timeout", + } # 统计分析 rtts = [r["rtt_ms"] for r in ping_results] @@ -1400,7 +1436,7 @@ class HostNode(BaseROS2DeviceNode): avg_rtt_ms = sum(rtts) / len(rtts) avg_time_diff_ms = sum(time_diffs) / len(time_diffs) - max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs))) + max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs))) self.lab_logger().info("-" * 50) self.lab_logger().info("[测试统计]") @@ -1440,7 +1476,7 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().info("=" * 60) - return { + res: TestLatencyReturn = { "avg_rtt_ms": avg_rtt_ms, "avg_time_diff_ms": avg_time_diff_ms, "max_time_error_ms": max_time_diff_error_ms, @@ -1451,9 +1487,14 @@ class HostNode(BaseROS2DeviceNode): "test_count": len(ping_results), "status": "success", } + return res def test_resource( - self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None + self, + resource: ResourceSlot = None, + resources: List[ResourceSlot] = None, + device: DeviceSlot = None, + devices: List[DeviceSlot] = None, ) -> TestResourceReturn: if resources is None: resources = [] @@ -1514,7 +1555,9 @@ class HostNode(BaseROS2DeviceNode): # 构建服务地址 srv_address = f"/srv{namespace}/s2c_resource_tree" - self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------") + self.lab_logger().trace( + f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------" + ) # 创建服务客户端 sclient = self.create_client(SerialCommand, srv_address) @@ -1549,7 +1592,9 @@ class HostNode(BaseROS2DeviceNode): time.sleep(0.05) response = future.result() - self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------") + self.lab_logger().trace( + f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------" + ) return True except Exception as e: diff --git a/unilabos/test/experiments/virtual_bench.json b/unilabos/test/experiments/virtual_bench.json new file mode 100644 index 00000000..d37fa6ee --- /dev/null +++ b/unilabos/test/experiments/virtual_bench.json @@ -0,0 +1,28 @@ +{ + "nodes": [ + { + "id": "workbench_1", + "name": "虚拟工作台", + "children": [], + "parent": null, + "type": "device", + "class": "virtual_workbench", + "position": { + "x": 400, + "y": 300, + "z": 0 + }, + "config": { + "arm_operation_time": 3.0, + "heating_time": 10.0, + "num_heating_stations": 3 + }, + "data": { + "status": "Ready", + "arm_state": "idle", + "message": "工作台就绪" + } + } + ], + "links": [] +} diff --git a/unilabos/utils/decorator.py b/unilabos/utils/decorator.py index 667f3531..57e968a8 100644 --- a/unilabos/utils/decorator.py +++ b/unilabos/utils/decorator.py @@ -182,3 +182,49 @@ def get_all_subscriptions(instance) -> list: except Exception: pass return subscriptions + + +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) diff --git a/unilabos/utils/import_manager.py b/unilabos/utils/import_manager.py index 00fcd06b..2df76360 100644 --- a/unilabos/utils/import_manager.py +++ b/unilabos/utils/import_manager.py @@ -28,6 +28,7 @@ __all__ = [ from ast import Constant from unilabos.utils import logger +from unilabos.utils.decorator import is_not_action class ImportManager: @@ -275,6 +276,9 @@ class ImportManager: method_info = self._analyze_method_signature(method) result["status_methods"][actual_name] = method_info elif not name.startswith("_"): + # 检查是否被 @not_action 装饰器标记 + if is_not_action(method): + continue # 其他非_开头的方法归类为action method_info = self._analyze_method_signature(method) result["action_methods"][name] = method_info @@ -330,6 +334,9 @@ class ImportManager: if actual_name not in result["status_methods"]: result["status_methods"][actual_name] = method_info else: + # 检查是否被 @not_action 装饰器标记 + if self._is_not_action_method(node): + continue # 其他非_开头的方法归类为action result["action_methods"][method_name] = method_info return result @@ -450,6 +457,13 @@ class ImportManager: 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 _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: From 37b1fca962fd4bb2830f6cbfee0ac34f3fc1a694 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 26 Jan 2026 02:22:21 +0800 Subject: [PATCH 35/40] CI Check Fix 1 --- .github/workflows/ci-check.