mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-24 16:49:17 +00:00
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feature/or
...
78729ef86c
| Author | SHA1 | Date | |
|---|---|---|---|
|
78729ef86c |
@@ -1,62 +0,0 @@
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# unilabos: Production package (depends on unilabos-env + pip unilabos)
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# For production deployment
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package:
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name: unilabos
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version: 0.10.18
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source:
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path: ../../unilabos
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target_directory: unilabos
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build:
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python:
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entry_points:
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- unilab = unilabos.app.main:main
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script:
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- set PIP_NO_INDEX=
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- if: win
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then:
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- copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
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- copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
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- copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
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- pip install %SRC_DIR%
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- if: unix
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then:
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- cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
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- cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
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- cp $RECIPE_DIR/../../setup.py $SRC_DIR
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- pip install $SRC_DIR
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|
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requirements:
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host:
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- python ==3.11.14
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- pip
|
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- setuptools
|
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- zstd
|
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- zstandard
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run:
|
||||
- zstd
|
||||
- zstandard
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||||
- networkx
|
||||
- typing_extensions
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- websockets
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||||
- pint
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||||
- fastapi
|
||||
- jinja2
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||||
- requests
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- uvicorn
|
||||
- if: not osx
|
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then:
|
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- opcua
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- pyserial
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||||
- pandas
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||||
- pymodbus
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||||
- matplotlib
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- pylibftdi
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- uni-lab::unilabos-env ==0.10.18
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|
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about:
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repository: https://github.com/deepmodeling/Uni-Lab-OS
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license: GPL-3.0-only
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description: "UniLabOS - Production package with minimal ROS2 dependencies"
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@@ -1,39 +0,0 @@
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# unilabos-env: conda environment dependencies (ROS2 + conda packages)
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package:
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name: unilabos-env
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version: 0.10.18
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build:
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noarch: generic
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|
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requirements:
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run:
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# Python
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- zstd
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- zstandard
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- conda-forge::python ==3.11.14
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- conda-forge::opencv
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# ROS2 dependencies (from ci-check.yml)
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- robostack-staging::ros-humble-ros-core
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- robostack-staging::ros-humble-action-msgs
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- robostack-staging::ros-humble-std-msgs
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- robostack-staging::ros-humble-geometry-msgs
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- robostack-staging::ros-humble-control-msgs
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- robostack-staging::ros-humble-nav2-msgs
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- robostack-staging::ros-humble-cv-bridge
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- robostack-staging::ros-humble-vision-opencv
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- robostack-staging::ros-humble-tf-transformations
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- robostack-staging::ros-humble-moveit-msgs
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- robostack-staging::ros-humble-tf2-ros
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- robostack-staging::ros-humble-tf2-ros-py
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- conda-forge::transforms3d
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- conda-forge::uv
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# UniLabOS custom messages
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- uni-lab::ros-humble-unilabos-msgs
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about:
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repository: https://github.com/deepmodeling/Uni-Lab-OS
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license: GPL-3.0-only
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description: "UniLabOS Environment - ROS2 and conda dependencies"
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@@ -1,42 +0,0 @@
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# unilabos-full: Full package with all features
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# Depends on unilabos + complete ROS2 desktop + dev tools
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package:
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name: unilabos-full
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version: 0.10.18
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build:
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noarch: generic
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requirements:
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run:
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# Base unilabos package (includes unilabos-env)
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- uni-lab::unilabos ==0.10.18
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# Documentation tools
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- sphinx
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- sphinx_rtd_theme
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# Web UI
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- gradio
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- flask
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# Interactive development
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- ipython
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- jupyter
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- jupyros
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- colcon-common-extensions
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# ROS2 full desktop (includes rviz2, gazebo, etc.)
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- robostack-staging::ros-humble-desktop-full
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# Navigation and motion control
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- ros-humble-navigation2
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- ros-humble-ros2-control
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- ros-humble-robot-state-publisher
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- ros-humble-joint-state-publisher
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# MoveIt motion planning
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- ros-humble-moveit
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- ros-humble-moveit-servo
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# Simulation
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- ros-humble-simulation
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|
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about:
|
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repository: https://github.com/deepmodeling/Uni-Lab-OS
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license: GPL-3.0-only
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description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
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91
.conda/recipe.yaml
Normal file
91
.conda/recipe.yaml
Normal file
@@ -0,0 +1,91 @@
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package:
|
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name: unilabos
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version: 0.10.15
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|
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source:
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path: ../unilabos
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target_directory: unilabos
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|
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build:
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python:
|
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entry_points:
|
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- unilab = unilabos.app.main:main
|
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script:
|
||||
- set PIP_NO_INDEX=
|
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- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
|
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- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
|
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- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
|
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- call %PYTHON% -m pip install %SRC_DIR%
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- if: unix
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then:
|
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- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
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||||
- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
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||||
- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
||||
- $PYTHON -m pip install $SRC_DIR
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.11
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- zstandard
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
- make
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
- numpy
|
||||
- scipy
|
||||
- pandas
|
||||
- networkx
|
||||
- matplotlib
|
||||
- pint
|
||||
- pyserial
|
||||
- pyusb
|
||||
- pylibftdi
|
||||
- pymodbus
|
||||
- python-can
|
||||
- pyvisa
|
||||
- opencv
|
||||
- pydantic
|
||||
- fastapi
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websockets
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-sensor-msgs
|
||||
- robostack-staging::ros-humble-trajectory-msgs
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
- ros-humble-rosbridge-server
|
||||
- ros-humble-cv-bridge
|
||||
- ros-humble-tf2
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
- ros-humble-simulation
|
||||
- ros-humble-tf-transformations
|
||||
- transforms3d
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "Uni-Lab-OS"
|
||||
9
.conda/scripts/post-link.bat
Normal file
9
.conda/scripts/post-link.bat
Normal file
@@ -0,0 +1,9 @@
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@echo off
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setlocal enabledelayedexpansion
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REM upgrade pip
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"%PREFIX%\python.exe" -m pip install --upgrade pip
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|
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REM install extra deps
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"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
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"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
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9
.conda/scripts/post-link.sh
Normal file
9
.conda/scripts/post-link.sh
Normal file
@@ -0,0 +1,9 @@
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#!/usr/bin/env bash
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set -euxo pipefail
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# make sure pip is available
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"$PREFIX/bin/python" -m pip install --upgrade pip
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|
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# install extra deps
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||||
"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
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"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
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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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||||
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# 设备驱动开发规范
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|
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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
|
||||
├── hplc/ # HPLC设备
|
||||
├── 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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||||
```
|
||||
|
||||
## 设备类完整模板
|
||||
|
||||
```python
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import asyncio
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import logging
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import time as time_module
|
||||
from typing import Dict, Any, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
|
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class MyDevice:
|
||||
"""
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设备类描述
|
||||
|
||||
Attributes:
|
||||
device_id: 设备唯一标识
|
||||
config: 设备配置字典
|
||||
data: 设备状态数据
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str = None,
|
||||
config: Dict[str, Any] = None,
|
||||
**kwargs
|
||||
):
|
||||
"""
|
||||
初始化设备
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
config: 配置字典
|
||||
**kwargs: 其他参数
|
||||
"""
|
||||
# 兼容不同调用方式
|
||||
if device_id is None and 'id' in kwargs:
|
||||
device_id = kwargs.pop('id')
|
||||
if config is None and 'config' in kwargs:
|
||||
config = kwargs.pop('config')
|
||||
|
||||
self.device_id = device_id or "unknown_device"
|
||||
self.config = config or {}
|
||||
self.data = {}
|
||||
|
||||
# 从config读取参数
|
||||
self.port = self.config.get('port') or kwargs.get('port', 'COM1')
|
||||
self._max_value = self.config.get('max_value', 1000.0)
|
||||
|
||||
# 初始化日志
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
|
||||
self.logger.info(f"设备 {self.device_id} 已创建")
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""
|
||||
ROS节点注入 - 在ROS节点创建后调用
|
||||
|
||||
Args:
|
||||
ros_node: ROS2设备节点实例
|
||||
"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""
|
||||
初始化设备 - 连接硬件、设置初始状态
|
||||
|
||||
Returns:
|
||||
bool: 初始化是否成功
|
||||
"""
|
||||
self.logger.info(f"初始化设备 {self.device_id}")
|
||||
|
||||
try:
|
||||
# 执行硬件初始化
|
||||
# await self._connect_hardware()
|
||||
|
||||
# 设置初始状态
|
||||
self.data.update({
|
||||
"status": "待机",
|
||||
"is_running": False,
|
||||
"current_value": 0.0,
|
||||
})
|
||||
|
||||
self.logger.info(f"设备 {self.device_id} 初始化完成")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"初始化失败: {e}")
|
||||
self.data["status"] = f"错误: {e}"
|
||||
return False
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""
|
||||
清理设备 - 断开连接、释放资源
|
||||
|
||||
Returns:
|
||||
bool: 清理是否成功
|
||||
"""
|
||||
self.logger.info(f"清理设备 {self.device_id}")
|
||||
|
||||
self.data.update({
|
||||
"status": "离线",
|
||||
"is_running": False,
|
||||
})
|
||||
|
||||
return True
|
||||
|
||||
# ==================== 设备动作 ====================
|
||||
|
||||
async def execute_action(
|
||||
self,
|
||||
param1: float,
|
||||
param2: str = "",
|
||||
**kwargs
|
||||
) -> bool:
|
||||
"""
|
||||
执行设备动作
|
||||
|
||||
Args:
|
||||
param1: 参数1
|
||||
param2: 参数2（可选）
|
||||
|
||||
Returns:
|
||||
bool: 动作是否成功
|
||||
"""
|
||||
# 类型转换和验证
|
||||
try:
|
||||
param1 = float(param1)
|
||||
except (ValueError, TypeError) as e:
|
||||
self.logger.error(f"参数类型错误: {e}")
|
||||
return False
|
||||
|
||||
# 参数验证
|
||||
if param1 > self._max_value:
|
||||
self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
|
||||
return False
|
||||
|
||||
self.logger.info(f"执行动作: param1={param1}, param2={param2}")
|
||||
|
||||
# 更新状态
|
||||
self.data.update({
|
||||
"status": "运行中",
|
||||
"is_running": True,
|
||||
})
|
||||
|
||||
# 执行动作（带进度反馈）
|
||||
duration = 10.0 # 秒
|
||||
start_time = time_module.time()
|
||||
|
||||
while True:
|
||||
elapsed = time_module.time() - start_time
|
||||
remaining = max(0, duration - elapsed)
|
||||
progress = min(100, (elapsed / duration) * 100)
|
||||
|
||||
self.data.update({
|
||||
"status": f"运行中: {progress:.0f}%",
|
||||
"remaining_time": remaining,
|
||||
})
|
||||
|
||||
if remaining <= 0:
|
||||
break
|
||||
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
# 完成
|
||||
self.data.update({
|
||||
"status": "完成",
|
||||
"is_running": False,
|
||||
})
|
||||
|
||||
self.logger.info("动作执行完成")
|
||||
return True
|
||||
|
||||
# ==================== 状态属性 ====================
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
"""设备状态 - 自动发布为ROS Topic"""
|
||||
return self.data.get("status", "未知")
|
||||
|
||||
@property
|
||||
def is_running(self) -> bool:
|
||||
"""是否正在运行"""
|
||||
return self.data.get("is_running", False)
|
||||
|
||||
@property
|
||||
def current_value(self) -> float:
|
||||
"""当前值"""
|
||||
return self.data.get("current_value", 0.0)
|
||||
|
||||
# ==================== 辅助方法 ====================
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""获取设备信息"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"status": self.status,
|
||||
"is_running": self.is_running,
|
||||
"current_value": self.current_value,
|
||||
}
|
||||
|
||||
def __str__(self) -> str:
|
||||
return f"MyDevice({self.device_id}: {self.status})"
|
||||
```
|
||||
|
||||
## 关键规则
|
||||
|
||||
### 1. 参数处理
|
||||
|
||||
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：
|
||||
|
||||
```python
|
||||
async def my_action(self, value: float, **kwargs) -> bool:
|
||||
# 始终进行类型转换
|
||||
try:
|
||||
value = float(value)
|
||||
except (ValueError, TypeError) as e:
|
||||
self.logger.error(f"参数类型错误: {e}")
|
||||
return False
|
||||
```
|
||||
|
||||
### 2. vessel 参数处理
|
||||
|
||||
vessel 参数可能是字符串ID或字典：
|
||||
|
||||
```python
|
||||
def extract_vessel_id(vessel: Union[str, dict]) -> str:
|
||||
if isinstance(vessel, dict):
|
||||
return vessel.get("id", "")
|
||||
return str(vessel) if vessel else ""
|
||||
```
|
||||
|
||||
### 3. 状态更新
|
||||
|
||||
使用 `self.data` 字典存储状态，属性读取状态：
|
||||
|
||||
```python
|
||||
# 更新状态
|
||||
self.data["status"] = "运行中"
|
||||
self.data["current_speed"] = 300.0
|
||||
|
||||
# 读取状态（通过属性）
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "待机")
|
||||
```
|
||||
|
||||
### 4. 异步等待
|
||||
|
||||
使用 ROS 节点的 sleep 方法：
|
||||
|
||||
```python
|
||||
# 正确
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
# 避免（除非在纯 Python 测试环境）
|
||||
await asyncio.sleep(1.0)
|
||||
```
|
||||
|
||||
### 5. 进度反馈
|
||||
|
||||
长时间运行的操作需要提供进度反馈：
|
||||
|
||||
```python
|
||||
while remaining > 0:
|
||||
progress = (elapsed / total_time) * 100
|
||||
self.data["status"] = f"运行中: {progress:.0f}%"
|
||||
self.data["remaining_time"] = remaining
|
||||
|
||||
await self._ros_node.sleep(1.0)
|
||||
```
|
||||
|
||||
## 虚拟设备
|
||||
|
||||
虚拟设备用于测试和演示，放在 `unilabos/devices/virtual/` 目录：
|
||||
|
||||
- 类名以 `Virtual` 开头
|
||||
- 文件名以 `virtual_` 开头
|
||||
- 模拟真实设备的行为和时序
|
||||
- 使用表情符号增强日志可读性（可选）
|
||||
|
||||
## 工作站设备
|
||||
|
||||
工作站是组合多个设备的复杂设备：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
class MyWorkstation(WorkstationBase):
|
||||
"""组合工作站"""
|
||||
|
||||
async def execute_workflow(self, workflow: Dict[str, Any]) -> bool:
|
||||
"""执行工作流"""
|
||||
pass
|
||||
```
|
||||
|
||||
## 设备注册
|
||||
|
||||
设备类开发完成后，需要在注册表中注册：
|
||||
|
||||
1. 创建/编辑 `unilabos/registry/devices/my_category.yaml`
|
||||
2. 添加设备配置（参考 `virtual_device.yaml`）
|
||||
3. 运行 `--complete_registry` 自动生成 schema
|
||||
@@ -1,240 +0,0 @@
|
||||
---
|
||||
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],
|
||||
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` |
|
||||
212
.cursorignore
212
.cursorignore
@@ -1,188 +1,26 @@
|
||||
# ============================================================
|
||||
# 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/
|
||||
.conda
|
||||
# .github
|
||||
.idea
|
||||
# .vscode
|
||||
output
|
||||
pylabrobot_repo
|
||||
recipes
|
||||
scripts
|
||||
service
|
||||
temp
|
||||
# unilabos/test
|
||||
# unilabos/app/web
|
||||
unilabos/device_mesh
|
||||
unilabos_data
|
||||
unilabos_msgs
|
||||
unilabos.egg-info
|
||||
CONTRIBUTORS
|
||||
# LICENSE
|
||||
MANIFEST.in
|
||||
pyrightconfig.json
|
||||
|
||||
# ==================== 其他 ====================
|
||||
# Catkin
|
||||
CATKIN_IGNORE
|
||||
|
||||
# Eclipse/Qt
|
||||
.project
|
||||
.cproject
|
||||
CMakeLists.txt.user
|
||||
*.user
|
||||
qtcreator-*
|
||||
# README.md
|
||||
# README_zh.md
|
||||
setup.py
|
||||
setup.cfg
|
||||
.gitattrubutes
|
||||
**/__pycache__
|
||||
|
||||
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()`
|
||||
19
.github/dependabot.yml
vendored
19
.github/dependabot.yml
vendored
@@ -1,19 +0,0 @@
|
||||
version: 2
|
||||
updates:
|
||||
# GitHub Actions
|
||||
- package-ecosystem: "github-actions"
|
||||
directory: "/"
|
||||
target-branch: "dev"
|
||||
schedule:
|
||||
interval: "weekly"
|
||||
day: "monday"
|
||||
time: "06:00"
|
||||
open-pull-requests-limit: 5
|
||||
reviewers:
|
||||
- "msgcenterpy-team"
|
||||
labels:
|
||||
- "dependencies"
|
||||
- "github-actions"
|
||||
commit-message:
|
||||
prefix: "ci"
|
||||
include: "scope"
|
||||
67
.github/workflows/ci-check.yml
vendored
67
.github/workflows/ci-check.yml
vendored
@@ -1,67 +0,0 @@
|
||||
name: CI Check
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [main, dev]
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
|
||||
jobs:
|
||||
registry-check:
|
||||
runs-on: windows-latest
|
||||
|
||||
env:
|
||||
# Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
|
||||
PYTHONIOENCODING: utf-8
|
||||
PYTHONUTF8: 1
|
||||
|
||||
defaults:
|
||||
run:
|
||||
shell: cmd
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: robostack-staging,conda-forge,uni-lab
|
||||
channel-priority: flexible
|
||||
activate-environment: check-env
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||
run: |
|
||||
echo Installing ROS dependencies...
|
||||
mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
|
||||
|
||||
- name: Install pip dependencies and unilabos
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Installing pip dependencies...
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
|
||||
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
||||
uv pip install .
|
||||
|
||||
- name: Run check mode (complete_registry)
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Running check mode...
|
||||
python -m unilabos --check_mode --skip_env_check
|
||||
|
||||
- name: Check for uncommitted changes
|
||||
shell: bash
|
||||
run: |
|
||||
if ! git diff --exit-code; then
|
||||
echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
|
||||
echo "变化的文件:"
|
||||
git diff --name-only
|
||||
exit 1
|
||||
fi
|
||||
echo "检查通过：无文件变化"
|
||||
43
.github/workflows/conda-pack-build.yml
vendored
43
.github/workflows/conda-pack-build.yml
vendored
@@ -13,11 +13,6 @@ on:
|
||||
required: false
|
||||
default: 'win-64'
|
||||
type: string
|
||||
build_full:
|
||||
description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
@@ -62,7 +57,7 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
@@ -74,7 +69,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -86,14 +81,7 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
echo Build full: ${{ github.event.inputs.build_full }}
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Installing unilabos-full ^(complete package^)...
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
) else (
|
||||
echo Installing unilabos ^(minimal package^)...
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
)
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
@@ -101,14 +89,7 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
echo "Build full: ${{ github.event.inputs.build_full }}"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Installing unilabos-full (complete package)..."
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
else
|
||||
echo "Installing unilabos (minimal package)..."
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
fi
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
@@ -312,7 +293,7 @@ jobs:
|
||||
|
||||
- name: Upload distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: dist-package/
|
||||
@@ -327,12 +308,7 @@ jobs:
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.14
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
)
|
||||
echo Python version: 3.11.11
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
@@ -352,12 +328,7 @@ jobs:
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
fi
|
||||
echo "Python version: 3.11.11"
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
|
||||
37
.github/workflows/deploy-docs.yml
vendored
37
.github/workflows/deploy-docs.yml
vendored
@@ -1,12 +1,10 @@
|
||||
name: Deploy Docs
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发（仅 main 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
push:
|
||||
branches: [main]
|
||||
pull_request:
|
||||
branches: [main]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -35,19 +33,12 @@ concurrency:
|
||||
jobs:
|
||||
# Build documentation
|
||||
build:
|
||||
# 只在以下情况运行：
|
||||
# 1. workflow_run 触发且 CI Check 成功
|
||||
# 2. 手动触发
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout code
|
||||
uses: actions/checkout@v6
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
# workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
|
||||
ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
|
||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -55,7 +46,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -84,10 +75,8 @@ jobs:
|
||||
|
||||
- name: Setup Pages
|
||||
id: pages
|
||||
uses: actions/configure-pages@v5
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/configure-pages@v4
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
|
||||
- name: Build Sphinx documentation
|
||||
run: |
|
||||
@@ -105,18 +94,14 @@ jobs:
|
||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||
|
||||
- name: Upload build artifacts
|
||||
uses: actions/upload-pages-artifact@v4
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/upload-pages-artifact@v3
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
with:
|
||||
path: docs/_build/html
|
||||
|
||||
# Deploy to GitHub Pages
|
||||
deploy:
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
environment:
|
||||
name: github-pages
|
||||
url: ${{ steps.deployment.outputs.page_url }}
|
||||
|
||||
46
.github/workflows/multi-platform-build.yml
vendored
46
.github/workflows/multi-platform-build.yml
vendored
@@ -1,16 +1,11 @@
|
||||
name: Multi-Platform Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types:
|
||||
- completed
|
||||
branches: [main, dev]
|
||||
# 支持 tag 推送（不依赖 CI Check）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
@@ -22,37 +17,9 @@ on:
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -77,10 +44,8 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -104,6 +69,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -149,7 +115,7 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: conda-package-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
|
||||
113
.github/workflows/unilabos-conda-build.yml
vendored
113
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,62 +1,25 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||
required: false
|
||||
default: 'linux-64'
|
||||
build_full:
|
||||
description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
upload_to_anaconda:
|
||||
description: '是否上传到Anaconda.org'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -77,10 +40,8 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -104,6 +65,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -119,61 +81,12 @@ jobs:
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
||||
echo "Building packages:"
|
||||
echo " - unilabos-env (environment dependencies)"
|
||||
echo " - unilabos (with pip package)"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
echo "Building UniLabOS package"
|
||||
|
||||
- name: Build unilabos-env (conda environment only, noarch)
|
||||
- name: Build conda package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-env (conda environment dependencies)..."
|
||||
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: Upload unilabos-env to Anaconda.org (if enabled)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-env to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-env*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos (with pip package)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos package..."
|
||||
# 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
|
||||
rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos to Anaconda.org (if enabled)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos-full - Only when explicitly requested
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true' &&
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-full to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-full*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: List built packages
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -195,9 +108,17 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: conda-package-unilabos-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
if-no-files-found: warn
|
||||
retention-days: 30
|
||||
|
||||
- name: Upload to Anaconda.org (uni-lab organization)
|
||||
if: github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
for package in $(find ./output -name "*.conda"); do
|
||||
echo "Uploading $package to uni-lab organization..."
