mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-25 01:29:20 +00:00
Compare commits
1 Commits
feat/sampl
...
78729ef86c
| Author | SHA1 | Date | |
|---|---|---|---|
|
78729ef86c |
@@ -1,60 +0,0 @@
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|||||||
# unilabos: Production package (depends on unilabos-env + pip unilabos)
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|
||||||
# For production deployment
|
|
||||||
|
|
||||||
package:
|
|
||||||
name: unilabos
|
|
||||||
version: 0.10.17
|
|
||||||
|
|
||||||
source:
|
|
||||||
path: ../../unilabos
|
|
||||||
target_directory: unilabos
|
|
||||||
|
|
||||||
build:
|
|
||||||
python:
|
|
||||||
entry_points:
|
|
||||||
- unilab = unilabos.app.main:main
|
|
||||||
script:
|
|
||||||
- set PIP_NO_INDEX=
|
|
||||||
- if: win
|
|
||||||
then:
|
|
||||||
- copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
|
|
||||||
- copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
|
|
||||||
- copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
|
|
||||||
- pip install %SRC_DIR%
|
|
||||||
- if: unix
|
|
||||||
then:
|
|
||||||
- cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
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|
||||||
- cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
|
|
||||||
- cp $RECIPE_DIR/../../setup.py $SRC_DIR
|
|
||||||
- pip install $SRC_DIR
|
|
||||||
|
|
||||||
requirements:
|
|
||||||
host:
|
|
||||||
- python ==3.11.14
|
|
||||||
- pip
|
|
||||||
- setuptools
|
|
||||||
- zstd
|
|
||||||
- zstandard
|
|
||||||
run:
|
|
||||||
- zstd
|
|
||||||
- zstandard
|
|
||||||
- networkx
|
|
||||||
- typing_extensions
|
|
||||||
- websockets
|
|
||||||
- pint
|
|
||||||
- fastapi
|
|
||||||
- jinja2
|
|
||||||
- requests
|
|
||||||
- uvicorn
|
|
||||||
- opcua # [not osx]
|
|
||||||
- pyserial
|
|
||||||
- pandas
|
|
||||||
- pymodbus
|
|
||||||
- matplotlib
|
|
||||||
- pylibftdi
|
|
||||||
- uni-lab::unilabos-env ==0.10.17
|
|
||||||
|
|
||||||
about:
|
|
||||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
|
||||||
license: GPL-3.0-only
|
|
||||||
description: "UniLabOS - Production package with minimal ROS2 dependencies"
|
|
||||||
@@ -1,39 +0,0 @@
|
|||||||
# unilabos-env: conda environment dependencies (ROS2 + conda packages)
|
|
||||||
|
|
||||||
package:
|
|
||||||
name: unilabos-env
|
|
||||||
version: 0.10.17
|
|
||||||
|
|
||||||
build:
|
|
||||||
noarch: generic
|
|
||||||
|
|
||||||
requirements:
|
|
||||||
run:
|
|
||||||
# Python
|
|
||||||
- zstd
|
|
||||||
- zstandard
|
|
||||||
- conda-forge::python ==3.11.14
|
|
||||||
- conda-forge::opencv
|
|
||||||
# ROS2 dependencies (from ci-check.yml)
|
|
||||||
- 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
|
|
||||||
- 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
|
|
||||||
- conda-forge::uv
|
|
||||||
|
|
||||||
# UniLabOS custom messages
|
|
||||||
- uni-lab::ros-humble-unilabos-msgs
|
|
||||||
|
|
||||||
about:
|
|
||||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
|
||||||
license: GPL-3.0-only
|
|
||||||
description: "UniLabOS Environment - ROS2 and conda dependencies"
|
|
||||||
@@ -1,42 +0,0 @@
|
|||||||
# unilabos-full: Full package with all features
|
|
||||||
# Depends on unilabos + complete ROS2 desktop + dev tools
|
|
||||||
|
|
||||||
package:
|
|
||||||
name: unilabos-full
|
|
||||||
version: 0.10.17
|
|
||||||
|
|
||||||
build:
|
|
||||||
noarch: generic
|
|
||||||
|
|
||||||
requirements:
|
|
||||||
run:
|
|
||||||
# Base unilabos package (includes unilabos-env)
|
|
||||||
- uni-lab::unilabos ==0.10.17
|
|
||||||
# Documentation tools
|
|
||||||
- sphinx
|
|
||||||
- sphinx_rtd_theme
|
|
||||||
# Web UI
|
|
||||||
- gradio
|
|
||||||
- flask
|
|
||||||
# Interactive development
|
|
||||||
- ipython
|
|
||||||
- jupyter
|
|
||||||
- jupyros
|
|
||||||
- colcon-common-extensions
|
|
||||||
# ROS2 full desktop (includes rviz2, gazebo, etc.)
|
|
||||||
- robostack-staging::ros-humble-desktop-full
|
|
||||||
# Navigation and motion control
|
|
||||||
- ros-humble-navigation2
|
|
||||||
- ros-humble-ros2-control
|
|
||||||
- ros-humble-robot-state-publisher
|
|
||||||
- ros-humble-joint-state-publisher
|
|
||||||
# MoveIt motion planning
|
|
||||||
- ros-humble-moveit
|
|
||||||
- ros-humble-moveit-servo
|
|
||||||
# Simulation
|
|
||||||
- ros-humble-simulation
|
|
||||||
|
|
||||||
about:
|
|
||||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
|
||||||
license: GPL-3.0-only
|
|
||||||
description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
|
|
||||||
91
.conda/recipe.yaml
Normal file
91
.conda/recipe.yaml
Normal file
@@ -0,0 +1,91 @@
|
|||||||
|
package:
|
||||||
|
name: unilabos
|
||||||
|
version: 0.10.15
|
||||||
|
|
||||||
|
source:
|
||||||
|
path: ../unilabos
|
||||||
|
target_directory: unilabos
|
||||||
|
|
||||||
|
build:
|
||||||
|
python:
|
||||||
|
entry_points:
|
||||||
|
- unilab = unilabos.app.main:main
|
||||||
|
script:
|
||||||
|
- set PIP_NO_INDEX=
|
||||||
|
- if: win
|
||||||
|
then:
|
||||||
|
- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
|
||||||
|
- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
|
||||||
|
- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
|
||||||
|
- call %PYTHON% -m pip install %SRC_DIR%
|
||||||
|
- if: unix
|
||||||
|
then:
|
||||||
|
- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
|
||||||
|
- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
|
||||||
|
- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
||||||
|
- $PYTHON -m pip install $SRC_DIR
|
||||||
|
|
||||||
|
requirements:
|
||||||
|
host:
|
||||||
|
- python ==3.11.11
|
||||||
|
- pip
|
||||||
|
- setuptools
|
||||||
|
- zstd
|
||||||
|
- zstandard
|
||||||
|
run:
|
||||||
|
- conda-forge::python ==3.11.11
|
||||||
|
- compilers
|
||||||
|
- cmake
|
||||||
|
- zstd
|
||||||
|
- zstandard
|
||||||
|
- ninja
|
||||||
|
- if: unix
|
||||||
|
then:
|
||||||
|
- make
|
||||||
|
- sphinx
|
||||||
|
- sphinx_rtd_theme
|
||||||
|
- numpy
|
||||||
|
- scipy
|
||||||
|
- pandas
|
||||||
|
- networkx
|
||||||
|
- matplotlib
|
||||||
|
- pint
|
||||||
|
- pyserial
|
||||||
|
- pyusb
|
||||||
|
- pylibftdi
|
||||||
|
- pymodbus
|
||||||
|
- python-can
|
||||||
|
- pyvisa
|
||||||
|
- opencv
|
||||||
|
- pydantic
|
||||||
|
- fastapi
|
||||||
|
- uvicorn
|
||||||
|
- gradio
|
||||||
|
- flask
|
||||||
|
- websockets
|
||||||
|
- ipython
|
||||||
|
- jupyter
|
||||||
|
- jupyros
|
||||||
|
- colcon-common-extensions
|
||||||
|
- robostack-staging::ros-humble-desktop-full
|
||||||
|
- robostack-staging::ros-humble-control-msgs
|
||||||
|
- robostack-staging::ros-humble-sensor-msgs
|
||||||
|
- robostack-staging::ros-humble-trajectory-msgs
|
||||||
|
- ros-humble-navigation2
|
||||||
|
- ros-humble-ros2-control
|
||||||
|
- ros-humble-robot-state-publisher
|
||||||
|
- ros-humble-joint-state-publisher
|
||||||
|
- ros-humble-rosbridge-server
|
||||||
|
- ros-humble-cv-bridge
|
||||||
|
- ros-humble-tf2
|
||||||
|
- ros-humble-moveit
|
||||||
|
- ros-humble-moveit-servo
|
||||||
|
- ros-humble-simulation
|
||||||
|
- ros-humble-tf-transformations
|
||||||
|
- transforms3d
|
||||||
|
- uni-lab::ros-humble-unilabos-msgs
|
||||||
|
|
||||||
|
about:
|
||||||
|
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||||
|
license: GPL-3.0-only
|
||||||
|
description: "Uni-Lab-OS"
|
||||||
9
.conda/scripts/post-link.bat
Normal file
9
.conda/scripts/post-link.bat
Normal file
@@ -0,0 +1,9 @@
|
|||||||
|
@echo off
|
||||||
|
setlocal enabledelayedexpansion
|
||||||
|
|
||||||
|
REM upgrade pip
|
||||||
|
"%PREFIX%\python.exe" -m pip install --upgrade pip
|
||||||
|
|
||||||
|
REM install extra deps
|
||||||
|
"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
|
||||||
|
"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||||
9
.conda/scripts/post-link.sh
Normal file
9
.conda/scripts/post-link.sh
Normal file
@@ -0,0 +1,9 @@
|
|||||||
|
#!/usr/bin/env bash
|
||||||
|
set -euxo pipefail
|
||||||
|
|
||||||
|
# make sure pip is available
|
||||||
|
"$PREFIX/bin/python" -m pip install --upgrade pip
|
||||||
|
|
||||||
|
# install extra deps
|
||||||
|
"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
|
||||||
|
"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||||
26
.cursorignore
Normal file
26
.cursorignore
Normal file
@@ -0,0 +1,26 @@
|
|||||||
|
.conda
|
||||||
|
# .github
|
||||||
|
.idea
|
||||||
|
# .vscode
|
||||||
|
output
|
||||||
|
pylabrobot_repo
|
||||||
|
recipes
|
||||||
|
scripts
|
||||||
|
service
|
||||||
|
temp
|
||||||
|
# unilabos/test
|
||||||
|
# unilabos/app/web
|
||||||
|
unilabos/device_mesh
|
||||||
|
unilabos_data
|
||||||
|
unilabos_msgs
|
||||||
|
unilabos.egg-info
|
||||||
|
CONTRIBUTORS
|
||||||
|
# LICENSE
|
||||||
|
MANIFEST.in
|
||||||
|
pyrightconfig.json
|
||||||
|
# README.md
|
||||||
|
# README_zh.md
|
||||||
|
setup.py
|
||||||
|
setup.cfg
|
||||||
|
.gitattrubutes
|
||||||
|
**/__pycache__
|
||||||
19
.github/dependabot.yml
vendored
19
.github/dependabot.yml
vendored
@@ -1,19 +0,0 @@
|
|||||||
version: 2
|
|
||||||
updates:
|
|
||||||
# GitHub Actions
|
|
||||||
- package-ecosystem: "github-actions"
|
|
||||||
directory: "/"
|
|
||||||
target-branch: "dev"
|
|
||||||
schedule:
|
|
||||||
interval: "weekly"
|
|
||||||
day: "monday"
|
|
||||||
time: "06:00"
|
|
||||||
open-pull-requests-limit: 5
|
|
||||||
reviewers:
|
|
||||||
- "msgcenterpy-team"
|
|
||||||
labels:
|
|
||||||
- "dependencies"
|
|
||||||
- "github-actions"
|
|
||||||
commit-message:
|
|
||||||
prefix: "ci"
|
|
||||||
include: "scope"
|
|
||||||
67
.github/workflows/ci-check.yml
vendored
67
.github/workflows/ci-check.yml
vendored
@@ -1,67 +0,0 @@
|
|||||||
name: CI Check
|
|
||||||
|
|
||||||
on:
|
|
||||||
push:
|
|
||||||
branches: [main, dev]
|
|
||||||
pull_request:
|
|
||||||
branches: [main, dev]
|
|
||||||
|
|
||||||
jobs:
|
|
||||||
registry-check:
|
|
||||||
runs-on: windows-latest
|
|
||||||
|
|
||||||
env:
|
|
||||||
# Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
|
|
||||||
PYTHONIOENCODING: utf-8
|
|
||||||
PYTHONUTF8: 1
|
|
||||||
|
|
||||||
defaults:
|
|
||||||
run:
|
|
||||||
shell: cmd
|
|
||||||
|
|
||||||
steps:
|
|
||||||
- uses: actions/checkout@v6
|
|
||||||
with:
|
|
||||||
fetch-depth: 0
|
|
||||||
|
|
||||||
- name: Setup Miniforge
|
|
||||||
uses: conda-incubator/setup-miniconda@v3
|
|
||||||
with:
|
|
||||||
miniforge-version: latest
|
|
||||||
use-mamba: true
|
|
||||||
channels: robostack-staging,conda-forge,uni-lab
|
|
||||||
channel-priority: flexible
|
|
||||||
activate-environment: check-env
|
|
||||||
auto-update-conda: false
|
|
||||||
show-channel-urls: true
|
|
||||||
|
|
||||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
|
||||||
run: |
|
|
||||||
echo Installing ROS dependencies...
|
|
||||||
mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
|
|
||||||
|
|
||||||
- name: Install pip dependencies and unilabos
|
|
||||||
run: |
|
|
||||||
call conda activate check-env
|
|
||||||
echo Installing pip dependencies...
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt
|
|
||||||
uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
|
|
||||||
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
|
||||||
uv pip install .
|
|
||||||
|
|
||||||
- name: Run check mode (complete_registry)
|
|
||||||
run: |
|
|
||||||
call conda activate check-env
|
|
||||||
echo Running check mode...
|
|
||||||
python -m unilabos --check_mode --skip_env_check
|
|
||||||
|
|
||||||
- name: Check for uncommitted changes
|
|
||||||
shell: bash
|
|
||||||
run: |
|
|
||||||
if ! git diff --exit-code; then
|
|
||||||
echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
|
|
||||||
echo "变化的文件:"
|
|
||||||
git diff --name-only
|
|
||||||
exit 1
|
|
||||||
fi
|
|
||||||
echo "检查通过：无文件变化"
|
|
||||||
43
.github/workflows/conda-pack-build.yml
vendored
43
.github/workflows/conda-pack-build.yml
vendored
@@ -13,11 +13,6 @@ on:
|
|||||||
required: false
|
required: false
|
||||||
default: 'win-64'
|
default: 'win-64'
|
||||||
type: string
|
type: string
|
||||||
build_full:
|
|
||||||
description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
|
|
||||||
required: false
|
|
||||||
default: false
|
|
||||||
type: boolean
|
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
build-conda-pack:
|
build-conda-pack:
|
||||||
@@ -62,7 +57,7 @@ jobs:
|
|||||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||||
fi
|
fi
|
||||||
|
|
||||||
- uses: actions/checkout@v6
|
- uses: actions/checkout@v4
|
||||||
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 }}
|
||||||
@@ -74,7 +69,7 @@ jobs:
|
|||||||
with:
|
with:
|
||||||
miniforge-version: latest
|
miniforge-version: latest
|
||||||
use-mamba: true
|
use-mamba: true
|
||||||
python-version: '3.11.14'
|
python-version: '3.11.11'
|
||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||||
channel-priority: flexible
|
channel-priority: flexible
|
||||||
activate-environment: unilab
|
activate-environment: unilab
|
||||||
@@ -86,14 +81,7 @@ 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...
|
||||||
echo Build full: ${{ github.event.inputs.build_full }}
|
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
|
||||||
echo Installing unilabos-full ^(complete package^)...
|
|
||||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
|
||||||
) else (
|
|
||||||
echo Installing unilabos ^(minimal package^)...
|
|
||||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
|
||||||
)
|
|
||||||
|
|
||||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
- name: Install conda-pack, unilabos and dependencies (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'
|
||||||
@@ -101,14 +89,7 @@ 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..."
|
||||||
echo "Build full: ${{ github.event.inputs.build_full }}"
|
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
|
||||||
echo "Installing unilabos-full (complete package)..."
|
|
||||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
|
||||||
else
|
|
||||||
echo "Installing unilabos (minimal package)..."
|
|
||||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
|
||||||
fi
|
|
||||||
|
|
||||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
- name: Get latest ros-humble-unilabos-msgs version (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'
|
||||||
@@ -312,7 +293,7 @@ jobs:
|
|||||||
|
|
||||||
- name: Upload distribution package
|
- name: Upload distribution package
|
||||||
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@v4
|
||||||
with:
|
with:
|
||||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||||
path: dist-package/
|
path: dist-package/
|
||||||
@@ -327,12 +308,7 @@ jobs:
|
|||||||
echo ==========================================
|
echo ==========================================
|
||||||
echo Platform: ${{ matrix.platform }}
|
echo Platform: ${{ matrix.platform }}
|
||||||
echo Branch: ${{ github.event.inputs.branch }}
|
echo Branch: ${{ github.event.inputs.branch }}
|
||||||
echo Python version: 3.11.14
|
echo Python version: 3.11.11
|
||||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
|
||||||
echo Package: unilabos-full ^(complete^)
|
|
||||||
) else (
|
|
||||||
echo Package: unilabos ^(minimal^)
|
|
||||||
)
|
|
||||||
echo.
|
echo.
|
||||||
echo Distribution package contents:
|
echo Distribution package contents:
|
||||||
dir dist-package
|
dir dist-package
|
||||||
@@ -352,12 +328,7 @@ jobs:
|
|||||||
echo "=========================================="
|
echo "=========================================="
|
||||||
echo "Platform: ${{ matrix.platform }}"
|
echo "Platform: ${{ matrix.platform }}"
|
||||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||||
echo "Python version: 3.11.14"
|
echo "Python version: 3.11.11"
|
||||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
|
||||||
echo "Package: unilabos-full (complete)"
|
|
||||||
else
|
|
||||||
echo "Package: unilabos (minimal)"
|
|
||||||
fi
|
|
||||||
echo ""
|
echo ""
|
||||||
echo "Distribution package contents:"
|
echo "Distribution package contents:"
|
||||||
ls -lh dist-package/
|
ls -lh dist-package/
|
||||||
|
|||||||
37
.github/workflows/deploy-docs.yml
vendored
37
.github/workflows/deploy-docs.yml
vendored
@@ -1,12 +1,10 @@
|
|||||||
name: Deploy Docs
|
name: Deploy Docs
|
||||||
|
|
||||||
on:
|
on:
|
||||||
# 在 CI Check 成功后自动触发（仅 main 分支）
|
push:
|
||||||
workflow_run:
|
branches: [main]
|
||||||
workflows: ["CI Check"]
|
pull_request:
|
||||||
types: [completed]
|
|
||||||
branches: [main]
|
branches: [main]
|
||||||
# 手动触发
|
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
branch:
|
branch:
|
||||||
@@ -35,19 +33,12 @@ concurrency:
|
|||||||
jobs:
|
jobs:
|
||||||
# Build documentation
|
# Build documentation
|
||||||
build:
|
build:
|
||||||
# 只在以下情况运行：
|
|
||||||
# 1. workflow_run 触发且 CI Check 成功
|
|
||||||
# 2. 手动触发
|
|
||||||
if: |
|
|
||||||
github.event_name == 'workflow_dispatch' ||
|
|
||||||
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
|
||||||
runs-on: ubuntu-latest
|
runs-on: ubuntu-latest
|
||||||
steps:
|
steps:
|
||||||
- name: Checkout code
|
- name: Checkout code
|
||||||
uses: actions/checkout@v6
|
uses: actions/checkout@v4
|
||||||
with:
|
with:
|
||||||
# workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
|
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||||
ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
|
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Setup Miniforge (with mamba)
|
- name: Setup Miniforge (with mamba)
|
||||||
@@ -55,7 +46,7 @@ jobs:
|
|||||||
with:
|
with:
|
||||||
miniforge-version: latest
|
miniforge-version: latest
|
||||||
use-mamba: true
|
use-mamba: true
|
||||||
python-version: '3.11.14'
|
python-version: '3.11.11'
|
||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||||
channel-priority: flexible
|
channel-priority: flexible
|
||||||
activate-environment: unilab
|
activate-environment: unilab
|
||||||
@@ -84,10 +75,8 @@ jobs:
|
|||||||
|
|
||||||
- name: Setup Pages
|
- name: Setup Pages
|
||||||
id: pages
|
id: pages
|
||||||
uses: actions/configure-pages@v5
|
uses: actions/configure-pages@v4
|
||||||
if: |
|
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||||
github.event.workflow_run.head_branch == 'main' ||
|
|
||||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
|
||||||
|
|
||||||
- name: Build Sphinx documentation
|
- name: Build Sphinx documentation
|
||||||
run: |
|
run: |
|
||||||
@@ -105,18 +94,14 @@ jobs:
|
|||||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||||
|
|
||||||
- name: Upload build artifacts
|
- name: Upload build artifacts
|
||||||
uses: actions/upload-pages-artifact@v4
|
uses: actions/upload-pages-artifact@v3
|
||||||
if: |
|
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||||
github.event.workflow_run.head_branch == 'main' ||
|
|
||||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
|
||||||
with:
|
with:
|
||||||
path: docs/_build/html
|
path: docs/_build/html
|
||||||
|
|
||||||
# Deploy to GitHub Pages
|
# Deploy to GitHub Pages
|
||||||
deploy:
|
deploy:
|
||||||
if: |
|
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||||
github.event.workflow_run.head_branch == 'main' ||
|
|
||||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
|
||||||
environment:
|
environment:
|
||||||
name: github-pages
|
name: github-pages
|
||||||
url: ${{ steps.deployment.outputs.page_url }}
|
url: ${{ steps.deployment.outputs.page_url }}
|
||||||
|
|||||||
46
.github/workflows/multi-platform-build.yml
vendored
46
.github/workflows/multi-platform-build.yml
vendored
@@ -1,16 +1,11 @@
|
|||||||
name: Multi-Platform Conda Build
|
name: Multi-Platform Conda Build
|
||||||
|
|
||||||
on:
|
on:
|
||||||
# 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
|
|
||||||
workflow_run:
|
|
||||||
workflows: ["CI Check"]
|
|
||||||
types:
|
|
||||||
- completed
|
|
||||||
branches: [main, dev]
|
|
||||||
# 支持 tag 推送（不依赖 CI Check）
|
|
||||||
push:
|
push:
|
||||||
|
branches: [main, dev]
|
||||||
tags: ['v*']
|
tags: ['v*']
|
||||||
# 手动触发
|
pull_request:
|
||||||
|
branches: [main, dev]
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
platforms:
|
platforms:
|
||||||
@@ -22,37 +17,9 @@ on:
|
|||||||
required: false
|
required: false
|
||||||
default: false
|
default: false
|
||||||
type: boolean
|
type: boolean
|
||||||
skip_ci_check:
|
|
||||||
description: '跳过等待 CI Check (手动触发时可选)'
|
|
||||||
required: false
|
|
||||||
default: false
|
|
||||||
type: boolean
|
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
|
||||||
wait-for-ci:
|
|
||||||
runs-on: ubuntu-latest
|
|
||||||
if: github.event_name == 'workflow_run'
|
|
||||||
outputs:
|
|
||||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
|
||||||
steps:
|
|
||||||
- name: Check CI status
|
|
||||||
id: check
|
|
||||||
run: |
|
|
||||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
|
||||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
|
||||||
echo "CI Check passed, proceeding with build"
|
|
||||||
else
|
|
||||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
|
||||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
|
||||||
fi
|
|
||||||
|
|
||||||
build:
|
build:
|
||||||
needs: [wait-for-ci]
|
|
||||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
|
||||||
if: |
|
|
||||||
always() &&
|
|
||||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
|
||||||
strategy:
|
strategy:
|
||||||
fail-fast: false
|
fail-fast: false
|
||||||
matrix:
|
matrix:
|
||||||
@@ -77,10 +44,8 @@ jobs:
|
|||||||
shell: bash -l {0}
|
shell: bash -l {0}
|
||||||
|
|
||||||
steps:
|
steps:
|
||||||
- uses: actions/checkout@v6
|
- uses: actions/checkout@v4
|
||||||
with:
|
with:
|
||||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
|
||||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Check if platform should be built
|
- name: Check if platform should be built
|
||||||
@@ -104,6 +69,7 @@ jobs:
|
|||||||
channels: conda-forge,robostack-staging,defaults
|
channels: conda-forge,robostack-staging,defaults
|
||||||
channel-priority: strict
|
channel-priority: strict
|
||||||
activate-environment: build-env
|
activate-environment: build-env
|
||||||
|
auto-activate-base: false
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
show-channel-urls: true
|
show-channel-urls: true
|
||||||
|
|
||||||
@@ -149,7 +115,7 @@ jobs:
|
|||||||
|
|
||||||
- name: Upload conda package artifacts
|
- name: Upload conda package artifacts
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: actions/upload-artifact@v6
|
uses: actions/upload-artifact@v4
|
||||||
with:
|
with:
|
||||||
name: conda-package-${{ matrix.platform }}
|
name: conda-package-${{ matrix.platform }}
|
||||||
path: conda-packages-temp
|
path: conda-packages-temp
|
||||||
|
|||||||
113
.github/workflows/unilabos-conda-build.yml
vendored
113
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,62 +1,25 @@
|
|||||||
name: UniLabOS Conda Build
|
name: UniLabOS Conda Build
|
||||||
|
|
||||||
on:
|
on:
|
||||||
# 在 CI Check 成功后自动触发
|
|
||||||
workflow_run:
|
|
||||||
workflows: ["CI Check"]
|
|
||||||
types: [completed]
|
|
||||||
branches: [main, dev]
|
|
||||||
# 标签推送时直接触发（发布版本）
|
|
||||||
push:
|
push:
|
||||||
|
branches: [main, dev]
|
||||||
tags: ['v*']
|
tags: ['v*']
|
||||||
# 手动触发
|
pull_request:
|
||||||
|
branches: [main, dev]
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
platforms:
|
platforms:
|
||||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||||
required: false
|
required: false
|
||||||
default: 'linux-64'
|
default: 'linux-64'
|
||||||
build_full:
|
|
||||||
description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
|
|
||||||
required: false
|
|
||||||
default: false
|
|
||||||
type: boolean
|
|
||||||
upload_to_anaconda:
|
upload_to_anaconda:
|
||||||
description: '是否上传到Anaconda.org'
|
description: '是否上传到Anaconda.org'
|
||||||
required: false
|
required: false
|
||||||
default: false
|
default: false
|
||||||
type: boolean
|
type: boolean
|
||||||
skip_ci_check:
|
|
||||||
description: '跳过等待 CI Check (手动触发时可选)'
|
|
||||||
required: false
|
|
||||||
default: false
|
|
||||||
type: boolean
|
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
|
||||||
wait-for-ci:
|
|
||||||
runs-on: ubuntu-latest
|
|
||||||
if: github.event_name == 'workflow_run'
|
|
||||||
outputs:
|
|
||||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
|
||||||
steps:
|
|
||||||
- name: Check CI status
|
|
||||||
id: check
|
|
||||||
run: |
|
|
||||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
|
||||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
|
||||||
echo "CI Check passed, proceeding with build"
|
|
||||||
else
|
|
||||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
|
||||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
|
||||||
fi
|
|
||||||
|
|
||||||
build:
|
build:
|
||||||
needs: [wait-for-ci]
|
|
||||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
|
||||||
if: |
|
|
||||||
always() &&
|
|
||||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
|
||||||
strategy:
|
strategy:
|
||||||
fail-fast: false
|
fail-fast: false
|
||||||
matrix:
|
matrix:
|
||||||
@@ -77,10 +40,8 @@ jobs:
|
|||||||
shell: bash -l {0}
|
shell: bash -l {0}
|
||||||
|
|
||||||
steps:
|
steps:
|
||||||
- uses: actions/checkout@v6
|
- uses: actions/checkout@v4
|
||||||
with:
|
with:
|
||||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
|
||||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Check if platform should be built
|
- name: Check if platform should be built
|
||||||
@@ -104,6 +65,7 @@ jobs:
|
|||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||||
channel-priority: strict
|
channel-priority: strict
|
||||||
activate-environment: build-env
|
activate-environment: build-env
|
||||||
|
auto-activate-base: false
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
show-channel-urls: true
|
show-channel-urls: true
|
||||||
|
|
||||||
@@ -119,61 +81,12 @@ jobs:
|
|||||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||||
echo "Platform: ${{ matrix.platform }}"
|
echo "Platform: ${{ matrix.platform }}"
|
||||||
echo "OS: ${{ matrix.os }}"
|
echo "OS: ${{ matrix.os }}"
|
||||||
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
echo "Building UniLabOS package"
|
||||||
echo "Building packages:"
|
|
||||||
echo " - unilabos-env (environment dependencies)"
|
|
||||||
echo " - unilabos (with pip package)"
|
|
||||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
|
||||||
echo " - unilabos-full (complete package)"
|
|
||||||
fi
|
|
||||||
|
|
||||||
- name: Build unilabos-env (conda environment only, noarch)
|
- name: Build conda package
|
||||||
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)..."
|
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||||
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
|
||||||
|
|
||||||
- name: Upload unilabos-env to Anaconda.org (if enabled)
|
|
||||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
|
||||||
run: |
|
|
||||||
echo "Uploading unilabos-env to uni-lab organization..."
|
|
||||||
for package in $(find ./output -name "unilabos-env*.conda"); do
|
|
||||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
|
||||||
done
|
|
||||||
|
|
||||||
- name: Build unilabos (with pip package)
|
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
|
||||||
run: |
|
|
||||||
echo "Building unilabos package..."
|
|
||||||
# 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
|
|
||||||
rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
|
||||||
|
|
||||||
- name: Upload unilabos to Anaconda.org (if enabled)
|
|
||||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
|
||||||
run: |
|
|
||||||
echo "Uploading unilabos to uni-lab organization..."
|
|
||||||
for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
|
|
||||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
|
||||||
done
|
|
||||||
|
|
||||||
- name: Build unilabos-full - Only when explicitly requested
|
|
||||||
if: |
|
|
||||||
steps.should_build.outputs.should_build == 'true' &&
|
|
||||||
github.event.inputs.build_full == 'true'
|
|
||||||
run: |
|
|
||||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
|
||||||
rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
|
||||||
|
|
||||||
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
|
||||||
if: |
|
|
||||||
steps.should_build.outputs.should_build == 'true' &&
|
|
||||||
github.event.inputs.build_full == 'true' &&
|
|
||||||
github.event.inputs.upload_to_anaconda == 'true'
|
|
||||||
run: |
|
|
||||||
echo "Uploading unilabos-full to uni-lab organization..."
|
|
||||||
for package in $(find ./output -name "unilabos-full*.conda"); do
|
|
||||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
|
||||||
done
|
|
||||||
|
|
||||||
- name: List built packages
|
- name: List built packages
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
@@ -195,9 +108,17 @@ jobs:
|
|||||||
|
|
||||||
- name: Upload conda package artifacts
|
- name: Upload conda package artifacts
|
||||||
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@v4
|
||||||
with:
|
with:
|
||||||
name: conda-package-unilabos-${{ matrix.platform }}
|
name: conda-package-unilabos-${{ matrix.platform }}
|
||||||
path: conda-packages-temp
|
path: conda-packages-temp
|
||||||
if-no-files-found: warn
|
if-no-files-found: warn
|
||||||
retention-days: 30
|
retention-days: 30
|
||||||
|
|
||||||
|
- name: Upload to Anaconda.org (uni-lab organization)
|
||||||
|
if: github.event.inputs.upload_to_anaconda == 'true'
|
||||||
|
run: |
|
||||||
|
for package in $(find ./output -name "*.conda"); do
|
||||||
|
echo "Uploading $package to uni-lab organization..."
|
||||||
|
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||||
|
done
|
||||||
|
|||||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -4,7 +4,6 @@ temp/
|
|||||||
output/
|
output/
|
||||||
unilabos_data/
|
unilabos_data/
|
||||||
pyrightconfig.json
|
pyrightconfig.json
|
||||||
.cursorignore
|
|
||||||
## Python
|
## Python
|
||||||
|
|
||||||
# Byte-compiled / optimized / DLL files
|
# Byte-compiled / optimized / DLL files
|
||||||
|
|||||||
@@ -1,5 +1,4 @@
|
|||||||
recursive-include unilabos/test *
|
recursive-include unilabos/test *
|
||||||
recursive-include unilabos/utils *
|
|
||||||
recursive-include unilabos/registry *.yaml
|
recursive-include unilabos/registry *.yaml
|
||||||
recursive-include unilabos/app/web/static *
|
recursive-include unilabos/app/web/static *
|
||||||
recursive-include unilabos/app/web/templates *
|
recursive-include unilabos/app/web/templates *
|
||||||
|
|||||||
38
README.md
38
README.md
@@ -31,46 +31,26 @@ Detailed documentation can be found at:
|
|||||||
|
|
||||||
## Quick Start
|
## Quick Start
|
||||||
|
|
||||||
### 1. Setup Conda Environment
|
1. Setup Conda Environment
|
||||||
|
|
||||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
|
Uni-Lab-OS recommends using `mamba` for environment management:
|
||||||
|
|
||||||
| Package | Use Case | Contents |
|
|
||||||
|---------|----------|----------|
|
|
||||||
| `unilabos` | **Recommended for most users** | Complete package, ready to use |
|
|
||||||
| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
|
|
||||||
| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
|
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# Create new environment
|
# Create new environment
|
||||||
mamba create -n unilab python=3.11.14
|
mamba create -n unilab python=3.11.11
|
||||||
mamba activate unilab
|
mamba activate unilab
|
||||||
|
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
# Option A: Standard installation (recommended for most users)
|
|
||||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
|
||||||
|
|
||||||
# Option B: For developers (editable mode development)
|
|
||||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
|
||||||
# Then install unilabos and dependencies:
|
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
|
||||||
pip install -e .
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt
|
|
||||||
|
|
||||||
# Option C: Full installation (simulation/visualization)
|
|
||||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
|
||||||
```
|
```
|
||||||
|
|
||||||
**When to use which?**
|
2. Install Dev Uni-Lab-OS
|
||||||
- **unilabos**: Standard installation for production deployment and general usage (recommended)
|
|
||||||
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
|
|
||||||
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
|
|
||||||
|
|
||||||
### 2. Clone Repository (Optional, for developers)
|
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# Clone the repository (only needed for development or examples)
|
# Clone the repository
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||||
cd Uni-Lab-OS
|
cd Uni-Lab-OS
|
||||||
|
|
||||||
|
# Install Uni-Lab-OS
|
||||||
|
pip install .
|
||||||
```
|
```
|
||||||
|
|
||||||
3. Start Uni-Lab System
|
3. Start Uni-Lab System
|
||||||
|
|||||||
38
README_zh.md
38
README_zh.md
@@ -31,46 +31,26 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
|||||||
|
|
||||||
## 快速开始
|
## 快速开始
|
||||||
|
|
||||||
### 1. 配置 Conda 环境
|
1. 配置 Conda 环境
|
||||||
|
|
||||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
|
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||||
|
|
||||||
| 安装包 | 适用场景 | 包含内容 |
|
|
||||||
|--------|----------|----------|
|
|
||||||
| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
|
|
||||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
|
||||||
| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
|
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 创建新环境
|
# 创建新环境
|
||||||
mamba create -n unilab python=3.11.14
|
mamba create -n unilab python=3.11.11
|
||||||
mamba activate unilab
|
mamba activate unilab
|
||||||
|
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
# 方案 A：标准安装（推荐大多数用户）
|
|
||||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
|
||||||
|
|
||||||
# 方案 B：开发者环境（可编辑模式开发）
|
|
||||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
|
||||||
# 然后安装 unilabos 和依赖：
|
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
|
||||||
pip install -e .
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt
|
|
||||||
|
|
||||||
# 方案 C：完整安装（仿真/可视化）
|
|
||||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
|
||||||
```
|
```
|
||||||
|
|
||||||
**如何选择？**
|
2. 安装开发版 Uni-Lab-OS:
|
||||||
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
|
|
||||||
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
|
|
||||||
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
|
|
||||||
|
|
||||||
### 2. 克隆仓库（可选，供开发者使用）
|
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 克隆仓库（仅开发或查看示例时需要）
|
# 克隆仓库
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||||
cd Uni-Lab-OS
|
cd Uni-Lab-OS
|
||||||
|
|
||||||
|
# 安装 Uni-Lab-OS
|
||||||
|
pip install .
|
||||||
```
|
```
|
||||||
|
|
||||||
3. 启动 Uni-Lab 系统
|
3. 启动 Uni-Lab 系统
|
||||||
|
|||||||
@@ -31,14 +31,6 @@
|
|||||||
|
|
||||||
详细的安装步骤请参考 [安装指南](installation.md)。
|
详细的安装步骤请参考 [安装指南](installation.md)。
|
||||||
|
|
||||||
**选择合适的安装包：**
|
|
||||||
|
|
||||||
| 安装包 | 适用场景 | 包含组件 |
|
|
||||||
|--------|----------|----------|
|
|
||||||
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
|
||||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
|
||||||
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
|
||||||
|
|
||||||
**关键步骤：**
|
**关键步骤：**
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
@@ -46,30 +38,15 @@
|
|||||||
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
||||||
|
|
||||||
# 2. 创建 Conda 环境
|
# 2. 创建 Conda 环境
|
||||||
mamba create -n unilab python=3.11.14
|
mamba create -n unilab python=3.11.11
|
||||||
|
|
||||||
# 3. 激活环境
|
# 3. 激活环境
|
||||||
mamba activate unilab
|
mamba activate unilab
|
||||||
|
|
||||||
# 4. 安装 Uni-Lab-OS（选择其一）
|
# 4. 安装 Uni-Lab-OS
|
||||||
|
|
||||||
# 方案 A：标准安装（推荐大多数用户）
|
|
||||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
|
|
||||||
# 方案 B：开发者环境（可编辑模式开发）
|
|
||||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
|
||||||
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
|
|
||||||
|
|
||||||
# 方案 C：完整版（仿真/可视化）
|
|
||||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
|
||||||
```
|
```
|
||||||
|
|
||||||
**选择建议：**
|
|
||||||
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
|
|
||||||
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
|
|
||||||
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
|
||||||
|
|
||||||
#### 1.2 验证安装
|
#### 1.2 验证安装
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
@@ -439,9 +416,6 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
|||||||
1. 访问 Web 界面，进入"仪器耗材"模块
|
1. 访问 Web 界面，进入"仪器耗材"模块
|
||||||
2. 在"仪器设备"区域找到并添加上述设备
|
2. 在"仪器设备"区域找到并添加上述设备
|
||||||
3. 在"物料耗材"区域找到并添加容器
|
3. 在"物料耗材"区域找到并添加容器
|
||||||
4. 在workstation中配置protocol_type包含PumpTransferProtocol
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@@ -452,9 +426,8 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
|||||||
**操作步骤：**
|
**操作步骤：**
|
||||||
|
|
||||||
1. 将两个 `container` 拖拽到 `workstation` 中
|
1. 将两个 `container` 拖拽到 `workstation` 中
|
||||||
2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
|
2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||||
3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
3. 在画布上连接它们（建立父子关系）
|
||||||
4. 在画布上连接它们（建立父子关系）
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@@ -795,43 +768,7 @@ Waiting for host service...
|
|||||||
|
|
||||||
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
||||||
|
|
||||||
#### 9.1 开发环境准备
|
#### 9.1 为什么需要自定义设备？
|
||||||
|
|
||||||
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
|
|
||||||
mamba create -n unilab python=3.11.14
|
|
||||||
conda activate unilab
|
|
||||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
|
||||||
|
|
||||||
# 2. 克隆代码
|
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
|
||||||
cd Uni-Lab-OS
|
|
||||||
|
|
||||||
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
|
|
||||||
python scripts/dev_install.py
|
|
||||||
|
|
||||||
# 或手动安装：
|
|
||||||
pip install -e .
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt
|
|
||||||
```
|
|
||||||
|
|
||||||
**为什么使用这种方式？**
|
|
||||||
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
|
|
||||||
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
|
|
||||||
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
|
||||||
- 使用 `uv` 替代 `pip`，安装速度更快
|
|
||||||
- 可编辑模式：代码修改**立即生效**，无需重新安装
|
|
||||||
|
|
||||||
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 9.2 为什么需要自定义设备？
|
|
||||||
|
|
||||||
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
||||||
|
|
||||||
@@ -840,7 +777,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
|
|||||||
- 特殊的实验流程
|
- 特殊的实验流程
|
||||||
- 第三方设备集成
|
- 第三方设备集成
|
||||||
|
|
||||||
#### 9.3 创建 Python 包
|
#### 9.2 创建 Python 包
|
||||||
|
|
||||||
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
||||||
|
|
||||||
@@ -877,7 +814,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
|
|||||||
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
||||||
```
|
```
|
||||||
|
|
||||||
#### 9.4 创建 setup.py
|
#### 9.3 创建 setup.py
|
||||||
|
|
||||||
```python
|
```python
|
||||||
# my_lab_devices/setup.py
|
# my_lab_devices/setup.py
|
||||||
@@ -908,7 +845,7 @@ setup(
|
|||||||
)
|
)
|
||||||
```
|
```
|
||||||
|
|
||||||
#### 9.5 开发安装
|
#### 9.4 开发安装
|
||||||
|
|
||||||
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
||||||
|
|
||||||
@@ -923,7 +860,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
|||||||
- 方便调试和测试
|
- 方便调试和测试
|
||||||
- 支持版本控制（git）
|
- 支持版本控制（git）
|
||||||
|
|
||||||
#### 9.6 编写设备驱动
|
#### 9.5 编写设备驱动
|
||||||
|
|
||||||
创建设备驱动文件：
|
创建设备驱动文件：
|
||||||
|
|
||||||
@@ -1064,7 +1001,7 @@ class MyPump:
|
|||||||
- **返回 Dict**：所有动作方法返回字典类型
|
- **返回 Dict**：所有动作方法返回字典类型
|
||||||
- **文档字符串**：详细说明参数和功能
|
- **文档字符串**：详细说明参数和功能
|
||||||
|
|
||||||
#### 9.7 测试设备驱动
|
#### 9.6 测试设备驱动
|
||||||
|
|
||||||
创建简单的测试脚本：
|
创建简单的测试脚本：
|
||||||
|
|
||||||
|
|||||||
Binary file not shown.
|
Before Width: | Height: | Size: 81 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 415 KiB After Width: | Height: | Size: 275 KiB |
@@ -13,26 +13,15 @@
|
|||||||
- 开发者需要 Git 和基本的 Python 开发知识
|
- 开发者需要 Git 和基本的 Python 开发知识
|
||||||
- 自定义 msgs 需要 GitHub 账号
|
- 自定义 msgs 需要 GitHub 账号
|
||||||
|
|
||||||
## 安装包选择
|
|
||||||
|
|
||||||
Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
|
||||||
|
|
||||||
| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
|
|
||||||
|--------|----------|----------|----------|
|
|
||||||
| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
|
|
||||||
| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
|
|
||||||
| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
|
|
||||||
|
|
||||||
## 安装方式选择
|
## 安装方式选择
|
||||||
|
|
||||||
根据您的使用场景，选择合适的安装方式：
|
根据您的使用场景，选择合适的安装方式：
|
||||||
|
|
||||||
| 安装方式 | 适用人群 | 推荐安装包 | 特点 | 安装时间 |
|
| 安装方式 | 适用人群 | 特点 | 安装时间 |
|
||||||
| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
|
| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
|
||||||
| **方式一：一键安装** | 快速体验、演示 | 预打包环境 | 离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
| **方式一：一键安装** | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||||
| **方式二：手动安装** | **大多数用户** | `unilabos` | 完整功能，开箱即用 | 10-20 分钟 |
|
| **方式二：手动安装** | 标准用户、生产环境 | 灵活配置，版本可控 | 10-20 分钟 |
|
||||||
| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env` | 可编辑模式，支持自定义开发 | 20-30 分钟 |
|
| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs | 20-30 分钟 |
|
||||||
| **仿真/可视化** | 仿真测试、可视化调试 | `unilabos-full` | 含 Gazebo、rviz2、MoveIt | 30-60 分钟 |
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
@@ -155,38 +144,17 @@ bash Miniforge3-$(uname)-$(uname -m).sh
|
|||||||
使用以下命令创建 Uni-Lab 专用环境：
|
使用以下命令创建 Uni-Lab 专用环境：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
mamba create -n unilab python=3.11.14 # 目前ros2组件依赖版本大多为3.11.14
|
mamba create -n unilab python=3.11.11 # 目前ros2组件依赖版本大多为3.11.11
|
||||||
mamba activate unilab
|
mamba activate unilab
|
||||||
|
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
# 选择安装包（三选一）：
|
|
||||||
|
|
||||||
# 方案 A：标准安装（推荐大多数用户）
|
|
||||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
|
||||||
|
|
||||||
# 方案 B：开发者环境（可编辑模式开发）
|
|
||||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
|
||||||
# 然后安装 unilabos 和 pip 依赖：
|
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
|
||||||
pip install -e .
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt
|
|
||||||
|
|
||||||
# 方案 C：完整版（含仿真和可视化工具）
|
|
||||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
|
||||||
```
|
```
|
||||||
|
|
||||||
**参数说明**:
|
**参数说明**:
|
||||||
|
|
||||||
- `-n unilab`: 创建名为 "unilab" 的环境
|
- `-n unilab`: 创建名为 "unilab" 的环境
|
||||||
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
|
- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
|
||||||
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
|
|
||||||
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
|
|
||||||
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
||||||
|
|
||||||
**包选择建议**：
|
|
||||||
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
|
|
||||||
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
|
|
||||||
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
|
|
||||||
|
|
||||||
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
@@ -195,14 +163,8 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
|
|||||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
||||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
||||||
|
|
||||||
# 然后重新执行安装命令（推荐标准安装）
|
# 然后重新执行安装命令
|
||||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
||||||
|
|
||||||
# 或完整版（仿真/可视化）
|
|
||||||
mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
|
|
||||||
|
|
||||||
# pip 安装时使用清华镜像（开发者安装时使用）
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
|
||||||
```
|
```
|
||||||
|
|
||||||
### 第三步：激活环境
|
### 第三步：激活环境
|
||||||
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
|
|||||||
cd Uni-Lab-OS
|
cd Uni-Lab-OS
|
||||||
```
|
```
|
||||||
|
|
||||||
### 第二步：安装开发环境（unilabos-env）
|
### 第二步：安装基础环境
|
||||||
|
|
||||||
**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
|
**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
|
||||||
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
|
|
||||||
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
|
#### 选项 A：通过一键安装（推荐）
|
||||||
- 包含 `uv` 工具，用于快速安装 pip 依赖
|
|
||||||
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
|
参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 创建并激活环境
|
|
||||||
mamba create -n unilab python=3.11.14
|
|
||||||
conda activate unilab
|
conda activate unilab
|
||||||
|
|
||||||
# 安装开发者环境包（ROS2 + conda 依赖 + uv）
|
|
||||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
|
||||||
```
|
```
|
||||||
|
|
||||||
### 第三步：安装 pip 依赖和可编辑模式安装
|
#### 选项 B：通过手动安装
|
||||||
|
|
||||||
克隆代码并安装依赖：
|
参考上文"方式二：手动安装"，创建并安装环境：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
mamba create -n unilab python=3.11.11
|
||||||
|
conda activate unilab
|
||||||
|
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
|
```
|
||||||
|
|
||||||
|
**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
|
||||||
|
|
||||||
|
### 第三步：切换到开发版本
|
||||||
|
|
||||||
|
现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 确保环境已激活
|
# 确保环境已激活
|
||||||
conda activate unilab
|
conda activate unilab
|
||||||
|
|
||||||
# 克隆仓库（如果还未克隆）
|
# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
pip uninstall unilabos -y
|
||||||
cd Uni-Lab-OS
|
|
||||||
|
|
||||||
# 切换到 dev 分支（可选）
|
# 克隆 dev 分支（如果还未克隆）
|
||||||
|
cd /path/to/your/workspace
|
||||||
|
git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||||
|
# 或者如果已经克隆，切换到 dev 分支
|
||||||
|
cd Uni-Lab-OS
|
||||||
git checkout dev
|
git checkout dev
|
||||||
git pull
|
git pull
|
||||||
```
|
|
||||||
|
|
||||||
**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
|
# 以可编辑模式安装开发版 unilabos
|
||||||
|
|
||||||
```bash
|
|
||||||
# 自动检测中文环境，如果是中文系统则使用清华镜像
|
|
||||||
python scripts/dev_install.py
|
|
||||||
|
|
||||||
# 或者手动指定：
|
|
||||||
python scripts/dev_install.py --china # 强制使用清华镜像
|
|
||||||
python scripts/dev_install.py --no-mirror # 强制使用 PyPI
|
|
||||||
python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
|
|
||||||
python scripts/dev_install.py --use-pip # 使用 pip 而非 uv
|
|
||||||
```
|
|
||||||
|
|
||||||
**手动安装**（如果脚本安装失败或速度太慢）：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
# 1. 安装 unilabos（可编辑模式）
|
|
||||||
pip install -e .
|
|
||||||
|
|
||||||
# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt
|
|
||||||
|
|
||||||
# 国内用户使用清华镜像：
|
|
||||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
|
||||||
```
|
```
|
||||||
|
|
||||||
**注意**：
|
**参数说明**：
|
||||||
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
|
|
||||||
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
|
|
||||||
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
|
|
||||||
|
|
||||||
**为什么使用可编辑模式？**
|
- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
|
||||||
|
- `-i`: 使用清华镜像源加速下载
|
||||||
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
|
- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
|
||||||
- 适合开发调试：修改代码后直接运行测试
|
|
||||||
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
|
|
||||||
|
|
||||||
**验证安装**：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
# 检查 unilabos 版本
|
|
||||||
python -c "import unilabos; print(unilabos.__version__)"
|
|
||||||
|
|
||||||
# 检查安装位置（应该指向你的代码目录）
|
|
||||||
pip show unilabos | grep Location
|
|
||||||
```
|
|
||||||
|
|
||||||
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
||||||
|
|
||||||
@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab
|
|||||||
|
|
||||||
### 问题 8: 环境很大，有办法减小吗？
|
### 问题 8: 环境很大，有办法减小吗？
|
||||||
|
|
||||||
**解决方案**:
|
**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
|
||||||
|
|
||||||
1. **使用 `unilabos` 标准版**（推荐大多数用户）：
|
|
||||||
```bash
|
|
||||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
|
||||||
```
|
|
||||||
标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
|
|
||||||
|
|
||||||
2. **使用 `unilabos-env` 开发者版**（最小化）：
|
|
||||||
```bash
|
|
||||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
|
||||||
# 然后手动安装依赖
|
|
||||||
pip install -e .
|
|
||||||
uv pip install -r unilabos/utils/requirements.txt
|
|
||||||
```
|
|
||||||
开发者版只包含环境依赖，体积最小约 2GB。
|
|
||||||
|
|
||||||
3. **按需安装额外组件**：
|
|
||||||
如果后续需要特定功能，可以单独安装：
|
|
||||||
```bash
|
|
||||||
# 需要 Jupyter
|
|
||||||
mamba install jupyter jupyros
|
|
||||||
|
|
||||||
# 需要可视化
|
|
||||||
mamba install matplotlib opencv
|
|
||||||
|
|
||||||
# 需要仿真（注意：这会安装大量依赖）
|
|
||||||
mamba install ros-humble-gazebo-ros
|
|
||||||
```
|
|
||||||
|
|
||||||
4. **预打包环境问题**：
|
|
||||||
预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
|
|
||||||
|
|
||||||
**包选择建议**：
|
|
||||||
| 需求 | 推荐包 | 预估大小 |
|
|
||||||
|------|--------|----------|
|
|
||||||
| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
|
|
||||||
| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
|
|
||||||
| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
|
|
||||||
|
|
||||||
### 问题 9: 如何更新到最新版本？
|
### 问题 9: 如何更新到最新版本？
|
||||||
|
|
||||||
@@ -616,7 +511,6 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
|||||||
|
|
||||||
**提示**:
|
**提示**:
|
||||||
|
|
||||||
- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
|
- 生产环境推荐使用方式二（手动安装）的稳定版本
|
||||||
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
|
- 开发和测试推荐使用方式三（开发者安装）
|
||||||
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
|
- 快速体验和演示推荐使用方式一（一键安装）
|
||||||
- **快速体验和演示**推荐使用方式一（一键安装）
|
|
||||||
|
|||||||
@@ -1,6 +1,6 @@
|
|||||||
package:
|
package:
|
||||||
name: ros-humble-unilabos-msgs
|
name: ros-humble-unilabos-msgs
|
||||||
version: 0.10.17
|
version: 0.10.15
|
||||||
source:
|
source:
|
||||||
path: ../../unilabos_msgs
|
path: ../../unilabos_msgs
|
||||||
target_directory: src
|
target_directory: src
|
||||||
@@ -25,7 +25,7 @@ requirements:
|
|||||||
build:
|
build:
|
||||||
- ${{ compiler('cxx') }}
|
- ${{ compiler('cxx') }}
|
||||||
- ${{ compiler('c') }}
|
- ${{ compiler('c') }}
|
||||||
- python ==3.11.14
|
- python ==3.11.11
|
||||||
- numpy
|
- numpy
|
||||||
- if: build_platform != target_platform
|
- if: build_platform != target_platform
|
||||||
then:
|
then:
|
||||||
@@ -63,14 +63,14 @@ requirements:
|
|||||||
- robostack-staging::ros-humble-rosidl-default-generators
|
- robostack-staging::ros-humble-rosidl-default-generators
|
||||||
- robostack-staging::ros-humble-std-msgs
|
- robostack-staging::ros-humble-std-msgs
|
||||||
- robostack-staging::ros-humble-geometry-msgs
|
- robostack-staging::ros-humble-geometry-msgs
|
||||||
- robostack-staging::ros2-distro-mutex=0.7
|
- robostack-staging::ros2-distro-mutex=0.6
|
||||||
run:
|
run:
|
||||||
- robostack-staging::ros-humble-action-msgs
|
- robostack-staging::ros-humble-action-msgs
|
||||||
- robostack-staging::ros-humble-ros-workspace
|
- robostack-staging::ros-humble-ros-workspace
|
||||||
- robostack-staging::ros-humble-rosidl-default-runtime
|
- robostack-staging::ros-humble-rosidl-default-runtime
|
||||||
- robostack-staging::ros-humble-std-msgs
|
- robostack-staging::ros-humble-std-msgs
|
||||||
- robostack-staging::ros-humble-geometry-msgs
|
- robostack-staging::ros-humble-geometry-msgs
|
||||||
- robostack-staging::ros2-distro-mutex=0.7
|
- robostack-staging::ros2-distro-mutex=0.6
|
||||||
- if: osx and x86_64
|
- if: osx and x86_64
|
||||||
then:
|
then:
|
||||||
- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
||||||
|
|||||||
@@ -1,6 +1,6 @@
|
|||||||
package:
|
package:
|
||||||
name: unilabos
|
name: unilabos
|
||||||
version: "0.10.17"
|
version: "0.10.15"
|
||||||
|
|
||||||
source:
|
source:
|
||||||
path: ../..
|
path: ../..
|
||||||
|
|||||||
@@ -85,7 +85,7 @@ Verification:
|
|||||||
-------------
|
-------------
|
||||||
|
|
||||||
The verify_installation.py script will check:
|
The verify_installation.py script will check:
|
||||||
- Python version (3.11.14)
|
- Python version (3.11.11)
|
||||||
- ROS2 rclpy installation
|
- ROS2 rclpy installation
|
||||||
- UniLabOS installation and dependencies
|
- UniLabOS installation and dependencies
|
||||||
|
|
||||||
@@ -104,7 +104,7 @@ Build Information:
|
|||||||
|
|
||||||
Branch: {branch}
|
Branch: {branch}
|
||||||
Platform: {platform}
|
Platform: {platform}
|
||||||
Python: 3.11.14
|
Python: 3.11.11
|
||||||
Date: {build_date}
|
Date: {build_date}
|
||||||
|
|
||||||
Troubleshooting:
|
Troubleshooting:
|
||||||
|
|||||||
@@ -1,214 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
Development installation script for UniLabOS.
|
|
||||||
Auto-detects Chinese locale and uses appropriate mirror.
|
|
||||||
|
|
||||||
Usage:
|
|
||||||
python scripts/dev_install.py
|
|
||||||
python scripts/dev_install.py --no-mirror # Force no mirror
|
|
||||||
python scripts/dev_install.py --china # Force China mirror
|
|
||||||
python scripts/dev_install.py --skip-deps # Skip pip dependencies installation
|
|
||||||
|
|
||||||
Flow:
|
|
||||||
1. pip install -e . (install unilabos in editable mode)
|
|
||||||
2. Detect Chinese locale
|
|
||||||
3. Use uv to install pip dependencies from requirements.txt
|
|
||||||
4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
|
|
||||||
"""
|
|
||||||
|
|
||||||
import locale
|
|
||||||
import subprocess
|
|
||||||
import sys
|
|
||||||
import argparse
|
|
||||||
from pathlib import Path
|
|
||||||
|
|
||||||
# Tsinghua mirror URL
|
|
||||||
TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
|
||||||
|
|
||||||
|
|
||||||
def is_chinese_locale() -> bool:
|
|
||||||
"""
|
|
||||||
Detect if system is in Chinese locale.
|
|
||||||
Same logic as EnvironmentChecker._is_chinese_locale()
|
|
||||||
"""
|
|
||||||
try:
|
|
||||||
lang = locale.getdefaultlocale()[0]
|
|
||||||
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
|
|
||||||
return True
|
|
||||||
except Exception:
|
|
||||||
pass
|
|
||||||
return False
|
|
||||||
|
|
||||||
|
|
||||||
def run_command(cmd: list, description: str, retry: int = 2) -> bool:
|
|
||||||
"""Run command with retry support."""
|
|
||||||
print(f"[INFO] {description}")
|
|
||||||
print(f"[CMD] {' '.join(cmd)}")
|
|
||||||
|
|
||||||
for attempt in range(retry + 1):
|
|
||||||
try:
|
|
||||||
result = subprocess.run(cmd, check=True, timeout=600)
|
|
||||||
print(f"[OK] {description}")
|
|
||||||
return True
|
|
||||||
except subprocess.CalledProcessError as e:
|
|
||||||
if attempt < retry:
|
|
||||||
print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
|
|
||||||
else:
|
|
||||||
print(f"[ERROR] {description} failed: {e}")
|
|
||||||
return False
|
|
||||||
except subprocess.TimeoutExpired:
|
|
||||||
print(f"[ERROR] {description} timed out")
|
|
||||||
return False
|
|
||||||
return False
|
|
||||||
|
|
||||||
|
|
||||||
def install_editable(project_root: Path, use_mirror: bool) -> bool:
|
|
||||||
"""Install unilabos in editable mode using pip."""
|
|
||||||
cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
|
|
||||||
if use_mirror:
|
|
||||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
|
||||||
|
|
||||||
return run_command(cmd, "Installing unilabos in editable mode")
|
|
||||||
|
|
||||||
|
|
||||||
def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
|
|
||||||
"""Install pip dependencies using uv (installed via conda-forge::uv)."""
|
|
||||||
cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
|
|
||||||
if use_mirror:
|
|
||||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
|
||||||
|
|
||||||
return run_command(cmd, "Installing pip dependencies with uv", retry=2)
|
|
||||||
|
|
||||||
|
|
||||||
def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
|
|
||||||
"""Fallback: Install pip dependencies using pip."""
|
|
||||||
cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
|
|
||||||
if use_mirror:
|
|
||||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
|
||||||
|
|
||||||
return run_command(cmd, "Installing pip dependencies with pip", retry=2)
|
|
||||||
|
|
||||||
|
|
||||||
def check_uv_available() -> bool:
|
|
||||||
"""Check if uv is available (installed via conda-forge::uv)."""
|
|
||||||
try:
|
|
||||||
subprocess.run(["uv", "--version"], capture_output=True, check=True)
|
|
||||||
return True
|
|
||||||
except (subprocess.CalledProcessError, FileNotFoundError):
|
|
||||||
return False
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
|
|
||||||
parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
|
|
||||||
parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
|
|
||||||
parser.add_argument(
|
|
||||||
"--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
|
|
||||||
)
|
|
||||||
parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
|
|
||||||
args = parser.parse_args()
|
|
||||||
|
|
||||||
# Determine project root
|
|
||||||
script_dir = Path(__file__).parent
|
|
||||||
project_root = script_dir.parent
|
|
||||||
requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
|
|
||||||
|
|
||||||
if not (project_root / "setup.py").exists():
|
|
||||||
print(f"[ERROR] setup.py not found in {project_root}")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
print("=" * 60)
|
|
||||||
print("UniLabOS Development Installation")
|
|
||||||
print("=" * 60)
|
|
||||||
print(f"Project root: {project_root}")
|
|
||||||
print()
|
|
||||||
|
|
||||||
# Determine mirror usage based on locale
|
|
||||||
if args.no_mirror:
|
|
||||||
use_mirror = False
|
|
||||||
print("[INFO] Mirror disabled by --no-mirror flag")
|
|
||||||
elif args.china:
|
|
||||||
use_mirror = True
|
|
||||||
print("[INFO] China mirror enabled by --china flag")
|
|
||||||
else:
|
|
||||||
use_mirror = is_chinese_locale()
|
|
||||||
if use_mirror:
|
|
||||||
print("[INFO] Chinese locale detected, using Tsinghua mirror")
|
|
||||||
else:
|
|
||||||
print("[INFO] Non-Chinese locale detected, using default PyPI")
|
|
||||||
|
|
||||||
print()
|
|
||||||
|
|
||||||
# Step 1: Install unilabos in editable mode
|
|
||||||
print("[STEP 1] Installing unilabos in editable mode...")
|
|
||||||
if not install_editable(project_root, use_mirror):
|
|
||||||
print("[ERROR] Failed to install unilabos")
|
|
||||||
print()
|
|
||||||
print("Manual fallback:")
|
|
||||||
if use_mirror:
|
|
||||||
print(f" pip install -e {project_root} -i {TSINGHUA_MIRROR}")
|
|
||||||
else:
|
|
||||||
print(f" pip install -e {project_root}")
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
print()
|
|
||||||
|
|
||||||
# Step 2: Install pip dependencies
|
|
||||||
if args.skip_deps:
|
|
||||||
print("[INFO] Skipping pip dependencies installation (--skip-deps)")
|
|
||||||
else:
|
|
||||||
print("[STEP 2] Installing pip dependencies...")
|
|
||||||
|
|
||||||
if not requirements_file.exists():
|
|
||||||
print(f"[WARN] Requirements file not found: {requirements_file}")
|
|
||||||
print("[INFO] Skipping dependencies installation")
|
|
||||||
else:
|
|
||||||
# Try uv first (faster), fallback to pip
|
|
||||||
if args.use_pip:
|
|
||||||
print("[INFO] Using pip (--use-pip flag)")
|
|
||||||
success = install_requirements_pip(requirements_file, use_mirror)
|
|
||||||
elif check_uv_available():
|
|
||||||
print("[INFO] Using uv (installed via conda-forge::uv)")
|
|
||||||
success = install_requirements_uv(requirements_file, use_mirror)
|
|
||||||
if not success:
|
|
||||||
print("[WARN] uv failed, falling back to pip...")
|
|
||||||
success = install_requirements_pip(requirements_file, use_mirror)
|
|
||||||
else:
|
|
||||||
print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
|
|
||||||
print("[INFO] Falling back to pip...")
|
|
||||||
success = install_requirements_pip(requirements_file, use_mirror)
|
|
||||||
|
|
||||||
if not success:
|
|
||||||
print()
|
|
||||||
print("[WARN] Failed to install some dependencies automatically.")
|
|
||||||
print("You can manually install them:")
|
|
||||||
if use_mirror:
|
|
||||||
print(f" uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
|
||||||
print(" or:")
|
|
||||||
print(f" pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
|
||||||
else:
|
|
||||||
print(f" uv pip install -r {requirements_file}")
|
|
||||||
print(" or:")
|
|
||||||
print(f" pip install -r {requirements_file}")
|
|
||||||
|
|
||||||
print()
|
|
||||||
print("=" * 60)
|
|
||||||
print("Installation complete!")
|
|
||||||
print("=" * 60)
|
|
||||||
print()
|
|
||||||
print("Note: Some special packages (like pylabrobot) are installed")
|
|
||||||
print("automatically at runtime by unilabos if needed.")
|
|
||||||
print()
|
|
||||||
print("Verify installation:")
|
|
||||||
print(' python -c "import unilabos; print(unilabos.__version__)"')
|
|
||||||
print()
|
|
||||||
print("If you encounter issues, you can manually install dependencies:")
|
|
||||||
if use_mirror:
|
|
||||||
print(f" uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
|
|
||||||
else:
|
|
||||||
print(" uv pip install -r unilabos/utils/requirements.txt")
|
|
||||||
print()
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
|||||||
|
|
||||||
setup(
|
setup(
|
||||||
name=package_name,
|
name=package_name,
|
||||||
version='0.10.17',
|
version='0.10.15',
|
||||||
packages=find_packages(),
|
packages=find_packages(),
|
||||||
include_package_data=True,
|
include_package_data=True,
|
||||||
install_requires=['setuptools'],
|
install_requires=['setuptools'],
|
||||||
|
|||||||
@@ -1,213 +0,0 @@
|
|||||||
{
|
|
||||||
"workflow": [
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines",
|
|
||||||
"targets": "Liquid_1",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines",
|
|
||||||
"targets": "Liquid_2",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines",
|
|
||||||
"targets": "Liquid_3",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines_2",
|
|
||||||
"targets": "Liquid_4",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines_2",
|
|
||||||
"targets": "Liquid_5",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines_2",
|
|
||||||
"targets": "Liquid_6",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines_3",
|
|
||||||
"targets": "dest_set",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines_3",
|
|
||||||
"targets": "dest_set_2",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"action": "transfer_liquid",
|
|
||||||
"action_args": {
|
|
||||||
"sources": "cell_lines_3",
|
|
||||||
"targets": "dest_set_3",
|
|
||||||
"asp_vol": 100.0,
|
|
||||||
"dis_vol": 74.75,
|
|
||||||
"asp_flow_rate": 94.0,
|
|
||||||
"dis_flow_rate": 95.5
|
|
||||||
}
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"reagent": {
|
|
||||||
"Liquid_1": {
|
|
||||||
"slot": 1,
|
|
||||||
"well": [
|
|
||||||
"A4",
|
|
||||||
"A7",
|
|
||||||
"A10"
|
|
||||||
],
|
|
||||||
"labware": "rep 1"
|
|
||||||
},
|
|
||||||
"Liquid_4": {
|
|
||||||
"slot": 1,
|
|
||||||
"well": [
|
|
||||||
"A4",
|
|
||||||
"A7",
|
|
||||||
"A10"
|
|
||||||
],
|
|
||||||
"labware": "rep 1"
|
|
||||||
},
|
|
||||||
"dest_set": {
|
|
||||||
"slot": 1,
|
|
||||||
"well": [
|
|
||||||
"A4",
|
|
||||||
"A7",
|
|
||||||
"A10"
|
|
||||||
],
|
|
||||||
"labware": "rep 1"
|
|
||||||
},
|
|
||||||
"Liquid_2": {
|
|
||||||
"slot": 2,
|
|
||||||
"well": [
|
|
||||||
"A3",
|
|
||||||
"A5",
|
|
||||||
"A8"
|
|
||||||
],
|
|
||||||
"labware": "rep 2"
|
|
||||||
},
|
|
||||||
"Liquid_5": {
|
|
||||||
"slot": 2,
|
|
||||||
"well": [
|
|
||||||
"A3",
|
|
||||||
"A5",
|
|
||||||
"A8"
|
|
||||||
],
|
|
||||||
"labware": "rep 2"
|
|
||||||
},
|
|
||||||
"dest_set_2": {
|
|
||||||
"slot": 2,
|
|
||||||
"well": [
|
|
||||||
"A3",
|
|
||||||
"A5",
|
|
||||||
"A8"
|
|
||||||
],
|
|
||||||
"labware": "rep 2"
|
|
||||||
},
|
|
||||||
"Liquid_3": {
|
|
||||||
"slot": 3,
|
|
||||||
"well": [
|
|
||||||
"A4",
|
|
||||||
"A6",
|
|
||||||
"A10"
|
|
||||||
],
|
|
||||||
"labware": "rep 3"
|
|
||||||
},
|
|
||||||
"Liquid_6": {
|
|
||||||
"slot": 3,
|
|
||||||
"well": [
|
|
||||||
"A4",
|
|
||||||
"A6",
|
|
||||||
"A10"
|
|
||||||
],
|
|
||||||
"labware": "rep 3"
|
|
||||||
},
|
|
||||||
"dest_set_3": {
|
|
||||||
"slot": 3,
|
|
||||||
"well": [
|
|
||||||
"A4",
|
|
||||||
"A6",
|
|
||||||
"A10"
|
|
||||||
],
|
|
||||||
"labware": "rep 3"
|
|
||||||
},
|
|
||||||
"cell_lines": {
|
|
||||||
"slot": 4,
|
|
||||||
"well": [
|
|
||||||
"A1",
|
|
||||||
"A3",
|
|
||||||
"A5"
|
|
||||||
],
|
|
||||||
"labware": "DRUG + YOYO-MEDIA"
|
|
||||||
},
|
|
||||||
"cell_lines_2": {
|
|
||||||
"slot": 4,
|
|
||||||
"well": [
|
|
||||||
"A1",
|
|
||||||
"A3",
|
|
||||||
"A5"
|
|
||||||
],
|
|
||||||
"labware": "DRUG + YOYO-MEDIA"
|
|
||||||
},
|
|
||||||
"cell_lines_3": {
|
|
||||||
"slot": 4,
|
|
||||||
"well": [
|
|
||||||
"A1",
|
|
||||||
"A3",
|
|
||||||
"A5"
|
|
||||||
],
|
|
||||||
"labware": "DRUG + YOYO-MEDIA"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1 +1 @@
|
|||||||
__version__ = "0.10.17"
|
__version__ = "0.10.15"
|
||||||
|
|||||||
@@ -1,6 +0,0 @@
|
|||||||
"""Entry point for `python -m unilabos`."""
