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https://github.com/deepmodeling/Uni-Lab-OS
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bioyond_si
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feat/3d_bu
| Author | SHA1 | Date | |
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9862415655 | ||
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18296d3cb2 | ||
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090d5c5cb5 | ||
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48e13a7b4d |
@@ -3,7 +3,7 @@
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package:
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name: unilabos
|
||||
version: 0.11.1
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version: 0.10.19
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|
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source:
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path: ../../unilabos
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@@ -54,7 +54,7 @@ requirements:
|
||||
- pymodbus
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- matplotlib
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- pylibftdi
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- uni-lab::unilabos-env ==0.11.1
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- uni-lab::unilabos-env ==0.10.19
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|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
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||||
|
||||
@@ -2,7 +2,7 @@
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|
||||
package:
|
||||
name: unilabos-env
|
||||
version: 0.11.1
|
||||
version: 0.10.19
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
@@ -3,7 +3,7 @@
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|
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package:
|
||||
name: unilabos-full
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||||
version: 0.11.1
|
||||
version: 0.10.19
|
||||
|
||||
build:
|
||||
noarch: generic
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||||
@@ -11,7 +11,7 @@ build:
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||||
requirements:
|
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run:
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||||
# Base unilabos package (includes unilabos-env)
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||||
- uni-lab::unilabos ==0.11.1
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||||
- uni-lab::unilabos ==0.10.19
|
||||
# Documentation tools
|
||||
- sphinx
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||||
- sphinx_rtd_theme
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||||
|
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@@ -71,22 +71,6 @@ from unilabos.registry.decorators import action
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- `_` 开头的方法 → 不扫描
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||||
- `@not_action` 标记的方法 → 排除
|
||||
|
||||
### 参数文档 → JSON Schema 元数据
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||||
|
||||
在 `__init__` 和 action 方法 docstring 的 `Args:` 小节里，使用以下格式生成入参 schema 的显示信息：
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||||
|
||||
```python
|
||||
"""
|
||||
Args:
|
||||
param[显示名称]: 参数说明，会写入 JSON Schema 的 description。
|
||||
"""
|
||||
```
|
||||
|
||||
- `param[显示名称]` 的显示名称会写入 goal property 的 `title`。
|
||||
- `:` 后面的说明会写入 goal property 的 `description`。
|
||||
- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
|
||||
- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
|
||||
|
||||
### @topic_config — 状态属性配置
|
||||
|
||||
```python
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@@ -121,27 +105,13 @@ import logging
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from typing import Any, Dict, Optional
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|
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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from unilabos.registry.decorators import action, device, not_action, topic_config
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from unilabos.registry.decorators import device, action, topic_config, not_action
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|
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@device(
|
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id="my_device",
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category=["my_category"],
|
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description="设备描述",
|
||||
display_name="设备显示名",
|
||||
)
|
||||
@device(id="my_device", category=["my_category"], description="设备描述")
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class MyDevice:
|
||||
"""设备类说明。"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
"""
|
||||
初始化设备。
|
||||
|
||||
Args:
|
||||
device_id[设备ID]: 设备实例 ID，默认使用 my_device。
|
||||
config[设备配置]: 设备启动配置。
|
||||
"""
|
||||
self.device_id = device_id or "my_device"
|
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self.config = config or {}
|
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self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
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@@ -163,13 +133,7 @@ class MyDevice:
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|
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@action(description="执行操作")
|
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def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
|
||||
"""
|
||||
带 @action 装饰器 → 注册为 'my_action' 动作。
|
||||
|
||||
Args:
|
||||
param[操作数值]: 操作使用的数值参数。
|
||||
name[操作名称]: 操作名称或备注。
|
||||
"""
|
||||
"""带 @action 装饰器 → 注册为 'my_action' 动作"""
|
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return {"success": True}
|
||||
|
||||
def get_info(self) -> Dict[str, Any]:
|
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|
||||
@@ -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 |
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||||
| ------------------- | ----------------- | ---------------------------------- |
|
||||
| **Protocol 工作站** | `ProtocolNode` | 标准化学操作协议（泵转移、过滤等） |
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||||
| **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）
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||||
|
||||
工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
|
||||
|
||||
```python
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@device(
|
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id="my_workstation", # 注册表唯一标识（必填）
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category=["workstation"], # 分类标签
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||||
description="我的工作站",
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||||
)
|
||||
```
|
||||
|
||||
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
|
||||
|
||||
|
||||
@@ -1,450 +0,0 @@
|
||||
---
|
||||
name: filter-workflow-by-tags
|
||||
description: Query backend workflow list, aggregate all tags, and filter workflows by domain/scenario requirements using tags. Use when the user wants to search workflows, find workflows by tags, list available workflow tags, filter workflows by category/domain/scenario, or mentions 工作流筛选/标签查询/workflow tags/按领域查找工作流.
|
||||
---
|
||||
# Uni-Lab 工作流标签筛选指南
|
||||
|
||||
通过 Uni-Lab 云端 API 查询工作流列表，汇总所有可用标签（tags），并根据领域和场景要求筛选工作流。
|
||||
|
||||
> **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`。
|
||||
|
||||
## 使用模式识别
|
||||
|
||||
**用户可能一开始就给出场景目标**（如"我要做有机合成实验"、"找柱层析相关的 protocol"）。此时：
|
||||
|
||||
1. **识别场景关键词** → 映射到可能的 tags（如 synthesis、organic、chromatography、purification）
|
||||
2. **直接执行完整流程**（获取 ak/sk/addr → 拉取所有工作流 → 汇总 tags → 按场景筛选）
|
||||
3. **展示筛选结果** → 引导用户从候选 workflow 中**选择明确的实验 protocol**
|
||||
4. **如果用户确认某个 workflow** → 记录 `workflow_uuid`，准备对接“与其他 Skill 的协作”
|
||||
|
||||
**如果用户未给场景目标**，则按标准 checklist 询问筛选条件。
|
||||
|
||||
---
|
||||
|
||||
## 前置条件
|
||||
|
||||
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
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
```
|
||||
|
||||
### 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 <上面命令输出的 token>"
|
||||
```
|
||||
|
||||
### 3. lab_uuid（实验室 UUID）
|
||||
|
||||
如果用户未提供 `lab_uuid`，通过以下 API 自动获取：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 即为 `lab_uuid`。
|
||||
|
||||
**三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
|
||||
- `all_workflows` — 完整工作流列表（分页获取后缓存到内存或临时文件）
|
||||
- `all_tags` — 所有工作流的标签汇总
|
||||
|
||||
---
|
||||
|
||||
## API 端点
|
||||
|
||||
### 查询工作流列表（支持分页）
|
||||
|
||||
```
|
||||
GET $BASE/api/v1/lab/workflow/owner/list?page=<page>&page_size=<page_size>&lab_uuid=$lab_uuid
|
||||
```
|
||||
|
||||
**参数：**
|
||||
|
||||
- `page` — 页码，从 1 开始
|
||||
- `page_size` — 每页数量，建议 1000
|
||||
- `lab_uuid` — 实验室 UUID
|
||||
|
||||
**返回结构：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"has_more": true,
|
||||
"data": [
|
||||
{
|
||||
"uuid": "9661bba2-1b9f-4687-a63d-910245df174b",
|
||||
"name": "Untitled",
|
||||
"description": "",
|
||||
"user_id": "114211",
|
||||
"published": false,
|
||||
"tags": null
|
||||
},
|
||||
{
|
||||
"uuid": "e0436638-190b-46bc-b1a1-2711d9602f6a",
|
||||
"name": "Synthesis v2",
|
||||
"user_id": "114211",
|
||||
"published": true,
|
||||
"tags": ["synthesis", "organic"]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**字段说明：**
|
||||
|
||||
- `has_more` — 若为 `true`，需要继续请求 `page+1`
|
||||
- `tags` — 可能为 `null`、空数组或字符串数组；聚合时必须容忍 `null`
|
||||
|
||||
### 启动工作流（直接运行）
|
||||
|
||||
```
|
||||
POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run
|
||||
```
|
||||
|
||||
**用途：** 直接启动一个 workflow 的默认执行（使用模板中预设的参数），无需创建 notebook。适用于快速测试或无参数变化的重复执行。
|
||||
|
||||
**请求体：** 空 JSON `{}` 或省略
|
||||
|
||||
**返回：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": "<run_uuid>"
|
||||
}
|
||||
```
|
||||
|
||||
- `run_uuid` — 本次执行的唯一标识（不是 notebook UUID）
|
||||
|
||||
**注意：**
|
||||
|
||||
- 该接口会使用 workflow 模板中保存的默认参数直接执行
|
||||
- 如果 workflow 需要动态参数（如 CSV 路径、样品 UUID），应使用 `POST /lab/notebook` 创建 notebook 并传入 `node_params`
|
||||
- 返回的 `run_uuid` 可直接传入下方「查询任务状态」接口查询实时进度
|
||||
|
||||
### 查询任务状态
|
||||
|
||||
```
|
||||
GET $BASE/api/v1/lab/mcp/task/<task_uuid>
|
||||
```
|
||||
|
||||
**用途：** 查询由 `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`（即 task_uuid）的实时执行状态，包括整体状态和每个节点（JOS：Job On Station）的执行详情。
|
||||
|
||||
**路径参数：**
|
||||
|
||||
- `task_uuid` — 等同于启动工作流接口返回的 `run_uuid`
|
||||
|
||||
**返回：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"status": "running",
|
||||
"jos_status": [
|
||||
{
|
||||
"uuid": "d0e24bfe-8d99-450e-b19d-f25849dfbaad",
|
||||
"node_name": "PRCXI_BioER_96_wellplate_slot_1",
|
||||
"action_name": "create_resource",
|
||||
"status": "success",
|
||||
"return_info": {
|
||||
"suc": true,
|
||||
"error": "",
|
||||
"return_value": { ... }
|
||||
}
|
||||
},
|
||||
{
|
||||
"uuid": "...",
|
||||
"node_name": "...",
|
||||
"action_name": "transfer_liquid",
|
||||
"status": "pending",
|
||||
"return_info": null
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**字段说明：**
|
||||
|
||||
- `data.status` — 整体任务状态
|
||||
- `running` — 正在执行（至少一个节点 pending 或 running）
|
||||
- `success` — 全部节点成功
|
||||
- `failed` — 有节点失败
|
||||
- `data.jos_status[]` — 节点级执行列表（按执行顺序）
|
||||
- `uuid` — 节点执行实例 UUID
|
||||
- `node_name` — 节点名称（资源/设备名或工位名）
|
||||
- `action_name` — 动作类型（`create_resource`、`transfer_liquid`、`centrifuge`、等）
|
||||
- `status` — 节点状态：`success`、`pending`、`running`、`failed`
|
||||
- `return_info` — 执行返回，失败时 `suc=false` 且 `error` 有错误信息
|
||||
|
||||
**注意：**
|
||||
|
||||
- 此接口的 `task_uuid` **是** `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`，二者为同一个 ID 的不同称呼
|
||||
- **不要**把 notebook UUID（`POST /lab/notebook` 返回）传进来——那条路径用 `GET /lab/notebook/status` 查询
|
||||
- `jos_status` 数组按节点执行顺序给出；从 pending 数量可以估算剩余进度
|
||||
- 返回体可能较大（`return_info.return_value` 中可能包含完整 resource tree），可在脚本中只提取 `status` + `node_name` + `action_name` 做摘要
|
||||
|
||||
**状态轮询示例：**
|
||||
|
||||
```bash
|
||||
# 每 5 秒轮询一次直至完成
|
||||
TASK="b183d97e-d2b5-4b24-b14b-820df04d87c0"
|
||||
while :; do
|
||||
st=$(curl -s -X GET "$BASE/api/v1/lab/mcp/task/$TASK" -H "$AUTH" \
|
||||
| python3 -c "import json,sys; d=json.load(sys.stdin)['data']; \
|
||||
print(d['status'], '|', sum(1 for j in d['jos_status'] if j['status']=='success'), '/', len(d['jos_status']))")
|
||||
echo "$(date +%H:%M:%S) $st"
|
||||
[[ "$st" == success* || "$st" == failed* ]] && break
|
||||
sleep 5
|
||||
done
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 0: 识别用户是否已给出场景目标（如"有机合成"、"柱层析"）
|
||||
- 若已给出 → 记录场景关键词，自动进入后续步骤
|
||||
- 若未给出 → 在 Step 6 询问用户
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid（如用户未提供）
|
||||
- [ ] Step 4: 分页获取所有工作流（从 page=1 开始直到 has_more=false）
|
||||
- [ ] Step 5: 汇总所有非空 tags → 生成 all_tags（去重、排序、附出现次数）
|
||||
- [ ] Step 6: 根据场景关键词（Step 0 或新询问）在 all_tags 中做语义映射 → 确定候选 tags
|
||||
- 若语义映射不唯一，列出候选 tags 让用户确认
|
||||
- [ ] Step 7: 按候选 tags 筛选工作流（默认 any 模式，召回优先）
|
||||
- [ ] Step 8: 展示筛选结果（uuid、name、description、tags、published）
|
||||
- [ ] Step 9: 引导用户从结果中选择**明确的实验 protocol**
|
||||
- 若结果只有 1 条 → 直接确认该 workflow_uuid
|
||||
- 若结果 2–10 条 → 让用户按编号选择
|
||||
- 若结果过多 → 提示收紧条件（加 tag、切换 all 模式、仅 published）
|
||||
- 若结果为空 → 放宽条件（去掉最稀有 tag）或提示用户换关键词
|
||||
- [ ] Step 10: 记录用户选中的 workflow_uuid，并提示提交实验或查看详情
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 推荐路径：使用脚本
|
||||
|
||||
同目录下提供 `scripts/filter_workflows.py`，一次完成分页抓取、标签聚合与筛选：
|
||||
|
||||
```bash
|
||||
# 1. 仅汇总标签（不筛选）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--summary-only
|
||||
|
||||
# 2. 按标签筛选（ANY 模式：包含任一）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis organic \
|
||||
--mode any
|
||||
|
||||
# 3. 按标签筛选（ALL 模式：必须同时包含）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis organic \
|
||||
--mode all \
|
||||
--output filtered.json
|
||||
|
||||
# 4. 仅筛选已发布
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis \
|
||||
--published-only
|
||||
```
|
||||
|
||||
**`--auth` 参数说明**：传入 `Authorization` 头中 `Lab` 之后的 base64 token（不带 `Lab ` 前缀），脚本内部会自动补上 scheme。
|
||||
|
||||
**输出结构：**
|
||||
|
||||
```json
|
||||
{
|
||||
"total_workflows": 150,
|
||||
"tag_counts": {"synthesis": 12, "organic": 8, "analysis": 5},
|
||||
"all_tags": ["analysis", "organic", "synthesis"],
|
||||
"filter": {"tags": ["synthesis", "organic"], "mode": "any"},
|
||||
"filtered_workflows": [
|
||||
{"uuid": "...", "name": "...", "description": "...", "tags": [...], "published": true}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 手动路径：curl + jq
|
||||
|
||||
如果脚本不可用或环境缺少 Python，可用 shell 实现。
|
||||
|
||||
### 1. 分页抓取（写入 `all_workflows.json`）
|
||||
|
||||
```bash
|
||||
page=1
|
||||
echo "[]" > all_workflows.json
|
||||
|
||||
while :; do
|
||||
resp=$(curl -s -X GET \
|
||||
"$BASE/api/v1/lab/workflow/owner/list?page=$page&page_size=1000&lab_uuid=$lab_uuid" \
|
||||
-H "$AUTH")
|
||||
|
||||
page_data=$(echo "$resp" | jq -c '.data.data // []')
|
||||
jq -c --argjson p "$page_data" '. + $p' all_workflows.json > _tmp.json && mv _tmp.json all_workflows.json
|
||||
|
||||
has_more=$(echo "$resp" | jq -r '.data.has_more')
|
||||
[ "$has_more" != "true" ] && break
|
||||
page=$((page + 1))
|
||||
done
|
||||
|
||||
echo "Total: $(jq 'length' all_workflows.json)"
|
||||
```
|
||||
|
||||
### 2. 汇总所有标签（含出现次数）
|
||||
|
||||
```bash
|
||||
jq '[.[].tags // [] | .[]] | group_by(.) | map({tag: .[0], count: length}) | sort_by(-.count)' \
|
||||
all_workflows.json
|
||||
```
|
||||
|
||||
### 3. 按标签筛选
|
||||
|
||||
```bash
|
||||
# ANY：包含任一指定标签
|
||||
jq --argjson want '["synthesis","organic"]' \
|
||||
'[.[] | select((.tags // []) | any(. as $t | $want | index($t)))]' \
|
||||
all_workflows.json
|
||||
|
||||
# ALL：同时包含所有指定标签
|
||||
jq --argjson want '["synthesis","organic"]' \
|
||||
'[.[] | select(($want | all(. as $w | (.tags // []) | index($w))))]' \
|
||||
all_workflows.json
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 筛选策略
|
||||
|
||||
agent 拿到用户的「领域 + 场景」自然语言描述时，按如下顺序选择 tag：
|
||||
|
||||
1. **优先用户显式指定的 tags**：若用户明确给出标签词，直接精确匹配。
|
||||
2. **从 all_tags 中做语义映射**：若用户描述是自然语言（如"有机合成、柱层析"），在 all_tags 中找语义相关项（如 `synthesis`、`organic`、`chromatography`）。必要时展示候选 tag 让用户确认。
|
||||
3. **模式选择**：
|
||||
- 默认 `any`（更多召回），给出 tag 集合的并集匹配
|
||||
- 用户强调"必须同时满足"时用 `all`
|
||||
4. **空结果兜底**：如果筛选为空，放宽条件（去掉最稀有 tag、切换 any 模式），并提醒用户。
|
||||
|
||||
---
|
||||
|
||||
## 引导到明确的 Protocol
|
||||
|
||||
筛选完成后，**最终目标是让用户确认一个具体的 workflow_uuid**，而不是停留在"一堆候选"上。按结果数量采取不同策略：
|
||||
|
||||
| 结果数量 | 策略 |
|
||||
| --------- | ---------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| 0 条 | 放宽筛选（去掉最稀有 tag → 切换 any 模式 → 去掉 `--published-only`）。仍为空则提示换关键词，或列出 `all_tags` 让用户重新选。 |
|
||||
| 1 条 | 直接确认："找到唯一匹配：`<name>` (uuid `<uuid>`)，是否用它？"用户确认后记录 `workflow_uuid`。 |
|
||||
| 2–10 条 | 编号列表展示，让用户选编号。每项给出 name、tags、description 摘要、published 状态。 |
|
||||
| 10–30 条 | 先展示 tag 分布帮助用户进一步收紧：列出匹配结果中最常见的子标签，提示"加一个 tag 可将结果缩小到 N 条"。 |
|
||||
| >30 条 | 强制要求用户补充条件：仅 published、指定具体 tag 组合、或按名称关键词过滤。 |
|
||||
|
||||
**确认 workflow 后**：
|
||||
|
||||
1. 将 `workflow_uuid` 写入 session state
|
||||
2. 提示用户下一步可用的 skill：
|
||||
- 提交实验 → 引导到“与其他 Skill 的协作”
|
||||
- 查看 workflow 详细节点 → `GET /api/v1/lab/workflow/template/detail/<workflow_uuid>`
|
||||
3. 若用户想换一个，回到筛选步骤。
|
||||
|
||||
---
|
||||
|
||||
## 展示结果
|
||||
|
||||
推荐格式（表格 + 汇总统计）：
|
||||
|
||||
```
|
||||
共 150 个工作流，其中 32 个匹配筛选条件 [tags: synthesis OR organic]
|
||||
|
||||
| UUID (短) | 名称 | Tags | 已发布 |
|
||||
|-----------|--------------------------|------------------------------|--------|
|
||||
| e0436638 | Synthesis v2 | synthesis, organic | ✓ |
|
||||
| 5b60dbb8 | Grignard Protocol | synthesis, organometallic | ✓ |
|
||||
| ... | ... | ... | ... |
|
||||
|
||||
所有可用标签（按频次）：
|
||||
synthesis (12), organic (8), analysis (5), purification (4), ...
|
||||
```
|
||||
|
||||
如果用户下一步想执行某工作流 → 引导到“与其他 Skill 的协作”。
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: tags 为 null 的工作流要不要展示？
|
||||
|
||||
默认**不展示**在筛选结果中（因为无法按 tag 匹配）。但在 `--summary-only` 或无筛选条件时，这些工作流仍会计入总数，并在输出中单独列出"未打标签"计数。
|
||||
|
||||
### Q: 如何按名称/描述做模糊匹配？
|
||||
|
||||
脚本未内置，但可在 jq 中组合：
|
||||
|
||||
```bash
|
||||
jq '[.[] | select((.name + " " + (.description // "")) | test("organic"; "i"))]' all_workflows.json
|
||||
```
|
||||
|
||||
### Q: `page_size=1000` 是否会被服务端限制？
|
||||
|
||||
接口通常允许最大 1000；如果返回量少于 1000 且 `has_more=false`，说明已到末页。极端情况下若服务端返回错误，可降到 200 或 500 再试。
|
||||
|
||||
### Q: 工作流数量极大（>10k）怎么办？
|
||||
|
||||
1. 先跑 `--summary-only` 了解 tag 分布
|
||||
2. 提示用户先限定 `--published-only` 或指定 tag
|
||||
3. 考虑将 `all_workflows.json` 缓存到本地，下次直接复用
|
||||
|
||||
---
|
||||
|
||||
## 与其他 Skill 的协作
|
||||
|
||||
- 正常情况下，找到 workflow 之后可以直接用它提交实验（启动工作流的 api 端点 POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run，不用别的 skill）
|
||||
- **仅当需要进行多次实验时，使用 batch-submit-experiment** — 筛选到目标工作流后，`workflow_uuid` 直接用于实验提交
|
||||
|
||||
## 脚本依赖
|
||||
|
||||
`scripts/filter_workflows.py` 仅使用 Python 标准库（`urllib`、`json`、`argparse`），无需额外安装。
|
||||
@@ -1,191 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""分页拉取 Uni-Lab 工作流列表，汇总 tags 并按 tag 筛选。
|
||||
|
||||
使用示例:
|
||||
python filter_workflows.py \
|
||||
--auth <base64token> \
|
||||
--base https://leap-lab.test.bohrium.com \
|
||||
--lab-uuid a9059772-... \
|
||||
--tags synthesis organic --mode any
|
||||
|
||||
仅依赖 Python 标准库。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import sys
|
||||
import urllib.error
|
||||
import urllib.parse
|
||||
import urllib.request
|
||||
from collections import Counter
|
||||
|
||||
|
||||
def fetch_all_workflows(base: str, auth_token: str, lab_uuid: str, page_size: int = 1000) -> list[dict]:
|
||||
"""分页拉取所有 owner 工作流，直到 has_more=false。"""
|
||||
workflows: list[dict] = []
|
||||
page = 1
|
||||
while True:
|
||||
query = urllib.parse.urlencode(
|
||||
{"page": page, "page_size": page_size, "lab_uuid": lab_uuid}
|
||||
)
|
||||
url = f"{base.rstrip('/')}/api/v1/lab/workflow/owner/list?{query}"
|
||||
req = urllib.request.Request(
|
||||
url,
|
||||
headers={
|
||||
"Authorization": f"Lab {auth_token}",
|
||||
"Accept": "application/json",
|
||||
},
|
||||
)
|
||||
try:
|
||||
with urllib.request.urlopen(req, timeout=30) as resp:
|
||||
payload = json.loads(resp.read().decode("utf-8"))
|
||||
except urllib.error.HTTPError as e:
|
||||
sys.exit(f"[ERROR] HTTP {e.code} on page {page}: {e.read().decode('utf-8', 'ignore')}")
|
||||
except urllib.error.URLError as e:
|
||||
sys.exit(f"[ERROR] URL error on page {page}: {e.reason}")
|
||||
|
||||
if payload.get("code") != 0:
|
||||
sys.exit(f"[ERROR] API returned non-zero code: {payload}")
|
||||
|
||||
data = payload.get("data") or {}
|
||||
page_items = data.get("data") or []
|
||||
workflows.extend(page_items)
|
||||
|
||||
if not data.get("has_more"):
|
||||
break
|
||||
page += 1
|
||||
# 防御性兜底，避免接口异常导致无限循环
|
||||
if page > 1000:
|
||||
print(f"[WARN] page count exceeded 1000, stopping early", file=sys.stderr)
|
||||
break
|
||||
|
||||
return workflows
|
||||
|
||||
|
||||
def aggregate_tags(workflows: list[dict]) -> tuple[list[str], dict[str, int], int]:
|
||||
"""返回 (sorted_tags, tag_counts, untagged_count)。"""
|
||||
counter: Counter[str] = Counter()
|
||||
untagged = 0
|
||||
for wf in workflows:
|
||||
tags = wf.get("tags")
|
||||
if not tags:
|
||||
untagged += 1
|
||||
continue
|
||||
for t in tags:
|
||||
if isinstance(t, str) and t.strip():
|
||||
counter[t.strip()] += 1
|
||||
return sorted(counter.keys()), dict(counter), untagged
|
||||
|
||||
|
||||
def filter_workflows(
|
||||
workflows: list[dict],
|
||||
want_tags: list[str],
|
||||
mode: str,
|
||||
published_only: bool,
|
||||
) -> list[dict]:
|
||||
"""按 tag 筛选。mode 取值 any / all。"""
|
||||
want_set = {t.strip() for t in want_tags if t.strip()}
|
||||
out: list[dict] = []
|
||||
for wf in workflows:
|
||||
if published_only and not wf.get("published"):
|
||||
continue
|
||||
if not want_set:
|
||||
out.append(wf)
|
||||
continue
|
||||
tags = wf.get("tags") or []
|
||||
tag_set = {t for t in tags if isinstance(t, str)}
|
||||
if mode == "all":
|
||||
if want_set.issubset(tag_set):
|
||||
out.append(wf)
|
||||
else: # any
|
||||
if want_set & tag_set:
|
||||
out.append(wf)
|
||||
return out
|
||||
|
||||
|
||||
def project_workflow(wf: dict) -> dict:
|
||||
"""精简输出字段。"""
|
||||
return {
|
||||
"uuid": wf.get("uuid"),
|
||||
"name": wf.get("name"),
|
||||
"description": wf.get("description", ""),
|
||||
"tags": wf.get("tags") or [],
|
||||
"published": bool(wf.get("published")),
|
||||
"user_id": wf.get("user_id"),
|
||||
}
|
||||
|
||||
|
||||
def parse_args() -> argparse.Namespace:
|
||||
p = argparse.ArgumentParser(description="Fetch & filter Uni-Lab workflows by tags.")
|
||||
p.add_argument("--auth", required=True, help="Base64 token (the part after `Lab `).")
|
||||
p.add_argument("--base", required=True, help="Base URL, e.g. https://leap-lab.test.bohrium.com")
|
||||
p.add_argument("--lab-uuid", required=True, help="Lab UUID.")
|
||||
p.add_argument("--tags", nargs="*", default=[], help="Tags to filter by (space separated).")
|
||||
p.add_argument(
|
||||
"--mode",
|
||||
choices=["any", "all"],
|
||||
default="any",
|
||||
help="any: workflow contains at least one tag; all: workflow contains every tag.",
|
||||
)
|
||||
p.add_argument("--published-only", action="store_true", help="Only include published workflows.")
|
||||
p.add_argument("--page-size", type=int, default=1000, help="Page size, default 1000.")
|
||||
p.add_argument(
|
||||
"--summary-only",
|
||||
action="store_true",
|
||||
help="Print tag summary without applying filter (still fetches everything).",
|
||||
)
|
||||
p.add_argument("--output", help="Write JSON result to this path. If omitted, print to stdout.")
|
||||
return p.parse_args()
|
||||
|
||||
|
||||
def main() -> None:
|
||||
args = parse_args()
|
||||
workflows = fetch_all_workflows(
|
||||
base=args.base,
|
||||
auth_token=args.auth,
|
||||
lab_uuid=args.lab_uuid,
|
||||
page_size=args.page_size,
|
||||
)
|
||||
sorted_tags, tag_counts, untagged = aggregate_tags(workflows)
|
||||
|
||||
if args.summary_only:
|
||||
result = {
|
||||
"total_workflows": len(workflows),
|
||||
"untagged_count": untagged,
|
||||
"tag_counts": tag_counts,
|
||||
"all_tags": sorted_tags,
|
||||
}
|
||||
else:
|
||||
filtered = filter_workflows(
|
||||
workflows,
|
||||
want_tags=args.tags,
|
||||
mode=args.mode,
|
||||
published_only=args.published_only,
|
||||
)
|
||||
result = {
|
||||
"total_workflows": len(workflows),
|
||||
"untagged_count": untagged,
|
||||
"tag_counts": tag_counts,
|
||||
"all_tags": sorted_tags,
|
||||
"filter": {
|
||||
"tags": args.tags,
|
||||
"mode": args.mode,
|
||||
"published_only": args.published_only,
|
||||
},
|
||||
"matched_count": len(filtered),
|
||||
"filtered_workflows": [project_workflow(wf) for wf in filtered],
|
||||
}
|
||||
|
||||
payload = json.dumps(result, ensure_ascii=False, indent=2)
|
||||
if args.output:
|
||||
with open(args.output, "w", encoding="utf-8") as f:
|
||||
f.write(payload)
|
||||
print(f"Wrote {len(workflows)} workflows summary → {args.output}", file=sys.stderr)
|
||||
else:
|
||||
print(payload)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -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"
|
||||
}
|
||||
}
|
||||
2
.github/workflows/ci-check.yml
vendored
2
.github/workflows/ci-check.yml
vendored
@@ -38,7 +38,7 @@ jobs:
|
||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||
run: |
|
||||
echo Installing ROS dependencies...
|
||||
mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
|
||||
mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
|
||||
|
||||
- name: Install pip dependencies and unilabos
|
||||
run: |
|
||||
|
||||
77
.github/workflows/conda-pack-build.yml
vendored
77
.github/workflows/conda-pack-build.yml
vendored
@@ -1,10 +1,6 @@
|
||||
name: Build Conda-Pack Environment
|
||||
|
||||
on:
|
||||
# 在 UniLabOS Conda Build 成功上传后自动构建非全量 conda-pack
|
||||
workflow_run:
|
||||
workflows: ["UniLabOS Conda Build"]
|
||||
types: [completed]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -25,16 +21,6 @@ on:
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(
|
||||
github.event_name == 'workflow_run' &&
|
||||
github.event.workflow_run.conclusion == 'success' &&
|
||||
github.event.workflow_run.event == 'workflow_run'
|
||||
)
|
||||
env:
|
||||
BUILD_FULL: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}
|
||||
PACKAGE_REF: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref_name }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -68,9 +54,7 @@ jobs:
|
||||
id: should_build
|
||||
shell: bash
|
||||
run: |
|
||||
if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||
if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
@@ -81,7 +65,7 @@ jobs:
|
||||
- uses: actions/checkout@v6
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -91,7 +75,7 @@ jobs:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-update-conda: false
|
||||
@@ -102,13 +86,13 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
echo Build full: ${{ env.BUILD_FULL }}
|
||||
if "${{ env.BUILD_FULL }}"=="true" (
|
||||
echo Build full: ${{ github.event.inputs.build_full }}
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Installing unilabos-full ^(complete package^)...
