mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-24 19:44:08 +00:00
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78729ef86c
| Author | SHA1 | Date | |
|---|---|---|---|
|
78729ef86c |
@@ -1,62 +0,0 @@
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# unilabos: Production package (depends on unilabos-env + pip unilabos)
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# For production deployment
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package:
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name: unilabos
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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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target_directory: unilabos
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|
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build:
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python:
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entry_points:
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- unilab = unilabos.app.main:main
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script:
|
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- set PIP_NO_INDEX=
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- if: win
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then:
|
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- copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
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- copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
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- copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
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- pip install %SRC_DIR%
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- if: unix
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then:
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- cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
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- cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
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- cp $RECIPE_DIR/../../setup.py $SRC_DIR
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- pip install $SRC_DIR
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|
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requirements:
|
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host:
|
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- python ==3.11.14
|
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- pip
|
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- setuptools
|
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- zstd
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- zstandard
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run:
|
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- zstd
|
||||
- zstandard
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- networkx
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- typing_extensions
|
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- websockets
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- pint
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- fastapi
|
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- jinja2
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- requests
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- uvicorn
|
||||
- if: not osx
|
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then:
|
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- opcua
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- pyserial
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- pandas
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- pymodbus
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- matplotlib
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- pylibftdi
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- uni-lab::unilabos-env ==0.10.19
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|
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about:
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repository: https://github.com/deepmodeling/Uni-Lab-OS
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license: GPL-3.0-only
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description: "UniLabOS - Production package with minimal ROS2 dependencies"
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@@ -1,39 +0,0 @@
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# unilabos-env: conda environment dependencies (ROS2 + conda packages)
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|
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package:
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name: unilabos-env
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version: 0.10.19
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|
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build:
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noarch: generic
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|
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requirements:
|
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run:
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# Python
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- zstd
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- zstandard
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- conda-forge::python ==3.11.14
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- conda-forge::opencv
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# ROS2 dependencies (from ci-check.yml)
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- robostack-staging::ros-humble-ros-core
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- robostack-staging::ros-humble-action-msgs
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||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-nav2-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
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- conda-forge::uv
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|
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# UniLabOS custom messages
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- uni-lab::ros-humble-unilabos-msgs
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|
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about:
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repository: https://github.com/deepmodeling/Uni-Lab-OS
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license: GPL-3.0-only
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description: "UniLabOS Environment - ROS2 and conda dependencies"
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@@ -1,42 +0,0 @@
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# unilabos-full: Full package with all features
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# Depends on unilabos + complete ROS2 desktop + dev tools
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|
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package:
|
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name: unilabos-full
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version: 0.10.19
|
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|
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build:
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noarch: generic
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|
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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 ==0.10.19
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# Documentation tools
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- sphinx
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- sphinx_rtd_theme
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# Web UI
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- gradio
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- flask
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# Interactive development
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- ipython
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- jupyter
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- jupyros
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- colcon-common-extensions
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# ROS2 full desktop (includes rviz2, gazebo, etc.)
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- robostack-staging::ros-humble-desktop-full
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# Navigation and motion control
|
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- ros-humble-navigation2
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- ros-humble-ros2-control
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- ros-humble-robot-state-publisher
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- ros-humble-joint-state-publisher
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# MoveIt motion planning
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- ros-humble-moveit
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- ros-humble-moveit-servo
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# Simulation
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- ros-humble-simulation
|
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|
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about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
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license: GPL-3.0-only
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description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
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91
.conda/recipe.yaml
Normal file
91
.conda/recipe.yaml
Normal file
@@ -0,0 +1,91 @@
|
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package:
|
||||
name: unilabos
|
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version: 0.10.15
|
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|
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source:
|
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path: ../unilabos
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target_directory: unilabos
|
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|
||||
build:
|
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python:
|
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entry_points:
|
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- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
|
||||
- call %PYTHON% -m pip install %SRC_DIR%
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- if: unix
|
||||
then:
|
||||
- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
|
||||
- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
|
||||
- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
||||
- $PYTHON -m pip install $SRC_DIR
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.11
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- zstandard
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
- make
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
- numpy
|
||||
- scipy
|
||||
- pandas
|
||||
- networkx
|
||||
- matplotlib
|
||||
- pint
|
||||
- pyserial
|
||||
- pyusb
|
||||
- pylibftdi
|
||||
- pymodbus
|
||||
- python-can
|
||||
- pyvisa
|
||||
- opencv
|
||||
- pydantic
|
||||
- fastapi
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websockets
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-sensor-msgs
|
||||
- robostack-staging::ros-humble-trajectory-msgs
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
- ros-humble-rosbridge-server
|
||||
- ros-humble-cv-bridge
|
||||
- ros-humble-tf2
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
- ros-humble-simulation
|
||||
- ros-humble-tf-transformations
|
||||
- transforms3d
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "Uni-Lab-OS"
|
||||
9
.conda/scripts/post-link.bat
Normal file
9
.conda/scripts/post-link.bat
Normal file
@@ -0,0 +1,9 @@
|
||||
@echo off
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setlocal enabledelayedexpansion
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|
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REM upgrade pip
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"%PREFIX%\python.exe" -m pip install --upgrade pip
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|
||||
REM install extra deps
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"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
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"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
9
.conda/scripts/post-link.sh
Normal file
9
.conda/scripts/post-link.sh
Normal file
@@ -0,0 +1,9 @@
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#!/usr/bin/env bash
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set -euxo pipefail
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|
||||
# make sure pip is available
|
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"$PREFIX/bin/python" -m pip install --upgrade pip
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|
||||
# install extra deps
|
||||
"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
|
||||
"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
@@ -1,160 +0,0 @@
|
||||
---
|
||||
name: add-device
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||||
description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
|
||||
---
|
||||
|
||||
# 添加新设备到 Uni-Lab-OS
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||||
|
||||
**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
|
||||
|
||||
该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
|
||||
|
||||
---
|
||||
|
||||
## 装饰器参考
|
||||
|
||||
### @device — 设备类装饰器
|
||||
|
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```python
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||||
from unilabos.registry.decorators import device
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|
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# 单设备
|
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@device(
|
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id="my_device.vendor", # 注册表唯一标识（必填）
|
||||
category=["temperature"], # 分类标签列表（必填）
|
||||
description="设备描述", # 设备描述
|
||||
display_name="显示名称", # UI 显示名称（默认用 id）
|
||||
icon="DeviceIcon.webp", # 图标文件名
|
||||
version="1.0.0", # 版本号
|
||||
device_type="python", # "python" 或 "ros2"
|
||||
handles=[...], # 端口列表（InputHandle / OutputHandle）
|
||||
model={...}, # 3D 模型配置
|
||||
hardware_interface=HardwareInterface(...), # 硬件通信接口
|
||||
)
|
||||
|
||||
# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
|
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@device(
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ids=["pump.vendor.model_A", "pump.vendor.model_B"],
|
||||
id_meta={
|
||||
"pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
|
||||
"pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
|
||||
},
|
||||
category=["pump_and_valve"],
|
||||
)
|
||||
```
|
||||
|
||||
### @action — 动作方法装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import action
|
||||
|
||||
@action # 无参：注册为 UniLabJsonCommand 动作
|
||||
@action() # 同上
|
||||
@action(description="执行操作") # 带描述
|
||||
@action(
|
||||
action_type=HeatChill, # 指定 ROS Action 消息类型
|
||||
goal={"temperature": "temp"}, # Goal 字段映射
|
||||
feedback={}, # Feedback 字段映射
|
||||
result={}, # Result 字段映射
|
||||
handles=[...], # 动作级别端口
|
||||
goal_default={"temp": 25.0}, # Goal 默认值
|
||||
placeholder_keys={...}, # 参数占位符
|
||||
always_free=True, # 不受排队限制
|
||||
auto_prefix=True, # 强制使用 auto- 前缀
|
||||
parent=True, # 从父类 MRO 获取参数签名
|
||||
)
|
||||
```
|
||||
|
||||
**自动识别规则：**
|
||||
- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
|
||||
- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
|
||||
- `_` 开头的方法 → 不扫描
|
||||
- `@not_action` 标记的方法 → 排除
|
||||
|
||||
### @topic_config — 状态属性配置
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config(
|
||||
period=5.0, # 发布周期（秒），默认 5.0
|
||||
print_publish=False, # 是否打印发布日志
|
||||
qos=10, # QoS 深度，默认 10
|
||||
name="custom_name", # 自定义发布名称（默认用属性名）
|
||||
)
|
||||
def temperature(self) -> float:
|
||||
return self.data.get("temperature", 0.0)
|
||||
```
|
||||
|
||||
### 辅助装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import not_action, always_free
|
||||
|
||||
@not_action # 标记为非动作（post_init、辅助方法等）
|
||||
@always_free # 标记为不受排队限制（查询类操作）
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 设备模板
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Any, Dict, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.registry.decorators import device, action, topic_config, not_action
|
||||
|
||||
@device(id="my_device", category=["my_category"], description="设备描述")
|
||||
class MyDevice:
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
self.device_id = device_id or "my_device"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {"status": "Idle"}
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
|
||||
self._ros_node = ros_node
|
||||
|
||||
@action
|
||||
async def initialize(self) -> bool:
|
||||
self.data["status"] = "Ready"
|
||||
return True
|
||||
|
||||
@action
|
||||
async def cleanup(self) -> bool:
|
||||
self.data["status"] = "Offline"
|
||||
return True
|
||||
|
||||
@action(description="执行操作")
|
||||
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"""
|
||||
return {"success": True}
|
||||
|
||||
def get_info(self) -> Dict[str, Any]:
|
||||
"""无 @action → 自动注册为 'auto-get_info' 动作"""
|
||||
return {"device_id": self.device_id}
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self.data.get("temperature", 0.0)
|
||||
```
|
||||
|
||||
### 要点
|
||||
|
||||
- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
|
||||
- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
|
||||
- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
|
||||
- 运行时状态存储在 `self.data` 字典中
|
||||
- 设备文件放在 `unilabos/devices/<category>/` 目录下
|
||||
@@ -1,351 +0,0 @@
|
||||
---
|
||||
name: add-resource
|
||||
description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
|
||||
---
|
||||
|
||||
# 添加新物料资源
|
||||
|
||||
Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
|
||||
|
||||
---
|
||||
|
||||
## 资源类型
|
||||
|
||||
| 类型 | 基类 | 用途 | 示例 |
|
||||
|------|------|------|------|
|
||||
| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
|
||||
| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
|
||||
| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
|
||||
| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
|
||||
|
||||
**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
|
||||
|
||||
WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
|
||||
|
||||
---
|
||||
|
||||
## @resource 装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
@resource(
|
||||
id="my_resource_id", # 注册表唯一标识（必填）
|
||||
category=["bottles"], # 分类标签列表（必填）
|
||||
description="资源描述",
|
||||
icon="", # 图标
|
||||
version="1.0.0",
|
||||
handles=[...], # 端口列表（InputHandle / OutputHandle）
|
||||
model={...}, # 3D 模型配置
|
||||
class_type="pylabrobot", # "python" / "pylabrobot" / "unilabos"
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 创建规范
|
||||
|
||||
### 命名规则
|
||||
|
||||
1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
|
||||
2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
|
||||
|
||||
### 子物料命名示例
|
||||
|
||||
```python
|
||||
# Carrier 内部的 sites 用 name 前缀
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}" # "堆栈1左_A01", "堆栈1左_B02" ...
|
||||
|
||||
# Carrier 中放置 Bottle 时用 name 前缀
|
||||
carrier[0] = My_Reagent_Bottle(f"{name}_flask_1") # "堆栈1左_flask_1"
|
||||
carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}") # "堆栈1左_vial_A1"
|
||||
|
||||
# create_homogeneous_resources 使用 name_prefix
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[...],
|
||||
name_prefix=name, # 自动生成 "{name}_0", "{name}_1" ...
|
||||
)
|
||||
|
||||
# Deck setup 中用仓库名称作为 name 传入
|
||||
self.warehouses = {
|
||||
"堆栈1左": my_warehouse_4x4("堆栈1左"), # WareHouse.name = "堆栈1左"
|
||||
"试剂堆栈": my_reagent_stack("试剂堆栈"), # WareHouse.name = "试剂堆栈"
|
||||
}
|
||||
```
|
||||
|
||||
### 其他规范
|
||||
|
||||
- **max_volume 单位为 μL**：500mL = 500000
|
||||
- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
|
||||
- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
|
||||
- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
|
||||
- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
|
||||
- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
|
||||
- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
|
||||
|
||||
---
|
||||
|
||||
## 资源模板
|
||||
|
||||
### Bottle
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import resource
|
||||
from unilabos.resources.itemized_carrier import Bottle
|
||||
|
||||
|
||||
@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
|
||||
def My_Reagent_Bottle(
|
||||
name: str,
|
||||
diameter: float = 70.0,
|
||||
height: float = 120.0,
|
||||
max_volume: float = 500000.0,
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="My_Reagent_Bottle",
|
||||
)
|
||||
```
|
||||
|
||||
**Bottle 参数：**
|
||||
- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
|
||||
- `diameter`: 瓶体直径 (mm)
|
||||
- `height`: 瓶体高度 (mm)
|
||||
- `max_volume`: 最大容积（**μL**，500mL = 500000）
|
||||
- `barcode`: 条形码（可选）
|
||||
|
||||
### BottleCarrier
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import ResourceHolder
|
||||
from pylabrobot.resources.carrier import create_ordered_items_2d
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
|
||||
def My_6SlotCarrier(name: str) -> BottleCarrier:
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3, num_items_y=2,
|
||||
dx=10.0, dy=10.0, dz=5.0,
|
||||
item_dx=42.0, item_dy=35.0,
|
||||
size_x=20.0, size_y=20.0, size_z=50.0,
|
||||
)
|
||||
# 子 site 用 name 作为前缀
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name, size_x=146.0, size_y=80.0, size_z=55.0,
|
||||
sites=sites, model="My_6SlotCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
|
||||
# 放置 Bottle 时用 name 作为前缀
|
||||
ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
|
||||
for i in range(6):
|
||||
carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
```
|
||||
|
||||
### WareHouse / Deck 放置位
|
||||
|
||||
WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
|
||||
|
||||
#### WareHouse（使用 warehouse_factory）
|
||||
|
||||
```python
|
||||
from unilabos.resources.warehouse import warehouse_factory
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
|
||||
def my_warehouse_4x4(name: str) -> "WareHouse":
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0, # 第一个 slot 的起始偏移
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0, # slot 间距
|
||||
resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0, # slot 尺寸
|
||||
model="my_warehouse_4x4",
|
||||
col_offset=0, # 列标签起始偏移（0 → A01, 4 → A05）
|
||||
layout="row-major", # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
|
||||
)
|
||||
```
|
||||
|
||||
`warehouse_factory` 参数说明：
|
||||
- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
|
||||
- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
|
||||
- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
|
||||
- `layout`：影响 slot 标签和坐标映射
|
||||
- `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
|
||||
- `"col-major"`：A01,B01,...,A02,B02,...（列优先）
|
||||
- `"vertical-col-major"`：竖向排列，y 坐标反向
|
||||
|
||||
#### Deck 组装 WareHouse
|
||||
|
||||
Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import Deck, Coordinate
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
|
||||
class MyStation_Deck(Deck):
|
||||
def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
|
||||
category="deck", setup=False, **kwargs) -> None:
|
||||
super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
self.warehouses = {
|
||||
"堆栈1左": my_warehouse_4x4("堆栈1左"),
|
||||
"堆栈1右": my_warehouse_4x4("堆栈1右"),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"堆栈1左": Coordinate(-200.0, 400.0, 0.0), # 自行测量计算
|
||||
"堆栈1右": Coordinate(2350.0, 400.0, 0.0),
|
||||
}
|
||||
for wh_name, wh in self.warehouses.items():
|
||||
self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
|
||||
```
|
||||
|
||||
#### Site 模式（前端定向放置）
|
||||
|
||||
适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
|
||||
|
||||
```python
|
||||
import collections
|
||||
from typing import Any, Dict, List, Optional
|
||||
from pylabrobot.resources import Deck, Resource, Coordinate
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
|
||||
class MyLabDeck(Deck):
|
||||
# 根据设备台面实测批量计算各 slot 坐标偏移
|
||||
_DEFAULT_SITE_POSITIONS = [
|
||||
(0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T1-T4
|
||||
(0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T5-T8
|
||||
]
|
||||
_DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
|
||||
_DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
if sites is not None:
|
||||
self.sites = [dict(s) for s in sites]
|
||||
else:
|
||||
self.sites = []
|
||||
for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
|
||||
self.sites.append({
|
||||
"label": f"T{i + 1}", # 前端显示的槽位标签
|
||||
"visible": True, # 是否在前端可见
|
||||
"position": {"x": x, "y": y, "z": z}, # 槽位物理坐标
|
||||
"size": dict(self._DEFAULT_SITE_SIZE), # 槽位尺寸
|
||||
"content_type": list(self._DEFAULT_CONTENT_TYPE), # 允许放入的物料类型
|
||||
})
|
||||
self._ordering = collections.OrderedDict(
|
||||
(site["label"], None) for site in self.sites
|
||||
)
|
||||
|
||||
def assign_child_resource(self, resource: Resource,
|
||||
location: Optional[Coordinate] = None,
|
||||
reassign: bool = True,
|
||||
spot: Optional[int] = None):
|
||||
idx = spot
|
||||
if spot is None:
|
||||
for i, site in enumerate(self.sites):
|
||||
if site.get("label") == resource.name:
|
||||
idx = i
|
||||
break
|
||||
if idx is None:
|
||||
for i in range(len(self.sites)):
|
||||
if self._get_site_resource(i) is None:
|
||||
idx = i
|
||||
break
|
||||
if idx is None:
|
||||
raise ValueError(f"No available site for '{resource.name}'")
|
||||
loc = Coordinate(**self.sites[idx]["position"])
|
||||
super().assign_child_resource(resource, location=loc, reassign=reassign)
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
sites_out = []
|
||||
for i, site in enumerate(self.sites):
|
||||
occupied = self._get_site_resource(i)
|
||||
sites_out.append({
|
||||
"label": site["label"],
|
||||
"visible": site.get("visible", True),
|
||||
"occupied_by": occupied.name if occupied else None,
|
||||
"position": site["position"],
|
||||
"size": site["size"],
|
||||
"content_type": site["content_type"],
|
||||
})
|
||||
data["sites"] = sites_out
|
||||
return data
|
||||
```
|
||||
|
||||
**Site 字段说明：**
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
|
||||
| `visible` | bool | 是否在前端可见 |
|
||||
| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
|
||||
| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
|
||||
| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
|
||||
|
||||
**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
|
||||
|
||||
---
|
||||
|
||||
## 文件位置
|
||||
|
||||
```
|
||||
unilabos/resources/
|
||||
├── <project>/ # 按项目分组
|
||||
│ ├── bottles.py # Bottle 工厂函数
|
||||
│ ├── bottle_carriers.py # Carrier 工厂函数
|
||||
│ ├── warehouses.py # WareHouse 工厂函数
|
||||
│ └── decks.py # Deck 类定义
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 资源可导入
|
||||
python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
|
||||
|
||||
# 启动测试（AST 自动扫描）
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
|
||||
|
||||
---
|
||||
|
||||
## 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
| 装饰器定义 | `unilabos/registry/decorators.py` |
|
||||
@@ -1,292 +0,0 @@
|
||||
# 资源高级参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 类继承体系
|
||||
|
||||
```
|
||||
PyLabRobot
|
||||
├── Resource (PLR 基类)
|
||||
│ ├── Well
|
||||
│ │ └── Bottle (unilabos) → 瓶/小瓶/烧杯/反应器
|
||||
│ ├── Deck
|
||||
│ │ └── 自定义 Deck 类 (unilabos) → 工作站台面
|
||||
│ ├── ResourceHolder → 槽位占位符
|
||||
│ └── Container
|
||||
│ └── Battery (unilabos) → 组装好的电池
|
||||
│
|
||||
├── ItemizedCarrier (unilabos, 继承 Resource)
|
||||
│ ├── BottleCarrier (unilabos) → 瓶载架
|
||||
│ └── WareHouse (unilabos) → 堆栈仓库
|
||||
│
|
||||
├── ItemizedResource (PLR)
|
||||
│ └── MagazineHolder (unilabos) → 子弹夹载架
|
||||
│
|
||||
└── ResourceStack (PLR)
|
||||
└── Magazine (unilabos) → 子弹夹洞位
|
||||
```
|
||||
|
||||
### Bottle 类细节
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def __init__(self, name, diameter, height, max_volume,
|
||||
size_x=0.0, size_y=0.0, size_z=0.0,
|
||||
barcode=None, category="container", model=None, **kwargs):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=diameter, # PLR 用 diameter 作为 size_x/size_y
|
||||
size_y=diameter,
|
||||
size_z=height, # PLR 用 height 作为 size_z
|
||||
max_volume=max_volume,
|
||||
category=category,
|
||||
model=model,
|
||||
bottom_type="flat",
|
||||
cross_section_type="circle"
|
||||
)
|
||||
```
|
||||
|
||||
注意 `size_x = size_y = diameter`，`size_z = height`。
|
||||
|
||||
### ItemizedCarrier 核心方法
|
||||
|
||||
| 方法 | 说明 |
|
||||
|------|------|
|
||||
| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
|
||||
| `__setitem__(identifier, resource)` | 向槽位放入资源 |
|
||||
| `get_child_identifier(child)` | 获取子资源的标识符 |
|
||||
| `capacity` | 总槽位数 |
|
||||
| `sites` | 所有槽位字典 |
|
||||
|
||||
---
|
||||
|
||||
## 2. 序列化与反序列化
|
||||
|
||||
### PLR ↔ UniLab 转换
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
|
||||
| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
|
||||
|
||||
### `from_plr_resources` 流程
|
||||
|
||||
```
|
||||
PLR Resource
|
||||
↓ build_uuid_mapping (递归生成 UUID)
|
||||
↓ resource.serialize() → dict
|
||||
↓ resource.serialize_all_state() → states
|
||||
↓ resource_plr_inner (递归构建 ResourceDictInstance)
|
||||
ResourceTreeSet
|
||||
```
|
||||
|
||||
关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
|
||||
|
||||
### `to_plr_resources` 流程
|
||||
|
||||
```
|
||||
ResourceTreeSet
|
||||
↓ collect_node_data (收集 UUID、状态、扩展数据)
|
||||
↓ node_to_plr_dict (转为 PLR 字典格式)
|
||||
↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
|
||||
↓ sub_cls.deserialize(plr_dict) (反序列化)
|
||||
↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
|
||||
PLR Resource
|
||||
```
|
||||
|
||||
### Bottle 序列化
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
return {**data, "diameter": self.diameter, "height": self.height}
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal=False):
|
||||
barcode_data = data.pop("barcode", None)
|
||||
instance = super().deserialize(data, allow_marshal=allow_marshal)
|
||||
if barcode_data and isinstance(barcode_data, str):
|
||||
instance.barcode = barcode_data
|
||||
return instance
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. Bioyond 物料同步
|
||||
|
||||
### 双向转换函数
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
|
||||
| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
|
||||
|
||||
### `resource_bioyond_to_plr` 流程
|
||||
|
||||
```
|
||||
Bioyond 物料列表
|
||||
↓ reverse_type_mapping: {typeName → (model, UUID)}
|
||||
↓ 对每个物料:
|
||||
typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
|
||||
initialize_resource({"name": unique_name, "class": model})
|
||||
↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
|
||||
↓ 处理 detail (子物料/坐标)
|
||||
↓ 按 locationName 放入 deck.warehouses 对应槽位
|
||||
PLR 资源列表
|
||||
```
|
||||
|
||||
### `resource_plr_to_bioyond` 流程
|
||||
|
||||
```
|
||||
PLR 资源列表
|
||||
↓ 遍历每个资源:
|
||||
载架(capacity > 1): 生成 details 子物料 + 坐标
|
||||
单瓶: 直接映射
|
||||
↓ type_mapping 查找 typeId
|
||||
↓ warehouse_mapping 查找位置 UUID
|
||||
↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
|
||||
Bioyond 物料列表
|
||||
```
|
||||
|
||||
### BioyondResourceSynchronizer
|
||||
|
||||
工作站通过 `ResourceSynchronizer` 自动同步物料：
|
||||
|
||||
```python
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
all_data = []
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 0}')) # 耗材
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 1}')) # 样品
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 2}')) # 试剂
|
||||
unilab_resources = resource_bioyond_to_plr(
|
||||
all_data,
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
deck=self.workstation.deck
|
||||
)
|
||||
# 更新 deck 上的资源
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 非瓶类资源
|
||||
|
||||
### ElectrodeSheet（极片）
|
||||
|
||||
路径：`unilabos/resources/battery/electrode_sheet.py`
|
||||
|
||||
```python
|
||||
class ElectrodeSheet(ResourcePLR):
|
||||
"""片状材料（极片、隔膜、弹片、垫片等）"""
|
||||
_unilabos_state = {
|
||||
"diameter": 0.0,
|
||||
"thickness": 0.0,
|
||||
"mass": 0.0,
|
||||
"material_type": "",
|
||||
"color": "",
|
||||
"info": "",
|
||||
}
|
||||
```
|
||||
|
||||
工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
|
||||
|
||||
### Battery（电池）
|
||||
|
||||
```python
|
||||
class Battery(Container):
|
||||
"""组装好的电池"""
|
||||
_unilabos_state = {
|
||||
"color": "",
|
||||
"electrolyte_name": "",
|
||||
"open_circuit_voltage": 0.0,
|
||||
}
|
||||
```
|
||||
|
||||
### Magazine / MagazineHolder（子弹夹）
|
||||
|
||||
```python
|
||||
class Magazine(ResourceStack):
|
||||
"""子弹夹洞位，可堆叠 ElectrodeSheet"""
|
||||
# direction, max_sheets
|
||||
|
||||
class MagazineHolder(ItemizedResource):
|
||||
"""多洞位子弹夹"""
|
||||
# hole_diameter, hole_depth, max_sheets_per_hole
|
||||
```
|
||||
|
||||
工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
|
||||
|
||||
---
|
||||
|
||||
## 5. 仓库工厂模式参考
|
||||
|
||||
### 实际 warehouse 工厂函数示例
|
||||
|
||||
```python
|
||||
# 行优先 4x4 仓库
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, 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,
|
||||
layout="row-major", # A01,A02,A03,A04, B01,...
|
||||
)
|
||||
|
||||
# 右侧 4x4 仓库（列名偏移）
|
||||
def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, 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,
|
||||
col_offset=4, # A05,A06,A07,A08
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
# 竖向仓库（站内试剂存放）
|
||||
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1, num_items_y=2, 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,
|
||||
layout="vertical-col-major",
|
||||
)
|
||||
|
||||
# 行偏移（F 行开始）
|
||||
def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, num_items_y=5, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=159.0, item_dy=183.0, item_dz=130.0,
|
||||
row_offset=row_offset, # 0→A行起，5→F行起
|
||||
layout="row-major",
|
||||
)
|
||||
```
|
||||
|
||||
### layout 类型说明
|
||||
|
||||
| layout | 命名顺序 | 适用场景 |
|
||||
|--------|---------|---------|
|
||||
| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
|
||||
| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
|
||||
| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
|
||||
|
||||
---
|
||||
|
||||
## 6. 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
|
||||
| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
|
||||
| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
|
||||
| 电池资源 | `unilabos/resources/battery/` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
@@ -1,626 +0,0 @@
|
||||
---
|
||||
name: add-workstation
|
||||
description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Uses @device decorator + AST auto-scanning. Walks through workstation type, sub-device composition, driver creation, deck setup, and graph file. Use when the user wants to add a workstation, create a workstation driver, configure a station with sub-devices, or mentions 工作站/工站/station/workstation.
|
||||
---
|
||||
|
||||
# Uni-Lab-OS 工作站接入指南
|
||||
|
||||
工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统和工作流引擎。使用 `@device` 装饰器注册，AST 自动扫描生成注册表。
|
||||
|
||||
---
|
||||
|
||||
## 工作站类型
|
||||
|
||||
| 类型 | 基类 | 适用场景 |
|
||||
| ------------------- | ----------------- | ---------------------------------- |
|
||||
| **Protocol 工作站** | `ProtocolNode` | 标准化学操作协议（泵转移、过滤等） |
|
||||
| **外部系统工作站** | `WorkstationBase` | 与外部 LIMS/MES 对接 |
|
||||
| **硬件控制工作站** | `WorkstationBase` | 直接控制 PLC/硬件 |
|
||||
|
||||
---
|
||||
|
||||
## @device 装饰器（工作站）
|
||||
|
||||
工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
|
||||
|
||||
```python
|
||||
@device(
|
||||
id="my_workstation", # 注册表唯一标识（必填）
|
||||
category=["workstation"], # 分类标签
|
||||
description="我的工作站",
|
||||
)
|
||||
```
|
||||
|
||||
如果一个工作站类支持多个具体变体，可使用 `ids` / `id_meta`，与设备的用法相同（参见 add-device SKILL）。
|
||||
|
||||
---
|
||||
|
||||
## 工作站驱动模板
|
||||
|
||||
### 模板 A：基于外部系统的工作站
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
from pylabrobot.resources import Deck
|
||||
|
||||
from unilabos.registry.decorators import device, topic_config, not_action
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
except ImportError:
|
||||
ROS2WorkstationNode = None
|
||||
|
||||
|
||||
@device(id="my_workstation", category=["workstation"], description="我的工作站")
|
||||
class MyWorkstation(WorkstationBase):
|
||||
_ros_node: "ROS2WorkstationNode"
|
||||
|
||||
def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger("MyWorkstation")
|
||||
self.api_host = self.config.get("api_host", "")
|
||||
self._status = "Idle"
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: "ROS2WorkstationNode"):
|
||||
super().post_init(ros_node)
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
|
||||
"""注册为工作站动作"""
|
||||
return {"success": True}
|
||||
|
||||
async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
|
||||
"""注册为工作站动作"""
|
||||
return {"success": True}
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def workflow_sequence(self) -> str:
|
||||
return "[]"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def material_info(self) -> str:
|
||||
return "{}"
|
||||
```
|
||||
|
||||
### 模板 B：Protocol 工作站
|
||||
|
||||
直接使用 `ProtocolNode`，通常不需要自定义驱动类：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ProtocolNode
|
||||
```
|
||||
|
||||
在图文件中配置 `protocol_type` 即可。
|
||||
|
||||
---
|
||||
|
||||
## 子设备访问（sub_devices）
|
||||
|
||||
工站初始化子设备后，所有子设备实例存储在 `self._ros_node.sub_devices` 字典中（key 为设备 id，value 为 `ROS2DeviceNode` 实例）。工站的驱动类可以直接获取子设备实例来调用其方法：
|
||||
|
||||
```python
|
||||
# 在工站驱动类的方法中访问子设备
|
||||
sub = self._ros_node.sub_devices["pump_1"]
|
||||
|
||||
# .driver_instance — 子设备的驱动实例（即设备 Python 类的实例）
|
||||
sub.driver_instance.some_method(arg1, arg2)
|
||||
|
||||
# .ros_node_instance — 子设备的 ROS2 节点实例
|
||||
sub.ros_node_instance._action_value_mappings # 查看子设备支持的 action
|
||||
```
|
||||
|
||||
**常见用法**：
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def my_protocol(self, **kwargs):
|
||||
# 获取子设备驱动实例
|
||||
pump = self._ros_node.sub_devices["pump_1"].driver_instance
|
||||
heater = self._ros_node.sub_devices["heater_1"].driver_instance
|
||||
|
||||
# 直接调用子设备方法
|
||||
pump.aspirate(volume=100)
|
||||
heater.set_temperature(80)
|
||||
```
|
||||
|
||||
> 参考实现：`unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py` 中通过 `self._ros_node.sub_devices.get(reactor_id)` 获取子反应器实例并更新数据。
|
||||
|
||||
---
|
||||
|
||||
## 硬件通信接口（hardware_interface）
|
||||
|
||||
硬件控制型工作站通常需要通过串口（Serial）、Modbus 等通信协议控制多个子设备。Uni-Lab-OS 通过 **通信设备代理** 机制实现端口共享：一个串口只创建一个 `serial` 节点，多个子设备共享这个通信实例。
|
||||
|
||||
### 工作原理
|
||||
|
||||
`ROS2WorkstationNode` 初始化时分两轮遍历子设备（`workstation.py`）：
|
||||
|
||||
**第一轮 — 初始化所有子设备**：按 `children` 顺序调用 `initialize_device()`，通信设备（`serial_` / `io_` 开头的 id）优先完成初始化，创建 `serial.Serial()` 实例。其他子设备此时 `self.hardware_interface = "serial_pump"`（字符串）。
|
||||
|
||||
**第二轮 — 代理替换**：遍历所有已初始化的子设备，读取子设备的 `_hardware_interface` 配置：
|
||||
|
||||
```
|
||||
hardware_interface = d.ros_node_instance._hardware_interface
|
||||
# → {"name": "hardware_interface", "read": "send_command", "write": "send_command"}
|
||||
```
|
||||
|
||||
1. 取 `name` 字段对应的属性值：`name_value = getattr(driver, hardware_interface["name"])`
|
||||
- 如果 `name_value` 是字符串且该字符串是某个子设备的 id → 触发代理替换
|
||||
2. 从通信设备获取真正的 `read`/`write` 方法
|
||||
3. 用 `setattr(driver, read_method, _read)` 将通信设备的方法绑定到子设备上
|
||||
|
||||
因此：
|
||||
|
||||
- **通信设备 id 必须与子设备 config 中填的字符串完全一致**（如 `"serial_pump"`）
|
||||
- **通信设备 id 必须以 `serial_` 或 `io_` 开头**（否则第一轮不会被识别为通信设备）
|
||||
- **通信设备必须在 `children` 列表中排在最前面**，确保先初始化
|
||||
|
||||
### HardwareInterface 参数说明
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import HardwareInterface
|
||||
|
||||
HardwareInterface(
|
||||
name="hardware_interface", # __init__ 中接收通信实例的属性名
|
||||
read="send_command", # 通信设备上暴露的读方法名
|
||||
write="send_command", # 通信设备上暴露的写方法名
|
||||
extra_info=["list_ports"], # 可选：额外暴露的方法
|
||||
)
|
||||
```
|
||||
|
||||
**`name` 字段的含义**：对应设备类 `__init__` 中，用于保存通信实例的**属性名**。系统据此知道要替换哪个属性。大部分设备直接用 `"hardware_interface"`，也可以自定义（如 `"io_device_port"`）。
|
||||
|
||||
### 示例 1：泵（name="hardware_interface"）
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, HardwareInterface
|
||||
|
||||
@device(
|
||||
id="my_pump",
|
||||
category=["pump_and_valve"],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="hardware_interface",
|
||||
read="send_command",
|
||||
write="send_command",
|
||||
),
|
||||
)
|
||||
class MyPump:
|
||||
def __init__(self, port=None, address="1", **kwargs):
|
||||
# name="hardware_interface" → 系统替换 self.hardware_interface
|
||||
self.hardware_interface = port # 初始为字符串 "serial_pump"，启动后被替换为 Serial 实例
|
||||
self.address = address
|
||||
|
||||
def send_command(self, command: str):
|
||||
full_command = f"/{self.address}{command}\r\n"
|
||||
self.hardware_interface.write(bytearray(full_command, "ascii"))
|
||||
return self.hardware_interface.read_until(b"\n")
|
||||
```
|
||||
|
||||
### 示例 2：电磁阀（name="io_device_port"，自定义属性名）
|
||||
|
||||
```python
|
||||
@device(
|
||||
id="solenoid_valve",
|
||||
category=["pump_and_valve"],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="io_device_port", # 自定义属性名 → 系统替换 self.io_device_port
|
||||
read="read_io_coil",
|
||||
write="write_io_coil",
|
||||
),
|
||||
)
|
||||
class SolenoidValve:
|
||||
def __init__(self, io_device_port: str = None, **kwargs):
|
||||
# name="io_device_port" → 图文件 config 中用 "io_device_port": "io_board_1"
|
||||
self.io_device_port = io_device_port # 初始为字符串，系统替换为 Modbus 实例
|
||||
```
|
||||
|
||||
### Serial 通信设备（class="serial"）
|
||||
|
||||
`serial` 是 Uni-Lab-OS 内置的通信代理设备，代码位于 `unilabos/ros/nodes/presets/serial_node.py`：
|
||||
|
||||
```python
|
||||
from serial import Serial, SerialException
|
||||
from threading import Lock
|
||||
|
||||
class ROS2SerialNode(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, **kwargs):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self._hardware_interface = {
|
||||
"name": "hardware_interface",
|
||||
"write": "send_command",
|
||||
"read": "read_data",
|
||||
}
|
||||
self._query_lock = Lock()
|
||||
|
||||
self.hardware_interface = Serial(baudrate=baudrate, port=port)
|
||||
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self, driver_instance=self, registry_name=registry_name,
|
||||
device_id=device_id, status_types={}, action_value_mappings={},
|
||||
hardware_interface=self._hardware_interface, print_publish=False,
|
||||
)
|
||||
self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
|
||||
|
||||
def send_command(self, command: str):
|
||||
with self._query_lock:
|
||||
self.hardware_interface.write(bytearray(f"{command}\n", "ascii"))
|
||||
return self.hardware_interface.read_until(b"\n").decode()
|
||||
|
||||
def read_data(self):
|
||||
with self._query_lock:
|
||||
return self.hardware_interface.read_until(b"\n").decode()
|
||||
```
|
||||
|
||||
在图文件中使用 `"class": "serial"` 即可创建串口代理：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"class": "serial",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "COM7", "baudrate": 9600 }
|
||||
}
|
||||
```
|
||||
|
||||
### 图文件配置
|
||||
|
||||
**通信设备必须在 `children` 列表中排在最前面**，确保先于其他子设备初始化：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"class": "workstation",
|
||||
"children": ["serial_pump", "pump_1", "pump_2"],
|
||||
"config": { "protocol_type": ["PumpTransferProtocol"] }
|
||||
},
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"class": "serial",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "COM7", "baudrate": 9600 }
|
||||
},
|
||||
{
|
||||
"id": "pump_1",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "serial_pump", "address": "1", "max_volume": 25.0 }
|
||||
},
|
||||
{
|
||||
"id": "pump_2",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "serial_pump", "address": "2", "max_volume": 25.0 }
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "pump_1",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": { "pump_1": "port", "serial_pump": "port" }
|
||||
},
|
||||
{
|
||||
"source": "pump_2",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": { "pump_2": "port", "serial_pump": "port" }
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
### 通信协议速查
|
||||
|
||||
| 协议 | config 参数 | 依赖包 | 通信设备 class |
|
||||
| -------------------- | ------------------------------ | ---------- | -------------------------- |
|
||||
| Serial (RS232/RS485) | `port`, `baudrate` | `pyserial` | `serial` |
|
||||
| Modbus RTU | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| Modbus TCP | `host`, `port`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| TCP Socket | `host`, `port` | stdlib | 自定义 |
|
||||
| HTTP API | `url`, `token` | `requests` | `device_comms/rpc.py` |
|
||||
|
||||
参考实现：`unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json`
|
||||
|
||||
---
|
||||
|
||||
## Deck 与物料生命周期
|
||||
|
||||
### 1. Deck 入参与两种初始化模式
|
||||
|
||||
系统根据设备节点 `config.deck` 的写法，自动反序列化 Deck 实例后传入 `__init__` 的 `deck` 参数。目前 `deck` 是固定字段名，只支持一个主 Deck。建议一个设备拥有一个台面，台面上抽象二级、三级子物料。
|
||||
|
||||
有两种初始化模式：
|
||||
|
||||
#### init 初始化（推荐）
|
||||
|
||||
`config.deck` 直接包含 `_resource_type` + `_resource_child_name`，系统先用 Deck 节点的 `config` 调用 Deck 类的 `__init__` 反序列化，再将实例传入设备的 `deck` 参数。子物料随 Deck 的 `children` 一起反序列化。
|
||||
|
||||
```json
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
||||
"_resource_child_name": "PRCXI_Deck"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### deserialize 初始化
|
||||
|
||||
`config.deck` 用 `data` 包裹一层，系统走 `deserialize` 路径，可传入更多参数（如 `allow_marshal` 等）：
|
||||
|
||||
```json
|
||||
"config": {
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
没有特殊需求时推荐 init 初始化。
|
||||
|
||||
#### config.deck 字段说明
|
||||
|
||||
| 字段 | 说明 |
|
||||
|------|------|
|
||||
| `_resource_type` | Deck 类的完整模块路径（`module:ClassName`） |
|
||||
| `_resource_child_name` | 对应图文件中 Deck 节点的 `id`，建立父子关联 |
|
||||
|
||||
#### 设备 __init__ 接收
|
||||
|
||||
```python
|
||||
def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
# deck 已经是反序列化后的 Deck 实例
|
||||
# → PRCXI9300Deck / BIOYOND_YB_Deck 等
|
||||
```
|
||||
|
||||
#### Deck 节点（图文件中）
|
||||
|
||||
Deck 节点作为设备的 `children` 之一，`parent` 指向设备 id：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "PRCXI_Deck",
|
||||
"parent": "PRCXI",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"children": [],
|
||||
"config": {
|
||||
"type": "PRCXI9300Deck",
|
||||
"size_x": 542, "size_y": 374, "size_z": 0,
|
||||
"category": "deck",
|
||||
"sites": [...]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
```
|
||||
|
||||
- `config` 中的字段会传入 Deck 类的 `__init__`（因此 `__init__` 必须能接受所有 `serialize()` 输出的字段）
|
||||
- `children` 初始为空时，由同步器或手动初始化填充
|
||||
- `config.type` 填 Deck 类名
|
||||
|
||||
### 2. Deck 为空时自行初始化
|
||||
|
||||
如果 Deck 节点的 `children` 为空，工作站需在 `post_init` 或首次同步时自行初始化内容：
|
||||
|
||||
```python
|
||||
@not_action
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
if self.deck and not self.deck.children:
|
||||
self._initialize_default_deck()
|
||||
|
||||
def _initialize_default_deck(self):
|
||||
from my_labware import My_TipRack, My_Plate
|
||||
self.deck.assign_child_resource(My_TipRack("T1"), spot=0)
|
||||
self.deck.assign_child_resource(My_Plate("T2"), spot=1)
|
||||
```
|
||||
|
||||
### 3. 物料双向同步
|
||||
|
||||
当工作站对接外部系统（LIMS/MES）时，需要实现 `ResourceSynchronizer` 处理双向物料同步：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统同步到 self.workstation.deck"""
|
||||
external_data = self._query_external_materials()
|
||||
# 以外部工站为准：根据外部数据反向创建 PLR 资源实例
|
||||
for item in external_data:
|
||||
cls = self._resolve_resource_class(item["type"])
|
||||
resource = cls(name=item["name"], **item["params"])
|
||||
self.workstation.deck.assign_child_resource(resource, spot=item["slot"])
|
||||
return True
|
||||
|
||||
def sync_to_external(self, resource) -> bool:
|
||||
"""将 UniLab 侧物料变更同步到外部系统"""
|
||||
# 以 UniLab 为准：将 PLR 资源转为外部格式并推送
|
||||
external_format = self._convert_to_external(resource)
|
||||
return self._push_to_external(external_format)
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统主动推送的变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
同步策略取决于业务场景：
|
||||
|
||||
- **以外部工站为准**：从外部 API 查询物料数据，反向创建对应的 PLR 资源实例放到 Deck 上
|
||||
- **以 UniLab 为准**：UniLab 侧的物料变更通过 `sync_to_external` 推送到外部系统
|
||||
|
||||
在工作站 `post_init` 中初始化同步器：
|
||||
|
||||
```python
|
||||
@not_action
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self)
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
```
|
||||
|
||||
### 4. 序列化与持久化（serialize / serialize_state）
|
||||
|
||||
资源类需正确实现序列化，系统据此完成持久化和前端同步。
|
||||
|
||||
**`serialize()`** — 输出资源的结构信息（`config` 层），反序列化时作为 `__init__` 的入参回传。因此 **`__init__` 必须通过 `**kwargs`接受`serialize()` 输出的所有字段\*\*，即使当前不使用：
|
||||
|
||||
```python
|
||||
class MyDeck(Deck):
