mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-05-23 03:19:55 +00:00
Compare commits
4 Commits
865dd87556
...
feat/3d_bu
| Author | SHA1 | Date | |
|---|---|---|---|
|
9862415655 | ||
|
|
18296d3cb2 | ||
|
|
090d5c5cb5 | ||
|
|
48e13a7b4d |
@@ -1,626 +0,0 @@
|
||||
---
|
||||
name: add-workstation
|
||||
description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Uses @device decorator + AST auto-scanning. Walks through workstation type, sub-device composition, driver creation, deck setup, and graph file. Use when the user wants to add a workstation, create a workstation driver, configure a station with sub-devices, or mentions 工作站/工站/station/workstation.
|
||||
---
|
||||
|
||||
# Uni-Lab-OS 工作站接入指南
|
||||
|
||||
工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统和工作流引擎。使用 `@device` 装饰器注册，AST 自动扫描生成注册表。
|
||||
|
||||
---
|
||||
|
||||
## 工作站类型
|
||||
|
||||
| 类型 | 基类 | 适用场景 |
|
||||
| ------------------- | ----------------- | ---------------------------------- |
|
||||
| **Protocol 工作站** | `ProtocolNode` | 标准化学操作协议（泵转移、过滤等） |
|
||||
| **外部系统工作站** | `WorkstationBase` | 与外部 LIMS/MES 对接 |
|
||||
| **硬件控制工作站** | `WorkstationBase` | 直接控制 PLC/硬件 |
|
||||
|
||||
---
|
||||
|
||||
## @device 装饰器（工作站）
|
||||
|
||||
工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
|
||||
|
||||
```python
|
||||
@device(
|
||||
id="my_workstation", # 注册表唯一标识（必填）
|
||||
category=["workstation"], # 分类标签
|
||||
description="我的工作站",
|
||||
)
|
||||
```
|
||||
|
||||
如果一个工作站类支持多个具体变体，可使用 `ids` / `id_meta`，与设备的用法相同（参见 add-device SKILL）。
|
||||
|
||||
---
|
||||
|
||||
## 工作站驱动模板
|
||||
|
||||
### 模板 A：基于外部系统的工作站
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
from pylabrobot.resources import Deck
|
||||
|
||||
from unilabos.registry.decorators import device, topic_config, not_action
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
except ImportError:
|
||||
ROS2WorkstationNode = None
|
||||
|
||||
|
||||
@device(id="my_workstation", category=["workstation"], description="我的工作站")
|
||||
class MyWorkstation(WorkstationBase):
|
||||
_ros_node: "ROS2WorkstationNode"
|
||||
|
||||
def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger("MyWorkstation")
|
||||
self.api_host = self.config.get("api_host", "")
|
||||
self._status = "Idle"
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: "ROS2WorkstationNode"):
|
||||
super().post_init(ros_node)
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
|
||||
"""注册为工作站动作"""
|
||||
return {"success": True}
|
||||
|
||||
async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
|
||||
"""注册为工作站动作"""
|
||||
return {"success": True}
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def workflow_sequence(self) -> str:
|
||||
return "[]"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def material_info(self) -> str:
|
||||
return "{}"
|
||||
```
|
||||
|
||||
### 模板 B：Protocol 工作站
|
||||
|
||||
直接使用 `ProtocolNode`，通常不需要自定义驱动类：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ProtocolNode
|
||||
```
|
||||
|
||||
在图文件中配置 `protocol_type` 即可。
|
||||
|
||||
---
|
||||
|
||||
## 子设备访问（sub_devices）
|
||||
|
||||
工站初始化子设备后，所有子设备实例存储在 `self._ros_node.sub_devices` 字典中（key 为设备 id，value 为 `ROS2DeviceNode` 实例）。工站的驱动类可以直接获取子设备实例来调用其方法：
|
||||
|
||||
```python
|
||||
# 在工站驱动类的方法中访问子设备
|
||||
sub = self._ros_node.sub_devices["pump_1"]
|
||||
|
||||
# .driver_instance — 子设备的驱动实例（即设备 Python 类的实例）
|
||||
sub.driver_instance.some_method(arg1, arg2)
|
||||
|
||||
# .ros_node_instance — 子设备的 ROS2 节点实例
|
||||
sub.ros_node_instance._action_value_mappings # 查看子设备支持的 action
|
||||
```
|
||||
|
||||
**常见用法**：
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def my_protocol(self, **kwargs):
|
||||
# 获取子设备驱动实例
|
||||
pump = self._ros_node.sub_devices["pump_1"].driver_instance
|
||||
heater = self._ros_node.sub_devices["heater_1"].driver_instance
|
||||
|
||||
# 直接调用子设备方法
|
||||
pump.aspirate(volume=100)
|
||||
heater.set_temperature(80)
|
||||
```
|
||||
|
||||
> 参考实现：`unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py` 中通过 `self._ros_node.sub_devices.get(reactor_id)` 获取子反应器实例并更新数据。
|
||||
|
||||
---
|
||||
|
||||
## 硬件通信接口（hardware_interface）
|
||||
|
||||
硬件控制型工作站通常需要通过串口（Serial）、Modbus 等通信协议控制多个子设备。Uni-Lab-OS 通过 **通信设备代理** 机制实现端口共享：一个串口只创建一个 `serial` 节点，多个子设备共享这个通信实例。
|
||||
|
||||
### 工作原理
|
||||
|
||||
`ROS2WorkstationNode` 初始化时分两轮遍历子设备（`workstation.py`）：
|
||||
|
||||
**第一轮 — 初始化所有子设备**：按 `children` 顺序调用 `initialize_device()`，通信设备（`serial_` / `io_` 开头的 id）优先完成初始化，创建 `serial.Serial()` 实例。其他子设备此时 `self.hardware_interface = "serial_pump"`（字符串）。
|
||||
|
||||
**第二轮 — 代理替换**：遍历所有已初始化的子设备，读取子设备的 `_hardware_interface` 配置：
|
||||
|
||||
```
|
||||
hardware_interface = d.ros_node_instance._hardware_interface
|
||||
# → {"name": "hardware_interface", "read": "send_command", "write": "send_command"}
|
||||
```
|
||||
|
||||
1. 取 `name` 字段对应的属性值：`name_value = getattr(driver, hardware_interface["name"])`
|
||||
- 如果 `name_value` 是字符串且该字符串是某个子设备的 id → 触发代理替换
|
||||
2. 从通信设备获取真正的 `read`/`write` 方法
|
||||
3. 用 `setattr(driver, read_method, _read)` 将通信设备的方法绑定到子设备上
|
||||
|
||||
因此：
|
||||
|
||||
- **通信设备 id 必须与子设备 config 中填的字符串完全一致**（如 `"serial_pump"`）
|
||||
- **通信设备 id 必须以 `serial_` 或 `io_` 开头**（否则第一轮不会被识别为通信设备）
|
||||
- **通信设备必须在 `children` 列表中排在最前面**，确保先初始化
|
||||
|
||||
### HardwareInterface 参数说明
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import HardwareInterface
|
||||
|
||||
HardwareInterface(
|
||||
name="hardware_interface", # __init__ 中接收通信实例的属性名
|
||||
read="send_command", # 通信设备上暴露的读方法名
|
||||
write="send_command", # 通信设备上暴露的写方法名
|
||||
extra_info=["list_ports"], # 可选：额外暴露的方法
|
||||
)
|
||||
```
|
||||
|
||||
**`name` 字段的含义**：对应设备类 `__init__` 中，用于保存通信实例的**属性名**。系统据此知道要替换哪个属性。大部分设备直接用 `"hardware_interface"`，也可以自定义（如 `"io_device_port"`）。
|
||||
|
||||
### 示例 1：泵（name="hardware_interface"）
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, HardwareInterface
|
||||
|
||||
@device(
|
||||
id="my_pump",
|
||||
category=["pump_and_valve"],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="hardware_interface",
|
||||
read="send_command",
|
||||
write="send_command",
|
||||
),
|
||||
)
|
||||
class MyPump:
|
||||
def __init__(self, port=None, address="1", **kwargs):
|
||||
# name="hardware_interface" → 系统替换 self.hardware_interface
|
||||
self.hardware_interface = port # 初始为字符串 "serial_pump"，启动后被替换为 Serial 实例
|
||||
self.address = address
|
||||
|
||||
def send_command(self, command: str):
|
||||
full_command = f"/{self.address}{command}\r\n"
|
||||
self.hardware_interface.write(bytearray(full_command, "ascii"))
|
||||
return self.hardware_interface.read_until(b"\n")
|
||||
```
|
||||
|
||||
### 示例 2：电磁阀（name="io_device_port"，自定义属性名）
|
||||
|
||||
```python
|
||||
@device(
|
||||
id="solenoid_valve",
|
||||
category=["pump_and_valve"],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="io_device_port", # 自定义属性名 → 系统替换 self.io_device_port
|
||||
read="read_io_coil",
|
||||
write="write_io_coil",
|
||||
),
|
||||
)
|
||||
class SolenoidValve:
|
||||
def __init__(self, io_device_port: str = None, **kwargs):
|
||||
# name="io_device_port" → 图文件 config 中用 "io_device_port": "io_board_1"
|
||||
self.io_device_port = io_device_port # 初始为字符串，系统替换为 Modbus 实例
|
||||
```
|
||||
|
||||
### Serial 通信设备（class="serial"）
|
||||
|
||||
`serial` 是 Uni-Lab-OS 内置的通信代理设备，代码位于 `unilabos/ros/nodes/presets/serial_node.py`：
|
||||
|
||||
```python
|
||||
from serial import Serial, SerialException
|
||||
from threading import Lock
|
||||
|
||||
class ROS2SerialNode(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, **kwargs):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self._hardware_interface = {
|
||||
"name": "hardware_interface",
|
||||
"write": "send_command",
|
||||
"read": "read_data",
|
||||
}
|
||||
self._query_lock = Lock()
|
||||
|
||||
self.hardware_interface = Serial(baudrate=baudrate, port=port)
|
||||
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self, driver_instance=self, registry_name=registry_name,
|
||||
device_id=device_id, status_types={}, action_value_mappings={},
|
||||
hardware_interface=self._hardware_interface, print_publish=False,
|
||||
)
|
||||
self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
|
||||
|
||||
def send_command(self, command: str):
|
||||
with self._query_lock:
|
||||
self.hardware_interface.write(bytearray(f"{command}\n", "ascii"))
|
||||
return self.hardware_interface.read_until(b"\n").decode()
|
||||
|
||||
def read_data(self):
|
||||
with self._query_lock:
|
||||
return self.hardware_interface.read_until(b"\n").decode()
|
||||
```
|
||||
|
||||
在图文件中使用 `"class": "serial"` 即可创建串口代理：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"class": "serial",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "COM7", "baudrate": 9600 }
|
||||
}
|
||||
```
|
||||
|
||||
### 图文件配置
|
||||
|
||||
**通信设备必须在 `children` 列表中排在最前面**，确保先于其他子设备初始化：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"class": "workstation",
|
||||
"children": ["serial_pump", "pump_1", "pump_2"],
|
||||
"config": { "protocol_type": ["PumpTransferProtocol"] }
|
||||
},
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"class": "serial",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "COM7", "baudrate": 9600 }
|
||||
},
|
||||
{
|
||||
"id": "pump_1",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "serial_pump", "address": "1", "max_volume": 25.0 }
|
||||
},
|
||||
{
|
||||
"id": "pump_2",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "serial_pump", "address": "2", "max_volume": 25.0 }
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "pump_1",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": { "pump_1": "port", "serial_pump": "port" }
|
||||
},
|
||||
{
|
||||
"source": "pump_2",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": { "pump_2": "port", "serial_pump": "port" }
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
### 通信协议速查
|
||||
|
||||
| 协议 | config 参数 | 依赖包 | 通信设备 class |
|
||||
| -------------------- | ------------------------------ | ---------- | -------------------------- |
|
||||
| Serial (RS232/RS485) | `port`, `baudrate` | `pyserial` | `serial` |
|
||||
| Modbus RTU | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| Modbus TCP | `host`, `port`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| TCP Socket | `host`, `port` | stdlib | 自定义 |
|
||||
| HTTP API | `url`, `token` | `requests` | `device_comms/rpc.py` |
|
||||
|
||||
参考实现：`unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json`
|
||||
|
||||
---
|
||||
|
||||
## Deck 与物料生命周期
|
||||
|
||||
### 1. Deck 入参与两种初始化模式
|
||||
|
||||
系统根据设备节点 `config.deck` 的写法，自动反序列化 Deck 实例后传入 `__init__` 的 `deck` 参数。目前 `deck` 是固定字段名，只支持一个主 Deck。建议一个设备拥有一个台面，台面上抽象二级、三级子物料。
|
||||
|
||||
有两种初始化模式：
|
||||
|
||||
#### init 初始化（推荐）
|
||||
|
||||
`config.deck` 直接包含 `_resource_type` + `_resource_child_name`，系统先用 Deck 节点的 `config` 调用 Deck 类的 `__init__` 反序列化，再将实例传入设备的 `deck` 参数。子物料随 Deck 的 `children` 一起反序列化。
|
||||
|
||||
```json
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
||||
"_resource_child_name": "PRCXI_Deck"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### deserialize 初始化
|
||||
|
||||
`config.deck` 用 `data` 包裹一层，系统走 `deserialize` 路径，可传入更多参数（如 `allow_marshal` 等）：
|
||||
|
||||
```json
|
||||
"config": {
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
没有特殊需求时推荐 init 初始化。
|
||||
|
||||
#### config.deck 字段说明
|
||||
|
||||
| 字段 | 说明 |
|
||||
|------|------|
|
||||
| `_resource_type` | Deck 类的完整模块路径（`module:ClassName`） |
|
||||
| `_resource_child_name` | 对应图文件中 Deck 节点的 `id`，建立父子关联 |
|
||||
|
||||
#### 设备 __init__ 接收
|
||||
|
||||
```python
|
||||
def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
# deck 已经是反序列化后的 Deck 实例
|
||||
# → PRCXI9300Deck / BIOYOND_YB_Deck 等
|
||||
```
|
||||
|
||||
#### Deck 节点（图文件中）
|
||||
|
||||
Deck 节点作为设备的 `children` 之一，`parent` 指向设备 id：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "PRCXI_Deck",
|
||||
"parent": "PRCXI",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"children": [],
|
||||
"config": {
|
||||
"type": "PRCXI9300Deck",
|
||||
"size_x": 542, "size_y": 374, "size_z": 0,
|
||||
"category": "deck",
|
||||
"sites": [...]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
```
|
||||
|
||||
- `config` 中的字段会传入 Deck 类的 `__init__`（因此 `__init__` 必须能接受所有 `serialize()` 输出的字段）
|
||||
- `children` 初始为空时，由同步器或手动初始化填充
|
||||
- `config.type` 填 Deck 类名
|
||||
|
||||
### 2. Deck 为空时自行初始化
|
||||
|
||||
如果 Deck 节点的 `children` 为空，工作站需在 `post_init` 或首次同步时自行初始化内容：
|
||||
|
||||
```python
|
||||
@not_action
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
if self.deck and not self.deck.children:
|
||||
self._initialize_default_deck()
|
||||
|
||||
def _initialize_default_deck(self):
|
||||
from my_labware import My_TipRack, My_Plate
|
||||
self.deck.assign_child_resource(My_TipRack("T1"), spot=0)
|
||||
self.deck.assign_child_resource(My_Plate("T2"), spot=1)
|
||||
```
|
||||
|
||||
### 3. 物料双向同步
|
||||
|
||||
当工作站对接外部系统（LIMS/MES）时，需要实现 `ResourceSynchronizer` 处理双向物料同步：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统同步到 self.workstation.deck"""
|
||||
external_data = self._query_external_materials()
|
||||
# 以外部工站为准：根据外部数据反向创建 PLR 资源实例
|
||||
for item in external_data:
|
||||
cls = self._resolve_resource_class(item["type"])
|
||||
resource = cls(name=item["name"], **item["params"])
|
||||
self.workstation.deck.assign_child_resource(resource, spot=item["slot"])
|
||||
return True
|
||||
|
||||
def sync_to_external(self, resource) -> bool:
|
||||
"""将 UniLab 侧物料变更同步到外部系统"""
|
||||
# 以 UniLab 为准：将 PLR 资源转为外部格式并推送
|
||||
external_format = self._convert_to_external(resource)
|
||||
return self._push_to_external(external_format)
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统主动推送的变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
同步策略取决于业务场景：
|
||||
|
||||
- **以外部工站为准**：从外部 API 查询物料数据，反向创建对应的 PLR 资源实例放到 Deck 上
|
||||
- **以 UniLab 为准**：UniLab 侧的物料变更通过 `sync_to_external` 推送到外部系统
|
||||
|
||||
在工作站 `post_init` 中初始化同步器：
|
||||
|
||||
```python
|
||||
@not_action
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self)
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
```
|
||||
|
||||
### 4. 序列化与持久化（serialize / serialize_state）
|
||||
|
||||
资源类需正确实现序列化，系统据此完成持久化和前端同步。
|
||||
|
||||
**`serialize()`** — 输出资源的结构信息（`config` 层），反序列化时作为 `__init__` 的入参回传。因此 **`__init__` 必须通过 `**kwargs`接受`serialize()` 输出的所有字段\*\*，即使当前不使用：
|
||||
|
||||
```python
|
||||
class MyDeck(Deck):
|
||||
def __init__(self, name, size_x, size_y, size_z,
|
||||
sites=None, # serialize() 输出的字段
|
||||
rotation=None, # serialize() 输出的字段
|
||||
barcode=None, # serialize() 输出的字段
|
||||
**kwargs): # 兜底：接受所有未知的 serialize 字段
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
# ...
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
data["sites"] = [...] # 自定义字段
|
||||
return data
|
||||
```
|
||||
|
||||
**`serialize_state()`** — 输出资源的运行时状态（`data` 层），用于持久化可变信息。`data` 中的内容会被正确保存和恢复：
|
||||
|
||||
```python
|
||||
class MyPlate(Plate):
|
||||
def __init__(self, name, size_x, size_y, size_z,
|
||||
material_info=None, **kwargs):
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def serialize_state(self) -> Dict[str, Any]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
return data
|
||||
```
|
||||
|
||||
关键要点：
|
||||
|
||||
- `serialize()` 输出的所有字段都会作为 `config` 回传到 `__init__`，所以 `__init__` 必须能接受它们（显式声明或 `**kwargs`）
|
||||
- `serialize_state()` 输出的 `data` 用于持久化运行时状态（如物料信息、液体量等）
|
||||
- `_unilabos_state` 中只存可 JSON 序列化的基本类型（str, int, float, bool, list, dict, None）
|
||||
|
||||
### 5. 子物料自动同步
|
||||
|
||||
子物料（Bottle、Plate、TipRack 等）放到 Deck 上后，系统会自动将其同步到前端的 Deck 视图。只需保证资源类正确实现了 `serialize()` / `serialize_state()` 和反序列化即可。
|
||||
|
||||
### 6. 图文件配置（参考 prcxi_9320_slim.json）
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"type": "device",
|
||||
"class": "my_workstation",
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.resources.my_module:MyDeck",
|
||||
"_resource_child_name": "my_deck"
|
||||
},
|
||||
"host": "10.20.30.1",
|
||||
"port": 9999
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "my_deck",
|
||||
"parent": "my_station",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"children": [],
|
||||
"config": {
|
||||
"type": "MyLabDeck",
|
||||
"size_x": 542,
|
||||
"size_y": 374,
|
||||
"size_z": 0,
|
||||
"category": "deck",
|
||||
"sites": [
|
||||
{
|
||||
"label": "T1",
|
||||
"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", "tube_rack", "adaptor"]
|
||||
}
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"edges": []
|
||||
}
|
||||
```
|
||||
|
||||
Deck 节点要点：
|
||||
|
||||
- `config.type` 填 Deck 类名（如 `"PRCXI9300Deck"`）
|
||||
- `config.sites` 完整列出所有 site（从 Deck 类的 `serialize()` 输出获取）
|
||||
- `children` 初始为空（由同步器或手动初始化填充）
|
||||
- 设备节点 `config.deck._resource_type` 指向 Deck 类的完整模块路径
|
||||
|
||||
---
|
||||
|
||||
## 子设备
|
||||
|
||||
子设备按标准设备接入流程创建（参见 add-device SKILL），使用 `@device` 装饰器。
|
||||
|
||||
子设备约束：
|
||||
|
||||
- 图文件中 `parent` 指向工作站 ID
|
||||
- 在工作站 `children` 数组中列出
|
||||
|
||||
---
|
||||
|
||||
## 关键规则
|
||||
|
||||
1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.**init**`需要`deck` 参数
|
||||
2. **Deck 通过 `config.deck._resource_type` 反序列化传入** — 不要在 `__init__` 中手动创建 Deck
|
||||
3. **Deck 为空时自行初始化内容** — 在 `post_init` 中检查并填充默认物料
|
||||
4. **外部同步实现 `ResourceSynchronizer`** — `sync_from_external` / `sync_to_external`
|
||||
5. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
|
||||
6. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
|
||||
7. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
|
||||
8. **使用 `@not_action` 标记非动作方法** — `post_init`, `initialize`, `cleanup`
|
||||
9. **子物料保证正确 serialize/deserialize** — 系统自动同步到前端 Deck 视图
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 模块可导入
|
||||
python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
|
||||
|
||||
# 启动测试（AST 自动扫描）
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 现有工作站参考
|
||||
|
||||
| 工作站 | 驱动类 | 类型 |
|
||||
| -------------- | ----------------------------- | -------- |
|
||||
| Protocol 通用 | `ProtocolNode` | Protocol |
|
||||
| Bioyond 反应站 | `BioyondReactionStation` | 外部系统 |
|
||||
| 纽扣电池组装 | `CoinCellAssemblyWorkstation` | 硬件控制 |
|
||||
|
||||
参考路径：`unilabos/devices/workstation/` 目录下各工作站实现。
|
||||
@@ -1,371 +0,0 @@
|
||||
# 工作站高级模式参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
|
||||
Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 外部系统集成模式
|
||||
|
||||
### 1.1 RPC 客户端
|
||||
|
||||
与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.rpc import BaseRequest
|
||||
|
||||
|
||||
class MySystemRPC(BaseRequest):
|
||||
"""外部系统 RPC 客户端"""
|
||||
|
||||
def __init__(self, host: str, api_key: str):
|
||||
super().__init__(host)
|
||||
self.api_key = api_key
|
||||
|
||||
def _request(self, endpoint: str, data: dict = None) -> dict:
|
||||
return self.post(
|
||||
url=f"{self.host}/api/{endpoint}",
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": data or {},
|
||||
},
|
||||
)
|
||||
|
||||
def query_status(self) -> dict:
|
||||
return self._request("status/query")
|
||||
|
||||
def create_order(self, order_data: dict) -> dict:
|
||||
return self._request("order/create", order_data)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
|
||||
|
||||
### 1.2 HTTP 回调服务
|
||||
|
||||
接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, config=None, deck=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
http_cfg = self.config.get("http_service_config", {})
|
||||
self._http_service_config = {
|
||||
"host": http_cfg.get("http_service_host", "127.0.0.1"),
|
||||
"port": http_cfg.get("http_service_port", 8080),
|
||||
}
|
||||
self.http_service = None
|
||||
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
```
|
||||
|
||||
**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
|
||||
|
||||
| 端点 | 调用的工作站方法 |
|
||||
|------|-----------------|
|
||||
| `/report/step_finish` | `process_step_finish_report(report_request)` |
|
||||
| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
|
||||
| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
|
||||
| `/report/material_change` | `process_material_change_report(report_data)` |
|
||||
| `/report/error_handling` | `handle_external_error(error_data)` |
|
||||
|
||||
实现对应方法即可接收回调：
|
||||
|
||||
```python
|
||||
def process_step_finish_report(self, report_request) -> Dict[str, Any]:
|
||||
"""处理步骤完成报告"""
|
||||
step_name = report_request.data.get("stepName")
|
||||
return {"success": True, "message": f"步骤 {step_name} 已处理"}
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
|
||||
"""处理订单完成报告"""
|
||||
order_code = report_request.data.get("orderCode")
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/workstation_http_service.py`
|
||||
|
||||
### 1.3 连接监控
|
||||
|
||||
独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
|
||||
|
||||
```python
|
||||
class ConnectionMonitor:
|
||||
def __init__(self, workstation, check_interval=30):
|
||||
self.workstation = workstation
|
||||
self.check_interval = check_interval
|
||||
self._running = False
|
||||
self._thread = None
|
||||
|
||||
def start(self):
|
||||
self._running = True
|
||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
|
||||
self._thread.start()
|
||||
|
||||
def _monitor_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 调用外部系统接口检测连接
|
||||
self.workstation.hardware_interface.ping()
|
||||
status = "online"
|
||||
except Exception:
|
||||
status = "offline"
|
||||
time.sleep(self.check_interval)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
|
||||
|
||||
---
|
||||
|
||||
## 2. Config 结构模式
|
||||
|
||||
工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
|
||||
|
||||
### 2.1 外部系统连接
|
||||
|
||||
```json
|
||||
{
|
||||
"api_host": "http://192.168.1.100:8080",
|
||||
"api_key": "YOUR_API_KEY"
|
||||
}
|
||||
```
|
||||
|
||||
### 2.2 HTTP 回调服务
|
||||
|
||||
```json
|
||||
{
|
||||
"http_service_config": {
|
||||
"http_service_host": "127.0.0.1",
|
||||
"http_service_port": 8080
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.3 物料类型映射
|
||||
|
||||
将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
|
||||
|
||||
```json
|
||||
{
|
||||
"material_type_mappings": {
|
||||
"PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
|
||||
"BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.4 仓库映射
|
||||
|
||||
将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
|
||||
|
||||
```json
|
||||
{
|
||||
"warehouse_mapping": {
|
||||
"仓库名": {
|
||||
"uuid": "warehouse-uuid",
|
||||
"site_uuids": {
|
||||
"A01": "site-uuid-A01",
|
||||
"A02": "site-uuid-A02"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.5 工作流映射
|
||||
|
||||
将内部工作流名映射到外部系统的工作流 ID。
|
||||
|
||||
```json
|
||||
{
|
||||
"workflow_mappings": {
|
||||
"internal_workflow_name": "external-workflow-uuid"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.6 物料默认参数
|
||||
|
||||
```json
|
||||
{
|
||||
"material_default_parameters": {
|
||||
"NMP": {
|
||||
"unit": "毫升",
|
||||
"density": "1.03",
|
||||
"densityUnit": "g/mL",
|
||||
"description": "N-甲基吡咯烷酮"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. 资源同步机制
|
||||
|
||||
### 3.1 ResourceSynchronizer
|
||||
|
||||
抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def __init__(self, workstation, api_client):
|
||||
super().__init__(workstation)
|
||||
self.api_client = api_client
|
||||
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统拉取物料到 deck"""
|
||||
external_materials = self.api_client.list_materials()
|
||||
for material in external_materials:
|
||||
plr_resource = self._convert_to_plr(material)
|
||||
self.workstation.deck.assign_child_resource(plr_resource, coordinate)
|
||||
return True
|
||||
|
||||
def sync_to_external(self, plr_resource) -> bool:
|
||||
"""将 deck 中的物料变更推送到外部系统"""
|
||||
external_data = self._convert_from_plr(plr_resource)
|
||||
self.api_client.update_material(external_data)
|
||||
return True
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统推送的物料变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
### 3.2 update_resource — 上传资源树到云端
|
||||
|
||||
将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
|
||||
|
||||
```python
|
||||
# 在 post_init 中上传初始 deck
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
|
||||
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 在动作方法中更新特定资源
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [updated_plate]}
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 工作流序列管理
|
||||
|
||||
工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
self._workflow_sequence = []
|
||||
|
||||
@property
|
||||
def workflow_sequence(self) -> str:
|
||||
"""返回 JSON 字符串，ROS 自动发布"""
|
||||
import json
|
||||
return json.dumps(self._workflow_sequence)
|
||||
|
||||
async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
|
||||
"""添加工作流到队列"""
|
||||
self._workflow_sequence.append({
|
||||
"name": workflow_name,
|
||||
"status": "pending",
|
||||
"created_at": time.time(),
|
||||
})
|
||||
return {"success": True}
|
||||
|
||||
async def clear_workflows(self) -> Dict[str, Any]:
|
||||
"""清空工作流队列"""
|
||||
self._workflow_sequence = []
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 5. 站间物料转移
|
||||
|
||||
工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
|
||||
|
||||
```python
|
||||
async def transfer_materials_to_another_station(
|
||||
self,
|
||||
target_device_id: str,
|
||||
transfer_groups: list,
|
||||
**kwargs,
|
||||
) -> Dict[str, Any]:
|
||||
"""将物料转移到另一个工作站"""
|
||||
target_node = self._children.get(target_device_id)
|
||||
if not target_node:
|
||||
# 通过 ROS 节点查找非子设备的目标站
|
||||
pass
|
||||
|
||||
for group in transfer_groups:
|
||||
resource = self.find_resource_by_name(group["resource_name"])
|
||||
# 从本站 deck 移除
|
||||
resource.unassign()
|
||||
# 调用目标站的接收方法
|
||||
# ...
|
||||
|
||||
return {"success": True, "transferred": len(transfer_groups)}
|
||||
```
|
||||
|
||||
参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
|
||||
|
||||
---
|
||||
|
||||
## 6. post_init 完整模式
|
||||
|
||||
`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
|
||||
|
||||
```python
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
|
||||
# 1. 初始化外部系统客户端（此时 config 已可用）
|
||||
self.rpc_client = MySystemRPC(
|
||||
host=self.config.get("api_host"),
|
||||
api_key=self.config.get("api_key"),
|
||||
)
|
||||
self.hardware_interface = self.rpc_client
|
||||
|
||||
# 2. 启动连接监控
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
self.connection_monitor.start()
|
||||
|
||||
# 3. 启动 HTTP 回调服务
|
||||
if hasattr(self, '_http_service_config'):
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
|
||||
# 4. 上传 deck 到云端
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 5. 初始化资源同步器（可选）
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
|
||||
```
|
||||
@@ -1,261 +0,0 @@
|
||||
---
|
||||
name: batch-insert-reagent
|
||||
description: Batch insert reagents into Uni-Lab platform — add chemicals with CAS, SMILES, supplier info. Use when the user wants to add reagents, insert chemicals, batch register reagents, or mentions 录入试剂/添加试剂/试剂入库/reagent.
|
||||
---
|
||||
|
||||
# 批量录入试剂 Skill
|
||||
|
||||
通过云端 API 批量录入试剂信息，支持逐条或批量操作。
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token（任选一种方式）：
|
||||
|
||||
```bash
|
||||
# 方式一：Python 一行生成
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
|
||||
# 方式二：手动计算
|
||||
# base64(ak:sk) → Authorization: Lab <token>
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
|
||||
```
|
||||
|
||||
**两项全部就绪后才可发起 API 请求。**
|
||||
|
||||
## Session State
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 录入试剂
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/reagent" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"cas": "<CAS号>",
|
||||
"name": "<试剂名称>",
|
||||
"molecular_formula": "<分子式>",
|
||||
"smiles": "<SMILES>",
|
||||
"stock_in_quantity": <入库数量>,
|
||||
"unit": "<单位字符串>",
|
||||
"supplier": "<供应商>",
|
||||
"production_date": "<生产日期 ISO 8601>",
|
||||
"expiry_date": "<过期日期 ISO 8601>"
|
||||
}'
|
||||
```
|
||||
|
||||
返回成功时包含试剂 UUID：
|
||||
|
||||
```json
|
||||
{"code": 0, "data": {"uuid": "xxx", ...}}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 试剂字段说明
|
||||
|
||||
| 字段 | 类型 | 必填 | 说明 | 示例 |
|
||||
| ------------------- | ------ | ---- | ----------------------------- | ------------------------ |
|
||||
| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
|
||||
| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
|
||||
| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
|
||||
| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
|
||||
| `smiles` | string | 是 | SMILES 表示 | `"O"` |
|
||||
| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
|
||||
| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
|
||||
| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
|
||||
| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
|
||||
| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
|
||||
|
||||
### unit 单位值
|
||||
|
||||
| 值 | 单位 |
|
||||
| ------ | ---- |
|
||||
| `"mL"` | 毫升 |
|
||||
| `"L"` | 升 |
|
||||
| `"g"` | 克 |
|
||||
| `"kg"` | 千克 |
|
||||
| `"瓶"` | 瓶 |
|
||||
|
||||
> 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
|
||||
|
||||
---
|
||||
|
||||
## 批量录入策略
|
||||
|
||||
### 方式一：用户提供 JSON 数组
|
||||
|
||||
用户一次性给出多条试剂数据：
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"cas": "7732-18-3",
|
||||
"name": "水",
|
||||
"molecular_formula": "H2O",
|
||||
"smiles": "O",
|
||||
"stock_in_quantity": 10,
|
||||
"unit": "mL"
|
||||
},
|
||||
{
|
||||
"cas": "64-17-5",
|
||||
"name": "乙醇",
|
||||
"molecular_formula": "C2H6O",
|
||||
"smiles": "CCO",
|
||||
"stock_in_quantity": 5,
|
||||
"unit": "L"
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
Agent 自动为每条补充 `lab_uuid`、`production_date`、`expiry_date` 等字段后逐条提交。
|
||||
|
||||
Agent 循环调用 API #2 逐条录入，每条记录一次 API 调用。
|
||||
|
||||
### 方式二：用户逐个描述
|
||||
|
||||
用户口头描述试剂（如「帮我录入 500mL 的无水乙醇，Sigma 的」），agent 自行补全字段：
|
||||
|
||||
1. 根据名称查找 CAS 号、分子式、SMILES（参考下方速查表或自行推断）
|
||||
2. 构建完整的请求体
|
||||
3. 向用户确认后提交
|
||||
|
||||
### 方式三：从 CSV/表格批量导入
|
||||
|
||||
用户提供 CSV 或表格文件路径，agent 读取并解析：
|
||||
|
||||
```bash
|
||||
# 期望的 CSV 格式（首行为表头）
|
||||
cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_date,expiry_date
|
||||
7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
|
||||
```
|
||||
|
||||
### 日期格式规则（重要）
|
||||
|
||||
所有日期字段（`production_date`、`expiry_date`）**必须**使用 ISO 8601 完整格式：`YYYY-MM-DDTHH:MM:SSZ`。
|
||||
|
||||
- 用户输入 `2025-03-01` → 转换为 `"2025-03-01T00:00:00Z"`
|
||||
- 用户输入 `2025/9/1` → 转换为 `"2025-09-01T00:00:00Z"`
|
||||
- 用户未提供日期 → 使用当天日期 + `T00:00:00Z`，有效期默认 +1 年
|
||||
|
||||
**禁止**发送不带时间部分的日期字符串（如 `"2025-03-01"`），API 会拒绝。
|
||||
|
||||
### 执行与汇报
|
||||
|
||||
每次 API 调用后：
|
||||
|
||||
1. 检查返回 `code`（0 = 成功）
|
||||
2. 记录成功/失败数量
|
||||
3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
|
||||
4. 如有失败，列出失败的试剂名称和错误信息
|
||||
|
||||
---
|
||||
|
||||
## 常见试剂速查表
|
||||
|
||||
| 名称 | CAS | 分子式 | SMILES |
|
||||
| --------------------- | --------- | ---------- | ------------------------------------ |
|
||||
| 水 | 7732-18-3 | H2O | O |
|
||||
| 乙醇 | 64-17-5 | C2H6O | CCO |
|
||||
| 乙酸 | 64-19-7 | C2H4O2 | CC(O)=O |
|
||||
| 甲醇 | 67-56-1 | CH4O | CO |
|
||||
| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
|
||||
| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
|
||||
| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
|
||||
| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
|
||||
| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
|
||||
| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
|
||||
| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
|
||||
| 乙腈 | 75-05-8 | C2H3N | CC#N |
|
||||
| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
|
||||
| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
|
||||
| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
|
||||
| 盐酸 | 7647-01-0 | HCl | Cl |
|
||||
| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
|
||||
| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
|
||||
| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
|
||||
| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
|
||||
| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
|
||||
|
||||
> 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
|
||||
- [ ] Step 4: 收集试剂信息（用户提供列表/逐个描述/CSV文件）
|
||||
- [ ] Step 5: 补全缺失字段（CAS、分子式、SMILES 等）
|
||||
- [ ] Step 6: 向用户确认待录入的试剂列表
|
||||
- [ ] Step 7: 循环调用 POST /lab/reagent 逐条录入（每条需含 lab_uuid）
|
||||
- [ ] Step 8: 汇总结果（成功/失败数量及详情）
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 完整示例
|
||||
|
||||
用户说：「帮我录入 3 种试剂：500mL 无水乙醇、1kg 氯化钠、2L 去离子水」
|
||||
|
||||
Agent 构建的请求序列：
|
||||
|
||||
```json
|
||||
// 第 1 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "64-17-5", "name": "无水乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 500, "unit": "mL", "supplier": "国药集团", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
|
||||
// 第 2 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "7647-14-5", "name": "氯化钠", "molecular_formula": "NaCl", "smiles": "[Na]Cl", "stock_in_quantity": 1, "unit": "kg", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
|
||||
// 第 3 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "7732-18-3", "name": "去离子水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 2, "unit": "L", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
```
|
||||
@@ -1,360 +0,0 @@
|
||||
---
|
||||
name: batch-submit-experiment
|
||||
description: Batch submit experiments (notebooks) to the Uni-Lab cloud platform (leap-lab) — list workflows, generate node_params from registry schemas, submit multiple rounds, check notebook status. Use when the user wants to submit experiments, create notebooks, batch run workflows, check experiment status, or mentions 提交实验/批量实验/notebook/实验轮次/实验状态.
|
||||
---
|
||||
|
||||
# Uni-Lab 批量提交实验指南
|
||||
|
||||
通过 Uni-Lab 云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
|
||||
|
||||
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token（任选一种方式）：
|
||||
|
||||
```bash
|
||||
# 方式一：Python 一行生成（注意：scheme 是 "Lab" 不是 "Basic"）
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
|
||||
# 方式二：手动计算
|
||||
# base64(ak:sk) → Authorization: Lab <token>
|
||||
# ⚠️ 这里的 "Lab" 是 Uni-Lab 平台的 auth scheme，绝对不能用 "Basic" 替代
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
```
|
||||
|
||||
### 3. req_device_registry_upload.json（设备注册表）
|
||||
|
||||
**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
|
||||
|
||||
**必须先用 Glob 工具搜索文件**，不要直接猜测路径：
|
||||
|
||||
```
|
||||
Glob: **/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
常见位置（仅供参考，以 Glob 实际结果为准）：
|
||||
- `<workspace>/unilabos_data/req_device_registry_upload.json`
|
||||
- `<workspace>/req_device_registry_upload.json`
|
||||
|
||||
找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
|
||||
|
||||
**如果 Glob 搜索无结果** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
|
||||
|
||||
### 4. workflow_uuid（目标工作流）
|
||||
|
||||
用户需要提供要提交的 workflow UUID。如果用户不确定，通过 API #3 列出可用 workflow 供选择。
|
||||
|
||||
**四项全部就绪后才可开始。**
|
||||
|
||||
## Session State
|
||||
|
||||
在整个对话过程中，agent 需要记住以下状态，避免重复询问用户：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
- `project_uuid` — 项目 UUID（通过 API #2 列出项目列表，**让用户选择**）
|
||||
- `workflow_uuid` — 工作流 UUID（用户提供或从列表选择）
|
||||
- `workflow_nodes` — workflow 中各 action 节点的 uuid、设备 ID、动作名（从 API #4 获取）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
|
||||
>
|
||||
> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则会被解析为 splatting 运算符）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 列出实验室项目（让用户选择项目）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"items": [
|
||||
{
|
||||
"uuid": "1b3f249a-...",
|
||||
"name": "bt",
|
||||
"description": null,
|
||||
"status": "active",
|
||||
"created_at": "2026-04-09T14:31:28+08:00"
|
||||
},
|
||||
{
|
||||
"uuid": "b6366243-...",
|
||||
"name": "default",
|
||||
"description": "默认项目",
|
||||
"status": "active",
|
||||
"created_at": "2026-03-26T11:13:36+08:00"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
展示 `data.items[]` 中每个项目的 `name` 和 `uuid`，让用户选择。用户**必须**选择一个项目，记住 `project_uuid`（即选中项目的 `uuid`），后续创建 notebook 时需要提供。
|
||||
|
||||
### 3. 列出可用 workflow
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/workflows?page=1&page_size=20&lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 workflow 列表，展示给用户选择。列出每个 workflow 的 `uuid` 和 `name`。
|
||||
|
||||
### 4. 获取 workflow 模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
|
||||
|
||||
- 每个 action 节点的 `node_uuid`
|
||||
- 每个节点对应的设备 ID（`resource_template_name`）
|
||||
- 每个节点的动作名（`node_template_name`）
|
||||
- 每个节点的现有参数（`param`）
|
||||
|
||||
> **注意**：此 API 返回格式可能因版本不同而有差异。首次调用时，先打印完整响应分析结构，再提取节点信息。常见的节点字段路径为 `data.nodes[]` 或 `data.workflow_nodes[]`。
|
||||
|
||||
### 5. 提交实验（创建 notebook）
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/notebook" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"project_uuid": "<project_uuid>",
|
||||
"workflow_uuid": "<workflow_uuid>",
|
||||
"name": "<实验名称>",
|
||||
"node_params": [
|
||||
{
|
||||
"sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
|
||||
"datas": [
|
||||
{
|
||||
"node_uuid": "<workflow中的节点UUID>",
|
||||
"param": {},
|
||||
"sample_params": [
|
||||
{
|
||||
"container_uuid": "<容器UUID>",
|
||||
"sample_value": {
|
||||
"liquid_names": "<液体名称>",
|
||||
"volumes": 1000
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：`sample_uuids` 必须是 **UUID 数组**（`[]uuid.UUID`），不是字符串。无样品时传空数组 `[]`。
|
||||
|
||||
### 6. 查询 notebook 状态
|
||||
|
||||
提交成功后，使用返回的 notebook UUID 查询执行状态：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/notebook/status?uuid=$notebook_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
提交后应**立即查询一次**状态，确认 notebook 已被正确接收并开始调度。
|
||||
|
||||
---
|
||||
|
||||
## Notebook 请求体详解
|
||||
|
||||
### node_params 结构
|
||||
|
||||
`node_params` 是一个数组，**每个元素代表一轮实验**：
|
||||
|
||||
- 要跑 2 轮 → `node_params` 有 2 个元素
|
||||
- 要跑 N 轮 → `node_params` 有 N 个元素
|
||||
|
||||
### 每轮的字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| -------------- | ------------- | ----------------------------------------- |
|
||||
| `sample_uuids` | array\<uuid\> | 该轮实验的样品 UUID 数组，无样品时传 `[]` |
|
||||
| `datas` | array | 该轮中每个 workflow 节点的参数配置 |
|
||||
|
||||
### datas 中每个节点
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| --------------- | ------ | -------------------------------------------- |
|
||||
| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #4 获取） |
|
||||
| `param` | object | 动作参数（根据本地注册表 schema 填写） |
|
||||
| `sample_params` | array | 样品相关参数（液体名、体积等） |
|
||||
|
||||
### sample_params 中每条
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| ---------------- | ------ | ---------------------------------------------------- |
|
||||
| `container_uuid` | string | 容器 UUID |
|
||||
| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
|
||||
|
||||
---
|
||||
|
||||
## 从本地注册表生成 param 模板
|
||||
|
||||
### 自动方式 — 运行脚本
|
||||
|
||||
```bash
|
||||
python scripts/gen_notebook_params.py \
|
||||
--auth <token> \
|
||||
--base <BASE_URL> \
|
||||
--workflow-uuid <workflow_uuid> \
|
||||
[--registry <path/to/req_device_registry_upload.json>] \
|
||||
[--rounds <轮次数>] \
|
||||
[--output <输出文件路径>]
|
||||
```
|
||||
|
||||
> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
|
||||
|
||||
脚本会：
|
||||
|
||||
1. 调用 workflow detail API 获取所有 action 节点
|
||||
2. 读取本地注册表，为每个节点查找对应的 action schema
|
||||
3. 生成 `notebook_template.json`，包含：
|
||||
- 完整 `node_params` 骨架
|
||||
- 每个节点的 param 字段及类型说明
|
||||
- `_schema_info` 辅助信息（不提交，仅供参考）
|
||||
|
||||
### 手动方式
|
||||
|
||||
如果脚本不可用或注册表不存在：
|
||||
|
||||
1. 调用 API #4 获取 workflow 详情
|
||||
2. 找到每个 action 节点的 `node_uuid`
|
||||
3. 在本地注册表中查找对应设备的 `action_value_mappings`：
|
||||
```
|
||||
resources[].id == <device_id>
|
||||
→ resources[].class.action_value_mappings.<action_name>.schema.properties.goal.properties
|
||||
```
|
||||
4. 将 schema 中的 properties 作为 `param` 的字段模板
|
||||
5. 按轮次复制 `node_params` 元素，让用户填写每轮的具体值
|
||||
|
||||
### 注册表结构参考
|
||||
|
||||
```json
|
||||
{
|
||||
"resources": [
|
||||
{
|
||||
"id": "liquid_handler.prcxi",
|
||||
"class": {
|
||||
"module": "unilabos.devices.xxx:ClassName",
|
||||
"action_value_mappings": {
|
||||
"transfer_liquid": {
|
||||
"type": "LiquidHandlerTransfer",
|
||||
"schema": {
|
||||
"properties": {
|
||||
"goal": {
|
||||
"properties": {
|
||||
"asp_vols": {
|
||||
"type": "array",
|
||||
"items": { "type": "number" }
|
||||
},
|
||||
"sources": { "type": "array" }
|
||||
},
|
||||
"required": ["asp_vols", "sources"]
|
||||
}
|
||||
}
|
||||
},
|
||||
"goal_default": {}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
`param` 填写时，使用 `goal.properties` 中的字段名和类型。
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
|
||||
- [ ] Step 4: GET /lab/project/list → 列出项目，让用户选择 → 获取 project_uuid
|
||||
- [ ] Step 5: 确认 workflow_uuid（用户提供或从 GET #3 列表选择）
|
||||
- [ ] Step 6: GET workflow detail (#4) → 提取各节点 uuid、设备ID、动作名
|
||||
- [ ] Step 7: 定位本地注册表 req_device_registry_upload.json
|
||||
- [ ] Step 8: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
|
||||
- [ ] Step 9: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
|
||||
- [ ] Step 10: 构建完整请求体（含 project_uuid）→ POST /lab/notebook 提交
|
||||
- [ ] Step 11: 检查返回结果，记录 notebook UUID
|
||||
- [ ] Step 12: GET /lab/notebook/status → 查询 notebook 状态，确认已调度
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: workflow 中有多个节点，每轮都要填所有节点的参数吗？
|
||||
|
||||
是的。`datas` 数组中需要包含该轮实验涉及的每个 workflow 节点的参数。通常每个 action 节点都需要一条 `datas` 记录。
|
||||
|
||||
### Q: 多轮实验的参数完全不同吗？
|
||||
|
||||
通常每轮的 `param`（设备动作参数）可能相同或相似，但 `sample_uuids` 和 `sample_params`（样品信息）每轮不同。脚本生成模板时会按轮次复制骨架，用户只需修改差异部分。
|
||||
|
||||
### Q: 如何获取 sample_uuids 和 container_uuid？
|
||||
|
||||
这些 UUID 通常来自实验室的样品管理系统。向用户询问，或从资源树（API `GET /lab/material/download/$lab_uuid`）中查找。
|
||||
@@ -1,395 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 workflow 模板详情 + 本地设备注册表生成 notebook 提交用的 node_params 模板。
|
||||
|
||||
用法:
|
||||
python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]
|
||||
|
||||
选项:
|
||||
--auth <token> Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
|
||||
--base <url> API 基础 URL（如 https://leap-lab.test.bohrium.com）
|
||||
--workflow-uuid <uuid> 目标 workflow 的 UUID
|
||||
--registry <path> 本地注册表文件路径（默认自动搜索）
|
||||
--rounds <n> 实验轮次数（默认 1）
|
||||
--output <path> 输出模板文件路径（默认 notebook_template.json）
|
||||
--dump-response 打印 workflow detail API 的原始响应（调试用）
|
||||
|
||||
示例:
|
||||
python gen_notebook_params.py \\
|
||||
--auth YTFmZDlkNGUtxxxx \\
|
||||
--base https://leap-lab.test.bohrium.com \\
|
||||
--workflow-uuid abc-123-def \\
|
||||
--rounds 2
|
||||
"""
|
||||
import copy
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from datetime import datetime
|
||||
from urllib.request import Request, urlopen
|
||||
from urllib.error import HTTPError, URLError
|
||||
|
||||
REGISTRY_FILENAME = "req_device_registry_upload.json"
|
||||
|
||||
|
||||
def find_registry(explicit_path=None):
|
||||
"""查找本地注册表文件，逻辑同 extract_device_actions.py"""
|
||||
if explicit_path:
|
||||
if os.path.isfile(explicit_path):
|
||||
return explicit_path
|
||||
if os.path.isdir(explicit_path):
|
||||
fp = os.path.join(explicit_path, REGISTRY_FILENAME)
|
||||
if os.path.isfile(fp):
|
||||
return fp
|
||||
print(f"警告: 指定的注册表路径不存在: {explicit_path}")
|
||||
return None
|
||||
|
||||
candidates = [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
]
|
||||
for c in candidates:
|
||||
if os.path.isfile(c):
|
||||
return c
|
||||
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
|
||||
for c in candidates:
|
||||
path = os.path.join(workspace_root, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
cwd = os.getcwd()
|
||||
for _ in range(5):
|
||||
parent = os.path.dirname(cwd)
|
||||
if parent == cwd:
|
||||
break
|
||||
cwd = parent
|
||||
for c in candidates:
|
||||
path = os.path.join(cwd, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
return None
|
||||
|
||||
|
||||
def load_registry(path):
|
||||
with open(path, "r", encoding="utf-8") as f:
|
||||
return json.load(f)
|
||||
|
||||
|
||||
def build_registry_index(registry_data):
|
||||
"""构建 device_id → action_value_mappings 的索引"""
|
||||
index = {}
|
||||
for res in registry_data.get("resources", []):
|
||||
rid = res.get("id", "")
|
||||
avm = res.get("class", {}).get("action_value_mappings", {})
|
||||
if rid and avm:
|
||||
index[rid] = avm
|
||||
return index
|
||||
|
||||
|
||||
def flatten_goal_schema(action_data):
|
||||
"""从 action_value_mappings 条目中提取 goal 层的 schema"""
|
||||
schema = action_data.get("schema", {})
|
||||
goal_schema = schema.get("properties", {}).get("goal", {})
|
||||
return goal_schema if goal_schema else schema
|
||||
|
||||
|
||||
def build_param_template(goal_schema):
|
||||
"""根据 goal schema 生成 param 模板，含类型标注"""
|
||||
properties = goal_schema.get("properties", {})
|
||||
required = set(goal_schema.get("required", []))
|
||||
template = {}
|
||||
for field_name, field_def in properties.items():
|
||||
if field_name == "unilabos_device_id":
|
||||
continue
|
||||
ftype = field_def.get("type", "any")
|
||||
default = field_def.get("default")
|
||||
if default is not None:
|
||||
template[field_name] = default
|
||||
elif ftype == "string":
|
||||
template[field_name] = f"$TODO ({ftype}, {'required' if field_name in required else 'optional'})"
|
||||
elif ftype == "number" or ftype == "integer":
|
||||
template[field_name] = 0
|
||||
elif ftype == "boolean":
|
||||
template[field_name] = False
|
||||
elif ftype == "array":
|
||||
template[field_name] = []
|
||||
elif ftype == "object":
|
||||
template[field_name] = {}
|
||||
else:
|
||||
template[field_name] = f"$TODO ({ftype})"
|
||||
return template
|
||||
|
||||
|
||||
def fetch_workflow_detail(base_url, auth_token, workflow_uuid):
|
||||
"""调用 workflow detail API"""
|
||||
url = f"{base_url}/api/v1/lab/workflow/template/detail/{workflow_uuid}"
|
||||
req = Request(url, method="GET")
|
||||
req.add_header("Authorization", f"Lab {auth_token}")
|
||||
try:
|
||||
with urlopen(req, timeout=30) as resp:
|
||||
return json.loads(resp.read().decode("utf-8"))
|
||||
except HTTPError as e:
|
||||
body = e.read().decode("utf-8", errors="replace")
|
||||
print(f"API 错误 {e.code}: {body}")
|
||||
return None
|
||||
except URLError as e:
|
||||
print(f"网络错误: {e.reason}")
|
||||
return None
|
||||
|
||||
|
||||
def extract_nodes_from_response(response):
|
||||
"""
|
||||
从 workflow detail 响应中提取 action 节点列表。
|
||||
适配多种可能的响应格式。
|
||||
|
||||
返回: [(node_uuid, resource_template_name, node_template_name, existing_param), ...]
