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@@ -3,7 +3,7 @@
|
|||||||
|
|
||||||
package:
|
package:
|
||||||
name: unilabos
|
name: unilabos
|
||||||
version: 0.10.19
|
version: 0.11.2
|
||||||
|
|
||||||
source:
|
source:
|
||||||
path: ../../unilabos
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path: ../../unilabos
|
||||||
@@ -54,7 +54,7 @@ requirements:
|
|||||||
- pymodbus
|
- pymodbus
|
||||||
- matplotlib
|
- matplotlib
|
||||||
- pylibftdi
|
- pylibftdi
|
||||||
- uni-lab::unilabos-env ==0.10.19
|
- uni-lab::unilabos-env ==0.11.2
|
||||||
|
|
||||||
about:
|
about:
|
||||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||||
|
|||||||
@@ -2,7 +2,7 @@
|
|||||||
|
|
||||||
package:
|
package:
|
||||||
name: unilabos-env
|
name: unilabos-env
|
||||||
version: 0.10.19
|
version: 0.11.2
|
||||||
|
|
||||||
build:
|
build:
|
||||||
noarch: generic
|
noarch: generic
|
||||||
|
|||||||
@@ -3,7 +3,7 @@
|
|||||||
|
|
||||||
package:
|
package:
|
||||||
name: unilabos-full
|
name: unilabos-full
|
||||||
version: 0.10.19
|
version: 0.11.2
|
||||||
|
|
||||||
build:
|
build:
|
||||||
noarch: generic
|
noarch: generic
|
||||||
@@ -11,7 +11,7 @@ build:
|
|||||||
requirements:
|
requirements:
|
||||||
run:
|
run:
|
||||||
# Base unilabos package (includes unilabos-env)
|
# Base unilabos package (includes unilabos-env)
|
||||||
- uni-lab::unilabos ==0.10.19
|
- uni-lab::unilabos ==0.11.2
|
||||||
# Documentation tools
|
# Documentation tools
|
||||||
- sphinx
|
- sphinx
|
||||||
- sphinx_rtd_theme
|
- sphinx_rtd_theme
|
||||||
|
|||||||
@@ -71,6 +71,22 @@ from unilabos.registry.decorators import action
|
|||||||
- `_` 开头的方法 → 不扫描
|
- `_` 开头的方法 → 不扫描
|
||||||
- `@not_action` 标记的方法 → 排除
|
- `@not_action` 标记的方法 → 排除
|
||||||
|
|
||||||
|
### 参数文档 → JSON Schema 元数据
|
||||||
|
|
||||||
|
在 `__init__` 和 action 方法 docstring 的 `Args:` 小节里，使用以下格式生成入参 schema 的显示信息：
|
||||||
|
|
||||||
|
```python
|
||||||
|
"""
|
||||||
|
Args:
|
||||||
|
param[显示名称]: 参数说明，会写入 JSON Schema 的 description。
|
||||||
|
"""
|
||||||
|
```
|
||||||
|
|
||||||
|
- `param[显示名称]` 的显示名称会写入 goal property 的 `title`。
|
||||||
|
- `:` 后面的说明会写入 goal property 的 `description`。
|
||||||
|
- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
|
||||||
|
- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
|
||||||
|
|
||||||
### @topic_config — 状态属性配置
|
### @topic_config — 状态属性配置
|
||||||
|
|
||||||
```python
|
```python
|
||||||
@@ -105,13 +121,27 @@ import logging
|
|||||||
from typing import Any, Dict, Optional
|
from typing import Any, Dict, Optional
|
||||||
|
|
||||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||||
from unilabos.registry.decorators import device, action, topic_config, not_action
|
from unilabos.registry.decorators import action, device, not_action, topic_config
|
||||||
|
|
||||||
@device(id="my_device", category=["my_category"], description="设备描述")
|
@device(
|
||||||
|
id="my_device",
|
||||||
|
category=["my_category"],
|
||||||
|
description="设备描述",
|
||||||
|
display_name="设备显示名",
|
||||||
|
)
|
||||||
class MyDevice:
|
class MyDevice:
|
||||||
|
"""设备类说明。"""
|
||||||
|
|
||||||
_ros_node: BaseROS2DeviceNode
|
_ros_node: BaseROS2DeviceNode
|
||||||
|
|
||||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||||
|
"""
|
||||||
|
初始化设备。
|
||||||
|
|
||||||
|
Args:
|
||||||
|
device_id[设备ID]: 设备实例 ID，默认使用 my_device。
|
||||||
|
config[设备配置]: 设备启动配置。
|
||||||
|
"""
|
||||||
self.device_id = device_id or "my_device"
|
self.device_id = device_id or "my_device"
|
||||||
self.config = config or {}
|
self.config = config or {}
|
||||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||||
@@ -133,7 +163,13 @@ class MyDevice:
|
|||||||
|
|
||||||
@action(description="执行操作")
|
@action(description="执行操作")
|
||||||
def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
|
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"""
|
"""
|
||||||
|
带 @action 装饰器 → 注册为 'my_action' 动作。
|
||||||
|
|
||||||
|
Args:
|
||||||
|
param[操作数值]: 操作使用的数值参数。
|
||||||
|
name[操作名称]: 操作名称或备注。
|
||||||
|
"""
|
||||||
return {"success": True}
|
return {"success": True}
|
||||||
|
|
||||||
def get_info(self) -> Dict[str, Any]:
|
def get_info(self) -> Dict[str, Any]:
|
||||||
|
|||||||
@@ -28,13 +28,14 @@ python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{
|
|||||||
### 2. --addr → BASE URL
|
### 2. --addr → BASE URL
|
||||||
|
|
||||||
| `--addr` 值 | BASE |
|
| `--addr` 值 | BASE |
|
||||||
|-------------|------|
|
| ------------ | ----------------------------------- |
|
||||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||||
| `local` | `http://127.0.0.1:48197` |
|
| `local` | `http://127.0.0.1:48197` |
|
||||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||||
|
|
||||||
确认后设置：
|
确认后设置：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
BASE="<根据 addr 确定的 URL>"
|
BASE="<根据 addr 确定的 URL>"
|
||||||
AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
|
AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
|
||||||
@@ -90,6 +91,7 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
|
|||||||
```
|
```
|
||||||
|
|
||||||
返回成功时包含试剂 UUID：
|
返回成功时包含试剂 UUID：
|
||||||
|
|
||||||
```json
|
```json
|
||||||
{"code": 0, "data": {"uuid": "xxx", ...}}
|
{"code": 0, "data": {"uuid": "xxx", ...}}
|
||||||
```
|
```
|
||||||
@@ -99,7 +101,7 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
|
|||||||
## 试剂字段说明
|
## 试剂字段说明
|
||||||
|
|
||||||
| 字段 | 类型 | 必填 | 说明 | 示例 |
|
| 字段 | 类型 | 必填 | 说明 | 示例 |
|
||||||
|------|------|------|------|------|
|
| ------------------- | ------ | ---- | ----------------------------- | ------------------------ |
|
||||||
| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
|
| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
|
||||||
| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
|
| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
|
||||||
| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
|
| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
|
||||||
@@ -114,7 +116,7 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
|
|||||||
### unit 单位值
|
### unit 单位值
|
||||||
|
|
||||||
| 值 | 单位 |
|
| 值 | 单位 |
|
||||||
|------|------|
|
| ------ | ---- |
|
||||||
| `"mL"` | 毫升 |
|
| `"mL"` | 毫升 |
|
||||||
| `"L"` | 升 |
|
| `"L"` | 升 |
|
||||||
| `"g"` | 克 |
|
| `"g"` | 克 |
|
||||||
@@ -133,8 +135,22 @@ curl -s -X POST "$BASE/api/v1/lab/reagent" \
|
|||||||
|
|
||||||
```json
|
```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"}
|
"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"
|
||||||
|
}
|
||||||
]
|
]
|
||||||
```
|
```
|
||||||
|
|
||||||
@@ -160,9 +176,20 @@ cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_dat
|
|||||||
7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
|
7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
|
||||||
```
|
```
|
||||||
|
|
||||||
|
### 日期格式规则（重要）
|
||||||
|
|
||||||
|
所有日期字段（`production_date`、`expiry_date`）**必须**使用 ISO 8601 完整格式：`YYYY-MM-DDTHH:MM:SSZ`。
|
||||||
|
|
||||||
|
- 用户输入 `2025-03-01` → 转换为 `"2025-03-01T00:00:00Z"`
|
||||||
|
- 用户输入 `2025/9/1` → 转换为 `"2025-09-01T00:00:00Z"`
|
||||||
|
- 用户未提供日期 → 使用当天日期 + `T00:00:00Z`，有效期默认 +1 年
|
||||||
|
|
||||||
|
**禁止**发送不带时间部分的日期字符串（如 `"2025-03-01"`），API 会拒绝。
|
||||||
|
|
||||||
### 执行与汇报
|
### 执行与汇报
|
||||||
|
|
||||||
每次 API 调用后：
|
每次 API 调用后：
|
||||||
|
|
||||||
1. 检查返回 `code`（0 = 成功）
|
1. 检查返回 `code`（0 = 成功）
|
||||||
2. 记录成功/失败数量
|
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」
|
3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
|
||||||
@@ -173,9 +200,10 @@ cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_dat
|
|||||||
## 常见试剂速查表
|
## 常见试剂速查表
|
||||||
|
|
||||||
| 名称 | CAS | 分子式 | SMILES |
|
| 名称 | CAS | 分子式 | SMILES |
|
||||||
|------|-----|--------|--------|
|
| --------------------- | --------- | ---------- | ------------------------------------ |
|
||||||
| 水 | 7732-18-3 | H2O | O |
|
| 水 | 7732-18-3 | H2O | O |
|
||||||
| 乙醇 | 64-17-5 | C2H6O | CCO |
|
| 乙醇 | 64-17-5 | C2H6O | CCO |
|
||||||
|
| 乙酸 | 64-19-7 | C2H4O2 | CC(O)=O |
|
||||||
| 甲醇 | 67-56-1 | CH4O | CO |
|
| 甲醇 | 67-56-1 | CH4O | CO |
|
||||||
| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
|
| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
|
||||||
| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
|
| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
|
||||||
|
|||||||
@@ -1,11 +1,13 @@
|
|||||||
---
|
---
|
||||||
name: batch-submit-experiment
|
name: batch-submit-experiment
|
||||||
description: Batch submit experiments (notebooks) to Uni-Lab platform — list workflows, generate node_params from registry schemas, submit multiple rounds, check notebook status. Use when the user wants to submit experiments, create notebooks, batch run workflows, check experiment status, or mentions 提交实验/批量实验/notebook/实验轮次/实验状态.
|
description: Batch submit experiments (notebooks) to the Uni-Lab cloud platform (leap-lab) — list workflows, generate node_params from registry schemas, submit multiple rounds, check notebook status. Use when the user wants to submit experiments, create notebooks, batch run workflows, check experiment status, or mentions 提交实验/批量实验/notebook/实验轮次/实验状态.
|
||||||
---
|
---
|
||||||
|
|
||||||
# 批量提交实验指南
|
# Uni-Lab 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。
|
通过 Uni-Lab 云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
|
||||||
|
|
||||||
|
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||||
|
|
||||||
## 前置条件（缺一不可）
|
## 前置条件（缺一不可）
|
||||||
|
|
||||||
@@ -18,25 +20,28 @@ description: Batch submit experiments (notebooks) to Uni-Lab platform — list w
|
|||||||
生成 AUTH token（任选一种方式）：
|
生成 AUTH token（任选一种方式）：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 方式一：Python 一行生成
|
# 方式一：Python 一行生成（注意：scheme 是 "Lab" 不是 "Basic"）
|
||||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
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
|
# 方式二：手动计算
|
||||||
# base64(ak:sk) → Authorization: Lab <token>
|
# base64(ak:sk) → Authorization: Lab <token>
|
||||||
|
# ⚠️ 这里的 "Lab" 是 Uni-Lab 平台的 auth scheme，绝对不能用 "Basic" 替代
|
||||||
```
|
```
|
||||||
|
|
||||||
### 2. --addr → BASE URL
|
### 2. --addr → BASE URL
|
||||||
|
|
||||||
| `--addr` 值 | BASE |
|
| `--addr` 值 | BASE |
|
||||||
|-------------|------|
|
| ------------ | ----------------------------------- |
|
||||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||||
| `local` | `http://127.0.0.1:48197` |
|
| `local` | `http://127.0.0.1:48197` |
|
||||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||||
|
|
||||||
确认后设置：
|
确认后设置：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
BASE="<根据 addr 确定的 URL>"
|
BASE="<根据 addr 确定的 URL>"
|
||||||
|
# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||||
```
|
```
|
||||||
|
|
||||||
@@ -44,18 +49,19 @@ AUTH="Authorization: Lab <上面命令输出的 token>"
|
|||||||
|
|
||||||
**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
|
**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：
|
**必须先用 Glob 工具搜索文件**，不要直接猜测路径：
|
||||||
|
|
||||||
```
|
```
|
||||||
<workspace 根目录>/unilabos_data/req_device_registry_upload.json
|
Glob: **/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`
|
常见位置（仅供参考，以 Glob 实际结果为准）：
|
||||||
|
- `<workspace>/unilabos_data/req_device_registry_upload.json`
|
||||||
|
- `<workspace>/req_device_registry_upload.json`
|
||||||
|
|
||||||
找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
|
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`。
|
**如果 Glob 搜索无结果** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
|
||||||
|
|
||||||
### 4. workflow_uuid（目标工作流）
|
### 4. workflow_uuid（目标工作流）
|
||||||
|
|
||||||
@@ -104,9 +110,33 @@ curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
|||||||
curl -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
|
curl -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
|
||||||
```
|
```
|
||||||
|
|
||||||
返回项目列表，展示给用户选择。列出每个项目的 `uuid` 和 `name`。
|
返回：
|
||||||
|
|
||||||
用户**必须**选择一个项目，记住 `project_uuid`，后续创建 notebook 时需要提供。
|
```json
|
||||||
|
{
|
||||||
|
"code": 0,
|
||||||
|
"data": {
|
||||||
|
"items": [
|
||||||
|
{
|
||||||
|
"uuid": "1b3f249a-...",
|
||||||
|
"name": "bt",
|
||||||
|
"description": null,
|
||||||
|
"status": "active",
|
||||||
|
"created_at": "2026-04-09T14:31:28+08:00"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"uuid": "b6366243-...",
|
||||||
|
"name": "default",
|
||||||
|
"description": "默认项目",
|
||||||
|
"status": "active",
|
||||||
|
"created_at": "2026-03-26T11:13:36+08:00"
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
展示 `data.items[]` 中每个项目的 `name` 和 `uuid`，让用户选择。用户**必须**选择一个项目，记住 `project_uuid`（即选中项目的 `uuid`），后续创建 notebook 时需要提供。
|
||||||
|
|
||||||
### 3. 列出可用 workflow
|
### 3. 列出可用 workflow
|
||||||
|
|
||||||
@@ -123,6 +153,7 @@ curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$A
|
|||||||
```
|
```
|
||||||
|
|
||||||
返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
|
返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
|
||||||
|
|
||||||
- 每个 action 节点的 `node_uuid`
|
- 每个 action 节点的 `node_uuid`
|
||||||
- 每个节点对应的设备 ID（`resource_template_name`）
|
- 每个节点对应的设备 ID（`resource_template_name`）
|
||||||
- 每个节点的动作名（`node_template_name`）
|
- 每个节点的动作名（`node_template_name`）
|
||||||
@@ -195,14 +226,14 @@ curl -s -X GET "$BASE/api/v1/lab/notebook/status?uuid=$notebook_uuid" -H "$AUTH"
|
|||||||
### 每轮的字段
|
### 每轮的字段
|
||||||
|
|
||||||
| 字段 | 类型 | 说明 |
|
| 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 `[]` |
|
| `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` | array | 该轮中每个 workflow 节点的参数配置 |
|
||||||
|
|
||||||
### datas 中每个节点
|
### datas 中每个节点
|
||||||
|
|
||||||
| 字段 | 类型 | 说明 |
|
| 字段 | 类型 | 说明 |
|
||||||
|------|------|------|
|
| --------------- | ------ | -------------------------------------------- |
|
||||||
| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #4 获取） |
|
| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #4 获取） |
|
||||||
| `param` | object | 动作参数（根据本地注册表 schema 填写） |
|
| `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` | array | 样品相关参数（液体名、体积等） |
|
||||||
@@ -210,7 +241,7 @@ curl -s -X GET "$BASE/api/v1/lab/notebook/status?uuid=$notebook_uuid" -H "$AUTH"
|
|||||||
### sample_params 中每条
|
### sample_params 中每条
|
||||||
|
|
||||||
| 字段 | 类型 | 说明 |
|
| 字段 | 类型 | 说明 |
|
||||||
|------|------|------|
|
| ---------------- | ------ | ---------------------------------------------------- |
|
||||||
| `container_uuid` | string | 容器 UUID |
|
| `container_uuid` | string | 容器 UUID |
|
||||||
| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
|
| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
|
||||||
|
|
||||||
@@ -233,6 +264,7 @@ python scripts/gen_notebook_params.py \
|
|||||||
> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
|
> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
|
||||||
|
|
||||||
脚本会：
|
脚本会：
|
||||||
|
|
||||||
1. 调用 workflow detail API 获取所有 action 节点
|
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
|
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：
|
3. 生成 `notebook_template.json`，包含：
|
||||||
@@ -270,7 +302,10 @@ python scripts/gen_notebook_params.py \
|
|||||||
"properties": {
|
"properties": {
|
||||||
"goal": {
|
"goal": {
|
||||||
"properties": {
|
"properties": {
|
||||||
"asp_vols": {"type": "array", "items": {"type": "number"}},
|
"asp_vols": {
|
||||||
|
"type": "array",
|
||||||
|
"items": { "type": "number" }
|
||||||
|
},
|
||||||
"sources": { "type": "array" }
|
"sources": { "type": "array" }
|
||||||
},
|
},
|
||||||
"required": ["asp_vols", "sources"]
|
"required": ["asp_vols", "sources"]
|
||||||
|
|||||||
@@ -7,7 +7,7 @@
|
|||||||
|
|
||||||
选项:
|
选项:
|
||||||
--auth <token> Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
|
--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）
|
--base <url> API 基础 URL（如 https://leap-lab.test.bohrium.com）
|
||||||
--workflow-uuid <uuid> 目标 workflow 的 UUID
|
--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）
|
--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）
|
--rounds <n> 实验轮次数（默认 1）
|
||||||
@@ -17,7 +17,7 @@
|
|||||||
示例:
|
示例:
|
||||||
python gen_notebook_params.py \\
|
python gen_notebook_params.py \\
|
||||||
--auth YTFmZDlkNGUtxxxx \\
|
--auth YTFmZDlkNGUtxxxx \\
|
||||||
--base https://uni-lab.test.bohrium.com \\
|
--base https://leap-lab.test.bohrium.com \\
|
||||||
--workflow-uuid abc-123-def \\
|
--workflow-uuid abc-123-def \\
|
||||||
--rounds 2
|
--rounds 2
|
||||||
"""
|
"""
|
||||||
|
|||||||
@@ -41,11 +41,11 @@ python ./scripts/gen_auth.py --config <config.py>
|
|||||||
决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
|
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 |
|
| `--addr` 值 | BASE URL |
|
||||||
|-------------|----------|
|
| -------------- | ----------------------------------- |
|
||||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||||
| `local` | `http://127.0.0.1:48197` |
|
| `local` | `http://127.0.0.1:48197` |
|
||||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||||
| 其他自定义 URL | 直接使用该 URL |
|
| 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）
|
#### 必备项 ③：req_device_registry_upload.json（设备注册表）
|
||||||
@@ -55,7 +55,7 @@ python ./scripts/gen_auth.py --config <config.py>
|
|||||||
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
||||||
|
|
||||||
| 条件 | working_dir 取值 |
|
| 条件 | working_dir 取值 |
|
||||||
|------|------------------|
|
| -------------------- | -------------------------------------------------------- |
|
||||||
| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
|
| 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/` |
|
| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
|
||||||
| 都没传 | `<当前工作目录>/unilabos_data/` |
|
| 都没传 | `<当前工作目录>/unilabos_data/` |
|
||||||
@@ -84,24 +84,6 @@ python ./scripts/gen_auth.py --config <config.py>
|
|||||||
python ./scripts/extract_device_actions.py --registry <找到的文件路径>
|
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。**
|
**四项全部就绪后才进入 Step 1。**
|
||||||
|
|
||||||
### Step 1 — 列出可用设备
|
### Step 1 — 列出可用设备
|
||||||
@@ -129,6 +111,7 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
|||||||
脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
|
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：
|
每个 action 生成一个 JSON 文件，包含：
|
||||||
|
|
||||||
- `type` — 作为 API 调用的 `action_type`
|
- `type` — 作为 API 调用的 `action_type`
|
||||||
- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
|
- `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` — goal 字段映射（含占位符 `$placeholder`）
|
||||||
@@ -136,13 +119,14 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
|||||||
|
|
||||||
### Step 3 — 写 action-index.md
|
### Step 3 — 写 action-index.md
|
||||||
|
|
||||||
按模板为每个 action 写条目：
|
按模板为每个 action 写条目（**必须包含 `action_type`**）：
|
||||||
|
|
||||||
```markdown
|
```markdown
|
||||||
### `<action_name>`
|
### `<action_name>`
|
||||||
|
|
||||||
<用途描述（一句话）>
|
<用途描述（一句话）>
|
||||||
|
|
||||||
|
- **action_type**: `<从 actions/<name>.json 的 type 字段获取>`
|
||||||
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
|
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
|
||||||
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
|
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
|
||||||
- **可选参数**: `param3`, `param4`
|
- **可选参数**: `param3`, `param4`
|
||||||
@@ -150,6 +134,8 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
|||||||
```
|
```
|
||||||
|
|
||||||
描述规则：
|
描述规则：
|
||||||
|
|
||||||
|
- **每个 action 必须标注 `action_type`**（从 JSON 的 `type` 字段读取），这是 API #9 调用时的必填参数，传错会导致任务永远卡住
|
||||||
- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
|
- 从 `schema.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
|
- 从 `schema.required` 区分核心/可选参数
|
||||||
- 按功能分类（移液、枪头、外设等）
|
- 按功能分类（移液、枪头、外设等）
|
||||||
@@ -165,6 +151,7 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
|||||||
### Step 4 — 写 SKILL.md
|
### Step 4 — 写 SKILL.md
|
||||||
|
|
||||||
直接复用 `unilab-device-api` 的 API 模板，修改：
|
直接复用 `unilab-device-api` 的 API 模板，修改：
|
||||||
|
|
||||||
- 设备名称
|
- 设备名称
|
||||||
- Action 数量
|
- Action 数量
|
||||||
- 目录列表
|
- 目录列表
|
||||||
@@ -172,42 +159,77 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
|||||||
- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
|
- **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
|
- **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）
|
- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
|
||||||
|
- **action_type 速查表** — 在 API #9 说明后面紧跟一个表格，列出每个 action 对应的 `action_type` 值（从 JSON `type` 字段提取），方便 agent 快速查找而无需打开 JSON 文件
|
||||||
|
|
||||||
API 模板结构：
|
API 模板结构：
|
||||||
|
|
||||||
```markdown
|
```markdown
|
||||||
## 设备信息
|
## 设备信息
|
||||||
|
|
||||||
- device_id, Python 源码路径, 设备类名
|
- device_id, Python 源码路径, 设备类名
|
||||||
|
|
||||||
## 前置条件（缺一不可）
|
## 前置条件（缺一不可）
|
||||||
|
|
||||||
- ak/sk → AUTH, --addr → BASE URL
|
- ak/sk → AUTH, --addr → BASE URL
|
||||||
|
|
||||||
## 请求约定
|
## 请求约定
|
||||||
|
|
||||||
- Windows 平台必须用 curl.exe（非 PowerShell 的 curl 别名）
|
- Windows 平台必须用 curl.exe（非 PowerShell 的 curl 别名）
|
||||||
|
|
||||||
## Session State
|
## Session State
|
||||||
|
|
||||||
- lab_uuid（通过 GET /edge/lab/info 直接获取，不要问用户）, device_name
|
- lab_uuid（通过 GET /edge/lab/info 直接获取，不要问用户）, device_name
|
||||||
|
|
||||||
## API Endpoints
|
## API Endpoints
|
||||||
|
|
||||||
# - #1 GET /edge/lab/info → 直接拿到 lab_uuid
|
# - #1 GET /edge/lab/info → 直接拿到 lab_uuid
|
||||||
|
|
||||||
# - #2 创建工作流 POST /lab/workflow/owner → 拼 URL 告知用户
|
# - #2 创建工作流 POST /lab/workflow/owner → 拼 URL 告知用户
|
||||||
|
|
||||||
# - #3 创建节点 POST /edge/workflow/node
|
# - #3 创建节点 POST /edge/workflow/node
|
||||||
|
|
||||||
# body: {workflow_uuid, resource_template_name: "<device_id>", node_template_name: "<action_name>"}
|
# body: {workflow_uuid, resource_template_name: "<device_id>", node_template_name: "<action_name>"}
|
||||||
|
|
||||||
# - #4 删除节点 DELETE /lab/workflow/nodes
|
# - #4 删除节点 DELETE /lab/workflow/nodes
|
||||||
|
|
||||||
# - #5 更新节点参数 PATCH /lab/workflow/node
|
# - #5 更新节点参数 PATCH /lab/workflow/node
|
||||||
|
|
||||||
# - #6 查询节点 handles POST /lab/workflow/node-handles
|
# - #6 查询节点 handles POST /lab/workflow/node-handles
|
||||||
|
|
||||||
# body: {node_uuids: ["uuid1","uuid2"]} → 返回各节点的 handle_uuid
|
# body: {node_uuids: ["uuid1","uuid2"]} → 返回各节点的 handle_uuid
|
||||||
|
|
||||||
# - #7 批量创建边 POST /lab/workflow/edges
|
# - #7 批量创建边 POST /lab/workflow/edges
|
||||||
|
|
||||||
# body: {edges: [{source_node_uuid, target_node_uuid, source_handle_uuid, target_handle_uuid}]}
|
# body: {edges: [{source_node_uuid, target_node_uuid, source_handle_uuid, target_handle_uuid}]}
|
||||||
|
|
||||||
# - #8 启动工作流 POST /lab/workflow/{uuid}/run
|
# - #8 启动工作流 POST /lab/workflow/{uuid}/run
|
||||||
# - #9 运行设备单动作 POST /lab/mcp/run/action
|
|
||||||
|
# - #9 运行设备单动作 POST /lab/mcp/run/action（⚠️ action_type 必须从 action-index.md 或 actions/<name>.json 的 type 字段获取，传错会导致任务永远卡住）
|
||||||
|
|
||||||
# - #10 查询任务状态 GET /lab/mcp/task/{task_uuid}
|
# - #10 查询任务状态 GET /lab/mcp/task/{task_uuid}
|
||||||
|
|
||||||
# - #11 运行工作流单节点 POST /lab/mcp/run/workflow/action
|
# - #11 运行工作流单节点 POST /lab/mcp/run/workflow/action
|
||||||
|
|
||||||
# - #12 获取资源树 GET /lab/material/download/{lab_uuid}
|
# - #12 获取资源树 GET /lab/material/download/{lab_uuid}
|
||||||
|
|
||||||
# - #13 获取工作流模板详情 GET /lab/workflow/template/detail/{workflow_uuid}
|
# - #13 获取工作流模板详情 GET /lab/workflow/template/detail/{workflow_uuid}
|
||||||
|
|
||||||
# 返回 workflow 完整结构：data.nodes[] 含每个节点的 uuid、name、param、device_name、handles
|
# 返回 workflow 完整结构：data.nodes[] 含每个节点的 uuid、name、param、device_name、handles
|
||||||
|
|
||||||
|
# - #14 按名称查询物料模板 GET /lab/material/template/by-name?lab_uuid=&name=
|
||||||
|
|
||||||
|
# 返回 res_template_uuid，用于 #15 创建物料时的必填字段
|
||||||
|
|
||||||
|
# - #15 创建物料节点 POST /edge/material/node
|
||||||
|
|
||||||
|
# body: {res_template_uuid(从#14获取), name(自定义), display_name, parent_uuid?(从#12获取), ...}
|
||||||
|
|
||||||
|
# - #16 更新物料节点 PUT /edge/material/node
|
||||||
|
|
||||||
|
# body: {uuid(从#12获取), display_name?, description?, init_param_data?, data?, ...}
|
||||||
|
|
||||||
## Placeholder Slot 填写规则
|
## Placeholder Slot 填写规则
|
||||||
|
|
||||||
- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
|
- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
|
||||||
- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
|
- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
|
||||||
- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
|
- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
|
||||||
@@ -217,13 +239,15 @@ API 模板结构：
|
|||||||
- 列出本设备所有 Slot 字段、类型及含义
|
- 列出本设备所有 Slot 字段、类型及含义
|
||||||
|
|
||||||
## 渐进加载策略
|
## 渐进加载策略
|
||||||
|
|
||||||
## 完整工作流 Checklist
|
## 完整工作流 Checklist
|
||||||
```
|
```
|
||||||
|
|
||||||
### Step 5 — 验证
|
### Step 5 — 验证
|
||||||
|
|
||||||
检查文件完整性：
|
检查文件完整性：
|
||||||
- [ ] `SKILL.md` 包含 API endpoint（#1 获取 lab_uuid、#2-#7 工作流/节点/边、#8-#11 运行/查询、#12 资源树、#13 工作流模板详情）
|
|
||||||
|
- [ ] `SKILL.md` 包含 API endpoint（#1 获取 lab_uuid、#2-#7 工作流/节点/边、#8-#11 运行/查询、#12 资源树、#13 工作流模板详情、#14-#16 物料管理）
|
||||||
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot / FormulationSlot + create_resource 特例）和本设备的 Slot 字段表
|
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot / FormulationSlot + 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
|
- [ ] `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
|
- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
|
||||||
@@ -273,7 +297,7 @@ API 模板结构：
|
|||||||
`placeholder_keys` / `_unilabos_placeholder_info` 中有 5 种值，对应不同的填写方式：
|
`placeholder_keys` / `_unilabos_placeholder_info` 中有 5 种值，对应不同的填写方式：
|
||||||
|
|
||||||
| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
|
| 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_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_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_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
|
||||||
@@ -284,80 +308,36 @@ API 模板结构：
|
|||||||
|
|
||||||
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）：
|
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
|
- 单个：`{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-..."}`
|
||||||
{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
|
- 数组：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
|
||||||
```
|
- `id` 从 parent 计算的路径格式，根据 action 语义选择正确的物料
|
||||||
|
|
||||||
- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
|
> **特例**：`create_resource` 的 `res_id`，目标物料可能尚不存在，直接填期望路径，不需要 uuid。
|
||||||
- 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 / NodeSlot / ClassSlot
|
||||||
|
|
||||||
### DeviceSlot（`unilabos_devices`）
|
- **DeviceSlot**（`unilabos_devices`）：路径字符串如 `"/host_node"`，仅 type=device 的节点
|
||||||
|
- **NodeSlot**（`unilabos_nodes`）：路径字符串如 `"/PRCXI/PRCXI_Deck"`，设备 + 物料均可选
|
||||||
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：
|
- **ClassSlot**（`unilabos_class`）：类名字符串如 `"container"`，从 `req_resource_registry_upload.json` 查找
|
||||||
|
|
||||||
```
|
|
||||||
"/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"
|
|
||||||
```
|
|
||||||
|
|
||||||
### FormulationSlot（`unilabos_formulation`）
|
### FormulationSlot（`unilabos_formulation`）
|
||||||
|
|
||||||
描述**液体配方**：向哪些物料容器中加入哪些液体及体积。填写为**对象数组**：
|
描述**液体配方**：向哪些容器中加入哪些液体及体积。
|
||||||
|
|
||||||
```json
|
```json
|
||||||
[
|
[
|
||||||
{
|
{
|
||||||
"sample_uuid": "",
|
"sample_uuid": "",
|
||||||
"well_name": "YB_PrepBottle_15mL_Carrier_bottle_A1",
|
"well_name": "bottle_A1",
|
||||||
"liquids": [
|
"liquids": [{ "name": "LiPF6", "volume": 0.6 }]
|
||||||
{ "name": "LiPF6", "volume": 0.6 },
|
|
||||||
{ "name": "DMC", "volume": 1.2 }
|
|
||||||
]
|
|
||||||
}
|
}
|
||||||
]
|
]
|
||||||
```
|
```
|
||||||
|
|
||||||
#### 字段说明
|
- `well_name` — 目标物料的 **name**（从资源树取，不是 `id` 路径）
|
||||||
|
- `liquids[]` — 液体列表，每条含 `name`（试剂名）和 `volume`（体积，单位由上下文决定；pylabrobot 内部统一 uL）
|
||||||
| 字段 | 类型 | 说明 |
|
- `sample_uuid` — 样品 UUID，无样品传 `""`
|
||||||
|------|------|------|
|
- 与 ResourceSlot 的区别：ResourceSlot 指向物料本身，FormulationSlot 引用物料名并附带配方信息
|
||||||
| `sample_uuid` | string | 样品 UUID，无样品时传空字符串 `""` |
|
|
||||||
| `well_name` | string | 目标物料容器的 **name**（从资源树中取物料节点的 `name` 字段，如瓶子、孔位名称） |
|
|
||||||
| `liquids` | array | 要加入的液体列表 |
|
|
||||||
| `liquids[].name` | string | 液体名称（如试剂名、溶剂名） |
|
|
||||||
| `liquids[].volume` | number | 液体体积（单位由设备决定，通常为 mL） |
|
|
||||||
|
|
||||||
#### 填写规则
|
|
||||||
|
|
||||||
- `well_name` 必须是资源树中已存在的物料节点 `name`（不是 `id` 路径），通过 API #12 获取资源树后筛选
|
|
||||||
- 每个数组元素代表一个目标容器的配方
|
|
||||||
- 一个容器可以加入多种液体（`liquids` 数组多条记录）
|
|
||||||
- 与 ResourceSlot 的区别：ResourceSlot 填 `{id, name, uuid}` 指向物料本身；FormulationSlot 用 `well_name` 引用物料，并附带液体配方信息
|
|
||||||
|
|
||||||
### 通过 API #12 获取资源树
|
### 通过 API #12 获取资源树
|
||||||
|
|
||||||
@@ -365,7 +345,147 @@ API 模板结构：
|
|||||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||||
```
|
```
|
||||||
|
|
||||||
注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
|
注意 `lab_uuid` 在路径中（不是查询参数）。返回结构：
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"code": 0,
|
||||||
|
"data": {
|
||||||
|
"nodes": [
|
||||||
|
{"name": "host_node", "uuid": "c3ec1e68-...", "type": "device", "parent": ""},
|
||||||
|
{"name": "PRCXI", "uuid": "e249c9a6-...", "type": "device", "parent": ""},
|
||||||
|
{"name": "PRCXI_Deck", "uuid": "fb6a8b71-...", "type": "deck", "parent": "PRCXI"}
|
||||||
|
],
|
||||||
|
"edges": [...]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
- `data.nodes[]` — 所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`
|
||||||
|
- `type` 区分设备（`device`）和物料（`deck`、`container`、`resource` 等）
|
||||||
|
- `parent` 为父节点名称（空字符串表示顶级）
|
||||||
|
- 填写 Slot 时根据 placeholder 类型筛选：ResourceSlot 取非 device 节点，DeviceSlot 取 device 节点
|
||||||
|
- 创建/更新物料时：`parent_uuid` 取父节点的 `uuid`，更新目标的 `uuid` 取节点自身的 `uuid`
|
||||||
|
|
||||||
|
## 物料管理 API
|
||||||
|
|
||||||
|
设备 Skill 除了设备动作外，还需支持物料节点的创建和参数设定，用于在资源树中动态管理物料。
|
||||||
|
|
||||||
|
典型流程：先通过 **#14 按名称查询模板** 获取 `res_template_uuid` → 再通过 **#15 创建物料** → 之后可通过 **#16 更新物料** 修改属性。更新时需要的 `uuid` 和 `parent_uuid` 均从 **#12 资源树下载** 获取。
|
||||||
|
|
||||||
|
### API #14 — 按名称查询物料模板
|
||||||
|
|
||||||
|
创建物料前，需要先获取物料模板的 UUID。通过模板名称查询：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
| 参数 | 必填 | 说明 |
|
||||||
|
| ---------- | ------ | -------------------------------- |
|
||||||
|
| `lab_uuid` | **是** | 实验室 UUID（从 API #1 获取） |
|
||||||
|
| `name` | **是** | 物料模板名称（如 `"container"`） |
|
||||||
|
|
||||||
|
返回 `code: 0` 时，**`data.uuid`** 即为 `res_template_uuid`，用于 API #15 创建物料。返回还包含 `name`、`resource_type`、`handles`、`config_infos` 等模板元信息。
|
||||||
|
|
||||||
|
模板不存在时返回 `code: 10002`，`data` 为空对象。模板名称来自资源注册表中已注册的资源类型。
|
||||||
|
|
||||||
|
### API #15 — 创建物料节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '<request_body>'
|
||||||
|
```
|
||||||
|
|
||||||
|
请求体：
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"res_template_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||||
|
"name": "my_custom_bottle",
|
||||||
|
"display_name": "自定义瓶子",
|
||||||
|
"parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||||
|
"type": "",
|
||||||
|
"init_param_data": {},
|
||||||
|
"schema": {},
|
||||||
|
"data": {
|
||||||
|
"liquids": [["water", 1000, "uL"]],
|
||||||
|
"max_volume": 50000
|
||||||
|
},
|
||||||
|
"plate_well_datas": {},
|
||||||
|
"plate_reagent_datas": {},
|
||||||
|
"pose": {},
|
||||||
|
"model": {}
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
| 字段 | 必填 | 类型 | 数据来源 | 说明 |
|
||||||
|
| --------------------- | ------ | ------------- | ----------------------------------- | -------------------------------------- |
|
||||||
|
| `res_template_uuid` | **是** | string (UUID) | **API #14** 按名称查询获取 | 物料模板 UUID |
|
||||||
|
| `name` | 否 | string | **用户自定义** | 节点名称（标识符），可自由命名 |
|
||||||
|
| `display_name` | 否 | string | 用户自定义 | 显示名称（UI 展示用） |
|
||||||
|
| `parent_uuid` | 否 | string (UUID) | **API #12** 资源树中父节点的 `uuid` | 父节点，为空则创建顶级节点 |
|
||||||
|
| `type` | 否 | string | 从模板继承 | 节点类型 |
|
||||||
|
| `init_param_data` | 否 | object | 用户指定 | 初始化参数，覆盖模板默认值 |
|
||||||
|
| `data` | 否 | object | 用户指定 | 节点数据，container 见下方 data 格式 |
|
||||||
|
| `plate_well_datas` | 否 | object | 用户指定 | 孔板子节点数据（创建带孔位的板时使用） |
|
||||||
|
| `plate_reagent_datas` | 否 | object | 用户指定 | 试剂关联数据 |
|
||||||
|
| `schema` | 否 | object | 从模板继承 | 自定义 schema，不传则从模板继承 |
|
||||||
|
| `pose` | 否 | object | 用户指定 | 位姿信息 |
|
||||||
|
| `model` | 否 | object | 用户指定 | 3D 模型信息 |
|
||||||
|
|
||||||
|
#### container 的 `data` 格式
|
||||||
|
|
||||||
|
> **体积单位统一为 uL（微升）**。pylabrobot 体系中所有体积值（`max_volume`、`liquids` 中的 volume）均为 uL。外部如果是 mL 需乘 1000 转换。
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"liquids": [["water", 1000, "uL"], ["ethanol", 500, "uL"]],
|
||||||
|
"max_volume": 50000
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
- `liquids` — 液体列表，每条为 `[液体名称, 体积(uL), 单位字符串]`
|
||||||
|
- `max_volume` — 容器最大容量（uL），如 50 mL = 50000 uL
|
||||||
|
|
||||||
|
### API #16 — 更新物料节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '<request_body>'
|
||||||
|
```
|
||||||
|
|
||||||
|
请求体：
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||||
|
"parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||||
|
"display_name": "新显示名称",
|
||||||
|
"description": "新描述",
|
||||||
|
"init_param_data": {},
|
||||||
|
"data": {},
|
||||||
|
"pose": {},
|
||||||
|
"schema": {},
|
||||||
|
"extra": {}
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
| 字段 | 必填 | 类型 | 数据来源 | 说明 |
|
||||||
|
| ----------------- | ------ | ------------- | ------------------------------------- | ---------------- |
|
||||||
|
| `uuid` | **是** | string (UUID) | **API #12** 资源树中目标节点的 `uuid` | 要更新的物料节点 |
|
||||||
|
| `parent_uuid` | 否 | string (UUID) | API #12 资源树 | 移动到新父节点 |
|
||||||
|
| `display_name` | 否 | string | 用户指定 | 更新显示名称 |
|
||||||
|
| `description` | 否 | string | 用户指定 | 更新描述 |
|
||||||
|
| `init_param_data` | 否 | object | 用户指定 | 更新初始化参数 |
|
||||||
|
| `data` | 否 | object | 用户指定 | 更新节点数据 |
|
||||||
|
| `pose` | 否 | object | 用户指定 | 更新位姿 |
|
||||||
|
| `schema` | 否 | object | 用户指定 | 更新 schema |
|
||||||
|
| `extra` | 否 | object | 用户指定 | 更新扩展数据 |
|
||||||
|
|
||||||
|
> 只传需要更新的字段，未传的字段保持不变。
|
||||||
|
|
||||||
## 最终目录结构
|
## 最终目录结构
|
||||||
|
|
||||||
|
|||||||
450
.cursor/skills/filter-workflow-by-tags/SKILL.md
Normal file
450
.cursor/skills/filter-workflow-by-tags/SKILL.md
Normal file
@@ -0,0 +1,450 @@
|
|||||||
|
---
|
||||||
|
name: filter-workflow-by-tags
|
||||||
|
description: Query backend workflow list, aggregate all tags, and filter workflows by domain/scenario requirements using tags. Use when the user wants to search workflows, find workflows by tags, list available workflow tags, filter workflows by category/domain/scenario, or mentions 工作流筛选/标签查询/workflow tags/按领域查找工作流.