|
||||
def __init__(self, name, size_x, size_y, size_z,
|
||||
sites=None, # serialize() 输出的字段
|
||||
rotation=None, # serialize() 输出的字段
|
||||
barcode=None, # serialize() 输出的字段
|
||||
**kwargs): # 兜底：接受所有未知的 serialize 字段
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
# ...
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
data["sites"] = [...] # 自定义字段
|
||||
return data
|
||||
```
|
||||
|
||||
**`serialize_state()`** — 输出资源的运行时状态（`data` 层），用于持久化可变信息。`data` 中的内容会被正确保存和恢复：
|
||||
|
||||
```python
|
||||
class MyPlate(Plate):
|
||||
def __init__(self, name, size_x, size_y, size_z,
|
||||
material_info=None, **kwargs):
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def serialize_state(self) -> Dict[str, Any]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
return data
|
||||
```
|
||||
|
||||
关键要点：
|
||||
|
||||
- `serialize()` 输出的所有字段都会作为 `config` 回传到 `__init__`，所以 `__init__` 必须能接受它们（显式声明或 `**kwargs`）
|
||||
- `serialize_state()` 输出的 `data` 用于持久化运行时状态（如物料信息、液体量等）
|
||||
- `_unilabos_state` 中只存可 JSON 序列化的基本类型（str, int, float, bool, list, dict, None）
|
||||
|
||||
### 5. 子物料自动同步
|
||||
|
||||
子物料（Bottle、Plate、TipRack 等）放到 Deck 上后，系统会自动将其同步到前端的 Deck 视图。只需保证资源类正确实现了 `serialize()` / `serialize_state()` 和反序列化即可。
|
||||
|
||||
### 6. 图文件配置（参考 prcxi_9320_slim.json）
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"type": "device",
|
||||
"class": "my_workstation",
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.resources.my_module:MyDeck",
|
||||
"_resource_child_name": "my_deck"
|
||||
},
|
||||
"host": "10.20.30.1",
|
||||
"port": 9999
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "my_deck",
|
||||
"parent": "my_station",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"children": [],
|
||||
"config": {
|
||||
"type": "MyLabDeck",
|
||||
"size_x": 542,
|
||||
"size_y": 374,
|
||||
"size_z": 0,
|
||||
"category": "deck",
|
||||
"sites": [
|
||||
{
|
||||
"label": "T1",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": { "x": 0, "y": 0, "z": 0 },
|
||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
||||
"content_type": ["plate", "tip_rack", "tube_rack", "adaptor"]
|
||||
}
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"edges": []
|
||||
}
|
||||
```
|
||||
|
||||
Deck 节点要点：
|
||||
|
||||
- `config.type` 填 Deck 类名（如 `"PRCXI9300Deck"`）
|
||||
- `config.sites` 完整列出所有 site（从 Deck 类的 `serialize()` 输出获取）
|
||||
- `children` 初始为空（由同步器或手动初始化填充）
|
||||
- 设备节点 `config.deck._resource_type` 指向 Deck 类的完整模块路径
|
||||
|
||||
---
|
||||
|
||||
## 子设备
|
||||
|
||||
子设备按标准设备接入流程创建（参见 add-device SKILL），使用 `@device` 装饰器。
|
||||
|
||||
子设备约束：
|
||||
|
||||
- 图文件中 `parent` 指向工作站 ID
|
||||
- 在工作站 `children` 数组中列出
|
||||
|
||||
---
|
||||
|
||||
## 关键规则
|
||||
|
||||
1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.**init**`需要`deck` 参数
|
||||
2. **Deck 通过 `config.deck._resource_type` 反序列化传入** — 不要在 `__init__` 中手动创建 Deck
|
||||
3. **Deck 为空时自行初始化内容** — 在 `post_init` 中检查并填充默认物料
|
||||
4. **外部同步实现 `ResourceSynchronizer`** — `sync_from_external` / `sync_to_external`
|
||||
5. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
|
||||
6. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
|
||||
7. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
|
||||
8. **使用 `@not_action` 标记非动作方法** — `post_init`, `initialize`, `cleanup`
|
||||
9. **子物料保证正确 serialize/deserialize** — 系统自动同步到前端 Deck 视图
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 模块可导入
|
||||
python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
|
||||
|
||||
# 启动测试（AST 自动扫描）
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 现有工作站参考
|
||||
|
||||
| 工作站 | 驱动类 | 类型 |
|
||||
| -------------- | ----------------------------- | -------- |
|
||||
| Protocol 通用 | `ProtocolNode` | Protocol |
|
||||
| Bioyond 反应站 | `BioyondReactionStation` | 外部系统 |
|
||||
| 纽扣电池组装 | `CoinCellAssemblyWorkstation` | 硬件控制 |
|
||||
|
||||
参考路径：`unilabos/devices/workstation/` 目录下各工作站实现。
|
||||
@@ -1,371 +0,0 @@
|
||||
# 工作站高级模式参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
|
||||
Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 外部系统集成模式
|
||||
|
||||
### 1.1 RPC 客户端
|
||||
|
||||
与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.rpc import BaseRequest
|
||||
|
||||
|
||||
class MySystemRPC(BaseRequest):
|
||||
"""外部系统 RPC 客户端"""
|
||||
|
||||
def __init__(self, host: str, api_key: str):
|
||||
super().__init__(host)
|
||||
self.api_key = api_key
|
||||
|
||||
def _request(self, endpoint: str, data: dict = None) -> dict:
|
||||
return self.post(
|
||||
url=f"{self.host}/api/{endpoint}",
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": data or {},
|
||||
},
|
||||
)
|
||||
|
||||
def query_status(self) -> dict:
|
||||
return self._request("status/query")
|
||||
|
||||
def create_order(self, order_data: dict) -> dict:
|
||||
return self._request("order/create", order_data)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
|
||||
|
||||
### 1.2 HTTP 回调服务
|
||||
|
||||
接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, config=None, deck=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
http_cfg = self.config.get("http_service_config", {})
|
||||
self._http_service_config = {
|
||||
"host": http_cfg.get("http_service_host", "127.0.0.1"),
|
||||
"port": http_cfg.get("http_service_port", 8080),
|
||||
}
|
||||
self.http_service = None
|
||||
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
```
|
||||
|
||||
**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
|
||||
|
||||
| 端点 | 调用的工作站方法 |
|
||||
|------|-----------------|
|
||||
| `/report/step_finish` | `process_step_finish_report(report_request)` |
|
||||
| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
|
||||
| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
|
||||
| `/report/material_change` | `process_material_change_report(report_data)` |
|
||||
| `/report/error_handling` | `handle_external_error(error_data)` |
|
||||
|
||||
实现对应方法即可接收回调：
|
||||
|
||||
```python
|
||||
def process_step_finish_report(self, report_request) -> Dict[str, Any]:
|
||||
"""处理步骤完成报告"""
|
||||
step_name = report_request.data.get("stepName")
|
||||
return {"success": True, "message": f"步骤 {step_name} 已处理"}
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
|
||||
"""处理订单完成报告"""
|
||||
order_code = report_request.data.get("orderCode")
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/workstation_http_service.py`
|
||||
|
||||
### 1.3 连接监控
|
||||
|
||||
独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
|
||||
|
||||
```python
|
||||
class ConnectionMonitor:
|
||||
def __init__(self, workstation, check_interval=30):
|
||||
self.workstation = workstation
|
||||
self.check_interval = check_interval
|
||||
self._running = False
|
||||
self._thread = None
|
||||
|
||||
def start(self):
|
||||
self._running = True
|
||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
|
||||
self._thread.start()
|
||||
|
||||
def _monitor_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 调用外部系统接口检测连接
|
||||
self.workstation.hardware_interface.ping()
|
||||
status = "online"
|
||||
except Exception:
|
||||
status = "offline"
|
||||
time.sleep(self.check_interval)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
|
||||
|
||||
---
|
||||
|
||||
## 2. Config 结构模式
|
||||
|
||||
工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
|
||||
|
||||
### 2.1 外部系统连接
|
||||
|
||||
```json
|
||||
{
|
||||
"api_host": "http://192.168.1.100:8080",
|
||||
"api_key": "YOUR_API_KEY"
|
||||
}
|
||||
```
|
||||
|
||||
### 2.2 HTTP 回调服务
|
||||
|
||||
```json
|
||||
{
|
||||
"http_service_config": {
|
||||
"http_service_host": "127.0.0.1",
|
||||
"http_service_port": 8080
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.3 物料类型映射
|
||||
|
||||
将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
|
||||
|
||||
```json
|
||||
{
|
||||
"material_type_mappings": {
|
||||
"PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
|
||||
"BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.4 仓库映射
|
||||
|
||||
将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
|
||||
|
||||
```json
|
||||
{
|
||||
"warehouse_mapping": {
|
||||
"仓库名": {
|
||||
"uuid": "warehouse-uuid",
|
||||
"site_uuids": {
|
||||
"A01": "site-uuid-A01",
|
||||
"A02": "site-uuid-A02"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.5 工作流映射
|
||||
|
||||
将内部工作流名映射到外部系统的工作流 ID。
|
||||
|
||||
```json
|
||||
{
|
||||
"workflow_mappings": {
|
||||
"internal_workflow_name": "external-workflow-uuid"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.6 物料默认参数
|
||||
|
||||
```json
|
||||
{
|
||||
"material_default_parameters": {
|
||||
"NMP": {
|
||||
"unit": "毫升",
|
||||
"density": "1.03",
|
||||
"densityUnit": "g/mL",
|
||||
"description": "N-甲基吡咯烷酮"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. 资源同步机制
|
||||
|
||||
### 3.1 ResourceSynchronizer
|
||||
|
||||
抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def __init__(self, workstation, api_client):
|
||||
super().__init__(workstation)
|
||||
self.api_client = api_client
|
||||
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统拉取物料到 deck"""
|
||||
external_materials = self.api_client.list_materials()
|
||||
for material in external_materials:
|
||||
plr_resource = self._convert_to_plr(material)
|
||||
self.workstation.deck.assign_child_resource(plr_resource, coordinate)
|
||||
return True
|
||||
|
||||
def sync_to_external(self, plr_resource) -> bool:
|
||||
"""将 deck 中的物料变更推送到外部系统"""
|
||||
external_data = self._convert_from_plr(plr_resource)
|
||||
self.api_client.update_material(external_data)
|
||||
return True
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统推送的物料变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
### 3.2 update_resource — 上传资源树到云端
|
||||
|
||||
将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
|
||||
|
||||
```python
|
||||
# 在 post_init 中上传初始 deck
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
|
||||
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 在动作方法中更新特定资源
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [updated_plate]}
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 工作流序列管理
|
||||
|
||||
工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
self._workflow_sequence = []
|
||||
|
||||
@property
|
||||
def workflow_sequence(self) -> str:
|
||||
"""返回 JSON 字符串，ROS 自动发布"""
|
||||
import json
|
||||
return json.dumps(self._workflow_sequence)
|
||||
|
||||
async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
|
||||
"""添加工作流到队列"""
|
||||
self._workflow_sequence.append({
|
||||
"name": workflow_name,
|
||||
"status": "pending",
|
||||
"created_at": time.time(),
|
||||
})
|
||||
return {"success": True}
|
||||
|
||||
async def clear_workflows(self) -> Dict[str, Any]:
|
||||
"""清空工作流队列"""
|
||||
self._workflow_sequence = []
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 5. 站间物料转移
|
||||
|
||||
工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
|
||||
|
||||
```python
|
||||
async def transfer_materials_to_another_station(
|
||||
self,
|
||||
target_device_id: str,
|
||||
transfer_groups: list,
|
||||
**kwargs,
|
||||
) -> Dict[str, Any]:
|
||||
"""将物料转移到另一个工作站"""
|
||||
target_node = self._children.get(target_device_id)
|
||||
if not target_node:
|
||||
# 通过 ROS 节点查找非子设备的目标站
|
||||
pass
|
||||
|
||||
for group in transfer_groups:
|
||||
resource = self.find_resource_by_name(group["resource_name"])
|
||||
# 从本站 deck 移除
|
||||
resource.unassign()
|
||||
# 调用目标站的接收方法
|
||||
# ...
|
||||
|
||||
return {"success": True, "transferred": len(transfer_groups)}
|
||||
```
|
||||
|
||||
参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
|
||||
|
||||
---
|
||||
|
||||
## 6. post_init 完整模式
|
||||
|
||||
`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
|
||||
|
||||
```python
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
|
||||
# 1. 初始化外部系统客户端（此时 config 已可用）
|
||||
self.rpc_client = MySystemRPC(
|
||||
host=self.config.get("api_host"),
|
||||
api_key=self.config.get("api_key"),
|
||||
)
|
||||
self.hardware_interface = self.rpc_client
|
||||
|
||||
# 2. 启动连接监控
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
self.connection_monitor.start()
|
||||
|
||||
# 3. 启动 HTTP 回调服务
|
||||
if hasattr(self, '_http_service_config'):
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
|
||||
# 4. 上传 deck 到云端
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 5. 初始化资源同步器（可选）
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
|
||||
```
|
||||
@@ -1,233 +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://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` |
|
||||
|
||||
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
|
||||
```
|
||||
|
||||
### 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 |
|
||||
| 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"}
|
||||
```
|
||||
@@ -1,301 +0,0 @@
|
||||
---
|
||||
name: batch-submit-experiment
|
||||
description: Batch submit experiments (notebooks) to Uni-Lab platform — list workflows, generate node_params from registry schemas, submit multiple rounds. Use when the user wants to submit experiments, create notebooks, batch run workflows, or mentions 提交实验/批量实验/notebook/实验轮次.
|
||||
---
|
||||
|
||||
# 批量提交实验指南
|
||||
|
||||
通过云端 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。
|
||||
|
||||
## 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
|
||||
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://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` |
|
||||
|
||||
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. 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。**
|
||||
|
||||
按优先级搜索：
|
||||
|
||||
```
|
||||
<workspace 根目录>/unilabos_data/req_device_registry_upload.json
|
||||
<workspace 根目录>/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
也可直接 Glob 搜索：`**/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`。
|
||||
|
||||
**如果文件不存在** → 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 #2 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**）
|
||||
- `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 #3 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 "$AUTH"
|
||||
```
|
||||
|
||||
返回 workflow 列表，展示给用户选择。列出每个 workflow 的 `uuid` 和 `name`。
|
||||
|
||||
### 3. 获取 workflow 模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$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[]`。
|
||||
|
||||
### 4. 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>",
|
||||
"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 `[]`。
|
||||
|
||||
---
|
||||
|
||||
## 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 #3 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 #3 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: 确认 workflow_uuid（用户提供或从 GET #2 列表选择）
|
||||
- [ ] Step 5: GET workflow detail (#3) → 提取各节点 uuid、设备ID、动作名
|
||||
- [ ] Step 6: 定位本地注册表 req_device_registry_upload.json
|
||||
- [ ] Step 7: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
|
||||
- [ ] Step 8: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
|
||||
- [ ] Step 9: 构建完整请求体 → POST /lab/notebook 提交
|
||||
- [ ] Step 10: 检查返回结果，确认提交成功
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 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。
|
||||
@@ -1,394 +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://uni-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://uni-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": "$TODO_LAB_UUID",
|
||||
"workflow_uuid": "$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()
|
||||
@@ -1,328 +0,0 @@
|
||||
---
|
||||
name: create-device-skill
|
||||
description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
|
||||
---
|
||||
|
||||
# 创建设备 Skill 指南
|
||||
|
||||
本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
|
||||
|
||||
## 数据源
|
||||
|
||||
- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
|
||||
- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
|
||||
- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
|
||||
- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
|
||||
|
||||
## 创建流程
|
||||
|
||||
### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
|
||||
|
||||
开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
|
||||
|
||||
向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
|
||||
|
||||
#### 必备项 ①：ak / sk（认证凭据）
|
||||
|
||||
来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
|
||||
|
||||
获取后立即生成 AUTH token：
|
||||
|
||||
```bash
|
||||
python ./scripts/gen_auth.py <ak> <sk>
|
||||
# 或从 config.py 提取
|
||||
python ./scripts/gen_auth.py --config <config.py>
|
||||
```
|
||||
|
||||
认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
#### 必备项 ②：--addr（目标环境）
|
||||
|
||||
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://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）
|
||||
|
||||
数据文件由 `unilab` 启动时自动生成，需要定位它：
|
||||
|
||||
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
||||
|
||||
| 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/` |
|
||||
|
||||
**按优先级搜索文件**：
|
||||
|
||||
```
|
||||
<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
|
||||
<推断的 working_dir>/req_device_registry_upload.json
|
||||
<workspace 根目录>/unilabos_data/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
|
||||
|
||||
找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
|
||||
|
||||
**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
|
||||
|
||||
#### 必备项 ④：目标设备
|
||||
|
||||
用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
|
||||
|
||||
如果用户不确定，运行提取脚本列出所有设备供选择：
|
||||
|
||||
```bash
|
||||
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
|
||||
|
||||
运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
|
||||
|
||||
```bash
|
||||
# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
|
||||
python ./scripts/extract_device_actions.py
|
||||
|
||||
# 指定注册表文件路径
|
||||
python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
|
||||
```
|
||||
|
||||
脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
|
||||
|
||||
### Step 2 — 提取 Action Schema
|
||||
|
||||
用户选择设备后，运行提取脚本：
|
||||
|
||||
```bash
|
||||
python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
|
||||
```
|
||||
|
||||
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`）
|
||||
- `goal_default` — 默认值
|
||||
|
||||
### Step 3 — 写 action-index.md
|
||||
|
||||
按模板为每个 action 写条目：
|
||||
|
||||
```markdown
|
||||
### `<action_name>`
|
||||
|
||||
<用途描述（一句话）>
|
||||
|
||||
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
|
||||
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
|
||||
- **可选参数**: `param3`, `param4`
|
||||
- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
|
||||
```
|
||||
|
||||
描述规则：
|
||||
- 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）
|
||||
- 标注 `placeholder_keys` 中的字段类型：
|
||||
- `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
|
||||
- `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）
|
||||
- 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（10 个 endpoint），修改：
|
||||
- 设备名称
|
||||
- Action 数量
|
||||
- 目录列表
|
||||
- Session state 中的 `device_name`
|
||||
- **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）
|
||||
|
||||
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
|
||||
|
||||
## Session State
|
||||
- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
|
||||
|
||||
## 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
|
||||
- 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 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
|
||||
- [ ] 描述能让 agent 判断该用哪个 action
|
||||
|
||||
## Action JSON 文件结构
|
||||
|
||||
```json
|
||||
{
|
||||
"type": "LiquidHandlerTransfer", // → API 的 action_type
|
||||
"goal": { // goal 字段映射
|
||||
"sources": "sources",
|
||||
"targets": "targets",
|
||||
"tip_racks": "tip_racks",
|
||||
"asp_vols": "asp_vols"
|
||||
},
|
||||
"schema": { // ← 直接是 goal 的 schema（已提升）
|
||||
"type": "object",
|
||||
"properties": { // 参数定义（即请求中 goal 的字段）
|
||||
"sources": { "type": "array", "items": { "type": "object" } },
|
||||
"targets": { "type": "array", "items": { "type": "object" } },
|
||||
"asp_vols": { "type": "array", "items": { "type": "number" } }
|
||||
},
|
||||
"required": [...],
|
||||
"_unilabos_placeholder_info": { // ← Slot 类型标记
|
||||
"sources": "unilabos_resources",
|
||||
"targets": "unilabos_resources",
|
||||
"tip_racks": "unilabos_resources"
|
||||
}
|
||||
},
|
||||
"goal_default": { ... }, // 默认值
|
||||
"placeholder_keys": { // ← 汇总所有 Slot 字段
|
||||
"sources": "unilabos_resources", // ResourceSlot
|
||||
"targets": "unilabos_resources",
|
||||
"tip_racks": "unilabos_resources",
|
||||
"target_device_id": "unilabos_devices" // DeviceSlot
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
> **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 请求 `param.goal` 中的字段。
|
||||
|
||||
## Placeholder Slot 类型体系
|
||||
|
||||
`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 |
|
||||
|
||||
### 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）：
|
||||
|
||||
```json
|
||||
{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
|
||||
```
|
||||
|
||||
- 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）
|
||||
|
||||
> **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）。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
|
||||
|
||||
```
|
||||
./<skill-name>/
|
||||
├── SKILL.md # API 端点 + 渐进加载指引
|
||||
├── action-index.md # 动作索引：描述/用途/核心参数
|
||||
└── actions/ # 每个 action 的完整 JSON Schema
|
||||
├── action1.json
|
||||
├── action2.json
|
||||
└── ...
|
||||
```
|
||||
@@ -1,200 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 req_device_registry_upload.json 中提取指定设备的 action schema。
|
||||
|
||||
用法:
|
||||
# 列出所有设备及 action 数量（自动搜索注册表文件）
|
||||
python extract_device_actions.py
|
||||
|
||||
# 指定注册表文件路径
|
||||
python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
|
||||
|
||||
# 提取指定设备的 action 到目录
|
||||
python extract_device_actions.py <device_id> <output_dir>
|
||||
python extract_device_actions.py --registry <path> <device_id> <output_dir>
|
||||
|
||||
示例:
|
||||
python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
|
||||
python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
|
||||
"""
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from datetime import datetime
|
||||
|
||||
REGISTRY_FILENAME = "req_device_registry_upload.json"
|
||||
|
||||
def find_registry(explicit_path=None):
|
||||
"""
|
||||
查找 req_device_registry_upload.json 文件。
|
||||
|
||||
搜索优先级：
|
||||
1. 用户通过 --registry 显式指定的路径
|
||||
2. <cwd>/unilabos_data/req_device_registry_upload.json
|
||||
3. <cwd>/req_device_registry_upload.json
|
||||
4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
|
||||
5. 向上逐级搜索父目录（最多 5 层）
|
||||
"""
|
||||
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 list_devices(data):
|
||||
"""列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
|
||||
resources = data.get('resources', [])
|
||||
devices = []
|
||||
for res in resources:
|
||||
rid = res.get('id', '')
|
||||
cls = res.get('class', {})
|
||||
avm = cls.get('action_value_mappings', {})
|
||||
module = cls.get('module', '')
|
||||
if avm:
|
||||
devices.append((rid, len(avm), module))
|
||||
return devices
|
||||
|
||||
def flatten_schema_to_goal(action_data):
|
||||
"""将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
|
||||
schema = action_data.get('schema', {})
|
||||
goal_schema = schema.get('properties', {}).get('goal', {})
|
||||
if goal_schema:
|
||||
action_data = dict(action_data)
|
||||
action_data['schema'] = goal_schema
|
||||
return action_data
|
||||
|
||||
|
||||
def extract_actions(data, device_id, output_dir):
|
||||
"""提取指定设备的 action schema 到独立 JSON 文件"""
|
||||
resources = data.get('resources', [])
|
||||
for res in resources:
|
||||
if res.get('id') == device_id:
|
||||
cls = res.get('class', {})
|
||||
module = cls.get('module', '')
|
||||
avm = cls.get('action_value_mappings', {})
|
||||
if not avm:
|
||||
print(f"设备 {device_id} 没有 action_value_mappings")
|
||||
return []
|
||||
|
||||
if module:
|
||||
py_path = module.split(":")[0].replace(".", "/") + ".py"
|
||||
class_name = module.split(":")[-1] if ":" in module else ""
|
||||
print(f"Python 源码: {py_path}")
|
||||
if class_name:
|
||||
print(f"设备类: {class_name}")
|
||||
|
||||
os.makedirs(output_dir, exist_ok=True)
|
||||
written = []
|
||||
for action_name in sorted(avm.keys()):
|
||||
action_data = flatten_schema_to_goal(avm[action_name])
|
||||
filename = action_name.replace('-', '_') + '.json'
|
||||
filepath = os.path.join(output_dir, filename)
|
||||
with open(filepath, 'w', encoding='utf-8') as f:
|
||||
json.dump(action_data, f, indent=2, ensure_ascii=False)
|
||||
written.append(filename)
|
||||
print(f" {filepath}")
|
||||
return written
|
||||
|
||||
print(f"设备 {device_id} 未找到")
|
||||
return []
|
||||
|
||||
def main():
|
||||
args = sys.argv[1:]
|
||||
explicit_registry = None
|
||||
|
||||
if "--registry" in args:
|
||||
idx = args.index("--registry")
|
||||
if idx + 1 < len(args):
|
||||
explicit_registry = args[idx + 1]
|
||||
args = args[:idx] + args[idx + 2:]
|
||||
else:
|
||||
print("错误: --registry 需要指定路径")
|
||||
sys.exit(1)
|
||||
|
||||
registry_path = find_registry(explicit_registry)
|
||||
if not registry_path:
|
||||
print(f"错误: 找不到 {REGISTRY_FILENAME}")
|
||||
print()
|
||||
print("解决方法:")
|
||||
print(" 1. 先运行 unilab 启动命令，等待注册表生成")
|
||||
print(" 2. 用 --registry 指定文件路径:")
|
||||
print(f" python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
|
||||
print()
|
||||
print("搜索过的路径:")
|
||||
for p in [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
|
||||
]:
|
||||
print(f" - {p}")
|
||||
sys.exit(1)
|
||||
|
||||
print(f"注册表: {registry_path}")
|
||||
mtime = os.path.getmtime(registry_path)
|
||||
gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
|
||||
size_mb = os.path.getsize(registry_path) / (1024 * 1024)
|
||||
print(f"生成时间: {gen_time} (文件大小: {size_mb:.1f} MB)")
|
||||
data = load_registry(registry_path)
|
||||
|
||||
if len(args) == 0:
|
||||
devices = list_devices(data)
|
||||
print(f"\n找到 {len(devices)} 个设备:")
|
||||
print(f"{'设备 ID':<50} {'Actions':>7} {'Python 模块'}")
|
||||
print("-" * 120)
|
||||
for did, count, module in sorted(devices, key=lambda x: x[0]):
|
||||
py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
|
||||
print(f"{did:<50} {count:>7} {py_path}")
|
||||
|
||||
elif len(args) == 2:
|
||||
device_id = args[0]
|
||||
output_dir = args[1]
|
||||
print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
|
||||
written = extract_actions(data, device_id, output_dir)
|
||||
if written:
|
||||
print(f"\n共写入 {len(written)} 个 action 文件")
|
||||
|
||||
else:
|
||||
print("用法:")
|
||||
print(" python extract_device_actions.py [--registry <path>] # 列出设备")
|
||||
print(" python extract_device_actions.py [--registry <path>] <device_id> <dir> # 提取 actions")
|
||||
sys.exit(1)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -1,69 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 ak/sk 生成 UniLab API Authorization header。
|
||||
|
||||
算法: base64(ak:sk) → "Authorization: Lab <token>"
|
||||
|
||||
用法:
|
||||
python gen_auth.py <ak> <sk>
|
||||
python gen_auth.py --config <config.py>
|
||||
|
||||
示例:
|
||||
python gen_auth.py myak mysk
|
||||
python gen_auth.py --config experiments/config.py
|
||||
"""
|
||||
import base64
|
||||
import re
|
||||
import sys
|
||||
|
||||
|
||||
def gen_auth(ak: str, sk: str) -> str:
|
||||
token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
|
||||
return token
|
||||
|
||||
|
||||
def extract_from_config(config_path: str) -> tuple:
|
||||
"""从 config.py 中提取 ak 和 sk"""
|
||||
with open(config_path, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
|
||||
sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
|
||||
if not ak_match or not sk_match:
|
||||
return None, None
|
||||
return ak_match.group(1), sk_match.group(1)
|
||||
|
||||
|
||||
def main():
|
||||
args = sys.argv[1:]
|
||||
|
||||
if len(args) == 2 and args[0] == "--config":
|
||||
ak, sk = extract_from_config(args[1])
|
||||
if not ak or not sk:
|
||||
print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
|
||||
print("期望格式: ak = \"xxx\" sk = \"xxx\"")
|
||||
sys.exit(1)
|
||||
print(f"配置文件: {args[1]}")
|
||||
elif len(args) == 2:
|
||||
ak, sk = args
|
||||
else:
|
||||
print("用法:")
|
||||
print(" python gen_auth.py <ak> <sk>")
|
||||
print(" python gen_auth.py --config <config.py>")
|
||||
sys.exit(1)
|
||||
|
||||
token = gen_auth(ak, sk)
|
||||
print(f"ak: {ak}")
|
||||
print(f"sk: {sk}")
|
||||
print()
|
||||
print(f"Authorization header:")
|
||||
print(f" Authorization: Lab {token}")
|
||||
print()
|
||||
print(f"curl 用法:")
|
||||
print(f' curl -H "Authorization: Lab {token}" ...')
|
||||
print()
|
||||
print(f"Shell 变量:")
|
||||
print(f' AUTH="Authorization: Lab {token}"')
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
26
.cursorignore
Normal file
26
.cursorignore
Normal file
@@ -0,0 +1,26 @@
|
||||
.conda
|
||||
# .github
|
||||
.idea
|
||||
# .vscode
|
||||
output
|
||||
pylabrobot_repo
|
||||
recipes
|
||||
scripts
|
||||
service
|
||||
temp
|
||||
# unilabos/test
|
||||
# unilabos/app/web
|
||||
unilabos/device_mesh
|
||||
unilabos_data
|
||||
unilabos_msgs
|
||||
unilabos.egg-info
|
||||
CONTRIBUTORS
|
||||
# LICENSE
|
||||
MANIFEST.in
|
||||
pyrightconfig.json
|
||||
# README.md
|
||||
# README_zh.md
|
||||
setup.py
|
||||
setup.cfg
|
||||
.gitattrubutes
|
||||
**/__pycache__
|
||||
19
.github/dependabot.yml
vendored
19
.github/dependabot.yml
vendored
@@ -1,19 +0,0 @@
|
||||
version: 2
|
||||
updates:
|
||||
# GitHub Actions
|
||||
- package-ecosystem: "github-actions"
|
||||
directory: "/"
|
||||
target-branch: "dev"
|
||||
schedule:
|
||||
interval: "weekly"
|
||||
day: "monday"
|
||||
time: "06:00"
|
||||
open-pull-requests-limit: 5
|
||||
reviewers:
|
||||
- "msgcenterpy-team"
|
||||
labels:
|
||||
- "dependencies"
|
||||
- "github-actions"
|
||||
commit-message:
|
||||
prefix: "ci"
|
||||
include: "scope"
|
||||
67
.github/workflows/ci-check.yml
vendored
67
.github/workflows/ci-check.yml
vendored
@@ -1,67 +0,0 @@
|
||||
name: CI Check
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [main, dev]
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
|
||||
jobs:
|
||||
registry-check:
|
||||
runs-on: windows-latest
|
||||
|
||||
env:
|
||||
# Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
|
||||
PYTHONIOENCODING: utf-8
|
||||
PYTHONUTF8: 1
|
||||
|
||||
defaults:
|
||||
run:
|
||||
shell: cmd
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: robostack-staging,conda-forge,uni-lab
|
||||
channel-priority: flexible
|
||||
activate-environment: check-env
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||
run: |
|
||||
echo Installing ROS dependencies...
|
||||
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: |
|
||||
call conda activate check-env
|
||||
echo Installing pip dependencies...
