mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-04-02 12:03:09 +00:00
完成物料位置标定
This commit is contained in:
q434343
@@ -1651,7 +1651,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
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tip = []
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if pick_up:
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tip.append(self._get_next_tip())
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await self.pick_up_tips(tip)
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await self.pick_up_tips(tip,use_channels=use_channels)
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blow_out_air_volume_before_vol = 0.0
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if blow_out_air_volume_before is not None and len(blow_out_air_volume_before) > 0:
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blow_out_air_volume_before_vol = float(blow_out_air_volume_before[0] or 0.0)
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@@ -781,9 +781,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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rail_interval=0,
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x_increase = -0.003636,
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y_increase = -0.003636,
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x_offset = 9.2,
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y_offset = -27.98,
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deck_z = 300,
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x_offset = -1.8,
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y_offset = -37.48,
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deck_z = 309.5,
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deck_y = 400,
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rail_width=27.5,
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xy_coupling = -0.0045,
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@@ -798,7 +798,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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self.y_offset = y_offset
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self.xy_coupling = xy_coupling
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self.left_2_claw = Coordinate(-130.2, 34, -134)
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self.right_2_left = Coordinate(22,-1, 8)
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self.right_2_left = Coordinate(22,-1, 11)
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plate_positions = []
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tablets_info = []
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@@ -930,7 +930,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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matrix_id = str(uuid.uuid4())
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matrix_info = {
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"MatrixId": matrix_id,
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"MatrixName": matrix_id,
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"MatrixName": "matrix_" + str(time.time()),
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"WorkTablets": work_tablets +
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[{"Number": number, "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"}} for number in slot_none],
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}
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@@ -1152,6 +1152,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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self._first_transfer_done = True
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if self.step_mode:
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await self.create_protocol(f"transfer_liquid{time.time()}")
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_asp_list = asp_vols if isinstance(asp_vols, list) else [asp_vols]
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_dis_list = dis_vols if isinstance(dis_vols, list) else [dis_vols]
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if all(v <= 10.0 for v in _asp_list) and all(v <= 10.0 for v in _dis_list):
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use_channels = [1]
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res = await super().transfer_liquid(
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sources,
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targets,
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@@ -489,7 +489,18 @@ class ResourceTreeSet(object):
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def resource_plr_inner(
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d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
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) -> ResourceDictInstance:
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current_uuid, parent_uuid, extra = uuids.pop(0)
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if uuids:
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current_uuid, parent_uuid, extra = uuids.pop(0)
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else:
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# serialize() 树比 res.children 树多出了节点（虚拟子节点等），兜底生成 UUID
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current_uuid = str(uuid.uuid4())
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parent_uuid = parent_resource.get("uuid") if isinstance(parent_resource, dict) else (
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getattr(parent_resource, "uuid", None) if parent_resource is not None else None
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)
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extra = {}
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logger.warning(
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f"from_plr_resources: UUID 列表耗尽，为节点 '{d.get('name', '?')}' 生成临时 UUID {current_uuid}"
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)
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raw_pos = (
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{"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
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@@ -1739,13 +1739,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
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resource_data = function_args[arg_name]
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if isinstance(resource_data, dict) and "id" in resource_data:
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try:
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function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
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except Exception as e:
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self.lab_logger().error(
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f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
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)
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raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
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uid = resource_data.get("uuid", "")
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# 优先从本地追踪器直接取（避免服务端未同步导致的空返回）
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local_fast = self.resource_tracker.uuid_to_resources.get(uid) if uid else None
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if local_fast is not None:
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function_args[arg_name] = local_fast
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else:
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try:
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function_args[arg_name] = self._convert_resources_sync(uid)[0]
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except Exception as e:
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self.lab_logger().error(
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f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
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)
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raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
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# 处理 ResourceSlot 列表
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elif isinstance(arg_type, tuple) and len(arg_type) == 2:
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@@ -1753,14 +1759,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
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resource_list = function_args[arg_name]
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if isinstance(resource_list, list):
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try:
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uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
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function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
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except Exception as e:
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self.lab_logger().error(
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f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
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)
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raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
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uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
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# 先尝试本地追踪器批量取
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local_hits = [
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self.resource_tracker.uuid_to_resources[u]
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for u in uuids
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if u in self.resource_tracker.uuid_to_resources
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]
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if len(local_hits) == len(uuids):
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function_args[arg_name] = local_hits
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else:
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try:
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function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
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except Exception as e:
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self.lab_logger().error(
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f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
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)
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raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
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# todo: 默认反报送
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return function(**function_args)
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@@ -1812,6 +1827,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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# 转换为 PLR 资源
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tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