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -4,7 +4,6 @@ temp/
|
||||
output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
.cursorignore
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
|
||||
21
AGENTS.md
21
AGENTS.md
@@ -1,21 +0,0 @@
|
||||
# Uni-Lab-OS AI Agent 指南
|
||||
|
||||
## 设备接入
|
||||
|
||||
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。
|
||||
|
||||
## 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()`
|
||||
|
||||
## 项目结构
|
||||
|
||||
- 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/`
|
||||
14
CLAUDE.md
14
CLAUDE.md
@@ -1,14 +0,0 @@
|
||||
# Uni-Lab-OS
|
||||
|
||||
## 设备接入
|
||||
|
||||
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()`
|
||||
@@ -1,5 +1,4 @@
|
||||
recursive-include unilabos/test *
|
||||
recursive-include unilabos/utils *
|
||||
recursive-include unilabos/registry *.yaml
|
||||
recursive-include unilabos/app/web/static *
|
||||
recursive-include unilabos/app/web/templates *
|
||||
|
||||
38
README.md
38
README.md
@@ -31,46 +31,26 @@ Detailed documentation can be found at:
|
||||
|
||||
## Quick Start
|
||||
|
||||
### 1. Setup Conda Environment
|
||||
1. Setup Conda Environment
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
|
||||
|
||||
| Package | Use Case | Contents |
|
||||
|---------|----------|----------|
|
||||
| `unilabos` | **Recommended for most users** | Complete package, ready to use |
|
||||
| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
|
||||
| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
|
||||
Uni-Lab-OS recommends using `mamba` for environment management:
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# Option A: Standard installation (recommended for most users)
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# Option B: For developers (editable mode development)
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# Then install unilabos and dependencies:
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Option C: Full installation (simulation/visualization)
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**When to use which?**
|
||||
- **unilabos**: Standard installation for production deployment and general usage (recommended)
|
||||
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
|
||||
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
|
||||
|
||||
### 2. Clone Repository (Optional, for developers)
|
||||
2. Install Dev Uni-Lab-OS
|
||||
|
||||
```bash
|
||||
# Clone the repository (only needed for development or examples)
|
||||
# Clone the repository
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# Install Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. Start Uni-Lab System
|
||||
|
||||
38
README_zh.md
38
README_zh.md
@@ -31,46 +31,26 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
||||
|
||||
## 快速开始
|
||||
|
||||
### 1. 配置 Conda 环境
|
||||
1. 配置 Conda 环境
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
|
||||
|
||||
| 安装包 | 适用场景 | 包含内容 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
|
||||
```bash
|
||||
# 创建新环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整安装（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**如何选择？**
|
||||
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
|
||||
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
|
||||
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
|
||||
|
||||
### 2. 克隆仓库（可选，供开发者使用）
|
||||
2. 安装开发版 Uni-Lab-OS:
|
||||
|
||||
```bash
|
||||
# 克隆仓库（仅开发或查看示例时需要）
|
||||
# 克隆仓库
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. 启动 Uni-Lab 系统
|
||||
|
||||
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
|
||||
@@ -31,14 +31,6 @@
|
||||
|
||||
详细的安装步骤请参考 [安装指南](installation.md)。
|
||||
|
||||
**选择合适的安装包：**
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||
|
||||
**关键步骤：**
|
||||
|
||||
```bash
|
||||
@@ -46,30 +38,15 @@
|
||||
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
||||
|
||||
# 2. 创建 Conda 环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
|
||||
# 3. 激活环境
|
||||
mamba activate unilab
|
||||
|
||||
# 4. 安装 Uni-Lab-OS（选择其一）
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
# 4. 安装 Uni-Lab-OS
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
|
||||
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
|
||||
|
||||
# 方案 C：完整版（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**选择建议：**
|
||||
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
|
||||
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
|
||||
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
||||
|
||||
#### 1.2 验证安装
|
||||
|
||||
```bash
|
||||
@@ -439,9 +416,6 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
1. 访问 Web 界面，进入"仪器耗材"模块
|
||||
2. 在"仪器设备"区域找到并添加上述设备
|
||||
3. 在"物料耗材"区域找到并添加容器
|
||||
4. 在workstation中配置protocol_type包含PumpTransferProtocol
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -452,9 +426,8 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
**操作步骤：**
|
||||
|
||||
1. 将两个 `container` 拖拽到 `workstation` 中
|
||||
2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
|
||||
3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||
4. 在画布上连接它们（建立父子关系）
|
||||
2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||
3. 在画布上连接它们（建立父子关系）
|
||||
|
||||
|
||||
|
||||
@@ -795,43 +768,7 @@ Waiting for host service...
|
||||
|
||||
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
||||
|
||||
#### 9.1 开发环境准备
|
||||
|
||||
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
|
||||
|
||||
```bash
|
||||
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
|
||||
# 2. 克隆代码
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或手动安装：
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
|
||||
**为什么使用这种方式？**
|
||||
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
|
||||
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
|
||||
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
||||
- 使用 `uv` 替代 `pip`，安装速度更快
|
||||
- 可编辑模式：代码修改**立即生效**，无需重新安装
|
||||
|
||||
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
|
||||
|
||||
```bash
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
#### 9.2 为什么需要自定义设备？
|
||||
#### 9.1 为什么需要自定义设备？
|
||||
|
||||
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
||||
|
||||
@@ -840,7 +777,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
|
||||
- 特殊的实验流程
|
||||
- 第三方设备集成
|
||||
|
||||
#### 9.3 创建 Python 包
|
||||
#### 9.2 创建 Python 包
|
||||
|
||||
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
||||
|
||||
@@ -877,7 +814,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
|
||||
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
||||
```
|
||||
|
||||
#### 9.4 创建 setup.py
|
||||
#### 9.3 创建 setup.py
|
||||
|
||||
```python
|
||||
# my_lab_devices/setup.py
|
||||
@@ -908,7 +845,7 @@ setup(
|
||||
)
|
||||
```
|
||||
|
||||
#### 9.5 开发安装
|
||||
#### 9.4 开发安装
|
||||
|
||||
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
||||
|
||||
@@ -923,7 +860,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
- 方便调试和测试
|
||||
- 支持版本控制（git）
|
||||
|
||||
#### 9.6 编写设备驱动
|
||||
#### 9.5 编写设备驱动
|
||||
|
||||
创建设备驱动文件：
|
||||
|
||||
@@ -1064,7 +1001,7 @@ class MyPump:
|
||||
- **返回 Dict**：所有动作方法返回字典类型
|
||||
- **文档字符串**：详细说明参数和功能
|
||||
|
||||
#### 9.7 测试设备驱动
|
||||
#### 9.6 测试设备驱动
|
||||
|
||||
创建简单的测试脚本：
|
||||
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 81 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 415 KiB After Width: | Height: | Size: 275 KiB |
@@ -13,26 +13,15 @@
|
||||
- 开发者需要 Git 和基本的 Python 开发知识
|
||||
- 自定义 msgs 需要 GitHub 账号
|
||||
|
||||
## 安装包选择
|
||||
|
||||
Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
|
||||
|--------|----------|----------|----------|
|
||||
| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
|
||||
| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
|
||||
| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
|
||||
|
||||
## 安装方式选择
|
||||
|
||||
根据您的使用场景，选择合适的安装方式：
|
||||
|
||||
| 安装方式 | 适用人群 | 推荐安装包 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 快速体验、演示 | 预打包环境 | 离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | **大多数用户** | `unilabos` | 完整功能，开箱即用 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env` | 可编辑模式，支持自定义开发 | 20-30 分钟 |
|
||||
| **仿真/可视化** | 仿真测试、可视化调试 | `unilabos-full` | 含 Gazebo、rviz2、MoveIt | 30-60 分钟 |
|
||||
| 安装方式 | 适用人群 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | 标准用户、生产环境 | 灵活配置，版本可控 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs | 20-30 分钟 |
|
||||
|
||||
---
|
||||
|
||||
@@ -155,38 +144,17 @@ bash Miniforge3-$(uname)-$(uname -m).sh
|
||||
使用以下命令创建 Uni-Lab 专用环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.14 # 目前ros2组件依赖版本大多为3.11.14
|
||||
mamba create -n unilab python=3.11.11 # 目前ros2组件依赖版本大多为3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# 选择安装包（三选一）：
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和 pip 依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整版（含仿真和可视化工具）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**参数说明**:
|
||||
|
||||
- `-n unilab`: 创建名为 "unilab" 的环境
|
||||
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
|
||||
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
|
||||
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
|
||||
- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
|
||||
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
||||
|
||||
**包选择建议**：
|
||||
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
|
||||
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
|
||||
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
|
||||
|
||||
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
||||
|
||||
```bash
|
||||
@@ -195,14 +163,8 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
||||
|
||||
# 然后重新执行安装命令（推荐标准安装）
|
||||
# 然后重新执行安装命令
|
||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
||||
|
||||
# 或完整版（仿真/可视化）
|
||||
mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
|
||||
|
||||
# pip 安装时使用清华镜像（开发者安装时使用）
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
### 第三步：激活环境
|
||||
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
### 第二步：安装开发环境（unilabos-env）
|
||||
### 第二步：安装基础环境
|
||||
|
||||
**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
|
||||
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
|
||||
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
|
||||
- 包含 `uv` 工具，用于快速安装 pip 依赖
|
||||
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
|
||||
**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
|
||||
|
||||
#### 选项 A：通过一键安装（推荐）
|
||||
|
||||
参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
|
||||
|
||||
```bash
|
||||
# 创建并激活环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
|
||||
# 安装开发者环境包（ROS2 + conda 依赖 + uv）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
### 第三步：安装 pip 依赖和可编辑模式安装
|
||||
#### 选项 B：通过手动安装
|
||||
|
||||
克隆代码并安装依赖：
|
||||
参考上文"方式二：手动安装"，创建并安装环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.11
|
||||
conda activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
|
||||
|
||||
### 第三步：切换到开发版本
|
||||
|
||||
现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
|
||||
|
||||
```bash
|
||||
# 确保环境已激活
|
||||
conda activate unilab
|
||||
|
||||
# 克隆仓库（如果还未克隆）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
|
||||
pip uninstall unilabos -y
|
||||
|
||||
# 切换到 dev 分支（可选）
|
||||
# 克隆 dev 分支（如果还未克隆）
|
||||
cd /path/to/your/workspace
|
||||
git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
# 或者如果已经克隆，切换到 dev 分支
|
||||
cd Uni-Lab-OS
|
||||
git checkout dev
|
||||
git pull
|
||||
```
|
||||
|
||||
**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
|
||||
|
||||
```bash
|
||||
# 自动检测中文环境，如果是中文系统则使用清华镜像
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或者手动指定：
|
||||
python scripts/dev_install.py --china # 强制使用清华镜像
|
||||
python scripts/dev_install.py --no-mirror # 强制使用 PyPI
|
||||
python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
|
||||
python scripts/dev_install.py --use-pip # 使用 pip 而非 uv
|
||||
```
|
||||
|
||||
**手动安装**（如果脚本安装失败或速度太慢）：
|
||||
|
||||
```bash
|
||||
# 1. 安装 unilabos（可编辑模式）
|
||||
pip install -e .
|
||||
|
||||
# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 国内用户使用清华镜像：
|
||||
# 以可编辑模式安装开发版 unilabos
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
**注意**：
|
||||
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
|
||||
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
|
||||
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
|
||||
**参数说明**：
|
||||
|
||||
**为什么使用可编辑模式？**
|
||||
|
||||
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
|
||||
- 适合开发调试：修改代码后直接运行测试
|
||||
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
|
||||
|
||||
**验证安装**：
|
||||
|
||||
```bash
|
||||
# 检查 unilabos 版本
|
||||
python -c "import unilabos; print(unilabos.__version__)"
|
||||
|
||||
# 检查安装位置（应该指向你的代码目录）
|
||||
pip show unilabos | grep Location
|
||||
```
|
||||
- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
|
||||
- `-i`: 使用清华镜像源加速下载
|
||||
- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
|
||||
|
||||
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
||||
|
||||
@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab
|
||||
|
||||
### 问题 8: 环境很大，有办法减小吗？
|
||||
|
||||
**解决方案**:
|
||||
|
||||
1. **使用 `unilabos` 标准版**（推荐大多数用户）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
|
||||
|
||||
2. **使用 `unilabos-env` 开发者版**（最小化）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后手动安装依赖
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
开发者版只包含环境依赖，体积最小约 2GB。
|
||||
|
||||
3. **按需安装额外组件**：
|
||||
如果后续需要特定功能，可以单独安装：
|
||||
```bash
|
||||
# 需要 Jupyter
|
||||
mamba install jupyter jupyros
|
||||
|
||||
# 需要可视化
|
||||
mamba install matplotlib opencv
|
||||
|
||||
# 需要仿真（注意：这会安装大量依赖）
|
||||
mamba install ros-humble-gazebo-ros
|
||||
```
|
||||
|
||||
4. **预打包环境问题**：
|
||||
预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
|
||||
|
||||
**包选择建议**：
|
||||
| 需求 | 推荐包 | 预估大小 |
|
||||
|------|--------|----------|
|
||||
| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
|
||||
| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
|
||||
| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
|
||||
**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
|
||||
|
||||
### 问题 9: 如何更新到最新版本？
|
||||
|
||||
@@ -616,7 +511,6 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
||||
|
||||
**提示**:
|
||||
|
||||
- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
|
||||
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
|
||||
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
|
||||
- **快速体验和演示**推荐使用方式一（一键安装）
|
||||
- 生产环境推荐使用方式二（手动安装）的稳定版本
|
||||
- 开发和测试推荐使用方式三（开发者安装）
|
||||
- 快速体验和演示推荐使用方式一（一键安装）
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.18
|
||||
version: 0.10.15
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
@@ -25,7 +25,7 @@ requirements:
|
||||
build:
|
||||
- ${{ compiler('cxx') }}
|
||||
- ${{ compiler('c') }}
|
||||
- python ==3.11.14
|
||||
- python ==3.11.11
|
||||
- numpy
|
||||
- if: build_platform != target_platform
|
||||
then:
|
||||
@@ -63,14 +63,14 @@ requirements:
|
||||
- robostack-staging::ros-humble-rosidl-default-generators
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
run:
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-ros-workspace
|
||||
- robostack-staging::ros-humble-rosidl-default-runtime
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
- if: osx and x86_64
|
||||
then:
|
||||
- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.18"
|
||||
version: "0.10.15"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
@@ -85,7 +85,7 @@ Verification:
|
||||
-------------
|
||||
|
||||
The verify_installation.py script will check:
|
||||
- Python version (3.11.14)
|
||||
- Python version (3.11.11)
|
||||
- ROS2 rclpy installation
|
||||
- UniLabOS installation and dependencies
|
||||
|
||||
@@ -104,7 +104,7 @@ Build Information:
|
||||
|
||||
Branch: {branch}
|
||||
Platform: {platform}
|
||||
Python: 3.11.14
|
||||
Python: 3.11.11
|
||||
Date: {build_date}
|
||||
|
||||
Troubleshooting:
|
||||
|
||||
@@ -1,214 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Development installation script for UniLabOS.
|
||||
Auto-detects Chinese locale and uses appropriate mirror.
|
||||
|
||||
Usage:
|
||||
python scripts/dev_install.py
|
||||
python scripts/dev_install.py --no-mirror # Force no mirror
|
||||
python scripts/dev_install.py --china # Force China mirror
|
||||
python scripts/dev_install.py --skip-deps # Skip pip dependencies installation
|
||||
|
||||
Flow:
|
||||
1. pip install -e . (install unilabos in editable mode)
|
||||
2. Detect Chinese locale
|
||||
3. Use uv to install pip dependencies from requirements.txt
|
||||
4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
|
||||
"""
|
||||
|
||||
import locale
|
||||
import subprocess
|
||||
import sys
|
||||
import argparse
|
||||
from pathlib import Path
|
||||
|
||||
# Tsinghua mirror URL
|
||||
TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||
|
||||
|
||||
def is_chinese_locale() -> bool:
|
||||
"""
|
||||
Detect if system is in Chinese locale.
|
||||
Same logic as EnvironmentChecker._is_chinese_locale()
|
||||
"""
|
||||
try:
|
||||
lang = locale.getdefaultlocale()[0]
|
||||
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
return False
|
||||
|
||||
|
||||
def run_command(cmd: list, description: str, retry: int = 2) -> bool:
|
||||
"""Run command with retry support."""
|
||||
print(f"[INFO] {description}")
|
||||
print(f"[CMD] {' '.join(cmd)}")
|
||||
|
||||
for attempt in range(retry + 1):
|
||||
try:
|
||||
result = subprocess.run(cmd, check=True, timeout=600)
|
||||
print(f"[OK] {description}")
|
||||
return True
|
||||
except subprocess.CalledProcessError as e:
|
||||
if attempt < retry:
|
||||
print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
|
||||
else:
|
||||
print(f"[ERROR] {description} failed: {e}")
|
||||
return False
|
||||
except subprocess.TimeoutExpired:
|
||||
print(f"[ERROR] {description} timed out")
|
||||
return False
|
||||
return False
|
||||
|
||||
|
||||
def install_editable(project_root: Path, use_mirror: bool) -> bool:
|
||||
"""Install unilabos in editable mode using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing unilabos in editable mode")
|
||||
|
||||
|
||||
def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Install pip dependencies using uv (installed via conda-forge::uv)."""
|
||||
cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with uv", retry=2)
|
||||
|
||||
|
||||
def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Fallback: Install pip dependencies using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with pip", retry=2)
|
||||
|
||||
|
||||
def check_uv_available() -> bool:
|
||||
"""Check if uv is available (installed via conda-forge::uv)."""
|
||||
try:
|
||||
subprocess.run(["uv", "--version"], capture_output=True, check=True)
|
||||
return True
|
||||
except (subprocess.CalledProcessError, FileNotFoundError):
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
|
||||
parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
|
||||
parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
|
||||
parser.add_argument(
|
||||
"--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
|
||||
)
|
||||
parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Determine project root
|
||||
script_dir = Path(__file__).parent
|
||||
project_root = script_dir.parent
|
||||
requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
|
||||
|
||||
if not (project_root / "setup.py").exists():
|
||||
print(f"[ERROR] setup.py not found in {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print("=" * 60)
|
||||
print("UniLabOS Development Installation")
|
||||
print("=" * 60)
|
||||
print(f"Project root: {project_root}")
|
||||
print()
|
||||
|
||||
# Determine mirror usage based on locale
|
||||
if args.no_mirror:
|
||||
use_mirror = False
|
||||
print("[INFO] Mirror disabled by --no-mirror flag")
|
||||
elif args.china:
|
||||
use_mirror = True
|
||||
print("[INFO] China mirror enabled by --china flag")
|
||||
else:
|
||||
use_mirror = is_chinese_locale()
|
||||
if use_mirror:
|
||||
print("[INFO] Chinese locale detected, using Tsinghua mirror")
|
||||
else:
|
||||
print("[INFO] Non-Chinese locale detected, using default PyPI")
|
||||
|
||||
print()
|
||||
|
||||
# Step 1: Install unilabos in editable mode
|
||||
print("[STEP 1] Installing unilabos in editable mode...")
|
||||
if not install_editable(project_root, use_mirror):
|
||||
print("[ERROR] Failed to install unilabos")
|
||||
print()
|
||||
print("Manual fallback:")
|
||||
if use_mirror:
|
||||
print(f" pip install -e {project_root} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" pip install -e {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print()
|
||||
|
||||
# Step 2: Install pip dependencies
|
||||
if args.skip_deps:
|
||||
print("[INFO] Skipping pip dependencies installation (--skip-deps)")
|
||||
else:
|
||||
print("[STEP 2] Installing pip dependencies...")
|
||||
|
||||
if not requirements_file.exists():
|
||||
print(f"[WARN] Requirements file not found: {requirements_file}")
|
||||
print("[INFO] Skipping dependencies installation")
|
||||
else:
|
||||
# Try uv first (faster), fallback to pip
|
||||
if args.use_pip:
|
||||
print("[INFO] Using pip (--use-pip flag)")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
elif check_uv_available():
|
||||
print("[INFO] Using uv (installed via conda-forge::uv)")
|
||||
success = install_requirements_uv(requirements_file, use_mirror)
|
||||
if not success:
|
||||
print("[WARN] uv failed, falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
else:
|
||||
print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
|
||||
print("[INFO] Falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
|
||||
if not success:
|
||||
print()
|
||||
print("[WARN] Failed to install some dependencies automatically.")
|
||||
print("You can manually install them:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" uv pip install -r {requirements_file}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file}")
|
||||
|
||||
print()
|
||||
print("=" * 60)
|
||||
print("Installation complete!")
|
||||
print("=" * 60)
|
||||
print()
|
||||
print("Note: Some special packages (like pylabrobot) are installed")
|
||||
print("automatically at runtime by unilabos if needed.")
|
||||
print()
|
||||
print("Verify installation:")
|
||||
print(' python -c "import unilabos; print(unilabos.__version__)"')
|
||||
print()
|
||||
print("If you encounter issues, you can manually install dependencies:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(" uv pip install -r unilabos/utils/requirements.txt")
|
||||
print()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.18',
|
||||
version='0.10.15',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -1,213 +0,0 @@
|
||||
{
|
||||
"workflow": [
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_1",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_4",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_5",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_6",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
}
|
||||
],
|
||||
"reagent": {
|
||||
"Liquid_1": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_4": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"dest_set": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_5": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"dest_set_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"Liquid_6": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"dest_set_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"cell_lines": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_2": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_3": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.10.18"
|
||||
__version__ = "0.10.15"
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
"""Entry point for `python -m unilabos`."""