|
||||||
|
---
|
||||||
|
# Uni-Lab 工作流标签筛选指南
|
||||||
|
|
||||||
|
通过 Uni-Lab 云端 API 查询工作流列表，汇总所有可用标签（tags），并根据领域和场景要求筛选工作流。
|
||||||
|
|
||||||
|
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||||
|
|
||||||
|
## 使用模式识别
|
||||||
|
|
||||||
|
**用户可能一开始就给出场景目标**（如"我要做有机合成实验"、"找柱层析相关的 protocol"）。此时：
|
||||||
|
|
||||||
|
1. **识别场景关键词** → 映射到可能的 tags（如 synthesis、organic、chromatography、purification）
|
||||||
|
2. **直接执行完整流程**（获取 ak/sk/addr → 拉取所有工作流 → 汇总 tags → 按场景筛选）
|
||||||
|
3. **展示筛选结果** → 引导用户从候选 workflow 中**选择明确的实验 protocol**
|
||||||
|
4. **如果用户确认某个 workflow** → 记录 `workflow_uuid`，准备对接“与其他 Skill 的协作”
|
||||||
|
|
||||||
|
**如果用户未给场景目标**，则按标准 checklist 询问筛选条件。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 前置条件
|
||||||
|
|
||||||
|
使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||||
|
|
||||||
|
### 1. ak / sk → AUTH
|
||||||
|
|
||||||
|
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||||
|
|
||||||
|
生成 AUTH token：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||||
|
```
|
||||||
|
|
||||||
|
### 2. --addr → BASE URL
|
||||||
|
|
||||||
|
| `--addr` 值 | BASE |
|
||||||
|
| ------------- | ------------------------------------- |
|
||||||
|
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||||
|
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||||
|
| `local` | `http://127.0.0.1:48197` |
|
||||||
|
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||||
|
|
||||||
|
确认后设置：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
BASE="<根据 addr 确定的 URL>"
|
||||||
|
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||||
|
```
|
||||||
|
|
||||||
|
### 3. lab_uuid（实验室 UUID）
|
||||||
|
|
||||||
|
如果用户未提供 `lab_uuid`，通过以下 API 自动获取：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
返回 `data.uuid` 即为 `lab_uuid`。
|
||||||
|
|
||||||
|
**三项全部就绪后才可开始。**
|
||||||
|
|
||||||
|
## Session State
|
||||||
|
|
||||||
|
在整个对话过程中，agent 需要记住以下状态：
|
||||||
|
|
||||||
|
- `lab_uuid` — 实验室 UUID
|
||||||
|
- `all_workflows` — 完整工作流列表（分页获取后缓存到内存或临时文件）
|
||||||
|
- `all_tags` — 所有工作流的标签汇总
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## API 端点
|
||||||
|
|
||||||
|
### 查询工作流列表（支持分页）
|
||||||
|
|
||||||
|
```
|
||||||
|
GET $BASE/api/v1/lab/workflow/owner/list?page=<page>&page_size=<page_size>&lab_uuid=$lab_uuid
|
||||||
|
```
|
||||||
|
|
||||||
|
**参数：**
|
||||||
|
|
||||||
|
- `page` — 页码，从 1 开始
|
||||||
|
- `page_size` — 每页数量，建议 1000
|
||||||
|
- `lab_uuid` — 实验室 UUID
|
||||||
|
|
||||||
|
**返回结构：**
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"code": 0,
|
||||||
|
"data": {
|
||||||
|
"has_more": true,
|
||||||
|
"data": [
|
||||||
|
{
|
||||||
|
"uuid": "9661bba2-1b9f-4687-a63d-910245df174b",
|
||||||
|
"name": "Untitled",
|
||||||
|
"description": "",
|
||||||
|
"user_id": "114211",
|
||||||
|
"published": false,
|
||||||
|
"tags": null
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"uuid": "e0436638-190b-46bc-b1a1-2711d9602f6a",
|
||||||
|
"name": "Synthesis v2",
|
||||||
|
"user_id": "114211",
|
||||||
|
"published": true,
|
||||||
|
"tags": ["synthesis", "organic"]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
**字段说明：**
|
||||||
|
|
||||||
|
- `has_more` — 若为 `true`，需要继续请求 `page+1`
|
||||||
|
- `tags` — 可能为 `null`、空数组或字符串数组；聚合时必须容忍 `null`
|
||||||
|
|
||||||
|
### 启动工作流（直接运行）
|
||||||
|
|
||||||
|
```
|
||||||
|
POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run
|
||||||
|
```
|
||||||
|
|
||||||
|
**用途：** 直接启动一个 workflow 的默认执行（使用模板中预设的参数），无需创建 notebook。适用于快速测试或无参数变化的重复执行。
|
||||||
|
|
||||||
|
**请求体：** 空 JSON `{}` 或省略
|
||||||
|
|
||||||
|
**返回：**
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"code": 0,
|
||||||
|
"data": "<run_uuid>"
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
- `run_uuid` — 本次执行的唯一标识（不是 notebook UUID）
|
||||||
|
|
||||||
|
**注意：**
|
||||||
|
|
||||||
|
- 该接口会使用 workflow 模板中保存的默认参数直接执行
|
||||||
|
- 如果 workflow 需要动态参数（如 CSV 路径、样品 UUID），应使用 `POST /lab/notebook` 创建 notebook 并传入 `node_params`
|
||||||
|
- 返回的 `run_uuid` 可直接传入下方「查询任务状态」接口查询实时进度
|
||||||
|
|
||||||
|
### 查询任务状态
|
||||||
|
|
||||||
|
```
|
||||||
|
GET $BASE/api/v1/lab/mcp/task/<task_uuid>
|
||||||
|
```
|
||||||
|
|
||||||
|
**用途：** 查询由 `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`（即 task_uuid）的实时执行状态，包括整体状态和每个节点（JOS：Job On Station）的执行详情。
|
||||||
|
|
||||||
|
**路径参数：**
|
||||||
|
|
||||||
|
- `task_uuid` — 等同于启动工作流接口返回的 `run_uuid`
|
||||||
|
|
||||||
|
**返回：**
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"code": 0,
|
||||||
|
"data": {
|
||||||
|
"status": "running",
|
||||||
|
"jos_status": [
|
||||||
|
{
|
||||||
|
"uuid": "d0e24bfe-8d99-450e-b19d-f25849dfbaad",
|
||||||
|
"node_name": "PRCXI_BioER_96_wellplate_slot_1",
|
||||||
|
"action_name": "create_resource",
|
||||||
|
"status": "success",
|
||||||
|
"return_info": {
|
||||||
|
"suc": true,
|
||||||
|
"error": "",
|
||||||
|
"return_value": { ... }
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"uuid": "...",
|
||||||
|
"node_name": "...",
|
||||||
|
"action_name": "transfer_liquid",
|
||||||
|
"status": "pending",
|
||||||
|
"return_info": null
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
**字段说明：**
|
||||||
|
|
||||||
|
- `data.status` — 整体任务状态
|
||||||
|
- `running` — 正在执行（至少一个节点 pending 或 running）
|
||||||
|
- `success` — 全部节点成功
|
||||||
|
- `failed` — 有节点失败
|
||||||
|
- `data.jos_status[]` — 节点级执行列表（按执行顺序）
|
||||||
|
- `uuid` — 节点执行实例 UUID
|
||||||
|
- `node_name` — 节点名称（资源/设备名或工位名）
|
||||||
|
- `action_name` — 动作类型（`create_resource`、`transfer_liquid`、`centrifuge`、等）
|
||||||
|
- `status` — 节点状态：`success`、`pending`、`running`、`failed`
|
||||||
|
- `return_info` — 执行返回，失败时 `suc=false` 且 `error` 有错误信息
|
||||||
|
|
||||||
|
**注意：**
|
||||||
|
|
||||||
|
- 此接口的 `task_uuid` **是** `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`，二者为同一个 ID 的不同称呼
|
||||||
|
- **不要**把 notebook UUID（`POST /lab/notebook` 返回）传进来——那条路径用 `GET /lab/notebook/status` 查询
|
||||||
|
- `jos_status` 数组按节点执行顺序给出；从 pending 数量可以估算剩余进度
|
||||||
|
- 返回体可能较大（`return_info.return_value` 中可能包含完整 resource tree），可在脚本中只提取 `status` + `node_name` + `action_name` 做摘要
|
||||||
|
|
||||||
|
**状态轮询示例：**
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 每 5 秒轮询一次直至完成
|
||||||
|
TASK="b183d97e-d2b5-4b24-b14b-820df04d87c0"
|
||||||
|
while :; do
|
||||||
|
st=$(curl -s -X GET "$BASE/api/v1/lab/mcp/task/$TASK" -H "$AUTH" \
|
||||||
|
| python3 -c "import json,sys; d=json.load(sys.stdin)['data']; \
|
||||||
|
print(d['status'], '|', sum(1 for j in d['jos_status'] if j['status']=='success'), '/', len(d['jos_status']))")
|
||||||
|
echo "$(date +%H:%M:%S) $st"
|
||||||
|
[[ "$st" == success* || "$st" == failed* ]] && break
|
||||||
|
sleep 5
|
||||||
|
done
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 完整工作流 Checklist
|
||||||
|
|
||||||
|
```
|
||||||
|
Task Progress:
|
||||||
|
- [ ] Step 0: 识别用户是否已给出场景目标（如"有机合成"、"柱层析"）
|
||||||
|
- 若已给出 → 记录场景关键词，自动进入后续步骤
|
||||||
|
- 若未给出 → 在 Step 6 询问用户
|
||||||
|
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||||
|
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||||
|
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid（如用户未提供）
|
||||||
|
- [ ] Step 4: 分页获取所有工作流（从 page=1 开始直到 has_more=false）
|
||||||
|
- [ ] Step 5: 汇总所有非空 tags → 生成 all_tags（去重、排序、附出现次数）
|
||||||
|
- [ ] Step 6: 根据场景关键词（Step 0 或新询问）在 all_tags 中做语义映射 → 确定候选 tags
|
||||||
|
- 若语义映射不唯一，列出候选 tags 让用户确认
|
||||||
|
- [ ] Step 7: 按候选 tags 筛选工作流（默认 any 模式，召回优先）
|
||||||
|
- [ ] Step 8: 展示筛选结果（uuid、name、description、tags、published）
|
||||||
|
- [ ] Step 9: 引导用户从结果中选择**明确的实验 protocol**
|
||||||
|
- 若结果只有 1 条 → 直接确认该 workflow_uuid
|
||||||
|
- 若结果 2–10 条 → 让用户按编号选择
|
||||||
|
- 若结果过多 → 提示收紧条件（加 tag、切换 all 模式、仅 published）
|
||||||
|
- 若结果为空 → 放宽条件（去掉最稀有 tag）或提示用户换关键词
|
||||||
|
- [ ] Step 10: 记录用户选中的 workflow_uuid，并提示提交实验或查看详情
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 推荐路径：使用脚本
|
||||||
|
|
||||||
|
同目录下提供 `scripts/filter_workflows.py`，一次完成分页抓取、标签聚合与筛选：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 1. 仅汇总标签（不筛选）
|
||||||
|
python scripts/filter_workflows.py \
|
||||||
|
--auth "<Lab base64token>" \
|
||||||
|
--base "$BASE" \
|
||||||
|
--lab-uuid "$lab_uuid" \
|
||||||
|
--summary-only
|
||||||
|
|
||||||
|
# 2. 按标签筛选（ANY 模式：包含任一）
|
||||||
|
python scripts/filter_workflows.py \
|
||||||
|
--auth "<Lab base64token>" \
|
||||||
|
--base "$BASE" \
|
||||||
|
--lab-uuid "$lab_uuid" \
|
||||||
|
--tags synthesis organic \
|
||||||
|
--mode any
|
||||||
|
|
||||||
|
# 3. 按标签筛选（ALL 模式：必须同时包含）
|
||||||
|
python scripts/filter_workflows.py \
|
||||||
|
--auth "<Lab base64token>" \
|
||||||
|
--base "$BASE" \
|
||||||
|
--lab-uuid "$lab_uuid" \
|
||||||
|
--tags synthesis organic \
|
||||||
|
--mode all \
|
||||||
|
--output filtered.json
|
||||||
|
|
||||||
|
# 4. 仅筛选已发布
|
||||||
|
python scripts/filter_workflows.py \
|
||||||
|
--auth "<Lab base64token>" \
|
||||||
|
--base "$BASE" \
|
||||||
|
--lab-uuid "$lab_uuid" \
|
||||||
|
--tags synthesis \
|
||||||
|
--published-only
|
||||||
|
```
|
||||||
|
|
||||||
|
**`--auth` 参数说明**：传入 `Authorization` 头中 `Lab` 之后的 base64 token（不带 `Lab ` 前缀），脚本内部会自动补上 scheme。
|
||||||
|
|
||||||
|
**输出结构：**
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"total_workflows": 150,
|
||||||
|
"tag_counts": {"synthesis": 12, "organic": 8, "analysis": 5},
|
||||||
|
"all_tags": ["analysis", "organic", "synthesis"],
|
||||||
|
"filter": {"tags": ["synthesis", "organic"], "mode": "any"},
|
||||||
|
"filtered_workflows": [
|
||||||
|
{"uuid": "...", "name": "...", "description": "...", "tags": [...], "published": true}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 手动路径：curl + jq
|
||||||
|
|
||||||
|
如果脚本不可用或环境缺少 Python，可用 shell 实现。
|
||||||
|
|
||||||
|
### 1. 分页抓取（写入 `all_workflows.json`）
|
||||||
|
|
||||||
|
```bash
|
||||||
|
page=1
|
||||||
|
echo "[]" > all_workflows.json
|
||||||
|
|
||||||
|
while :; do
|
||||||
|
resp=$(curl -s -X GET \
|
||||||
|
"$BASE/api/v1/lab/workflow/owner/list?page=$page&page_size=1000&lab_uuid=$lab_uuid" \
|
||||||
|
-H "$AUTH")
|
||||||
|
|
||||||
|
page_data=$(echo "$resp" | jq -c '.data.data // []')
|
||||||
|
jq -c --argjson p "$page_data" '. + $p' all_workflows.json > _tmp.json && mv _tmp.json all_workflows.json
|
||||||
|
|
||||||
|
has_more=$(echo "$resp" | jq -r '.data.has_more')
|
||||||
|
[ "$has_more" != "true" ] && break
|
||||||
|
page=$((page + 1))
|
||||||
|
done
|
||||||
|
|
||||||
|
echo "Total: $(jq 'length' all_workflows.json)"
|
||||||
|
```
|
||||||
|
|
||||||
|
### 2. 汇总所有标签（含出现次数）
|
||||||
|
|
||||||
|
```bash
|
||||||
|
jq '[.[].tags // [] | .[]] | group_by(.) | map({tag: .[0], count: length}) | sort_by(-.count)' \
|
||||||
|
all_workflows.json
|
||||||
|
```
|
||||||
|
|
||||||
|
### 3. 按标签筛选
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# ANY：包含任一指定标签
|
||||||
|
jq --argjson want '["synthesis","organic"]' \
|
||||||
|
'[.[] | select((.tags // []) | any(. as $t | $want | index($t)))]' \
|
||||||
|
all_workflows.json
|
||||||
|
|
||||||
|
# ALL：同时包含所有指定标签
|
||||||
|
jq --argjson want '["synthesis","organic"]' \
|
||||||
|
'[.[] | select(($want | all(. as $w | (.tags // []) | index($w))))]' \
|
||||||
|
all_workflows.json
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 筛选策略
|
||||||
|
|
||||||
|
agent 拿到用户的「领域 + 场景」自然语言描述时，按如下顺序选择 tag：
|
||||||
|
|
||||||
|
1. **优先用户显式指定的 tags**：若用户明确给出标签词，直接精确匹配。
|
||||||
|
2. **从 all_tags 中做语义映射**：若用户描述是自然语言（如"有机合成、柱层析"），在 all_tags 中找语义相关项（如 `synthesis`、`organic`、`chromatography`）。必要时展示候选 tag 让用户确认。
|
||||||
|
3. **模式选择**：
|
||||||
|
- 默认 `any`（更多召回），给出 tag 集合的并集匹配
|
||||||
|
- 用户强调"必须同时满足"时用 `all`
|
||||||
|
4. **空结果兜底**：如果筛选为空，放宽条件（去掉最稀有 tag、切换 any 模式），并提醒用户。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 引导到明确的 Protocol
|
||||||
|
|
||||||
|
筛选完成后，**最终目标是让用户确认一个具体的 workflow_uuid**，而不是停留在"一堆候选"上。按结果数量采取不同策略：
|
||||||
|
|
||||||
|
| 结果数量 | 策略 |
|
||||||
|
| --------- | ---------------------------------------------------------------------------------------------------------------------------------- |
|
||||||
|
| 0 条 | 放宽筛选（去掉最稀有 tag → 切换 any 模式 → 去掉 `--published-only`）。仍为空则提示换关键词，或列出 `all_tags` 让用户重新选。 |
|
||||||
|
| 1 条 | 直接确认："找到唯一匹配：`<name>` (uuid `<uuid>`)，是否用它？"用户确认后记录 `workflow_uuid`。 |
|
||||||
|
| 2–10 条 | 编号列表展示，让用户选编号。每项给出 name、tags、description 摘要、published 状态。 |
|
||||||
|
| 10–30 条 | 先展示 tag 分布帮助用户进一步收紧：列出匹配结果中最常见的子标签，提示"加一个 tag 可将结果缩小到 N 条"。 |
|
||||||
|
| >30 条 | 强制要求用户补充条件：仅 published、指定具体 tag 组合、或按名称关键词过滤。 |
|
||||||
|
|
||||||
|
**确认 workflow 后**：
|
||||||
|
|
||||||
|
1. 将 `workflow_uuid` 写入 session state
|
||||||
|
2. 提示用户下一步可用的 skill：
|
||||||
|
- 提交实验 → 引导到“与其他 Skill 的协作”
|
||||||
|
- 查看 workflow 详细节点 → `GET /api/v1/lab/workflow/template/detail/<workflow_uuid>`
|
||||||
|
3. 若用户想换一个，回到筛选步骤。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 展示结果
|
||||||
|
|
||||||
|
推荐格式（表格 + 汇总统计）：
|
||||||
|
|
||||||
|
```
|
||||||
|
共 150 个工作流，其中 32 个匹配筛选条件 [tags: synthesis OR organic]
|
||||||
|
|
||||||
|
| UUID (短) | 名称 | Tags | 已发布 |
|
||||||
|
|-----------|--------------------------|------------------------------|--------|
|
||||||
|
| e0436638 | Synthesis v2 | synthesis, organic | ✓ |
|
||||||
|
| 5b60dbb8 | Grignard Protocol | synthesis, organometallic | ✓ |
|
||||||
|
| ... | ... | ... | ... |
|
||||||
|
|
||||||
|
所有可用标签（按频次）：
|
||||||
|
synthesis (12), organic (8), analysis (5), purification (4), ...
|
||||||
|
```
|
||||||
|
|
||||||
|
如果用户下一步想执行某工作流 → 引导到“与其他 Skill 的协作”。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 常见问题
|
||||||
|
|
||||||
|
### Q: tags 为 null 的工作流要不要展示？
|
||||||
|
|
||||||
|
默认**不展示**在筛选结果中（因为无法按 tag 匹配）。但在 `--summary-only` 或无筛选条件时，这些工作流仍会计入总数，并在输出中单独列出"未打标签"计数。
|
||||||
|
|
||||||
|
### Q: 如何按名称/描述做模糊匹配？
|
||||||
|
|
||||||
|
脚本未内置，但可在 jq 中组合：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
jq '[.[] | select((.name + " " + (.description // "")) | test("organic"; "i"))]' all_workflows.json
|
||||||
|
```
|
||||||
|
|
||||||
|
### Q: `page_size=1000` 是否会被服务端限制？
|
||||||
|
|
||||||
|
接口通常允许最大 1000；如果返回量少于 1000 且 `has_more=false`，说明已到末页。极端情况下若服务端返回错误，可降到 200 或 500 再试。
|
||||||
|
|
||||||
|
### Q: 工作流数量极大（>10k）怎么办？
|
||||||
|
|
||||||
|
1. 先跑 `--summary-only` 了解 tag 分布
|
||||||
|
2. 提示用户先限定 `--published-only` 或指定 tag
|
||||||
|
3. 考虑将 `all_workflows.json` 缓存到本地，下次直接复用
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 与其他 Skill 的协作
|
||||||
|
|
||||||
|
- 正常情况下，找到 workflow 之后可以直接用它提交实验（启动工作流的 api 端点 POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run，不用别的 skill）
|
||||||
|
- **仅当需要进行多次实验时，使用 batch-submit-experiment** — 筛选到目标工作流后，`workflow_uuid` 直接用于实验提交
|
||||||
|
|
||||||
|
## 脚本依赖
|
||||||
|
|
||||||
|
`scripts/filter_workflows.py` 仅使用 Python 标准库（`urllib`、`json`、`argparse`），无需额外安装。
|
||||||
191
.cursor/skills/filter-workflow-by-tags/scripts/filter_workflows.py
Executable file
191
.cursor/skills/filter-workflow-by-tags/scripts/filter_workflows.py
Executable file
@@ -0,0 +1,191 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""分页拉取 Uni-Lab 工作流列表，汇总 tags 并按 tag 筛选。
|
||||||
|
|
||||||
|
使用示例:
|
||||||
|
python filter_workflows.py \
|
||||||
|
--auth <base64token> \
|
||||||
|
--base https://leap-lab.test.bohrium.com \
|
||||||
|
--lab-uuid a9059772-... \
|
||||||
|
--tags synthesis organic --mode any
|
||||||
|
|
||||||
|
仅依赖 Python 标准库。
|
||||||
|
"""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import argparse
|
||||||
|
import json
|
||||||
|
import sys
|
||||||
|
import urllib.error
|
||||||
|
import urllib.parse
|
||||||
|
import urllib.request
|
||||||
|
from collections import Counter
|
||||||
|
|
||||||
|
|
||||||
|
def fetch_all_workflows(base: str, auth_token: str, lab_uuid: str, page_size: int = 1000) -> list[dict]:
|
||||||
|
"""分页拉取所有 owner 工作流，直到 has_more=false。"""
|
||||||
|
workflows: list[dict] = []
|
||||||
|
page = 1
|
||||||
|
while True:
|
||||||
|
query = urllib.parse.urlencode(
|
||||||
|
{"page": page, "page_size": page_size, "lab_uuid": lab_uuid}
|
||||||
|
)
|
||||||
|
url = f"{base.rstrip('/')}/api/v1/lab/workflow/owner/list?{query}"
|
||||||
|
req = urllib.request.Request(
|
||||||
|
url,
|
||||||
|
headers={
|
||||||
|
"Authorization": f"Lab {auth_token}",
|
||||||
|
"Accept": "application/json",
|
||||||
|
},
|
||||||
|
)
|
||||||
|
try:
|
||||||
|
with urllib.request.urlopen(req, timeout=30) as resp:
|
||||||
|
payload = json.loads(resp.read().decode("utf-8"))
|
||||||
|
except urllib.error.HTTPError as e:
|
||||||
|
sys.exit(f"[ERROR] HTTP {e.code} on page {page}: {e.read().decode('utf-8', 'ignore')}")
|
||||||
|
except urllib.error.URLError as e:
|
||||||
|
sys.exit(f"[ERROR] URL error on page {page}: {e.reason}")
|
||||||
|
|
||||||
|
if payload.get("code") != 0:
|
||||||
|
sys.exit(f"[ERROR] API returned non-zero code: {payload}")
|
||||||
|
|
||||||
|
data = payload.get("data") or {}
|
||||||
|
page_items = data.get("data") or []
|
||||||
|
workflows.extend(page_items)
|
||||||
|
|
||||||
|
if not data.get("has_more"):
|
||||||
|
break
|
||||||
|
page += 1
|
||||||
|
# 防御性兜底，避免接口异常导致无限循环
|
||||||
|
if page > 1000:
|
||||||
|
print(f"[WARN] page count exceeded 1000, stopping early", file=sys.stderr)
|
||||||
|
break
|
||||||
|
|
||||||
|
return workflows
|
||||||
|
|
||||||
|
|
||||||
|
def aggregate_tags(workflows: list[dict]) -> tuple[list[str], dict[str, int], int]:
|
||||||
|
"""返回 (sorted_tags, tag_counts, untagged_count)。"""
|
||||||
|
counter: Counter[str] = Counter()
|
||||||
|
untagged = 0
|
||||||
|
for wf in workflows:
|
||||||
|
tags = wf.get("tags")
|
||||||
|
if not tags:
|
||||||
|
untagged += 1
|
||||||
|
continue
|
||||||
|
for t in tags:
|
||||||
|
if isinstance(t, str) and t.strip():
|
||||||
|
counter[t.strip()] += 1
|
||||||
|
return sorted(counter.keys()), dict(counter), untagged
|
||||||
|
|
||||||
|
|
||||||
|
def filter_workflows(
|
||||||
|
workflows: list[dict],
|
||||||
|
want_tags: list[str],
|
||||||
|
mode: str,
|
||||||
|
published_only: bool,
|
||||||
|
) -> list[dict]:
|
||||||
|
"""按 tag 筛选。mode 取值 any / all。"""
|
||||||
|
want_set = {t.strip() for t in want_tags if t.strip()}
|
||||||
|
out: list[dict] = []
|
||||||
|
for wf in workflows:
|
||||||
|
if published_only and not wf.get("published"):
|
||||||
|
continue
|
||||||
|
if not want_set:
|
||||||
|
out.append(wf)
|
||||||
|
continue
|
||||||
|
tags = wf.get("tags") or []
|
||||||
|
tag_set = {t for t in tags if isinstance(t, str)}
|
||||||
|
if mode == "all":
|
||||||
|
if want_set.issubset(tag_set):
|
||||||
|
out.append(wf)
|
||||||
|
else: # any
|
||||||
|
if want_set & tag_set:
|
||||||
|
out.append(wf)
|
||||||
|
return out
|
||||||
|
|
||||||
|
|
||||||
|
def project_workflow(wf: dict) -> dict:
|
||||||
|
"""精简输出字段。"""
|
||||||
|
return {
|
||||||
|
"uuid": wf.get("uuid"),
|
||||||
|
"name": wf.get("name"),
|
||||||
|
"description": wf.get("description", ""),
|
||||||
|
"tags": wf.get("tags") or [],
|
||||||
|
"published": bool(wf.get("published")),
|
||||||
|
"user_id": wf.get("user_id"),
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
def parse_args() -> argparse.Namespace:
|
||||||
|
p = argparse.ArgumentParser(description="Fetch & filter Uni-Lab workflows by tags.")
|
||||||
|
p.add_argument("--auth", required=True, help="Base64 token (the part after `Lab `).")
|
||||||
|
p.add_argument("--base", required=True, help="Base URL, e.g. https://leap-lab.test.bohrium.com")
|
||||||
|
p.add_argument("--lab-uuid", required=True, help="Lab UUID.")
|
||||||
|
p.add_argument("--tags", nargs="*", default=[], help="Tags to filter by (space separated).")
|
||||||
|
p.add_argument(
|
||||||
|
"--mode",
|
||||||
|
choices=["any", "all"],
|
||||||
|
default="any",
|
||||||
|
help="any: workflow contains at least one tag; all: workflow contains every tag.",
|
||||||
|
)
|
||||||
|
p.add_argument("--published-only", action="store_true", help="Only include published workflows.")
|
||||||
|
p.add_argument("--page-size", type=int, default=1000, help="Page size, default 1000.")
|
||||||
|
p.add_argument(
|
||||||
|
"--summary-only",
|
||||||
|
action="store_true",
|
||||||
|
help="Print tag summary without applying filter (still fetches everything).",
|
||||||
|
)
|
||||||
|
p.add_argument("--output", help="Write JSON result to this path. If omitted, print to stdout.")
|
||||||
|
return p.parse_args()
|
||||||
|
|
||||||
|
|
||||||
|
def main() -> None:
|
||||||
|
args = parse_args()
|
||||||
|
workflows = fetch_all_workflows(
|
||||||
|
base=args.base,
|
||||||
|
auth_token=args.auth,
|
||||||
|
lab_uuid=args.lab_uuid,
|
||||||
|
page_size=args.page_size,
|
||||||
|
)
|
||||||
|
sorted_tags, tag_counts, untagged = aggregate_tags(workflows)
|
||||||
|
|
||||||
|
if args.summary_only:
|
||||||
|
result = {
|
||||||
|
"total_workflows": len(workflows),
|
||||||
|
"untagged_count": untagged,
|
||||||
|
"tag_counts": tag_counts,
|
||||||
|
"all_tags": sorted_tags,
|
||||||
|
}
|
||||||
|
else:
|
||||||
|
filtered = filter_workflows(
|
||||||
|
workflows,
|
||||||
|
want_tags=args.tags,
|
||||||
|
mode=args.mode,
|
||||||
|
published_only=args.published_only,
|
||||||
|
)
|
||||||
|
result = {
|
||||||
|
"total_workflows": len(workflows),
|
||||||
|
"untagged_count": untagged,
|
||||||
|
"tag_counts": tag_counts,
|
||||||
|
"all_tags": sorted_tags,
|
||||||
|
"filter": {
|
||||||
|
"tags": args.tags,
|
||||||
|
"mode": args.mode,
|
||||||
|
"published_only": args.published_only,
|
||||||
|
},
|
||||||
|
"matched_count": len(filtered),
|
||||||
|
"filtered_workflows": [project_workflow(wf) for wf in filtered],
|
||||||
|
}
|
||||||
|
|
||||||
|
payload = json.dumps(result, ensure_ascii=False, indent=2)
|
||||||
|
if args.output:
|
||||||
|
with open(args.output, "w", encoding="utf-8") as f:
|
||||||
|
f.write(payload)
|
||||||
|
print(f"Wrote {len(workflows)} workflows summary → {args.output}", file=sys.stderr)
|
||||||
|
else:
|
||||||
|
print(payload)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
251
.cursor/skills/host-node/SKILL.md
Normal file
251
.cursor/skills/host-node/SKILL.md
Normal file
@@ -0,0 +1,251 @@
|
|||||||
|
---
|
||||||
|
name: host-node
|
||||||
|
description: Operate Uni-Lab host node via REST API — create resources, test latency, test resource tree, manual confirm. Use when the user mentions host_node, creating resources, resource management, testing latency, or any host node operation.
|
||||||
|
---
|
||||||
|
|
||||||
|
# Host Node API Skill
|
||||||
|
|
||||||
|
## 设备信息
|
||||||
|
|
||||||
|
- **device_id**: `host_node`
|
||||||
|
- **Python 源码**: `unilabos/ros/nodes/presets/host_node.py`
|
||||||
|
- **设备类**: `HostNode`
|
||||||
|
- **动作数**: 4（`create_resource`, `test_latency`, `auto-test_resource`, `manual_confirm`）
|
||||||
|
|
||||||
|
## 前置条件（缺一不可）
|
||||||
|
|
||||||
|
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||||
|
|
||||||
|
### 1. ak / sk → AUTH
|
||||||
|
|
||||||
|
从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||||
|
|
||||||
|
### 2. --addr → BASE URL
|
||||||
|
|
||||||
|
| `--addr` 值 | BASE |
|
||||||
|
| ------------ | ----------------------------------- |
|
||||||
|
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||||
|
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||||
|
| `local` | `http://127.0.0.1:48197` |
|
||||||
|
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||||
|
|
||||||
|
确认后设置：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
BASE="<根据 addr 确定的 URL>"
|
||||||
|
AUTH="Authorization: Lab <token>"
|
||||||
|
```
|
||||||
|
|
||||||
|
**两项全部就绪后才可发起 API 请求。**
|
||||||
|
|
||||||
|
## Session State
|
||||||
|
|
||||||
|
在整个对话过程中，agent 需要记住以下状态，避免重复询问用户：
|
||||||
|
|
||||||
|
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||||
|
- `device_name` — `host_node`
|
||||||
|
|
||||||
|
## 请求约定
|
||||||
|
|
||||||
|
所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
|
||||||
|
|
||||||
|
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## API Endpoints
|
||||||
|
|
||||||
|
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
|
||||||
|
|
||||||
|
### 2. 创建工作流
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
|
||||||
|
```
|
||||||
|
|
||||||
|
返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
|
||||||
|
|
||||||
|
### 3. 创建节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"host_node","node_template_name":"<action_name>"}'
|
||||||
|
```
|
||||||
|
|
||||||
|
- `resource_template_name` 固定为 `host_node`
|
||||||
|
- `node_template_name` — action 名称（如 `create_resource`, `test_latency`）
|
||||||
|
|
||||||
|
### 4. 删除节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 5. 更新节点参数
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
|
||||||
|
```
|
||||||
|
|
||||||
|
`param` 直接使用创建节点返回的 `data.param` 结构，修改需要填入的字段值。参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
|
||||||
|
|
||||||
|
### 6. 查询节点 handles
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 7. 批量创建边
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 8. 启动工作流
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
### 9. 运行设备单动作
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"lab_uuid":"<lab_uuid>","device_id":"host_node","action":"<action_name>","action_type":"<type>","param":{...}}'
|
||||||
|
```
|
||||||
|
|
||||||
|
`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。
|
||||||
|
|
||||||
|
> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/<name>.json` 的 `type` 字段获取。
|
||||||
|
|
||||||
|
#### action_type 速查表
|
||||||
|
|
||||||
|
| action | action_type |
|
||||||
|
|--------|-------------|
|
||||||
|
| `test_latency` | `UniLabJsonCommand` |
|
||||||
|
| `create_resource` | `ResourceCreateFromOuterEasy` |
|
||||||
|
| `auto-test_resource` | `UniLabJsonCommand` |
|
||||||
|
| `manual_confirm` | `UniLabJsonCommand` |
|
||||||
|
|
||||||
|
### 10. 查询任务状态
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
### 11. 运行工作流单节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"node_uuid":"<node_uuid>"}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 12. 获取资源树（物料信息）
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
|
||||||
|
|
||||||
|
### 13. 获取工作流模板详情
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
|
||||||
|
|
||||||
|
### 14. 按名称查询物料模板
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
|
||||||
|
|
||||||
|
### 15. 创建物料节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 16. 更新物料节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## Placeholder Slot 填写规则
|
||||||
|
|
||||||
|
| `placeholder_keys` 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||||
|
| --------------------- | ------------ | ----------------------------------------------------- | ---------------------- |
|
||||||
|
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅物料节点（非设备） |
|
||||||
|
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
|
||||||
|
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
|
||||||
|
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
|
||||||
|
|
||||||
|
### host_node 设备的 Slot 字段表
|
||||||
|
|
||||||
|
| Action | 字段 | Slot 类型 | 说明 |
|
||||||
|
| ----------------- | ----------- | ------------ | ------------------------------ |
|
||||||
|
| `create_resource` | `res_id` | ResourceSlot | 新资源路径（可填不存在的路径） |
|
||||||
|
| `create_resource` | `device_id` | DeviceSlot | 归属设备 |
|
||||||
|
| `create_resource` | `parent` | NodeSlot | 父节点路径 |
|
||||||
|
| `create_resource` | `class_name`| ClassSlot | 资源类名如 `"container"` |
|
||||||
|
| `auto-test_resource` | `resource` | ResourceSlot | 单个测试物料 |
|
||||||
|
| `auto-test_resource` | `resources` | ResourceSlot | 测试物料数组 |
|
||||||
|
| `auto-test_resource` | `device` | DeviceSlot | 测试设备 |
|
||||||
|
| `auto-test_resource` | `devices` | DeviceSlot | 测试设备 |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 渐进加载策略
|
||||||
|
|
||||||
|
1. **SKILL.md**（本文件）— API 端点 + session state 管理
|
||||||
|
2. **[action-index.md](action-index.md)** — 按分类浏览 4 个动作的描述和核心参数
|
||||||
|
3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 完整工作流 Checklist
|
||||||
|
|
||||||
|
```
|
||||||
|
Task Progress:
|
||||||
|
- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
|
||||||
|
- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
|
||||||
|
- [ ] Step 3: 读 action-index.md 确定要用的 action 名
|
||||||
|
- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
|
||||||
|
- [ ] Step 5: 创建节点 (POST #3, resource_template_name=host_node) → 记住 node_uuid + data.param
|
||||||
|
- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
|
||||||
|
- [ ] Step 7: 更新节点参数 (PATCH #5)
|
||||||
|
- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
|
||||||
|
- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
|
||||||
|
- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
|
||||||
|
- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
|
||||||
|
```
|
||||||
58
.cursor/skills/host-node/action-index.md
Normal file
58
.cursor/skills/host-node/action-index.md
Normal file
@@ -0,0 +1,58 @@
|
|||||||
|
# Action Index — host_node
|
||||||
|
|
||||||
|
4 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 资源管理
|
||||||
|
|
||||||
|
### `create_resource`
|
||||||
|
|
||||||
|
在资源树中创建新资源（容器、物料等），支持指定位置、类型和初始液体
|
||||||
|
|
||||||
|
- **action_type**: `ResourceCreateFromOuterEasy`
|
||||||
|
- **Schema**: [`actions/create_resource.json`](actions/create_resource.json)
|
||||||
|
- **可选参数**: `res_id`, `device_id`, `class_name`, `parent`, `bind_locations`, `liquid_input_slot`, `liquid_type`, `liquid_volume`, `slot_on_deck`
|
||||||
|
- **占位符字段**:
|
||||||
|
- `res_id` — **ResourceSlot**（特例：目标物料可能尚不存在，直接填期望路径）
|
||||||
|
- `device_id` — **DeviceSlot**，填路径字符串如 `"/host_node"`
|
||||||
|
- `parent` — **NodeSlot**，填路径字符串如 `"/workstation/deck"`
|
||||||
|
- `class_name` — **ClassSlot**，填类名如 `"container"`
|
||||||
|
|
||||||
|
### `auto-test_resource`
|
||||||
|
|
||||||
|
测试资源系统，返回当前资源树和设备列表
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommand`
|
||||||
|
- **Schema**: [`actions/test_resource.json`](actions/test_resource.json)
|
||||||
|
- **可选参数**: `resource`, `resources`, `device`, `devices`
|
||||||
|
- **占位符字段**:
|
||||||
|
- `resource` — **ResourceSlot**，单个物料节点 `{id, name, uuid}`
|
||||||
|
- `resources` — **ResourceSlot**，物料节点数组 `[{id, name, uuid}, ...]`
|
||||||
|
- `device` — **DeviceSlot**，设备路径字符串
|
||||||
|
- `devices` — **DeviceSlot**，设备路径字符串
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 系统工具
|
||||||
|
|
||||||
|
### `test_latency`
|
||||||
|
|
||||||
|
测试设备通信延迟，返回 RTT、时间差、任务延迟等指标
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommand`
|
||||||
|
- **Schema**: [`actions/test_latency.json`](actions/test_latency.json)
|
||||||
|
- **参数**: 无（零参数调用）
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 人工确认
|
||||||
|
|
||||||
|
### `manual_confirm`
|
||||||
|
|
||||||
|
创建人工确认节点，等待用户手动确认后继续
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommand`
|
||||||
|
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||||
|
- **核心参数**: `timeout_seconds`（超时时间，秒）, `assignee_user_ids`（指派用户 ID 列表）
|
||||||
|
- **占位符字段**: `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||||
93
.cursor/skills/host-node/actions/create_resource.json
Normal file
93
.cursor/skills/host-node/actions/create_resource.json
Normal file
@@ -0,0 +1,93 @@
|
|||||||
|
{
|
||||||
|
"type": "ResourceCreateFromOuterEasy",
|
||||||
|
"goal": {
|
||||||
|
"res_id": "res_id",
|
||||||
|
"class_name": "class_name",
|
||||||
|
"parent": "parent",
|
||||||
|
"device_id": "device_id",
|
||||||
|
"bind_locations": "bind_locations",
|
||||||
|
"liquid_input_slot": "liquid_input_slot[]",
|
||||||
|
"liquid_type": "liquid_type[]",
|
||||||
|
"liquid_volume": "liquid_volume[]",
|
||||||
|
"slot_on_deck": "slot_on_deck"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"res_id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"device_id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"class_name": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"parent": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"bind_locations": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z"
|
||||||
|
],
|
||||||
|
"title": "bind_locations",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"liquid_input_slot": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "integer"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"liquid_type": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"liquid_volume": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "number"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"slot_on_deck": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [],
|
||||||
|
"_unilabos_placeholder_info": {
|
||||||
|
"res_id": "unilabos_resources",
|
||||||
|
"device_id": "unilabos_devices",
|
||||||
|
"parent": "unilabos_nodes",
|
||||||
|
"class_name": "unilabos_class"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {
|
||||||
|
"res_id": "unilabos_resources",
|
||||||
|
"device_id": "unilabos_devices",
|
||||||
|
"parent": "unilabos_nodes",
|
||||||
|
"class_name": "unilabos_class"
|
||||||
|
}
|
||||||
|
}
|
||||||
32
.cursor/skills/host-node/actions/manual_confirm.json
Normal file
32
.cursor/skills/host-node/actions/manual_confirm.json
Normal file
@@ -0,0 +1,32 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommand",
|
||||||
|
"goal": {
|
||||||
|
"timeout_seconds": "timeout_seconds",
|
||||||
|
"assignee_user_ids": "assignee_user_ids"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"timeout_seconds": {
|
||||||
|
"type": "integer"
|
||||||
|
},
|
||||||
|
"assignee_user_ids": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"timeout_seconds",
|
||||||
|
"assignee_user_ids"
|
||||||
|
],
|
||||||
|
"_unilabos_placeholder_info": {
|
||||||
|
"assignee_user_ids": "unilabos_manual_confirm"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {
|
||||||
|
"assignee_user_ids": "unilabos_manual_confirm"
|
||||||
|
}
|
||||||
|
}
|
||||||
11
.cursor/skills/host-node/actions/test_latency.json
Normal file
11
.cursor/skills/host-node/actions/test_latency.json
Normal file
@@ -0,0 +1,11 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommand",
|
||||||
|
"goal": {},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {},
|
||||||
|
"required": []
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {}
|
||||||
|
}
|
||||||
255
.cursor/skills/host-node/actions/test_resource.json
Normal file
255
.cursor/skills/host-node/actions/test_resource.json
Normal file
@@ -0,0 +1,255 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommand",
|
||||||
|
"goal": {
|
||||||
|
"resource": "resource",
|
||||||
|
"resources": "resources",
|
||||||
|
"device": "device",
|
||||||
|
"devices": "devices"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"resource": {
|
||||||
|
"type": "object",
|
||||||
|
"additionalProperties": false,
|
||||||
|
"properties": {
|
||||||
|
"id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"name": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"sample_id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"children": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"parent": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"type": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"category": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"pose": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"position": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z"
|
||||||
|
],
|
||||||
|
"title": "position",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"orientation": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"w": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z",
|
||||||
|
"w"
|
||||||
|
],
|
||||||
|
"title": "orientation",
|
||||||
|
"additionalProperties": false
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"position",
|
||||||
|
"orientation"
|
||||||
|
],
|
||||||
|
"title": "pose",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"data": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"title": "resource"
|
||||||
|
},
|
||||||
|
"resources": {
|
||||||
|
"items": {
|
||||||
|
"type": "object",
|
||||||
|
"additionalProperties": false,
|
||||||
|
"properties": {
|
||||||
|
"id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"name": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"sample_id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"children": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"parent": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"type": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"category": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"pose": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"position": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z"
|
||||||
|
],
|
||||||
|
"title": "position",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"orientation": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"w": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z",
|
||||||
|
"w"
|
||||||
|
],
|
||||||
|
"title": "orientation",
|
||||||
|
"additionalProperties": false
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"position",
|
||||||
|
"orientation"
|
||||||
|
],
|
||||||
|
"title": "pose",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"data": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"title": "resources"
|
||||||
|
},
|
||||||
|
"type": "array"
|
||||||
|
},
|
||||||
|
"device": {
|
||||||
|
"type": "string",
|
||||||
|
"description": "device reference"
|
||||||
|
},
|
||||||
|
"devices": {
|
||||||
|
"type": "string",
|
||||||
|
"description": "device reference"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [],
|
||||||
|
"_unilabos_placeholder_info": {
|
||||||
|
"resource": "unilabos_resources",
|
||||||
|
"resources": "unilabos_resources",
|
||||||
|
"device": "unilabos_devices",
|
||||||
|
"devices": "unilabos_devices"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {
|
||||||
|
"resource": "unilabos_resources",
|
||||||
|
"resources": "unilabos_resources",
|
||||||
|
"device": "unilabos_devices",
|
||||||
|
"devices": "unilabos_devices"
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -1,11 +1,13 @@
|
|||||||
---
|
---
|
||||||
name: submit-agent-result
|
name: submit-agent-result
|
||||||
description: Submit historical experiment results (agent_result) to Uni-Lab notebook — read data files, assemble JSON payload, PUT to cloud API. Use when the user wants to submit experiment results, upload agent results, report experiment data, or mentions agent_result/实验结果/历史记录/notebook结果.
|
description: Submit historical experiment results (agent_result) to Uni-Lab cloud platform (leap-lab) notebook — read data files, assemble JSON payload, PUT to cloud API. Use when the user wants to submit experiment results, upload agent results, report experiment data, or mentions agent_result/实验结果/历史记录/notebook结果.