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if not len(tree_set.trees):
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# 服务端未找到时，尝试从本地追踪器兜底（create_resource 刚完成但服务端未及时同步）
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local_hits = [
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self.resource_tracker.uuid_to_resources[uid]
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for uid in uuids_list
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if uid in self.resource_tracker.uuid_to_resources
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]
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if local_hits:
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self.lab_logger().warning(
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f"资源查询服务端返回空树，已从本地追踪器找到 "
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f"{len(local_hits)}/{len(uuids_list)} 个资源: {uuids_list}"
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)
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return local_hits
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raise Exception(f"资源查询返回空树: {raw_data}")
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plr_resources = tree_set.to_plr_resources()
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@@ -23,6 +23,7 @@
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"port": 9999,
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"debug": false,
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"setup": true,
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"matrix_id": "1ecb1b45-6aef-456b-bd68-8f538c4e5826",
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"timeout": 10,
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"simulator": false,
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"channel_num": 8
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@@ -21,13 +21,14 @@
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},
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"host": "10.20.30.184",
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"port": 9999,
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"debug": true,
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"setup": true,
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"debug": false,
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"setup": false,
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"is_9320": true,
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"timeout": 10,
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"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
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"simulator": true,
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"channel_num": 2
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"matrix_id": "",
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"simulator": false,
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"channel_num": 2,
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"step_mode": true
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},
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"data": {
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"reset_ok": true
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@@ -49,8 +50,8 @@
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"type": "deck",
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"class": "",
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"position": {
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"x": 10,
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"y": 10,
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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@@ -66,426 +67,7 @@
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},
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"category": "deck",
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"barcode": null,
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"preferred_pickup_location": null,
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"sites": [
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{
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"label": "T1",
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"visible": true,
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"occupied_by": null,
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"position": {
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"x": 0,
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"y": 288,
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"z": 0
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},
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"size": {
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"width": 128.0,
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"height": 86,
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"depth": 0
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},
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"content_type": [
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"container",
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"plate",
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"tip_rack",
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"plates",
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"tip_racks",
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"tube_rack",
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"adaptor",
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"plateadapter",
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"module",
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"trash"
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]
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},
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{
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"label": "T2",
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"visible": true,
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"occupied_by": null,
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"position": {
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"x": 138,
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"y": 288,
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||||
"z": 0
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||||
},
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||||
"size": {
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||||
"width": 128.0,
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||||
"height": 86,
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"depth": 0
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||||
},
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||||
"content_type": [
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"plate",
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"tip_rack",
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"plates",
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"tip_racks",
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||||
"tube_rack",
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||||
"adaptor",
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"plateadapter",
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"module",
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||||
"trash"
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||||
]
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||||
},
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||||
{
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||||
"label": "T3",
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||||
"visible": true,
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||||
"occupied_by": null,
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||||
"position": {
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||||
"x": 276,
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||||
"y": 288,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T4",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 414,
|
||||
"y": 288,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T5",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 192,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T6",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 138,
|
||||
"y": 192,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T7",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 276,
|
||||
"y": 192,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T8",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 414,
|
||||
"y": 192,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T9",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 96,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T10",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 138,
|
||||
"y": 96,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T11",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 276,
|
||||
"y": 96,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T12",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 414,
|
||||
"y": 96,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T13",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T14",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 138,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T15",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 276,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T16",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 414,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor",
|
||||
"plateadapter",
|
||||
"module",
|
||||
"trash"
|
||||
]
|
||||
}
|
||||
]
|
||||
"preferred_pickup_location": null
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
|
||||
@@ -624,7 +624,7 @@ def build_protocol_graph(
|
||||
workstation_name: str,
|
||||
action_resource_mapping: Optional[Dict[str, str]] = None,
|
||||
labware_defs: Optional[List[Dict[str, Any]]] = None,
|
||||
preserve_tip_rack_incoming_class: bool = True,
|
||||
preserve_tip_rack_incoming_class: bool = False,
|
||||
) -> WorkflowGraph:
|
||||
"""统一的协议图构建函数，根据设备类型自动选择构建逻辑
|
||||
|
||||
|
||||
@@ -210,7 +210,7 @@ def convert_from_json(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = DEFAULT_WORKSTATION,
|
||||
validate: bool = True,
|
||||
preserve_tip_rack_incoming_class: bool = True,
|
||||
preserve_tip_rack_incoming_class: bool = False,
|
||||
) -> WorkflowGraph:
|
||||
"""
|
||||
从 JSON 数据或文件转换为 WorkflowGraph
|
||||
@@ -295,7 +295,7 @@ def convert_from_json(
|
||||
def convert_json_to_node_link(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = DEFAULT_WORKSTATION,
|
||||
preserve_tip_rack_incoming_class: bool = True,
|
||||
preserve_tip_rack_incoming_class: bool = False,
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将 JSON 数据转换为 node-link 格式的字典
|
||||
|
||||
@@ -234,7 +234,7 @@ def convert_from_json(
|
||||
data: Union[str, PathLike, Dict[str, Any]],
|
||||
workstation_name: str = "PRCXi",
|
||||
validate: bool = True,
|
||||
preserve_tip_rack_incoming_class: bool = True,
|
||||
preserve_tip_rack_incoming_class: bool = False,
|
||||
) -> WorkflowGraph:
|
||||
"""
|
||||
从 JSON 数据或文件转换为 WorkflowGraph
|
||||
|
||||
Reference in New Issue
Block a user