|
||||
|
||||
from unilabos.app.main import main
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,13 +1,13 @@
|
||||
import argparse
|
||||
import asyncio
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import signal
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from typing import Dict, Any, List
|
||||
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
@@ -17,9 +17,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
# Global restart flags (used by ws_client and web/server)
|
||||
_restart_requested: bool = False
|
||||
@@ -161,23 +161,11 @@ def parse_args():
|
||||
default=False,
|
||||
help="Complete registry information",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--check_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Run in check mode for CI: validates registry imports and ensures no file changes",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--no_update_feedback",
|
||||
action="store_true",
|
||||
help="Disable sending update feedback to server",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--test_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Test mode: all actions simulate execution and return mock results without running real hardware",
|
||||
)
|
||||
# workflow upload subcommand
|
||||
workflow_parser = subparsers.add_parser(
|
||||
"workflow_upload",
|
||||
@@ -211,12 +199,6 @@ def parse_args():
|
||||
default=False,
|
||||
help="Whether to publish the workflow (default: False)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--description",
|
||||
type=str,
|
||||
default="",
|
||||
help="Workflow description, used when publishing the workflow",
|
||||
)
|
||||
return parser
|
||||
|
||||
|
||||
@@ -229,10 +211,7 @@ def main():
|
||||
args_dict = vars(args)
|
||||
|
||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||
skip_env_check = args_dict.get("skip_env_check", False)
|
||||
check_mode = args_dict.get("check_mode", False)
|
||||
|
||||
if not skip_env_check:
|
||||
if not args_dict.get("skip_env_check", False):
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
|
||||
if not check_environment(auto_install=True):
|
||||
@@ -243,75 +222,49 @@ def main():
|
||||
|
||||
# 加载配置文件，优先加载config，然后从env读取
|
||||
config_path = args_dict.get("config")
|
||||
|
||||
# === 解析 working_dir ===
|
||||
# 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
|
||||
# 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
|
||||
# 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
|
||||
raw_working_dir = args_dict.get("working_dir")
|
||||
if raw_working_dir:
|
||||
working_dir = os.path.abspath(raw_working_dir)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(os.path.abspath(config_path))
|
||||
else:
|
||||
if os.getcwd().endswith("unilabos_data"):
|
||||
working_dir = os.path.abspath(os.getcwd())
|
||||
else:
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
# unilabos_data 子目录自动检测
|
||||
if os.path.basename(working_dir) != "unilabos_data":
|
||||
unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
|
||||
if os.path.isdir(unilabos_data_sub):
|
||||
working_dir = unilabos_data_sub
|
||||
elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
|
||||
# 未显式指定路径，默认使用 cwd/unilabos_data
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
# === 解析 config_path ===
|
||||
if config_path and not os.path.exists(config_path):
|
||||
# config_path 传入但不存在，尝试在 working_dir 中查找
|
||||
candidate = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(candidate):
|
||||
config_path = candidate
|
||||
print_status(f"在工作目录中发现配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(
|
||||
f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
|
||||
f"请通过 --config 传入 local_config.py 文件路径",
|
||||
"error",
|
||||
)
|
||||
os._exit(1)
|
||||
elif not config_path:
|
||||
# 规则3: 未传入 config_path，尝试 working_dir/local_config.py
|
||||
candidate = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(candidate):
|
||||
config_path = candidate
|
||||
print_status(f"发现本地配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if check_mode or input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
|
||||
config_path,
|
||||
if args_dict.get("working_dir"):
|
||||
working_dir = args_dict.get("working_dir", "")
|
||||
if config_path and not os.path.exists(config_path):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
if not os.path.exists(config_path):
|
||||
print_status(
|
||||
f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
|
||||
"error",
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
else:
|
||||
os._exit(1)
|
||||
|
||||
# 加载配置文件 (check_mode 跳过)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(config_path)
|
||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
elif not config_path and (
|
||||
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
||||
):
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
else:
|
||||
os._exit(1)
|
||||
# 加载配置文件
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
if not check_mode:
|
||||
load_config_from_file(config_path)
|
||||
load_config_from_file(config_path)
|
||||
|
||||
# 根据配置重新设置日志级别
|
||||
from unilabos.utils.log import configure_logger, logger
|
||||
|
||||
if hasattr(BasicConfig, "log_level"):
|
||||
logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
|
||||
file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
|
||||
if file_path is not None:
|
||||
logger.info(f"[LOG_FILE] {file_path}")
|
||||
configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
|
||||
|
||||
if args.addr != parser.get_default("addr"):
|
||||
if args.addr == "test":
|
||||
@@ -355,15 +308,11 @@ def main():
|
||||
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
|
||||
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
|
||||
BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
|
||||
BasicConfig.test_mode = args_dict.get("test_mode", False)
|
||||
if BasicConfig.test_mode:
|
||||
print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = platform.node()
|
||||
machine_name = os.popen("hostname").read().strip()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
BasicConfig.machine_name = machine_name
|
||||
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
||||
BasicConfig.check_mode = check_mode
|
||||
|
||||
from unilabos.resources.graphio import (
|
||||
read_node_link_json,
|
||||
@@ -382,14 +331,10 @@ 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)
|
||||
|
||||
# Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
|
||||
if check_mode:
|
||||
print_status("Check mode: complete_registry 完成，退出", "info")
|
||||
os._exit(0)
|
||||
# 注册表
|
||||
lab_registry = build_registry(
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
|
||||
)
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
|
||||
@@ -54,7 +54,6 @@ class JobAddReq(BaseModel):
|
||||
action_type: str = Field(
|
||||
examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
|
||||
)
|
||||
sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
|
||||
action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
|
||||
task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
|
||||
job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
|
||||
|
||||
@@ -38,9 +38,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
response = http_client.resource_registry({"resources": list(devices_to_register.values())})
|
||||
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")
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 设备注册异常: {e}")
|
||||
|
||||
@@ -51,9 +51,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
response = http_client.resource_registry({"resources": list(resources_to_register.values())})
|
||||
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")
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 资源注册异常: {e}")
|
||||
|
||||
|
||||
@@ -4,40 +4,8 @@ UniLabOS 应用工具函数
|
||||
提供清理、重启等工具函数
|
||||
"""
|
||||
|
||||
import glob
|
||||
import os
|
||||
import shutil
|
||||
import sys
|
||||
|
||||
|
||||
def patch_rclpy_dll_windows():
|
||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||
return
|
||||
try:
|
||||
import rclpy
|
||||
|
||||
return
|
||||
except ImportError as e:
|
||||
if not str(e).startswith("DLL load failed"):
|
||||
return
|
||||
cp = os.environ["CONDA_PREFIX"]
|
||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
if not os.path.exists(impl) or not pyd:
|
||||
return
|
||||
with open(impl, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
||||
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
||||
shutil.copy2(impl, impl + ".bak")
|
||||
with open(impl, "w", encoding="utf-8") as f:
|
||||
f.write(patch + content)
|
||||
|
||||
|
||||
patch_rclpy_dll_windows()
|
||||
|
||||
import gc
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ HTTP客户端模块
|
||||
|
||||
提供与远程服务器通信的客户端功能，只有host需要用
|
||||
"""
|
||||
import gzip
|
||||
|
||||
import json
|
||||
import os
|
||||
from typing import List, Dict, Any, Optional
|
||||
@@ -290,17 +290,10 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
compressed_body = gzip.compress(
|
||||
json.dumps(registry_data, ensure_ascii=False, default=str).encode("utf-8")
|
||||
)
|
||||
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",
|
||||
},
|
||||
json=registry_data,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
if response.status_code not in [200, 201]:
|
||||
@@ -350,10 +343,9 @@ class HTTPClient:
|
||||
edges: List[Dict[str, Any]],
|
||||
tags: Optional[List[str]] = None,
|
||||
published: bool = False,
|
||||
description: str = "",
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
导入工作流到服务器，如果 published 为 True，则额外发起发布请求
|
||||
导入工作流到服务器
|
||||
|
||||
Args:
|
||||
name: 工作流名称（顶层）
|
||||
@@ -363,12 +355,13 @@ class HTTPClient:
|
||||
edges: 工作流边列表
|
||||
tags: 工作流标签列表，默认为空列表
|
||||
published: 是否发布工作流，默认为False
|
||||
description: 工作流描述，发布时使用
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据，包含 code 和 data (uuid, name)
|
||||
"""
|
||||
# target_lab_uuid 暂时使用默认值，后续由后端根据 ak/sk 获取
|
||||
payload = {
|
||||
"target_lab_uuid": "28c38bb0-63f6-4352-b0d8-b5b8eb1766d5",
|
||||
"name": name,
|
||||
"data": {
|
||||
"workflow_uuid": workflow_uuid,
|
||||
@@ -376,6 +369,7 @@ class HTTPClient:
|
||||
"nodes": nodes,
|
||||
"edges": edges,
|
||||
"tags": tags if tags is not None else [],
|
||||
"published": published,
|
||||
},
|
||||
}
|
||||
# 保存请求到文件
|
||||
@@ -396,51 +390,11 @@ class HTTPClient:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"导入工作流失败: {response.text}")
|
||||
return res
|
||||
# 导入成功后，如果需要发布则额外发起发布请求
|
||||
if published:
|
||||
imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
|
||||
publish_res = self.workflow_publish(imported_uuid, description)
|
||||
res["publish_result"] = publish_res
|
||||
return res
|
||||
else:
|
||||
logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
|
||||
"""
|
||||
发布工作流
|
||||
|
||||
Args:
|
||||
workflow_uuid: 工作流UUID
|
||||
description: 工作流描述
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据
|
||||
"""
|
||||
payload = {
|
||||
"uuid": workflow_uuid,
|
||||
"description": description,
|
||||
"published": True,
|
||||
}
|
||||
logger.info(f"正在发布工作流: {workflow_uuid}")
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/workflow/owner",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"发布工作流失败: {response.text}")
|
||||
else:
|
||||
logger.info(f"工作流发布成功: {workflow_uuid}")
|
||||
return res
|
||||
else:
|
||||
logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
|
||||
@@ -58,14 +58,14 @@ class JobResultStore:
|
||||
feedback=feedback or {},
|
||||
timestamp=time.time(),
|
||||
)
|
||||
logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
|
||||
def get_and_remove(self, job_id: str) -> Optional[JobResult]:
|
||||
"""获取并删除任务结果"""
|
||||
with self._results_lock:
|
||||
result = self._results.pop(job_id, None)
|
||||
if result:
|
||||
logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
return result
|
||||
|
||||
def get_result(self, job_id: str) -> Optional[JobResult]:
|
||||
@@ -327,7 +327,6 @@ def job_add(req: JobAddReq) -> JobData:
|
||||
queue_item,
|
||||
action_type=action_type,
|
||||
action_kwargs=action_args,
|
||||
sample_material=req.sample_material,
|
||||
server_info=server_info,
|
||||
)
|
||||
|
||||
|
||||
@@ -23,7 +23,7 @@ from typing import Optional, Dict, Any, List
|
||||
from urllib.parse import urlparse
|
||||
from enum import Enum
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
from jedi.inference.gradual.typing import TypedDict
|
||||
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
@@ -76,7 +76,6 @@ class JobInfo:
|
||||
start_time: float
|
||||
last_update_time: float = field(default_factory=time.time)
|
||||
ready_timeout: Optional[float] = None # READY状态的超时时间
|
||||
always_free: bool = False # 是否为永久闲置动作(不受排队限制)
|
||||
|
||||
def update_timestamp(self):
|
||||
"""更新最后更新时间"""
|
||||
@@ -128,15 +127,6 @@ class DeviceActionManager:
|
||||
# 总是将job添加到all_jobs中
|
||||
self.all_jobs[job_info.job_id] = job_info
|
||||
|
||||
# always_free的动作不受排队限制，直接设为READY
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.READY
|
||||
job_info.update_timestamp()
|
||||
job_info.set_ready_timeout(10)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
|
||||
return True
|
||||
|
||||
# 检查是否有正在执行或准备执行的任务
|
||||
if device_key in self.active_jobs:
|
||||
# 有正在执行或准备执行的任务，加入队列
|
||||
@@ -164,7 +154,7 @@ class DeviceActionManager:
|
||||
job_info.set_ready_timeout(10) # 设置10秒超时
|
||||
self.active_jobs[device_key] = job_info
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
return True
|
||||
|
||||
def start_job(self, job_id: str) -> bool:
|
||||
@@ -186,15 +176,11 @@ class DeviceActionManager:
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
|
||||
return False
|
||||
|
||||
# always_free的job不需要检查active_jobs
|
||||
if not job_info.always_free:
|
||||
# 检查设备上是否是这个job
|
||||
if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
|
||||
return False
|
||||
# 检查设备上是否是这个job
|
||||
if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
|
||||
return False
|
||||
|
||||
# 开始执行任务，将状态从READY转换为STARTED
|
||||
job_info.status = JobStatus.STARTED
|
||||
@@ -217,13 +203,6 @@ class DeviceActionManager:
|
||||
job_info = self.all_jobs[job_id]
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# always_free的job直接清理，不影响队列
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.ENDED
|
||||
job_info.update_timestamp()
|
||||
del self.all_jobs[job_id]
|
||||
return None
|
||||
|
||||
# 移除活跃任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
del self.active_jobs[device_key]
|
||||
@@ -231,9 +210,8 @@ class DeviceActionManager:
|
||||
job_info.update_timestamp()
|
||||
# 从all_jobs中移除已结束的job
|
||||
del self.all_jobs[job_id]
|
||||
# job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
# logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
pass
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
else:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
|
||||
@@ -249,20 +227,15 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
return next_job
|
||||
|
||||
return None
|
||||
|
||||
def get_active_jobs(self) -> List[JobInfo]:
|
||||
"""获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
|
||||
"""获取所有正在执行的任务"""
|
||||
with self.lock:
|
||||
jobs = list(self.active_jobs.values())
|
||||
# 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
|
||||
for job in self.all_jobs.values():
|
||||
if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
|
||||
jobs.append(job)
|
||||
return jobs
|
||||
return list(self.active_jobs.values())
|
||||
|
||||
def get_queued_jobs(self) -> List[JobInfo]:
|
||||
"""获取所有排队中的任务"""
|
||||
@@ -287,14 +260,6 @@ class DeviceActionManager:
|
||||
job_info = self.all_jobs[job_id]
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# always_free的job直接清理
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.ENDED
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
|
||||
return True
|
||||
|
||||
# 如果是正在执行的任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
# 清理active job状态
|
||||
@@ -303,7 +268,7 @@ class DeviceActionManager:
|
||||
# 从all_jobs中移除
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
|
||||
# 启动下一个任务
|
||||
if device_key in self.device_queues and self.device_queues[device_key]:
|
||||
@@ -316,7 +281,7 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
return True
|
||||
|
||||
# 如果是排队中的任务
|
||||
@@ -330,7 +295,7 @@ class DeviceActionManager:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
return True
|
||||
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
@@ -368,18 +333,13 @@ class DeviceActionManager:
|
||||
timeout_jobs = []
|
||||
|
||||
with self.lock:
|
||||
# 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
|
||||
ready_candidates = list(self.active_jobs.values())
|
||||
for job in self.all_jobs.values():
|
||||
if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
|
||||
ready_candidates.append(job)
|
||||
|
||||
ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
|
||||
# 统计READY状态的任务数量
|
||||
ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
|
||||
if ready_jobs_count > 0:
|
||||
logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout") # type: ignore # noqa: E501
|
||||
|
||||
# 找到所有超时的READY任务（只检测，不处理）
|
||||
for job_info in ready_candidates:
|
||||
for job_info in self.active_jobs.values():
|
||||
if job_info.is_ready_timeout():
|
||||
timeout_jobs.append(job_info)
|
||||
job_log = format_job_log(
|
||||
@@ -466,7 +426,6 @@ class MessageProcessor:
|
||||
async with websockets.connect(
|
||||
self.websocket_url,
|
||||
ssl=ssl_context,
|
||||
open_timeout=20,
|
||||
ping_interval=WSConfig.ping_interval,
|
||||
ping_timeout=10,
|
||||
additional_headers={
|
||||
@@ -498,18 +457,6 @@ class MessageProcessor:
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.warning("[MessageProcessor] Connection closed")
|
||||
self.connected = False
|
||||
except TimeoutError:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] Connection timeout (attempt {self.reconnect_count + 1}), "
|
||||
f"server may be temporarily unavailable"
|
||||
)
|
||||
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"
|
||||
)
|
||||
self.connected = False
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Connection error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
@@ -518,19 +465,18 @@ class MessageProcessor:
|
||||
self.websocket = None
|
||||
|
||||
# 重连逻辑
|
||||
if not self.is_running:
|
||||
break
|
||||
if self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
self.reconnect_count += 1
|
||||
backoff = min(WSConfig.reconnect_interval * (2 ** (self.reconnect_count - 1)), 60)
|
||||
logger.info(
|
||||
f"[MessageProcessor] Reconnecting in {backoff}s "
|
||||
f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
|
||||
f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
)
|
||||
await asyncio.sleep(backoff)
|
||||
else:
|
||||
await asyncio.sleep(WSConfig.reconnect_interval)
|
||||
elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
|
||||
logger.error("[MessageProcessor] Max reconnection attempts reached")
|
||||
break
|
||||
else:
|
||||
self.reconnect_count -= 1
|
||||
|
||||
async def _message_handler(self):
|
||||
"""处理接收到的消息"""
|
||||
@@ -548,12 +494,8 @@ class MessageProcessor:
|
||||
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')}"
|
||||
)
|
||||
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:
|
||||
@@ -598,7 +540,7 @@ class MessageProcessor:
|
||||
try:
|
||||
message_str = json.dumps(msg, ensure_ascii=False)
|
||||
await self.websocket.send(message_str)
|
||||
# logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||
logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
@@ -623,7 +565,7 @@ class MessageProcessor:
|
||||
|
||||
async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
|
||||
"""处理收到的消息"""
|
||||
logger.trace(f"[MessageProcessor] Processing message: {message_type}")
|
||||
logger.debug(f"[MessageProcessor] Processing message: {message_type}")
|
||||
|
||||
try:
|
||||
if message_type == "pong":
|
||||
@@ -661,24 +603,6 @@ class MessageProcessor:
|
||||
if host_node:
|
||||
host_node.handle_pong_response(pong_data)
|
||||
|
||||
def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
|
||||
"""检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if not host_node:
|
||||
return False
|
||||
# noinspection PyProtectedMember
|
||||
action_mappings = host_node._action_value_mappings.get(device_id)
|
||||
if not action_mappings:
|
||||
return False
|
||||
# 尝试直接匹配或 auto- 前缀匹配
|
||||
for key in [action_name, f"auto-{action_name}"]:
|
||||
if key in action_mappings:
|
||||
return action_mappings[key].get("always_free", False)
|
||||
return False
|
||||
except Exception:
|
||||
return False
|
||||
|
||||
async def _handle_query_action_state(self, data: Dict[str, Any]):
|
||||
"""处理query_action_state消息"""
|
||||
device_id = data.get("device_id", "")
|
||||
@@ -693,9 +617,6 @@ class MessageProcessor:
|
||||
|
||||
device_action_key = f"/devices/{device_id}/{action_name}"
|
||||
|
||||
# 检查action是否为always_free
|
||||
action_always_free = self._check_action_always_free(device_id, action_name)
|
||||
|
||||
# 创建任务信息
|
||||
job_info = JobInfo(
|
||||
job_id=job_id,
|
||||
@@ -705,7 +626,6 @@ class MessageProcessor:
|
||||
device_action_key=device_action_key,
|
||||
status=JobStatus.QUEUE,
|
||||
start_time=time.time(),
|
||||
always_free=action_always_free,
|
||||
)
|
||||
|
||||
# 添加到设备管理器
|
||||
@@ -717,13 +637,13 @@ class MessageProcessor:
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", True, 0
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
else:
|
||||
# 需要排队
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", False, 10
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
||||
logger.info(f"[MessageProcessor] Job {job_log} queued")
|
||||
|
||||
# 通知QueueProcessor有新的队列更新
|
||||
if self.queue_processor:
|
||||
@@ -732,8 +652,6 @@ class MessageProcessor:
|
||||
async def _handle_job_start(self, data: Dict[str, Any]):
|
||||
"""处理job_start消息"""
|
||||
try:
|
||||
if not data.get("sample_material"):
|
||||
data["sample_material"] = {}
|
||||
req = JobAddReq(**data)
|
||||
|
||||
job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
|
||||
@@ -765,7 +683,6 @@ class MessageProcessor:
|
||||
queue_item,
|
||||
action_type=req.action_type,
|
||||
action_kwargs=req.action_args,
|
||||
sample_material=req.sample_material,
|
||||
server_info=req.server_info,
|
||||
)
|
||||
|
||||
@@ -930,7 +847,9 @@ class MessageProcessor:
|
||||
device_action_groups[key_add] = []
|
||||
device_action_groups[key_add].append(item["uuid"])
|
||||
|
||||
logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
|
||||
logger.info(
|
||||
f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
|
||||
)
|
||||
else:
|
||||
# 正常update
|
||||
key = (device_id, "update")
|
||||
@@ -944,13 +863,11 @@ class MessageProcessor:
|
||||
device_action_groups[key] = []
|
||||
device_action_groups[key].append(item["uuid"])
|
||||
|
||||
logger.trace(
|
||||
f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
|
||||
)
|
||||
logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
|
||||
|
||||
# 为每个(device_id, action)创建独立的更新线程
|
||||
for (device_id, actual_action), items in device_action_groups.items():
|
||||
logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
|
||||
logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
|
||||
|
||||
def _notify_resource_tree(dev_id, act, item_list):
|
||||
try:
|
||||
@@ -985,44 +902,42 @@ class MessageProcessor:
|
||||
async def _handle_request_restart(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理重启请求
|
||||
|
||||
|
||||
当LabGo发送request_restart时，执行清理并触发重启
|
||||
"""
|
||||
reason = data.get("reason", "unknown")
|
||||
delay = data.get("delay", 2) # 默认延迟2秒
|
||||
logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
|
||||
|
||||
|
||||
# 发送确认消息
|
||||
if self.websocket_client:
|
||||
await self.websocket_client.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
|
||||
await self.websocket_client.send_message({
|
||||
"action": "restart_acknowledged",
|
||||
"data": {"reason": reason, "delay": delay}
|
||||
})
|
||||
|
||||
# 设置全局重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
main_module._restart_requested = True
|
||||
main_module._restart_reason = reason
|
||||
|
||||
|
||||
# 延迟后执行清理
|
||||
await asyncio.sleep(delay)
|
||||
|
||||
|
||||
# 在新线程中执行清理，避免阻塞当前事件循环
|
||||
def do_cleanup():
|
||||
import time
|
||||
|
||||
time.sleep(0.5) # 给当前消息处理完成的时间
|
||||
logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
|
||||
try:
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
if cleanup_for_restart():
|
||||
logger.info("[MessageProcessor] Cleanup successful, main() will restart")
|
||||
else:
|
||||
logger.error("[MessageProcessor] Cleanup failed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error during cleanup: {e}")
|
||||
|
||||
|
||||
cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
|
||||
cleanup_thread.start()
|
||||
logger.info(f"[MessageProcessor] Restart cleanup scheduled")
|
||||
@@ -1198,11 +1113,6 @@ class QueueProcessor:
|
||||
logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
|
||||
|
||||
for job_info in queued_jobs:
|
||||
# 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
|
||||
# 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
|
||||
if job_info.status != JobStatus.QUEUE:
|
||||
continue
|
||||
|
||||
message = {
|
||||
"action": "report_action_state",
|
||||
"data": {
|
||||
@@ -1218,7 +1128,7 @@ class QueueProcessor:
|
||||
success = self.message_processor.send_message(message)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
if success:
|
||||
logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
else:
|
||||
logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
|
||||
|
||||
@@ -1241,7 +1151,7 @@ class QueueProcessor:
|
||||
job_info.action_name,
|
||||
)
|
||||
|
||||
logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
|
||||
# 结束任务，获取下一个可执行的任务
|
||||
next_job = self.device_manager.end_job(job_id)
|
||||
@@ -1261,8 +1171,8 @@ class QueueProcessor:
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
# next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
# logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
|
||||
# 立即触发下一轮状态检查
|
||||
self.notify_queue_update()
|
||||
@@ -1384,7 +1294,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
@@ -1404,7 +1314,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
except (KeyError, AttributeError):
|
||||
logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
|
||||
|
||||
# logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
||||
logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
||||
|
||||
# 通知队列处理器job完成（包括timeout的job）
|
||||
self.queue_processor.handle_job_completed(item.job_id, status)
|
||||
@@ -1465,17 +1375,15 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
# 收集设备信息
|
||||
devices = []
|
||||
machine_name = BasicConfig.machine_name
|
||||
|
||||
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
# 获取设备信息
|
||||
for device_id, namespace in host_node.devices_names.items():
|
||||
device_key = (
|
||||
f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
)
|
||||
device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
is_online = device_key in host_node._online_devices
|
||||
|
||||
|
||||
# 获取设备的动作信息
|
||||
actions = {}
|
||||
for action_id, client in host_node._action_clients.items():
