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@@ -1,328 +0,0 @@
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---
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description: 设备驱动开发规范
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globs: ["unilabos/devices/**/*.py"]
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---
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# 设备驱动开发规范
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## 目录结构
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```
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unilabos/devices/
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├── virtual/ # 虚拟设备（用于测试）
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│ ├── virtual_stirrer.py
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│ └── virtual_centrifuge.py
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├── liquid_handling/ # 液体处理设备
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├── balance/ # 天平设备
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├── hplc/ # HPLC设备
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├── pump_and_valve/ # 泵和阀门
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├── temperature/ # 温度控制设备
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├── workstation/ # 工作站（组合设备）
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└── ...
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```
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## 设备类完整模板
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```python
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import asyncio
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import logging
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import time as time_module
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from typing import Dict, Any, Optional
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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class MyDevice:
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"""
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设备类描述
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Attributes:
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device_id: 设备唯一标识
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config: 设备配置字典
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data: 设备状态数据
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"""
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_ros_node: BaseROS2DeviceNode
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def __init__(
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self,
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device_id: str = None,
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config: Dict[str, Any] = None,
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**kwargs
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):
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"""
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初始化设备
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Args:
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device_id: 设备ID
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config: 配置字典
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**kwargs: 其他参数
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"""
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# 兼容不同调用方式
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if device_id is None and 'id' in kwargs:
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device_id = kwargs.pop('id')
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if config is None and 'config' in kwargs:
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config = kwargs.pop('config')
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self.device_id = device_id or "unknown_device"
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self.config = config or {}
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self.data = {}
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# 从config读取参数
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self.port = self.config.get('port') or kwargs.get('port', 'COM1')
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self._max_value = self.config.get('max_value', 1000.0)
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# 初始化日志
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self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
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self.logger.info(f"设备 {self.device_id} 已创建")
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def post_init(self, ros_node: BaseROS2DeviceNode):
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"""
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ROS节点注入 - 在ROS节点创建后调用
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Args:
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ros_node: ROS2设备节点实例
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"""
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self._ros_node = ros_node
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async def initialize(self) -> bool:
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"""
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初始化设备 - 连接硬件、设置初始状态
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Returns:
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bool: 初始化是否成功
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"""
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self.logger.info(f"初始化设备 {self.device_id}")
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try:
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# 执行硬件初始化
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# await self._connect_hardware()
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# 设置初始状态
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self.data.update({
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"status": "待机",
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"is_running": False,
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"current_value": 0.0,
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})
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self.logger.info(f"设备 {self.device_id} 初始化完成")
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return True
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except Exception as e:
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self.logger.error(f"初始化失败: {e}")
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self.data["status"] = f"错误: {e}"
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return False
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async def cleanup(self) -> bool:
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"""
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清理设备 - 断开连接、释放资源
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Returns:
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bool: 清理是否成功
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"""
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self.logger.info(f"清理设备 {self.device_id}")
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self.data.update({
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"status": "离线",
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"is_running": False,
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})
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return True
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# ==================== 设备动作 ====================
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async def execute_action(
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self,
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param1: float,
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param2: str = "",
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**kwargs
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) -> bool:
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"""
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执行设备动作
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Args:
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param1: 参数1
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param2: 参数2（可选）
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Returns:
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bool: 动作是否成功
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"""
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# 类型转换和验证
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try:
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param1 = float(param1)
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except (ValueError, TypeError) as e:
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self.logger.error(f"参数类型错误: {e}")
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return False
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# 参数验证
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if param1 > self._max_value:
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self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
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return False
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self.logger.info(f"执行动作: param1={param1}, param2={param2}")
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# 更新状态
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self.data.update({
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"status": "运行中",
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"is_running": True,
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})
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# 执行动作（带进度反馈）
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duration = 10.0 # 秒
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start_time = time_module.time()
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while True:
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elapsed = time_module.time() - start_time
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remaining = max(0, duration - elapsed)
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progress = min(100, (elapsed / duration) * 100)
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self.data.update({
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"status": f"运行中: {progress:.0f}%",
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"remaining_time": remaining,
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})
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if remaining <= 0:
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break
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await self._ros_node.sleep(1.0)
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# 完成
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self.data.update({
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"status": "完成",
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"is_running": False,
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})
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self.logger.info("动作执行完成")
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return True
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# ==================== 状态属性 ====================
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@property
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def status(self) -> str:
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"""设备状态 - 自动发布为ROS Topic"""
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return self.data.get("status", "未知")
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@property
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def is_running(self) -> bool:
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"""是否正在运行"""
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return self.data.get("is_running", False)
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@property
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def current_value(self) -> float:
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"""当前值"""
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return self.data.get("current_value", 0.0)
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# ==================== 辅助方法 ====================
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def get_device_info(self) -> Dict[str, Any]:
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"""获取设备信息"""
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return {
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"device_id": self.device_id,
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"status": self.status,
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"is_running": self.is_running,
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"current_value": self.current_value,
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}
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def __str__(self) -> str:
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return f"MyDevice({self.device_id}: {self.status})"
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```
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## 关键规则
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### 1. 参数处理
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所有动作方法的参数都可能以字符串形式传入，必须进行类型转换：
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|
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```python
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async def my_action(self, value: float, **kwargs) -> bool:
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# 始终进行类型转换
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try:
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value = float(value)
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except (ValueError, TypeError) as e:
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self.logger.error(f"参数类型错误: {e}")
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return False
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```
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### 2. vessel 参数处理
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vessel 参数可能是字符串ID或字典：
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||||
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```python
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def extract_vessel_id(vessel: Union[str, dict]) -> str:
|
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if isinstance(vessel, dict):
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return vessel.get("id", "")
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return str(vessel) if vessel else ""
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```
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### 3. 状态更新
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使用 `self.data` 字典存储状态，属性读取状态：
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||||
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```python
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# 更新状态
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self.data["status"] = "运行中"
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self.data["current_speed"] = 300.0
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|
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# 读取状态（通过属性）
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@property
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def status(self) -> str:
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return self.data.get("status", "待机")
|
||||
```
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||||
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### 4. 异步等待
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使用 ROS 节点的 sleep 方法：
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||||
|
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```python
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# 正确
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
# 避免（除非在纯 Python 测试环境）
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await asyncio.sleep(1.0)
|
||||
```
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||||
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### 5. 进度反馈
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||||
|
||||
长时间运行的操作需要提供进度反馈：
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||||
|
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```python
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while remaining > 0:
|
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progress = (elapsed / total_time) * 100
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||||
self.data["status"] = f"运行中: {progress:.0f}%"
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||||
self.data["remaining_time"] = remaining
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||||
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||||
await self._ros_node.sleep(1.0)
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||||
```
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|
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## 虚拟设备
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|
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虚拟设备用于测试和演示，放在 `unilabos/devices/virtual/` 目录：
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||||
|
||||
- 类名以 `Virtual` 开头
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||||
- 文件名以 `virtual_` 开头
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||||
- 模拟真实设备的行为和时序
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||||
- 使用表情符号增强日志可读性（可选）
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## 工作站设备
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工作站是组合多个设备的复杂设备：
|
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```python
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from unilabos.devices.workstation.workstation_base import WorkstationBase
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class MyWorkstation(WorkstationBase):
|
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"""组合工作站"""
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async def execute_workflow(self, workflow: Dict[str, Any]) -> bool:
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"""执行工作流"""
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pass
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```
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|
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## 设备注册
|
||||
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设备类开发完成后，需要在注册表中注册：
|
||||
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||||
1. 创建/编辑 `unilabos/registry/devices/my_category.yaml`
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2. 添加设备配置（参考 `virtual_device.yaml`）
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||||
3. 运行 `--complete_registry` 自动生成 schema
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||||
@@ -1,240 +0,0 @@
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---
|
||||
description: 协议编译器开发规范
|
||||
globs: ["unilabos/compile/**/*.py"]
|
||||
---
|
||||
|
||||
# 协议编译器开发规范
|
||||
|
||||
## 概述
|
||||
|
||||
协议编译器负责将高级实验操作（如 Stir、Add、Filter）编译为设备可执行的动作序列。
|
||||
|
||||
## 文件命名
|
||||
|
||||
- 位置: `unilabos/compile/`
|
||||
- 命名: `{operation}_protocol.py`
|
||||
- 示例: `stir_protocol.py`, `add_protocol.py`, `filter_protocol.py`
|
||||
|
||||
## 协议函数模板
|
||||
|
||||
```python
|
||||
from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
import logging
|
||||
|
||||
from .utils.unit_parser import parse_time_input
|
||||
from .utils.vessel_parser import extract_vessel_id
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def generate_{operation}_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: Union[str, dict],
|
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param1: Union[str, float] = "0",
|
||||
param2: float = 0.0,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成{操作}协议序列
|
||||
|
||||
Args:
|
||||
G: 物理拓扑图 (NetworkX DiGraph)
|
||||
vessel: 容器ID或Resource字典
|
||||
param1: 参数1（支持字符串单位，如 "5 min"）
|
||||
param2: 参数2
|
||||
**kwargs: 其他参数
|
||||
|
||||
Returns:
|
||||
List[Dict]: 动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 参数无效时
|
||||
"""
|
||||
# 1. 提取 vessel_id
|
||||
vessel_id = extract_vessel_id(vessel)
|
||||
|
||||
# 2. 验证参数
|
||||
if not vessel_id:
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
if vessel_id not in G.nodes():
|
||||
raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
# 3. 解析参数（支持单位）
|
||||
parsed_param1 = parse_time_input(param1) # "5 min" -> 300.0
|
||||
|
||||
# 4. 查找设备
|
||||
device_id = find_connected_device(G, vessel_id, device_type="my_device")
|
||||
|
||||
# 5. 生成动作序列
|
||||
action_sequence = []
|
||||
|
||||
action = {
|
||||
"device_id": device_id,
|
||||
"action_name": "my_action",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id}, # 始终使用字典格式
|
||||
"param1": float(parsed_param1),
|
||||
"param2": float(param2),
|
||||
}
|
||||
}
|
||||
action_sequence.append(action)
|
||||
|
||||
logger.info(f"生成协议: {len(action_sequence)} 个动作")
|
||||
return action_sequence
|
||||
|
||||
|
||||
def find_connected_device(
|
||||
G: nx.DiGraph,
|
||||
vessel_id: str,
|
||||
device_type: str = ""
|
||||
) -> str:
|
||||
"""
|
||||
查找与容器相连的设备
|
||||
|
||||
Args:
|
||||
G: 拓扑图
|
||||
vessel_id: 容器ID
|
||||
device_type: 设备类型关键字
|
||||
|
||||
Returns:
|
||||
str: 设备ID
|
||||
"""
|
||||
# 查找所有匹配类型的设备
|
||||
device_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '') or ''
|
||||
if device_type.lower() in node_class.lower():
|
||||
device_nodes.append(node)
|
||||
|
||||
# 检查连接
|
||||
if vessel_id and device_nodes:
|
||||
for device in device_nodes:
|
||||
if G.has_edge(device, vessel_id) or G.has_edge(vessel_id, device):
|
||||
return device
|
||||
|
||||
# 返回第一个可用设备
|
||||
if device_nodes:
|
||||
return device_nodes[0]
|
||||
|
||||
# 默认设备
|
||||
return f"{device_type}_1"
|
||||
```
|
||||
|
||||
## 关键规则
|
||||
|
||||
### 1. vessel 参数处理
|
||||
|
||||
vessel 参数可能是字符串或字典，需要统一处理：
|
||||
|
||||
```python
|
||||
def extract_vessel_id(vessel: Union[str, dict]) -> str:
|
||||
"""提取vessel_id"""
|
||||
if isinstance(vessel, dict):
|
||||
# 可能是 {"id": "xxx"} 或完整 Resource 对象
|
||||
return vessel.get("id", list(vessel.values())[0].get("id", ""))
|
||||
return str(vessel) if vessel else ""
|
||||
```
|
||||
|
||||
### 2. action_kwargs 中的 vessel
|
||||
|
||||
始终使用 `{"id": vessel_id}` 格式传递 vessel：
|
||||
|
||||
```python
|
||||
# 正确
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id}, # 字符串ID包装为字典
|
||||
}
|
||||
|
||||
# 避免
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_resource, # 不要传递完整 Resource 对象
|
||||
}
|
||||
```
|
||||
|
||||
### 3. 单位解析
|
||||
|
||||
使用 `parse_time_input` 解析时间参数：
|
||||
|
||||
```python
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
# 支持格式: "5 min", "1 h", "300", "1.5 hours"
|
||||
time_seconds = parse_time_input("5 min") # -> 300.0
|
||||
time_seconds = parse_time_input(120) # -> 120.0
|
||||
time_seconds = parse_time_input("1 h") # -> 3600.0
|
||||
```
|
||||
|
||||
### 4. 参数验证
|
||||
|
||||
所有参数必须进行验证和类型转换：
|
||||
|
||||
```python
|
||||
# 验证范围
|
||||
if speed < 10.0 or speed > 1500.0:
|
||||
logger.warning(f"速度 {speed} 超出范围，修正为 300")
|
||||
speed = 300.0
|
||||
|
||||
# 类型转换
|
||||
param = float(param) if not isinstance(param, (int, float)) else param
|
||||
```
|
||||
|
||||
### 5. 日志记录
|
||||
|
||||
使用项目日志记录器：
|
||||
|
||||
```python
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def generate_protocol(...):
|
||||
logger.info(f"开始生成协议...")
|
||||
logger.debug(f"参数: vessel={vessel_id}, time={time}")
|
||||
logger.warning(f"参数修正: {old_value} -> {new_value}")
|
||||
```
|
||||
|
||||
## 便捷函数
|
||||
|
||||
为常用操作提供便捷函数：
|
||||
|
||||
```python
|
||||
def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
speed: float = 300.0) -> List[Dict[str, Any]]:
|
||||
"""短时间搅拌（30秒）"""
|
||||
return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
|
||||
|
||||
def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
time: str = "5 min") -> List[Dict[str, Any]]:
|
||||
"""剧烈搅拌"""
|
||||
return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
|
||||
```
|
||||
|
||||
## 测试函数
|
||||
|
||||
每个协议文件应包含测试函数：
|
||||
|
||||
```python
|
||||
def test_{operation}_protocol():
|
||||
"""测试协议生成"""
|
||||
# 测试参数处理
|
||||
vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
|
||||
vessel_id = extract_vessel_id(vessel_dict)
|
||||
assert vessel_id == "flask_1"
|
||||
|
||||
# 测试单位解析
|
||||
time_s = parse_time_input("5 min")
|
||||
assert time_s == 300.0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_{operation}_protocol()
|
||||
```
|
||||
|
||||
## 现有协议参考
|
||||
|
||||
- `stir_protocol.py` - 搅拌操作
|
||||
- `add_protocol.py` - 添加物料
|
||||
- `filter_protocol.py` - 过滤操作
|
||||
- `heatchill_protocol.py` - 加热/冷却
|
||||
- `separate_protocol.py` - 分离操作
|
||||
- `evaporate_protocol.py` - 蒸发操作
|
||||
@@ -1,319 +0,0 @@
|
||||
---
|
||||
description: 注册表配置规范 (YAML)
|
||||
globs: ["unilabos/registry/**/*.yaml"]
|
||||
---
|
||||
|
||||
# 注册表配置规范
|
||||
|
||||
## 概述
|
||||
|
||||
注册表使用 YAML 格式定义设备和资源类型，是 Uni-Lab-OS 的核心配置系统。
|
||||
|
||||
## 目录结构
|
||||
|
||||
```
|
||||
unilabos/registry/
|
||||
├── devices/ # 设备类型注册
|
||||
│ ├── virtual_device.yaml
|
||||
│ ├── liquid_handler.yaml
|
||||
│ └── ...
|
||||
├── device_comms/ # 通信设备配置
|
||||
│ ├── communication_devices.yaml
|
||||
│ └── modbus_ioboard.yaml
|
||||
└── resources/ # 资源类型注册
|
||||
├── bioyond/
|
||||
├── organic/
|
||||
├── opentrons/
|
||||
└── ...
|
||||
```
|
||||
|
||||
## 设备注册表格式
|
||||
|
||||
### 基本结构
|
||||
|
||||
```yaml
|
||||
device_type_id:
|
||||
# 基本信息
|
||||
description: "设备描述"
|
||||
version: "1.0.0"
|
||||
category:
|
||||
- category_name
|
||||
icon: "icon_device.webp"
|
||||
|
||||
# 类配置
|
||||
class:
|
||||
module: "unilabos.devices.my_module:MyClass"
|
||||
type: python
|
||||
|
||||
# 状态类型（属性 -> ROS消息类型）
|
||||
status_types:
|
||||
status: String
|
||||
temperature: Float64
|
||||
is_running: Bool
|
||||
|
||||
# 动作映射
|
||||
action_value_mappings:
|
||||
action_name:
|
||||
type: UniLabJsonCommand # 或 UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
handles: {}
|
||||
```
|
||||
|
||||
### action_value_mappings 详细格式
|
||||
|
||||
```yaml
|
||||
action_value_mappings:
|
||||
# 同步动作
|
||||
my_sync_action:
|
||||
type: UniLabJsonCommand
|
||||
goal:
|
||||
param1: param1
|
||||
param2: param2
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
message: message
|
||||
goal_default:
|
||||
param1: 0.0
|
||||
param2: ""
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
device_param: unilabos_devices # 设备选择器
|
||||
resource_param: unilabos_resources # 资源选择器
|
||||
schema:
|
||||
title: "动作名称参数"
|
||||
description: "动作描述"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties:
|
||||
param1:
|
||||
type: number
|
||||
param2:
|
||||
type: string
|
||||
required:
|
||||
- param1
|
||||
feedback: {}
|
||||
result:
|
||||
type: object
|
||||
properties:
|
||||
success:
|
||||
type: boolean
|
||||
message:
|
||||
type: string
|
||||
required:
|
||||
- goal
|
||||
|
||||
# 异步动作
|
||||
my_async_action:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback:
|
||||
progress: progress
|
||||
current_status: status
|
||||
result:
|
||||
success: success
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### 自动生成的动作
|
||||
|
||||
以 `auto-` 开头的动作由系统自动生成：
|
||||
|
||||
```yaml
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
|
||||
auto-cleanup:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### handles 配置
|
||||
|
||||
用于工作流编辑器中的数据流连接：
|
||||
|
||||
```yaml
|
||||
handles:
|
||||
input:
|
||||
- handler_key: "input_resource"
|
||||
data_type: "resource"
|
||||
label: "输入资源"
|
||||
data_source: "handle"
|
||||
data_key: "resources"
|
||||
output:
|
||||
- handler_key: "output_labware"
|
||||
data_type: "resource"
|
||||
label: "输出器皿"
|
||||
data_source: "executor"
|
||||
data_key: "created_resource.@flatten"
|
||||
```
|
||||
|
||||
## 资源注册表格式
|
||||
|
||||
```yaml
|
||||
resource_type_id:
|
||||
description: "资源描述"
|
||||
version: "1.0.0"
|
||||
category:
|
||||
- category_name
|
||||
icon: ""
|
||||
handles: []
|
||||
init_param_schema: {}
|
||||
|
||||
class:
|
||||
module: "unilabos.resources.my_module:MyResource"
|
||||
type: pylabrobot # 或 python
|
||||
```
|
||||
|
||||
### PyLabRobot 资源示例
|
||||
|
||||
```yaml
|
||||
BIOYOND_Electrolyte_6VialCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
- bioyond
|
||||
class:
|
||||
module: "unilabos.resources.bioyond.bottle_carriers:BIOYOND_Electrolyte_6VialCarrier"
|
||||
type: pylabrobot
|
||||
version: "1.0.0"
|
||||
```
|
||||
|
||||
## 状态类型映射
|
||||
|
||||
Python 类型到 ROS 消息类型的映射：
|
||||
|
||||
| Python 类型 | ROS 消息类型 |
|
||||
|------------|-------------|
|
||||
| `str` | `String` |
|
||||
| `bool` | `Bool` |
|
||||
| `int` | `Int64` |
|
||||
| `float` | `Float64` |
|
||||
| `list` | `String` (序列化) |
|
||||
| `dict` | `String` (序列化) |
|
||||
|
||||
## 自动完善注册表
|
||||
|
||||
使用 `--complete_registry` 参数自动生成 schema：
|
||||
|
||||
```bash
|
||||
python -m unilabos.app.main --complete_registry
|
||||
```
|
||||
|
||||
这会：
|
||||
1. 扫描设备类的方法签名
|
||||
2. 自动生成 `auto-` 前缀的动作
|
||||
3. 生成 JSON Schema
|
||||
4. 更新 YAML 文件
|
||||
|
||||
## 验证规则
|
||||
|
||||
1. **device_type_id** 必须唯一
|
||||
2. **module** 路径必须正确可导入
|
||||
3. **status_types** 的类型必须是有效的 ROS 消息类型
|
||||
4. **schema** 必须是有效的 JSON Schema
|
||||
|
||||
## 示例：完整设备配置
|
||||
|
||||
```yaml
|
||||
virtual_stirrer:
|
||||
category:
|
||||
- virtual_device
|
||||
description: "虚拟搅拌器设备"
|
||||
version: "1.0.0"
|
||||
icon: "icon_stirrer.webp"
|
||||
handles: []
|
||||
init_param_schema: {}
|
||||
|
||||
class:
|
||||
module: "unilabos.devices.virtual.virtual_stirrer:VirtualStirrer"
|
||||
type: python
|
||||
|
||||
status_types:
|
||||
status: String
|
||||
operation_mode: String
|
||||
current_speed: Float64
|
||||
is_stirring: Bool
|
||||
remaining_time: Float64
|
||||
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema:
|
||||
title: "initialize参数"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
|
||||
stir:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal:
|
||||
stir_time: stir_time
|
||||
stir_speed: stir_speed
|
||||
settling_time: settling_time
|
||||
feedback:
|
||||
current_speed: current_speed
|
||||
remaining_time: remaining_time
|
||||
result:
|
||||
success: success
|
||||
goal_default:
|
||||
stir_time: 60.0
|
||||
stir_speed: 300.0
|
||||
settling_time: 30.0
|
||||
handles: {}
|
||||
schema:
|
||||
title: "stir参数"
|
||||
description: "搅拌操作"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties:
|
||||
stir_time:
|
||||
type: number
|
||||
description: "搅拌时间（秒）"
|
||||
stir_speed:
|
||||
type: number
|
||||
description: "搅拌速度（RPM）"
|
||||
settling_time:
|
||||
type: number
|
||||
description: "沉降时间（秒）"
|
||||
required:
|
||||
- stir_time
|
||||
- stir_speed
|
||||
feedback:
|
||||
type: object
|
||||
properties:
|
||||
current_speed:
|
||||
type: number
|
||||
remaining_time:
|
||||
type: number
|
||||
result:
|
||||
type: object
|
||||
properties:
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
```
|
||||
@@ -1,233 +0,0 @@
|
||||
---
|
||||
description: ROS 2 集成开发规范
|
||||
globs: ["unilabos/ros/**/*.py", "**/*_node.py"]
|
||||
---
|
||||
|
||||
# ROS 2 集成开发规范
|
||||
|
||||
## 概述
|
||||
|
||||
Uni-Lab-OS 使用 ROS 2 作为设备通信中间件，基于 rclpy 实现。
|
||||
|
||||
## 核心组件
|
||||
|
||||
### BaseROS2DeviceNode
|
||||
|
||||
设备节点基类，提供：
|
||||
- ROS Topic 自动发布（状态属性）
|
||||
- Action Server 自动创建（设备动作）
|
||||
- 资源管理服务
|
||||
- 异步任务调度
|
||||
|
||||
```python
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
```
|
||||
|
||||
### 消息转换器
|
||||
|
||||
```python
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
msg_converter_manager,
|
||||
ros_action_to_json_schema,
|
||||
ros_message_to_json_schema,
|
||||
)
|
||||
```
|
||||
|
||||
## 设备与 ROS 集成
|
||||
|
||||
### post_init 方法
|
||||
|
||||
设备类必须实现 `post_init` 方法接收 ROS 节点：
|
||||
|
||||
```python
|
||||
class MyDevice:
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点注入"""
|
||||
self._ros_node = ros_node
|
||||
```
|
||||
|
||||
### 状态属性发布
|
||||
|
||||
设备的 `@property` 属性会自动发布为 ROS Topic：
|
||||
|
||||
```python
|
||||
class MyDevice:
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
|
||||
# 自动发布到 /{namespace}/temperature Topic
|
||||
```
|
||||
|
||||
### Topic 配置装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import topic_config
|
||||
|
||||
class MyDevice:
|
||||
@property
|
||||
@topic_config(period=1.0, print_publish=False, qos=10)
|
||||
def fast_data(self) -> float:
|
||||
"""高频数据 - 每秒发布一次"""
|
||||
return self._fast_data
|
||||
|
||||
@property
|
||||
@topic_config(period=5.0)
|
||||
def slow_data(self) -> str:
|
||||
"""低频数据 - 每5秒发布一次"""
|
||||
return self._slow_data
|
||||
```
|
||||
|
||||
### 订阅装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import subscribe
|
||||
|
||||
class MyDevice:
|
||||
@subscribe(topic="/external/sensor_data", qos=10)
|
||||
def on_sensor_data(self, msg):
|
||||
"""订阅外部Topic"""
|
||||
self._sensor_value = msg.data
|
||||
```
|
||||
|
||||
## 异步操作
|
||||
|
||||
### 使用 ROS 节点睡眠
|
||||
|
||||
```python
|
||||
# 推荐：使用ROS节点的睡眠方法
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
# 不推荐：直接使用asyncio（可能导致回调阻塞）
|
||||
await asyncio.sleep(1.0)
|
||||
```
|
||||
|
||||
### 获取事件循环
|
||||
|
||||
```python
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
|
||||
loop = get_event_loop()
|
||||
```
|
||||
|
||||
## 消息类型
|
||||
|
||||
### unilabos_msgs 包
|
||||
|
||||
```python
|
||||
from unilabos_msgs.msg import Resource
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
ResourceDelete,
|
||||
ResourceUpdate,
|
||||
ResourceList,
|
||||
SerialCommand,
|
||||
)
|
||||
from unilabos_msgs.action import SendCmd
|
||||
```
|
||||
|
||||
### Resource 消息结构
|
||||
|
||||
```python
|
||||
Resource:
|
||||
id: str
|
||||
name: str
|
||||
category: str
|
||||
type: str
|
||||
parent: str
|
||||
children: List[str]
|
||||
config: str # JSON字符串
|
||||
data: str # JSON字符串
|
||||
sample_id: str
|
||||
pose: Pose
|
||||
```
|
||||
|
||||
## 日志适配器
|
||||
|
||||
```python
|
||||
from unilabos.utils.log import info, debug, warning, error, trace
|
||||
|
||||
class MyDevice:
|
||||
def __init__(self):
|
||||
# 创建设备专属日志器
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
```
|
||||
|
||||
ROSLoggerAdapter 同时向自定义日志和 ROS 日志发送消息。
|
||||
|
||||
## Action Server
|
||||
|
||||
设备动作自动创建为 ROS Action Server：
|
||||
|
||||
```yaml
|
||||
# 在注册表中配置
|
||||
action_value_mappings:
|
||||
my_action:
|
||||
type: UniLabJsonCommandAsync # 异步Action
|
||||
goal: {...}
|
||||
feedback: {...}
|
||||
result: {...}
|
||||
```
|
||||
|
||||
### Action 类型
|
||||
|
||||
- **UniLabJsonCommand**: 同步动作
|
||||
- **UniLabJsonCommandAsync**: 异步动作（支持feedback）
|
||||
|
||||
## 服务客户端
|
||||
|
||||
```python
|
||||
from rclpy.client import Client
|
||||
|
||||
# 调用其他节点的服务
|
||||
response = await self._ros_node.call_service(
|
||||
service_name="/other_node/service",
|
||||
request=MyServiceRequest(...)
|
||||
)
|
||||
```
|
||||
|
||||
## 命名空间
|
||||
|
||||
设备节点使用命名空间隔离：
|
||||
|
||||
```
|
||||
/{device_id}/ # 设备命名空间
|
||||
/{device_id}/status # 状态Topic
|
||||
/{device_id}/temperature # 温度Topic
|
||||
/{device_id}/my_action # 动作Server
|
||||
```
|
||||
|
||||
## 调试
|
||||
|
||||
### 查看 Topic
|
||||
|
||||
```bash
|
||||
ros2 topic list
|
||||
ros2 topic echo /{device_id}/status
|
||||
```
|
||||
|
||||
### 查看 Action
|
||||
|
||||
```bash
|
||||
ros2 action list
|
||||
ros2 action info /{device_id}/my_action
|
||||
```
|
||||
|
||||
### 查看 Service
|
||||
|
||||
```bash
|
||||
ros2 service list
|
||||
ros2 service call /{device_id}/resource_list unilabos_msgs/srv/ResourceList
|
||||
```
|
||||
|
||||
## 最佳实践
|
||||
|
||||
1. **状态属性命名**: 使用蛇形命名法（snake_case）
|
||||
2. **Topic 频率**: 根据数据变化频率调整，避免过高频率
|
||||
3. **Action 反馈**: 长时间操作提供进度反馈
|
||||
4. **错误处理**: 使用 try-except 捕获并记录错误
|
||||
5. **资源清理**: 在 cleanup 方法中正确清理资源
|
||||
@@ -1,357 +0,0 @@
|
||||
---
|
||||
description: 测试开发规范
|
||||
globs: ["tests/**/*.py", "**/test_*.py"]
|
||||
---
|
||||
|
||||
# 测试开发规范
|
||||
|
||||
## 目录结构
|
||||
|
||||
```
|
||||
tests/
|
||||
├── __init__.py
|
||||
├── devices/ # 设备测试
|
||||
│ └── liquid_handling/
|
||||
│ └── test_transfer_liquid.py
|
||||
├── resources/ # 资源测试
|
||||
│ ├── test_bottle_carrier.py
|
||||
│ └── test_resourcetreeset.py
|
||||
├── ros/ # ROS消息测试
|
||||
│ └── msgs/
|
||||
│ ├── test_basic.py
|
||||
│ ├── test_conversion.py
|
||||
│ └── test_mapping.py
|
||||
└── workflow/ # 工作流测试
|
||||
└── merge_workflow.py
|
||||
```
|
||||
|
||||
## 测试框架
|
||||
|
||||
使用 pytest 作为测试框架：
|
||||
|
||||
```bash
|
||||
# 运行所有测试
|
||||
pytest tests/
|
||||
|
||||
# 运行特定测试文件
|
||||
pytest tests/resources/test_bottle_carrier.py
|
||||
|
||||
# 运行特定测试函数
|
||||
pytest tests/resources/test_bottle_carrier.py::test_bottle_carrier
|
||||
|
||||
# 显示详细输出
|
||||
pytest -v tests/
|
||||
|
||||
# 显示打印输出
|
||||
pytest -s tests/
|
||||
```
|
||||
|
||||
## 测试文件模板
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from typing import List, Dict, Any
|
||||
|
||||
# 导入被测试的模块
|
||||
from unilabos.resources.bioyond.bottle_carriers import (
|
||||
BIOYOND_Electrolyte_6VialCarrier,
|
||||
)
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Solid_Vial,
|
||||
)
|
||||
|
||||
|
||||
class TestBottleCarrier:
|
||||
"""BottleCarrier 测试类"""
|
||||
|
||||
def setup_method(self):
|
||||
"""每个测试方法前执行"""
|
||||
self.carrier = BIOYOND_Electrolyte_6VialCarrier("test_carrier")
|
||||
|
||||
def teardown_method(self):
|
||||
"""每个测试方法后执行"""
|
||||
pass
|
||||
|
||||
def test_carrier_creation(self):
|
||||
"""测试载架创建"""
|
||||
assert self.carrier.name == "test_carrier"
|
||||
assert len(self.carrier.sites) == 6
|
||||
|
||||
def test_bottle_placement(self):
|
||||
"""测试瓶子放置"""
|
||||
bottle = BIOYOND_PolymerStation_Solid_Vial("test_bottle")
|
||||
# 测试逻辑...
|
||||
assert bottle.name == "test_bottle"
|
||||
|
||||
|
||||
def test_standalone_function():
|
||||
"""独立测试函数"""
|
||||
result = some_function()
|
||||
assert result is True
|
||||
|
||||
|
||||
# 参数化测试
|
||||
@pytest.mark.parametrize("input,expected", [
|
||||
("5 min", 300.0),
|
||||
("1 h", 3600.0),
|
||||
("120", 120.0),
|
||||
(60, 60.0),
|
||||
])
|
||||
def test_time_parsing(input, expected):
|
||||
"""测试时间解析"""
|
||||
from unilabos.compile.utils.unit_parser import parse_time_input
|
||||
assert parse_time_input(input) == expected
|
||||
|
||||
|
||||
# 异常测试
|
||||
def test_invalid_input_raises_error():
|
||||
"""测试无效输入抛出异常"""
|
||||
with pytest.raises(ValueError) as exc_info:
|
||||
invalid_function("bad_input")
|
||||
assert "invalid" in str(exc_info.value).lower()
|
||||
|
||||
|
||||
# 跳过条件测试
|
||||
@pytest.mark.skipif(
|
||||
not os.environ.get("ROS_DISTRO"),
|
||||
reason="需要ROS环境"
|
||||
)
|
||||
def test_ros_feature():
|
||||
"""需要ROS环境的测试"""
|
||||
pass
|
||||
```
|
||||
|
||||
## 设备测试
|
||||
|
||||
### 虚拟设备测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
import asyncio
|
||||
from unittest.mock import MagicMock, AsyncMock
|
||||
|
||||
from unilabos.devices.virtual.virtual_stirrer import VirtualStirrer
|
||||
|
||||
|
||||
class TestVirtualStirrer:
|
||||
"""VirtualStirrer 测试"""
|
||||
|
||||
@pytest.fixture
|
||||
def stirrer(self):
|
||||
"""创建测试用搅拌器"""
|
||||
device = VirtualStirrer(
|
||||
device_id="test_stirrer",
|
||||
config={"max_speed": 1500.0, "min_speed": 50.0}
|
||||
)
|
||||
|
||||
# Mock ROS节点
|
||||
mock_node = MagicMock()
|
||||
mock_node.sleep = AsyncMock(return_value=None)
|
||||
device.post_init(mock_node)
|
||||
|
||||
return device
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_initialize(self, stirrer):
|
||||
"""测试初始化"""
|
||||
result = await stirrer.initialize()
|
||||
assert result is True
|
||||
assert stirrer.status == "待机中"
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_stir_action(self, stirrer):
|
||||
"""测试搅拌动作"""
|
||||
await stirrer.initialize()
|
||||
|
||||
result = await stirrer.stir(
|
||||
stir_time=5.0,
|
||||
stir_speed=300.0,
|
||||
settling_time=2.0
|
||||
)
|
||||
|
||||
assert result is True
|
||||
assert stirrer.operation_mode == "Completed"
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_stir_invalid_speed(self, stirrer):
|
||||
"""测试无效速度"""
|
||||
await stirrer.initialize()
|
||||
|
||||
# 速度超出范围
|
||||
result = await stirrer.stir(
|
||||
stir_time=5.0,
|
||||
stir_speed=2000.0, # 超过max_speed
|
||||
settling_time=0.0
|
||||
)
|
||||
|
||||
assert result is False
|
||||
assert "错误" in stirrer.status
|
||||
```
|
||||
|
||||
### 异步测试配置
|
||||
|
||||
```python
|
||||
# conftest.py
|
||||
import pytest
|
||||
import asyncio
|
||||
|
||||
|
||||
@pytest.fixture(scope="session")
|
||||
def event_loop():
|
||||
"""创建事件循环"""
|
||||
loop = asyncio.get_event_loop_policy().new_event_loop()
|
||||
yield loop
|
||||
loop.close()
|
||||
```
|
||||
|
||||
## 资源测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
)
|
||||
|
||||
|
||||
def test_resource_tree_creation():
|
||||
"""测试资源树创建"""
|
||||
tree_set = ResourceTreeSet()
|
||||
|
||||
# 添加资源
|
||||
resource = {"id": "res_1", "name": "Resource 1"}
|
||||
tree_set.add_resource(resource)
|
||||
|
||||
# 验证
|
||||
assert len(tree_set.all_nodes) == 1
|
||||
assert tree_set.get_resource("res_1") is not None
|
||||
|
||||
|
||||
def test_resource_tree_merge():
|
||||
"""测试资源树合并"""
|
||||
local_set = ResourceTreeSet()
|
||||
remote_set = ResourceTreeSet()
|
||||
|
||||
# 设置数据...
|
||||
|
||||
local_set.merge_remote_resources(remote_set)
|
||||
|
||||
# 验证合并结果...
|
||||
```
|
||||
|
||||
## ROS 消息测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
msg_converter_manager,
|
||||
)
|
||||
|
||||
|
||||
def test_message_conversion():
|
||||
"""测试消息转换"""
|
||||
# Python -> ROS
|
||||
python_data = {"id": "test", "value": 42}
|
||||
ros_msg = convert_to_ros_msg(python_data, MyMsgType)
|
||||
|
||||
assert ros_msg.id == "test"
|
||||
assert ros_msg.value == 42
|
||||
|
||||
# ROS -> Python
|
||||
result = convert_from_ros_msg_with_mapping(ros_msg, mapping)
|
||||
assert result["id"] == "test"
|
||||
```
|
||||
|
||||
## 协议测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
import networkx as nx
|
||||
from unilabos.compile.stir_protocol import (
|
||||
generate_stir_protocol,
|
||||
extract_vessel_id,
|
||||
)
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def topology_graph():
|
||||
"""创建测试拓扑图"""
|
||||
G = nx.DiGraph()
|
||||
G.add_node("flask_1", **{"class": "flask"})
|
||||
G.add_node("stirrer_1", **{"class": "virtual_stirrer"})
|
||||
G.add_edge("stirrer_1", "flask_1")
|
||||
return G
|
||||
|
||||
|
||||
def test_generate_stir_protocol(topology_graph):
|
||||
"""测试搅拌协议生成"""
|
||||
actions = generate_stir_protocol(
|
||||
G=topology_graph,
|
||||
vessel="flask_1",
|
||||
time="5 min",
|
||||
stir_speed=300.0
|
||||
)
|
||||
|
||||
assert len(actions) == 1
|
||||
assert actions[0]["device_id"] == "stirrer_1"
|
||||
assert actions[0]["action_name"] == "stir"
|
||||
|
||||
|
||||
def test_extract_vessel_id():
|
||||
"""测试vessel_id提取"""
|
||||
# 字典格式
|
||||
assert extract_vessel_id({"id": "flask_1"}) == "flask_1"
|
||||
|
||||
# 字符串格式
|
||||
assert extract_vessel_id("flask_2") == "flask_2"
|
||||
|
||||
# 空值
|
||||
assert extract_vessel_id("") == ""
|
||||
```
|
||||
|
||||
## 测试标记
|
||||
|
||||
```python
|
||||
# 慢速测试
|
||||
@pytest.mark.slow
|
||||
def test_long_running():
|
||||
pass
|
||||
|
||||
# 需要网络
|
||||
@pytest.mark.network
|
||||
def test_network_call():
|
||||
pass
|
||||
|
||||
# 需要ROS
|
||||
@pytest.mark.ros
|
||||
def test_ros_feature():
|
||||
pass
|
||||
```
|
||||
|
||||
运行特定标记的测试：
|
||||
|
||||
```bash
|
||||
pytest -m "not slow" # 排除慢速测试
|
||||
pytest -m ros # 仅ROS测试
|
||||
```
|
||||
|
||||
## 覆盖率
|
||||
|
||||
```bash
|
||||
# 生成覆盖率报告
|
||||
pytest --cov=unilabos tests/
|
||||
|
||||
# HTML报告
|
||||
pytest --cov=unilabos --cov-report=html tests/
|
||||
```
|
||||
|
||||
## 最佳实践
|
||||
|
||||
1. **测试命名**: `test_{功能}_{场景}_{预期结果}`
|
||||
2. **独立性**: 每个测试独立运行，不依赖其他测试
|
||||
3. **Mock外部依赖**: 使用 unittest.mock 模拟外部服务
|
||||
4. **参数化**: 使用 `@pytest.mark.parametrize` 减少重复代码
|
||||
5. **fixtures**: 使用 fixtures 共享测试设置
|
||||
6. **断言清晰**: 每个断言只验证一件事
|
||||
@@ -1,353 +0,0 @@
|
||||
---
|
||||
description: Uni-Lab-OS 实验室自动化平台开发规范 - 核心规则
|
||||
globs: ["**/*.py", "**/*.yaml", "**/*.json"]
|
||||
---
|
||||
|
||||
# Uni-Lab-OS 项目开发规范
|
||||
|
||||
## 项目概述
|
||||
|
||||
Uni-Lab-OS 是一个实验室自动化操作系统，用于连接和控制各种实验设备，实现实验工作流的自动化和标准化。
|
||||
|
||||
## 技术栈
|
||||
|
||||
- **Python 3.11** - 核心开发语言
|
||||
- **ROS 2** - 设备通信中间件 (rclpy)
|
||||
- **Conda/Mamba** - 包管理 (robostack-staging, conda-forge)
|
||||
- **FastAPI** - Web API 服务
|
||||
- **WebSocket** - 实时通信
|
||||
- **NetworkX** - 拓扑图管理
|
||||
- **YAML** - 配置和注册表定义
|
||||
- **PyLabRobot** - 实验室自动化库集成
|
||||
- **pytest** - 测试框架
|
||||
- **asyncio** - 异步编程
|
||||
|
||||
## 项目结构
|
||||
|
||||
```
|
||||
unilabos/
|
||||
├── app/ # 应用入口、Web服务、后端
|
||||
├── compile/ # 协议编译器 (stir, add, filter 等)
|
||||
├── config/ # 配置管理
|
||||
├── devices/ # 设备驱动 (真实/虚拟)
|
||||
├── device_comms/ # 设备通信协议
|
||||
├── device_mesh/ # 3D网格和可视化
|
||||
├── registry/ # 设备和资源类型注册表 (YAML)
|
||||
├── resources/ # 资源定义
|
||||
├── ros/ # ROS 2 集成
|
||||
├── utils/ # 工具函数
|
||||
└── workflow/ # 工作流管理
|
||||
```
|
||||
|
||||
## 代码规范
|
||||
|
||||
### Python 风格
|
||||
|
||||
1. **类型注解**：所有函数必须使用类型注解
|
||||
```python
|
||||
def transfer_liquid(
|
||||
source: str,
|
||||
destination: str,
|
||||
volume: float,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
```
|
||||
|
||||
2. **Docstring**：使用 Google 风格的文档字符串
|
||||
```python
|
||||
def initialize(self) -> bool:
|
||||
"""
|
||||
初始化设备
|
||||
|
||||
Returns:
|
||||
bool: 初始化是否成功
|
||||
"""
|
||||
```
|
||||
|
||||
3. **导入顺序**：
|
||||
- 标准库
|
||||
- 第三方库
|
||||
- ROS 相关 (rclpy, unilabos_msgs)
|
||||
- 项目内部模块
|
||||
|
||||
### 异步编程
|
||||
|
||||
1. 设备操作方法使用 `async def`
|
||||
2. 使用 `await self._ros_node.sleep()` 而非 `asyncio.sleep()`
|
||||
3. 长时间运行操作需提供进度反馈
|
||||
|
||||
```python
|
||||
async def stir(self, stir_time: float, stir_speed: float, **kwargs) -> bool:
|
||||
"""执行搅拌操作"""
|
||||
start_time = time_module.time()
|
||||
while True:
|
||||
elapsed = time_module.time() - start_time
|
||||
remaining = max(0, stir_time - elapsed)
|
||||
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"status": f"搅拌中: {stir_speed} RPM"
|
||||
})
|
||||
|
||||
if remaining <= 0:
|
||||
break
|
||||
await self._ros_node.sleep(1.0)
|
||||
return True
|
||||
```
|
||||
|
||||
### 日志规范
|
||||
|
||||
使用项目自定义日志系统：
|
||||
|
||||
```python
|
||||
from unilabos.utils.log import logger, info, debug, warning, error, trace
|
||||
|
||||
# 在设备类中使用
|
||||
self.logger = logging.getLogger(f"DeviceName.{self.device_id}")
|
||||
self.logger.info("设备初始化完成")
|
||||
```
|
||||
|
||||
## 设备驱动开发
|
||||
|
||||
### 设备类结构
|
||||
|
||||
```python
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class MyDevice:
|
||||
"""设备驱动类"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
self.device_id = device_id or "unknown_device"
|
||||
self.config = config or {}
|
||||
self.data = {} # 设备状态数据
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点注入"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化设备"""
|
||||
pass
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""清理设备"""
|
||||
pass
|
||||
|
||||
# 状态属性 - 自动发布为 ROS Topic
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "待机")
|
||||
```
|
||||
|
||||
### 状态属性装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import topic_config
|
||||
|
||||
class MyDevice:
|
||||
@property
|
||||
@topic_config(period=1.0, qos=10) # 每秒发布一次
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
```
|
||||
|
||||
### 虚拟设备
|
||||
|
||||
虚拟设备放置在 `unilabos/devices/virtual/` 目录下，命名为 `virtual_*.py`
|
||||
|
||||
## 注册表配置
|
||||
|
||||
### 设备注册表 (YAML)
|
||||
|
||||
位置: `unilabos/registry/devices/*.yaml`
|
||||
|
||||
```yaml
|
||||
my_device_type:
|
||||
category:
|
||||
- my_category
|
||||
description: "设备描述"
|
||||
version: "1.0.0"
|
||||
class:
|
||||
module: "unilabos.devices.my_device:MyDevice"
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
temperature: Float64
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### 资源注册表 (YAML)
|
||||
|
||||
位置: `unilabos/registry/resources/**/*.yaml`
|
||||
|
||||
```yaml
|
||||
my_container:
|
||||
category:
|
||||
- container
|
||||
class:
|
||||
module: "unilabos.resources.my_resource:MyContainer"
|
||||
type: pylabrobot
|
||||
version: "1.0.0"
|
||||
```
|
||||
|
||||
## 协议编译器
|
||||
|
||||
位置: `unilabos/compile/*_protocol.py`
|
||||
|
||||
### 协议生成函数模板
|
||||
|
||||
```python
|
||||
from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
|
||||
def generate_my_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: Union[str, dict],
|
||||
param1: float = 0.0,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成操作协议序列
|
||||
|
||||
Args:
|
||||
G: 物理拓扑图
|
||||
vessel: 容器ID或字典
|
||||
param1: 参数1
|
||||
|
||||
Returns:
|
||||
List[Dict]: 动作序列
|
||||
"""
|
||||
# 提取vessel_id
|
||||
vessel_id = vessel if isinstance(vessel, str) else vessel.get("id", "")
|
||||
|
||||
# 查找设备
|
||||
device_id = find_connected_device(G, vessel_id)
|
||||
|
||||
# 生成动作
|
||||
action_sequence = [{
|
||||
"device_id": device_id,
|
||||
"action_name": "my_action",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"param1": float(param1)
|
||||
}
|
||||
}]
|
||||
|
||||
return action_sequence
|
||||
```
|
||||
|
||||
## 测试规范
|
||||
|
||||
### 测试文件位置
|
||||
|
||||
- 单元测试: `tests/` 目录
|
||||
- 设备测试: `tests/devices/`
|
||||
- 资源测试: `tests/resources/`
|
||||
- ROS消息测试: `tests/ros/msgs/`
|
||||
|
||||
### 测试命名
|
||||
|
||||
```python
|
||||
# tests/devices/my_device/test_my_device.py
|
||||
|
||||
import pytest
|
||||
|
||||
def test_device_initialization():
|
||||
"""测试设备初始化"""
|
||||
pass
|
||||
|
||||
def test_device_action():
|
||||
"""测试设备动作"""
|
||||
pass
|
||||
```
|
||||
|
||||
## 错误处理
|
||||
|
||||
```python
|
||||
from unilabos.utils.exception import UniLabException
|
||||
|
||||
try:
|
||||
result = await device.execute_action()
|
||||
except ValueError as e:
|
||||
self.logger.error(f"参数错误: {e}")
|
||||
self.data["status"] = "错误: 参数无效"
|
||||
return False
|
||||
except Exception as e:
|
||||
self.logger.error(f"执行失败: {e}")
|
||||
raise
|
||||
```
|
||||
|
||||
## 配置管理
|
||||
|
||||
```python
|
||||
from unilabos.config.config import BasicConfig, HTTPConfig
|
||||
|
||||
# 读取配置
|
||||
port = BasicConfig.port
|
||||
is_host = BasicConfig.is_host_mode
|
||||
|
||||
# 配置文件: local_config.py
|
||||
```
|
||||
|
||||
## 常用工具
|
||||
|
||||
### 单例模式
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import singleton
|
||||
|
||||
@singleton
|
||||
class MyManager:
|
||||
pass
|
||||
```
|
||||
|
||||
### 类型检查
|
||||
|
||||
```python
|
||||
from unilabos.utils.type_check import NoAliasDumper
|
||||
|
||||
yaml.dump(data, f, Dumper=NoAliasDumper)
|
||||
```
|
||||
|
||||
### 导入管理
|
||||
|
||||
```python
|
||||
from unilabos.utils.import_manager import get_class
|
||||
|
||||
device_class = get_class("unilabos.devices.my_device:MyDevice")
|
||||
```
|
||||
|
||||
## Git 提交规范
|
||||
|
||||
提交信息格式:
|
||||
```
|
||||
<type>(<scope>): <subject>
|
||||
|
||||
<body>
|
||||
```
|
||||
|
||||
类型:
|
||||
- `feat`: 新功能
|
||||
- `fix`: 修复bug
|
||||
- `docs`: 文档更新
|
||||
- `refactor`: 重构
|
||||
- `test`: 测试相关
|
||||
- `chore`: 构建/工具相关
|
||||
|
||||
示例:
|
||||
```
|
||||
feat(devices): 添加虚拟搅拌器设备
|
||||
|
||||
- 实现VirtualStirrer类
|
||||
- 支持定时搅拌和持续搅拌模式
|
||||
- 添加速度验证逻辑
|
||||
```
|
||||
@@ -1,24 +0,0 @@
|
||||
---
|
||||
name: add-device
|
||||
description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Walks through device category selection (thing model), communication protocol, command protocol collection, driver creation, registry YAML, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, configure device registry, or mentions 接入设备/添加设备/设备驱动/物模型.
|
||||
---
|
||||
|
||||
# 添加新设备到 Uni-Lab-OS
|
||||
|
||||
**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南并严格遵循。
|
||||
|
||||
该指南包含：
|
||||
- 8 步完整流程（设备类别、通信协议、指令收集、接口对齐、驱动创建、注册表、图文件、验证）
|
||||
- 所有物模型代码模板（注射泵、电磁阀、蠕动泵、温控、电机等）
|
||||
- 通信协议代码片段（Serial、Modbus、TCP、HTTP、OPC UA）
|
||||
- 现有设备接口快照（用于第四步对齐，包含参数名、status_types、方法签名）
|
||||
- 常见错误检查清单
|
||||
|
||||
**Cursor 工具映射：**
|
||||
|
||||
| 指南中的操作 | Cursor 中使用的工具 |
|
||||
|---|---|
|
||||
| 向用户确认设备类别、协议等信息 | 使用 AskQuestion 工具 |
|
||||
| 搜索已有设备注册表 | 使用 Grep 在 `unilabos/registry/devices/` 中搜索 |
|
||||
| 读取用户提供的协议文档/SDK 代码 | 使用 Read 工具 |
|
||||
| 第四步对齐：查找同类设备接口 | 优先使用 Grep 搜索仓库中的最新注册表；指南中的「现有设备接口快照」作为兜底参考 |
|
||||
@@ -1,323 +0,0 @@
|
||||
---
|
||||
name: add-protocol
|
||||
description: Guide for adding new experiment protocols to Uni-Lab-OS (添加新实验操作协议). Walks through ROS Action definition, Pydantic model creation, protocol generator implementation, and registration. Use when the user wants to add a new protocol, create a compile function, implement an experiment operation, or mentions 协议/protocol/编译/compile/实验操作.
|
||||
---
|
||||
|
||||
# 添加新实验操作协议（Protocol）
|
||||
|
||||
Protocol 是对实验有意义的完整动作（如泵转移、过滤、溶解），需要多设备协同。`compile/` 中的生成函数根据设备连接图将抽象操作"编译"为设备指令序列。
|
||||
|
||||
添加一个 Protocol 需修改 **6 个文件**，按以下流程执行。
|
||||
|
||||
---
|
||||
|
||||
## 第一步：确认协议信息
|
||||
|
||||
向用户确认：
|
||||
|
||||
| 信息 | 示例 |
|
||||
|------|------|
|
||||
| 协议英文名 | `MyNewProtocol` |
|
||||
| 操作描述 | 将固体样品研磨至目标粒径 |
|
||||
| Goal 参数（必需 + 可选） | `vessel: dict`, `time: float = 300.0` |
|
||||
| Result 字段 | `success: bool`, `message: str` |
|
||||
| 需要哪些设备协同 | 研磨器、搅拌器 |
|
||||
|
||||
---
|
||||
|
||||
## 第二步：创建 ROS Action 定义
|
||||
|
||||
路径：`unilabos_msgs/action/<ActionName>.action`
|
||||
|
||||
三段式结构（Goal / Result / Feedback），用 `---` 分隔：
|
||||
|
||||
```
|
||||
# Goal
|
||||
Resource vessel
|
||||
float64 time
|
||||
string mode
|
||||
---
|
||||
# Result
|
||||
bool success
|
||||
string return_info
|
||||
---
|
||||
# Feedback
|
||||
string status
|
||||
string current_device
|
||||
builtin_interfaces/Duration time_spent
|
||||
builtin_interfaces/Duration time_remaining
|
||||
```
|
||||
|
||||
**类型映射：**
|
||||
|
||||
| Python 类型 | ROS 类型 | 说明 |
|
||||
|------------|----------|------|
|
||||
| `dict` | `Resource` | 容器/设备引用，自定义消息类型 |
|
||||
| `float` | `float64` | |
|
||||
| `int` | `int32` | |
|
||||
| `str` | `string` | |
|
||||
| `bool` | `bool` | |
|
||||
|
||||
> `Resource` 是 `unilabos_msgs/msg/Resource.msg` 中定义的自定义消息类型。
|
||||
|
||||
---
|
||||
|
||||
## 第三步：注册 Action 到 CMakeLists
|
||||
|
||||
在 `unilabos_msgs/CMakeLists.txt` 的 `set(action_files ...)` 块中添加：
|
||||
|
||||
```cmake
|
||||
"action/MyNewAction.action"
|
||||
```
|
||||
|
||||
> 调试时需编译：`cd unilabos_msgs && colcon build && source ./install/local_setup.sh && cd ..`
|
||||
> PR 合并后 CI/CD 自动发布，`mamba update ros-humble-unilabos-msgs` 即可。
|
||||
|
||||
---
|
||||
|
||||
## 第四步：创建 Pydantic 模型
|
||||
|
||||
在 `unilabos/messages/__init__.py` 中添加（位于 `# Start Protocols` 和 `# End Protocols` 之间）：
|
||||
|
||||
```python
|
||||
class MyNewProtocol(BaseModel):
|
||||
# === 必需参数 ===
|
||||
vessel: dict = Field(..., description="目标容器")
|
||||
|
||||
# === 可选参数 ===
|
||||
time: float = Field(300.0, description="操作时间 (秒)")
|
||||
mode: str = Field("default", description="操作模式")
|
||||
|
||||
def model_post_init(self, __context):
|
||||
"""参数验证和修正"""
|
||||
if self.time <= 0:
|
||||
self.time = 300.0
|
||||
```
|
||||
|
||||
**规则：**
|
||||
- 参数名必须与 `.action` 文件中 Goal 字段完全一致
|
||||
- `dict` 类型对应 `.action` 中的 `Resource`
|
||||
- 将类名加入文件末尾的 `__all__` 列表
|
||||
|
||||
---
|
||||
|
||||
## 第五步：实现协议生成函数
|
||||
|
||||
路径：`unilabos/compile/<protocol_name>_protocol.py`
|
||||
|
||||
```python
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any
|
||||
|
||||
|
||||
def generate_my_new_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
time: float = 300.0,
|
||||
mode: str = "default",
|
||||
**kwargs,
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""将 MyNewProtocol 编译为设备动作序列。
|
||||
|
||||
Args:
|
||||
G: 设备连接图（NetworkX），节点为设备/容器，边为物理连接
|
||||
vessel: 目标容器 {"id": "reactor_1"}
|
||||
time: 操作时间（秒）
|
||||
mode: 操作模式
|
||||
|
||||
Returns:
|
||||
动作列表，每个元素为:
|
||||
- dict: 单步动作
|
||||
- list[dict]: 并行动作
|
||||
"""
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
actions = []
|
||||
|
||||
# 查找相关设备（通过图的连接关系）
|
||||
# 生成动作序列
|
||||
actions.append({
|
||||
"device_id": "target_device_id",
|
||||
"action_name": "some_action",
|
||||
"action_kwargs": {"param": "value"}
|
||||
})
|
||||
|
||||
# 等待
|
||||
actions.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": time}
|
||||
})
|
||||
|
||||
return actions
|
||||
```
|
||||
|
||||
### 动作字典格式
|
||||
|
||||
```python
|
||||
# 单步动作（发给子设备）
|
||||
{"device_id": "pump_1", "action_name": "set_position", "action_kwargs": {"position": 10.0}}
|
||||
|
||||
# 发给工作站自身
|
||||
{"device_id": "self", "action_name": "my_action", "action_kwargs": {...}}
|
||||
|
||||
# 等待
|
||||
{"action_name": "wait", "action_kwargs": {"time": 5.0}}
|
||||
|
||||
# 并行动作（列表嵌套）
|
||||
[
|
||||
{"device_id": "pump_1", "action_name": "set_position", "action_kwargs": {"position": 10.0}},
|
||||
{"device_id": "stirrer_1", "action_name": "start_stir", "action_kwargs": {"stir_speed": 300}}
|
||||
]
|
||||
```
|
||||
|
||||
### 关于 `vessel` 参数类型
|
||||
|
||||
现有协议的 `vessel` 参数类型不统一：
|
||||
- 新协议趋势：使用 `dict`（如 `{"id": "reactor_1"}`）
|
||||
- 旧协议：使用 `str`（如 `"reactor_1"`）
|
||||
- 兼容写法：`Union[str, dict]`
|
||||
|
||||
**建议新协议统一使用 `dict` 类型**，通过 `get_vessel()` 兼容两种输入。
|
||||
|
||||
### 公共工具函数（`unilabos/compile/utils/`）
|
||||
|
||||
| 函数 | 用途 |
|
||||
|------|------|
|
||||
| `get_vessel(vessel)` | 解析容器参数为 `(vessel_id, vessel_data)`，兼容 dict 和 str |
|
||||
| `find_solvent_vessel(G, solvent)` | 根据溶剂名查找容器（精确→命名规则→模糊→液体类型） |
|
||||
| `find_reagent_vessel(G, reagent)` | 根据试剂名查找容器（支持固体和液体） |
|
||||
| `find_connected_stirrer(G, vessel)` | 查找与容器相连的搅拌器 |
|
||||
| `find_solid_dispenser(G)` | 查找固体加样器 |
|
||||
|
||||
### 协议内专属查找函数
|
||||
|
||||
许多协议在自己的文件内定义了专属的 `find_*` 函数（不在 `utils/` 中）。编写新协议时，优先复用 `utils/` 中的公共函数；如需特殊查找逻辑，在协议文件内部定义即可：
|
||||
|
||||
```python
|
||||
def find_my_special_device(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找与容器相关的特殊设备"""
|
||||
for node in G.nodes():
|
||||
if 'my_device_type' in G.nodes[node].get('class', '').lower():
|
||||
return node
|
||||
raise ValueError("未找到特殊设备")
|
||||
```
|
||||
|
||||
### 复用已有协议
|
||||
|
||||
复杂协议通常组合已有协议：
|
||||
|
||||
```python
|
||||
from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
actions.extend(generate_pump_protocol_with_rinsing(
|
||||
G, from_vessel=solvent_vessel, to_vessel=vessel, volume=volume
|
||||
))
|
||||
```
|
||||
|
||||
### 图查询模式
|
||||
|
||||
```python
|
||||
# 查找与容器相连的特定类型设备
|
||||
for neighbor in G.neighbors(vessel_id):
|
||||
node_data = G.nodes[neighbor]
|
||||
if "heater" in node_data.get("class", ""):
|
||||
heater_id = neighbor
|
||||
break
|
||||
|
||||
# 查找最短路径（泵转移）
|
||||
path = nx.shortest_path(G, source=from_vessel_id, target=to_vessel_id)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 第六步：注册协议生成函数
|
||||
|
||||
在 `unilabos/compile/__init__.py` 中：
|
||||
|
||||
1. 顶部添加导入：
|
||||
|
||||
```python
|
||||
from .my_new_protocol import generate_my_new_protocol
|
||||
```
|
||||
|
||||
2. 在 `action_protocol_generators` 字典中添加映射：
|
||||
|
||||
```python
|
||||
action_protocol_generators = {
|
||||
# ... 已有协议
|
||||
MyNewProtocol: generate_my_new_protocol,
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 第七步：配置图文件
|
||||
|
||||
在工作站的图文件中，将协议名加入 `protocol_type`：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "my_station",
|
||||
"class": "workstation",
|
||||
"config": {
|
||||
"protocol_type": ["PumpTransferProtocol", "MyNewProtocol"]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 第八步：验证
|
||||
|
||||
```bash
|
||||
# 1. 模块可导入
|
||||
python -c "from unilabos.messages import MyNewProtocol; print(MyNewProtocol.model_fields)"
|
||||
|
||||
# 2. 生成函数可导入
|
||||
python -c "from unilabos.compile import action_protocol_generators; print(list(action_protocol_generators.keys()))"
|
||||
|
||||
# 3. 启动测试（可选）
|
||||
unilab -g <graph>.json --complete_registry
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 工作流清单
|
||||
|
||||
```
|
||||
协议接入进度：
|
||||
- [ ] 1. 确认协议名、参数、涉及设备
|
||||
- [ ] 2. 创建 .action 文件 (unilabos_msgs/action/<Name>.action)
|
||||
- [ ] 3. 注册到 CMakeLists.txt
|
||||
- [ ] 4. 创建 Pydantic 模型 (unilabos/messages/__init__.py) + 更新 __all__
|
||||
- [ ] 5. 实现生成函数 (unilabos/compile/<name>_protocol.py)
|
||||
- [ ] 6. 注册到 compile/__init__.py
|
||||
- [ ] 7. 配置图文件 protocol_type
|
||||
- [ ] 8. 验证
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 高级模式
|
||||
|
||||
实现复杂协议时，详见 [reference.md](reference.md)：协议运行时数据流、mock graph 测试模式、单位解析工具（`unit_parser.py`）、复杂协议组合模式（以 dissolve 为例）。
|
||||
|
||||
---
|
||||
|
||||
## 现有协议速查
|
||||
|
||||
| 协议 | Pydantic 类 | 生成函数 | 核心参数 |
|
||||
|------|-------------|---------|---------|
|
||||
| 泵转移 | `PumpTransferProtocol` | `generate_pump_protocol_with_rinsing` | `from_vessel, to_vessel, volume` |
|
||||
| 简单转移 | `TransferProtocol` | `generate_pump_protocol` | `from_vessel, to_vessel, volume` |
|
||||
| 加样 | `AddProtocol` | `generate_add_protocol` | `vessel, reagent, volume` |
|
||||
| 过滤 | `FilterProtocol` | `generate_filter_protocol` | `vessel, filtrate_vessel` |
|
||||
| 溶解 | `DissolveProtocol` | `generate_dissolve_protocol` | `vessel, solvent, volume` |
|
||||
| 加热/冷却 | `HeatChillProtocol` | `generate_heat_chill_protocol` | `vessel, temp, time` |
|
||||
| 搅拌 | `StirProtocol` | `generate_stir_protocol` | `vessel, time` |
|
||||
| 分离 | `SeparateProtocol` | `generate_separate_protocol` | `from_vessel, separation_vessel, solvent` |
|
||||
| 蒸发 | `EvaporateProtocol` | `generate_evaporate_protocol` | `vessel, pressure, temp, time` |
|
||||
| 清洗 | `CleanProtocol` | `generate_clean_protocol` | `vessel, solvent, volume` |
|
||||
| 离心 | `CentrifugeProtocol` | `generate_centrifuge_protocol` | `vessel, speed, time` |
|
||||
| 抽气充气 | `EvacuateAndRefillProtocol` | `generate_evacuateandrefill_protocol` | `vessel, gas` |
|
||||
@@ -1,207 +0,0 @@
|
||||
# 协议高级参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含协议运行时数据流、测试模式、单位解析工具和复杂协议组合模式。Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 协议运行时数据流
|
||||
|
||||
从图文件到协议执行的完整链路：
|
||||
|
||||
```
|
||||
实验图 JSON
|
||||
↓ graphio.read_node_link_json()
|
||||
physical_setup_graph (NetworkX DiGraph)
|
||||
↓ ROS2WorkstationNode._setup_protocol_names(protocol_type)
|
||||
为每个 protocol_name 创建 ActionServer
|
||||
↓ 收到 Action Goal
|
||||
_create_protocol_execute_callback()
|
||||
↓ convert_from_ros_msg_with_mapping(goal, mapping)
|
||||
protocol_kwargs (Python dict)
|
||||
↓ 向 Host 查询 Resource 类型参数的当前状态
|
||||
protocol_kwargs 更新（vessel 带上 children、data 等）
|
||||
↓ protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
|
||||
List[Dict] 动作序列
|
||||
↓ 逐步 execute_single_action / 并行 create_task
|
||||
子设备 ActionClient 执行
|
||||
```
|
||||
|
||||
### `_setup_protocol_names` 核心逻辑
|
||||
|
||||
```python
|
||||
def _setup_protocol_names(self, protocol_type):
|
||||
if isinstance(protocol_type, str):
|
||||
self.protocol_names = [p.strip() for p in protocol_type.split(",")]
|
||||
else:
|
||||
self.protocol_names = protocol_type
|
||||
self.protocol_action_mappings = {}
|
||||
for protocol_name in self.protocol_names:
|
||||
protocol_type = globals()[protocol_name] # 从 messages 模块取 Pydantic 类
|
||||
self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
|
||||
```
|
||||
|
||||
### `_create_protocol_execute_callback` 关键步骤
|
||||
|
||||
1. `convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])` — ROS Goal → Python dict
|
||||
2. 对 `Resource` 类型字段，通过 `resource_get` Service 查询 Host 的最新资源状态
|
||||
3. `protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)` — 调用编译函数
|
||||
4. 遍历 steps：`dict` 串行执行，`list` 并行执行
|
||||
5. `execute_single_action` 通过 `_action_clients[device_id]` 向子设备发送 Action Goal
|
||||
6. 执行完毕后通过 `resource_update` Service 更新资源状态
|
||||
|
||||
---
|
||||
|
||||
## 2. 测试模式
|
||||
|
||||
### 2.1 协议文件内测试函数
|
||||
|
||||
许多协议文件末尾有 `test_*` 函数，主要测试参数解析工具：
|
||||
|
||||
```python
|
||||
def test_dissolve_protocol():
|
||||
"""测试溶解协议的各种参数解析"""
|
||||
volumes = ["10 mL", "?", 10.0, "1 L", "500 μL"]
|
||||
for vol in volumes:
|
||||
result = parse_volume_input(vol)
|
||||
print(f"体积解析: {vol} → {result}mL")
|
||||
|
||||
masses = ["2.9 g", "?", 2.5, "500 mg"]
|
||||
for mass in masses:
|
||||
result = parse_mass_input(mass)
|
||||
print(f"质量解析: {mass} → {result}g")
|
||||
```
|
||||
|
||||
### 2.2 使用 mock graph 测试协议生成器
|
||||
|
||||
推荐的端到端测试模式：
|
||||
|
||||
```python
|
||||
import pytest
|
||||
import networkx as nx
|
||||
from unilabos.compile.stir_protocol import generate_stir_protocol
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def topology_graph():
|
||||
"""创建测试拓扑图"""
|
||||
G = nx.DiGraph()
|
||||
G.add_node("flask_1", **{"class": "flask", "type": "container"})
|
||||
G.add_node("stirrer_1", **{"class": "virtual_stirrer", "type": "device"})
|
||||
G.add_edge("stirrer_1", "flask_1")
|
||||
return G
|
||||
|
||||
|
||||
def test_generate_stir_protocol(topology_graph):
|
||||
"""测试搅拌协议生成"""
|
||||
actions = generate_stir_protocol(
|
||||
G=topology_graph,
|
||||
vessel="flask_1",
|
||||
time="5 min",
|
||||
stir_speed=300.0
|
||||
)
|
||||
assert len(actions) >= 1
|
||||
assert actions[0]["device_id"] == "stirrer_1"
|
||||
```
|
||||
|
||||
**要点：**
|
||||
- 用 `nx.DiGraph()` 构建最小拓扑
|
||||
- `add_node(id, **attrs)` 设置 `class`、`type`、`data` 等
|
||||
- `add_edge(src, dst)` 建立物理连接
|
||||
- 协议内的 `find_*` 函数依赖这些节点和边
|
||||
|
||||
---
|
||||
|
||||
## 3. 单位解析工具
|
||||
|
||||
路径：`unilabos/compile/utils/unit_parser.py`
|
||||
|
||||
| 函数 | 输入 | 返回 | 默认值 |
|
||||
|------|------|------|--------|
|
||||
| `parse_volume_input(input, default_unit)` | `"100 mL"`, `"2.5 L"`, `"500 μL"`, `10.0`, `"?"` | mL (float) | 50.0 |
|
||||
| `parse_mass_input(input)` | `"19.3 g"`, `"500 mg"`, `2.5`, `"?"` | g (float) | 1.0 |
|
||||
| `parse_time_input(input)` | `"30 min"`, `"1 h"`, `"300"`, `60.0`, `"?"` | 秒 (float) | 60.0 |
|
||||
|
||||
支持的单位：
|
||||
|
||||
- **体积**: mL, L, μL/uL, milliliter, liter, microliter
|
||||
- **质量**: g, mg, kg, gram, milligram, kilogram
|
||||
- **时间**: s/sec/second, min/minute, h/hr/hour, d/day
|
||||
|
||||
特殊值 `"?"`、`"unknown"`、`"tbd"` 返回默认值。
|
||||
|
||||
---
|
||||
|
||||
## 4. 复杂协议组合模式
|
||||
|
||||
以 `dissolve_protocol` 为例，展示如何组合多个子操作：
|
||||
|
||||
### 整体流程
|
||||
|
||||
```
|
||||
1. 解析参数 (parse_volume_input, parse_mass_input, parse_time_input)
|
||||
2. 设备发现 (find_connected_heatchill, find_connected_stirrer, find_solid_dispenser)
|
||||
3. 判断溶解类型 (液体 vs 固体)
|
||||
4. 组合动作序列:
|
||||
a. heat_chill_start / start_stir (启动加热/搅拌)
|
||||
b. wait (等待温度稳定)
|
||||
c. pump_protocol_with_rinsing (液体转移, 通过 extend 拼接)
|
||||
或 add_solid (固体加样)
|
||||
d. heat_chill / stir / wait (溶解等待)
|
||||
e. heat_chill_stop (停止加热)
|
||||
```
|
||||
|
||||
### 关键代码模式
|
||||
|
||||
**设备发现 → 条件组合：**
|
||||
|
||||
```python
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id)
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
solid_dispenser_id = find_solid_dispenser(G)
|
||||
|
||||
actions = []
|
||||
|
||||
# 启动阶段
|
||||
if heatchill_id and temp > 25.0:
|
||||
actions.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {"vessel": {"id": vessel_id}, "temp": temp}
|
||||
})
|
||||
actions.append({"action_name": "wait", "action_kwargs": {"time": 30}})
|
||||
elif stirrer_id:
|
||||
actions.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {"vessel": {"id": vessel_id}, "stir_speed": stir_speed}
|
||||
})
|
||||
|
||||
# 转移阶段（复用已有协议）
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G, from_vessel=solvent_vessel, to_vessel=vessel_id, volume=volume
|
||||
)
|
||||
actions.extend(pump_actions)
|
||||
|
||||
# 等待阶段
|
||||
if heatchill_id:
|
||||
actions.append({
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {"vessel": {"id": vessel_id}, "temp": temp, "time": time}
|
||||
})
|
||||
else:
|
||||
actions.append({"action_name": "wait", "action_kwargs": {"time": time}})
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 5. 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| 协议执行回调 | `unilabos/ros/nodes/presets/workstation.py` |
|
||||
| ROS 消息映射 | `unilabos/ros/msgs/message_converter.py` |
|
||||
| 物理拓扑图 | `unilabos/resources/graphio.py` (`physical_setup_graph`) |
|
||||
| 单位解析 | `unilabos/compile/utils/unit_parser.py` |
|
||||
| 容器解析 | `unilabos/compile/utils/vessel_parser.py` |
|
||||
| 溶解协议（组合示例） | `unilabos/compile/dissolve_protocol.py` |
|
||||
@@ -1,371 +0,0 @@
|
||||
---
|
||||
name: add-resource
|
||||
description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Covers Bottle, Carrier, Deck, WareHouse definitions and registry YAML. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
|
||||
---
|
||||
|
||||
# 添加新物料资源
|
||||
|
||||
Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。
|
||||
|
||||
---
|
||||
|
||||
## 第一步：确认资源类型
|
||||
|
||||
向用户确认需要添加的资源类型：
|
||||
|
||||
| 类型 | 基类 | 用途 | 示例 |
|
||||
|------|------|------|------|
|
||||
| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
|
||||
| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
|
||||
| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
|
||||
| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
|
||||
|
||||
**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
|
||||
|
||||
还需确认：
|
||||
- 资源所属的项目/场景（如 bioyond、battery、通用）
|
||||
- 尺寸参数（直径、高度、最大容积等）
|
||||
- 布局参数（行列数、间距等）
|
||||
|
||||
---
|
||||
|
||||
## 第二步：创建资源定义
|
||||
|
||||
### 文件位置
|
||||
|
||||
```
|
||||
unilabos/resources/
|
||||
├── <project>/ # 按项目分组
|
||||
│ ├── bottles.py # Bottle 工厂函数
|
||||
│ ├── bottle_carriers.py # Carrier 工厂函数
|
||||
│ ├── warehouses.py # WareHouse 工厂函数
|
||||
│ └── decks.py # Deck 类定义
|
||||
├── itemized_carrier.py # Bottle, BottleCarrier, ItemizedCarrier 基类
|
||||
├── warehouse.py # WareHouse 基类
|
||||
└── container.py # 通用容器
|
||||
```
|
||||
|
||||
### 2A. 添加 Bottle（工厂函数）
|
||||
|
||||
```python
|
||||
from unilabos.resources.itemized_carrier import Bottle
|
||||
|
||||
|
||||
def My_Reagent_Bottle(
|
||||
name: str,
|
||||
diameter: float = 70.0, # 瓶体直径 (mm)
|
||||
height: float = 120.0, # 瓶体高度 (mm)
|
||||
max_volume: float = 500000.0, # 最大容积 (μL)
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建试剂瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="My_Reagent_Bottle", # 唯一标识，用于注册表和物料映射
|
||||
)
|
||||
```
|
||||
|
||||
**Bottle 参数：**
|
||||
- `name`: 实例名称（运行时唯一）
|
||||
- `diameter`: 瓶体直径 (mm)
|
||||
- `height`: 瓶体高度 (mm)
|
||||
- `max_volume`: 最大容积 (**μL**，注意单位！500mL = 500000)
|
||||
- `barcode`: 条形码（可选）
|
||||
- `model`: 模型标识，与注册表 key 一致
|
||||
|
||||
### 2B. 添加 BottleCarrier（工厂函数）
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import ResourceHolder
|
||||
from pylabrobot.resources.carrier import create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
|
||||
|
||||
def My_6SlotCarrier(name: str) -> BottleCarrier:
|
||||
"""创建 3x2 六槽位载架"""
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3, # 列数
|
||||
num_items_y=2, # 行数
|
||||
dx=10.0, # X 起始偏移
|
||||
dy=10.0, # Y 起始偏移
|
||||
dz=5.0, # Z 偏移
|
||||
item_dx=42.0, # X 间距
|
||||
item_dy=35.0, # Y 间距
|
||||
size_x=20.0, # 槽位宽
|
||||
size_y=20.0, # 槽位深
|
||||
size_z=50.0, # 槽位高
|
||||
)
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=146.0, # 载架总宽
|
||||
size_y=80.0, # 载架总深
|
||||
size_z=55.0, # 载架总高
|
||||
sites=sites,
|
||||
model="My_6SlotCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
|
||||
# 预装 Bottle（可选）
|
||||
ordering = ["A01", "A02", "A03", "B01", "B02", "B03"]
|
||||
for i in range(6):
|
||||
carrier[i] = My_Reagent_Bottle(f"{ordering[i]}")
|
||||
|
||||
return carrier
|
||||
```
|
||||
|
||||
### 2C. 添加 WareHouse（工厂函数）
|
||||
|
||||
```python
|
||||
from unilabos.resources.warehouse import warehouse_factory
|
||||
|
||||
|
||||
def my_warehouse_4x4(name: str) -> "WareHouse":
|
||||
"""创建 4行x4列 堆栈仓库"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, # 列数
|
||||
num_items_y=4, # 行数
|
||||
num_items_z=1, # 层数（通常为 1）
|
||||
dx=137.0, # X 起始偏移
|
||||
dy=96.0, # Y 起始偏移
|
||||
dz=120.0, # Z 起始偏移
|
||||
item_dx=137.0, # X 间距
|
||||
item_dy=125.0, # Y 间距
|
||||
item_dz=10.0, # Z 间距（多层时用）
|
||||
resource_size_x=127.0, # 槽位宽
|
||||
resource_size_y=85.0, # 槽位深
|
||||
resource_size_z=100.0, # 槽位高
|
||||
model="my_warehouse_4x4",
|
||||
)
|
||||
```
|
||||
|
||||
**`warehouse_factory` 参数说明：**
|
||||
|
||||
| 参数 | 说明 |
|
||||
|------|------|
|
||||
| `num_items_x/y/z` | 列数/行数/层数 |
|
||||
| `dx, dy, dz` | 第一个槽位的起始坐标偏移 |
|
||||
| `item_dx, item_dy, item_dz` | 相邻槽位间距 |
|
||||
| `resource_size_x/y/z` | 单个槽位的物理尺寸 |
|
||||
| `col_offset` | 列命名偏移（如设 4 则从 A05 开始） |
|
||||
| `row_offset` | 行命名偏移（如设 5 则从 F 行开始） |
|
||||
| `layout` | 排序方式：`"col-major"`（列优先，默认）/ `"row-major"`（行优先） |
|
||||
| `removed_positions` | 要移除的位置索引列表 |
|
||||
|
||||
自动生成 `ResourceHolder` 槽位，命名规则为 `A01, B01, C01, D01, A02, ...`（列优先）或 `A01, A02, A03, A04, B01, ...`（行优先）。
|
||||
|
||||
### 2D. 添加 Deck（类定义）
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import Deck, Coordinate
|
||||
|
||||
|
||||
class MyStation_Deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "MyStation_Deck",
|
||||
size_x: float = 2700.0,
|
||||
size_y: float = 1080.0,
|
||||
size_z: float = 1500.0,
|
||||
category: str = "deck",
|
||||
setup: bool = False,
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
self.warehouses = {
|
||||
"仓库A": my_warehouse_4x4("仓库A"),
|
||||
"仓库B": my_warehouse_4x4("仓库B"),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"仓库A": Coordinate(-200.0, 400.0, 0.0),
|
||||
"仓库B": Coordinate(2350.0, 400.0, 0.0),
|
||||
}
|
||||
for wh_name, wh in self.warehouses.items():
|
||||
self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
|
||||
```
|
||||
|
||||
**Deck 要点：**
|
||||
- 继承 `pylabrobot.resources.Deck`
|
||||
- `setup()` 创建 WareHouse 并通过 `assign_child_resource` 放置到指定坐标
|
||||
- `setup` 参数控制是否在构造时自动调用 `setup()`（图文件中通过 `config.setup: true` 触发）
|
||||
|
||||
---
|
||||
|
||||
## 第三步：创建注册表 YAML
|
||||
|
||||
路径：`unilabos/registry/resources/<project>/<type>.yaml`
|
||||
|
||||
### Bottle 注册
|
||||
|
||||
```yaml
|
||||
My_Reagent_Bottle:
|
||||
category:
|
||||
- bottles
|
||||
class:
|
||||
module: unilabos.resources.my_project.bottles:My_Reagent_Bottle
|
||||
type: pylabrobot
|
||||
description: 我的试剂瓶
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
```
|
||||
|
||||
### Carrier 注册
|
||||
|
||||
```yaml
|
||||
My_6SlotCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.my_project.bottle_carriers:My_6SlotCarrier
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
```
|
||||
|
||||
### Deck 注册
|
||||
|
||||
```yaml
|
||||
MyStation_Deck:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: unilabos.resources.my_project.decks:MyStation_Deck
|
||||
type: pylabrobot
|
||||
description: 我的工作站 Deck
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
```
|
||||
|
||||
**注册表规则：**
|
||||
- `class.module` 格式为 `python.module.path:ClassName_or_FunctionName`
|
||||
- `class.type` 固定为 `pylabrobot`
|
||||
- Key（如 `My_Reagent_Bottle`）必须与工厂函数名 / 类名一致
|
||||
- `category` 按类型标注（`bottles`, `bottle_carriers`, `deck` 等）
|
||||
|
||||
---
|
||||
|
||||
## 第四步：在图文件中引用
|
||||
|
||||
### Deck 在工作站中的引用
|
||||
|
||||
工作站节点通过 `deck` 字段引用，Deck 作为子节点：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "my_station",
|
||||
"children": ["my_deck"],
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "my_deck",
|
||||
"_resource_type": "unilabos.resources.my_project.decks:MyStation_Deck"
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "my_deck",
|
||||
"parent": "my_station",
|
||||
"type": "deck",
|
||||
"class": "MyStation_Deck",
|
||||
"config": {"type": "MyStation_Deck", "setup": true}
|
||||
}
|
||||
```
|
||||
|
||||
### 物料类型映射（外部系统对接时）
|
||||
|
||||
如果工作站需要与外部系统同步物料，在 config 中配置 `material_type_mappings`：
|
||||
|
||||
```json
|
||||
"material_type_mappings": {
|
||||
"My_Reagent_Bottle": ["试剂瓶", "external-type-uuid"],
|
||||
"My_6SlotCarrier": ["六槽载架", "external-type-uuid"]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 第五步：注册 PLR 扩展（如需要）
|
||||
|
||||
如果添加了新的 Deck 类，需要在 `unilabos/resources/plr_additional_res_reg.py` 中导入，使 `find_subclass` 能发现它：
|
||||
|
||||
```python
|
||||
def register():
|
||||
from unilabos.resources.my_project.decks import MyStation_Deck
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 第六步：验证
|
||||
|
||||
```bash
|
||||
# 1. 资源可导入
|
||||
python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
|
||||
|
||||
# 2. Deck 可创建
|
||||
python -c "
|
||||
from unilabos.resources.my_project.decks import MyStation_Deck
|
||||
d = MyStation_Deck('test', setup=True)
|
||||
print(d.children)
|
||||
"
|
||||
|
||||
# 3. 启动测试
|
||||
unilab -g <graph>.json --complete_registry
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 工作流清单
|
||||
|
||||
```
|
||||
资源接入进度：
|
||||
- [ ] 1. 确定资源类型（Bottle / Carrier / WareHouse / Deck）
|
||||
- [ ] 2. 创建资源定义（工厂函数/类）
|
||||
- [ ] 3. 创建注册表 YAML (unilabos/registry/resources/<project>/<type>.yaml)
|
||||
- [ ] 4. 在图文件中引用（如需要）
|
||||
- [ ] 5. 注册 PLR 扩展（Deck 类需要）
|
||||
- [ ] 6. 验证
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 高级模式
|
||||
|
||||
实现复杂资源系统时，详见 [reference.md](reference.md)：类继承体系完整图、序列化/反序列化流程、Bioyond 物料双向同步、非瓶类资源（ElectrodeSheet / Magazine）、仓库工厂 layout 模式。
|
||||
|
||||
---
|
||||
|
||||
## 现有资源参考
|
||||
|
||||
| 项目 | Bottles | Carriers | WareHouses | Decks |
|
||||
|------|---------|----------|------------|-------|
|
||||
| bioyond | `bioyond/bottles.py` | `bioyond/bottle_carriers.py` | `bioyond/warehouses.py`, `YB_warehouses.py` | `bioyond/decks.py` |
|
||||
| battery | — | `battery/bottle_carriers.py` | — | — |
|
||||
| 通用 | — | — | `warehouse.py` | — |
|
||||
|
||||
### 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
| 资源注册表 | `unilabos/registry/resources/` |
|
||||
| 图文件加载 | `unilabos/resources/graphio.py` |
|
||||
| 资源跟踪器 | `unilabos/resources/resource_tracker.py` |
|
||||
@@ -1,292 +0,0 @@
|
||||
# 资源高级参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 类继承体系
|
||||
|
||||
```
|
||||
PyLabRobot
|
||||
├── Resource (PLR 基类)
|
||||
│ ├── Well
|
||||
│ │ └── Bottle (unilabos) → 瓶/小瓶/烧杯/反应器
|
||||
│ ├── Deck
|
||||
│ │ └── 自定义 Deck 类 (unilabos) → 工作站台面
|
||||
│ ├── ResourceHolder → 槽位占位符
|
||||
│ └── Container
|
||||
│ └── Battery (unilabos) → 组装好的电池
|
||||
│
|
||||
├── ItemizedCarrier (unilabos, 继承 Resource)
|
||||
│ ├── BottleCarrier (unilabos) → 瓶载架
|
||||
│ └── WareHouse (unilabos) → 堆栈仓库
|
||||
│
|
||||
├── ItemizedResource (PLR)
|
||||
│ └── MagazineHolder (unilabos) → 子弹夹载架
|
||||
│
|
||||
└── ResourceStack (PLR)
|
||||
└── Magazine (unilabos) → 子弹夹洞位
|
||||
```
|
||||
|
||||
### Bottle 类细节
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def __init__(self, name, diameter, height, max_volume,
|
||||
size_x=0.0, size_y=0.0, size_z=0.0,
|
||||
barcode=None, category="container", model=None, **kwargs):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=diameter, # PLR 用 diameter 作为 size_x/size_y
|
||||
size_y=diameter,
|
||||
size_z=height, # PLR 用 height 作为 size_z
|
||||
max_volume=max_volume,
|
||||
category=category,
|
||||
model=model,
|
||||
bottom_type="flat",
|
||||
cross_section_type="circle"
|
||||
)
|
||||
```
|
||||
|
||||
注意 `size_x = size_y = diameter`，`size_z = height`。
|
||||
|
||||
### ItemizedCarrier 核心方法
|
||||
|
||||
| 方法 | 说明 |
|
||||
|------|------|
|
||||
| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
|
||||
| `__setitem__(identifier, resource)` | 向槽位放入资源 |
|
||||
| `get_child_identifier(child)` | 获取子资源的标识符 |
|
||||
| `capacity` | 总槽位数 |
|
||||
| `sites` | 所有槽位字典 |
|
||||
|
||||
---
|
||||
|
||||
## 2. 序列化与反序列化
|
||||
|
||||
### PLR ↔ UniLab 转换
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
|
||||
| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
|
||||
|
||||
### `from_plr_resources` 流程
|
||||
|
||||
```
|
||||
PLR Resource
|
||||
↓ build_uuid_mapping (递归生成 UUID)
|
||||
↓ resource.serialize() → dict
|
||||
↓ resource.serialize_all_state() → states
|
||||
↓ resource_plr_inner (递归构建 ResourceDictInstance)
|
||||
ResourceTreeSet
|
||||
```
|
||||
|
||||
关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
|
||||
|
||||
### `to_plr_resources` 流程
|
||||
|
||||
```
|
||||
ResourceTreeSet
|
||||
↓ collect_node_data (收集 UUID、状态、扩展数据)
|
||||
↓ node_to_plr_dict (转为 PLR 字典格式)
|
||||
↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
|
||||
↓ sub_cls.deserialize(plr_dict) (反序列化)
|
||||
↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
|
||||
PLR Resource
|
||||
```
|
||||
|
||||
### Bottle 序列化
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
return {**data, "diameter": self.diameter, "height": self.height}
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal=False):
|
||||
barcode_data = data.pop("barcode", None)
|
||||
instance = super().deserialize(data, allow_marshal=allow_marshal)
|
||||
if barcode_data and isinstance(barcode_data, str):
|
||||
instance.barcode = barcode_data
|
||||
return instance
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. Bioyond 物料同步
|
||||
|
||||
### 双向转换函数
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
|
||||
| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
|
||||
|
||||
### `resource_bioyond_to_plr` 流程
|
||||
|
||||
```
|
||||
Bioyond 物料列表
|
||||
↓ reverse_type_mapping: {typeName → (model, UUID)}
|
||||
↓ 对每个物料:
|
||||
typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
|
||||
initialize_resource({"name": unique_name, "class": model})
|
||||
↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
|
||||
↓ 处理 detail (子物料/坐标)
|
||||
↓ 按 locationName 放入 deck.warehouses 对应槽位
|
||||
PLR 资源列表
|
||||
```
|
||||
|
||||
### `resource_plr_to_bioyond` 流程
|
||||
|
||||
```
|
||||
PLR 资源列表
|
||||
↓ 遍历每个资源:
|
||||
载架(capacity > 1): 生成 details 子物料 + 坐标
|
||||
单瓶: 直接映射
|
||||
↓ type_mapping 查找 typeId
|
||||
↓ warehouse_mapping 查找位置 UUID
|
||||
↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
|
||||
Bioyond 物料列表
|
||||
```
|
||||
|
||||
### BioyondResourceSynchronizer
|
||||
|
||||
工作站通过 `ResourceSynchronizer` 自动同步物料：
|
||||
|
||||
```python
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
all_data = []
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 0}')) # 耗材
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 1}')) # 样品
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 2}')) # 试剂
|
||||
unilab_resources = resource_bioyond_to_plr(
|
||||
all_data,
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
deck=self.workstation.deck
|
||||
)
|
||||
# 更新 deck 上的资源
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 非瓶类资源
|
||||
|
||||
### ElectrodeSheet（极片）
|
||||
|
||||
路径：`unilabos/resources/battery/electrode_sheet.py`
|
||||
|
||||
```python
|
||||
class ElectrodeSheet(ResourcePLR):
|
||||
"""片状材料（极片、隔膜、弹片、垫片等）"""
|
||||
_unilabos_state = {
|
||||
"diameter": 0.0,
|
||||
"thickness": 0.0,
|
||||
"mass": 0.0,
|
||||
"material_type": "",
|
||||
"color": "",
|
||||
"info": "",
|
||||
}
|
||||
```
|
||||
|
||||
工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
|
||||
|
||||
### Battery（电池）
|
||||
|
||||
```python
|
||||
class Battery(Container):
|
||||
"""组装好的电池"""
|
||||
_unilabos_state = {
|
||||
"color": "",
|
||||
"electrolyte_name": "",
|
||||
"open_circuit_voltage": 0.0,
|
||||
}
|
||||
```
|
||||
|
||||
### Magazine / MagazineHolder（子弹夹）
|
||||
|
||||
```python
|
||||
class Magazine(ResourceStack):
|
||||
"""子弹夹洞位，可堆叠 ElectrodeSheet"""
|
||||
# direction, max_sheets
|
||||
|
||||
class MagazineHolder(ItemizedResource):
|
||||
"""多洞位子弹夹"""
|
||||
# hole_diameter, hole_depth, max_sheets_per_hole
|
||||
```
|
||||
|
||||
工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
|
||||
|
||||
---
|
||||
|
||||
## 5. 仓库工厂模式参考
|
||||
|
||||
### 实际 warehouse 工厂函数示例
|
||||
|
||||
```python
|
||||
# 行优先 4x4 仓库
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
layout="row-major", # A01,A02,A03,A04, B01,...
|
||||
)
|
||||
|
||||
# 右侧 4x4 仓库（列名偏移）
|
||||
def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
col_offset=4, # A05,A06,A07,A08
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
# 竖向仓库（站内试剂存放）
|
||||
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1, num_items_y=2, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
layout="vertical-col-major",
|
||||
)
|
||||
|
||||
# 行偏移（F 行开始）
|
||||
def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, num_items_y=5, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=159.0, item_dy=183.0, item_dz=130.0,
|
||||
row_offset=row_offset, # 0→A行起，5→F行起
|
||||
layout="row-major",
|
||||
)
|
||||
```
|
||||
|
||||
### layout 类型说明
|
||||
|
||||
| layout | 命名顺序 | 适用场景 |
|
||||
|--------|---------|---------|
|
||||
| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
|
||||
| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
|
||||
| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
|
||||
|
||||
---
|
||||
|
||||
## 6. 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
|
||||
| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
|
||||
| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
|
||||
| 电池资源 | `unilabos/resources/battery/` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
@@ -1,500 +0,0 @@
|
||||
---
|
||||
name: add-workstation
|
||||
description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Walks through workstation type selection, sub-device composition, external system integration, driver creation, registry YAML, deck setup, and graph file configuration. Use when the user wants to add/integrate a new workstation, create a workstation driver, configure a station with sub-devices, set up deck and materials, or mentions 工作站/工站/station/workstation.
|
||||
---
|
||||
|
||||
# Uni-Lab-OS 工作站接入指南
|
||||
|
||||
工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统（PLR Deck）和工作流引擎。本指南覆盖从需求分析到验证的全流程。
|
||||
|
||||
> **前置知识**：工作站接入基于 `docs/ai_guides/add_device.md` 的通用设备接入框架，但有显著差异。阅读本指南前无需先读通用指南。
|
||||
|
||||
## 第一步：确定工作站类型
|
||||
|
||||
向用户确认以下信息：
|
||||
|
||||
**Q1: 工作站的业务场景？**
|
||||
|
||||
| 类型 | 基类 | 适用场景 | 示例 |
|
||||
|------|------|----------|------|
|
||||
| **Protocol 工作站** | `ProtocolNode` | 标准化学操作协议（过滤、转移、加热等） | FilterProtocolStation |
|
||||
| **外部系统工作站** | `WorkstationBase` | 与外部 LIMS/MES 系统对接，有专属 API | BioyondStation |
|
||||
| **硬件控制工作站** | `WorkstationBase` | 直接控制 PLC/硬件，无外部系统 | CoinCellAssembly |
|
||||
|
||||
**Q2: 工作站英文名称？**（如 `my_reaction_station`）
|
||||
|
||||
**Q3: 与外部系统的交互方式？**
|
||||
|
||||
| 方式 | 适用场景 | 需要的配置 |
|
||||
|------|----------|-----------|
|
||||
| 无外部系统 | Protocol 工作站、纯硬件控制 | 无 |
|
||||
| HTTP API | LIMS/MES 系统（如 Bioyond） | `api_host`, `api_key` |
|
||||
| Modbus TCP | PLC 控制 | `address`, `port` |
|
||||
| OPC UA | 工业设备 | `url` |
|
||||
|
||||
**Q4: 子设备组成？**
|
||||
- 列出所有子设备（如反应器、泵、阀、传感器等）
|
||||
- 哪些是已有设备类型？哪些需要新增？
|
||||
- 子设备之间的硬件代理关系（如泵通过串口设备通信）
|
||||
|
||||
**Q5: 物料管理需求？**
|
||||
- 是否需要 Deck（物料面板）？
|
||||
- 物料类型（plate、tip_rack、bottle 等）
|
||||
- 是否需要与外部物料系统同步？
|
||||
|
||||
---
|
||||
|
||||
## 第二步：理解工作站架构
|
||||
|
||||
工作站与普通设备的核心差异：
|
||||
|
||||
| 维度 | 普通设备 | 工作站 |
|
||||
|------|---------|--------|
|
||||
| 基类 | 无（纯 Python 类） | `WorkstationBase` 或 `ProtocolNode` |
|
||||
| ROS 节点 | `BaseROS2DeviceNode` | `ROS2WorkstationNode` |
|
||||
| 状态管理 | `self.data` 字典 | 通常不用 `self.data`，用 `@property` 直接访问 |
|
||||
| 子设备 | 无 | `children` 列表，通过 `self._children` 访问 |
|
||||
| 物料 | 无 | `self.deck`（PLR Deck） |
|
||||
| 图文件角色 | `parent: null` 或 `parent: "<station>"` | `parent: null`，含 `children` 和 `deck` |
|
||||
|
||||
### 继承体系
|
||||
|
||||
`WorkstationBase` (ABC) → `ProtocolNode` (通用协议) / `BioyondWorkstation` (→ ReactionStation, DispensingStation) / `CoinCellAssemblyWorkstation` (硬件控制)
|
||||
|
||||
### ROS 层
|
||||
|
||||
`ROS2WorkstationNode` 额外负责：初始化 children 子设备节点、为子设备创建 ActionClient、配置硬件代理、为 protocol_type 创建协议 ActionServer。
|
||||
|
||||
---
|
||||
|
||||
## 第三步：创建驱动文件
|
||||
|
||||
文件路径：`unilabos/devices/workstation/<station_name>/<station_name>.py`
|
||||
|
||||
### 模板 A：基于外部系统的工作站
|
||||
|
||||
适用于与 LIMS/MES 等外部系统对接的场景。
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Dict, Any, Optional, List
|
||||
from pylabrobot.resources import Deck
|
||||
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
except ImportError:
|
||||
ROS2WorkstationNode = None
|
||||
|
||||
|
||||
class MyWorkstation(WorkstationBase):
|
||||
"""工作站描述"""
|
||||
|
||||
_ros_node: "ROS2WorkstationNode"
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
config: dict = None,
|
||||
deck: Optional[Deck] = None,
|
||||
protocol_type: list = None,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"MyWorkstation")
|
||||
|
||||
# 外部系统连接配置
|
||||
self.api_host = self.config.get("api_host", "")
|
||||
self.api_key = self.config.get("api_key", "")
|
||||
|
||||
# 工作站业务状态（不同于 self.data 模式）
|
||||
self._status = "Idle"
|
||||
|
||||
def post_init(self, ros_node: "ROS2WorkstationNode") -> None:
|
||||
super().post_init(ros_node)
|
||||
# 在这里启动后台服务、连接监控等
|
||||
|
||||
# ============ 子设备访问 ============
|
||||
|
||||
def _get_child_device(self, device_id: str):
|
||||
"""通过 ID 获取子设备节点"""
|
||||
return self._children.get(device_id)
|
||||
|
||||
# ============ 动作方法 ============
|
||||
|
||||
async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
|
||||
"""启动调度器"""
|
||||
return {"success": True}
|
||||
|
||||
async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
|
||||
"""创建工单"""
|
||||
return {"success": True}
|
||||
|
||||
# ============ 属性 ============
|
||||
|
||||
@property
|
||||
def workflow_sequence(self) -> str:
|
||||
return "[]"
|
||||
|
||||
@property
|
||||
def material_info(self) -> str:
|
||||
return "{}"
|
||||
```
|
||||
|
||||
### 模板 B：基于硬件控制的工作站
|
||||
|
||||
适用于直接与 PLC/硬件通信的场景。
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
from pylabrobot.resources import Deck
|
||||
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
except ImportError:
|
||||
ROS2WorkstationNode = None
|
||||
|
||||
|
||||
class MyHardwareWorkstation(WorkstationBase):
|
||||
"""硬件控制工作站"""
|
||||
|
||||
_ros_node: "ROS2WorkstationNode"
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
config: dict = None,
|
||||
deck: Optional[Deck] = None,
|
||||
address: str = "192.168.1.100",
|
||||
port: str = "502",
|
||||
debug_mode: bool = False,
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(deck=deck, *args, **kwargs)
|
||||
self.config = config or {}
|
||||
self.address = address
|
||||
self.port = int(port)
|
||||
self.debug_mode = debug_mode
|
||||
self.logger = logging.getLogger("MyHardwareWorkstation")
|
||||
|
||||
# 初始化通信客户端
|
||||
if not debug_mode:
|
||||
from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
|
||||
self.client = ModbusTcpClient(host=self.address, port=self.port)
|
||||
else:
|
||||
self.client = None
|
||||
|
||||
def post_init(self, ros_node: "ROS2WorkstationNode") -> None:
|
||||
super().post_init(ros_node)
|
||||
|
||||
# ============ 硬件读写 ============
|
||||
|
||||
def _read_register(self, name: str):
|
||||
"""读取 Modbus 寄存器"""
|
||||
if self.debug_mode:
|
||||
return 0
|
||||
# 实际读取逻辑
|
||||
pass
|
||||
|
||||
# ============ 动作方法 ============
|
||||
|
||||
async def start_process(self, **kwargs) -> Dict[str, Any]:
|
||||
"""启动加工流程"""
|
||||
return {"success": True}
|
||||
|
||||
async def stop_process(self, **kwargs) -> Dict[str, Any]:
|
||||
"""停止加工流程"""
|
||||
return {"success": True}
|
||||
|
||||
# ============ 属性（从硬件实时读取）============
|
||||
|
||||
@property
|
||||
def sys_status(self) -> str:
|
||||
return str(self._read_register("SYS_STATUS"))
|
||||
```
|
||||
|
||||
### 模板 C：Protocol 工作站
|
||||
|
||||
适用于标准化学操作协议的场景，直接使用 `ProtocolNode`。
|
||||
|
||||
```python
|
||||
from typing import List, Optional
|
||||
from pylabrobot.resources import Resource as PLRResource
|
||||
|
||||
from unilabos.devices.workstation.workstation_base import ProtocolNode
|
||||
|
||||
|
||||
class MyProtocolStation(ProtocolNode):
|
||||
"""Protocol 工作站 — 使用标准化学操作协议"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
protocol_type: List[str],
|
||||
deck: Optional[PLRResource] = None,
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(protocol_type=protocol_type, deck=deck, *args, **kwargs)
|
||||
```
|
||||
|
||||
> Protocol 工作站通常不需要自定义驱动类，直接使用 `ProtocolNode` 并在注册表和图文件中配置 `protocol_type` 即可。
|
||||
|
||||
---
|
||||
|
||||
## 第四步：创建子设备驱动（如需要）
|
||||
|
||||
工作站的子设备本身是独立设备。按 `docs/ai_guides/add_device.md` 的标准流程创建。
|
||||
|
||||
子设备的关键约束：
|
||||
- 在图文件中 `parent` 指向工作站 ID
|
||||
- 图文件中在工作站的 `children` 数组里列出
|
||||
- 如需硬件代理，在子设备的 `config.hardware_interface.name` 指向通信设备 ID
|
||||
|
||||
---
|
||||
|
||||
## 第五步：创建注册表 YAML
|
||||
|
||||
路径：`unilabos/registry/devices/<station_name>.yaml`
|
||||
|
||||
### 最小配置
|
||||
|
||||
```yaml
|
||||
my_workstation:
|
||||
category:
|
||||
- workstation
|
||||
class:
|
||||
module: unilabos.devices.workstation.my_station.my_station:MyWorkstation
|
||||
type: python
|
||||
```
|
||||
|
||||
启动时 `--complete_registry` 自动补全 `status_types` 和 `action_value_mappings`。
|
||||
|
||||
### 完整配置参考
|
||||
|
||||
```yaml
|
||||
my_workstation:
|
||||
description: "我的工作站"
|
||||
version: "1.0.0"
|
||||
category:
|
||||
- workstation
|
||||
- my_category
|
||||
class:
|
||||
module: unilabos.devices.workstation.my_station.my_station:MyWorkstation
|
||||
type: python
|
||||
status_types:
|
||||
workflow_sequence: String
|
||||
material_info: String
|
||||
action_value_mappings:
|
||||
scheduler_start:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
result:
|
||||
success: success
|
||||
create_order:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal:
|
||||
json_str: json_str
|
||||
result:
|
||||
success: success
|
||||
init_param_schema:
|
||||
config:
|
||||
type: object
|
||||
deck:
|
||||
type: object
|
||||
protocol_type:
|
||||
type: array
|
||||
```
|
||||
|
||||
### 子设备注册表
|
||||
|
||||
子设备有独立的注册表文件，需要在 `category` 中包含工作站标识：
|
||||
|
||||
```yaml
|
||||
my_reactor:
|
||||
category:
|
||||
- reactor
|
||||
- my_workstation
|
||||
class:
|
||||
module: unilabos.devices.workstation.my_station.my_reactor:MyReactor
|
||||
type: python
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 第六步：配置 Deck 资源（如需要）
|
||||
|
||||
如果工作站有物料管理需求，需要定义 Deck 类。
|
||||
|
||||
### 使用已有 Deck 类
|
||||
|
||||
查看 `unilabos/resources/` 目录下是否有适用的 Deck 类。
|
||||
|
||||
### 创建自定义 Deck
|
||||
|
||||
在 `unilabos/resources/<category>/decks.py` 中定义：
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import Deck
|
||||
from pylabrobot.resources.coordinate import Coordinate
|
||||
|
||||
|
||||
def MyStation_Deck(name: str = "MyStation_Deck") -> Deck:
|
||||
deck = Deck(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
|
||||
# 在 deck 上定义子资源位置（carrier、plate 等）
|
||||
return deck
|
||||
```
|
||||
|
||||
在 `unilabos/resources/<category>/` 下注册或通过注册表引用。
|
||||
|
||||
---
|
||||
|
||||
## 第七步：配置图文件
|
||||
|
||||
图文件路径：`unilabos/test/experiments/<station_name>.json`
|
||||
|
||||
### 完整结构
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"name": "my_station",
|
||||
"children": ["my_deck", "sub_device_1", "sub_device_2"],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "my_workstation",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {
|
||||
"api_host": "http://192.168.1.100:8080",
|
||||
"api_key": "YOUR_KEY"
|
||||
},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "my_deck",
|
||||
"_resource_type": "unilabos.resources.my_module.decks:MyStation_Deck"
|
||||
}
|
||||
},
|
||||
"size_x": 2700.0,
|
||||
"size_y": 1080.0,
|
||||
"size_z": 1500.0,
|
||||
"protocol_type": [],
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "my_deck",
|
||||
"name": "my_deck",
|
||||
"children": [],
|
||||
"parent": "my_station",
|
||||
"type": "deck",
|
||||
"class": "MyStation_Deck",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {
|
||||
"type": "MyStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"}
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "sub_device_1",
|
||||
"name": "sub_device_1",
|
||||
"children": [],
|
||||
"parent": "my_station",
|
||||
"type": "device",
|
||||
"class": "sub_device_registry_name",
|
||||
"position": {"x": 100, "y": 0, "z": 0},
|
||||
"config": {},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
### 图文件规则
|
||||
|
||||
| 字段 | 说明 |
|
||||
|------|------|
|
||||
| `id` | 节点唯一标识，与 `children` 数组中的引用一致 |
|
||||
| `children` | 包含 deck ID 和所有子设备 ID |
|
||||
| `parent` | 工作站节点为 `null`；子设备/deck 指向工作站 ID |
|
||||
| `type` | 工作站和子设备为 `"device"`；deck 为 `"deck"` |
|
||||
| `class` | 对应注册表中的设备名 |
|
||||
| `deck.data._resource_child_name` | 必须与 deck 节点的 `id` 一致 |
|
||||
| `deck.data._resource_type` | Deck 工厂函数的完整 Python 路径 |
|
||||
| `protocol_type` | Protocol 工作站填入协议名列表；否则为 `[]` |
|
||||
| `config` | 传入驱动 `__init__` 的 `config` 参数 |
|
||||
|
||||
---
|
||||
|
||||
## 第八步：验证
|
||||
|
||||
```bash
|
||||
# 1. 模块可导入
|
||||
python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
|
||||
|
||||
# 2. 注册表补全
|
||||
unilab -g <graph>.json --complete_registry
|
||||
|
||||
# 3. 启动测试
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 高级模式
|
||||
|
||||
实现外部系统对接型工作站时，详见 [reference.md](reference.md)：RPC 客户端、HTTP 回调服务、连接监控、Config 结构模式（material_type_mappings / warehouse_mapping / workflow_mappings）、ResourceSynchronizer、update_resource、工作流序列、站间物料转移、post_init 完整模式。
|
||||
|
||||
---
|
||||
|
||||
## 关键规则
|
||||
|
||||
1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.__init__` 需要 `deck` 参数
|
||||
2. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
|
||||
3. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
|
||||
4. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
|
||||
5. **子设备在图文件中声明** — 不在驱动代码中创建子设备实例
|
||||
6. **`deck` 配置中的 `_resource_child_name` 必须与 deck 节点 ID 一致**
|
||||
7. **Protocol 工作站优先使用 `ProtocolNode`** — 不需要自定义类
|
||||
|
||||
---
|
||||
|
||||
## 工作流清单
|
||||
|
||||
```
|
||||
工作站接入进度：
|
||||
- [ ] 1. 确定工作站类型（Protocol / 外部系统 / 硬件控制）
|
||||
- [ ] 2. 确认子设备组成和物料需求
|
||||
- [ ] 3. 创建工作站驱动 unilabos/devices/workstation/<name>/<name>.py
|
||||
- [ ] 4. 创建子设备驱动（如需要，按 add_device.md 流程）
|
||||
- [ ] 5. 创建注册表 unilabos/registry/devices/<name>.yaml
|
||||
- [ ] 6. 创建/选择 Deck 资源类（如需要）
|
||||
- [ ] 7. 配置图文件 unilabos/test/experiments/<name>.json
|
||||
- [ ] 8. 验证：可导入 + 注册表补全 + 启动测试
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 现有工作站参考
|
||||
|
||||
| 工作站 | 注册表名 | 驱动类 | 类型 |
|
||||
|--------|----------|--------|------|
|
||||
| Protocol 通用 | `workstation` | `ProtocolNode` | Protocol |
|
||||
| Bioyond 反应站 | `reaction_station.bioyond` | `BioyondReactionStation` | 外部系统 |
|
||||
| Bioyond 配液站 | `bioyond_dispensing_station` | `BioyondDispensingStation` | 外部系统 |
|
||||
| 纽扣电池组装 | `coincellassemblyworkstation_device` | `CoinCellAssemblyWorkstation` | 硬件控制 |
|
||||
|
||||
### 参考文件路径
|
||||
|
||||
- 基类: `unilabos/devices/workstation/workstation_base.py`
|
||||
- Bioyond 基类: `unilabos/devices/workstation/bioyond_studio/station.py`
|
||||
- 反应站: `unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py`
|
||||
- 配液站: `unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py`
|
||||
- 纽扣电池: `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
|
||||
- ROS 节点: `unilabos/ros/nodes/presets/workstation.py`
|
||||
- 图文件: `unilabos/test/experiments/reaction_station_bioyond.json`, `dispensing_station_bioyond.json`
|
||||
@@ -1,371 +0,0 @@
|
||||
# 工作站高级模式参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
|
||||
Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 外部系统集成模式
|
||||
|
||||
### 1.1 RPC 客户端
|
||||
|
||||
与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.rpc import BaseRequest
|
||||
|
||||
|
||||
class MySystemRPC(BaseRequest):
|
||||
"""外部系统 RPC 客户端"""
|
||||
|
||||
def __init__(self, host: str, api_key: str):
|
||||
super().__init__(host)
|
||||
self.api_key = api_key
|
||||
|
||||
def _request(self, endpoint: str, data: dict = None) -> dict:
|
||||
return self.post(
|
||||
url=f"{self.host}/api/{endpoint}",
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": data or {},
|
||||
},
|
||||
)
|
||||
|
||||
def query_status(self) -> dict:
|
||||
return self._request("status/query")
|
||||
|
||||
def create_order(self, order_data: dict) -> dict:
|
||||
return self._request("order/create", order_data)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
|
||||
|
||||
### 1.2 HTTP 回调服务
|
||||
|
||||
接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, config=None, deck=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
http_cfg = self.config.get("http_service_config", {})
|
||||
self._http_service_config = {
|
||||
"host": http_cfg.get("http_service_host", "127.0.0.1"),
|
||||
"port": http_cfg.get("http_service_port", 8080),
|
||||
}
|
||||
self.http_service = None
|
||||
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
```
|
||||
|
||||
**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
|
||||
|
||||
| 端点 | 调用的工作站方法 |
|
||||
|------|-----------------|
|
||||
| `/report/step_finish` | `process_step_finish_report(report_request)` |
|
||||
| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
|
||||
| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
|
||||
| `/report/material_change` | `process_material_change_report(report_data)` |
|
||||
| `/report/error_handling` | `handle_external_error(error_data)` |
|
||||
|
||||
实现对应方法即可接收回调：
|
||||
|
||||
```python
|
||||
def process_step_finish_report(self, report_request) -> Dict[str, Any]:
|
||||
"""处理步骤完成报告"""
|
||||
step_name = report_request.data.get("stepName")
|
||||
return {"success": True, "message": f"步骤 {step_name} 已处理"}
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
|
||||
"""处理订单完成报告"""
|
||||
order_code = report_request.data.get("orderCode")
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/workstation_http_service.py`
|
||||
|
||||
### 1.3 连接监控
|
||||
|
||||
独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
|
||||
|
||||
```python
|
||||
class ConnectionMonitor:
|
||||
def __init__(self, workstation, check_interval=30):
|
||||
self.workstation = workstation
|
||||
self.check_interval = check_interval
|
||||
self._running = False
|
||||
self._thread = None
|
||||
|
||||
def start(self):
|
||||
self._running = True
|
||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
|
||||
self._thread.start()
|
||||
|
||||
def _monitor_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 调用外部系统接口检测连接
|
||||
self.workstation.hardware_interface.ping()
|
||||
status = "online"
|
||||
except Exception:
|
||||
status = "offline"
|
||||
time.sleep(self.check_interval)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
|
||||
|
||||
---
|
||||
|
||||
## 2. Config 结构模式
|
||||
|
||||
工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
|
||||
|
||||
### 2.1 外部系统连接
|
||||
|
||||
```json
|
||||
{
|
||||
"api_host": "http://192.168.1.100:8080",
|
||||
"api_key": "YOUR_API_KEY"
|
||||
}
|
||||
```
|
||||
|
||||
### 2.2 HTTP 回调服务
|
||||
|
||||
```json
|
||||
{
|
||||
"http_service_config": {
|
||||
"http_service_host": "127.0.0.1",
|
||||
"http_service_port": 8080
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.3 物料类型映射
|
||||
|
||||
将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
|
||||
|
||||
```json
|
||||
{
|
||||
"material_type_mappings": {
|
||||
"PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
|
||||
"BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.4 仓库映射
|
||||
|
||||
将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
|
||||
|
||||
```json
|
||||
{
|
||||
"warehouse_mapping": {
|
||||
"仓库名": {
|
||||
"uuid": "warehouse-uuid",
|
||||
"site_uuids": {
|
||||
"A01": "site-uuid-A01",
|
||||
"A02": "site-uuid-A02"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.5 工作流映射
|
||||
|
||||
将内部工作流名映射到外部系统的工作流 ID。
|
||||
|
||||
```json
|
||||
{
|
||||
"workflow_mappings": {
|
||||
"internal_workflow_name": "external-workflow-uuid"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.6 物料默认参数
|
||||
|
||||
```json
|
||||
{
|
||||
"material_default_parameters": {
|
||||
"NMP": {
|
||||
"unit": "毫升",
|
||||
"density": "1.03",
|
||||
"densityUnit": "g/mL",
|
||||
"description": "N-甲基吡咯烷酮"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. 资源同步机制
|
||||
|
||||
### 3.1 ResourceSynchronizer
|
||||
|
||||
抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def __init__(self, workstation, api_client):
|
||||
super().__init__(workstation)
|
||||
self.api_client = api_client
|
||||
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统拉取物料到 deck"""
|
||||
external_materials = self.api_client.list_materials()
|
||||
for material in external_materials:
|
||||
plr_resource = self._convert_to_plr(material)
|
||||
self.workstation.deck.assign_child_resource(plr_resource, coordinate)
|
||||
return True
|
||||
|
||||
def sync_to_external(self, plr_resource) -> bool:
|
||||
"""将 deck 中的物料变更推送到外部系统"""
|
||||
external_data = self._convert_from_plr(plr_resource)
|
||||
self.api_client.update_material(external_data)
|
||||
return True
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统推送的物料变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
### 3.2 update_resource — 上传资源树到云端
|
||||
|
||||
将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
|
||||
|
||||
```python
|
||||
# 在 post_init 中上传初始 deck
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
|
||||
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 在动作方法中更新特定资源
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [updated_plate]}
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 工作流序列管理
|
||||
|
||||
工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
self._workflow_sequence = []
|
||||
|
||||
@property
|
||||
def workflow_sequence(self) -> str:
|
||||
"""返回 JSON 字符串，ROS 自动发布"""
|
||||
import json
|
||||
return json.dumps(self._workflow_sequence)
|
||||
|
||||
async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
|
||||
"""添加工作流到队列"""
|
||||
self._workflow_sequence.append({
|
||||
"name": workflow_name,
|
||||
"status": "pending",
|
||||
"created_at": time.time(),
|
||||
})
|
||||
return {"success": True}
|
||||
|
||||
async def clear_workflows(self) -> Dict[str, Any]:
|
||||
"""清空工作流队列"""
|
||||
self._workflow_sequence = []
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 5. 站间物料转移
|
||||
|
||||
工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
|
||||
|
||||
```python
|
||||
async def transfer_materials_to_another_station(
|
||||
self,
|
||||
target_device_id: str,
|
||||
transfer_groups: list,
|
||||
**kwargs,
|
||||
) -> Dict[str, Any]:
|
||||
"""将物料转移到另一个工作站"""
|
||||
target_node = self._children.get(target_device_id)
|
||||
if not target_node:
|
||||
# 通过 ROS 节点查找非子设备的目标站
|
||||
pass
|
||||
|
||||
for group in transfer_groups:
|
||||
resource = self.find_resource_by_name(group["resource_name"])
|
||||
# 从本站 deck 移除
|
||||
resource.unassign()
|
||||
# 调用目标站的接收方法
|
||||
# ...
|
||||
|
||||
return {"success": True, "transferred": len(transfer_groups)}
|
||||
```
|
||||
|
||||
参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
|
||||
|
||||
---
|
||||
|
||||
## 6. post_init 完整模式
|
||||
|
||||
`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
|
||||
|
||||
```python
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
|
||||
# 1. 初始化外部系统客户端（此时 config 已可用）
|
||||
self.rpc_client = MySystemRPC(
|
||||
host=self.config.get("api_host"),
|
||||
api_key=self.config.get("api_key"),
|
||||
)
|
||||
self.hardware_interface = self.rpc_client
|
||||
|
||||
# 2. 启动连接监控
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
self.connection_monitor.start()
|
||||
|
||||
# 3. 启动 HTTP 回调服务
|
||||
if hasattr(self, '_http_service_config'):
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
|
||||
# 4. 上传 deck 到云端
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 5. 初始化资源同步器（可选）
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
|
||||
```
|
||||
@@ -1,381 +0,0 @@
|
||||
---
|
||||
name: edit-experiment-graph
|
||||
description: Guide for creating and editing experiment graph files in Uni-Lab-OS (创建/编辑实验组态图). Covers node types, link types, parent-child relationships, deck configuration, and common graph patterns. Use when the user wants to create a graph file, edit an experiment configuration, set up device topology, or mentions 图文件/graph/组态/拓扑/实验图/experiment JSON.
|
||||
---
|
||||
|
||||
# 创建/编辑实验组态图
|
||||
|
||||
实验图（Graph File）定义设备拓扑、物理连接和物料配置。系统启动时加载图文件，初始化所有设备和连接关系。
|
||||
|
||||
路径：`unilabos/test/experiments/<name>.json`
|
||||
|
||||
---
|
||||
|
||||
## 第一步：确认需求
|
||||
|
||||
向用户确认：
|
||||
|
||||
| 信息 | 说明 |
|
||||
|------|------|
|
||||
| 场景类型 | 单设备调试 / 多设备联调 / 工作站完整图 |
|
||||
| 包含的设备 | 设备 ID、注册表 class 名、配置参数 |
|
||||
| 连接关系 | 物理连接（管道）/ 通信连接（串口）/ 无连接 |
|
||||
| 父子关系 | 是否有工作站包含子设备 |
|
||||
| 物料需求 | 是否需要 Deck、容器、试剂瓶 |
|
||||
|
||||
---
|
||||
|
||||
## 第二步：JSON 顶层结构
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [],
|
||||
"links": []
|
||||
}
|
||||
```
|
||||
|
||||
> `links` 也可写作 `edges`，加载时两者等效。
|
||||
|
||||
---
|
||||
|
||||
## 第三步：定义 Nodes
|
||||
|
||||
### 节点字段
|
||||
|
||||
| 字段 | 类型 | 必需 | 默认值 | 说明 |
|
||||
|------|------|------|--------|------|
|
||||
| `id` | string | **是** | — | 节点唯一标识，links 和 children 中引用此值 |
|
||||
| `class` | string | **是** | — | 对应注册表名（设备/资源 YAML 的 key），容器可为 `null` |
|
||||
| `name` | string | 否 | 同 `id` | 显示名称，缺省时自动用 `id` |
|
||||
| `type` | string | 否 | `"device"` | 节点类型（见下表），缺省时自动设为 `"device"` |
|
||||
| `children` | string[] | 否 | `[]` | 子节点 ID 列表 |
|
||||
| `parent` | string\|null | 否 | `null` | 父节点 ID，顶层设备为 `null` |
|
||||
| `position` | object | 否 | `{x:0,y:0,z:0}` | 空间坐标 |
|
||||
| `config` | object | 否 | `{}` | 传给驱动 `__init__` 的参数 |
|
||||
| `data` | object | 否 | `{}` | 初始运行状态 |
|
||||
| `size_x/y/z` | float | 否 | — | 节点物理尺寸（工作站节点常用） |
|
||||
|
||||
> 非标准字段（如 `api_host`）会自动移入 `config`。
|
||||
|
||||
### 节点类型
|
||||
|
||||
| `type` | 用途 | `class` 要求 |
|
||||
|--------|------|-------------|
|
||||
| `device` | 设备（默认） | 注册表中的设备名 |
|
||||
| `deck` | 工作台面 | Deck 工厂函数/类名 |
|
||||
| `container` | 容器（烧瓶、反应釜） | `null` 或具体容器类名 |
|
||||
|
||||
### 设备节点模板
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "my_device",
|
||||
"name": "我的设备",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "registry_device_name",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {
|
||||
"port": "/dev/ttyUSB0",
|
||||
"baudrate": 115200
|
||||
},
|
||||
"data": {
|
||||
"status": "Idle"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 容器节点模板
|
||||
|
||||
容器用于协议系统中表示试剂瓶、反应釜等，`class` 通常为 `null`：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "flask_DMF",
|
||||
"name": "DMF试剂瓶",
|
||||
"children": [],
|
||||
"parent": "my_station",
|
||||
"type": "container",
|
||||
"class": null,
|
||||
"position": {"x": 200, "y": 500, "z": 0},
|
||||
"config": {"max_volume": 1000.0},
|
||||
"data": {
|
||||
"liquid": [{"liquid_type": "DMF", "liquid_volume": 800.0}]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### Deck 节点模板
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "my_deck",
|
||||
"name": "my_deck",
|
||||
"children": [],
|
||||
"parent": "my_station",
|
||||
"type": "deck",
|
||||
"class": "MyStation_Deck",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {
|
||||
"type": "MyStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 第四步：定义 Links
|
||||
|
||||
### Link 字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `source` | string | 源节点 ID |
|
||||
| `target` | string | 目标节点 ID |
|
||||
| `type` | string | `"physical"` / `"fluid"` / `"communication"` |
|
||||
| `port` | object | 端口映射 `{source_id: "port_name", target_id: "port_name"}` |
|
||||
|
||||
### 物理/流体连接
|
||||
|
||||
设备间的管道连接，协议系统用此查找路径：
|
||||
|
||||
```json
|
||||
{
|
||||
"source": "multiway_valve_1",
|
||||
"target": "flask_DMF",
|
||||
"type": "fluid",
|
||||
"port": {
|
||||
"multiway_valve_1": "2",
|
||||
"flask_DMF": "outlet"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 通信连接
|
||||
|
||||
设备间的串口/IO 通信代理，加载时自动将端口信息写入目标设备 config：
|
||||
|
||||
```json
|
||||
{
|
||||
"source": "pump_1",
|
||||
"target": "serial_device",
|
||||
"type": "communication",
|
||||
"port": {
|
||||
"pump_1": "port",
|
||||
"serial_device": "port"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 第五步：父子关系与工作站配置
|
||||
|
||||
### 工作站 + 子设备
|
||||
|
||||
工作站节点的 `children` 列出所有子节点 ID，子节点的 `parent` 指向工作站：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "my_station",
|
||||
"children": ["my_deck", "pump_1", "valve_1", "reactor_1"],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "workstation",
|
||||
"config": {
|
||||
"protocol_type": ["PumpTransferProtocol", "CleanProtocol"]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 工作站 + Deck 引用
|
||||
|
||||
工作站节点中通过 `deck` 字段引用 Deck：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "my_station",
|
||||
"children": ["my_deck", "sub_device_1"],
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "my_deck",
|
||||
"_resource_type": "unilabos.resources.my_module.decks:MyDeck"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**关键约束：**
|
||||
- `_resource_child_name` 必须与 Deck 节点的 `id` 一致
|
||||
- `_resource_type` 为 Deck 类/工厂函数的完整 Python 路径
|
||||
|
||||
---
|
||||
|
||||
## 常见图模式
|
||||
|
||||
### 模式 A：单设备调试
|
||||
|
||||
最简形式，一个设备节点，无连接：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_device",
|
||||
"name": "my_device",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "motor.zdt_x42",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {"port": "/dev/ttyUSB0", "baudrate": 115200},
|
||||
"data": {"status": "idle"}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
```
|
||||
|
||||
### 模式 B：Protocol 工作站（泵+阀+容器）
|
||||
|
||||
工作站配合泵、阀、容器和物理连接，用于协议编译：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "station", "name": "协议工作站",
|
||||
"class": "workstation", "type": "device", "parent": null,
|
||||
"children": ["pump", "valve", "flask_solvent", "reactor", "waste"],
|
||||
"config": {"protocol_type": ["PumpTransferProtocol"]}
|
||||
},
|
||||
{"id": "pump", "name": "转移泵", "class": "virtual_transfer_pump",
|
||||
"type": "device", "parent": "station",
|
||||
"config": {"port": "VIRTUAL", "max_volume": 25.0},
|
||||
"data": {"status": "Idle", "position": 0.0, "valve_position": "0"}},
|
||||
{"id": "valve", "name": "多通阀", "class": "virtual_multiway_valve",
|
||||
"type": "device", "parent": "station",
|
||||
"config": {"port": "VIRTUAL", "positions": 8}},
|
||||
{"id": "flask_solvent", "name": "溶剂瓶", "type": "container",
|
||||
"class": null, "parent": "station",
|
||||
"config": {"max_volume": 1000.0},
|
||||
"data": {"liquid": [{"liquid_type": "DMF", "liquid_volume": 500}]}},
|
||||
{"id": "reactor", "name": "反应器", "type": "container",
|
||||
"class": null, "parent": "station"},
|
||||
{"id": "waste", "name": "废液瓶", "type": "container",
|
||||
"class": null, "parent": "station"}
|
||||
],
|
||||
"links": [
|
||||
{"source": "pump", "target": "valve", "type": "fluid",
|
||||
"port": {"pump": "transferpump", "valve": "transferpump"}},
|
||||
{"source": "valve", "target": "flask_solvent", "type": "fluid",
|
||||
"port": {"valve": "1", "flask_solvent": "outlet"}},
|
||||
{"source": "valve", "target": "reactor", "type": "fluid",
|
||||
"port": {"valve": "2", "reactor": "inlet"}},
|
||||
{"source": "valve", "target": "waste", "type": "fluid",
|
||||
"port": {"valve": "3", "waste": "inlet"}}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
### 模式 C：外部系统工作站 + Deck
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "bioyond_station", "class": "reaction_station.bioyond",
|
||||
"parent": null, "children": ["bioyond_deck"],
|
||||
"config": {
|
||||
"api_host": "http://192.168.1.100:8080",
|
||||
"api_key": "YOUR_KEY",
|
||||
"material_type_mappings": {},
|
||||
"warehouse_mapping": {}
|
||||
},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "bioyond_deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "bioyond_deck", "class": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"parent": "bioyond_station", "type": "deck",
|
||||
"config": {"type": "BIOYOND_PolymerReactionStation_Deck", "setup": true}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
```
|
||||
|
||||
### 模式 D：通信代理（串口设备）
|
||||
|
||||
泵通过串口设备通信，使用 `communication` 类型的 link。加载时系统会自动将串口端口信息写入泵的 `config`：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{"id": "station", "name": "工作站", "type": "device",
|
||||
"class": "workstation", "parent": null,
|
||||
"children": ["serial_1", "pump_1"]},
|
||||
{"id": "serial_1", "name": "串口", "type": "device",
|
||||
"class": "serial", "parent": "station",
|
||||
"config": {"port": "COM7", "baudrate": 9600}},
|
||||
{"id": "pump_1", "name": "注射泵", "type": "device",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08", "parent": "station"}
|
||||
],
|
||||
"links": [
|
||||
{"source": "pump_1", "target": "serial_1", "type": "communication",
|
||||
"port": {"pump_1": "port", "serial_1": "port"}}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 启动测试
|
||||
unilab -g unilabos/test/experiments/<name>.json --complete_registry
|
||||
|
||||
# 仅检查注册表
|
||||
python -m unilabos --check_mode --skip_env_check
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 高级模式
|
||||
|
||||
处理复杂图文件时，详见 [reference.md](reference.md)：ResourceDict 完整字段 schema、Pose 标准化规则、Handle 验证机制、GraphML 格式支持、外部系统工作站完整 config 结构。
|
||||
|
||||
---
|
||||
|
||||
## 常见错误
|
||||
|
||||
| 错误 | 原因 | 修复 |
|
||||
|------|------|------|
|
||||
| `class` 找不到 | 注册表中无此设备名 | 在 `unilabos/registry/devices/` 或 `resources/` 中搜索正确名称 |
|
||||
| children/parent 不一致 | 子节点 `parent` 与父节点 `children` 不匹配 | 确保双向一致 |
|
||||
| `_resource_child_name` 不匹配 | Deck 引用名与 Deck 节点 `id` 不同 | 保持一致 |
|
||||
| Link 端口错误 | `port` 中的 key 不是 source/target 的 `id` | key 必须是对应节点的 `id` |
|
||||
| 重复 UUID | 多个节点有相同 `uuid` | 删除或修改 UUID |
|
||||
|
||||
---
|
||||
|
||||
## 参考路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| 图文件目录 | `unilabos/test/experiments/` |
|
||||
| 协议测试站 | `unilabos/test/experiments/Protocol_Test_Station/` |
|
||||
| 图加载代码 | `unilabos/resources/graphio.py` |
|
||||
| 节点模型 | `unilabos/resources/resource_tracker.py` |
|
||||
| 设备注册表 | `unilabos/registry/devices/` |
|
||||
| 资源注册表 | `unilabos/registry/resources/` |
|
||||
| 用户文档 | `docs/user_guide/graph_files.md` |
|
||||
@@ -1,255 +0,0 @@
|
||||
# 实验图高级参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含 ResourceDict 完整 schema、Handle 验证、GraphML 格式、Pose 标准化规则和复杂图文件结构。Agent 在需要处理这些场景时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. ResourceDict 完整字段
|
||||
|
||||
`unilabos/resources/resource_tracker.py` 中定义的节点数据模型：
|
||||
|
||||
| 字段 | 类型 | 别名 | 说明 |
|
||||
|------|------|------|------|
|
||||
| `id` | `str` | — | 节点唯一标识 |
|
||||
| `uuid` | `str` | — | 全局唯一标识 |
|
||||
| `name` | `str` | — | 显示名称 |
|
||||
| `description` | `str` | — | 描述（默认 `""` ） |
|
||||
| `resource_schema` | `Dict[str, Any]` | `schema` | 资源 schema |
|
||||
| `model` | `Dict[str, Any]` | — | 3D 模型信息 |
|
||||
| `icon` | `str` | — | 图标（默认 `""` ） |
|
||||
| `parent_uuid` | `Optional[str]` | — | 父节点 UUID |
|
||||
| `parent` | `Optional[ResourceDict]` | — | 父节点引用（序列化时 exclude） |
|
||||
| `type` | `Union[Literal["device"], str]` | — | 节点类型 |
|
||||
| `klass` | `str` | `class` | 注册表类名 |
|
||||
| `pose` | `ResourceDictPosition` | — | 位姿信息 |
|
||||
| `config` | `Dict[str, Any]` | — | 配置参数 |
|
||||
| `data` | `Dict[str, Any]` | — | 运行时数据 |
|
||||
| `extra` | `Dict[str, Any]` | — | 扩展数据 |
|
||||
|
||||
### Pose 完整结构（ResourceDictPosition）
|
||||
|
||||
| 字段 | 类型 | 默认值 | 说明 |
|
||||
|------|------|--------|------|
|
||||
| `size` | `{width, height, depth}` | `{0,0,0}` | 节点尺寸 |
|
||||
| `scale` | `{x, y, z}` | `{1,1,1}` | 缩放比例 |
|
||||
| `layout` | `"2d"/"x-y"/"z-y"/"x-z"` | `"x-y"` | 布局方向 |
|
||||
| `position` | `{x, y, z}` | `{0,0,0}` | 2D 位置 |
|
||||
| `position3d` | `{x, y, z}` | `{0,0,0}` | 3D 位置 |
|
||||
| `rotation` | `{x, y, z}` | `{0,0,0}` | 旋转角度 |
|
||||
| `cross_section_type` | `"rectangle"/"circle"/"rounded_rectangle"` | `"rectangle"` | 横截面形状 |
|
||||
|
||||
---
|
||||
|
||||
## 2. Position / Pose 标准化规则
|
||||
|
||||
图文件中的 `position` 有多种写法，加载时自动标准化。
|
||||
|
||||
### 输入格式兼容
|
||||
|
||||
```json
|
||||
// 格式 A: 直接 {x, y, z}（最常用）
|
||||
"position": {"x": 100, "y": 200, "z": 0}
|
||||
|
||||
// 格式 B: 嵌套 position
|
||||
"position": {"position": {"x": 100, "y": 200, "z": 0}}
|
||||
|
||||
// 格式 C: 使用 pose 字段
|
||||
"pose": {"position": {"x": 100, "y": 200, "z": 0}}
|
||||
|
||||
// 格式 D: 顶层 x, y, z（无 position 字段）
|
||||
"x": 100, "y": 200, "z": 0
|
||||
```
|
||||
|
||||
### 标准化流程
|
||||
|
||||
1. **graphio.py `canonicalize_nodes_data`**：若 `position` 不是 dict，从节点顶层提取 `x/y/z` 填入 `pose.position`
|
||||
2. **resource_tracker.py `get_resource_instance_from_dict`**：若 `position.x` 存在（旧格式），转为 `{"position": {"x":..., "y":..., "z":...}}`
|
||||
3. `pose.size` 从 `config.size_x/size_y/size_z` 自动填充
|
||||
|
||||
---
|
||||
|
||||
## 3. Handle 验证
|
||||
|
||||
启动时系统验证 link 中的 `sourceHandle` / `targetHandle` 是否在注册表的 `handles` 中定义。
|
||||
|
||||
```python
|
||||
# unilabos/app/main.py (约 449-481 行)
|
||||
source_handler_keys = [
|
||||
h["handler_key"] for h in materials[source_node.klass]["handles"]
|
||||
if h["io_type"] == "source"
|
||||
]
|
||||
target_handler_keys = [
|
||||
h["handler_key"] for h in materials[target_node.klass]["handles"]
|
||||
if h["io_type"] == "target"
|
||||
]
|
||||
if source_handle not in source_handler_keys:
|
||||
print_status(f"节点 {source_node.id} 的source端点 {source_handle} 不存在", "error")
|
||||
resource_edge_info.pop(...) # 移除非法 link
|
||||
```
|
||||
|
||||
**Handle 定义在注册表 YAML 中：**
|
||||
|
||||
```yaml
|
||||
my_device:
|
||||
handles:
|
||||
- handler_key: access
|
||||
io_type: target
|
||||
data_type: fluid
|
||||
side: NORTH
|
||||
label: access
|
||||
```
|
||||
|
||||
> 大多数简单设备不定义 handles，此验证仅对有 `sourceHandle`/`targetHandle` 的 link 生效。
|
||||
|
||||
---
|
||||
|
||||
## 4. GraphML 格式支持
|
||||
|
||||
除 JSON 外，系统也支持 GraphML 格式（`unilabos/resources/graphio.py::read_graphml`）。
|
||||
|
||||
### 与 JSON 的关键差异
|
||||
|
||||
| 特性 | JSON | GraphML |
|
||||
|------|------|---------|
|
||||
| 父子关系 | `parent`/`children` 字段 | `::` 分隔的节点 ID（如 `station::pump_1`） |
|
||||
| 加载后 | 直接解析 | 先 `nx.read_graphml` 再转 JSON 格式 |
|
||||
| 输出 | 不生成副本 | 自动生成等价的 `.json` 文件 |
|
||||
|
||||
### GraphML 转换流程
|
||||
|
||||
```
|
||||
nx.read_graphml(file)
|
||||
↓ 用 label 重映射节点名
|
||||
↓ 从 "::" 推断 parent_relation
|
||||
nx.relabel_nodes + nx.node_link_data
|
||||
↓ canonicalize_nodes_data + canonicalize_links_ports
|
||||
↓ 写出等价 JSON 文件
|
||||
physical_setup_graph + handle_communications
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 5. 复杂图文件结构示例
|
||||
|
||||
### 外部系统工作站完整 config
|
||||
|
||||
以 `reaction_station_bioyond.json` 为例，工作站 `config` 中的关键字段：
|
||||
|
||||
```json
|
||||
{
|
||||
"config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://172.21.103.36:45388",
|
||||
|
||||
"workflow_mappings": {
|
||||
"scheduler_start": {"workflow": "start", "params": {}},
|
||||
"create_order": {"workflow": "create_order", "params": {}}
|
||||
},
|
||||
|
||||
"material_type_mappings": {
|
||||
"BIOYOND_PolymerStation_Reactor": ["反应器", "type-uuid-here"],
|
||||
"BIOYOND_PolymerStation_1BottleCarrier": ["试剂瓶", "type-uuid-here"]
|
||||
},
|
||||
|
||||
"warehouse_mapping": {
|
||||
"堆栈1左": {
|
||||
"uuid": "warehouse-uuid-here",
|
||||
"site_uuids": {
|
||||
"A01": "site-uuid-1",
|
||||
"A02": "site-uuid-2"
|
||||
}
|
||||
}
|
||||
},
|
||||
|
||||
"http_service_config": {
|
||||
"enabled": true,
|
||||
"host": "0.0.0.0",
|
||||
"port": 45399,
|
||||
"routes": ["/callback/workflow", "/callback/material"]
|
||||
},
|
||||
|
||||
"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": {}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 子设备 Reactor 节点
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "reactor_1",
|
||||
"name": "reactor_1",
|
||||
"parent": "reaction_station_bioyond",
|
||||
"type": "device",
|
||||
"class": "bioyond_reactor",
|
||||
"position": {"x": 1150, "y": 300, "z": 0},
|
||||
"config": {
|
||||
"reactor_index": 0,
|
||||
"bioyond_workflow_key": "reactor_1"
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
```
|
||||
|
||||
### Deck 节点
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "Bioyond_Deck",
|
||||
"name": "Bioyond_Deck",
|
||||
"parent": "reaction_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {
|
||||
"type": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 6. Link 端口标准化
|
||||
|
||||
`graphio.py::canonicalize_links_ports` 处理 `port` 字段的多种格式：
|
||||
|
||||
```python
|
||||
# 输入: 字符串格式 "(A,B)"
|
||||
"port": "(pump_1, valve_1)"
|
||||
# 输出: 字典格式
|
||||
"port": {"source_id": "pump_1", "target_id": "valve_1"}
|
||||
|
||||
# 输入: 已是字典
|
||||
"port": {"pump_1": "port", "serial_1": "port"}
|
||||
# 保持不变
|
||||
|
||||
# 输入: 无 port 字段
|
||||
# 自动补充空 port
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 7. 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| ResourceDict 模型 | `unilabos/resources/resource_tracker.py` |
|
||||
| 图加载 + 标准化 | `unilabos/resources/graphio.py` |
|
||||
| Handle 验证 | `unilabos/app/main.py` (449-481 行) |
|
||||
| 反应站图文件 | `unilabos/test/experiments/reaction_station_bioyond.json` |
|
||||
| 配液站图文件 | `unilabos/test/experiments/dispensing_station_bioyond.json` |
|
||||
| 用户文档 | `docs/user_guide/graph_files.md` |
|
||||
188
.cursorignore
188
.cursorignore
@@ -1,188 +0,0 @@
|
||||
# ============================================================
|
||||
# Uni-Lab-OS Cursor Ignore 配置，控制 Cursor AI 的文件索引范围
|
||||
# ============================================================
|
||||
|
||||
# ==================== 敏感配置文件 ====================
|
||||
# 本地配置（可能包含密钥）
|
||||
**/local_config.py
|
||||
test_config.py
|
||||
local_test*.py
|
||||
|
||||
# 环境变量和密钥
|
||||
.env
|
||||
.env.*
|
||||
**/.certs/
|
||||
*.pem
|
||||
*.key
|
||||
credentials.json
|
||||
secrets.yaml
|
||||
|
||||
# ==================== 二进制和 3D 模型文件 ====================
|
||||
# 3D 模型文件（无需索引）
|
||||
*.stl
|
||||
*.dae
|
||||
*.glb
|
||||
*.gltf
|
||||
*.obj
|
||||
*.fbx
|
||||
*.blend
|
||||
|
||||
# URDF/Xacro 机器人描述文件（大型XML）
|
||||
*.xacro
|
||||
|
||||
# 图片文件
|
||||
*.png
|
||||
*.jpg
|
||||
*.jpeg
|
||||
*.gif
|
||||
*.webp
|
||||
*.ico
|
||||
*.svg
|
||||
*.bmp
|
||||
|
||||
# 压缩包
|
||||
*.zip
|
||||
*.tar
|
||||
*.tar.gz
|
||||
*.tgz
|
||||
*.bz2
|
||||
*.rar
|
||||
*.7z
|
||||
|
||||
# ==================== Python 生成文件 ====================
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
*.so
|
||||
*.pyd
|
||||
*.egg
|
||||
*.egg-info/
|
||||
.eggs/
|
||||
dist/
|
||||
build/
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# ==================== IDE 和编辑器 ====================
|
||||
.idea/
|
||||
.vscode/
|
||||
*.swp
|
||||
*.swo
|
||||
*~
|
||||
.#*
|
||||
|
||||
# ==================== 测试和覆盖率 ====================
|
||||
.pytest_cache/
|
||||
.coverage
|
||||
.coverage.*
|
||||
htmlcov/
|
||||
.tox/
|
||||
.nox/
|
||||
coverage.xml
|
||||
*.cover
|
||||
|
||||
# ==================== 虚拟环境 ====================
|
||||
.venv/
|
||||
venv/
|
||||
env/
|
||||
ENV/
|
||||
|
||||
# ==================== ROS 2 生成文件 ====================
|
||||
# ROS 构建目录
|
||||
build/
|
||||
install/
|
||||
log/
|
||||
logs/
|
||||
devel/
|
||||
|
||||
# ROS 消息生成
|
||||
msg_gen/
|
||||
srv_gen/
|
||||
msg/*Action.msg
|
||||
msg/*ActionFeedback.msg
|
||||
msg/*ActionGoal.msg
|
||||
msg/*ActionResult.msg
|
||||
msg/*Feedback.msg
|
||||
msg/*Goal.msg
|
||||
msg/*Result.msg
|
||||
msg/_*.py
|
||||
srv/_*.py
|
||||
build_isolated/
|
||||
devel_isolated/
|
||||
|
||||
# ROS 动态配置
|
||||
*.cfgc
|
||||
/cfg/cpp/
|
||||
/cfg/*.py
|
||||
|
||||
# ==================== 项目特定目录 ====================
|
||||
# 工作数据目录
|
||||
unilabos_data/
|
||||
|
||||
# 临时和输出目录
|
||||
temp/
|
||||
output/
|
||||
cursor_docs/
|
||||
configs/
|
||||
|
||||
# 文档构建
|
||||
docs/_build/
|
||||
/site
|
||||
|
||||
# ==================== 大型数据文件 ====================
|
||||
# 点云数据
|
||||
*.pcd
|
||||
|
||||
# GraphML 图形文件
|
||||
*.graphml
|
||||
|
||||
# 日志文件
|
||||
*.log
|
||||
|
||||
# 数据库
|
||||
*.sqlite3
|
||||
*.db
|
||||
|
||||
# Jupyter 检查点
|
||||
.ipynb_checkpoints/
|
||||
|
||||
# ==================== 设备网格资源 ====================
|
||||
# 3D 网格文件目录（包含大量 STL/DAE 文件）
|
||||
unilabos/device_mesh/devices/**/*.stl
|
||||
unilabos/device_mesh/devices/**/*.dae
|
||||
unilabos/device_mesh/resources/**/*.stl
|
||||
unilabos/device_mesh/resources/**/*.glb
|
||||
unilabos/device_mesh/resources/**/*.xacro
|
||||
|
||||
# RViz 配置
|
||||
*.rviz
|
||||
|
||||
# ==================== 系统文件 ====================
|
||||
.DS_Store
|
||||
Thumbs.db
|
||||
desktop.ini
|
||||
|
||||
# ==================== 锁文件 ====================
|
||||
poetry.lock
|
||||
Pipfile.lock
|
||||
pdm.lock
|
||||
package-lock.json
|
||||
yarn.lock
|
||||
|
||||
# ==================== 类型检查缓存 ====================
|
||||
.mypy_cache/
|
||||
.dmypy.json
|
||||
.pytype/
|
||||
.pyre/
|
||||
pyrightconfig.json
|
||||
|
||||
# ==================== 其他 ====================
|
||||
# Catkin
|
||||
CATKIN_IGNORE
|
||||
|
||||
# Eclipse/Qt
|
||||
.project
|
||||
.cproject
|
||||
CMakeLists.txt.user
|
||||
*.user
|
||||
qtcreator-*
|
||||
11
.github/copilot-instructions.md
vendored
11
.github/copilot-instructions.md
vendored
@@ -1,11 +0,0 @@
|
||||
## 设备接入
|
||||
|
||||
当被要求添加设备驱动时，参考 `docs/ai_guides/add_device.md`。
|
||||
该指南包含完整的模板和已有设备接口参考。
|
||||
|
||||
## 关键规则
|
||||
|
||||
- 动作方法的参数名是接口契约，不可重命名
|
||||
- `status` 字符串必须与同类已有设备一致
|
||||
- `self.data` 必须在 `__init__` 中预填充所有属性字段
|
||||
- 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()`
|
||||
2
.github/workflows/ci-check.yml
vendored
2
.github/workflows/ci-check.yml
vendored
@@ -49,7 +49,7 @@ jobs:
|
||||
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
||||
uv pip install .
|
||||
|
||||
- name: Run check mode (complete_registry)
|
||||
- name: Run check mode (AST registry validation)
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Running check mode...
|
||||
|
||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -5,6 +5,7 @@ output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
.cursorignore
|
||||
device_package*/
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
|
||||
96
AGENTS.md
96
AGENTS.md
@@ -1,21 +1,87 @@
|
||||
# Uni-Lab-OS AI Agent 指南
|
||||
# AGENTS.md
|
||||
|
||||
## 设备接入
|
||||
This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
|
||||
|
||||
当用户要求添加/接入新设备时，读取 `docs/ai_guides/add_device.md` 并按其流程执行。
|
||||
该指南完全自包含，包含物模型模板、现有设备接口快照、常见错误和验证清单。
|
||||
Also follow the monorepo-level rules in `../AGENTS.md`.
|
||||
|
||||
## 关键规则
|
||||
## Build & Development
|
||||
|
||||
- 动作方法的参数名是接口契约，不可重命名（如 `volume` 不能改为 `volume_ml`）
|
||||
- `status` 字符串必须与同类已有设备一致（如 `"Idle"` 不能改为 `"就绪"`）
|
||||
- `self.data` 必须在 `__init__` 中预填充所有属性字段
|
||||
- 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()` 和 `asyncio.sleep()`
|
||||
```bash
|
||||
# Install in editable mode (requires mamba env with python 3.11)
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
## 项目结构
|
||||
# Run with a device graph
|
||||
unilab --graph <graph.json> --config <config.py> --backend ros
|
||||
unilab --graph <graph.json> --config <config.py> --backend simple # no ROS2 needed
|
||||
|
||||
- 设备驱动：`unilabos/devices/<category>/<device_name>.py`
|
||||
- 设备注册表：`unilabos/registry/devices/<device_name>.yaml`
|
||||
- 实验图文件：`unilabos/test/experiments/*.json`
|
||||
- 人类开发文档：`docs/developer_guide/`
|
||||
- AI 专用指南：`docs/ai_guides/`
|
||||
# Common CLI flags
|
||||
unilab --app_bridges websocket fastapi # communication bridges
|
||||
unilab --test_mode # simulate hardware, no real execution
|
||||
unilab --check_mode # CI validation of registry imports
|
||||
unilab --skip_env_check # skip auto-install of dependencies
|
||||
unilab --visual rviz|web|disable # visualization mode
|
||||
unilab --is_slave # run as slave node
|
||||
|
||||
# Workflow upload subcommand
|
||||
unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
|
||||
|
||||
# Tests
|
||||
pytest tests/ # all tests
|
||||
pytest tests/resources/test_resourcetreeset.py # single test file
|
||||
pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method # single test
|
||||
```
|
||||
|
||||
## Architecture
|
||||
|
||||
### Startup Flow
|
||||
|
||||
`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
|
||||
|
||||
### Core Layers
|
||||
|
||||
**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
|
||||
|
||||
**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
|
||||
|
||||
**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
|
||||
|
||||
**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
|
||||
|
||||
**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
|
||||
|
||||
**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
|
||||
|
||||
**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
|
||||
|
||||
### Configuration System
|
||||
|
||||
- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
|
||||
- Config files are `.py` files with matching class names (see `config/example_config.py`)
|
||||
- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
|
||||
- Device topology defined in graph files (JSON with node-link format, or GraphML)
|
||||
|
||||
### Key Data Flow
|
||||
|
||||
1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
|
||||
2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
|
||||
3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
|
||||
4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
|
||||
|
||||
### Test Data
|
||||
|
||||
Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
|
||||
|
||||
## Code Conventions
|
||||
|
||||
- Code comments and log messages in simplified Chinese
|
||||
- Python 3.11+, type hints expected
|
||||
- Pydantic models for data validation (`resource_tracker.py`)
|
||||
- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
|
||||
- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
|
||||
- CLI argument dashes auto-converted to underscores for consistency
|
||||
|
||||
## Licensing
|
||||
|
||||
- Framework code: GPL-3.0
|
||||
- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute
|
||||
|
||||
14
CLAUDE.md
14
CLAUDE.md
@@ -1,14 +1,4 @@
|
||||
# Uni-Lab-OS
|
||||
|
||||
## 设备接入
|
||||
Please follow the rules defined in:
|
||||
|
||||
读取 `docs/ai_guides/add_device.md` 获取完整的自包含指南。
|
||||
如果可以访问仓库，优先搜索 `unilabos/registry/devices/` 获取最新设备接口；
|
||||
否则使用指南中内联的「现有设备接口快照」。
|
||||
|
||||
## 关键规则
|
||||
|
||||
- 动作方法的参数名是接口契约，不可重命名（如 `volume` 不能改为 `volume_ml`）
|
||||
- `status` 字符串必须与同类已有设备一致（如 `"Idle"` 不能改为 `"就绪"`）
|
||||
- `self.data` 必须在 `__init__` 中预填充所有属性字段
|
||||
- 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()` 和 `asyncio.sleep()`
|
||||
@AGENTS.md
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,344 +0,0 @@
|
||||
# Uni-Lab-OS 设备接入 Agent — 提示词模板
|
||||
|
||||
> 本文件提供一套可直接复制使用的 Agent 系统提示词，以及各平台的配置说明。
|
||||
> 提示词模板与 `add_device.md`（领域知识）配合使用，前者控制 Agent 行为，后者提供完整的技术细节。
|
||||
|
||||
---
|
||||
|
||||
## 系统提示词模板
|
||||
|
||||
以下内容可直接作为系统提示词 / Instructions / Custom Instructions 使用。`{{...}}` 标记的变量根据平台替换。
|
||||
|
||||
---
|
||||
|
||||
### 开始复制 ↓
|
||||
|
||||
```
|
||||
你是 Uni-Lab-OS 设备接入专家。你的任务是帮助用户将新的实验室硬件设备接入 Uni-Lab-OS 系统。
|
||||
|
||||
你能做的事：
|
||||
- 根据用户描述，生成完整的设备驱动代码（Python）、注册表（YAML）和实验图文件（JSON）
|
||||
- 解读用户提供的通信协议文档、SDK 代码、或口述的指令格式
|
||||
- 诊断已有驱动代码的接口对齐问题
|
||||
|
||||
你不能做的事：
|
||||
- 凭空猜测硬件私有通信指令（必须从用户提供的资料中获取）
|
||||
- 替代真实硬件联调测试
|
||||
|
||||
## 知识来源
|
||||
|
||||
{{KNOWLEDGE_LOADING}}
|
||||
|
||||
## 工作流程
|
||||
|
||||
当用户要求接入新设备时，严格按以下流程执行。每个暂停点必须等待用户确认后再继续。
|
||||
|
||||
### 阶段 1：设备画像（交互）
|
||||
|
||||
向用户收集以下三个信息，可以一次性提问：
|
||||
|
||||
1. **设备类别** — 属于以下哪一种？
|
||||
- temperature（温控）、pump_and_valve（泵阀）、motor（电机）
|
||||
- heaterstirrer（加热搅拌）、balance（天平）、sensor（传感器）
|
||||
- liquid_handling（液体处理）、robot_arm（机械臂）、workstation（工作站）
|
||||
- virtual（虚拟设备）、custom（自定义）
|
||||
- 如果是 pump_and_valve，进一步确认子类型：注射泵 / 电磁阀 / 蠕动泵
|
||||
|
||||
2. **设备英文名称** — 用于文件名和类名（如 my_heater、runze_sy03b）
|
||||
|
||||
3. **通信协议** — Serial(RS232/RS485) / Modbus RTU / Modbus TCP / TCP Socket / HTTP API / OPC UA / 无通信（虚拟）
|
||||
|
||||
⏸️ **暂停：等待用户回答后继续**
|
||||
|
||||
### 阶段 2：指令协议收集（交互）
|
||||
|
||||
根据上一步确定的通信协议，引导用户提供指令信息：
|
||||
|
||||
- 如果用户有 **SDK/驱动代码**：请用户提供代码文件，你从中提取通信逻辑
|
||||
- 如果用户有 **协议文档**：请用户提供文档（PDF/图片/文本），你从中解析指令格式
|
||||
- 如果用户 **口头描述**：针对每个标准动作逐一确认硬件指令
|
||||
- 如果是 **标准协议**（Modbus 寄存器表、SCPI）：请用户提供寄存器/指令映射
|
||||
- 如果是 **虚拟设备**：跳过此阶段
|
||||
|
||||
⏸️ **暂停：确认已获取足够的指令协议信息**
|
||||
|
||||
### 阶段 3：确认摘要
|
||||
|
||||
在开始生成代码前，向用户展示你的理解摘要：
|
||||
|
||||
```
|
||||
设备接入摘要：
|
||||
- 设备名称：<name>
|
||||
- 设备类别：<category>（<subtype>）
|
||||
- 通信协议：<protocol>
|
||||
- 指令来源：<source>
|
||||
- 将要实现的属性：<list>
|
||||
- 将要实现的动作：<list>
|
||||
- 同类已有设备：<existing>（将对齐其接口）
|
||||
```
|
||||
|
||||
⏸️ **暂停：用户确认"没问题"后再生成代码**
|
||||
|
||||
### 阶段 4：自动生成（无需暂停）
|
||||
|
||||
按以下顺序自动执行：
|
||||
|
||||
1. **对齐同类设备接口**（指南第四步）
|
||||
- 查阅指南中的「现有设备接口快照」或搜索仓库注册表
|
||||
- 确保所有已有设备的 status_types 和动作方法都被覆盖
|
||||
- 参数名必须完全一致
|
||||
|
||||
2. **生成驱动代码** — `unilabos/devices/<category>/<name>.py`
|
||||
|
||||
3. **生成注册表** — `unilabos/registry/devices/<name>.yaml`（最小配置）
|
||||
|
||||
4. **生成图文件** — `unilabos/test/experiments/graph_example_<name>.json`
|
||||
|
||||
### 阶段 5：验证输出
|
||||
|
||||
生成完成后，逐项检查对齐验证清单并展示结果：
|
||||
|
||||
```
|
||||
对齐验证清单：
|
||||
- [x] 所有动作方法的参数名与已有设备完全一致
|
||||
- [x] status 属性返回的字符串值与已有设备一致
|
||||
- [x] 已有设备的所有 status_types 字段都有对应 @property
|
||||
- [x] 已有设备的所有非 auto- 前缀的 action 都有对应方法
|
||||
- [x] self.data 在 __init__ 中已预填充所有属性字段的默认值
|
||||
- [x] 串口/二进制协议的响应解析先定位帧起始标记
|
||||
```
|
||||
|
||||
如果有未通过的项，主动修复后再展示。
|
||||
|
||||
## 硬约束（违反任何一条都会导致设备接入失败）
|
||||
|
||||
1. **禁止重命名参数** — 动作方法的参数名（如 volume、position、max_velocity）是接口契约，框架通过参数名分派调用。绝不能加后缀（如 volume_ml）、改名（如 speed_ml_s）。单位写在 docstring 中。
|
||||
|
||||
2. **status 字符串必须一致** — 如果同类已有设备用英文（如 "Idle" / "Busy"），新驱动必须用相同的字符串，不能改为中文（如 "就绪"）。
|
||||
|
||||
3. **self.data 必须预填充** — 不能用空字典 {}。框架在 initialize() 之前就可能读取属性值。每个 @property 对应的键都必须在 __init__ 中有初始值。
|
||||
|
||||
4. **禁止跳过接口对齐** — 对齐同类设备接口是强制步骤。缺失的属性和动作会导致设备在工作流中不可互换。
|
||||
|
||||
5. **串口解析先找帧头** — RS-485 总线上响应前常有回声/噪声字节。必须先定位帧起始标记（如 /、0xFE），禁止用硬编码索引直接解析。
|
||||
|
||||
6. **异步等待用 _ros_node.sleep** — 在 async 方法中使用 await self._ros_node.sleep()，禁止 time.sleep()（阻塞事件循环）和 asyncio.sleep()。
|
||||
|
||||
7. **物理单位对外暴露** — 对外参数使用用户友好的物理单位（mL、°C、RPM），驱动内部负责转换到硬件原始值（步数、Hz、寄存器值）。
|
||||
|
||||
## 代码骨架参考
|
||||
|
||||
所有设备驱动遵循以下结构：
|
||||
|
||||
```python
|
||||
import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
except ImportError:
|
||||
BaseROS2DeviceNode = None
|
||||
|
||||
class MyDevice:
|
||||
_ros_node: "BaseROS2DeviceNode"
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
if device_id is None and 'id' in kwargs:
|
||||
device_id = kwargs.pop('id')
|
||||
if config is None and 'config' in kwargs:
|
||||
config = kwargs.pop('config')
|
||||
self.device_id = device_id or "unknown_device"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
self.data = {
|
||||
"status": "Idle",
|
||||
# 所有 @property 的键都必须在此预填充
|
||||
}
|
||||
|
||||
def post_init(self, ros_node: "BaseROS2DeviceNode"):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
self.data["status"] = "Idle"
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
self.data["status"] = "Offline"
|
||||
return True
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
```
|
||||
|
||||
## 注册表最小配置
|
||||
|
||||
```yaml
|
||||
my_device:
|
||||
class:
|
||||
module: unilabos.devices.<category>.<file>:MyDevice
|
||||
type: python
|
||||
```
|
||||
|
||||
启动时 --complete_registry 自动生成 status_types 和 action_value_mappings。
|
||||
|
||||
## 图文件模板
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_device_1",
|
||||
"name": "设备名称",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "my_device",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
## 现有设备接口快照（对齐用）
|
||||
|
||||
对齐时参考以下已有设备接口。如果能联网，优先从 GitHub 获取最新版本：
|
||||
https://github.com/dptech-corp/Uni-Lab-OS/tree/main/unilabos/registry/devices/
|
||||
|
||||
### pump_and_valve — 注射泵
|
||||
|
||||
已有设备：syringe_pump_with_valve.runze.SY03B-T06
|
||||
|
||||
属性：status(str, "Idle"/"Busy"), valve_position(str), position(float, mL), max_velocity(float, mL/s), mode(int), plunger_position(String), velocity_grade(String), velocity_init(String), velocity_end(String)
|
||||
|
||||
方法签名（参数名不可改）：
|
||||
- initialize()
|
||||
- set_valve_position(position)
|
||||
- set_position(position: float, max_velocity: float = None)
|
||||
- pull_plunger(volume: float)
|
||||
- push_plunger(volume: float)
|
||||
- set_max_velocity(velocity: float)
|
||||
- set_velocity_grade(velocity)
|
||||
- stop_operation()
|
||||
|
||||
### pump_and_valve — 电磁阀
|
||||
|
||||
属性：status(str), valve_position(str)
|
||||
方法：open(), close(), set_valve_position(position), is_open(), is_closed()
|
||||
|
||||
### temperature
|
||||
|
||||
属性：status(str), temp(float, °C), temp_target(float, °C), stir_speed(float, RPM), temp_warning(float, °C)
|
||||
|
||||
### motor
|
||||
|
||||
属性：status(str), position(int)
|
||||
|
||||
### sensor
|
||||
|
||||
属性：level(bool), rssi(int)
|
||||
```
|
||||
|
||||
### 结束复制 ↑
|
||||
|
||||
---
|
||||
|
||||
## `{{KNOWLEDGE_LOADING}}` 变量替换
|
||||
|
||||
根据平台能力，将提示词中的 `{{KNOWLEDGE_LOADING}}` 替换为以下对应内容：
|
||||
|
||||
### 方案 A：有知识库（Custom GPT / Claude Project）
|
||||
|
||||
```
|
||||
你的知识库中包含 add_device.md 文件，这是完整的设备接入指南。
|
||||
执行工作流时，参考该文件获取物模型模板、通信协议代码片段、指令协议模式和常见错误检查清单。
|
||||
本提示词中的「现有设备接口快照」和「硬约束」是从指南中提炼的关键内容，以确保即使知识库检索不完整也能正确工作。
|
||||
```
|
||||
|
||||
### 方案 B：有联网能力
|
||||
|
||||
```
|
||||
执行工作流前，从以下 URL 获取完整的设备接入指南：
|
||||
https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/docs/ai_guides/add_device.md
|
||||
|
||||
该指南包含物模型模板、通信协议代码片段、指令协议模式和常见错误检查清单。
|
||||
如果无法访问 URL，使用本提示词中内联的「现有设备接口快照」和「代码骨架参考」作为兜底。
|
||||
```
|
||||
|
||||
### 方案 C：无知识库、无联网
|
||||
|
||||
```
|
||||
完整的设备接入指南需要用户在对话中提供。
|
||||
如果用户未主动提供，请在阶段 1 开始前询问：
|
||||
"请将 add_device.md 的内容粘贴到对话中，或上传该文件。如果没有该文件，我将使用内置的精简规则工作。"
|
||||
|
||||
本提示词已内联了最关键的内容（硬约束 + 代码骨架 + 接口快照），足以生成基本正确的驱动。
|
||||
但完整指南包含更多物模型模板和通信协议代码片段，能显著提升生成质量。
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 各平台配置指南
|
||||
|
||||
### OpenAI Custom GPT
|
||||
|
||||
1. 进入 https://chat.openai.com/gpts/editor
|
||||
2. **Name**：Uni-Lab-OS 设备接入助手
|
||||
3. **Description**：帮助用户将实验室硬件设备接入 Uni-Lab-OS 系统，自动生成驱动代码、注册表和图文件。
|
||||
4. **Instructions**：粘贴上方系统提示词，`{{KNOWLEDGE_LOADING}}` 替换为方案 A
|
||||
5. **Knowledge**：上传 `docs/ai_guides/add_device.md`
|
||||
6. **Capabilities**：开启 Code Interpreter（用于代码验证）
|
||||
7. **Conversation starters**：
|
||||
- "我要接入一个新的注射泵"
|
||||
- "帮我把这个 SDK 包装成 UniLab 驱动"
|
||||
- "检查我的设备驱动有没有接口问题"
|
||||
|
||||
### Claude Project
|
||||
|
||||
1. 创建新 Project
|
||||
2. **Custom Instructions**：粘贴系统提示词，`{{KNOWLEDGE_LOADING}}` 替换为方案 A
|
||||
3. **Project Knowledge**：上传 `docs/ai_guides/add_device.md`
|
||||
|
||||
### API Agent（LangChain / AutoGen / 自建框架）
|
||||
|
||||
```python
|
||||
system_prompt = """
|
||||
<粘贴完整系统提示词，{{KNOWLEDGE_LOADING}} 替换为方案 B>
|
||||
"""
|
||||
|
||||
# 如果框架支持工具调用，可注册以下工具：
|
||||
tools = [
|
||||
{
|
||||
"name": "fetch_device_guide",
|
||||
"description": "获取最新的 Uni-Lab-OS 设备接入指南",
|
||||
"url": "https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/docs/ai_guides/add_device.md"
|
||||
},
|
||||
{
|
||||
"name": "fetch_registry",
|
||||
"description": "获取最新的设备注册表",
|
||||
"url": "https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/unilabos/registry/devices/{category}.yaml"
|
||||
},
|
||||
]
|
||||
```
|
||||
|
||||
### Cursor Agent Mode
|
||||
|
||||
无需使用本模板。Cursor 中使用已有的 `.cursor/skills/add-device/SKILL.md`，它会自动读取 `docs/ai_guides/add_device.md` 并利用 Cursor 的工具能力（Grep 搜索注册表、AskQuestion 收集信息等）。
|
||||
|
||||
### 纯网页对话（ChatGPT / Claude 无 Project）
|
||||
|
||||
1. 第一条消息粘贴系统提示词（`{{KNOWLEDGE_LOADING}}` 替换为方案 C）
|
||||
2. 第二条消息上传或粘贴 `add_device.md`
|
||||
3. 第三条消息开始描述设备
|
||||
|
||||
---
|
||||
|
||||
## 维护说明
|
||||
|
||||
- **硬约束更新**：如果 `add_device.md` 中新增了禁止事项或常见错误，需要同步更新本模板的「硬约束」部分
|
||||
- **接口快照更新**：新增设备类别或已有设备接口变更时，需要同步更新本模板的「现有设备接口快照」部分
|
||||
- **工作流调整**：如果接入流程发生变化（新增步骤、合并步骤），需要同步调整「工作流程」部分
|
||||
- 本模板与 `add_device.md` 是**互补关系**：模板定义 Agent 行为，指南提供领域知识。两者独立维护
|
||||
@@ -15,6 +15,9 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
|
||||
**示例：**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
|
||||
class MockGripper:
|
||||
def __init__(self):
|
||||
self._position: float = 0.0
|
||||
@@ -23,19 +26,23 @@ class MockGripper:
|
||||
self._status = "Idle"
|
||||
|
||||
@property
|
||||
@topic_config() # 添加 @topic_config 才会定时广播
|
||||
def position(self) -> float:
|
||||
return self._position
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def velocity(self) -> float:
|
||||
return self._velocity
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def torque(self) -> float:
|
||||
return self._torque
|
||||
|
||||
# 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
|
||||
# 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -149,7 +156,7 @@ my_device: # 设备唯一标识符
|
||||
|
||||
系统会自动分析您的 Python 驱动类并生成：
|
||||
|
||||
- `status_types`：从 `@property` 装饰的方法自动识别状态属性
|
||||
- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
|
||||
- `action_value_mappings`：从类方法自动生成动作映射
|
||||
- `init_param_schema`：从 `__init__` 方法分析初始化参数
|
||||
- `schema`：前端显示用的属性类型定义
|
||||
@@ -179,7 +186,9 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
|
||||
|
||||
```python
|
||||
from typing import Dict, Any
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="my_device", category=["general"], description="My Device")
|
||||
class MyDevice:
|
||||
"""设备类文档字符串
|
||||
|
||||
@@ -198,8 +207,9 @@ class MyDevice:
|
||||
# 初始化硬件连接
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加 @topic_config 才会广播
|
||||
def status(self) -> str:
|
||||
"""设备状态（会自动广播）"""
|
||||
"""设备状态（通过 @topic_config 广播）"""
|
||||
return self._status
|
||||
|
||||
def my_action(self, param: float) -> Dict[str, Any]:
|
||||
@@ -217,34 +227,61 @@ class MyDevice:
|
||||
|
||||
## 状态属性 vs 动作方法
|
||||
|
||||
### 状态属性（@property）
|
||||
### 状态属性（@property + @topic_config）
|
||||
|
||||
状态属性会被自动识别并定期广播：
|
||||
状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加，否则不会广播
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._read_temperature()
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期（秒）
|
||||
def status(self) -> str:
|
||||
"""设备状态: idle, running, error"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config(name="ready") # 可自定义发布名称
|
||||
def is_ready(self) -> bool:
|
||||
"""设备是否就绪"""
|
||||
return self._status == "idle"
|
||||
```
|
||||
|
||||
也可以使用普通方法（非 @property）配合 `@topic_config`：
|
||||
|
||||
```python
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
"""获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
|
||||
return {"temp": self._temp, "humidity": self._humidity}
|
||||
```
|
||||
|
||||
**`@topic_config` 参数**:
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
|------|------|--------|------|
|
||||
| `period` | float | 5.0 | 发布周期（秒） |
|
||||
| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
|
||||
| `qos` | int | 10 | QoS 深度 |
|
||||
| `name` | str | None | 自定义发布名称 |
|
||||
|
||||
**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
|
||||
|
||||
**特点**:
|
||||
|
||||
- 使用`@property`装饰器
|
||||
- 只读，不能有参数
|
||||
- 自动添加到注册表的`status_types`
|
||||
- 必须使用 `@topic_config` 装饰器
|
||||
- 支持 `@property` 和普通方法
|
||||
- 添加到注册表的 `status_types`
|
||||
- 定期发布到 ROS2 topic
|
||||
|
||||
> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
|
||||
|
||||
### 动作方法
|
||||
|
||||
动作方法是设备可以执行的操作：
|
||||
@@ -497,6 +534,7 @@ class LiquidHandler:
|
||||
self._status = "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -886,7 +924,52 @@ class MyDevice:
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 1. 类型注解
|
||||
### 1. 使用 `@device` 装饰器标识设备类
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
- `id`：设备唯一标识符，用于注册表匹配
|
||||
- `category`：分类列表，前端用于分组显示
|
||||
- `description`：设备描述
|
||||
- `icon`：图标文件名（可选）
|
||||
|
||||
### 2. 使用 `@topic_config` 声明需要广播的状态
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ @property + @topic_config → 会广播
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
return {"temp": self._temp}
|
||||
|
||||
# ✓ 使用 name 参数自定义发布名称
|
||||
@property
|
||||
@topic_config(name="ready")
|
||||
def is_ready(self) -> bool:
|
||||
return self._status == "idle"
|
||||
|
||||
# ✗ 仅有 @property，没有 @topic_config → 不会广播
|
||||
@property
|
||||
def internal_state(self) -> str:
|
||||
return self._state
|
||||
```
|
||||
|
||||
> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
|
||||
|
||||
### 3. 类型注解
|
||||
|
||||
```python
|
||||
from typing import Dict, Any, Optional, List
|
||||
@@ -901,7 +984,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
### 2. 文档字符串
|
||||
### 4. 文档字符串
|
||||
|
||||
```python
|
||||
def method(self, param: float) -> Dict[str, Any]:
|
||||
@@ -923,7 +1006,7 @@ def method(self, param: float) -> Dict[str, Any]:
|
||||
pass
|
||||
```
|
||||
|
||||
### 3. 配置验证
|
||||
### 5. 配置验证
|
||||
|
||||
```python
|
||||
def __init__(self, config: Dict[str, Any]):
|
||||
@@ -937,7 +1020,7 @@ def __init__(self, config: Dict[str, Any]):
|
||||
self.baudrate = config['baudrate']
|
||||
```
|
||||
|
||||
### 4. 资源清理
|
||||
### 6. 资源清理
|
||||
|
||||
```python
|
||||
def __del__(self):
|
||||
@@ -946,7 +1029,7 @@ def __del__(self):
|
||||
self.connection.close()
|
||||
```
|
||||
|
||||
### 5. 设计前端友好的返回值
|
||||
### 7. 设计前端友好的返回值
|
||||
|
||||
**记住：返回值会直接显示在 Web 界面**
|
||||
|
||||
|
||||
@@ -422,18 +422,20 @@ placeholder_keys:
|
||||
|
||||
### status_types
|
||||
|
||||
系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
|
||||
系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
|
||||
|
||||
```yaml
|
||||
status_types:
|
||||
current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
|
||||
is_heating: bool # 从 get_is_heating() 或 @property is_heating
|
||||
status: str # 从 get_status() 或 @property status
|
||||
current_temperature: float # 从 @topic_config 装饰的 @property 或方法
|
||||
is_heating: bool
|
||||
status: str
|
||||
```
|
||||
|
||||
**注意事项**：
|
||||
|
||||
- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
|
||||
- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
|
||||
- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
|
||||
- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
|
||||
- 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
|
||||
- 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
|
||||
|
||||
@@ -537,11 +539,13 @@ class AdvancedLiquidHandler:
|
||||
self._temperature = 25.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
"""设备状态"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._temperature
|
||||
@@ -809,21 +813,23 @@ my_temperature_controller:
|
||||
你的设备类需要符合以下要求：
|
||||
|
||||
```python
|
||||
from unilabos.common.device_base import DeviceBase
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
class MyDevice(DeviceBase):
|
||||
@device(id="my_device", category=["temperature"], description="My Device")
|
||||
class MyDevice:
|
||||
def __init__(self, config):
|
||||
"""初始化，参数会自动分析到 init_param_schema.config"""
|
||||
super().__init__(config)
|
||||
self.port = config.get('port', '/dev/ttyUSB0')
|
||||
|
||||
# 状态方法（会自动生成到 status_types）
|
||||
# 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self):
|
||||
"""返回设备状态"""
|
||||
return "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self):
|
||||
"""返回当前温度"""
|
||||
return 25.0
|
||||
@@ -1039,7 +1045,34 @@ resource.type # "resource"
|
||||
|
||||
### 代码规范
|
||||
|
||||
1. **始终使用类型注解**
|
||||
1. **使用 `@device` 装饰器标识设备类**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Device")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
2. **使用 `@topic_config` 声明广播属性**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ 需要广播的状态属性
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✗ 仅有 @property 不会广播
|
||||
@property
|
||||
def internal_counter(self) -> int:
|
||||
return self._counter
|
||||
```
|
||||
|
||||
3. **始终使用类型注解**
|
||||
|
||||
```python
|
||||
# ✓ 好
|
||||
@@ -1051,7 +1084,7 @@ def method(self, resource, device):
|
||||
pass
|
||||
```
|
||||
|
||||
2. **提供有意义的参数名**
|
||||
4. **提供有意义的参数名**
|
||||
|
||||
```python
|
||||
# ✓ 好 - 清晰的参数名
|
||||
@@ -1063,7 +1096,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
|
||||
pass
|
||||
```
|
||||
|
||||
3. **使用 Optional 表示可选参数**
|
||||
5. **使用 Optional 表示可选参数**
|
||||
|
||||
```python
|
||||
from typing import Optional
|
||||
@@ -1076,7 +1109,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
4. **添加详细的文档字符串**
|
||||
6. **添加详细的文档字符串**
|
||||
|
||||
```python
|
||||
def method(
|
||||
@@ -1096,13 +1129,13 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
5. **方法命名规范**
|
||||
7. **方法命名规范**
|
||||
|
||||
- 状态方法使用 `@property` 装饰器或 `get_` 前缀
|
||||
- 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
|
||||
- 动作方法使用动词开头
|
||||
- 保持命名清晰、一致
|
||||
|
||||
6. **完善的错误处理**
|
||||
8. **完善的错误处理**
|
||||
- 实现完善的错误处理
|
||||
- 添加日志记录
|
||||
- 提供有意义的错误信息
|
||||
|
||||
@@ -221,10 +221,10 @@ Laboratory A Laboratory B
|
||||
|
||||
```bash
|
||||
# 实验室A
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
|
||||
# 实验室B
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
@@ -22,7 +22,6 @@ options:
|
||||
--is_slave Run the backend as slave node (without host privileges).