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
) else (
|
||||
echo Installing unilabos ^(minimal package^)...
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
)
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
@@ -117,13 +101,13 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
echo "Build full: ${{ env.BUILD_FULL }}"
|
||||
if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
|
||||
echo "Build full: ${{ github.event.inputs.build_full }}"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Installing unilabos-full (complete package)..."
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
else
|
||||
echo "Installing unilabos (minimal package)..."
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
fi
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
@@ -150,27 +134,27 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Checking for available ros-humble-unilabos-msgs versions...
|
||||
mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
|
||||
echo.
|
||||
echo Updating ros-humble-unilabos-msgs to latest version...
|
||||
mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
|
||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
|
||||
|
||||
- name: Check for newer ros-humble-unilabos-msgs (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Checking for available ros-humble-unilabos-msgs versions..."
|
||||
mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
|
||||
echo ""
|
||||
echo "Updating ros-humble-unilabos-msgs to latest version..."
|
||||
mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
|
||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
|
||||
|
||||
- name: Install latest unilabos from source (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Uninstalling existing unilabos...
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
|
||||
echo Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})...
|
||||
echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
|
||||
mamba run -n unilab pip install .
|
||||
echo Verifying installation...
|
||||
mamba run -n unilab pip show unilabos
|
||||
@@ -181,7 +165,7 @@ jobs:
|
||||
run: |
|
||||
echo "Uninstalling existing unilabos..."
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||
echo "Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})..."
|
||||
echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
|
||||
mamba run -n unilab pip install .
|
||||
echo "Verifying installation..."
|
||||
mamba run -n unilab pip show unilabos
|
||||
@@ -242,9 +226,7 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Packing unilab environment with conda-pack...
|
||||
for /f "delims=" %%i in ('mamba run -n unilab python -c "import os; print(os.environ['CONDA_PREFIX'])"') do set "UNILAB_PREFIX=%%i"
|
||||
echo Packing environment at: %UNILAB_PREFIX%
|
||||
mamba run -n unilab conda-pack -p "%UNILAB_PREFIX%" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo Pack file created:
|
||||
dir unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
@@ -253,9 +235,8 @@ jobs:
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Packing unilab environment with conda-pack..."
|
||||
UNILAB_PREFIX="$(mamba run -n unilab python -c 'import os; print(os.environ["CONDA_PREFIX"])')"
|
||||
echo "Packing environment at: $UNILAB_PREFIX"
|
||||
mamba run -n unilab conda-pack -p "$UNILAB_PREFIX" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
mamba install conda-pack -c conda-forge -y
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo "Pack file created:"
|
||||
ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
@@ -286,7 +267,7 @@ jobs:
|
||||
|
||||
rem Create README using Python script
|
||||
echo Creating: README.txt
|
||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package\README.txt
|
||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
|
||||
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
@@ -322,7 +303,7 @@ jobs:
|
||||
|
||||
# Create README using Python script
|
||||
echo "Creating: README.txt"
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package/README.txt
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
|
||||
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
@@ -333,7 +314,7 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: dist-package/
|
||||
retention-days: 90
|
||||
if-no-files-found: error
|
||||
@@ -345,9 +326,9 @@ jobs:
|
||||
echo Build Summary
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ env.PACKAGE_REF }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.14
|
||||
if "${{ env.BUILD_FULL }}"=="true" (
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
@@ -356,7 +337,7 @@ jobs:
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
echo.
|
||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
|
||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
echo.
|
||||
echo After download, extract the ZIP and run:
|
||||
echo install_unilab.bat
|
||||
@@ -370,9 +351,9 @@ jobs:
|
||||
echo "Build Summary"
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ env.PACKAGE_REF }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
@@ -381,7 +362,7 @@ jobs:
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
|
||||
echo ""
|
||||
echo "After download:"
|
||||
echo " install_unilab.sh"
|
||||
|
||||
4
.github/workflows/deploy-docs.yml
vendored
4
.github/workflows/deploy-docs.yml
vendored
@@ -56,7 +56,7 @@ jobs:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-update-conda: false
|
||||
@@ -66,7 +66,7 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos -y
|
||||
mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Install latest unilabos from source
|
||||
run: |
|
||||
|
||||
22
.github/workflows/multi-platform-build.yml
vendored
22
.github/workflows/multi-platform-build.yml
vendored
@@ -10,9 +10,6 @@ on:
|
||||
# 支持 tag 推送（不依赖 CI Check）
|
||||
push:
|
||||
tags: ['v*']
|
||||
# GitHub Release 发布时自动构建并上传
|
||||
release:
|
||||
types: [published]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
@@ -83,7 +80,7 @@ jobs:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.event.release.tag_name || github.ref }}
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -99,13 +96,12 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup Miniforge
|
||||
- name: Setup Miniconda
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: conda-forge,robostack-staging
|
||||
miniconda-version: 'latest'
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-update-conda: false
|
||||
@@ -114,7 +110,7 @@ jobs:
|
||||
- name: Install rattler-build and anaconda-client
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
mamba install --override-channels -c conda-forge rattler-build anaconda-client -y
|
||||
conda install -c conda-forge rattler-build anaconda-client
|
||||
|
||||
- name: Show environment info
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -161,13 +157,7 @@ jobs:
|
||||
retention-days: 30
|
||||
|
||||
- name: Upload to Anaconda.org (unilab organization)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
(
|
||||
github.event_name == 'release' ||
|
||||
startsWith(github.ref, 'refs/tags/') ||
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
for package in $(find ./output -name "*.conda"); do
|
||||
echo "Uploading $package to unilab organization..."
|
||||
|
||||
57
.github/workflows/unilabos-conda-build.yml
vendored
57
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,10 +1,14 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 Multi-Platform Conda Build 成功上传 msgs 后自动触发
|
||||
# 在 CI Check 成功后自动触发
|
||||
workflow_run:
|
||||
workflows: ["Multi-Platform Conda Build"]
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
@@ -29,30 +33,30 @@ on:
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待上游 msgs 构建完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-upstream:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check upstream workflow status
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" && ( "${{ github.event.workflow_run.event }}" == "release" || "${{ github.event.workflow_run.event }}" == "push" ) ]]; then
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "Multi-Platform Conda Build passed for release/tag, proceeding with UniLabOS build"
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "Upstream workflow is not a successful release/tag build (status: ${{ github.event.workflow_run.conclusion }}, event: ${{ github.event.workflow_run.event }}), skipping build"
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-upstream]
|
||||
# 运行条件：workflow_run 触发且上游成功，或者手动触发
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-upstream.result == 'skipped' || needs.wait-for-upstream.outputs.should_continue == 'true')
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -75,7 +79,7 @@ jobs:
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用上游 conda 包构建的 commit
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
@@ -92,13 +96,12 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup Miniforge
|
||||
- name: Setup Miniconda
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
miniconda-version: 'latest'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-update-conda: false
|
||||
@@ -107,7 +110,7 @@ jobs:
|
||||
- name: Install rattler-build and anaconda-client
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
mamba install --override-channels -c conda-forge rattler-build anaconda-client -y
|
||||
conda install -c conda-forge rattler-build anaconda-client
|
||||
|
||||
- name: Show environment info
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -116,11 +119,11 @@ jobs:
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
echo "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
|
||||
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
||||
echo "Building packages:"
|
||||
echo " - unilabos-env (environment dependencies)"
|
||||
echo " - unilabos (with pip package)"
|
||||
if [[ "${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}" == "true" ]]; then
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
|
||||
@@ -131,12 +134,7 @@ jobs:
|
||||
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: Upload unilabos-env to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
(
|
||||
github.event_name == 'workflow_run' ||
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-env to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-env*.conda"); do
|
||||
@@ -151,12 +149,7 @@ jobs:
|
||||
rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
(
|
||||
github.event_name == 'workflow_run' ||
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
|
||||
@@ -166,7 +159,6 @@ jobs:
|
||||
- name: Build unilabos-full - Only when explicitly requested
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event_name == 'workflow_dispatch' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
@@ -175,7 +167,6 @@ jobs:
|
||||
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event_name == 'workflow_dispatch' &&
|
||||
github.event.inputs.build_full == 'true' &&
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -1,914 +0,0 @@
|
||||
# Draft: Resource And Material Sync Guidance For Sirna And Similar Bioyond Systems
|
||||
|
||||
Status: draft for discussion, not an implementation mandate.
|
||||
|
||||
This note triangulates across five source categories with different authority:
|
||||
|
||||
1. `docs/developer_guide/examples/workstation_architecture.md`: desired shape
|
||||
and vocabulary. It is a design target, not proof that the current code has
|
||||
every behavior.
|
||||
2. `BioyondWorkstation`, `BioyondResourceSynchronizer`, and shared graphio code:
|
||||
the current compatibility anchor. New guidance should mostly preserve this
|
||||
lifecycle and extend it deliberately.
|
||||
3. Existing non-Sirna Bioyond stations: practical examples of how the shared
|
||||
base is used, including shortcuts that should not become policy.
|
||||
4. Sirna implementation, plans, findings, and guide notes: stress-test evidence.
|
||||
They expose real missing cases, but the current Sirna code is not the
|
||||
architecture authority because parts were added without fully aligning to the
|
||||
shared base.
|
||||
5. UniLabOS resource framework behavior around PLR resources,
|
||||
`ResourceTreeSet`, serialize/deserialize, and `update_resource(resources=...)`.
|
||||
|
||||
The short recommendation is:
|
||||
|
||||
Keep the shared Bioyond workstation lifecycle as the center of gravity. Evolve
|
||||
the shared synchronizer with small project hooks for classification, ID-based
|
||||
resolution, and non-slot material handling, rather than letting Sirna become a
|
||||
parallel synchronization model. For Sirna, those hooks should resolve placement
|
||||
by Bioyond IDs, distinguish physical slot labware from reagent liquid contents,
|
||||
preserve Bioyond IDs in `unilabos_extra`, mutate the local PLR deck, and publish
|
||||
the full deck through `update_resource(resources=[deck])`.
|
||||
|
||||
Do not treat every Bioyond stock row as a deck resource.
|
||||
|
||||
## Evidence Weighting
|
||||
|
||||
This task is not a Sirna implementation retrospective. It is a best-practice
|
||||
alignment pass across the architecture target, the shared base class, observed
|
||||
station behavior, and Sirna's newly exposed edge cases.
|
||||
|
||||
Use the sources this way:
|
||||
|
||||
- Architecture doc: ask "what shape should this system eventually have?"
|
||||
- Shared Bioyond base: ask "what behavior must remain compatible today?"
|
||||
- Other Bioyond stations: ask "what patterns are already working in practice?"
|
||||
- Sirna current code and notes: ask "what did the base model fail to handle, and
|
||||
which Sirna fixes conflict with the shared lifecycle?"
|
||||
- Live API/schema evidence: ask "what is true for this deployment's material,
|
||||
warehouse, and coordinate data?"
|
||||
|
||||
The Sirna AGENT_GUIDE is useful for finding caveats and prior investigations,
|
||||
but it should not be cited as an independent source of truth when source code,
|
||||
framework behavior, live API evidence, or architecture docs can answer the same
|
||||
question.
|
||||
|
||||
## Mental Model
|
||||
|
||||
There are three resource worlds. Confusing them is the main source of bugs.
|
||||
|
||||
| World | Owner | Purpose | Recommended truth |
|
||||
| --- | --- | --- | --- |
|
||||
| Bioyond/LIMS | Bioyond APIs through `BioyondV1RPC` | External stock, material IDs, warehouse IDs, location IDs, inbound/outbound side effects | External material truth |
|
||||
| PLR deck | Workstation driver | Runtime workstation material layout, warehouse occupancy, liquid contents | Local mutation surface |
|
||||
| UniLabOS resource tree | `ResourceTreeSet` / ROS node / host resource APIs | Canonical UniLabOS/cloud representation | Framework/cloud truth |
|
||||
|
||||
The architecture guide describes `Deck` as the local material system and
|
||||
`ResourceSynchronizer` as the optional external-system bridge
|
||||
(`docs/developer_guide/examples/workstation_architecture.md:221`). The broader
|
||||
framework serializes PLR objects into `ResourceTreeSet`, whose resource dicts
|
||||
carry `id`, `uuid`, `parent_uuid`, `type`, `class`, `pose`, `config`, `data`,
|
||||
and `extra` (`unilabos/resources/resource_tracker.py:107`).
|
||||
|
||||
Therefore the correct path is:
|
||||
|
||||
```text
|
||||
Bioyond rows
|
||||
-> normalized material records
|
||||
-> preserve Bioyond materialTypeMode: Sample / Consumables / Reagent
|
||||
-> resolve material/location/warehouse IDs
|
||||
-> choose UniLabOS handling for that mode
|
||||
-> mutate PLR deck
|
||||
-> ResourceTreeSet.from_plr_resources([deck])
|
||||
-> ROS update_resource(resources=[deck])
|
||||
-> host/cloud resource-tree update
|
||||
```
|
||||
|
||||
Avoid direct cloud JSON patches and avoid treating Bioyond records as already
|
||||
being UniLabOS resource nodes.
|
||||
|
||||
## Target Architecture
|
||||
|
||||
The ideal architecture in `workstation_architecture.md` is still the right
|
||||
direction:
|
||||
|
||||
1. `WorkstationBase` owns the local `deck`, workflow state, and hardware
|
||||
interface.
|
||||
2. `ResourceSynchronizer` owns external material synchronization.
|
||||
3. `BioyondResourceSynchronizer` owns the Bioyond-specific use of
|
||||
`BioyondV1RPC`.
|
||||
4. `ROS2WorkstationNode.update_resource(resources)` owns the UniLabOS/cloud
|
||||
resource-tree update.
|
||||
5. Optional HTTP report handlers may trigger local deck mutation, external sync,
|
||||
and cloud publication.
|
||||
|
||||
The documented startup sequence is:
|
||||
|
||||
1. Create workstation.
|
||||
2. Initialize PLR deck and warehouses.
|
||||
3. Create Bioyond RPC hardware interface.
|
||||
4. Create resource synchronizer.
|
||||
5. `sync_from_external()`.
|
||||
6. Initialize ROS node and children.
|
||||
7. `post_init(ros_node)`.
|
||||
8. Upload `resources=[deck]`.
|
||||
|
||||
See `docs/developer_guide/examples/workstation_architecture.md:308`,
|
||||
`docs/developer_guide/examples/workstation_architecture.md:497`, and
|
||||
`docs/developer_guide/examples/workstation_architecture.md:737`.
|
||||
|
||||
Important caveat: that document is the hope. It is still valuable because it
|
||||
names the desired responsibilities, but current Bioyond stations implement a
|
||||
more limited, best-effort side-effect sync. When the doc and current code
|
||||
diverge, use the doc to choose direction and the shared base code to choose the
|
||||
next compatible step.
|
||||
|
||||
## Current Practical Behavior
|
||||
|
||||
The shared `BioyondWorkstation` implementation is the current behavioral
|
||||
baseline. It does this today:
|
||||
|
||||
1. Requires a deck.
|
||||
2. Reconstructs `deck.warehouses` from deck children/config when needed.
|
||||
3. Creates `BioyondV1RPC`.
|
||||
4. Installs `BioyondResourceSynchronizer`.
|
||||
5. Immediately calls `sync_from_external()`.
|
||||
6. Later, in `post_init`, publishes the whole deck with
|
||||
`ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True,
|
||||
resources=[self.deck])`.
|
||||
|
||||
Relevant code:
|
||||
|
||||
- `BioyondResourceSynchronizer` is defined in
|
||||
`unilabos/devices/workstation/bioyond_studio/station.py:117`.
|
||||
- `sync_from_external()` fetches stock `typeMode` 0, 1, and 2, then passes all
|
||||
rows to `resource_bioyond_to_plr(...)`
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:147`).
|
||||
- `BioyondWorkstation.__init__` installs the synchronizer and syncs immediately
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:856`).
|
||||
- `post_init()` uploads the deck (`unilabos/devices/workstation/bioyond_studio/station.py:893`).
|
||||
- `resource_tree_add()` performs Bioyond create/inbound side effects
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:958`).
|
||||
|
||||
This practical behavior works for simple physical-resource stock import, but it
|
||||
does not provide full continuous two-way sync, conflict resolution, or reliable
|
||||
stale-state cleanup. In particular:
|
||||
|
||||
- Re-fetching stock does not clearly clear stale local deck state first.
|
||||
- Local-to-external update no-ops unless `unilabos_extra["update_resource_site"]`
|
||||
is present.
|
||||
- `process_material_change_report()` is mostly TODO-level in the base station.
|
||||
- Some station-specific code bypasses the shared synchronizer with direct LIMS
|
||||
calls.
|
||||
- Some existing stations contain shortcuts that should not be copied, such as
|
||||
duplicate initialization, stale globals, or hardcoded warehouse/axis cases.
|
||||
|
||||
Treat current Bioyond behavior as operationally useful and compatibility
|
||||
important, not as proof that the ideal architecture is already achieved. The
|
||||
goal is to tighten this base path, not replace it with a Sirna-only path.
|
||||
|
||||
## Recommended Shared Pipeline
|
||||
|
||||
For Sirna and similar Bioyond systems, the base synchronizer should evolve from
|
||||
the current shared path into one shared pipeline with small project hooks:
|
||||
|
||||
```text
|
||||
sync_from_external()
|
||||
fetch stock rows from Bioyond
|
||||
update RPC material cache
|
||||
normalize rows into a common internal shape
|
||||
preserve materialTypeMode: Sample / Consumables / Reagent
|
||||
resolve warehouse/location by Bioyond IDs when available
|
||||
choose handling for the row's mode
|
||||
apply Sample / Consumables rows as mapped slot labware by default
|
||||
apply Reagent rows as physical reagent labware or liquid content by evidence
|
||||
report unknown modes or unmapped handling loudly
|
||||
publish deck if deck changed and ROS node is available
|
||||
```
|
||||
|
||||
Suggested extension points:
|
||||
|
||||
```python
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
def external_material_mode(self, row: dict) -> str:
|
||||
return row["materialTypeMode"] # Sample | Consumables | Reagent
|
||||
|
||||
def resolve_external_row(self, row: dict) -> dict:
|
||||
...
|
||||
|
||||
def apply_external_row(self, row: dict, mode: str, resolved: dict) -> None:
|
||||
...
|
||||
```
|
||||
|
||||
The base class should continue to own:
|
||||
|
||||
- stock fetches for `typeMode` 0/1/2;
|
||||
- material-cache refresh;
|
||||
- common normalization;
|
||||
- mode validation for `Sample` / `Consumables` / `Reagent`;
|
||||
- publication orchestration;
|
||||
- error aggregation;
|
||||
- stale-state policy once agreed.
|
||||
|
||||
Project code should own only the parts that are truly deployment-specific:
|
||||
|
||||
- material type/mode to PLR class mapping;
|
||||
- project-local handling inside `Sample` / `Consumables` / `Reagent`;
|
||||
- project-local warehouse ID/name mapping;
|
||||
- project-local coordinate conventions;
|
||||
- special row handling such as Sirna reagent-as-liquid.
|
||||
|
||||
This keeps existing Bioyond stations close to the same lifecycle while still
|
||||
absorbing the Sirna lessons that the earlier base did not model. The default
|
||||
hook behavior can remain "Sample/Consumables/Reagent rows become mapped slot
|
||||
labware" for simpler stations; Sirna should override Reagent handling where
|
||||
evidence requires liquid-content behavior.
|
||||
|
||||
## Sirna Findings To Feed Back Into Shared Design
|
||||
|
||||
Treat Sirna as a stress test for the shared base, not as a replacement design.
|
||||
It raises real questions that earlier stations did not need to answer:
|
||||
|
||||
- within the `Reagent` mode, some external rows may be liquid contents rather
|
||||
than slot-occupying reagent labware;
|
||||
- placement should be ID-first where Bioyond supplies material/location IDs;
|
||||
- warehouse and axis metadata must survive serialize/deserialize;
|
||||
project-specific mode handling is available.
|
||||
|
||||
For Sirna-like deployments, the old implicit rule "stock row equals PLR
|
||||
resource" is too coarse. For simpler deployments, it can remain the default
|
||||
mode-handling behavior.
|
||||
|
||||
### IDs Win
|
||||
|
||||
Placement identity should prefer:
|
||||
|
||||
```text
|
||||
materialId
|
||||
locationId
|
||||
materialTypeId
|
||||
warehouseId / whid
|
||||
```
|
||||
|
||||
Display/debug fields are not identity:
|
||||
|
||||
```text
|
||||
materialName
|
||||
materialCode
|
||||
locationCode
|
||||
locationShowName
|
||||
warehouseName / whName
|
||||
```
|
||||
|
||||
`locationCode` such as `1-1` is not globally unique. It can exist in multiple
|
||||
warehouses. Code-only resolution may be kept as a diagnostic fallback, but it
|
||||
must raise on ambiguity.
|
||||
|
||||
The current Sirna ID-first resolver is useful source evidence for this direction
|
||||
(`unilabos/devices/workstation/bioyond_studio/sirna_station/sirna_station.py:3659`).
|
||||
The Sirna mega plan captures the same concern, but the implementation and live
|
||||
Bioyond IDs are the stronger evidence.
|
||||
|
||||
### Bioyond Modes And UniLabOS Handling Are Different
|
||||
|
||||
Bioyond has three primary material modes in this context:
|
||||
|
||||
```text
|
||||
Sample
|
||||
Consumables
|
||||
Reagent
|
||||
```
|
||||
|
||||
Those modes should be preserved as the external taxonomy. UniLabOS still needs a
|
||||
handling decision inside the mode: should the row create/place a physical PLR
|
||||
resource, or update contents on an already-placed parent resource?
|
||||
|
||||
Physical slot resources include things like:
|
||||
|
||||
- tip racks;
|
||||
- plates;
|
||||
- cell culture plates;
|
||||
- empty trough/bottle labware;
|
||||
- other objects that occupy a warehouse slot.
|
||||
|
||||
Reagents are contents of a parent labware when the row describes a liquid rather
|
||||
than a physical holder. For Sirna, Bioyond `stock_material(typeMode=2)` returns
|
||||
`materialTypeMode="Reagent"` rows; those rows still need evidence-based handling
|
||||
as either physical reagent labware or reagent liquid content. The finding in
|
||||
`temp_benyao/sirna/_findings/2026-05-07_reagents_vs_resources.md:6` records the
|
||||
bug: the generic path can fall back to `RegularContainer`, fail registry lookup,
|
||||
and drop reagent rows such as `试剂槽裂解液/Betame`.
|
||||
|
||||
Recommended behavior:
|
||||
|
||||
1. Validate `materialTypeMode` as `Sample`, `Consumables`, or `Reagent`.
|
||||
2. For `Sample` and `Consumables`, default to mapped slot labware: instantiate
|
||||
the mapped PLR class and place it into the resolved warehouse slot.
|
||||
3. For `Reagent`, decide whether the row represents physical reagent labware or
|
||||
reagent liquid content from material type evidence, row shape, and live data.
|
||||
4. For physical reagent labware, place the mapped PLR resource in the resolved
|
||||
slot.
|
||||
5. For reagent liquid content, find the parent trough/bottle and attach liquid
|
||||
metadata to its tracker.
|
||||
6. Preserve Bioyond IDs in `parent.unilabos_extra["reagent_bioyond_ids"]`.
|
||||
7. Make liquid attachment idempotent by Bioyond material ID.
|
||||
8. If the parent labware is missing or the mode/handling cannot be resolved,
|
||||
defer or log with IDs; do not guess.