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
|
||||
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
||||
uv pip install .
|
||||
|
||||
- name: Run check mode (AST registry validation)
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Running check mode...
|
||||
python -m unilabos --check_mode --skip_env_check
|
||||
|
||||
- name: Check for uncommitted changes
|
||||
shell: bash
|
||||
run: |
|
||||
if ! git diff --exit-code; then
|
||||
echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
|
||||
echo "变化的文件:"
|
||||
git diff --name-only
|
||||
exit 1
|
||||
fi
|
||||
echo "检查通过：无文件变化"
|
||||
43
.github/workflows/conda-pack-build.yml
vendored
43
.github/workflows/conda-pack-build.yml
vendored
@@ -13,11 +13,6 @@ on:
|
||||
required: false
|
||||
default: 'win-64'
|
||||
type: string
|
||||
build_full:
|
||||
description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
@@ -62,7 +57,7 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
@@ -74,7 +69,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -86,14 +81,7 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
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 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 uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -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)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
@@ -101,14 +89,7 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
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 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 uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
fi
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
@@ -312,7 +293,7 @@ jobs:
|
||||
|
||||
- name: Upload distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: dist-package/
|
||||
@@ -327,12 +308,7 @@ jobs:
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.14
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
)
|
||||
echo Python version: 3.11.11
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
@@ -352,12 +328,7 @@ jobs:
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
fi
|
||||
echo "Python version: 3.11.11"
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
|
||||
37
.github/workflows/deploy-docs.yml
vendored
37
.github/workflows/deploy-docs.yml
vendored
@@ -1,12 +1,10 @@
|
||||
name: Deploy Docs
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发（仅 main 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
push:
|
||||
branches: [main]
|
||||
pull_request:
|
||||
branches: [main]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -35,19 +33,12 @@ concurrency:
|
||||
jobs:
|
||||
# Build documentation
|
||||
build:
|
||||
# 只在以下情况运行：
|
||||
# 1. workflow_run 触发且 CI Check 成功
|
||||
# 2. 手动触发
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout code
|
||||
uses: actions/checkout@v6
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
# workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
|
||||
ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
|
||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -55,7 +46,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -84,10 +75,8 @@ jobs:
|
||||
|
||||
- name: Setup Pages
|
||||
id: pages
|
||||
uses: actions/configure-pages@v5
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/configure-pages@v4
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
|
||||
- name: Build Sphinx documentation
|
||||
run: |
|
||||
@@ -105,18 +94,14 @@ jobs:
|
||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||
|
||||
- name: Upload build artifacts
|
||||
uses: actions/upload-pages-artifact@v4
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/upload-pages-artifact@v3
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
with:
|
||||
path: docs/_build/html
|
||||
|
||||
# Deploy to GitHub Pages
|
||||
deploy:
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
environment:
|
||||
name: github-pages
|
||||
url: ${{ steps.deployment.outputs.page_url }}
|
||||
|
||||
46
.github/workflows/multi-platform-build.yml
vendored
46
.github/workflows/multi-platform-build.yml
vendored
@@ -1,16 +1,11 @@
|
||||
name: Multi-Platform Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types:
|
||||
- completed
|
||||
branches: [main, dev]
|
||||
# 支持 tag 推送（不依赖 CI Check）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
@@ -22,37 +17,9 @@ on:
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 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: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
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-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -77,10 +44,8 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -104,6 +69,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -149,7 +115,7 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: conda-package-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
|
||||
113
.github/workflows/unilabos-conda-build.yml
vendored
113
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,62 +1,25 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||
required: false
|
||||
default: 'linux-64'
|
||||
build_full:
|
||||
description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
upload_to_anaconda:
|
||||
description: '是否上传到Anaconda.org'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 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: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
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-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -77,10 +40,8 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
# 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
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -104,6 +65,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -119,61 +81,12 @@ jobs:
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
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.inputs.build_full }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
echo "Building UniLabOS package"
|
||||
|
||||
- name: Build unilabos-env (conda environment only, noarch)
|
||||
- name: Build conda package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-env (conda environment dependencies)..."
|
||||
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.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-env to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-env*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos (with pip package)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos package..."
|
||||
# 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
|
||||
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.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
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos-full - Only when explicitly requested
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true' &&
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-full to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-full*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: List built packages
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -195,9 +108,17 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: conda-package-unilabos-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
if-no-files-found: warn
|
||||
retention-days: 30
|
||||
|
||||
- name: Upload to Anaconda.org (uni-lab organization)
|
||||
if: github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
for package in $(find ./output -name "*.conda"); do
|
||||
echo "Uploading $package to uni-lab organization..."
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
2
.gitignore
vendored
2
.gitignore
vendored
@@ -4,8 +4,6 @@ temp/
|
||||
output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
.cursorignore
|
||||
device_package*/
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
|
||||
87
AGENTS.md
87
AGENTS.md
@@ -1,87 +0,0 @@
|
||||
# AGENTS.md
|
||||
|
||||
This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
|
||||
|
||||
Also follow the monorepo-level rules in `../AGENTS.md`.
|
||||
|
||||
## Build & Development
|
||||
|
||||
```bash
|
||||
# Install in editable mode (requires mamba env with python 3.11)
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Run with a device graph
|
||||
unilab --graph <graph.json> --config <config.py> --backend ros
|
||||
unilab --graph <graph.json> --config <config.py> --backend simple # no ROS2 needed
|
||||
|
||||
# Common CLI flags
|
||||
unilab --app_bridges websocket fastapi # communication bridges
|
||||
unilab --test_mode # simulate hardware, no real execution
|
||||
unilab --check_mode # CI validation of registry imports
|
||||
unilab --skip_env_check # skip auto-install of dependencies
|
||||
unilab --visual rviz|web|disable # visualization mode
|
||||
unilab --is_slave # run as slave node
|
||||
|
||||
# Workflow upload subcommand
|
||||
unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
|
||||
|
||||
# Tests
|
||||
pytest tests/ # all tests
|
||||
pytest tests/resources/test_resourcetreeset.py # single test file
|
||||
pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method # single test
|
||||
```
|
||||
|
||||
## Architecture
|
||||
|
||||
### Startup Flow
|
||||
|
||||
`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
|
||||
|
||||
### Core Layers
|
||||
|
||||
**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
|
||||
|
||||
**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
|
||||
|
||||
**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
|
||||
|
||||
**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
|
||||
|
||||
**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
|
||||
|
||||
**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
|
||||
|
||||
**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
|
||||
|
||||
### Configuration System
|
||||
|
||||
- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
|
||||
- Config files are `.py` files with matching class names (see `config/example_config.py`)
|
||||
- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
|
||||
- Device topology defined in graph files (JSON with node-link format, or GraphML)
|
||||
|
||||
### Key Data Flow
|
||||
|
||||
1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
|
||||
2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
|
||||
3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
|
||||
4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
|
||||
|
||||
### Test Data
|
||||
|
||||
Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
|
||||
|
||||
## Code Conventions
|
||||
|
||||
- Code comments and log messages in simplified Chinese
|
||||
- Python 3.11+, type hints expected
|
||||
- Pydantic models for data validation (`resource_tracker.py`)
|
||||
- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
|
||||
- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
|
||||
- CLI argument dashes auto-converted to underscores for consistency
|
||||
|
||||
## Licensing
|
||||
|
||||
- Framework code: GPL-3.0
|
||||
- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute
|
||||
@@ -1,5 +1,4 @@
|
||||
recursive-include unilabos/test *
|
||||
recursive-include unilabos/utils *
|
||||
recursive-include unilabos/registry *.yaml
|
||||
recursive-include unilabos/app/web/static *
|
||||
recursive-include unilabos/app/web/templates *
|
||||
|
||||
38
README.md
38
README.md
@@ -31,46 +31,26 @@ Detailed documentation can be found at:
|
||||
|
||||
## Quick Start
|
||||
|
||||
### 1. Setup Conda Environment
|
||||
1. Setup Conda Environment
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
|
||||
|
||||
| Package | Use Case | Contents |
|
||||
|---------|----------|----------|
|
||||
| `unilabos` | **Recommended for most users** | Complete package, ready to use |
|
||||
| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
|
||||
| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
|
||||
Uni-Lab-OS recommends using `mamba` for environment management:
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# Option A: Standard installation (recommended for most users)
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# Option B: For developers (editable mode development)
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# Then install unilabos and dependencies:
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Option C: Full installation (simulation/visualization)
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**When to use which?**
|
||||
- **unilabos**: Standard installation for production deployment and general usage (recommended)
|
||||
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
|
||||
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
|
||||
|
||||
### 2. Clone Repository (Optional, for developers)
|
||||
2. Install Dev Uni-Lab-OS
|
||||
|
||||
```bash
|
||||
# Clone the repository (only needed for development or examples)
|
||||
# Clone the repository
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# Install Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. Start Uni-Lab System
|
||||
|
||||
38
README_zh.md
38
README_zh.md
@@ -31,46 +31,26 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
||||
|
||||
## 快速开始
|
||||
|
||||
### 1. 配置 Conda 环境
|
||||
1. 配置 Conda 环境
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
|
||||
|
||||
| 安装包 | 适用场景 | 包含内容 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户** | 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 + ROS2 桌面版 + Gazebo + MoveIt |
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
|
||||
```bash
|
||||
# 创建新环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整安装（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**如何选择？**
|
||||
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
|
||||
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
|
||||
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
|
||||
|
||||
### 2. 克隆仓库（可选，供开发者使用）
|
||||
2. 安装开发版 Uni-Lab-OS:
|
||||
|
||||
```bash
|
||||
# 克隆仓库（仅开发或查看示例时需要）
|
||||
# 克隆仓库
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. 启动 Uni-Lab 系统
|
||||
|
||||
@@ -15,9 +15,6 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
|
||||
**示例：**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
|
||||
class MockGripper:
|
||||
def __init__(self):
|
||||
self._position: float = 0.0
|
||||
@@ -26,23 +23,19 @@ class MockGripper:
|
||||
self._status = "Idle"
|
||||
|
||||
@property
|
||||
@topic_config() # 添加 @topic_config 才会定时广播
|
||||
def position(self) -> float:
|
||||
return self._position
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def velocity(self) -> float:
|
||||
return self._velocity
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def torque(self) -> float:
|
||||
return self._torque
|
||||
|
||||
# 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
|
||||
# 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -156,7 +149,7 @@ my_device: # 设备唯一标识符
|
||||
|
||||
系统会自动分析您的 Python 驱动类并生成：
|
||||
|
||||
- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
|
||||
- `status_types`：从 `@property` 装饰的方法自动识别状态属性
|
||||
- `action_value_mappings`：从类方法自动生成动作映射
|
||||
- `init_param_schema`：从 `__init__` 方法分析初始化参数
|
||||
- `schema`：前端显示用的属性类型定义
|
||||
@@ -186,9 +179,7 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
|
||||
|
||||
```python
|
||||
from typing import Dict, Any
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="my_device", category=["general"], description="My Device")
|
||||
class MyDevice:
|
||||
"""设备类文档字符串
|
||||
|
||||
@@ -207,9 +198,8 @@ class MyDevice:
|
||||
# 初始化硬件连接
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加 @topic_config 才会广播
|
||||
def status(self) -> str:
|
||||
"""设备状态（通过 @topic_config 广播）"""
|
||||
"""设备状态（会自动广播）"""
|
||||
return self._status
|
||||
|
||||
def my_action(self, param: float) -> Dict[str, Any]:
|
||||
@@ -227,61 +217,34 @@ class MyDevice:
|
||||
|
||||
## 状态属性 vs 动作方法
|
||||
|
||||
### 状态属性（@property + @topic_config）
|
||||
### 状态属性（@property）
|
||||
|
||||
状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
|
||||
状态属性会被自动识别并定期广播：
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加，否则不会广播
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._read_temperature()
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期（秒）
|
||||
def status(self) -> str:
|
||||
"""设备状态: idle, running, error"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config(name="ready") # 可自定义发布名称
|
||||
def is_ready(self) -> bool:
|
||||
"""设备是否就绪"""
|
||||
return self._status == "idle"
|
||||
```
|
||||
|
||||
也可以使用普通方法（非 @property）配合 `@topic_config`：
|
||||
|
||||
```python
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
"""获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
|
||||
return {"temp": self._temp, "humidity": self._humidity}
|
||||
```
|
||||
|
||||
**`@topic_config` 参数**:
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
|------|------|--------|------|
|
||||
| `period` | float | 5.0 | 发布周期（秒） |
|
||||
| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
|
||||
| `qos` | int | 10 | QoS 深度 |
|
||||
| `name` | str | None | 自定义发布名称 |
|
||||
|
||||
**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
|
||||
|
||||
**特点**:
|
||||
|
||||
- 必须使用 `@topic_config` 装饰器
|
||||
- 支持 `@property` 和普通方法
|
||||
- 添加到注册表的 `status_types`
|
||||
- 使用`@property`装饰器
|
||||
- 只读，不能有参数
|
||||
- 自动添加到注册表的`status_types`
|
||||
- 定期发布到 ROS2 topic
|
||||
|
||||
> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
|
||||
|
||||
### 动作方法
|
||||
|
||||
动作方法是设备可以执行的操作：
|
||||
@@ -534,7 +497,6 @@ class LiquidHandler:
|
||||
self._status = "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -924,52 +886,7 @@ class MyDevice:
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 1. 使用 `@device` 装饰器标识设备类
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
- `id`：设备唯一标识符，用于注册表匹配
|
||||
- `category`：分类列表，前端用于分组显示
|
||||
- `description`：设备描述
|
||||
- `icon`：图标文件名（可选）
|
||||
|
||||
### 2. 使用 `@topic_config` 声明需要广播的状态
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ @property + @topic_config → 会广播
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
return {"temp": self._temp}
|
||||
|
||||
# ✓ 使用 name 参数自定义发布名称
|
||||
@property
|
||||
@topic_config(name="ready")
|
||||
def is_ready(self) -> bool:
|
||||
return self._status == "idle"
|
||||
|
||||
# ✗ 仅有 @property，没有 @topic_config → 不会广播
|
||||
@property
|
||||
def internal_state(self) -> str:
|
||||
return self._state
|
||||
```
|
||||
|
||||
> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
|
||||
|
||||
### 3. 类型注解
|
||||
### 1. 类型注解
|
||||
|
||||
```python
|
||||
from typing import Dict, Any, Optional, List
|
||||
@@ -984,7 +901,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
### 4. 文档字符串
|
||||
### 2. 文档字符串
|
||||
|
||||
```python
|
||||
def method(self, param: float) -> Dict[str, Any]:
|
||||
@@ -1006,7 +923,7 @@ def method(self, param: float) -> Dict[str, Any]:
|
||||
pass
|
||||
```
|
||||
|
||||
### 5. 配置验证
|
||||
### 3. 配置验证
|
||||
|
||||
```python
|
||||
def __init__(self, config: Dict[str, Any]):
|
||||
@@ -1020,7 +937,7 @@ def __init__(self, config: Dict[str, Any]):
|
||||
self.baudrate = config['baudrate']
|
||||
```
|
||||
|
||||
### 6. 资源清理
|
||||
### 4. 资源清理
|
||||
|
||||
```python
|
||||
def __del__(self):
|
||||
@@ -1029,7 +946,7 @@ def __del__(self):
|
||||
self.connection.close()
|
||||
```
|
||||
|
||||
### 7. 设计前端友好的返回值
|
||||
### 5. 设计前端友好的返回值
|
||||
|
||||
**记住：返回值会直接显示在 Web 界面**
|
||||
|
||||
|
||||
@@ -422,20 +422,18 @@ placeholder_keys:
|
||||
|
||||
### status_types
|
||||
|
||||
系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
|
||||
系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
|
||||
|
||||
```yaml
|
||||
status_types:
|
||||
current_temperature: float # 从 @topic_config 装饰的 @property 或方法
|
||||
is_heating: bool
|
||||
status: str
|
||||
current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
|
||||
is_heating: bool # 从 get_is_heating() 或 @property is_heating
|
||||
status: str # 从 get_status() 或 @property status
|
||||
```
|
||||
|
||||
**注意事项**：
|
||||
|
||||
- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
|
||||
- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
|
||||
- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
|
||||
- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
|
||||
- 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
|
||||
- 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
|
||||
|
||||
@@ -539,13 +537,11 @@ class AdvancedLiquidHandler:
|
||||
self._temperature = 25.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
"""设备状态"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._temperature
|
||||
@@ -813,23 +809,21 @@ my_temperature_controller:
|
||||
你的设备类需要符合以下要求：
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
from unilabos.common.device_base import DeviceBase
|
||||
|
||||
@device(id="my_device", category=["temperature"], description="My Device")
|
||||
class MyDevice:
|
||||
class MyDevice(DeviceBase):
|
||||
def __init__(self, config):
|
||||
"""初始化，参数会自动分析到 init_param_schema.config"""
|
||||
super().__init__(config)
|
||||
self.port = config.get('port', '/dev/ttyUSB0')
|
||||
|
||||
# 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
|
||||
# 状态方法（会自动生成到 status_types）
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self):
|
||||
"""返回设备状态"""
|
||||
return "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self):
|
||||
"""返回当前温度"""
|
||||
return 25.0
|
||||
@@ -1045,34 +1039,7 @@ resource.type # "resource"
|
||||
|
||||
### 代码规范
|
||||
|
||||
1. **使用 `@device` 装饰器标识设备类**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Device")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
2. **使用 `@topic_config` 声明广播属性**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ 需要广播的状态属性
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✗ 仅有 @property 不会广播
|
||||
@property
|
||||
def internal_counter(self) -> int:
|
||||
return self._counter
|
||||
```
|
||||
|
||||
3. **始终使用类型注解**
|
||||
1. **始终使用类型注解**
|
||||
|
||||
```python
|
||||
# ✓ 好
|
||||
@@ -1084,7 +1051,7 @@ def method(self, resource, device):
|
||||
pass
|
||||
```
|
||||
|
||||
4. **提供有意义的参数名**
|
||||
2. **提供有意义的参数名**
|
||||
|
||||
```python
|
||||
# ✓ 好 - 清晰的参数名
|
||||
@@ -1096,7 +1063,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
|
||||
pass
|
||||
```
|
||||
|
||||
5. **使用 Optional 表示可选参数**
|
||||
3. **使用 Optional 表示可选参数**
|
||||
|
||||
```python
|
||||
from typing import Optional
|
||||
@@ -1109,7 +1076,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
6. **添加详细的文档字符串**
|
||||
4. **添加详细的文档字符串**
|
||||
|
||||
```python
|
||||
def method(
|
||||
@@ -1129,13 +1096,13 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
7. **方法命名规范**
|
||||
5. **方法命名规范**
|
||||
|
||||
- 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
|
||||
- 状态方法使用 `@property` 装饰器或 `get_` 前缀
|
||||
- 动作方法使用动词开头
|
||||
- 保持命名清晰、一致
|
||||
|
||||
8. **完善的错误处理**
|
||||
6. **完善的错误处理**
|
||||
- 实现完善的错误处理
|
||||
- 添加日志记录
|
||||
- 提供有意义的错误信息
|
||||
|
||||
@@ -221,10 +221,10 @@ Laboratory A Laboratory B
|
||||
|
||||
```bash
|
||||
# 实验室A
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
|
||||
# 实验室B
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
@@ -31,14 +31,6 @@
|
||||
|
||||
详细的安装步骤请参考 [安装指南](installation.md)。
|
||||
|
||||
**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 |
|
||||
|
||||
**关键步骤：**
|
||||
|
||||
```bash
|
||||
@@ -46,30 +38,15 @@
|
||||
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
||||
|
||||
# 2. 创建 Conda 环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
|
||||
# 3. 激活环境
|
||||
mamba activate unilab
|
||||
|
||||
# 4. 安装 Uni-Lab-OS（选择其一）
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
# 4. 安装 Uni-Lab-OS
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
|
||||
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
|
||||
|
||||
# 方案 C：完整版（仿真/可视化）
|
||||
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
|
||||
|
||||
#### 1.2 验证安装
|
||||
|
||||
```bash
|
||||
@@ -439,9 +416,6 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
1. 访问 Web 界面，进入"仪器耗材"模块
|
||||
2. 在"仪器设备"区域找到并添加上述设备
|
||||
3. 在"物料耗材"区域找到并添加容器
|
||||
4. 在workstation中配置protocol_type包含PumpTransferProtocol
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -452,9 +426,8 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
**操作步骤：**
|
||||
|
||||
1. 将两个 `container` 拖拽到 `workstation` 中
|
||||
2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
|
||||
3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||
4. 在画布上连接它们（建立父子关系）
|
||||
2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||
3. 在画布上连接它们（建立父子关系）
|
||||
|
||||
|
||||
|
||||
@@ -795,43 +768,7 @@ Waiting for host service...
|
||||
|
||||
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
||||
|
||||
#### 9.1 开发环境准备
|
||||
|
||||
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
|
||||
|
||||
```bash
|
||||
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
|
||||
# 2. 克隆代码
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或手动安装：
|
||||
pip install -e .
|
||||
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
|
||||
- 使用 `uv` 替代 `pip`，安装速度更快
|
||||
- 可编辑模式：代码修改**立即生效**，无需重新安装
|
||||
|
||||
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
|
||||
|
||||
```bash
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
#### 9.2 为什么需要自定义设备？
|
||||
#### 9.1 为什么需要自定义设备？
|
||||
|
||||
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
||||
|
||||
@@ -840,7 +777,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
|
||||
- 特殊的实验流程
|
||||
- 第三方设备集成
|
||||
|
||||
#### 9.3 创建 Python 包
|
||||
#### 9.2 创建 Python 包
|
||||
|
||||
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
||||
|
||||
@@ -877,7 +814,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
|
||||
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
||||
```
|
||||
|
||||
#### 9.4 创建 setup.py
|
||||
#### 9.3 创建 setup.py
|
||||
|
||||
```python
|
||||
# my_lab_devices/setup.py
|
||||
@@ -908,7 +845,7 @@ setup(
|
||||
)
|
||||
```
|
||||
|
||||
#### 9.5 开发安装
|
||||
#### 9.4 开发安装
|
||||
|
||||
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
||||
|
||||
@@ -923,7 +860,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
- 方便调试和测试
|
||||
- 支持版本控制（git）
|
||||
|
||||
#### 9.6 编写设备驱动
|
||||
#### 9.5 编写设备驱动
|
||||
|
||||
创建设备驱动文件：
|
||||
|
||||
@@ -1064,7 +1001,7 @@ class MyPump:
|
||||
- **返回 Dict**：所有动作方法返回字典类型
|
||||
- **文档字符串**：详细说明参数和功能
|
||||
|
||||
#### 9.7 测试设备驱动
|
||||
#### 9.6 测试设备驱动
|
||||
|
||||
创建简单的测试脚本：
|
||||
|
||||
|
||||
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|
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|
Before Width: | Height: | Size: 415 KiB After Width: | Height: | Size: 275 KiB |
@@ -13,26 +13,15 @@
|
||||
- 开发者需要 Git 和基本的 Python 开发知识
|
||||
- 自定义 msgs 需要 GitHub 账号
|
||||
|
||||
## 安装包选择
|
||||
|
||||
Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
|
||||
|--------|----------|----------|----------|
|
||||
| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
|
||||
| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
|
||||
| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
|
||||
|
||||
## 安装方式选择
|
||||
|
||||
根据您的使用场景，选择合适的安装方式：
|
||||
|
||||
| 安装方式 | 适用人群 | 推荐安装包 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 快速体验、演示 | 预打包环境 | 离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | **大多数用户** | `unilabos` | 完整功能，开箱即用 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env` | 可编辑模式，支持自定义开发 | 20-30 分钟 |
|
||||
| **仿真/可视化** | 仿真测试、可视化调试 | `unilabos-full` | 含 Gazebo、rviz2、MoveIt | 30-60 分钟 |
|
||||
| 安装方式 | 适用人群 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | 标准用户、生产环境 | 灵活配置，版本可控 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs | 20-30 分钟 |
|
||||
|
||||
---
|
||||
|
||||
@@ -155,38 +144,17 @@ bash Miniforge3-$(uname)-$(uname -m).sh
|
||||
使用以下命令创建 Uni-Lab 专用环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.14 # 目前ros2组件依赖版本大多为3.11.14
|
||||
mamba create -n unilab python=3.11.11 # 目前ros2组件依赖版本大多为3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# 选择安装包（三选一）：
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和 pip 依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整版（含仿真和可视化工具）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**参数说明**:
|
||||
|
||||
- `-n unilab`: 创建名为 "unilab" 的环境
|
||||
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
|
||||
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
|
||||
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
|
||||
- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
|
||||
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
||||
|
||||
**包选择建议**：
|
||||
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
|
||||
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
|
||||
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
|
||||
|
||||
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
||||
|
||||
```bash
|
||||
@@ -195,14 +163,8 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
||||
|
||||
# 然后重新执行安装命令（推荐标准安装）
|
||||
# 然后重新执行安装命令
|
||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
||||
|
||||
# 或完整版（仿真/可视化）
|
||||
mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
|
||||
|
||||
# pip 安装时使用清华镜像（开发者安装时使用）
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
### 第三步：激活环境
|
||||
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
### 第二步：安装开发环境（unilabos-env）
|
||||
### 第二步：安装基础环境
|
||||
|
||||
**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
|
||||
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
|
||||
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
|
||||
- 包含 `uv` 工具，用于快速安装 pip 依赖
|
||||
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
|
||||
**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
|
||||
|
||||
#### 选项 A：通过一键安装（推荐）
|
||||
|
||||
参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
|
||||
|
||||
```bash
|
||||
# 创建并激活环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
|
||||
# 安装开发者环境包（ROS2 + conda 依赖 + uv）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
### 第三步：安装 pip 依赖和可编辑模式安装
|
||||
#### 选项 B：通过手动安装
|
||||
|
||||
克隆代码并安装依赖：
|
||||
参考上文"方式二：手动安装"，创建并安装环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.11
|
||||
conda activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
|
||||
|
||||
### 第三步：切换到开发版本
|
||||
|
||||
现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
|
||||
|
||||
```bash
|
||||
# 确保环境已激活
|
||||
conda activate unilab
|
||||
|
||||
# 克隆仓库（如果还未克隆）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
|
||||
pip uninstall unilabos -y
|
||||
|
||||
# 切换到 dev 分支（可选）
|
||||
# 克隆 dev 分支（如果还未克隆）
|
||||
cd /path/to/your/workspace
|
||||
git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
# 或者如果已经克隆，切换到 dev 分支
|
||||
cd Uni-Lab-OS
|
||||
git checkout dev
|
||||
git pull
|
||||
```
|
||||
|
||||
**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
|
||||
|
||||
```bash
|
||||
# 自动检测中文环境，如果是中文系统则使用清华镜像
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或者手动指定：
|
||||
python scripts/dev_install.py --china # 强制使用清华镜像
|
||||
python scripts/dev_install.py --no-mirror # 强制使用 PyPI
|
||||
python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
|
||||
python scripts/dev_install.py --use-pip # 使用 pip 而非 uv
|
||||
```
|
||||
|
||||
**手动安装**（如果脚本安装失败或速度太慢）：
|
||||
|
||||
```bash
|
||||
# 1. 安装 unilabos（可编辑模式）
|
||||
pip install -e .
|
||||
|
||||
# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 国内用户使用清华镜像：
|
||||
# 以可编辑模式安装开发版 unilabos
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
**注意**：
|
||||
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
|
||||
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
|
||||
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
|
||||
**参数说明**：
|
||||
|
||||
**为什么使用可编辑模式？**
|
||||
|
||||
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
|
||||
- 适合开发调试：修改代码后直接运行测试
|
||||
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
|
||||
|
||||
**验证安装**：
|
||||
|
||||
```bash
|
||||
# 检查 unilabos 版本
|
||||
python -c "import unilabos; print(unilabos.__version__)"
|
||||
|
||||
# 检查安装位置（应该指向你的代码目录）
|
||||
pip show unilabos | grep Location
|
||||
```
|
||||
- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
|
||||
- `-i`: 使用清华镜像源加速下载
|
||||
- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
|
||||
|
||||
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
||||
|
||||
@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab
|
||||
|
||||
### 问题 8: 环境很大，有办法减小吗？
|
||||
|
||||
**解决方案**:
|
||||
|
||||
1. **使用 `unilabos` 标准版**（推荐大多数用户）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
|
||||
|
||||
2. **使用 `unilabos-env` 开发者版**（最小化）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后手动安装依赖
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
开发者版只包含环境依赖，体积最小约 2GB。
|
||||
|
||||
3. **按需安装额外组件**：
|
||||
如果后续需要特定功能，可以单独安装：
|
||||
```bash
|
||||
# 需要 Jupyter
|
||||
mamba install jupyter jupyros
|
||||
|
||||
# 需要可视化
|
||||
mamba install matplotlib opencv
|
||||
|
||||
# 需要仿真（注意：这会安装大量依赖）
|
||||
mamba install ros-humble-gazebo-ros
|
||||
```
|
||||
|
||||
4. **预打包环境问题**：
|
||||
预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
|
||||
|
||||
**包选择建议**：
|
||||
| 需求 | 推荐包 | 预估大小 |
|
||||
|------|--------|----------|
|
||||
| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
|
||||
| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
|
||||
| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
|
||||
**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
|
||||
|
||||
### 问题 9: 如何更新到最新版本？
|
||||
|
||||
@@ -616,7 +511,6 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
||||
|
||||
**提示**:
|
||||
|
||||
- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
|
||||
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
|
||||
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
|
||||
- **快速体验和演示**推荐使用方式一（一键安装）
|
||||
- 生产环境推荐使用方式二（手动安装）的稳定版本
|
||||
- 开发和测试推荐使用方式三（开发者安装）
|
||||
- 快速体验和演示推荐使用方式一（一键安装）
|
||||
|
||||
@@ -22,6 +22,7 @@ options:
|
||||
--is_slave Run the backend as slave node (without host privileges).
|
||||
--slave_no_host Skip waiting for host service in slave mode
|
||||
--upload_registry Upload registry information when starting unilab
|
||||
--use_remote_resource Use remote resources when starting unilab
|
||||
--config CONFIG Configuration file path, supports .py format Python config files
|
||||
--port PORT Port for web service information page
|
||||
--disable_browser Disable opening information page on startup
|
||||
@@ -84,7 +85,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
支持两种方式：
|
||||
|
||||
- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
|
||||
- **远程资源**：不指定本地文件即可
|
||||
- **远程资源**：使用 `--use_remote_resource` 从云端获取
|
||||
|
||||
### 7. 注册表构建
|
||||
|
||||
@@ -195,7 +196,7 @@ unilab --config path/to/your/config.py
|
||||
unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
|
||||
|
||||
# 使用远程资源启动
|
||||
unilab --ak your_ak --sk your_sk
|
||||
unilab --ak your_ak --sk your_sk --use_remote_resource
|
||||
|
||||
# 更新注册表
|
||||
unilab --ak your_ak --sk your_sk --complete_registry
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.19
|
||||
version: 0.10.15
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
@@ -25,7 +25,7 @@ requirements:
|
||||
build:
|
||||
- ${{ compiler('cxx') }}
|
||||
- ${{ compiler('c') }}
|
||||
- python ==3.11.14
|
||||
- python ==3.11.11
|
||||
- numpy
|
||||
- if: build_platform != target_platform
|
||||
then:
|
||||
@@ -63,14 +63,14 @@ requirements:
|
||||
- robostack-staging::ros-humble-rosidl-default-generators
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
run:
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-ros-workspace
|
||||
- robostack-staging::ros-humble-rosidl-default-runtime
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
- if: osx and x86_64
|
||||
then:
|
||||
- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.19"
|
||||
version: "0.10.15"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
@@ -85,7 +85,7 @@ Verification:
|
||||
-------------
|
||||
|
||||
The verify_installation.py script will check:
|
||||
- Python version (3.11.14)
|
||||
- Python version (3.11.11)
|
||||
- ROS2 rclpy installation
|
||||
- UniLabOS installation and dependencies
|
||||
|
||||
@@ -104,7 +104,7 @@ Build Information:
|
||||
|
||||
Branch: {branch}
|
||||
Platform: {platform}
|
||||
Python: 3.11.14
|
||||
Python: 3.11.11
|
||||
Date: {build_date}
|
||||
|
||||
Troubleshooting:
|
||||
|
||||
@@ -1,214 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Development installation script for UniLabOS.
|
||||
Auto-detects Chinese locale and uses appropriate mirror.
|
||||
|
||||
Usage:
|
||||
python scripts/dev_install.py
|
||||
python scripts/dev_install.py --no-mirror # Force no mirror
|
||||
python scripts/dev_install.py --china # Force China mirror
|
||||
python scripts/dev_install.py --skip-deps # Skip pip dependencies installation
|
||||
|
||||
Flow:
|
||||
1. pip install -e . (install unilabos in editable mode)
|
||||
2. Detect Chinese locale
|
||||
3. Use uv to install pip dependencies from requirements.txt
|
||||
4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
|
||||
"""
|
||||
|
||||
import locale
|
||||
import subprocess
|
||||
import sys
|
||||
import argparse
|
||||
from pathlib import Path
|
||||
|
||||
# Tsinghua mirror URL
|
||||
TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||
|
||||
|
||||
def is_chinese_locale() -> bool:
|
||||
"""
|
||||
Detect if system is in Chinese locale.
|
||||
Same logic as EnvironmentChecker._is_chinese_locale()
|
||||
"""
|
||||
try:
|
||||
lang = locale.getdefaultlocale()[0]
|
||||
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
return False
|
||||
|
||||
|
||||
def run_command(cmd: list, description: str, retry: int = 2) -> bool:
|
||||
"""Run command with retry support."""
|
||||
print(f"[INFO] {description}")
|
||||
print(f"[CMD] {' '.join(cmd)}")
|
||||
|
||||
for attempt in range(retry + 1):
|
||||
try:
|
||||
result = subprocess.run(cmd, check=True, timeout=600)
|
||||
print(f"[OK] {description}")
|
||||
return True
|
||||
except subprocess.CalledProcessError as e:
|
||||
if attempt < retry:
|
||||
print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
|
||||
else:
|
||||
print(f"[ERROR] {description} failed: {e}")
|
||||
return False
|
||||
except subprocess.TimeoutExpired:
|
||||
print(f"[ERROR] {description} timed out")
|
||||
return False
|
||||
return False
|
||||
|
||||
|
||||
def install_editable(project_root: Path, use_mirror: bool) -> bool:
|
||||
"""Install unilabos in editable mode using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing unilabos in editable mode")
|
||||
|
||||
|
||||
def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Install pip dependencies using uv (installed via conda-forge::uv)."""
|
||||
cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with uv", retry=2)
|
||||
|
||||
|
||||
def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Fallback: Install pip dependencies using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with pip", retry=2)
|
||||
|
||||
|
||||
def check_uv_available() -> bool:
|
||||
"""Check if uv is available (installed via conda-forge::uv)."""
|
||||
try:
|
||||
subprocess.run(["uv", "--version"], capture_output=True, check=True)
|
||||
return True
|
||||
except (subprocess.CalledProcessError, FileNotFoundError):
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
|
||||
parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
|
||||
parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
|
||||
parser.add_argument(
|
||||
"--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
|
||||
)
|
||||
parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Determine project root
|
||||
script_dir = Path(__file__).parent
|
||||
project_root = script_dir.parent
|
||||
requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
|
||||
|
||||
if not (project_root / "setup.py").exists():
|
||||
print(f"[ERROR] setup.py not found in {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print("=" * 60)
|
||||
print("UniLabOS Development Installation")
|
||||
print("=" * 60)
|
||||
print(f"Project root: {project_root}")
|
||||
print()
|
||||
|
||||
# Determine mirror usage based on locale
|
||||
if args.no_mirror:
|
||||
use_mirror = False
|
||||
print("[INFO] Mirror disabled by --no-mirror flag")
|
||||
elif args.china:
|
||||
use_mirror = True
|
||||
print("[INFO] China mirror enabled by --china flag")
|
||||
else:
|
||||
use_mirror = is_chinese_locale()
|
||||
if use_mirror:
|
||||
print("[INFO] Chinese locale detected, using Tsinghua mirror")
|
||||
else:
|
||||
print("[INFO] Non-Chinese locale detected, using default PyPI")
|
||||
|
||||
print()
|
||||
|
||||
# Step 1: Install unilabos in editable mode
|
||||
print("[STEP 1] Installing unilabos in editable mode...")