|
||||||
---
|
---
|
||||||
|
|
||||||
# 提交历史实验记录指南
|
# Uni-Lab 提交历史实验记录指南
|
||||||
|
|
||||||
通过云端 API 向已创建的 notebook 提交实验结果数据（agent_result）。支持从 JSON / CSV 文件读取数据，整合后提交。
|
通过 Uni-Lab 云端 API 向已创建的 notebook 提交实验结果数据（agent_result）。支持从 JSON / CSV 文件读取数据，整合后提交。
|
||||||
|
|
||||||
|
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||||
|
|
||||||
## 前置条件（缺一不可）
|
## 前置条件（缺一不可）
|
||||||
|
|
||||||
@@ -18,23 +20,26 @@ description: Submit historical experiment results (agent_result) to Uni-Lab note
|
|||||||
生成 AUTH token：
|
生成 AUTH token：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
|
# ⚠️ 注意：scheme 是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||||
python -c "import base64,sys; print(base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
python -c "import base64,sys; print(base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||||
```
|
```
|
||||||
|
|
||||||
输出即为 token 值，拼接为 `Authorization: Lab <token>`。
|
输出即为 token 值，拼接为 `Authorization: Lab <token>`（`Lab` 是 Uni-Lab 平台 auth scheme，不可替换为 `Basic`）。
|
||||||
|
|
||||||
### 2. --addr → BASE URL
|
### 2. --addr → BASE URL
|
||||||
|
|
||||||
| `--addr` 值 | BASE |
|
| `--addr` 值 | BASE |
|
||||||
|-------------|------|
|
| ------------ | ----------------------------------- |
|
||||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||||
| `local` | `http://127.0.0.1:48197` |
|
| `local` | `http://127.0.0.1:48197` |
|
||||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||||
|
|
||||||
确认后设置：
|
确认后设置：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
BASE="<根据 addr 确定的 URL>"
|
BASE="<根据 addr 确定的 URL>"
|
||||||
|
# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||||
```
|
```
|
||||||
|
|
||||||
@@ -45,6 +50,7 @@ AUTH="Authorization: Lab <上面命令输出的 token>"
|
|||||||
notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，即 `POST /api/v1/lab/notebook` 返回的 `data.uuid`。
|
notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，即 `POST /api/v1/lab/notebook` 返回的 `data.uuid`。
|
||||||
|
|
||||||
如果用户不记得，可提示：
|
如果用户不记得，可提示：
|
||||||
|
|
||||||
- 查看之前的对话记录中创建 notebook 时返回的 UUID
|
- 查看之前的对话记录中创建 notebook 时返回的 UUID
|
||||||
- 或通过平台页面查找对应的 notebook
|
- 或通过平台页面查找对应的 notebook
|
||||||
|
|
||||||
@@ -55,7 +61,7 @@ notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，
|
|||||||
用户需要提供实验结果数据，支持以下方式：
|
用户需要提供实验结果数据，支持以下方式：
|
||||||
|
|
||||||
| 方式 | 说明 |
|
| 方式 | 说明 |
|
||||||
|------|------|
|
| --------- | ----------------------------------------------- |
|
||||||
| JSON 文件 | 直接作为 `agent_result` 的内容合并 |
|
| JSON 文件 | 直接作为 `agent_result` 的内容合并 |
|
||||||
| CSV 文件 | 转为 `{"文件名": [行数据...]}` 格式 |
|
| CSV 文件 | 转为 `{"文件名": [行数据...]}` 格式 |
|
||||||
| 手动指定 | 用户直接告知 key-value 数据，由 agent 构建 JSON |
|
| 手动指定 | 用户直接告知 key-value 数据，由 agent 构建 JSON |
|
||||||
@@ -122,7 +128,7 @@ curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
|||||||
#### 必要字段
|
#### 必要字段
|
||||||
|
|
||||||
| 字段 | 类型 | 说明 |
|
| 字段 | 类型 | 说明 |
|
||||||
|------|------|------|
|
| --------------- | ------------- | ------------------------------------------- |
|
||||||
| `notebook_uuid` | string (UUID) | 目标 notebook 的 UUID，从批量提交实验时获取 |
|
| `notebook_uuid` | string (UUID) | 目标 notebook 的 UUID，从批量提交实验时获取 |
|
||||||
| `agent_result` | object | 实验结果数据，任意 JSON 对象 |
|
| `agent_result` | object | 实验结果数据，任意 JSON 对象 |
|
||||||
|
|
||||||
@@ -131,6 +137,7 @@ curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
|||||||
`agent_result` 接受**任意 JSON 对象**，常见格式：
|
`agent_result` 接受**任意 JSON 对象**，常见格式：
|
||||||
|
|
||||||
**简单键值对**：
|
**简单键值对**：
|
||||||
|
|
||||||
```json
|
```json
|
||||||
{
|
{
|
||||||
"avg_rtt_ms": 12.5,
|
"avg_rtt_ms": 12.5,
|
||||||
@@ -140,6 +147,7 @@ curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
|||||||
```
|
```
|
||||||
|
|
||||||
**包含嵌套结构**：
|
**包含嵌套结构**：
|
||||||
|
|
||||||
```json
|
```json
|
||||||
{
|
{
|
||||||
"summary": { "total": 100, "passed": 98, "failed": 2 },
|
"summary": { "total": 100, "passed": 98, "failed": 2 },
|
||||||
@@ -151,6 +159,7 @@ curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
|||||||
```
|
```
|
||||||
|
|
||||||
**从 CSV 文件导入**（脚本自动转换）：
|
**从 CSV 文件导入**（脚本自动转换）：
|
||||||
|
|
||||||
```json
|
```json
|
||||||
{
|
{
|
||||||
"experiment_data": [
|
"experiment_data": [
|
||||||
@@ -179,7 +188,7 @@ python scripts/prepare_agent_result.py \
|
|||||||
```
|
```
|
||||||
|
|
||||||
| 参数 | 必选 | 说明 |
|
| 参数 | 必选 | 说明 |
|
||||||
|------|------|------|
|
| ----------------- | ---------- | ----------------------------------------------- |
|
||||||
| `--notebook-uuid` | 是 | 目标 notebook UUID |
|
| `--notebook-uuid` | 是 | 目标 notebook UUID |
|
||||||
| `--files` | 是 | 输入文件路径（支持多个，JSON / CSV） |
|
| `--files` | 是 | 输入文件路径（支持多个，JSON / CSV） |
|
||||||
| `--auth` | 提交时必选 | Lab token（base64(ak:sk)） |
|
| `--auth` | 提交时必选 | Lab token（base64(ak:sk)） |
|
||||||
@@ -190,7 +199,7 @@ python scripts/prepare_agent_result.py \
|
|||||||
### 文件合并规则
|
### 文件合并规则
|
||||||
|
|
||||||
| 文件类型 | 合并方式 |
|
| 文件类型 | 合并方式 |
|
||||||
|----------|----------|
|
| --------------------- | -------------------------------------------- |
|
||||||
| `.json`（dict） | 字段直接合并到 `agent_result` 顶层 |
|
| `.json`（dict） | 字段直接合并到 `agent_result` 顶层 |
|
||||||
| `.json`（list/other） | 以文件名为 key 放入 `agent_result` |
|
| `.json`（list/other） | 以文件名为 key 放入 `agent_result` |
|
||||||
| `.csv` | 以文件名（不含扩展名）为 key，值为行对象数组 |
|
| `.csv` | 以文件名（不含扩展名）为 key，值为行对象数组 |
|
||||||
@@ -210,7 +219,7 @@ python scripts/prepare_agent_result.py \
|
|||||||
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
||||||
--files results.json \
|
--files results.json \
|
||||||
--auth YTFmZDlkNGUt... \
|
--auth YTFmZDlkNGUt... \
|
||||||
--base https://uni-lab.test.bohrium.com \
|
--base https://leap-lab.test.bohrium.com \
|
||||||
--submit
|
--submit
|
||||||
```
|
```
|
||||||
|
|
||||||
@@ -272,4 +281,4 @@ Task Progress:
|
|||||||
|
|
||||||
### Q: 认证方式是 Lab 还是 Api？
|
### Q: 认证方式是 Lab 还是 Api？
|
||||||
|
|
||||||
本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。
|
本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式（`Lab` 是 Uni-Lab 平台的 auth scheme，**绝不能用 `Basic` 替代**）。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。
|
||||||
|
|||||||
272
.cursor/skills/virtual-workbench/SKILL.md
Normal file
272
.cursor/skills/virtual-workbench/SKILL.md
Normal file
@@ -0,0 +1,272 @@
|
|||||||
|
---
|
||||||
|
name: virtual-workbench
|
||||||
|
description: Operate Virtual Workbench via REST API — prepare materials, move to heating stations, start heating, move to output, transfer resources. Use when the user mentions virtual workbench, virtual_workbench, 虚拟工作台, heating stations, material processing, or workbench operations.
|
||||||
|
---
|
||||||
|
|
||||||
|
# Virtual Workbench API Skill
|
||||||
|
|
||||||
|
## 设备信息
|
||||||
|
|
||||||
|
- **device_id**: `virtual_workbench`
|
||||||
|
- **Python 源码**: `unilabos/devices/virtual/workbench.py`
|
||||||
|
- **设备类**: `VirtualWorkbench`
|
||||||
|
- **动作数**: 6（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`, `manual_confirm`）
|
||||||
|
- **设备描述**: 模拟工作台，包含 1 个机械臂（每次操作 2s，独占锁）和 3 个加热台（每次加热 60s，可并行）
|
||||||
|
|
||||||
|
### 典型工作流程
|
||||||
|
|
||||||
|
1. `prepare_materials` — 生成 A1-A5 物料（5 个 output handle）
|
||||||
|
2. `move_to_heating_station` — 物料并发竞争机械臂，移动到空闲加热台
|
||||||
|
3. `start_heating` — 启动加热（3 个加热台可并行）
|
||||||
|
4. `move_to_output` — 加热完成后移到输出位置 Cn
|
||||||
|
|
||||||
|
## 前置条件（缺一不可）
|
||||||
|
|
||||||
|
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||||
|
|
||||||
|
### 1. ak / sk → AUTH
|
||||||
|
|
||||||
|
从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||||
|
|
||||||
|
### 2. --addr → BASE URL
|
||||||
|
|
||||||
|
| `--addr` 值 | BASE |
|
||||||
|
| ------------ | ----------------------------------- |
|
||||||
|
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||||
|
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||||
|
| `local` | `http://127.0.0.1:48197` |
|
||||||
|
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||||
|
|
||||||
|
确认后设置：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
BASE="<根据 addr 确定的 URL>"
|
||||||
|
AUTH="Authorization: Lab <token>"
|
||||||
|
```
|
||||||
|
|
||||||
|
**两项全部就绪后才可发起 API 请求。**
|
||||||
|
|
||||||
|
## Session State
|
||||||
|
|
||||||
|
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||||
|
- `device_name` — `virtual_workbench`
|
||||||
|
|
||||||
|
## 请求约定
|
||||||
|
|
||||||
|
所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
|
||||||
|
|
||||||
|
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## API Endpoints
|
||||||
|
|
||||||
|
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
|
||||||
|
|
||||||
|
### 2. 创建工作流
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
|
||||||
|
```
|
||||||
|
|
||||||
|
返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
|
||||||
|
|
||||||
|
### 3. 创建节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"virtual_workbench","node_template_name":"<action_name>"}'
|
||||||
|
```
|
||||||
|
|
||||||
|
- `resource_template_name` 固定为 `virtual_workbench`
|
||||||
|
- `node_template_name` — action 名称（如 `auto-prepare_materials`, `auto-move_to_heating_station`）
|
||||||
|
|
||||||
|
### 4. 删除节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 5. 更新节点参数
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
|
||||||
|
```
|
||||||
|
|
||||||
|
参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
|
||||||
|
|
||||||
|
### 6. 查询节点 handles
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 7. 批量创建边
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 8. 启动工作流
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
### 9. 运行设备单动作
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"lab_uuid":"<lab_uuid>","device_id":"virtual_workbench","action":"<action_name>","action_type":"<type>","param":{...}}'
|
||||||
|
```
|
||||||
|
|
||||||
|
`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。
|
||||||
|
|
||||||
|
> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/<name>.json` 的 `type` 字段获取。
|
||||||
|
|
||||||
|
#### action_type 速查表
|
||||||
|
|
||||||
|
| action | action_type |
|
||||||
|
|--------|-------------|
|
||||||
|
| `auto-prepare_materials` | `UniLabJsonCommand` |
|
||||||
|
| `auto-move_to_heating_station` | `UniLabJsonCommand` |
|
||||||
|
| `auto-start_heating` | `UniLabJsonCommand` |
|
||||||
|
| `auto-move_to_output` | `UniLabJsonCommand` |
|
||||||
|
| `transfer` | `UniLabJsonCommandAsync` |
|
||||||
|
| `manual_confirm` | `UniLabJsonCommand` |
|
||||||
|
|
||||||
|
### 10. 查询任务状态
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
### 11. 运行工作流单节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"node_uuid":"<node_uuid>"}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 12. 获取资源树（物料信息）
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
|
||||||
|
|
||||||
|
### 13. 获取工作流模板详情
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
|
||||||
|
|
||||||
|
### 14. 按名称查询物料模板
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||||
|
```
|
||||||
|
|
||||||
|
返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
|
||||||
|
|
||||||
|
### 15. 创建物料节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
|
||||||
|
```
|
||||||
|
|
||||||
|
### 16. 更新物料节点
|
||||||
|
|
||||||
|
```bash
|
||||||
|
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||||
|
-H "$AUTH" -H "Content-Type: application/json" \
|
||||||
|
-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## Placeholder Slot 填写规则
|
||||||
|
|
||||||
|
| `placeholder_keys` 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||||
|
| --------------------- | ------------ | ----------------------------------------------------- | ---------------------- |
|
||||||
|
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅物料节点（非设备） |
|
||||||
|
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
|
||||||
|
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
|
||||||
|
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
|
||||||
|
|
||||||
|
### virtual_workbench 设备的 Slot 字段表
|
||||||
|
|
||||||
|
| Action | 字段 | Slot 类型 | 说明 |
|
||||||
|
| ----------------- | ---------------- | ------------ | -------------------- |
|
||||||
|
| `transfer` | `resource` | ResourceSlot | 待转移物料数组 |
|
||||||
|
| `transfer` | `target_device` | DeviceSlot | 目标设备路径 |
|
||||||
|
| `transfer` | `mount_resource` | ResourceSlot | 目标孔位数组 |
|
||||||
|
| `manual_confirm` | `resource` | ResourceSlot | 确认用物料数组 |
|
||||||
|
| `manual_confirm` | `target_device` | DeviceSlot | 确认用目标设备 |
|
||||||
|
| `manual_confirm` | `mount_resource` | ResourceSlot | 确认用目标孔位数组 |
|
||||||
|
|
||||||
|
> `prepare_materials`、`move_to_heating_station`、`start_heating`、`move_to_output` 这 4 个动作**无 Slot 字段**，参数为纯数值/整数。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 渐进加载策略
|
||||||
|
|
||||||
|
1. **SKILL.md**（本文件）— API 端点 + session state 管理 + 设备工作流概览
|
||||||
|
2. **[action-index.md](action-index.md)** — 按分类浏览 6 个动作的描述和核心参数
|
||||||
|
3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 完整工作流 Checklist
|
||||||
|
|
||||||
|
```
|
||||||
|
Task Progress:
|
||||||
|
- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
|
||||||
|
- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
|
||||||
|
- [ ] Step 3: 读 action-index.md 确定要用的 action 名
|
||||||
|
- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
|
||||||
|
- [ ] Step 5: 创建节点 (POST #3, resource_template_name=virtual_workbench) → 记住 node_uuid + data.param
|
||||||
|
- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
|
||||||
|
- [ ] Step 7: 更新节点参数 (PATCH #5)
|
||||||
|
- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
|
||||||
|
- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
|
||||||
|
- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
|
||||||
|
- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
|
||||||
|
```
|
||||||
|
|
||||||
|
### 典型 5 物料并发加热工作流示例
|
||||||
|
|
||||||
|
```
|
||||||
|
prepare_materials (count=5)
|
||||||
|
├─ channel_1 → move_to_heating_station (material_number=1) → start_heating → move_to_output
|
||||||
|
├─ channel_2 → move_to_heating_station (material_number=2) → start_heating → move_to_output
|
||||||
|
├─ channel_3 → move_to_heating_station (material_number=3) → start_heating → move_to_output
|
||||||
|
├─ channel_4 → move_to_heating_station (material_number=4) → start_heating → move_to_output
|
||||||
|
└─ channel_5 → move_to_heating_station (material_number=5) → start_heating → move_to_output
|
||||||
|
```
|
||||||
|
|
||||||
|
创建节点时，`prepare_materials` 的 5 个 output handle（`channel_1` ~ `channel_5`）分别连接到 5 个 `move_to_heating_station` 节点的 `material_input` handle。每个 `move_to_heating_station` 的 `heating_station_output` 和 `material_number_output` 连接到对应 `start_heating` 的 `station_id_input` 和 `material_number_input`。
|
||||||
76
.cursor/skills/virtual-workbench/action-index.md
Normal file
76
.cursor/skills/virtual-workbench/action-index.md
Normal file
@@ -0,0 +1,76 @@
|
|||||||
|
# Action Index — virtual_workbench
|
||||||
|
|
||||||
|
6 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 物料准备
|
||||||
|
|
||||||
|
### `auto-prepare_materials`
|
||||||
|
|
||||||
|
批量准备物料（虚拟起始节点），生成 A1-A5 物料编号，输出 5 个 handle 供后续节点使用
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommand`
|
||||||
|
- **Schema**: [`actions/prepare_materials.json`](actions/prepare_materials.json)
|
||||||
|
- **可选参数**: `count`（物料数量，默认 5）
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 机械臂 & 加热台操作
|
||||||
|
|
||||||
|
### `auto-move_to_heating_station`
|
||||||
|
|
||||||
|
将物料从 An 位置移动到空闲加热台（竞争机械臂，自动查找空闲加热台）
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommand`
|
||||||
|
- **Schema**: [`actions/move_to_heating_station.json`](actions/move_to_heating_station.json)
|
||||||
|
- **核心参数**: `material_number`（物料编号，integer）
|
||||||
|
|
||||||
|
### `auto-start_heating`
|
||||||
|
|
||||||
|
启动指定加热台的加热程序（可并行，3 个加热台同时工作）
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommand`
|
||||||
|
- **Schema**: [`actions/start_heating.json`](actions/start_heating.json)
|
||||||
|
- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
|
||||||
|
|
||||||
|
### `auto-move_to_output`
|
||||||
|
|
||||||
|
将加热完成的物料从加热台移动到输出位置 Cn
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommand`
|
||||||
|
- **Schema**: [`actions/move_to_output.json`](actions/move_to_output.json)
|
||||||
|
- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 物料转移
|
||||||
|
|
||||||
|
### `transfer`
|
||||||
|
|
||||||
|
异步转移物料到目标设备（通过 ROS 资源转移）
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommandAsync`
|
||||||
|
- **Schema**: [`actions/transfer.json`](actions/transfer.json)
|
||||||
|
- **核心参数**: `resource`, `target_device`, `mount_resource`
|
||||||
|
- **占位符字段**:
|
||||||
|
- `resource` — **ResourceSlot**，待转移的物料数组 `[{id, name, uuid}, ...]`
|
||||||
|
- `target_device` — **DeviceSlot**，目标设备路径字符串
|
||||||
|
- `mount_resource` — **ResourceSlot**，目标孔位数组 `[{id, name, uuid}, ...]`
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 人工确认
|
||||||
|
|
||||||
|
### `manual_confirm`
|
||||||
|
|
||||||
|
创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）
|
||||||
|
|
||||||
|
- **action_type**: `UniLabJsonCommand`
|
||||||
|
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||||
|
- **核心参数**: `resource`, `target_device`, `mount_resource`, `timeout_seconds`, `assignee_user_ids`
|
||||||
|
- **占位符字段**:
|
||||||
|
- `resource` — **ResourceSlot**，物料数组
|
||||||
|
- `target_device` — **DeviceSlot**，目标设备路径
|
||||||
|
- `mount_resource` — **ResourceSlot**，目标孔位数组
|
||||||
|
- `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||||
270
.cursor/skills/virtual-workbench/actions/manual_confirm.json
Normal file
270
.cursor/skills/virtual-workbench/actions/manual_confirm.json
Normal file
@@ -0,0 +1,270 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommand",
|
||||||
|
"goal": {
|
||||||
|
"resource": "resource",
|
||||||
|
"target_device": "target_device",
|
||||||
|
"mount_resource": "mount_resource",
|
||||||
|
"timeout_seconds": "timeout_seconds",
|
||||||
|
"assignee_user_ids": "assignee_user_ids"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"resource": {
|
||||||
|
"items": {
|
||||||
|
"type": "object",
|
||||||
|
"additionalProperties": false,
|
||||||
|
"properties": {
|
||||||
|
"id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"name": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"sample_id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"children": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"parent": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"type": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"category": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"pose": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"position": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z"
|
||||||
|
],
|
||||||
|
"title": "position",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"orientation": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"w": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z",
|
||||||
|
"w"
|
||||||
|
],
|
||||||
|
"title": "orientation",
|
||||||
|
"additionalProperties": false
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"position",
|
||||||
|
"orientation"
|
||||||
|
],
|
||||||
|
"title": "pose",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"data": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"title": "resource"
|
||||||
|
},
|
||||||
|
"type": "array"
|
||||||
|
},
|
||||||
|
"target_device": {
|
||||||
|
"type": "string",
|
||||||
|
"description": "device reference"
|
||||||
|
},
|
||||||
|
"mount_resource": {
|
||||||
|
"items": {
|
||||||
|
"type": "object",
|
||||||
|
"additionalProperties": false,
|
||||||
|
"properties": {
|
||||||
|
"id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"name": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"sample_id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"children": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"parent": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"type": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"category": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"pose": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"position": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z"
|
||||||
|
],
|
||||||
|
"title": "position",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"orientation": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"w": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z",
|
||||||
|
"w"
|
||||||
|
],
|
||||||
|
"title": "orientation",
|
||||||
|
"additionalProperties": false
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"position",
|
||||||
|
"orientation"
|
||||||
|
],
|
||||||
|
"title": "pose",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"data": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"title": "mount_resource"
|
||||||
|
},
|
||||||
|
"type": "array"
|
||||||
|
},
|
||||||
|
"timeout_seconds": {
|
||||||
|
"type": "integer"
|
||||||
|
},
|
||||||
|
"assignee_user_ids": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"resource",
|
||||||
|
"target_device",
|
||||||
|
"mount_resource",
|
||||||
|
"timeout_seconds",
|
||||||
|
"assignee_user_ids"
|
||||||
|
],
|
||||||
|
"_unilabos_placeholder_info": {
|
||||||
|
"resource": "unilabos_resources",
|
||||||
|
"target_device": "unilabos_devices",
|
||||||
|
"mount_resource": "unilabos_resources",
|
||||||
|
"assignee_user_ids": "unilabos_manual_confirm"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {
|
||||||
|
"resource": "unilabos_resources",
|
||||||
|
"target_device": "unilabos_devices",
|
||||||
|
"mount_resource": "unilabos_resources",
|
||||||
|
"assignee_user_ids": "unilabos_manual_confirm"
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,19 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommand",
|
||||||
|
"goal": {
|
||||||
|
"material_number": "material_number"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"material_number": {
|
||||||
|
"type": "integer"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"material_number"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {}
|
||||||
|
}
|
||||||
24
.cursor/skills/virtual-workbench/actions/move_to_output.json
Normal file
24
.cursor/skills/virtual-workbench/actions/move_to_output.json
Normal file
@@ -0,0 +1,24 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommand",
|
||||||
|
"goal": {
|
||||||
|
"station_id": "station_id",
|
||||||
|
"material_number": "material_number"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"station_id": {
|
||||||
|
"type": "integer"
|
||||||
|
},
|
||||||
|
"material_number": {
|
||||||
|
"type": "integer"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"station_id",
|
||||||
|
"material_number"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {}
|
||||||
|
}
|
||||||
@@ -0,0 +1,20 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommand",
|
||||||
|
"goal": {
|
||||||
|
"count": "count"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"count": {
|
||||||
|
"type": "integer",
|
||||||
|
"default": 5
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": []
|
||||||
|
},
|
||||||
|
"goal_default": {
|
||||||
|
"count": 5
|
||||||
|
},
|
||||||
|
"placeholder_keys": {}
|
||||||
|
}
|
||||||
24
.cursor/skills/virtual-workbench/actions/start_heating.json
Normal file
24
.cursor/skills/virtual-workbench/actions/start_heating.json
Normal file
@@ -0,0 +1,24 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommand",
|
||||||
|
"goal": {
|
||||||
|
"station_id": "station_id",
|
||||||
|
"material_number": "material_number"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"station_id": {
|
||||||
|
"type": "integer"
|
||||||
|
},
|
||||||
|
"material_number": {
|
||||||
|
"type": "integer"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"station_id",
|
||||||
|
"material_number"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {}
|
||||||
|
}
|
||||||
255
.cursor/skills/virtual-workbench/actions/transfer.json
Normal file
255
.cursor/skills/virtual-workbench/actions/transfer.json
Normal file
@@ -0,0 +1,255 @@
|
|||||||
|
{
|
||||||
|
"type": "UniLabJsonCommandAsync",
|
||||||
|
"goal": {
|
||||||
|
"resource": "resource",
|
||||||
|
"target_device": "target_device",
|
||||||
|
"mount_resource": "mount_resource"
|
||||||
|
},
|
||||||
|
"schema": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"resource": {
|
||||||
|
"items": {
|
||||||
|
"type": "object",
|
||||||
|
"additionalProperties": false,
|
||||||
|
"properties": {
|
||||||
|
"id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"name": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"sample_id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"children": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"parent": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"type": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"category": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"pose": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"position": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z"
|
||||||
|
],
|
||||||
|
"title": "position",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"orientation": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"w": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z",
|
||||||
|
"w"
|
||||||
|
],
|
||||||
|
"title": "orientation",
|
||||||
|
"additionalProperties": false
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"position",
|
||||||
|
"orientation"
|
||||||
|
],
|
||||||
|
"title": "pose",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"data": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"title": "resource"
|
||||||
|
},
|
||||||
|
"type": "array"
|
||||||
|
},
|
||||||
|
"target_device": {
|
||||||
|
"type": "string",
|
||||||
|
"description": "device reference"
|
||||||
|
},
|
||||||
|
"mount_resource": {
|
||||||
|
"items": {
|
||||||
|
"type": "object",
|
||||||
|
"additionalProperties": false,
|
||||||
|
"properties": {
|
||||||
|
"id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"name": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"sample_id": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"children": {
|
||||||
|
"type": "array",
|
||||||
|
"items": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"parent": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"type": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"category": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"pose": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"position": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z"
|
||||||
|
],
|
||||||
|
"title": "position",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"orientation": {
|
||||||
|
"type": "object",
|
||||||
|
"properties": {
|
||||||
|
"x": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"y": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"z": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
},
|
||||||
|
"w": {
|
||||||
|
"type": "number",
|
||||||
|
"minimum": -1.7976931348623157e+308,
|
||||||
|
"maximum": 1.7976931348623157e+308
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"x",
|
||||||
|
"y",
|
||||||
|
"z",
|
||||||
|
"w"
|
||||||
|
],
|
||||||
|
"title": "orientation",
|
||||||
|
"additionalProperties": false
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"position",
|
||||||
|
"orientation"
|
||||||
|
],
|
||||||
|
"title": "pose",
|
||||||
|
"additionalProperties": false
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "string"
|
||||||
|
},
|
||||||
|
"data": {
|
||||||
|
"type": "string"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"title": "mount_resource"
|
||||||
|
},
|
||||||
|
"type": "array"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"required": [
|
||||||
|
"resource",
|
||||||
|
"target_device",
|
||||||
|
"mount_resource"
|
||||||
|
],
|
||||||
|
"_unilabos_placeholder_info": {
|
||||||
|
"resource": "unilabos_resources",
|
||||||
|
"target_device": "unilabos_devices",
|
||||||
|
"mount_resource": "unilabos_resources"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"goal_default": {},
|
||||||
|
"placeholder_keys": {
|
||||||
|
"resource": "unilabos_resources",
|
||||||
|
"target_device": "unilabos_devices",
|
||||||
|
"mount_resource": "unilabos_resources"
|
||||||
|
}
|
||||||
|
}
|
||||||
2
.github/workflows/ci-check.yml
vendored
2
.github/workflows/ci-check.yml
vendored
@@ -38,7 +38,7 @@ jobs:
|
|||||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||||
run: |
|
run: |
|
||||||
echo Installing ROS dependencies...
|
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
|
mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
|
||||||
|
|
||||||
- name: Install pip dependencies and unilabos
|
- name: Install pip dependencies and unilabos
|
||||||
run: |
|
run: |
|
||||||
|
|||||||
77
.github/workflows/conda-pack-build.yml
vendored
77
.github/workflows/conda-pack-build.yml
vendored
@@ -1,6 +1,10 @@
|
|||||||
name: Build Conda-Pack Environment
|
name: Build Conda-Pack Environment
|
||||||
|
|
||||||
on:
|
on:
|
||||||
|
# 在 UniLabOS Conda Build 成功上传后自动构建非全量 conda-pack
|
||||||
|
workflow_run:
|
||||||
|
workflows: ["UniLabOS Conda Build"]
|
||||||
|
types: [completed]
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
branch:
|
branch:
|
||||||
@@ -21,6 +25,16 @@ on:
|
|||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
build-conda-pack:
|
build-conda-pack:
|
||||||
|
if: |
|
||||||
|
github.event_name == 'workflow_dispatch' ||
|
||||||
|
(
|
||||||
|
github.event_name == 'workflow_run' &&
|
||||||
|
github.event.workflow_run.conclusion == 'success' &&
|
||||||
|
github.event.workflow_run.event == 'workflow_run'
|
||||||
|
)
|
||||||
|
env:
|
||||||
|
BUILD_FULL: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}
|
||||||
|
PACKAGE_REF: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref_name }}
|
||||||
strategy:
|
strategy:
|
||||||
fail-fast: false
|
fail-fast: false
|
||||||
matrix:
|
matrix:
|
||||||
@@ -54,7 +68,9 @@ jobs:
|
|||||||
id: should_build
|
id: should_build
|
||||||
shell: bash
|
shell: bash
|
||||||
run: |
|
run: |
|
||||||
if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
|
||||||
|
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||||
|
elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||||
elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
|
elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
|
||||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||||
@@ -65,7 +81,7 @@ jobs:
|
|||||||
- uses: actions/checkout@v6
|
- uses: actions/checkout@v6
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
with:
|
with:
|
||||||
ref: ${{ github.event.inputs.branch }}
|
ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Setup Miniforge (with mamba)
|
- name: Setup Miniforge (with mamba)
|
||||||
@@ -75,7 +91,7 @@ jobs:
|
|||||||
miniforge-version: latest
|
miniforge-version: latest
|
||||||
use-mamba: true
|
use-mamba: true
|
||||||
python-version: '3.11.14'
|
python-version: '3.11.14'
|
||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
channels: conda-forge,robostack-staging,uni-lab
|
||||||
channel-priority: flexible
|
channel-priority: flexible
|
||||||
activate-environment: unilab
|
activate-environment: unilab
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
@@ -86,13 +102,13 @@ jobs:
|
|||||||
run: |
|
run: |
|
||||||
echo Installing unilabos and dependencies to unilab environment...
|
echo Installing unilabos and dependencies to unilab environment...
|
||||||
echo Using mamba for faster and more reliable dependency resolution...
|
echo Using mamba for faster and more reliable dependency resolution...
|
||||||
echo Build full: ${{ github.event.inputs.build_full }}
|
echo Build full: ${{ env.BUILD_FULL }}
|
||||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
if "${{ env.BUILD_FULL }}"=="true" (
|
||||||
echo Installing unilabos-full ^(complete package^)...
|
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
|
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
|
||||||
) else (
|
) else (
|
||||||
echo Installing unilabos ^(minimal package^)...
|
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 --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
|
||||||
)
|
)
|
||||||
|
|
||||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||||
@@ -101,13 +117,13 @@ jobs:
|
|||||||
run: |
|
run: |
|
||||||
echo "Installing unilabos and dependencies to unilab environment..."
|
echo "Installing unilabos and dependencies to unilab environment..."
|
||||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||||
echo "Build full: ${{ github.event.inputs.build_full }}"
|
echo "Build full: ${{ env.BUILD_FULL }}"
|
||||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
|
||||||
echo "Installing unilabos-full (complete package)..."
|
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
|
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
|
||||||
else
|
else
|
||||||
echo "Installing unilabos (minimal package)..."
|
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 --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
|
||||||
fi
|
fi
|
||||||
|
|
||||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||||
@@ -134,27 +150,27 @@ jobs:
|
|||||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||||
run: |
|
run: |
|
||||||
echo Checking for available ros-humble-unilabos-msgs versions...
|
echo Checking for available ros-humble-unilabos-msgs versions...
|
||||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
|
mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
|
||||||
echo.
|
echo.
|
||||||
echo Updating ros-humble-unilabos-msgs to latest version...
|
echo Updating ros-humble-unilabos-msgs to latest version...
|
||||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
|
mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
|
||||||
|
|
||||||
- name: Check for newer ros-humble-unilabos-msgs (Unix)
|
- name: Check for newer ros-humble-unilabos-msgs (Unix)
|
||||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||||
shell: bash
|
shell: bash
|
||||||
run: |
|
run: |
|
||||||
echo "Checking for available ros-humble-unilabos-msgs versions..."
|
echo "Checking for available ros-humble-unilabos-msgs versions..."
|
||||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
|
mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
|
||||||
echo ""
|
echo ""
|
||||||
echo "Updating ros-humble-unilabos-msgs to latest version..."
|
echo "Updating ros-humble-unilabos-msgs to latest version..."
|
||||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
|
mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
|
||||||
|
|
||||||
- name: Install latest unilabos from source (Windows)
|
- name: Install latest unilabos from source (Windows)
|
||||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||||
run: |
|
run: |
|
||||||
echo Uninstalling existing unilabos...
|
echo Uninstalling existing unilabos...
|
||||||
mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
|
mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
|
||||||
echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
|
echo Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})...
|
||||||
mamba run -n unilab pip install .
|
mamba run -n unilab pip install .
|
||||||
echo Verifying installation...
|
echo Verifying installation...
|
||||||
mamba run -n unilab pip show unilabos
|
mamba run -n unilab pip show unilabos
|
||||||
@@ -165,7 +181,7 @@ jobs:
|
|||||||
run: |
|
run: |
|
||||||
echo "Uninstalling existing unilabos..."
|
echo "Uninstalling existing unilabos..."
|
||||||
mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||||
echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
|
echo "Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})..."
|
||||||
mamba run -n unilab pip install .
|
mamba run -n unilab pip install .
|
||||||
echo "Verifying installation..."
|
echo "Verifying installation..."
|
||||||
mamba run -n unilab pip show unilabos
|
mamba run -n unilab pip show unilabos
|
||||||
@@ -226,7 +242,9 @@ jobs:
|
|||||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||||
run: |
|
run: |
|
||||||
echo Packing unilab environment with conda-pack...
|
echo Packing unilab environment with conda-pack...
|
||||||
mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
for /f "delims=" %%i in ('mamba run -n unilab python -c "import os; print(os.environ['CONDA_PREFIX'])"') do set "UNILAB_PREFIX=%%i"
|
||||||
|
echo Packing environment at: %UNILAB_PREFIX%
|
||||||
|
mamba run -n unilab conda-pack -p "%UNILAB_PREFIX%" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||||
echo Pack file created:
|
echo Pack file created:
|
||||||
dir unilab-env-${{ matrix.platform }}.tar.gz
|
dir unilab-env-${{ matrix.platform }}.tar.gz
|
||||||
|
|
||||||
@@ -235,8 +253,9 @@ jobs:
|
|||||||
shell: bash
|
shell: bash
|
||||||
run: |
|
run: |
|
||||||
echo "Packing unilab environment with conda-pack..."
|
echo "Packing unilab environment with conda-pack..."
|
||||||
mamba install conda-pack -c conda-forge -y
|
UNILAB_PREFIX="$(mamba run -n unilab python -c 'import os; print(os.environ["CONDA_PREFIX"])')"
|
||||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
echo "Packing environment at: $UNILAB_PREFIX"
|
||||||
|
mamba run -n unilab conda-pack -p "$UNILAB_PREFIX" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||||
echo "Pack file created:"
|
echo "Pack file created:"
|
||||||
ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
||||||
|
|
||||||
@@ -267,7 +286,7 @@ jobs:
|
|||||||
|
|
||||||
rem Create README using Python script
|
rem Create README using Python script
|
||||||
echo Creating: README.txt
|
echo Creating: README.txt
|
||||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
|
python scripts\create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package\README.txt
|
||||||
|
|
||||||
echo.
|
echo.
|
||||||
echo Distribution package contents:
|
echo Distribution package contents:
|
||||||
@@ -303,7 +322,7 @@ jobs:
|
|||||||
|
|
||||||
# Create README using Python script
|
# Create README using Python script
|
||||||
echo "Creating: README.txt"
|
echo "Creating: README.txt"
|
||||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
|
python scripts/create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package/README.txt
|
||||||
|
|
||||||
echo ""
|
echo ""
|
||||||
echo "Distribution package contents:"
|
echo "Distribution package contents:"
|
||||||
@@ -314,7 +333,7 @@ jobs:
|
|||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: actions/upload-artifact@v6
|
uses: actions/upload-artifact@v6
|
||||||
with:
|
with:
|
||||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
|
||||||
path: dist-package/
|
path: dist-package/
|
||||||
retention-days: 90
|
retention-days: 90
|
||||||
if-no-files-found: error
|
if-no-files-found: error
|
||||||
@@ -326,9 +345,9 @@ jobs:
|
|||||||
echo Build Summary
|
echo Build Summary
|
||||||
echo ==========================================
|
echo ==========================================
|
||||||
echo Platform: ${{ matrix.platform }}
|
echo Platform: ${{ matrix.platform }}
|
||||||
echo Branch: ${{ github.event.inputs.branch }}
|
echo Branch: ${{ env.PACKAGE_REF }}
|
||||||
echo Python version: 3.11.14
|
echo Python version: 3.11.14
|
||||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
if "${{ env.BUILD_FULL }}"=="true" (
|
||||||
echo Package: unilabos-full ^(complete^)
|
echo Package: unilabos-full ^(complete^)
|
||||||
) else (
|
) else (
|
||||||
echo Package: unilabos ^(minimal^)
|
echo Package: unilabos ^(minimal^)
|
||||||
@@ -337,7 +356,7 @@ jobs:
|
|||||||
echo Distribution package contents:
|
echo Distribution package contents:
|
||||||
dir dist-package
|
dir dist-package
|
||||||
echo.
|
echo.
|
||||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
|
||||||
echo.
|
echo.
|
||||||
echo After download, extract the ZIP and run:
|
echo After download, extract the ZIP and run:
|
||||||
echo install_unilab.bat
|
echo install_unilab.bat
|
||||||
@@ -351,9 +370,9 @@ jobs:
|
|||||||
echo "Build Summary"
|
echo "Build Summary"
|
||||||
echo "=========================================="
|
echo "=========================================="
|
||||||
echo "Platform: ${{ matrix.platform }}"
|
echo "Platform: ${{ matrix.platform }}"
|
||||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
echo "Branch: ${{ env.PACKAGE_REF }}"
|
||||||
echo "Python version: 3.11.14"
|
echo "Python version: 3.11.14"
|
||||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
|
||||||
echo "Package: unilabos-full (complete)"
|
echo "Package: unilabos-full (complete)"
|
||||||
else
|
else
|
||||||
echo "Package: unilabos (minimal)"
|
echo "Package: unilabos (minimal)"
|
||||||
@@ -362,7 +381,7 @@ jobs:
|
|||||||
echo "Distribution package contents:"
|
echo "Distribution package contents:"
|
||||||
ls -lh dist-package/
|
ls -lh dist-package/
|
||||||
echo ""
|
echo ""
|
||||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
|
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
|
||||||
echo ""
|
echo ""
|
||||||
echo "After download:"
|
echo "After download:"
|
||||||
echo " install_unilab.sh"
|
echo " install_unilab.sh"
|
||||||
|
|||||||
4
.github/workflows/deploy-docs.yml
vendored
4
.github/workflows/deploy-docs.yml
vendored
@@ -56,7 +56,7 @@ jobs:
|
|||||||
miniforge-version: latest
|
miniforge-version: latest
|
||||||
use-mamba: true
|
use-mamba: true
|
||||||
python-version: '3.11.14'
|
python-version: '3.11.14'
|
||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
channels: conda-forge,robostack-staging,uni-lab
|
||||||
channel-priority: flexible
|
channel-priority: flexible
|
||||||
activate-environment: unilab
|
activate-environment: unilab
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
@@ -66,7 +66,7 @@ jobs:
|
|||||||
run: |
|
run: |
|
||||||
echo "Installing unilabos and dependencies to unilab environment..."
|
echo "Installing unilabos and dependencies to unilab environment..."
|
||||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||||
mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
|
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos -y
|
||||||
|
|
||||||
- name: Install latest unilabos from source
|
- name: Install latest unilabos from source
|
||||||
run: |
|
run: |
|
||||||
|
|||||||
33
.github/workflows/multi-platform-build.yml
vendored
33
.github/workflows/multi-platform-build.yml
vendored
@@ -10,6 +10,9 @@ on:
|
|||||||
# 支持 tag 推送（不依赖 CI Check）
|
# 支持 tag 推送（不依赖 CI Check）
|
||||||
push:
|
push:
|
||||||
tags: ['v*']
|
tags: ['v*']
|
||||||
|
# GitHub Release 发布时自动构建并上传
|
||||||
|
release:
|
||||||
|
types: [published]
|
||||||
# 手动触发
|
# 手动触发
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
@@ -80,7 +83,7 @@ jobs:
|
|||||||
- uses: actions/checkout@v6
|
- uses: actions/checkout@v6
|
||||||
with:
|
with:
|
||||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
ref: ${{ github.event.workflow_run.head_sha || github.event.release.tag_name || github.ref }}
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Check if platform should be built
|
- name: Check if platform should be built
|
||||||
@@ -96,12 +99,14 @@ jobs:
|
|||||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||||
fi
|
fi
|
||||||
|
|
||||||
- name: Setup Miniconda
|
- name: Setup Miniforge
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: conda-incubator/setup-miniconda@v3
|
uses: conda-incubator/setup-miniconda@v3
|
||||||
with:
|
with:
|
||||||
miniconda-version: 'latest'
|
miniforge-version: latest
|
||||||
channels: conda-forge,robostack-staging,defaults
|
use-mamba: true
|
||||||
|
python-version: '3.11.14'
|
||||||
|
channels: conda-forge,robostack-staging
|
||||||
channel-priority: strict
|
channel-priority: strict
|
||||||
activate-environment: build-env
|
activate-environment: build-env
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
@@ -110,13 +115,15 @@ jobs:
|
|||||||
- name: Install rattler-build and anaconda-client
|
- name: Install rattler-build and anaconda-client
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
conda install -c conda-forge rattler-build anaconda-client
|
mamba install -n build-env --override-channels -c conda-forge rattler-build anaconda-client -y
|
||||||
|
|
||||||
- name: Show environment info
|
- name: Show environment info
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
conda info
|
conda info
|
||||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
conda list -n build-env | grep -E "(rattler-build|anaconda-client)"
|
||||||
|
conda run -n build-env rattler-build --version
|
||||||
|
conda run -n build-env anaconda --version
|
||||||
echo "Platform: ${{ matrix.platform }}"
|
echo "Platform: ${{ matrix.platform }}"
|
||||||
echo "OS: ${{ matrix.os }}"
|
echo "OS: ${{ matrix.os }}"
|
||||||
|
|
||||||
@@ -124,9 +131,9 @@ jobs:
|
|||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
|
if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
|
||||||
rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
conda run -n build-env rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
||||||
else
|
else
|
||||||
rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
conda run -n build-env rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
||||||
fi
|
fi
|
||||||
|
|
||||||
- name: List built packages
|
- name: List built packages
|
||||||
@@ -157,9 +164,15 @@ jobs:
|
|||||||
retention-days: 30
|
retention-days: 30
|
||||||
|
|
||||||
- name: Upload to Anaconda.org (unilab organization)
|
- name: Upload to Anaconda.org (unilab organization)
|
||||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
if: |
|
||||||
|
steps.should_build.outputs.should_build == 'true' &&
|
||||||
|
(
|
||||||
|
github.event_name == 'release' ||
|
||||||
|
startsWith(github.ref, 'refs/tags/') ||
|
||||||
|
github.event.inputs.upload_to_anaconda == 'true'
|
||||||
|
)
|
||||||
run: |
|
run: |
|
||||||
for package in $(find ./output -name "*.conda"); do
|
for package in $(find ./output -name "*.conda"); do
|
||||||
echo "Uploading $package to unilab organization..."
|
echo "Uploading $package to unilab organization..."