|
||||
|
||||
The existing Sirna helper `_attach_liquid_to_parent()` already follows the
|
||||
idempotent metadata direction
|
||||
(`unilabos/devices/workstation/bioyond_studio/sirna_station/sirna_station.py:4074`).
|
||||
|
||||
### The `0003` Question Must Stay Evidence-Based
|
||||
|
||||
Do not blindly map `materialTypeCode 0003` to `BioyondSirna_ReagentTrough`.
|
||||
|
||||
If live/schema evidence says a `0003` row is physical trough labware, map it to
|
||||
a PLR resource class. If evidence says it is liquid content, attach it to the
|
||||
parent trough. If evidence is contradictory, mark it unsupported and log the
|
||||
Bioyond IDs.
|
||||
|
||||
Treat this as an open design decision until source/schema/live evidence settles
|
||||
the row shape. The Sirna plan records the question, but it should not decide the
|
||||
mapping by itself.
|
||||
|
||||
### Sirna Warehouse And Axis Rules Are Project-Local
|
||||
|
||||
Sirna warehouse layout and axis conventions must be verified from Sirna source,
|
||||
Sirna schema, current deck behavior, and live/read-only Sirna APIs when
|
||||
available. Do not import Peptide, reaction, dispensing, or cell station layout
|
||||
truth.
|
||||
|
||||
For Sirna specifically, the current integrated deck display should be treated as
|
||||
the good baseline. The prior col-row slot-key fix is already present in the
|
||||
deck/graphio path, and any remaining x/y or y-reverse correction should be
|
||||
handled through shared warehouse metadata and shared graphio/display mapping
|
||||
rather than by reshaping the Sirna station display ad hoc.
|
||||
|
||||
### Display Geometry: Evidence Before Axis Values
|
||||
|
||||
Peptide resource sync should not be treated as a validated model, but its
|
||||
UniLabOS display work is useful and should influence this guidance.
|
||||
|
||||
Confirmed Peptide behavior:
|
||||
|
||||
- Peptide live warehouse evidence found `自动化堆栈` with 170 locations where
|
||||
`code="10-17"` appears at `x=17, y=10`
|
||||
(`../Uni-Lab-OS-Peptide/temp_benyao/peptide/_findings/2026-05-13_1404_peptide_col_row_deck.md:6`).
|
||||
- Peptide's current display convention is Peptide-specific evidence:
|
||||
`bioyond_axis="xy_col_row"` and `bioyond_key_axis="col_row"` in the current
|
||||
Peptide station implementation. Do not copy that pair into Sirna or any other
|
||||
project without live warehouse evidence for that target system. With this
|
||||
Peptide combination, graphio does not apply the legacy x/y swap
|
||||
(`../Uni-Lab-OS-Peptide/unilabos/resources/graphio.py:868`).
|
||||
- Peptide models the main automation stack as 17 visual rows by 10 visual
|
||||
columns while preserving labels such as `10-17`
|
||||
(`../Uni-Lab-OS-Peptide/unilabos/resources/bioyond/decks.py:308`).
|
||||
- Peptide warehouses and deck child positions use `frontend_y_flip=True` /
|
||||
`_frontend_y_flipped_coordinate(...)` so stored PLR coordinates compensate for
|
||||
the frontend y-axis inversion
|
||||
(`../Uni-Lab-OS-Peptide/unilabos/resources/bioyond/decks.py:299`;
|
||||
`temp_benyao/peptide/_findings/2026-05-13_1514_frontend_y_flip_layout.md:6`).
|
||||
- The older Peptide graph-layout note is stale for the Sirna discussion. The
|
||||
current Sirna integrated station/deck display is a good baseline; the reusable
|
||||
Peptide lesson is axis metadata and frontend y-reverse compatibility.
|
||||
- Peptide tests encode the intended behavior: `10-17` lands at row 17 /
|
||||
column 10, and after frontend y-flip the displayed site positions match the
|
||||
expected top-to-bottom layout
|
||||
(`../Uni-Lab-OS-Peptide/temp_benyao/peptide/tests/test_peptide_deck_layout.py:60`).
|
||||
|
||||
Guidance for Sirna and similar systems:
|
||||
|
||||
1. Treat `bioyond_axis` and `bioyond_key_axis` as two separate concepts:
|
||||
- `bioyond_axis` describes how Bioyond numeric `x/y` map to visual axes.
|
||||
- `bioyond_key_axis` describes how slot labels such as `10-17` are generated
|
||||
or preserved.
|
||||
2. Do not infer display orientation from label strings alone. Both `row_col`
|
||||
and `col_row` can preserve the same final label text while producing
|
||||
different visual layouts and graphio swap behavior.
|
||||
3. Use live/read-only `code/x/y` evidence for each project and each warehouse
|
||||
family before choosing axis metadata.
|
||||
4. Keep visual orientation fixes separate from material identity. IDs and slot
|
||||
labels determine registration; display dimensions and frontend y-flip only
|
||||
determine how the deck appears.
|
||||
5. Author intended display coordinates first, then convert stored y coordinates
|
||||
for the active frontend convention:
|
||||
- deck child stored y = `deck_height - display_y - child_height`;
|
||||
- warehouse site stored y = `warehouse_height - display_y - site_height`;
|
||||
- graph-level y values should be transformed only when the active frontend
|
||||
convention requires it.
|
||||
6. Preserve the current Sirna display as the baseline unless concrete frontend
|
||||
evidence shows a y-reverse problem. Do not change station/deck graph
|
||||
semantics just to match stale Peptide layout notes.
|
||||
7. Add layout tests that assert:
|
||||
- warehouse `num_items_x`, `num_items_y`, capacity, first key, and last key;
|
||||
- representative `code/x/y` examples land on the intended site key;
|
||||
- frontend y-flip produces expected displayed positions;
|
||||
- generated deck children do not overlap in displayed coordinates.
|
||||
8. When borrowing from Peptide, borrow the evidence pattern: live discovery,
|
||||
axis/key-axis metadata, y-flip tests, and display fixtures. Do not borrow a
|
||||
literal axis pair or Peptide resource-sync behavior as a validated path.
|
||||
|
||||
Concrete live discovery workflow:
|
||||
|
||||
1. Prefer the reusable read-only probe pattern before reading old findings:
|
||||
|
||||
```bash
|
||||
python3 temp_benyao/sirna/tests/probe_readonly_storage_inventory.py \
|
||||
--base-url <api_host> \
|
||||
--api-key <api_key> \
|
||||
--output temp_benyao/<project>/_logs/<timestamp>_readonly_storage_inventory_probe.json
|
||||
```
|
||||
|
||||
This probe checks swagger candidates, project storage/location endpoints,
|
||||
material type endpoints, `warehouse-info-by-mat-type-id`, and `stock-material`,
|
||||
then writes a redacted evidence file and a merged warehouse summary.
|
||||
|
||||
2. For Sirna quick checks, `temp_benyao/sirna/tests/discover_sirna_warehouses.py`
|
||||
is the narrower historical helper. Treat it as a template unless it has been
|
||||
parameterized for the target config.
|
||||
3. Query `/api/storage/location/locations-by-type?type=0&typeMode=0&materialType=0`
|
||||
first for stack names, warehouse IDs, full slot lists, `code`, `x`, `y`, `z`,
|
||||
and display mode. This endpoint is the topology source when available.
|
||||
4. Cross-reference with `/api/lims/storage/material-types` and
|
||||
`/api/lims/storage/warehouse-info-by-mat-type-id` to learn material-type
|
||||
placement constraints. Use `stock-material` only for occupied-slot evidence;
|
||||
it cannot reveal empty topology.
|
||||
5. Infer `bioyond_key_axis` from how slot labels must be generated or preserved,
|
||||
and infer `bioyond_axis` from how raw Bioyond `x/y` must map to PLR holder
|
||||
indices. A label such as `10-17` alone is ambiguous; compare it to the same
|
||||
record's `x/y`, and use boundary examples from non-square stacks.
|
||||
6. Encode the discovered convention on the warehouse resource, not in a one-off
|
||||
station branch. The metadata must serialize/deserialize with the warehouse
|
||||
because graph load and cloud sync rebuild resources.
|
||||
7. Add or update layout tests before changing Sirna display behavior. For Sirna,
|
||||
test against the current good display first, then only change shared x/y or
|
||||
y-reverse mapping if the fixture demonstrates a real mismatch.
|
||||
|
||||
### Deserialize Must Be Idempotent
|
||||
|
||||
This is confirmed framework behavior, not a possible risk. Resource publication
|
||||
builds `ResourceTreeSet` from live PLR resources by calling
|
||||
`resource.serialize()` and `resource.serialize_all_state()`
|
||||
(`unilabos/resources/resource_tracker.py:547`). Readback/reconstruction goes
|
||||
through `ResourceTreeSet.to_plr_resources()`, finds the PLR subclass, calls
|
||||
`sub_cls.deserialize(...)`, then restores PLR state, UUIDs, and `unilabos_extra`
|
||||
(`unilabos/resources/resource_tracker.py:637`). `ResourceTreeSet.dump()` also
|
||||
serializes resource nodes while excluding `children` from each individual node
|
||||
record (`unilabos/resources/resource_tracker.py:914`), so parent/child
|
||||
relationships and object state must survive the framework tree shape rather than
|
||||
only an in-memory PLR object graph.
|
||||
|
||||
Sirna resource/deck classes therefore must survive:
|
||||
|
||||
1. registry-time construction;
|
||||
2. `Resource.deserialize()` round trips;
|
||||
3. cloud-synced deck state with serialized children.
|
||||
|
||||
If a synced deck already has serialized `children`, default setup must not
|
||||
create duplicate/stale child resources. Sirna noticed this problem, but the
|
||||
reason is framework-level: cloud/resource-tree sync reconstructs PLR objects
|
||||
from serialized state, so constructors and setup logic must be idempotent.
|
||||
|
||||
Existing Sirna deck code already acknowledges the issue: `BIOYOND_Sirna_Deck`
|
||||
turns `setup=False` during deserialize when serialized `children` are present
|
||||
(`unilabos/resources/bioyond/decks.py:153`). Sirna material classes also use
|
||||
registry-visible `@resource(...)` decorators and tolerant constructors with
|
||||
`*args, **kwargs`, defaults, and `ordering` fallbacks
|
||||
(`unilabos/resources/bioyond/sirna_materials.py:14`). Treat those as required
|
||||
patterns for any new synced resource class.
|
||||
|
||||
Guidance:
|
||||
|
||||
- Do not add a deck/resource class until it round-trips through
|
||||
`Resource.serialize()` / `Resource.deserialize()` and
|
||||
`ResourceTreeSet.from_plr_resources(...).to_plr_resources()`.
|
||||
- Preserve `unilabos_uuid`, parentage, `unilabos_extra`, and liquid state across
|
||||
the round trip.
|
||||
- Make default setup conditional: if serialized children exist, do not recreate
|
||||
default warehouses or default child resources on top of them.
|
||||
- Itemized PLR subclasses must provide `ordered_items` or `ordering`; otherwise
|
||||
deserialization can fail or rebuild a different structure.
|
||||
|
||||
## Startup And Resync Recommendation
|
||||
|
||||
The current Sirna code installs `SirnaResourceSynchronizer` after
|
||||
`super().post_init(ros_node)` (`sirna_station.py:363`). That is useful as a
|
||||
phase patch and as evidence that classification hooks are needed, but it should
|
||||
not become the long-term lifecycle. Base initialization may already have run
|
||||
generic stock sync and base post-init may already have published the deck before
|
||||
the Sirna synchronizer is installed.
|
||||
|
||||
Recommended pathway:
|
||||
|
||||
1. Keep the `BioyondWorkstation` lifecycle as the base path.
|
||||
2. Add a synchronizer factory or hook registration point before eager sync, for
|
||||
example `create_resource_synchronizer()`.
|
||||
3. Let Sirna provide classification/resolution hooks through that shared
|
||||
synchronizer shape.
|
||||
4. Make startup sync use the installed hook-aware synchronizer before the first
|
||||
deck publication.
|
||||
5. Make manual resync, reset resync, report-triggered resync, and future
|
||||
periodic sync all call `self.resource_synchronizer.sync_from_external()`.
|
||||
6. Do not instantiate fresh base synchronizers inside Sirna actions, because
|
||||
that bypasses the installed project logic.
|
||||
|
||||
This directly addresses the overlap finding in
|
||||
`temp_benyao/sirna/_findings/2026-05-12_sirna_synchronizer_overlap.md:6`.
|
||||
|
||||
## Material Registration From Create-Order Results
|
||||
|
||||
Create-order allocation registration should remain separate from stock sync, but
|
||||
it should use the same classification and apply logic.
|
||||
|
||||
Recommended create-order pipeline:
|
||||
|
||||
1. Normalize allocation records into:
|
||||
|
||||
```python
|
||||
{
|
||||
"materialId": "...",
|
||||
"materialCode": "...",
|
||||
"materialName": "...",
|
||||
"materialTypeId": "...",
|
||||
"materialTypeCode": "...",
|
||||
"materialTypeMode": "Sample|Consumables|Reagent",
|
||||
"materialTypeName": "...",
|
||||
"locationId": "...",
|
||||
"locationCode": "...",
|
||||
"locationShowName": "...",
|
||||
}
|
||||
```
|
||||
|
||||
2. Resolve warehouse and slot by:
|
||||
|
||||
```text
|
||||
material-info(materialId)
|
||||
-> warehouse-info-by-mat-type-id(materialTypeId) matched by locationId
|
||||
-> code-only diagnostic fallback only if unambiguous
|
||||
```
|
||||
|
||||
3. Classify as `slot_labware`, `liquid_content`, or `unsupported`.
|
||||
4. Apply mutation to the PLR deck.
|
||||
5. Publish the full deck once after the batch.
|
||||
|
||||
The current Sirna `_register_materials_to_tree()` already documents this flow
|
||||
(`sirna_station.py:3659`) and should be the local reference implementation until
|
||||
the shared hook is designed.
|
||||
|
||||
## Cloud / UniLabOS Publication Rules
|
||||
|
||||
Always mutate real tracked PLR resources first. Then publish through the
|
||||
framework.
|
||||
|
||||
Correct call shape:
|
||||
|
||||
```python
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource,
|
||||
True,
|
||||
**{"resources": [self.deck]},
|
||||
)
|
||||
```
|
||||
|
||||
The real method is:
|
||||
|
||||
```python
|
||||
async def update_resource(self, resources: List["ResourcePLR"])
|
||||
```
|
||||
|
||||
See `unilabos/ros/nodes/base_device_node.py:727`.
|
||||
|
||||
Do not call:
|
||||
|
||||
```python
|
||||
update_resource(resource_name=..., resource_data=...)
|
||||
```
|
||||
|
||||
Do not manually serialize the deck for this path. `update_resource()` creates a
|
||||
`ResourceTreeSet`, sends it to `/c2s_update_resource_tree`, and applies returned
|
||||
UUID mappings. Missing root parent UUIDs are auto-mounted to the current device,
|
||||
so parentage should be preserved on PLR objects before publication.
|
||||
|
||||
## Metadata Contract
|
||||
|
||||
Every Bioyond-originated slot resource should carry enough metadata for unload,
|
||||
audit, and later sync:
|
||||
|
||||
```python
|
||||
plr_resource.unilabos_extra = {
|
||||
"material_bioyond_id": mat["materialId"],
|
||||
"material_bioyond_code": mat["materialCode"],
|
||||
"material_bioyond_name": mat["materialName"],
|
||||
"material_bioyond_type_id": mat["materialTypeId"],
|
||||
"material_bioyond_type_code": mat["materialTypeCode"],
|
||||
"material_bioyond_type_mode": mat["materialTypeMode"],
|
||||
"location_bioyond_id": mat["locationId"],
|
||||
"location_code": resolved["location_code"],
|
||||
"warehouse_bioyond_id": resolved["warehouse_id"],
|
||||
"warehouse_bioyond_name": resolved["warehouse_name"],
|
||||
"location_resolution_source": resolved["source"],
|
||||
}
|
||||
```
|
||||
|
||||
Every Bioyond-originated liquid content should preserve equivalent metadata on
|
||||
the parent labware:
|
||||
|
||||
```python
|
||||
parent.unilabos_extra.setdefault("reagent_bioyond_ids", []).append({
|
||||
"material_bioyond_id": mat["materialId"],
|
||||
"material_bioyond_code": mat["materialCode"],
|
||||
"material_bioyond_name": mat["materialName"],
|
||||
"material_bioyond_type_id": mat["materialTypeId"],
|
||||
"material_bioyond_type_code": mat["materialTypeCode"],
|
||||
"location_bioyond_id": mat["locationId"],
|
||||
"quantity": mat.get("quantity"),
|
||||
"location_resolution_source": resolved["source"],
|
||||
})
|
||||
```
|
||||
|
||||
This metadata is not decorative. It is required for correct unload, audit,
|
||||
duplicate prevention, and future round-trip sync.
|
||||
|
||||
## Stale State And Conflict Policy
|
||||
|
||||
This is confirmed current behavior, not just a theoretical risk.
|
||||
|
||||
Current stock import places resources into empty warehouse slots and skips
|
||||
occupied slots. That prevents overwrites, but it can leave stale local resources
|
||||
after external moves/deletes.
|
||||
|
||||
Evidence:
|
||||
|
||||
- `BioyondResourceSynchronizer.sync_from_external()` fetches Bioyond stock and
|
||||
delegates to `resource_bioyond_to_plr(...)`, but it does not compute a
|
||||
before/after diff or remove local resources absent from the snapshot
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:147`).
|
||||
- `resource_bioyond_to_plr(...)` only assigns when the target warehouse position
|
||||
is empty or a placeholder; when a real resource already occupies the slot, it
|
||||
logs "跳过放置" and leaves the existing object in place
|
||||
(`unilabos/resources/graphio.py:936`).
|
||||
- Bioyond outbound/removal logic exists in separate local-to-external hooks such
|
||||
as `resource_tree_remove(...)`, but that is not invoked by stock refresh for
|
||||
Bioyond rows that disappeared externally
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:987`).
|
||||
|
||||
Recommended direction:
|
||||
|
||||
1. Define Bioyond as the source of truth for external stock snapshots unless a
|
||||
local operation is in progress.
|
||||
2. Before applying a stock snapshot, compute a diff by Bioyond material ID.
|
||||
3. Remove or mark local resources whose Bioyond IDs disappeared from the
|
||||
snapshot, subject to workflow safety checks.
|
||||
4. Move local resources whose Bioyond location ID changed.
|
||||
5. Attach/detach liquid contents idempotently by Bioyond material ID.
|
||||
6. Publish once after applying the batch.
|
||||
7. In ambiguous or active-operation cases, log and require manual confirmation.
|
||||
|
||||
Until this policy exists, call the current implementation "refresh/import" rather
|
||||
than "authoritative synchronization."
|
||||
|
||||
## External-To-Local And Local-To-External Boundaries
|
||||
|
||||
External-to-local:
|
||||
|
||||
- Bioyond stock and create-order allocation rows mutate the local PLR deck.
|
||||
- Then UniLabOS publication derives resource trees from the PLR deck.
|
||||
|
||||
Local-to-external:
|
||||
|
||||
- `resource_tree_add` / update / remove may call Bioyond add, inbound, outbound,
|
||||
or move APIs.
|
||||
- These paths should require Bioyond IDs or explicit creation parameters.
|
||||
- Movement should use `unilabos_extra["update_resource_site"]` only as an
|
||||
explicit request, not as hidden ambient state.
|
||||
- After successful Bioyond side effects, refresh or update the PLR deck and
|
||||
publish the deck.
|
||||
|
||||
Avoid station-level direct LIMS calls that bypass the synchronizer unless the
|
||||
action explicitly reconciles the deck afterward.
|
||||
|
||||
## Error Handling Rules
|
||||
|
||||
Fail loudly on:
|
||||
|
||||
- unknown material type code/name;
|
||||
- unresolved warehouse ID/name;
|
||||
- location ID not found in `warehouse-info-by-mat-type-id`;
|
||||
- code-only location ambiguity;
|
||||
- missing parent labware for liquid content;
|
||||
- invalid PLR resource class or `Resource.deserialize()` failure;
|
||||
- Bioyond RPC returning empty/fallback values where an ID is required.
|
||||
|
||||
Do not silently create `RegularContainer` to hide mapping failures. The Sirna
|
||||
finding at `temp_benyao/sirna/_findings/2026-05-07_reagents_vs_resources.md:52`
|
||||
calls this out as a reusable trap.
|
||||
|
||||
## Tests And Validation
|
||||
|
||||
Minimum offline tests:
|
||||
|
||||
1. `update_resource` is called only with `resources=[deck]`.
|
||||
2. `ResourceTreeSet.from_plr_resources([deck])` preserves UUIDs, parentage,
|
||||
`data`, and `unilabos_extra`.
|
||||
3. Sirna allocation records resolve by `material-info` first.
|
||||
4. `warehouse-info-by-mat-type-id` resolves by `locationId`.
|
||||
5. Code-only fallback raises on ambiguous slots.
|
||||
6. `Sample` and `Consumables` rows become slot labware.
|
||||
7. Reagent content rows become parent liquid metadata.
|
||||
8. Re-running registration does not duplicate liquid entries.
|
||||
9. Missing parent labware is deferred/logged, not guessed.
|
||||
10. Unknown material type emits Bioyond IDs.
|
||||
11. Deck deserialize does not recreate duplicate default children.
|
||||
12. Warehouse coordinate mapping is tested per warehouse, not globally.
|
||||
13. A synced Sirna deck round-trips through PLR deserialize and
|
||||
`ResourceTreeSet` conversion without duplicate default children.
|
||||
14. Stock refresh with a missing Bioyond material ID proves current add/skip
|
||||
behavior first, then verifies the chosen diff/delete policy once implemented.
|
||||
15. Display geometry tests cover project-local live discovery fixtures,
|
||||
`bioyond_axis`, `bioyond_key_axis`, representative `code/x/y` mappings,
|
||||
frontend y-flip, and no-overlap deck layout.
|
||||
|
||||
Focused Sirna command:
|
||||
|
||||
```bash
|
||||
pytest temp_benyao/sirna/tests/test_sirna_resource_system.py -q
|
||||
```
|
||||
|
||||
Shared conversion command, when changing graphio or Bioyond converters:
|
||||
|
||||
```bash
|
||||
pytest tests/resources/test_converter_bioyond.py -q
|
||||
```
|
||||
|
||||
Live/read-only validation should capture fixtures for:
|
||||
|
||||
- `stock_material(typeMode=0/1/2, includeDetail=true)`;
|
||||
- `material-info(materialId)`;
|
||||
- `warehouse-info-by-mat-type-id(materialTypeId)`;
|
||||
- create-order allocation records;
|
||||
- frontend/cloud resource-tree readback after publication.
|
||||
|
||||
## Discrepancies To Discuss
|
||||
|
||||
### 1. Architecture Is Direction; Base Code Is The Compatibility Anchor
|
||||
|
||||
The architecture guide presents `ResourceSynchronizer` as bidirectional. Current
|
||||
Bioyond code is mostly eager external import plus selected add/remove/update
|
||||
side effects. It has no complete continuous conflict-resolution loop.
|
||||
|
||||
Sirna current code should be read in this context: it exposes missing
|
||||
capabilities, but parts of it conflict with the existing base lifecycle because
|
||||
it was layered on after the base sync behavior already existed.
|
||||
|
||||
Recommendation: keep the bidirectional architecture as the target, preserve
|
||||
`BioyondWorkstation` as the implementation anchor, and introduce shared hooks
|
||||
for the missing Sirna-class problems. Describe the current implementation as
|
||||
best-effort refresh plus Bioyond side effects until a diff/conflict policy
|
||||
exists.
|
||||
|
||||
### 2. The Doc Centers `Deck`; The Framework Centers `ResourceTreeSet`
|
||||
|
||||
The architecture guide uses PLR `Deck` as the material system. UniLabOS resource
|
||||
tracking uses `ResourceTreeSet` as the canonical serialized representation.
|
||||
|
||||
Recommendation: phrase the model as "Deck is the local PLR mutation surface;
|
||||
ResourceTreeSet is the UniLabOS/cloud representation derived from it."
|
||||
|
||||
### 3. Base Bioyond Sync Treats Every Stock Row As PLR Resource
|
||||
|
||||
`BioyondResourceSynchronizer.sync_from_external()` currently feeds typeMode
|
||||
0/1/2 rows into `resource_bioyond_to_plr(...)`.
|
||||
|
||||
Sirna evidence shows this is wrong for reagent/content-like rows.
|
||||
|
||||
Recommendation: add classification hooks before conversion. Rows classified as
|
||||
liquid content must not go through standalone PLR resource conversion.
|
||||
|
||||
### 4. Sirna Fix Exists As A Fork, Not A Shared Hook
|
||||
|
||||
Current `SirnaResourceSynchronizer` captures the important reagent-as-liquid
|
||||
question, but it duplicates or bypasses shared sync mechanics. Startup can run
|
||||
base sync before the Sirna synchronizer is installed, and manual/reset paths
|
||||
have used fresh base synchronizers.
|
||||
|
||||
Recommendation: keep the discovered behavior where evidence supports it, but
|
||||
refactor the shape. A factory/hook in the shared synchronizer is preferable to a
|
||||
long-lived parallel sync class.
|
||||
|
||||
### 5. Sirna Create-Order Registration Is Stronger Than Stock Sync
|
||||
|
||||
Create-order registration now has ID-first resolution and a clearer classifier.
|
||||
That is valuable evidence, not automatically the canonical sync design. The
|
||||
stock sync path still resolves external liquid rows by warehouse name/code and
|
||||
stores weaker metadata.
|
||||
|
||||
Recommendation: extract the stronger resolver/classifier ideas into shared
|
||||
hooks, then converge stock sync and create-order registration on the same
|
||||
functions.
|
||||
|
||||
### 6. Graphio Has Shared Fragility
|
||||
|
||||
`resource_bioyond_to_plr()` contains hardcoded warehouse/coordinate cases and a
|
||||
fallback to `RegularContainer`. Hardening it affects multiple Bioyond projects.
|
||||
|
||||
Recommendation: after Sirna is green, discuss shared graphio hardening in a
|
||||
separate change: no silent `RegularContainer`, explicit unknown-type diagnostics,
|
||||
and project-specific axis metadata instead of hardcoded names.
|
||||
|
||||
### 7. Serialize/Deserialize Is A Gating Contract
|
||||
|
||||
This is not optional documentation neatness. Any new resource/deck class or sync
|
||||
metadata must pass the framework serialize/deserialize path before it can be
|
||||
trusted in cloud-synced operation.
|
||||
|
||||
Recommendation: make round-trip tests part of acceptance for resource-system
|
||||
changes, especially for Sirna deck setup, warehouse metadata, `reagent_bioyond_ids`,
|
||||
liquid tracker state, and itemized labware ordering.
|
||||
|
||||
### 8. Existing Stock Sync Is Add/Skip-Biased, Not Delete-Aware
|
||||
|
||||
Current `sync_from_external()` imports and places observed Bioyond resources,
|
||||
but it does not delete local resources missing from the latest stock snapshot.
|
||||
When a target slot is occupied by a real resource, graphio skips placement rather
|
||||
than replacing it.