|
||||
if not install_editable(project_root, use_mirror):
|
||||
print("[ERROR] Failed to install unilabos")
|
||||
print()
|
||||
print("Manual fallback:")
|
||||
if use_mirror:
|
||||
print(f" pip install -e {project_root} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" pip install -e {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print()
|
||||
|
||||
# Step 2: Install pip dependencies
|
||||
if args.skip_deps:
|
||||
print("[INFO] Skipping pip dependencies installation (--skip-deps)")
|
||||
else:
|
||||
print("[STEP 2] Installing pip dependencies...")
|
||||
|
||||
if not requirements_file.exists():
|
||||
print(f"[WARN] Requirements file not found: {requirements_file}")
|
||||
print("[INFO] Skipping dependencies installation")
|
||||
else:
|
||||
# Try uv first (faster), fallback to pip
|
||||
if args.use_pip:
|
||||
print("[INFO] Using pip (--use-pip flag)")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
elif check_uv_available():
|
||||
print("[INFO] Using uv (installed via conda-forge::uv)")
|
||||
success = install_requirements_uv(requirements_file, use_mirror)
|
||||
if not success:
|
||||
print("[WARN] uv failed, falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
else:
|
||||
print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
|
||||
print("[INFO] Falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
|
||||
if not success:
|
||||
print()
|
||||
print("[WARN] Failed to install some dependencies automatically.")
|
||||
print("You can manually install them:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" uv pip install -r {requirements_file}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file}")
|
||||
|
||||
print()
|
||||
print("=" * 60)
|
||||
print("Installation complete!")
|
||||
print("=" * 60)
|
||||
print()
|
||||
print("Note: Some special packages (like pylabrobot) are installed")
|
||||
print("automatically at runtime by unilabos if needed.")
|
||||
print()
|
||||
print("Verify installation:")
|
||||
print(' python -c "import unilabos; print(unilabos.__version__)"')
|
||||
print()
|
||||
print("If you encounter issues, you can manually install dependencies:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(" uv pip install -r unilabos/utils/requirements.txt")
|
||||
print()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.19',
|
||||
version='0.10.15',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -1,213 +0,0 @@
|
||||
{
|
||||
"workflow": [
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_1",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_4",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_5",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_6",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
}
|
||||
],
|
||||
"reagent": {
|
||||
"Liquid_1": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_4": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"dest_set": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_5": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"dest_set_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"Liquid_6": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"dest_set_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"cell_lines": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_2": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_3": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.10.19"
|
||||
__version__ = "0.10.15"
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
"""Entry point for `python -m unilabos`."""
|
||||
|
||||
from unilabos.app.main import main
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,14 +1,13 @@
|
||||
import argparse
|
||||
import asyncio
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import signal
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from typing import Dict, Any, List
|
||||
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
@@ -18,92 +17,14 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
# Global restart flags (used by ws_client and web/server)
|
||||
_restart_requested: bool = False
|
||||
_restart_reason: str = ""
|
||||
|
||||
RESTART_EXIT_CODE = 42
|
||||
|
||||
|
||||
def _build_child_argv():
|
||||
"""Build sys.argv for child process, stripping supervisor-only arguments."""
|
||||
result = []
|
||||
skip_next = False
|
||||
for arg in sys.argv:
|
||||
if skip_next:
|
||||
skip_next = False
|
||||
continue
|
||||
if arg in ("--restart_mode", "--restart-mode"):
|
||||
continue
|
||||
if arg in ("--auto_restart_count", "--auto-restart-count"):
|
||||
skip_next = True
|
||||
continue
|
||||
if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
|
||||
continue
|
||||
result.append(arg)
|
||||
return result
|
||||
|
||||
|
||||
def _run_as_supervisor(max_restarts: int):
|
||||
"""
|
||||
Supervisor process that spawns and monitors child processes.
|
||||
|
||||
Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
|
||||
it only launches the real process as a child and restarts it when the child
|
||||
exits with RESTART_EXIT_CODE.
|
||||
"""
|
||||
child_argv = [sys.executable] + _build_child_argv()
|
||||
restart_count = 0
|
||||
|
||||
print_status(
|
||||
f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
|
||||
f"child command: {' '.join(child_argv)}",
|
||||
"info",
|
||||
)
|
||||
|
||||
while True:
|
||||
print_status(
|
||||
f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
|
||||
"info",
|
||||
)
|
||||
|
||||
try:
|
||||
process = subprocess.Popen(child_argv)
|
||||
exit_code = process.wait()
|
||||
except KeyboardInterrupt:
|
||||
print_status("[Supervisor] Interrupted, terminating child process...", "info")
|
||||
process.terminate()
|
||||
try:
|
||||
process.wait(timeout=10)
|
||||
except subprocess.TimeoutExpired:
|
||||
process.kill()
|
||||
process.wait()
|
||||
sys.exit(1)
|
||||
|
||||
if exit_code == RESTART_EXIT_CODE:
|
||||
restart_count += 1
|
||||
if restart_count > max_restarts:
|
||||
print_status(
|
||||
f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
|
||||
"warning",
|
||||
)
|
||||
sys.exit(1)
|
||||
print_status(
|
||||
f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
|
||||
"info",
|
||||
)
|
||||
time.sleep(2)
|
||||
else:
|
||||
if exit_code != 0:
|
||||
print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
|
||||
else:
|
||||
print_status("[Supervisor] Child exited normally", "info")
|
||||
sys.exit(exit_code)
|
||||
|
||||
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
@@ -145,13 +66,6 @@ def parse_args():
|
||||
action="append",
|
||||
help="Path to the registry directory",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--devices",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="Path to Python code directory for AST-based device/resource scanning",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--working_dir",
|
||||
type=str,
|
||||
@@ -241,53 +155,17 @@ def parse_args():
|
||||
action="store_true",
|
||||
help="Skip environment dependency check on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--check_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Run in check mode for CI: validates registry imports and ensures no file changes",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Complete and rewrite YAML registry files using AST analysis results",
|
||||
help="Complete registry information",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--no_update_feedback",
|
||||
action="store_true",
|
||||
help="Disable sending update feedback to server",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--test_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Test mode: all actions simulate execution and return mock results without running real hardware",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--external_devices_only",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--extra_resource",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--restart_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--auto_restart_count",
|
||||
type=int,
|
||||
default=500,
|
||||
help="Maximum number of automatic restarts in restart mode (default: 500)",
|
||||
)
|
||||
# workflow upload subcommand
|
||||
workflow_parser = subparsers.add_parser(
|
||||
"workflow_upload",
|
||||
@@ -321,12 +199,6 @@ def parse_args():
|
||||
default=False,
|
||||
help="Whether to publish the workflow (default: False)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--description",
|
||||
type=str,
|
||||
default="",
|
||||
help="Workflow description, used when publishing the workflow",
|
||||
)
|
||||
return parser
|
||||
|
||||
|
||||
@@ -338,102 +210,61 @@ def main():
|
||||
args = parser.parse_args()
|
||||
args_dict = vars(args)
|
||||
|
||||
# Supervisor mode: spawn child processes and monitor for restart
|
||||
if args_dict.get("restart_mode", False):
|
||||
_run_as_supervisor(args_dict.get("auto_restart_count", 5))
|
||||
return
|
||||
|
||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||
skip_env_check = args_dict.get("skip_env_check", False)
|
||||
check_mode = args_dict.get("check_mode", False)
|
||||
|
||||
if not skip_env_check:
|
||||
from unilabos.utils.environment_check import check_environment, check_device_package_requirements
|
||||
if not args_dict.get("skip_env_check", False):
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
|
||||
if not check_environment(auto_install=True):
|
||||
print_status("环境检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
|
||||
# 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
|
||||
devices_dirs_for_req = args_dict.get("devices", None)
|
||||
if devices_dirs_for_req:
|
||||
if not check_device_package_requirements(devices_dirs_for_req):
|
||||
print_status("设备包依赖检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
else:
|
||||
print_status("跳过环境依赖检查", "warning")
|
||||
|
||||
# 加载配置文件，优先加载config，然后从env读取
|
||||
config_path = args_dict.get("config")
|
||||
|
||||
# === 解析 working_dir ===
|
||||
# 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
|
||||
# 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
|
||||
# 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
|
||||
raw_working_dir = args_dict.get("working_dir")
|
||||
if raw_working_dir:
|
||||
working_dir = os.path.abspath(raw_working_dir)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(os.path.abspath(config_path))
|
||||
else:
|
||||
if os.getcwd().endswith("unilabos_data"):
|
||||
working_dir = os.path.abspath(os.getcwd())
|
||||
else:
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
# unilabos_data 子目录自动检测
|
||||
if os.path.basename(working_dir) != "unilabos_data":
|
||||
unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
|
||||
if os.path.isdir(unilabos_data_sub):
|
||||
working_dir = unilabos_data_sub
|
||||
elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
|
||||
# 未显式指定路径，默认使用 cwd/unilabos_data
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
# === 解析 config_path ===
|
||||
if config_path and not os.path.exists(config_path):
|
||||
# config_path 传入但不存在，尝试在 working_dir 中查找
|
||||
candidate = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(candidate):
|
||||
config_path = candidate
|
||||
print_status(f"在工作目录中发现配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(
|
||||
f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
|
||||
f"请通过 --config 传入 local_config.py 文件路径",
|
||||
"error",
|
||||
)
|
||||
os._exit(1)
|
||||
elif not config_path:
|
||||
# 规则3: 未传入 config_path，尝试 working_dir/local_config.py
|
||||
candidate = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(candidate):
|
||||
config_path = candidate
|
||||
print_status(f"发现本地配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if check_mode or input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
|
||||
config_path,
|
||||
if args_dict.get("working_dir"):
|
||||
working_dir = args_dict.get("working_dir", "")
|
||||
if config_path and not os.path.exists(config_path):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
if not os.path.exists(config_path):
|
||||
print_status(
|
||||
f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
|
||||
"error",
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
else:
|
||||
os._exit(1)
|
||||
|
||||
# 加载配置文件 (check_mode 跳过)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(config_path)
|
||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
elif not config_path and (
|
||||
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
||||
):
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
else:
|
||||
os._exit(1)
|
||||
# 加载配置文件
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
if not check_mode:
|
||||
load_config_from_file(config_path)
|
||||
load_config_from_file(config_path)
|
||||
|
||||
# 根据配置重新设置日志级别
|
||||
from unilabos.utils.log import configure_logger, logger
|
||||
|
||||
if hasattr(BasicConfig, "log_level"):
|
||||
logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
|
||||
file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
|
||||
if file_path is not None:
|
||||
logger.info(f"[LOG_FILE] {file_path}")
|
||||
configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
|
||||
|
||||
if args.addr != parser.get_default("addr"):
|
||||
if args.addr == "test":
|
||||
@@ -477,66 +308,41 @@ def main():
|
||||
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
|
||||
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
|
||||
BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
|
||||
BasicConfig.test_mode = args_dict.get("test_mode", False)
|
||||
if BasicConfig.test_mode:
|
||||
print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
|
||||
BasicConfig.extra_resource = args_dict.get("extra_resource", False)
|
||||
if BasicConfig.extra_resource:
|
||||
print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = platform.node()
|
||||
machine_name = os.popen("hostname").read().strip()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
BasicConfig.machine_name = machine_name
|
||||
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
||||
BasicConfig.check_mode = check_mode
|
||||
|
||||
from unilabos.registry.registry import build_registry
|
||||
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# Step 0: AST 分析优先 + YAML 注册表加载
|
||||
# check_mode 和 upload_registry 都会执行实际 import 验证
|
||||
devices_dirs = args_dict.get("devices", None)
|
||||
complete_registry = args_dict.get("complete_registry", False) or check_mode
|
||||
external_only = args_dict.get("external_devices_only", False)
|
||||
lab_registry = build_registry(
|
||||
registry_paths=args_dict["registry_path"],
|
||||
devices_dirs=devices_dirs,
|
||||
upload_registry=BasicConfig.upload_registry,
|
||||
check_mode=check_mode,
|
||||
complete_registry=complete_registry,
|
||||
external_only=external_only,
|
||||
)
|
||||
|
||||
# Check mode: 注册表验证完成后直接退出
|
||||
if check_mode:
|
||||
device_count = len(lab_registry.device_type_registry)
|
||||
resource_count = len(lab_registry.resource_type_registry)
|
||||
print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
|
||||
os._exit(0)
|
||||
|
||||
# 以下导入依赖 ROS2 环境，check_mode 已退出不需要
|
||||
from unilabos.resources.graphio import (
|
||||
read_node_link_json,
|
||||
read_graphml,
|
||||
dict_from_graph,
|
||||
modify_to_backend_format,
|
||||
)
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.registry.registry import build_registry
|
||||
from unilabos.app.backend import start_backend
|
||||
from unilabos.app.web import http_client
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表
|
||||
lab_registry = build_registry(
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
|
||||
)
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
# print_status("开始注册设备到服务端...", "info")
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
# print_status("设备注册完成", "info")
|
||||
print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
@@ -621,16 +427,12 @@ def main():
|
||||
continue
|
||||
|
||||
# 如果从远端获取了物料信息，则与本地物料进行同步
|
||||
if file_path is not None and request_startup_json and "nodes" in request_startup_json:
|
||||
if request_startup_json and "nodes" in request_startup_json:
|
||||
print_status("开始同步远端物料到本地...", "info")
|
||||
remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
|
||||
resource_tree_set.merge_remote_resources(remote_tree_set)
|
||||
print_status("远端物料同步完成", "info")
|
||||
|
||||
# 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
|
||||
# TODO: 当 community device package 功能上线后，在这里调用
|
||||
# install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
|
||||
|
||||
# 使用 ResourceTreeSet 代替 list
|
||||
args_dict["resources_config"] = resource_tree_set
|
||||
args_dict["devices_config"] = resource_tree_set
|
||||
@@ -722,10 +524,6 @@ def main():
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
if restart_requested:
|
||||
print_status("[Main] Restart requested, cleaning up...", "info")
|
||||
cleanup_for_restart()
|
||||
os._exit(RESTART_EXIT_CODE)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -54,7 +54,6 @@ class JobAddReq(BaseModel):
|
||||
action_type: str = Field(
|
||||
examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
|
||||
)
|
||||
sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
|
||||
action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
|
||||
task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
|
||||
job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
import json
|
||||
import time
|
||||
from typing import Any, Dict, Optional, Tuple
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.tools import normalize_json as _normalize_device
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
@@ -10,63 +11,50 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
|
||||
# 注册资源信息 - 使用HTTP方式
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = _normalize_device(device_info)
|
||||
logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
devices_to_register[device_info["id"]] = json.loads(
|
||||
json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
if gather_only:
|
||||
return devices_to_register, resources_to_register
|
||||
|
||||
# 注册设备
|
||||
if devices_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(devices_to_register.values())},
|
||||
tag="device_registry",
|
||||
)
|
||||
response = http_client.resource_registry({"resources": list(devices_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 设备注册跳过（内容未变化）"
|
||||
f" {len(devices_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 设备注册异常: {e}")
|
||||
|
||||
# 注册资源
|
||||
if resources_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(resources_to_register.values())},
|
||||
tag="resource_registry",
|
||||
)
|
||||
response = http_client.resource_registry({"resources": list(resources_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 资源注册跳过（内容未变化）"
|
||||
f" {len(resources_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 资源注册异常: {e}")
|
||||
|
||||
logger.info("[UniLab Register] 设备和资源注册完成.")
|
||||
|
||||
@@ -4,40 +4,8 @@ UniLabOS 应用工具函数
|
||||
提供清理、重启等工具函数
|
||||
"""
|
||||
|
||||
import glob
|
||||
import os
|
||||
import shutil
|
||||
import sys
|
||||
|
||||
|
||||
def patch_rclpy_dll_windows():
|
||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||
return
|
||||
try:
|
||||
import rclpy
|
||||
|
||||
return
|
||||
except ImportError as e:
|
||||
if not str(e).startswith("DLL load failed"):
|
||||
return
|
||||
cp = os.environ["CONDA_PREFIX"]
|
||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
if not os.path.exists(impl) or not pyd:
|
||||
return
|
||||
with open(impl, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
||||
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
||||
shutil.copy2(impl, impl + ".bak")
|
||||
with open(impl, "w", encoding="utf-8") as f:
|
||||
f.write(patch + content)
|
||||
|
||||
|
||||
patch_rclpy_dll_windows()
|
||||
|
||||
import gc
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
|
||||
|
||||
@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
|
||||
"result": {},
|
||||
"schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": {},
|
||||
"handles": [],
|
||||
}
|
||||
# 不生成已配置action的动作
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
|
||||
# 启动广播任务
|
||||
@app.on_event("startup")
|
||||
async def startup_event():
|
||||
asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
|
||||
asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
|
||||
asyncio.create_task(broadcast_device_status())
|
||||
asyncio.create_task(broadcast_status_page_data())
|
||||
|
||||
@@ -3,13 +3,11 @@ HTTP客户端模块
|
||||
|
||||
提供与远程服务器通信的客户端功能，只有host需要用
|
||||
"""
|
||||
import gzip
|
||||
|
||||
import json
|
||||
import os
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
|
||||
|
||||
import requests
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils.log import info
|
||||
@@ -282,54 +280,22 @@ class HTTPClient:
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_registry(
|
||||
self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
|
||||
) -> requests.Response:
|
||||
def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
注册资源到服务器，同步保存请求/响应到 unilabos_data
|
||||
注册资源到服务器
|
||||
|
||||
Args:
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
|
||||
tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
# 序列化一次，同时用于保存和发送
|
||||
json_bytes = _fast_dumps(registry_data)
|
||||
|
||||
# 保存请求数据到 unilabos_data
|
||||
req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
|
||||
try:
|
||||
os.makedirs(BasicConfig.working_dir, exist_ok=True)
|
||||
with open(req_path, "wb") as f:
|
||||
f.write(_fast_dumps_pretty(registry_data))
|
||||
logger.trace(f"注册表请求数据已保存: {req_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表请求数据失败: {e}")
|
||||
|
||||
compressed_body = gzip.compress(json_bytes)
|
||||
headers = {
|
||||
"Authorization": f"Lab {self.auth}",
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
}
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
data=compressed_body,
|
||||
headers=headers,
|
||||
json=registry_data,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
|
||||
# 保存响应数据到 unilabos_data
|
||||
res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
|
||||
try:
|
||||
with open(res_path, "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}\n{response.text}")
|
||||
logger.trace(f"注册表响应数据已保存: {res_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表响应数据失败: {e}")
|
||||
|
||||
if response.status_code not in [200, 201]:
|
||||
logger.error(f"注册资源失败: {response.status_code}, {response.text}")
|
||||
if response.status_code == 200:
|
||||
@@ -377,10 +343,9 @@ class HTTPClient:
|
||||
edges: List[Dict[str, Any]],
|
||||
tags: Optional[List[str]] = None,
|
||||
published: bool = False,
|
||||
description: str = "",
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
导入工作流到服务器，如果 published 为 True，则额外发起发布请求
|
||||
导入工作流到服务器
|
||||
|
||||
Args:
|
||||
name: 工作流名称（顶层）
|
||||
@@ -390,12 +355,13 @@ class HTTPClient:
|
||||
edges: 工作流边列表
|
||||
tags: 工作流标签列表，默认为空列表
|
||||
published: 是否发布工作流，默认为False
|
||||
description: 工作流描述，发布时使用
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据，包含 code 和 data (uuid, name)
|
||||
"""
|
||||
# target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
|
||||
payload = {
|
||||
"target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
|
||||
"name": name,
|
||||
"data": {
|
||||
"workflow_uuid": workflow_uuid,
|
||||
@@ -403,6 +369,7 @@ class HTTPClient:
|
||||
"nodes": nodes,
|
||||
"edges": edges,
|
||||
"tags": tags if tags is not None else [],
|
||||
"published": published,
|
||||
},
|
||||
}
|
||||
# 保存请求到文件
|
||||
@@ -423,51 +390,11 @@ class HTTPClient:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"导入工作流失败: {response.text}")
|
||||
return res
|
||||
# 导入成功后，如果需要发布则额外发起发布请求
|
||||
if published:
|
||||
imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
|
||||
publish_res = self.workflow_publish(imported_uuid, description)
|
||||
res["publish_result"] = publish_res
|
||||
return res
|
||||
else:
|
||||
logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
|
||||
"""
|
||||
发布工作流
|
||||
|
||||
Args:
|
||||
workflow_uuid: 工作流UUID
|
||||
description: 工作流描述
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据
|
||||
"""
|
||||
payload = {
|
||||
"uuid": workflow_uuid,
|
||||
"description": description,
|
||||
"published": True,
|
||||
}
|
||||
logger.info(f"正在发布工作流: {workflow_uuid}")
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/workflow/owner",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"发布工作流失败: {response.text}")
|
||||
else:
|
||||
logger.info(f"工作流发布成功: {workflow_uuid}")
|
||||
return res
|
||||
else:
|
||||
logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
|
||||
@@ -58,14 +58,14 @@ class JobResultStore:
|
||||
feedback=feedback or {},
|
||||
timestamp=time.time(),
|
||||
)
|
||||
logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
|
||||
def get_and_remove(self, job_id: str) -> Optional[JobResult]:
|
||||
"""获取并删除任务结果"""
|
||||
with self._results_lock:
|
||||
result = self._results.pop(job_id, None)
|
||||
if result:
|
||||
logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
return result
|
||||
|
||||
def get_result(self, job_id: str) -> Optional[JobResult]:
|
||||
@@ -327,7 +327,6 @@ def job_add(req: JobAddReq) -> JobData:
|
||||
queue_item,
|
||||
action_type=action_type,
|
||||
action_kwargs=action_args,
|
||||
sample_material=req.sample_material,
|
||||
server_info=server_info,
|
||||
)
|
||||
|
||||
|
||||
@@ -86,7 +86,7 @@ def setup_server() -> FastAPI:
|
||||
# 设置页面路由
|
||||
try:
|
||||
setup_web_pages(pages)
|
||||
# info("[Web] 已加载Web UI模块")
|
||||
info("[Web] 已加载Web UI模块")
|
||||
except ImportError as e:
|
||||
info(f"[Web] 未找到Web页面模块: {str(e)}")
|
||||
except Exception as e:
|
||||
@@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
|
||||
server_thread.start()
|
||||
|
||||
# info("[Web] Server started, monitoring for restart requests...")
|
||||
info("[Web] Server started, monitoring for restart requests...")
|
||||
|
||||
# 监控重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
@@ -23,10 +23,9 @@ from typing import Optional, Dict, Any, List
|
||||
from urllib.parse import urlparse
|
||||
from enum import Enum
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
from jedi.inference.gradual.typing import TypedDict
|
||||
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.resources.resource_tracker import ResourceDictType
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.app.communication import BaseCommunicationClient
|
||||
@@ -77,7 +76,6 @@ class JobInfo:
|
||||
start_time: float
|
||||
last_update_time: float = field(default_factory=time.time)
|
||||
ready_timeout: Optional[float] = None # READY状态的超时时间
|
||||
always_free: bool = False # 是否为永久闲置动作(不受排队限制)
|
||||
|
||||
def update_timestamp(self):
|
||||
"""更新最后更新时间"""
|
||||
@@ -129,15 +127,6 @@ class DeviceActionManager:
|
||||
# 总是将job添加到all_jobs中
|
||||
self.all_jobs[job_info.job_id] = job_info
|
||||
|
||||
# always_free的动作不受排队限制，直接设为READY
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.READY
|
||||
job_info.update_timestamp()
|
||||
job_info.set_ready_timeout(10)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
|
||||
return True
|
||||
|
||||
# 检查是否有正在执行或准备执行的任务
|
||||
if device_key in self.active_jobs:
|
||||
# 有正在执行或准备执行的任务，加入队列
|
||||
@@ -165,7 +154,7 @@ class DeviceActionManager:
|
||||
job_info.set_ready_timeout(10) # 设置10秒超时
|
||||
self.active_jobs[device_key] = job_info
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
return True
|
||||
|
||||
def start_job(self, job_id: str) -> bool:
|
||||
@@ -187,15 +176,11 @@ class DeviceActionManager:
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
|
||||
return False
|
||||
|
||||
# always_free的job不需要检查active_jobs
|
||||
if not job_info.always_free:
|
||||
# 检查设备上是否是这个job
|
||||
if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
|
||||
return False
|
||||
# 检查设备上是否是这个job
|
||||
if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
|
||||
return False
|
||||
|
||||
# 开始执行任务，将状态从READY转换为STARTED
|
||||
job_info.status = JobStatus.STARTED
|
||||
@@ -218,13 +203,6 @@ class DeviceActionManager:
|
||||
job_info = self.all_jobs[job_id]
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# always_free的job直接清理，不影响队列
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.ENDED
|
||||
job_info.update_timestamp()
|
||||
del self.all_jobs[job_id]
|
||||
return None
|
||||
|
||||
# 移除活跃任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
del self.active_jobs[device_key]
|
||||
@@ -232,9 +210,8 @@ class DeviceActionManager:
|
||||
job_info.update_timestamp()
|
||||
# 从all_jobs中移除已结束的job
|
||||
del self.all_jobs[job_id]
|
||||
# job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
# logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
pass
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
else:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
|
||||
@@ -250,20 +227,15 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
return next_job
|
||||
|
||||
return None
|
||||
|
||||
def get_active_jobs(self) -> List[JobInfo]:
|
||||
"""获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
|
||||
"""获取所有正在执行的任务"""
|
||||
with self.lock:
|
||||
jobs = list(self.active_jobs.values())
|
||||
# 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
|
||||
for job in self.all_jobs.values():
|
||||
if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
|
||||
jobs.append(job)
|
||||
return jobs
|
||||
return list(self.active_jobs.values())
|
||||
|
||||
def get_queued_jobs(self) -> List[JobInfo]:
|
||||
"""获取所有排队中的任务"""
|
||||
@@ -288,14 +260,6 @@ class DeviceActionManager:
|
||||
job_info = self.all_jobs[job_id]
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# always_free的job直接清理
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.ENDED
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
|
||||
return True
|
||||
|
||||
# 如果是正在执行的任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
# 清理active job状态
|
||||
@@ -304,7 +268,7 @@ class DeviceActionManager:
|
||||
# 从all_jobs中移除
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
|
||||
# 启动下一个任务
|
||||
if device_key in self.device_queues and self.device_queues[device_key]:
|
||||
@@ -317,7 +281,7 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
return True
|
||||
|
||||
# 如果是排队中的任务
|
||||
@@ -331,7 +295,7 @@ class DeviceActionManager:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
return True
|
||||
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
@@ -369,18 +333,13 @@ class DeviceActionManager:
|
||||
timeout_jobs = []
|
||||
|
||||
with self.lock:
|
||||
# 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
|
||||
ready_candidates = list(self.active_jobs.values())
|
||||
for job in self.all_jobs.values():
|
||||
if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
|
||||
ready_candidates.append(job)
|
||||
|
||||
ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
|
||||
# 统计READY状态的任务数量
|
||||
ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
|
||||
if ready_jobs_count > 0:
|
||||
logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout") # type: ignore # noqa: E501
|
||||
|
||||
# 找到所有超时的READY任务（只检测，不处理）
|
||||
for job_info in ready_candidates:
|
||||
for job_info in self.active_jobs.values():
|
||||
if job_info.is_ready_timeout():
|
||||
timeout_jobs.append(job_info)
|
||||
job_log = format_job_log(
|
||||
@@ -409,7 +368,6 @@ class MessageProcessor:
|
||||
# 线程控制
|
||||
self.is_running = False
|
||||
self.thread = None
|
||||
self._loop = None # asyncio event loop引用，用于外部关闭websocket
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
|
||||
@@ -436,31 +394,22 @@ class MessageProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止消息处理线程"""
|
||||
self.is_running = False
|
||||
# 主动关闭websocket以快速中断消息接收循环
|
||||
ws = self.websocket
|
||||
loop = self._loop
|
||||
if ws and loop and loop.is_running():
|
||||
try:
|
||||
asyncio.run_coroutine_threadsafe(ws.close(), loop)
|
||||
except Exception:
|
||||
pass
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[MessageProcessor] Stopped")
|
||||
|
||||
def _run(self):
|
||||
"""运行消息处理主循环"""
|
||||
self._loop = asyncio.new_event_loop()
|
||||
loop = asyncio.new_event_loop()
|
||||
try:
|
||||
asyncio.set_event_loop(self._loop)
|
||||
self._loop.run_until_complete(self._connection_handler())
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_until_complete(self._connection_handler())
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Thread error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
finally:
|
||||
if self._loop:
|
||||
self._loop.close()
|
||||
self._loop = None
|
||||
if loop:
|
||||
loop.close()
|
||||
|
||||
async def _connection_handler(self):
|
||||
"""处理WebSocket连接和重连逻辑"""
|
||||
@@ -477,10 +426,8 @@ class MessageProcessor:
|
||||
async with websockets.connect(
|
||||
self.websocket_url,
|
||||
ssl=ssl_context,
|
||||
open_timeout=20,
|
||||
ping_interval=WSConfig.ping_interval,
|
||||
ping_timeout=10,
|
||||
close_timeout=5,
|
||||
additional_headers={
|
||||
"Authorization": f"Lab {BasicConfig.auth_secret()}",
|
||||
"EdgeSession": f"{self.session_id}",
|
||||
@@ -491,94 +438,77 @@ class MessageProcessor:
|
||||
self.connected = True
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
|
||||
logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
|
||||
|
||||
# 启动发送协程
|
||||
send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
|
||||
|
||||
# 每次连接（含重连）后重新向服务端注册，
|
||||
# 否则服务端不知道客户端已上线，不会推送消息。
|
||||
if self.websocket_client:
|
||||
self.websocket_client.publish_host_ready()
|
||||
send_task = asyncio.create_task(self._send_handler())
|
||||
|
||||
try:
|
||||
# 接收消息循环
|
||||
await self._message_handler()
|
||||
finally:
|
||||
# 必须在 async with __aexit__ 之前停止 send_task，
|
||||
# 否则 send_task 会在关闭握手期间继续发送数据，
|
||||
# 干扰 websockets 库的内部清理，导致 task 泄漏。
|
||||
self.connected = False
|
||||
send_task.cancel()
|
||||
try:
|
||||
await send_task
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
self.connected = False
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.warning("[MessageProcessor] 与服务端连接中断")
|
||||
except TimeoutError:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
|
||||
)
|
||||
except websockets.exceptions.InvalidStatus as e:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(traceback.format_exc())
|
||||
logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
|
||||
finally:
|
||||
logger.warning("[MessageProcessor] Connection closed")
|
||||
self.connected = False
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Connection error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
self.connected = False
|
||||
finally:
|
||||
self.websocket = None
|
||||
|
||||
# 重连逻辑
|
||||
if not self.is_running:
|
||||
break
|
||||
if self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
self.reconnect_count += 1
|
||||
backoff = WSConfig.reconnect_interval
|
||||
logger.info(
|
||||
f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
|
||||
f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
)
|
||||
await asyncio.sleep(backoff)
|
||||
else:
|
||||
await asyncio.sleep(WSConfig.reconnect_interval)
|
||||
elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
|
||||
logger.error("[MessageProcessor] Max reconnection attempts reached")
|
||||
break
|
||||
else:
|
||||
self.reconnect_count -= 1
|
||||
|
||||
async def _message_handler(self):
|
||||
"""处理接收到的消息。
|
||||
|
||||
ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
|
||||
以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
|
||||
正确清理内部 task，避免 task 泄漏。
|
||||
"""
|
||||
"""处理接收到的消息"""
|
||||
if not self.websocket:
|
||||
logger.error("[MessageProcessor] WebSocket connection is None")
|
||||
return
|
||||
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(
|
||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
||||
)
|
||||
logger.debug(
|
||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
||||
)
|
||||
else:
|
||||
try:
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
|
||||
logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}")
|
||||
else:
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.info("[MessageProcessor] Message handler stopped - connection closed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
async def _send_handler(self):
|
||||
"""处理发送队列中的消息"""
|
||||
@@ -610,7 +540,7 @@ class MessageProcessor:
|
||||
try:
|
||||
message_str = json.dumps(msg, ensure_ascii=False)
|
||||
await self.websocket.send(message_str)
|
||||
# logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||
logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
@@ -627,7 +557,6 @@ class MessageProcessor:
|
||||
|
||||
except asyncio.CancelledError:
|
||||
logger.debug("[MessageProcessor] Send handler cancelled")
|
||||
raise
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
@@ -636,7 +565,7 @@ class MessageProcessor:
|
||||
|
||||
async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
|
||||
"""处理收到的消息"""
|
||||
logger.trace(f"[MessageProcessor] Processing message: {message_type}")
|
||||
logger.debug(f"[MessageProcessor] Processing message: {message_type}")
|
||||
|
||||
try:
|
||||
if message_type == "pong":
|
||||
@@ -659,10 +588,6 @@ class MessageProcessor:
|
||||
# elif message_type == "session_id":
|
||||
# self.session_id = message_data.get("session_id")
|
||||
# logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
elif message_type == "add_device":
|
||||
await self._handle_device_manage(message_data, "add")
|
||||
elif message_type == "remove_device":
|
||||
await self._handle_device_manage(message_data, "remove")
|
||||
elif message_type == "request_restart":
|
||||
await self._handle_request_restart(message_data)
|
||||
else:
|
||||
@@ -678,24 +603,6 @@ class MessageProcessor:
|
||||
if host_node:
|
||||
host_node.handle_pong_response(pong_data)
|
||||
|
||||
def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
|
||||
"""检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if not host_node:
|
||||
return False
|
||||
# noinspection PyProtectedMember
|
||||
action_mappings = host_node._action_value_mappings.get(device_id)
|
||||
if not action_mappings:
|
||||
return False
|
||||
# 尝试直接匹配或 auto- 前缀匹配
|
||||
for key in [action_name, f"auto-{action_name}"]:
|
||||
if key in action_mappings:
|
||||
return action_mappings[key].get("always_free", False)
|
||||
return False
|
||||
except Exception:
|
||||
return False
|
||||
|
||||
async def _handle_query_action_state(self, data: Dict[str, Any]):
|
||||
"""处理query_action_state消息"""
|
||||
device_id = data.get("device_id", "")
|
||||
@@ -710,9 +617,6 @@ class MessageProcessor:
|
||||
|
||||
device_action_key = f"/devices/{device_id}/{action_name}"
|
||||
|
||||
# 检查action是否为always_free
|
||||
action_always_free = self._check_action_always_free(device_id, action_name)
|
||||
|
||||
# 创建任务信息
|
||||
job_info = JobInfo(
|
||||
job_id=job_id,
|
||||
@@ -722,7 +626,6 @@ class MessageProcessor:
|
||||
device_action_key=device_action_key,
|
||||
status=JobStatus.QUEUE,
|
||||
start_time=time.time(),
|
||||
always_free=action_always_free,
|
||||
)
|
||||
|
||||
# 添加到设备管理器
|
||||
@@ -734,13 +637,13 @@ class MessageProcessor:
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", True, 0
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
else:
|
||||
# 需要排队
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", False, 10
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
||||
logger.info(f"[MessageProcessor] Job {job_log} queued")
|
||||
|
||||
# 通知QueueProcessor有新的队列更新
|
||||
if self.queue_processor:
|
||||
@@ -749,8 +652,6 @@ class MessageProcessor:
|
||||
async def _handle_job_start(self, data: Dict[str, Any]):
|
||||
"""处理job_start消息"""
|
||||
try:
|
||||
if not data.get("sample_material"):
|
||||
data["sample_material"] = {}
|
||||
req = JobAddReq(**data)
|
||||
|
||||
job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
|
||||
@@ -782,7 +683,6 @@ class MessageProcessor:
|
||||
queue_item,
|
||||
action_type=req.action_type,
|
||||
action_kwargs=req.action_args,
|
||||
sample_material=req.sample_material,
|
||||
server_info=req.server_info,
|
||||
)
|
||||
|
||||
@@ -947,7 +847,9 @@ class MessageProcessor:
|
||||
device_action_groups[key_add] = []
|
||||
device_action_groups[key_add].append(item["uuid"])
|
||||
|
||||
logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
|
||||
logger.info(
|
||||
f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
|
||||
)
|
||||
else:
|
||||
# 正常update
|
||||
key = (device_id, "update")
|
||||
@@ -961,13 +863,11 @@ class MessageProcessor:
|
||||
device_action_groups[key] = []
|
||||
device_action_groups[key].append(item["uuid"])
|
||||
|
||||
logger.trace(
|
||||
f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
|
||||
)
|
||||
logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
|
||||
|
||||
# 为每个(device_id, action)创建独立的更新线程
|
||||
for (device_id, actual_action), items in device_action_groups.items():
|
||||
logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
|
||||
logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
|
||||
|
||||
def _notify_resource_tree(dev_id, act, item_list):
|
||||
try:
|
||||
@@ -999,77 +899,45 @@ class MessageProcessor:
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
|
||||
"""Handle add_device / remove_device from LabGo server."""