|
||||
--slave_no_host Skip waiting for host service in slave mode
|
||||
--upload_registry Upload registry information when starting unilab
|
||||
--use_remote_resource Use remote resources when starting unilab
|
||||
--config CONFIG Configuration file path, supports .py format Python config files
|
||||
--port PORT Port for web service information page
|
||||
--disable_browser Disable opening information page on startup
|
||||
@@ -85,7 +84,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
支持两种方式：
|
||||
|
||||
- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
|
||||
- **远程资源**：使用 `--use_remote_resource` 从云端获取
|
||||
- **远程资源**：不指定本地文件即可
|
||||
|
||||
### 7. 注册表构建
|
||||
|
||||
@@ -196,7 +195,7 @@ unilab --config path/to/your/config.py
|
||||
unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
|
||||
|
||||
# 使用远程资源启动
|
||||
unilab --ak your_ak --sk your_sk --use_remote_resource
|
||||
unilab --ak your_ak --sk your_sk
|
||||
|
||||
# 更新注册表
|
||||
unilab --ak your_ak --sk your_sk --complete_registry
|
||||
|
||||
@@ -4,6 +4,7 @@ import os
|
||||
import platform
|
||||
import shutil
|
||||
import signal
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
@@ -25,6 +26,84 @@ from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
_restart_requested: bool = False
|
||||
_restart_reason: str = ""
|
||||
|
||||
RESTART_EXIT_CODE = 42
|
||||
|
||||
|
||||
def _build_child_argv():
|
||||
"""Build sys.argv for child process, stripping supervisor-only arguments."""
|
||||
result = []
|
||||
skip_next = False
|
||||
for arg in sys.argv:
|
||||
if skip_next:
|
||||
skip_next = False
|
||||
continue
|
||||
if arg in ("--restart_mode", "--restart-mode"):
|
||||
continue
|
||||
if arg in ("--auto_restart_count", "--auto-restart-count"):
|
||||
skip_next = True
|
||||
continue
|
||||
if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
|
||||
continue
|
||||
result.append(arg)
|
||||
return result
|
||||
|
||||
|
||||
def _run_as_supervisor(max_restarts: int):
|
||||
"""
|
||||
Supervisor process that spawns and monitors child processes.
|
||||
|
||||
Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
|
||||
it only launches the real process as a child and restarts it when the child
|
||||
exits with RESTART_EXIT_CODE.
|
||||
"""
|
||||
child_argv = [sys.executable] + _build_child_argv()
|
||||
restart_count = 0
|
||||
|
||||
print_status(
|
||||
f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
|
||||
f"child command: {' '.join(child_argv)}",
|
||||
"info",
|
||||
)
|
||||
|
||||
while True:
|
||||
print_status(
|
||||
f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
|
||||
"info",
|
||||
)
|
||||
|
||||
try:
|
||||
process = subprocess.Popen(child_argv)
|
||||
exit_code = process.wait()
|
||||
except KeyboardInterrupt:
|
||||
print_status("[Supervisor] Interrupted, terminating child process...", "info")
|
||||
process.terminate()
|
||||
try:
|
||||
process.wait(timeout=10)
|
||||
except subprocess.TimeoutExpired:
|
||||
process.kill()
|
||||
process.wait()
|
||||
sys.exit(1)
|
||||
|
||||
if exit_code == RESTART_EXIT_CODE:
|
||||
restart_count += 1
|
||||
if restart_count > max_restarts:
|
||||
print_status(
|
||||
f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
|
||||
"warning",
|
||||
)
|
||||
sys.exit(1)
|
||||
print_status(
|
||||
f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
|
||||
"info",
|
||||
)
|
||||
time.sleep(2)
|
||||
else:
|
||||
if exit_code != 0:
|
||||
print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
|
||||
else:
|
||||
print_status("[Supervisor] Child exited normally", "info")
|
||||
sys.exit(exit_code)
|
||||
|
||||
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
@@ -66,6 +145,13 @@ def parse_args():
|
||||
action="append",
|
||||
help="Path to the registry directory",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--devices",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="Path to Python code directory for AST-based device/resource scanning",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--working_dir",
|
||||
type=str,
|
||||
@@ -155,12 +241,6 @@ def parse_args():
|
||||
action="store_true",
|
||||
help="Skip environment dependency check on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Complete registry information",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--check_mode",
|
||||
action="store_true",
|
||||
@@ -178,6 +258,24 @@ def parse_args():
|
||||
default=False,
|
||||
help="Test mode: all actions simulate execution and return mock results without running real hardware",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--extra_resource",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--restart_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--auto_restart_count",
|
||||
type=int,
|
||||
default=500,
|
||||
help="Maximum number of automatic restarts in restart mode (default: 500)",
|
||||
)
|
||||
# workflow upload subcommand
|
||||
workflow_parser = subparsers.add_parser(
|
||||
"workflow_upload",
|
||||
@@ -228,6 +326,11 @@ def main():
|
||||
args = parser.parse_args()
|
||||
args_dict = vars(args)
|
||||
|
||||
# Supervisor mode: spawn child processes and monitor for restart
|
||||
if args_dict.get("restart_mode", False):
|
||||
_run_as_supervisor(args_dict.get("auto_restart_count", 5))
|
||||
return
|
||||
|
||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||
skip_env_check = args_dict.get("skip_env_check", False)
|
||||
check_mode = args_dict.get("check_mode", False)
|
||||
@@ -358,6 +461,9 @@ def main():
|
||||
BasicConfig.test_mode = args_dict.get("test_mode", False)
|
||||
if BasicConfig.test_mode:
|
||||
print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
|
||||
BasicConfig.extra_resource = args_dict.get("extra_resource", False)
|
||||
if BasicConfig.extra_resource:
|
||||
print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = platform.node()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
@@ -382,22 +488,30 @@ def main():
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表 - check_mode 时强制启用 complete_registry
|
||||
complete_registry = args_dict.get("complete_registry", False) or check_mode
|
||||
lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
|
||||
# Step 0: AST 分析优先 + YAML 注册表加载
|
||||
# check_mode 和 upload_registry 都会执行实际 import 验证
|
||||
devices_dirs = args_dict.get("devices", None)
|
||||
lab_registry = build_registry(
|
||||
registry_paths=args_dict["registry_path"],
|
||||
devices_dirs=devices_dirs,
|
||||
upload_registry=BasicConfig.upload_registry,
|
||||
check_mode=check_mode,
|
||||
)
|
||||
|
||||
# Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
|
||||
# Check mode: 注册表验证完成后直接退出
|
||||
if check_mode:
|
||||
print_status("Check mode: complete_registry 完成，退出", "info")
|
||||
device_count = len(lab_registry.device_type_registry)
|
||||
resource_count = len(lab_registry.resource_type_registry)
|
||||
print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
|
||||
os._exit(0)
|
||||
|
||||
# Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
# print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
print_status("设备注册完成", "info")
|
||||
# print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
@@ -482,7 +596,7 @@ def main():
|
||||
continue
|
||||
|
||||
# 如果从远端获取了物料信息，则与本地物料进行同步
|
||||
if request_startup_json and "nodes" in request_startup_json:
|
||||
if file_path is not None and request_startup_json and "nodes" in request_startup_json:
|
||||
print_status("开始同步远端物料到本地...", "info")
|
||||
remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
|
||||
resource_tree_set.merge_remote_resources(remote_tree_set)
|
||||
@@ -579,6 +693,10 @@ def main():
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
if restart_requested:
|
||||
print_status("[Main] Restart requested, cleaning up...", "info")
|
||||
cleanup_for_restart()
|
||||
os._exit(RESTART_EXIT_CODE)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -1,60 +1,83 @@
|
||||
import json
|
||||
import time
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
from typing import Any, Dict, Optional, Tuple
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
try:
|
||||
import orjson
|
||||
|
||||
def _normalize_device(info: dict) -> dict:
|
||||
"""Serialize via orjson to strip non-JSON types (type objects etc.)."""
|
||||
return orjson.loads(orjson.dumps(info, default=str))
|
||||
except ImportError:
|
||||
def _normalize_device(info: dict) -> dict:
|
||||
return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
"""
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
|
||||
# 注册资源信息 - 使用HTTP方式
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = json.loads(
|
||||
json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
devices_to_register[device_info["id"]] = _normalize_device(device_info)
|
||||
logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
if gather_only:
|
||||
return devices_to_register, resources_to_register
|
||||
# 注册设备
|
||||
|
||||
if devices_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry({"resources": list(devices_to_register.values())})
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(devices_to_register.values())},
|
||||
tag="device_registry",
|
||||
)
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s")
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 设备注册跳过（内容未变化）"
|
||||
f" {len(devices_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 设备注册异常: {e}")
|
||||
|
||||
# 注册资源
|
||||
if resources_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry({"resources": list(resources_to_register.values())})
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(resources_to_register.values())},
|
||||
tag="resource_registry",
|
||||
)
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s")
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 资源注册跳过（内容未变化）"
|
||||
f" {len(resources_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 资源注册异常: {e}")
|
||||
|
||||
logger.info("[UniLab Register] 设备和资源注册完成.")
|
||||
|
||||
@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
|
||||
"result": {},
|
||||
"schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": [],
|
||||
"handles": {},
|
||||
}
|
||||
# 不生成已配置action的动作
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
|
||||
# 启动广播任务
|
||||
@app.on_event("startup")
|
||||
async def startup_event():
|
||||
asyncio.create_task(broadcast_device_status())
|
||||
asyncio.create_task(broadcast_status_page_data())
|
||||
asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
|
||||
asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
|
||||
|
||||
@@ -8,6 +8,25 @@ import json
|
||||
import os
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
try:
|
||||
import orjson as _json_fast
|
||||
|
||||
def _fast_dumps(obj, **kwargs) -> bytes:
|
||||
return _json_fast.dumps(obj, option=_json_fast.OPT_NON_STR_KEYS, default=str)
|
||||
|
||||
def _fast_dumps_pretty(obj, **kwargs) -> bytes:
|
||||
return _json_fast.dumps(
|
||||
obj, option=_json_fast.OPT_NON_STR_KEYS | _json_fast.OPT_INDENT_2, default=str,
|
||||
)
|
||||
except ImportError:
|
||||
_json_fast = None # type: ignore[assignment]
|
||||
|
||||
def _fast_dumps(obj, **kwargs) -> bytes:
|
||||
return json.dumps(obj, ensure_ascii=False, default=str).encode("utf-8")
|
||||
|
||||
def _fast_dumps_pretty(obj, **kwargs) -> bytes:
|
||||
return json.dumps(obj, indent=2, ensure_ascii=False, default=str).encode("utf-8")
|
||||
|
||||
import requests
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils.log import info
|
||||
@@ -280,29 +299,54 @@ class HTTPClient:
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
|
||||
def resource_registry(
|
||||
self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
|
||||
) -> requests.Response:
|
||||
"""
|
||||
注册资源到服务器
|
||||
注册资源到服务器，同步保存请求/响应到 unilabos_data
|
||||
|
||||
Args:
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
|
||||
tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
compressed_body = gzip.compress(
|
||||
json.dumps(registry_data, ensure_ascii=False, default=str).encode("utf-8")
|
||||
)
|
||||
# 序列化一次，同时用于保存和发送
|
||||
json_bytes = _fast_dumps(registry_data)
|
||||
|
||||
# 保存请求数据到 unilabos_data
|
||||
req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
|
||||
try:
|
||||
os.makedirs(BasicConfig.working_dir, exist_ok=True)
|
||||
with open(req_path, "wb") as f:
|
||||
f.write(_fast_dumps_pretty(registry_data))
|
||||
logger.trace(f"注册表请求数据已保存: {req_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表请求数据失败: {e}")
|
||||
|
||||
compressed_body = gzip.compress(json_bytes)
|
||||
headers = {
|
||||
"Authorization": f"Lab {self.auth}",
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
}
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
data=compressed_body,
|
||||
headers={
|
||||
"Authorization": f"Lab {self.auth}",
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
},
|
||||
headers=headers,
|
||||
timeout=30,
|
||||
)
|
||||
|
||||
# 保存响应数据到 unilabos_data
|
||||
res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
|
||||
try:
|
||||
with open(res_path, "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}\n{response.text}")
|
||||
logger.trace(f"注册表响应数据已保存: {res_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表响应数据失败: {e}")
|
||||
|
||||
if response.status_code not in [200, 201]:
|
||||
logger.error(f"注册资源失败: {response.status_code}, {response.text}")
|
||||
if response.status_code == 200:
|
||||
|
||||
@@ -86,7 +86,7 @@ def setup_server() -> FastAPI:
|
||||
# 设置页面路由
|
||||
try:
|
||||
setup_web_pages(pages)
|
||||
info("[Web] 已加载Web UI模块")
|
||||
# info("[Web] 已加载Web UI模块")
|
||||
except ImportError as e:
|
||||
info(f"[Web] 未找到Web页面模块: {str(e)}")
|
||||
except Exception as e:
|
||||
@@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
|
||||
server_thread.start()
|
||||
|
||||
info("[Web] Server started, monitoring for restart requests...")
|
||||
# info("[Web] Server started, monitoring for restart requests...")
|
||||
|
||||
# 监控重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
@@ -26,6 +26,7 @@ from enum import Enum
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.resources.resource_tracker import ResourceDictType
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.app.communication import BaseCommunicationClient
|
||||
@@ -408,6 +409,7 @@ class MessageProcessor:
|
||||
# 线程控制
|
||||
self.is_running = False
|
||||
self.thread = None
|
||||
self._loop = None # asyncio event loop引用，用于外部关闭websocket
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
|
||||
@@ -434,22 +436,31 @@ class MessageProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止消息处理线程"""
|
||||
self.is_running = False
|
||||
# 主动关闭websocket以快速中断消息接收循环
|
||||
ws = self.websocket
|
||||
loop = self._loop
|
||||
if ws and loop and loop.is_running():
|
||||
try:
|
||||
asyncio.run_coroutine_threadsafe(ws.close(), loop)
|
||||
except Exception:
|
||||
pass
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[MessageProcessor] Stopped")
|
||||
|
||||
def _run(self):
|
||||
"""运行消息处理主循环"""
|
||||
loop = asyncio.new_event_loop()
|
||||
self._loop = asyncio.new_event_loop()
|
||||
try:
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_until_complete(self._connection_handler())
|
||||
asyncio.set_event_loop(self._loop)
|
||||
self._loop.run_until_complete(self._connection_handler())
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Thread error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
finally:
|
||||
if loop:
|
||||
loop.close()
|
||||
if self._loop:
|
||||
self._loop.close()
|
||||
self._loop = None
|
||||
|
||||
async def _connection_handler(self):
|
||||
"""处理WebSocket连接和重连逻辑"""
|
||||
@@ -469,6 +480,7 @@ class MessageProcessor:
|
||||
open_timeout=20,
|
||||
ping_interval=WSConfig.ping_interval,
|
||||
ping_timeout=10,
|
||||
close_timeout=5,
|
||||
additional_headers={
|
||||
"Authorization": f"Lab {BasicConfig.auth_secret()}",
|
||||
"EdgeSession": f"{self.session_id}",
|
||||
@@ -479,42 +491,45 @@ class MessageProcessor:
|
||||
self.connected = True
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
|
||||
logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
|
||||
|
||||
# 启动发送协程
|
||||
send_task = asyncio.create_task(self._send_handler())
|
||||
send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
|
||||
|
||||
# 每次连接（含重连）后重新向服务端注册，
|
||||
# 否则服务端不知道客户端已上线，不会推送消息。
|
||||
if self.websocket_client:
|
||||
self.websocket_client.publish_host_ready()
|
||||
|
||||
try:
|
||||
# 接收消息循环
|
||||
await self._message_handler()
|
||||
finally:
|
||||
# 必须在 async with __aexit__ 之前停止 send_task，
|
||||
# 否则 send_task 会在关闭握手期间继续发送数据，
|
||||
# 干扰 websockets 库的内部清理，导致 task 泄漏。
|
||||
self.connected = False
|
||||
send_task.cancel()
|
||||
try:
|
||||
await send_task
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
self.connected = False
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.warning("[MessageProcessor] Connection closed")
|
||||
self.connected = False
|
||||
logger.warning("[MessageProcessor] 与服务端连接中断")
|
||||
except TimeoutError:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] Connection timeout (attempt {self.reconnect_count + 1}), "
|
||||
f"server may be temporarily unavailable"
|
||||
f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
|
||||
)
|
||||
self.connected = False
|
||||
except websockets.exceptions.InvalidStatus as e:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] Server returned unexpected HTTP status {e.response.status_code}, "
|
||||
f"WebSocket endpoint may not be ready yet"
|
||||
f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
|
||||
)
|
||||
self.connected = False
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Connection error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
self.connected = False
|
||||
logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
|
||||
finally:
|
||||
self.connected = False
|
||||
self.websocket = None
|
||||
|
||||
# 重连逻辑
|
||||
@@ -522,10 +537,9 @@ class MessageProcessor:
|
||||
break
|
||||
if self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
self.reconnect_count += 1
|
||||
backoff = min(WSConfig.reconnect_interval * (2 ** (self.reconnect_count - 1)), 60)
|
||||
backoff = WSConfig.reconnect_interval
|
||||
logger.info(
|
||||
f"[MessageProcessor] Reconnecting in {backoff}s "
|
||||
f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
)
|
||||
await asyncio.sleep(backoff)
|
||||
else:
|
||||
@@ -533,40 +547,38 @@ class MessageProcessor:
|
||||
break
|
||||
|
||||
async def _message_handler(self):
|
||||
"""处理接收到的消息"""
|
||||
"""处理接收到的消息。
|
||||
|
||||
ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
|
||||
以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
|
||||
正确清理内部 task，避免 task 泄漏。
|
||||
"""
|
||||
if not self.websocket:
|
||||
logger.error("[MessageProcessor] WebSocket connection is None")
|
||||
return
|
||||
|
||||
try:
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(
|
||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
||||
)
|
||||
logger.debug(
|
||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
||||
)
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(
|
||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
||||
)
|
||||
logger.debug(
|
||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
||||
)
|
||||
else:
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.info("[MessageProcessor] Message handler stopped - connection closed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
async def _send_handler(self):
|
||||
"""处理发送队列中的消息"""
|
||||
@@ -615,6 +627,7 @@ class MessageProcessor:
|
||||
|
||||
except asyncio.CancelledError:
|
||||
logger.debug("[MessageProcessor] Send handler cancelled")
|
||||
raise
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
@@ -646,6 +659,10 @@ class MessageProcessor:
|
||||
# elif message_type == "session_id":
|
||||
# self.session_id = message_data.get("session_id")
|
||||
# logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
elif message_type == "add_device":
|
||||
await self._handle_device_manage(message_data, "add")
|
||||
elif message_type == "remove_device":
|
||||
await self._handle_device_manage(message_data, "remove")
|
||||
elif message_type == "request_restart":
|
||||
await self._handle_request_restart(message_data)
|
||||
else:
|
||||
@@ -982,6 +999,37 @@ class MessageProcessor:
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
|
||||
"""Handle add_device / remove_device from LabGo server."""
|
||||
if not device_list:
|
||||
return
|
||||
|
||||
for item in device_list:
|
||||
target_node_id = item.get("target_node_id", "host_node")
|
||||
|
||||
def _notify(target_id: str, act: str, cfg: ResourceDictType):
|
||||
try:
|
||||
host_node = HostNode.get_instance(timeout=5)
|
||||
if not host_node:
|
||||
logger.error(f"[DeviceManage] HostNode not available for {act}_device")
|
||||
return
|
||||
success = host_node.notify_device_manage(target_id, act, cfg)
|
||||
if success:
|
||||
logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
|
||||
else:
|
||||
logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
|
||||
except Exception as e:
|
||||
logger.error(f"[DeviceManage] Error in {act}_device: {e}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
thread = threading.Thread(
|
||||
target=_notify,
|
||||
args=(target_node_id, action, item),
|
||||
daemon=True,
|
||||
name=f"DeviceManage-{action}-{item.get('id', '')}",
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_request_restart(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理重启请求
|
||||
@@ -993,10 +1041,9 @@ class MessageProcessor:
|
||||
logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
|
||||
|
||||
# 发送确认消息
|
||||
if self.websocket_client:
|
||||
await self.websocket_client.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
self.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
|
||||
# 设置全局重启标志
|
||||
import unilabos.app.main as main_module
|
||||
@@ -1098,6 +1145,7 @@ class QueueProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止队列处理线程"""
|
||||
self.is_running = False
|
||||
self.queue_update_event.set() # 立即唤醒等待中的线程
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[QueueProcessor] Stopped")
|
||||
@@ -1351,8 +1399,8 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
message = {"action": "normal_exit", "data": {"session_id": session_id}}
|
||||
self.message_processor.send_message(message)
|
||||
logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
|
||||
# 给一点时间让消息发送出去
|
||||
time.sleep(1)
|
||||
# send_handler 每100ms检查一次队列，等300ms足以让消息发出
|
||||
time.sleep(0.3)
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
|
||||
|
||||
|
||||
@@ -24,6 +24,7 @@ class BasicConfig:
|
||||
port = 8002 # 本地HTTP服务
|
||||
check_mode = False # CI 检查模式，用于验证 registry 导入和文件一致性
|
||||
test_mode = False # 测试模式，所有动作不实际执行，返回模拟结果
|
||||
extra_resource = False # 是否加载lab_开头的额外资源
|
||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||
|
||||
@@ -40,7 +41,7 @@ class BasicConfig:
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
ping_interval = 20 # ping间隔（秒）
|
||||
|
||||
|
||||
# HTTP配置
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
|
||||
from abc import abstractmethod
|
||||
from functools import wraps
|
||||
import inspect
|
||||
|
||||
@@ -57,18 +57,6 @@ class TransferLiquidReturn(TypedDict):
|
||||
targets: List[List[ResourceDict]]
|
||||
|
||||
|
||||
|
||||
class SetLiquidReturn(TypedDict):
|
||||
wells: list
|
||||
volumes: list
|
||||
|
||||
|
||||
class SetLiquidFromPlateReturn(TypedDict):
|
||||
plate: list
|
||||
wells: list
|
||||
volumes: list
|
||||
|
||||
|
||||
class LiquidHandlerMiddleware(LiquidHandler):
|
||||
def __init__(
|
||||
self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
|
||||
|
||||
@@ -634,7 +634,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
deck: Deck,
|
||||
deck: PRCXI9300Deck,
|
||||
host: str,
|
||||
port: int,
|
||||
timeout: float,
|
||||
@@ -648,11 +648,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
is_9320=False,
|
||||
):
|
||||
tablets_info = []
|
||||
count = 0
|
||||
for child in deck.children:
|
||||
for site_id in range(len(deck.sites)):
|
||||
child = deck._get_site_resource(site_id)
|
||||
# 如果放其他类型的物料，是不可以的
|
||||
if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
|
||||
number = int(child.name.replace("T", ""))
|
||||
number = site_id + 1
|
||||
tablets_info.append(
|
||||
WorkTablets(
|
||||
Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
|
||||
|
||||
@@ -1,376 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
ZDT X42 Closed-Loop Stepper Motor Driver
|
||||
RS485 Serial Communication via USB-Serial Converter
|
||||
|
||||
- Baudrate: 115200
|
||||
"""
|
||||
|
||||
import serial
|
||||
import time
|
||||
import threading
|
||||
import struct
|
||||
import logging
|
||||
from typing import Optional, Any
|
||||
|
||||
try:
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
except ImportError:
|
||||
class UniversalDriver:
|
||||
def __init__(self, *args, **kwargs):
|
||||
self.logger = logging.getLogger(self.__class__.__name__)
|
||||
def execute_command_from_outer(self, command: Any): pass
|
||||
|
||||
from serial.rs485 import RS485Settings
|
||||
|
||||
|
||||
class ZDTX42Driver(UniversalDriver):
|
||||
"""
|
||||
ZDT X42 闭环步进电机驱动器
|
||||
|
||||
支持功能:
|
||||
- 速度模式运行
|
||||
- 位置模式运行 (相对/绝对)
|
||||
- 位置读取和清零
|
||||
- 使能/禁用控制
|
||||
|
||||
通信协议:
|
||||
- 帧格式: [设备ID] [功能码] [数据...] [校验位=0x6B]
|
||||
- 响应长度根据功能码决定
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
port: str,
|
||||
baudrate: int = 115200,
|
||||
device_id: int = 1,
|
||||
timeout: float = 0.5,
|
||||
debug: bool = False
|
||||
):
|
||||
"""
|
||||
初始化 ZDT X42 电机驱动
|
||||
|
||||
Args:
|
||||
port: 串口设备路径
|
||||
baudrate: 波特率 (默认 115200)
|
||||
device_id: 设备地址 (1-255)
|
||||
timeout: 通信超时时间(秒)
|
||||
debug: 是否启用调试输出
|
||||
"""
|
||||
super().__init__()
|
||||
self.id = device_id
|
||||
self.debug = debug
|
||||
self.lock = threading.RLock()
|
||||
self.status = "idle" # 对应注册表中的 status (str)
|
||||
self.position = 0 # 对应注册表中的 position (int)
|
||||
|
||||
try:
|
||||
self.ser = serial.Serial(
|
||||
port=port,
|
||||
baudrate=baudrate,
|
||||
timeout=timeout,
|
||||
bytesize=serial.EIGHTBITS,
|
||||
parity=serial.PARITY_NONE,
|
||||
stopbits=serial.STOPBITS_ONE
|
||||
)
|
||||
|
||||
# 启用 RS485 模式
|
||||
try:
|
||||
self.ser.rs485_mode = RS485Settings(
|
||||
rts_level_for_tx=True,
|
||||
rts_level_for_rx=False
|
||||
)
|
||||
except Exception:
|
||||
pass # RS485 模式是可选的
|
||||
|
||||
self.logger.info(
|
||||
f"ZDT X42 Motor connected: {port} "
|
||||
f"(Baud: {baudrate}, ID: {device_id})"
|
||||
)
|
||||
# 自动使能电机，确保初始状态可运动
|
||||
self.enable(True)
|
||||
|
||||
# 启动背景轮询线程，确保 position 实时刷新
|
||||
self._stop_event = threading.Event()
|
||||
self._polling_thread = threading.Thread(
|
||||
target=self._update_loop,
|
||||
name=f"ZDTPolling_{port}",
|
||||
daemon=True
|
||||
)
|
||||
self._polling_thread.start()
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to open serial port {port}: {e}")
|
||||
self.ser = None
|
||||
|
||||
def _update_loop(self):
|
||||
"""背景循环读取电机位置"""
|
||||
while not self._stop_event.is_set():
|
||||
try:
|
||||
self.get_position()
|
||||
except Exception as e:
|
||||
if self.debug:
|
||||
self.logger.error(f"Polling error: {e}")
|
||||
time.sleep(1.0) # 每1秒刷新一次位置数据
|
||||
|
||||
def _send(self, func_code: int, payload: list) -> bytes:
|
||||
"""
|
||||
发送指令并接收响应
|
||||
|
||||
Args:
|
||||
func_code: 功能码
|
||||
payload: 数据负载 (list of bytes)
|
||||
|
||||
Returns:
|
||||
响应数据 (bytes)
|
||||
"""
|
||||
if not self.ser:
|
||||
self.logger.error("Serial port not available")
|
||||
return b""
|
||||
|
||||
with self.lock:
|
||||
# 清空输入缓冲区
|
||||
self.ser.reset_input_buffer()
|
||||
|
||||
# 构建消息: [ID] [功能码] [数据...] [校验位=0x6B]
|
||||
message = bytes([self.id, func_code] + payload + [0x6B])
|
||||
|
||||
# 发送
|
||||
self.ser.write(message)
|
||||
|
||||
# 根据功能码决定响应长度
|
||||
# 查询类指令返回 10 字节，控制类指令返回 4 字节
|
||||
read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
|
||||
response = self.ser.read(read_len)
|
||||
|
||||
# 调试输出
|
||||
if self.debug:
|
||||
sent_hex = message.hex().upper()
|
||||
recv_hex = response.hex().upper() if response else 'TIMEOUT'
|
||||
print(f"[ID {self.id}] TX: {sent_hex} → RX: {recv_hex}")
|
||||
|
||||
return response
|
||||
|
||||
def enable(self, on: bool = True) -> bool:
|
||||
"""
|
||||
使能/禁用电机
|
||||
|
||||
Args:
|
||||
on: True=使能(锁轴), False=禁用(松轴)
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
state = 1 if on else 0
|
||||
resp = self._send(0xF3, [0xAB, state, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def move_speed(
|
||||
self,
|
||||
speed_rpm: int,
|
||||
direction: str = "CW",
|
||||
acceleration: int = 10
|
||||
) -> bool:
|
||||
"""
|
||||
速度模式运行
|
||||
|
||||
Args:
|
||||
speed_rpm: 转速 (RPM)
|
||||
direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
|
||||
acceleration: 加速度 (0-255)
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
|
||||
speed_bytes = struct.pack('>H', int(speed_rpm))
|
||||
self.status = f"moving@{speed_rpm}rpm"
|
||||
resp = self._send(0xF6, [dir_val, speed_bytes[0], speed_bytes[1], acceleration, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def move_position(
|
||||
self,
|
||||
pulses: int,
|
||||
speed_rpm: int,
|
||||
direction: str = "CW",
|
||||
acceleration: int = 10,
|
||||
absolute: bool = False
|
||||
) -> bool:
|
||||
"""
|
||||
位置模式运行
|
||||
|
||||
Args:
|
||||
pulses: 脉冲数
|
||||
speed_rpm: 转速 (RPM)
|
||||
direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
|
||||
acceleration: 加速度 (0-255)
|
||||
absolute: True=绝对位置, False=相对位置
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
|
||||
speed_bytes = struct.pack('>H', int(speed_rpm))
|
||||
self.status = f"moving_to_{pulses}"
|
||||
pulse_bytes = struct.pack('>I', int(pulses))
|
||||
abs_flag = 1 if absolute else 0
|
||||
|
||||
payload = [
|
||||
dir_val,
|
||||
speed_bytes[0], speed_bytes[1],
|
||||
acceleration,
|
||||
pulse_bytes[0], pulse_bytes[1], pulse_bytes[2], pulse_bytes[3],
|
||||
abs_flag,
|
||||
0
|
||||
]
|
||||
|
||||
resp = self._send(0xFD, payload)
|
||||
return len(resp) >= 4
|
||||
|
||||
def stop(self) -> bool:
|
||||
"""
|
||||
停止电机
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
self.status = "idle"
|
||||
resp = self._send(0xFE, [0x98, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def rotate_quarter(self, speed_rpm: int = 60, direction: str = "CW") -> bool:
|
||||
"""
|
||||
电机旋转 1/4 圈 (阻塞式)
|
||||
假设电机细分为 3200 脉冲/圈，1/4 圈 = 800 脉冲
|
||||
"""
|
||||
pulses = 800
|
||||
success = self.move_position(pulses=pulses, speed_rpm=speed_rpm, direction=direction, absolute=False)
|
||||
|
||||
if success:
|
||||
# 计算预估旋转时间并进行阻塞等待 (Time = revolutions / (RPM/60))
|
||||
# 1/4 rev / (RPM/60) = 15.0 / RPM
|
||||
estimated_time = 15.0 / max(1, speed_rpm)
|
||||
time.sleep(estimated_time + 0.5) # 额外给 0.5 秒缓冲
|
||||
self.status = "idle"
|
||||
|
||||
return success
|
||||
|
||||
def wait_time(self, duration_s: float) -> bool:
|
||||
"""
|
||||
等待指定时间 (秒)
|
||||
"""
|
||||
self.logger.info(f"Waiting for {duration_s} seconds...")
|
||||
time.sleep(duration_s)
|
||||
return True
|
||||
|
||||
def set_zero(self) -> bool:
|
||||
"""
|
||||
清零当前位置
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
resp = self._send(0x0A, [])
|
||||
return len(resp) >= 4
|
||||
|
||||
def get_position(self) -> Optional[int]:
|
||||
"""
|
||||
读取当前位置 (脉冲数)
|
||||
|
||||
Returns:
|
||||
当前位置脉冲数，失败返回 None
|
||||
"""
|
||||
resp = self._send(0x32, [])
|
||||
|
||||
if len(resp) >= 8:
|
||||
# 响应格式: [ID] [Func] [符号位] [数值4字节] [校验]
|
||||
sign = resp[2] # 0=正, 1=负
|
||||
value = struct.unpack('>I', resp[3:7])[0]
|
||||
self.position = -value if sign == 1 else value
|
||||
|
||||
if self.debug:
|
||||
print(f"[Position] Raw: {resp.hex().upper()}, Parsed: {self.position}")
|
||||
|
||||
return self.position
|
||||
|
||||
self.logger.warning("Failed to read position")
|
||||
return None
|
||||
|
||||
def close(self):
|
||||
"""关闭串口连接并停止线程"""
|
||||
if hasattr(self, '_stop_event'):
|
||||
self._stop_event.set()
|
||||
|
||||
if self.ser and self.ser.is_open:
|
||||
self.ser.close()
|
||||
self.logger.info("Serial port closed")
|
||||
|
||||
|
||||
# ============================================================
|
||||
# 测试和调试代码
|
||||
# ============================================================
|
||||
|
||||
def test_motor():
|
||||
"""基础功能测试"""
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
|
||||
print("="*60)
|
||||
print("ZDT X42 电机驱动测试")
|
||||
print("="*60)
|
||||
|
||||
driver = ZDTX42Driver(
|
||||
port="/dev/tty.usbserial-3110",
|
||||
baudrate=115200,
|
||||
device_id=2,
|
||||
debug=True
|
||||
)
|
||||
|
||||
if not driver.ser:
|
||||
print("❌ 串口打开失败")
|
||||
return
|
||||
|
||||
try:
|
||||
# 测试 1: 读取位置
|
||||
print("\n[1] 读取当前位置")
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 当前位置: {pos} 脉冲")
|
||||
|
||||
# 测试 2: 使能
|
||||
print("\n[2] 使能电机")
|
||||
driver.enable(True)
|
||||
time.sleep(0.3)
|
||||
print("✓ 电机已锁定")
|
||||
|
||||
# 测试 3: 相对位置运动
|
||||
print("\n[3] 相对位置运动 (1000脉冲)")
|
||||
driver.move_position(pulses=1000, speed_rpm=60, direction="CW")
|
||||
time.sleep(2)
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 新位置: {pos}")
|
||||
|
||||
# 测试 4: 速度运动
|
||||
print("\n[4] 速度模式 (30RPM, 3秒)")
|
||||
driver.move_speed(speed_rpm=30, direction="CW")
|
||||
time.sleep(3)
|
||||
driver.stop()
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 停止后位置: {pos}")
|
||||
|
||||
# 测试 5: 禁用
|
||||
print("\n[5] 禁用电机")
|
||||
driver.enable(False)
|
||||
print("✓ 电机已松开")
|
||||
|
||||
print("\n" + "="*60)
|
||||
print("✅ 测试完成")
|
||||
print("="*60)
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 测试失败: {e}")
|
||||
import traceback
|
||||
traceback.print_exc()
|
||||
finally:
|
||||
driver.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_motor()
|
||||
@@ -623,119 +623,6 @@ class ChinweDevice(UniversalDriver):
|
||||
time.sleep(duration)
|
||||
return True
|
||||
|
||||
def separation_step(self, motor_id: int = 5, speed: int = 60, pulses: int = 700,
|
||||
max_cycles: int = 0, timeout: int = 300) -> bool:
|
||||
"""
|
||||
分液步骤 - 液位传感器与电机联动
|
||||
当液位传感器检测到"有液"时,电机顺时针旋转指定脉冲数
|
||||
当液位传感器检测到"无液"时,电机逆时针旋转指定脉冲数
|
||||
|
||||
:param motor_id: 电机ID (必须在初始化时配置的motor_ids中)
|
||||
:param speed: 电机转速 (RPM)
|
||||
:param pulses: 每次旋转的脉冲数 (默认700约为1/4圈,假设3200脉冲/圈)
|
||||
:param max_cycles: 最大执行循环次数 (0=无限制,默认0)
|
||||
:param timeout: 整体超时时间 (秒)
|
||||
:return: 成功返回True,超时或失败返回False
|
||||
"""
|
||||
motor_id = int(motor_id)
|
||||
speed = int(speed)
|
||||
pulses = int(pulses)
|
||||
max_cycles = int(max_cycles)
|
||||
timeout = int(timeout)
|
||||
|
||||
# 检查电机是否存在
|
||||
if motor_id not in self.motors:
|
||||
self.logger.error(f"Motor {motor_id} not found in configured motors: {list(self.motors.keys())}")
|
||||
return False
|
||||
|
||||
# 检查传感器是否可用
|
||||
if not self.sensor:
|
||||
self.logger.error("Sensor not initialized")
|
||||
return False
|
||||
|
||||
motor = self.motors[motor_id]
|
||||
|
||||
# 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
|
||||
self.logger.info("Stopping polling thread for separation_step...")
|
||||
self._stop_event.set()
|
||||
if self._poll_thread and self._poll_thread.is_alive():
|
||||
self._poll_thread.join(timeout=2.0)
|
||||
|
||||
# 使能电机
|
||||
self.logger.info(f"Enabling motor {motor_id}...")
|
||||
motor.enable(True)
|
||||
time.sleep(0.2)
|
||||
|
||||
self.logger.info(f"Starting separation step: motor_id={motor_id}, speed={speed} RPM, "
|
||||
f"pulses={pulses}, max_cycles={max_cycles}, timeout={timeout}s")
|
||||
|
||||
# 记录上一次的液位状态
|
||||
last_level = None
|
||||
cycle_count = 0
|
||||
start_time = time.time()
|
||||
error_count = 0
|
||||
|
||||
try:
|
||||
while True:
|
||||
# 检查超时
|
||||
if time.time() - start_time > timeout:
|
||||
self.logger.warning(f"Separation step timeout after {timeout} seconds")
|
||||
return False
|
||||
|
||||
# 检查循环次数限制
|
||||
if max_cycles > 0 and cycle_count >= max_cycles:
|
||||
self.logger.info(f"Separation step completed: reached max_cycles={max_cycles}")
|
||||
return True
|
||||
|
||||
# 读取传感器数据
|
||||
data = self.sensor.read_level()
|
||||
|
||||
if data is None:
|
||||
error_count += 1
|
||||
if error_count > 5:
|
||||
self.logger.warning("Sensor read failed multiple times, retrying...")
|
||||
error_count = 0
|
||||
time.sleep(0.5)
|
||||
continue
|
||||
|
||||
error_count = 0
|
||||
current_level = data['level']
|
||||
rssi = data['rssi']
|
||||
|
||||
# 检测状态变化 (包括首次检测)
|
||||
if current_level != last_level:
|
||||
cycle_count += 1
|
||||
|
||||
if current_level:
|
||||
# 有液 -> 电机顺时针旋转
|
||||
self.logger.info(f"[Cycle {cycle_count}] Liquid detected (RSSI={rssi}), "
|
||||
f"rotating motor {motor_id} clockwise {pulses} pulses")
|
||||
motor.run_position(pulses=pulses, speed_rpm=speed, direction=0, absolute=False)
|
||||
|
||||
# 等待电机完成 (预估时间)
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
else:
|
||||
# 无液 -> 电机逆时针旋转
|
||||
self.logger.info(f"[Cycle {cycle_count}] No liquid detected (RSSI={rssi}), "
|
||||
f"rotating motor {motor_id} counter-clockwise {pulses} pulses")
|
||||
motor.run_position(pulses=pulses, speed_rpm=speed, direction=1, absolute=False)
|
||||
|
||||
# 等待电机完成 (预估时间)
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
# 更新状态
|
||||
last_level = current_level
|
||||
|
||||
# 轮询间隔
|
||||
time.sleep(0.1)
|
||||
finally:
|
||||
# 恢复轮询线程
|
||||
self.logger.info("Restarting polling thread...")
|
||||
self._start_polling()
|
||||
|
||||
def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
|
||||
"""支持标准 JSON 指令调用"""
|
||||
return super().execute_command_from_outer(command_dict)
|
||||
|
||||
@@ -1,379 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
XKC RS485 液位传感器 (Modbus RTU)
|
||||
|
||||
说明:
|
||||
1. 遵循 Modbus-RTU 协议。
|
||||
2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
|
||||
3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
|
||||
4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
|
||||
"""
|
||||
|
||||
import struct
|
||||
import threading
|
||||
import time
|
||||
import logging
|
||||
import serial
|
||||
from typing import Optional, Dict, Any, List
|
||||
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
|
||||
class TransportManager:
|
||||
"""
|
||||
统一通信管理类。
|
||||
仅支持 串口 (Serial/有线) 连接。
|
||||
"""
|
||||
def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.logger = logger
|
||||
self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
|
||||
|
||||
self.serial = None
|
||||
self._connect_serial()
|
||||
|
||||
def _connect_serial(self):
|
||||
try:
|
||||
self.serial = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
timeout=self.timeout
|
||||
)
|
||||
except Exception as e:
|
||||
raise ConnectionError(f"Serial open failed: {e}")
|
||||
|
||||
def close(self):
|
||||
"""关闭连接"""
|
||||
if self.serial and self.serial.is_open:
|
||||
self.serial.close()
|
||||
|
||||
def clear_buffer(self):
|
||||
"""清空缓冲区 (Thread-safe)"""
|
||||
with self.lock:
|
||||
if self.serial:
|
||||
self.serial.reset_input_buffer()
|
||||
|
||||
def write(self, data: bytes):
|
||||
"""发送原始字节"""
|
||||
with self.lock:
|
||||
if self.serial:
|
||||
self.serial.write(data)
|
||||
|
||||
def read(self, size: int) -> bytes:
|
||||
"""读取指定长度字节"""
|
||||
if self.serial:
|
||||
return self.serial.read(size)
|
||||
return b''
|
||||
|
||||
class XKCSensorDriver(UniversalDriver):
|
||||
"""XKC RS485 液位传感器 (Modbus RTU)"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
|
||||
threshold: int = 300, timeout: float = 3.0, debug: bool = False):
|
||||
super().__init__()
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.device_id = device_id
|
||||
self.threshold = threshold
|
||||
self.timeout = timeout
|
||||
self.debug = debug
|
||||
self.level = False
|
||||
self.rssi = 0
|
||||
self.status = {"level": self.level, "rssi": self.rssi}
|
||||
|
||||
try:
|
||||
self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
|
||||
self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
|
||||
self.transport = None
|
||||
|
||||
# 启动背景轮询线程，确保 status 实时刷新
|
||||
self._stop_event = threading.Event()
|
||||
self._polling_thread = threading.Thread(
|
||||
target=self._update_loop,
|
||||
name=f"XKCPolling_{port}",
|
||||
daemon=True
|
||||
)
|
||||
if self.transport:
|
||||
self._polling_thread.start()
|
||||
|
||||
def _update_loop(self):
|
||||
"""背景循环读取传感器数据"""
|
||||
while not self._stop_event.is_set():
|
||||
try:
|
||||
self.read_level()
|
||||
except Exception as e:
|
||||
if self.debug:
|
||||
self.logger.error(f"Polling error: {e}")
|
||||
time.sleep(2.0) # 每2秒刷新一次数据
|
||||
|
||||
def _crc(self, data: bytes) -> bytes:
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
|
||||
else: crc >>= 1
|
||||
return struct.pack('<H', crc)
|
||||
|
||||
def read_level(self) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
读取液位。
|
||||
返回: {'level': bool, 'rssi': int}
|
||||
"""
|
||||
if not self.transport:
|
||||
return None
|
||||
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
# Modbus Read Registers: 01 03 00 01 00 02 CRC
|
||||
payload = struct.pack('>HH', 0x0001, 0x0002)
|
||||
msg = struct.pack('BB', self.device_id, 0x03) + payload
|
||||
msg += self._crc(msg)
|
||||
|
||||
if self.debug:
|
||||
self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
|
||||
|
||||
self.transport.write(msg)
|
||||
|
||||
# Read header
|
||||
h = self.transport.read(3) # Addr, Func, Len
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Header: {h.hex().upper()}")
|
||||
|
||||
if len(h) < 3: return None
|
||||
length = h[2]
|
||||
|
||||
# Read body + CRC
|
||||
body = self.transport.read(length + 2)
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
|
||||
if len(body) < length + 2:
|
||||
# Firmware bug fix specific to some modules
|
||||
if len(body) == 4 and length == 4:
|
||||
pass
|
||||
else:
|
||||
return None
|
||||
|
||||
data = body[:-2]
|
||||
# 根据手册说明:
|
||||
# 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
|
||||
# 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
|
||||
|
||||
hw_level = False
|
||||
rssi = 0
|
||||
|
||||
if len(data) >= 4:
|
||||
hw_level = ((data[0] << 8) | data[1]) == 1
|
||||
rssi = (data[2] << 8) | data[3]
|
||||
elif len(data) == 2:
|
||||
# 兼容模式: 某些老固件可能只返回 1 个寄存器
|
||||
rssi = (data[0] << 8) | data[1]
|
||||
hw_level = rssi > self.threshold
|
||||
else:
|
||||
return None
|
||||
|
||||
# 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
|
||||
# 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
|
||||
self.level = hw_level or (rssi > self.threshold)
|
||||
self.rssi = rssi
|
||||
result = {
|
||||
'level': self.level,
|
||||
'rssi': self.rssi
|
||||
}
|
||||
self.status = result
|
||||
return result
|
||||
|
||||
def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
|
||||
"""
|
||||
等待液位达到目标状态 (阻塞式)
|
||||
"""
|
||||
self.logger.info(f"Waiting for level: {target_state}")
|
||||
start_time = time.time()
|
||||
while (time.time() - start_time) < timeout:
|
||||
res = self.read_level()
|
||||
if res and res.get('level') == target_state:
|
||||
return True
|
||||
time.sleep(0.5)
|
||||
self.logger.warning(f"Wait level timeout ({timeout}s)")
|
||||
return False
|
||||
|
||||
def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
|
||||
"""
|
||||
实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
|
||||
一旦检测到符合目标状态，立即返回。
|
||||
|
||||
Args:
|
||||
target_state: True 为“有液”, False 为“无液”
|
||||
timeout: 最大等待时间(秒)
|
||||
"""
|
||||
state_str = "有液" if target_state else "无液"
|
||||
self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
|
||||
|
||||
start_time = time.time()
|
||||
while (time.time() - start_time) < timeout:
|
||||
res = self.read_level() # 内部已更新 self.level 和 self.rssi
|
||||
if res:
|
||||
current_level = res.get('level')
|
||||
current_rssi = res.get('rssi')
|
||||
if current_level == target_state:
|
||||
self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
|
||||
return True
|
||||
|
||||
if self.debug:
|
||||
self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
|
||||
|
||||
time.sleep(0.2) # 高频采样
|
||||
|
||||
self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
|
||||
return False
|
||||
|
||||
def set_threshold(self, threshold: int):
|
||||
"""设置液位判定阈值"""
|
||||
self.threshold = int(threshold)
|
||||
self.logger.info(f"Threshold updated to: {self.threshold}")
|
||||
|
||||
def change_device_id(self, new_id: int) -> bool:
|
||||
"""
|
||||
修改设备的 Modbus 从站地址。
|
||||
寄存器: 0x0004, 功能码: 0x06
|
||||
"""
|
||||
if not (1 <= new_id <= 254):
|
||||
self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
|
||||
return False
|
||||
|
||||
self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
|
||||
success = self._write_single_register(0x0004, new_id)
|
||||
if success:
|
||||
self.device_id = new_id # 更新内存中的地址
|
||||
self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
|
||||
return success
|
||||
|
||||
def change_baudrate(self, baud_code: int) -> bool:
|
||||
"""
|
||||
更改通讯波特率 (寄存器: 0x0005)。
|
||||
设置成功后传感器 LED 会闪烁，通常无数据返回。
|
||||
|
||||
波特率代码对照表 (16进制):
|
||||
05: 2400
|
||||
06: 4800
|
||||
07: 9600 (默认)
|
||||
08: 14400
|
||||
09: 19200
|
||||
0A: 28800
|
||||
0C: 57600
|
||||
0D: 115200
|
||||
0E: 128000
|
||||
0F: 256000
|
||||
"""
|
||||
self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
|
||||
# 写入寄存器 0x0005
|
||||
self._write_single_register(0x0005, baud_code)
|
||||
self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
|
||||
return True
|
||||
|
||||
def factory_reset(self) -> bool:
|
||||
"""
|
||||
恢复出厂设置 (通过广播地址 FF)。
|
||||
设置地址为 01，逻辑为向 0x0004 写入 0x0002
|
||||
"""
|
||||
self.logger.info("Sending factory reset command via broadcast address FF...")
|
||||
# 广播指令通常无回显
|
||||
self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
|
||||
self.logger.info("Factory reset command sent. Device address should be 01 now.")
|
||||
return True
|
||||
|
||||
def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
|
||||
"""内部辅助函数: Modbus 功能码 06 写单个寄存器"""
|
||||
if not self.transport: return False
|
||||
|
||||
target_id = slave_id if slave_id is not None else self.device_id
|
||||
msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
|
||||
msg += self._crc(msg)
|
||||
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
if self.debug:
|
||||
self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
|
||||
|
||||
self.transport.write(msg)
|
||||
|
||||
# 广播地址、波特率修改或厂家特定指令可能无回显
|
||||
if target_id == 0xFF or reg_addr == 0x0005:
|
||||
time.sleep(0.5)
|
||||
return True
|
||||
|
||||
# 等待返回 (正常应返回相同报文)
|
||||
resp = self.transport.read(len(msg))
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Write Response: {resp.hex().upper()}")
|
||||
|
||||
return resp == msg
|
||||
|
||||
def close(self):
|
||||
if self.transport:
|
||||
self.transport.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 快速实例化测试
|
||||
import logging
|
||||
# 减少冗余日志，仅显示重要信息
|
||||
logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
|
||||
|
||||
# 硬件配置 (根据实际情况修改)
|
||||
TEST_PORT = "/dev/tty.usbserial-3110"
|
||||
SLAVE_ID = 1
|
||||
THRESHOLD = 300
|
||||
|
||||
print("\n" + "="*50)
|
||||
print(f" XKC RS485 传感器独立测试程序")
|
||||
print(f" 端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
|
||||
print("="*50)
|
||||
|
||||
sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
|
||||
|
||||
try:
|
||||
if sensor.transport:
|
||||
print(f"\n开始实时连续采样测试 (持续 15 秒)...")
|
||||
print(f"按 Ctrl+C 可提前停止\n")
|
||||
|
||||
start_time = time.time()
|
||||
duration = 15
|
||||
count = 0
|
||||
|
||||
while time.time() - start_time < duration:
|
||||
count += 1
|
||||
res = sensor.read_level()
|
||||
if res:
|
||||
rssi = res['rssi']
|
||||
level = res['level']
|
||||
status_str = "【有液】" if level else "【无液】"
|
||||
# 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
|
||||
# 为了方便查看变化，我们直接打印
|
||||
elapsed = time.time() - start_time
|
||||
print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
|
||||
else:
|
||||
print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
|
||||
|
||||
time.sleep(0.5) # 每秒采样 2 次
|
||||
|
||||
print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
|
||||
|
||||
# [3] 测试动态修改阈值
|
||||
print(f"\n[3] 动态修改阈值演示...")
|
||||
new_threshold = 400
|
||||
sensor.set_threshold(new_threshold)
|
||||
res = sensor.read_level()
|
||||
if res:
|
||||
print(f" 采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
|
||||
sensor.set_threshold(THRESHOLD) # 还原
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n[!] 用户中断测试")
|
||||
except Exception as e:
|
||||
print(f"\n[!] 测试运行出错: {e}")
|
||||
finally:
|
||||
sensor.close()
|
||||
print("\n--- 测试程序已退出 ---\n")
|
||||
@@ -1,15 +1,15 @@
|
||||
"""
|
||||
Virtual Workbench Device - 模拟工作台设备
|
||||
包含：
|
||||
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
|
||||
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
|
||||
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
|
||||
注意: 调用来自线程池, 使用 threading.Lock 进行同步
|
||||
"""
|
||||
|
||||
import logging
|
||||
@@ -21,9 +21,11 @@ from threading import Lock, RLock
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.utils.decorator import not_action, always_free
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
|
||||
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
@@ -57,6 +59,8 @@ class MoveToOutputResult(TypedDict):
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
output_position: str
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
@@ -81,9 +85,9 @@ 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
|
||||
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
|
||||
COMPLETED = "completed" # 加热完成, 等待取走
|
||||
|
||||
|
||||
class ArmState(Enum):
|
||||
@@ -105,19 +109,24 @@ class HeatingStation:
|
||||
heating_progress: float = 0.0
|
||||
|
||||
|
||||
@device(
|
||||
id="virtual_workbench",
|
||||
category=["virtual_device"],
|
||||
description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
|
||||
)
|
||||
class VirtualWorkbench:
|
||||
"""
|
||||
Virtual Workbench Device - 虚拟工作台设备
|
||||
|
||||
模拟一个包含1个机械臂和3个加热台的工作站
|
||||
- 机械臂操作耗时3秒，同一时间只能执行一个操作
|
||||
- 加热台加热耗时10秒，3个加热台可并行工作
|
||||
- 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
|
||||
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
|
||||
@@ -145,19 +154,19 @@ class VirtualWorkbench:
|
||||
self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
|
||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
|
||||
|
||||
# 机械臂状态和锁 (使用threading.Lock)
|
||||
# 机械臂状态和锁
|
||||
self._arm_lock = Lock()
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task: Optional[str] = None
|
||||
|
||||
# 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
|
||||
# 加热台状态
|
||||
self._heating_stations: Dict[int, HeatingStation] = {
|
||||
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
}
|
||||
self._stations_lock = RLock() # 可重入锁，保护加热台状态
|
||||
self._stations_lock = RLock()
|
||||
|
||||
# 任务追踪
|
||||
self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info
|
||||
self._active_tasks: Dict[str, Dict[str, Any]] = {}
|
||||
self._tasks_lock = Lock()
|
||||
|
||||
# 处理其他kwargs参数
|
||||
@@ -183,7 +192,6 @@ class VirtualWorkbench:
|
||||
"""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
|
||||
@@ -191,7 +199,6 @@ class VirtualWorkbench:
|
||||
station.material_number = None
|
||||
station.heating_progress = 0.0
|
||||
|
||||
# 初始化状态
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Ready",
|
||||
@@ -257,11 +264,7 @@ class VirtualWorkbench:
|
||||
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
|
||||
"""
|
||||
"""查找空闲的加热台"""
|
||||
with self._stations_lock:
|
||||
for station_id, station in self._heating_stations.items():
|
||||
if station.state == HeatingStationState.IDLE:
|
||||
@@ -269,23 +272,12 @@ class VirtualWorkbench:
|
||||
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
|
||||
"""
|
||||
"""获取机械臂使用权(阻塞直到获取)"""
|
||||
self.logger.info(f"[{task_description}] 等待获取机械臂...")
|
||||
|
||||
# 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
|
||||
|
||||
@@ -298,6 +290,22 @@ class VirtualWorkbench:
|
||||
self._update_data_status(f"机械臂已释放 (完成: {task})")
|
||||
self.logger.info(f"机械臂已释放 (完成: {task})")
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
|
||||
handles=[
|
||||
ActionOutputHandle(key="channel_1", data_type="workbench_material",
|
||||
label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_2", data_type="workbench_material",
|
||||
label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_3", data_type="workbench_material",
|
||||
label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_4", data_type="workbench_material",
|
||||
label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_5", data_type="workbench_material",
|
||||
label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def prepare_materials(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
@@ -306,19 +314,14 @@ class VirtualWorkbench:
|
||||
"""
|
||||
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
|
||||
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。
|
||||
"""
|
||||
# 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}")
|
||||
self.logger.info(
|
||||
f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
|
||||
)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
@@ -329,9 +332,28 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
|
||||
handles=[
|
||||
ActionInputHandle(key="material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="material_number_output", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def move_to_heating_station(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
@@ -340,20 +362,12 @@ class VirtualWorkbench:
|
||||
"""
|
||||
将物料从An位置移动到加热台
|
||||
|
||||
多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
|
||||
|
||||
Args:
|
||||
material_number: 物料编号 (1-5)
|
||||
|
||||
Returns:
|
||||
MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
|
||||
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
|
||||
"""
|
||||
# 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",
|
||||
@@ -361,33 +375,27 @@ class VirtualWorkbench:
|
||||
}
|
||||
|
||||
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.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
|
||||
self._release_arm()
|
||||
time.sleep(0.5)
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 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
|
||||
@@ -395,11 +403,11 @@ class VirtualWorkbench:
|
||||
|
||||
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)")
|
||||
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:
|
||||
@@ -412,8 +420,16 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
@@ -427,11 +443,33 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@always_free
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
always_free=True,
|
||||
description="启动指定加热台的加热程序",
|
||||
handles=[
|
||||
ActionInputHandle(key="station_id_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="material_number_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
|
||||
label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
|
||||
label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def start_heating(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
@@ -440,13 +478,6 @@ class VirtualWorkbench:
|
||||
) -> 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")
|
||||
|
||||
@@ -458,8 +489,16 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
@@ -473,8 +512,16 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
if station.state == HeatingStationState.HEATING:
|
||||
@@ -485,13 +532,20 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
material_id = station.current_material
|
||||
|
||||
# 开始加热
|
||||
station.state = HeatingStationState.HEATING
|
||||
station.heating_start_time = time.time()
|
||||
station.heating_progress = 0.0
|
||||
@@ -502,7 +556,6 @@ class VirtualWorkbench:
|
||||
|
||||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
||||
|
||||
# 打印当前所有正在加热的台位
|
||||
with self._stations_lock:
|
||||
heating_list = [
|
||||
f"加热台{sid}:{s.current_material}"
|
||||
@@ -511,7 +564,6 @@ class VirtualWorkbench:
|
||||
]
|
||||
self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
|
||||
|
||||
# 模拟加热过程
|
||||
start_time = time.time()
|
||||
last_countdown_log = start_time
|
||||
while True:
|
||||
@@ -524,7 +576,6 @@ class VirtualWorkbench:
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||
|
||||
# 每5秒打印一次倒计时
|
||||
if time.time() - last_countdown_log >= 5.0:
|
||||
self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
|
||||
last_countdown_log = time.time()
|
||||
@@ -534,7 +585,6 @@ class VirtualWorkbench:
|
||||
|
||||
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
|
||||
@@ -553,10 +603,28 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="将物料从加热台移动到输出位置Cn",
|
||||
handles=[
|
||||
ActionInputHandle(key="output_station_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="output_material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
],
|
||||
)
|
||||
def move_to_output(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
@@ -565,15 +633,8 @@ class VirtualWorkbench:
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (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
|
||||
output_number = material_number
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
@@ -583,8 +644,16 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
@@ -599,8 +668,16 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
if station.state != HeatingStationState.COMPLETED:
|
||||
@@ -611,8 +688,16 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
output_position = f"C{output_number}"
|
||||
@@ -624,18 +709,17 @@ class VirtualWorkbench:
|
||||
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}...")
|
||||
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
|
||||
@@ -643,17 +727,17 @@ class VirtualWorkbench:
|
||||
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)")
|
||||
self.logger.info(
|
||||
f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
|
||||
)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
@@ -662,8 +746,17 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content is not None else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
@@ -677,83 +770,105 @@ class VirtualWorkbench:
|
||||
"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()]
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
}
|
||||
|
||||
# ============ 状态属性 ============
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def arm_state(self) -> str:
|
||||
return self._arm_state.value
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def arm_current_task(self) -> str:
|
||||
return self._arm_current_task or ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def active_tasks_count(self) -> int:
|
||||
with self._tasks_lock:
|
||||
return len(self._active_tasks)
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
|
||||
@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
||||
|
||||
# 第1步：从配置中获取仓库配置
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
|
||||
# 确定目标仓库名称
|
||||
parent_name = None
|
||||
|
||||
1022
unilabos/registry/ast_registry_scanner.py
Normal file
1022
unilabos/registry/ast_registry_scanner.py
Normal file
File diff suppressed because it is too large
Load Diff
614
unilabos/registry/decorators.py
Normal file
614
unilabos/registry/decorators.py
Normal file
@@ -0,0 +1,614 @@
|
||||
"""
|
||||
装饰器注册表系统
|
||||
|
||||
通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
|
||||
|
||||
Usage:
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, resource,
|
||||
InputHandle, OutputHandle,
|
||||
ActionInputHandle, ActionOutputHandle,
|
||||
HardwareInterface, Side, DataSource,
|
||||
)
|
||||
|
||||
@device(
|
||||
id="solenoid_valve.mock",
|
||||
category=["pump_and_valve"],
|
||||
description="模拟电磁阀设备",
|
||||
handles=[
|
||||
InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
|
||||
OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
|
||||
],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="hardware_interface",
|
||||
read="send_command",
|
||||
write="send_command",
|
||||
),
|
||||
)
|
||||
class SolenoidValveMock:
|
||||
@action(action_type=EmptyIn)
|
||||
def close(self):
|
||||
...
|
||||
|
||||
@action(
|
||||
handles=[
|
||||
ActionInputHandle(key="in", data_type="fluid", label="in"),
|
||||
ActionOutputHandle(key="out", data_type="fluid", label="out"),
|
||||
],
|
||||
)
|
||||
def set_valve_position(self, position):
|
||||
...
|
||||
|
||||
# 无 @action 装饰器 => auto- 前缀动作
|
||||
def is_open(self):
|
||||
...
|
||||
"""
|
||||
|
||||
from enum import Enum
|
||||
from functools import wraps
|
||||
from typing import Any, Callable, Dict, List, Optional, TypeVar
|
||||
|
||||
from pydantic import BaseModel, ConfigDict, Field
|
||||
|
||||
F = TypeVar("F", bound=Callable[..., Any])
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 枚举
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class Side(str, Enum):
|
||||
"""UI 上 Handle 的显示位置"""
|
||||
|
||||
NORTH = "NORTH"
|
||||
SOUTH = "SOUTH"
|
||||
EAST = "EAST"
|
||||
WEST = "WEST"
|
||||
|
||||
|
||||
class DataSource(str, Enum):
|
||||
"""Handle 的数据来源"""
|
||||
|
||||
HANDLE = "handle" # 从上游 handle 获取数据 (用于 InputHandle)
|
||||
EXECUTOR = "executor" # 从执行器输出数据 (用于 OutputHandle)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class _DeviceHandleBase(BaseModel):
|
||||
"""设备/资源端口基类 (内部使用)"""
|
||||
|
||||
model_config = ConfigDict(populate_by_name=True)
|
||||
|
||||
key: str = Field(serialization_alias="handler_key")
|
||||
data_type: str
|
||||
label: str
|
||||
side: Optional[Side] = None
|
||||
data_key: Optional[str] = None
|
||||
data_source: Optional[str] = None
|
||||
description: Optional[str] = None
|
||||
|
||||
# 子类覆盖
|
||||
io_type: str = ""
|
||||
|
||||
def to_registry_dict(self) -> Dict[str, Any]:
|
||||
return self.model_dump(by_alias=True, exclude_none=True)
|
||||
|
||||
|
||||
class InputHandle(_DeviceHandleBase):
|
||||
"""
|
||||
输入端口 (io_type="target"), 用于 @device / @resource handles
|
||||
|
||||
Example:
|
||||
InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
|
||||
"""
|
||||
|
||||
io_type: str = "target"
|
||||
|
||||
|
||||
class OutputHandle(_DeviceHandleBase):
|
||||
"""
|
||||
输出端口 (io_type="source"), 用于 @device / @resource handles
|
||||
|
||||
Example:
|
||||
OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
|
||||
"""
|
||||
|
||||
io_type: str = "source"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class _ActionHandleBase(BaseModel):
|
||||
"""动作端口基类 (内部使用)"""
|
||||
|
||||
model_config = ConfigDict(populate_by_name=True)
|
||||
|
||||
key: str = Field(serialization_alias="handler_key")
|
||||
data_type: str
|
||||
label: str
|
||||
side: Optional[Side] = None
|
||||
data_key: Optional[str] = None
|
||||
data_source: Optional[str] = None
|
||||
description: Optional[str] = None
|
||||
io_type: Optional[str] = None # source/sink (dataflow) or target/source (device-style)
|
||||
|
||||
def to_registry_dict(self) -> Dict[str, Any]:
|
||||
return self.model_dump(by_alias=True, exclude_none=True)
|
||||
|
||||
|
||||
class ActionInputHandle(_ActionHandleBase):
|
||||
"""
|
||||
动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
|
||||
|
||||
Example:
|
||||
ActionInputHandle(
|
||||
key="material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source="handle",
|
||||
)
|
||||
"""
|
||||
|
||||
pass
|
||||
|
||||
|
||||
class ActionOutputHandle(_ActionHandleBase):
|
||||
"""
|
||||
动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
|
||||
|
||||
Example:
|
||||
ActionOutputHandle(
|
||||
key="station_output", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source="executor",
|
||||
)
|
||||
"""
|
||||
|
||||
pass
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# HardwareInterface
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class HardwareInterface(BaseModel):
|
||||
"""
|
||||
硬件通信接口定义
|
||||
|
||||
描述设备与底层硬件通信的方式 (串口、Modbus 等)。
|
||||
|
||||
Example:
|
||||
HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
|
||||
"""
|
||||
|
||||
name: str
|
||||
read: Optional[str] = None
|
||||
write: Optional[str] = None
|
||||
extra_info: Optional[List[str]] = None
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 全局注册表 -- 记录所有被装饰器标记的类/函数
|
||||
# ---------------------------------------------------------------------------
|
||||
_registered_devices: Dict[str, type] = {} # device_id -> class
|
||||
_registered_resources: Dict[str, Any] = {} # resource_id -> class or function
|
||||
|
||||
|
||||
def _device_handles_to_list(
|
||||
handles: Optional[List[_DeviceHandleBase]],
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
|
||||
if handles is None:
|
||||
return []
|
||||
return [h.to_registry_dict() for h in handles]
|
||||
|
||||
|
||||
def _action_handles_to_dict(
|
||||
handles: Optional[List[_ActionHandleBase]],
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
|
||||
|
||||
ActionInputHandle => "input", ActionOutputHandle => "output"
|
||||
"""
|
||||
if handles is None:
|
||||
return {}
|
||||
input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
|
||||
output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
|
||||
result: Dict[str, Any] = {}
|
||||
if input_list:
|
||||
result["input"] = input_list
|
||||
if output_list:
|
||||
result["output"] = output_list
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @device 类装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
# noinspection PyShadowingBuiltins
|
||||
def device(
|
||||
id: Optional[str] = None,
|
||||
ids: Optional[List[str]] = None,
|
||||
id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
|
||||
category: Optional[List[str]] = None,
|
||||
description: str = "",
|
||||
display_name: str = "",
|
||||
icon: str = "",
|
||||
version: str = "1.0.0",
|
||||
handles: Optional[List[_DeviceHandleBase]] = None,
|
||||
model: Optional[Dict[str, Any]] = None,
|
||||
device_type: str = "python",
|
||||
hardware_interface: Optional[HardwareInterface] = None,
|
||||
):
|
||||
"""
|
||||
设备类装饰器
|
||||
|
||||
将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
|
||||
|
||||
支持两种模式:
|
||||
1. 单设备: id="xxx", category=[...]
|
||||
2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
|
||||
|
||||
Args:
|
||||
id: 单设备时的注册表唯一标识
|
||||
ids: 多设备时的 id 列表，与 id_meta 配合使用
|
||||
id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
|
||||
category: 设备分类标签列表 (必填)
|
||||
description: 设备描述
|
||||
display_name: 人类可读的设备显示名称，缺失时默认使用 id
|
||||
icon: 图标路径
|
||||
version: 版本号
|
||||
handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
|
||||
model: 可选的 3D 模型配置
|
||||
device_type: 设备实现类型 ("python" / "ros2")
|
||||
hardware_interface: 硬件通信接口 (HardwareInterface)
|
||||
"""
|
||||
# Resolve device ids
|
||||
if ids is not None:
|
||||
device_ids = list(ids)
|
||||
if not device_ids:
|
||||
raise ValueError("@device ids 不能为空")
|
||||
id_meta = id_meta or {}
|
||||
elif id is not None:
|
||||
device_ids = [id]
|
||||
id_meta = {}
|
||||
else:
|
||||
raise ValueError("@device 必须提供 id 或 ids")
|
||||
|
||||
if category is None:
|
||||
raise ValueError("@device category 必填")
|
||||
|
||||
base_meta = {
|
||||
"category": category,
|
||||
"description": description,
|
||||
"display_name": display_name,
|
||||
"icon": icon,
|
||||
"version": version,
|
||||
"handles": _device_handles_to_list(handles),
|
||||
"model": model,
|
||||
"device_type": device_type,
|
||||
"hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
|
||||
}
|
||||
|
||||
def decorator(cls):
|
||||
cls._device_registry_meta = base_meta
|
||||
cls._device_registry_id_meta = id_meta
|
||||
cls._device_registry_ids = device_ids
|
||||
|
||||
for did in device_ids:
|
||||
if did in _registered_devices:
|
||||
raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
|
||||
_registered_devices[did] = cls
|
||||
|
||||
return cls
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @action 方法装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
# 区分 "用户没传 action_type" 和 "用户传了 None"
|
||||
_ACTION_TYPE_UNSET = object()
|
||||
|
||||
|
||||
# noinspection PyShadowingNames
|
||||
def action(
|
||||
action_type: Any = _ACTION_TYPE_UNSET,
|
||||
goal: Optional[Dict[str, str]] = None,
|
||||
feedback: Optional[Dict[str, str]] = None,
|
||||
result: Optional[Dict[str, str]] = None,
|
||||
handles: Optional[List[_ActionHandleBase]] = None,
|
||||
goal_default: Optional[Dict[str, Any]] = None,
|
||||
placeholder_keys: Optional[Dict[str, str]] = None,
|
||||
always_free: bool = False,
|
||||
is_protocol: bool = False,
|
||||
description: str = "",
|
||||
auto_prefix: bool = False,
|
||||
parent: bool = False,
|
||||
):
|
||||
"""
|
||||
动作方法装饰器
|
||||
|
||||
标记方法为注册表动作。有三种用法:
|
||||
1. @action(action_type=EmptyIn, ...) -- 非 auto, 使用指定 ROS Action 类型
|
||||
2. @action() -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
|
||||
3. 不加 @action -- auto- 前缀, UniLabJsonCommand
|
||||
|
||||
Protocol 用法:
|
||||
@action(action_type=Add, is_protocol=True)
|
||||
def AddProtocol(self): ...
|
||||
标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
|
||||
protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
|
||||
|
||||
Args:
|
||||
action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
|
||||
不传/默认 = UniLabJsonCommand (非 auto).
|
||||
goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
|
||||
protocol 模式下可留空，系统自动生成 identity 映射.