|
||||
@@ -1486,18 +1394,16 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
"action_path": action_id,
|
||||
"action_type": str(type(client).__name__),
|
||||
}
|
||||
|
||||
devices.append(
|
||||
{
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
}
|
||||
)
|
||||
|
||||
|
||||
devices.append({
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
})
|
||||
|
||||
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
|
||||
|
||||
@@ -95,29 +95,8 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
|
||||
return total_volume
|
||||
|
||||
|
||||
def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
|
||||
"""
|
||||
判断是否为泵阀一体设备
|
||||
"""
|
||||
class_lower = (node_class or "").lower()
|
||||
name_lower = (node_name or "").lower()
|
||||
|
||||
if "pump" not in class_lower and "pump" not in name_lower:
|
||||
return False
|
||||
|
||||
integrated_markers = [
|
||||
"valve",
|
||||
"pump_valve",
|
||||
"pumpvalve",
|
||||
"integrated",
|
||||
"transfer_pump",
|
||||
]
|
||||
|
||||
for marker in integrated_markers:
|
||||
if marker in class_lower or marker in name_lower:
|
||||
return True
|
||||
|
||||
return False
|
||||
def is_integrated_pump(node_name):
|
||||
return "pump" in node_name and "valve" in node_name
|
||||
|
||||
|
||||
def find_connected_pump(G, valve_node):
|
||||
@@ -207,9 +186,7 @@ def build_pump_valve_maps(G, pump_backbone):
|
||||
debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
|
||||
|
||||
for node in filtered_backbone:
|
||||
node_data = G.nodes.get(node, {})
|
||||
node_class = node_data.get("class", "") or ""
|
||||
if is_integrated_pump(node_class, node):
|
||||
if is_integrated_pump(G.nodes[node]["class"]):
|
||||
pumps_from_node[node] = node
|
||||
valve_from_node[node] = node
|
||||
debug_print(f" - 集成泵-阀: {node}")
|
||||
|
||||
@@ -22,8 +22,6 @@ class BasicConfig:
|
||||
startup_json_path = None # 填写绝对路径
|
||||
disable_browser = False # 禁止浏览器自动打开
|
||||
port = 8002 # 本地HTTP服务
|
||||
check_mode = False # CI 检查模式，用于验证 registry 导入和文件一致性
|
||||
test_mode = False # 测试模式，所有动作不实际执行，返回模拟结果
|
||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||
|
||||
@@ -146,5 +144,5 @@ def load_config(config_path=None):
|
||||
traceback.print_exc()
|
||||
exit(1)
|
||||
else:
|
||||
config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
|
||||
config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
|
||||
load_config(config_path)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -43,7 +43,7 @@ class Base(ABC):
|
||||
self._type = typ
|
||||
self._data_type = data_type
|
||||
self._node: Optional[Node] = None
|
||||
|
||||
|
||||
def _get_node(self) -> Node:
|
||||
if self._node is None:
|
||||
try:
|
||||
@@ -66,7 +66,7 @@ class Base(ABC):
|
||||
# 直接以字符串形式处理
|
||||
if isinstance(nid, str):
|
||||
nid = nid.strip()
|
||||
|
||||
|
||||
# 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
|
||||
# 提取括号内的内容
|
||||
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
|
||||
@@ -116,16 +116,16 @@ class Base(ABC):
|
||||
def read(self) -> Tuple[Any, bool]:
|
||||
"""读取节点值，返回(值, 是否出错)"""
|
||||
pass
|
||||
|
||||
|
||||
@abstractmethod
|
||||
def write(self, value: Any) -> bool:
|
||||
"""写入节点值，返回是否出错"""
|
||||
pass
|
||||
|
||||
|
||||
@property
|
||||
def type(self) -> NodeType:
|
||||
return self._type
|
||||
|
||||
|
||||
@property
|
||||
def node_id(self) -> str:
|
||||
return self._node_id
|
||||
@@ -210,15 +210,15 @@ class Method(Base):
|
||||
super().__init__(client, name, node_id, NodeType.METHOD, data_type)
|
||||
self._parent_node_id = parent_node_id
|
||||
self._parent_node = None
|
||||
|
||||
|
||||
def _get_parent_node(self) -> Node:
|
||||
if self._parent_node is None:
|
||||
try:
|
||||
# 处理父节点ID，使用与_get_node相同的解析逻辑
|
||||
import re
|
||||
|
||||
|
||||
nid = self._parent_node_id
|
||||
|
||||
|
||||
# 如果已经是 NodeId 对象，直接使用
|
||||
try:
|
||||
from opcua.ua import NodeId as UaNodeId
|
||||
@@ -227,16 +227,16 @@ class Method(Base):
|
||||
return self._parent_node
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
# 字符串处理
|
||||
if isinstance(nid, str):
|
||||
nid = nid.strip()
|
||||
|
||||
|
||||
# 处理包含类名的格式
|
||||
match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
|
||||
if match_wrapped:
|
||||
nid = match_wrapped.group(2).strip()
|
||||
|
||||
|
||||
# 常见短格式
|
||||
if re.match(r'^ns=\d+;[is]=', nid):
|
||||
self._parent_node = self._client.get_node(nid)
|
||||
@@ -271,7 +271,7 @@ class Method(Base):
|
||||
def write(self, value: Any) -> bool:
|
||||
"""方法节点不支持写入操作"""
|
||||
return True
|
||||
|
||||
|
||||
def call(self, *args) -> Tuple[Any, bool]:
|
||||
"""调用方法，返回(返回值, 是否出错)"""
|
||||
try:
|
||||
@@ -285,7 +285,7 @@ class Method(Base):
|
||||
class Object(Base):
|
||||
def __init__(self, client: Client, name: str, node_id: str):
|
||||
super().__init__(client, name, node_id, NodeType.OBJECT, None)
|
||||
|
||||
|
||||
def read(self) -> Tuple[Any, bool]:
|
||||
"""对象节点不支持直接读取操作"""
|
||||
return None, True
|
||||
@@ -293,7 +293,7 @@ class Object(Base):
|
||||
def write(self, value: Any) -> bool:
|
||||
"""对象节点不支持直接写入操作"""
|
||||
return True
|
||||
|
||||
|
||||
def get_children(self) -> Tuple[List[Node], bool]:
|
||||
"""获取子节点列表，返回(子节点列表, 是否出错)"""
|
||||
try:
|
||||
@@ -301,4 +301,4 @@ class Object(Base):
|
||||
return children, False
|
||||
except Exception as e:
|
||||
print(f"获取对象 {self._name} 的子节点失败: {e}")
|
||||
return [], True
|
||||
return [], True
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -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()
|
||||
@@ -19,11 +19,10 @@ from rclpy.node import Node
|
||||
import re
|
||||
|
||||
class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
|
||||
def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: str = "lh_joint_publisher", **kwargs):
|
||||
def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
|
||||
super().__init__(
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
registry_name=registry_name,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
hardware_interface={},
|
||||
|
||||
@@ -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")
|
||||
@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):
|
||||
|
||||
class VirtualTransferPump:
|
||||
"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
|
||||
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
|
||||
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
|
||||
"""
|
||||
初始化虚拟转移泵
|
||||
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
config: 配置字典，包含max_volume, port等参数
|
||||
**kwargs: 其他参数，确保兼容性
|
||||
"""
|
||||
self.device_id = device_id or "virtual_transfer_pump"
|
||||
|
||||
|
||||
# 从config或kwargs中获取参数，确保类型正确
|
||||
if config:
|
||||
self.max_volume = float(config.get("max_volume", 25.0))
|
||||
self.port = config.get("port", "VIRTUAL")
|
||||
self.max_volume = float(config.get('max_volume', 25.0))
|
||||
self.port = config.get('port', 'VIRTUAL')
|
||||
else:
|
||||
self.max_volume = float(kwargs.get("max_volume", 25.0))
|
||||
self.port = kwargs.get("port", "VIRTUAL")
|
||||
|
||||
self._transfer_rate = float(kwargs.get("transfer_rate", 0))
|
||||
self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
|
||||
|
||||
self.max_volume = float(kwargs.get('max_volume', 25.0))
|
||||
self.port = kwargs.get('port', 'VIRTUAL')
|
||||
|
||||
self._transfer_rate = float(kwargs.get('transfer_rate', 0))
|
||||
self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
|
||||
|
||||
# 状态变量 - 确保都是正确类型
|
||||
self._status = "Idle"
|
||||
self._position = 0.0 # float
|
||||
self._max_velocity = 5.0 # float
|
||||
self._max_velocity = 5.0 # float
|
||||
self._current_volume = 0.0 # float
|
||||
|
||||
# 🚀 新增：快速模式设置 - 大幅缩短执行时间
|
||||
@@ -52,16 +52,14 @@ class VirtualTransferPump:
|
||||
self._fast_dispense_time = 1.0 # 快速喷射时间（秒）
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
|
||||
|
||||
|
||||
print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
|
||||
print(
|
||||
f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
|
||||
)
|
||||
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
|
||||
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
|
||||
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化虚拟泵 🚀"""
|
||||
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
|
||||
@@ -70,33 +68,33 @@ class VirtualTransferPump:
|
||||
self._current_volume = 0.0
|
||||
self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
|
||||
return True
|
||||
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""清理虚拟泵 🧹"""
|
||||
self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
|
||||
self._status = "Idle"
|
||||
self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
|
||||
return True
|
||||
|
||||
|
||||
# 基本属性
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
|
||||
@property
|
||||
def position(self) -> float:
|
||||
"""当前柱塞位置 (ml) 📍"""
|
||||
return self._position
|
||||
|
||||
|
||||
@property
|
||||
def current_volume(self) -> float:
|
||||
"""当前注射器中的体积 (ml) 💧"""
|
||||
return self._current_volume
|
||||
|
||||
|
||||
@property
|
||||
def max_velocity(self) -> float:
|
||||
return self._max_velocity
|
||||
|
||||
|
||||
@property
|
||||
def transfer_rate(self) -> float:
|
||||
return self._transfer_rate
|
||||
@@ -105,17 +103,17 @@ class VirtualTransferPump:
|
||||
"""设置最大速度 (ml/s) 🌊"""
|
||||
self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内
|
||||
self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
|
||||
|
||||
|
||||
def get_status(self) -> str:
|
||||
"""获取泵状态 📋"""
|
||||
return self._status
|
||||
|
||||
|
||||
async def _simulate_operation(self, duration: float):
|
||||
"""模拟操作延时 ⏱️"""
|
||||
self._status = "Busy"
|
||||
await self._ros_node.sleep(duration)
|
||||
self._status = "Idle"
|
||||
|
||||
|
||||
def _calculate_duration(self, volume: float, velocity: float = None) -> float:
|
||||
"""
|
||||
计算操作持续时间 ⏰
|
||||
@@ -123,10 +121,10 @@ class VirtualTransferPump:
|
||||
"""
|
||||
if velocity is None:
|
||||
velocity = self._max_velocity
|
||||
|
||||
|
||||
# 📊 计算理论时间（用于日志显示）
|
||||
theoretical_duration = abs(volume) / velocity
|
||||
|
||||
|
||||
# 🚀 如果启用快速模式，使用固定的快速时间
|
||||
if self._fast_mode:
|
||||
# 根据操作类型选择快速时间
|
||||
@@ -134,13 +132,13 @@ class VirtualTransferPump:
|
||||
actual_duration = self._fast_move_time
|
||||
else: # 很小的操作
|
||||
actual_duration = 0.5
|
||||
|
||||
|
||||
self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
|
||||
return actual_duration
|
||||
else:
|
||||
# 正常模式使用理论时间
|
||||
return theoretical_duration
|
||||
|
||||
|
||||
def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
|
||||
"""
|
||||
计算显示用的持续时间（用于日志） 📊
|
||||
@@ -149,16 +147,16 @@ class VirtualTransferPump:
|
||||
if velocity is None:
|
||||
velocity = self._max_velocity
|
||||
return abs(volume) / velocity
|
||||
|
||||
|
||||
# 新的set_position方法 - 专门用于SetPumpPosition动作
|
||||
async def set_position(self, position: float, max_velocity: float = None):
|
||||
"""
|
||||
移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
|
||||
|
||||
|
||||
Args:
|
||||
position (float): 目标位置 (ml)
|
||||
max_velocity (float): 移动速度 (ml/s)
|
||||
|
||||
|
||||
Returns:
|
||||
dict: 符合SetPumpPosition.action定义的结果
|
||||
"""
|
||||
@@ -166,19 +164,19 @@ class VirtualTransferPump:
|
||||
# 验证并转换参数
|
||||
target_position = float(position)
|
||||
velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
|
||||
|
||||
|
||||
# 限制位置在有效范围内
|
||||
target_position = max(0.0, min(float(self.max_volume), target_position))
|
||||
|
||||
|
||||
# 计算移动距离
|
||||
volume_to_move = abs(target_position - self._position)
|
||||
|
||||
|
||||
# 📊 计算显示用的时间（用于日志）
|
||||
display_duration = self._calculate_display_duration(volume_to_move, velocity)
|
||||
|
||||
|
||||
# ⚡ 计算实际执行时间（快速模式）
|
||||
actual_duration = self._calculate_duration(volume_to_move, velocity)
|
||||
|
||||
|
||||
# 🎯 确定操作类型和emoji
|
||||
if target_position > self._position:
|
||||
operation_type = "吸液"
|
||||
@@ -189,34 +187,28 @@ class VirtualTransferPump:
|
||||
else:
|
||||
operation_type = "保持"
|
||||
operation_emoji = "📍"
|
||||
|
||||
|
||||
self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
|
||||
self.logger.info(
|
||||
f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
|
||||
)
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
|
||||
self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
# 🚀 模拟移动过程
|
||||
if volume_to_move > 0.01: # 只有当移动距离足够大时才显示进度
|
||||
start_position = self._position
|
||||
steps = 5 if actual_duration > 0.5 else 2 # 根据实际时间调整步数
|
||||
step_duration = actual_duration / steps
|
||||
|
||||
|
||||
self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
|
||||
|
||||
|
||||
for i in range(steps + 1):
|
||||
# 计算当前位置和进度
|
||||
progress = (i / steps) * 100 if steps > 0 else 100
|
||||
current_pos = (
|
||||
start_position + (target_position - start_position) * (i / steps)
|
||||
if steps > 0
|
||||
else target_position
|
||||
)
|
||||
|
||||
current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
|
||||
|
||||
# 更新状态
|
||||
if i < steps:
|
||||
self._status = f"{operation_type}中"
|
||||
@@ -224,10 +216,10 @@ class VirtualTransferPump:
|
||||
else:
|
||||
self._status = "Idle"
|
||||
status_emoji = "✅"
|
||||
|
||||
|
||||
self._position = current_pos
|
||||
self._current_volume = current_pos
|
||||
|
||||
|
||||
# 显示进度（每25%或最后一步）
|
||||
if i == 0:
|
||||
self.logger.debug(f" 🔄 {operation_type}开始: {progress:.0f}%")
|
||||
@@ -235,7 +227,7 @@ class VirtualTransferPump:
|
||||
self.logger.debug(f" 🔄 {operation_type}进度: {progress:.0f}%")
|
||||
elif i == steps:
|
||||
self.logger.info(f" ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
|
||||
|
||||
|
||||
# 等待一小步时间
|
||||
if i < steps and step_duration > 0:
|
||||
await self._ros_node.sleep(step_duration)
|
||||
@@ -244,27 +236,25 @@ class VirtualTransferPump:
|
||||
self._position = target_position
|
||||
self._current_volume = target_position
|
||||
self.logger.info(f" 📍 微调完成: {target_position:.2f}mL")
|
||||
|
||||
|
||||
# 确保最终位置准确
|
||||
self._position = target_position
|
||||
self._current_volume = target_position
|
||||
self._status = "Idle"
|
||||
|
||||
|
||||
# 📊 最终状态日志
|
||||
if volume_to_move > 0.01:
|
||||
self.logger.info(
|
||||
f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
|
||||
)
|
||||
|
||||
self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
# 返回符合action定义的结果
|
||||
return {
|
||||
"success": True,
|
||||
"message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
|
||||
"final_position": self._position,
|
||||
"final_volume": self._current_volume,
|
||||
"operation_type": operation_type,
|
||||
"operation_type": operation_type
|
||||
}
|
||||
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"❌ 设置位置失败: {str(e)}"
|
||||
self.logger.error(error_msg)
|
||||
@@ -272,136 +262,134 @@ class VirtualTransferPump:
|
||||
"success": False,
|
||||
"message": error_msg,
|
||||
"final_position": self._position,
|
||||
"final_volume": self._current_volume,
|
||||
"final_volume": self._current_volume
|
||||
}
|
||||
|
||||
|
||||
# 其他泵操作方法
|
||||
async def pull_plunger(self, volume: float, velocity: float = None):
|
||||
"""
|
||||
拉取柱塞（吸液） 📥
|
||||
|
||||
|
||||
Args:
|
||||
volume (float): 要拉取的体积 (ml)
|
||||
velocity (float): 拉取速度 (ml/s)
|
||||
"""
|
||||
new_position = min(self.max_volume, self._position + volume)
|
||||
actual_volume = new_position - self._position
|
||||
|
||||
|
||||
if actual_volume <= 0:
|
||||
self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
|
||||
return
|
||||
|
||||
|
||||
display_duration = self._calculate_display_duration(actual_volume, velocity)
|
||||
actual_duration = self._calculate_duration(actual_volume, velocity)
|
||||
|
||||
|
||||
self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
await self._simulate_operation(actual_duration)
|
||||
|
||||
|
||||
self._position = new_position
|
||||
self._current_volume = new_position
|
||||
|
||||
|
||||
self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
async def push_plunger(self, volume: float, velocity: float = None):
|
||||
"""
|
||||
推出柱塞（排液） 📤
|
||||
|
||||
|
||||
Args:
|
||||
volume (float): 要推出的体积 (ml)
|
||||
velocity (float): 推出速度 (ml/s)
|
||||
"""
|
||||
new_position = max(0, self._position - volume)
|
||||
actual_volume = self._position - new_position
|
||||
|
||||
|
||||
if actual_volume <= 0:
|
||||
self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
|
||||
return
|
||||
|
||||
|
||||
display_duration = self._calculate_display_duration(actual_volume, velocity)
|
||||
actual_duration = self._calculate_duration(actual_volume, velocity)
|
||||
|
||||
|
||||
self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
|
||||
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
|
||||
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
|
||||
|
||||
|
||||
if self._fast_mode:
|
||||
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
|
||||
|
||||
|
||||
await self._simulate_operation(actual_duration)
|
||||
|
||||
|
||||
self._position = new_position
|
||||
self._current_volume = new_position
|
||||
|
||||
|
||||
self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
|
||||
|
||||
# 便捷操作方法
|
||||
async def aspirate(self, volume: float, velocity: float = None):
|
||||
"""吸液操作 📥"""
|
||||
await self.pull_plunger(volume, velocity)
|
||||
|
||||
|
||||
async def dispense(self, volume: float, velocity: float = None):
|
||||
"""排液操作 📤"""
|
||||
await self.push_plunger(volume, velocity)
|
||||
|
||||
|
||||
async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
|
||||
"""转移操作（先吸后排） 🔄"""
|
||||
self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
|
||||
|
||||
|
||||
# 吸液
|
||||
await self.aspirate(volume, aspirate_velocity)
|
||||
|
||||
|
||||
# 短暂停顿
|
||||
self.logger.debug("⏸️ 短暂停顿...")
|
||||
await self._ros_node.sleep(0.1)
|
||||
|
||||
|
||||
# 排液
|
||||
await self.dispense(volume, dispense_velocity)
|
||||
|
||||
|
||||
async def empty_syringe(self, velocity: float = None):
|
||||
"""清空注射器"""
|
||||
await self.set_position(0, velocity)
|
||||
|
||||
|
||||
async def fill_syringe(self, velocity: float = None):
|
||||
"""充满注射器"""
|
||||
await self.set_position(self.max_volume, velocity)
|
||||
|
||||
|
||||
async def stop_operation(self):
|
||||
"""停止当前操作"""
|
||||
self._status = "Idle"
|
||||
self.logger.info("Operation stopped")
|
||||
|
||||
|
||||
# 状态查询方法
|
||||
def get_position(self) -> float:
|
||||
"""获取当前位置"""
|
||||
return self._position
|
||||
|
||||
|
||||
def get_current_volume(self) -> float:
|
||||
"""获取当前体积"""
|
||||
return self._current_volume
|
||||
|
||||
|
||||
def get_remaining_capacity(self) -> float:
|
||||
"""获取剩余容量"""
|
||||
return self.max_volume - self._current_volume
|
||||
|
||||
|
||||
def is_empty(self) -> bool:
|
||||
"""检查是否为空"""
|
||||
return self._current_volume <= 0.01 # 允许小量误差
|
||||
|
||||
|
||||
def is_full(self) -> bool:
|
||||
"""检查是否已满"""
|
||||
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
|
||||
|
||||
|
||||
def __str__(self):
|
||||
return (
|
||||
f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||
)
|
||||
|
||||
return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
|
||||
|
||||
def __repr__(self):
|
||||
return self.__str__()
|
||||
|
||||
@@ -410,20 +398,20 @@ class VirtualTransferPump:
|
||||
async def demo():
|
||||
"""虚拟泵使用示例"""
|
||||
pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
|
||||
|
||||
|
||||
await pump.initialize()
|
||||
|
||||
|
||||
print(f"Initial state: {pump}")
|
||||
|
||||
|
||||
# 测试set_position方法
|
||||
result = await pump.set_position(10.0, max_velocity=2.0)
|
||||
print(f"Set position result: {result}")
|
||||
print(f"After setting position to 10ml: {pump}")
|
||||
|
||||
|
||||
# 吸液测试
|
||||
await pump.aspirate(5.0, velocity=2.0)
|
||||
print(f"After aspirating 5ml: {pump}")
|
||||
|
||||
|
||||
# 清空测试
|
||||
result = await pump.set_position(0.0)
|
||||
print(f"Empty result: {result}")
|
||||
|
||||
@@ -1,759 +0,0 @@
|
||||
"""
|
||||
Virtual Workbench Device - 模拟工作台设备
|
||||
包含：
|
||||
- 1个机械臂 (每次操作3s, 独占锁)
|
||||
- 3个加热台 (每次加热10s, 可并行)
|
||||
|
||||
工作流程：
|
||||
1. A1-A5 物料同时启动，竞争机械臂
|
||||
2. 机械臂将物料移动到空闲加热台
|
||||
3. 加热完成后，机械臂将物料移动到C1-C5
|
||||
|
||||
注意：调用来自线程池，使用 threading.Lock 进行同步
|
||||
"""
|
||||
|
||||
import logging
|
||||
import time
|
||||
from typing import Dict, Any, Optional, List
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from threading import Lock, RLock
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.utils.decorator import not_action, always_free
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
|
||||
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
|
||||
|
||||
class MoveToHeatingStationResult(TypedDict):
|
||||
"""move_to_heating_station 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
material_number: int
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class StartHeatingResult(TypedDict):
|
||||
"""start_heating 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
material_number: int
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class MoveToOutputResult(TypedDict):
|
||||
"""move_to_output 返回类型"""
|
||||
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class PrepareMaterialsResult(TypedDict):
|
||||
"""prepare_materials 返回类型 - 批量准备物料"""
|
||||
|
||||
success: bool
|
||||
count: int
|
||||
material_1: int # 物料编号1
|
||||
material_2: int # 物料编号2
|
||||
material_3: int # 物料编号3
|
||||
material_4: int # 物料编号4
|
||||
material_5: int # 物料编号5
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
# ============ 状态枚举 ============
|
||||
|
||||
|
||||
class HeatingStationState(Enum):
|
||||
"""加热台状态枚举"""
|
||||
|
||||
IDLE = "idle" # 空闲
|
||||
OCCUPIED = "occupied" # 已放置物料，等待加热
|
||||
HEATING = "heating" # 加热中
|
||||
COMPLETED = "completed" # 加热完成，等待取走
|
||||
|
||||
|
||||
class ArmState(Enum):
|
||||
"""机械臂状态枚举"""
|
||||
|
||||
IDLE = "idle" # 空闲
|
||||
BUSY = "busy" # 工作中
|
||||
|
||||
|
||||
@dataclass
|
||||
class HeatingStation:
|
||||
"""加热台数据结构"""
|
||||
|
||||
station_id: int
|
||||
state: HeatingStationState = HeatingStationState.IDLE
|
||||
current_material: Optional[str] = None # 当前物料 (如 "A1", "A2")
|
||||
material_number: Optional[int] = None # 物料编号 (1-5)
|
||||
heating_start_time: Optional[float] = None
|
||||
heating_progress: float = 0.0
|
||||
|
||||
|
||||
class VirtualWorkbench:
|
||||
"""
|
||||
Virtual Workbench Device - 虚拟工作台设备
|
||||
|
||||
模拟一个包含1个机械臂和3个加热台的工作站
|
||||
- 机械臂操作耗时3秒，同一时间只能执行一个操作
|
||||
- 加热台加热耗时10秒，3个加热台可并行工作
|
||||
|
||||
工作流:
|
||||
1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
|
||||
2. 获取机械臂后，查找空闲加热台
|
||||
3. 机械臂将物料放入加热台，开始加热
|
||||
4. 加热完成后，机械臂将物料移动到目标位置Cn
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
# 配置常量
|
||||
ARM_OPERATION_TIME: float = 2 # 机械臂操作时间(秒)
|
||||
HEATING_TIME: float = 60.0 # 加热时间(秒)
|
||||
NUM_HEATING_STATIONS: int = 3 # 加热台数量
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and "id" in kwargs:
|
||||
device_id = kwargs.pop("id")
|
||||
if config is None and "config" in kwargs:
|
||||
config = kwargs.pop("config")
|
||||
|
||||
self.device_id = device_id or "virtual_workbench"
|
||||
self.config = config or {}
|
||||
|
||||
self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {}
|
||||
|
||||
# 从config中获取可配置参数
|
||||
self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
|
||||
self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
|
||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
|
||||
|
||||
# 机械臂状态和锁 (使用threading.Lock)
|
||||
self._arm_lock = Lock()
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task: Optional[str] = None
|
||||
|
||||
# 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
|
||||
self._heating_stations: Dict[int, HeatingStation] = {
|
||||
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
}
|
||||
self._stations_lock = RLock() # 可重入锁，保护加热台状态
|
||||
|
||||
# 任务追踪
|
||||
self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info
|
||||
self._tasks_lock = Lock()
|
||||
|
||||
# 处理其他kwargs参数
|
||||
skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
|
||||
for key, value in kwargs.items():
|
||||
if key not in skip_keys and not hasattr(self, key):
|
||||
setattr(self, key, value)
|
||||
|
||||
self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
|
||||
self.logger.info(
|
||||
f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
|
||||
f"加热时间: {self.HEATING_TIME}s | "
|
||||
f"加热台数量: {self.NUM_HEATING_STATIONS}"
|
||||
)
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点初始化后回调"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
@not_action
|
||||
def initialize(self) -> bool:
|
||||
"""初始化虚拟工作台"""
|
||||
self.logger.info(f"初始化虚拟工作台 {self.device_id}")
|
||||
|
||||
# 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
|
||||
with self._stations_lock:
|
||||
for station in self._heating_stations.values():
|
||||
station.state = HeatingStationState.IDLE
|
||||
station.current_material = None
|
||||
station.material_number = None
|
||||
station.heating_progress = 0.0
|
||||
|
||||
# 初始化状态
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Ready",
|
||||
"arm_state": ArmState.IDLE.value,
|
||||
"arm_current_task": None,
|
||||
"heating_stations": self._get_stations_status(),
|
||||
"active_tasks_count": 0,
|
||||
"message": "工作台就绪",
|
||||
}
|
||||
)
|
||||
|
||||
self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
|
||||
return True
|
||||
|
||||
@not_action
|
||||
def cleanup(self) -> bool:
|
||||
"""清理虚拟工作台"""
|
||||
self.logger.info(f"清理虚拟工作台 {self.device_id}")
|
||||
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task = None
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations.clear()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks.clear()
|
||||
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Offline",
|
||||
"arm_state": ArmState.IDLE.value,
|
||||
"heating_stations": {},
|
||||
"message": "工作台已关闭",
|
||||
}
|
||||
)
|
||||
return True
|
||||
|
||||
def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
|
||||
"""获取所有加热台状态"""
|
||||
with self._stations_lock:
|
||||
return {
|
||||
station_id: {
|
||||
"state": station.state.value,
|
||||
"current_material": station.current_material,
|
||||
"material_number": station.material_number,
|
||||
"heating_progress": station.heating_progress,
|
||||
}
|
||||
for station_id, station in self._heating_stations.items()
|
||||
}
|
||||
|
||||
def _update_data_status(self, message: Optional[str] = None):
|
||||
"""更新状态数据"""
|
||||
self.data.update(
|
||||
{
|
||||
"arm_state": self._arm_state.value,
|
||||
"arm_current_task": self._arm_current_task,
|
||||
"heating_stations": self._get_stations_status(),
|
||||
"active_tasks_count": len(self._active_tasks),
|
||||
}
|
||||
)
|
||||
if message:
|
||||
self.data["message"] = message
|
||||
|
||||
def _find_available_heating_station(self) -> Optional[int]:
|
||||
"""查找空闲的加热台
|
||||
|
||||
Returns:
|
||||
空闲加热台ID，如果没有则返回None
|
||||
"""
|
||||
with self._stations_lock:
|
||||
for station_id, station in self._heating_stations.items():
|
||||
if station.state == HeatingStationState.IDLE:
|
||||
return station_id
|
||||
return None
|
||||
|
||||
def _acquire_arm(self, task_description: str) -> bool:
|
||||
"""获取机械臂使用权（阻塞直到获取）
|
||||
|
||||
Args:
|
||||
task_description: 任务描述，用于日志
|
||||
|
||||
Returns:
|
||||
是否成功获取
|
||||
"""
|
||||
self.logger.info(f"[{task_description}] 等待获取机械臂...")