|
||||
if not device_list:
|
||||
return
|
||||
|
||||
for item in device_list:
|
||||
target_node_id = item.get("target_node_id", "host_node")
|
||||
|
||||
def _notify(target_id: str, act: str, cfg: ResourceDictType):
|
||||
try:
|
||||
host_node = HostNode.get_instance(timeout=5)
|
||||
if not host_node:
|
||||
logger.error(f"[DeviceManage] HostNode not available for {act}_device")
|
||||
return
|
||||
success = host_node.notify_device_manage(target_id, act, cfg)
|
||||
if success:
|
||||
logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
|
||||
else:
|
||||
logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
|
||||
except Exception as e:
|
||||
logger.error(f"[DeviceManage] Error in {act}_device: {e}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
thread = threading.Thread(
|
||||
target=_notify,
|
||||
args=(target_node_id, action, item),
|
||||
daemon=True,
|
||||
name=f"DeviceManage-{action}-{item.get('id', '')}",
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_request_restart(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理重启请求
|
||||
|
||||
|
||||
当LabGo发送request_restart时，执行清理并触发重启
|
||||
"""
|
||||
reason = data.get("reason", "unknown")
|
||||
delay = data.get("delay", 2) # 默认延迟2秒
|
||||
logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
|
||||
|
||||
|
||||
# 发送确认消息
|
||||
self.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
|
||||
if self.websocket_client:
|
||||
await self.websocket_client.send_message({
|
||||
"action": "restart_acknowledged",
|
||||
"data": {"reason": reason, "delay": delay}
|
||||
})
|
||||
|
||||
# 设置全局重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
main_module._restart_requested = True
|
||||
main_module._restart_reason = reason
|
||||
|
||||
|
||||
# 延迟后执行清理
|
||||
await asyncio.sleep(delay)
|
||||
|
||||
|
||||
# 在新线程中执行清理，避免阻塞当前事件循环
|
||||
def do_cleanup():
|
||||
import time
|
||||
|
||||
time.sleep(0.5) # 给当前消息处理完成的时间
|
||||
logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
|
||||
try:
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
if cleanup_for_restart():
|
||||
logger.info("[MessageProcessor] Cleanup successful, main() will restart")
|
||||
else:
|
||||
logger.error("[MessageProcessor] Cleanup failed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error during cleanup: {e}")
|
||||
|
||||
|
||||
cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
|
||||
cleanup_thread.start()
|
||||
logger.info(f"[MessageProcessor] Restart cleanup scheduled")
|
||||
@@ -1145,7 +1013,6 @@ class QueueProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止队列处理线程"""
|
||||
self.is_running = False
|
||||
self.queue_update_event.set() # 立即唤醒等待中的线程
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[QueueProcessor] Stopped")
|
||||
@@ -1246,11 +1113,6 @@ class QueueProcessor:
|
||||
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，
|
||||
# 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
|
||||
if job_info.status != JobStatus.QUEUE:
|
||||
continue
|
||||
|
||||
message = {
|
||||
"action": "report_action_state",
|
||||
"data": {
|
||||
@@ -1266,7 +1128,7 @@ class QueueProcessor:
|
||||
success = self.message_processor.send_message(message)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
if success:
|
||||
logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
else:
|
||||
logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
|
||||
|
||||
@@ -1289,7 +1151,7 @@ class QueueProcessor:
|
||||
job_info.action_name,
|
||||
)
|
||||
|
||||
logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
|
||||
# 结束任务，获取下一个可执行的任务
|
||||
next_job = self.device_manager.end_job(job_id)
|
||||
@@ -1309,8 +1171,8 @@ class QueueProcessor:
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
# next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
# logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
|
||||
# 立即触发下一轮状态检查
|
||||
self.notify_queue_update()
|
||||
@@ -1399,8 +1261,8 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
message = {"action": "normal_exit", "data": {"session_id": session_id}}
|
||||
self.message_processor.send_message(message)
|
||||
logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
|
||||
# send_handler 每100ms检查一次队列，等300ms足以让消息发出
|
||||
time.sleep(0.3)
|
||||
# 给一点时间让消息发送出去
|
||||
time.sleep(1)
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
|
||||
|
||||
@@ -1432,7 +1294,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
@@ -1452,7 +1314,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
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}")
|
||||
logger.info(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)
|
||||
@@ -1513,17 +1375,15 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
# 收集设备信息
|
||||
devices = []
|
||||
machine_name = BasicConfig.machine_name
|
||||
|
||||
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
# 获取设备信息
|
||||
for device_id, namespace in host_node.devices_names.items():
|
||||
device_key = (
|
||||
f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
)
|
||||
device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
is_online = device_key in host_node._online_devices
|
||||
|
||||
|
||||
# 获取设备的动作信息
|
||||
actions = {}
|
||||
for action_id, client in host_node._action_clients.items():
|
||||
@@ -1534,18 +1394,16 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
"action_path": action_id,
|
||||
"action_type": str(type(client).__name__),
|
||||
}
|
||||
|
||||
devices.append(
|
||||
{
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
devices.append({
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
})
|
||||
|
||||
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
|
||||
|
||||
@@ -95,29 +95,8 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
|
||||
return total_volume
|
||||
|
||||
|
||||
def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
|
||||
"""
|
||||
判断是否为泵阀一体设备
|
||||
"""
|
||||
class_lower = (node_class or "").lower()
|
||||
name_lower = (node_name or "").lower()
|
||||
|
||||
if "pump" not in class_lower and "pump" not in name_lower:
|
||||
return False
|
||||
|
||||
integrated_markers = [
|
||||
"valve",
|
||||
"pump_valve",
|
||||
"pumpvalve",
|
||||
"integrated",
|
||||
"transfer_pump",
|
||||
]
|
||||
|
||||
for marker in integrated_markers:
|
||||
if marker in class_lower or marker in name_lower:
|
||||
return True
|
||||
|
||||
return False
|
||||
def is_integrated_pump(node_name):
|
||||
return "pump" in node_name and "valve" in node_name
|
||||
|
||||
|
||||
def find_connected_pump(G, valve_node):
|
||||
@@ -207,9 +186,7 @@ def build_pump_valve_maps(G, pump_backbone):
|
||||
debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
|
||||
|
||||
for node in filtered_backbone:
|
||||
node_data = G.nodes.get(node, {})
|
||||
node_class = node_data.get("class", "") or ""
|
||||
if is_integrated_pump(node_class, node):
|
||||
if is_integrated_pump(G.nodes[node]["class"]):
|
||||
pumps_from_node[node] = node
|
||||
valve_from_node[node] = node
|
||||
debug_print(f" - 集成泵-阀: {node}")
|
||||
|
||||
@@ -22,9 +22,6 @@ class BasicConfig:
|
||||
startup_json_path = None # 填写绝对路径
|
||||
disable_browser = False # 禁止浏览器自动打开
|
||||
port = 8002 # 本地HTTP服务
|
||||
check_mode = False # CI 检查模式，用于验证 registry 导入和文件一致性
|
||||
test_mode = False # 测试模式，所有动作不实际执行，返回模拟结果
|
||||
extra_resource = False # 是否加载lab_开头的额外资源
|
||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||
|
||||
@@ -41,7 +38,7 @@ class BasicConfig:
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 20 # ping间隔（秒）
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
|
||||
|
||||
# HTTP配置
|
||||
@@ -147,5 +144,5 @@ def load_config(config_path=None):
|
||||
traceback.print_exc()
|
||||
exit(1)
|
||||
else:
|
||||
config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
|
||||
config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
|
||||
load_config(config_path)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -43,7 +43,7 @@ class Base(ABC):
|
||||
self._type = typ
|
||||
self._data_type = data_type
|
||||
self._node: Optional[Node] = None
|
||||
|
||||
|
||||
def _get_node(self) -> Node:
|
||||
if self._node is None:
|
||||
try:
|
||||
@@ -66,7 +66,7 @@ class Base(ABC):
|
||||
# 直接以字符串形式处理
|
||||
if isinstance(nid, str):
|
||||
nid = nid.strip()
|
||||
|
||||
|
||||
# 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
|
||||
# 提取括号内的内容
|
||||
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
|
||||
@@ -116,16 +116,16 @@ class Base(ABC):
|
||||
def read(self) -> Tuple[Any, bool]:
|
||||
"""读取节点值，返回(值, 是否出错)"""
|
||||
pass
|
||||
|
||||
|
||||
@abstractmethod
|
||||
def write(self, value: Any) -> bool:
|
||||
"""写入节点值，返回是否出错"""
|
||||
pass
|
||||
|
||||
|
||||
@property
|
||||
def type(self) -> NodeType:
|
||||
return self._type
|
||||
|
||||
|
||||
@property
|
||||
def node_id(self) -> str:
|
||||
return self._node_id
|
||||
@@ -210,15 +210,15 @@ class Method(Base):
|
||||
super().__init__(client, name, node_id, NodeType.METHOD, data_type)
|
||||
self._parent_node_id = parent_node_id
|
||||
self._parent_node = None
|
||||
|
||||
|
||||
def _get_parent_node(self) -> Node:
|
||||
if self._parent_node is None:
|
||||
try:
|
||||
# 处理父节点ID，使用与_get_node相同的解析逻辑
|
||||
import re
|
||||
|
||||
|
||||
nid = self._parent_node_id
|
||||
|
||||
|
||||
# 如果已经是 NodeId 对象，直接使用
|
||||
try:
|
||||
from opcua.ua import NodeId as UaNodeId
|
||||
@@ -227,16 +227,16 @@ class Method(Base):
|
||||
return self._parent_node
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
# 字符串处理
|
||||
if isinstance(nid, str):
|
||||
nid = nid.strip()
|
||||
|
||||
|
||||
# 处理包含类名的格式
|
||||
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
|
||||
if match_wrapped:
|
||||
nid = match_wrapped.group(2).strip()
|
||||
|
||||
|
||||
# 常见短格式
|
||||
if re.match(r'^ns=\d+;[is]=', nid):
|
||||
self._parent_node = self._client.get_node(nid)
|
||||
@@ -271,7 +271,7 @@ class Method(Base):
|
||||
def write(self, value: Any) -> bool:
|
||||
"""方法节点不支持写入操作"""
|
||||
return True
|
||||
|
||||
|
||||
def call(self, *args) -> Tuple[Any, bool]:
|
||||
"""调用方法，返回(返回值, 是否出错)"""
|
||||
try:
|
||||
@@ -285,7 +285,7 @@ class Method(Base):
|
||||
class Object(Base):
|
||||
def __init__(self, client: Client, name: str, node_id: str):
|
||||
super().__init__(client, name, node_id, NodeType.OBJECT, None)
|
||||
|
||||
|
||||
def read(self) -> Tuple[Any, bool]:
|
||||
"""对象节点不支持直接读取操作"""
|
||||
return None, True
|
||||
@@ -293,7 +293,7 @@ class Object(Base):
|
||||
def write(self, value: Any) -> bool:
|
||||
"""对象节点不支持直接写入操作"""
|
||||
return True
|
||||
|
||||
|
||||
def get_children(self) -> Tuple[List[Node], bool]:
|
||||
"""获取子节点列表，返回(子节点列表, 是否出错)"""
|
||||
try:
|
||||
@@ -301,4 +301,4 @@ class Object(Base):
|
||||
return children, False
|
||||
except Exception as e:
|
||||
print(f"获取对象 {self._name} 的子节点失败: {e}")
|
||||
return [], True
|
||||
return [], True
|
||||
@@ -1,3 +1,4 @@
|
||||
|
||||
from abc import abstractmethod
|
||||
from functools import wraps
|
||||
import inspect
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -19,11 +19,10 @@ from rclpy.node import Node
|
||||
import re
|
||||
|
||||
class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
|
||||
def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: str = "lh_joint_publisher", **kwargs):
|
||||
def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
|
||||
super().__init__(
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
registry_name=registry_name,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
hardware_interface={},
|
||||
|
||||
@@ -1,88 +0,0 @@
|
||||
"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
|
||||
|
||||
import asyncio
|
||||
import logging
|
||||
import random
|
||||
import time
|
||||
from typing import Any, Dict, List, Optional
|
||||
|
||||
|
||||
class VirtualSampleDemo:
|
||||
"""虚拟样品追踪演示设备，提供两种典型返回模式：
|
||||
- measure_samples: 等长输入输出 (前端按 index 自动对齐)
|
||||
- split_and_measure: 输出比输入长，附带 samples 列标注归属
|
||||
"""
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
if device_id is None and "id" in kwargs:
|
||||
device_id = kwargs.pop("id")
|
||||
if config is None and "config" in kwargs:
|
||||
config = kwargs.pop("config")
|
||||
|
||||
self.device_id = device_id or "unknown_sample_demo"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {"status": "Idle"}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 1: 等长输入输出，无 samples 列
|
||||
# ------------------------------------------------------------------
|
||||
async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
|
||||
"""模拟光度测量。absorbance = concentration * 0.05 + noise
|
||||
|
||||
入参和出参 list 长度相等，前端按 index 自动对齐。
|
||||
"""
|
||||
self.logger.info(f"measure_samples: concentrations={concentrations}")
|
||||
absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
|
||||
return {"concentrations": concentrations, "absorbance": absorbance}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 2: 输出比输入长，带 samples 列
|
||||
# ------------------------------------------------------------------
|
||||
async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
|
||||
"""将每个样品均分为 split_count 份后逐份测量。
|
||||
|
||||
返回的 list 长度 = len(volumes) * split_count，
|
||||
附带 samples 列标注每行属于第几个输入样品 (0-based index)。
|
||||
"""
|
||||
self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
|
||||
out_volumes: List[float] = []
|
||||
readings: List[float] = []
|
||||
samples: List[int] = []
|
||||
|
||||
for idx, vol in enumerate(volumes):
|
||||
split_vol = round(vol / split_count, 2)
|
||||
for _ in range(split_count):
|
||||
out_volumes.append(split_vol)
|
||||
readings.append(round(random.uniform(0.1, 1.0), 4))
|
||||
samples.append(idx)
|
||||
|
||||
return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 3: 入参和出参都带 samples 列（不等长）
|
||||
# ------------------------------------------------------------------
|
||||
async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
|
||||
"""对 split_and_measure 的输出做二次分析。
|
||||
|
||||
入参 readings/samples 长度相同但 > 原始样品数，
|
||||
出参同样带 samples 列，长度与入参一致。
|
||||
"""
|
||||
self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
|
||||
scores: List[float] = []
|
||||
passed: List[bool] = []
|
||||
threshold = 0.4
|
||||
|
||||
for r in readings:
|
||||
score = round(r * 100 + random.gauss(0, 2), 2)
|
||||
scores.append(score)
|
||||
passed.append(r >= threshold)
|
||||
|
||||
return {"scores": scores, "passed": passed, "unilabos_samples": samples}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# 状态属性
|
||||
# ------------------------------------------------------------------
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):
|
||||
|
||||
class VirtualTransferPump:
|
||||
"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
|
||||
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
|
||||
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
|
||||
"""
|
||||
初始化虚拟转移泵
|
||||
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
config: 配置字典，包含max_volume, port等参数
|
||||
**kwargs: 其他参数，确保兼容性
|
||||
"""
|
||||
self.device_id = device_id or "virtual_transfer_pump"
|
||||
|
||||
|
||||
# 从config或kwargs中获取参数，确保类型正确
|
||||
if config:
|
||||
self.max_volume = float(config.get("max_volume", 25.0))
|
||||
self.port = config.get("port", "VIRTUAL")
|
||||
self.max_volume = float(config.get('max_volume', 25.0))
|
||||
self.port = config.get('port', 'VIRTUAL')
|
||||
else:
|
||||
self.max_volume = float(kwargs.get("max_volume", 25.0))
|
||||
self.port = kwargs.get("port", "VIRTUAL")
|
||||
|
||||
self._transfer_rate = float(kwargs.get("transfer_rate", 0))
|
||||
self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
|
||||
|
||||
self.max_volume = float(kwargs.get('max_volume', 25.0))
|
||||
self.port = kwargs.get('port', 'VIRTUAL')
|
||||
|
||||
self._transfer_rate = float(kwargs.get('transfer_rate', 0))
|
||||
self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
|
||||
|
||||
# 状态变量 - 确保都是正确类型
|
||||
self._status = "Idle"
|
||||
self._position = 0.0 # float
|
||||
self._max_velocity = 5.0 # float
|
||||
self._max_velocity = 5.0 # float
|
||||
self._current_volume = 0.0 # float
|
||||
|
||||
# 🚀 新增：快速模式设置 - 大幅缩短执行时间
|
||||
@@ -52,16 +52,14 @@ class VirtualTransferPump:
|
||||
self._fast_dispense_time = 1.0 # 快速喷射时间（秒）
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
|
||||
|
||||
|
||||
print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
|
||||
print(
|
||||
f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
|
||||
)
|
||||
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
|
||||
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
|
||||
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化虚拟泵 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
|
||||
@@ -70,33 +68,33 @@ class VirtualTransferPump:
|
||||
self._current_volume = 0.0
|
||||
self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
|
||||
return True
|
||||
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""清理虚拟泵 🧹"""
|
||||
self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
|
||||
self._status = "Idle"
|
||||
self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
|
||||
return True
|
||||
|
||||
|
||||
# 基本属性
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
|
||||
@property
|
||||
def position(self) -> float:
|
||||
"""当前柱塞位置 (ml) 📍"""
|
||||
return self._position
|
||||
|
||||
|
||||
@property
|
||||
def current_volume(self) -> float:
|
||||
"""当前注射器中的体积 (ml) 💧"""
|
||||
return self._current_volume
|
||||
|
||||
|
||||
@property
|
||||
def max_velocity(self) -> float:
|
||||
return self._max_velocity
|
||||
|
||||
|
||||
@property
|
||||
def transfer_rate(self) -> float:
|
||||
return self._transfer_rate
|
||||
@@ -105,17 +103,17 @@ class VirtualTransferPump:
|
||||
"""设置最大速度 (ml/s) 🌊"""
|
||||
self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内
|
||||
self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
|
||||
|
||||
|
||||
def get_status(self) -> str:
|
||||
"""获取泵状态 📋"""
|
||||
return self._status
|
||||
|
||||
|
||||
async def _simulate_operation(self, duration: float):
|
||||
"""模拟操作延时 ⏱️"""
|
||||
self._status = "Busy"
|
||||
await self._ros_node.sleep(duration)
|
||||
self._status = "Idle"
|
||||
|
||||
|
||||
def _calculate_duration(self, volume: float, velocity: float = None) -> float:
|
||||
"""
|
||||
计算操作持续时间 ⏰
|
||||
@@ -123,10 +121,10 @@ class VirtualTransferPump:
|
||||
"""
|
||||
if velocity is None:
|
||||
velocity = self._max_velocity
|
||||
|
||||
|
||||
# 📊 计算理论时间（用于日志显示）
|
||||
theoretical_duration = abs(volume) / velocity
|
||||
|
||||
|
||||
# 🚀 如果启用快速模式，使用固定的快速时间
|
||||
if self._fast_mode:
|
||||
# 根据操作类型选择快速时间
|
||||
@@ -134,13 +132,13 @@ class VirtualTransferPump:
|
||||
actual_duration = self._fast_move_time
|
||||
else: # 很小的操作
|
||||
actual_duration = 0.5
|
||||
|
||||
|
||||
self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
|
||||
return actual_duration
|
||||
else:
|
||||
# 正常模式使用理论时间
|
||||
return theoretical_duration
|
||||
|
||||
|
||||
def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
|
||||
"""
|
||||
计算显示用的持续时间（用于日志） 📊
|
||||
@@ -149,16 +147,16 @@ class VirtualTransferPump:
|
||||
if velocity is None:
|
||||
velocity = self._max_velocity
|
||||
return abs(volume) / velocity
|
||||
|
||||
|
||||
# 新的set_position方法 - 专门用于SetPumpPosition动作
|
||||
async def set_position(self, position: float, max_velocity: float = None):
|
||||
"""
|
||||
移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
|
||||
|
||||
|
||||
Args:
|
||||
position (float): 目标位置 (ml)
|
||||
max_velocity (float): 移动速度 (ml/s)
|
||||
|
||||
|
||||
Returns:
|
||||
dict: 符合SetPumpPosition.action定义的结果
|
||||
"""
|
||||
@@ -166,19 +164,19 @@ class VirtualTransferPump:
|
||||
# 验证并转换参数
|
||||
target_position = float(position)
|
||||
velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
|
||||
|
||||
|
||||
# 限制位置在有效范围内
|
||||
target_position = max(0.0, min(float(self.max_volume), target_position))
|
||||
|
||||
|
||||
# 计算移动距离
|
||||
volume_to_move = abs(target_position - self._position)
|
||||
|
||||
|
||||
# 📊 计算显示用的时间（用于日志）
|
||||
display_duration = self._calculate_display_duration(volume_to_move, velocity)
|
||||
|
||||
|
||||
# ⚡ 计算实际执行时间（快速模式）
|
||||
actual_duration = self._calculate_duration(volume_to_move, velocity)
|
||||
|
||||
|
||||
# 🎯 确定操作类型和emoji
|
||||
if target_position > self._position:
|
||||
operation_type = "吸液"
|
||||
@@ -189,34 +187,28 @@ class VirtualTransferPump:
|
||||
else:
|
||||
operation_type = "保持"
|
||||
operation_emoji = "📍"
|
||||
|
||||
|
||||
self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
|
||||
self.logger.info(
|
||||
f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
|
||||
)
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
|
||||
self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
# 🚀 模拟移动过程
|
||||
if volume_to_move > 0.01: # 只有当移动距离足够大时才显示进度
|
||||
start_position = self._position
|
||||
steps = 5 if actual_duration > 0.5 else 2 # 根据实际时间调整步数
|
||||
step_duration = actual_duration / steps
|
||||
|
||||
|
||||
self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
|
||||
|
||||
|
||||
for i in range(steps + 1):
|
||||
# 计算当前位置和进度
|
||||
progress = (i / steps) * 100 if steps > 0 else 100
|
||||
current_pos = (
|
||||
start_position + (target_position - start_position) * (i / steps)
|
||||
if steps > 0
|
||||
else target_position
|
||||
)
|
||||
|
||||
current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
|
||||
|
||||
# 更新状态
|
||||
if i < steps:
|
||||
self._status = f"{operation_type}中"
|
||||
@@ -224,10 +216,10 @@ class VirtualTransferPump:
|
||||
else:
|
||||
self._status = "Idle"
|
||||
status_emoji = "✅"
|
||||
|
||||
|
||||
self._position = current_pos
|
||||
self._current_volume = current_pos
|
||||
|
||||
|
||||
# 显示进度（每25%或最后一步）
|
||||
if i == 0:
|
||||
self.logger.debug(f" 🔄 {operation_type}开始: {progress:.0f}%")
|
||||
@@ -235,7 +227,7 @@ class VirtualTransferPump:
|
||||
self.logger.debug(f" 🔄 {operation_type}进度: {progress:.0f}%")
|
||||
elif i == steps:
|
||||
self.logger.info(f" ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
|
||||
|
||||
|
||||
# 等待一小步时间
|
||||
if i < steps and step_duration > 0:
|
||||
await self._ros_node.sleep(step_duration)
|
||||
@@ -244,27 +236,25 @@ class VirtualTransferPump:
|
||||
self._position = target_position
|
||||
self._current_volume = target_position
|
||||
self.logger.info(f" 📍 微调完成: {target_position:.2f}mL")
|
||||
|
||||
|
||||
# 确保最终位置准确
|
||||
self._position = target_position
|
||||
self._current_volume = target_position
|
||||
self._status = "Idle"
|
||||
|
||||
|
||||
# 📊 最终状态日志
|
||||
if volume_to_move > 0.01:
|
||||
self.logger.info(
|
||||
f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
|
||||
)
|
||||
|
||||
self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
# 返回符合action定义的结果
|
||||
return {
|
||||
"success": True,
|
||||
"message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
|
||||
"final_position": self._position,
|
||||
"final_volume": self._current_volume,
|
||||
"operation_type": operation_type,
|
||||
"operation_type": operation_type
|
||||
}
|
||||
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"❌ 设置位置失败: {str(e)}"
|
||||
self.logger.error(error_msg)
|
||||
@@ -272,136 +262,134 @@ class VirtualTransferPump:
|
||||
"success": False,
|
||||
"message": error_msg,
|
||||
"final_position": self._position,
|
||||
"final_volume": self._current_volume,
|
||||
"final_volume": self._current_volume
|
||||
}
|
||||
|
||||
|
||||
# 其他泵操作方法
|
||||
async def pull_plunger(self, volume: float, velocity: float = None):
|
||||
"""
|
||||
拉取柱塞（吸液） 📥
|
||||
|
||||
|
||||
Args:
|
||||
volume (float): 要拉取的体积 (ml)
|
||||
velocity (float): 拉取速度 (ml/s)
|
||||
"""
|
||||
new_position = min(self.max_volume, self._position + volume)
|
||||
actual_volume = new_position - self._position
|
||||
|
||||
|
||||
if actual_volume <= 0:
|
||||
self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
|
||||
return
|
||||
|
||||
|
||||
display_duration = self._calculate_display_duration(actual_volume, velocity)
|
||||
actual_duration = self._calculate_duration(actual_volume, velocity)
|
||||
|
||||
|
||||
self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
await self._simulate_operation(actual_duration)
|
||||
|
||||
|
||||
self._position = new_position
|
||||
self._current_volume = new_position
|
||||
|
||||
|
||||
self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
async def push_plunger(self, volume: float, velocity: float = None):
|
||||
"""
|
||||
推出柱塞（排液） 📤
|
||||
|
||||
|
||||
Args:
|
||||
volume (float): 要推出的体积 (ml)
|
||||
velocity (float): 推出速度 (ml/s)
|
||||
"""
|
||||
new_position = max(0, self._position - volume)
|
||||
actual_volume = self._position - new_position
|
||||
|
||||
|
||||
if actual_volume <= 0:
|
||||
self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
|
||||
return
|
||||
|
||||
|
||||
display_duration = self._calculate_display_duration(actual_volume, velocity)
|
||||
actual_duration = self._calculate_duration(actual_volume, velocity)
|
||||
|
||||
|
||||
self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
await self._simulate_operation(actual_duration)
|
||||
|
||||
|
||||
self._position = new_position
|
||||
self._current_volume = new_position
|
||||
|
||||
|
||||
self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
# 便捷操作方法
|
||||
async def aspirate(self, volume: float, velocity: float = None):
|
||||
"""吸液操作 📥"""
|
||||
await self.pull_plunger(volume, velocity)
|
||||
|
||||
|
||||
async def dispense(self, volume: float, velocity: float = None):
|
||||
"""排液操作 📤"""
|
||||
await self.push_plunger(volume, velocity)
|
||||
|
||||
|
||||
async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
|
||||
"""转移操作（先吸后排） 🔄"""
|
||||
self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
|
||||
|
||||
|
||||
# 吸液
|
||||
await self.aspirate(volume, aspirate_velocity)
|
||||
|
||||
|
||||
# 短暂停顿
|
||||
self.logger.debug("⏸️ 短暂停顿...")
|
||||
await self._ros_node.sleep(0.1)
|
||||
|
||||
|
||||
# 排液
|
||||
await self.dispense(volume, dispense_velocity)
|
||||
|
||||
|
||||
async def empty_syringe(self, velocity: float = None):
|
||||
"""清空注射器"""
|
||||
await self.set_position(0, velocity)
|
||||
|
||||
|
||||
async def fill_syringe(self, velocity: float = None):
|
||||
"""充满注射器"""
|
||||
await self.set_position(self.max_volume, velocity)
|
||||
|
||||
|
||||
async def stop_operation(self):
|
||||
"""停止当前操作"""
|
||||
self._status = "Idle"
|
||||
self.logger.info("Operation stopped")
|
||||
|
||||
|
||||
# 状态查询方法
|
||||
def get_position(self) -> float:
|
||||
"""获取当前位置"""
|
||||
return self._position
|
||||
|
||||
|
||||
def get_current_volume(self) -> float:
|
||||
"""获取当前体积"""
|
||||
return self._current_volume
|
||||
|
||||
|
||||
def get_remaining_capacity(self) -> float:
|
||||
"""获取剩余容量"""
|
||||
return self.max_volume - self._current_volume
|
||||
|
||||
|
||||
def is_empty(self) -> bool:
|
||||
"""检查是否为空"""
|
||||
return self._current_volume <= 0.01 # 允许小量误差
|
||||
|
||||
|
||||
def is_full(self) -> bool:
|
||||
"""检查是否已满"""
|
||||
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
|
||||
|
||||
|
||||
def __str__(self):
|
||||
return (
|
||||
f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||
)
|
||||
|
||||
return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||
|
||||
def __repr__(self):
|
||||
return self.__str__()
|
||||
|
||||
@@ -410,20 +398,20 @@ class VirtualTransferPump:
|
||||
async def demo():
|
||||
"""虚拟泵使用示例"""
|
||||
pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
|
||||
|
||||
|
||||
await pump.initialize()
|
||||
|
||||
|
||||
print(f"Initial state: {pump}")
|
||||
|
||||
|
||||
# 测试set_position方法
|
||||
result = await pump.set_position(10.0, max_velocity=2.0)
|
||||
print(f"Set position result: {result}")
|
||||
print(f"After setting position to 10ml: {pump}")
|
||||
|
||||
|
||||
# 吸液测试
|
||||
await pump.aspirate(5.0, velocity=2.0)
|
||||
print(f"After aspirating 5ml: {pump}")
|
||||
|
||||
|
||||
# 清空测试
|
||||
result = await pump.set_position(0.0)
|
||||
print(f"Empty result: {result}")
|
||||
|
||||
@@ -1,874 +0,0 @@
|
||||
"""
|
||||
Virtual Workbench Device - 模拟工作台设备
|
||||
包含:
|
||||
- 1个机械臂 (每次操作3s, 独占锁)
|
||||
- 3个加热台 (每次加热10s, 可并行)
|
||||
|
||||
工作流程:
|
||||
1. A1-A5 物料同时启动, 竞争机械臂
|
||||
2. 机械臂将物料移动到空闲加热台
|
||||
3. 加热完成后, 机械臂将物料移动到C1-C5
|
||||
|
||||
注意: 调用来自线程池, 使用 threading.Lock 进行同步
|
||||
"""
|
||||
|
||||
import logging
|
||||
import time
|
||||
from typing import Dict, Any, Optional, List
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from threading import Lock, RLock
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.registry.decorators import (
|
||||
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 ============
|
||||
|
||||
|
||||
class MoveToHeatingStationResult(TypedDict):
|
||||
"""move_to_heating_station 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
material_number: int
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class StartHeatingResult(TypedDict):
|
||||
"""start_heating 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
material_number: int
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class MoveToOutputResult(TypedDict):
|
||||
"""move_to_output 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
output_position: str
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class PrepareMaterialsResult(TypedDict):
|
||||
"""prepare_materials 返回类型 - 批量准备物料"""
|
||||
|
||||
success: bool
|
||||
count: int
|
||||
material_1: int # 物料编号1
|
||||
material_2: int # 物料编号2
|
||||
material_3: int # 物料编号3
|
||||
material_4: int # 物料编号4
|
||||
material_5: int # 物料编号5
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
# ============ 状态枚举 ============
|
||||
|
||||
|
||||
class HeatingStationState(Enum):
|
||||
"""加热台状态枚举"""
|
||||
|
||||
IDLE = "idle" # 空闲
|
||||
OCCUPIED = "occupied" # 已放置物料, 等待加热
|
||||
HEATING = "heating" # 加热中
|
||||
COMPLETED = "completed" # 加热完成, 等待取走
|
||||
|
||||
|
||||
class ArmState(Enum):
|
||||
"""机械臂状态枚举"""
|
||||
|
||||
IDLE = "idle" # 空闲
|
||||
BUSY = "busy" # 工作中
|
||||
|
||||
|
||||
@dataclass
|
||||
class HeatingStation:
|
||||
"""加热台数据结构"""
|
||||
|
||||
station_id: int
|
||||
state: HeatingStationState = HeatingStationState.IDLE
|
||||
current_material: Optional[str] = None # 当前物料 (如 "A1", "A2")
|
||||
material_number: Optional[int] = None # 物料编号 (1-5)
|
||||
heating_start_time: Optional[float] = None
|
||||
heating_progress: float = 0.0
|
||||
|
||||
|
||||
@device(
|
||||
id="virtual_workbench",
|
||||
category=["virtual_device"],
|
||||
description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
|
||||
)
|
||||
class VirtualWorkbench:
|
||||
"""
|
||||
Virtual Workbench Device - 虚拟工作台设备
|
||||
|
||||
模拟一个包含1个机械臂和3个加热台的工作站
|
||||
- 机械臂操作耗时3秒, 同一时间只能执行一个操作
|
||||
- 加热台加热耗时10秒, 3个加热台可并行工作
|
||||
|
||||
工作流:
|
||||
1. 物料A1-A5并发启动(线程池), 竞争机械臂使用权
|
||||
2. 获取机械臂后, 查找空闲加热台
|
||||
3. 机械臂将物料放入加热台, 开始加热
|
||||
4. 加热完成后, 机械臂将物料移动到目标位置Cn
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
# 配置常量
|
||||
ARM_OPERATION_TIME: float = 2 # 机械臂操作时间(秒)
|
||||
HEATING_TIME: float = 60.0 # 加热时间(秒)
|
||||
NUM_HEATING_STATIONS: int = 3 # 加热台数量
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 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")
|
||||
if config is None and "config" in kwargs:
|
||||
config = kwargs.pop("config")
|
||||
|
||||
self.device_id = device_id or "virtual_workbench"
|
||||
self.config = config or {}
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
|
||||
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.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
|
||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
|
||||
|
||||
# 机械臂状态和锁
|
||||
self._arm_lock = Lock()
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task: Optional[str] = None
|
||||
|
||||
# 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)
|
||||
}
|
||||
self._stations_lock = RLock()
|
||||
|
||||
# 任务追踪
|
||||
self._active_tasks: Dict[str, Dict[str, Any]] = {}
|
||||
self._tasks_lock = Lock()
|
||||
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
|
||||
self.logger.info(
|
||||
f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
|
||||
f"加热时间: {self.HEATING_TIME}s | "
|
||||
f"加热台数量: {self.NUM_HEATING_STATIONS}"
|
||||
)
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点初始化后回调"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
@not_action
|
||||
def initialize(self) -> bool:
|
||||
"""初始化虚拟工作台"""
|
||||
self.logger.info(f"初始化虚拟工作台 {self.device_id}")
|
||||
|
||||
with self._stations_lock:
|
||||
for station in self._heating_stations.values():
|
||||
station.state = HeatingStationState.IDLE
|
||||
station.current_material = None
|
||||
station.material_number = None
|
||||
station.heating_progress = 0.0
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Ready",
|
||||
"arm_state": ArmState.IDLE.value,
|
||||
"arm_current_task": None,
|
||||
"heating_stations": self._get_stations_status(),
|
||||
"active_tasks_count": 0,
|
||||
"message": "工作台就绪",
|
||||
}
|
||||
)
|
||||
|
||||
self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
|
||||
return True
|
||||
|
||||
@not_action
|
||||
def cleanup(self) -> bool:
|
||||
"""清理虚拟工作台"""
|
||||
self.logger.info(f"清理虚拟工作台 {self.device_id}")
|
||||
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task = None
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations.clear()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks.clear()
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Offline",
|
||||
"arm_state": ArmState.IDLE.value,
|
||||
"heating_stations": {},
|
||||
"message": "工作台已关闭",
|
||||
}
|
||||
)
|
||||
return True
|
||||
|
||||
def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
|
||||
"""获取所有加热台状态"""
|
||||
with self._stations_lock:
|
||||
return {
|
||||
station_id: {
|
||||
"state": station.state.value,
|
||||
"current_material": station.current_material,
|
||||
"material_number": station.material_number,
|
||||
"heating_progress": station.heating_progress,
|
||||
}
|
||||
for station_id, station in self._heating_stations.items()
|
||||
}
|
||||
|
||||
def _update_data_status(self, message: Optional[str] = None):
|
||||
"""更新状态数据"""
|
||||
self.data.update(
|
||||
{
|
||||
"arm_state": self._arm_state.value,
|
||||
"arm_current_task": self._arm_current_task,
|
||||
"heating_stations": self._get_stations_status(),
|
||||
"active_tasks_count": len(self._active_tasks),
|
||||
}
|
||||
)
|
||||
if message:
|
||||
self.data["message"] = message
|
||||
|
||||
def _find_available_heating_station(self) -> Optional[int]:
|
||||
"""查找空闲的加热台"""
|
||||
with self._stations_lock:
|
||||
for station_id, station in self._heating_stations.items():
|
||||
if station.state == HeatingStationState.IDLE:
|
||||
return station_id
|
||||
return None
|
||||
|
||||
def _acquire_arm(self, task_description: str) -> bool:
|
||||
"""获取机械臂使用权(阻塞直到获取)"""
|
||||
self.logger.info(f"[{task_description}] 等待获取机械臂...")