|
||||
|
||||
Recommendation: describe the current behavior as "stock refresh/import" until a
|
||||
Bioyond-ID diff policy is implemented. Deletion/removal must be a deliberate
|
||||
phase, with workflow-safety checks and tests, not implied by the current stock
|
||||
sync name.
|
||||
|
||||
### 9. Peptide Display Is Useful; Peptide Sync Is Not Yet Authority
|
||||
|
||||
Peptide's latest display work is useful evidence for Peptide's own warehouse
|
||||
axis/key-axis metadata and for the shared need to account for frontend y-axis
|
||||
inversion. It does not define Sirna's axis values. Its resource sync remains
|
||||
untested/problematic and should not be treated as the model for Sirna sync
|
||||
behavior.
|
||||
|
||||
Recommendation: fold the Peptide display lesson into shared guidance as a
|
||||
discovery-and-test pattern, not as a literal axis pair. Keep Sirna display
|
||||
behavior grounded in Sirna live evidence and the current good deck baseline; keep
|
||||
resource synchronization recommendations grounded in the Sirna ID-first
|
||||
registration path and the shared Bioyond synchronizer refactor.
|
||||
|
||||
### 10. Some Existing Stations Should Be Examples Only, Not Templates
|
||||
|
||||
Non-Sirna stations show useful patterns, but also shortcuts:
|
||||
|
||||
- direct LIMS calls bypassing the synchronizer;
|
||||
- duplicate `super().__init__()` in reaction station;
|
||||
- stale/undefined `WAREHOUSE_MAPPING` references;
|
||||
- RPC methods collapsing failures into empty values;
|
||||
- no robust stale deck cleanup on stock refresh.
|
||||
|
||||
Recommendation: borrow the shared deck publication and Bioyond ID metadata
|
||||
patterns, not the incidental shortcuts.
|
||||
|
||||
## Recommended Discussion Path
|
||||
|
||||
For the next implementation discussion, decide these in order:
|
||||
|
||||
1. What is the smallest shared-base extension that lets project hooks exist
|
||||
before eager sync without breaking existing Bioyond stations?
|
||||
2. Should `BioyondWorkstation` gain a synchronizer factory, a hook registry, or
|
||||
a delayed eager-sync point?
|
||||
3. Is `materialTypeCode 0003` in current Sirna live data physical labware,
|
||||
liquid content, or both depending on row shape?
|
||||
4. Where should Sirna warehouse Bioyond IDs live: station config, deck metadata,
|
||||
or both?
|
||||
5. Should stock refresh clear/diff deck state now, or remain append/skip until
|
||||
after create-order registration is stable?
|
||||
6. Should `update_resource` remain async/non-blocking for material registration,
|
||||
or should selected user-facing actions fail if publication fails?
|
||||
7. Which parts of the Sirna reagent-as-liquid rule are project-local, and which
|
||||
should become shared Bioyond behavior after Peptide/cell validation?
|
||||
8. Should graphio fallback hardening land before or after Sirna stock sync is
|
||||
fully validated?
|
||||
9. Should any remaining Sirna x/y or y-reverse issue be fixed in shared
|
||||
graphio/display mapping after a live fixture proves it, or should the current
|
||||
Sirna deck remain untouched?
|
||||
|
||||
## Recommended Pathway
|
||||
|
||||
The pragmatic path is:
|
||||
|
||||
1. Preserve and test the current `BioyondWorkstation` lifecycle as the shared
|
||||
compatibility baseline.
|
||||
2. Treat Sirna create-order registration as a local proof of the missing
|
||||
classification/ID-resolution behavior, not as the architecture shape to copy.
|
||||
3. Validate live/read-only Sirna fixtures for `0003`, warehouse IDs, and stock
|
||||
reagent rows.
|
||||
4. Refactor the shared Bioyond synchronizer to expose classification,
|
||||
resolution, and non-slot row hooks with default behavior matching existing
|
||||
stations.
|
||||
5. Make Sirna install hooks before the first external sync and first deck
|
||||
publication through the shared lifecycle.
|
||||
6. Route startup, manual resync, reset resync, and report-triggered resync
|
||||
through the installed synchronizer.
|
||||
7. Converge stock sync and create-order registration on one
|
||||
resolver/classifier/apply implementation.
|
||||
8. Add stale-state diffing only after the basic ID-first path is stable.
|
||||
9. Harden graphio fallback as a shared follow-up.
|
||||
|
||||
This gives Sirna the necessary behavior without locking in a second Bioyond sync
|
||||
system that future projects will have to debug around.
|
||||
@@ -1,5 +1,5 @@
|
||||
channel_sources:
|
||||
- robostack,robostack-staging,conda-forge
|
||||
- robostack,robostack-staging,conda-forge,defaults
|
||||
|
||||
gazebo:
|
||||
- '11'
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.11.1
|
||||
version: 0.10.19
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.11.1"
|
||||
version: "0.10.19"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
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setup(
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name=package_name,
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version='0.11.1',
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version='0.10.19',
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packages=find_packages(),
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include_package_data=True,
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install_requires=['setuptools'],
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172
tests/app/__init__.py
Normal file
172
tests/app/__init__.py
Normal file
@@ -0,0 +1,172 @@
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"""normalize_model_for_upload 单元测试"""
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import unittest
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import sys
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import os
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# 添加项目根目录到 sys.path
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sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
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from unilabos.app.register import normalize_model_for_upload
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class TestNormalizeModelForUpload(unittest.TestCase):
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"""测试 Registry YAML model 字段标准化"""
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def test_empty_input(self):
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"""空 dict 直接返回"""
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self.assertEqual(normalize_model_for_upload({}), {})
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self.assertIsNone(normalize_model_for_upload(None))
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def test_format_infer_xacro(self):
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"""自动从 path 后缀推断 format=xacro"""
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model = {
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"path": "https://oss.example.com/devices/arm/macro_device.xacro",
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"mesh": "arm_slider",
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"type": "device",
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}
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result = normalize_model_for_upload(model)
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self.assertEqual(result["format"], "xacro")
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def test_format_infer_urdf(self):
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"""自动推断 format=urdf"""
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model = {"path": "https://example.com/robot.urdf", "type": "device"}
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result = normalize_model_for_upload(model)
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self.assertEqual(result["format"], "urdf")
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def test_format_infer_stl(self):
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"""自动推断 format=stl"""
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model = {"path": "https://example.com/part.stl"}
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result = normalize_model_for_upload(model)
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self.assertEqual(result["format"], "stl")
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def test_format_infer_gltf(self):
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"""自动推断 format=gltf（.gltf 和 .glb）"""
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for ext in [".gltf", ".glb"]:
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model = {"path": f"https://example.com/model{ext}"}
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result = normalize_model_for_upload(model)
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self.assertEqual(result["format"], "gltf", f"failed for {ext}")
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def test_format_not_overwritten(self):
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"""已有 format 字段时不覆盖"""
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model = {
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"path": "https://example.com/model.xacro",
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"format": "custom",
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}
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result = normalize_model_for_upload(model)
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self.assertEqual(result["format"], "custom")
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def test_format_no_path(self):
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"""没有 path 时不推断 format"""
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model = {"mesh": "arm_slider", "type": "device"}
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result = normalize_model_for_upload(model)
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self.assertNotIn("format", result)
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def test_children_mesh_string_to_struct(self):
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"""将 children_mesh 字符串（旧格式）转为结构化对象"""
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model = {
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"path": "https://example.com/rack.xacro",
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"type": "resource",
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"children_mesh": "tip/meshes/tip.stl",
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"children_mesh_tf": [0.0045, 0.0045, 0, 0, 0, 1.57],
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"children_mesh_path": "https://oss.example.com/tip.stl",
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}
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result = normalize_model_for_upload(model)
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# children_mesh 应变为 dict
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cm = result["children_mesh"]
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self.assertIsInstance(cm, dict)
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self.assertEqual(cm["path"], "https://oss.example.com/tip.stl") # 优先使用 OSS URL
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self.assertEqual(cm["format"], "stl")
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self.assertTrue(cm["default_visible"])
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self.assertEqual(cm["local_offset"], [0.0045, 0.0045, 0])
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self.assertEqual(cm["local_rotation"], [0, 0, 1.57])
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# 旧字段应被移除
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self.assertNotIn("children_mesh_tf", result)
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self.assertNotIn("children_mesh_path", result)
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def test_children_mesh_no_oss_fallback(self):
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"""children_mesh 无 OSS URL 时 fallback 到本地路径"""
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model = {
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"path": "https://example.com/rack.xacro",
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"children_mesh": "plate_96/meshes/plate_96.stl",
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}
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result = normalize_model_for_upload(model)
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cm = result["children_mesh"]
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self.assertEqual(cm["path"], "plate_96/meshes/plate_96.stl")
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self.assertEqual(cm["format"], "stl")
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def test_children_mesh_gltf_format(self):
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"""children_mesh .glb 文件推断 format=gltf"""
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model = {
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"path": "https://example.com/rack.xacro",
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"children_mesh": "meshes/child.glb",
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}
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result = normalize_model_for_upload(model)
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self.assertEqual(result["children_mesh"]["format"], "gltf")
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def test_children_mesh_partial_tf(self):
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"""children_mesh_tf 只有 3 个值时只有 offset 无 rotation"""
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model = {
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"path": "https://example.com/rack.xacro",
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"children_mesh": "tip.stl",
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"children_mesh_tf": [0.01, 0.02, 0.03],
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}
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result = normalize_model_for_upload(model)
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cm = result["children_mesh"]
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self.assertEqual(cm["local_offset"], [0.01, 0.02, 0.03])
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self.assertNotIn("local_rotation", cm)
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def test_children_mesh_no_tf(self):
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"""children_mesh 无 tf 时不加 offset/rotation"""
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model = {
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"path": "https://example.com/rack.xacro",
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"children_mesh": "tip.stl",
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}
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result = normalize_model_for_upload(model)
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cm = result["children_mesh"]
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self.assertNotIn("local_offset", cm)
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self.assertNotIn("local_rotation", cm)
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def test_children_mesh_already_dict(self):
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"""children_mesh 已经是 dict 时不重新映射"""
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model = {
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"path": "https://example.com/rack.xacro",
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"children_mesh": {
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"path": "https://example.com/tip.stl",
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"format": "stl",
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"default_visible": False,
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},
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}
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result = normalize_model_for_upload(model)
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cm = result["children_mesh"]
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self.assertIsInstance(cm, dict)
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self.assertFalse(cm["default_visible"])
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def test_original_not_mutated(self):
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"""原始 dict 不被修改"""
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original = {
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"path": "https://example.com/model.xacro",
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"mesh": "arm",
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}
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original_copy = {**original}
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normalize_model_for_upload(original)
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self.assertEqual(original, original_copy)
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def test_preserves_existing_fields(self):
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"""所有原始字段都被保留"""
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model = {
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"path": "https://example.com/model.xacro",
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"mesh": "arm_slider",
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"type": "device",
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"mesh_tf": [0, 0, 0, 0, 0, 0],
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"custom_field": "should_survive",
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}
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result = normalize_model_for_upload(model)
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self.assertEqual(result["custom_field"], "should_survive")
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self.assertEqual(result["mesh_tf"], [0, 0, 0, 0, 0, 0])
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if __name__ == "__main__":
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unittest.main()
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496
tests/app/test_model_upload.py
Normal file
496
tests/app/test_model_upload.py
Normal file
@@ -0,0 +1,496 @@
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"""model_upload.py 单元测试（upload_device_model / download_model_from_oss / XOR 加解密）"""
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import unittest
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import tempfile
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import os
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import sys
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from pathlib import Path
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from unittest.mock import patch, MagicMock
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sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
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from unilabos.app.model_upload import (
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upload_device_model,
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download_model_from_oss,
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_MODEL_EXTENSIONS,
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_MESH_ENCRYPT_EXTENSIONS,
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_xor_transform,
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)
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class TestUploadDeviceModel(unittest.TestCase):
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"""测试本地模型文件上传到 OSS"""
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def setUp(self):
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self.tmp_dir = tempfile.mkdtemp()
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self.mock_client = MagicMock()
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def _create_model_files(self, subdir: str, filenames: list[str]):
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"""在临时目录中创建设备模型文件"""
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model_dir = Path(self.tmp_dir) / "devices" / subdir
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model_dir.mkdir(parents=True, exist_ok=True)
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for name in filenames:
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p = model_dir / name
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p.parent.mkdir(parents=True, exist_ok=True)
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p.write_text("dummy content")
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return model_dir
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@patch("unilabos.app.model_upload._MESH_BASE_DIR")
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def test_upload_success(self, mock_base):
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"""正常上传流程"""
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mock_base.__truediv__ = lambda self, x: Path(self.tmp_dir) / x
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# 直接 patch _MESH_BASE_DIR 为 Path(tmp_dir)
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with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
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self._create_model_files("arm_slider", ["macro_device.xacro", "meshes/link1.stl"])
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self.mock_client.get_model_upload_urls.return_value = {
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"files": [
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{"name": "macro_device.xacro", "upload_url": "https://oss.example.com/put1"},
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{"name": "meshes/link1.stl", "upload_url": "https://oss.example.com/put2"},
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]
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}
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self.mock_client.publish_model.return_value = {
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"path": "https://oss.example.com/arm_slider/macro_device.xacro"
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}
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with patch("unilabos.app.model_upload._put_upload") as mock_put:
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result = upload_device_model(
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http_client=self.mock_client,
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template_uuid="test-uuid",
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mesh_name="arm_slider",
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model_type="device",
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version="1.0.0",
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)
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self.assertEqual(result, "https://oss.example.com/arm_slider/macro_device.xacro")
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self.mock_client.get_model_upload_urls.assert_called_once()
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self.mock_client.publish_model.assert_called_once()
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@patch("unilabos.app.model_upload._MESH_BASE_DIR")
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def test_upload_dir_not_exists(self, mock_base):
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"""本地目录不存在时返回 None"""
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with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
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result = upload_device_model(
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http_client=self.mock_client,
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template_uuid="test-uuid",
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mesh_name="nonexistent",
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model_type="device",
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)
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self.assertIsNone(result)
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@patch("unilabos.app.model_upload._MESH_BASE_DIR")
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def test_upload_no_valid_files(self, mock_base):
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"""目录中无有效模型文件时返回 None"""
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with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
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model_dir = Path(self.tmp_dir) / "devices" / "empty_model"
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model_dir.mkdir(parents=True, exist_ok=True)
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(model_dir / "readme.txt").write_text("not a model")
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result = upload_device_model(
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http_client=self.mock_client,
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template_uuid="test-uuid",
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mesh_name="empty_model",
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model_type="device",
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)
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self.assertIsNone(result)
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|
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@patch("unilabos.app.model_upload._MESH_BASE_DIR")
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||||
def test_upload_urls_failure(self, mock_base):
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"""获取上传 URL 失败时返回 None"""
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
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self._create_model_files("arm", ["device.xacro"])
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self.mock_client.get_model_upload_urls.return_value = None
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|
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result = upload_device_model(
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http_client=self.mock_client,
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template_uuid="test-uuid",
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mesh_name="arm",
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model_type="device",
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)
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self.assertIsNone(result)
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|
||||
|
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class TestDownloadModelFromOss(unittest.TestCase):
|
||||
"""测试从 OSS 下载模型文件到本地"""
|
||||
|
||||
def setUp(self):
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||||
self.tmp_dir = tempfile.mkdtemp()
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def test_skip_no_mesh_name(self):
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"""缺少 mesh 名称时跳过"""
|
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result = download_model_from_oss({"type": "device", "path": "https://x.com/a.xacro"})
|
||||
self.assertFalse(result)
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||||
|
||||
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) != {}
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.11.1"
|
||||
__version__ = "0.10.19"
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -12,15 +12,6 @@ from typing import Dict, Any, List
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
|
||||
# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
|
||||
if sys.platform == "win32":
|
||||
for _stream in (sys.stdout, sys.stderr):
|
||||
try:
|
||||
_stream.reconfigure(encoding="utf-8", errors="replace") # type: ignore[attr-defined]
|
||||
except (AttributeError, OSError):
|
||||
pass
|
||||
|
||||
# 首先添加项目根目录到路径
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
@@ -242,7 +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(
|
||||
@@ -447,10 +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"
|
||||
@@ -562,7 +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
|
||||
|
||||
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
|
||||
|
||||
@@ -2,8 +2,6 @@ import time
|
||||
import logging
|
||||
from typing import Union, Dict, Optional
|
||||
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
|
||||
class VirtualMultiwayValve:
|
||||
"""
|
||||
@@ -43,11 +41,13 @@ class VirtualMultiwayValve:
|
||||
def target_position(self) -> int:
|
||||
return self._target_position
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def current_port(self) -> str:
|
||||
"""当前连接的端口名称 🔌"""
|
||||
return self.port
|
||||
def get_current_position(self) -> int:
|
||||
"""获取当前阀门位置 📍"""
|
||||
return self._current_position
|
||||
|
||||
def get_current_port(self) -> str:
|
||||
"""获取当前连接的端口名称 🔌"""
|
||||
return self._current_position
|
||||
|
||||
def set_position(self, command: Union[int, str]):
|
||||
"""
|
||||
@@ -169,14 +169,12 @@ class VirtualMultiwayValve:
|
||||
self._status = "Idle"
|
||||
self._valve_state = "Closed"
|
||||
|
||||
close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
|
||||
close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
|
||||
self.logger.info(close_msg)
|
||||
return close_msg
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def valve_position(self) -> int:
|
||||
"""阀门位置 📍"""
|
||||
def get_valve_position(self) -> int:
|
||||
"""获取阀门位置 - 兼容性方法 📍"""
|
||||
return self._current_position
|
||||
|
||||
def set_valve_position(self, command: Union[int, str]):
|
||||
@@ -231,16 +229,19 @@ class VirtualMultiwayValve:
|
||||
self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
|
||||
return self.set_to_pump_position()
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def flow_path(self) -> str:
|
||||
"""当前流路路径描述 🌊"""
|
||||
def get_flow_path(self) -> str:
|
||||
"""获取当前流路路径描述 🌊"""
|
||||
current_port = self.get_current_port()
|
||||
if self._current_position == 0:
|
||||
return f"🚰 转移泵已连接 (位置 {self._current_position})"
|
||||
return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
|
||||
flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
|
||||
else:
|
||||
flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
|
||||
|
||||
# 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
|
||||
return flow_path
|
||||
|
||||
def __str__(self):
|
||||
current_port = self.current_port
|
||||
current_port = self.get_current_port()
|
||||
status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
|
||||
|
||||
return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
|
||||
@@ -252,7 +253,7 @@ if __name__ == "__main__":
|
||||
|
||||
print("🔄 === 虚拟九通阀门测试 === ✨")
|
||||
print(f"🏠 初始状态: {valve}")
|
||||
print(f"🌊 当前流路: {valve.flow_path}")
|
||||
print(f"🌊 当前流路: {valve.get_flow_path()}")
|
||||
|
||||
# 切换到试剂瓶1（1号位）
|
||||
print(f"\n🔌 切换到1号位: {valve.set_position(1)}")
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -3,7 +3,6 @@ import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any
|
||||
|
||||
from unilabos.registry.decorators import topic_config
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class VirtualStirrer:
|
||||
@@ -315,11 +314,9 @@ class VirtualStirrer:
|
||||
def min_speed(self) -> float:
|
||||
return self._min_speed
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def device_info(self) -> Dict[str, Any]:
|
||||
"""设备状态快照信息 📊"""
|
||||
return {
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""获取设备状态信息 📊"""
|
||||
info = {
|
||||
"device_id": self.device_id,
|
||||
"status": self.status,
|
||||
"operation_mode": self.operation_mode,
|
||||
@@ -328,9 +325,12 @@ class VirtualStirrer:
|
||||
"is_stirring": self.is_stirring,
|
||||
"remaining_time": self.remaining_time,
|
||||
"max_speed": self._max_speed,
|
||||
"min_speed": self._min_speed,
|
||||
"min_speed": self._min_speed
|
||||
}
|
||||
|
||||
|
||||
# self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
|
||||
return info
|
||||
|
||||
def __str__(self):
|
||||
status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
|
||||
return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"
|
||||
@@ -4,7 +4,6 @@ from enum import Enum
|
||||
from typing import Union, Optional
|
||||
import logging
|
||||
|
||||
from unilabos.registry.decorators import topic_config
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
||||
@@ -386,10 +385,8 @@ class VirtualTransferPump:
|
||||
"""获取当前体积"""
|
||||
return self._current_volume
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def remaining_capacity(self) -> float:
|
||||
"""剩余容量 (ml)"""
|
||||
def get_remaining_capacity(self) -> float:
|
||||
"""获取剩余容量"""
|
||||
return self.max_volume - self._current_volume
|
||||
|
||||
def is_empty(self) -> bool:
|
||||
|
||||
@@ -14,30 +14,19 @@ Virtual Workbench Device - 模拟工作台设备
|
||||
|
||||
import logging
|
||||
import time
|
||||
from typing import Dict, Any, Optional, List
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from threading import Lock, RLock
|
||||
from typing import Any, Dict, List, Optional, cast
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.registry.decorators import (
|
||||
ActionInputHandle,
|
||||
ActionOutputHandle,
|
||||
DataSource,
|
||||
NodeType,
|
||||
action,
|
||||
device,
|
||||
not_action,
|
||||
topic_config,
|
||||
)
|
||||
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,
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
|
||||
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
|
||||
@@ -122,7 +111,6 @@ class HeatingStation:
|
||||
|
||||
@device(
|
||||
id="virtual_workbench",
|
||||
display_name="虚拟工作台",
|
||||
category=["virtual_device"],
|
||||
description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
|
||||
)
|
||||
@@ -148,19 +136,7 @@ class VirtualWorkbench:
|
||||
HEATING_TIME: float = 60.0 # 加热时间(秒)
|
||||
NUM_HEATING_STATIONS: int = 3 # 加热台数量
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: Optional[str] = None,
|
||||
config: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
"""
|
||||
初始化虚拟工作台。
|
||||
|
||||
Args:
|
||||
device_id[设备ID]: 工作台设备实例 ID，默认使用 virtual_workbench。
|
||||
config[设备配置]: 可包含 arm_operation_time、heating_time、num_heating_stations。
|
||||
"""
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and "id" in kwargs:
|
||||
device_id = kwargs.pop("id")
|
||||
@@ -174,13 +150,9 @@ class VirtualWorkbench:
|
||||
self.data: Dict[str, Any] = {}
|
||||
|
||||
# 从config中获取可配置参数
|
||||
self.ARM_OPERATION_TIME = float(
|
||||
self.config.get("arm_operation_time", self.ARM_OPERATION_TIME)
|
||||
)
|
||||
self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
|
||||
self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
|
||||
self.NUM_HEATING_STATIONS = int(
|
||||
self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS)
|
||||
)
|
||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
|
||||
|
||||
# 机械臂状态和锁
|
||||
self._arm_lock = Lock()
|
||||
@@ -189,8 +161,7 @@ class VirtualWorkbench:
|
||||
|
||||
# 加热台状态
|
||||
self._heating_stations: Dict[int, HeatingStation] = {
|
||||
i: HeatingStation(station_id=i)
|
||||
for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
}
|
||||
self._stations_lock = RLock()
|
||||
|
||||
@@ -319,292 +290,20 @@ 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:
|
||||
"""
|
||||
人工确认资源转移和扣电测试参数。
|
||||
|
||||
Args:
|
||||
resource[待转移资源]: 需要人工确认的资源列表。
|
||||
target_device[目标设备]: 资源要转移到的目标设备 ID。
|
||||
mount_resource[目标孔位]: 资源要挂载到的目标孔位列表。
|
||||
collector_mass[极流体质量]: 每个样品对应的极流体质量。
|
||||
active_material[活性物质含量]: 每个样品对应的活性物质含量。
|
||||
capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
|
||||
battery_system[电池体系]: 每个样品对应的电池体系名称。
|
||||
timeout_seconds[超时时间]: 人工确认超时时间，单位秒。
|
||||
assignee_user_ids[确认人]: 指定处理人工确认任务的用户 ID 列表。
|
||||
|
||||
Note:
|
||||
修改的结果无效，是只读的。
|
||||
"""
|
||||
resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, resource)).dump()
|
||||
mount_resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, mount_resource)).dump()
|
||||
kwargs.update(locals())
|
||||
kwargs.pop("kwargs")
|
||||
kwargs.pop("self")
|
||||
kwargs["resource"] = resource_tree
|
||||
kwargs["mount_resource"] = mount_resource_tree
|
||||
kwargs.pop("resource_tree")
|
||||
kwargs.pop("mount_resource_tree")
|
||||
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],
|
||||
):
|
||||
"""
|
||||
转移资源到目标设备。
|
||||
|
||||
Args:
|
||||
resource[待转移资源]: 待转移的资源列表。
|
||||
target_device[目标设备]: 接收资源的目标设备 ID。
|
||||
mount_resource[目标孔位]: 目标设备上的挂载孔位列表。
|
||||
"""
|
||||
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],
|
||||
):
|
||||
"""
|
||||
启动扣电测试。
|
||||
|
||||
Args:
|
||||
resource[待测试资源]: 需要进行扣电测试的资源列表。
|
||||
mount_resource[测试孔位]: 扣电测试使用的目标孔位列表。
|
||||
collector_mass[极流体质量]: 每个样品对应的极流体质量。
|
||||
active_material[活性物质含量]: 每个样品对应的活性物质含量。
|
||||
capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
|
||||
battery_system[电池体系]: 每个样品对应的电池体系名称。
|
||||
"""
|
||||
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",
|
||||
handles=[
|
||||
ActionOutputHandle(key="channel_1", data_type="workbench_material", label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_2", data_type="workbench_material", label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_3", data_type="workbench_material", label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_4", data_type="workbench_material", label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_5", data_type="workbench_material", label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_1", data_type="workbench_material",
|
||||
label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_2", data_type="workbench_material",
|
||||
label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_3", data_type="workbench_material",
|
||||
label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_4", data_type="workbench_material",
|
||||
label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_5", data_type="workbench_material",
|
||||
label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def prepare_materials(
|
||||
@@ -617,9 +316,6 @@ class VirtualWorkbench:
|
||||
|
||||
作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
|
||||
输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
|
||||
|
||||
Args:
|
||||
count[物料数量]: 要生成的物料数量，默认生成 5 个。
|
||||
"""
|
||||
materials = [i for i in range(1, count + 1)]
|
||||
|
||||
@@ -640,11 +336,7 @@ class VirtualWorkbench:
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
@@ -654,27 +346,12 @@ class VirtualWorkbench:
|
||||
auto_prefix=True,
|
||||
description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
|
||||
handles=[
|
||||
ActionInputHandle(
|
||||
key="material_input",
|
||||
data_type="workbench_material",
|
||||
label="物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="heating_station_output",
|
||||
data_type="workbench_station",
|
||||
label="加热台ID",
|
||||
data_key="station_id",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="material_number_output",
|
||||
data_type="workbench_material",
|
||||
label="物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionInputHandle(key="material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="material_number_output", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def move_to_heating_station(
|
||||
@@ -686,9 +363,6 @@ class VirtualWorkbench:
|
||||
将物料从An位置移动到加热台
|
||||
|
||||
多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
|
||||
|
||||
Args:
|
||||
material_number[物料编号]: 要移动的物料编号，对应 A1、A2 等起始位置。
|
||||
"""
|
||||
material_id = f"A{material_number}"
|
||||
task_desc = f"移动{material_id}到加热台"
|
||||
@@ -751,8 +425,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -775,8 +448,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -788,34 +460,14 @@ class VirtualWorkbench:
|
||||
always_free=True,
|
||||
description="启动指定加热台的加热程序",
|
||||
handles=[
|
||||
ActionInputHandle(
|
||||
key="station_id_input",
|
||||
data_type="workbench_station",
|
||||
label="加热台ID",
|
||||
data_key="station_id",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="material_number_input",
|
||||
data_type="workbench_material",
|
||||
label="物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="heating_done_station",
|
||||
data_type="workbench_station",
|
||||
label="加热完成-加热台ID",
|
||||
data_key="station_id",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="heating_done_material",
|
||||
data_type="workbench_material",
|
||||
label="加热完成-物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionInputHandle(key="station_id_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="material_number_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
|
||||
label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
|
||||
label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def start_heating(
|
||||
@@ -826,10 +478,6 @@ class VirtualWorkbench:
|
||||
) -> StartHeatingResult:
|
||||
"""
|
||||
启动指定加热台的加热程序
|
||||
|
||||
Args:
|
||||
station_id[加热台ID]: 要启动加热的加热台编号。
|
||||
material_number[物料编号]: 当前加热台上的物料编号。
|
||||
"""
|
||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||
|
||||
@@ -846,8 +494,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -870,8 +517,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -891,8 +537,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -932,9 +577,7 @@ class VirtualWorkbench:
|
||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||
|
||||
if time.time() - last_countdown_log >= 5.0:
|
||||
self.logger.info(
|
||||
f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s"
|
||||
)
|
||||
self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
|
||||
last_countdown_log = time.time()
|
||||
|
||||
if elapsed >= self.HEATING_TIME:
|
||||
@@ -951,9 +594,7 @@ class VirtualWorkbench:
|
||||
self._active_tasks[material_id]["status"] = "heating_completed"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热完成")
|
||||
self.logger.info(
|
||||
f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)"
|
||||
)
|
||||
self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
@@ -967,8 +608,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -979,20 +619,10 @@ class VirtualWorkbench:
|
||||
auto_prefix=True,
|
||||
description="将物料从加热台移动到输出位置Cn",
|
||||
handles=[
|
||||
ActionInputHandle(
|
||||
key="output_station_input",
|
||||
data_type="workbench_station",
|
||||
label="加热台ID",
|
||||
data_key="station_id",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="output_material_input",
|
||||
data_type="workbench_material",
|
||||
label="物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(key="output_station_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="output_material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
],
|
||||
)
|
||||
def move_to_output(
|
||||
@@ -1003,10 +633,6 @@ class VirtualWorkbench:
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
|
||||
Args:
|
||||
station_id[加热台ID]: 已完成加热的加热台编号。
|
||||
material_number[物料编号]: 要移动到输出位置的物料编号，对应 Cn。
|
||||
"""
|
||||
output_number = material_number
|
||||
|
||||
@@ -1023,8 +649,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -1048,8 +673,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -1069,8 +693,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -1152,8 +775,7 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
|
||||
@@ -1,459 +0,0 @@
|
||||
"""Per-action raw call/response log for Bioyond stations.