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml index fa5ada7c..f11d484f 100644 --- a/.github/workflows/ci-check.yml +++ b/.github/workflows/ci-check.yml @@ -30,7 +30,7 @@ jobs: - name: Install minimal ROS dependencies run: | - conda install ros-humble-ros-core ros-humble-std-msgs ros-humble-geometry-msgs ros-humble-control-msgs -c robostack-staging -c conda-forge + conda install robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs -c robostack-staging -c conda-forge - name: Install unilabos-msgs and project run: | From 39dc4433994f0ee1259a80aeeb09de3f56356ae5 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 26 Jan 2026 02:23:40 +0800 Subject: [PATCH 36/40] CI Check Fix 2 --- .github/workflows/ci-check.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml index f11d484f..54d67100 100644 --- a/.github/workflows/ci-check.yml +++ b/.github/workflows/ci-check.yml @@ -1,6 +1,8 @@ name: CI Check on: + push: + branches: [main, dev] pull_request: branches: [main, dev] From d6accc3f1cb72abcdce45b26d302e92c8e2c00b3 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 26 Jan 2026 08:14:21 +0800 Subject: [PATCH 37/40] CI Check Fix 3 --- .github/workflows/ci-check.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml index 54d67100..6a40e485 100644 --- a/.github/workflows/ci-check.yml +++ b/.github/workflows/ci-check.yml @@ -32,11 +32,11 @@ jobs: - name: Install minimal ROS dependencies run: | - conda install robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs -c robostack-staging -c conda-forge + conda install -n check-env robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs -c robostack-staging -c conda-forge -y - name: Install unilabos-msgs and project run: | - conda install ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge + conda install -n check-env ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y pip install -e . - name: Run check mode (complete_registry) From a02cecfd187ed63a508b6c8984e3c33199c6a762 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 26 Jan 2026 08:20:17 +0800 Subject: [PATCH 38/40] CI Check Fix 4 --- .github/workflows/ci-check.yml | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml index 6a40e485..b292549d 100644 --- a/.github/workflows/ci-check.yml +++ b/.github/workflows/ci-check.yml @@ -23,20 +23,27 @@ jobs: uses: conda-incubator/setup-miniconda@v3 with: miniconda-version: 'latest' - channels: conda-forge,robostack-staging,uni-lab,defaults - channel-priority: strict + channels: robostack-staging,conda-forge,uni-lab,defaults + channel-priority: flexible activate-environment: check-env auto-activate-base: false auto-update-conda: false show-channel-urls: true - - name: Install minimal ROS dependencies + - name: Install ROS dependencies and unilabos-msgs run: | - conda install -n check-env robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs -c robostack-staging -c conda-forge -y + # Install all packages together for proper dependency resolution + conda install -n check-env \ + robostack-staging::ros-humble-ros-core \ + robostack-staging::ros-humble-action-msgs \ + robostack-staging::ros-humble-std-msgs \ + robostack-staging::ros-humble-geometry-msgs \ + robostack-staging::ros-humble-control-msgs \ + uni-lab::ros-humble-unilabos-msgs \ + -c robostack-staging -c conda-forge -c uni-lab -y - - name: Install unilabos-msgs and project + - name: Install unilabos project run: | - conda install -n check-env ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y pip install -e . - name: Run check mode (complete_registry) From fd73bb7dcb5f8efc30e4b2dff4e94d75a988979d Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 26 Jan 2026 08:47:27 +0800 Subject: [PATCH 39/40] CI Check