|
|
||||||
|
|
||||||
from unilabos.app.main import main
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
@@ -7,6 +7,7 @@ import sys
|
|||||||
import threading
|
import threading
|
||||||
import time
|
import time
|
||||||
from typing import Dict, Any, List
|
from typing import Dict, Any, List
|
||||||
|
|
||||||
import networkx as nx
|
import networkx as nx
|
||||||
import yaml
|
import yaml
|
||||||
|
|
||||||
@@ -16,9 +17,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
|||||||
if unilabos_dir not in sys.path:
|
if unilabos_dir not in sys.path:
|
||||||
sys.path.append(unilabos_dir)
|
sys.path.append(unilabos_dir)
|
||||||
|
|
||||||
from unilabos.app.utils import cleanup_for_restart
|
|
||||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||||
|
from unilabos.app.utils import cleanup_for_restart
|
||||||
|
|
||||||
# Global restart flags (used by ws_client and web/server)
|
# Global restart flags (used by ws_client and web/server)
|
||||||
_restart_requested: bool = False
|
_restart_requested: bool = False
|
||||||
@@ -160,12 +161,6 @@ def parse_args():
|
|||||||
default=False,
|
default=False,
|
||||||
help="Complete registry information",
|
help="Complete registry information",
|
||||||
)
|
)
|
||||||
parser.add_argument(
|
|
||||||
"--check_mode",
|
|
||||||
action="store_true",
|
|
||||||
default=False,
|
|
||||||
help="Run in check mode for CI: validates registry imports and ensures no file changes",
|
|
||||||
)
|
|
||||||
parser.add_argument(
|
parser.add_argument(
|
||||||
"--no_update_feedback",
|
"--no_update_feedback",
|
||||||
action="store_true",
|
action="store_true",
|
||||||
@@ -216,10 +211,7 @@ def main():
|
|||||||
args_dict = vars(args)
|
args_dict = vars(args)
|
||||||
|
|
||||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||||
skip_env_check = args_dict.get("skip_env_check", False)
|
if not args_dict.get("skip_env_check", False):
|
||||||
check_mode = args_dict.get("check_mode", False)
|
|
||||||
|
|
||||||
if not skip_env_check:
|
|
||||||
from unilabos.utils.environment_check import check_environment
|
from unilabos.utils.environment_check import check_environment
|
||||||
|
|
||||||
if not check_environment(auto_install=True):
|
if not check_environment(auto_install=True):
|
||||||
@@ -230,21 +222,7 @@ def main():
|
|||||||
|
|
||||||
# 加载配置文件，优先加载config，然后从env读取
|
# 加载配置文件，优先加载config，然后从env读取
|
||||||
config_path = args_dict.get("config")
|
config_path = args_dict.get("config")
|
||||||
|
if os.getcwd().endswith("unilabos_data"):
|
||||||
if check_mode:
|
|
||||||
args_dict["working_dir"] = os.path.abspath(os.getcwd())
|
|
||||||
# 当 skip_env_check 时，默认使用当前目录作为 working_dir
|
|
||||||
if skip_env_check and not args_dict.get("working_dir") and not config_path:
|
|
||||||
working_dir = os.path.abspath(os.getcwd())
|
|
||||||
print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
|
|
||||||
# 检查当前目录是否有 local_config.py
|
|
||||||
local_config_in_cwd = os.path.join(working_dir, "local_config.py")
|
|
||||||
if os.path.exists(local_config_in_cwd):
|
|
||||||
config_path = local_config_in_cwd
|
|
||||||
print_status(f"发现本地配置文件: {config_path}", "info")
|
|
||||||
else:
|
|
||||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
|
||||||
elif os.getcwd().endswith("unilabos_data"):
|
|
||||||
working_dir = os.path.abspath(os.getcwd())
|
working_dir = os.path.abspath(os.getcwd())
|
||||||
else:
|
else:
|
||||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||||
@@ -263,7 +241,7 @@ def main():
|
|||||||
working_dir = os.path.dirname(config_path)
|
working_dir = os.path.dirname(config_path)
|
||||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||||
config_path = os.path.join(working_dir, "local_config.py")
|
config_path = os.path.join(working_dir, "local_config.py")
|
||||||
elif not skip_env_check and not config_path and (
|
elif not config_path and (
|
||||||
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
||||||
):
|
):
|
||||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||||
@@ -277,11 +255,9 @@ def main():
|
|||||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||||
else:
|
else:
|
||||||
os._exit(1)
|
os._exit(1)
|
||||||
|
# 加载配置文件
|
||||||
# 加载配置文件 (check_mode 跳过)
|
|
||||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||||
if not check_mode:
|
load_config_from_file(config_path)
|
||||||
load_config_from_file(config_path)
|
|
||||||
|
|
||||||
# 根据配置重新设置日志级别
|
# 根据配置重新设置日志级别
|
||||||
from unilabos.utils.log import configure_logger, logger
|
from unilabos.utils.log import configure_logger, logger
|
||||||
@@ -337,7 +313,6 @@ def main():
|
|||||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||||
BasicConfig.machine_name = machine_name
|
BasicConfig.machine_name = machine_name
|
||||||
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
||||||
BasicConfig.check_mode = check_mode
|
|
||||||
|
|
||||||
from unilabos.resources.graphio import (
|
from unilabos.resources.graphio import (
|
||||||
read_node_link_json,
|
read_node_link_json,
|
||||||
@@ -356,14 +331,10 @@ def main():
|
|||||||
# 显示启动横幅
|
# 显示启动横幅
|
||||||
print_unilab_banner(args_dict)
|
print_unilab_banner(args_dict)
|
||||||
|
|
||||||
# 注册表 - check_mode 时强制启用 complete_registry
|
# 注册表
|
||||||
complete_registry = args_dict.get("complete_registry", False) or check_mode
|
lab_registry = build_registry(
|
||||||
lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
|
args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
|
||||||
|
)
|
||||||
# Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
|
|
||||||
if check_mode:
|
|
||||||
print_status("Check mode: complete_registry 完成，退出", "info")
|
|
||||||
os._exit(0)
|
|
||||||
|
|
||||||
if BasicConfig.upload_registry:
|
if BasicConfig.upload_registry:
|
||||||
# 设备注册到服务端 - 需要 ak 和 sk
|
# 设备注册到服务端 - 需要 ak 和 sk
|
||||||
|
|||||||
@@ -54,7 +54,6 @@ class JobAddReq(BaseModel):
|
|||||||
action_type: str = Field(
|
action_type: str = Field(
|
||||||
examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
|
examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
|
||||||
)
|
)
|
||||||
sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
|
|
||||||
action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
|
action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
|
||||||
task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
|
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="")
|
||||||
|
|||||||
@@ -4,40 +4,8 @@ UniLabOS 应用工具函数
|
|||||||
提供清理、重启等工具函数
|
提供清理、重启等工具函数
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import glob
|
|
||||||
import os
|
|
||||||
import shutil
|
|
||||||
import sys
|
|
||||||
|
|
||||||
|
|
||||||
def patch_rclpy_dll_windows():
|
|
||||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
|
||||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
|
||||||
return
|
|
||||||
try:
|
|
||||||
import rclpy
|
|
||||||
|
|
||||||
return
|
|
||||||
except ImportError as e:
|
|
||||||
if not str(e).startswith("DLL load failed"):
|
|
||||||
return
|
|
||||||
cp = os.environ["CONDA_PREFIX"]
|
|
||||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
|
||||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
|
||||||
if not os.path.exists(impl) or not pyd:
|
|
||||||
return
|
|
||||||
with open(impl, "r", encoding="utf-8") as f:
|
|
||||||
content = f.read()
|
|
||||||
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
|
||||||
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
|
||||||
shutil.copy2(impl, impl + ".bak")
|
|
||||||
with open(impl, "w", encoding="utf-8") as f:
|
|
||||||
f.write(patch + content)
|
|
||||||
|
|
||||||
|
|
||||||
patch_rclpy_dll_windows()
|
|
||||||
|
|
||||||
import gc
|
import gc
|
||||||
|
import os
|
||||||
import threading
|
import threading
|
||||||
import time
|
import time
|
||||||
|
|
||||||
|
|||||||
@@ -359,7 +359,9 @@ class HTTPClient:
|
|||||||
Returns:
|
Returns:
|
||||||
Dict: API响应数据，包含 code 和 data (uuid, name)
|
Dict: API响应数据，包含 code 和 data (uuid, name)
|
||||||
"""
|
"""
|
||||||
|
# target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
|
||||||
payload = {
|
payload = {
|
||||||
|
"target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
|
||||||
"name": name,
|
"name": name,
|
||||||
"data": {
|
"data": {
|
||||||
"workflow_uuid": workflow_uuid,
|
"workflow_uuid": workflow_uuid,
|
||||||
|
|||||||
@@ -58,14 +58,14 @@ class JobResultStore:
|
|||||||
feedback=feedback or {},
|
feedback=feedback or {},
|
||||||
timestamp=time.time(),
|
timestamp=time.time(),
|
||||||
)
|
)
|
||||||
logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||||
|
|
||||||
def get_and_remove(self, job_id: str) -> Optional[JobResult]:
|
def get_and_remove(self, job_id: str) -> Optional[JobResult]:
|
||||||
"""获取并删除任务结果"""
|
"""获取并删除任务结果"""
|
||||||
with self._results_lock:
|
with self._results_lock:
|
||||||
result = self._results.pop(job_id, None)
|
result = self._results.pop(job_id, None)
|
||||||
if result:
|
if result:
|
||||||
logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||||
return result
|
return result
|
||||||
|
|
||||||
def get_result(self, job_id: str) -> Optional[JobResult]:
|
def get_result(self, job_id: str) -> Optional[JobResult]:
|
||||||
@@ -327,7 +327,6 @@ def job_add(req: JobAddReq) -> JobData:
|
|||||||
queue_item,
|
queue_item,
|
||||||
action_type=action_type,
|
action_type=action_type,
|
||||||
action_kwargs=action_args,
|
action_kwargs=action_args,
|
||||||
sample_material=req.sample_material,
|
|
||||||
server_info=server_info,
|
server_info=server_info,
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|||||||
@@ -23,7 +23,7 @@ from typing import Optional, Dict, Any, List
|
|||||||
from urllib.parse import urlparse
|
from urllib.parse import urlparse
|
||||||
from enum import Enum
|
from enum import Enum
|
||||||
|
|
||||||
from typing_extensions import TypedDict
|
from jedi.inference.gradual.typing import TypedDict
|
||||||
|
|
||||||
from unilabos.app.model import JobAddReq
|
from unilabos.app.model import JobAddReq
|
||||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||||
@@ -154,7 +154,7 @@ class DeviceActionManager:
|
|||||||
job_info.set_ready_timeout(10) # 设置10秒超时
|
job_info.set_ready_timeout(10) # 设置10秒超时
|
||||||
self.active_jobs[device_key] = job_info
|
self.active_jobs[device_key] = job_info
|
||||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||||
logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||||
return True
|
return True
|
||||||
|
|
||||||
def start_job(self, job_id: str) -> bool:
|
def start_job(self, job_id: str) -> bool:
|
||||||
@@ -210,9 +210,8 @@ class DeviceActionManager:
|
|||||||
job_info.update_timestamp()
|
job_info.update_timestamp()
|
||||||
# 从all_jobs中移除已结束的job
|
# 从all_jobs中移除已结束的job
|
||||||
del self.all_jobs[job_id]
|
del self.all_jobs[job_id]
|
||||||
# job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||||
# logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||||
pass
|
|
||||||
else:
|
else:
|
||||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||||
logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
|
logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
|
||||||
@@ -228,7 +227,7 @@ class DeviceActionManager:
|
|||||||
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
|
||||||
)
|
)
|
||||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||||
return next_job
|
return next_job
|
||||||
|
|
||||||
return None
|
return None
|
||||||
@@ -269,7 +268,7 @@ class DeviceActionManager:
|
|||||||
# 从all_jobs中移除
|
# 从all_jobs中移除
|
||||||
del self.all_jobs[job_id]
|
del self.all_jobs[job_id]
|
||||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||||
logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||||
|
|
||||||
# 启动下一个任务
|
# 启动下一个任务
|
||||||
if device_key in self.device_queues and self.device_queues[device_key]:
|
if device_key in self.device_queues and self.device_queues[device_key]:
|
||||||
@@ -282,7 +281,7 @@ class DeviceActionManager:
|
|||||||
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
|
||||||
)
|
)
|
||||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||||
return True
|
return True
|
||||||
|
|
||||||
# 如果是排队中的任务
|
# 如果是排队中的任务
|
||||||
@@ -296,7 +295,7 @@ class DeviceActionManager:
|
|||||||
job_log = format_job_log(
|
job_log = format_job_log(
|
||||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||||
)
|
)
|
||||||
logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||||
return True
|
return True
|
||||||
|
|
||||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||||
@@ -495,12 +494,8 @@ class MessageProcessor:
|
|||||||
await self._process_message(message_type, message_data)
|
await self._process_message(message_type, message_data)
|
||||||
else:
|
else:
|
||||||
if message_type.endswith("_material"):
|
if message_type.endswith("_material"):
|
||||||
logger.trace(
|
logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
|
||||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}")
|
||||||
)
|
|
||||||
logger.debug(
|
|
||||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
|
||||||
)
|
|
||||||
else:
|
else:
|
||||||
await self._process_message(message_type, message_data)
|
await self._process_message(message_type, message_data)
|
||||||
except json.JSONDecodeError:
|
except json.JSONDecodeError:
|
||||||
@@ -545,7 +540,7 @@ class MessageProcessor:
|
|||||||
try:
|
try:
|
||||||
message_str = json.dumps(msg, ensure_ascii=False)
|
message_str = json.dumps(msg, ensure_ascii=False)
|
||||||
await self.websocket.send(message_str)
|
await self.websocket.send(message_str)
|
||||||
# logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
|
logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
|
||||||
logger.error(traceback.format_exc())
|
logger.error(traceback.format_exc())
|
||||||
@@ -570,7 +565,7 @@ class MessageProcessor:
|
|||||||
|
|
||||||
async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
|
async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
|
||||||
"""处理收到的消息"""
|
"""处理收到的消息"""
|
||||||
logger.trace(f"[MessageProcessor] Processing message: {message_type}")
|
logger.debug(f"[MessageProcessor] Processing message: {message_type}")
|
||||||
|
|
||||||
try:
|
try:
|
||||||
if message_type == "pong":
|
if message_type == "pong":
|
||||||
@@ -642,13 +637,13 @@ class MessageProcessor:
|
|||||||
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
|
||||||
)
|
)
|
||||||
logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
|
logger.info(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
|
||||||
)
|
)
|
||||||
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
logger.info(f"[MessageProcessor] Job {job_log} queued")
|
||||||
|
|
||||||
# 通知QueueProcessor有新的队列更新
|
# 通知QueueProcessor有新的队列更新
|
||||||
if self.queue_processor:
|
if self.queue_processor:
|
||||||
@@ -657,8 +652,6 @@ class MessageProcessor:
|
|||||||
async def _handle_job_start(self, data: Dict[str, Any]):
|
async def _handle_job_start(self, data: Dict[str, Any]):
|
||||||
"""处理job_start消息"""
|
"""处理job_start消息"""
|
||||||
try:
|
try:
|
||||||
if not data.get("sample_material"):
|
|
||||||
data["sample_material"] = {}
|
|
||||||
req = JobAddReq(**data)
|
req = JobAddReq(**data)
|
||||||
|
|
||||||
job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
|
job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
|
||||||
@@ -690,7 +683,6 @@ class MessageProcessor:
|
|||||||
queue_item,
|
queue_item,
|
||||||
action_type=req.action_type,
|
action_type=req.action_type,
|
||||||
action_kwargs=req.action_args,
|
action_kwargs=req.action_args,
|
||||||
sample_material=req.sample_material,
|
|
||||||
server_info=req.server_info,
|
server_info=req.server_info,
|
||||||
)
|
)
|
||||||
|
|
||||||
@@ -855,7 +847,9 @@ class MessageProcessor:
|
|||||||
device_action_groups[key_add] = []
|
device_action_groups[key_add] = []
|
||||||
device_action_groups[key_add].append(item["uuid"])
|
device_action_groups[key_add].append(item["uuid"])
|
||||||
|
|
||||||
logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
|
logger.info(
|
||||||
|
f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
|
||||||
|
)
|
||||||
else:
|
else:
|
||||||
# 正常update
|
# 正常update
|
||||||
key = (device_id, "update")
|
key = (device_id, "update")
|
||||||
@@ -869,13 +863,11 @@ class MessageProcessor:
|
|||||||
device_action_groups[key] = []
|
device_action_groups[key] = []
|
||||||
device_action_groups[key].append(item["uuid"])
|
device_action_groups[key].append(item["uuid"])
|
||||||
|
|
||||||
logger.trace(
|
logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
|
||||||
f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
|
|
||||||
)
|
|
||||||
|
|
||||||
# 为每个(device_id, action)创建独立的更新线程
|
# 为每个(device_id, action)创建独立的更新线程
|
||||||
for (device_id, actual_action), items in device_action_groups.items():
|
for (device_id, actual_action), items in device_action_groups.items():
|
||||||
logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
|
logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
|
||||||
|
|
||||||
def _notify_resource_tree(dev_id, act, item_list):
|
def _notify_resource_tree(dev_id, act, item_list):
|
||||||
try:
|
try:
|
||||||
@@ -919,13 +911,13 @@ class MessageProcessor:
|
|||||||
|
|
||||||
# 发送确认消息
|
# 发送确认消息
|
||||||
if self.websocket_client:
|
if self.websocket_client:
|
||||||
await self.websocket_client.send_message(
|
await self.websocket_client.send_message({
|
||||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
"action": "restart_acknowledged",
|
||||||
)
|
"data": {"reason": reason, "delay": delay}
|
||||||
|
})
|
||||||
|
|
||||||
# 设置全局重启标志
|
# 设置全局重启标志
|
||||||
import unilabos.app.main as main_module
|
import unilabos.app.main as main_module
|
||||||
|
|
||||||
main_module._restart_requested = True
|
main_module._restart_requested = True
|
||||||
main_module._restart_reason = reason
|
main_module._restart_reason = reason
|
||||||
|
|
||||||
@@ -935,12 +927,10 @@ class MessageProcessor:
|
|||||||
# 在新线程中执行清理，避免阻塞当前事件循环
|
# 在新线程中执行清理，避免阻塞当前事件循环
|
||||||
def do_cleanup():
|
def do_cleanup():
|
||||||
import time
|
import time
|
||||||
|
|
||||||
time.sleep(0.5) # 给当前消息处理完成的时间
|
time.sleep(0.5) # 给当前消息处理完成的时间
|
||||||
logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
|
logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
|
||||||
try:
|
try:
|
||||||
from unilabos.app.utils import cleanup_for_restart
|
from unilabos.app.utils import cleanup_for_restart
|
||||||
|
|
||||||
if cleanup_for_restart():
|
if cleanup_for_restart():
|
||||||
logger.info("[MessageProcessor] Cleanup successful, main() will restart")
|
logger.info("[MessageProcessor] Cleanup successful, main() will restart")
|
||||||
else:
|
else:
|
||||||
@@ -1138,7 +1128,7 @@ class QueueProcessor:
|
|||||||
success = self.message_processor.send_message(message)
|
success = self.message_processor.send_message(message)
|
||||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||||
if success:
|
if success:
|
||||||
logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||||
else:
|
else:
|
||||||
logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
|
logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
|
||||||
|
|
||||||
@@ -1161,7 +1151,7 @@ class QueueProcessor:
|
|||||||
job_info.action_name,
|
job_info.action_name,
|
||||||
)
|
)
|
||||||
|
|
||||||
logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||||
|
|
||||||
# 结束任务，获取下一个可执行的任务
|
# 结束任务，获取下一个可执行的任务
|
||||||
next_job = self.device_manager.end_job(job_id)
|
next_job = self.device_manager.end_job(job_id)
|
||||||
@@ -1181,8 +1171,8 @@ class QueueProcessor:
|
|||||||
},
|
},
|
||||||
}
|
}
|
||||||
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.info(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
|
||||||
self.notify_queue_update()
|
self.notify_queue_update()
|
||||||
@@ -1304,7 +1294,7 @@ class WebSocketClient(BaseCommunicationClient):
|
|||||||
},
|
},
|
||||||
}
|
}
|
||||||
self.message_processor.send_message(message)
|
self.message_processor.send_message(message)
|
||||||
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||||
|
|
||||||
def publish_job_status(
|
def publish_job_status(
|
||||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||||
@@ -1324,7 +1314,7 @@ class WebSocketClient(BaseCommunicationClient):
|
|||||||
except (KeyError, AttributeError):
|
except (KeyError, AttributeError):
|
||||||
logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
|
logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
|
||||||
|
|
||||||
# logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
||||||
|
|
||||||
# 通知队列处理器job完成（包括timeout的job）
|
# 通知队列处理器job完成（包括timeout的job）
|
||||||
self.queue_processor.handle_job_completed(item.job_id, status)
|
self.queue_processor.handle_job_completed(item.job_id, status)
|
||||||
@@ -1391,9 +1381,7 @@ class WebSocketClient(BaseCommunicationClient):
|
|||||||
if host_node:
|
if host_node:
|
||||||
# 获取设备信息
|
# 获取设备信息
|
||||||
for device_id, namespace in host_node.devices_names.items():
|
for device_id, namespace in host_node.devices_names.items():
|
||||||
device_key = (
|
device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||||
f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
|
||||||
)
|
|
||||||
is_online = device_key in host_node._online_devices
|
is_online = device_key in host_node._online_devices
|
||||||
|
|
||||||
# 获取设备的动作信息
|
# 获取设备的动作信息
|
||||||
@@ -1407,16 +1395,14 @@ class WebSocketClient(BaseCommunicationClient):
|
|||||||
"action_type": str(type(client).__name__),
|
"action_type": str(type(client).__name__),
|
||||||
}
|
}
|
||||||
|
|
||||||
devices.append(
|
devices.append({
|
||||||
{
|
"device_id": device_id,
|
||||||
"device_id": device_id,
|
"namespace": namespace,
|
||||||
"namespace": namespace,
|
"device_key": device_key,
|
||||||
"device_key": device_key,
|
"is_online": is_online,
|
||||||
"is_online": is_online,
|
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
"actions": actions,
|
||||||
"actions": actions,
|
})
|
||||||
}
|
|
||||||
)
|
|
||||||
|
|
||||||
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
|
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
|
|||||||
@@ -95,29 +95,8 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
|
|||||||
return total_volume
|
return total_volume
|
||||||
|
|
||||||
|
|
||||||
def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
|
def is_integrated_pump(node_name):
|
||||||
"""
|
return "pump" in node_name and "valve" in node_name
|
||||||
判断是否为泵阀一体设备
|
|
||||||
"""
|
|
||||||
class_lower = (node_class or "").lower()
|
|
||||||
name_lower = (node_name or "").lower()
|
|
||||||
|
|
||||||
if "pump" not in class_lower and "pump" not in name_lower:
|
|
||||||
return False
|
|
||||||
|
|
||||||
integrated_markers = [
|
|
||||||
"valve",
|
|
||||||
"pump_valve",
|
|
||||||
"pumpvalve",
|
|
||||||
"integrated",
|
|
||||||
"transfer_pump",
|
|
||||||
]
|
|
||||||
|
|
||||||
for marker in integrated_markers:
|
|
||||||
if marker in class_lower or marker in name_lower:
|
|
||||||
return True
|
|
||||||
|
|
||||||
return False
|
|
||||||
|
|
||||||
|
|
||||||
def find_connected_pump(G, valve_node):
|
def find_connected_pump(G, valve_node):
|
||||||
@@ -207,9 +186,7 @@ def build_pump_valve_maps(G, pump_backbone):
|
|||||||
debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
|
debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
|
||||||
|
|
||||||
for node in filtered_backbone:
|
for node in filtered_backbone:
|
||||||
node_data = G.nodes.get(node, {})
|
if is_integrated_pump(G.nodes[node]["class"]):
|
||||||
node_class = node_data.get("class", "") or ""
|
|
||||||
if is_integrated_pump(node_class, node):
|
|
||||||
pumps_from_node[node] = node
|
pumps_from_node[node] = node
|
||||||
valve_from_node[node] = node
|
valve_from_node[node] = node
|
||||||
debug_print(f" - 集成泵-阀: {node}")
|
debug_print(f" - 集成泵-阀: {node}")
|
||||||
|
|||||||
@@ -22,7 +22,6 @@ class BasicConfig:
|
|||||||
startup_json_path = None # 填写绝对路径
|
startup_json_path = None # 填写绝对路径
|
||||||
disable_browser = False # 禁止浏览器自动打开
|
disable_browser = False # 禁止浏览器自动打开
|
||||||
port = 8002 # 本地HTTP服务
|
port = 8002 # 本地HTTP服务
|
||||||
check_mode = False # CI 检查模式，用于验证 registry 导入和文件一致性
|
|
||||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||||
|
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@@ -1,11 +1,15 @@
|
|||||||
from __future__ import annotations
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import asyncio
|
||||||
import time
|
import time
|
||||||
import traceback
|
import traceback
|
||||||
from collections import Counter
|
from collections import Counter
|
||||||
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
|
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
|
||||||
|
|
||||||
|
from typing_extensions import TypedDict
|
||||||
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
|
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
|
||||||
|
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
|
||||||
|
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
|
||||||
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
|
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
|
||||||
from pylabrobot.liquid_handling.standard import GripDirection
|
from pylabrobot.liquid_handling.standard import GripDirection
|
||||||
from pylabrobot.resources import (
|
from pylabrobot.resources import (
|
||||||
@@ -23,53 +27,22 @@ from pylabrobot.resources import (
|
|||||||
Trash,
|
Trash,
|
||||||
Tip,
|
Tip,
|
||||||
)
|
)
|
||||||
from typing_extensions import TypedDict
|
|
||||||
|
|
||||||
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
|
|
||||||
from unilabos.registry.placeholder_type import ResourceSlot
|
|
||||||
from unilabos.resources.resource_tracker import (
|
|
||||||
ResourceTreeSet,
|
|
||||||
ResourceDict,
|
|
||||||
EXTRA_SAMPLE_UUID,
|
|
||||||
EXTRA_UNILABOS_SAMPLE_UUID,
|
|
||||||
)
|
|
||||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
|
|
||||||
|
|
||||||
|
|
||||||
|
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||||
class SimpleReturn(TypedDict):
|
class SimpleReturn(TypedDict):
|
||||||
samples: List[List[ResourceDict]]
|
samples: list
|
||||||
volumes: List[float]
|
volumes: list
|
||||||
|
|
||||||
|
|
||||||
class SetLiquidReturn(TypedDict):
|
|
||||||
wells: List[List[ResourceDict]]
|
|
||||||
volumes: List[float]
|
|
||||||
|
|
||||||
|
|
||||||
class SetLiquidFromPlateReturn(TypedDict):
|
|
||||||
plate: List[List[ResourceDict]]
|
|
||||||
wells: List[List[ResourceDict]]
|
|
||||||
volumes: List[float]
|
|
||||||
|
|
||||||
|
|
||||||
class TransferLiquidReturn(TypedDict):
|
|
||||||
sources: List[List[ResourceDict]]
|
|
||||||
targets: List[List[ResourceDict]]
|
|
||||||
|
|
||||||
|
|
||||||
class LiquidHandlerMiddleware(LiquidHandler):
|
class LiquidHandlerMiddleware(LiquidHandler):
|
||||||
def __init__(
|
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs):
|
||||||
self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
|
|
||||||
):
|
|
||||||
self._simulator = simulator
|
self._simulator = simulator
|
||||||
self.channel_num = channel_num
|
self.channel_num = channel_num
|
||||||
self.pending_liquids_dict = {}
|
self.pending_liquids_dict = {}
|
||||||
joint_config = kwargs.get("joint_config", None)
|
joint_config = kwargs.get("joint_config", None)
|
||||||
if simulator:
|
if simulator:
|
||||||
if joint_config:
|
if joint_config:
|
||||||
self._simulate_backend = UniLiquidHandlerRvizBackend(
|
self._simulate_backend = UniLiquidHandlerRvizBackend(channel_num, kwargs["total_height"],
|
||||||
channel_num, kwargs["total_height"], joint_config=joint_config, lh_device_id=deck.name
|
joint_config=joint_config, lh_device_id=deck.name)
|
||||||
)
|
|
||||||
else:
|
else:
|
||||||
self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
|
self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
|
||||||
self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
|
self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
|
||||||
@@ -186,9 +159,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
|||||||
if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
|
if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
|
||||||
offsets = [Coordinate.zero()] * len(use_channels)
|
offsets = [Coordinate.zero()] * len(use_channels)
|
||||||
if self._simulator:
|
if self._simulator:
|
||||||
return await self._simulate_handler.discard_tips(
|
return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||||
use_channels, allow_nonzero_volume, offsets, **backend_kwargs
|
|
||||||
)
|
|
||||||
await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
|
||||||
self.pending_liquids_dict = {}
|
self.pending_liquids_dict = {}
|
||||||
return
|
return
|
||||||
@@ -209,6 +180,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
|||||||
**backend_kwargs,
|
**backend_kwargs,
|
||||||
):
|
):
|
||||||
|
|
||||||
|
|
||||||
if self._simulator:
|
if self._simulator:
|
||||||
return await self._simulate_handler.aspirate(
|
return await self._simulate_handler.aspirate(
|
||||||
resources,
|
resources,
|
||||||
@@ -236,15 +208,15 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
|||||||
res_samples = []
|
res_samples = []
|
||||||
res_volumes = []
|
res_volumes = []
|
||||||
for resource, volume, channel in zip(resources, vols, use_channels):
|
for resource, volume, channel in zip(resources, vols, use_channels):
|
||||||
sample_uuid_value = resource.unilabos_extra.get(EXTRA_SAMPLE_UUID, None)
|
res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
|
||||||
res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: sample_uuid_value})
|
|
||||||
res_volumes.append(volume)
|
res_volumes.append(volume)
|
||||||
self.pending_liquids_dict[channel] = {
|
self.pending_liquids_dict[channel] = {
|
||||||
EXTRA_SAMPLE_UUID: sample_uuid_value,
|
"sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
|
||||||
"volume": volume,
|
"volume": volume
|
||||||
}
|
}
|
||||||
return SimpleReturn(samples=res_samples, volumes=res_volumes)
|
return SimpleReturn(samples=res_samples, volumes=res_volumes)
|
||||||
|
|
||||||
|
|
||||||
async def dispense(
|
async def dispense(
|
||||||
self,
|
self,
|
||||||
resources: Sequence[Container],
|
resources: Sequence[Container],
|
||||||
@@ -282,10 +254,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
|||||||
res_samples = []
|
res_samples = []
|
||||||
res_volumes = []
|
res_volumes = []
|
||||||
for resource, volume, channel in zip(resources, vols, use_channels):
|
for resource, volume, channel in zip(resources, vols, use_channels):
|
||||||
res_uuid = self.pending_liquids_dict[channel][EXTRA_SAMPLE_UUID]
|
res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
|
||||||
self.pending_liquids_dict[channel]["volume"] -= volume
|
self.pending_liquids_dict[channel]["volume"] -= volume
|
||||||
resource.unilabos_extra[EXTRA_SAMPLE_UUID] = res_uuid
|
resource.unilabos_extra["sample_uuid"] = res_uuid
|
||||||
res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: res_uuid})
|
res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
|
||||||
res_volumes.append(volume)
|
res_volumes.append(volume)
|
||||||
|
|
||||||
return SimpleReturn(samples=res_samples, volumes=res_volumes)
|
return SimpleReturn(samples=res_samples, volumes=res_volumes)
|
||||||
@@ -606,18 +578,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
|
|||||||
|
|
||||||
class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
||||||
"""Extended LiquidHandler with additional operations."""
|
"""Extended LiquidHandler with additional operations."""
|
||||||
|
|
||||||
support_touch_tip = True
|
support_touch_tip = True
|
||||||
_ros_node: BaseROS2DeviceNode
|
_ros_node: BaseROS2DeviceNode
|
||||||
|
|
||||||
def __init__(
|
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310):
|
||||||
self,
|
|
||||||
backend: LiquidHandlerBackend,
|
|
||||||
deck: Deck,
|
|
||||||
simulator: bool = False,
|
|
||||||
channel_num: int = 8,
|
|
||||||
total_height: float = 310,
|
|
||||||
):
|
|
||||||
"""Initialize a LiquidHandler.
|
"""Initialize a LiquidHandler.
|
||||||
|
|
||||||
Args:
|
Args:
|
||||||
@@ -641,7 +605,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
module_name = ".".join(components[:-1])
|
module_name = ".".join(components[:-1])
|
||||||
try:
|
try:
|
||||||
import importlib
|
import importlib
|
||||||
|
|
||||||
mod = importlib.import_module(module_name)
|
mod = importlib.import_module(module_name)
|
||||||
except ImportError:
|
except ImportError:
|
||||||
mod = None
|
mod = None
|
||||||
@@ -651,7 +614,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
# Try pylabrobot style import (if available)
|
# Try pylabrobot style import (if available)
|
||||||
try:
|
try:
|
||||||
import pylabrobot
|
import pylabrobot
|
||||||
|
|
||||||
backend_cls = getattr(pylabrobot, type_str, None)
|
backend_cls = getattr(pylabrobot, type_str, None)
|
||||||
except Exception:
|
except Exception:
|
||||||
backend_cls = None
|
backend_cls = None
|
||||||
@@ -669,65 +631,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
self._ros_node = ros_node
|
self._ros_node = ros_node
|
||||||
|
|
||||||
@classmethod
|
@classmethod
|
||||||
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
|
def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
|
||||||
"""Set the liquid in a well.
|
"""Set the liquid in a well."""
|
||||||
|
res_samples = []
|
||||||
如果 liquid_names 和 volumes 为空，但 wells 不为空，直接返回 wells。
|
|
||||||
"""
|
|
||||||
res_volumes = []
|
res_volumes = []
|
||||||
# 如果 liquid_names 和 volumes 都为空，直接返回 wells
|
|
||||||
if not liquid_names and not volumes:
|
|
||||||
return SetLiquidReturn(
|
|
||||||
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore
|
|
||||||
)
|
|
||||||
|
|
||||||
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
|
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
|
||||||
well.set_liquids([(liquid_name, volume)]) # type: ignore
|
well.set_liquids([(liquid_name, volume)]) # type: ignore
|
||||||
|
res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)})
|
||||||
res_volumes.append(volume)
|
res_volumes.append(volume)
|
||||||
|
|
||||||
return SetLiquidReturn(
|
return SimpleReturn(samples=res_samples, volumes=res_volumes)
|
||||||
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes # type: ignore
|
|
||||||
)
|
|
||||||
|
|
||||||
def set_liquid_from_plate(
|
|
||||||
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
|
|
||||||
) -> SetLiquidFromPlateReturn:
|
|
||||||
"""Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
|
|
||||||
|
|
||||||
如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
|
|
||||||
"""
|
|
||||||
assert issubclass(plate.__class__, Plate), "plate must be a Plate"
|
|
||||||
plate: Plate = cast(Plate, cast(Resource, plate))
|
|
||||||
# 根据 well_names 获取对应的 Well 对象
|
|
||||||
wells = [plate.get_well(name) for name in well_names]
|
|
||||||
res_volumes = []
|
|
||||||
|
|
||||||
# 如果 liquid_names 和 volumes 都为空，直接返回
|
|
||||||
if not liquid_names and not volumes:
|
|
||||||
return SetLiquidFromPlateReturn(
|
|
||||||
plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(), # type: ignore
|
|
||||||
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), # type: ignore
|
|
||||||
volumes=res_volumes,
|
|
||||||
)
|
|
||||||
|
|
||||||
for well, liquid_name, volume in zip(wells, liquid_names, volumes):
|
|
||||||
well.set_liquids([(liquid_name, volume)]) # type: ignore
|
|
||||||
res_volumes.append(volume)
|
|
||||||
|
|
||||||
task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": wells})
|
|
||||||
submit_time = time.time()
|
|
||||||
while not task.done():
|
|
||||||
if time.time() - submit_time > 10:
|
|
||||||
self._ros_node.lab_logger().info(f"set_liquid_from_plate {plate} 超时")
|
|
||||||
break
|
|
||||||
time.sleep(0.01)
|
|
||||||
|
|
||||||
return SetLiquidFromPlateReturn(
|
|
||||||
plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(), # type: ignore
|
|
||||||
wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), # type: ignore
|
|
||||||
volumes=res_volumes,
|
|
||||||
)
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------
|
# ---------------------------------------------------------------
|
||||||
# REMOVE LIQUID --------------------------------------------------
|
# REMOVE LIQUID --------------------------------------------------
|
||||||
# ---------------------------------------------------------------
|
# ---------------------------------------------------------------
|
||||||
@@ -763,7 +676,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
target_rack = child
|
target_rack = child
|
||||||
target_rack = cast(TipRack, target_rack)
|
target_rack = cast(TipRack, target_rack)
|
||||||
available_tips = {}
|
available_tips = {}
|
||||||
for idx, tipSpot in enumerate(target_rack.get_all_items()):
|
for (idx, tipSpot) in enumerate(target_rack.get_all_items()):
|
||||||
if tipSpot.has_tip():
|
if tipSpot.has_tip():
|
||||||
available_tips[idx] = tipSpot
|
available_tips[idx] = tipSpot
|
||||||
continue
|
continue
|
||||||
@@ -771,8 +684,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
print("channel_num", self.channel_num)
|
print("channel_num", self.channel_num)
|
||||||
if self.channel_num == 8:
|
if self.channel_num == 8:
|
||||||
|
|
||||||
tip_prefix = list(available_tips.values())[0].name.split("_")[0]
|
tip_prefix = list(available_tips.values())[0].name.split('_')[0]
|
||||||
colnum_list = [int(tip.name.split("_")[-1][1:]) for tip in available_tips.values()]
|
colnum_list = [int(tip.name.split('_')[-1][1:]) for tip in available_tips.values()]
|
||||||
available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
|
available_cols = [colnum for colnum, count in dict(Counter(colnum_list)).items() if count == 8]
|
||||||
available_cols.sort()
|
available_cols.sort()
|
||||||
available_tips_dict = {tip.name: tip for tip in available_tips.values()}
|
available_tips_dict = {tip.name: tip for tip in available_tips.values()}
|
||||||
@@ -816,6 +729,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
"""Create a new protocol with the given metadata."""
|
"""Create a new protocol with the given metadata."""
|
||||||
pass
|
pass
|
||||||
|
|
||||||
|
|
||||||
async def remove_liquid(
|
async def remove_liquid(
|
||||||
self,
|
self,
|
||||||
vols: List[float],
|
vols: List[float],
|
||||||
@@ -874,11 +788,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
|
|
||||||
elif len(use_channels) == 8 and self.backend.num_channels == 8:
|
elif len(use_channels) == 8 and self.backend.num_channels == 8:
|
||||||
|
|
||||||
|
|
||||||
# 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
|
# 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
|
||||||
if len(sources) % 8 != 0:
|
if len(sources) % 8 != 0:
|
||||||
raise ValueError(
|
raise ValueError(f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode.")
|
||||||
f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode."
|
|
||||||
)
|
|
||||||
|
|
||||||
# 8个8个来取任务序列
|
# 8个8个来取任务序列
|
||||||
|
|
||||||
@@ -887,28 +800,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
for _ in range(len(use_channels)):
|
for _ in range(len(use_channels)):
|
||||||
tip.extend(next(self.current_tip))
|
tip.extend(next(self.current_tip))
|
||||||
await self.pick_up_tips(tip)
|
await self.pick_up_tips(tip)
|
||||||
current_targets = waste_liquid[i : i + 8]
|
current_targets = waste_liquid[i:i + 8]
|
||||||
current_reagent_sources = sources[i : i + 8]
|
current_reagent_sources = sources[i:i + 8]
|
||||||
current_asp_vols = vols[i : i + 8]
|
current_asp_vols = vols[i:i + 8]
|
||||||
current_dis_vols = vols[i : i + 8]
|
current_dis_vols = vols[i:i + 8]
|
||||||
current_asp_flow_rates = flow_rates[i : i + 8] if flow_rates else [None] * 8
|
current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
|
||||||
current_dis_flow_rates = (
|
current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
|
||||||
flow_rates[-i * 8 - 8 : len(flow_rates) - i * 8] if flow_rates else [None] * 8
|
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||||
)
|
current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
|
||||||
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
|
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||||
current_dis_offset = offsets[-i * 8 - 8 : len(offsets) - i * 8] if offsets else [None] * 8
|
current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
|
||||||
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
|
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||||
current_dis_liquid_height = (
|
current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
|
||||||
liquid_height[-i * 8 - 8 : len(liquid_height) - i * 8] if liquid_height else [None] * 8
|
|
||||||
)
|
|
||||||
current_asp_blow_out_air_volume = (
|
|
||||||
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
|
|
||||||
)
|
|
||||||
current_dis_blow_out_air_volume = (
|
|
||||||
blow_out_air_volume[-i * 8 - 8 : len(blow_out_air_volume) - i * 8]
|
|
||||||
if blow_out_air_volume
|
|
||||||
else [None] * 8
|
|
||||||
)
|
|
||||||
|
|
||||||
await self.aspirate(
|
await self.aspirate(
|
||||||
resources=current_reagent_sources,
|
resources=current_reagent_sources,
|
||||||
@@ -969,136 +872,127 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
# """A complete *add* (aspirate reagent → dispense into targets) operation."""
|
# """A complete *add* (aspirate reagent → dispense into targets) operation."""
|
||||||
|
|
||||||
# # try:
|
# # try:
|
||||||
if is_96_well:
|
if is_96_well:
|
||||||
pass # This mode is not verified.
|
pass # This mode is not verified.
|
||||||
else:
|
else:
|
||||||
if len(asp_vols) != len(targets):
|
if len(asp_vols) != len(targets):
|
||||||
raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
|
raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
|
||||||
# 首先应该对任务分组，然后每次1个/8个进行操作处理
|
# 首先应该对任务分组，然后每次1个/8个进行操作处理
|
||||||
if len(use_channels) == 1:
|
if len(use_channels) == 1:
|
||||||
for _ in range(len(targets)):
|
for _ in range(len(targets)):
|
||||||
tip = []
|
tip = []
|
||||||
for x in range(len(use_channels)):
|
for x in range(len(use_channels)):
|
||||||
tip.extend(next(self.current_tip))
|
tip.extend(next(self.current_tip))
|
||||||
await self.pick_up_tips(tip)
|
await self.pick_up_tips(tip)
|
||||||
|
|
||||||
await self.aspirate(
|
await self.aspirate(
|
||||||
resources=[reagent_sources[_]],
|
resources=[reagent_sources[_]],
|
||||||
vols=[asp_vols[_]],
|
vols=[asp_vols[_]],
|
||||||
use_channels=use_channels,
|
use_channels=use_channels,
|
||||||
flow_rates=[flow_rates[0]] if flow_rates else None,
|
flow_rates=[flow_rates[0]] if flow_rates else None,
|
||||||
offsets=[offsets[0]] if offsets else None,
|
offsets=[offsets[0]] if offsets else None,
|
||||||
liquid_height=[liquid_height[0]] if liquid_height else None,
|
liquid_height=[liquid_height[0]] if liquid_height else None,
|
||||||
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
|
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
|
||||||
spread=spread,
|
spread=spread,
|
||||||
)
|
|
||||||
|
|
||||||
if delays is not None:
|
|
||||||
await self.custom_delay(seconds=delays[0])
|
|
||||||
await self.dispense(
|
|
||||||
resources=[targets[_]],
|
|
||||||
vols=[dis_vols[_]],
|
|
||||||
use_channels=use_channels,
|
|
||||||
flow_rates=[flow_rates[1]] if flow_rates else None,
|
|
||||||
offsets=[offsets[1]] if offsets else None,
|
|
||||||
blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
|
|
||||||
liquid_height=[liquid_height[1]] if liquid_height else None,
|
|
||||||
spread=spread,
|
|
||||||
)
|
|
||||||
|
|
||||||
if delays is not None and len(delays) > 1:
|
|
||||||
await self.custom_delay(seconds=delays[1])
|
|
||||||
# 只有在 mix_time 有效时才调用 mix
|
|
||||||
if mix_time is not None and mix_time > 0:
|
|
||||||
await self.mix(
|
|
||||||
targets=[targets[_]],
|
|
||||||
mix_time=mix_time,
|
|
||||||
mix_vol=mix_vol,
|
|
||||||
offsets=offsets if offsets else None,
|
|
||||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
|
||||||
mix_rate=mix_rate if mix_rate else None,
|
|
||||||
)
|
)
|
||||||
if delays is not None and len(delays) > 1:
|
|
||||||
await self.custom_delay(seconds=delays[1])
|
|
||||||
await self.touch_tip(targets[_])
|
|
||||||
await self.discard_tips()
|
|
||||||
|
|
||||||
elif len(use_channels) == 8:
|
if delays is not None:
|
||||||
# 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
|
await self.custom_delay(seconds=delays[0])
|
||||||
if len(targets) % 8 != 0:
|
await self.dispense(
|
||||||
raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
|
resources=[targets[_]],
|
||||||
|
vols=[dis_vols[_]],
|
||||||
for i in range(0, len(targets), 8):
|
use_channels=use_channels,
|
||||||
tip = []
|
flow_rates=[flow_rates[1]] if flow_rates else None,
|
||||||
for _ in range(len(use_channels)):
|
offsets=[offsets[1]] if offsets else None,
|
||||||
tip.extend(next(self.current_tip))
|
blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
|
||||||
await self.pick_up_tips(tip)
|
liquid_height=[liquid_height[1]] if liquid_height else None,
|
||||||
current_targets = targets[i : i + 8]
|
spread=spread,
|
||||||
current_reagent_sources = reagent_sources[i : i + 8]
|
|
||||||
current_asp_vols = asp_vols[i : i + 8]
|
|
||||||
current_dis_vols = dis_vols[i : i + 8]
|
|
||||||
current_asp_flow_rates = flow_rates[i : i + 8] if flow_rates else [None] * 8
|
|
||||||
current_dis_flow_rates = (
|
|
||||||
flow_rates[-i * 8 - 8 : len(flow_rates) - i * 8] if flow_rates else [None] * 8
|
|
||||||
)
|
|
||||||
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
|
|
||||||
current_dis_offset = offsets[-i * 8 - 8 : len(offsets) - i * 8] if offsets else [None] * 8
|
|
||||||
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
|
|
||||||
current_dis_liquid_height = (
|
|
||||||
liquid_height[-i * 8 - 8 : len(liquid_height) - i * 8] if liquid_height else [None] * 8
|
|
||||||
)
|
|
||||||
current_asp_blow_out_air_volume = (
|
|
||||||
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
|
|
||||||
)
|
|
||||||
current_dis_blow_out_air_volume = (
|
|
||||||
blow_out_air_volume[-i * 8 - 8 : len(blow_out_air_volume) - i * 8]
|
|
||||||
if blow_out_air_volume
|
|
||||||
else [None] * 8
|
|
||||||
)
|
|
||||||
|
|
||||||
await self.aspirate(
|
|
||||||
resources=current_reagent_sources,
|
|
||||||
vols=current_asp_vols,
|
|
||||||
use_channels=use_channels,
|
|
||||||
flow_rates=current_asp_flow_rates,
|
|
||||||
offsets=current_asp_offset,
|
|
||||||
liquid_height=current_asp_liquid_height,
|
|
||||||
blow_out_air_volume=current_asp_blow_out_air_volume,
|
|
||||||
spread=spread,
|
|
||||||
)
|
|
||||||
if delays is not None:
|
|
||||||
await self.custom_delay(seconds=delays[0])
|
|
||||||
await self.dispense(
|
|
||||||
resources=current_targets,
|
|
||||||
vols=current_dis_vols,
|
|
||||||
use_channels=use_channels,
|
|
||||||
flow_rates=current_dis_flow_rates,
|
|
||||||
offsets=current_dis_offset,
|
|
||||||
liquid_height=current_dis_liquid_height,
|
|
||||||
blow_out_air_volume=current_dis_blow_out_air_volume,
|
|
||||||
spread=spread,
|
|
||||||
)
|
|
||||||
if delays is not None and len(delays) > 1:
|
|
||||||
await self.custom_delay(seconds=delays[1])
|
|
||||||
|
|
||||||
# 只有在 mix_time 有效时才调用 mix
|
|
||||||
if mix_time is not None and mix_time > 0:
|
|
||||||
await self.mix(
|
|
||||||
targets=current_targets,
|
|
||||||
mix_time=mix_time,
|
|
||||||
mix_vol=mix_vol,
|
|
||||||
offsets=offsets if offsets else None,
|
|
||||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
|
||||||
mix_rate=mix_rate if mix_rate else None,
|
|
||||||
)
|
)
|
||||||
if delays is not None and len(delays) > 1:
|
|
||||||
await self.custom_delay(seconds=delays[1])
|
|
||||||
await self.touch_tip(current_targets)
|
|
||||||
await self.discard_tips()
|
|
||||||
|
|
||||||
# except Exception as e:
|
if delays is not None and len(delays) > 1:
|
||||||
# traceback.print_exc()
|
await self.custom_delay(seconds=delays[1])
|
||||||
# raise RuntimeError(f"Liquid addition failed: {e}") from e
|
# 只有在 mix_time 有效时才调用 mix
|
||||||
|
if mix_time is not None and mix_time > 0:
|
||||||
|
await self.mix(
|
||||||
|
targets=[targets[_]],
|
||||||
|
mix_time=mix_time,
|
||||||
|
mix_vol=mix_vol,
|
||||||
|
offsets=offsets if offsets else None,
|
||||||
|
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||||
|
mix_rate=mix_rate if mix_rate else None,
|
||||||
|
)
|
||||||
|
if delays is not None and len(delays) > 1:
|
||||||
|
await self.custom_delay(seconds=delays[1])
|
||||||
|
await self.touch_tip(targets[_])
|
||||||
|
await self.discard_tips()
|
||||||
|
|
||||||
|
elif len(use_channels) == 8:
|
||||||
|
# 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
|
||||||
|
if len(targets) % 8 != 0:
|
||||||
|
raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
|
||||||
|
|
||||||
|
for i in range(0, len(targets), 8):
|
||||||
|
tip = []
|
||||||
|
for _ in range(len(use_channels)):
|
||||||
|
tip.extend(next(self.current_tip))
|
||||||
|
await self.pick_up_tips(tip)
|
||||||
|
current_targets = targets[i:i + 8]
|
||||||
|
current_reagent_sources = reagent_sources[i:i + 8]
|
||||||
|
current_asp_vols = asp_vols[i:i + 8]
|
||||||
|
current_dis_vols = dis_vols[i:i + 8]
|
||||||
|
current_asp_flow_rates = flow_rates[i:i + 8] if flow_rates else [None] * 8
|
||||||
|
current_dis_flow_rates = flow_rates[-i*8-8:len(flow_rates)-i*8] if flow_rates else [None] * 8
|
||||||
|
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||||
|
current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
|
||||||
|
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||||
|
current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
|
||||||
|
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||||
|
current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
|
||||||
|
|
||||||
|
await self.aspirate(
|
||||||
|
resources=current_reagent_sources,
|
||||||
|
vols=current_asp_vols,
|
||||||
|
use_channels=use_channels,
|
||||||
|
flow_rates=current_asp_flow_rates,
|
||||||
|
offsets=current_asp_offset,
|
||||||
|
liquid_height=current_asp_liquid_height,
|
||||||
|
blow_out_air_volume=current_asp_blow_out_air_volume,
|
||||||
|
spread=spread,
|
||||||
|
)
|
||||||
|
if delays is not None:
|
||||||
|
await self.custom_delay(seconds=delays[0])
|
||||||
|
await self.dispense(
|
||||||
|
resources=current_targets,
|
||||||
|
vols=current_dis_vols,
|
||||||
|
use_channels=use_channels,
|
||||||
|
flow_rates=current_dis_flow_rates,
|
||||||
|
offsets=current_dis_offset,
|
||||||
|
liquid_height=current_dis_liquid_height,
|
||||||
|
blow_out_air_volume=current_dis_blow_out_air_volume,
|
||||||
|
spread=spread,
|
||||||
|
)
|
||||||
|
if delays is not None and len(delays) > 1:
|
||||||
|
await self.custom_delay(seconds=delays[1])
|
||||||
|
|
||||||
|
# 只有在 mix_time 有效时才调用 mix
|
||||||
|
if mix_time is not None and mix_time > 0:
|
||||||
|
await self.mix(
|
||||||
|
targets=current_targets,
|
||||||
|
mix_time=mix_time,
|
||||||
|
mix_vol=mix_vol,
|
||||||
|
offsets=offsets if offsets else None,
|
||||||
|
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||||
|
mix_rate=mix_rate if mix_rate else None,
|
||||||
|
)
|
||||||
|
if delays is not None and len(delays) > 1:
|
||||||
|
await self.custom_delay(seconds=delays[1])
|
||||||
|
await self.touch_tip(current_targets)
|
||||||
|
await self.discard_tips()
|
||||||
|
|
||||||
|
|
||||||
|
# except Exception as e:
|
||||||
|
# traceback.print_exc()
|
||||||
|
# raise RuntimeError(f"Liquid addition failed: {e}") from e
|
||||||
|
|
||||||
# ---------------------------------------------------------------
|
# ---------------------------------------------------------------
|
||||||
# TRANSFER LIQUID ------------------------------------------------
|
# TRANSFER LIQUID ------------------------------------------------
|
||||||
@@ -1127,7 +1021,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
mix_liquid_height: Optional[float] = None,
|
mix_liquid_height: Optional[float] = None,
|
||||||
delays: Optional[List[int]] = None,
|
delays: Optional[List[int]] = None,
|
||||||
none_keys: List[str] = [],
|
none_keys: List[str] = [],
|
||||||
) -> TransferLiquidReturn:
|
):
|
||||||
"""Transfer liquid with automatic mode detection.
|
"""Transfer liquid with automatic mode detection.
|
||||||
|
|
||||||
Supports three transfer modes:
|
Supports three transfer modes:
|
||||||
@@ -1195,71 +1089,29 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
if num_sources == 1 and num_targets > 1:
|
if num_sources == 1 and num_targets > 1:
|
||||||
# 模式1: 一对多 (1 source -> N targets)
|
# 模式1: 一对多 (1 source -> N targets)
|
||||||
await self._transfer_one_to_many(
|
await self._transfer_one_to_many(
|
||||||
sources[0],
|
sources[0], targets, tip_racks, use_channels,
|
||||||
targets,
|
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||||
tip_racks,
|
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||||
use_channels,
|
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||||
asp_vols,
|
mix_liquid_height, delays
|
||||||
dis_vols,
|
|
||||||
asp_flow_rates,
|
|
||||||
dis_flow_rates,
|
|
||||||
offsets,
|
|
||||||
touch_tip,
|
|
||||||
liquid_height,
|
|
||||||
blow_out_air_volume,
|
|
||||||
spread,
|
|
||||||
mix_stage,
|
|
||||||
mix_times,
|
|
||||||
mix_vol,
|
|
||||||
mix_rate,
|
|
||||||
mix_liquid_height,
|
|
||||||
delays,
|
|
||||||
)
|
)
|
||||||
elif num_sources > 1 and num_targets == 1:
|
elif num_sources > 1 and num_targets == 1:
|
||||||
# 模式2: 多对一 (N sources -> 1 target)
|
# 模式2: 多对一 (N sources -> 1 target)
|
||||||
await self._transfer_many_to_one(
|
await self._transfer_many_to_one(
|
||||||
sources,
|
sources, targets[0], tip_racks, use_channels,
|
||||||
targets[0],
|
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||||
tip_racks,
|
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||||
use_channels,
|
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||||
asp_vols,
|
mix_liquid_height, delays
|
||||||
dis_vols,
|
|
||||||
asp_flow_rates,
|
|
||||||
dis_flow_rates,
|
|
||||||
offsets,
|
|
||||||
touch_tip,
|
|
||||||
liquid_height,
|
|
||||||
blow_out_air_volume,
|
|
||||||
spread,
|
|
||||||
mix_stage,
|
|
||||||
mix_times,
|
|
||||||
mix_vol,
|
|
||||||
mix_rate,
|
|
||||||
mix_liquid_height,
|
|
||||||
delays,
|
|
||||||
)
|
)
|
||||||
elif num_sources == num_targets:
|
elif num_sources == num_targets:
|
||||||
# 模式3: 一对一 (N sources -> N targets)
|
# 模式3: 一对一 (N sources -> N targets)
|
||||||
await self._transfer_one_to_one(
|
await self._transfer_one_to_one(
|
||||||
sources,
|
sources, targets, tip_racks, use_channels,
|
||||||
targets,
|
asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
|
||||||
tip_racks,
|
offsets, touch_tip, liquid_height, blow_out_air_volume,
|
||||||
use_channels,
|
spread, mix_stage, mix_times, mix_vol, mix_rate,
|
||||||
asp_vols,
|
mix_liquid_height, delays
|
||||||
dis_vols,
|
|
||||||
asp_flow_rates,
|
|
||||||
dis_flow_rates,
|
|
||||||
offsets,
|
|
||||||
touch_tip,
|
|
||||||
liquid_height,
|
|
||||||
blow_out_air_volume,
|
|
||||||
spread,
|
|
||||||
mix_stage,
|
|
||||||
mix_times,
|
|
||||||
mix_vol,
|
|
||||||
mix_rate,
|
|
||||||
mix_liquid_height,
|
|
||||||
delays,
|
|
||||||
)
|
)
|
||||||
else:
|
else:
|
||||||
raise ValueError(
|
raise ValueError(
|
||||||
@@ -1267,11 +1119,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
"Supported modes: 1->N, N->1, or N->N."
|
"Supported modes: 1->N, N->1, or N->N."
|
||||||
)
|
)
|
||||||
|
|
||||||
return TransferLiquidReturn(
|
|
||||||
sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(), # type: ignore
|
|
||||||
targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(), # type: ignore
|
|
||||||
)
|
|
||||||
|
|
||||||
async def _transfer_one_to_one(
|
async def _transfer_one_to_one(
|
||||||
self,
|
self,
|
||||||
sources: Sequence[Container],
|
sources: Sequence[Container],
|
||||||
@@ -1327,9 +1174,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
|
flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
|
||||||
offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
|
offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
|
||||||
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
|
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
|
||||||
blow_out_air_volume=(
|
blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
|
||||||
[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None
|
|
||||||
),
|
|
||||||
spread=spread,
|
spread=spread,
|
||||||
)
|
)
|
||||||
if delays is not None:
|
if delays is not None:
|
||||||
@@ -1340,9 +1185,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
use_channels=use_channels,
|
use_channels=use_channels,
|
||||||
flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
|
flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
|
||||||
offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
|
offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
|
||||||
blow_out_air_volume=(
|
blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
|
||||||
[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None
|
|
||||||
),
|
|
||||||
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
|
liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
|
||||||
spread=spread,
|
spread=spread,
|
||||||
)
|
)
|
||||||
@@ -1371,18 +1214,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
for _ in range(len(use_channels)):
|
for _ in range(len(use_channels)):
|
||||||
tip.extend(next(self.current_tip))
|
tip.extend(next(self.current_tip))
|
||||||
await self.pick_up_tips(tip)
|
await self.pick_up_tips(tip)
|
||||||
current_targets = targets[i : i + 8]
|
current_targets = targets[i:i + 8]
|
||||||
current_reagent_sources = sources[i : i + 8]
|
current_reagent_sources = sources[i:i + 8]
|
||||||
current_asp_vols = asp_vols[i : i + 8]
|
current_asp_vols = asp_vols[i:i + 8]
|
||||||
current_dis_vols = dis_vols[i : i + 8]
|
current_dis_vols = dis_vols[i:i + 8]
|
||||||
current_asp_flow_rates = asp_flow_rates[i : i + 8] if asp_flow_rates else None
|
current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
|
||||||
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
|
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||||
current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
|
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||||
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
|
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||||
current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
|
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||||
current_asp_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
|
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||||
current_dis_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
|
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||||
current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
|
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
|
||||||
|
|
||||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||||
await self.mix(
|
await self.mix(
|
||||||
@@ -1432,7 +1275,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
if delays is not None and len(delays) > 1:
|
if delays is not None and len(delays) > 1:
|
||||||
await self.custom_delay(seconds=delays[1])
|
await self.custom_delay(seconds=delays[1])
|
||||||
await self.touch_tip(current_targets)
|
await self.touch_tip(current_targets)
|
||||||
await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
|
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||||
|
|
||||||
async def _transfer_one_to_many(
|
async def _transfer_one_to_many(
|
||||||
self,
|
self,
|
||||||
@@ -1481,7 +1324,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
targets=[target],
|
targets=[target],
|
||||||
mix_time=mix_times,
|
mix_time=mix_times,
|
||||||
mix_vol=mix_vol,
|
mix_vol=mix_vol,
|
||||||
offsets=offsets[idx : idx + 1] if offsets and len(offsets) > idx else None,
|
offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
|
||||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||||
mix_rate=mix_rate if mix_rate else None,
|
mix_rate=mix_rate if mix_rate else None,
|
||||||
)
|
)
|
||||||
@@ -1494,9 +1337,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
|
flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
|
||||||
offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
|
offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
|
||||||
liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
|
liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
|
||||||
blow_out_air_volume=(
|
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None,
|
||||||
[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
|
|
||||||
),
|
|
||||||
spread=spread,
|
spread=spread,
|
||||||
)
|
)
|
||||||
|
|
||||||
@@ -1511,9 +1352,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
use_channels=use_channels,
|
use_channels=use_channels,
|
||||||
flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
|
flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
|
||||||
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
|
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
|
||||||
blow_out_air_volume=(
|
blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
|
||||||
[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
|
|
||||||
),
|
|
||||||
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
|
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
|
||||||
spread=spread,
|
spread=spread,
|
||||||
)
|
)
|
||||||
@@ -1524,7 +1363,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
targets=[target],
|
targets=[target],
|
||||||
mix_time=mix_times,
|
mix_time=mix_times,
|
||||||
mix_vol=mix_vol,
|
mix_vol=mix_vol,
|
||||||
offsets=offsets[idx : idx + 1] if offsets else None,
|
offsets=offsets[idx:idx+1] if offsets else None,
|
||||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||||
mix_rate=mix_rate if mix_rate else None,
|
mix_rate=mix_rate if mix_rate else None,
|
||||||
)
|
)
|
||||||
@@ -1545,29 +1384,21 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
tip.extend(next(self.current_tip))
|
tip.extend(next(self.current_tip))
|
||||||
await self.pick_up_tips(tip)
|
await self.pick_up_tips(tip)
|
||||||
|
|
||||||
current_targets = targets[i : i + 8]
|
current_targets = targets[i:i + 8]
|
||||||
current_dis_vols = dis_vols[i : i + 8]
|
current_dis_vols = dis_vols[i:i + 8]
|
||||||
|
|
||||||
# 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
|
# 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
|
||||||
current_asp_flow_rates = (
|
current_asp_flow_rates = asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
|
||||||
asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
|
|
||||||
)
|
|
||||||
current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
|
current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
|
||||||
current_asp_liquid_height = (
|
current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
|
||||||
liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
|
current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
|
||||||
)
|
|
||||||
current_asp_blow_out_air_volume = (
|
|
||||||
blow_out_air_volume[0:1] * 8
|
|
||||||
if blow_out_air_volume and len(blow_out_air_volume) > 0
|
|
||||||
else [None] * 8
|
|
||||||
)
|
|
||||||
|
|
||||||
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
|
||||||
await self.mix(
|
await self.mix(
|
||||||
targets=current_targets,
|
targets=current_targets,
|
||||||
mix_time=mix_times,
|
mix_time=mix_times,
|
||||||
mix_vol=mix_vol,
|
mix_vol=mix_vol,
|
||||||
offsets=offsets[i : i + 8] if offsets else None,
|
offsets=offsets[i:i + 8] if offsets else None,
|
||||||
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
|
||||||
mix_rate=mix_rate if mix_rate else None,
|
mix_rate=mix_rate if mix_rate else None,
|
||||||
)
|
)
|
||||||
@@ -1588,10 +1419,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
await self.custom_delay(seconds=delays[0])
|
await self.custom_delay(seconds=delays[0])
|
||||||
|
|
||||||
# 分液到8个目标
|
# 分液到8个目标
|
||||||
current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
|
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
|
||||||
current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
|
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||||
current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
|
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||||
current_dis_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
|
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||||
|
|
||||||
await self.dispense(
|
await self.dispense(
|
||||||
resources=current_targets,
|
resources=current_targets,
|
||||||
@@ -1620,7 +1451,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
if touch_tip:
|
if touch_tip:
|
||||||
await self.touch_tip(current_targets)
|
await self.touch_tip(current_targets)
|
||||||
|
|
||||||
await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
|
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||||
|
|
||||||
async def _transfer_many_to_one(
|
async def _transfer_many_to_one(
|
||||||
self,
|
self,
|
||||||
@@ -1693,9 +1524,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
|
flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
|
||||||
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
|
offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
|
||||||
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
|
liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
|
||||||
blow_out_air_volume=(
|
blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
|
||||||
[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
|
|
||||||
),
|
|
||||||
spread=spread,
|
spread=spread,
|
||||||
)
|
)
|
||||||
|
|
||||||
@@ -1709,18 +1538,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
|
dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
|
||||||
dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
|
dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
|
||||||
dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
|
dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
|
||||||
dis_blow_out = (
|
dis_blow_out = blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
|
||||||
blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
|
|
||||||
)
|
|
||||||
else:
|
else:
|
||||||
# 标准模式：分液体积等于吸液体积
|
# 标准模式：分液体积等于吸液体积
|
||||||
dis_vol = asp_vols[idx]
|
dis_vol = asp_vols[idx]
|
||||||
dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
|
dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
|
||||||
dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
|
dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
|
||||||
dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
|
dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
|
||||||
dis_blow_out = (
|
dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
|
||||||
blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
|
|
||||||
)
|
|
||||||
|
|
||||||
await self.dispense(
|
await self.dispense(
|
||||||
resources=[target],
|
resources=[target],
|
||||||
@@ -1774,12 +1599,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
tip.extend(next(self.current_tip))
|
tip.extend(next(self.current_tip))
|
||||||
await self.pick_up_tips(tip)
|
await self.pick_up_tips(tip)
|
||||||
|
|
||||||
current_sources = sources[i : i + 8]
|
current_sources = sources[i:i + 8]
|
||||||
current_asp_vols = asp_vols[i : i + 8]
|
current_asp_vols = asp_vols[i:i + 8]
|
||||||
current_asp_flow_rates = asp_flow_rates[i : i + 8] if asp_flow_rates else None
|
current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
|
||||||
current_asp_offset = offsets[i : i + 8] if offsets else [None] * 8
|
current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||||
current_asp_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
|
current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||||
current_asp_blow_out_air_volume = blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
|
current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||||
|
|
||||||
# 从8个源容器吸液
|
# 从8个源容器吸液
|
||||||
await self.aspirate(
|
await self.aspirate(
|
||||||
@@ -1799,22 +1624,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
# 分液到目标容器（每个通道分液到同一个目标）
|
# 分液到目标容器（每个通道分液到同一个目标）
|
||||||
if use_proportional_mixing:
|
if use_proportional_mixing:
|
||||||
# 按比例混合：使用对应的 dis_vols
|
# 按比例混合：使用对应的 dis_vols
|
||||||
current_dis_vols = dis_vols[i : i + 8]
|
current_dis_vols = dis_vols[i:i + 8]
|
||||||
current_dis_flow_rates = dis_flow_rates[i : i + 8] if dis_flow_rates else None
|
current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
|
||||||
current_dis_offset = offsets[i : i + 8] if offsets else [None] * 8
|
current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
|
||||||
current_dis_liquid_height = liquid_height[i : i + 8] if liquid_height else [None] * 8
|
current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
|
||||||
current_dis_blow_out_air_volume = (
|
current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
|
||||||
blow_out_air_volume[i : i + 8] if blow_out_air_volume else [None] * 8
|
|
||||||
)
|
|
||||||
else:
|
else:
|
||||||
# 标准模式：每个通道分液体积等于其吸液体积
|
# 标准模式：每个通道分液体积等于其吸液体积
|
||||||
current_dis_vols = current_asp_vols
|
current_dis_vols = current_asp_vols
|
||||||
current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
|
current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
|
||||||
current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
|
current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
|
||||||
current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
|
current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
|
||||||
current_dis_blow_out_air_volume = (
|
current_dis_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
|
||||||
blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
|
|
||||||
)
|
|
||||||
|
|
||||||
await self.dispense(
|
await self.dispense(
|
||||||
resources=[target] * 8, # 8个通道都分到同一个目标
|
resources=[target] * 8, # 8个通道都分到同一个目标
|
||||||
@@ -1830,7 +1651,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
if delays is not None and len(delays) > 1:
|
if delays is not None and len(delays) > 1:
|
||||||
await self.custom_delay(seconds=delays[1])
|
await self.custom_delay(seconds=delays[1])
|
||||||
|
|
||||||
await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
|
await self.discard_tips([0,1,2,3,4,5,6,7])
|
||||||
|
|
||||||
# 最后在目标容器中混合（如果需要）
|
# 最后在目标容器中混合（如果需要）
|
||||||
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
|
if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
|
||||||
@@ -1850,6 +1671,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
# traceback.print_exc()
|
# traceback.print_exc()
|
||||||
# raise RuntimeError(f"Liquid addition failed: {e}") from e
|
# raise RuntimeError(f"Liquid addition failed: {e}") from e
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------
|
# ---------------------------------------------------------------
|
||||||
# Helper utilities
|
# Helper utilities
|
||||||
# ---------------------------------------------------------------
|
# ---------------------------------------------------------------
|
||||||
@@ -1870,6 +1692,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
|
|||||||
print(f"Current time: {time.strftime('%H:%M:%S')}")
|
print(f"Current time: {time.strftime('%H:%M:%S')}")
|
||||||
|
|
||||||
async def touch_tip(self, targets: Sequence[Container]):
|
async def touch_tip(self, targets: Sequence[Container]):
|
||||||
|
|
||||||
"""Touch the tip to the side of the well."""
|
"""Touch the tip to the side of the well."""