|
||||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||||
done
|
done
|
||||||
|
|||||||
74
.github/workflows/unilabos-conda-build.yml
vendored
74
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,14 +1,10 @@
|
|||||||
name: UniLabOS Conda Build
|
name: UniLabOS Conda Build
|
||||||
|
|
||||||
on:
|
on:
|
||||||
# 在 CI Check 成功后自动触发
|
# 在 Multi-Platform Conda Build 成功上传 msgs 后自动触发
|
||||||
workflow_run:
|
workflow_run:
|
||||||
workflows: ["CI Check"]
|
workflows: ["Multi-Platform Conda Build"]
|
||||||
types: [completed]
|
types: [completed]
|
||||||
branches: [main, dev]
|
|
||||||
# 标签推送时直接触发（发布版本）
|
|
||||||
push:
|
|
||||||
tags: ['v*']
|
|
||||||
# 手动触发
|
# 手动触发
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
@@ -33,30 +29,30 @@ on:
|
|||||||
type: boolean
|
type: boolean
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
# 等待上游 msgs 构建完成的 job (仅用于 workflow_run 触发)
|
||||||
wait-for-ci:
|
wait-for-upstream:
|
||||||
runs-on: ubuntu-latest
|
runs-on: ubuntu-latest
|
||||||
if: github.event_name == 'workflow_run'
|
if: github.event_name == 'workflow_run'
|
||||||
outputs:
|
outputs:
|
||||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||||
steps:
|
steps:
|
||||||
- name: Check CI status
|
- name: Check upstream workflow status
|
||||||
id: check
|
id: check
|
||||||
run: |
|
run: |
|
||||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" && ( "${{ github.event.workflow_run.event }}" == "release" || "${{ github.event.workflow_run.event }}" == "push" ) ]]; then
|
||||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||||
echo "CI Check passed, proceeding with build"
|
echo "Multi-Platform Conda Build passed for release/tag, proceeding with UniLabOS build"
|
||||||
else
|
else
|
||||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
echo "Upstream workflow is not a successful release/tag build (status: ${{ github.event.workflow_run.conclusion }}, event: ${{ github.event.workflow_run.event }}), skipping build"
|
||||||
fi
|
fi
|
||||||
|
|
||||||
build:
|
build:
|
||||||
needs: [wait-for-ci]
|
needs: [wait-for-upstream]
|
||||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
# 运行条件：workflow_run 触发且上游成功，或者手动触发
|
||||||
if: |
|
if: |
|
||||||
always() &&
|
always() &&
|
||||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
(needs.wait-for-upstream.result == 'skipped' || needs.wait-for-upstream.outputs.should_continue == 'true')
|
||||||
strategy:
|
strategy:
|
||||||
fail-fast: false
|
fail-fast: false
|
||||||
matrix:
|
matrix:
|
||||||
@@ -79,7 +75,7 @@ jobs:
|
|||||||
steps:
|
steps:
|
||||||
- uses: actions/checkout@v6
|
- uses: actions/checkout@v6
|
||||||
with:
|
with:
|
||||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
# 如果是 workflow_run 触发，使用上游 conda 包构建的 commit
|
||||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
@@ -96,12 +92,14 @@ jobs:
|
|||||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||||
fi
|
fi
|
||||||
|
|
||||||
- name: Setup Miniconda
|
- name: Setup Miniforge
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: conda-incubator/setup-miniconda@v3
|
uses: conda-incubator/setup-miniconda@v3
|
||||||
with:
|
with:
|
||||||
miniconda-version: 'latest'
|
miniforge-version: latest
|
||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
use-mamba: true
|
||||||
|
python-version: '3.11.14'
|
||||||
|
channels: conda-forge,robostack-staging,uni-lab
|
||||||
channel-priority: strict
|
channel-priority: strict
|
||||||
activate-environment: build-env
|
activate-environment: build-env
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
@@ -110,20 +108,22 @@ jobs:
|
|||||||
- name: Install rattler-build and anaconda-client
|
- name: Install rattler-build and anaconda-client
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
conda install -c conda-forge rattler-build anaconda-client
|
mamba install -n build-env --override-channels -c conda-forge rattler-build anaconda-client -y
|
||||||
|
|
||||||
- name: Show environment info
|
- name: Show environment info
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
conda info
|
conda info
|
||||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
conda list -n build-env | grep -E "(rattler-build|anaconda-client)"
|
||||||
|
conda run -n build-env rattler-build --version
|
||||||
|
conda run -n build-env anaconda --version
|
||||||
echo "Platform: ${{ matrix.platform }}"
|
echo "Platform: ${{ matrix.platform }}"
|
||||||
echo "OS: ${{ matrix.os }}"
|
echo "OS: ${{ matrix.os }}"
|
||||||
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
echo "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
|
||||||
echo "Building packages:"
|
echo "Building packages:"
|
||||||
echo " - unilabos-env (environment dependencies)"
|
echo " - unilabos-env (environment dependencies)"
|
||||||
echo " - unilabos (with pip package)"
|
echo " - unilabos (with pip package)"
|
||||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
if [[ "${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}" == "true" ]]; then
|
||||||
echo " - unilabos-full (complete package)"
|
echo " - unilabos-full (complete package)"
|
||||||
fi
|
fi
|
||||||
|
|
||||||
@@ -131,14 +131,19 @@ jobs:
|
|||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
echo "Building unilabos-env (conda environment dependencies)..."
|
echo "Building unilabos-env (conda environment dependencies)..."
|
||||||
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
conda run -n build-env 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)
|
- name: Upload unilabos-env to Anaconda.org (if enabled)
|
||||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
if: |
|
||||||
|
steps.should_build.outputs.should_build == 'true' &&
|
||||||
|
(
|
||||||
|
github.event_name == 'workflow_run' ||
|
||||||
|
github.event.inputs.upload_to_anaconda == 'true'
|
||||||
|
)
|
||||||
run: |
|
run: |
|
||||||
echo "Uploading unilabos-env to uni-lab organization..."
|
echo "Uploading unilabos-env to uni-lab organization..."
|
||||||
for package in $(find ./output -name "unilabos-env*.conda"); do
|
for package in $(find ./output -name "unilabos-env*.conda"); do
|
||||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||||
done
|
done
|
||||||
|
|
||||||
- name: Build unilabos (with pip package)
|
- name: Build unilabos (with pip package)
|
||||||
@@ -146,33 +151,40 @@ jobs:
|
|||||||
run: |
|
run: |
|
||||||
echo "Building unilabos package..."
|
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
|
# 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
|
conda run -n build-env 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)
|
- name: Upload unilabos to Anaconda.org (if enabled)
|
||||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
if: |
|
||||||
|
steps.should_build.outputs.should_build == 'true' &&
|
||||||
|
(
|
||||||
|
github.event_name == 'workflow_run' ||
|
||||||
|
github.event.inputs.upload_to_anaconda == 'true'
|
||||||
|
)
|
||||||
run: |
|
run: |
|
||||||
echo "Uploading unilabos to uni-lab organization..."
|
echo "Uploading unilabos to uni-lab organization..."
|
||||||
for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
|
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"
|
conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||||
done
|
done
|
||||||
|
|
||||||
- name: Build unilabos-full - Only when explicitly requested
|
- name: Build unilabos-full - Only when explicitly requested
|
||||||
if: |
|
if: |
|
||||||
steps.should_build.outputs.should_build == 'true' &&
|
steps.should_build.outputs.should_build == 'true' &&
|
||||||
|
github.event_name == 'workflow_dispatch' &&
|
||||||
github.event.inputs.build_full == 'true'
|
github.event.inputs.build_full == 'true'
|
||||||
run: |
|
run: |
|
||||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
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
|
conda run -n build-env 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)
|
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
||||||
if: |
|
if: |
|
||||||
steps.should_build.outputs.should_build == 'true' &&
|
steps.should_build.outputs.should_build == 'true' &&
|
||||||
|
github.event_name == 'workflow_dispatch' &&
|
||||||
github.event.inputs.build_full == 'true' &&
|
github.event.inputs.build_full == 'true' &&
|
||||||
github.event.inputs.upload_to_anaconda == 'true'
|
github.event.inputs.upload_to_anaconda == 'true'
|
||||||
run: |
|
run: |
|
||||||
echo "Uploading unilabos-full to uni-lab organization..."
|
echo "Uploading unilabos-full to uni-lab organization..."
|
||||||
for package in $(find ./output -name "unilabos-full*.conda"); do
|
for package in $(find ./output -name "unilabos-full*.conda"); do
|
||||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||||
done
|
done
|
||||||
|
|
||||||
- name: List built packages
|
- name: List built packages
|
||||||
|
|||||||
@@ -12,7 +12,7 @@ Uni-Lab 使用 Python 格式的配置文件（`.py`），默认为 `unilabos_dat
|
|||||||
|
|
||||||
**获取方式：**
|
**获取方式：**
|
||||||
|
|
||||||
进入 [Uni-Lab 实验室](https://uni-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
|
进入 [Uni-Lab 实验室](https://leap-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@@ -69,7 +69,7 @@ class WSConfig:
|
|||||||
|
|
||||||
# HTTP配置
|
# HTTP配置
|
||||||
class HTTPConfig:
|
class HTTPConfig:
|
||||||
remote_addr = "https://uni-lab.bohrium.com/api/v1" # 远程服务器地址
|
remote_addr = "https://leap-lab.bohrium.com/api/v1" # 远程服务器地址
|
||||||
|
|
||||||
# ROS配置
|
# ROS配置
|
||||||
class ROSConfig:
|
class ROSConfig:
|
||||||
@@ -209,8 +209,8 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
|
|||||||
|
|
||||||
`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
|
`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
|
||||||
|
|
||||||
- `test` → `https://uni-lab.test.bohrium.com/api/v1`
|
- `test` → `https://leap-lab.test.bohrium.com/api/v1`
|
||||||
- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
|
- `uat` → `https://leap-lab.uat.bohrium.com/api/v1`
|
||||||
- `local` → `http://127.0.0.1:48197/api/v1`
|
- `local` → `http://127.0.0.1:48197/api/v1`
|
||||||
- 其他值 → 直接使用作为完整 URL
|
- 其他值 → 直接使用作为完整 URL
|
||||||
|
|
||||||
@@ -248,7 +248,7 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
|
|||||||
|
|
||||||
`ak` 和 `sk` 是必需的认证参数：
|
`ak` 和 `sk` 是必需的认证参数：
|
||||||
|
|
||||||
1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
|
1. **获取方式**：在 [Uni-Lab 官网](https://leap-lab.bohrium.com) 注册实验室后获得
|
||||||
2. **配置方式**：
|
2. **配置方式**：
|
||||||
- **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级，推荐）
|
- **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级，推荐）
|
||||||
- **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
|
- **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
|
||||||
@@ -276,14 +276,14 @@ WebSocket 是 Uni-Lab 的主要通信方式：
|
|||||||
HTTP 客户端配置用于与云端服务通信：
|
HTTP 客户端配置用于与云端服务通信：
|
||||||
|
|
||||||
| 参数 | 类型 | 默认值 | 说明 |
|
| 参数 | 类型 | 默认值 | 说明 |
|
||||||
| ------------- | ---- | -------------------------------------- | ------------ |
|
| ------------- | ---- | --------------------------------------- | ------------ |
|
||||||
| `remote_addr` | str | `"https://uni-lab.bohrium.com/api/v1"` | 远程服务地址 |
|
| `remote_addr` | str | `"https://leap-lab.bohrium.com/api/v1"` | 远程服务地址 |
|
||||||
|
|
||||||
**预设环境地址**：
|
**预设环境地址**：
|
||||||
|
|
||||||
- 生产环境：`https://uni-lab.bohrium.com/api/v1`（默认）
|
- 生产环境：`https://leap-lab.bohrium.com/api/v1`（默认）
|
||||||
- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
|
- 测试环境：`https://leap-lab.test.bohrium.com/api/v1`
|
||||||
- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
|
- UAT 环境：`https://leap-lab.uat.bohrium.com/api/v1`
|
||||||
- 本地环境：`http://127.0.0.1:48197/api/v1`
|
- 本地环境：`http://127.0.0.1:48197/api/v1`
|
||||||
|
|
||||||
### 4. ROSConfig - ROS 配置
|
### 4. ROSConfig - ROS 配置
|
||||||
@@ -401,7 +401,7 @@ export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
|
|||||||
export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
|
export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
|
||||||
|
|
||||||
# 设置HTTP配置
|
# 设置HTTP配置
|
||||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.test.bohrium.com/api/v1"
|
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://leap-lab.test.bohrium.com/api/v1"
|
||||||
```
|
```
|
||||||
|
|
||||||
## 配置文件使用方法
|
## 配置文件使用方法
|
||||||
@@ -484,13 +484,13 @@ export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS=100
|
|||||||
|
|
||||||
```python
|
```python
|
||||||
class HTTPConfig:
|
class HTTPConfig:
|
||||||
remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
|
||||||
```
|
```
|
||||||
|
|
||||||
**环境变量方式：**
|
**环境变量方式：**
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://uni-lab.test.bohrium.com/api/v1
|
export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://leap-lab.test.bohrium.com/api/v1
|
||||||
```
|
```
|
||||||
|
|
||||||
**命令行方式（推荐）：**
|
**命令行方式（推荐）：**
|
||||||
|
|||||||
@@ -23,7 +23,7 @@ Uni-Lab-OS 支持多种部署模式：
|
|||||||
```
|
```
|
||||||
┌──────────────────────────────────────────────┐
|
┌──────────────────────────────────────────────┐
|
||||||
│ Cloud Platform/Self-hosted Platform │
|
│ Cloud Platform/Self-hosted Platform │
|
||||||
│ uni-lab.bohrium.com │
|
│ leap-lab.bohrium.com │
|
||||||
│ (Resource Management, Task Scheduling, │
|
│ (Resource Management, Task Scheduling, │
|
||||||
│ Monitoring) │
|
│ Monitoring) │
|
||||||
└────────────────────┬─────────────────────────┘
|
└────────────────────┬─────────────────────────┘
|
||||||
@@ -444,7 +444,7 @@ ros2 daemon stop && ros2 daemon start
|
|||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 测试云端连接
|
# 测试云端连接
|
||||||
curl https://uni-lab.bohrium.com/api/v1/health
|
curl https://leap-lab.bohrium.com/api/v1/health
|
||||||
|
|
||||||
# 测试WebSocket
|
# 测试WebSocket
|
||||||
# 启动Uni-Lab后查看日志
|
# 启动Uni-Lab后查看日志
|
||||||
|
|||||||
@@ -34,7 +34,7 @@
|
|||||||
**选择合适的安装包：**
|
**选择合适的安装包：**
|
||||||
|
|
||||||
| 安装包 | 适用场景 | 包含组件 |
|
| 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` | **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-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 |
|
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||||
@@ -66,6 +66,7 @@ mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
|||||||
```
|
```
|
||||||
|
|
||||||
**选择建议：**
|
**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
|
- **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
|
- **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
|
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
||||||
@@ -88,7 +89,7 @@ python -c "from unilabos_msgs.msg import Resource; print('ROS msgs OK')"
|
|||||||
|
|
||||||
#### 2.1 注册实验室账号
|
#### 2.1 注册实验室账号
|
||||||
|
|
||||||
1. 访问 [https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
1. 访问 [https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||||
2. 注册账号并登录
|
2. 注册账号并登录
|
||||||
3. 创建新实验室
|
3. 创建新实验室
|
||||||
|
|
||||||
@@ -297,7 +298,7 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
|||||||
|
|
||||||
#### 5.2 访问 Web 界面
|
#### 5.2 访问 Web 界面
|
||||||
|
|
||||||
启动系统后，访问[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
启动系统后，访问[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||||
|
|
||||||
#### 5.3 添加设备和物料
|
#### 5.3 添加设备和物料
|
||||||
|
|
||||||
@@ -306,12 +307,10 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
|||||||
**示例场景：** 创建一个简单的液体转移实验
|
**示例场景：** 创建一个简单的液体转移实验
|
||||||
|
|
||||||
1. **添加工作站（必需）：**
|
1. **添加工作站（必需）：**
|
||||||
|
|
||||||
- 在"仪器设备"中找到 `work_station`
|
- 在"仪器设备"中找到 `work_station`
|
||||||
- 添加 `workstation` x1
|
- 添加 `workstation` x1
|
||||||
|
|
||||||
2. **添加虚拟转移泵：**
|
2. **添加虚拟转移泵：**
|
||||||
|
|
||||||
- 在"仪器设备"中找到 `virtual_device`
|
- 在"仪器设备"中找到 `virtual_device`
|
||||||
- 添加 `virtual_transfer_pump` x1
|
- 添加 `virtual_transfer_pump` x1
|
||||||
|
|
||||||
@@ -818,6 +817,7 @@ uv pip install -r unilabos/utils/requirements.txt
|
|||||||
```
|
```
|
||||||
|
|
||||||
**为什么使用这种方式？**
|
**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-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
|
- `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
|
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
||||||
@@ -1796,32 +1796,27 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
|||||||
**详细步骤：**
|
**详细步骤：**
|
||||||
|
|
||||||
1. **需求分析**：
|
1. **需求分析**：
|
||||||
|
|
||||||
- 明确实验流程
|
- 明确实验流程
|
||||||
- 列出所需设备和物料
|
- 列出所需设备和物料
|
||||||
- 设计工作流程图
|
- 设计工作流程图
|
||||||
|
|
||||||
2. **环境搭建**：
|
2. **环境搭建**：
|
||||||
|
|
||||||
- 安装 Uni-Lab-OS
|
- 安装 Uni-Lab-OS
|
||||||
- 创建实验室账号
|
- 创建实验室账号
|
||||||
- 准备开发工具（IDE、Git）
|
- 准备开发工具（IDE、Git）
|
||||||
|
|
||||||
3. **原型验证**：
|
3. **原型验证**：
|
||||||
|
|
||||||
- 使用虚拟设备测试流程
|
- 使用虚拟设备测试流程
|
||||||
- 验证工作流逻辑
|
- 验证工作流逻辑
|
||||||
- 调整参数
|
- 调整参数
|
||||||
|
|
||||||
4. **迭代开发**：
|
4. **迭代开发**：
|
||||||
|
|
||||||
- 实现自定义设备驱动（同时撰写单点函数测试）
|
- 实现自定义设备驱动（同时撰写单点函数测试）
|
||||||
- 编写注册表
|
- 编写注册表
|
||||||
- 单元测试
|
- 单元测试
|
||||||
- 集成测试
|
- 集成测试
|
||||||
|
|
||||||
5. **测试部署**：
|
5. **测试部署**：
|
||||||
|
|
||||||
- 连接真实硬件
|
- 连接真实硬件
|
||||||
- 空跑测试
|
- 空跑测试
|
||||||
- 小规模试验
|
- 小规模试验
|
||||||
@@ -1871,7 +1866,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
|||||||
#### 14.5 社区支持
|
#### 14.5 社区支持
|
||||||
|
|
||||||
- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||||
- **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
- **官方网站**：[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
|
|||||||
@@ -626,7 +626,7 @@ unilab
|
|||||||
|
|
||||||
**云端图文件管理**:
|
**云端图文件管理**:
|
||||||
|
|
||||||
1. 登录 https://uni-lab.bohrium.com
|
1. 登录 https://leap-lab.bohrium.com
|
||||||
2. 进入"设备配置"
|
2. 进入"设备配置"
|
||||||
3. 创建或编辑配置
|
3. 创建或编辑配置
|
||||||
4. 保存到云端
|
4. 保存到云端
|
||||||
|
|||||||
@@ -54,7 +54,6 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
|||||||
您可以直接跟随 unilabos 的提示进行，无需查阅本节
|
您可以直接跟随 unilabos 的提示进行，无需查阅本节
|
||||||
|
|
||||||
- **工作目录设置**：
|
- **工作目录设置**：
|
||||||
|
|
||||||
- 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
|
- 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
|
||||||
- 否则使用 `当前目录/unilabos_data` 作为工作目录
|
- 否则使用 `当前目录/unilabos_data` 作为工作目录
|
||||||
- 可通过 `--working_dir` 指定自定义工作目录
|
- 可通过 `--working_dir` 指定自定义工作目录
|
||||||
@@ -68,8 +67,8 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
|||||||
|
|
||||||
支持多种后端环境：
|
支持多种后端环境：
|
||||||
|
|
||||||
- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
|
- `--addr test`：测试环境 (`https://leap-lab.test.bohrium.com/api/v1`)
|
||||||
- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
|
- `--addr uat`：UAT 环境 (`https://leap-lab.uat.bohrium.com/api/v1`)
|
||||||
- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
|
- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
|
||||||
- 自定义地址：直接指定完整 URL
|
- 自定义地址：直接指定完整 URL
|
||||||
|
|
||||||
@@ -176,7 +175,7 @@ unilab --config path/to/your/config.py
|
|||||||
|
|
||||||
如果是首次使用，系统会：
|
如果是首次使用，系统会：
|
||||||
|
|
||||||
1. 提示前往 https://uni-lab.bohrium.com 注册实验室
|
1. 提示前往 https://leap-lab.bohrium.com 注册实验室
|
||||||
2. 引导创建配置文件
|
2. 引导创建配置文件
|
||||||
3. 设置工作目录
|
3. 设置工作目录
|
||||||
|
|
||||||
@@ -216,7 +215,7 @@ unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
|
|||||||
|
|
||||||
如果提示 "后续运行必须拥有一个实验室"，请确保：
|
如果提示 "后续运行必须拥有一个实验室"，请确保：
|
||||||
|
|
||||||
- 已在 https://uni-lab.bohrium.com 注册实验室
|
- 已在 https://leap-lab.bohrium.com 注册实验室
|
||||||
- 正确设置了 `--ak` 和 `--sk` 参数
|
- 正确设置了 `--ak` 和 `--sk` 参数
|
||||||
- 配置文件中包含正确的认证信息
|
- 配置文件中包含正确的认证信息
|
||||||
|
|
||||||
|
|||||||
@@ -1,5 +1,5 @@
|
|||||||
channel_sources:
|
channel_sources:
|
||||||
- robostack,robostack-staging,conda-forge,defaults
|
- robostack,robostack-staging,conda-forge
|
||||||
|
|
||||||
gazebo:
|
gazebo:
|
||||||
- '11'
|
- '11'
|
||||||
|
|||||||
@@ -1,6 +1,6 @@
|
|||||||
package:
|
package:
|
||||||
name: ros-humble-unilabos-msgs
|
name: ros-humble-unilabos-msgs
|
||||||
version: 0.10.19
|
version: 0.11.2
|
||||||
source:
|
source:
|
||||||
path: ../../unilabos_msgs
|
path: ../../unilabos_msgs
|
||||||
target_directory: src
|
target_directory: src
|
||||||
|
|||||||
@@ -1,6 +1,6 @@
|
|||||||
package:
|
package:
|
||||||
name: unilabos
|
name: unilabos
|
||||||
version: "0.10.19"
|
version: "0.11.2"
|
||||||
|
|
||||||
source:
|
source:
|
||||||
path: ../..
|
path: ../..
|
||||||
|
|||||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
|||||||
|
|
||||||
setup(
|
setup(
|
||||||
name=package_name,
|
name=package_name,
|
||||||
version='0.10.19',
|
version='0.11.2',
|
||||||
packages=find_packages(),
|
packages=find_packages(),
|
||||||
include_package_data=True,
|
include_package_data=True,
|
||||||
install_requires=['setuptools'],
|
install_requires=['setuptools'],
|
||||||
|
|||||||
@@ -1 +1 @@
|
|||||||
__version__ = "0.10.19"
|
__version__ = "0.11.2"
|
||||||
|
|||||||
@@ -12,6 +12,15 @@ from typing import Dict, Any, List
|
|||||||
import networkx as nx
|
import networkx as nx
|
||||||
import yaml
|
import yaml
|
||||||
|
|
||||||
|
# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
|
||||||
|
# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
|
||||||
|
if sys.platform == "win32":
|
||||||
|
for _stream in (sys.stdout, sys.stderr):
|
||||||
|
try:
|
||||||
|
_stream.reconfigure(encoding="utf-8", errors="replace") # type: ignore[attr-defined]
|
||||||
|
except (AttributeError, OSError):
|
||||||
|
pass
|
||||||
|
|
||||||
# 首先添加项目根目录到路径
|
# 首先添加项目根目录到路径
|
||||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||||
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||||
@@ -233,7 +242,7 @@ def parse_args():
|
|||||||
parser.add_argument(
|
parser.add_argument(
|
||||||
"--addr",
|
"--addr",
|
||||||
type=str,
|
type=str,
|
||||||
default="https://uni-lab.bohrium.com/api/v1",
|
default="https://leap-lab.bohrium.com/api/v1",
|
||||||
help="Laboratory backend address",
|
help="Laboratory backend address",
|
||||||
)
|
)
|
||||||
parser.add_argument(
|
parser.add_argument(
|
||||||
@@ -438,10 +447,10 @@ def main():
|
|||||||
if args.addr != parser.get_default("addr"):
|
if args.addr != parser.get_default("addr"):
|
||||||
if args.addr == "test":
|
if args.addr == "test":
|
||||||
print_status("使用测试环境地址", "info")
|
print_status("使用测试环境地址", "info")
|
||||||
HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
HTTPConfig.remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
|
||||||
elif args.addr == "uat":
|
elif args.addr == "uat":
|
||||||
print_status("使用uat环境地址", "info")
|
print_status("使用uat环境地址", "info")
|
||||||
HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
|
HTTPConfig.remote_addr = "https://leap-lab.uat.bohrium.com/api/v1"
|
||||||
elif args.addr == "local":
|
elif args.addr == "local":
|
||||||
print_status("使用本地环境地址", "info")
|
print_status("使用本地环境地址", "info")
|
||||||
HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
|
HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
|
||||||
@@ -553,7 +562,7 @@ def main():
|
|||||||
os._exit(0)
|
os._exit(0)
|
||||||
|
|
||||||
if not BasicConfig.ak or not BasicConfig.sk:
|
if not BasicConfig.ak or not BasicConfig.sk:
|
||||||
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
|
print_status("后续运行必须拥有一个实验室，请前往 https://leap-lab.bohrium.com 注册实验室！", "warning")
|
||||||
os._exit(1)
|
os._exit(1)
|
||||||
graph: nx.Graph
|
graph: nx.Graph
|
||||||
resource_tree_set: ResourceTreeSet
|
resource_tree_set: ResourceTreeSet
|
||||||
|
|||||||
@@ -59,6 +59,7 @@ class JobAddReq(BaseModel):
|
|||||||
task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
|
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="")
|
job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
|
||||||
node_id: str = Field(examples=["node_id"], description="node uuid", default="")
|
node_id: str = Field(examples=["node_id"], description="node uuid", default="")
|
||||||
|
notebook_id: str = Field(examples=["notebook_id"], description="notebook uuid", default="")
|
||||||
server_info: dict = Field(
|
server_info: dict = Field(
|
||||||
examples=[{"send_timestamp": 1717000000.0}],
|
examples=[{"send_timestamp": 1717000000.0}],
|
||||||
description="server info (auto-generated if empty)",
|
description="server info (auto-generated if empty)",
|
||||||
|
|||||||
@@ -10,29 +10,170 @@ import shutil
|
|||||||
import sys
|
import sys
|
||||||
|
|
||||||
|
|
||||||
|
_PATCH_MARKER = "# UniLabOS DLL Patch"
|
||||||
|
_PATCH_END_MARKER = "# End UniLabOS DLL Patch"
|
||||||
|
|
||||||
|
# 75 = EX_TEMPFAIL: 临时失败、重试即可，避免与业务退出码冲突
|
||||||
|
_RESTART_EXIT_CODE = 75
|
||||||
|
|
||||||
|
|
||||||
|
def _build_dll_patch(lib_bin: str, preload_pyd: str = "") -> str:
|
||||||
|
"""生成一段加在目标文件顶部的 DLL 加载补丁源码。
|
||||||
|
|
||||||
|
- 始终把 ``lib_bin`` 加入 DLL 搜索路径，并把 handle 挂在模块属性上，
|
||||||
|
防止 GC 清掉搜索路径（``os.add_dll_directory`` 的句柄被回收时
|
||||||
|
目录会被移除）。
|
||||||
|
- 可选地用 ``ctypes.CDLL`` 预加载一个 .pyd，把它的依赖 DLL 提前装入
|
||||||
|
进程内存，作为 ``rclpy._rclpy_pybind11`` 这类首次加载点的兜底。
|
||||||
|
"""
|
||||||
|
# 用 repr() 序列化路径：Python 解析 repr 的结果会还原成原始字符串，
|
||||||
|
# 不需要也不能再叠加 raw-string 前缀（叠了反而会让 \\ 变成两个反斜杠）。
|
||||||
|
lines = [
|
||||||
|
_PATCH_MARKER,
|
||||||
|
"import os as _ulab_os",
|
||||||
|
f"_ulab_p = {lib_bin!r}",
|
||||||
|
'if hasattr(_ulab_os, "add_dll_directory") and _ulab_os.path.isdir(_ulab_p):',
|
||||||
|
" try: _UNILAB_DLL_HANDLE = _ulab_os.add_dll_directory(_ulab_p)",
|
||||||
|
" except Exception: _UNILAB_DLL_HANDLE = None",
|
||||||
|
]
|
||||||
|
if preload_pyd:
|
||||||
|
lines.extend(
|
||||||
|
[
|
||||||
|
"import ctypes as _ulab_ctypes",
|
||||||
|
f"try: _ulab_ctypes.CDLL({preload_pyd!r})",
|
||||||
|
"except Exception: pass",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
lines.append(_PATCH_END_MARKER)
|
||||||
|
return "\n".join(lines) + "\n"
|
||||||
|
|
||||||
|
|
||||||
|
def _apply_dll_patch(file_path: str, lib_bin: str, preload_pyd: str = "") -> bool:
|
||||||
|
"""把 DLL 补丁前置到 ``file_path``。文件不存在或已打过补丁则返回 False。"""
|
||||||
|
if not os.path.isfile(file_path):
|
||||||
|
return False
|
||||||
|
with open(file_path, "r", encoding="utf-8") as f:
|
||||||
|
content = f.read()
|
||||||
|
if _PATCH_MARKER in content:
|
||||||
|
return False
|
||||||
|
shutil.copy2(file_path, file_path + ".bak")
|
||||||
|
with open(file_path, "w", encoding="utf-8") as f:
|
||||||
|
f.write(_build_dll_patch(lib_bin, preload_pyd) + content)
|
||||||
|
return True
|
||||||
|
|
||||||
|
|
||||||
|
def _print_restart_banner(patched_files):
|
||||||
|
"""打印重启提示并以 EX_TEMPFAIL 退出。
|
||||||
|
|
||||||
|
- 不使用 ANSI 颜色码：Windows 旧版 cmd / PowerShell 5 默认不开 VT 处理，
|
||||||
|
会把 ``\\033[1;33m`` 当做字面字符显示，反而让用户看不到正文。
|
||||||
|
- 同时写入 stderr 与 stdout：某些上层 launcher / supervisor 只重定向
|
||||||
|
其中一路，写两遍能保证用户至少看到一份。
|
||||||
|
- 写入前防御性把流切到 UTF-8 with replace：``main.py`` 里已经做过一次，
|
||||||
|
但本模块也可能被绕过 ``main.py`` 的代码路径直接 import；reconfigure
|
||||||
|
失败也只是退回 errors=replace，不影响整体流程。
|
||||||
|
"""
|
||||||
|
if sys.platform == "win32":
|
||||||
|
for _stream in (sys.stdout, sys.stderr):
|
||||||
|
try:
|
||||||
|
_stream.reconfigure(encoding="utf-8", errors="replace") # type: ignore[attr-defined]
|
||||||
|
except (AttributeError, OSError):
|
||||||
|
pass
|
||||||
|
|
||||||
|
bar = "#" * 78
|
||||||
|
files_lines = [f"[UniLabOS] - {p}" for p in patched_files]
|
||||||
|
body = "\n".join(
|
||||||
|
[
|
||||||
|
"",
|
||||||
|
bar,
|
||||||
|
bar,
|
||||||
|
"##",
|
||||||
|
"## [UniLabOS] Windows + conda 下检测到 DLL 加载失败，已自动打补丁。",
|
||||||
|
"## [UniLabOS] DLL load failure detected on Windows + conda;",
|
||||||
|
"## [UniLabOS] the following files have been auto-patched:",
|
||||||
|
"##",
|
||||||
|
*[f"## {line}" for line in files_lines],
|
||||||
|
"##",
|
||||||
|
"## [UniLabOS] 当前进程的 rclpy 状态已损坏，补丁需要在新进程才生效。",
|
||||||
|
"## [UniLabOS] The current process is unusable; the patch only takes",
|
||||||
|
"## [UniLabOS] effect on a fresh process.",
|
||||||
|
"##",
|
||||||
|
"## >>> 请重新运行刚才的命令 / Please re-run the same command. <<<",
|
||||||
|
"##",
|
||||||
|
bar,
|
||||||
|
bar,
|
||||||
|
"",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
|
||||||
|
for stream in (sys.stderr, sys.stdout):
|
||||||
|
try:
|
||||||
|
stream.write(body)
|
||||||
|
stream.flush()
|
||||||
|
except Exception:
|
||||||
|
try:
|
||||||
|
print(body, file=stream)
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
|
||||||
|
sys.exit(_RESTART_EXIT_CODE)
|
||||||
|
|
||||||
|
|
||||||
def patch_rclpy_dll_windows():
|
def patch_rclpy_dll_windows():
|
||||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
"""在 Windows + conda 环境下修复 rclpy / rosidl typesupport 的 DLL 加载。
|
||||||
|
|
||||||
|
背景：conda 安装的 ros 系列包，其原生扩展依赖 ``$CONDA_PREFIX/Library/bin``
|
||||||
|
下的 DLL；只有 conda 环境被正确激活、且 PATH 中含 ``Library/bin`` 时，
|
||||||
|
``os.add_dll_directory`` 才能找到它们。当从快捷方式 / IDE / 子进程 /
|
||||||
|
没激活的 shell 启动 ``unilab`` 时，会出现 ``DLL load failed``。
|
||||||
|
|
||||||
|
本函数会:
|
||||||
|
1) 修补 ``rclpy/impl/implementation_singleton.py`` —— rclpy 自身的 C 扩展入口；
|
||||||
|
2) 修补 ``rpyutils/add_dll_directories.py`` —— 所有 ``*_s__rosidl_typesupport_c.pyd``
|
||||||
|
（``geometry_msgs`` / ``std_msgs`` / ``sensor_msgs`` 等）的统一加载入口。
|
||||||
|
|
||||||
|
打完补丁后**必须重启进程**才能生效（当前进程的 rclpy 已经发生过
|
||||||
|
``ImportError``，子模块仍处于损坏状态）。因此函数会主动退出，并在
|
||||||
|
stdout/stderr 同时打印明显的重启提示，避免用户被后续报错淹没。
|
||||||
|
"""
|
||||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||||
return
|
return
|
||||||
|
|
||||||
try:
|
try:
|
||||||
import rclpy
|
import rclpy # noqa: F401
|
||||||
|
|
||||||
return
|
return
|
||||||
except ImportError as e:
|
except ImportError as e:
|
||||||
if not str(e).startswith("DLL load failed"):
|
if not str(e).startswith("DLL load failed"):
|
||||||
return
|
return
|
||||||
|
|
||||||
cp = os.environ["CONDA_PREFIX"]
|
cp = os.environ["CONDA_PREFIX"]
|
||||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
lib_bin = os.path.join(cp, "Library", "bin")
|
||||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
site_packages = os.path.join(cp, "Lib", "site-packages")
|
||||||
if not os.path.exists(impl) or not pyd:
|
if not os.path.isdir(lib_bin):
|
||||||
return
|
return
|
||||||
with open(impl, "r", encoding="utf-8") as f:
|
|
||||||
content = f.read()
|
patched = []
|
||||||
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'
|
# 1) rclpy 自身的入口
|
||||||
shutil.copy2(impl, impl + ".bak")
|
rclpy_impl = os.path.join(site_packages, "rclpy", "impl", "implementation_singleton.py")
|
||||||
with open(impl, "w", encoding="utf-8") as f:
|
rclpy_pyd_matches = glob.glob(os.path.join(site_packages, "rclpy", "_rclpy_pybind11*.pyd"))
|
||||||
f.write(patch + content)
|
rclpy_pyd = rclpy_pyd_matches[0] if rclpy_pyd_matches else ""
|
||||||
|
if rclpy_pyd and _apply_dll_patch(rclpy_impl, lib_bin, preload_pyd=rclpy_pyd):
|
||||||
|
patched.append(rclpy_impl)
|
||||||
|
|
||||||
|
# 2) rpyutils —— 所有 rosidl typesupport pyd 的加载点；放在 rclpy 之后
|
||||||
|
# 例：geometry_msgs/geometry_msgs_s__rosidl_typesupport_c.pyd
|
||||||
|
rpyutils_dll = os.path.join(site_packages, "rpyutils", "add_dll_directories.py")
|
||||||
|
if _apply_dll_patch(rpyutils_dll, lib_bin):
|
||||||
|
patched.append(rpyutils_dll)
|
||||||
|
|
||||||
|
if not patched:
|
||||||
|
# 已经打过补丁但 rclpy 仍然加载失败：原因不是缺 DLL 搜索路径，
|
||||||
|
# 不要再次打补丁污染文件，让上层看到真实的 ImportError。
|
||||||
|
return
|
||||||
|
|
||||||
|
_print_restart_banner(patched)
|
||||||
|
|
||||||
|
|
||||||
patch_rclpy_dll_windows()
|
patch_rclpy_dll_windows()
|
||||||
|
|||||||
@@ -36,6 +36,9 @@ class HTTPClient:
|
|||||||
auth_secret = BasicConfig.auth_secret()
|
auth_secret = BasicConfig.auth_secret()
|
||||||
self.auth = auth_secret
|
self.auth = auth_secret
|
||||||
info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
|
info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
|
||||||
|
# 复用 TCP/TLS 连接，避免每次请求重新握手
|
||||||
|
self._session = requests.Session()
|
||||||
|
self._session.headers.update({"Authorization": f"Lab {self.auth}"})
|
||||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||||
|
|
||||||
def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||||
@@ -48,7 +51,7 @@ class HTTPClient:
|
|||||||
Returns:
|
Returns:
|
||||||
Response: API响应对象
|
Response: API响应对象
|
||||||
"""
|
"""
|
||||||
response = requests.post(
|
response = self._session.post(
|
||||||
f"{self.remote_addr}/edge/material/edge",
|
f"{self.remote_addr}/edge/material/edge",
|
||||||
json={
|
json={
|
||||||
"edges": resources,
|
"edges": resources,
|
||||||
@@ -75,26 +78,28 @@ class HTTPClient:
|
|||||||
Returns:
|
Returns:
|
||||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||||
"""
|
"""
|
||||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
|
# dump() 只调用一次，复用给文件保存和 HTTP 请求
|
||||||
payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
|
|
||||||
f.write(json.dumps(payload, indent=4))
|
|
||||||
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
|
|
||||||
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
|
||||||
nodes_info = [x for xs in resources.dump() for x in xs]
|
nodes_info = [x for xs in resources.dump() for x in xs]
|
||||||
|
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
||||||
|
payload = {"nodes": nodes_info, "mount_uuid": mount_uuid}
|
||||||
|
body_bytes = _fast_dumps(payload)
|
||||||
|
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "wb") as f:
|
||||||
|
f.write(_fast_dumps_pretty(payload))
|
||||||
|
http_headers = {"Content-Type": "application/json"}
|
||||||
if not self.initialized or first_add:
|
if not self.initialized or first_add:
|
||||||
self.initialized = True
|
self.initialized = True
|
||||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||||
response = requests.post(
|
response = self._session.post(
|
||||||
f"{self.remote_addr}/edge/material",
|
f"{self.remote_addr}/edge/material",
|
||||||
json={"nodes": nodes_info, "mount_uuid": mount_uuid},
|
data=body_bytes,
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers=http_headers,
|
||||||
timeout=60,
|
timeout=60,
|
||||||
)
|
)
|
||||||
else:
|
else:
|
||||||
response = requests.put(
|
response = self._session.put(
|
||||||
f"{self.remote_addr}/edge/material",
|
f"{self.remote_addr}/edge/material",
|
||||||
json={"nodes": nodes_info, "mount_uuid": mount_uuid},
|
data=body_bytes,
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers=http_headers,
|
||||||
timeout=10,
|
timeout=10,
|
||||||
)
|
)
|
||||||
|
|
||||||
@@ -133,7 +138,7 @@ class HTTPClient:
|
|||||||
"""
|
"""
|
||||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
|
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
|
||||||
f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
|
f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
|
||||||
response = requests.post(
|
response = self._session.post(
|
||||||
f"{self.remote_addr}/edge/material/query",
|
f"{self.remote_addr}/edge/material/query",
|
||||||
json={"uuids": uuid_list, "with_children": with_children},
|
json={"uuids": uuid_list, "with_children": with_children},
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
@@ -147,6 +152,7 @@ class HTTPClient:
|
|||||||
logger.error(f"查询物料失败: {response.text}")
|
logger.error(f"查询物料失败: {response.text}")
|
||||||
else:
|
else:
|
||||||
data = res["data"]["nodes"]
|
data = res["data"]["nodes"]
|
||||||
|
logger.trace(f"resource_tree_get查询到物料: {data}")
|
||||||
return data
|
return data
|
||||||
else:
|
else:
|
||||||
logger.error(f"查询物料失败: {response.text}")
|
logger.error(f"查询物料失败: {response.text}")
|
||||||
@@ -164,14 +170,14 @@ class HTTPClient:
|
|||||||
if not self.initialized:
|
if not self.initialized:
|
||||||
self.initialized = True
|
self.initialized = True
|
||||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||||
response = requests.post(
|
response = self._session.post(
|
||||||
f"{self.remote_addr}/lab/material",
|
f"{self.remote_addr}/lab/material",
|
||||||
json={"nodes": resources},
|
json={"nodes": resources},
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
timeout=100,
|
timeout=100,
|
||||||
)
|
)
|
||||||
else:
|
else:
|
||||||
response = requests.put(
|
response = self._session.put(
|
||||||
f"{self.remote_addr}/lab/material",
|
f"{self.remote_addr}/lab/material",
|
||||||
json={"nodes": resources},
|
json={"nodes": resources},
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
@@ -198,7 +204,7 @@ class HTTPClient:
|
|||||||
"""
|
"""
|
||||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
|
with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
|
||||||
f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
|
f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
|
||||||
response = requests.get(
|
response = self._session.get(
|
||||||
f"{self.remote_addr}/lab/material",
|
f"{self.remote_addr}/lab/material",
|
||||||
params={"id": id, "with_children": with_children},
|
params={"id": id, "with_children": with_children},
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
@@ -239,14 +245,14 @@ class HTTPClient:
|
|||||||
if not self.initialized:
|
if not self.initialized:
|
||||||
self.initialized = True
|
self.initialized = True
|
||||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||||
response = requests.post(
|
response = self._session.post(
|
||||||
f"{self.remote_addr}/lab/material",
|
f"{self.remote_addr}/lab/material",
|
||||||
json={"nodes": resources},
|
json={"nodes": resources},
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
timeout=100,
|
timeout=100,
|
||||||
)
|
)
|
||||||
else:
|
else:
|
||||||
response = requests.put(
|
response = self._session.put(
|
||||||
f"{self.remote_addr}/lab/material",
|
f"{self.remote_addr}/lab/material",
|
||||||
json={"nodes": resources},
|
json={"nodes": resources},
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
@@ -276,7 +282,7 @@ class HTTPClient:
|
|||||||
with open(file_path, "rb") as file:
|
with open(file_path, "rb") as file:
|
||||||
files = {"files": file}
|
files = {"files": file}
|
||||||
logger.info(f"上传文件: {file_path} 到 {scene}")
|
logger.info(f"上传文件: {file_path} 到 {scene}")
|
||||||
response = requests.post(
|
response = self._session.post(
|
||||||
f"{self.remote_addr}/api/account/file_upload/{scene}",
|
f"{self.remote_addr}/api/account/file_upload/{scene}",
|
||||||
files=files,
|
files=files,
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
@@ -316,7 +322,7 @@ class HTTPClient:
|
|||||||
"Content-Type": "application/json",
|
"Content-Type": "application/json",
|
||||||
"Content-Encoding": "gzip",
|
"Content-Encoding": "gzip",
|
||||||
}
|
}
|
||||||
response = requests.post(
|
response = self._session.post(
|
||||||
f"{self.remote_addr}/lab/resource",
|
f"{self.remote_addr}/lab/resource",
|
||||||
data=compressed_body,
|
data=compressed_body,
|
||||||
headers=headers,
|
headers=headers,
|
||||||
@@ -350,7 +356,7 @@ class HTTPClient:
|
|||||||
Returns:
|
Returns:
|
||||||
Response: API响应对象
|
Response: API响应对象
|
||||||
"""
|
"""
|
||||||
response = requests.get(
|
response = self._session.get(
|
||||||
f"{self.remote_addr}/edge/material/download",
|
f"{self.remote_addr}/edge/material/download",
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
timeout=(3, 30),
|
timeout=(3, 30),
|
||||||
@@ -411,7 +417,7 @@ class HTTPClient:
|
|||||||
with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
|
with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
|
||||||
f.write(json.dumps(payload, indent=4, ensure_ascii=False))
|
f.write(json.dumps(payload, indent=4, ensure_ascii=False))
|
||||||
|
|
||||||
response = requests.post(
|
response = self._session.post(
|
||||||
f"{self.remote_addr}/lab/workflow/owner/import",
|
f"{self.remote_addr}/lab/workflow/owner/import",
|
||||||
json=payload,
|
json=payload,
|
||||||
headers={"Authorization": f"Lab {self.auth}"},
|
headers={"Authorization": f"Lab {self.auth}"},
|
||||||
|
|||||||
@@ -320,6 +320,7 @@ def job_add(req: JobAddReq) -> JobData:
|
|||||||
action_name=action_name,
|
action_name=action_name,
|
||||||
task_id=task_id,
|
task_id=task_id,
|
||||||
job_id=job_id,
|
job_id=job_id,
|
||||||
|
notebook_id=req.notebook_id,
|
||||||
device_action_key=device_action_key,
|
device_action_key=device_action_key,
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|||||||
@@ -59,6 +59,7 @@ class QueueItem:
|
|||||||
action_name: str
|
action_name: str
|
||||||
task_id: str
|
task_id: str
|
||||||
job_id: str
|
job_id: str
|
||||||
|
notebook_id: str
|
||||||
device_action_key: str
|
device_action_key: str
|
||||||
next_run_time: float = 0 # 下次执行时间戳
|
next_run_time: float = 0 # 下次执行时间戳
|
||||||
retry_count: int = 0 # 重试次数
|
retry_count: int = 0 # 重试次数
|
||||||
@@ -71,6 +72,7 @@ class JobInfo:
|
|||||||
job_id: str
|
job_id: str
|
||||||
task_id: str
|
task_id: str
|
||||||
device_id: str
|
device_id: str
|
||||||
|
notebook_id: str
|
||||||
action_name: str
|
action_name: str
|
||||||
device_action_key: str
|
device_action_key: str
|
||||||
status: JobStatus
|
status: JobStatus
|
||||||
@@ -539,7 +541,10 @@ class MessageProcessor:
|
|||||||
self.reconnect_count += 1
|
self.reconnect_count += 1
|
||||||
backoff = WSConfig.reconnect_interval
|
backoff = WSConfig.reconnect_interval
|
||||||
logger.info(
|
logger.info(
|
||||||
f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
"[MessageProcessor] 即将在 %s 秒后重连 (已尝试 %s/%s)",
|
||||||
|
backoff,
|
||||||
|
self.reconnect_count,
|
||||||
|
WSConfig.max_reconnect_attempts,
|
||||||
)
|
)
|
||||||
await asyncio.sleep(backoff)
|
await asyncio.sleep(backoff)
|
||||||
else:
|
else:
|
||||||
@@ -703,6 +708,7 @@ class MessageProcessor:
|
|||||||
action_name = data.get("action_name", "")
|
action_name = data.get("action_name", "")
|
||||||
task_id = data.get("task_id", "")
|
task_id = data.get("task_id", "")
|
||||||
job_id = data.get("job_id", "")
|
job_id = data.get("job_id", "")
|
||||||
|
notebook_id = data.get("notebook_id", "")
|
||||||
|
|
||||||
if not all([device_id, action_name, task_id, job_id]):
|
if not all([device_id, action_name, task_id, job_id]):
|
||||||
logger.error("[MessageProcessor] Missing required fields in query_action_state")
|
logger.error("[MessageProcessor] Missing required fields in query_action_state")
|
||||||
@@ -718,6 +724,7 @@ class MessageProcessor:
|
|||||||
job_id=job_id,
|
job_id=job_id,
|
||||||
task_id=task_id,
|
task_id=task_id,
|
||||||
device_id=device_id,
|
device_id=device_id,
|
||||||
|
notebook_id=notebook_id,
|
||||||
action_name=action_name,
|
action_name=action_name,
|
||||||
device_action_key=device_action_key,
|
device_action_key=device_action_key,
|
||||||
status=JobStatus.QUEUE,
|
status=JobStatus.QUEUE,
|
||||||
@@ -732,13 +739,27 @@ class MessageProcessor:
|
|||||||
if can_start_immediately:
|
if can_start_immediately:
|
||||||
# 可以立即开始
|
# 可以立即开始
|
||||||
await self._send_action_state_response(
|
await self._send_action_state_response(
|
||||||
device_id, action_name, task_id, job_id, "query_action_status", True, 0
|
device_id,
|
||||||
|
action_name,
|
||||||
|
task_id,
|
||||||
|
job_id,
|
||||||
|
"query_action_status",
|
||||||
|
True,
|
||||||
|
0,
|
||||||
|
notebook_id=notebook_id,
|
||||||
)
|
)
|
||||||
logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
|
logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||||
else:
|
else:
|
||||||
# 需要排队
|
# 需要排队
|
||||||
await self._send_action_state_response(
|
await self._send_action_state_response(
|
||||||
device_id, action_name, task_id, job_id, "query_action_status", False, 10
|
device_id,
|
||||||
|
action_name,
|
||||||
|
task_id,
|
||||||
|
job_id,
|
||||||
|
"query_action_status",
|
||||||
|
False,
|
||||||
|
10,
|
||||||
|
notebook_id=notebook_id,
|
||||||
)
|
)
|
||||||
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
||||||
|
|
||||||
@@ -768,6 +789,7 @@ class MessageProcessor:
|
|||||||
job_id=req.job_id,
|
job_id=req.job_id,
|
||||||
task_id=req.task_id,
|
task_id=req.task_id,
|
||||||
device_id=req.device_id,
|
device_id=req.device_id,
|
||||||
|
notebook_id=req.notebook_id,
|
||||||
action_name=action_name,
|
action_name=action_name,
|
||||||
device_action_key=device_action_key,
|
device_action_key=device_action_key,
|
||||||
status=JobStatus.QUEUE,
|
status=JobStatus.QUEUE,
|
||||||
@@ -775,11 +797,16 @@ class MessageProcessor:
|
|||||||
always_free=True,
|
always_free=True,
|
||||||
)
|
)
|
||||||
self.device_manager.add_queue_request(job_info)
|
self.device_manager.add_queue_request(job_info)
|
||||||
|
existing_job = job_info
|
||||||
logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
|
logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
|
||||||
else:
|
else:
|
||||||
logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
|
logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
|
||||||
return
|
return
|
||||||
|
|
||||||
|
if existing_job and req.notebook_id and not existing_job.notebook_id:
|
||||||
|
existing_job.notebook_id = req.notebook_id
|
||||||
|
notebook_id = req.notebook_id or (existing_job.notebook_id if existing_job else "")
|
||||||
|
|
||||||
success = self.device_manager.start_job(req.job_id)
|
success = self.device_manager.start_job(req.job_id)
|
||||||
if not success:
|
if not success:
|
||||||
logger.error(f"[MessageProcessor] Failed to start job {job_log}")
|
logger.error(f"[MessageProcessor] Failed to start job {job_log}")
|
||||||
@@ -795,6 +822,7 @@ class MessageProcessor:
|
|||||||
action_name=req.action,
|
action_name=req.action,
|
||||||
task_id=req.task_id,
|
task_id=req.task_id,
|
||||||
job_id=req.job_id,
|
job_id=req.job_id,
|
||||||
|
notebook_id=notebook_id,
|
||||||
device_action_key=device_action_key,
|
device_action_key=device_action_key,
|
||||||
)
|
)
|
||||||
|
|
||||||
@@ -834,6 +862,7 @@ class MessageProcessor:
|
|||||||
"job_id": req.job_id,
|
"job_id": req.job_id,
|
||||||
"task_id": req.task_id,
|
"task_id": req.task_id,
|
||||||
"device_id": req.device_id,
|
"device_id": req.device_id,
|
||||||
|
"notebook_id": queue_item.notebook_id,
|
||||||
"action_name": req.action,
|
"action_name": req.action,
|
||||||
"status": "failed",
|
"status": "failed",
|
||||||
"feedback_data": {},
|
"feedback_data": {},
|
||||||
@@ -855,6 +884,7 @@ class MessageProcessor:
|
|||||||
"query_action_status",
|
"query_action_status",
|
||||||
True,
|
True,
|
||||||
0,
|
0,
|
||||||
|
notebook_id=next_job.notebook_id,
|
||||||
)
|
)
|
||||||
next_job_log = format_job_log(
|
next_job_log = format_job_log(
|
||||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||||
@@ -1101,7 +1131,15 @@ class MessageProcessor:
|
|||||||
logger.info(f"[MessageProcessor] Restart cleanup scheduled")
|
logger.info(f"[MessageProcessor] Restart cleanup scheduled")
|
||||||
|
|
||||||
async def _send_action_state_response(
|
async def _send_action_state_response(
|
||||||
self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
|
self,
|
||||||
|
device_id: str,
|
||||||
|
action_name: str,
|
||||||
|
task_id: str,
|
||||||
|
job_id: str,
|
||||||
|
typ: str,
|
||||||
|
free: bool,
|
||||||
|
need_more: int,
|
||||||
|
notebook_id: str = "",
|
||||||
):
|
):
|
||||||
"""发送动作状态响应"""
|
"""发送动作状态响应"""
|
||||||
message = {
|
message = {
|
||||||
@@ -1112,6 +1150,7 @@ class MessageProcessor:
|
|||||||
"action_name": action_name,
|
"action_name": action_name,
|
||||||
"task_id": task_id,
|
"task_id": task_id,
|
||||||
"job_id": job_id,
|
"job_id": job_id,
|
||||||
|
"notebook_id": notebook_id,
|
||||||
"free": free,
|
"free": free,
|
||||||
"need_more": need_more + 1,
|
"need_more": need_more + 1,
|
||||||
},
|
},
|
||||||
@@ -1194,6 +1233,7 @@ class QueueProcessor:
|
|||||||
action_name=timeout_job.action_name,
|
action_name=timeout_job.action_name,
|
||||||
task_id=timeout_job.task_id,
|
task_id=timeout_job.task_id,
|
||||||
job_id=timeout_job.job_id,
|
job_id=timeout_job.job_id,
|
||||||
|
notebook_id=timeout_job.notebook_id,
|
||||||
device_action_key=timeout_job.device_action_key,
|
device_action_key=timeout_job.device_action_key,
|
||||||
)
|
)
|
||||||
# 发布超时失败状态，这会触发正常的job完成流程
|
# 发布超时失败状态，这会触发正常的job完成流程
|
||||||
@@ -1252,6 +1292,7 @@ class QueueProcessor:
|
|||||||
"action_name": job_info.action_name,
|
"action_name": job_info.action_name,
|
||||||
"task_id": job_info.task_id,
|
"task_id": job_info.task_id,
|
||||||
"job_id": job_info.job_id,
|
"job_id": job_info.job_id,
|
||||||
|
"notebook_id": job_info.notebook_id,
|
||||||
"free": False,
|
"free": False,
|
||||||
"need_more": 10 + 1,
|
"need_more": 10 + 1,
|
||||||
},
|
},
|
||||||
@@ -1269,7 +1310,13 @@ class QueueProcessor:
|
|||||||
if not queued_jobs:
|
if not queued_jobs:
|
||||||
return
|
return
|
||||||
|
|
||||||
logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
|
queue_summary = {}
|
||||||
|
for j in queued_jobs:
|
||||||
|
key = f"{j.device_id}/{j.action_name}"
|
||||||
|
queue_summary[key] = queue_summary.get(key, 0) + 1
|
||||||
|
logger.debug(
|
||||||
|
f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs: {queue_summary}"
|
||||||
|
)
|
||||||
|
|
||||||
for job_info in 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，
|
# 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
|
||||||
@@ -1285,6 +1332,7 @@ class QueueProcessor:
|
|||||||
"action_name": job_info.action_name,
|
"action_name": job_info.action_name,
|
||||||
"task_id": job_info.task_id,
|
"task_id": job_info.task_id,
|
||||||
"job_id": job_info.job_id,
|
"job_id": job_info.job_id,
|
||||||
|
"notebook_id": job_info.notebook_id,
|
||||||
"free": False,
|
"free": False,
|
||||||
"need_more": 10 + 1,
|
"need_more": 10 + 1,
|
||||||
},
|
},
|
||||||
@@ -1330,12 +1378,15 @@ class QueueProcessor:
|
|||||||
"action_name": next_job.action_name,
|
"action_name": next_job.action_name,
|
||||||
"task_id": next_job.task_id,
|
"task_id": next_job.task_id,
|
||||||
"job_id": next_job.job_id,
|
"job_id": next_job.job_id,
|
||||||
|
"notebook_id": next_job.notebook_id,
|
||||||
"free": True,
|
"free": True,
|
||||||
"need_more": 0,
|
"need_more": 0,
|
||||||
},
|
},
|
||||||
}
|
}
|
||||||
self.message_processor.send_message(message)
|
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)
|
# 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")
|
# logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||||
|
|
||||||
# 立即触发下一轮状态检查
|
# 立即触发下一轮状态检查
|
||||||
@@ -1504,6 +1555,7 @@ class WebSocketClient(BaseCommunicationClient):
|
|||||||
"job_id": item.job_id,
|
"job_id": item.job_id,
|
||||||
"task_id": item.task_id,
|
"task_id": item.task_id,
|
||||||
"device_id": item.device_id,
|
"device_id": item.device_id,
|
||||||
|
"notebook_id": item.notebook_id,
|
||||||
"action_name": item.action_name,
|
"action_name": item.action_name,
|
||||||
"status": status,
|
"status": status,
|
||||||
"feedback_data": feedback_data,
|
"feedback_data": feedback_data,
|
||||||
|
|||||||
@@ -46,7 +46,7 @@ class WSConfig:
|
|||||||
|
|
||||||
# HTTP配置
|
# HTTP配置
|
||||||
class HTTPConfig:
|
class HTTPConfig:
|
||||||
remote_addr = "https://uni-lab.bohrium.com/api/v1"
|
remote_addr = "https://leap-lab.bohrium.com/api/v1"
|
||||||
|
|
||||||
|
|
||||||
# ROS配置
|
# ROS配置
|
||||||
|
|||||||
@@ -2,6 +2,8 @@ import time
|
|||||||
import logging
|
import logging
|
||||||
from typing import Union, Dict, Optional
|
from typing import Union, Dict, Optional
|
||||||
|
|
||||||
|
from unilabos.registry.decorators import topic_config
|
||||||
|
|
||||||
|
|
||||||
class VirtualMultiwayValve:
|
class VirtualMultiwayValve:
|
||||||
"""
|
"""
|
||||||
@@ -41,13 +43,11 @@ class VirtualMultiwayValve:
|
|||||||
def target_position(self) -> int:
|
def target_position(self) -> int:
|
||||||
return self._target_position
|
return self._target_position
|
||||||
|
|
||||||
def get_current_position(self) -> int:
|
@property
|
||||||
"""获取当前阀门位置 📍"""
|
@topic_config()
|
||||||
return self._current_position
|
def current_port(self) -> str:
|
||||||
|
"""当前连接的端口名称 🔌"""
|
||||||
def get_current_port(self) -> str:
|
return self.port
|
||||||
"""获取当前连接的端口名称 🔌"""
|
|
||||||
return self._current_position
|
|
||||||
|
|
||||||
def set_position(self, command: Union[int, str]):
|
def set_position(self, command: Union[int, str]):
|
||||||
"""
|
"""
|
||||||
@@ -169,12 +169,14 @@ class VirtualMultiwayValve:
|
|||||||
self._status = "Idle"
|
self._status = "Idle"
|
||||||
self._valve_state = "Closed"
|
self._valve_state = "Closed"
|
||||||
|
|
||||||
close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
|
close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
|
||||||
self.logger.info(close_msg)
|
self.logger.info(close_msg)
|
||||||
return close_msg
|
return close_msg
|
||||||
|
|
||||||
def get_valve_position(self) -> int:
|
@property
|
||||||
"""获取阀门位置 - 兼容性方法 📍"""
|
@topic_config()
|
||||||
|
def valve_position(self) -> int:
|
||||||
|
"""阀门位置 📍"""
|
||||||
return self._current_position
|
return self._current_position
|
||||||
|
|
||||||
def set_valve_position(self, command: Union[int, str]):
|
def set_valve_position(self, command: Union[int, str]):
|
||||||
@@ -229,19 +231,16 @@ class VirtualMultiwayValve:
|
|||||||
self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
|
self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
|
||||||
return self.set_to_pump_position()
|
return self.set_to_pump_position()
|
||||||
|
|
||||||
def get_flow_path(self) -> str:
|
@property
|
||||||
"""获取当前流路路径描述 🌊"""
|
@topic_config()
|
||||||
current_port = self.get_current_port()
|
def flow_path(self) -> str:
|
||||||
|
"""当前流路路径描述 🌊"""
|
||||||
if self._current_position == 0:
|
if self._current_position == 0:
|
||||||
flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
|
return f"🚰 转移泵已连接 (位置 {self._current_position})"
|
||||||
else:
|
return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
|
||||||
flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
|
|
||||||
|
|
||||||
# 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
|
|
||||||
return flow_path
|
|
||||||
|
|
||||||
def __str__(self):
|
def __str__(self):
|
||||||
current_port = self.get_current_port()
|
current_port = self.current_port
|
||||||
status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
|
status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
|
||||||
|
|
||||||
return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
|
return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
|
||||||
@@ -253,7 +252,7 @@ if __name__ == "__main__":
|
|||||||
|
|
||||||
print("🔄 === 虚拟九通阀门测试 === ✨")
|
print("🔄 === 虚拟九通阀门测试 === ✨")
|
||||||
print(f"🏠 初始状态: {valve}")
|
print(f"🏠 初始状态: {valve}")
|
||||||
print(f"🌊 当前流路: {valve.get_flow_path()}")
|
print(f"🌊 当前流路: {valve.flow_path}")
|
||||||
|
|
||||||
# 切换到试剂瓶1（1号位）
|
# 切换到试剂瓶1（1号位）
|
||||||
print(f"\n🔌 切换到1号位: {valve.set_position(1)}")
|
print(f"\n🔌 切换到1号位: {valve.set_position(1)}")
|
||||||
|
|||||||
@@ -3,6 +3,7 @@ import logging
|
|||||||
import time as time_module
|
import time as time_module
|
||||||
from typing import Dict, Any
|
from typing import Dict, Any
|
||||||
|
|
||||||
|
from unilabos.registry.decorators import topic_config
|
||||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||||
|
|
||||||
class VirtualStirrer:
|
class VirtualStirrer:
|
||||||
@@ -314,9 +315,11 @@ class VirtualStirrer:
|
|||||||
def min_speed(self) -> float:
|
def min_speed(self) -> float:
|
||||||
return self._min_speed
|
return self._min_speed
|
||||||
|
|
||||||
def get_device_info(self) -> Dict[str, Any]:
|
@property
|
||||||
"""获取设备状态信息 📊"""
|
@topic_config()
|
||||||
info = {
|
def device_info(self) -> Dict[str, Any]:
|
||||||
|
"""设备状态快照信息 📊"""
|
||||||
|
return {
|
||||||
"device_id": self.device_id,
|
"device_id": self.device_id,
|
||||||
"status": self.status,
|
"status": self.status,
|
||||||
"operation_mode": self.operation_mode,
|
"operation_mode": self.operation_mode,
|
||||||
@@ -325,12 +328,9 @@ class VirtualStirrer:
|
|||||||
"is_stirring": self.is_stirring,
|
"is_stirring": self.is_stirring,
|
||||||
"remaining_time": self.remaining_time,
|
"remaining_time": self.remaining_time,
|
||||||
"max_speed": self._max_speed,
|
"max_speed": self._max_speed,
|
||||||
"min_speed": self._min_speed
|
"min_speed": self._min_speed,
|
||||||
}
|
}
|
||||||
|
|
||||||
# self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
|
|
||||||
return info
|
|
||||||
|
|
||||||
def __str__(self):
|
def __str__(self):
|
||||||
status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
|
status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
|
||||||
return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"
|
return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"
|
||||||
@@ -4,6 +4,7 @@ from enum import Enum
|
|||||||
from typing import Union, Optional
|
from typing import Union, Optional
|
||||||
import logging
|
import logging
|
||||||
|
|
||||||
|
from unilabos.registry.decorators import topic_config
|
||||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||||
|
|
||||||
|
|
||||||
@@ -385,8 +386,10 @@ class VirtualTransferPump:
|
|||||||
"""获取当前体积"""
|
"""获取当前体积"""
|
||||||
return self._current_volume
|
return self._current_volume
|
||||||
|
|
||||||
def get_remaining_capacity(self) -> float:
|
@property
|
||||||
"""获取剩余容量"""
|
@topic_config()
|
||||||
|
def remaining_capacity(self) -> float:
|
||||||
|
"""剩余容量 (ml)"""
|
||||||
return self.max_volume - self._current_volume
|
return self.max_volume - self._current_volume
|
||||||
|
|
||||||
def is_empty(self) -> bool:
|
def is_empty(self) -> bool:
|
||||||
|
|||||||
@@ -14,19 +14,30 @@ Virtual Workbench Device - 模拟工作台设备
|
|||||||
|
|
||||||
import logging
|
import logging
|
||||||
import time
|
import time
|
||||||
from typing import Dict, Any, Optional, List
|
|
||||||
from dataclasses import dataclass
|
from dataclasses import dataclass
|
||||||
from enum import Enum
|
from enum import Enum
|
||||||
from threading import Lock, RLock
|
from threading import Lock, RLock
|
||||||
|
from typing import Any, Dict, List, Optional, cast
|
||||||
|
|
||||||
from typing_extensions import TypedDict
|
from typing_extensions import TypedDict
|
||||||
|
|
||||||
from unilabos.registry.decorators import (
|
from unilabos.registry.decorators import (
|
||||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
|
ActionInputHandle,
|
||||||
|
ActionOutputHandle,
|
||||||
|
DataSource,
|
||||||
|
NodeType,
|
||||||
|
action,
|
||||||
|
device,
|
||||||
|
not_action,
|
||||||
|
topic_config,
|
||||||
|
)
|
||||||
|
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||||
|
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
|
||||||
|
from unilabos.resources.resource_tracker import (
|
||||||
|
SampleUUIDsType,
|
||||||
|
LabSample,
|
||||||
|
ResourceTreeSet,
|
||||||
)
|
)
|
||||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
|
||||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
|
|
||||||
|
|
||||||
|
|
||||||
# ============ TypedDict 返回类型定义 ============
|
# ============ TypedDict 返回类型定义 ============
|
||||||
|
|
||||||
@@ -111,6 +122,7 @@ class HeatingStation:
|
|||||||
|
|
||||||
@device(
|
@device(
|
||||||
id="virtual_workbench",
|
id="virtual_workbench",
|
||||||
|
display_name="虚拟工作台",
|
||||||
category=["virtual_device"],
|
category=["virtual_device"],
|
||||||
description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
|
description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
|
||||||
)
|
)
|
||||||
@@ -136,7 +148,19 @@ class VirtualWorkbench:
|
|||||||
HEATING_TIME: float = 60.0 # 加热时间(秒)
|
HEATING_TIME: float = 60.0 # 加热时间(秒)
|
||||||
NUM_HEATING_STATIONS: int = 3 # 加热台数量
|
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):
|
def __init__(
|
||||||
|
self,
|
||||||
|
device_id: Optional[str] = None,
|
||||||
|
config: Optional[Dict[str, Any]] = None,
|
||||||
|
**kwargs,
|
||||||
|
):
|
||||||
|
"""
|
||||||
|
初始化虚拟工作台。
|
||||||
|
|
||||||
|
Args:
|
||||||
|
device_id[设备ID]: 工作台设备实例 ID，默认使用 virtual_workbench。
|
||||||
|
config[设备配置]: 可包含 arm_operation_time、heating_time、num_heating_stations。
|
||||||
|
"""
|
||||||
# 处理可能的不同调用方式
|
# 处理可能的不同调用方式
|
||||||
if device_id is None and "id" in kwargs:
|
if device_id is None and "id" in kwargs:
|
||||||
device_id = kwargs.pop("id")
|
device_id = kwargs.pop("id")
|
||||||
@@ -150,9 +174,13 @@ class VirtualWorkbench:
|
|||||||
self.data: Dict[str, Any] = {}
|
self.data: Dict[str, Any] = {}
|
||||||
|
|
||||||
# 从config中获取可配置参数
|
# 从config中获取可配置参数
|
||||||
self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
|
self.ARM_OPERATION_TIME = float(
|
||||||
|
self.config.get("arm_operation_time", self.ARM_OPERATION_TIME)
|
||||||
|
)
|
||||||
self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
|
self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
|
||||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
|
self.NUM_HEATING_STATIONS = int(
|
||||||
|
self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS)
|
||||||
|
)
|
||||||
|
|
||||||
# 机械臂状态和锁
|
# 机械臂状态和锁
|
||||||
self._arm_lock = Lock()
|
self._arm_lock = Lock()
|
||||||
@@ -161,7 +189,8 @@ class VirtualWorkbench:
|
|||||||
|
|
||||||
# 加热台状态
|
# 加热台状态
|
||||||
self._heating_stations: Dict[int, HeatingStation] = {
|
self._heating_stations: Dict[int, HeatingStation] = {
|
||||||
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
i: HeatingStation(station_id=i)
|
||||||
|
for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||||
}
|
}
|
||||||
self._stations_lock = RLock()
|
self._stations_lock = RLock()
|
||||||
|
|
||||||
@@ -290,20 +319,292 @@ class VirtualWorkbench:
|
|||||||
self._update_data_status(f"机械臂已释放 (完成: {task})")
|
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})")
|
self.logger.info(f"机械臂已释放 (完成: {task})")
|
||||||
|
|
||||||
|
@action(
|
||||||
|
always_free=True,
|
||||||
|
node_type=NodeType.MANUAL_CONFIRM,
|
||||||
|
placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"},
|
||||||
|
goal_default={"timeout_seconds": 3600, "assignee_user_ids": []},
|
||||||
|
feedback_interval=300,
|
||||||
|
handles=[
|
||||||
|
ActionInputHandle(
|
||||||
|
key="target_device",
|
||||||
|
data_type="device_id",
|
||||||
|
label="目标设备",
|
||||||
|
data_key="target_device",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="resource",
|
||||||
|
data_type="resource",
|
||||||
|
label="待转移资源",
|
||||||
|
data_key="resource",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="mount_resource",
|
||||||
|
data_type="resource",
|
||||||
|
label="目标孔位",
|
||||||
|
data_key="mount_resource",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="collector_mass",
|
||||||
|
data_type="collector_mass",
|
||||||
|
label="极流体质量",
|
||||||
|
data_key="collector_mass",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="active_material",
|
||||||
|
data_type="active_material",
|
||||||
|
label="活性物质含量",
|
||||||
|
data_key="active_material",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="capacity",
|
||||||
|
data_type="capacity",
|
||||||
|
label="克容量",
|
||||||
|
data_key="capacity",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="battery_system",
|
||||||
|
data_type="battery_system",
|
||||||
|
label="电池体系",
|
||||||
|
data_key="battery_system",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
# transfer使用
|
||||||
|
ActionOutputHandle(
|
||||||
|
key="target_device",
|
||||||
|
data_type="device_id",
|
||||||
|
label="目标设备",
|
||||||
|
data_key="target_device",
|
||||||
|
data_source=DataSource.EXECUTOR,
|
||||||
|
),
|
||||||
|
ActionOutputHandle(
|
||||||
|
key="resource",
|
||||||
|
data_type="resource",
|
||||||
|
label="待转移资源",
|
||||||
|
data_key="resource.@flatten",
|
||||||
|
data_source=DataSource.EXECUTOR,
|
||||||
|
),
|
||||||
|
ActionOutputHandle(
|
||||||
|
key="mount_resource",
|
||||||
|
data_type="resource",
|
||||||
|
label="目标孔位",
|
||||||
|
data_key="mount_resource.@flatten",
|
||||||
|
data_source=DataSource.EXECUTOR,
|
||||||
|
),
|
||||||
|
# test使用
|
||||||
|
ActionOutputHandle(
|
||||||
|
key="collector_mass",
|
||||||
|
data_type="collector_mass",
|
||||||
|
label="极流体质量",
|
||||||
|
data_key="collector_mass",
|
||||||
|
data_source=DataSource.EXECUTOR,
|
||||||
|
),
|
||||||
|
ActionOutputHandle(
|
||||||
|
key="active_material",
|
||||||
|
data_type="active_material",
|
||||||
|
label="活性物质含量",
|
||||||
|
data_key="active_material",
|
||||||
|
data_source=DataSource.EXECUTOR,
|
||||||
|
),
|
||||||
|
ActionOutputHandle(
|
||||||
|
key="capacity",
|
||||||
|
data_type="capacity",
|
||||||
|
label="克容量",
|
||||||
|
data_key="capacity",
|
||||||
|
data_source=DataSource.EXECUTOR,
|
||||||
|
),
|
||||||
|
ActionOutputHandle(
|
||||||
|
key="battery_system",
|
||||||
|
data_type="battery_system",
|
||||||
|
label="电池体系",
|
||||||
|
data_key="battery_system",
|
||||||
|
data_source=DataSource.EXECUTOR,
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
def manual_confirm(
|
||||||
|
self,
|
||||||
|
resource: List[ResourceSlot],
|
||||||
|
target_device: DeviceSlot,
|
||||||
|
mount_resource: List[ResourceSlot],
|
||||||
|
collector_mass: List[float],
|
||||||
|
active_material: List[float],
|
||||||
|
capacity: List[float],
|
||||||
|
battery_system: List[str],
|
||||||
|
timeout_seconds: int,
|
||||||
|
assignee_user_ids: list[str],
|
||||||
|
**kwargs,
|
||||||
|
) -> dict:
|
||||||
|
"""
|
||||||
|
人工确认资源转移和扣电测试参数。
|
||||||
|
|
||||||
|
Args:
|
||||||
|
resource[待转移资源]: 需要人工确认的资源列表。
|
||||||
|
target_device[目标设备]: 资源要转移到的目标设备 ID。
|
||||||
|
mount_resource[目标孔位]: 资源要挂载到的目标孔位列表。
|
||||||
|
collector_mass[极流体质量]: 每个样品对应的极流体质量。
|
||||||
|
active_material[活性物质含量]: 每个样品对应的活性物质含量。
|
||||||
|
capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
|
||||||
|
battery_system[电池体系]: 每个样品对应的电池体系名称。
|
||||||
|
timeout_seconds[超时时间]: 人工确认超时时间，单位秒。
|
||||||
|
assignee_user_ids[确认人]: 指定处理人工确认任务的用户 ID 列表。
|
||||||
|
|
||||||
|
Note:
|
||||||
|
修改的结果无效，是只读的。
|
||||||
|
"""
|
||||||
|
resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, resource)).dump()
|
||||||
|
mount_resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, mount_resource)).dump()
|
||||||
|
kwargs.update(locals())
|
||||||
|
kwargs.pop("kwargs")
|
||||||
|
kwargs.pop("self")
|
||||||
|
kwargs["resource"] = resource_tree
|
||||||
|
kwargs["mount_resource"] = mount_resource_tree
|
||||||
|
kwargs.pop("resource_tree")
|
||||||
|
kwargs.pop("mount_resource_tree")
|
||||||
|
return kwargs
|
||||||
|
|
||||||
|
@action(
|
||||||
|
description="转移物料",
|
||||||
|
handles=[
|
||||||
|
ActionInputHandle(
|
||||||
|
key="target_device",
|
||||||
|
data_type="device_id",
|
||||||
|
label="目标设备",
|
||||||
|
data_key="target_device",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="resource",
|
||||||
|
data_type="resource",
|
||||||
|
label="待转移资源",
|
||||||
|
data_key="resource",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="mount_resource",
|
||||||
|
data_type="resource",
|
||||||
|
label="目标孔位",
|
||||||
|
data_key="mount_resource",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
async def transfer(
|
||||||
|
self,
|
||||||
|
resource: List[ResourceSlot],
|
||||||
|
target_device: DeviceSlot,
|
||||||
|
mount_resource: List[ResourceSlot],
|
||||||
|
):
|
||||||
|
"""
|
||||||
|
转移资源到目标设备。
|
||||||
|
|
||||||
|
Args:
|
||||||
|
resource[待转移资源]: 待转移的资源列表。
|
||||||
|
target_device[目标设备]: 接收资源的目标设备 ID。
|
||||||
|
mount_resource[目标孔位]: 目标设备上的挂载孔位列表。
|
||||||
|
"""
|
||||||
|
future = ROS2DeviceNode.run_async_func(
|
||||||
|
self._ros_node.transfer_resource_to_another,
|
||||||
|
True,
|
||||||
|
**{
|
||||||
|
"plr_resources": resource,
|
||||||
|
"target_device_id": target_device,
|
||||||
|
"target_resources": mount_resource,
|
||||||
|
"sites": [None] * len(mount_resource),
|
||||||
|
},
|
||||||
|
)
|
||||||
|
result = await future
|
||||||
|
return result
|
||||||
|
|
||||||
|
@action(
|
||||||
|
description="扣电测试启动",
|
||||||
|
handles=[
|
||||||
|
ActionInputHandle(
|
||||||
|
key="resource",
|
||||||
|
data_type="resource",
|
||||||
|
label="待转移资源",
|
||||||
|
data_key="resource",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="mount_resource",
|
||||||
|
data_type="resource",
|
||||||
|
label="目标孔位",
|
||||||
|
data_key="mount_resource",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="collector_mass",
|
||||||
|
data_type="collector_mass",
|
||||||
|
label="极流体质量",
|
||||||
|
data_key="collector_mass",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="active_material",
|
||||||
|
data_type="active_material",
|
||||||
|
label="活性物质含量",
|
||||||
|
data_key="active_material",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="capacity",
|
||||||
|
data_type="capacity",
|
||||||
|
label="克容量",
|
||||||
|
data_key="capacity",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
ActionInputHandle(
|
||||||
|
key="battery_system",
|
||||||
|
data_type="battery_system",
|
||||||
|
label="电池体系",
|
||||||
|
data_key="battery_system",
|
||||||
|
data_source=DataSource.HANDLE,
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
async def test(
|
||||||
|
self,
|
||||||
|
resource: List[ResourceSlot],
|
||||||
|
mount_resource: List[ResourceSlot],
|
||||||
|
collector_mass: List[float],
|
||||||
|
active_material: List[float],
|
||||||
|
capacity: List[float],
|
||||||
|
battery_system: list[str],
|
||||||
|
):
|
||||||
|
"""
|
||||||
|
启动扣电测试。
|
||||||
|
|
||||||
|
Args:
|
||||||
|
resource[待测试资源]: 需要进行扣电测试的资源列表。
|
||||||
|
mount_resource[测试孔位]: 扣电测试使用的目标孔位列表。
|
||||||
|
collector_mass[极流体质量]: 每个样品对应的极流体质量。
|
||||||
|
active_material[活性物质含量]: 每个样品对应的活性物质含量。
|
||||||
|
capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
|
||||||
|
battery_system[电池体系]: 每个样品对应的电池体系名称。
|
||||||
|
"""
|
||||||
|
print(resource)
|
||||||
|
print(mount_resource)
|
||||||
|
print(collector_mass)
|
||||||
|
print(active_material)
|
||||||
|
print(capacity)
|
||||||
|
print(battery_system)
|
||||||
|
|
||||||
@action(
|
@action(
|
||||||
auto_prefix=True,
|
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",
|
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=[
|
handles=[
|
||||||
ActionOutputHandle(key="channel_1", data_type="workbench_material",
|
ActionOutputHandle(key="channel_1", data_type="workbench_material", label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||||
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), # noqa: E501
|
||||||
ActionOutputHandle(key="channel_2", data_type="workbench_material",
|
ActionOutputHandle(key="channel_3", data_type="workbench_material", label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||||
label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
|
ActionOutputHandle(key="channel_4", data_type="workbench_material", label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||||
ActionOutputHandle(key="channel_3", data_type="workbench_material",
|
ActionOutputHandle(key="channel_5", data_type="workbench_material", label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||||
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(
|
def prepare_materials(
|
||||||
@@ -316,6 +617,9 @@ class VirtualWorkbench:
|
|||||||
|
|
||||||
作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
|
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。
|
输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
|
||||||
|
|
||||||
|
Args:
|
||||||
|
count[物料数量]: 要生成的物料数量，默认生成 5 个。
|
||||||
"""
|
"""
|
||||||
materials = [i for i in range(1, count + 1)]
|
materials = [i for i in range(1, count + 1)]
|
||||||
|
|
||||||
@@ -336,7 +640,11 @@ class VirtualWorkbench:
|
|||||||
LabSample(
|
LabSample(
|
||||||
sample_uuid=sample_uuid,
|
sample_uuid=sample_uuid,
|
||||||
oss_path="",
|
oss_path="",
|
||||||
extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
|
extra=(
|
||||||
|
{"material_uuid": content}
|
||||||
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
],
|
],
|
||||||
@@ -346,12 +654,27 @@ class VirtualWorkbench:
|
|||||||
auto_prefix=True,
|
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",
|
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=[
|
handles=[
|
||||||
ActionInputHandle(key="material_input", data_type="workbench_material",
|
ActionInputHandle(
|
||||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
key="material_input",
|
||||||
ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
|
data_type="workbench_material",
|
||||||
label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
label="物料编号",
|
||||||
ActionOutputHandle(key="material_number_output", data_type="workbench_material",
|
data_key="material_number",
|
||||||
label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
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(
|
def move_to_heating_station(
|
||||||
@@ -363,6 +686,9 @@ class VirtualWorkbench:
|
|||||||
将物料从An位置移动到加热台
|
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
|
多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
|
||||||
|
|
||||||
|
Args:
|
||||||
|
material_number[物料编号]: 要移动的物料编号，对应 A1、A2 等起始位置。
|
||||||
"""
|
"""
|
||||||
material_id = f"A{material_number}"
|
material_id = f"A{material_number}"
|
||||||
task_desc = f"移动{material_id}到加热台"
|
task_desc = f"移动{material_id}到加热台"
|
||||||
@@ -425,7 +751,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -448,7 +775,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -460,14 +788,34 @@ class VirtualWorkbench:
|
|||||||
always_free=True,
|
always_free=True,
|
||||||
description="启动指定加热台的加热程序",
|
description="启动指定加热台的加热程序",
|
||||||
handles=[
|
handles=[
|
||||||
ActionInputHandle(key="station_id_input", data_type="workbench_station",
|
ActionInputHandle(
|
||||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
key="station_id_input",
|
||||||
ActionInputHandle(key="material_number_input", data_type="workbench_material",
|
data_type="workbench_station",
|
||||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
label="加热台ID",
|
||||||
ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
|
data_key="station_id",
|
||||||
label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
data_source=DataSource.HANDLE,
|
||||||
ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
|
),
|
||||||
label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
ActionInputHandle(
|
||||||
|
key="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(
|
def start_heating(
|
||||||
@@ -478,6 +826,10 @@ class VirtualWorkbench:
|
|||||||
) -> StartHeatingResult:
|
) -> StartHeatingResult:
|
||||||
"""
|
"""
|
||||||
启动指定加热台的加热程序
|
启动指定加热台的加热程序
|
||||||
|
|
||||||
|
Args:
|
||||||
|
station_id[加热台ID]: 要启动加热的加热台编号。
|
||||||
|
material_number[物料编号]: 当前加热台上的物料编号。
|
||||||
"""
|
"""
|
||||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||||
|
|
||||||
@@ -494,7 +846,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -517,7 +870,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -537,7 +891,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -577,7 +932,9 @@ class VirtualWorkbench:
|
|||||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||||
|
|
||||||
if time.time() - last_countdown_log >= 5.0:
|
if time.time() - last_countdown_log >= 5.0:
|
||||||
self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
|
self.logger.info(
|
||||||
|
f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s"
|
||||||
|
)
|
||||||
last_countdown_log = time.time()
|
last_countdown_log = time.time()
|
||||||
|
|
||||||
if elapsed >= self.HEATING_TIME:
|
if elapsed >= self.HEATING_TIME:
|
||||||
@@ -594,7 +951,9 @@ class VirtualWorkbench:
|
|||||||
self._active_tasks[material_id]["status"] = "heating_completed"
|
self._active_tasks[material_id]["status"] = "heating_completed"
|
||||||
|
|
||||||
self._update_data_status(f"加热台{station_id}加热完成")
|
self._update_data_status(f"加热台{station_id}加热完成")
|
||||||
self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
|
self.logger.info(
|
||||||
|
f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)"
|
||||||
|
)
|
||||||
|
|
||||||
return {
|
return {
|
||||||
"success": True,
|
"success": True,
|
||||||
@@ -608,7 +967,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -619,10 +979,20 @@ class VirtualWorkbench:
|
|||||||
auto_prefix=True,
|
auto_prefix=True,
|
||||||
description="将物料从加热台移动到输出位置Cn",
|
description="将物料从加热台移动到输出位置Cn",
|
||||||
handles=[
|
handles=[
|
||||||
ActionInputHandle(key="output_station_input", data_type="workbench_station",
|
ActionInputHandle(
|
||||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
key="output_station_input",
|
||||||
ActionInputHandle(key="output_material_input", data_type="workbench_material",
|
data_type="workbench_station",
|
||||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
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(
|
def move_to_output(
|
||||||
@@ -633,6 +1003,10 @@ class VirtualWorkbench:
|
|||||||
) -> MoveToOutputResult:
|
) -> MoveToOutputResult:
|
||||||
"""
|
"""
|
||||||
将物料从加热台移动到输出位置Cn
|
将物料从加热台移动到输出位置Cn
|
||||||
|
|
||||||
|
Args:
|
||||||
|
station_id[加热台ID]: 已完成加热的加热台编号。
|
||||||
|
material_number[物料编号]: 要移动到输出位置的物料编号，对应 Cn。
|
||||||
"""
|
"""
|
||||||
output_number = material_number
|
output_number = material_number
|
||||||
|
|
||||||
@@ -649,7 +1023,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -673,7 +1048,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -693,7 +1069,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
@@ -775,7 +1152,8 @@ class VirtualWorkbench:
|
|||||||
oss_path="",
|
oss_path="",
|
||||||
extra=(
|
extra=(
|
||||||
{"material_uuid": content}
|
{"material_uuid": content}
|
||||||
if isinstance(content, str) else (content.serialize() if content else {})
|
if isinstance(content, str)
|
||||||
|
else (content.serialize() if content else {})
|
||||||
),
|
),
|
||||||
)
|
)
|
||||||
for sample_uuid, content in sample_uuids.items()
|
for sample_uuid, content in sample_uuids.items()
|
||||||
|
|||||||
@@ -32,7 +32,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
|
|||||||
|
|
||||||
MAX_SCAN_DEPTH = 10 # 最大目录递归深度
|
MAX_SCAN_DEPTH = 10 # 最大目录递归深度
|
||||||
MAX_SCAN_FILES = 1000 # 最大扫描文件数量
|
MAX_SCAN_FILES = 1000 # 最大扫描文件数量
|
||||||
_CACHE_VERSION = 1 # 缓存格式版本号，格式变更时递增
|
_CACHE_VERSION = 2 # 缓存格式版本号，格式变更时递增
|
||||||
|
|
||||||
# 合法的装饰器来源模块
|
# 合法的装饰器来源模块
|
||||||
_REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators"
|
_REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators"
|
||||||
@@ -258,8 +258,6 @@ def scan_directory(
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# File-level parsing
|
# File-level parsing
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
@@ -361,6 +359,7 @@ def _parse_file(
|
|||||||
"actions": class_body.get("actions", {}),
|
"actions": class_body.get("actions", {}),
|
||||||
"status_properties": class_body.get("status_properties", {}),
|
"status_properties": class_body.get("status_properties", {}),
|
||||||
"init_params": class_body.get("init_params", []),
|
"init_params": class_body.get("init_params", []),
|
||||||
|
"init_docstring": class_body.get("init_docstring"),
|
||||||
"auto_methods": class_body.get("auto_methods", {}),
|
"auto_methods": class_body.get("auto_methods", {}),
|
||||||
"import_map": import_map,
|
"import_map": import_map,
|
||||||
}
|
}
|
||||||
@@ -497,7 +496,6 @@ def _collect_imports(tree: ast.Module, module_path: str = "") -> Dict[str, str]:
|
|||||||
return import_map
|
return import_map
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# Decorator finding & argument extraction
|
# Decorator finding & argument extraction
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
@@ -768,6 +766,7 @@ def _extract_class_body(
|
|||||||
"actions": {}, # method_name -> action_info
|
"actions": {}, # method_name -> action_info
|
||||||
"status_properties": {}, # prop_name -> status_info
|
"status_properties": {}, # prop_name -> status_info
|
||||||
"init_params": [], # [{"name": ..., "type": ..., "default": ...}, ...]