|
||||
feedback: Feedback 字段映射
|
||||
result: Result 字段映射
|
||||
handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
|
||||
goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
|
||||
placeholder_keys: 参数占位符配置
|
||||
always_free: 是否为永久闲置动作 (不受排队限制)
|
||||
is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
|
||||
description: 动作描述
|
||||
auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
|
||||
parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
|
||||
resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
|
||||
|
||||
meta = {
|
||||
"action_type": resolved_type,
|
||||
"goal": goal or {},
|
||||
"feedback": feedback or {},
|
||||
"result": result or {},
|
||||
"handles": _action_handles_to_dict(handles),
|
||||
"goal_default": goal_default or {},
|
||||
"placeholder_keys": placeholder_keys or {},
|
||||
"always_free": always_free,
|
||||
"is_protocol": is_protocol,
|
||||
"description": description,
|
||||
"auto_prefix": auto_prefix,
|
||||
"parent": parent,
|
||||
}
|
||||
wrapper._action_registry_meta = meta # type: ignore[attr-defined]
|
||||
|
||||
# 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
|
||||
if always_free:
|
||||
wrapper._is_always_free = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_action_meta(func) -> Optional[Dict[str, Any]]:
|
||||
"""获取方法上的 @action 装饰器元数据"""
|
||||
return getattr(func, "_action_registry_meta", None)
|
||||
|
||||
|
||||
def has_action_decorator(func) -> bool:
|
||||
"""检查函数是否带有 @action 装饰器"""
|
||||
return hasattr(func, "_action_registry_meta")
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @resource 类/函数装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def resource(
|
||||
id: str,
|
||||
category: List[str],
|
||||
description: str = "",
|
||||
icon: str = "",
|
||||
version: str = "1.0.0",
|
||||
handles: Optional[List[_DeviceHandleBase]] = None,
|
||||
model: Optional[Dict[str, Any]] = None,
|
||||
class_type: str = "pylabrobot",
|
||||
):
|
||||
"""
|
||||
资源类/函数装饰器
|
||||
|
||||
将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
|
||||
|
||||
Args:
|
||||
id: 注册表唯一标识 (必填, 不可重复)
|
||||
category: 资源分类标签列表 (必填)
|
||||
description: 资源描述
|
||||
icon: 图标路径
|
||||
version: 版本号
|
||||
handles: 端口列表 (InputHandle / OutputHandle)
|
||||
model: 可选的 3D 模型配置
|
||||
class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
|
||||
"""
|
||||
|
||||
def decorator(obj):
|
||||
meta = {
|
||||
"resource_id": id,
|
||||
"category": category,
|
||||
"description": description,
|
||||
"icon": icon,
|
||||
"version": version,
|
||||
"handles": _device_handles_to_list(handles),
|
||||
"model": model,
|
||||
"class_type": class_type,
|
||||
}
|
||||
obj._resource_registry_meta = meta
|
||||
|
||||
if id in _registered_resources:
|
||||
raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
|
||||
_registered_resources[id] = obj
|
||||
|
||||
return obj
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
获取类上的 @device 装饰器元数据。
|
||||
|
||||
当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
|
||||
(base_meta 与 id_meta[device_id] 深度合并)。
|
||||
"""
|
||||
base = getattr(cls, "_device_registry_meta", None)
|
||||
if base is None:
|
||||
return None
|
||||
id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
|
||||
if device_id is None or device_id not in id_meta:
|
||||
result = dict(base)
|
||||
ids = getattr(cls, "_device_registry_ids", None)
|
||||
result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
|
||||
return result
|
||||
|
||||
overrides = id_meta[device_id]
|
||||
result = dict(base)
|
||||
result["device_id"] = device_id
|
||||
for key in ["handles", "description", "icon", "model"]:
|
||||
if key in overrides:
|
||||
val = overrides[key]
|
||||
if key == "handles" and isinstance(val, list):
|
||||
# handles 必须是 Handle 对象列表
|
||||
result[key] = [h.to_registry_dict() for h in val]
|
||||
else:
|
||||
result[key] = val
|
||||
return result
|
||||
|
||||
|
||||
def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
|
||||
"""获取对象上的 @resource 装饰器元数据"""
|
||||
return getattr(obj, "_resource_registry_meta", None)
|
||||
|
||||
|
||||
def get_all_registered_devices() -> Dict[str, type]:
|
||||
"""获取所有已注册的设备类"""
|
||||
return _registered_devices.copy()
|
||||
|
||||
|
||||
def get_all_registered_resources() -> Dict[str, Any]:
|
||||
"""获取所有已注册的资源"""
|
||||
return _registered_resources.copy()
|
||||
|
||||
|
||||
def clear_registry():
|
||||
"""清空全局注册表 (用于测试)"""
|
||||
_registered_devices.clear()
|
||||
_registered_resources.clear()
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# topic_config / not_action / always_free 装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def topic_config(
|
||||
period: Optional[float] = None,
|
||||
print_publish: Optional[bool] = None,
|
||||
qos: Optional[int] = None,
|
||||
name: Optional[str] = None,
|
||||
) -> Callable[[F], F]:
|
||||
"""
|
||||
Topic发布配置装饰器
|
||||
|
||||
用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
|
||||
|
||||
Args:
|
||||
period: 发布周期（秒）。None 表示使用默认值 5.0
|
||||
print_publish: 是否打印发布日志。None 表示使用节点默认配置
|
||||
qos: QoS深度配置。None 表示使用默认值 10
|
||||
name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
|
||||
|
||||
Note:
|
||||
与 @property 连用时，@topic_config 必须放在 @property 下面，
|
||||
这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._topic_period = period # type: ignore[attr-defined]
|
||||
wrapper._topic_print_publish = print_publish # type: ignore[attr-defined]
|
||||
wrapper._topic_qos = qos # type: ignore[attr-defined]
|
||||
wrapper._topic_name = name # type: ignore[attr-defined]
|
||||
wrapper._has_topic_config = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_topic_config(func) -> dict:
|
||||
"""获取函数上的 topic 配置 (period, print_publish, qos, name)"""
|
||||
if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
|
||||
return {
|
||||
"period": getattr(func, "_topic_period", None),
|
||||
"print_publish": getattr(func, "_topic_print_publish", None),
|
||||
"qos": getattr(func, "_topic_qos", None),
|
||||
"name": getattr(func, "_topic_name", None),
|
||||
}
|
||||
return {}
|
||||
|
||||
|
||||
def always_free(func: F) -> F:
|
||||
"""
|
||||
标记动作为永久闲置(不受busy队列限制)的装饰器
|
||||
|
||||
被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
|
||||
任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._is_always_free = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
|
||||
def is_always_free(func) -> bool:
|
||||
"""检查函数是否被标记为永久闲置"""
|
||||
return getattr(func, "_is_always_free", False)
|
||||
|
||||
|
||||
def not_action(func: F) -> F:
|
||||
"""
|
||||
标记方法为非动作的装饰器
|
||||
|
||||
用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
|
||||
适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._is_not_action = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
|
||||
def is_not_action(func) -> bool:
|
||||
"""检查函数是否被标记为非动作"""
|
||||
return getattr(func, "_is_not_action", False)
|
||||
@@ -317,47 +317,6 @@ separator.chinwe:
|
||||
- port
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
separation_step:
|
||||
goal:
|
||||
max_cycles: 0
|
||||
motor_id: 5
|
||||
pulses: 700
|
||||
speed: 60
|
||||
timeout: 300
|
||||
handles: {}
|
||||
schema:
|
||||
description: 分液步骤 - 液位传感器与电机联动 (有液→顺时针, 无液→逆时针)
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
max_cycles:
|
||||
default: 0
|
||||
description: 最大循环次数 (0=无限制)
|
||||
type: integer
|
||||
motor_id:
|
||||
default: '5'
|
||||
description: 选择电机
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
title: '注: 4=搅拌, 5=旋钮'
|
||||
type: string
|
||||
pulses:
|
||||
default: 700
|
||||
description: 每次旋转脉冲数 (约1/4圈)
|
||||
type: integer
|
||||
speed:
|
||||
default: 60
|
||||
description: 电机转速 (RPM)
|
||||
type: integer
|
||||
timeout:
|
||||
default: 300
|
||||
description: 超时时间 (秒)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_sensor_level:
|
||||
goal:
|
||||
target_state: 有液
|
||||
|
||||
@@ -1,286 +0,0 @@
|
||||
motor.zdt_x42:
|
||||
category:
|
||||
- motor
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-enable:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
'on': true
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
'on':
|
||||
default: true
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-get_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 获取当前电机脉冲位置。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
position:
|
||||
type: integer
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: get_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
absolute: false
|
||||
acceleration: 10
|
||||
direction: CW
|
||||
pulses: 1000
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
absolute:
|
||||
default: false
|
||||
type: boolean
|
||||
acceleration:
|
||||
default: 10
|
||||
maximum: 255
|
||||
minimum: 0
|
||||
type: integer
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
pulses:
|
||||
default: 1000
|
||||
type: integer
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 0
|
||||
type: integer
|
||||
required:
|
||||
- pulses
|
||||
- speed_rpm
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_speed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 10
|
||||
direction: CW
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 速度模式运行。控制电机以指定转速和方向持续转动。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 10
|
||||
maximum: 255
|
||||
minimum: 0
|
||||
type: integer
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 0
|
||||
type: integer
|
||||
required:
|
||||
- speed_rpm
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_speed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-rotate_quarter:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
direction: CW
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 电机旋转 1/4 圈 (阻塞式)。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 1
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: rotate_quarter参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_zero:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 将当前电机位置设为零点。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_zero参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 立即停止电机运动。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
duration_s: 1.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 等待指定时间 (秒)。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
duration_s:
|
||||
default: 1.0
|
||||
minimum: 0
|
||||
type: number
|
||||
required:
|
||||
- duration_s
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
|
||||
status_types:
|
||||
position: int
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: integer
|
||||
debug:
|
||||
default: false
|
||||
type: boolean
|
||||
device_id:
|
||||
default: 1
|
||||
type: integer
|
||||
port:
|
||||
type: string
|
||||
timeout:
|
||||
default: 0.5
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
position:
|
||||
type: integer
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,148 +0,0 @@
|
||||
sensor.xkc_rs485:
|
||||
category:
|
||||
- sensor
|
||||
- separator
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-change_baudrate:
|
||||
goal:
|
||||
baud_code: 7
|
||||
handles: {}
|
||||
schema:
|
||||
description: '更改通讯波特率 (设置成功后无返回，且需手动切换波特率重连)。代码表 (16进制): 05=2400, 06=4800,
|
||||
07=9600, 08=14400, 09=19200, 0A=28800, 0C=57600, 0D=115200, 0E=128000,
|
||||
0F=256000'
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
baud_code:
|
||||
description: '波特率代码 (例如: 7 为 9600, 13 即 0x0D 为 115200)'
|
||||
type: integer
|
||||
required:
|
||||
- baud_code
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-change_device_id:
|
||||
goal:
|
||||
new_id: 1
|
||||
handles: {}
|
||||
schema:
|
||||
description: 修改传感器的 Modbus 从站地址
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
new_id:
|
||||
description: 新的从站地址 (1-254)
|
||||
maximum: 254
|
||||
minimum: 1
|
||||
type: integer
|
||||
required:
|
||||
- new_id
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-factory_reset:
|
||||
goal: {}
|
||||
handles: {}
|
||||
schema:
|
||||
description: 恢复出厂设置 (地址重置为 01)
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_level:
|
||||
goal: {}
|
||||
handles: {}
|
||||
schema:
|
||||
description: 直接读取当前液位及信号强度
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_threshold:
|
||||
goal:
|
||||
threshold: 300
|
||||
handles: {}
|
||||
schema:
|
||||
description: 设置液位判定阈值
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
threshold:
|
||||
type: integer
|
||||
required:
|
||||
- threshold
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_liquid:
|
||||
goal:
|
||||
target_state: true
|
||||
timeout: 120
|
||||
handles: {}
|
||||
schema:
|
||||
description: 实时检测电导率(RSSI)并等待用户指定的状态
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
target_state:
|
||||
default: true
|
||||
description: 目标状态 (True=有液, False=无液)
|
||||
type: boolean
|
||||
timeout:
|
||||
default: 120
|
||||
description: 超时时间 (秒)
|
||||
required:
|
||||
- target_state
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_level:
|
||||
goal:
|
||||
level: true
|
||||
timeout: 10
|
||||
handles: {}
|
||||
schema:
|
||||
description: 等待液位达到目标状态
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
level:
|
||||
type: boolean
|
||||
timeout:
|
||||
type: number
|
||||
required:
|
||||
- level
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.separator.xkc_sensor:XKCSensorDriver
|
||||
status_types:
|
||||
level: bool
|
||||
rssi: int
|
||||
type: python
|
||||
config_info: []
|
||||
description: XKC RS485 非接触式液位传感器 (Modbus RTU)
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: integer
|
||||
debug:
|
||||
default: false
|
||||
type: boolean
|
||||
device_id:
|
||||
default: 1
|
||||
type: integer
|
||||
port:
|
||||
type: string
|
||||
threshold:
|
||||
default: 300
|
||||
type: integer
|
||||
timeout:
|
||||
default: 3.0
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
version: 1.0.0
|
||||
File diff suppressed because it is too large
Load Diff
@@ -46,16 +46,3 @@ BIOYOND_PolymerStation_8StockCarrier:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_TipBox:
|
||||
category:
|
||||
- bottle_carriers
|
||||
- tip_racks
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox
|
||||
type: pylabrobot
|
||||
description: BIOYOND_PolymerStation_TipBox (4x6布局，24个枪头孔位)
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -82,3 +82,14 @@ BIOYOND_PolymerStation_Solution_Beaker:
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_TipBox:
|
||||
category:
|
||||
- bottles
|
||||
- tip_boxes
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
|
||||
699
unilabos/registry/utils.py
Normal file
699
unilabos/registry/utils.py
Normal file
@@ -0,0 +1,699 @@
|
||||
"""
|
||||
注册表工具函数
|
||||
|
||||
从 registry.py 中提取的纯工具函数，包括：
|
||||
- docstring 解析
|
||||
- 类型字符串 → JSON Schema 转换
|
||||
- AST 类型节点解析
|
||||
- TypedDict / Slot / Handle 等辅助检测
|
||||
"""
|
||||
|
||||
import inspect
|
||||
import logging
|
||||
import re
|
||||
import typing
|
||||
from typing import Any, Dict, List, Optional, Tuple, Union
|
||||
|
||||
from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
|
||||
|
||||
from unilabos.utils.cls_creator import import_class
|
||||
|
||||
_logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 异常
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class ROSMsgNotFound(Exception):
|
||||
pass
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Docstring 解析 (Google-style)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
|
||||
|
||||
|
||||
def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||
"""
|
||||
解析 Google-style docstring，提取描述和参数说明。
|
||||
|
||||
Returns:
|
||||
{"description": "短描述", "params": {"param1": "参数1描述", ...}}
|
||||
"""
|
||||
result: Dict[str, Any] = {"description": "", "params": {}}
|
||||
if not docstring:
|
||||
return result
|
||||
|
||||
lines = docstring.strip().splitlines()
|
||||
if not lines:
|
||||
return result
|
||||
|
||||
result["description"] = lines[0].strip()
|
||||
|
||||
in_args = False
|
||||
current_param: Optional[str] = None
|
||||
current_desc_parts: list = []
|
||||
|
||||
for line in lines[1:]:
|
||||
stripped = line.strip()
|
||||
section_match = _SECTION_RE.match(stripped)
|
||||
if section_match:
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
current_param = None
|
||||
current_desc_parts = []
|
||||
section_name = section_match.group(1).lower()
|
||||
in_args = section_name in ("args", "arguments", "parameters", "params")
|
||||
continue
|
||||
|
||||
if not in_args:
|
||||
continue
|
||||
|
||||
if ":" in stripped and not stripped.startswith(" "):
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
param_part, _, desc_part = stripped.partition(":")
|
||||
param_name = param_part.strip().split("(")[0].strip()
|
||||
current_param = param_name
|
||||
current_desc_parts = [desc_part.strip()]
|
||||
elif current_param is not None:
|
||||
aline = line
|
||||
if aline.startswith(" "):
|
||||
aline = aline[4:]
|
||||
elif aline.startswith("\t"):
|
||||
aline = aline[1:]
|
||||
current_desc_parts.append(aline.strip())
|
||||
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 类型常量
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
SIMPLE_TYPE_MAP = {
|
||||
"str": "string",
|
||||
"string": "string",
|
||||
"int": "integer",
|
||||
"integer": "integer",
|
||||
"float": "number",
|
||||
"number": "number",
|
||||
"bool": "boolean",
|
||||
"boolean": "boolean",
|
||||
"list": "array",
|
||||
"array": "array",
|
||||
"dict": "object",
|
||||
"object": "object",
|
||||
}
|
||||
|
||||
ARRAY_TYPES = {"list", "List", "tuple", "Tuple", "set", "Set", "Sequence", "Iterable"}
|
||||
OBJECT_TYPES = {"dict", "Dict", "Mapping"}
|
||||
WRAPPER_TYPES = {"Optional"}
|
||||
SLOT_TYPES = {"ResourceSlot", "DeviceSlot"}
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 简单类型映射
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def get_json_schema_type(type_str: str) -> str:
|
||||
"""简单类型名 -> JSON Schema type"""
|
||||
return SIMPLE_TYPE_MAP.get(type_str.lower(), "string")
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AST 类型解析
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def parse_type_node(type_str: str):
|
||||
"""将类型注解字符串解析为 AST 节点，失败返回 None。"""
|
||||
import ast as _ast
|
||||
|
||||
try:
|
||||
return _ast.parse(type_str.strip(), mode="eval").body
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def _collect_bitor(node, out: list):
|
||||
"""递归收集 X | Y | Z 的所有分支。"""
|
||||
import ast as _ast
|
||||
|
||||
if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
|
||||
_collect_bitor(node.left, out)
|
||||
_collect_bitor(node.right, out)
|
||||
else:
|
||||
out.append(node)
|
||||
|
||||
|
||||
def type_node_to_schema(
|
||||
node,
|
||||
import_map: Optional[Dict[str, str]] = None,
|
||||
) -> Dict[str, Any]:
|
||||
"""将 AST 类型注解节点递归转换为 JSON Schema dict。
|
||||
|
||||
当提供 import_map 时，对于未知类名会尝试通过 import_map 解析模块路径，
|
||||
然后 import 真实类型对象来生成 schema (支持 TypedDict 等)。
|
||||
|
||||
映射规则:
|
||||
- Optional[X] → X 的 schema (剥掉 Optional)
|
||||
- Union[X, Y] → {"anyOf": [X_schema, Y_schema]}
|
||||
- List[X] / Tuple[X] / Set[X] → {"type": "array", "items": X_schema}
|
||||
- Dict[K, V] → {"type": "object", "additionalProperties": V_schema}
|
||||
- Literal["a", "b"] → {"type": "string", "enum": ["a", "b"]}
|
||||
- TypedDict (via import_map) → {"type": "object", "properties": {...}}
|
||||
- 基本类型 str/int/... → {"type": "string"/"integer"/...}
|
||||
"""
|
||||
import ast as _ast
|
||||
|
||||
# --- Name 节点: str / int / dict / ResourceSlot / 自定义类 ---
|
||||
if isinstance(node, _ast.Name):
|
||||
name = node.id
|
||||
if name in SLOT_TYPES:
|
||||
return {"$slot": name}
|
||||
json_type = SIMPLE_TYPE_MAP.get(name.lower())
|
||||
if json_type:
|
||||
return {"type": json_type}
|
||||
# 尝试通过 import_map 解析并 import 真实类型
|
||||
if import_map and name in import_map:
|
||||
type_obj = resolve_type_object(import_map[name])
|
||||
if type_obj is not None:
|
||||
return type_to_schema(type_obj)
|
||||
# 未知类名 → 无法转 schema 的自定义类型默认当 object
|
||||
return {"type": "object"}
|
||||
|
||||
if isinstance(node, _ast.Constant):
|
||||
if isinstance(node.value, str):
|
||||
return {"type": SIMPLE_TYPE_MAP.get(node.value.lower(), "string")}
|
||||
return {"type": "string"}
|
||||
|
||||
# --- Subscript 节点: List[X], Dict[K,V], Optional[X], Literal[...] 等 ---
|
||||
if isinstance(node, _ast.Subscript):
|
||||
base_name = node.value.id if isinstance(node.value, _ast.Name) else ""
|
||||
|
||||
# Optional[X] → 剥掉
|
||||
if base_name in WRAPPER_TYPES:
|
||||
return type_node_to_schema(node.slice, import_map)
|
||||
|
||||
# Union[X, None] → 剥掉 None; Union[X, Y] → anyOf
|
||||
if base_name == "Union":
|
||||
elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
|
||||
non_none = [
|
||||
e
|
||||
for e in elts
|
||||
if not (isinstance(e, _ast.Constant) and e.value is None)
|
||||
and not (isinstance(e, _ast.Name) and e.id == "None")
|
||||
]
|
||||
if len(non_none) == 1:
|
||||
return type_node_to_schema(non_none[0], import_map)
|
||||
if len(non_none) > 1:
|
||||
return {"anyOf": [type_node_to_schema(e, import_map) for e in non_none]}
|
||||
return {"type": "string"}
|
||||
|
||||
# Literal["a", "b", 1] → enum
|
||||
if base_name == "Literal":
|
||||
elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
|
||||
values = []
|
||||
for e in elts:
|
||||
if isinstance(e, _ast.Constant):
|
||||
values.append(e.value)
|
||||
elif isinstance(e, _ast.Name):
|
||||
values.append(e.id)
|
||||
if values:
|
||||
return {"type": "string", "enum": values}
|
||||
return {"type": "string"}
|
||||
|
||||
# List / Tuple / Set → array
|
||||
if base_name in ARRAY_TYPES:
|
||||
if isinstance(node.slice, _ast.Tuple) and node.slice.elts:
|
||||
inner_node = node.slice.elts[0]
|
||||
else:
|
||||
inner_node = node.slice
|
||||
return {"type": "array", "items": type_node_to_schema(inner_node, import_map)}
|
||||
|
||||
# Dict → object
|
||||
if base_name in OBJECT_TYPES:
|
||||
schema: Dict[str, Any] = {"type": "object"}
|
||||
if isinstance(node.slice, _ast.Tuple) and len(node.slice.elts) >= 2:
|
||||
val_node = node.slice.elts[1]
|
||||
# Dict[str, Any] → 不加 additionalProperties (Any 等同于无约束)
|
||||
is_any = (isinstance(val_node, _ast.Name) and val_node.id == "Any") or (
|
||||
isinstance(val_node, _ast.Constant) and val_node.value is None
|
||||
)
|
||||
if not is_any:
|
||||
val_schema = type_node_to_schema(val_node, import_map)
|
||||
schema["additionalProperties"] = val_schema
|
||||
return schema
|
||||
|
||||
# --- BinOp: X | Y (Python 3.10+) → 当 Union 处理 ---
|
||||
if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
|
||||
parts: list = []
|
||||
_collect_bitor(node, parts)
|
||||
non_none = [
|
||||
p
|
||||
for p in parts
|
||||
if not (isinstance(p, _ast.Constant) and p.value is None)
|
||||
and not (isinstance(p, _ast.Name) and p.id == "None")
|
||||
]
|
||||
if len(non_none) == 1:
|
||||
return type_node_to_schema(non_none[0], import_map)
|
||||
if len(non_none) > 1:
|
||||
return {"anyOf": [type_node_to_schema(p, import_map) for p in non_none]}
|
||||
return {"type": "string"}
|
||||
|
||||
return {"type": "string"}
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 真实类型对象解析 (import-based)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def resolve_type_object(type_ref: str) -> Optional[Any]:
|
||||
"""通过 'module.path:ClassName' 格式的引用 import 并返回真实类型对象。
|
||||
|
||||
对于 typing 内置名 (str, int, List 等) 直接返回 None (由 AST 路径处理)。
|
||||
import 失败时静默返回 None。
|
||||
"""
|
||||
if ":" not in type_ref:
|
||||
return None
|
||||
try:
|
||||
return import_class(type_ref)
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def is_typed_dict_class(obj: Any) -> bool:
|
||||
"""检查对象是否是 TypedDict 类。"""
|
||||
if obj is None:
|
||||
return False
|
||||
try:
|
||||
from typing_extensions import is_typeddict
|
||||
|
||||
return is_typeddict(obj)
|
||||
except ImportError:
|
||||
if isinstance(obj, type):
|
||||
return hasattr(obj, "__required_keys__") and hasattr(obj, "__optional_keys__")
|
||||
return False
|
||||
|
||||
|
||||
def type_to_schema(tp: Any) -> Dict[str, Any]:
|
||||
"""将真实 typing 对象递归转换为 JSON Schema dict。
|
||||
|
||||
支持:
|
||||
- 基本类型: str, int, float, bool → {"type": "string"/"integer"/...}
|
||||
- typing 泛型: List[X], Dict[K,V], Optional[X], Union[X,Y], Literal[...]
|
||||
- TypedDict → {"type": "object", "properties": {...}, "required": [...]}
|
||||
- 自定义类 (ResourceSlot 等) → {"$slot": "..."} 或 {"type": "string"}
|
||||
"""
|
||||
origin = getattr(tp, "__origin__", None)
|
||||
args = getattr(tp, "__args__", None)
|
||||
|
||||
# --- None / NoneType ---
|
||||
if tp is type(None):
|
||||
return {"type": "null"}
|
||||
|
||||
# --- 基本类型 ---
|
||||
if tp is str:
|
||||
return {"type": "string"}
|
||||
if tp is int:
|
||||
return {"type": "integer"}
|
||||
if tp is float:
|
||||
return {"type": "number"}
|
||||
if tp is bool:
|
||||
return {"type": "boolean"}
|
||||
|
||||
# --- TypedDict ---
|
||||
if is_typed_dict_class(tp):
|
||||
try:
|
||||
return TypedDictMessageInstance.get_json_schema_from_typed_dict(tp)
|
||||
except Exception:
|
||||
return {"type": "object"}
|
||||
|
||||
# --- Literal ---
|
||||
if origin is typing.Literal:
|
||||
values = list(args) if args else []
|
||||
return {"type": "string", "enum": values}
|
||||
|
||||
# --- Optional / Union ---
|
||||
if origin is typing.Union:
|
||||
non_none = [a for a in (args or ()) if a is not type(None)]
|
||||
if len(non_none) == 1:
|
||||
return type_to_schema(non_none[0])
|
||||
if len(non_none) > 1:
|
||||
return {"anyOf": [type_to_schema(a) for a in non_none]}
|
||||
return {"type": "string"}
|
||||
|
||||
# --- List / Sequence / Set / Tuple / Iterable ---
|
||||
if origin in (list, tuple, set, frozenset) or (
|
||||
origin is not None
|
||||
and getattr(origin, "__name__", "") in ("Sequence", "Iterable", "Iterator", "MutableSequence")
|
||||
):
|
||||
if args:
|
||||
return {"type": "array", "items": type_to_schema(args[0])}
|
||||
return {"type": "array"}
|
||||
|
||||
# --- Dict / Mapping ---
|
||||
if origin in (dict,) or (origin is not None and getattr(origin, "__name__", "") in ("Mapping", "MutableMapping")):
|
||||
schema: Dict[str, Any] = {"type": "object"}
|
||||
if args and len(args) >= 2:
|
||||
schema["additionalProperties"] = type_to_schema(args[1])
|
||||
return schema
|
||||
|
||||
# --- Slot 类型 ---
|
||||
if isinstance(tp, type):
|
||||
name = tp.__name__
|
||||
if name in SLOT_TYPES:
|
||||
return {"$slot": name}
|
||||
|
||||
# --- 其他未知类型 fallback ---
|
||||
if isinstance(tp, type):
|
||||
return {"type": "object"}
|
||||
return {"type": "string"}
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Slot / Placeholder 检测
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def detect_slot_type(ptype) -> Tuple[Optional[str], bool]:
|
||||
"""检测参数类型是否为 ResourceSlot / DeviceSlot。
|
||||
|
||||
兼容多种格式:
|
||||
- runtime: "unilabos.registry.placeholder_type:ResourceSlot"
|
||||
- runtime tuple: ("list", "unilabos.registry.placeholder_type:ResourceSlot")
|
||||
- AST 裸名: "ResourceSlot", "List[ResourceSlot]", "Optional[ResourceSlot]"
|
||||
|
||||
Returns: (slot_name | None, is_list)
|
||||
"""
|
||||
ptype_str = str(ptype)
|
||||
|
||||
# 快速路径: 字符串里根本没有 Slot
|
||||
if "ResourceSlot" not in ptype_str and "DeviceSlot" not in ptype_str:
|
||||
return (None, False)
|
||||
|
||||
# runtime 格式: 完整模块路径
|
||||
if isinstance(ptype, str):
|
||||
if ptype.endswith(":ResourceSlot") or ptype == "ResourceSlot":
|
||||
return ("ResourceSlot", False)
|
||||
if ptype.endswith(":DeviceSlot") or ptype == "DeviceSlot":
|
||||
return ("DeviceSlot", False)
|
||||
# AST 复杂格式: List[ResourceSlot], Optional[ResourceSlot] 等
|
||||
if "[" in ptype:
|
||||
node = parse_type_node(ptype)
|
||||
if node is not None:
|
||||
schema = type_node_to_schema(node)
|
||||
# 直接是 slot
|
||||
if "$slot" in schema:
|
||||
return (schema["$slot"], False)
|
||||
# array 包裹 slot: {"type": "array", "items": {"$slot": "..."}}
|
||||
items = schema.get("items", {})
|
||||
if isinstance(items, dict) and "$slot" in items:
|
||||
return (items["$slot"], True)
|
||||
return (None, False)
|
||||
|
||||
# runtime tuple 格式
|
||||
if isinstance(ptype, tuple) and len(ptype) == 2:
|
||||
inner_str = str(ptype[1])
|
||||
if "ResourceSlot" in inner_str:
|
||||
return ("ResourceSlot", True)
|
||||
if "DeviceSlot" in inner_str:
|
||||
return ("DeviceSlot", True)
|
||||
|
||||
return (None, False)
|
||||
|
||||
|
||||
def detect_placeholder_keys(params: list) -> Dict[str, str]:
|
||||
"""Detect parameters that reference ResourceSlot or DeviceSlot."""
|
||||
result: Dict[str, str] = {}
|
||||
for p in params:
|
||||
ptype = p.get("type", "")
|
||||
if "ResourceSlot" in str(ptype):
|
||||
result[p["name"]] = "unilabos_resources"
|
||||
elif "DeviceSlot" in str(ptype):
|
||||
result[p["name"]] = "unilabos_devices"
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Handle 规范化
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
|
||||
"""Convert AST-parsed handle structures to the standard registry format."""
|
||||
if not handles_raw:
|
||||
return []
|
||||
|
||||
# handle_type → io_type 映射 (AST 内部类名 → YAML 标准字段值)
|
||||
_HANDLE_TYPE_TO_IO_TYPE = {
|
||||
"input": "target",
|
||||
"output": "source",
|
||||
"action_input": "action_target",
|
||||
"action_output": "action_source",
|
||||
}
|
||||
|
||||
result: List[Dict[str, Any]] = []
|
||||
for h in handles_raw:
|
||||
if isinstance(h, dict):
|
||||
call = h.get("_call", "")
|
||||
if "InputHandle" in call:
|
||||
handle_type = "input"
|
||||
elif "OutputHandle" in call:
|
||||
handle_type = "output"
|
||||
elif "ActionInputHandle" in call:
|
||||
handle_type = "action_input"
|
||||
elif "ActionOutputHandle" in call:
|
||||
handle_type = "action_output"
|
||||
else:
|
||||
handle_type = h.get("handle_type", "unknown")
|
||||
|
||||
io_type = _HANDLE_TYPE_TO_IO_TYPE.get(handle_type, handle_type)
|
||||
|
||||
entry: Dict[str, Any] = {
|
||||
"handler_key": h.get("key", ""),
|
||||
"data_type": h.get("data_type", ""),
|
||||
"io_type": io_type,
|
||||
}
|
||||
side = h.get("side")
|
||||
if side:
|
||||
if isinstance(side, str) and "." in side:
|
||||
val = side.rsplit(".", 1)[-1]
|
||||
side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
|
||||
entry["side"] = side
|
||||
label = h.get("label")
|
||||
if label:
|
||||
entry["label"] = label
|
||||
data_key = h.get("data_key")
|
||||
if data_key:
|
||||
entry["data_key"] = data_key
|
||||
data_source = h.get("data_source")
|
||||
if data_source:
|
||||
if isinstance(data_source, str) and "." in data_source:
|
||||
val = data_source.rsplit(".", 1)[-1]
|
||||
data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
|
||||
entry["data_source"] = data_source
|
||||
description = h.get("description")
|
||||
if description:
|
||||
entry["description"] = description
|
||||
|
||||
result.append(entry)
|
||||
return result
|
||||
|
||||
|
||||
def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
|
||||
"""Convert AST-parsed action handle list to {"input": [...], "output": [...]}.
|
||||
|
||||
Mirrors the runtime behavior of decorators._action_handles_to_dict:
|
||||
- ActionInputHandle => grouped under "input"
|
||||
- ActionOutputHandle => grouped under "output"
|
||||
Field mapping: key -> handler_key (matches Pydantic serialization_alias).
|
||||
"""
|
||||
if not handles_raw or not isinstance(handles_raw, list):
|
||||
return {}
|
||||
|
||||
input_list: List[Dict[str, Any]] = []
|
||||
output_list: List[Dict[str, Any]] = []
|
||||
|
||||
for h in handles_raw:
|
||||
if not isinstance(h, dict):
|
||||
continue
|
||||
call = h.get("_call", "")
|
||||
is_input = "ActionInputHandle" in call or "InputHandle" in call
|
||||
is_output = "ActionOutputHandle" in call or "OutputHandle" in call
|
||||
|
||||
entry: Dict[str, Any] = {
|
||||
"handler_key": h.get("key", ""),
|
||||
"data_type": h.get("data_type", ""),
|
||||
"label": h.get("label", ""),
|
||||
}
|
||||
for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
|
||||
val = h.get(opt_key)
|
||||
if val is not None:
|
||||
# Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
|
||||
# data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
|
||||
if (
|
||||
isinstance(val, str)
|
||||
and "." in val
|
||||
and opt_key not in ("io_type", "data_key")
|
||||
):
|
||||
val = val.rsplit(".", 1)[-1].lower()
|
||||
entry[opt_key] = val
|
||||
|
||||
# io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)
|
||||
if "io_type" not in entry and is_input:
|
||||
entry["io_type"] = "source"
|
||||
|
||||
if is_input:
|
||||
input_list.append(entry)
|
||||
elif is_output:
|
||||
output_list.append(entry)
|
||||
|
||||
result: Dict[str, Any] = {}
|
||||
if input_list:
|
||||
result["input"] = input_list
|
||||
# Always include output (empty list when no outputs) to match YAML
|
||||
result["output"] = output_list
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Schema 辅助
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def wrap_action_schema(
|
||||
goal_schema: Dict[str, Any],
|
||||
action_name: str,
|
||||
description: str = "",
|
||||
result_schema: Optional[Dict[str, Any]] = None,
|
||||
feedback_schema: Optional[Dict[str, Any]] = None,
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将 goal 参数 schema 包装为标准的 action schema 格式:
|
||||
{ "properties": { "goal": ..., "feedback": ..., "result": ... }, ... }
|
||||
"""
|
||||
# 去掉 auto- 前缀用于 title/description，与 YAML 路径保持一致
|
||||
display_name = action_name.removeprefix("auto-")
|
||||
return {
|
||||
"title": f"{display_name}参数",
|
||||
"description": description or f"{display_name}的参数schema",
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"goal": goal_schema,
|
||||
"feedback": feedback_schema or {},
|
||||
"result": result_schema or {},
|
||||
},
|
||||
"required": ["goal"],
|
||||
}
|
||||
|
||||
|
||||
def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
|
||||
"""保留之前 schema 中的 field descriptions"""
|
||||
if not prev_schema or not new_schema:
|
||||
return
|
||||
prev_props = prev_schema.get("properties", {})
|
||||
new_props = new_schema.get("properties", {})
|
||||
for field_name, prev_field in prev_props.items():
|
||||
if field_name in new_props and "title" in prev_field:
|
||||
new_props[field_name].setdefault("title", prev_field["title"])
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 深度对比
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def _short(val, limit=120):
|
||||
"""截断过长的值用于日志显示。"""
|
||||
s = repr(val)
|
||||
return s if len(s) <= limit else s[:limit] + "..."
|
||||
|
||||
|
||||
def deep_diff(old, new, path="", max_depth=10) -> list:
|
||||
"""递归对比两个对象，返回所有差异的描述列表。"""
|
||||
diffs = []
|
||||
if max_depth <= 0:
|
||||
if old != new:
|
||||
diffs.append(f"{path}: (达到最大深度) OLD≠NEW")
|
||||
return diffs
|
||||
|
||||
if type(old) != type(new):
|
||||
diffs.append(f"{path}: 类型不同 OLD={type(old).__name__}({_short(old)}) NEW={type(new).__name__}({_short(new)})")
|
||||
return diffs
|
||||
|
||||
if isinstance(old, dict):
|
||||
old_keys = set(old.keys())
|
||||
new_keys = set(new.keys())
|
||||
for k in sorted(new_keys - old_keys):
|
||||
diffs.append(f"{path}.{k}: 新增字段 (AST有, YAML无) = {_short(new[k])}")
|
||||
for k in sorted(old_keys - new_keys):
|
||||
diffs.append(f"{path}.{k}: 缺失字段 (YAML有, AST无) = {_short(old[k])}")
|
||||
for k in sorted(old_keys & new_keys):
|
||||
diffs.extend(deep_diff(old[k], new[k], f"{path}.{k}", max_depth - 1))
|
||||
elif isinstance(old, (list, tuple)):
|
||||
if len(old) != len(new):
|
||||
diffs.append(f"{path}: 列表长度不同 OLD={len(old)} NEW={len(new)}")
|
||||
for i in range(min(len(old), len(new))):
|
||||
diffs.extend(deep_diff(old[i], new[i], f"{path}[{i}]", max_depth - 1))
|
||||
if len(new) > len(old):
|
||||
for i in range(len(old), len(new)):
|
||||
diffs.append(f"{path}[{i}]: 新增元素 = {_short(new[i])}")
|
||||
elif len(old) > len(new):
|
||||
for i in range(len(new), len(old)):
|
||||
diffs.append(f"{path}[{i}]: 缺失元素 = {_short(old[i])}")
|
||||
else:
|
||||
if old != new:
|
||||
diffs.append(f"{path}: OLD={_short(old)} NEW={_short(new)}")
|
||||
return diffs
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# MRO 方法参数解析
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def resolve_method_params_via_import(module_str: str, method_name: str) -> Dict[str, str]:
|
||||
"""当 AST 方法参数为空 (如 *args, **kwargs) 时, import class 并通过 MRO 获取真实方法参数.
|
||||
|
||||
返回 identity mapping {param_name: param_name}.
|
||||
"""
|
||||
if not module_str or ":" not in module_str:
|
||||
return {}
|
||||
try:
|
||||
cls = import_class(module_str)
|
||||
except Exception as e:
|
||||
_logger.debug(f"[AST] resolve_method_params_via_import: import_class('{module_str}') failed: {e}")
|
||||
return {}
|
||||
|
||||
try:
|
||||
for base_cls in cls.__mro__:
|
||||
if method_name not in base_cls.__dict__:
|
||||
continue
|
||||
method = base_cls.__dict__[method_name]
|
||||
actual = getattr(method, "__wrapped__", method)
|
||||
if isinstance(actual, (staticmethod, classmethod)):
|
||||
actual = actual.__func__
|
||||
if not callable(actual):
|
||||
continue
|
||||
sig = inspect.signature(actual, follow_wrapped=True)
|
||||
params = [
|
||||
p.name for p in sig.parameters.values()
|
||||
if p.name not in ("self", "cls")
|
||||
and p.kind not in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD)
|
||||
]
|
||||
if params:
|
||||
return {p: p for p in params}
|
||||
except Exception as e:
|
||||
_logger.debug(f"[AST] resolve_method_params_via_import: MRO walk for '{method_name}' failed: {e}")
|
||||
return {}
|
||||
@@ -1,4 +1,4 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
@@ -9,28 +9,6 @@ from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Reagent_Bottle,
|
||||
BIOYOND_PolymerStation_Flask,
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
|
||||
"""创建单个枪头资源
|
||||
|
||||
Args:
|
||||
name: 枪头名称
|
||||
size_x: 枪头宽度 (mm)
|
||||
size_y: 枪头长度 (mm)
|
||||
size_z: 枪头高度 (mm)
|
||||
|
||||
Returns:
|
||||
Container: 枪头容器
|
||||
"""
|
||||
return Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip",
|
||||
model="BIOYOND_PolymerStation_Tip",
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
|
||||
|
||||
|
||||
@@ -344,88 +322,3 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_TipBox(
|
||||
name: str,
|
||||
size_x: float = 127.76, # 枪头盒宽度
|
||||
size_y: float = 85.48, # 枪头盒长度
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
) -> BottleCarrier:
|
||||
"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
size_x: 枪头盒宽度 (mm)
|
||||
size_y: 枪头盒长度 (mm)
|
||||
size_z: 枪头盒高度 (mm)
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
BottleCarrier: 包含24个枪头孔位的枪头盒载架
|
||||
|
||||
布局说明:
|
||||
- 4行×6列 (A-D, 1-6)
|
||||
- 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
|
||||
- 起始位置居中对齐
|
||||
- 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
|
||||
"""
|
||||
# 枪头孔位参数
|
||||
num_cols = 6 # 1-6 (x方向)
|
||||
num_rows = 4 # A-D (y方向)
|
||||
tip_diameter = 8.0 # 枪头孔位直径
|
||||
tip_spacing_x = 18.0 # 列间距 (增加到18mm，更宽松)
|
||||
tip_spacing_y = 18.0 # 行间距 (增加到18mm，更宽松)
|
||||
|
||||
# 计算起始位置 (居中对齐)
|
||||
total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
|
||||
total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
|
||||
start_x = (size_x - total_width) / 2
|
||||
start_y = (size_y - total_height) / 2
|
||||
|
||||
# 使用 create_ordered_items_2d 创建孔位
|
||||
# create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
|
||||
# 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=num_cols,
|
||||
num_items_y=num_rows,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=tip_spacing_x,
|
||||
item_dy=tip_spacing_y,
|
||||
size_x=tip_diameter,
|
||||
size_y=tip_diameter,
|
||||
size_z=50.0, # 枪头深度
|
||||
)
|
||||
|
||||
# 更新 sites 中每个 ResourceHolder 的名称
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
# 创建枪头盒载架
|
||||
# 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
|
||||
tip_box = BottleCarrier(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
sites=sites, # 直接使用数字索引的 sites
|
||||
model="BIOYOND_PolymerStation_TipBox",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = num_cols
|
||||
tip_box.num_items_y = num_rows
|
||||
tip_box.num_items_z = 1
|
||||
|
||||
# ⭐ 枪头盒不需要放入子资源
|
||||
# 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
|
||||
# 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
|
||||
# 这样前端会显示24个空槽位，可以用于放置枪头
|
||||
|
||||
return tip_box
|
||||
|
||||
@@ -116,9 +116,7 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
):
|
||||
"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
|
||||
|
||||
注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
|
||||
"""创建4×6枪头盒 (24个枪头)
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
@@ -128,11 +126,55 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
BottleCarrier: 包含24个枪头孔位的枪头盒载架
|
||||
TipBoxCarrier: 包含24个枪头孔位的枪头盒
|
||||
"""
|
||||
# 重定向到 bottle_carriers.py 中的实现
|
||||
from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier
|
||||
return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode)
|
||||
from pylabrobot.resources import Container, Coordinate
|
||||
|
||||
# 创建枪头盒容器
|
||||
tip_box = Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip_rack",
|
||||
model="BIOYOND_PolymerStation_TipBox_4x6",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = 6 # 6列
|
||||
tip_box.num_items_y = 4 # 4行
|
||||
|
||||
# 创建24个枪头孔位 (4行×6列)
|
||||
# 假设孔位间距为 9mm
|
||||
tip_spacing_x = 9.0 # 列间距
|
||||
tip_spacing_y = 9.0 # 行间距
|
||||
start_x = 14.38 # 第一个孔位的x偏移
|
||||
start_y = 11.24 # 第一个孔位的y偏移
|
||||
|
||||
for row in range(4): # A, B, C, D
|
||||
for col in range(6): # 1-6
|
||||
spot_name = f"{chr(65 + row)}{col + 1}" # A1, A2, ..., D6
|
||||
x = start_x + col * tip_spacing_x
|
||||
y = start_y + row * tip_spacing_y
|
||||
|
||||
# 创建枪头孔位容器
|
||||
tip_spot = Container(
|
||||
name=spot_name,
|
||||
size_x=8.0, # 单个枪头孔位大小
|
||||
size_y=8.0,
|
||||
size_z=size_z - 10.0, # 略低于盒子高度
|
||||
category="tip_spot",
|
||||
)
|
||||
|
||||
# 添加到枪头盒
|
||||
tip_box.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x=x, y=y, z=0)
|
||||
)
|
||||
|
||||
return tip_box
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Flask(
|
||||
|
||||
@@ -12,9 +12,11 @@ class RegularContainer(Container):
|
||||
kwargs["size_y"] = 0
|
||||
if "size_z" not in kwargs:
|
||||
kwargs["size_z"] = 0
|
||||
if "category" not in kwargs:
|
||||
kwargs["category"] = "container"
|
||||
|
||||
self.kwargs = kwargs
|
||||
super().__init__(*args, category="container", **kwargs)
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
def load_state(self, state: Dict[str, Any]):
|
||||
super().load_state(state)
|
||||
|
||||
@@ -76,7 +76,7 @@ def canonicalize_nodes_data(
|
||||
if sample_id:
|
||||
logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
|
||||
for k in list(node.keys()):
|
||||
if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra"]:
|
||||
if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra", "machine_name"]:
|
||||
v = node.pop(k)
|
||||
node["config"][k] = v
|
||||
if outer_host_node_id is not None:
|
||||
@@ -288,6 +288,15 @@ def read_node_link_json(
|
||||
physical_setup_graph = nx.node_link_graph(graph_data, edges="links", multigraph=False)
|
||||
handle_communications(physical_setup_graph)
|
||||
|
||||
# Stamp machine_name on device trees only (resources are cloud-managed)
|
||||
local_machine = BasicConfig.machine_name or "本地"
|
||||
for tree in resource_tree_set.trees:
|
||||
if tree.root_node.res_content.type != "device":
|
||||
continue
|
||||
for node in tree.get_all_nodes():
|
||||
if not node.res_content.machine_name:
|
||||
node.res_content.machine_name = local_machine
|
||||
|
||||
return physical_setup_graph, resource_tree_set, standardized_links
|
||||
|
||||
|
||||
@@ -372,6 +381,15 @@ def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dic
|
||||
physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
|
||||
handle_communications(physical_setup_graph)
|
||||
|
||||
# Stamp machine_name on device trees only (resources are cloud-managed)
|
||||
local_machine = BasicConfig.machine_name or "本地"
|
||||
for tree in resource_tree_set.trees:
|
||||
if tree.root_node.res_content.type != "device":
|
||||
continue
|
||||
for node in tree.get_all_nodes():
|
||||
if not node.res_content.machine_name:
|
||||
node.res_content.machine_name = local_machine
|
||||
|
||||
return physical_setup_graph, resource_tree_set, standardized_links
|
||||
|
||||
|
||||
@@ -779,12 +797,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
bottle = plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
|
||||
)
|
||||
# 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well）
|
||||
# ResourceHolder 等不支持液体追踪的容器跳过
|
||||
if hasattr(bottle, "tracker"):
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
logger.debug(f" └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
|
||||
else:
|
||||
@@ -793,11 +808,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
# 只对有 capacity 属性的容器（液体容器）处理液体追踪
|
||||
if hasattr(plr_material, 'capacity'):
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
# 确保 bottle 有 tracker 属性才设置液体信息
|
||||
if hasattr(bottle, "tracker"):
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
|
||||
plr_materials.append(plr_material)
|
||||
|
||||
@@ -826,29 +839,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
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')})")
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
# 必须在warehouse映射之前先获取坐标，以便后续调整
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
|
||||
# 根据列号(y)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
# 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
if wh_name == "堆栈1":
|
||||
if 1 <= y <= 4:
|
||||
x_val = loc.get("x", 1)
|
||||
if 1 <= x_val <= 4:
|
||||
wh_name = "堆栈1左"
|
||||
elif 5 <= y <= 8:
|
||||
elif 5 <= x_val <= 8:
|
||||
wh_name = "堆栈1右"
|
||||
y = y - 4 # 调整列号: 5-8映射到1-4
|
||||
else:
|
||||
logger.warning(f"物料 {material['name']} 的列号 y={y} 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
|
||||
|
||||
# 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":
|
||||
if y == 1:
|
||||
y_val = loc.get("y", 1)
|
||||
if y_val == 1:
|
||||
wh_name = "站内Tip盒堆栈(右)"
|
||||
elif y in [2, 3]:
|
||||
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
|
||||
|
||||
@@ -856,6 +864,15 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
warehouse = deck.warehouses[wh_name]
|
||||
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
|
||||
if wh_name == "堆栈1右":
|
||||
y = y - 4 # 将5-8映射到1-4
|
||||
|
||||
# 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
|
||||
# 这些warehouse使用 vertical-col-major 布局
|
||||
if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
|
||||
|
||||
@@ -18,9 +18,3 @@ def register():
|
||||
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
|
||||
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
|
||||
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.resources.bioyond.decks import (
|
||||
BIOYOND_PolymerReactionStation_Deck,
|
||||
BIOYOND_PolymerPreparationStation_Deck,
|
||||
BIOYOND_YB_Deck,
|
||||
)
|
||||
|
||||
@@ -120,6 +120,7 @@ class ResourceDictType(TypedDict):
|
||||
config: Dict[str, Any]
|
||||
data: Dict[str, Any]
|
||||
extra: Dict[str, Any]
|
||||
machine_name: str
|
||||
|
||||
|
||||
# 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
|
||||
@@ -141,6 +142,7 @@ class ResourceDict(BaseModel):
|
||||
config: Dict[str, Any] = Field(description="Resource configuration")
|
||||
data: Dict[str, Any] = Field(description="Resource data, eg: container liquid data")
|
||||
extra: Dict[str, Any] = Field(description="Extra data, eg: slot index")
|
||||
machine_name: str = Field(description="Machine this resource belongs to", default="")
|
||||
|
||||
@field_serializer("parent_uuid")
|
||||
def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):
|
||||
@@ -196,22 +198,30 @@ class ResourceDictInstance(object):
|
||||
self.typ = "dict"
|
||||
|
||||
@classmethod
|
||||
def get_resource_instance_from_dict(cls, content: Dict[str, Any]) -> "ResourceDictInstance":
|
||||
def get_resource_instance_from_dict(cls, content: ResourceDictType) -> "ResourceDictInstance":
|
||||
"""从字典创建资源实例"""
|
||||
if "id" not in content:
|
||||
content["id"] = content["name"]
|
||||
if "uuid" not in content:
|
||||
content["uuid"] = str(uuid.uuid4())
|
||||
if "description" in content and content["description"] is None:
|
||||
# noinspection PyTypedDict
|
||||
del content["description"]
|
||||
if "model" in content and content["model"] is None:
|
||||
# noinspection PyTypedDict
|
||||
del content["model"]
|
||||
# noinspection PyTypedDict
|
||||
if "schema" in content and content["schema"] is None:
|
||||
# noinspection PyTypedDict
|
||||
del content["schema"]
|
||||
# noinspection PyTypedDict
|
||||
if "x" in content.get("position", {}):
|
||||
# 说明是老版本的position格式，转换成新的
|
||||
# noinspection PyTypedDict
|
||||
content["position"] = {"position": content["position"]}
|
||||
# noinspection PyTypedDict
|
||||
if not content.get("class"):
|
||||
# noinspection PyTypedDict
|
||||
content["class"] = ""
|
||||
if not content.get("config"): # todo: 后续从后端保证字段非空
|
||||
content["config"] = {}
|
||||
@@ -222,16 +232,18 @@ class ResourceDictInstance(object):
|
||||
if "position" in content:
|
||||
pose = content.get("pose", {})
|
||||
if "position" not in pose:
|
||||
# noinspection PyTypedDict
|
||||
if "position" in content["position"]:
|
||||
# noinspection PyTypedDict
|
||||
pose["position"] = content["position"]["position"]
|
||||
else:
|
||||
pose["position"] = {"x": 0, "y": 0, "z": 0}
|
||||
pose["position"] = ResourceDictPositionObjectType(x=0, y=0, z=0)
|
||||
if "size" not in pose:
|
||||
pose["size"] = {
|
||||
"width": content["config"].get("size_x", 0),
|
||||
"height": content["config"].get("size_y", 0),
|
||||
"depth": content["config"].get("size_z", 0),
|
||||
}
|
||||
pose["size"] = ResourceDictPositionSizeType(
|
||||
width= content["config"].get("size_x", 0),
|
||||
height= content["config"].get("size_y", 0),
|
||||
depth= content["config"].get("size_z", 0),
|
||||
)
|
||||
content["pose"] = pose
|
||||
try:
|
||||
res_dict = ResourceDict.model_validate(content)
|
||||
@@ -399,7 +411,7 @@ class ResourceTreeSet(object):
|
||||
)
|
||||
|
||||
@classmethod
|
||||
def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet":
|
||||
def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False, old_size=False) -> "ResourceTreeSet":
|
||||
"""
|
||||
从plr资源创建ResourceTreeSet
|
||||
"""
|
||||
@@ -411,7 +423,6 @@ class ResourceTreeSet(object):
|
||||
"deck": "deck",
|
||||
"tip_rack": "tip_rack",
|
||||
"tip_spot": "tip_spot",
|
||||
"tip": "tip", # 添加 tip 类型支持
|
||||
"tube": "tube",
|
||||
"bottle_carrier": "bottle_carrier",
|
||||
"material_hole": "material_hole",
|
||||
@@ -423,13 +434,20 @@ class ResourceTreeSet(object):
|
||||
"resource_group": "resource_group",
|
||||
"trash": "trash",
|
||||
"plate_adapter": "plate_adapter",
|
||||
"consumable": "consumable",
|
||||
"tool": "tool",
|
||||
"condenser": "condenser",
|
||||
"crucible": "crucible",
|
||||
"reagent_bottle": "reagent_bottle",
|
||||
"flask": "flask",
|
||||
"beaker": "beaker",
|
||||
}
|
||||
if source in replace_info:
|
||||
return replace_info[source]
|
||||
elif source is None:
|
||||
return ""
|
||||
else:
|
||||
print("转换pylabrobot的时候，出现未知类型", source)
|
||||
logger.trace(f"转换pylabrobot的时候，出现未知类型 {source}")
|
||||
return source
|
||||
|
||||
def build_uuid_mapping(res: "PLRResource", uuid_list: list, parent_uuid: Optional[str] = None):
|
||||
@@ -484,7 +502,7 @@ class ResourceTreeSet(object):
|
||||
k: v
|
||||
for k, v in d.items()
|
||||
if k
|
||||
not in [
|
||||
not in ([
|
||||
"name",
|
||||
"children",
|
||||
"parent_name",
|
||||
@@ -495,7 +513,15 @@ class ResourceTreeSet(object):
|
||||
"size_z",
|
||||
"cross_section_type",
|
||||
"bottom_type",
|
||||
]
|
||||
] if not old_size else [
|
||||
"name",
|
||||
"children",
|
||||
"parent_name",
|
||||
"location",
|
||||
"rotation",
|
||||
"cross_section_type",
|
||||
"bottom_type",
|
||||
])
|
||||
},
|
||||
"data": states[d["name"]],
|
||||
"extra": extra,
|
||||
@@ -794,7 +820,8 @@ class ResourceTreeSet(object):
|
||||
if remote_root_type == "device":
|
||||
# 情况1: 一级是 device
|
||||
if remote_root_id not in local_device_map:
|
||||
logger.warning(f"Device '{remote_root_id}' 在本地不存在，跳过该 device 下的物料同步")
|
||||
if remote_root_id != "host_node":
|
||||
logger.warning(f"Device '{remote_root_id}' 在本地不存在，跳过该 device 下的物料同步")
|
||||
continue
|
||||
|
||||
local_device = local_device_map[remote_root_id]
|
||||
@@ -884,7 +911,7 @@ class ResourceTreeSet(object):
|
||||
|
||||
return self
|
||||
|
||||
def dump(self) -> List[List[Dict[str, Any]]]:
|
||||
def dump(self, old_position=False) -> List[List[Dict[str, Any]]]:
|
||||
"""
|
||||
将 ResourceTreeSet 序列化为嵌套列表格式
|
||||
|
||||
@@ -900,6 +927,10 @@ class ResourceTreeSet(object):
|
||||
# 获取树的所有节点并序列化
|
||||
tree_nodes = [node.res_content.model_dump(by_alias=True) for node in tree.get_all_nodes()]
|
||||
result.append(tree_nodes)
|
||||
if old_position:
|
||||
for r in result:
|
||||
for rr in r:
|
||||
rr["position"] = rr["pose"]["position"]
|
||||
return result
|
||||
|
||||
@classmethod
|
||||
|
||||
@@ -11,6 +11,7 @@ from io import StringIO
|
||||
from typing import Iterable, Any, Dict, Type, TypeVar, Union
|
||||
|
||||
import yaml
|
||||
from msgcenterpy.instances.ros2_instance import ROS2MessageInstance
|
||||
from pydantic import BaseModel
|
||||
from dataclasses import asdict, is_dataclass
|
||||
|
||||
@@ -727,46 +728,9 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
|
||||
Returns:
|
||||
对应的 JSON Schema 定义
|
||||
"""
|
||||
schema = {"type": "object", "properties": {}, "required": []}
|
||||
|
||||
# 优先使用字段名作为标题，否则使用类名
|
||||
schema = ROS2MessageInstance(msg_class()).get_json_schema()
|
||||
schema["title"] = field_name
|
||||
|
||||
# 获取消息的字段和字段类型
|
||||
try:
|
||||
for ind, slot_info in enumerate(msg_class._fields_and_field_types.items()):
|
||||
slot_name, slot_type = slot_info
|
||||
type_info = msg_class.SLOT_TYPES[ind]
|
||||
field_schema = ros_field_type_to_json_schema(type_info, slot_name)
|
||||
schema["properties"][slot_name] = field_schema
|
||||
schema["required"].append(slot_name)
|
||||
# if hasattr(msg_class, 'get_fields_and_field_types'):
|
||||
# fields_and_types = msg_class.get_fields_and_field_types()
|
||||
#
|
||||
# for field_name, field_type in fields_and_types.items():
|
||||
# # 将 ROS 字段类型转换为 JSON Schema
|
||||
# field_schema = ros_field_type_to_json_schema(field_type)
|
||||
#
|
||||
# schema['properties'][field_name] = field_schema
|
||||
# schema['required'].append(field_name)
|
||||
# elif hasattr(msg_class, '__slots__') and hasattr(msg_class, '_fields_and_field_types'):
|
||||
# # 直接从实例属性获取
|
||||
# for field_name in msg_class.__slots__:
|
||||
# # 移除前导下划线（如果有）
|
||||
# clean_name = field_name[1:] if field_name.startswith('_') else field_name
|
||||
#
|
||||
# # 从 _fields_and_field_types 获取类型
|
||||
# if clean_name in msg_class._fields_and_field_types:
|
||||
# field_type = msg_class._fields_and_field_types[clean_name]
|
||||
# field_schema = ros_field_type_to_json_schema(field_type)
|
||||
#
|
||||
# schema['properties'][clean_name] = field_schema
|
||||
# schema['required'].append(clean_name)
|
||||
except Exception as e:
|
||||
# 如果获取字段类型失败，添加错误信息
|
||||
schema["description"] = f"解析消息字段时出错: {str(e)}"
|
||||
logger.error(f"解析 {msg_class.__name__} 消息字段失败: {str(e)}")
|
||||
|
||||
schema.pop("description")
|
||||
return schema
|
||||
|
||||
|
||||
|
||||
@@ -34,7 +34,8 @@ from unilabos_msgs.action import SendCmd
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.utils.decorator import get_topic_config, get_all_subscriptions
|
||||
from unilabos.registry.decorators import get_topic_config
|
||||
from unilabos.utils.decorator import get_all_subscriptions
|
||||
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.graphio import (
|
||||
@@ -57,6 +58,7 @@ from unilabos_msgs.msg import Resource # type: ignore
|
||||
|
||||
from unilabos.resources.resource_tracker import (
|
||||
DeviceNodeResourceTracker,
|
||||
ResourceDictType,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
ResourceDictInstance,
|
||||
@@ -194,9 +196,9 @@ class PropertyPublisher:
|
||||
self._value = None
|
||||
try:
|
||||
self.publisher_ = node.create_publisher(msg_type, f"{name}", qos)
|
||||
except AttributeError as ex:
|
||||
except Exception as e:
|
||||
self.node.lab_logger().error(
|
||||
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"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {e}"
|
||||
)
|
||||
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
||||
self.__loop = ROS2DeviceNode.get_asyncio_loop()
|
||||
@@ -569,9 +571,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
future.add_done_callback(done_cb)
|
||||
except ImportError:
|
||||
self.lab_logger().error("Host请求添加物料时，本环境并不存在pylabrobot")
|
||||
res.response = get_result_info_str(traceback.format_exc(), False, {})
|
||||
except Exception as e:
|
||||
self.lab_logger().error("Host请求添加物料时出错")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
res.response = get_result_info_str(traceback.format_exc(), False, {})
|
||||
return res
|
||||
|
||||
# noinspection PyTypeChecker
|
||||
@@ -594,6 +598,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self.s2c_resource_tree, # type: ignore
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"s2c_device_manage": self.create_service(
|
||||
SerialCommand,
|
||||
f"/srv{self.namespace}/s2c_device_manage",
|
||||
self.s2c_device_manage, # type: ignore
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
}
|
||||
|
||||
# 向全局在线设备注册表添加设备信息
|
||||
@@ -1062,6 +1072,48 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
return res
|
||||
|
||||
async def s2c_device_manage(self, req: SerialCommand_Request, res: SerialCommand_Response):
|
||||
"""Handle add/remove device requests from HostNode via SerialCommand."""