|
||||||
|
|
||||||
if not self.support_touch_tip:
|
if not self.support_touch_tip:
|
||||||
|
|||||||
@@ -30,31 +30,9 @@ from pylabrobot.liquid_handling.standard import (
|
|||||||
ResourceMove,
|
ResourceMove,
|
||||||
ResourceDrop,
|
ResourceDrop,
|
||||||
)
|
)
|
||||||
from pylabrobot.resources import (
|
from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
|
||||||
ResourceHolder,
|
|
||||||
ResourceStack,
|
|
||||||
Tip,
|
|
||||||
Deck,
|
|
||||||
Plate,
|
|
||||||
Well,
|
|
||||||
TipRack,
|
|
||||||
Resource,
|
|
||||||
Container,
|
|
||||||
Coordinate,
|
|
||||||
TipSpot,
|
|
||||||
Trash,
|
|
||||||
PlateAdapter,
|
|
||||||
TubeRack,
|
|
||||||
)
|
|
||||||
|
|
||||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import (
|
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
|
||||||
LiquidHandlerAbstract,
|
|
||||||
SimpleReturn,
|
|
||||||
SetLiquidReturn,
|
|
||||||
SetLiquidFromPlateReturn,
|
|
||||||
TransferLiquidReturn,
|
|
||||||
)
|
|
||||||
from unilabos.registry.placeholder_type import ResourceSlot
|
|
||||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||||
|
|
||||||
|
|
||||||
@@ -102,7 +80,6 @@ class PRCXI9300Deck(Deck):
|
|||||||
self.slots[slot - 1] = resource
|
self.slots[slot - 1] = resource
|
||||||
super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
|
super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
|
||||||
|
|
||||||
|
|
||||||
class PRCXI9300Container(Plate):
|
class PRCXI9300Container(Plate):
|
||||||
"""PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
|
"""PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
|
||||||
|
|
||||||
@@ -132,80 +109,73 @@ class PRCXI9300Container(Plate):
|
|||||||
data = super().serialize_state()
|
data = super().serialize_state()
|
||||||
data.update(self._unilabos_state)
|
data.update(self._unilabos_state)
|
||||||
return data
|
return data
|
||||||
|
|
||||||
|
|
||||||
class PRCXI9300Plate(Plate):
|
class PRCXI9300Plate(Plate):
|
||||||
"""
|
"""
|
||||||
专用孔板类：
|
专用孔板类：
|
||||||
1. 继承自 PLR 原生 Plate，保留所有物理特性。
|
1. 继承自 PLR 原生 Plate，保留所有物理特性。
|
||||||
2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
|
2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
|
||||||
"""
|
"""
|
||||||
|
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||||
def __init__(
|
category: str = "plate",
|
||||||
self,
|
ordered_items: collections.OrderedDict = None,
|
||||||
name: str,
|
ordering: Optional[collections.OrderedDict] = None,
|
||||||
size_x: float,
|
model: Optional[str] = None,
|
||||||
size_y: float,
|
material_info: Optional[Dict[str, Any]] = None,
|
||||||
size_z: float,
|
**kwargs):
|
||||||
category: str = "plate",
|
|
||||||
ordered_items: collections.OrderedDict = None,
|
|
||||||
ordering: Optional[collections.OrderedDict] = None,
|
|
||||||
model: Optional[str] = None,
|
|
||||||
material_info: Optional[Dict[str, Any]] = None,
|
|
||||||
**kwargs,
|
|
||||||
):
|
|
||||||
# 如果 ordered_items 不为 None，直接使用
|
# 如果 ordered_items 不为 None，直接使用
|
||||||
items = None
|
|
||||||
ordering_param = None
|
|
||||||
if ordered_items is not None:
|
if ordered_items is not None:
|
||||||
items = ordered_items
|
items = ordered_items
|
||||||
elif ordering is not None:
|
elif ordering is not None:
|
||||||
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
# 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
|
||||||
# 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
|
# 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
|
||||||
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
|
# 我们只传递位置信息（键），不传递值，使用 ordering 参数
|
||||||
if ordering:
|
if ordering and isinstance(next(iter(ordering.values()), None), str):
|
||||||
values = list(ordering.values())
|
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
||||||
value = values[0]
|
# 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
|
||||||
if isinstance(value, str):
|
items = None
|
||||||
# ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
|
# 使用 ordering 参数，只包含位置信息（键）
|
||||||
# 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
|
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
||||||
items = None
|
|
||||||
# 使用 ordering 参数，只包含位置信息（键）
|
|
||||||
ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
|
|
||||||
elif value is None:
|
|
||||||
ordering_param = ordering
|
|
||||||
else:
|
else:
|
||||||
# ordering 的值已经是对象，可以直接使用
|
# ordering 的值已经是对象，可以直接使用
|
||||||
items = ordering
|
items = ordering
|
||||||
ordering_param = None
|
ordering_param = None
|
||||||
|
else:
|
||||||
|
items = None
|
||||||
|
ordering_param = None
|
||||||
|
|
||||||
# 根据情况传递不同的参数
|
# 根据情况传递不同的参数
|
||||||
if items is not None:
|
if items is not None:
|
||||||
super().__init__(
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
|
ordered_items=items,
|
||||||
)
|
category=category,
|
||||||
|
model=model, **kwargs)
|
||||||
elif ordering_param is not None:
|
elif ordering_param is not None:
|
||||||
# 传递 ordering 参数，让 Plate 自己创建 Well 对象
|
# 传递 ordering 参数，让 Plate 自己创建 Well 对象
|
||||||
super().__init__(
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
|
ordering=ordering_param,
|
||||||
)
|
category=category,
|
||||||
|
model=model, **kwargs)
|
||||||
else:
|
else:
|
||||||
super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
|
category=category,
|
||||||
|
model=model, **kwargs)
|
||||||
|
|
||||||
self._unilabos_state = {}
|
self._unilabos_state = {}
|
||||||
if material_info:
|
if material_info:
|
||||||
self._unilabos_state["Material"] = material_info
|
self._unilabos_state["Material"] = material_info
|
||||||
|
|
||||||
|
|
||||||
def load_state(self, state: Dict[str, Any]) -> None:
|
def load_state(self, state: Dict[str, Any]) -> None:
|
||||||
super().load_state(state)
|
super().load_state(state)
|
||||||
self._unilabos_state = state
|
self._unilabos_state = state
|
||||||
|
|
||||||
|
|
||||||
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
||||||
try:
|
try:
|
||||||
data = super().serialize_state()
|
data = super().serialize_state()
|
||||||
except AttributeError:
|
except AttributeError:
|
||||||
data = {}
|
data = {}
|
||||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||||
safe_state = {}
|
safe_state = {}
|
||||||
for k, v in self._unilabos_state.items():
|
for k, v in self._unilabos_state.items():
|
||||||
# 如果是 Material 字典，深入检查
|
# 如果是 Material 字典，深入检查
|
||||||
@@ -225,25 +195,16 @@ class PRCXI9300Plate(Plate):
|
|||||||
safe_state[k] = v
|
safe_state[k] = v
|
||||||
|
|
||||||
data.update(safe_state)
|
data.update(safe_state)
|
||||||
return data # 其他顶层属性也进行类型检查
|
return data # 其他顶层属性也进行类型检查
|
||||||
|
|
||||||
|
|
||||||
class PRCXI9300TipRack(TipRack):
|
class PRCXI9300TipRack(TipRack):
|
||||||
"""专用吸头盒类"""
|
""" 专用吸头盒类 """
|
||||||
|
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||||
def __init__(
|
category: str = "tip_rack",
|
||||||
self,
|
ordered_items: collections.OrderedDict = None,
|
||||||
name: str,
|
ordering: Optional[collections.OrderedDict] = None,
|
||||||
size_x: float,
|
model: Optional[str] = None,
|
||||||
size_y: float,
|
material_info: Optional[Dict[str, Any]] = None,
|
||||||
size_z: float,
|
**kwargs):
|
||||||
category: str = "tip_rack",
|
|
||||||
ordered_items: collections.OrderedDict = None,
|
|
||||||
ordering: Optional[collections.OrderedDict] = None,
|
|
||||||
model: Optional[str] = None,
|
|
||||||
material_info: Optional[Dict[str, Any]] = None,
|
|
||||||
**kwargs,
|
|
||||||
):
|
|
||||||
# 如果 ordered_items 不为 None，直接使用
|
# 如果 ordered_items 不为 None，直接使用
|
||||||
if ordered_items is not None:
|
if ordered_items is not None:
|
||||||
items = ordered_items
|
items = ordered_items
|
||||||
@@ -267,16 +228,20 @@ class PRCXI9300TipRack(TipRack):
|
|||||||
|
|
||||||
# 根据情况传递不同的参数
|
# 根据情况传递不同的参数
|
||||||
if items is not None:
|
if items is not None:
|
||||||
super().__init__(
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
|
ordered_items=items,
|
||||||
)
|
category=category,
|
||||||
|
model=model, **kwargs)
|
||||||
elif ordering_param is not None:
|
elif ordering_param is not None:
|
||||||
# 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
|
# 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
|
||||||
super().__init__(
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
|
ordering=ordering_param,
|
||||||
)
|
category=category,
|
||||||
|
model=model, **kwargs)
|
||||||
else:
|
else:
|
||||||
super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
|
category=category,
|
||||||
|
model=model, **kwargs)
|
||||||
self._unilabos_state = {}
|
self._unilabos_state = {}
|
||||||
if material_info:
|
if material_info:
|
||||||
self._unilabos_state["Material"] = material_info
|
self._unilabos_state["Material"] = material_info
|
||||||
@@ -290,7 +255,7 @@ class PRCXI9300TipRack(TipRack):
|
|||||||
data = super().serialize_state()
|
data = super().serialize_state()
|
||||||
except AttributeError:
|
except AttributeError:
|
||||||
data = {}
|
data = {}
|
||||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||||
safe_state = {}
|
safe_state = {}
|
||||||
for k, v in self._unilabos_state.items():
|
for k, v in self._unilabos_state.items():
|
||||||
# 如果是 Material 字典，深入检查
|
# 如果是 Material 字典，深入检查
|
||||||
@@ -312,23 +277,16 @@ class PRCXI9300TipRack(TipRack):
|
|||||||
data.update(safe_state)
|
data.update(safe_state)
|
||||||
return data
|
return data
|
||||||
|
|
||||||
|
|
||||||
class PRCXI9300Trash(Trash):
|
class PRCXI9300Trash(Trash):
|
||||||
"""PRCXI 9300 的专用 Trash 类，继承自 Trash。
|
"""PRCXI 9300 的专用 Trash 类，继承自 Trash。
|
||||||
|
|
||||||
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
该类定义了 PRCXI 9300 的工作台布局和槽位信息。
|
||||||
"""
|
"""
|
||||||
|
|
||||||
def __init__(
|
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||||
self,
|
category: str = "trash",
|
||||||
name: str,
|
material_info: Optional[Dict[str, Any]] = None,
|
||||||
size_x: float,
|
**kwargs):
|
||||||
size_y: float,
|
|
||||||
size_z: float,
|
|
||||||
category: str = "trash",
|
|
||||||
material_info: Optional[Dict[str, Any]] = None,
|
|
||||||
**kwargs,
|
|
||||||
):
|
|
||||||
|
|
||||||
if name != "trash":
|
if name != "trash":
|
||||||
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
|
print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
|
||||||
@@ -348,7 +306,7 @@ class PRCXI9300Trash(Trash):
|
|||||||
data = super().serialize_state()
|
data = super().serialize_state()
|
||||||
except AttributeError:
|
except AttributeError:
|
||||||
data = {}
|
data = {}
|
||||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||||
safe_state = {}
|
safe_state = {}
|
||||||
for k, v in self._unilabos_state.items():
|
for k, v in self._unilabos_state.items():
|
||||||
# 如果是 Material 字典，深入检查
|
# 如果是 Material 字典，深入检查
|
||||||
@@ -370,27 +328,19 @@ class PRCXI9300Trash(Trash):
|
|||||||
data.update(safe_state)
|
data.update(safe_state)
|
||||||
return data
|
return data
|
||||||
|
|
||||||
|
|
||||||
class PRCXI9300TubeRack(TubeRack):
|
class PRCXI9300TubeRack(TubeRack):
|
||||||
"""
|
"""
|
||||||
专用管架类：用于 EP 管架、试管架等。
|
专用管架类：用于 EP 管架、试管架等。
|
||||||
继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
|
继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
|
||||||
"""
|
"""
|
||||||
|
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||||
def __init__(
|
category: str = "tube_rack",
|
||||||
self,
|
items: Optional[Dict[str, Any]] = None,
|
||||||
name: str,
|
ordered_items: Optional[OrderedDict] = None,
|
||||||
size_x: float,
|
ordering: Optional[OrderedDict] = None,
|
||||||
size_y: float,
|
model: Optional[str] = None,
|
||||||
size_z: float,
|
material_info: Optional[Dict[str, Any]] = None,
|
||||||
category: str = "tube_rack",
|
**kwargs):
|
||||||
items: Optional[Dict[str, Any]] = None,
|
|
||||||
ordered_items: Optional[OrderedDict] = None,
|
|
||||||
ordering: Optional[OrderedDict] = None,
|
|
||||||
model: Optional[str] = None,
|
|
||||||
material_info: Optional[Dict[str, Any]] = None,
|
|
||||||
**kwargs,
|
|
||||||
):
|
|
||||||
|
|
||||||
# 如果 ordered_items 不为 None，直接使用
|
# 如果 ordered_items 不为 None，直接使用
|
||||||
if ordered_items is not None:
|
if ordered_items is not None:
|
||||||
@@ -420,12 +370,20 @@ class PRCXI9300TubeRack(TubeRack):
|
|||||||
|
|
||||||
# 根据情况传递不同的参数
|
# 根据情况传递不同的参数
|
||||||
if items_to_pass is not None:
|
if items_to_pass is not None:
|
||||||
super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
|
ordered_items=items_to_pass,
|
||||||
|
model=model,
|
||||||
|
**kwargs)
|
||||||
elif ordering_param is not None:
|
elif ordering_param is not None:
|
||||||
# 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
|
# 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
|
||||||
super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
|
ordering=ordering_param,
|
||||||
|
model=model,
|
||||||
|
**kwargs)
|
||||||
else:
|
else:
|
||||||
super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
|
super().__init__(name, size_x, size_y, size_z,
|
||||||
|
model=model,
|
||||||
|
**kwargs)
|
||||||
|
|
||||||
self._unilabos_state = {}
|
self._unilabos_state = {}
|
||||||
if material_info:
|
if material_info:
|
||||||
@@ -436,7 +394,7 @@ class PRCXI9300TubeRack(TubeRack):
|
|||||||
data = super().serialize_state()
|
data = super().serialize_state()
|
||||||
except AttributeError:
|
except AttributeError:
|
||||||
data = {}
|
data = {}
|
||||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||||
safe_state = {}
|
safe_state = {}
|
||||||
for k, v in self._unilabos_state.items():
|
for k, v in self._unilabos_state.items():
|
||||||
# 如果是 Material 字典，深入检查
|
# 如果是 Material 字典，深入检查
|
||||||
@@ -458,31 +416,23 @@ class PRCXI9300TubeRack(TubeRack):
|
|||||||
data.update(safe_state)
|
data.update(safe_state)
|
||||||
return data
|
return data
|
||||||
|
|
||||||
|
|
||||||
class PRCXI9300PlateAdapter(PlateAdapter):
|
class PRCXI9300PlateAdapter(PlateAdapter):
|
||||||
"""
|
"""
|
||||||
专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
|
专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
|
||||||
支持注入 material_info (UUID)。
|
支持注入 material_info (UUID)。
|
||||||
"""
|
"""
|
||||||
|
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||||
def __init__(
|
category: str = "plate_adapter",
|
||||||
self,
|
model: Optional[str] = None,
|
||||||
name: str,
|
material_info: Optional[Dict[str, Any]] = None,
|
||||||
size_x: float,
|
# 参数给予默认值 (标准96孔板尺寸)
|
||||||
size_y: float,
|
adapter_hole_size_x: float = 127.76,
|
||||||
size_z: float,
|
adapter_hole_size_y: float = 85.48,
|
||||||
category: str = "plate_adapter",
|
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
|
||||||
model: Optional[str] = None,
|
dx: Optional[float] = None,
|
||||||
material_info: Optional[Dict[str, Any]] = None,
|
dy: Optional[float] = None,
|
||||||
# 参数给予默认值 (标准96孔板尺寸)
|
dz: float = 0.0, # 默认Z轴偏移
|
||||||
adapter_hole_size_x: float = 127.76,
|
**kwargs):
|
||||||
adapter_hole_size_y: float = 85.48,
|
|
||||||
adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
|
|
||||||
dx: Optional[float] = None,
|
|
||||||
dy: Optional[float] = None,
|
|
||||||
dz: float = 0.0, # 默认Z轴偏移
|
|
||||||
**kwargs,
|
|
||||||
):
|
|
||||||
|
|
||||||
# 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
|
# 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
|
||||||
if dx is None:
|
if dx is None:
|
||||||
@@ -502,7 +452,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
|||||||
adapter_hole_size_y=adapter_hole_size_y,
|
adapter_hole_size_y=adapter_hole_size_y,
|
||||||
adapter_hole_size_z=adapter_hole_size_z,
|
adapter_hole_size_z=adapter_hole_size_z,
|
||||||
model=model,
|
model=model,
|
||||||
**kwargs,
|
**kwargs
|
||||||
)
|
)
|
||||||
|
|
||||||
self._unilabos_state = {}
|
self._unilabos_state = {}
|
||||||
@@ -514,7 +464,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
|||||||
data = super().serialize_state()
|
data = super().serialize_state()
|
||||||
except AttributeError:
|
except AttributeError:
|
||||||
data = {}
|
data = {}
|
||||||
if hasattr(self, "_unilabos_state") and self._unilabos_state:
|
if hasattr(self, '_unilabos_state') and self._unilabos_state:
|
||||||
safe_state = {}
|
safe_state = {}
|
||||||
for k, v in self._unilabos_state.items():
|
for k, v in self._unilabos_state.items():
|
||||||
# 如果是 Material 字典，深入检查
|
# 如果是 Material 字典，深入检查
|
||||||
@@ -536,7 +486,6 @@ class PRCXI9300PlateAdapter(PlateAdapter):
|
|||||||
data.update(safe_state)
|
data.update(safe_state)
|
||||||
return data
|
return data
|
||||||
|
|
||||||
|
|
||||||
class PRCXI9300Handler(LiquidHandlerAbstract):
|
class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||||
support_touch_tip = False
|
support_touch_tip = False
|
||||||
|
|
||||||
@@ -569,9 +518,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
|||||||
if "Material" in child.children[0]._unilabos_state:
|
if "Material" in child.children[0]._unilabos_state:
|
||||||
number = int(child.name.replace("T", ""))
|
number = int(child.name.replace("T", ""))
|
||||||
tablets_info.append(
|
tablets_info.append(
|
||||||
WorkTablets(
|
WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
|
||||||
Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]
|
|
||||||
)
|
|
||||||
)
|
)
|
||||||
if is_9320:
|
if is_9320:
|
||||||
print("当前设备是9320")
|
print("当前设备是9320")
|
||||||
@@ -591,14 +538,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
|||||||
super().post_init(ros_node)
|
super().post_init(ros_node)
|
||||||
self._unilabos_backend.post_init(ros_node)
|
self._unilabos_backend.post_init(ros_node)
|
||||||
|
|
||||||
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
|
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
|
||||||
return super().set_liquid(wells, liquid_names, volumes)
|
return super().set_liquid(wells, liquid_names, volumes)
|
||||||
|
|
||||||
def set_liquid_from_plate(
|
|
||||||
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
|
|
||||||
) -> SetLiquidFromPlateReturn:
|
|
||||||
return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
|
|
||||||
|
|
||||||
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
|
def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
|
||||||
return super().set_group(group_name, wells, volumes)
|
return super().set_group(group_name, wells, volumes)
|
||||||
|
|
||||||
@@ -718,7 +660,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
|||||||
mix_liquid_height: Optional[float] = None,
|
mix_liquid_height: Optional[float] = None,
|
||||||
delays: Optional[List[int]] = None,
|
delays: Optional[List[int]] = None,
|
||||||
none_keys: List[str] = [],
|
none_keys: List[str] = [],
|
||||||
) -> TransferLiquidReturn:
|
):
|
||||||
return await super().transfer_liquid(
|
return await super().transfer_liquid(
|
||||||
sources,
|
sources,
|
||||||
targets,
|
targets,
|
||||||
@@ -858,7 +800,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
|||||||
|
|
||||||
async def heater_action(self, temperature: float, time: int):
|
async def heater_action(self, temperature: float, time: int):
|
||||||
return await self._unilabos_backend.heater_action(temperature, time)
|
return await self._unilabos_backend.heater_action(temperature, time)
|
||||||
|
|
||||||
async def move_plate(
|
async def move_plate(
|
||||||
self,
|
self,
|
||||||
plate: Plate,
|
plate: Plate,
|
||||||
@@ -881,11 +822,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
|||||||
drop_direction,
|
drop_direction,
|
||||||
pickup_direction,
|
pickup_direction,
|
||||||
pickup_distance_from_top,
|
pickup_distance_from_top,
|
||||||
target_plate_number=to,
|
target_plate_number = to,
|
||||||
**backend_kwargs,
|
**backend_kwargs,
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
class PRCXI9300Backend(LiquidHandlerBackend):
|
class PRCXI9300Backend(LiquidHandlerBackend):
|
||||||
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
|
"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
|
||||||
|
|
||||||
@@ -938,12 +878,13 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
self.steps_todo_list.append(step)
|
self.steps_todo_list.append(step)
|
||||||
return step
|
return step
|
||||||
|
|
||||||
|
|
||||||
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
|
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
|
||||||
|
|
||||||
resource = pickup.resource
|
resource=pickup.resource
|
||||||
offset = pickup.offset
|
offset=pickup.offset
|
||||||
pickup_distance_from_top = pickup.pickup_distance_from_top
|
pickup_distance_from_top=pickup.pickup_distance_from_top
|
||||||
direction = pickup.direction
|
direction=pickup.direction
|
||||||
|
|
||||||
plate_number = int(resource.parent.name.replace("T", ""))
|
plate_number = int(resource.parent.name.replace("T", ""))
|
||||||
is_whole_plate = True
|
is_whole_plate = True
|
||||||
@@ -955,11 +896,13 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
|
|
||||||
async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
|
async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
|
||||||
|
|
||||||
|
|
||||||
plate_number = None
|
plate_number = None
|
||||||
target_plate_number = backend_kwargs.get("target_plate_number", None)
|
target_plate_number = backend_kwargs.get("target_plate_number", None)
|
||||||
if target_plate_number is not None:
|
if target_plate_number is not None:
|
||||||
plate_number = int(target_plate_number.name.replace("T", ""))
|
plate_number = int(target_plate_number.name.replace("T", ""))
|
||||||
|
|
||||||
|
|
||||||
is_whole_plate = True
|
is_whole_plate = True
|
||||||
balance_height = 0
|
balance_height = 0
|
||||||
if plate_number is None:
|
if plate_number is None:
|
||||||
@@ -968,6 +911,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
self.steps_todo_list.append(step)
|
self.steps_todo_list.append(step)
|
||||||
return step
|
return step
|
||||||
|
|
||||||
|
|
||||||
async def heater_action(self, temperature: float, time: int):
|
async def heater_action(self, temperature: float, time: int):
|
||||||
print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
|
print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
|
||||||
# return await self.api_client.heater_action(temperature, time)
|
# return await self.api_client.heater_action(temperature, time)
|
||||||
@@ -1036,7 +980,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
# 检查重置状态并等待完成
|
# 检查重置状态并等待完成
|
||||||
while not self.is_reset_ok:
|
while not self.is_reset_ok:
|
||||||
print("Waiting for PRCXI9300 to reset...")
|
print("Waiting for PRCXI9300 to reset...")
|
||||||
if hasattr(self, "_ros_node") and self._ros_node is not None:
|
if hasattr(self, '_ros_node') and self._ros_node is not None:
|
||||||
await self._ros_node.sleep(1)
|
await self._ros_node.sleep(1)
|
||||||
else:
|
else:
|
||||||
await asyncio.sleep(1)
|
await asyncio.sleep(1)
|
||||||
@@ -1054,7 +998,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
"""Pick up tips from the specified resource."""
|
"""Pick up tips from the specified resource."""
|
||||||
# INSERT_YOUR_CODE
|
# INSERT_YOUR_CODE
|
||||||
# Ensure use_channels is converted to a list of ints if it's an array
|
# Ensure use_channels is converted to a list of ints if it's an array
|
||||||
if hasattr(use_channels, "tolist"):
|
if hasattr(use_channels, 'tolist'):
|
||||||
_use_channels = use_channels.tolist()
|
_use_channels = use_channels.tolist()
|
||||||
else:
|
else:
|
||||||
_use_channels = list(use_channels) if use_channels is not None else None
|
_use_channels = list(use_channels) if use_channels is not None else None
|
||||||
@@ -1108,7 +1052,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
|
|
||||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
|
async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
|
||||||
"""Pick up tips from the specified resource."""
|
"""Pick up tips from the specified resource."""
|
||||||
if hasattr(use_channels, "tolist"):
|
if hasattr(use_channels, 'tolist'):
|
||||||
_use_channels = use_channels.tolist()
|
_use_channels = use_channels.tolist()
|
||||||
else:
|
else:
|
||||||
_use_channels = list(use_channels) if use_channels is not None else None
|
_use_channels = list(use_channels) if use_channels is not None else None
|
||||||
@@ -1234,7 +1178,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
|
|
||||||
async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
|
async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
|
||||||
"""Aspirate liquid from the specified resources."""
|
"""Aspirate liquid from the specified resources."""
|
||||||
if hasattr(use_channels, "tolist"):
|
if hasattr(use_channels, 'tolist'):
|
||||||
_use_channels = use_channels.tolist()
|
_use_channels = use_channels.tolist()
|
||||||
else:
|
else:
|
||||||
_use_channels = list(use_channels) if use_channels is not None else None
|
_use_channels = list(use_channels) if use_channels is not None else None
|
||||||
@@ -1291,7 +1235,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
|||||||
|
|
||||||
async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
|
async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
|
||||||
"""Dispense liquid into the specified resources."""
|
"""Dispense liquid into the specified resources."""
|
||||||
if hasattr(use_channels, "tolist"):
|
if hasattr(use_channels, 'tolist'):
|
||||||
_use_channels = use_channels.tolist()
|
_use_channels = use_channels.tolist()
|
||||||
else:
|
else:
|
||||||
_use_channels = list(use_channels) if use_channels is not None else None
|
_use_channels = list(use_channels) if use_channels is not None else None
|
||||||
@@ -1472,6 +1416,7 @@ class PRCXI9300Api:
|
|||||||
time.sleep(1)
|
time.sleep(1)
|
||||||
return success
|
return success
|
||||||
|
|
||||||
|
|
||||||
def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
|
def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
|
||||||
payload = json.dumps(
|
payload = json.dumps(
|
||||||
{"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
|
{"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
|
||||||
@@ -1598,7 +1543,7 @@ class PRCXI9300Api:
|
|||||||
assist_fun5: str = "",
|
assist_fun5: str = "",
|
||||||
liquid_method: str = "NormalDispense",
|
liquid_method: str = "NormalDispense",
|
||||||
axis: str = "Left",
|
axis: str = "Left",
|
||||||
) -> Dict[str, Any]:
|
) -> Dict[str, Any]:
|
||||||
return {
|
return {
|
||||||
"StepAxis": axis,
|
"StepAxis": axis,
|
||||||
"Function": "Imbibing",
|
"Function": "Imbibing",
|
||||||
@@ -1676,7 +1621,7 @@ class PRCXI9300Api:
|
|||||||
assist_fun5: str = "",
|
assist_fun5: str = "",
|
||||||
liquid_method: str = "NormalDispense",
|
liquid_method: str = "NormalDispense",
|
||||||
axis: str = "Left",
|
axis: str = "Left",
|
||||||
) -> Dict[str, Any]:
|
) -> Dict[str, Any]:
|
||||||
return {
|
return {
|
||||||
"StepAxis": axis,
|
"StepAxis": axis,
|
||||||
"Function": "Blending",
|
"Function": "Blending",
|
||||||
@@ -1736,11 +1681,11 @@ class PRCXI9300Api:
|
|||||||
"LiquidDispensingMethod": liquid_method,
|
"LiquidDispensingMethod": liquid_method,
|
||||||
}
|
}
|
||||||
|
|
||||||
def clamp_jaw_pick_up(
|
def clamp_jaw_pick_up(self,
|
||||||
self,
|
|
||||||
plate_no: int,
|
plate_no: int,
|
||||||
is_whole_plate: bool,
|
is_whole_plate: bool,
|
||||||
balance_height: int,
|
balance_height: int,
|
||||||
|
|
||||||
) -> Dict[str, Any]:
|
) -> Dict[str, Any]:
|
||||||
return {
|
return {
|
||||||
"StepAxis": "ClampingJaw",
|
"StepAxis": "ClampingJaw",
|
||||||
@@ -1750,7 +1695,7 @@ class PRCXI9300Api:
|
|||||||
"HoleRow": 1,
|
"HoleRow": 1,
|
||||||
"HoleCol": 1,
|
"HoleCol": 1,
|
||||||
"BalanceHeight": balance_height,
|
"BalanceHeight": balance_height,
|
||||||
"PlateOrHoleNum": f"T{plate_no}",
|
"PlateOrHoleNum": f"T{plate_no}"
|
||||||
}
|
}
|
||||||
|
|
||||||
def clamp_jaw_drop(
|
def clamp_jaw_drop(
|
||||||
@@ -1758,6 +1703,7 @@ class PRCXI9300Api:
|
|||||||
plate_no: int,
|
plate_no: int,
|
||||||
is_whole_plate: bool,
|
is_whole_plate: bool,
|
||||||
balance_height: int,
|
balance_height: int,
|
||||||
|
|
||||||
) -> Dict[str, Any]:
|
) -> Dict[str, Any]:
|
||||||
return {
|
return {
|
||||||
"StepAxis": "ClampingJaw",
|
"StepAxis": "ClampingJaw",
|
||||||
@@ -1767,7 +1713,7 @@ class PRCXI9300Api:
|
|||||||
"HoleRow": 1,
|
"HoleRow": 1,
|
||||||
"HoleCol": 1,
|
"HoleCol": 1,
|
||||||
"BalanceHeight": balance_height,
|
"BalanceHeight": balance_height,
|
||||||
"PlateOrHoleNum": f"T{plate_no}",
|
"PlateOrHoleNum": f"T{plate_no}"
|
||||||
}
|
}
|
||||||
|
|
||||||
def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
|
def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
|
||||||
@@ -1780,7 +1726,6 @@ class PRCXI9300Api:
|
|||||||
"AssistFun4": is_wait,
|
"AssistFun4": is_wait,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
class DefaultLayout:
|
class DefaultLayout:
|
||||||
|
|
||||||
def __init__(self, product_name: str = "PRCXI9300"):
|
def __init__(self, product_name: str = "PRCXI9300"):
|
||||||
@@ -2159,9 +2104,7 @@ if __name__ == "__main__":
|
|||||||
size_y=50,
|
size_y=50,
|
||||||
size_z=10,
|
size_z=10,
|
||||||
category="tip_rack",
|
category="tip_rack",
|
||||||
ordered_items=collections.OrderedDict(
|
ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
|
||||||
{k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}
|
|
||||||
),
|
|
||||||
)
|
)
|
||||||
tip_rack_serialized = tip_rack.serialize()
|
tip_rack_serialized = tip_rack.serialize()
|
||||||
tip_rack_serialized["parent_name"] = deck.name
|
tip_rack_serialized["parent_name"] = deck.name
|
||||||
@@ -2356,37 +2299,43 @@ if __name__ == "__main__":
|
|||||||
|
|
||||||
A = tree_to_list([resource_plr_to_ulab(deck)])
|
A = tree_to_list([resource_plr_to_ulab(deck)])
|
||||||
with open("deck.json", "w", encoding="utf-8") as f:
|
with open("deck.json", "w", encoding="utf-8") as f:
|
||||||
A.insert(
|
A.insert(0, {
|
||||||
0,
|
"id": "PRCXI",
|
||||||
{
|
"name": "PRCXI",
|
||||||
"id": "PRCXI",
|
"parent": None,
|
||||||
"name": "PRCXI",
|
"type": "device",
|
||||||
"parent": None,
|
"class": "liquid_handler.prcxi",
|
||||||
"type": "device",
|
"position": {
|
||||||
"class": "liquid_handler.prcxi",
|
"x": 0,
|
||||||
"position": {"x": 0, "y": 0, "z": 0},
|
"y": 0,
|
||||||
"config": {
|
"z": 0
|
||||||
"deck": {
|
|
||||||
"_resource_child_name": "PRCXI_Deck",
|
|
||||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
|
||||||
},
|
|
||||||
"host": "192.168.0.121",
|
|
||||||
"port": 9999,
|
|
||||||
"timeout": 10.0,
|
|
||||||
"axis": "Right",
|
|
||||||
"channel_num": 1,
|
|
||||||
"setup": False,
|
|
||||||
"debug": True,
|
|
||||||
"simulator": True,
|
|
||||||
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
|
||||||
"is_9320": True,
|
|
||||||
},
|
|
||||||
"data": {},
|
|
||||||
"children": ["PRCXI_Deck"],
|
|
||||||
},
|
},
|
||||||
)
|
"config": {
|
||||||
|
"deck": {
|
||||||
|
"_resource_child_name": "PRCXI_Deck",
|
||||||
|
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
|
||||||
|
},
|
||||||
|
"host": "192.168.0.121",
|
||||||
|
"port": 9999,
|
||||||
|
"timeout": 10.0,
|
||||||
|
"axis": "Right",
|
||||||
|
"channel_num": 1,
|
||||||
|
"setup": False,
|
||||||
|
"debug": True,
|
||||||
|
"simulator": True,
|
||||||
|
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
|
||||||
|
"is_9320": True
|
||||||
|
},
|
||||||
|
"data": {},
|
||||||
|
"children": [
|
||||||
|
"PRCXI_Deck"
|
||||||
|
]
|
||||||
|
})
|
||||||
A[1]["parent"] = "PRCXI"
|
A[1]["parent"] = "PRCXI"
|
||||||
json.dump({"nodes": A, "links": []}, f, indent=4, ensure_ascii=False)
|
json.dump({
|
||||||
|
"nodes": A,
|
||||||
|
"links": []
|
||||||
|
}, f, indent=4, ensure_ascii=False)
|
||||||
|
|
||||||
handler = PRCXI9300Handler(
|
handler = PRCXI9300Handler(
|
||||||
deck=deck,
|
deck=deck,
|
||||||
@@ -2428,6 +2377,7 @@ if __name__ == "__main__":
|
|||||||
time.sleep(5)
|
time.sleep(5)
|
||||||
os._exit(0)
|
os._exit(0)
|
||||||
|
|
||||||
|
|
||||||
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
|
prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
|
||||||
prcxi_api.list_matrices()
|
prcxi_api.list_matrices()
|
||||||
prcxi_api.get_all_materials()
|
prcxi_api.get_all_materials()
|
||||||
|
|||||||
@@ -31,14 +31,14 @@ class VirtualTransferPump:
|
|||||||
|
|
||||||
# 从config或kwargs中获取参数，确保类型正确
|
# 从config或kwargs中获取参数，确保类型正确
|
||||||
if config:
|
if config:
|
||||||
self.max_volume = float(config.get("max_volume", 25.0))
|
self.max_volume = float(config.get('max_volume', 25.0))
|
||||||
self.port = config.get("port", "VIRTUAL")
|
self.port = config.get('port', 'VIRTUAL')
|
||||||
else:
|
else:
|
||||||
self.max_volume = float(kwargs.get("max_volume", 25.0))
|
self.max_volume = float(kwargs.get('max_volume', 25.0))
|
||||||
self.port = kwargs.get("port", "VIRTUAL")
|
self.port = kwargs.get('port', 'VIRTUAL')
|
||||||
|
|
||||||
self._transfer_rate = float(kwargs.get("transfer_rate", 0))
|
self._transfer_rate = float(kwargs.get('transfer_rate', 0))
|
||||||
self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
|
self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
|
||||||
|
|
||||||
# 状态变量 - 确保都是正确类型
|
# 状态变量 - 确保都是正确类型
|
||||||
self._status = "Idle"
|
self._status = "Idle"
|
||||||
@@ -54,9 +54,7 @@ class VirtualTransferPump:
|
|||||||
self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
|
self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
|
||||||
|
|
||||||
print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
|
print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
|
||||||
print(
|
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
|
||||||
f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
|
|
||||||
)
|
|
||||||
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
|
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
|
||||||
|
|
||||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||||
@@ -191,9 +189,7 @@ class VirtualTransferPump:
|
|||||||
operation_emoji = "📍"
|
operation_emoji = "📍"
|
||||||
|
|
||||||
self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
|
self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
|
||||||
self.logger.info(
|
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
|
||||||
f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
|
|
||||||
)
|
|
||||||
self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
|
self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
|
||||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||||
|
|
||||||
@@ -211,11 +207,7 @@ class VirtualTransferPump:
|
|||||||
for i in range(steps + 1):
|
for i in range(steps + 1):
|
||||||
# 计算当前位置和进度
|
# 计算当前位置和进度
|
||||||
progress = (i / steps) * 100 if steps > 0 else 100
|
progress = (i / steps) * 100 if steps > 0 else 100
|
||||||
current_pos = (
|
current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
|
||||||
start_position + (target_position - start_position) * (i / steps)
|
|
||||||
if steps > 0
|
|
||||||
else target_position
|
|
||||||
)
|
|
||||||
|
|
||||||
# 更新状态
|
# 更新状态
|
||||||
if i < steps:
|
if i < steps:
|
||||||
@@ -252,9 +244,7 @@ class VirtualTransferPump:
|
|||||||
|
|
||||||
# 📊 最终状态日志
|
# 📊 最终状态日志
|
||||||
if volume_to_move > 0.01:
|
if volume_to_move > 0.01:
|
||||||
self.logger.info(
|
self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||||
f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
|
|
||||||
)
|
|
||||||
|
|
||||||
# 返回符合action定义的结果
|
# 返回符合action定义的结果
|
||||||
return {
|
return {
|
||||||
@@ -262,7 +252,7 @@ class VirtualTransferPump:
|
|||||||
"message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
|
"message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
|
||||||
"final_position": self._position,
|
"final_position": self._position,
|
||||||
"final_volume": self._current_volume,
|
"final_volume": self._current_volume,
|
||||||
"operation_type": operation_type,
|
"operation_type": operation_type
|
||||||
}
|
}
|
||||||
|
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
@@ -272,7 +262,7 @@ class VirtualTransferPump:
|
|||||||
"success": False,
|
"success": False,
|
||||||
"message": error_msg,
|
"message": error_msg,
|
||||||
"final_position": self._position,
|
"final_position": self._position,
|
||||||
"final_volume": self._current_volume,
|
"final_volume": self._current_volume
|
||||||
}
|
}
|
||||||
|
|
||||||
# 其他泵操作方法
|
# 其他泵操作方法
|
||||||
@@ -398,9 +388,7 @@ class VirtualTransferPump:
|
|||||||
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
|
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
|
||||||
|
|
||||||
def __str__(self):
|
def __str__(self):
|
||||||
return (
|
return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||||
f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
|
||||||
)
|
|
||||||
|
|
||||||
def __repr__(self):
|
def __repr__(self):
|
||||||
return self.__str__()
|
return self.__str__()
|
||||||
|
|||||||
@@ -1,742 +0,0 @@
|
|||||||
"""
|
|
||||||
Virtual Workbench Device - 模拟工作台设备
|
|
||||||
包含：
|
|
||||||
- 1个机械臂 (每次操作3s, 独占锁)
|
|
||||||
- 3个加热台 (每次加热10s, 可并行)
|
|
||||||
|
|
||||||
工作流程：
|
|
||||||
1. A1-A5 物料同时启动，竞争机械臂
|
|
||||||
2. 机械臂将物料移动到空闲加热台
|
|
||||||
3. 加热完成后，机械臂将物料移动到C1-C5
|
|
||||||
|
|
||||||
注意：调用来自线程池，使用 threading.Lock 进行同步
|
|
||||||
"""
|
|
||||||
|
|
||||||
import logging
|
|
||||||
import time
|
|
||||||
from typing import Dict, Any, Optional, List
|
|
||||||
from dataclasses import dataclass
|
|
||||||
from enum import Enum
|
|
||||||
from threading import Lock, RLock
|
|
||||||
|
|
||||||
from typing_extensions import TypedDict
|
|
||||||
|
|
||||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
|
||||||
from unilabos.utils.decorator import not_action
|
|
||||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
|
|
||||||
|
|
||||||
|
|
||||||
# ============ TypedDict 返回类型定义 ============
|
|
||||||
|
|
||||||
|
|
||||||
class MoveToHeatingStationResult(TypedDict):
|
|
||||||
"""move_to_heating_station 返回类型"""
|
|
||||||
|
|
||||||
success: bool
|
|
||||||
station_id: int
|
|
||||||
material_id: str
|
|
||||||
material_number: int
|
|
||||||
message: str
|
|
||||||
unilabos_samples: List[LabSample]
|
|
||||||
|
|
||||||
|
|
||||||
class StartHeatingResult(TypedDict):
|
|
||||||
"""start_heating 返回类型"""
|
|
||||||
|
|
||||||
success: bool
|
|
||||||
station_id: int
|
|
||||||
material_id: str
|
|
||||||
material_number: int
|
|
||||||
message: str
|
|
||||||
unilabos_samples: List[LabSample]
|
|
||||||
|
|
||||||
|
|
||||||
class MoveToOutputResult(TypedDict):
|
|
||||||
"""move_to_output 返回类型"""
|
|
||||||
|
|
||||||
success: bool
|
|
||||||
station_id: int
|
|
||||||
material_id: str
|
|
||||||
unilabos_samples: List[LabSample]
|
|
||||||
|
|
||||||
|
|
||||||
class PrepareMaterialsResult(TypedDict):
|
|
||||||
"""prepare_materials 返回类型 - 批量准备物料"""
|
|
||||||
|
|
||||||
success: bool
|
|
||||||
count: int
|
|
||||||
material_1: int # 物料编号1
|
|
||||||
material_2: int # 物料编号2
|
|
||||||
material_3: int # 物料编号3
|
|
||||||
material_4: int # 物料编号4
|
|
||||||
material_5: int # 物料编号5
|
|
||||||
message: str
|
|
||||||
unilabos_samples: List[LabSample]
|
|
||||||
|
|
||||||
|
|
||||||
# ============ 状态枚举 ============
|
|
||||||
|
|
||||||
|
|
||||||
class HeatingStationState(Enum):
|
|
||||||
"""加热台状态枚举"""
|
|
||||||
|
|
||||||
IDLE = "idle" # 空闲
|
|
||||||
OCCUPIED = "occupied" # 已放置物料，等待加热
|
|
||||||
HEATING = "heating" # 加热中
|
|
||||||
COMPLETED = "completed" # 加热完成，等待取走
|
|
||||||
|
|
||||||
|
|
||||||
class ArmState(Enum):
|
|
||||||
"""机械臂状态枚举"""
|
|
||||||
|
|
||||||
IDLE = "idle" # 空闲
|
|
||||||
BUSY = "busy" # 工作中
|
|
||||||
|
|
||||||
|
|
||||||
@dataclass
|
|
||||||
class HeatingStation:
|
|
||||||
"""加热台数据结构"""
|
|
||||||
|
|
||||||
station_id: int
|
|
||||||
state: HeatingStationState = HeatingStationState.IDLE
|
|
||||||
current_material: Optional[str] = None # 当前物料 (如 "A1", "A2")
|
|
||||||
material_number: Optional[int] = None # 物料编号 (1-5)
|
|
||||||
heating_start_time: Optional[float] = None
|
|
||||||
heating_progress: float = 0.0
|
|
||||||
|
|
||||||
|
|
||||||
class VirtualWorkbench:
|
|
||||||
"""
|
|
||||||
Virtual Workbench Device - 虚拟工作台设备
|
|
||||||
|
|
||||||
模拟一个包含1个机械臂和3个加热台的工作站
|
|
||||||
- 机械臂操作耗时3秒，同一时间只能执行一个操作
|
|
||||||
- 加热台加热耗时10秒，3个加热台可并行工作
|
|
||||||
|
|
||||||
工作流:
|
|
||||||
1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
|
|
||||||
2. 获取机械臂后，查找空闲加热台
|
|
||||||
3. 机械臂将物料放入加热台，开始加热
|
|
||||||
4. 加热完成后，机械臂将物料移动到目标位置Cn
|
|
||||||
"""
|
|
||||||
|
|
||||||
_ros_node: BaseROS2DeviceNode
|
|
||||||
|
|
||||||
# 配置常量
|
|
||||||
ARM_OPERATION_TIME: float = 3.0 # 机械臂操作时间(秒)
|
|
||||||
HEATING_TIME: float = 10.0 # 加热时间(秒)
|
|
||||||
NUM_HEATING_STATIONS: int = 3 # 加热台数量
|
|
||||||
|
|
||||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
|
||||||
# 处理可能的不同调用方式
|
|
||||||
if device_id is None and "id" in kwargs:
|
|
||||||
device_id = kwargs.pop("id")
|
|
||||||
if config is None and "config" in kwargs:
|
|
||||||
config = kwargs.pop("config")
|
|
||||||
|
|
||||||
self.device_id = device_id or "virtual_workbench"
|
|
||||||
self.config = config or {}
|
|
||||||
|
|
||||||
self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
|
|
||||||
self.data: Dict[str, Any] = {}
|
|
||||||
|
|
||||||
# 从config中获取可配置参数
|
|
||||||
self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
|
|
||||||
self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
|
|
||||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))
|
|
||||||
|
|
||||||
# 机械臂状态和锁 (使用threading.Lock)
|
|
||||||
self._arm_lock = Lock()
|
|
||||||
self._arm_state = ArmState.IDLE
|
|
||||||
self._arm_current_task: Optional[str] = None
|
|
||||||
|
|
||||||
# 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
|
|
||||||
self._heating_stations: Dict[int, HeatingStation] = {
|
|
||||||
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
|
||||||
}
|
|
||||||
self._stations_lock = RLock() # 可重入锁，保护加热台状态
|
|
||||||
|
|
||||||
# 任务追踪
|
|
||||||
self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info
|
|
||||||
self._tasks_lock = Lock()
|
|
||||||
|
|
||||||
# 处理其他kwargs参数
|
|
||||||
skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
|
|
||||||
for key, value in kwargs.items():
|
|
||||||
if key not in skip_keys and not hasattr(self, key):
|
|
||||||
setattr(self, key, value)
|
|
||||||
|
|
||||||
self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
|
|
||||||
self.logger.info(
|
|
||||||
f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
|
|
||||||
f"加热时间: {self.HEATING_TIME}s | "
|
|
||||||
f"加热台数量: {self.NUM_HEATING_STATIONS}"
|
|
||||||
)
|
|
||||||
|
|
||||||
@not_action
|
|
||||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
|
||||||
"""ROS节点初始化后回调"""
|
|
||||||
self._ros_node = ros_node
|
|
||||||
|
|
||||||
@not_action
|
|
||||||
def initialize(self) -> bool:
|
|
||||||
"""初始化虚拟工作台"""
|
|
||||||
self.logger.info(f"初始化虚拟工作台 {self.device_id}")
|
|
||||||
|
|
||||||
# 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
|
|
||||||
with self._stations_lock:
|
|
||||||
for station in self._heating_stations.values():
|
|
||||||
station.state = HeatingStationState.IDLE
|
|
||||||
station.current_material = None
|
|
||||||
station.material_number = None
|
|
||||||
station.heating_progress = 0.0
|
|
||||||
|
|
||||||
# 初始化状态
|
|
||||||
self.data.update(
|
|
||||||
{
|
|
||||||
"status": "Ready",
|
|
||||||
"arm_state": ArmState.IDLE.value,
|
|
||||||
"arm_current_task": None,
|
|
||||||
"heating_stations": self._get_stations_status(),
|
|
||||||
"active_tasks_count": 0,
|
|
||||||
"message": "工作台就绪",
|
|
||||||
}
|
|
||||||
)
|
|
||||||
|
|
||||||
self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
|
|
||||||
return True
|
|
||||||
|
|
||||||
@not_action
|
|
||||||
def cleanup(self) -> bool:
|
|
||||||
"""清理虚拟工作台"""
|
|
||||||
self.logger.info(f"清理虚拟工作台 {self.device_id}")
|
|
||||||
|
|
||||||
self._arm_state = ArmState.IDLE
|
|
||||||
self._arm_current_task = None
|
|
||||||
|
|
||||||
with self._stations_lock:
|
|
||||||
self._heating_stations.clear()
|
|
||||||
|
|
||||||
with self._tasks_lock:
|
|
||||||
self._active_tasks.clear()
|
|
||||||
|
|
||||||
self.data.update(
|
|
||||||
{
|
|
||||||
"status": "Offline",
|
|
||||||
"arm_state": ArmState.IDLE.value,
|
|
||||||
"heating_stations": {},
|
|
||||||
"message": "工作台已关闭",
|
|
||||||
}
|
|
||||||
)
|
|
||||||
return True
|
|
||||||
|
|
||||||
def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
|
|
||||||
"""获取所有加热台状态"""
|
|
||||||
with self._stations_lock:
|
|
||||||
return {
|
|
||||||
station_id: {
|
|
||||||
"state": station.state.value,
|
|
||||||
"current_material": station.current_material,
|
|
||||||
"material_number": station.material_number,
|
|
||||||
"heating_progress": station.heating_progress,
|
|
||||||
}
|
|
||||||
for station_id, station in self._heating_stations.items()
|
|
||||||
}
|
|
||||||
|
|
||||||
def _update_data_status(self, message: Optional[str] = None):
|
|
||||||
"""更新状态数据"""
|
|
||||||
self.data.update(
|
|
||||||
{
|
|
||||||
"arm_state": self._arm_state.value,
|
|
||||||
"arm_current_task": self._arm_current_task,
|
|
||||||
"heating_stations": self._get_stations_status(),
|
|
||||||
"active_tasks_count": len(self._active_tasks),
|
|
||||||
}
|
|
||||||
)
|
|
||||||
if message:
|
|
||||||
self.data["message"] = message
|
|
||||||
|
|
||||||
def _find_available_heating_station(self) -> Optional[int]:
|
|
||||||
"""查找空闲的加热台
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
空闲加热台ID，如果没有则返回None
|
|
||||||
"""
|
|
||||||
with self._stations_lock:
|
|
||||||
for station_id, station in self._heating_stations.items():
|
|
||||||
if station.state == HeatingStationState.IDLE:
|
|
||||||
return station_id
|
|
||||||
return None
|
|
||||||
|
|
||||||
def _acquire_arm(self, task_description: str) -> bool:
|
|
||||||
"""获取机械臂使用权（阻塞直到获取）
|
|
||||||
|
|
||||||
Args:
|
|
||||||
task_description: 任务描述，用于日志
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
是否成功获取
|
|
||||||
"""
|
|
||||||
self.logger.info(f"[{task_description}] 等待获取机械臂...")
|
|
||||||
|
|
||||||
# 阻塞等待获取锁
|
|
||||||
self._arm_lock.acquire()
|
|
||||||
|
|
||||||
self._arm_state = ArmState.BUSY
|
|
||||||
self._arm_current_task = task_description
|
|
||||||
self._update_data_status(f"机械臂执行: {task_description}")
|
|
||||||
|
|
||||||
self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
|
|
||||||
return True
|
|
||||||
|
|
||||||
def _release_arm(self):
|
|
||||||
"""释放机械臂"""
|
|
||||||
task = self._arm_current_task
|
|
||||||
self._arm_state = ArmState.IDLE
|
|
||||||
self._arm_current_task = None
|
|
||||||
self._arm_lock.release()
|
|
||||||
self._update_data_status(f"机械臂已释放 (完成: {task})")
|
|
||||||
self.logger.info(f"机械臂已释放 (完成: {task})")
|
|
||||||
|
|
||||||
def prepare_materials(
|
|
||||||
self,
|
|
||||||
sample_uuids: SampleUUIDsType,
|
|
||||||
count: int = 5,
|
|
||||||
) -> PrepareMaterialsResult:
|
|
||||||
"""
|
|
||||||
批量准备物料 - 虚拟起始节点
|
|
||||||
|
|
||||||
作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
|
|
||||||
输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
|
|
||||||
|
|
||||||
Args:
|
|
||||||
count: 待生成的物料数量，默认5 (生成 A1-A5)
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
|
|
||||||
"""
|
|
||||||
# 生成物料列表 A1 - A{count}
|
|
||||||
materials = [i for i in range(1, count + 1)]
|
|
||||||
|
|
||||||
self.logger.info(f"[准备物料] 生成 {count} 个物料: " f"A1-A{count} -> material_1~material_{count}")
|
|
||||||
|
|
||||||
return {
|
|
||||||
"success": True,
|
|
||||||
"count": count,
|
|
||||||
"material_1": materials[0] if len(materials) > 0 else 0,
|
|
||||||
"material_2": materials[1] if len(materials) > 1 else 0,
|
|
||||||
"material_3": materials[2] if len(materials) > 2 else 0,
|
|
||||||
"material_4": materials[3] if len(materials) > 3 else 0,
|
|
||||||
"material_5": materials[4] if len(materials) > 4 else 0,
|
|
||||||
"message": f"已准备 {count} 个物料: A1-A{count}",
|
|
||||||
"unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
def move_to_heating_station(
|
|
||||||
self,
|
|
||||||
sample_uuids: SampleUUIDsType,
|
|
||||||
material_number: int,
|
|
||||||
) -> MoveToHeatingStationResult:
|
|
||||||
"""
|
|
||||||
将物料从An位置移动到加热台
|
|
||||||
|
|
||||||
多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
|
|
||||||
|
|
||||||
Args:
|
|
||||||
material_number: 物料编号 (1-5)
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
|
|
||||||
"""
|
|
||||||
# 根据物料编号生成物料ID
|
|
||||||
material_id = f"A{material_number}"
|
|
||||||
task_desc = f"移动{material_id}到加热台"
|
|
||||||
self.logger.info(f"[任务] {task_desc} - 开始执行")
|
|
||||||
|
|
||||||
# 记录任务
|
|
||||||
with self._tasks_lock:
|
|
||||||
self._active_tasks[material_id] = {
|
|
||||||
"status": "waiting_for_arm",
|
|
||||||
"start_time": time.time(),
|
|
||||||
}
|
|
||||||
|
|
||||||
try:
|
|
||||||
# 步骤1: 等待获取机械臂使用权(竞争)
|
|
||||||
with self._tasks_lock:
|
|
||||||
self._active_tasks[material_id]["status"] = "waiting_for_arm"
|
|
||||||
self._acquire_arm(task_desc)
|
|
||||||
|
|
||||||
# 步骤2: 查找空闲加热台
|
|
||||||
with self._tasks_lock:
|
|
||||||
self._active_tasks[material_id]["status"] = "finding_station"
|
|
||||||
station_id = None
|
|
||||||
|
|
||||||
# 循环等待直到找到空闲加热台
|
|
||||||
while station_id is None:
|
|
||||||
station_id = self._find_available_heating_station()
|
|
||||||
if station_id is None:
|
|
||||||
self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
|
|
||||||
# 释放机械臂，等待后重试
|
|
||||||
self._release_arm()
|
|
||||||
time.sleep(0.5)
|
|
||||||
self._acquire_arm(task_desc)
|
|
||||||
|
|
||||||
# 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
|
|
||||||
with self._stations_lock:
|
|
||||||
self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
|
|
||||||
self._heating_stations[station_id].current_material = material_id
|
|
||||||
self._heating_stations[station_id].material_number = material_number
|
|
||||||
|
|
||||||
# 步骤4: 模拟机械臂移动操作 (3秒)
|
|
||||||
with self._tasks_lock:
|
|
||||||
self._active_tasks[material_id]["status"] = "arm_moving"
|
|
||||||
self._active_tasks[material_id]["assigned_station"] = station_id
|
|
||||||
self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
|
|
||||||
|
|
||||||
time.sleep(self.ARM_OPERATION_TIME)
|
|
||||||
|
|
||||||
# 步骤5: 放入加热台完成
|
|
||||||
self._update_data_status(f"{material_id}已放入加热台{station_id}")
|
|
||||||
self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
|
|
||||||
|
|
||||||
# 释放机械臂
|
|
||||||
self._release_arm()
|
|
||||||
|
|
||||||
with self._tasks_lock:
|
|
||||||
self._active_tasks[material_id]["status"] = "placed_on_station"
|
|
||||||
|
|
||||||
return {
|
|
||||||
"success": True,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": material_id,
|
|
||||||
"material_number": material_number,
|
|
||||||
"message": f"{material_id}已成功移动到加热台{station_id}",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
except Exception as e:
|
|
||||||
self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
|
|
||||||
if self._arm_lock.locked():
|
|
||||||
self._release_arm()
|
|
||||||
return {
|
|
||||||
"success": False,
|
|
||||||
"station_id": -1,
|
|
||||||
"material_id": material_id,
|
|
||||||
"material_number": material_number,
|
|
||||||
"message": f"移动失败: {str(e)}",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
def start_heating(
|
|
||||||
self,
|
|
||||||
sample_uuids: SampleUUIDsType,
|
|
||||||
station_id: int,
|
|
||||||
material_number: int,
|
|
||||||
) -> StartHeatingResult:
|
|
||||||
"""
|
|
||||||
启动指定加热台的加热程序
|
|
||||||
|
|
||||||
Args:
|
|
||||||
station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
|
|
||||||
material_number: 物料编号，从 move_to_heating_station 的 handle 传入
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
|
|
||||||
"""
|
|
||||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
|
||||||
|
|
||||||
if station_id not in self._heating_stations:
|
|
||||||
return {
|
|
||||||
"success": False,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": "",
|
|
||||||
"material_number": material_number,
|
|
||||||
"message": f"无效的加热台ID: {station_id}",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations[station_id]
|
|
||||||
|
|
||||||
if station.current_material is None:
|
|
||||||
return {
|
|
||||||
"success": False,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": "",
|
|
||||||
"material_number": material_number,
|
|
||||||
"message": f"加热台{station_id}上没有物料",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
if station.state == HeatingStationState.HEATING:
|
|
||||||
return {
|
|
||||||
"success": False,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": station.current_material,
|
|
||||||
"material_number": material_number,
|
|
||||||
"message": f"加热台{station_id}已经在加热中",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
material_id = station.current_material
|
|
||||||
|
|
||||||
# 开始加热
|
|
||||||
station.state = HeatingStationState.HEATING
|
|
||||||
station.heating_start_time = time.time()
|
|
||||||
station.heating_progress = 0.0
|
|
||||||
|
|
||||||
with self._tasks_lock:
|
|
||||||
if material_id in self._active_tasks:
|
|
||||||
self._active_tasks[material_id]["status"] = "heating"
|
|
||||||
|
|
||||||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
|
||||||
|
|
||||||
# 模拟加热过程 (10秒)
|
|
||||||
start_time = time.time()
|
|
||||||
while True:
|
|
||||||
elapsed = time.time() - start_time
|
|
||||||
progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
|
|
||||||
|
|
||||||
with self._stations_lock:
|
|
||||||
self._heating_stations[station_id].heating_progress = progress
|
|
||||||
|
|
||||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
|
||||||
|
|
||||||
if elapsed >= self.HEATING_TIME:
|
|
||||||
break
|
|
||||||
|
|
||||||
time.sleep(1.0)
|
|
||||||
|
|
||||||
# 加热完成
|
|
||||||
with self._stations_lock:
|
|
||||||
self._heating_stations[station_id].state = HeatingStationState.COMPLETED
|
|
||||||
self._heating_stations[station_id].heating_progress = 100.0
|
|
||||||
|
|
||||||
with self._tasks_lock:
|
|
||||||
if material_id in self._active_tasks:
|
|
||||||
self._active_tasks[material_id]["status"] = "heating_completed"
|
|
||||||
|
|
||||||
self._update_data_status(f"加热台{station_id}加热完成")
|
|
||||||
self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
|
|
||||||
|
|
||||||
return {
|
|
||||||
"success": True,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": material_id,
|
|
||||||
"material_number": material_number,
|
|
||||||
"message": f"加热台{station_id}加热完成",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
def move_to_output(
|
|
||||||
self,
|
|
||||||
sample_uuids: SampleUUIDsType,
|
|
||||||
station_id: int,
|
|
||||||
material_number: int,
|
|
||||||
) -> MoveToOutputResult:
|
|
||||||
"""
|
|
||||||
将物料从加热台移动到输出位置Cn
|
|
||||||
|
|
||||||
Args:
|
|
||||||
station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
|
|
||||||
material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
MoveToOutputResult: 包含执行结果
|
|
||||||
"""
|
|
||||||
output_number = material_number # 物料编号决定输出位置
|
|
||||||
|
|
||||||
if station_id not in self._heating_stations:
|
|
||||||
return {
|
|
||||||
"success": False,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": "",
|
|
||||||
"output_position": f"C{output_number}",
|
|
||||||
"message": f"无效的加热台ID: {station_id}",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations[station_id]
|
|
||||||
material_id = station.current_material
|
|
||||||
|
|
||||||
if material_id is None:
|
|
||||||
return {
|
|
||||||
"success": False,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": "",
|
|
||||||
"output_position": f"C{output_number}",
|
|
||||||
"message": f"加热台{station_id}上没有物料",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
if station.state != HeatingStationState.COMPLETED:
|
|
||||||
return {
|
|
||||||
"success": False,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": material_id,
|
|
||||||
"output_position": f"C{output_number}",
|
|
||||||
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
output_position = f"C{output_number}"
|
|
||||||
task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
|
|
||||||
self.logger.info(f"[任务] {task_desc}")
|
|
||||||
|
|
||||||
try:
|
|
||||||
with self._tasks_lock:
|
|
||||||
if material_id in self._active_tasks:
|
|
||||||
self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
|
|
||||||
|
|
||||||
# 获取机械臂
|
|
||||||
self._acquire_arm(task_desc)
|
|
||||||
|
|
||||||
with self._tasks_lock:
|
|
||||||
if material_id in self._active_tasks:
|
|
||||||
self._active_tasks[material_id]["status"] = "arm_moving_to_output"
|
|
||||||
|
|
||||||
# 模拟机械臂操作 (3秒)
|
|
||||||
self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
|
|
||||||
time.sleep(self.ARM_OPERATION_TIME)
|
|
||||||
|
|
||||||
# 清空加热台
|
|
||||||
with self._stations_lock:
|
|
||||||
self._heating_stations[station_id].state = HeatingStationState.IDLE
|
|
||||||
self._heating_stations[station_id].current_material = None
|
|
||||||
self._heating_stations[station_id].material_number = None
|
|
||||||
self._heating_stations[station_id].heating_progress = 0.0
|
|
||||||
self._heating_stations[station_id].heating_start_time = None
|
|
||||||
|
|
||||||
# 释放机械臂
|
|
||||||
self._release_arm()
|
|
||||||
|
|
||||||
# 任务完成
|
|
||||||
with self._tasks_lock:
|
|
||||||
if material_id in self._active_tasks:
|
|
||||||
self._active_tasks[material_id]["status"] = "completed"
|
|
||||||
self._active_tasks[material_id]["end_time"] = time.time()
|
|
||||||
|
|
||||||
self._update_data_status(f"{material_id}已移动到{output_position}")
|
|
||||||
self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
|
|
||||||
|
|
||||||
return {
|
|
||||||
"success": True,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": material_id,
|
|
||||||
"output_position": output_position,
|
|
||||||
"message": f"{material_id}已成功移动到{output_position}",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
except Exception as e:
|
|
||||||
self.logger.error(f"移动到输出位置失败: {str(e)}")
|
|
||||||
if self._arm_lock.locked():
|
|
||||||
self._release_arm()
|
|
||||||
return {
|
|
||||||
"success": False,
|
|
||||||
"station_id": station_id,
|
|
||||||
"material_id": "",
|
|
||||||
"output_position": output_position,
|
|
||||||
"message": f"移动失败: {str(e)}",
|
|
||||||
"unilabos_samples": [
|
|
||||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
|
||||||
sample_uuid, content in sample_uuids.items()]
|
|
||||||
}
|
|
||||||
|
|
||||||
# ============ 状态属性 ============
|
|
||||||
|
|
||||||
@property
|
|
||||||
def status(self) -> str:
|
|
||||||
return self.data.get("status", "Unknown")
|
|
||||||
|
|
||||||
@property
|
|
||||||
def arm_state(self) -> str:
|
|
||||||
return self._arm_state.value
|
|
||||||
|
|
||||||
@property
|
|
||||||
def arm_current_task(self) -> str:
|
|
||||||
return self._arm_current_task or ""
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_1_state(self) -> str:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(1)
|
|
||||||
return station.state.value if station else "unknown"
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_1_material(self) -> str:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(1)
|
|
||||||
return station.current_material or "" if station else ""
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_1_progress(self) -> float:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(1)
|
|
||||||
return station.heating_progress if station else 0.0
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_2_state(self) -> str:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(2)
|
|
||||||
return station.state.value if station else "unknown"
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_2_material(self) -> str:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(2)
|
|
||||||
return station.current_material or "" if station else ""
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_2_progress(self) -> float:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(2)
|
|
||||||
return station.heating_progress if station else 0.0
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_3_state(self) -> str:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(3)
|
|
||||||
return station.state.value if station else "unknown"
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_3_material(self) -> str:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(3)
|
|
||||||
return station.current_material or "" if station else ""
|
|
||||||
|
|
||||||
@property
|
|
||||||
def heating_station_3_progress(self) -> float:
|
|
||||||
with self._stations_lock:
|
|
||||||
station = self._heating_stations.get(3)
|
|
||||||
return station.heating_progress if station else 0.0
|
|
||||||
|
|
||||||
@property
|
|
||||||
def active_tasks_count(self) -> int:
|
|
||||||
with self._tasks_lock:
|
|
||||||
return len(self._active_tasks)
|
|
||||||
|
|
||||||
@property
|
|
||||||
def message(self) -> str:
|
|
||||||
return self.data.get("message", "")
|
|
||||||
@@ -1,5 +1,9 @@
|
|||||||
# 工作站抽象基类物料系统架构说明
|
# 工作站抽象基类物料系统架构说明
|
||||||
|
|
||||||
|
## 设计理念
|
||||||
|
|
||||||
|
基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
|
||||||
|
|
||||||
### 核心原则
|
### 核心原则
|
||||||
|
|
||||||
1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
|
1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
|
||||||
|
|||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,12 @@
|
|||||||
|
import pubchempy as pcp
|
||||||
|
|
||||||
|
cas = "21324-40-3" # 示例
|
||||||
|
comps = pcp.get_compounds(cas, namespace="name")
|
||||||
|
if not comps:
|
||||||
|
raise ValueError("No hit")
|
||||||
|
|
||||||
|
c = comps[0]
|
||||||
|
|
||||||
|
print("Canonical SMILES:", c.canonical_smiles)
|
||||||
|
print("Isomeric SMILES:", c.isomeric_smiles)
|
||||||
|
print("MW:", c.molecular_weight)
|
||||||
@@ -0,0 +1,7 @@
|
|||||||
|
material_name
|
||||||
|
LiPF6
|
||||||
|
LiDFOB
|
||||||
|
DTD
|
||||||
|
LiFSI
|
||||||
|
LiPO2F2
|
||||||
|
|
||||||
|
@@ -1,157 +0,0 @@
|
|||||||
# 批量出库 Excel 模板使用说明
|
|
||||||
|
|
||||||
**文件**: `outbound_template.xlsx`
|
|
||||||
**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作
|
|
||||||
**API 端点**: `/api/lims/storage/auto-batch-out-bound`
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 📋 Excel 列说明
|
|
||||||
|
|
||||||
| 列名 | 说明 | 示例 | 必填 |
|
|
||||||
|------|------|------|------|
|
|
||||||
| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 |
|
|
||||||
| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 |
|
|
||||||
| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 |
|
|
||||||
| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 |
|
|
||||||
| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 |
|
|
||||||
| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 |
|
|
||||||
| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 |
|
|
||||||
|
|
||||||
### 📐 坐标说明
|
|
||||||
|
|
||||||
**x, y, z** 是库位在仓库内的**三维坐标**：
|
|
||||||
|
|
||||||
```
|
|
||||||
仓库（例如 WH4）
|
|
||||||
├── Z=1（第1层/加样头面）
|
|
||||||
│ ├── X=1, Y=1（位置 A）
|
|
||||||
│ ├── X=2, Y=1（位置 B）
|
|
||||||
│ ├── X=3, Y=1（位置 C）
|
|
||||||
│ └── ...
|
|
||||||
│
|
|
||||||
└── Z=2（第2层/原液瓶面）
|
|
||||||
├── X=1, Y=1（位置 A）
|
|
||||||
├── X=2, Y=1（位置 B）
|
|
||||||
└── ...
|
|
||||||
```
|
|
||||||
|
|
||||||
- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等）
|
|
||||||
- **x, y, z**: 在该仓库内的三维坐标
|
|
||||||
- **locationId**: 该坐标位置的唯一 UUID
|
|
||||||
|
|
||||||
### 🎯 起点与终点
|
|
||||||
|
|
||||||
**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。
|
|
||||||
|
|
||||||
```
|
|
||||||
出库流程：
|
|
||||||
起点（Excel 指定） → ？终点（LIMS/工作流决定）
|
|
||||||
↓
|
|
||||||
locationId, x, y, z → 由 LIMS 系统或当前工作流自动分配
|
|
||||||
```
|
|
||||||
|
|
||||||
**终点由以下方式确定：**
|
|
||||||
- **LIMS 系统自动分配**：根据当前任务自动规划目标位置
|
|
||||||
- **工作流预定义**：在创建出库任务时已绑定目标位置
|
|
||||||
- **暂存区**：默认放到出库暂存区，等待下一步操作
|
|
||||||
|
|
||||||
💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 🔍 如何获取 UUID？
|
|
||||||
|
|
||||||
### 方法 1：从配置文件获取
|
|
||||||
|
|
||||||
参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`：
|
|
||||||
|
|
||||||
```json
|
|
||||||
{
|
|
||||||
"warehouse_mapping": {
|
|
||||||
"配液站内试剂仓库": {
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a19da43-57b5-294f-d663-154a1cc32270",
|
|
||||||
"B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
|
|
||||||
"C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"手动堆栈": {
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
|
|
||||||
"A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
```
|
|
||||||
|
|
||||||
### 方法 2：通过 API 查询
|
|
||||||
|
|
||||||
```python
|
|
||||||
material_info = hardware_interface.material_id_query(workflow_id)
|
|
||||||
locations = material_info.get("locations", [])
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 📝 填写示例
|
|
||||||
|
|
||||||
### 示例 1：从配液站内试剂仓库出库
|
|
||||||
|
|
||||||
| locationId | warehouseId | quantity | x | y | z | 备注说明 |
|
|
||||||
|------------|-------------|----------|---|---|---|----------|
|
|
||||||
| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 |
|
|
||||||
| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 |
|
|
||||||
|
|
||||||
### 示例 2：从手动堆栈出库
|
|
||||||
|
|
||||||
| locationId | warehouseId | quantity | x | y | z | 备注说明 |
|
|
||||||
|------------|-------------|----------|---|---|---|----------|
|
|
||||||
| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 |
|
|
||||||
| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 |
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 💻 使用方法
|
|
||||||
|
|
||||||
```python
|
|
||||||
from bioyond_cell_workstation import BioyondCellWorkstation
|
|
||||||
|
|
||||||
# 初始化工作站
|
|
||||||
workstation = BioyondCellWorkstation(config=config, deck=deck)
|
|
||||||
|
|
||||||
# 调用批量出库方法
|
|
||||||
result = workstation.auto_batch_outbound_from_xlsx(
|
|
||||||
xlsx_path="outbound_template.xlsx"
|
|
||||||
)
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## ⚠️ 注意事项
|
|
||||||
|
|
||||||
1. **locationId 必须是有效的 UUID**，不能使用库位名称
|
|
||||||
2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置
|
|
||||||
3. **quantity 必须是数字**，可以是整数或浮点数
|
|
||||||
4. Excel 文件必须包含表头行
|
|
||||||
5. 空行会被自动跳过
|
|
||||||
6. 确保 UUID 与实际库位对应，否则 API 会报错
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 📚 相关文件
|
|
||||||
|
|
||||||
- **配置文件**: `yibin_electrolyte_config.json`
|
|
||||||
- **Python 代码**: `bioyond_cell_workstation.py` (L630-695)
|
|
||||||
- **生成脚本**: `create_outbound_template.py`
|
|
||||||
- **上料模板**: `material_template.xlsx`
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 🔄 重新生成模板
|
|
||||||
|
|
||||||
```bash
|
|
||||||
conda activate newunilab
|
|
||||||
python create_outbound_template.py
|
|
||||||
```
|
|
||||||
@@ -49,14 +49,6 @@ class BioyondV1RPC(BaseRequest):
|
|||||||
self.config = config
|
self.config = config
|
||||||
self.api_key = config["api_key"]
|
self.api_key = config["api_key"]
|
||||||
self.host = config["api_host"]
|
self.host = config["api_host"]
|
||||||
|
|
||||||
# 初始化 location_mapping
|
|
||||||
# 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化
|
|
||||||
self.location_mapping = {}
|
|
||||||
warehouse_mapping = self.config.get("warehouse_mapping", {})
|
|
||||||
for warehouse_name, warehouse_config in warehouse_mapping.items():
|
|
||||||
if "site_uuids" in warehouse_config:
|
|
||||||
self.location_mapping.update(warehouse_config["site_uuids"])
|
|
||||||
self._logger = SimpleLogger()
|
self._logger = SimpleLogger()
|
||||||
self.material_cache = {}
|
self.material_cache = {}
|
||||||
self._load_material_cache()
|
self._load_material_cache()
|
||||||
@@ -184,40 +176,7 @@ class BioyondV1RPC(BaseRequest):
|
|||||||
return {}
|
return {}
|
||||||
|
|
||||||
print(f"add material data: {response['data']}")
|
print(f"add material data: {response['data']}")
|
||||||
|
return response.get("data", {})
|
||||||
# 自动更新缓存
|
|
||||||
data = response.get("data", {})
|
|
||||||
if data:
|
|
||||||
if isinstance(data, str):
|
|
||||||
# 如果返回的是字符串，通常是ID
|
|
||||||
mat_id = data
|
|
||||||
name = params.get("name")
|
|
||||||
else:
|
|
||||||
# 如果返回的是字典，尝试获取name和id
|
|
||||||
name = data.get("name") or params.get("name")
|
|
||||||
mat_id = data.get("id")
|
|
||||||
|
|
||||||
if name and mat_id:
|
|
||||||
self.material_cache[name] = mat_id
|
|
||||||
print(f"已自动更新缓存: {name} -> {mat_id}")
|
|
||||||
|
|
||||||
# 处理返回数据中的 details (如果有)
|
|
||||||
# 有些 API 返回结构可能直接包含 details，或者在 data 字段中
|
|
||||||
details = data.get("details", []) if isinstance(data, dict) else []
|
|
||||||
if not details and isinstance(data, dict):
|
|
||||||
details = data.get("detail", [])
|
|
||||||
|
|
||||||
if details:
|
|
||||||
for detail in details:
|
|
||||||
d_name = detail.get("name")
|
|
||||||
# 尝试从不同字段获取 ID
|
|
||||||
d_id = detail.get("id") or detail.get("detailMaterialId")
|
|
||||||
|
|
||||||
if d_name and d_id:
|
|
||||||
self.material_cache[d_name] = d_id
|
|
||||||
print(f"已自动更新 detail 缓存: {d_name} -> {d_id}")
|
|
||||||
|
|
||||||
return data
|
|
||||||
|
|
||||||
def query_matial_type_id(self, data) -> list:
|
def query_matial_type_id(self, data) -> list:
|
||||||
"""查找物料typeid"""
|
"""查找物料typeid"""
|
||||||
@@ -244,7 +203,7 @@ class BioyondV1RPC(BaseRequest):
|
|||||||
params={
|
params={
|
||||||
"apiKey": self.api_key,
|
"apiKey": self.api_key,
|
||||||
"requestTime": self.get_current_time_iso8601(),
|
"requestTime": self.get_current_time_iso8601(),
|
||||||
"data": 0,
|
"data": {},
|
||||||
})
|
})
|
||||||
if not response or response['code'] != 1:
|
if not response or response['code'] != 1:
|
||||||
return []
|
return []
|
||||||
@@ -314,19 +273,12 @@ class BioyondV1RPC(BaseRequest):
|
|||||||
|
|
||||||
if not response or response['code'] != 1:
|
if not response or response['code'] != 1:
|
||||||
return {}
|
return {}
|
||||||
|
|
||||||
# 自动更新缓存 - 移除被删除的物料
|
|
||||||
for name, mid in list(self.material_cache.items()):
|
|
||||||
if mid == material_id:
|
|
||||||
del self.material_cache[name]
|
|
||||||
print(f"已从缓存移除物料: {name}")
|
|
||||||
break
|
|
||||||
|
|
||||||
return response.get("data", {})
|
return response.get("data", {})
|
||||||
|
|
||||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||||
"""指定库位出库物料（通过库位名称）"""
|
"""指定库位出库物料（通过库位名称）"""
|
||||||
location_id = self.location_mapping.get(location_name, location_name)
|
# location_name 参数实际上应该直接是 location_id (UUID)
|
||||||
|
location_id = location_name
|
||||||
|
|
||||||
params = {
|
params = {
|
||||||
"materialId": material_id,
|
"materialId": material_id,
|
||||||
@@ -1152,10 +1104,6 @@ class BioyondV1RPC(BaseRequest):
|
|||||||
for detail_material in detail_materials:
|
for detail_material in detail_materials:
|
||||||
detail_name = detail_material.get("name")
|
detail_name = detail_material.get("name")
|
||||||
detail_id = detail_material.get("detailMaterialId")
|
detail_id = detail_material.get("detailMaterialId")
|
||||||
if not detail_id:
|
|
||||||
# 尝试其他可能的字段
|
|
||||||
detail_id = detail_material.get("id")
|
|
||||||
|
|
||||||
if detail_name and detail_id:
|
if detail_name and detail_id:
|
||||||
self.material_cache[detail_name] = detail_id
|
self.material_cache[detail_name] = detail_id
|
||||||
print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
|
print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
|
||||||
@@ -1176,14 +1124,6 @@ class BioyondV1RPC(BaseRequest):
|
|||||||
print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
|
print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
|
||||||
return material_id
|
return material_id
|
||||||
|
|
||||||
# 如果缓存中没有，尝试刷新缓存
|
|
||||||
print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
|
|
||||||
self.refresh_material_cache()
|
|
||||||
if material_name_or_id in self.material_cache:
|
|
||||||
material_id = self.material_cache[material_name_or_id]
|
|
||||||
print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
|
|
||||||
return material_id
|
|
||||||
|
|
||||||
print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
|
print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
|
||||||
return material_name_or_id
|
return material_name_or_id
|
||||||
|
|
||||||
|
|||||||
@@ -1,329 +0,0 @@
|
|||||||
# config.py
|
|
||||||
"""
|
|
||||||
Bioyond工作站配置文件
|
|
||||||
包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
|
|
||||||
"""
|
|
||||||
|
|
||||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
|
||||||
|
|
||||||
# ============================================================================
|
|
||||||
# 基础配置
|
|
||||||
# ============================================================================
|
|
||||||
|
|
||||||
# API配置
|
|
||||||
API_CONFIG = {
|
|
||||||
"api_key": "DE9BDDA0",
|
|
||||||
"api_host": "http://192.168.1.200:44402"
|
|
||||||
}
|
|
||||||
|
|
||||||
# HTTP 报送服务配置
|
|
||||||
HTTP_SERVICE_CONFIG = {
|
|
||||||
"http_service_host": "127.0.0.1", # 监听地址
|
|
||||||
"http_service_port": 8080, # 监听端口
|
|
||||||
}
|
|
||||||
|
|
||||||
# Deck配置 - 反应站工作台配置
|
|
||||||
DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
|
|
||||||
|
|
||||||
# ============================================================================
|
|
||||||
# 工作流配置
|
|
||||||
# ============================================================================
|
|
||||||
|
|
||||||
# 工作流ID映射
|
|
||||||
WORKFLOW_MAPPINGS = {
|
|
||||||
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
|
||||||
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
|
||||||
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
|
|
||||||
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
|
|
||||||
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
|
|
||||||
"Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
|
|
||||||
"liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
|
||||||
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a",
|
|
||||||
}
|
|
||||||
|
|
||||||
# 工作流名称到显示名称的映射
|
|
||||||
WORKFLOW_TO_SECTION_MAP = {
|
|
||||||
'reactor_taken_in': '反应器放入',
|
|
||||||
'reactor_taken_out': '反应器取出',
|
|
||||||
'Solid_feeding_vials': '固体投料-小瓶',
|
|
||||||
'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
|
|
||||||
'Liquid_feeding_solvents': '液体投料-溶剂',
|
|
||||||
'Liquid_feeding(titration)': '液体投料-滴定',
|
|
||||||
'liquid_feeding_beaker': '液体投料-烧杯',
|
|
||||||
'Drip_back': '液体回滴'
|
|
||||||
}
|
|
||||||
|
|
||||||
# 工作流步骤ID配置
|
|
||||||
WORKFLOW_STEP_IDS = {
|
|
||||||
"reactor_taken_in": {
|
|
||||||
"config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
|
|
||||||
},
|
|
||||||
"liquid_feeding_beaker": {
|
|
||||||
"liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
|
|
||||||
"observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
|
|
||||||
},
|
|
||||||
"liquid_feeding_vials_non_titration": {
|
|
||||||
"liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
|
|
||||||
"observe": "3a167d99-6172-b67b-5f22-a7892197142e"
|
|
||||||
},
|
|
||||||
"liquid_feeding_solvents": {
|
|
||||||
"liquid": "1fcea355-2545-462b-b727-350b69a313bf",
|
|
||||||
"observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
|
|
||||||
},
|
|
||||||
"solid_feeding_vials": {
|
|
||||||
"feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
|
|
||||||
"observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
|
|
||||||
},
|
|
||||||
"liquid_feeding_titration": {
|
|
||||||
"liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
|
|
||||||
"observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
|
|
||||||
},
|
|
||||||
"drip_back": {
|
|
||||||
"liquid": "371be86a-ab77-4769-83e5-54580547c48a",
|
|
||||||
"observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
# 工作流动作名称配置
|
|
||||||
ACTION_NAMES = {
|
|
||||||
"reactor_taken_in": {
|
|
||||||
"config": "通量-配置",
|
|
||||||
"stirring": "反应模块-开始搅拌"
|
|
||||||
},
|
|
||||||
"solid_feeding_vials": {
|
|
||||||
"feeding": "粉末加样模块-投料",
|
|
||||||
"observe": "反应模块-观察搅拌结果"
|
|
||||||
},
|
|
||||||
"liquid_feeding_vials_non_titration": {
|
|
||||||
"liquid": "稀释液瓶加液位-液体投料",
|
|
||||||
"observe": "反应模块-滴定结果观察"
|
|
||||||
},
|
|
||||||
"liquid_feeding_solvents": {
|
|
||||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
|
||||||
"observe": "反应模块-观察搅拌结果"
|
|
||||||
},
|
|
||||||
"liquid_feeding_titration": {
|
|
||||||
"liquid": "稀释液瓶加液位-稀释液吸液分液",
|
|
||||||
"observe": "反应模块-滴定结果观察"
|
|
||||||
},
|
|
||||||
"liquid_feeding_beaker": {
|
|
||||||
"liquid": "烧杯溶液放置位-烧杯吸液分液",
|
|
||||||
"observe": "反应模块-观察搅拌结果"
|
|
||||||
},
|
|
||||||
"drip_back": {
|
|
||||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
|
||||||
"observe": "反应模块-向下滴定结果观察"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
# ============================================================================
|
|
||||||
# 仓库配置
|
|
||||||
# ============================================================================
|
|
||||||
# 说明:
|
|
||||||
# - 出库和入库操作都需要UUID
|
|
||||||
WAREHOUSE_MAPPING = {
|
|
||||||
# ========== 反应站仓库 ==========
|
|
||||||
|
|
||||||
# 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
|
|
||||||
"堆栈1左": {
|
|
||||||
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
|
|
||||||
"A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
|
|
||||||
"A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
|
|
||||||
"A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
|
|
||||||
"B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
|
|
||||||
"B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
|
|
||||||
"B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
|
|
||||||
"B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
|
|
||||||
"C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
|
|
||||||
"C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
|
|
||||||
"C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
|
|
||||||
"C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
|
|
||||||
"D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
|
|
||||||
"D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
|
|
||||||
"D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
|
|
||||||
"D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
|
|
||||||
},
|
|
||||||
},
|
|
||||||
|
|
||||||
# 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
|
|
||||||
"堆栈1右": {
|
|
||||||
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
|
||||||
"site_uuids": {
|
|
||||||
"A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
|
|
||||||
"A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
|
|
||||||
"A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
|
|
||||||
"A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
|
|
||||||
"B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
|
|
||||||
"B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
|
|
||||||
"B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
|
|
||||||
"B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
|
|
||||||
"C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
|
|
||||||
"C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
|
|
||||||
"C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
|
|
||||||
"C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
|
|
||||||
"D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
|
|
||||||
"D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
|
|
||||||
"D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
|
|
||||||
"D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
|
|
||||||
},
|
|
||||||
},
|
|
||||||
|
|
||||||
# 站内试剂存放堆栈
|
|
||||||
"站内试剂存放堆栈": {
|
|
||||||
"uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
|
|
||||||
"A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
|
|
||||||
|
|
||||||
# 测量小瓶仓库（测密度）
|
|
||||||
"测量小瓶仓库": {
|
|
||||||
"uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a15012f-705e-0524-3161-c523b5aebc97",
|
|
||||||
"A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
|
|
||||||
"A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
|
|
||||||
"B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
|
|
||||||
"B02": "3a15012f-705e-e499-180d-de06d60d0b21",
|
|
||||||
"B03": "3a15012f-705e-eff6-63f1-09f742096b26"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
|
|
||||||
# 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
|
|
||||||
"站内Tip盒堆栈": {
|
|
||||||
"uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
|
|
||||||
"A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
|
|
||||||
"A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
|
|
||||||
"B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
|
|
||||||
"B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
|
|
||||||
"B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
# ========== 配液站仓库 ==========
|
|
||||||
"粉末堆栈": {
|
|
||||||
"uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
|
||||||
"A02": "3a14198e-6929-4379-affa-9a2935c17f99",
|
|
||||||
"A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
|
|
||||||
"A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
|
|
||||||
"B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
|
|
||||||
"B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
|
|
||||||
"B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
|
|
||||||
"B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
|
|
||||||
"C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
|
||||||
"C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
|
|
||||||
"C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
|
|
||||||
"C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
|
|
||||||
"D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
|
|
||||||
"D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
|
|
||||||
"D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
|
|
||||||
"D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"溶液堆栈": {
|
|
||||||
"uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
|
|
||||||
"A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
|
|
||||||
"A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
|
|
||||||
"A04": "3a14198e-d724-d378-d266-2508a224a19f",
|
|
||||||
"B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
|
|
||||||
"B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
|
|
||||||
"B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
|
|
||||||
"B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
|
|
||||||
"C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
|
|
||||||
"C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
|
|
||||||
"C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
|
|
||||||
"C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
|
|
||||||
"D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
|
|
||||||
"D02": "3a14198e-d724-1e28-c885-574c3df468d0",
|
|
||||||
"D03": "3a14198e-d724-28a2-a760-baa896f46b66",
|
|
||||||
"D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"试剂堆栈": {
|
|
||||||
"uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "3a14198c-c2cf-8b40-af28-b467808f1c36", # x=1, y=1, code=0001-0001
|
|
||||||
"A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094", # x=1, y=2, code=0001-0002
|
|
||||||
"A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8", # x=1, y=3, code=0001-0003
|
|
||||||
"A04": "3a14198c-c2d0-725e-523d-34c037ac2440", # x=1, y=4, code=0001-0004
|
|
||||||
"B01": "3a14198c-c2d0-f3e7-871a-e470d144296f", # x=2, y=1, code=0001-0005
|
|
||||||
"B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f", # x=2, y=2, code=0001-0006
|
|
||||||
"B03": "3a14198c-c2d0-1559-105d-0ea30682cab4", # x=2, y=3, code=0001-0007
|
|
||||||
"B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" # x=2, y=4, code=0001-0008
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
# ============================================================================
|
|
||||||
# 物料类型配置
|
|
||||||
# ============================================================================
|
|
||||||
# 说明:
|
|
||||||
# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
|
|
||||||
# - 这个映射基于 resource.model 属性 (不是显示名称!)
|
|
||||||
# - UUID为空表示该类型暂未在Bioyond系统中定义
|
|
||||||
MATERIAL_TYPE_MAPPINGS = {
|
|
||||||
# ================================================配液站资源============================================================
|
|
||||||
# ==================================================样品===============================================================
|
|
||||||
"BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), # 配液站-样品-烧杯
|
|
||||||
"BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"), # 配液站-样品-试剂瓶
|
|
||||||
"BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), # 配液站-样品-分装板
|
|
||||||
"BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"), # 配液站-样品-分装板-第一排小瓶
|
|
||||||
"BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), # 配液站-样品-分装板-第二排小瓶
|
|
||||||
# ==================================================试剂===============================================================
|
|
||||||
"BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"), # 配液站-试剂-样品板（8孔）
|
|
||||||
"BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), # 配液站-试剂-样品板-样品瓶
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
# ============================================================================
|
|
||||||
# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
|
|
||||||
# ============================================================================
|
|
||||||
|
|
||||||
LOCATION_MAPPING = {}
|
|
||||||
for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
|
|
||||||
if "site_uuids" in warehouse_config:
|
|
||||||
LOCATION_MAPPING.update(warehouse_config["site_uuids"])
|
|
||||||
|
|
||||||
# ============================================================================
|
|
||||||
# 物料默认参数配置
|
|
||||||
# ============================================================================
|
|
||||||
# 说明:
|
|
||||||
# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
|
|
||||||
# - 格式: 物料名称 → {参数字典}
|
|
||||||
# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
|
|
||||||
# - unit: 物料的计量单位（会用于 unit 字段）
|
|
||||||
# - density/densityUnit: 密度信息（会添加到 Parameters 中）
|
|
||||||
|
|
||||||
MATERIAL_DEFAULT_PARAMETERS = {
|
|
||||||
# 溶剂类
|
|
||||||
"NMP": {
|
|
||||||
"unit": "毫升",
|
|
||||||
"density": "1.03",
|
|
||||||
"densityUnit": "g/mL",
|
|
||||||
"description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
|
|
||||||
},
|
|
||||||
# 可以继续添加其他物料...
|
|
||||||
}
|
|
||||||
|
|
||||||
# ============================================================================
|
|
||||||
# 物料类型默认参数配置
|
|
||||||
# ============================================================================
|
|
||||||
# 说明:
|
|
||||||
# - 为特定物料类型（UUID）自动添加默认参数
|
|
||||||
# - 格式: Bioyond类型UUID → {参数字典}
|
|
||||||
# - 优先级低于按名称匹配的配置
|
|
||||||
MATERIAL_TYPE_PARAMETERS = {
|
|
||||||
# 示例:
|
|
||||||
# "3a14196b-24f2-ca49-9081-0cab8021bf1a": { # 烧杯
|
|
||||||
# "unit": "个"
|
|
||||||
# }
|
|
||||||
}
|
|
||||||
@@ -4,8 +4,7 @@ import time
|
|||||||
from typing import Optional, Dict, Any, List
|
from typing import Optional, Dict, Any, List
|
||||||
from typing_extensions import TypedDict
|
from typing_extensions import TypedDict
|
||||||
import requests
|
import requests
|
||||||
import pint
|
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
|
||||||
|
|
||||||
|
|
||||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
|
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
|
||||||
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
||||||
@@ -26,89 +25,13 @@ class ComputeExperimentDesignReturn(TypedDict):
|
|||||||
class BioyondDispensingStation(BioyondWorkstation):
|
class BioyondDispensingStation(BioyondWorkstation):
|
||||||
def __init__(
|
def __init__(
|
||||||
self,
|
self,
|
||||||
config: dict = None,
|
config,
|
||||||
deck=None,
|
# 桌子
|
||||||
protocol_type=None,
|
deck,
|
||||||
|
*args,
|
||||||
**kwargs,
|
**kwargs,
|
||||||
):
|
):
|
||||||
"""初始化配液站
|
super().__init__(config, deck, *args, **kwargs)
|
||||||
|
|
||||||
Args:
|
|
||||||
config: 配置字典,应包含material_type_mappings等配置
|
|
||||||
deck: Deck对象
|
|
||||||
protocol_type: 协议类型(由ROS系统传递,此处忽略)
|
|
||||||
**kwargs: 其他可能的参数
|
|
||||||
"""
|
|
||||||
if config is None:
|
|
||||||
config = {}
|
|
||||||
|
|
||||||
# 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key)
|
|
||||||
config.update(kwargs)
|
|
||||||
|
|
||||||
if deck is None and config:
|
|
||||||
deck = config.get('deck')
|
|
||||||
|
|
||||||
# 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步)
|
|
||||||
# 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上
|
|
||||||
if config and "warehouse_mapping" in config and deck:
|
|
||||||
warehouse_mapping = config["warehouse_mapping"]
|
|
||||||
print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)")
|
|
||||||
|
|
||||||
user_deck = deck
|
|
||||||
# 初始化 warehouses 字典
|
|
||||||
if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None:
|
|
||||||
user_deck.warehouses = {}
|
|
||||||
|
|
||||||
# 1. 尝试从 children 中查找匹配的资源
|
|
||||||
for child in user_deck.children:
|
|
||||||
# 简单判断: 如果名字在 mapping 中，就认为是 warehouse
|
|
||||||
if child.name in warehouse_mapping:
|
|
||||||
user_deck.warehouses[child.name] = child
|
|
||||||
print(f" - 从子资源中找到 warehouse: {child.name}")
|
|
||||||
|
|
||||||
# 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况)
|
|
||||||
if not user_deck.warehouses and hasattr(user_deck, "setup"):
|
|
||||||
print(" - 尝试调用 deck.setup() 初始化仓库...")