|
||||
"""
|
||||
data = response.get("data", response)
|
||||
|
||||
search_keys = ["nodes", "workflow_nodes", "node_list", "steps"]
|
||||
nodes_raw = None
|
||||
for key in search_keys:
|
||||
if key in data and isinstance(data[key], list):
|
||||
nodes_raw = data[key]
|
||||
break
|
||||
|
||||
if nodes_raw is None:
|
||||
if isinstance(data, list):
|
||||
nodes_raw = data
|
||||
else:
|
||||
for v in data.values():
|
||||
if isinstance(v, list) and len(v) > 0 and isinstance(v[0], dict):
|
||||
nodes_raw = v
|
||||
break
|
||||
|
||||
if not nodes_raw:
|
||||
print("警告: 未能从响应中提取节点列表")
|
||||
print("响应顶层 keys:", list(data.keys()) if isinstance(data, dict) else type(data).__name__)
|
||||
return []
|
||||
|
||||
result = []
|
||||
for node in nodes_raw:
|
||||
if not isinstance(node, dict):
|
||||
continue
|
||||
|
||||
node_uuid = (
|
||||
node.get("uuid")
|
||||
or node.get("node_uuid")
|
||||
or node.get("id")
|
||||
or ""
|
||||
)
|
||||
resource_name = (
|
||||
node.get("resource_template_name")
|
||||
or node.get("device_id")
|
||||
or node.get("resource_name")
|
||||
or node.get("device_name")
|
||||
or ""
|
||||
)
|
||||
template_name = (
|
||||
node.get("node_template_name")
|
||||
or node.get("action_name")
|
||||
or node.get("template_name")
|
||||
or node.get("action")
|
||||
or node.get("name")
|
||||
or ""
|
||||
)
|
||||
existing_param = node.get("param", {}) or {}
|
||||
|
||||
if node_uuid:
|
||||
result.append((node_uuid, resource_name, template_name, existing_param))
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def generate_template(nodes, registry_index, rounds):
|
||||
"""生成 notebook 提交模板"""
|
||||
node_params = []
|
||||
schema_info = {}
|
||||
|
||||
datas_template = []
|
||||
for node_uuid, resource_name, template_name, existing_param in nodes:
|
||||
param_template = {}
|
||||
matched = False
|
||||
|
||||
if resource_name and template_name and resource_name in registry_index:
|
||||
avm = registry_index[resource_name]
|
||||
if template_name in avm:
|
||||
goal_schema = flatten_goal_schema(avm[template_name])
|
||||
param_template = build_param_template(goal_schema)
|
||||
goal_default = avm[template_name].get("goal_default", {})
|
||||
if goal_default:
|
||||
for k, v in goal_default.items():
|
||||
if k in param_template and v is not None:
|
||||
param_template[k] = v
|
||||
matched = True
|
||||
|
||||
schema_info[node_uuid] = {
|
||||
"device_id": resource_name,
|
||||
"action_name": template_name,
|
||||
"action_type": avm[template_name].get("type", ""),
|
||||
"schema_properties": list(goal_schema.get("properties", {}).keys()),
|
||||
"required": goal_schema.get("required", []),
|
||||
}
|
||||
|
||||
if not matched and existing_param:
|
||||
param_template = existing_param
|
||||
|
||||
if not matched and not existing_param:
|
||||
schema_info[node_uuid] = {
|
||||
"device_id": resource_name,
|
||||
"action_name": template_name,
|
||||
"warning": "未在本地注册表中找到匹配的 action schema",
|
||||
}
|
||||
|
||||
datas_template.append({
|
||||
"node_uuid": node_uuid,
|
||||
"param": param_template,
|
||||
"sample_params": [
|
||||
{
|
||||
"container_uuid": "$TODO_CONTAINER_UUID",
|
||||
"sample_value": {
|
||||
"liquid_names": "$TODO_LIQUID_NAME",
|
||||
"volumes": 0,
|
||||
},
|
||||
}
|
||||
],
|
||||
})
|
||||
|
||||
for i in range(rounds):
|
||||
node_params.append({
|
||||
"sample_uuids": f"$TODO_SAMPLE_UUID_ROUND_{i + 1}",
|
||||
"datas": copy.deepcopy(datas_template),
|
||||
})
|
||||
|
||||
return {
|
||||
"lab_uuid": "$TODO_LAB_UUID",
|
||||
"project_uuid": "$TODO_PROJECT_UUID",
|
||||
"workflow_uuid": "$TODO_WORKFLOW_UUID",
|
||||
"name": "$TODO_EXPERIMENT_NAME",
|
||||
"node_params": node_params,
|
||||
"_schema_info（仅参考，提交时删除）": schema_info,
|
||||
}
|
||||
|
||||
|
||||
def parse_args(argv):
|
||||
"""简单的参数解析"""
|
||||
opts = {
|
||||
"auth": None,
|
||||
"base": None,
|
||||
"workflow_uuid": None,
|
||||
"registry": None,
|
||||
"rounds": 1,
|
||||
"output": "notebook_template.json",
|
||||
"dump_response": False,
|
||||
}
|
||||
i = 0
|
||||
while i < len(argv):
|
||||
arg = argv[i]
|
||||
if arg == "--auth" and i + 1 < len(argv):
|
||||
opts["auth"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--base" and i + 1 < len(argv):
|
||||
opts["base"] = argv[i + 1].rstrip("/")
|
||||
i += 2
|
||||
elif arg == "--workflow-uuid" and i + 1 < len(argv):
|
||||
opts["workflow_uuid"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--registry" and i + 1 < len(argv):
|
||||
opts["registry"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--rounds" and i + 1 < len(argv):
|
||||
opts["rounds"] = int(argv[i + 1])
|
||||
i += 2
|
||||
elif arg == "--output" and i + 1 < len(argv):
|
||||
opts["output"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--dump-response":
|
||||
opts["dump_response"] = True
|
||||
i += 1
|
||||
else:
|
||||
print(f"未知参数: {arg}")
|
||||
i += 1
|
||||
return opts
|
||||
|
||||
|
||||
def main():
|
||||
opts = parse_args(sys.argv[1:])
|
||||
|
||||
if not opts["auth"] or not opts["base"] or not opts["workflow_uuid"]:
|
||||
print("用法:")
|
||||
print(" python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]")
|
||||
print()
|
||||
print("必需参数:")
|
||||
print(" --auth <token> Lab token（base64(ak:sk)）")
|
||||
print(" --base <url> API 基础 URL")
|
||||
print(" --workflow-uuid <uuid> 目标 workflow UUID")
|
||||
print()
|
||||
print("可选参数:")
|
||||
print(" --registry <path> 注册表文件路径（默认自动搜索）")
|
||||
print(" --rounds <n> 实验轮次数（默认 1）")
|
||||
print(" --output <path> 输出文件路径（默认 notebook_template.json）")
|
||||
print(" --dump-response 打印 API 原始响应")
|
||||
sys.exit(1)
|
||||
|
||||
# 1. 查找并加载本地注册表
|
||||
registry_path = find_registry(opts["registry"])
|
||||
registry_index = {}
|
||||
if registry_path:
|
||||
mtime = os.path.getmtime(registry_path)
|
||||
gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
|
||||
print(f"注册表: {registry_path} (生成时间: {gen_time})")
|
||||
registry_data = load_registry(registry_path)
|
||||
registry_index = build_registry_index(registry_data)
|
||||
print(f"已索引 {len(registry_index)} 个设备的 action schemas")
|
||||
else:
|
||||
print("警告: 未找到本地注册表，将跳过 param 模板生成")
|
||||
print(" 提交时需要手动填写各节点的 param 字段")
|
||||
|
||||
# 2. 获取 workflow 详情
|
||||
print(f"\n正在获取 workflow 详情: {opts['workflow_uuid']}")
|
||||
response = fetch_workflow_detail(opts["base"], opts["auth"], opts["workflow_uuid"])
|
||||
if not response:
|
||||
print("错误: 无法获取 workflow 详情")
|
||||
sys.exit(1)
|
||||
|
||||
if opts["dump_response"]:
|
||||
print("\n=== API 原始响应 ===")
|
||||
print(json.dumps(response, indent=2, ensure_ascii=False)[:5000])
|
||||
print("=== 响应结束（截断至 5000 字符） ===\n")
|
||||
|
||||
# 3. 提取节点
|
||||
nodes = extract_nodes_from_response(response)
|
||||
if not nodes:
|
||||
print("错误: 未能从 workflow 中提取任何 action 节点")
|
||||
print("请使用 --dump-response 查看原始响应结构")
|
||||
sys.exit(1)
|
||||
|
||||
print(f"\n找到 {len(nodes)} 个 action 节点:")
|
||||
print(f" {'节点 UUID':<40} {'设备 ID':<30} {'动作名':<25} {'Schema'}")
|
||||
print(" " + "-" * 110)
|
||||
for node_uuid, resource_name, template_name, _ in nodes:
|
||||
matched = "✓" if (resource_name in registry_index and
|
||||
template_name in registry_index.get(resource_name, {})) else "✗"
|
||||
print(f" {node_uuid:<40} {resource_name:<30} {template_name:<25} {matched}")
|
||||
|
||||
# 4. 生成模板
|
||||
template = generate_template(nodes, registry_index, opts["rounds"])
|
||||
template["workflow_uuid"] = opts["workflow_uuid"]
|
||||
|
||||
output_path = opts["output"]
|
||||
with open(output_path, "w", encoding="utf-8") as f:
|
||||
json.dump(template, f, indent=2, ensure_ascii=False)
|
||||
print(f"\n模板已写入: {output_path}")
|
||||
print(f" 轮次数: {opts['rounds']}")
|
||||
print(f" 节点数/轮: {len(nodes)}")
|
||||
print()
|
||||
print("下一步:")
|
||||
print(" 1. 打开模板文件，将 $TODO 占位符替换为实际值")
|
||||
print(" 2. 删除 _schema_info 字段（仅供参考）")
|
||||
print(" 3. 使用 POST /api/v1/lab/notebook 提交")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -40,13 +40,13 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
|
||||
决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
|
||||
|
||||
| `--addr` 值 | BASE URL |
|
||||
| -------------- | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
| 其他自定义 URL | 直接使用该 URL |
|
||||
| `--addr` 值 | BASE URL |
|
||||
|-------------|----------|
|
||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
||||
| 其他自定义 URL | 直接使用该 URL |
|
||||
|
||||
#### 必备项 ③：req_device_registry_upload.json（设备注册表）
|
||||
|
||||
@@ -54,11 +54,11 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
|
||||
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
||||
|
||||
| 条件 | working_dir 取值 |
|
||||
| -------------------- | -------------------------------------------------------- |
|
||||
| 条件 | working_dir 取值 |
|
||||
|------|------------------|
|
||||
| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
|
||||
| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
|
||||
| 都没传 | `<当前工作目录>/unilabos_data/` |
|
||||
| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
|
||||
| 都没传 | `<当前工作目录>/unilabos_data/` |
|
||||
|
||||
**按优先级搜索文件**：
|
||||
|
||||
@@ -84,6 +84,24 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
python ./scripts/extract_device_actions.py --registry <找到的文件路径>
|
||||
```
|
||||
|
||||
#### 完整示例
|
||||
|
||||
用户提供：
|
||||
|
||||
```
|
||||
--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
|
||||
--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
|
||||
--addr test
|
||||
--port 8003
|
||||
--disable_browser
|
||||
```
|
||||
|
||||
从中提取：
|
||||
- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
|
||||
- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
|
||||
- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
|
||||
- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
|
||||
|
||||
**四项全部就绪后才进入 Step 1。**
|
||||
|
||||
### Step 1 — 列出可用设备
|
||||
@@ -111,7 +129,6 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
|
||||
|
||||
每个 action 生成一个 JSON 文件，包含：
|
||||
|
||||
- `type` — 作为 API 调用的 `action_type`
|
||||
- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
|
||||
- `goal` — goal 字段映射（含占位符 `$placeholder`）
|
||||
@@ -119,14 +136,13 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
|
||||
### Step 3 — 写 action-index.md
|
||||
|
||||
按模板为每个 action 写条目（**必须包含 `action_type`**）：
|
||||
按模板为每个 action 写条目：
|
||||
|
||||
```markdown
|
||||
### `<action_name>`
|
||||
|
||||
<用途描述（一句话）>
|
||||
|
||||
- **action_type**: `<从 actions/<name>.json 的 type 字段获取>`
|
||||
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
|
||||
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
|
||||
- **可选参数**: `param3`, `param4`
|
||||
@@ -134,8 +150,6 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
```
|
||||
|
||||
描述规则：
|
||||
|
||||
- **每个 action 必须标注 `action_type`**（从 JSON 的 `type` 字段读取），这是 API #9 调用时的必填参数，传错会导致任务永远卡住
|
||||
- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
|
||||
- 从 `schema.required` 区分核心/可选参数
|
||||
- 按功能分类（移液、枪头、外设等）
|
||||
@@ -144,14 +158,12 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
- `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
|
||||
- `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
|
||||
- `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
|
||||
- `unilabos_formulation` → **FormulationSlot**，填入配方数组 `[{well_name, liquids: [{name, volume}]}]`（well_name 为目标物料的 name）
|
||||
- array 类型字段 → `[{id, name, uuid}, ...]`
|
||||
- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
|
||||
|
||||
### Step 4 — 写 SKILL.md
|
||||
|
||||
直接复用 `unilab-device-api` 的 API 模板，修改：
|
||||
|
||||
直接复用 `unilab-device-api` 的 API 模板（10 个 endpoint），修改：
|
||||
- 设备名称
|
||||
- Action 数量
|
||||
- 目录列表
|
||||
@@ -159,96 +171,43 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
|
||||
- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
|
||||
- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
|
||||
- **action_type 速查表** — 在 API #9 说明后面紧跟一个表格，列出每个 action 对应的 `action_type` 值（从 JSON `type` 字段提取），方便 agent 快速查找而无需打开 JSON 文件
|
||||
|
||||
API 模板结构：
|
||||
|
||||
```markdown
|
||||
## 设备信息
|
||||
|
||||
- device_id, Python 源码路径, 设备类名
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
- ak/sk → AUTH, --addr → BASE URL
|
||||
|
||||
## 请求约定
|
||||
|
||||
- Windows 平台必须用 curl.exe（非 PowerShell 的 curl 别名）
|
||||
|
||||
## Session State
|
||||
- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
|
||||
|
||||
- lab_uuid（通过 GET /edge/lab/info 直接获取，不要问用户）, device_name
|
||||
|
||||
## API Endpoints
|
||||
|
||||
# - #1 GET /edge/lab/info → 直接拿到 lab_uuid
|
||||
|
||||
# - #2 创建工作流 POST /lab/workflow/owner → 拼 URL 告知用户
|
||||
|
||||
# - #3 创建节点 POST /edge/workflow/node
|
||||
|
||||
# body: {workflow_uuid, resource_template_name: "<device_id>", node_template_name: "<action_name>"}
|
||||
|
||||
# - #4 删除节点 DELETE /lab/workflow/nodes
|
||||
|
||||
# - #5 更新节点参数 PATCH /lab/workflow/node
|
||||
|
||||
# - #6 查询节点 handles POST /lab/workflow/node-handles
|
||||
|
||||
# body: {node_uuids: ["uuid1","uuid2"]} → 返回各节点的 handle_uuid
|
||||
|
||||
# - #7 批量创建边 POST /lab/workflow/edges
|
||||
|
||||
# body: {edges: [{source_node_uuid, target_node_uuid, source_handle_uuid, target_handle_uuid}]}
|
||||
|
||||
# - #8 启动工作流 POST /lab/workflow/{uuid}/run
|
||||
|
||||
# - #9 运行设备单动作 POST /lab/mcp/run/action（⚠️ action_type 必须从 action-index.md 或 actions/<name>.json 的 type 字段获取，传错会导致任务永远卡住）
|
||||
|
||||
# - #10 查询任务状态 GET /lab/mcp/task/{task_uuid}
|
||||
|
||||
# - #11 运行工作流单节点 POST /lab/mcp/run/workflow/action
|
||||
|
||||
# - #12 获取资源树 GET /lab/material/download/{lab_uuid}
|
||||
|
||||
# - #13 获取工作流模板详情 GET /lab/workflow/template/detail/{workflow_uuid}
|
||||
|
||||
# 返回 workflow 完整结构：data.nodes[] 含每个节点的 uuid、name、param、device_name、handles
|
||||
|
||||
# - #14 按名称查询物料模板 GET /lab/material/template/by-name?lab_uuid=&name=
|
||||
|
||||
# 返回 res_template_uuid，用于 #15 创建物料时的必填字段
|
||||
|
||||
# - #15 创建物料节点 POST /edge/material/node
|
||||
|
||||
# body: {res_template_uuid(从#14获取), name(自定义), display_name, parent_uuid?(从#12获取), ...}
|
||||
|
||||
# - #16 更新物料节点 PUT /edge/material/node
|
||||
|
||||
# body: {uuid(从#12获取), display_name?, description?, init_param_data?, data?, ...}
|
||||
## API Endpoints (10 个)
|
||||
# 注意：
|
||||
# - #1 获取 lab 列表 + 自动匹配 lab_uuid（遍历 is_admin 的 lab，
|
||||
# 调用 /lab/info/{uuid} 比对 access_key == ak）
|
||||
# - #2 创建工作流用 POST /lab/workflow
|
||||
# - #10 获取资源树路径含 lab_uuid: /lab/material/download/{lab_uuid}
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
|
||||
- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
|
||||
- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
|
||||
- unilabos_class → ClassSlot → "class_name" 字符串
|
||||
- unilabos_formulation → FormulationSlot → [{well_name, liquids: [{name, volume}]}] 配方数组
|
||||
- 特例：create_resource 的 res_id 允许填不存在的路径
|
||||
- 列出本设备所有 Slot 字段、类型及含义
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
## 完整工作流 Checklist
|
||||
```
|
||||
|
||||
### Step 5 — 验证
|
||||
|
||||
检查文件完整性：
|
||||
|
||||
- [ ] `SKILL.md` 包含 API endpoint（#1 获取 lab_uuid、#2-#7 工作流/节点/边、#8-#11 运行/查询、#12 资源树、#13 工作流模板详情、#14-#16 物料管理）
|
||||
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot / FormulationSlot + create_resource 特例）和本设备的 Slot 字段表
|
||||
- [ ] `SKILL.md` 包含 10 个 API endpoint
|
||||
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot + create_resource 特例）和本设备的 Slot 字段表
|
||||
- [ ] `action-index.md` 列出所有 action 并有描述
|
||||
- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
|
||||
- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
|
||||
@@ -290,202 +249,71 @@ API 模板结构：
|
||||
```
|
||||
|
||||
> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
|
||||
> `schema.properties` 中的字段即为 API 创建节点返回的 `data.param` 中的字段，PATCH 更新时直接修改 `param` 即可。
|
||||
> `schema.properties` 中的字段即为 API 请求 `param.goal` 中的字段。
|
||||
|
||||
## Placeholder Slot 类型体系
|
||||
|
||||
`placeholder_keys` / `_unilabos_placeholder_info` 中有 5 种值，对应不同的填写方式：
|
||||
`placeholder_keys` / `_unilabos_placeholder_info` 中有 4 种值，对应不同的填写方式：
|
||||
|
||||
| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
| ---------------------- | --------------- | ----------------------------------------------------- | ----------------------------------------- |
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
|
||||
| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]` | 资源树中物料节点的 **name**，配合液体配方 |
|
||||
| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
|---------------|-----------|---------|---------|
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
|
||||
|
||||
### ResourceSlot（`unilabos_resources`）
|
||||
|
||||
最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
|
||||
|
||||
- 单个：`{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-..."}`
|
||||
- 数组：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
|
||||
- `id` 从 parent 计算的路径格式，根据 action 语义选择正确的物料
|
||||
|
||||
> **特例**：`create_resource` 的 `res_id`，目标物料可能尚不存在，直接填期望路径，不需要 uuid。
|
||||
|
||||
### DeviceSlot / NodeSlot / ClassSlot
|
||||
|
||||
- **DeviceSlot**（`unilabos_devices`）：路径字符串如 `"/host_node"`，仅 type=device 的节点
|
||||
- **NodeSlot**（`unilabos_nodes`）：路径字符串如 `"/PRCXI/PRCXI_Deck"`，设备 + 物料均可选
|
||||
- **ClassSlot**（`unilabos_class`）：类名字符串如 `"container"`，从 `req_resource_registry_upload.json` 查找
|
||||
|
||||
### FormulationSlot（`unilabos_formulation`）
|
||||
|
||||
描述**液体配方**：向哪些容器中加入哪些液体及体积。
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"sample_uuid": "",
|
||||
"well_name": "bottle_A1",
|
||||
"liquids": [{ "name": "LiPF6", "volume": 0.6 }]
|
||||
}
|
||||
]
|
||||
{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
|
||||
```
|
||||
|
||||
- `well_name` — 目标物料的 **name**（从资源树取，不是 `id` 路径）
|
||||
- `liquids[]` — 液体列表，每条含 `name`（试剂名）和 `volume`（体积，单位由上下文决定；pylabrobot 内部统一 uL）
|
||||
- `sample_uuid` — 样品 UUID，无样品传 `""`
|
||||
- 与 ResourceSlot 的区别：ResourceSlot 指向物料本身，FormulationSlot 引用物料名并附带配方信息
|
||||
- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
|
||||
- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
|
||||
- `id` 本身是从 parent 计算的路径格式
|
||||
- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
|
||||
|
||||
### 通过 API #12 获取资源树
|
||||
> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
|
||||
|
||||
### DeviceSlot（`unilabos_devices`）
|
||||
|
||||
填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
|
||||
|
||||
```
|
||||
"/host_node"
|
||||
"/bioyond_cell/reaction_station"
|
||||
```
|
||||
|
||||
- 只填路径字符串，不需要 `{id, uuid}` 对象
|
||||
- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
|
||||
|
||||
### NodeSlot（`unilabos_nodes`）
|
||||
|
||||
范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
|
||||
|
||||
```
|
||||
"/PRCXI/PRCXI_Deck"
|
||||
```
|
||||
|
||||
- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
|
||||
|
||||
### ClassSlot（`unilabos_class`）
|
||||
|
||||
填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
|
||||
|
||||
```
|
||||
"container"
|
||||
```
|
||||
|
||||
### 通过 API #10 获取资源树
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中（不是查询参数）。返回结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"nodes": [
|
||||
{"name": "host_node", "uuid": "c3ec1e68-...", "type": "device", "parent": ""},
|
||||
{"name": "PRCXI", "uuid": "e249c9a6-...", "type": "device", "parent": ""},
|
||||
{"name": "PRCXI_Deck", "uuid": "fb6a8b71-...", "type": "deck", "parent": "PRCXI"}
|
||||
],
|
||||
"edges": [...]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
- `data.nodes[]` — 所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`
|
||||
- `type` 区分设备（`device`）和物料（`deck`、`container`、`resource` 等）
|
||||
- `parent` 为父节点名称（空字符串表示顶级）
|
||||
- 填写 Slot 时根据 placeholder 类型筛选：ResourceSlot 取非 device 节点，DeviceSlot 取 device 节点
|
||||
- 创建/更新物料时：`parent_uuid` 取父节点的 `uuid`，更新目标的 `uuid` 取节点自身的 `uuid`
|
||||
|
||||
## 物料管理 API
|
||||
|
||||
设备 Skill 除了设备动作外，还需支持物料节点的创建和参数设定，用于在资源树中动态管理物料。
|
||||
|
||||
典型流程：先通过 **#14 按名称查询模板** 获取 `res_template_uuid` → 再通过 **#15 创建物料** → 之后可通过 **#16 更新物料** 修改属性。更新时需要的 `uuid` 和 `parent_uuid` 均从 **#12 资源树下载** 获取。
|
||||
|
||||
### API #14 — 按名称查询物料模板
|
||||
|
||||
创建物料前，需要先获取物料模板的 UUID。通过模板名称查询：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
| 参数 | 必填 | 说明 |
|
||||
| ---------- | ------ | -------------------------------- |
|
||||
| `lab_uuid` | **是** | 实验室 UUID（从 API #1 获取） |
|
||||
| `name` | **是** | 物料模板名称（如 `"container"`） |
|
||||
|
||||
返回 `code: 0` 时，**`data.uuid`** 即为 `res_template_uuid`，用于 API #15 创建物料。返回还包含 `name`、`resource_type`、`handles`、`config_infos` 等模板元信息。
|
||||
|
||||
模板不存在时返回 `code: 10002`，`data` 为空对象。模板名称来自资源注册表中已注册的资源类型。
|
||||
|
||||
### API #15 — 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体：
|
||||
|
||||
```json
|
||||
{
|
||||
"res_template_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"name": "my_custom_bottle",
|
||||
"display_name": "自定义瓶子",
|
||||
"parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"type": "",
|
||||
"init_param_data": {},
|
||||
"schema": {},
|
||||
"data": {
|
||||
"liquids": [["water", 1000, "uL"]],
|
||||
"max_volume": 50000
|
||||
},
|
||||
"plate_well_datas": {},
|
||||
"plate_reagent_datas": {},
|
||||
"pose": {},
|
||||
"model": {}
|
||||
}
|
||||
```
|
||||
|
||||
| 字段 | 必填 | 类型 | 数据来源 | 说明 |
|
||||
| --------------------- | ------ | ------------- | ----------------------------------- | -------------------------------------- |
|
||||
| `res_template_uuid` | **是** | string (UUID) | **API #14** 按名称查询获取 | 物料模板 UUID |
|
||||
| `name` | 否 | string | **用户自定义** | 节点名称（标识符），可自由命名 |
|
||||
| `display_name` | 否 | string | 用户自定义 | 显示名称（UI 展示用） |
|
||||
| `parent_uuid` | 否 | string (UUID) | **API #12** 资源树中父节点的 `uuid` | 父节点，为空则创建顶级节点 |
|
||||
| `type` | 否 | string | 从模板继承 | 节点类型 |
|
||||
| `init_param_data` | 否 | object | 用户指定 | 初始化参数，覆盖模板默认值 |
|
||||
| `data` | 否 | object | 用户指定 | 节点数据，container 见下方 data 格式 |
|
||||
| `plate_well_datas` | 否 | object | 用户指定 | 孔板子节点数据（创建带孔位的板时使用） |
|
||||
| `plate_reagent_datas` | 否 | object | 用户指定 | 试剂关联数据 |
|
||||
| `schema` | 否 | object | 从模板继承 | 自定义 schema，不传则从模板继承 |
|
||||
| `pose` | 否 | object | 用户指定 | 位姿信息 |
|
||||
| `model` | 否 | object | 用户指定 | 3D 模型信息 |
|
||||
|
||||
#### container 的 `data` 格式
|
||||
|
||||
> **体积单位统一为 uL（微升）**。pylabrobot 体系中所有体积值（`max_volume`、`liquids` 中的 volume）均为 uL。外部如果是 mL 需乘 1000 转换。
|
||||
|
||||
```json
|
||||
{
|
||||
"liquids": [["water", 1000, "uL"], ["ethanol", 500, "uL"]],
|
||||
"max_volume": 50000
|
||||
}
|
||||
```
|
||||
|
||||
- `liquids` — 液体列表，每条为 `[液体名称, 体积(uL), 单位字符串]`
|
||||
- `max_volume` — 容器最大容量（uL），如 50 mL = 50000 uL
|
||||
|
||||
### API #16 — 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体：
|
||||
|
||||
```json
|
||||
{
|
||||
"uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"display_name": "新显示名称",
|
||||
"description": "新描述",
|
||||
"init_param_data": {},
|
||||
"data": {},
|
||||
"pose": {},
|
||||
"schema": {},
|
||||
"extra": {}
|
||||
}
|
||||
```
|
||||
|
||||
| 字段 | 必填 | 类型 | 数据来源 | 说明 |
|
||||
| ----------------- | ------ | ------------- | ------------------------------------- | ---------------- |
|
||||
| `uuid` | **是** | string (UUID) | **API #12** 资源树中目标节点的 `uuid` | 要更新的物料节点 |
|
||||
| `parent_uuid` | 否 | string (UUID) | API #12 资源树 | 移动到新父节点 |
|
||||
| `display_name` | 否 | string | 用户指定 | 更新显示名称 |
|
||||
| `description` | 否 | string | 用户指定 | 更新描述 |
|
||||
| `init_param_data` | 否 | object | 用户指定 | 更新初始化参数 |
|
||||
| `data` | 否 | object | 用户指定 | 更新节点数据 |
|
||||
| `pose` | 否 | object | 用户指定 | 更新位姿 |
|
||||
| `schema` | 否 | object | 用户指定 | 更新 schema |
|
||||
| `extra` | 否 | object | 用户指定 | 更新扩展数据 |
|
||||
|
||||
> 只传需要更新的字段，未传的字段保持不变。
|
||||
注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
|
||||
|
||||
## 最终目录结构
|
||||
|
||||
|
||||
@@ -1,251 +0,0 @@
|
||||
---
|
||||
name: host-node
|
||||
description: Operate Uni-Lab host node via REST API — create resources, test latency, test resource tree, manual confirm. Use when the user mentions host_node, creating resources, resource management, testing latency, or any host node operation.
|
||||
---
|
||||
|
||||
# Host Node API Skill
|
||||
|
||||
## 设备信息
|
||||
|
||||
- **device_id**: `host_node`
|
||||
- **Python 源码**: `unilabos/ros/nodes/presets/host_node.py`
|
||||
- **设备类**: `HostNode`
|
||||
- **动作数**: 4（`create_resource`, `test_latency`, `auto-test_resource`, `manual_confirm`）
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <token>"
|
||||
```
|
||||
|
||||
**两项全部就绪后才可发起 API 请求。**
|
||||
|
||||
## Session State
|
||||
|
||||
在整个对话过程中，agent 需要记住以下状态，避免重复询问用户：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
- `device_name` — `host_node`
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
|
||||
|
||||
### 2. 创建工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
|
||||
|
||||
### 3. 创建节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"host_node","node_template_name":"<action_name>"}'
|
||||
```
|
||||
|
||||
- `resource_template_name` 固定为 `host_node`
|
||||
- `node_template_name` — action 名称（如 `create_resource`, `test_latency`）
|
||||
|
||||
### 4. 删除节点
|
||||
|
||||
```bash
|
||||
curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
|
||||
```
|
||||
|
||||
### 5. 更新节点参数
|
||||
|
||||
```bash
|
||||
curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接使用创建节点返回的 `data.param` 结构，修改需要填入的字段值。参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
|
||||
|
||||
### 6. 查询节点 handles
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
|
||||
```
|
||||
|
||||
### 7. 批量创建边
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
|
||||
```
|
||||
|
||||
### 8. 启动工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 9. 运行设备单动作
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"lab_uuid":"<lab_uuid>","device_id":"host_node","action":"<action_name>","action_type":"<type>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。
|
||||
|
||||
> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/<name>.json` 的 `type` 字段获取。
|
||||
|
||||
#### action_type 速查表
|
||||
|
||||
| action | action_type |
|
||||
|--------|-------------|
|
||||
| `test_latency` | `UniLabJsonCommand` |
|
||||
| `create_resource` | `ResourceCreateFromOuterEasy` |
|
||||
| `auto-test_resource` | `UniLabJsonCommand` |
|
||||
| `manual_confirm` | `UniLabJsonCommand` |
|
||||
|
||||
### 10. 查询任务状态
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 11. 运行工作流单节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuid":"<node_uuid>"}'
|
||||
```
|
||||
|
||||
### 12. 获取资源树（物料信息）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
|
||||
|
||||
### 13. 获取工作流模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
|
||||
|
||||
### 14. 按名称查询物料模板
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
|
||||
|
||||
### 15. 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
|
||||
```
|
||||
|
||||
### 16. 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
| `placeholder_keys` 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
| --------------------- | ------------ | ----------------------------------------------------- | ---------------------- |
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅物料节点（非设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
|
||||
|
||||
### host_node 设备的 Slot 字段表
|
||||
|
||||
| Action | 字段 | Slot 类型 | 说明 |
|
||||
| ----------------- | ----------- | ------------ | ------------------------------ |
|
||||
| `create_resource` | `res_id` | ResourceSlot | 新资源路径（可填不存在的路径） |
|
||||
| `create_resource` | `device_id` | DeviceSlot | 归属设备 |
|
||||
| `create_resource` | `parent` | NodeSlot | 父节点路径 |
|
||||
| `create_resource` | `class_name`| ClassSlot | 资源类名如 `"container"` |
|
||||
| `auto-test_resource` | `resource` | ResourceSlot | 单个测试物料 |
|
||||
| `auto-test_resource` | `resources` | ResourceSlot | 测试物料数组 |
|
||||
| `auto-test_resource` | `device` | DeviceSlot | 测试设备 |
|
||||
| `auto-test_resource` | `devices` | DeviceSlot | 测试设备 |
|
||||
|
||||
---
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
1. **SKILL.md**（本文件）— API 端点 + session state 管理
|
||||
2. **[action-index.md](action-index.md)** — 按分类浏览 4 个动作的描述和核心参数
|
||||
3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
|
||||
- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
|
||||
- [ ] Step 3: 读 action-index.md 确定要用的 action 名
|
||||
- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
|
||||
- [ ] Step 5: 创建节点 (POST #3, resource_template_name=host_node) → 记住 node_uuid + data.param
|
||||
- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
|
||||
- [ ] Step 7: 更新节点参数 (PATCH #5)
|
||||
- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
|
||||
- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
|
||||
- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
|
||||
- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
|
||||
```
|
||||
@@ -1,58 +0,0 @@
|
||||
# Action Index — host_node
|
||||
|
||||
4 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||
|
||||
---
|
||||
|
||||
## 资源管理
|
||||
|
||||
### `create_resource`
|
||||
|
||||
在资源树中创建新资源（容器、物料等），支持指定位置、类型和初始液体
|
||||
|
||||
- **action_type**: `ResourceCreateFromOuterEasy`
|
||||
- **Schema**: [`actions/create_resource.json`](actions/create_resource.json)
|
||||
- **可选参数**: `res_id`, `device_id`, `class_name`, `parent`, `bind_locations`, `liquid_input_slot`, `liquid_type`, `liquid_volume`, `slot_on_deck`
|
||||
- **占位符字段**:
|
||||
- `res_id` — **ResourceSlot**（特例：目标物料可能尚不存在，直接填期望路径）
|
||||
- `device_id` — **DeviceSlot**，填路径字符串如 `"/host_node"`
|
||||
- `parent` — **NodeSlot**，填路径字符串如 `"/workstation/deck"`
|
||||
- `class_name` — **ClassSlot**，填类名如 `"container"`
|
||||
|
||||
### `auto-test_resource`
|
||||
|
||||
测试资源系统，返回当前资源树和设备列表
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/test_resource.json`](actions/test_resource.json)
|
||||
- **可选参数**: `resource`, `resources`, `device`, `devices`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，单个物料节点 `{id, name, uuid}`
|
||||
- `resources` — **ResourceSlot**，物料节点数组 `[{id, name, uuid}, ...]`
|
||||
- `device` — **DeviceSlot**，设备路径字符串
|
||||
- `devices` — **DeviceSlot**，设备路径字符串
|
||||
|
||||
---
|
||||
|
||||
## 系统工具
|
||||
|
||||
### `test_latency`
|
||||
|
||||
测试设备通信延迟，返回 RTT、时间差、任务延迟等指标
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/test_latency.json`](actions/test_latency.json)
|
||||
- **参数**: 无（零参数调用）
|
||||
|
||||
---
|
||||
|
||||
## 人工确认
|
||||
|
||||
### `manual_confirm`
|
||||
|
||||
创建人工确认节点，等待用户手动确认后继续
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||
- **核心参数**: `timeout_seconds`（超时时间，秒）, `assignee_user_ids`（指派用户 ID 列表）
|
||||
- **占位符字段**: `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||
@@ -1,93 +0,0 @@
|
||||
{
|
||||
"type": "ResourceCreateFromOuterEasy",
|
||||
"goal": {
|
||||
"res_id": "res_id",
|
||||
"class_name": "class_name",
|
||||
"parent": "parent",
|
||||
"device_id": "device_id",
|
||||
"bind_locations": "bind_locations",
|
||||
"liquid_input_slot": "liquid_input_slot[]",
|
||||
"liquid_type": "liquid_type[]",
|
||||
"liquid_volume": "liquid_volume[]",
|
||||
"slot_on_deck": "slot_on_deck"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"res_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"device_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"class_name": {
|
||||
"type": "string"
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"bind_locations": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "bind_locations",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"liquid_input_slot": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"liquid_type": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"liquid_volume": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "number"
|
||||
}
|
||||
},
|
||||
"slot_on_deck": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"required": [],
|
||||
"_unilabos_placeholder_info": {
|
||||
"res_id": "unilabos_resources",
|
||||
"device_id": "unilabos_devices",
|
||||
"parent": "unilabos_nodes",
|
||||
"class_name": "unilabos_class"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"res_id": "unilabos_resources",
|
||||
"device_id": "unilabos_devices",
|
||||
"parent": "unilabos_nodes",
|
||||
"class_name": "unilabos_class"
|
||||
}
|
||||
}
|
||||
@@ -1,32 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"timeout_seconds": "timeout_seconds",
|
||||
"assignee_user_ids": "assignee_user_ids"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"timeout_seconds": {
|
||||
"type": "integer"
|
||||
},
|
||||
"assignee_user_ids": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"timeout_seconds",
|
||||
"assignee_user_ids"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {},
|
||||
"required": []
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,255 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"resources": "resources",
|
||||
"device": "device",
|
||||
"devices": "devices"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"resources": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resources"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"devices": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
}
|
||||
},
|
||||
"required": [],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"resources": "unilabos_resources",
|
||||
"device": "unilabos_devices",
|
||||
"devices": "unilabos_devices"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"resources": "unilabos_resources",
|
||||
"device": "unilabos_devices",
|
||||
"devices": "unilabos_devices"
|
||||
}
|
||||
}
|
||||
@@ -1,284 +0,0 @@
|
||||
---
|
||||
name: submit-agent-result
|
||||
description: Submit historical experiment results (agent_result) to Uni-Lab cloud platform (leap-lab) notebook — read data files, assemble JSON payload, PUT to cloud API. Use when the user wants to submit experiment results, upload agent results, report experiment data, or mentions agent_result/实验结果/历史记录/notebook结果.
|
||||
---
|
||||
|
||||
# Uni-Lab 提交历史实验记录指南
|
||||
|
||||
通过 Uni-Lab 云端 API 向已创建的 notebook 提交实验结果数据（agent_result）。支持从 JSON / CSV 文件读取数据，整合后提交。
|
||||
|
||||
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token：
|
||||
|
||||
```bash
|
||||
# ⚠️ 注意：scheme 是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
python -c "import base64,sys; print(base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
```
|
||||
|
||||
输出即为 token 值，拼接为 `Authorization: Lab <token>`（`Lab` 是 Uni-Lab 平台 auth scheme，不可替换为 `Basic`）。
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
```
|
||||
|
||||
### 3. notebook_uuid（**必须询问用户**）
|
||||
|
||||
**必须主动询问用户**：「请提供要提交结果的 notebook UUID。」
|
||||
|
||||
notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，即 `POST /api/v1/lab/notebook` 返回的 `data.uuid`。
|
||||
|
||||
如果用户不记得，可提示：
|
||||
|
||||
- 查看之前的对话记录中创建 notebook 时返回的 UUID
|
||||
- 或通过平台页面查找对应的 notebook
|
||||
|
||||
**绝不能跳过此步骤，没有 notebook_uuid 无法提交。**
|
||||
|
||||
### 4. 实验结果数据
|
||||
|
||||
用户需要提供实验结果数据，支持以下方式：
|
||||
|
||||
| 方式 | 说明 |
|
||||
| --------- | ----------------------------------------------- |
|
||||
| JSON 文件 | 直接作为 `agent_result` 的内容合并 |
|
||||
| CSV 文件 | 转为 `{"文件名": [行数据...]}` 格式 |
|
||||
| 手动指定 | 用户直接告知 key-value 数据，由 agent 构建 JSON |
|
||||
|
||||
**四项全部就绪后才可开始。**
|
||||
|
||||
## Session State
|
||||
|
||||
在整个对话过程中，agent 需要记住以下状态：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（通过 API #1 自动获取，**不需要问用户**）
|
||||
- `notebook_uuid` — 目标 notebook UUID（**必须询问用户**）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，PUT 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
|
||||
>
|
||||
> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则 `@` 会被 PowerShell 解析为 splatting 运算符导致报错）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 提交实验结果（agent_result）
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"notebook_uuid": "<notebook_uuid>",
|
||||
"agent_result": {
|
||||
"<key1>": "<value1>",
|
||||
"<key2>": 123,
|
||||
"<nested_key>": {"a": 1, "b": 2},
|
||||
"<array_key>": [{"col1": "v1", "col2": "v2"}, ...]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：HTTP 方法是 **PUT**（不是 POST）。
|
||||
|
||||
#### 必要字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| --------------- | ------------- | ------------------------------------------- |
|
||||
| `notebook_uuid` | string (UUID) | 目标 notebook 的 UUID，从批量提交实验时获取 |
|
||||
| `agent_result` | object | 实验结果数据，任意 JSON 对象 |
|
||||
|
||||
#### agent_result 内容格式
|
||||
|
||||
`agent_result` 接受**任意 JSON 对象**，常见格式：
|
||||
|
||||
**简单键值对**：
|
||||
|
||||
```json
|
||||
{
|
||||
"avg_rtt_ms": 12.5,
|
||||
"status": "success",
|
||||
"test_count": 5
|
||||
}
|
||||
```
|
||||
|
||||
**包含嵌套结构**：
|
||||
|
||||
```json
|
||||
{
|
||||
"summary": { "total": 100, "passed": 98, "failed": 2 },
|
||||
"measurements": [
|
||||
{ "sample_id": "S001", "value": 3.14, "unit": "mg/mL" },
|
||||
{ "sample_id": "S002", "value": 2.71, "unit": "mg/mL" }
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**从 CSV 文件导入**（脚本自动转换）：
|
||||
|
||||
```json
|
||||
{
|
||||
"experiment_data": [
|
||||
{ "温度": 25, "压力": 101.3, "产率": 0.85 },
|
||||
{ "温度": 30, "压力": 101.3, "产率": 0.91 }
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 整合脚本
|
||||
|
||||
本文档同级目录下的 `scripts/prepare_agent_result.py` 可自动读取文件并构建请求体。
|
||||
|
||||
### 用法
|
||||
|
||||
```bash
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid <uuid> \
|
||||
--files data1.json data2.csv \
|
||||
[--auth <token>] \
|
||||
[--base <BASE_URL>] \
|
||||
[--submit] \
|
||||
[--output <output.json>]
|
||||
```
|
||||
|
||||
| 参数 | 必选 | 说明 |
|
||||
| ----------------- | ---------- | ----------------------------------------------- |
|
||||
| `--notebook-uuid` | 是 | 目标 notebook UUID |
|
||||
| `--files` | 是 | 输入文件路径（支持多个，JSON / CSV） |
|
||||
| `--auth` | 提交时必选 | Lab token（base64(ak:sk)） |
|
||||
| `--base` | 提交时必选 | API base URL |
|
||||
| `--submit` | 否 | 加上此标志则直接提交到云端 |
|
||||
| `--output` | 否 | 输出 JSON 路径（默认 `agent_result_body.json`） |
|
||||
|
||||
### 文件合并规则
|
||||
|
||||
| 文件类型 | 合并方式 |
|
||||
| --------------------- | -------------------------------------------- |
|
||||
| `.json`（dict） | 字段直接合并到 `agent_result` 顶层 |
|
||||
| `.json`（list/other） | 以文件名为 key 放入 `agent_result` |
|
||||
| `.csv` | 以文件名（不含扩展名）为 key，值为行对象数组 |
|
||||
|
||||
多个文件的字段会合并。JSON dict 中的重复 key 后者覆盖前者。
|
||||
|
||||
### 示例
|
||||
|
||||
```bash
|
||||
# 仅生成请求体文件（不提交）
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
||||
--files results.json measurements.csv
|
||||
|
||||
# 生成并直接提交
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
||||
--files results.json \
|
||||
--auth YTFmZDlkNGUt... \
|
||||
--base https://leap-lab.test.bohrium.com \
|
||||
--submit
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 手动构建方式
|
||||
|
||||
如果不使用脚本，也可手动构建请求体：
|
||||
|
||||
1. 将实验结果数据组装为 JSON 对象
|
||||
2. 写入临时文件：
|
||||
|
||||
```json
|
||||
{
|
||||
"notebook_uuid": "<uuid>",
|
||||
"agent_result": { ... }
|
||||
}
|
||||
```
|
||||
|
||||
3. 用 curl 提交：
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '@tmp_body.json'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
|
||||
- [ ] Step 4: **询问用户** notebook_uuid（必须，不可跳过）
|
||||
- [ ] Step 5: 确认实验结果数据来源（文件路径或手动数据）
|
||||
- [ ] Step 6: 运行 prepare_agent_result.py 或手动构建请求体
|
||||
- [ ] Step 7: PUT /lab/notebook/agent-result 提交
|
||||
- [ ] Step 8: 检查返回结果，确认提交成功
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: notebook_uuid 从哪里获取？
|
||||
|
||||
从之前「批量提交实验」时 `POST /api/v1/lab/notebook` 的返回值 `data.uuid` 获取。也可以在平台 UI 中查找对应的 notebook。
|
||||
|
||||
### Q: agent_result 有固定的 schema 吗？
|
||||
|
||||
没有严格 schema，接受任意 JSON 对象。但建议包含有意义的字段名和结构化数据，方便后续分析。
|
||||
|
||||
### Q: 可以多次提交同一个 notebook 的结果吗？
|
||||
|
||||
可以，后续提交会覆盖之前的 agent_result。
|
||||
|
||||
### Q: 认证方式是 Lab 还是 Api？
|
||||
|
||||
本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式（`Lab` 是 Uni-Lab 平台的 auth scheme，**绝不能用 `Basic` 替代**）。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。
|
||||
@@ -1,133 +0,0 @@
|
||||
"""
|
||||
读取实验结果文件（JSON / CSV），整合为 agent_result 请求体并可选提交。
|
||||
|
||||
用法:
|
||||
python prepare_agent_result.py \
|
||||
--notebook-uuid <uuid> \
|
||||
--files data1.json data2.csv \
|
||||
[--auth <Lab token>] \
|
||||
[--base <BASE_URL>] \
|
||||
[--submit] \
|
||||
[--output <output.json>]
|
||||
|
||||
支持的输入文件格式:
|
||||
- .json → 直接作为 dict 合并
|
||||
- .csv → 转为 {"filename": [row_dict, ...]} 格式
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import base64
|
||||
import csv
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import Any, Dict, List
|
||||
|
||||
|
||||
def read_json_file(filepath: str) -> Dict[str, Any]:
|
||||
with open(filepath, "r", encoding="utf-8") as f:
|
||||
return json.load(f)
|
||||
|
||||
|
||||
def read_csv_file(filepath: str) -> List[Dict[str, Any]]:
|
||||
rows = []
|
||||
with open(filepath, "r", encoding="utf-8-sig") as f:
|
||||
reader = csv.DictReader(f)
|
||||
for row in reader:
|
||||
converted = {}
|
||||
for k, v in row.items():
|
||||
try:
|
||||
converted[k] = int(v)
|
||||
except (ValueError, TypeError):
|
||||
try:
|
||||
converted[k] = float(v)
|
||||
except (ValueError, TypeError):
|
||||
converted[k] = v
|
||||
rows.append(converted)
|
||||
return rows
|
||||
|
||||
|
||||
def merge_files(filepaths: List[str]) -> Dict[str, Any]:
|
||||
"""将多个文件合并为一个 agent_result dict"""
|
||||
merged: Dict[str, Any] = {}
|
||||
for fp in filepaths:
|
||||
path = Path(fp)
|
||||
ext = path.suffix.lower()
|
||||
key = path.stem
|
||||
|
||||
if ext == ".json":
|
||||
data = read_json_file(fp)
|
||||
if isinstance(data, dict):
|
||||
merged.update(data)
|
||||
else:
|
||||
merged[key] = data
|
||||
elif ext == ".csv":
|
||||
merged[key] = read_csv_file(fp)
|
||||
else:
|
||||
print(f"[警告] 不支持的文件格式: {fp}，跳过", file=sys.stderr)
|
||||
|
||||
return merged
|
||||
|
||||
|
||||
def build_request_body(notebook_uuid: str, agent_result: Dict[str, Any]) -> Dict[str, Any]:
|
||||
return {
|
||||
"notebook_uuid": notebook_uuid,
|
||||
"agent_result": agent_result,
|
||||
}
|
||||
|
||||
|
||||
def submit(base: str, auth: str, body: Dict[str, Any]) -> Dict[str, Any]:
|
||||
try:
|
||||
import requests
|
||||
except ImportError:
|
||||
print("[错误] 提交需要 requests 库: pip install requests", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
url = f"{base}/api/v1/lab/notebook/agent-result"
|
||||
headers = {
|
||||
"Content-Type": "application/json",
|
||||
"Authorization": f"Lab {auth}",
|
||||
}
|
||||
resp = requests.put(url, json=body, headers=headers, timeout=30)
|
||||
return {"status_code": resp.status_code, "body": resp.json() if resp.headers.get("content-type", "").startswith("application/json") else resp.text}
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="整合实验结果文件并构建 agent_result 请求体")
|
||||
parser.add_argument("--notebook-uuid", required=True, help="目标 notebook UUID")
|
||||
parser.add_argument("--files", nargs="+", required=True, help="输入文件路径（JSON / CSV）")
|
||||
parser.add_argument("--auth", help="Lab token（base64(ak:sk)）")
|
||||
parser.add_argument("--base", help="API base URL")
|
||||
parser.add_argument("--submit", action="store_true", help="直接提交到云端")
|
||||
parser.add_argument("--output", default="agent_result_body.json", help="输出 JSON 文件路径")
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
for fp in args.files:
|
||||
if not os.path.exists(fp):
|
||||
print(f"[错误] 文件不存在: {fp}", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
agent_result = merge_files(args.files)
|
||||
body = build_request_body(args.notebook_uuid, agent_result)
|
||||
|
||||
with open(args.output, "w", encoding="utf-8") as f:
|
||||
json.dump(body, f, ensure_ascii=False, indent=2)
|
||||
print(f"[完成] 请求体已保存: {args.output}")
|
||||
print(f" notebook_uuid: {args.notebook_uuid}")
|
||||
print(f" agent_result 字段数: {len(agent_result)}")
|
||||
print(f" 合并文件数: {len(args.files)}")
|
||||
|
||||
if args.submit:
|
||||
if not args.auth or not args.base:
|
||||
print("[错误] 提交需要 --auth 和 --base 参数", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
print(f"\n[提交] PUT {args.base}/api/v1/lab/notebook/agent-result ...")
|
||||
result = submit(args.base, args.auth, body)
|
||||
print(f" HTTP {result['status_code']}")
|
||||
print(f" 响应: {json.dumps(result['body'], ensure_ascii=False)}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,272 +0,0 @@
|
||||
---
|
||||
name: virtual-workbench
|
||||
description: Operate Virtual Workbench via REST API — prepare materials, move to heating stations, start heating, move to output, transfer resources. Use when the user mentions virtual workbench, virtual_workbench, 虚拟工作台, heating stations, material processing, or workbench operations.
|
||||
---
|
||||
|
||||
# Virtual Workbench API Skill
|
||||
|
||||
## 设备信息
|
||||
|
||||
- **device_id**: `virtual_workbench`
|
||||
- **Python 源码**: `unilabos/devices/virtual/workbench.py`
|
||||
- **设备类**: `VirtualWorkbench`
|
||||
- **动作数**: 6（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`, `manual_confirm`）
|
||||
- **设备描述**: 模拟工作台，包含 1 个机械臂（每次操作 2s，独占锁）和 3 个加热台（每次加热 60s，可并行）
|
||||
|
||||
### 典型工作流程
|
||||
|
||||
1. `prepare_materials` — 生成 A1-A5 物料（5 个 output handle）
|
||||
2. `move_to_heating_station` — 物料并发竞争机械臂，移动到空闲加热台
|
||||
3. `start_heating` — 启动加热（3 个加热台可并行）
|
||||
4. `move_to_output` — 加热完成后移到输出位置 Cn
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <token>"
|
||||
```
|
||||
|
||||
**两项全部就绪后才可发起 API 请求。**
|
||||
|
||||
## Session State
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
- `device_name` — `virtual_workbench`
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
|
||||
|
||||
### 2. 创建工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
|
||||
|
||||
### 3. 创建节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"virtual_workbench","node_template_name":"<action_name>"}'
|
||||
```
|
||||
|
||||
- `resource_template_name` 固定为 `virtual_workbench`
|
||||
- `node_template_name` — action 名称（如 `auto-prepare_materials`, `auto-move_to_heating_station`）
|
||||
|
||||
### 4. 删除节点
|
||||
|
||||
```bash
|
||||
curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
|
||||
```
|
||||
|
||||
### 5. 更新节点参数
|
||||
|
||||
```bash
|
||||
curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
|
||||
```
|
||||
|
||||
参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
|
||||
|
||||
### 6. 查询节点 handles
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
|
||||
```
|
||||
|
||||
### 7. 批量创建边
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
|
||||
```
|
||||
|
||||
### 8. 启动工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 9. 运行设备单动作
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"lab_uuid":"<lab_uuid>","device_id":"virtual_workbench","action":"<action_name>","action_type":"<type>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。
|
||||
|
||||
> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/<name>.json` 的 `type` 字段获取。
|
||||
|
||||
#### action_type 速查表
|
||||
|
||||
| action | action_type |
|
||||
|--------|-------------|
|
||||
| `auto-prepare_materials` | `UniLabJsonCommand` |
|
||||
| `auto-move_to_heating_station` | `UniLabJsonCommand` |
|
||||
| `auto-start_heating` | `UniLabJsonCommand` |
|
||||
| `auto-move_to_output` | `UniLabJsonCommand` |
|
||||
| `transfer` | `UniLabJsonCommandAsync` |
|
||||
| `manual_confirm` | `UniLabJsonCommand` |
|
||||
|
||||
### 10. 查询任务状态
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 11. 运行工作流单节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuid":"<node_uuid>"}'
|
||||
```
|
||||
|
||||
### 12. 获取资源树（物料信息）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
|
||||
|
||||
### 13. 获取工作流模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
|
||||
|
||||
### 14. 按名称查询物料模板
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
|
||||
|
||||
### 15. 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
|
||||
```
|
||||
|
||||
### 16. 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
| `placeholder_keys` 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
| --------------------- | ------------ | ----------------------------------------------------- | ---------------------- |
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅物料节点（非设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
|
||||
|
||||
### virtual_workbench 设备的 Slot 字段表
|
||||
|
||||
| Action | 字段 | Slot 类型 | 说明 |
|
||||
| ----------------- | ---------------- | ------------ | -------------------- |
|
||||
| `transfer` | `resource` | ResourceSlot | 待转移物料数组 |
|
||||
| `transfer` | `target_device` | DeviceSlot | 目标设备路径 |
|
||||
| `transfer` | `mount_resource` | ResourceSlot | 目标孔位数组 |
|
||||
| `manual_confirm` | `resource` | ResourceSlot | 确认用物料数组 |
|
||||
| `manual_confirm` | `target_device` | DeviceSlot | 确认用目标设备 |
|
||||
| `manual_confirm` | `mount_resource` | ResourceSlot | 确认用目标孔位数组 |
|
||||
|
||||
> `prepare_materials`、`move_to_heating_station`、`start_heating`、`move_to_output` 这 4 个动作**无 Slot 字段**，参数为纯数值/整数。
|
||||
|
||||
---
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
1. **SKILL.md**（本文件）— API 端点 + session state 管理 + 设备工作流概览
|
||||
2. **[action-index.md](action-index.md)** — 按分类浏览 6 个动作的描述和核心参数
|
||||
3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
|
||||
- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
|
||||
- [ ] Step 3: 读 action-index.md 确定要用的 action 名
|
||||
- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
|
||||
- [ ] Step 5: 创建节点 (POST #3, resource_template_name=virtual_workbench) → 记住 node_uuid + data.param
|
||||
- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
|
||||
- [ ] Step 7: 更新节点参数 (PATCH #5)
|
||||
- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
|
||||
- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
|
||||
- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
|
||||
- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
|
||||
```
|
||||
|
||||
### 典型 5 物料并发加热工作流示例
|
||||
|
||||
```
|
||||
prepare_materials (count=5)
|
||||
├─ channel_1 → move_to_heating_station (material_number=1) → start_heating → move_to_output
|
||||
├─ channel_2 → move_to_heating_station (material_number=2) → start_heating → move_to_output
|
||||
├─ channel_3 → move_to_heating_station (material_number=3) → start_heating → move_to_output
|
||||
├─ channel_4 → move_to_heating_station (material_number=4) → start_heating → move_to_output
|
||||
└─ channel_5 → move_to_heating_station (material_number=5) → start_heating → move_to_output
|
||||
```
|
||||
|
||||
创建节点时，`prepare_materials` 的 5 个 output handle（`channel_1` ~ `channel_5`）分别连接到 5 个 `move_to_heating_station` 节点的 `material_input` handle。每个 `move_to_heating_station` 的 `heating_station_output` 和 `material_number_output` 连接到对应 `start_heating` 的 `station_id_input` 和 `material_number_input`。
|
||||
@@ -1,76 +0,0 @@
|
||||
# Action Index — virtual_workbench
|
||||
|
||||
6 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||
|
||||
---
|
||||
|
||||
## 物料准备
|
||||
|
||||
### `auto-prepare_materials`
|
||||
|
||||
批量准备物料（虚拟起始节点），生成 A1-A5 物料编号，输出 5 个 handle 供后续节点使用
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/prepare_materials.json`](actions/prepare_materials.json)
|
||||
- **可选参数**: `count`（物料数量，默认 5）
|
||||
|
||||
---
|
||||
|
||||
## 机械臂 & 加热台操作
|
||||
|
||||
### `auto-move_to_heating_station`
|
||||
|
||||
将物料从 An 位置移动到空闲加热台（竞争机械臂，自动查找空闲加热台）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/move_to_heating_station.json`](actions/move_to_heating_station.json)
|
||||
- **核心参数**: `material_number`（物料编号，integer）
|
||||
|
||||
### `auto-start_heating`
|
||||
|
||||
启动指定加热台的加热程序（可并行，3 个加热台同时工作）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/start_heating.json`](actions/start_heating.json)
|
||||
- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
|
||||
|
||||
### `auto-move_to_output`
|
||||
|
||||
将加热完成的物料从加热台移动到输出位置 Cn
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/move_to_output.json`](actions/move_to_output.json)
|
||||
- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
|
||||
|
||||
---
|
||||
|
||||
## 物料转移
|
||||
|
||||
### `transfer`
|
||||
|
||||
异步转移物料到目标设备（通过 ROS 资源转移）
|
||||
|
||||
- **action_type**: `UniLabJsonCommandAsync`
|
||||
- **Schema**: [`actions/transfer.json`](actions/transfer.json)
|
||||
- **核心参数**: `resource`, `target_device`, `mount_resource`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，待转移的物料数组 `[{id, name, uuid}, ...]`
|
||||
- `target_device` — **DeviceSlot**，目标设备路径字符串
|
||||
- `mount_resource` — **ResourceSlot**，目标孔位数组 `[{id, name, uuid}, ...]`
|
||||
|
||||
---
|
||||
|
||||
## 人工确认
|
||||
|
||||
### `manual_confirm`
|
||||
|
||||
创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||
- **核心参数**: `resource`, `target_device`, `mount_resource`, `timeout_seconds`, `assignee_user_ids`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，物料数组
|
||||
- `target_device` — **DeviceSlot**，目标设备路径
|
||||
- `mount_resource` — **ResourceSlot**，目标孔位数组
|
||||
- `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||
@@ -1,270 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"target_device": "target_device",
|
||||
"mount_resource": "mount_resource",
|
||||
"timeout_seconds": "timeout_seconds",
|
||||
"assignee_user_ids": "assignee_user_ids"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"target_device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"mount_resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "mount_resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"timeout_seconds": {
|
||||
"type": "integer"
|
||||
},
|
||||
"assignee_user_ids": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"resource",
|
||||
"target_device",
|
||||
"mount_resource",
|
||||
"timeout_seconds",
|
||||
"assignee_user_ids"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources",
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources",
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
}
|
||||
@@ -1,19 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,24 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"station_id": "station_id",
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"station_id": {
|
||||
"type": "integer"
|
||||
},
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"station_id",
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,20 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"count": "count"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"count": {
|
||||
"type": "integer",
|
||||
"default": 5
|
||||
}
|
||||
},
|
||||
"required": []
|
||||
},
|
||||
"goal_default": {
|
||||
"count": 5
|
||||
},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,24 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"station_id": "station_id",
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"station_id": {
|
||||
"type": "integer"
|
||||
},
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"station_id",
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,255 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommandAsync",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"target_device": "target_device",
|
||||
"mount_resource": "mount_resource"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"target_device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"mount_resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "mount_resource"
|
||||
},
|
||||
"type": "array"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"resource",
|
||||
"target_device",
|
||||
"mount_resource"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources"
|
||||
}
|
||||
}
|
||||
@@ -1,483 +0,0 @@
|
||||
---
|
||||
name: yibin-electrolyte-submit
|
||||
description: >-
|
||||
通过 Uni-Lab Notebook API 向宜宾电解液工站提交实验，覆盖配液分液（Bioyond LIMS）、
|
||||
扣电组装（CoinCellAssembly）、扣电测试全流程。
|
||||
包含 Excel 解析、formulation 构建、工作流节点参数填写、notebook 提交与状态轮询。
|
||||
Use when the user wants to submit electrolyte experiments, assemble or test coin cells,
|
||||
parse experiment Excel files, build notebook payloads, or mentions
|
||||
宜宾/配液/分液/扣电/电解液实验/notebook提交/CoinCell/BioyondLIMS.