|
||||
try:
|
||||
cmd = json.loads(req.command)
|
||||
action = cmd.get("action", "")
|
||||
data = cmd.get("data", {})
|
||||
device_id = data.get("device_id", "")
|
||||
|
||||
if not device_id:
|
||||
res.response = json.dumps({"success": False, "error": "device_id required"})
|
||||
return res
|
||||
|
||||
if action == "add":
|
||||
result = self.create_device(device_id, data)
|
||||
elif action == "remove":
|
||||
result = self.destroy_device(device_id)
|
||||
else:
|
||||
result = {"success": False, "error": f"Unknown action: {action}"}
|
||||
|
||||
res.response = json.dumps(result, ensure_ascii=False)
|
||||
|
||||
except NotImplementedError as e:
|
||||
self.lab_logger().warning(f"[DeviceManage] {e}")
|
||||
res.response = json.dumps({"success": False, "error": str(e)})
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[DeviceManage] Error: {e}")
|
||||
res.response = json.dumps({"success": False, "error": str(e)})
|
||||
|
||||
return res
|
||||
|
||||
def create_device(self, device_id: str, config: "ResourceDictType") -> dict:
|
||||
"""Create a sub-device dynamically. Override in HostNode / WorkstationNode."""
|
||||
raise NotImplementedError(
|
||||
f"{self.__class__.__name__} does not support dynamic device creation"
|
||||
)
|
||||
|
||||
def destroy_device(self, device_id: str) -> dict:
|
||||
"""Destroy a sub-device dynamically. Override in HostNode / WorkstationNode."""
|
||||
raise NotImplementedError(
|
||||
f"{self.__class__.__name__} does not support dynamic device removal"
|
||||
)
|
||||
|
||||
async def transfer_resource_to_another(
|
||||
self,
|
||||
plr_resources: List["ResourcePLR"],
|
||||
@@ -1204,22 +1256,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
return self._lab_logger
|
||||
|
||||
def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
|
||||
"""创建ROS发布者"""
|
||||
# 检测装饰器配置（支持 get_{attr_name} 方法和 @property）
|
||||
"""创建ROS发布者，仅当方法/属性有 @topic_config 装饰器时才创建。"""
|
||||
# 检测 @topic_config 装饰器配置
|
||||
topic_config = {}
|
||||
driver_class = type(self.driver_instance)
|
||||
|
||||
# 优先检测 get_{attr_name} 方法
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
getter_method = getattr(self.driver_instance, f"get_{attr_name}")
|
||||
topic_config = get_topic_config(getter_method)
|
||||
# 区分 @property 和普通方法两种情况
|
||||
is_prop = hasattr(driver_class, attr_name) and isinstance(
|
||||
getattr(driver_class, attr_name), property
|
||||
)
|
||||
|
||||
# 如果没有配置，检测 @property 装饰的属性
|
||||
if is_prop:
|
||||
# @property: 检测 fget 上的 @topic_config
|
||||
class_attr = getattr(driver_class, attr_name)
|
||||
if class_attr.fget is not None:
|
||||
topic_config = get_topic_config(class_attr.fget)
|
||||
else:
|
||||
# 普通方法: 直接检测 attr_name 方法上的 @topic_config
|
||||
if hasattr(self.driver_instance, attr_name):
|
||||
method = getattr(self.driver_instance, attr_name)
|
||||
if callable(method):
|
||||
topic_config = get_topic_config(method)
|
||||
|
||||
# 没有 @topic_config 装饰器则跳过发布
|
||||
if not topic_config:
|
||||
driver_class = type(self.driver_instance)
|
||||
if hasattr(driver_class, attr_name):
|
||||
class_attr = getattr(driver_class, attr_name)
|
||||
if isinstance(class_attr, property) and class_attr.fget is not None:
|
||||
topic_config = get_topic_config(class_attr.fget)
|
||||
return
|
||||
|
||||
# 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name
|
||||
cfg_name = topic_config.get("name")
|
||||
if cfg_name:
|
||||
publish_name = cfg_name
|
||||
elif attr_name.startswith("get_"):
|
||||
publish_name = attr_name[4:]
|
||||
else:
|
||||
publish_name = attr_name
|
||||
|
||||
# 使用装饰器配置或默认值
|
||||
cfg_period = topic_config.get("period")
|
||||
@@ -1232,10 +1302,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
# 获取属性值的方法
|
||||
def get_device_attr():
|
||||
try:
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
return getattr(self.driver_instance, f"get_{attr_name}")()
|
||||
else:
|
||||
if is_prop:
|
||||
return getattr(self.driver_instance, attr_name)
|
||||
else:
|
||||
return getattr(self.driver_instance, attr_name)()
|
||||
except AttributeError as ex:
|
||||
if ex.args[0].startswith(f"AttributeError: '{self.driver_instance.__class__.__name__}' object"):
|
||||
self.lab_logger().error(
|
||||
@@ -1247,8 +1317,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
)
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
|
||||
self._property_publishers[attr_name] = PropertyPublisher(
|
||||
self, attr_name, get_device_attr, msg_type, period, print_publish, qos
|
||||
self._property_publishers[publish_name] = PropertyPublisher(
|
||||
self, publish_name, get_device_attr, msg_type, period, print_publish, qos
|
||||
)
|
||||
|
||||
def create_ros_action_server(self, action_name, action_value_mapping):
|
||||
@@ -1256,14 +1326,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
action_type = action_value_mapping["type"]
|
||||
str_action_type = str(action_type)[8:-2]
|
||||
|
||||
self._action_servers[action_name] = ActionServer(
|
||||
self,
|
||||
action_type,
|
||||
action_name,
|
||||
execute_callback=self._create_execute_callback(action_name, action_value_mapping),
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
|
||||
try:
|
||||
self._action_servers[action_name] = ActionServer(
|
||||
self,
|
||||
action_type,
|
||||
action_name,
|
||||
execute_callback=self._create_execute_callback(action_name, action_value_mapping),
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"创建ActionServer失败，Device: {self.device_id}, Action Name: {action_name}, Action Type: {action_type}, Error: {e}")
|
||||
return
|
||||
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
|
||||
def _setup_decorated_subscribers(self):
|
||||
|
||||
@@ -4,7 +4,14 @@ import cv2
|
||||
from sensor_msgs.msg import Image
|
||||
from cv_bridge import CvBridge
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
|
||||
@device(
|
||||
id="camera",
|
||||
category=["camera"],
|
||||
description="""VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。""",
|
||||
)
|
||||
class VideoPublisher(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id='video_publisher', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
|
||||
# 初始化BaseROS2DeviceNode，使用自身作为driver_instance
|
||||
|
||||
@@ -12,6 +12,7 @@ from geometry_msgs.msg import Point
|
||||
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
||||
from rclpy.service import Service
|
||||
from typing_extensions import TypedDict
|
||||
from unilabos_msgs.action import EmptyIn, StrSingleInput, ResourceCreateFromOuterEasy, ResourceCreateFromOuter
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
@@ -23,6 +24,7 @@ from unilabos_msgs.srv import (
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
from unique_identifier_msgs.msg import UUID
|
||||
|
||||
from unilabos.registry.decorators import device
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.registry.registry import lab_registry
|
||||
from unilabos.resources.container import RegularContainer
|
||||
@@ -30,6 +32,7 @@ from unilabos.resources.graphio import initialize_resource
|
||||
from unilabos.resources.registry import add_schema
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceDict,
|
||||
ResourceDictType,
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
@@ -65,7 +68,13 @@ class DeviceActionStatus:
|
||||
class TestResourceReturn(TypedDict):
|
||||
resources: List[List[ResourceDict]]
|
||||
devices: List[Dict[str, Any]]
|
||||
unilabos_samples: List[LabSample]
|
||||
# unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class CreateResourceReturn(TypedDict):
|
||||
created_resource_tree: List[List[ResourceDict]]
|
||||
liquid_input_resource_tree: List[Dict[str, Any]]
|
||||
# unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class TestLatencyReturn(TypedDict):
|
||||
@@ -80,6 +89,7 @@ class TestLatencyReturn(TypedDict):
|
||||
status: str
|
||||
|
||||
|
||||
@device(id="host_node", category=[], description="Host Node", icon="icon_device.webp")
|
||||
class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
主机节点类，负责管理设备、资源和控制器
|
||||
@@ -268,44 +278,42 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self._action_clients: Dict[str, ActionClient] = { # 为了方便了解实际的数据类型，host的默认写好
|
||||
"/devices/host_node/create_resource": ActionClient(
|
||||
self,
|
||||
lab_registry.ResourceCreateFromOuterEasy,
|
||||
ResourceCreateFromOuterEasy,
|
||||
"/devices/host_node/create_resource",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/create_resource_detailed": ActionClient(
|
||||
self,
|
||||
lab_registry.ResourceCreateFromOuter,
|
||||
ResourceCreateFromOuter,
|
||||
"/devices/host_node/create_resource_detailed",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/test_latency": ActionClient(
|
||||
self,
|
||||
lab_registry.EmptyIn,
|
||||
EmptyIn,
|
||||
"/devices/host_node/test_latency",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/test_resource": ActionClient(
|
||||
self,
|
||||
lab_registry.EmptyIn,
|
||||
EmptyIn,
|
||||
"/devices/host_node/test_resource",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/_execute_driver_command": ActionClient(
|
||||
self,
|
||||
lab_registry.StrSingleInput,
|
||||
StrSingleInput,
|
||||
"/devices/host_node/_execute_driver_command",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/_execute_driver_command_async": ActionClient(
|
||||
self,
|
||||
lab_registry.StrSingleInput,
|
||||
StrSingleInput,
|
||||
"/devices/host_node/_execute_driver_command_async",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
} # 用来存储多个ActionClient实例
|
||||
self._action_value_mappings: Dict[str, Dict] = (
|
||||
{}
|
||||
) # device_id -> action_value_mappings(本地+远程设备统一存储)
|
||||
self._action_value_mappings: Dict[str, Dict] = {} # device_id -> action_value_mappings(本地+远程设备统一存储)
|
||||
self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings)
|
||||
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
|
||||
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
|
||||
@@ -323,10 +331,18 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self._discover_devices()
|
||||
|
||||
# 初始化所有本机设备节点，多一次过滤，防止重复初始化
|
||||
local_machine = BasicConfig.machine_name
|
||||
for device_config in devices_config.root_nodes:
|
||||
device_id = device_config.res_content.id
|
||||
if device_config.res_content.type != "device":
|
||||
continue
|
||||
dev_machine = device_config.res_content.machine_name
|
||||
if dev_machine and local_machine and dev_machine != local_machine:
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] Device {device_id} belongs to machine '{dev_machine}', "
|
||||
f"local is '{local_machine}', skipping initialization."
|
||||
)
|
||||
continue
|
||||
if device_id not in self.devices_names:
|
||||
self.initialize_device(device_id, device_config)
|
||||
else:
|
||||
@@ -556,7 +572,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
liquid_type: list[str] = [],
|
||||
liquid_volume: list[int] = [],
|
||||
slot_on_deck: str = "",
|
||||
):
|
||||
) -> CreateResourceReturn:
|
||||
# 暂不支持多对同名父子同时存在
|
||||
res_creation_input = {
|
||||
"id": res_id.split("/")[-1],
|
||||
@@ -609,6 +625,8 @@ class HostNode(BaseROS2DeviceNode):
|
||||
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
||||
for i in response:
|
||||
res = json.loads(i)
|
||||
if "suc" in res:
|
||||
raise ValueError(res.get("error"))
|
||||
return res
|
||||
except Exception as ex:
|
||||
pass
|
||||
@@ -650,7 +668,12 @@ class HostNode(BaseROS2DeviceNode):
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
if action_id not in self._action_clients:
|
||||
action_type = action_value_mapping["type"]
|
||||
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
|
||||
try:
|
||||
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"创建ActionClient失败，Device: {device_id}, Action Name: {action_name}, Action Type: {action_type}, Error: {e}")
|
||||
continue
|
||||
self.lab_logger().trace(
|
||||
f"[Host Node] Created ActionClient (Local): {action_id}"
|
||||
) # 子设备再创建用的是Discover发现的
|
||||
@@ -1250,9 +1273,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
# 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings
|
||||
if registry_name and registry_name in self._slave_registry_configs:
|
||||
action_mappings = self._slave_registry_configs[registry_name].get(
|
||||
"class", {}
|
||||
).get("action_value_mappings", {})
|
||||
action_mappings = (
|
||||
self._slave_registry_configs[registry_name].get("class", {}).get("action_value_mappings", {})
|
||||
)
|
||||
if action_mappings:
|
||||
self._action_value_mappings[edge_device_id] = action_mappings
|
||||
self.lab_logger().info(
|
||||
@@ -1272,14 +1295,19 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
# 解析 devices_config,建立 device_id -> action_value_mappings 映射
|
||||
if devices_config:
|
||||
machine_name = info["machine_name"]
|
||||
# Stamp machine_name on each device dict before parsing
|
||||
for device_tree in devices_config:
|
||||
for device_dict in device_tree:
|
||||
device_dict["machine_name"] = machine_name
|
||||
device_id = device_dict.get("id", "")
|
||||
class_name = device_dict.get("class", "")
|
||||
if device_id and class_name and class_name in self._slave_registry_configs:
|
||||
action_mappings = self._slave_registry_configs[class_name].get(
|
||||
"class", {}
|
||||
).get("action_value_mappings", {})
|
||||
action_mappings = (
|
||||
self._slave_registry_configs[class_name]
|
||||
.get("class", {})
|
||||
.get("action_value_mappings", {})
|
||||
)
|
||||
if action_mappings:
|
||||
self._action_value_mappings[device_id] = action_mappings
|
||||
self.lab_logger().info(
|
||||
@@ -1287,6 +1315,18 @@ class HostNode(BaseROS2DeviceNode):
|
||||
f"for remote device {device_id} (class: {class_name})"
|
||||
)
|
||||
|
||||
# Merge slave devices_config into self.devices_config tree
|
||||
try:
|
||||
slave_tree_set = ResourceTreeSet.load(devices_config) # slave一定是根节点的tree
|
||||
for tree in slave_tree_set.trees:
|
||||
self.devices_config.trees.append(tree)
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] Merged {len(slave_tree_set.trees)} slave device trees "
|
||||
f"(machine: {machine_name}) into devices_config"
|
||||
)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to merge slave devices_config: {e}")
|
||||
|
||||
self.lab_logger().debug(f"[Host Node] Node info update: {info}")
|
||||
response.response = "OK"
|
||||
except Exception as e:
|
||||
@@ -1695,3 +1735,177 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self.lab_logger().error(f"[Host Node-Resource] Error notifying resource tree update: {str(e)}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return False
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Device lifecycle (add / remove) — pure forwarder
|
||||
# ------------------------------------------------------------------
|
||||
|
||||
def notify_device_manage(self, target_node_id: str, action: str, config: ResourceDictType) -> bool:
|
||||
"""Forward an add/remove device command to the target node via ROS2 SerialCommand.
|
||||
|
||||
The HostNode does NOT interpret the command; it simply resolves the
|
||||
target namespace and forwards the request to ``s2c_device_manage``.
|
||||
|
||||
If *target_node_id* equals the HostNode's own device_id (i.e. the
|
||||
command targets the host itself), we call our local ``create_device``
|
||||
/ ``destroy_device`` directly instead of going through ROS2.
|
||||
"""
|
||||
try:
|
||||
# If the target is the host itself, handle locally
|
||||
device_id = config["id"]
|
||||
if target_node_id == self.device_id:
|
||||
if action == "add":
|
||||
return self.create_device(device_id, config).get("success", False)
|
||||
elif action == "remove":
|
||||
return self.destroy_device(device_id).get("success", False)
|
||||
|
||||
if target_node_id not in self.devices_names:
|
||||
self.lab_logger().error(
|
||||
f"[Host Node-DeviceMgr] Target {target_node_id} not found in devices_names"
|
||||
)
|
||||
return False
|
||||
|
||||
namespace = self.devices_names[target_node_id]
|
||||
device_key = f"{namespace}/{target_node_id}"
|
||||
if device_key not in self._online_devices:
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Target {device_key} is offline")
|
||||
return False
|
||||
|
||||
srv_address = f"/srv{namespace}/s2c_device_manage"
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-DeviceMgr] Forwarding {action}_device to {target_node_id} ({srv_address})"
|
||||
)
|
||||
|
||||
sclient = self.create_client(SerialCommand, srv_address)
|
||||
if not sclient.wait_for_service(timeout_sec=5.0):
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Service {srv_address} not available")
|
||||
return False
|
||||
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps({"action": action, "data": config}, ensure_ascii=False)
|
||||
|
||||
future = sclient.call_async(request)
|
||||
timeout = 30.0
|
||||
start_time = time.time()
|
||||
while not future.done():
|
||||
if time.time() - start_time > timeout:
|
||||
self.lab_logger().error(
|
||||
f"[Host Node-DeviceMgr] Timeout waiting for {action}_device on {target_node_id}"
|
||||
)
|
||||
return False
|
||||
time.sleep(0.05)
|
||||
|
||||
response = future.result()
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-DeviceMgr] {action}_device on {target_node_id} completed"
|
||||
)
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Error: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return False
|
||||
|
||||
def create_device(self, device_id: str, config: ResourceDictType) -> dict:
|
||||
"""Dynamically create a root-level device on the host."""
|
||||
if not device_id:
|
||||
return {"success": False, "error": "device_id required"}
|
||||
|
||||
if device_id in self.devices_names:
|
||||
return {"success": False, "error": f"Device {device_id} already exists"}
|
||||
|
||||
try:
|
||||
config.setdefault("id", device_id)
|
||||
config.setdefault("type", "device")
|
||||
config.setdefault("machine_name", BasicConfig.machine_name or "本地")
|
||||
res_dict = ResourceDictInstance.get_resource_instance_from_dict(config)
|
||||
|
||||
self.initialize_device(device_id, res_dict)
|
||||
|
||||
if device_id not in self.devices_names:
|
||||
return {"success": False, "error": f"initialize_device failed for {device_id}"}
|
||||
|
||||
# Add to config tree (devices_config)
|
||||
tree = ResourceTreeInstance(res_dict)
|
||||
self.devices_config.trees.append(tree)
|
||||
|
||||
# Add to resource tracker so s2c_resource_tree can find it
|
||||
try:
|
||||
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
self._resource_tracker.add_resource(plr_resource)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning(f"[Host Node-DeviceMgr] PLR resource registration skipped: {ex}")
|
||||
|
||||
self.lab_logger().info(f"[Host Node-DeviceMgr] Device {device_id} created successfully")
|
||||
return {"success": True, "device_id": device_id}
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Failed to create {device_id}: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return {"success": False, "error": str(e)}
|
||||
|
||||
def destroy_device(self, device_id: str) -> dict:
|
||||
"""Remove a root-level device from the host."""
|
||||
if not device_id:
|
||||
return {"success": False, "error": "device_id required"}
|
||||
|
||||
if device_id not in self.devices_names:
|
||||
return {"success": False, "error": f"Device {device_id} not found"}
|
||||
|
||||
if device_id == self.device_id:
|
||||
return {"success": False, "error": "Cannot destroy host_node itself"}
|
||||
|
||||
try:
|
||||
namespace = self.devices_names[device_id]
|
||||
device_key = f"{namespace}/{device_id}"
|
||||
|
||||
# Remove action clients
|
||||
action_prefix = f"/devices/{device_id}/"
|
||||
to_remove = [k for k in self._action_clients if k.startswith(action_prefix)]
|
||||
for k in to_remove:
|
||||
try:
|
||||
self._action_clients[k].destroy()
|
||||
except Exception:
|
||||
pass
|
||||
del self._action_clients[k]
|
||||
|
||||
# Remove from config tree (devices_config)
|
||||
self.devices_config.trees = [
|
||||
t for t in self.devices_config.trees
|
||||
if t.root_node.res_content.id != device_id
|
||||
]
|
||||
|
||||
# Remove from resource tracker
|
||||
try:
|
||||
tracked = self._resource_tracker.uuid_to_resources.copy()
|
||||
for uid, res in tracked.items():
|
||||
res_id = res.get("id") if isinstance(res, dict) else getattr(res, "name", None)
|
||||
if res_id == device_id:
|
||||
self._resource_tracker.remove_resource(res)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning(f"[Host Node-DeviceMgr] Resource tracker cleanup: {ex}")
|
||||
|
||||
# Clean internal state
|
||||
self._online_devices.discard(device_key)
|
||||
self.devices_names.pop(device_id, None)
|
||||
self.device_machine_names.pop(device_id, None)
|
||||
self._action_value_mappings.pop(device_id, None)
|
||||
|
||||
# Destroy the ROS2 node of the device
|
||||
instance = self.devices_instances.pop(device_id, None)
|
||||
if instance is not None:
|
||||
try:
|
||||
# noinspection PyProtectedMember
|
||||
ros_node = getattr(instance, "_ros_node", None)
|
||||
if ros_node is not None:
|
||||
ros_node.destroy_node()
|
||||
except Exception as e:
|
||||
self.lab_logger().warning(f"[Host Node-DeviceMgr] Error destroying ROS node for {device_id}: {e}")
|
||||
|
||||
self.lab_logger().info(f"[Host Node-DeviceMgr] Device {device_id} destroyed")
|
||||
return {"success": True, "device_id": device_id}
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Failed to destroy {device_id}: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return {"success": False, "error": str(e)}
|
||||
|
||||
@@ -20,7 +20,7 @@ from unilabos.ros.msgs.message_converter import (
|
||||
convert_from_ros_msg_with_mapping,
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDictInstance
|
||||
from unilabos.resources.resource_tracker import ResourceDictType, ResourceTreeSet, ResourceDictInstance
|
||||
from unilabos.utils.type_check import get_result_info_str
|
||||
|
||||
if TYPE_CHECKING:
|
||||
@@ -177,6 +177,103 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
|
||||
return d
|
||||
|
||||
def create_device(self, device_id: str, config: ResourceDictType) -> dict:
|
||||
"""Dynamically add a sub-device to this workstation."""
|
||||
if not device_id:
|
||||
return {"success": False, "error": "device_id required"}
|
||||
|
||||
if device_id in self.sub_devices:
|
||||
return {"success": False, "error": f"Sub-device {device_id} already exists"}
|
||||
|
||||
try:
|
||||
from unilabos.config.config import BasicConfig
|
||||
config.setdefault("id", device_id)
|
||||
config.setdefault("type", "device")
|
||||
config.setdefault("machine_name", BasicConfig.machine_name or "本地")
|
||||
res_dict = ResourceDictInstance.get_resource_instance_from_dict(config)
|
||||
|
||||
d = self.initialize_device(device_id, res_dict)
|
||||
if d is None:
|
||||
return {"success": False, "error": f"initialize_device returned None for {device_id}"}
|
||||
|
||||
# Add to children config list
|
||||
self.children.append(res_dict)
|
||||
|
||||
# Add to resource tracker
|
||||
try:
|
||||
from unilabos.resources.resource_tracker import ResourceTreeInstance
|
||||
tree = ResourceTreeInstance(res_dict)
|
||||
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
self.resource_tracker.add_resource(plr_resource)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning(f"[Workstation-DeviceMgr] PLR resource registration skipped: {ex}")
|
||||
|
||||
self.lab_logger().info(f"[Workstation-DeviceMgr] Sub-device {device_id} created")
|
||||
return {"success": True, "device_id": device_id}
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Workstation-DeviceMgr] Failed to create {device_id}: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return {"success": False, "error": str(e)}
|
||||
|
||||
def destroy_device(self, device_id: str) -> dict:
|
||||
"""Dynamically remove a sub-device from this workstation."""
|
||||
if not device_id:
|
||||
return {"success": False, "error": "device_id required"}
|
||||
|
||||
if device_id not in self.sub_devices:
|
||||
return {"success": False, "error": f"Sub-device {device_id} not found"}
|
||||
|
||||
try:
|
||||
# Remove from children config list
|
||||
self.children = [
|
||||
c for c in self.children
|
||||
if c.res_content.id != device_id
|
||||
]
|
||||
|
||||
# Remove from resource tracker
|
||||
try:
|
||||
tracked = self.resource_tracker.uuid_to_resources.copy()
|
||||
for uid, res in tracked.items():
|
||||
res_id = res.get("id") if isinstance(res, dict) else getattr(res, "name", None)
|
||||
if res_id == device_id:
|
||||
self.resource_tracker.remove_resource(res)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning(f"[Workstation-DeviceMgr] Resource tracker cleanup: {ex}")
|
||||
|
||||
# Remove action clients for this sub-device
|
||||
action_prefix = f"/devices/{device_id}/"
|
||||
to_remove = [k for k in self._action_clients if k.startswith(action_prefix)]
|
||||
for k in to_remove:
|
||||
try:
|
||||
self._action_clients[k].destroy()
|
||||
except Exception:
|
||||
pass
|
||||
del self._action_clients[k]
|
||||
|
||||
# Destroy the ROS2 node
|
||||
instance = self.sub_devices.pop(device_id, None)
|
||||
if instance is not None:
|
||||
ros_node = getattr(instance, "ros_node_instance", None)
|
||||
if ros_node is not None:
|
||||
try:
|
||||
ros_node.destroy_node()
|
||||
except Exception as e:
|
||||
self.lab_logger().warning(
|
||||
f"[Workstation-DeviceMgr] Error destroying ROS node for {device_id}: {e}"
|
||||
)
|
||||
|
||||
# Remove from communication map if present
|
||||
self.communication_node_id_to_instance.pop(device_id, None)
|
||||
|
||||
self.lab_logger().info(f"[Workstation-DeviceMgr] Sub-device {device_id} destroyed")
|
||||
return {"success": True, "device_id": device_id}
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Workstation-DeviceMgr] Failed to destroy {device_id}: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return {"success": False, "error": str(e)}
|
||||
|
||||
def create_ros_action_server(self, action_name, action_value_mapping):
|
||||
"""创建ROS动作服务器"""
|
||||
if action_name not in self.protocol_names:
|
||||
|
||||
@@ -1,29 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "Liquid_Sensor_1",
|
||||
"name": "XKC Sensor",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "sensor.xkc_rs485",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/dev/tty.usbserial-3110",
|
||||
"baudrate": 9600,
|
||||
"device_id": 1,
|
||||
"threshold": 300,
|
||||
"timeout": 3.0
|
||||
},
|
||||
"data": {
|
||||
"level": false,
|
||||
"rssi": 0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "ZDT_Motor",
|
||||
"name": "ZDT Motor",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "motor.zdt_x42",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/dev/tty.usbserial-3110",
|
||||
"baudrate": 115200,
|
||||
"device_id": 1,
|
||||
"debug": true
|
||||
},
|
||||
"data": {
|
||||
"position": 0,
|
||||
"status": "idle"
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -19,74 +19,6 @@ def singleton(cls):
|
||||
return get_instance
|
||||
|
||||
|
||||
def topic_config(
|
||||
period: Optional[float] = None,
|
||||
print_publish: Optional[bool] = None,
|
||||
qos: Optional[int] = None,
|
||||
) -> Callable[[F], F]:
|
||||
"""
|
||||
Topic发布配置装饰器
|
||||
|
||||
用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
|
||||
|
||||
Args:
|
||||
period: 发布周期（秒）。None 表示使用默认值 5.0
|
||||
print_publish: 是否打印发布日志。None 表示使用节点默认配置
|
||||
qos: QoS深度配置。None 表示使用默认值 10
|
||||
|
||||
Example:
|
||||
class MyDriver:
|
||||
# 方式1: 装饰 get_{attr_name} 方法
|
||||
@topic_config(period=1.0, print_publish=False, qos=5)
|
||||
def get_temperature(self):
|
||||
return self._temperature
|
||||
|
||||
# 方式2: 与 @property 连用（topic_config 放在下面）
|
||||
@property
|
||||
@topic_config(period=0.1)
|
||||
def position(self):
|
||||
return self._position
|
||||
|
||||
Note:
|
||||
与 @property 连用时，@topic_config 必须放在 @property 下面，
|
||||
这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# 在函数上附加配置属性 (type: ignore 用于动态属性)
|
||||
wrapper._topic_period = period # type: ignore[attr-defined]
|
||||
wrapper._topic_print_publish = print_publish # type: ignore[attr-defined]
|
||||
wrapper._topic_qos = qos # type: ignore[attr-defined]
|
||||
wrapper._has_topic_config = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_topic_config(func) -> dict:
|
||||
"""
|
||||
获取函数上的topic配置
|
||||
|
||||
Args:
|
||||
func: 被装饰的函数
|
||||
|
||||
Returns:
|
||||
包含 period, print_publish, qos 的配置字典
|
||||
"""
|
||||
if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
|
||||
return {
|
||||
"period": getattr(func, "_topic_period", None),
|
||||
"print_publish": getattr(func, "_topic_print_publish", None),
|
||||
"qos": getattr(func, "_topic_qos", None),
|
||||
}
|
||||
return {}
|
||||
|
||||
|
||||
def subscribe(
|
||||
topic: str,
|
||||
msg_type: Optional[type] = None,
|
||||
@@ -104,24 +36,6 @@ def subscribe(
|
||||
- {namespace}: 完整命名空间 (如 "/devices/pump_1")
|
||||
msg_type: ROS 消息类型。如果为 None，需要在回调函数的类型注解中指定
|
||||
qos: QoS 深度配置，默认为 10
|
||||
|
||||
Example:
|
||||
from std_msgs.msg import String, Float64
|
||||
|
||||
class MyDriver:
|
||||
@subscribe(topic="/devices/{device_id}/set_speed", msg_type=Float64)
|
||||
def on_speed_update(self, msg: Float64):
|
||||
self._speed = msg.data
|
||||
print(f"Speed updated to: {self._speed}")
|
||||
|
||||
@subscribe(topic="{namespace}/command")
|
||||
def on_command(self, msg: String):
|
||||
# msg_type 可从类型注解推断
|
||||
self.execute_command(msg.data)
|
||||
|
||||
Note:
|
||||
- 回调方法的第一个参数是 self，第二个参数是收到的 ROS 消息
|
||||
- topic 中的占位符会在创建订阅时被实际值替换
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@@ -129,7 +43,6 @@ def subscribe(
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# 在函数上附加订阅配置
|
||||
wrapper._subscribe_topic = topic # type: ignore[attr-defined]
|
||||
wrapper._subscribe_msg_type = msg_type # type: ignore[attr-defined]
|
||||
wrapper._subscribe_qos = qos # type: ignore[attr-defined]
|
||||
@@ -141,15 +54,7 @@ def subscribe(
|
||||
|
||||
|
||||
def get_subscribe_config(func) -> dict:
|
||||
"""
|
||||
获取函数上的订阅配置
|
||||
|
||||
Args:
|
||||
func: 被装饰的函数
|
||||
|
||||
Returns:
|
||||
包含 topic, msg_type, qos 的配置字典
|
||||
"""
|
||||
"""获取函数上的订阅配置 (topic, msg_type, qos)"""
|
||||
if hasattr(func, "_has_subscribe") and getattr(func, "_has_subscribe", False):
|
||||
return {
|
||||
"topic": getattr(func, "_subscribe_topic", None),
|
||||
@@ -163,9 +68,6 @@ def get_all_subscriptions(instance) -> list:
|
||||
"""
|
||||
扫描实例的所有方法，获取带有 @subscribe 装饰器的方法及其配置
|
||||
|
||||
Args:
|
||||
instance: 要扫描的实例
|
||||
|
||||
Returns:
|
||||
包含 (method_name, method, config) 元组的列表
|
||||
"""
|
||||
@@ -184,92 +86,14 @@ def get_all_subscriptions(instance) -> list:
|
||||
return subscriptions
|
||||
|
||||
|
||||
def always_free(func: F) -> F:
|
||||
"""
|
||||
标记动作为永久闲置(不受busy队列限制)的装饰器
|
||||
|
||||
被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
|
||||
任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
|
||||
|
||||
Example:
|
||||
class MyDriver:
|
||||
@always_free
|
||||
def query_status(self, param: str):
|
||||
# 这个动作可以随时执行，不需要排队
|
||||
return self._status
|
||||
|
||||
def transfer(self, volume: float):
|
||||
# 这个动作会按正常排队逻辑执行
|
||||
pass
|
||||
|
||||
Note:
|
||||
- 可以与其他装饰器组合使用，@always_free 应放在最外层
|
||||
- 仅影响 WebSocket 调度层的 busy/free 判断，不影响 ROS2 层
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._is_always_free = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
|
||||
def is_always_free(func) -> bool:
|
||||
"""
|
||||
检查函数是否被标记为永久闲置
|
||||
|
||||
Args:
|
||||
func: 被检查的函数
|
||||
|
||||
Returns:
|
||||
如果函数被 @always_free 装饰则返回 True，否则返回 False
|
||||
"""
|
||||
return getattr(func, "_is_always_free", False)
|
||||
|
||||
|
||||
def not_action(func: F) -> F:
|
||||
"""
|
||||
标记方法为非动作的装饰器
|
||||
|
||||
用于装饰 driver 类中的方法，使其在 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)
|
||||
# ---------------------------------------------------------------------------
|
||||
# 向后兼容重导出 -- 已迁移到 unilabos.registry.decorators
|
||||
# ---------------------------------------------------------------------------
|
||||
from unilabos.registry.decorators import ( # noqa: E402, F401
|
||||
topic_config,
|
||||
get_topic_config,
|
||||
always_free,
|
||||
is_always_free,
|
||||
not_action,
|
||||
is_not_action,
|
||||
)
|
||||
|
||||
@@ -22,6 +22,7 @@ class EnvironmentChecker:
|
||||
# "pymodbus.framer.FramerType": "pymodbus==3.9.2",
|
||||
"websockets": "websockets",
|
||||
"msgcenterpy": "msgcenterpy",
|
||||
"orjson": "orjson",
|
||||
"opentrons_shared_data": "opentrons_shared_data",
|
||||
"typing_extensions": "typing_extensions",
|
||||
"crcmod": "crcmod-plus",
|
||||
@@ -32,7 +33,7 @@ class EnvironmentChecker:
|
||||
|
||||
# 包版本要求（包名: 最低版本）
|
||||
self.version_requirements = {
|
||||
"msgcenterpy": "0.1.5", # msgcenterpy 最低版本要求
|
||||
"msgcenterpy": "0.1.7", # msgcenterpy 最低版本要求
|
||||
}
|
||||
|
||||
self.missing_packages = []
|
||||
|
||||
@@ -29,7 +29,7 @@ from ast import Constant
|
||||
|
||||
from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.decorator import is_not_action, is_always_free
|
||||
from unilabos.registry.decorators import is_not_action, is_always_free
|
||||
|
||||
|
||||
class ImportManager:
|
||||
@@ -481,10 +481,16 @@ class ImportManager:
|
||||
return False
|
||||
|
||||
def _is_always_free_method(self, node: ast.FunctionDef) -> bool:
|
||||
"""检查是否是@always_free装饰的方法"""
|
||||
"""检查是否是@always_free装饰的方法，或 @action(always_free=True) 装饰的方法"""
|
||||
for decorator in node.decorator_list:
|
||||
if isinstance(decorator, ast.Name) and decorator.id == "always_free":
|
||||
return True
|
||||
# 检查 @action(always_free=True)
|
||||
if isinstance(decorator, ast.Call):
|
||||
func = decorator.func
|
||||
if isinstance(func, ast.Name) and func.id == "action":
|
||||
for keyword in decorator.keywords:
|
||||
if keyword.arg == "always_free":
|
||||
if isinstance(keyword.value, Constant) and keyword.value.value is True:
|
||||
return True
|
||||
return False
|
||||
|
||||
def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
|
||||
|
||||
@@ -217,7 +217,6 @@ def configure_logger(loglevel=None, working_dir=None):
|
||||
return log_filepath
|
||||
|
||||
|
||||
|
||||
# 配置日志系统
|
||||
configure_logger()
|
||||
|
||||
|
||||
@@ -1,7 +1,8 @@
|
||||
networkx
|
||||
typing_extensions
|
||||
websockets
|
||||
msgcenterpy>=0.1.5
|
||||
msgcenterpy>=0.1.7
|
||||
orjson>=3.11
|
||||
opentrons_shared_data
|
||||
pint
|
||||
fastapi
|
||||
|
||||
Reference in New Issue
Block a user