|
||||
|
||||
When a debug session is active, ``wrap_rpc_http`` replaces a ``BioyondV1RPC``
|
||||
instance's ``post`` / ``get`` methods with closures that perform the HTTP
|
||||
transport themselves, capture the request/response details, and append a record
|
||||
to the active session before returning exactly what ``BaseRequest`` would have
|
||||
returned. Outside of an active session the wrapped method delegates to the
|
||||
original (unwrapped) implementation, leaving non-debug behavior intact.
|
||||
|
||||
The session writes a Markdown file under ``out_dir`` mirroring the format of
|
||||
``temp_benyao/peptide/_logs/2026-04-30_160316_day3_samplefile_only_raw_calls.md``
|
||||
minus the "Raw Payload Argument" section.
|
||||
|
||||
This module has no dependency on ``BioyondV1RPC`` itself; the only contract is
|
||||
that the wrapped instance descends from ``BaseRequest`` (i.e. has a logger
|
||||
returned by ``self.get_logger()``).
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import contextvars
|
||||
import copy
|
||||
import inspect
|
||||
import json
|
||||
import re
|
||||
from contextlib import contextmanager
|
||||
from dataclasses import dataclass, field
|
||||
from datetime import datetime
|
||||
from pathlib import Path
|
||||
from typing import Any, Iterator, List, Optional
|
||||
|
||||
import requests
|
||||
|
||||
__all__ = [
|
||||
"CallRecord",
|
||||
"CallLogContext",
|
||||
"session",
|
||||
"wrap_rpc_http",
|
||||
"active_session",
|
||||
]
|
||||
|
||||
|
||||
_DEFAULT_TIMEOUT_GET = 30
|
||||
_DEFAULT_TIMEOUT_POST = 120
|
||||
|
||||
|
||||
@dataclass
|
||||
class CallRecord:
|
||||
"""One captured HTTP call inside a debug session."""
|
||||
|
||||
index: int
|
||||
method: str
|
||||
url: str
|
||||
path: str
|
||||
source: str
|
||||
transport: str
|
||||
http_status: Optional[int]
|
||||
request_body: Any
|
||||
response_body: Any
|
||||
error: Optional[str] = None
|
||||
|
||||
|
||||
@dataclass
|
||||
class CallLogContext:
|
||||
"""State for a single ``session()`` block.
|
||||
|
||||
A session lazily creates its file on the first appended record. Actions
|
||||
that abort before any RPC produce no file.
|
||||
"""
|
||||
|
||||
action: str
|
||||
out_dir: Path
|
||||
started_at: datetime
|
||||
calls: List[CallRecord] = field(default_factory=list)
|
||||
file_path: Optional[Path] = None
|
||||
|
||||
def append(self, record: CallRecord) -> None:
|
||||
record.index = len(self.calls) + 1
|
||||
self.calls.append(record)
|
||||
self._write_file()
|
||||
|
||||
# -- file I/O -------------------------------------------------------------
|
||||
|
||||
def _resolve_file_path(self) -> Path:
|
||||
if self.file_path is not None:
|
||||
return self.file_path
|
||||
timestamp = self.started_at.strftime("%Y-%m-%d_%H%M%S")
|
||||
slug = _slugify_action(self.action)
|
||||
candidate = self.out_dir / f"{timestamp}_{slug}_raw_calls.md"
|
||||
suffix = 2
|
||||
while candidate.exists():
|
||||
candidate = (
|
||||
self.out_dir
|
||||
/ f"{timestamp}_{slug}_raw_calls_{suffix:02d}.md"
|
||||
)
|
||||
suffix += 1
|
||||
self.file_path = candidate
|
||||
return self.file_path
|
||||
|
||||
def _write_file(self) -> None:
|
||||
path = self._resolve_file_path()
|
||||
path.parent.mkdir(parents=True, exist_ok=True)
|
||||
path.write_text(_render_markdown(self), encoding="utf-8")
|
||||
|
||||
|
||||
_active_session: contextvars.ContextVar[Optional[CallLogContext]] = (
|
||||
contextvars.ContextVar("_active_session", default=None)
|
||||
)
|
||||
|
||||
|
||||
def active_session() -> Optional[CallLogContext]:
|
||||
"""Return the currently active :class:`CallLogContext`, if any."""
|
||||
return _active_session.get()
|
||||
|
||||
|
||||
@contextmanager
|
||||
def session(action: str, out_dir: Path) -> Iterator[CallLogContext]:
|
||||
"""Open a per-action debug session.
|
||||
|
||||
On entry, sets the module-level ``_active_session`` ContextVar so any
|
||||
``wrap_rpc_http``'d clients on the same thread/task record their calls.
|
||||
On exit, the previous active session (if any) is restored.
|
||||
"""
|
||||
ctx = CallLogContext(
|
||||
action=str(action),
|
||||
out_dir=Path(out_dir),
|
||||
started_at=datetime.now(),
|
||||
)
|
||||
token = _active_session.set(ctx)
|
||||
try:
|
||||
yield ctx
|
||||
finally:
|
||||
_active_session.reset(token)
|
||||
|
||||
|
||||
def wrap_rpc_http(rpc: Any) -> None:
|
||||
"""Idempotently wrap ``rpc.post`` / ``rpc.get``.
|
||||
|
||||
When a session is active (``_active_session.get() is not None``), the
|
||||
wrapped methods perform the HTTP call themselves with ``requests`` and
|
||||
record the call before returning the same value ``BaseRequest`` would have
|
||||
returned. When no session is active, the wrapped methods delegate to the
|
||||
original implementation, preserving stock ``BaseRequest`` behavior.
|
||||
|
||||
Calling this twice on the same instance is a no-op. The wrapper does not
|
||||
alter ``rpc.form_post`` (no Sirna action calls it as of plan 3).
|
||||
"""
|
||||
if rpc is None:
|
||||
return
|
||||
if getattr(rpc, "_debug_call_log_wrapped", False):
|
||||
return
|
||||
|
||||
rpc._orig_post = rpc.post
|
||||
rpc._orig_get = rpc.get
|
||||
|
||||
def _wrapped_post(
|
||||
url: str,
|
||||
params: Any = None,
|
||||
files: Any = None,
|
||||
headers: Optional[dict] = None,
|
||||
) -> Any:
|
||||
ctx = _active_session.get()
|
||||
if ctx is None:
|
||||
kwargs = {}
|
||||
if params is not None:
|
||||
kwargs["params"] = params
|
||||
if files is not None:
|
||||
kwargs["files"] = files
|
||||
if headers is not None:
|
||||
kwargs["headers"] = headers
|
||||
return rpc._orig_post(url, **kwargs)
|
||||
effective_params = params if params is not None else {}
|
||||
effective_headers = (
|
||||
headers
|
||||
if headers is not None
|
||||
else {"Content-Type": "application/json"}
|
||||
)
|
||||
source = _detect_source(rpc)
|
||||
request_body = _redact(effective_params)
|
||||
record = CallRecord(
|
||||
index=0,
|
||||
method="POST",
|
||||
url=str(url),
|
||||
path=_url_path(url),
|
||||
source=source,
|
||||
transport=_pick_transport(effective_params),
|
||||
http_status=None,
|
||||
request_body=request_body,
|
||||
response_body=None,
|
||||
error=None,
|
||||
)
|
||||
return_value: Any = None
|
||||
try:
|
||||
response = requests.post(
|
||||
url,
|
||||
data=json.dumps(effective_params) if effective_params else None,
|
||||
headers=effective_headers,
|
||||
timeout=_DEFAULT_TIMEOUT_POST,
|
||||
files=files,
|
||||
)
|
||||
except Exception as exc: # pragma: no cover - delegated to logger
|
||||
record.error = f"transport error: {exc}"
|
||||
try:
|
||||
rpc.get_logger().error(f"Request ERROR: {exc}")
|
||||
except Exception:
|
||||
pass
|
||||
ctx.append(record)
|
||||
return None
|
||||
|
||||
record.http_status = response.status_code
|
||||
record.response_body, parse_error = _decode_response_body(response)
|
||||
try:
|
||||
rpc.get_logger().debug(
|
||||
f"Request >>> : {response.request.body} "
|
||||
f"{response.status_code} {response.text}"
|
||||
)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
if response.status_code == 200:
|
||||
if parse_error is not None:
|
||||
record.error = f"json parse error: {parse_error}"
|
||||
return_value = None
|
||||
else:
|
||||
return_value = record.response_body
|
||||
else:
|
||||
record.error = f"HTTP {response.status_code}: {response.text}"
|
||||
try:
|
||||
rpc.get_logger().error(
|
||||
f"Request ERROR: ('Request ERROR:', {response.text!r})"
|
||||
)
|
||||
except Exception:
|
||||
pass
|
||||
return_value = None
|
||||
|
||||
ctx.append(record)
|
||||
return return_value
|
||||
|
||||
def _wrapped_get(
|
||||
url: str,
|
||||
params: Any = None,
|
||||
headers: Optional[dict] = None,
|
||||
) -> Any:
|
||||
ctx = _active_session.get()
|
||||
if ctx is None:
|
||||
kwargs = {}
|
||||
if params is not None:
|
||||
kwargs["params"] = params
|
||||
if headers is not None:
|
||||
kwargs["headers"] = headers
|
||||
return rpc._orig_get(url, **kwargs)
|
||||
effective_params = params if params is not None else {}
|
||||
effective_headers = (
|
||||
headers
|
||||
if headers is not None
|
||||
else {"Content-Type": "application/json"}
|
||||
)
|
||||
source = _detect_source(rpc)
|
||||
request_body = _redact(effective_params)
|
||||
record = CallRecord(
|
||||
index=0,
|
||||
method="GET",
|
||||
url=str(url),
|
||||
path=_url_path(url),
|
||||
source=source,
|
||||
transport="params",
|
||||
http_status=None,
|
||||
request_body=request_body,
|
||||
response_body=None,
|
||||
error=None,
|
||||
)
|
||||
return_value: Any = None
|
||||
try:
|
||||
response = requests.get(
|
||||
url,
|
||||
params=effective_params,
|
||||
headers=effective_headers,
|
||||
timeout=_DEFAULT_TIMEOUT_GET,
|
||||
)
|
||||
except Exception as exc: # pragma: no cover - delegated to logger
|
||||
record.error = f"transport error: {exc}"
|
||||
try:
|
||||
rpc.get_logger().error(f"Request ERROR: {exc}")
|
||||
except Exception:
|
||||
pass
|
||||
ctx.append(record)
|
||||
return None
|
||||
|
||||
record.http_status = response.status_code
|
||||
record.response_body, parse_error = _decode_response_body(response)
|
||||
try:
|
||||
rpc.get_logger().debug(
|
||||
f"Request >>> : {effective_params} "
|
||||
f"{response.status_code} {response.text}"
|
||||
)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
if response.status_code == 200:
|
||||
if parse_error is not None:
|
||||
record.error = f"json parse error: {parse_error}"
|
||||
return_value = None
|
||||
else:
|
||||
return_value = record.response_body
|
||||
|
||||
ctx.append(record)
|
||||
return return_value
|
||||
|
||||
rpc.post = _wrapped_post
|
||||
rpc.get = _wrapped_get
|
||||
rpc._debug_call_log_wrapped = True
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Helpers
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
_URL_PATH_RE = re.compile(r"https?://[^/]+(/.*)?$")
|
||||
_SLUG_RE = re.compile(r"[^A-Za-z0-9._-]+")
|
||||
|
||||
|
||||
def _slugify_action(action: str) -> str:
|
||||
slug = _SLUG_RE.sub("_", str(action)).strip("_")
|
||||
return slug or "action"
|
||||
|
||||
|
||||
def _url_path(url: Any) -> str:
|
||||
text = str(url or "")
|
||||
match = _URL_PATH_RE.match(text)
|
||||
if match and match.group(1):
|
||||
return match.group(1)
|
||||
if text.startswith("/"):
|
||||
return text
|
||||
return text
|
||||
|
||||
|
||||
def _pick_transport(params: Any) -> str:
|
||||
if isinstance(params, dict) and "data" in params:
|
||||
return "data"
|
||||
return "params"
|
||||
|
||||
|
||||
def _detect_source(rpc: Any) -> str:
|
||||
"""Walk the call stack to find the outermost frame whose ``self`` is rpc."""
|
||||
try:
|
||||
stack = inspect.stack()
|
||||
except Exception:
|
||||
return ""
|
||||
candidate = ""
|
||||
try:
|
||||
for frame_info in stack:
|
||||
frame = frame_info.frame
|
||||
if frame.f_locals.get("self", None) is rpc:
|
||||
candidate = frame_info.function
|
||||
return candidate
|
||||
finally:
|
||||
del stack
|
||||
|
||||
|
||||
def _redact(params: Any) -> Any:
|
||||
"""Return a copy of ``params`` with ``apiKey`` redacted."""
|
||||
try:
|
||||
cloned = copy.deepcopy(params)
|
||||
except Exception:
|
||||
return params
|
||||
_redact_in_place(cloned)
|
||||
return cloned
|
||||
|
||||
|
||||
def _redact_in_place(value: Any) -> None:
|
||||
if isinstance(value, dict):
|
||||
for key in list(value.keys()):
|
||||
if isinstance(key, str) and key.lower() == "apikey":
|
||||
value[key] = "<redacted>"
|
||||
else:
|
||||
_redact_in_place(value[key])
|
||||
elif isinstance(value, list):
|
||||
for item in value:
|
||||
_redact_in_place(item)
|
||||
|
||||
|
||||
def _decode_response_body(response: Any) -> tuple[Any, Optional[str]]:
|
||||
"""Best-effort response decoding used for both record + return value."""
|
||||
text = getattr(response, "text", "")
|
||||
try:
|
||||
return response.json(), None
|
||||
except Exception as exc:
|
||||
if text:
|
||||
return {"raw_text": text}, str(exc)
|
||||
return None, str(exc)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Markdown rendering
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def _render_markdown(ctx: CallLogContext) -> str:
|
||||
title = f"# {ctx.action} Raw Call/Response Log"
|
||||
parts: List[str] = [title, ""]
|
||||
parts.append("## LIMS Calls")
|
||||
parts.append("")
|
||||
parts.append("| # | Method | Path | Source | HTTP |")
|
||||
parts.append("|---|---|---|---|---|")
|
||||
for record in ctx.calls:
|
||||
anchor = _row_anchor(record)
|
||||
http = (
|
||||
f"`{record.http_status}`"
|
||||
if record.http_status is not None
|
||||
else "`-`"
|
||||
)
|
||||
parts.append(
|
||||
f"| [{record.index}](#{anchor}) | `{record.method}` | "
|
||||
f"`{record.path}` | `{record.source}` | {http} |"
|
||||
)
|
||||
parts.append("")
|
||||
|
||||
for record in ctx.calls:
|
||||
parts.append(f"## {record.index} {record.method} {record.path}")
|
||||
parts.append("")
|
||||
parts.append(f"- Source: `{record.source}`")
|
||||
parts.append(f"- Transport: `{record.transport}`")
|
||||
if record.http_status is not None:
|
||||
parts.append(f"- HTTP status: `{record.http_status}`")
|
||||
else:
|
||||
parts.append("- HTTP status: `-`")
|
||||
if record.error:
|
||||
parts.append(f"- Error: {record.error}")
|
||||
parts.append("")
|
||||
parts.append("### Request Body")
|
||||
parts.append("")
|
||||
parts.append("```json")
|
||||
parts.append(_to_json_block(record.request_body))
|
||||
parts.append("```")
|
||||
parts.append("")
|
||||
parts.append("### Response Body")
|
||||
parts.append("")
|
||||
parts.append("```json")
|
||||
parts.append(_to_json_block(record.response_body))
|
||||
parts.append("```")
|
||||
parts.append("")
|
||||
|
||||
return "\n".join(parts).rstrip() + "\n"
|
||||
|
||||
|
||||
def _row_anchor(record: CallRecord) -> str:
|
||||
"""Build a GitHub-style anchor matching ``## N METHOD /path``."""
|
||||
raw = f"{record.index}-{record.method}-{record.path}"
|
||||
raw = raw.lower()
|
||||
raw = re.sub(r"[^a-z0-9]+", "-", raw)
|
||||
return raw.strip("-")
|
||||
|
||||
|
||||
def _to_json_block(value: Any) -> str:
|
||||
try:
|
||||
return json.dumps(value, ensure_ascii=False, indent=2, sort_keys=True)
|
||||
except TypeError:
|
||||
return json.dumps(str(value), ensure_ascii=False, indent=2)
|
||||
@@ -1,3 +0,0 @@
|
||||
from .sirna_station import BioyondSirnaStation, fetch_workflow_list, load_sirna_config
|
||||
|
||||
__all__ = ["BioyondSirnaStation", "fetch_workflow_list", "load_sirna_config"]
|
||||
File diff suppressed because it is too large
Load Diff
@@ -7,7 +7,6 @@ Bioyond Workstation Implementation
|
||||
import time
|
||||
import traceback
|
||||
import threading
|
||||
from contextlib import contextmanager
|
||||
from datetime import datetime
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
import json
|
||||
@@ -15,7 +14,6 @@ from pathlib import Path
|
||||
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase, ResourceSynchronizer
|
||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondV1RPC
|
||||
from unilabos.devices.workstation.bioyond_studio import debug_call_log
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.resources.warehouse import WareHouse
|
||||
from unilabos.utils.log import logger
|
||||
@@ -176,8 +174,6 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.warning("从Bioyond获取的物料数据为空")
|
||||
return False
|
||||
|
||||
self._update_material_cache_from_stock(all_bioyond_data)
|
||||
|
||||
# 转换为UniLab格式
|
||||
unilab_resources = resource_bioyond_to_plr(
|
||||
all_bioyond_data,
|
||||
@@ -191,29 +187,6 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.error(f"从Bioyond同步物料数据失败: {e}")
|
||||
return False
|
||||
|
||||
def _update_material_cache_from_stock(self, materials: List[Dict[str, Any]]) -> None:
|
||||
"""用本次库存查询结果同步 RPC 的 name -> material id 缓存。"""
|
||||
material_cache = getattr(self.bioyond_api_client, "material_cache", None)
|
||||
if not isinstance(material_cache, dict):
|
||||
return
|
||||
|
||||
before_count = len(material_cache)
|
||||
for material in materials:
|
||||
material_name = material.get("name")
|
||||
material_id = material.get("id")
|
||||
if material_name and material_id:
|
||||
material_cache[material_name] = material_id
|
||||
|
||||
for detail_material in material.get("detail", []) or []:
|
||||
detail_name = detail_material.get("name")
|
||||
detail_id = detail_material.get("detailMaterialId") or detail_material.get("id")
|
||||
if detail_name and detail_id:
|
||||
material_cache[detail_name] = detail_id
|
||||
|
||||
logger.debug(
|
||||
f"已用Bioyond库存同步物料缓存: {before_count} -> {len(material_cache)}"
|
||||
)
|
||||
|
||||
def sync_to_external(self, resource: Any) -> bool:
|
||||
"""将本地物料数据变更同步到Bioyond系统"""
|
||||
try:
|
||||
@@ -705,70 +678,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
集成Bioyond物料管理的工作站实现
|
||||
"""
|
||||
|
||||
# 子类（如 sirna / peptide）覆写以指定默认 raw-call 日志目录。
|
||||
# 路径相对仓库根；为 None 时若 debug_log=True 仍会写入临时位置。
|
||||
_DEBUG_LOG_DEFAULT_DIR: Optional[str] = None
|
||||
|
||||
def _create_bioyond_rpc(self, config: Dict[str, Any]) -> BioyondV1RPC:
|
||||
"""创建 Bioyond RPC 客户端并应用调试包装。
|
||||
|
||||
所有创建 ``BioyondV1RPC`` 的路径（饿汉初始化、Sirna 延迟初始化、
|
||||
以及未来的前端重新配置路径）都应通过该 helper，
|
||||
以确保 debug_log 包装与命名/日志策略保持一致。
|
||||
"""
|
||||
rpc = BioyondV1RPC(config)
|
||||
debug_call_log.wrap_rpc_http(rpc)
|
||||
return rpc
|
||||
|
||||
def _set_hardware_interface(self, rpc: BioyondV1RPC) -> BioyondV1RPC:
|
||||
"""将已构造的 RPC 客户端设置到 ``self.hardware_interface``，并应用调试包装。"""
|
||||
debug_call_log.wrap_rpc_http(rpc)
|
||||
self.hardware_interface = rpc
|
||||
return rpc
|
||||
|
||||
def _debug_log_resolved_dir(self) -> Path:
|
||||
"""解析 ``debug_log_dir`` 为绝对路径。"""
|
||||
configured = (getattr(self, "bioyond_config", {}) or {}).get("debug_log_dir")
|
||||
default_dir = getattr(self, "_DEBUG_LOG_DEFAULT_DIR", None)
|
||||
candidate = configured or default_dir or "temp_benyao/_logs/bioyond_debug"
|
||||
path = Path(candidate)
|
||||
if not path.is_absolute():
|
||||
repo_root = Path(__file__).resolve().parents[4]
|
||||
path = repo_root / path
|
||||
return path
|
||||
|
||||
def _ensure_debug_log_state(self) -> None:
|
||||
"""从 ``self.bioyond_config`` 派生 ``_debug_log_enabled`` / ``_debug_log_dir``。
|
||||
|
||||
每次进入 ``_debug_call_session`` 时都重新解析，以兼容前端在运行时
|
||||
修改 ``bioyond_config['debug_log']`` 或目录的场景；同时也容忍
|
||||
子类（如 Sirna 延迟初始化）在 ``__init__`` 早期未触发本方法。
|
||||
"""
|
||||
cfg = getattr(self, "bioyond_config", {}) or {}
|
||||
self._debug_log_enabled = bool(cfg.get("debug_log"))
|
||||
self._debug_log_dir = self._debug_log_resolved_dir()
|
||||
|
||||
@contextmanager
|
||||
def _debug_call_session(self, action_name: str):
|
||||
"""在 action 体外加一层 debug 会话上下文。
|
||||
|
||||
- ``debug_log`` 关闭时是空上下文，开销为 0。
|
||||
- ``debug_log`` 开启时进入 :func:`debug_call_log.session`，所有
|
||||
已被 ``wrap_rpc_http`` 包装过的 RPC 客户端都会捕获本次 action
|
||||
产生的 HTTP 调用并写入 Markdown 文件。
|
||||
|
||||
子类（如 ``end_experiment``、``manual_unload`` 等）可以直接在
|
||||
action 体里以 ``with self._debug_call_session("action_name"):`` 包裹。
|
||||
"""
|
||||
cfg = getattr(self, "bioyond_config", {}) or {}
|
||||
enabled = bool(cfg.get("debug_log"))
|
||||
if not enabled:
|
||||
yield None
|
||||
return
|
||||
out_dir = BioyondWorkstation._debug_log_resolved_dir(self)
|
||||
with debug_call_log.session(action_name, out_dir) as ctx:
|
||||
yield ctx
|
||||
|
||||
def _publish_task_status(
|
||||
self,
|
||||
task_id: str,
|
||||
@@ -953,7 +862,7 @@ class BioyondWorkstation(WorkstationBase):
|
||||
self.bioyond_config = {}
|
||||
print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
|
||||
|
||||
self.hardware_interface = self._create_bioyond_rpc(self.bioyond_config)
|
||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||
|
||||
def resource_tree_add(self, resources: List[ResourcePLR]) -> None:
|
||||
"""添加资源到资源树并更新ROS节点
|
||||
@@ -1429,7 +1338,11 @@ class BioyondWorkstation(WorkstationBase):
|
||||
if self.hardware_interface:
|
||||
self.hardware_interface.scheduler_reset()
|
||||
|
||||
# 重新同步资源，并用同一次库存查询结果更新物料缓存
|
||||
# 刷新物料缓存
|
||||
if self.hardware_interface:
|
||||
self.hardware_interface.refresh_material_cache()
|
||||
|
||||
# 重新同步资源
|
||||
if self.resource_synchronizer:
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
|
||||
@@ -32,7 +32,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
|
||||
|
||||
MAX_SCAN_DEPTH = 10 # 最大目录递归深度
|
||||
MAX_SCAN_FILES = 1000 # 最大扫描文件数量
|
||||
_CACHE_VERSION = 2 # 缓存格式版本号，格式变更时递增
|
||||
_CACHE_VERSION = 1 # 缓存格式版本号，格式变更时递增
|
||||
|
||||
# 合法的装饰器来源模块
|
||||
_REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators"
|
||||
@@ -258,6 +258,8 @@ def scan_directory(
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# File-level parsing
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -359,7 +361,6 @@ def _parse_file(
|
||||
"actions": class_body.get("actions", {}),
|
||||
"status_properties": class_body.get("status_properties", {}),
|
||||
"init_params": class_body.get("init_params", []),
|
||||
"init_docstring": class_body.get("init_docstring"),
|
||||
"auto_methods": class_body.get("auto_methods", {}),
|
||||
"import_map": import_map,
|
||||
}
|
||||
@@ -496,6 +497,7 @@ def _collect_imports(tree: ast.Module, module_path: str = "") -> Dict[str, str]:
|
||||
return import_map
|
||||
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Decorator finding & argument extraction
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -677,17 +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):
|
||||
@@ -697,20 +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)
|
||||
|
||||
|
||||
@@ -766,7 +766,6 @@ def _extract_class_body(
|
||||
"actions": {}, # method_name -> action_info
|
||||
"status_properties": {}, # prop_name -> status_info
|
||||
"init_params": [], # [{"name": ..., "type": ..., "default": ...}, ...]