|
||||
---
|
||||
|
||||
# 宜宾电解液产线 API 操作指南
|
||||
|
||||
本 skill 覆盖两个设备的完整操作流程：
|
||||
1. **配液分液工站** (`bioyond_cell_workstation`) — Bioyond LIMS 配液/分液/转运
|
||||
2. **扣电组装站** (`BatteryStation`) — Modbus PLC 扣电组装/数据采集
|
||||
|
||||
## 设备信息
|
||||
|
||||
| 属性 | 配液分液工站 | 扣电组装站 |
|
||||
|------|------------|-----------|
|
||||
| device_id | `bioyond_cell_workstation` | `BatteryStation` |
|
||||
| 显示名 | 配液分液工站 | 扣电工作站 |
|
||||
| 源码 | `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` | `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py` |
|
||||
| 类名 | `BioyondCellWorkstation` | `CoinCellAssemblyWorkstation` |
|
||||
| 通讯 | HTTP REST (Bioyond LIMS API) | Modbus TCP (PLC 寄存器) |
|
||||
|
||||
## 前置条件
|
||||
|
||||
### 认证信息
|
||||
|
||||
```
|
||||
AUTH="Authorization: Lab OTdlY2FkNmUtZmZmMi00YjhiLThhOWEtNWM5ODAyOTJmOTUxOmU0OGM2YWJkLTA4ZmEtNDFjMy04NzhhLTc4M2FiODlhZjYxMw=="
|
||||
BASE="https://uni-lab.test.bohrium.com"
|
||||
```
|
||||
|
||||
来源：`--ak 97ecad6e-fff2-4b8b-8a9a-5c980292f951 --sk e48c6abd-08fa-41c3-878a-783ab89af613 --addr test`
|
||||
|
||||
### 启动 unilab（云端模式）
|
||||
|
||||
> **重要**：提交实验前必须确保 unilab 正在运行且已连接云端 WebSocket。
|
||||
|
||||
```powershell
|
||||
$env:PYTHONIOENCODING="utf-8"
|
||||
conda activate newunilab2603
|
||||
cd D:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation
|
||||
unilab -g D:\UniLabdev\Uni-Lab-OS\yibin_electrolyte_config.json --ak 97ecad6e-fff2-4b8b-8a9a-5c980292f951 --sk e48c6abd-08fa-41c3-878a-783ab89af613 --upload_registry --addr test --disable_browser --skip_env_check
|
||||
```
|
||||
|
||||
**启动要点**：
|
||||
1. 必须先激活虚拟环境 `newunilab2603`
|
||||
2. 工作目录切到 `unilabos/devices/workstation`（设备驱动所在目录）
|
||||
3. `--upload_registry` 将 64 个设备 + 142 个资源注册到云端
|
||||
4. `--skip_env_check` + `PYTHONIOENCODING=utf-8` 避免 Windows GBK 编码崩溃
|
||||
5. 启动后后台运行，等待日志出现 `Application startup complete` 和 `Host node ready signal published with 3 devices`
|
||||
|
||||
**验证连接成功的标志**：
|
||||
- 日志出现 `[MessageProcessor] ... wss://uni-lab.test.bohrium.com/api/v1/ws/schedule`
|
||||
- 日志出现 `[WebSocketClient] Host node ready signal published with 3 devices`
|
||||
- 日志出现 `Resource tree add completed`（资源树同步完成）
|
||||
|
||||
### 云端物料上架与入库（启动后必做）
|
||||
|
||||
> **在提交实验之前，必须提醒用户完成以下云端操作，否则实验会因物料缺失而失败。**
|
||||
|
||||
1. **拖拽上料**：在云端 UI（`$BASE/laboratory/<lab_uuid>`）的资源树视图中，将物料拖拽到对应的仓库/库位上。unilab 启动后资源树会自动同步到云端，但物料的**上架位置**需要用户在 UI 上手动确认或调整。
|
||||
|
||||
2. **确认配液物料入库**：确保所有配液实验需要的试剂（如 LiPF6、EC、DMC、EMC 等）已在 LIMS 系统中完成入库。可通过以下方式验证：
|
||||
- 云端 UI 资源树中对应仓库（如"粉末加样头堆栈"、"配液站内试剂仓库"）下有物料节点
|
||||
- 或通过 API #8 获取资源树后检查物料节点是否存在
|
||||
|
||||
3. **告知 AI 可以提交**：用户完成上述操作后，告知 AI "物料已上架，可以提交实验"，AI 再执行 notebook 提交流程。
|
||||
|
||||
**提醒话术模板**（AI 应在启动成功后发送给用户）：
|
||||
```
|
||||
unilab 已成功启动并连接云端。提交实验前请完成以下操作：
|
||||
1. 在云端 UI 上确认资源树中的物料位置，必要时拖拽调整上料位
|
||||
2. 确保配液所需的试剂（粉末、液体）已在 LIMS 中完成入库
|
||||
3. 完成后告诉我，我将为您提交实验
|
||||
```
|
||||
|
||||
### 生成 Action Schema（首次使用）
|
||||
|
||||
启动 unilab 后，在 `unilabos_data/` 目录下会生成 `req_device_registry_upload.json`。运行以下命令提取两个设备的 action JSON：
|
||||
|
||||
```bash
|
||||
python .cursor/skills/create-device-skill/scripts/extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json bioyond_cell_workstation .cursor/skills/yibin-electrolyte-submit/actions/
|
||||
python .cursor/skills/create-device-skill/scripts/extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json BatteryStation .cursor/skills/yibin-electrolyte-submit/actions/
|
||||
```
|
||||
|
||||
## 请求约定
|
||||
|
||||
- Windows 平台**必须用 `curl.exe`**（非 PowerShell 的 curl 别名）
|
||||
- 所有请求带 `$AUTH` 头
|
||||
- URL 格式：`$BASE/api/v1/<endpoint>`
|
||||
- POST/PATCH 请求体写入临时 JSON 文件后用 `-d '@tmp.json'` 传参（避免 PowerShell 转义问题）
|
||||
- 本地 API 基址：`http://127.0.0.1:8002/api/v1/`
|
||||
|
||||
## Session State
|
||||
|
||||
每次会话开始时，依次获取以下信息：
|
||||
|
||||
```bash
|
||||
# 1. lab_uuid
|
||||
curl.exe -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
# → data.uuid → $lab_uuid
|
||||
|
||||
# 2. project_uuid
|
||||
curl.exe -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
# → data.items[].uuid/name → 让用户选择或取唯一项 → $project_uuid
|
||||
```
|
||||
|
||||
## 工作流模板（重要）
|
||||
|
||||
> **必须向用户索要已有的工作流模板 UUID 或 URL，不要自行创建。**
|
||||
>
|
||||
> 原因：通过 `edge/workflow/node` API 创建节点会报 `resource_node_template not found`——
|
||||
> 云端的工作流节点模板系统和设备注册表是独立的，需要用户在云端 UI 上预先配置好工作流模板。
|
||||
|
||||
**获取方式**：
|
||||
- 用户提供工作流页面 URL，如 `$BASE/laboratory/<lab_uuid>/workflow/<workflow_uuid>`
|
||||
- 从 URL 中提取 `workflow_uuid`
|
||||
- 用 API 获取模板详情：
|
||||
|
||||
```
|
||||
GET /api/v1/lab/workflow/template/detail/<workflow_uuid>
|
||||
```
|
||||
|
||||
返回 `data.nodes[]`：每个节点的 uuid、name、param、device_name、handles、disabled。
|
||||
|
||||
**示例**：
|
||||
```
|
||||
工作流 URL: https://uni-lab.test.bohrium.com/laboratory/e9ed9102-d709-4741-b7a0-d1e8578e2065/workflow/b49f80d9-58d6-4456-a521-56f4dd39cda0
|
||||
→ workflow_uuid = b49f80d9-58d6-4456-a521-56f4dd39cda0
|
||||
```
|
||||
|
||||
从模板详情中提取**未 disabled** 的节点的 `uuid` 和 `name`，后续提交 notebook 时使用。
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### #1 获取 lab_uuid
|
||||
|
||||
```
|
||||
GET /api/v1/edge/lab/info
|
||||
```
|
||||
|
||||
### #2 列出项目
|
||||
|
||||
```
|
||||
GET /api/v1/lab/project/list?lab_uuid=$lab_uuid
|
||||
```
|
||||
|
||||
返回 `data.items[]`，取 `uuid` 和 `name`。
|
||||
|
||||
### #3 获取工作流模板详情
|
||||
|
||||
```
|
||||
GET /api/v1/lab/workflow/template/detail/<workflow_uuid>
|
||||
```
|
||||
|
||||
返回 `data.nodes[]`：每个节点的 uuid、name、param、device_name、handles。
|
||||
提取活跃节点（`disabled != true`）的 `uuid` 用于构建 notebook 请求。
|
||||
|
||||
### #4 提交实验（创建 notebook）— 核心 API
|
||||
|
||||
```
|
||||
POST /api/v1/lab/notebook
|
||||
Body: {
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"project_uuid": "<project_uuid>",
|
||||
"workflow_uuid": "<workflow_uuid>",
|
||||
"name": "<实验名称>",
|
||||
"node_params": [
|
||||
{
|
||||
"sample_uuids": [],
|
||||
"datas": [
|
||||
{
|
||||
"node_uuid": "<模板中的节点UUID>",
|
||||
"param": { <参数键值对> },
|
||||
"sample_params": []
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**关键注意事项**：
|
||||
- `node_params` 是数组，每个元素代表一轮实验
|
||||
- `datas` 中每个节点对应模板中的一个活跃节点
|
||||
- `param` 中的字段名**必须使用 Python 函数参数名**，不能用模板中存储的 LIMS 字段名（见下方映射表）
|
||||
|
||||
### #5 查询 notebook 状态
|
||||
|
||||
```
|
||||
GET /api/v1/lab/notebook/status?uuid=<notebook_uuid>
|
||||
```
|
||||
|
||||
| status | 含义 |
|
||||
|--------|------|
|
||||
| `running` | 执行中 |
|
||||
| `success` | 成功 |
|
||||
| `fail` | 失败 |
|
||||
|
||||
### #6 运行设备单动作（本地 API）
|
||||
|
||||
```
|
||||
POST http://127.0.0.1:8002/api/v1/job/add
|
||||
Body: {
|
||||
"device_id": "<device_id>",
|
||||
"action": "<action_name>",
|
||||
"action_args": { <参数键值对> },
|
||||
"sample_material": {}
|
||||
}
|
||||
```
|
||||
|
||||
本地 API 可自动解析 `action_type`，无需手动指定。适用于快速调试或云端未连接时。
|
||||
|
||||
### #7 查询本地任务状态
|
||||
|
||||
```
|
||||
GET http://127.0.0.1:8002/api/v1/job/<job_id>/status
|
||||
```
|
||||
|
||||
| status | 含义 |
|
||||
|--------|------|
|
||||
| 0 | UNKNOWN |
|
||||
| 1 | ACCEPTED |
|
||||
| 2 | EXECUTING |
|
||||
| 4 | SUCCEEDED |
|
||||
| 5 | CANCELED |
|
||||
| 6 | ABORTED |
|
||||
|
||||
### #8 获取资源树
|
||||
|
||||
```
|
||||
GET /api/v1/lab/material/download/<lab_uuid>
|
||||
```
|
||||
|
||||
返回所有节点（`id`, `name`, `uuid`, `type`, `parent`）。填写 Slot 字段时用此接口筛选节点。
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
action JSON 中 `placeholder_keys` 标记了哪些字段需要填 Slot：
|
||||
|
||||
| placeholder 值 | Slot 类型 | 填写格式 |
|
||||
|---------------|-----------|---------|
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` 路径字符串 |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` 路径字符串 |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` 字符串 |
|
||||
| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]` |
|
||||
|
||||
### ResourceSlot 填写
|
||||
|
||||
从 API #8 资源树中筛选**物料**节点：
|
||||
|
||||
```json
|
||||
{"id": "/bioyond_cell_workstation/YB_Bioyond_Deck/自动堆栈-左", "name": "自动堆栈-左", "uuid": "3a19debc-..."}
|
||||
```
|
||||
|
||||
数组字段：`[{id, name, uuid}, ...]`
|
||||
特例：`create_resource` 的 `res_id` 允许填不存在的路径。
|
||||
|
||||
### DeviceSlot 填写
|
||||
|
||||
从资源树筛选 `type=device` 的节点，填路径字符串：
|
||||
|
||||
```
|
||||
"/BatteryStation"
|
||||
"/bioyond_cell_workstation"
|
||||
```
|
||||
|
||||
### FormulationSlot 填写
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"sample_uuid": "",
|
||||
"well_name": "YB_PrepBottle_15mL_Carrier_bottle_A1",
|
||||
"liquids": [
|
||||
{ "name": "LiPF6", "mass": 12.5 },
|
||||
{ "name": "EC", "mass": 50.0 }
|
||||
]
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
`well_name` 从资源树中取物料节点的 `name`。
|
||||
|
||||
## 参数名映射（重要的坑）
|
||||
|
||||
> 工作流模板中存储的参数名和 Python 函数实际接受的参数名**不一定相同**。
|
||||
> 提交 notebook 时必须使用 **Python 函数参数名**。
|
||||
|
||||
### `create_orders_formulation` 参数映射
|
||||
|
||||
| 模板中的 param 键 | 实际 Python 参数名 | 说明 |
|
||||
|-------------------|-------------------|------|
|
||||
| `pouch_cell_info` | `pouch_cell_volume` | 软包组装分液体积 (mL) |
|
||||
| `conductivity_info` | `conductivity_volume` | 电导测试分液体积 (mL) |
|
||||
| `load_shedding_info` | `coin_cell_volume` | 扣电组装分液体积 (mL) |
|
||||
| `formulation` | `formulation` | 配方数组（名称一致） |
|
||||
| `batch_id` | `batch_id` | 批次号（名称一致） |
|
||||
| `bottle_type` | `bottle_type` | 配液瓶类型（名称一致） |
|
||||
| `mix_time` | `mix_time` | 混匀时间(秒)（名称一致） |
|
||||
| `conductivity_bottle_count` | `conductivity_bottle_count` | 电导瓶数（名称一致） |
|
||||
|
||||
当从模板中读到 `param` 包含 `pouch_cell_info` 等 LIMS 字段名时，提交 notebook 时要用右列的 Python 函数参数名。否则会报 `TypeError: got an unexpected keyword argument`。
|
||||
|
||||
## 典型工作流
|
||||
|
||||
### 方式一：通过 Notebook API 批量提交（推荐）
|
||||
|
||||
**适用场景**：多组配方的批量实验，云端管理实验记录
|
||||
|
||||
```
|
||||
1. 向用户索要工作流模板 URL（不要自行创建）
|
||||
2. 获取 lab_uuid（API #1）和 project_uuid（API #2）
|
||||
3. 获取工作流模板详情（API #3），提取活跃节点 UUID
|
||||
4. 解析用户提供的 Excel 文件，构建 formulation 数组
|
||||
5. 提交 notebook（API #4）
|
||||
6. 轮询 notebook 状态（API #5）直到完成
|
||||
```
|
||||
|
||||
**Excel 解析规则**：
|
||||
- 全局参数在第一个数据行：`batch_id`、`bottle_type`、`mix_time`、`coin_cell_volume`、`pouch_cell_volume`、`conductivity_volume`、`conductivity_bottle_count`
|
||||
- 配方列从"试剂名1"开始，交替排列：试剂名列 + 质量列（以 `(g)` 结尾）
|
||||
- 每行一个配方，`order_name` = 配方ID列
|
||||
- formulation 中每个配方的 materials 数组只包含 `mass > 0` 的试剂
|
||||
|
||||
**node_params 构建**：所有配方放入同一个 round 的同一个 datas 条目中，因为只有一个节点（`create_orders_formulation`）。
|
||||
|
||||
### 方式二：设备单步操作（本地 API）
|
||||
|
||||
**适用场景**：调试、快速测试
|
||||
|
||||
```
|
||||
1. 确保 unilab 已在本地启动
|
||||
2. 通过 POST http://127.0.0.1:8002/api/v1/job/add 提交任务
|
||||
3. 通过 GET /api/v1/job/<job_id>/status 查询状态
|
||||
```
|
||||
|
||||
### 设备操作流程：配液 → 转运 → 扣电
|
||||
|
||||
```
|
||||
1. [配液站] scheduler_start_and_auto_feeding → 启动调度 + 上料
|
||||
2. [配液站] create_orders_formulation → 创建配液实验（配方输入）
|
||||
3. [配液站] transfer_3_to_2_to_1_auto → 分液瓶板转运到扣电站
|
||||
4. [扣电站] func_pack_device_init_auto_start_combined → 初始化+自动+启动
|
||||
5. [扣电站] func_sendbottle_allpack_multi → 发送瓶数+批量组装
|
||||
```
|
||||
|
||||
## 云端使用心得
|
||||
|
||||
### 环境准备
|
||||
- Windows 必须设置 `$env:PYTHONIOENCODING="utf-8"` 防止编码崩溃
|
||||
- 使用 `--skip_env_check` 跳过依赖检查，加快启动
|
||||
- 工作目录建议在 `unilabos/devices/workstation` 下启动
|
||||
|
||||
### 连接与注册
|
||||
- `--upload_registry` 会自动将设备和资源注册到云端
|
||||
- WebSocket 连接建立后，本地和云端的资源树会自动同步
|
||||
- 注册成功后用户需在云端 UI 完成**物料拖放上架**操作
|
||||
- 如果 unilab 断开重连，资源树会重新同步
|
||||
|
||||
### 工作流模板
|
||||
- **不要自行调用 API 创建工作流或节点**——云端工作流节点模板需要预配置
|
||||
- 始终向用户索要已有的工作流模板 URL
|
||||
- 从 URL 中提取 `workflow_uuid`，通过 API #3 获取详情
|
||||
- 模板中 `disabled: true` 的节点跳过，只处理活跃节点
|
||||
|
||||
### Notebook 实验提交
|
||||
- Notebook 是云端管理实验的标准方式
|
||||
- 一个 notebook 可包含多轮（`node_params` 数组），每轮可包含多组参数
|
||||
- 提交后通过 API #5 轮询状态，LIMS 配液流程通常需要较长时间（8 个配方约 30-60 分钟）
|
||||
- 实验进度可在云端 UI 和本地 unilab 日志中同步查看
|
||||
|
||||
### 常见错误
|
||||
| 错误 | 原因 | 解决 |
|
||||
|------|------|------|
|
||||
| `edge not started error` | unilab 未连接云端 WebSocket | 检查 unilab 是否在运行、重启 |
|
||||
| `resource_node_template not found` | 云端没有该设备的工作流模板 | 向用户索要已有模板，不要自行创建 |
|
||||
| `got an unexpected keyword argument` | 参数名用了模板字段名而非 Python 函数参数名 | 参照上方映射表转换 |
|
||||
| `UnicodeEncodeError: 'gbk'` | Windows 默认编码不支持特殊字符 | 设置 `PYTHONIOENCODING=utf-8` |
|
||||
| `parse parameter error` | 云端 API 字段名错误 | `device_id` (非 `device_name`)、`action` (非 `action_name`)、必须带 `action_type` |
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
1. 先读本文件了解 API 端点、参数映射和云端注意事项
|
||||
2. 需要具体 action 参数时，读 [action-index.md](action-index.md) 查找 action 名称和核心参数
|
||||
3. 需要完整 schema 时，读 `actions/<action_name>.json`（需先运行提取命令生成）
|
||||
4. 需要理解参数含义时，读设备源码
|
||||
|
||||
## 完整 Notebook 提交 Checklist
|
||||
|
||||
```
|
||||
- [ ] 确认 unilab 已在本地启动并连接云端 WebSocket
|
||||
- [ ] 提醒用户在云端 UI 拖拽上料、确认物料位置
|
||||
- [ ] 提醒用户确认配液所需试剂已在 LIMS 完成入库
|
||||
- [ ] 等待用户确认物料就绪后再继续
|
||||
- [ ] 向用户索要工作流模板 URL → 提取 workflow_uuid
|
||||
- [ ] 获取 lab_uuid（API #1）
|
||||
- [ ] 获取 project_uuid（API #2）
|
||||
- [ ] 获取工作流模板详情（API #3），提取活跃节点 UUID
|
||||
- [ ] 解析用户 Excel 文件 → 构建 formulation + 全局参数
|
||||
- [ ] 注意参数名映射（模板字段名 → Python 函数参数名）
|
||||
- [ ] 提交 notebook（API #4）
|
||||
- [ ] 轮询 notebook 状态（API #5）直到完成
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 真实场景：宜宾产线 Excel 提交提示词模板
|
||||
|
||||
> 以下为已验证可用的标准提示词，适用于配液-分液-扣电全流程。
|
||||
|
||||
### 场景说明
|
||||
|
||||
- unilab 运行在本地 Windows 机器（miniforge 环境），连接云端 WebSocket
|
||||
- AI（Cursor / OpenClaw）在任意设备上，通过云端 API 操作，**不需要本地 127.0.0.1**
|
||||
- 工作流为 5 节点串联：`create_orders_formulation` → `transfer_3_to_2_to_1_auto` → `func_pack_device_init_auto_start_combined` → `func_sendbottle_allpack_multi` → `transfer_1_to_2`
|
||||
|
||||
### 已知固定参数（宜宾产线）
|
||||
|
||||
```
|
||||
BASE = https://uni-lab.test.bohrium.com
|
||||
lab_uuid = e9ed9102-d709-4741-b7a0-d1e8578e2065
|
||||
project = YiBinElectrolyte (bc5224b4-8120-4765-9961-9dfc1802a1f6)
|
||||
workflow = 配液分液formulation全流程 (2bc59938-db79-4415-ac2d-9897ef125f2f)
|
||||
```
|
||||
|
||||
#### 工作流节点 UUID（固定，无需重新查询）
|
||||
|
||||
| 顺序 | action | node_uuid |
|
||||
|------|--------|-----------|
|
||||
| Step1 | auto-create_orders_formulation | `ece6744a-81ac-4ae4-8cd1-1c8eeda1dab6` |
|
||||
| Step2 | auto-transfer_3_to_2_to_1_auto | `1c37a8dd-5ba0-413d-81db-94b9c936a171` |
|
||||
| Step3 | auto-func_pack_device_init_auto_start_combined | `97a676a2-d257-4479-9096-073b40300970` |
|
||||
| Step4 | auto-func_sendbottle_allpack_multi | `cf69017a-d29c-4aad-a63b-309d63dac2e9` |
|
||||
| Step5 | auto-transfer_1_to_2 | `80d1c1aa-dbc3-4601-86b7-5c22a992dd9e` |
|
||||
|
||||
### 标准提示词
|
||||
|
||||
```
|
||||
请使用 yibin-electrolyte-submit skill，提交以下实验：
|
||||
|
||||
工作流模板 URL：https://uni-lab.test.bohrium.com/laboratory/e9ed9102-d709-4741-b7a0-d1e8578e2065/workflow/2bc59938-db79-4415-ac2d-9897ef125f2f
|
||||
Excel 文件路径：<粘贴或上传 xlsx 路径>
|
||||
|
||||
注意事项：
|
||||
- lab_uuid、project_uuid、workflow节点UUID均已固定，无需重新查询
|
||||
- 直接解析 Excel → 构建 payload → 提交
|
||||
- mix_time 传标量整数即可（已兼容）
|
||||
- 试剂名以 Excel 为准，注意区分 LiDFOB / LiDOFB 等拼写
|
||||
- csv_export_path 取 Excel 中 csv_export_path 列的值
|
||||
- 提交后告知 notebook UUID，无需自动轮询（实验耗时较长）
|
||||
```
|
||||
|
||||
### Excel 列结构说明（experment_template_0415sim-*.xlsx）
|
||||
|
||||
| 列范围 | 内容 |
|
||||
|--------|------|
|
||||
| C | batch_id |
|
||||
| D | bottle_type |
|
||||
| E-H | coin_cell_volume / conductivity_bottle_count / conductivity_volume / csv_export_path |
|
||||
| I-T | 试剂名+质量 交替排列（最多6对）|
|
||||
| U | mix_time |
|
||||
| V | order_name（每行配方的订单号）|
|
||||
| W | pouch_cell_volume |
|
||||
| X-Y | target_device / target_location（Step2参数）|
|
||||
| AA | material_search_enable（Step3参数）|
|
||||
| AB-AS | 扣电站参数（Step4）|
|
||||
|
||||
### CSV 导出说明
|
||||
|
||||
每次 `create_orders_formulation` 完成后，在 `csv_export_path` 目录下生成：
|
||||
```
|
||||
electrolyte_orders_<YYYYMMDD_HHMMSS>.csv
|
||||
```
|
||||
列：`orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, 目标配液质量比, 真实配液质量比, 时间`
|
||||
|
||||
> **注意**：barCode 为 `null` 或 `"nullBarCode123456"` 是正常现象，表示 LIMS 中该物料尚未扫码。配液瓶缺失通常是因为物料未放在手动传递窗（`locationId` 前缀 `3a19deae-2c7a-`）。
|
||||
@@ -1,295 +0,0 @@
|
||||
# Action 索引
|
||||
|
||||
> Action JSON 文件需运行提取命令生成，详见 [SKILL.md](SKILL.md) 中「生成 Action Schema」。
|
||||
> 以下描述和参数信息基于源码分析。
|
||||
|
||||
---
|
||||
|
||||
## 配液分液工站 (`bioyond_cell_workstation`)
|
||||
|
||||
源码：`unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
|
||||
|
||||
### 调度控制
|
||||
|
||||
#### `scheduler_start`
|
||||
|
||||
启动 Bioyond LIMS 调度系统
|
||||
|
||||
- **核心参数**: 无（仅需 apiKey/requestTime，由设备内部处理）
|
||||
- **返回**: LIMS 响应 `{code, message, data}`
|
||||
|
||||
#### `scheduler_stop`
|
||||
|
||||
停止调度
|
||||
|
||||
- **核心参数**: 无
|
||||
|
||||
#### `scheduler_continue`
|
||||
|
||||
继续调度（从暂停状态恢复）
|
||||
|
||||
- **核心参数**: 无
|
||||
|
||||
#### `scheduler_reset`
|
||||
|
||||
复位调度
|
||||
|
||||
- **核心参数**: 无
|
||||
|
||||
#### `scheduler_start_and_auto_feeding`
|
||||
|
||||
**组合操作**：启动调度 + 自动化上料（4号→3号手套箱）
|
||||
|
||||
- **核心参数**: `xlsx_path`（Excel 物料模板路径，可选）
|
||||
- **可选参数**: WH4 加样头面 12 个点位（materialName + quantity）、WH4 原液瓶面 9 个点位（materialName + quantity + materialType + targetWH）、WH3 人工堆栈 15 个点位（materialType + materialId + quantity）
|
||||
- **流程**: 先 `scheduler_start()`，成功后执行 `auto_feeding4to3()`
|
||||
- **备注**: 支持 Excel 模式和手动参数模式，Excel 路径存在时优先使用 Excel
|
||||
|
||||
### 物料上料/下料
|
||||
|
||||
#### `auto_feeding4to3`
|
||||
|
||||
自动化上料：从 4 号手套箱转运物料到 3 号手套箱
|
||||
|
||||
- **核心参数**: `xlsx_path`（Excel 物料模板路径）
|
||||
- **可选参数**: 同 `scheduler_start_and_auto_feeding` 的 WH4/WH3 点位参数
|
||||
- **返回**: 等待上料任务完成后返回结果
|
||||
|
||||
#### `auto_batch_outbound_from_xlsx`
|
||||
|
||||
自动化下料（从 Excel 读取下料信息）
|
||||
|
||||
- **核心参数**: `xlsx_path`（Excel 下料模板）
|
||||
- **Excel 列**: locationId, warehouseId, 数量, x, y, z
|
||||
|
||||
### 物料管理
|
||||
|
||||
#### `create_and_inbound_materials`
|
||||
|
||||
批量创建固体物料并入库
|
||||
|
||||
- **核心参数**: `material_names`（物料名称列表，默认 `["LiPF6", "LiDFOB", "DTD", "LiFSI", "LiPO2F2"]`）
|
||||
- **可选参数**: `type_id`（物料类型ID）, `warehouse_name`（目标仓库，默认 "粉末加样头堆栈"）
|
||||
- **流程**: 创建物料 → 批量入库 → 同步
|
||||
|
||||
#### `create_material`
|
||||
|
||||
创建单个物料并可选入库
|
||||
|
||||
- **核心参数**: `material_name`, `type_id`, `warehouse_name`
|
||||
- **可选参数**: `location_name_or_id`（库位编号如 "A01" 或 UUID）
|
||||
|
||||
#### `create_sample`
|
||||
|
||||
创建配液板物料（含子瓶）并入库
|
||||
|
||||
- **核心参数**: `name`, `board_type`（如 "5ml分液瓶板"）, `bottle_type`（如 "5ml分液瓶"）, `location_code`（如 "A01"）
|
||||
- **可选参数**: `warehouse_name`（默认 "手动堆栈"）
|
||||
- **备注**: 自动创建 2x4=8 个子瓶
|
||||
|
||||
#### `storage_inbound`
|
||||
|
||||
单个物料入库
|
||||
|
||||
- **核心参数**: `material_id`, `location_id`
|
||||
|
||||
#### `storage_batch_inbound`
|
||||
|
||||
批量物料入库
|
||||
|
||||
- **核心参数**: `items`（`[{materialId, locationId}, ...]`）
|
||||
|
||||
### 配液实验
|
||||
|
||||
#### `create_orders`
|
||||
|
||||
从 Excel 文件创建配液实验订单
|
||||
|
||||
- **核心参数**: `xlsx_path`（Excel 文件路径）
|
||||
- **Excel 列**: 配方ID, 创建日期, 配液瓶类型, 混匀时间(s), 扣电组装分液体积, 软包组装分液体积, 电导测试分液体积, 电导测试分液瓶数, 以及所有以 `(g)` 结尾的物料列
|
||||
- **流程**: 解析 Excel → 提交订单 → 等待全部完成 → 计算质量比 → 提取分液瓶板 → 创建资源树对象
|
||||
- **返回**: `{status, total_orders, bottle_count, reports, mass_ratios, vial_plates}`
|
||||
|
||||
#### `create_orders_formulation`
|
||||
|
||||
从配方列表创建配液实验订单（前端/API 输入版本）
|
||||
|
||||
- **核心参数**: `formulation`（配方数组）
|
||||
- **可选参数**: `batch_id`, `bottle_type`（默认 "配液小瓶"）, `mix_time`（秒，列表）, `coin_cell_volume`, `pouch_cell_volume`, `conductivity_volume`, `conductivity_bottle_count`
|
||||
- **formulation 格式**:
|
||||
```json
|
||||
[
|
||||
{
|
||||
"order_name": "配方A",
|
||||
"materials": [
|
||||
{"name": "LiPF6", "mass": 12.5},
|
||||
{"name": "EC", "mass": 50.0},
|
||||
{"name": "DMC", "mass": 37.5}
|
||||
]
|
||||
}
|
||||
]
|
||||
```
|
||||
- **返回**: 同 `create_orders`
|
||||
|
||||
### 物料转运
|
||||
|
||||
#### `transfer_3_to_2_to_1_auto`
|
||||
|
||||
**自动转运**：从 create_orders 结果中自动定位分液瓶板并转运到目标设备
|
||||
|
||||
- **核心参数**: `vial_plates`（分液瓶板列表，来自 create_orders 返回的 `vial_plates`）
|
||||
- **可选参数**: `target_device`（默认 "BatteryStation"）, `target_location`（默认 "bottle_rack_6x2"）, `mass_ratios`（配方信息）
|
||||
- **流程**: 遍历瓶板 → 解析 locationId → 调用 LIMS 转运 API → 更新资源树
|
||||
- **返回**: `{total, success, failed, results}`
|
||||
|
||||
#### `transfer_3_to_2_to_1`
|
||||
|
||||
3→2→1 物料转运（手动指定坐标）
|
||||
|
||||
- **核心参数**: `source_wh_id`, `source_x`, `source_y`, `source_z`
|
||||
|
||||
#### `transfer_3_to_2`
|
||||
|
||||
3→2 物料转运
|
||||
|
||||
- **核心参数**: `source_wh_id`, `source_x`, `source_y`, `source_z`
|
||||
|
||||
#### `transfer_1_to_2`
|
||||
|
||||
1→2 物料转运
|
||||
|
||||
- **核心参数**: 无
|
||||
|
||||
### 查询
|
||||
|
||||
#### `order_list_v2`
|
||||
|
||||
批量查询实验报告
|
||||
|
||||
- **可选参数**: `timeType`, `beginTime`, `endTime`, `status`（60=运行中, 80=完成, 90=失败）, `filter`, `skipCount`, `pageCount`, `sorting`
|
||||
|
||||
---
|
||||
|
||||
## 扣电组装站 (`BatteryStation`)
|
||||
|
||||
源码：`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
|
||||
|
||||
### 设备控制（组合操作）
|
||||
|
||||
#### `func_pack_device_init_auto_start_combined`
|
||||
|
||||
**组合操作**：设备初始化 → 物料搜寻确认 → 切换自动模式 → 启动
|
||||
|
||||
- **核心参数**: `material_search_enable`（是否启用物料搜寻，默认 `False`）
|
||||
- **前置检查**: REG_UNILAB_INTERACT=False, COIL_GB_L_IGNORE_CMD=False, 所有握手寄存器无残留
|
||||
- **流程**: 手动模式 → 初始化命令 → 监测物料搜寻弹窗并自动处理 → 自动模式 → 启动
|
||||
- **返回**: `True`/`False`
|
||||
- **备注**: 第一次运行必须调用此函数；后续批次调用 `func_sendbottle_allpack_multi`
|
||||
|
||||
### 批量组装
|
||||
|
||||
#### `func_sendbottle_allpack_multi`
|
||||
|
||||
**发送瓶数 + 批量组装**（适用于第二批次及后续批次）
|
||||
|
||||
- **核心参数**: `elec_num`（电解液瓶数）, `elec_use_num`（每瓶组装电池数）, `elec_vol`（电解液吸液量 μL，默认 50）
|
||||
- **可选参数**:
|
||||
- 双滴模式：`dual_drop_mode`(bool), `dual_drop_first_volume`(μL), `dual_drop_suction_timing`(bool), `dual_drop_start_timing`(bool)
|
||||
- 组装参数：`assembly_type`(7=不用铝箔垫/8=用), `assembly_pressure`(N，默认 4200)
|
||||
- 物料参数：`fujipian_panshu`, `fujipian_juzhendianwei`, `gemopanshu`, `gemo_juzhendianwei`, `qiangtou_juzhendianwei`
|
||||
- 开关：`lvbodian`(铝箔垫片), `battery_pressure_mode`(压力模式), `battery_clean_ignore`(忽略清洁)
|
||||
- 其他：`file_path`(CSV保存路径), `formulations`(配方信息，用于CSV追溯)
|
||||
- **流程**: 发送瓶数触发物料搬运 → 设置PLC参数 → 循环（等待PLC请求→下发参数→读取电池数据→写入CSV→更新资源树）→ 完成握手
|
||||
- **返回**: `{success, total_batteries, batteries, summary}`
|
||||
- **备注**: 设备已初始化后直接调用；`formulations` 来自 create_orders 的 `mass_ratios`
|
||||
|
||||
#### `func_allpack_cmd`
|
||||
|
||||
全套组装（基础版本，含断点续传）
|
||||
|
||||
- **核心参数**: `elec_num`, `elec_use_num`, `elec_vol`, `assembly_type`, `assembly_pressure`, `file_path`
|
||||
- **返回**: `{success, total_batteries, batteries, summary}`
|
||||
|
||||
#### `func_allpack_cmd_simp`
|
||||
|
||||
增强版组装（含双滴模式 + 负极片/隔膜/枪头参数）
|
||||
|
||||
- **核心参数**: 同 `func_sendbottle_allpack_multi`
|
||||
- **备注**: 被 `func_sendbottle_allpack_multi` 内部调用
|
||||
|
||||
### 设备控制（单步操作）
|
||||
|
||||
#### `func_pack_device_init`
|
||||
|
||||
设备初始化（手动模式 → 初始化 → 复位标志）
|
||||
|
||||
#### `func_pack_device_auto`
|
||||
|
||||
切换自动模式
|
||||
|
||||
#### `func_pack_device_start`
|
||||
|
||||
启动设备
|
||||
|
||||
#### `func_pack_device_stop`
|
||||
|
||||
设备停止
|
||||
|
||||
#### `func_pack_send_bottle_num`
|
||||
|
||||
发送电解液瓶数（触发物料搬运）
|
||||
|
||||
- **核心参数**: `bottle_num`（瓶数）
|
||||
|
||||
### PLC 参数设置
|
||||
|
||||
#### `qiming_coin_cell_code`
|
||||
|
||||
设置组装物料参数
|
||||
|
||||
- **核心参数**: `fujipian_panshu`（负极片盘数）
|
||||
- **可选参数**: `fujipian_juzhendianwei`, `gemopanshu`, `gemo_juzhendianwei`, `lvbodian`, `battery_pressure_mode`, `battery_pressure`, `battery_clean_ignore`
|
||||
|
||||
### 数据采集
|
||||
|
||||
#### `func_read_data_and_output`
|
||||
|
||||
持续数据采集并导出 CSV（后台循环运行）
|
||||
|
||||
- **核心参数**: `file_path`（CSV 保存目录）
|
||||
- **采集字段**: 开路电压, 极片质量, 组装时间, 压制力, 电解液加注量, 电池类型, 电解液二维码, 电池二维码
|
||||
|
||||
#### `func_stop_read_data`
|
||||
|
||||
停止 CSV 数据采集
|
||||
|
||||
### 设备状态属性（只读）
|
||||
|
||||
| 属性 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `sys_status` | str | 设备状态（启动中/停止中/复位中/初始化中） |
|
||||
| `sys_mode` | str | 设备模式（手动/自动） |
|
||||
| `data_assembly_coin_cell_num` | int | 已完成电池数量 |
|
||||
| `data_assembly_time` | float | 单颗电池组装时间(秒) |
|
||||
| `data_open_circuit_voltage` | float | 开路电压(V) |
|
||||
| `data_pole_weight` | float | 正极片称重(g) |
|
||||
| `data_glove_box_pressure` | float | 手套箱压力(mbar) |
|
||||
| `data_glove_box_o2_content` | float | 手套箱氧含量(ppm) |
|
||||
| `data_glove_box_water_content` | float | 手套箱水含量(ppm) |
|
||||
| `data_coin_cell_code` | str | 电池二维码 |
|
||||
| `data_electrolyte_code` | str | 电解液二维码 |
|
||||
|
||||
---
|
||||
|
||||
## 配置参考
|
||||
|
||||
设备图文件 `yibin_electrolyte_config.json` 中的仓库映射（`warehouse_mapping`）：
|
||||
|
||||
| 仓库名称 | 说明 | 典型操作 |
|
||||
|---------|------|---------|
|
||||
| 粉末加样头堆栈 | 20 个点位 (A01-T01) | `create_and_inbound_materials` 入库目标 |
|
||||
| 配液站内试剂仓库 | 9 个点位 (A01-C03) | 试剂存储 |
|
||||
| 自动堆栈-左 | 4 个点位 | 分液瓶板存放，`transfer_3_to_2_to_1_auto` 的源位置 |
|
||||
| 自动堆栈-右 | 4 个点位 | 分液瓶板存放 |
|
||||
| 手动传递窗左/右 | 各 15 个点位 | 人工上料/下料 |
|
||||
| 4号手套箱内部堆栈 | 12 个点位 | `auto_feeding4to3` 的源位置 |
|
||||
5
.gitignore
vendored
5
.gitignore
vendored
@@ -251,7 +251,4 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
|
||||
*.bz2
|
||||
test_config.py
|
||||
|
||||
# Local config files with secrets
|
||||
yibin_coin_cell_only_config.json
|
||||
yibin_electrolyte_config.json
|
||||
yibin_electrolyte_only_config.json
|
||||
|
||||
|
||||
@@ -1,72 +0,0 @@
|
||||
# CSV 导出功能变更概要
|
||||
|
||||
## 修改的文件
|
||||
|
||||
### 1. [bioyond_cell_workstation.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py)
|
||||
|
||||
#### 新增导入
|
||||
- `import csv` 和 `import os`（L14-15）
|
||||
|
||||
#### 新增方法
|
||||
|
||||
| 方法 | 功能 |
|
||||
|------|------|
|
||||
| `_extract_prep_bottle_from_report` | 从 order_finish 报文提取**配液瓶**信息（每订单最多1个） |
|
||||
| `_extract_vial_bottles_from_report` | 从 order_finish 报文提取**分液瓶**信息（每订单可多个，返回数组） |
|
||||
| `_export_order_csv` | 汇总所有信息写入 CSV 文件 |
|
||||
|
||||
#### 配液瓶筛选逻辑 (`_extract_prep_bottle_from_report`)
|
||||
- `typemode="1"`, `realQuantity=1`, `usedQuantity=1`
|
||||
- `locationId` 以 `3a19deae-2c7a-` 开头（手动传递窗）
|
||||
- LIMS API 二次确认：`typeName` 含"配液瓶(小)"或"配液瓶(大)"
|
||||
|
||||
#### 分液瓶筛选逻辑 (`_extract_vial_bottles_from_report`)
|
||||
- `typemode="1"`, `realQuantity=1`, `usedQuantity=1`
|
||||
- `locationId` 以 `3a19debc-84b5-` 或 `3a19debe-5200` 开头（自动堆栈-左/右）
|
||||
- LIMS API 二次确认：`typeName` 为"5ml分液瓶"或"20ml分液瓶"
|
||||
- **返回数组**，支持 1×5ml + n×20ml 的组合
|
||||
|
||||
#### 修改的方法
|
||||
|
||||
| 方法 | 变更 |
|
||||
|------|------|
|
||||
| `_submit_and_wait_orders` | 新增配液瓶+分液瓶提取步骤，将 `prep_bottles` 和 `vial_bottles` 存入 `final_result` |
|
||||
| `create_orders` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` |
|
||||
| `create_orders_formulation` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` |
|
||||
|
||||
#### CSV 输出格式
|
||||
```
|
||||
orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, 目标配液质量比, 真实配液质量比, 时间
|
||||
```
|
||||
- 单个分液瓶时直接写值；多个分液瓶时类型和二维码用 JSON 数组表示
|
||||
- CSV 编码使用 `utf-8-sig`（兼容 Excel 打开）
|
||||
- `csv_export_path` 默认为空字符串，不传则不导出（向后兼容）
|
||||
|
||||
---
|
||||
|
||||
### 2. [bioyond_cell.yaml](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/registry/devices/bioyond_cell.yaml)
|
||||
|
||||
为两个 action 注册了 `csv_export_path` 参数：
|
||||
|
||||
- `auto-create_orders`: `goal_default` + `schema.properties.goal.properties` 中添加 `csv_export_path`
|
||||
- `auto-create_orders_formulation`: 同上
|
||||
|
||||
---
|
||||
|
||||
### 3. [coin_cell_assembly.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py) 的 CSV 改动与全流程追溯
|
||||
|
||||
在 `bioyond_cell_workstation.py` 的 `_submit_and_wait_orders` 最后阶段，提取 `prep_bottles`（配液瓶）和 `vial_bottles`（分液瓶）的条码并随 `mass_ratios` 数组一起下发给各下游工站（例如扣电组装站），实现跨站的全流程配方追溯。
|
||||
|
||||
并在扣电站生成的 `date_xxx.csv` 中，**替换并新增**了以下列：
|
||||
- 移除了原有的 `formulation_order_code` 与合并的 `formulation_ratio` 列。
|
||||
- 新增 `orderName` 导出
|
||||
- 新增 `prep_bottle_barcode`（奔曜传递的配液瓶二维码）
|
||||
- 新增 `vial_bottle_barcodes`（奔曜传递的分液瓶二维码，多瓶时存 JSON 数组）
|
||||
- 新增 `target_mass_ratio` 理论目标质量比
|
||||
- 新增 `real_mass_ratio` 实际称量真实质量比
|
||||
|
||||
*注意：这与操作人员在手套箱内扫码传入扣电站的 `electrolyte_code` 是单独记录的，方便做数据核对。*
|
||||
|
||||
## 向后兼容性
|
||||
- `csv_export_path` 默认值为 `""`（空字符串），现有调用不受影响
|
||||
- 新增的 `prep_bottles` 和 `vial_bottles` 字段为 `final_result` 和 `mass_ratios` 内部的新增附属字段，不破坏现有数据结构。
|
||||
@@ -1,168 +0,0 @@
|
||||
# 变更说明 2026-03-24
|
||||
|
||||
## 问题背景
|
||||
|
||||
`BioyondElectrolyteDeck`（原 `BIOYOND_YB_Deck`）迁移后，前端物料未能正常上传/同步。
|
||||
|
||||
---
|
||||
|
||||
## 修复内容
|
||||
|
||||
### 1. `unilabos/resources/bioyond/decks.py`
|
||||
|
||||
- 补回 `setup: bool = False` 参数及 `if setup: self.setup()` 逻辑，与旧版 `BIOYOND_YB_Deck` 保持一致
|
||||
- 工厂函数 `bioyond_electrolyte_deck` 保留显式调用 `deck.setup()`，避免重复初始化
|
||||
|
||||
```python
|
||||
# 修复前（缺少 setup 参数，无法通过 setup=True 触发初始化）
|
||||
def __init__(self, name, size_x, size_y, size_z, category):
|
||||
super().__init__(...)
|
||||
|
||||
# 修复后
|
||||
def __init__(self, name, size_x, size_y, size_z, category, setup: bool = False):
|
||||
super().__init__(...)
|
||||
if setup:
|
||||
self.setup()
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 2. `unilabos/resources/graphio.py`
|
||||
|
||||
- 修复 `resource_bioyond_to_plr` 中两处 `bottle.tracker.liquids` 直接赋值导致的崩溃
|
||||
- `ResourceHolder`（如枪头盒的 TipSpot 槽位）没有 `tracker` 属性，直接访问会抛出 `AttributeError`，阻断整个 Bioyond 同步流程
|
||||
|
||||
```python
|
||||
# 修复前
|
||||
bottle.tracker.liquids = [...]
|
||||
|
||||
# 修复后
|
||||
if hasattr(bottle, 'tracker') and bottle.tracker is not None:
|
||||
bottle.tracker.liquids = [...]
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 3. `unilabos/app/main.py`
|
||||
|
||||
- 保留 `file_path is not None` 条件不变（已还原），并补充注释说明原因
|
||||
- 该逻辑只在**本地文件模式**下有意义：本地 graph 文件只含设备结构，远端有已保存物料，merge 才能将两者合并
|
||||
- 远端模式（`file_path=None`）下，`resource_tree_set` 和 `request_startup_json` 来自同一份数据，merge 为空操作，条件是否加 `file_path is not None` 对结果没有影响
|
||||
|
||||
---
|
||||
|
||||
### 4. `unilabos/devices/workstation/bioyond_studio/station.py` ⭐ 核心修复
|
||||
|
||||
- 当 deck 通过反序列化创建时，不会自动调用 `setup()`，导致 `deck.children` 为空，`warehouses` 始终是 `{}`
|
||||
- 增加兜底逻辑：仓库扫描后仍为空，则主动调用 `deck.setup()` 初始化仓库
|
||||
- 这是导致所有物料放置失败（`warehouse '...' 在deck中不存在。可用warehouses: []`）的根本原因
|
||||
|
||||
```python
|
||||
# 新增兜底
|
||||
if not self.deck.warehouses and hasattr(self.deck, "setup") and callable(self.deck.setup):
|
||||
logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库")
|
||||
self.deck.setup()
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
---
|
||||
|
||||
## 补充修复 2026-03-25：依华扣电组装工站子物料未上传
|
||||
|
||||
### 问题
|
||||
|
||||
`CoinCellAssemblyWorkstation.post_init` 直接上传空 deck，未调用 `deck.setup()`，导致：
|
||||
- 前端子物料（成品弹夹、料盘、瓶架等）不显示
|
||||
- 运行时 `self.deck.get_resource("成品弹夹")` 抛出 `ResourceNotFoundError`
|
||||
|
||||
### 修复文件
|
||||
|
||||
**`unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`**
|
||||
- `YihuaCoinCellDeck.__init__` 补回 `setup: bool = False` 参数及 `if setup: self.setup()` 逻辑
|
||||
|
||||
**`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`**
|
||||
- `post_init` 中增加与 Bioyond 工站相同的兜底逻辑：deck 无子节点时调用 `deck.setup()` 初始化
|
||||
|
||||
```python
|
||||
# post_init 中新增
|
||||
if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
|
||||
logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化")
|
||||
self.deck.setup()
|
||||
```
|
||||
|
||||
### 联动 Bug：`MaterialPlate.create_with_holes` 构造顺序错误
|
||||
|
||||
**现象**：`deck.setup()` 被调用后，启动时抛出：
|
||||
```
|
||||
设备后初始化失败: Must specify either `ordered_items` or `ordering`.
|
||||
```
|
||||
|
||||
**根因**：`create_with_holes` 原来的逻辑是先构造空的 `MaterialPlate` 实例，再 assign 洞位：
|
||||
```python
|
||||
# 旧（错误）：cls(...) 时 ordered_items=None → ItemizedResource.__init__ 立即报错
|
||||
plate = cls(name=name, ...) # ← 这里就崩了
|
||||
holes = create_ordered_items_2d(...) # ← 根本没走到这里
|
||||
for hole_name, hole in holes.items():
|
||||
plate.assign_child_resource(...)
|
||||
```
|
||||
pylabrobot 的 `ItemizedResource.__init__` 强制要求 `ordered_items` 和 `ordering` 必须有一个不为 `None`，空构造直接失败。
|
||||
|
||||
**修复**：先建洞位，再作为 `ordered_items` 传给构造函数：
|
||||
```python
|
||||
# 新（正确）：先建洞位，再一次性传入构造函数
|
||||
holes = create_ordered_items_2d(klass=MaterialHole, num_items_x=4, ...)
|
||||
return cls(name=name, ..., ordered_items=holes)
|
||||
```
|
||||
|
||||
> 此 bug 此前未被触发，是因为 `deck.setup()` 从未被调用到——正是上面 `post_init` 兜底修复引出的联动问题。
|
||||
|
||||
---
|
||||
|
||||
## 补充修复 2026-03-25：3→2→1 转运资源同步失败
|
||||
|
||||
### 问题
|
||||
|
||||
配液工站（Bioyond）完成分液后，调用 `transfer_3_to_2_to_1_auto` 将分液瓶板转运到扣电工站（BatteryStation）。物理 LIMS 转运成功，但数字孪生资源树同步始终失败：
|
||||
```
|
||||
[资源同步] ❌ 失败: 目标设备 'BatteryStation' 中未找到资源 'bottle_rack_6x2'
|
||||
```
|
||||
|
||||
### 根因
|
||||
|
||||
`_get_resource_from_device` 方法负责跨设备查找资源对象，有两个问题：
|
||||
|
||||
1. **原始路径完全失效**：尝试 `from unilabos.app.ros2_app import get_device_plr_resource_by_name`，但该模块不存在，`ImportError` 被 `except Exception: pass` 静默吞掉
|
||||
2. **降级路径搜错地方**：遍历 `self._plr_resources`（Bioyond 自己的资源），不可能找到 BatteryStation 的 `bottle_rack_6x2`
|
||||
|
||||
### 修复文件
|
||||
|
||||
**`unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`**
|
||||
|
||||
改用全局设备注册表 `registered_devices` 跨设备访问目标 deck：
|
||||
|
||||
```python
|
||||
# 修复前（失效）
|
||||
from unilabos.app.ros2_app import get_device_plr_resource_by_name # 模块不存在
|
||||
return get_device_plr_resource_by_name(device_id, resource_name)
|
||||
|
||||
# 修复后
|
||||
from unilabos.ros.nodes.base_device_node import registered_devices
|
||||
device_info = registered_devices.get(device_id)
|
||||
if device_info is not None:
|
||||
driver = device_info.get("driver_instance") # TypedDict 是 dict，必须用 .get()
|
||||
if driver is not None:
|
||||
deck = getattr(driver, "deck", None)
|
||||
if deck is not None:
|
||||
res = deck.get_resource(resource_name)
|
||||
```
|
||||
|
||||
关键细节：`DeviceInfoType` 是 `TypedDict`（即普通 `dict`），必须用 `device_info.get("driver_instance")` 而非 `getattr(device_info, "driver_instance", None)`——后者对字典永远返回 `None`。
|
||||
|
||||
---
|
||||
|
||||
## 根本原因分析
|
||||
|
||||
旧版以**本地文件模式**启动（有 `graph` 文件），deck 在启动前已通过 `merge_remote_resources` 获得仓库子节点，反序列化时能正确恢复 warehouses。
|
||||
|
||||
新版以**远端模式**启动（`file_path=None`），deck 反序列化时没有仓库子节点，`station.py` 扫描为空，所有物料的 warehouse 匹配失败，Bioyond 同步的 16 个资源全部无法放置到对应仓库位，前端不显示。
|
||||
@@ -12,7 +12,7 @@ Uni-Lab 使用 Python 格式的配置文件（`.py`），默认为 `unilabos_dat
|
||||
|
||||
**获取方式：**
|
||||
|
||||
进入 [Uni-Lab 实验室](https://leap-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
|
||||
进入 [Uni-Lab 实验室](https://uni-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
|
||||
|
||||
|
||||
|
||||
@@ -69,7 +69,7 @@ class WSConfig:
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://leap-lab.bohrium.com/api/v1" # 远程服务器地址
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1" # 远程服务器地址
|
||||
|
||||
# ROS配置
|
||||
class ROSConfig:
|
||||
@@ -209,8 +209,8 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
|
||||
|
||||
`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
|
||||
|
||||
- `test` → `https://leap-lab.test.bohrium.com/api/v1`
|
||||
- `uat` → `https://leap-lab.uat.bohrium.com/api/v1`
|
||||
- `test` → `https://uni-lab.test.bohrium.com/api/v1`
|
||||
- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- `local` → `http://127.0.0.1:48197/api/v1`
|
||||
- 其他值 → 直接使用作为完整 URL
|
||||
|
||||
@@ -248,7 +248,7 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
|
||||
|
||||
`ak` 和 `sk` 是必需的认证参数：
|
||||
|
||||
1. **获取方式**：在 [Uni-Lab 官网](https://leap-lab.bohrium.com) 注册实验室后获得
|
||||
1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
|
||||
2. **配置方式**：
|
||||
- **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级，推荐）
|
||||
- **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
|
||||
@@ -275,15 +275,15 @@ WebSocket 是 Uni-Lab 的主要通信方式：
|
||||
|
||||
HTTP 客户端配置用于与云端服务通信：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------- | ---- | --------------------------------------- | ------------ |
|
||||
| `remote_addr` | str | `"https://leap-lab.bohrium.com/api/v1"` | 远程服务地址 |
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------- | ---- | -------------------------------------- | ------------ |
|
||||
| `remote_addr` | str | `"https://uni-lab.bohrium.com/api/v1"` | 远程服务地址 |
|
||||
|
||||
**预设环境地址**：
|
||||
|
||||
- 生产环境：`https://leap-lab.bohrium.com/api/v1`（默认）
|
||||
- 测试环境：`https://leap-lab.test.bohrium.com/api/v1`
|
||||
- UAT 环境：`https://leap-lab.uat.bohrium.com/api/v1`
|
||||
- 生产环境：`https://uni-lab.bohrium.com/api/v1`（默认）
|
||||
- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
|
||||
- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- 本地环境：`http://127.0.0.1:48197/api/v1`
|
||||
|
||||
### 4. ROSConfig - ROS 配置
|
||||
@@ -401,7 +401,7 @@ export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
|
||||
export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
|
||||
|
||||
# 设置HTTP配置
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://leap-lab.test.bohrium.com/api/v1"
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.test.bohrium.com/api/v1"
|
||||
```
|
||||
|
||||
## 配置文件使用方法
|
||||
@@ -484,13 +484,13 @@ export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS=100
|
||||
|
||||
```python
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
|
||||
remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
```
|
||||
|
||||
**环境变量方式：**
|
||||
|
||||
```bash
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://leap-lab.test.bohrium.com/api/v1
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://uni-lab.test.bohrium.com/api/v1
|
||||
```
|
||||
|
||||
**命令行方式（推荐）：**
|
||||
|
||||
@@ -23,7 +23,7 @@ Uni-Lab-OS 支持多种部署模式：
|
||||
```
|
||||
┌──────────────────────────────────────────────┐
|
||||
│ Cloud Platform/Self-hosted Platform │
|
||||
│ leap-lab.bohrium.com │
|
||||
│ uni-lab.bohrium.com │
|
||||
│ (Resource Management, Task Scheduling, │
|
||||
│ Monitoring) │
|
||||
└────────────────────┬─────────────────────────┘
|
||||
@@ -444,7 +444,7 @@ ros2 daemon stop && ros2 daemon start
|
||||
|
||||
```bash
|
||||
# 测试云端连接
|
||||
curl https://leap-lab.bohrium.com/api/v1/health
|
||||
curl https://uni-lab.bohrium.com/api/v1/health
|
||||
|
||||
# 测试WebSocket
|
||||
# 启动Uni-Lab后查看日志
|
||||
|
||||
@@ -33,11 +33,11 @@
|
||||
|
||||
**选择合适的安装包：**
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 |
|
||||
| --------------- | ---------------------------- | --------------------------------------------- |
|
||||
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||
| 安装包 | 适用场景 | 包含组件 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||
|
||||
**关键步骤：**
|
||||
|
||||
@@ -66,7 +66,6 @@ mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**选择建议：**
|
||||
|
||||
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
|
||||
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
|
||||
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
||||
@@ -89,7 +88,7 @@ python -c "from unilabos_msgs.msg import Resource; print('ROS msgs OK')"
|
||||
|
||||
#### 2.1 注册实验室账号
|
||||
|
||||
1. 访问 [https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
1. 访问 [https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
2. 注册账号并登录
|
||||
3. 创建新实验室
|
||||
|
||||
@@ -298,7 +297,7 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
|
||||
#### 5.2 访问 Web 界面
|
||||
|
||||
启动系统后，访问[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
启动系统后，访问[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
|
||||
#### 5.3 添加设备和物料
|
||||
|
||||
@@ -307,10 +306,12 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
**示例场景：** 创建一个简单的液体转移实验
|
||||
|
||||
1. **添加工作站（必需）：**
|
||||
|
||||
- 在"仪器设备"中找到 `work_station`
|
||||
- 添加 `workstation` x1
|
||||
|
||||
2. **添加虚拟转移泵：**
|
||||
|
||||
- 在"仪器设备"中找到 `virtual_device`
|
||||
- 添加 `virtual_transfer_pump` x1
|
||||
|
||||
@@ -817,7 +818,6 @@ uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
|
||||
**为什么使用这种方式？**
|
||||
|
||||
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
|
||||
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
|
||||
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
||||
@@ -1796,27 +1796,32 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
||||
**详细步骤：**
|
||||
|
||||
1. **需求分析**：
|
||||
|
||||
- 明确实验流程
|
||||
- 列出所需设备和物料
|
||||
- 设计工作流程图
|
||||
|
||||
2. **环境搭建**：
|
||||
|
||||
- 安装 Uni-Lab-OS
|
||||
- 创建实验室账号
|
||||
- 准备开发工具（IDE、Git）
|
||||
|
||||
3. **原型验证**：
|
||||
|
||||
- 使用虚拟设备测试流程
|
||||
- 验证工作流逻辑
|
||||
- 调整参数
|
||||
|
||||
4. **迭代开发**：
|
||||
|
||||
- 实现自定义设备驱动（同时撰写单点函数测试）
|
||||
- 编写注册表
|
||||
- 单元测试
|
||||
- 集成测试
|
||||
|
||||
5. **测试部署**：
|
||||
|
||||
- 连接真实硬件
|
||||
- 空跑测试
|
||||
- 小规模试验
|
||||
@@ -1866,7 +1871,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
||||
#### 14.5 社区支持
|
||||
|
||||
- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- **官方网站**：[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
- **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
|
||||
---
|
||||
|
||||
|
||||
@@ -626,7 +626,7 @@ unilab
|
||||
|
||||
**云端图文件管理**:
|
||||
|
||||
1. 登录 https://leap-lab.bohrium.com
|
||||
1. 登录 https://uni-lab.bohrium.com
|
||||
2. 进入"设备配置"
|
||||
3. 创建或编辑配置
|
||||
4. 保存到云端
|
||||
|
||||
@@ -54,6 +54,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
您可以直接跟随 unilabos 的提示进行，无需查阅本节
|
||||
|
||||
- **工作目录设置**：
|
||||
|
||||
- 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
|
||||
- 否则使用 `当前目录/unilabos_data` 作为工作目录
|
||||
- 可通过 `--working_dir` 指定自定义工作目录
|
||||
@@ -67,8 +68,8 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
|
||||
支持多种后端环境：
|
||||
|
||||
- `--addr test`：测试环境 (`https://leap-lab.test.bohrium.com/api/v1`)
|
||||
- `--addr uat`：UAT 环境 (`https://leap-lab.uat.bohrium.com/api/v1`)
|
||||
- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
|
||||
- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
|
||||
- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
|
||||
- 自定义地址：直接指定完整 URL
|
||||
|
||||
@@ -175,7 +176,7 @@ unilab --config path/to/your/config.py
|
||||
|
||||
如果是首次使用，系统会：
|
||||
|
||||
1. 提示前往 https://leap-lab.bohrium.com 注册实验室
|
||||
1. 提示前往 https://uni-lab.bohrium.com 注册实验室
|
||||
2. 引导创建配置文件
|
||||
3. 设置工作目录
|
||||
|
||||
@@ -215,7 +216,7 @@ unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
|
||||
|
||||
如果提示 "后续运行必须拥有一个实验室"，请确保：
|
||||
|
||||
- 已在 https://leap-lab.bohrium.com 注册实验室
|
||||
- 已在 https://uni-lab.bohrium.com 注册实验室
|
||||
- 正确设置了 `--ak` 和 `--sk` 参数
|
||||
- 配置文件中包含正确的认证信息
|
||||
|
||||
|
||||
172
tests/app/__init__.py
Normal file
172
tests/app/__init__.py
Normal file
@@ -0,0 +1,172 @@
|
||||
"""normalize_model_for_upload 单元测试"""
|
||||
|
||||
import unittest
|
||||
import sys
|
||||
import os
|
||||
|
||||
# 添加项目根目录到 sys.path
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
|
||||
|
||||
from unilabos.app.register import normalize_model_for_upload
|
||||
|
||||
|
||||
class TestNormalizeModelForUpload(unittest.TestCase):
|
||||
"""测试 Registry YAML model 字段标准化"""
|
||||
|
||||
def test_empty_input(self):
|
||||
"""空 dict 直接返回"""
|
||||
self.assertEqual(normalize_model_for_upload({}), {})
|
||||
self.assertIsNone(normalize_model_for_upload(None))
|
||||
|
||||
def test_format_infer_xacro(self):
|
||||
"""自动从 path 后缀推断 format=xacro"""
|
||||
model = {
|
||||
"path": "https://oss.example.com/devices/arm/macro_device.xacro",
|
||||
"mesh": "arm_slider",
|
||||
"type": "device",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "xacro")
|
||||
|
||||
def test_format_infer_urdf(self):
|
||||
"""自动推断 format=urdf"""
|
||||
model = {"path": "https://example.com/robot.urdf", "type": "device"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "urdf")
|
||||
|
||||
def test_format_infer_stl(self):
|
||||
"""自动推断 format=stl"""
|
||||
model = {"path": "https://example.com/part.stl"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "stl")
|
||||
|
||||
def test_format_infer_gltf(self):
|
||||
"""自动推断 format=gltf（.gltf 和 .glb）"""
|
||||
for ext in [".gltf", ".glb"]:
|
||||
model = {"path": f"https://example.com/model{ext}"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "gltf", f"failed for {ext}")
|
||||
|
||||
def test_format_not_overwritten(self):
|
||||
"""已有 format 字段时不覆盖"""
|
||||
model = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"format": "custom",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "custom")
|
||||
|
||||
def test_format_no_path(self):
|
||||
"""没有 path 时不推断 format"""
|
||||
model = {"mesh": "arm_slider", "type": "device"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertNotIn("format", result)
|
||||
|
||||
def test_children_mesh_string_to_struct(self):
|
||||
"""将 children_mesh 字符串（旧格式）转为结构化对象"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"type": "resource",
|
||||
"children_mesh": "tip/meshes/tip.stl",
|
||||
"children_mesh_tf": [0.0045, 0.0045, 0, 0, 0, 1.57],
|
||||
"children_mesh_path": "https://oss.example.com/tip.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
|
||||
# children_mesh 应变为 dict
|
||||
cm = result["children_mesh"]
|
||||
self.assertIsInstance(cm, dict)
|
||||
self.assertEqual(cm["path"], "https://oss.example.com/tip.stl") # 优先使用 OSS URL
|
||||
self.assertEqual(cm["format"], "stl")
|
||||
self.assertTrue(cm["default_visible"])
|
||||
self.assertEqual(cm["local_offset"], [0.0045, 0.0045, 0])
|
||||
self.assertEqual(cm["local_rotation"], [0, 0, 1.57])
|
||||
|
||||
# 旧字段应被移除
|
||||
self.assertNotIn("children_mesh_tf", result)
|
||||
self.assertNotIn("children_mesh_path", result)
|
||||
|
||||
def test_children_mesh_no_oss_fallback(self):
|
||||
"""children_mesh 无 OSS URL 时 fallback 到本地路径"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "plate_96/meshes/plate_96.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertEqual(cm["path"], "plate_96/meshes/plate_96.stl")
|
||||
self.assertEqual(cm["format"], "stl")
|
||||
|
||||
def test_children_mesh_gltf_format(self):
|
||||
"""children_mesh .glb 文件推断 format=gltf"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "meshes/child.glb",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["children_mesh"]["format"], "gltf")
|
||||
|
||||
def test_children_mesh_partial_tf(self):
|
||||
"""children_mesh_tf 只有 3 个值时只有 offset 无 rotation"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "tip.stl",
|
||||
"children_mesh_tf": [0.01, 0.02, 0.03],
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertEqual(cm["local_offset"], [0.01, 0.02, 0.03])
|
||||
self.assertNotIn("local_rotation", cm)
|
||||
|
||||
def test_children_mesh_no_tf(self):
|
||||
"""children_mesh 无 tf 时不加 offset/rotation"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "tip.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertNotIn("local_offset", cm)
|
||||
self.assertNotIn("local_rotation", cm)
|
||||
|
||||
def test_children_mesh_already_dict(self):
|
||||
"""children_mesh 已经是 dict 时不重新映射"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": {
|
||||
"path": "https://example.com/tip.stl",
|
||||
"format": "stl",
|
||||
"default_visible": False,
|
||||
},
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertIsInstance(cm, dict)
|
||||
self.assertFalse(cm["default_visible"])
|
||||
|
||||
def test_original_not_mutated(self):
|
||||
"""原始 dict 不被修改"""
|
||||
original = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"mesh": "arm",
|
||||
}
|
||||
original_copy = {**original}
|
||||
normalize_model_for_upload(original)
|
||||
self.assertEqual(original, original_copy)
|
||||
|
||||
def test_preserves_existing_fields(self):
|
||||
"""所有原始字段都被保留"""
|
||||
model = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"mesh": "arm_slider",
|
||||
"type": "device",
|
||||
"mesh_tf": [0, 0, 0, 0, 0, 0],
|
||||
"custom_field": "should_survive",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["custom_field"], "should_survive")
|
||||
self.assertEqual(result["mesh_tf"], [0, 0, 0, 0, 0, 0])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
496
tests/app/test_model_upload.py
Normal file
496
tests/app/test_model_upload.py
Normal file
@@ -0,0 +1,496 @@
|
||||
"""model_upload.py 单元测试（upload_device_model / download_model_from_oss / XOR 加解密）"""
|
||||
|
||||
import unittest
|
||||
import tempfile
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from unittest.mock import patch, MagicMock
|
||||
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
|
||||
|
||||
from unilabos.app.model_upload import (
|
||||
upload_device_model,
|
||||
download_model_from_oss,
|
||||
_MODEL_EXTENSIONS,
|
||||
_MESH_ENCRYPT_EXTENSIONS,
|
||||
_xor_transform,
|
||||
)
|
||||
|
||||
|
||||
class TestUploadDeviceModel(unittest.TestCase):
|
||||
"""测试本地模型文件上传到 OSS"""
|
||||
|
||||
def setUp(self):
|
||||
self.tmp_dir = tempfile.mkdtemp()
|
||||
self.mock_client = MagicMock()
|
||||
|
||||
def _create_model_files(self, subdir: str, filenames: list[str]):
|
||||
"""在临时目录中创建设备模型文件"""
|
||||
model_dir = Path(self.tmp_dir) / "devices" / subdir
|
||||
model_dir.mkdir(parents=True, exist_ok=True)
|
||||
for name in filenames:
|
||||
p = model_dir / name
|
||||
p.parent.mkdir(parents=True, exist_ok=True)
|
||||
p.write_text("dummy content")
|
||||
return model_dir
|
||||
|
||||
@patch("unilabos.app.model_upload._MESH_BASE_DIR")
|
||||
def test_upload_success(self, mock_base):
|
||||
"""正常上传流程"""
|
||||
mock_base.__truediv__ = lambda self, x: Path(self.tmp_dir) / x
|
||||
# 直接 patch _MESH_BASE_DIR 为 Path(tmp_dir)
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
|
||||
self._create_model_files("arm_slider", ["macro_device.xacro", "meshes/link1.stl"])
|
||||
|
||||
self.mock_client.get_model_upload_urls.return_value = {
|
||||
"files": [
|
||||
{"name": "macro_device.xacro", "upload_url": "https://oss.example.com/put1"},
|
||||
{"name": "meshes/link1.stl", "upload_url": "https://oss.example.com/put2"},
|
||||
]
|
||||
}
|
||||
self.mock_client.publish_model.return_value = {
|
||||
"path": "https://oss.example.com/arm_slider/macro_device.xacro"
|
||||
}
|
||||
|
||||
with patch("unilabos.app.model_upload._put_upload") as mock_put:
|
||||
result = upload_device_model(
|
||||
http_client=self.mock_client,
|
||||
template_uuid="test-uuid",
|
||||
mesh_name="arm_slider",
|
||||
model_type="device",
|
||||
version="1.0.0",
|
||||
)
|
||||
|
||||
self.assertEqual(result, "https://oss.example.com/arm_slider/macro_device.xacro")
|
||||
self.mock_client.get_model_upload_urls.assert_called_once()
|
||||
self.mock_client.publish_model.assert_called_once()
|
||||
|
||||
@patch("unilabos.app.model_upload._MESH_BASE_DIR")
|
||||
def test_upload_dir_not_exists(self, mock_base):
|
||||
"""本地目录不存在时返回 None"""
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
|
||||
result = upload_device_model(
|
||||
http_client=self.mock_client,
|
||||
template_uuid="test-uuid",
|
||||
mesh_name="nonexistent",
|
||||
model_type="device",
|
||||
)
|
||||
self.assertIsNone(result)
|
||||
|
||||
@patch("unilabos.app.model_upload._MESH_BASE_DIR")
|
||||
def test_upload_no_valid_files(self, mock_base):
|
||||
"""目录中无有效模型文件时返回 None"""
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
|
||||
model_dir = Path(self.tmp_dir) / "devices" / "empty_model"
|
||||
model_dir.mkdir(parents=True, exist_ok=True)
|
||||
(model_dir / "readme.txt").write_text("not a model")
|
||||
|
||||
result = upload_device_model(
|
||||
http_client=self.mock_client,
|
||||
template_uuid="test-uuid",
|
||||
mesh_name="empty_model",
|
||||
model_type="device",
|
||||
)
|
||||
self.assertIsNone(result)
|
||||
|
||||
@patch("unilabos.app.model_upload._MESH_BASE_DIR")
|
||||
def test_upload_urls_failure(self, mock_base):
|
||||
"""获取上传 URL 失败时返回 None"""
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
|
||||
self._create_model_files("arm", ["device.xacro"])
|
||||
self.mock_client.get_model_upload_urls.return_value = None
|
||||
|
||||
result = upload_device_model(
|
||||
http_client=self.mock_client,
|
||||
template_uuid="test-uuid",
|
||||
mesh_name="arm",
|
||||
model_type="device",
|
||||
)
|
||||
self.assertIsNone(result)
|
||||
|
||||
|
||||
class TestDownloadModelFromOss(unittest.TestCase):
|
||||
"""测试从 OSS 下载模型文件到本地"""
|
||||
|
||||
def setUp(self):
|
||||
self.tmp_dir = tempfile.mkdtemp()
|
||||
|
||||
def test_skip_no_mesh_name(self):
|
||||
"""缺少 mesh 名称时跳过"""
|
||||
result = download_model_from_oss({"type": "device", "path": "https://x.com/a.xacro"})
|
||||
self.assertFalse(result)
|
||||
|
||||
def test_skip_no_oss_path(self):
|
||||
"""缺少 OSS path 时跳过"""
|
||||
result = download_model_from_oss({"mesh": "arm", "type": "device"})
|
||||
self.assertFalse(result)
|
||||
|
||||
def test_skip_local_path(self):
|
||||
"""非 https:// 路径时跳过"""
|
||||
result = download_model_from_oss({
|
||||
"mesh": "arm",
|
||||
"type": "device",
|
||||
"path": "file:///local/model.xacro",
|
||||
})
|
||||
self.assertFalse(result)
|
||||
|
||||
def test_already_exists(self):
|
||||
"""本地已有文件时跳过下载"""
|
||||
device_dir = Path(self.tmp_dir) / "devices" / "arm"
|
||||
device_dir.mkdir(parents=True, exist_ok=True)
|
||||
(device_dir / "model.xacro").write_text("existing")
|
||||
|
||||
result = download_model_from_oss(
|
||||
{"mesh": "arm", "type": "device", "path": "https://oss.example.com/model.xacro"},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertTrue(result)
|
||||
|
||||
@patch("unilabos.app.model_upload._download_file")
|
||||
def test_download_device(self, mock_download):
|
||||
"""下载 device 模型到 devices/ 目录"""
|
||||
result = download_model_from_oss(
|
||||
{"mesh": "new_arm", "type": "device", "path": "https://oss.example.com/new_arm/macro_device.xacro"},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertTrue(result)
|
||||
mock_download.assert_called_once()
|
||||
call_args = mock_download.call_args
|
||||
self.assertIn("macro_device.xacro", str(call_args[0][1]))
|
||||
|
||||
@patch("unilabos.app.model_upload._download_file")
|
||||
def test_download_resource(self, mock_download):
|
||||
"""下载 resource 模型到 resources/ 目录"""
|
||||
result = download_model_from_oss(
|
||||
{
|
||||
"mesh": "plate_96/meshes/plate_96.stl",
|
||||
"type": "resource",
|
||||
"path": "https://oss.example.com/plate_96/modal.xacro",
|
||||
},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertTrue(result)
|
||||
target_dir = Path(self.tmp_dir) / "resources" / "plate_96"
|
||||
self.assertTrue(target_dir.exists())
|
||||
|
||||
@patch("unilabos.app.model_upload._download_file")
|
||||
def test_download_with_children_mesh(self, mock_download):
|
||||
"""下载包含 children_mesh 的模型"""
|
||||
result = download_model_from_oss(
|
||||
{
|
||||
"mesh": "tip_rack",
|
||||
"type": "device",
|
||||
"path": "https://oss.example.com/tip_rack/model.xacro",
|
||||
"children_mesh": {
|
||||
"path": "https://oss.example.com/tip_rack/meshes/tip.stl",
|
||||
"format": "stl",
|
||||
},
|
||||
},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertTrue(result)
|
||||
# 应调用两次：入口文件 + children_mesh
|
||||
self.assertEqual(mock_download.call_count, 2)
|
||||
|
||||
@patch("unilabos.app.model_upload._download_file", side_effect=Exception("network error"))
|
||||
def test_download_failure_graceful(self, mock_download):
|
||||
"""下载失败时返回 False（不抛异常）"""
|
||||
result = download_model_from_oss(
|
||||
{"mesh": "broken", "type": "device", "path": "https://oss.example.com/broken.xacro"},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertFalse(result)
|
||||
|
||||
|
||||
class TestModelExtensions(unittest.TestCase):
|
||||
"""测试支持的模型文件后缀集合"""
|
||||
|
||||
def test_standard_extensions(self):
|
||||
"""确认标准 3D 格式在支持列表中"""
|
||||
expected = {".stl", ".gltf", ".glb", ".xacro", ".urdf", ".obj", ".dae"}
|
||||
for ext in expected:
|
||||
self.assertIn(ext, _MODEL_EXTENSIONS, f"{ext} should be supported")
|
||||
|
||||
def test_non_model_excluded(self):
|
||||
"""非模型文件后缀不在列表中"""
|
||||
excluded = {".txt", ".json", ".py", ".png", ".jpg"}
|
||||
for ext in excluded:
|
||||
self.assertNotIn(ext, _MODEL_EXTENSIONS, f"{ext} should not be supported")
|
||||
|
||||
|
||||
class TestXorTransform(unittest.TestCase):
|
||||
"""XOR 加密/解密核心函数测试。"""
|
||||
|
||||
def test_roundtrip_symmetry(self):
|
||||
"""XOR 加密后再解密恢复原始数据（对称性）。"""
|
||||
original = b"Hello, this is a test model file content."
|
||||
encrypted = _xor_transform(original)
|
||||
self.assertNotEqual(encrypted, original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_empty_data(self):
|
||||
"""空数据加密后仍为空。"""
|
||||
result = _xor_transform(b"")
|
||||
self.assertEqual(result, b"")
|
||||
|
||||
def test_single_byte(self):
|
||||
"""单字节数据正确加解密。"""
|
||||
original = b"\xff"
|
||||
encrypted = _xor_transform(original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_data_longer_than_key(self):
|
||||
"""超过密钥长度（32 字节）的数据正确循环 XOR。"""
|
||||
original = bytes(range(256)) * 2 # 512 字节
|
||||
encrypted = _xor_transform(original)
|
||||
self.assertNotEqual(encrypted, original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_data_exactly_key_length(self):
|
||||
"""恰好 32 字节（密钥长度）的数据正确处理。"""
|
||||
original = bytes(range(32))
|
||||
encrypted = _xor_transform(original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_all_zeros_produces_key(self):
|
||||
"""全零数据 XOR 后结果应为密钥本身。"""
|
||||
zeros = b"\x00" * 32
|
||||
result = _xor_transform(zeros)
|
||||
key = os.environ.get(
|
||||
"UNILAB_MESH_XOR_KEY", "unilab3d-model-protection-key-v1"
|
||||
).encode()
|
||||
self.assertEqual(result, key)
|
||||
|
||||
def test_custom_key(self):
|
||||
"""自定义密钥正确加解密。"""
|
||||
custom_key = b"custom-key-12345"
|
||||
original = b"test data for custom key"
|
||||
encrypted = _xor_transform(original, key=custom_key)
|
||||
decrypted = _xor_transform(encrypted, key=custom_key)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_different_keys_produce_different_results(self):
|
||||
"""不同密钥产生不同加密结果。"""
|
||||
data = b"same data"
|
||||
key1 = b"key-one-is-here!"
|
||||
key2 = b"key-two-is-here!"
|
||||
self.assertNotEqual(_xor_transform(data, key1), _xor_transform(data, key2))
|
||||
|
||||
def test_binary_stl_header(self):
|
||||
"""二进制内容（模拟 STL 文件头）正确加解密。"""
|
||||
stl_header = b"\x00" * 80 + b"\x03\x00\x00\x00"
|
||||
encrypted = _xor_transform(stl_header)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, stl_header)
|
||||
|
||||
def test_large_data_roundtrip(self):
|
||||
"""大数据（1MB）加解密正确性。"""
|
||||
original = os.urandom(1024 * 1024)
|
||||
encrypted = _xor_transform(original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_consistency_with_frontend_key(self):
|
||||
"""验证 Python 端与前端使用相同的默认密钥。"""
|
||||
frontend_key = b"unilab3d-model-protection-key-v1"
|
||||
data = b"cross-platform test data"
|
||||
encrypted = _xor_transform(data, key=frontend_key)
|
||||
# 用默认密钥解密（应一致）
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, data)
|
||||
|
||||
|
||||
class TestEncryptExtensions(unittest.TestCase):
|
||||
"""加密文件扩展名配置测试。"""
|
||||
|
||||
def test_all_mesh_formats_in_encrypt_set(self):
|
||||
"""所有 mesh 格式都在加密扩展名集合中。"""
|
||||
expected = {".stl", ".dae", ".obj", ".fbx", ".gltf", ".glb"}
|
||||
self.assertEqual(_MESH_ENCRYPT_EXTENSIONS, expected)
|
||||
|
||||
def test_xml_formats_not_encrypted(self):
|
||||
"""XACRO/URDF/YAML 文件不加密。"""
|
||||
for ext in {".xacro", ".urdf", ".yaml", ".yml"}:
|
||||
self.assertNotIn(ext, _MESH_ENCRYPT_EXTENSIONS)
|
||||
|
||||
def test_encrypt_is_subset_of_model_extensions(self):
|
||||
"""加密扩展名是模型扩展名的子集。"""
|
||||
self.assertTrue(_MESH_ENCRYPT_EXTENSIONS.issubset(_MODEL_EXTENSIONS))
|
||||
|
||||
|
||||
class TestPutUploadEncryption(unittest.TestCase):
|
||||
"""_put_upload 中的条件加密测试。"""
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.put")
|
||||
def test_stl_file_encrypted_before_upload(self, mock_put):
|
||||
"""STL 文件上传前自动 XOR 加密。"""
|
||||
from unilabos.app.model_upload import _put_upload
|
||||
|
||||
original_data = b"solid test\nfacet normal 0 0 1\n"
|
||||
with tempfile.NamedTemporaryFile(suffix=".stl", delete=False) as f:
|
||||
f.write(original_data)
|
||||
f.flush()
|
||||
tmp_path = Path(f.name)
|
||||
|
||||
try:
|
||||
mock_put.return_value = MagicMock(status_code=200)
|
||||
mock_put.return_value.raise_for_status = MagicMock()
|
||||
_put_upload(tmp_path, "https://oss.example.com/upload")
|
||||
|
||||
uploaded_data = mock_put.call_args.kwargs.get("data")
|
||||
self.assertIsNotNone(uploaded_data)
|
||||
self.assertNotEqual(uploaded_data, original_data)
|
||||
# 解密后应恢复原始数据
|
||||
self.assertEqual(_xor_transform(uploaded_data), original_data)
|
||||
finally:
|
||||
tmp_path.unlink(missing_ok=True)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.put")
|
||||
def test_xacro_file_not_encrypted(self, mock_put):
|
||||
"""XACRO 文件上传时不加密。"""
|
||||
from unilabos.app.model_upload import _put_upload
|
||||
|
||||
original_data = b'<?xml version="1.0"?><robot></robot>'
|
||||
with tempfile.NamedTemporaryFile(suffix=".xacro", delete=False) as f:
|
||||
f.write(original_data)
|
||||
f.flush()
|
||||
tmp_path = Path(f.name)
|
||||
|
||||
try:
|
||||
mock_put.return_value = MagicMock(status_code=200)
|
||||
mock_put.return_value.raise_for_status = MagicMock()
|
||||
_put_upload(tmp_path, "https://oss.example.com/upload")
|
||||
|
||||
uploaded_data = mock_put.call_args.kwargs.get("data")
|
||||
self.assertEqual(uploaded_data, original_data)
|
||||
finally:
|
||||
tmp_path.unlink(missing_ok=True)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.put")
|
||||
def test_all_mesh_formats_encrypted(self, mock_put):
|
||||
"""所有 mesh 格式上传前都加密。"""
|
||||
from unilabos.app.model_upload import _put_upload
|
||||
|
||||
original_data = b"test mesh binary data content"
|
||||
for ext in [".stl", ".dae", ".obj", ".fbx", ".gltf", ".glb"]:
|
||||
with tempfile.NamedTemporaryFile(suffix=ext, delete=False) as f:
|
||||
f.write(original_data)
|
||||
f.flush()
|
||||
tmp_path = Path(f.name)
|
||||
try:
|
||||
mock_put.reset_mock()
|
||||
mock_put.return_value = MagicMock(status_code=200)
|
||||
mock_put.return_value.raise_for_status = MagicMock()
|
||||
_put_upload(tmp_path, "https://oss.example.com/upload")
|
||||
|
||||
uploaded_data = mock_put.call_args.kwargs.get("data")
|
||||
self.assertNotEqual(uploaded_data, original_data, f"{ext} 文件应被加密")
|
||||
finally:
|
||||
tmp_path.unlink(missing_ok=True)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.put")
|
||||
def test_uppercase_extension_encrypted(self, mock_put):
|
||||
"""大写扩展名 .STL 也被加密（大小写不敏感）。"""
|
||||
from unilabos.app.model_upload import _put_upload
|
||||
|
||||
original_data = b"uppercase ext test"
|
||||
with tempfile.NamedTemporaryFile(suffix=".STL", delete=False) as f:
|
||||
f.write(original_data)
|
||||
f.flush()
|
||||
tmp_path = Path(f.name)
|
||||
try:
|
||||
mock_put.return_value = MagicMock(status_code=200)
|
||||
mock_put.return_value.raise_for_status = MagicMock()
|
||||
_put_upload(tmp_path, "https://oss.example.com/upload")
|
||||
|
||||
uploaded_data = mock_put.call_args.kwargs.get("data")
|
||||
self.assertNotEqual(uploaded_data, original_data)
|
||||
finally:
|
||||
tmp_path.unlink(missing_ok=True)
|
||||
|
||||
|
||||
class TestDownloadFileDecryption(unittest.TestCase):
|
||||
"""_download_file 中的条件解密测试。"""
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.get")
|
||||
def test_mesh_file_decrypted_on_download(self, mock_get):
|
||||
"""下载的 mesh 文件自动 XOR 解密后存本地。"""
|
||||
from unilabos.app.model_upload import _download_file
|
||||
|
||||
original_data = b"original stl content here"
|
||||
encrypted_data = _xor_transform(original_data)
|
||||
|
||||
mock_response = MagicMock()
|
||||
mock_response.content = encrypted_data
|
||||
mock_response.raise_for_status = MagicMock()
|
||||
mock_get.return_value = mock_response
|
||||
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
local_path = Path(tmpdir) / "model.stl"
|
||||
_download_file("https://oss.example.com/model.stl", local_path)
|
||||
self.assertEqual(local_path.read_bytes(), original_data)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.get")
|
||||
def test_xacro_file_not_decrypted(self, mock_get):
|
||||
"""下载的 XACRO 文件不做解密处理。"""
|
||||
from unilabos.app.model_upload import _download_file
|
||||
|
||||
xml_data = b'<?xml version="1.0"?><robot></robot>'
|
||||
|
||||
mock_response = MagicMock()
|
||||
mock_response.content = xml_data
|
||||
mock_response.raise_for_status = MagicMock()
|
||||
mock_get.return_value = mock_response
|
||||
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
local_path = Path(tmpdir) / "macro.xacro"
|
||||
_download_file("https://oss.example.com/macro.xacro", local_path)
|
||||
self.assertEqual(local_path.read_bytes(), xml_data)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.get")
|
||||
def test_upload_download_roundtrip(self, mock_get):
|
||||
"""上传加密 → 下载解密的完整 round-trip。"""
|
||||
from unilabos.app.model_upload import _download_file
|
||||
|
||||
original_data = b"binary stl mesh \x00\xff\x80 special bytes"
|
||||
encrypted_data = _xor_transform(original_data)
|
||||
|
||||
mock_response = MagicMock()
|
||||
mock_response.content = encrypted_data
|
||||
mock_response.raise_for_status = MagicMock()
|
||||
mock_get.return_value = mock_response
|
||||
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
local_path = Path(tmpdir) / "mesh.stl"
|
||||
_download_file("https://oss.example.com/mesh.stl", local_path)
|
||||
self.assertEqual(local_path.read_bytes(), original_data)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.get")
|
||||
def test_all_mesh_formats_decrypted(self, mock_get):
|
||||
"""所有 mesh 格式下载后都解密。"""
|
||||
from unilabos.app.model_upload import _download_file
|
||||
|
||||
original_data = b"mesh content for roundtrip"
|
||||
encrypted_data = _xor_transform(original_data)
|
||||
|
||||
for ext in [".stl", ".dae", ".obj", ".fbx", ".gltf", ".glb"]:
|
||||
mock_response = MagicMock()
|
||||
mock_response.content = encrypted_data
|
||||
mock_response.raise_for_status = MagicMock()
|
||||
mock_get.return_value = mock_response
|
||||
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
local_path = Path(tmpdir) / f"model{ext}"
|
||||
_download_file(f"https://oss.example.com/model{ext}", local_path)
|
||||
self.assertEqual(
|
||||
local_path.read_bytes(), original_data, f"{ext} 文件应被解密"
|
||||
)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
170
tests/app/test_normalize_model.py
Normal file
170
tests/app/test_normalize_model.py
Normal file
@@ -0,0 +1,170 @@
|
||||
"""normalize_model_for_upload 单元测试"""
|
||||
|
||||
import unittest
|
||||
import sys
|
||||
import os
|
||||
|
||||
# 添加项目根目录到 sys.path
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
|
||||
|
||||
from unilabos.app.register import normalize_model_for_upload
|
||||
|
||||
|
||||
class TestNormalizeModelForUpload(unittest.TestCase):
|
||||
"""测试 Registry YAML model 字段标准化"""
|
||||
|
||||
def test_empty_input(self):
|
||||
"""空 dict 直接返回"""
|
||||
self.assertEqual(normalize_model_for_upload({}), {})
|
||||
self.assertIsNone(normalize_model_for_upload(None))
|
||||
|
||||
def test_format_infer_xacro(self):
|
||||
"""自动从 path 后缀推断 format=xacro"""
|
||||
model = {
|
||||
"path": "https://oss.example.com/devices/arm/macro_device.xacro",
|
||||
"mesh": "arm_slider",
|
||||
"type": "device",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "xacro")
|
||||
|
||||
def test_format_infer_urdf(self):
|
||||
"""自动推断 format=urdf"""
|
||||
model = {"path": "https://example.com/robot.urdf", "type": "device"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "urdf")
|
||||
|
||||
def test_format_infer_stl(self):
|
||||
"""自动推断 format=stl"""
|
||||
model = {"path": "https://example.com/part.stl"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "stl")
|
||||
|
||||
def test_format_infer_gltf(self):
|
||||
"""自动推断 format=gltf（.gltf 和 .glb）"""
|
||||
for ext in [".gltf", ".glb"]:
|
||||
model = {"path": f"https://example.com/model{ext}"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "gltf", f"failed for {ext}")
|
||||
|
||||
def test_format_not_overwritten(self):
|
||||
"""已有 format 字段时不覆盖"""
|
||||
model = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"format": "custom",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "custom")
|
||||
|
||||
def test_format_no_path(self):
|
||||
"""没有 path 时不推断 format"""
|
||||
model = {"mesh": "arm_slider", "type": "device"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertNotIn("format", result)
|
||||
|
||||
def test_children_mesh_string_to_struct(self):
|
||||
"""将 children_mesh 字符串（旧格式）转为结构化对象"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"type": "resource",
|
||||
"children_mesh": "tip/meshes/tip.stl",
|
||||
"children_mesh_tf": [0.0045, 0.0045, 0, 0, 0, 1.57],
|
||||
"children_mesh_path": "https://oss.example.com/tip.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
|
||||
cm = result["children_mesh"]
|
||||
self.assertIsInstance(cm, dict)
|
||||
self.assertEqual(cm["path"], "https://oss.example.com/tip.stl")
|
||||
self.assertEqual(cm["format"], "stl")
|
||||
self.assertTrue(cm["default_visible"])
|
||||
self.assertEqual(cm["local_offset"], [0.0045, 0.0045, 0])
|
||||
self.assertEqual(cm["local_rotation"], [0, 0, 1.57])
|
||||
|
||||
self.assertNotIn("children_mesh_tf", result)
|
||||
self.assertNotIn("children_mesh_path", result)
|
||||
|
||||
def test_children_mesh_no_oss_fallback(self):
|
||||
"""children_mesh 无 OSS URL 时 fallback 到本地路径"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "plate_96/meshes/plate_96.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertEqual(cm["path"], "plate_96/meshes/plate_96.stl")
|
||||
self.assertEqual(cm["format"], "stl")
|
||||
|
||||
def test_children_mesh_gltf_format(self):
|
||||
"""children_mesh .glb 文件推断 format=gltf"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "meshes/child.glb",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["children_mesh"]["format"], "gltf")
|
||||
|
||||
def test_children_mesh_partial_tf(self):
|
||||
"""children_mesh_tf 只有 3 个值时只有 offset 无 rotation"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "tip.stl",
|
||||
"children_mesh_tf": [0.01, 0.02, 0.03],
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertEqual(cm["local_offset"], [0.01, 0.02, 0.03])
|
||||
self.assertNotIn("local_rotation", cm)
|
||||
|
||||
def test_children_mesh_no_tf(self):
|
||||
"""children_mesh 无 tf 时不加 offset/rotation"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "tip.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertNotIn("local_offset", cm)
|
||||
self.assertNotIn("local_rotation", cm)
|
||||
|
||||
def test_children_mesh_already_dict(self):
|
||||
"""children_mesh 已经是 dict 时不重新映射"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": {
|
||||
"path": "https://example.com/tip.stl",
|
||||
"format": "stl",
|
||||
"default_visible": False,
|
||||
},
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertIsInstance(cm, dict)
|
||||
self.assertFalse(cm["default_visible"])
|
||||
|
||||
def test_original_not_mutated(self):
|
||||
"""原始 dict 不被修改"""
|
||||
original = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"mesh": "arm",
|
||||
}
|
||||
original_copy = {**original}
|
||||
normalize_model_for_upload(original)
|
||||
self.assertEqual(original, original_copy)
|
||||
|
||||
def test_preserves_existing_fields(self):
|
||||
"""所有原始字段都被保留"""
|
||||
model = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"mesh": "arm_slider",
|
||||
"type": "device",
|
||||
"mesh_tf": [0, 0, 0, 0, 0, 0],
|
||||
"custom_field": "should_survive",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["custom_field"], "should_survive")
|
||||
self.assertEqual(result["mesh_tf"], [0, 0, 0, 0, 0, 0])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
939
tests/ros/test_joint_state_bridge.py
Normal file
939
tests/ros/test_joint_state_bridge.py
Normal file
@@ -0,0 +1,939 @@
|
||||
"""
|
||||
P1 关节数据 & 资源跟随桥接测试 — 全面覆盖 HostNode 关节回调 + resource_pose 回调的边缘 case。
|
||||
|
||||
不依赖 ROS2 运行时，通过 mock 模拟 msg 和 bridge。
|
||||
|
||||
测试分组:
|
||||
E1: JointRepublisher JSON 输出格式 (已修复 str→json.dumps)
|
||||
E2: 关节状态回调 — 从 /joint_states (JointState msg) 直接读取 name/position
|
||||
E3: 资源跟随 (resource_pose) — 夹爪抓取/释放/多资源
|
||||
E4: 联合流程 — 关节 + 资源一并通过 bridge 发送
|
||||
E5: Bridge 调用验证
|
||||
E6: 同类型设备多实例 — 重复关节名场景
|
||||
E7: 吞吐优化 — 死区过滤、抑频、增量 resource_poses
|
||||
"""
|
||||
|
||||
import json
|
||||
import time
|
||||
import pytest
|
||||
from unittest.mock import MagicMock
|
||||
from types import SimpleNamespace
|
||||
from typing import Dict, Optional
|
||||
|
||||
|
||||
# ==================== 辅助: 模拟 JointState msg ====================
|
||||
|
||||
|
||||
def _make_joint_state_msg(names: list, positions: list, velocities=None, efforts=None):
|
||||
"""构造模拟的 sensor_msgs/JointState 消息（不依赖 ROS2）"""
|
||||
msg = SimpleNamespace()
|
||||
msg.name = names
|
||||
msg.position = positions
|
||||
msg.velocity = velocities or [0.0] * len(names)
|
||||
msg.effort = efforts or [0.0] * len(names)
|
||||
return msg
|
||||
|
||||
|
||||
def _make_string_msg(data: str):
|
||||
"""构造模拟的 std_msgs/String 消息"""
|
||||
msg = SimpleNamespace()
|
||||
msg.data = data
|
||||
return msg
|
||||
|
||||
|
||||
# ==================== 辅助: 提取 HostNode 核心逻辑用于隔离测试 ====================
|
||||
|
||||
|
||||
class JointBridgeSimulator:
|
||||
"""
|
||||
模拟 HostNode 的关节桥接核心逻辑（提取自 host_node.py），
|
||||
不依赖 ROS2 Node、subscription 等基础设施。
|
||||
|
||||
包含吞吐优化逻辑:
|
||||
- 死区过滤 (dead band): 关节变化 < 阈值时不发送
|
||||
- 抑频 (throttle): 限制最大发送频率
|
||||
- 增量 resource_poses: 仅在变化时附带
|
||||
"""
|
||||
|
||||
JOINT_DEAD_BAND: float = 1e-4
|
||||
JOINT_MIN_INTERVAL: float = 0.05 # 秒
|
||||
|
||||
def __init__(self, device_uuid_map: Dict[str, str],
|
||||
dead_band: Optional[float] = None,
|
||||
min_interval: Optional[float] = None):
|
||||
self.device_uuid_map = device_uuid_map
|
||||
self._device_ids_sorted = sorted(device_uuid_map.keys(), key=len, reverse=True)
|
||||
self._resource_poses: Dict[str, str] = {}
|
||||
self._resource_poses_dirty: bool = False
|
||||
self._last_joint_values: Dict[str, float] = {}
|
||||
self._last_send_time: float = -float("inf") # 确保首条消息总是通过
|
||||
# 允许测试覆盖优化参数
|
||||
if dead_band is not None:
|
||||
self.JOINT_DEAD_BAND = dead_band
|
||||
if min_interval is not None:
|
||||
self.JOINT_MIN_INTERVAL = min_interval
|
||||
|
||||
def resource_pose_callback(self, msg) -> None:
|
||||
"""模拟 HostNode._resource_pose_callback（含变化检测）"""
|
||||
try:
|
||||
data = json.loads(msg.data)
|
||||
except (json.JSONDecodeError, ValueError):
|
||||
return
|
||||
if not isinstance(data, dict) or not data:
|
||||
return
|
||||
has_change = False
|
||||
for k, v in data.items():
|
||||
if self._resource_poses.get(k) != v:
|
||||
has_change = True
|
||||
break
|
||||
if has_change:
|
||||
self._resource_poses.update(data)
|
||||
self._resource_poses_dirty = True
|
||||
|
||||
def joint_state_callback(self, msg, now: Optional[float] = None) -> dict:
|
||||
"""
|
||||
模拟 HostNode._joint_state_callback 核心逻辑（含优化）。
|
||||
now 参数允许测试控制时间。
|
||||
返回 {device_id: {"node_uuid": ..., "joint_states": {...}, "resource_poses": {...}}}。
|
||||
返回 {} 表示被优化过滤。
|
||||
"""
|
||||
names = list(msg.name)
|
||||
positions = list(msg.position)
|
||||
if not names or len(names) != len(positions):
|
||||
return {}
|
||||
|
||||
if now is None:
|
||||
now = time.time()
|
||||
resource_dirty = self._resource_poses_dirty
|
||||
|
||||
# 抑频检查
|
||||
if not resource_dirty and (now - self._last_send_time) < self.JOINT_MIN_INTERVAL:
|
||||
return {}
|
||||
|
||||
# 死区过滤
|
||||
has_significant_change = False
|
||||
for name, pos in zip(names, positions):
|
||||
last_val = self._last_joint_values.get(name)
|
||||
if last_val is None or abs(float(pos) - last_val) >= self.JOINT_DEAD_BAND:
|
||||
has_significant_change = True
|
||||
break
|
||||
|
||||
if not has_significant_change and not resource_dirty:
|
||||
return {}
|
||||
|
||||
# 更新状态
|
||||
for name, pos in zip(names, positions):
|
||||
self._last_joint_values[name] = float(pos)
|
||||
self._last_send_time = now
|
||||
|
||||
# 按设备 ID 分组关节数据
|
||||
device_joints: Dict[str, Dict[str, float]] = {}
|
||||
for name, pos in zip(names, positions):
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
if matched_device:
|
||||
if matched_device not in device_joints:
|
||||
device_joints[matched_device] = {}
|
||||
device_joints[matched_device][name] = float(pos)
|
||||
elif len(self.device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_joints:
|
||||
device_joints[fallback_id] = {}
|
||||
device_joints[fallback_id][name] = float(pos)
|
||||
|
||||
# 构建设备级 resource_poses（仅 dirty 时附带）
|
||||
device_resource_poses: Dict[str, Dict[str, str]] = {}
|
||||
if resource_dirty:
|
||||
for resource_id, link_name in self._resource_poses.items():
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if link_name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
if matched_device:
|
||||
if matched_device not in device_resource_poses:
|
||||
device_resource_poses[matched_device] = {}
|
||||
device_resource_poses[matched_device][resource_id] = link_name
|
||||
elif len(self.device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_resource_poses:
|
||||
device_resource_poses[fallback_id] = {}
|
||||
device_resource_poses[fallback_id][resource_id] = link_name
|
||||
self._resource_poses_dirty = False
|
||||
|
||||
result = {}
|
||||
for device_id, joint_states in device_joints.items():
|
||||
node_uuid = self.device_uuid_map.get(device_id)
|
||||
if not node_uuid:
|
||||
continue
|
||||
result[device_id] = {
|
||||
"node_uuid": node_uuid,
|
||||
"joint_states": joint_states,
|
||||
"resource_poses": device_resource_poses.get(device_id, {}),
|
||||
}
|
||||
return result
|
||||
|
||||
|
||||
# 功能测试中禁用优化（dead_band=0, min_interval=0），确保逻辑正确性
|
||||
def _make_sim(device_uuid_map: Dict[str, str]) -> JointBridgeSimulator:
|
||||
"""创建禁用吞吐优化的模拟器（用于功能正确性测试）"""
|
||||
return JointBridgeSimulator(device_uuid_map, dead_band=0.0, min_interval=0.0)
|
||||
|
||||
|
||||
# ==================== E1: JointRepublisher JSON 输出 ====================
|
||||
|
||||
|
||||
class TestJointRepublisherFormat:
|
||||
"""验证 JointRepublisher 输出标准 JSON（双引号）而非 Python repr（单引号）"""
|
||||
|
||||
def test_output_is_valid_json(self):
|
||||
"""str() 产生单引号，json.dumps() 产生双引号"""
|
||||
joint_dict = {
|
||||
"name": ["joint1", "joint2"],
|
||||
"position": [0.1, 0.2],
|
||||
"velocity": [0.0, 0.0],
|
||||
"effort": [0.0, 0.0],
|
||||
}
|
||||
result = json.dumps(joint_dict)
|
||||
parsed = json.loads(result)
|
||||
assert parsed["name"] == ["joint1", "joint2"]
|
||||
assert parsed["position"] == [0.1, 0.2]
|
||||
assert "'" not in result
|
||||
|
||||
def test_str_produces_invalid_json(self):
|
||||
"""对比: str() 不是合法 JSON"""
|
||||
joint_dict = {"name": ["joint1"], "position": [0.1]}
|
||||
result = str(joint_dict)
|
||||
with pytest.raises(json.JSONDecodeError):
|
||||
json.loads(result)
|
||||
|
||||
|
||||
# ==================== E2: 关节状态回调（JointState msg 直接读取）====================
|
||||
|
||||
|
||||
class TestJointStateCallback:
|
||||
"""测试从 JointState msg 直接读取 name/position 的分组逻辑"""
|
||||
|
||||
def test_single_device_simple(self):
|
||||
"""单设备，关节名有设备前缀"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_joint1", "panda_joint2"], [0.5, 1.0]
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert "panda" in result
|
||||
assert result["panda"]["joint_states"]["panda_joint1"] == 0.5
|
||||
assert result["panda"]["joint_states"]["panda_joint2"] == 1.0
|
||||
|
||||
def test_single_device_no_prefix_fallback(self):
|
||||
"""单设备，关节名无设备前缀 → 应归入唯一设备"""
|
||||
sim = _make_sim({"robot1": "uuid-r1"})
|
||||
msg = _make_joint_state_msg(["joint_a", "joint_b"], [1.0, 2.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert "robot1" in result
|
||||
assert result["robot1"]["joint_states"]["joint_a"] == 1.0
|
||||
assert result["robot1"]["joint_states"]["joint_b"] == 2.0
|
||||
|
||||
def test_multi_device_distinct_prefixes(self):
|
||||
"""多设备，不同前缀，正确分组"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm1_j2", "arm2_j1", "arm2_j2"],
|
||||
[0.1, 0.2, 0.3, 0.4],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
|
||||
assert result["arm1"]["joint_states"]["arm1_j2"] == 0.2
|
||||
assert result["arm2"]["joint_states"]["arm2_j1"] == 0.3
|
||||
assert result["arm2"]["joint_states"]["arm2_j2"] == 0.4
|
||||
|
||||
def test_ambiguous_prefix_longest_wins(self):
|
||||
"""前缀歧义: arm 和 arm_left — 最长前缀优先"""
|
||||
sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm_j1", "arm_left_j1", "arm_left_j2"],
|
||||
[0.1, 0.2, 0.3],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == 0.1
|
||||
assert result["arm_left"]["joint_states"]["arm_left_j1"] == 0.2
|
||||
assert result["arm_left"]["joint_states"]["arm_left_j2"] == 0.3
|
||||
|
||||
def test_multi_device_unmatched_joints_dropped(self):
|
||||
"""多设备时，无法匹配前缀的关节应被丢弃（不 fallback）"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "unknown_j1"],
|
||||
[0.1, 0.9],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
|
||||
for device_id, data in result.items():
|
||||
assert "unknown_j1" not in data["joint_states"]
|
||||
|
||||
def test_empty_names(self):
|
||||
"""空 name 列表"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg([], [])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_mismatched_lengths(self):
|
||||
"""name 和 position 长度不一致"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg(["j1", "j2"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_no_devices(self):
|
||||
"""无设备 UUID 映射"""
|
||||
sim = _make_sim({})
|
||||
msg = _make_joint_state_msg(["j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_numeric_prefix_device_ids(self):
|
||||
"""数字化设备 ID (如 deck1, deck12) — deck12_slot1 不应匹配 deck1"""
|
||||
sim = _make_sim({"deck1": "uuid-d1", "deck12": "uuid-d12"})
|
||||
msg = _make_joint_state_msg(
|
||||
["deck1_slot1", "deck12_slot1"],
|
||||
[1.0, 2.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["deck1"]["joint_states"]["deck1_slot1"] == 1.0
|
||||
assert result["deck12"]["joint_states"]["deck12_slot1"] == 2.0
|
||||
|
||||
def test_position_float_conversion(self):
|
||||
"""position 值应强制转为 float（即使输入为 int）"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
msg = _make_joint_state_msg(["arm_j1"], [1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == 1.0
|
||||
assert isinstance(result["arm"]["joint_states"]["arm_j1"], float)
|
||||
|
||||
def test_node_uuid_in_result(self):
|
||||
"""结果中应携带正确的 node_uuid"""
|
||||
sim = _make_sim({"panda": "uuid-panda-123"})
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["node_uuid"] == "uuid-panda-123"
|
||||
|
||||
def test_device_with_no_uuid_skipped(self):
|
||||
"""device_uuid_map 中存在映射但值为空 → 跳过"""
|
||||
sim = _make_sim({"arm": ""})
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_many_joints_single_device(self):
|
||||
"""单设备大量关节（如 7-DOF arm）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
names = [f"panda_joint{i}" for i in range(1, 8)]
|
||||
positions = [float(i) * 0.1 for i in range(1, 8)]
|
||||
msg = _make_joint_state_msg(names, positions)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["panda"]["joint_states"]) == 7
|
||||
assert result["panda"]["joint_states"]["panda_joint7"] == pytest.approx(0.7)
|
||||
|
||||
def test_duplicate_joint_names_last_wins(self):
|
||||
"""同类型设备多个实例时，如果关节名完全重复（bug 场景），后出现的值覆盖前者"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg(["dev_j1", "dev_j1"], [1.0, 2.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["dev"]["joint_states"]["dev_j1"] == 2.0
|
||||
|
||||
def test_negative_positions(self):
|
||||
"""关节角度为负数"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
msg = _make_joint_state_msg(["arm_j1", "arm_j2"], [-1.57, -3.14])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == pytest.approx(-1.57)
|
||||
assert result["arm"]["joint_states"]["arm_j2"] == pytest.approx(-3.14)
|
||||
|
||||
|
||||
# ==================== E3: 资源跟随 (resource_pose) ====================
|
||||
|
||||
|
||||
class TestResourcePoseCallback:
|
||||
"""测试 resource_pose 回调 — 夹爪抓取/释放/多资源"""
|
||||
|
||||
def test_single_resource_attach(self):
|
||||
"""单个资源挂载到夹爪 link"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_string_msg(json.dumps({"plate_1": "panda_gripper_link"}))
|
||||
sim.resource_pose_callback(msg)
|
||||
assert sim._resource_poses == {"plate_1": "panda_gripper_link"}
|
||||
assert sim._resource_poses_dirty is True
|
||||
|
||||
def test_multiple_resource_attach(self):
|
||||
"""多个资源同时挂载到不同 link"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
"tip_rack": "panda_deck_link",
|
||||
}))
|
||||
sim.resource_pose_callback(msg)
|
||||
assert sim._resource_poses["plate_1"] == "panda_gripper_link"
|
||||
assert sim._resource_poses["tip_rack"] == "panda_deck_link"
|
||||
|
||||
def test_incremental_update(self):
|
||||
"""增量更新：新消息合并到已有状态"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_2": "panda_gripper_link"})))
|
||||
assert len(sim._resource_poses) == 2
|
||||
assert sim._resource_poses["plate_1"] == "panda_deck_link"
|
||||
assert sim._resource_poses["plate_2"] == "panda_gripper_link"
|
||||
|
||||
def test_resource_reattach(self):
|
||||
"""资源从 deck 移动到 gripper（抓取操作）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
|
||||
assert sim._resource_poses["plate_1"] == "panda_deck_link"
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
|
||||
assert sim._resource_poses["plate_1"] == "panda_gripper_link"
|
||||
|
||||
def test_resource_release_back_to_world(self):
|
||||
"""释放资源回到 world"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "world"})))
|
||||
assert sim._resource_poses["plate_1"] == "world"
|
||||
|
||||
def test_empty_dict_heartbeat_no_dirty(self):
|
||||
"""空 dict（心跳包）不标记 dirty"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim._resource_poses_dirty = False # 重置
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({})))
|
||||
assert sim._resource_poses_dirty is False # 空 dict 不应标记 dirty
|
||||
|
||||
def test_same_value_no_dirty(self):
|
||||
"""重复发送相同值不应标记 dirty"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim._resource_poses_dirty = False
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
def test_invalid_json_ignored(self):
|
||||
"""非法 JSON 消息不影响状态"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg("not valid json {{{"))
|
||||
assert sim._resource_poses["plate_1"] == "panda_link"
|
||||
|
||||
def test_non_dict_json_ignored(self):
|
||||
"""JSON 但不是 dict（如 list）应被忽略"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps(["not", "a", "dict"])))
|
||||
assert sim._resource_poses == {}
|
||||
|
||||
def test_python_repr_ignored(self):
|
||||
"""Python repr 格式（单引号）应被忽略"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg("{'plate_1': 'panda_link'}"))
|
||||
assert sim._resource_poses == {}
|
||||
|
||||
def test_multi_device_resource_attach(self):
|
||||
"""多设备场景：不同设备的 link 挂载不同资源"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"plate_B": "arm2_gripper_link",
|
||||
})))
|
||||
assert sim._resource_poses["plate_A"] == "arm1_gripper_link"
|
||||
assert sim._resource_poses["plate_B"] == "arm2_gripper_link"
|
||||
|
||||
|
||||
# ==================== E4: 联合流程 — 关节 + 资源一并通过 bridge ====================
|
||||
|
||||
|
||||
class TestJointWithResourcePoses:
|
||||
"""测试关节状态回调时，resource_poses 被正确按设备分组并包含在结果中"""
|
||||
|
||||
def test_single_device_joint_with_resource(self):
|
||||
"""单设备：关节更新时携带已挂载的资源"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1", "panda_j2"], [0.5, 1.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {"plate_1": "panda_gripper_link"}
|
||||
|
||||
def test_single_device_no_resource(self):
|
||||
"""单设备：无资源挂载时 resource_poses 为空 dict"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {}
|
||||
|
||||
def test_multi_device_resource_routing(self):
|
||||
"""多设备：资源按 link 前缀路由到正确设备"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"plate_B": "arm2_gripper_link",
|
||||
"tube_1": "arm1_tool_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm2_j1"],
|
||||
[0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["resource_poses"] == {
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"tube_1": "arm1_tool_link",
|
||||
}
|
||||
assert result["arm2"]["resource_poses"] == {"plate_B": "arm2_gripper_link"}
|
||||
|
||||
def test_resource_on_world_frame_not_routed(self):
|
||||
"""资源挂在 world frame（已释放）— 多设备时无法匹配任何设备前缀"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "world",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["arm1_j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["resource_poses"] == {}
|
||||
|
||||
def test_resource_world_frame_single_device_fallback(self):
|
||||
"""单设备时 world frame 的资源走 fallback"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "world",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {"plate_A": "world"}
|
||||
|
||||
def test_grab_and_move_sequence(self):
|
||||
"""完整夹取序列: 资源在 deck → gripper 抓取 → arm 移动 → 放下"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
|
||||
# 初始: plate 在 deck
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_deck_third_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[0.0, -0.5, 1.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_third_link"
|
||||
|
||||
# 抓取: plate 从 deck → gripper
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[1.57, 0.0, -0.5],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_gripper_link"
|
||||
assert result["panda"]["joint_states"]["panda_j1"] == pytest.approx(1.57)
|
||||
|
||||
# 放下: plate 从 gripper → 目标 deck
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_deck_first_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[0.0, 0.0, 0.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_first_link"
|
||||
|
||||
def test_simultaneous_grab_multiple_resources(self):
|
||||
"""同时持有多个资源（如双夹爪）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_left_gripper",
|
||||
"plate_2": "panda_right_gripper",
|
||||
"tip_rack": "panda_deck_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["panda"]["resource_poses"]) == 3
|
||||
|
||||
def test_resource_with_ambiguous_link_prefix(self):
|
||||
"""link 前缀歧义: arm_left_gripper 应匹配 arm_left 而非 arm"""
|
||||
sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm_gripper_link",
|
||||
"plate_B": "arm_left_gripper_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["arm_j1", "arm_left_j1"],
|
||||
[0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["resource_poses"] == {"plate_A": "arm_gripper_link"}
|
||||
assert result["arm_left"]["resource_poses"] == {"plate_B": "arm_left_gripper_link"}
|
||||
|
||||
|
||||