Fix 5 --- .github/workflows/ci-check.yml | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml index b292549d..f62676e9 100644 --- a/.github/workflows/ci-check.yml +++ b/.github/workflows/ci-check.yml @@ -19,11 +19,12 @@ jobs: with: fetch-depth: 0 - - name: Setup Miniconda + - name: Setup Miniforge uses: conda-incubator/setup-miniconda@v3 with: - miniconda-version: 'latest' - channels: robostack-staging,conda-forge,uni-lab,defaults + miniforge-version: latest + use-mamba: true + channels: robostack-staging,conda-forge,uni-lab channel-priority: flexible activate-environment: check-env auto-activate-base: false @@ -33,7 +34,9 @@ jobs: - name: Install ROS dependencies and unilabos-msgs run: | # Install all packages together for proper dependency resolution - conda install -n check-env \ + # Use mamba for faster and more reliable solving + mamba install -n check-env \ + python=3.11.11 \ robostack-staging::ros-humble-ros-core \ robostack-staging::ros-humble-action-msgs \ robostack-staging::ros-humble-std-msgs \ From 2cf58ca4523caf42ca1bebf912573b583ebdba86 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Mon, 26 Jan 2026 16:47:54 +0800 Subject: [PATCH 40/40] Upgrade to py 3.11.14; ros 0.7; unilabos 0.10.16 --- .github/workflows/ci-check.yml | 44 +++++- recipes/msgs/recipe.yaml | 8 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/__init__.py | 2 +- unilabos/__main__.py | 6 + unilabos/app/ws_client.py | 50 ++++--- unilabos/ros/nodes/base_device_node.py | 28 +++- unilabos/ros/x/__init__.py | 0 unilabos/ros/x/rclpyx.py | 182 ------------------------- unilabos/utils/pywinauto_util.py | 8 +- unilabos_msgs/package.xml | 2 +- 12 files changed, 118 insertions(+), 216 deletions(-) create mode 100644 unilabos/__main__.py delete mode 100644 unilabos/ros/x/__init__.py delete mode 100644 unilabos/ros/x/rclpyx.py diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml index f62676e9..6341c276 100644 --- a/.github/workflows/ci-check.yml +++ b/.github/workflows/ci-check.yml @@ -36,21 +36,61 @@ jobs: # Install all packages together for proper dependency resolution # Use mamba for faster and more reliable solving mamba install -n check-env \ - python=3.11.11 \ + python=3.11.14 \ robostack-staging::ros-humble-ros-core \ robostack-staging::ros-humble-action-msgs \ robostack-staging::ros-humble-std-msgs \ robostack-staging::ros-humble-geometry-msgs \ robostack-staging::ros-humble-control-msgs \ + robostack-staging::ros-humble-nav2-msgs \ uni-lab::ros-humble-unilabos-msgs \ + robostack-staging::ros-humble-cv-bridge \ + robostack-staging::ros-humble-vision-opencv \ + robostack-staging::ros-humble-tf-transformations \ + robostack-staging::ros-humble-moveit-msgs \ + robostack-staging::ros-humble-tf2-ros \ + robostack-staging::ros-humble-tf2-ros-py \ + conda-forge::transforms3d \ -c robostack-staging -c conda-forge -c uni-lab -y - - name: Install unilabos project + - name: Install pip dependencies and unilabos run: | + # Activate the environment + conda activate check-env + + # Core dependencies for devices + pip install uv + uv pip install networkx \ + typing_extensions \ + websockets \ + msgcenterpy \ + opentrons_shared_data \ + pint \ + fastapi \ + jinja2 \ + requests \ + uvicorn \ + git+https://github.com/Xuwznln/pylabrobot.git \ + opencv-python \ + pyautogui \ + opcua \ + pyserial \ + pandas \ + crcmod-plus \ + pymodbus \ + pywinauto_recorder \ + matplotlib \ + + + # PyLabRobot (custom fork) + pip install + + # Install unilabos in editable mode pip install -e . - name: Run check mode (complete_registry) run: | + conda activate check-env python -m unilabos --check_mode --skip_env_check - name: Check for uncommitted changes diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index 6d329081..168f427b 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.15 + version: 0.10.16 source: path: ../../unilabos_msgs target_directory: src @@ -25,7 +25,7 @@ requirements: build: - ${{ compiler('cxx') }} - ${{ compiler('c') }} - - python ==3.11.11 + - python ==3.11.14 - numpy - if: build_platform != target_platform then: @@ -63,14 +63,14 @@ requirements: - robostack-staging::ros-humble-rosidl-default-generators - robostack-staging::ros-humble-std-msgs - robostack-staging::ros-humble-geometry-msgs - - robostack-staging::ros2-distro-mutex=0.6 + - robostack-staging::ros2-distro-mutex=0.7 run: - robostack-staging::ros-humble-action-msgs - robostack-staging::ros-humble-ros-workspace - robostack-staging::ros-humble-rosidl-default-runtime - robostack-staging::ros-humble-std-msgs - robostack-staging::ros-humble-geometry-msgs - - robostack-staging::ros2-distro-mutex=0.6 + - robostack-staging::ros2-distro-mutex=0.7 - if: osx and x86_64 then: - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index be3f1a16..641d5b1e 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.15" + version: "0.10.16" source: path: ../.. diff --git a/setup.py b/setup.py index b6ae5edb..d286cf87 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.15', + version='0.10.16', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/__init__.py b/unilabos/__init__.py index d5ac10aa..c69a94bd 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.15" +__version__ = "0.10.16" diff --git a/unilabos/__main__.py b/unilabos/__main__.py new file mode 100644 index 00000000..64832260 --- /dev/null +++ b/unilabos/__main__.py @@ -0,0 +1,6 @@ +"""Entry point for `python -m unilabos`.""" + +from unilabos.app.main import main + +if __name__ == "__main__": + main() diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 17d69ac6..8644353b 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -23,7 +23,7 @@ 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.ros.nodes.presets.host_node import HostNode @@ -495,8 +495,12 @@ class MessageProcessor: 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')}") + 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: @@ -848,9 +852,7 @@ 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") @@ -864,7 +866,9 @@ 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(): @@ -912,13 +916,13 @@ class MessageProcessor: # 发送确认消息 if self.websocket_client: - await self.websocket_client.send_message({ - "action": "restart_acknowledged", - "data": {"reason": reason, "delay": delay} - }) + await self.websocket_client.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 @@ -928,10 +932,12 @@ class MessageProcessor: # 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: @@ -1382,7 +1388,9 @@ class WebSocketClient(BaseCommunicationClient): 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 @@ -1396,14 +1404,16 @@ class WebSocketClient(BaseCommunicationClient): "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: diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 737167ab..95fc0752 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -49,7 +49,6 @@ from unilabos.resources.resource_tracker import ( ResourceTreeInstance, ResourceDictInstance, ) -from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator from rclpy.task import Task, Future from unilabos.utils.import_manager import default_manager @@ -185,7 +184,7 @@ class PropertyPublisher: 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()}" ) self.timer = node.create_timer(self.timer_period, self.publish_property) - self.__loop = get_event_loop() + self.__loop = ROS2DeviceNode.get_asyncio_loop() str_msg_type = str(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}") @@ -1757,6 +1756,15 @@ class ROS2DeviceNode: 它不继承设备类，而是通过代理模式访问设备类的属性和方法。 """ + # 类变量，用于循环管理 + _asyncio_loop = None + _asyncio_loop_running = False + _asyncio_loop_thread = None + + @classmethod + def get_asyncio_loop(cls): + return cls._asyncio_loop + @staticmethod async def safe_task_wrapper(trace_callback, func, **kwargs): try: @@ -1833,6 +1841,11 @@ class ROS2DeviceNode: print_publish: 是否打印发布信息 driver_is_ros: """ + # 在初始化时检查循环状态 + if ROS2DeviceNode._asyncio_loop_running and ROS2DeviceNode._asyncio_loop_thread is not None: + pass + elif ROS2DeviceNode._asyncio_loop_thread is None: + self._start_loop() # 保存设备类是否支持异步上下文 self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__") @@ -1924,6 +1937,17 @@ class ROS2DeviceNode: except Exception as e: self._ros_node.lab_logger().error(f"设备后初始化失败: {e}") + def _start_loop(self): + def run_event_loop(): + loop = asyncio.new_event_loop() + ROS2DeviceNode._asyncio_loop = loop + asyncio.set_event_loop(loop) + loop.run_forever() + + ROS2DeviceNode._asyncio_loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode") + ROS2DeviceNode._asyncio_loop_thread.start() + logger.info(f"循环线程已启动") + class DeviceInfoType(TypedDict): id: str diff --git a/unilabos/ros/x/__init__.py b/unilabos/ros/x/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/unilabos/ros/x/rclpyx.py b/unilabos/ros/x/rclpyx.py deleted file mode 100644 index a723922d..00000000 --- a/unilabos/ros/x/rclpyx.py +++ /dev/null @@ -1,182 +0,0 @@ -import asyncio -from asyncio import events -import threading - -import rclpy -from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy -from rclpy.executors import await_or_execute, Executor -from rclpy.action import ActionClient, ActionServer -from rclpy.action.server import ServerGoalHandle, GoalResponse, GoalInfo, GoalStatus -from std_msgs.msg import String -from action_tutorials_interfaces.action import Fibonacci - - -loop = None - -def get_event_loop(): - global loop - return loop - - -async def default_handle_accepted_callback_async(goal_handle): - """Execute the goal.""" - await goal_handle.execute() - - -class ServerGoalHandleX(ServerGoalHandle): - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) - - async def execute(self, execute_callback=None): - # It's possible that there has been a request to cancel the goal prior to executing. - # In this case we want to avoid the illegal state transition to EXECUTING - # but still call the users execute callback to let them handle canceling the goal. - if not self.is_cancel_requested: - self._update_state(_rclpy.GoalEvent.EXECUTE) - await self._action_server.notify_execute_async(self, execute_callback) - - -class ActionServerX(ActionServer): - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) - self.register_handle_accepted_callback(default_handle_accepted_callback_async) - - async def _execute_goal_request(self, request_header_and_message): - request_header, goal_request = request_header_and_message - goal_uuid = goal_request.goal_id - goal_info = GoalInfo() - goal_info.goal_id = goal_uuid - - self._node.get_logger().debug('New goal request with ID: {0}'.format(goal_uuid.uuid)) - - # Check if goal ID is already being tracked by this action server - with self._lock: - goal_id_exists = self._handle.goal_exists(goal_info) - - accepted = False - if not goal_id_exists: - # Call user goal callback - response = await await_or_execute(self._goal_callback, goal_request.goal) - if not isinstance(response, GoalResponse): - self._node.get_logger().warning( - 'Goal request callback did not return a GoalResponse type. Rejecting goal.') - else: - accepted = GoalResponse.ACCEPT == response - - if accepted: - # Stamp time of acceptance - goal_info.stamp = self._node.get_clock().now().to_msg() - - # Create a goal handle - try: - with self._lock: - goal_handle = ServerGoalHandleX(self, goal_info, goal_request.goal) - except RuntimeError as e: - self._node.get_logger().error( - 'Failed to accept new goal with ID {0}: {1}'.format(goal_uuid.uuid, e)) - accepted = False - else: - self._goal_handles[bytes(goal_uuid.uuid)] = goal_handle - - # Send response - response_msg = self._action_type.Impl.SendGoalService.Response() - response_msg.accepted = accepted - response_msg.stamp = goal_info.stamp - self._handle.send_goal_response(request_header, response_msg) - - if not accepted: - self._node.get_logger().debug('New goal rejected: {0}'.format(goal_uuid.uuid)) - return - - self._node.get_logger().debug('New goal accepted: {0}'.format(goal_uuid.uuid)) - - # Provide the user a reference to the goal handle - # await await_or_execute(self._handle_accepted_callback, goal_handle) - asyncio.create_task(self._handle_accepted_callback(goal_handle)) - - async def notify_execute_async(self, goal_handle, execute_callback): - # Use provided callback, defaulting to a previously registered callback - if execute_callback is None: - if self._execute_callback is None: - return - execute_callback = self._execute_callback - - # Schedule user callback for execution - self._node.get_logger().info(f"{events.get_running_loop()}") - asyncio.create_task(self._execute_goal(execute_callback, goal_handle)) - # loop = asyncio.new_event_loop() - # asyncio.set_event_loop(loop) - # task = loop.create_task(self._execute_goal(execute_callback, goal_handle)) - # await task - - -class ActionClientX(ActionClient): - feedback_queue = asyncio.Queue() - - async def feedback_cb(self, msg): - await self.feedback_queue.put(msg) - - async def send_goal_async(self, goal_msg): - goal_future = super().send_goal_async( - goal_msg, - feedback_callback=self.feedback_cb - ) - client_goal_handle = await asyncio.ensure_future(goal_future) - if not client_goal_handle.accepted: - raise Exception("Goal rejected.") - result_future = client_goal_handle.get_result_async() - while True: - feedback_future = asyncio.ensure_future(self.feedback_queue.get()) - tasks = [result_future, feedback_future] - await asyncio.wait(tasks, return_when=asyncio.FIRST_COMPLETED) - if result_future.done(): - result = result_future.result().result - yield (None, result) - break - else: - feedback = feedback_future.result().feedback - yield (feedback, None) - - -async def main(node): - print('Node started.') - action_client = ActionClientX(node, Fibonacci, 'fibonacci') - goal_msg = Fibonacci.Goal() - goal_msg.order = 10 - async for (feedback, result) in action_client.send_goal_async(goal_msg): - if feedback: - print(f'Feedback: {feedback}') - else: - print(f'Result: {result}') - print('Finished.') - - -async def ros_loop_node(node): - while rclpy.ok(): - rclpy.spin_once(node, timeout_sec=0) - await asyncio.sleep(1e-4) - - -async def ros_loop(executor: Executor): - while rclpy.ok(): - executor.spin_once(timeout_sec=0) - await asyncio.sleep(1e-4) - - -def run_event_loop(): - global loop - loop = asyncio.new_event_loop() - asyncio.set_event_loop(loop) - loop.run_forever() - - -def run_event_loop_in_thread(): - thread = threading.Thread(target=run_event_loop, args=()) - thread.start() - - -if __name__ == "__main__": - rclpy.init() - node = rclpy.create_node('async_subscriber') - future = asyncio.wait([ros_loop(node), main()]) - asyncio.get_event_loop().run_until_complete(future) \ No newline at end of file diff --git a/unilabos/utils/pywinauto_util.py b/unilabos/utils/pywinauto_util.py index 3b78632a..70eeb96d 100644 --- a/unilabos/utils/pywinauto_util.py +++ b/unilabos/utils/pywinauto_util.py @@ -1,7 +1,11 @@ import psutil import pywinauto -from pywinauto_recorder import UIApplication -from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path +try: + from pywinauto_recorder import UIApplication + from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path +except ImportError: + print("未安装pywinauto_recorder，部分功能无法使用，安装时注意enum") + pass from pywinauto.controls.uiawrapper import UIAWrapper from pywinauto.application import WindowSpecification from pywinauto import findbestmatch diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index b9c26326..42d295a3 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.15 + 0.10.16 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln