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@@ -1,328 +0,0 @@
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---
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description: 设备驱动开发规范
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globs: ["unilabos/devices/**/*.py"]
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---
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# 设备驱动开发规范
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## 目录结构
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```
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unilabos/devices/
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├── virtual/ # 虚拟设备（用于测试）
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│ ├── virtual_stirrer.py
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│ └── virtual_centrifuge.py
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├── liquid_handling/ # 液体处理设备
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├── balance/ # 天平设备
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├── hplc/ # HPLC设备
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├── pump_and_valve/ # 泵和阀门
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├── temperature/ # 温度控制设备
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├── workstation/ # 工作站（组合设备）
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└── ...
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```
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## 设备类完整模板
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|
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```python
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import asyncio
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import logging
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import time as time_module
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from typing import Dict, Any, Optional
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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class MyDevice:
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"""
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设备类描述
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Attributes:
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device_id: 设备唯一标识
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config: 设备配置字典
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data: 设备状态数据
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"""
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_ros_node: BaseROS2DeviceNode
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def __init__(
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self,
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device_id: str = None,
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config: Dict[str, Any] = None,
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**kwargs
|
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):
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"""
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初始化设备
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|
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Args:
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device_id: 设备ID
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config: 配置字典
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**kwargs: 其他参数
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"""
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# 兼容不同调用方式
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if device_id is None and 'id' in kwargs:
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device_id = kwargs.pop('id')
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if config is None and 'config' in kwargs:
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config = kwargs.pop('config')
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self.device_id = device_id or "unknown_device"
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self.config = config or {}
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self.data = {}
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# 从config读取参数
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self.port = self.config.get('port') or kwargs.get('port', 'COM1')
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self._max_value = self.config.get('max_value', 1000.0)
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# 初始化日志
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self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
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self.logger.info(f"设备 {self.device_id} 已创建")
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def post_init(self, ros_node: BaseROS2DeviceNode):
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"""
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ROS节点注入 - 在ROS节点创建后调用
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Args:
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ros_node: ROS2设备节点实例
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"""
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self._ros_node = ros_node
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async def initialize(self) -> bool:
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"""
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初始化设备 - 连接硬件、设置初始状态
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Returns:
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bool: 初始化是否成功
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"""
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self.logger.info(f"初始化设备 {self.device_id}")
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try:
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# 执行硬件初始化
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# await self._connect_hardware()
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# 设置初始状态
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self.data.update({
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"status": "待机",
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"is_running": False,
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"current_value": 0.0,
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})
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|
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self.logger.info(f"设备 {self.device_id} 初始化完成")
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return True
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|
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except Exception as e:
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self.logger.error(f"初始化失败: {e}")
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self.data["status"] = f"错误: {e}"
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return False
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|
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async def cleanup(self) -> bool:
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"""
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清理设备 - 断开连接、释放资源
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|
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Returns:
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bool: 清理是否成功
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"""
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self.logger.info(f"清理设备 {self.device_id}")
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self.data.update({
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"status": "离线",
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"is_running": False,
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})
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return True
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# ==================== 设备动作 ====================
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async def execute_action(
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self,
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param1: float,
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param2: str = "",
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**kwargs
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) -> bool:
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"""
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执行设备动作
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Args:
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param1: 参数1
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param2: 参数2（可选）
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|
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Returns:
|
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bool: 动作是否成功
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"""
|
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# 类型转换和验证
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try:
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param1 = float(param1)
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except (ValueError, TypeError) as e:
|
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self.logger.error(f"参数类型错误: {e}")
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return False
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|
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# 参数验证
|
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if param1 > self._max_value:
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self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
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return False
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|
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self.logger.info(f"执行动作: param1={param1}, param2={param2}")
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|
||||
# 更新状态
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self.data.update({
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"status": "运行中",
|
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"is_running": True,
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})
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|
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# 执行动作（带进度反馈）
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duration = 10.0 # 秒
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start_time = time_module.time()
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|
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while True:
|
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elapsed = time_module.time() - start_time
|
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remaining = max(0, duration - elapsed)
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progress = min(100, (elapsed / duration) * 100)
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|
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self.data.update({
|
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"status": f"运行中: {progress:.0f}%",
|
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"remaining_time": remaining,
|
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})
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||||
|
||||
if remaining <= 0:
|
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break
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await self._ros_node.sleep(1.0)
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|
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# 完成
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self.data.update({
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"status": "完成",
|
||||
"is_running": False,
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})
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self.logger.info("动作执行完成")
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return True
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|
||||
# ==================== 状态属性 ====================
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@property
|
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def status(self) -> str:
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"""设备状态 - 自动发布为ROS Topic"""
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return self.data.get("status", "未知")
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|
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@property
|
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def is_running(self) -> bool:
|
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"""是否正在运行"""
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return self.data.get("is_running", False)
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|
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@property
|
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def current_value(self) -> float:
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"""当前值"""
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return self.data.get("current_value", 0.0)
|
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|
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# ==================== 辅助方法 ====================
|
||||
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def get_device_info(self) -> Dict[str, Any]:
|
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"""获取设备信息"""
|
||||
return {
|
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"device_id": self.device_id,
|
||||
"status": self.status,
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"is_running": self.is_running,
|
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"current_value": self.current_value,
|
||||
}
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||||
|
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def __str__(self) -> str:
|
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return f"MyDevice({self.device_id}: {self.status})"
|
||||
```
|
||||
|
||||
## 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
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||||
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
|
||||
```
|
||||
@@ -71,6 +71,22 @@ from unilabos.registry.decorators import action
|
||||
- `_` 开头的方法 → 不扫描
|
||||
- `@not_action` 标记的方法 → 排除
|
||||
|
||||
### 参数文档 → JSON Schema 元数据
|
||||
|
||||
在 `__init__` 和 action 方法 docstring 的 `Args:` 小节里，使用以下格式生成入参 schema 的显示信息：
|
||||
|
||||
```python
|
||||
"""
|
||||
Args:
|
||||
param[显示名称]: 参数说明，会写入 JSON Schema 的 description。
|
||||
"""
|
||||
```
|
||||
|
||||
- `param[显示名称]` 的显示名称会写入 goal property 的 `title`。
|
||||
- `:` 后面的说明会写入 goal property 的 `description`。
|
||||
- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
|
||||
- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
|
||||
|
||||
### @topic_config — 状态属性配置
|
||||
|
||||
```python
|
||||
@@ -105,13 +121,27 @@ import logging
|
||||
from typing import Any, Dict, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.registry.decorators import device, action, topic_config, not_action
|
||||
from unilabos.registry.decorators import action, device, not_action, topic_config
|
||||
|
||||
@device(id="my_device", category=["my_category"], description="设备描述")
|
||||
@device(
|
||||
id="my_device",
|
||||
category=["my_category"],
|
||||
description="设备描述",
|
||||
display_name="设备显示名",
|
||||
)
|
||||
class MyDevice:
|
||||
"""设备类说明。"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
"""
|
||||
初始化设备。
|
||||
|
||||
Args:
|
||||
device_id[设备ID]: 设备实例 ID，默认使用 my_device。
|
||||
config[设备配置]: 设备启动配置。
|
||||
"""
|
||||
self.device_id = device_id or "my_device"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
@@ -133,7 +163,13 @@ class MyDevice:
|
||||
|
||||
@action(description="执行操作")
|
||||
def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
|
||||
"""带 @action 装饰器 → 注册为 'my_action' 动作"""
|
||||
"""
|
||||
带 @action 装饰器 → 注册为 'my_action' 动作。
|
||||
|
||||
Args:
|
||||
param[操作数值]: 操作使用的数值参数。
|
||||
name[操作名称]: 操作名称或备注。
|
||||
"""
|
||||
return {"success": True}
|
||||
|
||||
def get_info(self) -> Dict[str, Any]:
|
||||
|
||||
450
.cursor/skills/filter-workflow-by-tags/SKILL.md
Normal file
450
.cursor/skills/filter-workflow-by-tags/SKILL.md
Normal file
@@ -0,0 +1,450 @@
|
||||
---
|
||||
name: filter-workflow-by-tags
|
||||
description: Query backend workflow list, aggregate all tags, and filter workflows by domain/scenario requirements using tags. Use when the user wants to search workflows, find workflows by tags, list available workflow tags, filter workflows by category/domain/scenario, or mentions 工作流筛选/标签查询/workflow tags/按领域查找工作流.
|
||||
---
|
||||
# Uni-Lab 工作流标签筛选指南
|
||||
|
||||
通过 Uni-Lab 云端 API 查询工作流列表，汇总所有可用标签（tags），并根据领域和场景要求筛选工作流。
|
||||
|
||||
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||
|
||||
## 使用模式识别
|
||||
|
||||
**用户可能一开始就给出场景目标**（如"我要做有机合成实验"、"找柱层析相关的 protocol"）。此时：
|
||||
|
||||
1. **识别场景关键词** → 映射到可能的 tags（如 synthesis、organic、chromatography、purification）
|
||||
2. **直接执行完整流程**（获取 ak/sk/addr → 拉取所有工作流 → 汇总 tags → 按场景筛选）
|
||||
3. **展示筛选结果** → 引导用户从候选 workflow 中**选择明确的实验 protocol**
|
||||
4. **如果用户确认某个 workflow** → 记录 `workflow_uuid`，准备对接“与其他 Skill 的协作”
|
||||
|
||||
**如果用户未给场景目标**，则按标准 checklist 询问筛选条件。
|
||||
|
||||
---
|
||||
|
||||
## 前置条件
|
||||
|
||||
使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token：
|
||||
|
||||
```bash
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------- | ------------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
```
|
||||
|
||||
### 3. lab_uuid（实验室 UUID）
|
||||
|
||||
如果用户未提供 `lab_uuid`，通过以下 API 自动获取：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 即为 `lab_uuid`。
|
||||
|
||||
**三项全部就绪后才可开始。**
|
||||
|
||||
## Session State
|
||||
|
||||
在整个对话过程中，agent 需要记住以下状态：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID
|
||||
- `all_workflows` — 完整工作流列表（分页获取后缓存到内存或临时文件）
|
||||
- `all_tags` — 所有工作流的标签汇总
|
||||
|
||||
---
|
||||
|
||||
## API 端点
|
||||
|
||||
### 查询工作流列表（支持分页）
|
||||
|
||||
```
|
||||
GET $BASE/api/v1/lab/workflow/owner/list?page=<page>&page_size=<page_size>&lab_uuid=$lab_uuid
|
||||
```
|
||||
|
||||
**参数：**
|
||||
|
||||
- `page` — 页码，从 1 开始
|
||||
- `page_size` — 每页数量，建议 1000
|
||||
- `lab_uuid` — 实验室 UUID
|
||||
|
||||
**返回结构：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"has_more": true,
|
||||
"data": [
|
||||
{
|
||||
"uuid": "9661bba2-1b9f-4687-a63d-910245df174b",
|
||||
"name": "Untitled",
|
||||
"description": "",
|
||||
"user_id": "114211",
|
||||
"published": false,
|
||||
"tags": null
|
||||
},
|
||||
{
|
||||
"uuid": "e0436638-190b-46bc-b1a1-2711d9602f6a",
|
||||
"name": "Synthesis v2",
|
||||
"user_id": "114211",
|
||||
"published": true,
|
||||
"tags": ["synthesis", "organic"]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**字段说明：**
|
||||
|
||||
- `has_more` — 若为 `true`，需要继续请求 `page+1`
|
||||
- `tags` — 可能为 `null`、空数组或字符串数组；聚合时必须容忍 `null`
|
||||
|
||||
### 启动工作流（直接运行）
|
||||
|
||||
```
|
||||
POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run
|
||||
```
|
||||
|
||||
**用途：** 直接启动一个 workflow 的默认执行（使用模板中预设的参数），无需创建 notebook。适用于快速测试或无参数变化的重复执行。
|
||||
|
||||
**请求体：** 空 JSON `{}` 或省略
|
||||
|
||||
**返回：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": "<run_uuid>"
|
||||
}
|
||||
```
|
||||
|
||||
- `run_uuid` — 本次执行的唯一标识（不是 notebook UUID）
|
||||
|
||||
**注意：**
|
||||
|
||||
- 该接口会使用 workflow 模板中保存的默认参数直接执行
|
||||
- 如果 workflow 需要动态参数（如 CSV 路径、样品 UUID），应使用 `POST /lab/notebook` 创建 notebook 并传入 `node_params`
|
||||
- 返回的 `run_uuid` 可直接传入下方「查询任务状态」接口查询实时进度
|
||||
|
||||
### 查询任务状态
|
||||
|
||||
```
|
||||
GET $BASE/api/v1/lab/mcp/task/<task_uuid>
|
||||
```
|
||||
|
||||
**用途：** 查询由 `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`（即 task_uuid）的实时执行状态，包括整体状态和每个节点（JOS：Job On Station）的执行详情。
|
||||
|
||||
**路径参数：**
|
||||
|
||||
- `task_uuid` — 等同于启动工作流接口返回的 `run_uuid`
|
||||
|
||||
**返回：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"status": "running",
|
||||
"jos_status": [
|
||||
{
|
||||
"uuid": "d0e24bfe-8d99-450e-b19d-f25849dfbaad",
|
||||
"node_name": "PRCXI_BioER_96_wellplate_slot_1",
|
||||
"action_name": "create_resource",
|
||||
"status": "success",
|
||||
"return_info": {
|
||||
"suc": true,
|
||||
"error": "",
|
||||
"return_value": { ... }
|
||||
}
|
||||
},
|
||||
{
|
||||
"uuid": "...",
|
||||
"node_name": "...",
|
||||
"action_name": "transfer_liquid",
|
||||
"status": "pending",
|
||||
"return_info": null
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**字段说明：**
|
||||
|
||||
- `data.status` — 整体任务状态
|
||||
- `running` — 正在执行（至少一个节点 pending 或 running）
|
||||
- `success` — 全部节点成功
|
||||
- `failed` — 有节点失败
|
||||
- `data.jos_status[]` — 节点级执行列表（按执行顺序）
|
||||
- `uuid` — 节点执行实例 UUID
|
||||
- `node_name` — 节点名称（资源/设备名或工位名）
|
||||
- `action_name` — 动作类型（`create_resource`、`transfer_liquid`、`centrifuge`、等）
|
||||
- `status` — 节点状态：`success`、`pending`、`running`、`failed`
|
||||
- `return_info` — 执行返回，失败时 `suc=false` 且 `error` 有错误信息
|
||||
|
||||
**注意：**
|
||||
|
||||
- 此接口的 `task_uuid` **是** `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`，二者为同一个 ID 的不同称呼
|
||||
- **不要**把 notebook UUID（`POST /lab/notebook` 返回）传进来——那条路径用 `GET /lab/notebook/status` 查询
|
||||
- `jos_status` 数组按节点执行顺序给出；从 pending 数量可以估算剩余进度
|
||||
- 返回体可能较大（`return_info.return_value` 中可能包含完整 resource tree），可在脚本中只提取 `status` + `node_name` + `action_name` 做摘要
|
||||
|
||||
**状态轮询示例：**
|
||||
|
||||
```bash
|
||||
# 每 5 秒轮询一次直至完成
|
||||
TASK="b183d97e-d2b5-4b24-b14b-820df04d87c0"
|
||||
while :; do
|
||||
st=$(curl -s -X GET "$BASE/api/v1/lab/mcp/task/$TASK" -H "$AUTH" \
|
||||
| python3 -c "import json,sys; d=json.load(sys.stdin)['data']; \
|
||||
print(d['status'], '|', sum(1 for j in d['jos_status'] if j['status']=='success'), '/', len(d['jos_status']))")
|
||||
echo "$(date +%H:%M:%S) $st"
|
||||
[[ "$st" == success* || "$st" == failed* ]] && break
|
||||
sleep 5
|
||||
done
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 0: 识别用户是否已给出场景目标（如"有机合成"、"柱层析"）
|
||||
- 若已给出 → 记录场景关键词，自动进入后续步骤
|
||||
- 若未给出 → 在 Step 6 询问用户
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid（如用户未提供）
|
||||
- [ ] Step 4: 分页获取所有工作流（从 page=1 开始直到 has_more=false）
|
||||
- [ ] Step 5: 汇总所有非空 tags → 生成 all_tags（去重、排序、附出现次数）
|
||||
- [ ] Step 6: 根据场景关键词（Step 0 或新询问）在 all_tags 中做语义映射 → 确定候选 tags
|
||||
- 若语义映射不唯一，列出候选 tags 让用户确认
|
||||
- [ ] Step 7: 按候选 tags 筛选工作流（默认 any 模式，召回优先）
|
||||
- [ ] Step 8: 展示筛选结果（uuid、name、description、tags、published）
|
||||
- [ ] Step 9: 引导用户从结果中选择**明确的实验 protocol**
|
||||
- 若结果只有 1 条 → 直接确认该 workflow_uuid
|
||||
- 若结果 2–10 条 → 让用户按编号选择
|
||||
- 若结果过多 → 提示收紧条件（加 tag、切换 all 模式、仅 published）
|
||||
- 若结果为空 → 放宽条件（去掉最稀有 tag）或提示用户换关键词
|
||||
- [ ] Step 10: 记录用户选中的 workflow_uuid，并提示提交实验或查看详情
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 推荐路径：使用脚本
|
||||
|
||||
同目录下提供 `scripts/filter_workflows.py`，一次完成分页抓取、标签聚合与筛选：
|
||||
|
||||
```bash
|
||||
# 1. 仅汇总标签（不筛选）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--summary-only
|
||||
|
||||
# 2. 按标签筛选（ANY 模式：包含任一）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis organic \
|
||||
--mode any
|
||||
|
||||
# 3. 按标签筛选（ALL 模式：必须同时包含）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis organic \
|
||||
--mode all \
|
||||
--output filtered.json
|
||||
|
||||
# 4. 仅筛选已发布
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis \
|
||||
--published-only
|
||||
```
|
||||
|
||||
**`--auth` 参数说明**：传入 `Authorization` 头中 `Lab` 之后的 base64 token（不带 `Lab ` 前缀），脚本内部会自动补上 scheme。
|
||||
|
||||
**输出结构：**
|
||||
|
||||
```json
|
||||
{
|
||||
"total_workflows": 150,
|
||||
"tag_counts": {"synthesis": 12, "organic": 8, "analysis": 5},
|
||||
"all_tags": ["analysis", "organic", "synthesis"],
|
||||
"filter": {"tags": ["synthesis", "organic"], "mode": "any"},
|
||||
"filtered_workflows": [
|
||||
{"uuid": "...", "name": "...", "description": "...", "tags": [...], "published": true}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 手动路径：curl + jq
|
||||
|
||||
如果脚本不可用或环境缺少 Python，可用 shell 实现。
|
||||
|
||||
### 1. 分页抓取（写入 `all_workflows.json`）
|
||||
|
||||
```bash
|
||||
page=1
|
||||
echo "[]" > all_workflows.json
|
||||
|
||||
while :; do
|
||||
resp=$(curl -s -X GET \
|
||||
"$BASE/api/v1/lab/workflow/owner/list?page=$page&page_size=1000&lab_uuid=$lab_uuid" \
|
||||
-H "$AUTH")
|
||||
|
||||
page_data=$(echo "$resp" | jq -c '.data.data // []')
|
||||
jq -c --argjson p "$page_data" '. + $p' all_workflows.json > _tmp.json && mv _tmp.json all_workflows.json
|
||||
|
||||
has_more=$(echo "$resp" | jq -r '.data.has_more')
|
||||
[ "$has_more" != "true" ] && break
|
||||
page=$((page + 1))
|
||||
done
|
||||
|
||||
echo "Total: $(jq 'length' all_workflows.json)"
|
||||
```
|
||||
|
||||
### 2. 汇总所有标签（含出现次数）
|
||||
|
||||
```bash
|
||||
jq '[.[].tags // [] | .[]] | group_by(.) | map({tag: .[0], count: length}) | sort_by(-.count)' \
|
||||
all_workflows.json
|
||||
```
|
||||
|
||||
### 3. 按标签筛选
|
||||
|
||||
```bash
|
||||
# ANY：包含任一指定标签
|
||||
jq --argjson want '["synthesis","organic"]' \
|
||||
'[.[] | select((.tags // []) | any(. as $t | $want | index($t)))]' \
|
||||
all_workflows.json
|
||||
|
||||
# ALL：同时包含所有指定标签
|
||||
jq --argjson want '["synthesis","organic"]' \
|
||||
'[.[] | select(($want | all(. as $w | (.tags // []) | index($w))))]' \
|
||||
all_workflows.json
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 筛选策略
|
||||
|
||||
agent 拿到用户的「领域 + 场景」自然语言描述时，按如下顺序选择 tag：
|
||||
|
||||
1. **优先用户显式指定的 tags**：若用户明确给出标签词，直接精确匹配。
|
||||
2. **从 all_tags 中做语义映射**：若用户描述是自然语言（如"有机合成、柱层析"），在 all_tags 中找语义相关项（如 `synthesis`、`organic`、`chromatography`）。必要时展示候选 tag 让用户确认。
|
||||
3. **模式选择**：
|
||||
- 默认 `any`（更多召回），给出 tag 集合的并集匹配
|
||||
- 用户强调"必须同时满足"时用 `all`
|
||||
4. **空结果兜底**：如果筛选为空，放宽条件（去掉最稀有 tag、切换 any 模式），并提醒用户。
|
||||
|
||||
---
|
||||
|
||||
## 引导到明确的 Protocol
|
||||
|
||||
筛选完成后，**最终目标是让用户确认一个具体的 workflow_uuid**，而不是停留在"一堆候选"上。按结果数量采取不同策略：
|
||||
|
||||
| 结果数量 | 策略 |
|
||||
| --------- | ---------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| 0 条 | 放宽筛选（去掉最稀有 tag → 切换 any 模式 → 去掉 `--published-only`）。仍为空则提示换关键词，或列出 `all_tags` 让用户重新选。 |
|
||||
| 1 条 | 直接确认："找到唯一匹配：`<name>` (uuid `<uuid>`)，是否用它？"用户确认后记录 `workflow_uuid`。 |
|
||||
| 2–10 条 | 编号列表展示，让用户选编号。每项给出 name、tags、description 摘要、published 状态。 |
|
||||
| 10–30 条 | 先展示 tag 分布帮助用户进一步收紧：列出匹配结果中最常见的子标签，提示"加一个 tag 可将结果缩小到 N 条"。 |
|
||||
| >30 条 | 强制要求用户补充条件：仅 published、指定具体 tag 组合、或按名称关键词过滤。 |
|
||||
|
||||
**确认 workflow 后**：
|
||||
|
||||
1. 将 `workflow_uuid` 写入 session state
|
||||
2. 提示用户下一步可用的 skill：
|
||||
- 提交实验 → 引导到“与其他 Skill 的协作”
|
||||
- 查看 workflow 详细节点 → `GET /api/v1/lab/workflow/template/detail/<workflow_uuid>`
|
||||
3. 若用户想换一个，回到筛选步骤。
|
||||
|
||||
---
|
||||
|
||||
## 展示结果
|
||||
|
||||
推荐格式（表格 + 汇总统计）：
|
||||
|
||||
```
|
||||
共 150 个工作流，其中 32 个匹配筛选条件 [tags: synthesis OR organic]
|
||||
|
||||
| UUID (短) | 名称 | Tags | 已发布 |
|
||||
|-----------|--------------------------|------------------------------|--------|
|
||||
| e0436638 | Synthesis v2 | synthesis, organic | ✓ |
|
||||
| 5b60dbb8 | Grignard Protocol | synthesis, organometallic | ✓ |
|
||||
| ... | ... | ... | ... |
|
||||
|
||||
所有可用标签（按频次）：
|
||||
synthesis (12), organic (8), analysis (5), purification (4), ...
|
||||
```
|
||||
|
||||
如果用户下一步想执行某工作流 → 引导到“与其他 Skill 的协作”。
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: tags 为 null 的工作流要不要展示？
|
||||
|
||||
默认**不展示**在筛选结果中（因为无法按 tag 匹配）。但在 `--summary-only` 或无筛选条件时，这些工作流仍会计入总数，并在输出中单独列出"未打标签"计数。
|
||||
|
||||
### Q: 如何按名称/描述做模糊匹配？
|
||||
|
||||
脚本未内置，但可在 jq 中组合：
|
||||
|
||||
```bash
|
||||
jq '[.[] | select((.name + " " + (.description // "")) | test("organic"; "i"))]' all_workflows.json
|
||||
```
|
||||
|
||||
### Q: `page_size=1000` 是否会被服务端限制？
|
||||
|
||||
接口通常允许最大 1000；如果返回量少于 1000 且 `has_more=false`，说明已到末页。极端情况下若服务端返回错误，可降到 200 或 500 再试。
|
||||
|
||||
### Q: 工作流数量极大（>10k）怎么办？
|
||||
|
||||
1. 先跑 `--summary-only` 了解 tag 分布
|
||||
2. 提示用户先限定 `--published-only` 或指定 tag
|
||||
3. 考虑将 `all_workflows.json` 缓存到本地，下次直接复用
|
||||
|
||||
---
|
||||
|
||||
## 与其他 Skill 的协作
|
||||
|
||||
- 正常情况下，找到 workflow 之后可以直接用它提交实验（启动工作流的 api 端点 POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run，不用别的 skill）
|
||||
- **仅当需要进行多次实验时，使用 batch-submit-experiment** — 筛选到目标工作流后，`workflow_uuid` 直接用于实验提交
|
||||
|
||||
## 脚本依赖
|
||||
|
||||
`scripts/filter_workflows.py` 仅使用 Python 标准库（`urllib`、`json`、`argparse`），无需额外安装。
|
||||
191
.cursor/skills/filter-workflow-by-tags/scripts/filter_workflows.py
Executable file
191
.cursor/skills/filter-workflow-by-tags/scripts/filter_workflows.py
Executable file
@@ -0,0 +1,191 @@
|
||||
#!/usr/bin/env python3
|
||||
"""分页拉取 Uni-Lab 工作流列表，汇总 tags 并按 tag 筛选。
|
||||
|
||||
使用示例:
|
||||
python filter_workflows.py \
|
||||
--auth <base64token> \
|
||||
--base https://leap-lab.test.bohrium.com \
|
||||
--lab-uuid a9059772-... \
|
||||
--tags synthesis organic --mode any
|
||||
|
||||
仅依赖 Python 标准库。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import sys
|
||||
import urllib.error
|
||||
import urllib.parse
|
||||
import urllib.request
|
||||
from collections import Counter
|
||||
|
||||
|
||||
def fetch_all_workflows(base: str, auth_token: str, lab_uuid: str, page_size: int = 1000) -> list[dict]:
|
||||
"""分页拉取所有 owner 工作流，直到 has_more=false。"""
|
||||
workflows: list[dict] = []
|
||||
page = 1
|
||||
while True:
|
||||
query = urllib.parse.urlencode(
|
||||
{"page": page, "page_size": page_size, "lab_uuid": lab_uuid}
|
||||
)
|
||||
url = f"{base.rstrip('/')}/api/v1/lab/workflow/owner/list?{query}"
|
||||
req = urllib.request.Request(
|
||||
url,
|
||||
headers={
|
||||
"Authorization": f"Lab {auth_token}",
|
||||
"Accept": "application/json",
|
||||
},
|
||||
)
|
||||
try:
|
||||
with urllib.request.urlopen(req, timeout=30) as resp:
|
||||
payload = json.loads(resp.read().decode("utf-8"))
|
||||
except urllib.error.HTTPError as e:
|
||||
sys.exit(f"[ERROR] HTTP {e.code} on page {page}: {e.read().decode('utf-8', 'ignore')}")
|
||||
except urllib.error.URLError as e:
|
||||
sys.exit(f"[ERROR] URL error on page {page}: {e.reason}")
|
||||
|
||||
if payload.get("code") != 0:
|
||||
sys.exit(f"[ERROR] API returned non-zero code: {payload}")
|
||||
|
||||
data = payload.get("data") or {}
|
||||
page_items = data.get("data") or []
|
||||
workflows.extend(page_items)
|
||||
|
||||
if not data.get("has_more"):
|
||||
break
|
||||
page += 1
|
||||
# 防御性兜底，避免接口异常导致无限循环
|
||||
if page > 1000:
|
||||
print(f"[WARN] page count exceeded 1000, stopping early", file=sys.stderr)
|
||||
break
|
||||
|
||||
return workflows
|
||||
|
||||
|
||||
def aggregate_tags(workflows: list[dict]) -> tuple[list[str], dict[str, int], int]:
|
||||
"""返回 (sorted_tags, tag_counts, untagged_count)。"""
|
||||
counter: Counter[str] = Counter()
|
||||
untagged = 0
|
||||
for wf in workflows:
|
||||
tags = wf.get("tags")
|
||||
if not tags:
|
||||
untagged += 1
|
||||
continue
|
||||
for t in tags:
|
||||
if isinstance(t, str) and t.strip():
|
||||
counter[t.strip()] += 1
|
||||
return sorted(counter.keys()), dict(counter), untagged
|
||||
|
||||
|
||||
def filter_workflows(
|
||||
workflows: list[dict],
|
||||
want_tags: list[str],
|
||||
mode: str,
|
||||
published_only: bool,
|
||||
) -> list[dict]:
|
||||
"""按 tag 筛选。mode 取值 any / all。"""
|
||||
want_set = {t.strip() for t in want_tags if t.strip()}
|
||||
out: list[dict] = []
|
||||
for wf in workflows:
|
||||
if published_only and not wf.get("published"):
|
||||
continue
|
||||
if not want_set:
|
||||
out.append(wf)
|
||||
continue
|
||||
tags = wf.get("tags") or []
|
||||
tag_set = {t for t in tags if isinstance(t, str)}
|
||||
if mode == "all":
|
||||
if want_set.issubset(tag_set):
|
||||
out.append(wf)
|
||||
else: # any
|
||||
if want_set & tag_set:
|
||||
out.append(wf)
|
||||
return out
|
||||
|
||||
|
||||
def project_workflow(wf: dict) -> dict:
|
||||
"""精简输出字段。"""
|
||||
return {
|
||||
"uuid": wf.get("uuid"),
|
||||
"name": wf.get("name"),
|
||||
"description": wf.get("description", ""),
|
||||
"tags": wf.get("tags") or [],
|
||||
"published": bool(wf.get("published")),
|
||||
"user_id": wf.get("user_id"),
|
||||
}
|
||||
|
||||
|
||||
def parse_args() -> argparse.Namespace:
|
||||
p = argparse.ArgumentParser(description="Fetch & filter Uni-Lab workflows by tags.")
|
||||
p.add_argument("--auth", required=True, help="Base64 token (the part after `Lab `).")
|
||||
p.add_argument("--base", required=True, help="Base URL, e.g. https://leap-lab.test.bohrium.com")
|
||||
p.add_argument("--lab-uuid", required=True, help="Lab UUID.")
|
||||
p.add_argument("--tags", nargs="*", default=[], help="Tags to filter by (space separated).")
|
||||
p.add_argument(
|
||||
"--mode",
|
||||
choices=["any", "all"],
|
||||
default="any",
|
||||
help="any: workflow contains at least one tag; all: workflow contains every tag.",
|
||||
)
|
||||
p.add_argument("--published-only", action="store_true", help="Only include published workflows.")
|
||||
p.add_argument("--page-size", type=int, default=1000, help="Page size, default 1000.")
|
||||
p.add_argument(
|
||||
"--summary-only",
|
||||
action="store_true",
|
||||
help="Print tag summary without applying filter (still fetches everything).",
|
||||
)
|
||||
p.add_argument("--output", help="Write JSON result to this path. If omitted, print to stdout.")
|
||||
return p.parse_args()
|
||||
|
||||
|
||||
def main() -> None:
|
||||
args = parse_args()
|
||||
workflows = fetch_all_workflows(
|
||||
base=args.base,
|
||||
auth_token=args.auth,
|
||||
lab_uuid=args.lab_uuid,
|
||||
page_size=args.page_size,
|
||||
)
|
||||
sorted_tags, tag_counts, untagged = aggregate_tags(workflows)
|
||||
|
||||
if args.summary_only:
|
||||
result = {
|
||||
"total_workflows": len(workflows),
|
||||
"untagged_count": untagged,
|
||||
"tag_counts": tag_counts,
|
||||
"all_tags": sorted_tags,
|
||||
}
|
||||
else:
|
||||
filtered = filter_workflows(
|
||||
workflows,
|
||||
want_tags=args.tags,
|
||||
mode=args.mode,
|
||||
published_only=args.published_only,
|
||||
)
|
||||
result = {
|
||||
"total_workflows": len(workflows),
|
||||
"untagged_count": untagged,
|
||||
"tag_counts": tag_counts,
|
||||
"all_tags": sorted_tags,
|
||||
"filter": {
|
||||
"tags": args.tags,
|
||||
"mode": args.mode,
|
||||
"published_only": args.published_only,
|
||||
},
|
||||
"matched_count": len(filtered),
|
||||
"filtered_workflows": [project_workflow(wf) for wf in filtered],
|
||||
}
|
||||
|
||||
payload = json.dumps(result, ensure_ascii=False, indent=2)
|
||||
if args.output:
|
||||
with open(args.output, "w", encoding="utf-8") as f:
|
||||
f.write(payload)
|
||||
print(f"Wrote {len(workflows)} workflows summary → {args.output}", file=sys.stderr)
|
||||
else:
|
||||
print(payload)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
188
.cursorignore
188
.cursorignore
@@ -1,188 +0,0 @@
|
||||
# ============================================================
|
||||
# Uni-Lab-OS Cursor Ignore 配置，控制 Cursor AI 的文件索引范围
|
||||
# ============================================================
|
||||
|
||||
# ==================== 敏感配置文件 ====================
|
||||
# 本地配置（可能包含密钥）
|
||||
**/local_config.py
|
||||
test_config.py
|
||||
local_test*.py
|
||||
|
||||
# 环境变量和密钥
|
||||
.env
|
||||
.env.*
|
||||
**/.certs/
|
||||
*.pem
|
||||
*.key
|
||||
credentials.json
|
||||
secrets.yaml
|
||||
|
||||
# ==================== 二进制和 3D 模型文件 ====================
|
||||
# 3D 模型文件（无需索引）
|
||||
*.stl
|
||||
*.dae
|
||||
*.glb
|
||||
*.gltf
|
||||
*.obj
|
||||
*.fbx
|
||||
*.blend
|
||||
|
||||
# URDF/Xacro 机器人描述文件（大型XML）
|
||||
*.xacro
|
||||
|
||||
# 图片文件
|
||||
*.png
|
||||
*.jpg
|
||||
*.jpeg
|
||||
*.gif
|
||||
*.webp
|
||||
*.ico
|
||||
*.svg
|
||||
*.bmp
|
||||
|
||||
# 压缩包
|
||||
*.zip
|
||||
*.tar
|
||||
*.tar.gz
|
||||
*.tgz
|
||||
*.bz2
|
||||
*.rar
|
||||
*.7z
|
||||
|
||||
# ==================== Python 生成文件 ====================
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
*.so
|
||||
*.pyd
|
||||
*.egg
|
||||
*.egg-info/
|
||||
.eggs/
|
||||
dist/
|
||||
build/
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# ==================== IDE 和编辑器 ====================
|
||||
.idea/
|
||||
.vscode/
|
||||
*.swp
|
||||
*.swo
|
||||
*~
|
||||
.#*
|
||||
|
||||
# ==================== 测试和覆盖率 ====================
|
||||
.pytest_cache/
|
||||
.coverage
|
||||
.coverage.*
|
||||
htmlcov/
|
||||
.tox/
|
||||
.nox/
|
||||
coverage.xml
|
||||
*.cover
|
||||
|
||||
# ==================== 虚拟环境 ====================
|
||||
.venv/
|
||||
venv/
|
||||
env/
|
||||
ENV/
|
||||
|
||||
# ==================== ROS 2 生成文件 ====================
|
||||
# ROS 构建目录
|
||||
build/
|
||||
install/
|
||||
log/
|
||||
logs/
|
||||
devel/
|
||||
|
||||
# ROS 消息生成
|
||||
msg_gen/
|
||||
srv_gen/
|
||||
msg/*Action.msg
|
||||
msg/*ActionFeedback.msg
|
||||
msg/*ActionGoal.msg
|
||||
msg/*ActionResult.msg
|
||||
msg/*Feedback.msg
|
||||
msg/*Goal.msg
|
||||
msg/*Result.msg
|
||||
msg/_*.py
|
||||
srv/_*.py
|
||||
build_isolated/
|
||||
devel_isolated/
|
||||
|
||||
# ROS 动态配置
|
||||
*.cfgc
|
||||
/cfg/cpp/
|
||||
/cfg/*.py
|
||||
|
||||
# ==================== 项目特定目录 ====================
|
||||
# 工作数据目录
|
||||
unilabos_data/
|
||||
|
||||
# 临时和输出目录
|
||||
temp/
|
||||
output/
|
||||
cursor_docs/
|
||||
configs/
|
||||
|
||||
# 文档构建
|
||||
docs/_build/
|
||||
/site
|
||||
|
||||
# ==================== 大型数据文件 ====================
|
||||
# 点云数据
|
||||
*.pcd
|
||||
|
||||
# GraphML 图形文件
|
||||
*.graphml
|
||||
|
||||
# 日志文件
|
||||
*.log
|
||||
|
||||
# 数据库
|
||||
*.sqlite3
|
||||
*.db
|
||||
|
||||
# Jupyter 检查点
|
||||
.ipynb_checkpoints/
|
||||
|
||||
# ==================== 设备网格资源 ====================
|
||||
# 3D 网格文件目录（包含大量 STL/DAE 文件）
|
||||
unilabos/device_mesh/devices/**/*.stl
|
||||
unilabos/device_mesh/devices/**/*.dae
|
||||
unilabos/device_mesh/resources/**/*.stl
|
||||
unilabos/device_mesh/resources/**/*.glb
|
||||
unilabos/device_mesh/resources/**/*.xacro
|
||||
|
||||
# RViz 配置
|
||||
*.rviz
|
||||
|
||||
# ==================== 系统文件 ====================
|
||||
.DS_Store
|
||||
Thumbs.db
|
||||
desktop.ini
|
||||
|
||||
# ==================== 锁文件 ====================
|
||||
poetry.lock
|
||||
Pipfile.lock
|
||||
pdm.lock
|
||||
package-lock.json
|
||||
yarn.lock
|
||||
|
||||
# ==================== 类型检查缓存 ====================
|
||||
.mypy_cache/
|
||||
.dmypy.json
|
||||
.pytype/
|
||||
.pyre/
|
||||
pyrightconfig.json
|
||||
|
||||
# ==================== 其他 ====================
|
||||
# Catkin
|
||||
CATKIN_IGNORE
|
||||
|
||||
# Eclipse/Qt
|
||||
.project
|
||||
.cproject
|
||||
CMakeLists.txt.user
|
||||
*.user
|
||||
qtcreator-*
|
||||
11
.github/copilot-instructions.md
vendored
11
.github/copilot-instructions.md
vendored
@@ -1,11 +0,0 @@
|
||||
## 设备接入
|
||||
|
||||
当被要求添加设备驱动时，参考 `docs/ai_guides/add_device.md`。
|
||||
该指南包含完整的模板和已有设备接口参考。
|
||||
|
||||
## 关键规则
|
||||
|
||||
- 动作方法的参数名是接口契约，不可重命名
|
||||
- `status` 字符串必须与同类已有设备一致
|
||||
- `self.data` 必须在 `__init__` 中预填充所有属性字段
|
||||
- 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()`
|
||||
2
.github/workflows/ci-check.yml
vendored
2
.github/workflows/ci-check.yml
vendored
@@ -38,7 +38,7 @@ jobs:
|
||||
- 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
|
||||
mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
|
||||
|
||||
- name: Install pip dependencies and unilabos
|
||||
run: |
|
||||
|
||||
77
.github/workflows/conda-pack-build.yml
vendored
77
.github/workflows/conda-pack-build.yml
vendored
@@ -1,6 +1,10 @@
|
||||
name: Build Conda-Pack Environment
|
||||
|
||||
on:
|
||||
# 在 UniLabOS Conda Build 成功上传后自动构建非全量 conda-pack
|
||||
workflow_run:
|
||||
workflows: ["UniLabOS Conda Build"]
|
||||
types: [completed]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -21,6 +25,16 @@ on:
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(
|
||||
github.event_name == 'workflow_run' &&
|
||||
github.event.workflow_run.conclusion == 'success' &&
|
||||
github.event.workflow_run.event == 'workflow_run'
|
||||
)
|
||||
env:
|
||||
BUILD_FULL: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}
|
||||
PACKAGE_REF: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref_name }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -54,7 +68,9 @@ jobs:
|
||||
id: should_build
|
||||
shell: bash
|
||||
run: |
|
||||
if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||
if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
@@ -65,7 +81,7 @@ jobs:
|
||||
- uses: actions/checkout@v6
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -75,7 +91,7 @@ jobs:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-update-conda: false
|
||||
@@ -86,13 +102,13 @@ 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 Build full: ${{ env.BUILD_FULL }}
|
||||
if "${{ env.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
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -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 --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
|
||||
)
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
@@ -101,13 +117,13 @@ 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 "Build full: ${{ env.BUILD_FULL }}"
|
||||
if [[ "${{ env.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
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -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 --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
|
||||
fi
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
@@ -134,27 +150,27 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Checking for available ros-humble-unilabos-msgs versions...
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
|
||||
mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
|
||||
echo.
|
||||
echo Updating ros-humble-unilabos-msgs to latest version...
|
||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
|
||||
mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
|
||||
|
||||
- name: Check for newer ros-humble-unilabos-msgs (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Checking for available ros-humble-unilabos-msgs versions..."
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
|
||||
mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
|
||||
echo ""
|
||||
echo "Updating ros-humble-unilabos-msgs to latest version..."
|
||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
|
||||
mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
|
||||
|
||||
- name: Install latest unilabos from source (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Uninstalling existing unilabos...
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
|
||||
echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
|
||||
echo Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})...
|
||||
mamba run -n unilab pip install .
|
||||
echo Verifying installation...
|
||||
mamba run -n unilab pip show unilabos
|
||||
@@ -165,7 +181,7 @@ jobs:
|
||||
run: |
|
||||
echo "Uninstalling existing unilabos..."
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||
echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
|
||||
echo "Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})..."
|
||||
mamba run -n unilab pip install .
|
||||
echo "Verifying installation..."
|
||||
mamba run -n unilab pip show unilabos
|
||||
@@ -226,7 +242,9 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Packing unilab environment with conda-pack...
|
||||
mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
for /f "delims=" %%i in ('mamba run -n unilab python -c "import os; print(os.environ['CONDA_PREFIX'])"') do set "UNILAB_PREFIX=%%i"
|
||||
echo Packing environment at: %UNILAB_PREFIX%
|
||||
mamba run -n unilab conda-pack -p "%UNILAB_PREFIX%" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo Pack file created:
|
||||
dir unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
@@ -235,8 +253,9 @@ jobs:
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Packing unilab environment with conda-pack..."
|
||||
mamba install conda-pack -c conda-forge -y
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
UNILAB_PREFIX="$(mamba run -n unilab python -c 'import os; print(os.environ["CONDA_PREFIX"])')"
|
||||
echo "Packing environment at: $UNILAB_PREFIX"
|
||||
mamba run -n unilab conda-pack -p "$UNILAB_PREFIX" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo "Pack file created:"
|
||||
ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
@@ -267,7 +286,7 @@ jobs:
|
||||
|
||||
rem Create README using Python script
|
||||
echo Creating: README.txt
|
||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
|
||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package\README.txt
|
||||
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
@@ -303,7 +322,7 @@ jobs:
|
||||
|
||||
# Create README using Python script
|
||||
echo "Creating: README.txt"
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package/README.txt
|
||||
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
@@ -314,7 +333,7 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
|
||||
path: dist-package/
|
||||
retention-days: 90
|
||||
if-no-files-found: error
|
||||
@@ -326,9 +345,9 @@ jobs:
|
||||
echo Build Summary
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Branch: ${{ env.PACKAGE_REF }}
|
||||
echo Python version: 3.11.14
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
if "${{ env.BUILD_FULL }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
@@ -337,7 +356,7 @@ jobs:
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
echo.
|
||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
|
||||
echo.
|
||||
echo After download, extract the ZIP and run:
|
||||
echo install_unilab.bat
|
||||
@@ -351,9 +370,9 @@ jobs:
|
||||
echo "Build Summary"
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Branch: ${{ env.PACKAGE_REF }}"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
@@ -362,7 +381,7 @@ jobs:
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
|
||||
echo ""
|
||||
echo "After download:"
|
||||
echo " install_unilab.sh"
|
||||
|
||||
4
.github/workflows/deploy-docs.yml
vendored
4
.github/workflows/deploy-docs.yml
vendored
@@ -56,7 +56,7 @@ jobs:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-update-conda: false
|
||||
@@ -66,7 +66,7 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos -y
|
||||
|
||||
- name: Install latest unilabos from source
|
||||
run: |
|
||||
|
||||
22
.github/workflows/multi-platform-build.yml
vendored
22
.github/workflows/multi-platform-build.yml
vendored
@@ -10,6 +10,9 @@ on:
|
||||
# 支持 tag 推送（不依赖 CI Check）
|
||||
push:
|
||||
tags: ['v*']
|
||||
# GitHub Release 发布时自动构建并上传
|
||||
release:
|
||||
types: [published]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
@@ -80,7 +83,7 @@ jobs:
|
||||
- uses: actions/checkout@v6
|
||||
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 }}
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.event.release.tag_name || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -96,12 +99,13 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup Miniconda
|
||||
- name: Setup Miniforge
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniconda-version: 'latest'
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: conda-forge,robostack-staging
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-update-conda: false
|
||||
@@ -110,7 +114,7 @@ jobs:
|
||||
- name: Install rattler-build and anaconda-client
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
conda install -c conda-forge rattler-build anaconda-client
|
||||
mamba install --override-channels -c conda-forge rattler-build anaconda-client -y
|
||||
|
||||
- name: Show environment info
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -157,7 +161,13 @@ jobs:
|
||||
retention-days: 30
|
||||
|
||||
- name: Upload to Anaconda.org (unilab organization)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
(
|
||||
github.event_name == 'release' ||
|
||||
startsWith(github.ref, 'refs/tags/') ||
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
)
|
||||
run: |
|
||||
for package in $(find ./output -name "*.conda"); do
|
||||
echo "Uploading $package to unilab organization..."
|
||||
|
||||
57
.github/workflows/unilabos-conda-build.yml
vendored
57
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,14 +1,10 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发
|
||||
# 在 Multi-Platform Conda Build 成功上传 msgs 后自动触发
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
workflows: ["Multi-Platform Conda Build"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
@@ -33,30 +29,30 @@ on:
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
# 等待上游 msgs 构建完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-upstream:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
- name: Check upstream workflow status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" && ( "${{ github.event.workflow_run.event }}" == "release" || "${{ github.event.workflow_run.event }}" == "push" ) ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
echo "Multi-Platform Conda Build passed for release/tag, proceeding with UniLabOS build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
echo "Upstream workflow is not a successful release/tag build (status: ${{ github.event.workflow_run.conclusion }}, event: ${{ github.event.workflow_run.event }}), skipping build"
|
||||
fi
|
||||
|
||||
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
|
||||
needs: [wait-for-upstream]
|
||||
# 运行条件：workflow_run 触发且上游成功，或者手动触发
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
(needs.wait-for-upstream.result == 'skipped' || needs.wait-for-upstream.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -79,7 +75,7 @@ jobs:
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
# 如果是 workflow_run 触发，使用上游 conda 包构建的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
@@ -96,12 +92,13 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup Miniconda
|
||||
- name: Setup Miniforge
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniconda-version: 'latest'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-update-conda: false
|
||||
@@ -110,7 +107,7 @@ jobs:
|
||||
- name: Install rattler-build and anaconda-client
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
conda install -c conda-forge rattler-build anaconda-client
|
||||
mamba install --override-channels -c conda-forge rattler-build anaconda-client -y
|
||||
|
||||
- name: Show environment info
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -119,11 +116,11 @@ 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 "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
|
||||
echo "Building packages:"
|
||||
echo " - unilabos-env (environment dependencies)"
|
||||
echo " - unilabos (with pip package)"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
if [[ "${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
|
||||
@@ -134,7 +131,12 @@ jobs:
|
||||
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'
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
(
|
||||
github.event_name == 'workflow_run' ||
|
||||
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
|
||||
@@ -149,7 +151,12 @@ jobs:
|
||||
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'
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
(
|
||||
github.event_name == 'workflow_run' ||
|
||||
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
|
||||
@@ -159,6 +166,7 @@ jobs:
|
||||
- name: Build unilabos-full - Only when explicitly requested
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event_name == 'workflow_dispatch' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
@@ -167,6 +175,7 @@ jobs:
|
||||
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event_name == 'workflow_dispatch' &&
|
||||
github.event.inputs.build_full == 'true' &&
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
|
||||
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
|
||||
@@ -18,15 +18,13 @@ Uni-Lab 开发团队在仓库中提供了 3 个样例：
|
||||
|
||||
- 单一机械设备**电夹爪**，通讯协议可见 [增广夹爪通讯协议](https://doc.rmaxis.com/docs/communication/fieldbus/)，驱动代码位于 `unilabos/devices/gripper/rmaxis_v4.py`
|
||||
- 单一通信设备**IO 板卡**，驱动代码位于 `unilabos/device_comms/gripper/SRND_16_IO.py`
|
||||
- 执行多设备复杂任务逻辑的**PLC**，Uni-Lab 提供了基于地址表的接入方式和点动工作流编写，测试代码位于 `unilabos/device_comms/modbus_plc/test/test_workflow.py`。详细框架说明请参考 {doc}`plc_framework`
|
||||
- 执行多设备复杂任务逻辑的**PLC**，Uni-Lab 提供了基于地址表的接入方式和点动工作流编写，测试代码位于 `unilabos/device_comms/modbus_plc/test/test_workflow.py`
|
||||
|
||||
---
|
||||
|
||||
## 其他工业通信协议：CANopen, Ethernet, OPCUA...
|
||||
|
||||
Uni-Lab 已实现基于 OPC UA 协议的 PLC 接管框架，用于后处理工站等项目。与 Modbus 框架相比，OPC UA 框架额外提供了自动节点发现、订阅推送、断线重连等特性。详细说明请参考 {doc}`plc_framework`。
|
||||
|
||||
其他协议（CANopen、EtherCAT 等）【敬请期待】
|
||||
【敬请期待】
|
||||
|
||||
## 没有接口的老设备老软件：使用 PyWinAuto
|
||||
|
||||
|
||||
@@ -1,281 +0,0 @@
|
||||
# PLC 设备接管框架
|
||||
|
||||
> 本文档面向初次接触 UniLab-OS 的开发者，介绍系统如何通过工业协议"接管"（连接并控制）PLC 设备。
|
||||
|
||||
## 什么是"PLC 接管"？
|
||||
|
||||
**PLC**（可编程逻辑控制器）是工厂设备的控制核心，驱动机械臂、泵、阀门等硬件。UniLab-OS 通过网络协议直接读写 PLC 内部变量，从而控制设备运行：
|
||||
|
||||
```
|
||||
UniLab-OS（Python） ←通信协议→ PLC ←电信号→ 电机/气缸/传感器
|
||||
```
|
||||
|
||||
UniLab-OS 提供两套接管框架，对应两种工业协议：
|
||||
|
||||
| 框架 | 协议 | 应用项目 | 核心文件 |
|
||||
| --------------- | ---------------- | ------------------ | ----------------------------------------------------------- |
|
||||
| **Modbus 框架** | Modbus TCP / RTU | 扣式电池装配工站 | `unilabos/device_comms/modbus_plc/client.py` |
|
||||
| **OPC UA 框架** | OPC UA | 后处理工站（怀柔） | `unilabos/devices/workstation/post_process/post_process.py` |
|
||||
|
||||
两套框架**设计思想完全一致**，底层通信协议不同。理解一个，另一个基本触类旁通。
|
||||
|
||||
---
|
||||
|
||||
## 核心概念
|
||||
|
||||
### 节点（Node）
|
||||
|
||||
节点是 PLC 内部一个具体的变量地址，可以理解为 PLC 的一个输入/输出端口。
|
||||
|
||||
| 属性 | 说明 | 示例 |
|
||||
| ---- | -------------------------------------- | -------------------- |
|
||||
| 名称 | 人类可读标识 | `COIL_SYS_START_CMD` |
|
||||
| 地址 | PLC 内存地址 | `0x0064` |
|
||||
| 类型 | Coil / HoldRegister / InputRegister 等 | `coil` |
|
||||
|
||||
```
|
||||
PLC 内存空间
|
||||
├── Coil 区: True / False ← 控制开关量（启动/停止/复位）
|
||||
├── Hold Reg: 120, 35.5 … ← 存参数值（速度、位置）
|
||||
└── Input Reg: 99.8, 42 … ← 只读传感器数据
|
||||
```
|
||||
|
||||
### 动作生命周期（Action Lifecycle）
|
||||
|
||||
每个设备动作被拆分为 4 个阶段，用 `try/finally` 保证安全性：
|
||||
|
||||
```python
|
||||
try:
|
||||
init(...) # 写入参数（速度、位置等）— 可选
|
||||
start(...) # 发触发信号 + 轮询等待完成
|
||||
stop(...) # 复位触发信号（成功时执行）
|
||||
except:
|
||||
is_err = True
|
||||
finally:
|
||||
cleanup(...) # 无论成败都执行，作为安全兜底
|
||||
```
|
||||
|
||||
| 阶段 | 何时执行 | 典型内容 |
|
||||
| --------- | ----------------------- | ------------------------------------ |
|
||||
| `init` | 成功路径（可选） | 写运动速度 = 20.0 |
|
||||
| `start` | 成功路径 | 写启动位 = True，等待完成位 = True |
|
||||
| `stop` | 成功路径 | 写启动位 = False（正常复位） |
|
||||
| `cleanup` | **无论成败**（finally） | 安全兜底复位，防止异常时设备持续运动 |
|
||||
|
||||
> **为什么 `cleanup` 无论成败都执行？**
|
||||
> 若 `start` 阶段因传感器故障抛出异常，`stop` 会被跳过，PLC 触发位仍为 `True`——设备可能持续运动。`cleanup` 放在 `finally` 块中，作为最后的安全保障，确保 PLC 一定被复位到安全状态。实际上大多数动作将 `cleanup` 设为 `null`，由 `stop` 负责正常复位即可。
|
||||
|
||||
---
|
||||
|
||||
## Modbus 框架
|
||||
|
||||
**核心文件**：`unilabos/device_comms/modbus_plc/client.py`
|
||||
**参考实现**：`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
|
||||
|
||||
### 连接与节点注册
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.modbus_plc.client import TCPClient, BaseClient
|
||||
|
||||
# 1. 建立 TCP 连接
|
||||
client = TCPClient(addr="172.16.28.102", port=502)
|
||||
client.client.connect()
|
||||
|
||||
# 2. 从 CSV 加载节点定义
|
||||
nodes = BaseClient.load_csv("coin_cell_assembly_b.csv")
|
||||
|
||||
# 3. 注册节点，之后可按名称访问
|
||||
client.register_node_list(nodes)
|
||||
|
||||
# 访问节点
|
||||
client.use_node('COIL_SYS_START_CMD').write(True)
|
||||
value, err = client.use_node('COIL_SYS_START_STATUS').read(1)
|
||||
```
|
||||
|
||||
**CSV 格式**（`Name` / `DeviceType` / `Address` / `DataType`）：
|
||||
|
||||
| Name | DeviceType | Address | DataType |
|
||||
| ------------------ | ------------- | ------- | -------- |
|
||||
| COIL_SYS_START_CMD | coil | 100 | INT16 |
|
||||
| REG_SPEED | hold_register | 200 | FLOAT32 |
|
||||
|
||||
### 三段式接管流程（扣式电池工站）
|
||||
|
||||
PLC 设备通常需要按固定顺序切换模式，以扣式电池工站为例：
|
||||
|
||||
```
|
||||
Python PLC
|
||||
│── 写 HAND_CMD = True ─────────>│ 切换到手动模式
|
||||
│<─ 读 HAND_STATUS = True ────────│ 确认进入手动
|
||||
│── 写 INIT_CMD = True ──────────>│ 执行初始化
|
||||
│<─ 读 INIT_STATUS = True ─────────│ 初始化完成
|
||||
│── 写 HAND_CMD = False ──────────>│ 复位（脉冲信号）
|
||||
│── 写 INIT_CMD = False ──────────>│ 复位
|
||||
│── 写 AUTO_CMD = True ───────────>│ 切换自动模式
|
||||
│<─ 读 AUTO_STATUS = True ─────────│ 自动模式就绪
|
||||
│── 写 AUTO_CMD = False ──────────>│ 复位
|
||||
│── 写 START_CMD = True ──────────>│ 开始运行
|
||||
│<─ 读 START_STATUS = True ────────│ 运行确认
|
||||
│── 写 START_CMD = False ──────────>│ 复位
|
||||
```
|
||||
|
||||
> **脉冲信号模式**：命令写 `True` → 等待 PLC 状态位确认 → 命令写回 `False`，这是大多数 PLC 的标准触发方式，而不是保持高电平。
|
||||
|
||||
### JSON 配置方式
|
||||
|
||||
Modbus 框架支持纯 JSON 配置，无需手写 Python 流程：
|
||||
|
||||
```json
|
||||
{
|
||||
"register_node_list_from_csv_path": {"path": "M01.csv"},
|
||||
"create_flow": [
|
||||
{
|
||||
"name": "归位",
|
||||
"action": [{
|
||||
"address_function_to_create": [
|
||||
{"func_name": "pos_tip", "node_name": "M01_idlepos_coil_w", "mode": "write", "value": true},
|
||||
{"func_name": "pos_tip_read", "node_name": "M01_idlepos_coil_r", "mode": "read", "value": 1},
|
||||
{"func_name": "manual_stop", "node_name": "M01_manual_stop_coil_r","mode": "read", "value": 1}
|
||||
],
|
||||
"create_init_function": {"func_name": "idel_init", "node_name": "M01_idlepos_velocity_rw", "mode": "write", "value": 20.0},
|
||||
"create_start_function": {
|
||||
"func_name": "idel_position",
|
||||
"write_functions": ["pos_tip"],
|
||||
"condition_functions": ["pos_tip_read", "manual_stop"],
|
||||
"stop_condition_expression": "pos_tip_read[0] and manual_stop[0]"
|
||||
},
|
||||
"create_stop_function": {"func_name": "idel_stop", "node_name": "M01_idlepos_coil_w", "mode": "write", "value": false},
|
||||
"create_cleanup_function": null
|
||||
}]
|
||||
}
|
||||
],
|
||||
"execute_flow": ["归位"]
|
||||
}
|
||||
```
|
||||
|
||||
执行：
|
||||
|
||||
```python
|
||||
client.execute_procedure_from_json(json_data)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## OPC UA 框架
|
||||
|
||||
**核心文件**：`unilabos/devices/workstation/post_process/post_process.py`
|
||||
**参考实现**：`unilabos/devices/workstation/post_process/opcua_huairou.json`
|
||||
|
||||
### 与 Modbus 的主要区别
|
||||
|
||||
| 特性 | Modbus | OPC UA |
|
||||
| ---------- | -------------------- | --------------------------------- |
|
||||
| 节点发现 | 手动填写 CSV 地址 | **自动遍历**服务器节点树 |
|
||||
| 数据获取 | 轮询（主动问） | **订阅推送**（有变化时通知） |
|
||||
| 节点标识 | 数字地址（如 `100`） | 字符串 NodeId（如 `ns=2;s=速度`） |
|
||||
| 断线处理 | 无 | **后台监控线程**自动重连 |
|
||||
| 认证安全 | 无 | 支持用户名/密码 |
|
||||
| 工作流调用 | 手动调用 | **自动注册为实例方法** |
|
||||
|
||||
### 连接与节点发现
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.post_process.post_process import OpcUaClient
|
||||
|
||||
client = OpcUaClient(
|
||||
url="opc.tcp://192.168.1.100:4840",
|
||||
username="admin", # 可选
|
||||
password="123456", # 可选
|
||||
config_path="opcua_huairou.json", # 自动加载工作流配置
|
||||
cache_timeout=5.0, # 节点值缓存 5 秒
|
||||
subscription_interval=500, # 每 500ms 接收推送
|
||||
)
|
||||
|
||||
# 节点自动通过订阅保持最新值，读取直接查本地缓存
|
||||
value = client.get_node_value("grab_complete")
|
||||
```
|
||||
|
||||
### JSON 配置方式
|
||||
|
||||
```json
|
||||
{
|
||||
"register_node_list_from_csv_path": {"path": "opcua_nodes_huairou.csv"},
|
||||
"create_flow": [
|
||||
{
|
||||
"name": "trigger_grab_action",
|
||||
"description": "触发反应罐及原料罐抓取动作",
|
||||
"parameters": ["reaction_tank_number", "raw_tank_number"],
|
||||
"action": [{
|
||||
"init_function": {
|
||||
"func_name": "init_grab_params",
|
||||
"write_nodes": ["reaction_tank_number", "raw_tank_number"]
|
||||
},
|
||||
"start_function": {
|
||||
"func_name": "start_grab",
|
||||
"write_nodes": {"grab_trigger": true},
|
||||
"condition_nodes": ["grab_complete"],
|
||||
"stop_condition_expression": "grab_complete == True",
|
||||
"timeout_seconds": 999999.0
|
||||
},
|
||||
"stop_function": {
|
||||
"func_name": "stop_grab",
|
||||
"write_nodes": {"grab_trigger": false}
|
||||
}
|
||||
}]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
配置加载后，工作流自动注册为实例方法：
|
||||
|
||||
```python
|
||||
# 直接调用，传入参数，框架自动写入对应节点
|
||||
client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=3)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 新增设备快速上手
|
||||
|
||||
### 使用 Modbus 框架
|
||||
|
||||
```
|
||||
1. 从 PLC 工程师处拿到地址表，按格式填写 CSV（Name/DeviceType/Address/DataType）
|
||||
2. 继承 BaseClient，在 __init__ 中连接并注册节点
|
||||
3. 参考 coin_cell_assembly.py 编写三段式接管函数（手动→初始化→自动→启动）
|
||||
4. 或直接编写 JSON 配置，调用 execute_procedure_from_json()
|
||||
```
|
||||
|
||||
### 使用 OPC UA 框架
|
||||
|
||||
```
|
||||
1. 确认设备支持 OPC UA，拿到服务器 URL（格式：opc.tcp://IP:PORT）
|
||||
2. 准备 CSV 节点定义文件（可选，也可让框架自动发现）
|
||||
3. 编写 JSON 配置：定义 parameters、init/start/stop 函数
|
||||
4. 实例化 OpcUaClient，传入 config_path，直接调用自动注册的工作流方法
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
**Q: `node {name} is not registered` 报错？**
|
||||
A: 节点名不在 CSV 或未调用 `register_node_list_from_csv_path()`。
|
||||
|
||||
**Q: 程序卡死在 `while not status(): sleep(1)`？**
|
||||
A: PLC 未返回预期完成信号。检查：PLC 是否在正确运行模式、状态位地址是否正确、PLC 有无报警。
|
||||
|
||||
**Q: OPC UA 连接成功但读不到节点？**
|
||||
A: 检查节点名称是否与服务器显示名一致（区分中英文）。可调用 `_find_nodes()` 打印服务器全部节点。
|
||||
|
||||
**Q: 应该选 Modbus 还是 OPC UA？**
|
||||
A: 取决于设备支持的协议，由 PLC 工程师决定。OPC UA 功能更完整，条件允许优先选择。
|
||||
|
||||
---
|
||||
|
||||
## 下一步
|
||||
|
||||
- {doc}`add_device` - 将驱动集成进 UniLab-OS 设备节点
|
||||
- {doc}`add_action` - 为设备添加可调度的动作指令
|
||||
- {doc}`add_yaml` - 编写设备注册表 YAML 文件
|
||||
@@ -17,9 +17,6 @@ developer_guide/http_api.md
|
||||
developer_guide/networking_overview.md
|
||||
developer_guide/add_device.md
|
||||
developer_guide/add_action.md
|
||||
developer_guide/add_old_device.md
|
||||
developer_guide/plc_framework.md
|
||||
developer_guide/add_protocol.md
|
||||
developer_guide/add_registry.md
|
||||
developer_guide/add_yaml.md
|
||||
developer_guide/action_includes.md
|
||||
|
||||
914
plan/2026-05-20_11_resource_material_sync_guidance_draft.md
Normal file
914
plan/2026-05-20_11_resource_material_sync_guidance_draft.md
Normal file
@@ -0,0 +1,914 @@
|
||||
# Draft: Resource And Material Sync Guidance For Sirna And Similar Bioyond Systems
|
||||
|
||||
Status: draft for discussion, not an implementation mandate.
|
||||
|
||||
This note triangulates across five source categories with different authority:
|
||||
|
||||
1. `docs/developer_guide/examples/workstation_architecture.md`: desired shape
|
||||
and vocabulary. It is a design target, not proof that the current code has
|
||||
every behavior.
|
||||
2. `BioyondWorkstation`, `BioyondResourceSynchronizer`, and shared graphio code:
|
||||
the current compatibility anchor. New guidance should mostly preserve this
|
||||
lifecycle and extend it deliberately.
|
||||
3. Existing non-Sirna Bioyond stations: practical examples of how the shared
|
||||
base is used, including shortcuts that should not become policy.
|
||||
4. Sirna implementation, plans, findings, and guide notes: stress-test evidence.
|
||||
They expose real missing cases, but the current Sirna code is not the
|
||||
architecture authority because parts were added without fully aligning to the
|
||||
shared base.
|
||||
5. UniLabOS resource framework behavior around PLR resources,
|
||||
`ResourceTreeSet`, serialize/deserialize, and `update_resource(resources=...)`.
|
||||
|
||||
The short recommendation is:
|
||||
|
||||
Keep the shared Bioyond workstation lifecycle as the center of gravity. Evolve
|
||||
the shared synchronizer with small project hooks for classification, ID-based
|
||||
resolution, and non-slot material handling, rather than letting Sirna become a
|
||||
parallel synchronization model. For Sirna, those hooks should resolve placement
|
||||
by Bioyond IDs, distinguish physical slot labware from reagent liquid contents,
|
||||
preserve Bioyond IDs in `unilabos_extra`, mutate the local PLR deck, and publish
|
||||
the full deck through `update_resource(resources=[deck])`.
|
||||
|
||||
Do not treat every Bioyond stock row as a deck resource.
|
||||
|
||||
## Evidence Weighting
|
||||
|
||||
This task is not a Sirna implementation retrospective. It is a best-practice
|
||||
alignment pass across the architecture target, the shared base class, observed
|
||||
station behavior, and Sirna's newly exposed edge cases.
|
||||
|
||||
Use the sources this way:
|
||||
|
||||
- Architecture doc: ask "what shape should this system eventually have?"
|
||||
- Shared Bioyond base: ask "what behavior must remain compatible today?"
|
||||
- Other Bioyond stations: ask "what patterns are already working in practice?"
|
||||
- Sirna current code and notes: ask "what did the base model fail to handle, and
|
||||
which Sirna fixes conflict with the shared lifecycle?"
|
||||
- Live API/schema evidence: ask "what is true for this deployment's material,
|
||||
warehouse, and coordinate data?"
|
||||
|
||||
The Sirna AGENT_GUIDE is useful for finding caveats and prior investigations,
|
||||
but it should not be cited as an independent source of truth when source code,
|
||||
framework behavior, live API evidence, or architecture docs can answer the same
|
||||
question.
|
||||
|
||||
## Mental Model
|
||||
|
||||
There are three resource worlds. Confusing them is the main source of bugs.
|
||||
|
||||
| World | Owner | Purpose | Recommended truth |
|
||||
| --- | --- | --- | --- |
|
||||
| Bioyond/LIMS | Bioyond APIs through `BioyondV1RPC` | External stock, material IDs, warehouse IDs, location IDs, inbound/outbound side effects | External material truth |
|
||||
| PLR deck | Workstation driver | Runtime workstation material layout, warehouse occupancy, liquid contents | Local mutation surface |
|
||||
| UniLabOS resource tree | `ResourceTreeSet` / ROS node / host resource APIs | Canonical UniLabOS/cloud representation | Framework/cloud truth |
|
||||
|
||||
The architecture guide describes `Deck` as the local material system and
|
||||
`ResourceSynchronizer` as the optional external-system bridge
|
||||
(`docs/developer_guide/examples/workstation_architecture.md:221`). The broader
|
||||
framework serializes PLR objects into `ResourceTreeSet`, whose resource dicts
|
||||
carry `id`, `uuid`, `parent_uuid`, `type`, `class`, `pose`, `config`, `data`,
|
||||
and `extra` (`unilabos/resources/resource_tracker.py:107`).
|
||||
|
||||
Therefore the correct path is:
|
||||
|
||||
```text
|
||||
Bioyond rows
|
||||
-> normalized material records
|
||||
-> preserve Bioyond materialTypeMode: Sample / Consumables / Reagent
|
||||
-> resolve material/location/warehouse IDs
|
||||
-> choose UniLabOS handling for that mode
|
||||
-> mutate PLR deck
|
||||
-> ResourceTreeSet.from_plr_resources([deck])
|
||||
-> ROS update_resource(resources=[deck])
|
||||
-> host/cloud resource-tree update
|
||||
```
|
||||
|
||||
Avoid direct cloud JSON patches and avoid treating Bioyond records as already
|
||||
being UniLabOS resource nodes.
|
||||
|
||||
## Target Architecture
|
||||
|
||||
The ideal architecture in `workstation_architecture.md` is still the right
|
||||
direction:
|
||||
|
||||
1. `WorkstationBase` owns the local `deck`, workflow state, and hardware
|
||||
interface.
|
||||
2. `ResourceSynchronizer` owns external material synchronization.
|
||||
3. `BioyondResourceSynchronizer` owns the Bioyond-specific use of
|
||||
`BioyondV1RPC`.
|
||||
4. `ROS2WorkstationNode.update_resource(resources)` owns the UniLabOS/cloud
|
||||
resource-tree update.
|
||||
5. Optional HTTP report handlers may trigger local deck mutation, external sync,
|
||||
and cloud publication.
|
||||
|
||||
The documented startup sequence is:
|
||||
|
||||
1. Create workstation.
|
||||
2. Initialize PLR deck and warehouses.
|
||||
3. Create Bioyond RPC hardware interface.
|
||||
4. Create resource synchronizer.
|
||||
5. `sync_from_external()`.
|
||||
6. Initialize ROS node and children.
|
||||
7. `post_init(ros_node)`.
|
||||
8. Upload `resources=[deck]`.
|
||||
|
||||
See `docs/developer_guide/examples/workstation_architecture.md:308`,
|
||||
`docs/developer_guide/examples/workstation_architecture.md:497`, and
|
||||
`docs/developer_guide/examples/workstation_architecture.md:737`.
|
||||
|
||||
Important caveat: that document is the hope. It is still valuable because it
|
||||
names the desired responsibilities, but current Bioyond stations implement a
|
||||
more limited, best-effort side-effect sync. When the doc and current code
|
||||
diverge, use the doc to choose direction and the shared base code to choose the
|
||||
next compatible step.
|
||||
|
||||
## Current Practical Behavior
|
||||
|
||||
The shared `BioyondWorkstation` implementation is the current behavioral
|
||||
baseline. It does this today:
|
||||
|
||||
1. Requires a deck.
|
||||
2. Reconstructs `deck.warehouses` from deck children/config when needed.
|
||||
3. Creates `BioyondV1RPC`.
|
||||
4. Installs `BioyondResourceSynchronizer`.
|
||||
5. Immediately calls `sync_from_external()`.
|
||||
6. Later, in `post_init`, publishes the whole deck with
|
||||
`ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True,
|
||||
resources=[self.deck])`.
|
||||
|
||||
Relevant code:
|
||||
|
||||
- `BioyondResourceSynchronizer` is defined in
|
||||
`unilabos/devices/workstation/bioyond_studio/station.py:117`.
|
||||
- `sync_from_external()` fetches stock `typeMode` 0, 1, and 2, then passes all
|
||||
rows to `resource_bioyond_to_plr(...)`
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:147`).
|
||||
- `BioyondWorkstation.__init__` installs the synchronizer and syncs immediately
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:856`).
|
||||
- `post_init()` uploads the deck (`unilabos/devices/workstation/bioyond_studio/station.py:893`).
|
||||
- `resource_tree_add()` performs Bioyond create/inbound side effects
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:958`).
|
||||
|
||||
This practical behavior works for simple physical-resource stock import, but it
|
||||
does not provide full continuous two-way sync, conflict resolution, or reliable
|
||||
stale-state cleanup. In particular:
|
||||
|
||||
- Re-fetching stock does not clearly clear stale local deck state first.
|
||||
- Local-to-external update no-ops unless `unilabos_extra["update_resource_site"]`
|
||||
is present.
|
||||
- `process_material_change_report()` is mostly TODO-level in the base station.
|
||||
- Some station-specific code bypasses the shared synchronizer with direct LIMS
|
||||
calls.
|
||||
- Some existing stations contain shortcuts that should not be copied, such as
|
||||
duplicate initialization, stale globals, or hardcoded warehouse/axis cases.
|
||||
|
||||
Treat current Bioyond behavior as operationally useful and compatibility
|
||||
important, not as proof that the ideal architecture is already achieved. The
|
||||
goal is to tighten this base path, not replace it with a Sirna-only path.
|
||||
|
||||
## Recommended Shared Pipeline
|
||||
|
||||
For Sirna and similar Bioyond systems, the base synchronizer should evolve from
|
||||
the current shared path into one shared pipeline with small project hooks:
|
||||
|
||||
```text
|
||||
sync_from_external()
|
||||
fetch stock rows from Bioyond
|
||||
update RPC material cache
|
||||
normalize rows into a common internal shape
|
||||
preserve materialTypeMode: Sample / Consumables / Reagent
|
||||
resolve warehouse/location by Bioyond IDs when available
|
||||
choose handling for the row's mode
|
||||
apply Sample / Consumables rows as mapped slot labware by default
|
||||
apply Reagent rows as physical reagent labware or liquid content by evidence
|
||||
report unknown modes or unmapped handling loudly
|
||||
publish deck if deck changed and ROS node is available
|
||||
```
|
||||
|
||||
Suggested extension points:
|
||||
|
||||
```python
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
def external_material_mode(self, row: dict) -> str:
|
||||
return row["materialTypeMode"] # Sample | Consumables | Reagent
|
||||
|
||||
def resolve_external_row(self, row: dict) -> dict:
|
||||
...
|
||||
|
||||
def apply_external_row(self, row: dict, mode: str, resolved: dict) -> None:
|
||||
...
|
||||
```
|
||||
|
||||
The base class should continue to own:
|
||||
|
||||
- stock fetches for `typeMode` 0/1/2;
|
||||
- material-cache refresh;
|
||||
- common normalization;
|
||||
- mode validation for `Sample` / `Consumables` / `Reagent`;
|
||||
- publication orchestration;
|
||||
- error aggregation;
|
||||
- stale-state policy once agreed.
|
||||
|
||||
Project code should own only the parts that are truly deployment-specific:
|
||||
|
||||
- material type/mode to PLR class mapping;
|
||||
- project-local handling inside `Sample` / `Consumables` / `Reagent`;
|
||||
- project-local warehouse ID/name mapping;
|
||||
- project-local coordinate conventions;
|
||||
- special row handling such as Sirna reagent-as-liquid.
|
||||
|
||||
This keeps existing Bioyond stations close to the same lifecycle while still
|
||||
absorbing the Sirna lessons that the earlier base did not model. The default
|
||||
hook behavior can remain "Sample/Consumables/Reagent rows become mapped slot
|
||||
labware" for simpler stations; Sirna should override Reagent handling where
|
||||
evidence requires liquid-content behavior.
|
||||
|
||||
## Sirna Findings To Feed Back Into Shared Design
|
||||
|
||||
Treat Sirna as a stress test for the shared base, not as a replacement design.
|
||||
It raises real questions that earlier stations did not need to answer:
|
||||
|
||||
- within the `Reagent` mode, some external rows may be liquid contents rather
|
||||
than slot-occupying reagent labware;
|
||||
- placement should be ID-first where Bioyond supplies material/location IDs;
|
||||
- warehouse and axis metadata must survive serialize/deserialize;
|
||||
project-specific mode handling is available.
|
||||
|
||||
For Sirna-like deployments, the old implicit rule "stock row equals PLR
|
||||
resource" is too coarse. For simpler deployments, it can remain the default
|
||||
mode-handling behavior.
|
||||
|
||||
### IDs Win
|
||||
|
||||
Placement identity should prefer:
|
||||
|
||||
```text
|
||||
materialId
|
||||
locationId
|
||||
materialTypeId
|
||||
warehouseId / whid
|
||||
```
|
||||
|
||||
Display/debug fields are not identity:
|
||||
|
||||
```text
|
||||
materialName
|
||||
materialCode
|
||||
locationCode
|
||||
locationShowName
|
||||
warehouseName / whName
|
||||
```
|
||||
|
||||
`locationCode` such as `1-1` is not globally unique. It can exist in multiple
|
||||
warehouses. Code-only resolution may be kept as a diagnostic fallback, but it
|
||||
must raise on ambiguity.
|
||||
|
||||
The current Sirna ID-first resolver is useful source evidence for this direction
|
||||
(`unilabos/devices/workstation/bioyond_studio/sirna_station/sirna_station.py:3659`).
|
||||
The Sirna mega plan captures the same concern, but the implementation and live
|
||||
Bioyond IDs are the stronger evidence.
|
||||
|
||||
### Bioyond Modes And UniLabOS Handling Are Different
|
||||
|
||||
Bioyond has three primary material modes in this context:
|
||||
|
||||
```text
|
||||
Sample
|
||||
Consumables
|
||||
Reagent
|
||||
```
|
||||
|
||||
Those modes should be preserved as the external taxonomy. UniLabOS still needs a
|
||||
handling decision inside the mode: should the row create/place a physical PLR
|
||||
resource, or update contents on an already-placed parent resource?
|
||||
|
||||
Physical slot resources include things like:
|
||||
|
||||
- tip racks;
|
||||
- plates;
|
||||
- cell culture plates;
|
||||
- empty trough/bottle labware;
|
||||
- other objects that occupy a warehouse slot.
|
||||
|
||||
Reagents are contents of a parent labware when the row describes a liquid rather
|
||||
than a physical holder. For Sirna, Bioyond `stock_material(typeMode=2)` returns
|
||||
`materialTypeMode="Reagent"` rows; those rows still need evidence-based handling
|
||||
as either physical reagent labware or reagent liquid content. The finding in
|
||||
`temp_benyao/sirna/_findings/2026-05-07_reagents_vs_resources.md:6` records the
|
||||
bug: the generic path can fall back to `RegularContainer`, fail registry lookup,
|
||||
and drop reagent rows such as `试剂槽裂解液/Betame`.
|
||||
|
||||
Recommended behavior:
|
||||
|
||||
1. Validate `materialTypeMode` as `Sample`, `Consumables`, or `Reagent`.
|
||||
2. For `Sample` and `Consumables`, default to mapped slot labware: instantiate
|
||||
the mapped PLR class and place it into the resolved warehouse slot.
|
||||
3. For `Reagent`, decide whether the row represents physical reagent labware or
|
||||
reagent liquid content from material type evidence, row shape, and live data.
|
||||
4. For physical reagent labware, place the mapped PLR resource in the resolved
|
||||
slot.
|
||||
5. For reagent liquid content, find the parent trough/bottle and attach liquid
|
||||
metadata to its tracker.
|
||||
6. Preserve Bioyond IDs in `parent.unilabos_extra["reagent_bioyond_ids"]`.
|
||||
7. Make liquid attachment idempotent by Bioyond material ID.
|
||||
8. If the parent labware is missing or the mode/handling cannot be resolved,
|
||||
defer or log with IDs; do not guess.
|
||||
|
||||
The existing Sirna helper `_attach_liquid_to_parent()` already follows the
|
||||
idempotent metadata direction
|
||||
(`unilabos/devices/workstation/bioyond_studio/sirna_station/sirna_station.py:4074`).
|
||||
|
||||
### The `0003` Question Must Stay Evidence-Based
|
||||
|
||||
Do not blindly map `materialTypeCode 0003` to `BioyondSirna_ReagentTrough`.
|
||||
|
||||
If live/schema evidence says a `0003` row is physical trough labware, map it to
|
||||
a PLR resource class. If evidence says it is liquid content, attach it to the
|
||||
parent trough. If evidence is contradictory, mark it unsupported and log the
|
||||
Bioyond IDs.
|
||||
|
||||
Treat this as an open design decision until source/schema/live evidence settles
|
||||
the row shape. The Sirna plan records the question, but it should not decide the
|
||||
mapping by itself.
|
||||
|
||||
### Sirna Warehouse And Axis Rules Are Project-Local
|
||||
|
||||
Sirna warehouse layout and axis conventions must be verified from Sirna source,
|
||||
Sirna schema, current deck behavior, and live/read-only Sirna APIs when
|
||||
available. Do not import Peptide, reaction, dispensing, or cell station layout
|
||||
truth.
|
||||
|
||||
For Sirna specifically, the current integrated deck display should be treated as
|
||||
the good baseline. The prior col-row slot-key fix is already present in the
|
||||
deck/graphio path, and any remaining x/y or y-reverse correction should be
|
||||
handled through shared warehouse metadata and shared graphio/display mapping
|
||||
rather than by reshaping the Sirna station display ad hoc.
|
||||
|
||||
### Display Geometry: Evidence Before Axis Values
|
||||
|
||||
Peptide resource sync should not be treated as a validated model, but its
|
||||
UniLabOS display work is useful and should influence this guidance.
|
||||
|
||||
Confirmed Peptide behavior:
|
||||
|
||||
- Peptide live warehouse evidence found `自动化堆栈` with 170 locations where
|
||||
`code="10-17"` appears at `x=17, y=10`
|
||||
(`../Uni-Lab-OS-Peptide/temp_benyao/peptide/_findings/2026-05-13_1404_peptide_col_row_deck.md:6`).
|
||||
- Peptide's current display convention is Peptide-specific evidence:
|
||||
`bioyond_axis="xy_col_row"` and `bioyond_key_axis="col_row"` in the current
|
||||
Peptide station implementation. Do not copy that pair into Sirna or any other
|
||||
project without live warehouse evidence for that target system. With this
|
||||
Peptide combination, graphio does not apply the legacy x/y swap
|
||||
(`../Uni-Lab-OS-Peptide/unilabos/resources/graphio.py:868`).
|
||||
- Peptide models the main automation stack as 17 visual rows by 10 visual
|
||||
columns while preserving labels such as `10-17`
|
||||
(`../Uni-Lab-OS-Peptide/unilabos/resources/bioyond/decks.py:308`).
|
||||
- Peptide warehouses and deck child positions use `frontend_y_flip=True` /
|
||||
`_frontend_y_flipped_coordinate(...)` so stored PLR coordinates compensate for
|
||||
the frontend y-axis inversion
|
||||
(`../Uni-Lab-OS-Peptide/unilabos/resources/bioyond/decks.py:299`;
|
||||
`temp_benyao/peptide/_findings/2026-05-13_1514_frontend_y_flip_layout.md:6`).
|
||||
- The older Peptide graph-layout note is stale for the Sirna discussion. The
|
||||
current Sirna integrated station/deck display is a good baseline; the reusable
|
||||
Peptide lesson is axis metadata and frontend y-reverse compatibility.
|
||||
- Peptide tests encode the intended behavior: `10-17` lands at row 17 /
|
||||
column 10, and after frontend y-flip the displayed site positions match the
|
||||
expected top-to-bottom layout
|
||||
(`../Uni-Lab-OS-Peptide/temp_benyao/peptide/tests/test_peptide_deck_layout.py:60`).
|
||||
|
||||
Guidance for Sirna and similar systems:
|
||||
|
||||
1. Treat `bioyond_axis` and `bioyond_key_axis` as two separate concepts:
|
||||
- `bioyond_axis` describes how Bioyond numeric `x/y` map to visual axes.
|
||||
- `bioyond_key_axis` describes how slot labels such as `10-17` are generated
|
||||
or preserved.
|
||||
2. Do not infer display orientation from label strings alone. Both `row_col`
|
||||
and `col_row` can preserve the same final label text while producing
|
||||
different visual layouts and graphio swap behavior.
|
||||
3. Use live/read-only `code/x/y` evidence for each project and each warehouse
|
||||
family before choosing axis metadata.
|
||||
4. Keep visual orientation fixes separate from material identity. IDs and slot
|
||||
labels determine registration; display dimensions and frontend y-flip only
|
||||
determine how the deck appears.
|
||||
5. Author intended display coordinates first, then convert stored y coordinates
|
||||
for the active frontend convention:
|
||||
- deck child stored y = `deck_height - display_y - child_height`;
|
||||
- warehouse site stored y = `warehouse_height - display_y - site_height`;
|
||||
- graph-level y values should be transformed only when the active frontend
|
||||
convention requires it.
|
||||
6. Preserve the current Sirna display as the baseline unless concrete frontend
|
||||
evidence shows a y-reverse problem. Do not change station/deck graph
|
||||
semantics just to match stale Peptide layout notes.
|
||||
7. Add layout tests that assert:
|
||||
- warehouse `num_items_x`, `num_items_y`, capacity, first key, and last key;
|
||||
- representative `code/x/y` examples land on the intended site key;
|
||||
- frontend y-flip produces expected displayed positions;
|
||||
- generated deck children do not overlap in displayed coordinates.
|
||||
8. When borrowing from Peptide, borrow the evidence pattern: live discovery,
|
||||
axis/key-axis metadata, y-flip tests, and display fixtures. Do not borrow a
|
||||
literal axis pair or Peptide resource-sync behavior as a validated path.
|
||||
|
||||
Concrete live discovery workflow:
|
||||
|
||||
1. Prefer the reusable read-only probe pattern before reading old findings:
|
||||
|
||||
```bash
|
||||
python3 temp_benyao/sirna/tests/probe_readonly_storage_inventory.py \
|
||||
--base-url <api_host> \
|
||||
--api-key <api_key> \
|
||||
--output temp_benyao/<project>/_logs/<timestamp>_readonly_storage_inventory_probe.json
|
||||
```
|
||||
|
||||
This probe checks swagger candidates, project storage/location endpoints,
|
||||
material type endpoints, `warehouse-info-by-mat-type-id`, and `stock-material`,
|
||||
then writes a redacted evidence file and a merged warehouse summary.
|
||||
|
||||
2. For Sirna quick checks, `temp_benyao/sirna/tests/discover_sirna_warehouses.py`
|
||||
is the narrower historical helper. Treat it as a template unless it has been
|
||||
parameterized for the target config.
|
||||
3. Query `/api/storage/location/locations-by-type?type=0&typeMode=0&materialType=0`
|
||||
first for stack names, warehouse IDs, full slot lists, `code`, `x`, `y`, `z`,
|
||||
and display mode. This endpoint is the topology source when available.
|
||||
4. Cross-reference with `/api/lims/storage/material-types` and
|
||||
`/api/lims/storage/warehouse-info-by-mat-type-id` to learn material-type
|
||||
placement constraints. Use `stock-material` only for occupied-slot evidence;
|
||||
it cannot reveal empty topology.
|
||||
5. Infer `bioyond_key_axis` from how slot labels must be generated or preserved,
|
||||
and infer `bioyond_axis` from how raw Bioyond `x/y` must map to PLR holder
|
||||
indices. A label such as `10-17` alone is ambiguous; compare it to the same
|
||||
record's `x/y`, and use boundary examples from non-square stacks.
|
||||
6. Encode the discovered convention on the warehouse resource, not in a one-off
|
||||
station branch. The metadata must serialize/deserialize with the warehouse
|
||||
because graph load and cloud sync rebuild resources.
|
||||
7. Add or update layout tests before changing Sirna display behavior. For Sirna,
|
||||
test against the current good display first, then only change shared x/y or
|
||||
y-reverse mapping if the fixture demonstrates a real mismatch.
|
||||
|
||||
### Deserialize Must Be Idempotent
|
||||
|
||||
This is confirmed framework behavior, not a possible risk. Resource publication
|
||||
builds `ResourceTreeSet` from live PLR resources by calling
|
||||
`resource.serialize()` and `resource.serialize_all_state()`
|
||||
(`unilabos/resources/resource_tracker.py:547`). Readback/reconstruction goes
|
||||
through `ResourceTreeSet.to_plr_resources()`, finds the PLR subclass, calls
|
||||
`sub_cls.deserialize(...)`, then restores PLR state, UUIDs, and `unilabos_extra`
|
||||
(`unilabos/resources/resource_tracker.py:637`). `ResourceTreeSet.dump()` also
|
||||
serializes resource nodes while excluding `children` from each individual node
|
||||
record (`unilabos/resources/resource_tracker.py:914`), so parent/child
|
||||
relationships and object state must survive the framework tree shape rather than
|
||||
only an in-memory PLR object graph.
|
||||
|
||||
Sirna resource/deck classes therefore must survive:
|
||||
|
||||
1. registry-time construction;
|
||||
2. `Resource.deserialize()` round trips;
|
||||
3. cloud-synced deck state with serialized children.
|
||||
|
||||
If a synced deck already has serialized `children`, default setup must not
|
||||
create duplicate/stale child resources. Sirna noticed this problem, but the
|
||||
reason is framework-level: cloud/resource-tree sync reconstructs PLR objects
|
||||
from serialized state, so constructors and setup logic must be idempotent.
|
||||
|
||||
Existing Sirna deck code already acknowledges the issue: `BIOYOND_Sirna_Deck`
|
||||
turns `setup=False` during deserialize when serialized `children` are present
|
||||
(`unilabos/resources/bioyond/decks.py:153`). Sirna material classes also use
|
||||
registry-visible `@resource(...)` decorators and tolerant constructors with
|
||||
`*args, **kwargs`, defaults, and `ordering` fallbacks
|
||||
(`unilabos/resources/bioyond/sirna_materials.py:14`). Treat those as required
|
||||
patterns for any new synced resource class.
|
||||
|
||||
Guidance:
|
||||
|
||||
- Do not add a deck/resource class until it round-trips through
|
||||
`Resource.serialize()` / `Resource.deserialize()` and
|
||||
`ResourceTreeSet.from_plr_resources(...).to_plr_resources()`.
|
||||
- Preserve `unilabos_uuid`, parentage, `unilabos_extra`, and liquid state across
|
||||
the round trip.
|
||||
- Make default setup conditional: if serialized children exist, do not recreate
|
||||
default warehouses or default child resources on top of them.
|
||||
- Itemized PLR subclasses must provide `ordered_items` or `ordering`; otherwise
|
||||
deserialization can fail or rebuild a different structure.
|
||||
|
||||
## Startup And Resync Recommendation
|
||||
|
||||
The current Sirna code installs `SirnaResourceSynchronizer` after
|
||||
`super().post_init(ros_node)` (`sirna_station.py:363`). That is useful as a
|
||||
phase patch and as evidence that classification hooks are needed, but it should
|
||||
not become the long-term lifecycle. Base initialization may already have run
|
||||
generic stock sync and base post-init may already have published the deck before
|
||||
the Sirna synchronizer is installed.
|
||||
|
||||
Recommended pathway:
|
||||
|
||||
1. Keep the `BioyondWorkstation` lifecycle as the base path.
|
||||
2. Add a synchronizer factory or hook registration point before eager sync, for
|
||||
example `create_resource_synchronizer()`.
|
||||
3. Let Sirna provide classification/resolution hooks through that shared
|
||||
synchronizer shape.
|
||||
4. Make startup sync use the installed hook-aware synchronizer before the first
|
||||
deck publication.
|
||||
5. Make manual resync, reset resync, report-triggered resync, and future
|
||||
periodic sync all call `self.resource_synchronizer.sync_from_external()`.
|
||||
6. Do not instantiate fresh base synchronizers inside Sirna actions, because
|
||||
that bypasses the installed project logic.
|
||||
|
||||
This directly addresses the overlap finding in
|
||||
`temp_benyao/sirna/_findings/2026-05-12_sirna_synchronizer_overlap.md:6`.
|
||||
|
||||
## Material Registration From Create-Order Results
|
||||
|
||||
Create-order allocation registration should remain separate from stock sync, but
|
||||
it should use the same classification and apply logic.
|
||||
|
||||
Recommended create-order pipeline:
|
||||
|
||||
1. Normalize allocation records into:
|
||||
|
||||
```python
|
||||
{
|
||||
"materialId": "...",
|
||||
"materialCode": "...",
|
||||
"materialName": "...",
|
||||
"materialTypeId": "...",
|
||||
"materialTypeCode": "...",
|
||||
"materialTypeMode": "Sample|Consumables|Reagent",
|
||||
"materialTypeName": "...",
|
||||
"locationId": "...",
|
||||
"locationCode": "...",
|
||||
"locationShowName": "...",
|
||||
}
|
||||
```
|
||||
|
||||
2. Resolve warehouse and slot by:
|
||||
|
||||
```text
|
||||
material-info(materialId)
|
||||
-> warehouse-info-by-mat-type-id(materialTypeId) matched by locationId
|
||||
-> code-only diagnostic fallback only if unambiguous
|
||||
```
|
||||
|
||||
3. Classify as `slot_labware`, `liquid_content`, or `unsupported`.
|
||||
4. Apply mutation to the PLR deck.
|
||||
5. Publish the full deck once after the batch.
|
||||
|
||||
The current Sirna `_register_materials_to_tree()` already documents this flow
|
||||
(`sirna_station.py:3659`) and should be the local reference implementation until
|
||||
the shared hook is designed.
|
||||
|
||||
## Cloud / UniLabOS Publication Rules
|
||||
|
||||
Always mutate real tracked PLR resources first. Then publish through the
|
||||
framework.
|
||||
|
||||
Correct call shape:
|
||||
|
||||
```python
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource,
|
||||
True,
|
||||
**{"resources": [self.deck]},
|
||||
)
|
||||
```
|
||||
|
||||
The real method is:
|
||||
|
||||
```python
|
||||
async def update_resource(self, resources: List["ResourcePLR"])
|
||||
```
|
||||
|
||||
See `unilabos/ros/nodes/base_device_node.py:727`.
|
||||
|
||||
Do not call:
|
||||
|
||||
```python
|
||||
update_resource(resource_name=..., resource_data=...)
|
||||
```
|
||||
|
||||
Do not manually serialize the deck for this path. `update_resource()` creates a
|
||||
`ResourceTreeSet`, sends it to `/c2s_update_resource_tree`, and applies returned
|
||||
UUID mappings. Missing root parent UUIDs are auto-mounted to the current device,
|
||||
so parentage should be preserved on PLR objects before publication.
|
||||
|
||||
## Metadata Contract
|
||||
|
||||
Every Bioyond-originated slot resource should carry enough metadata for unload,
|
||||
audit, and later sync:
|
||||
|
||||
```python
|
||||
plr_resource.unilabos_extra = {
|
||||
"material_bioyond_id": mat["materialId"],
|
||||
"material_bioyond_code": mat["materialCode"],
|
||||
"material_bioyond_name": mat["materialName"],
|
||||
"material_bioyond_type_id": mat["materialTypeId"],
|
||||
"material_bioyond_type_code": mat["materialTypeCode"],
|
||||
"material_bioyond_type_mode": mat["materialTypeMode"],
|
||||
"location_bioyond_id": mat["locationId"],
|
||||
"location_code": resolved["location_code"],
|
||||
"warehouse_bioyond_id": resolved["warehouse_id"],
|
||||
"warehouse_bioyond_name": resolved["warehouse_name"],
|
||||
"location_resolution_source": resolved["source"],
|
||||
}
|
||||
```
|
||||
|
||||
Every Bioyond-originated liquid content should preserve equivalent metadata on
|
||||
the parent labware:
|
||||
|
||||
```python
|
||||
parent.unilabos_extra.setdefault("reagent_bioyond_ids", []).append({
|
||||
"material_bioyond_id": mat["materialId"],
|
||||
"material_bioyond_code": mat["materialCode"],
|
||||
"material_bioyond_name": mat["materialName"],
|
||||
"material_bioyond_type_id": mat["materialTypeId"],
|
||||
"material_bioyond_type_code": mat["materialTypeCode"],
|
||||
"location_bioyond_id": mat["locationId"],
|
||||
"quantity": mat.get("quantity"),
|
||||
"location_resolution_source": resolved["source"],
|
||||
})
|
||||
```
|
||||
|
||||
This metadata is not decorative. It is required for correct unload, audit,
|
||||
duplicate prevention, and future round-trip sync.
|
||||
|
||||
## Stale State And Conflict Policy
|
||||
|
||||
This is confirmed current behavior, not just a theoretical risk.
|
||||
|
||||
Current stock import places resources into empty warehouse slots and skips
|
||||
occupied slots. That prevents overwrites, but it can leave stale local resources
|
||||
after external moves/deletes.
|
||||
|
||||
Evidence:
|
||||
|
||||
- `BioyondResourceSynchronizer.sync_from_external()` fetches Bioyond stock and
|
||||
delegates to `resource_bioyond_to_plr(...)`, but it does not compute a
|
||||
before/after diff or remove local resources absent from the snapshot
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:147`).
|
||||
- `resource_bioyond_to_plr(...)` only assigns when the target warehouse position
|
||||
is empty or a placeholder; when a real resource already occupies the slot, it
|
||||
logs "跳过放置" and leaves the existing object in place
|
||||
(`unilabos/resources/graphio.py:936`).
|
||||
- Bioyond outbound/removal logic exists in separate local-to-external hooks such
|
||||
as `resource_tree_remove(...)`, but that is not invoked by stock refresh for
|
||||
Bioyond rows that disappeared externally
|
||||
(`unilabos/devices/workstation/bioyond_studio/station.py:987`).
|
||||
|
||||
Recommended direction:
|
||||
|
||||
1. Define Bioyond as the source of truth for external stock snapshots unless a
|
||||
local operation is in progress.
|
||||
2. Before applying a stock snapshot, compute a diff by Bioyond material ID.
|
||||
3. Remove or mark local resources whose Bioyond IDs disappeared from the
|
||||
snapshot, subject to workflow safety checks.
|
||||
4. Move local resources whose Bioyond location ID changed.
|
||||
5. Attach/detach liquid contents idempotently by Bioyond material ID.
|
||||
6. Publish once after applying the batch.
|
||||
7. In ambiguous or active-operation cases, log and require manual confirmation.
|
||||
|
||||
Until this policy exists, call the current implementation "refresh/import" rather
|
||||
than "authoritative synchronization."
|
||||
|
||||
## External-To-Local And Local-To-External Boundaries
|
||||
|
||||
External-to-local:
|
||||
|
||||
- Bioyond stock and create-order allocation rows mutate the local PLR deck.
|
||||
- Then UniLabOS publication derives resource trees from the PLR deck.
|
||||
|
||||
Local-to-external:
|
||||
|
||||
- `resource_tree_add` / update / remove may call Bioyond add, inbound, outbound,
|
||||
or move APIs.
|
||||
- These paths should require Bioyond IDs or explicit creation parameters.
|
||||
- Movement should use `unilabos_extra["update_resource_site"]` only as an
|
||||
explicit request, not as hidden ambient state.
|
||||
- After successful Bioyond side effects, refresh or update the PLR deck and
|
||||
publish the deck.
|
||||
|
||||
Avoid station-level direct LIMS calls that bypass the synchronizer unless the
|
||||
action explicitly reconciles the deck afterward.
|
||||
|
||||
## Error Handling Rules
|
||||
|
||||
Fail loudly on:
|
||||
|
||||
- unknown material type code/name;
|
||||
- unresolved warehouse ID/name;
|
||||
- location ID not found in `warehouse-info-by-mat-type-id`;
|
||||
- code-only location ambiguity;
|
||||
- missing parent labware for liquid content;
|
||||
- invalid PLR resource class or `Resource.deserialize()` failure;
|
||||
- Bioyond RPC returning empty/fallback values where an ID is required.
|
||||
|
||||
Do not silently create `RegularContainer` to hide mapping failures. The Sirna
|
||||
finding at `temp_benyao/sirna/_findings/2026-05-07_reagents_vs_resources.md:52`
|
||||
calls this out as a reusable trap.
|
||||
|
||||
## Tests And Validation
|
||||
|
||||
Minimum offline tests:
|
||||
|
||||
1. `update_resource` is called only with `resources=[deck]`.
|
||||
2. `ResourceTreeSet.from_plr_resources([deck])` preserves UUIDs, parentage,
|
||||
`data`, and `unilabos_extra`.
|
||||
3. Sirna allocation records resolve by `material-info` first.
|
||||
4. `warehouse-info-by-mat-type-id` resolves by `locationId`.
|
||||
5. Code-only fallback raises on ambiguous slots.
|
||||
6. `Sample` and `Consumables` rows become slot labware.
|
||||
7. Reagent content rows become parent liquid metadata.
|
||||
8. Re-running registration does not duplicate liquid entries.
|
||||
9. Missing parent labware is deferred/logged, not guessed.
|
||||
10. Unknown material type emits Bioyond IDs.
|
||||
11. Deck deserialize does not recreate duplicate default children.
|
||||
12. Warehouse coordinate mapping is tested per warehouse, not globally.
|
||||
13. A synced Sirna deck round-trips through PLR deserialize and
|
||||
`ResourceTreeSet` conversion without duplicate default children.
|
||||
14. Stock refresh with a missing Bioyond material ID proves current add/skip
|
||||
behavior first, then verifies the chosen diff/delete policy once implemented.
|
||||
15. Display geometry tests cover project-local live discovery fixtures,
|
||||
`bioyond_axis`, `bioyond_key_axis`, representative `code/x/y` mappings,
|
||||
frontend y-flip, and no-overlap deck layout.
|
||||
|
||||
Focused Sirna command:
|
||||
|
||||
```bash
|
||||
pytest temp_benyao/sirna/tests/test_sirna_resource_system.py -q
|
||||
```
|
||||
|
||||
Shared conversion command, when changing graphio or Bioyond converters:
|
||||
|
||||
```bash
|
||||
pytest tests/resources/test_converter_bioyond.py -q
|
||||
```
|
||||
|
||||
Live/read-only validation should capture fixtures for:
|
||||
|
||||
- `stock_material(typeMode=0/1/2, includeDetail=true)`;
|
||||
- `material-info(materialId)`;
|
||||
- `warehouse-info-by-mat-type-id(materialTypeId)`;
|
||||
- create-order allocation records;
|
||||
- frontend/cloud resource-tree readback after publication.
|
||||
|
||||
## Discrepancies To Discuss
|
||||
|
||||
### 1. Architecture Is Direction; Base Code Is The Compatibility Anchor
|
||||
|
||||
The architecture guide presents `ResourceSynchronizer` as bidirectional. Current
|
||||
Bioyond code is mostly eager external import plus selected add/remove/update
|
||||
side effects. It has no complete continuous conflict-resolution loop.
|
||||
|
||||
Sirna current code should be read in this context: it exposes missing
|
||||
capabilities, but parts of it conflict with the existing base lifecycle because
|
||||
it was layered on after the base sync behavior already existed.
|
||||
|
||||
Recommendation: keep the bidirectional architecture as the target, preserve
|
||||
`BioyondWorkstation` as the implementation anchor, and introduce shared hooks
|
||||
for the missing Sirna-class problems. Describe the current implementation as
|
||||
best-effort refresh plus Bioyond side effects until a diff/conflict policy
|
||||
exists.
|
||||
|
||||
### 2. The Doc Centers `Deck`; The Framework Centers `ResourceTreeSet`
|
||||
|
||||
The architecture guide uses PLR `Deck` as the material system. UniLabOS resource
|
||||
tracking uses `ResourceTreeSet` as the canonical serialized representation.
|
||||
|
||||
Recommendation: phrase the model as "Deck is the local PLR mutation surface;
|
||||
ResourceTreeSet is the UniLabOS/cloud representation derived from it."
|
||||
|
||||
### 3. Base Bioyond Sync Treats Every Stock Row As PLR Resource
|
||||
|
||||
`BioyondResourceSynchronizer.sync_from_external()` currently feeds typeMode
|
||||
0/1/2 rows into `resource_bioyond_to_plr(...)`.
|
||||
|
||||
Sirna evidence shows this is wrong for reagent/content-like rows.
|
||||
|
||||
Recommendation: add classification hooks before conversion. Rows classified as
|
||||
liquid content must not go through standalone PLR resource conversion.
|
||||
|
||||
### 4. Sirna Fix Exists As A Fork, Not A Shared Hook
|
||||
|
||||
Current `SirnaResourceSynchronizer` captures the important reagent-as-liquid
|
||||
question, but it duplicates or bypasses shared sync mechanics. Startup can run
|
||||
base sync before the Sirna synchronizer is installed, and manual/reset paths
|
||||
have used fresh base synchronizers.
|
||||
|
||||
Recommendation: keep the discovered behavior where evidence supports it, but
|
||||
refactor the shape. A factory/hook in the shared synchronizer is preferable to a
|
||||
long-lived parallel sync class.
|
||||
|
||||
### 5. Sirna Create-Order Registration Is Stronger Than Stock Sync
|
||||
|
||||
Create-order registration now has ID-first resolution and a clearer classifier.
|
||||
That is valuable evidence, not automatically the canonical sync design. The
|
||||
stock sync path still resolves external liquid rows by warehouse name/code and
|
||||
stores weaker metadata.
|
||||
|
||||
Recommendation: extract the stronger resolver/classifier ideas into shared
|
||||
hooks, then converge stock sync and create-order registration on the same
|
||||
functions.
|
||||
|
||||
### 6. Graphio Has Shared Fragility
|
||||
|
||||
`resource_bioyond_to_plr()` contains hardcoded warehouse/coordinate cases and a
|
||||
fallback to `RegularContainer`. Hardening it affects multiple Bioyond projects.
|
||||
|
||||
Recommendation: after Sirna is green, discuss shared graphio hardening in a
|
||||
separate change: no silent `RegularContainer`, explicit unknown-type diagnostics,
|
||||
and project-specific axis metadata instead of hardcoded names.
|
||||
|
||||
### 7. Serialize/Deserialize Is A Gating Contract
|
||||
|
||||
This is not optional documentation neatness. Any new resource/deck class or sync
|
||||
metadata must pass the framework serialize/deserialize path before it can be
|
||||
trusted in cloud-synced operation.
|
||||
|
||||
Recommendation: make round-trip tests part of acceptance for resource-system
|
||||
changes, especially for Sirna deck setup, warehouse metadata, `reagent_bioyond_ids`,
|
||||
liquid tracker state, and itemized labware ordering.
|
||||
|
||||
### 8. Existing Stock Sync Is Add/Skip-Biased, Not Delete-Aware
|
||||
|
||||
Current `sync_from_external()` imports and places observed Bioyond resources,
|
||||
but it does not delete local resources missing from the latest stock snapshot.
|
||||
When a target slot is occupied by a real resource, graphio skips placement rather
|
||||
than replacing it.
|
||||
|
||||
Recommendation: describe the current behavior as "stock refresh/import" until a
|
||||
Bioyond-ID diff policy is implemented. Deletion/removal must be a deliberate
|
||||
phase, with workflow-safety checks and tests, not implied by the current stock
|
||||
sync name.
|
||||
|
||||
### 9. Peptide Display Is Useful; Peptide Sync Is Not Yet Authority
|
||||
|
||||
Peptide's latest display work is useful evidence for Peptide's own warehouse
|
||||
axis/key-axis metadata and for the shared need to account for frontend y-axis
|
||||
inversion. It does not define Sirna's axis values. Its resource sync remains
|
||||
untested/problematic and should not be treated as the model for Sirna sync
|
||||
behavior.
|
||||
|
||||
Recommendation: fold the Peptide display lesson into shared guidance as a
|
||||
discovery-and-test pattern, not as a literal axis pair. Keep Sirna display
|
||||
behavior grounded in Sirna live evidence and the current good deck baseline; keep
|
||||
resource synchronization recommendations grounded in the Sirna ID-first
|
||||
registration path and the shared Bioyond synchronizer refactor.
|
||||
|
||||
### 10. Some Existing Stations Should Be Examples Only, Not Templates
|
||||
|
||||
Non-Sirna stations show useful patterns, but also shortcuts:
|
||||
|
||||
- direct LIMS calls bypassing the synchronizer;
|
||||
- duplicate `super().__init__()` in reaction station;
|
||||
- stale/undefined `WAREHOUSE_MAPPING` references;
|
||||
- RPC methods collapsing failures into empty values;
|
||||
- no robust stale deck cleanup on stock refresh.
|
||||
|
||||
Recommendation: borrow the shared deck publication and Bioyond ID metadata
|
||||
patterns, not the incidental shortcuts.
|
||||
|
||||
## Recommended Discussion Path
|
||||
|
||||
For the next implementation discussion, decide these in order:
|
||||
|
||||
1. What is the smallest shared-base extension that lets project hooks exist
|
||||
before eager sync without breaking existing Bioyond stations?
|
||||
2. Should `BioyondWorkstation` gain a synchronizer factory, a hook registry, or
|
||||
a delayed eager-sync point?
|
||||
3. Is `materialTypeCode 0003` in current Sirna live data physical labware,
|
||||
liquid content, or both depending on row shape?
|
||||
4. Where should Sirna warehouse Bioyond IDs live: station config, deck metadata,
|
||||
or both?
|
||||
5. Should stock refresh clear/diff deck state now, or remain append/skip until
|
||||
after create-order registration is stable?
|
||||
6. Should `update_resource` remain async/non-blocking for material registration,
|
||||
or should selected user-facing actions fail if publication fails?
|
||||
7. Which parts of the Sirna reagent-as-liquid rule are project-local, and which
|
||||
should become shared Bioyond behavior after Peptide/cell validation?
|
||||
8. Should graphio fallback hardening land before or after Sirna stock sync is
|
||||
fully validated?
|
||||
9. Should any remaining Sirna x/y or y-reverse issue be fixed in shared
|
||||
graphio/display mapping after a live fixture proves it, or should the current
|
||||
Sirna deck remain untouched?
|
||||
|
||||
## Recommended Pathway
|
||||
|
||||
The pragmatic path is:
|
||||
|
||||
1. Preserve and test the current `BioyondWorkstation` lifecycle as the shared
|
||||
compatibility baseline.
|
||||
2. Treat Sirna create-order registration as a local proof of the missing
|
||||
classification/ID-resolution behavior, not as the architecture shape to copy.
|
||||
3. Validate live/read-only Sirna fixtures for `0003`, warehouse IDs, and stock
|
||||
reagent rows.
|
||||
4. Refactor the shared Bioyond synchronizer to expose classification,
|
||||
resolution, and non-slot row hooks with default behavior matching existing
|
||||
stations.
|
||||
5. Make Sirna install hooks before the first external sync and first deck
|
||||
publication through the shared lifecycle.
|
||||
6. Route startup, manual resync, reset resync, and report-triggered resync
|
||||
through the installed synchronizer.
|
||||
7. Converge stock sync and create-order registration on one
|
||||
resolver/classifier/apply implementation.
|
||||
8. Add stale-state diffing only after the basic ID-first path is stable.
|
||||
9. Harden graphio fallback as a shared follow-up.
|
||||
|
||||
This gives Sirna the necessary behavior without locking in a second Bioyond sync
|
||||
system that future projects will have to debug around.
|
||||
@@ -1,5 +1,5 @@
|
||||
channel_sources:
|
||||
- robostack,robostack-staging,conda-forge,defaults
|
||||
- robostack,robostack-staging,conda-forge
|
||||
|
||||
gazebo:
|
||||
- '11'
|
||||
|
||||
@@ -1,7 +1,9 @@
|
||||
"""
|
||||
LaiYu液体处理设备后端模块
|
||||
|
||||
提供设备后端接口和实现
|
||||
"""
|
||||
|
||||
from .laiyu_v_backend import UniLiquidHandlerLaiyuBackend
|
||||
from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
|
||||
|
||||
__all__ = ['UniLiquidHandlerLaiyuBackend']
|
||||
__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
|
||||
334
unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py
Normal file
334
unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py
Normal file
@@ -0,0 +1,334 @@
|
||||
"""
|
||||
LaiYu液体处理设备后端实现
|
||||
|
||||
提供设备的后端接口和控制逻辑
|
||||
"""
|
||||
|
||||
import logging
|
||||
from typing import Dict, Any, Optional, List
|
||||
from abc import ABC, abstractmethod
|
||||
|
||||
# 尝试导入PyLabRobot后端
|
||||
try:
|
||||
from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
except ImportError:
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
# 创建模拟后端基类
|
||||
class LiquidHandlerBackend:
|
||||
def __init__(self, name: str):
|
||||
self.name = name
|
||||
self.is_connected = False
|
||||
|
||||
def connect(self):
|
||||
"""连接设备"""
|
||||
pass
|
||||
|
||||
def disconnect(self):
|
||||
"""断开连接"""
|
||||
pass
|
||||
|
||||
|
||||
class LaiYuLiquidBackend(LiquidHandlerBackend):
|
||||
"""LaiYu液体处理设备后端"""
|
||||
|
||||
def __init__(self, name: str = "LaiYu_Liquid_Backend"):
|
||||
"""
|
||||
初始化LaiYu液体处理设备后端
|
||||
|
||||
Args:
|
||||
name: 后端名称
|
||||
"""
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot 的 LiquidHandlerBackend 不接受参数
|
||||
super().__init__()
|
||||
else:
|
||||
# 模拟版本接受 name 参数
|
||||
super().__init__(name)
|
||||
|
||||
self.name = name
|
||||
self.logger = logging.getLogger(__name__)
|
||||
self.is_connected = False
|
||||
self.device_info = {
|
||||
"name": "LaiYu液体处理设备",
|
||||
"version": "1.0.0",
|
||||
"manufacturer": "LaiYu",
|
||||
"model": "LaiYu_Liquid_Handler"
|
||||
}
|
||||
|
||||
def connect(self) -> bool:
|
||||
"""
|
||||
连接到LaiYu液体处理设备
|
||||
|
||||
Returns:
|
||||
bool: 连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.logger.info("正在连接到LaiYu液体处理设备...")
|
||||
# 这里应该实现实际的设备连接逻辑
|
||||
# 目前返回模拟连接成功
|
||||
self.is_connected = True
|
||||
self.logger.info("成功连接到LaiYu液体处理设备")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
|
||||
self.is_connected = False
|
||||
return False
|
||||
|
||||
def disconnect(self) -> bool:
|
||||
"""
|
||||
断开与LaiYu液体处理设备的连接
|
||||
|
||||
Returns:
|
||||
bool: 断开连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.logger.info("正在断开与LaiYu液体处理设备的连接...")
|
||||
# 这里应该实现实际的设备断开连接逻辑
|
||||
self.is_connected = False
|
||||
self.logger.info("成功断开与LaiYu液体处理设备的连接")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
|
||||
return False
|
||||
|
||||
def is_device_connected(self) -> bool:
|
||||
"""
|
||||
检查设备是否已连接
|
||||
|
||||
Returns:
|
||||
bool: 设备是否已连接
|
||||
"""
|
||||
return self.is_connected
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备信息
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 设备信息字典
|
||||
"""
|
||||
return self.device_info.copy()
|
||||
|
||||
def home_device(self) -> bool:
|
||||
"""
|
||||
设备归零操作
|
||||
|
||||
Returns:
|
||||
bool: 归零是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行归零操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info("正在执行设备归零操作...")
|
||||
# 这里应该实现实际的设备归零逻辑
|
||||
self.logger.info("设备归零操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"设备归零操作失败: {e}")
|
||||
return False
|
||||
|
||||
def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
吸液操作
|
||||
|
||||
Args:
|
||||
volume: 吸液体积 (微升)
|
||||
location: 吸液位置信息
|
||||
|
||||
Returns:
|
||||
bool: 吸液是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行吸液操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
|
||||
# 这里应该实现实际的吸液逻辑
|
||||
self.logger.info("吸液操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"吸液操作失败: {e}")
|
||||
return False
|
||||
|
||||
def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
排液操作
|
||||
|
||||
Args:
|
||||
volume: 排液体积 (微升)
|
||||
location: 排液位置信息
|
||||
|
||||
Returns:
|
||||
bool: 排液是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行排液操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
|
||||
# 这里应该实现实际的排液逻辑
|
||||
self.logger.info("排液操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"排液操作失败: {e}")
|
||||
return False
|
||||
|
||||
def pick_up_tip(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
取枪头操作
|
||||
|
||||
Args:
|
||||
location: 枪头位置信息
|
||||
|
||||
Returns:
|
||||
bool: 取枪头是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行取枪头操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行取枪头操作: 位置={location}")
|
||||
# 这里应该实现实际的取枪头逻辑
|
||||
self.logger.info("取枪头操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"取枪头操作失败: {e}")
|
||||
return False
|
||||
|
||||
def drop_tip(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
丢弃枪头操作
|
||||
|
||||
Args:
|
||||
location: 丢弃位置信息
|
||||
|
||||
Returns:
|
||||
bool: 丢弃枪头是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行丢弃枪头操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
|
||||
# 这里应该实现实际的丢弃枪头逻辑
|
||||
self.logger.info("丢弃枪头操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"丢弃枪头操作失败: {e}")
|
||||
return False
|
||||
|
||||
def move_to(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
|
||||
Args:
|
||||
location: 目标位置信息
|
||||
|
||||
Returns:
|
||||
bool: 移动是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行移动操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在移动到位置: {location}")
|
||||
# 这里应该实现实际的移动逻辑
|
||||
self.logger.info("移动操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动操作失败: {e}")
|
||||
return False
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备状态
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 设备状态信息
|
||||
"""
|
||||
return {
|
||||
"connected": self.is_connected,
|
||||
"device_info": self.device_info,
|
||||
"status": "ready" if self.is_connected else "disconnected"
|
||||
}
|
||||
|
||||
# PyLabRobot 抽象方法实现
|
||||
def stop(self):
|
||||
"""停止所有操作"""
|
||||
self.logger.info("停止所有操作")
|
||||
pass
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
"""返回通道数量"""
|
||||
return 1 # 单通道移液器
|
||||
|
||||
def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
|
||||
"""检查是否可以拾取吸头"""
|
||||
return True # 简化实现，总是返回True
|
||||
|
||||
def pick_up_tips(self, tip_rack, tip_positions):
|
||||
"""拾取多个吸头"""
|
||||
self.logger.info(f"拾取吸头: {tip_positions}")
|
||||
pass
|
||||
|
||||
def drop_tips(self, tip_rack, tip_positions):
|
||||
"""丢弃多个吸头"""
|
||||
self.logger.info(f"丢弃吸头: {tip_positions}")
|
||||
pass
|
||||
|
||||
def pick_up_tips96(self, tip_rack):
|
||||
"""拾取96个吸头"""
|
||||
self.logger.info("拾取96个吸头")
|
||||
pass
|
||||
|
||||
def drop_tips96(self, tip_rack):
|
||||
"""丢弃96个吸头"""
|
||||
self.logger.info("丢弃96个吸头")
|
||||
pass
|
||||
|
||||
def aspirate96(self, volume, plate, well_positions):
|
||||
"""96通道吸液"""
|
||||
self.logger.info(f"96通道吸液: 体积={volume}")
|
||||
pass
|
||||
|
||||
def dispense96(self, volume, plate, well_positions):
|
||||
"""96通道排液"""
|
||||
self.logger.info(f"96通道排液: 体积={volume}")
|
||||
pass
|
||||
|
||||
def pick_up_resource(self, resource, location):
|
||||
"""拾取资源"""
|
||||
self.logger.info(f"拾取资源: {resource}")
|
||||
pass
|
||||
|
||||
def drop_resource(self, resource, location):
|
||||
"""放置资源"""
|
||||
self.logger.info(f"放置资源: {resource}")
|
||||
pass
|
||||
|
||||
def move_picked_up_resource(self, resource, location):
|
||||
"""移动已拾取的资源"""
|
||||
self.logger.info(f"移动资源: {resource} 到 {location}")
|
||||
pass
|
||||
|
||||
|
||||
def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
|
||||
"""
|
||||
创建LaiYu液体处理设备后端实例
|
||||
|
||||
Args:
|
||||
name: 后端名称
|
||||
|
||||
Returns:
|
||||
LaiYuLiquidBackend: 后端实例
|
||||
"""
|
||||
return LaiYuLiquidBackend(name)
|
||||
@@ -1,307 +1,385 @@
|
||||
"""LaiYu PLR 后端 — 对齐路径 B 硬件交互模式
|
||||
|
||||
硬件初始化顺序与 laiyu_liquid_station.py (路径 B) 一致:
|
||||
1. XYZController(auto_connect=True) — 先开串口
|
||||
2. PipetteController.connect_shared() — 共享 XYZ 的串口 / 锁
|
||||
3. home_all_axes() + pipette.initialize()
|
||||
"""
|
||||
|
||||
import logging
|
||||
|
||||
import json
|
||||
from typing import List, Optional, Union
|
||||
|
||||
from pylabrobot.liquid_handling.backends.backend import LiquidHandlerBackend
|
||||
from pylabrobot.liquid_handling.backends.backend import (
|
||||
LiquidHandlerBackend,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
Drop,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationContainer,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadDispenseContainer,
|
||||
MultiHeadDispensePlate,
|
||||
Pickup,
|
||||
PickupTipRack,
|
||||
ResourceDrop,
|
||||
ResourceMove,
|
||||
ResourcePickup,
|
||||
SingleChannelAspiration,
|
||||
SingleChannelDispense,
|
||||
Drop,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationContainer,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadDispenseContainer,
|
||||
MultiHeadDispensePlate,
|
||||
Pickup,
|
||||
PickupTipRack,
|
||||
ResourceDrop,
|
||||
ResourceMove,
|
||||
ResourcePickup,
|
||||
SingleChannelAspiration,
|
||||
SingleChannelDispense,
|
||||
)
|
||||
from pylabrobot.resources import Resource, Tip
|
||||
|
||||
from unilabos.devices.liquid_handling.laiyu.controllers.xyz_controller import XYZController
|
||||
from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import (
|
||||
PipetteController,
|
||||
TipStatus,
|
||||
)
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from sensor_msgs.msg import JointState
|
||||
import time
|
||||
from rclpy.action import ActionClient
|
||||
from unilabos_msgs.action import SendCmd
|
||||
import re
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
|
||||
from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import PipetteController, TipStatus
|
||||
|
||||
|
||||
class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
|
||||
"""LaiYu 硬件后端 — PLR Backend 接口实现"""
|
||||
"""Chatter box backend for device-free testing. Prints out all operations."""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
num_channels: int = 1,
|
||||
tip_length: float = 0,
|
||||
total_height: float = 310,
|
||||
port: str = "/dev/ttyUSB0",
|
||||
baudrate: int = 115200,
|
||||
pipette_address: int = 4,
|
||||
):
|
||||
super().__init__()
|
||||
self._num_channels = num_channels
|
||||
self.tip_length = tip_length
|
||||
self.total_height = total_height
|
||||
_pip_length = 5
|
||||
_vol_length = 8
|
||||
_resource_length = 20
|
||||
_offset_length = 16
|
||||
_flow_rate_length = 10
|
||||
_blowout_length = 10
|
||||
_lld_z_length = 10
|
||||
_kwargs_length = 15
|
||||
_tip_type_length = 12
|
||||
_max_volume_length = 16
|
||||
_fitting_depth_length = 20
|
||||
_tip_length_length = 16
|
||||
# _pickup_method_length = 20
|
||||
_filter_length = 10
|
||||
|
||||
# 保存配置，延迟到 setup() 再创建硬件对象
|
||||
self._port = port
|
||||
self._baudrate = baudrate
|
||||
self._pipette_address = pipette_address
|
||||
def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, port: str = "/dev/ttyUSB0"):
|
||||
"""Initialize a chatter box backend."""
|
||||
super().__init__()
|
||||
self._num_channels = num_channels
|
||||
self.tip_length = tip_length
|
||||
self.total_height = total_height
|
||||
# rclpy.init()
|
||||
if not rclpy.ok():
|
||||
rclpy.init()
|
||||
self.joint_state_publisher = None
|
||||
self.hardware_interface = PipetteController(port=port)
|
||||
|
||||
self._xyz: Optional[XYZController] = None
|
||||
self._pipette_ctrl: Optional[PipetteController] = None
|
||||
self._ros_node = None
|
||||
async def setup(self):
|
||||
# self.joint_state_publisher = JointStatePublisher()
|
||||
# self.hardware_interface.xyz_controller.connect_device()
|
||||
# self.hardware_interface.xyz_controller.home_all_axes()
|
||||
await super().setup()
|
||||
self.hardware_interface.connect()
|
||||
self.hardware_interface.initialize()
|
||||
|
||||
# ------------------------------------------------------------------ lifecycle
|
||||
print("Setting up the liquid handler.")
|
||||
|
||||
def post_init(self, ros_node):
|
||||
"""接收 ROS 节点引用（由 Handler.post_init 调用）"""
|
||||
self._ros_node = ros_node
|
||||
async def stop(self):
|
||||
print("Stopping the liquid handler.")
|
||||
|
||||
async def setup(self):
|
||||
"""按路径 B 顺序初始化硬件"""
|
||||
await super().setup()
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
# 1. XYZ 先开串口
|
||||
self._xyz = XYZController(
|
||||
port=self._port,
|
||||
baudrate=self._baudrate,
|
||||
auto_connect=True,
|
||||
)
|
||||
if not self._xyz.is_connected:
|
||||
raise RuntimeError("XYZ 控制器连接失败")
|
||||
def pipette_aspirate(self, volume: float, flow_rate: float):
|
||||
|
||||
# 2. PipetteController 共享 XYZ 串口
|
||||
self._pipette_ctrl = PipetteController(
|
||||
port=self._port,
|
||||
address=self._pipette_address,
|
||||
)
|
||||
self._pipette_ctrl.connect_shared(
|
||||
serial_conn=self._xyz.serial_conn,
|
||||
serial_lock=self._xyz.serial_lock,
|
||||
xyz_controller=self._xyz,
|
||||
)
|
||||
self.hardware_interface.pipette.set_max_speed(flow_rate)
|
||||
res = self.hardware_interface.pipette.aspirate(volume=volume)
|
||||
|
||||
if not res:
|
||||
self.hardware_interface.logger.error("吸取失败，当前体积: {self.hardware_interface.current_volume}")
|
||||
return
|
||||
|
||||
# 3. 回零 + 移液器初始化
|
||||
self._xyz.home_all_axes()
|
||||
self._pipette_ctrl.initialize()
|
||||
self.hardware_interface.current_volume += volume
|
||||
|
||||
logger.info("LaiYu 后端硬件初始化完成")
|
||||
def pipette_dispense(self, volume: float, flow_rate: float):
|
||||
|
||||
async def stop(self):
|
||||
"""正确断开硬件"""
|
||||
try:
|
||||
if self._pipette_ctrl:
|
||||
self._pipette_ctrl.disconnect_shared()
|
||||
if self._xyz:
|
||||
self._xyz.disconnect()
|
||||
logger.info("LaiYu 后端硬件已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"停止后端失败: {e}")
|
||||
self.hardware_interface.pipette.set_max_speed(flow_rate)
|
||||
res = self.hardware_interface.pipette.dispense(volume=volume)
|
||||
if not res:
|
||||
self.hardware_interface.logger.error("排液失败，当前体积: {self.hardware_interface.current_volume}")
|
||||
return
|
||||
self.hardware_interface.current_volume -= volume
|
||||
|
||||
# ------------------------------------------------------------------ helpers
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
def _plr_to_machine_coords(self, resource, offset):
|
||||
"""PLR Resource 坐标 → 机器坐标 (倒置龙门架: total_height - z, -y)"""
|
||||
coordinate = resource.get_absolute_location(x="c", y="c")
|
||||
x = coordinate.x + offset.x
|
||||
y = coordinate.y + offset.y
|
||||
z_plr = coordinate.z + offset.z
|
||||
return x, -y, self.total_height - (z_plr + self.tip_length)
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
print(f"Resource {resource.name} was assigned to the liquid handler.")
|
||||
|
||||
def _pipette_aspirate(self, volume: float, flow_rate: float):
|
||||
self._pipette_ctrl.pipette.set_max_speed(flow_rate)
|
||||
res = self._pipette_ctrl.pipette.aspirate(volume=volume)
|
||||
if not res:
|
||||
logger.error(f"吸取失败，当前体积: {self._pipette_ctrl.current_volume}")
|
||||
return
|
||||
self._pipette_ctrl.current_volume += volume
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
print(f"Resource {name} was unassigned from the liquid handler.")
|
||||
|
||||
def _pipette_dispense(self, volume: float, flow_rate: float):
|
||||
self._pipette_ctrl.pipette.set_max_speed(flow_rate)
|
||||
res = self._pipette_ctrl.pipette.dispense(volume=volume)
|
||||
if not res:
|
||||
logger.error(f"排液失败，当前体积: {self._pipette_ctrl.current_volume}")
|
||||
return
|
||||
self._pipette_ctrl.current_volume -= volume
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
print("Picking up tips:")
|
||||
# print(ops.tip)
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
|
||||
# ------------------------------------------------------------------ properties
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
# print(op.resource.get_absolute_location())
|
||||
|
||||
self.tip_length = ops[0].tip.total_tip_length
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print("moving")
|
||||
self.hardware_interface._update_tip_status()
|
||||
if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("已有枪头，无需重复拾取")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
|
||||
# goback()
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
# ------------------------------------------------------------------ resource callbacks
|
||||
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
logger.info(f"Resource {resource.name} was assigned to the liquid handler.")
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
print("Dropping tips:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
logger.info(f"Resource {name} was unassigned from the liquid handler.")
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
|
||||
# ------------------------------------------------------------------ pick_up_tips
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z -20
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
self.hardware_interface._update_tip_status()
|
||||
if self.hardware_interface.tip_status == TipStatus.NO_TIP:
|
||||
print("无枪头，无需丢弃")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.hardware_interface.eject_tip
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
tip = ops[0].tip
|
||||
self.tip_length = tip.total_tip_length
|
||||
x, y, z_top = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
print("Aspirating:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status == TipStatus.TIP_ATTACHED:
|
||||
logger.warning("已有枪头，无需重复拾取")
|
||||
return
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<15}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
|
||||
try:
|
||||
# 1. 移到枪头正上方
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z_top, speed=200)
|
||||
# 2. 下压到套枪头深度（fitting_depth 是枪头套入长度）
|
||||
z_pickup = z_top + tip.fitting_depth
|
||||
self._xyz.move_to_work_coord_safe(z=z_pickup, speed=100)
|
||||
# 3. 退回安全高度
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height, speed=100
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"pick_up_tips 移动失败: {e}")
|
||||
raise
|
||||
# 判断枪头是否存在
|
||||
self.hardware_interface._update_tip_status()
|
||||
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("无枪头，无法吸液")
|
||||
return
|
||||
# 判断吸液量是否超过枪头容量
|
||||
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
|
||||
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
|
||||
if self.hardware_interface.current_volume + ops[0].volume + blow_out_air_volume > self.hardware_interface.max_volume:
|
||||
self.hardware_interface.logger.error(f"吸液量超过枪头容量: {self.hardware_interface.current_volume + ops[0].volume} > {self.hardware_interface.max_volume}")
|
||||
return
|
||||
|
||||
# ------------------------------------------------------------------ drop_tips
|
||||
# 移动到吸液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
z -= 20 # 额外下移补偿
|
||||
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status == TipStatus.NO_TIP:
|
||||
logger.warning("无枪头，无需丢弃")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
if blow_out_air_volume >0:
|
||||
self.pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
|
||||
try:
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_ctrl.eject_tip() # 修复: 原来缺少 ()
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"drop_tips 失败: {e}")
|
||||
raise
|
||||
|
||||
# ------------------------------------------------------------------ aspirate
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status != TipStatus.TIP_ATTACHED:
|
||||
raise RuntimeError("无枪头，无法吸液")
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
# print("Dispensing:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
|
||||
flow_rate = backend_kwargs.get("flow_rate", 500)
|
||||
blow_out_air_volume = backend_kwargs.get("blow_out_air_volume", 0)
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<{UniLiquidHandlerLaiyuBackend._kwargs_length}}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
|
||||
if (
|
||||
self._pipette_ctrl.current_volume + ops[0].volume + blow_out_air_volume
|
||||
> self._pipette_ctrl.max_volume
|
||||
):
|
||||
raise RuntimeError(
|
||||
f"吸液量超过枪头容量: "
|
||||
f"{self._pipette_ctrl.current_volume + ops[0].volume} > {self._pipette_ctrl.max_volume}"
|
||||
)
|
||||
# 判断枪头是否存在
|
||||
self.hardware_interface._update_tip_status()
|
||||
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("无枪头，无法排液")
|
||||
return
|
||||
# 判断排液量是否超过枪头容量
|
||||
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
|
||||
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
|
||||
if self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume < 0:
|
||||
self.hardware_interface.logger.error(f"排液量超过枪头容量: {self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume} < 0")
|
||||
return
|
||||
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
# 移动到排液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
if blow_out_air_volume > 0:
|
||||
self._pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
|
||||
# ------------------------------------------------------------------ dispense
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
if blow_out_air_volume > 0:
|
||||
self.pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
print(f"Picking up tips from {pickup.resource.name}.")
|
||||
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status != TipStatus.TIP_ATTACHED:
|
||||
raise RuntimeError("无枪头，无法排液")
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
print(f"Dropping tips to {drop.resource.name}.")
|
||||
|
||||
flow_rate = backend_kwargs.get("flow_rate", 500)
|
||||
blow_out_air_volume = backend_kwargs.get("blow_out_air_volume", 0)
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
if isinstance(aspiration, MultiHeadAspirationPlate):
|
||||
resource = aspiration.wells[0].parent
|
||||
else:
|
||||
resource = aspiration.container
|
||||
print(f"Aspirating {aspiration.volume} from {resource}.")
|
||||
|
||||
if (
|
||||
self._pipette_ctrl.current_volume - ops[0].volume - blow_out_air_volume < 0
|
||||
):
|
||||
raise RuntimeError(
|
||||
f"排液量超过当前体积: "
|
||||
f"{self._pipette_ctrl.current_volume - ops[0].volume - blow_out_air_volume} < 0"
|
||||
)
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
if isinstance(dispense, MultiHeadDispensePlate):
|
||||
resource = dispense.wells[0].parent
|
||||
else:
|
||||
resource = dispense.container
|
||||
print(f"Dispensing {dispense.volume} to {resource}.")
|
||||
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
print(f"Picking up resource: {pickup}")
|
||||
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
if blow_out_air_volume > 0:
|
||||
self._pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
print(f"Moving picked up resource: {move}")
|
||||
|
||||
# ------------------------------------------------------------------ 96-channel stubs
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
print(f"Dropping resource: {drop}")
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
logger.info(f"Picking up tips from {pickup.resource.name}.")
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
logger.info(f"Dropping tips to {drop.resource.name}.")
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
if isinstance(aspiration, MultiHeadAspirationPlate):
|
||||
resource = aspiration.wells[0].parent
|
||||
else:
|
||||
resource = aspiration.container
|
||||
logger.info(f"Aspirating {aspiration.volume} from {resource}.")
|
||||
|
||||
async def dispense96(
|
||||
self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]
|
||||
):
|
||||
if isinstance(dispense, MultiHeadDispensePlate):
|
||||
resource = dispense.wells[0].parent
|
||||
else:
|
||||
resource = dispense.container
|
||||
logger.info(f"Dispensing {dispense.volume} to {resource}.")
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
logger.info(f"Picking up resource: {pickup}")
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
logger.info(f"Moving picked up resource: {move}")
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
logger.info(f"Dropping resource: {drop}")
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
|
||||
@@ -5,16 +5,21 @@
|
||||
封装SOPA移液器的高级控制功能
|
||||
"""
|
||||
|
||||
# 添加项目根目录到Python路径以解决模块导入问题
|
||||
import sys
|
||||
import os
|
||||
|
||||
_current_file = os.path.abspath(__file__)
|
||||
_project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(_current_file)))))
|
||||
if _project_root not in sys.path:
|
||||
sys.path.insert(0, _project_root)
|
||||
from tkinter import N
|
||||
|
||||
from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import ModbusException
|
||||
|
||||
# 无论如何都添加项目根目录到路径
|
||||
current_file = os.path.abspath(__file__)
|
||||
# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py
|
||||
# 向上5级到 .../Uni-Lab-OS
|
||||
project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file)))))
|
||||
# 强制添加项目根目录到sys.path的开头
|
||||
sys.path.insert(0, project_root)
|
||||
|
||||
import time
|
||||
import logging
|
||||
from typing import Optional, List, Dict, Tuple
|
||||
@@ -148,7 +153,7 @@ class PipetteController:
|
||||
logger.error("移液器连接失败")
|
||||
return False
|
||||
logger.info("移液器连接成功")
|
||||
|
||||
|
||||
# 连接XYZ步进电机控制器（如果提供了端口）
|
||||
if self.xyz_port != self.pipette_port:
|
||||
try:
|
||||
@@ -167,62 +172,24 @@ class PipetteController:
|
||||
try:
|
||||
self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
|
||||
self.xyz_controller.serial_conn = self.pipette.serial_port
|
||||
self.xyz_controller.serial_lock = self.pipette.lock
|
||||
self.xyz_controller.is_connected = True
|
||||
logger.info("XYZ控制器与移液器共享串口和互斥锁")
|
||||
except Exception as e:
|
||||
logger.warning(f"共享端口 XYZ 控制器创建失败: {e}")
|
||||
self.xyz_controller = None
|
||||
self.xyz_connected = False
|
||||
|
||||
logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
|
||||
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"设备连接失败: {e}")
|
||||
return False
|
||||
|
||||
def connect_shared(self, serial_conn, serial_lock, xyz_controller: XYZController) -> bool:
|
||||
"""使用已连接的串口和XYZ控制器（路径 B 模式：XYZ 先开串口，移液器共享）
|
||||
|
||||
Args:
|
||||
serial_conn: 已打开的串口连接（来自 XYZController）
|
||||
serial_lock: 串口互斥锁（来自 XYZController）
|
||||
xyz_controller: 已连接的 XYZController 实例
|
||||
"""
|
||||
try:
|
||||
self.pipette.serial_port = serial_conn
|
||||
self.pipette.lock = serial_lock
|
||||
self.pipette.is_connected = True
|
||||
|
||||
self.xyz_controller = xyz_controller
|
||||
self.xyz_connected = True
|
||||
|
||||
logger.info("移液控制器已通过 connect_shared 共享 XYZ 串口")
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"connect_shared 失败: {e}")
|
||||
return False
|
||||
|
||||
def disconnect_shared(self) -> None:
|
||||
"""释放共享串口引用（与 connect_shared 对称）。
|
||||
|
||||
注意：不关闭串口本身，串口由 XYZController 负责关闭。
|
||||
"""
|
||||
try:
|
||||
self.pipette.serial_port = None
|
||||
self.pipette.lock = None
|
||||
self.pipette.is_connected = False
|
||||
self.xyz_controller = None
|
||||
self.xyz_connected = False
|
||||
logger.info("移液控制器已释放共享串口引用")
|
||||
except Exception as e:
|
||||
logger.error(f"disconnect_shared 失败: {e}")
|
||||
|
||||
def initialize(self) -> bool:
|
||||
"""初始化移液器"""
|
||||
try:
|
||||
if self.pipette.initialize():
|
||||
logger.info("移液器初始化成功")
|
||||
# 检查枪头状态
|
||||
self._update_tip_status()
|
||||
self.xyz_controller.home_all_axes()
|
||||
self.xyz_controller.move_to_work_coord_safe(x=0, y=-150, z=0)
|
||||
return True
|
||||
return False
|
||||
except Exception as e:
|
||||
@@ -231,58 +198,56 @@ class PipetteController:
|
||||
|
||||
def disconnect(self):
|
||||
"""断开连接"""
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
if self.xyz_port != self.pipette_port:
|
||||
try:
|
||||
self.xyz_controller.disconnect()
|
||||
logger.info("XYZ 步进电机已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"断开 XYZ 步进电机失败: {e}")
|
||||
else:
|
||||
self.xyz_controller.serial_conn = None
|
||||
self.xyz_connected = False
|
||||
self.xyz_controller = None
|
||||
|
||||
# 断开移液器连接
|
||||
self.pipette.disconnect()
|
||||
logger.info("移液器已断开")
|
||||
|
||||
# 断开 XYZ 步进电机连接
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
try:
|
||||
self.xyz_controller.disconnect()
|
||||
self.xyz_connected = False
|
||||
logger.info("XYZ 步进电机已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"断开 XYZ 步进电机失败: {e}")
|
||||
|
||||
def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool:
|
||||
"""
|
||||
检查 XYZ 轴移动的安全性
|
||||
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
target_position: 目标位置(步数)
|
||||
|
||||
|
||||
Returns:
|
||||
是否安全
|
||||
"""
|
||||
try:
|
||||
# 获取当前电机状态
|
||||
motor_position = self.xyz_controller.get_motor_status(axis)
|
||||
|
||||
|
||||
# 检查电机状态是否正常 (不是碰撞停止或限位停止)
|
||||
if motor_position.status in [MotorStatus.COLLISION_STOP,
|
||||
MotorStatus.FORWARD_LIMIT_STOP,
|
||||
if motor_position.status in [MotorStatus.COLLISION_STOP,
|
||||
MotorStatus.FORWARD_LIMIT_STOP,
|
||||
MotorStatus.REVERSE_LIMIT_STOP]:
|
||||
logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}")
|
||||
return False
|
||||
|
||||
|
||||
# 检查位置限制 (扩大安全范围以适应实际硬件)
|
||||
# 步进电机的位置范围通常很大，这里设置更合理的范围
|
||||
if target_position < -500000 or target_position > 500000:
|
||||
logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}")
|
||||
return False
|
||||
|
||||
|
||||
# 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm)
|
||||
current_position = motor_position.steps
|
||||
move_distance = abs(target_position - current_position)
|
||||
if move_distance > 20000:
|
||||
logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步")
|
||||
return False
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"安全检查失败: {e}")
|
||||
return False
|
||||
@@ -290,48 +255,48 @@ class PipetteController:
|
||||
def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool:
|
||||
"""
|
||||
Z轴相对移动
|
||||
|
||||
|
||||
Args:
|
||||
distance_mm: 移动距离(mm)，正值向下，负值向上
|
||||
speed: 移动速度(rpm)
|
||||
acceleration: 加速度(rpm/s)
|
||||
|
||||
|
||||
Returns:
|
||||
移动是否成功
|
||||
"""
|
||||
if not self.xyz_controller or not self.xyz_connected:
|
||||
logger.error("XYZ 步进电机未连接，无法执行移动")
|
||||
return False
|
||||
|
||||
|
||||
try:
|
||||
# 参数验证
|
||||
if abs(distance_mm) > 15.0:
|
||||
logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm")
|
||||
return False
|
||||
|
||||
|
||||
if speed < 100 or speed > 5000:
|
||||
logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000")
|
||||
return False
|
||||
|
||||
|
||||
# 获取当前 Z 轴位置
|
||||
current_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
|
||||
current_z_position = current_status.steps
|
||||
|
||||
|
||||
# 计算移动距离对应的步数 (1mm = 1638.4步)
|
||||
mm_to_steps = 1638.4
|
||||
move_distance_steps = int(distance_mm * mm_to_steps)
|
||||
|
||||
|
||||
# 计算目标位置
|
||||
target_z_position = current_z_position + move_distance_steps
|
||||
|
||||
|
||||
# 安全检查
|
||||
if not self._check_xyz_safety(MotorAxis.Z, target_z_position):
|
||||
logger.error("Z轴移动安全检查失败")
|
||||
return False
|
||||
|
||||
|
||||
logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)")
|
||||
logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步")
|
||||
|
||||
|
||||
# 执行移动
|
||||
success = self.xyz_controller.move_to_position(
|
||||
axis=MotorAxis.Z,
|
||||
@@ -340,28 +305,28 @@ class PipetteController:
|
||||
acceleration=acceleration,
|
||||
precision=50
|
||||
)
|
||||
|
||||
|
||||
if not success:
|
||||
logger.error("Z轴移动命令发送失败")
|
||||
return False
|
||||
|
||||
|
||||
# 等待移动完成
|
||||
if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0):
|
||||
logger.error("Z轴移动超时")
|
||||
return False
|
||||
|
||||
|
||||
# 验证移动结果
|
||||
final_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
|
||||
final_position = final_status.steps
|
||||
position_error = abs(final_position - target_z_position)
|
||||
|
||||
|
||||
logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步")
|
||||
|
||||
|
||||
if position_error > 100:
|
||||
logger.warning(f"Z轴位置误差较大: {position_error}步")
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except ModbusException as e:
|
||||
logger.error(f"Modbus通信错误: {e}")
|
||||
return False
|
||||
@@ -372,20 +337,21 @@ class PipetteController:
|
||||
def emergency_stop(self) -> bool:
|
||||
"""
|
||||
紧急停止所有运动
|
||||
|
||||
|
||||
Returns:
|
||||
停止是否成功
|
||||
"""
|
||||
success = True
|
||||
|
||||
|
||||
# 停止移液器操作
|
||||
try:
|
||||
if self.pipette and self.pipette.is_connected:
|
||||
self.pipette.emergency_stop()
|
||||
if self.pipette and self.connected:
|
||||
# 这里可以添加移液器的紧急停止逻辑
|
||||
logger.info("移液器紧急停止")
|
||||
except Exception as e:
|
||||
logger.error(f"移液器紧急停止失败: {e}")
|
||||
success = False
|
||||
|
||||
|
||||
# 停止 XYZ 轴运动
|
||||
try:
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
@@ -394,7 +360,7 @@ class PipetteController:
|
||||
except Exception as e:
|
||||
logger.error(f"XYZ 轴紧急停止失败: {e}")
|
||||
success = False
|
||||
|
||||
|
||||
return success
|
||||
|
||||
def pickup_tip(self) -> bool:
|
||||
@@ -410,7 +376,7 @@ class PipetteController:
|
||||
return True
|
||||
|
||||
logger.info("开始装载枪头 - Z轴向下移动10mm")
|
||||
|
||||
|
||||
# 使用相对移动方法，向下移动10mm
|
||||
if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500):
|
||||
# 更新枪头状态
|
||||
@@ -722,31 +688,31 @@ class PipetteController:
|
||||
if __name__ == "__main__":
|
||||
# 配置日志
|
||||
import logging
|
||||
|
||||
|
||||
# 设置日志级别
|
||||
logging.basicConfig(
|
||||
level=logging.INFO,
|
||||
format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
|
||||
)
|
||||
|
||||
|
||||
def interactive_test():
|
||||
"""交互式测试模式 - 适用于已连接的设备"""
|
||||
print("\n" + "=" * 60)
|
||||
print("🧪 移液器交互式测试模式")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
# 获取用户输入的连接参数
|
||||
print("\n📡 设备连接配置:")
|
||||
port = input("请输入移液器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
|
||||
address_input = input("请输入移液器设备地址 (默认: 4): ").strip()
|
||||
address = int(address_input) if address_input else 4
|
||||
|
||||
|
||||
# 询问是否连接 XYZ 步进电机控制器
|
||||
xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower()
|
||||
xyz_port = None
|
||||
if xyz_enable not in ['n', 'no']:
|
||||
xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
|
||||
|
||||
|
||||
try:
|
||||
# 创建移液控制器实例
|
||||
if xyz_port:
|
||||
@@ -755,21 +721,21 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...")
|
||||
pipette = PipetteController(port=port, address=address)
|
||||
|
||||
|
||||
# 连接设备
|
||||
print("\n📞 连接移液器设备...")
|
||||
if not pipette.connect():
|
||||
print("❌ 设备连接失败，请检查连接")
|
||||
return
|
||||
print("✅ 设备连接成功")
|
||||
|
||||
|
||||
# 初始化设备
|
||||
print("\n🚀 初始化设备...")
|
||||
if not pipette.initialize():
|
||||
print("❌ 设备初始化失败")
|
||||
return
|
||||
print("✅ 设备初始化成功")
|
||||
|
||||
|
||||
# 交互式菜单
|
||||
while True:
|
||||
print("\n" + "=" * 50)
|
||||
@@ -789,9 +755,9 @@ if __name__ == "__main__":
|
||||
print("99. 🚨 紧急停止")
|
||||
print("0. 🚪 退出程序")
|
||||
print("=" * 50)
|
||||
|
||||
|
||||
choice = input("\n请选择操作 (0-12, 99): ").strip()
|
||||
|
||||
|
||||
if choice == "0":
|
||||
print("\n👋 退出程序...")
|
||||
break
|
||||
@@ -807,7 +773,7 @@ if __name__ == "__main__":
|
||||
# print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}")
|
||||
print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
|
||||
print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}")
|
||||
|
||||
|
||||
elif choice == "2":
|
||||
# 装载枪头
|
||||
print("\n🔧 装载枪头...")
|
||||
@@ -815,14 +781,14 @@ if __name__ == "__main__":
|
||||
print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)")
|
||||
else:
|
||||
print("⚠️ 未连接 XYZ 控制器，仅执行移液器枪头装载")
|
||||
|
||||
|
||||
if pipette.pickup_tip():
|
||||
print("✅ 枪头装载成功")
|
||||
if pipette.xyz_connected:
|
||||
print("📍 Z 轴已移动到装载位置")
|
||||
else:
|
||||
print("❌ 枪头装载失败")
|
||||
|
||||
|
||||
elif choice == "3":
|
||||
# 弹出枪头
|
||||
print("\n🗑️ 弹出枪头...")
|
||||
@@ -830,7 +796,7 @@ if __name__ == "__main__":
|
||||
print("✅ 枪头弹出成功")
|
||||
else:
|
||||
print("❌ 枪头弹出失败")
|
||||
|
||||
|
||||
elif choice == "4":
|
||||
# 吸液操作
|
||||
try:
|
||||
@@ -844,7 +810,7 @@ if __name__ == "__main__":
|
||||
print("❌ 吸液失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "5":
|
||||
# 排液操作
|
||||
try:
|
||||
@@ -858,7 +824,7 @@ if __name__ == "__main__":
|
||||
print("❌ 排液失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "6":
|
||||
# 混合操作
|
||||
try:
|
||||
@@ -872,7 +838,7 @@ if __name__ == "__main__":
|
||||
print("❌ 混合失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "7":
|
||||
# 液体转移
|
||||
try:
|
||||
@@ -880,7 +846,7 @@ if __name__ == "__main__":
|
||||
source = input("源孔位 (可选, 如A1): ").strip() or None
|
||||
dest = input("目标孔位 (可选, 如B1): ").strip() or None
|
||||
new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n'
|
||||
|
||||
|
||||
print(f"\n🔄 执行液体转移 ({volume}ul)...")
|
||||
if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip):
|
||||
print("✅ 液体转移完成")
|
||||
@@ -888,7 +854,7 @@ if __name__ == "__main__":
|
||||
print("❌ 液体转移失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "8":
|
||||
# 设置液体类型
|
||||
print("\n🧪 可用液体类型:")
|
||||
@@ -898,16 +864,16 @@ if __name__ == "__main__":
|
||||
"3": (LiquidClass.VISCOUS, "粘稠液体"),
|
||||
"4": (LiquidClass.VOLATILE, "挥发性液体")
|
||||
}
|
||||
|
||||
|
||||
for key, (liquid_class, description) in liquid_options.items():
|
||||
print(f" {key}. {description}")
|
||||
|
||||
|
||||
liquid_choice = input("请选择液体类型 (1-4): ").strip()
|
||||
if liquid_choice in liquid_options:
|
||||
liquid_class, description = liquid_options[liquid_choice]
|
||||
pipette.set_liquid_class(liquid_class)
|
||||
print(f"✅ 液体类型设置为: {description}")
|
||||
|
||||
|
||||
# 显示参数
|
||||
params = pipette.liquid_params
|
||||
print(f"📋 参数设置:")
|
||||
@@ -917,7 +883,7 @@ if __name__ == "__main__":
|
||||
print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}")
|
||||
else:
|
||||
print("❌ 无效选择")
|
||||
|
||||
|
||||
elif choice == "9":
|
||||
# 自定义参数
|
||||
try:
|
||||
@@ -926,19 +892,19 @@ if __name__ == "__main__":
|
||||
dispense_speed = input("排液速度 (默认800): ").strip()
|
||||
air_gap = input("空气间隙 (ul, 默认10.0): ").strip()
|
||||
pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y'
|
||||
|
||||
|
||||
custom_params = LiquidParameters(
|
||||
aspirate_speed=int(aspirate_speed) if aspirate_speed else 500,
|
||||
dispense_speed=int(dispense_speed) if dispense_speed else 800,
|
||||
air_gap=float(air_gap) if air_gap else 10.0,
|
||||
pre_wet=pre_wet
|
||||
)
|
||||
|
||||
|
||||
pipette.set_custom_parameters(custom_params)
|
||||
print("✅ 自定义参数设置完成")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "10":
|
||||
# 校准体积
|
||||
try:
|
||||
@@ -948,12 +914,12 @@ if __name__ == "__main__":
|
||||
print(f"✅ 校准完成，校准系数: {actual/expected:.3f}")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "11":
|
||||
# 重置统计
|
||||
pipette.reset_statistics()
|
||||
print("✅ 统计信息已重置")
|
||||
|
||||
|
||||
elif choice == "12":
|
||||
# 液体类型测试
|
||||
print("\n🧪 液体类型参数对比:")
|
||||
@@ -963,7 +929,7 @@ if __name__ == "__main__":
|
||||
(LiquidClass.VISCOUS, "粘稠液体"),
|
||||
(LiquidClass.VOLATILE, "挥发性液体")
|
||||
]
|
||||
|
||||
|
||||
for liquid_class, description in liquid_tests:
|
||||
params = pipette.LIQUID_PARAMS[liquid_class]
|
||||
print(f"\n📋 {description} ({liquid_class.value}):")
|
||||
@@ -972,7 +938,7 @@ if __name__ == "__main__":
|
||||
print(f" 💨 空气间隙: {params.air_gap}ul")
|
||||
print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}")
|
||||
print(f" ⏱️ 吸液后延时: {params.delay_after_aspirate}s")
|
||||
|
||||
|
||||
elif choice == "99":
|
||||
# 紧急停止
|
||||
print("\n🚨 执行紧急停止...")
|
||||
@@ -983,19 +949,19 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 紧急停止执行失败")
|
||||
print("⚠️ 请手动检查设备状态并采取必要措施")
|
||||
|
||||
|
||||
# 紧急停止后询问是否继续
|
||||
continue_choice = input("\n是否继续操作？(y/n): ").strip().lower()
|
||||
if continue_choice != 'y':
|
||||
print("🚪 退出程序")
|
||||
break
|
||||
|
||||
|
||||
else:
|
||||
print("❌ 无效选择，请重新输入")
|
||||
|
||||
|
||||
# 等待用户确认继续
|
||||
input("\n按回车键继续...")
|
||||
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n\n⚠️ 用户中断操作")
|
||||
except Exception as e:
|
||||
@@ -1008,19 +974,19 @@ if __name__ == "__main__":
|
||||
print("✅ 连接已断开")
|
||||
except:
|
||||
print("⚠️ 断开连接时出现问题")
|
||||
|
||||
|
||||
def demo_test():
|
||||
"""演示测试模式 - 完整功能演示"""
|
||||
print("\n" + "=" * 60)
|
||||
print("🎬 移液控制器演示测试")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
try:
|
||||
# 创建移液控制器实例
|
||||
print("1. 🔧 创建移液控制器实例...")
|
||||
pipette = PipetteController(port="/dev/ttyUSB0", address=4)
|
||||
print("✅ 移液控制器实例创建成功")
|
||||
|
||||
|
||||
# 连接设备
|
||||
print("\n2. 📞 连接移液器设备...")
|
||||
if pipette.connect():
|
||||
@@ -1028,7 +994,7 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 设备连接失败")
|
||||
return False
|
||||
|
||||
|
||||
# 初始化设备
|
||||
print("\n3. 🚀 初始化设备...")
|
||||
if pipette.initialize():
|
||||
@@ -1036,19 +1002,19 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 设备初始化失败")
|
||||
return False
|
||||
|
||||
|
||||
# 装载枪头
|
||||
print("\n4. 🔧 装载枪头...")
|
||||
if pipette.pickup_tip():
|
||||
print("✅ 枪头装载成功")
|
||||
else:
|
||||
print("❌ 枪头装载失败")
|
||||
|
||||
|
||||
# 设置液体类型
|
||||
print("\n5. 🧪 设置液体类型为血清...")
|
||||
pipette.set_liquid_class(LiquidClass.SERUM)
|
||||
print("✅ 液体类型设置完成")
|
||||
|
||||
|
||||
# 吸液操作
|
||||
print("\n6. 💧 执行吸液操作...")
|
||||
volume_to_aspirate = 100.0
|
||||
@@ -1057,7 +1023,7 @@ if __name__ == "__main__":
|
||||
print(f"📊 当前体积: {pipette.current_volume}ul")
|
||||
else:
|
||||
print("❌ 吸液失败")
|
||||
|
||||
|
||||
# 排液操作
|
||||
print("\n7. 💦 执行排液操作...")
|
||||
volume_to_dispense = 50.0
|
||||
@@ -1066,14 +1032,14 @@ if __name__ == "__main__":
|
||||
print(f"📊 剩余体积: {pipette.current_volume}ul")
|
||||
else:
|
||||
print("❌ 排液失败")
|
||||
|
||||
|
||||
# 混合操作
|
||||
print("\n8. 🌀 执行混合操作...")
|
||||
if pipette.mix(cycles=3, volume=30.0):
|
||||
print("✅ 混合完成")
|
||||
else:
|
||||
print("❌ 混合失败")
|
||||
|
||||
|
||||
# 获取状态信息
|
||||
print("\n9. 📊 获取设备状态...")
|
||||
status = pipette.get_status()
|
||||
@@ -1086,30 +1052,30 @@ if __name__ == "__main__":
|
||||
# print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}")
|
||||
print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
|
||||
print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}")
|
||||
|
||||
|
||||
# 弹出枪头
|
||||
print("\n10. 🗑️ 弹出枪头...")
|
||||
if pipette.eject_tip():
|
||||
print("✅ 枪头弹出成功")
|
||||
else:
|
||||
print("❌ 枪头弹出失败")
|
||||
|
||||
|
||||
print("\n" + "=" * 60)
|
||||
print("✅ 移液控制器演示测试完成")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 测试过程中发生异常: {e}")
|
||||
return False
|
||||
|
||||
|
||||
finally:
|
||||
# 断开连接
|
||||
print("\n📞 断开连接...")
|
||||
pipette.disconnect()
|
||||
print("✅ 连接已断开")
|
||||
|
||||
|
||||
# 主程序入口
|
||||
print("🧪 移液器控制器测试程序")
|
||||
print("=" * 40)
|
||||
@@ -1117,9 +1083,9 @@ if __name__ == "__main__":
|
||||
print("2. 🎬 演示测试")
|
||||
print("0. 🚪 退出")
|
||||
print("=" * 40)
|
||||
|
||||
|
||||
mode = input("请选择测试模式 (0-2): ").strip()
|
||||
|
||||
|
||||
if mode == "1":
|
||||
interactive_test()
|
||||
elif mode == "2":
|
||||
@@ -1128,7 +1094,7 @@ if __name__ == "__main__":
|
||||
print("👋 再见！")
|
||||
else:
|
||||
print("❌ 无效选择")
|
||||
|
||||
|
||||
print("\n🎉 程序结束！")
|
||||
print("\n💡 使用说明:")
|
||||
print("1. 确保移液器硬件已正确连接")
|
||||
|
||||
@@ -13,7 +13,7 @@ from pylabrobot.liquid_handling import (
|
||||
SingleChannelDispense,
|
||||
PickupTipRack,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
MultiHeadAspirationContainer,
|
||||
@@ -41,6 +41,12 @@ class TransformXYZDeck(Deck):
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
self.name = name
|
||||
|
||||
class TransformXYZBackend(LiquidHandlerBackend):
|
||||
def __init__(self, name: str, host: str, port: int, timeout: float):
|
||||
super().__init__()
|
||||
self.host = host
|
||||
self.port = port
|
||||
self.timeout = timeout
|
||||
|
||||
class TransformXYZRvizBackend(UniLiquidHandlerRvizBackend):
|
||||
def __init__(self, name: str, channel_num: int):
|
||||
@@ -80,9 +86,7 @@ class TransformXYZContainer(Plate, TipRack):
|
||||
class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
support_touch_tip = False
|
||||
|
||||
def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True,
|
||||
serial_port: str = "/dev/ttyUSB0", baudrate: int = 115200, pipette_address: int = 4,
|
||||
total_height: float = 310, **backend_kwargs):
|
||||
def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True, **backend_kwargs):
|
||||
# Handle case where deck is passed as a dict (from serialization)
|
||||
if isinstance(deck, dict):
|
||||
# Try to create a TransformXYZDeck from the dict
|
||||
@@ -98,22 +102,11 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
deck = TransformXYZDeck(name='deck', size_x=100, size_y=100, size_z=100)
|
||||
|
||||
if simulator:
|
||||
self._unilabos_backend = TransformXYZRvizBackend(name="laiyu", channel_num=channel_num)
|
||||
self._unilabos_backend = TransformXYZRvizBackend(name="laiyu",channel_num=channel_num)
|
||||
else:
|
||||
self._unilabos_backend = UniLiquidHandlerLaiyuBackend(
|
||||
num_channels=channel_num,
|
||||
total_height=total_height,
|
||||
port=serial_port,
|
||||
baudrate=baudrate,
|
||||
pipette_address=pipette_address,
|
||||
)
|
||||
self._unilabos_backend = TransformXYZBackend(name="laiyu",host=host, port=port, timeout=timeout)
|
||||
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
|
||||
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
if hasattr(self._unilabos_backend, 'post_init'):
|
||||
self._unilabos_backend.post_init(ros_node)
|
||||
|
||||
async def add_liquid(
|
||||
self,
|
||||
asp_vols: Union[List[float], float],
|
||||
@@ -135,25 +128,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
mix_liquid_height: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
return await super().add_liquid(
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
reagent_sources=reagent_sources,
|
||||
targets=targets,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
is_96_well=is_96_well,
|
||||
delays=delays,
|
||||
mix_time=mix_time,
|
||||
mix_vol=mix_vol,
|
||||
mix_rate=mix_rate,
|
||||
mix_liquid_height=mix_liquid_height,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
pass
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
@@ -167,17 +142,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
return await super().aspirate(
|
||||
resources=resources,
|
||||
vols=vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
pass
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
@@ -191,17 +156,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
return await super().dispense(
|
||||
resources=resources,
|
||||
vols=vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
pass
|
||||
|
||||
async def drop_tips(
|
||||
self,
|
||||
@@ -211,13 +166,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
allow_nonzero_volume: bool = False,
|
||||
**backend_kwargs,
|
||||
):
|
||||
return await super().drop_tips(
|
||||
tip_spots=tip_spots,
|
||||
use_channels=use_channels,
|
||||
offsets=offsets,
|
||||
allow_nonzero_volume=allow_nonzero_volume,
|
||||
**backend_kwargs,
|
||||
)
|
||||
pass
|
||||
|
||||
async def mix(
|
||||
self,
|
||||
@@ -229,15 +178,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
mix_rate: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
return await super().mix(
|
||||
targets=targets,
|
||||
mix_time=mix_time,
|
||||
mix_vol=mix_vol,
|
||||
height_to_bottom=height_to_bottom,
|
||||
offsets=offsets,
|
||||
mix_rate=mix_rate,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
pass
|
||||
|
||||
async def pick_up_tips(
|
||||
self,
|
||||
@@ -246,12 +187,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
**backend_kwargs,
|
||||
):
|
||||
return await super().pick_up_tips(
|
||||
tip_spots=tip_spots,
|
||||
use_channels=use_channels,
|
||||
offsets=offsets,
|
||||
**backend_kwargs,
|
||||
)
|
||||
pass
|
||||
|
||||
async def transfer_liquid(
|
||||
self,
|
||||
@@ -278,26 +214,5 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
delays: Optional[List[int]] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
return await super().transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=tip_racks,
|
||||
use_channels=use_channels,
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
asp_flow_rates=asp_flow_rates,
|
||||
dis_flow_rates=dis_flow_rates,
|
||||
offsets=offsets,
|
||||
touch_tip=touch_tip,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
is_96_well=is_96_well,
|
||||
mix_stage=mix_stage,
|
||||
mix_times=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
mix_rate=mix_rate,
|
||||
mix_liquid_height=mix_liquid_height,
|
||||
delays=delays,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
pass
|
||||
|
||||
@@ -57,18 +57,6 @@ class TransferLiquidReturn(TypedDict):
|
||||
targets: List[List[ResourceDict]]
|
||||
|
||||
|
||||
|
||||
class SetLiquidReturn(TypedDict):
|
||||
wells: list
|
||||
volumes: list
|
||||
|
||||
|
||||
class SetLiquidFromPlateReturn(TypedDict):
|
||||
plate: list
|
||||
wells: list
|
||||
volumes: list
|
||||
|
||||
|
||||
class LiquidHandlerMiddleware(LiquidHandler):
|
||||
def __init__(
|
||||
self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
|
||||
|
||||
@@ -1,376 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
ZDT X42 Closed-Loop Stepper Motor Driver
|
||||
RS485 Serial Communication via USB-Serial Converter
|
||||
|
||||
- Baudrate: 115200
|
||||
"""
|
||||
|
||||
import serial
|
||||
import time
|
||||
import threading
|
||||
import struct
|
||||
import logging
|
||||
from typing import Optional, Any
|
||||
|
||||
try:
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
except ImportError:
|
||||
class UniversalDriver:
|
||||
def __init__(self, *args, **kwargs):
|
||||
self.logger = logging.getLogger(self.__class__.__name__)
|
||||
def execute_command_from_outer(self, command: Any): pass
|
||||
|
||||
from serial.rs485 import RS485Settings
|
||||
|
||||
|
||||
class ZDTX42Driver(UniversalDriver):
|
||||
"""
|
||||
ZDT X42 闭环步进电机驱动器
|
||||
|
||||
支持功能:
|
||||
- 速度模式运行
|
||||
- 位置模式运行 (相对/绝对)
|
||||
- 位置读取和清零
|
||||
- 使能/禁用控制
|
||||
|
||||
通信协议:
|
||||
- 帧格式: [设备ID] [功能码] [数据...] [校验位=0x6B]
|
||||
- 响应长度根据功能码决定
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
port: str,
|
||||
baudrate: int = 115200,
|
||||
device_id: int = 1,
|
||||
timeout: float = 0.5,
|
||||
debug: bool = False
|
||||
):
|
||||
"""
|
||||
初始化 ZDT X42 电机驱动
|
||||
|
||||
Args:
|
||||
port: 串口设备路径
|
||||
baudrate: 波特率 (默认 115200)
|
||||
device_id: 设备地址 (1-255)
|
||||
timeout: 通信超时时间(秒)
|
||||
debug: 是否启用调试输出
|
||||
"""
|
||||
super().__init__()
|
||||
self.id = device_id
|
||||
self.debug = debug
|
||||
self.lock = threading.RLock()
|
||||
self.status = "idle" # 对应注册表中的 status (str)
|
||||
self.position = 0 # 对应注册表中的 position (int)
|
||||
|
||||
try:
|
||||
self.ser = serial.Serial(
|
||||
port=port,
|
||||
baudrate=baudrate,
|
||||
timeout=timeout,
|
||||
bytesize=serial.EIGHTBITS,
|
||||
parity=serial.PARITY_NONE,
|
||||
stopbits=serial.STOPBITS_ONE
|
||||
)
|
||||
|
||||
# 启用 RS485 模式
|
||||
try:
|
||||
self.ser.rs485_mode = RS485Settings(
|
||||
rts_level_for_tx=True,
|
||||
rts_level_for_rx=False
|
||||
)
|
||||
except Exception:
|
||||
pass # RS485 模式是可选的
|
||||
|
||||
self.logger.info(
|
||||
f"ZDT X42 Motor connected: {port} "
|
||||
f"(Baud: {baudrate}, ID: {device_id})"
|
||||
)
|
||||
# 自动使能电机，确保初始状态可运动
|
||||
self.enable(True)
|
||||
|
||||
# 启动背景轮询线程，确保 position 实时刷新
|
||||
self._stop_event = threading.Event()
|
||||
self._polling_thread = threading.Thread(
|
||||
target=self._update_loop,
|
||||
name=f"ZDTPolling_{port}",
|
||||
daemon=True
|
||||
)
|
||||
self._polling_thread.start()
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to open serial port {port}: {e}")
|
||||
self.ser = None
|
||||
|
||||
def _update_loop(self):
|
||||
"""背景循环读取电机位置"""
|
||||
while not self._stop_event.is_set():
|
||||
try:
|
||||
self.get_position()
|
||||
except Exception as e:
|
||||
if self.debug:
|
||||
self.logger.error(f"Polling error: {e}")
|
||||
time.sleep(1.0) # 每1秒刷新一次位置数据
|
||||
|
||||
def _send(self, func_code: int, payload: list) -> bytes:
|
||||
"""
|
||||
发送指令并接收响应
|
||||
|
||||
Args:
|
||||
func_code: 功能码
|
||||
payload: 数据负载 (list of bytes)
|
||||
|
||||
Returns:
|
||||
响应数据 (bytes)
|
||||
"""
|
||||
if not self.ser:
|
||||
self.logger.error("Serial port not available")
|
||||
return b""
|
||||
|
||||
with self.lock:
|
||||
# 清空输入缓冲区
|
||||
self.ser.reset_input_buffer()
|
||||
|
||||
# 构建消息: [ID] [功能码] [数据...] [校验位=0x6B]
|
||||
message = bytes([self.id, func_code] + payload + [0x6B])
|
||||
|
||||
# 发送
|
||||
self.ser.write(message)
|
||||
|
||||
# 根据功能码决定响应长度
|
||||
# 查询类指令返回 10 字节，控制类指令返回 4 字节
|
||||
read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
|
||||
response = self.ser.read(read_len)
|
||||
|
||||
# 调试输出
|
||||
if self.debug:
|
||||
sent_hex = message.hex().upper()
|
||||
recv_hex = response.hex().upper() if response else 'TIMEOUT'
|
||||
print(f"[ID {self.id}] TX: {sent_hex} → RX: {recv_hex}")
|
||||
|
||||
return response
|
||||
|
||||
def enable(self, on: bool = True) -> bool:
|
||||
"""
|
||||
使能/禁用电机
|
||||
|
||||
Args:
|
||||
on: True=使能(锁轴), False=禁用(松轴)
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
state = 1 if on else 0
|
||||
resp = self._send(0xF3, [0xAB, state, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def move_speed(
|
||||
self,
|
||||
speed_rpm: int,
|
||||
direction: str = "CW",
|
||||
acceleration: int = 10
|
||||
) -> bool:
|
||||
"""
|
||||
速度模式运行
|
||||
|
||||
Args:
|
||||
speed_rpm: 转速 (RPM)
|
||||
direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
|
||||
acceleration: 加速度 (0-255)
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
|
||||
speed_bytes = struct.pack('>H', int(speed_rpm))
|
||||
self.status = f"moving@{speed_rpm}rpm"
|
||||
resp = self._send(0xF6, [dir_val, speed_bytes[0], speed_bytes[1], acceleration, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def move_position(
|
||||
self,
|
||||
pulses: int,
|
||||
speed_rpm: int,
|
||||
direction: str = "CW",
|
||||
acceleration: int = 10,
|
||||
absolute: bool = False
|
||||
) -> bool:
|
||||
"""
|
||||
位置模式运行
|
||||
|
||||
Args:
|
||||
pulses: 脉冲数
|
||||
speed_rpm: 转速 (RPM)
|
||||
direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
|
||||
acceleration: 加速度 (0-255)
|
||||
absolute: True=绝对位置, False=相对位置
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
|
||||
speed_bytes = struct.pack('>H', int(speed_rpm))
|
||||
self.status = f"moving_to_{pulses}"
|
||||
pulse_bytes = struct.pack('>I', int(pulses))
|
||||
abs_flag = 1 if absolute else 0
|
||||
|
||||
payload = [
|
||||
dir_val,
|
||||
speed_bytes[0], speed_bytes[1],
|
||||
acceleration,
|
||||
pulse_bytes[0], pulse_bytes[1], pulse_bytes[2], pulse_bytes[3],
|
||||
abs_flag,
|
||||
0
|
||||
]
|
||||
|
||||
resp = self._send(0xFD, payload)
|
||||
return len(resp) >= 4
|
||||
|
||||
def stop(self) -> bool:
|
||||
"""
|
||||
停止电机
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
self.status = "idle"
|
||||
resp = self._send(0xFE, [0x98, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def rotate_quarter(self, speed_rpm: int = 60, direction: str = "CW") -> bool:
|
||||
"""
|
||||
电机旋转 1/4 圈 (阻塞式)
|
||||
假设电机细分为 3200 脉冲/圈，1/4 圈 = 800 脉冲
|
||||
"""
|
||||
pulses = 800
|
||||
success = self.move_position(pulses=pulses, speed_rpm=speed_rpm, direction=direction, absolute=False)
|
||||
|
||||
if success:
|
||||
# 计算预估旋转时间并进行阻塞等待 (Time = revolutions / (RPM/60))
|
||||
# 1/4 rev / (RPM/60) = 15.0 / RPM
|
||||
estimated_time = 15.0 / max(1, speed_rpm)
|
||||
time.sleep(estimated_time + 0.5) # 额外给 0.5 秒缓冲
|
||||
self.status = "idle"
|
||||
|
||||
return success
|
||||
|
||||
def wait_time(self, duration_s: float) -> bool:
|
||||
"""
|
||||
等待指定时间 (秒)
|
||||
"""
|
||||
self.logger.info(f"Waiting for {duration_s} seconds...")
|
||||
time.sleep(duration_s)
|
||||
return True
|
||||
|
||||
def set_zero(self) -> bool:
|
||||
"""
|
||||
清零当前位置
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
resp = self._send(0x0A, [])
|
||||
return len(resp) >= 4
|
||||
|
||||
def get_position(self) -> Optional[int]:
|
||||
"""
|
||||
读取当前位置 (脉冲数)
|
||||
|
||||
Returns:
|
||||
当前位置脉冲数，失败返回 None
|
||||
"""
|
||||
resp = self._send(0x32, [])
|
||||
|
||||
if len(resp) >= 8:
|
||||
# 响应格式: [ID] [Func] [符号位] [数值4字节] [校验]
|
||||
sign = resp[2] # 0=正, 1=负
|
||||
value = struct.unpack('>I', resp[3:7])[0]
|
||||
self.position = -value if sign == 1 else value
|
||||
|
||||
if self.debug:
|
||||
print(f"[Position] Raw: {resp.hex().upper()}, Parsed: {self.position}")
|
||||
|
||||
return self.position
|
||||
|
||||
self.logger.warning("Failed to read position")
|
||||
return None
|
||||
|
||||
def close(self):
|
||||
"""关闭串口连接并停止线程"""
|
||||
if hasattr(self, '_stop_event'):
|
||||
self._stop_event.set()
|
||||
|
||||
if self.ser and self.ser.is_open:
|
||||
self.ser.close()
|
||||
self.logger.info("Serial port closed")
|
||||
|
||||
|
||||
# ============================================================
|
||||
# 测试和调试代码
|
||||
# ============================================================
|
||||
|
||||
def test_motor():
|
||||
"""基础功能测试"""
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
|
||||
print("="*60)
|
||||
print("ZDT X42 电机驱动测试")
|
||||
print("="*60)
|
||||
|
||||
driver = ZDTX42Driver(
|
||||
port="/dev/tty.usbserial-3110",
|
||||
baudrate=115200,
|
||||
device_id=2,
|
||||
debug=True
|
||||
)
|
||||
|
||||
if not driver.ser:
|
||||
print("❌ 串口打开失败")
|
||||
return
|
||||
|
||||
try:
|
||||
# 测试 1: 读取位置
|
||||
print("\n[1] 读取当前位置")
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 当前位置: {pos} 脉冲")
|
||||
|
||||
# 测试 2: 使能
|
||||
print("\n[2] 使能电机")
|
||||
driver.enable(True)
|
||||
time.sleep(0.3)
|
||||
print("✓ 电机已锁定")
|
||||
|
||||
# 测试 3: 相对位置运动
|
||||
print("\n[3] 相对位置运动 (1000脉冲)")
|
||||
driver.move_position(pulses=1000, speed_rpm=60, direction="CW")
|
||||
time.sleep(2)
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 新位置: {pos}")
|
||||
|
||||
# 测试 4: 速度运动
|
||||
print("\n[4] 速度模式 (30RPM, 3秒)")
|
||||
driver.move_speed(speed_rpm=30, direction="CW")
|
||||
time.sleep(3)
|
||||
driver.stop()
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 停止后位置: {pos}")
|
||||
|
||||
# 测试 5: 禁用
|
||||
print("\n[5] 禁用电机")
|
||||
driver.enable(False)
|
||||
print("✓ 电机已松开")
|
||||
|
||||
print("\n" + "="*60)
|
||||
print("✅ 测试完成")
|
||||
print("="*60)
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 测试失败: {e}")
|
||||
import traceback
|
||||
traceback.print_exc()
|
||||
finally:
|
||||
driver.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_motor()
|
||||
@@ -623,119 +623,6 @@ class ChinweDevice(UniversalDriver):
|
||||
time.sleep(duration)
|
||||
return True
|
||||
|
||||
def separation_step(self, motor_id: int = 5, speed: int = 60, pulses: int = 700,
|
||||
max_cycles: int = 0, timeout: int = 300) -> bool:
|
||||
"""
|
||||
分液步骤 - 液位传感器与电机联动
|
||||
当液位传感器检测到"有液"时,电机顺时针旋转指定脉冲数
|
||||
当液位传感器检测到"无液"时,电机逆时针旋转指定脉冲数
|
||||
|
||||
:param motor_id: 电机ID (必须在初始化时配置的motor_ids中)
|
||||
:param speed: 电机转速 (RPM)
|
||||
:param pulses: 每次旋转的脉冲数 (默认700约为1/4圈,假设3200脉冲/圈)
|
||||
:param max_cycles: 最大执行循环次数 (0=无限制,默认0)
|
||||
:param timeout: 整体超时时间 (秒)
|
||||
:return: 成功返回True,超时或失败返回False
|
||||
"""
|
||||
motor_id = int(motor_id)
|
||||
speed = int(speed)
|
||||
pulses = int(pulses)
|
||||
max_cycles = int(max_cycles)
|
||||
timeout = int(timeout)
|
||||
|
||||
# 检查电机是否存在
|
||||
if motor_id not in self.motors:
|
||||
self.logger.error(f"Motor {motor_id} not found in configured motors: {list(self.motors.keys())}")
|
||||
return False
|
||||
|
||||
# 检查传感器是否可用
|
||||
if not self.sensor:
|
||||
self.logger.error("Sensor not initialized")
|
||||
return False
|
||||
|
||||
motor = self.motors[motor_id]
|
||||
|
||||
# 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
|
||||
self.logger.info("Stopping polling thread for separation_step...")
|
||||
self._stop_event.set()
|
||||
if self._poll_thread and self._poll_thread.is_alive():
|
||||
self._poll_thread.join(timeout=2.0)
|
||||
|
||||
# 使能电机
|
||||
self.logger.info(f"Enabling motor {motor_id}...")
|
||||
motor.enable(True)
|
||||
time.sleep(0.2)
|
||||
|
||||
self.logger.info(f"Starting separation step: motor_id={motor_id}, speed={speed} RPM, "
|
||||
f"pulses={pulses}, max_cycles={max_cycles}, timeout={timeout}s")
|
||||
|
||||
# 记录上一次的液位状态
|
||||
last_level = None
|
||||
cycle_count = 0
|
||||
start_time = time.time()
|
||||
error_count = 0
|
||||
|
||||
try:
|
||||
while True:
|
||||
# 检查超时
|
||||
if time.time() - start_time > timeout:
|
||||
self.logger.warning(f"Separation step timeout after {timeout} seconds")
|
||||
return False
|
||||
|
||||
# 检查循环次数限制
|
||||
if max_cycles > 0 and cycle_count >= max_cycles:
|
||||
self.logger.info(f"Separation step completed: reached max_cycles={max_cycles}")
|
||||
return True
|
||||
|
||||
# 读取传感器数据
|
||||
data = self.sensor.read_level()
|
||||
|
||||
if data is None:
|
||||
error_count += 1
|
||||
if error_count > 5:
|
||||
self.logger.warning("Sensor read failed multiple times, retrying...")
|
||||
error_count = 0
|
||||
time.sleep(0.5)
|
||||
continue
|
||||
|
||||
error_count = 0
|
||||
current_level = data['level']
|
||||
rssi = data['rssi']
|
||||
|
||||
# 检测状态变化 (包括首次检测)
|
||||
if current_level != last_level:
|
||||
cycle_count += 1
|
||||
|
||||
if current_level:
|
||||
# 有液 -> 电机顺时针旋转
|
||||
self.logger.info(f"[Cycle {cycle_count}] Liquid detected (RSSI={rssi}), "
|
||||
f"rotating motor {motor_id} clockwise {pulses} pulses")
|
||||
motor.run_position(pulses=pulses, speed_rpm=speed, direction=0, absolute=False)
|
||||
|
||||
# 等待电机完成 (预估时间)
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
else:
|
||||
# 无液 -> 电机逆时针旋转
|
||||
self.logger.info(f"[Cycle {cycle_count}] No liquid detected (RSSI={rssi}), "
|
||||
f"rotating motor {motor_id} counter-clockwise {pulses} pulses")
|
||||
motor.run_position(pulses=pulses, speed_rpm=speed, direction=1, absolute=False)
|
||||
|
||||
# 等待电机完成 (预估时间)
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
# 更新状态
|
||||
last_level = current_level
|
||||
|
||||
# 轮询间隔
|
||||
time.sleep(0.1)
|
||||
finally:
|
||||
# 恢复轮询线程
|
||||
self.logger.info("Restarting polling thread...")
|
||||
self._start_polling()
|
||||
|
||||
def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
|
||||
"""支持标准 JSON 指令调用"""
|
||||
return super().execute_command_from_outer(command_dict)
|
||||
|
||||
@@ -1,379 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
XKC RS485 液位传感器 (Modbus RTU)
|
||||
|
||||
说明:
|
||||
1. 遵循 Modbus-RTU 协议。
|
||||
2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
|
||||
3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
|
||||
4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
|
||||
"""
|
||||
|
||||
import struct
|
||||
import threading
|
||||
import time
|
||||
import logging
|
||||
import serial
|
||||
from typing import Optional, Dict, Any, List
|
||||
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
|
||||
class TransportManager:
|
||||
"""
|
||||
统一通信管理类。
|
||||
仅支持 串口 (Serial/有线) 连接。
|
||||
"""
|
||||
def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.logger = logger
|
||||
self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
|
||||
|
||||
self.serial = None
|
||||
self._connect_serial()
|
||||
|
||||
def _connect_serial(self):
|
||||
try:
|
||||
self.serial = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
timeout=self.timeout
|
||||
)
|
||||
except Exception as e:
|
||||
raise ConnectionError(f"Serial open failed: {e}")
|
||||
|
||||
def close(self):
|
||||
"""关闭连接"""
|
||||
if self.serial and self.serial.is_open:
|
||||
self.serial.close()
|
||||
|
||||
def clear_buffer(self):
|
||||
"""清空缓冲区 (Thread-safe)"""
|
||||
with self.lock:
|
||||
if self.serial:
|
||||
self.serial.reset_input_buffer()
|
||||
|
||||
def write(self, data: bytes):
|
||||
"""发送原始字节"""
|
||||
with self.lock:
|
||||
if self.serial:
|
||||
self.serial.write(data)
|
||||
|
||||
def read(self, size: int) -> bytes:
|
||||
"""读取指定长度字节"""
|
||||
if self.serial:
|
||||
return self.serial.read(size)
|
||||
return b''
|
||||
|
||||
class XKCSensorDriver(UniversalDriver):
|
||||
"""XKC RS485 液位传感器 (Modbus RTU)"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
|
||||
threshold: int = 300, timeout: float = 3.0, debug: bool = False):
|
||||
super().__init__()
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.device_id = device_id
|
||||
self.threshold = threshold
|
||||
self.timeout = timeout
|
||||
self.debug = debug
|
||||
self.level = False
|
||||
self.rssi = 0
|
||||
self.status = {"level": self.level, "rssi": self.rssi}
|
||||
|
||||
try:
|
||||
self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
|
||||
self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
|
||||
self.transport = None
|
||||
|
||||
# 启动背景轮询线程，确保 status 实时刷新
|
||||
self._stop_event = threading.Event()
|
||||
self._polling_thread = threading.Thread(
|
||||
target=self._update_loop,
|
||||
name=f"XKCPolling_{port}",
|
||||
daemon=True
|
||||
)
|
||||
if self.transport:
|
||||
self._polling_thread.start()
|
||||
|
||||
def _update_loop(self):
|
||||
"""背景循环读取传感器数据"""
|
||||
while not self._stop_event.is_set():
|
||||
try:
|
||||
self.read_level()
|
||||
except Exception as e:
|
||||
if self.debug:
|
||||
self.logger.error(f"Polling error: {e}")
|
||||
time.sleep(2.0) # 每2秒刷新一次数据
|
||||
|
||||
def _crc(self, data: bytes) -> bytes:
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
|
||||
else: crc >>= 1
|
||||
return struct.pack('<H', crc)
|
||||
|
||||
def read_level(self) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
读取液位。
|
||||
返回: {'level': bool, 'rssi': int}
|
||||
"""
|
||||
if not self.transport:
|
||||
return None
|
||||
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
# Modbus Read Registers: 01 03 00 01 00 02 CRC
|
||||
payload = struct.pack('>HH', 0x0001, 0x0002)
|
||||
msg = struct.pack('BB', self.device_id, 0x03) + payload
|
||||
msg += self._crc(msg)
|
||||
|
||||
if self.debug:
|
||||
self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
|
||||
|
||||
self.transport.write(msg)
|
||||
|
||||
# Read header
|
||||
h = self.transport.read(3) # Addr, Func, Len
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Header: {h.hex().upper()}")
|
||||
|
||||
if len(h) < 3: return None
|
||||
length = h[2]
|
||||
|
||||
# Read body + CRC
|
||||
body = self.transport.read(length + 2)
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
|
||||
if len(body) < length + 2:
|
||||
# Firmware bug fix specific to some modules
|
||||
if len(body) == 4 and length == 4:
|
||||
pass
|
||||
else:
|
||||
return None
|
||||
|
||||
data = body[:-2]
|
||||
# 根据手册说明:
|
||||
# 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
|
||||
# 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
|
||||
|
||||
hw_level = False
|
||||
rssi = 0
|
||||
|
||||
if len(data) >= 4:
|
||||
hw_level = ((data[0] << 8) | data[1]) == 1
|
||||
rssi = (data[2] << 8) | data[3]
|
||||
elif len(data) == 2:
|
||||
# 兼容模式: 某些老固件可能只返回 1 个寄存器
|
||||
rssi = (data[0] << 8) | data[1]
|
||||
hw_level = rssi > self.threshold
|
||||
else:
|
||||
return None
|
||||
|
||||
# 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
|
||||
# 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
|
||||
self.level = hw_level or (rssi > self.threshold)
|
||||
self.rssi = rssi
|
||||
result = {
|
||||
'level': self.level,
|
||||
'rssi': self.rssi
|
||||
}
|
||||
self.status = result
|
||||
return result
|
||||
|
||||
def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
|
||||
"""
|
||||
等待液位达到目标状态 (阻塞式)
|
||||
"""
|
||||
self.logger.info(f"Waiting for level: {target_state}")
|
||||
start_time = time.time()
|
||||
while (time.time() - start_time) < timeout:
|
||||
res = self.read_level()
|
||||
if res and res.get('level') == target_state:
|
||||
return True
|
||||
time.sleep(0.5)
|
||||
self.logger.warning(f"Wait level timeout ({timeout}s)")
|
||||
return False
|
||||
|
||||
def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
|
||||
"""
|
||||
实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
|
||||
一旦检测到符合目标状态，立即返回。
|
||||
|
||||
Args:
|
||||
target_state: True 为“有液”, False 为“无液”
|
||||
timeout: 最大等待时间(秒)
|
||||
"""
|
||||
state_str = "有液" if target_state else "无液"
|
||||
self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
|
||||
|
||||
start_time = time.time()
|
||||
while (time.time() - start_time) < timeout:
|
||||
res = self.read_level() # 内部已更新 self.level 和 self.rssi
|
||||
if res:
|
||||
current_level = res.get('level')
|
||||
current_rssi = res.get('rssi')
|
||||
if current_level == target_state:
|
||||
self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
|
||||
return True
|
||||
|
||||
if self.debug:
|
||||
self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
|
||||
|
||||
time.sleep(0.2) # 高频采样
|
||||
|
||||
self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
|
||||
return False
|
||||
|
||||
def set_threshold(self, threshold: int):
|
||||
"""设置液位判定阈值"""
|
||||
self.threshold = int(threshold)
|
||||
self.logger.info(f"Threshold updated to: {self.threshold}")
|
||||
|
||||
def change_device_id(self, new_id: int) -> bool:
|
||||
"""
|
||||
修改设备的 Modbus 从站地址。
|
||||
寄存器: 0x0004, 功能码: 0x06
|
||||
"""
|
||||
if not (1 <= new_id <= 254):
|
||||
self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
|
||||
return False
|
||||
|
||||
self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
|
||||
success = self._write_single_register(0x0004, new_id)
|
||||
if success:
|
||||
self.device_id = new_id # 更新内存中的地址
|
||||
self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
|
||||
return success
|
||||
|
||||
def change_baudrate(self, baud_code: int) -> bool:
|
||||
"""
|
||||
更改通讯波特率 (寄存器: 0x0005)。
|
||||
设置成功后传感器 LED 会闪烁，通常无数据返回。
|
||||
|
||||
波特率代码对照表 (16进制):
|
||||
05: 2400
|
||||
06: 4800
|
||||
07: 9600 (默认)
|
||||
08: 14400
|
||||
09: 19200
|
||||
0A: 28800
|
||||
0C: 57600
|
||||
0D: 115200
|
||||
0E: 128000
|
||||
0F: 256000
|
||||
"""
|
||||
self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
|
||||
# 写入寄存器 0x0005
|
||||
self._write_single_register(0x0005, baud_code)
|
||||
self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
|
||||
return True
|
||||
|
||||
def factory_reset(self) -> bool:
|
||||
"""
|
||||
恢复出厂设置 (通过广播地址 FF)。
|
||||
设置地址为 01，逻辑为向 0x0004 写入 0x0002
|
||||
"""
|
||||
self.logger.info("Sending factory reset command via broadcast address FF...")
|
||||
# 广播指令通常无回显
|
||||
self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
|
||||
self.logger.info("Factory reset command sent. Device address should be 01 now.")
|
||||
return True
|
||||
|
||||
def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
|
||||
"""内部辅助函数: Modbus 功能码 06 写单个寄存器"""
|
||||
if not self.transport: return False
|
||||
|
||||
target_id = slave_id if slave_id is not None else self.device_id
|
||||
msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
|
||||
msg += self._crc(msg)
|
||||
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
if self.debug:
|
||||
self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
|
||||
|
||||
self.transport.write(msg)
|
||||
|
||||
# 广播地址、波特率修改或厂家特定指令可能无回显
|
||||
if target_id == 0xFF or reg_addr == 0x0005:
|
||||
time.sleep(0.5)
|
||||
return True
|
||||
|
||||
# 等待返回 (正常应返回相同报文)
|
||||
resp = self.transport.read(len(msg))
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Write Response: {resp.hex().upper()}")
|
||||
|
||||
return resp == msg
|
||||
|
||||
def close(self):
|
||||
if self.transport:
|
||||
self.transport.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 快速实例化测试
|
||||
import logging
|
||||
# 减少冗余日志，仅显示重要信息
|
||||
logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
|
||||
|
||||
# 硬件配置 (根据实际情况修改)
|
||||
TEST_PORT = "/dev/tty.usbserial-3110"
|
||||
SLAVE_ID = 1
|
||||
THRESHOLD = 300
|
||||
|
||||
print("\n" + "="*50)
|
||||
print(f" XKC RS485 传感器独立测试程序")
|
||||
print(f" 端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
|
||||
print("="*50)
|
||||
|
||||
sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
|
||||
|
||||
try:
|
||||
if sensor.transport:
|
||||
print(f"\n开始实时连续采样测试 (持续 15 秒)...")
|
||||
print(f"按 Ctrl+C 可提前停止\n")
|
||||
|
||||
start_time = time.time()
|
||||
duration = 15
|
||||
count = 0
|
||||
|
||||
while time.time() - start_time < duration:
|
||||
count += 1
|
||||
res = sensor.read_level()
|
||||
if res:
|
||||
rssi = res['rssi']
|
||||
level = res['level']
|
||||
status_str = "【有液】" if level else "【无液】"
|
||||
# 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
|
||||
# 为了方便查看变化，我们直接打印
|
||||
elapsed = time.time() - start_time
|
||||
print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
|
||||
else:
|
||||
print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
|
||||
|
||||
time.sleep(0.5) # 每秒采样 2 次
|
||||
|
||||
print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
|
||||
|
||||
# [3] 测试动态修改阈值
|
||||
print(f"\n[3] 动态修改阈值演示...")
|
||||
new_threshold = 400
|
||||
sensor.set_threshold(new_threshold)
|
||||
res = sensor.read_level()
|
||||
if res:
|
||||
print(f" 采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
|
||||
sensor.set_threshold(THRESHOLD) # 还原
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n[!] 用户中断测试")
|
||||
except Exception as e:
|
||||
print(f"\n[!] 测试运行出错: {e}")
|
||||
finally:
|
||||
sensor.close()
|
||||
print("\n--- 测试程序已退出 ---\n")
|
||||
@@ -14,20 +14,30 @@ Virtual Workbench Device - 模拟工作台设备
|
||||
|
||||
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 import Any, Dict, List, Optional, cast
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
|
||||
ActionInputHandle,
|
||||
ActionOutputHandle,
|
||||
DataSource,
|
||||
NodeType,
|
||||
action,
|
||||
device,
|
||||
not_action,
|
||||
topic_config,
|
||||
)
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
|
||||
|
||||
from unilabos.resources.resource_tracker import (
|
||||
SampleUUIDsType,
|
||||
LabSample,
|
||||
ResourceTreeSet,
|
||||
)
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
|
||||
@@ -112,6 +122,7 @@ class HeatingStation:
|
||||
|
||||
@device(
|
||||
id="virtual_workbench",
|
||||
display_name="虚拟工作台",
|
||||
category=["virtual_device"],
|
||||
description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
|
||||
)
|
||||
@@ -137,7 +148,19 @@ class VirtualWorkbench:
|
||||
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):
|
||||
def __init__(
|
||||
self,
|
||||
device_id: Optional[str] = None,
|
||||
config: Optional[Dict[str, Any]] = None,
|
||||
**kwargs,
|
||||
):
|
||||
"""
|
||||
初始化虚拟工作台。
|
||||
|
||||
Args:
|
||||
device_id[设备ID]: 工作台设备实例 ID，默认使用 virtual_workbench。
|
||||
config[设备配置]: 可包含 arm_operation_time、heating_time、num_heating_stations。
|
||||
"""
|
||||
# 处理可能的不同调用方式
|
||||
if device_id is None and "id" in kwargs:
|
||||
device_id = kwargs.pop("id")
|
||||
@@ -151,9 +174,13 @@ class VirtualWorkbench:
|
||||
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.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))
|
||||
self.NUM_HEATING_STATIONS = int(
|
||||
self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS)
|
||||
)
|
||||
|
||||
# 机械臂状态和锁
|
||||
self._arm_lock = Lock()
|
||||
@@ -162,7 +189,8 @@ class VirtualWorkbench:
|
||||
|
||||
# 加热台状态
|
||||
self._heating_stations: Dict[int, HeatingStation] = {
|
||||
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
i: HeatingStation(station_id=i)
|
||||
for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
}
|
||||
self._stations_lock = RLock()
|
||||
|
||||
@@ -292,45 +320,113 @@ class VirtualWorkbench:
|
||||
self.logger.info(f"机械臂已释放 (完成: {task})")
|
||||
|
||||
@action(
|
||||
always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}, goal_default={
|
||||
"timeout_seconds": 3600,
|
||||
"assignee_user_ids": []
|
||||
}, feedback_interval=300,
|
||||
always_free=True,
|
||||
node_type=NodeType.MANUAL_CONFIRM,
|
||||
placeholder_keys={"assignee_user_ids": "unilabos_manual_confirm"},
|
||||
goal_default={"timeout_seconds": 3600, "assignee_user_ids": []},
|
||||
feedback_interval=300,
|
||||
handles=[
|
||||
ActionInputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
|
||||
ActionInputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(
|
||||
key="target_device",
|
||||
data_type="device_id",
|
||||
label="目标设备",
|
||||
data_key="target_device",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="resource",
|
||||
data_type="resource",
|
||||
label="待转移资源",
|
||||
data_key="resource",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="mount_resource",
|
||||
data_type="resource",
|
||||
label="目标孔位",
|
||||
data_key="mount_resource",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="collector_mass",
|
||||
data_type="collector_mass",
|
||||
label="极流体质量",
|
||||
data_key="collector_mass",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="active_material",
|
||||
data_type="active_material",
|
||||
label="活性物质含量",
|
||||
data_key="active_material",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="capacity",
|
||||
data_type="capacity",
|
||||
label="克容量",
|
||||
data_key="capacity",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="battery_system",
|
||||
data_type="battery_system",
|
||||
label="电池体系",
|
||||
data_key="battery_system",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
# transfer使用
|
||||
ActionOutputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(
|
||||
key="target_device",
|
||||
data_type="device_id",
|
||||
label="目标设备",
|
||||
data_key="target_device",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="resource",
|
||||
data_type="resource",
|
||||
label="待转移资源",
|
||||
data_key="resource.@flatten",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="mount_resource",
|
||||
data_type="resource",
|
||||
label="目标孔位",
|
||||
data_key="mount_resource.@flatten",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
# test使用
|
||||
ActionOutputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
|
||||
]
|
||||
ActionOutputHandle(
|
||||
key="collector_mass",
|
||||
data_type="collector_mass",
|
||||
label="极流体质量",
|
||||
data_key="collector_mass",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="active_material",
|
||||
data_type="active_material",
|
||||
label="活性物质含量",
|
||||
data_key="active_material",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="capacity",
|
||||
data_type="capacity",
|
||||
label="克容量",
|
||||
data_key="capacity",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="battery_system",
|
||||
data_type="battery_system",
|
||||
label="电池体系",
|
||||
data_key="battery_system",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
],
|
||||
)
|
||||
def manual_confirm(
|
||||
self,
|
||||
@@ -343,67 +439,156 @@ class VirtualWorkbench:
|
||||
battery_system: List[str],
|
||||
timeout_seconds: int,
|
||||
assignee_user_ids: list[str],
|
||||
**kwargs
|
||||
**kwargs,
|
||||
) -> dict:
|
||||
"""
|
||||
timeout_seconds: 超时时间（秒），默认3600秒
|
||||
collector_mass: 极流体质量
|
||||
active_material: 活性物质含量
|
||||
capacity: 克容量（mAh/g）
|
||||
battery_system: 电池体系
|
||||
修改的结果无效，是只读的
|
||||
人工确认资源转移和扣电测试参数。
|
||||
|
||||
Args:
|
||||
resource[待转移资源]: 需要人工确认的资源列表。
|
||||
target_device[目标设备]: 资源要转移到的目标设备 ID。
|
||||
mount_resource[目标孔位]: 资源要挂载到的目标孔位列表。
|
||||
collector_mass[极流体质量]: 每个样品对应的极流体质量。
|
||||
active_material[活性物质含量]: 每个样品对应的活性物质含量。
|
||||
capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
|
||||
battery_system[电池体系]: 每个样品对应的电池体系名称。
|
||||
timeout_seconds[超时时间]: 人工确认超时时间，单位秒。
|
||||
assignee_user_ids[确认人]: 指定处理人工确认任务的用户 ID 列表。
|
||||
|
||||
Note:
|
||||
修改的结果无效，是只读的。
|
||||
"""
|
||||
resource = ResourceTreeSet.from_plr_resources(resource).dump()
|
||||
mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
|
||||
resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, resource)).dump()
|
||||
mount_resource_tree = ResourceTreeSet.from_plr_resources(cast(Any, mount_resource)).dump()
|
||||
kwargs.update(locals())
|
||||
kwargs.pop("kwargs")
|
||||
kwargs.pop("self")
|
||||
kwargs["resource"] = resource_tree
|
||||
kwargs["mount_resource"] = mount_resource_tree
|
||||
kwargs.pop("resource_tree")
|
||||
kwargs.pop("mount_resource_tree")
|
||||
return kwargs
|
||||
|
||||
@action(
|
||||
description="转移物料",
|
||||
handles=[
|
||||
ActionInputHandle(key="target_device", data_type="device_id",
|
||||
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
]
|
||||
ActionInputHandle(
|
||||
key="target_device",
|
||||
data_type="device_id",
|
||||
label="目标设备",
|
||||
data_key="target_device",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="resource",
|
||||
data_type="resource",
|
||||
label="待转移资源",
|
||||
data_key="resource",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="mount_resource",
|
||||
data_type="resource",
|
||||
label="目标孔位",
|
||||
data_key="mount_resource",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
],
|
||||
)
|
||||
async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
|
||||
future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
|
||||
async def transfer(
|
||||
self,
|
||||
resource: List[ResourceSlot],
|
||||
target_device: DeviceSlot,
|
||||
mount_resource: List[ResourceSlot],
|
||||
):
|
||||
"""
|
||||
转移资源到目标设备。
|
||||
|
||||
Args:
|
||||
resource[待转移资源]: 待转移的资源列表。
|
||||
target_device[目标设备]: 接收资源的目标设备 ID。
|
||||
mount_resource[目标孔位]: 目标设备上的挂载孔位列表。
|
||||
"""
|
||||
future = ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.transfer_resource_to_another,
|
||||
True,
|
||||
**{
|
||||
"plr_resources": resource,
|
||||
"target_device_id": target_device,
|
||||
"target_resources": mount_resource,
|
||||
"sites": [None] * len(mount_resource),
|
||||
})
|
||||
},
|
||||
)
|
||||
result = await future
|
||||
return result
|
||||
|
||||
|
||||
@action(
|
||||
description="扣电测试启动",
|
||||
handles=[
|
||||
ActionInputHandle(key="resource", data_type="resource",
|
||||
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="mount_resource", data_type="resource",
|
||||
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
|
||||
|
||||
ActionInputHandle(key="collector_mass", data_type="collector_mass",
|
||||
label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="active_material", data_type="active_material",
|
||||
label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="capacity", data_type="capacity",
|
||||
label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="battery_system", data_type="battery_system",
|
||||
label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
|
||||
]
|
||||
ActionInputHandle(
|
||||
key="resource",
|
||||
data_type="resource",
|
||||
label="待转移资源",
|
||||
data_key="resource",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="mount_resource",
|
||||
data_type="resource",
|
||||
label="目标孔位",
|
||||
data_key="mount_resource",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="collector_mass",
|
||||
data_type="collector_mass",
|
||||
label="极流体质量",
|
||||
data_key="collector_mass",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="active_material",
|
||||
data_type="active_material",
|
||||
label="活性物质含量",
|
||||
data_key="active_material",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="capacity",
|
||||
data_type="capacity",
|
||||
label="克容量",
|
||||
data_key="capacity",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="battery_system",
|
||||
data_type="battery_system",
|
||||
label="电池体系",
|
||||
data_key="battery_system",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
],
|
||||
)
|
||||
async def test(
|
||||
self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
|
||||
self,
|
||||
resource: List[ResourceSlot],
|
||||
mount_resource: List[ResourceSlot],
|
||||
collector_mass: List[float],
|
||||
active_material: List[float],
|
||||
capacity: List[float],
|
||||
battery_system: list[str],
|
||||
):
|
||||
"""
|
||||
启动扣电测试。
|
||||
|
||||
Args:
|
||||
resource[待测试资源]: 需要进行扣电测试的资源列表。
|
||||
mount_resource[测试孔位]: 扣电测试使用的目标孔位列表。
|
||||
collector_mass[极流体质量]: 每个样品对应的极流体质量。
|
||||
active_material[活性物质含量]: 每个样品对应的活性物质含量。
|
||||
capacity[克容量]: 每个样品对应的克容量，单位 mAh/g。
|
||||
battery_system[电池体系]: 每个样品对应的电池体系名称。
|
||||
"""
|
||||
print(resource)
|
||||
print(mount_resource)
|
||||
print(collector_mass)
|
||||
@@ -415,16 +600,11 @@ class VirtualWorkbench:
|
||||
auto_prefix=True,
|
||||
description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
|
||||
handles=[
|
||||
ActionOutputHandle(key="channel_1", data_type="workbench_material",
|
||||
label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_2", data_type="workbench_material",
|
||||
label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_3", data_type="workbench_material",
|
||||
label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_4", data_type="workbench_material",
|
||||
label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_5", data_type="workbench_material",
|
||||
label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_1", data_type="workbench_material", label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_2", data_type="workbench_material", label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_3", data_type="workbench_material", label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_4", data_type="workbench_material", label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
ActionOutputHandle(key="channel_5", data_type="workbench_material", label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR), # noqa: E501
|
||||
],
|
||||
)
|
||||
def prepare_materials(
|
||||
@@ -437,6 +617,9 @@ class VirtualWorkbench:
|
||||
|
||||
作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
|
||||
输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
|
||||
|
||||
Args:
|
||||
count[物料数量]: 要生成的物料数量，默认生成 5 个。
|
||||
"""
|
||||
materials = [i for i in range(1, count + 1)]
|
||||
|
||||
@@ -457,7 +640,11 @@ class VirtualWorkbench:
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
@@ -467,12 +654,27 @@ class VirtualWorkbench:
|
||||
auto_prefix=True,
|
||||
description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
|
||||
handles=[
|
||||
ActionInputHandle(key="material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="material_number_output", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
ActionInputHandle(
|
||||
key="material_input",
|
||||
data_type="workbench_material",
|
||||
label="物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="heating_station_output",
|
||||
data_type="workbench_station",
|
||||
label="加热台ID",
|
||||
data_key="station_id",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="material_number_output",
|
||||
data_type="workbench_material",
|
||||
label="物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
],
|
||||
)
|
||||
def move_to_heating_station(
|
||||
@@ -484,6 +686,9 @@ class VirtualWorkbench:
|
||||
将物料从An位置移动到加热台
|
||||
|
||||
多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
|
||||
|
||||
Args:
|
||||
material_number[物料编号]: 要移动的物料编号，对应 A1、A2 等起始位置。
|
||||
"""
|
||||
material_id = f"A{material_number}"
|
||||
task_desc = f"移动{material_id}到加热台"
|
||||
@@ -546,7 +751,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -569,7 +775,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -581,14 +788,34 @@ class VirtualWorkbench:
|
||||
always_free=True,
|
||||
description="启动指定加热台的加热程序",
|
||||
handles=[
|
||||
ActionInputHandle(key="station_id_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="material_number_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
|
||||
label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
|
||||
label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
ActionInputHandle(
|
||||
key="station_id_input",
|
||||
data_type="workbench_station",
|
||||
label="加热台ID",
|
||||
data_key="station_id",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="material_number_input",
|
||||
data_type="workbench_material",
|
||||
label="物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="heating_done_station",
|
||||
data_type="workbench_station",
|
||||
label="加热完成-加热台ID",
|
||||
data_key="station_id",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
ActionOutputHandle(
|
||||
key="heating_done_material",
|
||||
data_type="workbench_material",
|
||||
label="加热完成-物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.EXECUTOR,
|
||||
),
|
||||
],
|
||||
)
|
||||
def start_heating(
|
||||
@@ -599,6 +826,10 @@ class VirtualWorkbench:
|
||||
) -> StartHeatingResult:
|
||||
"""
|
||||
启动指定加热台的加热程序
|
||||
|
||||
Args:
|
||||
station_id[加热台ID]: 要启动加热的加热台编号。
|
||||
material_number[物料编号]: 当前加热台上的物料编号。
|
||||
"""
|
||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||
|
||||
@@ -615,7 +846,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -638,7 +870,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -658,7 +891,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -698,7 +932,9 @@ class VirtualWorkbench:
|
||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||
|
||||
if time.time() - last_countdown_log >= 5.0:
|
||||
self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
|
||||
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:
|
||||
@@ -715,7 +951,9 @@ class VirtualWorkbench:
|
||||
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)")
|
||||
self.logger.info(
|
||||
f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)"
|
||||
)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
@@ -729,7 +967,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -740,10 +979,20 @@ class VirtualWorkbench:
|
||||
auto_prefix=True,
|
||||
description="将物料从加热台移动到输出位置Cn",
|
||||
handles=[
|
||||
ActionInputHandle(key="output_station_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="output_material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(
|
||||
key="output_station_input",
|
||||
data_type="workbench_station",
|
||||
label="加热台ID",
|
||||
data_key="station_id",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
ActionInputHandle(
|
||||
key="output_material_input",
|
||||
data_type="workbench_material",
|
||||
label="物料编号",
|
||||
data_key="material_number",
|
||||
data_source=DataSource.HANDLE,
|
||||
),
|
||||
],
|
||||
)
|
||||
def move_to_output(
|
||||
@@ -754,6 +1003,10 @@ class VirtualWorkbench:
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
|
||||
Args:
|
||||
station_id[加热台ID]: 已完成加热的加热台编号。
|
||||
material_number[物料编号]: 要移动到输出位置的物料编号，对应 Cn。
|
||||
"""
|
||||
output_number = material_number
|
||||
|
||||
@@ -770,7 +1023,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -794,7 +1048,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -814,7 +1069,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
@@ -896,7 +1152,8 @@ class VirtualWorkbench:
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
|
||||
459
unilabos/devices/workstation/bioyond_studio/debug_call_log.py
Normal file
459
unilabos/devices/workstation/bioyond_studio/debug_call_log.py
Normal file
@@ -0,0 +1,459 @@
|
||||
"""Per-action raw call/response log for Bioyond stations.
|
||||
|
||||
When a debug session is active, ``wrap_rpc_http`` replaces a ``BioyondV1RPC``
|
||||
instance's ``post`` / ``get`` methods with closures that perform the HTTP
|
||||
transport themselves, capture the request/response details, and append a record
|
||||
to the active session before returning exactly what ``BaseRequest`` would have
|
||||
returned. Outside of an active session the wrapped method delegates to the
|
||||
original (unwrapped) implementation, leaving non-debug behavior intact.
|
||||
|
||||
The session writes a Markdown file under ``out_dir`` mirroring the format of
|
||||
``temp_benyao/peptide/_logs/2026-04-30_160316_day3_samplefile_only_raw_calls.md``
|
||||
minus the "Raw Payload Argument" section.
|
||||
|
||||
This module has no dependency on ``BioyondV1RPC`` itself; the only contract is
|
||||
that the wrapped instance descends from ``BaseRequest`` (i.e. has a logger
|
||||
returned by ``self.get_logger()``).
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import contextvars
|
||||
import copy
|
||||
import inspect
|
||||
import json
|
||||
import re
|
||||
from contextlib import contextmanager
|
||||
from dataclasses import dataclass, field
|
||||
from datetime import datetime
|
||||
from pathlib import Path
|
||||
from typing import Any, Iterator, List, Optional
|
||||
|
||||
import requests
|
||||
|
||||
__all__ = [
|
||||
"CallRecord",
|
||||
"CallLogContext",
|
||||
"session",
|
||||
"wrap_rpc_http",
|
||||
"active_session",
|
||||
]
|
||||
|
||||
|
||||
_DEFAULT_TIMEOUT_GET = 30
|
||||
_DEFAULT_TIMEOUT_POST = 120
|
||||
|
||||
|
||||
@dataclass
|
||||
class CallRecord:
|
||||
"""One captured HTTP call inside a debug session."""
|
||||
|
||||
index: int
|
||||
method: str
|
||||
url: str
|
||||
path: str
|
||||
source: str
|
||||
transport: str
|
||||
http_status: Optional[int]
|
||||
request_body: Any
|
||||
response_body: Any
|
||||
error: Optional[str] = None
|
||||
|
||||
|
||||
@dataclass
|
||||
class CallLogContext:
|
||||
"""State for a single ``session()`` block.
|
||||
|
||||
A session lazily creates its file on the first appended record. Actions
|
||||
that abort before any RPC produce no file.
|
||||
"""
|
||||
|
||||
action: str
|
||||
out_dir: Path
|
||||
started_at: datetime
|
||||
calls: List[CallRecord] = field(default_factory=list)
|
||||
file_path: Optional[Path] = None
|
||||
|
||||
def append(self, record: CallRecord) -> None:
|
||||
record.index = len(self.calls) + 1
|
||||
self.calls.append(record)
|
||||
self._write_file()
|
||||
|
||||
# -- file I/O -------------------------------------------------------------
|
||||
|
||||
def _resolve_file_path(self) -> Path:
|
||||
if self.file_path is not None:
|
||||
return self.file_path
|
||||
timestamp = self.started_at.strftime("%Y-%m-%d_%H%M%S")
|
||||
slug = _slugify_action(self.action)
|
||||
candidate = self.out_dir / f"{timestamp}_{slug}_raw_calls.md"
|
||||
suffix = 2
|
||||
while candidate.exists():
|
||||
candidate = (
|
||||
self.out_dir
|
||||
/ f"{timestamp}_{slug}_raw_calls_{suffix:02d}.md"
|
||||
)
|
||||
suffix += 1
|
||||
self.file_path = candidate
|
||||
return self.file_path
|
||||
|
||||
def _write_file(self) -> None:
|
||||
path = self._resolve_file_path()
|
||||
path.parent.mkdir(parents=True, exist_ok=True)
|
||||
path.write_text(_render_markdown(self), encoding="utf-8")
|
||||
|
||||
|
||||
_active_session: contextvars.ContextVar[Optional[CallLogContext]] = (
|
||||
contextvars.ContextVar("_active_session", default=None)
|
||||
)
|
||||
|
||||
|
||||
def active_session() -> Optional[CallLogContext]:
|
||||
"""Return the currently active :class:`CallLogContext`, if any."""
|
||||
return _active_session.get()
|
||||
|
||||
|
||||
@contextmanager
|
||||
def session(action: str, out_dir: Path) -> Iterator[CallLogContext]:
|
||||
"""Open a per-action debug session.
|
||||
|
||||
On entry, sets the module-level ``_active_session`` ContextVar so any
|
||||
``wrap_rpc_http``'d clients on the same thread/task record their calls.
|
||||
On exit, the previous active session (if any) is restored.
|
||||
"""
|
||||
ctx = CallLogContext(
|
||||
action=str(action),
|
||||
out_dir=Path(out_dir),
|
||||
started_at=datetime.now(),
|
||||
)
|
||||
token = _active_session.set(ctx)
|
||||
try:
|
||||
yield ctx
|
||||
finally:
|
||||
_active_session.reset(token)
|
||||
|
||||
|
||||
def wrap_rpc_http(rpc: Any) -> None:
|
||||
"""Idempotently wrap ``rpc.post`` / ``rpc.get``.
|
||||
|
||||
When a session is active (``_active_session.get() is not None``), the
|
||||
wrapped methods perform the HTTP call themselves with ``requests`` and
|
||||
record the call before returning the same value ``BaseRequest`` would have
|
||||
returned. When no session is active, the wrapped methods delegate to the
|
||||
original implementation, preserving stock ``BaseRequest`` behavior.
|
||||
|
||||
Calling this twice on the same instance is a no-op. The wrapper does not
|
||||
alter ``rpc.form_post`` (no Sirna action calls it as of plan 3).
|
||||
"""
|
||||
if rpc is None:
|
||||
return
|
||||
if getattr(rpc, "_debug_call_log_wrapped", False):
|
||||
return
|
||||
|
||||
rpc._orig_post = rpc.post
|
||||
rpc._orig_get = rpc.get
|
||||
|
||||
def _wrapped_post(
|
||||
url: str,
|
||||
params: Any = None,
|
||||
files: Any = None,
|
||||
headers: Optional[dict] = None,
|
||||
) -> Any:
|
||||
ctx = _active_session.get()
|
||||
if ctx is None:
|
||||
kwargs = {}
|
||||
if params is not None:
|
||||
kwargs["params"] = params
|
||||
if files is not None:
|
||||
kwargs["files"] = files
|
||||
if headers is not None:
|
||||
kwargs["headers"] = headers
|
||||
return rpc._orig_post(url, **kwargs)
|
||||
effective_params = params if params is not None else {}
|
||||
effective_headers = (
|
||||
headers
|
||||
if headers is not None
|
||||
else {"Content-Type": "application/json"}
|
||||
)
|
||||
source = _detect_source(rpc)
|
||||
request_body = _redact(effective_params)
|
||||
record = CallRecord(
|
||||
index=0,
|
||||
method="POST",
|
||||
url=str(url),
|
||||
path=_url_path(url),
|
||||
source=source,
|
||||
transport=_pick_transport(effective_params),
|
||||
http_status=None,
|
||||
request_body=request_body,
|
||||
response_body=None,
|
||||
error=None,
|
||||
)
|
||||
return_value: Any = None
|
||||
try:
|
||||
response = requests.post(
|
||||
url,
|
||||
data=json.dumps(effective_params) if effective_params else None,
|
||||
headers=effective_headers,
|
||||
timeout=_DEFAULT_TIMEOUT_POST,
|
||||
files=files,
|
||||
)
|
||||
except Exception as exc: # pragma: no cover - delegated to logger
|
||||
record.error = f"transport error: {exc}"
|
||||
try:
|
||||
rpc.get_logger().error(f"Request ERROR: {exc}")
|
||||
except Exception:
|
||||
pass
|
||||
ctx.append(record)
|
||||
return None
|
||||
|
||||
record.http_status = response.status_code
|
||||
record.response_body, parse_error = _decode_response_body(response)
|
||||
try:
|
||||
rpc.get_logger().debug(
|
||||
f"Request >>> : {response.request.body} "
|
||||
f"{response.status_code} {response.text}"
|
||||
)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
if response.status_code == 200:
|
||||
if parse_error is not None:
|
||||
record.error = f"json parse error: {parse_error}"
|
||||
return_value = None
|
||||
else:
|
||||
return_value = record.response_body
|
||||
else:
|
||||
record.error = f"HTTP {response.status_code}: {response.text}"
|
||||
try:
|
||||
rpc.get_logger().error(
|
||||
f"Request ERROR: ('Request ERROR:', {response.text!r})"
|
||||
)
|
||||
except Exception:
|
||||
pass
|
||||
return_value = None
|
||||
|
||||
ctx.append(record)
|
||||
return return_value
|
||||
|
||||
def _wrapped_get(
|
||||
url: str,
|
||||
params: Any = None,
|
||||
headers: Optional[dict] = None,
|
||||
) -> Any:
|
||||
ctx = _active_session.get()
|
||||
if ctx is None:
|
||||
kwargs = {}
|
||||
if params is not None:
|
||||
kwargs["params"] = params
|
||||
if headers is not None:
|
||||
kwargs["headers"] = headers
|
||||
return rpc._orig_get(url, **kwargs)
|
||||
effective_params = params if params is not None else {}
|
||||
effective_headers = (
|
||||
headers
|
||||
if headers is not None
|
||||
else {"Content-Type": "application/json"}
|
||||
)
|
||||
source = _detect_source(rpc)
|
||||
request_body = _redact(effective_params)
|
||||
record = CallRecord(
|
||||
index=0,
|
||||
method="GET",
|
||||
url=str(url),
|
||||
path=_url_path(url),
|
||||
source=source,
|
||||
transport="params",
|
||||
http_status=None,
|
||||
request_body=request_body,
|
||||
response_body=None,
|
||||
error=None,
|
||||
)
|
||||
return_value: Any = None
|
||||
try:
|
||||
response = requests.get(
|
||||
url,
|
||||
params=effective_params,
|
||||
headers=effective_headers,
|
||||
timeout=_DEFAULT_TIMEOUT_GET,
|
||||
)
|
||||
except Exception as exc: # pragma: no cover - delegated to logger
|
||||
record.error = f"transport error: {exc}"
|
||||
try:
|
||||
rpc.get_logger().error(f"Request ERROR: {exc}")
|
||||
except Exception:
|
||||
pass
|
||||
ctx.append(record)
|
||||
return None
|
||||
|
||||
record.http_status = response.status_code
|
||||
record.response_body, parse_error = _decode_response_body(response)
|
||||
try:
|
||||
rpc.get_logger().debug(
|
||||
f"Request >>> : {effective_params} "
|
||||
f"{response.status_code} {response.text}"
|
||||
)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
if response.status_code == 200:
|
||||
if parse_error is not None:
|
||||
record.error = f"json parse error: {parse_error}"
|
||||
return_value = None
|
||||
else:
|
||||
return_value = record.response_body
|
||||
|
||||
ctx.append(record)
|
||||
return return_value
|
||||
|
||||
rpc.post = _wrapped_post
|
||||
rpc.get = _wrapped_get
|
||||
rpc._debug_call_log_wrapped = True
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Helpers
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
_URL_PATH_RE = re.compile(r"https?://[^/]+(/.*)?$")
|
||||
_SLUG_RE = re.compile(r"[^A-Za-z0-9._-]+")
|
||||
|
||||
|
||||
def _slugify_action(action: str) -> str:
|
||||
slug = _SLUG_RE.sub("_", str(action)).strip("_")
|
||||
return slug or "action"
|
||||
|
||||
|
||||
def _url_path(url: Any) -> str:
|
||||
text = str(url or "")
|
||||
match = _URL_PATH_RE.match(text)
|
||||
if match and match.group(1):
|
||||
return match.group(1)
|
||||
if text.startswith("/"):
|
||||
return text
|
||||
return text
|
||||
|
||||
|
||||
def _pick_transport(params: Any) -> str:
|
||||
if isinstance(params, dict) and "data" in params:
|
||||
return "data"
|
||||
return "params"
|
||||
|
||||
|
||||
def _detect_source(rpc: Any) -> str:
|
||||
"""Walk the call stack to find the outermost frame whose ``self`` is rpc."""
|
||||
try:
|
||||
stack = inspect.stack()
|
||||
except Exception:
|
||||
return ""
|
||||
candidate = ""
|
||||
try:
|
||||
for frame_info in stack:
|
||||
frame = frame_info.frame
|
||||
if frame.f_locals.get("self", None) is rpc:
|
||||
candidate = frame_info.function
|
||||
return candidate
|
||||
finally:
|
||||
del stack
|
||||
|
||||
|
||||
def _redact(params: Any) -> Any:
|
||||
"""Return a copy of ``params`` with ``apiKey`` redacted."""
|
||||
try:
|
||||
cloned = copy.deepcopy(params)
|
||||
except Exception:
|
||||
return params
|
||||
_redact_in_place(cloned)
|
||||
return cloned
|
||||
|
||||
|
||||
def _redact_in_place(value: Any) -> None:
|
||||
if isinstance(value, dict):
|
||||
for key in list(value.keys()):
|
||||
if isinstance(key, str) and key.lower() == "apikey":
|
||||
value[key] = "<redacted>"
|
||||
else:
|
||||
_redact_in_place(value[key])
|
||||
elif isinstance(value, list):
|
||||
for item in value:
|
||||
_redact_in_place(item)
|
||||
|
||||
|
||||
def _decode_response_body(response: Any) -> tuple[Any, Optional[str]]:
|
||||
"""Best-effort response decoding used for both record + return value."""
|
||||
text = getattr(response, "text", "")
|
||||
try:
|
||||
return response.json(), None
|
||||
except Exception as exc:
|
||||
if text:
|
||||
return {"raw_text": text}, str(exc)
|
||||
return None, str(exc)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Markdown rendering
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def _render_markdown(ctx: CallLogContext) -> str:
|
||||
title = f"# {ctx.action} Raw Call/Response Log"
|
||||
parts: List[str] = [title, ""]
|
||||
parts.append("## LIMS Calls")
|
||||
parts.append("")
|
||||
parts.append("| # | Method | Path | Source | HTTP |")
|
||||
parts.append("|---|---|---|---|---|")
|
||||
for record in ctx.calls:
|
||||
anchor = _row_anchor(record)
|
||||
http = (
|
||||
f"`{record.http_status}`"
|
||||
if record.http_status is not None
|
||||
else "`-`"
|
||||
)
|
||||
parts.append(
|
||||
f"| [{record.index}](#{anchor}) | `{record.method}` | "
|
||||
f"`{record.path}` | `{record.source}` | {http} |"
|
||||
)
|
||||
parts.append("")
|
||||
|
||||
for record in ctx.calls:
|
||||
parts.append(f"## {record.index} {record.method} {record.path}")
|
||||
parts.append("")
|
||||
parts.append(f"- Source: `{record.source}`")
|
||||
parts.append(f"- Transport: `{record.transport}`")
|
||||
if record.http_status is not None:
|
||||
parts.append(f"- HTTP status: `{record.http_status}`")
|
||||
else:
|
||||
parts.append("- HTTP status: `-`")
|
||||
if record.error:
|
||||
parts.append(f"- Error: {record.error}")
|
||||
parts.append("")
|
||||
parts.append("### Request Body")
|
||||
parts.append("")
|
||||
parts.append("```json")
|
||||
parts.append(_to_json_block(record.request_body))
|
||||
parts.append("```")
|
||||
parts.append("")
|
||||
parts.append("### Response Body")
|
||||
parts.append("")
|
||||
parts.append("```json")
|
||||
parts.append(_to_json_block(record.response_body))
|
||||
parts.append("```")
|
||||
parts.append("")
|
||||
|
||||
return "\n".join(parts).rstrip() + "\n"
|
||||
|
||||
|
||||
def _row_anchor(record: CallRecord) -> str:
|
||||
"""Build a GitHub-style anchor matching ``## N METHOD /path``."""
|
||||
raw = f"{record.index}-{record.method}-{record.path}"
|
||||
raw = raw.lower()
|
||||
raw = re.sub(r"[^a-z0-9]+", "-", raw)
|
||||
return raw.strip("-")
|
||||
|
||||
|
||||
def _to_json_block(value: Any) -> str:
|
||||
try:
|
||||
return json.dumps(value, ensure_ascii=False, indent=2, sort_keys=True)
|
||||
except TypeError:
|
||||
return json.dumps(str(value), ensure_ascii=False, indent=2)
|
||||
@@ -0,0 +1,3 @@
|
||||
from .sirna_station import BioyondSirnaStation, fetch_workflow_list, load_sirna_config
|
||||
|
||||
__all__ = ["BioyondSirnaStation", "fetch_workflow_list", "load_sirna_config"]
|
||||
File diff suppressed because it is too large
Load Diff
@@ -7,6 +7,7 @@ Bioyond Workstation Implementation
|
||||
import time
|
||||
import traceback
|
||||
import threading
|
||||
from contextlib import contextmanager
|
||||
from datetime import datetime
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
import json
|
||||
@@ -14,6 +15,7 @@ from pathlib import Path
|
||||
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase, ResourceSynchronizer
|
||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondV1RPC
|
||||
from unilabos.devices.workstation.bioyond_studio import debug_call_log
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.resources.warehouse import WareHouse
|
||||
from unilabos.utils.log import logger
|
||||
@@ -174,6 +176,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.warning("从Bioyond获取的物料数据为空")
|
||||
return False
|
||||
|
||||
self._update_material_cache_from_stock(all_bioyond_data)
|
||||
|
||||
# 转换为UniLab格式
|
||||
unilab_resources = resource_bioyond_to_plr(
|
||||
all_bioyond_data,
|
||||
@@ -187,6 +191,29 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.error(f"从Bioyond同步物料数据失败: {e}")
|
||||
return False
|
||||
|
||||
def _update_material_cache_from_stock(self, materials: List[Dict[str, Any]]) -> None:
|
||||
"""用本次库存查询结果同步 RPC 的 name -> material id 缓存。"""
|
||||
material_cache = getattr(self.bioyond_api_client, "material_cache", None)
|
||||
if not isinstance(material_cache, dict):
|
||||
return
|
||||
|
||||
before_count = len(material_cache)
|
||||
for material in materials:
|
||||
material_name = material.get("name")
|
||||
material_id = material.get("id")
|
||||
if material_name and material_id:
|
||||
material_cache[material_name] = material_id
|
||||
|
||||
for detail_material in material.get("detail", []) or []:
|
||||
detail_name = detail_material.get("name")
|
||||
detail_id = detail_material.get("detailMaterialId") or detail_material.get("id")
|
||||
if detail_name and detail_id:
|
||||
material_cache[detail_name] = detail_id
|
||||
|
||||
logger.debug(
|
||||
f"已用Bioyond库存同步物料缓存: {before_count} -> {len(material_cache)}"
|
||||
)
|
||||
|
||||
def sync_to_external(self, resource: Any) -> bool:
|
||||
"""将本地物料数据变更同步到Bioyond系统"""
|
||||
try:
|
||||
@@ -258,7 +285,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
||||
|
||||
# 第1步：从配置中获取仓库配置
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
|
||||
# 确定目标仓库名称
|
||||
parent_name = None
|
||||
@@ -678,6 +705,70 @@ class BioyondWorkstation(WorkstationBase):
|
||||
集成Bioyond物料管理的工作站实现
|
||||
"""
|
||||
|
||||
# 子类（如 sirna / peptide）覆写以指定默认 raw-call 日志目录。
|
||||
# 路径相对仓库根；为 None 时若 debug_log=True 仍会写入临时位置。
|
||||
_DEBUG_LOG_DEFAULT_DIR: Optional[str] = None
|
||||
|
||||
def _create_bioyond_rpc(self, config: Dict[str, Any]) -> BioyondV1RPC:
|
||||
"""创建 Bioyond RPC 客户端并应用调试包装。
|
||||
|
||||
所有创建 ``BioyondV1RPC`` 的路径（饿汉初始化、Sirna 延迟初始化、
|
||||
以及未来的前端重新配置路径）都应通过该 helper，
|
||||
以确保 debug_log 包装与命名/日志策略保持一致。
|
||||
"""
|
||||
rpc = BioyondV1RPC(config)
|
||||
debug_call_log.wrap_rpc_http(rpc)
|
||||
return rpc
|
||||
|
||||
def _set_hardware_interface(self, rpc: BioyondV1RPC) -> BioyondV1RPC:
|
||||
"""将已构造的 RPC 客户端设置到 ``self.hardware_interface``，并应用调试包装。"""
|
||||
debug_call_log.wrap_rpc_http(rpc)
|
||||
self.hardware_interface = rpc
|
||||
return rpc
|
||||
|
||||
def _debug_log_resolved_dir(self) -> Path:
|
||||
"""解析 ``debug_log_dir`` 为绝对路径。"""
|
||||
configured = (getattr(self, "bioyond_config", {}) or {}).get("debug_log_dir")
|
||||
default_dir = getattr(self, "_DEBUG_LOG_DEFAULT_DIR", None)
|
||||
candidate = configured or default_dir or "temp_benyao/_logs/bioyond_debug"
|
||||
path = Path(candidate)
|
||||
if not path.is_absolute():
|
||||
repo_root = Path(__file__).resolve().parents[4]
|
||||
path = repo_root / path
|
||||
return path
|
||||
|
||||
def _ensure_debug_log_state(self) -> None:
|
||||
"""从 ``self.bioyond_config`` 派生 ``_debug_log_enabled`` / ``_debug_log_dir``。
|
||||
|
||||
每次进入 ``_debug_call_session`` 时都重新解析，以兼容前端在运行时
|
||||
修改 ``bioyond_config['debug_log']`` 或目录的场景；同时也容忍
|
||||
子类（如 Sirna 延迟初始化）在 ``__init__`` 早期未触发本方法。
|
||||
"""
|
||||
cfg = getattr(self, "bioyond_config", {}) or {}
|
||||
self._debug_log_enabled = bool(cfg.get("debug_log"))
|
||||
self._debug_log_dir = self._debug_log_resolved_dir()
|
||||
|
||||
@contextmanager
|
||||
def _debug_call_session(self, action_name: str):
|
||||
"""在 action 体外加一层 debug 会话上下文。
|
||||
|
||||
- ``debug_log`` 关闭时是空上下文，开销为 0。
|
||||
- ``debug_log`` 开启时进入 :func:`debug_call_log.session`，所有
|
||||
已被 ``wrap_rpc_http`` 包装过的 RPC 客户端都会捕获本次 action
|
||||
产生的 HTTP 调用并写入 Markdown 文件。
|
||||
|
||||
子类（如 ``end_experiment``、``manual_unload`` 等）可以直接在
|
||||
action 体里以 ``with self._debug_call_session("action_name"):`` 包裹。
|
||||
"""
|
||||
cfg = getattr(self, "bioyond_config", {}) or {}
|
||||
enabled = bool(cfg.get("debug_log"))
|
||||
if not enabled:
|
||||
yield None
|
||||
return
|
||||
out_dir = BioyondWorkstation._debug_log_resolved_dir(self)
|
||||
with debug_call_log.session(action_name, out_dir) as ctx:
|
||||
yield ctx
|
||||
|
||||
def _publish_task_status(
|
||||
self,
|
||||
task_id: str,
|
||||
@@ -862,7 +953,7 @@ class BioyondWorkstation(WorkstationBase):
|
||||
self.bioyond_config = {}
|
||||
print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
|
||||
|
||||
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
|
||||
self.hardware_interface = self._create_bioyond_rpc(self.bioyond_config)
|
||||
|
||||
def resource_tree_add(self, resources: List[ResourcePLR]) -> None:
|
||||
"""添加资源到资源树并更新ROS节点
|
||||
@@ -1338,11 +1429,7 @@ class BioyondWorkstation(WorkstationBase):
|
||||
if self.hardware_interface:
|
||||
self.hardware_interface.scheduler_reset()
|
||||
|
||||
# 刷新物料缓存
|
||||
if self.hardware_interface:
|
||||
self.hardware_interface.refresh_material_cache()
|
||||
|
||||
# 重新同步资源
|
||||
# 重新同步资源，并用同一次库存查询结果更新物料缓存
|
||||
if self.resource_synchronizer:
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
|
||||
|
||||
@@ -32,7 +32,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
|
||||
|
||||
MAX_SCAN_DEPTH = 10 # 最大目录递归深度
|
||||
MAX_SCAN_FILES = 1000 # 最大扫描文件数量
|
||||
_CACHE_VERSION = 1 # 缓存格式版本号，格式变更时递增
|
||||
_CACHE_VERSION = 2 # 缓存格式版本号，格式变更时递增
|
||||
|
||||
# 合法的装饰器来源模块
|
||||
_REGISTRY_DECORATOR_MODULE = "unilabos.registry.decorators"
|
||||
@@ -258,8 +258,6 @@ def scan_directory(
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# File-level parsing
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -361,6 +359,7 @@ def _parse_file(
|
||||
"actions": class_body.get("actions", {}),
|
||||
"status_properties": class_body.get("status_properties", {}),
|
||||
"init_params": class_body.get("init_params", []),
|
||||
"init_docstring": class_body.get("init_docstring"),
|
||||
"auto_methods": class_body.get("auto_methods", {}),
|
||||
"import_map": import_map,
|
||||
}
|
||||
@@ -497,7 +496,6 @@ def _collect_imports(tree: ast.Module, module_path: str = "") -> Dict[str, str]:
|
||||
return import_map
|
||||
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Decorator finding & argument extraction
|
||||
# ---------------------------------------------------------------------------
|
||||
@@ -768,6 +766,7 @@ def _extract_class_body(
|
||||
"actions": {}, # method_name -> action_info
|
||||
"status_properties": {}, # prop_name -> status_info
|
||||
"init_params": [], # [{"name": ..., "type": ..., "default": ...}, ...]
|
||||
"init_docstring": None,
|
||||
"auto_methods": {}, # method_name -> method_info (no @action decorator)
|
||||
}
|
||||
|
||||
@@ -780,6 +779,7 @@ def _extract_class_body(
|
||||
# --- __init__ ---
|
||||
if method_name == "__init__":
|
||||
result["init_params"] = _extract_method_params(item, import_map)
|
||||
result["init_docstring"] = ast.get_docstring(item)
|
||||
continue
|
||||
|
||||
# --- Skip private/dunder ---
|
||||
|
||||
@@ -51,14 +51,18 @@ Qone_nmr:
|
||||
properties:
|
||||
check_interval:
|
||||
default: 60
|
||||
description: 检查间隔时间（秒），默认60秒
|
||||
type: string
|
||||
expected_count:
|
||||
default: 1
|
||||
description: 期望生成的.nmr文件数量，默认1个
|
||||
type: string
|
||||
monitor_dir:
|
||||
description: 要监督的目录路径，如果未指定则使用self.monitor_directory
|
||||
type: string
|
||||
stability_checks:
|
||||
default: 3
|
||||
description: 文件大小稳定性检查次数，默认3次
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -85,11 +89,14 @@ Qone_nmr:
|
||||
goal:
|
||||
properties:
|
||||
output_dir:
|
||||
description: 输出目录（如果未指定，使用self.output_directory）
|
||||
type: string
|
||||
string_list:
|
||||
description: 字符串列表
|
||||
type: string
|
||||
txt_encoding:
|
||||
default: utf-8
|
||||
description: 文件编码
|
||||
type: string
|
||||
required:
|
||||
- string_list
|
||||
@@ -151,6 +158,13 @@ Qone_nmr:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
description: '包含多个字符串的输入数据，支持两种格式：
|
||||
|
||||
1. 逗号分隔：如 "A 1 B 2 C 3, X 10 Y 20 Z 30"
|
||||
|
||||
2. 换行分隔：如 "A 1 B 2 C 3
|
||||
|
||||
X 10 Y 20 Z 30"'
|
||||
type: string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
|
||||
@@ -491,14 +491,17 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
material_names:
|
||||
description: 物料名称列表；默认使用 [LiPF6, LiDFOB, DTD, LiFSI, LiPO2F2]
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
type_id:
|
||||
default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
|
||||
description: 物料类型ID
|
||||
type: string
|
||||
warehouse_name:
|
||||
default: 粉末加样头堆栈
|
||||
description: 目标仓库名（用于取位置信息）
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -527,12 +530,16 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
location_name_or_id:
|
||||
description: 具体库位名称（如 A01）或库位 UUID，由用户指定。
|
||||
type: string
|
||||
material_name:
|
||||
description: 物料名称（会优先匹配配置模板）。
|
||||
type: string
|
||||
type_id:
|
||||
description: 物料类型 ID（若为空则尝试从配置推断）。
|
||||
type: string
|
||||
warehouse_name:
|
||||
description: 需要入库的仓库名称；若为空则仅创建不入库。
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
@@ -661,15 +668,20 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
board_type:
|
||||
description: 板类型，如 "5ml分液瓶板"、"配液瓶(小)板"
|
||||
type: string
|
||||
bottle_type:
|
||||
description: 瓶类型，如 "5ml分液瓶"、"配液瓶(小)"
|
||||
type: string
|
||||
location_code:
|
||||
description: 库位编号，例如 "A01"
|
||||
type: string
|
||||
name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
warehouse_name:
|
||||
default: 手动堆栈
|
||||
description: 仓库名称，默认为 "手动堆栈"，支持 "自动堆栈-左"、"自动堆栈-右" 等
|
||||
type: string
|
||||
required:
|
||||
- name
|
||||
@@ -1956,19 +1968,19 @@ bioyond_cell:
|
||||
properties:
|
||||
source_wh_id:
|
||||
default: 3a19debc-84b4-0359-e2d4-b3beea49348b
|
||||
description: 来源仓库ID
|
||||
description: 来源仓库 Id (默认为3号仓库)
|
||||
type: string
|
||||
source_x:
|
||||
default: 1
|
||||
description: 来源位置X坐标
|
||||
description: 来源位置 X 坐标
|
||||
type: integer
|
||||
source_y:
|
||||
default: 1
|
||||
description: 来源位置Y坐标
|
||||
description: 来源位置 Y 坐标
|
||||
type: integer
|
||||
source_z:
|
||||
default: 1
|
||||
description: 来源位置Z坐标
|
||||
description: 来源位置 Z 坐标
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
@@ -2061,9 +2073,11 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
order_code:
|
||||
description: 任务编号
|
||||
type: string
|
||||
timeout:
|
||||
default: 36000
|
||||
description: 超时时间（秒）
|
||||
type: integer
|
||||
required:
|
||||
- order_code
|
||||
@@ -2092,12 +2106,15 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
order_code:
|
||||
description: 任务编号
|
||||
type: string
|
||||
poll_interval:
|
||||
default: 0.5
|
||||
description: 轮询间隔（秒），默认 0.5 秒
|
||||
type: number
|
||||
timeout:
|
||||
default: 36000
|
||||
description: 超时时间（秒）
|
||||
type: integer
|
||||
required:
|
||||
- order_code
|
||||
@@ -2154,10 +2171,15 @@ bioyond_cell:
|
||||
config:
|
||||
properties:
|
||||
bioyond_config:
|
||||
description: '从 JSON 文件加载的 bioyond 配置字典
|
||||
|
||||
包含 api_host, api_key, HTTP_host, HTTP_port 等配置'
|
||||
type: object
|
||||
deck:
|
||||
description: Deck 配置（可选，会从 JSON 中自动处理）
|
||||
type: string
|
||||
protocol_type:
|
||||
description: 协议类型（可选）
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -47,8 +47,10 @@ bioyond_dispensing_station:
|
||||
goal:
|
||||
properties:
|
||||
report_request:
|
||||
description: WorkstationReportRequest 对象，包含任务完成信息
|
||||
type: string
|
||||
used_materials:
|
||||
description: 物料使用记录列表
|
||||
type: string
|
||||
required:
|
||||
- report_request
|
||||
@@ -102,6 +104,7 @@ bioyond_dispensing_station:
|
||||
goal:
|
||||
properties:
|
||||
material_name:
|
||||
description: 物料名称
|
||||
type: string
|
||||
required:
|
||||
- material_name
|
||||
@@ -611,10 +614,10 @@ bioyond_dispensing_station:
|
||||
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）
|
||||
description: 目标反应站设备ID(所有转移组使用同一个设备)
|
||||
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
|
||||
description: '转移任务组列表,每组包含:'
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
@@ -694,10 +697,13 @@ bioyond_dispensing_station:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
description: 配置字典,应包含material_type_mappings等配置
|
||||
type: object
|
||||
deck:
|
||||
description: Deck对象
|
||||
type: string
|
||||
protocol_type:
|
||||
description: 协议类型(由ROS系统传递,此处忽略)
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -336,47 +336,6 @@ separator.chinwe:
|
||||
title: pump_valve参数
|
||||
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:
|
||||
feedback: {}
|
||||
goal:
|
||||
|
||||
@@ -150,15 +150,15 @@ coincellassemblyworkstation_device:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 4200
|
||||
description: 电池压制力(N)
|
||||
description: 电池压制力 (N)
|
||||
type: integer
|
||||
assembly_type:
|
||||
default: 7
|
||||
description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
|
||||
description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
|
||||
type: integer
|
||||
battery_clean_ignore:
|
||||
default: false
|
||||
description: 是否忽略电池清洁步骤
|
||||
description: 是否忽略电池清洁
|
||||
type: boolean
|
||||
battery_pressure_mode:
|
||||
default: true
|
||||
@@ -166,29 +166,29 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
dual_drop_first_volume:
|
||||
default: 25
|
||||
description: 二次滴液第一次排液体积(μL)
|
||||
description: 二次滴液第一次排液体积 (μL)
|
||||
type: integer
|
||||
dual_drop_mode:
|
||||
default: false
|
||||
description: 电解液添加模式(false=单次滴液, true=二次滴液)
|
||||
description: 电解液添加模式 (False=单次滴液, True=二次滴液)
|
||||
type: boolean
|
||||
dual_drop_start_timing:
|
||||
default: false
|
||||
description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
|
||||
description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
|
||||
type: boolean
|
||||
dual_drop_suction_timing:
|
||||
default: false
|
||||
description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
|
||||
description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
|
||||
type: boolean
|
||||
elec_num:
|
||||
description: 电解液瓶数
|
||||
type: string
|
||||
elec_use_num:
|
||||
description: 每瓶电解液组装电池数
|
||||
description: 每瓶电解液组装的电池数
|
||||
type: string
|
||||
elec_vol:
|
||||
default: 50
|
||||
description: 电解液吸液量(μL)
|
||||
description: 电解液吸液量 (μL)
|
||||
type: integer
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
@@ -196,7 +196,7 @@ coincellassemblyworkstation_device:
|
||||
type: string
|
||||
fujipian_juzhendianwei:
|
||||
default: 0
|
||||
description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
description: 负极片矩阵点位
|
||||
type: integer
|
||||
fujipian_panshu:
|
||||
default: 0
|
||||
@@ -204,7 +204,7 @@ coincellassemblyworkstation_device:
|
||||
type: integer
|
||||
gemo_juzhendianwei:
|
||||
default: 0
|
||||
description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
description: 隔膜矩阵点位
|
||||
type: integer
|
||||
gemopanshu:
|
||||
default: 0
|
||||
@@ -216,7 +216,7 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
qiangtou_juzhendianwei:
|
||||
default: 0
|
||||
description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
description: 枪头盒矩阵点位
|
||||
type: integer
|
||||
required:
|
||||
- elec_num
|
||||
@@ -308,7 +308,13 @@ coincellassemblyworkstation_device:
|
||||
properties:
|
||||
material_search_enable:
|
||||
default: false
|
||||
description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
|
||||
description: '是否启用物料搜寻功能。
|
||||
|
||||
设备初始化后会弹出物料搜寻确认弹窗，
|
||||
|
||||
此参数控制自动点击''是''（启用）或''否''（不启用）。
|
||||
|
||||
默认为False（不启用物料搜寻）。'
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
@@ -547,15 +553,15 @@ coincellassemblyworkstation_device:
|
||||
properties:
|
||||
assembly_pressure:
|
||||
default: 4200
|
||||
description: 电池压制力(N)
|
||||
description: 电池压制力 (N)
|
||||
type: integer
|
||||
assembly_type:
|
||||
default: 7
|
||||
description: 组装类型(7=不用铝箔垫, 8=使用铝箔垫)
|
||||
description: 组装类型 (7=不用铝箔垫, 8=使用铝箔垫)
|
||||
type: integer
|
||||
battery_clean_ignore:
|
||||
default: false
|
||||
description: 是否忽略电池清洁步骤
|
||||
description: 是否忽略电池清洁
|
||||
type: boolean
|
||||
battery_pressure_mode:
|
||||
default: true
|
||||
@@ -563,29 +569,29 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
dual_drop_first_volume:
|
||||
default: 25
|
||||
description: 二次滴液第一次排液体积(μL)
|
||||
description: 二次滴液第一次排液体积 (μL)
|
||||
type: integer
|
||||
dual_drop_mode:
|
||||
default: false
|
||||
description: 电解液添加模式(false=单次滴液, true=二次滴液)
|
||||
description: 电解液添加模式 (False=单次滴液, True=二次滴液)
|
||||
type: boolean
|
||||
dual_drop_start_timing:
|
||||
default: false
|
||||
description: 二次滴液开始滴液时机(false=正极片前, true=正极片后)
|
||||
description: 二次滴液开始滴液时机 (False=正极片前, True=正极片后)
|
||||
type: boolean
|
||||
dual_drop_suction_timing:
|
||||
default: false
|
||||
description: 二次滴液吸液时机(false=正常吸液, true=先吸液)
|
||||
description: 二次滴液吸液时机 (False=正常吸液, True=先吸液)
|
||||
type: boolean
|
||||
elec_num:
|
||||
description: 电解液瓶数，如果在workflow中已通过handles连接上游(create_orders的bottle_count输出)，则此参数会自动从上游获取，无需手动填写；如果单独使用此函数(没有上游连接)，则必须手动填写电解液瓶数
|
||||
description: 电解液瓶数
|
||||
type: string
|
||||
elec_use_num:
|
||||
description: 每瓶电解液组装电池数
|
||||
description: 每瓶电解液组装的电池数
|
||||
type: string
|
||||
elec_vol:
|
||||
default: 50
|
||||
description: 电解液吸液量(μL)
|
||||
description: 电解液吸液量 (μL)
|
||||
type: integer
|
||||
file_path:
|
||||
default: /Users/sml/work
|
||||
@@ -593,7 +599,7 @@ coincellassemblyworkstation_device:
|
||||
type: string
|
||||
fujipian_juzhendianwei:
|
||||
default: 0
|
||||
description: 负极片矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
description: 负极片矩阵点位
|
||||
type: integer
|
||||
fujipian_panshu:
|
||||
default: 0
|
||||
@@ -601,7 +607,7 @@ coincellassemblyworkstation_device:
|
||||
type: integer
|
||||
gemo_juzhendianwei:
|
||||
default: 0
|
||||
description: 隔膜矩阵点位。盘位置从1开始计数，有效范围：1-8, 13-20 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
description: 隔膜矩阵点位
|
||||
type: integer
|
||||
gemopanshu:
|
||||
default: 0
|
||||
@@ -613,7 +619,7 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
qiangtou_juzhendianwei:
|
||||
default: 0
|
||||
description: 枪头盒矩阵点位。盘位置从1开始计数，有效范围：1-32, 64-96 (写入值比实际位置少1，例如：写0取盘位1，写1取盘位2)
|
||||
description: 枪头盒矩阵点位
|
||||
type: integer
|
||||
required:
|
||||
- elec_num
|
||||
|
||||
@@ -18,6 +18,7 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
degrees:
|
||||
description: 角度值
|
||||
type: number
|
||||
required:
|
||||
- degrees
|
||||
@@ -44,6 +45,7 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
required:
|
||||
- axis
|
||||
@@ -71,6 +73,7 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
enable:
|
||||
default: true
|
||||
description: True为使能，False为失能
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
@@ -99,9 +102,11 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
enable:
|
||||
default: true
|
||||
description: True为使能，False为失能
|
||||
type: boolean
|
||||
required:
|
||||
- axis
|
||||
@@ -152,6 +157,7 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
required:
|
||||
- axis
|
||||
@@ -183,16 +189,21 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度(rpm/s)
|
||||
type: integer
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
position:
|
||||
description: 目标位置(步数)
|
||||
type: integer
|
||||
precision:
|
||||
default: 100
|
||||
description: 到位精度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 运行速度(rpm)
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
@@ -225,16 +236,21 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
degrees:
|
||||
description: 目标角度（度）
|
||||
type: number
|
||||
precision:
|
||||
default: 100
|
||||
description: 精度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 移动速度
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
@@ -267,16 +283,21 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
precision:
|
||||
default: 100
|
||||
description: 精度
|
||||
type: integer
|
||||
revolutions:
|
||||
description: 目标圈数
|
||||
type: number
|
||||
speed:
|
||||
default: 5000
|
||||
description: 移动速度
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
@@ -309,15 +330,20 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 运行速度
|
||||
type: integer
|
||||
x:
|
||||
description: X轴目标位置
|
||||
type: integer
|
||||
y:
|
||||
description: Y轴目标位置
|
||||
type: integer
|
||||
z:
|
||||
description: Z轴目标位置
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
@@ -350,15 +376,20 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 移动速度
|
||||
type: integer
|
||||
x_deg:
|
||||
description: X轴目标角度（度）
|
||||
type: number
|
||||
y_deg:
|
||||
description: Y轴目标角度（度）
|
||||
type: number
|
||||
z_deg:
|
||||
description: Z轴目标角度（度）
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
@@ -391,15 +422,20 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度
|
||||
type: integer
|
||||
speed:
|
||||
default: 5000
|
||||
description: 移动速度
|
||||
type: integer
|
||||
x_rev:
|
||||
description: X轴目标圈数
|
||||
type: number
|
||||
y_rev:
|
||||
description: Y轴目标圈数
|
||||
type: number
|
||||
z_rev:
|
||||
description: Z轴目标圈数
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
@@ -427,6 +463,7 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
revolutions:
|
||||
description: 圈数
|
||||
type: number
|
||||
required:
|
||||
- revolutions
|
||||
@@ -456,10 +493,13 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 1000
|
||||
description: 加速度(rpm/s)
|
||||
type: integer
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
speed:
|
||||
description: 运行速度(rpm)，正值正转，负值反转
|
||||
type: integer
|
||||
required:
|
||||
- axis
|
||||
@@ -487,6 +527,7 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
steps:
|
||||
description: 步数
|
||||
type: integer
|
||||
required:
|
||||
- steps
|
||||
@@ -513,6 +554,7 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
steps:
|
||||
description: 步数
|
||||
type: integer
|
||||
required:
|
||||
- steps
|
||||
@@ -564,9 +606,11 @@ xyz_stepper_controller:
|
||||
goal:
|
||||
properties:
|
||||
axis:
|
||||
description: 电机轴
|
||||
type: object
|
||||
timeout:
|
||||
default: 30.0
|
||||
description: 超时时间(秒)
|
||||
type: number
|
||||
required:
|
||||
- axis
|
||||
@@ -591,11 +635,14 @@ xyz_stepper_controller:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
description: 波特率
|
||||
type: integer
|
||||
port:
|
||||
description: 串口端口名
|
||||
type: string
|
||||
timeout:
|
||||
default: 1.0
|
||||
description: 通信超时时间
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
|
||||
@@ -510,9 +510,11 @@ liquid_handler:
|
||||
goal:
|
||||
properties:
|
||||
msg:
|
||||
description: information to be printed
|
||||
type: string
|
||||
seconds:
|
||||
default: 0
|
||||
description: seconds to wait
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -2963,15 +2965,22 @@ liquid_handler:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
channel:
|
||||
description: int
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
dis_to_top:
|
||||
description: 'float
|
||||
|
||||
Height in mm to move to relative to the well top.'