|
|
||||||
try:
|
|
||||||
user_deck.setup()
|
|
||||||
# setup 后重新检查
|
|
||||||
if hasattr(user_deck, "warehouses") and user_deck.warehouses:
|
|
||||||
print(f" - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库")
|
|
||||||
except Exception as e:
|
|
||||||
print(f" - 调用 setup() 失败: {e}")
|
|
||||||
|
|
||||||
# 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告)
|
|
||||||
if not user_deck.warehouses:
|
|
||||||
print(" - ⚠️ 仍然无法找到任何 warehouse 资源！")
|
|
||||||
|
|
||||||
for wh_name, wh_config in warehouse_mapping.items():
|
|
||||||
target_uuid = wh_config.get("uuid")
|
|
||||||
|
|
||||||
# 尝试在 deck.warehouses 中查找
|
|
||||||
wh_resource = None
|
|
||||||
if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses:
|
|
||||||
wh_resource = user_deck.warehouses[wh_name]
|
|
||||||
|
|
||||||
# 如果没找到，尝试在所有子资源中查找
|
|
||||||
if not wh_resource:
|
|
||||||
wh_resource = user_deck.get_resource(wh_name)
|
|
||||||
|
|
||||||
if wh_resource:
|
|
||||||
if target_uuid:
|
|
||||||
current_uuid = getattr(wh_resource, "uuid", None)
|
|
||||||
print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}")
|
|
||||||
|
|
||||||
# 动态添加 uuid 属性
|
|
||||||
wh_resource.uuid = target_uuid
|
|
||||||
# 同时也确保 category 正确，避免 graphio 识别错误
|
|
||||||
# wh_resource.category = "warehouse"
|
|
||||||
else:
|
|
||||||
print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID")
|
|
||||||
else:
|
|
||||||
print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'")
|
|
||||||
|
|
||||||
super().__init__(bioyond_config=config, deck=deck)
|
|
||||||
|
|
||||||
# self.config = config
|
# self.config = config
|
||||||
# self.api_key = config["api_key"]
|
# self.api_key = config["api_key"]
|
||||||
# self.host = config["api_host"]
|
# self.host = config["api_host"]
|
||||||
@@ -120,41 +43,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
|
# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
|
||||||
self.order_completion_status = {}
|
self.order_completion_status = {}
|
||||||
|
|
||||||
# 初始化 pint 单位注册表
|
|
||||||
self.ureg = pint.UnitRegistry()
|
|
||||||
|
|
||||||
# 化合物信息
|
|
||||||
self.compound_info = {
|
|
||||||
"MolWt": {
|
|
||||||
"MDA": 108.14 * self.ureg.g / self.ureg.mol,
|
|
||||||
"TDA": 122.16 * self.ureg.g / self.ureg.mol,
|
|
||||||
"PAPP": 521.62 * self.ureg.g / self.ureg.mol,
|
|
||||||
"BTDA": 322.23 * self.ureg.g / self.ureg.mol,
|
|
||||||
"BPDA": 294.22 * self.ureg.g / self.ureg.mol,
|
|
||||||
"6FAP": 366.26 * self.ureg.g / self.ureg.mol,
|
|
||||||
"PMDA": 218.12 * self.ureg.g / self.ureg.mol,
|
|
||||||
"MPDA": 108.14 * self.ureg.g / self.ureg.mol,
|
|
||||||
"SIDA": 248.51 * self.ureg.g / self.ureg.mol,
|
|
||||||
"ODA": 200.236 * self.ureg.g / self.ureg.mol,
|
|
||||||
"4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
|
|
||||||
"134": 292.34 * self.ureg.g / self.ureg.mol,
|
|
||||||
},
|
|
||||||
"FuncGroup": {
|
|
||||||
"MDA": "Amine",
|
|
||||||
"TDA": "Amine",
|
|
||||||
"PAPP": "Amine",
|
|
||||||
"BTDA": "Anhydride",
|
|
||||||
"BPDA": "Anhydride",
|
|
||||||
"6FAP": "Amine",
|
|
||||||
"MPDA": "Amine",
|
|
||||||
"SIDA": "Amine",
|
|
||||||
"PMDA": "Anhydride",
|
|
||||||
"ODA": "Amine",
|
|
||||||
"4,4'-ODA": "Amine",
|
|
||||||
"134": "Amine",
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
||||||
"""项目接口通用POST调用
|
"""项目接口通用POST调用
|
||||||
|
|
||||||
@@ -166,7 +54,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||||
"""
|
"""
|
||||||
request_data = {
|
request_data = {
|
||||||
"apiKey": self.bioyond_config["api_key"],
|
"apiKey": API_CONFIG["api_key"],
|
||||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||||
"data": data
|
"data": data
|
||||||
}
|
}
|
||||||
@@ -197,7 +85,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||||
"""
|
"""
|
||||||
request_data = {
|
request_data = {
|
||||||
"apiKey": self.bioyond_config["api_key"],
|
"apiKey": API_CONFIG["api_key"],
|
||||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||||
"data": data
|
"data": data
|
||||||
}
|
}
|
||||||
@@ -230,22 +118,20 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
ratio = json.loads(ratio)
|
ratio = json.loads(ratio)
|
||||||
except Exception:
|
except Exception:
|
||||||
ratio = {}
|
ratio = {}
|
||||||
|
root = str(Path(__file__).resolve().parents[3])
|
||||||
|
if root not in sys.path:
|
||||||
|
sys.path.append(root)
|
||||||
|
try:
|
||||||
|
mod = importlib.import_module("tem.compute")
|
||||||
|
except Exception as e:
|
||||||
|
raise BioyondException(f"无法导入计算模块: {e}")
|
||||||
try:
|
try:
|
||||||
wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
|
wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
|
||||||
mt = float(m_tot) if isinstance(m_tot, str) else m_tot
|
mt = float(m_tot) if isinstance(m_tot, str) else m_tot
|
||||||
tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
|
tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
raise BioyondException(f"参数解析失败: {e}")
|
raise BioyondException(f"参数解析失败: {e}")
|
||||||
|
res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
|
||||||
# 2. 调用内部计算方法
|
|
||||||
res = self._generate_experiment_design(
|
|
||||||
ratio=ratio,
|
|
||||||
wt_percent=wp,
|
|
||||||
m_tot=mt,
|
|
||||||
titration_percent=tp
|
|
||||||
)
|
|
||||||
|
|
||||||
# 3. 构造返回结果
|
|
||||||
out = {
|
out = {
|
||||||
"solutions": res.get("solutions", []),
|
"solutions": res.get("solutions", []),
|
||||||
"titration": res.get("titration", {}),
|
"titration": res.get("titration", {}),
|
||||||
@@ -254,248 +140,11 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
"return_info": json.dumps(res, ensure_ascii=False)
|
"return_info": json.dumps(res, ensure_ascii=False)
|
||||||
}
|
}
|
||||||
return out
|
return out
|
||||||
|
|
||||||
except BioyondException:
|
except BioyondException:
|
||||||
raise
|
raise
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
raise BioyondException(str(e))
|
raise BioyondException(str(e))
|
||||||
|
|
||||||
def _generate_experiment_design(
|
|
||||||
self,
|
|
||||||
ratio: dict,
|
|
||||||
wt_percent: float = 0.25,
|
|
||||||
m_tot: float = 70,
|
|
||||||
titration_percent: float = 0.03,
|
|
||||||
) -> dict:
|
|
||||||
"""内部方法：生成实验设计
|
|
||||||
|
|
||||||
根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
|
|
||||||
|
|
||||||
参数:
|
|
||||||
ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
|
|
||||||
wt_percent: 固体重量百分比
|
|
||||||
m_tot: 反应混合物总质量(g)
|
|
||||||
titration_percent: 滴定溶液百分比
|
|
||||||
|
|
||||||
返回:
|
|
||||||
包含实验设计详细参数的字典
|
|
||||||
"""
|
|
||||||
# 溶剂密度
|
|
||||||
ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
|
|
||||||
# 二酐溶解度
|
|
||||||
solubility = 0.02 * self.ureg.g / self.ureg.ml
|
|
||||||
# 投入固体时最小溶剂体积
|
|
||||||
V_min = 30 * self.ureg.ml
|
|
||||||
m_tot = m_tot * self.ureg.g
|
|
||||||
|
|
||||||
# 保持ratio中的顺序
|
|
||||||
compound_names = list(ratio.keys())
|
|
||||||
compound_ratios = list(ratio.values())
|
|
||||||
|
|
||||||
# 验证所有化合物是否在 compound_info 中定义
|
|
||||||
undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
|
|
||||||
if undefined_compounds:
|
|
||||||
available = list(self.compound_info["MolWt"].keys())
|
|
||||||
raise ValueError(
|
|
||||||
f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
|
|
||||||
f"可用的化合物: {available}"
|
|
||||||
)
|
|
||||||
|
|
||||||
# 获取各化合物的分子量和官能团类型
|
|
||||||
molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
|
|
||||||
func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
|
|
||||||
|
|
||||||
# 记录化合物信息用于调试
|
|
||||||
self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
|
|
||||||
self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
|
|
||||||
|
|
||||||
# 按原始顺序分离二胺和二酐
|
|
||||||
ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
|
|
||||||
diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
|
|
||||||
anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
|
|
||||||
|
|
||||||
if not diamine_compounds or not anhydride_compounds:
|
|
||||||
raise ValueError(
|
|
||||||
f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
|
|
||||||
f"当前二胺: {[c[0] for c in diamine_compounds]}, "
|
|
||||||
f"当前二酐: {[c[0] for c in anhydride_compounds]}"
|
|
||||||
)
|
|
||||||
|
|
||||||
# 计算加权平均分子量 (基于摩尔比)
|
|
||||||
total_molar_ratio = sum(compound_ratios)
|
|
||||||
weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
|
|
||||||
|
|
||||||
# 取最后一个二酐用于滴定
|
|
||||||
titration_anhydride = anhydride_compounds[-1]
|
|
||||||
solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
|
|
||||||
|
|
||||||
# 二胺溶液配制参数 - 每种二胺单独配制
|
|
||||||
diamine_solutions = []
|
|
||||||
total_diamine_volume = 0 * self.ureg.ml
|
|
||||||
|
|
||||||
# 计算反应物的总摩尔量
|
|
||||||
n_reactant = m_tot * wt_percent / weighted_molecular_weight
|
|
||||||
|
|
||||||
for name, ratio_val, mw, order_index in diamine_compounds:
|
|
||||||
# 跳过 SIDA
|
|
||||||
if name == "SIDA":
|
|
||||||
continue
|
|
||||||
|
|
||||||
# 计算该二胺需要的摩尔数
|
|
||||||
n_diamine_needed = n_reactant * ratio_val
|
|
||||||
|
|
||||||
# 二胺溶液配制参数 (每种二胺固定配制参数)
|
|
||||||
m_diamine_solid = 5.0 * self.ureg.g # 每种二胺固体质量
|
|
||||||
V_solvent_for_this = 20 * self.ureg.ml # 每种二胺溶剂体积
|
|
||||||
m_solvent_for_this = ρ_solvent * V_solvent_for_this
|
|
||||||
|
|
||||||
# 计算该二胺溶液的浓度
|
|
||||||
c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
|
|
||||||
|
|
||||||
# 计算需要移取的溶液体积
|
|
||||||
V_diamine_needed = n_diamine_needed / c_diamine
|
|
||||||
|
|
||||||
diamine_solutions.append({
|
|
||||||
"name": name,
|
|
||||||
"order": order_index,
|
|
||||||
"solid_mass": m_diamine_solid.magnitude,
|
|
||||||
"solvent_volume": V_solvent_for_this.magnitude,
|
|
||||||
"concentration": c_diamine.magnitude,
|
|
||||||
"volume_needed": V_diamine_needed.magnitude,
|
|
||||||
"molar_ratio": ratio_val
|
|
||||||
})
|
|
||||||
|
|
||||||
total_diamine_volume += V_diamine_needed
|
|
||||||
|
|
||||||
# 按原始顺序排序
|
|
||||||
diamine_solutions.sort(key=lambda x: x["order"])
|
|
||||||
|
|
||||||
# 计算滴定二酐的质量
|
|
||||||
titration_name, titration_ratio, titration_mw, _ = titration_anhydride
|
|
||||||
m_titration_anhydride = n_reactant * titration_ratio * titration_mw
|
|
||||||
m_titration_90 = m_titration_anhydride * (1 - titration_percent)
|
|
||||||
m_titration_10 = m_titration_anhydride * titration_percent
|
|
||||||
|
|
||||||
# 计算其他固体二酐的质量 (按顺序)
|
|
||||||
solid_anhydride_masses = []
|
|
||||||
for name, ratio_val, mw, order_index in solid_anhydrides:
|
|
||||||
mass = n_reactant * ratio_val * mw
|
|
||||||
solid_anhydride_masses.append({
|
|
||||||
"name": name,
|
|
||||||
"order": order_index,
|
|
||||||
"mass": mass.magnitude,
|
|
||||||
"molar_ratio": ratio_val
|
|
||||||
})
|
|
||||||
|
|
||||||
# 按原始顺序排序
|
|
||||||
solid_anhydride_masses.sort(key=lambda x: x["order"])
|
|
||||||
|
|
||||||
# 计算溶剂用量
|
|
||||||
total_diamine_solution_mass = sum(
|
|
||||||
sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
|
|
||||||
) * self.ureg.ml
|
|
||||||
|
|
||||||
# 预估滴定溶剂量、计算补加溶剂量
|
|
||||||
m_solvent_titration = m_titration_10 / solubility * ρ_solvent
|
|
||||||
m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
|
|
||||||
|
|
||||||
# 检查最小溶剂体积要求
|
|
||||||
total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
|
|
||||||
m_tot_min = V_min / total_liquid_volume * m_tot
|
|
||||||
|
|
||||||
# 如果需要，按比例放大
|
|
||||||
scale_factor = 1.0
|
|
||||||
if m_tot_min > m_tot:
|
|
||||||
scale_factor = (m_tot_min / m_tot).magnitude
|
|
||||||
m_titration_90 *= scale_factor
|
|
||||||
m_titration_10 *= scale_factor
|
|
||||||
m_solvent_add *= scale_factor
|
|
||||||
m_solvent_titration *= scale_factor
|
|
||||||
|
|
||||||
# 更新二胺溶液用量
|
|
||||||
for sol in diamine_solutions:
|
|
||||||
sol["volume_needed"] *= scale_factor
|
|
||||||
|
|
||||||
# 更新固体二酐用量
|
|
||||||
for anhydride in solid_anhydride_masses:
|
|
||||||
anhydride["mass"] *= scale_factor
|
|
||||||
|
|
||||||
m_tot = m_tot_min
|
|
||||||
|
|
||||||
# 生成投料顺序
|
|
||||||
feeding_order = []
|
|
||||||
|
|
||||||
# 1. 固体二酐 (按顺序)
|
|
||||||
for anhydride in solid_anhydride_masses:
|
|
||||||
feeding_order.append({
|
|
||||||
"step": len(feeding_order) + 1,
|
|
||||||
"type": "solid_anhydride",
|
|
||||||
"name": anhydride["name"],
|
|
||||||
"amount": anhydride["mass"],
|
|
||||||
"order": anhydride["order"]
|
|
||||||
})
|
|
||||||
|
|
||||||
# 2. 二胺溶液 (按顺序)
|
|
||||||
for sol in diamine_solutions:
|
|
||||||
feeding_order.append({
|
|
||||||
"step": len(feeding_order) + 1,
|
|
||||||
"type": "diamine_solution",
|
|
||||||
"name": sol["name"],
|
|
||||||
"amount": sol["volume_needed"],
|
|
||||||
"order": sol["order"]
|
|
||||||
})
|
|
||||||
|
|
||||||
# 3. 主要二酐粉末
|
|
||||||
feeding_order.append({
|
|
||||||
"step": len(feeding_order) + 1,
|
|
||||||
"type": "main_anhydride",
|
|
||||||
"name": titration_name,
|
|
||||||
"amount": m_titration_90.magnitude,
|
|
||||||
"order": titration_anhydride[3]
|
|
||||||
})
|
|
||||||
|
|
||||||
# 4. 补加溶剂
|
|
||||||
if m_solvent_add > 0:
|
|
||||||
feeding_order.append({
|
|
||||||
"step": len(feeding_order) + 1,
|
|
||||||
"type": "additional_solvent",
|
|
||||||
"name": "溶剂",
|
|
||||||
"amount": m_solvent_add.magnitude,
|
|
||||||
"order": 999
|
|
||||||
})
|
|
||||||
|
|
||||||
# 5. 滴定二酐溶液
|
|
||||||
feeding_order.append({
|
|
||||||
"step": len(feeding_order) + 1,
|
|
||||||
"type": "titration_anhydride",
|
|
||||||
"name": f"{titration_name} 滴定液",
|
|
||||||
"amount": m_titration_10.magnitude,
|
|
||||||
"titration_solvent": m_solvent_titration.magnitude,
|
|
||||||
"order": titration_anhydride[3]
|
|
||||||
})
|
|
||||||
|
|
||||||
# 返回实验设计结果
|
|
||||||
results = {
|
|
||||||
"total_mass": m_tot.magnitude,
|
|
||||||
"scale_factor": scale_factor,
|
|
||||||
"solutions": diamine_solutions,
|
|
||||||
"solids": solid_anhydride_masses,
|
|
||||||
"titration": {
|
|
||||||
"name": titration_name,
|
|
||||||
"main_portion": m_titration_90.magnitude,
|
|
||||||
"titration_portion": m_titration_10.magnitude,
|
|
||||||
"titration_solvent": m_solvent_titration.magnitude,
|
|
||||||
},
|
|
||||||
"solvents": {
|
|
||||||
"additional_solvent": m_solvent_add.magnitude,
|
|
||||||
"total_liquid_volume": total_liquid_volume.magnitude
|
|
||||||
},
|
|
||||||
"feeding_order": feeding_order,
|
|
||||||
"minimum_required_mass": m_tot_min.magnitude
|
|
||||||
}
|
|
||||||
|
|
||||||
return results
|
|
||||||
|
|
||||||
# 90%10%小瓶投料任务创建方法
|
# 90%10%小瓶投料任务创建方法
|
||||||
def create_90_10_vial_feeding_task(self,
|
def create_90_10_vial_feeding_task(self,
|
||||||
order_name: str = None,
|
order_name: str = None,
|
||||||
@@ -1312,108 +961,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
'actualVolume': actual_volume
|
'actualVolume': actual_volume
|
||||||
}
|
}
|
||||||
|
|
||||||
def _simplify_report(self, report) -> Dict[str, Any]:
|
|
||||||
"""简化实验报告，只保留关键信息，去除冗余的工作流参数"""
|
|
||||||
if not isinstance(report, dict):
|
|
||||||
return report
|
|
||||||
|
|
||||||
data = report.get('data', {})
|
|
||||||
if not isinstance(data, dict):
|
|
||||||
return report
|
|
||||||
|
|
||||||
# 提取关键信息
|
|
||||||
simplified = {
|
|
||||||
'name': data.get('name'),
|
|
||||||
'code': data.get('code'),
|
|
||||||
'requester': data.get('requester'),
|
|
||||||
'workflowName': data.get('workflowName'),
|
|
||||||
'workflowStep': data.get('workflowStep'),
|
|
||||||
'requestTime': data.get('requestTime'),
|
|
||||||
'startPreparationTime': data.get('startPreparationTime'),
|
|
||||||
'completeTime': data.get('completeTime'),
|
|
||||||
'useTime': data.get('useTime'),
|
|
||||||
'status': data.get('status'),
|
|
||||||
'statusName': data.get('statusName'),
|
|
||||||
}
|
|
||||||
|
|
||||||
# 提取物料信息（简化版）
|
|
||||||
pre_intakes = data.get('preIntakes', [])
|
|
||||||
if pre_intakes and isinstance(pre_intakes, list):
|
|
||||||
first_intake = pre_intakes[0]
|
|
||||||
sample_materials = first_intake.get('sampleMaterials', [])
|
|
||||||
|
|
||||||
# 简化物料信息
|
|
||||||
simplified_materials = []
|
|
||||||
for material in sample_materials:
|
|
||||||
if isinstance(material, dict):
|
|
||||||
mat_info = {
|
|
||||||
'materialName': material.get('materialName'),
|
|
||||||
'materialTypeName': material.get('materialTypeName'),
|
|
||||||
'materialCode': material.get('materialCode'),
|
|
||||||
'materialLocation': material.get('materialLocation'),
|
|
||||||
}
|
|
||||||
|
|
||||||
# 解析parameters中的关键信息（如密度、加料历史等）
|
|
||||||
params_str = material.get('parameters', '{}')
|
|
||||||
try:
|
|
||||||
params = json.loads(params_str) if isinstance(params_str, str) else params_str
|
|
||||||
if isinstance(params, dict):
|
|
||||||
# 只保留关键参数
|
|
||||||
if 'density' in params:
|
|
||||||
mat_info['density'] = params['density']
|
|
||||||
if 'feedingHistory' in params:
|
|
||||||
mat_info['feedingHistory'] = params['feedingHistory']
|
|
||||||
if 'liquidVolume' in params:
|
|
||||||
mat_info['liquidVolume'] = params['liquidVolume']
|
|
||||||
if 'm_diamine_tot' in params:
|
|
||||||
mat_info['m_diamine_tot'] = params['m_diamine_tot']
|
|
||||||
if 'wt_diamine' in params:
|
|
||||||
mat_info['wt_diamine'] = params['wt_diamine']
|
|
||||||
except:
|
|
||||||
pass
|
|
||||||
|
|
||||||
simplified_materials.append(mat_info)
|
|
||||||
|
|
||||||
simplified['sampleMaterials'] = simplified_materials
|
|
||||||
|
|
||||||
# 提取extraProperties中的实际值
|
|
||||||
extra_props = first_intake.get('extraProperties', {})
|
|
||||||
if isinstance(extra_props, dict):
|
|
||||||
simplified_extra = {}
|
|
||||||
for key, value in extra_props.items():
|
|
||||||
try:
|
|
||||||
parsed_value = json.loads(value) if isinstance(value, str) else value
|
|
||||||
simplified_extra[key] = parsed_value
|
|
||||||
except:
|
|
||||||
simplified_extra[key] = value
|
|
||||||
simplified['extraProperties'] = simplified_extra
|
|
||||||
|
|
||||||
return {
|
|
||||||
'data': simplified,
|
|
||||||
'code': report.get('code'),
|
|
||||||
'message': report.get('message'),
|
|
||||||
'timestamp': report.get('timestamp')
|
|
||||||
}
|
|
||||||
|
|
||||||
def scheduler_start(self) -> dict:
|
|
||||||
"""启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
dict: 包含return_info的字典，return_info为整型(1=成功)
|
|
||||||
|
|
||||||
Raises:
|
|
||||||
BioyondException: 调度器启动失败时抛出异常
|
|
||||||
"""
|
|
||||||
result = self.hardware_interface.scheduler_start()
|
|
||||||
self.hardware_interface._logger.info(f"调度器启动结果: {result}")
|
|
||||||
|
|
||||||
if result != 1:
|
|
||||||
error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
|
|
||||||
self.hardware_interface._logger.error(error_msg)
|
|
||||||
raise BioyondException(error_msg)
|
|
||||||
|
|
||||||
return {"return_info": result}
|
|
||||||
|
|
||||||
# 等待多个任务完成并获取实验报告
|
# 等待多个任务完成并获取实验报告
|
||||||
def wait_for_multiple_orders_and_get_reports(self,
|
def wait_for_multiple_orders_and_get_reports(self,
|
||||||
batch_create_result: str = None,
|
batch_create_result: str = None,
|
||||||
@@ -1455,12 +1002,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
|
|
||||||
# 验证batch_create_result参数
|
# 验证batch_create_result参数
|
||||||
if not batch_create_result or batch_create_result == "":
|
if not batch_create_result or batch_create_result == "":
|
||||||
raise BioyondException(
|
raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
|
||||||
"batch_create_result参数为空，请确保:\n"
|
|
||||||
"1. batch_create节点与wait节点之间正确连接了handle\n"
|
|
||||||
"2. batch_create节点成功执行并返回了结果\n"
|
|
||||||
"3. 检查上游batch_create任务是否成功创建了订单"
|
|
||||||
)
|
|
||||||
|
|
||||||
# 解析batch_create_result JSON对象
|
# 解析batch_create_result JSON对象
|
||||||
try:
|
try:
|
||||||
@@ -1489,17 +1031,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
|
|
||||||
# 验证提取的数据
|
# 验证提取的数据
|
||||||
if not order_codes:
|
if not order_codes:
|
||||||
self.hardware_interface._logger.error(
|
raise BioyondException("batch_create_result中未找到order_codes字段或为空")
|
||||||
f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
|
|
||||||
)
|
|
||||||
raise BioyondException(
|
|
||||||
"batch_create_result中未找到order_codes或为空。\n"
|
|
||||||
"可能的原因:\n"
|
|
||||||
"1. batch_create任务执行失败（检查任务是否报错）\n"
|
|
||||||
"2. 物料配置问题（如'物料样品板分配失败'）\n"
|
|
||||||
"3. Bioyond系统状态异常\n"
|
|
||||||
f"请检查batch_create任务的执行结果"
|
|
||||||
)
|
|
||||||
if not order_ids:
|
if not order_ids:
|
||||||
raise BioyondException("batch_create_result中未找到order_ids字段或为空")
|
raise BioyondException("batch_create_result中未找到order_ids字段或为空")
|
||||||
|
|
||||||
@@ -1582,8 +1114,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
self.hardware_interface._logger.info(
|
self.hardware_interface._logger.info(
|
||||||
f"成功获取任务 {order_code} 的实验报告"
|
f"成功获取任务 {order_code} 的实验报告"
|
||||||
)
|
)
|
||||||
# 简化报告，去除冗余信息
|
|
||||||
report = self._simplify_report(report)
|
|
||||||
|
|
||||||
reports.append({
|
reports.append({
|
||||||
"order_code": order_code,
|
"order_code": order_code,
|
||||||
@@ -1758,7 +1288,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
|||||||
f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
|
f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
|
||||||
)
|
)
|
||||||
|
|
||||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
from .config import WAREHOUSE_MAPPING
|
||||||
results = []
|
results = []
|
||||||
successful_count = 0
|
successful_count = 0
|
||||||
failed_count = 0
|
failed_count = 0
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -6,7 +6,6 @@ Bioyond Workstation Implementation
|
|||||||
"""
|
"""
|
||||||
import time
|
import time
|
||||||
import traceback
|
import traceback
|
||||||
import threading
|
|
||||||
from datetime import datetime
|
from datetime import datetime
|
||||||
from typing import Dict, Any, List, Optional, Union
|
from typing import Dict, Any, List, Optional, Union
|
||||||
import json
|
import json
|
||||||
@@ -28,90 +27,6 @@ from pylabrobot.resources.resource import Resource as ResourcePLR
|
|||||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||||
|
|
||||||
|
|
||||||
class ConnectionMonitor:
|
|
||||||
"""Bioyond连接监控器"""
|
|
||||||
def __init__(self, workstation, check_interval=30):
|
|
||||||
self.workstation = workstation
|
|
||||||
self.check_interval = check_interval
|
|
||||||
self._running = False
|
|
||||||
self._thread = None
|
|
||||||
self._last_status = "unknown"
|
|
||||||
|
|
||||||
def start(self):
|
|
||||||
if self._running:
|
|
||||||
return
|
|
||||||
self._running = True
|
|
||||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
|
|
||||||
self._thread.start()
|
|
||||||
logger.info("Bioyond连接监控器已启动")
|
|
||||||
|
|
||||||
def stop(self):
|
|
||||||
self._running = False
|
|
||||||
if self._thread:
|
|
||||||
self._thread.join(timeout=2)
|
|
||||||
logger.info("Bioyond连接监控器已停止")
|
|
||||||
|
|
||||||
def _monitor_loop(self):
|
|
||||||
while self._running:
|
|
||||||
try:
|
|
||||||
# 使用 lightweight API 检查连接
|
|
||||||
# query_matial_type_list 是比较快的查询
|
|
||||||
start_time = time.time()
|
|
||||||
result = self.workstation.hardware_interface.material_type_list()
|
|
||||||
|
|
||||||
status = "online" if result else "offline"
|
|
||||||
msg = "Connection established" if status == "online" else "Failed to get material type list"
|
|
||||||
|
|
||||||
if status != self._last_status:
|
|
||||||
logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
|
|
||||||
self._publish_event(status, msg)
|
|
||||||
self._last_status = status
|
|
||||||
|
|
||||||
# 发布心跳 (可选，或者只在状态变更时发布)
|
|
||||||
# self._publish_event(status, msg)
|
|
||||||
|
|
||||||
except Exception as e:
|
|
||||||
logger.error(f"Bioyond连接检查异常: {e}")
|
|
||||||
if self._last_status != "error":
|
|
||||||
self._publish_event("error", str(e))
|
|
||||||
self._last_status = "error"
|
|
||||||
|
|
||||||
time.sleep(self.check_interval)
|
|
||||||
|
|
||||||
def _publish_event(self, status, message):
|
|
||||||
try:
|
|
||||||
if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
|
|
||||||
event_data = {
|
|
||||||
"status": status,
|
|
||||||
"message": message,
|
|
||||||
"timestamp": datetime.now().isoformat()
|
|
||||||
}
|
|
||||||
|
|
||||||
# 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
|
|
||||||
# 这里假设通用事件发布机制，使用 String 类型的 topic
|
|
||||||
# 话题: /<namespace>/events/device_status
|
|
||||||
ns = self.workstation._ros_node.namespace
|
|
||||||
topic = f"{ns}/events/device_status"
|
|
||||||
|
|
||||||
# 使用 ROS2DeviceNode 的发布功能
|
|
||||||
# 如果没有预定义的 publisher，需要动态创建
|
|
||||||
# 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
|
|
||||||
# 这里我们先尝试用 String json 发布
|
|
||||||
|
|
||||||
# 在 ROS2DeviceNode 中通常需要先 create_publisher
|
|
||||||
# 为了简单起见，我们检查是否已有 publisher，没有则创建
|
|
||||||
if not hasattr(self.workstation, "_device_status_pub"):
|
|
||||||
self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
|
|
||||||
String, topic, 10
|
|
||||||
)
|
|
||||||
|
|
||||||
self.workstation._device_status_pub.publish(
|
|
||||||
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
|
|
||||||
)
|
|
||||||
except Exception as e:
|
|
||||||
logger.error(f"发布设备状态事件失败: {e}")
|
|
||||||
|
|
||||||
|
|
||||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||||
"""Bioyond资源同步器
|
"""Bioyond资源同步器
|
||||||
|
|
||||||
@@ -257,8 +172,9 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
|||||||
else:
|
else:
|
||||||
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
||||||
|
|
||||||
# 第1步：从配置中获取仓库配置
|
# 第1步：获取仓库配置
|
||||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
from .config import WAREHOUSE_MAPPING
|
||||||
|
warehouse_mapping = WAREHOUSE_MAPPING
|
||||||
|
|
||||||
# 确定目标仓库名称
|
# 确定目标仓库名称
|
||||||
parent_name = None
|
parent_name = None
|
||||||
@@ -320,20 +236,14 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
|||||||
# 第2步：转换为 Bioyond 格式
|
# 第2步：转换为 Bioyond 格式
|
||||||
logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
|
logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
|
||||||
|
|
||||||
# 从配置中获取物料默认参数
|
# 导入物料默认参数配置
|
||||||
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
|
from .config import MATERIAL_DEFAULT_PARAMETERS
|
||||||
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
|
|
||||||
|
|
||||||
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
|
|
||||||
merged_params = material_default_params.copy()
|
|
||||||
for type_id, params in material_type_params.items():
|
|
||||||
merged_params[f"type:{type_id}"] = params
|
|
||||||
|
|
||||||
bioyond_material = resource_plr_to_bioyond(
|
bioyond_material = resource_plr_to_bioyond(
|
||||||
[resource],
|
[resource],
|
||||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||||
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
||||||
material_params=merged_params
|
material_params=MATERIAL_DEFAULT_PARAMETERS
|
||||||
)[0]
|
)[0]
|
||||||
|
|
||||||
logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
|
logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
|
||||||
@@ -556,20 +466,13 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
|||||||
return material_bioyond_id
|
return material_bioyond_id
|
||||||
|
|
||||||
# 转换为 Bioyond 格式
|
# 转换为 Bioyond 格式
|
||||||
# 从配置中获取物料默认参数
|
from .config import MATERIAL_DEFAULT_PARAMETERS
|
||||||
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
|
|
||||||
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
|
|
||||||
|
|
||||||
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
|
|
||||||
merged_params = material_default_params.copy()
|
|
||||||
for type_id, params in material_type_params.items():
|
|
||||||
merged_params[f"type:{type_id}"] = params
|
|
||||||
|
|
||||||
bioyond_material = resource_plr_to_bioyond(
|
bioyond_material = resource_plr_to_bioyond(
|
||||||
[resource],
|
[resource],
|
||||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||||
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
||||||
material_params=merged_params
|
material_params=MATERIAL_DEFAULT_PARAMETERS
|
||||||
)[0]
|
)[0]
|
||||||
|
|
||||||
# ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
|
# ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
|
||||||
@@ -623,7 +526,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
|||||||
logger.info(f"[物料入库] 目标库位: {update_site}")
|
logger.info(f"[物料入库] 目标库位: {update_site}")
|
||||||
|
|
||||||
# 获取仓库配置和目标库位 UUID
|
# 获取仓库配置和目标库位 UUID
|
||||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
from .config import WAREHOUSE_MAPPING
|
||||||
|
warehouse_mapping = WAREHOUSE_MAPPING
|
||||||
|
|
||||||
parent_name = None
|
parent_name = None
|
||||||
target_location_uuid = None
|
target_location_uuid = None
|
||||||
@@ -678,44 +582,6 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
集成Bioyond物料管理的工作站实现
|
集成Bioyond物料管理的工作站实现
|
||||||
"""
|
"""
|
||||||
|
|
||||||
def _publish_task_status(
|
|
||||||
self,
|
|
||||||
task_id: str,
|
|
||||||
task_type: str,
|
|
||||||
status: str,
|
|
||||||
result: dict = None,
|
|
||||||
progress: float = 0.0,
|
|
||||||
task_code: str = None
|
|
||||||
):
|
|
||||||
"""发布任务状态事件"""
|
|
||||||
try:
|
|
||||||
if not getattr(self, "_ros_node", None):
|
|
||||||
return
|
|
||||||
|
|
||||||
event_data = {
|
|
||||||
"task_id": task_id,
|
|
||||||
"task_code": task_code,
|
|
||||||
"task_type": task_type,
|
|
||||||
"status": status,
|
|
||||||
"progress": progress,
|
|
||||||
"timestamp": datetime.now().isoformat()
|
|
||||||
}
|
|
||||||
if result:
|
|
||||||
event_data["result"] = result
|
|
||||||
|
|
||||||
topic = f"{self._ros_node.namespace}/events/task_status"
|
|
||||||
|
|
||||||
if not hasattr(self, "_task_status_pub"):
|
|
||||||
self._task_status_pub = self._ros_node.create_publisher(
|
|
||||||
String, topic, 10
|
|
||||||
)
|
|
||||||
|
|
||||||
self._task_status_pub.publish(
|
|
||||||
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
|
|
||||||
)
|
|
||||||
except Exception as e:
|
|
||||||
logger.error(f"发布任务状态事件失败: {e}")
|
|
||||||
|
|
||||||
def __init__(
|
def __init__(
|
||||||
self,
|
self,
|
||||||
bioyond_config: Optional[Dict[str, Any]] = None,
|
bioyond_config: Optional[Dict[str, Any]] = None,
|
||||||
@@ -737,28 +603,10 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
|
raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
|
||||||
|
|
||||||
# 初始化 warehouses 属性
|
# 初始化 warehouses 属性
|
||||||
if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
|
self.deck.warehouses = {}
|
||||||
self.deck.warehouses = {}
|
for resource in self.deck.children:
|
||||||
|
if isinstance(resource, WareHouse):
|
||||||
# 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
|
self.deck.warehouses[resource.name] = resource
|
||||||
if not self.deck.warehouses:
|
|
||||||
for resource in self.deck.children:
|
|
||||||
# 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
|
|
||||||
is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
|
|
||||||
|
|
||||||
# 如果配置中有定义，也可以认定为 warehouse
|
|
||||||
if not is_warehouse and "warehouse_mapping" in bioyond_config:
|
|
||||||
if resource.name in bioyond_config["warehouse_mapping"]:
|
|
||||||
is_warehouse = True
|
|
||||||
|
|
||||||
if is_warehouse:
|
|
||||||
self.deck.warehouses[resource.name] = resource
|
|
||||||
# 确保 category 被正确设置，方便后续使用
|
|
||||||
if getattr(resource, "category", "") != "warehouse":
|
|
||||||
try:
|
|
||||||
resource.category = "warehouse"
|
|
||||||
except:
|
|
||||||
pass
|
|
||||||
|
|
||||||
# 创建通信模块
|
# 创建通信模块
|
||||||
self._create_communication_module(bioyond_config)
|
self._create_communication_module(bioyond_config)
|
||||||
@@ -777,22 +625,18 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
self._set_workflow_mappings(bioyond_config["workflow_mappings"])
|
self._set_workflow_mappings(bioyond_config["workflow_mappings"])
|
||||||
|
|
||||||
# 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
|
# 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
|
||||||
# 从 bioyond_config 中的 http_service_config 获取
|
# 从 bioyond_config 中获取，如果没有则使用默认值
|
||||||
http_service_cfg = bioyond_config.get("http_service_config", {})
|
|
||||||
self._http_service_config = {
|
self._http_service_config = {
|
||||||
"host": http_service_cfg.get("http_service_host", "127.0.0.1"),
|
"host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
|
||||||
"port": http_service_cfg.get("http_service_port", 8080)
|
"port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
|
||||||
}
|
}
|
||||||
self.http_service = None # 将在 post_init 启动
|
self.http_service = None # 将在 post_init 中启动
|
||||||
self.connection_monitor = None # 将在 post_init 启动
|
|
||||||
|
|
||||||
logger.info(f"Bioyond工作站初始化完成")
|
logger.info(f"Bioyond工作站初始化完成")
|
||||||
|
|
||||||
def __del__(self):
|
def __del__(self):
|
||||||
"""析构函数：清理资源，停止 HTTP 服务"""
|
"""析构函数：清理资源，停止 HTTP 服务"""
|
||||||
try:
|
try:
|
||||||
if hasattr(self, 'connection_monitor') and self.connection_monitor:
|
|
||||||
self.connection_monitor.stop()
|
|
||||||
if hasattr(self, 'http_service') and self.http_service is not None:
|
if hasattr(self, 'http_service') and self.http_service is not None:
|
||||||
logger.info("正在停止 HTTP 报送服务...")
|
logger.info("正在停止 HTTP 报送服务...")
|
||||||
self.http_service.stop()
|
self.http_service.stop()
|
||||||
@@ -802,13 +646,6 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
def post_init(self, ros_node: ROS2WorkstationNode):
|
def post_init(self, ros_node: ROS2WorkstationNode):
|
||||||
self._ros_node = ros_node
|
self._ros_node = ros_node
|
||||||
|
|
||||||
# 启动连接监控
|
|
||||||
try:
|
|
||||||
self.connection_monitor = ConnectionMonitor(self)
|
|
||||||
self.connection_monitor.start()
|
|
||||||
except Exception as e:
|
|
||||||
logger.error(f"启动连接监控失败: {e}")
|
|
||||||
|
|
||||||
# 启动 HTTP 报送接收服务（现在 device_id 已可用）
|
# 启动 HTTP 报送接收服务（现在 device_id 已可用）
|
||||||
# ⚠️ 检查子类是否已经自己管理 HTTP 服务
|
# ⚠️ 检查子类是否已经自己管理 HTTP 服务
|
||||||
if self.bioyond_config.get("_disable_auto_http_service"):
|
if self.bioyond_config.get("_disable_auto_http_service"):
|
||||||
@@ -853,14 +690,14 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
|
|
||||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||||
"""创建Bioyond通信模块"""
|
"""创建Bioyond通信模块"""
|
||||||
# 直接使用传入的配置，不再使用默认值
|
# 使用传入的 config 参数（来自 bioyond_config）
|
||||||
# 所有配置必须从 JSON 文件中提供
|
# 不再依赖全局变量 API_CONFIG 等
|
||||||
if config:
|
if config:
|
||||||
self.bioyond_config = config
|
self.bioyond_config = config
|
||||||
else:
|
else:
|
||||||
# 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
|
# 如果没有传入配置，创建空配置（用于测试或兼容性）
|
||||||
self.bioyond_config = {}
|
self.bioyond_config = {}
|
||||||
print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
|
|
||||||
|
|
||||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||||
|
|
||||||
@@ -1174,15 +1011,7 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
|
|
||||||
workflow_id = self._get_workflow(actual_workflow_name)
|
workflow_id = self._get_workflow(actual_workflow_name)
|
||||||
if workflow_id:
|
if workflow_id:
|
||||||
# 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
|
self.workflow_sequence.append(workflow_id)
|
||||||
if isinstance(self.workflow_sequence, list):
|
|
||||||
self.workflow_sequence.append(workflow_id)
|
|
||||||
elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
|
|
||||||
self._cached_workflow_sequence.append(workflow_id)
|
|
||||||
else:
|
|
||||||
print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
|
|
||||||
return False
|
|
||||||
|
|
||||||
print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
|
print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
|
||||||
return True
|
return True
|
||||||
return False
|
return False
|
||||||
@@ -1383,22 +1212,6 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
# TODO: 根据实际业务需求处理步骤完成逻辑
|
# TODO: 根据实际业务需求处理步骤完成逻辑
|
||||||
# 例如：更新数据库、触发后续流程等
|
# 例如：更新数据库、触发后续流程等
|
||||||
|
|
||||||
# 发布任务状态事件 (running/progress update)
|
|
||||||
self._publish_task_status(
|
|
||||||
task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
|
|
||||||
task_code=data.get('orderCode'),
|
|
||||||
task_type="bioyond_step",
|
|
||||||
status="running",
|
|
||||||
progress=0.5, # 步骤完成视为任务进行中
|
|
||||||
result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
|
|
||||||
)
|
|
||||||
|
|
||||||
# 更新物料信息
|
|
||||||
# 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
|
|
||||||
logger.info(f"[步骤完成报送] 触发物料同步...")
|
|
||||||
self.resource_synchronizer.sync_from_external()
|
|
||||||
|
|
||||||
|
|
||||||
return {
|
return {
|
||||||
"processed": True,
|
"processed": True,
|
||||||
"step_id": data.get('stepId'),
|
"step_id": data.get('stepId'),
|
||||||
@@ -1433,17 +1246,6 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
|
|
||||||
# TODO: 根据实际业务需求处理通量完成逻辑
|
# TODO: 根据实际业务需求处理通量完成逻辑
|
||||||
|
|
||||||
# 发布任务状态事件
|
|
||||||
self._publish_task_status(
|
|
||||||
task_id=data.get('orderCode'),
|
|
||||||
task_code=data.get('orderCode'),
|
|
||||||
task_type="bioyond_sample",
|
|
||||||
status="running",
|
|
||||||
progress=0.7,
|
|
||||||
result={"sample_id": data.get('sampleId'), "status": status_desc}
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
return {
|
return {
|
||||||
"processed": True,
|
"processed": True,
|
||||||
"sample_id": data.get('sampleId'),
|
"sample_id": data.get('sampleId'),
|
||||||
@@ -1483,32 +1285,6 @@ class BioyondWorkstation(WorkstationBase):
|
|||||||
# TODO: 根据实际业务需求处理任务完成逻辑
|
# TODO: 根据实际业务需求处理任务完成逻辑
|
||||||
# 例如：更新物料库存、生成报表等
|
# 例如：更新物料库存、生成报表等
|
||||||
|
|
||||||
# 映射状态到事件状态
|
|
||||||
event_status = "completed"
|
|
||||||
if str(data.get('status')) in ["-11", "-12"]:
|
|
||||||
event_status = "error"
|
|
||||||
elif str(data.get('status')) == "30":
|
|
||||||
event_status = "completed"
|
|
||||||
else:
|
|
||||||
event_status = "running" # 其他状态视为运行中（或根据实际定义）
|
|
||||||
|
|
||||||
# 发布任务状态事件
|
|
||||||
self._publish_task_status(
|
|
||||||
task_id=data.get('orderCode'),
|
|
||||||
task_code=data.get('orderCode'),
|
|
||||||
task_type="bioyond_order",
|
|
||||||
status=event_status,
|
|
||||||
progress=1.0 if event_status in ["completed", "error"] else 0.9,
|
|
||||||
result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
|
|
||||||
)
|
|
||||||
|
|
||||||
# 更新物料信息
|
|
||||||
# 任务完成后，且状态为完成时，触发同步以更新最终物料状态
|
|
||||||
if event_status == "completed":
|
|
||||||
logger.info(f"[任务完成报送] 触发物料同步...")
|
|
||||||
self.resource_synchronizer.sync_from_external()
|
|
||||||
|
|
||||||
|
|
||||||
return {
|
return {
|
||||||
"processed": True,
|
"processed": True,
|
||||||
"order_code": data.get('orderCode'),
|
"order_code": data.get('orderCode'),
|
||||||
|
|||||||
Binary file not shown.
@@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
|||||||
# 验证必需字段
|
# 验证必需字段
|
||||||
if 'brand' in request_data:
|
if 'brand' in request_data:
|
||||||
if request_data['brand'] == "bioyond": # 奔曜
|
if request_data['brand'] == "bioyond": # 奔曜
|
||||||
material_data = request_data["text"]
|
error_msg = request_data["text"]
|
||||||
logger.info(f"收到奔曜物料变更报送: {material_data}")
|
logger.info(f"收到奔曜错误处理报送: {error_msg}")
|
||||||
return HttpResponse(
|
return HttpResponse(
|
||||||
success=True,
|
success=True,
|
||||||
message=f"物料变更报送已收到: {material_data}",
|
message=f"错误处理报送已收到: {error_msg}",
|
||||||
acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}",
|
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
|
||||||
data=None
|
data=None
|
||||||
)
|
)
|
||||||
else:
|
else:
|
||||||
|
|||||||
589
unilabos/registry/devices/bioyond.yaml
Normal file
589
unilabos/registry/devices/bioyond.yaml
Normal file
@@ -0,0 +1,589 @@
|
|||||||
|
workstation.bioyond_dispensing_station:
|
||||||
|
category:
|
||||||
|
- workstation
|
||||||
|
- bioyond
|
||||||
|
class:
|
||||||
|
action_value_mappings:
|
||||||
|
auto-batch_create_90_10_vial_feeding_tasks:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
delay_time: null
|
||||||
|
hold_m_name: null
|
||||||
|
liquid_material_name: NMP
|
||||||
|
speed: null
|
||||||
|
temperature: null
|
||||||
|
titration: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
delay_time:
|
||||||
|
type: string
|
||||||
|
hold_m_name:
|
||||||
|
type: string
|
||||||
|
liquid_material_name:
|
||||||
|
default: NMP
|
||||||
|
type: string
|
||||||
|
speed:
|
||||||
|
type: string
|
||||||
|
temperature:
|
||||||
|
type: string
|
||||||
|
titration:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- titration
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: batch_create_90_10_vial_feeding_tasks参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-batch_create_diamine_solution_tasks:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
delay_time: null
|
||||||
|
liquid_material_name: NMP
|
||||||
|
solutions: null
|
||||||
|
speed: null
|
||||||
|
temperature: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
delay_time:
|
||||||
|
type: string
|
||||||
|
liquid_material_name:
|
||||||
|
default: NMP
|
||||||
|
type: string
|
||||||
|
solutions:
|
||||||
|
type: string
|
||||||
|
speed:
|
||||||
|
type: string
|
||||||
|
temperature:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- solutions
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: batch_create_diamine_solution_tasks参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-brief_step_parameters:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
data: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
data:
|
||||||
|
type: object
|
||||||
|
required:
|
||||||
|
- data
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: brief_step_parameters参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-compute_experiment_design:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
m_tot: '70'
|
||||||
|
ratio: null
|
||||||
|
titration_percent: '0.03'
|
||||||
|
wt_percent: '0.25'
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
m_tot:
|
||||||
|
default: '70'
|
||||||
|
type: string
|
||||||
|
ratio:
|
||||||
|
type: object
|
||||||
|
titration_percent:
|
||||||
|
default: '0.03'
|
||||||
|
type: string
|
||||||
|
wt_percent:
|
||||||
|
default: '0.25'
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- ratio
|
||||||
|
type: object
|
||||||
|
result:
|
||||||
|
properties:
|
||||||
|
feeding_order:
|
||||||
|
items: {}
|
||||||
|
title: Feeding Order
|
||||||
|
type: array
|
||||||
|
return_info:
|
||||||
|
title: Return Info
|
||||||
|
type: string
|
||||||
|
solutions:
|
||||||
|
items: {}
|
||||||
|
title: Solutions
|
||||||
|
type: array
|
||||||
|
solvents:
|
||||||
|
additionalProperties: true
|
||||||
|
title: Solvents
|
||||||
|
type: object
|
||||||
|
titration:
|
||||||
|
additionalProperties: true
|
||||||
|
title: Titration
|
||||||
|
type: object
|
||||||
|
required:
|
||||||
|
- solutions
|
||||||
|
- titration
|
||||||
|
- solvents
|
||||||
|
- feeding_order
|
||||||
|
- return_info
|
||||||
|
title: ComputeExperimentDesignReturn
|
||||||
|
type: object
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: compute_experiment_design参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-process_order_finish_report:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
report_request: null
|
||||||
|
used_materials: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
report_request:
|
||||||
|
type: string
|
||||||
|
used_materials:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- report_request
|
||||||
|
- used_materials
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: process_order_finish_report参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-project_order_report:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
order_id: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
order_id:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- order_id
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: project_order_report参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-query_resource_by_name:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
material_name: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
material_name:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- material_name
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: query_resource_by_name参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-transfer_materials_to_reaction_station:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
target_device_id: null
|
||||||
|
transfer_groups: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
target_device_id:
|
||||||
|
type: string
|
||||||
|
transfer_groups:
|
||||||
|
type: array
|
||||||
|
required:
|
||||||
|
- target_device_id
|
||||||
|
- transfer_groups
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: transfer_materials_to_reaction_station参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-wait_for_multiple_orders_and_get_reports:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
batch_create_result: null
|
||||||
|
check_interval: 10
|
||||||
|
timeout: 7200
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
batch_create_result:
|
||||||
|
type: string
|
||||||
|
check_interval:
|
||||||
|
default: 10
|
||||||
|
type: integer
|
||||||
|
timeout:
|
||||||
|
default: 7200
|
||||||
|
type: integer
|
||||||
|
required: []
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: wait_for_multiple_orders_and_get_reports参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-workflow_sample_locations:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
workflow_id: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
workflow_id:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- workflow_id
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: workflow_sample_locations参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
create_90_10_vial_feeding_task:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
delay_time: delay_time
|
||||||
|
hold_m_name: hold_m_name
|
||||||
|
order_name: order_name
|
||||||
|
percent_10_1_assign_material_name: percent_10_1_assign_material_name
|
||||||
|
percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
|
||||||
|
percent_10_1_target_weigh: percent_10_1_target_weigh
|
||||||
|
percent_10_1_volume: percent_10_1_volume
|
||||||
|
percent_10_2_assign_material_name: percent_10_2_assign_material_name
|
||||||
|
percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
|
||||||
|
percent_10_2_target_weigh: percent_10_2_target_weigh
|
||||||
|
percent_10_2_volume: percent_10_2_volume
|
||||||
|
percent_10_3_assign_material_name: percent_10_3_assign_material_name
|
||||||
|
percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
|
||||||
|
percent_10_3_target_weigh: percent_10_3_target_weigh
|
||||||
|
percent_10_3_volume: percent_10_3_volume
|
||||||
|
percent_90_1_assign_material_name: percent_90_1_assign_material_name
|
||||||
|
percent_90_1_target_weigh: percent_90_1_target_weigh
|
||||||
|
percent_90_2_assign_material_name: percent_90_2_assign_material_name
|
||||||
|
percent_90_2_target_weigh: percent_90_2_target_weigh
|
||||||
|
percent_90_3_assign_material_name: percent_90_3_assign_material_name
|
||||||
|
percent_90_3_target_weigh: percent_90_3_target_weigh
|
||||||
|
speed: speed
|
||||||
|
temperature: temperature
|
||||||
|
goal_default:
|
||||||
|
delay_time: ''
|
||||||
|
hold_m_name: ''
|
||||||
|
order_name: ''
|
||||||
|
percent_10_1_assign_material_name: ''
|
||||||
|
percent_10_1_liquid_material_name: ''
|
||||||
|
percent_10_1_target_weigh: ''
|
||||||
|
percent_10_1_volume: ''
|
||||||
|
percent_10_2_assign_material_name: ''
|
||||||
|
percent_10_2_liquid_material_name: ''
|
||||||
|
percent_10_2_target_weigh: ''
|
||||||
|
percent_10_2_volume: ''
|
||||||
|
percent_10_3_assign_material_name: ''
|
||||||
|
percent_10_3_liquid_material_name: ''
|
||||||
|
percent_10_3_target_weigh: ''
|
||||||
|
percent_10_3_volume: ''
|
||||||
|
percent_90_1_assign_material_name: ''
|
||||||
|
percent_90_1_target_weigh: ''
|
||||||
|
percent_90_2_assign_material_name: ''
|
||||||
|
percent_90_2_target_weigh: ''
|
||||||
|
percent_90_3_assign_material_name: ''
|
||||||
|
percent_90_3_target_weigh: ''
|
||||||
|
speed: ''
|
||||||
|
temperature: ''
|
||||||
|
handles: {}
|
||||||
|
result:
|
||||||
|
return_info: return_info
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback:
|
||||||
|
properties: {}
|
||||||
|
required: []
|
||||||
|
title: DispenStationVialFeed_Feedback
|
||||||
|
type: object
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
delay_time:
|
||||||
|
type: string
|
||||||
|
hold_m_name:
|
||||||
|
type: string
|
||||||
|
order_name:
|
||||||
|
type: string
|
||||||
|
percent_10_1_assign_material_name:
|
||||||
|
type: string
|
||||||
|
percent_10_1_liquid_material_name:
|
||||||
|
type: string
|
||||||
|
percent_10_1_target_weigh:
|
||||||
|
type: string
|
||||||
|
percent_10_1_volume:
|
||||||
|
type: string
|
||||||
|
percent_10_2_assign_material_name:
|
||||||
|
type: string
|
||||||
|
percent_10_2_liquid_material_name:
|
||||||
|
type: string
|
||||||
|
percent_10_2_target_weigh:
|
||||||
|
type: string
|
||||||
|
percent_10_2_volume:
|
||||||
|
type: string
|
||||||
|
percent_10_3_assign_material_name:
|
||||||
|
type: string
|
||||||
|
percent_10_3_liquid_material_name:
|
||||||
|
type: string
|
||||||
|
percent_10_3_target_weigh:
|
||||||
|
type: string
|
||||||
|
percent_10_3_volume:
|
||||||
|
type: string
|
||||||
|
percent_90_1_assign_material_name:
|
||||||
|
type: string
|
||||||
|
percent_90_1_target_weigh:
|
||||||
|
type: string
|
||||||
|
percent_90_2_assign_material_name:
|
||||||
|
type: string
|
||||||
|
percent_90_2_target_weigh:
|
||||||
|
type: string
|
||||||
|
percent_90_3_assign_material_name:
|
||||||
|
type: string
|
||||||
|
percent_90_3_target_weigh:
|
||||||
|
type: string
|
||||||
|
speed:
|
||||||
|
type: string
|
||||||
|
temperature:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- order_name
|
||||||
|
- percent_90_1_assign_material_name
|
||||||
|
- percent_90_1_target_weigh
|
||||||
|
- percent_90_2_assign_material_name
|
||||||
|
- percent_90_2_target_weigh
|
||||||
|
- percent_90_3_assign_material_name
|
||||||
|
- percent_90_3_target_weigh
|
||||||
|
- percent_10_1_assign_material_name
|
||||||
|
- percent_10_1_target_weigh
|
||||||
|
- percent_10_1_volume
|
||||||
|
- percent_10_1_liquid_material_name
|
||||||
|
- percent_10_2_assign_material_name
|
||||||
|
- percent_10_2_target_weigh
|
||||||
|
- percent_10_2_volume
|
||||||
|
- percent_10_2_liquid_material_name
|
||||||
|
- percent_10_3_assign_material_name
|
||||||
|
- percent_10_3_target_weigh
|
||||||
|
- percent_10_3_volume
|
||||||
|
- percent_10_3_liquid_material_name
|
||||||
|
- speed
|
||||||
|
- temperature
|
||||||
|
- delay_time
|
||||||
|
- hold_m_name
|
||||||
|
title: DispenStationVialFeed_Goal
|
||||||
|
type: object
|
||||||
|
result:
|
||||||
|
properties:
|
||||||
|
return_info:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- return_info
|
||||||
|
title: DispenStationVialFeed_Result
|
||||||
|
type: object
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: DispenStationVialFeed
|
||||||
|
type: object
|
||||||
|
type: DispenStationVialFeed
|
||||||
|
create_diamine_solution_task:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
delay_time: delay_time
|
||||||
|
hold_m_name: hold_m_name
|
||||||
|
liquid_material_name: liquid_material_name
|
||||||
|
material_name: material_name
|
||||||
|
order_name: order_name
|
||||||
|
speed: speed
|
||||||
|
target_weigh: target_weigh
|
||||||
|
temperature: temperature
|
||||||
|
volume: volume
|
||||||
|
goal_default:
|
||||||
|
delay_time: ''
|
||||||
|
hold_m_name: ''
|
||||||
|
liquid_material_name: ''
|
||||||
|
material_name: ''
|
||||||
|
order_name: ''
|
||||||
|
speed: ''
|
||||||
|
target_weigh: ''
|
||||||
|
temperature: ''
|
||||||
|
volume: ''
|
||||||
|
handles: {}
|
||||||
|
result:
|
||||||
|
return_info: return_info
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback:
|
||||||
|
properties: {}
|
||||||
|
required: []
|
||||||
|
title: DispenStationSolnPrep_Feedback
|
||||||
|
type: object
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
delay_time:
|
||||||
|
type: string
|
||||||
|
hold_m_name:
|
||||||
|
type: string
|
||||||
|
liquid_material_name:
|
||||||
|
type: string
|
||||||
|
material_name:
|
||||||
|
type: string
|
||||||
|
order_name:
|
||||||
|
type: string
|
||||||
|
speed:
|
||||||
|
type: string
|
||||||
|
target_weigh:
|
||||||
|
type: string
|
||||||
|
temperature:
|
||||||
|
type: string
|
||||||
|
volume:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- order_name
|
||||||
|
- material_name
|
||||||
|
- target_weigh
|
||||||
|
- volume
|
||||||
|
- liquid_material_name
|
||||||
|
- speed
|
||||||
|
- temperature
|
||||||
|
- delay_time
|
||||||
|
- hold_m_name
|
||||||
|
title: DispenStationSolnPrep_Goal
|
||||||
|
type: object
|
||||||
|
result:
|
||||||
|
properties:
|
||||||
|
return_info:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- return_info
|
||||||
|
title: DispenStationSolnPrep_Result
|
||||||
|
type: object
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: DispenStationSolnPrep
|
||||||
|
type: object
|
||||||
|
type: DispenStationSolnPrep
|
||||||
|
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||||
|
status_types: {}
|
||||||
|
type: python
|
||||||
|
config_info: []
|
||||||
|
description: ''
|
||||||
|
handles: []
|
||||||
|
icon: ''
|
||||||
|
init_param_schema:
|
||||||
|
config:
|
||||||
|
properties:
|
||||||
|
config:
|
||||||
|
type: string
|
||||||
|
deck:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- config
|
||||||
|
- deck
|
||||||
|
type: object
|
||||||
|
data:
|
||||||
|
properties: {}
|
||||||
|
required: []
|
||||||
|
type: object
|
||||||
|
version: 1.0.0
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -30,6 +30,71 @@ bioyond_dispensing_station:
|
|||||||
title: brief_step_parameters参数
|
title: brief_step_parameters参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
|
auto-compute_experiment_design:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
m_tot: '70'
|
||||||
|
ratio: null
|
||||||
|
titration_percent: '0.03'
|
||||||
|
wt_percent: '0.25'
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
m_tot:
|
||||||
|
default: '70'
|
||||||
|
type: string
|
||||||
|
ratio:
|
||||||
|
type: object
|
||||||
|
titration_percent:
|
||||||
|
default: '0.03'
|
||||||
|
type: string
|
||||||
|
wt_percent:
|
||||||
|
default: '0.25'
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- ratio
|
||||||
|
type: object
|
||||||
|
result:
|
||||||
|
properties:
|
||||||
|
feeding_order:
|
||||||
|
items: {}
|
||||||
|
title: Feeding Order
|
||||||
|
type: array
|
||||||
|
return_info:
|
||||||
|
title: Return Info
|
||||||
|
type: string
|
||||||
|
solutions:
|
||||||
|
items: {}
|
||||||
|
title: Solutions
|
||||||
|
type: array
|
||||||
|
solvents:
|
||||||
|
additionalProperties: true
|
||||||
|
title: Solvents
|
||||||
|
type: object
|
||||||
|
titration:
|
||||||
|
additionalProperties: true
|
||||||
|
title: Titration
|
||||||
|
type: object
|
||||||
|
required:
|
||||||
|
- solutions
|
||||||
|
- titration
|
||||||
|
- solvents
|
||||||
|
- feeding_order
|
||||||
|
- return_info
|
||||||
|
title: ComputeExperimentDesignReturn
|
||||||
|
type: object
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: compute_experiment_design参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
auto-process_order_finish_report:
|
auto-process_order_finish_report:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -109,6 +174,35 @@ bioyond_dispensing_station:
|
|||||||
title: query_resource_by_name参数
|
title: query_resource_by_name参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
|
auto-transfer_materials_to_reaction_station:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
target_device_id: null
|
||||||
|
transfer_groups: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
target_device_id:
|
||||||
|
type: string
|
||||||
|
transfer_groups:
|
||||||
|
type: array
|
||||||
|
required:
|
||||||
|
- target_device_id
|
||||||
|
- transfer_groups
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: transfer_materials_to_reaction_station参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
auto-workflow_sample_locations:
|
auto-workflow_sample_locations:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -300,99 +394,6 @@ bioyond_dispensing_station:
|
|||||||
title: BatchCreateDiamineSolutionTasks
|
title: BatchCreateDiamineSolutionTasks
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
compute_experiment_design:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
m_tot: m_tot
|
|
||||||
ratio: ratio
|
|
||||||
titration_percent: titration_percent
|
|
||||||
wt_percent: wt_percent
|
|
||||||
goal_default:
|
|
||||||
m_tot: '70'
|
|
||||||
ratio: ''
|
|
||||||
titration_percent: '0.03'
|
|
||||||
wt_percent: '0.25'
|
|
||||||
handles:
|
|
||||||
output:
|
|
||||||
- data_key: solutions
|
|
||||||
data_source: executor
|
|
||||||
data_type: array
|
|
||||||
handler_key: solutions
|
|
||||||
io_type: sink
|
|
||||||
label: Solution Data From Python
|
|
||||||
- data_key: titration
|
|
||||||
data_source: executor
|
|
||||||
data_type: object
|
|
||||||
handler_key: titration
|
|
||||||
io_type: sink
|
|
||||||
label: Titration Data From Calculation Node
|
|
||||||
- data_key: solvents
|
|
||||||
data_source: executor
|
|
||||||
data_type: object
|
|
||||||
handler_key: solvents
|
|
||||||
io_type: sink
|
|
||||||
label: Solvents Data From Calculation Node
|
|
||||||
- data_key: feeding_order
|
|
||||||
data_source: executor
|
|
||||||
data_type: array
|
|
||||||
handler_key: feeding_order
|
|
||||||
io_type: sink
|
|
||||||
label: Feeding Order Data From Calculation Node
|
|
||||||
result:
|
|
||||||
feeding_order: feeding_order
|
|
||||||
return_info: return_info
|
|
||||||
solutions: solutions
|
|
||||||
solvents: solvents
|
|
||||||
titration: titration
|
|
||||||
schema:
|
|
||||||
description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
m_tot:
|
|
||||||
default: '70'
|
|
||||||
description: 总质量(g)
|
|
||||||
type: string
|
|
||||||
ratio:
|
|
||||||
description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
|
|
||||||
type: string
|
|
||||||
titration_percent:
|
|
||||||
default: '0.03'
|
|
||||||
description: 滴定比例(10%部分)
|
|
||||||
type: string
|
|
||||||
wt_percent:
|
|
||||||
default: '0.25'
|
|
||||||
description: 目标固含质量分数
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- ratio
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
properties:
|
|
||||||
feeding_order:
|
|
||||||
type: array
|
|
||||||
return_info:
|
|
||||||
type: string
|
|
||||||
solutions:
|
|
||||||
type: array
|
|
||||||
solvents:
|
|
||||||
type: object
|
|
||||||
titration:
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- solutions
|
|
||||||
- titration
|
|
||||||
- solvents
|
|
||||||
- feeding_order
|
|
||||||
- return_info
|
|
||||||
title: ComputeExperimentDesign_Result
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: ComputeExperimentDesign
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
create_90_10_vial_feeding_task:
|
create_90_10_vial_feeding_task:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -619,89 +620,6 @@ bioyond_dispensing_station:
|
|||||||
title: DispenStationSolnPrep
|
title: DispenStationSolnPrep
|
||||||
type: object
|
type: object
|
||||||
type: DispenStationSolnPrep
|
type: DispenStationSolnPrep
|
||||||
scheduler_start:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default: {}
|
|
||||||
handles: {}
|
|
||||||
result:
|
|
||||||
return_info: return_info
|
|
||||||
schema:
|
|
||||||
description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties: {}
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
properties:
|
|
||||||
return_info:
|
|
||||||
description: 调度器启动结果，成功返回1，失败返回0
|
|
||||||
type: integer
|
|
||||||
required:
|
|
||||||
- return_info
|
|
||||||
title: scheduler_start结果
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: scheduler_start参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
transfer_materials_to_reaction_station:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
target_device_id: target_device_id
|
|
||||||
transfer_groups: transfer_groups
|
|
||||||
goal_default:
|
|
||||||
target_device_id: ''
|
|
||||||
transfer_groups: ''
|
|
||||||
handles: {}
|
|
||||||
placeholder_keys:
|
|
||||||
target_device_id: unilabos_devices
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
target_device_id:
|
|
||||||
description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
|
|
||||||
type: string
|
|
||||||
transfer_groups:
|
|
||||||
description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
|
|
||||||
items:
|
|
||||||
properties:
|
|
||||||
materials:
|
|
||||||
description: 物料名称（手动输入，系统将通过RPC查询验证）
|
|
||||||
type: string
|
|
||||||
target_sites:
|
|
||||||
description: 目标库位（手动输入，如"A01"）
|
|
||||||
type: string
|
|
||||||
target_stack:
|
|
||||||
description: 目标堆栈名称（从列表选择）
|
|
||||||
enum:
|
|
||||||
- 堆栈1左
|
|
||||||
- 堆栈1右
|
|
||||||
- 站内试剂存放堆栈
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- materials
|
|
||||||
- target_stack
|
|
||||||
- target_sites
|
|
||||||
type: object
|
|
||||||
type: array
|
|
||||||
required:
|
|
||||||
- target_device_id
|
|
||||||
- transfer_groups
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: transfer_materials_to_reaction_station参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
wait_for_multiple_orders_and_get_reports:
|
wait_for_multiple_orders_and_get_reports:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -770,7 +688,7 @@ bioyond_dispensing_station:
|
|||||||
title: WaitForMultipleOrdersAndGetReports
|
title: WaitForMultipleOrdersAndGetReports
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
|
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||||
status_types: {}
|
status_types: {}
|
||||||
type: python
|
type: python
|
||||||
config_info: []
|
config_info: []
|
||||||
@@ -781,16 +699,15 @@ bioyond_dispensing_station:
|
|||||||
config:
|
config:
|
||||||
properties:
|
properties:
|
||||||
config:
|
config:
|
||||||
type: object
|
type: string
|
||||||
deck:
|
deck:
|
||||||
type: string
|
type: string
|
||||||
protocol_type:
|
required:
|
||||||
type: string
|
- config
|
||||||
required: []
|
- deck
|
||||||
type: object
|
type: object
|
||||||
data:
|
data:
|
||||||
properties: {}
|
properties: {}
|
||||||
required: []
|
required: []
|
||||||
type: object
|
type: object
|
||||||
model: {}
|
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
|
|||||||
@@ -405,7 +405,7 @@ coincellassemblyworkstation_device:
|
|||||||
goal:
|
goal:
|
||||||
properties:
|
properties:
|
||||||
bottle_num:
|
bottle_num:
|
||||||
type: string
|
type: integer
|
||||||
required:
|
required:
|
||||||
- bottle_num
|
- bottle_num
|
||||||
type: object
|
type: object
|
||||||
|
|||||||
@@ -638,7 +638,7 @@ liquid_handler:
|
|||||||
placeholder_keys: {}
|
placeholder_keys: {}
|
||||||
result: {}
|
result: {}
|
||||||
schema:
|
schema:
|
||||||
description: 吸头迭代函数。用于自动管理和切换枪头盒中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
|
description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
|
||||||
properties:
|
properties:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -712,43 +712,6 @@ liquid_handler:
|
|||||||
title: set_group参数
|
title: set_group参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
auto-set_liquid_from_plate:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
liquid_names: null
|
|
||||||
plate: null
|
|
||||||
volumes: null
|
|
||||||
well_names: null
|
|
||||||
handles: {}
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: ''
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
liquid_names:
|
|
||||||
type: string
|
|
||||||
plate:
|
|
||||||
type: string
|
|
||||||
volumes:
|
|
||||||
type: string
|
|
||||||
well_names:
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- plate
|
|
||||||
- well_names
|
|
||||||
- liquid_names
|
|
||||||
- volumes
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: set_liquid_from_plate参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-set_tiprack:
|
auto-set_tiprack:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -758,7 +721,7 @@ liquid_handler:
|
|||||||
placeholder_keys: {}
|
placeholder_keys: {}
|
||||||
result: {}
|
result: {}
|
||||||
schema:
|
schema:
|
||||||
description: 枪头盒设置函数。用于配置和初始化液体处理系统的枪头盒信息，包括枪头盒位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、枪头盒更换、实验配置等需要吸头资源管理的操作场景。
|
description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
|
||||||
properties:
|
properties:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -4130,32 +4093,32 @@ liquid_handler:
|
|||||||
- 0
|
- 0
|
||||||
handles:
|
handles:
|
||||||
input:
|
input:
|
||||||
- data_key: sources
|
- data_key: liquid
|
||||||
data_source: handle
|
data_source: handle
|
||||||
data_type: resource
|
data_type: resource
|
||||||
handler_key: sources
|
handler_key: sources
|
||||||
label: 待移动液体
|
label: sources
|
||||||
- data_key: targets
|
- data_key: liquid
|
||||||
data_source: handle
|
|
||||||
data_type: resource
|
|
||||||
handler_key: targets
|
|
||||||
label: 转移目标
|
|
||||||
- data_key: tip_racks
|
|
||||||
data_source: handle
|
|
||||||
data_type: resource
|
|
||||||
handler_key: tip_rack
|
|
||||||
label: 枪头盒
|
|
||||||
output:
|
|
||||||
- data_key: sources.@flatten
|
|
||||||
data_source: executor
|
data_source: executor
|
||||||
data_type: resource
|
data_type: resource
|
||||||
|
handler_key: targets
|
||||||
|
label: targets
|
||||||
|
- data_key: liquid
|
||||||
|
data_source: executor
|
||||||
|
data_type: resource
|
||||||
|
handler_key: tip_rack
|
||||||
|
label: tip_rack
|
||||||
|
output:
|
||||||
|
- data_key: liquid
|
||||||
|
data_source: handle
|
||||||
|
data_type: resource
|
||||||
handler_key: sources_out
|
handler_key: sources_out
|
||||||
label: 移液后源孔
|
label: sources
|
||||||
- data_key: targets.@flatten
|
- data_key: liquid
|
||||||
data_source: executor
|
data_source: executor
|
||||||
data_type: resource
|
data_type: resource
|
||||||
handler_key: targets_out
|
handler_key: targets_out
|
||||||
label: 移液后目标孔
|
label: targets
|
||||||
placeholder_keys:
|
placeholder_keys:
|
||||||
sources: unilabos_resources
|
sources: unilabos_resources
|
||||||
targets: unilabos_resources
|
targets: unilabos_resources
|
||||||
@@ -5151,34 +5114,19 @@ liquid_handler.biomek:
|
|||||||
- 0
|
- 0
|
||||||
handles:
|
handles:
|
||||||
input:
|
input:
|
||||||
- data_key: sources
|
- data_key: liquid
|
||||||
data_source: handle
|
data_source: handle
|
||||||
data_type: resource
|
data_type: resource
|
||||||
handler_key: sources
|
handler_key: liquid-input
|
||||||
io_type: target
|
io_type: target
|
||||||
label: 待移动液体
|
label: Liquid Input
|
||||||
- data_key: targets
|
|
||||||
data_source: handle
|
|
||||||
data_type: resource
|
|
||||||
handler_key: targets
|
|
||||||
label: 转移目标
|
|
||||||
- data_key: tip_racks
|
|
||||||
data_source: handle
|
|
||||||
data_type: resource
|
|
||||||
handler_key: tip_rack
|
|
||||||
label: 枪头盒
|
|
||||||
output:
|
output:
|
||||||
- data_key: sources.@flatten
|
- data_key: liquid
|
||||||
data_source: executor
|
data_source: executor
|
||||||
data_type: resource
|
data_type: resource
|
||||||
handler_key: sources_out
|
handler_key: liquid-output
|
||||||
io_type: source
|
io_type: source
|
||||||
label: 移液后源孔
|
label: Liquid Output
|
||||||
- data_key: targets.@flatten
|
|
||||||
data_source: executor
|
|
||||||
data_type: resource
|
|
||||||
handler_key: targets_out
|
|
||||||
label: 移液后目标孔
|
|
||||||
placeholder_keys:
|
placeholder_keys:
|
||||||
sources: unilabos_resources
|
sources: unilabos_resources
|
||||||
targets: unilabos_resources
|
targets: unilabos_resources
|
||||||
@@ -9330,19 +9278,7 @@ liquid_handler.prcxi:
|
|||||||
z: 0.0
|
z: 0.0
|
||||||
sample_id: ''
|
sample_id: ''
|
||||||
type: ''
|
type: ''
|
||||||
handles:
|
handles: {}
|
||||||
input:
|
|
||||||
- data_key: wells
|
|
||||||
data_source: handle
|
|
||||||
data_type: resource
|
|
||||||
handler_key: input_wells
|
|
||||||
label: 待设定液体孔
|
|
||||||
output:
|
|
||||||
- data_key: wells.@flatten
|
|
||||||
data_source: executor
|
|
||||||
data_type: resource
|
|
||||||
handler_key: output_wells
|
|
||||||
label: 已设定液体孔
|
|
||||||
placeholder_keys:
|
placeholder_keys:
|
||||||
wells: unilabos_resources
|
wells: unilabos_resources
|
||||||
result: {}
|
result: {}
|
||||||
@@ -9458,352 +9394,6 @@ liquid_handler.prcxi:
|
|||||||
title: LiquidHandlerSetLiquid
|
title: LiquidHandlerSetLiquid
|
||||||
type: object
|
type: object
|
||||||
type: LiquidHandlerSetLiquid
|
type: LiquidHandlerSetLiquid
|
||||||
set_liquid_from_plate:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
liquid_names: null
|
|
||||||
plate: null
|
|
||||||
volumes: null
|
|
||||||
well_names: null
|
|
||||||
handles:
|
|
||||||
input:
|
|
||||||
- data_key: '@this.0@@@plate'
|
|
||||||
data_source: handle
|
|
||||||
data_type: resource
|
|
||||||
handler_key: input_plate
|
|
||||||
label: 待设定液体板
|
|
||||||
output:
|
|
||||||
- data_key: plate.@flatten
|
|
||||||
data_source: executor
|
|
||||||
data_type: resource
|
|
||||||
handler_key: output_plate
|
|
||||||
label: 已设定液体板
|
|
||||||
- data_key: wells.@flatten
|
|
||||||
data_source: executor
|
|
||||||
data_type: resource
|
|
||||||
handler_key: output_wells
|
|
||||||
label: 已设定液体孔
|
|
||||||
- data_key: volumes
|
|
||||||
data_source: executor
|
|
||||||
data_type: number_array
|
|
||||||
handler_key: output_volumes
|
|
||||||
label: 各孔设定体积
|
|
||||||
placeholder_keys:
|
|
||||||
plate: unilabos_resources
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: ''
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
liquid_names:
|
|
||||||
items:
|
|
||||||
type: string
|
|
||||||
type: array
|
|
||||||
plate:
|
|
||||||
properties:
|
|
||||||
category:
|
|
||||||
type: string
|
|
||||||
children:
|
|
||||||
items:
|
|
||||||
type: string
|
|
||||||
type: array
|
|
||||||
config:
|
|
||||||
type: string
|
|
||||||
data:
|
|
||||||
type: string
|
|
||||||
id:
|
|
||||||
type: string
|
|
||||||
name:
|
|
||||||
type: string
|
|
||||||
parent:
|
|
||||||
type: string
|
|
||||||
pose:
|
|
||||||
properties:
|
|
||||||
orientation:
|
|
||||||
properties:
|
|
||||||
w:
|
|
||||||
type: number
|
|
||||||
x:
|
|
||||||
type: number
|
|
||||||
y:
|
|
||||||
type: number
|
|
||||||
z:
|
|
||||||
type: number
|
|
||||||
required:
|
|
||||||
- x
|
|
||||||
- y
|
|
||||||
- z
|
|
||||||
- w
|
|
||||||
title: orientation
|
|
||||||
type: object
|
|
||||||
position:
|
|
||||||
properties:
|
|
||||||
x:
|
|
||||||
type: number
|
|
||||||
y:
|
|
||||||
type: number
|
|
||||||
z:
|
|
||||||
type: number
|
|
||||||
required:
|
|
||||||
- x
|
|
||||||
- y
|
|
||||||
- z
|
|
||||||
title: position
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- position
|
|
||||||
- orientation
|
|
||||||
title: pose
|
|
||||||
type: object
|
|
||||||
sample_id:
|
|
||||||
type: string
|
|
||||||
type:
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- id
|
|
||||||
- name
|
|
||||||
- sample_id
|
|
||||||
- children
|
|
||||||
- parent
|
|
||||||
- type
|
|
||||||
- category
|
|
||||||
- pose
|
|
||||||
- config
|
|
||||||
- data
|
|
||||||
title: plate
|
|
||||||
type: object
|
|
||||||
volumes:
|
|
||||||
items:
|
|
||||||
type: number
|
|
||||||
type: array
|
|
||||||
well_names:
|
|
||||||
items:
|
|
||||||
type: string
|
|
||||||
type: array
|
|
||||||
required:
|
|
||||||
- plate
|
|
||||||
- well_names
|
|
||||||
- liquid_names
|
|
||||||
- volumes
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
$defs:
|
|
||||||
ResourceDict:
|
|
||||||
properties:
|
|
||||||
class:
|
|
||||||
description: Resource class name
|
|
||||||
title: Class
|
|
||||||
type: string
|
|
||||||
config:
|
|
||||||
additionalProperties: true
|
|
||||||
description: Resource configuration
|
|
||||||
title: Config
|
|
||||||
type: object
|
|
||||||
data:
|
|
||||||
additionalProperties: true
|
|
||||||
description: 'Resource data, eg: container liquid data'
|
|
||||||
title: Data
|
|
||||||
type: object
|
|
||||||
description:
|
|
||||||
default: ''
|
|
||||||
description: Resource description
|
|
||||||
title: Description
|
|
||||||
type: string
|
|
||||||
extra:
|
|
||||||
additionalProperties: true
|
|
||||||
description: 'Extra data, eg: slot index'
|
|
||||||
title: Extra
|
|
||||||
type: object
|
|
||||||
icon:
|
|
||||||
default: ''
|
|
||||||
description: Resource icon
|
|
||||||
title: Icon
|
|
||||||
type: string
|
|
||||||
id:
|
|
||||||
description: Resource ID
|
|
||||||
title: Id
|
|
||||||
type: string
|
|
||||||
model:
|
|
||||||
additionalProperties: true
|
|
||||||
description: Resource model
|
|
||||||
title: Model
|
|
||||||
type: object
|
|
||||||
name:
|
|
||||||
description: Resource name
|
|
||||||
title: Name
|
|
||||||
type: string
|
|
||||||
parent:
|
|
||||||
anyOf:
|
|
||||||
- $ref: '#/$defs/ResourceDict'
|
|
||||||
- type: 'null'
|
|
||||||
default: null
|
|
||||||
description: Parent resource object
|
|
||||||
parent_uuid:
|
|
||||||
anyOf:
|
|
||||||
- type: string
|
|
||||||
- type: 'null'
|
|
||||||
default: null
|
|
||||||
description: Parent resource uuid
|
|
||||||
title: Parent Uuid
|
|
||||||
pose:
|
|
||||||
$ref: '#/$defs/ResourceDictPosition'
|
|
||||||
description: Resource position
|
|
||||||
schema:
|
|
||||||
additionalProperties: true
|
|
||||||
description: Resource schema
|
|
||||||
title: Schema
|
|
||||||
type: object
|
|
||||||
type:
|
|
||||||
anyOf:
|
|
||||||
- const: device
|
|
||||||
type: string
|
|
||||||
- type: string
|
|
||||||
description: Resource type
|
|
||||||
title: Type
|
|
||||||
uuid:
|
|
||||||
description: Resource UUID
|
|
||||||
title: Uuid
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- id
|
|
||||||
- uuid
|
|
||||||
- name
|
|
||||||
- type
|
|
||||||
- class
|
|
||||||
- config
|
|
||||||
- data
|
|
||||||
- extra
|
|
||||||
title: ResourceDict
|
|
||||||
type: object
|
|
||||||
ResourceDictPosition:
|
|
||||||
properties:
|
|
||||||
cross_section_type:
|
|
||||||
default: rectangle
|
|
||||||
description: Cross section type
|
|
||||||
enum:
|
|
||||||
- rectangle
|
|
||||||
- circle
|
|
||||||
- rounded_rectangle
|
|
||||||
title: Cross Section Type
|
|
||||||
type: string
|
|
||||||
layout:
|
|
||||||
default: x-y
|
|
||||||
description: Resource layout
|
|
||||||
enum:
|
|
||||||
- 2d
|
|
||||||
- x-y
|
|
||||||
- z-y
|
|
||||||
- x-z
|
|
||||||
title: Layout
|
|
||||||
type: string
|
|
||||||
position:
|
|
||||||
$ref: '#/$defs/ResourceDictPositionObject'
|
|
||||||
description: Resource position
|
|
||||||
position3d:
|
|
||||||
$ref: '#/$defs/ResourceDictPositionObject'
|
|
||||||
description: Resource position in 3D space
|
|
||||||
rotation:
|
|
||||||
$ref: '#/$defs/ResourceDictPositionObject'
|
|
||||||
description: Resource rotation
|
|
||||||
scale:
|
|
||||||
$ref: '#/$defs/ResourceDictPositionScale'
|
|
||||||
description: Resource scale
|
|
||||||
size:
|
|
||||||
$ref: '#/$defs/ResourceDictPositionSize'
|
|
||||||
description: Resource size
|
|
||||||
title: ResourceDictPosition
|
|
||||||
type: object
|
|
||||||
ResourceDictPositionObject:
|
|
||||||
properties:
|
|
||||||
x:
|
|
||||||
default: 0.0
|
|
||||||
description: X coordinate
|
|
||||||
title: X
|
|
||||||
type: number
|
|
||||||
y:
|
|
||||||
default: 0.0
|
|
||||||
description: Y coordinate
|
|
||||||
title: Y
|
|
||||||
type: number
|
|
||||||
z:
|
|
||||||
default: 0.0
|
|
||||||
description: Z coordinate
|
|
||||||
title: Z
|
|
||||||
type: number
|
|
||||||
title: ResourceDictPositionObject
|
|
||||||
type: object
|
|
||||||
ResourceDictPositionScale:
|
|
||||||
properties:
|
|
||||||
x:
|
|
||||||
default: 0.0
|
|
||||||
description: x scale
|
|
||||||
title: X
|
|
||||||
type: number
|
|
||||||
y:
|
|
||||||
default: 0.0
|
|
||||||
description: y scale
|
|
||||||
title: Y
|
|
||||||
type: number
|
|
||||||
z:
|
|
||||||
default: 0.0
|
|
||||||
description: z scale
|
|
||||||
title: Z
|
|
||||||
type: number
|
|
||||||
title: ResourceDictPositionScale
|
|
||||||
type: object
|
|
||||||
ResourceDictPositionSize:
|
|
||||||
properties:
|
|
||||||
depth:
|
|
||||||
default: 0.0
|
|
||||||
description: Depth
|
|
||||||
title: Depth
|
|
||||||
type: number
|
|
||||||
height:
|
|
||||||
default: 0.0
|
|
||||||
description: Height
|
|
||||||
title: Height
|
|
||||||
type: number
|
|
||||||
width:
|
|
||||||
default: 0.0
|
|
||||||
description: Width
|
|
||||||
title: Width
|
|
||||||
type: number
|
|
||||||
title: ResourceDictPositionSize
|
|
||||||
type: object
|
|
||||||
properties:
|
|
||||||
plate:
|
|
||||||
items:
|
|
||||||
items:
|
|
||||||
$ref: '#/$defs/ResourceDict'
|
|
||||||
type: array
|
|
||||||
title: Plate
|
|
||||||
type: array
|
|
||||||
volumes:
|
|
||||||
items:
|
|
||||||
type: number
|
|
||||||
title: Volumes
|
|
||||||
type: array
|
|
||||||
wells:
|
|
||||||
items:
|
|
||||||
items:
|
|
||||||
$ref: '#/$defs/ResourceDict'
|
|
||||||
type: array
|
|
||||||
title: Wells
|
|
||||||
type: array
|
|
||||||
required:
|
|
||||||
- plate
|
|
||||||
- wells
|
|
||||||
- volumes
|
|
||||||
title: SetLiquidFromPlateReturn
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: set_liquid_from_plate参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
set_tiprack:
|
set_tiprack:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -10149,32 +9739,32 @@ liquid_handler.prcxi:
|
|||||||
- 0
|
- 0
|
||||||
handles:
|
handles:
|
||||||
input:
|
input:
|
||||||
- data_key: sources
|
- data_key: liquid
|
||||||
data_source: handle
|
data_source: handle
|
||||||
data_type: resource
|
data_type: resource
|
||||||
handler_key: sources_identifier
|
handler_key: sources
|
||||||
label: 待移动液体
|
label: sources
|
||||||
- data_key: targets
|
- data_key: liquid
|
||||||
data_source: handle
|
|
||||||
data_type: resource
|
|
||||||
handler_key: targets_identifier
|
|
||||||
label: 转移目标
|
|
||||||
- data_key: tip_rack
|
|
||||||
data_source: handle
|
|
||||||
data_type: resource
|
|
||||||
handler_key: tip_rack_identifier
|
|
||||||
label: 枪头盒
|
|
||||||
output:
|
|
||||||
- data_key: sources.@flatten
|
|
||||||
data_source: executor
|
data_source: executor
|
||||||
data_type: resource
|
data_type: resource
|
||||||
|
handler_key: targets
|
||||||
|
label: targets
|
||||||
|
- data_key: liquid
|
||||||
|
data_source: executor
|
||||||
|
data_type: resource
|
||||||
|
handler_key: tip_rack
|
||||||
|
label: tip_rack
|
||||||
|
output:
|
||||||
|
- data_key: liquid
|
||||||
|
data_source: handle
|
||||||
|
data_type: resource
|
||||||
handler_key: sources_out
|
handler_key: sources_out
|
||||||
label: 移液后源孔
|
label: sources
|
||||||
- data_key: targets.@flatten
|
- data_key: liquid
|
||||||
data_source: executor
|
data_source: executor
|
||||||
data_type: resource
|
data_type: resource
|
||||||
handler_key: targets_out
|
handler_key: targets_out
|
||||||
label: 移液后目标孔
|
label: targets
|
||||||
placeholder_keys:
|
placeholder_keys:
|
||||||
sources: unilabos_resources
|
sources: unilabos_resources
|
||||||
targets: unilabos_resources
|
targets: unilabos_resources
|
||||||
|
|||||||
@@ -49,7 +49,32 @@ opcua_example:
|
|||||||
title: load_config参数
|
title: load_config参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
auto-refresh_node_values:
|
auto-post_init:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
ros_node: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
ros_node:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- ros_node
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: post_init参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-print_cache_stats:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
goal_default: {}
|
goal_default: {}
|
||||||
@@ -67,7 +92,32 @@ opcua_example:
|
|||||||
result: {}
|
result: {}
|
||||||
required:
|
required:
|
||||||
- goal
|
- goal
|
||||||
title: refresh_node_values参数
|
title: print_cache_stats参数
|
||||||
|
type: object
|
||||||
|
type: UniLabJsonCommand
|
||||||
|
auto-read_node:
|
||||||
|
feedback: {}
|
||||||
|
goal: {}
|
||||||
|
goal_default:
|
||||||
|
node_name: null
|
||||||
|
handles: {}
|
||||||
|
placeholder_keys: {}
|
||||||
|
result: {}
|
||||||
|
schema:
|
||||||
|
description: ''
|
||||||
|
properties:
|
||||||
|
feedback: {}
|
||||||
|
goal:
|
||||||
|
properties:
|
||||||
|
node_name:
|
||||||
|
type: string
|
||||||
|
required:
|
||||||
|
- node_name
|
||||||
|
type: object
|
||||||
|
result: {}
|
||||||
|
required:
|
||||||
|
- goal
|
||||||
|
title: read_node参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
auto-set_node_value:
|
auto-set_node_value:
|
||||||
@@ -99,50 +149,9 @@ opcua_example:
|
|||||||
title: set_node_value参数
|
title: set_node_value参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
auto-start_node_refresh:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default: {}
|
|
||||||
handles: {}
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: ''
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties: {}
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: start_node_refresh参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-stop_node_refresh:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default: {}
|
|
||||||
handles: {}
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: ''
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties: {}
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: stop_node_refresh参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
module: unilabos.device_comms.opcua_client.client:OpcUaClient
|
module: unilabos.device_comms.opcua_client.client:OpcUaClient
|
||||||
status_types:
|
status_types:
|
||||||
|
cache_stats: dict
|
||||||
node_value: String
|
node_value: String
|
||||||
type: python
|
type: python
|
||||||
config_info: []
|
config_info: []
|
||||||
@@ -152,15 +161,23 @@ opcua_example:
|
|||||||
init_param_schema:
|
init_param_schema:
|
||||||
config:
|
config:
|
||||||
properties:
|
properties:
|
||||||
|
cache_timeout:
|
||||||
|
default: 5.0
|
||||||
|
type: number
|
||||||
config_path:
|
config_path:
|
||||||
type: string
|
type: string
|
||||||
|
deck:
|
||||||
|
type: string
|
||||||
password:
|
password:
|
||||||
type: string
|
type: string
|
||||||
refresh_interval:
|
subscription_interval:
|
||||||
default: 1.0
|
default: 500
|
||||||
type: number
|
type: integer
|
||||||
url:
|
url:
|
||||||
type: string
|
type: string
|
||||||
|
use_subscription:
|
||||||
|
default: true
|
||||||
|
type: boolean
|
||||||
username:
|
username:
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
@@ -168,9 +185,12 @@ opcua_example:
|
|||||||
type: object
|
type: object
|
||||||
data:
|
data:
|
||||||
properties:
|
properties:
|
||||||
|
cache_stats:
|
||||||
|
type: object
|
||||||
node_value:
|
node_value:
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- node_value
|
- node_value
|
||||||
|
- cache_stats
|
||||||
type: object
|
type: object
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
|
|||||||
@@ -4,81 +4,6 @@ reaction_station.bioyond:
|
|||||||
- reaction_station_bioyond
|
- reaction_station_bioyond
|
||||||
class:
|
class:
|
||||||
action_value_mappings:
|
action_value_mappings:
|
||||||
add_time_constraint:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
duration: duration
|
|
||||||
end_point: end_point
|
|
||||||
end_step_key: end_step_key
|
|
||||||
start_point: start_point
|
|
||||||
start_step_key: start_step_key
|
|
||||||
goal_default:
|
|
||||||
duration: 0
|
|
||||||
end_point: 0
|
|
||||||
end_step_key: ''
|
|
||||||
start_point: 0
|
|
||||||
start_step_key: ''
|
|
||||||
handles: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: 添加时间约束 - 在两个工作流之间添加时间约束
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
duration:
|
|
||||||
description: 时间(秒)
|
|
||||||
type: integer
|
|
||||||
end_point:
|
|
||||||
default: Start
|
|
||||||
description: 终点计时点 (Start=开始前, End=结束后)
|
|
||||||
enum:
|
|
||||||
- Start
|
|
||||||
- End
|
|
||||||
type: string
|
|
||||||
end_step_key:
|
|
||||||
description: 终点步骤Key (可选, 默认为空则自动选择)
|
|
||||||
type: string
|
|
||||||
start_point:
|
|
||||||
default: Start
|
|
||||||
description: 起点计时点 (Start=开始前, End=结束后)
|
|
||||||
enum:
|
|
||||||
- Start
|
|
||||||
- End
|
|
||||||
type: string
|
|
||||||
start_step_key:
|
|
||||||
description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- duration
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: add_time_constraint参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-clear_workflows:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default: {}
|
|
||||||
handles: {}
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: ''
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties: {}
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: clear_workflows参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-create_order:
|
auto-create_order:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -206,35 +131,6 @@ reaction_station.bioyond:
|
|||||||
title: process_web_workflows参数
|
title: process_web_workflows参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
auto-set_reactor_temperature:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
reactor_id: null
|
|
||||||
temperature: null
|
|
||||||
handles: {}
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: ''
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
reactor_id:
|
|
||||||
type: integer
|
|
||||||
temperature:
|
|
||||||
type: number
|
|
||||||
required:
|
|
||||||
- reactor_id
|
|
||||||
- temperature
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: set_reactor_temperature参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-skip_titration_steps:
|
auto-skip_titration_steps:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -260,27 +156,6 @@ reaction_station.bioyond:
|
|||||||
title: skip_titration_steps参数
|
title: skip_titration_steps参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
auto-sync_workflow_sequence_from_bioyond:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default: {}
|
|
||||||
handles: {}
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: ''
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties: {}
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: sync_workflow_sequence_from_bioyond参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-wait_for_multiple_orders_and_get_reports:
|
auto-wait_for_multiple_orders_and_get_reports:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -313,33 +188,6 @@ reaction_station.bioyond:
|
|||||||
title: wait_for_multiple_orders_and_get_reports参数
|
title: wait_for_multiple_orders_and_get_reports参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
auto-workflow_sequence:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
value: null
|
|
||||||
handles: {}
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: ''
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
value:
|
|
||||||
items:
|
|
||||||
type: string
|
|
||||||
type: array
|
|
||||||
required:
|
|
||||||
- value
|
|
||||||
type: object
|
|
||||||
result: {}
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: workflow_sequence参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-workflow_step_query:
|
auto-workflow_step_query:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -365,36 +213,6 @@ reaction_station.bioyond:
|
|||||||
title: workflow_step_query参数
|
title: workflow_step_query参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
clean_all_server_workflows:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default: {}
|
|
||||||
handles: {}
|
|
||||||
result:
|
|
||||||
code: code
|
|
||||||
message: message
|
|
||||||
schema:
|
|
||||||
description: 清空服务端所有非核心工作流 (保留核心流程)
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties: {}
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
properties:
|
|
||||||
code:
|
|
||||||
description: 操作结果代码(1表示成功)
|
|
||||||
type: integer
|
|
||||||
message:
|
|
||||||
description: 结果描述
|
|
||||||
type: string
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: clean_all_server_workflows参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
drip_back:
|
drip_back:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -429,19 +247,13 @@ reaction_station.bioyond:
|
|||||||
description: 观察时间(分钟)
|
description: 观察时间(分钟)
|
||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
description: 是否滴定(NO=否, YES=是)
|
description: 是否滴定(1=否, 2=是)
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
description: 是否观察 (NO=否, YES=是)
|
description: 是否观察 (1=否, 2=是)
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
volume:
|
volume:
|
||||||
description: 分液公式(mL)
|
description: 分液公式(μL)
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- volume
|
- volume
|
||||||
@@ -541,19 +353,13 @@ reaction_station.bioyond:
|
|||||||
description: 观察时间(分钟)
|
description: 观察时间(分钟)
|
||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
description: 是否滴定(NO=否, YES=是)
|
description: 是否滴定(1=否, 2=是)
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
description: 是否观察 (NO=否, YES=是)
|
description: 是否观察 (1=否, 2=是)
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
volume:
|
volume:
|
||||||
description: 分液公式(mL)
|
description: 分液公式(μL)
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- volume
|
- volume
|
||||||
@@ -597,7 +403,7 @@ reaction_station.bioyond:
|
|||||||
label: Solvents Data From Calculation Node
|
label: Solvents Data From Calculation Node
|
||||||
result: {}
|
result: {}
|
||||||
schema:
|
schema:
|
||||||
description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
|
description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
|
||||||
properties:
|
properties:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -617,21 +423,15 @@ reaction_station.bioyond:
|
|||||||
description: 观察时间(分钟),默认360
|
description: 观察时间(分钟),默认360
|
||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
default: 'NO'
|
default: '1'
|
||||||
description: 是否滴定(NO=否, YES=是),默认NO
|
description: 是否滴定(1=否, 2=是),默认1
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
default: 'YES'
|
default: '2'
|
||||||
description: 是否观察 (NO=否, YES=是),默认YES
|
description: 是否观察 (1=否, 2=是),默认2
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
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)。可直接提供,或通过solvents参数自动计算
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- assign_material_name
|
- assign_material_name
|
||||||
@@ -704,21 +504,15 @@ reaction_station.bioyond:
|
|||||||
description: 观察时间(分钟),默认90
|
description: 观察时间(分钟),默认90
|
||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
default: 'YES'
|
default: '2'
|
||||||
description: 是否滴定(NO=否, YES=是),默认YES
|
description: 是否滴定(1=否, 2=是),默认2
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
default: 'YES'
|
default: '2'
|
||||||
description: 是否观察 (NO=否, YES=是),默认YES
|
description: 是否观察 (1=否, 2=是),默认2
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
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)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
|
||||||
type: string
|
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: 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
|
||||||
@@ -766,19 +560,13 @@ reaction_station.bioyond:
|
|||||||
description: 观察时间(分钟)
|
description: 观察时间(分钟)
|
||||||
type: string
|
type: string
|
||||||
titration_type:
|
titration_type:
|
||||||
description: 是否滴定(NO=否, YES=是)
|
description: 是否滴定(1=否, 2=是)
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
description: 是否观察 (NO=否, YES=是)
|
description: 是否观察 (1=否, 2=是)
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
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
|
||||||
@@ -892,35 +680,6 @@ reaction_station.bioyond:
|
|||||||
title: reactor_taken_out参数
|
title: reactor_taken_out参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
scheduler_start:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default: {}
|
|
||||||
handles: {}
|
|
||||||
result:
|
|
||||||
return_info: return_info
|
|
||||||
schema:
|
|
||||||
description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties: {}
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
properties:
|
|
||||||
return_info:
|
|
||||||
description: 调度器启动结果，成功返回1，失败返回0
|
|
||||||
type: integer
|
|
||||||
required:
|
|
||||||
- return_info
|
|
||||||
title: scheduler_start结果
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: scheduler_start参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
solid_feeding_vials:
|
solid_feeding_vials:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
@@ -947,11 +706,7 @@ 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，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
|
||||||
enum:
|
|
||||||
- Salt
|
|
||||||
- Flour
|
|
||||||
- BTDA
|
|
||||||
type: string
|
type: string
|
||||||
temperature:
|
temperature:
|
||||||
description: 温度设定(°C)
|
description: 温度设定(°C)
|
||||||
@@ -960,10 +715,7 @@ reaction_station.bioyond:
|
|||||||
description: 观察时间(分钟)
|
description: 观察时间(分钟)
|
||||||
type: string
|
type: string
|
||||||
torque_variation:
|
torque_variation:
|
||||||
description: 是否观察 (NO=否, YES=是)
|
description: 是否观察 (1=否, 2=是)
|
||||||
enum:
|
|
||||||
- 'NO'
|
|
||||||
- 'YES'
|
|
||||||
type: string
|
type: string
|
||||||
required:
|
required:
|
||||||
- assign_material_name
|
- assign_material_name
|
||||||
@@ -978,10 +730,10 @@ reaction_station.bioyond:
|
|||||||
title: solid_feeding_vials参数
|
title: solid_feeding_vials参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation
|
module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
|
||||||
protocol_type: []
|
protocol_type: []
|
||||||
status_types:
|
status_types:
|
||||||
workflow_sequence: str
|
workflow_sequence: String
|
||||||
type: python
|
type: python
|
||||||
config_info: []
|
config_info: []
|
||||||
description: Bioyond反应站
|
description: Bioyond反应站
|
||||||
@@ -1001,7 +753,9 @@ reaction_station.bioyond:
|
|||||||
data:
|
data:
|
||||||
properties:
|
properties:
|
||||||
workflow_sequence:
|
workflow_sequence:
|
||||||
type: string
|
items:
|
||||||
|
type: string
|
||||||
|
type: array
|
||||||
required:
|
required:
|
||||||
- workflow_sequence
|
- workflow_sequence
|
||||||
type: object
|
type: object
|
||||||
@@ -1037,7 +791,7 @@ reaction_station.reactor:
|
|||||||
title: update_metrics参数
|
title: update_metrics参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
type: UniLabJsonCommand
|
||||||
module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor
|
module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
|
||||||
status_types: {}
|
status_types: {}
|
||||||
type: python
|
type: python
|
||||||
config_info: []
|
config_info: []
|
||||||
|
|||||||
@@ -5792,481 +5792,3 @@ virtual_vacuum_pump:
|
|||||||
- status
|
- status
|
||||||
type: object
|
type: object
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
virtual_workbench:
|
|
||||||
category:
|
|
||||||
- virtual_device
|
|
||||||
class:
|
|
||||||
action_value_mappings:
|
|
||||||
auto-move_to_heating_station:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
material_number: null
|
|
||||||
handles:
|
|
||||||
input:
|
|
||||||
- data_key: material_number
|
|
||||||
data_source: handle
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: material_input
|
|
||||||
label: 物料编号
|
|
||||||
output:
|
|
||||||
- data_key: station_id
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_station
|
|
||||||
handler_key: heating_station_output
|
|
||||||
label: 加热台ID
|
|
||||||
- data_key: material_number
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: material_number_output
|
|
||||||
label: 物料编号
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
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
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
material_number:
|
|
||||||
description: 物料编号，1-5，物料ID自动生成为A{n}
|
|
||||||
type: integer
|
|
||||||
required:
|
|
||||||
- material_number
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
$defs:
|
|
||||||
LabSample:
|
|
||||||
properties:
|
|
||||||
extra:
|
|
||||||
additionalProperties: true
|
|
||||||
title: Extra
|
|
||||||
type: object
|
|
||||||
oss_path:
|
|
||||||
title: Oss Path
|
|
||||||
type: string
|
|
||||||
sample_uuid:
|
|
||||||
title: Sample Uuid
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- sample_uuid
|
|
||||||
- oss_path
|
|
||||||
- extra
|
|
||||||
title: LabSample
|
|
||||||
type: object
|
|
||||||
description: move_to_heating_station 返回类型
|
|
||||||
properties:
|
|
||||||
material_id:
|
|
||||||
title: Material Id
|
|
||||||
type: string
|
|
||||||
material_number:
|
|
||||||
title: Material Number
|
|
||||||
type: integer
|
|
||||||
message:
|
|
||||||
title: Message
|
|
||||||
type: string
|
|
||||||
station_id:
|
|
||||||
description: 分配的加热台ID
|
|
||||||
title: Station Id
|
|
||||||
type: integer
|
|
||||||
success:
|
|
||||||
title: Success
|
|
||||||
type: boolean
|
|
||||||
unilabos_samples:
|
|
||||||
items:
|
|
||||||
$ref: '#/$defs/LabSample'
|
|
||||||
title: Unilabos Samples
|
|
||||||
type: array
|
|
||||||
required:
|
|
||||||
- success
|
|
||||||
- station_id
|
|
||||||
- material_id
|
|
||||||
- material_number
|
|
||||||
- message
|
|
||||||
- unilabos_samples
|
|
||||||
title: MoveToHeatingStationResult
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: move_to_heating_station参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-move_to_output:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
material_number: null
|
|
||||||
station_id: null
|
|
||||||
handles:
|
|
||||||
input:
|
|
||||||
- data_key: station_id
|
|
||||||
data_source: handle
|
|
||||||
data_type: workbench_station
|
|
||||||
handler_key: output_station_input
|
|
||||||
label: 加热台ID
|
|
||||||
- data_key: material_number
|
|
||||||
data_source: handle
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: output_material_input
|
|
||||||
label: 物料编号
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: 将物料从加热台移动到输出位置Cn
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
material_number:
|
|
||||||
description: 物料编号，用于确定输出位置Cn
|
|
||||||
type: integer
|
|
||||||
station_id:
|
|
||||||
description: 加热台ID，1-3，从上一节点传入
|
|
||||||
type: integer
|
|
||||||
required:
|
|
||||||
- station_id
|
|
||||||
- material_number
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
$defs:
|
|
||||||
LabSample:
|
|
||||||
properties:
|
|
||||||
extra:
|
|
||||||
additionalProperties: true
|
|
||||||
title: Extra
|
|
||||||
type: object
|
|
||||||
oss_path:
|
|
||||||
title: Oss Path
|
|
||||||
type: string
|
|
||||||
sample_uuid:
|
|
||||||
title: Sample Uuid
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- sample_uuid
|
|
||||||
- oss_path
|
|
||||||
- extra
|
|
||||||
title: LabSample
|
|
||||||
type: object
|
|
||||||
description: move_to_output 返回类型
|
|
||||||
properties:
|
|
||||||
material_id:
|
|
||||||
title: Material Id
|
|
||||||
type: string
|
|
||||||
station_id:
|
|
||||||
title: Station Id
|
|
||||||
type: integer
|
|
||||||
success:
|
|
||||||
title: Success
|
|
||||||
type: boolean
|
|
||||||
unilabos_samples:
|
|
||||||
items:
|
|
||||||
$ref: '#/$defs/LabSample'
|
|
||||||
title: Unilabos Samples
|
|
||||||
type: array
|
|
||||||
required:
|
|
||||||
- success
|
|
||||||
- station_id
|
|
||||||
- material_id
|
|
||||||
- unilabos_samples
|
|
||||||
title: MoveToOutputResult
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: move_to_output参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-prepare_materials:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
count: 5
|
|
||||||
handles:
|
|
||||||
output:
|
|
||||||
- data_key: material_1
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: channel_1
|
|
||||||
label: 实验1
|
|
||||||
- data_key: material_2
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: channel_2
|
|
||||||
label: 实验2
|
|
||||||
- data_key: material_3
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: channel_3
|
|
||||||
label: 实验3
|
|
||||||
- data_key: material_4
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: channel_4
|
|
||||||
label: 实验4
|
|
||||||
- data_key: material_5
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: channel_5
|
|
||||||
label: 实验5
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
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
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
count:
|
|
||||||
default: 5
|
|
||||||
description: 待生成的物料数量，默认5 (生成 A1-A5)
|
|
||||||
type: integer
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
$defs:
|
|
||||||
LabSample:
|
|
||||||
properties:
|
|
||||||
extra:
|
|
||||||
additionalProperties: true
|
|
||||||
title: Extra
|
|
||||||
type: object
|
|
||||||
oss_path:
|
|
||||||
title: Oss Path
|
|
||||||
type: string
|
|
||||||
sample_uuid:
|
|
||||||
title: Sample Uuid
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- sample_uuid
|
|
||||||
- oss_path
|
|
||||||
- extra
|
|
||||||
title: LabSample
|
|
||||||
type: object
|
|
||||||
description: prepare_materials 返回类型 - 批量准备物料
|
|
||||||
properties:
|
|
||||||
count:
|
|
||||||
title: Count
|
|
||||||
type: integer
|
|
||||||
material_1:
|
|
||||||
title: Material 1
|
|
||||||
type: integer
|
|
||||||
material_2:
|
|
||||||
title: Material 2
|
|
||||||
type: integer
|
|
||||||
material_3:
|
|
||||||
title: Material 3
|
|
||||||
type: integer
|
|
||||||
material_4:
|
|
||||||
title: Material 4
|
|
||||||
type: integer
|
|
||||||
material_5:
|
|
||||||
title: Material 5
|
|
||||||
type: integer
|
|
||||||
message:
|
|
||||||
title: Message
|
|
||||||
type: string
|
|
||||||
success:
|
|
||||||
title: Success
|
|
||||||
type: boolean
|
|
||||||
unilabos_samples:
|
|
||||||
items:
|
|
||||||
$ref: '#/$defs/LabSample'
|
|
||||||
title: Unilabos Samples
|
|
||||||
type: array
|
|
||||||
required:
|
|
||||||
- success
|
|
||||||
- count
|
|
||||||
- material_1
|
|
||||||
- material_2
|
|
||||||
- material_3
|
|
||||||
- material_4
|
|
||||||
- material_5
|
|
||||||
- message
|
|
||||||
- unilabos_samples
|
|
||||||
title: PrepareMaterialsResult
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: prepare_materials参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
auto-start_heating:
|
|
||||||
feedback: {}
|
|
||||||
goal: {}
|
|
||||||
goal_default:
|
|
||||||
material_number: null
|
|
||||||
station_id: null
|
|
||||||
handles:
|
|
||||||
input:
|
|
||||||
- data_key: station_id
|
|
||||||
data_source: handle
|
|
||||||
data_type: workbench_station
|
|
||||||
handler_key: station_id_input
|
|
||||||
label: 加热台ID
|
|
||||||
- data_key: material_number
|
|
||||||
data_source: handle
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: material_number_input
|
|
||||||
label: 物料编号
|
|
||||||
output:
|
|
||||||
- data_key: station_id
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_station
|
|
||||||
handler_key: heating_done_station
|
|
||||||
label: 加热完成-加热台ID
|
|
||||||
- data_key: material_number
|
|
||||||
data_source: executor
|
|
||||||
data_type: workbench_material
|
|
||||||
handler_key: heating_done_material
|
|
||||||
label: 加热完成-物料编号
|
|
||||||
placeholder_keys: {}
|
|
||||||
result: {}
|
|
||||||
schema:
|
|
||||||
description: 启动指定加热台的加热程序
|
|
||||||
properties:
|
|
||||||
feedback: {}
|
|
||||||
goal:
|
|
||||||
properties:
|
|
||||||
material_number:
|
|
||||||
description: 物料编号，从上一节点传入
|
|
||||||
type: integer
|
|
||||||
station_id:
|
|
||||||
description: 加热台ID，1-3，从上一节点传入
|
|
||||||
type: integer
|
|
||||||
required:
|
|
||||||
- station_id
|
|
||||||
- material_number
|
|
||||||
type: object
|
|
||||||
result:
|
|
||||||
$defs:
|
|
||||||
LabSample:
|
|
||||||
properties:
|
|
||||||
extra:
|
|
||||||
additionalProperties: true
|
|
||||||
title: Extra
|
|
||||||
type: object
|
|
||||||
oss_path:
|
|
||||||
title: Oss Path
|
|
||||||
type: string
|
|
||||||
sample_uuid:
|
|
||||||
title: Sample Uuid
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- sample_uuid
|
|
||||||
- oss_path
|
|
||||||
- extra
|
|
||||||
title: LabSample
|
|
||||||
type: object
|
|
||||||
description: start_heating 返回类型
|
|
||||||
properties:
|
|
||||||
material_id:
|
|
||||||
title: Material Id
|
|
||||||
type: string
|
|
||||||
material_number:
|
|
||||||
title: Material Number
|
|
||||||
type: integer
|
|
||||||
message:
|
|
||||||
title: Message
|
|
||||||
type: string
|
|
||||||
station_id:
|
|
||||||
title: Station Id
|
|
||||||
type: integer
|
|
||||||
success:
|
|
||||||
title: Success
|
|
||||||
type: boolean
|
|
||||||
unilabos_samples:
|
|
||||||
items:
|
|
||||||
$ref: '#/$defs/LabSample'
|
|
||||||
title: Unilabos Samples
|
|
||||||
type: array
|
|
||||||
required:
|
|
||||||
- success
|
|
||||||
- station_id
|
|
||||||
- material_id
|
|
||||||
- material_number
|
|
||||||
- message
|
|
||||||
- unilabos_samples
|
|
||||||
title: StartHeatingResult
|
|
||||||
type: object
|
|
||||||
required:
|
|
||||||
- goal
|
|
||||||
title: start_heating参数
|
|
||||||
type: object
|
|
||||||
type: UniLabJsonCommand
|
|
||||||
module: unilabos.devices.virtual.workbench:VirtualWorkbench
|
|
||||||
status_types:
|
|
||||||
active_tasks_count: int
|
|
||||||
arm_current_task: str
|
|
||||||
arm_state: str
|
|
||||||
heating_station_1_material: str
|
|
||||||
heating_station_1_progress: float
|
|
||||||
heating_station_1_state: str
|
|
||||||
heating_station_2_material: str
|
|
||||||
heating_station_2_progress: float
|
|
||||||
heating_station_2_state: str
|
|
||||||
heating_station_3_material: str
|
|
||||||
heating_station_3_progress: float
|
|
||||||
heating_station_3_state: str
|
|
||||||
message: str
|
|
||||||
status: str
|
|
||||||
type: python
|
|
||||||
config_info: []
|
|
||||||
description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent
|
|
||||||
material processing
|
|
||||||
handles: []
|
|
||||||
icon: ''
|
|
||||||
init_param_schema:
|
|
||||||
config:
|
|
||||||
properties:
|
|
||||||
config:
|
|
||||||
type: string
|
|
||||||
device_id:
|
|
||||||
type: string
|
|
||||||
required: []
|
|
||||||
type: object
|
|
||||||
data:
|
|
||||||
properties:
|
|
||||||
active_tasks_count:
|
|
||||||
type: integer
|
|
||||||
arm_current_task:
|
|
||||||
type: string
|
|
||||||
arm_state:
|
|
||||||
type: string
|
|
||||||
heating_station_1_material:
|
|
||||||
type: string
|
|
||||||
heating_station_1_progress:
|
|
||||||
type: number
|
|
||||||
heating_station_1_state:
|
|
||||||
type: string
|
|
||||||
heating_station_2_material:
|
|
||||||
type: string
|
|
||||||
heating_station_2_progress:
|
|
||||||
type: number
|
|
||||||
heating_station_2_state:
|
|
||||||
type: string
|
|
||||||
heating_station_3_material:
|
|
||||||
type: string
|
|
||||||
heating_station_3_progress:
|
|
||||||
type: number
|
|
||||||
heating_station_3_state:
|
|
||||||
type: string
|
|
||||||
message:
|
|
||||||
type: string
|
|
||||||
status:
|
|
||||||
type: string
|
|
||||||
required:
|
|
||||||
- status
|
|
||||||
- arm_state
|
|
||||||
- arm_current_task
|
|
||||||
- heating_station_1_state
|
|
||||||
- heating_station_1_material
|
|
||||||
- heating_station_1_progress
|
|
||||||
- heating_station_2_state
|
|
||||||
- heating_station_2_material
|
|
||||||
- heating_station_2_progress
|
|
||||||
- heating_station_3_state
|
|
||||||
- heating_station_3_material
|
|
||||||
- heating_station_3_progress
|
|
||||||
- active_tasks_count
|
|
||||||
- message
|
|
||||||
type: object
|
|
||||||
version: 1.0.0
|
|
||||||
|
|||||||
@@ -4,8 +4,6 @@ import os
|
|||||||
import sys
|
import sys
|
||||||
import inspect
|
import inspect
|
||||||
import importlib
|
import importlib
|
||||||
import threading
|
|
||||||
from concurrent.futures import ThreadPoolExecutor, as_completed
|
|
||||||
from pathlib import Path
|
from pathlib import Path
|
||||||
from typing import Any, Dict, List, Union, Tuple
|
from typing import Any, Dict, List, Union, Tuple
|
||||||
|
|
||||||
@@ -62,7 +60,6 @@ class Registry:
|
|||||||
self.device_module_to_registry = {}
|
self.device_module_to_registry = {}
|
||||||
self.resource_type_registry = {}
|
self.resource_type_registry = {}
|
||||||
self._setup_called = False # 跟踪setup是否已调用
|
self._setup_called = False # 跟踪setup是否已调用
|
||||||
self._registry_lock = threading.Lock() # 多线程加载时的锁
|
|
||||||
# 其他状态变量
|
# 其他状态变量
|
||||||
# self.is_host_mode = False # 移至BasicConfig中
|
# self.is_host_mode = False # 移至BasicConfig中
|
||||||
|
|
||||||
@@ -74,20 +71,6 @@ class Registry:
|
|||||||
|
|
||||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||||
|
|
||||||
# 获取 HostNode 类的增强信息，用于自动生成 action schema
|
|
||||||
host_node_enhanced_info = get_enhanced_class_info(
|
|
||||||
"unilabos.ros.nodes.presets.host_node:HostNode", use_dynamic=True
|
|
||||||
)
|
|
||||||
|
|
||||||
# 为 test_latency 生成 schema，保留原有 description
|
|
||||||
test_latency_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_latency", {})
|
|
||||||
test_latency_schema = self._generate_unilab_json_command_schema(
|
|
||||||
test_latency_method_info.get("args", []),
|
|
||||||
"test_latency",
|
|
||||||
test_latency_method_info.get("return_annotation"),
|
|
||||||
)
|
|
||||||
test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
|
|
||||||
|
|
||||||
self.device_type_registry.update(
|
self.device_type_registry.update(
|
||||||
{
|
{
|
||||||
"host_node": {
|
"host_node": {
|
||||||
@@ -141,47 +124,28 @@ class Registry:
|
|||||||
"output": [
|
"output": [
|
||||||
{
|
{
|
||||||
"handler_key": "labware",
|
"handler_key": "labware",
|
||||||
"data_type": "resource",
|
|
||||||
"label": "Labware",
|
"label": "Labware",
|
||||||
"data_source": "executor",
|
|
||||||
"data_key": "created_resource_tree.@flatten",
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"handler_key": "liquid_slots",
|
|
||||||
"data_type": "resource",
|
"data_type": "resource",
|
||||||
"label": "LiquidSlots",
|
"data_source": "handle",
|
||||||
"data_source": "executor",
|
"data_key": "liquid",
|
||||||
"data_key": "liquid_input_resource_tree.@flatten",
|
}
|
||||||
},
|
|
||||||
{
|
|
||||||
"handler_key": "materials",
|
|
||||||
"data_type": "resource",
|
|
||||||
"label": "AllMaterials",
|
|
||||||
"data_source": "executor",
|
|
||||||
"data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten",
|
|
||||||
},
|
|
||||||
]
|
]
|
||||||
},
|
},
|
||||||
"placeholder_keys": {
|
"placeholder_keys": {
|
||||||
"res_id": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择
|
"res_id": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择
|
||||||
"device_id": "unilabos_devices", # 将当前实验室的全部设备id作为下拉框可选择
|
"device_id": "unilabos_devices", # 将当前实验室的全部设备id作为下拉框可选择
|
||||||
"parent": "unilabos_nodes", # 将当前实验室的设备/物料作为下拉框可选择
|
"parent": "unilabos_nodes", # 将当前实验室的设备/物料作为下拉框可选择
|
||||||
"class_name": "unilabos_class",
|
|
||||||
},
|
},
|
||||||
},
|
},
|
||||||
"test_latency": {
|
"test_latency": {
|
||||||
"type": (
|
"type": self.EmptyIn,
|
||||||
"UniLabJsonCommandAsync"
|
|
||||||
if test_latency_method_info.get("is_async", False)
|
|
||||||
else "UniLabJsonCommand"
|
|
||||||
),
|
|
||||||
"goal": {},
|
"goal": {},
|
||||||
"feedback": {},
|
"feedback": {},
|
||||||
"result": {},
|
"result": {},
|
||||||
"schema": test_latency_schema,
|
"schema": ros_action_to_json_schema(
|
||||||
"goal_default": {
|
self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
|
||||||
arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", [])
|
),
|
||||||
},
|
"goal_default": {},
|
||||||
"handles": {},
|
"handles": {},
|
||||||
},
|
},
|
||||||
"auto-test_resource": {
|
"auto-test_resource": {
|
||||||
@@ -222,17 +186,7 @@ class Registry:
|
|||||||
"resources": "unilabos_resources",
|
"resources": "unilabos_resources",
|
||||||
},
|
},
|
||||||
"goal_default": {},
|
"goal_default": {},
|
||||||
"handles": {
|
"handles": {},
|
||||||
"input": [
|
|
||||||
{
|
|
||||||
"handler_key": "input_resources",
|
|
||||||
"data_type": "resource",
|
|
||||||
"label": "InputResources",
|
|
||||||
"data_source": "handle",
|
|
||||||
"data_key": "resources", # 不为空
|
|
||||||
},
|
|
||||||
]
|
|
||||||
},
|
|
||||||
},
|
},
|
||||||
},
|
},
|
||||||
},
|
},
|
||||||
@@ -264,115 +218,67 @@ class Registry:
|
|||||||
# 标记setup已被调用
|
# 标记setup已被调用
|
||||||
self._setup_called = True
|
self._setup_called = True
|
||||||
|
|
||||||
def _load_single_resource_file(
|
|
||||||
self, file: Path, complete_registry: bool, upload_registry: bool
|
|
||||||
) -> Tuple[Dict[str, Any], Dict[str, Any], bool]:
|
|
||||||
"""
|
|
||||||
加载单个资源文件 (线程安全)
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
(data, complete_data, is_valid): 资源数据, 完整数据, 是否有效
|
|
||||||
"""
|
|
||||||
try:
|
|
||||||
with open(file, encoding="utf-8", mode="r") as f:
|
|
||||||
data = yaml.safe_load(io.StringIO(f.read()))
|
|
||||||
except Exception as e:
|
|
||||||
logger.warning(f"[UniLab Registry] 读取资源文件失败: {file}, 错误: {e}")
|
|
||||||
return {}, {}, False
|
|
||||||
|
|
||||||
if not data:
|
|
||||||
return {}, {}, False
|
|
||||||
|
|
||||||
complete_data = {}
|
|
||||||
for resource_id, resource_info in data.items():
|
|
||||||
if "version" not in resource_info:
|
|
||||||
resource_info["version"] = "1.0.0"
|
|
||||||
if "category" not in resource_info:
|
|
||||||
resource_info["category"] = [file.stem]
|
|
||||||
elif file.stem not in resource_info["category"]:
|
|
||||||
resource_info["category"].append(file.stem)
|
|
||||||
elif not isinstance(resource_info.get("category"), list):
|
|
||||||
resource_info["category"] = [resource_info["category"]]
|
|
||||||
if "config_info" not in resource_info:
|
|
||||||
resource_info["config_info"] = []
|
|
||||||
if "icon" not in resource_info:
|
|
||||||
resource_info["icon"] = ""
|
|
||||||
if "handles" not in resource_info:
|
|
||||||
resource_info["handles"] = []
|
|
||||||
if "init_param_schema" not in resource_info:
|
|
||||||
resource_info["init_param_schema"] = {}
|
|
||||||
if "config_info" in resource_info:
|
|
||||||
del resource_info["config_info"]
|
|
||||||
if "file_path" in resource_info:
|
|
||||||
del resource_info["file_path"]
|
|
||||||
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
|
|
||||||
if upload_registry:
|
|
||||||
class_info = resource_info.get("class", {})
|
|
||||||
if len(class_info) and "module" in class_info:
|
|
||||||
if class_info.get("type") == "pylabrobot":
|
|
||||||
res_class = get_class(class_info["module"])
|
|
||||||
if callable(res_class) and not isinstance(res_class, type):
|
|
||||||
res_instance = res_class(res_class.__name__)
|
|
||||||
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
|
|
||||||
resource_info["config_info"] = res_ulr
|
|
||||||
resource_info["registry_type"] = "resource"
|
|
||||||
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
|
|
||||||
|
|
||||||
complete_data = dict(sorted(complete_data.items()))
|
|
||||||
complete_data = copy.deepcopy(complete_data)
|
|
||||||
|
|
||||||
if complete_registry:
|
|
||||||
try:
|
|
||||||
with open(file, "w", encoding="utf-8") as f:
|
|
||||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
|
||||||
except Exception as e:
|
|
||||||
logger.warning(f"[UniLab Registry] 写入资源文件失败: {file}, 错误: {e}")
|
|
||||||
|
|
||||||
return data, complete_data, True
|
|
||||||
|
|
||||||
def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
|
def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
|
||||||
abs_path = Path(path).absolute()
|
abs_path = Path(path).absolute()
|
||||||
resource_path = abs_path / "resources"
|
resource_path = abs_path / "resources"
|
||||||
files = list(resource_path.glob("*/*.yaml"))
|
files = list(resource_path.glob("*/*.yaml"))
|
||||||
logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
|
logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
|
||||||
|
|
||||||
if not files:
|
|
||||||
return
|
|
||||||
|
|
||||||
# 使用线程池并行加载
|
|
||||||
max_workers = min(8, len(files))
|
|
||||||
results = []
|
|
||||||
|
|
||||||
with ThreadPoolExecutor(max_workers=max_workers) as executor:
|
|
||||||
future_to_file = {
|
|
||||||
executor.submit(self._load_single_resource_file, file, complete_registry, upload_registry): file
|
|
||||||
for file in files
|
|
||||||
}
|
|
||||||
for future in as_completed(future_to_file):
|
|
||||||
file = future_to_file[future]
|
|
||||||
try:
|
|
||||||
data, complete_data, is_valid = future.result()
|
|
||||||
if is_valid:
|
|
||||||
results.append((file, data))
|
|
||||||
except Exception as e:
|
|
||||||
logger.warning(f"[UniLab Registry] 处理资源文件异常: {file}, 错误: {e}")
|
|
||||||
|
|
||||||
# 线程安全地更新注册表
|
|
||||||
current_resource_number = len(self.resource_type_registry) + 1
|
current_resource_number = len(self.resource_type_registry) + 1
|
||||||
with self._registry_lock:
|
for i, file in enumerate(files):
|
||||||
for i, (file, data) in enumerate(results):
|
with open(file, encoding="utf-8", mode="r") as f:
|
||||||
|
data = yaml.safe_load(io.StringIO(f.read()))
|
||||||
|
complete_data = {}
|
||||||
|
if data:
|
||||||
|
# 为每个资源添加文件路径信息
|
||||||
|
for resource_id, resource_info in data.items():
|
||||||
|
if "version" not in resource_info:
|
||||||
|
resource_info["version"] = "1.0.0"
|
||||||
|
if "category" not in resource_info:
|
||||||
|
resource_info["category"] = [file.stem]
|
||||||
|
elif file.stem not in resource_info["category"]:
|
||||||
|
resource_info["category"].append(file.stem)
|
||||||
|
elif not isinstance(resource_info.get("category"), list):
|
||||||
|
resource_info["category"] = [resource_info["category"]]
|
||||||
|
if "config_info" not in resource_info:
|
||||||
|
resource_info["config_info"] = []
|
||||||
|
if "icon" not in resource_info:
|
||||||
|
resource_info["icon"] = ""
|
||||||
|
if "handles" not in resource_info:
|
||||||
|
resource_info["handles"] = []
|
||||||
|
if "init_param_schema" not in resource_info:
|
||||||
|
resource_info["init_param_schema"] = {}
|
||||||
|
if "config_info" in resource_info:
|
||||||
|
del resource_info["config_info"]
|
||||||
|
if "file_path" in resource_info:
|
||||||
|
del resource_info["file_path"]
|
||||||
|
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
|
||||||
|
if upload_registry:
|
||||||
|
class_info = resource_info.get("class", {})
|
||||||
|
if len(class_info) and "module" in class_info:
|
||||||
|
if class_info.get("type") == "pylabrobot":
|
||||||
|
res_class = get_class(class_info["module"])
|
||||||
|
if callable(res_class) and not isinstance(
|
||||||
|
res_class, type
|
||||||
|
): # 有的是类，有的是函数，这里暂时只登记函数类的
|
||||||
|
res_instance = res_class(res_class.__name__)
|
||||||
|
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
|
||||||
|
resource_info["config_info"] = res_ulr
|
||||||
|
resource_info["registry_type"] = "resource"
|
||||||
|
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||||
|
complete_data = dict(sorted(complete_data.items()))
|
||||||
|
complete_data = copy.deepcopy(complete_data)
|
||||||
|
if complete_registry:
|
||||||
|
with open(file, "w", encoding="utf-8") as f:
|
||||||
|
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||||
|
|
||||||
self.resource_type_registry.update(data)
|
self.resource_type_registry.update(data)
|
||||||
logger.trace(
|
logger.trace( # type: ignore
|
||||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} "
|
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||||
+ f"Add {list(data.keys())}"
|
+ f"Add {list(data.keys())}"
|
||||||
)
|
)
|
||||||
current_resource_number += 1
|
current_resource_number += 1
|
||||||
|
else:
|
||||||
# 记录无效文件
|
logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
|
||||||
valid_files = {r[0] for r in results}
|
|
||||||
for file in files:
|
|
||||||
if file not in valid_files:
|
|
||||||
logger.debug(f"[UniLab Registry] Res File Not Valid YAML File: {file.absolute()}")
|
|
||||||
|
|
||||||
def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
|
def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
|
||||||
"""
|
"""
|
||||||
@@ -549,11 +455,7 @@ class Registry:
|
|||||||
return status_schema
|
return status_schema
|
||||||
|
|
||||||
def _generate_unilab_json_command_schema(
|
def _generate_unilab_json_command_schema(
|
||||||
self,
|
self, method_args: List[Dict[str, Any]], method_name: str, return_annotation: Any = None
|
||||||
method_args: List[Dict[str, Any]],
|
|
||||||
method_name: str,
|
|
||||||
return_annotation: Any = None,
|
|
||||||
previous_schema: Dict[str, Any] | None = None,
|
|
||||||
) -> Dict[str, Any]:
|
) -> Dict[str, Any]:
|
||||||
"""
|
"""
|
||||||
根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
|
根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
|
||||||
@@ -562,7 +464,6 @@ class Registry:
|
|||||||
method_args: 方法信息字典，包含args等
|
method_args: 方法信息字典，包含args等
|
||||||
method_name: 方法名称
|
method_name: 方法名称
|
||||||
return_annotation: 返回类型注解，用于生成result schema（仅支持TypedDict）
|
return_annotation: 返回类型注解，用于生成result schema（仅支持TypedDict）
|
||||||
previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
|
|
||||||
|
|
||||||
Returns:
|
Returns:
|
||||||
JSON Schema格式的参数schema
|
JSON Schema格式的参数schema
|
||||||
@@ -596,7 +497,7 @@ class Registry:
|
|||||||
if return_annotation is not None and self._is_typed_dict(return_annotation):
|
if return_annotation is not None and self._is_typed_dict(return_annotation):
|
||||||
result_schema = self._generate_typed_dict_result_schema(return_annotation)
|
result_schema = self._generate_typed_dict_result_schema(return_annotation)
|
||||||
|
|
||||||
final_schema = {
|
return {
|
||||||
"title": f"{method_name}参数",
|
"title": f"{method_name}参数",
|
||||||
"description": f"",
|
"description": f"",
|
||||||
"type": "object",
|
"type": "object",
|
||||||
@@ -604,40 +505,6 @@ class Registry:
|
|||||||
"required": ["goal"],
|
"required": ["goal"],
|
||||||
}
|
}
|
||||||
|
|
||||||
# 保留之前 schema 中 goal/feedback/result 下一级字段的 description
|
|
||||||
if previous_schema:
|
|
||||||
self._preserve_field_descriptions(final_schema, previous_schema)
|
|
||||||
|
|
||||||
return final_schema
|
|
||||||
|
|
||||||
def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None:
|
|
||||||
"""
|
|
||||||
保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
|
|
||||||
|
|
||||||
Args:
|
|
||||||
new_schema: 新生成的 schema（会被修改）
|
|
||||||
previous_schema: 之前的 schema
|
|
||||||
"""
|
|
||||||
for section in ["goal", "feedback", "result"]:
|
|
||||||
new_section = new_schema.get("properties", {}).get(section, {})
|
|
||||||
prev_section = previous_schema.get("properties", {}).get(section, {})
|
|
||||||
|
|
||||||
if not new_section or not prev_section:
|
|
||||||
continue
|
|
||||||
|
|
||||||
new_props = new_section.get("properties", {})
|
|
||||||
prev_props = prev_section.get("properties", {})
|
|
||||||
|
|
||||||
for field_name, field_schema in new_props.items():
|
|
||||||
if field_name in prev_props:
|
|
||||||
prev_field = prev_props[field_name]
|
|
||||||
# 保留字段的 description
|
|
||||||
if "description" in prev_field and prev_field["description"]:
|
|
||||||
field_schema["description"] = prev_field["description"]
|
|
||||||
# 保留字段的 title（用户自定义的中文名）
|
|
||||||
if "title" in prev_field and prev_field["title"]:
|
|
||||||
field_schema["title"] = prev_field["title"]
|
|
||||||
|
|
||||||
def _is_typed_dict(self, annotation: Any) -> bool:
|
def _is_typed_dict(self, annotation: Any) -> bool:
|
||||||
"""
|
"""
|
||||||
检查类型注解是否是TypedDict
|
检查类型注解是否是TypedDict
|
||||||
@@ -724,244 +591,209 @@ class Registry:
|
|||||||
"handles": {},
|
"handles": {},
|
||||||
}
|
}
|
||||||
|
|
||||||
def _load_single_device_file(
|
|
||||||
self, file: Path, complete_registry: bool, get_yaml_from_goal_type
|
|
||||||
) -> Tuple[Dict[str, Any], Dict[str, Any], bool, List[str]]:
|
|
||||||
"""
|
|
||||||
加载单个设备文件 (线程安全)
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
(data, complete_data, is_valid, device_ids): 设备数据, 完整数据, 是否有效, 设备ID列表
|
|
||||||
"""
|
|
||||||
try:
|
|
||||||
with open(file, encoding="utf-8", mode="r") as f:
|
|
||||||
data = yaml.safe_load(io.StringIO(f.read()))
|
|
||||||
except Exception as e:
|
|
||||||
logger.warning(f"[UniLab Registry] 读取设备文件失败: {file}, 错误: {e}")
|
|
||||||
return {}, {}, False, []
|
|
||||||
|
|
||||||
if not data:
|
|
||||||
return {}, {}, False, []
|
|
||||||
|
|
||||||
complete_data = {}
|
|
||||||
action_str_type_mapping = {
|
|
||||||
"UniLabJsonCommand": "UniLabJsonCommand",
|
|
||||||
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
|
|
||||||
}
|
|
||||||
status_str_type_mapping = {}
|
|
||||||
device_ids = []
|
|
||||||
|
|
||||||
for device_id, device_config in data.items():
|
|
||||||
if "version" not in device_config:
|
|
||||||
device_config["version"] = "1.0.0"
|
|
||||||
if "category" not in device_config:
|
|
||||||
device_config["category"] = [file.stem]
|
|
||||||
elif file.stem not in device_config["category"]:
|
|
||||||
device_config["category"].append(file.stem)
|
|
||||||
if "config_info" not in device_config:
|
|
||||||
device_config["config_info"] = []
|
|
||||||
if "description" not in device_config:
|
|
||||||
device_config["description"] = ""
|
|
||||||
if "icon" not in device_config:
|
|
||||||
device_config["icon"] = ""
|
|
||||||
if "handles" not in device_config:
|
|
||||||
device_config["handles"] = []
|
|
||||||
if "init_param_schema" not in device_config:
|
|
||||||
device_config["init_param_schema"] = {}
|
|
||||||
if "class" in device_config:
|
|
||||||
if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None:
|
|
||||||
device_config["class"]["status_types"] = {}
|
|
||||||
if (
|
|
||||||
"action_value_mappings" not in device_config["class"]
|
|
||||||
or device_config["class"]["action_value_mappings"] is None
|
|
||||||
):
|
|
||||||
device_config["class"]["action_value_mappings"] = {}
|
|
||||||
enhanced_info = {}
|
|
||||||
if complete_registry:
|
|
||||||
device_config["class"]["status_types"].clear()
|
|
||||||
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
|
|
||||||
if not enhanced_info.get("dynamic_import_success", False):
|
|
||||||
continue
|
|
||||||
device_config["class"]["status_types"].update(
|
|
||||||
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
|
|
||||||
)
|
|
||||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
|
||||||
if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
|
|
||||||
status_type = "String"
|
|
||||||
device_config["class"]["status_types"][status_name] = status_type
|
|
||||||
try:
|
|
||||||
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
|
|
||||||
except ROSMsgNotFound:
|
|
||||||
continue
|
|
||||||
if target_type in [dict, list]:
|
|
||||||
target_type = String
|
|
||||||
status_str_type_mapping[status_type] = target_type
|
|
||||||
device_config["class"]["status_types"] = dict(sorted(device_config["class"]["status_types"].items()))
|
|
||||||
if complete_registry:
|
|
||||||
old_action_configs = {}
|
|
||||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
|
||||||
old_action_configs[action_name] = action_config
|
|
||||||
|
|
||||||
device_config["class"]["action_value_mappings"] = {
|
|
||||||
k: v
|
|
||||||
for k, v in device_config["class"]["action_value_mappings"].items()
|
|
||||||
if not k.startswith("auto-")
|
|
||||||
}
|
|
||||||
device_config["class"]["action_value_mappings"].update(
|
|
||||||
{
|
|
||||||
f"auto-{k}": {
|
|
||||||
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
|
|
||||||
"goal": {},
|
|
||||||
"feedback": {},
|
|
||||||
"result": {},
|
|
||||||
"schema": self._generate_unilab_json_command_schema(
|
|
||||||
v["args"],
|
|
||||||
k,
|
|
||||||
v.get("return_annotation"),
|
|
||||||
old_action_configs.get(f"auto-{k}", {}).get("schema"),
|
|
||||||
),
|
|
||||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
|
||||||
"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
|
|
||||||
"placeholder_keys": {
|
|
||||||
i["name"]: (
|
|
||||||
"unilabos_resources"
|
|
||||||
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
|
|
||||||
or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
|
|
||||||
else "unilabos_devices"
|
|
||||||
)
|
|
||||||
for i in v["args"]
|
|
||||||
if i.get("type", "")
|
|
||||||
in [
|
|
||||||
"unilabos.registry.placeholder_type:ResourceSlot",
|
|
||||||
"unilabos.registry.placeholder_type:DeviceSlot",
|
|
||||||
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
|
|
||||||
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
|
|
||||||
]
|
|
||||||
},
|
|
||||||
}
|
|
||||||
for k, v in enhanced_info["action_methods"].items()
|
|
||||||
if k not in device_config["class"]["action_value_mappings"]
|
|
||||||
}
|
|
||||||
)
|
|
||||||
for action_name, old_config in old_action_configs.items():
|
|
||||||
if action_name in device_config["class"]["action_value_mappings"]:
|
|
||||||
old_schema = old_config.get("schema", {})
|
|
||||||
if "description" in old_schema and old_schema["description"]:
|
|
||||||
device_config["class"]["action_value_mappings"][action_name]["schema"][
|
|
||||||
"description"
|
|
||||||
] = old_schema["description"]
|
|
||||||
device_config["init_param_schema"] = {}
|
|
||||||
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
|
|
||||||
enhanced_info["init_params"], "__init__"
|
|
||||||
)["properties"]["goal"]
|
|
||||||
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
|
|
||||||
enhanced_info["status_methods"]
|
|
||||||
)
|
|
||||||
|
|
||||||
device_config.pop("schema", None)
|
|
||||||
device_config["class"]["action_value_mappings"] = dict(
|
|
||||||
sorted(device_config["class"]["action_value_mappings"].items())
|
|
||||||
)
|
|
||||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
|
||||||
if "handles" not in action_config:
|
|
||||||
action_config["handles"] = {}
|
|
||||||
elif isinstance(action_config["handles"], list):
|
|
||||||
if len(action_config["handles"]):
|
|
||||||
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
|
|
||||||
continue
|
|
||||||
else:
|
|
||||||
action_config["handles"] = {}
|
|
||||||
if "type" in action_config:
|
|
||||||
action_type_str: str = action_config["type"]
|
|
||||||
if not action_type_str.startswith("UniLabJsonCommand"):
|
|
||||||
try:
|
|
||||||
target_type = self._replace_type_with_class(
|
|
||||||
action_type_str, device_id, f"动作 {action_name}"
|
|
||||||
)
|
|
||||||
except ROSMsgNotFound:
|
|
||||||
continue
|
|
||||||
action_str_type_mapping[action_type_str] = target_type
|
|
||||||
if target_type is not None:
|
|
||||||
action_config["goal_default"] = yaml.safe_load(
|
|
||||||
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
|
|
||||||
)
|
|
||||||
action_config["schema"] = ros_action_to_json_schema(target_type)
|
|
||||||
else:
|
|
||||||
logger.warning(
|
|
||||||
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
|
|
||||||
)
|
|
||||||
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))
|
|
||||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
|
||||||
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
|
||||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
|
||||||
if action_config["type"] not in action_str_type_mapping:
|
|
||||||
continue
|
|
||||||
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
|
||||||
self._add_builtin_actions(device_config, device_id)
|
|
||||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
|
||||||
device_config["registry_type"] = "device"
|
|
||||||
device_ids.append(device_id)
|
|
||||||
|
|
||||||
complete_data = dict(sorted(complete_data.items()))
|
|
||||||
complete_data = copy.deepcopy(complete_data)
|
|
||||||
try:
|
|
||||||
with open(file, "w", encoding="utf-8") as f:
|
|
||||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
|
||||||
except Exception as e:
|
|
||||||
logger.warning(f"[UniLab Registry] 写入设备文件失败: {file}, 错误: {e}")
|
|
||||||
|
|
||||||
return data, complete_data, True, device_ids
|
|
||||||
|
|
||||||
def load_device_types(self, path: os.PathLike, complete_registry: bool):
|
def load_device_types(self, path: os.PathLike, complete_registry: bool):
|
||||||
|
# return
|
||||||
abs_path = Path(path).absolute()
|
abs_path = Path(path).absolute()
|
||||||
devices_path = abs_path / "devices"
|
devices_path = abs_path / "devices"
|
||||||
device_comms_path = abs_path / "device_comms"
|
device_comms_path = abs_path / "device_comms"
|
||||||
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
||||||
logger.trace(
|
logger.trace( # type: ignore
|
||||||
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
||||||
+ f"total: {len(files)}"
|
+ f"total: {len(files)}"
|
||||||
)
|
)
|
||||||
|
current_device_number = len(self.device_type_registry) + 1
|
||||||
if not files:
|
|
||||||
return
|
|
||||||
|
|
||||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||||
|
|
||||||
# 使用线程池并行加载
|
for i, file in enumerate(files):
|
||||||
max_workers = min(8, len(files))
|
with open(file, encoding="utf-8", mode="r") as f:
|
||||||
results = []
|
data = yaml.safe_load(io.StringIO(f.read()))
|
||||||
|
complete_data = {}
|
||||||
with ThreadPoolExecutor(max_workers=max_workers) as executor:
|
action_str_type_mapping = {
|
||||||
future_to_file = {
|
"UniLabJsonCommand": "UniLabJsonCommand",
|
||||||
executor.submit(self._load_single_device_file, file, complete_registry, get_yaml_from_goal_type): file
|
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
|
||||||
for file in files
|
|
||||||
}
|
}
|
||||||
for future in as_completed(future_to_file):
|
status_str_type_mapping = {}
|
||||||
file = future_to_file[future]
|
if data:
|
||||||
try:
|
# 在添加到注册表前处理类型替换
|
||||||
data, complete_data, is_valid, device_ids = future.result()
|
for device_id, device_config in data.items():
|
||||||
if is_valid:
|
# 添加文件路径信息 - 使用规范化的完整文件路径
|
||||||
results.append((file, data, device_ids))
|
if "version" not in device_config:
|
||||||
except Exception as e:
|
device_config["version"] = "1.0.0"
|
||||||
logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
|
if "category" not in device_config:
|
||||||
|
device_config["category"] = [file.stem]
|
||||||
|
elif file.stem not in device_config["category"]:
|
||||||
|
device_config["category"].append(file.stem)
|
||||||
|
if "config_info" not in device_config:
|
||||||
|
device_config["config_info"] = []
|
||||||
|
if "description" not in device_config:
|
||||||
|
device_config["description"] = ""
|
||||||
|
if "icon" not in device_config:
|
||||||
|
device_config["icon"] = ""
|
||||||
|
if "handles" not in device_config:
|
||||||
|
device_config["handles"] = []
|
||||||
|
if "init_param_schema" not in device_config:
|
||||||
|
device_config["init_param_schema"] = {}
|
||||||
|
if "class" in device_config:
|
||||||
|
if (
|
||||||
|
"status_types" not in device_config["class"]
|
||||||
|
or device_config["class"]["status_types"] is None
|
||||||
|
):
|
||||||
|
device_config["class"]["status_types"] = {}
|
||||||
|
if (
|
||||||
|
"action_value_mappings" not in device_config["class"]
|
||||||
|
or device_config["class"]["action_value_mappings"] is None
|
||||||
|
):
|
||||||
|
device_config["class"]["action_value_mappings"] = {}
|
||||||
|
enhanced_info = {}
|
||||||
|
if complete_registry:
|
||||||
|
device_config["class"]["status_types"].clear()
|
||||||
|
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
|
||||||
|
if not enhanced_info.get("dynamic_import_success", False):
|
||||||
|
continue
|
||||||
|
device_config["class"]["status_types"].update(
|
||||||
|
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
|
||||||
|
)
|
||||||
|
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||||
|
if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
|
||||||
|
status_type = "String" # 替换成ROS的String，便于显示
|
||||||
|
device_config["class"]["status_types"][status_name] = status_type
|
||||||
|
try:
|
||||||
|
target_type = self._replace_type_with_class(
|
||||||
|
status_type, device_id, f"状态 {status_name}"
|
||||||
|
)
|
||||||
|
except ROSMsgNotFound:
|
||||||
|
continue
|
||||||
|
if target_type in [
|
||||||
|
dict,
|
||||||
|
list,
|
||||||
|
]: # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换
|
||||||
|
target_type = String
|
||||||
|
status_str_type_mapping[status_type] = target_type
|
||||||
|
device_config["class"]["status_types"] = dict(
|
||||||
|
sorted(device_config["class"]["status_types"].items())
|
||||||
|
)
|
||||||
|
if complete_registry:
|
||||||
|
# 保存原有的description信息
|
||||||
|
old_descriptions = {}
|
||||||
|
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||||
|
if "description" in action_config.get("schema", {}):
|
||||||
|
description = action_config["schema"]["description"]
|
||||||
|
if len(description):
|
||||||
|
old_descriptions[action_name] = action_config["schema"]["description"]
|
||||||
|
|
||||||
# 线程安全地更新注册表
|
device_config["class"]["action_value_mappings"] = {
|
||||||
current_device_number = len(self.device_type_registry) + 1
|
k: v
|
||||||
with self._registry_lock:
|
for k, v in device_config["class"]["action_value_mappings"].items()
|
||||||
for file, data, device_ids in results:
|
if not k.startswith("auto-")
|
||||||
self.device_type_registry.update(data)
|
}
|
||||||
for device_id in device_ids:
|
# 处理动作值映射
|
||||||
logger.trace(
|
device_config["class"]["action_value_mappings"].update(
|
||||||
f"[UniLab Registry] Device-{current_device_number} Add {device_id} "
|
{
|
||||||
|
f"auto-{k}": {
|
||||||
|
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
|
||||||
|
"goal": {},
|
||||||
|
"feedback": {},
|
||||||
|
"result": {},
|
||||||
|
"schema": self._generate_unilab_json_command_schema(
|
||||||
|
v["args"], k, v.get("return_annotation")
|
||||||
|
),
|
||||||
|
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||||
|
"handles": [],
|
||||||
|
"placeholder_keys": {
|
||||||
|
i["name"]: (
|
||||||
|
"unilabos_resources"
|
||||||
|
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
|
||||||
|
or i["type"]
|
||||||
|
== ("list", "unilabos.registry.placeholder_type:ResourceSlot")
|
||||||
|
else "unilabos_devices"
|
||||||
|
)
|
||||||
|
for i in v["args"]
|
||||||
|
if i.get("type", "")
|
||||||
|
in [
|
||||||
|
"unilabos.registry.placeholder_type:ResourceSlot",
|
||||||
|
"unilabos.registry.placeholder_type:DeviceSlot",
|
||||||
|
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
|
||||||
|
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
|
||||||
|
]
|
||||||
|
},
|
||||||
|
}
|
||||||
|
# 不生成已配置action的动作
|
||||||
|
for k, v in enhanced_info["action_methods"].items()
|
||||||
|
if k not in device_config["class"]["action_value_mappings"]
|
||||||
|
}
|
||||||
|
)
|
||||||
|
# 恢复原有的description信息（auto开头的不修改）
|
||||||
|
for action_name, description in old_descriptions.items():
|
||||||
|
if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除
|
||||||
|
device_config["class"]["action_value_mappings"][action_name]["schema"][
|
||||||
|
"description"
|
||||||
|
] = description
|
||||||
|
device_config["init_param_schema"] = {}
|
||||||
|
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
|
||||||
|
enhanced_info["init_params"], "__init__"
|
||||||
|
)["properties"]["goal"]
|
||||||
|
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
|
||||||
|
enhanced_info["status_methods"]
|
||||||
|
)
|
||||||
|
|
||||||
|
device_config.pop("schema", None)
|
||||||
|
device_config["class"]["action_value_mappings"] = dict(
|
||||||
|
sorted(device_config["class"]["action_value_mappings"].items())
|
||||||
|
)
|
||||||
|
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||||
|
if "handles" not in action_config:
|
||||||
|
action_config["handles"] = {}
|
||||||
|
elif isinstance(action_config["handles"], list):
|
||||||
|
if len(action_config["handles"]):
|
||||||
|
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
|
||||||
|
continue
|
||||||
|
else:
|
||||||
|
action_config["handles"] = {}
|
||||||
|
if "type" in action_config:
|
||||||
|
action_type_str: str = action_config["type"]
|
||||||
|
# 通过Json发放指令，而不是通过特殊的ros action进行处理
|
||||||
|
if not action_type_str.startswith("UniLabJsonCommand"):
|
||||||
|
try:
|
||||||
|
target_type = self._replace_type_with_class(
|
||||||
|
action_type_str, device_id, f"动作 {action_name}"
|
||||||
|
)
|
||||||
|
except ROSMsgNotFound:
|
||||||
|
continue
|
||||||
|
action_str_type_mapping[action_type_str] = target_type
|
||||||
|
if target_type is not None:
|
||||||
|
action_config["goal_default"] = yaml.safe_load(
|
||||||
|
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
|
||||||
|
)
|
||||||
|
action_config["schema"] = ros_action_to_json_schema(target_type)
|
||||||
|
else:
|
||||||
|
logger.warning(
|
||||||
|
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
|
||||||
|
)
|
||||||
|
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items()))) # 稍后dump到文件
|
||||||
|
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||||
|
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
||||||
|
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||||
|
if action_config["type"] not in action_str_type_mapping:
|
||||||
|
continue
|
||||||
|
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
||||||
|
# 添加内置的驱动命令动作
|
||||||
|
self._add_builtin_actions(device_config, device_id)
|
||||||
|
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||||
|
device_config["registry_type"] = "device"
|
||||||
|
logger.trace( # type: ignore
|
||||||
|
f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
|
||||||
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
||||||
)
|
)
|
||||||
current_device_number += 1
|
current_device_number += 1
|
||||||
|
complete_data = dict(sorted(complete_data.items()))
|
||||||
# 记录无效文件
|
complete_data = copy.deepcopy(complete_data)
|
||||||
valid_files = {r[0] for r in results}
|
with open(file, "w", encoding="utf-8") as f:
|
||||||
for file in files:
|
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||||
if file not in valid_files:
|
self.device_type_registry.update(data)
|
||||||
logger.debug(f"[UniLab Registry] Device File Not Valid YAML File: {file.absolute()}")
|
else:
|
||||||
|
logger.debug(
|
||||||
|
f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
|
||||||
|
)
|
||||||
|
|
||||||
def obtain_registry_device_info(self):
|
def obtain_registry_device_info(self):
|
||||||
devices = []
|
devices = []
|
||||||
|
|||||||
@@ -20,17 +20,6 @@ BIOYOND_PolymerStation_Liquid_Vial:
|
|||||||
icon: ''
|
icon: ''
|
||||||
init_param_schema: {}
|
init_param_schema: {}
|
||||||
version: 1.0.0
|
version: 1.0.0
|
||||||
BIOYOND_PolymerStation_Measurement_Vial:
|
|
||||||
category:
|
|
||||||
- bottles
|
|
||||||
class:
|
|
||||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Measurement_Vial
|
|
||||||
type: pylabrobot
|
|
||||||
description: 聚合站-测量小瓶（测密度）
|
|
||||||
handles: []
|
|
||||||
icon: ''
|
|
||||||
init_param_schema: {}
|
|
||||||
version: 1.0.0
|
|
||||||
BIOYOND_PolymerStation_Reactor:
|
BIOYOND_PolymerStation_Reactor:
|
||||||
category:
|
category:
|
||||||
- bottles
|
- bottles
|
||||||
|
|||||||
@@ -84,12 +84,12 @@ def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
|||||||
)
|
)
|
||||||
|
|
||||||
def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
|
def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
|
||||||
"""创建BioYond站内Tip盒堆栈（A01～B03, 2行×3列）"""
|
"""创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
|
||||||
return warehouse_factory(
|
return warehouse_factory(
|
||||||
name=name,
|
name=name,
|
||||||
num_items_x=3, # 3列（01-03）
|
num_items_x=3, # 3列（01-03）
|
||||||
num_items_y=2, # 2行（A-B）
|
num_items_y=2, # 2行（A-B）
|
||||||
num_items_z=1, # 1层
|
num_items_z=1, # 1层
|
||||||
dx=10.0,
|
dx=10.0,
|
||||||
dy=10.0,
|
dy=10.0,
|
||||||
dz=10.0,
|
dz=10.0,
|
||||||
|
|||||||
@@ -193,20 +193,3 @@ def BIOYOND_PolymerStation_Flask(
|
|||||||
barcode=barcode,
|
barcode=barcode,
|
||||||
model="BIOYOND_PolymerStation_Flask",
|
model="BIOYOND_PolymerStation_Flask",
|
||||||
)
|
)
|
||||||
|
|
||||||
def BIOYOND_PolymerStation_Measurement_Vial(
|
|
||||||
name: str,
|
|
||||||
diameter: float = 25.0,
|
|
||||||
height: float = 60.0,
|
|
||||||
max_volume: float = 20000.0, # 20mL
|
|
||||||
barcode: str = None,
|
|
||||||
) -> Bottle:
|
|
||||||
"""创建测量小瓶"""
|
|
||||||
return Bottle(
|
|
||||||
name=name,
|
|
||||||
diameter=diameter,
|
|
||||||
height=height,
|
|
||||||
max_volume=max_volume,
|
|
||||||
barcode=barcode,
|
|
||||||
model="BIOYOND_PolymerStation_Measurement_Vial",
|
|
||||||
)
|
|
||||||
|
|||||||
@@ -18,12 +18,9 @@ from unilabos.resources.bioyond.YB_warehouses import (
|
|||||||
bioyond_warehouse_1x8x4,
|
bioyond_warehouse_1x8x4,
|
||||||
bioyond_warehouse_reagent_storage,
|
bioyond_warehouse_reagent_storage,
|
||||||
# bioyond_warehouse_liquid_preparation,
|
# bioyond_warehouse_liquid_preparation,
|
||||||
|
bioyond_warehouse_tipbox_storage, # 新增：Tip盒堆栈
|
||||||
bioyond_warehouse_density_vial,
|
bioyond_warehouse_density_vial,
|
||||||
)
|
)
|
||||||
from unilabos.resources.bioyond.warehouses import (
|
|
||||||
bioyond_warehouse_tipbox_storage_left, # 新增：Tip盒堆栈(左)
|
|
||||||
bioyond_warehouse_tipbox_storage_right, # 新增：Tip盒堆栈(右)
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
class BIOYOND_PolymerReactionStation_Deck(Deck):
|
class BIOYOND_PolymerReactionStation_Deck(Deck):
|
||||||
@@ -50,22 +47,24 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
|
|||||||
"堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"), # 右侧堆栈: A05～D08
|
"堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"), # 右侧堆栈: A05～D08
|
||||||
"站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"), # A01～A02
|
"站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"), # A01～A02
|
||||||
# "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"), # A01～B04
|
# "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"), # A01～B04
|
||||||
"站内Tip盒堆栈(左)": bioyond_warehouse_tipbox_storage_left("站内Tip盒堆栈(左)"), # A02～B03
|
"站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"), # A01～B03, 存放枪头盒.
|
||||||
"站内Tip盒堆栈(右)": bioyond_warehouse_tipbox_storage_right("站内Tip盒堆栈(右)"), # A01～B01
|
|
||||||
"测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"), # A01～B03
|
"测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"), # A01～B03
|
||||||
}
|
}
|
||||||
self.warehouse_locations = {
|
self.warehouse_locations = {
|
||||||
"堆栈1左": Coordinate(-200.0, 400.0, 0.0), # 左侧位置
|
"堆栈1左": Coordinate(0.0, 430.0, 0.0), # 左侧位置
|
||||||
"堆栈1右": Coordinate(2350.0, 400.0, 0.0), # 右侧位置
|
"堆栈1右": Coordinate(2500.0, 430.0, 0.0), # 右侧位置
|
||||||
"站内试剂存放堆栈": Coordinate(640.0, 400.0, 0.0),
|
"站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0),
|
||||||
"站内Tip盒堆栈(左)": Coordinate(300.0, 100.0, 0.0),
|
# "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
|
||||||
"站内Tip盒堆栈(右)": Coordinate(2250.0, 100.0, 0.0), # 向右偏移 2 * item_dx (137.0)
|
"站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0),
|
||||||
"测量小瓶仓库(测密度)": Coordinate(1000.0, 530.0, 0.0),
|
"测量小瓶仓库(测密度)": Coordinate(922.0, 552.0, 0.0),
|
||||||
}
|
}
|
||||||
|
self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
|
||||||
|
self.warehouses["测量小瓶仓库(测密度)"].rotation = Rotation(z=270)
|
||||||
|
|
||||||
for warehouse_name, warehouse in self.warehouses.items():
|
for warehouse_name, warehouse in self.warehouses.items():
|
||||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||||
|
|
||||||
|
|
||||||
class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
||||||
def __init__(
|
def __init__(
|
||||||
self,
|
self,
|
||||||
@@ -93,9 +92,9 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
|||||||
"溶液堆栈": bioyond_warehouse_1x4x4("溶液堆栈"), # 4行×4列 (A01-D04)
|
"溶液堆栈": bioyond_warehouse_1x4x4("溶液堆栈"), # 4行×4列 (A01-D04)
|
||||||
}
|
}
|
||||||
self.warehouse_locations = {
|
self.warehouse_locations = {
|
||||||
"粉末堆栈": Coordinate(-200.0, 400.0, 0.0),
|
"粉末堆栈": Coordinate(0.0, 450.0, 0.0),
|
||||||
"试剂堆栈": Coordinate(1750.0, 160.0, 0.0),
|
"试剂堆栈": Coordinate(1850.0, 200.0, 0.0),
|
||||||
"溶液堆栈": Coordinate(2350.0, 400.0, 0.0),
|
"溶液堆栈": Coordinate(2500.0, 450.0, 0.0),
|
||||||
}
|
}
|
||||||
|
|
||||||
for warehouse_name, warehouse in self.warehouses.items():
|
for warehouse_name, warehouse in self.warehouses.items():
|
||||||
@@ -149,7 +148,6 @@ class BIOYOND_YB_Deck(Deck):
|
|||||||
|
|
||||||
for warehouse_name, warehouse in self.warehouses.items():
|
for warehouse_name, warehouse in self.warehouses.items():
|
||||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||||
|
|
||||||
def YB_Deck(name: str) -> Deck:
|
def YB_Deck(name: str) -> Deck:
|
||||||
by=BIOYOND_YB_Deck(name=name)
|
by=BIOYOND_YB_Deck(name=name)
|
||||||
by.setup()
|
by.setup()
|
||||||
|
|||||||
@@ -46,80 +46,48 @@ def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
|||||||
)
|
)
|
||||||
|
|
||||||
def bioyond_warehouse_density_vial(name: str) -> WareHouse:
|
def bioyond_warehouse_density_vial(name: str) -> WareHouse:
|
||||||
"""创建测量小瓶仓库(测密度) - 竖向排列2列3行
|
"""创建测量小瓶仓库(测密度) A01～B03"""
|
||||||
布局（从下到上，从左到右）：
|
|
||||||
| A03 | B03 | ← 顶部
|
|
||||||
| A02 | B02 | ← 中部
|
|
||||||
| A01 | B01 | ← 底部
|
|
||||||
"""
|
|
||||||
return warehouse_factory(
|
return warehouse_factory(
|
||||||
name=name,
|
name=name,
|
||||||
num_items_x=2, # 2列（A, B）
|
num_items_x=3, # 3列（01-03）
|
||||||
num_items_y=3, # 3行（01-03，从下到上）
|
num_items_y=2, # 2行（A-B）
|
||||||
num_items_z=1, # 1层
|
num_items_z=1, # 1层
|
||||||
dx=10.0,
|
dx=10.0,
|
||||||
dy=10.0,
|
dy=10.0,
|
||||||
dz=10.0,
|
dz=10.0,
|
||||||
item_dx=40.0, # 列间距（A到B的横向距离）
|
item_dx=40.0,
|
||||||
item_dy=40.0, # 行间距（01到02到03的竖向距离）
|
item_dy=40.0,
|
||||||
item_dz=50.0,
|
item_dz=50.0,
|
||||||
# ⭐ 竖向warehouse：槽位尺寸也是竖向的（小瓶已经是正方形，无需调整）
|
# 用更小的 resource_size 来表现 "小点的孔位"
|
||||||
resource_size_x=30.0,
|
resource_size_x=30.0,
|
||||||
resource_size_y=30.0,
|
resource_size_y=30.0,
|
||||||
resource_size_z=12.0,
|
resource_size_z=12.0,
|
||||||
category="warehouse",
|
category="warehouse",
|
||||||
col_offset=0,
|
col_offset=0,
|
||||||
layout="vertical-col-major", # ⭐ 竖向warehouse专用布局
|
|
||||||
)
|
|
||||||
|
|
||||||
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
|
||||||
"""创建BioYond站内试剂存放堆栈 - 竖向排列1列2行
|
|
||||||
布局（竖向，从下到上）：
|
|
||||||
| A02 | ← 顶部
|
|
||||||
| A01 | ← 底部
|
|
||||||
"""
|
|
||||||
return warehouse_factory(
|
|
||||||
name=name,
|
|
||||||
num_items_x=1, # 1列
|
|
||||||
num_items_y=2, # 2行（01-02，从下到上）
|
|
||||||
num_items_z=1, # 1层
|
|
||||||
dx=10.0,
|
|
||||||
dy=10.0,
|
|
||||||
dz=10.0,
|
|
||||||
item_dx=96.0, # 列间距（这里只有1列，不重要）
|
|
||||||
item_dy=137.0, # 行间距（A01到A02的竖向距离）
|
|
||||||
item_dz=120.0,
|
|
||||||
# ⭐ 竖向warehouse：交换槽位尺寸，使槽位框也是竖向的
|
|
||||||
resource_size_x=86.0, # 原来的 resource_size_y
|
|
||||||
resource_size_y=127.0, # 原来的 resource_size_x
|
|
||||||
resource_size_z=25.0,
|
|
||||||
category="warehouse",
|
|
||||||
layout="vertical-col-major", # ⭐ 竖向warehouse专用布局
|
|
||||||
)
|
|
||||||
|
|
||||||
def bioyond_warehouse_tipbox_storage_left(name: str) -> WareHouse:
|
|
||||||
"""创建BioYond站内Tip盒堆栈左侧部分（A02～B03），2列2行"""
|
|
||||||
return warehouse_factory(
|
|
||||||
name=name,
|
|
||||||
num_items_x=2, # 2列
|
|
||||||
num_items_y=2, # 2行（A-B）
|
|
||||||
num_items_z=1, # 1层
|
|
||||||
dx=10.0,
|
|
||||||
dy=10.0,
|
|
||||||
dz=10.0,
|
|
||||||
item_dx=137.0,
|
|
||||||
item_dy=96.0,
|
|
||||||
item_dz=120.0,
|
|
||||||
category="warehouse",
|
|
||||||
col_offset=1, # 从02开始: A02, A03
|
|
||||||
layout="row-major",
|
layout="row-major",
|
||||||
)
|
)
|
||||||
|
|
||||||
def bioyond_warehouse_tipbox_storage_right(name: str) -> WareHouse:
|
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
||||||
"""创建BioYond站内Tip盒堆栈右侧部分（A01～B01），1列2行"""
|
"""创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
|
||||||
return warehouse_factory(
|
return warehouse_factory(
|
||||||
name=name,
|
name=name,
|
||||||
num_items_x=1, # 1列
|
num_items_x=2, # 2列（01-02）
|
||||||
|
num_items_y=1, # 1行（A）
|
||||||
|
num_items_z=1, # 1层
|
||||||
|
dx=10.0,
|
||||||
|
dy=10.0,
|
||||||
|
dz=10.0,
|
||||||
|
item_dx=137.0,
|
||||||
|
item_dy=96.0,
|
||||||
|
item_dz=120.0,
|
||||||
|
category="warehouse",
|
||||||
|
)
|
||||||
|
|
||||||
|
def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
|
||||||
|
"""创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
|
||||||
|
return warehouse_factory(
|
||||||
|
name=name,
|
||||||
|
num_items_x=3, # 3列（01-03）
|
||||||
num_items_y=2, # 2行（A-B）
|
num_items_y=2, # 2行（A-B）
|
||||||
num_items_z=1, # 1层
|
num_items_z=1, # 1层
|
||||||
dx=10.0,
|
dx=10.0,
|
||||||
@@ -129,7 +97,7 @@ def bioyond_warehouse_tipbox_storage_right(name: str) -> WareHouse:
|
|||||||
item_dy=96.0,
|
item_dy=96.0,
|
||||||
item_dz=120.0,
|
item_dz=120.0,
|
||||||
category="warehouse",
|
category="warehouse",
|
||||||
col_offset=0, # 从01开始: A01
|
col_offset=0,
|
||||||
layout="row-major",
|
layout="row-major",
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|||||||
@@ -27,7 +27,7 @@ class RegularContainer(Container):
|
|||||||
def get_regular_container(name="container"):
|
def get_regular_container(name="container"):
|
||||||
r = RegularContainer(name=name)
|
r = RegularContainer(name=name)
|
||||||
r.category = "container"
|
r.category = "container"
|
||||||
return r
|
return RegularContainer(name=name)
|
||||||
|
|
||||||
#
|
#
|
||||||
# class RegularContainer(object):
|
# class RegularContainer(object):
|
||||||
|
|||||||
@@ -151,40 +151,12 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
|
|||||||
"""
|
"""
|
||||||
# 构建 id 到 uuid 的映射
|
# 构建 id 到 uuid 的映射
|
||||||
id_to_uuid: Dict[str, str] = {}
|
id_to_uuid: Dict[str, str] = {}
|
||||||
uuid_to_id: Dict[str, str] = {}
|
|
||||||
for node in resource_tree_set.all_nodes:
|
for node in resource_tree_set.all_nodes:
|
||||||
id_to_uuid[node.res_content.id] = node.res_content.uuid
|
id_to_uuid[node.res_content.id] = node.res_content.uuid
|
||||||
uuid_to_id[node.res_content.uuid] = node.res_content.id
|
|
||||||
|
|
||||||
# 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
|
|
||||||
for link in links:
|
|
||||||
source_id = link.get("source")
|
|
||||||
target_id = link.get("target")
|
|
||||||
|
|
||||||
# 添加 source_uuid
|
|
||||||
if source_id and source_id in id_to_uuid:
|
|
||||||
link["source_uuid"] = id_to_uuid[source_id]
|
|
||||||
|
|
||||||
# 添加 target_uuid
|
|
||||||
if target_id and target_id in id_to_uuid:
|
|
||||||
link["target_uuid"] = id_to_uuid[target_id]
|
|
||||||
|
|
||||||
source_uuid = link.get("source_uuid")
|
|
||||||
target_uuid = link.get("target_uuid")
|
|
||||||
|
|
||||||
# 添加 source_uuid
|
|
||||||
if source_uuid and source_uuid in uuid_to_id:
|
|
||||||
link["source"] = uuid_to_id[source_uuid]
|
|
||||||
|
|
||||||
# 添加 target_uuid
|
|
||||||
if target_uuid and target_uuid in uuid_to_id:
|
|
||||||
link["target"] = uuid_to_id[target_uuid]
|
|
||||||
|
|
||||||
# 第一遍处理：将字符串类型的port转换为字典格式
|
# 第一遍处理：将字符串类型的port转换为字典格式
|
||||||
for link in links:
|
for link in links:
|
||||||
port = link.get("port")
|
port = link.get("port")
|
||||||
if port is None:
|
|
||||||
continue
|
|
||||||
if link.get("type", "physical") == "physical":
|
if link.get("type", "physical") == "physical":
|
||||||
link["type"] = "fluid"
|
link["type"] = "fluid"
|
||||||
if isinstance(port, int):
|
if isinstance(port, int):
|
||||||
@@ -207,15 +179,13 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
|
|||||||
link["port"] = {link["source"]: None, link["target"]: None}
|
link["port"] = {link["source"]: None, link["target"]: None}
|
||||||
|
|
||||||
# 构建边字典，键为(source节点, target节点)，值为对应的port信息
|
# 构建边字典，键为(source节点, target节点)，值为对应的port信息
|
||||||
edges = {(link["source"], link["target"]): link["port"] for link in links if link.get("port")}
|
edges = {(link["source"], link["target"]): link["port"] for link in links}
|
||||||
|
|
||||||
# 第二遍处理：填充反向边的dest信息
|
# 第二遍处理：填充反向边的dest信息
|
||||||
delete_reverses = []
|
delete_reverses = []
|
||||||
for i, link in enumerate(links):
|
for i, link in enumerate(links):
|
||||||
s, t = link["source"], link["target"]
|
s, t = link["source"], link["target"]
|
||||||
current_port = link.get("port")
|
current_port = link["port"]
|
||||||
if current_port is None:
|
|
||||||
continue
|
|
||||||
if current_port.get(t) is None:
|
if current_port.get(t) is None:
|
||||||
reverse_key = (t, s)
|
reverse_key = (t, s)
|
||||||
reverse_port = edges.get(reverse_key)
|
reverse_port = edges.get(reverse_key)
|
||||||
@@ -230,6 +200,20 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
|
|||||||
current_port[t] = current_port[s]
|
current_port[t] = current_port[s]
|
||||||
# 删除已被使用反向端口信息的反向边
|
# 删除已被使用反向端口信息的反向边
|
||||||
standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
|
standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
|
||||||
|
|
||||||
|
# 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
|
||||||
|
for link in standardized_links:
|
||||||
|
source_id = link.get("source")
|
||||||
|
target_id = link.get("target")
|
||||||
|
|
||||||
|
# 添加 source_uuid
|
||||||
|
if source_id and source_id in id_to_uuid:
|
||||||
|
link["source_uuid"] = id_to_uuid[source_id]
|
||||||
|
|
||||||
|
# 添加 target_uuid
|
||||||
|
if target_id and target_id in id_to_uuid:
|
||||||
|
link["target_uuid"] = id_to_uuid[target_id]
|
||||||
|
|
||||||
return standardized_links
|
return standardized_links
|
||||||
|
|
||||||
|
|
||||||
@@ -276,7 +260,7 @@ def read_node_link_json(
|
|||||||
resource_tree_set = canonicalize_nodes_data(nodes)
|
resource_tree_set = canonicalize_nodes_data(nodes)
|
||||||
|
|
||||||
# 标准化边数据
|
# 标准化边数据
|
||||||
links = data.get("links", data.get("edges", []))
|
links = data.get("links", [])
|
||||||
standardized_links = canonicalize_links_ports(links, resource_tree_set)
|
standardized_links = canonicalize_links_ports(links, resource_tree_set)
|
||||||
|
|
||||||
# 构建 NetworkX 图（需要转换回 dict 格式）
|
# 构建 NetworkX 图（需要转换回 dict 格式）
|
||||||
@@ -300,8 +284,6 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
|
|||||||
edge["sourceHandle"] = port[source]
|
edge["sourceHandle"] = port[source]
|
||||||
elif "source_port" in edge:
|
elif "source_port" in edge:
|
||||||
edge["sourceHandle"] = edge.pop("source_port")
|
edge["sourceHandle"] = edge.pop("source_port")
|
||||||
elif "source_handle" in edge:
|
|
||||||
edge["sourceHandle"] = edge.pop("source_handle")
|
|
||||||
else:
|
else:
|
||||||
typ = edge.get("type")
|
typ = edge.get("type")
|
||||||
if typ == "communication":
|
if typ == "communication":
|
||||||
@@ -310,8 +292,6 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
|
|||||||
edge["targetHandle"] = port[target]
|
edge["targetHandle"] = port[target]
|
||||||
elif "target_port" in edge:
|
elif "target_port" in edge:
|
||||||
edge["targetHandle"] = edge.pop("target_port")
|
edge["targetHandle"] = edge.pop("target_port")
|
||||||
elif "target_handle" in edge:
|
|
||||||
edge["targetHandle"] = edge.pop("target_handle")
|
|
||||||
else:
|
else:
|
||||||
typ = edge.get("type")
|
typ = edge.get("type")
|
||||||
if typ == "communication":
|
if typ == "communication":
|
||||||
@@ -617,8 +597,6 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
|
|||||||
"tube": "tube",
|
"tube": "tube",
|
||||||
"bottle_carrier": "bottle_carrier",
|
"bottle_carrier": "bottle_carrier",
|
||||||
"plate_adapter": "plate_adapter",
|
"plate_adapter": "plate_adapter",
|
||||||
"electrode_sheet": "electrode_sheet",
|
|
||||||
"material_hole": "material_hole",
|
|
||||||
}
|
}
|
||||||
if source in replace_info:
|
if source in replace_info:
|
||||||
return replace_info[source]
|
return replace_info[source]
|
||||||
@@ -801,22 +779,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
|||||||
if not locations:
|
if not locations:
|
||||||
logger.debug(f"[物料位置] {unique_name} 没有location信息，跳过warehouse放置")
|
logger.debug(f"[物料位置] {unique_name} 没有location信息，跳过warehouse放置")
|
||||||
|
|
||||||
# ⭐ 预先检查：如果物料的任何location在竖向warehouse中，提前交换尺寸
|
|
||||||
# 这样可以避免多个location时尺寸不一致的问题
|
|
||||||
needs_size_swap = False
|
|
||||||
for loc in locations:
|
|
||||||
wh_name_check = loc.get("whName")
|
|
||||||
if wh_name_check in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
|
|
||||||
needs_size_swap = True
|
|
||||||
break
|
|
||||||
|
|
||||||
if needs_size_swap and hasattr(plr_material, 'size_x') and hasattr(plr_material, 'size_y'):
|
|
||||||
original_x = plr_material.size_x
|
|
||||||
original_y = plr_material.size_y
|
|
||||||
plr_material.size_x = original_y
|
|
||||||
plr_material.size_y = original_x
|
|
||||||
logger.debug(f" 物料 {unique_name} 将放入竖向warehouse，预先交换尺寸: {original_x}×{original_y} → {plr_material.size_x}×{plr_material.size_y}")
|
|
||||||
|
|
||||||
for loc in locations:
|
for loc in locations:
|
||||||
wh_name = loc.get("whName")
|
wh_name = loc.get("whName")
|
||||||
logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
|
logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
|
||||||
@@ -833,20 +795,12 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
|||||||
logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
|
logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
|
||||||
continue
|
continue
|
||||||
|
|
||||||
# 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
|
|
||||||
if wh_name == "站内Tip盒堆栈":
|
|
||||||
y_val = loc.get("y", 1)
|
|
||||||
if y_val == 1:
|
|
||||||
wh_name = "站内Tip盒堆栈(右)"
|
|
||||||
elif y_val in [2, 3]:
|
|
||||||
wh_name = "站内Tip盒堆栈(左)"
|
|
||||||
y = y - 1 # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
|
|
||||||
|
|
||||||
if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
|
if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
|
||||||
warehouse = deck.warehouses[wh_name]
|
warehouse = deck.warehouses[wh_name]
|
||||||
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
|
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
|
||||||
|
|
||||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||||
|
# PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
|
||||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||||
@@ -855,23 +809,12 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
|||||||
if wh_name == "堆栈1右":
|
if wh_name == "堆栈1右":
|
||||||
y = y - 4 # 将5-8映射到1-4
|
y = y - 4 # 将5-8映射到1-4
|
||||||
|
|
||||||
# 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
|
# 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
|
||||||
# 这些warehouse使用 vertical-col-major 布局
|
# Bioyond的y坐标表示线性位置序号，而不是列号
|
||||||
if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
|
if warehouse.num_items_y == 1:
|
||||||
# vertical-col-major 布局的坐标映射：
|
# 1行warehouse: 直接用y作为线性索引
|
||||||
# - Bioyond的x(1=A,2=B)对应warehouse的列(col, x方向)
|
idx = y - 1
|
||||||
# - Bioyond的y(1=01,2=02,3=03)对应warehouse的行(row, y方向)，从下到上
|
logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
|
||||||
# vertical-col-major 中: row=0 对应底部，row=n-1 对应顶部
|
|
||||||
# Bioyond y=1(01) 对应底部 → row=0, y=2(02) 对应中间 → row=1
|
|
||||||
# 索引计算: idx = row * num_cols + col
|
|
||||||
col_idx = x - 1 # Bioyond的x(A,B) → col索引(0,1)
|
|
||||||
row_idx = y - 1 # Bioyond的y(01,02,03) → row索引(0,1,2)
|
|
||||||
layer_idx = z - 1
|
|
||||||
|
|
||||||
idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + row_idx * warehouse.num_items_y + col_idx
|
|
||||||
logger.debug(f"🔍 竖向warehouse {wh_name}: Bioyond(x={x},y={y},z={z}) → warehouse(col={col_idx},row={row_idx},layer={layer_idx}) → idx={idx}, capacity={warehouse.capacity}")
|
|
||||||
|
|
||||||
# 普通横向warehouse的处理
|
|
||||||
else:
|
else:
|
||||||
# 多行warehouse: 根据 layout 使用不同的索引计算
|
# 多行warehouse: 根据 layout 使用不同的索引计算
|
||||||
row_idx = x - 1 # x表示行: 转为0-based
|
row_idx = x - 1 # x表示行: 转为0-based
|
||||||
@@ -895,7 +838,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
|||||||
|
|
||||||
if 0 <= idx < warehouse.capacity:
|
if 0 <= idx < warehouse.capacity:
|
||||||
if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
|
if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
|
||||||
# 物料尺寸已在放入warehouse前根据需要进行了交换
|
|
||||||
warehouse[idx] = plr_material
|
warehouse[idx] = plr_material
|
||||||
logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
|
logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
|
||||||
else:
|
else:
|
||||||
@@ -1069,24 +1011,11 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
|||||||
logger.debug(f" 📭 [单瓶物料] {resource.name} 无液体，使用资源名: {material_name}")
|
logger.debug(f" 📭 [单瓶物料] {resource.name} 无液体，使用资源名: {material_name}")
|
||||||
|
|
||||||
# 🎯 处理物料默认参数和单位
|
# 🎯 处理物料默认参数和单位
|
||||||
# 优先级: typeId参数 > 物料名称参数 > 默认值
|
# 检查是否有该物料名称的默认参数配置
|
||||||
default_unit = "个" # 默认单位
|
default_unit = "个" # 默认单位
|
||||||
material_parameters = {}
|
material_parameters = {}
|
||||||
|
|
||||||
# 1️⃣ 首先检查是否有 typeId 对应的参数配置（从 material_params 中获取，key 格式为 "type:<typeId>"）
|
if material_name in material_params:
|
||||||
type_params_key = f"type:{type_id}"
|
|
||||||
if type_params_key in material_params:
|
|
||||||
params_config = material_params[type_params_key].copy()
|
|
||||||
|
|
||||||
# 提取 unit 字段（如果有）
|
|
||||||
if "unit" in params_config:
|
|
||||||
default_unit = params_config.pop("unit") # 从参数中移除，放到外层
|
|
||||||
|
|
||||||
# 剩余的字段放入 Parameters
|
|
||||||
material_parameters = params_config
|
|
||||||
logger.debug(f" 🔧 [物料参数-按typeId] 为 typeId={type_id[:8]}... 应用配置: unit={default_unit}, parameters={material_parameters}")
|
|
||||||
# 2️⃣ 其次检查是否有该物料名称的默认参数配置
|
|
||||||
elif material_name in material_params:
|
|
||||||
params_config = material_params[material_name].copy()
|
params_config = material_params[material_name].copy()
|
||||||
|
|
||||||
# 提取 unit 字段（如果有）
|
# 提取 unit 字段（如果有）
|
||||||
@@ -1095,7 +1024,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
|
|||||||
|
|
||||||
# 剩余的字段放入 Parameters
|
# 剩余的字段放入 Parameters
|
||||||
material_parameters = params_config
|
material_parameters = params_config
|
||||||
logger.debug(f" 🔧 [物料参数-按名称] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
|
logger.debug(f" 🔧 [物料参数] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
|
||||||
|
|
||||||
# 转换为 JSON 字符串
|
# 转换为 JSON 字符串
|
||||||
parameters_json = json.dumps(material_parameters) if material_parameters else "{}"
|
parameters_json = json.dumps(material_parameters) if material_parameters else "{}"
|
||||||
@@ -1222,7 +1151,11 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
|
|||||||
if resource_class_config["type"] == "pylabrobot":
|
if resource_class_config["type"] == "pylabrobot":
|
||||||
resource_plr = RESOURCE(name=resource_config["name"])
|
resource_plr = RESOURCE(name=resource_config["name"])
|
||||||
if resource_type != ResourcePLR:
|
if resource_type != ResourcePLR:
|
||||||
tree_sets = ResourceTreeSet.from_plr_resources([resource_plr], known_newly_created=True)
|
tree_sets = ResourceTreeSet.from_plr_resources([resource_plr])
|
||||||
|
# r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
|
||||||
|
# # r = resource_plr_to_ulab(resource_plr=resource_plr)
|
||||||
|
# if resource_config.get("position") is not None:
|
||||||
|
# r["position"] = resource_config["position"]
|
||||||
r = tree_sets.dump()
|
r = tree_sets.dump()
|
||||||
else:
|
else:
|
||||||
r = resource_plr
|
r = resource_plr
|
||||||
|
|||||||
@@ -50,45 +50,12 @@ class Bottle(Well):
|
|||||||
self.barcode = barcode
|
self.barcode = barcode
|
||||||
|
|
||||||
def serialize(self) -> dict:
|
def serialize(self) -> dict:
|
||||||
# Pylabrobot expects barcode to be an object with serialize(), but here it is a str.
|
|
||||||
# We temporarily unset it to avoid AttributeError in super().serialize().
|
|
||||||
_barcode = self.barcode
|
|
||||||
self.barcode = None
|
|
||||||
try:
|
|
||||||
data = super().serialize()
|
|
||||||
finally:
|
|
||||||
self.barcode = _barcode
|
|
||||||
|
|
||||||
return {
|
return {
|
||||||
**data,
|
**super().serialize(),
|
||||||
"diameter": self.diameter,
|
"diameter": self.diameter,
|
||||||
"height": self.height,
|
"height": self.height,
|
||||||
}
|
}
|
||||||
|
|
||||||
@classmethod
|
|
||||||
def deserialize(cls, data: dict, allow_marshal: bool = False):
|
|
||||||
# Extract barcode before calling parent deserialize to avoid type error
|
|
||||||
barcode_data = data.pop("barcode", None)
|
|
||||||
|
|
||||||
# Call parent deserialize
|
|
||||||
instance = super(Bottle, cls).deserialize(data, allow_marshal=allow_marshal)
|
|
||||||
|
|
||||||
# Set barcode as string (not as Barcode object)
|
|
||||||
if barcode_data:
|
|
||||||
if isinstance(barcode_data, str):
|
|
||||||
instance.barcode = barcode_data
|
|
||||||
elif isinstance(barcode_data, dict):
|
|
||||||
# If it's a dict (Barcode serialized format), extract the data field
|
|
||||||
instance.barcode = barcode_data.get("data", "")
|
|
||||||
else:
|
|
||||||
instance.barcode = ""
|
|
||||||
|
|
||||||
# Set additional attributes
|
|
||||||
instance.diameter = data.get("diameter", instance._size_x)
|
|
||||||
instance.height = data.get("height", instance._size_z)
|
|
||||||
|
|
||||||
return instance
|
|
||||||
|
|
||||||
T = TypeVar("T", bound=ResourceHolder)
|
T = TypeVar("T", bound=ResourceHolder)
|
||||||
|
|
||||||
S = TypeVar("S", bound=ResourceHolder)
|
S = TypeVar("S", bound=ResourceHolder)
|
||||||
|
|||||||
@@ -1,12 +1,10 @@
|
|||||||
import inspect
|
import inspect
|
||||||
import traceback
|
import traceback
|
||||||
import uuid
|
import uuid
|
||||||
from pydantic import BaseModel, field_serializer, field_validator, ValidationError
|
from pydantic import BaseModel, field_serializer, field_validator
|
||||||
from pydantic import Field
|
from pydantic import Field
|
||||||
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
|
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
|
||||||
|
|
||||||
from typing_extensions import TypedDict
|
|
||||||
|
|
||||||
from unilabos.resources.plr_additional_res_reg import register
|
from unilabos.resources.plr_additional_res_reg import register
|
||||||
from unilabos.utils.log import logger
|
from unilabos.utils.log import logger
|
||||||
|
|
||||||
@@ -15,29 +13,6 @@ if TYPE_CHECKING:
|
|||||||
from pylabrobot.resources import Resource as PLRResource
|
from pylabrobot.resources import Resource as PLRResource
|
||||||
|
|
||||||
|
|
||||||
EXTRA_CLASS = "unilabos_resource_class"
|
|
||||||
EXTRA_SAMPLE_UUID = "sample_uuid"
|
|
||||||
EXTRA_UNILABOS_SAMPLE_UUID = "unilabos_sample_uuid"
|
|
||||||
|
|
||||||
# 函数参数名常量 - 用于自动注入 sample_uuids 列表
|
|
||||||
PARAM_SAMPLE_UUIDS = "sample_uuids"
|
|
||||||
|
|
||||||
# JSON Command 中的系统参数字段名
|
|
||||||
JSON_UNILABOS_PARAM = "unilabos_param"
|
|
||||||
|
|
||||||
# 返回值中的 samples 字段名
|
|
||||||
RETURN_UNILABOS_SAMPLES = "unilabos_samples"
|
|
||||||
|
|
||||||
# sample_uuids 参数类型 (用于 virtual bench 等设备添加 sample_uuids 参数)
|
|
||||||
SampleUUIDsType = Dict[str, Optional["PLRResource"]]
|
|
||||||
|
|
||||||
|
|
||||||
class LabSample(TypedDict):
|
|
||||||
sample_uuid: str
|
|
||||||
oss_path: str
|
|
||||||
extra: Dict[str, Any]
|
|
||||||
|
|
||||||
|
|
||||||
class ResourceDictPositionSize(BaseModel):
|
class ResourceDictPositionSize(BaseModel):
|
||||||
depth: float = Field(description="Depth", default=0.0) # z
|
depth: float = Field(description="Depth", default=0.0) # z
|
||||||
width: float = Field(description="Width", default=0.0) # x
|
width: float = Field(description="Width", default=0.0) # x
|
||||||
@@ -172,8 +147,8 @@ class ResourceDictInstance(object):
|
|||||||
if not content.get("extra"): # MagicCode
|
if not content.get("extra"): # MagicCode
|
||||||
content["extra"] = {}
|
content["extra"] = {}
|
||||||
if "position" in content:
|
if "position" in content:
|
||||||
pose = content.get("pose", {})
|
pose = content.get("pose",{})
|
||||||
if "position" not in pose:
|
if "position" not in pose :
|
||||||
if "position" in content["position"]:
|
if "position" in content["position"]:
|
||||||
pose["position"] = content["position"]["position"]
|
pose["position"] = content["position"]["position"]
|
||||||
else:
|
else:
|
||||||
@@ -182,14 +157,10 @@ class ResourceDictInstance(object):
|
|||||||
pose["size"] = {
|
pose["size"] = {
|
||||||
"width": content["config"].get("size_x", 0),
|
"width": content["config"].get("size_x", 0),
|
||||||
"height": content["config"].get("size_y", 0),
|
"height": content["config"].get("size_y", 0),
|
||||||
"depth": content["config"].get("size_z", 0),
|
"depth": content["config"].get("size_z", 0)
|
||||||
}
|
}
|
||||||
content["pose"] = pose
|
content["pose"] = pose
|
||||||
try:
|
return ResourceDictInstance(ResourceDict.model_validate(content))
|
||||||
res_dict = ResourceDict.model_validate(content)
|
|
||||||
return ResourceDictInstance(res_dict)
|
|
||||||
except ValidationError as err:
|
|
||||||
raise err
|
|
||||||
|
|
||||||
def get_plr_nested_dict(self) -> Dict[str, Any]:
|
def get_plr_nested_dict(self) -> Dict[str, Any]:
|
||||||
"""获取资源实例的嵌套字典表示"""
|
"""获取资源实例的嵌套字典表示"""
|
||||||
@@ -351,7 +322,7 @@ class ResourceTreeSet(object):
|
|||||||
)
|
)
|
||||||
|
|
||||||
@classmethod
|
@classmethod
|
||||||
def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet":
|
def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet":
|
||||||
"""
|
"""
|
||||||
从plr资源创建ResourceTreeSet
|
从plr资源创建ResourceTreeSet
|
||||||
"""
|
"""
|
||||||
@@ -368,8 +339,6 @@ class ResourceTreeSet(object):
|
|||||||
}
|
}
|
||||||
if source in replace_info:
|
if source in replace_info:
|
||||||
return replace_info[source]
|
return replace_info[source]
|
||||||
elif source is None:
|
|
||||||
return ""
|
|
||||||
else:
|
else:
|
||||||
print("转换pylabrobot的时候，出现未知类型", source)
|
print("转换pylabrobot的时候，出现未知类型", source)
|
||||||
return source
|
return source
|
||||||
@@ -380,8 +349,7 @@ class ResourceTreeSet(object):
|
|||||||
if not uid:
|
if not uid:
|
||||||
uid = str(uuid.uuid4())
|
uid = str(uuid.uuid4())
|
||||||
res.unilabos_uuid = uid
|
res.unilabos_uuid = uid
|
||||||
if not known_newly_created:
|
logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
|
||||||
logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
|
|
||||||
|
|
||||||
# 获取unilabos_extra，默认为空字典
|
# 获取unilabos_extra，默认为空字典
|
||||||
extra = getattr(res, "unilabos_extra", {})
|
extra = getattr(res, "unilabos_extra", {})
|
||||||
@@ -418,7 +386,7 @@ class ResourceTreeSet(object):
|
|||||||
"parent": parent_resource, # 直接传入 ResourceDict 对象
|
"parent": parent_resource, # 直接传入 ResourceDict 对象
|
||||||
"parent_uuid": parent_uuid, # 使用 parent_uuid 而不是 parent 对象
|
"parent_uuid": parent_uuid, # 使用 parent_uuid 而不是 parent 对象
|
||||||
"type": replace_plr_type(d.get("category", "")),
|
"type": replace_plr_type(d.get("category", "")),
|
||||||
"class": extra.get(EXTRA_CLASS, ""),
|
"class": d.get("class", ""),
|
||||||
"position": pos,
|
"position": pos,
|
||||||
"pose": pos,
|
"pose": pos,
|
||||||
"config": {
|
"config": {
|
||||||
@@ -468,7 +436,7 @@ class ResourceTreeSet(object):
|
|||||||
trees.append(tree_instance)
|
trees.append(tree_instance)
|
||||||
return cls(trees)
|
return cls(trees)
|
||||||
|
|
||||||
def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
|
def to_plr_resources(self) -> List["PLRResource"]:
|
||||||
"""
|
"""
|
||||||
将 ResourceTreeSet 转换为 PLR 资源列表
|
将 ResourceTreeSet 转换为 PLR 资源列表
|
||||||
|
|
||||||
@@ -480,20 +448,13 @@ class ResourceTreeSet(object):
|
|||||||
from pylabrobot.utils.object_parsing import find_subclass
|
from pylabrobot.utils.object_parsing import find_subclass
|
||||||
|
|
||||||
# 类型映射
|
# 类型映射
|
||||||
TYPE_MAP = {
|
TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"}
|
||||||
"plate": "Plate",
|
|
||||||
"well": "Well",
|
|
||||||
"deck": "Deck",
|
|
||||||
"container": "RegularContainer",
|
|
||||||
"tip_spot": "TipSpot",
|
|
||||||
}
|
|
||||||
|
|
||||||
def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
|
def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
|
||||||
"""一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
|
"""一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
|
||||||
name_to_uuid[node.res_content.name] = node.res_content.uuid
|
name_to_uuid[node.res_content.name] = node.res_content.uuid
|
||||||
all_states[node.res_content.name] = node.res_content.data
|
all_states[node.res_content.name] = node.res_content.data
|
||||||
name_to_extra[node.res_content.name] = node.res_content.extra
|
name_to_extra[node.res_content.name] = node.res_content.extra
|
||||||
name_to_extra[node.res_content.name][EXTRA_CLASS] = node.res_content.klass
|
|
||||||
for child in node.children:
|
for child in node.children:
|
||||||
collect_node_data(child, name_to_uuid, all_states, name_to_extra)
|
collect_node_data(child, name_to_uuid, all_states, name_to_extra)
|
||||||
|
|
||||||
@@ -538,10 +499,7 @@ class ResourceTreeSet(object):
|
|||||||
plr_dict = node_to_plr_dict(tree.root_node, has_model)
|
plr_dict = node_to_plr_dict(tree.root_node, has_model)
|
||||||
try:
|
try:
|
||||||
sub_cls = find_subclass(plr_dict["type"], PLRResource)
|
sub_cls = find_subclass(plr_dict["type"], PLRResource)
|
||||||
if skip_devices and plr_dict["type"] == "device":
|
if sub_cls is None:
|
||||||
logger.info(f"跳过更新 {plr_dict['name']} 设备是class")
|
|
||||||
continue
|
|
||||||
elif sub_cls is None:
|
|
||||||
raise ValueError(
|
raise ValueError(
|
||||||
f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
|
f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
|
||||||
)
|
)
|
||||||
@@ -549,11 +507,6 @@ class ResourceTreeSet(object):
|
|||||||
if "category" not in spec.parameters:
|
if "category" not in spec.parameters:
|
||||||
plr_dict.pop("category", None)
|
plr_dict.pop("category", None)
|
||||||
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
|
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
|
||||||
from pylabrobot.resources import Coordinate
|
|
||||||
from pylabrobot.serializer import deserialize
|
|
||||||
|
|
||||||
location = cast(Coordinate, deserialize(plr_dict["location"]))
|
|
||||||
plr_resource.location = location
|
|
||||||
plr_resource.load_all_state(all_states)
|
plr_resource.load_all_state(all_states)
|
||||||
# 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
|
# 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
|
||||||
tracker.loop_set_uuid(plr_resource, name_to_uuid)
|
tracker.loop_set_uuid(plr_resource, name_to_uuid)
|
||||||
@@ -655,16 +608,6 @@ class ResourceTreeSet(object):
|
|||||||
"""
|
"""
|
||||||
return [tree.root_node for tree in self.trees]
|
return [tree.root_node for tree in self.trees]
|
||||||
|
|
||||||
@property
|
|
||||||
def root_nodes_uuid(self) -> List[ResourceDictInstance]:
|
|
||||||
"""
|
|
||||||
获取所有树的根节点
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
所有根节点的资源实例列表
|
|
||||||
"""
|
|
||||||
return [tree.root_node.res_content.uuid for tree in self.trees]
|
|
||||||
|
|
||||||
@property
|
@property
|
||||||
def all_nodes(self) -> List[ResourceDictInstance]:
|
def all_nodes(self) -> List[ResourceDictInstance]:
|
||||||
"""
|
"""
|
||||||
@@ -975,33 +918,6 @@ class DeviceNodeResourceTracker(object):
|
|||||||
|
|
||||||
return self._traverse_and_process(resource, process)
|
return self._traverse_and_process(resource, process)
|
||||||
|
|
||||||
def loop_find_with_uuid(self, resource, target_uuid: str):
|
|
||||||
"""
|
|
||||||
递归遍历资源树，根据 uuid 查找并返回对应的资源
|
|
||||||
|
|
||||||
Args:
|
|
||||||
resource: 资源对象（可以是list、dict或实例）
|
|
||||||
target_uuid: 要查找的uuid
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
找到的资源对象，未找到则返回None
|
|
||||||
"""
|
|
||||||
found_resource = None
|
|
||||||
|
|
||||||
def process(res):
|
|
||||||
nonlocal found_resource
|
|
||||||
if found_resource is not None:
|
|
||||||
return 0 # 已找到，跳过后续处理
|
|
||||||
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
|
|
||||||
if current_uuid and current_uuid == target_uuid:
|
|
||||||
found_resource = res
|
|
||||||
logger.trace(f"找到资源UUID: {target_uuid}")
|
|
||||||
return 1
|
|
||||||
return 0
|
|
||||||
|
|
||||||
self._traverse_and_process(resource, process)
|
|
||||||
return found_resource
|
|
||||||
|
|
||||||
def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int:
|
def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int:
|
||||||
"""
|
"""
|
||||||
递归遍历资源树，根据 name 设置所有节点的 extra
|
递归遍历资源树，根据 name 设置所有节点的 extra
|
||||||
@@ -1020,7 +936,7 @@ class DeviceNodeResourceTracker(object):
|
|||||||
extra = name_to_extra_map[resource_name]
|
extra = name_to_extra_map[resource_name]
|
||||||
self.set_resource_extra(res, extra)
|
self.set_resource_extra(res, extra)
|
||||||
if len(extra):
|
if len(extra):
|
||||||
logger.trace(f"设置资源Extra: {resource_name} -> {extra}")
|
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
|
||||||
return 1
|
return 1
|
||||||
return 0
|
return 0
|
||||||
|
|
||||||
@@ -1187,7 +1103,7 @@ class DeviceNodeResourceTracker(object):
|
|||||||
for key in keys_to_remove:
|
for key in keys_to_remove:
|
||||||
self.resource2parent_resource.pop(key, None)
|
self.resource2parent_resource.pop(key, None)
|
||||||
|
|
||||||
logger.trace(f"[ResourceTracker] 成功移除资源: {resource}")
|
logger.debug(f"成功移除资源: {resource}")
|
||||||
return True
|
return True
|
||||||
|
|
||||||
def clear_resource(self):
|
def clear_resource(self):
|
||||||
|
|||||||
@@ -43,10 +43,6 @@ def warehouse_factory(
|
|||||||
if layout == "row-major":
|
if layout == "row-major":
|
||||||
# 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值
|
# 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值
|
||||||
y = dy + row * item_dy
|
y = dy + row * item_dy
|
||||||
elif layout == "vertical-col-major":
|
|
||||||
# 竖向warehouse: row=0 对应顶部（y小），row=n-1 对应底部（y大）
|
|
||||||
# 但标签 01 应该在底部，所以使用反向映射
|
|
||||||
y = dy + (num_items_y - row - 1) * item_dy
|
|
||||||
else:
|
else:
|
||||||
# 列优先：保持原逻辑（row=0 对应较大的 y）
|
# 列优先：保持原逻辑（row=0 对应较大的 y）
|
||||||
y = dy + (num_items_y - row - 1) * item_dy
|
y = dy + (num_items_y - row - 1) * item_dy
|
||||||
|
|||||||
@@ -159,14 +159,10 @@ _msg_converter: Dict[Type, Any] = {
|
|||||||
else Pose()
|
else Pose()
|
||||||
),
|
),
|
||||||
config=json.dumps(x.get("config", {})),
|
config=json.dumps(x.get("config", {})),
|
||||||
data=json.dumps(obtain_data_with_uuid(x)),
|
data=json.dumps(x.get("data", {})),
|
||||||
),
|
),
|
||||||
}
|
}
|
||||||
|
|
||||||
def obtain_data_with_uuid(x: dict):
|
|
||||||
data = x.get("data", {})
|
|
||||||
data["unilabos_uuid"] = x.get("uuid", None)
|
|
||||||
return data
|
|
||||||
|
|
||||||
def json_or_yaml_loads(data: str) -> Any:
|
def json_or_yaml_loads(data: str) -> Any:
|
||||||
try:
|
try:
|
||||||
@@ -770,16 +766,13 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
|
|||||||
return schema
|
return schema
|
||||||
|
|
||||||
|
|
||||||
def ros_action_to_json_schema(
|
def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
|
||||||
action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None
|
|
||||||
) -> Dict[str, Any]:
|
|
||||||
"""
|
"""
|
||||||
将 ROS Action 类转换为 JSON Schema
|
将 ROS Action 类转换为 JSON Schema
|
||||||
|
|
||||||
Args:
|
Args:
|
||||||
action_class: ROS Action 类
|
action_class: ROS Action 类
|
||||||
description: 描述
|
description: 描述
|
||||||
previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
|
|
||||||
|
|
||||||
Returns:
|
Returns:
|
||||||
完整的 JSON Schema 定义
|
完整的 JSON Schema 定义
|
||||||
@@ -813,44 +806,9 @@ def ros_action_to_json_schema(
|
|||||||
"required": ["goal"],
|
"required": ["goal"],
|
||||||
}
|
}
|
||||||
|
|
||||||
# 保留之前 schema 中 goal/feedback/result 下一级字段的 description
|
|
||||||
if previous_schema:
|
|
||||||
_preserve_field_descriptions(schema, previous_schema)
|
|
||||||
|
|
||||||
return schema
|
return schema
|
||||||
|
|
||||||
|
|
||||||
def _preserve_field_descriptions(
|
|
||||||
new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
|
|
||||||
) -> None:
|
|
||||||
"""
|
|
||||||
保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
|
|
||||||
|
|
||||||
Args:
|
|
||||||
new_schema: 新生成的 schema（会被修改）
|
|
||||||
previous_schema: 之前的 schema
|
|
||||||
"""
|
|
||||||
for section in ["goal", "feedback", "result"]:
|
|
||||||
new_section = new_schema.get("properties", {}).get(section, {})
|
|
||||||
prev_section = previous_schema.get("properties", {}).get(section, {})
|
|
||||||
|
|
||||||
if not new_section or not prev_section:
|
|
||||||
continue
|
|
||||||
|
|
||||||
new_props = new_section.get("properties", {})
|
|
||||||
prev_props = prev_section.get("properties", {})
|
|
||||||
|
|
||||||
for field_name, field_schema in new_props.items():
|
|
||||||
if field_name in prev_props:
|
|
||||||
prev_field = prev_props[field_name]
|
|
||||||
# 保留字段的 description
|
|
||||||
if "description" in prev_field and prev_field["description"]:
|
|
||||||
field_schema["description"] = prev_field["description"]
|
|
||||||
# 保留字段的 title（用户自定义的中文名）
|
|
||||||
if "title" in prev_field and prev_field["title"]:
|
|
||||||
field_schema["title"] = prev_field["title"]
|
|
||||||
|
|
||||||
|
|
||||||
def convert_ros_action_to_jsonschema(
|
def convert_ros_action_to_jsonschema(
|
||||||
action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json"
|
action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json"
|
||||||
) -> Dict[str, Any]:
|
) -> Dict[str, Any]:
|
||||||
|
|||||||
@@ -4,20 +4,8 @@ import json
|
|||||||
import threading
|
import threading
|
||||||
import time
|
import time
|
||||||
import traceback
|
import traceback
|
||||||
from typing import (
|
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
|
||||||
get_type_hints,
|
Tuple
|
||||||
TypeVar,
|
|
||||||
Generic,
|
|
||||||
Dict,
|
|
||||||
Any,
|
|
||||||
Type,
|
|
||||||
TypedDict,
|
|
||||||
Optional,
|
|
||||||
List,
|
|
||||||
TYPE_CHECKING,
|
|
||||||
Union,
|
|
||||||
Tuple,
|
|
||||||
)
|
|
||||||
|
|
||||||
from concurrent.futures import ThreadPoolExecutor
|
from concurrent.futures import ThreadPoolExecutor
|
||||||
import asyncio
|
import asyncio
|
||||||
@@ -60,10 +48,8 @@ from unilabos.resources.resource_tracker import (
|
|||||||
ResourceTreeSet,
|
ResourceTreeSet,
|
||||||
ResourceTreeInstance,
|
ResourceTreeInstance,
|
||||||
ResourceDictInstance,
|
ResourceDictInstance,
|
||||||
EXTRA_SAMPLE_UUID,
|
|
||||||
PARAM_SAMPLE_UUIDS,
|
|
||||||
JSON_UNILABOS_PARAM,
|
|
||||||
)
|
)
|
||||||
|
from unilabos.ros.x.rclpyx import get_event_loop
|
||||||
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||||
from rclpy.task import Task, Future
|
from rclpy.task import Task, Future
|
||||||
from unilabos.utils.import_manager import default_manager
|
from unilabos.utils.import_manager import default_manager
|
||||||
@@ -199,7 +185,7 @@ class PropertyPublisher:
|
|||||||
f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
|
f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
|
||||||
)
|
)
|
||||||
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
||||||
self.__loop = ROS2DeviceNode.get_asyncio_loop()
|
self.__loop = get_event_loop()
|
||||||
str_msg_type = str(msg_type)[8:-2]
|
str_msg_type = str(msg_type)[8:-2]
|
||||||
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
|
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
|
||||||
|
|
||||||
@@ -231,15 +217,14 @@ class PropertyPublisher:
|
|||||||
|
|
||||||
def publish_property(self):
|
def publish_property(self):
|
||||||
try:
|
try:
|
||||||
# self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
|
self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
|
||||||
value = self.get_property()
|
value = self.get_property()
|
||||||
if self.print_publish:
|
if self.print_publish:
|
||||||
pass
|
self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
|
||||||
# self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
|
|
||||||
if value is not None:
|
if value is not None:
|
||||||
msg = convert_to_ros_msg(self.msg_type, value)
|
msg = convert_to_ros_msg(self.msg_type, value)
|
||||||
self.publisher_.publish(msg)
|
self.publisher_.publish(msg)
|
||||||
# self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
|
self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
self.node.lab_logger().error(
|
self.node.lab_logger().error(
|
||||||
f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
|
f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
|
||||||
@@ -377,7 +362,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
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
|
# 物料传输到对应的node节点
|
||||||
client = self._resource_clients["c2s_update_resource_tree"]
|
client = self._resource_clients["c2s_update_resource_tree"]
|
||||||
request = SerialCommand.Request()
|
request = SerialCommand.Request()
|
||||||
@@ -405,27 +389,30 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
|
rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
|
||||||
parent_resource = None
|
parent_resource = None
|
||||||
if bind_parent_id != self.node_name:
|
if bind_parent_id != self.node_name:
|
||||||
parent_resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
|
parent_resource = self.resource_tracker.figure_resource(
|
||||||
for r in rts.root_nodes:
|
{"name": bind_parent_id}
|
||||||
# noinspection PyUnresolvedReferences
|
)
|
||||||
r.res_content.parent_uuid = parent_resource.unilabos_uuid
|
for r in rts.root_nodes:
|
||||||
else:
|
# noinspection PyUnresolvedReferences
|
||||||
for r in rts.root_nodes:
|
r.res_content.parent_uuid = parent_resource.unilabos_uuid
|
||||||
r.res_content.parent_uuid = self.uuid
|
|
||||||
rts_plr_instances = rts.to_plr_resources()
|
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
|
||||||
if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
|
|
||||||
# noinspection PyTypeChecker
|
# noinspection PyTypeChecker
|
||||||
container_instance: RegularContainer = rts_plr_instances[0]
|
container_instance: RegularContainer = rts.root_nodes[0]
|
||||||
found_resources = self.resource_tracker.figure_resource({"name": container_instance.name}, try_mode=True)
|
found_resources = self.resource_tracker.figure_resource(
|
||||||
|
{"id": container_instance.name}, try_mode=True
|
||||||
|
)
|
||||||
if not len(found_resources):
|
if not len(found_resources):
|
||||||
self.resource_tracker.add_resource(container_instance)
|
self.resource_tracker.add_resource(container_instance)
|
||||||
logger.info(f"添加物料{container_instance.name}到资源跟踪器")
|
logger.info(f"添加物料{container_instance.name}到资源跟踪器")
|
||||||
else:
|
else:
|
||||||
assert len(found_resources) == 1, f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
|
assert (
|
||||||
|
len(found_resources) == 1
|
||||||
|
), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
|
||||||
found_resource = found_resources[0]
|
found_resource = found_resources[0]
|
||||||
if isinstance(found_resource, RegularContainer):
|
if isinstance(found_resource, RegularContainer):
|
||||||
logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
|
logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
|
||||||
found_resource.state.update(container_instance.state)
|
found_resource.state.update(json.loads(container_instance.state))
|
||||||
elif isinstance(found_resource, dict):
|
elif isinstance(found_resource, dict):
|
||||||
raise ValueError("已不支持 字典 版本的RegularContainer")
|
raise ValueError("已不支持 字典 版本的RegularContainer")
|
||||||
else:
|
else:
|
||||||
@@ -433,26 +420,21 @@ 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(
|
request.command = json.dumps({
|
||||||
{
|
"action": "add",
|
||||||
"action": "add",
|
"data": {
|
||||||
"data": {
|
"data": rts.dump(),
|
||||||
"data": rts.dump(),
|
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
|
||||||
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else self.uuid,
|
"first_add": False,
|
||||||
"first_add": False,
|
},
|
||||||
},
|
})
|
||||||
}
|
|
||||||
)
|
|
||||||
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)
|
uuid_maps = json.loads(tree_response.response)
|
||||||
plr_instances = rts.to_plr_resources()
|
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||||
for plr_instance in plr_instances:
|
|
||||||
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
|
|
||||||
rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances)
|
|
||||||
self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
|
self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
|
||||||
final_response = {
|
final_response = {
|
||||||
"created_resource_tree": rts.dump(),
|
"created_resources": rts.dump(),
|
||||||
"liquid_input_resource_tree": [],
|
"liquid_input_resources": [],
|
||||||
}
|
}
|
||||||
res.response = json.dumps(final_response)
|
res.response = json.dumps(final_response)
|
||||||
# 如果driver自己就有assign的方法，那就使用driver自己的assign方法
|
# 如果driver自己就有assign的方法，那就使用driver自己的assign方法
|
||||||
@@ -478,15 +460,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
return res
|
return res
|
||||||
try:
|
try:
|
||||||
if len(rts.root_nodes) == 1 and parent_resource is not None:
|
if len(rts.root_nodes) == 1 and parent_resource is not None:
|
||||||
plr_instance = plr_instances[0]
|
plr_instance = rts.to_plr_resources()[0]
|
||||||
if isinstance(plr_instance, Plate):
|
if isinstance(plr_instance, Plate):
|
||||||
empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
|
empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
|
||||||
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
|
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
|
||||||
ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
|
ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
|
||||||
LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
|
LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
|
||||||
self.lab_logger().warning(
|
self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个")
|
||||||
f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
|
|
||||||
)
|
|
||||||
for liquid_type, liquid_volume, liquid_input_slot in zip(
|
for liquid_type, liquid_volume, liquid_input_slot in zip(
|
||||||
ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
|
ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
|
||||||
):
|
):
|
||||||
@@ -505,15 +485,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
input_wells = []
|
input_wells = []
|
||||||
for r in LIQUID_INPUT_SLOT:
|
for r in LIQUID_INPUT_SLOT:
|
||||||
input_wells.append(plr_instance.children[r])
|
input_wells.append(plr_instance.children[r])
|
||||||
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
|
final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
|
||||||
input_wells
|
|
||||||
).dump()
|
|
||||||
res.response = json.dumps(final_response)
|
res.response = json.dumps(final_response)
|
||||||
if (
|
if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
|
||||||
issubclass(parent_resource.__class__, Deck)
|
|
||||||
and hasattr(parent_resource, "assign_child_at_slot")
|
|
||||||
and "slot" in other_calling_param
|
|
||||||
):
|
|
||||||
other_calling_param["slot"] = int(other_calling_param["slot"])
|
other_calling_param["slot"] = int(other_calling_param["slot"])
|
||||||
parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
|
parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
|
||||||
else:
|
else:
|
||||||
@@ -528,16 +502,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
|
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
|
||||||
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 = json.dumps({
|
||||||
{
|
"action": "add",
|
||||||
"action": "add",
|
"data": {
|
||||||
"data": {
|
"data": rts_with_parent.dump(),
|
||||||
"data": rts_with_parent.dump(),
|
"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
|
||||||
"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
|
"first_add": False,
|
||||||
"first_add": False,
|
},
|
||||||
},
|
})
|
||||||
}
|
|
||||||
)
|
|
||||||
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)
|
uuid_maps = json.loads(tree_response.response)
|
||||||
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||||
@@ -647,7 +619,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
) # type: ignore
|
) # type: ignore
|
||||||
raw_nodes = json.loads(response.response)
|
raw_nodes = json.loads(response.response)
|
||||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes)
|
tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes)
|
||||||
self.lab_logger().trace(f"获取资源结果: {len(tree_set.trees)} 个资源树 {tree_set.root_nodes}")
|
self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树")
|
||||||
return tree_set
|
return tree_set
|
||||||
|
|
||||||
async def get_resource_with_dir(self, resource_id: str, with_children: bool = True) -> "ResourcePLR":
|
async def get_resource_with_dir(self, resource_id: str, with_children: bool = True) -> "ResourcePLR":
|
||||||
@@ -681,71 +653,61 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
|
|
||||||
def transfer_to_new_resource(
|
def transfer_to_new_resource(
|
||||||
self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]
|
self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]
|
||||||
) -> Optional["ResourcePLR"]:
|
):
|
||||||
parent_uuid = tree.root_node.res_content.parent_uuid
|
parent_uuid = tree.root_node.res_content.parent_uuid
|
||||||
if not parent_uuid:
|
if parent_uuid:
|
||||||
self.lab_logger().warning(
|
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
|
||||||
f"物料{plr_resource} parent未知，挂载到当前节点下，额外参数：{additional_add_params}"
|
if parent_resource is None:
|
||||||
)
|
|
||||||
return None
|
|
||||||
if parent_uuid == self.uuid:
|
|
||||||
self.lab_logger().warning(
|
|
||||||
f"物料{plr_resource}请求挂载到{self.identifier}，额外参数：{additional_add_params}"
|
|
||||||
)
|
|
||||||
return None
|
|
||||||
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
|
|
||||||
if parent_resource is None:
|
|
||||||
self.lab_logger().warning(
|
|
||||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
|
|
||||||
)
|
|
||||||
else:
|
|
||||||
try:
|
|
||||||
# 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
|
|
||||||
additional_params = {}
|
|
||||||
extra = getattr(plr_resource, "unilabos_extra", {})
|
|
||||||
if len(extra):
|
|
||||||
self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
|
|
||||||
if "update_resource_site" in extra:
|
|
||||||
additional_add_params["site"] = extra["update_resource_site"]
|
|
||||||
site = additional_add_params.get("site", None)
|
|
||||||
spec = inspect.signature(parent_resource.assign_child_resource)
|
|
||||||
if "spot" in spec.parameters:
|
|
||||||
ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
|
|
||||||
if ordering_dict:
|
|
||||||
site = list(ordering_dict.keys()).index(site)
|
|
||||||
additional_params["spot"] = site
|
|
||||||
old_parent = plr_resource.parent
|
|
||||||
if old_parent is not None:
|
|
||||||
# plr并不支持同一个deck的加载和卸载
|
|
||||||
self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
|
|
||||||
old_parent.unassign_child_resource(plr_resource)
|
|
||||||
self.lab_logger().warning(
|
self.lab_logger().warning(
|
||||||
f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
|
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
|
||||||
)
|
)
|
||||||
|
else:
|
||||||
|
try:
|
||||||
|
# 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
|
||||||
|
additional_params = {}
|
||||||
|
extra = getattr(plr_resource, "unilabos_extra", {})
|
||||||
|
if len(extra):
|
||||||
|
self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
|
||||||
|
if "update_resource_site" in extra:
|
||||||
|
additional_add_params["site"] = extra["update_resource_site"]
|
||||||
|
site = additional_add_params.get("site", None)
|
||||||
|
spec = inspect.signature(parent_resource.assign_child_resource)
|
||||||
|
if "spot" in spec.parameters:
|
||||||
|
ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
|
||||||
|
if ordering_dict:
|
||||||
|
site = list(ordering_dict.keys()).index(site)
|
||||||
|
additional_params["spot"] = site
|
||||||
|
old_parent = plr_resource.parent
|
||||||
|
if old_parent is not None:
|
||||||
|
# plr并不支持同一个deck的加载和卸载
|
||||||
|
self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
|
||||||
|
old_parent.unassign_child_resource(plr_resource)
|
||||||
|
self.lab_logger().warning(
|
||||||
|
f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
|
||||||
|
)
|
||||||
|
|
||||||
# ⭐ assign 之前，需要从 resources 列表中移除
|
# ⭐ assign 之前，需要从 resources 列表中移除
|
||||||
# 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
|
# 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
|
||||||
# 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
|
# 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
|
||||||
resource_id = id(plr_resource)
|
resource_id = id(plr_resource)
|
||||||
for i, r in enumerate(self.resource_tracker.resources):
|
for i, r in enumerate(self.resource_tracker.resources):
|
||||||
if id(r) == resource_id:
|
if id(r) == resource_id:
|
||||||
self.resource_tracker.resources.pop(i)
|
self.resource_tracker.resources.pop(i)
|
||||||
self.lab_logger().debug(
|
self.lab_logger().debug(
|
||||||
f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
|
f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
|
||||||
)
|
)
|
||||||
break
|
break
|
||||||
|
|
||||||
parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
|
parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
|
||||||
|
|
||||||
func = getattr(self.driver_instance, "resource_tree_transfer", None)
|
func = getattr(self.driver_instance, "resource_tree_transfer", None)
|
||||||
if callable(func):
|
if callable(func):
|
||||||
# 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
|
# 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
|
||||||
func(old_parent, plr_resource, parent_resource)
|
func(old_parent, plr_resource, parent_resource)
|
||||||
return parent_resource
|
except Exception as e:
|
||||||
except Exception as e:
|
self.lab_logger().warning(
|
||||||
self.lab_logger().warning(
|
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
|
||||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
|
)
|
||||||
)
|
|
||||||
|
|
||||||
async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
|
async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
|
||||||
"""
|
"""
|
||||||
@@ -760,7 +722,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
|
|
||||||
def _handle_add(
|
def _handle_add(
|
||||||
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||||
) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
|
) -> Dict[str, Any]:
|
||||||
"""
|
"""
|
||||||
处理资源添加操作的内部函数
|
处理资源添加操作的内部函数
|
||||||
|
|
||||||
@@ -772,20 +734,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
Returns:
|
Returns:
|
||||||
操作结果字典
|
操作结果字典
|
||||||
"""
|
"""
|
||||||
parents = [] # 放的是被变更的物料 / 被变更的物料父级
|
|
||||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||||
self.resource_tracker.add_resource(plr_resource)
|
self.resource_tracker.add_resource(plr_resource)
|
||||||
parent = self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
|
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
|
||||||
if parent is not None:
|
|
||||||
parents.append(parent)
|
|
||||||
else:
|
|
||||||
parents.append(plr_resource)
|
|
||||||
|
|
||||||
func = getattr(self.driver_instance, "resource_tree_add", None)
|
func = getattr(self.driver_instance, "resource_tree_add", None)
|
||||||
if callable(func):
|
if callable(func):
|
||||||
func(plr_resources)
|
func(plr_resources)
|
||||||
|
|
||||||
return {"success": True, "action": "add"}, parents
|
return {"success": True, "action": "add"}
|
||||||
|
|
||||||
def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
|
def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
|
||||||
"""
|
"""
|
||||||
@@ -820,11 +777,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
if plr_resource.parent is not None:
|
if plr_resource.parent is not None:
|
||||||
plr_resource.parent.unassign_child_resource(plr_resource)
|
plr_resource.parent.unassign_child_resource(plr_resource)
|
||||||
self.resource_tracker.remove_resource(plr_resource)
|
self.resource_tracker.remove_resource(plr_resource)
|
||||||
self.lab_logger().info(f"[资源同步] 移除物料 {plr_resource} 及其子节点")
|
self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
|
||||||
|
|
||||||
for other_plr_resource in other_plr_resources:
|
for other_plr_resource in other_plr_resources:
|
||||||
self.resource_tracker.remove_resource(other_plr_resource)
|
self.resource_tracker.remove_resource(other_plr_resource)
|
||||||
self.lab_logger().info(f"[资源同步] 移除物料 {other_plr_resource} 及其子节点")
|
self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
|
||||||
|
|
||||||
return {
|
return {
|
||||||
"success": True,
|
"success": True,
|
||||||
@@ -834,9 +791,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
}
|
}
|
||||||
|
|
||||||
def _handle_update(
|
def _handle_update(
|
||||||
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]],
|
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||||
tree_set: ResourceTreeSet,
|
|
||||||
additional_add_params: Dict[str, Any],
|
|
||||||
) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
|
) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
|
||||||
"""
|
"""
|
||||||
处理资源更新操作的内部函数
|
处理资源更新操作的内部函数
|
||||||
@@ -858,19 +813,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
|
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
|
||||||
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
|
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
|
||||||
)
|
)
|
||||||
original_parent_resource = original_instance.parent
|
|
||||||
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
|
|
||||||
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
|
|
||||||
not_same_parent = (
|
|
||||||
original_parent_resource_uuid != target_parent_resource_uuid
|
|
||||||
and original_parent_resource is not None
|
|
||||||
)
|
|
||||||
old_name = original_instance.name
|
|
||||||
new_name = plr_resource.name
|
|
||||||
parent_appended = False
|
|
||||||
|
|
||||||
# Update操作中包含改名：需要先remove再add，这里更新父节点即可
|
# Update操作中包含改名：需要先remove再add
|
||||||
if not not_same_parent and old_name != new_name:
|
if original_instance.name != plr_resource.name:
|
||||||
|
old_name = original_instance.name
|
||||||
|
new_name = plr_resource.name
|
||||||
self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
|
self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
|
||||||
|
|
||||||
# 收集所有相关的uuid（包括子节点）
|
# 收集所有相关的uuid（包括子节点）
|
||||||
@@ -879,10 +826,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
_handle_add([original_instance], tree_set, additional_add_params)
|
_handle_add([original_instance], tree_set, additional_add_params)
|
||||||
|
|
||||||
self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
|
self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
|
||||||
original_instances.append(original_parent_resource)
|
|
||||||
parent_appended = True
|
|
||||||
|
|
||||||
# 常规更新：不涉及改名
|
# 常规更新：不涉及改名
|
||||||
|
original_parent_resource = original_instance.parent
|
||||||
|
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
|
||||||
|
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
|
||||||
|
|
||||||
self.lab_logger().info(
|
self.lab_logger().info(
|
||||||
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
|
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
|
||||||
f"目标父节点{target_parent_resource_uuid} 更新"
|
f"目标父节点{target_parent_resource_uuid} 更新"
|
||||||
@@ -893,43 +842,29 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501
|
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501
|
||||||
|
|
||||||
# 如果父节点变化，需要重新挂载
|
# 如果父节点变化，需要重新挂载
|
||||||
if not_same_parent:
|
if (
|
||||||
parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
original_parent_resource_uuid != target_parent_resource_uuid
|
||||||
original_instances.append(parent)
|
and original_parent_resource is not None
|
||||||
parent_appended = True
|
):
|
||||||
|
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
||||||
else:
|
else:
|
||||||
# 判断是否变更了resource_site，重新登记
|
# 判断是否变更了resource_site
|
||||||
target_site = original_instance.unilabos_extra.get("update_resource_site")
|
target_site = original_instance.unilabos_extra.get("update_resource_site")
|
||||||
sites = (
|
sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
|
||||||
original_instance.parent.sites
|
site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
|
||||||
if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
|
|
||||||
else None
|
|
||||||
)
|
|
||||||
site_names = (
|
|
||||||
list(original_instance.parent._ordering.keys())
|
|
||||||
if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
|
|
||||||
else []
|
|
||||||
)
|
|
||||||
if target_site is not None and sites is not None and site_names is not None:
|
if target_site is not None and sites is not None and site_names is not None:
|
||||||
site_index = sites.index(original_instance)
|
site_index = sites.index(original_instance)
|
||||||
site_name = site_names[site_index]
|
site_name = site_names[site_index]
|
||||||
if site_name != target_site:
|
if site_name != target_site:
|
||||||
parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
|
||||||
if parent is not None:
|
|
||||||
original_instances.append(parent)
|
|
||||||
parent_appended = True
|
|
||||||
|
|
||||||
# 加载状态
|
# 加载状态
|
||||||
original_instance.location = plr_resource.location
|
|
||||||
original_instance.rotation = plr_resource.rotation
|
|
||||||
original_instance.barcode = plr_resource.barcode
|
|
||||||
original_instance.load_all_state(states)
|
original_instance.load_all_state(states)
|
||||||
child_count = len(original_instance.get_all_children())
|
child_count = len(original_instance.get_all_children())
|
||||||
self.lab_logger().info(
|
self.lab_logger().info(
|
||||||
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
|
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
|
||||||
)
|
)
|
||||||
if not parent_appended:
|
original_instances.append(original_instance)
|
||||||
original_instances.append(original_instance)
|
|
||||||
|
|
||||||
# 调用driver的update回调
|
# 调用driver的update回调
|
||||||
func = getattr(self.driver_instance, "resource_tree_update", None)
|
func = getattr(self.driver_instance, "resource_tree_update", None)
|
||||||
@@ -946,7 +881,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
action = i.get("action") # remove, add, update
|
action = i.get("action") # remove, add, update
|
||||||
resources_uuid: List[str] = i.get("data") # 资源数据
|
resources_uuid: List[str] = i.get("data") # 资源数据
|
||||||
additional_add_params = i.get("additional_add_params", {}) # 额外参数
|
additional_add_params = i.get("additional_add_params", {}) # 额外参数
|
||||||
self.lab_logger().trace(f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}")
|
self.lab_logger().info(
|
||||||
|
f"[Resource Tree Update] Processing {action} operation, " f"resources count: {len(resources_uuid)}"
|
||||||
|
)
|
||||||
tree_set = None
|
tree_set = None
|
||||||
if action in ["add", "update"]:
|
if action in ["add", "update"]:
|
||||||
tree_set = await self.get_resource(
|
tree_set = await self.get_resource(
|
||||||
@@ -957,29 +894,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
if tree_set is None:
|
if tree_set is None:
|
||||||
raise ValueError("tree_set不能为None")
|
raise ValueError("tree_set不能为None")
|
||||||
plr_resources = tree_set.to_plr_resources()
|
plr_resources = tree_set.to_plr_resources()
|
||||||
result, parents = _handle_add(plr_resources, tree_set, additional_add_params)
|
result = _handle_add(plr_resources, tree_set, additional_add_params)
|
||||||
parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None]
|
new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
|
||||||
# de_dupe_parents = list(set(parents))
|
|
||||||
# Fix unhashable type error for WareHouse
|
|
||||||
de_dupe_parents = []
|
|
||||||
_seen_ids = set()
|
|
||||||
for p in parents:
|
|
||||||
if id(p) not in _seen_ids:
|
|
||||||
_seen_ids.add(id(p))
|
|
||||||
de_dupe_parents.append(p)
|
|
||||||
new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents) # 去重
|
|
||||||
for tree in new_tree_set.trees:
|
|
||||||
if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
|
|
||||||
tree.root_node.res_content.parent_uuid = self.uuid
|
|
||||||
r = SerialCommand.Request()
|
r = SerialCommand.Request()
|
||||||
r.command = json.dumps(
|
r.command = json.dumps(
|
||||||
{"data": {"data": new_tree_set.dump()}, "action": "update"}
|
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
|
||||||
) # 和Update Resource一致
|
|
||||||
response: SerialCommand_Response = await self._resource_clients[
|
response: SerialCommand_Response = await self._resource_clients[
|
||||||
"c2s_update_resource_tree"
|
"c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||||
].call_async(
|
|
||||||
r
|
|
||||||
) # type: ignore
|
|
||||||
self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
|
self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
|
||||||
results.append(result)
|
results.append(result)
|
||||||
elif action == "update":
|
elif action == "update":
|
||||||
@@ -993,19 +914,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
|
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
|
||||||
result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
|
result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
|
||||||
if not BasicConfig.no_update_feedback:
|
if not BasicConfig.no_update_feedback:
|
||||||
new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) # 去重
|
new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)
|
||||||
for tree in new_tree_set.trees:
|
|
||||||
if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
|
|
||||||
tree.root_node.res_content.parent_uuid = self.uuid
|
|
||||||
r = SerialCommand.Request()
|
r = SerialCommand.Request()
|
||||||
r.command = json.dumps(
|
r.command = json.dumps(
|
||||||
{"data": {"data": new_tree_set.dump()}, "action": "update"}
|
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
|
||||||
) # 和Update Resource一致
|
|
||||||
response: SerialCommand_Response = await self._resource_clients[
|
response: SerialCommand_Response = await self._resource_clients[
|
||||||
"c2s_update_resource_tree"
|
"c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||||
].call_async(
|
|
||||||
r
|
|
||||||
) # type: ignore
|
|
||||||
self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
|
self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
|
||||||
results.append(result)
|
results.append(result)
|
||||||
elif action == "remove":
|
elif action == "remove":
|
||||||
@@ -1020,15 +934,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
# 返回处理结果
|
# 返回处理结果
|
||||||
result_json = {"results": results, "total": len(data)}
|
result_json = {"results": results, "total": len(data)}
|
||||||
res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
|
res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
|
||||||
# self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
|
self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
|
||||||
|
|
||||||
except json.JSONDecodeError as e:
|
except json.JSONDecodeError as e:
|
||||||
error_msg = f"Invalid JSON format: {str(e)}"
|
error_msg = f"Invalid JSON format: {str(e)}"
|
||||||
self.lab_logger().error(f"[资源同步] {error_msg}")
|
self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
|
||||||
res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
|
res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
error_msg = f"Unexpected error: {str(e)}"
|
error_msg = f"Unexpected error: {str(e)}"
|
||||||
self.lab_logger().error(f"[资源同步] {error_msg}")
|
self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
|
||||||
self.lab_logger().error(traceback.format_exc())
|
self.lab_logger().error(traceback.format_exc())
|
||||||
res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
|
res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
|
||||||
|
|
||||||
@@ -1349,8 +1263,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
|
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
|
||||||
|
|
||||||
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
|
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
|
||||||
self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {str(action_kwargs)[:1000]}")
|
self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
|
||||||
self.lab_logger().trace(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
|
|
||||||
error_skip = False
|
error_skip = False
|
||||||
# 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
|
# 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
|
||||||
if action_name not in ["create_resource_detailed", "create_resource"]:
|
if action_name not in ["create_resource_detailed", "create_resource"]:
|
||||||
@@ -1364,41 +1277,21 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
|
resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
|
||||||
|
|
||||||
# 批量查询资源
|
# 批量查询资源
|
||||||
queried_resources: list = [None] * len(resource_inputs)
|
queried_resources = []
|
||||||
uuid_indices: list[tuple[int, str, dict]] = [] # (index, uuid, resource_data)
|
for resource_data in resource_inputs:
|
||||||
|
plr_resource = await self.get_resource_with_dir(
|
||||||
# 第一遍：处理没有uuid的资源，收集有uuid的资源信息
|
resource_id=resource_data["id"], with_children=True
|
||||||
for idx, resource_data in enumerate(resource_inputs):
|
)
|
||||||
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
|
if "sample_id" in resource_data:
|
||||||
if unilabos_uuid is None:
|
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
|
||||||
plr_resource = await self.get_resource_with_dir(
|
queried_resources.append(plr_resource)
|
||||||
resource_id=resource_data["id"], with_children=True
|
|
||||||
)
|
|
||||||
if "sample_id" in resource_data:
|
|
||||||
plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
|
|
||||||
queried_resources[idx] = plr_resource
|
|
||||||
else:
|
|
||||||
uuid_indices.append((idx, unilabos_uuid, resource_data))
|
|
||||||
|
|
||||||
# 第二遍：批量查询有uuid的资源
|
|
||||||
if uuid_indices:
|
|
||||||
uuids = [item[1] for item in uuid_indices]
|
|
||||||
resource_tree = await self.get_resource(uuids)
|
|
||||||
plr_resources = resource_tree.to_plr_resources()
|
|
||||||
for i, (idx, _, resource_data) in enumerate(uuid_indices):
|
|
||||||
plr_resource = plr_resources[i]
|
|
||||||
if "sample_id" in resource_data:
|
|
||||||
plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
|
|
||||||
queried_resources[idx] = plr_resource
|
|
||||||
|
|
||||||
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
|
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
|
||||||
|
|
||||||
# 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
|
||||||
final_resources = queried_resources if is_sequence else queried_resources[0]
|
final_resources = queried_resources if is_sequence else queried_resources[0]
|
||||||
if not is_sequence:
|
if not is_sequence:
|
||||||
plr = self.resource_tracker.figure_resource(
|
plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
|
||||||
{"name": final_resources.name}, try_mode=False
|
|
||||||
)
|
|
||||||
# 保留unilabos_extra
|
# 保留unilabos_extra
|
||||||
if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
|
if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
|
||||||
plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
|
plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
|
||||||
@@ -1438,9 +1331,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
except Exception as _:
|
except Exception as _:
|
||||||
execution_error = traceback.format_exc()
|
execution_error = traceback.format_exc()
|
||||||
error(
|
error(
|
||||||
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
|
|
||||||
)
|
|
||||||
trace(
|
|
||||||
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
|
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
|
||||||
)
|
)
|
||||||
|
|
||||||
@@ -1462,9 +1352,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
except Exception as _:
|
except Exception as _:
|
||||||
execution_error = traceback.format_exc()
|
execution_error = traceback.format_exc()
|
||||||
error(
|
error(
|
||||||
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
|
|
||||||
)
|
|
||||||
trace(
|
|
||||||
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
|
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
|
||||||
)
|
)
|
||||||
|
|
||||||
@@ -1533,18 +1420,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
if isinstance(rs, list):
|
if isinstance(rs, list):
|
||||||
for r in rs:
|
for r in rs:
|
||||||
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
|
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
|
||||||
if res is None:
|
|
||||||
res = rs
|
|
||||||
if id(res) not in seen:
|
|
||||||
seen.add(id(res))
|
|
||||||
unique_resources.append(res)
|
|
||||||
else:
|
else:
|
||||||
res = self.resource_tracker.parent_resource(rs)
|
res = self.resource_tracker.parent_resource(r)
|
||||||
if res is None:
|
if id(res) not in seen:
|
||||||
res = rs
|
seen.add(id(res))
|
||||||
if id(res) not in seen:
|
unique_resources.append(res)
|
||||||
seen.add(id(res))
|
|
||||||
unique_resources.append(res)
|
|
||||||
|
|
||||||
# 使用新的资源树接口
|
# 使用新的资源树接口
|
||||||
if unique_resources:
|
if unique_resources:
|
||||||
@@ -1596,39 +1476,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
try:
|
try:
|
||||||
function_name = target["function_name"]
|
function_name = target["function_name"]
|
||||||
function_args = target["function_args"]
|
function_args = target["function_args"]
|
||||||
# 获取 unilabos 系统参数
|
|
||||||
unilabos_param: Dict[str, Any] = target[JSON_UNILABOS_PARAM]
|
|
||||||
|
|
||||||
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
||||||
function = getattr(self.driver_instance, function_name)
|
function = getattr(self.driver_instance, function_name)
|
||||||
assert callable(
|
assert callable(
|
||||||
function
|
function
|
||||||
), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
|
), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
|
||||||
|
|
||||||
# 处理参数（包含 unilabos 系统参数如 sample_uuids）
|
# 处理 ResourceSlot 类型参数
|
||||||
args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
|
args_list = default_manager._analyze_method_signature(function)["args"]
|
||||||
for arg in args_list:
|
for arg in args_list:
|
||||||
arg_name = arg["name"]
|
arg_name = arg["name"]
|
||||||
arg_type = arg["type"]
|
arg_type = arg["type"]
|
||||||
|
|
||||||
# 跳过不在 function_args 中的参数
|
# 跳过不在 function_args 中的参数
|
||||||
if arg_name not in function_args:
|
if arg_name not in function_args:
|
||||||
# 处理 sample_uuids 参数注入
|
|
||||||
if arg_name == PARAM_SAMPLE_UUIDS:
|
|
||||||
raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
|
|
||||||
# 将 material uuid 转换为 resource 实例
|
|
||||||
# key: sample_uuid, value: material_uuid -> resource 实例
|
|
||||||
resolved_sample_uuids: Dict[str, Any] = {}
|
|
||||||
for sample_uuid, material_uuid in raw_sample_uuids.items():
|
|
||||||
if material_uuid and self.resource_tracker:
|
|
||||||
resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
|
|
||||||
resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
|
|
||||||
else:
|
|
||||||
resolved_sample_uuids[sample_uuid] = material_uuid
|
|
||||||
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
|
|
||||||
self.lab_logger().debug(
|
|
||||||
f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
|
|
||||||
)
|
|
||||||
continue
|
continue
|
||||||
|
|
||||||
# 处理单个 ResourceSlot
|
# 处理单个 ResourceSlot
|
||||||
@@ -1636,7 +1497,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
resource_data = function_args[arg_name]
|
resource_data = function_args[arg_name]
|
||||||
if isinstance(resource_data, dict) and "id" in resource_data:
|
if isinstance(resource_data, dict) and "id" in resource_data:
|
||||||
try:
|
try:
|
||||||
function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
|
converted_resource = self._convert_resource_sync(resource_data)
|
||||||
|
function_args[arg_name] = converted_resource
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
self.lab_logger().error(
|
self.lab_logger().error(
|
||||||
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
||||||
@@ -1650,87 +1512,68 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
resource_list = function_args[arg_name]
|
resource_list = function_args[arg_name]
|
||||||
if isinstance(resource_list, list):
|
if isinstance(resource_list, list):
|
||||||
try:
|
try:
|
||||||
uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
|
converted_resources = []
|
||||||
function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
|
for resource_data in resource_list:
|
||||||
|
if isinstance(resource_data, dict) and "id" in resource_data:
|
||||||
|
converted_resource = self._convert_resource_sync(resource_data)
|
||||||
|
converted_resources.append(converted_resource)
|
||||||
|
function_args[arg_name] = converted_resources
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
self.lab_logger().error(
|
self.lab_logger().error(
|
||||||
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
||||||
)
|
)
|
||||||
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
|
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
|
||||||
|
|
||||||
# todo: 默认反报送
|
|
||||||
return function(**function_args)
|
return function(**function_args)
|
||||||
except KeyError as ex:
|
except KeyError as ex:
|
||||||
raise JsonCommandInitError(
|
raise JsonCommandInitError(
|
||||||
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()}"
|
||||||
)
|
)
|
||||||
|
|
||||||
def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]:
|
def _convert_resource_sync(self, resource_data: Dict[str, Any]):
|
||||||
"""同步转换资源 UUID 为实例
|
"""同步转换资源数据为实例"""
|
||||||
|
# 创建资源查询请求
|
||||||
Args:
|
r = SerialCommand.Request()
|
||||||
*uuids: 一个或多个资源 UUID
|
r.command = json.dumps(
|
||||||
|
{
|
||||||
Returns:
|
"id": resource_data.get("id", None),
|
||||||
单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表
|
"uuid": resource_data.get("uuid", None),
|
||||||
"""
|
"with_children": True,
|
||||||
if not uuids:
|
}
|
||||||
raise ValueError("至少需要提供一个 UUID")
|
|
||||||
|
|
||||||
uuids_list = list(uuids)
|
|
||||||
future = self._resource_clients["c2s_update_resource_tree"].call_async(
|
|
||||||
SerialCommand.Request(
|
|
||||||
command=json.dumps(
|
|
||||||
{
|
|
||||||
"data": {"data": uuids_list, "with_children": True},
|
|
||||||
"action": "get",
|
|
||||||
}
|
|
||||||
)
|
|
||||||
)
|
|
||||||
)
|
)
|
||||||
|
|
||||||
|
# 同步调用资源查询服务
|
||||||
|
future = self._resource_clients["resource_get"].call_async(r)
|
||||||
|
|
||||||
# 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
|
# 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
|
||||||
timeout = 30.0
|
timeout = 30.0
|
||||||
elapsed = 0.0
|
elapsed = 0.0
|
||||||
while not future.done() and elapsed < timeout:
|
while not future.done() and elapsed < timeout:
|
||||||
time.sleep(0.02)
|
time.sleep(0.05)
|
||||||
elapsed += 0.02
|
elapsed += 0.05
|
||||||
|
|
||||||
if not future.done():
|
if not future.done():
|
||||||
raise Exception(f"资源查询超时: {uuids_list}")
|
raise Exception(f"资源查询超时: {resource_data}")
|
||||||
|
|
||||||
response = future.result()
|
response = future.result()
|
||||||
if response is None:
|
if response is None:
|
||||||
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: {resource_data}")
|
||||||
|
|
||||||
raw_data = json.loads(response.response)
|
raw_data = json.loads(response.response)
|
||||||
|
|
||||||
# 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)
|
||||||
if not len(tree_set.trees):
|
plr_resource = tree_set.to_plr_resources()[0]
|
||||||
raise Exception(f"资源查询返回空树: {raw_data}")
|
|
||||||
plr_resources = tree_set.to_plr_resources()
|
|
||||||
|
|
||||||
# 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
|
||||||
figured_resources: List[ResourcePLR] = []
|
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
|
||||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
if len(res) == 0:
|
||||||
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
|
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
|
||||||
if len(res) == 0:
|
return plr_resource
|
||||||
self.lab_logger().warning(f"资源转换未能索引到实例: {tree.root_node.res_content}，返回新建实例")
|
elif len(res) == 1:
|
||||||
figured_resources.append(plr_resource)
|
return res[0]
|
||||||
elif len(res) == 1:
|
else:
|
||||||
figured_resources.append(res[0])
|
raise ValueError(f"资源转换得到多个实例: {res}")
|
||||||
else:
|
|
||||||
raise ValueError(f"资源转换得到多个实例: {res}")
|
|
||||||
|
|
||||||
mapped_plr_resources = []
|
|
||||||
for uuid in uuids_list:
|
|
||||||
for plr_resource in figured_resources:
|
|
||||||
r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
|
|
||||||
mapped_plr_resources.append(r)
|
|
||||||
break
|
|
||||||
|
|
||||||
return mapped_plr_resources
|
|
||||||
|
|
||||||
async def _execute_driver_command_async(self, string: str):
|
async def _execute_driver_command_async(self, string: str):
|
||||||
try:
|
try:
|
||||||
@@ -1745,9 +1588,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
try:
|
try:
|
||||||
function_name = target["function_name"]
|
function_name = target["function_name"]
|
||||||
function_args = target["function_args"]
|
function_args = target["function_args"]
|
||||||
# 获取 unilabos 系统参数
|
|
||||||
unilabos_param: Dict[str, Any] = target.get(JSON_UNILABOS_PARAM, {})
|
|
||||||
|
|
||||||
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
||||||
function = getattr(self.driver_instance, function_name)
|
function = getattr(self.driver_instance, function_name)
|
||||||
assert callable(
|
assert callable(
|
||||||
@@ -1757,30 +1597,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
|||||||
function
|
function
|
||||||
), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
|
), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
|
||||||
|
|
||||||
# 处理参数（包含 unilabos 系统参数如 sample_uuids）
|
# 处理 ResourceSlot 类型参数
|
||||||
args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
|
args_list = default_manager._analyze_method_signature(function)["args"]
|
||||||
for arg in args_list:
|
for arg in args_list:
|
||||||
arg_name = arg["name"]
|
arg_name = arg["name"]
|
||||||
arg_type = arg["type"]
|
arg_type = arg["type"]
|
||||||
|
|
||||||
# 跳过不在 function_args 中的参数
|
# 跳过不在 function_args 中的参数
|
||||||
if arg_name not in function_args:
|
if arg_name not in function_args:
|
||||||
# 处理 sample_uuids 参数注入
|
|
||||||
if arg_name == PARAM_SAMPLE_UUIDS:
|
|
||||||
raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
|
|
||||||
# 将 material uuid 转换为 resource 实例
|
|
||||||
# key: sample_uuid, value: material_uuid -> resource 实例
|
|
||||||
resolved_sample_uuids: Dict[str, Any] = {}
|
|
||||||
for sample_uuid, material_uuid in raw_sample_uuids.items():
|
|
||||||
if material_uuid and self.resource_tracker:
|
|
||||||
resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
|
|
||||||
resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
|
|
||||||
else:
|
|
||||||
resolved_sample_uuids[sample_uuid] = material_uuid
|
|
||||||
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
|
|
||||||
self.lab_logger().debug(
|
|
||||||
f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
|
|
||||||
)
|
|
||||||
continue
|
continue
|
||||||
|
|
||||||
# 处理单个 ResourceSlot
|
# 处理单个 ResourceSlot
|
||||||
@@ -1870,15 +1694,6 @@ class ROS2DeviceNode:
|
|||||||
它不继承设备类，而是通过代理模式访问设备类的属性和方法。
|
它不继承设备类，而是通过代理模式访问设备类的属性和方法。
|
||||||
"""
|
"""
|
||||||
|
|
||||||
# 类变量，用于循环管理
|
|
||||||
_asyncio_loop = None
|
|
||||||
_asyncio_loop_running = False
|
|
||||||
_asyncio_loop_thread = None
|
|
||||||
|
|
||||||
@classmethod
|
|
||||||
def get_asyncio_loop(cls):
|
|
||||||
return cls._asyncio_loop
|
|
||||||
|
|
||||||
@staticmethod
|
@staticmethod
|
||||||
async def safe_task_wrapper(trace_callback, func, **kwargs):
|
async def safe_task_wrapper(trace_callback, func, **kwargs):
|
||||||
try:
|
try:
|
||||||
@@ -1955,11 +1770,6 @@ class ROS2DeviceNode:
|
|||||||
print_publish: 是否打印发布信息
|
print_publish: 是否打印发布信息
|
||||||
driver_is_ros:
|
driver_is_ros:
|
||||||
"""
|
"""
|
||||||
# 在初始化时检查循环状态
|
|
||||||
if ROS2DeviceNode._asyncio_loop_running and ROS2DeviceNode._asyncio_loop_thread is not None:
|
|
||||||
pass
|
|
||||||
elif ROS2DeviceNode._asyncio_loop_thread is None:
|
|
||||||
self._start_loop()
|
|
||||||
|
|
||||||
# 保存设备类是否支持异步上下文
|
# 保存设备类是否支持异步上下文
|
||||||
self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
|
self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
|
||||||
@@ -2051,19 +1861,6 @@ class ROS2DeviceNode:
|
|||||||
except Exception as e:
|
except Exception as e:
|
||||||
self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
|
self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
|
||||||
|
|
||||||
def _start_loop(self):
|
|
||||||
def run_event_loop():
|
|
||||||
loop = asyncio.new_event_loop()
|
|
||||||
ROS2DeviceNode._asyncio_loop = loop
|
|
||||||
asyncio.set_event_loop(loop)
|
|
||||||
loop.run_forever()
|
|
||||||
|
|
||||||
ROS2DeviceNode._asyncio_loop_thread = threading.Thread(
|
|
||||||
target=run_event_loop, daemon=True, name="ROS2DeviceNode"
|
|
||||||
)
|
|
||||||
ROS2DeviceNode._asyncio_loop_thread.start()
|
|
||||||
logger.info(f"循环线程已启动")
|
|
||||||
|
|
||||||
|
|
||||||
class DeviceInfoType(TypedDict):
|
class DeviceInfoType(TypedDict):
|
||||||
id: str
|
id: str
|
||||||
|
|||||||
@@ -1,17 +1,16 @@
|
|||||||
import collections
|
import collections
|
||||||
|
from dataclasses import dataclass, field
|
||||||
import json
|
import json
|
||||||
import threading
|
import threading
|
||||||
import time
|
import time
|
||||||
import traceback
|
import traceback
|
||||||
import uuid
|
import uuid
|
||||||
from dataclasses import dataclass, field
|
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union
|
||||||
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
|
|
||||||
|
|
||||||
from action_msgs.msg import GoalStatus
|
from action_msgs.msg import GoalStatus
|
||||||
from geometry_msgs.msg import Point
|
from geometry_msgs.msg import Point
|
||||||
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
||||||
from rclpy.service import Service
|
from rclpy.service import Service
|
||||||
from typing_extensions import TypedDict
|
|
||||||
from unilabos_msgs.msg import Resource # type: ignore
|
from unilabos_msgs.msg import Resource # type: ignore
|
||||||
from unilabos_msgs.srv import (
|
from unilabos_msgs.srv import (
|
||||||
ResourceAdd,
|
ResourceAdd,
|
||||||
@@ -23,20 +22,9 @@ from unilabos_msgs.srv import (
|
|||||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||||
from unique_identifier_msgs.msg import UUID
|
from unique_identifier_msgs.msg import UUID
|
||||||
|
|
||||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
|
||||||
from unilabos.registry.registry import lab_registry
|
from unilabos.registry.registry import lab_registry
|
||||||
from unilabos.resources.container import RegularContainer
|
|
||||||
from unilabos.resources.graphio import initialize_resource
|
from unilabos.resources.graphio import initialize_resource
|
||||||
from unilabos.resources.registry import add_schema
|
from unilabos.resources.registry import add_schema
|
||||||
from unilabos.resources.resource_tracker import (
|
|
||||||
ResourceDict,
|
|
||||||
ResourceDictInstance,
|
|
||||||
ResourceTreeSet,
|
|
||||||
ResourceTreeInstance,
|
|
||||||
RETURN_UNILABOS_SAMPLES,
|
|
||||||
JSON_UNILABOS_PARAM,
|
|
||||||
PARAM_SAMPLE_UUIDS,
|
|
||||||
)
|
|
||||||
from unilabos.ros.initialize_device import initialize_device_from_dict
|
from unilabos.ros.initialize_device import initialize_device_from_dict
|
||||||
from unilabos.ros.msgs.message_converter import (
|
from unilabos.ros.msgs.message_converter import (
|
||||||
get_msg_type,
|
get_msg_type,
|
||||||
@@ -47,10 +35,17 @@ from unilabos.ros.msgs.message_converter import (
|
|||||||
)
|
)
|
||||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
|
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
|
||||||
from unilabos.ros.nodes.presets.controller_node import ControllerNode
|
from unilabos.ros.nodes.presets.controller_node import ControllerNode
|
||||||
|
from unilabos.resources.resource_tracker import (
|
||||||
|
ResourceDict,
|
||||||
|
ResourceDictInstance,
|
||||||
|
ResourceTreeSet,
|
||||||
|
ResourceTreeInstance,
|
||||||
|
)
|
||||||
from unilabos.utils import logger
|
from unilabos.utils import logger
|
||||||
from unilabos.utils.exception import DeviceClassInvalid
|
from unilabos.utils.exception import DeviceClassInvalid
|
||||||
from unilabos.utils.log import warning
|
from unilabos.utils.log import warning
|
||||||
from unilabos.utils.type_check import serialize_result_info
|
from unilabos.utils.type_check import serialize_result_info
|
||||||
|
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||||
|
|
||||||
if TYPE_CHECKING:
|
if TYPE_CHECKING:
|
||||||
from unilabos.app.ws_client import QueueItem
|
from unilabos.app.ws_client import QueueItem
|
||||||
@@ -66,18 +61,6 @@ class TestResourceReturn(TypedDict):
|
|||||||
devices: List[DeviceSlot]
|
devices: List[DeviceSlot]
|
||||||
|
|
||||||
|
|
||||||
class TestLatencyReturn(TypedDict):
|
|
||||||
"""test_latency方法的返回值类型"""
|
|
||||||
|
|
||||||
avg_rtt_ms: float
|
|
||||||
avg_time_diff_ms: float
|
|
||||||
max_time_error_ms: float
|
|
||||||
task_delay_ms: float
|
|
||||||
raw_delay_ms: float
|
|
||||||
test_count: int
|
|
||||||
status: str
|
|
||||||
|
|
||||||
|
|
||||||
class HostNode(BaseROS2DeviceNode):
|
class HostNode(BaseROS2DeviceNode):
|
||||||
"""
|
"""
|
||||||
主机节点类，负责管理设备、资源和控制器
|
主机节点类，负责管理设备、资源和控制器
|
||||||
@@ -378,7 +361,8 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
request.command = ""
|
request.command = ""
|
||||||
future = sclient.call_async(request)
|
future = sclient.call_async(request)
|
||||||
# Use timeout for result as well
|
# Use timeout for result as well
|
||||||
future.result()
|
future.result(timeout_sec=5.0)
|
||||||
|
self.lab_logger().debug(f"[Host Node] Re-register completed for {device_namespace}")
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
# Gracefully handle destruction during shutdown
|
# Gracefully handle destruction during shutdown
|
||||||
if "destruction was requested" in str(e) or self._shutting_down:
|
if "destruction was requested" in str(e) or self._shutting_down:
|
||||||
@@ -602,10 +586,11 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
)
|
)
|
||||||
|
|
||||||
try:
|
try:
|
||||||
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
new_li = []
|
||||||
for i in response:
|
for i in response:
|
||||||
res = json.loads(i)
|
res = json.loads(i)
|
||||||
return res
|
new_li.append(res)
|
||||||
|
return {"resources": new_li, "liquid_input_resources": new_li}
|
||||||
except Exception as ex:
|
except Exception as ex:
|
||||||
pass
|
pass
|
||||||
_n = "\n"
|
_n = "\n"
|
||||||
@@ -758,7 +743,6 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
item: "QueueItem",
|
item: "QueueItem",
|
||||||
action_type: str,
|
action_type: str,
|
||||||
action_kwargs: Dict[str, Any],
|
action_kwargs: Dict[str, Any],
|
||||||
sample_material: Dict[str, str],
|
|
||||||
server_info: Optional[Dict[str, Any]] = None,
|
server_info: Optional[Dict[str, Any]] = None,
|
||||||
) -> None:
|
) -> None:
|
||||||
"""
|
"""
|
||||||
@@ -776,14 +760,14 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
if action_name.startswith("auto-"):
|
if action_name.startswith("auto-"):
|
||||||
action_name = action_name[5:]
|
action_name = action_name[5:]
|
||||||
action_id = f"/devices/{device_id}/_execute_driver_command"
|
action_id = f"/devices/{device_id}/_execute_driver_command"
|
||||||
json_command: Dict[str, Any] = {
|
action_kwargs = {
|
||||||
"function_name": action_name,
|
"string": json.dumps(
|
||||||
"function_args": action_kwargs,
|
{
|
||||||
JSON_UNILABOS_PARAM: {
|
"function_name": action_name,
|
||||||
PARAM_SAMPLE_UUIDS: sample_material,
|
"function_args": action_kwargs,
|
||||||
},
|
}
|
||||||
|
)
|
||||||
}
|
}
|
||||||
action_kwargs = {"string": json.dumps(json_command)}
|
|
||||||
if action_type.startswith("UniLabJsonCommandAsync"):
|
if action_type.startswith("UniLabJsonCommandAsync"):
|
||||||
action_id = f"/devices/{device_id}/_execute_driver_command_async"
|
action_id = f"/devices/{device_id}/_execute_driver_command_async"
|
||||||
else:
|
else:
|
||||||
@@ -794,11 +778,24 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
raise ValueError(f"ActionClient {action_id} not found.")
|
raise ValueError(f"ActionClient {action_id} not found.")
|
||||||
|
|
||||||
action_client: ActionClient = self._action_clients[action_id]
|
action_client: ActionClient = self._action_clients[action_id]
|
||||||
|
|
||||||
|
# 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
|
||||||
|
def assign_sample_id(obj):
|
||||||
|
if isinstance(obj, dict):
|
||||||
|
if "sample_uuid" in obj:
|
||||||
|
obj["sample_id"] = obj["sample_uuid"]
|
||||||
|
obj.pop("sample_uuid")
|
||||||
|
for k, v in obj.items():
|
||||||
|
if k != "unilabos_extra":
|
||||||
|
assign_sample_id(v)
|
||||||
|
elif isinstance(obj, list):
|
||||||
|
for item in obj:
|
||||||
|
assign_sample_id(item)
|
||||||
|
|
||||||
|
assign_sample_id(action_kwargs)
|
||||||
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
||||||
|
|
||||||
# self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
|
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
|
||||||
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
|
|
||||||
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
|
|
||||||
action_client.wait_for_server()
|
action_client.wait_for_server()
|
||||||
goal_uuid_obj = UUID(uuid=list(u.bytes))
|
goal_uuid_obj = UUID(uuid=list(u.bytes))
|
||||||
|
|
||||||
@@ -856,14 +853,9 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
# 适配后端的一些额外处理
|
# 适配后端的一些额外处理
|
||||||
return_value = return_info.get("return_value")
|
return_value = return_info.get("return_value")
|
||||||
if isinstance(return_value, dict):
|
if isinstance(return_value, dict):
|
||||||
unilabos_samples = return_value.pop(RETURN_UNILABOS_SAMPLES, None)
|
unilabos_samples = return_info.get("unilabos_samples")
|
||||||
if isinstance(unilabos_samples, list) and unilabos_samples:
|
if isinstance(unilabos_samples, list):
|
||||||
self.lab_logger().info(
|
return_info["unilabos_samples"] = unilabos_samples
|
||||||
f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
|
|
||||||
f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
|
|
||||||
f"{'...' if len(unilabos_samples) > 5 else ''}"
|
|
||||||
)
|
|
||||||
return_info["samples"] = unilabos_samples
|
|
||||||
suc = return_info.get("suc", False)
|
suc = return_info.get("suc", False)
|
||||||
if not suc:
|
if not suc:
|
||||||
status = "failed"
|
status = "failed"
|
||||||
@@ -889,7 +881,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
# 清理 _goals 中的记录
|
# 清理 _goals 中的记录
|
||||||
if job_id in self._goals:
|
if job_id in self._goals:
|
||||||
del self._goals[job_id]
|
del self._goals[job_id]
|
||||||
self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals")
|
self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
|
||||||
|
|
||||||
# 存储结果供 HTTP API 查询
|
# 存储结果供 HTTP API 查询
|
||||||
try:
|
try:
|
||||||
@@ -1141,11 +1133,11 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
|
|
||||||
接收序列化的 ResourceTreeSet 数据并进行处理
|
接收序列化的 ResourceTreeSet 数据并进行处理
|
||||||
"""
|
"""
|
||||||
|
self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received")
|
||||||
try:
|
try:
|
||||||
# 解析请求数据
|
# 解析请求数据
|
||||||
data = json.loads(request.command)
|
data = json.loads(request.command)
|
||||||
action = data["action"]
|
action = data["action"]
|
||||||
self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
|
|
||||||
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)
|
||||||
@@ -1169,7 +1161,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
"""
|
"""
|
||||||
更新节点信息回调
|
更新节点信息回调
|
||||||
"""
|
"""
|
||||||
self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
|
# self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
|
||||||
try:
|
try:
|
||||||
from unilabos.app.communication import get_communication_client
|
from unilabos.app.communication import get_communication_client
|
||||||
from unilabos.app.web.client import HTTPClient, http_client
|
from unilabos.app.web.client import HTTPClient, http_client
|
||||||
@@ -1251,7 +1243,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
data = json.loads(request.command)
|
data = json.loads(request.command)
|
||||||
if "uuid" in data and data["uuid"] is not None:
|
if "uuid" in data and data["uuid"] is not None:
|
||||||
http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
|
http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
|
||||||
elif "id" in data:
|
elif "id" in data and data["id"].startswith("/"):
|
||||||
http_req = http_client.resource_get(data["id"], data["with_children"])
|
http_req = http_client.resource_get(data["id"], data["with_children"])
|
||||||
else:
|
else:
|
||||||
raise ValueError("没有使用正确的物料 id 或 uuid")
|
raise ValueError("没有使用正确的物料 id 或 uuid")
|
||||||
@@ -1334,20 +1326,10 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
|
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
|
||||||
return response
|
return response
|
||||||
|
|
||||||
def test_latency(self) -> TestLatencyReturn:
|
def test_latency(self):
|
||||||
"""
|
"""
|
||||||
测试网络延迟的action实现
|
测试网络延迟的action实现
|
||||||
通过5次ping-pong机制校对时间误差并计算实际延迟
|
通过5次ping-pong机制校对时间误差并计算实际延迟
|
||||||
|
|
||||||
Returns:
|
|
||||||
TestLatencyReturn: 包含延迟测试结果的字典，包括：
|
|
||||||
- avg_rtt_ms: 平均往返时间（毫秒）
|
|
||||||
- avg_time_diff_ms: 平均时间差（毫秒）
|
|
||||||
- max_time_error_ms: 最大时间误差（毫秒）
|
|
||||||
- task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算
|
|
||||||
- raw_delay_ms: 原始时间差（毫秒），-1表示无法计算
|
|
||||||
- test_count: 有效测试次数
|
|
||||||
- status: 测试状态，"success"表示成功，"all_timeout"表示全部超时
|
|
||||||
"""
|
"""
|
||||||
import uuid as uuid_module
|
import uuid as uuid_module
|
||||||
|
|
||||||
@@ -1410,15 +1392,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
|
|
||||||
if not ping_results:
|
if not ping_results:
|
||||||
self.lab_logger().error("❌ 所有ping-pong测试都失败了")
|
self.lab_logger().error("❌ 所有ping-pong测试都失败了")
|
||||||
return {
|
return {"status": "all_timeout"}
|
||||||
"avg_rtt_ms": -1.0,
|
|
||||||
"avg_time_diff_ms": -1.0,
|
|
||||||
"max_time_error_ms": -1.0,
|
|
||||||
"task_delay_ms": -1.0,
|
|
||||||
"raw_delay_ms": -1.0,
|
|
||||||
"test_count": 0,
|
|
||||||
"status": "all_timeout",
|
|
||||||
}
|
|
||||||
|
|
||||||
# 统计分析
|
# 统计分析
|
||||||
rtts = [r["rtt_ms"] for r in ping_results]
|
rtts = [r["rtt_ms"] for r in ping_results]
|
||||||
@@ -1426,7 +1400,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
|
|
||||||
avg_rtt_ms = sum(rtts) / len(rtts)
|
avg_rtt_ms = sum(rtts) / len(rtts)
|
||||||
avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
|
avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
|
||||||
max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs)))
|
max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
|
||||||
|
|
||||||
self.lab_logger().info("-" * 50)
|
self.lab_logger().info("-" * 50)
|
||||||
self.lab_logger().info("[测试统计]")
|
self.lab_logger().info("[测试统计]")
|
||||||
@@ -1466,7 +1440,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
|
|
||||||
self.lab_logger().info("=" * 60)
|
self.lab_logger().info("=" * 60)
|
||||||
|
|
||||||
res: TestLatencyReturn = {
|
return {
|
||||||
"avg_rtt_ms": avg_rtt_ms,
|
"avg_rtt_ms": avg_rtt_ms,
|
||||||
"avg_time_diff_ms": avg_time_diff_ms,
|
"avg_time_diff_ms": avg_time_diff_ms,
|
||||||
"max_time_error_ms": max_time_diff_error_ms,
|
"max_time_error_ms": max_time_diff_error_ms,
|
||||||
@@ -1477,23 +1451,12 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
"test_count": len(ping_results),
|
"test_count": len(ping_results),
|
||||||
"status": "success",
|
"status": "success",
|
||||||
}
|
}
|
||||||
return res
|
|
||||||
|
|
||||||
def test_resource(
|
def test_resource(
|
||||||
self,
|
self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]
|
||||||
resource: ResourceSlot = None,
|
|
||||||
resources: List[ResourceSlot] = None,
|
|
||||||
device: DeviceSlot = None,
|
|
||||||
devices: List[DeviceSlot] = None,
|
|
||||||
) -> TestResourceReturn:
|
) -> TestResourceReturn:
|
||||||
if resources is None:
|
|
||||||
resources = []
|
|
||||||
if devices is None:
|
|
||||||
devices = []
|
|
||||||
if resource is None:
|
|
||||||
resource = RegularContainer("test_resource传入None")
|
|
||||||
return {
|
return {
|
||||||
"resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
|
"resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
|
||||||
"devices": [device, *devices],
|
"devices": [device, *devices],
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -1545,9 +1508,7 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
|
|
||||||
# 构建服务地址
|
# 构建服务地址
|
||||||
srv_address = f"/srv{namespace}/s2c_resource_tree"
|
srv_address = f"/srv{namespace}/s2c_resource_tree"
|
||||||
self.lab_logger().trace(
|
self.lab_logger().info(f"[Host Node-Resource] Notifying {device_id} for resource tree {action} operation")
|
||||||
f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------"
|
|
||||||
)
|
|
||||||
|
|
||||||
# 创建服务客户端
|
# 创建服务客户端
|
||||||
sclient = self.create_client(SerialCommand, srv_address)
|
sclient = self.create_client(SerialCommand, srv_address)
|
||||||
@@ -1582,8 +1543,8 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
time.sleep(0.05)
|
time.sleep(0.05)
|
||||||
|
|
||||||
response = future.result()
|
response = future.result()
|
||||||
self.lab_logger().trace(
|
self.lab_logger().info(
|
||||||
f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------"
|
f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}"
|
||||||
)
|
)
|
||||||
return True
|
return True
|
||||||
|
|
||||||
|
|||||||
@@ -6,6 +6,8 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
|
|||||||
|
|
||||||
import rclpy
|
import rclpy
|
||||||
from rosidl_runtime_py import message_to_ordereddict
|
from rosidl_runtime_py import message_to_ordereddict
|
||||||
|
from unilabos_msgs.msg import Resource
|
||||||
|
from unilabos_msgs.srv import ResourceUpdate
|
||||||
|
|
||||||
from unilabos.messages import * # type: ignore # protocol names
|
from unilabos.messages import * # type: ignore # protocol names
|
||||||
from rclpy.action import ActionServer, ActionClient
|
from rclpy.action import ActionServer, ActionClient
|
||||||
@@ -13,6 +15,7 @@ from rclpy.action.server import ServerGoalHandle
|
|||||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||||
|
|
||||||
from unilabos.compile import action_protocol_generators
|
from unilabos.compile import action_protocol_generators
|
||||||
|
from unilabos.resources.graphio import nested_dict_to_list
|
||||||
from unilabos.ros.initialize_device import initialize_device_from_dict
|
from unilabos.ros.initialize_device import initialize_device_from_dict
|
||||||
from unilabos.ros.msgs.message_converter import (
|
from unilabos.ros.msgs.message_converter import (
|
||||||
get_action_type,
|
get_action_type,
|
||||||
@@ -228,15 +231,15 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
|||||||
try:
|
try:
|
||||||
# 统一处理单个或多个资源
|
# 统一处理单个或多个资源
|
||||||
resource_id = (
|
resource_id = (
|
||||||
protocol_kwargs[k]["id"]
|
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
|
||||||
if v == "unilabos_msgs/Resource"
|
|
||||||
else protocol_kwargs[k][0]["id"]
|
|
||||||
)
|
)
|
||||||
resource_uuid = protocol_kwargs[k].get("uuid", None)
|
resource_uuid = protocol_kwargs[k].get("uuid", None)
|
||||||
r = SerialCommand_Request()
|
r = SerialCommand_Request()
|
||||||
r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
|
r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
|
||||||
# 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(
|
response: SerialCommand_Response = await self._resource_clients[
|
||||||
|
"resource_get"
|
||||||
|
].call_async(
|
||||||
r
|
r
|
||||||
) # type: ignore
|
) # type: ignore
|
||||||
raw_data = json.loads(response.response)
|
raw_data = json.loads(response.response)
|
||||||
@@ -304,54 +307,12 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
|||||||
|
|
||||||
# 向Host更新物料当前状态
|
# 向Host更新物料当前状态
|
||||||
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 in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||||
continue
|
r = ResourceUpdate.Request()
|
||||||
self.lab_logger().info(f"更新资源状态: {k}")
|
r.resources = [
|
||||||
try:
|
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
|
||||||
# 去重：使用 seen 集合获取唯一的资源对象
|
]
|
||||||
seen = set()
|
response = await self._resource_clients["resource_update"].call_async(r)
|
||||||
unique_resources = []
|
|
||||||
|
|
||||||
# 获取资源数据，统一转换为列表
|
|
||||||
resource_data = protocol_kwargs[k]
|
|
||||||
is_sequence = v != "unilabos_msgs/Resource"
|
|
||||||
if not is_sequence:
|
|
||||||
resource_list = [resource_data] if isinstance(resource_data, dict) else resource_data
|
|
||||||
else:
|
|
||||||
# 处理序列类型，可能是嵌套列表
|
|
||||||
resource_list = []
|
|
||||||
if isinstance(resource_data, list):
|
|
||||||
for item in resource_data:
|
|
||||||
if isinstance(item, list):
|
|
||||||
resource_list.extend(item)
|
|
||||||
else:
|
|
||||||
resource_list.append(item)
|
|
||||||
else:
|
|
||||||
resource_list = [resource_data]
|
|
||||||
|
|
||||||
for res_data in resource_list:
|
|
||||||
if not isinstance(res_data, dict):
|
|
||||||
continue
|
|
||||||
res_name = res_data.get("id") or res_data.get("name")
|
|
||||||
if not res_name:
|
|
||||||
continue
|
|
||||||
|
|
||||||
# 使用 resource_tracker 获取本地 PLR 实例
|
|
||||||
plr = self.resource_tracker.figure_resource({"name": res_name}, try_mode=False)
|
|
||||||
# 获取父资源
|
|
||||||
res = self.resource_tracker.parent_resource(plr)
|
|
||||||
if res is None:
|
|
||||||
res = plr
|
|
||||||
if id(res) not in seen:
|
|
||||||
seen.add(id(res))
|
|
||||||
unique_resources.append(res)
|
|
||||||
|
|
||||||
# 使用新的资源树接口更新
|
|
||||||
if unique_resources:
|
|
||||||
await self.update_resource(unique_resources)
|
|
||||||
except Exception as e:
|
|
||||||
self.lab_logger().error(f"资源更新失败: {e}")
|
|
||||||
self.lab_logger().error(traceback.format_exc())
|
|
||||||
|
|
||||||
# 设置成功状态和返回值
|
# 设置成功状态和返回值
|
||||||
execution_success = True
|
execution_success = True
|
||||||
|
|||||||
@@ -52,8 +52,7 @@ class DeviceClassCreator(Generic[T]):
|
|||||||
if self.device_instance is not None:
|
if self.device_instance is not None:
|
||||||
for c in self.children:
|
for c in self.children:
|
||||||
if c.res_content.type != "device":
|
if c.res_content.type != "device":
|
||||||
res = ResourceTreeSet([ResourceTreeInstance(c)]).to_plr_resources()[0]
|
self.resource_tracker.add_resource(c.get_plr_nested_dict())
|
||||||
self.resource_tracker.add_resource(res)
|
|
||||||
|
|
||||||
def create_instance(self, data: Dict[str, Any]) -> T:
|
def create_instance(self, data: Dict[str, Any]) -> T:
|
||||||
"""
|
"""
|
||||||
@@ -120,7 +119,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
|||||||
# return resource, source_type
|
# return resource, source_type
|
||||||
|
|
||||||
def _process_resource_references(
|
def _process_resource_references(
|
||||||
self, data: Any, processed_child_names: Optional[Dict[str, Any]], to_dict=False, states=None, prefix_path="", name_to_uuid=None
|
self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
|
||||||
) -> Any:
|
) -> Any:
|
||||||
"""
|
"""
|
||||||
递归处理资源引用，替换_resource_child_name对应的资源
|
递归处理资源引用，替换_resource_child_name对应的资源
|
||||||
@@ -165,7 +164,6 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
|||||||
states[prefix_path] = resource_instance.serialize_all_state()
|
states[prefix_path] = resource_instance.serialize_all_state()
|
||||||
return serialized
|
return serialized
|
||||||
else:
|
else:
|
||||||
processed_child_names[child_name] = resource_instance
|
|
||||||
self.resource_tracker.add_resource(resource_instance)
|
self.resource_tracker.add_resource(resource_instance)
|
||||||
# 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
|
# 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
|
||||||
if name_to_uuid:
|
if name_to_uuid:
|
||||||
@@ -184,12 +182,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
|||||||
result = {}
|
result = {}
|
||||||
for key, value in data.items():
|
for key, value in data.items():
|
||||||
new_prefix = f"{prefix_path}.{key}" if prefix_path else key
|
new_prefix = f"{prefix_path}.{key}" if prefix_path else key
|
||||||
result[key] = self._process_resource_references(value, processed_child_names, to_dict, states, new_prefix, name_to_uuid)
|
result[key] = self._process_resource_references(value, to_dict, states, new_prefix, name_to_uuid)
|
||||||
return result
|
return result
|
||||||
|
|
||||||
elif isinstance(data, list):
|
elif isinstance(data, list):
|
||||||
return [
|
return [
|
||||||
self._process_resource_references(item, processed_child_names, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
|
self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
|
||||||
for i, item in enumerate(data)
|
for i, item in enumerate(data)
|
||||||
]
|
]
|
||||||
|
|
||||||
@@ -236,7 +234,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
|||||||
# 首先处理资源引用
|
# 首先处理资源引用
|
||||||
states = {}
|
states = {}
|
||||||
processed_data = self._process_resource_references(
|
processed_data = self._process_resource_references(
|
||||||
data, {}, to_dict=True, states=states, name_to_uuid=name_to_uuid
|
data, to_dict=True, states=states, name_to_uuid=name_to_uuid
|
||||||
)
|
)
|
||||||
|
|
||||||
try:
|
try:
|
||||||
@@ -272,12 +270,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
|
|||||||
arg_value = spec_args[param_name].annotation
|
arg_value = spec_args[param_name].annotation
|
||||||
data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
|
data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
|
||||||
logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
|
logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
|
||||||
processed_child_names = {}
|
processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
|
||||||
processed_data = self._process_resource_references(data, processed_child_names, to_dict=False, name_to_uuid=name_to_uuid)
|
|
||||||
for child_name, resource_instance in processed_data.items():
|
|
||||||
for ind, name in enumerate([child.res_content.name for child in self.children]):
|
|
||||||
if name == child_name:
|
|
||||||
self.children.pop(ind)
|
|
||||||
self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data) # 补全变量后直接调用，调用的自身的attach_resource
|
self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data) # 补全变量后直接调用，调用的自身的attach_resource
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
logger.error(f"PyLabRobot创建实例失败: {e}")
|
logger.error(f"PyLabRobot创建实例失败: {e}")
|
||||||
@@ -349,10 +342,9 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
|
|||||||
try:
|
try:
|
||||||
# 创建实例，额外补充一个给protocol node的字段，后面考虑取消
|
# 创建实例，额外补充一个给protocol node的字段，后面考虑取消
|
||||||
data["children"] = self.children
|
data["children"] = self.children
|
||||||
# super(WorkstationNodeCreator, self).create_instance(data)的时候会attach
|
for child in self.children:
|
||||||
# for child in self.children:
|
if child.res_content.type != "device":
|
||||||
# if child.res_content.type != "device":
|
self.resource_tracker.add_resource(child.get_plr_nested_dict())
|
||||||
# self.resource_tracker.add_resource(child.get_plr_nested_dict())
|
|
||||||
deck_dict = data.get("deck")
|
deck_dict = data.get("deck")
|
||||||
if deck_dict:
|
if deck_dict:
|
||||||
from pylabrobot.resources import Deck, Resource
|
from pylabrobot.resources import Deck, Resource
|
||||||
|
|||||||
182
unilabos/ros/x/rclpyx.py
Normal file
182
unilabos/ros/x/rclpyx.py
Normal file
@@ -0,0 +1,182 @@
|
|||||||
|
import asyncio
|
||||||
|
from asyncio import events
|
||||||
|
import threading
|
||||||
|
|
||||||
|
import rclpy
|
||||||
|
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
|
||||||
|
from rclpy.executors import await_or_execute, Executor
|
||||||
|
from rclpy.action import ActionClient, ActionServer
|
||||||
|
from rclpy.action.server import ServerGoalHandle, GoalResponse, GoalInfo, GoalStatus
|
||||||
|
from std_msgs.msg import String
|
||||||
|
from action_tutorials_interfaces.action import Fibonacci
|
||||||
|
|
||||||
|
|
||||||
|
loop = None
|
||||||
|
|
||||||
|
def get_event_loop():
|
||||||
|
global loop
|
||||||
|
return loop
|
||||||
|
|
||||||
|
|
||||||
|
async def default_handle_accepted_callback_async(goal_handle):
|
||||||
|
"""Execute the goal."""
|
||||||
|
await goal_handle.execute()
|
||||||
|
|
||||||
|
|
||||||
|
class ServerGoalHandleX(ServerGoalHandle):
|
||||||
|
def __init__(self, *args, **kwargs):
|
||||||
|
super().__init__(*args, **kwargs)
|
||||||
|
|
||||||
|
async def execute(self, execute_callback=None):
|
||||||
|
# It's possible that there has been a request to cancel the goal prior to executing.
|
||||||
|
# In this case we want to avoid the illegal state transition to EXECUTING
|
||||||
|
# but still call the users execute callback to let them handle canceling the goal.
|
||||||
|
if not self.is_cancel_requested:
|
||||||
|
self._update_state(_rclpy.GoalEvent.EXECUTE)
|
||||||
|
await self._action_server.notify_execute_async(self, execute_callback)
|
||||||
|
|
||||||
|
|
||||||
|
class ActionServerX(ActionServer):
|
||||||
|
def __init__(self, *args, **kwargs):
|
||||||
|
super().__init__(*args, **kwargs)
|
||||||
|
self.register_handle_accepted_callback(default_handle_accepted_callback_async)
|
||||||
|
|
||||||
|
async def _execute_goal_request(self, request_header_and_message):
|
||||||
|
request_header, goal_request = request_header_and_message
|
||||||
|
goal_uuid = goal_request.goal_id
|
||||||
|
goal_info = GoalInfo()
|
||||||
|
goal_info.goal_id = goal_uuid
|
||||||
|
|
||||||
|
self._node.get_logger().debug('New goal request with ID: {0}'.format(goal_uuid.uuid))
|
||||||
|
|
||||||
|
# Check if goal ID is already being tracked by this action server
|
||||||
|
with self._lock:
|
||||||
|
goal_id_exists = self._handle.goal_exists(goal_info)
|
||||||
|
|
||||||
|
accepted = False
|
||||||
|
if not goal_id_exists:
|
||||||
|
# Call user goal callback
|
||||||
|
response = await await_or_execute(self._goal_callback, goal_request.goal)
|
||||||
|
if not isinstance(response, GoalResponse):
|
||||||
|
self._node.get_logger().warning(
|
||||||
|
'Goal request callback did not return a GoalResponse type. Rejecting goal.')
|
||||||
|
else:
|
||||||
|
accepted = GoalResponse.ACCEPT == response
|
||||||
|
|
||||||
|
if accepted:
|
||||||
|
# Stamp time of acceptance
|
||||||
|
goal_info.stamp = self._node.get_clock().now().to_msg()
|
||||||
|
|
||||||
|
# Create a goal handle
|
||||||
|
try:
|
||||||
|
with self._lock:
|
||||||
|
goal_handle = ServerGoalHandleX(self, goal_info, goal_request.goal)
|
||||||
|
except RuntimeError as e:
|
||||||
|
self._node.get_logger().error(
|
||||||
|
'Failed to accept new goal with ID {0}: {1}'.format(goal_uuid.uuid, e))
|
||||||
|
accepted = False
|
||||||
|
else:
|
||||||
|
self._goal_handles[bytes(goal_uuid.uuid)] = goal_handle
|
||||||
|
|
||||||
|
# Send response
|
||||||
|
response_msg = self._action_type.Impl.SendGoalService.Response()
|
||||||
|
response_msg.accepted = accepted
|
||||||
|
response_msg.stamp = goal_info.stamp
|
||||||
|
self._handle.send_goal_response(request_header, response_msg)
|
||||||
|
|
||||||
|
if not accepted:
|
||||||
|
self._node.get_logger().debug('New goal rejected: {0}'.format(goal_uuid.uuid))
|
||||||
|
return
|
||||||
|
|
||||||
|
self._node.get_logger().debug('New goal accepted: {0}'.format(goal_uuid.uuid))
|
||||||
|
|
||||||
|
# Provide the user a reference to the goal handle
|
||||||
|
# await await_or_execute(self._handle_accepted_callback, goal_handle)
|
||||||
|
asyncio.create_task(self._handle_accepted_callback(goal_handle))
|
||||||
|
|
||||||
|
async def notify_execute_async(self, goal_handle, execute_callback):
|
||||||
|
# Use provided callback, defaulting to a previously registered callback
|
||||||
|
if execute_callback is None:
|
||||||
|
if self._execute_callback is None:
|
||||||
|
return
|
||||||
|
execute_callback = self._execute_callback
|
||||||
|
|
||||||
|
# Schedule user callback for execution
|
||||||
|
self._node.get_logger().info(f"{events.get_running_loop()}")
|
||||||
|
asyncio.create_task(self._execute_goal(execute_callback, goal_handle))
|
||||||
|
# loop = asyncio.new_event_loop()
|
||||||
|
# asyncio.set_event_loop(loop)
|
||||||
|
# task = loop.create_task(self._execute_goal(execute_callback, goal_handle))
|
||||||
|
# await task
|
||||||
|
|
||||||
|
|
||||||
|
class ActionClientX(ActionClient):
|
||||||
|
feedback_queue = asyncio.Queue()
|
||||||
|
|
||||||
|
async def feedback_cb(self, msg):
|
||||||
|
await self.feedback_queue.put(msg)
|
||||||
|
|
||||||
|
async def send_goal_async(self, goal_msg):
|
||||||
|
goal_future = super().send_goal_async(
|
||||||
|
goal_msg,
|
||||||
|
feedback_callback=self.feedback_cb
|
||||||
|
)
|
||||||
|
client_goal_handle = await asyncio.ensure_future(goal_future)
|
||||||
|
if not client_goal_handle.accepted:
|
||||||
|
raise Exception("Goal rejected.")
|
||||||
|
result_future = client_goal_handle.get_result_async()
|
||||||
|
while True:
|
||||||
|
feedback_future = asyncio.ensure_future(self.feedback_queue.get())
|
||||||
|
tasks = [result_future, feedback_future]
|
||||||
|
await asyncio.wait(tasks, return_when=asyncio.FIRST_COMPLETED)
|
||||||
|
if result_future.done():
|
||||||
|
result = result_future.result().result
|
||||||
|
yield (None, result)
|
||||||
|
break
|
||||||
|
else:
|
||||||
|
feedback = feedback_future.result().feedback
|
||||||
|
yield (feedback, None)
|
||||||
|
|
||||||
|
|
||||||
|
async def main(node):
|
||||||
|
print('Node started.')
|
||||||
|
action_client = ActionClientX(node, Fibonacci, 'fibonacci')
|
||||||
|
goal_msg = Fibonacci.Goal()
|
||||||
|
goal_msg.order = 10
|
||||||
|
async for (feedback, result) in action_client.send_goal_async(goal_msg):
|
||||||
|
if feedback:
|
||||||
|
print(f'Feedback: {feedback}')
|
||||||
|
else:
|
||||||
|
print(f'Result: {result}')
|
||||||
|
print('Finished.')
|
||||||
|
|
||||||
|
|
||||||
|
async def ros_loop_node(node):
|
||||||
|
while rclpy.ok():
|
||||||
|
rclpy.spin_once(node, timeout_sec=0)
|
||||||
|
await asyncio.sleep(1e-4)
|
||||||
|
|
||||||
|
|
||||||
|
async def ros_loop(executor: Executor):
|
||||||
|
while rclpy.ok():
|
||||||
|
executor.spin_once(timeout_sec=0)
|
||||||
|
await asyncio.sleep(1e-4)
|
||||||
|
|
||||||
|
|
||||||
|
def run_event_loop():
|
||||||
|
global loop
|
||||||
|
loop = asyncio.new_event_loop()
|
||||||
|
asyncio.set_event_loop(loop)
|
||||||
|
loop.run_forever()
|
||||||
|
|
||||||
|
|
||||||
|
def run_event_loop_in_thread():
|
||||||
|
thread = threading.Thread(target=run_event_loop, args=())
|
||||||
|
thread.start()
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
rclpy.init()
|
||||||
|
node = rclpy.create_node('async_subscriber')
|
||||||
|
future = asyncio.wait([ros_loop(node), main()])
|
||||||
|
asyncio.get_event_loop().run_until_complete(future)
|
||||||
@@ -9,125 +9,49 @@
|
|||||||
"parent": null,
|
"parent": null,
|
||||||
"type": "device",
|
"type": "device",
|
||||||
"class": "bioyond_dispensing_station",
|
"class": "bioyond_dispensing_station",
|
||||||
"position": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
"config": {
|
||||||
"api_key": "YOUR_API_KEY",
|
"config": {
|
||||||
"api_host": "http://your-api-host:port",
|
"api_key": "DE9BDDA0",
|
||||||
"material_type_mappings": {
|
"api_host": "http://192.168.1.200:44388",
|
||||||
"BIOYOND_PolymerStation_1FlaskCarrier": [
|
"material_type_mappings": {
|
||||||
"烧杯",
|
"BIOYOND_PolymerStation_1FlaskCarrier": [
|
||||||
"uuid-placeholder-flask"
|
"烧杯",
|
||||||
],
|
"3a14196b-24f2-ca49-9081-0cab8021bf1a"
|
||||||
"BIOYOND_PolymerStation_1BottleCarrier": [
|
],
|
||||||
"试剂瓶",
|
"BIOYOND_PolymerStation_1BottleCarrier": [
|
||||||
"uuid-placeholder-bottle"
|
"试剂瓶",
|
||||||
],
|
"3a14196b-8bcf-a460-4f74-23f21ca79e72"
|
||||||
"BIOYOND_PolymerStation_6StockCarrier": [
|
],
|
||||||
"分装板",
|
"BIOYOND_PolymerStation_6StockCarrier": [
|
||||||
"uuid-placeholder-stock-6"
|
"分装板",
|
||||||
],
|
"3a14196e-5dfe-6e21-0c79-fe2036d052c4"
|
||||||
"BIOYOND_PolymerStation_Liquid_Vial": [
|
],
|
||||||
"10%分装小瓶",
|
"BIOYOND_PolymerStation_Liquid_Vial": [
|
||||||
"uuid-placeholder-liquid-vial"
|
"10%分装小瓶",
|
||||||
],
|
"3a14196c-76be-2279-4e22-7310d69aed68"
|
||||||
"BIOYOND_PolymerStation_Solid_Vial": [
|
],
|
||||||
"90%分装小瓶",
|
"BIOYOND_PolymerStation_Solid_Vial": [
|
||||||
"uuid-placeholder-solid-vial"
|
"90%分装小瓶",
|
||||||
],
|
"3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
|
||||||
"BIOYOND_PolymerStation_8StockCarrier": [
|
],
|
||||||
"样品板",
|
"BIOYOND_PolymerStation_8StockCarrier": [
|
||||||
"uuid-placeholder-stock-8"
|
"样品板",
|
||||||
],
|
"3a14196e-b7a0-a5da-1931-35f3000281e9"
|
||||||
"BIOYOND_PolymerStation_Solid_Stock": [
|
],
|
||||||
"样品瓶",
|
"BIOYOND_PolymerStation_Solid_Stock": [
|
||||||
"uuid-placeholder-solid-stock"
|
"样品瓶",
|
||||||
]
|
"3a14196a-cf7d-8aea-48d8-b9662c7dba94"
|
||||||
},
|
]
|
||||||
"warehouse_mapping": {
|
|
||||||
"粉末堆栈": {
|
|
||||||
"uuid": "uuid-placeholder-powder-stack",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "uuid-placeholder-powder-A01",
|
|
||||||
"A02": "uuid-placeholder-powder-A02",
|
|
||||||
"A03": "uuid-placeholder-powder-A03",
|
|
||||||
"A04": "uuid-placeholder-powder-A04",
|
|
||||||
"B01": "uuid-placeholder-powder-B01",
|
|
||||||
"B02": "uuid-placeholder-powder-B02",
|
|
||||||
"B03": "uuid-placeholder-powder-B03",
|
|
||||||
"B04": "uuid-placeholder-powder-B04",
|
|
||||||
"C01": "uuid-placeholder-powder-C01",
|
|
||||||
"C02": "uuid-placeholder-powder-C02",
|
|
||||||
"C03": "uuid-placeholder-powder-C03",
|
|
||||||
"C04": "uuid-placeholder-powder-C04",
|
|
||||||
"D01": "uuid-placeholder-powder-D01",
|
|
||||||
"D02": "uuid-placeholder-powder-D02",
|
|
||||||
"D03": "uuid-placeholder-powder-D03",
|
|
||||||
"D04": "uuid-placeholder-powder-D04"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"溶液堆栈": {
|
|
||||||
"uuid": "uuid-placeholder-liquid-stack",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "uuid-placeholder-liquid-A01",
|
|
||||||
"A02": "uuid-placeholder-liquid-A02",
|
|
||||||
"A03": "uuid-placeholder-liquid-A03",
|
|
||||||
"A04": "uuid-placeholder-liquid-A04",
|
|
||||||
"B01": "uuid-placeholder-liquid-B01",
|
|
||||||
"B02": "uuid-placeholder-liquid-B02",
|
|
||||||
"B03": "uuid-placeholder-liquid-B03",
|
|
||||||
"B04": "uuid-placeholder-liquid-B04",
|
|
||||||
"C01": "uuid-placeholder-liquid-C01",
|
|
||||||
"C02": "uuid-placeholder-liquid-C02",
|
|
||||||
"C03": "uuid-placeholder-liquid-C03",
|
|
||||||
"C04": "uuid-placeholder-liquid-C04",
|
|
||||||
"D01": "uuid-placeholder-liquid-D01",
|
|
||||||
"D02": "uuid-placeholder-liquid-D02",
|
|
||||||
"D03": "uuid-placeholder-liquid-D03",
|
|
||||||
"D04": "uuid-placeholder-liquid-D04"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"试剂堆栈": {
|
|
||||||
"uuid": "uuid-placeholder-reagent-stack",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "uuid-placeholder-reagent-A01",
|
|
||||||
"A02": "uuid-placeholder-reagent-A02",
|
|
||||||
"A03": "uuid-placeholder-reagent-A03",
|
|
||||||
"A04": "uuid-placeholder-reagent-A04",
|
|
||||||
"B01": "uuid-placeholder-reagent-B01",
|
|
||||||
"B02": "uuid-placeholder-reagent-B02",
|
|
||||||
"B03": "uuid-placeholder-reagent-B03",
|
|
||||||
"B04": "uuid-placeholder-reagent-B04"
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
"http_service_config": {
|
"deck": {
|
||||||
"http_service_host": "127.0.0.1",
|
"data": {
|
||||||
"http_service_port": 8080
|
"_resource_child_name": "Bioyond_Dispensing_Deck",
|
||||||
},
|
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
|
||||||
"material_default_parameters": {
|
|
||||||
"NMP": {
|
|
||||||
"unit": "毫升",
|
|
||||||
"density": "1.03",
|
|
||||||
"densityUnit": "g/mL",
|
|
||||||
"description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
|
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
"material_type_parameters": {}
|
"protocol_type": []
|
||||||
},
|
},
|
||||||
"deck": {
|
|
||||||
"data": {
|
|
||||||
"_resource_child_name": "Bioyond_Dispensing_Deck",
|
|
||||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
|
|
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{
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|
||||||
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||||||
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||||||
"type": "Rotation"
|
|
||||||
},
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|
||||||
"category": "plate",
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|
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{
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|
||||||
"label": "T9",
|
|
||||||
"visible": true,
|
|
||||||
"position": { "x": 0, "y": 0, "z": 0 },
|
|
||||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
|
||||||
"content_type": [
|
|
||||||
"plate",
|
|
||||||
"tip_rack",
|
|
||||||
"plates",
|
|
||||||
"tip_racks",
|
|
||||||
"tube_rack"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"data": {}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "T10",
|
|
||||||
"name": "T10",
|
|
||||||
"children": [],
|
|
||||||
"parent": "PRCXI_Deck",
|
|
||||||
"type": "plate",
|
|
||||||
"class": "",
|
|
||||||
"position": {
|
|
||||||
"x": 138,
|
|
||||||
"y": 96,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
|
||||||
"type": "PRCXI9300Container",
|
|
||||||
"size_x": 127,
|
|
||||||
"size_y": 85.5,
|
|
||||||
"size_z": 10,
|
|
||||||
"rotation": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0,
|
|
||||||
"type": "Rotation"
|
|
||||||
},
|
|
||||||
"category": "plate",
|
|
||||||
"model": null,
|
|
||||||
"barcode": null,
|
|
||||||
"ordering": {},
|
|
||||||
"sites": [
|
|
||||||
{
|
|
||||||
"label": "T10",
|
|
||||||
"visible": true,
|
|
||||||
"position": { "x": 0, "y": 0, "z": 0 },
|
|
||||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
|
||||||
"content_type": [
|
|
||||||
"plate",
|
|
||||||
"tip_rack",
|
|
||||||
"plates",
|
|
||||||
"tip_racks",
|
|
||||||
"tube_rack"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"data": {}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "T11",
|
|
||||||
"name": "T11",
|
|
||||||
"children": [],
|
|
||||||
"parent": "PRCXI_Deck",
|
|
||||||
"type": "plate",
|
|
||||||
"class": "",
|
|
||||||
"position": {
|
|
||||||
"x": 276,
|
|
||||||
"y": 96,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
|
||||||
"type": "PRCXI9300Container",
|
|
||||||
"size_x": 127,
|
|
||||||
"size_y": 85.5,
|
|
||||||
"size_z": 10,
|
|
||||||
"rotation": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0,
|
|
||||||
"type": "Rotation"
|
|
||||||
},
|
|
||||||
"category": "plate",
|
|
||||||
"model": null,
|
|
||||||
"barcode": null,
|
|
||||||
"ordering": {},
|
|
||||||
"sites": [
|
|
||||||
{
|
|
||||||
"label": "T11",
|
|
||||||
"visible": true,
|
|
||||||
"position": { "x": 0, "y": 0, "z": 0 },
|
|
||||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
|
||||||
"content_type": [
|
|
||||||
"plate",
|
|
||||||
"tip_rack",
|
|
||||||
"plates",
|
|
||||||
"tip_racks",
|
|
||||||
"tube_rack"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"data": {}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "T12",
|
|
||||||
"name": "T12",
|
|
||||||
"children": [],
|
|
||||||
"parent": "PRCXI_Deck",
|
|
||||||
"type": "plate",
|
|
||||||
"class": "",
|
|
||||||
"position": {
|
|
||||||
"x": 414,
|
|
||||||
"y": 96,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
|
||||||
"type": "PRCXI9300Container",
|
|
||||||
"size_x": 127,
|
|
||||||
"size_y": 85.5,
|
|
||||||
"size_z": 10,
|
|
||||||
"rotation": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0,
|
|
||||||
"type": "Rotation"
|
|
||||||
},
|
|
||||||
"category": "plate",
|
|
||||||
"model": null,
|
|
||||||
"barcode": null,
|
|
||||||
"ordering": {},
|
|
||||||
"sites": [
|
|
||||||
{
|
|
||||||
"label": "T12",
|
|
||||||
"visible": true,
|
|
||||||
"position": { "x": 0, "y": 0, "z": 0 },
|
|
||||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
|
||||||
"content_type": [
|
|
||||||
"plate",
|
|
||||||
"tip_rack",
|
|
||||||
"plates",
|
|
||||||
"tip_racks",
|
|
||||||
"tube_rack"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"data": {}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "T13",
|
|
||||||
"name": "T13",
|
|
||||||
"children": [],
|
|
||||||
"parent": "PRCXI_Deck",
|
|
||||||
"type": "plate",
|
|
||||||
"class": "",
|
|
||||||
"position": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
|
||||||
"type": "PRCXI9300Container",
|
|
||||||
"size_x": 127,
|
|
||||||
"size_y": 85.5,
|
|
||||||
"size_z": 10,
|
|
||||||
"rotation": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0,
|
|
||||||
"type": "Rotation"
|
|
||||||
},
|
|
||||||
"category": "plate",
|
|
||||||
"model": null,
|
|
||||||
"barcode": null,
|
|
||||||
"ordering": {},
|
|
||||||
"sites": [
|
|
||||||
{
|
|
||||||
"label": "T13",
|
|
||||||
"visible": true,
|
|
||||||
"position": { "x": 0, "y": 0, "z": 0 },
|
|
||||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
|
||||||
"content_type": [
|
|
||||||
"plate",
|
|
||||||
"tip_rack",
|
|
||||||
"plates",
|
|
||||||
"tip_racks",
|
|
||||||
"tube_rack"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"data": {}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "T14",
|
|
||||||
"name": "T14",
|
|
||||||
"children": [],
|
|
||||||
"parent": "PRCXI_Deck",
|
|
||||||
"type": "plate",
|
|
||||||
"class": "",
|
|
||||||
"position": {
|
|
||||||
"x": 138,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
|
||||||
"type": "PRCXI9300Container",
|
|
||||||
"size_x": 127,
|
|
||||||
"size_y": 85.5,
|
|
||||||
"size_z": 10,
|
|
||||||
"rotation": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0,
|
|
||||||
"type": "Rotation"
|
|
||||||
},
|
|
||||||
"category": "plate",
|
|
||||||
"model": null,
|
|
||||||
"barcode": null,
|
|
||||||
"ordering": {},
|
|
||||||
"sites": [
|
|
||||||
{
|
|
||||||
"label": "T14",
|
|
||||||
"visible": true,
|
|
||||||
"position": { "x": 0, "y": 0, "z": 0 },
|
|
||||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
|
||||||
"content_type": [
|
|
||||||
"plate",
|
|
||||||
"tip_rack",
|
|
||||||
"plates",
|
|
||||||
"tip_racks",
|
|
||||||
"tube_rack"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"data": {}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "T15",
|
|
||||||
"name": "T15",
|
|
||||||
"children": [],
|
|
||||||
"parent": "PRCXI_Deck",
|
|
||||||
"type": "plate",
|
|
||||||
"class": "",
|
|
||||||
"position": {
|
|
||||||
"x": 276,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
|
||||||
"type": "PRCXI9300Container",
|
|
||||||
"size_x": 127,
|
|
||||||
"size_y": 85.5,
|
|
||||||
"size_z": 10,
|
|
||||||
"rotation": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0,
|
|
||||||
"type": "Rotation"
|
|
||||||
},
|
|
||||||
"category": "plate",
|
|
||||||
"model": null,
|
|
||||||
"barcode": null,
|
|
||||||
"ordering": {},
|
|
||||||
"sites": [
|
|
||||||
{
|
|
||||||
"label": "T15",
|
|
||||||
"visible": true,
|
|
||||||
"position": { "x": 0, "y": 0, "z": 0 },
|
|
||||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
|
||||||
"content_type": [
|
|
||||||
"plate",
|
|
||||||
"tip_rack",
|
|
||||||
"plates",
|
|
||||||
"tip_racks",
|
|
||||||
"tube_rack"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"data": {}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"id": "T16",
|
|
||||||
"name": "T16",
|
|
||||||
"children": [],
|
|
||||||
"parent": "PRCXI_Deck",
|
|
||||||
"type": "plate",
|
|
||||||
"class": "",
|
|
||||||
"position": {
|
|
||||||
"x": 414,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
|
||||||
"type": "PRCXI9300Container",
|
|
||||||
"size_x": 127,
|
|
||||||
"size_y": 85.5,
|
|
||||||
"size_z": 10,
|
|
||||||
"rotation": {
|
|
||||||
"x": 0,
|
|
||||||
"y": 0,
|
|
||||||
"z": 0,
|
|
||||||
"type": "Rotation"
|
|
||||||
},
|
|
||||||
"category": "plate",
|
|
||||||
"model": null,
|
|
||||||
"barcode": null,
|
|
||||||
"ordering": {},
|
|
||||||
"sites": [
|
|
||||||
{
|
|
||||||
"label": "T16",
|
|
||||||
"visible": true,
|
|
||||||
"position": { "x": 0, "y": 0, "z": 0 },
|
|
||||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
|
||||||
"content_type": [
|
|
||||||
"plate",
|
|
||||||
"tip_rack",
|
|
||||||
"plates",
|
|
||||||
"tip_racks",
|
|
||||||
"tube_rack"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"data": {}
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"edges": []
|
|
||||||
}
|
|
||||||
@@ -14,200 +14,60 @@
|
|||||||
],
|
],
|
||||||
"type": "device",
|
"type": "device",
|
||||||
"class": "reaction_station.bioyond",
|
"class": "reaction_station.bioyond",
|
||||||
"position": {
|
"position": {"x": 0, "y": 3800, "z": 0},
|
||||||
"x": 0,
|
|
||||||
"y": 1100,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
"config": {
|
||||||
"api_key": "YOUR_API_KEY",
|
"config": {
|
||||||
"api_host": "http://your-api-host:port",
|
"api_key": "DE9BDDA0",
|
||||||
"workflow_mappings": {
|
"api_host": "http://192.168.1.200:44402",
|
||||||
"reactor_taken_out": "workflow-uuid-reactor-out",
|
"workflow_mappings": {
|
||||||
"reactor_taken_in": "workflow-uuid-reactor-in",
|
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
||||||
"Solid_feeding_vials": "workflow-uuid-solid-vials",
|
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
||||||
"Liquid_feeding_vials(non-titration)": "workflow-uuid-liquid-vials",
|
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
|
||||||
"Liquid_feeding_solvents": "workflow-uuid-solvents",
|
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
|
||||||
"Liquid_feeding(titration)": "workflow-uuid-titration",
|
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||||
"liquid_feeding_beaker": "workflow-uuid-beaker",
|
"Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
|
||||||
"Drip_back": "workflow-uuid-drip-back"
|
"liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
||||||
},
|
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
|
||||||
"material_type_mappings": {
|
|
||||||
"BIOYOND_PolymerStation_Reactor": [
|
|
||||||
"反应器",
|
|
||||||
"uuid-placeholder-reactor"
|
|
||||||
],
|
|
||||||
"BIOYOND_PolymerStation_1BottleCarrier": [
|
|
||||||
"试剂瓶",
|
|
||||||
"uuid-placeholder-bottle"
|
|
||||||
],
|
|
||||||
"BIOYOND_PolymerStation_1FlaskCarrier": [
|
|
||||||
"烧杯",
|
|
||||||
"uuid-placeholder-beaker"
|
|
||||||
],
|
|
||||||
"BIOYOND_PolymerStation_6StockCarrier": [
|
|
||||||
"样品板",
|
|
||||||
"uuid-placeholder-sample-plate"
|
|
||||||
],
|
|
||||||
"BIOYOND_PolymerStation_Solid_Vial": [
|
|
||||||
"90%分装小瓶",
|
|
||||||
"uuid-placeholder-solid-vial"
|
|
||||||
],
|
|
||||||
"BIOYOND_PolymerStation_Liquid_Vial": [
|
|
||||||
"10%分装小瓶",
|
|
||||||
"uuid-placeholder-liquid-vial"
|
|
||||||
],
|
|
||||||
"BIOYOND_PolymerStation_TipBox": [
|
|
||||||
"枪头盒",
|
|
||||||
"uuid-placeholder-tipbox"
|
|
||||||
],
|
|
||||||
"BIOYOND_PolymerStation_Measurement_Vial": [
|
|
||||||
"测量小瓶",
|
|
||||||
"uuid-placeholder-measure-vial"
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"warehouse_mapping": {
|
|
||||||
"堆栈1左": {
|
|
||||||
"uuid": "uuid-placeholder-stack1-left",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "uuid-placeholder-site-A01",
|
|
||||||
"A02": "uuid-placeholder-site-A02",
|
|
||||||
"A03": "uuid-placeholder-site-A03",
|
|
||||||
"A04": "uuid-placeholder-site-A04",
|
|
||||||
"B01": "uuid-placeholder-site-B01",
|
|
||||||
"B02": "uuid-placeholder-site-B02",
|
|
||||||
"B03": "uuid-placeholder-site-B03",
|
|
||||||
"B04": "uuid-placeholder-site-B04",
|
|
||||||
"C01": "uuid-placeholder-site-C01",
|
|
||||||
"C02": "uuid-placeholder-site-C02",
|
|
||||||
"C03": "uuid-placeholder-site-C03",
|
|
||||||
"C04": "uuid-placeholder-site-C04",
|
|
||||||
"D01": "uuid-placeholder-site-D01",
|
|
||||||
"D02": "uuid-placeholder-site-D02",
|
|
||||||
"D03": "uuid-placeholder-site-D03",
|
|
||||||
"D04": "uuid-placeholder-site-D04"
|
|
||||||
}
|
|
||||||
},
|
},
|
||||||
"堆栈1右": {
|
"material_type_mappings": {
|
||||||
"uuid": "uuid-placeholder-stack1-right",
|
"BIOYOND_PolymerStation_Reactor": [
|
||||||
"site_uuids": {
|
"反应器",
|
||||||
"A05": "uuid-placeholder-site-A05",
|
"3a14233b-902d-0d7b-4533-3f60f1c41c1b"
|
||||||
"A06": "uuid-placeholder-site-A06",
|
],
|
||||||
"A07": "uuid-placeholder-site-A07",
|
"BIOYOND_PolymerStation_1BottleCarrier": [
|
||||||
"A08": "uuid-placeholder-site-A08",
|
"试剂瓶",
|
||||||
"B05": "uuid-placeholder-site-B05",
|
"3a14233b-56e3-6c53-a8ab-fcaac163a9ba"
|
||||||
"B06": "uuid-placeholder-site-B06",
|
],
|
||||||
"B07": "uuid-placeholder-site-B07",
|
"BIOYOND_PolymerStation_1FlaskCarrier": [
|
||||||
"B08": "uuid-placeholder-site-B08",
|
"烧杯",
|
||||||
"C05": "uuid-placeholder-site-C05",
|
"3a14233b-f0a9-ba84-eaa9-0d4718b361b6"
|
||||||
"C06": "uuid-placeholder-site-C06",
|
],
|
||||||
"C07": "uuid-placeholder-site-C07",
|
"BIOYOND_PolymerStation_6StockCarrier": [
|
||||||
"C08": "uuid-placeholder-site-C08",
|
"样品板",
|
||||||
"D05": "uuid-placeholder-site-D05",
|
"3a142339-80de-8f25-6093-1b1b1b6c322e"
|
||||||
"D06": "uuid-placeholder-site-D06",
|
],
|
||||||
"D07": "uuid-placeholder-site-D07",
|
"BIOYOND_PolymerStation_Solid_Vial": [
|
||||||
"D08": "uuid-placeholder-site-D08"
|
"90%分装小瓶",
|
||||||
}
|
"3a14233a-26e1-28f8-af6a-60ca06ba0165"
|
||||||
},
|
],
|
||||||
"站内试剂存放堆栈": {
|
"BIOYOND_PolymerStation_Liquid_Vial": [
|
||||||
"uuid": "uuid-placeholder-reagent-stack",
|
"10%分装小瓶",
|
||||||
"site_uuids": {
|
"3a14233a-84a3-088d-6676-7cb4acd57c64"
|
||||||
"A01": "uuid-placeholder-reagent-A01",
|
],
|
||||||
"A02": "uuid-placeholder-reagent-A02"
|
"BIOYOND_PolymerStation_TipBox": [
|
||||||
}
|
"枪头盒",
|
||||||
},
|
"3a143890-9d51-60ac-6d6f-6edb43c12041"
|
||||||
"测量小瓶仓库(测密度)": {
|
]
|
||||||
"uuid": "uuid-placeholder-density-stack",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "uuid-placeholder-density-A01",
|
|
||||||
"A02": "uuid-placeholder-density-A02",
|
|
||||||
"A03": "uuid-placeholder-density-A03",
|
|
||||||
"B01": "uuid-placeholder-density-B01",
|
|
||||||
"B02": "uuid-placeholder-density-B02",
|
|
||||||
"B03": "uuid-placeholder-density-B03"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"站内Tip盒堆栈(左)": {
|
|
||||||
"uuid": "uuid-placeholder-tipstack-left",
|
|
||||||
"site_uuids": {
|
|
||||||
"A02": "uuid-placeholder-tip-A02",
|
|
||||||
"A03": "uuid-placeholder-tip-A03",
|
|
||||||
"B02": "uuid-placeholder-tip-B02",
|
|
||||||
"B03": "uuid-placeholder-tip-B03"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"站内Tip盒堆栈(右)": {
|
|
||||||
"uuid": "uuid-placeholder-tipstack-right",
|
|
||||||
"site_uuids": {
|
|
||||||
"A01": "uuid-placeholder-tip-A01",
|
|
||||||
"B01": "uuid-placeholder-tip-B01"
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
"workflow_to_section_map": {
|
"deck": {
|
||||||
"reactor_taken_in": "反应器放入",
|
"data": {
|
||||||
"reactor_taken_out": "反应器取出",
|
"_resource_child_name": "Bioyond_Deck",
|
||||||
"Solid_feeding_vials": "固体投料-小瓶",
|
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
|
||||||
"Liquid_feeding_vials(non-titration)": "液体投料-小瓶（非滴定）",
|
|
||||||
"Liquid_feeding_solvents": "液体投料-溶剂",
|
|
||||||
"Liquid_feeding(titration)": "液体投料-滴定",
|
|
||||||
"liquid_feeding_beaker": "液体投料-烧杯",
|
|
||||||
"Drip_back": "液体回滴"
|
|
||||||
},
|
|
||||||
"action_names": {
|
|
||||||
"reactor_taken_in": {
|
|
||||||
"config": "通量-配置",
|
|
||||||
"stirring": "反应模块-开始搅拌"
|
|
||||||
},
|
|
||||||
"solid_feeding_vials": {
|
|
||||||
"feeding": "粉末加样模块-投料",
|
|
||||||
"observe": "反应模块-观察搅拌结果"
|
|
||||||
},
|
|
||||||
"liquid_feeding_vials_non_titration": {
|
|
||||||
"liquid": "稀释液瓶加液位-液体投料",
|
|
||||||
"observe": "反应模块-滴定结果观察"
|
|
||||||
},
|
|
||||||
"liquid_feeding_solvents": {
|
|
||||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
|
||||||
"observe": "反应模块-观察搅拌结果"
|
|
||||||
},
|
|
||||||
"liquid_feeding_titration": {
|
|
||||||
"liquid": "稀释液瓶加液位-稀释液吸液分液",
|
|
||||||
"observe": "反应模块-滴定结果观察"
|
|
||||||
},
|
|
||||||
"liquid_feeding_beaker": {
|
|
||||||
"liquid": "烧杯溶液放置位-烧杯吸液分液",
|
|
||||||
"observe": "反应模块-观察搅拌结果"
|
|
||||||
},
|
|
||||||
"drip_back": {
|
|
||||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
|
||||||
"observe": "反应模块-向下滴定结果观察"
|
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
"http_service_config": {
|
"protocol_type": []
|
||||||
"http_service_host": "127.0.0.1",
|
|
||||||
"http_service_port": 8080
|
|
||||||
},
|
|
||||||
"material_default_parameters": {
|
|
||||||
"NMP": {
|
|
||||||
"unit": "毫升",
|
|
||||||
"density": "1.03",
|
|
||||||
"densityUnit": "g/mL",
|
|
||||||
"description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"material_type_parameters": {}
|
|
||||||
},
|
},
|
||||||
"deck": {
|
|
||||||
"data": {
|
|
||||||
"_resource_child_name": "Bioyond_Deck",
|
|
||||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"size_x": 2700.0,
|
|
||||||
"size_y": 1080.0,
|
|
||||||
"size_z": 2500.0,
|
|
||||||
"protocol_type": [],
|
|
||||||
"data": {}
|
"data": {}
|
||||||
},
|
},
|
||||||
{
|
{
|
||||||
@@ -217,11 +77,7 @@
|
|||||||
"parent": "reaction_station_bioyond",
|
"parent": "reaction_station_bioyond",
|
||||||
"type": "device",
|
"type": "device",
|
||||||
"class": "reaction_station.reactor",
|
"class": "reaction_station.reactor",
|
||||||
"position": {
|
"position": {"x": 1150, "y": 380, "z": 0},
|
||||||
"x": 1150,
|
|
||||||
"y": 300,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {},
|
"config": {},
|
||||||
"data": {}
|
"data": {}
|
||||||
},
|
},
|
||||||
@@ -232,11 +88,7 @@
|
|||||||
"parent": "reaction_station_bioyond",
|
"parent": "reaction_station_bioyond",
|
||||||
"type": "device",
|
"type": "device",
|
||||||
"class": "reaction_station.reactor",
|
"class": "reaction_station.reactor",
|
||||||
"position": {
|
"position": {"x": 1365, "y": 380, "z": 0},
|
||||||
"x": 1365,
|
|
||||||
"y": 300,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {},
|
"config": {},
|
||||||
"data": {}
|
"data": {}
|
||||||
},
|
},
|
||||||
@@ -247,11 +99,7 @@
|
|||||||
"parent": "reaction_station_bioyond",
|
"parent": "reaction_station_bioyond",
|
||||||
"type": "device",
|
"type": "device",
|
||||||
"class": "reaction_station.reactor",
|
"class": "reaction_station.reactor",
|
||||||
"position": {
|
"position": {"x": 1580, "y": 380, "z": 0},
|
||||||
"x": 1580,
|
|
||||||
"y": 300,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {},
|
"config": {},
|
||||||
"data": {}
|
"data": {}
|
||||||
},
|
},
|
||||||
@@ -262,11 +110,7 @@
|
|||||||
"parent": "reaction_station_bioyond",
|
"parent": "reaction_station_bioyond",
|
||||||
"type": "device",
|
"type": "device",
|
||||||
"class": "reaction_station.reactor",
|
"class": "reaction_station.reactor",
|
||||||
"position": {
|
"position": {"x": 1790, "y": 380, "z": 0},
|
||||||
"x": 1790,
|
|
||||||
"y": 300,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {},
|
"config": {},
|
||||||
"data": {}
|
"data": {}
|
||||||
},
|
},
|
||||||
@@ -277,11 +121,7 @@
|
|||||||
"parent": "reaction_station_bioyond",
|
"parent": "reaction_station_bioyond",
|
||||||
"type": "device",
|
"type": "device",
|
||||||
"class": "reaction_station.reactor",
|
"class": "reaction_station.reactor",
|
||||||
"position": {
|
"position": {"x": 2010, "y": 380, "z": 0},
|
||||||
"x": 2010,
|
|
||||||
"y": 300,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {},
|
"config": {},
|
||||||
"data": {}
|
"data": {}
|
||||||
},
|
},
|
||||||
@@ -294,7 +134,7 @@
|
|||||||
"class": "BIOYOND_PolymerReactionStation_Deck",
|
"class": "BIOYOND_PolymerReactionStation_Deck",
|
||||||
"position": {
|
"position": {
|
||||||
"x": 0,
|
"x": 0,
|
||||||
"y": 1100,
|
"y": 0,
|
||||||
"z": 0
|
"z": 0
|
||||||
},
|
},
|
||||||
"config": {
|
"config": {
|
||||||
|
|||||||
@@ -1,28 +0,0 @@
|
|||||||
{
|
|
||||||
"nodes": [
|
|
||||||
{
|
|
||||||
"id": "workbench_1",
|
|
||||||
"name": "虚拟工作台",
|
|
||||||
"children": [],
|
|
||||||
"parent": null,
|
|
||||||
"type": "device",
|
|
||||||
"class": "virtual_workbench",
|
|
||||||
"position": {
|
|
||||||
"x": 400,
|
|
||||||
"y": 300,
|
|
||||||
"z": 0
|
|
||||||
},
|
|
||||||
"config": {
|
|
||||||
"arm_operation_time": 3.0,
|
|
||||||
"heating_time": 10.0,
|
|
||||||
"num_heating_stations": 3
|
|
||||||
},
|
|
||||||
"data": {
|
|
||||||
"status": "Ready",
|
|
||||||
"arm_state": "idle",
|
|
||||||
"message": "工作台就绪"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"links": []
|
|
||||||
}
|
|
||||||
187
unilabos/utils/README_LOGGING.md
Normal file
187
unilabos/utils/README_LOGGING.md
Normal file
@@ -0,0 +1,187 @@
|
|||||||
|
# UniLabOS 日志配置说明
|
||||||
|
|
||||||
|
> **文件位置**: `unilabos/utils/log.py`
|
||||||
|
> **最后更新**: 2026-01-11
|
||||||
|
> **维护者**: Uni-Lab-OS 开发团队
|
||||||
|
|
||||||
|
本文档说明 UniLabOS 日志系统中对第三方库和内部模块的日志级别配置，避免控制台被过多的 DEBUG 日志淹没。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 📋 已屏蔽的日志
|
||||||
|
|
||||||
|
以下库/模块的日志已被设置为 **WARNING** 或 **INFO** 级别，不再显示 DEBUG 日志：
|
||||||
|
|
||||||
|
### 1. pymodbus（Modbus 通信库）
|
||||||
|
|
||||||
|
**配置位置**: `log.py` 第196-200行
|
||||||
|
|
||||||
|
```python
|
||||||
|
# pymodbus 库的日志太详细，设置为 WARNING
|
||||||
|
logging.getLogger('pymodbus').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
|
||||||
|
```
|
||||||
|
|
||||||
|
**屏蔽原因**:
|
||||||
|
- pymodbus 在 DEBUG 级别会输出每一次 Modbus 通信的详细信息
|
||||||
|
- 包括 `Processing: 0x5 0x1e 0x0 0x0...` 等原始数据
|
||||||
|
- 包括 `decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...)` 等解码信息
|
||||||
|
- 这些信息对日常使用价值不大，但会快速刷屏
|
||||||
|
|
||||||
|
**典型被屏蔽的日志**:
|
||||||
|
```
|
||||||
|
[DEBUG] Processing: 0x5 0x1e 0x0 0x0 0x0 0x7 0x1 0x3 0x4 0x0 0x0 0x0 0x0 [handleFrame:72] [pymodbus.logging.base]
|
||||||
|
[DEBUG] decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...) [decode:79] [pymodbus.logging.decoders]
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 2. websockets（WebSocket 库）
|
||||||
|
|
||||||
|
**配置位置**: `log.py` 第202-205行
|
||||||
|
|
||||||
|
```python
|
||||||
|
# websockets 库的日志输出较多，设置为 WARNING
|
||||||
|
logging.getLogger('websockets').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('websockets.client').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('websockets.server').setLevel(logging.WARNING)
|
||||||
|
```
|
||||||
|
|
||||||
|
**屏蔽原因**:
|
||||||
|
- WebSocket 连接、断开、心跳等信息在 DEBUG 级别会频繁输出
|
||||||
|
- 对于长时间运行的服务，这些日志意义不大
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 3. ROS Host Node（设备状态更新）
|
||||||
|
|
||||||
|
**配置位置**: `log.py` 第207-208行
|
||||||
|
|
||||||
|
```python
|
||||||
|
# ROS 节点的状态更新日志过于频繁，设置为 INFO
|
||||||
|
logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
|
||||||
|
```
|
||||||
|
|
||||||
|
**屏蔽原因**:
|
||||||
|
- 设备状态更新（如手套箱压力）每隔几秒就会更新一次
|
||||||
|
- DEBUG 日志会记录每一次状态变化，导致日志刷屏
|
||||||
|
- 这些频繁的状态更新对调试价值不大
|
||||||
|
|
||||||
|
**典型被屏蔽的日志**:
|
||||||
|
```
|
||||||
|
[DEBUG] [/devices/host_node] Status updated: BatteryStation.data_glove_box_pressure = 4.229457855224609 [property_callback:666] [unilabos.ros.nodes.presets.host_node]
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### 4. asyncio 和 urllib3
|
||||||
|
|
||||||
|
**配置位置**: `log.py` 第224-225行
|
||||||
|
|
||||||
|
```python
|
||||||
|
logging.getLogger("asyncio").setLevel(logging.INFO)
|
||||||
|
logging.getLogger("urllib3").setLevel(logging.INFO)
|
||||||
|
```
|
||||||
|
|
||||||
|
**屏蔽原因**:
|
||||||
|
- asyncio: 异步 IO 的内部调试信息
|
||||||
|
- urllib3: HTTP 请求库的连接池、重试等详细信息
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 🔧 如何临时启用这些日志（调试用）
|
||||||
|
|
||||||
|
### 方法1: 修改 log.py（永久启用）
|
||||||
|
|
||||||
|
在 `log.py` 的 `configure_logger()` 函数中，将对应库的日志级别改为 `logging.DEBUG`:
|
||||||
|
|
||||||
|
```python
|
||||||
|
# 临时启用 pymodbus 的 DEBUG 日志
|
||||||
|
logging.getLogger('pymodbus').setLevel(logging.DEBUG)
|
||||||
|
logging.getLogger('pymodbus.logging').setLevel(logging.DEBUG)
|
||||||
|
logging.getLogger('pymodbus.logging.base').setLevel(logging.DEBUG)
|
||||||
|
logging.getLogger('pymodbus.logging.decoders').setLevel(logging.DEBUG)
|
||||||
|
```
|
||||||
|
|
||||||
|
### 方法2: 在代码中临时启用（单次调试）
|
||||||
|
|
||||||
|
在需要调试的代码文件中添加：
|
||||||
|
|
||||||
|
```python
|
||||||
|
import logging
|
||||||
|
|
||||||
|
# 临时启用 pymodbus DEBUG 日志
|
||||||
|
logging.getLogger('pymodbus').setLevel(logging.DEBUG)
|
||||||
|
|
||||||
|
# 你的 Modbus 调试代码
|
||||||
|
...
|
||||||
|
|
||||||
|
# 调试完成后恢复
|
||||||
|
logging.getLogger('pymodbus').setLevel(logging.WARNING)
|
||||||
|
```
|
||||||
|
|
||||||
|
### 方法3: 使用环境变量或配置文件（推荐）
|
||||||
|
|
||||||
|
未来可以考虑在启动参数中添加 `--debug-modbus` 等选项来动态控制。
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 📊 日志级别说明
|
||||||
|
|
||||||
|
| 级别 | 数值 | 用途 | 是否显示 |
|
||||||
|
|------|------|------|---------|
|
||||||
|
| TRACE | 5 | 最详细的跟踪信息 | ✅ |
|
||||||
|
| DEBUG | 10 | 调试信息 | ✅ |
|
||||||
|
| INFO | 20 | 一般信息 | ✅ |
|
||||||
|
| WARNING | 30 | 警告信息 | ✅ |
|
||||||
|
| ERROR | 40 | 错误信息 | ✅ |
|
||||||
|
| CRITICAL | 50 | 严重错误 | ✅ |
|
||||||
|
|
||||||
|
**当前配置**:
|
||||||
|
- UniLabOS 自身代码: DEBUG 及以上全部显示
|
||||||
|
- pymodbus/websockets: **WARNING** 及以上显示（屏蔽 DEBUG/INFO）
|
||||||
|
- ROS host_node: **INFO** 及以上显示（屏蔽 DEBUG）
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## ⚠️ 重要提示
|
||||||
|
|
||||||
|
### 修改生效时间
|
||||||
|
- 修改 `log.py` 后需要 **重启 unilab 服务** 才能生效
|
||||||
|
- 不需要重新安装或重新编译
|
||||||
|
|
||||||
|
### 调试 Modbus 通信问题
|
||||||
|
如果需要调试 Modbus 通信故障，应该：
|
||||||
|
1. 临时启用 pymodbus DEBUG 日志（方法2）
|
||||||
|
2. 复现问题
|
||||||
|
3. 查看详细的通信日志
|
||||||
|
4. 调试完成后记得恢复 WARNING 级别
|
||||||
|
|
||||||
|
### 调试设备状态问题
|
||||||
|
如果需要调试设备状态更新问题：
|
||||||
|
```python
|
||||||
|
logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.DEBUG)
|
||||||
|
```
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 📝 维护记录
|
||||||
|
|
||||||
|
| 日期 | 修改内容 | 操作人 |
|
||||||
|
|------|---------|--------|
|
||||||
|
| 2026-01-11 | 初始创建，添加 pymodbus、websockets、ROS host_node 屏蔽 | - |
|
||||||
|
| 2026-01-07 | 添加 pymodbus 和 websockets 屏蔽（log-0107.py） | - |
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 🔗 相关文件
|
||||||
|
|
||||||
|
- `log.py` - 日志配置主文件
|
||||||
|
- `unilabos/devices/workstation/coin_cell_assembly/` - 使用 Modbus 的扣电工作站代码
|
||||||
|
- `unilabos/ros/nodes/presets/host_node.py` - ROS 主机节点代码
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
**维护提示**: 如果添加了新的第三方库或发现新的日志刷屏问题，请在此文档中记录并更新 `log.py` 配置。
|
||||||
@@ -182,49 +182,3 @@ def get_all_subscriptions(instance) -> list:
|
|||||||
except Exception:
|
except Exception:
|
||||||
pass
|
pass
|
||||||
return subscriptions
|
return subscriptions
|
||||||
|
|
||||||
|
|
||||||
def not_action(func: F) -> F:
|
|
||||||
"""
|
|
||||||
标记方法为非动作的装饰器
|
|
||||||
|
|
||||||
用于装饰 driver 类中的方法，使其在 complete_registry 时不被识别为动作。
|
|
||||||
适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
|
|
||||||
|
|
||||||
Example:
|
|
||||||
class MyDriver:
|
|
||||||
@not_action
|
|
||||||
def helper_method(self):
|
|
||||||
# 这个方法不会被注册为动作
|
|
||||||
pass
|
|
||||||
|
|
||||||
def actual_action(self, param: str):
|
|
||||||
# 这个方法会被注册为动作
|
|
||||||
self.helper_method()
|
|
||||||
|
|
||||||
Note:
|
|
||||||
- 可以与其他装饰器组合使用，@not_action 应放在最外层
|
|
||||||
- 仅影响 complete_registry 的动作识别，不影响方法的正常调用
|
|
||||||
"""
|
|
||||||
|
|
||||||
@wraps(func)
|
|
||||||
def wrapper(*args, **kwargs):
|
|
||||||
return func(*args, **kwargs)
|
|
||||||
|
|
||||||
# 在函数上附加标记
|
|
||||||
wrapper._is_not_action = True # type: ignore[attr-defined]
|
|
||||||
|
|
||||||
return wrapper # type: ignore[return-value]
|
|
||||||
|
|
||||||
|
|
||||||
def is_not_action(func) -> bool:
|
|
||||||
"""
|
|
||||||
检查函数是否被标记为非动作
|
|
||||||
|
|
||||||
Args:
|
|
||||||
func: 被检查的函数
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
如果函数被 @not_action 装饰则返回 True，否则返回 False
|
|
||||||
"""
|
|
||||||
return getattr(func, "_is_not_action", False)
|
|
||||||
|
|||||||
@@ -24,7 +24,6 @@ class EnvironmentChecker:
|
|||||||
"msgcenterpy": "msgcenterpy",
|
"msgcenterpy": "msgcenterpy",
|
||||||
"opentrons_shared_data": "opentrons_shared_data",
|
"opentrons_shared_data": "opentrons_shared_data",
|
||||||
"typing_extensions": "typing_extensions",
|
"typing_extensions": "typing_extensions",
|
||||||
"crcmod": "crcmod-plus",
|
|
||||||
}
|
}
|
||||||
|
|
||||||
# 特殊安装包（需要特殊处理的包）
|
# 特殊安装包（需要特殊处理的包）
|
||||||
|
|||||||
@@ -27,9 +27,7 @@ __all__ = [
|
|||||||
|
|
||||||
from ast import Constant
|
from ast import Constant
|
||||||
|
|
||||||
from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
|
|
||||||
from unilabos.utils import logger
|
from unilabos.utils import logger
|
||||||
from unilabos.utils.decorator import is_not_action
|
|
||||||
|
|
||||||
|
|
||||||
class ImportManager:
|
class ImportManager:
|
||||||
@@ -277,9 +275,6 @@ class ImportManager:
|
|||||||
method_info = self._analyze_method_signature(method)
|
method_info = self._analyze_method_signature(method)
|
||||||
result["status_methods"][actual_name] = method_info
|
result["status_methods"][actual_name] = method_info
|
||||||
elif not name.startswith("_"):
|
elif not name.startswith("_"):
|
||||||
# 检查是否被 @not_action 装饰器标记
|
|
||||||
if is_not_action(method):
|
|
||||||
continue
|
|
||||||
# 其他非_开头的方法归类为action
|
# 其他非_开头的方法归类为action
|
||||||
method_info = self._analyze_method_signature(method)
|
method_info = self._analyze_method_signature(method)
|
||||||
result["action_methods"][name] = method_info
|
result["action_methods"][name] = method_info
|
||||||
@@ -335,25 +330,17 @@ class ImportManager:
|
|||||||
if actual_name not in result["status_methods"]:
|
if actual_name not in result["status_methods"]:
|
||||||
result["status_methods"][actual_name] = method_info
|
result["status_methods"][actual_name] = method_info
|
||||||
else:
|
else:
|
||||||
# 检查是否被 @not_action 装饰器标记
|
|
||||||
if self._is_not_action_method(node):
|
|
||||||
continue
|
|
||||||
# 其他非_开头的方法归类为action
|
# 其他非_开头的方法归类为action
|
||||||
result["action_methods"][method_name] = method_info
|
result["action_methods"][method_name] = method_info
|
||||||
return result
|
return result
|
||||||
|
|
||||||
def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]:
|
def _analyze_method_signature(self, method) -> Dict[str, Any]:
|
||||||
"""
|
"""
|
||||||
分析方法签名，提取具体的命名参数信息
|
分析方法签名，提取具体的命名参数信息
|
||||||
|
|
||||||
注意：此方法会跳过*args和**kwargs，只提取具体的命名参数
|
注意：此方法会跳过*args和**kwargs，只提取具体的命名参数
|
||||||
这样可以确保通过**dict方式传参时的准确性
|
这样可以确保通过**dict方式传参时的准确性
|
||||||
|
|
||||||
Args:
|
|
||||||
method: 要分析的方法
|
|
||||||
skip_unilabos_params: 是否跳过 unilabos 系统参数（如 sample_uuids），
|
|
||||||
registry 补全时为 True，JsonCommand 执行时为 False
|
|
||||||
|
|
||||||
示例用法：
|
示例用法：
|
||||||
method_info = self._analyze_method_signature(some_method)
|
method_info = self._analyze_method_signature(some_method)
|
||||||
params = {"param1": "value1", "param2": "value2"}
|
params = {"param1": "value1", "param2": "value2"}
|
||||||
@@ -374,10 +361,6 @@ class ImportManager:
|
|||||||
if param.kind == param.VAR_KEYWORD: # **kwargs
|
if param.kind == param.VAR_KEYWORD: # **kwargs
|
||||||
continue
|
continue
|
||||||
|
|
||||||
# 跳过 sample_uuids 参数（由系统自动注入，registry 补全时跳过）
|
|
||||||
if skip_unilabos_params and param_name == PARAM_SAMPLE_UUIDS:
|
|
||||||
continue
|
|
||||||
|
|
||||||
is_required = param.default == inspect.Parameter.empty
|
is_required = param.default == inspect.Parameter.empty
|
||||||
if is_required:
|
if is_required:
|
||||||
num_required += 1
|
num_required += 1
|
||||||
@@ -467,13 +450,6 @@ class ImportManager:
|
|||||||
return True
|
return True
|
||||||
return False
|
return False
|
||||||
|
|
||||||
def _is_not_action_method(self, node: ast.FunctionDef) -> bool:
|
|
||||||
"""检查是否是@not_action装饰的方法"""
|
|
||||||
for decorator in node.decorator_list:
|
|
||||||
if isinstance(decorator, ast.Name) and decorator.id == "not_action":
|
|
||||||
return True
|
|
||||||
return False
|
|
||||||
|
|
||||||
def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
|
def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
|
||||||
"""从setter装饰器中获取属性名"""
|
"""从setter装饰器中获取属性名"""
|
||||||
for decorator in node.decorator_list:
|
for decorator in node.decorator_list:
|
||||||
@@ -573,9 +549,6 @@ class ImportManager:
|
|||||||
for i, arg in enumerate(node.args.args):
|
for i, arg in enumerate(node.args.args):
|
||||||
if arg.arg == "self":
|
if arg.arg == "self":
|
||||||
continue
|
continue
|
||||||
# 跳过 sample_uuids 参数（由系统自动注入）
|
|
||||||
if arg.arg == PARAM_SAMPLE_UUIDS:
|
|
||||||
continue
|
|
||||||
arg_info = {
|
arg_info = {
|
||||||
"name": arg.arg,
|
"name": arg.arg,
|
||||||
"type": None,
|
"type": None,
|
||||||
|
|||||||
@@ -192,6 +192,21 @@ def configure_logger(loglevel=None, working_dir=None):
|
|||||||
# 添加处理器到根日志记录器
|
# 添加处理器到根日志记录器
|
||||||
root_logger.addHandler(console_handler)
|
root_logger.addHandler(console_handler)
|
||||||
|
|
||||||
|
# 降低第三方库的日志级别，避免过多输出
|
||||||
|
# pymodbus 库的日志太详细，设置为 WARNING
|
||||||
|
logging.getLogger('pymodbus').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
|
||||||
|
|
||||||
|
# websockets 库的日志输出较多，设置为 WARNING
|
||||||
|
logging.getLogger('websockets').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('websockets.client').setLevel(logging.WARNING)
|
||||||
|
logging.getLogger('websockets.server').setLevel(logging.WARNING)
|
||||||
|
|
||||||
|
# ROS 节点的状态更新日志过于频繁，设置为 INFO
|
||||||
|
logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
|
||||||
|
|
||||||
# 如果指定了工作目录，添加文件处理器
|
# 如果指定了工作目录，添加文件处理器
|
||||||
if working_dir is not None:
|
if working_dir is not None:
|
||||||
logs_dir = os.path.join(working_dir, "logs")
|
logs_dir = os.path.join(working_dir, "logs")
|
||||||
|
|||||||
@@ -1,11 +1,7 @@
|
|||||||
import psutil
|
import psutil
|
||||||
import pywinauto
|
import pywinauto
|
||||||
try:
|
from pywinauto_recorder import UIApplication
|
||||||
from pywinauto_recorder import UIApplication
|
from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
|
||||||
from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
|
|
||||||
except ImportError:
|
|
||||||
print("未安装pywinauto_recorder，部分功能无法使用，安装时注意enum")
|
|
||||||
pass
|
|
||||||
from pywinauto.controls.uiawrapper import UIAWrapper
|
from pywinauto.controls.uiawrapper import UIAWrapper
|
||||||
from pywinauto.application import WindowSpecification
|
from pywinauto.application import WindowSpecification
|
||||||
from pywinauto import findbestmatch
|
from pywinauto import findbestmatch
|
||||||
|
|||||||
@@ -1,18 +0,0 @@
|
|||||||
networkx
|
|
||||||
typing_extensions
|
|
||||||
websockets
|
|
||||||
msgcenterpy>=0.1.5
|
|
||||||
opentrons_shared_data
|
|
||||||
pint
|
|
||||||
fastapi
|
|
||||||
jinja2
|
|
||||||
requests
|
|
||||||
uvicorn
|
|
||||||
pyautogui
|
|
||||||
opcua
|
|
||||||
pyserial
|
|
||||||
pandas
|
|
||||||
crcmod-plus
|
|
||||||
pymodbus
|
|
||||||
matplotlib
|
|
||||||
pylibftdi
|
|
||||||
@@ -1,104 +1,3 @@
|
|||||||
"""
|
|
||||||
工作流转换模块 - JSON 到 WorkflowGraph 的转换流程
|
|
||||||
|
|
||||||
==================== 输入格式 (JSON) ====================
|
|
||||||
|
|
||||||
{
|
|
||||||
"workflow": [
|
|
||||||
{"action": "transfer_liquid", "action_args": {"sources": "cell_lines", "targets": "Liquid_1", "asp_vol": 100.0, "dis_vol": 74.75, ...}},
|
|
||||||
...
|
|
||||||
],
|
|
||||||
"reagent": {
|
|
||||||
"cell_lines": {"slot": 4, "well": ["A1", "A3", "A5"], "labware": "DRUG + YOYO-MEDIA"},
|
|
||||||
"Liquid_1": {"slot": 1, "well": ["A4", "A7", "A10"], "labware": "rep 1"},
|
|
||||||
...
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
==================== 转换步骤 ====================
|
|
||||||
|
|
||||||
第一步: 按 slot 去重创建 create_resource 节点（创建板子）
|
|
||||||
--------------------------------------------------------------------------------
|
|
||||||
- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 create_resource 节点
|
|
||||||
- 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
|
|
||||||
- 所有 create_resource 节点的 parent_uuid 指向 Group 节点，minimized=true
|
|
||||||
- 生成参数:
|
|
||||||
res_id: plate_slot_{slot}
|
|
||||||
device_id: /PRCXI
|
|
||||||
class_name: PRCXI_BioER_96_wellplate
|
|
||||||
parent: /PRCXI/PRCXI_Deck/T{slot}
|
|
||||||
slot_on_deck: "{slot}"
|
|
||||||
- 输出端口: labware（用于连接 set_liquid_from_plate）
|
|
||||||
- 控制流: create_resource 之间通过 ready 端口串联
|
|
||||||
|
|
||||||
示例: slot=1, slot=4 -> 创建 1 个 Group + 2 个 create_resource 节点
|
|
||||||
|
|
||||||
第二步: 为每个 reagent 创建 set_liquid_from_plate 节点（设置液体）
|
|
||||||
--------------------------------------------------------------------------------
|
|
||||||
- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 set_liquid_from_plate 节点
|
|
||||||
- 遍历所有 reagent，为每个试剂创建 set_liquid_from_plate 节点
|
|
||||||
- 所有 set_liquid_from_plate 节点的 parent_uuid 指向 Group 节点，minimized=true
|
|
||||||
- 生成参数:
|
|
||||||
plate: []（通过连接传递，来自 create_resource 的 labware）
|
|
||||||
well_names: ["A1", "A3", "A5"]（来自 reagent 的 well 数组）
|
|
||||||
liquid_names: ["cell_lines", "cell_lines", "cell_lines"]（与 well 数量一致）
|
|
||||||
volumes: [1e5, 1e5, 1e5]（与 well 数量一致，默认体积）
|
|
||||||
- 输入连接: create_resource (labware) -> set_liquid_from_plate (input_plate)
|
|
||||||
- 输出端口: output_wells（用于连接 transfer_liquid）
|
|
||||||
- 控制流: set_liquid_from_plate 连接在所有 create_resource 之后，通过 ready 端口串联
|
|
||||||
|
|
||||||
第三步: 解析 workflow，创建 transfer_liquid 等动作节点
|
|
||||||
--------------------------------------------------------------------------------
|
|
||||||
- 遍历 workflow 数组，为每个动作创建步骤节点
|
|
||||||
- 参数重命名: asp_vol -> asp_vols, dis_vol -> dis_vols, asp_flow_rate -> asp_flow_rates, dis_flow_rate -> dis_flow_rates
|
|
||||||
- 参数扩展: 根据 targets 的 wells 数量，将单值扩展为数组
|
|
||||||
例: asp_vol=100.0, targets 有 3 个 wells -> asp_vols=[100.0, 100.0, 100.0]
|
|
||||||
- 连接处理: 如果 sources/targets 已通过 set_liquid_from_plate 连接，参数值改为 []
|
|
||||||
- 输入连接: set_liquid_from_plate (output_wells) -> transfer_liquid (sources_identifier / targets_identifier)
|
|
||||||
- 输出端口: sources_out, targets_out（用于连接下一个 transfer_liquid）
|
|
||||||
|
|
||||||
==================== 连接关系图 ====================
|
|
||||||
|
|
||||||
控制流 (ready 端口串联):
|
|
||||||
- create_resource 之间: 无 ready 连接
|
|
||||||
- set_liquid_from_plate 之间: 无 ready 连接
|
|
||||||
- create_resource 与 set_liquid_from_plate 之间: 无 ready 连接
|
|
||||||
- transfer_liquid 之间: 通过 ready 端口串联
|
|
||||||
transfer_liquid_1 -> transfer_liquid_2 -> transfer_liquid_3 -> ...
|
|
||||||
|
|
||||||
物料流:
|
|
||||||
[create_resource] --labware--> [set_liquid_from_plate] --output_wells--> [transfer_liquid] --sources_out/targets_out--> [下一个 transfer_liquid]
|
|
||||||
(slot=1) (cell_lines) (input_plate) (sources_identifier) (sources_identifier)
|
|
||||||
(slot=4) (Liquid_1) (targets_identifier) (targets_identifier)
|
|
||||||
|
|
||||||
==================== 端口映射 ====================
|
|
||||||
|
|
||||||
create_resource:
|
|
||||||
输出: labware
|
|
||||||
|
|
||||||
set_liquid_from_plate:
|
|
||||||
输入: input_plate
|
|
||||||
输出: output_plate, output_wells
|
|
||||||
|
|
||||||
transfer_liquid:
|
|
||||||
输入: sources -> sources_identifier, targets -> targets_identifier
|
|
||||||
输出: sources -> sources_out, targets -> targets_out
|
|
||||||
|
|
||||||
==================== 设备名配置 (device_name) ====================
|
|
||||||
|
|
||||||
每个节点都有 device_name 字段，指定在哪个设备上执行:
|
|
||||||
- create_resource: device_name = "host_node"（固定）
|
|
||||||
- set_liquid_from_plate: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
|
|
||||||
- transfer_liquid 等动作: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
|
|
||||||
|
|
||||||
==================== 校验规则 ====================
|
|
||||||
|
|
||||||
- 检查 sources/targets 是否在 reagent 中定义
|
|
||||||
- 检查 sources 和 targets 的 wells 数量是否匹配
|
|
||||||
- 检查参数数组长度是否与 wells 数量一致
|
|
||||||
- 如有问题，在 footer 中添加 [WARN: ...] 标记
|
|
||||||
"""
|
|
||||||
|
|
||||||
import re
|
import re
|
||||||
import uuid
|
import uuid
|
||||||
|
|
||||||
@@ -109,35 +8,6 @@ from typing import Dict, List, Any, Tuple, Optional
|
|||||||
|
|
||||||
Json = Dict[str, Any]
|
Json = Dict[str, Any]
|
||||||
|
|
||||||
|
|
||||||
# ==================== 默认配置 ====================
|
|
||||||
|
|
||||||
# 设备名配置
|
|
||||||
DEVICE_NAME_HOST = "host_node" # create_resource 固定在 host_node 上执行
|
|
||||||
DEVICE_NAME_DEFAULT = "PRCXI" # transfer_liquid, set_liquid_from_plate 等动作的默认设备名
|
|
||||||
|
|
||||||
# 节点类型
|
|
||||||
NODE_TYPE_DEFAULT = "ILab" # 所有节点的默认类型
|
|
||||||
|
|
||||||
# create_resource 节点默认参数
|
|
||||||
CREATE_RESOURCE_DEFAULTS = {
|
|
||||||
"device_id": "/PRCXI",
|
|
||||||
"parent_template": "/PRCXI/PRCXI_Deck/T{slot}", # {slot} 会被替换为实际的 slot 值
|
|
||||||
"class_name": "PRCXI_BioER_96_wellplate",
|
|
||||||
}
|
|
||||||
|
|
||||||
# 默认液体体积 (uL)
|
|
||||||
DEFAULT_LIQUID_VOLUME = 1e5
|
|
||||||
|
|
||||||
# 参数重命名映射：单数 -> 复数（用于 transfer_liquid 等动作）
|
|
||||||
PARAM_RENAME_MAPPING = {
|
|
||||||
"asp_vol": "asp_vols",
|
|
||||||
"dis_vol": "dis_vols",
|
|
||||||
"asp_flow_rate": "asp_flow_rates",
|
|
||||||
"dis_flow_rate": "dis_flow_rates",
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------- Graph ----------------
|
# ---------------- Graph ----------------
|
||||||
|
|
||||||
|
|
||||||
@@ -358,7 +228,7 @@ def refactor_data(
|
|||||||
|
|
||||||
|
|
||||||
def build_protocol_graph(
|
def build_protocol_graph(
|
||||||
labware_info: Dict[str, Dict[str, Any]],
|
labware_info: List[Dict[str, Any]],
|
||||||
protocol_steps: List[Dict[str, Any]],
|
protocol_steps: List[Dict[str, Any]],
|
||||||
workstation_name: str,
|
workstation_name: str,
|
||||||
action_resource_mapping: Optional[Dict[str, str]] = None,
|
action_resource_mapping: Optional[Dict[str, str]] = None,
|
||||||
@@ -366,260 +236,112 @@ def build_protocol_graph(
|
|||||||
"""统一的协议图构建函数，根据设备类型自动选择构建逻辑
|
"""统一的协议图构建函数，根据设备类型自动选择构建逻辑
|
||||||
|
|
||||||
Args:
|
Args:
|
||||||
labware_info: labware 信息字典，格式为 {name: {slot, well, labware, ...}, ...}
|
labware_info: labware 信息字典
|
||||||
protocol_steps: 协议步骤列表
|
protocol_steps: 协议步骤列表
|
||||||
workstation_name: 工作站名称
|
workstation_name: 工作站名称
|
||||||
action_resource_mapping: action 到 resource_name 的映射字典，可选
|
action_resource_mapping: action 到 resource_name 的映射字典，可选
|
||||||
"""
|
"""
|
||||||
G = WorkflowGraph()
|
G = WorkflowGraph()
|
||||||
resource_last_writer = {} # reagent_name -> "node_id:port"
|
resource_last_writer = {}
|
||||||
slot_to_create_resource = {} # slot -> create_resource node_id
|
|
||||||
|
|
||||||
protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
|
protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
|
||||||
|
# 有机化学&移液站协议图构建
|
||||||
|
WORKSTATION_ID = workstation_name
|
||||||
|
|
||||||
# ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
|
# 为所有labware创建资源节点
|
||||||
# 收集所有唯一的 slot
|
|
||||||
slots_info = {} # slot -> {labware, res_id}
|
|
||||||
for labware_id, item in labware_info.items():
|
|
||||||
slot = str(item.get("slot", ""))
|
|
||||||
if slot and slot not in slots_info:
|
|
||||||
res_id = f"plate_slot_{slot}"
|
|
||||||
slots_info[slot] = {
|
|
||||||
"labware": item.get("labware", ""),
|
|
||||||
"res_id": res_id,
|
|
||||||
}
|
|
||||||
|
|
||||||
# 创建 Group 节点，包含所有 create_resource 节点
|
|
||||||
group_node_id = str(uuid.uuid4())
|
|
||||||
G.add_node(
|
|
||||||
group_node_id,
|
|
||||||
name="Resources Group",
|
|
||||||
type="Group",
|
|
||||||
parent_uuid="",
|
|
||||||
lab_node_type="Device",
|
|
||||||
template_name="",
|
|
||||||
resource_name="",
|
|
||||||
footer="",
|
|
||||||
minimized=True,
|
|
||||||
param=None,
|
|
||||||
)
|
|
||||||
|
|
||||||
# 为每个唯一的 slot 创建 create_resource 节点
|
|
||||||
res_index = 0
|
res_index = 0
|
||||||
for slot, info in slots_info.items():
|
for labware_id, item in labware_info.items():
|
||||||
|
# item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
|
||||||
node_id = str(uuid.uuid4())
|
node_id = str(uuid.uuid4())
|
||||||
res_id = info["res_id"]
|
|
||||||
|
# 判断节点类型
|
||||||
|
if "Rack" in str(labware_id) or "Tip" in str(labware_id):
|
||||||
|
lab_node_type = "Labware"
|
||||||
|
description = f"Prepare Labware: {labware_id}"
|
||||||
|
liquid_type = []
|
||||||
|
liquid_volume = []
|
||||||
|
elif item.get("type") == "hardware" or "reactor" in str(labware_id).lower():
|
||||||
|
if "reactor" not in str(labware_id).lower():
|
||||||
|
continue
|
||||||
|
lab_node_type = "Sample"
|
||||||
|
description = f"Prepare Reactor: {labware_id}"
|
||||||
|
liquid_type = []
|
||||||
|
liquid_volume = []
|
||||||
|
else:
|
||||||
|
lab_node_type = "Reagent"
|
||||||
|
description = f"Add Reagent to Flask: {labware_id}"
|
||||||
|
liquid_type = [labware_id]
|
||||||
|
liquid_volume = [1e5]
|
||||||
|
|
||||||
res_index += 1
|
res_index += 1
|
||||||
G.add_node(
|
G.add_node(
|
||||||
node_id,
|
node_id,
|
||||||
template_name="create_resource",
|
template_name="create_resource",
|
||||||
resource_name="host_node",
|
resource_name="host_node",
|
||||||
name=f"Plate {res_index}",
|
name=f"Res {res_index}",
|
||||||
description=f"Create plate on slot {slot}",
|
description=description,
|
||||||
lab_node_type="Labware",
|
lab_node_type=lab_node_type,
|
||||||
footer="create_resource-host_node",
|
footer="create_resource-host_node",
|
||||||
device_name=DEVICE_NAME_HOST,
|
|
||||||
type=NODE_TYPE_DEFAULT,
|
|
||||||
parent_uuid=group_node_id, # 指向 Group 节点
|
|
||||||
minimized=True, # 折叠显示
|
|
||||||
param={
|
param={
|
||||||
"res_id": res_id,
|
"res_id": labware_id,
|
||||||
"device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
|
"device_id": WORKSTATION_ID,
|
||||||
"class_name": CREATE_RESOURCE_DEFAULTS["class_name"],
|
"class_name": "container",
|
||||||
"parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
|
"parent": WORKSTATION_ID,
|
||||||
"bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
|
"bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
|
||||||
"slot_on_deck": slot,
|
"liquid_input_slot": [-1],
|
||||||
|
"liquid_type": liquid_type,
|
||||||
|
"liquid_volume": liquid_volume,
|
||||||
|
"slot_on_deck": "",
|
||||||
},
|
},
|
||||||
)
|
)
|
||||||
slot_to_create_resource[slot] = node_id
|
resource_last_writer[labware_id] = f"{node_id}:labware"
|
||||||
|
|
||||||
# create_resource 之间不需要 ready 连接
|
|
||||||
|
|
||||||
# ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
|
|
||||||
# 创建 Group 节点，包含所有 set_liquid_from_plate 节点
|
|
||||||
set_liquid_group_id = str(uuid.uuid4())
|
|
||||||
G.add_node(
|
|
||||||
set_liquid_group_id,
|
|
||||||
name="SetLiquid Group",
|
|
||||||
type="Group",
|
|
||||||
parent_uuid="",
|
|
||||||
lab_node_type="Device",
|
|
||||||
template_name="",
|
|
||||||
resource_name="",
|
|
||||||
footer="",
|
|
||||||
minimized=True,
|
|
||||||
param=None,
|
|
||||||
)
|
|
||||||
|
|
||||||
set_liquid_index = 0
|
|
||||||
|
|
||||||
for labware_id, item in labware_info.items():
|
|
||||||
# 跳过 Tip/Rack 类型
|
|
||||||
if "Rack" in str(labware_id) or "Tip" in str(labware_id):
|
|
||||||
continue
|
|
||||||
if item.get("type") == "hardware":
|
|
||||||
continue
|
|
||||||
|
|
||||||
slot = str(item.get("slot", ""))
|
|
||||||
wells = item.get("well", [])
|
|
||||||
if not wells or not slot:
|
|
||||||
continue
|
|
||||||
|
|
||||||
# res_id 不能有空格
|
|
||||||
res_id = str(labware_id).replace(" ", "_")
|
|
||||||
well_count = len(wells)
|
|
||||||
|
|
||||||
node_id = str(uuid.uuid4())
|
|
||||||
set_liquid_index += 1
|
|
||||||
|
|
||||||
G.add_node(
|
|
||||||
node_id,
|
|
||||||
template_name="set_liquid_from_plate",
|
|
||||||
resource_name="liquid_handler.prcxi",
|
|
||||||
name=f"SetLiquid {set_liquid_index}",
|
|
||||||
description=f"Set liquid: {labware_id}",
|
|
||||||
lab_node_type="Reagent",
|
|
||||||
footer="set_liquid_from_plate-liquid_handler.prcxi",
|
|
||||||
device_name=DEVICE_NAME_DEFAULT,
|
|
||||||
type=NODE_TYPE_DEFAULT,
|
|
||||||
parent_uuid=set_liquid_group_id, # 指向 Group 节点
|
|
||||||
minimized=True, # 折叠显示
|
|
||||||
param={
|
|
||||||
"plate": [], # 通过连接传递
|
|
||||||
"well_names": wells, # 孔位名数组，如 ["A1", "A3", "A5"]
|
|
||||||
"liquid_names": [res_id] * well_count,
|
|
||||||
"volumes": [DEFAULT_LIQUID_VOLUME] * well_count,
|
|
||||||
},
|
|
||||||
)
|
|
||||||
|
|
||||||
# set_liquid_from_plate 之间不需要 ready 连接
|
|
||||||
|
|
||||||
# 物料流：create_resource 的 labware -> set_liquid_from_plate 的 input_plate
|
|
||||||
create_res_node_id = slot_to_create_resource.get(slot)
|
|
||||||
if create_res_node_id:
|
|
||||||
G.add_edge(create_res_node_id, node_id, source_port="labware", target_port="input_plate")
|
|
||||||
|
|
||||||
# set_liquid_from_plate 的输出 output_wells 用于连接 transfer_liquid
|
|
||||||
resource_last_writer[labware_id] = f"{node_id}:output_wells"
|
|
||||||
|
|
||||||
# transfer_liquid 之间通过 ready 串联，从 None 开始
|
|
||||||
last_control_node_id = None
|
last_control_node_id = None
|
||||||
|
|
||||||
# 端口名称映射：JSON 字段名 -> 实际 handle key
|
|
||||||
INPUT_PORT_MAPPING = {
|
|
||||||
"sources": "sources_identifier",
|
|
||||||
"targets": "targets_identifier",
|
|
||||||
"vessel": "vessel",
|
|
||||||
"to_vessel": "to_vessel",
|
|
||||||
"from_vessel": "from_vessel",
|
|
||||||
"reagent": "reagent",
|
|
||||||
"solvent": "solvent",
|
|
||||||
"compound": "compound",
|
|
||||||
}
|
|
||||||
|
|
||||||
OUTPUT_PORT_MAPPING = {
|
|
||||||
"sources": "sources_out", # 输出端口是 xxx_out
|
|
||||||
"targets": "targets_out", # 输出端口是 xxx_out
|
|
||||||
"vessel": "vessel_out",
|
|
||||||
"to_vessel": "to_vessel_out",
|
|
||||||
"from_vessel": "from_vessel_out",
|
|
||||||
"filtrate_vessel": "filtrate_out",
|
|
||||||
"reagent": "reagent",
|
|
||||||
"solvent": "solvent",
|
|
||||||
"compound": "compound",
|
|
||||||
}
|
|
||||||
|
|
||||||
# 需要根据 wells 数量扩展的参数列表（复数形式）
|
|
||||||
EXPAND_BY_WELLS_PARAMS = ["asp_vols", "dis_vols", "asp_flow_rates", "dis_flow_rates"]
|
|
||||||
|
|
||||||
# 处理协议步骤
|
# 处理协议步骤
|
||||||
for step in protocol_steps:
|
for step in protocol_steps:
|
||||||
node_id = str(uuid.uuid4())
|
node_id = str(uuid.uuid4())
|
||||||
params = step.get("param", {}).copy() # 复制一份，避免修改原数据
|
G.add_node(node_id, **step)
|
||||||
connected_params = set() # 记录被连接的参数
|
|
||||||
warnings = [] # 收集警告信息
|
|
||||||
|
|
||||||
# 参数重命名：单数 -> 复数
|
|
||||||
for old_name, new_name in PARAM_RENAME_MAPPING.items():
|
|
||||||
if old_name in params:
|
|
||||||
params[new_name] = params.pop(old_name)
|
|
||||||
|
|
||||||
# 处理输入连接
|
|
||||||
for param_key, target_port in INPUT_PORT_MAPPING.items():
|
|
||||||
resource_name = params.get(param_key)
|
|
||||||
if resource_name and resource_name in resource_last_writer:
|
|
||||||
source_node, source_port = resource_last_writer[resource_name].split(":")
|
|
||||||
G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
|
|
||||||
connected_params.add(param_key)
|
|
||||||
elif resource_name and resource_name not in resource_last_writer:
|
|
||||||
# 资源名在 labware_info 中不存在
|
|
||||||
warnings.append(f"{param_key}={resource_name} 未找到")
|
|
||||||
|
|
||||||
# 获取 targets 对应的 wells 数量，用于扩展参数
|
|
||||||
targets_name = params.get("targets")
|
|
||||||
sources_name = params.get("sources")
|
|
||||||
targets_wells_count = 1
|
|
||||||
sources_wells_count = 1
|
|
||||||
|
|
||||||
if targets_name and targets_name in labware_info:
|
|
||||||
target_wells = labware_info[targets_name].get("well", [])
|
|
||||||
targets_wells_count = len(target_wells) if target_wells else 1
|
|
||||||
elif targets_name:
|
|
||||||
warnings.append(f"targets={targets_name} 未在 reagent 中定义")
|
|
||||||
|
|
||||||
if sources_name and sources_name in labware_info:
|
|
||||||
source_wells = labware_info[sources_name].get("well", [])
|
|
||||||
sources_wells_count = len(source_wells) if source_wells else 1
|
|
||||||
elif sources_name:
|
|
||||||
warnings.append(f"sources={sources_name} 未在 reagent 中定义")
|
|
||||||
|
|
||||||
# 检查 sources 和 targets 的 wells 数量是否匹配
|
|
||||||
if targets_wells_count != sources_wells_count and targets_name and sources_name:
|
|
||||||
warnings.append(f"wells 数量不匹配: sources={sources_wells_count}, targets={targets_wells_count}")
|
|
||||||
|
|
||||||
# 使用 targets 的 wells 数量来扩展参数
|
|
||||||
wells_count = targets_wells_count
|
|
||||||
|
|
||||||
# 扩展单值参数为数组（根据 targets 的 wells 数量）
|
|
||||||
for expand_param in EXPAND_BY_WELLS_PARAMS:
|
|
||||||
if expand_param in params:
|
|
||||||
value = params[expand_param]
|
|
||||||
# 如果是单个值，扩展为数组
|
|
||||||
if not isinstance(value, list):
|
|
||||||
params[expand_param] = [value] * wells_count
|
|
||||||
# 如果已经是数组但长度不对，记录警告
|
|
||||||
elif len(value) != wells_count:
|
|
||||||
warnings.append(f"{expand_param} 数量({len(value)})与 wells({wells_count})不匹配")
|
|
||||||
|
|
||||||
# 如果 sources/targets 已通过连接传递，将参数值改为空数组
|
|
||||||
for param_key in connected_params:
|
|
||||||
if param_key in params:
|
|
||||||
params[param_key] = []
|
|
||||||
|
|
||||||
# 更新 step 的 param、footer、device_name 和 type
|
|
||||||
step_copy = step.copy()
|
|
||||||
step_copy["param"] = params
|
|
||||||
step_copy["device_name"] = DEVICE_NAME_DEFAULT # 动作节点使用默认设备名
|
|
||||||
step_copy["type"] = NODE_TYPE_DEFAULT # 节点类型
|
|
||||||
|
|
||||||
# 如果有警告，修改 footer 添加警告标记（警告放前面）
|
|
||||||
if warnings:
|
|
||||||
original_footer = step.get("footer", "")
|
|
||||||
step_copy["footer"] = f"[WARN: {'; '.join(warnings)}] {original_footer}"
|
|
||||||
|
|
||||||
G.add_node(node_id, **step_copy)
|
|
||||||
|
|
||||||
# 控制流
|
# 控制流
|
||||||
if last_control_node_id is not None:
|
if last_control_node_id is not None:
|
||||||
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
|
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
|
||||||
last_control_node_id = node_id
|
last_control_node_id = node_id
|
||||||
|
|
||||||
# 处理输出：更新 resource_last_writer
|
# 物料流
|
||||||
for param_key, output_port in OUTPUT_PORT_MAPPING.items():
|
params = step.get("param", {})
|
||||||
resource_name = step.get("param", {}).get(param_key) # 使用原始参数值
|
input_resources_possible_names = [
|
||||||
|
"vessel",
|
||||||
|
"to_vessel",
|
||||||
|
"from_vessel",
|
||||||
|
"reagent",
|
||||||
|
"solvent",
|
||||||
|
"compound",
|
||||||
|
"sources",
|
||||||
|
"targets",
|
||||||
|
]
|
||||||
|
|
||||||
|
for target_port in input_resources_possible_names:
|
||||||
|
resource_name = params.get(target_port)
|
||||||
|
if resource_name and resource_name in resource_last_writer:
|
||||||
|
source_node, source_port = resource_last_writer[resource_name].split(":")
|
||||||
|
G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
|
||||||
|
|
||||||
|
output_resources = {
|
||||||
|
"vessel_out": params.get("vessel"),
|
||||||
|
"from_vessel_out": params.get("from_vessel"),
|
||||||
|
"to_vessel_out": params.get("to_vessel"),
|
||||||
|
"filtrate_out": params.get("filtrate_vessel"),
|
||||||
|
"reagent": params.get("reagent"),
|
||||||
|
"solvent": params.get("solvent"),
|
||||||
|
"compound": params.get("compound"),
|
||||||
|
"sources_out": params.get("sources"),
|
||||||
|
"targets_out": params.get("targets"),
|
||||||
|
}
|
||||||
|
|
||||||
|
for source_port, resource_name in output_resources.items():
|
||||||
if resource_name:
|
if resource_name:
|
||||||
resource_last_writer[resource_name] = f"{node_id}:{output_port}"
|
resource_last_writer[resource_name] = f"{node_id}:{source_port}"
|
||||||
|
|
||||||
return G
|
return G
|
||||||
|
|
||||||
|
|||||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user