|
||||
"init_docstring": None,
|
||||
"auto_methods": {}, # method_name -> method_info (no @action decorator)
|
||||
}
|
||||
|
||||
@@ -779,7 +778,6 @@ def _extract_class_body(
|
||||
# --- __init__ ---
|
||||
if method_name == "__init__":
|
||||
result["init_params"] = _extract_method_params(item, import_map)
|
||||
result["init_docstring"] = ast.get_docstring(item)
|
||||
continue
|
||||
|
||||
# --- Skip private/dunder ---
|
||||
@@ -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
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
@@ -51,18 +51,14 @@ Qone_nmr:
|
||||
properties:
|
||||
check_interval:
|
||||
default: 60
|
||||
description: 检查间隔时间（秒），默认60秒
|
||||
type: string
|
||||
expected_count:
|
||||
default: 1
|
||||
description: 期望生成的.nmr文件数量，默认1个
|
||||
type: string
|
||||
monitor_dir:
|
||||
description: 要监督的目录路径，如果未指定则使用self.monitor_directory
|
||||
type: string
|
||||
stability_checks:
|
||||
default: 3
|
||||
description: 文件大小稳定性检查次数，默认3次
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -89,14 +85,11 @@ Qone_nmr:
|
||||
goal:
|
||||
properties:
|
||||
output_dir:
|
||||
description: 输出目录（如果未指定，使用self.output_directory）
|
||||
type: string
|
||||
string_list:
|
||||
description: 字符串列表
|
||||
type: string
|
||||
txt_encoding:
|
||||
default: utf-8
|
||||
description: 文件编码
|
||||
type: string
|
||||
required:
|
||||
- string_list
|
||||
@@ -158,13 +151,6 @@ Qone_nmr:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
description: '包含多个字符串的输入数据，支持两种格式：
|
||||
|
||||
1. 逗号分隔：如 "A 1 B 2 C 3, X 10 Y 20 Z 30"
|
||||
|
||||
2. 换行分隔：如 "A 1 B 2 C 3
|
||||
|
||||
X 10 Y 20 Z 30"'
|
||||
type: string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
|
||||
@@ -491,17 +491,14 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
material_names:
|
||||
description: 物料名称列表；默认使用 [LiPF6, LiDFOB, DTD, LiFSI, LiPO2F2]
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
type_id:
|
||||
default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
|
||||
description: 物料类型ID
|
||||
type: string
|
||||
warehouse_name:
|
||||
default: 粉末加样头堆栈
|
||||
description: 目标仓库名（用于取位置信息）
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -530,16 +527,12 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
location_name_or_id:
|
||||
description: 具体库位名称（如 A01）或库位 UUID，由用户指定。
|
||||
type: string
|
||||
material_name:
|
||||
description: 物料名称（会优先匹配配置模板）。
|
||||
type: string
|
||||
type_id:
|
||||
description: 物料类型 ID（若为空则尝试从配置推断）。
|
||||
type: string
|
||||
warehouse_name:
|
||||
description: 需要入库的仓库名称；若为空则仅创建不入库。
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
@@ -668,20 +661,15 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
board_type:
|
||||
description: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
|
||||
type: string
|
||||
bottle_type:
|
||||
description: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
|
||||
type: string
|
||||
location_code:
|
||||
description: 库位编号，例如 "A01"
|
||||
type: string
|
||||
name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
warehouse_name:
|
||||
default: 手动堆栈
|
||||
description: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
|
||||
type: string
|
||||
required:
|
||||
- name
|
||||
@@ -1968,19 +1956,19 @@ bioyond_cell:
|
||||
properties:
|
||||
source_wh_id:
|
||||
default: 3a19debc-84b4-0359-e2d4-b3beea49348b
|
||||
description: 来源仓库 Id (默认为3号仓库)
|
||||
description: 来源仓库ID
|
||||
type: string
|
||||
source_x:
|
||||
default: 1
|
||||
description: 来源位置 X 坐标
|
||||
description: 来源位置X坐标
|
||||
type: integer
|
||||
source_y:
|
||||
default: 1
|
||||
description: 来源位置 Y 坐标
|
||||
description: 来源位置Y坐标
|
||||
type: integer
|
||||
source_z:
|
||||
default: 1
|
||||
description: 来源位置 Z 坐标
|
||||
description: 来源位置Z坐标
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
@@ -2073,11 +2061,9 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
order_code:
|
||||
description: 任务编号
|
||||
type: string
|
||||
timeout:
|
||||
default: 36000
|
||||
description: 超时时间（秒）
|
||||
type: integer
|
||||
required:
|
||||
- order_code
|
||||
@@ -2106,15 +2092,12 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
order_code:
|
||||
description: 任务编号
|
||||
type: string
|
||||
poll_interval:
|
||||
default: 0.5
|
||||
description: 轮询间隔（秒），默认 0.5 秒
|
||||
type: number
|
||||
timeout:
|
||||
default: 36000
|
||||
description: 超时时间（秒）
|
||||
type: integer
|
||||
required:
|
||||
- order_code
|
||||
@@ -2171,15 +2154,10 @@ bioyond_cell:
|
||||
config:
|
||||
properties:
|
||||
bioyond_config:
|
||||
description: '从 JSON 文件加载的 bioyond 配置字典
|
||||
|
||||
包含 api_host, api_key, HTTP_host, HTTP_port 等配置'
|
||||
type: object
|
||||
deck:
|
||||
description: Deck 配置（可选，会从 JSON 中自动处理）
|
||||
type: string
|
||||
protocol_type:
|
||||
description: 协议类型（可选）
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -47,10 +47,8 @@ bioyond_dispensing_station:
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
description: WorkstationReportRequest 对象，包含任务完成信息
|
||||
type: string
|
||||
used_materials:
|
||||
description: 物料使用记录列表
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
@@ -104,7 +102,6 @@ bioyond_dispensing_station:
|
||||
goal:
|
||||
properties:
|
||||
material_name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
@@ -614,10 +611,10 @@ bioyond_dispensing_station:
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
description: 目标反应站设备ID(所有转移组使用同一个设备)
|
||||
description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
|
||||
type: string
|
||||
transfer_groups:
|
||||
description: '转移任务组列表,每组包含:'
|
||||
description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
@@ -697,13 +694,10 @@ bioyond_dispensing_station:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
description: 配置字典,应包含material_type_mappings等配置
|
||||
type: object
|
||||
deck:
|
||||
description: Deck对象
|
||||
type: string
|
||||
protocol_type:
|
||||
description: 协议类型(由ROS系统传递,此处忽略)
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -150,15 +150,15 @@ coincellassemblyworkstation_device:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 4200
|
||||
description: 电池压制力 (N)
|
||||
description: 电池压制力(N)
|
||||
type: integer
|
||||
assembly_type:
|
||||
default: 7
|
||||
description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
|
||||
description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
|
||||
type: integer
|
||||
battery_clean_ignore:
|
||||
default: false
|
||||
description: 是否忽略电池清洁
|
||||
description: 是否忽略电池清洁步骤
|
||||
type: boolean
|
||||
battery_pressure_mode:
|
||||
default: true
|
||||
@@ -166,29 +166,29 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
dual_drop_first_volume:
|
||||
default: 25
|
||||
description: 二次滴液第一次排液体积 (μL)
|
||||
description: 二次滴液第一次排液体积(μL)
|
||||
type: integer
|
||||
dual_drop_mode:
|
||||
default: false
|
||||
description: 电解液添加模式 (False=单次滴液, True=二次滴液)
|
||||
description: 电解液添加模式(false=单次滴液, true=二次滴液)
|
||||
type: boolean
|
||||
dual_drop_start_timing:
|
||||
default: false
|
||||
description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
|
||||
description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
|
||||
type: boolean
|
||||
dual_drop_suction_timing:
|
||||
default: false
|
||||
description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
|
||||
description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
|
||||
type: boolean
|
||||
elec_num:
|
||||
description: 电解液瓶数
|
||||
type: string
|
||||
elec_use_num:
|
||||
description: 每瓶电解液组装的电池数
|
||||
description: 每瓶电解液组装电池数
|
||||
type: string
|
||||
elec_vol:
|
||||
default: 50
|
||||
description: 电解液吸液量 (μL)
|
||||
description: 电解液吸液量(μL)
|
||||
type: integer
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
@@ -196,7 +196,7 @@ coincellassemblyworkstation_device:
|
||||
type: string
|
||||
fujipian_juzhendianwei:
|
||||
default: 0
|
||||
description: 负极片矩阵点位
|
||||
description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
fujipian_panshu:
|
||||
default: 0
|
||||
@@ -204,7 +204,7 @@ coincellassemblyworkstation_device:
|
||||
type: integer
|
||||
gemo_juzhendianwei:
|
||||
default: 0
|
||||
description: 隔膜矩阵点位
|
||||
description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
gemopanshu:
|
||||
default: 0
|
||||
@@ -216,7 +216,7 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
qiangtou_juzhendianwei:
|
||||
default: 0
|
||||
description: 枪头盒矩阵点位
|
||||
description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
required:
|
||||
- elec_num
|
||||
@@ -308,13 +308,7 @@ coincellassemblyworkstation_device:
|
||||
properties:
|
||||
material_search_enable:
|
||||
default: false
|
||||
description: '是否启用物料搜寻功能。
|
||||
|
||||
设备初始化后会弹出物料搜寻确认弹窗，
|
||||
|
||||
此参数控制自动点击''是''（启用）或''否''（不启用）。
|
||||
|
||||
默认为False（不启用物料搜寻）。'
|
||||
description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
@@ -553,15 +547,15 @@ coincellassemblyworkstation_device:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 4200
|
||||
description: 电池压制力 (N)
|
||||
description: 电池压制力(N)
|
||||
type: integer
|
||||
assembly_type:
|
||||
default: 7
|
||||
description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
|
||||
description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
|
||||
type: integer
|
||||
battery_clean_ignore:
|
||||
default: false
|
||||
description: 是否忽略电池清洁
|
||||
description: 是否忽略电池清洁步骤
|
||||
type: boolean
|
||||
battery_pressure_mode:
|
||||
default: true
|
||||
@@ -569,29 +563,29 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
dual_drop_first_volume:
|
||||
default: 25
|
||||
description: 二次滴液第一次排液体积 (μL)
|
||||
description: 二次滴液第一次排液体积(μL)
|
||||
type: integer
|
||||
dual_drop_mode:
|
||||
default: false
|
||||
description: 电解液添加模式 (False=单次滴液, True=二次滴液)
|
||||
description: 电解液添加模式(false=单次滴液, true=二次滴液)
|
||||
type: boolean
|
||||
dual_drop_start_timing:
|
||||
default: false
|
||||
description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
|
||||
description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
|
||||
type: boolean
|
||||
dual_drop_suction_timing:
|
||||
default: false
|
||||
description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
|
||||
description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
|
||||
type: boolean
|
||||
elec_num:
|
||||
description: 电解液瓶数
|
||||
description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
|
||||
type: string
|
||||
elec_use_num:
|
||||
description: 每瓶电解液组装的电池数
|
||||
description: 每瓶电解液组装电池数
|
||||
type: string
|
||||
elec_vol:
|
||||
default: 50
|
||||
description: 电解液吸液量 (μL)
|
||||
description: 电解液吸液量(μL)
|
||||
type: integer
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
@@ -599,7 +593,7 @@ coincellassemblyworkstation_device:
|
||||
type: string
|
||||
fujipian_juzhendianwei:
|
||||
default: 0
|
||||
description: 负极片矩阵点位
|
||||
description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
fujipian_panshu:
|
||||
default: 0
|
||||
@@ -607,7 +601,7 @@ coincellassemblyworkstation_device:
|
||||
type: integer
|
||||
gemo_juzhendianwei:
|
||||
default: 0
|
||||
description: 隔膜矩阵点位
|
||||
description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
gemopanshu:
|
||||
default: 0
|
||||
@@ -619,7 +613,7 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
qiangtou_juzhendianwei:
|
||||
default: 0
|
||||
description: 枪头盒矩阵点位
|
||||
description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
type: integer
|
||||
required:
|
||||
- elec_num
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -18,7 +18,6 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
degrees:
|
||||
description: 角度值
|
||||
type: number
|
||||
required:
|
||||
- degrees
|
||||
@@ -45,7 +44,6 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
required:
|
||||
- axis
|
||||
@@ -73,7 +71,6 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
enable:
|
||||
default: true
|
||||
description: True为使能，False为失能
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
@@ -102,11 +99,9 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
enable:
|
||||
default: true
|
||||
description: True为使能，False为失能
|
||||
type: boolean
|
||||
required:
|
||||
- axis
|
||||
@@ -157,7 +152,6 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
required:
|
||||
- axis
|
||||
@@ -189,21 +183,16 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度(rpm/s)
|
||||
type: integer
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
position:
|
||||
description: 目标位置(步数)
|
||||
type: integer
|
||||
precision:
|
||||
default: 100
|
||||
description: 到位精度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 运行速度(rpm)
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
@@ -236,21 +225,16 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
degrees:
|
||||
description: 目标角度（度）
|
||||
type: number
|
||||
precision:
|
||||
default: 100
|
||||
description: 精度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 移动速度
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
@@ -283,21 +267,16 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
precision:
|
||||
default: 100
|
||||
description: 精度
|
||||
type: integer
|
||||
revolutions:
|
||||
description: 目标圈数
|
||||
type: number
|
||||
speed:
|
||||
default: 5000
|
||||
description: 移动速度
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
@@ -330,20 +309,15 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 运行速度
|
||||
type: integer
|
||||
x:
|
||||
description: X轴目标位置
|
||||
type: integer
|
||||
y:
|
||||
description: Y轴目标位置
|
||||
type: integer
|
||||
z:
|
||||
description: Z轴目标位置
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
@@ -376,20 +350,15 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 移动速度
|
||||
type: integer
|
||||
x_deg:
|
||||
description: X轴目标角度（度）
|
||||
type: number
|
||||
y_deg:
|
||||
description: Y轴目标角度（度）
|
||||
type: number
|
||||
z_deg:
|
||||
description: Z轴目标角度（度）
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
@@ -422,20 +391,15 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 移动速度
|
||||
type: integer
|
||||
x_rev:
|
||||
description: X轴目标圈数
|
||||
type: number
|
||||
y_rev:
|
||||
description: Y轴目标圈数
|
||||
type: number
|
||||
z_rev:
|
||||
description: Z轴目标圈数
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
@@ -463,7 +427,6 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
revolutions:
|
||||
description: 圈数
|
||||
type: number
|
||||
required:
|
||||
- revolutions
|
||||
@@ -493,13 +456,10 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度(rpm/s)
|
||||
type: integer
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
speed:
|
||||
description: 运行速度(rpm)，正值正转，负值反转
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
@@ -527,7 +487,6 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
steps:
|
||||
description: 步数
|
||||
type: integer
|
||||
required:
|
||||
- steps
|
||||
@@ -554,7 +513,6 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
steps:
|
||||
description: 步数
|
||||
type: integer
|
||||
required:
|
||||
- steps
|
||||
@@ -606,11 +564,9 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
timeout:
|
||||
default: 30.0
|
||||
description: 超时时间(秒)
|
||||
type: number
|
||||
required:
|
||||
- axis
|
||||
@@ -635,14 +591,11 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
description: 波特率
|
||||
type: integer
|
||||
port:
|
||||
description: 串口端口名
|
||||
type: string
|
||||
timeout:
|
||||
default: 1.0
|
||||
description: 通信超时时间
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
|
||||
@@ -510,11 +510,9 @@ liquid_handler:
|
||||
goal:
|
||||
properties:
|
||||
msg:
|
||||
description: information to be printed
|
||||
type: string
|
||||
seconds:
|
||||
default: 0
|
||||
description: seconds to wait
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -2965,22 +2963,15 @@ liquid_handler:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
channel:
|
||||
description: int
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
dis_to_top:
|
||||
description: 'float
|
||||
|
||||
Height in mm to move to relative to the well top.'
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
well:
|
||||
additionalProperties: false
|
||||
description: 'Well
|
||||
|
||||
The target well.'
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
@@ -4838,13 +4829,11 @@ liquid_handler:
|
||||
config:
|
||||
properties:
|
||||
backend:
|
||||
description: Backend to use.
|
||||
type: object
|
||||
channel_num:
|
||||
default: 8
|
||||
type: integer
|
||||
deck:
|
||||
description: Deck to use.
|
||||
type: object
|
||||
simulator:
|
||||
default: false
|
||||
@@ -4894,17 +4883,14 @@ liquid_handler.biomek:
|
||||
bind_parent_id:
|
||||
type: string
|
||||
liquid_input_slot:
|
||||
description: 液体输入槽列表
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
liquid_type:
|
||||
description: 液体类型列表
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
liquid_volume:
|
||||
description: 液体体积列表
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
@@ -4915,7 +4901,6 @@ liquid_handler.biomek:
|
||||
type: object
|
||||
type: array
|
||||
slot_on_deck:
|
||||
description: 甲板上的槽位
|
||||
type: integer
|
||||
required:
|
||||
- resource_tracker
|
||||
@@ -5051,27 +5036,20 @@ liquid_handler.biomek:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
none_keys:
|
||||
description: 需要设置为None的键列表
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
protocol_author:
|
||||
description: 协议作者
|
||||
type: string
|
||||
protocol_date:
|
||||
description: 协议日期
|
||||
type: string
|
||||
protocol_description:
|
||||
description: 协议描述
|
||||
type: string
|
||||
protocol_name:
|
||||
description: 协议名称
|
||||
type: string
|
||||
protocol_type:
|
||||
description: 协议类型
|
||||
type: string
|
||||
protocol_version:
|
||||
description: 协议版本
|
||||
type: string
|
||||
title: LiquidHandlerProtocolCreation_Goal
|
||||
type: object
|
||||
|
||||
@@ -87,7 +87,7 @@ neware_battery_test_system:
|
||||
properties:
|
||||
filepath:
|
||||
default: bts_status.json
|
||||
description: 输出文件路径
|
||||
description: 输出JSON文件路径
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -146,7 +146,7 @@ neware_battery_test_system:
|
||||
goal:
|
||||
properties:
|
||||
plate_num:
|
||||
description: 盘号 (1 或 2)，如果为None则返回所有盘的状态
|
||||
description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
@@ -237,11 +237,11 @@ neware_battery_test_system:
|
||||
goal:
|
||||
properties:
|
||||
csv_path:
|
||||
description: 输入CSV文件路径
|
||||
description: 输入CSV文件的绝对路径
|
||||
type: string
|
||||
output_dir:
|
||||
default: .
|
||||
description: 输出目录，用于存储XML文件和备份，默认当前目录
|
||||
description: 输出目录（用于存储XML和备份文件），默认当前目录
|
||||
type: string
|
||||
required:
|
||||
- csv_path
|
||||
@@ -302,14 +302,14 @@ neware_battery_test_system:
|
||||
goal:
|
||||
properties:
|
||||
backup_dir:
|
||||
description: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir
|
||||
description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
|
||||
type: string
|
||||
file_pattern:
|
||||
default: '*'
|
||||
description: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件）
|
||||
description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
|
||||
type: string
|
||||
oss_prefix:
|
||||
description: OSS 对象前缀，默认使用类初始化时的配置
|
||||
description: OSS对象路径前缀（默认使用self.oss_prefix）
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -336,25 +336,19 @@ neware_battery_test_system:
|
||||
config:
|
||||
properties:
|
||||
devtype:
|
||||
description: 设备类型标识
|
||||
type: string
|
||||
ip:
|
||||
description: TCP服务器IP地址
|
||||
type: string
|
||||
machine_id:
|
||||
default: 1
|
||||
description: 机器ID
|
||||
type: integer
|
||||
oss_prefix:
|
||||
default: neware_backup
|
||||
description: OSS对象路径前缀，默认"neware_backup"
|
||||
type: string
|
||||
oss_upload_enabled:
|
||||
default: false
|
||||
description: 是否启用OSS上传功能，默认False
|
||||
type: boolean
|
||||
port:
|
||||
description: TCP端口
|
||||
type: integer
|
||||
size_x:
|
||||
default: 50
|
||||
@@ -366,7 +360,6 @@ neware_battery_test_system:
|
||||
default: 20
|
||||
type: number
|
||||
timeout:
|
||||
description: 通信超时时间（秒）
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -207,12 +207,8 @@ separator.homemade:
|
||||
goal:
|
||||
properties:
|
||||
condition:
|
||||
description: The condition to be monitored, either 'delta' or 'time'.
|
||||
type: string
|
||||
value:
|
||||
description: 'The threshold value for the condition.
|
||||
|
||||
`delta > 0.05`, `time > 60`'
|
||||
type: string
|
||||
required:
|
||||
- condition
|
||||
@@ -309,17 +305,12 @@ separator.homemade:
|
||||
event:
|
||||
type: string
|
||||
settling_time:
|
||||
description: The duration for which to settle after stirring, in
|
||||
seconds. Defaults to 10.
|
||||
type: string
|
||||
stir_speed:
|
||||
description: The speed of stirring, in RPM. Defaults to 300.
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
stir_time:
|
||||
description: The duration for which to stir, in seconds. Defaults
|
||||
to 10.