# ==================== E5: Bridge 调用验证 ====================
|
||||
|
||||
|
||||
class TestBridgeCalls:
|
||||
"""验证完整桥接流: callback → bridge.publish_joint_state 调用"""
|
||||
|
||||
def test_bridge_called_per_device(self):
|
||||
"""每个设备调用一次 publish_joint_state"""
|
||||
device_uuid_map = {"arm1": "uuid-111", "arm2": "uuid-222"}
|
||||
sim = _make_sim(device_uuid_map)
|
||||
bridge = MagicMock()
|
||||
bridge.publish_joint_state = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm2_j1"],
|
||||
[1.0, 2.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
assert bridge.publish_joint_state.call_count == 2
|
||||
call_uuids = {c[0][0] for c in bridge.publish_joint_state.call_args_list}
|
||||
assert call_uuids == {"uuid-111", "uuid-222"}
|
||||
|
||||
def test_bridge_called_with_resource_poses(self):
|
||||
"""bridge 调用时携带 resource_poses"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
|
||||
bridge = MagicMock()
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_called_once_with(
|
||||
"uuid-panda",
|
||||
{"panda_j1": 0.5},
|
||||
{"plate_1": "panda_gripper_link"},
|
||||
)
|
||||
|
||||
def test_bridge_no_call_for_empty_joints(self):
|
||||
"""无关节数据时不调用 bridge"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
bridge = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg([], [])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_not_called()
|
||||
|
||||
def test_bridge_resource_poses_empty_when_no_resources(self):
|
||||
"""无资源挂载时，resource_poses 参数为空 dict"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
bridge = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_called_once_with(
|
||||
"uuid-panda",
|
||||
{"panda_j1": 0.5},
|
||||
{},
|
||||
)
|
||||
|
||||
def test_multi_bridge_all_called(self):
|
||||
"""多个 bridge 都应被调用"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
bridges = [MagicMock(), MagicMock()]
|
||||
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
for bridge in bridges:
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
for bridge in bridges:
|
||||
bridge.publish_joint_state.assert_called_once()
|
||||
|
||||
|
||||
# ==================== E6: 同类型设备多个实例 — 重复关节名场景 ====================
|
||||
|
||||
|
||||
class TestDuplicateDeviceTypes:
|
||||
"""
|
||||
多个同类型设备（如 2 个 OT-2 移液器），关节名格式为 {device_id}_{joint_name}。
|
||||
设备 ID 不同（如 ot2_left, ot2_right），但底层关节名相同（如 pipette_j1）。
|
||||
"""
|
||||
|
||||
def test_same_type_different_id(self):
|
||||
"""同类型设备不同 ID"""
|
||||
sim = _make_sim({
|
||||
"ot2_left": "uuid-ot2-left",
|
||||
"ot2_right": "uuid-ot2-right",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["ot2_left_pipette_j1", "ot2_left_pipette_j2",
|
||||
"ot2_right_pipette_j1", "ot2_right_pipette_j2"],
|
||||
[0.1, 0.2, 0.3, 0.4],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j1"] == 0.1
|
||||
assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j2"] == 0.2
|
||||
assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j1"] == 0.3
|
||||
assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j2"] == 0.4
|
||||
|
||||
def test_same_type_with_resources_routed_correctly(self):
|
||||
"""同类型设备各自抓取资源，按 link 前缀正确路由"""
|
||||
sim = _make_sim({
|
||||
"ot2_left": "uuid-ot2-left",
|
||||
"ot2_right": "uuid-ot2-right",
|
||||
})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "ot2_left_gripper",
|
||||
"plate_B": "ot2_right_gripper",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["ot2_left_j1", "ot2_right_j1"],
|
||||
[0.5, 0.6],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["ot2_left"]["resource_poses"] == {"plate_A": "ot2_left_gripper"}
|
||||
assert result["ot2_right"]["resource_poses"] == {"plate_B": "ot2_right_gripper"}
|
||||
|
||||
def test_numbered_devices_no_confusion(self):
|
||||
"""编号设备: robot1 不应匹配 robot10 的关节"""
|
||||
sim = _make_sim({
|
||||
"robot1": "uuid-r1",
|
||||
"robot10": "uuid-r10",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["robot1_j1", "robot10_j1"],
|
||||
[1.0, 10.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["robot1"]["joint_states"]["robot1_j1"] == 1.0
|
||||
assert result["robot10"]["joint_states"]["robot10_j1"] == 10.0
|
||||
|
||||
def test_three_same_type_devices(self):
|
||||
"""三个同类型设备"""
|
||||
sim = _make_sim({
|
||||
"pump_a": "uuid-pa",
|
||||
"pump_b": "uuid-pb",
|
||||
"pump_c": "uuid-pc",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["pump_a_flow", "pump_b_flow", "pump_c_flow",
|
||||
"pump_a_pressure", "pump_b_pressure"],
|
||||
[1.0, 2.0, 3.0, 0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["pump_a"]["joint_states"]) == 2
|
||||
assert len(result["pump_b"]["joint_states"]) == 2
|
||||
assert len(result["pump_c"]["joint_states"]) == 1
|
||||
|
||||
|
||||
# ==================== E7: 吞吐优化测试 ====================
|
||||
|
||||
|
||||
class TestThroughputOptimizations:
|
||||
"""测试死区过滤、抑频、增量 resource_poses 等优化行为"""
|
||||
|
||||
# --- 死区过滤 (Dead Band) ---
|
||||
|
||||
def test_dead_band_filters_tiny_change(self):
|
||||
"""关节变化小于死区阈值 → 被过滤"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result1 = sim.joint_state_callback(msg1, now=0.0)
|
||||
assert "arm" in result1
|
||||
|
||||
# 微小变化 (0.001 < 0.01 死区)
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert result2 == {}
|
||||
|
||||
def test_dead_band_passes_significant_change(self):
|
||||
"""关节变化大于死区阈值 → 通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.05])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.05)
|
||||
|
||||
def test_dead_band_first_message_always_passes(self):
|
||||
"""首次消息总是通过（无历史值）"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=1000.0, min_interval=0.0)
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.001])
|
||||
result = sim.joint_state_callback(msg, now=0.0)
|
||||
assert "arm" in result
|
||||
|
||||
def test_dead_band_any_joint_change_triggers(self):
|
||||
"""多关节中只要有一个超过死区就全部发送"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.0, 2.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
# j1 微变化，j2 大变化
|
||||
msg2 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.001, 2.5])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
# 两个关节的值都应包含在结果中
|
||||
assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.001)
|
||||
assert result2["arm"]["joint_states"]["arm_j2"] == pytest.approx(2.5)
|
||||
|
||||
# --- 抑频 (Throttle) ---
|
||||
|
||||
def test_throttle_filters_rapid_messages(self):
|
||||
"""发送间隔内的消息被过滤"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result1 = sim.joint_state_callback(msg1, now=0.0)
|
||||
assert "arm" in result1
|
||||
|
||||
# 0.05s < 0.1s 间隔
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.05)
|
||||
assert result2 == {}
|
||||
|
||||
def test_throttle_passes_after_interval(self):
|
||||
"""超过发送间隔后消息通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.15)
|
||||
assert "arm" in result2
|
||||
|
||||
def test_throttle_bypassed_by_resource_change(self):
|
||||
"""resource_pose 变化时忽略抑频限制"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=1.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
# 资源变化 → 强制发送
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.01) # 远小于 1.0 间隔
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
|
||||
|
||||
# --- 增量 resource_poses ---
|
||||
|
||||
def test_resource_poses_only_sent_when_dirty(self):
|
||||
"""resource_poses 仅在 dirty 时附带，否则为空"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
|
||||
|
||||
# 第一次发送：dirty → 携带 resource_poses
|
||||
msg1 = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result1 = sim.joint_state_callback(msg1)
|
||||
assert result1["panda"]["resource_poses"] == {"plate": "panda_gripper"}
|
||||
|
||||
# dirty 已清除
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
# 第二次发送：not dirty → resource_poses 为空
|
||||
msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2)
|
||||
assert result2["panda"]["resource_poses"] == {}
|
||||
|
||||
def test_resource_change_resets_dirty_after_send(self):
|
||||
"""dirty 在发送后被重置，再次 resource_pose 变化后重新标记"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_deck"})))
|
||||
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
sim.joint_state_callback(msg)
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
# 再次资源变化
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
|
||||
assert sim._resource_poses_dirty is True
|
||||
|
||||
msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2)
|
||||
assert result2["panda"]["resource_poses"] == {"plate": "panda_gripper"}
|
||||
|
||||
# --- 组合场景 ---
|
||||
|
||||
def test_dead_band_bypassed_by_resource_dirty(self):
|
||||
"""关节无变化但 resource_pose 有变化 → 仍然发送"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
|
||||
# 关节值完全不变
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
|
||||
|
||||
def test_high_frequency_stream_only_significant_pass(self):
|
||||
"""模拟高频流: 只有显著变化的消息通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
t = 0.0
|
||||
passed_count = 0
|
||||
|
||||
# 100 条消息，每条微小递增 0.001
|
||||
for i in range(100):
|
||||
t += 0.1
|
||||
val = 1.0 + i * 0.001
|
||||
msg = _make_joint_state_msg(["arm_j1"], [val])
|
||||
result = sim.joint_state_callback(msg, now=t)
|
||||
if result:
|
||||
passed_count += 1
|
||||
|
||||
# 首次总通过 + 每 10 条左右（累计 0.01 变化）通过一次
|
||||
assert passed_count < 20 # 远少于 100
|
||||
assert passed_count >= 5 # 但不应为 0
|
||||
|
||||
def test_throttle_and_dead_band_combined(self):
|
||||
"""同时受抑频和死区影响"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.5)
|
||||
|
||||
# 首条通过
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
assert sim.joint_state_callback(msg1, now=0.0) != {}
|
||||
|
||||
# 时间不够 + 变化不够 → 过滤
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
|
||||
assert sim.joint_state_callback(msg2, now=0.1) == {}
|
||||
|
||||
# 时间够但变化不够 → 过滤
|
||||
msg3 = _make_joint_state_msg(["arm_j1"], [1.002])
|
||||
assert sim.joint_state_callback(msg3, now=1.0) == {}
|
||||
|
||||
# 时间够且变化够 → 通过
|
||||
msg4 = _make_joint_state_msg(["arm_j1"], [1.05])
|
||||
assert sim.joint_state_callback(msg4, now=1.5) != {}
|
||||
@@ -50,6 +50,17 @@ class BaseCommunicationClient(ABC):
|
||||
"""
|
||||
pass
|
||||
|
||||
def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
|
||||
"""
|
||||
发布高频关节状态数据（push_joint_state action，不写 DB）
|
||||
|
||||
Args:
|
||||
node_uuid: 设备节点的云端 UUID
|
||||
joint_states: 关节名 → 角度/位置 的映射
|
||||
resource_poses: 物料附着映射（可选）
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None
|
||||
|
||||
@@ -233,7 +233,7 @@ def parse_args():
|
||||
parser.add_argument(
|
||||
"--addr",
|
||||
type=str,
|
||||
default="https://leap-lab.bohrium.com/api/v1",
|
||||
default="https://uni-lab.bohrium.com/api/v1",
|
||||
help="Laboratory backend address",
|
||||
)
|
||||
parser.add_argument(
|
||||
@@ -438,10 +438,10 @@ def main():
|
||||
if args.addr != parser.get_default("addr"):
|
||||
if args.addr == "test":
|
||||
print_status("使用测试环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
|
||||
HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
elif args.addr == "uat":
|
||||
print_status("使用uat环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://leap-lab.uat.bohrium.com/api/v1"
|
||||
HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
|
||||
elif args.addr == "local":
|
||||
print_status("使用本地环境地址", "info")
|
||||
HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
|
||||
@@ -553,7 +553,7 @@ def main():
|
||||
os._exit(0)
|
||||
|
||||
if not BasicConfig.ak or not BasicConfig.sk:
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://leap-lab.bohrium.com 注册实验室！", "warning")
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
|
||||
os._exit(1)
|
||||
graph: nx.Graph
|
||||
resource_tree_set: ResourceTreeSet
|
||||
@@ -621,8 +621,6 @@ def main():
|
||||
continue
|
||||
|
||||
# 如果从远端获取了物料信息，则与本地物料进行同步
|
||||
# 仅在本地文件模式下有意义：本地文件只含设备结构，远端有已保存的物料，需要 merge
|
||||
# 远端模式下 resource_tree_set 与 request_startup_json 来自同一份数据，merge 为空操作
|
||||
if file_path is not None and 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_dict_list(request_startup_json["nodes"])
|
||||
|
||||
210
unilabos/app/model_upload.py
Normal file
210
unilabos/app/model_upload.py
Normal file
@@ -0,0 +1,210 @@
|
||||
"""模型文件上传/下载管理。
|
||||
|
||||
提供 Edge 端本地模型文件与 OSS 之间的双向同步：
|
||||
- upload_device_model: 本地模型 → OSS（Edge 首次接入时）
|
||||
- download_model_from_oss: OSS → 本地（新 Edge 加入已有 Lab 时）
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import os
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING, Optional
|
||||
|
||||
import requests
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from unilabos.app.web.client import HTTPClient
|
||||
|
||||
# 设备 mesh 根目录
|
||||
_MESH_BASE_DIR = Path(__file__).parent.parent / "device_mesh"
|
||||
|
||||
# 支持的模型文件后缀
|
||||
_MODEL_EXTENSIONS = frozenset({
|
||||
".xacro", ".urdf", ".stl", ".dae", ".obj",
|
||||
".gltf", ".glb", ".fbx", ".yaml", ".yml",
|
||||
})
|
||||
|
||||
# 需要 XOR 加密/解密的 mesh 文件后缀（反爬保护 — 方案 C）
|
||||
_MESH_ENCRYPT_EXTENSIONS = frozenset({
|
||||
".stl", ".dae", ".obj", ".fbx", ".gltf", ".glb",
|
||||
})
|
||||
|
||||
# XOR 密钥 — 从环境变量读取，与前端 mesh-decrypt.ts 一致
|
||||
_XOR_KEY = os.environ.get("UNILAB_MESH_XOR_KEY", "unilab3d-model-protection-key-v1").encode()
|
||||
|
||||
|
||||
def _xor_transform(data: bytes, key: bytes = _XOR_KEY) -> bytes:
|
||||
"""XOR 加密/解密（对称操作）。"""
|
||||
key_len = len(key)
|
||||
return bytes(b ^ key[i % key_len] for i, b in enumerate(data))
|
||||
|
||||
|
||||
def upload_device_model(
|
||||
http_client: "HTTPClient",
|
||||
template_uuid: str,
|
||||
mesh_name: str,
|
||||
model_type: str,
|
||||
version: str = "1.0.0",
|
||||
) -> Optional[str]:
|
||||
"""上传本地模型文件到 OSS，返回入口文件的 OSS URL。
|
||||
|
||||
Args:
|
||||
http_client: HTTPClient 实例
|
||||
template_uuid: 设备模板 UUID
|
||||
mesh_name: mesh 目录名（如 "arm_slider"）
|
||||
model_type: "device" 或 "resource"
|
||||
version: 模型版本
|
||||
|
||||
Returns:
|
||||
入口文件 OSS URL，上传失败返回 None
|
||||
"""
|
||||
if model_type == "device":
|
||||
model_dir = _MESH_BASE_DIR / "devices" / mesh_name
|
||||
else:
|
||||
model_dir = _MESH_BASE_DIR / "resources" / mesh_name
|
||||
|
||||
if not model_dir.exists():
|
||||
logger.warning(f"[模型上传] 本地目录不存在: {model_dir}")
|
||||
return None
|
||||
|
||||
# 收集所有需要上传的文件
|
||||
files = []
|
||||
for f in model_dir.rglob("*"):
|
||||
if f.is_file() and f.suffix.lower() in _MODEL_EXTENSIONS:
|
||||
files.append({
|
||||
"name": str(f.relative_to(model_dir)),
|
||||
"size_kb": f.stat().st_size // 1024,
|
||||
})
|
||||
|
||||
if not files:
|
||||
logger.warning(f"[模型上传] 目录中无可上传的模型文件: {model_dir}")
|
||||
return None
|
||||
|
||||
try:
|
||||
# 1. 获取预签名上传 URL
|
||||
upload_urls_resp = http_client.get_model_upload_urls(
|
||||
template_uuid=template_uuid,
|
||||
files=[{"name": f["name"], "version": version} for f in files],
|
||||
)
|
||||
if not upload_urls_resp:
|
||||
return None
|
||||
|
||||
url_items = upload_urls_resp.get("files", [])
|
||||
|
||||
# 2. 逐个上传文件
|
||||
for file_info, url_info in zip(files, url_items):
|
||||
local_path = model_dir / file_info["name"]
|
||||
upload_url = url_info.get("upload_url", "")
|
||||
if not upload_url:
|
||||
continue
|
||||
_put_upload(local_path, upload_url)
|
||||
|
||||
# 3. 确认发布
|
||||
entry_file = "macro_device.xacro" if model_type == "device" else "modal.xacro"
|
||||
# 检查入口文件是否存在，使用实际存在的文件名
|
||||
for f in files:
|
||||
if f["name"].endswith(".xacro"):
|
||||
entry_file = f["name"]
|
||||
break
|
||||
|
||||
publish_resp = http_client.publish_model(
|
||||
template_uuid=template_uuid,
|
||||
version=version,
|
||||
entry_file=entry_file,
|
||||
)
|
||||
return publish_resp.get("path") if publish_resp else None
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"[模型上传] 上传失败 ({mesh_name}): {e}")
|
||||
return None
|
||||
|
||||
|
||||
def download_model_from_oss(
|
||||
model_config: dict,
|
||||
mesh_base_dir: Optional[Path] = None,
|
||||
) -> bool:
|
||||
"""检查本地模型文件是否存在，不存在则从 OSS 下载。
|
||||
|
||||
Args:
|
||||
model_config: 节点的 model 配置字典
|
||||
mesh_base_dir: mesh 根目录，默认使用 device_mesh/
|
||||
|
||||
Returns:
|
||||
True 表示本地文件就绪，False 表示下载失败或无需下载
|
||||
"""
|
||||
if mesh_base_dir is None:
|
||||
mesh_base_dir = _MESH_BASE_DIR
|
||||
|
||||
mesh_name = model_config.get("mesh", "")
|
||||
model_type = model_config.get("type", "")
|
||||
oss_path = model_config.get("path", "")
|
||||
|
||||
if not mesh_name or not oss_path or not oss_path.startswith("https://"):
|
||||
return False
|
||||
|
||||
# 确定本地目标目录
|
||||
if model_type == "device":
|
||||
local_dir = mesh_base_dir / "devices" / mesh_name
|
||||
elif model_type == "resource":
|
||||
resource_name = mesh_name.split("/")[0]
|
||||
local_dir = mesh_base_dir / "resources" / resource_name
|
||||
else:
|
||||
return False
|
||||
|
||||
# 已有本地文件 → 跳过
|
||||
if local_dir.exists() and any(local_dir.iterdir()):
|
||||
return True
|
||||
|
||||
# 从 OSS 下载
|
||||
local_dir.mkdir(parents=True, exist_ok=True)
|
||||
try:
|
||||
# 下载入口文件（OSS URL 通常直接可访问）
|
||||
entry_name = oss_path.rsplit("/", 1)[-1]
|
||||
_download_file(oss_path, local_dir / entry_name)
|
||||
|
||||
# 如果有 children_mesh，也下载
|
||||
children_mesh = model_config.get("children_mesh")
|
||||
if isinstance(children_mesh, dict) and children_mesh.get("path"):
|
||||
cm_path = children_mesh["path"]
|
||||
if cm_path.startswith("https://"):
|
||||
cm_name = cm_path.rsplit("/", 1)[-1]
|
||||
meshes_dir = local_dir / "meshes"
|
||||
meshes_dir.mkdir(parents=True, exist_ok=True)
|
||||
_download_file(cm_path, meshes_dir / cm_name)
|
||||
|
||||
logger.info(f"[模型下载] 成功下载模型到本地: {mesh_name} → {local_dir}")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.warning(f"[模型下载] 下载失败 ({mesh_name}): {e}")
|
||||
return False
|
||||
|
||||
|
||||
def _put_upload(local_path: Path, upload_url: str) -> None:
|
||||
"""通过预签名 URL 上传文件到 OSS。对 mesh 文件自动 XOR 加密。"""
|
||||
with open(local_path, "rb") as f:
|
||||
data = f.read()
|
||||
# 对 mesh 文件 XOR 加密后上传（反爬保护 — 方案 C）
|
||||
if local_path.suffix.lower() in _MESH_ENCRYPT_EXTENSIONS:
|
||||
data = _xor_transform(data)
|
||||
logger.debug(f"[模型上传] XOR 加密: {local_path.name}")
|
||||
resp = requests.put(upload_url, data=data, timeout=120)
|
||||
resp.raise_for_status()
|
||||
logger.debug(f"[模型上传] 已上传: {local_path.name}")
|
||||
|
||||
|
||||
def _download_file(url: str, local_path: Path) -> None:
|
||||
"""下载单个文件到本地路径。对 mesh 文件自动 XOR 解密。"""
|
||||
local_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
resp = requests.get(url, timeout=60)
|
||||
resp.raise_for_status()
|
||||
data = resp.content
|
||||
# 从 OSS 下载的 mesh 文件是加密的，需要 XOR 解密后再存本地
|
||||
if local_path.suffix.lower() in _MESH_ENCRYPT_EXTENSIONS:
|
||||
data = _xor_transform(data)
|
||||
logger.debug(f"[模型下载] XOR 解密: {local_path.name}")
|
||||
local_path.write_bytes(data)
|
||||
logger.debug(f"[模型下载] 已下载: {local_path}")
|
||||
@@ -5,6 +5,48 @@ from unilabos.utils.log import logger
|
||||
from unilabos.utils.tools import normalize_json as _normalize_device
|
||||
|
||||
|
||||
def normalize_model_for_upload(model_dict: dict) -> dict:
|
||||
"""将 Registry YAML 的 model 字段映射为后端 DeviceModel 结构化格式。
|
||||
|
||||
保留所有原始字段，额外做以下标准化：
|
||||
1. 自动推断 format（如果 YAML 未指定）
|
||||
2. 将 children_mesh 扁平字段映射为结构化 children_mesh 对象
|
||||
"""
|
||||
if not model_dict:
|
||||
return model_dict
|
||||
|
||||
result = {**model_dict}
|
||||
|
||||
# 自动推断 format
|
||||
if "format" not in result and result.get("path"):
|
||||
path = result["path"]
|
||||
if path.endswith(".xacro"):
|
||||
result["format"] = "xacro"
|
||||
elif path.endswith(".urdf"):
|
||||
result["format"] = "urdf"
|
||||
elif path.endswith(".stl"):
|
||||
result["format"] = "stl"
|
||||
elif path.endswith((".gltf", ".glb")):
|
||||
result["format"] = "gltf"
|
||||
|
||||
# 将 children_mesh 扁平字段 → 结构化 children_mesh 对象
|
||||
if "children_mesh" in result and isinstance(result["children_mesh"], str):
|
||||
cm_path = result.pop("children_mesh")
|
||||
cm_tf = result.pop("children_mesh_tf", None)
|
||||
cm_oss = result.pop("children_mesh_path", None)
|
||||
result["children_mesh"] = {
|
||||
"path": cm_oss or cm_path,
|
||||
"format": "stl" if cm_path.endswith(".stl") else "gltf",
|
||||
"default_visible": True,
|
||||
}
|
||||
if cm_tf and len(cm_tf) >= 3:
|
||||
result["children_mesh"]["local_offset"] = cm_tf[:3]
|
||||
if cm_tf and len(cm_tf) >= 6:
|
||||
result["children_mesh"]["local_rotation"] = cm_tf[3:6]
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
"""
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
@@ -16,11 +58,18 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = _normalize_device(device_info)
|
||||
normalized = _normalize_device(device_info)
|
||||
# 标准化 model 字段
|
||||
if normalized.get("model"):
|
||||
normalized["model"] = normalize_model_for_upload(normalized["model"])
|
||||
devices_to_register[device_info["id"]] = normalized
|
||||
logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
# 标准化 model 字段
|
||||
if resource_info.get("model"):
|
||||
resource_info["model"] = normalize_model_for_upload(resource_info["model"])
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
|
||||
@@ -36,9 +36,6 @@ class HTTPClient:
|
||||
auth_secret = BasicConfig.auth_secret()
|
||||
self.auth = auth_secret
|
||||
info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
|
||||
# 复用 TCP/TLS 连接，避免每次请求重新握手
|
||||
self._session = requests.Session()
|
||||
self._session.headers.update({"Authorization": f"Lab {self.auth}"})
|
||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||
|
||||
def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
@@ -51,7 +48,7 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material/edge",
|
||||
json={
|
||||
"edges": resources,
|
||||
@@ -78,28 +75,25 @@ class HTTPClient:
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
# dump() 只调用一次，复用给文件保存和 HTTP 请求
|
||||
nodes_info = [x for xs in resources.dump() for x in xs]
|
||||
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))
|
||||
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
|
||||
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
||||
payload = {"nodes": nodes_info, "mount_uuid": mount_uuid}
|
||||
body_bytes = _fast_dumps(payload)
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "wb") as f:
|
||||
f.write(_fast_dumps_pretty(payload))
|
||||
http_headers = {"Content-Type": "application/json"}
|
||||
if not self.initialized or first_add:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
data=body_bytes,
|
||||
headers=http_headers,
|
||||
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 = self._session.put(
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
data=body_bytes,
|
||||
headers=http_headers,
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=10,
|
||||
)
|
||||
|
||||
@@ -117,7 +111,6 @@ class HTTPClient:
|
||||
uuid_mapping[i["uuid"]] = i["cloud_uuid"]
|
||||
else:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
logger.trace(f"添加物料失败: {nodes_info}")
|
||||
for u, n in old_uuids.items():
|
||||
if u in uuid_mapping:
|
||||
n.res_content.uuid = uuid_mapping[u]
|
||||
@@ -138,7 +131,7 @@ class HTTPClient:
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material/query",
|
||||
json={"uuids": uuid_list, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -152,7 +145,6 @@ class HTTPClient:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
else:
|
||||
data = res["data"]["nodes"]
|
||||
logger.trace(f"resource_tree_get查询到物料: {data}")
|
||||
return data
|
||||
else:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
@@ -170,14 +162,14 @@ class HTTPClient:
|
||||
if not self.initialized:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = self._session.put(
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -204,7 +196,7 @@ class HTTPClient:
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
|
||||
response = self._session.get(
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -245,14 +237,14 @@ class HTTPClient:
|
||||
if not self.initialized:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = self._session.put(
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -282,7 +274,7 @@ class HTTPClient:
|
||||
with open(file_path, "rb") as file:
|
||||
files = {"files": file}
|
||||
logger.info(f"上传文件: {file_path} 到 {scene}")
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/api/account/file_upload/{scene}",
|
||||
files=files,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -322,7 +314,7 @@ class HTTPClient:
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
}
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
data=compressed_body,
|
||||
headers=headers,
|
||||
@@ -356,7 +348,7 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = self._session.get(
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/edge/material/download",
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=(3, 30),
|
||||
@@ -417,7 +409,7 @@ class HTTPClient:
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps(payload, indent=4, ensure_ascii=False))
|
||||
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/workflow/owner/import",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -476,6 +468,63 @@ class HTTPClient:
|
||||
logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
# ──────────────────── 模型资产管理 ────────────────────
|
||||
|
||||
def get_model_upload_urls(
|
||||
self, template_uuid: str, files: list[dict],
|
||||
) -> dict | None:
|
||||
"""获取模型文件预签名上传 URL。
|
||||
|
||||
Args:
|
||||
template_uuid: 设备模板 UUID
|
||||
files: 文件列表 [{"name": "...", "version": "1.0.0"}]
|
||||
|
||||
Returns:
|
||||
{"files": [{"name": "...", "upload_url": "...", "path": "..."}]}
|
||||
"""
|
||||
try:
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/square/template/{template_uuid}/model/upload-urls",
|
||||
json={"files": files},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
data = response.json().get("data")
|
||||
return data
|
||||
logger.error(f"获取模型上传 URL 失败: {response.status_code}, {response.text}")
|
||||
except Exception as e:
|
||||
logger.error(f"获取模型上传 URL 异常: {e}")
|
||||
return None
|
||||
|
||||
def publish_model(
|
||||
self, template_uuid: str, version: str, entry_file: str,
|
||||
) -> dict | None:
|
||||
"""确认模型上传完成，发布新版本。
|
||||
|
||||
Args:
|
||||
template_uuid: 设备模板 UUID
|
||||
version: 模型版本
|
||||
entry_file: 入口文件名
|
||||
|
||||
Returns:
|
||||
{"path": "...", "oss_dir": "...", "version": "..."}
|
||||
"""
|
||||
try:
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/square/template/{template_uuid}/model/publish",
|
||||
json={"version": version, "entry_file": entry_file},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
data = response.json().get("data")
|
||||
return data
|
||||
logger.error(f"发布模型失败: {response.status_code}, {response.text}")
|
||||
except Exception as e:
|
||||
logger.error(f"发布模型异常: {e}")
|
||||
return None
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
|
||||
@@ -754,32 +754,6 @@ class MessageProcessor:
|
||||
req = JobAddReq(**data)
|
||||
|
||||
job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
|
||||
|
||||
# 服务端对always_free动作可能跳过query_action_state直接发job_start，
|
||||
# 此时job尚未注册，需要自动补注册
|
||||
existing_job = self.device_manager.get_job_info(req.job_id)
|
||||
if not existing_job:
|
||||
action_name = req.action
|
||||
device_action_key = f"/devices/{req.device_id}/{action_name}"
|
||||
action_always_free = self._check_action_always_free(req.device_id, action_name)
|
||||
|
||||
if action_always_free:
|
||||
job_info = JobInfo(
|
||||
job_id=req.job_id,
|
||||
task_id=req.task_id,
|
||||
device_id=req.device_id,
|
||||
action_name=action_name,
|
||||
device_action_key=device_action_key,
|
||||
status=JobStatus.QUEUE,
|
||||
start_time=time.time(),
|
||||
always_free=True,
|
||||
)
|
||||
self.device_manager.add_queue_request(job_info)
|
||||
logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
|
||||
else:
|
||||
logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
|
||||
return
|
||||
|
||||
success = self.device_manager.start_job(req.job_id)
|
||||
if not success:
|
||||
logger.error(f"[MessageProcessor] Failed to start job {job_log}")
|
||||
@@ -1113,7 +1087,7 @@ class MessageProcessor:
|
||||
"task_id": task_id,
|
||||
"job_id": job_id,
|
||||
"free": free,
|
||||
"need_more": need_more + 1,
|
||||
"need_more": need_more,
|
||||
},
|
||||
}
|
||||
|
||||
@@ -1253,7 +1227,7 @@ class QueueProcessor:
|
||||
"task_id": job_info.task_id,
|
||||
"job_id": job_info.job_id,
|
||||
"free": False,
|
||||
"need_more": 10 + 1,
|
||||
"need_more": 10,
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
@@ -1269,13 +1243,7 @@ class QueueProcessor:
|
||||
if not queued_jobs:
|
||||
return
|
||||
|
||||
queue_summary = {}
|
||||
for j in queued_jobs:
|
||||
key = f"{j.device_id}/{j.action_name}"
|
||||
queue_summary[key] = queue_summary.get(key, 0) + 1
|
||||
logger.debug(
|
||||
f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs: {queue_summary}"
|
||||
)
|
||||
logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
|
||||
|
||||
for job_info in queued_jobs:
|
||||
# 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
|
||||
@@ -1292,7 +1260,7 @@ class QueueProcessor:
|
||||
"task_id": job_info.task_id,
|
||||
"job_id": job_info.job_id,
|
||||
"free": False,
|
||||
"need_more": 10 + 1,
|
||||
"need_more": 10,
|
||||
},
|
||||
}
|
||||
success = self.message_processor.send_message(message)
|
||||
@@ -1375,10 +1343,6 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
|
||||
self.queue_processor = QueueProcessor(self.device_manager, self.message_processor)
|
||||
|
||||
# running状态debounce缓存: {job_id: (last_send_timestamp, last_feedback_data)}
|
||||
self._job_running_last_sent: Dict[str, tuple] = {}
|
||||
self._job_running_debounce_interval: float = 10.0 # 秒
|
||||
|
||||
# 设置相互引用
|
||||
self.message_processor.set_queue_processor(self.queue_processor)
|
||||
self.message_processor.set_websocket_client(self)
|
||||
@@ -1470,6 +1434,21 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
self.message_processor.send_message(message)
|
||||
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
|
||||
"""发布高频关节状态（push_joint_state，不写 DB）"""
|
||||
if self.is_disabled or not self.is_connected():
|
||||
return
|
||||
|
||||
message = {
|
||||
"action": "push_joint_state",
|
||||
"data": {
|
||||
"node_uuid": node_uuid,
|
||||
"joint_states": joint_states or {},
|
||||
"resource_poses": resource_poses or {},
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
) -> None:
|
||||
@@ -1478,32 +1457,22 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
logger.debug(f"[WebSocketClient] Not connected, cannot publish job status for job_id: {item.job_id}")
|
||||
return
|
||||
|
||||
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
|
||||
|
||||
# 拦截最终结果状态，与原版本逻辑一致
|
||||
if status in ["success", "failed"]:
|
||||
self._job_running_last_sent.pop(item.job_id, None)
|
||||
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
# 从HostNode的device_action_status中移除job_id
|
||||
try:
|
||||
host_node._device_action_status[item.device_action_key].job_ids.pop(item.job_id, None)
|
||||
except (KeyError, AttributeError):
|
||||
logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode 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)
|
||||
|
||||
# running状态按job_id做debounce，内容变化时仍然上报
|
||||
if status == "running":
|
||||
now = time.time()
|
||||
cached = self._job_running_last_sent.get(item.job_id)
|
||||
if cached is not None:
|
||||
last_ts, last_data = cached
|
||||
if now - last_ts < self._job_running_debounce_interval and last_data == feedback_data:
|
||||
logger.trace(f"[WebSocketClient] Job status debounced (skip): {job_log} - {status}")
|
||||
return
|
||||
self._job_running_last_sent[item.job_id] = (now, feedback_data)
|
||||
|
||||
# 发送job状态消息
|
||||
message = {
|
||||
"action": "job_status",
|
||||
"data": {
|
||||
@@ -1519,6 +1488,7 @@ 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.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
|
||||
|
||||
def send_ping(self, ping_id: str, timestamp: float) -> None:
|
||||
|
||||
@@ -46,7 +46,7 @@ class WSConfig:
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://leap-lab.bohrium.com/api/v1"
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1"
|
||||
|
||||
|
||||
# ROS配置
|
||||
|
||||
@@ -219,10 +219,10 @@ device = NewareBatteryTestSystem(
|
||||
|
||||
#### 步骤 2：提交测试任务
|
||||
|
||||
使用 `submit_from_csv_export_ndax` 提交测试任务：
|
||||
使用 `submit_from_csv` 提交测试任务：
|
||||
|
||||
```python
|
||||
result = device.submit_from_csv_export_ndax(
|
||||
result = device.submit_from_csv(
|
||||
csv_path="test_data.csv",
|
||||
output_dir="D:/neware_output"
|
||||
)
|
||||
@@ -489,7 +489,7 @@ A: 重新获取新的 Token 并更新环境变量 `UNI_LAB_AUTH_TOKEN`。
|
||||
**Q: 可以自定义上传路径吗？**
|
||||
A: 当前版本路径由统一 API 自动分配，`oss_prefix` 参数暂不使用（保留接口兼容性）。
|
||||
|
||||
**Q: 为什么不在 `submit_from_csv_export_ndax` 中自动上传？**
|
||||
**Q: 为什么不在 `submit_from_csv` 中自动上传？**
|
||||
A: 因为备份文件在测试进行中逐步生成，方法返回时可能文件尚未完全生成，因此提供独立的上传方法更灵活。
|
||||
|
||||
**Q: 上传后如何访问文件？**
|
||||
|
||||
@@ -230,10 +230,10 @@ device = NewareBatteryTestSystem(
|
||||
|
||||
#### Step 2: Submit Test Tasks
|
||||
|
||||
Use `submit_from_csv_export_ndax` to submit test tasks:
|
||||
Use `submit_from_csv` to submit test tasks:
|
||||
|
||||
```python
|
||||
result = device.submit_from_csv_export_ndax(
|
||||
result = device.submit_from_csv(
|
||||
csv_path="test_data.csv",
|
||||
output_dir="D:/neware_output"
|
||||
)
|
||||
@@ -500,7 +500,7 @@ A: Obtain a new API Key and update the `UNI_LAB_AUTH_TOKEN` environment variable
|
||||
**Q: Can I customize upload paths?**
|
||||
A: Current version has paths automatically assigned by unified API. `oss_prefix` parameter is currently unused (retained for interface compatibility).
|
||||
|
||||
**Q: Why not auto-upload in `submit_from_csv_export_ndax`?**
|
||||
**Q: Why not auto-upload in `submit_from_csv`?**
|
||||
A: Because backup files are generated progressively during testing, they may not be fully generated when the method returns. A separate upload method provides more flexibility.
|
||||
|
||||
**Q: How to access files after upload?**
|
||||
|
||||
@@ -14,7 +14,7 @@
|
||||
"config": {
|
||||
"ip": "127.0.0.1",
|
||||
"port": 502,
|
||||
"machine_ids": [1, 2, 3, 4, 5, 6, 86],
|
||||
"machine_id": 1,
|
||||
"devtype": "27",
|
||||
"timeout": 20,
|
||||
"size_x": 500.0,
|
||||
@@ -26,10 +26,10 @@
|
||||
"data": {
|
||||
"功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能",
|
||||
"监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等",
|
||||
"提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务（NDA备份），或通过submit_from_csv_export_excel action提交并备份为Excel格式。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
|
||||
"提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号"
|
||||
},
|
||||
"children": []
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,56 +0,0 @@
|
||||
import socket
|
||||
END_MARKS = [b"\r\n#\r\n", b"</bts>"] # 读到任一标志即可判定完整响应
|
||||
|
||||
def build_start_command(devid, subdevid, chlid, CoinID,
|
||||
ip_in_xml="127.0.0.1",
|
||||
devtype:int=27,
|
||||
recipe_path:str=f"D:\\HHM_test\\A001.xml",
|
||||
backup_dir:str=f"D:\\HHM_test\\backup",
|
||||
filetype:int=1) -> str:
|
||||
"""
|
||||
filetype: 备份文件类型。0=NDA（新威原生），1=Excel。默认 1。
|
||||
"""
|
||||
lines = [
|
||||
'<?xml version="1.0" encoding="UTF-8"?>',
|
||||
'<bts version="1.0">',
|
||||
' <cmd>start</cmd>',
|
||||
' <list count="1">',
|
||||
f' <start ip="{ip_in_xml}" devtype="{devtype}" devid="{devid}" subdevid="{subdevid}" chlid="{chlid}" barcode="{CoinID}">{recipe_path}</start>',
|
||||
f' <backup backupdir="{backup_dir}" remotedir="" filenametype="1" customfilename="" createdirbydate="0" filetype="{int(filetype)}" backupontime="1" backupontimeinterval="1" backupfree="0" />',
|
||||
' </list>',
|
||||
'</bts>',
|
||||
]
|
||||
# TCP 模式：请求必须以 #\r\n 结束（协议要求）
|
||||
return "\r\n".join(lines) + "\r\n#\r\n"
|
||||
|
||||
def recv_until_marks(sock: socket.socket, timeout=60):
|
||||
sock.settimeout(timeout) # 上限给足，协议允许到 30s:contentReference[oaicite:2]{index=2}
|
||||
buf = bytearray()
|
||||
while True:
|
||||
chunk = sock.recv(8192)
|
||||
if not chunk:
|
||||
break
|
||||
buf += chunk
|
||||
# 读到结束标志就停，避免等对端断开
|
||||
for m in END_MARKS:
|
||||
if m in buf:
|
||||
return bytes(buf)
|
||||
# 保险：读到完整 XML 结束标签也停
|
||||
if b"</bts>" in buf:
|
||||
return bytes(buf)
|
||||
return bytes(buf)
|
||||
|
||||
def start_test(ip="127.0.0.1", port=502, devid=3, subdevid=2, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup", filetype:int=1):
|
||||
"""
|
||||
filetype: 备份文件类型，0=NDA，1=Excel。默认 1。
|
||||
"""
|
||||
xml_cmd = build_start_command(devid=devid, subdevid=subdevid, chlid=chlid, CoinID=CoinID, recipe_path=recipe_path, backup_dir=backup_dir, filetype=filetype)
|
||||
#print(xml_cmd)
|
||||
with socket.create_connection((ip, port), timeout=60) as s:
|
||||
s.sendall(xml_cmd.encode("utf-8"))
|
||||
data = recv_until_marks(s, timeout=60)
|
||||
return data.decode("utf-8", errors="replace")
|
||||
|
||||
if __name__ == "__main__":
|
||||
resp = start_test(ip="127.0.0.1", port=502, devid=4, subdevid=10, chlid=1, CoinID="A001", recipe_path=f"D:\\HHM_test\\A001.xml", backup_dir=f"D:\\HHM_test\\backup")
|
||||
print(resp)
|
||||
@@ -57,7 +57,7 @@ class VirtualSampleDemo:
|
||||
readings.append(round(random.uniform(0.1, 1.0), 4))
|
||||
samples.append(idx)
|
||||
|
||||
return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples}
|
||||
return {"volumes": out_volumes, "readings": readings, "samples": samples}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 3: 入参和出参都带 samples 列（不等长）
|
||||
@@ -78,7 +78,7 @@ class VirtualSampleDemo:
|
||||
scores.append(score)
|
||||
passed.append(r >= threshold)
|
||||
|
||||
return {"scores": scores, "passed": passed, "unilabos_samples": samples}
|
||||
return {"scores": scores, "passed": passed, "samples": samples}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# 状态属性
|
||||
|
||||
@@ -22,11 +22,10 @@ from threading import Lock, RLock
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
|
||||
)
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
|
||||
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
@@ -291,126 +290,6 @@ class VirtualWorkbench:
|
||||
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})")
|
||||
|
||||
@action(
|
||||
always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}, goal_default={
|
||||
"timeout_seconds": 3600,
|
||||
"assignee_user_ids": []
|
||||
}, feedback_interval=300,
|
||||
handles=[
|
||||
ActionInputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
|
||||
ActionInputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
|
||||
# transfer使用
|
||||
ActionOutputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
|
||||
# test使用
|
||||
ActionOutputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
|
||||
]
|
||||
)
|
||||
def manual_confirm(
|
||||
self,
|
||||
resource: List[ResourceSlot],
|
||||
target_device: DeviceSlot,
|
||||
mount_resource: List[ResourceSlot],
|
||||
collector_mass: List[float],
|
||||
active_material: List[float],
|
||||
capacity: List[float],
|
||||
battery_system: List[str],
|
||||
timeout_seconds: int,
|
||||
assignee_user_ids: list[str],
|
||||
**kwargs
|
||||
) -> dict:
|
||||
"""
|
||||
timeout_seconds: 超时时间（秒），默认3600秒
|
||||
collector_mass: 极流体质量
|
||||
active_material: 活性物质含量
|
||||
capacity: 克容量（mAh/g）
|
||||
battery_system: 电池体系
|
||||
修改的结果无效，是只读的
|
||||
"""
|
||||
resource = ResourceTreeSet.from_plr_resources(resource).dump()
|
||||
mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
|
||||
kwargs.update(locals())
|
||||
kwargs.pop("kwargs")
|
||||
kwargs.pop("self")
|
||||
return kwargs
|
||||
|
||||
@action(
|
||||
description="转移物料",
|
||||
handles=[
|
||||
ActionInputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
]
|
||||
)
|
||||
async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
|
||||
future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
|
||||
**{
|
||||
"plr_resources": resource,
|
||||
"target_device_id": target_device,
|
||||
"target_resources": mount_resource,
|
||||
"sites": [None] * len(mount_resource),
|
||||
})
|
||||
result = await future
|
||||
return result
|
||||
|
||||
|
||||
@action(
|
||||
description="扣电测试启动",
|
||||
handles=[
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
|
||||
ActionInputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
|
||||
]
|
||||
)
|
||||
async def test(
|
||||
self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
|
||||
):
|
||||
print(resource)
|
||||
print(mount_resource)
|
||||
print(collector_mass)
|
||||
print(active_material)
|
||||
print(capacity)
|
||||
print(battery_system)
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
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",
|
||||
|
||||
Binary file not shown.
File diff suppressed because it is too large
Load Diff
Binary file not shown.
Binary file not shown.
@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
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：从配置中获取仓库配置
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
|
||||
# 确定目标仓库名称
|
||||
parent_name = None
|
||||
@@ -760,9 +760,10 @@ class BioyondWorkstation(WorkstationBase):
|
||||
except:
|
||||
pass
|
||||
|
||||
# 创建通信模块；同步器将在 post_init 中初始化并执行首次同步
|
||||
# 创建通信模块
|
||||
self._create_communication_module(bioyond_config)
|
||||
self.resource_synchronizer = None
|
||||
self.resource_synchronizer = BioyondResourceSynchronizer(self)
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
# TODO: self._ros_node里面拿属性
|
||||
|
||||
@@ -801,15 +802,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
def post_init(self, ros_node: ROS2WorkstationNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
# Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化仓库
|
||||
if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
|
||||
logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库")
|
||||
self.deck.setup()
|
||||
|
||||
# 初始化同步器并执行首次同步（需在仓库初始化之后）
|
||||
self.resource_synchronizer = BioyondResourceSynchronizer(self)
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
# 启动连接监控
|
||||
try:
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
|
||||
@@ -1,219 +0,0 @@
|
||||
# 代码变更说明 — 2026-03-12
|
||||
|
||||
> 本次变更基于 `implementation_plan_v2.md` 执行，目标：**物理几何结构初始化与物料内容物填充彻底解耦**，消除 PLR 反序列化时的 `Resource already assigned to deck` 错误，并修复若干运行时新增问题。
|
||||
|
||||
---
|
||||
|
||||
## 一、物料系统标准化重构（主线任务）
|
||||
|
||||
### 1. `unilabos/resources/battery/magazine.py`
|
||||
|
||||
**改动**：`MagazineHolder_6_Cathode`、`MagazineHolder_6_Anode`、`MagazineHolder_4_Cathode` 三个工厂函数的 `klasses` 参数改为 `None`。
|
||||
|
||||
**原因**：原来三个工厂函数在初始化时就向洞位填满极片对象（`ElectrodeSheet`），导致 PLR 反序列化时"几何结构已创建子节点 + DB 再次 assign"双重冲突。
|
||||
|
||||
**原则**：物料余量改由寄存器直读（阶段 F），资源树不再追踪每个极片实体。`MagazineHolder_6_Battery` 原本就是 `klasses=None`，三者现在保持一致。
|
||||
|
||||
---
|
||||
|
||||
### 2. `unilabos/resources/battery/magazine.py`（追加，响应重复 UUID 问题）
|
||||
|
||||
**改动**：为 `Magazine`（洞位类）新增 `serialize` 和 `deserialize` 重写：
|
||||
- `serialize`：序列化时强制将 `children` 置空，不再把极片写回数据库。
|
||||
- `deserialize`：反序列化时强制忽略 `children` 字段，阻止数据库中旧极片记录被恢复。
|
||||
|
||||
**原因**：数据库中遗留有旧的 `ElectrodeSheet` 记录（`A1_sheet100` 等），启动时被 PLR 反序列化进来，导致同一 UUID 出现在多个 Magazine 洞位中，触发 `发现重复的uuid` 错误。此修复从源头截断旧数据，经过一次完整的"启动 → 资源树写回"后，数据库旧极片记录也会被干净覆盖。
|
||||
|
||||
---
|
||||
|
||||
### 3. `unilabos/resources/battery/bottle_carriers.py`
|
||||
|
||||
**改动**：删除 `YIHUA_Electrolyte_12VialCarrier` 末尾的 12 瓶填充循环及对应 `import`。
|
||||
|
||||
**原因**：`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 应初始化为空载架，瓶子由 Bioyond 侧实际转运后再填入。原来初始化时直接塞满 `YB_pei_ye_xiao_Bottle`，反序列化时产生重复 assign。
|
||||
|
||||
---
|
||||
|
||||
### 4. `unilabos/resources/bioyond/decks.py`
|
||||
|
||||
**改动**：
|
||||
- 将 `BIOYOND_YB_Deck` 重命名为 `BioyondElectrolyteDeck`，保留 `BIOYOND_YB_Deck` 作为向后兼容别名。
|
||||
- 工厂函数 `YB_Deck()` 重命名为 `bioyond_electrolyte_deck()`，保留 `YB_Deck` 作为别名。
|
||||
- `BIOYOND_PolymerReactionStation_Deck`、`BIOYOND_PolymerPreparationStation_Deck`、`BioyondElectrolyteDeck` 三个 Deck 类：
|
||||
- 移除 `__init__` 中的 `setup: bool = False` 参数及 `if setup: self.setup()` 调用。
|
||||
- 删除临时 `deserialize` 补丁（该补丁是为了强制 `setup=False`，根本原因消除后不再需要）。
|
||||
|
||||
**原因**：`setup` 参数导致 PLR 反序列化时先通过 `__init__` 创建所有子资源，再从 JSON `children` 字段再次 assign，产生 `already assigned to deck` 错误。正确模式：`__init__` 只初始化自身几何，`setup()` 由工厂函数调用，反序列化由 PLR 从 DB 数据重建子资源。
|
||||
|
||||
---
|
||||
|
||||
### 5. `unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`
|
||||
|
||||
**改动**：
|
||||
- `CoincellDeck` 重命名为 `YihuaCoinCellDeck`，保留 `CoincellDeck` 作为向后兼容别名。
|
||||
- 工厂函数 `YH_Deck()` 重命名为 `yihua_coin_cell_deck()`，保留 `YH_Deck` 作为别名。
|
||||
- 移除 `YihuaCoinCellDeck.__init__` 中的 `setup: bool = False` 参数及调用，删除 `deserialize` 补丁（原因同 decks.py）。
|
||||
- `MaterialPlate.__init__` 移除 `fill` 参数和 `fill=True` 分支，新增类方法 `MaterialPlate.create_with_holes()` 作为"带洞位"的工厂方法，`setup()` 改为调用该工厂方法。
|
||||
- `YihuaCoinCellDeck.setup()` 末尾新增 `electrolyte_buffer`（`ResourceStack`）接驳槽，用于接收来自 Bioyond 侧的分液瓶板，命名与 `bioyond_cell_workstation.py` 中 `sites=["electrolyte_buffer"]` 一致。
|
||||
|
||||
---
|
||||
|
||||
### 6. `unilabos/resources/resource_tracker.py`
|
||||
|
||||
**改动 1**：`to_plr_resources` 中，`load_all_state` 调用前预填 `Container` 类资源缺失的键：
|
||||
|
||||
```python
|
||||
state.setdefault("liquid_history", [])
|
||||
state.setdefault("pending_liquids", {})
|
||||
```
|
||||
|
||||
**原因**：新版 PLR 要求 `Container` 状态中必须包含这两个键，旧数据库记录缺失时 `load_all_state` 会抛出 `KeyError`。
|
||||
|
||||
**改动 2**：`_validate_tree` 中，遇到重复 UUID 时改为自动重新分配新 UUID 并打 `WARNING`，不再直接抛异常崩溃。
|
||||
|
||||
**原因**：旧数据库中存在多个同名同 UUID 的极片对象（历史脏数据），严格校验会导致节点无法启动。改为 WARNING + 自动修复，确保启动成功，下次资源树写回后脏数据自然清除。
|
||||
|
||||
---
|
||||
|
||||
### 7. `unilabos/resources/itemized_carrier.py`
|
||||
|
||||
**改动**：将原来的 `idx is None` 兜底补丁（静默调用 `super().assign_child_resource`，不更新槽位追踪）替换为两段式逻辑：
|
||||
|
||||
1. **XY 近似匹配**（容差 2mm）：精确三维坐标匹配失败时，仅对比 XY 二维坐标，找到最近槽位后用槽位的正确坐标（含 Z）完成 assign，并打 `WARNING`。
|
||||
2. **XY 也失败才抛异常**：给出详细的槽位列表和传入坐标，便于问题排查。
|
||||
|
||||
**原因**：数据库中存储的资源坐标 Z=0，而 `warehouse_factory` 定义的槽位 Z=dz（如 10mm）。精确匹配永远失败，原补丁静默兜底掩盖了这一问题。近似匹配修复了 Z 偏移，同时保留了真正异常时的报错能力。
|
||||
|
||||
---
|
||||
|
||||
### 8. `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
|
||||
|
||||
**改动 1**：更新导入：`BIOYOND_YB_Deck` → `BioyondElectrolyteDeck, bioyond_electrolyte_deck`。
|
||||
|
||||
**改动 2**：`__main__` 入口处改为调用 `bioyond_electrolyte_deck(name="YB_Deck")`。
|
||||
|
||||
**改动 3**：新增 `_get_resource_from_device(device_id, resource_name)` 方法，用于从目标设备的资源树中动态查找 PLR 资源对象（带降级回退逻辑）。
|
||||
|
||||
**改动 4**：跨站转运逻辑中，将原来"创建 `size=1,1,1` 的虚拟 `ResourcePLR` + 硬编码 UUID"的方式，改为通过 `_get_resource_from_device` 从目标设备获取真实的 `electrolyte_buffer` 资源对象。
|
||||
|
||||
**原因**：原代码使用硬编码 UUID 的虚拟资源作为转运目标，该对象在 YihuaCoinCellDeck 的资源树中不存在，转移后资源树状态混乱。
|
||||
|
||||
---
|
||||
|
||||
### 9. `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
|
||||
|
||||
**改动 1**：更新导入：`CoincellDeck` → `YihuaCoinCellDeck, yihua_coin_cell_deck`，`__main__` 入口改为调用 `yihua_coin_cell_deck()`。
|
||||
|
||||
**改动 2**：新增 10 个 `@property`，实现对依华扣电工站 Modbus 寄存器的直读：
|
||||
|
||||
| 属性名 | 寄存器地址 | 说明 |
|
||||
|---|---|---|
|
||||
| `data_10mm_positive_plate_remaining` | 520 | 10mm正极片余量 |
|
||||
| `data_12mm_positive_plate_remaining` | 522 | 12mm正极片余量 |
|
||||
| `data_16mm_positive_plate_remaining` | 524 | 16mm正极片余量 |
|
||||
| `data_aluminum_foil_remaining` | 526 | 铝箔余量 |
|
||||
| `data_positive_shell_remaining` | 528 | 正极壳余量 |
|
||||
| `data_flat_washer_remaining` | 530 | 平垫余量 |
|
||||
| `data_negative_shell_remaining` | 532 | 负极壳余量 |
|
||||
| `data_spring_washer_remaining` | 534 | 弹垫余量 |
|
||||
| `data_finished_battery_remaining_capacity` | 536 | 成品电池余量 |
|
||||
| `data_finished_battery_ng_remaining_capacity` | 538 | 成品电池NG槽余量 |
|
||||
|
||||
**原因**：`coin_cell_workstation.yaml` 的 `status_types` 中定义了这 10 个属性，但代码中从未实现，导致每次前端轮询时均报 `AttributeError`。
|
||||
|
||||
---
|
||||
|
||||
## 二、配置与注册表更新
|
||||
|
||||
### 10. `yibin_electrolyte_config.json`
|
||||
- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`（class、type、_resource_type 三处）
|
||||
- `CoincellDeck` → `YihuaCoinCellDeck`（class、type、_resource_type 三处）
|
||||
- 移除 `"setup": true` 字段
|
||||
|
||||
### 11. `yibin_coin_cell_only_config.json`
|
||||
- `CoincellDeck` → `YihuaCoinCellDeck`
|
||||
- 移除 `"setup": true`
|
||||
|
||||
### 12. `yibin_electrolyte_only_config.json`
|
||||
- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`
|
||||
- 移除 `"setup": true`
|
||||
|
||||
### 13. `unilabos/registry/resources/bioyond/deck.yaml`
|
||||
- `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`，工厂函数路径更新为 `bioyond_electrolyte_deck`
|
||||
- `CoincellDeck` → `YihuaCoinCellDeck`，工厂函数路径更新为 `yihua_coin_cell_deck`
|
||||
|
||||
---
|
||||
|
||||
## 三、独立 Bug 修复
|
||||
|
||||
### 14. `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv`
|
||||
|
||||
**改动**：10 条余量寄存器记录的 `DataType` 列从 `REAL` 改为 `FLOAT32`。
|
||||
|
||||
**原因**：`REAL` 是 IEC 61131-3 PLC 工程师惯用名称，但 pymodbus 的 `DATATYPE` 枚举只有 `FLOAT32`，`DataType['REAL']` 查表时抛 `KeyError: 'REAL'`，导致 `CoinCellAssemblyWorkstation` 节点启动失败。
|
||||
|
||||
---
|
||||
|
||||
## 四、运行期新增 Bug 修复（第二轮，2026-03-12 18:12 日志）
|
||||
|
||||
### 15. `unilabos/devices/workstation/bioyond_studio/station.py`
|
||||
|
||||
**改动**：第 261 行 `self.bioyond_config` → `self.workstation.bioyond_config`。
|
||||
|
||||
**原因**：`BioyondResourceSynchronizer.sync_to_external` 内部误用了 `self.bioyond_config`，而该类从未设置此属性（应通过 `self.workstation.bioyond_config` 访问）。触发场景：用户在前端将任意物料拖入仓库时，同步到 Bioyond 必定抛出 `AttributeError: 'BioyondResourceSynchronizer' object has no attribute 'bioyond_config'`。
|
||||
|
||||
---
|
||||
|
||||
### 16. `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
|
||||
|
||||
**改动**：`_get_type_id_by_name` 方法新增"直接英文 key 命中"分支：
|
||||
|
||||
- **原逻辑**：仅按 `value[0]`（中文名，如 `"5ml分液瓶板"`）遍历比较。
|
||||
- **新逻辑**：先以 `type_name` 直接查找 `material_type_mappings` 字典 key（英文 model 名，如 `"YB_Vial_5mL_Carrier"`），命中则立即返回 UUID；否则再按中文名兜底遍历。
|
||||
|
||||
**原因**：`resource_tree_transfer` 将 `plr_resource.model`（英文 key）作为 `board_type` / `bottle_type` 传给 `create_sample`，后者再调用 `_get_type_id_by_name`。旧版函数只按中文名查，导致英文 key 永远匹配不到 → `ValueError: 未找到板类型 'YB_Vial_5mL_Carrier' 的配置`。新函数兼容两种查找方式，同时保持向后兼容。
|
||||
|
||||
---
|
||||
|
||||
## 五、运行期新增 Bug 修复（第三轮，2026-03-12 20:30 日志）
|
||||
|
||||
### 17. `unilabos/resources/resource_tracker.py`（追加）
|
||||
|
||||
**改动**：在 `to_plr_resources` 中，`sub_cls.deserialize` 调用前新增 `_deduplicate_plr_dict(plr_dict)` 预处理函数。
|
||||
|
||||
**函数逻辑**：递归遍历整个 `plr_dict` 树，在**全树范围**对 `children` 列表按 `name` 去重——保留首次出现的同名节点，跳过重复项并打 `WARNING`。
|
||||
|
||||
**根本原因**：
|
||||
1. 用户通过前端将 `YB_Vial_5mL_Carrier` 拖入仓库 E01，carrier 及其子 vial（`YB_Vial_5mL_Carrier_vial_A1` 等）被写入数据库。
|
||||
2. 随后 `sync_from_external`（Bioyond 定期同步）以**新 UUID** 重新创建同名 carrier 并赋给同一槽位，PLR 内存树中的旧 carrier 被替换，但**数据库旧记录未被清除**。
|
||||
3. 下次重启时，数据库同一 `WareHouse` 下存在两条同名 `BottleCarrier`（不同 UUID），`node_to_plr_dict` 将二者都放入 `children` 列表，PLR 反序列化第二个 carrier 时子 vial 命名冲突，抛出 `ValueError: Resource with name 'YB_Vial_5mL_Carrier_vial_A1' already exists in the tree.`，整个 deck 无法加载，系统启动失败。
|
||||
|
||||
**连锁错误（随根因修复自动消除）**：
|
||||
- `TypeError: Deck.__init__() got an unexpected keyword argument 'data'` — deck 加载失败后 `driver_creator.py` 触发降级路径，参数类型错误
|
||||
- `AttributeError: 'ResourceDictInstance' object has no attribute 'copy'` — 另一条降级路径失败
|
||||
- `ValueError: Deck 配置不能为空` — 所有 deck 创建路径失败，`deck=None` 传入工作站
|
||||
|
||||
---
|
||||
|
||||
> **验证状态**：2026-03-12 20:56 日志确认系统正常运行，无新增 ERROR 级错误。
|
||||
|
||||
---
|
||||
|
||||
## 六、变更文件汇总（最终）
|
||||
|
||||
| 文件 | 变更类型 | 轮次 |
|
||||
|---|---|---|
|
||||
| `resources/battery/magazine.py` | 重构 + Bug 修复（极片子节点解耦 + 旧数据清理） | 第一轮 |
|
||||
| `resources/battery/bottle_carriers.py` | 重构（移除初始化时自动填瓶） | 第一轮 |
|
||||
| `resources/bioyond/decks.py` | 重构 + 重命名（BioyondElectrolyteDeck） | 第一轮 |
|
||||
| `devices/workstation/coin_cell_assembly/YB_YH_materials.py` | 重构 + 重命名（YihuaCoinCellDeck）+ 新增 electrolyte_buffer 槽位 | 第一轮 |
|
||||
| `resources/resource_tracker.py` | Bug 修复 × 3（Container 状态键预填 + 重复 UUID 自动修复 + 树级名称去重） | 第一/三轮 |
|
||||
| `resources/itemized_carrier.py` | Bug 修复（XY 近似坐标匹配，修复 Z 偏移） | 第一轮 |
|
||||
| `devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` | 重构 + Bug 修复（跨站转运 + 类型映射双模式查找） | 第一/二轮 |
|
||||
| `devices/workstation/bioyond_studio/station.py` | Bug 修复（sync_to_external 属性访问路径） | 第二轮 |
|
||||
| `devices/workstation/coin_cell_assembly/coin_cell_assembly.py` | 新增 10 个 Modbus 余量属性 + 更新导入 | 第一轮 |
|
||||
| `yibin_electrolyte_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
|
||||
| `yibin_coin_cell_only_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
|
||||
| `yibin_electrolyte_only_config.json` | 配置更新（类名 + 移除 setup） | 第一轮 |
|
||||
| `registry/resources/bioyond/deck.yaml` | 注册表更新（类名 + 工厂函数路径） | 第一轮 |
|
||||
| `devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv` | Bug 修复（REAL → FLOAT32） | 第一轮 |
|
||||
@@ -130,14 +130,20 @@ class MaterialPlate(ItemizedResource[MaterialHole]):
|
||||
ordering: Optional[OrderedDict[str, str]] = None,
|
||||
category: str = "material_plate",
|
||||
model: Optional[str] = None,
|
||||
fill: bool = False
|
||||
):
|
||||
"""初始化料板（不主动填充洞位，由工厂方法或反序列化恢复）
|
||||
"""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
|
||||
"""
|
||||
@@ -147,50 +153,42 @@ class MaterialPlate(ItemizedResource[MaterialHole]):
|
||||
hole_diameter=20.0,
|
||||
info="",
|
||||
)
|
||||
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,
|
||||
)
|
||||
|
||||
@classmethod
|
||||
def create_with_holes(
|
||||
cls,
|
||||
name: str,
|
||||
size_x: float,
|
||||
size_y: float,
|
||||
size_z: float,
|
||||
category: str = "material_plate",
|
||||
model: Optional[str] = None,
|
||||
) -> "MaterialPlate":
|
||||
"""工厂方法：创建带 4x4 洞位的料板（仅用于初始 setup，不在反序列化路径调用）"""
|
||||
# 默认洞位间距（与 _unilabos_state 默认值保持一致）
|
||||
hole_spacing_x = 24.0
|
||||
hole_spacing_y = 24.0
|
||||
# 先建洞位，再作为 ordered_items 传入构造函数
|
||||
# （ItemizedResource.__init__ 要求 ordered_items 或 ordering 二选一必须有值）
|
||||
# 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 * hole_spacing_x) / 2,
|
||||
dy=(size_y - 4 * hole_spacing_y) / 2,
|
||||
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=hole_spacing_x,
|
||||
item_dy=hole_spacing_y,
|
||||
size_x=16,
|
||||
size_y=16,
|
||||
size_z=16,
|
||||
)
|
||||
return cls(
|
||||
name=name, size_x=size_x, size_y=size_y, size_z=size_z,
|
||||
ordered_items=holes, category=category, model=model,
|
||||
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
|
||||
@@ -536,19 +534,30 @@ class WasteTipBox(Trash):
|
||||
return data
|
||||
|
||||
|
||||
class YihuaCoinCellDeck(Deck):
|
||||
"""依华纽扣电池组装工作站台面类"""
|
||||
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,
|
||||
size_y: float = 1450.0,
|
||||
size_z: float = 100.0,
|
||||
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,
|
||||
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,
|
||||
@@ -582,11 +591,14 @@ class YihuaCoinCellDeck(Deck):
|
||||
# ====================================== 物料板 ============================================
|
||||
# 创建物料板（料盘carrier）- 4x4布局
|
||||
# 负极料盘
|
||||
fujiliaopan = MaterialPlate.create_with_holes(name="负极料盘", size_x=120, size_y=100, size_z=10.0)
|
||||
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.create_with_holes(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0)
|
||||
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)
|
||||
@@ -621,27 +633,11 @@ class YihuaCoinCellDeck(Deck):
|
||||
waste_tip_box = WasteTipBox(name="waste_tip_box")
|
||||
self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
|
||||
|
||||
# 分液瓶板接驳区 - 接收来自 BioyondElectrolyte 侧的完整 Vial Carrier 板
|
||||
# 命名 electrolyte_buffer 与 bioyond_cell_workstation.py 中 sites=["electrolyte_buffer"] 对应
|
||||
electrolyte_buffer = ResourceStack(
|
||||
name="electrolyte_buffer",
|
||||
direction="z",
|
||||
resources=[],
|
||||
)
|
||||
self.assign_child_resource(electrolyte_buffer, Coordinate(x=1050.0, y=700.0, z=0))
|
||||
|
||||
|
||||
def yihua_coin_cell_deck(name: str = "coin_cell_deck") -> YihuaCoinCellDeck:
|
||||
deck = YihuaCoinCellDeck(name=name)
|
||||
deck.setup()
|
||||
return deck
|
||||
|
||||
|
||||
# 向后兼容别名，日后废弃
|
||||
CoincellDeck = YihuaCoinCellDeck
|
||||
|
||||
def YH_Deck(name: str = "") -> YihuaCoinCellDeck:
|
||||
return yihua_coin_cell_deck(name=name or "coin_cell_deck")
|
||||
def YH_Deck(name=""):
|
||||
cd = CoincellDeck(name=name)
|
||||
cd.setup()
|
||||
return cd
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -6,7 +6,7 @@ import threading
|
||||
import time
|
||||
import types
|
||||
from datetime import datetime
|
||||
from typing import Any, Dict, List, Optional
|
||||
from typing import Any, Dict, Optional
|
||||
from functools import wraps
|
||||
from pylabrobot.resources import Deck, Resource as PLRResource
|
||||
from unilabos_msgs.msg import Resource
|
||||
@@ -17,7 +17,7 @@ from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNo
|
||||
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 YihuaCoinCellDeck, yihua_coin_cell_deck
|
||||
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
|
||||
@@ -161,9 +161,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
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._modbus_address = address
|
||||
self._modbus_port = port
|
||||
|
||||
|
||||
""" 连接初始化 """
|
||||
modbus_client = TCPClient(addr=address, port=port)
|
||||
logger.debug(f"创建 Modbus 客户端: {modbus_client}")
|
||||
@@ -180,11 +178,9 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
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)
|
||||
self._modbus_client_raw = modbus_client
|
||||
else:
|
||||
print("测试模式，跳过连接")
|
||||
self.nodes, self.client = None, None
|
||||
self._modbus_client_raw = None
|
||||
|
||||
""" 工站的配置 """
|
||||
|
||||
@@ -195,40 +191,9 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
self.csv_export_file = None
|
||||
self.coin_num_N = 0 #已组装电池数量
|
||||
|
||||
def _ensure_modbus_connected(self) -> None:
|
||||
"""检查 Modbus TCP 连接是否存活，若已断开则自动重连（防止长时间空闲后连接超时）"""
|
||||
if self.debug_mode or self._modbus_client_raw is None:
|
||||
return
|
||||
raw_client = self._modbus_client_raw.client
|
||||
if raw_client.is_socket_open():
|
||||
return
|
||||
logger.warning("[Modbus] 检测到连接已断开，尝试重连...")
|
||||
try:
|
||||
raw_client.close()
|
||||
except Exception:
|
||||
pass
|
||||
count = 10
|
||||
while count > 0:
|
||||
count -= 1
|
||||
try:
|
||||
raw_client.connect()
|
||||
except Exception:
|
||||
pass
|
||||
if raw_client.is_socket_open():
|
||||
break
|
||||
time.sleep(2)
|
||||
if not raw_client.is_socket_open():
|
||||
raise RuntimeError(f"Modbus TCP 重连失败（{self._modbus_address}:{self._modbus_port}），请检查设备连接")
|
||||
logger.info("[Modbus] 重连成功")
|
||||
|
||||
def post_init(self, ros_node: ROS2WorkstationNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
# Deck 为空时（反序列化未恢复子节点），主动调用 setup() 初始化子物料
|
||||
if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
|
||||
logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化")
|
||||
self.deck.setup()
|
||||
|
||||
#self.deck = create_a_coin_cell_deck()
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.deck]
|
||||
})
|
||||
@@ -658,28 +623,12 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
return vol
|
||||
|
||||
@property
|
||||
def data_coin_type(self) -> int:
|
||||
"""电池类型 - 7种或8种组装物料 (INT16)"""
|
||||
if self.debug_mode:
|
||||
return 7
|
||||
coin_type, read_err = self.client.use_node('REG_DATA_COIN_TYPE').read(1)
|
||||
return coin_type
|
||||
|
||||
@property
|
||||
def data_current_assembling_count(self) -> int:
|
||||
"""当前进行组装的电池数量 - Current assembling battery count (INT16)"""
|
||||
def data_coin_num(self) -> int:
|
||||
"""当前电池数量 (INT16)"""
|
||||
if self.debug_mode:
|
||||
return 0
|
||||
count, read_err = self.client.use_node('REG_DATA_CURRENT_ASSEMBLING_COUNT').read(1)
|
||||
return count
|
||||
|
||||
@property
|
||||
def data_current_completed_count(self) -> int:
|
||||
"""当前完成组装的电池数量 - Current completed battery count (INT16)"""
|
||||
if self.debug_mode:
|
||||
return 0
|
||||
count, read_err = self.client.use_node('REG_DATA_CURRENT_COMPLETED_COUNT').read(1)
|
||||
return count
|
||||
num, read_err = self.client.use_node('REG_DATA_COIN_NUM').read(1)
|
||||
return num
|
||||
|
||||
@property
|
||||
def data_coin_cell_code(self) -> str:
|
||||
@@ -777,116 +726,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_10mm_positive_plate_remaining(self) -> float:
|
||||
"""10mm正极片剩余物料数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_10MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取10mm正极片余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_12mm_positive_plate_remaining(self) -> float:
|
||||
"""12mm正极片剩余物料数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_12MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取12mm正极片余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_16mm_positive_plate_remaining(self) -> float:
|
||||
"""16mm正极片剩余物料数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_16MM_POSITIVE_PLATE_REMAINING_COUNT').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取16mm正极片余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_aluminum_foil_remaining(self) -> float:
|
||||
"""铝箔剩余物料数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_ALUMINUM_FOIL_REMAINING_COUNT').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取铝箔余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_positive_shell_remaining(self) -> float:
|
||||
"""正极壳剩余物料数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_POSITIVE_SHELL_REMAINING_COUNT').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取正极壳余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_flat_washer_remaining(self) -> float:
|
||||
"""平垫剩余物料数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FLAT_WASHER_REMAINING_COUNT').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取平垫余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_negative_shell_remaining(self) -> float:
|
||||
"""负极壳剩余物料数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_NEGATIVE_SHELL_REMAINING_COUNT').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取负极壳余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_spring_washer_remaining(self) -> float:
|
||||
"""弹垫剩余物料数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_SPRING_WASHER_REMAINING_COUNT').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取弹垫余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_finished_battery_remaining_capacity(self) -> float:
|
||||
"""成品电池剩余可容纳数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FINISHED_BATTERY_REMAINING_CAPACITY').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取成品电池余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
@property
|
||||
def data_finished_battery_ng_remaining_capacity(self) -> float:
|
||||
"""成品电池NG槽剩余可容纳数量 (FLOAT32)"""
|
||||
if self.debug_mode:
|
||||
return 0.0
|
||||
result = self.client.client.read_holding_registers(address=self.client.use_node('REG_DATA_FINISHED_BATTERY_NG_REMAINING_CAPACITY').address, count=2)
|
||||
if result.isError():
|
||||
logger.error("读取成品电池NG槽余量失败")
|
||||
return 0.0
|
||||
return _decode_float32_correct(result.registers)
|
||||
|
||||
# @property
|
||||
# def data_stack_vision_code(self) -> int:
|
||||
# """物料堆叠复检图片编码 (INT16)"""
|
||||
@@ -1086,7 +925,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
# 步骤0: 前置条件检查
|
||||
logger.info("\n【步骤 0/4】前置条件检查...")
|
||||
self._ensure_modbus_connected()
|
||||
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')
|
||||
@@ -1147,42 +985,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
raise RuntimeError(error_msg)
|
||||
|
||||
logger.info(" ✓ COIL_GB_L_IGNORE_CMD 检查通过 (值为False，使用左手套箱)")
|
||||
|
||||
# 检查握手寄存器残留（正常初始状态均应为False）
|
||||
# 若上次运行意外断网，这些Unilab侧COIL可能被遗留为True，导致PLC逻辑卡死
|
||||
handshake_checks = [
|
||||
("COIL_UNILAB_SEND_MSG_SUCC_CMD", "Unilab→PLC 配方发送完毕", "上次配方握手未正常复位，PLC可能处于等待配方的卡死状态"),
|
||||
("COIL_UNILAB_REC_MSG_SUCC_CMD", "Unilab→PLC 数据接收完毕", "上次数据接收握手未正常复位"),
|
||||
("UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM", "Unilab→PLC 瓶数发送完毕", "上次瓶数握手未正常复位"),
|
||||
("UNILAB_SEND_FINISHED_CMD", "Unilab→PLC 一组完成确认", "上次完成握手未正常复位"),
|
||||
("COIL_REQUEST_REC_MSG_STATUS", "PLC→Unilab 请求接收配方", "PLC正处于等待配方状态，设备流程已卡死，需重启PLC或手动复位握手"),
|
||||
("COIL_REQUEST_SEND_MSG_STATUS", "PLC→Unilab 请求发送测试数据", "PLC正处于等待发送数据状态，设备流程已卡死"),
|
||||
]
|
||||
for coil_name, coil_desc, stuck_reason in handshake_checks:
|
||||
try:
|
||||
hs_node = self.client.use_node(coil_name)
|
||||
hs_value, hs_err = hs_node.read(1)
|
||||
if hs_err:
|
||||
logger.warning(f" ⚠ 无法读取 {coil_name}，跳过此项检查")
|
||||
continue
|
||||
hs_actual = hs_value[0] if isinstance(hs_value, (list, tuple)) else hs_value
|
||||
logger.info(f" {coil_name} 当前值: {hs_actual}")
|
||||
if hs_actual:
|
||||
error_msg = (
|
||||
"❌ 前置握手寄存器检查失败！\n"
|
||||
f" {coil_name} = True (期望值: False)\n"
|
||||
f" 含义: {coil_desc}\n"
|
||||
f" 原因: {stuck_reason}\n"
|
||||
" 建议: 检查上次运行是否意外中断，手动将该寄存器置为False后重试"
|
||||
)
|
||||
logger.error(error_msg)
|
||||
raise RuntimeError(error_msg)
|
||||
logger.info(f" ✓ {coil_name} 检查通过 (值为False)")
|
||||
except RuntimeError:
|
||||
raise
|
||||
except Exception as hs_e:
|
||||
logger.warning(f" ⚠ 检查 {coil_name} 时发生异常: {hs_e}，跳过此项")
|
||||
|
||||
logger.info("✓ 所有前置条件检查通过！")
|
||||
|
||||
except ValueError as e:
|
||||
@@ -1356,8 +1158,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
lvbodian: bool = True,
|
||||
battery_pressure_mode: bool = True,
|
||||
battery_clean_ignore: bool = False,
|
||||
file_path: str = "/Users/sml/work",
|
||||
formulations: List[Dict] = None
|
||||
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）
|
||||
@@ -1384,77 +1185,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
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
|
||||
formulations: 配方信息列表（从 create_orders.mass_ratios 获取）
|
||||
包含 orderCode, target_mass_ratio, real_mass_ratio 等
|
||||
用于CSV数据追溯，可选参数
|
||||
|
||||
Returns:
|
||||
dict: 包含组装结果的字典
|
||||
|
||||
注意:
|
||||
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}")
|
||||
|
||||
# 存储配方信息到设备状态（供 CSV 写入使用）
|
||||
if formulations:
|
||||
logger.info(f"接收到配方信息: {len(formulations)} 条")
|
||||
# 将配方信息按 orderCode 索引，方便后续查找
|
||||
self._formulations_map = {
|
||||
f["orderCode"]: f for f in formulations
|
||||
} if formulations else {}
|
||||
# ✅ 新增：存储配方列表（按接收顺序），用于索引访问（兜底用）
|
||||
self._formulations_list = formulations
|
||||
# ✅ 新增：按分液瓶条码（vial_bottle_barcodes）反向索引配方
|
||||
# 配液站夹爪取放顺序与扣电站夹取顺序可能不同，所以不能再依赖位置序号，
|
||||
# 必须用扣电站扫码得到的 data_electrolyte_code 去对齐配液站登记的瓶条码。
|
||||
# vial_bottle_barcodes 字段可能形如 "LG100114"（单瓶）或 '["LG100114","LG100115"]'（多瓶）。
|
||||
self._formulations_by_vial_barcode: Dict[str, Dict] = {}
|
||||
for f in formulations:
|
||||
raw_barcodes = f.get("vial_bottle_barcodes", "")
|
||||
if not raw_barcodes:
|
||||
continue
|
||||
barcodes: List[str] = []
|
||||
if isinstance(raw_barcodes, list):
|
||||
barcodes = [str(b).strip() for b in raw_barcodes if b]
|
||||
else:
|
||||
s = str(raw_barcodes).strip()
|
||||
if s.startswith("[") and s.endswith("]"):
|
||||
try:
|
||||
parsed = json.loads(s)
|
||||
if isinstance(parsed, list):
|
||||
barcodes = [str(b).strip() for b in parsed if b]
|
||||
else:
|
||||
barcodes = [str(parsed).strip()]
|
||||
except Exception:
|
||||
barcodes = [s]
|
||||
else:
|
||||
barcodes = [s]
|
||||
for bc in barcodes:
|
||||
if bc and bc not in self._formulations_by_vial_barcode:
|
||||
self._formulations_by_vial_barcode[bc] = f
|
||||
logger.info(
|
||||
f"已建立分液瓶条码 → 配方索引: {len(self._formulations_by_vial_barcode)} 条 "
|
||||
f"(条码: {list(self._formulations_by_vial_barcode.keys())})"
|
||||
)
|
||||
else:
|
||||
logger.warning("未接收到配方信息，CSV将不包含配方字段")
|
||||
self._formulations_map = {}
|
||||
self._formulations_list = []
|
||||
self._formulations_by_vial_barcode = {}
|
||||
|
||||
# ✅ 新增：存储每瓶电池数，用于计算当前使用的瓶号
|
||||
# ⚠️ 确保转换为整数（前端可能传递字符串）
|
||||
self._elec_use_num = int(elec_use_num) if elec_use_num else 0
|
||||
logger.info(f"已存储参数: 每瓶电池数={self._elec_use_num}, 配方数={len(self._formulations_list)}")
|
||||
|
||||
# ✅ 新增：软件层电池计数器（防止硬件计数器不准确）
|
||||
self._software_battery_counter = 0 # 从0开始，每写入一次CSV递增
|
||||
logger.info("软件层电池计数器已初始化")
|
||||
|
||||
logger.info("=" * 60)
|
||||
|
||||
# 步骤1: 发送电解液瓶数（触发物料搬运）
|
||||
@@ -1590,8 +1331,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
data_assembly_time = self.data_assembly_time
|
||||
data_assembly_pressure = self.data_assembly_pressure
|
||||
data_electrolyte_volume = self.data_electrolyte_volume
|
||||
data_coin_type = self.data_coin_type # 电池类型（7或8种物料）
|
||||
data_battery_number = self.data_current_assembling_count # ✅ 真正的电池编号
|
||||
data_coin_num = self.data_coin_num
|
||||
|
||||
# 处理电解液二维码 - 确保是字符串类型
|
||||
try:
|
||||
@@ -1621,32 +1361,28 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
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_type: {data_coin_type}") # 电池类型
|
||||
logger.debug(f"data_battery_number: {data_battery_number}") # ✅ 电池编号
|
||||
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
|
||||
finished_battery_magazine = self.deck.get_resource("成品弹夹")
|
||||
|
||||
# 计算电池应该放在哪个洞，以及洞内的堆叠位置
|
||||
# 成品弹夹有6个洞，每个洞可堆叠20颗电池
|
||||
# 前5个洞（索引0-4）放正常电池，第6个洞（索引5）放NG电池
|
||||
BATTERIES_PER_HOLE = 20
|
||||
MAX_NORMAL_BATTERIES = 100 # 5个洞 × 20颗/洞
|
||||
|
||||
hole_index = self.coin_num_N // BATTERIES_PER_HOLE # 第几个洞（0-4为正常电池）
|
||||
in_hole_position = self.coin_num_N % BATTERIES_PER_HOLE # 洞内的堆叠序号
|
||||
|
||||
if hole_index >= 5:
|
||||
logger.error(f"电池数量超出正常容量范围: {self.coin_num_N + 1} > {MAX_NORMAL_BATTERIES}")
|
||||
raise ValueError(f"成品弹夹正常洞位已满（最多{MAX_NORMAL_BATTERIES}颗），当前尝试放置第{self.coin_num_N + 1}颗")
|
||||
|
||||
target_hole = finished_battery_magazine.children[hole_index] # 获取目标洞
|
||||
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 = {
|
||||
@@ -1657,12 +1393,13 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
"electrolyte_volume": data_electrolyte_volume
|
||||
}
|
||||
|
||||
# 将电池堆叠到目标洞中
|
||||
# 分配新资源到目标位置
|
||||
try:
|
||||
target_hole.assign_child_resource(battery, location=None)
|
||||
logger.info(f"成功放置电池 {battery_name} 到弹夹洞{hole_index}的第{in_hole_position + 1}层 (总计第{self.coin_num_N + 1}颗)")
|
||||
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"放置电池资源失败: {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)
|
||||
@@ -1683,7 +1420,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
time_date = datetime.now().strftime("%Y%m%d")
|
||||
#秒级时间戳用于标记每一行电池数据
|
||||
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
|
||||
self._last_assembly_timestamp = timestamp
|
||||
#生成输出文件的变量
|
||||
self.csv_export_file = os.path.join(file_path, f"date_{time_date}.csv")
|
||||
#将数据存入csv文件
|
||||
@@ -1694,107 +1430,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
writer.writerow([
|
||||
'Time', 'open_circuit_voltage', 'pole_weight',
|
||||
'assembly_time', 'assembly_pressure', 'electrolyte_volume',
|
||||
'data_coin_type', 'electrolyte_code', 'coin_cell_code',
|
||||
'orderName', 'prep_bottle_barcode', 'vial_bottle_barcodes',
|
||||
'target_mass_ratio', 'real_mass_ratio'
|
||||
'coin_num', 'electrolyte_code', 'coin_cell_code'
|
||||
])
|
||||
#立刻写入磁盘
|
||||
csvfile.flush()
|
||||
#开始追加电池信息
|
||||
with open(self.csv_export_file, 'a', newline='', encoding='utf-8') as csvfile:
|
||||
writer = csv.writer(csvfile)
|
||||
|
||||
# ========== 提取配方信息 ==========
|
||||
formulation_order_name = ""
|
||||
prep_bottle_barcode = ""
|
||||
vial_bottle_barcodes = ""
|
||||
target_ratio_str = ""
|
||||
real_ratio_str = ""
|
||||
|
||||
# 从 self._formulations_list 获取配方信息
|
||||
if hasattr(self, '_formulations_list') and self._formulations_list:
|
||||
# ============================================================
|
||||
# ✅ 主方案：用扣电站扫码得到的电解液瓶条码 (data_electrolyte_code)
|
||||
# 反查配液站登记的 vial_bottle_barcodes，避免依赖夹爪取放顺序。
|
||||
# 配液站和扣电站的瓶子顺序往往不一致（不同自动化设备的取放策略不同），
|
||||
# 按位置序号匹配会错位；但每个瓶子的条码是唯一的，按条码匹配最可靠。
|
||||
# ============================================================
|
||||
formulation = None
|
||||
match_method = ""
|
||||
|
||||
barcode_map = getattr(self, "_formulations_by_vial_barcode", {}) or {}
|
||||
scan_code = (data_electrolyte_code or "").strip()
|
||||
if scan_code and scan_code != "N/A" and barcode_map:
|
||||
formulation = barcode_map.get(scan_code)
|
||||
if formulation is not None:
|
||||
match_method = f"按条码({scan_code})精确匹配"
|
||||
else:
|
||||
logger.warning(
|
||||
f"[CSV写入] 电池 {data_battery_number}: 扫码条码 {scan_code} "
|
||||
f"在配方索引中找不到 (已登记条码: {list(barcode_map.keys())})"
|
||||
)
|
||||
|
||||
# ============================================================
|
||||
# 🔁 降级方案：扫码失败 / 条码缺失时按瓶号位置兜底
|
||||
# 保留原有"每瓶电池数"或"二维码尾号"的位置推断逻辑，
|
||||
# 确保在异常路径下仍能落盘（位置推断的结果可能不准，仅供回溯）。
|
||||
# ============================================================
|
||||
if formulation is None:
|
||||
if hasattr(self, '_elec_use_num') and self._elec_use_num:
|
||||
elec_use_num_int = int(self._elec_use_num) if self._elec_use_num else 1
|
||||
if elec_use_num_int > 0:
|
||||
current_bottle_index = (data_battery_number - 1) // elec_use_num_int
|
||||
else:
|
||||
current_bottle_index = 0
|
||||
|
||||
logger.debug(
|
||||
f"[CSV写入] 电池 {data_battery_number}: 降级按瓶号索引={current_bottle_index} "
|
||||
f"(每瓶{self._elec_use_num}颗电池)"
|
||||
)
|
||||
else:
|
||||
current_bottle_index = (
|
||||
int(data_electrolyte_code.split('-')[-1])
|
||||
if '-' in str(data_electrolyte_code)
|
||||
else 0
|
||||
)
|
||||
logger.debug(
|
||||
f"[CSV写入] 电池 {data_battery_number}: 降级按二维码尾号瓶号索引={current_bottle_index}"
|
||||
)
|
||||
|
||||
if 0 <= current_bottle_index < len(self._formulations_list):
|
||||
formulation = self._formulations_list[current_bottle_index]
|
||||
match_method = f"按位置兜底匹配[{current_bottle_index}]"
|
||||
else:
|
||||
logger.warning(
|
||||
f"[CSV写入] 电池 {data_battery_number}: 瓶号索引 {current_bottle_index} "
|
||||
f"超出配方列表范围 (共{len(self._formulations_list)}个配方)"
|
||||
)
|
||||
|
||||
if formulation is not None:
|
||||
formulation_order_name = formulation.get("orderName", "")
|
||||
prep_bottle_barcode = formulation.get("prep_bottle_barcode", "")
|
||||
vial_bottle_barcodes = formulation.get("vial_bottle_barcodes", "")
|
||||
|
||||
real_ratio = formulation.get("real_mass_ratio", {})
|
||||
target_ratio = formulation.get("target_mass_ratio", {})
|
||||
|
||||
target_ratio_str = json.dumps(target_ratio, ensure_ascii=False) if target_ratio else ""
|
||||
real_ratio_str = json.dumps(real_ratio, ensure_ascii=False) if real_ratio else ""
|
||||
|
||||
logger.info(
|
||||
f"[CSV写入] 电池 {data_battery_number} ({match_method}): "
|
||||
f"orderName={formulation_order_name}, 配液瓶={prep_bottle_barcode}, "
|
||||
f"分液瓶={vial_bottle_barcodes}"
|
||||
)
|
||||
else:
|
||||
logger.debug(f"[CSV写入] 电池 {data_battery_number}: 未找到配方信息数据")
|
||||
|
||||
writer.writerow([
|
||||
timestamp, data_open_circuit_voltage, data_pole_weight,
|
||||
data_assembly_time, data_assembly_pressure, data_electrolyte_volume,
|
||||
data_coin_type, data_electrolyte_code, data_coin_cell_code,
|
||||
formulation_order_name, prep_bottle_barcode, vial_bottle_barcodes,
|
||||
target_ratio_str, real_ratio_str
|
||||
data_coin_num, data_electrolyte_code, data_coin_cell_code
|
||||
])
|
||||
#立刻写入磁盘
|
||||
csvfile.flush()
|
||||
@@ -1939,18 +1585,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
pole_weight = 0.0
|
||||
|
||||
battery_info = {
|
||||
"Time": getattr(self, "_last_assembly_timestamp", datetime.now().strftime("%Y%m%d_%H%M%S")),
|
||||
"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,
|
||||
"data_coin_type": getattr(self, "data_coin_type", 0),
|
||||
"electrolyte_code": electrolyte_qr_code,
|
||||
"coin_cell_code": battery_qr_code,
|
||||
"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['coin_cell_code']}, 电解液码={battery_info['electrolyte_code']}")
|
||||
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)
|
||||
# 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
|
||||
@@ -1979,7 +1624,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
"success": True,
|
||||
"total_batteries": len(battery_data_list),
|
||||
"batteries": battery_data_list,
|
||||
"assembly_data": battery_data_list,
|
||||
"summary": {
|
||||
"electrolyte_bottles_used": elec_num,
|
||||
"batteries_per_bottle": elec_use_num,
|
||||
@@ -2023,7 +1667,8 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
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
|
||||
@@ -2194,18 +1839,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
pole_weight = 0.0
|
||||
|
||||
battery_info = {
|
||||
"Time": getattr(self, "_last_assembly_timestamp", datetime.now().strftime("%Y%m%d_%H%M%S")),
|
||||
"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,
|
||||
"data_coin_type": getattr(self, "data_coin_type", 0),
|
||||
"electrolyte_code": electrolyte_qr_code,
|
||||
"coin_cell_code": battery_qr_code,
|
||||
"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['coin_cell_code']}, 电解液码={battery_info['electrolyte_code']}")
|
||||
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)
|
||||
|
||||
@@ -2232,7 +1876,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
"success": True,
|
||||
"total_batteries": len(battery_data_list),
|
||||
"batteries": battery_data_list,
|
||||
"assembly_data": battery_data_list,
|
||||
"summary": {
|
||||
"electrolyte_bottles_used": elec_num,
|
||||
"batteries_per_bottle": elec_use_num,
|
||||
@@ -2279,7 +1922,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
def fun_wuliao_test(self) -> bool:
|
||||
#找到data_init中构建的2个物料盘
|
||||
test_battery_plate = self.deck.get_resource("\u7535\u6c60\u6599\u76d8")
|
||||
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 = {
|
||||
@@ -2289,7 +1932,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
"electrolyte_volume": 20.0,
|
||||
"electrolyte_name": f"DP{i}"
|
||||
}
|
||||
test_battery_plate.children[i].assign_child_resource(battery, location=None)
|
||||
liaopan3.children[i].assign_child_resource(battery, location=None)
|
||||
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
|
||||
"resources": [self.deck]
|
||||
@@ -2332,7 +1975,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
data_assembly_time = self.data_assembly_time
|
||||
data_assembly_pressure = self.data_assembly_pressure
|
||||
data_electrolyte_volume = self.data_electrolyte_volume
|
||||
data_coin_type = self.data_coin_type # 电池类型（7或8种物料）
|
||||
data_coin_num = self.data_coin_num
|
||||
data_electrolyte_code = self.data_electrolyte_code
|
||||
data_coin_cell_code = self.data_coin_cell_code
|
||||
# 电解液瓶位置
|
||||
@@ -2446,7 +2089,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
writer.writerow([
|
||||
timestamp, data_open_circuit_voltage, data_pole_weight,
|
||||
data_assembly_time, data_assembly_pressure, data_electrolyte_volume,
|
||||
data_coin_type, data_electrolyte_code, data_coin_cell_code # ✅ 已修正
|
||||
data_coin_num, data_electrolyte_code, data_coin_cell_code
|
||||
])
|
||||
#立刻写入磁盘
|
||||
csvfile.flush()
|
||||
@@ -2497,7 +2140,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 简单测试
|
||||
workstation = CoinCellAssemblyWorkstation(deck=yihua_coin_cell_deck(name="coin_cell_deck"))
|
||||
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)}")
|
||||
|
||||
@@ -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
|
||||
|
@@ -1,88 +0,0 @@
|
||||
# 物料系统标准化重构方案
|
||||
|
||||
根据开发者的反馈，本方案旨在遵循“标准化而非绕过”的原则，对资源类（Deck、Carrier、Magazine）进行重构。核心目标是将物理结构的初始化与物料/极片的初始填充逻辑解耦，彻底解决反序列化过程中的初始化冲突。
|
||||
|
||||
## 拟议变更
|
||||
|
||||
### [参考] PRCXI9300 标准化模式
|
||||
#### [参考文件] [prcxi.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/liquid_handling/prcxi/prcxi.py)
|
||||
* **PRCXI9300Deck**: 演示了如何在 `serialize` 中导出 `sites` 元数据，以及如何在 `assign_child_resource` 中实现稳健的槽位匹配（支持按名称、坐标或索引匹配）。
|
||||
* **PRCXI9300Container**: 演示了标准的 `load_state` 和 `serialize_state` 模式，确保业务状态（如 `Material` UUID）能正确往返序列化。
|
||||
|
||||
### [组件] 台面 (Decks)
|
||||
#### [修改] [decks.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/bioyond/decks.py)
|
||||
* 将 `BIOYOND_YB_Deck` 重命名为 **`BioyondElectrolyteDeck`**，对应工厂函数 `YB_Deck()` 重命名为 **`bioyond_electrolyte_deck()`**。
|
||||
* `BIOYOND_PolymerReactionStation_Deck` 和 `BIOYOND_PolymerPreparationStation_Deck` **保持不变**。
|
||||
* 以上三个 Deck 的 `__init__` 中均移除 `setup` 参数和 `setup()` 调用，删除临时的 `deserialize` 重写。
|
||||
|
||||
#### [修改 + 重命名] [YB_YH_materials.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py) → `yihua_coin_cell_materials.py`
|
||||
* 将 `CoincellDeck` 重命名为 **`YihuaCoinCellDeck`**，对应工厂函数 `YH_Deck()` 重命名为 **`yihua_coin_cell_deck()`**。
|
||||
* 从 `YihuaCoinCellDeck.__init__` 中移除 `setup` 参数和 `setup()` 调用，删除临时的 `deserialize` 重写。
|
||||
|
||||
### [组件] 容器类与弹夹 (Itemized Carriers & Magazines)
|
||||
#### [修改] [magazine.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/battery/magazine.py)
|
||||
* 重构 `magazine_factory`：将创建 `MagazineHolder` 几何结构（空槽位）的过程与填充 `ElectrodeSheet` 物料的过程分离。
|
||||
* 确保 `MagazineHolder` 和 `Magazine` 的 `__init__` 过程中不主动创建任何内容物。
|
||||
|
||||
#### [修改] [warehouse.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/warehouse.py)
|
||||
* 确保 `WareHouse` 类和 `warehouse_factory` 遵循相同模式：先初始化几何结构，内容物另行处理。
|
||||
|
||||
#### [修改] [itemized_carrier.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/itemized_carrier.py)
|
||||
* 移除之前添加的 `idx is None` 兜底补丁。
|
||||
* 修复命名规范，确保 `assign_child_resource` 在反序列化时能准确匹配资源。
|
||||
|
||||
### [组件] 状态兼容性 (State Compatibility)
|
||||
#### [修改] [resource_tracker.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/resources/resource_tracker.py)
|
||||
* 在 `to_plr_resources` 方法中调用 `load_all_state` 之前，预处理 `all_states` 字典。
|
||||
* 对于 `Container` 类型的资源，如果其状态中缺少 `liquid_history` 或 `pending_liquids` 等 PLR 新版本要求的键，则填充默认值（如空列表/字典），防止反序列化中断。
|
||||
|
||||
### [组件] 料盘 (Material Plates)
|
||||
#### [修改] [YB_YH_materials.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py)
|
||||
* 重构 `MaterialPlate`：不在 `__init__` 中直接调用 `create_ordered_items_2d`。
|
||||
* 重构 `YIHUA_Electrolyte_12VialCarrier`：将其修改为标准的基类定义或在工厂方法中彻底剥离内部 12 个 `YB_pei_ye_xiao_Bottle` 的强制初始化，以防反序列化冲突。
|
||||
|
||||
### [组件] 跨站转运与分液瓶板 (Vial Plate Transfer)
|
||||
#### [修改] [bioyond_cell_workstation.py] & [YB_YH_materials.py]
|
||||
* **分析**：目前的 `bioyond_cell_workstation.py` 在执行转移时，是用 `sites=["electrolyte_buffer"]` 试图把整块 `YB_Vial_5mL_Carrier` 板转移给目标。但由于实际工艺中，配液站将分液瓶板传往扣电工站后，是由扣电工站的机械臂**逐瓶抓取**并放入内部的 `bottle_rack_6x2`（电解液缓存位），用完后再放入 `bottle_rack_6x2_2`（废液位），因此配液站的这一次“跨工位资源树转移”在逻辑上存在偏差：目标槽位不应该是装单瓶的载体 `bottle_rack`。
|
||||
* **修复方案**：
|
||||
1. **目标端 (Yihua 侧)**：
|
||||
* 在 `YB_YH_materials.py` 中为从配液站传过来的“分液瓶板”本身设置一个接驳专用的 `PlateSlot`（或者单纯直接移到 Deck 指定坐标）。这个位置负责真正在资源树层级上合法接收配液站传过来的完整 Board。
|
||||
* 重构 `YIHUA_Electrolyte_12VialCarrier`：为了防止初始化反序列化冲突，取消内部在 `__init__` 中自动填充满 12 个 `YB_pei_ye_xiao_Bottle` 实例的逻辑。`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 初始化时均应为空。
|
||||
2. **转运端 (Bioyond 侧)**：
|
||||
* 修改 `bioyond_cell_workstation.py` 的资源树数字转运代码，将其转移目标对应到 Yihua 侧新设立的“分液瓶板接驳区域”资源，或者干脆只更新资源树坐标位置（使其脱离 Bioyond Deck 加入 Yihua Deck），而不再强行挂载到一个无法容纳 Carrier 的 `bottle_rack_6x2` 内部。
|
||||
|
||||
### [组件] 依华扣电组装工站物料余量监控 (Material Monitoring)
|
||||
#### [修改] 寄存器直读与前端集成
|
||||
* **物理对象保留但虚化追踪**：原有的实体台面对象（如 `MaterialPlate`、`MagazineHolder` 各类型及其对应的洞位坐标）**仍然保留并使用**。保留它们是为了给机器臂提供基础的物理空间取放标定，以及作为前端页面的可视和可交互区块。
|
||||
* **内部物料免追踪**：既然余量完全由寄存器接管，**我们将不再在这些弹夹或洞位内部显式生成、塞入和追踪每一个具体的极片或外壳对象 (如 `ElectrodeSheet` 等)**。这恰好与我们的重构主旨（不主动在 `__init__` 建子物料以避开反序列化冲突）完美结合，进一步极大地减轻了后台资源树对象的复杂度。
|
||||
* **监控方式变更**：放弃现有的物料余量方式，直接读取依华扣电组装工站开放的寄存器地址以获取准确余量。
|
||||
* **前端界面集成**：在前端界面点击负极壳、弹垫片等弹夹的 data view 时，直接读取并显示寄存器中的各自余量。
|
||||
* **新增寄存器映射** (参考 `coin_cell_assembly_b.csv`)：
|
||||
* `10mm正极片剩余物料数量（R）`：`read hold_register 520` (REAL)
|
||||
* `12mm正极片剩余物料数量（R）`：`read hold_register 522` (REAL)
|
||||
* `16mm正极片剩余物料数量（R）`：`read hold_register 524` (REAL)
|
||||
* `铝箔剩余物料数量（R）`：`read hold_register 526` (REAL)
|
||||
* `正极壳剩余物料数量（R）`：`read hold_register 528` (REAL)
|
||||
* `平垫剩余物料数量（R）`：`read hold_register 530` (REAL)
|
||||
* `负极壳剩余物料数量（R）`：`read hold_register 532` (REAL)
|
||||
* `弹垫剩余物料数量（R）`：`read hold_register 534` (REAL)
|
||||
* `成品电池剩余可容纳数量（R）`：`read hold_register 536` (REAL)
|
||||
* `成品电池NG槽剩余可容纳数量（R）`：`read hold_register 538` (REAL)
|
||||
|
||||
### [配置] JSON 配置文件 (Configuration Files)
|
||||
#### [修改] 资源类型名称更新
|
||||
* 更新以下配置文件，将其中的 `BIOYOND_YB_Deck` 替换为新的类名 **`BioyondElectrolyteDeck`**，以及将 `coin_cell_deck` 替换为 **`YihuaCoinCellDeck`**：
|
||||
* `yibin_electrolyte_config.json`
|
||||
* `yibin_coin_cell_only_config.json`
|
||||
* `yibin_electrolyte_only_config.json`
|
||||
|
||||
## 验证计划
|
||||
|
||||
### 自动化测试
|
||||
* 对重构后的类运行 `pylabrobot` 序列化/反序列化测试，确保状态能够完美恢复。
|
||||
* 检查各工作站节点启动时是否仍存在 `ValueError: Resource '...' already assigned to deck` 报错。
|
||||
* 检查 `resource_tracker` 中是否仍存在重复 UUID 报错。
|
||||
|
||||
### 手动验证
|
||||
* 重启各工作站节点，验证资源树是否能根据数据库数据正确还还原。
|
||||
* 验证“自动”与“手动”传输窗资源在台面上的分配是否正确。
|
||||
@@ -1,388 +0,0 @@
|
||||
# 物料系统标准化重构方案 v2（增强版）
|
||||
|
||||
> **基于原始方案 (`implementation_plan.md`) 的补充与细化**。
|
||||
> 本文档在原方案基础上：①增加当前代码现状核查结果；②明确各任务的执行顺序与文件级改动；③新增注意事项与回归测试命令。
|
||||
|
||||
---
|
||||
|
||||
## 0. 核心原则（保持不变）
|
||||
|
||||
"**物理几何结构初始化（Deck / Carrier / Magazine 的 `__init__`）与物料内容物填充（`setup()` / `klasses` 参数）必须彻底解耦**"，以消除 PLR 反序列化时的 `Resource already assigned to deck` 错误。
|
||||
|
||||
---
|
||||
|
||||
## 1. 当前代码现状核查（2026-03-12）
|
||||
|
||||
| 文件 | 计划要求 | 当前状态 | 是否完成 |
|
||||
|---|---|---|---|
|
||||
| `resources/bioyond/decks.py` | 重命名类；移除 `setup` 参数和 `deserialize` 补丁 | 仍是 `BIOYOND_YB_Deck`；`setup` 参数和 `deserialize` 均存在 | ❌ |
|
||||
| `coin_cell_assembly/YB_YH_materials.py` | 重命名类；文件迁移；移除补丁 | 仍是 `CoincellDeck`；`setup` 参数和 `deserialize` 均存在 | ❌ |
|
||||
| `resources/battery/magazine.py` | `magazine_factory` 不主动填充物料 | `MagazineHolder_6_Cathode` / `_6_Anode` / `_4_Cathode` 仍传 `klasses`，初始化时填满极片 | ❌ |
|
||||
| `resources/battery/bottle_carriers.py` | `YIHUA_Electrolyte_12VialCarrier` 初始化时不填充瓶子 | 第 54-55 行仍循环填充 12 个 `YB_pei_ye_xiao_Bottle` | ❌ |
|
||||
| `resources/itemized_carrier.py` | 移除 `idx is None` 兜底补丁 | 第 182-190 行仍保留该兜底逻辑 | ❌（待前置任务完成后移除） |
|
||||
| `resources/resource_tracker.py` | `load_all_state` 前预填 `Container` 缺失键 | 第 616 行直接调用，无预处理 | ❌ |
|
||||
| `bioyond_cell_workstation.py` | 修正跨站转运目标为合法接驳槽 | 第 1563 行仍 `sites=["electrolyte_buffer"]`，目标 UUID 为硬编码虚拟资源 | ❌ |
|
||||
| `yibin_*.json` 配置文件 | 更新类名 | 仍使用 `BIOYOND_YB_Deck` / `CoincellDeck` | ❌ |
|
||||
| `registry/resources/bioyond/deck.yaml` | 更新类名（原计划未提及） | 仍使用 `BIOYOND_YB_Deck` / `CoincellDeck` | ❌（**新增**） |
|
||||
|
||||
---
|
||||
|
||||
## 2. 执行顺序（含依赖关系）
|
||||
|
||||
```
|
||||
阶段 A（底层资源类）
|
||||
A1. magazine.py — 移除 klasses 填充
|
||||
A2. bottle_carriers.py — 移除瓶子填充
|
||||
|
||||
阶段 B（Deck 层）
|
||||
B1. decks.py — 移除 setup 参数和 deserialize 补丁；重命名
|
||||
B2. YB_YH_materials.py → 重命名；移除 CoincellDeck 的 setup 参数和 deserialize 补丁
|
||||
|
||||
阶段 C（状态兼容）
|
||||
C1. resource_tracker.py — 预填 Container 缺失键
|
||||
C2. itemized_carrier.py — 移除 idx is None 兜底补丁（B 阶段完成后）
|
||||
|
||||
阶段 D（跨站转运修复）
|
||||
D1. YB_YH_materials.py 新增 vial_plate_dock（接驳专用槽）
|
||||
D2. bioyond_cell_workstation.py 修正 transfer 目标
|
||||
|
||||
阶段 E（配置与注册表）
|
||||
E1. yibin_*.json 更新类名
|
||||
E2. registry/resources/bioyond/deck.yaml 更新类名
|
||||
E3. coin_cell_assembly.py 更新导入路径（若文件重命名）
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. 分阶段详细说明
|
||||
|
||||
---
|
||||
|
||||
### 阶段 A — 底层资源类
|
||||
|
||||
#### A1. `unilabos/resources/battery/magazine.py`
|
||||
|
||||
**问题**：`MagazineHolder_6_Cathode`、`MagazineHolder_6_Anode`、`MagazineHolder_4_Cathode` 在调用 `magazine_factory` 时传入 `klasses`，导致每次 `__init__` 就填满极片，反序列化时重复添加。
|
||||
|
||||
**修改**：
|
||||
|
||||
- 将三个函数中的 `klasses=[...]` 改为 `klasses=None`（与 `MagazineHolder_6_Battery` 保持一致）。
|
||||
- **理由**：物料余量已由寄存器管理（见阶段 F），不需要在资源树中追踪每一个极片。
|
||||
|
||||
```python
|
||||
# 修改前（MagazineHolder_6_Cathode 举例）
|
||||
klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
|
||||
|
||||
# 修改后
|
||||
klasses=None,
|
||||
```
|
||||
|
||||
> **注意**：`magazine_factory` 中 `klasses` 参数及循环体代码保留（仍可按需在非序列化场景使用），只是各具体工厂函数不再传入。
|
||||
|
||||
---
|
||||
|
||||
#### A2. `unilabos/resources/battery/bottle_carriers.py`
|
||||
|
||||
**问题**：`YIHUA_Electrolyte_12VialCarrier` 第 54-55 行在工厂函数末尾循环填充 12 个瓶子。
|
||||
|
||||
**修改**：删除以下两行：
|
||||
|
||||
```python
|
||||
# 删除
|
||||
for i in range(12):
|
||||
carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
|
||||
```
|
||||
|
||||
**理由**：`bottle_rack_6x2` 和 `bottle_rack_6x2_2` 均应初始化为空，瓶子由 Bioyond 侧实际转运后再填入。
|
||||
|
||||
---
|
||||
|
||||
### 阶段 B — Deck 层重构
|
||||
|
||||
#### B1. `unilabos/resources/bioyond/decks.py`
|
||||
|
||||
**改动列表**：
|
||||
|
||||
1. **重命名** `BIOYOND_YB_Deck` → `BioyondElectrolyteDeck`
|
||||
2. **重命名** `YB_Deck()` 工厂函数 → `bioyond_electrolyte_deck()`
|
||||
3. **移除** `__init__` 中的 `setup: bool = False` 参数及 `if setup: self.setup()` 调用
|
||||
4. **删除** `deserialize` 方法重写（该临时补丁在 `setup` 参数移除后自然失效，继续保留反而掩盖问题）
|
||||
5. `BIOYOND_PolymerReactionStation_Deck` 和 `BIOYOND_PolymerPreparationStation_Deck` 同步执行第 3、4 步
|
||||
|
||||
**重构后初始化模式**：
|
||||
|
||||
```python
|
||||
class BioyondElectrolyteDeck(Deck):
|
||||
def __init__(self, name: str = "YB_Deck", ...):
|
||||
super().__init__(name=name, ...)
|
||||
# ❌ 不调用 self.setup()
|
||||
# PLR 反序列化时只会调用 __init__，然后从 children JSON 重建子资源
|
||||
|
||||
def setup(self) -> None:
|
||||
# 完整的子资源初始化逻辑保留在这里，只由工厂函数调用
|
||||
...
|
||||
|
||||
def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck:
|
||||
deck = BioyondElectrolyteDeck(name=name)
|
||||
deck.setup() # ✅ 工厂函数负责填充
|
||||
return deck
|
||||
```
|
||||
|
||||
**同步修改**：
|
||||
- `bioyond_cell_workstation.py` 第 20 行：
|
||||
```python
|
||||
# 修改前
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_YB_Deck
|
||||
# 修改后
|
||||
from unilabos.resources.bioyond.decks import BioyondElectrolyteDeck
|
||||
```
|
||||
- 同文件第 2440 行：`BIOYOND_YB_Deck(setup=True)` → `bioyond_electrolyte_deck(name="YB_Deck")`
|
||||
|
||||
---
|
||||
|
||||
#### B2. `unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`
|
||||
|
||||
**改动列表**：
|
||||
|
||||
1. **重命名** `CoincellDeck` → `YihuaCoinCellDeck`
|
||||
2. **重命名** `YH_Deck()` → `yihua_coin_cell_deck()`（可保留 `YH_Deck` 作为兼容别名，日后废弃）
|
||||
3. **移除** `CoincellDeck.__init__` 中 `setup: bool = False` 参数及调用
|
||||
4. **删除** `CoincellDeck.deserialize` 重写方法
|
||||
5. `MaterialPlate.__init__` 中移除 `fill` 参数，始终不主动调用 `create_ordered_items_2d`（当前 `fill=False` 路径已正确，只需删除 `fill=True` 分支）
|
||||
|
||||
```python
|
||||
# 修改前（MaterialPlate.__init__ 片段）
|
||||
if fill:
|
||||
super().__init__(..., ordered_items=holes, ...)
|
||||
else:
|
||||
super().__init__(..., ordered_items=ordered_items, ...)
|
||||
|
||||
# 修改后（始终走 "不填充" 路径）
|
||||
super().__init__(..., ordered_items=ordered_items, ...)
|
||||
# holes 的创建代码整体移入独立工厂方法
|
||||
```
|
||||
|
||||
**同步修改**：
|
||||
- `coin_cell_assembly.py` 第 20 行导入：
|
||||
```python
|
||||
# 修改前
|
||||
from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck
|
||||
# 修改后
|
||||
from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import YihuaCoinCellDeck
|
||||
```
|
||||
- 同文件第 2245 行：`CoincellDeck(setup=True, name="coin_cell_deck")` → `yihua_coin_cell_deck(name="coin_cell_deck")`
|
||||
- 文件重命名（可选）：`YB_YH_materials.py` → `yihua_coin_cell_materials.py`（若重命名，所有 import 路径需全局替换）
|
||||
|
||||
---
|
||||
|
||||
### 阶段 C — 状态兼容
|
||||
|
||||
#### C1. `unilabos/resources/resource_tracker.py`
|
||||
|
||||
**问题**：第 616 行直接调用 `plr_resource.load_all_state(all_states)`，若 `Container` 类资源的 `data` 字段缺少 `liquid_history` 或 `pending_liquids`，PLR 新版本会抛出 `KeyError`。
|
||||
|
||||
**修改**：在第 616 行前插入预处理：
|
||||
|
||||
```python
|
||||
# 在 load_all_state 调用前预填缺失键
|
||||
from pylabrobot.resources.container import Container as PLRContainer
|
||||
for res_name, state in all_states.items():
|
||||
if state and isinstance(state, dict):
|
||||
# Container 类型要求这两个键存在
|
||||
state.setdefault("liquid_history", [])
|
||||
state.setdefault("pending_liquids", {})
|
||||
|
||||
plr_resource.load_all_state(all_states)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
#### C2. `unilabos/resources/itemized_carrier.py`
|
||||
|
||||
**前提**：B1、B2 阶段完成，Deck 类名与资源命名规范已对齐后再执行此步。
|
||||
|
||||
**修改**：删除第 182-190 行的兜底补丁：
|
||||
|
||||
```python
|
||||
# 删除以下整个 if 块
|
||||
if idx is None:
|
||||
fallback_location = location if location is not None else Coordinate.zero()
|
||||
super().assign_child_resource(resource, location=fallback_location, reassign=reassign)
|
||||
return
|
||||
```
|
||||
|
||||
**替代**：改为抛出带诊断信息的异常，便于后续问题排查：
|
||||
|
||||
```python
|
||||
if idx is None:
|
||||
raise ValueError(
|
||||
f"[ItemizedCarrier] 无法为资源 '{resource.name}' 找到匹配的槽位。"
|
||||
f"已知槽位：{list(self.child_locations.keys())}，"
|
||||
f"传入坐标：{location}"
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 阶段 D — 跨站转运修复
|
||||
|
||||
#### D1. `YB_YH_materials.py` — 新增分液瓶板接驳槽
|
||||
|
||||
在 `YihuaCoinCellDeck.setup()` 中，新增一个专用于接收 Bioyond 侧传来的完整分液瓶板的 `ResourceStack`（或 `PlateSlot`）：
|
||||
|
||||
```python
|
||||
# 在 setup() 末尾追加
|
||||
from pylabrobot.resources.resource_stack import ResourceStack
|
||||
|
||||
vial_plate_dock = ResourceStack(
|
||||
name="electrolyte_buffer", # 保持与 bioyond_cell_workstation.py 的 sites 键一致
|
||||
direction="z",
|
||||
resources=[],
|
||||
)
|
||||
self.assign_child_resource(vial_plate_dock, Coordinate(x=1050.0, y=700.0, z=0))
|
||||
```
|
||||
|
||||
> **说明**：槽位命名 `electrolyte_buffer` 与 `bioyond_cell_workstation.py` 现有的 `sites=["electrolyte_buffer"]` 对应，减少改动量。如改名，D2 需同步。
|
||||
|
||||
---
|
||||
|
||||
#### D2. `bioyond_cell_workstation.py` — 修正 transfer 目标
|
||||
|
||||
**问题**：第 1545-1552 行创建了一个 `size=1,1,1` 的虚拟 `ResourcePLR` 并硬编码 UUID，这个对象在 YihuaCoinCellDeck 的资源树中不存在，导致转移后资源树状态混乱。
|
||||
|
||||
**修改**：
|
||||
|
||||
```python
|
||||
# 修改前：创建虚拟目标资源
|
||||
target_resource_obj = ResourcePLR(name=target_location, size_x=1.0, ...)
|
||||
target_resource_obj.unilabos_uuid = "550e8400-e29b-41d4-a716-446655440001" # 硬编码
|
||||
|
||||
# 修改后：通过 ROS2/设备注册表查询真实资源
|
||||
# （需要从 target_device 的资源树中取出 electrolyte_buffer 的真实对象）
|
||||
target_resource_obj = self._get_resource_from_device(
|
||||
device_id=target_device,
|
||||
resource_name=target_location
|
||||
)
|
||||
if target_resource_obj is None:
|
||||
raise RuntimeError(
|
||||
f"目标设备 {target_device} 中未找到资源 '{target_location}'，"
|
||||
f"请确认 YihuaCoinCellDeck.setup() 中已添加 electrolyte_buffer 槽位"
|
||||
)
|
||||
```
|
||||
|
||||
> **说明**：`_get_resource_from_device` 需根据现有 ROS2 资源同步机制实现，或复用已有的 `get_plr_resource_by_name` 类似方法。
|
||||
|
||||
---
|
||||
|
||||
### 阶段 E — 配置与注册表
|
||||
|
||||
#### E1. `yibin_electrolyte_config.json` / `yibin_coin_cell_only_config.json` / `yibin_electrolyte_only_config.json`
|
||||
|
||||
全局替换以下字符串：
|
||||
|
||||
| 旧值 | 新值 |
|
||||
|---|---|
|
||||
| `BIOYOND_YB_Deck` | `BioyondElectrolyteDeck` |
|
||||
| `unilabos.resources.bioyond.decks:BIOYOND_YB_Deck` | `unilabos.resources.bioyond.decks:BioyondElectrolyteDeck` |
|
||||
| `CoincellDeck` | `YihuaCoinCellDeck` |
|
||||
| `unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:CoincellDeck` | 若文件已重命名：`unilabos.devices.workstation.coin_cell_assembly.yihua_coin_cell_materials:YihuaCoinCellDeck` |
|
||||
|
||||
---
|
||||
|
||||
#### E2. `unilabos/registry/resources/bioyond/deck.yaml`（**原计划未覆盖，新增**）
|
||||
|
||||
当前第 25 行和第 37 行仍使用旧类名，需同步更新：
|
||||
|
||||
```yaml
|
||||
# 修改前
|
||||
BIOYOND_YB_Deck:
|
||||
...
|
||||
CoincellDeck:
|
||||
...
|
||||
|
||||
# 修改后
|
||||
BioyondElectrolyteDeck:
|
||||
...
|
||||
YihuaCoinCellDeck:
|
||||
...