|
||||
self._arm_lock.acquire()
|
||||
self._arm_state = ArmState.BUSY
|
||||
self._arm_current_task = task_description
|
||||
self._update_data_status(f"机械臂执行: {task_description}")
|
||||
self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
|
||||
return True
|
||||
|
||||
def _release_arm(self):
|
||||
"""释放机械臂"""
|
||||
task = self._arm_current_task
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task = None
|
||||
self._arm_lock.release()
|
||||
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(
|
||||
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),
|
||||
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(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
count: int = 5,
|
||||
) -> PrepareMaterialsResult:
|
||||
"""
|
||||
批量准备物料 - 虚拟起始节点
|
||||
|
||||
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。
|
||||
"""
|
||||
materials = [i for i in range(1, count + 1)]
|
||||
|
||||
self.logger.info(
|
||||
f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
|
||||
)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"count": count,
|
||||
"material_1": materials[0] if len(materials) > 0 else 0,
|
||||
"material_2": materials[1] if len(materials) > 1 else 0,
|
||||
"material_3": materials[2] if len(materials) > 2 else 0,
|
||||
"material_4": materials[3] if len(materials) > 3 else 0,
|
||||
"material_5": materials[4] if len(materials) > 4 else 0,
|
||||
"message": f"已准备 {count} 个物料: A1-A{count}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@action(
|
||||
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),
|
||||
],
|
||||
)
|
||||
def move_to_heating_station(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
material_number: int,
|
||||
) -> MoveToHeatingStationResult:
|
||||
"""
|
||||
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
|
||||
"""
|
||||
material_id = f"A{material_number}"
|
||||
task_desc = f"移动{material_id}到加热台"
|
||||
self.logger.info(f"[任务] {task_desc} - 开始执行")
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id] = {
|
||||
"status": "waiting_for_arm",
|
||||
"start_time": time.time(),
|
||||
}
|
||||
|
||||
try:
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm"
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "finding_station"
|
||||
station_id = None
|
||||
|
||||
while station_id is None:
|
||||
station_id = self._find_available_heating_station()
|
||||
if station_id is None:
|
||||
self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
|
||||
self._release_arm()
|
||||
time.sleep(0.5)
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
|
||||
self._heating_stations[station_id].current_material = material_id
|
||||
self._heating_stations[station_id].material_number = material_number
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving"
|
||||
self._active_tasks[material_id]["assigned_station"] = station_id
|
||||
self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
|
||||
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
self._update_data_status(f"{material_id}已放入加热台{station_id}")
|
||||
self.logger.info(
|
||||
f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
|
||||
)
|
||||
|
||||
self._release_arm()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "placed_on_station"
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"{material_id}已成功移动到加热台{station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": -1,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
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),
|
||||
],
|
||||
)
|
||||
def start_heating(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> StartHeatingResult:
|
||||
"""
|
||||
启动指定加热台的加热程序
|
||||
"""
|
||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
|
||||
if station.current_material is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
if station.state == HeatingStationState.HEATING:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": station.current_material,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}已经在加热中",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
material_id = station.current_material
|
||||
|
||||
station.state = HeatingStationState.HEATING
|
||||
station.heating_start_time = time.time()
|
||||
station.heating_progress = 0.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
||||
|
||||
with self._stations_lock:
|
||||
heating_list = [
|
||||
f"加热台{sid}:{s.current_material}"
|
||||
for sid, s in self._heating_stations.items()
|
||||
if s.state == HeatingStationState.HEATING and s.current_material
|
||||
]
|
||||
self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
|
||||
|
||||
start_time = time.time()
|
||||
last_countdown_log = start_time
|
||||
while True:
|
||||
elapsed = time.time() - start_time
|
||||
remaining = max(0.0, self.HEATING_TIME - elapsed)
|
||||
progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].heating_progress = progress
|
||||
|
||||
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")
|
||||
last_countdown_log = time.time()
|
||||
|
||||
if elapsed >= self.HEATING_TIME:
|
||||
break
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.COMPLETED
|
||||
self._heating_stations[station_id].heating_progress = 100.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
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)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}加热完成",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@action(
|
||||
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),
|
||||
],
|
||||
)
|
||||
def move_to_output(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
"""
|
||||
output_number = material_number
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
material_id = station.current_material
|
||||
|
||||
if material_id is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
if station.state != HeatingStationState.COMPLETED:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
output_position = f"C{output_number}"
|
||||
task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
|
||||
self.logger.info(f"[任务] {task_desc}")
|
||||
|
||||
try:
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
|
||||
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving_to_output"
|
||||
|
||||
self.logger.info(
|
||||
f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}..."
|
||||
)
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.IDLE
|
||||
self._heating_stations[station_id].current_material = None
|
||||
self._heating_stations[station_id].material_number = None
|
||||
self._heating_stations[station_id].heating_progress = 0.0
|
||||
self._heating_stations[station_id].heating_start_time = None
|
||||
|
||||
self._release_arm()
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "completed"
|
||||
self._active_tasks[material_id]["end_time"] = time.time()
|
||||
|
||||
self._update_data_status(f"{material_id}已移动到{output_position}")
|
||||
self.logger.info(
|
||||
f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
|
||||
)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": output_position,
|
||||
"message": f"{material_id}已成功移动到{output_position}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content is not None else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动到输出位置失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": output_position,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
# ============ 状态属性 ============
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def arm_state(self) -> str:
|
||||
return self._arm_state.value
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def arm_current_task(self) -> str:
|
||||
return self._arm_current_task or ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def active_tasks_count(self) -> int:
|
||||
with self._tasks_lock:
|
||||
return len(self._active_tasks)
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
@@ -1,5 +1,9 @@
|
||||
# 工作站抽象基类物料系统架构说明
|
||||
|
||||
## 设计理念
|
||||
|
||||
基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
|
||||
|
||||
### 核心原则
|
||||
|
||||
1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,12 @@
|
||||
import pubchempy as pcp
|
||||
|
||||
cas = "21324-40-3" # 示例
|
||||
comps = pcp.get_compounds(cas, namespace="name")
|
||||
if not comps:
|
||||
raise ValueError("No hit")
|
||||
|
||||
c = comps[0]
|
||||
|
||||
print("Canonical SMILES:", c.canonical_smiles)
|
||||
print("Isomeric SMILES:", c.isomeric_smiles)
|
||||
print("MW:", c.molecular_weight)
|
||||
@@ -0,0 +1,7 @@
|
||||
material_name
|
||||
LiPF6
|
||||
LiDFOB
|
||||
DTD
|
||||
LiFSI
|
||||
LiPO2F2
|
||||
|
||||
|
@@ -1,157 +0,0 @@
|
||||
# 批量出库 Excel 模板使用说明
|
||||
|
||||
**文件**: `outbound_template.xlsx`
|
||||
**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作
|
||||
**API 端点**: `/api/lims/storage/auto-batch-out-bound`
|
||||
|
||||
---
|
||||
|
||||
## 📋 Excel 列说明
|
||||
|
||||
| 列名 | 说明 | 示例 | 必填 |
|
||||
|------|------|------|------|
|
||||
| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 |
|
||||
| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 |
|
||||
| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 |
|
||||
| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 |
|
||||
|
||||
### 📐 坐标说明
|
||||
|
||||
**x, y, z** 是库位在仓库内的**三维坐标**：
|
||||
|
||||
```
|
||||
仓库（例如 WH4）
|
||||
├── Z=1（第1层/加样头面）
|
||||
│ ├── X=1, Y=1（位置 A）
|
||||
│ ├── X=2, Y=1（位置 B）
|
||||
│ ├── X=3, Y=1（位置 C）
|
||||
│ └── ...
|
||||
│
|
||||
└── Z=2（第2层/原液瓶面）
|
||||
├── X=1, Y=1（位置 A）
|
||||
├── X=2, Y=1（位置 B）
|
||||
└── ...
|
||||
```
|
||||
|
||||
- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等）
|
||||
- **x, y, z**: 在该仓库内的三维坐标
|
||||
- **locationId**: 该坐标位置的唯一 UUID
|
||||
|
||||
### 🎯 起点与终点
|
||||
|
||||
**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。
|
||||
|
||||
```
|
||||
出库流程：
|
||||
起点（Excel 指定） → ？终点（LIMS/工作流决定）
|
||||
↓
|
||||
locationId, x, y, z → 由 LIMS 系统或当前工作流自动分配
|
||||
```
|
||||
|
||||
**终点由以下方式确定：**
|
||||
- **LIMS 系统自动分配**：根据当前任务自动规划目标位置
|
||||
- **工作流预定义**：在创建出库任务时已绑定目标位置
|
||||
- **暂存区**：默认放到出库暂存区，等待下一步操作
|
||||
|
||||
💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库
|
||||
|
||||
---
|
||||
|
||||
## 🔍 如何获取 UUID？
|
||||
|
||||
### 方法 1：从配置文件获取
|
||||
|
||||
参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`：
|
||||
|
||||
```json
|
||||
{
|
||||
"warehouse_mapping": {
|
||||
"配液站内试剂仓库": {
|
||||
"site_uuids": {
|
||||
"A01": "3a19da43-57b5-294f-d663-154a1cc32270",
|
||||
"B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
|
||||
"C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f"
|
||||
}
|
||||
},
|
||||
"手动堆栈": {
|
||||
"site_uuids": {
|
||||
"A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
|
||||
"A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 方法 2：通过 API 查询
|
||||
|
||||
```python
|
||||
material_info = hardware_interface.material_id_query(workflow_id)
|
||||
locations = material_info.get("locations", [])
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📝 填写示例
|
||||
|
||||
### 示例 1：从配液站内试剂仓库出库
|
||||
|
||||
| locationId | warehouseId | quantity | x | y | z | 备注说明 |
|
||||
|------------|-------------|----------|---|---|---|----------|
|
||||
| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 |
|
||||
| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 |
|
||||
|
||||
### 示例 2：从手动堆栈出库
|
||||
|
||||
| locationId | warehouseId | quantity | x | y | z | 备注说明 |
|
||||
|------------|-------------|----------|---|---|---|----------|
|
||||
| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 |
|
||||
| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 |
|
||||
|
||||
---
|
||||
|
||||
## 💻 使用方法
|
||||
|
||||
```python
|
||||
from bioyond_cell_workstation import BioyondCellWorkstation
|
||||
|
||||
# 初始化工作站
|
||||
workstation = BioyondCellWorkstation(config=config, deck=deck)
|
||||
|
||||
# 调用批量出库方法
|
||||
result = workstation.auto_batch_outbound_from_xlsx(
|
||||
xlsx_path="outbound_template.xlsx"
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## ⚠️ 注意事项
|
||||
|
||||
1. **locationId 必须是有效的 UUID**，不能使用库位名称
|
||||
2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置
|
||||
3. **quantity 必须是数字**，可以是整数或浮点数
|
||||
4. Excel 文件必须包含表头行
|
||||
5. 空行会被自动跳过
|
||||
6. 确保 UUID 与实际库位对应，否则 API 会报错
|
||||
|
||||
---
|
||||
|
||||
## 📚 相关文件
|
||||
|
||||
- **配置文件**: `yibin_electrolyte_config.json`
|
||||
- **Python 代码**: `bioyond_cell_workstation.py` (L630-695)
|
||||
- **生成脚本**: `create_outbound_template.py`
|
||||
- **上料模板**: `material_template.xlsx`
|
||||
|
||||
---
|
||||
|
||||
## 🔄 重新生成模板
|
||||
|
||||
```bash
|
||||
conda activate newunilab
|
||||
python create_outbound_template.py
|
||||
```
|
||||
@@ -49,14 +49,6 @@ class BioyondV1RPC(BaseRequest):
|
||||
self.config = config
|
||||
self.api_key = config["api_key"]
|
||||
self.host = config["api_host"]
|
||||
|
||||
# 初始化 location_mapping
|
||||
# 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化
|
||||
self.location_mapping = {}
|
||||
warehouse_mapping = self.config.get("warehouse_mapping", {})
|
||||
for warehouse_name, warehouse_config in warehouse_mapping.items():
|
||||
if "site_uuids" in warehouse_config:
|
||||
self.location_mapping.update(warehouse_config["site_uuids"])
|
||||
self._logger = SimpleLogger()
|
||||
self.material_cache = {}
|
||||
self._load_material_cache()
|
||||
@@ -184,40 +176,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
return {}
|
||||
|
||||
print(f"add material data: {response['data']}")
|
||||
|
||||
# 自动更新缓存
|
||||
data = response.get("data", {})
|
||||
if data:
|
||||
if isinstance(data, str):
|
||||
# 如果返回的是字符串，通常是ID
|
||||
mat_id = data
|
||||
name = params.get("name")
|
||||
else:
|
||||
# 如果返回的是字典，尝试获取name和id
|
||||
name = data.get("name") or params.get("name")
|
||||
mat_id = data.get("id")
|
||||
|
||||
if name and mat_id:
|
||||
self.material_cache[name] = mat_id
|
||||
print(f"已自动更新缓存: {name} -> {mat_id}")
|
||||
|
||||
# 处理返回数据中的 details (如果有)
|
||||
# 有些 API 返回结构可能直接包含 details，或者在 data 字段中
|
||||
details = data.get("details", []) if isinstance(data, dict) else []
|
||||
if not details and isinstance(data, dict):
|
||||
details = data.get("detail", [])
|
||||
|
||||
if details:
|
||||
for detail in details:
|
||||
d_name = detail.get("name")
|
||||
# 尝试从不同字段获取 ID
|
||||
d_id = detail.get("id") or detail.get("detailMaterialId")
|
||||
|
||||
if d_name and d_id:
|
||||
self.material_cache[d_name] = d_id
|
||||
print(f"已自动更新 detail 缓存: {d_name} -> {d_id}")
|
||||
|
||||
return data
|
||||
return response.get("data", {})
|
||||
|
||||
def query_matial_type_id(self, data) -> list:
|
||||
"""查找物料typeid"""
|
||||
@@ -244,7 +203,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": 0,
|
||||
"data": {},
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return []
|
||||
@@ -314,19 +273,12 @@ class BioyondV1RPC(BaseRequest):
|
||||
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
|
||||
# 自动更新缓存 - 移除被删除的物料
|
||||
for name, mid in list(self.material_cache.items()):
|
||||
if mid == material_id:
|
||||
del self.material_cache[name]
|
||||
print(f"已从缓存移除物料: {name}")
|
||||
break
|
||||
|
||||
return response.get("data", {})
|
||||
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
location_id = self.location_mapping.get(location_name, location_name)
|
||||
# location_name 参数实际上应该直接是 location_id (UUID)
|
||||
location_id = location_name
|
||||
|
||||
params = {
|
||||
"materialId": material_id,
|
||||
@@ -1152,10 +1104,6 @@ class BioyondV1RPC(BaseRequest):
|
||||
for detail_material in detail_materials:
|
||||
detail_name = detail_material.get("name")
|
||||
detail_id = detail_material.get("detailMaterialId")
|
||||
if not detail_id:
|
||||
# 尝试其他可能的字段
|
||||
detail_id = detail_material.get("id")
|
||||
|
||||
if detail_name and detail_id:
|
||||
self.material_cache[detail_name] = detail_id
|
||||
print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
|
||||
@@ -1176,14 +1124,6 @@ class BioyondV1RPC(BaseRequest):
|
||||
print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
|
||||
return material_id
|
||||
|
||||
# 如果缓存中没有，尝试刷新缓存
|
||||
print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
|
||||
self.refresh_material_cache()
|
||||
if material_name_or_id in self.material_cache:
|
||||
material_id = self.material_cache[material_name_or_id]
|
||||
print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
|
||||
return material_id
|
||||
|
||||
print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
|
||||
return material_name_or_id
|
||||
|
||||
|
||||
@@ -1,329 +0,0 @@
|
||||
# config.py
|
||||
"""
|
||||
Bioyond工作站配置文件
|
||||
包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
|
||||
"""
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
|
||||
# ============================================================================
|
||||
# 基础配置
|
||||
# ============================================================================
|
||||
|
||||
# API配置
|
||||
API_CONFIG = {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44402"
|
||||
}
|
||||
|
||||
# HTTP 报送服务配置
|
||||
HTTP_SERVICE_CONFIG = {
|
||||
"http_service_host": "127.0.0.1", # 监听地址
|
||||
"http_service_port": 8080, # 监听端口
|
||||
}
|
||||
|
||||
# Deck配置 - 反应站工作台配置
|
||||
DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
|
||||
|
||||
# ============================================================================
|
||||
# 工作流配置
|
||||
# ============================================================================
|
||||
|
||||
# 工作流ID映射
|
||||
WORKFLOW_MAPPINGS = {
|
||||
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
||||
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
||||
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
|
||||
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
|
||||
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
|
||||
"liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
||||
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a",
|
||||
}
|
||||
|
||||
# 工作流名称到显示名称的映射
|
||||
WORKFLOW_TO_SECTION_MAP = {
|
||||
'reactor_taken_in': '反应器放入',
|
||||
'reactor_taken_out': '反应器取出',
|
||||
'Solid_feeding_vials': '固体投料-小瓶',
|
||||
'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
|
||||
'Liquid_feeding_solvents': '液体投料-溶剂',
|
||||
'Liquid_feeding(titration)': '液体投料-滴定',
|
||||
'liquid_feeding_beaker': '液体投料-烧杯',
|
||||
'Drip_back': '液体回滴'
|
||||
}
|
||||
|
||||
# 工作流步骤ID配置
|
||||
WORKFLOW_STEP_IDS = {
|
||||
"reactor_taken_in": {
|
||||
"config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
|
||||
},
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
|
||||
"observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
|
||||
"observe": "3a167d99-6172-b67b-5f22-a7892197142e"
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "1fcea355-2545-462b-b727-350b69a313bf",
|
||||
"observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
|
||||
"observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
|
||||
"observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "371be86a-ab77-4769-83e5-54580547c48a",
|
||||
"observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
|
||||
}
|
||||
}
|
||||
|
||||
# 工作流动作名称配置
|
||||
ACTION_NAMES = {
|
||||
"reactor_taken_in": {
|
||||
"config": "通量-配置",
|
||||
"stirring": "反应模块-开始搅拌"
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "粉末加样模块-投料",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "稀释液瓶加液位-液体投料",
|
||||
"observe": "反应模块-滴定结果观察"
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "稀释液瓶加液位-稀释液吸液分液",
|
||||
"observe": "反应模块-滴定结果观察"
|
||||
},
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "烧杯溶液放置位-烧杯吸液分液",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
||||
"observe": "反应模块-向下滴定结果观察"
|
||||
}
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 仓库配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 出库和入库操作都需要UUID
|
||||
WAREHOUSE_MAPPING = {
|
||||
# ========== 反应站仓库 ==========
|
||||
|
||||
# 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
|
||||
"堆栈1左": {
|
||||
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
|
||||
"A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
|
||||
"A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
|
||||
"A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
|
||||
"B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
|
||||
"B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
|
||||
"B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
|
||||
"B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
|
||||
"C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
|
||||
"C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
|
||||
"C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
|
||||
"C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
|
||||
"D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
|
||||
"D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
|
||||
"D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
|
||||
"D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
|
||||
},
|
||||
},
|
||||
|
||||
# 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
|
||||
"堆栈1右": {
|
||||
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"site_uuids": {
|
||||
"A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
|
||||
"A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
|
||||
"A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
|
||||
"A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
|
||||
"B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
|
||||
"B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
|
||||
"B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
|
||||
"B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
|
||||
"C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
|
||||
"C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
|
||||
"C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
|
||||
"C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
|
||||
"D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
|
||||
"D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
|
||||
"D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
|
||||
"D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
|
||||
},
|
||||
},
|
||||
|
||||
# 站内试剂存放堆栈
|
||||
"站内试剂存放堆栈": {
|
||||
"uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
|
||||
"A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
|
||||
}
|
||||
},
|
||||
|
||||
|
||||
# 测量小瓶仓库（测密度）
|
||||
"测量小瓶仓库": {
|
||||
"uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
|
||||
"site_uuids": {
|
||||
"A01": "3a15012f-705e-0524-3161-c523b5aebc97",
|
||||
"A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
|
||||
"A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
|
||||
"B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
|
||||
"B02": "3a15012f-705e-e499-180d-de06d60d0b21",
|
||||
"B03": "3a15012f-705e-eff6-63f1-09f742096b26"
|
||||
}
|
||||
},
|
||||
|
||||
# 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
|
||||
"站内Tip盒堆栈": {
|
||||
"uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
|
||||
"A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
|
||||
"A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
|
||||
"B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
|
||||
"B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
|
||||
"B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
|
||||
}
|
||||
},
|
||||
# ========== 配液站仓库 ==========
|
||||
"粉末堆栈": {
|
||||
"uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"A02": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
|
||||
"A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
|
||||
"B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
|
||||
"B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
|
||||
"B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
|
||||
"B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
|
||||
"C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
|
||||
"C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
|
||||
"C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
|
||||
"D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
|
||||
"D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
|
||||
"D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
|
||||
"D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
|
||||
}
|
||||
},
|
||||
"溶液堆栈": {
|
||||
"uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
|
||||
"A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
|
||||
"A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
|
||||
"A04": "3a14198e-d724-d378-d266-2508a224a19f",
|
||||
"B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
|
||||
"B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
|
||||
"B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
|
||||
"B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
|
||||
"C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
|
||||
"C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
|
||||
"C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
|
||||
"C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
|
||||
"D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
|
||||
"D02": "3a14198e-d724-1e28-c885-574c3df468d0",
|
||||
"D03": "3a14198e-d724-28a2-a760-baa896f46b66",
|
||||
"D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
|
||||
}
|
||||
},
|
||||
"试剂堆栈": {
|
||||
"uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198c-c2cf-8b40-af28-b467808f1c36", # x=1, y=1, code=0001-0001
|
||||
"A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094", # x=1, y=2, code=0001-0002
|
||||
"A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8", # x=1, y=3, code=0001-0003
|
||||
"A04": "3a14198c-c2d0-725e-523d-34c037ac2440", # x=1, y=4, code=0001-0004
|
||||
"B01": "3a14198c-c2d0-f3e7-871a-e470d144296f", # x=2, y=1, code=0001-0005
|
||||
"B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f", # x=2, y=2, code=0001-0006
|
||||
"B03": "3a14198c-c2d0-1559-105d-0ea30682cab4", # x=2, y=3, code=0001-0007
|
||||
"B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" # x=2, y=4, code=0001-0008
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 物料类型配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
|
||||
# - 这个映射基于 resource.model 属性 (不是显示名称!)
|
||||
# - UUID为空表示该类型暂未在Bioyond系统中定义
|
||||
MATERIAL_TYPE_MAPPINGS = {
|
||||
# ================================================配液站资源============================================================
|
||||
# ==================================================样品===============================================================
|
||||
"BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), # 配液站-样品-烧杯
|
||||
"BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"), # 配液站-样品-试剂瓶
|
||||
"BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), # 配液站-样品-分装板
|
||||
"BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"), # 配液站-样品-分装板-第一排小瓶
|
||||
"BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), # 配液站-样品-分装板-第二排小瓶
|
||||
# ==================================================试剂===============================================================
|
||||
"BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"), # 配液站-试剂-样品板（8孔）
|
||||
"BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), # 配液站-试剂-样品板-样品瓶
|
||||
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
|
||||
# ============================================================================
|
||||
|
||||
LOCATION_MAPPING = {}
|
||||
for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
|
||||
if "site_uuids" in warehouse_config:
|
||||
LOCATION_MAPPING.update(warehouse_config["site_uuids"])
|
||||
|
||||
# ============================================================================
|
||||
# 物料默认参数配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
|
||||
# - 格式: 物料名称 → {参数字典}
|
||||
# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
|
||||
# - unit: 物料的计量单位（会用于 unit 字段）
|
||||
# - density/densityUnit: 密度信息（会添加到 Parameters 中）
|
||||
|
||||
MATERIAL_DEFAULT_PARAMETERS = {
|
||||
# 溶剂类
|
||||
"NMP": {
|
||||
"unit": "毫升",
|
||||
"density": "1.03",
|
||||
"densityUnit": "g/mL",
|
||||
"description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
|
||||
},
|
||||
# 可以继续添加其他物料...
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 物料类型默认参数配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 为特定物料类型（UUID）自动添加默认参数
|
||||
# - 格式: Bioyond类型UUID → {参数字典}
|
||||
# - 优先级低于按名称匹配的配置
|
||||
MATERIAL_TYPE_PARAMETERS = {
|
||||
# 示例:
|
||||
# "3a14196b-24f2-ca49-9081-0cab8021bf1a": { # 烧杯
|
||||
# "unit": "个"
|
||||
# }
|
||||
}
|
||||
@@ -4,8 +4,7 @@ import time
|
||||
from typing import Optional, Dict, Any, List
|
||||
from typing_extensions import TypedDict
|
||||
import requests
|
||||
import pint
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
|
||||
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
||||
@@ -26,89 +25,13 @@ class ComputeExperimentDesignReturn(TypedDict):
|
||||
class BioyondDispensingStation(BioyondWorkstation):
|
||||
def __init__(
|
||||
self,
|
||||
config: dict = None,
|
||||
deck=None,
|
||||
protocol_type=None,
|
||||
config,
|
||||
# 桌子
|
||||
deck,
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
"""初始化配液站
|
||||
|
||||
Args:
|
||||
config: 配置字典,应包含material_type_mappings等配置
|
||||
deck: Deck对象
|
||||
protocol_type: 协议类型(由ROS系统传递,此处忽略)
|
||||
**kwargs: 其他可能的参数
|
||||
"""
|
||||
if config is None:
|
||||
config = {}
|
||||
|
||||
# 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key)
|
||||
config.update(kwargs)
|
||||
|
||||
if deck is None and config:
|
||||
deck = config.get('deck')
|
||||
|
||||
# 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步)
|
||||
# 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上
|
||||
if config and "warehouse_mapping" in config and deck:
|
||||
warehouse_mapping = config["warehouse_mapping"]
|
||||
print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)")
|
||||
|
||||
user_deck = deck
|
||||
# 初始化 warehouses 字典
|
||||
if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None:
|
||||
user_deck.warehouses = {}
|
||||
|
||||
# 1. 尝试从 children 中查找匹配的资源
|
||||
for child in user_deck.children:
|
||||
# 简单判断: 如果名字在 mapping 中，就认为是 warehouse
|
||||
if child.name in warehouse_mapping:
|
||||
user_deck.warehouses[child.name] = child
|
||||
print(f" - 从子资源中找到 warehouse: {child.name}")
|
||||
|
||||
# 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况)
|
||||
if not user_deck.warehouses and hasattr(user_deck, "setup"):
|
||||
print(" - 尝试调用 deck.setup() 初始化仓库...")