|
"init_params": [], # [{"name": ..., "type": ..., "default": ...}, ...]
|
||||||
|
"init_docstring": None,
|
||||||
"auto_methods": {}, # method_name -> method_info (no @action decorator)
|
"auto_methods": {}, # method_name -> method_info (no @action decorator)
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -780,6 +779,7 @@ def _extract_class_body(
|
|||||||
# --- __init__ ---
|
# --- __init__ ---
|
||||||
if method_name == "__init__":
|
if method_name == "__init__":
|
||||||
result["init_params"] = _extract_method_params(item, import_map)
|
result["init_params"] = _extract_method_params(item, import_map)
|
||||||
|
result["init_docstring"] = ast.get_docstring(item)
|
||||||
continue
|
continue
|
||||||
|
|
||||||
# --- Skip private/dunder ---
|
# --- Skip private/dunder ---
|
||||||
@@ -825,6 +825,7 @@ def _extract_class_body(
|
|||||||
action_args.setdefault("placeholder_keys", {})
|
action_args.setdefault("placeholder_keys", {})
|
||||||
action_args.setdefault("always_free", False)
|
action_args.setdefault("always_free", False)
|
||||||
action_args.setdefault("is_protocol", False)
|
action_args.setdefault("is_protocol", False)
|
||||||
|
action_args.setdefault("feedback_interval", 1.0)
|
||||||
action_args.setdefault("description", "")
|
action_args.setdefault("description", "")
|
||||||
action_args.setdefault("auto_prefix", False)
|
action_args.setdefault("auto_prefix", False)
|
||||||
action_args.setdefault("parent", False)
|
action_args.setdefault("parent", False)
|
||||||
|
|||||||
@@ -343,6 +343,7 @@ def action(
|
|||||||
auto_prefix: bool = False,
|
auto_prefix: bool = False,
|
||||||
parent: bool = False,
|
parent: bool = False,
|
||||||
node_type: Optional["NodeType"] = None,
|
node_type: Optional["NodeType"] = None,
|
||||||
|
feedback_interval: Optional[float] = None,
|
||||||
):
|
):
|
||||||
"""
|
"""
|
||||||
动作方法装饰器
|
动作方法装饰器
|
||||||
@@ -378,6 +379,13 @@ def action(
|
|||||||
"""
|
"""
|
||||||
|
|
||||||
def decorator(func: F) -> F:
|
def decorator(func: F) -> F:
|
||||||
|
import asyncio as _asyncio
|
||||||
|
|
||||||
|
if _asyncio.iscoroutinefunction(func):
|
||||||
|
@wraps(func)
|
||||||
|
async def wrapper(*args, **kwargs):
|
||||||
|
return await func(*args, **kwargs)
|
||||||
|
else:
|
||||||
@wraps(func)
|
@wraps(func)
|
||||||
def wrapper(*args, **kwargs):
|
def wrapper(*args, **kwargs):
|
||||||
return func(*args, **kwargs)
|
return func(*args, **kwargs)
|
||||||
@@ -399,6 +407,8 @@ def action(
|
|||||||
"auto_prefix": auto_prefix,
|
"auto_prefix": auto_prefix,
|
||||||
"parent": parent,
|
"parent": parent,
|
||||||
}
|
}
|
||||||
|
if feedback_interval is not None:
|
||||||
|
meta["feedback_interval"] = feedback_interval
|
||||||
if node_type is not None:
|
if node_type is not None:
|
||||||
meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
|
meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
|
||||||
wrapper._action_registry_meta = meta # type: ignore[attr-defined]
|
wrapper._action_registry_meta = meta # type: ignore[attr-defined]
|
||||||
|
|||||||
@@ -51,14 +51,18 @@ Qone_nmr:
|
|||||||
properties:
|
properties:
|
||||||
check_interval:
|
check_interval:
|
||||||
default: 60
|
default: 60
|
||||||
|
description: 检查间隔时间（秒），默认60秒
|
||||||
type: string
|
type: string
|
||||||
expected_count:
|
expected_count:
|
||||||
default: 1
|
default: 1
|
||||||
|
description: 期望生成的.nmr文件数量，默认1个
|
||||||
type: string
|
type: string
|
||||||
monitor_dir:
|
monitor_dir:
|
||||||
|
description: 要监督的目录路径，如果未指定则使用self.monitor_directory
|
||||||
type: string
|
type: string
|
||||||
stability_checks:
|
stability_checks:
|
||||||
default: 3
|
default: 3
|
||||||
|
description: 文件大小稳定性检查次数，默认3次
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -85,11 +89,14 @@ Qone_nmr:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
output_dir:
|
output_dir:
|
||||||
|
description: 输出目录（如果未指定，使用self.output_directory）
|
||||||
type: string
|
type: string
|
||||||
string_list:
|
string_list:
|
||||||
|
description: 字符串列表
|
||||||
type: string
|
type: string
|
||||||
txt_encoding:
|
txt_encoding:
|
||||||
default: utf-8
|
default: utf-8
|
||||||
|
description: 文件编码
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- string_list
|
- string_list
|
||||||
@@ -151,6 +158,13 @@ Qone_nmr:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
string:
|
string:
|
||||||
|
description: '包含多个字符串的输入数据，支持两种格式：
|
||||||
|
|
||||||
|
1. 逗号分隔：如 "A 1 B 2 C 3, X 10 Y 20 Z 30"
|
||||||
|
|
||||||
|
2. 换行分隔：如 "A 1 B 2 C 3
|
||||||
|
|
||||||
|
X 10 Y 20 Z 30"'
|
||||||
type: string
|
type: string
|
||||||
title: StrSingleInput_Goal
|
title: StrSingleInput_Goal
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -491,14 +491,17 @@ bioyond_cell:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
material_names:
|
material_names:
|
||||||
|
description: 物料名称列表；默认使用 [LiPF6, LiDFOB, DTD, LiFSI, LiPO2F2]
|
||||||
items:
|
items:
|
||||||
type: string
|
type: string
|
||||||
type: array
|
type: array
|
||||||
type_id:
|
type_id:
|
||||||
default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
|
default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
|
||||||
|
description: 物料类型ID
|
||||||
type: string
|
type: string
|
||||||
warehouse_name:
|
warehouse_name:
|
||||||
default: 粉末加样头堆栈
|
default: 粉末加样头堆栈
|
||||||
|
description: 目标仓库名（用于取位置信息）
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -527,12 +530,16 @@ bioyond_cell:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
location_name_or_id:
|
location_name_or_id:
|
||||||
|
description: 具体库位名称（如 A01）或库位 UUID，由用户指定。
|
||||||
type: string
|
type: string
|
||||||
material_name:
|
material_name:
|
||||||
|
description: 物料名称（会优先匹配配置模板）。
|
||||||
type: string
|
type: string
|
||||||
type_id:
|
type_id:
|
||||||
|
description: 物料类型 ID（若为空则尝试从配置推断）。
|
||||||
type: string
|
type: string
|
||||||
warehouse_name:
|
warehouse_name:
|
||||||
|
description: 需要入库的仓库名称；若为空则仅创建不入库。
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- material_name
|
- material_name
|
||||||
@@ -661,15 +668,20 @@ bioyond_cell:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
board_type:
|
board_type:
|
||||||
|
description: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
|
||||||
type: string
|
type: string
|
||||||
bottle_type:
|
bottle_type:
|
||||||
|
description: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
|
||||||
type: string
|
type: string
|
||||||
location_code:
|
location_code:
|
||||||
|
description: 库位编号，例如 "A01"
|
||||||
type: string
|
type: string
|
||||||
name:
|
name:
|
||||||
|
description: 物料名称
|
||||||
type: string
|
type: string
|
||||||
warehouse_name:
|
warehouse_name:
|
||||||
default: 手动堆栈
|
default: 手动堆栈
|
||||||
|
description: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- name
|
- name
|
||||||
@@ -1956,7 +1968,7 @@ bioyond_cell:
|
|||||||
properties:
|
properties:
|
||||||
source_wh_id:
|
source_wh_id:
|
||||||
default: 3a19debc-84b4-0359-e2d4-b3beea49348b
|
default: 3a19debc-84b4-0359-e2d4-b3beea49348b
|
||||||
description: 来源仓库ID
|
description: 来源仓库 Id (默认为3号仓库)
|
||||||
type: string
|
type: string
|
||||||
source_x:
|
source_x:
|
||||||
default: 1
|
default: 1
|
||||||
@@ -2061,9 +2073,11 @@ bioyond_cell:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
order_code:
|
order_code:
|
||||||
|
description: 任务编号
|
||||||
type: string
|
type: string
|
||||||
timeout:
|
timeout:
|
||||||
default: 36000
|
default: 36000
|
||||||
|
description: 超时时间（秒）
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- order_code
|
- order_code
|
||||||
@@ -2092,12 +2106,15 @@ bioyond_cell:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
order_code:
|
order_code:
|
||||||
|
description: 任务编号
|
||||||
type: string
|
type: string
|
||||||
poll_interval:
|
poll_interval:
|
||||||
default: 0.5
|
default: 0.5
|
||||||
|
description: 轮询间隔（秒），默认 0.5 秒
|
||||||
type: number
|
type: number
|
||||||
timeout:
|
timeout:
|
||||||
default: 36000
|
default: 36000
|
||||||
|
description: 超时时间（秒）
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- order_code
|
- order_code
|
||||||
@@ -2154,10 +2171,15 @@ bioyond_cell:
|
|||||||
config:
|
config:
|
||||||
properties:
|
properties:
|
||||||
bioyond_config:
|
bioyond_config:
|
||||||
|
description: '从 JSON 文件加载的 bioyond 配置字典
|
||||||
|
|
||||||
|
包含 api_host, api_key, HTTP_host, HTTP_port 等配置'
|
||||||
type: object
|
type: object
|
||||||
deck:
|
deck:
|
||||||
|
description: Deck 配置（可选，会从 JSON 中自动处理）
|
||||||
type: string
|
type: string
|
||||||
protocol_type:
|
protocol_type:
|
||||||
|
description: 协议类型（可选）
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -47,8 +47,10 @@ bioyond_dispensing_station:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
report_request:
|
report_request:
|
||||||
|
description: WorkstationReportRequest 对象，包含任务完成信息
|
||||||
type: string
|
type: string
|
||||||
used_materials:
|
used_materials:
|
||||||
|
description: 物料使用记录列表
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- report_request
|
- report_request
|
||||||
@@ -102,6 +104,7 @@ bioyond_dispensing_station:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
material_name:
|
material_name:
|
||||||
|
description: 物料名称
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- material_name
|
- material_name
|
||||||
@@ -611,10 +614,10 @@ bioyond_dispensing_station:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
target_device_id:
|
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）
|
description: 目标反应站设备ID(所有转移组使用同一个设备)
|
||||||
type: string
|
type: string
|
||||||
transfer_groups:
|
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
|
description: '转移任务组列表,每组包含:'
|
||||||
type: array
|
type: array
|
||||||
required:
|
required:
|
||||||
- target_device_id
|
- target_device_id
|
||||||
@@ -694,10 +697,13 @@ bioyond_dispensing_station:
|
|||||||
config:
|
config:
|
||||||
properties:
|
properties:
|
||||||
config:
|
config:
|
||||||
|
description: 配置字典,应包含material_type_mappings等配置
|
||||||
type: object
|
type: object
|
||||||
deck:
|
deck:
|
||||||
|
description: Deck对象
|
||||||
type: string
|
type: string
|
||||||
protocol_type:
|
protocol_type:
|
||||||
|
description: 协议类型(由ROS系统传递,此处忽略)
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -158,7 +158,7 @@ coincellassemblyworkstation_device:
|
|||||||
type: integer
|
type: integer
|
||||||
battery_clean_ignore:
|
battery_clean_ignore:
|
||||||
default: false
|
default: false
|
||||||
description: 是否忽略电池清洁步骤
|
description: 是否忽略电池清洁
|
||||||
type: boolean
|
type: boolean
|
||||||
battery_pressure_mode:
|
battery_pressure_mode:
|
||||||
default: true
|
default: true
|
||||||
@@ -170,21 +170,21 @@ coincellassemblyworkstation_device:
|
|||||||
type: integer
|
type: integer
|
||||||
dual_drop_mode:
|
dual_drop_mode:
|
||||||
default: false
|
default: false
|
||||||
description: 电解液添加模式(false=单次滴液, true=二次滴液)
|
description: 电解液添加模式 (False=单次滴液, True=二次滴液)
|
||||||
type: boolean
|
type: boolean
|
||||||
dual_drop_start_timing:
|
dual_drop_start_timing:
|
||||||
default: false
|
default: false
|
||||||
description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
|
description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
|
||||||
type: boolean
|
type: boolean
|
||||||
dual_drop_suction_timing:
|
dual_drop_suction_timing:
|
||||||
default: false
|
default: false
|
||||||
description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
|
description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
|
||||||
type: boolean
|
type: boolean
|
||||||
elec_num:
|
elec_num:
|
||||||
description: 电解液瓶数
|
description: 电解液瓶数
|
||||||
type: string
|
type: string
|
||||||
elec_use_num:
|
elec_use_num:
|
||||||
description: 每瓶电解液组装电池数
|
description: 每瓶电解液组装的电池数
|
||||||
type: string
|
type: string
|
||||||
elec_vol:
|
elec_vol:
|
||||||
default: 50
|
default: 50
|
||||||
@@ -196,7 +196,7 @@ coincellassemblyworkstation_device:
|
|||||||
type: string
|
type: string
|
||||||
fujipian_juzhendianwei:
|
fujipian_juzhendianwei:
|
||||||
default: 0
|
default: 0
|
||||||
description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
description: 负极片矩阵点位
|
||||||
type: integer
|
type: integer
|
||||||
fujipian_panshu:
|
fujipian_panshu:
|
||||||
default: 0
|
default: 0
|
||||||
@@ -204,7 +204,7 @@ coincellassemblyworkstation_device:
|
|||||||
type: integer
|
type: integer
|
||||||
gemo_juzhendianwei:
|
gemo_juzhendianwei:
|
||||||
default: 0
|
default: 0
|
||||||
description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
description: 隔膜矩阵点位
|
||||||
type: integer
|
type: integer
|
||||||
gemopanshu:
|
gemopanshu:
|
||||||
default: 0
|
default: 0
|
||||||
@@ -216,7 +216,7 @@ coincellassemblyworkstation_device:
|
|||||||
type: boolean
|
type: boolean
|
||||||
qiangtou_juzhendianwei:
|
qiangtou_juzhendianwei:
|
||||||
default: 0
|
default: 0
|
||||||
description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
description: 枪头盒矩阵点位
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- elec_num
|
- elec_num
|
||||||
@@ -308,7 +308,13 @@ coincellassemblyworkstation_device:
|
|||||||
properties:
|
properties:
|
||||||
material_search_enable:
|
material_search_enable:
|
||||||
default: false
|
default: false
|
||||||
description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
|
description: '是否启用物料搜寻功能。
|
||||||
|
|
||||||
|
设备初始化后会弹出物料搜寻确认弹窗，
|
||||||
|
|
||||||
|
此参数控制自动点击''是''（启用）或''否''（不启用）。
|
||||||
|
|
||||||
|
默认为False（不启用物料搜寻）。'
|
||||||
type: boolean
|
type: boolean
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -555,7 +561,7 @@ coincellassemblyworkstation_device:
|
|||||||
type: integer
|
type: integer
|
||||||
battery_clean_ignore:
|
battery_clean_ignore:
|
||||||
default: false
|
default: false
|
||||||
description: 是否忽略电池清洁步骤
|
description: 是否忽略电池清洁
|
||||||
type: boolean
|
type: boolean
|
||||||
battery_pressure_mode:
|
battery_pressure_mode:
|
||||||
default: true
|
default: true
|
||||||
@@ -567,21 +573,21 @@ coincellassemblyworkstation_device:
|
|||||||
type: integer
|
type: integer
|
||||||
dual_drop_mode:
|
dual_drop_mode:
|
||||||
default: false
|
default: false
|
||||||
description: 电解液添加模式(false=单次滴液, true=二次滴液)
|
description: 电解液添加模式 (False=单次滴液, True=二次滴液)
|
||||||
type: boolean
|
type: boolean
|
||||||
dual_drop_start_timing:
|
dual_drop_start_timing:
|
||||||
default: false
|
default: false
|
||||||
description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
|
description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
|
||||||
type: boolean
|
type: boolean
|
||||||
dual_drop_suction_timing:
|
dual_drop_suction_timing:
|
||||||
default: false
|
default: false
|
||||||
description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
|
description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
|
||||||
type: boolean
|
type: boolean
|
||||||
elec_num:
|
elec_num:
|
||||||
description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
|
description: 电解液瓶数
|
||||||
type: string
|
type: string
|
||||||
elec_use_num:
|
elec_use_num:
|
||||||
description: 每瓶电解液组装电池数
|
description: 每瓶电解液组装的电池数
|
||||||
type: string
|
type: string
|
||||||
elec_vol:
|
elec_vol:
|
||||||
default: 50
|
default: 50
|
||||||
@@ -593,7 +599,7 @@ coincellassemblyworkstation_device:
|
|||||||
type: string
|
type: string
|
||||||
fujipian_juzhendianwei:
|
fujipian_juzhendianwei:
|
||||||
default: 0
|
default: 0
|
||||||
description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
description: 负极片矩阵点位
|
||||||
type: integer
|
type: integer
|
||||||
fujipian_panshu:
|
fujipian_panshu:
|
||||||
default: 0
|
default: 0
|
||||||
@@ -601,7 +607,7 @@ coincellassemblyworkstation_device:
|
|||||||
type: integer
|
type: integer
|
||||||
gemo_juzhendianwei:
|
gemo_juzhendianwei:
|
||||||
default: 0
|
default: 0
|
||||||
description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
description: 隔膜矩阵点位
|
||||||
type: integer
|
type: integer
|
||||||
gemopanshu:
|
gemopanshu:
|
||||||
default: 0
|
default: 0
|
||||||
@@ -613,7 +619,7 @@ coincellassemblyworkstation_device:
|
|||||||
type: boolean
|
type: boolean
|
||||||
qiangtou_juzhendianwei:
|
qiangtou_juzhendianwei:
|
||||||
default: 0
|
default: 0
|
||||||
description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
description: 枪头盒矩阵点位
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- elec_num
|
- elec_num
|
||||||
|
|||||||
@@ -31,6 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
|
|||||||
type: object
|
type: object
|
||||||
model:
|
model:
|
||||||
mesh: thermo_orbitor_rs2_hotel
|
mesh: thermo_orbitor_rs2_hotel
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
|
||||||
type: device
|
type: device
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
|
|||||||
@@ -18,6 +18,7 @@ xyz_stepper_controller:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
degrees:
|
degrees:
|
||||||
|
description: 角度值
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- degrees
|
- degrees
|
||||||
@@ -44,6 +45,7 @@ xyz_stepper_controller:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
axis:
|
axis:
|
||||||
|
description: 电机轴
|
||||||
type: object
|
type: object
|
||||||
required:
|
required:
|
||||||
- axis
|
- axis
|
||||||
@@ -71,6 +73,7 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
enable:
|
enable:
|
||||||
default: true
|
default: true
|
||||||
|
description: True为使能，False为失能
|
||||||
type: boolean
|
type: boolean
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -99,9 +102,11 @@ xyz_stepper_controller:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
axis:
|
axis:
|
||||||
|
description: 电机轴
|
||||||
type: object
|
type: object
|
||||||
enable:
|
enable:
|
||||||
default: true
|
default: true
|
||||||
|
description: True为使能，False为失能
|
||||||
type: boolean
|
type: boolean
|
||||||
required:
|
required:
|
||||||
- axis
|
- axis
|
||||||
@@ -152,6 +157,7 @@ xyz_stepper_controller:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
axis:
|
axis:
|
||||||
|
description: 电机轴
|
||||||
type: object
|
type: object
|
||||||
required:
|
required:
|
||||||
- axis
|
- axis
|
||||||
@@ -183,16 +189,21 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
acceleration:
|
acceleration:
|
||||||
default: 1000
|
default: 1000
|
||||||
|
description: 加速度(rpm/s)
|
||||||
type: integer
|
type: integer
|
||||||
axis:
|
axis:
|
||||||
|
description: 电机轴
|
||||||
type: object
|
type: object
|
||||||
position:
|
position:
|
||||||
|
description: 目标位置(步数)
|
||||||
type: integer
|
type: integer
|
||||||
precision:
|
precision:
|
||||||
default: 100
|
default: 100
|
||||||
|
description: 到位精度
|
||||||
type: integer
|
type: integer
|
||||||
speed:
|
speed:
|
||||||
default: 5000
|
default: 5000
|
||||||
|
description: 运行速度(rpm)
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- axis
|
- axis
|
||||||
@@ -225,16 +236,21 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
acceleration:
|
acceleration:
|
||||||
default: 1000
|
default: 1000
|
||||||
|
description: 加速度
|
||||||
type: integer
|
type: integer
|
||||||
axis:
|
axis:
|
||||||
|
description: 电机轴
|
||||||
type: object
|
type: object
|
||||||
degrees:
|
degrees:
|
||||||
|
description: 目标角度（度）
|
||||||
type: number
|
type: number
|
||||||
precision:
|
precision:
|
||||||
default: 100
|
default: 100
|
||||||
|
description: 精度
|
||||||
type: integer
|
type: integer
|
||||||
speed:
|
speed:
|
||||||
default: 5000
|
default: 5000
|
||||||
|
description: 移动速度
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- axis
|
- axis
|
||||||
@@ -267,16 +283,21 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
acceleration:
|
acceleration:
|
||||||
default: 1000
|
default: 1000
|
||||||
|
description: 加速度
|
||||||
type: integer
|
type: integer
|
||||||
axis:
|
axis:
|
||||||
|
description: 电机轴
|
||||||
type: object
|
type: object
|
||||||
precision:
|
precision:
|
||||||
default: 100
|
default: 100
|
||||||
|
description: 精度
|
||||||
type: integer
|
type: integer
|
||||||
revolutions:
|
revolutions:
|
||||||
|
description: 目标圈数
|
||||||
type: number
|
type: number
|
||||||
speed:
|
speed:
|
||||||
default: 5000
|
default: 5000
|
||||||
|
description: 移动速度
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- axis
|
- axis
|
||||||
@@ -309,15 +330,20 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
acceleration:
|
acceleration:
|
||||||
default: 1000
|
default: 1000
|
||||||
|
description: 加速度
|
||||||
type: integer
|
type: integer
|
||||||
speed:
|
speed:
|
||||||
default: 5000
|
default: 5000
|
||||||
|
description: 运行速度
|
||||||
type: integer
|
type: integer
|
||||||
x:
|
x:
|
||||||
|
description: X轴目标位置
|
||||||
type: integer
|
type: integer
|
||||||
y:
|
y:
|
||||||
|
description: Y轴目标位置
|
||||||
type: integer
|
type: integer
|
||||||
z:
|
z:
|
||||||
|
description: Z轴目标位置
|
||||||
type: integer
|
type: integer
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -350,15 +376,20 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
acceleration:
|
acceleration:
|
||||||
default: 1000
|
default: 1000
|
||||||
|
description: 加速度
|
||||||
type: integer
|
type: integer
|
||||||
speed:
|
speed:
|
||||||
default: 5000
|
default: 5000
|
||||||
|
description: 移动速度
|
||||||
type: integer
|
type: integer
|
||||||
x_deg:
|
x_deg:
|
||||||
|
description: X轴目标角度（度）
|
||||||
type: number
|
type: number
|
||||||
y_deg:
|
y_deg:
|
||||||
|
description: Y轴目标角度（度）
|
||||||
type: number
|
type: number
|
||||||
z_deg:
|
z_deg:
|
||||||
|
description: Z轴目标角度（度）
|
||||||
type: number
|
type: number
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -391,15 +422,20 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
acceleration:
|
acceleration:
|
||||||
default: 1000
|
default: 1000
|
||||||
|
description: 加速度
|
||||||
type: integer
|
type: integer
|
||||||
speed:
|
speed:
|
||||||
default: 5000
|
default: 5000
|
||||||
|
description: 移动速度
|
||||||
type: integer
|
type: integer
|
||||||
x_rev:
|
x_rev:
|
||||||
|
description: X轴目标圈数
|
||||||
type: number
|
type: number
|
||||||
y_rev:
|
y_rev:
|
||||||
|
description: Y轴目标圈数
|
||||||
type: number
|
type: number
|
||||||
z_rev:
|
z_rev:
|
||||||
|
description: Z轴目标圈数
|
||||||
type: number
|
type: number
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -427,6 +463,7 @@ xyz_stepper_controller:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
revolutions:
|
revolutions:
|
||||||
|
description: 圈数
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- revolutions
|
- revolutions
|
||||||
@@ -456,10 +493,13 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
acceleration:
|
acceleration:
|
||||||
default: 1000
|
default: 1000
|
||||||
|
description: 加速度(rpm/s)
|
||||||
type: integer
|
type: integer
|
||||||
axis:
|
axis:
|
||||||
|
description: 电机轴
|
||||||
type: object
|
type: object
|
||||||
speed:
|
speed:
|
||||||
|
description: 运行速度(rpm)，正值正转，负值反转
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- axis
|
- axis
|
||||||
@@ -487,6 +527,7 @@ xyz_stepper_controller:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
steps:
|
steps:
|
||||||
|
description: 步数
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- steps
|
- steps
|
||||||
@@ -513,6 +554,7 @@ xyz_stepper_controller:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
steps:
|
steps:
|
||||||
|
description: 步数
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- steps
|
- steps
|
||||||
@@ -564,9 +606,11 @@ xyz_stepper_controller:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
axis:
|
axis:
|
||||||
|
description: 电机轴
|
||||||
type: object
|
type: object
|
||||||
timeout:
|
timeout:
|
||||||
default: 30.0
|
default: 30.0
|
||||||
|
description: 超时时间(秒)
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- axis
|
- axis
|
||||||
@@ -591,11 +635,14 @@ xyz_stepper_controller:
|
|||||||
properties:
|
properties:
|
||||||
baudrate:
|
baudrate:
|
||||||
default: 115200
|
default: 115200
|
||||||
|
description: 波特率
|
||||||
type: integer
|
type: integer
|
||||||
port:
|
port:
|
||||||
|
description: 串口端口名
|
||||||
type: string
|
type: string
|
||||||
timeout:
|
timeout:
|
||||||
default: 1.0
|
default: 1.0
|
||||||
|
description: 通信超时时间
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- port
|
- port
|
||||||
|
|||||||
@@ -510,9 +510,11 @@ liquid_handler:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
msg:
|
msg:
|
||||||
|
description: information to be printed
|
||||||
type: string
|
type: string
|
||||||
seconds:
|
seconds:
|
||||||
default: 0
|
default: 0
|
||||||
|
description: seconds to wait
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -2963,15 +2965,22 @@ liquid_handler:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
channel:
|
channel:
|
||||||
|
description: int
|
||||||
maximum: 2147483647
|
maximum: 2147483647
|
||||||
minimum: -2147483648
|
minimum: -2147483648
|
||||||
type: integer
|
type: integer
|
||||||
dis_to_top:
|
dis_to_top:
|
||||||
|
description: 'float
|
||||||
|
|
||||||
|
Height in mm to move to relative to the well top.'
|
||||||
maximum: 1.7976931348623157e+308
|
maximum: 1.7976931348623157e+308
|
||||||
minimum: -1.7976931348623157e+308
|
minimum: -1.7976931348623157e+308
|
||||||
type: number
|
type: number
|
||||||
well:
|
well:
|
||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
|
description: 'Well
|
||||||
|
|
||||||
|
The target well.'
|
||||||
properties:
|
properties:
|
||||||
category:
|
category:
|
||||||
type: string
|
type: string
|
||||||
@@ -4829,11 +4838,13 @@ liquid_handler:
|
|||||||
config:
|
config:
|
||||||
properties:
|
properties:
|
||||||
backend:
|
backend:
|
||||||
|
description: Backend to use.
|
||||||
type: object
|
type: object
|
||||||
channel_num:
|
channel_num:
|
||||||
default: 8
|
default: 8
|
||||||
type: integer
|
type: integer
|
||||||
deck:
|
deck:
|
||||||
|
description: Deck to use.
|
||||||
type: object
|
type: object
|
||||||
simulator:
|
simulator:
|
||||||
default: false
|
default: false
|
||||||
@@ -4883,14 +4894,17 @@ liquid_handler.biomek:
|
|||||||
bind_parent_id:
|
bind_parent_id:
|
||||||
type: string
|
type: string
|
||||||
liquid_input_slot:
|
liquid_input_slot:
|
||||||
|
description: 液体输入槽列表
|
||||||
items:
|
items:
|
||||||
type: integer
|
type: integer
|
||||||
type: array
|
type: array
|
||||||
liquid_type:
|
liquid_type:
|
||||||
|
description: 液体类型列表
|
||||||
items:
|
items:
|
||||||
type: string
|
type: string
|
||||||
type: array
|
type: array
|
||||||
liquid_volume:
|
liquid_volume:
|
||||||
|
description: 液体体积列表
|
||||||
items:
|
items:
|
||||||
type: integer
|
type: integer
|
||||||
type: array
|
type: array
|
||||||
@@ -4901,6 +4915,7 @@ liquid_handler.biomek:
|
|||||||
type: object
|
type: object
|
||||||
type: array
|
type: array
|
||||||
slot_on_deck:
|
slot_on_deck:
|
||||||
|
description: 甲板上的槽位
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- resource_tracker
|
- resource_tracker
|
||||||
@@ -5036,20 +5051,27 @@ liquid_handler.biomek:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
none_keys:
|
none_keys:
|
||||||
|
description: 需要设置为None的键列表
|
||||||
items:
|
items:
|
||||||
type: string
|
type: string
|
||||||
type: array
|
type: array
|
||||||
protocol_author:
|
protocol_author:
|
||||||
|
description: 协议作者
|
||||||
type: string
|
type: string
|
||||||
protocol_date:
|
protocol_date:
|
||||||
|
description: 协议日期
|
||||||
type: string
|
type: string
|
||||||
protocol_description:
|
protocol_description:
|
||||||
|
description: 协议描述
|
||||||
type: string
|
type: string
|
||||||
protocol_name:
|
protocol_name:
|
||||||
|
description: 协议名称
|
||||||
type: string
|
type: string
|
||||||
protocol_type:
|
protocol_type:
|
||||||
|
description: 协议类型
|
||||||
type: string
|
type: string
|
||||||
protocol_version:
|
protocol_version:
|
||||||
|
description: 协议版本
|
||||||
type: string
|
type: string
|
||||||
title: LiquidHandlerProtocolCreation_Goal
|
title: LiquidHandlerProtocolCreation_Goal
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -87,7 +87,7 @@ neware_battery_test_system:
|
|||||||
properties:
|
properties:
|
||||||
filepath:
|
filepath:
|
||||||
default: bts_status.json
|
default: bts_status.json
|
||||||
description: 输出JSON文件路径
|
description: 输出文件路径
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -146,7 +146,7 @@ neware_battery_test_system:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
plate_num:
|
plate_num:
|
||||||
description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
|
description: 盘号 (1 或 2)，如果为None则返回所有盘的状态
|
||||||
type: integer
|
type: integer
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -237,11 +237,11 @@ neware_battery_test_system:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
csv_path:
|
csv_path:
|
||||||
description: 输入CSV文件的绝对路径
|
description: 输入CSV文件路径
|
||||||
type: string
|
type: string
|
||||||
output_dir:
|
output_dir:
|
||||||
default: .
|
default: .
|
||||||
description: 输出目录（用于存储XML和备份文件），默认当前目录
|
description: 输出目录，用于存储XML文件和备份，默认当前目录
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- csv_path
|
- csv_path
|
||||||
@@ -302,14 +302,14 @@ neware_battery_test_system:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
backup_dir:
|
backup_dir:
|
||||||
description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
|
description: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir
|
||||||
type: string
|
type: string
|
||||||
file_pattern:
|
file_pattern:
|
||||||
default: '*'
|
default: '*'
|
||||||
description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
|
description: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件）
|
||||||
type: string
|
type: string
|
||||||
oss_prefix:
|
oss_prefix:
|
||||||
description: OSS对象路径前缀（默认使用self.oss_prefix）
|
description: OSS 对象前缀，默认使用类初始化时的配置
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -336,19 +336,25 @@ neware_battery_test_system:
|
|||||||
config:
|
config:
|
||||||
properties:
|
properties:
|
||||||
devtype:
|
devtype:
|
||||||
|
description: 设备类型标识
|
||||||
type: string
|
type: string
|
||||||
ip:
|
ip:
|
||||||
|
description: TCP服务器IP地址
|
||||||
type: string
|
type: string
|
||||||
machine_id:
|
machine_id:
|
||||||
default: 1
|
default: 1
|
||||||
|
description: 机器ID
|
||||||
type: integer
|
type: integer
|
||||||
oss_prefix:
|
oss_prefix:
|
||||||
default: neware_backup
|
default: neware_backup
|
||||||
|
description: OSS对象路径前缀，默认"neware_backup"
|
||||||
type: string
|
type: string
|
||||||
oss_upload_enabled:
|
oss_upload_enabled:
|
||||||
default: false
|
default: false
|
||||||
|
description: 是否启用OSS上传功能，默认False
|
||||||
type: boolean
|
type: boolean
|
||||||
port:
|
port:
|
||||||
|
description: TCP端口
|
||||||
type: integer
|
type: integer
|
||||||
size_x:
|
size_x:
|
||||||
default: 50
|
default: 50
|
||||||
@@ -360,6 +366,7 @@ neware_battery_test_system:
|
|||||||
default: 20
|
default: 20
|
||||||
type: number
|
type: number
|
||||||
timeout:
|
timeout:
|
||||||
|
description: 通信超时时间（秒）
|
||||||
type: integer
|
type: integer
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -207,8 +207,12 @@ separator.homemade:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
condition:
|
condition:
|
||||||
|
description: The condition to be monitored, either 'delta' or 'time'.
|
||||||
type: string
|
type: string
|
||||||
value:
|
value:
|
||||||
|
description: 'The threshold value for the condition.
|
||||||
|
|
||||||
|
`delta > 0.05`, `time > 60`'
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- condition
|
- condition
|
||||||
@@ -305,12 +309,17 @@ separator.homemade:
|
|||||||
event:
|
event:
|
||||||
type: string
|
type: string
|
||||||
settling_time:
|
settling_time:
|
||||||
|
description: The duration for which to settle after stirring, in
|
||||||
|
seconds. Defaults to 10.
|
||||||
type: string
|
type: string
|
||||||
stir_speed:
|
stir_speed:
|
||||||
|
description: The speed of stirring, in RPM. Defaults to 300.
|
||||||
maximum: 1.7976931348623157e+308
|
maximum: 1.7976931348623157e+308
|
||||||
minimum: -1.7976931348623157e+308
|
minimum: -1.7976931348623157e+308
|
||||||
type: number
|
type: number
|
||||||
stir_time:
|
stir_time:
|
||||||
|
description: The duration for which to stir, in seconds. Defaults
|
||||||
|
to 10.
