diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx index a3b130f6..70a55ffe 100644 Binary files a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx differ 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 index 93337748..e1a94d2d 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -1,7 +1,7 @@ # -*- coding: utf-8 -*- from cgi import print_arguments from doctest import debug -from typing import Dict, Any, List, Optional +from typing import Dict, Any, List, Optional, Tuple import requests from pylabrobot.resources.resource import Resource as ResourcePLR from pathlib import Path @@ -22,6 +22,7 @@ from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck from unilabos.resources.graphio import resource_bioyond_to_plr from unilabos.utils.log import logger from unilabos.registry.registry import lab_registry +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode def _iso_local_now_ms() -> str: # 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z @@ -41,12 +42,14 @@ class BioyondCellWorkstation(BioyondWorkstation): def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs): # 使用统一配置，支持自定义覆盖, 从 config.py 加载完整配置 - self.bioyond_config ={ + self.bioyond_config = { **API_CONFIG, "material_type_mappings": MATERIAL_TYPE_MAPPINGS, "warehouse_mapping": WAREHOUSE_MAPPING, - "debug_mode": False - } + "debug_mode": False, + } + if config: + self.bioyond_config.update(config) # "material_type_mappings": MATERIAL_TYPE_MAPPINGS # "warehouse_mapping": WAREHOUSE_MAPPING @@ -57,6 +60,12 @@ class BioyondCellWorkstation(BioyondWorkstation): self.http_service_started = self.debug_mode self._device_id = "bioyond_cell_workstation" # 默认值，后续会从_ros_node获取 super().__init__(bioyond_config=config, deck=deck) + self.transfer_target_device_id = self.bioyond_config.get("transfer_target_device_id", "BatteryStation") + self.transfer_target_parent = self.bioyond_config.get("transfer_target_parent", "YB_YH_Deck") + self.transfer_timeout = float(self.bioyond_config.get("transfer_timeout", 180.0)) + self.coin_cell_workflow_config = self.bioyond_config.get("coin_cell_workflow_config", {}) + self.pending_transfer_materials: List[Dict[str, Any]] = [] + self.pending_transfer_plr: List[ResourcePLR] = [] self.update_push_ip() #直接修改奔耀端的报送ip地址 logger.info("已更新奔耀端推送 IP 地址") @@ -472,7 +481,7 @@ class BioyondCellWorkstation(BioyondWorkstation): return response # 2.14 新建实验 - def create_orders(self, xlsx_path: str) -> Dict[str, Any]: + def create_orders(self, xlsx_path: str, *, material_filter: Optional[str] = None) -> Dict[str, Any]: """ 从 Excel 解析并创建实验（2.14） 约定： @@ -629,7 +638,34 @@ class BioyondCellWorkstation(BioyondWorkstation): return response # 等待完成报送 result = self.wait_for_order_finish(order_code) - return result + report_data = result.get("report") if isinstance(result, dict) else None + materials_from_report = ( + report_data.get("usedMaterials") if isinstance(report_data, dict) else None + ) + if materials_from_report: + materials = materials_from_report + logger.info( + "[create_orders] 使用订单完成报送中的物料信息: " + f"{len(materials)} 条" + ) + else: + materials = self._fetch_bioyond_materials(filter_keyword=material_filter) + logger.info( + "[create_orders] 未收到订单报送物料信息，回退到实时查询" + ) + print("materials_from_report:", materials_from_report) + # TODO: 需要将 materials 字典转换为 ResourceSlot 对象后才能转运 + # self.transfer_resource_to_another( + # resource=[materials], + # mount_resource=["YB_YH_Deck"], + # sites=[None], + # mount_device_id="BatteryStation" + # ) + return { + "api_response": response, + "order_finish": result, + "materials": materials, + } # 2.7 启动调度 def scheduler_start(self) -> Dict[str, Any]: @@ -701,6 +737,7 @@ class BioyondCellWorkstation(BioyondWorkstation): return response # 等待完成报送 result = self.wait_for_order_finish(order_code) + return result # 2.5 批量查询实验报告(post过滤关键字查询) @@ -1198,6 +1235,108 @@ class BioyondCellWorkstation(BioyondWorkstation): return raw_materials + def _convert_materials_to_plr(self, materials: List[Dict[str, Any]]) -> List[ResourcePLR]: + try: + return resource_bioyond_to_plr( + deepcopy(materials), + type_mapping=self.bioyond_config.get("material_type_mappings", MATERIAL_TYPE_MAPPINGS), + deck=self.deck, + ) + except Exception as exc: + logger.error(f"物料转换为 PLR 失败: {exc}", exc_info=True) + return [] + + def _wait_for_future(self, future, stage: str, timeout: Optional[float] = None): + if future is None: + return None + timeout = timeout or self.transfer_timeout + start = time.time() + while not future.done(): + if (time.time() - start) > timeout: + raise TimeoutError(f"{stage} 超时 {timeout}s") + time.sleep(0.05) + return future.result() + + def _register_plr_resources(self, resources: List[ResourcePLR]) -> None: + if not resources or not hasattr(self, "_ros_node") or self._ros_node is None: + return + future = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, resources=resources) + self._wait_for_future(future, "update_resource") + + def _get_target_resource(self, name: str) -> ResourcePLR: + if not hasattr(self, "_ros_node") or self._ros_node is None: + raise RuntimeError("ROS 节点未初始化，无法获取资源") + resource = self._ros_node.resource_tracker.figure_resource({"name": name}, try_mode=False) # type: ignore + if resource is None: + raise ValueError(f"未找到目标资源: {name}") + return resource + + def _allocate_sites(self, parent_resource: ResourcePLR, count: int) -> List[str]: + if not hasattr(parent_resource, "get_free_sites"): + raise ValueError(f"资源 {parent_resource} 不支持自动分配站位") + free_indices = list(parent_resource.get_free_sites()) + if len(free_indices) < count: + raise ValueError(f"{parent_resource.name} 可用站位不足 (need {count}, have {len(free_indices)})") + ordering = list(getattr(parent_resource, "_ordering", {}).keys()) + sites: List[str] = [] + for idx in free_indices[:count]: + if ordering and idx < len(ordering): + sites.append(ordering[idx]) + else: + sites.append(str(idx)) + return sites + + def _invoke_coin_cell_workflow(self, material_payload: List[Dict[str, Any]]) -> Any: + timeout = float(self.bioyond_config.get("coin_cell_workflow_timeout", 300.0)) + workflow_payload: Dict[str, Any] = {} + if isinstance(self.coin_cell_workflow_config, dict): + workflow_payload.update(deepcopy(self.coin_cell_workflow_config)) + workflow_payload["materials"] = deepcopy(material_payload) + return self._call_remote_device_method( + self.transfer_target_device_id, + "run_coin_cell_assembly_workflow", + timeout=timeout, + workflow_config=workflow_payload, + ) + + def _call_remote_device_method( + self, + device_id: str, + method: str, + *, + timeout: Optional[float] = None, + **kwargs, + ) -> Any: + if not hasattr(self, "_ros_node") or self._ros_node is None: + raise RuntimeError("ROS 节点未初始化，无法调用远程设备") + if not device_id: + raise ValueError("device_id 不能为空") + if not method: + raise ValueError("method 不能为空") + + timeout = timeout or self.transfer_timeout + payload = json.dumps( + { + "function_name": method, + "function_args": kwargs, + }, + ensure_ascii=False, + ) + future = ROS2DeviceNode.run_async_func( + self._ros_node.execute_single_action, + True, + device_id=device_id, + action_name="_execute_driver_command_async", + action_kwargs={"string": payload}, + ) + result = self._wait_for_future(future, f"{device_id}.{method}", timeout) + if hasattr(result, "return_info"): + try: + return json.loads(result.return_info) + except Exception: + return result.return_info + return result + def run_feeding_stage(self) -> Dict[str, List[Dict[str, Any]]]: self.create_sample( board_type="配液瓶(小)板", @@ -1239,17 +1378,38 @@ class BioyondCellWorkstation(BioyondWorkstation): def run_transfer_stage( self, liquid_materials: Optional[List[Dict[str, Any]]] = None, - ) -> Dict[str, List[Dict[str, Any]]]: - self.transfer_3_to_2_to_1( - source_wh_id="3a19debc-84b4-0359-e2d4-b3beea49348b", - source_x=1, - source_y=1, - source_z=1, + 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]: + """转运阶段：调用transfer_3_to_2_to_1执行3到2到1转运""" + logger.info("开始执行转运阶段 (run_transfer_stage)") + + # 暂时注释掉物料转换和跨工站转运逻辑 + # transfer_summary: Dict[str, Any] = {} + # try: + # source_materials = liquid_materials or self._fetch_bioyond_materials() + # transfer_plr = self._convert_materials_to_plr(source_materials) + # transfer_summary["plr_count"] = len(transfer_plr) + # ... + # except Exception as exc: + # transfer_summary["error"] = str(exc) + # logger.error(f"跨工站转运失败: {exc}", exc_info=True) + + # 只执行核心的3到2到1转运 + transfer_result = self.transfer_3_to_2_to_1( + source_wh_id=source_wh_id, + source_x=source_x, + source_y=source_y, + source_z=source_z ) - transfer_materials = self._fetch_bioyond_materials() + + logger.info("转运阶段执行完成") return { - "liquid_materials": liquid_materials or [], - "transfer_materials": transfer_materials, + "success": True, + "stage": "transfer", + "transfer_result": transfer_result } if __name__ == "__main__": deck = BIOYOND_YB_Deck(setup=True) diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx index 97928549..7f3a0137 100644 Binary files a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx differ 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 97ae452e..c69cad7d 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -159,6 +159,27 @@ class CoinCellAssemblyWorkstation(WorkstationBase): "resources": [self.deck] }) + def sync_transfer_resources(self) -> Dict[str, Any]: + """ + 供跨工站转运完成后调用，强制将当前台面资源同步到云端/前端。 + """ + if not hasattr(self, "_ros_node") or self._ros_node is None: + return {"status": "failed", "error": "ros_node_not_ready"} + if self.deck is None: + return {"status": "failed", "error": "deck_not_initialized"} + try: + future = ROS2DeviceNode.run_async_func( + self._ros_node.update_resource, + True, + resources=[self.deck], + ) + if future: + future.result() + return {"status": "success"} + except Exception as exc: + logger.error(f"同步转运资源失败: {exc}", exc_info=True) + return {"status": "failed", "error": str(exc)} + # 批量操作在这里写 async def change_hole_sheet_to_2(self, hole: MaterialHole): hole._unilabos_state["max_sheets"] = 2 @@ -1225,26 +1246,87 @@ class CoinCellAssemblyWorkstation(WorkstationBase): ''' - def run_coin_cell_assembly_workflow(self): - self.qiming_coin_cell_code( - fujipian_panshu=1, - fujipian_juzhendianwei=0, - gemopanshu=0, - gemo_juzhendianwei=0, - lvbodian=True, - battery_pressure_mode=True, - battery_pressure=4200, - battery_clean_ignore=False, - ) - self.func_pack_device_init() - self.func_pack_device_auto() - self.func_pack_device_start() - self.func_pack_send_bottle_num(1) - self.func_allpack_cmd(elec_num = 1, elec_use_num = 1, elec_vol=50, assembly_type=7, assembly_pressure=4200, file_path="/Users/sml/work") - self.func_pack_send_finished_cmd() - self.func_pack_device_stop() - # 物料转换 - return self + def run_coin_cell_assembly_workflow( + self, + workflow_config: Optional[Dict[str, Any]] = None, + ) -> Dict[str, Any]: + config: Dict[str, Any] + if workflow_config is None: + config = {} + elif isinstance(workflow_config, list): + config = {"materials": workflow_config} + else: + config = workflow_config + qiming_defaults = { + "fujipian_panshu": 1, + "fujipian_juzhendianwei": 0, + "gemopanshu": 1, + "gemo_juzhendianwei": 0, + "lvbodian": True, + "battery_pressure_mode": True, + "battery_pressure": 4200, + "battery_clean_ignore": False, + } + qiming_params = {**qiming_defaults, **(config.get("qiming") or {})} + qiming_success = self.qiming_coin_cell_code(**qiming_params) + + step_results: Dict[str, Any] = {} + try: + self.func_pack_device_init() + step_results["init"] = True + except Exception as exc: + step_results["init"] = f"error: {exc}" + + try: + self.func_pack_device_auto() + step_results["auto"] = True + except Exception as exc: + step_results["auto"] = f"error: {exc}" + + try: + self.func_pack_device_start() + step_results["start"] = True + except Exception as exc: + step_results["start"] = f"error: {exc}" + + packaging_cfg = config.get("packaging") or {} + bottle_num = packaging_cfg.get("bottle_num", 1) + try: + self.func_pack_send_bottle_num(bottle_num) + step_results["send_bottle_num"] = True + except Exception as exc: + step_results["send_bottle_num"] = f"error: {exc}" + + command_defaults = { + "elec_num": 1, + "elec_use_num": 1, + "elec_vol": 50, + "assembly_type": 7, + "assembly_pressure": 4200, + "file_path": "/Users/sml/work", + } + command_params = {**command_defaults, **(packaging_cfg.get("command") or {})} + packaging_result = self.func_allpack_cmd(**command_params) + + finished_result = self.func_pack_send_finished_cmd() + stop_result = self.func_pack_device_stop() + + return { + "qiming": { + "params": qiming_params, + "success": qiming_success, + }, + "workflow_steps": step_results, + "packaging": { + "bottle_num": bottle_num, + "command": command_params, + "result": packaging_result, + }, + "finish": { + "send_finished": finished_result, + "stop": stop_result, + }, + } if __name__ == "__main__": diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index 70854cdb..a48edfc1 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -837,6 +837,8 @@ bioyond_cell: result: properties: feeding_materials: + items: + type: object type: array required: - feeding_materials @@ -876,8 +878,12 @@ bioyond_cell: result: properties: feeding_materials: + items: + type: object type: array liquid_materials: + items: + type: object type: array required: - liquid_materials @@ -889,6 +895,8 @@ bioyond_cell: goal: properties: feeding_materials: + items: + type: object type: array required: [] type: object @@ -919,9 +927,15 @@ bioyond_cell: result: properties: liquid_materials: + items: + type: object type: array transfer_materials: + items: + type: object type: array + transfer_summary: + type: object required: - transfer_materials type: object @@ -932,10 +946,24 @@ bioyond_cell: goal: properties: liquid_materials: + items: + type: object type: array required: [] type: object - result: {} + result: + properties: + liquid_materials: + items: + type: object + type: array + transfer_materials: + items: + type: object + type: array + transfer_summary: + type: object + type: object required: - goal title: run_transfer_stage参数 @@ -1234,7 +1262,7 @@ bioyond_cell: config_info: [] description: 配液工站 handles: [] - icon: '' + icon: benyao2.webp init_param_schema: config: properties: diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml index ce5775ff..c59cc2e6 100644 --- a/unilabos/registry/devices/coin_cell_workstation.yaml +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -479,20 +479,139 @@ coincellassemblyworkstation_device: type: UniLabJsonCommand auto-run_coin_cell_assembly_workflow: feedback: {} - goal: {} - goal_default: {} - handles: {} + goal: + properties: + workflow_config: + type: object + required: [] + type: object + goal_default: + workflow_config: {} + handles: + input: + - data_key: workflow_config + data_source: handle + data_type: resource + handler_key: WorkflowConfig + label: Workflow Config + output: + - data_key: qiming + data_source: executor + data_type: resource + handler_key: QimingResult + label: Qiming Result + - data_key: workflow_steps + data_source: executor + data_type: resource + handler_key: WorkflowSteps + label: Workflow Steps + - data_key: packaging + data_source: executor + data_type: resource + handler_key: PackagingResult + label: Packaging Result + - data_key: finish + data_source: executor + data_type: resource + handler_key: FinishResult + label: Finish Result placeholder_keys: {} - result: {} + result: + properties: + finish: + properties: + send_finished: + type: object + stop: + type: object + required: + - send_finished + - stop + type: object + packaging: + properties: + bottle_num: + type: integer + command: + type: object + result: + type: object + required: + - bottle_num + - command + - result + type: object + qiming: + properties: + params: + type: object + success: + type: boolean + required: + - params + - success + type: object + workflow_steps: + type: object + required: + - qiming + - workflow_steps + - packaging + - finish + type: object schema: description: '' properties: feedback: {} goal: - properties: {} + properties: + workflow_config: + type: object required: [] type: object - result: {} + result: + properties: + finish: + properties: + send_finished: + type: object + stop: + type: object + required: + - send_finished + - stop + type: object + packaging: + properties: + bottle_num: + type: integer + command: + type: object + result: + type: object + required: + - bottle_num + - command + - result + type: object + qiming: + properties: + params: + type: object + success: + type: boolean + required: + - params + - success + type: object + workflow_steps: + type: object + required: + - qiming + - workflow_steps + - packaging + - finish + type: object required: - goal title: run_coin_cell_assembly_workflow参数 @@ -548,7 +667,7 @@ coincellassemblyworkstation_device: config_info: [] description: 扣电工站 handles: [] - icon: '' + icon: koudian.webp init_param_schema: config: properties: diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py index af1afab5..dbbf8077 100644 --- a/unilabos/ros/nodes/presets/workstation.py +++ b/unilabos/ros/nodes/presets/workstation.py @@ -402,7 +402,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode): return result_future.result - """还没有改过的部分""" def _setup_hardware_proxy( self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method