|
||||
|
||||
# 阻塞等待获取锁
|
||||
self._arm_lock.acquire()
|
||||
|
||||
self._arm_state = ArmState.BUSY
|
||||
self._arm_current_task = task_description
|
||||
self._update_data_status(f"机械臂执行: {task_description}")
|
||||
|
||||
self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
|
||||
return True
|
||||
|
||||
def _release_arm(self):
|
||||
"""释放机械臂"""
|
||||
task = self._arm_current_task
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task = None
|
||||
self._arm_lock.release()
|
||||
self._update_data_status(f"机械臂已释放 (完成: {task})")
|
||||
self.logger.info(f"机械臂已释放 (完成: {task})")
|
||||
|
||||
def prepare_materials(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
count: int = 5,
|
||||
) -> PrepareMaterialsResult:
|
||||
"""
|
||||
批量准备物料 - 虚拟起始节点
|
||||
|
||||
作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
|
||||
输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
|
||||
|
||||
Args:
|
||||
count: 待生成的物料数量，默认5 (生成 A1-A5)
|
||||
|
||||
Returns:
|
||||
PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
|
||||
"""
|
||||
# 生成物料列表 A1 - A{count}
|
||||
materials = [i for i in range(1, count + 1)]
|
||||
|
||||
self.logger.info(f"[准备物料] 生成 {count} 个物料: " f"A1-A{count} -> material_1~material_{count}")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"count": count,
|
||||
"material_1": materials[0] if len(materials) > 0 else 0,
|
||||
"material_2": materials[1] if len(materials) > 1 else 0,
|
||||
"material_3": materials[2] if len(materials) > 2 else 0,
|
||||
"material_4": materials[3] if len(materials) > 3 else 0,
|
||||
"material_5": materials[4] if len(materials) > 4 else 0,
|
||||
"message": f"已准备 {count} 个物料: A1-A{count}",
|
||||
"unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
def move_to_heating_station(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
material_number: int,
|
||||
) -> MoveToHeatingStationResult:
|
||||
"""
|
||||
将物料从An位置移动到加热台
|
||||
|
||||
多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
|
||||
|
||||
Args:
|
||||
material_number: 物料编号 (1-5)
|
||||
|
||||
Returns:
|
||||
MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
|
||||
"""
|
||||
# 根据物料编号生成物料ID
|
||||
material_id = f"A{material_number}"
|
||||
task_desc = f"移动{material_id}到加热台"
|
||||
self.logger.info(f"[任务] {task_desc} - 开始执行")
|
||||
|
||||
# 记录任务
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id] = {
|
||||
"status": "waiting_for_arm",
|
||||
"start_time": time.time(),
|
||||
}
|
||||
|
||||
try:
|
||||
# 步骤1: 等待获取机械臂使用权(竞争)
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm"
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 步骤2: 查找空闲加热台
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "finding_station"
|
||||
station_id = None
|
||||
|
||||
# 循环等待直到找到空闲加热台
|
||||
while station_id is None:
|
||||
station_id = self._find_available_heating_station()
|
||||
if station_id is None:
|
||||
self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
|
||||
# 释放机械臂，等待后重试
|
||||
self._release_arm()
|
||||
time.sleep(0.5)
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
|
||||
self._heating_stations[station_id].current_material = material_id
|
||||
self._heating_stations[station_id].material_number = material_number
|
||||
|
||||
# 步骤4: 模拟机械臂移动操作 (3秒)
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving"
|
||||
self._active_tasks[material_id]["assigned_station"] = station_id
|
||||
self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
|
||||
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
# 步骤5: 放入加热台完成
|
||||
self._update_data_status(f"{material_id}已放入加热台{station_id}")
|
||||
self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
|
||||
|
||||
# 释放机械臂
|
||||
self._release_arm()
|
||||
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "placed_on_station"
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"{material_id}已成功移动到加热台{station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": -1,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
@always_free
|
||||
def start_heating(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> StartHeatingResult:
|
||||
"""
|
||||
启动指定加热台的加热程序
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
|
||||
material_number: 物料编号，从 move_to_heating_station 的 handle 传入
|
||||
|
||||
Returns:
|
||||
StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
|
||||
"""
|
||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
|
||||
if station.current_material is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
if station.state == HeatingStationState.HEATING:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": station.current_material,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}已经在加热中",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
material_id = station.current_material
|
||||
|
||||
# 开始加热
|
||||
station.state = HeatingStationState.HEATING
|
||||
station.heating_start_time = time.time()
|
||||
station.heating_progress = 0.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
||||
|
||||
# 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}"
|
||||
for sid, s in self._heating_stations.items()
|
||||
if s.state == HeatingStationState.HEATING and s.current_material
|
||||
]
|
||||
self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
|
||||
|
||||
# 模拟加热过程
|
||||
start_time = time.time()
|
||||
last_countdown_log = start_time
|
||||
while True:
|
||||
elapsed = time.time() - start_time
|
||||
remaining = max(0.0, self.HEATING_TIME - elapsed)
|
||||
progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
|
||||
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].heating_progress = progress
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||
|
||||
# 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()
|
||||
|
||||
if elapsed >= self.HEATING_TIME:
|
||||
break
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
# 加热完成
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.COMPLETED
|
||||
self._heating_stations[station_id].heating_progress = 100.0
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "heating_completed"
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热完成")
|
||||
self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}加热完成",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
def move_to_output(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
station_id: int,
|
||||
material_number: int,
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
|
||||
material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
|
||||
|
||||
Returns:
|
||||
MoveToOutputResult: 包含执行结果
|
||||
"""
|
||||
output_number = material_number # 物料编号决定输出位置
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations[station_id]
|
||||
material_id = station.current_material
|
||||
|
||||
if material_id is None:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
if station.state != HeatingStationState.COMPLETED:
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
output_position = f"C{output_number}"
|
||||
task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
|
||||
self.logger.info(f"[任务] {task_desc}")
|
||||
|
||||
try:
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
|
||||
|
||||
# 获取机械臂
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving_to_output"
|
||||
|
||||
# 模拟机械臂操作 (3秒)
|
||||
self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
# 清空加热台
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.IDLE
|
||||
self._heating_stations[station_id].current_material = None
|
||||
self._heating_stations[station_id].material_number = None
|
||||
self._heating_stations[station_id].heating_progress = 0.0
|
||||
self._heating_stations[station_id].heating_start_time = None
|
||||
|
||||
# 释放机械臂
|
||||
self._release_arm()
|
||||
|
||||
# 任务完成
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "completed"
|
||||
self._active_tasks[material_id]["end_time"] = time.time()
|
||||
|
||||
self._update_data_status(f"{material_id}已移动到{output_position}")
|
||||
self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"station_id": station_id,
|
||||
"material_id": material_id,
|
||||
"output_position": output_position,
|
||||
"message": f"{material_id}已成功移动到{output_position}",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动到输出位置失败: {str(e)}")
|
||||
if self._arm_lock.locked():
|
||||
self._release_arm()
|
||||
return {
|
||||
"success": False,
|
||||
"station_id": station_id,
|
||||
"material_id": "",
|
||||
"output_position": output_position,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
"unilabos_samples": [
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
# ============ 状态属性 ============
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
def arm_state(self) -> str:
|
||||
return self._arm_state.value
|
||||
|
||||
@property
|
||||
def arm_current_task(self) -> str:
|
||||
return self._arm_current_task or ""
|
||||
|
||||
@property
|
||||
def heating_station_1_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_1_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_1_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def heating_station_2_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_2_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_2_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def heating_station_3_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
def heating_station_3_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
def heating_station_3_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
def active_tasks_count(self) -> int:
|
||||
with self._tasks_lock:
|
||||
return len(self._active_tasks)
|
||||
|
||||
@property
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
@@ -1,5 +1,9 @@
|
||||
# 工作站抽象基类物料系统架构说明
|
||||
|
||||
## 设计理念
|
||||
|
||||
基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
|
||||
|
||||
### 核心原则
|
||||
|
||||
1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,12 @@
|
||||
import pubchempy as pcp
|
||||
|
||||
cas = "21324-40-3" # 示例
|
||||
comps = pcp.get_compounds(cas, namespace="name")
|
||||
if not comps:
|
||||
raise ValueError("No hit")
|
||||
|
||||
c = comps[0]
|
||||
|
||||
print("Canonical SMILES:", c.canonical_smiles)
|
||||
print("Isomeric SMILES:", c.isomeric_smiles)
|
||||
print("MW:", c.molecular_weight)
|
||||
@@ -0,0 +1,7 @@
|
||||
material_name
|
||||
LiPF6
|
||||
LiDFOB
|
||||
DTD
|
||||
LiFSI
|
||||
LiPO2F2
|
||||
|
||||
|
@@ -1,157 +0,0 @@
|
||||
# 批量出库 Excel 模板使用说明
|
||||
|
||||
**文件**: `outbound_template.xlsx`
|
||||
**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作
|
||||
**API 端点**: `/api/lims/storage/auto-batch-out-bound`
|
||||
|
||||
---
|
||||
|
||||
## 📋 Excel 列说明
|
||||
|
||||
| 列名 | 说明 | 示例 | 必填 |
|
||||
|------|------|------|------|
|
||||
| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 |
|
||||
| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 |
|
||||
| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 |
|
||||
| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 |
|
||||
| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 |
|
||||
|
||||
### 📐 坐标说明
|
||||
|
||||
**x, y, z** 是库位在仓库内的**三维坐标**：
|
||||
|
||||
```
|
||||
仓库（例如 WH4）
|
||||
├── Z=1（第1层/加样头面）
|
||||
│ ├── X=1, Y=1（位置 A）
|
||||
│ ├── X=2, Y=1（位置 B）
|
||||
│ ├── X=3, Y=1（位置 C）
|
||||
│ └── ...
|
||||
│
|
||||
└── Z=2（第2层/原液瓶面）
|
||||
├── X=1, Y=1（位置 A）
|
||||
├── X=2, Y=1（位置 B）
|
||||
└── ...
|
||||
```
|
||||
|
||||
- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等）
|
||||
- **x, y, z**: 在该仓库内的三维坐标
|
||||
- **locationId**: 该坐标位置的唯一 UUID
|
||||
|
||||
### 🎯 起点与终点
|
||||
|
||||
**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。
|
||||
|
||||
```
|
||||
出库流程：
|
||||
起点（Excel 指定） → ？终点（LIMS/工作流决定）
|
||||
↓
|
||||
locationId, x, y, z → 由 LIMS 系统或当前工作流自动分配
|
||||
```
|
||||
|
||||
**终点由以下方式确定：**
|
||||
- **LIMS 系统自动分配**：根据当前任务自动规划目标位置
|
||||
- **工作流预定义**：在创建出库任务时已绑定目标位置
|
||||
- **暂存区**：默认放到出库暂存区，等待下一步操作
|
||||
|
||||
💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库
|
||||
|
||||
---
|
||||
|
||||
## 🔍 如何获取 UUID？
|
||||
|
||||
### 方法 1：从配置文件获取
|
||||
|
||||
参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`：
|
||||
|
||||
```json
|
||||
{
|
||||
"warehouse_mapping": {
|
||||
"配液站内试剂仓库": {
|
||||
"site_uuids": {
|
||||
"A01": "3a19da43-57b5-294f-d663-154a1cc32270",
|
||||
"B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
|
||||
"C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f"
|
||||
}
|
||||
},
|
||||
"手动堆栈": {
|
||||
"site_uuids": {
|
||||
"A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
|
||||
"A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 方法 2：通过 API 查询
|
||||
|
||||
```python
|
||||
material_info = hardware_interface.material_id_query(workflow_id)
|
||||
locations = material_info.get("locations", [])
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📝 填写示例
|
||||
|
||||
### 示例 1：从配液站内试剂仓库出库
|
||||
|
||||
| locationId | warehouseId | quantity | x | y | z | 备注说明 |
|
||||
|------------|-------------|----------|---|---|---|----------|
|
||||
| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 |
|
||||
| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 |
|
||||
|
||||
### 示例 2：从手动堆栈出库
|
||||
|
||||
| locationId | warehouseId | quantity | x | y | z | 备注说明 |
|
||||
|------------|-------------|----------|---|---|---|----------|
|
||||
| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 |
|
||||
| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 |
|
||||
|
||||
---
|
||||
|
||||
## 💻 使用方法
|
||||
|
||||
```python
|
||||
from bioyond_cell_workstation import BioyondCellWorkstation
|
||||
|
||||
# 初始化工作站
|
||||
workstation = BioyondCellWorkstation(config=config, deck=deck)
|
||||
|
||||
# 调用批量出库方法
|
||||
result = workstation.auto_batch_outbound_from_xlsx(
|
||||
xlsx_path="outbound_template.xlsx"
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## ⚠️ 注意事项
|
||||
|
||||
1. **locationId 必须是有效的 UUID**，不能使用库位名称
|
||||
2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置
|
||||
3. **quantity 必须是数字**，可以是整数或浮点数
|
||||
4. Excel 文件必须包含表头行
|
||||
5. 空行会被自动跳过
|
||||
6. 确保 UUID 与实际库位对应，否则 API 会报错
|
||||
|
||||
---
|
||||
|
||||
## 📚 相关文件
|
||||
|
||||
- **配置文件**: `yibin_electrolyte_config.json`
|
||||
- **Python 代码**: `bioyond_cell_workstation.py` (L630-695)
|
||||
- **生成脚本**: `create_outbound_template.py`
|
||||
- **上料模板**: `material_template.xlsx`
|
||||
|
||||
---
|
||||
|
||||
## 🔄 重新生成模板
|
||||
|
||||
```bash
|
||||
conda activate newunilab
|
||||
python create_outbound_template.py
|
||||
```
|
||||
@@ -49,14 +49,6 @@ class BioyondV1RPC(BaseRequest):
|
||||
self.config = config
|
||||
self.api_key = config["api_key"]
|
||||
self.host = config["api_host"]
|
||||
|
||||
# 初始化 location_mapping
|
||||
# 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化
|
||||
self.location_mapping = {}
|
||||
warehouse_mapping = self.config.get("warehouse_mapping", {})
|
||||
for warehouse_name, warehouse_config in warehouse_mapping.items():
|
||||
if "site_uuids" in warehouse_config:
|
||||
self.location_mapping.update(warehouse_config["site_uuids"])
|
||||
self._logger = SimpleLogger()
|
||||
self.material_cache = {}
|
||||
self._load_material_cache()
|
||||
@@ -184,40 +176,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
return {}
|
||||
|
||||
print(f"add material data: {response['data']}")
|
||||
|
||||
# 自动更新缓存
|
||||
data = response.get("data", {})
|
||||
if data:
|
||||
if isinstance(data, str):
|
||||
# 如果返回的是字符串，通常是ID
|
||||
mat_id = data
|
||||
name = params.get("name")
|
||||
else:
|
||||
# 如果返回的是字典，尝试获取name和id
|
||||
name = data.get("name") or params.get("name")
|
||||
mat_id = data.get("id")
|
||||
|
||||
if name and mat_id:
|
||||
self.material_cache[name] = mat_id
|
||||
print(f"已自动更新缓存: {name} -> {mat_id}")
|
||||
|
||||
# 处理返回数据中的 details (如果有)
|
||||
# 有些 API 返回结构可能直接包含 details，或者在 data 字段中
|
||||
details = data.get("details", []) if isinstance(data, dict) else []
|
||||
if not details and isinstance(data, dict):
|
||||
details = data.get("detail", [])
|
||||
|
||||
if details:
|
||||
for detail in details:
|
||||
d_name = detail.get("name")
|
||||
# 尝试从不同字段获取 ID
|
||||
d_id = detail.get("id") or detail.get("detailMaterialId")
|
||||
|
||||
if d_name and d_id:
|
||||
self.material_cache[d_name] = d_id
|
||||
print(f"已自动更新 detail 缓存: {d_name} -> {d_id}")
|
||||
|
||||
return data
|
||||
return response.get("data", {})
|
||||
|
||||
def query_matial_type_id(self, data) -> list:
|
||||
"""查找物料typeid"""
|
||||
@@ -244,7 +203,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": 0,
|
||||
"data": {},
|
||||
})
|
||||
if not response or response['code'] != 1:
|
||||
return []
|
||||
@@ -314,19 +273,12 @@ class BioyondV1RPC(BaseRequest):
|
||||
|
||||
if not response or response['code'] != 1:
|
||||
return {}
|
||||
|
||||
# 自动更新缓存 - 移除被删除的物料
|
||||
for name, mid in list(self.material_cache.items()):
|
||||
if mid == material_id:
|
||||
del self.material_cache[name]
|
||||
print(f"已从缓存移除物料: {name}")
|
||||
break
|
||||
|
||||
return response.get("data", {})
|
||||
|
||||
def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
|
||||
"""指定库位出库物料（通过库位名称）"""
|
||||
location_id = self.location_mapping.get(location_name, location_name)
|
||||
# location_name 参数实际上应该直接是 location_id (UUID)
|
||||
location_id = location_name
|
||||
|
||||
params = {
|
||||
"materialId": material_id,
|
||||
@@ -1152,10 +1104,6 @@ class BioyondV1RPC(BaseRequest):
|
||||
for detail_material in detail_materials:
|
||||
detail_name = detail_material.get("name")
|
||||
detail_id = detail_material.get("detailMaterialId")
|
||||
if not detail_id:
|
||||
# 尝试其他可能的字段
|
||||
detail_id = detail_material.get("id")
|
||||
|
||||
if detail_name and detail_id:
|
||||
self.material_cache[detail_name] = detail_id
|
||||
print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
|
||||
@@ -1176,14 +1124,6 @@ class BioyondV1RPC(BaseRequest):
|
||||
print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
|
||||
return material_id
|
||||
|
||||
# 如果缓存中没有，尝试刷新缓存
|
||||
print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
|
||||
self.refresh_material_cache()
|
||||
if material_name_or_id in self.material_cache:
|
||||
material_id = self.material_cache[material_name_or_id]
|
||||
print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
|
||||
return material_id
|
||||
|
||||
print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
|
||||
return material_name_or_id
|
||||
|
||||
|
||||
@@ -1,329 +0,0 @@
|
||||
# config.py
|
||||
"""
|
||||
Bioyond工作站配置文件
|
||||
包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
|
||||
"""
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
|
||||
# ============================================================================
|
||||
# 基础配置
|
||||
# ============================================================================
|
||||
|
||||
# API配置
|
||||
API_CONFIG = {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44402"
|
||||
}
|
||||
|
||||
# HTTP 报送服务配置
|
||||
HTTP_SERVICE_CONFIG = {
|
||||
"http_service_host": "127.0.0.1", # 监听地址
|
||||
"http_service_port": 8080, # 监听端口
|
||||
}
|
||||
|
||||
# Deck配置 - 反应站工作台配置
|
||||
DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
|
||||
|
||||
# ============================================================================
|
||||
# 工作流配置
|
||||
# ============================================================================
|
||||
|
||||
# 工作流ID映射
|
||||
WORKFLOW_MAPPINGS = {
|
||||
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
||||
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
||||
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
|
||||
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
|
||||
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
|
||||
"liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
||||
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a",
|
||||
}
|
||||
|
||||
# 工作流名称到显示名称的映射
|
||||
WORKFLOW_TO_SECTION_MAP = {
|
||||
'reactor_taken_in': '反应器放入',
|
||||
'reactor_taken_out': '反应器取出',
|
||||
'Solid_feeding_vials': '固体投料-小瓶',
|
||||
'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
|
||||
'Liquid_feeding_solvents': '液体投料-溶剂',
|
||||
'Liquid_feeding(titration)': '液体投料-滴定',
|
||||
'liquid_feeding_beaker': '液体投料-烧杯',
|
||||
'Drip_back': '液体回滴'
|
||||
}
|
||||
|
||||
# 工作流步骤ID配置
|
||||
WORKFLOW_STEP_IDS = {
|
||||
"reactor_taken_in": {
|
||||
"config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
|
||||
},
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
|
||||
"observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
|
||||
"observe": "3a167d99-6172-b67b-5f22-a7892197142e"
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "1fcea355-2545-462b-b727-350b69a313bf",
|
||||
"observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
|
||||
"observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
|
||||
"observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "371be86a-ab77-4769-83e5-54580547c48a",
|
||||
"observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
|
||||
}
|
||||
}
|
||||
|
||||
# 工作流动作名称配置
|
||||
ACTION_NAMES = {
|
||||
"reactor_taken_in": {
|
||||
"config": "通量-配置",
|
||||
"stirring": "反应模块-开始搅拌"
|
||||
},
|
||||
"solid_feeding_vials": {
|
||||
"feeding": "粉末加样模块-投料",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"liquid_feeding_vials_non_titration": {
|
||||
"liquid": "稀释液瓶加液位-液体投料",
|
||||
"observe": "反应模块-滴定结果观察"
|
||||
},
|
||||
"liquid_feeding_solvents": {
|
||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"liquid_feeding_titration": {
|
||||
"liquid": "稀释液瓶加液位-稀释液吸液分液",
|
||||
"observe": "反应模块-滴定结果观察"
|
||||
},
|
||||
"liquid_feeding_beaker": {
|
||||
"liquid": "烧杯溶液放置位-烧杯吸液分液",
|
||||
"observe": "反应模块-观察搅拌结果"
|
||||
},
|
||||
"drip_back": {
|
||||
"liquid": "试剂AB放置位-试剂吸液分液",
|
||||
"observe": "反应模块-向下滴定结果观察"
|
||||
}
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 仓库配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 出库和入库操作都需要UUID
|
||||
WAREHOUSE_MAPPING = {
|
||||
# ========== 反应站仓库 ==========
|
||||
|
||||
# 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
|
||||
"堆栈1左": {
|
||||
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
|
||||
"A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
|
||||
"A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
|
||||
"A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
|
||||
"B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
|
||||
"B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
|
||||
"B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
|
||||
"B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
|
||||
"C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
|
||||
"C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
|
||||
"C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
|
||||
"C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
|
||||
"D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
|
||||
"D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
|
||||
"D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
|
||||
"D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
|
||||
},
|
||||
},
|
||||
|
||||
# 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
|
||||
"堆栈1右": {
|
||||
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"site_uuids": {
|
||||
"A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
|
||||
"A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
|
||||
"A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
|
||||
"A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
|
||||
"B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
|
||||
"B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
|
||||
"B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
|
||||
"B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
|
||||
"C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
|
||||
"C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
|
||||
"C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
|
||||
"C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
|
||||
"D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
|
||||
"D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
|
||||
"D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
|
||||
"D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
|
||||
},
|
||||
},
|
||||
|
||||
# 站内试剂存放堆栈
|
||||
"站内试剂存放堆栈": {
|
||||
"uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
|
||||
"A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
|
||||
}
|
||||
},
|
||||
|
||||
|
||||
# 测量小瓶仓库（测密度）
|
||||
"测量小瓶仓库": {
|
||||
"uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
|
||||
"site_uuids": {
|
||||
"A01": "3a15012f-705e-0524-3161-c523b5aebc97",
|
||||
"A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
|
||||
"A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
|
||||
"B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
|
||||
"B02": "3a15012f-705e-e499-180d-de06d60d0b21",
|
||||
"B03": "3a15012f-705e-eff6-63f1-09f742096b26"
|
||||
}
|
||||
},
|
||||
|
||||
# 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
|
||||
"站内Tip盒堆栈": {
|
||||
"uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
|
||||
"site_uuids": {
|
||||
"A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
|
||||
"A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
|
||||
"A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
|
||||
"B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
|
||||
"B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
|
||||
"B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
|
||||
}
|
||||
},
|
||||
# ========== 配液站仓库 ==========
|
||||
"粉末堆栈": {
|
||||
"uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"A02": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
|
||||
"A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
|
||||
"B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
|
||||
"B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
|
||||
"B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
|
||||
"B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
|
||||
"C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
|
||||
"C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
|
||||
"C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
|
||||
"D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
|
||||
"D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
|
||||
"D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
|
||||
"D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
|
||||
}
|
||||
},
|
||||
"溶液堆栈": {
|
||||
"uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
|
||||
"A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
|
||||
"A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
|
||||
"A04": "3a14198e-d724-d378-d266-2508a224a19f",
|
||||
"B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
|
||||
"B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
|
||||
"B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
|
||||
"B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
|
||||
"C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
|
||||
"C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
|
||||
"C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
|
||||
"C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
|
||||
"D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
|
||||
"D02": "3a14198e-d724-1e28-c885-574c3df468d0",
|
||||
"D03": "3a14198e-d724-28a2-a760-baa896f46b66",
|
||||
"D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
|
||||
}
|
||||
},
|
||||
"试剂堆栈": {
|
||||
"uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"site_uuids": {
|
||||
"A01": "3a14198c-c2cf-8b40-af28-b467808f1c36", # x=1, y=1, code=0001-0001
|
||||
"A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094", # x=1, y=2, code=0001-0002
|
||||
"A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8", # x=1, y=3, code=0001-0003
|
||||
"A04": "3a14198c-c2d0-725e-523d-34c037ac2440", # x=1, y=4, code=0001-0004
|
||||
"B01": "3a14198c-c2d0-f3e7-871a-e470d144296f", # x=2, y=1, code=0001-0005
|
||||
"B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f", # x=2, y=2, code=0001-0006
|
||||
"B03": "3a14198c-c2d0-1559-105d-0ea30682cab4", # x=2, y=3, code=0001-0007
|
||||
"B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" # x=2, y=4, code=0001-0008
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 物料类型配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