|
||||||
maximum: 1.7976931348623157e+308
|
maximum: 1.7976931348623157e+308
|
||||||
minimum: -1.7976931348623157e+308
|
minimum: -1.7976931348623157e+308
|
||||||
type: number
|
type: number
|
||||||
|
|||||||
@@ -456,6 +456,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
volume:
|
volume:
|
||||||
|
description: 'absolute position of the plunger, unit: mL'
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- volume
|
- volume
|
||||||
@@ -481,6 +482,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
volume:
|
volume:
|
||||||
|
description: 'absolute position of the plunger, unit: mL'
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- volume
|
- volume
|
||||||
@@ -687,8 +689,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
max_velocity:
|
max_velocity:
|
||||||
|
description: 'maximum velocity of the plunger, unit: ml/s'
|
||||||
type: number
|
type: number
|
||||||
position:
|
position:
|
||||||
|
description: 'absolute position of the plunger, unit: ml'
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- position
|
- position
|
||||||
@@ -1003,6 +1007,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
volume:
|
volume:
|
||||||
|
description: 'absolute position of the plunger, unit: mL'
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- volume
|
- volume
|
||||||
@@ -1028,6 +1033,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
volume:
|
volume:
|
||||||
|
description: 'absolute position of the plunger, unit: mL'
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- volume
|
- volume
|
||||||
@@ -1234,8 +1240,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
max_velocity:
|
max_velocity:
|
||||||
|
description: 'maximum velocity of the plunger, unit: ml/s'
|
||||||
type: number
|
type: number
|
||||||
position:
|
position:
|
||||||
|
description: 'absolute position of the plunger, unit: ml'
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- position
|
- position
|
||||||
|
|||||||
@@ -32,7 +32,7 @@ reaction_station.bioyond:
|
|||||||
type: integer
|
type: integer
|
||||||
end_point:
|
end_point:
|
||||||
default: 0
|
default: 0
|
||||||
description: 终点计时点 (Start=开始前, End=结束后)
|
description: 终点计时点 (Start=0, End=1)
|
||||||
type: integer
|
type: integer
|
||||||
end_step_key:
|
end_step_key:
|
||||||
default: ''
|
default: ''
|
||||||
@@ -40,11 +40,11 @@ reaction_station.bioyond:
|
|||||||
type: string
|
type: string
|
||||||
start_point:
|
start_point:
|
||||||
default: 0
|
default: 0
|
||||||
description: 起点计时点 (Start=开始前, End=结束后)
|
description: 起点计时点 (Start=0, End=1)
|
||||||
type: integer
|
type: integer
|
||||||
start_step_key:
|
start_step_key:
|
||||||
default: ''
|
default: ''
|
||||||
description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
|
description: 起点步骤Key (可选, 默认为空则自动选择)
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- duration
|
- duration
|
||||||
@@ -91,6 +91,7 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
json_str:
|
json_str:
|
||||||
|
description: 订单参数的JSON字符串
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- json_str
|
- json_str
|
||||||
@@ -117,6 +118,7 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
workflow_ids:
|
workflow_ids:
|
||||||
|
description: 要删除的工作流ID数组
|
||||||
items:
|
items:
|
||||||
type: string
|
type: string
|
||||||
type: array
|
type: array
|
||||||
@@ -145,6 +147,7 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
json_str:
|
json_str:
|
||||||
|
description: 'JSON格式的字符串,包含:'
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- json_str
|
- json_str
|
||||||
@@ -197,6 +200,7 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
web_workflow_json:
|
web_workflow_json:
|
||||||
|
description: JSON 格式的网页工作流列表
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- web_workflow_json
|
- web_workflow_json
|
||||||
@@ -228,8 +232,10 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
reactor_id:
|
reactor_id:
|
||||||
|
description: 反应器编号 (1-5)
|
||||||
type: integer
|
type: integer
|
||||||
temperature:
|
temperature:
|
||||||
|
description: 目标温度 (°C)
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- reactor_id
|
- reactor_id
|
||||||
@@ -257,6 +263,7 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
preintake_id:
|
preintake_id:
|
||||||
|
description: 通量ID
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- preintake_id
|
- preintake_id
|
||||||
@@ -338,6 +345,7 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
value:
|
value:
|
||||||
|
description: 工作流 ID 列表
|
||||||
items:
|
items:
|
||||||
type: string
|
type: string
|
||||||
type: array
|
type: array
|
||||||
@@ -365,6 +373,7 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
workflow_id:
|
workflow_id:
|
||||||
|
description: 工作流ID
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- workflow_id
|
- workflow_id
|
||||||
@@ -424,11 +433,11 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
assign_material_name:
|
assign_material_name:
|
||||||
description: 物料名称（不能为空）
|
description: 物料名称(液体种类)
|
||||||
type: string
|
type: string
|
||||||
temperature:
|
temperature:
|
||||||
default: 25.0
|
default: 25.0
|
||||||
description: 温度设定(°C)
|
description: 温度(C)
|
||||||
type: number
|
type: number
|
||||||
time:
|
time:
|
||||||
default: '90'
|
default: '90'
|
||||||
@@ -436,14 +445,14 @@ reaction_station.bioyond:
|
|||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
default: '1'
|
default: '1'
|
||||||
description: 是否滴定(NO=否, YES=是)
|
description: 是否滴定(NO=1, YES=2)
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
default: 2
|
default: 2
|
||||||
description: 是否观察 (NO=否, YES=是)
|
description: 是否观察(NO=1, YES=2)
|
||||||
type: integer
|
type: integer
|
||||||
volume:
|
volume:
|
||||||
description: 分液公式(mL)
|
description: 分液量(μL)
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- assign_material_name
|
- assign_material_name
|
||||||
@@ -525,11 +534,11 @@ reaction_station.bioyond:
|
|||||||
properties:
|
properties:
|
||||||
assign_material_name:
|
assign_material_name:
|
||||||
default: BAPP
|
default: BAPP
|
||||||
description: 物料名称
|
description: 物料名称(试剂瓶位)
|
||||||
type: string
|
type: string
|
||||||
temperature:
|
temperature:
|
||||||
default: 25.0
|
default: 25.0
|
||||||
description: 温度设定(°C)
|
description: 温度设定(C)
|
||||||
type: number
|
type: number
|
||||||
time:
|
time:
|
||||||
default: '0'
|
default: '0'
|
||||||
@@ -537,15 +546,15 @@ reaction_station.bioyond:
|
|||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
default: '1'
|
default: '1'
|
||||||
description: 是否滴定(NO=否, YES=是)
|
description: 是否滴定(NO=1, YES=2)
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
default: 1
|
default: 1
|
||||||
description: 是否观察 (NO=否, YES=是)
|
description: 是否观察(int类型, 1=否, 2=是)
|
||||||
type: integer
|
type: integer
|
||||||
volume:
|
volume:
|
||||||
default: '350'
|
default: '350'
|
||||||
description: 分液公式(mL)
|
description: 分液质量(g)
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
@@ -593,26 +602,28 @@ reaction_station.bioyond:
|
|||||||
description: 物料名称
|
description: 物料名称
|
||||||
type: string
|
type: string
|
||||||
solvents:
|
solvents:
|
||||||
description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
|
description: '溶剂信息的字典或JSON字符串(可选),格式如下:
|
||||||
|
|
||||||
|
{'
|
||||||
type: string
|
type: string
|
||||||
temperature:
|
temperature:
|
||||||
default: 25.0
|
default: 25.0
|
||||||
description: 温度设定(°C),默认25.00
|
description: 温度设定(C)
|
||||||
type: number
|
type: number
|
||||||
time:
|
time:
|
||||||
default: '360'
|
default: '360'
|
||||||
description: 观察时间(分钟),默认360
|
description: 观察时间(分钟)
|
||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
default: '1'
|
default: '1'
|
||||||
description: 是否滴定(NO=否, YES=是),默认NO
|
description: 是否滴定(NO=1, YES=2)
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
default: 2
|
default: 2
|
||||||
description: 是否观察 (NO=否, YES=是),默认YES
|
description: 是否观察(NO=1, YES=2)
|
||||||
type: integer
|
type: integer
|
||||||
volume:
|
volume:
|
||||||
description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
|
description: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- assign_material_name
|
- assign_material_name
|
||||||
@@ -671,33 +682,32 @@ reaction_station.bioyond:
|
|||||||
description: 物料名称
|
description: 物料名称
|
||||||
type: string
|
type: string
|
||||||
extracted_actuals:
|
extracted_actuals:
|
||||||
description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh(m二酐滴定)和actualVolume(V二酐滴定)
|
description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
|
||||||
type: string
|
type: string
|
||||||
feeding_order_data:
|
feeding_order_data:
|
||||||
description: 'feeding_order JSON对象,用于获取m二酐值(type为main_anhydride的amount)。示例:
|
description: feeding_order JSON字符串或对象,用于获取m二酐值
|
||||||
{"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
|
|
||||||
type: string
|
type: string
|
||||||
temperature:
|
temperature:
|
||||||
default: 25.0
|
default: 25.0
|
||||||
description: 温度设定(°C),默认25.00
|
description: 温度(C)
|
||||||
type: number
|
type: number
|
||||||
time:
|
time:
|
||||||
default: '90'
|
default: '90'
|
||||||
description: 观察时间(分钟),默认90
|
description: 观察时间(分钟)
|
||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
default: '2'
|
default: '2'
|
||||||
description: 是否滴定(NO=否, YES=是),默认YES
|
description: 是否滴定(NO=1, YES=2),默认2
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
default: 2
|
default: 2
|
||||||
description: 是否观察 (NO=否, YES=是),默认YES
|
description: 是否观察(NO=1, YES=2)
|
||||||
type: integer
|
type: integer
|
||||||
volume_formula:
|
volume_formula:
|
||||||
description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
|
description: 分液公式(μL),如果提供则直接使用,否则自动计算
|
||||||
type: string
|
type: string
|
||||||
x_value:
|
x_value:
|
||||||
description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
|
description: 手工输入的x值,格式如 "1-2-3"
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- assign_material_name
|
- assign_material_name
|
||||||
@@ -738,7 +748,7 @@ reaction_station.bioyond:
|
|||||||
type: string
|
type: string
|
||||||
temperature:
|
temperature:
|
||||||
default: 25.0
|
default: 25.0
|
||||||
description: 温度设定(°C)
|
description: 温度(C)
|
||||||
type: number
|
type: number
|
||||||
time:
|
time:
|
||||||
default: '0'
|
default: '0'
|
||||||
@@ -746,14 +756,14 @@ reaction_station.bioyond:
|
|||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
default: '1'
|
default: '1'
|
||||||
description: 是否滴定(NO=否, YES=是)
|
description: 是否滴定(NO=1, YES=2)
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
default: 1
|
default: 1
|
||||||
description: 是否观察 (NO=否, YES=是)
|
description: 是否观察(NO=1, YES=2)
|
||||||
type: integer
|
type: integer
|
||||||
volume_formula:
|
volume_formula:
|
||||||
description: 分液公式(mL)
|
description: 分液公式(μL)
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- volume_formula
|
- volume_formula
|
||||||
@@ -786,7 +796,7 @@ reaction_station.bioyond:
|
|||||||
description: 任务名称
|
description: 任务名称
|
||||||
type: string
|
type: string
|
||||||
workflow_name:
|
workflow_name:
|
||||||
description: 工作流名称
|
description: 合并后的工作流名称
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- workflow_name
|
- workflow_name
|
||||||
@@ -819,15 +829,15 @@ reaction_station.bioyond:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
assign_material_name:
|
assign_material_name:
|
||||||
description: 物料名称
|
description: 物料名称(不能为空)
|
||||||
type: string
|
type: string
|
||||||
cutoff:
|
cutoff:
|
||||||
default: '900000'
|
default: '900000'
|
||||||
description: 粘度上限
|
description: 粘度上限(需为有效数字字符串,默认 "900000")
|
||||||
type: string
|
type: string
|
||||||
temperature:
|
temperature:
|
||||||
default: -10.0
|
default: -10.0
|
||||||
description: 温度设定(°C)
|
description: 温度设定(C,范围:-50.00 至 100.00)
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- assign_material_name
|
- assign_material_name
|
||||||
@@ -909,11 +919,11 @@ reaction_station.bioyond:
|
|||||||
description: 物料名称(用于获取试剂瓶位ID)
|
description: 物料名称(用于获取试剂瓶位ID)
|
||||||
type: string
|
type: string
|
||||||
material_id:
|
material_id:
|
||||||
description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
|
description: 粉末类型ID, Salt=1, Flour=2, BTDA=3
|
||||||
type: string
|
type: string
|
||||||
temperature:
|
temperature:
|
||||||
default: 25.0
|
default: 25.0
|
||||||
description: 温度设定(°C)
|
description: 温度设定(C)
|
||||||
type: number
|
type: number
|
||||||
time:
|
time:
|
||||||
default: '0'
|
default: '0'
|
||||||
@@ -921,7 +931,7 @@ reaction_station.bioyond:
|
|||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
default: 1
|
default: 1
|
||||||
description: 是否观察 (NO=否, YES=是)
|
description: 是否观察(NO=1, YES=2)
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- material_id
|
- material_id
|
||||||
@@ -945,10 +955,13 @@ reaction_station.bioyond:
|
|||||||
config:
|
config:
|
||||||
properties:
|
properties:
|
||||||
config:
|
config:
|
||||||
|
description: 配置字典,应包含workflow_mappings等配置
|
||||||
type: object
|
type: object
|
||||||
deck:
|
deck:
|
||||||
|
description: Deck对象
|
||||||
type: string
|
type: string
|
||||||
protocol_type:
|
protocol_type:
|
||||||
|
description: 协议类型(由ROS系统传递,此处忽略)
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -198,6 +198,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: A JSON-formatted string that includes option, target,
|
||||||
|
speed, lift_height, mt_height
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -241,6 +243,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: A JSON-formatted string that includes quaternion, speed,
|
||||||
|
position
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -284,6 +288,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: A JSON-formatted string that includes speed
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -329,7 +334,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
|||||||
type: object
|
type: object
|
||||||
model:
|
model:
|
||||||
mesh: arm_slider
|
mesh: arm_slider
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
|
||||||
type: device
|
type: device
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
robotic_arm.UR:
|
robotic_arm.UR:
|
||||||
|
|||||||
@@ -709,6 +709,8 @@ linear_motion.toyo_xyz.sim:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: A JSON-formatted string that includes option, target,
|
||||||
|
speed, lift_height, mt_height
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -752,6 +754,8 @@ linear_motion.toyo_xyz.sim:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: A JSON-formatted string that includes quaternion, speed,
|
||||||
|
position
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -795,6 +799,7 @@ linear_motion.toyo_xyz.sim:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: A JSON-formatted string that includes speed
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -2179,6 +2179,7 @@ virtual_multiway_valve:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
port_number:
|
port_number:
|
||||||
|
description: 端口号 (1-8)
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- port_number
|
- port_number
|
||||||
@@ -2225,6 +2226,7 @@ virtual_multiway_valve:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
port_number:
|
port_number:
|
||||||
|
description: 目标端口号 (1-8)
|
||||||
type: integer
|
type: integer
|
||||||
required:
|
required:
|
||||||
- port_number
|
- port_number
|
||||||
@@ -2261,6 +2263,7 @@ virtual_multiway_valve:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: 目标位置 (0-8) 或位置字符串
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -2304,6 +2307,7 @@ virtual_multiway_valve:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: 目标位置 (0-8) 或位置字符串
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -3960,6 +3964,14 @@ virtual_separator:
|
|||||||
io_type: source
|
io_type: source
|
||||||
label: bottom_phase_out
|
label: bottom_phase_out
|
||||||
side: SOUTH
|
side: SOUTH
|
||||||
|
- data_key: top_outlet
|
||||||
|
data_source: executor
|
||||||
|
data_type: fluid
|
||||||
|
description: 上相（轻相）液体输出口
|
||||||
|
handler_key: topphaseout
|
||||||
|
io_type: source
|
||||||
|
label: top_phase_out
|
||||||
|
side: NORTH
|
||||||
- data_key: mechanical_port
|
- data_key: mechanical_port
|
||||||
data_source: handle
|
data_source: handle
|
||||||
data_type: mechanical
|
data_type: mechanical
|
||||||
@@ -4207,6 +4219,7 @@ virtual_solenoid_valve:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
string:
|
string:
|
||||||
|
description: '"ON"/"OFF" 或 "OPEN"/"CLOSED"'
|
||||||
type: string
|
type: string
|
||||||
title: StrSingleInput_Goal
|
title: StrSingleInput_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -4250,6 +4263,7 @@ virtual_solenoid_valve:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
command:
|
command:
|
||||||
|
description: '"OPEN"/"CLOSED" 或其他控制命令'
|
||||||
type: string
|
type: string
|
||||||
title: SendCmd_Goal
|
title: SendCmd_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -4410,16 +4424,20 @@ virtual_solid_dispenser:
|
|||||||
event:
|
event:
|
||||||
type: string
|
type: string
|
||||||
mass:
|
mass:
|
||||||
|
description: 质量字符串 (如 "2.9 g")
|
||||||
type: string
|
type: string
|
||||||
mol:
|
mol:
|
||||||
|
description: 摩尔数字符串 (如 "0.12 mol")
|
||||||
type: string
|
type: string
|
||||||
purpose:
|
purpose:
|
||||||
|
description: 添加目的
|
||||||
type: string
|
type: string
|
||||||
rate_spec:
|
rate_spec:
|
||||||
type: string
|
type: string
|
||||||
ratio:
|
ratio:
|
||||||
type: string
|
type: string
|
||||||
reagent:
|
reagent:
|
||||||
|
description: 试剂名称
|
||||||
type: string
|
type: string
|
||||||
stir:
|
stir:
|
||||||
type: boolean
|
type: boolean
|
||||||
@@ -4431,6 +4449,7 @@ virtual_solid_dispenser:
|
|||||||
type: string
|
type: string
|
||||||
vessel:
|
vessel:
|
||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
|
description: 目标容器
|
||||||
properties:
|
properties:
|
||||||
category:
|
category:
|
||||||
type: string
|
type: string
|
||||||
@@ -5560,8 +5579,10 @@ virtual_transfer_pump:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
velocity:
|
velocity:
|
||||||
|
description: 拉取速度 (ml/s)
|
||||||
type: number
|
type: number
|
||||||
volume:
|
volume:
|
||||||
|
description: 要拉取的体积 (ml)
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- volume
|
- volume
|
||||||
@@ -5588,8 +5609,10 @@ virtual_transfer_pump:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
velocity:
|
velocity:
|
||||||
|
description: 推出速度 (ml/s)
|
||||||
type: number
|
type: number
|
||||||
volume:
|
volume:
|
||||||
|
description: 要推出的体积 (ml)
|
||||||
type: number
|
type: number
|
||||||
required:
|
required:
|
||||||
- volume
|
- volume
|
||||||
@@ -5685,10 +5708,12 @@ virtual_transfer_pump:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
max_velocity:
|
max_velocity:
|
||||||
|
description: 移动速度 (ml/s)
|
||||||
maximum: 1.7976931348623157e+308
|
maximum: 1.7976931348623157e+308
|
||||||
minimum: -1.7976931348623157e+308
|
minimum: -1.7976931348623157e+308
|
||||||
type: number
|
type: number
|
||||||
position:
|
position:
|
||||||
|
description: 目标位置 (ml)
|
||||||
maximum: 1.7976931348623157e+308
|
maximum: 1.7976931348623157e+308
|
||||||
minimum: -1.7976931348623157e+308
|
minimum: -1.7976931348623157e+308
|
||||||
type: number
|
type: number
|
||||||
@@ -5837,8 +5862,10 @@ virtual_transfer_pump:
|
|||||||
config:
|
config:
|
||||||
properties:
|
properties:
|
||||||
config:
|
config:
|
||||||
|
description: 配置字典，包含max_volume, port等参数
|
||||||
type: object
|
type: object
|
||||||
device_id:
|
device_id:
|
||||||
|
description: 设备ID
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -421,7 +421,7 @@ xrd_d7mate:
|
|||||||
type: number
|
type: number
|
||||||
sample_id:
|
sample_id:
|
||||||
default: ''
|
default: ''
|
||||||
description: 样品标识符
|
description: 样品名称
|
||||||
type: string
|
type: string
|
||||||
start_theta:
|
start_theta:
|
||||||
default: 10.0
|
default: 10.0
|
||||||
@@ -433,7 +433,7 @@ xrd_d7mate:
|
|||||||
type: string
|
type: string
|
||||||
wait_minutes:
|
wait_minutes:
|
||||||
default: 3.0
|
default: 3.0
|
||||||
description: 允许上样后等待分钟数
|
description: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
|
||||||
type: number
|
type: number
|
||||||
required: []
|
required: []
|
||||||
title: StartWorkflow_Goal
|
title: StartWorkflow_Goal
|
||||||
@@ -492,12 +492,15 @@ xrd_d7mate:
|
|||||||
properties:
|
properties:
|
||||||
host:
|
host:
|
||||||
default: 127.0.0.1
|
default: 127.0.0.1
|
||||||
|
description: 设备IP地址
|
||||||
type: string
|
type: string
|
||||||
port:
|
port:
|
||||||
default: 6001
|
default: 6001
|
||||||
|
description: 通信端口，默认6001
|
||||||
type: string
|
type: string
|
||||||
timeout:
|
timeout:
|
||||||
default: 10.0
|
default: 10.0
|
||||||
|
description: 超时时间，单位秒
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -217,6 +217,7 @@ zhida_gcms:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
string:
|
string:
|
||||||
|
description: Base64编码的CSV数据（ROS2参数名）
|
||||||
type: string
|
type: string
|
||||||
title: StrSingleInput_Goal
|
title: StrSingleInput_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -257,6 +258,7 @@ zhida_gcms:
|
|||||||
additionalProperties: false
|
additionalProperties: false
|
||||||
properties:
|
properties:
|
||||||
string:
|
string:
|
||||||
|
description: CSV文件路径（ROS2参数名）
|
||||||
type: string
|
type: string
|
||||||
title: StrSingleInput_Goal
|
title: StrSingleInput_Goal
|
||||||
type: object
|
type: object
|
||||||
@@ -289,12 +291,15 @@ zhida_gcms:
|
|||||||
properties:
|
properties:
|
||||||
host:
|
host:
|
||||||
default: 192.168.3.184
|
default: 192.168.3.184
|
||||||
|
description: 设备IP地址，本地部署时可使用'127.0.0.1'
|
||||||
type: string
|
type: string
|
||||||
port:
|
port:
|
||||||
default: 5792
|
default: 5792
|
||||||
|
description: 通信端口，默认5792
|
||||||
type: string
|
type: string
|
||||||
timeout:
|
timeout:
|
||||||
default: 10.0
|
default: 10.0
|
||||||
|
description: 超时时间，单位秒
|
||||||
type: string
|
type: string
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -238,6 +238,7 @@ class Registry:
|
|||||||
"class_name": "unilabos_class",
|
"class_name": "unilabos_class",
|
||||||
},
|
},
|
||||||
"always_free": True,
|
"always_free": True,
|
||||||
|
"feedback_interval": 300.0,
|
||||||
},
|
},
|
||||||
"test_latency": test_latency_action,
|
"test_latency": test_latency_action,
|
||||||
"auto-test_resource": test_resource_action,
|
"auto-test_resource": test_resource_action,
|
||||||
@@ -270,6 +271,7 @@ class Registry:
|
|||||||
registry_cache.pkl 一个文件中，删除即可完全重置。
|
registry_cache.pkl 一个文件中，删除即可完全重置。
|
||||||
"""
|
"""
|
||||||
import time as _time
|
import time as _time
|
||||||
|
from unilabos.registry.ast_registry_scanner import _CACHE_VERSION as AST_SCAN_CACHE_VERSION
|
||||||
from unilabos.registry.ast_registry_scanner import scan_directory
|
from unilabos.registry.ast_registry_scanner import scan_directory
|
||||||
|
|
||||||
scan_t0 = _time.perf_counter()
|
scan_t0 = _time.perf_counter()
|
||||||
@@ -285,6 +287,10 @@ class Registry:
|
|||||||
# ---- 统一缓存：一个 pkl 包含所有数据 ----
|
# ---- 统一缓存：一个 pkl 包含所有数据 ----
|
||||||
unified_cache = self._load_config_cache()
|
unified_cache = self._load_config_cache()
|
||||||
ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
|
ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
|
||||||
|
if ast_cache.get("version") != AST_SCAN_CACHE_VERSION:
|
||||||
|
ast_cache = {"version": AST_SCAN_CACHE_VERSION, "files": {}}
|
||||||
|
unified_cache["_ast_scan"] = ast_cache
|
||||||
|
unified_cache.pop("_build_results", None)
|
||||||
|
|
||||||
# 默认：扫描 unilabos 包所在的父目录
|
# 默认：扫描 unilabos 包所在的父目录
|
||||||
pkg_root = Path(__file__).resolve().parent.parent # .../unilabos
|
pkg_root = Path(__file__).resolve().parent.parent # .../unilabos
|
||||||
@@ -560,13 +566,47 @@ class Registry:
|
|||||||
|
|
||||||
return prop_schema
|
return prop_schema
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def _apply_docstring_param_metadata(
|
||||||
|
schema: Dict[str, Any],
|
||||||
|
doc_info: Dict[str, Any],
|
||||||
|
field_to_param: Optional[Dict[str, str]] = None,
|
||||||
|
apply_defaults: bool = False,
|
||||||
|
) -> None:
|
||||||
|
"""Apply parsed docstring display names and descriptions to schema properties."""
|
||||||
|
if not schema or not doc_info:
|
||||||
|
return
|
||||||
|
|
||||||
|
props = schema.get("properties", {})
|
||||||
|
if not isinstance(props, dict):
|
||||||
|
return
|
||||||
|
|
||||||
|
param_descs = doc_info.get("params", {}) or {}
|
||||||
|
param_display_names = doc_info.get("param_display_names", {}) or {}
|
||||||
|
for field_name, prop_schema in props.items():
|
||||||
|
if not isinstance(prop_schema, dict):
|
||||||
|
continue
|
||||||
|
param_name = field_to_param.get(field_name, field_name) if field_to_param else field_name
|
||||||
|
if not isinstance(param_name, str):
|
||||||
|
continue
|
||||||
|
param_name = param_name.removesuffix("[]")
|
||||||
|
if param_name in param_display_names:
|
||||||
|
prop_schema["title"] = param_display_names[param_name]
|
||||||
|
elif apply_defaults and not prop_schema.get("title"):
|
||||||
|
prop_schema["title"] = field_name
|
||||||
|
|
||||||
|
if param_name in param_descs:
|
||||||
|
prop_schema["description"] = param_descs[param_name]
|
||||||
|
elif apply_defaults and "description" not in prop_schema:
|
||||||
|
prop_schema["description"] = ""
|
||||||
|
|
||||||
def _generate_unilab_json_command_schema(
|
def _generate_unilab_json_command_schema(
|
||||||
self, method_args: list, docstring: Optional[str] = None,
|
self, method_args: list, docstring: Optional[str] = None,
|
||||||
import_map: Optional[Dict[str, str]] = None,
|
import_map: Optional[Dict[str, str]] = None,
|
||||||
|
apply_doc_defaults: bool = False,
|
||||||
) -> Dict[str, Any]:
|
) -> Dict[str, Any]:
|
||||||
"""根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
|
"""根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
|
||||||
doc_info = parse_docstring(docstring)
|
doc_info = parse_docstring(docstring)
|
||||||
param_descs = doc_info.get("params", {})
|
|
||||||
|
|
||||||
schema = {
|
schema = {
|
||||||
"type": "object",
|
"type": "object",
|
||||||
@@ -597,12 +637,10 @@ class Registry:
|
|||||||
param_name, param_type, param_default, import_map=import_map
|
param_name, param_type, param_default, import_map=import_map
|
||||||
)
|
)
|
||||||
|
|
||||||
if param_name in param_descs:
|
|
||||||
schema["properties"][param_name]["description"] = param_descs[param_name]
|
|
||||||
|
|
||||||
if param_required:
|
if param_required:
|
||||||
schema["required"].append(param_name)
|
schema["required"].append(param_name)
|
||||||
|
|
||||||
|
self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=apply_doc_defaults)
|
||||||
return schema
|
return schema
|
||||||
|
|
||||||
def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]:
|
def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]:
|
||||||
@@ -798,6 +836,7 @@ class Registry:
|
|||||||
type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
|
type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
|
||||||
params = method_info.get("params", [])
|
params = method_info.get("params", [])
|
||||||
method_doc = method_info.get("docstring")
|
method_doc = method_info.get("docstring")
|
||||||
|
method_doc_info = parse_docstring(method_doc)
|
||||||
goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap)
|
goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap)
|
||||||
|
|
||||||
if action_args is not None:
|
if action_args is not None:
|
||||||
@@ -827,10 +866,15 @@ class Registry:
|
|||||||
|
|
||||||
# action handles: 从 @action(handles=[...]) 提取并转换为标准格式
|
# action handles: 从 @action(handles=[...]) 提取并转换为标准格式
|
||||||
raw_handles = (action_args or {}).get("handles")
|
raw_handles = (action_args or {}).get("handles")
|
||||||
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
|
handles = (
|
||||||
|
normalize_ast_action_handles(raw_handles)
|
||||||
|
if isinstance(raw_handles, list)
|
||||||
|
else (raw_handles or {})
|
||||||
|
)
|
||||||
|
|
||||||
# placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
|
# placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
|
||||||
pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
|
pk = detect_placeholder_keys(params)
|
||||||
|
pk.update((action_args or {}).get("placeholder_keys") or {})
|
||||||
|
|
||||||
# 从方法返回值类型生成 result schema
|
# 从方法返回值类型生成 result schema
|
||||||
result_schema = None
|
result_schema = None
|
||||||
@@ -845,13 +889,20 @@ class Registry:
|
|||||||
"goal": goal,
|
"goal": goal,
|
||||||
"feedback": (action_args or {}).get("feedback") or {},
|
"feedback": (action_args or {}).get("feedback") or {},
|
||||||
"result": (action_args or {}).get("result") or {},
|
"result": (action_args or {}).get("result") or {},
|
||||||
"schema": wrap_action_schema(goal_schema, action_name, result_schema=result_schema),
|
"schema": wrap_action_schema(
|
||||||
|
goal_schema,
|
||||||
|
action_name,
|
||||||
|
description=(action_args or {}).get("description") or method_doc_info.get("description", ""),
|
||||||
|
result_schema=result_schema,
|
||||||
|
),
|
||||||
"goal_default": goal_default,
|
"goal_default": goal_default,
|
||||||
"handles": handles,
|
"handles": handles,
|
||||||
"placeholder_keys": pk,
|
"placeholder_keys": pk,
|
||||||
}
|
}
|
||||||
if (action_args or {}).get("always_free") or method_info.get("always_free"):
|
if (action_args or {}).get("always_free") or method_info.get("always_free"):
|
||||||
entry["always_free"] = True
|
entry["always_free"] = True
|
||||||
|
_fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
|
||||||
|
entry["feedback_interval"] = _fb_iv
|
||||||
nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
|
nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
|
||||||
if nt:
|
if nt:
|
||||||
entry["node_type"] = nt
|
entry["node_type"] = nt
|
||||||
@@ -882,7 +933,11 @@ class Registry:
|
|||||||
action_name = f"auto-{action_name}"
|
action_name = f"auto-{action_name}"
|
||||||
|
|
||||||
raw_handles = action_args.get("handles")
|
raw_handles = action_args.get("handles")
|
||||||
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
|
handles = (
|
||||||
|
normalize_ast_action_handles(raw_handles)
|
||||||
|
if isinstance(raw_handles, list)
|
||||||
|
else (raw_handles or {})
|
||||||
|
)
|
||||||
|
|
||||||
method_params = method_info.get("params", [])
|
method_params = method_info.get("params", [])
|
||||||
|
|
||||||
@@ -975,20 +1030,34 @@ class Registry:
|
|||||||
"schema": schema,
|
"schema": schema,
|
||||||
"goal_default": goal_default,
|
"goal_default": goal_default,
|
||||||
"handles": handles,
|
"handles": handles,
|
||||||
"placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
|
"placeholder_keys": {
|
||||||
|
**detect_placeholder_keys(method_params),
|
||||||
|
**(action_args.get("placeholder_keys") or {}),
|
||||||
|
},
|
||||||
}
|
}
|
||||||
if action_args.get("always_free") or method_info.get("always_free"):
|
if action_args.get("always_free") or method_info.get("always_free"):
|
||||||
action_entry["always_free"] = True
|
action_entry["always_free"] = True
|
||||||
|
_fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
|
||||||
|
action_entry["feedback_interval"] = _fb_iv
|
||||||
nt = normalize_enum_value(action_args.get("node_type"), NodeType)
|
nt = normalize_enum_value(action_args.get("node_type"), NodeType)
|
||||||
if nt:
|
if nt:
|
||||||
action_entry["node_type"] = nt
|
action_entry["node_type"] = nt
|
||||||
|
goal_schema_for_docs = action_entry.get("schema", {}).get("properties", {}).get("goal", {})
|
||||||
|
self._apply_docstring_param_metadata(
|
||||||
|
goal_schema_for_docs,
|
||||||
|
parse_docstring(method_info.get("docstring")),
|
||||||
|
goal,
|
||||||
|
apply_defaults=True,
|
||||||
|
)
|
||||||
action_value_mappings[action_name] = action_entry
|
action_value_mappings[action_name] = action_entry
|
||||||
|
|
||||||
action_value_mappings = dict(sorted(action_value_mappings.items()))
|
action_value_mappings = dict(sorted(action_value_mappings.items()))
|
||||||
|
|
||||||
# --- init_param_schema = { config: <init_params>, data: <status_types> } ---
|
# --- init_param_schema = { config: <init_params>, data: <status_types> } ---
|
||||||
init_params = ast_meta.get("init_params", [])
|
init_params = ast_meta.get("init_params", [])
|
||||||
config_schema = self._generate_schema_from_ast_params(init_params, "__init__", import_map=imap)
|
config_schema = self._generate_schema_from_ast_params(
|
||||||
|
init_params, "__init__", ast_meta.get("init_docstring"), import_map=imap
|
||||||
|
)
|
||||||
data_schema = self._generate_status_schema_from_ast(
|
data_schema = self._generate_status_schema_from_ast(
|
||||||
ast_meta.get("status_properties", {}), imap
|
ast_meta.get("status_properties", {}), imap
|
||||||
)
|
)
|
||||||
@@ -1036,7 +1105,6 @@ class Registry:
|
|||||||
) -> Dict[str, Any]:
|
) -> Dict[str, Any]:
|
||||||
"""Generate JSON Schema from AST-extracted parameter list."""
|
"""Generate JSON Schema from AST-extracted parameter list."""
|
||||||
doc_info = parse_docstring(docstring)
|
doc_info = parse_docstring(docstring)
|
||||||
param_descs = doc_info.get("params", {})
|
|
||||||
|
|
||||||
schema: Dict[str, Any] = {
|
schema: Dict[str, Any] = {
|
||||||
"type": "object",
|
"type": "object",
|
||||||
@@ -1066,12 +1134,10 @@ class Registry:
|
|||||||
pname, ptype, pdefault, import_map
|
pname, ptype, pdefault, import_map
|
||||||
)
|
)
|
||||||
|
|
||||||
if pname in param_descs:
|
|
||||||
schema["properties"][pname]["description"] = param_descs[pname]
|
|
||||||
|
|
||||||
if prequired:
|
if prequired:
|
||||||
schema["required"].append(pname)
|
schema["required"].append(pname)
|
||||||
|
|
||||||
|
self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=True)
|
||||||
return schema
|
return schema
|
||||||
|
|
||||||
def _generate_status_schema_from_ast(
|
def _generate_status_schema_from_ast(
|
||||||
@@ -1801,7 +1867,7 @@ class Registry:
|
|||||||
else:
|
else:
|
||||||
action_key = f"auto-{k}"
|
action_key = f"auto-{k}"
|
||||||
goal_schema = self._generate_unilab_json_command_schema(
|
goal_schema = self._generate_unilab_json_command_schema(
|
||||||
v["args"], import_map=enhanced_import_map
|
v["args"], docstring=v.get("docstring"), import_map=enhanced_import_map
|
||||||
)
|
)
|
||||||
ret_type = v.get("return_type", "")
|
ret_type = v.get("return_type", "")
|
||||||
result_schema = None
|
result_schema = None
|
||||||
@@ -1810,7 +1876,13 @@ class Registry:
|
|||||||
"result", ret_type, None, import_map=enhanced_import_map
|
"result", ret_type, None, import_map=enhanced_import_map
|
||||||
)
|
)
|
||||||
old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
|
old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
|
||||||
new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema)
|
doc_info = parse_docstring(v.get("docstring"))
|
||||||
|
new_schema = wrap_action_schema(
|
||||||
|
goal_schema,
|
||||||
|
action_key,
|
||||||
|
description=doc_info.get("description", ""),
|
||||||
|
result_schema=result_schema,
|
||||||
|
)
|
||||||
old_schema = old_cfg.get("schema", {})
|
old_schema = old_cfg.get("schema", {})
|
||||||
if old_schema:
|
if old_schema:
|
||||||
preserve_field_descriptions(new_schema, old_schema)
|
preserve_field_descriptions(new_schema, old_schema)
|
||||||
@@ -1876,6 +1948,12 @@ class Registry:
|
|||||||
|
|
||||||
merged_pk = dict(old_cfg.get("placeholder_keys", {}))
|
merged_pk = dict(old_cfg.get("placeholder_keys", {}))
|
||||||
merged_pk.update(detect_placeholder_keys(v["args"]))
|
merged_pk.update(detect_placeholder_keys(v["args"]))
|
||||||
|
goal_schema_for_docs = (
|
||||||
|
entry_schema.get("properties", {}).get("goal", {})
|
||||||
|
if isinstance(entry_schema, dict)
|
||||||
|
else {}
|
||||||
|
)
|
||||||
|
self._apply_docstring_param_metadata(goal_schema_for_docs, doc_info, entry_goal)
|
||||||
|
|
||||||
entry = {
|
entry = {
|
||||||
"type": entry_type,
|
"type": entry_type,
|
||||||
@@ -1896,7 +1974,8 @@ class Registry:
|
|||||||
|
|
||||||
device_config["init_param_schema"] = {}
|
device_config["init_param_schema"] = {}
|
||||||
init_schema = self._generate_unilab_json_command_schema(
|
init_schema = self._generate_unilab_json_command_schema(
|
||||||
enhanced_info["init_params"], "__init__",
|
enhanced_info["init_params"],
|
||||||
|
docstring=enhanced_info.get("init_docstring"),
|
||||||
import_map=enhanced_import_map,
|
import_map=enhanced_import_map,
|
||||||
)
|
)
|
||||||
device_config["init_param_schema"]["config"] = init_schema
|
device_config["init_param_schema"]["config"] = init_schema
|
||||||
@@ -1943,7 +2022,9 @@ class Registry:
|
|||||||
action_str_type_mapping[action_type_str] = target_type
|
action_str_type_mapping[action_type_str] = target_type
|
||||||
if target_type is not None:
|
if target_type is not None:
|
||||||
try:
|
try:
|
||||||
action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict()
|
action_config["goal_default"] = ROS2MessageInstance(
|
||||||
|
target_type.Goal()
|
||||||
|
).get_python_dict()
|
||||||
except Exception:
|
except Exception:
|
||||||
action_config["goal_default"] = {}
|
action_config["goal_default"] = {}
|
||||||
prev_schema = action_config.get("schema", {})
|
prev_schema = action_config.get("schema", {})
|
||||||
@@ -2135,6 +2216,7 @@ class Registry:
|
|||||||
"unilabos_device_id": {
|
"unilabos_device_id": {
|
||||||
"type": "string",
|
"type": "string",
|
||||||
"default": "",
|
"default": "",
|
||||||
|
"title": "设备ID",
|
||||||
"description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
|
"description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
|
||||||
},
|
},
|
||||||
**schema["properties"]["goal"]["properties"],
|
**schema["properties"]["goal"]["properties"],
|
||||||
@@ -2206,7 +2288,14 @@ class Registry:
|
|||||||
lab_registry = Registry()
|
lab_registry = Registry()
|
||||||
|
|
||||||
|
|
||||||
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
|
def build_registry(
|
||||||
|
registry_paths=None,
|
||||||
|
devices_dirs=None,
|
||||||
|
upload_registry=False,
|
||||||
|
check_mode=False,
|
||||||
|
complete_registry=False,
|
||||||
|
external_only=False,
|
||||||
|
):
|
||||||
"""
|
"""
|
||||||
构建或获取Registry单例实例
|
构建或获取Registry单例实例
|
||||||
"""
|
"""
|
||||||
@@ -2220,7 +2309,12 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
|
|||||||
if path not in current_paths:
|
if path not in current_paths:
|
||||||
lab_registry.registry_paths.append(path)
|
lab_registry.registry_paths.append(path)
|
||||||
|
|
||||||
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
|
lab_registry.setup(
|
||||||
|
devices_dirs=devices_dirs,
|
||||||
|
upload_registry=upload_registry,
|
||||||
|
complete_registry=complete_registry,
|
||||||
|
external_only=external_only,
|
||||||
|
)
|
||||||
|
|
||||||
# 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
|
# 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
|
||||||
lab_registry.resolve_all_types()
|
lab_registry.resolve_all_types()
|
||||||
|
|||||||
@@ -17,7 +17,7 @@ hplc_plate:
|
|||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
- 3.1416
|
- 3.1416
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
plate_96:
|
plate_96:
|
||||||
@@ -39,7 +39,7 @@ plate_96:
|
|||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
plate_96_high:
|
plate_96_high:
|
||||||
@@ -61,7 +61,7 @@ plate_96_high:
|
|||||||
- 1.5708
|
- 1.5708
|
||||||
- 0
|
- 0
|
||||||
- 1.5708
|
- 1.5708
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
tiprack_96_high:
|
tiprack_96_high:
|
||||||
@@ -76,7 +76,7 @@ tiprack_96_high:
|
|||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
model:
|
model:
|
||||||
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
|
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
|
||||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||||
children_mesh_tf:
|
children_mesh_tf:
|
||||||
- 0.0018
|
- 0.0018
|
||||||
- 0.0018
|
- 0.0018
|
||||||
@@ -92,7 +92,7 @@ tiprack_96_high:
|
|||||||
- 1.5708
|
- 1.5708
|
||||||
- 0
|
- 0
|
||||||
- 1.5708
|
- 1.5708
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
tiprack_box:
|
tiprack_box:
|
||||||
@@ -107,7 +107,7 @@ tiprack_box:
|
|||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
model:
|
model:
|
||||||
children_mesh: tip/meshes/tip.stl
|
children_mesh: tip/meshes/tip.stl
|
||||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
|
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
|
||||||
children_mesh_tf:
|
children_mesh_tf:
|
||||||
- 0.0045
|
- 0.0045
|
||||||
- 0.0045
|
- 0.0045
|
||||||
@@ -123,6 +123,6 @@ tiprack_box:
|
|||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
|
|||||||
@@ -11,7 +11,7 @@ bottle_container:
|
|||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
model:
|
model:
|
||||||
children_mesh: bottle/meshes/bottle.stl
|
children_mesh: bottle/meshes/bottle.stl
|
||||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
|
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
|
||||||
children_mesh_tf:
|
children_mesh_tf:
|
||||||
- 0.04
|
- 0.04
|
||||||
- 0.04
|
- 0.04
|
||||||
@@ -27,7 +27,7 @@ bottle_container:
|
|||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
tube_container:
|
tube_container:
|
||||||
@@ -43,7 +43,7 @@ tube_container:
|
|||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
model:
|
model:
|
||||||
children_mesh: tube/meshes/tube.stl
|
children_mesh: tube/meshes/tube.stl
|
||||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
|
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
|
||||||
children_mesh_tf:
|
children_mesh_tf:
|
||||||
- 0.017
|
- 0.017
|
||||||
- 0.017
|
- 0.017
|
||||||
@@ -59,6 +59,6 @@ tube_container:
|
|||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
- 0
|
- 0
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
|
|||||||
@@ -10,6 +10,6 @@ TransformXYZDeck:
|
|||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
model:
|
model:
|
||||||
mesh: liquid_transform_xyz
|
mesh: liquid_transform_xyz
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
|
||||||
type: device
|
type: device
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
|
|||||||
@@ -10,7 +10,7 @@ OTDeck:
|
|||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
model:
|
model:
|
||||||
mesh: opentrons_liquid_handler
|
mesh: opentrons_liquid_handler
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
|
||||||
type: device
|
type: device
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
hplc_station:
|
hplc_station:
|
||||||
@@ -25,6 +25,6 @@ hplc_station:
|
|||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
model:
|
model:
|
||||||
mesh: hplc_station
|
mesh: hplc_station
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
|
||||||
type: device
|
type: device
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
|
|||||||
@@ -109,7 +109,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
|
|||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
model:
|
model:
|
||||||
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
|
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
|
||||||
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
|
||||||
children_mesh_tf:
|
children_mesh_tf:
|
||||||
- 0.0018
|
- 0.0018
|
||||||
- 0.0018
|
- 0.0018
|
||||||
@@ -125,7 +125,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
|
|||||||
- -1.5708
|
- -1.5708
|
||||||
- 0
|
- 0
|
||||||
- 1.5708
|
- 1.5708
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
nest_96_wellplate_200ul_flat:
|
nest_96_wellplate_200ul_flat:
|
||||||
@@ -158,7 +158,7 @@ nest_96_wellplate_2ml_deep:
|
|||||||
- -1.5708
|
- -1.5708
|
||||||
- 0
|
- 0
|
||||||
- 1.5708
|
- 1.5708
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
thermoscientificnunc_96_wellplate_1300ul:
|
thermoscientificnunc_96_wellplate_1300ul:
|
||||||
|
|||||||
@@ -69,7 +69,7 @@ opentrons_96_filtertiprack_1000ul:
|
|||||||
- -1.5708
|
- -1.5708
|
||||||
- 0
|
- 0
|
||||||
- 1.5708
|
- 1.5708
|
||||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||||
type: resource
|
type: resource
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
opentrons_96_filtertiprack_10ul:
|
opentrons_96_filtertiprack_10ul:
|
||||||
|
|||||||
@@ -36,16 +36,40 @@ class ROSMsgNotFound(Exception):
|
|||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
|
_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
|
||||||
|
_PARAM_HEADER_RE = re.compile(
|
||||||
|
r"^\s*(?P<name>\w[\w]*)\s*(?:\[(?P<display_name>[^\]]+)\])?(?:\s*\([^)]*\))?\s*$"
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def _parse_docstring_param_header(param_part: str) -> Tuple[str, Optional[str]]:
|
||||||
|
"""Parse ``name[display_name]`` or Google-style ``name (type)``."""
|
||||||
|
match = _PARAM_HEADER_RE.match(param_part.strip())
|
||||||
|
if not match:
|
||||||
|
return param_part.strip().split("(")[0].strip(), None
|
||||||
|
|
||||||
|
display_name = match.group("display_name")
|
||||||
|
if display_name is not None:
|
||||||
|
display_name = display_name.strip() or None
|
||||||
|
return match.group("name").strip(), display_name
|
||||||
|
|
||||||
|
|
||||||
def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||||
"""
|
"""
|
||||||
解析 Google-style docstring，提取描述和参数说明。
|
解析 docstring，提取描述和参数说明。
|
||||||
|
|
||||||
|
支持:
|
||||||
|
- Google-style ``Args:`` / ``Parameters:`` 小节
|
||||||
|
- 直接参数行 ``field: desc``
|
||||||
|
- 带显示名参数行 ``field[Display Name]: desc``
|
||||||
|
|
||||||
Returns:
|
Returns:
|
||||||
{"description": "短描述", "params": {"param1": "参数1描述", ...}}
|
{
|
||||||
|
"description": "短描述",
|
||||||
|
"params": {"param1": "参数1描述", ...},
|
||||||
|
"param_display_names": {"param1": "显示名", ...},
|
||||||
|
}
|
||||||
"""
|
"""
|
||||||
result: Dict[str, Any] = {"description": "", "params": {}}
|
result: Dict[str, Any] = {"description": "", "params": {}, "param_display_names": {}}
|
||||||
if not docstring:
|
if not docstring:
|
||||||
return result
|
return result
|
||||||
|
|
||||||
@@ -53,33 +77,53 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
|||||||
if not lines:
|
if not lines:
|
||||||
return result
|
return result
|
||||||
|
|
||||||
result["description"] = lines[0].strip()
|
|
||||||
|
|
||||||
in_args = False
|
in_args = False
|
||||||
|
current_section: Optional[str] = None
|
||||||
current_param: Optional[str] = None
|
current_param: Optional[str] = None
|
||||||
|
current_display_name: Optional[str] = None
|
||||||
current_desc_parts: list = []
|
current_desc_parts: list = []
|
||||||
|
|
||||||
for line in lines[1:]:
|
def flush_current_param() -> None:
|
||||||
|
nonlocal current_param, current_display_name, current_desc_parts
|
||||||
|
if current_param is None:
|
||||||
|
return
|
||||||
|
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||||
|
if current_display_name:
|
||||||
|
result["param_display_names"][current_param] = current_display_name
|
||||||
|
current_param = None
|
||||||
|
current_display_name = None
|
||||||
|
current_desc_parts = []
|
||||||
|
|
||||||
|
first_line = lines[0].strip()
|
||||||
|
start_index = 0
|
||||||
|
if not _SECTION_RE.match(first_line) and ":" not in first_line:
|
||||||
|
result["description"] = first_line
|
||||||
|
start_index = 1
|
||||||
|
|
||||||
|
for line in lines[start_index:]:
|
||||||
stripped = line.strip()
|
stripped = line.strip()
|
||||||
|
if not stripped:
|
||||||
|
if current_param is not None:
|
||||||
|
current_desc_parts.append("")
|
||||||
|
continue
|
||||||
|
|
||||||
section_match = _SECTION_RE.match(stripped)
|
section_match = _SECTION_RE.match(stripped)
|
||||||
if section_match:
|
if section_match:
|
||||||
if current_param is not None:
|
flush_current_param()
|
||||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
current_section = section_match.group(1).lower()
|
||||||
current_param = None
|
in_args = current_section in ("args", "arguments", "parameters", "params")
|
||||||
current_desc_parts = []
|
|
||||||
section_name = section_match.group(1).lower()
|
|
||||||
in_args = section_name in ("args", "arguments", "parameters", "params")
|
|
||||||
continue
|
continue
|
||||||
|
|
||||||
if not in_args:
|
parse_as_param = in_args or current_section is None
|
||||||
|
if not parse_as_param:
|
||||||
continue
|
continue
|
||||||
|
|
||||||
if ":" in stripped and not stripped.startswith(" "):
|
if ":" in stripped:
|
||||||
if current_param is not None:
|
flush_current_param()
|
||||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
|
||||||
param_part, _, desc_part = stripped.partition(":")
|
param_part, _, desc_part = stripped.partition(":")
|
||||||
param_name = param_part.strip().split("(")[0].strip()
|
param_name, display_name = _parse_docstring_param_header(param_part)
|
||||||
current_param = param_name
|
current_param = param_name
|
||||||
|
current_display_name = display_name
|
||||||
current_desc_parts = [desc_part.strip()]
|
current_desc_parts = [desc_part.strip()]
|
||||||
elif current_param is not None:
|
elif current_param is not None:
|
||||||
aline = line
|
aline = line
|
||||||
@@ -89,8 +133,7 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
|||||||
aline = aline[1:]
|
aline = aline[1:]
|
||||||
current_desc_parts.append(aline.strip())
|
current_desc_parts.append(aline.strip())
|
||||||
|
|
||||||
if current_param is not None:
|
flush_current_param()
|
||||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
|
||||||
|
|
||||||
return result
|
return result
|
||||||
|
|
||||||
|
|||||||
@@ -1033,7 +1033,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
|||||||
logger.debug(f"🔍 [PLR→Bioyond] detail转换: {bottle.name} → PLR(x={site['x']},y={site['y']},id={site.get('identifier','?')}) → Bioyond(x={bioyond_x},y={bioyond_y})")
|
logger.debug(f"🔍 [PLR→Bioyond] detail转换: {bottle.name} → PLR(x={site['x']},y={site['y']},id={site.get('identifier','?')}) → Bioyond(x={bioyond_x},y={bioyond_y})")
|
||||||
|
|
||||||
# 🔥 提取物料名称：从 tracker.liquids 中获取第一个液体的名称（去除PLR系统添加的后缀）
|
# 🔥 提取物料名称：从 tracker.liquids 中获取第一个液体的名称（去除PLR系统添加的后缀）
|
||||||
# tracker.liquids 格式: [(物料名称, 数量), ...]
|
# tracker.liquids 格式: [(物料名称, 数量, 单位), ...]
|
||||||
material_name = bottle_type_info[0] # 默认使用类型名称（如"样品瓶"）
|
material_name = bottle_type_info[0] # 默认使用类型名称（如"样品瓶"）
|
||||||
if hasattr(bottle, "tracker") and bottle.tracker.liquids:
|
if hasattr(bottle, "tracker") and bottle.tracker.liquids:
|
||||||
# 如果有液体，使用液体的名称
|
# 如果有液体，使用液体的名称
|
||||||
@@ -1051,7 +1051,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
|||||||
"typeId": bottle_type_info[1],
|
"typeId": bottle_type_info[1],
|
||||||
"code": bottle.code if hasattr(bottle, "code") else "",
|
"code": bottle.code if hasattr(bottle, "code") else "",
|
||||||
"name": material_name, # 使用物料名称（如"9090"），而不是类型名称（"样品瓶"）
|
"name": material_name, # 使用物料名称（如"9090"），而不是类型名称（"样品瓶"）
|
||||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
"quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||||
"x": bioyond_x,
|
"x": bioyond_x,
|
||||||
"y": bioyond_y,
|
"y": bioyond_y,
|
||||||
"z": 1,
|
"z": 1,
|
||||||
@@ -1124,7 +1124,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
|||||||
"barCode": "",
|
"barCode": "",
|
||||||
"name": material_name, # 使用物料名称而不是资源名称
|
"name": material_name, # 使用物料名称而不是资源名称
|
||||||
"unit": default_unit, # 使用配置的单位或默认单位
|
"unit": default_unit, # 使用配置的单位或默认单位
|
||||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
"quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||||
"Parameters": parameters_json # API 实际要求的字段（必需）
|
"Parameters": parameters_json # API 实际要求的字段（必需）
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -4,6 +4,8 @@ import json
|
|||||||
import threading
|
import threading
|
||||||
import time
|
import time
|
||||||
import traceback
|
import traceback
|
||||||
|
|
||||||
|
from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
|
||||||
from typing import (
|
from typing import (
|
||||||
get_type_hints,
|
get_type_hints,
|
||||||
TypeVar,
|
TypeVar,
|
||||||
@@ -78,6 +80,67 @@ if TYPE_CHECKING:
|
|||||||
T = TypeVar("T")
|
T = TypeVar("T")
|
||||||
|
|
||||||
|
|
||||||
|
class RclpyAsyncMutex:
|
||||||
|
"""rclpy executor 兼容的异步互斥锁
|
||||||
|
|
||||||
|
通过 executor.create_task 唤醒等待者，避免 timer 的 InvalidHandle 问题。
|
||||||
|
"""
|
||||||
|
|
||||||
|
def __init__(self, name: str = ""):
|
||||||
|
self._lock = threading.Lock()
|
||||||
|
self._acquired = False
|
||||||
|
self._queue: List[Future] = []
|
||||||
|
self._name = name
|
||||||
|
self._holder: Optional[str] = None
|
||||||
|
|
||||||
|
async def acquire(self, node: "BaseROS2DeviceNode", tag: str = ""):
|
||||||
|
"""获取锁。如果已被占用，则异步等待直到锁释放。"""
|
||||||
|
# t0 = time.time()
|
||||||
|
with self._lock:
|
||||||
|
# qlen = len(self._queue)
|
||||||
|
if not self._acquired:
|
||||||
|
self._acquired = True
|
||||||
|
self._holder = tag
|
||||||
|
# node.lab_logger().debug(
|
||||||
|
# f"[Mutex:{self._name}] 获取锁 tag={tag} (无等待, queue=0)"
|
||||||
|
# )
|
||||||
|
return
|
||||||
|
waiter = Future()
|
||||||
|
self._queue.append(waiter)
|
||||||
|
# node.lab_logger().info(
|
||||||
|
# f"[Mutex:{self._name}] 等待锁 tag={tag} "
|
||||||
|
# f"(holder={self._holder}, queue={qlen + 1})"
|
||||||
|
# )
|
||||||
|
await waiter
|
||||||
|
# wait_ms = (time.time() - t0) * 1000
|
||||||
|
self._holder = tag
|
||||||
|
# node.lab_logger().info(
|
||||||
|
# f"[Mutex:{self._name}] 获取锁 tag={tag} (等了 {wait_ms:.0f}ms)"
|
||||||
|
# )
|
||||||
|
|
||||||
|
def release(self, node: "BaseROS2DeviceNode"):
|
||||||
|
"""释放锁，通过 executor task 唤醒下一个等待者。"""
|
||||||
|
with self._lock:
|
||||||
|
# old_holder = self._holder
|
||||||
|
if self._queue:
|
||||||
|
next_waiter = self._queue.pop(0)
|
||||||
|
# node.lab_logger().debug(
|
||||||
|
# f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 唤醒下一个 (剩余 queue={len(self._queue)})"
|
||||||
|
# )
|
||||||
|
|
||||||
|
async def _wake():
|
||||||
|
if not next_waiter.done():
|
||||||
|
next_waiter.set_result(None)
|
||||||
|
|
||||||
|
rclpy.get_global_executor().create_task(_wake())
|
||||||
|
else:
|
||||||
|
self._acquired = False
|
||||||
|
self._holder = None
|
||||||
|
# node.lab_logger().debug(
|
||||||
|
# f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 空闲"
|
||||||
|
# )
|
||||||
|
|
||||||
|
|
||||||
# 在线设备注册表
|
# 在线设备注册表
|
||||||
registered_devices: Dict[str, "DeviceInfoType"] = {}
|
registered_devices: Dict[str, "DeviceInfoType"] = {}
|
||||||
|
|
||||||
@@ -355,6 +418,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
|
max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
|
||||||
)
|
)
|
||||||
|
|
||||||
|
self._append_resource_lock = RclpyAsyncMutex(name=f"AR:{device_id}")
|
||||||
|
|
||||||
# 创建资源管理客户端
|
# 创建资源管理客户端
|
||||||
self._resource_clients: Dict[str, Client] = {
|
self._resource_clients: Dict[str, Client] = {
|
||||||
"resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
|
"resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
|
||||||
@@ -378,15 +443,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
return res
|
return res
|
||||||
|
|
||||||
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
|
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
|
||||||
|
_cmd = _fast_loads(req.command)
|
||||||
|
_res_name = _cmd.get("resource", [{}])
|
||||||
|
_res_name = (_res_name[0].get("id", "?") if isinstance(_res_name, list) and _res_name
|
||||||
|
else _res_name.get("id", "?") if isinstance(_res_name, dict) else "?")