|
||||
try:
|
||||
user_deck.setup()
|
||||
# setup 后重新检查
|
||||
if hasattr(user_deck, "warehouses") and user_deck.warehouses:
|
||||
print(f" - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库")
|
||||
except Exception as e:
|
||||
print(f" - 调用 setup() 失败: {e}")
|
||||
|
||||
# 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告)
|
||||
if not user_deck.warehouses:
|
||||
print(" - ⚠️ 仍然无法找到任何 warehouse 资源！")
|
||||
|
||||
for wh_name, wh_config in warehouse_mapping.items():
|
||||
target_uuid = wh_config.get("uuid")
|
||||
|
||||
# 尝试在 deck.warehouses 中查找
|
||||
wh_resource = None
|
||||
if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses:
|
||||
wh_resource = user_deck.warehouses[wh_name]
|
||||
|
||||
# 如果没找到，尝试在所有子资源中查找
|
||||
if not wh_resource:
|
||||
wh_resource = user_deck.get_resource(wh_name)
|
||||
|
||||
if wh_resource:
|
||||
if target_uuid:
|
||||
current_uuid = getattr(wh_resource, "uuid", None)
|
||||
print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}")
|
||||
|
||||
# 动态添加 uuid 属性
|
||||
wh_resource.uuid = target_uuid
|
||||
# 同时也确保 category 正确，避免 graphio 识别错误
|
||||
# wh_resource.category = "warehouse"
|
||||
else:
|
||||
print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID")
|
||||
else:
|
||||
print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'")
|
||||
|
||||
super().__init__(bioyond_config=config, deck=deck)
|
||||
|
||||
):
|
||||
super().__init__(config, deck, *args, **kwargs)
|
||||
# self.config = config
|
||||
# self.api_key = config["api_key"]
|
||||
# self.host = config["api_host"]
|
||||
@@ -120,41 +43,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
|
||||
self.order_completion_status = {}
|
||||
|
||||
# 初始化 pint 单位注册表
|
||||
self.ureg = pint.UnitRegistry()
|
||||
|
||||
# 化合物信息
|
||||
self.compound_info = {
|
||||
"MolWt": {
|
||||
"MDA": 108.14 * self.ureg.g / self.ureg.mol,
|
||||
"TDA": 122.16 * self.ureg.g / self.ureg.mol,
|
||||
"PAPP": 521.62 * self.ureg.g / self.ureg.mol,
|
||||
"BTDA": 322.23 * self.ureg.g / self.ureg.mol,
|
||||
"BPDA": 294.22 * self.ureg.g / self.ureg.mol,
|
||||
"6FAP": 366.26 * self.ureg.g / self.ureg.mol,
|
||||
"PMDA": 218.12 * self.ureg.g / self.ureg.mol,
|
||||
"MPDA": 108.14 * self.ureg.g / self.ureg.mol,
|
||||
"SIDA": 248.51 * self.ureg.g / self.ureg.mol,
|
||||
"ODA": 200.236 * self.ureg.g / self.ureg.mol,
|
||||
"4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
|
||||
"134": 292.34 * self.ureg.g / self.ureg.mol,
|
||||
},
|
||||
"FuncGroup": {
|
||||
"MDA": "Amine",
|
||||
"TDA": "Amine",
|
||||
"PAPP": "Amine",
|
||||
"BTDA": "Anhydride",
|
||||
"BPDA": "Anhydride",
|
||||
"6FAP": "Amine",
|
||||
"MPDA": "Amine",
|
||||
"SIDA": "Amine",
|
||||
"PMDA": "Anhydride",
|
||||
"ODA": "Amine",
|
||||
"4,4'-ODA": "Amine",
|
||||
"134": "Amine",
|
||||
}
|
||||
}
|
||||
|
||||
def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
||||
"""项目接口通用POST调用
|
||||
|
||||
@@ -166,7 +54,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": self.bioyond_config["api_key"],
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
@@ -197,7 +85,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": self.bioyond_config["api_key"],
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
@@ -230,22 +118,20 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
ratio = json.loads(ratio)
|
||||
except Exception:
|
||||
ratio = {}
|
||||
root = str(Path(__file__).resolve().parents[3])
|
||||
if root not in sys.path:
|
||||
sys.path.append(root)
|
||||
try:
|
||||
mod = importlib.import_module("tem.compute")
|
||||
except Exception as e:
|
||||
raise BioyondException(f"无法导入计算模块: {e}")
|
||||
try:
|
||||
wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
|
||||
mt = float(m_tot) if isinstance(m_tot, str) else m_tot
|
||||
tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
|
||||
except Exception as e:
|
||||
raise BioyondException(f"参数解析失败: {e}")
|
||||
|
||||
# 2. 调用内部计算方法
|
||||
res = self._generate_experiment_design(
|
||||
ratio=ratio,
|
||||
wt_percent=wp,
|
||||
m_tot=mt,
|
||||
titration_percent=tp
|
||||
)
|
||||
|
||||
# 3. 构造返回结果
|
||||
res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
|
||||
out = {
|
||||
"solutions": res.get("solutions", []),
|
||||
"titration": res.get("titration", {}),
|
||||
@@ -254,248 +140,11 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
"return_info": json.dumps(res, ensure_ascii=False)
|
||||
}
|
||||
return out
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
except Exception as e:
|
||||
raise BioyondException(str(e))
|
||||
|
||||
def _generate_experiment_design(
|
||||
self,
|
||||
ratio: dict,
|
||||
wt_percent: float = 0.25,
|
||||
m_tot: float = 70,
|
||||
titration_percent: float = 0.03,
|
||||
) -> dict:
|
||||
"""内部方法：生成实验设计
|
||||
|
||||
根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
|
||||
|
||||
参数:
|
||||
ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
|
||||
wt_percent: 固体重量百分比
|
||||
m_tot: 反应混合物总质量(g)
|
||||
titration_percent: 滴定溶液百分比
|
||||
|
||||
返回:
|
||||
包含实验设计详细参数的字典
|
||||
"""
|
||||
# 溶剂密度
|
||||
ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
|
||||
# 二酐溶解度
|
||||
solubility = 0.02 * self.ureg.g / self.ureg.ml
|
||||
# 投入固体时最小溶剂体积
|
||||
V_min = 30 * self.ureg.ml
|
||||
m_tot = m_tot * self.ureg.g
|
||||
|
||||
# 保持ratio中的顺序
|
||||
compound_names = list(ratio.keys())
|
||||
compound_ratios = list(ratio.values())
|
||||
|
||||
# 验证所有化合物是否在 compound_info 中定义
|
||||
undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
|
||||
if undefined_compounds:
|
||||
available = list(self.compound_info["MolWt"].keys())
|
||||
raise ValueError(
|
||||
f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
|
||||
f"可用的化合物: {available}"
|
||||
)
|
||||
|
||||
# 获取各化合物的分子量和官能团类型
|
||||
molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
|
||||
func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
|
||||
|
||||
# 记录化合物信息用于调试
|
||||
self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
|
||||
self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
|
||||
|
||||
# 按原始顺序分离二胺和二酐
|
||||
ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
|
||||
diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
|
||||
anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
|
||||
|
||||
if not diamine_compounds or not anhydride_compounds:
|
||||
raise ValueError(
|
||||
f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
|
||||
f"当前二胺: {[c[0] for c in diamine_compounds]}, "
|
||||
f"当前二酐: {[c[0] for c in anhydride_compounds]}"
|
||||
)
|
||||
|
||||
# 计算加权平均分子量 (基于摩尔比)
|
||||
total_molar_ratio = sum(compound_ratios)
|
||||
weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
|
||||
|
||||
# 取最后一个二酐用于滴定
|
||||
titration_anhydride = anhydride_compounds[-1]
|
||||
solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
|
||||
|
||||
# 二胺溶液配制参数 - 每种二胺单独配制
|
||||
diamine_solutions = []
|
||||
total_diamine_volume = 0 * self.ureg.ml
|
||||
|
||||
# 计算反应物的总摩尔量
|
||||
n_reactant = m_tot * wt_percent / weighted_molecular_weight
|
||||
|
||||
for name, ratio_val, mw, order_index in diamine_compounds:
|
||||
# 跳过 SIDA
|
||||
if name == "SIDA":
|
||||
continue
|
||||
|
||||
# 计算该二胺需要的摩尔数
|
||||
n_diamine_needed = n_reactant * ratio_val
|
||||
|
||||
# 二胺溶液配制参数 (每种二胺固定配制参数)
|
||||
m_diamine_solid = 5.0 * self.ureg.g # 每种二胺固体质量
|
||||
V_solvent_for_this = 20 * self.ureg.ml # 每种二胺溶剂体积
|
||||
m_solvent_for_this = ρ_solvent * V_solvent_for_this
|
||||
|
||||
# 计算该二胺溶液的浓度
|
||||
c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
|
||||
|
||||
# 计算需要移取的溶液体积
|
||||
V_diamine_needed = n_diamine_needed / c_diamine
|
||||
|
||||
diamine_solutions.append({
|
||||
"name": name,
|
||||
"order": order_index,
|
||||
"solid_mass": m_diamine_solid.magnitude,
|
||||
"solvent_volume": V_solvent_for_this.magnitude,
|
||||
"concentration": c_diamine.magnitude,
|
||||
"volume_needed": V_diamine_needed.magnitude,
|
||||
"molar_ratio": ratio_val
|
||||
})
|
||||
|
||||
total_diamine_volume += V_diamine_needed
|
||||
|
||||
# 按原始顺序排序
|
||||
diamine_solutions.sort(key=lambda x: x["order"])
|
||||
|
||||
# 计算滴定二酐的质量
|
||||
titration_name, titration_ratio, titration_mw, _ = titration_anhydride
|
||||
m_titration_anhydride = n_reactant * titration_ratio * titration_mw
|
||||
m_titration_90 = m_titration_anhydride * (1 - titration_percent)
|
||||
m_titration_10 = m_titration_anhydride * titration_percent
|
||||
|
||||
# 计算其他固体二酐的质量 (按顺序)
|
||||
solid_anhydride_masses = []
|
||||
for name, ratio_val, mw, order_index in solid_anhydrides:
|
||||
mass = n_reactant * ratio_val * mw
|
||||
solid_anhydride_masses.append({
|
||||
"name": name,
|
||||
"order": order_index,
|
||||
"mass": mass.magnitude,
|
||||
"molar_ratio": ratio_val
|
||||
})
|
||||
|
||||
# 按原始顺序排序
|
||||
solid_anhydride_masses.sort(key=lambda x: x["order"])
|
||||
|
||||
# 计算溶剂用量
|
||||
total_diamine_solution_mass = sum(
|
||||
sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
|
||||
) * self.ureg.ml
|
||||
|
||||
# 预估滴定溶剂量、计算补加溶剂量
|
||||
m_solvent_titration = m_titration_10 / solubility * ρ_solvent
|
||||
m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
|
||||
|
||||
# 检查最小溶剂体积要求
|
||||
total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
|
||||
m_tot_min = V_min / total_liquid_volume * m_tot
|
||||
|
||||
# 如果需要，按比例放大
|
||||
scale_factor = 1.0
|
||||
if m_tot_min > m_tot:
|
||||
scale_factor = (m_tot_min / m_tot).magnitude
|
||||
m_titration_90 *= scale_factor
|
||||
m_titration_10 *= scale_factor
|
||||
m_solvent_add *= scale_factor
|
||||
m_solvent_titration *= scale_factor
|
||||
|
||||
# 更新二胺溶液用量
|
||||
for sol in diamine_solutions:
|
||||
sol["volume_needed"] *= scale_factor
|
||||
|
||||
# 更新固体二酐用量
|
||||
for anhydride in solid_anhydride_masses:
|
||||
anhydride["mass"] *= scale_factor
|
||||
|
||||
m_tot = m_tot_min
|
||||
|
||||
# 生成投料顺序
|
||||
feeding_order = []
|
||||
|
||||
# 1. 固体二酐 (按顺序)
|
||||
for anhydride in solid_anhydride_masses:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "solid_anhydride",
|
||||
"name": anhydride["name"],
|
||||
"amount": anhydride["mass"],
|
||||
"order": anhydride["order"]
|
||||
})
|
||||
|
||||
# 2. 二胺溶液 (按顺序)
|
||||
for sol in diamine_solutions:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "diamine_solution",
|
||||
"name": sol["name"],
|
||||
"amount": sol["volume_needed"],
|
||||
"order": sol["order"]
|
||||
})
|
||||
|
||||
# 3. 主要二酐粉末
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "main_anhydride",
|
||||
"name": titration_name,
|
||||
"amount": m_titration_90.magnitude,
|
||||
"order": titration_anhydride[3]
|
||||
})
|
||||
|
||||
# 4. 补加溶剂
|
||||
if m_solvent_add > 0:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "additional_solvent",
|
||||
"name": "溶剂",
|
||||
"amount": m_solvent_add.magnitude,
|
||||
"order": 999
|
||||
})
|
||||
|
||||
# 5. 滴定二酐溶液
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "titration_anhydride",
|
||||
"name": f"{titration_name} 滴定液",
|
||||
"amount": m_titration_10.magnitude,
|
||||
"titration_solvent": m_solvent_titration.magnitude,
|
||||
"order": titration_anhydride[3]
|
||||
})
|
||||
|
||||
# 返回实验设计结果
|
||||
results = {
|
||||
"total_mass": m_tot.magnitude,
|
||||
"scale_factor": scale_factor,
|
||||
"solutions": diamine_solutions,
|
||||
"solids": solid_anhydride_masses,
|
||||
"titration": {
|
||||
"name": titration_name,
|
||||
"main_portion": m_titration_90.magnitude,
|
||||
"titration_portion": m_titration_10.magnitude,
|
||||
"titration_solvent": m_solvent_titration.magnitude,
|
||||
},
|
||||
"solvents": {
|
||||
"additional_solvent": m_solvent_add.magnitude,
|
||||
"total_liquid_volume": total_liquid_volume.magnitude
|
||||
},
|
||||
"feeding_order": feeding_order,
|
||||
"minimum_required_mass": m_tot_min.magnitude
|
||||
}
|
||||
|
||||
return results
|
||||
|
||||
# 90%10%小瓶投料任务创建方法
|
||||
def create_90_10_vial_feeding_task(self,
|
||||
order_name: str = None,
|
||||
@@ -1312,108 +961,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
'actualVolume': actual_volume
|
||||
}
|
||||
|
||||
def _simplify_report(self, report) -> Dict[str, Any]:
|
||||
"""简化实验报告，只保留关键信息，去除冗余的工作流参数"""
|
||||
if not isinstance(report, dict):
|
||||
return report
|
||||
|
||||
data = report.get('data', {})
|
||||
if not isinstance(data, dict):
|
||||
return report
|
||||
|
||||
# 提取关键信息
|
||||
simplified = {
|
||||
'name': data.get('name'),
|
||||
'code': data.get('code'),
|
||||
'requester': data.get('requester'),
|
||||
'workflowName': data.get('workflowName'),
|
||||
'workflowStep': data.get('workflowStep'),
|
||||
'requestTime': data.get('requestTime'),
|
||||
'startPreparationTime': data.get('startPreparationTime'),
|
||||
'completeTime': data.get('completeTime'),
|
||||
'useTime': data.get('useTime'),
|
||||
'status': data.get('status'),
|
||||
'statusName': data.get('statusName'),
|
||||
}
|
||||
|
||||
# 提取物料信息（简化版）
|
||||
pre_intakes = data.get('preIntakes', [])
|
||||
if pre_intakes and isinstance(pre_intakes, list):
|
||||
first_intake = pre_intakes[0]
|
||||
sample_materials = first_intake.get('sampleMaterials', [])
|
||||
|
||||
# 简化物料信息
|
||||
simplified_materials = []
|
||||
for material in sample_materials:
|
||||
if isinstance(material, dict):
|
||||
mat_info = {
|
||||
'materialName': material.get('materialName'),
|
||||
'materialTypeName': material.get('materialTypeName'),
|
||||
'materialCode': material.get('materialCode'),
|
||||
'materialLocation': material.get('materialLocation'),
|
||||
}
|
||||
|
||||
# 解析parameters中的关键信息（如密度、加料历史等）
|
||||
params_str = material.get('parameters', '{}')
|
||||
try:
|
||||
params = json.loads(params_str) if isinstance(params_str, str) else params_str
|
||||
if isinstance(params, dict):
|
||||
# 只保留关键参数
|
||||
if 'density' in params:
|
||||
mat_info['density'] = params['density']
|
||||
if 'feedingHistory' in params:
|
||||
mat_info['feedingHistory'] = params['feedingHistory']
|
||||
if 'liquidVolume' in params:
|
||||
mat_info['liquidVolume'] = params['liquidVolume']
|
||||
if 'm_diamine_tot' in params:
|
||||
mat_info['m_diamine_tot'] = params['m_diamine_tot']
|
||||
if 'wt_diamine' in params:
|
||||
mat_info['wt_diamine'] = params['wt_diamine']
|
||||
except:
|
||||
pass
|
||||
|
||||
simplified_materials.append(mat_info)
|
||||
|
||||
simplified['sampleMaterials'] = simplified_materials
|
||||
|
||||
# 提取extraProperties中的实际值
|
||||
extra_props = first_intake.get('extraProperties', {})
|
||||
if isinstance(extra_props, dict):
|
||||
simplified_extra = {}
|
||||
for key, value in extra_props.items():
|
||||
try:
|
||||
parsed_value = json.loads(value) if isinstance(value, str) else value
|
||||
simplified_extra[key] = parsed_value
|
||||
except:
|
||||
simplified_extra[key] = value
|
||||
simplified['extraProperties'] = simplified_extra
|
||||
|
||||
return {
|
||||
'data': simplified,
|
||||
'code': report.get('code'),
|
||||
'message': report.get('message'),
|
||||
'timestamp': report.get('timestamp')
|
||||
}
|
||||
|
||||
def scheduler_start(self) -> dict:
|
||||
"""启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
|
||||
|
||||
Returns:
|
||||
dict: 包含return_info的字典，return_info为整型(1=成功)
|
||||
|
||||
Raises:
|
||||
BioyondException: 调度器启动失败时抛出异常
|
||||
"""
|
||||
result = self.hardware_interface.scheduler_start()
|
||||
self.hardware_interface._logger.info(f"调度器启动结果: {result}")
|
||||
|
||||
if result != 1:
|
||||
error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
return {"return_info": result}
|
||||
|
||||
# 等待多个任务完成并获取实验报告
|
||||
def wait_for_multiple_orders_and_get_reports(self,
|
||||
batch_create_result: str = None,
|
||||
@@ -1455,12 +1002,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
|
||||
# 验证batch_create_result参数
|
||||
if not batch_create_result or batch_create_result == "":
|
||||
raise BioyondException(
|
||||
"batch_create_result参数为空，请确保:\n"
|
||||
"1. batch_create节点与wait节点之间正确连接了handle\n"
|
||||
"2. batch_create节点成功执行并返回了结果\n"
|
||||
"3. 检查上游batch_create任务是否成功创建了订单"
|
||||
)
|
||||
raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
|
||||
|
||||
# 解析batch_create_result JSON对象
|
||||
try:
|
||||
@@ -1489,17 +1031,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
|
||||
# 验证提取的数据
|
||||
if not order_codes:
|
||||
self.hardware_interface._logger.error(
|
||||
f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
|
||||
)
|
||||
raise BioyondException(
|
||||
"batch_create_result中未找到order_codes或为空。\n"
|
||||
"可能的原因:\n"
|
||||
"1. batch_create任务执行失败（检查任务是否报错）\n"
|
||||
"2. 物料配置问题（如'物料样品板分配失败'）\n"
|
||||
"3. Bioyond系统状态异常\n"
|
||||
f"请检查batch_create任务的执行结果"
|
||||
)
|
||||
raise BioyondException("batch_create_result中未找到order_codes字段或为空")
|
||||
if not order_ids:
|
||||
raise BioyondException("batch_create_result中未找到order_ids字段或为空")
|
||||
|
||||
@@ -1582,8 +1114,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功获取任务 {order_code} 的实验报告"
|
||||
)
|
||||
# 简化报告，去除冗余信息
|
||||
report = self._simplify_report(report)
|
||||
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
@@ -1758,7 +1288,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
|
||||
)
|
||||
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
results = []
|
||||
successful_count = 0
|
||||
failed_count = 0
|
||||
File diff suppressed because it is too large
Load Diff
@@ -6,7 +6,6 @@ Bioyond Workstation Implementation
|
||||
"""
|
||||
import time
|
||||
import traceback
|
||||
import threading
|
||||
from datetime import datetime
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
import json
|
||||
@@ -28,90 +27,6 @@ from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
class ConnectionMonitor:
|
||||
"""Bioyond连接监控器"""
|
||||
def __init__(self, workstation, check_interval=30):
|
||||
self.workstation = workstation
|
||||
self.check_interval = check_interval
|
||||
self._running = False
|
||||
self._thread = None
|
||||
self._last_status = "unknown"
|
||||
|
||||
def start(self):
|
||||
if self._running:
|
||||
return
|
||||
self._running = True
|
||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
|
||||
self._thread.start()
|
||||
logger.info("Bioyond连接监控器已启动")
|
||||
|
||||
def stop(self):
|
||||
self._running = False
|
||||
if self._thread:
|
||||
self._thread.join(timeout=2)
|
||||
logger.info("Bioyond连接监控器已停止")
|
||||
|
||||
def _monitor_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 使用 lightweight API 检查连接
|
||||
# query_matial_type_list 是比较快的查询
|
||||
start_time = time.time()
|
||||
result = self.workstation.hardware_interface.material_type_list()
|
||||
|
||||
status = "online" if result else "offline"
|
||||
msg = "Connection established" if status == "online" else "Failed to get material type list"
|
||||
|
||||
if status != self._last_status:
|
||||
logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
|
||||
self._publish_event(status, msg)
|
||||
self._last_status = status
|
||||
|
||||
# 发布心跳 (可选，或者只在状态变更时发布)
|
||||
# self._publish_event(status, msg)
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"Bioyond连接检查异常: {e}")
|
||||
if self._last_status != "error":
|
||||
self._publish_event("error", str(e))
|
||||
self._last_status = "error"
|
||||
|
||||
time.sleep(self.check_interval)
|
||||
|
||||
def _publish_event(self, status, message):
|
||||
try:
|
||||
if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
|
||||
event_data = {
|
||||
"status": status,
|
||||
"message": message,
|
||||
"timestamp": datetime.now().isoformat()
|
||||
}
|
||||
|
||||
# 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
|
||||
# 这里假设通用事件发布机制，使用 String 类型的 topic
|
||||
# 话题: /<namespace>/events/device_status
|
||||
ns = self.workstation._ros_node.namespace
|
||||
topic = f"{ns}/events/device_status"
|
||||
|
||||
# 使用 ROS2DeviceNode 的发布功能
|
||||
# 如果没有预定义的 publisher，需要动态创建
|
||||
# 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
|
||||
# 这里我们先尝试用 String json 发布
|
||||
|
||||
# 在 ROS2DeviceNode 中通常需要先 create_publisher
|
||||
# 为了简单起见，我们检查是否已有 publisher，没有则创建
|
||||
if not hasattr(self.workstation, "_device_status_pub"):
|
||||
self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
|
||||
String, topic, 10
|
||||
)
|
||||
|
||||
self.workstation._device_status_pub.publish(
|
||||
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"发布设备状态事件失败: {e}")
|
||||
|
||||
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
"""Bioyond资源同步器
|
||||
|
||||
@@ -257,8 +172,9 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
else:
|
||||
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
||||
|
||||
# 第1步：从配置中获取仓库配置
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
# 第1步：获取仓库配置
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
warehouse_mapping = WAREHOUSE_MAPPING
|
||||
|
||||
# 确定目标仓库名称
|
||||
parent_name = None
|
||||
@@ -320,20 +236,14 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
# 第2步：转换为 Bioyond 格式
|
||||
logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
|
||||
|
||||
# 从配置中获取物料默认参数
|
||||
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
|
||||
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
|
||||
|
||||
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
|
||||
merged_params = material_default_params.copy()
|
||||
for type_id, params in material_type_params.items():
|
||||
merged_params[f"type:{type_id}"] = params
|
||||
# 导入物料默认参数配置
|
||||
from .config import MATERIAL_DEFAULT_PARAMETERS
|
||||
|
||||
bioyond_material = resource_plr_to_bioyond(
|
||||
[resource],
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
||||
material_params=merged_params
|
||||
material_params=MATERIAL_DEFAULT_PARAMETERS
|
||||
)[0]
|
||||
|
||||
logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
|
||||
@@ -556,20 +466,13 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
return material_bioyond_id
|
||||
|
||||
# 转换为 Bioyond 格式
|
||||
# 从配置中获取物料默认参数
|
||||
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
|
||||
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
|
||||
|
||||
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
|
||||
merged_params = material_default_params.copy()
|
||||
for type_id, params in material_type_params.items():
|
||||
merged_params[f"type:{type_id}"] = params
|
||||
from .config import MATERIAL_DEFAULT_PARAMETERS
|
||||
|
||||
bioyond_material = resource_plr_to_bioyond(
|
||||
[resource],
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
||||
material_params=merged_params
|
||||
material_params=MATERIAL_DEFAULT_PARAMETERS
|
||||
)[0]
|
||||
|
||||
# ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
|
||||
@@ -623,7 +526,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.info(f"[物料入库] 目标库位: {update_site}")
|
||||
|
||||
# 获取仓库配置和目标库位 UUID
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
warehouse_mapping = WAREHOUSE_MAPPING
|
||||
|
||||
parent_name = None
|
||||
target_location_uuid = None
|
||||
@@ -678,44 +582,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
集成Bioyond物料管理的工作站实现
|
||||
"""
|
||||
|
||||
def _publish_task_status(
|
||||
self,
|
||||
task_id: str,
|
||||
task_type: str,
|
||||
status: str,
|
||||
result: dict = None,
|
||||
progress: float = 0.0,
|
||||
task_code: str = None
|
||||
):
|
||||
"""发布任务状态事件"""
|
||||
try:
|
||||
if not getattr(self, "_ros_node", None):
|
||||
return
|
||||
|
||||
event_data = {
|
||||
"task_id": task_id,
|
||||
"task_code": task_code,
|
||||
"task_type": task_type,
|
||||
"status": status,
|
||||
"progress": progress,
|
||||
"timestamp": datetime.now().isoformat()
|
||||
}
|
||||
if result:
|
||||
event_data["result"] = result
|
||||
|
||||
topic = f"{self._ros_node.namespace}/events/task_status"
|
||||
|
||||
if not hasattr(self, "_task_status_pub"):
|
||||
self._task_status_pub = self._ros_node.create_publisher(
|
||||
String, topic, 10
|
||||
)
|
||||
|
||||
self._task_status_pub.publish(
|
||||
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"发布任务状态事件失败: {e}")
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
bioyond_config: Optional[Dict[str, Any]] = None,
|
||||
@@ -737,28 +603,10 @@ class BioyondWorkstation(WorkstationBase):
|
||||
raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
|
||||
|
||||
# 初始化 warehouses 属性
|
||||
if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
|
||||
self.deck.warehouses = {}
|
||||
|
||||
# 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
|
||||
if not self.deck.warehouses:
|
||||
for resource in self.deck.children:
|
||||
# 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
|
||||
is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
|
||||
|
||||
# 如果配置中有定义，也可以认定为 warehouse
|
||||
if not is_warehouse and "warehouse_mapping" in bioyond_config:
|
||||
if resource.name in bioyond_config["warehouse_mapping"]:
|
||||
is_warehouse = True
|
||||
|
||||
if is_warehouse:
|
||||
self.deck.warehouses[resource.name] = resource
|
||||
# 确保 category 被正确设置，方便后续使用
|
||||
if getattr(resource, "category", "") != "warehouse":
|
||||
try:
|
||||
resource.category = "warehouse"
|
||||
except:
|
||||
pass
|
||||
self.deck.warehouses = {}
|
||||
for resource in self.deck.children:
|
||||
if isinstance(resource, WareHouse):
|
||||
self.deck.warehouses[resource.name] = resource
|
||||
|
||||
# 创建通信模块
|
||||
self._create_communication_module(bioyond_config)
|
||||
@@ -777,22 +625,18 @@ class BioyondWorkstation(WorkstationBase):
|
||||
self._set_workflow_mappings(bioyond_config["workflow_mappings"])
|
||||
|
||||
# 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
|
||||
# 从 bioyond_config 中的 http_service_config 获取
|
||||
http_service_cfg = bioyond_config.get("http_service_config", {})
|
||||
# 从 bioyond_config 中获取，如果没有则使用默认值
|
||||
self._http_service_config = {
|
||||
"host": http_service_cfg.get("http_service_host", "127.0.0.1"),
|
||||
"port": http_service_cfg.get("http_service_port", 8080)
|
||||
"host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
|
||||
}
|
||||
self.http_service = None # 将在 post_init 启动
|
||||
self.connection_monitor = None # 将在 post_init 启动
|
||||
self.http_service = None # 将在 post_init 中启动
|
||||
|
||||
logger.info(f"Bioyond工作站初始化完成")
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数：清理资源，停止 HTTP 服务"""
|
||||
try:
|
||||
if hasattr(self, 'connection_monitor') and self.connection_monitor:
|
||||
self.connection_monitor.stop()
|
||||
if hasattr(self, 'http_service') and self.http_service is not None:
|
||||
logger.info("正在停止 HTTP 报送服务...")
|
||||
self.http_service.stop()
|
||||
@@ -802,13 +646,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
def post_init(self, ros_node: ROS2WorkstationNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
# 启动连接监控
|
||||
try:
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
self.connection_monitor.start()
|
||||
except Exception as e:
|
||||
logger.error(f"启动连接监控失败: {e}")
|
||||
|
||||
# 启动 HTTP 报送接收服务（现在 device_id 已可用）
|
||||
# ⚠️ 检查子类是否已经自己管理 HTTP 服务
|
||||
if self.bioyond_config.get("_disable_auto_http_service"):
|
||||
@@ -853,14 +690,14 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
"""创建Bioyond通信模块"""
|
||||
# 直接使用传入的配置，不再使用默认值
|
||||
# 所有配置必须从 JSON 文件中提供
|
||||
# 使用传入的 config 参数（来自 bioyond_config）
|
||||
# 不再依赖全局变量 API_CONFIG 等
|
||||
if config:
|
||||
self.bioyond_config = config
|
||||
else:
|
||||
# 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
|
||||
# 如果没有传入配置，创建空配置（用于测试或兼容性）
|
||||
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 = BioyondV1RPC(self.bioyond_config)
|
||||
|
||||
@@ -1174,15 +1011,7 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
workflow_id = self._get_workflow(actual_workflow_name)
|
||||
if workflow_id:
|
||||
# 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
|
||||
if isinstance(self.workflow_sequence, list):
|
||||
self.workflow_sequence.append(workflow_id)
|
||||
elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
|
||||
self._cached_workflow_sequence.append(workflow_id)
|
||||
else:
|
||||
print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
|
||||
return False
|
||||
|
||||
self.workflow_sequence.append(workflow_id)
|
||||
print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
|
||||
return True
|
||||
return False
|
||||
@@ -1383,22 +1212,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
# TODO: 根据实际业务需求处理步骤完成逻辑
|
||||
# 例如：更新数据库、触发后续流程等
|
||||
|
||||
# 发布任务状态事件 (running/progress update)
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_step",
|
||||
status="running",
|
||||
progress=0.5, # 步骤完成视为任务进行中
|
||||
result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
|
||||
)
|
||||
|
||||
# 更新物料信息
|
||||
# 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
|
||||
logger.info(f"[步骤完成报送] 触发物料同步...")
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"step_id": data.get('stepId'),
|
||||
@@ -1433,17 +1246,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
# TODO: 根据实际业务需求处理通量完成逻辑
|
||||
|
||||
# 发布任务状态事件
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'),
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_sample",
|
||||
status="running",
|
||||
progress=0.7,
|
||||
result={"sample_id": data.get('sampleId'), "status": status_desc}
|
||||
)
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"sample_id": data.get('sampleId'),
|
||||
@@ -1483,32 +1285,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
# TODO: 根据实际业务需求处理任务完成逻辑
|
||||
# 例如：更新物料库存、生成报表等
|
||||
|
||||
# 映射状态到事件状态
|
||||
event_status = "completed"
|
||||
if str(data.get('status')) in ["-11", "-12"]:
|
||||
event_status = "error"
|
||||
elif str(data.get('status')) == "30":
|
||||
event_status = "completed"
|
||||
else:
|
||||
event_status = "running" # 其他状态视为运行中（或根据实际定义）
|
||||
|
||||
# 发布任务状态事件
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'),
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_order",
|
||||
status=event_status,
|
||||
progress=1.0 if event_status in ["completed", "error"] else 0.9,
|
||||
result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
|
||||
)
|
||||
|
||||
# 更新物料信息
|
||||
# 任务完成后，且状态为完成时，触发同步以更新最终物料状态
|
||||
if event_status == "completed":
|
||||
logger.info(f"[任务完成报送] 触发物料同步...")
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"order_code": data.get('orderCode'),
|
||||
|
||||
Binary file not shown.
@@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
# 验证必需字段
|
||||
if 'brand' in request_data:
|
||||
if request_data['brand'] == "bioyond": # 奔曜
|
||||
material_data = request_data["text"]
|
||||
logger.info(f"收到奔曜物料变更报送: {material_data}")
|
||||
error_msg = request_data["text"]
|
||||
logger.info(f"收到奔曜错误处理报送: {error_msg}")
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"物料变更报送已收到: {material_data}",
|
||||
acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}",
|
||||
message=f"错误处理报送已收到: {error_msg}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
|
||||
data=None
|
||||
)
|
||||
else:
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,658 +0,0 @@
|
||||
"""
|
||||
装饰器注册表系统
|
||||
|
||||
通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
|
||||
|
||||
Usage:
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, resource,
|
||||
InputHandle, OutputHandle,
|
||||
ActionInputHandle, ActionOutputHandle,
|
||||
HardwareInterface, Side, DataSource, NodeType,
|
||||
)
|
||||
|
||||
@device(
|
||||
id="solenoid_valve.mock",
|
||||
category=["pump_and_valve"],
|
||||
description="模拟电磁阀设备",
|
||||
handles=[
|
||||
InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
|
||||
OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
|
||||
],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="hardware_interface",
|
||||
read="send_command",
|
||||
write="send_command",
|
||||
),
|
||||
)
|
||||
class SolenoidValveMock:
|
||||
@action(action_type=EmptyIn)
|
||||
def close(self):
|
||||
...
|
||||
|
||||
@action(
|
||||
handles=[
|
||||
ActionInputHandle(key="in", data_type="fluid", label="in"),
|
||||
ActionOutputHandle(key="out", data_type="fluid", label="out"),
|
||||
],
|
||||
)
|
||||
def set_valve_position(self, position):
|
||||
...
|
||||
|
||||
# 无 @action 装饰器 => auto- 前缀动作
|
||||
def is_open(self):
|
||||
...
|
||||
"""
|
||||
|
||||
from enum import Enum
|
||||
from functools import wraps
|
||||
from typing import Any, Callable, Dict, List, Optional, TypeVar
|
||||
|
||||
from pydantic import BaseModel, ConfigDict, Field
|
||||
|
||||
F = TypeVar("F", bound=Callable[..., Any])
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 枚举
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class Side(str, Enum):
|
||||
"""UI 上 Handle 的显示位置"""
|
||||
|
||||
NORTH = "NORTH"
|
||||
SOUTH = "SOUTH"
|
||||
EAST = "EAST"
|
||||
WEST = "WEST"
|
||||
|
||||
|
||||
class DataSource(str, Enum):
|
||||
"""Handle 的数据来源"""
|
||||
|
||||
HANDLE = "handle" # 从上游 handle 获取数据 (用于 InputHandle)
|
||||
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)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class _DeviceHandleBase(BaseModel):
|
||||
"""设备/资源端口基类 (内部使用)"""
|
||||
|
||||
model_config = ConfigDict(populate_by_name=True)
|
||||
|
||||
key: str = Field(serialization_alias="handler_key")
|
||||
data_type: str
|
||||
label: str
|
||||
side: Optional[Side] = None
|
||||
data_key: Optional[str] = None
|
||||
data_source: Optional[str] = None
|
||||
description: Optional[str] = None
|
||||
|
||||
# 子类覆盖
|
||||
io_type: str = ""
|
||||
|
||||
def to_registry_dict(self) -> Dict[str, Any]:
|
||||
return self.model_dump(by_alias=True, exclude_none=True)
|
||||
|
||||
|
||||
class InputHandle(_DeviceHandleBase):
|
||||
"""
|
||||
输入端口 (io_type="target"), 用于 @device / @resource handles
|
||||
|
||||
Example:
|
||||
InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
|
||||
"""
|
||||
|
||||
io_type: str = "target"
|
||||
|
||||
|
||||
class OutputHandle(_DeviceHandleBase):
|
||||
"""
|
||||
输出端口 (io_type="source"), 用于 @device / @resource handles
|
||||
|
||||
Example:
|
||||
OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
|
||||
"""
|
||||
|
||||
io_type: str = "source"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class _ActionHandleBase(BaseModel):
|
||||
"""动作端口基类 (内部使用)"""
|
||||
|
||||
model_config = ConfigDict(populate_by_name=True)
|
||||
|
||||
key: str = Field(serialization_alias="handler_key")
|
||||
data_type: str
|
||||
label: str
|
||||
side: Optional[Side] = None
|
||||
data_key: Optional[str] = None
|
||||
data_source: Optional[str] = None
|
||||
description: Optional[str] = None
|
||||
io_type: Optional[str] = None # source/sink (dataflow) or target/source (device-style)
|
||||
|
||||
def to_registry_dict(self) -> Dict[str, Any]:
|
||||
return self.model_dump(by_alias=True, exclude_none=True)
|
||||
|
||||
|
||||
class ActionInputHandle(_ActionHandleBase):
|
||||
"""
|
||||
动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
|
||||
|
||||
Example:
|
||||
ActionInputHandle(
|
||||
key="material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source="handle",
|
||||
)
|
||||
"""
|
||||
|
||||
pass
|
||||
|
||||
|
||||
class ActionOutputHandle(_ActionHandleBase):
|
||||
"""
|
||||
动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
|
||||
|
||||
Example:
|
||||
ActionOutputHandle(
|
||||
key="station_output", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source="executor",
|
||||
)
|
||||
"""
|
||||
|
||||
pass
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# HardwareInterface
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class HardwareInterface(BaseModel):
|
||||
"""
|
||||
硬件通信接口定义
|
||||
|
||||
描述设备与底层硬件通信的方式 (串口、Modbus 等)。
|
||||
|
||||
Example:
|
||||
HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
|
||||
"""
|
||||
|
||||
name: str
|
||||
read: Optional[str] = None
|
||||
write: Optional[str] = None
|
||||
extra_info: Optional[List[str]] = None
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 全局注册表 -- 记录所有被装饰器标记的类/函数
|
||||
# ---------------------------------------------------------------------------
|
||||
_registered_devices: Dict[str, type] = {} # device_id -> class
|
||||
_registered_resources: Dict[str, Any] = {} # resource_id -> class or function
|
||||
|
||||
|
||||
def _device_handles_to_list(
|
||||
handles: Optional[List[_DeviceHandleBase]],
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
|
||||
if handles is None:
|
||||
return []
|
||||
return [h.to_registry_dict() for h in handles]
|
||||
|
||||
|
||||
def _action_handles_to_dict(
|
||||
handles: Optional[List[_ActionHandleBase]],
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
|
||||
|
||||
ActionInputHandle => "input", ActionOutputHandle => "output"
|
||||
"""
|
||||
if handles is None:
|
||||
return {}
|
||||
input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
|
||||
output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
|
||||
result: Dict[str, Any] = {}
|
||||
if input_list:
|
||||
result["input"] = input_list
|
||||
if output_list:
|
||||
result["output"] = output_list
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @device 类装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
# noinspection PyShadowingBuiltins
|
||||
def device(
|
||||
id: Optional[str] = None,
|
||||
ids: Optional[List[str]] = None,
|
||||
id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
|
||||
category: Optional[List[str]] = None,
|
||||
description: str = "",
|
||||
display_name: str = "",
|
||||
icon: str = "",
|
||||
version: str = "1.0.0",
|
||||
handles: Optional[List[_DeviceHandleBase]] = None,
|
||||
model: Optional[Dict[str, Any]] = None,
|
||||
device_type: str = "python",
|
||||
hardware_interface: Optional[HardwareInterface] = None,
|
||||
):
|
||||
"""
|
||||
设备类装饰器
|
||||
|
||||
将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
|
||||
|
||||
支持两种模式:
|
||||
1. 单设备: id="xxx", category=[...]
|
||||
2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
|
||||
|
||||
Args:
|
||||
id: 单设备时的注册表唯一标识
|
||||
ids: 多设备时的 id 列表，与 id_meta 配合使用
|
||||
id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
|
||||
category: 设备分类标签列表 (必填)
|
||||
description: 设备描述
|
||||
display_name: 人类可读的设备显示名称，缺失时默认使用 id
|
||||
icon: 图标路径
|
||||
version: 版本号
|
||||
handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
|
||||
model: 可选的 3D 模型配置
|
||||
device_type: 设备实现类型 ("python" / "ros2")
|
||||
hardware_interface: 硬件通信接口 (HardwareInterface)
|
||||
"""
|
||||
# Resolve device ids
|
||||
if ids is not None:
|
||||
device_ids = list(ids)
|
||||
if not device_ids:
|
||||
raise ValueError("@device ids 不能为空")
|
||||
id_meta = id_meta or {}
|
||||
elif id is not None:
|
||||
device_ids = [id]
|
||||
id_meta = {}
|
||||
else:
|
||||
raise ValueError("@device 必须提供 id 或 ids")
|
||||
|
||||
if category is None:
|
||||
raise ValueError("@device category 必填")
|
||||
|
||||
base_meta = {
|
||||
"category": category,
|
||||
"description": description,
|
||||
"display_name": display_name,
|
||||
"icon": icon,
|
||||
"version": version,
|
||||
"handles": _device_handles_to_list(handles),
|
||||
"model": model,
|
||||
"device_type": device_type,
|
||||
"hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
|
||||
}
|
||||
|
||||
def decorator(cls):
|
||||
cls._device_registry_meta = base_meta
|
||||
cls._device_registry_id_meta = id_meta
|
||||
cls._device_registry_ids = device_ids
|
||||
|
||||
for did in device_ids:
|
||||
if did in _registered_devices:
|
||||
raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
|
||||
_registered_devices[did] = cls
|
||||
|
||||
return cls
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @action 方法装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
# 区分 "用户没传 action_type" 和 "用户传了 None"
|
||||
_ACTION_TYPE_UNSET = object()
|
||||
|
||||
|
||||
# noinspection PyShadowingNames
|
||||
def action(
|
||||
action_type: Any = _ACTION_TYPE_UNSET,
|
||||
goal: Optional[Dict[str, str]] = None,
|
||||
feedback: Optional[Dict[str, str]] = None,
|
||||
result: Optional[Dict[str, str]] = None,
|
||||
handles: Optional[List[_ActionHandleBase]] = None,
|
||||
goal_default: Optional[Dict[str, Any]] = None,
|
||||
placeholder_keys: Optional[Dict[str, str]] = None,
|
||||
always_free: bool = False,
|
||||
is_protocol: bool = False,
|
||||
description: str = "",
|
||||
auto_prefix: bool = False,
|
||||
parent: bool = False,
|
||||
node_type: Optional["NodeType"] = None,
|
||||
):
|
||||
"""
|
||||
动作方法装饰器
|
||||
|
||||
标记方法为注册表动作。有三种用法:
|
||||
1. @action(action_type=EmptyIn, ...) -- 非 auto, 使用指定 ROS Action 类型
|
||||
2. @action() -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
|
||||
3. 不加 @action -- auto- 前缀, UniLabJsonCommand
|
||||
|
||||
Protocol 用法:
|
||||
@action(action_type=Add, is_protocol=True)
|
||||
def AddProtocol(self): ...
|
||||
标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
|
||||
protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
|
||||
|
||||
Args:
|
||||
action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
|
||||
不传/默认 = UniLabJsonCommand (非 auto).
|
||||
goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
|
||||
protocol 模式下可留空，系统自动生成 identity 映射.