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
|
||||
@@ -456,7 +456,6 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
description: 'absolute position of the plunger, unit: mL'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -482,7 +481,6 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
description: 'absolute position of the plunger, unit: mL'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -689,10 +687,8 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal:
|
||||
properties:
|
||||
max_velocity:
|
||||
description: 'maximum velocity of the plunger, unit: ml/s'
|
||||
type: number
|
||||
position:
|
||||
description: 'absolute position of the plunger, unit: ml'
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
@@ -1007,7 +1003,6 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
description: 'absolute position of the plunger, unit: mL'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -1033,7 +1028,6 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
description: 'absolute position of the plunger, unit: mL'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -1240,10 +1234,8 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal:
|
||||
properties:
|
||||
max_velocity:
|
||||
description: 'maximum velocity of the plunger, unit: ml/s'
|
||||
type: number
|
||||
position:
|
||||
description: 'absolute position of the plunger, unit: ml'
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
|
||||
@@ -32,7 +32,7 @@ reaction_station.bioyond:
|
||||
type: integer
|
||||
end_point:
|
||||
default: 0
|
||||
description: 终点计时点 (Start=0, End=1)
|
||||
description: 终点计时点 (Start=开始前, End=结束后)
|
||||
type: integer
|
||||
end_step_key:
|
||||
default: ''
|
||||
@@ -40,11 +40,11 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
start_point:
|
||||
default: 0
|
||||
description: 起点计时点 (Start=0, End=1)
|
||||
description: 起点计时点 (Start=开始前, End=结束后)
|
||||
type: integer
|
||||
start_step_key:
|
||||
default: ''
|
||||
description: 起点步骤Key (可选, 默认为空则自动选择)
|
||||
description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
|
||||
type: string
|
||||
required:
|
||||
- duration
|
||||
@@ -91,7 +91,6 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
json_str:
|
||||
description: 订单参数的JSON字符串
|
||||
type: string
|
||||
required:
|
||||
- json_str
|
||||
@@ -118,7 +117,6 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
workflow_ids:
|
||||
description: 要删除的工作流ID数组
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
@@ -147,7 +145,6 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
json_str:
|
||||
description: 'JSON格式的字符串,包含:'
|
||||
type: string
|
||||
required:
|
||||
- json_str
|
||||
@@ -200,7 +197,6 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
web_workflow_json:
|
||||
description: JSON 格式的网页工作流列表
|
||||
type: string
|
||||
required:
|
||||
- web_workflow_json
|
||||
@@ -232,10 +228,8 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
reactor_id:
|
||||
description: 反应器编号 (1-5)
|
||||
type: integer
|
||||
temperature:
|
||||
description: 目标温度 (°C)
|
||||
type: number
|
||||
required:
|
||||
- reactor_id
|
||||
@@ -263,7 +257,6 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
preintake_id:
|
||||
description: 通量ID
|
||||
type: string
|
||||
required:
|
||||
- preintake_id
|
||||
@@ -345,7 +338,6 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
value:
|
||||
description: 工作流 ID 列表
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
@@ -373,7 +365,6 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
workflow_id:
|
||||
description: 工作流ID
|
||||
type: string
|
||||
required:
|
||||
- workflow_id
|
||||
@@ -433,11 +424,11 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称(液体种类)
|
||||
description: 物料名称（不能为空）
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度(C)
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
time:
|
||||
default: '90'
|
||||
@@ -445,14 +436,14 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=1, YES=2)
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
type: integer
|
||||
volume:
|
||||
description: 分液量(μL)
|
||||
description: 分液公式(mL)
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -534,11 +525,11 @@ reaction_station.bioyond:
|
||||
properties:
|
||||
assign_material_name:
|
||||
default: BAPP
|
||||
description: 物料名称(试剂瓶位)
|
||||
description: 物料名称
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(C)
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
time:
|
||||
default: '0'
|
||||
@@ -546,15 +537,15 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=1, YES=2)
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察(int类型, 1=否, 2=是)
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
type: integer
|
||||
volume:
|
||||
default: '350'
|
||||
description: 分液质量(g)
|
||||
description: 分液公式(mL)
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -602,28 +593,26 @@ reaction_station.bioyond:
|
||||
description: 物料名称
|
||||
type: string
|
||||
solvents:
|
||||
description: '溶剂信息的字典或JSON字符串(可选),格式如下:
|
||||
|
||||
{'
|
||||
description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(C)
|
||||
description: 温度设定(°C),默认25.00
|
||||
type: number
|
||||
time:
|
||||
default: '360'
|
||||
description: 观察时间(分钟)
|
||||
description: 观察时间(分钟),默认360
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=1, YES=2)
|
||||
description: 是否滴定(NO=否, YES=是),默认NO
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
description: 是否观察 (NO=否, YES=是),默认YES
|
||||
type: integer
|
||||
volume:
|
||||
description: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
|
||||
description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -682,32 +671,33 @@ reaction_station.bioyond:
|
||||
description: 物料名称
|
||||
type: string
|
||||
extracted_actuals:
|
||||
description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
|
||||
description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh(m二酐滴定)和actualVolume(V二酐滴定)
|
||||
type: string
|
||||
feeding_order_data:
|
||||
description: feeding_order JSON字符串或对象,用于获取m二酐值
|
||||
description: 'feeding_order JSON对象,用于获取m二酐值(type为main_anhydride的amount)。示例:
|
||||
{"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度(C)
|
||||
description: 温度设定(°C),默认25.00
|
||||
type: number
|
||||
time:
|
||||
default: '90'
|
||||
description: 观察时间(分钟)
|
||||
description: 观察时间(分钟),默认90
|
||||
type: string
|
||||
titration_type:
|
||||
default: '2'
|
||||
description: 是否滴定(NO=1, YES=2),默认2
|
||||
description: 是否滴定(NO=否, YES=是),默认YES
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
description: 是否观察 (NO=否, YES=是),默认YES
|
||||
type: integer
|
||||
volume_formula:
|
||||
description: 分液公式(μL),如果提供则直接使用,否则自动计算
|
||||
description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
|
||||
type: string
|
||||
x_value:
|
||||
description: 手工输入的x值,格式如 "1-2-3"
|
||||
description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -748,7 +738,7 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度(C)
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
time:
|
||||
default: '0'
|
||||
@@ -756,14 +746,14 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=1, YES=2)
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
type: integer
|
||||
volume_formula:
|
||||
description: 分液公式(μL)
|
||||
description: 分液公式(mL)
|
||||
type: string
|
||||
required:
|
||||
- volume_formula
|
||||
@@ -796,7 +786,7 @@ reaction_station.bioyond:
|
||||
description: 任务名称
|
||||
type: string
|
||||
workflow_name:
|
||||
description: 合并后的工作流名称
|
||||
description: 工作流名称
|
||||
type: string
|
||||
required:
|
||||
- workflow_name
|
||||
@@ -829,15 +819,15 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称(不能为空)
|
||||
description: 物料名称
|
||||
type: string
|
||||
cutoff:
|
||||
default: '900000'
|
||||
description: 粘度上限(需为有效数字字符串,默认 "900000")
|
||||
description: 粘度上限
|
||||
type: string
|
||||
temperature:
|
||||
default: -10.0
|
||||
description: 温度设定(C,范围:-50.00 至 100.00)
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -919,11 +909,11 @@ reaction_station.bioyond:
|
||||
description: 物料名称(用于获取试剂瓶位ID)
|
||||
type: string
|
||||
material_id:
|
||||
description: 粉末类型ID, Salt=1, Flour=2, BTDA=3
|
||||
description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(C)
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
time:
|
||||
default: '0'
|
||||
@@ -931,7 +921,7 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
type: integer
|
||||
required:
|
||||
- material_id
|
||||
@@ -955,13 +945,10 @@ reaction_station.bioyond:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
description: 配置字典,应包含workflow_mappings等配置
|
||||
type: object
|
||||
deck:
|
||||
description: Deck对象
|
||||
type: string
|
||||
protocol_type:
|
||||
description: 协议类型(由ROS系统传递,此处忽略)
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -198,8 +198,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes option, target,
|
||||
speed, lift_height, mt_height
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -243,8 +241,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes quaternion, speed,
|
||||
position
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -288,7 +284,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes speed
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -334,7 +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:
|
||||
|
||||
@@ -709,8 +709,6 @@ linear_motion.toyo_xyz.sim:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes option, target,
|
||||
speed, lift_height, mt_height
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -754,8 +752,6 @@ linear_motion.toyo_xyz.sim:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes quaternion, speed,
|
||||
position
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -799,7 +795,6 @@ linear_motion.toyo_xyz.sim:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes speed
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
|
||||
@@ -2179,7 +2179,6 @@ virtual_multiway_valve:
|
||||
goal:
|
||||
properties:
|
||||
port_number:
|
||||
description: 端口号 (1-8)
|
||||
type: integer
|
||||
required:
|
||||
- port_number
|
||||
@@ -2226,7 +2225,6 @@ virtual_multiway_valve:
|
||||
goal:
|
||||
properties:
|
||||
port_number:
|
||||
description: 目标端口号 (1-8)
|
||||
type: integer
|
||||
required:
|
||||
- port_number
|
||||
@@ -2263,7 +2261,6 @@ virtual_multiway_valve:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: 目标位置 (0-8) 或位置字符串
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -2307,7 +2304,6 @@ virtual_multiway_valve:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: 目标位置 (0-8) 或位置字符串
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -2819,8 +2815,8 @@ virtual_sample_demo:
|
||||
readings: readings
|
||||
samples: samples
|
||||
goal_default:
|
||||
readings: null
|
||||
samples: null
|
||||
readings: []
|
||||
samples: []
|
||||
handles:
|
||||
input:
|
||||
- data_key: readings
|
||||
@@ -2850,12 +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:
|
||||
@@ -2874,11 +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:
|
||||
@@ -2886,7 +2929,7 @@ virtual_sample_demo:
|
||||
goal:
|
||||
concentrations: concentrations
|
||||
goal_default:
|
||||
concentrations: null
|
||||
concentrations: []
|
||||
handles:
|
||||
output:
|
||||
- data_key: concentrations
|
||||
@@ -2900,12 +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:
|
||||
@@ -2918,11 +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:
|
||||
@@ -2932,7 +2994,7 @@ virtual_sample_demo:
|
||||
volumes: volumes
|
||||
goal_default:
|
||||
split_count: 3
|
||||
volumes: null
|
||||
volumes: []
|
||||
handles:
|
||||
output:
|
||||
- data_key: readings
|
||||
@@ -2951,16 +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:
|
||||
@@ -2973,11 +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
|
||||
@@ -2992,7 +3079,7 @@ virtual_sample_demo:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
type: string
|
||||
device_id:
|
||||
type: string
|
||||
required: []
|
||||
@@ -3964,14 +4051,6 @@ virtual_separator:
|
||||
io_type: source
|
||||
label: bottom_phase_out
|
||||
side: SOUTH
|
||||
- data_key: top_outlet
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
description: 上相（轻相）液体输出口
|
||||
handler_key: topphaseout
|
||||
io_type: source
|
||||
label: top_phase_out
|
||||
side: NORTH
|
||||
- data_key: mechanical_port
|
||||
data_source: handle
|
||||
data_type: mechanical
|
||||
@@ -4219,7 +4298,6 @@ virtual_solenoid_valve:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
description: '"ON"/"OFF" 或 "OPEN"/"CLOSED"'
|
||||
type: string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
@@ -4263,7 +4341,6 @@ virtual_solenoid_valve:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: '"OPEN"/"CLOSED" 或其他控制命令'
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -4424,20 +4501,16 @@ virtual_solid_dispenser:
|
||||
event:
|
||||
type: string
|
||||
mass:
|
||||
description: 质量字符串 (如 "2.9 g")
|
||||
type: string
|
||||
mol:
|
||||
description: 摩尔数字符串 (如 "0.12 mol")
|
||||
type: string
|
||||
purpose:
|
||||
description: 添加目的
|
||||
type: string
|
||||
rate_spec:
|
||||
type: string
|
||||
ratio:
|
||||
type: string
|
||||
reagent:
|
||||
description: 试剂名称
|
||||
type: string
|
||||
stir:
|
||||
type: boolean
|
||||
@@ -4449,7 +4522,6 @@ virtual_solid_dispenser:
|
||||
type: string
|
||||
vessel:
|
||||
additionalProperties: false
|
||||
description: 目标容器
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
@@ -5579,10 +5651,8 @@ virtual_transfer_pump:
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
description: 拉取速度 (ml/s)
|
||||
type: number
|
||||
volume:
|
||||
description: 要拉取的体积 (ml)
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -5609,10 +5679,8 @@ virtual_transfer_pump:
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
description: 推出速度 (ml/s)
|
||||
type: number
|
||||
volume:
|
||||
description: 要推出的体积 (ml)
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -5708,12 +5776,10 @@ virtual_transfer_pump:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
max_velocity:
|
||||
description: 移动速度 (ml/s)
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
position:
|
||||
description: 目标位置 (ml)
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
@@ -5862,10 +5928,8 @@ virtual_transfer_pump:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
description: 配置字典，包含max_volume, port等参数
|
||||
type: object
|
||||
device_id:
|
||||
description: 设备ID
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -409,11 +409,11 @@ xrd_d7mate:
|
||||
properties:
|
||||
end_theta:
|
||||
default: 80.0
|
||||
description: 结束角度（≥5.5°，且必须大于 start_theta）
|
||||
description: 结束角度（≥5.5°，且必须大于start_theta）
|
||||
type: number
|
||||
exp_time:
|
||||
default: 0.1
|
||||
description: 曝光时间（0.1-5.0 秒）
|
||||
description: 曝光时间（0.1-5.0秒）
|
||||
type: number
|
||||
increment:
|
||||
default: 0.05
|
||||
@@ -421,7 +421,7 @@ xrd_d7mate:
|
||||
type: number
|
||||
sample_id:
|
||||
default: ''
|
||||
description: 样品名称
|
||||
description: 样品标识符
|
||||
type: string
|
||||
start_theta:
|
||||
default: 10.0
|
||||
@@ -433,7 +433,7 @@ xrd_d7mate:
|
||||
type: string
|
||||
wait_minutes:
|
||||
default: 3.0
|
||||
description: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
|
||||
description: 允许上样后等待分钟数
|
||||
type: number
|
||||
required: []
|
||||
title: StartWorkflow_Goal
|
||||
@@ -492,15 +492,12 @@ xrd_d7mate:
|
||||
properties:
|
||||
host:
|
||||
default: 127.0.0.1
|
||||
description: 设备IP地址
|
||||
type: string
|
||||
port:
|
||||
default: 6001
|
||||
description: 通信端口，默认6001
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
description: 超时时间，单位秒
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -217,7 +217,6 @@ zhida_gcms:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
description: Base64编码的CSV数据（ROS2参数名）
|
||||
type: string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
@@ -258,7 +257,6 @@ zhida_gcms:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
description: CSV文件路径（ROS2参数名）
|
||||
type: string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
@@ -291,15 +289,12 @@ zhida_gcms:
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.3.184
|
||||
description: 设备IP地址，本地部署时可使用'127.0.0.1'
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
description: 通信端口，默认5792
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
description: 超时时间，单位秒
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -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": {},
|
||||
},
|
||||
@@ -271,7 +265,6 @@ class Registry:
|
||||
registry_cache.pkl 一个文件中，删除即可完全重置。
|
||||
"""
|
||||
import time as _time
|
||||
from unilabos.registry.ast_registry_scanner import _CACHE_VERSION as AST_SCAN_CACHE_VERSION
|
||||
from unilabos.registry.ast_registry_scanner import scan_directory
|
||||
|
||||
scan_t0 = _time.perf_counter()
|
||||
@@ -287,10 +280,6 @@ class Registry:
|
||||
# ---- 统一缓存：一个 pkl 包含所有数据 ----
|
||||
unified_cache = self._load_config_cache()
|
||||
ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
|
||||
if ast_cache.get("version") != AST_SCAN_CACHE_VERSION:
|
||||
ast_cache = {"version": AST_SCAN_CACHE_VERSION, "files": {}}
|
||||
unified_cache["_ast_scan"] = ast_cache
|
||||
unified_cache.pop("_build_results", None)
|
||||
|
||||
# 默认：扫描 unilabos 包所在的父目录
|
||||
pkg_root = Path(__file__).resolve().parent.parent # .../unilabos
|
||||
@@ -566,47 +555,13 @@ class Registry:
|
||||
|
||||
return prop_schema
|
||||
|
||||
@staticmethod
|
||||
def _apply_docstring_param_metadata(
|
||||
schema: Dict[str, Any],
|
||||
doc_info: Dict[str, Any],
|
||||
field_to_param: Optional[Dict[str, str]] = None,
|
||||
apply_defaults: bool = False,
|
||||
) -> None:
|
||||
"""Apply parsed docstring display names and descriptions to schema properties."""
|
||||
if not schema or not doc_info:
|
||||
return
|
||||
|
||||
props = schema.get("properties", {})
|
||||
if not isinstance(props, dict):
|
||||
return
|
||||
|
||||
param_descs = doc_info.get("params", {}) or {}
|
||||
param_display_names = doc_info.get("param_display_names", {}) or {}
|
||||
for field_name, prop_schema in props.items():
|
||||
if not isinstance(prop_schema, dict):
|
||||
continue
|
||||
param_name = field_to_param.get(field_name, field_name) if field_to_param else field_name
|
||||
if not isinstance(param_name, str):
|
||||
continue
|
||||
param_name = param_name.removesuffix("[]")
|
||||
if param_name in param_display_names:
|
||||
prop_schema["title"] = param_display_names[param_name]
|
||||
elif apply_defaults and not prop_schema.get("title"):
|
||||
prop_schema["title"] = field_name
|
||||
|
||||
if param_name in param_descs:
|
||||
prop_schema["description"] = param_descs[param_name]
|
||||
elif apply_defaults and "description" not in prop_schema:
|
||||
prop_schema["description"] = ""
|
||||
|
||||
def _generate_unilab_json_command_schema(
|
||||
self, method_args: list, docstring: Optional[str] = None,
|
||||
import_map: Optional[Dict[str, str]] = None,
|
||||
apply_doc_defaults: bool = False,
|
||||
) -> Dict[str, Any]:
|
||||
"""根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
|
||||
doc_info = parse_docstring(docstring)
|
||||
param_descs = doc_info.get("params", {})
|
||||
|
||||
schema = {
|
||||
"type": "object",
|
||||
@@ -637,10 +592,12 @@ class Registry:
|
||||
param_name, param_type, param_default, import_map=import_map
|
||||
)
|
||||
|
||||
if param_name in param_descs:
|
||||
schema["properties"][param_name]["description"] = param_descs[param_name]
|
||||
|
||||
if param_required:
|
||||
schema["required"].append(param_name)
|
||||
|
||||
self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=apply_doc_defaults)
|
||||
return schema
|
||||
|
||||
def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]:
|
||||
@@ -836,7 +793,6 @@ class Registry:
|
||||
type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
|
||||
params = method_info.get("params", [])
|
||||
method_doc = method_info.get("docstring")
|
||||
method_doc_info = parse_docstring(method_doc)
|
||||
goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap)
|
||||
|
||||
if action_args is not None:
|
||||
@@ -866,15 +822,10 @@ class Registry:
|
||||
|
||||
# action handles: 从 @action(handles=[...]) 提取并转换为标准格式
|
||||
raw_handles = (action_args or {}).get("handles")
|
||||
handles = (
|
||||
normalize_ast_action_handles(raw_handles)
|
||||
if isinstance(raw_handles, list)
|
||||
else (raw_handles or {})
|
||||
)
|
||||
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
|
||||
@@ -889,23 +840,13 @@ class Registry:
|
||||
"goal": goal,
|
||||
"feedback": (action_args or {}).get("feedback") or {},
|
||||
"result": (action_args or {}).get("result") or {},
|
||||
"schema": wrap_action_schema(
|
||||
goal_schema,
|
||||
action_name,
|
||||
description=(action_args or {}).get("description") or method_doc_info.get("description", ""),
|
||||
result_schema=result_schema,
|
||||
),
|
||||
"schema": wrap_action_schema(goal_schema, action_name, result_schema=result_schema),
|
||||
"goal_default": goal_default,
|
||||
"handles": handles,
|
||||
"placeholder_keys": pk,
|
||||
}
|
||||
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
|
||||
@@ -933,11 +874,7 @@ class Registry:
|
||||
action_name = f"auto-{action_name}"
|
||||
|
||||
raw_handles = action_args.get("handles")
|
||||
handles = (
|
||||
normalize_ast_action_handles(raw_handles)
|
||||
if isinstance(raw_handles, list)
|
||||
else (raw_handles or {})
|
||||
)
|
||||
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
|
||||
|
||||
method_params = method_info.get("params", [])
|
||||
|
||||
@@ -1030,34 +967,17 @@ 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
|
||||
goal_schema_for_docs = action_entry.get("schema", {}).get("properties", {}).get("goal", {})
|
||||
self._apply_docstring_param_metadata(
|
||||
goal_schema_for_docs,
|
||||
parse_docstring(method_info.get("docstring")),
|
||||
goal,
|
||||
apply_defaults=True,
|
||||
)
|
||||
action_value_mappings[action_name] = action_entry
|
||||
|
||||
action_value_mappings = dict(sorted(action_value_mappings.items()))
|
||||
|
||||
# --- init_param_schema = { config: <init_params>, data: <status_types> } ---
|
||||
init_params = ast_meta.get("init_params", [])
|
||||
config_schema = self._generate_schema_from_ast_params(
|
||||
init_params, "__init__", ast_meta.get("init_docstring"), import_map=imap
|
||||
)
|
||||
config_schema = self._generate_schema_from_ast_params(init_params, "__init__", import_map=imap)
|
||||
data_schema = self._generate_status_schema_from_ast(
|
||||
ast_meta.get("status_properties", {}), imap
|
||||
)
|
||||
@@ -1105,6 +1025,7 @@ class Registry:
|
||||
) -> Dict[str, Any]:
|
||||
"""Generate JSON Schema from AST-extracted parameter list."""
|
||||
doc_info = parse_docstring(docstring)
|
||||
param_descs = doc_info.get("params", {})
|
||||
|
||||
schema: Dict[str, Any] = {
|
||||
"type": "object",
|
||||
@@ -1134,10 +1055,12 @@ class Registry:
|
||||
pname, ptype, pdefault, import_map
|
||||
)
|
||||
|
||||
if pname in param_descs:
|
||||
schema["properties"][pname]["description"] = param_descs[pname]
|
||||
|
||||
if prequired:
|
||||
schema["required"].append(pname)
|
||||
|
||||
self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=True)
|
||||
return schema
|
||||
|
||||
def _generate_status_schema_from_ast(
|
||||
@@ -1230,7 +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
|
||||
@@ -1867,7 +1790,7 @@ class Registry:
|
||||
else:
|
||||
action_key = f"auto-{k}"
|
||||
goal_schema = self._generate_unilab_json_command_schema(
|
||||
v["args"], docstring=v.get("docstring"), import_map=enhanced_import_map
|
||||
v["args"], import_map=enhanced_import_map
|
||||
)
|
||||
ret_type = v.get("return_type", "")
|
||||
result_schema = None
|
||||
@@ -1876,13 +1799,7 @@ class Registry:
|
||||
"result", ret_type, None, import_map=enhanced_import_map
|
||||
)
|
||||
old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
|
||||
doc_info = parse_docstring(v.get("docstring"))
|
||||
new_schema = wrap_action_schema(
|
||||
goal_schema,
|
||||
action_key,
|
||||
description=doc_info.get("description", ""),
|
||||
result_schema=result_schema,
|
||||
)
|
||||
new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema)
|
||||
old_schema = old_cfg.get("schema", {})
|
||||
if old_schema:
|
||||
preserve_field_descriptions(new_schema, old_schema)
|
||||
@@ -1948,12 +1865,6 @@ class Registry:
|
||||
|
||||
merged_pk = dict(old_cfg.get("placeholder_keys", {}))
|
||||
merged_pk.update(detect_placeholder_keys(v["args"]))
|
||||
goal_schema_for_docs = (
|
||||
entry_schema.get("properties", {}).get("goal", {})
|
||||
if isinstance(entry_schema, dict)
|
||||
else {}
|
||||
)
|
||||
self._apply_docstring_param_metadata(goal_schema_for_docs, doc_info, entry_goal)
|
||||
|
||||
entry = {
|
||||
"type": entry_type,
|
||||
@@ -1967,15 +1878,11 @@ 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"] = {}
|
||||
init_schema = self._generate_unilab_json_command_schema(
|
||||
enhanced_info["init_params"],
|
||||
docstring=enhanced_info.get("init_docstring"),
|
||||
enhanced_info["init_params"], "__init__",
|
||||
import_map=enhanced_import_map,
|
||||
)
|
||||
device_config["init_param_schema"]["config"] = init_schema
|
||||
@@ -2022,9 +1929,7 @@ class Registry:
|
||||
action_str_type_mapping[action_type_str] = target_type
|
||||
if target_type is not None:
|
||||
try:
|
||||
action_config["goal_default"] = ROS2MessageInstance(
|
||||
target_type.Goal()
|
||||
).get_python_dict()
|
||||
action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict()
|
||||
except Exception:
|
||||
action_config["goal_default"] = {}
|
||||
prev_schema = action_config.get("schema", {})
|
||||
@@ -2216,7 +2121,6 @@ class Registry:
|
||||
"unilabos_device_id": {
|
||||
"type": "string",
|
||||
"default": "",
|
||||
"title": "设备ID",
|
||||
"description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
|
||||
},
|
||||
**schema["properties"]["goal"]["properties"],
|
||||
@@ -2288,14 +2192,7 @@ class Registry:
|
||||
lab_registry = Registry()
|
||||
|
||||
|
||||
def build_registry(
|
||||
registry_paths=None,
|
||||
devices_dirs=None,
|
||||
upload_registry=False,
|
||||
check_mode=False,
|
||||
complete_registry=False,
|
||||
external_only=False,
|
||||
):
|
||||
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
|
||||
"""
|
||||
构建或获取Registry单例实例
|
||||
"""
|
||||
@@ -2309,12 +2206,7 @@ def build_registry(
|
||||
if path not in current_paths:
|
||||
lab_registry.registry_paths.append(path)
|
||||
|
||||
lab_registry.setup(
|
||||
devices_dirs=devices_dirs,
|
||||
upload_registry=upload_registry,
|
||||
complete_registry=complete_registry,
|
||||
external_only=external_only,
|
||||
)
|
||||
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
|
||||
|
||||
# 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
|
||||
lab_registry.resolve_all_types()
|
||||
|
||||
@@ -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__)
|
||||
|
||||
@@ -36,40 +35,16 @@ class ROSMsgNotFound(Exception):
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
|
||||
_PARAM_HEADER_RE = re.compile(
|
||||
r"^\s*(?P<name>\w[\w]*)\s*(?:\[(?P<display_name>[^\]]+)\])?(?:\s*\([^)]*\))?\s*$"
|
||||
)
|
||||
|
||||
|
||||
def _parse_docstring_param_header(param_part: str) -> Tuple[str, Optional[str]]:
|
||||
"""Parse ``name[display_name]`` or Google-style ``name (type)``."""