|
||||||
|
_ar_tag = f"{_res_name}"
|
||||||
|
# _t_enter = time.time()
|
||||||
|
# self.lab_logger().info(f"[AR:{_ar_tag}] 进入 append_resource")
|
||||||
|
await self._append_resource_lock.acquire(self, tag=_ar_tag)
|
||||||
|
# _t_locked = time.time()
|
||||||
|
try:
|
||||||
|
return await _append_resource_inner(req, res, _ar_tag)
|
||||||
|
# _t_done = time.time()
|
||||||
|
# self.lab_logger().info(
|
||||||
|
# f"[AR:{_ar_tag}] 完成 "
|
||||||
|
# f"等锁={(_t_locked - _t_enter) * 1000:.0f}ms "
|
||||||
|
# f"执行={(_t_done - _t_locked) * 1000:.0f}ms "
|
||||||
|
# f"总计={(_t_done - _t_enter) * 1000:.0f}ms"
|
||||||
|
# )
|
||||||
|
except Exception as _ex:
|
||||||
|
self.lab_logger().error(f"[AR:{_ar_tag}] 异常: {_ex}")
|
||||||
|
raise
|
||||||
|
finally:
|
||||||
|
self._append_resource_lock.release(self)
|
||||||
|
|
||||||
|
async def _append_resource_inner(req: SerialCommand_Request, res: SerialCommand_Response, _ar_tag: str = ""):
|
||||||
from pylabrobot.resources.deck import Deck
|
from pylabrobot.resources.deck import Deck
|
||||||
from pylabrobot.resources import Coordinate
|
from pylabrobot.resources import Coordinate
|
||||||
from pylabrobot.resources import Plate
|
from pylabrobot.resources import Plate
|
||||||
|
|
||||||
# 物料传输到对应的node节点
|
# _t0 = time.time()
|
||||||
client = self._resource_clients["c2s_update_resource_tree"]
|
client = self._resource_clients["c2s_update_resource_tree"]
|
||||||
request = SerialCommand.Request()
|
request = SerialCommand.Request()
|
||||||
request2 = SerialCommand.Request()
|
request2 = SerialCommand.Request()
|
||||||
command_json = json.loads(req.command)
|
command_json = _fast_loads(req.command)
|
||||||
namespace = command_json["namespace"]
|
namespace = command_json["namespace"]
|
||||||
bind_parent_id = command_json["bind_parent_id"]
|
bind_parent_id = command_json["bind_parent_id"]
|
||||||
edge_device_id = command_json["edge_device_id"]
|
edge_device_id = command_json["edge_device_id"]
|
||||||
@@ -439,7 +529,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
|
f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
|
||||||
)
|
)
|
||||||
# noinspection PyUnresolvedReferences
|
# noinspection PyUnresolvedReferences
|
||||||
request.command = json.dumps(
|
# _t1 = time.time()
|
||||||
|
# self.lab_logger().debug(
|
||||||
|
# f"[AR:{_ar_tag}] 准备完成 PLR转换+序列化 {((_t1 - _t0) * 1000):.0f}ms, 发送首次上传..."
|
||||||
|
# )
|
||||||
|
request.command = _fast_dumps_str(
|
||||||
{
|
{
|
||||||
"action": "add",
|
"action": "add",
|
||||||
"data": {
|
"data": {
|
||||||
@@ -450,7 +544,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
}
|
}
|
||||||
)
|
)
|
||||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||||
uuid_maps = json.loads(tree_response.response)
|
# _t2 = time.time()
|
||||||
|
# self.lab_logger().debug(
|
||||||
|
# f"[AR:{_ar_tag}] 首次上传完成 {((_t2 - _t1) * 1000):.0f}ms"
|
||||||
|
# )
|
||||||
|
uuid_maps = _fast_loads(tree_response.response)
|
||||||
plr_instances = rts.to_plr_resources()
|
plr_instances = rts.to_plr_resources()
|
||||||
for plr_instance in plr_instances:
|
for plr_instance in plr_instances:
|
||||||
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
|
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
|
||||||
@@ -508,7 +606,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
for input_well, liquid_type, liquid_volume, liquid_input_slot in zip(
|
for input_well, liquid_type, liquid_volume, liquid_input_slot in zip(
|
||||||
input_wells, ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
|
input_wells, ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
|
||||||
):
|
):
|
||||||
input_well.set_liquids([(liquid_type, liquid_volume, "uL")])
|
input_well.set_liquids([(liquid_type, liquid_volume, "ul")])
|
||||||
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
|
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
|
||||||
input_wells
|
input_wells
|
||||||
).dump()
|
).dump()
|
||||||
@@ -527,12 +625,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
Coordinate(location["x"], location["y"], location["z"]),
|
Coordinate(location["x"], location["y"], location["z"]),
|
||||||
**other_calling_param,
|
**other_calling_param,
|
||||||
)
|
)
|
||||||
# 调整了液体以及Deck之后要重新Assign
|
|
||||||
# noinspection PyUnresolvedReferences
|
# noinspection PyUnresolvedReferences
|
||||||
|
# _t3 = time.time()
|
||||||
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
|
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
|
||||||
|
# _n_parent = len(rts_with_parent.all_nodes)
|
||||||
if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
|
if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
|
||||||
rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
|
rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
|
||||||
request.command = json.dumps(
|
request.command = _fast_dumps_str(
|
||||||
{
|
{
|
||||||
"action": "add",
|
"action": "add",
|
||||||
"data": {
|
"data": {
|
||||||
@@ -542,11 +641,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
},
|
},
|
||||||
}
|
}
|
||||||
)
|
)
|
||||||
|
# _t4 = time.time()
|
||||||
|
# self.lab_logger().debug(
|
||||||
|
# f"[AR:{_ar_tag}] 二次上传序列化 {_n_parent}节点 {((_t4 - _t3) * 1000):.0f}ms, 发送中..."
|
||||||
|
# )
|
||||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||||
uuid_maps = json.loads(tree_response.response)
|
# _t5 = time.time()
|
||||||
|
uuid_maps = _fast_loads(tree_response.response)
|
||||||
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||||
self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
|
# self._lab_logger.info(
|
||||||
# 这里created_resources不包含parent_resource
|
# f"[AR:{_ar_tag}] 二次上传完成 HTTP={(_t5 - _t4) * 1000:.0f}ms "
|
||||||
|
# f"UUID映射={len(uuid_maps)}节点 总执行={(_t5 - _t0) * 1000:.0f}ms"
|
||||||
|
# )
|
||||||
# 发送给ResourceMeshManager
|
# 发送给ResourceMeshManager
|
||||||
action_client = ActionClient(
|
action_client = ActionClient(
|
||||||
self,
|
self,
|
||||||
@@ -683,7 +789,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
)
|
)
|
||||||
# 发送请求并等待响应
|
# 发送请求并等待响应
|
||||||
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
|
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
|
||||||
|
if not response.response:
|
||||||
|
raise ValueError(f"查询资源 {resource_id} 失败：服务端返回空响应")
|
||||||
raw_data = json.loads(response.response)
|
raw_data = json.loads(response.response)
|
||||||
|
if not raw_data:
|
||||||
|
raise ValueError(f"查询资源 {resource_id} 失败：返回数据为空")
|
||||||
|
|
||||||
# 转换为 PLR 资源
|
# 转换为 PLR 资源
|
||||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||||
@@ -1132,7 +1242,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
if uid is None:
|
if uid is None:
|
||||||
raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
|
raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
|
||||||
target_uids.append(uid)
|
target_uids.append(uid)
|
||||||
srv_address = f"/srv{target_device_id}/s2c_resource_tree"
|
_ns = target_device_id if target_device_id.startswith("/devices/") else f"/devices/{target_device_id.lstrip('/')}"
|
||||||
|
srv_address = f"/srv{_ns}/s2c_resource_tree"
|
||||||
sclient = self.create_client(SerialCommand, srv_address)
|
sclient = self.create_client(SerialCommand, srv_address)
|
||||||
# 等待服务可用（设置超时）
|
# 等待服务可用（设置超时）
|
||||||
if not sclient.wait_for_service(timeout_sec=5.0):
|
if not sclient.wait_for_service(timeout_sec=5.0):
|
||||||
@@ -1182,7 +1293,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
return False
|
return False
|
||||||
time.sleep(0.05)
|
time.sleep(0.05)
|
||||||
self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
|
self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
|
||||||
return None
|
return "转运完成"
|
||||||
|
|
||||||
def register_device(self):
|
def register_device(self):
|
||||||
"""向注册表中注册设备信息"""
|
"""向注册表中注册设备信息"""
|
||||||
@@ -1567,17 +1678,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
|
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
|
||||||
result_msg_types = action_type.Result.get_fields_and_field_types()
|
result_msg_types = action_type.Result.get_fields_and_field_types()
|
||||||
|
|
||||||
while future is not None and not future.done():
|
# 低频 feedback timer（10s），不阻塞完成检测
|
||||||
if goal_handle.is_cancel_requested:
|
_feedback_timer = None
|
||||||
self.lab_logger().info(f"取消动作: {action_name}")
|
|
||||||
future.cancel() # 尝试取消线程池中的任务
|
|
||||||
goal_handle.canceled()
|
|
||||||
return action_type.Result()
|
|
||||||
|
|
||||||
|
def _publish_feedback():
|
||||||
|
if future is not None and not future.done():
|
||||||
self._time_spent = time.time() - time_start
|
self._time_spent = time.time() - time_start
|
||||||
self._time_remaining = time_overall - self._time_spent
|
self._time_remaining = time_overall - self._time_spent
|
||||||
|
|
||||||
# 发布反馈
|
|
||||||
feedback_values = {}
|
feedback_values = {}
|
||||||
for msg_name, attr_name in action_value_mapping["feedback"].items():
|
for msg_name, attr_name in action_value_mapping["feedback"].items():
|
||||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||||
@@ -1586,18 +1693,60 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
feedback_values[msg_name] = method()
|
feedback_values[msg_name] = method()
|
||||||
elif hasattr(self.driver_instance, attr_name):
|
elif hasattr(self.driver_instance, attr_name):
|
||||||
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
|
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||||||
|
|
||||||
if self._print_publish:
|
if self._print_publish:
|
||||||
self.lab_logger().info(f"反馈: {feedback_values}")
|
self.lab_logger().info(f"反馈: {feedback_values}")
|
||||||
|
|
||||||
feedback_msg = convert_to_ros_msg_with_mapping(
|
feedback_msg = convert_to_ros_msg_with_mapping(
|
||||||
ros_msg_type=action_type.Feedback(),
|
ros_msg_type=action_type.Feedback(),
|
||||||
obj=feedback_values,
|
obj=feedback_values,
|
||||||
value_mapping=action_value_mapping["feedback"],
|
value_mapping=action_value_mapping["feedback"],
|
||||||
)
|
)
|
||||||
|
|
||||||
goal_handle.publish_feedback(feedback_msg)
|
goal_handle.publish_feedback(feedback_msg)
|
||||||
time.sleep(0.5)
|
|
||||||
|
if action_value_mapping.get("feedback"):
|
||||||
|
_fb_interval = action_value_mapping.get("feedback_interval", 0.5)
|
||||||
|
_feedback_timer = self.create_timer(
|
||||||
|
_fb_interval, _publish_feedback, callback_group=self.callback_group
|
||||||
|
)
|
||||||
|
|
||||||
|
# 等待 action 完成
|
||||||
|
if future is not None:
|
||||||
|
if isinstance(future, Task):
|
||||||
|
# rclpy Task：直接 await，完成瞬间唤醒
|
||||||
|
try:
|
||||||
|
_raw_result = await future
|
||||||
|
except Exception as e:
|
||||||
|
_raw_result = e
|
||||||
|
else:
|
||||||
|
# concurrent.futures.Future（同步 action）：用 rclpy 兼容的轮询
|
||||||
|
_poll_future = Future()
|
||||||
|
|
||||||
|
def _on_sync_done(fut):
|
||||||
|
if not _poll_future.done():
|
||||||
|
_poll_future.set_result(None)
|
||||||
|
|
||||||
|
future.add_done_callback(_on_sync_done)
|
||||||
|
await _poll_future
|
||||||
|
try:
|
||||||
|
_raw_result = future.result()
|
||||||
|
except Exception as e:
|
||||||
|
_raw_result = e
|
||||||
|
|
||||||
|
# 确保 execution_error/success 被正确设置（不依赖 done callback 时序）
|
||||||
|
if isinstance(_raw_result, BaseException):
|
||||||
|
if not execution_error:
|
||||||
|
execution_error = traceback.format_exception(
|
||||||
|
type(_raw_result), _raw_result, _raw_result.__traceback__
|
||||||
|
)
|
||||||
|
execution_error = "".join(execution_error)
|
||||||
|
execution_success = False
|
||||||
|
action_return_value = _raw_result
|
||||||
|
elif not execution_error:
|
||||||
|
execution_success = True
|
||||||
|
action_return_value = _raw_result
|
||||||
|
|
||||||
|
# 清理 feedback timer
|
||||||
|
if _feedback_timer is not None:
|
||||||
|
_feedback_timer.cancel()
|
||||||
|
|
||||||
if future is not None and future.cancelled():
|
if future is not None and future.cancelled():
|
||||||
self.lab_logger().info(f"动作 {action_name} 已取消")
|
self.lab_logger().info(f"动作 {action_name} 已取消")
|
||||||
@@ -1606,8 +1755,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
# self.lab_logger().info(f"动作执行完成: {action_name}")
|
# self.lab_logger().info(f"动作执行完成: {action_name}")
|
||||||
del future
|
del future
|
||||||
|
|
||||||
|
# 执行失败时跳过物料状态更新
|
||||||
|
if execution_error:
|
||||||
|
execution_success = False
|
||||||
|
|
||||||
# 向Host更新物料当前状态
|
# 向Host更新物料当前状态
|
||||||
if action_name not in ["create_resource_detailed", "create_resource"]:
|
if not execution_error and action_name not in ["create_resource_detailed", "create_resource"]:
|
||||||
for k, v in goal.get_fields_and_field_types().items():
|
for k, v in goal.get_fields_and_field_types().items():
|
||||||
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||||
continue
|
continue
|
||||||
@@ -1663,7 +1816,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
|
|
||||||
for attr_name in result_msg_types.keys():
|
for attr_name in result_msg_types.keys():
|
||||||
if attr_name in ["success", "reached_goal"]:
|
if attr_name in ["success", "reached_goal"]:
|
||||||
setattr(result_msg, attr_name, True)
|
setattr(result_msg, attr_name, execution_success)
|
||||||
elif attr_name == "return_info":
|
elif attr_name == "return_info":
|
||||||
setattr(
|
setattr(
|
||||||
result_msg,
|
result_msg,
|
||||||
@@ -1769,7 +1922,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
raise ValueError("至少需要提供一个 UUID")
|
raise ValueError("至少需要提供一个 UUID")
|
||||||
|
|
||||||
uuids_list = list(uuids)
|
uuids_list = list(uuids)
|
||||||
future = self._resource_clients["c2s_update_resource_tree"].call_async(
|
future: Future = self._resource_clients["c2s_update_resource_tree"].call_async(
|
||||||
SerialCommand.Request(
|
SerialCommand.Request(
|
||||||
command=json.dumps(
|
command=json.dumps(
|
||||||
{
|
{
|
||||||
@@ -1795,6 +1948,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
raise Exception(f"资源查询返回空结果: {uuids_list}")
|
raise Exception(f"资源查询返回空结果: {uuids_list}")
|
||||||
|
|
||||||
raw_data = json.loads(response.response)
|
raw_data = json.loads(response.response)
|
||||||
|
if not raw_data:
|
||||||
|
raise Exception(f"资源原始查询返回空结果: {raw_data}")
|
||||||
|
|
||||||
# 转换为 PLR 资源
|
# 转换为 PLR 资源
|
||||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||||
@@ -1816,10 +1971,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
|
|
||||||
mapped_plr_resources = []
|
mapped_plr_resources = []
|
||||||
for uuid in uuids_list:
|
for uuid in uuids_list:
|
||||||
|
found = None
|
||||||
for plr_resource in figured_resources:
|
for plr_resource in figured_resources:
|
||||||
r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
|
r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
|
||||||
mapped_plr_resources.append(r)
|
if r is not None:
|
||||||
|
found = r
|
||||||
break
|
break
|
||||||
|
if found is None:
|
||||||
|
raise Exception(f"未能在已解析的资源树中找到 uuid={uuid} 对应的资源")
|
||||||
|
mapped_plr_resources.append(found)
|
||||||
|
|
||||||
return mapped_plr_resources
|
return mapped_plr_resources
|
||||||
|
|
||||||
@@ -1912,16 +2072,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
||||||
)
|
)
|
||||||
|
|
||||||
async def _convert_resource_async(self, resource_data: Dict[str, Any]):
|
async def _convert_resource_async(self, resource_data: "ResourceDictType"):
|
||||||
"""异步转换资源数据为实例"""
|
"""异步转换 ResourceDictType 为 PLR 实例，优先用 uuid 查询"""
|
||||||
# 使用封装的get_resource_with_dir方法获取PLR资源
|
unilabos_uuid = resource_data.get("uuid")
|
||||||
plr_resource = await self.get_resource_with_dir(resource_ids=resource_data["id"], with_children=True)
|
|
||||||
|
if unilabos_uuid:
|
||||||
|
resource_tree = await self.get_resource([unilabos_uuid], with_children=True)
|
||||||
|
plr_resources = resource_tree.to_plr_resources()
|
||||||
|
if plr_resources:
|
||||||
|
plr_resource = plr_resources[0]
|
||||||
|
else:
|
||||||
|
raise ValueError(f"通过 uuid={unilabos_uuid} 查询资源为空")
|
||||||
|
else:
|
||||||
|
res_id = resource_data.get("id") or resource_data.get("name", "")
|
||||||
|
if not res_id:
|
||||||
|
raise ValueError(f"资源数据缺少 uuid 和 id: {list(resource_data.keys())}")
|
||||||
|
plr_resource = await self.get_resource_with_dir(resource_id=res_id, with_children=True)
|
||||||
|
|
||||||
# 通过资源跟踪器获取本地实例
|
# 通过资源跟踪器获取本地实例
|
||||||
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
|
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
|
||||||
if len(res) == 0:
|
if len(res) == 0:
|
||||||
# todo: 后续通过decoration来区分，减少warning
|
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data.get('id', '?')}，返回新建实例")
|
||||||
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
|
|
||||||
return plr_resource
|
return plr_resource
|
||||||
elif len(res) == 1:
|
elif len(res) == 1:
|
||||||
return res[0]
|
return res[0]
|
||||||
|
|||||||
@@ -4,6 +4,8 @@ import threading
|
|||||||
import time
|
import time
|
||||||
import traceback
|
import traceback
|
||||||
import uuid
|
import uuid
|
||||||
|
|
||||||
|
from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
|
||||||
from dataclasses import dataclass, field
|
from dataclasses import dataclass, field
|
||||||
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
|
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
|
||||||
|
|
||||||
@@ -618,22 +620,17 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
}
|
}
|
||||||
)
|
)
|
||||||
]
|
]
|
||||||
|
|
||||||
response: List[str] = await self.create_resource_detailed(
|
response: List[str] = await self.create_resource_detailed(
|
||||||
resources, device_ids, bind_parent_id, bind_location, other_calling_param
|
resources, device_ids, bind_parent_id, bind_location, other_calling_param
|
||||||
)
|
)
|
||||||
|
|
||||||
try:
|
|
||||||
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
||||||
for i in response:
|
for i in response:
|
||||||
res = json.loads(i)
|
res = json.loads(i)
|
||||||
if "suc" in res:
|
if "suc" in res and not res["suc"]:
|
||||||
raise ValueError(res.get("error"))
|
raise ValueError(res.get("error", "未知错误"))
|
||||||
return res
|
return res
|
||||||
except Exception as ex:
|
raise ValueError(f"创建资源时失败！响应为空")
|
||||||
pass
|
|
||||||
_n = "\n"
|
|
||||||
raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
|
|
||||||
|
|
||||||
def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
|
def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
|
||||||
"""
|
"""
|
||||||
@@ -1168,7 +1165,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
else:
|
else:
|
||||||
physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
|
physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
|
||||||
|
|
||||||
response.response = json.dumps(uuid_mapping) if success else "FAILED"
|
response.response = _fast_dumps_str(uuid_mapping) if success else "FAILED"
|
||||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
|
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
|
||||||
|
|
||||||
async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
|
async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
|
||||||
@@ -1178,6 +1175,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
|
|
||||||
resource_response = http_client.resource_tree_get(uuid_list, with_children)
|
resource_response = http_client.resource_tree_get(uuid_list, with_children)
|
||||||
response.response = json.dumps(resource_response)
|
response.response = json.dumps(resource_response)
|
||||||
|
self.lab_logger().trace(f"[Host Node-Resource] Resource tree get request callback {response.response}")
|
||||||
|
|
||||||
async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
|
async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
|
||||||
"""
|
"""
|
||||||
@@ -1230,9 +1228,26 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
"""
|
"""
|
||||||
try:
|
try:
|
||||||
# 解析请求数据
|
# 解析请求数据
|
||||||
data = json.loads(request.command)
|
data = _fast_loads(request.command)
|
||||||
action = data["action"]
|
action = data["action"]
|
||||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
|
inner = data.get("data", {})
|
||||||
|
if action == "add":
|
||||||
|
mount_uuid = inner.get("mount_uuid", "?")[:8] if isinstance(inner, dict) else "?"
|
||||||
|
tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
|
||||||
|
node_count = len(tree_data) if isinstance(tree_data, list) else "?"
|
||||||
|
source = f"mount={mount_uuid}.. nodes≈{node_count}"
|
||||||
|
elif action in ("get", "remove"):
|
||||||
|
uid_list = inner.get("data", inner) if isinstance(inner, dict) else inner
|
||||||
|
source = f"uuids={len(uid_list) if isinstance(uid_list, list) else '?'}"
|
||||||
|
elif action == "update":
|
||||||
|
tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
|
||||||
|
node_count = len(tree_data) if isinstance(tree_data, list) else "?"
|
||||||
|
source = f"nodes≈{node_count}"
|
||||||
|
else:
|
||||||
|
source = ""
|
||||||
|
self.lab_logger().info(
|
||||||
|
f"[Host Node-Resource] Resource tree {action} request received ({source})"
|
||||||
|
)
|
||||||
data = data["data"]
|
data = data["data"]
|
||||||
if action == "add":
|
if action == "add":
|
||||||
await self._resource_tree_action_add_callback(data, response)
|
await self._resource_tree_action_add_callback(data, response)
|
||||||
|
|||||||
@@ -22,6 +22,447 @@
|
|||||||
"arm_state": "idle",
|
"arm_state": "idle",
|
||||||
"message": "工作台就绪"
|
"message": "工作台就绪"
|
||||||
}
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"id": "PRCXI",
|
||||||
|
"name": "PRCXI",
|
||||||
|
"type": "device",
|
||||||
|
"class": "liquid_handler.prcxi",
|
||||||
|
"parent": "",
|
||||||
|
"pose": {
|
||||||
|
"size": {
|
||||||
|
"width": 562,
|
||||||
|
"height": 394,
|
||||||
|
"depth": 0
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"axis": "Left",
|
||||||
|
"deck": {
|
||||||
|
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
||||||
|
"_resource_child_name": "PRCXI_Deck"
|
||||||
|
},
|
||||||
|
"host": "10.20.30.184",
|
||||||
|
"port": 9999,
|
||||||
|
"debug": true,
|
||||||
|
"setup": true,
|
||||||
|
"is_9320": true,
|
||||||
|
"timeout": 10,
|
||||||
|
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||||
|
"simulator": true,
|
||||||
|
"channel_num": 2
|
||||||
|
},
|
||||||
|
"data": {
|
||||||
|
"reset_ok": true
|
||||||
|
},
|
||||||
|
"schema": {},
|
||||||
|
"description": "",
|
||||||
|
"model": null,
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 240,
|
||||||
|
"z": 0
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"id": "PRCXI_Deck",
|
||||||
|
"name": "PRCXI_Deck",
|
||||||
|
"children": [],
|
||||||
|
"parent": "PRCXI",
|
||||||
|
"type": "deck",
|
||||||
|
"class": "",
|
||||||
|
"position": {
|
||||||
|
"x": 10,
|
||||||
|
"y": 10,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"config": {
|
||||||
|
"type": "PRCXI9300Deck",
|
||||||
|
"size_x": 542,
|
||||||
|
"size_y": 374,
|
||||||
|
"size_z": 0,
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0,
|
||||||
|
"type": "Rotation"
|
||||||
|
},
|
||||||
|
"category": "deck",
|
||||||
|
"barcode": null,
|
||||||
|
"preferred_pickup_location": null,
|
||||||
|
"sites": [
|
||||||
|
{
|
||||||
|
"label": "T1",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"container",
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T2",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 138,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T3",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 276,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T4",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 414,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T5",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 96,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T6",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 138,
|
||||||
|
"y": 96,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T7",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 276,
|
||||||
|
"y": 96,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T8",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 414,
|
||||||
|
"y": 96,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T9",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 192,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T10",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 138,
|
||||||
|
"y": 192,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T11",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 276,
|
||||||
|
"y": 192,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T12",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 414,
|
||||||
|
"y": 192,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T13",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 288,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T14",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 138,
|
||||||
|
"y": 288,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T15",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 276,
|
||||||
|
"y": 288,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "T16",
|
||||||
|
"visible": true,
|
||||||
|
"occupied_by": null,
|
||||||
|
"position": {
|
||||||
|
"x": 414,
|
||||||
|
"y": 288,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"size": {
|
||||||
|
"width": 128.0,
|
||||||
|
"height": 86,
|
||||||
|
"depth": 0
|
||||||
|
},
|
||||||
|
"content_type": [
|
||||||
|
"plate",
|
||||||
|
"tip_rack",
|
||||||
|
"plates",
|
||||||
|
"tip_racks",
|
||||||
|
"tube_rack",
|
||||||
|
"adaptor"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
},
|
||||||
|
"data": {}
|
||||||
}
|
}
|
||||||
],
|
],
|
||||||
"links": []
|
"links": []
|
||||||
|
|||||||
@@ -33,10 +33,83 @@ _USE_UV: Optional[bool] = None
|
|||||||
def _has_uv() -> bool:
|
def _has_uv() -> bool:
|
||||||
global _USE_UV
|
global _USE_UV
|
||||||
if _USE_UV is None:
|
if _USE_UV is None:
|
||||||
_USE_UV = shutil.which("uv") is not None
|
uv_path = shutil.which("uv")
|
||||||
|
if not uv_path:
|
||||||
|
_USE_UV = False
|
||||||
|
else:
|
||||||
|
try:
|
||||||
|
result = subprocess.run([uv_path, "--version"], capture_output=True, text=True, timeout=10)
|
||||||
|
_USE_UV = result.returncode == 0
|
||||||
|
except Exception:
|
||||||
|
_USE_UV = False
|
||||||
return _USE_UV
|
return _USE_UV
|
||||||
|
|
||||||
|
|
||||||
|
def _install_command(installer: str, package: str, upgrade: bool, is_chinese: bool) -> List[str]:
|
||||||
|
if installer == "uv":
|
||||||
|
# uv >= 0.5 默认要求虚拟环境，对 conda env 会报 "No virtual environment found"。
|
||||||
|
# 显式 --python sys.executable 让 uv 把当前解释器（conda/venv/system 都行）
|
||||||
|
# 视为目标环境，绕开 venv 检测。
|
||||||
|
cmd = ["uv", "pip", "install", "--python", sys.executable]
|
||||||
|
if upgrade:
|
||||||
|
cmd.append("--upgrade")
|
||||||
|
cmd.append(package)
|
||||||
|
if is_chinese:
|
||||||
|
cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
|
||||||
|
return cmd
|
||||||
|
|
||||||
|
cmd = [sys.executable, "-m", "pip", "install", "--disable-pip-version-check"]
|
||||||
|
if upgrade:
|
||||||
|
cmd.append("--upgrade")
|
||||||
|
cmd.append(package)
|
||||||
|
if is_chinese:
|
||||||
|
cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
|
||||||
|
return cmd
|
||||||
|
|
||||||
|
|
||||||
|
def _installer_candidates() -> List[str]:
|
||||||
|
installers: List[str] = []
|
||||||
|
if _has_uv():
|
||||||
|
installers.append("uv")
|
||||||
|
installers.append("pip")
|
||||||
|
return installers
|
||||||
|
|
||||||
|
|
||||||
|
def _git_url_from_requirement(requirement: str) -> Optional[str]:
|
||||||
|
if not requirement.startswith("git+"):
|
||||||
|
return None
|
||||||
|
return requirement[4:].split("#", 1)[0]
|
||||||
|
|
||||||
|
|
||||||
|
def _repo_dir_name(git_url: str) -> str:
|
||||||
|
repo_name = git_url.rstrip("/").rsplit("/", 1)[-1]
|
||||||
|
return repo_name[:-4] if repo_name.endswith(".git") else repo_name
|
||||||
|
|
||||||
|
|
||||||
|
def _print_manual_git_install_hint(requirement: str) -> None:
|
||||||
|
git_url = _git_url_from_requirement(requirement)
|
||||||
|
if not git_url:
|
||||||
|
return
|
||||||
|
|
||||||
|
repo_dir = _repo_dir_name(git_url)
|
||||||
|
install_cmd = (
|
||||||
|
f'uv pip install --python "{sys.executable}" -e .'
|
||||||
|
if _has_uv()
|
||||||
|
else f"{sys.executable} -m pip install -e ."
|
||||||
|
)
|
||||||
|
if _is_chinese_locale() and not _has_uv():
|
||||||
|
install_cmd += " -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||||
|
|
||||||
|
print_status("Git 依赖自动安装失败，通常是网络连接被重置或代码托管站点暂时不可达。", "warning")
|
||||||
|
print_status("可以手动拉取代码后在本地安装:", "warning")
|
||||||
|
print_status(f" git clone {git_url}", "warning")
|
||||||
|
print_status(f" cd {repo_dir}", "warning")
|
||||||
|
print_status(" git pull", "warning")
|
||||||
|
print_status(f" {install_cmd}", "warning")
|
||||||
|
print_status(f"如果目录 {repo_dir} 已存在，直接进入该目录执行 git pull 后再安装。", "warning")
|
||||||
|
print_status("如果 git clone 仍失败，请切换网络/代理，或从浏览器下载源码后进入源码目录执行本地安装命令。", "warning")
|
||||||
|
|
||||||
|
|
||||||
def _install_packages(
|
def _install_packages(
|
||||||
packages: List[str],
|
packages: List[str],
|
||||||
upgrade: bool = False,
|
upgrade: bool = False,
|
||||||
@@ -53,7 +126,7 @@ def _install_packages(
|
|||||||
return True
|
return True
|
||||||
|
|
||||||
is_chinese = _is_chinese_locale()
|
is_chinese = _is_chinese_locale()
|
||||||
use_uv = _has_uv()
|
installers = _installer_candidates()
|
||||||
failed: List[str] = []
|
failed: List[str] = []
|
||||||
|
|
||||||
for pkg in packages:
|
for pkg in packages:
|
||||||
@@ -63,35 +136,30 @@ def _install_packages(
|
|||||||
else:
|
else:
|
||||||
print_status(f"正在{action_word} {pkg}...", "info")
|
print_status(f"正在{action_word} {pkg}...", "info")
|
||||||
|
|
||||||
if use_uv:
|
pkg_installed = False
|
||||||
cmd = ["uv", "pip", "install"]
|
last_error = "unknown error"
|
||||||
if upgrade:
|
|
||||||
cmd.append("--upgrade")
|
|
||||||
cmd.append(pkg)
|
|
||||||
if is_chinese:
|
|
||||||
cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
|
|
||||||
else:
|
|
||||||
cmd = [sys.executable, "-m", "pip", "install"]
|
|
||||||
if upgrade:
|
|
||||||
cmd.append("--upgrade")
|
|
||||||
cmd.append(pkg)
|
|
||||||
if is_chinese:
|
|
||||||
cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
|
|
||||||
|
|
||||||
|
for installer in installers:
|
||||||
|
cmd = _install_command(installer, pkg, upgrade, is_chinese)
|
||||||
try:
|
try:
|
||||||
result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
|
result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
|
||||||
if result.returncode == 0:
|
if result.returncode == 0:
|
||||||
installer = "uv" if use_uv else "pip"
|
|
||||||
print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
|
print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
|
||||||
else:
|
pkg_installed = True
|
||||||
stderr_short = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
|
break
|
||||||
print_status(f"× {pkg} {action_word}失败: {stderr_short}", "error")
|
|
||||||
failed.append(pkg)
|
last_error = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
|
||||||
|
print_status(f"× {pkg} {action_word}失败 (via {installer}): {last_error}", "warning")
|
||||||
except subprocess.TimeoutExpired:
|
except subprocess.TimeoutExpired:
|
||||||
print_status(f"× {pkg} {action_word}超时 (300s)", "error")
|
last_error = "timeout after 300s"
|
||||||
failed.append(pkg)
|
print_status(f"× {pkg} {action_word}超时 (via {installer}, 300s)", "warning")
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
print_status(f"× {pkg} {action_word}异常: {e}", "error")
|
last_error = str(e)
|
||||||
|
print_status(f"× {pkg} {action_word}异常 (via {installer}): {e}", "warning")
|
||||||
|
|
||||||
|
if not pkg_installed:
|
||||||
|
print_status(f"× {pkg} {action_word}失败: {last_error}", "error")
|
||||||
|
_print_manual_git_install_hint(pkg)
|
||||||
failed.append(pkg)
|
failed.append(pkg)
|
||||||
|
|
||||||
if failed:
|
if failed:
|
||||||
@@ -188,7 +256,13 @@ class EnvironmentChecker:
|
|||||||
"crcmod": "crcmod-plus",
|
"crcmod": "crcmod-plus",
|
||||||
}
|
}
|
||||||
|
|
||||||
self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
|
# 中文 locale 下走 Gitee 镜像，规避 GitHub 拉取失败
|
||||||
|
pylabrobot_url = (
|
||||||
|
"git+https://gitee.com/xuwznln/pylabrobot.git"
|
||||||
|
if _is_chinese_locale()
|
||||||
|
else "git+https://github.com/Xuwznln/pylabrobot.git"
|
||||||
|
)
|
||||||
|
self.special_packages = {"pylabrobot": pylabrobot_url}
|
||||||
|
|
||||||
self.version_requirements = {
|
self.version_requirements = {
|
||||||
"msgcenterpy": "0.1.8",
|
"msgcenterpy": "0.1.8",
|
||||||
|
|||||||
@@ -206,6 +206,7 @@ class ImportManager:
|
|||||||
"ast_analysis_success": False,
|
"ast_analysis_success": False,
|
||||||
"import_map": {},
|
"import_map": {},
|
||||||
"init_params": [],
|
"init_params": [],
|
||||||
|
"init_docstring": None,
|
||||||
"status_methods": {},
|
"status_methods": {},
|
||||||
"action_methods": {},
|
"action_methods": {},
|
||||||
}
|
}
|
||||||
@@ -251,6 +252,7 @@ class ImportManager:
|
|||||||
|
|
||||||
# 映射到统一字段名（与 registry.py complete_registry 消费端一致）
|
# 映射到统一字段名（与 registry.py complete_registry 消费端一致）
|
||||||
result["init_params"] = body.get("init_params", [])
|
result["init_params"] = body.get("init_params", [])
|
||||||
|
result["init_docstring"] = body.get("init_docstring")
|
||||||
result["status_methods"] = body.get("status_properties", {})
|
result["status_methods"] = body.get("status_properties", {})
|
||||||
result["action_methods"] = {
|
result["action_methods"] = {
|
||||||
k: {
|
k: {
|
||||||
|
|||||||
@@ -17,6 +17,14 @@ try:
|
|||||||
default=json_default,
|
default=json_default,
|
||||||
)
|
)
|
||||||
|
|
||||||
|
def fast_loads(data) -> dict:
|
||||||
|
"""JSON 反序列化，优先使用 orjson。接受 str / bytes。"""
|
||||||
|
return orjson.loads(data)
|
||||||
|
|
||||||
|
def fast_dumps_str(obj, **kwargs) -> str:
|
||||||
|
"""JSON 序列化为 str，优先使用 orjson。用于需要 str 而非 bytes 的场景（如 ROS msg）。"""
|
||||||
|
return orjson.dumps(obj, option=orjson.OPT_NON_STR_KEYS, default=json_default).decode("utf-8")
|
||||||
|
|
||||||
def normalize_json(info: dict) -> dict:
|
def normalize_json(info: dict) -> dict:
|
||||||
"""经 JSON 序列化/反序列化一轮来清理非标准类型。"""
|
"""经 JSON 序列化/反序列化一轮来清理非标准类型。"""
|
||||||
return orjson.loads(orjson.dumps(info, default=json_default))
|
return orjson.loads(orjson.dumps(info, default=json_default))
|
||||||
@@ -29,6 +37,14 @@ except ImportError:
|
|||||||
def fast_dumps_pretty(obj, **kwargs) -> bytes: # type: ignore[misc]
|
def fast_dumps_pretty(obj, **kwargs) -> bytes: # type: ignore[misc]
|
||||||
return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
|
return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
|
||||||
|
|
||||||
|
def fast_loads(data) -> dict: # type: ignore[misc]
|
||||||
|
if isinstance(data, bytes):
|
||||||
|
data = data.decode("utf-8")
|
||||||
|
return json.loads(data)
|
||||||
|
|
||||||
|
def fast_dumps_str(obj, **kwargs) -> str: # type: ignore[misc]
|
||||||
|
return json.dumps(obj, ensure_ascii=False, cls=TypeEncoder)
|
||||||
|
|
||||||
def normalize_json(info: dict) -> dict: # type: ignore[misc]
|
def normalize_json(info: dict) -> dict: # type: ignore[misc]
|
||||||
return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
|
return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
|
||||||
|
|
||||||
|
|||||||
@@ -2,7 +2,7 @@
|
|||||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
<package format="3">
|
<package format="3">
|
||||||
<name>unilabos_msgs</name>
|
<name>unilabos_msgs</name>
|
||||||
<version>0.10.19</version>
|
<version>0.11.2</version>
|
||||||
<description>ROS2 Messages package for unilabos devices</description>
|
<description>ROS2 Messages package for unilabos devices</description>
|
||||||
<maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
|
<maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
|
||||||
<maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>
|
<maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>
|
||||||
|
|||||||
Reference in New Issue
Block a user