|
||||
feedback: Feedback 字段映射
|
||||
result: Result 字段映射
|
||||
handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
|
||||
goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
|
||||
placeholder_keys: 参数占位符配置
|
||||
always_free: 是否为永久闲置动作 (不受排队限制)
|
||||
is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
|
||||
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:
|
||||
@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
|
||||
|
||||
meta = {
|
||||
"action_type": resolved_type,
|
||||
"goal": goal or {},
|
||||
"feedback": feedback or {},
|
||||
"result": result or {},
|
||||
"handles": _action_handles_to_dict(handles),
|
||||
"goal_default": goal_default or {},
|
||||
"placeholder_keys": placeholder_keys or {},
|
||||
"always_free": always_free,
|
||||
"is_protocol": is_protocol,
|
||||
"description": description,
|
||||
"auto_prefix": auto_prefix,
|
||||
"parent": parent,
|
||||
}
|
||||
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
|
||||
if always_free:
|
||||
wrapper._is_always_free = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_action_meta(func) -> Optional[Dict[str, Any]]:
|
||||
"""获取方法上的 @action 装饰器元数据"""
|
||||
return getattr(func, "_action_registry_meta", None)
|
||||
|
||||
|
||||
def has_action_decorator(func) -> bool:
|
||||
"""检查函数是否带有 @action 装饰器"""
|
||||
return hasattr(func, "_action_registry_meta")
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @resource 类/函数装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def resource(
|
||||
id: str,
|
||||
category: List[str],
|
||||
description: str = "",
|
||||
icon: str = "",
|
||||
version: str = "1.0.0",
|
||||
handles: Optional[List[_DeviceHandleBase]] = None,
|
||||
model: Optional[Dict[str, Any]] = None,
|
||||
class_type: str = "pylabrobot",
|
||||
):
|
||||
"""
|
||||
资源类/函数装饰器
|
||||
|
||||
将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
|
||||
|
||||
Args:
|
||||
id: 注册表唯一标识 (必填, 不可重复)
|
||||
category: 资源分类标签列表 (必填)
|
||||
description: 资源描述
|
||||
icon: 图标路径
|
||||
version: 版本号
|
||||
handles: 端口列表 (InputHandle / OutputHandle)
|
||||
model: 可选的 3D 模型配置
|
||||
class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
|
||||
"""
|
||||
|
||||
def decorator(obj):
|
||||
meta = {
|
||||
"resource_id": id,
|
||||
"category": category,
|
||||
"description": description,
|
||||
"icon": icon,
|
||||
"version": version,
|
||||
"handles": _device_handles_to_list(handles),
|
||||
"model": model,
|
||||
"class_type": class_type,
|
||||
}
|
||||
obj._resource_registry_meta = meta
|
||||
|
||||
if id in _registered_resources:
|
||||
raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
|
||||
_registered_resources[id] = obj
|
||||
|
||||
return obj
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
获取类上的 @device 装饰器元数据。
|
||||
|
||||
当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
|
||||
(base_meta 与 id_meta[device_id] 深度合并)。
|
||||
"""
|
||||
base = getattr(cls, "_device_registry_meta", None)
|
||||
if base is None:
|
||||
return None
|
||||
id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
|
||||
if device_id is None or device_id not in id_meta:
|
||||
result = dict(base)
|
||||
ids = getattr(cls, "_device_registry_ids", None)
|
||||
result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
|
||||
return result
|
||||
|
||||
overrides = id_meta[device_id]
|
||||
result = dict(base)
|
||||
result["device_id"] = device_id
|
||||
for key in ["handles", "description", "icon", "model"]:
|
||||
if key in overrides:
|
||||
val = overrides[key]
|
||||
if key == "handles" and isinstance(val, list):
|
||||
# handles 必须是 Handle 对象列表
|
||||
result[key] = [h.to_registry_dict() for h in val]
|
||||
else:
|
||||
result[key] = val
|
||||
return result
|
||||
|
||||
|
||||
def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
|
||||
"""获取对象上的 @resource 装饰器元数据"""
|
||||
return getattr(obj, "_resource_registry_meta", None)
|
||||
|
||||
|
||||
def get_all_registered_devices() -> Dict[str, type]:
|
||||
"""获取所有已注册的设备类"""
|
||||
return _registered_devices.copy()
|
||||
|
||||
|
||||
def get_all_registered_resources() -> Dict[str, Any]:
|
||||
"""获取所有已注册的资源"""
|
||||
return _registered_resources.copy()
|
||||
|
||||
|
||||
def clear_registry():
|
||||
"""清空全局注册表 (用于测试)"""
|
||||
_registered_devices.clear()
|
||||
_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
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def topic_config(
|
||||
period: Optional[float] = None,
|
||||
print_publish: Optional[bool] = None,
|
||||
qos: Optional[int] = None,
|
||||
name: Optional[str] = None,
|
||||
) -> Callable[[F], F]:
|
||||
"""
|
||||
Topic发布配置装饰器
|
||||
|
||||
用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
|
||||
|
||||
Args:
|
||||
period: 发布周期（秒）。None 表示使用默认值 5.0
|
||||
print_publish: 是否打印发布日志。None 表示使用节点默认配置
|
||||
qos: QoS深度配置。None 表示使用默认值 10
|
||||
name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
|
||||
|
||||
Note:
|
||||
与 @property 连用时，@topic_config 必须放在 @property 下面，
|
||||
这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._topic_period = period # type: ignore[attr-defined]
|
||||
wrapper._topic_print_publish = print_publish # type: ignore[attr-defined]
|
||||
wrapper._topic_qos = qos # type: ignore[attr-defined]
|
||||
wrapper._topic_name = name # type: ignore[attr-defined]
|
||||
wrapper._has_topic_config = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_topic_config(func) -> dict:
|
||||
"""获取函数上的 topic 配置 (period, print_publish, qos, name)"""
|
||||
if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
|
||||
return {
|
||||
"period": getattr(func, "_topic_period", None),
|
||||
"print_publish": getattr(func, "_topic_print_publish", None),
|
||||
"qos": getattr(func, "_topic_qos", None),
|
||||
"name": getattr(func, "_topic_name", None),
|
||||
}
|
||||
return {}
|
||||
|
||||
|
||||
def always_free(func: F) -> F:
|
||||
"""
|
||||
标记动作为永久闲置(不受busy队列限制)的装饰器
|
||||
|
||||
被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
|
||||
任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._is_always_free = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
|
||||
def is_always_free(func) -> bool:
|
||||
"""检查函数是否被标记为永久闲置"""
|
||||
return getattr(func, "_is_always_free", False)
|
||||
|
||||
|
||||
def not_action(func: F) -> F:
|
||||
"""
|
||||
标记方法为非动作的装饰器
|
||||
|
||||
用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
|
||||
适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._is_not_action = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
|
||||
def is_not_action(func) -> bool:
|
||||
"""检查函数是否被标记为非动作"""
|
||||
return getattr(func, "_is_not_action", False)
|
||||
@@ -96,13 +96,10 @@ serial:
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
registry_name:
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: object
|
||||
required:
|
||||
- device_id
|
||||
- registry_name
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
|
||||
@@ -13,18 +13,21 @@ Qone_nmr:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -68,6 +71,31 @@ Qone_nmr:
|
||||
title: monitor_folder_for_new_content参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-strings_to_txt:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -110,18 +138,21 @@ Qone_nmr:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -136,31 +167,32 @@ Qone_nmr:
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
589
unilabos/registry/devices/bioyond.yaml
Normal file
589
unilabos/registry/devices/bioyond.yaml
Normal file
@@ -0,0 +1,589 @@
|
||||
workstation.bioyond_dispensing_station:
|
||||
category:
|
||||
- workstation
|
||||
- bioyond
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-batch_create_90_10_vial_feeding_tasks:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
delay_time: null
|
||||
hold_m_name: null
|
||||
liquid_material_name: NMP
|
||||
speed: null
|
||||
temperature: null
|
||||
titration: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
titration:
|
||||
type: string
|
||||
required:
|
||||
- titration
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: batch_create_90_10_vial_feeding_tasks参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-batch_create_diamine_solution_tasks:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
delay_time: null
|
||||
liquid_material_name: NMP
|
||||
solutions: null
|
||||
speed: null
|
||||
temperature: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
type: string
|
||||
solutions:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- solutions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: batch_create_diamine_solution_tasks参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-brief_step_parameters:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: object
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: brief_step_parameters参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-compute_experiment_design:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
m_tot: '70'
|
||||
ratio: null
|
||||
titration_percent: '0.03'
|
||||
wt_percent: '0.25'
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
m_tot:
|
||||
default: '70'
|
||||
type: string
|
||||
ratio:
|
||||
type: object
|
||||
titration_percent:
|
||||
default: '0.03'
|
||||
type: string
|
||||
wt_percent:
|
||||
default: '0.25'
|
||||
type: string
|
||||
required:
|
||||
- ratio
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
feeding_order:
|
||||
items: {}
|
||||
title: Feeding Order
|
||||
type: array
|
||||
return_info:
|
||||
title: Return Info
|
||||
type: string
|
||||
solutions:
|
||||
items: {}
|
||||
title: Solutions
|
||||
type: array
|
||||
solvents:
|
||||
additionalProperties: true
|
||||
title: Solvents
|
||||
type: object
|
||||
titration:
|
||||
additionalProperties: true
|
||||
title: Titration
|
||||
type: object
|
||||
required:
|
||||
- solutions
|
||||
- titration
|
||||
- solvents
|
||||
- feeding_order
|
||||
- return_info
|
||||
title: ComputeExperimentDesignReturn
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: compute_experiment_design参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-process_order_finish_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
report_request: null
|
||||
used_materials: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
type: string
|
||||
used_materials:
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
- used_materials
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_order_finish_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-project_order_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
order_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
order_id:
|
||||
type: string
|
||||
required:
|
||||
- order_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: project_order_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_resource_by_name:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_name:
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_resource_by_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-transfer_materials_to_reaction_station:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
target_device_id: null
|
||||
transfer_groups: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
type: string
|
||||
transfer_groups:
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
- transfer_groups
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_multiple_orders_and_get_reports:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
batch_create_result: null
|
||||
check_interval: 10
|
||||
timeout: 7200
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
batch_create_result:
|
||||
type: string
|
||||
check_interval:
|
||||
default: 10
|
||||
type: integer
|
||||
timeout:
|
||||
default: 7200
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_multiple_orders_and_get_reports参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-workflow_sample_locations:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
workflow_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
workflow_id:
|
||||
type: string
|
||||
required:
|
||||
- workflow_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: workflow_sample_locations参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
create_90_10_vial_feeding_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
order_name: order_name
|
||||
percent_10_1_assign_material_name: percent_10_1_assign_material_name
|
||||
percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
|
||||
percent_10_1_target_weigh: percent_10_1_target_weigh
|
||||
percent_10_1_volume: percent_10_1_volume
|
||||
percent_10_2_assign_material_name: percent_10_2_assign_material_name
|
||||
percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
|
||||
percent_10_2_target_weigh: percent_10_2_target_weigh
|
||||
percent_10_2_volume: percent_10_2_volume
|
||||
percent_10_3_assign_material_name: percent_10_3_assign_material_name
|
||||
percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
|
||||
percent_10_3_target_weigh: percent_10_3_target_weigh
|
||||
percent_10_3_volume: percent_10_3_volume
|
||||
percent_90_1_assign_material_name: percent_90_1_assign_material_name
|
||||
percent_90_1_target_weigh: percent_90_1_target_weigh
|
||||
percent_90_2_assign_material_name: percent_90_2_assign_material_name
|
||||
percent_90_2_target_weigh: percent_90_2_target_weigh
|
||||
percent_90_3_assign_material_name: percent_90_3_assign_material_name
|
||||
percent_90_3_target_weigh: percent_90_3_target_weigh
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
order_name: ''
|
||||
percent_10_1_assign_material_name: ''
|
||||
percent_10_1_liquid_material_name: ''
|
||||
percent_10_1_target_weigh: ''
|
||||
percent_10_1_volume: ''
|
||||
percent_10_2_assign_material_name: ''
|
||||
percent_10_2_liquid_material_name: ''
|
||||
percent_10_2_target_weigh: ''
|
||||
percent_10_2_volume: ''
|
||||
percent_10_3_assign_material_name: ''
|
||||
percent_10_3_liquid_material_name: ''
|
||||
percent_10_3_target_weigh: ''
|
||||
percent_10_3_volume: ''
|
||||
percent_90_1_assign_material_name: ''
|
||||
percent_90_1_target_weigh: ''
|
||||
percent_90_2_assign_material_name: ''
|
||||
percent_90_2_target_weigh: ''
|
||||
percent_90_3_assign_material_name: ''
|
||||
percent_90_3_target_weigh: ''
|
||||
speed: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationVialFeed_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
percent_10_1_assign_material_name:
|
||||
type: string
|
||||
percent_10_1_liquid_material_name:
|
||||
type: string
|
||||
percent_10_1_target_weigh:
|
||||
type: string
|
||||
percent_10_1_volume:
|
||||
type: string
|
||||
percent_10_2_assign_material_name:
|
||||
type: string
|
||||
percent_10_2_liquid_material_name:
|
||||
type: string
|
||||
percent_10_2_target_weigh:
|
||||
type: string
|
||||
percent_10_2_volume:
|
||||
type: string
|
||||
percent_10_3_assign_material_name:
|
||||
type: string
|
||||
percent_10_3_liquid_material_name:
|
||||
type: string
|
||||
percent_10_3_target_weigh:
|
||||
type: string
|
||||
percent_10_3_volume:
|
||||
type: string
|
||||
percent_90_1_assign_material_name:
|
||||
type: string
|
||||
percent_90_1_target_weigh:
|
||||
type: string
|
||||
percent_90_2_assign_material_name:
|
||||
type: string
|
||||
percent_90_2_target_weigh:
|
||||
type: string
|
||||
percent_90_3_assign_material_name:
|
||||
type: string
|
||||
percent_90_3_target_weigh:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- percent_90_1_assign_material_name
|
||||
- percent_90_1_target_weigh
|
||||
- percent_90_2_assign_material_name
|
||||
- percent_90_2_target_weigh
|
||||
- percent_90_3_assign_material_name
|
||||
- percent_90_3_target_weigh
|
||||
- percent_10_1_assign_material_name
|
||||
- percent_10_1_target_weigh
|
||||
- percent_10_1_volume
|
||||
- percent_10_1_liquid_material_name
|
||||
- percent_10_2_assign_material_name
|
||||
- percent_10_2_target_weigh
|
||||
- percent_10_2_volume
|
||||
- percent_10_2_liquid_material_name
|
||||
- percent_10_3_assign_material_name
|
||||
- percent_10_3_target_weigh
|
||||
- percent_10_3_volume
|
||||
- percent_10_3_liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationVialFeed_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationVialFeed_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationVialFeed
|
||||
type: object
|
||||
type: DispenStationVialFeed
|
||||
create_diamine_solution_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
material_name: material_name
|
||||
order_name: order_name
|
||||
speed: speed
|
||||
target_weigh: target_weigh
|
||||
temperature: temperature
|
||||
volume: volume
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
liquid_material_name: ''
|
||||
material_name: ''
|
||||
order_name: ''
|
||||
speed: ''
|
||||
target_weigh: ''
|
||||
temperature: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationSolnPrep_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
type: string
|
||||
material_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
target_weigh:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
volume:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- material_name
|
||||
- target_weigh
|
||||
- volume
|
||||
- liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationSolnPrep_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationSolnPrep_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: string
|
||||
deck:
|
||||
type: string
|
||||
required:
|
||||
- config
|
||||
- deck
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
File diff suppressed because it is too large
Load Diff
@@ -24,321 +24,39 @@ bioyond_dispensing_station:
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: brief_step_parameters参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-process_order_finish_report:
|
||||
auto-compute_experiment_design:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
report_request: null
|
||||
used_materials: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
type: string
|
||||
used_materials:
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
- used_materials
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: process_order_finish_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-project_order_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
order_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
order_id:
|
||||
type: string
|
||||
required:
|
||||
- order_id
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: project_order_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_resource_by_name:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_name:
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_resource_by_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-workflow_sample_locations:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
workflow_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
workflow_id:
|
||||
type: string
|
||||
required:
|
||||
- workflow_id
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: workflow_sample_locations参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
batch_create_90_10_vial_feeding_tasks:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
titration: titration
|
||||
goal_default:
|
||||
delay_time: null
|
||||
hold_m_name: null
|
||||
liquid_material_name: NMP
|
||||
speed: null
|
||||
temperature: null
|
||||
titration: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: titration
|
||||
data_source: handle
|
||||
data_type: object
|
||||
handler_key: titration
|
||||
io_type: source
|
||||
label: Titration Data From Calculation Node
|
||||
output:
|
||||
- data_key: return_info
|
||||
data_source: executor
|
||||
data_type: string
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: sink
|
||||
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
|
||||
properties:
|
||||
feedback:
|
||||
title: BatchCreate9010VialFeedingTasks_Feedback
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
description: 延迟时间(秒),默认600
|
||||
type: string
|
||||
hold_m_name:
|
||||
description: 库位名称,如"C01",必填参数
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
description: 10%物料的液体物料名称,默认为"NMP"
|
||||
type: string
|
||||
speed:
|
||||
description: 搅拌速度,默认400
|
||||
type: string
|
||||
temperature:
|
||||
description: 温度(℃),默认40
|
||||
type: string
|
||||
titration:
|
||||
description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
|
||||
titration_solvent(滴定溶液体积mL)'
|
||||
type: string
|
||||
required:
|
||||
- titration
|
||||
title: BatchCreate9010VialFeedingTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
title: BatchCreate9010VialFeedingTasks_Result
|
||||
type: string
|
||||
required:
|
||||
- goal
|
||||
title: batch_create_90_10_vial_feeding_tasks参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
batch_create_diamine_solution_tasks:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
liquid_material_name: liquid_material_name
|
||||
solutions: solutions
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: null
|
||||
liquid_material_name: NMP
|
||||
solutions: null
|
||||
speed: null
|
||||
temperature: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: solutions
|
||||
data_source: handle
|
||||
data_type: array
|
||||
handler_key: solutions
|
||||
io_type: source
|
||||
label: Solution Data From Python
|
||||
output:
|
||||
- data_key: return_info
|
||||
data_source: executor
|
||||
data_type: string
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: sink
|
||||
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
|
||||
properties:
|
||||
feedback:
|
||||
title: BatchCreateDiamineSolutionTasks_Feedback
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
|
||||
type: string
|
||||
solutions:
|
||||
description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
|
||||
solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
|
||||
5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
|
||||
4.5, "solvent_volume": 18}]'
|
||||
type: string
|
||||
speed:
|
||||
description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
|
||||
type: string
|
||||
temperature:
|
||||
description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
|
||||
type: string
|
||||
required:
|
||||
- solutions
|
||||
title: BatchCreateDiamineSolutionTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
title: BatchCreateDiamineSolutionTasks_Result
|
||||
type: string
|
||||
required:
|
||||
- goal
|
||||
title: batch_create_diamine_solution_tasks参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
compute_experiment_design:
|
||||
feedback: {}
|
||||
goal:
|
||||
m_tot: m_tot
|
||||
ratio: ratio
|
||||
titration_percent: titration_percent
|
||||
wt_percent: wt_percent
|
||||
goal_default:
|
||||
m_tot: '70'
|
||||
ratio: null
|
||||
titration_percent: '0.03'
|
||||
wt_percent: '0.25'
|
||||
handles:
|
||||
output:
|
||||
- data_key: solutions
|
||||
data_source: executor
|
||||
data_type: array
|
||||
handler_key: solutions
|
||||
io_type: sink
|
||||
label: Solution Data From Python
|
||||
- data_key: titration
|
||||
data_source: executor
|
||||
data_type: object
|
||||
handler_key: titration
|
||||
io_type: sink
|
||||
label: Titration Data From Calculation Node
|
||||
- data_key: solvents
|
||||
data_source: executor
|
||||
data_type: object
|
||||
handler_key: solvents
|
||||
io_type: sink
|
||||
label: Solvents Data From Calculation Node
|
||||
- data_key: feeding_order
|
||||
data_source: executor
|
||||
data_type: array
|
||||
handler_key: feeding_order
|
||||
io_type: sink
|
||||
label: Feeding Order Data From Calculation Node
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
m_tot:
|
||||
default: '70'
|
||||
description: 总质量(g)
|
||||
type: string
|
||||
ratio:
|
||||
description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
|
||||
type: object
|
||||
titration_percent:
|
||||
default: '0.03'
|
||||
description: 滴定比例(10%部分)
|
||||
type: string
|
||||
wt_percent:
|
||||
default: '0.25'
|
||||
description: 目标固含质量分数
|
||||
type: string
|
||||
required:
|
||||
- ratio
|
||||
@@ -377,6 +95,305 @@ bioyond_dispensing_station:
|
||||
title: compute_experiment_design参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-process_order_finish_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
report_request: null
|
||||
used_materials: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
type: string
|
||||
used_materials:
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
- used_materials
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_order_finish_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-project_order_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
order_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
order_id:
|
||||
type: string
|
||||
required:
|
||||
- order_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: project_order_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_resource_by_name:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_name:
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_resource_by_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-transfer_materials_to_reaction_station:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
target_device_id: null
|
||||
transfer_groups: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
type: string
|
||||
transfer_groups:
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
- transfer_groups
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-workflow_sample_locations:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
workflow_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
workflow_id:
|
||||
type: string
|
||||
required:
|
||||
- workflow_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: workflow_sample_locations参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
batch_create_90_10_vial_feeding_tasks:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
titration: titration
|
||||
goal_default:
|
||||
delay_time: '600'
|
||||
hold_m_name: ''
|
||||
liquid_material_name: NMP
|
||||
speed: '400'
|
||||
temperature: '40'
|
||||
titration: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: titration
|
||||
data_source: handle
|
||||
data_type: object
|
||||
handler_key: titration
|
||||
io_type: source
|
||||
label: Titration Data From Calculation Node
|
||||
output:
|
||||
- data_key: return_info
|
||||
data_source: executor
|
||||
data_type: string
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: sink
|
||||
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BatchCreate9010VialFeedingTasks_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
default: '600'
|
||||
description: 延迟时间(秒),默认600
|
||||
type: string
|
||||
hold_m_name:
|
||||
description: 库位名称,如"C01",必填参数
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
description: 10%物料的液体物料名称,默认为"NMP"
|
||||
type: string
|
||||
speed:
|
||||
default: '400'
|
||||
description: 搅拌速度,默认400
|
||||
type: string
|
||||
temperature:
|
||||
default: '40'
|
||||
description: 温度(℃),默认40
|
||||
type: string
|
||||
titration:
|
||||
description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
|
||||
titration_solvent(滴定溶液体积mL)'
|
||||
type: string
|
||||
required:
|
||||
- titration
|
||||
- hold_m_name
|
||||
title: BatchCreate9010VialFeedingTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: BatchCreate9010VialFeedingTasks_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: BatchCreate9010VialFeedingTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
batch_create_diamine_solution_tasks:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
liquid_material_name: liquid_material_name
|
||||
solutions: solutions
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: '600'
|
||||
liquid_material_name: NMP
|
||||
solutions: ''
|
||||
speed: '400'
|
||||
temperature: '20'
|
||||
handles:
|
||||
input:
|
||||
- data_key: solutions
|
||||
data_source: handle
|
||||
data_type: array
|
||||
handler_key: solutions
|
||||
io_type: source
|
||||
label: Solution Data From Python
|
||||
output:
|
||||
- data_key: return_info
|
||||
data_source: executor
|
||||
data_type: string
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: sink
|
||||
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BatchCreateDiamineSolutionTasks_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
default: '600'
|
||||
description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
|
||||
type: string
|
||||
solutions:
|
||||
description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
|
||||
solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
|
||||
5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
|
||||
4.5, "solvent_volume": 18}]'
|
||||
type: string
|
||||
speed:
|
||||
default: '400'
|
||||
description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
|
||||
type: string
|
||||
temperature:
|
||||
default: '20'
|
||||
description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
|
||||
type: string
|
||||
required:
|
||||
- solutions
|
||||
title: BatchCreateDiamineSolutionTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: BatchCreateDiamineSolutionTasks_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: BatchCreateDiamineSolutionTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
create_90_10_vial_feeding_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -428,18 +445,17 @@ bioyond_dispensing_station:
|
||||
speed: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationVialFeed_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
@@ -487,13 +503,38 @@ bioyond_dispensing_station:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- percent_90_1_assign_material_name
|
||||
- percent_90_1_target_weigh
|
||||
- percent_90_2_assign_material_name
|
||||
- percent_90_2_target_weigh
|
||||
- percent_90_3_assign_material_name
|
||||
- percent_90_3_target_weigh
|
||||
- percent_10_1_assign_material_name
|
||||
- percent_10_1_target_weigh
|
||||
- percent_10_1_volume
|
||||
- percent_10_1_liquid_material_name
|
||||
- percent_10_2_assign_material_name
|
||||
- percent_10_2_target_weigh
|
||||
- percent_10_2_volume
|
||||
- percent_10_2_liquid_material_name
|
||||
- percent_10_3_assign_material_name
|
||||
- percent_10_3_target_weigh
|
||||
- percent_10_3_volume
|
||||
- percent_10_3_liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationVialFeed_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationVialFeed_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -524,18 +565,17 @@ bioyond_dispensing_station:
|
||||
temperature: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationSolnPrep_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
@@ -555,13 +595,24 @@ bioyond_dispensing_station:
|
||||
type: string
|
||||
volume:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- material_name
|
||||
- target_weigh
|
||||
- volume
|
||||
- liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationSolnPrep_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationSolnPrep_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -569,64 +620,6 @@ bioyond_dispensing_station:
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
scheduler_start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
title: scheduler_start结果
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
transfer_materials_to_reaction_station:
|
||||
feedback: {}
|
||||
goal:
|
||||
target_device_id: target_device_id
|
||||
transfer_groups: transfer_groups
|
||||
goal_default:
|
||||
target_device_id: null
|
||||
transfer_groups: null
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
target_device_id: unilabos_devices
|
||||
result: {}
|
||||
schema:
|
||||
description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
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
|
||||
- transfer_groups
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_for_multiple_orders_and_get_reports:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -634,9 +627,9 @@ bioyond_dispensing_station:
|
||||
check_interval: check_interval
|
||||
timeout: timeout
|
||||
goal_default:
|
||||
batch_create_result: null
|
||||
check_interval: 10
|
||||
timeout: 7200
|
||||
batch_create_result: ''
|
||||
check_interval: '10'
|
||||
timeout: '7200'
|
||||
handles:
|
||||
input:
|
||||
- data_key: batch_create_result
|
||||
@@ -652,38 +645,50 @@ bioyond_dispensing_station:
|
||||
handler_key: batch_reports_result
|
||||
io_type: sink
|
||||
label: Batch Order Completion Reports
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: WaitForMultipleOrdersAndGetReports_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
batch_create_result:
|
||||
description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
|
||||
type: string
|
||||
check_interval:
|
||||
default: 10
|
||||
default: '10'
|
||||
description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
|
||||
type: integer
|
||||
type: string
|
||||
timeout:
|
||||
default: 7200
|
||||
default: '7200'
|
||||
description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
|
||||
type: integer
|
||||
required: []
|
||||
type: string
|
||||
required:
|
||||
- batch_create_result
|
||||
title: WaitForMultipleOrdersAndGetReports_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
|
||||
error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
|
||||
order_id, status, completion_status, report, elapsed_time)'
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: WaitForMultipleOrdersAndGetReports_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_multiple_orders_and_get_reports参数
|
||||
title: WaitForMultipleOrdersAndGetReports
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
@@ -694,16 +699,15 @@ bioyond_dispensing_station:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
type: string
|
||||
deck:
|
||||
type: string
|
||||
protocol_type:
|
||||
type: string
|
||||
required: []
|
||||
required:
|
||||
- config
|
||||
- deck
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
model: {}
|
||||
version: 1.0.0
|
||||
|
||||
78
unilabos/registry/devices/camera.yaml
Normal file
78
unilabos/registry/devices/camera.yaml
Normal file
@@ -0,0 +1,78 @@
|
||||
camera:
|
||||
category:
|
||||
- camera
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-destroy_node:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: destroy_node参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-timer_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: timer_callback参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.ros.nodes.presets.camera:VideoPublisher
|
||||
status_types: {}
|
||||
type: ros2
|
||||
config_info: []
|
||||
description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
camera_index:
|
||||
default: 0
|
||||
type: string
|
||||
device_id:
|
||||
default: video_publisher
|
||||
type: string
|
||||
device_uuid:
|
||||
default: ''
|
||||
type: string
|
||||
period:
|
||||
default: 0.1
|
||||
type: number
|
||||
resource_tracker:
|
||||
type: object
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -18,7 +18,7 @@ cameracontroller_device:
|
||||
goal:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
@@ -42,8 +42,7 @@ cameracontroller_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop参数
|
||||
@@ -51,7 +50,7 @@ cameracontroller_device:
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.cameraSII.cameraUSB:CameraController
|
||||
status_types:
|
||||
status: Dict[str, Any]
|
||||
status: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
|
||||
@@ -104,4 +103,5 @@ cameracontroller_device:
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -141,26 +141,30 @@ hplc.agilent:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -171,6 +175,7 @@ hplc.agilent:
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
status_types:
|
||||
could_run: bool
|
||||
data_file: String
|
||||
device_status: str
|
||||
driver_init_ok: bool
|
||||
finish_status: str
|
||||
@@ -194,6 +199,10 @@ hplc.agilent:
|
||||
properties:
|
||||
could_run:
|
||||
type: boolean
|
||||
data_file:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
device_status:
|
||||
type: string
|
||||
driver_init_ok:
|
||||
@@ -207,13 +216,14 @@ hplc.agilent:
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- could_run
|
||||
- device_status
|
||||
- driver_init_ok
|
||||
- finish_status
|
||||
- is_running
|
||||
- status_text
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- success
|
||||
- finish_status
|
||||
- data_file
|
||||
type: object
|
||||
version: 1.0.0
|
||||
hplc.agilent-zhida:
|
||||
@@ -226,25 +236,26 @@ hplc.agilent-zhida:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -304,18 +315,21 @@ hplc.agilent-zhida:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -327,35 +341,35 @@ hplc.agilent-zhida:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
text: text
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -393,7 +407,7 @@ hplc.agilent-zhida:
|
||||
status:
|
||||
type: object
|
||||
required:
|
||||
- methods
|
||||
- status
|
||||
- methods
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -120,41 +120,42 @@ raman.home_made:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
raman_cmd:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
@@ -19,8 +19,7 @@ separator.chinwe:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect参数
|
||||
@@ -66,145 +65,135 @@ separator.chinwe:
|
||||
required:
|
||||
- command_dict
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: execute_command_from_outer参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_rotate_quarter:
|
||||
feedback: {}
|
||||
goal:
|
||||
direction: 顺时针
|
||||
motor_id: 4
|
||||
speed: 60
|
||||
goal_default:
|
||||
direction: 顺时针
|
||||
motor_id: null
|
||||
speed: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 电机旋转 1/4 圈
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: 顺时针
|
||||
description: 旋转方向
|
||||
enum:
|
||||
- 顺时针
|
||||
- 逆时针
|
||||
type: string
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机 (4:搅拌, 5:旋钮)
|
||||
type: integer
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
type: string
|
||||
speed:
|
||||
default: 60
|
||||
description: 速度 (RPM)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
- speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: motor_rotate_quarter参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_run_continuous:
|
||||
feedback: {}
|
||||
goal:
|
||||
direction: 顺时针
|
||||
motor_id: 4
|
||||
speed: 60
|
||||
goal_default:
|
||||
direction: 顺时针
|
||||
motor_id: null
|
||||
speed: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 电机一直旋转 (速度模式)
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: 顺时针
|
||||
description: 旋转方向
|
||||
enum:
|
||||
- 顺时针
|
||||
- 逆时针
|
||||
type: string
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机 (4:搅拌, 5:旋钮)
|
||||
type: integer
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
type: string
|
||||
speed:
|
||||
default: 60
|
||||
description: 速度 (RPM)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
- speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: motor_run_continuous参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_stop:
|
||||
feedback: {}
|
||||
goal:
|
||||
motor_id: 4
|
||||
goal_default:
|
||||
motor_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 停止指定步进电机
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
title: '注: 4=搅拌, 5=旋钮'
|
||||
type: integer
|
||||
type: string
|
||||
required:
|
||||
- motor_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: motor_stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_aspirate:
|
||||
feedback: {}
|
||||
goal:
|
||||
pump_id: 1
|
||||
valve_port: 1
|
||||
volume: 1000
|
||||
goal_default:
|
||||
pump_id: null
|
||||
valve_port: null
|
||||
volume: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 注射泵吸液
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
valve_port:
|
||||
default: '1'
|
||||
description: 阀门端口
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
volume:
|
||||
default: 1000
|
||||
description: 吸液步数
|
||||
type: integer
|
||||
required:
|
||||
@@ -212,38 +201,41 @@ separator.chinwe:
|
||||
- volume
|
||||
- valve_port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pump_aspirate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_dispense:
|
||||
feedback: {}
|
||||
goal:
|
||||
pump_id: 1
|
||||
valve_port: 1
|
||||
volume: 1000
|
||||
goal_default:
|
||||
pump_id: null
|
||||
valve_port: null
|
||||
volume: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 注射泵排液
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
valve_port:
|
||||
default: '1'
|
||||
description: 阀门端口
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
volume:
|
||||
default: 1000
|
||||
description: 排液步数
|
||||
type: integer
|
||||
required:
|
||||
@@ -251,152 +243,121 @@ separator.chinwe:
|
||||
- volume
|
||||
- valve_port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pump_dispense参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_initialize:
|
||||
feedback: {}
|
||||
goal:
|
||||
drain_port: 0
|
||||
output_port: 0
|
||||
pump_id: 1
|
||||
speed: 10
|
||||
goal_default:
|
||||
drain_port: 0
|
||||
output_port: 0
|
||||
pump_id: null
|
||||
speed: 10
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 初始化指定注射泵
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
drain_port:
|
||||
default: 0
|
||||
description: 排液口索引
|
||||
type: string
|
||||
type: integer
|
||||
output_port:
|
||||
default: 0
|
||||
description: 输出口索引
|
||||
type: string
|
||||
pump_id:
|
||||
description: 选择泵
|
||||
title: '注: 1号泵, 2号泵, 3号泵'
|
||||
type: integer
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
title: '注: 1号泵, 2号泵, 3号泵'
|
||||
type: string
|
||||
speed:
|
||||
default: 10
|
||||
description: 运动速度
|
||||
type: string
|
||||
type: integer
|
||||
required:
|
||||
- pump_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pump_initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_valve:
|
||||
feedback: {}
|
||||
goal:
|
||||
port: 1
|
||||
pump_id: 1
|
||||
goal_default:
|
||||
port: null
|
||||
pump_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 切换指定泵的阀门端口
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
port:
|
||||
default: '1'
|
||||
description: 阀门端口号 (1-8)
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
required:
|
||||
- pump_id
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pump_valve参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_sensor_level:
|
||||
feedback: {}
|
||||
goal:
|
||||
target_state: 有液
|
||||
timeout: 30
|
||||
goal_default:
|
||||
target_state: 有液
|
||||
timeout: 30
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 等待传感器液位条件
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_state:
|
||||
default: 有液
|
||||
description: 目标液位状态
|
||||
enum:
|
||||
- 有液
|
||||
- 无液
|
||||
type: string
|
||||
timeout:
|
||||
default: 30
|
||||
description: 超时时间 (秒)
|
||||
type: integer
|
||||
required: []
|
||||
required:
|
||||
- target_state
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: wait_sensor_level参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_time:
|
||||
feedback: {}
|
||||
goal:
|
||||
duration: 10
|
||||
goal_default:
|
||||
duration: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 等待指定时间
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
duration:
|
||||
default: 10
|
||||
description: 等待时间 (秒)
|
||||
type: integer
|
||||
required:
|
||||
- duration
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: wait_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.separator.chinwe:ChinweDevice
|
||||
status_types:
|
||||
@@ -445,8 +406,8 @@ separator.chinwe:
|
||||
sensor_rssi:
|
||||
type: integer
|
||||
required:
|
||||
- is_connected
|
||||
- sensor_level
|
||||
- sensor_rssi
|
||||
- is_connected
|
||||
type: object
|
||||
version: 2.1.0
|
||||
|
||||
@@ -64,8 +64,7 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: fun_wuliao_test参数
|
||||
@@ -110,8 +109,7 @@ coincellassemblyworkstation_device:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd参数
|
||||
@@ -222,8 +220,7 @@ coincellassemblyworkstation_device:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd_simp参数
|
||||
@@ -312,8 +309,7 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_init_auto_start_combined参数
|
||||
@@ -355,8 +351,7 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_stop参数
|
||||
@@ -381,8 +376,7 @@ coincellassemblyworkstation_device:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_get_msg_cmd参数
|
||||
@@ -411,7 +405,7 @@ coincellassemblyworkstation_device:
|
||||
goal:
|
||||
properties:
|
||||
bottle_num:
|
||||
type: string
|
||||
type: integer
|
||||
required:
|
||||
- bottle_num
|
||||
type: object
|
||||
@@ -436,8 +430,7 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_finished_cmd参数
|
||||
@@ -474,8 +467,7 @@ coincellassemblyworkstation_device:
|
||||
- assembly_type
|
||||
- assembly_pressure
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_msg_cmd参数
|
||||
@@ -619,8 +611,7 @@ coincellassemblyworkstation_device:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_sendbottle_allpack_multi参数
|
||||
@@ -672,6 +663,31 @@ coincellassemblyworkstation_device:
|
||||
title: modify_deck_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-qiming_coin_cell_code:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -719,8 +735,7 @@ coincellassemblyworkstation_device:
|
||||
required:
|
||||
- fujipian_panshu
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: qiming_coin_cell_code参数
|
||||
@@ -811,24 +826,25 @@ coincellassemblyworkstation_device:
|
||||
sys_status:
|
||||
type: string
|
||||
required:
|
||||
- sys_status
|
||||
- sys_mode
|
||||
- request_rec_msg_status
|
||||
- request_send_msg_status
|
||||
- data_assembly_coin_cell_num
|
||||
- data_assembly_pressure
|
||||
- data_assembly_time
|
||||
- data_open_circuit_voltage
|
||||
- data_axis_x_pos
|
||||
- data_axis_y_pos
|
||||
- data_axis_z_pos
|
||||
- data_coin_cell_code
|
||||
- data_coin_num
|
||||
- data_electrolyte_code
|
||||
- data_electrolyte_volume
|
||||
- data_glove_box_o2_content
|
||||
- data_glove_box_pressure
|
||||
- data_glove_box_water_content
|
||||
- data_open_circuit_voltage
|
||||
- data_pole_weight
|
||||
- request_rec_msg_status
|
||||
- request_send_msg_status
|
||||
- sys_mode
|
||||
- sys_status
|
||||
- data_assembly_pressure
|
||||
- data_electrolyte_volume
|
||||
- data_coin_num
|
||||
- data_coin_cell_code
|
||||
- data_electrolyte_code
|
||||
- data_glove_box_pressure
|
||||
- data_glove_box_o2_content
|
||||
- data_glove_box_water_content
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -50,25 +50,26 @@ gas_source.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -81,25 +82,26 @@ gas_source.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -114,31 +116,32 @@ gas_source.mock:
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -229,25 +232,26 @@ vacuum_pump.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -260,25 +264,26 @@ vacuum_pump.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -293,31 +298,32 @@ vacuum_pump.mock:
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user