|
||||
match = _PARAM_HEADER_RE.match(param_part.strip())
|
||||
if not match:
|
||||
return param_part.strip().split("(")[0].strip(), None
|
||||
|
||||
display_name = match.group("display_name")
|
||||
if display_name is not None:
|
||||
display_name = display_name.strip() or None
|
||||
return match.group("name").strip(), display_name
|
||||
|
||||
|
||||
def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||
"""
|
||||
解析 docstring，提取描述和参数说明。
|
||||
|
||||
支持:
|
||||
- Google-style ``Args:`` / ``Parameters:`` 小节
|
||||
- 直接参数行 ``field: desc``
|
||||
- 带显示名参数行 ``field[Display Name]: desc``
|
||||
解析 Google-style docstring，提取描述和参数说明。
|
||||
|
||||
Returns:
|
||||
{
|
||||
"description": "短描述",
|
||||
"params": {"param1": "参数1描述", ...},
|
||||
"param_display_names": {"param1": "显示名", ...},
|
||||
}
|
||||
{"description": "短描述", "params": {"param1": "参数1描述", ...}}
|
||||
"""
|
||||
result: Dict[str, Any] = {"description": "", "params": {}, "param_display_names": {}}
|
||||
result: Dict[str, Any] = {"description": "", "params": {}}
|
||||
if not docstring:
|
||||
return result
|
||||
|
||||
@@ -77,53 +52,33 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||
if not lines:
|
||||
return result
|
||||
|
||||
result["description"] = lines[0].strip()
|
||||
|
||||
in_args = False
|
||||
current_section: Optional[str] = None
|
||||
current_param: Optional[str] = None
|
||||
current_display_name: Optional[str] = None
|
||||
current_desc_parts: list = []
|
||||
|
||||
def flush_current_param() -> None:
|
||||
nonlocal current_param, current_display_name, current_desc_parts
|
||||
if current_param is None:
|
||||
return
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
if current_display_name:
|
||||
result["param_display_names"][current_param] = current_display_name
|
||||
current_param = None
|
||||
current_display_name = None
|
||||
current_desc_parts = []
|
||||
|
||||
first_line = lines[0].strip()
|
||||
start_index = 0
|
||||
if not _SECTION_RE.match(first_line) and ":" not in first_line:
|
||||
result["description"] = first_line
|
||||
start_index = 1
|
||||
|
||||
for line in lines[start_index:]:
|
||||
for line in lines[1:]:
|
||||
stripped = line.strip()
|
||||
if not stripped:
|
||||
if current_param is not None:
|
||||
current_desc_parts.append("")
|
||||
continue
|
||||
|
||||
section_match = _SECTION_RE.match(stripped)
|
||||
if section_match:
|
||||
flush_current_param()
|
||||
current_section = section_match.group(1).lower()
|
||||
in_args = current_section in ("args", "arguments", "parameters", "params")
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
current_param = None
|
||||
current_desc_parts = []
|
||||
section_name = section_match.group(1).lower()
|
||||
in_args = section_name in ("args", "arguments", "parameters", "params")
|
||||
continue
|
||||
|
||||
parse_as_param = in_args or current_section is None
|
||||
if not parse_as_param:
|
||||
if not in_args:
|
||||
continue
|
||||
|
||||
if ":" in stripped:
|
||||
flush_current_param()
|
||||
if ":" in stripped and not stripped.startswith(" "):
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
param_part, _, desc_part = stripped.partition(":")
|
||||
param_name, display_name = _parse_docstring_param_header(param_part)
|
||||
param_name = param_part.strip().split("(")[0].strip()
|
||||
current_param = param_name
|
||||
current_display_name = display_name
|
||||
current_desc_parts = [desc_part.strip()]
|
||||
elif current_param is not None:
|
||||
aline = line
|
||||
@@ -133,7 +88,8 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||
aline = aline[1:]
|
||||
current_desc_parts.append(aline.strip())
|
||||
|
||||
flush_current_param()
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
|
||||
return result
|
||||
|
||||
@@ -531,7 +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
|
||||
@@ -540,7 +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
|
||||
@@ -575,12 +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 +0,0 @@
|
||||
from . import sirna_materials # noqa: F401 ensure @resource classes are importable for PLR deserialize
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
from os import name
|
||||
|
||||
from pylabrobot.resources import Deck, Coordinate, Rotation
|
||||
|
||||
from unilabos.registry.decorators import resource
|
||||
from unilabos.resources.bioyond.YB_warehouses import (
|
||||
bioyond_warehouse_1x4x4,
|
||||
bioyond_warehouse_1x4x4_right, # 新增：右侧仓库 (A05～D08)
|
||||
@@ -25,11 +23,6 @@ from unilabos.resources.bioyond.YB_warehouses import (
|
||||
from unilabos.resources.bioyond.warehouses import (
|
||||
bioyond_warehouse_tipbox_storage_left, # 新增：Tip盒堆栈(左)
|
||||
bioyond_warehouse_tipbox_storage_right, # 新增：Tip盒堆栈(右)
|
||||
bioyond_warehouse_sirna_automation_stack,
|
||||
bioyond_warehouse_sirna_centrifuge_balance_plate_stack,
|
||||
bioyond_warehouse_sirna_g3_liquid_handler,
|
||||
bioyond_warehouse_numeric_stack, # 新增：数字编码堆栈 (用于多肽站)
|
||||
bioyond_warehouse_live_grid,
|
||||
)
|
||||
|
||||
|
||||
@@ -108,83 +101,6 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
@resource(
|
||||
id="BIOYOND_SirnaStation_Deck",
|
||||
category=["deck"],
|
||||
description="BIOYOND 小核酸工作站 Deck",
|
||||
icon="配液站.webp",
|
||||
)
|
||||
class BIOYOND_SirnaStation_Deck(Deck):
|
||||
WAREHOUSE_BIOYOND_AXIS = {
|
||||
"G3移液站": "xy_col_row",
|
||||
"自动化堆栈": "xy_col_row",
|
||||
"离心机配平板堆栈": "xy_col_row",
|
||||
}
|
||||
WAREHOUSE_BIOYOND_KEY_AXIS = {
|
||||
"G3移液站": "col_row",
|
||||
"自动化堆栈": "col_row",
|
||||
"离心机配平板堆栈": "col_row",
|
||||
}
|
||||
# Bioyond warehouse UUID -> 本地仓库名称 映射。
|
||||
# 留空时由配置（station config 的 ``warehouse_bioyond_ids``）注入。
|
||||
# graph 节点也可在 deck.config.warehouse_bioyond_ids 覆盖。
|
||||
WAREHOUSE_BIOYOND_IDS: dict = {}
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "SirnaStation_Deck",
|
||||
size_x: float = 2700.0,
|
||||
size_y: float = 1080.0,
|
||||
size_z: float = 1500.0,
|
||||
category: str = "deck",
|
||||
setup: bool = False,
|
||||
warehouse_bioyond_ids: dict | None = None,
|
||||
**kwargs,
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
# 按需写入实例级覆盖；保留默认空 mapping，避免改动模型常量。
|
||||
self.warehouse_bioyond_ids: dict = dict(self.WAREHOUSE_BIOYOND_IDS)
|
||||
if warehouse_bioyond_ids:
|
||||
self.warehouse_bioyond_ids.update(warehouse_bioyond_ids)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal: bool = False):
|
||||
if data.get("children") and data.get("setup") is True:
|
||||
data = data.copy()
|
||||
data["setup"] = False
|
||||
result = super().deserialize(data, allow_marshal=allow_marshal)
|
||||
result._ensure_sirna_warehouse_metadata()
|
||||
return result
|
||||
|
||||
def _ensure_sirna_warehouse_metadata(self) -> None:
|
||||
for child in getattr(self, "children", []):
|
||||
name = getattr(child, "name", "")
|
||||
axis = self.WAREHOUSE_BIOYOND_AXIS.get(name)
|
||||
if axis and not hasattr(child, "bioyond_axis"):
|
||||
child.bioyond_axis = axis
|
||||
key_axis = self.WAREHOUSE_BIOYOND_KEY_AXIS.get(name)
|
||||
if key_axis and not hasattr(child, "bioyond_key_axis"):
|
||||
child.bioyond_key_axis = key_axis
|
||||
|
||||
def setup(self) -> None:
|
||||
# Sirna 读接口 /api/storage/location/locations-by-type 返回完整固定堆栈清单。
|
||||
# LIMS 在库物料接口仍使用相同的 自动化堆栈 名称和数字库位编码。
|
||||
self.warehouses = {
|
||||
"G3移液站": bioyond_warehouse_sirna_g3_liquid_handler(),
|
||||
"自动化堆栈": bioyond_warehouse_sirna_automation_stack(),
|
||||
"离心机配平板堆栈": bioyond_warehouse_sirna_centrifuge_balance_plate_stack(),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"G3移液站": Coordinate(0.0, 0.0, 0.0),
|
||||
"自动化堆栈": Coordinate(220.0, 0.0, 0.0),
|
||||
"离心机配平板堆栈": Coordinate(1740.0, 0.0, 0.0),
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
class BIOYOND_YB_Deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
@@ -234,146 +150,12 @@ class BIOYOND_YB_Deck(Deck):
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
@resource(
|
||||
id="BIOYOND_PeptideStation_Deck",
|
||||
category=["deck"],
|
||||
description="BIOYOND 多肽工作站 Deck",
|
||||
icon="preparation_station.webp",
|
||||
)
|
||||
class BIOYOND_PeptideStation_Deck(Deck):
|
||||
WAREHOUSE_BIOYOND_AXIS = dict.fromkeys(
|
||||
[
|
||||
"自动化堆栈",
|
||||
"低温冰箱仓库",
|
||||
"Tecan移液站库",
|
||||
"G3移液站库",
|
||||
"IDOT移液站库",
|
||||
"G3缓冲库",
|
||||
"盖板缓冲库",
|
||||
"配平板缓冲库",
|
||||
"IDOT缓冲库",
|
||||
"固相合成板底座缓冲位",
|
||||
"离心机库位",
|
||||
"热封膜机位",
|
||||
],
|
||||
"xy_col_row",
|
||||
)
|
||||
WAREHOUSE_BIOYOND_KEY_AXIS = dict.fromkeys(WAREHOUSE_BIOYOND_AXIS, "row_col")
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "PeptideStation_Deck",
|
||||
size_x: float = 3500.0,
|
||||
size_y: float = 1800.0,
|
||||
size_z: float = 1500.0,
|
||||
category: str = "deck",
|
||||
setup: bool = False
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal: bool = False):
|
||||
if data.get("children") and data.get("setup") is True:
|
||||
# 已有序列化子资源，跳过 setup 避免重复创建
|
||||
result = super(BIOYOND_PeptideStation_Deck, cls).deserialize(data, allow_marshal=allow_marshal)
|
||||
else:
|
||||
result = super(BIOYOND_PeptideStation_Deck, cls).deserialize(data, allow_marshal=allow_marshal)
|
||||
result._ensure_peptide_warehouse_metadata()
|
||||
return result
|
||||
|
||||
def _ensure_peptide_warehouse_metadata(self) -> None:
|
||||
for child in getattr(self, "children", []):
|
||||
name = getattr(child, "name", "")
|
||||
axis = self.WAREHOUSE_BIOYOND_AXIS.get(name)
|
||||
if axis and not hasattr(child, "bioyond_axis"):
|
||||
child.bioyond_axis = axis
|
||||
key_axis = self.WAREHOUSE_BIOYOND_KEY_AXIS.get(name)
|
||||
if key_axis and not hasattr(child, "bioyond_key_axis"):
|
||||
child.bioyond_key_axis = key_axis
|
||||
|
||||
def setup(self) -> None:
|
||||
# 多肽工作站仓库配置
|
||||
# 基于 2026-05-09 live API probe 发现的实际仓库拓扑 (12个仓库)
|
||||
# 数据来源: temp_benyao/peptide/_logs/warehouse_discovery_raw_live_2026-05-09.json
|
||||
self.warehouses = {
|
||||
# 主自动化堆栈 - live API: code 10-17 -> x=17, y=10，显示为 10 行×17 列
|
||||
"自动化堆栈": bioyond_warehouse_numeric_stack(
|
||||
"自动化堆栈", rows=10, columns=17, bioyond_axis="xy_col_row", bioyond_key_axis="row_col"
|
||||
),
|
||||
|
||||
# 低温存储
|
||||
"低温冰箱仓库": bioyond_warehouse_live_grid(
|
||||
"低温冰箱仓库", rows=2, columns=3, slot_keys=["1", "2", "3", "4", "5", "6"]
|
||||
),
|
||||
|
||||
# 移液站库位
|
||||
"Tecan移液站库": bioyond_warehouse_live_grid(
|
||||
"Tecan移液站库", rows=1, columns=18, slot_keys=[str(index) for index in range(1, 19)]
|
||||
),
|
||||
"G3移液站库": bioyond_warehouse_live_grid(
|
||||
"G3移液站库",
|
||||
rows=1,
|
||||
columns=18,
|
||||
slot_keys=["1", "2", "3", "4", "垃圾桶", "6", "7", "8", "9", "10", "11", "12", "13", "14", "15", "16", "17", "18"],
|
||||
),
|
||||
"IDOT移液站库": bioyond_warehouse_live_grid(
|
||||
"IDOT移液站库",
|
||||
rows=1,
|
||||
columns=12,
|
||||
slot_keys=[f"0009-{index:04d}" for index in range(1, 13)],
|
||||
),
|
||||
|
||||
# 缓冲库位
|
||||
"G3缓冲库": bioyond_warehouse_live_grid(
|
||||
"G3缓冲库", rows=1, columns=5, slot_keys=[str(index) for index in range(1, 6)]
|
||||
),
|
||||
"盖板缓冲库": bioyond_warehouse_live_grid(
|
||||
"盖板缓冲库", rows=1, columns=7, slot_keys=[str(index) for index in range(1, 8)]
|
||||
),
|
||||
"配平板缓冲库": bioyond_warehouse_live_grid(
|
||||
"配平板缓冲库", rows=1, columns=3, slot_keys=[str(index) for index in range(1, 4)]
|
||||
),
|
||||
"IDOT缓冲库": bioyond_warehouse_live_grid(
|
||||
"IDOT缓冲库", rows=1, columns=2, slot_keys=["1", "1"]
|
||||
),
|
||||
"固相合成板底座缓冲位": bioyond_warehouse_live_grid(
|
||||
"固相合成板底座缓冲位",
|
||||
rows=1,
|
||||
columns=4,
|
||||
slot_keys=[f"0015-{index:04d}" for index in range(1, 5)],
|
||||
),
|
||||
|
||||
# 设备库位
|
||||
"离心机库位": bioyond_warehouse_live_grid(
|
||||
"离心机库位", rows=1, columns=4, slot_keys=[f"0017-{index:04d}" for index in range(1, 5)]
|
||||
),
|
||||
"热封膜机位": bioyond_warehouse_live_grid(
|
||||
"热封膜机位", rows=1, columns=2, slot_keys=[f"0016-{index:04d}" for index in range(1, 3)]
|
||||
),
|
||||
}
|
||||
|
||||
# 仓库位置布局 (需根据实际硬件布局调整)
|
||||
self.warehouse_locations = {
|
||||
"自动化堆栈": Coordinate(0.0, 0.0, 0.0),
|
||||
"Tecan移液站库": Coordinate(0.0, 1150.0, 0.0),
|
||||
"G3移液站库": Coordinate(0.0, 1300.0, 0.0),
|
||||
"IDOT移液站库": Coordinate(0.0, 1450.0, 0.0),
|
||||
"G3缓冲库": Coordinate(0.0, 1600.0, 0.0),
|
||||
"盖板缓冲库": Coordinate(850.0, 1600.0, 0.0),
|
||||
"低温冰箱仓库": Coordinate(2700.0, 0.0, 0.0),
|
||||
"配平板缓冲库": Coordinate(2700.0, 300.0, 0.0),
|
||||
"IDOT缓冲库": Coordinate(2700.0, 450.0, 0.0),
|
||||
"固相合成板底座缓冲位": Coordinate(2700.0, 600.0, 0.0),
|
||||
"离心机库位": Coordinate(2700.0, 750.0, 0.0),
|
||||
"热封膜机位": Coordinate(2700.0, 900.0, 0.0),
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
def YB_Deck(name: str) -> Deck:
|
||||
by=BIOYOND_YB_Deck(name=name)
|
||||
by.setup()
|
||||
return by
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,126 +0,0 @@
|
||||
"""Sirna Station Material Resource Definitions
|
||||
|
||||
Defines PyLabRobot resource classes for Bioyond Sirna station materials.
|
||||
Each class is decorated with @resource for AST-based registry discovery.
|
||||
"""
|
||||
|
||||
from collections import OrderedDict
|
||||
|
||||
from pylabrobot.resources import Plate, TipRack, Container
|
||||
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_g3_200ul_tip_rack",
|
||||
category=["labware", "tip_rack"],
|
||||
description="G3-200ul枪头盒 for Sirna station",
|
||||
)
|
||||
class BioyondSirna_G3_200ul_TipRack(TipRack):
|
||||
"""G3-200ul tip rack for Sirna liquid handling."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 64.0)
|
||||
kwargs.setdefault("model", "bioyond_sirna_g3_200ul_tip_rack")
|
||||
kwargs.setdefault("with_tips", True)
|
||||
if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
|
||||
kwargs["ordering"] = OrderedDict()
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_g3_50ul_tip_rack",
|
||||
category=["labware", "tip_rack"],
|
||||
description="G3-50ul枪头盒 for Sirna station",
|
||||
)
|
||||
class BioyondSirna_G3_50ul_TipRack(TipRack):
|
||||
"""G3-50ul tip rack for Sirna liquid handling."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 64.0)
|
||||
kwargs.setdefault("model", "bioyond_sirna_g3_50ul_tip_rack")
|
||||
kwargs.setdefault("with_tips", True)
|
||||
if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
|
||||
kwargs["ordering"] = OrderedDict()
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_384_well_plate",
|
||||
category=["labware", "plate"],
|
||||
description="384孔板 for Sirna assays",
|
||||
)
|
||||
class BioyondSirna_384WellPlate(Plate):
|
||||
"""384-well plate for Sirna reporter gene detection."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 14.35)
|
||||
kwargs.setdefault("model", "bioyond_sirna_384_well_plate")
|
||||
kwargs.setdefault("plate_type", "skirted")
|
||||
if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
|
||||
kwargs["ordering"] = OrderedDict()
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_cell_culture_plate",
|
||||
category=["labware", "plate"],
|
||||
description="细胞培养板 for Sirna cell culture",
|
||||
)
|
||||
class BioyondSirna_CellCulturePlate(Plate):
|
||||
"""Cell culture plate for Sirna experiments."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 14.35)
|
||||
kwargs.setdefault("model", "bioyond_sirna_cell_culture_plate")
|
||||
kwargs.setdefault("plate_type", "skirted")
|
||||
if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
|
||||
kwargs["ordering"] = OrderedDict()
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_reagent_trough",
|
||||
category=["labware", "trough"],
|
||||
description="试剂槽 for Sirna reagents",
|
||||
)
|
||||
class BioyondSirna_ReagentTrough(Container):
|
||||
"""Reagent trough for Sirna station reagents (RiboGreen, etc.)."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 44.0)
|
||||
kwargs.setdefault("max_volume", 300000.0)
|
||||
kwargs.setdefault("model", "bioyond_sirna_reagent_trough")
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
# Material type code mapping for dynamic instantiation
|
||||
MATERIAL_TYPE_CODE_TO_CLASS = {
|
||||
"0016": BioyondSirna_G3_200ul_TipRack,
|
||||
"0017": BioyondSirna_G3_50ul_TipRack,
|
||||
"0015": BioyondSirna_384WellPlate,
|
||||
"0001": BioyondSirna_CellCulturePlate,
|
||||
"0006": BioyondSirna_ReagentTrough,
|
||||
}
|
||||
|
||||
|
||||
def get_material_class_by_type_code(type_code: str):
|
||||
"""Get resource class by Bioyond material type code.
|
||||
|
||||
Args:
|
||||
type_code: Bioyond materialTypeCode (e.g., "0016", "0017")
|
||||
|
||||
Returns:
|
||||
Resource class or None if not found
|
||||
"""
|
||||
return MATERIAL_TYPE_CODE_TO_CLASS.get(type_code)
|
||||
@@ -1,180 +1,5 @@
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
|
||||
|
||||
from unilabos.resources.warehouse import WareHouse, warehouse_factory
|
||||
|
||||
|
||||
class BioyondWareHouse(WareHouse):
|
||||
"""Bioyond 仓库，额外保存服务端 x/y 坐标和库位标签语义。"""
|
||||
|
||||
def __init__(self, *args, bioyond_axis: str = "xy_row_col", bioyond_key_axis: str = "row_col", **kwargs):
|
||||
super().__init__(*args, **kwargs)
|
||||
self.bioyond_axis = bioyond_axis
|
||||
self.bioyond_key_axis = bioyond_key_axis
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
data["bioyond_axis"] = self.bioyond_axis
|
||||
data["bioyond_key_axis"] = self.bioyond_key_axis
|
||||
return data
|
||||
|
||||
|
||||
def bioyond_warehouse_numeric_stack(
|
||||
name: str,
|
||||
rows: int = 10,
|
||||
columns: int = 17,
|
||||
bioyond_axis: str = "xy_row_col",
|
||||
bioyond_key_axis: str = "row_col",
|
||||
) -> WareHouse:
|
||||
"""创建 Bioyond 数字库位堆栈，库位名使用服务端返回的 行-列 格式。
|
||||
|
||||
bioyond_axis: 仓库级别的 Bioyond 坐标轴约定，供 graphio 的坐标映射使用。
|
||||
- "xy_row_col" (default): Bioyond x→row, y→col (reaction/peptide 历史约定).
|
||||
- "xy_col_row": Bioyond x→col, y→row (Sirna live API 实测约定).
|
||||
bioyond_key_axis: 库位标签生成约定。
|
||||
- "row_col" (default): 视觉行列和标签行列一致，例如 10 行 x 17 列 → 1-1..10-17。
|
||||
- "col_row": 视觉行列转置，但标签仍保持 Bioyond row-col，例如
|
||||
17 行 x 10 列 → 1-1..10-17。
|
||||
未设置时 graphio 回退到默认 "xy_row_col"，其他调用方保持原行为。
|
||||
"""
|
||||
num_items_x = columns
|
||||
num_items_y = rows
|
||||
num_items_z = 1
|
||||
dx = 10.0
|
||||
dy = 10.0
|
||||
dz = 10.0
|
||||
item_dx = 147.0
|
||||
item_dy = 106.0
|
||||
item_dz = 130.0
|
||||
locations = [
|
||||
Coordinate(dx + col * item_dx, dy + row * item_dy, dz)
|
||||
for row in range(num_items_y)
|
||||
for col in range(num_items_x)
|
||||
]
|
||||
holders = create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=locations,
|
||||
resource_size_x=127.0,
|
||||
resource_size_y=86.0,
|
||||
resource_size_z=25.0,
|
||||
name_prefix=name,
|
||||
)
|
||||
if bioyond_key_axis == "row_col":
|
||||
keys = [
|
||||
f"{row + 1}-{col + 1}"
|
||||
for row in range(num_items_y)
|
||||
for col in range(num_items_x)
|
||||
]
|
||||
elif bioyond_key_axis == "col_row":
|
||||
keys = [
|
||||
f"{col + 1}-{row + 1}"
|
||||
for row in range(num_items_y)
|
||||
for col in range(num_items_x)
|
||||
]
|
||||
else:
|
||||
raise ValueError(f"未知 Bioyond 库位标签约定: {bioyond_key_axis!r}")
|
||||
warehouse = BioyondWareHouse(
|
||||
name=name,
|
||||
size_x=dx + item_dx * num_items_x,
|
||||
size_y=dy + item_dy * num_items_y,
|
||||
size_z=dz + item_dz * num_items_z,
|
||||
num_items_x=num_items_x,
|
||||
num_items_y=num_items_y,
|
||||
num_items_z=num_items_z,
|
||||
ordering_layout="row-major",
|
||||
sites={key: holder for key, holder in zip(keys, holders.values())},
|
||||
category="warehouse",
|
||||
bioyond_axis=bioyond_axis,
|
||||
bioyond_key_axis=bioyond_key_axis,
|
||||
)
|
||||
return warehouse
|
||||
|
||||
|
||||
def bioyond_warehouse_live_grid(
|
||||
name: str,
|
||||
rows: int,
|
||||
columns: int,
|
||||
slot_keys: list[str] | None = None,
|
||||
bioyond_axis: str = "xy_col_row",
|
||||
bioyond_key_axis: str = "row_col",
|
||||
) -> WareHouse:
|
||||
"""创建 Bioyond 实测库位网格，按服务端 code 保存位点标签。
|
||||
|
||||
默认用于 Peptide live API 返回的坐标：x 是视觉列，y 是视觉行。
|
||||
当服务端 code 重复时，为保持 PLR ordering 唯一性，会给后续重复项追加 ``#N``。
|
||||
"""
|
||||
num_items_x = columns
|
||||
num_items_y = rows
|
||||
num_items_z = 1
|
||||
dx = 10.0
|
||||
dy = 10.0
|
||||
dz = 10.0
|
||||
item_dx = 147.0
|
||||
item_dy = 106.0
|
||||
item_dz = 130.0
|
||||
locations = [
|
||||
Coordinate(dx + col * item_dx, dy + row * item_dy, dz)
|
||||
for row in range(num_items_y)
|
||||
for col in range(num_items_x)
|
||||
]
|
||||
holders = create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=locations,
|
||||
resource_size_x=127.0,
|
||||
resource_size_y=86.0,
|
||||
resource_size_z=25.0,
|
||||
name_prefix=name,
|
||||
)
|
||||
keys = slot_keys or [str(index + 1) for index in range(num_items_x * num_items_y)]
|
||||
if len(keys) != len(holders):
|
||||
raise ValueError(f"{name} 库位数量不匹配: keys={len(keys)}, holders={len(holders)}")
|
||||
|
||||
seen: dict[str, int] = {}
|
||||
unique_keys: list[str] = []
|
||||
for key in keys:
|
||||
count = seen.get(key, 0) + 1
|
||||
seen[key] = count
|
||||
unique_keys.append(key if count == 1 else f"{key}#{count}")
|
||||
|
||||
return BioyondWareHouse(
|
||||
name=name,
|
||||
size_x=dx + item_dx * num_items_x,
|
||||
size_y=dy + item_dy * num_items_y,
|
||||
size_z=dz + item_dz * num_items_z,
|
||||
num_items_x=num_items_x,
|
||||
num_items_y=num_items_y,
|
||||
num_items_z=num_items_z,
|
||||
ordering_layout="row-major",
|
||||
sites={key: holder for key, holder in zip(unique_keys, holders.values())},
|
||||
category="warehouse",
|
||||
bioyond_axis=bioyond_axis,
|
||||
bioyond_key_axis=bioyond_key_axis,
|
||||
)
|
||||
|
||||
|
||||
# ================ 小核酸工作站相关堆栈 ================
|
||||
|
||||
def bioyond_warehouse_sirna_g3_liquid_handler(name: str = "G3移液站") -> WareHouse:
|
||||
"""创建小核酸 G3 移液站库位堆栈：显示为 14 行 x 1 列，标签保持 1-1..1-14。"""
|
||||
return bioyond_warehouse_numeric_stack(
|
||||
name, rows=14, columns=1, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_sirna_automation_stack(name: str = "自动化堆栈") -> WareHouse:
|
||||
"""创建小核酸自动化堆栈：显示为 17 行 x 10 列，标签保持 1-1..10-17。"""
|
||||
return bioyond_warehouse_numeric_stack(
|
||||
name, rows=17, columns=10, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_sirna_centrifuge_balance_plate_stack(name: str = "离心机配平板堆栈") -> WareHouse:
|
||||
"""创建小核酸离心机配平板堆栈：显示为 1 行 x 2 列，标签保持 1-1、2-1。"""
|
||||
return bioyond_warehouse_numeric_stack(
|
||||
name, rows=1, columns=2, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
|
||||
)
|
||||
|
||||
|
||||
# ================ 反应站相关堆栈 ================
|
||||
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
|
||||
@@ -736,7 +736,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
logger.warning(f"物料 {unique_name} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
|
||||
continue
|
||||
|
||||
plr_material.code = material.get("barCode") or material.get("code") or ""
|
||||
plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
|
||||
plr_material.unilabos_uuid = str(uuid.uuid4())
|
||||
|
||||
# ⭐ 保存 Bioyond 原始信息到 unilabos_extra（用于出库时查询）
|
||||
@@ -864,22 +864,11 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
warehouse = deck.warehouses[wh_name]
|
||||
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
|
||||
|
||||
# Bioyond坐标映射:
|
||||
# - 历史 row_col 仓库中 x/y 直接按行/列参与索引。
|
||||
# - Sirna 的库位标签为 col-row，stock-material 返回 x=标签第二段、y=标签第一段。
|
||||
# 因此 x=13,y=4 应落到 key=4-13，而不是交换后落到 3-5。
|
||||
x = loc.get("x", 1)
|
||||
y = loc.get("y", 1)
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 仓库级别的轴约定覆盖。
|
||||
# 对旧的 row-col 视觉标签，bioyond_axis="xy_col_row" 需要交换 x/y。
|
||||
# 对 Sirna 的 col-row 库位标签，原始 x/y 已能直接索引到 code 对应位置，不再交换。
|
||||
bioyond_axis = getattr(warehouse, "bioyond_axis", "xy_row_col")
|
||||
bioyond_key_axis = getattr(warehouse, "bioyond_key_axis", "row_col")
|
||||
if bioyond_axis == "xy_col_row" and bioyond_key_axis != "col_row":
|
||||
x, y = y, x
|
||||
|
||||
# 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
|
||||
if wh_name == "堆栈1右":
|
||||
y = y - 4 # 将5-8映射到1-4
|
||||
@@ -923,43 +912,10 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
logger.debug(f"列优先warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
|
||||
|
||||
if 0 <= idx < warehouse.capacity:
|
||||
slot_key = None
|
||||
ordering = getattr(warehouse, "_ordering", {})
|
||||
sites = getattr(warehouse, "sites", [])
|
||||
if isinstance(ordering, dict) and idx < len(sites):
|
||||
site_at_idx = sites[idx]
|
||||
slot_key = next(
|
||||
(key for key, site in ordering.items() if site is site_at_idx),
|
||||
None,
|
||||
)
|
||||
|
||||
current_resource = warehouse[idx]
|
||||
if current_resource is None or isinstance(current_resource, (ResourceHolder, str)):
|
||||
if isinstance(current_resource, str):
|
||||
logger.warning(
|
||||
f"⚠️ 物料 {unique_name} 覆盖 {wh_name}[{idx}]"
|
||||
f"{f'({slot_key})' if slot_key else ''} 的旧占位 occupied_by={current_resource!r}"
|
||||
)
|
||||
if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
|
||||
# 物料尺寸已在放入warehouse前根据需要进行了交换
|
||||
warehouse[idx] = plr_material
|
||||
logger.debug(
|
||||
f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}]"
|
||||
f"{f'({slot_key})' if slot_key else ''} "
|
||||
f"(Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})"
|
||||
)
|
||||
else:
|
||||
parent = getattr(current_resource, "parent", None)
|
||||
current_repr = repr(current_resource)
|
||||
current_len = len(current_resource) if isinstance(current_resource, str) else None
|
||||
logger.warning(
|
||||
f"⚠️ 物料 {unique_name} 跳过放置到 {wh_name}[{idx}]"
|
||||
f"{f'({slot_key})' if slot_key else ''}：目标库位已有 "
|
||||
f"{type(current_resource).__name__}"
|
||||
f"(value={current_repr}, len={current_len})"
|
||||
f"(name={getattr(current_resource, 'name', None)}, "
|
||||
f"parent={getattr(parent, 'name', None)}, "
|
||||
f"uuid={getattr(current_resource, 'unilabos_uuid', None)})"
|
||||
)
|
||||
logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
|
||||
else:
|
||||
logger.warning(f"❌ 物料 {unique_name} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
|
||||
else:
|
||||
@@ -1077,7 +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
|
||||
@@ -1095,7 +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,
|
||||
@@ -1168,7 +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）
|
||||
}
|
||||
|
||||
|
||||
@@ -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]
|
||||
|
||||
@@ -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": []
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user