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 阶段 F — 物料余量监控集成（原计划第5节细化）
|
||||
|
||||
**目标**：弃用资源树内极片对象计数，改为直读依华扣电工站寄存器。
|
||||
|
||||
#### F1. `coin_cell_assembly/coin_cell_assembly.py` — 新增寄存器读取方法
|
||||
|
||||
参考 `coin_cell_assembly_b.csv` 中的地址，封装读取工具方法：
|
||||
|
||||
```python
|
||||
MATERIAL_REGISTER_MAP = {
|
||||
"10mm正极片": (520, "REAL"),
|
||||
"12mm正极片": (522, "REAL"),
|
||||
"16mm正极片": (524, "REAL"),
|
||||
"铝箔": (526, "REAL"),
|
||||
"正极壳": (528, "REAL"),
|
||||
"平垫": (530, "REAL"),
|
||||
"负极壳": (532, "REAL"),
|
||||
"弹垫": (534, "REAL"),
|
||||
"成品容量": (536, "REAL"),
|
||||
"成品NG容量": (538, "REAL"),
|
||||
}
|
||||
|
||||
def get_material_remaining(self, material_name: str) -> float:
|
||||
"""通过寄存器直读指定物料的剩余数量"""
|
||||
if material_name not in MATERIAL_REGISTER_MAP:
|
||||
raise KeyError(f"未知物料名称: {material_name}")
|
||||
address, dtype = MATERIAL_REGISTER_MAP[material_name]
|
||||
return self.read_hold_register(address, dtype) # 复用现有 Modbus 读取方法
|
||||
```
|
||||
|
||||
#### F2. 前端 data view 集成
|
||||
|
||||
- 前端点击 `MagazineHolder` 类资源的 data view 时，调用后端 `get_material_remaining` 接口（而非读取 `children` 长度）。
|
||||
- 具体接口路径和前端调用代码需与前端开发同步，本文档不作具体实现约定。
|
||||
|
||||
---
|
||||
|
||||
## 4. 验证计划（细化）
|
||||
|
||||
### 4.1 单元测试（自动化）
|
||||
|
||||
```bash
|
||||
# 序列化/反序列化往返测试
|
||||
python -m pytest unilabos/test/ -k "serial" -v
|
||||
|
||||
# 特别检查以下错误消失：
|
||||
# - ValueError: Resource '...' already assigned to deck
|
||||
# - KeyError: 'liquid_history'
|
||||
# - 重复 UUID 报错
|
||||
```
|
||||
|
||||
### 4.2 集成测试（手动）
|
||||
|
||||
按以下顺序逐步验证，确保每步正常后再进行下一步：
|
||||
|
||||
1. **单独启动 `BatteryStation` 节点**，检查 `CoincellDeck`（现 `YihuaCoinCellDeck`）能否从数据库状态正确还原，无 `already assigned` 报错。
|
||||
2. **单独启动 `BioyondElectrolyte` 节点**，检查 `BioyondElectrolyteDeck` 反序列化正常。
|
||||
3. **同时启动两个节点**，模拟执行一次分液→扣电的完整跨站转运，确认：
|
||||
- `electrolyte_buffer` 槽位正确接收分液瓶板。
|
||||
- `bottle_rack_6x2` 初始为空，不出现虚拟瓶子。
|
||||
4. **重启两个节点**（模拟断电恢复），确认资源树从数据库还原后，`electrolyte_buffer` 中仍持有正确的分液瓶板对象。
|
||||
5. **寄存器余量读取**：手动触发 `get_material_remaining("负极壳")`，确认返回值与设备显示一致。
|
||||
|
||||
---
|
||||
|
||||
## 5. 与原计划的差异对照
|
||||
|
||||
| 维度 | 原计划 | 本文档新增/修订 |
|
||||
|---|---|---|
|
||||
| 执行顺序 | 未排序 | 明确 A→B→C→D→E→F 的依赖顺序 |
|
||||
| `itemized_carrier.py` | 移除兜底补丁 | 补充：替换为带诊断信息的异常，便于排查 |
|
||||
| `bottle_carriers.py` | 提及 `YIHUA_Electrolyte_12VialCarrier` 需修改 | 明确：删除第 54-55 行的瓶子填充循环 |
|
||||
| `MaterialPlate` | 提及移除 `fill` 参数 | 说明保留 `fill=False` 路径；整体删除 `fill=True` 分支 |
|
||||
| `deck.yaml` | 未提及 | **新增**：该注册文件也需要同步更新类名 |
|
||||
| `resource_tracker.py` | 简略描述 | 提供具体的 `setdefault` 预处理代码示例 |
|
||||
| 跨站转运 | 描述了问题和方向 | 细化：新增 `electrolyte_buffer` 槽位的具体名称和坐标；修正 `transfer` 目标查找方式 |
|
||||
| 验证计划 | 简述目标 | 提供具体测试命令和逐步手动验证流程 |
|
||||
@@ -679,17 +679,14 @@ def _resolve_name(name: str, import_map: Dict[str, str]) -> str:
|
||||
return name
|
||||
|
||||
|
||||
_DECORATOR_ENUM_CLASSES = frozenset({"Side", "DataSource", "NodeType"})
|
||||
|
||||
|
||||
def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str:
|
||||
"""
|
||||
Resolve an attribute access like Side.NORTH or DataSource.HANDLE.
|
||||
|
||||
对于来自 ``unilabos.registry.decorators`` 的枚举类 (Side / DataSource / NodeType)，
|
||||
直接返回枚举成员名 (如 ``"NORTH"`` / ``"HANDLE"`` / ``"MANUAL_CONFIRM"``)，
|
||||
省去消费端二次 rsplit 解析。其它 import 仍返回完整模块路径。
|
||||
Returns a string like "NORTH" for enum values, or
|
||||
"module.path:Class.attr" for imported references.
|
||||
"""
|
||||
# Get the full dotted path
|
||||
parts = []
|
||||
current = node
|
||||
while isinstance(current, ast.Attribute):
|
||||
@@ -699,20 +696,21 @@ def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str:
|
||||
parts.append(current.id)
|
||||
|
||||
parts.reverse()
|
||||
# parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"] or ["NodeType", "MANUAL_CONFIRM"]
|
||||
# parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"]
|
||||
|
||||
if len(parts) >= 2:
|
||||
base = parts[0]
|
||||
attr = ".".join(parts[1:])
|
||||
|
||||
if base in _DECORATOR_ENUM_CLASSES:
|
||||
source = import_map.get(base, "")
|
||||
if not source or _REGISTRY_DECORATOR_MODULE in source:
|
||||
return parts[-1]
|
||||
|
||||
# If the base is an imported name, resolve it
|
||||
if base in import_map:
|
||||
return f"{import_map[base]}.{attr}"
|
||||
|
||||
# For known enum-like patterns, return just the value
|
||||
# e.g. Side.NORTH -> "NORTH"
|
||||
if base in ("Side", "DataSource"):
|
||||
return parts[-1]
|
||||
|
||||
return ".".join(parts)
|
||||
|
||||
|
||||
@@ -825,7 +823,6 @@ def _extract_class_body(
|
||||
action_args.setdefault("placeholder_keys", {})
|
||||
action_args.setdefault("always_free", False)
|
||||
action_args.setdefault("is_protocol", False)
|
||||
action_args.setdefault("feedback_interval", 1.0)
|
||||
action_args.setdefault("description", "")
|
||||
action_args.setdefault("auto_prefix", False)
|
||||
action_args.setdefault("parent", False)
|
||||
|
||||
@@ -8,7 +8,7 @@ Usage:
|
||||
device, action, resource,
|
||||
InputHandle, OutputHandle,
|
||||
ActionInputHandle, ActionOutputHandle,
|
||||
HardwareInterface, Side, DataSource, NodeType,
|
||||
HardwareInterface, Side, DataSource,
|
||||
)
|
||||
|
||||
@device(
|
||||
@@ -73,13 +73,6 @@ class DataSource(str, Enum):
|
||||
EXECUTOR = "executor" # 从执行器输出数据 (用于 OutputHandle)
|
||||
|
||||
|
||||
class NodeType(str, Enum):
|
||||
"""动作的节点类型（用于区分 ILab 节点和人工确认节点等）"""
|
||||
|
||||
ILAB = "ILab"
|
||||
MANUAL_CONFIRM = "manual_confirm"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -342,8 +335,6 @@ def action(
|
||||
description: str = "",
|
||||
auto_prefix: bool = False,
|
||||
parent: bool = False,
|
||||
node_type: Optional["NodeType"] = None,
|
||||
feedback_interval: Optional[float] = None,
|
||||
):
|
||||
"""
|
||||
动作方法装饰器
|
||||
@@ -374,21 +365,12 @@ def action(
|
||||
description: 动作描述
|
||||
auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
|
||||
parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
|
||||
node_type: 动作的节点类型 (NodeType.ILAB / NodeType.MANUAL_CONFIRM)。
|
||||
不填写时不写入注册表。
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
import asyncio as _asyncio
|
||||
|
||||
if _asyncio.iscoroutinefunction(func):
|
||||
@wraps(func)
|
||||
async def wrapper(*args, **kwargs):
|
||||
return await func(*args, **kwargs)
|
||||
else:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
|
||||
resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
|
||||
@@ -407,10 +389,6 @@ def action(
|
||||
"auto_prefix": auto_prefix,
|
||||
"parent": parent,
|
||||
}
|
||||
if feedback_interval is not None:
|
||||
meta["feedback_interval"] = feedback_interval
|
||||
if node_type is not None:
|
||||
meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
|
||||
wrapper._action_registry_meta = meta # type: ignore[attr-defined]
|
||||
|
||||
# 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
|
||||
@@ -537,38 +515,6 @@ def clear_registry():
|
||||
_registered_resources.clear()
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 枚举值归一化
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def normalize_enum_value(raw: Any, enum_cls) -> Optional[str]:
|
||||
"""将 AST 提取的枚举成员名 / YAML 值字符串 / 旧格式长路径统一归一化为枚举值。
|
||||
|
||||
适用于 Side、DataSource、NodeType 等继承自 ``str, Enum`` 的装饰器枚举。
|
||||
|
||||
处理以下格式:
|
||||
- "MANUAL_CONFIRM" → NodeType["MANUAL_CONFIRM"].value = "manual_confirm"
|
||||
- "manual_confirm" → NodeType("manual_confirm").value = "manual_confirm"
|
||||
- "HANDLE" → DataSource["HANDLE"].value = "handle"
|
||||
- "NORTH" → Side["NORTH"].value = "NORTH"
|
||||
- 旧缓存长路径 "unilabos...NodeType.MANUAL_CONFIRM" → 先 rsplit 再查找
|
||||
"""
|
||||
if not raw:
|
||||
return None
|
||||
raw_str = str(raw)
|
||||
if "." in raw_str:
|
||||
raw_str = raw_str.rsplit(".", 1)[-1]
|
||||
try:
|
||||
return enum_cls[raw_str].value
|
||||
except KeyError:
|
||||
pass
|
||||
try:
|
||||
return enum_cls(raw_str).value
|
||||
except ValueError:
|
||||
return raw_str
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# topic_config / not_action / always_free 装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -64,12 +64,59 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: boolean
|
||||
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:
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-func_allpack_cmd_simp:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -102,7 +149,7 @@ coincellassemblyworkstation_device:
|
||||
goal:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 3200
|
||||
default: 4200
|
||||
description: 电池压制力(N)
|
||||
type: integer
|
||||
assembly_type:
|
||||
@@ -118,7 +165,7 @@ coincellassemblyworkstation_device:
|
||||
description: 是否启用压力模式
|
||||
type: boolean
|
||||
dual_drop_first_volume:
|
||||
default: 0
|
||||
default: 25
|
||||
description: 二次滴液第一次排液体积(μL)
|
||||
type: integer
|
||||
dual_drop_mode:
|
||||
@@ -137,7 +184,6 @@ coincellassemblyworkstation_device:
|
||||
description: 电解液瓶数
|
||||
type: string
|
||||
elec_use_num:
|
||||
default: 5
|
||||
description: 每瓶电解液组装电池数
|
||||
type: string
|
||||
elec_vol:
|
||||
@@ -145,7 +191,7 @@ coincellassemblyworkstation_device:
|
||||
description: 电解液吸液量(μL)
|
||||
type: integer
|
||||
file_path:
|
||||
default: D:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly
|
||||
default: /Users/sml/work
|
||||
description: 实验记录保存路径
|
||||
type: string
|
||||
fujipian_juzhendianwei:
|
||||
@@ -176,7 +222,8 @@ coincellassemblyworkstation_device:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd_simp参数
|
||||
@@ -265,7 +312,8 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_init_auto_start_combined参数
|
||||
@@ -307,7 +355,8 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_stop参数
|
||||
@@ -332,7 +381,8 @@ coincellassemblyworkstation_device:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_get_msg_cmd参数
|
||||
@@ -346,10 +396,12 @@ coincellassemblyworkstation_device:
|
||||
handles:
|
||||
input:
|
||||
- data_key: bottle_num
|
||||
data_source: handle
|
||||
data_source: workflow
|
||||
data_type: integer
|
||||
handler_key: bottle_count
|
||||
io_type: source
|
||||
label: 配液瓶数
|
||||
required: true
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
@@ -384,7 +436,8 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_finished_cmd参数
|
||||
@@ -421,7 +474,8 @@ coincellassemblyworkstation_device:
|
||||
- assembly_type
|
||||
- assembly_pressure
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_msg_cmd参数
|
||||
@@ -477,21 +531,12 @@ coincellassemblyworkstation_device:
|
||||
handles:
|
||||
input:
|
||||
- data_key: elec_num
|
||||
data_source: handle
|
||||
data_source: workflow
|
||||
data_type: integer
|
||||
handler_key: bottle_count
|
||||
io_type: source
|
||||
label: 配液瓶数
|
||||
- data_key: formulations
|
||||
data_source: handle
|
||||
data_type: array
|
||||
handler_key: formulations_input
|
||||
label: 配方信息列表
|
||||
output:
|
||||
- data_key: assembly_data
|
||||
data_source: executor
|
||||
data_type: array
|
||||
handler_key: assembly_data_output
|
||||
label: 扣电组装数据列表
|
||||
required: true
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
@@ -574,7 +619,8 @@ coincellassemblyworkstation_device:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: func_sendbottle_allpack_multi参数
|
||||
@@ -626,31 +672,6 @@ coincellassemblyworkstation_device:
|
||||
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: {}
|
||||
@@ -698,7 +719,8 @@ coincellassemblyworkstation_device:
|
||||
required:
|
||||
- fujipian_panshu
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: qiming_coin_cell_code参数
|
||||
@@ -706,10 +728,6 @@ coincellassemblyworkstation_device:
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
|
||||
status_types:
|
||||
data_10mm_positive_plate_remaining: float
|
||||
data_12mm_positive_plate_remaining: float
|
||||
data_16mm_positive_plate_remaining: float
|
||||
data_aluminum_foil_remaining: float
|
||||
data_assembly_coin_cell_num: int
|
||||
data_assembly_pressure: int
|
||||
data_assembly_time: float
|
||||
@@ -717,22 +735,14 @@ coincellassemblyworkstation_device:
|
||||
data_axis_y_pos: float
|
||||
data_axis_z_pos: float
|
||||
data_coin_cell_code: str
|
||||
data_coin_type: int
|
||||
data_current_assembling_count: int
|
||||
data_current_completed_count: int
|
||||
data_coin_num: int
|
||||
data_electrolyte_code: str
|
||||
data_electrolyte_volume: int
|
||||
data_finished_battery_ng_remaining_capacity: float
|
||||
data_finished_battery_remaining_capacity: float
|
||||
data_flat_washer_remaining: float
|
||||
data_glove_box_o2_content: float
|
||||
data_glove_box_pressure: float
|
||||
data_glove_box_water_content: float
|
||||
data_negative_shell_remaining: float
|
||||
data_open_circuit_voltage: float
|
||||
data_pole_weight: float
|
||||
data_positive_shell_remaining: float
|
||||
data_spring_washer_remaining: float
|
||||
request_rec_msg_status: bool
|
||||
request_send_msg_status: bool
|
||||
sys_mode: str
|
||||
@@ -762,14 +772,6 @@ coincellassemblyworkstation_device:
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
data_10mm_positive_plate_remaining:
|
||||
type: number
|
||||
data_12mm_positive_plate_remaining:
|
||||
type: number
|
||||
data_16mm_positive_plate_remaining:
|
||||
type: number
|
||||
data_aluminum_foil_remaining:
|
||||
type: number
|
||||
data_assembly_coin_cell_num:
|
||||
type: integer
|
||||
data_assembly_pressure:
|
||||
@@ -784,38 +786,22 @@ coincellassemblyworkstation_device:
|
||||
type: number
|
||||
data_coin_cell_code:
|
||||
type: string
|
||||
data_coin_type:
|
||||
type: integer
|
||||
data_current_assembling_count:
|
||||
type: integer
|
||||
data_current_completed_count:
|
||||
data_coin_num:
|
||||
type: integer
|
||||
data_electrolyte_code:
|
||||
type: string
|
||||
data_electrolyte_volume:
|
||||
type: integer
|
||||
data_finished_battery_ng_remaining_capacity:
|
||||
type: number
|
||||
data_finished_battery_remaining_capacity:
|
||||
type: number
|
||||
data_flat_washer_remaining:
|
||||
type: number
|
||||
data_glove_box_o2_content:
|
||||
type: number
|
||||
data_glove_box_pressure:
|
||||
type: number
|
||||
data_glove_box_water_content:
|
||||
type: number
|
||||
data_negative_shell_remaining:
|
||||
type: number
|
||||
data_open_circuit_voltage:
|
||||
type: number
|
||||
data_pole_weight:
|
||||
type: number
|
||||
data_positive_shell_remaining:
|
||||
type: number
|
||||
data_spring_washer_remaining:
|
||||
type: number
|
||||
request_rec_msg_status:
|
||||
type: boolean
|
||||
request_send_msg_status:
|
||||
@@ -825,36 +811,24 @@ coincellassemblyworkstation_device:
|
||||
sys_status:
|
||||
type: string
|
||||
required:
|
||||
- sys_status
|
||||
- sys_mode
|
||||
- request_rec_msg_status
|
||||
- request_send_msg_status
|
||||
- data_assembly_coin_cell_num
|
||||
- data_open_circuit_voltage
|
||||
- data_assembly_pressure
|
||||
- data_assembly_time
|
||||
- data_axis_x_pos
|
||||
- data_axis_y_pos
|
||||
- data_axis_z_pos
|
||||
- data_pole_weight
|
||||
- data_assembly_pressure
|
||||
- data_electrolyte_volume
|
||||
- data_coin_type
|
||||
- data_current_assembling_count
|
||||
- data_current_completed_count
|
||||
- data_coin_cell_code
|
||||
- data_coin_num
|
||||
- data_electrolyte_code
|
||||
- data_glove_box_pressure
|
||||
- data_electrolyte_volume
|
||||
- data_glove_box_o2_content
|
||||
- data_glove_box_pressure
|
||||
- data_glove_box_water_content
|
||||
- data_10mm_positive_plate_remaining
|
||||
- data_12mm_positive_plate_remaining
|
||||
- data_16mm_positive_plate_remaining
|
||||
- data_aluminum_foil_remaining
|
||||
- data_positive_shell_remaining
|
||||
- data_flat_washer_remaining
|
||||
- data_negative_shell_remaining
|
||||
- data_spring_washer_remaining
|
||||
- data_finished_battery_remaining_capacity
|
||||
- data_finished_battery_ng_remaining_capacity
|
||||
- data_open_circuit_voltage
|
||||
- data_pole_weight
|
||||
- request_rec_msg_status
|
||||
- request_send_msg_status
|
||||
- sys_mode
|
||||
- sys_status
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -31,6 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
|
||||
type: object
|
||||
model:
|
||||
mesh: thermo_orbitor_rs2_hotel
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -329,7 +329,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
type: object
|
||||
model:
|
||||
mesh: arm_slider
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
robotic_arm.UR:
|
||||
|
||||
@@ -2815,8 +2815,8 @@ virtual_sample_demo:
|
||||
readings: readings
|
||||
samples: samples
|
||||
goal_default:
|
||||
readings: null
|
||||
samples: null
|
||||
readings: []
|
||||
samples: []
|
||||
handles:
|
||||
input:
|
||||
- data_key: readings
|
||||
@@ -2846,12 +2846,18 @@ virtual_sample_demo:
|
||||
handler_key: samples_result_out
|
||||
label: 样品索引
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
passed: passed
|
||||
samples: samples
|
||||
scores: scores
|
||||
schema:
|
||||
description: 对 split_and_measure 输出做二次分析，入参和出参都带 samples 列
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: AnalyzeReadings_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
readings:
|
||||
@@ -2870,11 +2876,52 @@ virtual_sample_demo:
|
||||
title: AnalyzeReadings_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
passed:
|
||||
description: 是否通过阈值
|
||||
items:
|
||||
type: boolean
|
||||
type: array
|
||||
samples:
|
||||
description: 每行归属的输入样品 index (0-based)
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
scores:
|
||||
description: 分析得分
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
required:
|
||||
- scores
|
||||
- passed
|
||||
- samples
|
||||
title: AnalyzeReadings_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: analyze_readings参数
|
||||
title: AnalyzeReadings
|
||||
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
|
||||
measure_samples:
|
||||
@@ -2882,7 +2929,7 @@ virtual_sample_demo:
|
||||
goal:
|
||||
concentrations: concentrations
|
||||
goal_default:
|
||||
concentrations: null
|
||||
concentrations: []
|
||||
handles:
|
||||
output:
|
||||
- data_key: concentrations
|
||||
@@ -2896,12 +2943,17 @@ virtual_sample_demo:
|
||||
handler_key: absorbance_out
|
||||
label: 吸光度列表
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
absorbance: absorbance
|
||||
concentrations: concentrations
|
||||
schema:
|
||||
description: 模拟光度测量，入参出参等长
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: MeasureSamples_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
concentrations:
|
||||
@@ -2914,11 +2966,25 @@ virtual_sample_demo:
|
||||
title: MeasureSamples_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
absorbance:
|
||||
description: 吸光度列表（与浓度等长）
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
concentrations:
|
||||
description: 原始浓度列表
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
required:
|
||||
- concentrations
|
||||
- absorbance
|
||||
title: MeasureSamples_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: measure_samples参数
|
||||
title: MeasureSamples
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
split_and_measure:
|
||||
@@ -2928,7 +2994,7 @@ virtual_sample_demo:
|
||||
volumes: volumes
|
||||
goal_default:
|
||||
split_count: 3
|
||||
volumes: null
|
||||
volumes: []
|
||||
handles:
|
||||
output:
|
||||
- data_key: readings
|
||||
@@ -2947,16 +3013,21 @@ virtual_sample_demo:
|
||||
handler_key: volumes_out
|
||||
label: 均分体积
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
readings: readings
|
||||
samples: samples
|
||||
volumes: volumes
|
||||
schema:
|
||||
description: 均分样品后逐份测量，输出带 samples 列标注归属
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: SplitAndMeasure_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
split_count:
|
||||
default: 3
|
||||
description: 每个样品均分的份数
|
||||
type: integer
|
||||
volumes:
|
||||
@@ -2969,11 +3040,31 @@ virtual_sample_demo:
|
||||
title: SplitAndMeasure_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
readings:
|
||||
description: 测量读数
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
samples:
|
||||
description: 每行归属的输入样品 index (0-based)
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
volumes:
|
||||
description: 均分后的体积列表
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
required:
|
||||
- volumes
|
||||
- readings
|
||||
- samples
|
||||
title: SplitAndMeasure_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: split_and_measure参数
|
||||
title: SplitAndMeasure
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
module: unilabos.devices.virtual.virtual_sample_demo:VirtualSampleDemo
|
||||
@@ -2988,7 +3079,7 @@ virtual_sample_demo:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
type: string
|
||||
device_id:
|
||||
type: string
|
||||
required: []
|
||||
|
||||
@@ -33,8 +33,6 @@ from unilabos.registry.decorators import (
|
||||
is_not_action,
|
||||
is_always_free,
|
||||
get_topic_config,
|
||||
NodeType,
|
||||
normalize_enum_value,
|
||||
)
|
||||
from unilabos.registry.utils import (
|
||||
ROSMsgNotFound,
|
||||
@@ -161,10 +159,9 @@ class Registry:
|
||||
ast_entry = self.device_type_registry.get("host_node", {})
|
||||
ast_actions = ast_entry.get("class", {}).get("action_value_mappings", {})
|
||||
|
||||
# 取出 AST 生成的 action entries, 补充特定覆写
|
||||
# 取出 AST 生成的 auto-method entries, 补充特定覆写
|
||||
test_latency_action = ast_actions.get("auto-test_latency", {})
|
||||
test_resource_action = ast_actions.get("auto-test_resource", {})
|
||||
manual_confirm_action = ast_actions.get("manual_confirm", {})
|
||||
test_resource_action["handles"] = {
|
||||
"input": [
|
||||
{
|
||||
@@ -237,12 +234,9 @@ class Registry:
|
||||
"parent": "unilabos_nodes",
|
||||
"class_name": "unilabos_class",
|
||||
},
|
||||
"always_free": True,
|
||||
"feedback_interval": 300.0,
|
||||
},
|
||||
"test_latency": test_latency_action,
|
||||
"auto-test_resource": test_resource_action,
|
||||
"manual_confirm": manual_confirm_action,
|
||||
},
|
||||
"init_params": {},
|
||||
},
|
||||
@@ -830,9 +824,8 @@ class Registry:
|
||||
raw_handles = (action_args or {}).get("handles")
|
||||
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
|
||||
|
||||
# placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
|
||||
pk = detect_placeholder_keys(params)
|
||||
pk.update((action_args or {}).get("placeholder_keys") or {})
|
||||
# placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
|
||||
pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
|
||||
|
||||
# 从方法返回值类型生成 result schema
|
||||
result_schema = None
|
||||
@@ -854,11 +847,6 @@ class Registry:
|
||||
}
|
||||
if (action_args or {}).get("always_free") or method_info.get("always_free"):
|
||||
entry["always_free"] = True
|
||||
_fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
|
||||
entry["feedback_interval"] = _fb_iv
|
||||
nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
|
||||
if nt:
|
||||
entry["node_type"] = nt
|
||||
return action_name, entry
|
||||
|
||||
# 1) auto- actions
|
||||
@@ -979,15 +967,10 @@ class Registry:
|
||||
"schema": schema,
|
||||
"goal_default": goal_default,
|
||||
"handles": handles,
|
||||
"placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
|
||||
"placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
|
||||
}
|
||||
if action_args.get("always_free") or method_info.get("always_free"):
|
||||
action_entry["always_free"] = True
|
||||
_fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
|
||||
action_entry["feedback_interval"] = _fb_iv
|
||||
nt = normalize_enum_value(action_args.get("node_type"), NodeType)
|
||||
if nt:
|
||||
action_entry["node_type"] = nt
|
||||
action_value_mappings[action_name] = action_entry
|
||||
|
||||
action_value_mappings = dict(sorted(action_value_mappings.items()))
|
||||
@@ -1170,7 +1153,7 @@ class Registry:
|
||||
return Path(BasicConfig.working_dir) / "registry_cache.pkl"
|
||||
return None
|
||||
|
||||
_CACHE_VERSION = 4
|
||||
_CACHE_VERSION = 3
|
||||
|
||||
def _load_config_cache(self) -> dict:
|
||||
import pickle
|
||||
@@ -1895,9 +1878,6 @@ class Registry:
|
||||
}
|
||||
if v.get("always_free"):
|
||||
entry["always_free"] = True
|
||||
old_node_type = old_cfg.get("node_type")
|
||||
if old_node_type in [NodeType.ILAB.value, NodeType.MANUAL_CONFIRM.value]:
|
||||
entry["node_type"] = old_node_type
|
||||
device_config["class"]["action_value_mappings"][action_key] = entry
|
||||
|
||||
device_config["init_param_schema"] = {}
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
YIHUA_Electrolyte_12VialCarrier:
|
||||
category:
|
||||
- battery_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.battery.bottle_carriers:YIHUA_Electrolyte_12VialCarrier
|
||||
type: pylabrobot
|
||||
description: YIHUA 12-vial electrolyte carrier for coin cell assembly workstation
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
@@ -1,140 +1,84 @@
|
||||
YB_Vial_20mL:
|
||||
YB_20ml_fenyeping:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_Vial_20mL
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_20ml_fenyeping
|
||||
type: pylabrobot
|
||||
description: YB_Vial_20mL
|
||||
description: YB_20ml_fenyeping
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
YB_Vial_5mL:
|
||||
YB_5ml_fenyeping:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_Vial_5mL
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_5ml_fenyeping
|
||||
type: pylabrobot
|
||||
description: YB_Vial_5mL
|
||||
description: YB_5ml_fenyeping
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
YB_DosingHead_L:
|
||||
YB_jia_yang_tou_da:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_DosingHead_L
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da
|
||||
type: pylabrobot
|
||||
description: YB_DosingHead_L
|
||||
description: YB_jia_yang_tou_da
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
YB_PrepBottle_60mL:
|
||||
YB_pei_ye_da_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_PrepBottle_60mL
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_PrepBottle_60mL
|
||||
description: YB_pei_ye_da_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
YB_PrepBottle_15mL:
|
||||
YB_pei_ye_xiao_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_PrepBottle_15mL
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_PrepBottle_15mL
|
||||
description: YB_pei_ye_xiao_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
YB_Tip_5000uL:
|
||||
YB_qiang_tou:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_Tip_5000uL
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_qiang_tou
|
||||
type: pylabrobot
|
||||
description: YB_Tip_5000uL
|
||||
description: YB_qiang_tou
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
YB_Tip_1000uL:
|
||||
category:
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_Tip_1000uL
|
||||
type: pylabrobot
|
||||
description: YB_Tip_1000uL
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_Tip_50uL:
|
||||
category:
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_Tip_50uL
|
||||
type: pylabrobot
|
||||
description: YB_Tip_50uL
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_NormalLiq_250mL_Bottle:
|
||||
YB_ye_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_NormalLiq_250mL_Bottle
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_NormalLiq_250mL_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_NormalLiq_100mL_Bottle:
|
||||
category:
|
||||
- YB_bottle_carriers
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_NormalLiq_100mL_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_NormalLiq_100mL_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_HighVis_250mL_Bottle:
|
||||
category:
|
||||
- YB_bottle_carriers
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_HighVis_250mL_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_HighVis_250mL_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_HighVis_100mL_Bottle:
|
||||
category:
|
||||
- YB_bottle_carriers
|
||||
- YB_bottle
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_HighVis_100mL_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_HighVis_100mL_Bottle
|
||||
description: YB_ye_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
|
||||
@@ -1,29 +1,42 @@
|
||||
YB_Vial_20mL_Carrier:
|
||||
YB_100ml_yeti:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Vial_20mL_Carrier
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_100ml_yeti
|
||||
type: pylabrobot
|
||||
description: YB_Vial_20mL_Carrier
|
||||
description: YB_100ml_yeti
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_Vial_5mL_Carrier:
|
||||
YB_20ml_fenyepingban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Vial_5mL_Carrier
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_20ml_fenyepingban
|
||||
type: pylabrobot
|
||||
description: YB_Vial_5mL_Carrier
|
||||
description: YB_20ml_fenyepingban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
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
|
||||
@@ -32,10 +45,10 @@ 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
|
||||
@@ -44,137 +57,112 @@ YB_6VialCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_DosingHead_L_Carrier:
|
||||
YB_gao_nian_ye_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_DosingHead_L_Carrier
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_DosingHead_L_Carrier
|
||||
description: YB_gao_nian_ye_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_PrepBottle_60mL_Carrier:
|
||||
YB_gaonianye:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_PrepBottle_60mL_Carrier
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_gaonianye
|
||||
type: pylabrobot
|
||||
description: YB_PrepBottle_60mL_Carrier
|
||||
description: YB_gaonianye
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_PrepBottle_15mL_Carrier:
|
||||
YB_jia_yang_tou_da_Carrier:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_PrepBottle_15mL_Carrier
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_Carrier
|
||||
type: pylabrobot
|
||||
description: YB_PrepBottle_15mL_Carrier
|
||||
description: YB_jia_yang_tou_da_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_TipRack_Mixed:
|
||||
YB_peiyepingdaban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_Mixed
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingdaban
|
||||
type: pylabrobot
|
||||
description: YB_TipRack_Mixed
|
||||
description: YB_peiyepingdaban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_TipRack_5000uL:
|
||||
YB_peiyepingxiaoban:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_5000uL
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_peiyepingxiaoban
|
||||
type: pylabrobot
|
||||
description: YB_TipRack_5000uL
|
||||
description: YB_peiyepingxiaoban
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_TipRack_50uL:
|
||||
YB_qiang_tou_he:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipRack_50uL
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_qiang_tou_he
|
||||
type: pylabrobot
|
||||
description: YB_TipRack_50uL
|
||||
description: YB_qiang_tou_he
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_Adapter_60mL:
|
||||
YB_shi_pei_qi_kuai:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_Adapter_60mL
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_shi_pei_qi_kuai
|
||||
type: pylabrobot
|
||||
description: YB_Adapter_60mL
|
||||
description: YB_shi_pei_qi_kuai
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_NormalLiq_250mL_Carrier:
|
||||
YB_ye:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_NormalLiq_250mL_Carrier
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_ye
|
||||
type: pylabrobot
|
||||
description: YB_NormalLiq_250mL_Carrier
|
||||
description: YB_ye_Bottle_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_NormalLiq_100mL_Carrier:
|
||||
YB_ye_100ml_Bottle:
|
||||
category:
|
||||
- yb3
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_NormalLiq_100mL_Carrier
|
||||
module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle
|
||||
type: pylabrobot
|
||||
description: YB_NormalLiq_100mL_Carrier
|
||||
description: YB_ye_100ml_Bottle
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_HighVis_250mL_Carrier:
|
||||
category:
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_HighVis_250mL_Carrier
|
||||
type: pylabrobot
|
||||
description: YB_HighVis_250mL_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_HighVis_100mL_Carrier:
|
||||
category:
|
||||
- YB_bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.YB_bottle_carriers:YB_HighVis_100mL_Carrier
|
||||
type: pylabrobot
|
||||
description: YB_HighVis_100mL_Carrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
@@ -20,22 +20,22 @@ BIOYOND_PolymerReactionStation_Deck:
|
||||
icon: 反应站.webp
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BioyondElectrolyteDeck:
|
||||
BIOYOND_YB_Deck:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.resources.bioyond.decks:bioyond_electrolyte_deck
|
||||
module: unilabos.resources.bioyond.decks:YB_Deck
|
||||
type: pylabrobot
|
||||
description: BIOYOND ElectrolyteFormulationStation Deck
|
||||
handles: []
|
||||
icon: 配液站.webp
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
YihuaCoinCellDeck:
|
||||
CoincellDeck:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:yihua_coin_cell_deck
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials:YH_Deck
|
||||
type: pylabrobot
|
||||
description: YIHUA CoinCellAssembly Deck
|
||||
handles: []
|
||||
|
||||
@@ -17,7 +17,7 @@ hplc_plate:
|
||||
- 0
|
||||
- 0
|
||||
- 3.1416
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
plate_96:
|
||||
@@ -39,7 +39,7 @@ plate_96:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
plate_96_high:
|
||||
@@ -61,7 +61,7 @@ plate_96_high:
|
||||
- 1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
tiprack_96_high:
|
||||
@@ -76,7 +76,7 @@ tiprack_96_high:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.0018
|
||||
- 0.0018
|
||||
@@ -92,7 +92,7 @@ tiprack_96_high:
|
||||
- 1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
tiprack_box:
|
||||
@@ -107,7 +107,7 @@ tiprack_box:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: tip/meshes/tip.stl
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.0045
|
||||
- 0.0045
|
||||
@@ -123,6 +123,6 @@ tiprack_box:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -11,7 +11,7 @@ bottle_container:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: bottle/meshes/bottle.stl
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.04
|
||||
- 0.04
|
||||
@@ -27,7 +27,7 @@ bottle_container:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
tube_container:
|
||||
@@ -43,7 +43,7 @@ tube_container:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: tube/meshes/tube.stl
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.017
|
||||
- 0.017
|
||||
@@ -59,6 +59,6 @@ tube_container:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -10,6 +10,6 @@ TransformXYZDeck:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
mesh: liquid_transform_xyz
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -10,7 +10,7 @@ OTDeck:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
mesh: opentrons_liquid_handler
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
hplc_station:
|
||||
@@ -25,6 +25,6 @@ hplc_station:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
mesh: hplc_station
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
|
||||
type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -109,7 +109,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
|
||||
init_param_schema: {}
|
||||
model:
|
||||
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
|
||||
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||
children_mesh_tf:
|
||||
- 0.0018
|
||||
- 0.0018
|
||||
@@ -125,7 +125,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
|
||||
- -1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
nest_96_wellplate_200ul_flat:
|
||||
@@ -158,7 +158,7 @@ nest_96_wellplate_2ml_deep:
|
||||
- -1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
thermoscientificnunc_96_wellplate_1300ul:
|
||||
|
||||
@@ -69,7 +69,7 @@ opentrons_96_filtertiprack_1000ul:
|
||||
- -1.5708
|
||||
- 0
|
||||
- 1.5708
|
||||
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_filtertiprack_10ul:
|
||||
|
||||
@@ -17,7 +17,6 @@ from typing import Any, Dict, List, Optional, Tuple, Union
|
||||
from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
|
||||
|
||||
from unilabos.utils.cls_creator import import_class
|
||||
from unilabos.registry.decorators import Side, DataSource, normalize_enum_value
|
||||
|
||||
_logger = logging.getLogger(__name__)
|
||||
|
||||
@@ -488,7 +487,10 @@ def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
|
||||
}
|
||||
side = h.get("side")
|
||||
if side:
|
||||
entry["side"] = normalize_enum_value(side, Side) or side
|
||||
if isinstance(side, str) and "." in side:
|
||||
val = side.rsplit(".", 1)[-1]
|
||||
side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
|
||||
entry["side"] = side
|
||||
label = h.get("label")
|
||||
if label:
|
||||
entry["label"] = label
|
||||
@@ -497,7 +499,10 @@ def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
|
||||
entry["data_key"] = data_key
|
||||
data_source = h.get("data_source")
|
||||
if data_source:
|
||||
entry["data_source"] = normalize_enum_value(data_source, DataSource) or data_source
|
||||
if isinstance(data_source, str) and "." in data_source:
|
||||
val = data_source.rsplit(".", 1)[-1]
|
||||
data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
|
||||
entry["data_source"] = data_source
|
||||
description = h.get("description")
|
||||
if description:
|
||||
entry["description"] = description
|
||||
@@ -532,12 +537,17 @@ def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
|
||||
"data_type": h.get("data_type", ""),
|
||||
"label": h.get("label", ""),
|
||||
}
|
||||
_FIELD_ENUM_MAP = {"side": Side, "data_source": DataSource}
|
||||
for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
|
||||
val = h.get(opt_key)
|
||||
if val is not None:
|
||||
if opt_key in _FIELD_ENUM_MAP:
|
||||
val = normalize_enum_value(val, _FIELD_ENUM_MAP[opt_key]) or val
|
||||
# Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
|
||||
# data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
|
||||
if (
|
||||
isinstance(val, str)
|
||||
and "." in val
|
||||
and opt_key not in ("io_type", "data_key")
|
||||
):
|
||||
val = val.rsplit(".", 1)[-1].lower()
|
||||
entry[opt_key] = val
|
||||
|
||||
# io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
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
|
||||
|
||||
|
||||
@@ -48,5 +51,6 @@ def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
|
||||
carrier.num_items_x = 2
|
||||
carrier.num_items_y = 6
|
||||
carrier.num_items_z = 1
|
||||
# 载架初始化为空，瓶子由实际转运操作填入，避免反序列化时重复 assign
|
||||
for i in range(12):
|
||||
carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
|
||||
return carrier
|
||||
|
||||
@@ -135,7 +135,6 @@ class BatteryState(TypedDict):
|
||||
open_circuit_voltage: float
|
||||
assembly_pressure: float
|
||||
electrolyte_volume: float
|
||||
pole_weight: float # 极片称重 (mg)
|
||||
|
||||
info: Optional[str] # 附加信息
|
||||
|
||||
@@ -180,7 +179,6 @@ class Battery(Container):
|
||||
open_circuit_voltage=0.0,
|
||||
assembly_pressure=0.0,
|
||||
electrolyte_volume=0.0,
|
||||
pole_weight=0.0,
|
||||
info=None
|
||||
)
|
||||
|
||||
|
||||
@@ -53,28 +53,13 @@ class Magazine(ResourceStack):
|
||||
return self.get_size_z()
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
# 物料余量由寄存器接管，不再持久化极片子节点，
|
||||
# 防止旧数据写回数据库后下次启动时再次引发重复 UUID。
|
||||
data["children"] = []
|
||||
data.update({
|
||||
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,
|
||||
})
|
||||
return data
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal: bool = False):
|
||||
"""反序列化时丢弃极片子节点（ElectrodeSheet 等）。
|
||||
|
||||
物料余量已由寄存器接管，不再在资源树中追踪每个极片实体。
|
||||
清空 children 可防止数据库中的旧极片记录被重新加载，避免重复 UUID 报错。
|
||||
"""
|
||||
data = dict(data)
|
||||
data["children"] = []
|
||||
return super().deserialize(data, allow_marshal=allow_marshal)
|
||||
}
|
||||
|
||||
|
||||
class MagazineHolder(ItemizedResource):
|
||||
@@ -235,7 +220,7 @@ def MagazineHolder_6_Cathode(
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=None,
|
||||
klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
@@ -273,7 +258,7 @@ def MagazineHolder_6_Anode(
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=None,
|
||||
klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
@@ -350,7 +335,7 @@ def MagazineHolder_4_Cathode(
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
locations=locations,
|
||||
klasses=None,
|
||||
klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
|
||||
hole_diameter=hole_diameter,
|
||||
hole_depth=hole_depth,
|
||||
max_sheets_per_hole=max_sheets_per_hole,
|
||||
|
||||
@@ -2,18 +2,15 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, Resou
|
||||
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
from unilabos.resources.bioyond.YB_bottles import (
|
||||
YB_DosingHead_L,
|
||||
YB_NormalLiq_250mL_Bottle,
|
||||
YB_NormalLiq_100mL_Bottle,
|
||||
YB_HighVis_250mL_Bottle,
|
||||
YB_HighVis_100mL_Bottle,
|
||||
YB_Vial_5mL,
|
||||
YB_Vial_20mL,
|
||||
YB_PrepBottle_15mL,
|
||||
YB_PrepBottle_60mL,
|
||||
YB_Tip_5000uL,
|
||||
YB_Tip_1000uL,
|
||||
YB_Tip_50uL,
|
||||
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
|
||||
|
||||
@@ -209,7 +206,7 @@ def YB_6VialCarrier(name: str) -> BottleCarrier:
|
||||
return carrier
|
||||
|
||||
# 1瓶载架 - 单个中央位置
|
||||
def YB_NormalLiq_250mL_Carrier(name: str) -> BottleCarrier:
|
||||
def YB_ye(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
@@ -236,17 +233,17 @@ def YB_NormalLiq_250mL_Carrier(name: str) -> BottleCarrier:
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_NormalLiq_250mL_Carrier",
|
||||
model="YB_ye",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_NormalLiq_250mL_Bottle(f"{name}_flask_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_HighVis_250mL_Carrier(name: str) -> BottleCarrier:
|
||||
def YB_gaonianye(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
@@ -273,17 +270,17 @@ def YB_HighVis_250mL_Carrier(name: str) -> BottleCarrier:
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_HighVis_250mL_Carrier",
|
||||
model="YB_gaonianye",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_HighVis_250mL_Bottle(f"{name}_flask_1")
|
||||
carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
# 100mL普通液瓶载架 - 单个中央位置
|
||||
def YB_NormalLiq_100mL_Carrier(name: str) -> BottleCarrier:
|
||||
# 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
|
||||
@@ -310,52 +307,16 @@ def YB_NormalLiq_100mL_Carrier(name: str) -> BottleCarrier:
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_NormalLiq_100mL_Carrier",
|
||||
model="YB_100ml_yeti",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_NormalLiq_100mL_Bottle(f"{name}_flask_1")
|
||||
carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
# 100mL高粘液瓶载架 - 单个中央位置
|
||||
def YB_HighVis_100mL_Carrier(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_HighVis_100mL_Carrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = YB_HighVis_100mL_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
# 5mL分液瓶板 - 4x2布局，8个位置
|
||||
def YB_Vial_5mL_Carrier(name: str) -> BottleCarrier:
|
||||
# 5ml分液瓶板 - 4x2布局，8个位置
|
||||
def YB_5ml_fenyepingban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
@@ -394,18 +355,18 @@ def YB_Vial_5mL_Carrier(name: str) -> BottleCarrier:
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_Vial_5mL_Carrier",
|
||||
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_Vial_5mL(f"{name}_vial_{ordering[i]}")
|
||||
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_Vial_20mL_Carrier(name: str) -> BottleCarrier:
|
||||
# 20ml分液瓶板 - 4x2布局，8个位置
|
||||
def YB_20ml_fenyepingban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
@@ -444,18 +405,18 @@ def YB_Vial_20mL_Carrier(name: str) -> BottleCarrier:
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_Vial_20mL_Carrier",
|
||||
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_Vial_20mL(f"{name}_vial_{ordering[i]}")
|
||||
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_PrepBottle_15mL_Carrier(name: str) -> BottleCarrier:
|
||||
def YB_peiyepingxiaoban(name: str) -> BottleCarrier:
|
||||
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
@@ -494,19 +455,19 @@ def YB_PrepBottle_15mL_Carrier(name: str) -> BottleCarrier:
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_PrepBottle_15mL_Carrier",
|
||||
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_PrepBottle_15mL(f"{name}_bottle_{ordering[i]}")
|
||||
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_PrepBottle_60mL_Carrier(name: str) -> BottleCarrier:
|
||||
def YB_peiyepingdaban(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
@@ -544,18 +505,18 @@ def YB_PrepBottle_60mL_Carrier(name: str) -> BottleCarrier:
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_PrepBottle_60mL_Carrier",
|
||||
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_PrepBottle_60mL(f"{name}_bottle_{ordering[i]}")
|
||||
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_DosingHead_L_Carrier(name: str) -> BottleCarrier:
|
||||
def YB_jia_yang_tou_da_Carrier(name: str) -> BottleCarrier:
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
@@ -593,16 +554,16 @@ def YB_DosingHead_L_Carrier(name: str) -> BottleCarrier:
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_DosingHead_L_Carrier",
|
||||
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_DosingHead_L(f"{name}_head_1")
|
||||
carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_Adapter_60mL(name: str) -> BottleCarrier:
|
||||
def YB_shi_pei_qi_kuai(name: str) -> BottleCarrier:
|
||||
"""适配器块 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
@@ -630,7 +591,7 @@ def YB_Adapter_60mL(name: str) -> BottleCarrier:
|
||||
resource_size_y=adapter_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="YB_Adapter_60mL",
|
||||
model="YB_shi_pei_qi_kuai",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
@@ -639,7 +600,7 @@ def YB_Adapter_60mL(name: str) -> BottleCarrier:
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_TipRack_50uL(name: str) -> BottleCarrier:
|
||||
def YB_qiang_tou_he(name: str) -> BottleCarrier:
|
||||
"""枪头盒 - 8x12布局，96个位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
@@ -648,9 +609,9 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
|
||||
carrier_size_z = 55.0
|
||||
|
||||
# 枪头尺寸
|
||||
tip_diameter = 7.0
|
||||
tip_spacing_x = 7.5 # X方向间距
|
||||
tip_spacing_y = 7.5 # Y方向间距
|
||||
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
|
||||
@@ -678,7 +639,7 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_TipRack_50uL",
|
||||
model="YB_qiang_tou_he",
|
||||
)
|
||||
carrier.num_items_x = 12
|
||||
carrier.num_items_y = 8
|
||||
@@ -687,182 +648,6 @@ def YB_TipRack_50uL(name: str) -> BottleCarrier:
|
||||
for i in range(96):
|
||||
row = chr(65 + i // 12) # A-H
|
||||
col = (i % 12) + 1 # 1-12
|
||||
carrier[i] = YB_Tip_50uL(f"{name}_tip_{row}{col}")
|
||||
return carrier
|
||||
|
||||
|
||||
def YB_TipRack_5000uL(name: str) -> BottleCarrier:
|
||||
"""枪头盒 - 4x6布局，24个位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 95.0
|
||||
|
||||
# 枪头尺寸
|
||||
tip_diameter = 16.0
|
||||
tip_spacing_x = 16.5 # X方向间距
|
||||
tip_spacing_y = 16.5 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (6 - 1) * tip_spacing_x - tip_diameter) / 2
|
||||
start_y = (carrier_size_y - (4 - 1) * tip_spacing_y - tip_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=6,
|
||||
num_items_y=4,
|
||||
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_TipRack_5000uL",
|
||||
)
|
||||
carrier.num_items_x = 6
|
||||
carrier.num_items_y = 4
|
||||
carrier.num_items_z = 1
|
||||
# 创建24个枪头
|
||||
for i in range(24):
|
||||
row = chr(65 + i // 6) # A-D
|
||||
col = (i % 6) + 1 # 1-6
|
||||
carrier[i] = YB_Tip_5000uL(f"{name}_tip_{row}{col}")
|
||||
return carrier
|
||||
|
||||
|
||||
|
||||
def YB_TipRack_Mixed(name: str) -> BottleCarrier:
|
||||
"""混合枪头盒 - 复杂布局
|
||||
上层: 2x8空位（原50uL枪头位置，现空余）
|
||||
中层: 4x4布局，放5000uL枪头
|
||||
下层: 2x8布局，放1000uL枪头
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 95.0
|
||||
|
||||
# 各类枪头的尺寸参数
|
||||
tip_5000_diameter = 16.0
|
||||
tip_5000_spacing_x = 16.5
|
||||
tip_5000_spacing_y = 16.5
|
||||
|
||||
tip_1000_diameter = 7.0
|
||||
tip_1000_spacing_x = 7.5
|
||||
tip_1000_spacing_y = 7.5
|
||||
|
||||
# 空位尺寸（上层2x8，原50uL位置）
|
||||
empty_diameter = 7.0
|
||||
empty_spacing_x = 7.5
|
||||
empty_spacing_y = 7.5
|
||||
|
||||
# 计算各层的起始位置
|
||||
# 上层空位 (2x8)
|
||||
empty_top_start_x = (carrier_size_x - (8 - 1) * empty_spacing_x - empty_diameter) / 2
|
||||
empty_top_start_y = 5.0
|
||||
|
||||
# 中层5000uL (4x4)
|
||||
tip_5000_start_x = (carrier_size_x - (4 - 1) * tip_5000_spacing_x - tip_5000_diameter) / 2
|
||||
tip_5000_start_y = empty_top_start_y + 2 * empty_spacing_y + 5.0
|
||||
|
||||
# 下层1000uL (2x8)
|
||||
tip_1000_start_x = (carrier_size_x - (8 - 1) * tip_1000_spacing_x - tip_1000_diameter) / 2
|
||||
tip_1000_start_y = tip_5000_start_y + 4 * tip_5000_spacing_y + 5.0
|
||||
|
||||
sites = {}
|
||||
|
||||
# 创建上层空位 (2x8) - 不创建实际的枪头对象
|
||||
empty_top_sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=8,
|
||||
num_items_y=2,
|
||||
dx=empty_top_start_x,
|
||||
dy=empty_top_start_y,
|
||||
dz=5.0,
|
||||
item_dx=empty_spacing_x,
|
||||
item_dy=empty_spacing_y,
|
||||
size_x=empty_diameter,
|
||||
size_y=empty_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
# 添加空位，索引 0-15
|
||||
for k, v in empty_top_sites.items():
|
||||
v.name = f"{name}_empty_top_{v.name}"
|
||||
sites[k] = v
|
||||
|
||||
# 创建中层5000uL枪头位 (4x4)，索引 16-31
|
||||
tip_5000_sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=4,
|
||||
num_items_y=4,
|
||||
dx=tip_5000_start_x,
|
||||
dy=tip_5000_start_y,
|
||||
dz=15.0,
|
||||
item_dx=tip_5000_spacing_x,
|
||||
item_dy=tip_5000_spacing_y,
|
||||
size_x=tip_5000_diameter,
|
||||
size_y=tip_5000_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for i, (k, v) in enumerate(tip_5000_sites.items()):
|
||||
v.name = f"{name}_5000_{v.name}"
|
||||
sites[16 + i] = v
|
||||
|
||||
# 创建下层1000uL枪头位 (2x8)，索引 32-47
|
||||
tip_1000_sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=8,
|
||||
num_items_y=2,
|
||||
dx=tip_1000_start_x,
|
||||
dy=tip_1000_start_y,
|
||||
dz=25.0,
|
||||
item_dx=tip_1000_spacing_x,
|
||||
item_dy=tip_1000_spacing_y,
|
||||
size_x=tip_1000_diameter,
|
||||
size_y=tip_1000_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for i, (k, v) in enumerate(tip_1000_sites.items()):
|
||||
v.name = f"{name}_1000_{v.name}"
|
||||
sites[32 + i] = v
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="YB_TipRack_Mixed",
|
||||
)
|
||||
carrier.num_items_x = 8 # 最大宽度
|
||||
carrier.num_items_y = 8 # 总行数 (2+4+2)
|
||||
carrier.num_items_z = 1
|
||||
|
||||
# 为5000uL枪头创建实例 (16个)，对应索引 16-31
|
||||
for i in range(16):
|
||||
row = chr(65 + i // 4) # A-D
|
||||
col = (i % 4) + 1 # 1-4
|
||||
carrier[16 + i] = YB_Tip_5000uL(f"{name}_tip5000_{row}{col}")
|
||||
|
||||
# 为1000uL枪头创建实例 (16个)，对应索引 32-47
|
||||
for i in range(16):
|
||||
row = chr(65 + i // 8) # A-B
|
||||
col = (i % 8) + 1 # 1-8
|
||||
carrier[32 + i] = YB_Tip_1000uL(f"{name}_tip1000_{row}{col}")
|
||||
|
||||
carrier[i] = YB_qiang_tou(f"{name}_tip_{row}{col}")
|
||||
return carrier
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
# 工厂函数
|
||||
"""加样头（大）"""
|
||||
def YB_DosingHead_L(
|
||||
def YB_jia_yang_tou_da(
|
||||
name: str,
|
||||
diameter: float = 20.0,
|
||||
height: float = 100.0,
|
||||
@@ -15,11 +15,11 @@ def YB_DosingHead_L(
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_DosingHead_L",
|
||||
model="YB_jia_yang_tou_da",
|
||||
)
|
||||
|
||||
"""250mL普通液"""
|
||||
def YB_NormalLiq_250mL_Bottle(
|
||||
"""液1x1"""
|
||||
def YB_ye_Bottle(
|
||||
name: str,
|
||||
diameter: float = 40.0,
|
||||
height: float = 70.0,
|
||||
@@ -33,105 +33,87 @@ def YB_NormalLiq_250mL_Bottle(
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_NormalLiq_250mL_Bottle",
|
||||
model="YB_ye_Bottle",
|
||||
)
|
||||
|
||||
"""100mL普通液"""
|
||||
def YB_NormalLiq_100mL_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普通液瓶"""
|
||||
"""创建100ml液体瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_NormalLiq_100mL_Bottle",
|
||||
model="YB_100ml_yeti",
|
||||
)
|
||||
|
||||
"""100mL高粘液"""
|
||||
def YB_HighVis_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高粘液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_HighVis_100mL_Bottle",
|
||||
)
|
||||
|
||||
"""250mL高粘液"""
|
||||
def YB_HighVis_250mL_Bottle(
|
||||
"""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250mL高粘液瓶"""
|
||||
"""创建高粘液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_HighVis_250mL_Bottle",
|
||||
model="High_Viscosity_Liquid",
|
||||
)
|
||||
|
||||
"""5mL分液瓶"""
|
||||
def YB_Vial_5mL(
|
||||
"""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"""
|
||||
"""创建5ml分液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_Vial_5mL",
|
||||
model="YB_5ml_fenyeping",
|
||||
)
|
||||
|
||||
"""20mL分液瓶"""
|
||||
def YB_Vial_20mL(
|
||||
"""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"""
|
||||
"""创建20ml分液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_Vial_20mL",
|
||||
model="YB_20ml_fenyeping",
|
||||
)
|
||||
|
||||
"""配液瓶(小)"""
|
||||
def YB_PrepBottle_15mL(
|
||||
def YB_pei_ye_xiao_Bottle(
|
||||
name: str,
|
||||
diameter: float = 35.0,
|
||||
height: float = 60.0,
|
||||
max_volume: float = 15000.0, # 15mL
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建配液瓶(小)"""
|
||||
@@ -141,15 +123,15 @@ def YB_PrepBottle_15mL(
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_PrepBottle_15mL",
|
||||
model="YB_pei_ye_xiao_Bottle",
|
||||
)
|
||||
|
||||
"""配液瓶(大)"""
|
||||
def YB_PrepBottle_60mL(
|
||||
def YB_pei_ye_da_Bottle(
|
||||
name: str,
|
||||
diameter: float = 55.0,
|
||||
height: float = 100.0,
|
||||
max_volume: float = 60000.0, # 60mL
|
||||
max_volume: float = 150000.0, # 150mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建配液瓶(大)"""
|
||||
@@ -159,29 +141,11 @@ def YB_PrepBottle_60mL(
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_PrepBottle_60mL",
|
||||
model="YB_pei_ye_da_Bottle",
|
||||
)
|
||||
|
||||
"""5000uL枪头"""
|
||||
def YB_Tip_5000uL(
|
||||
name: str,
|
||||
diameter: float = 10.0,
|
||||
height: float = 50.0,
|
||||
max_volume: float = 5000.0, # 5mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建枪头"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_Tip_5000uL",
|
||||
)
|
||||
|
||||
"""1000uL枪头"""
|
||||
def YB_Tip_1000uL(
|
||||
"""枪头"""
|
||||
def YB_qiang_tou(
|
||||
name: str,
|
||||
diameter: float = 10.0,
|
||||
height: float = 50.0,
|
||||
@@ -195,23 +159,5 @@ def YB_Tip_1000uL(
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_Tip_1000uL",
|
||||
model="YB_qiang_tou",
|
||||
)
|
||||
|
||||
"""50uL枪头"""
|
||||
def YB_Tip_50uL(
|
||||
name: str,
|
||||
diameter: float = 10.0,
|
||||
height: float = 50.0,
|
||||
max_volume: float = 50.0, # 50uL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建枪头"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="YB_Tip_50uL",
|
||||
)
|
||||
@@ -1,3 +1,4 @@
|
||||
from os import name
|
||||
from pylabrobot.resources import Deck, Coordinate, Rotation
|
||||
|
||||
from unilabos.resources.bioyond.YB_warehouses import (
|
||||
@@ -33,8 +34,11 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
|
||||
size_y: float = 1080.0,
|
||||
size_z: float = 1500.0,
|
||||
category: str = "deck",
|
||||
setup: bool = False
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
@@ -62,7 +66,6 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
|
||||
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,
|
||||
@@ -71,8 +74,11 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
||||
size_y: float = 1080.0,
|
||||
size_z: float = 1500.0,
|
||||
category: str = "deck",
|
||||
setup: bool = False
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
# 添加仓库 - 配液站的3个堆栈，使用Bioyond系统中的实际名称
|
||||
@@ -95,8 +101,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
|
||||
class BioyondElectrolyteDeck(Deck):
|
||||
class BIOYOND_YB_Deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "YB_Deck",
|
||||
@@ -104,7 +109,7 @@ class BioyondElectrolyteDeck(Deck):
|
||||
size_y: float = 1400.0,
|
||||
size_z: float = 2670.0,
|
||||
category: str = "deck",
|
||||
setup: bool = False,
|
||||
setup: bool = False
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
|
||||
if setup:
|
||||
@@ -113,8 +118,8 @@ class BioyondElectrolyteDeck(Deck):
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
self.warehouses = {
|
||||
"自动堆栈-左": bioyond_warehouse_2x2x1("自动堆栈-左"), # 2行×2列
|
||||
"自动堆栈-右": bioyond_warehouse_2x2x1("自动堆栈-右"), # 2行×2列
|
||||
"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"),
|
||||
@@ -128,34 +133,29 @@ class BioyondElectrolyteDeck(Deck):
|
||||
}
|
||||
# warehouse 的位置
|
||||
self.warehouse_locations = {
|
||||
"自动堆栈-左": Coordinate(-150.0, 1142.0, 0.0),
|
||||
"自动堆栈-右": Coordinate(4160.0, 1142.0, 0.0),
|
||||
"手动传递窗左": Coordinate(-150.0, 423.0, 0.0),
|
||||
"手动传递窗右": Coordinate(4160.0, 423.0, 0.0),
|
||||
"加样头堆栈左": Coordinate(385.0, 0, 0.0),
|
||||
"加样头堆栈右": Coordinate(2187.0, 0, 0.0),
|
||||
"321窗口": Coordinate(-150.0, 158.0, 0.0),
|
||||
"43窗口": Coordinate(4160.0, 158.0, 0.0),
|
||||
"手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
|
||||
"手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
|
||||
"加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
|
||||
"加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
|
||||
|
||||
"15ml配液堆栈左": Coordinate(749.0, 945.0, 0.0),
|
||||
"母液加样右": Coordinate(2152.0, 967.0, 0.0),
|
||||
"大瓶母液堆栈左": Coordinate(1164.0, 624.0, 0.0),
|
||||
"大瓶母液堆栈右": Coordinate(2717.0, 624.0, 0.0),
|
||||
"2号手套箱内部堆栈": Coordinate(-800, 800.0, 0.0), # 新增：位置需根据实际硬件调整
|
||||
"15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
|
||||
"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])
|
||||
|
||||
|
||||
# 向后兼容别名，日后废弃
|
||||
BIOYOND_YB_Deck = BioyondElectrolyteDeck
|
||||
def YB_Deck(name: str) -> Deck:
|
||||
by=BIOYOND_YB_Deck(name=name)
|
||||
by.setup()
|
||||
return by
|
||||
|
||||
|
||||
|
||||
def bioyond_electrolyte_deck(name: str) -> BioyondElectrolyteDeck:
|
||||
deck = BioyondElectrolyteDeck(name=name)
|
||||
deck.setup()
|
||||
return deck
|
||||
|
||||
|
||||
# 向后兼容别名，日后废弃
|
||||
def YB_Deck(name: str) -> BioyondElectrolyteDeck:
|
||||
return bioyond_electrolyte_deck(name)
|
||||
|
||||
@@ -797,10 +797,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
bottle = plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
|
||||
)
|
||||
if hasattr(bottle, 'tracker') and bottle.tracker is not None:
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
logger.debug(f" └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
|
||||
else:
|
||||
@@ -809,10 +808,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
# 只对有 capacity 属性的容器（液体容器）处理液体追踪
|
||||
if hasattr(plr_material, 'capacity'):
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
if hasattr(bottle, 'tracker') and bottle.tracker is not None:
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
|
||||
plr_materials.append(plr_material)
|
||||
|
||||
@@ -1035,7 +1033,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
||||
logger.debug(f"🔍 [PLR→Bioyond] detail转换: {bottle.name} → PLR(x={site['x']},y={site['y']},id={site.get('identifier','?')}) → Bioyond(x={bioyond_x},y={bioyond_y})")
