no opcua installation on macos

fix possible crash fix deck & host_node set liquid with tube add test_resource_schema fix test resource schema registry update & workflow update add test mode support description & tags upload fix config load fix log add registry name & add always free correct config organic synthesis Adapt to new scheduler, sampels, and edge upload format (#230) * add sample_material * adapt to new samples sys * fix pump transfer. fix resource update when protocol & ros callback * Adapt to new scheduler. Feat/samples (#229) * add sample_material * adapt to new samples sys adapt to new samples sys adapt to new edge format workflow upload & prcxi transfer liquid lh liquid speed up registry load workflow upload & set liquid fix & add set liquid with plate fix upload workflow json
2026-03-24 09:17:39 +00:00 · 2026-02-02 17:18:45 +08:00
parent 5179a7e48e
commit b551e69f64
41 changed files with 2671 additions and 747 deletions
--- a/unilabos/devices/virtual/workbench.py
+++ b/unilabos/devices/virtual/workbench.py
@@ -11,9 +11,10 @@ Virtual Workbench Device - 模拟工作台设备

 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 typing import Dict, Any, Optional, List
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock
@@ -21,38 +22,47 @@ 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
+from unilabos.utils.decorator import not_action, always_free
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES


 # ============ 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
+    unilabos_samples: List[LabSample]


 class StartHeatingResult(TypedDict):
    """start_heating 返回类型"""
+
    success: bool
    station_id: int
    material_id: str
    material_number: int
    message: str
+    unilabos_samples: List[LabSample]


 class MoveToOutputResult(TypedDict):
    """move_to_output 返回类型"""
+
    success: bool
    station_id: int
    material_id: str
+    unilabos_samples: List[LabSample]


 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
@@ -61,12 +71,15 @@ class PrepareMaterialsResult(TypedDict):
    material_4: int  # 物料编号4
    material_5: int  # 物料编号5
    message: str
+    unilabos_samples: List[LabSample]


 # ============ 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
@@ -75,6 +88,7 @@ class HeatingStationState(Enum):

 class ArmState(Enum):
    """机械臂状态枚举"""
+
    IDLE = "idle"  # 空闲
    BUSY = "busy"  # 工作中

@@ -82,6 +96,7 @@ class ArmState(Enum):
@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")
@@ -108,8 +123,8 @@ class VirtualWorkbench:
    _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)
+    ARM_OPERATION_TIME: float = 2  # 机械臂操作时间(秒)
+    HEATING_TIME: float = 60.0  # 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):
@@ -126,9 +141,9 @@ class VirtualWorkbench:
        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))
+        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
+        self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
+        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))

        # 机械臂状态和锁 (使用threading.Lock)
        self._arm_lock = Lock()
@@ -137,8 +152,7 @@ class VirtualWorkbench:

        # 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)
+            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

@@ -178,14 +192,16 @@ class VirtualWorkbench:
                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.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
@@ -204,12 +220,14 @@ class VirtualWorkbench:
        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",
-        })
+        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]]:
@@ -227,12 +245,14 @@ class VirtualWorkbench:

    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),
-        })
+        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

@@ -280,6 +300,7 @@ class VirtualWorkbench:

    def prepare_materials(
        self,
+        sample_uuids: SampleUUIDsType,
        count: int = 5,
    ) -> PrepareMaterialsResult:
        """
@@ -297,10 +318,7 @@ class VirtualWorkbench:
        # 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}"
-        )
+        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,
@@ -311,10 +329,12 @@ class VirtualWorkbench:
            "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}",
+            "unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
        }

    def move_to_heating_station(
        self,
+        sample_uuids: SampleUUIDsType,
        material_number: int,
    ) -> MoveToHeatingStationResult:
        """
@@ -391,6 +411,9 @@ class VirtualWorkbench:
                "material_id": material_id,
                "material_number": material_number,
                "message": f"{material_id}已成功移动到加热台{station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
            }

        except Exception as e:
@@ -403,10 +426,15 @@ class VirtualWorkbench:
                "material_id": material_id,
                "material_number": material_number,
                "message": f"移动失败: {str(e)}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
            }

+    @always_free
    def start_heating(
        self,
+        sample_uuids: SampleUUIDsType,
        station_id: int,
        material_number: int,
    ) -> StartHeatingResult:
@@ -429,6 +457,9 @@ class VirtualWorkbench:
                "material_id": "",
                "material_number": material_number,
                "message": f"无效的加热台ID: {station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
            }

        with self._stations_lock:
@@ -441,6 +472,9 @@ class VirtualWorkbench:
                    "material_id": "",
                    "material_number": material_number,
                    "message": f"加热台{station_id}上没有物料",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                }

            if station.state == HeatingStationState.HEATING:
@@ -450,6 +484,9 @@ class VirtualWorkbench:
                    "material_id": station.current_material,
                    "material_number": material_number,
                    "message": f"加热台{station_id}已经在加热中",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                }

            material_id = station.current_material
@@ -465,10 +502,21 @@ class VirtualWorkbench:

        self._update_data_status(f"加热台{station_id}开始加热{material_id}")

-        # 模拟加热过程 (10秒)
+        # 打印当前所有正在加热的台位
+        with self._stations_lock:
+            heating_list = [
+                f"加热台{sid}:{s.current_material}"
+                for sid, s in self._heating_stations.items()
+                if s.state == HeatingStationState.HEATING and s.current_material
+            ]
+        self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
+
+        # 模拟加热过程
        start_time = time.time()
+        last_countdown_log = start_time
        while True:
            elapsed = time.time() - start_time
+            remaining = max(0.0, self.HEATING_TIME - elapsed)
            progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)

            with self._stations_lock:
@@ -476,6 +524,11 @@ class VirtualWorkbench:

            self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")

+            # 每5秒打印一次倒计时
+            if time.time() - last_countdown_log >= 5.0:
+                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
+                last_countdown_log = time.time()
+
            if elapsed >= self.HEATING_TIME:
                break

@@ -499,10 +552,14 @@ class VirtualWorkbench:
            "material_id": material_id,
            "material_number": material_number,
            "message": f"加热台{station_id}加热完成",
+            "unilabos_samples": [
+                LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                sample_uuid, content in sample_uuids.items()]
        }

    def move_to_output(
        self,
+        sample_uuids: SampleUUIDsType,
        station_id: int,
        material_number: int,
    ) -> MoveToOutputResult:
@@ -525,6 +582,9 @@ class VirtualWorkbench:
                "material_id": "",
                "output_position": f"C{output_number}",
                "message": f"无效的加热台ID: {station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
            }

        with self._stations_lock:
@@ -538,6 +598,9 @@ class VirtualWorkbench:
                    "material_id": "",
                    "output_position": f"C{output_number}",
                    "message": f"加热台{station_id}上没有物料",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                }

            if station.state != HeatingStationState.COMPLETED:
@@ -547,6 +610,9 @@ class VirtualWorkbench:
                    "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})",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                }

        output_position = f"C{output_number}"
@@ -595,6 +661,9 @@ class VirtualWorkbench:
                "material_id": material_id,
                "output_position": output_position,
                "message": f"{material_id}已成功移动到{output_position}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
            }

        except Exception as e:
@@ -607,6 +676,9 @@ class VirtualWorkbench:
                "material_id": "",
                "output_position": output_position,
                "message": f"移动失败: {str(e)}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
            }

    # ============ 状态属性 ============