|
||||
# - 这个映射基于 resource.model 属性 (不是显示名称!)
|
||||
# - UUID为空表示该类型暂未在Bioyond系统中定义
|
||||
MATERIAL_TYPE_MAPPINGS = {
|
||||
# ================================================配液站资源============================================================
|
||||
# ==================================================样品===============================================================
|
||||
"BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), # 配液站-样品-烧杯
|
||||
"BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"), # 配液站-样品-试剂瓶
|
||||
"BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), # 配液站-样品-分装板
|
||||
"BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"), # 配液站-样品-分装板-第一排小瓶
|
||||
"BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), # 配液站-样品-分装板-第二排小瓶
|
||||
# ==================================================试剂===============================================================
|
||||
"BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"), # 配液站-试剂-样品板（8孔）
|
||||
"BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), # 配液站-试剂-样品板-样品瓶
|
||||
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
|
||||
# ============================================================================
|
||||
|
||||
LOCATION_MAPPING = {}
|
||||
for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
|
||||
if "site_uuids" in warehouse_config:
|
||||
LOCATION_MAPPING.update(warehouse_config["site_uuids"])
|
||||
|
||||
# ============================================================================
|
||||
# 物料默认参数配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
|
||||
# - 格式: 物料名称 → {参数字典}
|
||||
# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
|
||||
# - unit: 物料的计量单位（会用于 unit 字段）
|
||||
# - density/densityUnit: 密度信息（会添加到 Parameters 中）
|
||||
|
||||
MATERIAL_DEFAULT_PARAMETERS = {
|
||||
# 溶剂类
|
||||
"NMP": {
|
||||
"unit": "毫升",
|
||||
"density": "1.03",
|
||||
"densityUnit": "g/mL",
|
||||
"description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
|
||||
},
|
||||
# 可以继续添加其他物料...
|
||||
}
|
||||
|
||||
# ============================================================================
|
||||
# 物料类型默认参数配置
|
||||
# ============================================================================
|
||||
# 说明:
|
||||
# - 为特定物料类型（UUID）自动添加默认参数
|
||||
# - 格式: Bioyond类型UUID → {参数字典}
|
||||
# - 优先级低于按名称匹配的配置
|
||||
MATERIAL_TYPE_PARAMETERS = {
|
||||
# 示例:
|
||||
# "3a14196b-24f2-ca49-9081-0cab8021bf1a": { # 烧杯
|
||||
# "unit": "个"
|
||||
# }
|
||||
}
|
||||
@@ -4,8 +4,7 @@ import time
|
||||
from typing import Optional, Dict, Any, List
|
||||
from typing_extensions import TypedDict
|
||||
import requests
|
||||
import pint
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
|
||||
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
||||
@@ -26,89 +25,13 @@ class ComputeExperimentDesignReturn(TypedDict):
|
||||
class BioyondDispensingStation(BioyondWorkstation):
|
||||
def __init__(
|
||||
self,
|
||||
config: dict = None,
|
||||
deck=None,
|
||||
protocol_type=None,
|
||||
config,
|
||||
# 桌子
|
||||
deck,
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
"""初始化配液站
|
||||
|
||||
Args:
|
||||
config: 配置字典,应包含material_type_mappings等配置
|
||||
deck: Deck对象
|
||||
protocol_type: 协议类型(由ROS系统传递,此处忽略)
|
||||
**kwargs: 其他可能的参数
|
||||
"""
|
||||
if config is None:
|
||||
config = {}
|
||||
|
||||
# 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key)
|
||||
config.update(kwargs)
|
||||
|
||||
if deck is None and config:
|
||||
deck = config.get('deck')
|
||||
|
||||
# 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步)
|
||||
# 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上
|
||||
if config and "warehouse_mapping" in config and deck:
|
||||
warehouse_mapping = config["warehouse_mapping"]
|
||||
print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)")
|
||||
|
||||
user_deck = deck
|
||||
# 初始化 warehouses 字典
|
||||
if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None:
|
||||
user_deck.warehouses = {}
|
||||
|
||||
# 1. 尝试从 children 中查找匹配的资源
|
||||
for child in user_deck.children:
|
||||
# 简单判断: 如果名字在 mapping 中，就认为是 warehouse
|
||||
if child.name in warehouse_mapping:
|
||||
user_deck.warehouses[child.name] = child
|
||||
print(f" - 从子资源中找到 warehouse: {child.name}")
|
||||
|
||||
# 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况)
|
||||
if not user_deck.warehouses and hasattr(user_deck, "setup"):
|
||||
print(" - 尝试调用 deck.setup() 初始化仓库...")
|
||||
try:
|
||||
user_deck.setup()
|
||||
# setup 后重新检查
|
||||
if hasattr(user_deck, "warehouses") and user_deck.warehouses:
|
||||
print(f" - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库")
|
||||
except Exception as e:
|
||||
print(f" - 调用 setup() 失败: {e}")
|
||||
|
||||
# 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告)
|
||||
if not user_deck.warehouses:
|
||||
print(" - ⚠️ 仍然无法找到任何 warehouse 资源！")
|
||||
|
||||
for wh_name, wh_config in warehouse_mapping.items():
|
||||
target_uuid = wh_config.get("uuid")
|
||||
|
||||
# 尝试在 deck.warehouses 中查找
|
||||
wh_resource = None
|
||||
if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses:
|
||||
wh_resource = user_deck.warehouses[wh_name]
|
||||
|
||||
# 如果没找到，尝试在所有子资源中查找
|
||||
if not wh_resource:
|
||||
wh_resource = user_deck.get_resource(wh_name)
|
||||
|
||||
if wh_resource:
|
||||
if target_uuid:
|
||||
current_uuid = getattr(wh_resource, "uuid", None)
|
||||
print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}")
|
||||
|
||||
# 动态添加 uuid 属性
|
||||
wh_resource.uuid = target_uuid
|
||||
# 同时也确保 category 正确，避免 graphio 识别错误
|
||||
# wh_resource.category = "warehouse"
|
||||
else:
|
||||
print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID")
|
||||
else:
|
||||
print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'")
|
||||
|
||||
super().__init__(bioyond_config=config, deck=deck)
|
||||
|
||||
):
|
||||
super().__init__(config, deck, *args, **kwargs)
|
||||
# self.config = config
|
||||
# self.api_key = config["api_key"]
|
||||
# self.host = config["api_host"]
|
||||
@@ -120,41 +43,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
|
||||
self.order_completion_status = {}
|
||||
|
||||
# 初始化 pint 单位注册表
|
||||
self.ureg = pint.UnitRegistry()
|
||||
|
||||
# 化合物信息
|
||||
self.compound_info = {
|
||||
"MolWt": {
|
||||
"MDA": 108.14 * self.ureg.g / self.ureg.mol,
|
||||
"TDA": 122.16 * self.ureg.g / self.ureg.mol,
|
||||
"PAPP": 521.62 * self.ureg.g / self.ureg.mol,
|
||||
"BTDA": 322.23 * self.ureg.g / self.ureg.mol,
|
||||
"BPDA": 294.22 * self.ureg.g / self.ureg.mol,
|
||||
"6FAP": 366.26 * self.ureg.g / self.ureg.mol,
|
||||
"PMDA": 218.12 * self.ureg.g / self.ureg.mol,
|
||||
"MPDA": 108.14 * self.ureg.g / self.ureg.mol,
|
||||
"SIDA": 248.51 * self.ureg.g / self.ureg.mol,
|
||||
"ODA": 200.236 * self.ureg.g / self.ureg.mol,
|
||||
"4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
|
||||
"134": 292.34 * self.ureg.g / self.ureg.mol,
|
||||
},
|
||||
"FuncGroup": {
|
||||
"MDA": "Amine",
|
||||
"TDA": "Amine",
|
||||
"PAPP": "Amine",
|
||||
"BTDA": "Anhydride",
|
||||
"BPDA": "Anhydride",
|
||||
"6FAP": "Amine",
|
||||
"MPDA": "Amine",
|
||||
"SIDA": "Amine",
|
||||
"PMDA": "Anhydride",
|
||||
"ODA": "Amine",
|
||||
"4,4'-ODA": "Amine",
|
||||
"134": "Amine",
|
||||
}
|
||||
}
|
||||
|
||||
def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
|
||||
"""项目接口通用POST调用
|
||||
|
||||
@@ -166,7 +54,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": self.bioyond_config["api_key"],
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
@@ -197,7 +85,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
dict: 服务端响应，失败时返回 {code:0,message,...}
|
||||
"""
|
||||
request_data = {
|
||||
"apiKey": self.bioyond_config["api_key"],
|
||||
"apiKey": API_CONFIG["api_key"],
|
||||
"requestTime": self.hardware_interface.get_current_time_iso8601(),
|
||||
"data": data
|
||||
}
|
||||
@@ -230,22 +118,20 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
ratio = json.loads(ratio)
|
||||
except Exception:
|
||||
ratio = {}
|
||||
root = str(Path(__file__).resolve().parents[3])
|
||||
if root not in sys.path:
|
||||
sys.path.append(root)
|
||||
try:
|
||||
mod = importlib.import_module("tem.compute")
|
||||
except Exception as e:
|
||||
raise BioyondException(f"无法导入计算模块: {e}")
|
||||
try:
|
||||
wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
|
||||
mt = float(m_tot) if isinstance(m_tot, str) else m_tot
|
||||
tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
|
||||
except Exception as e:
|
||||
raise BioyondException(f"参数解析失败: {e}")
|
||||
|
||||
# 2. 调用内部计算方法
|
||||
res = self._generate_experiment_design(
|
||||
ratio=ratio,
|
||||
wt_percent=wp,
|
||||
m_tot=mt,
|
||||
titration_percent=tp
|
||||
)
|
||||
|
||||
# 3. 构造返回结果
|
||||
res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
|
||||
out = {
|
||||
"solutions": res.get("solutions", []),
|
||||
"titration": res.get("titration", {}),
|
||||
@@ -254,248 +140,11 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
"return_info": json.dumps(res, ensure_ascii=False)
|
||||
}
|
||||
return out
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
except Exception as e:
|
||||
raise BioyondException(str(e))
|
||||
|
||||
def _generate_experiment_design(
|
||||
self,
|
||||
ratio: dict,
|
||||
wt_percent: float = 0.25,
|
||||
m_tot: float = 70,
|
||||
titration_percent: float = 0.03,
|
||||
) -> dict:
|
||||
"""内部方法：生成实验设计
|
||||
|
||||
根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
|
||||
|
||||
参数:
|
||||
ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
|
||||
wt_percent: 固体重量百分比
|
||||
m_tot: 反应混合物总质量(g)
|
||||
titration_percent: 滴定溶液百分比
|
||||
|
||||
返回:
|
||||
包含实验设计详细参数的字典
|
||||
"""
|
||||
# 溶剂密度
|
||||
ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
|
||||
# 二酐溶解度
|
||||
solubility = 0.02 * self.ureg.g / self.ureg.ml
|
||||
# 投入固体时最小溶剂体积
|
||||
V_min = 30 * self.ureg.ml
|
||||
m_tot = m_tot * self.ureg.g
|
||||
|
||||
# 保持ratio中的顺序
|
||||
compound_names = list(ratio.keys())
|
||||
compound_ratios = list(ratio.values())
|
||||
|
||||
# 验证所有化合物是否在 compound_info 中定义
|
||||
undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
|
||||
if undefined_compounds:
|
||||
available = list(self.compound_info["MolWt"].keys())
|
||||
raise ValueError(
|
||||
f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
|
||||
f"可用的化合物: {available}"
|
||||
)
|
||||
|
||||
# 获取各化合物的分子量和官能团类型
|
||||
molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
|
||||
func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
|
||||
|
||||
# 记录化合物信息用于调试
|
||||
self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
|
||||
self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
|
||||
|
||||
# 按原始顺序分离二胺和二酐
|
||||
ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
|
||||
diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
|
||||
anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
|
||||
|
||||
if not diamine_compounds or not anhydride_compounds:
|
||||
raise ValueError(
|
||||
f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
|
||||
f"当前二胺: {[c[0] for c in diamine_compounds]}, "
|
||||
f"当前二酐: {[c[0] for c in anhydride_compounds]}"
|
||||
)
|
||||
|
||||
# 计算加权平均分子量 (基于摩尔比)
|
||||
total_molar_ratio = sum(compound_ratios)
|
||||
weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
|
||||
|
||||
# 取最后一个二酐用于滴定
|
||||
titration_anhydride = anhydride_compounds[-1]
|
||||
solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
|
||||
|
||||
# 二胺溶液配制参数 - 每种二胺单独配制
|
||||
diamine_solutions = []
|
||||
total_diamine_volume = 0 * self.ureg.ml
|
||||
|
||||
# 计算反应物的总摩尔量
|
||||
n_reactant = m_tot * wt_percent / weighted_molecular_weight
|
||||
|
||||
for name, ratio_val, mw, order_index in diamine_compounds:
|
||||
# 跳过 SIDA
|
||||
if name == "SIDA":
|
||||
continue
|
||||
|
||||
# 计算该二胺需要的摩尔数
|
||||
n_diamine_needed = n_reactant * ratio_val
|
||||
|
||||
# 二胺溶液配制参数 (每种二胺固定配制参数)
|
||||
m_diamine_solid = 5.0 * self.ureg.g # 每种二胺固体质量
|
||||
V_solvent_for_this = 20 * self.ureg.ml # 每种二胺溶剂体积
|
||||
m_solvent_for_this = ρ_solvent * V_solvent_for_this
|
||||
|
||||
# 计算该二胺溶液的浓度
|
||||
c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
|
||||
|
||||
# 计算需要移取的溶液体积
|
||||
V_diamine_needed = n_diamine_needed / c_diamine
|
||||
|
||||
diamine_solutions.append({
|
||||
"name": name,
|
||||
"order": order_index,
|
||||
"solid_mass": m_diamine_solid.magnitude,
|
||||
"solvent_volume": V_solvent_for_this.magnitude,
|
||||
"concentration": c_diamine.magnitude,
|
||||
"volume_needed": V_diamine_needed.magnitude,
|
||||
"molar_ratio": ratio_val
|
||||
})
|
||||
|
||||
total_diamine_volume += V_diamine_needed
|
||||
|
||||
# 按原始顺序排序
|
||||
diamine_solutions.sort(key=lambda x: x["order"])
|
||||
|
||||
# 计算滴定二酐的质量
|
||||
titration_name, titration_ratio, titration_mw, _ = titration_anhydride
|
||||
m_titration_anhydride = n_reactant * titration_ratio * titration_mw
|
||||
m_titration_90 = m_titration_anhydride * (1 - titration_percent)
|
||||
m_titration_10 = m_titration_anhydride * titration_percent
|
||||
|
||||
# 计算其他固体二酐的质量 (按顺序)
|
||||
solid_anhydride_masses = []
|
||||
for name, ratio_val, mw, order_index in solid_anhydrides:
|
||||
mass = n_reactant * ratio_val * mw
|
||||
solid_anhydride_masses.append({
|
||||
"name": name,
|
||||
"order": order_index,
|
||||
"mass": mass.magnitude,
|
||||
"molar_ratio": ratio_val
|
||||
})
|
||||
|
||||
# 按原始顺序排序
|
||||
solid_anhydride_masses.sort(key=lambda x: x["order"])
|
||||
|
||||
# 计算溶剂用量
|
||||
total_diamine_solution_mass = sum(
|
||||
sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
|
||||
) * self.ureg.ml
|
||||
|
||||
# 预估滴定溶剂量、计算补加溶剂量
|
||||
m_solvent_titration = m_titration_10 / solubility * ρ_solvent
|
||||
m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
|
||||
|
||||
# 检查最小溶剂体积要求
|
||||
total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
|
||||
m_tot_min = V_min / total_liquid_volume * m_tot
|
||||
|
||||
# 如果需要，按比例放大
|
||||
scale_factor = 1.0
|
||||
if m_tot_min > m_tot:
|
||||
scale_factor = (m_tot_min / m_tot).magnitude
|
||||
m_titration_90 *= scale_factor
|
||||
m_titration_10 *= scale_factor
|
||||
m_solvent_add *= scale_factor
|
||||
m_solvent_titration *= scale_factor
|
||||
|
||||
# 更新二胺溶液用量
|
||||
for sol in diamine_solutions:
|
||||
sol["volume_needed"] *= scale_factor
|
||||
|
||||
# 更新固体二酐用量
|
||||
for anhydride in solid_anhydride_masses:
|
||||
anhydride["mass"] *= scale_factor
|
||||
|
||||
m_tot = m_tot_min
|
||||
|
||||
# 生成投料顺序
|
||||
feeding_order = []
|
||||
|
||||
# 1. 固体二酐 (按顺序)
|
||||
for anhydride in solid_anhydride_masses:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "solid_anhydride",
|
||||
"name": anhydride["name"],
|
||||
"amount": anhydride["mass"],
|
||||
"order": anhydride["order"]
|
||||
})
|
||||
|
||||
# 2. 二胺溶液 (按顺序)
|
||||
for sol in diamine_solutions:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "diamine_solution",
|
||||
"name": sol["name"],
|
||||
"amount": sol["volume_needed"],
|
||||
"order": sol["order"]
|
||||
})
|
||||
|
||||
# 3. 主要二酐粉末
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "main_anhydride",
|
||||
"name": titration_name,
|
||||
"amount": m_titration_90.magnitude,
|
||||
"order": titration_anhydride[3]
|
||||
})
|
||||
|
||||
# 4. 补加溶剂
|
||||
if m_solvent_add > 0:
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "additional_solvent",
|
||||
"name": "溶剂",
|
||||
"amount": m_solvent_add.magnitude,
|
||||
"order": 999
|
||||
})
|
||||
|
||||
# 5. 滴定二酐溶液
|
||||
feeding_order.append({
|
||||
"step": len(feeding_order) + 1,
|
||||
"type": "titration_anhydride",
|
||||
"name": f"{titration_name} 滴定液",
|
||||
"amount": m_titration_10.magnitude,
|
||||
"titration_solvent": m_solvent_titration.magnitude,
|
||||
"order": titration_anhydride[3]
|
||||
})
|
||||
|
||||
# 返回实验设计结果
|
||||
results = {
|
||||
"total_mass": m_tot.magnitude,
|
||||
"scale_factor": scale_factor,
|
||||
"solutions": diamine_solutions,
|
||||
"solids": solid_anhydride_masses,
|
||||
"titration": {
|
||||
"name": titration_name,
|
||||
"main_portion": m_titration_90.magnitude,
|
||||
"titration_portion": m_titration_10.magnitude,
|
||||
"titration_solvent": m_solvent_titration.magnitude,
|
||||
},
|
||||
"solvents": {
|
||||
"additional_solvent": m_solvent_add.magnitude,
|
||||
"total_liquid_volume": total_liquid_volume.magnitude
|
||||
},
|
||||
"feeding_order": feeding_order,
|
||||
"minimum_required_mass": m_tot_min.magnitude
|
||||
}
|
||||
|
||||
return results
|
||||
|
||||
# 90%10%小瓶投料任务创建方法
|
||||
def create_90_10_vial_feeding_task(self,
|
||||
order_name: str = None,
|
||||
@@ -1312,108 +961,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
'actualVolume': actual_volume
|
||||
}
|
||||
|
||||
def _simplify_report(self, report) -> Dict[str, Any]:
|
||||
"""简化实验报告，只保留关键信息，去除冗余的工作流参数"""
|
||||
if not isinstance(report, dict):
|
||||
return report
|
||||
|
||||
data = report.get('data', {})
|
||||
if not isinstance(data, dict):
|
||||
return report
|
||||
|
||||
# 提取关键信息
|
||||
simplified = {
|
||||
'name': data.get('name'),
|
||||
'code': data.get('code'),
|
||||
'requester': data.get('requester'),
|
||||
'workflowName': data.get('workflowName'),
|
||||
'workflowStep': data.get('workflowStep'),
|
||||
'requestTime': data.get('requestTime'),
|
||||
'startPreparationTime': data.get('startPreparationTime'),
|
||||
'completeTime': data.get('completeTime'),
|
||||
'useTime': data.get('useTime'),
|
||||
'status': data.get('status'),
|
||||
'statusName': data.get('statusName'),
|
||||
}
|
||||
|
||||
# 提取物料信息（简化版）
|
||||
pre_intakes = data.get('preIntakes', [])
|
||||
if pre_intakes and isinstance(pre_intakes, list):
|
||||
first_intake = pre_intakes[0]
|
||||
sample_materials = first_intake.get('sampleMaterials', [])
|
||||
|
||||
# 简化物料信息
|
||||
simplified_materials = []
|
||||
for material in sample_materials:
|
||||
if isinstance(material, dict):
|
||||
mat_info = {
|
||||
'materialName': material.get('materialName'),
|
||||
'materialTypeName': material.get('materialTypeName'),
|
||||
'materialCode': material.get('materialCode'),
|
||||
'materialLocation': material.get('materialLocation'),
|
||||
}
|
||||
|
||||
# 解析parameters中的关键信息（如密度、加料历史等）
|
||||
params_str = material.get('parameters', '{}')
|
||||
try:
|
||||
params = json.loads(params_str) if isinstance(params_str, str) else params_str
|
||||
if isinstance(params, dict):
|
||||
# 只保留关键参数
|
||||
if 'density' in params:
|
||||
mat_info['density'] = params['density']
|
||||
if 'feedingHistory' in params:
|
||||
mat_info['feedingHistory'] = params['feedingHistory']
|
||||
if 'liquidVolume' in params:
|
||||
mat_info['liquidVolume'] = params['liquidVolume']
|
||||
if 'm_diamine_tot' in params:
|
||||
mat_info['m_diamine_tot'] = params['m_diamine_tot']
|
||||
if 'wt_diamine' in params:
|
||||
mat_info['wt_diamine'] = params['wt_diamine']
|
||||
except:
|
||||
pass
|
||||
|
||||
simplified_materials.append(mat_info)
|
||||
|
||||
simplified['sampleMaterials'] = simplified_materials
|
||||
|
||||
# 提取extraProperties中的实际值
|
||||
extra_props = first_intake.get('extraProperties', {})
|
||||
if isinstance(extra_props, dict):
|
||||
simplified_extra = {}
|
||||
for key, value in extra_props.items():
|
||||
try:
|
||||
parsed_value = json.loads(value) if isinstance(value, str) else value
|
||||
simplified_extra[key] = parsed_value
|
||||
except:
|
||||
simplified_extra[key] = value
|
||||
simplified['extraProperties'] = simplified_extra
|
||||
|
||||
return {
|
||||
'data': simplified,
|
||||
'code': report.get('code'),
|
||||
'message': report.get('message'),
|
||||
'timestamp': report.get('timestamp')
|
||||
}
|
||||
|
||||
def scheduler_start(self) -> dict:
|
||||
"""启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
|
||||
|
||||
Returns:
|
||||
dict: 包含return_info的字典，return_info为整型(1=成功)
|
||||
|
||||
Raises:
|
||||
BioyondException: 调度器启动失败时抛出异常
|
||||
"""
|
||||
result = self.hardware_interface.scheduler_start()
|
||||
self.hardware_interface._logger.info(f"调度器启动结果: {result}")
|
||||
|
||||
if result != 1:
|
||||
error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
return {"return_info": result}
|
||||
|
||||
# 等待多个任务完成并获取实验报告
|
||||
def wait_for_multiple_orders_and_get_reports(self,
|
||||
batch_create_result: str = None,
|
||||
@@ -1455,12 +1002,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
|
||||
# 验证batch_create_result参数
|
||||
if not batch_create_result or batch_create_result == "":
|
||||
raise BioyondException(
|
||||
"batch_create_result参数为空，请确保:\n"
|
||||
"1. batch_create节点与wait节点之间正确连接了handle\n"
|
||||
"2. batch_create节点成功执行并返回了结果\n"
|
||||
"3. 检查上游batch_create任务是否成功创建了订单"
|
||||
)
|
||||
raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
|
||||
|
||||
# 解析batch_create_result JSON对象
|
||||
try:
|
||||
@@ -1489,17 +1031,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
|
||||
# 验证提取的数据
|
||||
if not order_codes:
|
||||
self.hardware_interface._logger.error(
|
||||
f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
|
||||
)
|
||||
raise BioyondException(
|
||||
"batch_create_result中未找到order_codes或为空。\n"
|
||||
"可能的原因:\n"
|
||||
"1. batch_create任务执行失败（检查任务是否报错）\n"
|
||||
"2. 物料配置问题（如'物料样品板分配失败'）\n"
|
||||
"3. Bioyond系统状态异常\n"
|
||||
f"请检查batch_create任务的执行结果"
|
||||
)
|
||||
raise BioyondException("batch_create_result中未找到order_codes字段或为空")
|
||||
if not order_ids:
|
||||
raise BioyondException("batch_create_result中未找到order_ids字段或为空")
|
||||
|
||||
@@ -1582,8 +1114,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功获取任务 {order_code} 的实验报告"
|
||||
)
|
||||
# 简化报告，去除冗余信息
|
||||
report = self._simplify_report(report)
|
||||
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
@@ -1758,7 +1288,7 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
|
||||
)
|
||||
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
results = []
|
||||
successful_count = 0
|
||||
failed_count = 0
|
||||
File diff suppressed because it is too large
Load Diff
@@ -6,7 +6,6 @@ Bioyond Workstation Implementation
|
||||
"""
|
||||
import time
|
||||
import traceback
|
||||
import threading
|
||||
from datetime import datetime
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
import json
|
||||
@@ -28,90 +27,6 @@ from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
class ConnectionMonitor:
|
||||
"""Bioyond连接监控器"""
|
||||
def __init__(self, workstation, check_interval=30):
|
||||
self.workstation = workstation
|
||||
self.check_interval = check_interval
|
||||
self._running = False
|
||||
self._thread = None
|
||||
self._last_status = "unknown"
|
||||
|
||||
def start(self):
|
||||
if self._running:
|
||||
return
|
||||
self._running = True
|
||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
|
||||
self._thread.start()
|
||||
logger.info("Bioyond连接监控器已启动")
|
||||
|
||||
def stop(self):
|
||||
self._running = False
|
||||
if self._thread:
|
||||
self._thread.join(timeout=2)
|
||||
logger.info("Bioyond连接监控器已停止")
|
||||
|
||||
def _monitor_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 使用 lightweight API 检查连接
|
||||
# query_matial_type_list 是比较快的查询
|
||||
start_time = time.time()
|
||||
result = self.workstation.hardware_interface.material_type_list()
|
||||
|
||||
status = "online" if result else "offline"
|
||||
msg = "Connection established" if status == "online" else "Failed to get material type list"
|
||||
|
||||
if status != self._last_status:
|
||||
logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
|
||||
self._publish_event(status, msg)
|
||||
self._last_status = status
|
||||
|
||||
# 发布心跳 (可选，或者只在状态变更时发布)
|
||||
# self._publish_event(status, msg)
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"Bioyond连接检查异常: {e}")
|
||||
if self._last_status != "error":
|
||||
self._publish_event("error", str(e))
|
||||
self._last_status = "error"
|
||||
|
||||
time.sleep(self.check_interval)
|
||||
|
||||
def _publish_event(self, status, message):
|
||||
try:
|
||||
if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
|
||||
event_data = {
|
||||
"status": status,
|
||||
"message": message,
|
||||
"timestamp": datetime.now().isoformat()
|
||||
}
|
||||
|
||||
# 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
|
||||
# 这里假设通用事件发布机制，使用 String 类型的 topic
|
||||
# 话题: /<namespace>/events/device_status
|
||||
ns = self.workstation._ros_node.namespace
|
||||
topic = f"{ns}/events/device_status"
|
||||
|
||||
# 使用 ROS2DeviceNode 的发布功能
|
||||
# 如果没有预定义的 publisher，需要动态创建
|
||||
# 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
|
||||
# 这里我们先尝试用 String json 发布
|
||||
|
||||
# 在 ROS2DeviceNode 中通常需要先 create_publisher
|
||||
# 为了简单起见，我们检查是否已有 publisher，没有则创建
|
||||
if not hasattr(self.workstation, "_device_status_pub"):
|
||||
self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
|
||||
String, topic, 10
|
||||
)
|
||||
|
||||
self.workstation._device_status_pub.publish(
|
||||
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"发布设备状态事件失败: {e}")
|
||||
|
||||
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
"""Bioyond资源同步器
|
||||
|
||||
@@ -257,8 +172,9 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
else:
|
||||
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
||||
|
||||
# 第1步：从配置中获取仓库配置
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
# 第1步：获取仓库配置
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
warehouse_mapping = WAREHOUSE_MAPPING
|
||||
|
||||
# 确定目标仓库名称
|
||||
parent_name = None
|
||||
@@ -320,20 +236,14 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
# 第2步：转换为 Bioyond 格式
|
||||
logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
|
||||
|
||||
# 从配置中获取物料默认参数
|
||||
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
|
||||
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
|
||||
|
||||
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
|
||||
merged_params = material_default_params.copy()
|
||||
for type_id, params in material_type_params.items():
|
||||
merged_params[f"type:{type_id}"] = params
|
||||
# 导入物料默认参数配置
|
||||
from .config import MATERIAL_DEFAULT_PARAMETERS
|
||||
|
||||
bioyond_material = resource_plr_to_bioyond(
|
||||
[resource],
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
||||
material_params=merged_params
|
||||
material_params=MATERIAL_DEFAULT_PARAMETERS
|
||||
)[0]
|
||||
|
||||
logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
|
||||
@@ -556,20 +466,13 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
return material_bioyond_id
|
||||
|
||||
# 转换为 Bioyond 格式
|
||||
# 从配置中获取物料默认参数
|
||||
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
|
||||
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
|
||||
|
||||
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
|
||||
merged_params = material_default_params.copy()
|
||||
for type_id, params in material_type_params.items():
|
||||
merged_params[f"type:{type_id}"] = params
|
||||
from .config import MATERIAL_DEFAULT_PARAMETERS
|
||||
|
||||
bioyond_material = resource_plr_to_bioyond(
|
||||
[resource],
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
|
||||
material_params=merged_params
|
||||
material_params=MATERIAL_DEFAULT_PARAMETERS
|
||||
)[0]
|
||||
|
||||
# ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
|
||||
@@ -623,7 +526,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.info(f"[物料入库] 目标库位: {update_site}")
|
||||
|
||||
# 获取仓库配置和目标库位 UUID
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
warehouse_mapping = WAREHOUSE_MAPPING
|
||||
|
||||
parent_name = None
|
||||
target_location_uuid = None
|
||||
@@ -678,44 +582,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
集成Bioyond物料管理的工作站实现
|
||||
"""
|
||||
|
||||
def _publish_task_status(
|
||||
self,
|
||||
task_id: str,
|
||||
task_type: str,
|
||||
status: str,
|
||||
result: dict = None,
|
||||
progress: float = 0.0,
|
||||
task_code: str = None
|
||||
):
|
||||
"""发布任务状态事件"""
|
||||
try:
|
||||
if not getattr(self, "_ros_node", None):
|
||||
return
|
||||
|
||||
event_data = {
|
||||
"task_id": task_id,
|
||||
"task_code": task_code,
|
||||
"task_type": task_type,
|
||||
"status": status,
|
||||
"progress": progress,
|
||||
"timestamp": datetime.now().isoformat()
|
||||
}
|
||||
if result:
|
||||
event_data["result"] = result
|
||||
|
||||
topic = f"{self._ros_node.namespace}/events/task_status"
|
||||
|
||||
if not hasattr(self, "_task_status_pub"):
|
||||
self._task_status_pub = self._ros_node.create_publisher(
|
||||
String, topic, 10
|
||||
)
|
||||
|
||||
self._task_status_pub.publish(
|
||||
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"发布任务状态事件失败: {e}")
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
bioyond_config: Optional[Dict[str, Any]] = None,
|
||||
@@ -737,28 +603,10 @@ class BioyondWorkstation(WorkstationBase):
|
||||
raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
|
||||
|
||||
# 初始化 warehouses 属性
|
||||
if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
|
||||
self.deck.warehouses = {}
|
||||
|
||||
# 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
|
||||
if not self.deck.warehouses:
|
||||
for resource in self.deck.children:
|
||||
# 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
|
||||
is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
|
||||
|
||||
# 如果配置中有定义，也可以认定为 warehouse
|
||||
if not is_warehouse and "warehouse_mapping" in bioyond_config:
|
||||
if resource.name in bioyond_config["warehouse_mapping"]:
|
||||
is_warehouse = True
|
||||
|
||||
if is_warehouse:
|
||||
self.deck.warehouses[resource.name] = resource
|
||||
# 确保 category 被正确设置，方便后续使用
|
||||
if getattr(resource, "category", "") != "warehouse":
|
||||
try:
|
||||
resource.category = "warehouse"
|
||||
except:
|
||||
pass
|
||||
self.deck.warehouses = {}
|
||||
for resource in self.deck.children:
|
||||
if isinstance(resource, WareHouse):
|
||||
self.deck.warehouses[resource.name] = resource
|
||||
|
||||
# 创建通信模块
|
||||
self._create_communication_module(bioyond_config)
|
||||
@@ -777,22 +625,18 @@ class BioyondWorkstation(WorkstationBase):
|
||||
self._set_workflow_mappings(bioyond_config["workflow_mappings"])
|
||||
|
||||
# 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
|
||||
# 从 bioyond_config 中的 http_service_config 获取
|
||||
http_service_cfg = bioyond_config.get("http_service_config", {})
|
||||
# 从 bioyond_config 中获取，如果没有则使用默认值
|
||||
self._http_service_config = {
|
||||
"host": http_service_cfg.get("http_service_host", "127.0.0.1"),
|
||||
"port": http_service_cfg.get("http_service_port", 8080)
|
||||
"host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
|
||||
"port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
|
||||
}
|
||||
self.http_service = None # 将在 post_init 启动
|
||||
self.connection_monitor = None # 将在 post_init 启动
|
||||
self.http_service = None # 将在 post_init 中启动
|
||||
|
||||
logger.info(f"Bioyond工作站初始化完成")
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数：清理资源，停止 HTTP 服务"""
|
||||
try:
|
||||
if hasattr(self, 'connection_monitor') and self.connection_monitor:
|
||||
self.connection_monitor.stop()
|
||||
if hasattr(self, 'http_service') and self.http_service is not None:
|
||||
logger.info("正在停止 HTTP 报送服务...")
|
||||
self.http_service.stop()
|
||||
@@ -802,13 +646,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
def post_init(self, ros_node: ROS2WorkstationNode):
|
||||
self._ros_node = ros_node
|
||||
|
||||
# 启动连接监控
|
||||
try:
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
self.connection_monitor.start()
|
||||
except Exception as e:
|
||||
logger.error(f"启动连接监控失败: {e}")
|
||||
|
||||
# 启动 HTTP 报送接收服务（现在 device_id 已可用）
|
||||
# ⚠️ 检查子类是否已经自己管理 HTTP 服务
|
||||
if self.bioyond_config.get("_disable_auto_http_service"):
|
||||
@@ -853,14 +690,14 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
|
||||
"""创建Bioyond通信模块"""
|
||||
# 直接使用传入的配置，不再使用默认值
|
||||
# 所有配置必须从 JSON 文件中提供
|
||||
# 使用传入的 config 参数（来自 bioyond_config）
|
||||
# 不再依赖全局变量 API_CONFIG 等
|
||||
if config:
|
||||
self.bioyond_config = config
|
||||
else:
|
||||
# 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
|
||||
# 如果没有传入配置，创建空配置（用于测试或兼容性）
|
||||
self.bioyond_config = {}
|
||||
print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
|
||||
|
||||
|
||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||
|
||||
@@ -1174,15 +1011,7 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
workflow_id = self._get_workflow(actual_workflow_name)
|
||||
if workflow_id:
|
||||
# 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
|
||||
if isinstance(self.workflow_sequence, list):
|
||||
self.workflow_sequence.append(workflow_id)
|
||||
elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
|
||||
self._cached_workflow_sequence.append(workflow_id)
|
||||
else:
|
||||
print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
|
||||
return False
|
||||
|
||||
self.workflow_sequence.append(workflow_id)
|
||||
print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
|
||||
return True
|
||||
return False
|
||||
@@ -1383,22 +1212,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
# TODO: 根据实际业务需求处理步骤完成逻辑
|
||||
# 例如：更新数据库、触发后续流程等
|
||||
|
||||
# 发布任务状态事件 (running/progress update)
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_step",
|
||||
status="running",
|
||||
progress=0.5, # 步骤完成视为任务进行中
|
||||
result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
|
||||
)
|
||||
|
||||
# 更新物料信息
|
||||
# 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
|
||||
logger.info(f"[步骤完成报送] 触发物料同步...")
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"step_id": data.get('stepId'),
|
||||
@@ -1433,17 +1246,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
|
||||
# TODO: 根据实际业务需求处理通量完成逻辑
|
||||
|
||||
# 发布任务状态事件
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'),
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_sample",
|
||||
status="running",
|
||||
progress=0.7,
|
||||
result={"sample_id": data.get('sampleId'), "status": status_desc}
|
||||
)
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"sample_id": data.get('sampleId'),
|
||||
@@ -1483,32 +1285,6 @@ class BioyondWorkstation(WorkstationBase):
|
||||
# TODO: 根据实际业务需求处理任务完成逻辑
|
||||
# 例如：更新物料库存、生成报表等
|
||||
|
||||
# 映射状态到事件状态
|
||||
event_status = "completed"
|
||||
if str(data.get('status')) in ["-11", "-12"]:
|
||||
event_status = "error"
|
||||
elif str(data.get('status')) == "30":
|
||||
event_status = "completed"
|
||||
else:
|
||||
event_status = "running" # 其他状态视为运行中（或根据实际定义）
|
||||
|
||||
# 发布任务状态事件
|
||||
self._publish_task_status(
|
||||
task_id=data.get('orderCode'),
|
||||
task_code=data.get('orderCode'),
|
||||
task_type="bioyond_order",
|
||||
status=event_status,
|
||||
progress=1.0 if event_status in ["completed", "error"] else 0.9,
|
||||
result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
|
||||
)
|
||||
|
||||
# 更新物料信息
|
||||
# 任务完成后，且状态为完成时，触发同步以更新最终物料状态
|
||||
if event_status == "completed":
|
||||
logger.info(f"[任务完成报送] 触发物料同步...")
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
|
||||
return {
|
||||
"processed": True,
|
||||
"order_code": data.get('orderCode'),
|
||||
|
||||
Binary file not shown.
@@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
# 验证必需字段
|
||||
if 'brand' in request_data:
|
||||
if request_data['brand'] == "bioyond": # 奔曜
|
||||
material_data = request_data["text"]
|
||||
logger.info(f"收到奔曜物料变更报送: {material_data}")
|
||||
error_msg = request_data["text"]
|
||||
logger.info(f"收到奔曜错误处理报送: {error_msg}")
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"物料变更报送已收到: {material_data}",
|
||||
acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}",
|
||||
message=f"错误处理报送已收到: {error_msg}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
|
||||
data=None
|
||||
)
|
||||
else:
|
||||
|
||||
@@ -96,13 +96,10 @@ serial:
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
registry_name:
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: object
|
||||
required:
|
||||
- device_id
|
||||
- registry_name
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
|
||||
589
unilabos/registry/devices/bioyond.yaml
Normal file
589
unilabos/registry/devices/bioyond.yaml
Normal file
@@ -0,0 +1,589 @@
|
||||
workstation.bioyond_dispensing_station:
|
||||
category:
|
||||
- workstation
|
||||
- bioyond
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-batch_create_90_10_vial_feeding_tasks:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
delay_time: null
|
||||
hold_m_name: null
|
||||
liquid_material_name: NMP
|
||||
speed: null
|
||||
temperature: null
|
||||
titration: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
titration:
|
||||
type: string
|
||||
required:
|
||||
- titration
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: batch_create_90_10_vial_feeding_tasks参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-batch_create_diamine_solution_tasks:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
delay_time: null
|
||||
liquid_material_name: NMP
|
||||
solutions: null
|
||||
speed: null
|
||||
temperature: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
default: NMP
|
||||
type: string
|
||||
solutions:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- solutions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: batch_create_diamine_solution_tasks参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-brief_step_parameters:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: object
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: brief_step_parameters参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-compute_experiment_design:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
m_tot: '70'
|
||||
ratio: null
|
||||
titration_percent: '0.03'
|
||||
wt_percent: '0.25'
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
m_tot:
|
||||
default: '70'
|
||||
type: string
|
||||
ratio:
|
||||
type: object
|
||||
titration_percent:
|
||||
default: '0.03'
|
||||
type: string
|
||||
wt_percent:
|
||||
default: '0.25'
|
||||
type: string
|
||||
required:
|
||||
- ratio
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
feeding_order:
|
||||
items: {}
|
||||
title: Feeding Order
|
||||
type: array
|
||||
return_info:
|
||||
title: Return Info
|
||||
type: string
|
||||
solutions:
|
||||
items: {}
|
||||
title: Solutions
|
||||
type: array
|
||||
solvents:
|
||||
additionalProperties: true
|
||||
title: Solvents
|
||||
type: object
|
||||
titration:
|
||||
additionalProperties: true
|
||||
title: Titration
|
||||
type: object
|
||||
required:
|
||||
- solutions
|
||||
- titration
|
||||
- solvents
|
||||
- feeding_order
|
||||
- return_info
|
||||
title: ComputeExperimentDesignReturn
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: compute_experiment_design参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-process_order_finish_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
report_request: null
|
||||
used_materials: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
type: string
|
||||
used_materials:
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
- used_materials
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_order_finish_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-project_order_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
order_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
order_id:
|
||||
type: string
|
||||
required:
|
||||
- order_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: project_order_report参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_resource_by_name:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
material_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
material_name:
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_resource_by_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-transfer_materials_to_reaction_station:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
target_device_id: null
|
||||
transfer_groups: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
type: string
|
||||
transfer_groups:
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
- transfer_groups
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_multiple_orders_and_get_reports:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
batch_create_result: null
|
||||
check_interval: 10
|
||||
timeout: 7200
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
batch_create_result:
|
||||
type: string
|
||||
check_interval:
|
||||
default: 10
|
||||
type: integer
|
||||
timeout:
|
||||
default: 7200
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_multiple_orders_and_get_reports参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-workflow_sample_locations:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
workflow_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
workflow_id:
|
||||
type: string
|
||||
required:
|
||||
- workflow_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: workflow_sample_locations参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
create_90_10_vial_feeding_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
order_name: order_name
|
||||
percent_10_1_assign_material_name: percent_10_1_assign_material_name
|
||||
percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
|
||||
percent_10_1_target_weigh: percent_10_1_target_weigh
|
||||
percent_10_1_volume: percent_10_1_volume
|
||||
percent_10_2_assign_material_name: percent_10_2_assign_material_name
|
||||
percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
|
||||
percent_10_2_target_weigh: percent_10_2_target_weigh
|
||||
percent_10_2_volume: percent_10_2_volume
|
||||
percent_10_3_assign_material_name: percent_10_3_assign_material_name
|
||||
percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
|
||||
percent_10_3_target_weigh: percent_10_3_target_weigh
|
||||
percent_10_3_volume: percent_10_3_volume
|
||||
percent_90_1_assign_material_name: percent_90_1_assign_material_name
|
||||
percent_90_1_target_weigh: percent_90_1_target_weigh
|
||||
percent_90_2_assign_material_name: percent_90_2_assign_material_name
|
||||
percent_90_2_target_weigh: percent_90_2_target_weigh
|
||||
percent_90_3_assign_material_name: percent_90_3_assign_material_name
|
||||
percent_90_3_target_weigh: percent_90_3_target_weigh
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
order_name: ''
|
||||
percent_10_1_assign_material_name: ''
|
||||
percent_10_1_liquid_material_name: ''
|
||||
percent_10_1_target_weigh: ''
|
||||
percent_10_1_volume: ''
|
||||
percent_10_2_assign_material_name: ''
|
||||
percent_10_2_liquid_material_name: ''
|
||||
percent_10_2_target_weigh: ''
|
||||
percent_10_2_volume: ''
|
||||
percent_10_3_assign_material_name: ''
|
||||
percent_10_3_liquid_material_name: ''
|
||||
percent_10_3_target_weigh: ''
|
||||
percent_10_3_volume: ''
|
||||
percent_90_1_assign_material_name: ''
|
||||
percent_90_1_target_weigh: ''
|
||||
percent_90_2_assign_material_name: ''
|
||||
percent_90_2_target_weigh: ''
|
||||
percent_90_3_assign_material_name: ''
|
||||
percent_90_3_target_weigh: ''
|
||||
speed: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationVialFeed_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
percent_10_1_assign_material_name:
|
||||
type: string
|
||||
percent_10_1_liquid_material_name:
|
||||
type: string
|
||||
percent_10_1_target_weigh:
|
||||
type: string
|
||||
percent_10_1_volume:
|
||||
type: string
|
||||
percent_10_2_assign_material_name:
|
||||
type: string
|
||||
percent_10_2_liquid_material_name:
|
||||
type: string
|
||||
percent_10_2_target_weigh:
|
||||
type: string
|
||||
percent_10_2_volume:
|
||||
type: string
|
||||
percent_10_3_assign_material_name:
|
||||
type: string
|
||||
percent_10_3_liquid_material_name:
|
||||
type: string
|
||||
percent_10_3_target_weigh:
|
||||
type: string
|
||||
percent_10_3_volume:
|
||||
type: string
|
||||
percent_90_1_assign_material_name:
|
||||
type: string
|
||||
percent_90_1_target_weigh:
|
||||
type: string
|
||||
percent_90_2_assign_material_name:
|
||||
type: string
|
||||
percent_90_2_target_weigh:
|
||||
type: string
|
||||
percent_90_3_assign_material_name:
|
||||
type: string
|
||||
percent_90_3_target_weigh:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- percent_90_1_assign_material_name
|
||||
- percent_90_1_target_weigh
|
||||
- percent_90_2_assign_material_name
|
||||
- percent_90_2_target_weigh
|
||||
- percent_90_3_assign_material_name
|
||||
- percent_90_3_target_weigh
|
||||
- percent_10_1_assign_material_name
|
||||
- percent_10_1_target_weigh
|
||||
- percent_10_1_volume
|
||||
- percent_10_1_liquid_material_name
|
||||
- percent_10_2_assign_material_name
|
||||
- percent_10_2_target_weigh
|
||||
- percent_10_2_volume
|
||||
- percent_10_2_liquid_material_name
|
||||
- percent_10_3_assign_material_name
|
||||
- percent_10_3_target_weigh
|
||||
- percent_10_3_volume
|
||||
- percent_10_3_liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationVialFeed_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationVialFeed_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationVialFeed
|
||||
type: object
|
||||
type: DispenStationVialFeed
|
||||
create_diamine_solution_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
delay_time: delay_time
|
||||
hold_m_name: hold_m_name
|
||||
liquid_material_name: liquid_material_name
|
||||
material_name: material_name
|
||||
order_name: order_name
|
||||
speed: speed
|
||||
target_weigh: target_weigh
|
||||
temperature: temperature
|
||||
volume: volume
|
||||
goal_default:
|
||||
delay_time: ''
|
||||
hold_m_name: ''
|
||||
liquid_material_name: ''
|
||||
material_name: ''
|
||||
order_name: ''
|
||||
speed: ''
|
||||
target_weigh: ''
|
||||
temperature: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationSolnPrep_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
hold_m_name:
|
||||
type: string
|
||||
liquid_material_name:
|
||||
type: string
|
||||
material_name:
|
||||
type: string
|
||||
order_name:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
target_weigh:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
volume:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- material_name
|
||||
- target_weigh
|
||||
- volume
|
||||
- liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationSolnPrep_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationSolnPrep_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: string
|
||||
deck:
|
||||
type: string
|
||||
required:
|
||||
- config
|
||||
- deck
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
File diff suppressed because it is too large
Load Diff
@@ -30,6 +30,71 @@ bioyond_dispensing_station:
|
||||
title: brief_step_parameters参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-compute_experiment_design:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
m_tot: '70'
|
||||
ratio: null
|
||||
titration_percent: '0.03'
|
||||
wt_percent: '0.25'
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
m_tot:
|
||||
default: '70'
|
||||
type: string
|
||||
ratio:
|
||||
type: object
|
||||
titration_percent:
|
||||
default: '0.03'
|
||||
type: string
|
||||
wt_percent:
|
||||
default: '0.25'
|
||||
type: string
|
||||
required:
|
||||
- ratio
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
feeding_order:
|
||||
items: {}
|
||||
title: Feeding Order
|
||||
type: array
|
||||
return_info:
|
||||
title: Return Info
|
||||
type: string
|
||||
solutions:
|
||||
items: {}
|
||||
title: Solutions
|
||||
type: array
|
||||
solvents:
|
||||
additionalProperties: true
|
||||
title: Solvents
|
||||
type: object
|
||||
titration:
|
||||
additionalProperties: true
|
||||
title: Titration
|
||||
type: object
|
||||
required:
|
||||
- solutions
|
||||
- titration
|
||||
- solvents
|
||||
- feeding_order
|
||||
- return_info
|
||||
title: ComputeExperimentDesignReturn
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: compute_experiment_design参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-process_order_finish_report:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -109,6 +174,35 @@ bioyond_dispensing_station:
|
||||
title: query_resource_by_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-transfer_materials_to_reaction_station:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
target_device_id: null
|
||||
transfer_groups: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
type: string
|
||||
transfer_groups:
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
- transfer_groups
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-workflow_sample_locations:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -300,99 +394,6 @@ bioyond_dispensing_station:
|
||||
title: BatchCreateDiamineSolutionTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
compute_experiment_design:
|
||||
feedback: {}
|
||||
goal:
|
||||
m_tot: m_tot
|
||||
ratio: ratio
|
||||
titration_percent: titration_percent
|
||||
wt_percent: wt_percent
|
||||
goal_default:
|
||||
m_tot: '70'
|
||||
ratio: ''
|
||||
titration_percent: '0.03'
|
||||
wt_percent: '0.25'
|
||||
handles:
|
||||
output:
|
||||
- data_key: solutions
|
||||
data_source: executor
|
||||
data_type: array
|
||||
handler_key: solutions
|
||||
io_type: sink
|
||||
label: Solution Data From Python
|
||||
- data_key: titration
|
||||
data_source: executor
|
||||
data_type: object
|
||||
handler_key: titration
|
||||
io_type: sink
|
||||
label: Titration Data From Calculation Node
|
||||
- data_key: solvents
|
||||
data_source: executor
|
||||
data_type: object
|
||||
handler_key: solvents
|
||||
io_type: sink
|
||||
label: Solvents Data From Calculation Node
|
||||
- data_key: feeding_order
|
||||
data_source: executor
|
||||
data_type: array
|
||||
handler_key: feeding_order
|
||||
io_type: sink
|
||||
label: Feeding Order Data From Calculation Node
|
||||
result:
|
||||
feeding_order: feeding_order
|
||||
return_info: return_info
|
||||
solutions: solutions
|
||||
solvents: solvents
|
||||
titration: titration
|
||||
schema:
|
||||
description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
m_tot:
|
||||
default: '70'
|
||||
description: 总质量(g)
|
||||
type: string
|
||||
ratio:
|
||||
description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
|
||||
type: string
|
||||
titration_percent:
|
||||
default: '0.03'
|
||||
description: 滴定比例(10%部分)
|
||||
type: string
|
||||
wt_percent:
|
||||
default: '0.25'
|
||||
description: 目标固含质量分数
|
||||
type: string
|
||||
required:
|
||||
- ratio
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
feeding_order:
|
||||
type: array
|
||||
return_info:
|
||||
type: string
|
||||
solutions:
|
||||
type: array
|
||||
solvents:
|
||||
type: object
|
||||
titration:
|
||||
type: object
|
||||
required:
|
||||
- solutions
|
||||
- titration
|
||||
- solvents
|
||||
- feeding_order
|
||||
- return_info
|
||||
title: ComputeExperimentDesign_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: ComputeExperimentDesign
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
create_90_10_vial_feeding_task:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -619,89 +620,6 @@ bioyond_dispensing_station:
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
scheduler_start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 调度器启动结果，成功返回1，失败返回0
|
||||
type: integer
|
||||
required:
|
||||
- return_info
|
||||
title: scheduler_start结果
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
transfer_materials_to_reaction_station:
|
||||
feedback: {}
|
||||
goal:
|
||||
target_device_id: target_device_id
|
||||
transfer_groups: transfer_groups
|
||||
goal_default:
|
||||
target_device_id: ''
|
||||
transfer_groups: ''
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
target_device_id: unilabos_devices
|
||||
result: {}
|
||||
schema:
|
||||
description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_device_id:
|
||||
description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
|
||||
type: string
|
||||
transfer_groups:
|
||||
description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
|
||||
items:
|
||||
properties:
|
||||
materials:
|
||||
description: 物料名称（手动输入，系统将通过RPC查询验证）
|
||||
type: string
|
||||
target_sites:
|
||||
description: 目标库位（手动输入，如"A01"）
|
||||
type: string
|
||||
target_stack:
|
||||
description: 目标堆栈名称（从列表选择）
|
||||
enum:
|
||||
- 堆栈1左
|
||||
- 堆栈1右
|
||||
- 站内试剂存放堆栈
|
||||
type: string
|
||||
required:
|
||||
- materials
|
||||
- target_stack
|
||||
- target_sites
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
- transfer_groups
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_for_multiple_orders_and_get_reports:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -770,7 +688,7 @@ bioyond_dispensing_station:
|
||||
title: WaitForMultipleOrdersAndGetReports
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
@@ -781,16 +699,15 @@ bioyond_dispensing_station:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
type: string
|
||||
deck:
|
||||
type: string
|
||||
protocol_type:
|
||||
type: string
|
||||
required: []
|
||||
required:
|
||||
- config
|
||||
- deck
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
model: {}
|
||||
version: 1.0.0
|
||||
|
||||
@@ -67,9 +67,6 @@ camera:
|
||||
period:
|
||||
default: 0.1
|
||||
type: number
|
||||
registry_name:
|
||||
default: ''
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: object
|
||||
required: []
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -405,7 +405,7 @@ coincellassemblyworkstation_device:
|
||||
goal:
|
||||
properties:
|
||||
bottle_num:
|
||||
type: string
|
||||
type: integer
|
||||
required:
|
||||
- bottle_num
|
||||
type: object
|
||||
|
||||
@@ -638,7 +638,7 @@ liquid_handler:
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 吸头迭代函数。用于自动管理和切换枪头盒中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
|
||||
description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -712,43 +712,6 @@ liquid_handler:
|
||||
title: set_group参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_liquid_from_plate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
liquid_names: null
|
||||
plate: null
|
||||
volumes: null
|
||||
well_names: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
liquid_names:
|
||||
type: string
|
||||
plate:
|
||||
type: string
|
||||
volumes:
|
||||
type: string
|
||||
well_names:
|
||||
type: string
|
||||
required:
|
||||
- plate
|
||||
- well_names
|
||||
- liquid_names
|
||||
- volumes
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_liquid_from_plate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_tiprack:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -758,7 +721,7 @@ liquid_handler:
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 枪头盒设置函数。用于配置和初始化液体处理系统的枪头盒信息，包括枪头盒位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、枪头盒更换、实验配置等需要吸头资源管理的操作场景。
|
||||
description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -4130,32 +4093,32 @@ liquid_handler:
|
||||
- 0
|
||||
handles:
|
||||
input:
|
||||
- data_key: sources
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources
|
||||
label: 待移动液体
|
||||
- data_key: targets
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: targets
|
||||
label: 转移目标
|
||||
- data_key: tip_racks
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: tip_rack
|
||||
label: 枪头盒
|
||||
output:
|
||||
- data_key: sources.@flatten
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets
|
||||
label: targets
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: tip_rack
|
||||
label: tip_rack
|
||||
output:
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources_out
|
||||
label: 移液后源孔
|
||||
- data_key: targets.@flatten
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets_out
|
||||
label: 移液后目标孔
|
||||
label: targets
|
||||
placeholder_keys:
|
||||
sources: unilabos_resources
|
||||
targets: unilabos_resources
|
||||
@@ -5151,34 +5114,19 @@ liquid_handler.biomek:
|
||||
- 0
|
||||
handles:
|
||||
input:
|
||||
- data_key: sources
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources
|
||||
handler_key: liquid-input
|
||||
io_type: target
|
||||
label: 待移动液体
|
||||
- data_key: targets
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: targets
|
||||
label: 转移目标
|
||||
- data_key: tip_racks
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: tip_rack
|
||||
label: 枪头盒
|
||||
label: Liquid Input
|
||||
output:
|
||||
- data_key: sources.@flatten
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: sources_out
|
||||
handler_key: liquid-output
|
||||
io_type: source
|
||||
label: 移液后源孔
|
||||
- data_key: targets.@flatten
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets_out
|
||||
label: 移液后目标孔
|
||||
label: Liquid Output
|
||||
placeholder_keys:
|
||||
sources: unilabos_resources
|
||||
targets: unilabos_resources
|
||||
@@ -9330,19 +9278,7 @@ liquid_handler.prcxi:
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: wells
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: input_wells
|
||||
label: 待设定液体孔
|
||||
output:
|
||||
- data_key: wells.@flatten
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: output_wells
|
||||
label: 已设定液体孔
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
wells: unilabos_resources
|
||||
result: {}
|
||||
@@ -9458,352 +9394,6 @@ liquid_handler.prcxi:
|
||||
title: LiquidHandlerSetLiquid
|
||||
type: object
|
||||
type: LiquidHandlerSetLiquid
|
||||
set_liquid_from_plate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
liquid_names: null
|
||||
plate: null
|
||||
volumes: null
|
||||
well_names: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: '@this.0@@@plate'
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: input_plate
|
||||
label: 待设定液体板
|
||||
output:
|
||||
- data_key: plate.@flatten
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: output_plate
|
||||
label: 已设定液体板
|
||||
- data_key: wells.@flatten
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: output_wells
|
||||
label: 已设定液体孔
|
||||
- data_key: volumes
|
||||
data_source: executor
|
||||
data_type: number_array
|
||||
handler_key: output_volumes
|
||||
label: 各孔设定体积
|
||||
placeholder_keys:
|
||||
plate: unilabos_resources
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
liquid_names:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
plate:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: plate
|
||||
type: object
|
||||
volumes:
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
well_names:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
required:
|
||||
- plate
|
||||
- well_names
|
||||
- liquid_names
|
||||
- volumes
|
||||
type: object
|
||||
result:
|
||||
$defs:
|
||||
ResourceDict:
|
||||
properties:
|
||||
class:
|
||||
description: Resource class name
|
||||
title: Class
|
||||
type: string
|
||||
config:
|
||||
additionalProperties: true
|
||||
description: Resource configuration
|
||||
title: Config
|
||||
type: object
|
||||
data:
|
||||
additionalProperties: true
|
||||
description: 'Resource data, eg: container liquid data'
|
||||
title: Data
|
||||
type: object
|
||||
description:
|
||||
default: ''
|
||||
description: Resource description
|
||||
title: Description
|
||||
type: string
|
||||
extra:
|
||||
additionalProperties: true
|
||||
description: 'Extra data, eg: slot index'
|
||||
title: Extra
|
||||
type: object
|
||||
icon:
|
||||
default: ''
|
||||
description: Resource icon
|
||||
title: Icon
|
||||
type: string
|
||||
id:
|
||||
description: Resource ID
|
||||
title: Id
|
||||
type: string
|
||||
model:
|
||||
additionalProperties: true
|
||||
description: Resource model
|
||||
title: Model
|
||||
type: object
|
||||
name:
|
||||
description: Resource name
|
||||
title: Name
|
||||
type: string
|
||||
parent:
|
||||
anyOf:
|
||||
- $ref: '#/$defs/ResourceDict'
|
||||
- type: 'null'
|
||||
default: null
|
||||
description: Parent resource object
|
||||
parent_uuid:
|
||||
anyOf:
|
||||
- type: string
|
||||
- type: 'null'
|
||||
default: null
|
||||
description: Parent resource uuid
|
||||
title: Parent Uuid
|
||||
pose:
|
||||
$ref: '#/$defs/ResourceDictPosition'
|
||||
description: Resource position
|
||||
schema:
|
||||
additionalProperties: true
|
||||
description: Resource schema
|
||||
title: Schema
|
||||
type: object
|
||||
type:
|
||||
anyOf:
|
||||
- const: device
|
||||
type: string
|
||||
- type: string
|
||||
description: Resource type
|
||||
title: Type
|
||||
uuid:
|
||||
description: Resource UUID
|
||||
title: Uuid
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- uuid
|
||||
- name
|
||||
- type
|
||||
- class
|
||||
- config
|
||||
- data
|
||||
- extra
|
||||
title: ResourceDict
|
||||
type: object
|
||||
ResourceDictPosition:
|
||||
properties:
|
||||
cross_section_type:
|
||||
default: rectangle
|
||||
description: Cross section type
|
||||
enum:
|
||||
- rectangle
|
||||
- circle
|
||||
- rounded_rectangle
|
||||
title: Cross Section Type
|
||||
type: string
|
||||
layout:
|
||||
default: x-y
|
||||
description: Resource layout
|
||||
enum:
|
||||
- 2d
|
||||
- x-y
|
||||
- z-y
|
||||
- x-z
|
||||
title: Layout
|
||||
type: string
|
||||
position:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource position
|
||||
position3d:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource position in 3D space
|
||||
rotation:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource rotation
|
||||
scale:
|
||||
$ref: '#/$defs/ResourceDictPositionScale'
|
||||
description: Resource scale
|
||||
size:
|
||||
$ref: '#/$defs/ResourceDictPositionSize'
|
||||
description: Resource size
|
||||
title: ResourceDictPosition
|
||||
type: object
|
||||
ResourceDictPositionObject:
|
||||
properties:
|
||||
x:
|
||||
default: 0.0
|
||||
description: X coordinate
|
||||
title: X
|
||||
type: number
|
||||
y:
|
||||
default: 0.0
|
||||
description: Y coordinate
|
||||
title: Y
|
||||
type: number
|
||||
z:
|
||||
default: 0.0
|
||||
description: Z coordinate
|
||||
title: Z
|
||||
type: number
|
||||
title: ResourceDictPositionObject
|
||||
type: object
|
||||
ResourceDictPositionScale:
|
||||
properties:
|
||||
x:
|
||||
default: 0.0
|
||||
description: x scale
|
||||
title: X
|
||||
type: number
|
||||
y:
|
||||
default: 0.0
|
||||
description: y scale
|
||||
title: Y
|
||||
type: number
|
||||
z:
|
||||
default: 0.0
|
||||
description: z scale
|
||||
title: Z
|
||||
type: number
|
||||
title: ResourceDictPositionScale
|
||||
type: object
|
||||
ResourceDictPositionSize:
|
||||
properties:
|
||||
depth:
|
||||
default: 0.0
|
||||
description: Depth
|
||||
title: Depth
|
||||
type: number
|
||||
height:
|
||||
default: 0.0
|
||||
description: Height
|
||||
title: Height
|
||||
type: number
|
||||
width:
|
||||
default: 0.0
|
||||
description: Width
|
||||
title: Width
|
||||
type: number
|
||||
title: ResourceDictPositionSize
|
||||
type: object
|
||||
properties:
|
||||
plate:
|
||||
items:
|
||||
items:
|
||||
$ref: '#/$defs/ResourceDict'
|
||||
type: array
|
||||
title: Plate
|
||||
type: array
|
||||
volumes:
|
||||
items:
|
||||
type: number
|
||||
title: Volumes
|
||||
type: array
|
||||
wells:
|
||||
items:
|
||||
items:
|
||||
$ref: '#/$defs/ResourceDict'
|
||||
type: array
|
||||
title: Wells
|
||||
type: array
|
||||
required:
|
||||
- plate
|
||||
- wells
|
||||
- volumes
|
||||
title: SetLiquidFromPlateReturn
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: set_liquid_from_plate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_tiprack:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -10149,32 +9739,32 @@ liquid_handler.prcxi:
|
||||
- 0
|
||||
handles:
|
||||
input:
|
||||
- data_key: sources
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources_identifier
|
||||
label: 待移动液体
|
||||
- data_key: targets
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: targets_identifier
|
||||
label: 转移目标
|
||||
- data_key: tip_rack
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: tip_rack_identifier
|
||||
label: 枪头盒
|
||||
output:
|
||||
- data_key: sources.@flatten
|
||||
handler_key: sources
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets
|
||||
label: targets
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: tip_rack
|
||||
label: tip_rack
|
||||
output:
|
||||
- data_key: liquid
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: sources_out
|
||||
label: 移液后源孔
|
||||
- data_key: targets.@flatten
|
||||
label: sources
|
||||
- data_key: liquid
|
||||
data_source: executor
|
||||
data_type: resource
|
||||
handler_key: targets_out
|
||||
label: 移液后目标孔
|
||||
label: targets
|
||||
placeholder_keys:
|
||||
sources: unilabos_resources
|
||||
targets: unilabos_resources
|
||||
|
||||
@@ -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
|
||||
@@ -49,7 +49,32 @@ opcua_example:
|
||||
title: load_config参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-refresh_node_values:
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-print_cache_stats:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
@@ -67,7 +92,32 @@ opcua_example:
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: refresh_node_values参数
|
||||
title: print_cache_stats参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_node:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
node_name: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
node_name:
|
||||
type: string
|
||||
required:
|
||||
- node_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_node参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_node_value:
|
||||
@@ -99,50 +149,9 @@ opcua_example:
|
||||
title: set_node_value参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_node_refresh:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_node_refresh参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop_node_refresh:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop_node_refresh参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.device_comms.opcua_client.client:OpcUaClient
|
||||
status_types:
|
||||
cache_stats: dict
|
||||
node_value: String
|
||||
type: python
|
||||
config_info: []
|
||||
@@ -152,15 +161,23 @@ opcua_example:
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
cache_timeout:
|
||||
default: 5.0
|
||||
type: number
|
||||
config_path:
|
||||
type: string
|
||||
deck:
|
||||
type: string
|
||||
password:
|
||||
type: string
|
||||
refresh_interval:
|
||||
default: 1.0
|
||||
type: number
|
||||
subscription_interval:
|
||||
default: 500
|
||||
type: integer
|
||||
url:
|
||||
type: string
|
||||
use_subscription:
|
||||
default: true
|
||||
type: boolean
|
||||
username:
|
||||
type: string
|
||||
required:
|
||||
@@ -168,9 +185,12 @@ opcua_example:
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
cache_stats:
|
||||
type: object
|
||||
node_value:
|
||||
type: string
|
||||
required:
|
||||
- node_value
|
||||
- cache_stats
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -4,81 +4,6 @@ reaction_station.bioyond:
|
||||
- reaction_station_bioyond
|
||||
class:
|
||||
action_value_mappings:
|
||||
add_time_constraint:
|
||||
feedback: {}
|
||||
goal:
|
||||
duration: duration
|
||||
end_point: end_point
|
||||
end_step_key: end_step_key
|
||||
start_point: start_point
|
||||
start_step_key: start_step_key
|
||||
goal_default:
|
||||
duration: 0
|
||||
end_point: 0
|
||||
end_step_key: ''
|
||||
start_point: 0
|
||||
start_step_key: ''
|
||||
handles: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 添加时间约束 - 在两个工作流之间添加时间约束
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
duration:
|
||||
description: 时间(秒)
|
||||
type: integer
|
||||
end_point:
|
||||
default: Start
|
||||
description: 终点计时点 (Start=开始前, End=结束后)
|
||||
enum:
|
||||
- Start
|
||||
- End
|
||||
type: string
|
||||
end_step_key:
|
||||
description: 终点步骤Key (可选, 默认为空则自动选择)
|
||||
type: string
|
||||
start_point:
|
||||
default: Start
|
||||
description: 起点计时点 (Start=开始前, End=结束后)
|
||||
enum:
|
||||
- Start
|
||||
- End
|
||||
type: string
|
||||
start_step_key:
|
||||
description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
|
||||
type: string
|
||||
required:
|
||||
- duration
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: add_time_constraint参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-clear_workflows:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: clear_workflows参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-create_order:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -206,35 +131,6 @@ reaction_station.bioyond:
|
||||
title: process_web_workflows参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_reactor_temperature:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
reactor_id: null
|
||||
temperature: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
reactor_id:
|
||||
type: integer
|
||||
temperature:
|
||||
type: number
|
||||
required:
|
||||
- reactor_id
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_reactor_temperature参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-skip_titration_steps:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -260,27 +156,6 @@ reaction_station.bioyond:
|
||||
title: skip_titration_steps参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-sync_workflow_sequence_from_bioyond:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: sync_workflow_sequence_from_bioyond参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_multiple_orders_and_get_reports:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -313,33 +188,6 @@ reaction_station.bioyond:
|
||||
title: wait_for_multiple_orders_and_get_reports参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-workflow_sequence:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
value: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
value:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
required:
|
||||
- value
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: workflow_sequence参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-workflow_step_query:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -365,36 +213,6 @@ reaction_station.bioyond:
|
||||
title: workflow_step_query参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
clean_all_server_workflows:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
code: code
|
||||
message: message
|
||||
schema:
|
||||
description: 清空服务端所有非核心工作流 (保留核心流程)
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
code:
|
||||
description: 操作结果代码(1表示成功)
|
||||
type: integer
|
||||
message:
|
||||
description: 结果描述
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: clean_all_server_workflows参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
drip_back:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -429,19 +247,13 @@ reaction_station.bioyond:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
description: 是否滴定(1=否, 2=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
volume:
|
||||
description: 分液公式(mL)
|
||||
description: 分液公式(μL)
|
||||
type: string
|
||||
required:
|
||||
- volume
|
||||
@@ -541,19 +353,13 @@ reaction_station.bioyond:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
description: 是否滴定(1=否, 2=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
volume:
|
||||
description: 分液公式(mL)
|
||||
description: 分液公式(μL)
|
||||
type: string
|
||||
required:
|
||||
- volume
|
||||
@@ -597,7 +403,7 @@ reaction_station.bioyond:
|
||||
label: Solvents Data From Calculation Node
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
|
||||
description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -617,21 +423,15 @@ reaction_station.bioyond:
|
||||
description: 观察时间(分钟),默认360
|
||||
type: string
|
||||
titration_type:
|
||||
default: 'NO'
|
||||
description: 是否滴定(NO=否, YES=是),默认NO
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
default: '1'
|
||||
description: 是否滴定(1=否, 2=是),默认1
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 'YES'
|
||||
description: 是否观察 (NO=否, YES=是),默认YES
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
default: '2'
|
||||
description: 是否观察 (1=否, 2=是),默认2
|
||||
type: string
|
||||
volume:
|
||||
description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
|
||||
description: 分液量(μL)。可直接提供,或通过solvents参数自动计算
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -704,21 +504,15 @@ reaction_station.bioyond:
|
||||
description: 观察时间(分钟),默认90
|
||||
type: string
|
||||
titration_type:
|
||||
default: 'YES'
|
||||
description: 是否滴定(NO=否, YES=是),默认YES
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
default: '2'
|
||||
description: 是否滴定(1=否, 2=是),默认2
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 'YES'
|
||||
description: 是否观察 (NO=否, YES=是),默认YES
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
default: '2'
|
||||
description: 是否观察 (1=否, 2=是),默认2
|
||||
type: string
|
||||
volume_formula:
|
||||
description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
|
||||
description: 分液公式(μL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
|
||||
type: string
|
||||
x_value:
|
||||
description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
|
||||
@@ -766,19 +560,13 @@ reaction_station.bioyond:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
description: 是否滴定(1=否, 2=是)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
volume_formula:
|
||||
description: 分液公式(mL)
|
||||
description: 分液公式(μL)
|
||||
type: string
|
||||
required:
|
||||
- volume_formula
|
||||
@@ -892,35 +680,6 @@ reaction_station.bioyond:
|
||||
title: reactor_taken_out参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
scheduler_start:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 调度器启动结果，成功返回1，失败返回0
|
||||
type: integer
|
||||
required:
|
||||
- return_info
|
||||
title: scheduler_start结果
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
solid_feeding_vials:
|
||||
feedback: {}
|
||||
goal:
|
||||
@@ -947,11 +706,7 @@ reaction_station.bioyond:
|
||||
description: 物料名称(用于获取试剂瓶位ID)
|
||||
type: string
|
||||
material_id:
|
||||
description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
|
||||
enum:
|
||||
- Salt
|
||||
- Flour
|
||||
- BTDA
|
||||
description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
|
||||
type: string
|
||||
temperature:
|
||||
description: 温度设定(°C)
|
||||
@@ -960,10 +715,7 @@ reaction_station.bioyond:
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
torque_variation:
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
description: 是否观察 (1=否, 2=是)
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -978,10 +730,10 @@ reaction_station.bioyond:
|
||||
title: solid_feeding_vials参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactionStation
|
||||
module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
|
||||
protocol_type: []
|
||||
status_types:
|
||||
workflow_sequence: str
|
||||
workflow_sequence: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: Bioyond反应站
|
||||
@@ -1001,7 +753,9 @@ reaction_station.bioyond:
|
||||
data:
|
||||
properties:
|
||||
workflow_sequence:
|
||||
type: string
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
required:
|
||||
- workflow_sequence
|
||||
type: object
|
||||
@@ -1037,7 +791,7 @@ reaction_station.reactor:
|
||||
title: update_metrics参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.reaction_station.reaction_station:BioyondReactor
|
||||
module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
|
||||
@@ -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
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user