|
||||
|
||||
# 🔥 提取物料名称：从 tracker.liquids 中获取第一个液体的名称（去除PLR系统添加的后缀）
|
||||
# tracker.liquids 格式: [(物料名称, 数量, 单位), ...]
|
||||
# tracker.liquids 格式: [(物料名称, 数量), ...]
|
||||
material_name = bottle_type_info[0] # 默认使用类型名称（如"样品瓶"）
|
||||
if hasattr(bottle, "tracker") and bottle.tracker.liquids:
|
||||
# 如果有液体，使用液体的名称
|
||||
@@ -1053,7 +1051,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
||||
"typeId": bottle_type_info[1],
|
||||
"code": bottle.code if hasattr(bottle, "code") else "",
|
||||
"name": material_name, # 使用物料名称（如"9090"），而不是类型名称（"样品瓶"）
|
||||
"quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"x": bioyond_x,
|
||||
"y": bioyond_y,
|
||||
"z": 1,
|
||||
@@ -1126,7 +1124,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
||||
"barCode": "",
|
||||
"name": material_name, # 使用物料名称而不是资源名称
|
||||
"unit": default_unit, # 使用配置的单位或默认单位
|
||||
"quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"Parameters": parameters_json # API 实际要求的字段（必需）
|
||||
}
|
||||
|
||||
|
||||
@@ -179,35 +179,6 @@ class ItemizedCarrier(ResourcePLR):
|
||||
idx = i
|
||||
break
|
||||
|
||||
if idx is None and location is not None:
|
||||
# 精确坐标匹配失败（常见原因：DB 存储的 z=0，而槽位定义 z=dz>0）。
|
||||
# 降级为仅按 XY 坐标进行近似匹配，找到后使用槽位自身的正确坐标写回，
|
||||
# 避免因 Z 偏移导致反序列化中断。
|
||||
_XY_TOLERANCE = 2.0 # mm，覆盖浮点误差和 z 偏移
|
||||
min_dist = float("inf")
|
||||
nearest_idx = None
|
||||
for _i, _loc in enumerate(self.child_locations.values()):
|
||||
_d = (((_loc.x - location.x) ** 2) + ((_loc.y - location.y) ** 2)) ** 0.5
|
||||
if _d < min_dist:
|
||||
min_dist = _d
|
||||
nearest_idx = _i
|
||||
if nearest_idx is not None and min_dist <= _XY_TOLERANCE:
|
||||
from unilabos.utils.log import logger as _logger
|
||||
_slot_label = list(self.child_locations.keys())[nearest_idx]
|
||||
_logger.warning(
|
||||
f"[ItemizedCarrier '{self.name}'] 资源 '{resource.name}' 坐标 {location} 与槽位 "
|
||||
f"'{_slot_label}' {list(self.child_locations.values())[nearest_idx]} 的 XY 吻合"
|
||||
f"（XY 偏差={min_dist:.2f}mm），按 XY 近似匹配成功，z 偏移已被修正。"
|
||||
)
|
||||
idx = nearest_idx
|
||||
|
||||
if idx is None:
|
||||
raise ValueError(
|
||||
f"[ItemizedCarrier '{self.name}'] 无法为资源 '{resource.name}' 找到匹配的槽位。\n"
|
||||
f" 已知槽位: {list(self.child_locations.keys())}\n"
|
||||
f" 传入坐标: {location}\n"
|
||||
f" 提示: XY 近似匹配也失败，请检查资源坐标或 Carrier 槽位定义是否正确。"
|
||||
)
|
||||
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]
|
||||
|
||||
@@ -612,31 +612,6 @@ class ResourceTreeSet(object):
|
||||
d["model"] = res.config.get("model", None)
|
||||
return d
|
||||
|
||||
def _deduplicate_plr_dict(d: dict, _seen: set = None) -> dict:
|
||||
"""递归去除 children 中同名重复节点（全树范围、保留首次出现）。
|
||||
|
||||
根本原因：同一槽位被 sync_from_external（Bioyond 同步）重复写入，
|
||||
导致数据库中同一 WareHouse 下存在多条同名 BottleCarrier 记录（不同 UUID）。
|
||||
PLR 的 _check_naming_conflicts 在全树范围检查名称唯一性，
|
||||
重复名称会在 deserialize 时抛出 ValueError，导致节点启动失败。
|
||||
此函数在 sub_cls.deserialize 前预先清理，保证名称唯一。
|
||||
"""
|
||||
if _seen is None:
|
||||
_seen = set()
|
||||
children = d.get("children", [])
|
||||
deduped = []
|
||||
for child in children:
|
||||
child = _deduplicate_plr_dict(child, _seen)
|
||||
cname = child.get("name")
|
||||
if cname not in _seen:
|
||||
_seen.add(cname)
|
||||
deduped.append(child)
|
||||
else:
|
||||
logger.warning(
|
||||
f"[资源树去重] 发现重复资源名称 '{cname}'，跳过重复项（历史脏数据）"
|
||||
)
|
||||
return {**d, "children": deduped}
|
||||
|
||||
plr_resources = []
|
||||
tracker = DeviceNodeResourceTracker()
|
||||
|
||||
@@ -647,8 +622,6 @@ class ResourceTreeSet(object):
|
||||
collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra)
|
||||
has_model = tree.root_node.res_content.type != "deck"
|
||||
plr_dict = node_to_plr_dict(tree.root_node, has_model)
|
||||
plr_dict = _deduplicate_plr_dict(plr_dict)
|
||||
|
||||
try:
|
||||
sub_cls = find_subclass(plr_dict["type"], PLRResource)
|
||||
if skip_devices and plr_dict["type"] == "device":
|
||||
@@ -667,14 +640,6 @@ class ResourceTreeSet(object):
|
||||
|
||||
location = cast(Coordinate, deserialize(plr_dict["location"]))
|
||||
plr_resource.location = location
|
||||
|
||||
# 预填 Container 类型资源在新版 PLR 中要求必须存在的键，
|
||||
# 防止旧数据库状态缺失这些键时 load_all_state 抛出 KeyError。
|
||||
for state in all_states.values():
|
||||
if isinstance(state, dict):
|
||||
state.setdefault("liquid_history", [])
|
||||
state.setdefault("pending_liquids", {})
|
||||
|
||||
plr_resource.load_all_state(all_states)
|
||||
# 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
|
||||
tracker.loop_set_uuid(plr_resource, name_to_uuid)
|
||||
|
||||
@@ -41,9 +41,8 @@ def warehouse_factory(
|
||||
|
||||
# 根据 layout 决定 y 坐标计算
|
||||
if layout == "row-major":
|
||||
# 行优先：row=0(A行) 应该显示在上方
|
||||
# 前端现在 y 越大越靠上，所以 row=0 对应最大的 y
|
||||
y = dy + (num_items_y - row - 1) * item_dy
|
||||
# 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
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
import json
|
||||
import os
|
||||
|
||||
# from nt import device_encoding
|
||||
import threading
|
||||
@@ -62,7 +61,7 @@ def main(
|
||||
rclpy.init(args=rclpy_init_args)
|
||||
else:
|
||||
logger.info("[ROS] rclpy already initialized, reusing context")
|
||||
executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
|
||||
executor = rclpy.__executor = MultiThreadedExecutor()
|
||||
# 创建主机节点
|
||||
host_node = HostNode(
|
||||
"host_node",
|
||||
@@ -123,7 +122,7 @@ def slave(
|
||||
rclpy.init(args=rclpy_init_args)
|
||||
executor = rclpy.__executor
|
||||
if not executor:
|
||||
executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
|
||||
executor = rclpy.__executor = MultiThreadedExecutor()
|
||||
|
||||
# 1.5 启动 executor 线程
|
||||
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
|
||||
|
||||
@@ -4,8 +4,6 @@ import json
|
||||
import threading
|
||||
import time
|
||||
import traceback
|
||||
|
||||
from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
|
||||
from typing import (
|
||||
get_type_hints,
|
||||
TypeVar,
|
||||
@@ -80,67 +78,6 @@ if TYPE_CHECKING:
|
||||
T = TypeVar("T")
|
||||
|
||||
|
||||
class RclpyAsyncMutex:
|
||||
"""rclpy executor 兼容的异步互斥锁
|
||||
|
||||
通过 executor.create_task 唤醒等待者，避免 timer 的 InvalidHandle 问题。
|
||||
"""
|
||||
|
||||
def __init__(self, name: str = ""):
|
||||
self._lock = threading.Lock()
|
||||
self._acquired = False
|
||||
self._queue: List[Future] = []
|
||||
self._name = name
|
||||
self._holder: Optional[str] = None
|
||||
|
||||
async def acquire(self, node: "BaseROS2DeviceNode", tag: str = ""):
|
||||
"""获取锁。如果已被占用，则异步等待直到锁释放。"""
|
||||
# t0 = time.time()
|
||||
with self._lock:
|
||||
# qlen = len(self._queue)
|
||||
if not self._acquired:
|
||||
self._acquired = True
|
||||
self._holder = tag
|
||||
# node.lab_logger().debug(
|
||||
# f"[Mutex:{self._name}] 获取锁 tag={tag} (无等待, queue=0)"
|
||||
# )
|
||||
return
|
||||
waiter = Future()
|
||||
self._queue.append(waiter)
|
||||
# node.lab_logger().info(
|
||||
# f"[Mutex:{self._name}] 等待锁 tag={tag} "
|
||||
# f"(holder={self._holder}, queue={qlen + 1})"
|
||||
# )
|
||||
await waiter
|
||||
# wait_ms = (time.time() - t0) * 1000
|
||||
self._holder = tag
|
||||
# node.lab_logger().info(
|
||||
# f"[Mutex:{self._name}] 获取锁 tag={tag} (等了 {wait_ms:.0f}ms)"
|
||||
# )
|
||||
|
||||
def release(self, node: "BaseROS2DeviceNode"):
|
||||
"""释放锁，通过 executor task 唤醒下一个等待者。"""
|
||||
with self._lock:
|
||||
# old_holder = self._holder
|
||||
if self._queue:
|
||||
next_waiter = self._queue.pop(0)
|
||||
# node.lab_logger().debug(
|
||||
# f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 唤醒下一个 (剩余 queue={len(self._queue)})"
|
||||
# )
|
||||
|
||||
async def _wake():
|
||||
if not next_waiter.done():
|
||||
next_waiter.set_result(None)
|
||||
|
||||
rclpy.get_global_executor().create_task(_wake())
|
||||
else:
|
||||
self._acquired = False
|
||||
self._holder = None
|
||||
# node.lab_logger().debug(
|
||||
# f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 空闲"
|
||||
# )
|
||||
|
||||
|
||||
# 在线设备注册表
|
||||
registered_devices: Dict[str, "DeviceInfoType"] = {}
|
||||
|
||||
@@ -418,8 +355,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
|
||||
)
|
||||
|
||||
self._append_resource_lock = RclpyAsyncMutex(name=f"AR:{device_id}")
|
||||
|
||||
# 创建资源管理客户端
|
||||
self._resource_clients: Dict[str, Client] = {
|
||||
"resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
|
||||
@@ -443,40 +378,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
return res
|
||||
|
||||
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
|
||||
_cmd = _fast_loads(req.command)
|
||||
_res_name = _cmd.get("resource", [{}])
|
||||
_res_name = (_res_name[0].get("id", "?") if isinstance(_res_name, list) and _res_name
|
||||
else _res_name.get("id", "?") if isinstance(_res_name, dict) else "?")
|
||||
_ar_tag = f"{_res_name}"
|
||||
# _t_enter = time.time()
|
||||
# self.lab_logger().info(f"[AR:{_ar_tag}] 进入 append_resource")
|
||||
await self._append_resource_lock.acquire(self, tag=_ar_tag)
|
||||
# _t_locked = time.time()
|
||||
try:
|
||||
return await _append_resource_inner(req, res, _ar_tag)
|
||||
# _t_done = time.time()
|
||||
# self.lab_logger().info(
|
||||
# f"[AR:{_ar_tag}] 完成 "
|
||||
# f"等锁={(_t_locked - _t_enter) * 1000:.0f}ms "
|
||||
# f"执行={(_t_done - _t_locked) * 1000:.0f}ms "
|
||||
# f"总计={(_t_done - _t_enter) * 1000:.0f}ms"
|
||||
# )
|
||||
except Exception as _ex:
|
||||
self.lab_logger().error(f"[AR:{_ar_tag}] 异常: {_ex}")
|
||||
raise
|
||||
finally:
|
||||
self._append_resource_lock.release(self)
|
||||
|
||||
async def _append_resource_inner(req: SerialCommand_Request, res: SerialCommand_Response, _ar_tag: str = ""):
|
||||
from pylabrobot.resources.deck import Deck
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources import Plate
|
||||
|
||||
# _t0 = time.time()
|
||||
# 物料传输到对应的node节点
|
||||
client = self._resource_clients["c2s_update_resource_tree"]
|
||||
request = SerialCommand.Request()
|
||||
request2 = SerialCommand.Request()
|
||||
command_json = _fast_loads(req.command)
|
||||
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"]
|
||||
@@ -529,11 +439,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
|
||||
)
|
||||
# noinspection PyUnresolvedReferences
|
||||
# _t1 = time.time()
|
||||
# self.lab_logger().debug(
|
||||
# f"[AR:{_ar_tag}] 准备完成 PLR转换+序列化 {((_t1 - _t0) * 1000):.0f}ms, 发送首次上传..."
|
||||
# )
|
||||
request.command = _fast_dumps_str(
|
||||
request.command = json.dumps(
|
||||
{
|
||||
"action": "add",
|
||||
"data": {
|
||||
@@ -544,11 +450,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
}
|
||||
)
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
# _t2 = time.time()
|
||||
# self.lab_logger().debug(
|
||||
# f"[AR:{_ar_tag}] 首次上传完成 {((_t2 - _t1) * 1000):.0f}ms"
|
||||
# )
|
||||
uuid_maps = _fast_loads(tree_response.response)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
plr_instances = rts.to_plr_resources()
|
||||
for plr_instance in plr_instances:
|
||||
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
|
||||
@@ -584,12 +486,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
if len(rts.root_nodes) == 1 and parent_resource is not None:
|
||||
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:
|
||||
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)
|
||||
try:
|
||||
# noinspection PyProtectedMember
|
||||
keys = list(plr_instance._ordering.keys())
|
||||
@@ -603,10 +511,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
input_wells = []
|
||||
for r in LIQUID_INPUT_SLOT:
|
||||
input_wells.append(plr_instance.children[r])
|
||||
for input_well, liquid_type, liquid_volume, liquid_input_slot in zip(
|
||||
input_wells, ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
|
||||
):
|
||||
input_well.set_liquids([(liquid_type, liquid_volume, "ul")])
|
||||
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
|
||||
input_wells
|
||||
).dump()
|
||||
@@ -625,13 +529,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
Coordinate(location["x"], location["y"], location["z"]),
|
||||
**other_calling_param,
|
||||
)
|
||||
# 调整了液体以及Deck之后要重新Assign
|
||||
# noinspection PyUnresolvedReferences
|
||||
# _t3 = time.time()
|
||||
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
|
||||
# _n_parent = len(rts_with_parent.all_nodes)
|
||||
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 = _fast_dumps_str(
|
||||
request.command = json.dumps(
|
||||
{
|
||||
"action": "add",
|
||||
"data": {
|
||||
@@ -641,18 +544,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
},
|
||||
}
|
||||
)
|
||||
# _t4 = time.time()
|
||||
# self.lab_logger().debug(
|
||||
# f"[AR:{_ar_tag}] 二次上传序列化 {_n_parent}节点 {((_t4 - _t3) * 1000):.0f}ms, 发送中..."
|
||||
# )
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
# _t5 = time.time()
|
||||
uuid_maps = _fast_loads(tree_response.response)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||
# self._lab_logger.info(
|
||||
# f"[AR:{_ar_tag}] 二次上传完成 HTTP={(_t5 - _t4) * 1000:.0f}ms "
|
||||
# f"UUID映射={len(uuid_maps)}节点 总执行={(_t5 - _t0) * 1000:.0f}ms"
|
||||
# )
|
||||
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,
|
||||
@@ -789,11 +685,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
)
|
||||
# 发送请求并等待响应
|
||||
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
|
||||
if not response.response:
|
||||
raise ValueError(f"查询资源 {resource_id} 失败：服务端返回空响应")
|
||||
raw_data = json.loads(response.response)
|
||||
if not raw_data:
|
||||
raise ValueError(f"查询资源 {resource_id} 失败：返回数据为空")
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
@@ -1242,8 +1134,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
if uid is None:
|
||||
raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
|
||||
target_uids.append(uid)
|
||||
_ns = target_device_id if target_device_id.startswith("/devices/") else f"/devices/{target_device_id.lstrip('/')}"
|
||||
srv_address = f"/srv{_ns}/s2c_resource_tree"
|
||||
srv_address = f"/srv{target_device_id}/s2c_resource_tree"
|
||||
sclient = self.create_client(SerialCommand, srv_address)
|
||||
# 等待服务可用（设置超时）
|
||||
if not sclient.wait_for_service(timeout_sec=5.0):
|
||||
@@ -1293,7 +1184,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
return False
|
||||
time.sleep(0.05)
|
||||
self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
|
||||
return "转运完成"
|
||||
return None
|
||||
|
||||
def register_device(self):
|
||||
"""向注册表中注册设备信息"""
|
||||
@@ -1365,8 +1256,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
return self._lab_logger
|
||||
|
||||
def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
|
||||
"""创建ROS发布者。已在 status_types 中声明的属性直接创建；@topic_config 用于覆盖默认参数。"""
|
||||
topic_cfg = {}
|
||||
"""创建ROS发布者，仅当方法/属性有 @topic_config 装饰器时才创建。"""
|
||||
# 检测 @topic_config 装饰器配置
|
||||
topic_config = {}
|
||||
driver_class = type(self.driver_instance)
|
||||
|
||||
# 区分 @property 和普通方法两种情况
|
||||
@@ -1375,17 +1267,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
)
|
||||
|
||||
if is_prop:
|
||||
# @property: 检测 fget 上的 @topic_config
|
||||
class_attr = getattr(driver_class, attr_name)
|
||||
if class_attr.fget is not None:
|
||||
topic_cfg = get_topic_config(class_attr.fget)
|
||||
topic_config = get_topic_config(class_attr.fget)
|
||||
else:
|
||||
# 普通方法: 直接检测 attr_name 方法上的 @topic_config
|
||||
if hasattr(self.driver_instance, attr_name):
|
||||
method = getattr(self.driver_instance, attr_name)
|
||||
if callable(method):
|
||||
topic_cfg = get_topic_config(method)
|
||||
topic_config = get_topic_config(method)
|
||||
|
||||
# 没有 @topic_config 装饰器则跳过发布
|
||||
if not topic_config:
|
||||
return
|
||||
|
||||
# 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name
|
||||
cfg_name = topic_cfg.get("name")
|
||||
cfg_name = topic_config.get("name")
|
||||
if cfg_name:
|
||||
publish_name = cfg_name
|
||||
elif attr_name.startswith("get_"):
|
||||
@@ -1393,10 +1291,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
else:
|
||||
publish_name = attr_name
|
||||
|
||||
# @topic_config 参数覆盖默认值
|
||||
cfg_period = topic_cfg.get("period")
|
||||
cfg_print = topic_cfg.get("print_publish")
|
||||
cfg_qos = topic_cfg.get("qos")
|
||||
# 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
|
||||
@@ -1678,75 +1576,37 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
|
||||
result_msg_types = action_type.Result.get_fields_and_field_types()
|
||||
|
||||
# 低频 feedback timer（10s），不阻塞完成检测
|
||||
_feedback_timer = None
|
||||
while future is not None and not future.done():
|
||||
if goal_handle.is_cancel_requested:
|
||||
self.lab_logger().info(f"取消动作: {action_name}")
|
||||
future.cancel() # 尝试取消线程池中的任务
|
||||
goal_handle.canceled()
|
||||
return action_type.Result()
|
||||
|
||||
def _publish_feedback():
|
||||
if future is not None and not future.done():
|
||||
self._time_spent = time.time() - time_start
|
||||
self._time_remaining = time_overall - self._time_spent
|
||||
feedback_values = {}
|
||||
for msg_name, attr_name in action_value_mapping["feedback"].items():
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
method = getattr(self.driver_instance, f"get_{attr_name}")
|
||||
if not asyncio.iscoroutinefunction(method):
|
||||
feedback_values[msg_name] = method()
|
||||
elif hasattr(self.driver_instance, attr_name):
|
||||
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||||
if self._print_publish:
|
||||
self.lab_logger().info(f"反馈: {feedback_values}")
|
||||
feedback_msg = convert_to_ros_msg_with_mapping(
|
||||
ros_msg_type=action_type.Feedback(),
|
||||
obj=feedback_values,
|
||||
value_mapping=action_value_mapping["feedback"],
|
||||
)
|
||||
goal_handle.publish_feedback(feedback_msg)
|
||||
self._time_spent = time.time() - time_start
|
||||
self._time_remaining = time_overall - self._time_spent
|
||||
|
||||
if action_value_mapping.get("feedback"):
|
||||
_fb_interval = action_value_mapping.get("feedback_interval", 0.5)
|
||||
_feedback_timer = self.create_timer(
|
||||
_fb_interval, _publish_feedback, callback_group=self.callback_group
|
||||
# 发布反馈
|
||||
feedback_values = {}
|
||||
for msg_name, attr_name in action_value_mapping["feedback"].items():
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
method = getattr(self.driver_instance, f"get_{attr_name}")
|
||||
if not asyncio.iscoroutinefunction(method):
|
||||
feedback_values[msg_name] = method()
|
||||
elif hasattr(self.driver_instance, attr_name):
|
||||
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||||
|
||||
if self._print_publish:
|
||||
self.lab_logger().info(f"反馈: {feedback_values}")
|
||||
|
||||
feedback_msg = convert_to_ros_msg_with_mapping(
|
||||
ros_msg_type=action_type.Feedback(),
|
||||
obj=feedback_values,
|
||||
value_mapping=action_value_mapping["feedback"],
|
||||
)
|
||||
|
||||
# 等待 action 完成
|
||||
if future is not None:
|
||||
if isinstance(future, Task):
|
||||
# rclpy Task：直接 await，完成瞬间唤醒
|
||||
try:
|
||||
_raw_result = await future
|
||||
except Exception as e:
|
||||
_raw_result = e
|
||||
else:
|
||||
# concurrent.futures.Future（同步 action）：用 rclpy 兼容的轮询
|
||||
_poll_future = Future()
|
||||
|
||||
def _on_sync_done(fut):
|
||||
if not _poll_future.done():
|
||||
_poll_future.set_result(None)
|
||||
|
||||
future.add_done_callback(_on_sync_done)
|
||||
await _poll_future
|
||||
try:
|
||||
_raw_result = future.result()
|
||||
except Exception as e:
|
||||
_raw_result = e
|
||||
|
||||
# 确保 execution_error/success 被正确设置（不依赖 done callback 时序）
|
||||
if isinstance(_raw_result, BaseException):
|
||||
if not execution_error:
|
||||
execution_error = traceback.format_exception(
|
||||
type(_raw_result), _raw_result, _raw_result.__traceback__
|
||||
)
|
||||
execution_error = "".join(execution_error)
|
||||
execution_success = False
|
||||
action_return_value = _raw_result
|
||||
elif not execution_error:
|
||||
execution_success = True
|
||||
action_return_value = _raw_result
|
||||
|
||||
# 清理 feedback timer
|
||||
if _feedback_timer is not None:
|
||||
_feedback_timer.cancel()
|
||||
goal_handle.publish_feedback(feedback_msg)
|
||||
time.sleep(0.5)
|
||||
|
||||
if future is not None and future.cancelled():
|
||||
self.lab_logger().info(f"动作 {action_name} 已取消")
|
||||
@@ -1755,12 +1615,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
# self.lab_logger().info(f"动作执行完成: {action_name}")
|
||||
del future
|
||||
|
||||
# 执行失败时跳过物料状态更新
|
||||
if execution_error:
|
||||
execution_success = False
|
||||
|
||||
# 向Host更新物料当前状态
|
||||
if not execution_error and action_name not in ["create_resource_detailed", "create_resource"]:
|
||||
if action_name not in ["create_resource_detailed", "create_resource"]:
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
continue
|
||||
@@ -1816,7 +1672,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
for attr_name in result_msg_types.keys():
|
||||
if attr_name in ["success", "reached_goal"]:
|
||||
setattr(result_msg, attr_name, execution_success)
|
||||
setattr(result_msg, attr_name, True)
|
||||
elif attr_name == "return_info":
|
||||
setattr(
|
||||
result_msg,
|
||||
@@ -1922,7 +1778,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise ValueError("至少需要提供一个 UUID")
|
||||
|
||||
uuids_list = list(uuids)
|
||||
future: Future = self._resource_clients["c2s_update_resource_tree"].call_async(
|
||||
future = self._resource_clients["c2s_update_resource_tree"].call_async(
|
||||
SerialCommand.Request(
|
||||
command=json.dumps(
|
||||
{
|
||||
@@ -1948,8 +1804,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise Exception(f"资源查询返回空结果: {uuids_list}")
|
||||
|
||||
raw_data = json.loads(response.response)
|
||||
if not raw_data:
|
||||
raise Exception(f"资源原始查询返回空结果: {raw_data}")
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
@@ -1971,15 +1825,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
mapped_plr_resources = []
|
||||
for uuid in uuids_list:
|
||||
found = None
|
||||
for plr_resource in figured_resources:
|
||||
r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
|
||||
if r is not None:
|
||||
found = r
|
||||
break
|
||||
if found is None:
|
||||
raise Exception(f"未能在已解析的资源树中找到 uuid={uuid} 对应的资源")
|
||||
mapped_plr_resources.append(found)
|
||||
mapped_plr_resources.append(r)
|
||||
break
|
||||
|
||||
return mapped_plr_resources
|
||||
|
||||
@@ -2072,27 +1921,16 @@ 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()}"
|
||||
)
|
||||
|
||||
async def _convert_resource_async(self, resource_data: "ResourceDictType"):
|
||||
"""异步转换 ResourceDictType 为 PLR 实例，优先用 uuid 查询"""
|
||||
unilabos_uuid = resource_data.get("uuid")
|
||||
|
||||
if unilabos_uuid:
|
||||
resource_tree = await self.get_resource([unilabos_uuid], with_children=True)
|
||||
plr_resources = resource_tree.to_plr_resources()
|
||||
if plr_resources:
|
||||
plr_resource = plr_resources[0]
|
||||
else:
|
||||
raise ValueError(f"通过 uuid={unilabos_uuid} 查询资源为空")
|
||||
else:
|
||||
res_id = resource_data.get("id") or resource_data.get("name", "")
|
||||
if not res_id:
|
||||
raise ValueError(f"资源数据缺少 uuid 和 id: {list(resource_data.keys())}")
|
||||
plr_resource = await self.get_resource_with_dir(resource_id=res_id, with_children=True)
|
||||
async def _convert_resource_async(self, resource_data: Dict[str, Any]):
|
||||
"""异步转换资源数据为实例"""
|
||||
# 使用封装的get_resource_with_dir方法获取PLR资源
|
||||
plr_resource = await self.get_resource_with_dir(resource_ids=resource_data["id"], with_children=True)
|
||||
|
||||
# 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.get('id', '?')}，返回新建实例")
|
||||
# todo: 后续通过decoration来区分，减少warning
|
||||
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]
|
||||
@@ -2340,4 +2178,4 @@ class DeviceInfoType(TypedDict):
|
||||
status_publishers: Dict[str, PropertyPublisher]
|
||||
actions: Dict[str, ActionServer]
|
||||
hardware_interface: Dict[str, Any]
|
||||
base_node_instance: BaseROS2DeviceNode
|
||||
base_node_instance: BaseROS2DeviceNode
|
||||
|
||||
@@ -4,13 +4,12 @@ import threading
|
||||
import time
|
||||
import traceback
|
||||
import uuid
|
||||
|
||||
from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
|
||||
from dataclasses import dataclass, field
|
||||
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
|
||||
|
||||
from action_msgs.msg import GoalStatus
|
||||
from geometry_msgs.msg import Point
|
||||
from sensor_msgs.msg import JointState as JointStateMsg
|
||||
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
||||
from rclpy.service import Service
|
||||
from typing_extensions import TypedDict
|
||||
@@ -26,7 +25,7 @@ from unilabos_msgs.srv import (
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
from unique_identifier_msgs.msg import UUID
|
||||
|
||||
from unilabos.registry.decorators import device, action, NodeType
|
||||
from unilabos.registry.decorators import device
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.registry.registry import lab_registry
|
||||
from unilabos.resources.container import RegularContainer
|
||||
@@ -315,9 +314,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
} # 用来存储多个ActionClient实例
|
||||
self._action_value_mappings: Dict[str, Dict] = {
|
||||
device_id: self._action_value_mappings
|
||||
} # device_id -> action_value_mappings(本地+远程设备统一存储)
|
||||
self._action_value_mappings: Dict[str, Dict] = {} # device_id -> action_value_mappings(本地+远程设备统一存储)
|
||||
self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings)
|
||||
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
|
||||
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
|
||||
@@ -352,6 +349,10 @@ class HostNode(BaseROS2DeviceNode):
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Device {device_id} already existed, skipping.")
|
||||
self.update_device_status_subscriptions()
|
||||
|
||||
# 订阅 joint_state_repub topic，桥接关节数据到云端
|
||||
self._init_joint_state_bridge()
|
||||
|
||||
# TODO: 需要验证 初始化所有控制器节点
|
||||
if controllers_config:
|
||||
update_rate = controllers_config["controller_manager"]["ros__parameters"]["update_rate"]
|
||||
@@ -620,17 +621,22 @@ class HostNode(BaseROS2DeviceNode):
|
||||
}
|
||||
)
|
||||
]
|
||||
|
||||
response: List[str] = await self.create_resource_detailed(
|
||||
resources, device_ids, bind_parent_id, bind_location, other_calling_param
|
||||
)
|
||||
|
||||
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
||||
for i in response:
|
||||
res = json.loads(i)
|
||||
if "suc" in res and not res["suc"]:
|
||||
raise ValueError(res.get("error", "未知错误"))
|
||||
return res
|
||||
raise ValueError(f"创建资源时失败！响应为空")
|
||||
try:
|
||||
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
||||
for i in response:
|
||||
res = json.loads(i)
|
||||
if "suc" in res:
|
||||
raise ValueError(res.get("error"))
|
||||
return res
|
||||
except Exception as ex:
|
||||
pass
|
||||
_n = "\n"
|
||||
raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
|
||||
|
||||
def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
|
||||
"""
|
||||
@@ -781,6 +787,179 @@ class HostNode(BaseROS2DeviceNode):
|
||||
else:
|
||||
self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}")
|
||||
|
||||
"""关节数据 & 资源跟随桥接"""
|
||||
|
||||
# 吞吐优化参数
|
||||
_JOINT_DEAD_BAND: float = 1e-4 # 关节角度变化小于此值视为无变化
|
||||
_JOINT_MIN_INTERVAL: float = 0.05 # 最小发送间隔 (秒)，限制到 ~20Hz
|
||||
|
||||
def _init_joint_state_bridge(self):
|
||||
"""
|
||||
订阅 /joint_states (sensor_msgs/JointState) 和 resource_pose (String)，
|
||||
构建 device_id → uuid 映射，并维护 resource_poses 状态。
|
||||
|
||||
吞吐优化:
|
||||
- 死区过滤 (dead band): 关节角度变化 < 阈值时不发送
|
||||
- 抑频 (throttle): 限制最大发送频率，避免 ROS2 1kHz 打满 WS
|
||||
- 增量 resource_poses: 仅在 resource_pose 实际变化时才附带发送
|
||||
"""
|
||||
# 构建 device_id → cloud_uuid 映射（从 devices_config 中获取）
|
||||
self._device_uuid_map: Dict[str, str] = {}
|
||||
for tree in self.devices_config.trees:
|
||||
node = tree.root_node
|
||||
if node.res_content.type == "device" and node.res_content.uuid:
|
||||
self._device_uuid_map[node.res_content.id] = node.res_content.uuid
|
||||
|
||||
# 按 device_id 长度降序排列，最长前缀优先匹配（避免 arm 抢先匹配 arm_left_j1）
|
||||
self._device_ids_sorted = sorted(self._device_uuid_map.keys(), key=len, reverse=True)
|
||||
|
||||
# 资源挂载状态：{resource_id: parent_link_name}
|
||||
self._resource_poses: Dict[str, str] = {}
|
||||
# resource_pose 变化标志，仅在真正变化时随关节数据发送
|
||||
self._resource_poses_dirty: bool = False
|
||||
|
||||
# 吞吐优化状态
|
||||
self._last_joint_values: Dict[str, float] = {} # 上次发送的关节值（全局）
|
||||
self._last_send_time: float = -float("inf") # 上次发送时间戳（初始为-inf确保首条通过）
|
||||
self._last_sent_resource_poses: Dict[str, str] = {} # 上次发送的 resource_poses 快照
|
||||
|
||||
if not self._device_uuid_map:
|
||||
self.lab_logger().debug("[Host Node] 无设备 UUID 映射，跳过关节桥接")
|
||||
return
|
||||
|
||||
# 直接订阅 /joint_states（sensor_msgs/JointState），无需经过 JointRepublisher
|
||||
self.create_subscription(
|
||||
JointStateMsg,
|
||||
"/joint_states",
|
||||
self._joint_state_callback,
|
||||
10,
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
|
||||
# 订阅 resource_pose（资源挂载变化，由 ResourceMeshManager 发布）
|
||||
from std_msgs.msg import String as StdString
|
||||
self.create_subscription(
|
||||
StdString,
|
||||
"resource_pose",
|
||||
self._resource_pose_callback,
|
||||
10,
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] 已订阅 /joint_states 和 resource_pose，设备映射: {list(self._device_uuid_map.keys())}"
|
||||
)
|
||||
|
||||
def _resource_pose_callback(self, msg):
|
||||
"""
|
||||
接收 ResourceMeshManager 发布的资源挂载变更。
|
||||
|
||||
msg.data 格式: JSON dict，如 {"tip_rack_A1": "gripper_link", "plate_1": "deck_link"}
|
||||
空 dict {} 表示无变化（心跳包）。
|
||||
"""
|
||||
try:
|
||||
data = json.loads(msg.data)
|
||||
except (json.JSONDecodeError, ValueError):
|
||||
return
|
||||
if not isinstance(data, dict) or not data:
|
||||
return
|
||||
# 检测实际变化
|
||||
has_change = False
|
||||
for k, v in data.items():
|
||||
if self._resource_poses.get(k) != v:
|
||||
has_change = True
|
||||
break
|
||||
if has_change:
|
||||
self._resource_poses.update(data)
|
||||
self._resource_poses_dirty = True
|
||||
|
||||
def _joint_state_callback(self, msg: JointStateMsg):
|
||||
"""
|
||||
直接接收 /joint_states (sensor_msgs/JointState)，按设备分组后通过 bridge 发送到云端。
|
||||
|
||||
吞吐优化:
|
||||
1. 抑频: 距上次发送 < _JOINT_MIN_INTERVAL 则跳过（除非有 resource_pose 变化）
|
||||
2. 死区: 所有关节角度变化 < _JOINT_DEAD_BAND 则跳过（除非有 resource_pose 变化）
|
||||
3. 增量 resource_poses: 仅在 dirty 时附带，否则发空 dict
|
||||
"""
|
||||
names = list(msg.name)
|
||||
positions = list(msg.position)
|
||||
if not names or len(names) != len(positions):
|
||||
return
|
||||
|
||||
now = time.time()
|
||||
resource_dirty = self._resource_poses_dirty
|
||||
|
||||
# 抑频检查：resource_pose 变化时强制发送
|
||||
if not resource_dirty and (now - self._last_send_time) < self._JOINT_MIN_INTERVAL:
|
||||
return
|
||||
|
||||
# 死区过滤：检测是否有关节值实质变化
|
||||
has_significant_change = False
|
||||
for name, pos in zip(names, positions):
|
||||
last_val = self._last_joint_values.get(name)
|
||||
if last_val is None or abs(float(pos) - last_val) >= self._JOINT_DEAD_BAND:
|
||||
has_significant_change = True
|
||||
break
|
||||
|
||||
# 无关节变化且无资源变化 → 跳过
|
||||
if not has_significant_change and not resource_dirty:
|
||||
return
|
||||
|
||||
# 更新上次发送的关节值
|
||||
for name, pos in zip(names, positions):
|
||||
self._last_joint_values[name] = float(pos)
|
||||
self._last_send_time = now
|
||||
|
||||
# 按设备 ID 分组关节数据（最长前缀优先匹配）
|
||||
device_joints: Dict[str, Dict[str, float]] = {}
|
||||
for name, pos in zip(names, positions):
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
|
||||
if matched_device:
|
||||
if matched_device not in device_joints:
|
||||
device_joints[matched_device] = {}
|
||||
device_joints[matched_device][name] = float(pos)
|
||||
elif len(self._device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_joints:
|
||||
device_joints[fallback_id] = {}
|
||||
device_joints[fallback_id][name] = float(pos)
|
||||
|
||||
# 构建设备级 resource_poses（仅在 dirty 时附带实际数据）
|
||||
device_resource_poses: Dict[str, Dict[str, str]] = {}
|
||||
if resource_dirty:
|
||||
for resource_id, link_name in self._resource_poses.items():
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if link_name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
if matched_device:
|
||||
if matched_device not in device_resource_poses:
|
||||
device_resource_poses[matched_device] = {}
|
||||
device_resource_poses[matched_device][resource_id] = link_name
|
||||
elif len(self._device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_resource_poses:
|
||||
device_resource_poses[fallback_id] = {}
|
||||
device_resource_poses[fallback_id][resource_id] = link_name
|
||||
self._resource_poses_dirty = False
|
||||
|
||||
# 通过 bridge 发送 push_joint_state（含 resource_poses）
|
||||
for device_id, joint_states in device_joints.items():
|
||||
node_uuid = self._device_uuid_map.get(device_id)
|
||||
if not node_uuid:
|
||||
continue
|
||||
resource_poses = device_resource_poses.get(device_id, {})
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_joint_state"):
|
||||
bridge.publish_joint_state(node_uuid, joint_states, resource_poses)
|
||||
|
||||
def send_goal(
|
||||
self,
|
||||
item: "QueueItem",
|
||||
@@ -1165,7 +1344,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
else:
|
||||
physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
|
||||
|
||||
response.response = _fast_dumps_str(uuid_mapping) if success else "FAILED"
|
||||
response.response = json.dumps(uuid_mapping) if success else "FAILED"
|
||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
|
||||
|
||||
async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
|
||||
@@ -1175,7 +1354,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
resource_response = http_client.resource_tree_get(uuid_list, with_children)
|
||||
response.response = json.dumps(resource_response)
|
||||
self.lab_logger().trace(f"[Host Node-Resource] Resource tree get request callback {response.response}")
|
||||
|
||||
async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
|
||||
"""
|
||||
@@ -1228,26 +1406,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
try:
|
||||
# 解析请求数据
|
||||
data = _fast_loads(request.command)
|
||||
data = json.loads(request.command)
|
||||
action = data["action"]
|
||||
inner = data.get("data", {})
|
||||
if action == "add":
|
||||
mount_uuid = inner.get("mount_uuid", "?")[:8] if isinstance(inner, dict) else "?"
|
||||
tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
|
||||
node_count = len(tree_data) if isinstance(tree_data, list) else "?"
|
||||
source = f"mount={mount_uuid}.. nodes≈{node_count}"
|
||||
elif action in ("get", "remove"):
|
||||
uid_list = inner.get("data", inner) if isinstance(inner, dict) else inner
|
||||
source = f"uuids={len(uid_list) if isinstance(uid_list, list) else '?'}"
|
||||
elif action == "update":
|
||||
tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
|
||||
node_count = len(tree_data) if isinstance(tree_data, list) else "?"
|
||||
source = f"nodes≈{node_count}"
|
||||
else:
|
||||
source = ""
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-Resource] Resource tree {action} request received ({source})"
|
||||
)
|
||||
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)
|
||||
@@ -1638,19 +1799,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
}
|
||||
return res
|
||||
|
||||
@action(always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}, goal_default={
|
||||
"timeout_seconds": 3600,
|
||||
"assignee_user_ids": []
|
||||
})
|
||||
def manual_confirm(self, timeout_seconds: int, assignee_user_ids: list[str], **kwargs) -> dict:
|
||||
"""
|
||||
timeout_seconds: 超时时间（秒），默认3600秒
|
||||
修改的结果无效，是只读的
|
||||
"""
|
||||
return kwargs
|
||||
|
||||
def test_resource(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
|
||||
@@ -41,7 +41,7 @@ class JointRepublisher(BaseROS2DeviceNode):
|
||||
json_dict["velocity"] = list(msg.velocity)
|
||||
json_dict["effort"] = list(msg.effort)
|
||||
|
||||
self.msg.data = str(json_dict)
|
||||
self.msg.data = json.dumps(json_dict)
|
||||
self.joint_repub.publish(self.msg)
|
||||
# print('-'*20)
|
||||
# print(self.msg.data)
|
||||
|
||||
@@ -22,447 +22,6 @@
|
||||
"arm_state": "idle",
|
||||
"message": "工作台就绪"
|
||||
}
|
||||
},
|
||||
{
|
||||
"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": true,
|
||||
"setup": true,
|
||||
"is_9320": true,
|
||||
"timeout": 10,
|
||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||
"simulator": true,
|
||||
"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,
|
||||
"preferred_pickup_location": null,
|
||||
"sites": [
|
||||
{
|
||||
"label": "T1",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"size": {
|
||||
"width": 128.0,
|
||||
"height": 86,
|
||||
"depth": 0
|
||||
},
|
||||
"content_type": [
|
||||
"container",
|
||||
"plate",
|
||||
"tip_rack",
|
||||
"plates",
|
||||
"tip_racks",
|
||||
"tube_rack",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T2",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T3",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T4",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T5",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T6",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T7",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T8",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T9",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T10",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T11",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T12",
|
||||
"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"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T13",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"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",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T14",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"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",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T15",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"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",
|
||||
"adaptor"
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "T16",
|
||||
"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"
|
||||
]
|
||||
}
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
|
||||
@@ -13,7 +13,7 @@
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BioyondElectrolyteDeck"
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
|
||||
}
|
||||
},
|
||||
"protocol_type": [],
|
||||
@@ -103,14 +103,15 @@
|
||||
"children": [],
|
||||
"parent": "bioyond_cell_workstation",
|
||||
"type": "deck",
|
||||
"class": "BioyondElectrolyteDeck",
|
||||
"class": "BIOYOND_YB_Deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BioyondElectrolyteDeck",
|
||||
"type": "BIOYOND_YB_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
|
||||
@@ -1,385 +0,0 @@
|
||||
import logging
|
||||
import os
|
||||
import platform
|
||||
from datetime import datetime
|
||||
import ctypes
|
||||
import atexit
|
||||
import inspect
|
||||
from typing import Tuple, cast
|
||||
|
||||
# 添加TRACE级别到logging模块
|
||||
TRACE_LEVEL = 5
|
||||
logging.addLevelName(TRACE_LEVEL, "TRACE")
|
||||
|
||||
|
||||
class CustomRecord:
|
||||
custom_stack_info: Tuple[str, int, str, str]
|
||||
|
||||
|
||||
# Windows颜色支持
|
||||
if platform.system() == "Windows":
|
||||
# 尝试启用Windows终端的ANSI支持
|
||||
kernel32 = ctypes.windll.kernel32
|
||||
# 获取STD_OUTPUT_HANDLE
|
||||
STD_OUTPUT_HANDLE = -11
|
||||
# 启用ENABLE_VIRTUAL_TERMINAL_PROCESSING
|
||||
ENABLE_VIRTUAL_TERMINAL_PROCESSING = 0x0004
|
||||
# 获取当前控制台模式
|
||||
handle = kernel32.GetStdHandle(STD_OUTPUT_HANDLE)
|
||||
mode = ctypes.c_ulong()
|
||||
kernel32.GetConsoleMode(handle, ctypes.byref(mode))
|
||||
# 启用ANSI处理
|
||||
kernel32.SetConsoleMode(handle, mode.value | ENABLE_VIRTUAL_TERMINAL_PROCESSING)
|
||||
|
||||
# 程序退出时恢复控制台设置
|
||||
@atexit.register
|
||||
def reset_console():
|
||||
kernel32.SetConsoleMode(handle, mode.value)
|
||||
|
||||
|
||||
# 定义不同日志级别的颜色
|
||||
class ColoredFormatter(logging.Formatter):
|
||||
"""自定义日志格式化器，支持颜色输出"""
|
||||
|
||||
# ANSI 颜色代码
|
||||
COLORS = {
|
||||
"RESET": "\033[0m", # 重置
|
||||
"BOLD": "\033[1m", # 加粗
|
||||
"GRAY": "\033[37m", # 灰色
|
||||
"WHITE": "\033[97m", # 白色
|
||||
"BLACK": "\033[30m", # 黑色
|
||||
"TRACE_LEVEL": "\033[1;90m", # 加粗深灰色
|
||||
"DEBUG_LEVEL": "\033[1;36m", # 加粗青色
|
||||
"INFO_LEVEL": "\033[1;32m", # 加粗绿色
|
||||
"WARNING_LEVEL": "\033[1;33m", # 加粗黄色
|
||||
"ERROR_LEVEL": "\033[1;31m", # 加粗红色
|
||||
"CRITICAL_LEVEL": "\033[1;35m", # 加粗紫色
|
||||
"TRACE_TEXT": "\033[90m", # 深灰色
|
||||
"DEBUG_TEXT": "\033[37m", # 灰色
|
||||
"INFO_TEXT": "\033[97m", # 白色
|
||||
"WARNING_TEXT": "\033[33m", # 黄色
|
||||
"ERROR_TEXT": "\033[31m", # 红色
|
||||
"CRITICAL_TEXT": "\033[35m", # 紫色
|
||||
"DATE": "\033[37m", # 日期始终使用灰色
|
||||
}
|
||||
|
||||
def __init__(self, use_colors=True):
|
||||
super().__init__()
|
||||
# 强制启用颜色
|
||||
self.use_colors = use_colors
|
||||
|
||||
def format(self, record):
|
||||
# 检查是否有自定义堆栈信息
|
||||
if hasattr(record, "custom_stack_info") and record.custom_stack_info: # type: ignore
|
||||
r = cast(CustomRecord, record)
|
||||
frame_info = r.custom_stack_info
|
||||
record.filename = frame_info[0]
|
||||
record.lineno = frame_info[1]
|
||||
record.funcName = frame_info[2]
|
||||
if len(frame_info) > 3:
|
||||
record.name = frame_info[3]
|
||||
if not self.use_colors:
|
||||
return self._format_basic(record)
|
||||
|
||||
level_color = self.COLORS.get(f"{record.levelname}_LEVEL", self.COLORS["WHITE"])
|
||||
text_color = self.COLORS.get(f"{record.levelname}_TEXT", self.COLORS["WHITE"])
|
||||
date_color = self.COLORS["DATE"]
|
||||
reset = self.COLORS["RESET"]
|
||||
|
||||
# 日期格式
|
||||
datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]"
|
||||
|
||||
# 模块和函数信息
|
||||
filename = record.filename.replace(".py", "").split("\\")[-1] # 提取文件名（不含路径和扩展名）
|
||||
if "/" in filename:
|
||||
filename = filename.split("/")[-1]
|
||||
module_path = f"{record.name}.{filename}"
|
||||
func_line = f"{record.funcName}:{record.lineno}"
|
||||
right_info = f" [{func_line}] [{module_path}]"
|
||||
|
||||
# 主要消息
|
||||
main_msg = record.getMessage()
|
||||
|
||||
# 构建基本消息格式
|
||||
formatted_message = (
|
||||
f"{date_color}{datetime_str}{reset} "
|
||||
f"{level_color}[{record.levelname}]{reset} "
|
||||
f"{text_color}{main_msg}"
|
||||
f"{date_color}{right_info}{reset}"
|
||||
)
|
||||
|
||||
# 处理异常信息
|
||||
if record.exc_info:
|
||||
exc_text = self.formatException(record.exc_info)
|
||||
if formatted_message[-1:] != "\n":
|
||||
formatted_message = formatted_message + "\n"
|
||||
formatted_message = formatted_message + text_color + exc_text + reset
|
||||
elif record.stack_info:
|
||||
if formatted_message[-1:] != "\n":
|
||||
formatted_message = formatted_message + "\n"
|
||||
formatted_message = formatted_message + text_color + self.formatStack(record.stack_info) + reset
|
||||
|
||||
return formatted_message
|
||||
|
||||
def _format_basic(self, record):
|
||||
"""基本格式化，不包含颜色"""
|
||||
datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]"
|
||||
filename = record.filename.replace(".py", "").split("\\")[-1] # 提取文件名（不含路径和扩展名）
|
||||
if "/" in filename:
|
||||
filename = filename.split("/")[-1]
|
||||
module_path = f"{record.name}.{filename}"
|
||||
func_line = f"{record.funcName}:{record.lineno}"
|
||||
right_info = f" [{func_line}] [{module_path}]"
|
||||
|
||||
formatted_message = f"{datetime_str} [{record.levelname}] {record.getMessage()}{right_info}"
|
||||
|
||||
if record.exc_info:
|
||||
exc_text = self.formatException(record.exc_info)
|
||||
if formatted_message[-1:] != "\n":
|
||||
formatted_message = formatted_message + "\n"
|
||||
formatted_message = formatted_message + exc_text
|
||||
elif record.stack_info:
|
||||
if formatted_message[-1:] != "\n":
|
||||
formatted_message = formatted_message + "\n"
|
||||
formatted_message = formatted_message + self.formatStack(record.stack_info)
|
||||
|
||||
return formatted_message
|
||||
|
||||
def formatException(self, exc_info):
|
||||
"""重写异常格式化，确保异常信息保持正确的格式和颜色"""
|
||||
# 获取标准的异常格式化文本
|
||||
formatted_exc = super().formatException(exc_info)
|
||||
return formatted_exc
|
||||
|
||||
|
||||
# 配置日志处理器
|
||||
def configure_logger(loglevel=None, working_dir=None):
|
||||
"""配置日志记录器
|
||||
|
||||
Args:
|
||||
loglevel: 日志级别，可以是字符串（'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'）
|
||||
或logging模块的常量（如logging.DEBUG）或TRACE_LEVEL
|
||||
"""
|
||||
# 获取根日志记录器
|
||||
root_logger = logging.getLogger()
|
||||
root_logger.setLevel(TRACE_LEVEL)
|
||||
# 设置日志级别
|
||||
numeric_level = logging.DEBUG
|
||||
if loglevel is not None:
|
||||
if isinstance(loglevel, str):
|
||||
# 将字符串转换为logging级别
|
||||
if loglevel.upper() == "TRACE":
|
||||
numeric_level = TRACE_LEVEL
|
||||
else:
|
||||
numeric_level = getattr(logging, loglevel.upper(), None)
|
||||
if not isinstance(numeric_level, int):
|
||||
print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
|
||||
else:
|
||||
numeric_level = loglevel
|
||||
|
||||
# 移除已存在的处理器
|
||||
for handler in root_logger.handlers[:]:
|
||||
root_logger.removeHandler(handler)
|
||||
|
||||
# 创建控制台处理器
|
||||
console_handler = logging.StreamHandler()
|
||||
console_handler.setLevel(numeric_level) # 使用与根记录器相同的级别
|
||||
|
||||
# 使用自定义的颜色格式化器
|
||||
color_formatter = ColoredFormatter()
|
||||
console_handler.setFormatter(color_formatter)
|
||||
|
||||
# 添加处理器到根日志记录器
|
||||
root_logger.addHandler(console_handler)
|
||||
|
||||
# 如果指定了工作目录，添加文件处理器
|
||||
if working_dir is not None:
|
||||
logs_dir = os.path.join(working_dir, "logs")
|
||||
os.makedirs(logs_dir, exist_ok=True)
|
||||
|
||||
# 生成日志文件名：日期 时间.log
|
||||
log_filename = datetime.now().strftime("%Y-%m-%d %H-%M-%S") + ".log"
|
||||
log_filepath = os.path.join(logs_dir, log_filename)
|
||||
|
||||
# 创建文件处理器
|
||||
file_handler = logging.FileHandler(log_filepath, encoding="utf-8")
|
||||
file_handler.setLevel(TRACE_LEVEL)
|
||||
|
||||
# 使用不带颜色的格式化器
|
||||
file_formatter = ColoredFormatter(use_colors=False)
|
||||
file_handler.setFormatter(file_formatter)
|
||||
|
||||
root_logger.addHandler(file_handler)
|
||||
|
||||
logging.getLogger("asyncio").setLevel(logging.INFO)
|
||||
logging.getLogger("urllib3").setLevel(logging.INFO)
|
||||
|
||||
|
||||
|
||||
# 配置日志系统
|
||||
configure_logger()
|
||||
|
||||
# 获取日志记录器
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
# 获取调用栈信息的工具函数
|
||||
def _get_caller_info(stack_level=0) -> Tuple[str, int, str, str]:
|
||||
"""
|
||||
获取调用者的信息
|
||||
|
||||
Args:
|
||||
stack_level: 堆栈回溯的级别，0表示当前函数，1表示调用者，依此类推
|
||||
|
||||
Returns:
|
||||
(filename, line_number, function_name, module_name) 元组
|
||||
"""
|
||||
# 堆栈级别需要加3:
|
||||
# +1 因为这个函数本身占一层
|
||||
# +1 因为日志函数(debug, info等)占一层
|
||||
# +1 因为下面调用 inspect.stack() 也占一层
|
||||
frame = inspect.currentframe()
|
||||
try:
|
||||
# 跳过适当的堆栈帧
|
||||
for _ in range(stack_level + 3):
|
||||
if frame and frame.f_back:
|
||||
frame = frame.f_back
|
||||
else:
|
||||
break
|
||||
|
||||
if frame:
|
||||
filename = frame.f_code.co_filename if frame.f_code else "unknown"
|
||||
line_number = frame.f_lineno if hasattr(frame, "f_lineno") else 0
|
||||
function_name = frame.f_code.co_name if frame.f_code else "unknown"
|
||||
|
||||
# 获取模块名称
|
||||
module_name = "unknown"
|
||||
if frame.f_globals and "__name__" in frame.f_globals:
|
||||
module_name = frame.f_globals["__name__"].rsplit(".", 1)[0]
|
||||
|
||||
return (filename, line_number, function_name, module_name)
|
||||
return ("unknown", 0, "unknown", "unknown")
|
||||
finally:
|
||||
del frame # 避免循环引用
|
||||
|
||||
|
||||
# 便捷日志记录函数
|
||||
def debug(msg, *args, stack_level=0, **kwargs):
|
||||
"""
|
||||
记录DEBUG级别日志
|
||||
|
||||
Args:
|
||||
msg: 日志消息
|
||||
stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
|
||||
*args, **kwargs: 传递给logger.debug的其他参数
|
||||
"""
|
||||
# 获取调用者信息
|
||||
if stack_level > 0:
|
||||
caller_info = _get_caller_info(stack_level)
|
||||
extra = kwargs.get("extra", {})
|
||||
extra["custom_stack_info"] = caller_info
|
||||
kwargs["extra"] = extra
|
||||
logger.debug(msg, *args, **kwargs)
|
||||
|
||||
|
||||
def info(msg, *args, stack_level=0, **kwargs):
|
||||
"""
|
||||
记录INFO级别日志
|
||||
|
||||
Args:
|
||||
msg: 日志消息
|
||||
stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
|
||||
*args, **kwargs: 传递给logger.info的其他参数
|
||||
"""
|
||||
if stack_level > 0:
|
||||
caller_info = _get_caller_info(stack_level)
|
||||
extra = kwargs.get("extra", {})
|
||||
extra["custom_stack_info"] = caller_info
|
||||
kwargs["extra"] = extra
|
||||
logger.info(msg, *args, **kwargs)
|
||||
|
||||
|
||||
def warning(msg, *args, stack_level=0, **kwargs):
|
||||
"""
|
||||
记录WARNING级别日志
|
||||
|
||||
Args:
|
||||
msg: 日志消息
|
||||
stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
|
||||
*args, **kwargs: 传递给logger.warning的其他参数
|
||||
"""
|
||||
if stack_level > 0:
|
||||
caller_info = _get_caller_info(stack_level)
|
||||
extra = kwargs.get("extra", {})
|
||||
extra["custom_stack_info"] = caller_info
|
||||
kwargs["extra"] = extra
|
||||
logger.warning(msg, *args, **kwargs)
|
||||
|
||||
|
||||
def error(msg, *args, stack_level=0, **kwargs):
|
||||
"""
|
||||
记录ERROR级别日志
|
||||
|
||||
Args:
|
||||
msg: 日志消息
|
||||
stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
|
||||
*args, **kwargs: 传递给logger.error的其他参数
|
||||
"""
|
||||
if stack_level > 0:
|
||||
caller_info = _get_caller_info(stack_level)
|
||||
extra = kwargs.get("extra", {})
|
||||
extra["custom_stack_info"] = caller_info
|
||||
kwargs["extra"] = extra
|
||||
logger.error(msg, *args, **kwargs)
|
||||
|
||||
|
||||
def critical(msg, *args, stack_level=0, **kwargs):
|
||||
"""
|
||||
记录CRITICAL级别日志
|
||||
|
||||
Args:
|
||||
msg: 日志消息
|
||||
stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
|
||||
*args, **kwargs: 传递给logger.critical的其他参数
|
||||
"""
|
||||
if stack_level > 0:
|
||||
caller_info = _get_caller_info(stack_level)
|
||||
extra = kwargs.get("extra", {})
|
||||
extra["custom_stack_info"] = caller_info
|
||||
kwargs["extra"] = extra
|
||||
logger.critical(msg, *args, **kwargs)
|
||||
|
||||
|
||||
def trace(msg, *args, stack_level=0, **kwargs):
|
||||
"""
|
||||
记录TRACE级别日志（比DEBUG级别更低）
|
||||
|
||||
Args:
|
||||
msg: 日志消息
|
||||
stack_level: 堆栈回溯级别，用于定位日志的实际调用位置
|
||||
*args, **kwargs: 传递给logger.log的其他参数
|
||||
"""
|
||||
if stack_level > 0:
|
||||
caller_info = _get_caller_info(stack_level)
|
||||
extra = kwargs.get("extra", {})
|
||||
extra["custom_stack_info"] = caller_info
|
||||
kwargs["extra"] = extra
|
||||
logger.log(TRACE_LEVEL, msg, *args, **kwargs)
|
||||
|
||||
|
||||
logger.trace = trace
|
||||
|
||||
# 测试日志输出（如果直接运行此文件）
|
||||
if __name__ == "__main__":
|
||||
print("测试不同日志级别的颜色输出:")
|
||||
trace("这是一条跟踪日志 (TRACE级别显示为深灰色，其他文本也为深灰色)")
|
||||
debug("这是一条调试日志 (DEBUG级别显示为蓝色，其他文本为灰色)")
|
||||
info("这是一条信息日志 (INFO级别显示为绿色，其他文本为白色)")
|
||||
warning("这是一条警告日志 (WARNING级别显示为黄色，其他文本也为黄色)")
|
||||
error("这是一条错误日志 (ERROR级别显示为红色，其他文本也为红色)")
|
||||
critical("这是一条严重错误日志 (CRITICAL级别显示为紫色，其他文本也为紫色)")
|
||||
# 测试异常输出
|
||||
try:
|
||||
1 / 0
|
||||
except Exception as e:
|
||||
error(f"发生错误: {e}", exc_info=True)
|
||||
@@ -191,23 +191,9 @@ 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
|
||||
log_filepath = None
|
||||
if working_dir is not None:
|
||||
logs_dir = os.path.join(working_dir, "logs")
|
||||
os.makedirs(logs_dir, exist_ok=True)
|
||||
@@ -228,6 +214,7 @@ def configure_logger(loglevel=None, working_dir=None):
|
||||
|
||||
logging.getLogger("asyncio").setLevel(logging.INFO)
|
||||
logging.getLogger("urllib3").setLevel(logging.INFO)
|
||||
return log_filepath
|
||||
|
||||
|
||||
# 配置日志系统
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user