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
well:
|
||||
additionalProperties: false
|
||||
description: 'Well
|
||||
|
||||
The target well.'
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
@@ -4829,11 +4838,13 @@ liquid_handler:
|
||||
config:
|
||||
properties:
|
||||
backend:
|
||||
description: Backend to use.
|
||||
type: object
|
||||
channel_num:
|
||||
default: 8
|
||||
type: integer
|
||||
deck:
|
||||
description: Deck to use.
|
||||
type: object
|
||||
simulator:
|
||||
default: false
|
||||
@@ -4883,14 +4894,17 @@ liquid_handler.biomek:
|
||||
bind_parent_id:
|
||||
type: string
|
||||
liquid_input_slot:
|
||||
description: 液体输入槽列表
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
liquid_type:
|
||||
description: 液体类型列表
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
liquid_volume:
|
||||
description: 液体体积列表
|
||||
items:
|
||||
type: integer
|
||||
type: array
|
||||
@@ -4901,6 +4915,7 @@ liquid_handler.biomek:
|
||||
type: object
|
||||
type: array
|
||||
slot_on_deck:
|
||||
description: 甲板上的槽位
|
||||
type: integer
|
||||
required:
|
||||
- resource_tracker
|
||||
@@ -5036,20 +5051,27 @@ liquid_handler.biomek:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
none_keys:
|
||||
description: 需要设置为None的键列表
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
protocol_author:
|
||||
description: 协议作者
|
||||
type: string
|
||||
protocol_date:
|
||||
description: 协议日期
|
||||
type: string
|
||||
protocol_description:
|
||||
description: 协议描述
|
||||
type: string
|
||||
protocol_name:
|
||||
description: 协议名称
|
||||
type: string
|
||||
protocol_type:
|
||||
description: 协议类型
|
||||
type: string
|
||||
protocol_version:
|
||||
description: 协议版本
|
||||
type: string
|
||||
title: LiquidHandlerProtocolCreation_Goal
|
||||
type: object
|
||||
@@ -6973,7 +6995,7 @@ liquid_handler.laiyu:
|
||||
properties:
|
||||
channel_num:
|
||||
default: 1
|
||||
type: integer
|
||||
type: string
|
||||
deck:
|
||||
type: object
|
||||
host:
|
||||
@@ -6984,25 +7006,10 @@ liquid_handler.laiyu:
|
||||
type: integer
|
||||
simulator:
|
||||
default: true
|
||||
type: boolean
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: number
|
||||
serial_port:
|
||||
default: /dev/ttyUSB0
|
||||
description: 硬件串口端口（非 simulator 模式下使用）
|
||||
type: string
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: integer
|
||||
pipette_address:
|
||||
default: 4
|
||||
description: SOPA 移液器 RS485 地址
|
||||
type: integer
|
||||
total_height:
|
||||
default: 310
|
||||
description: 龙门架总高度 (mm)，用于坐标转换
|
||||
type: number
|
||||
required:
|
||||
- deck
|
||||
type: object
|
||||
|
||||
@@ -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
|
||||
@@ -87,7 +87,7 @@ neware_battery_test_system:
|
||||
properties:
|
||||
filepath:
|
||||
default: bts_status.json
|
||||
description: 输出JSON文件路径
|
||||
description: 输出文件路径
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -146,7 +146,7 @@ neware_battery_test_system:
|
||||
goal:
|
||||
properties:
|
||||
plate_num:
|
||||
description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
|
||||
description: 盘号 (1 或 2)，如果为None则返回所有盘的状态
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
@@ -237,11 +237,11 @@ neware_battery_test_system:
|
||||
goal:
|
||||
properties:
|
||||
csv_path:
|
||||
description: 输入CSV文件的绝对路径
|
||||
description: 输入CSV文件路径
|
||||
type: string
|
||||
output_dir:
|
||||
default: .
|
||||
description: 输出目录（用于存储XML和备份文件），默认当前目录
|
||||
description: 输出目录，用于存储XML文件和备份，默认当前目录
|
||||
type: string
|
||||
required:
|
||||
- csv_path
|
||||
@@ -302,14 +302,14 @@ neware_battery_test_system:
|
||||
goal:
|
||||
properties:
|
||||
backup_dir:
|
||||
description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir）
|
||||
description: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir
|
||||
type: string
|
||||
file_pattern:
|
||||
default: '*'
|
||||
description: 文件通配符模式，例如 *.csv 或 Battery_*.nda
|
||||
description: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件）
|
||||
type: string
|
||||
oss_prefix:
|
||||
description: OSS对象路径前缀（默认使用self.oss_prefix）
|
||||
description: OSS 对象前缀，默认使用类初始化时的配置
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -336,19 +336,25 @@ neware_battery_test_system:
|
||||
config:
|
||||
properties:
|
||||
devtype:
|
||||
description: 设备类型标识
|
||||
type: string
|
||||
ip:
|
||||
description: TCP服务器IP地址
|
||||
type: string
|
||||
machine_id:
|
||||
default: 1
|
||||
description: 机器ID
|
||||
type: integer
|
||||
oss_prefix:
|
||||
default: neware_backup
|
||||
description: OSS对象路径前缀，默认"neware_backup"
|
||||
type: string
|
||||
oss_upload_enabled:
|
||||
default: false
|
||||
description: 是否启用OSS上传功能，默认False
|
||||
type: boolean
|
||||
port:
|
||||
description: TCP端口
|
||||
type: integer
|
||||
size_x:
|
||||
default: 50
|
||||
@@ -360,6 +366,7 @@ neware_battery_test_system:
|
||||
default: 20
|
||||
type: number
|
||||
timeout:
|
||||
description: 通信超时时间（秒）
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -207,8 +207,12 @@ separator.homemade:
|
||||
goal:
|
||||
properties:
|
||||
condition:
|
||||
description: The condition to be monitored, either 'delta' or 'time'.
|
||||
type: string
|
||||
value:
|
||||
description: 'The threshold value for the condition.
|
||||
|
||||
`delta > 0.05`, `time > 60`'
|
||||
type: string
|
||||
required:
|
||||
- condition
|
||||
@@ -305,12 +309,17 @@ separator.homemade:
|
||||
event:
|
||||
type: string
|
||||
settling_time:
|
||||
description: The duration for which to settle after stirring, in
|
||||
seconds. Defaults to 10.
|
||||
type: string
|
||||
stir_speed:
|
||||
description: The speed of stirring, in RPM. Defaults to 300.
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
stir_time:
|
||||
description: The duration for which to stir, in seconds. Defaults
|
||||
to 10.
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
|
||||
@@ -456,6 +456,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
description: 'absolute position of the plunger, unit: mL'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -481,6 +482,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
description: 'absolute position of the plunger, unit: mL'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -687,8 +689,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal:
|
||||
properties:
|
||||
max_velocity:
|
||||
description: 'maximum velocity of the plunger, unit: ml/s'
|
||||
type: number
|
||||
position:
|
||||
description: 'absolute position of the plunger, unit: ml'
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
@@ -1003,6 +1007,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
description: 'absolute position of the plunger, unit: mL'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -1028,6 +1033,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
description: 'absolute position of the plunger, unit: mL'
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -1234,8 +1240,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal:
|
||||
properties:
|
||||
max_velocity:
|
||||
description: 'maximum velocity of the plunger, unit: ml/s'
|
||||
type: number
|
||||
position:
|
||||
description: 'absolute position of the plunger, unit: ml'
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
|
||||
@@ -32,7 +32,7 @@ reaction_station.bioyond:
|
||||
type: integer
|
||||
end_point:
|
||||
default: 0
|
||||
description: 终点计时点 (Start=开始前, End=结束后)
|
||||
description: 终点计时点 (Start=0, End=1)
|
||||
type: integer
|
||||
end_step_key:
|
||||
default: ''
|
||||
@@ -40,11 +40,11 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
start_point:
|
||||
default: 0
|
||||
description: 起点计时点 (Start=开始前, End=结束后)
|
||||
description: 起点计时点 (Start=0, End=1)
|
||||
type: integer
|
||||
start_step_key:
|
||||
default: ''
|
||||
description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
|
||||
description: 起点步骤Key (可选, 默认为空则自动选择)
|
||||
type: string
|
||||
required:
|
||||
- duration
|
||||
@@ -91,6 +91,7 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
json_str:
|
||||
description: 订单参数的JSON字符串
|
||||
type: string
|
||||
required:
|
||||
- json_str
|
||||
@@ -117,6 +118,7 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
workflow_ids:
|
||||
description: 要删除的工作流ID数组
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
@@ -145,6 +147,7 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
json_str:
|
||||
description: 'JSON格式的字符串,包含:'
|
||||
type: string
|
||||
required:
|
||||
- json_str
|
||||
@@ -197,6 +200,7 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
web_workflow_json:
|
||||
description: JSON 格式的网页工作流列表
|
||||
type: string
|
||||
required:
|
||||
- web_workflow_json
|
||||
@@ -228,8 +232,10 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
reactor_id:
|
||||
description: 反应器编号 (1-5)
|
||||
type: integer
|
||||
temperature:
|
||||
description: 目标温度 (°C)
|
||||
type: number
|
||||
required:
|
||||
- reactor_id
|
||||
@@ -257,6 +263,7 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
preintake_id:
|
||||
description: 通量ID
|
||||
type: string
|
||||
required:
|
||||
- preintake_id
|
||||
@@ -338,6 +345,7 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
value:
|
||||
description: 工作流 ID 列表
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
@@ -365,6 +373,7 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
workflow_id:
|
||||
description: 工作流ID
|
||||
type: string
|
||||
required:
|
||||
- workflow_id
|
||||
@@ -424,11 +433,11 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称（不能为空）
|
||||
description: 物料名称(液体种类)
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C)
|
||||
description: 温度(C)
|
||||
type: number
|
||||
time:
|
||||
default: '90'
|
||||
@@ -436,14 +445,14 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
description: 是否滴定(NO=1, YES=2)
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
type: integer
|
||||
volume:
|
||||
description: 分液公式(mL)
|
||||
description: 分液量(μL)
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -525,11 +534,11 @@ reaction_station.bioyond:
|
||||
properties:
|
||||
assign_material_name:
|
||||
default: BAPP
|
||||
description: 物料名称
|
||||
description: 物料名称(试剂瓶位)
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C)
|
||||
description: 温度设定(C)
|
||||
type: number
|
||||
time:
|
||||
default: '0'
|
||||
@@ -537,15 +546,15 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
description: 是否滴定(NO=1, YES=2)
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
description: 是否观察(int类型, 1=否, 2=是)
|
||||
type: integer
|
||||
volume:
|
||||
default: '350'
|
||||
description: 分液公式(mL)
|
||||
description: 分液质量(g)
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
@@ -593,26 +602,28 @@ reaction_station.bioyond:
|
||||
description: 物料名称
|
||||
type: string
|
||||
solvents:
|
||||
description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
|
||||
description: '溶剂信息的字典或JSON字符串(可选),格式如下:
|
||||
|
||||
{'
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C),默认25.00
|
||||
description: 温度设定(C)
|
||||
type: number
|
||||
time:
|
||||
default: '360'
|
||||
description: 观察时间(分钟),默认360
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=否, YES=是),默认NO
|
||||
description: 是否滴定(NO=1, YES=2)
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
description: 是否观察 (NO=否, YES=是),默认YES
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
type: integer
|
||||
volume:
|
||||
description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
|
||||
description: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -671,33 +682,32 @@ reaction_station.bioyond:
|
||||
description: 物料名称
|
||||
type: string
|
||||
extracted_actuals:
|
||||
description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh(m二酐滴定)和actualVolume(V二酐滴定)
|
||||
description: 从报告提取的实际加料量JSON字符串,包含actualTargetWeigh和actualVolume
|
||||
type: string
|
||||
feeding_order_data:
|
||||
description: 'feeding_order JSON对象,用于获取m二酐值(type为main_anhydride的amount)。示例:
|
||||
{"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
|
||||
description: feeding_order JSON字符串或对象,用于获取m二酐值
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C),默认25.00
|
||||
description: 温度(C)
|
||||
type: number
|
||||
time:
|
||||
default: '90'
|
||||
description: 观察时间(分钟),默认90
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
default: '2'
|
||||
description: 是否滴定(NO=否, YES=是),默认YES
|
||||
description: 是否滴定(NO=1, YES=2),默认2
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
description: 是否观察 (NO=否, YES=是),默认YES
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
type: integer
|
||||
volume_formula:
|
||||
description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
|
||||
description: 分液公式(μL),如果提供则直接使用,否则自动计算
|
||||
type: string
|
||||
x_value:
|
||||
description: 公式中的x值,手工输入,格式为"{{1-2-3}}"(包含双花括号)。用于自动公式计算
|
||||
description: 手工输入的x值,格式如 "1-2-3"
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -738,7 +748,7 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C)
|
||||
description: 温度(C)
|
||||
type: number
|
||||
time:
|
||||
default: '0'
|
||||
@@ -746,14 +756,14 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
description: 是否滴定(NO=1, YES=2)
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
type: integer
|
||||
volume_formula:
|
||||
description: 分液公式(mL)
|
||||
description: 分液公式(μL)
|
||||
type: string
|
||||
required:
|
||||
- volume_formula
|
||||
@@ -786,7 +796,7 @@ reaction_station.bioyond:
|
||||
description: 任务名称
|
||||
type: string
|
||||
workflow_name:
|
||||
description: 工作流名称
|
||||
description: 合并后的工作流名称
|
||||
type: string
|
||||
required:
|
||||
- workflow_name
|
||||
@@ -819,15 +829,15 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
description: 物料名称
|
||||
description: 物料名称(不能为空)
|
||||
type: string
|
||||
cutoff:
|
||||
default: '900000'
|
||||
description: 粘度上限
|
||||
description: 粘度上限(需为有效数字字符串,默认 "900000")
|
||||
type: string
|
||||
temperature:
|
||||
default: -10.0
|
||||
description: 温度设定(°C)
|
||||
description: 温度设定(C,范围:-50.00 至 100.00)
|
||||
type: number
|
||||
required:
|
||||
- assign_material_name
|
||||
@@ -909,11 +919,11 @@ 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）
|
||||
description: 粉末类型ID, Salt=1, Flour=2, BTDA=3
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C)
|
||||
description: 温度设定(C)
|
||||
type: number
|
||||
time:
|
||||
default: '0'
|
||||
@@ -921,7 +931,7 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
description: 是否观察(NO=1, YES=2)
|
||||
type: integer
|
||||
required:
|
||||
- material_id
|
||||
@@ -945,10 +955,13 @@ reaction_station.bioyond:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
description: 配置字典,应包含workflow_mappings等配置
|
||||
type: object
|
||||
deck:
|
||||
description: Deck对象
|
||||
type: string
|
||||
protocol_type:
|
||||
description: 协议类型(由ROS系统传递,此处忽略)
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -198,6 +198,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes option, target,
|
||||
speed, lift_height, mt_height
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -241,6 +243,8 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes quaternion, speed,
|
||||
position
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -284,6 +288,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes speed
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
|
||||
@@ -709,6 +709,8 @@ linear_motion.toyo_xyz.sim:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes option, target,
|
||||
speed, lift_height, mt_height
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -752,6 +754,8 @@ linear_motion.toyo_xyz.sim:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes quaternion, speed,
|
||||
position
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -795,6 +799,7 @@ linear_motion.toyo_xyz.sim:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: A JSON-formatted string that includes speed
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
|
||||
@@ -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
|
||||
@@ -2179,6 +2179,7 @@ virtual_multiway_valve:
|
||||
goal:
|
||||
properties:
|
||||
port_number:
|
||||
description: 端口号 (1-8)
|
||||
type: integer
|
||||
required:
|
||||
- port_number
|
||||
@@ -2225,6 +2226,7 @@ virtual_multiway_valve:
|
||||
goal:
|
||||
properties:
|
||||
port_number:
|
||||
description: 目标端口号 (1-8)
|
||||
type: integer
|
||||
required:
|
||||
- port_number
|
||||
@@ -2261,6 +2263,7 @@ virtual_multiway_valve:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: 目标位置 (0-8) 或位置字符串
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -2304,6 +2307,7 @@ virtual_multiway_valve:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: 目标位置 (0-8) 或位置字符串
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -4215,6 +4219,7 @@ virtual_solenoid_valve:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
description: '"ON"/"OFF" 或 "OPEN"/"CLOSED"'
|
||||
type: string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
@@ -4258,6 +4263,7 @@ virtual_solenoid_valve:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
description: '"OPEN"/"CLOSED" 或其他控制命令'
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
@@ -4418,16 +4424,20 @@ virtual_solid_dispenser:
|
||||
event:
|
||||
type: string
|
||||
mass:
|
||||
description: 质量字符串 (如 "2.9 g")
|
||||
type: string
|
||||
mol:
|
||||
description: 摩尔数字符串 (如 "0.12 mol")
|
||||
type: string
|
||||
purpose:
|
||||
description: 添加目的
|
||||
type: string
|
||||
rate_spec:
|
||||
type: string
|
||||
ratio:
|
||||
type: string
|
||||
reagent:
|
||||
description: 试剂名称
|
||||
type: string
|
||||
stir:
|
||||
type: boolean
|
||||
@@ -4439,6 +4449,7 @@ virtual_solid_dispenser:
|
||||
type: string
|
||||
vessel:
|
||||
additionalProperties: false
|
||||
description: 目标容器
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
@@ -5568,8 +5579,10 @@ virtual_transfer_pump:
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
description: 拉取速度 (ml/s)
|
||||
type: number
|
||||
volume:
|
||||
description: 要拉取的体积 (ml)
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -5596,8 +5609,10 @@ virtual_transfer_pump:
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
description: 推出速度 (ml/s)
|
||||
type: number
|
||||
volume:
|
||||
description: 要推出的体积 (ml)
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
@@ -5693,10 +5708,12 @@ virtual_transfer_pump:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
max_velocity:
|
||||
description: 移动速度 (ml/s)
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
position:
|
||||
description: 目标位置 (ml)
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
@@ -5845,8 +5862,10 @@ virtual_transfer_pump:
|
||||
config:
|
||||
properties:
|
||||
config:
|
||||
description: 配置字典，包含max_volume, port等参数
|
||||
type: object
|
||||
device_id:
|
||||
description: 设备ID
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -409,11 +409,11 @@ xrd_d7mate:
|
||||
properties:
|
||||
end_theta:
|
||||
default: 80.0
|
||||
description: 结束角度（≥5.5°，且必须大于start_theta）
|
||||
description: 结束角度（≥5.5°，且必须大于 start_theta）
|
||||
type: number
|
||||
exp_time:
|
||||
default: 0.1
|
||||
description: 曝光时间（0.1-5.0秒）
|
||||
description: 曝光时间（0.1-5.0 秒）
|
||||
type: number
|
||||
increment:
|
||||
default: 0.05
|
||||
@@ -421,7 +421,7 @@ xrd_d7mate:
|
||||
type: number
|
||||
sample_id:
|
||||
default: ''
|
||||
description: 样品标识符
|
||||
description: 样品名称
|
||||
type: string
|
||||
start_theta:
|
||||
default: 10.0
|
||||
@@ -433,7 +433,7 @@ xrd_d7mate:
|
||||
type: string
|
||||
wait_minutes:
|
||||
default: 3.0
|
||||
description: 允许上样后等待分钟数
|
||||
description: 在允许上样后、发送样品准备完成前的等待分钟数（默认 3 分钟）
|
||||
type: number
|
||||
required: []
|
||||
title: StartWorkflow_Goal
|
||||
@@ -492,12 +492,15 @@ xrd_d7mate:
|
||||
properties:
|
||||
host:
|
||||
default: 127.0.0.1
|
||||
description: 设备IP地址
|
||||
type: string
|
||||
port:
|
||||
default: 6001
|
||||
description: 通信端口，默认6001
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
description: 超时时间，单位秒
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -217,6 +217,7 @@ zhida_gcms:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
description: Base64编码的CSV数据（ROS2参数名）
|
||||
type: string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
@@ -257,6 +258,7 @@ zhida_gcms:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
description: CSV文件路径（ROS2参数名）
|
||||
type: string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
@@ -289,12 +291,15 @@ zhida_gcms:
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.3.184
|
||||
description: 设备IP地址，本地部署时可使用'127.0.0.1'
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
description: 通信端口，默认5792
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
description: 超时时间，单位秒
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
|
||||
@@ -271,6 +271,7 @@ class Registry:
|
||||
registry_cache.pkl 一个文件中，删除即可完全重置。
|
||||
"""
|
||||
import time as _time
|
||||
from unilabos.registry.ast_registry_scanner import _CACHE_VERSION as AST_SCAN_CACHE_VERSION
|
||||
from unilabos.registry.ast_registry_scanner import scan_directory
|
||||
|
||||
scan_t0 = _time.perf_counter()
|
||||
@@ -286,6 +287,10 @@ class Registry:
|
||||
# ---- 统一缓存：一个 pkl 包含所有数据 ----
|
||||
unified_cache = self._load_config_cache()
|
||||
ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
|
||||
if ast_cache.get("version") != AST_SCAN_CACHE_VERSION:
|
||||
ast_cache = {"version": AST_SCAN_CACHE_VERSION, "files": {}}
|
||||
unified_cache["_ast_scan"] = ast_cache
|
||||
unified_cache.pop("_build_results", None)
|
||||
|
||||
# 默认：扫描 unilabos 包所在的父目录
|
||||
pkg_root = Path(__file__).resolve().parent.parent # .../unilabos
|
||||
@@ -561,13 +566,47 @@ class Registry:
|
||||
|
||||
return prop_schema
|
||||
|
||||
@staticmethod
|
||||
def _apply_docstring_param_metadata(
|
||||
schema: Dict[str, Any],
|
||||
doc_info: Dict[str, Any],
|
||||
field_to_param: Optional[Dict[str, str]] = None,
|
||||
apply_defaults: bool = False,
|
||||
) -> None:
|
||||
"""Apply parsed docstring display names and descriptions to schema properties."""
|
||||
if not schema or not doc_info:
|
||||
return
|
||||
|
||||
props = schema.get("properties", {})
|
||||
if not isinstance(props, dict):
|
||||
return
|
||||
|
||||
param_descs = doc_info.get("params", {}) or {}
|
||||
param_display_names = doc_info.get("param_display_names", {}) or {}
|
||||
for field_name, prop_schema in props.items():
|
||||
if not isinstance(prop_schema, dict):
|
||||
continue
|
||||
param_name = field_to_param.get(field_name, field_name) if field_to_param else field_name
|
||||
if not isinstance(param_name, str):
|
||||
continue
|
||||
param_name = param_name.removesuffix("[]")
|
||||
if param_name in param_display_names:
|
||||
prop_schema["title"] = param_display_names[param_name]
|
||||
elif apply_defaults and not prop_schema.get("title"):
|
||||
prop_schema["title"] = field_name
|
||||
|
||||
if param_name in param_descs:
|
||||
prop_schema["description"] = param_descs[param_name]
|
||||
elif apply_defaults and "description" not in prop_schema:
|
||||
prop_schema["description"] = ""
|
||||
|
||||
def _generate_unilab_json_command_schema(
|
||||
self, method_args: list, docstring: Optional[str] = None,
|
||||
import_map: Optional[Dict[str, str]] = None,
|
||||
apply_doc_defaults: bool = False,
|
||||
) -> Dict[str, Any]:
|
||||
"""根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
|
||||
doc_info = parse_docstring(docstring)
|
||||
param_descs = doc_info.get("params", {})
|
||||
|
||||
schema = {
|
||||
"type": "object",
|
||||
@@ -598,12 +637,10 @@ class Registry:
|
||||
param_name, param_type, param_default, import_map=import_map
|
||||
)
|
||||
|
||||
if param_name in param_descs:
|
||||
schema["properties"][param_name]["description"] = param_descs[param_name]
|
||||
|
||||
if param_required:
|
||||
schema["required"].append(param_name)
|
||||
|
||||
self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=apply_doc_defaults)
|
||||
return schema
|
||||
|
||||
def _generate_status_types_schema(self, status_methods: Dict[str, Any]) -> Dict[str, Any]:
|
||||
@@ -799,6 +836,7 @@ class Registry:
|
||||
type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
|
||||
params = method_info.get("params", [])
|
||||
method_doc = method_info.get("docstring")
|
||||
method_doc_info = parse_docstring(method_doc)
|
||||
goal_schema = self._generate_schema_from_ast_params(params, method_name, method_doc, imap)
|
||||
|
||||
if action_args is not None:
|
||||
@@ -828,7 +866,11 @@ class Registry:
|
||||
|
||||
# action handles: 从 @action(handles=[...]) 提取并转换为标准格式
|
||||
raw_handles = (action_args or {}).get("handles")
|
||||
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
|
||||
handles = (
|
||||
normalize_ast_action_handles(raw_handles)
|
||||
if isinstance(raw_handles, list)
|
||||
else (raw_handles or {})
|
||||
)
|
||||
|
||||
# placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
|
||||
pk = detect_placeholder_keys(params)
|
||||
@@ -847,7 +889,12 @@ class Registry:
|
||||
"goal": goal,
|
||||
"feedback": (action_args or {}).get("feedback") or {},
|
||||
"result": (action_args or {}).get("result") or {},
|
||||
"schema": wrap_action_schema(goal_schema, action_name, result_schema=result_schema),
|
||||
"schema": wrap_action_schema(
|
||||
goal_schema,
|
||||
action_name,
|
||||
description=(action_args or {}).get("description") or method_doc_info.get("description", ""),
|
||||
result_schema=result_schema,
|
||||
),
|
||||
"goal_default": goal_default,
|
||||
"handles": handles,
|
||||
"placeholder_keys": pk,
|
||||
@@ -886,7 +933,11 @@ class Registry:
|
||||
action_name = f"auto-{action_name}"
|
||||
|
||||
raw_handles = action_args.get("handles")
|
||||
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
|
||||
handles = (
|
||||
normalize_ast_action_handles(raw_handles)
|
||||
if isinstance(raw_handles, list)
|
||||
else (raw_handles or {})
|
||||
)
|
||||
|
||||
method_params = method_info.get("params", [])
|
||||
|
||||
@@ -979,7 +1030,10 @@ class Registry:
|
||||
"schema": schema,
|
||||
"goal_default": goal_default,
|
||||
"handles": handles,
|
||||
"placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
|
||||
"placeholder_keys": {
|
||||
**detect_placeholder_keys(method_params),
|
||||
**(action_args.get("placeholder_keys") or {}),
|
||||
},
|
||||
}
|
||||
if action_args.get("always_free") or method_info.get("always_free"):
|
||||
action_entry["always_free"] = True
|
||||
@@ -988,13 +1042,22 @@ class Registry:
|
||||
nt = normalize_enum_value(action_args.get("node_type"), NodeType)
|
||||
if nt:
|
||||
action_entry["node_type"] = nt
|
||||
goal_schema_for_docs = action_entry.get("schema", {}).get("properties", {}).get("goal", {})
|
||||
self._apply_docstring_param_metadata(
|
||||
goal_schema_for_docs,
|
||||
parse_docstring(method_info.get("docstring")),
|
||||
goal,
|
||||
apply_defaults=True,
|
||||
)
|
||||
action_value_mappings[action_name] = action_entry
|
||||
|
||||
action_value_mappings = dict(sorted(action_value_mappings.items()))
|
||||
|
||||
# --- init_param_schema = { config: <init_params>, data: <status_types> } ---
|
||||
init_params = ast_meta.get("init_params", [])
|
||||
config_schema = self._generate_schema_from_ast_params(init_params, "__init__", import_map=imap)
|
||||
config_schema = self._generate_schema_from_ast_params(
|
||||
init_params, "__init__", ast_meta.get("init_docstring"), import_map=imap
|
||||
)
|
||||
data_schema = self._generate_status_schema_from_ast(
|
||||
ast_meta.get("status_properties", {}), imap
|
||||
)
|
||||
@@ -1042,7 +1105,6 @@ class Registry:
|
||||
) -> Dict[str, Any]:
|
||||
"""Generate JSON Schema from AST-extracted parameter list."""
|
||||
doc_info = parse_docstring(docstring)
|
||||
param_descs = doc_info.get("params", {})
|
||||
|
||||
schema: Dict[str, Any] = {
|
||||
"type": "object",
|
||||
@@ -1072,12 +1134,10 @@ class Registry:
|
||||
pname, ptype, pdefault, import_map
|
||||
)
|
||||
|
||||
if pname in param_descs:
|
||||
schema["properties"][pname]["description"] = param_descs[pname]
|
||||
|
||||
if prequired:
|
||||
schema["required"].append(pname)
|
||||
|
||||
self._apply_docstring_param_metadata(schema, doc_info, apply_defaults=True)
|
||||
return schema
|
||||
|
||||
def _generate_status_schema_from_ast(
|
||||
@@ -1807,7 +1867,7 @@ class Registry:
|
||||
else:
|
||||
action_key = f"auto-{k}"
|
||||
goal_schema = self._generate_unilab_json_command_schema(
|
||||
v["args"], import_map=enhanced_import_map
|
||||
v["args"], docstring=v.get("docstring"), import_map=enhanced_import_map
|
||||
)
|
||||
ret_type = v.get("return_type", "")
|
||||
result_schema = None
|
||||
@@ -1816,7 +1876,13 @@ class Registry:
|
||||
"result", ret_type, None, import_map=enhanced_import_map
|
||||
)
|
||||
old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
|
||||
new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema)
|
||||
doc_info = parse_docstring(v.get("docstring"))
|
||||
new_schema = wrap_action_schema(
|
||||
goal_schema,
|
||||
action_key,
|
||||
description=doc_info.get("description", ""),
|
||||
result_schema=result_schema,
|
||||
)
|
||||
old_schema = old_cfg.get("schema", {})
|
||||
if old_schema:
|
||||
preserve_field_descriptions(new_schema, old_schema)
|
||||
@@ -1882,6 +1948,12 @@ class Registry:
|
||||
|
||||
merged_pk = dict(old_cfg.get("placeholder_keys", {}))
|
||||
merged_pk.update(detect_placeholder_keys(v["args"]))
|
||||
goal_schema_for_docs = (
|
||||
entry_schema.get("properties", {}).get("goal", {})
|
||||
if isinstance(entry_schema, dict)
|
||||
else {}
|
||||
)
|
||||
self._apply_docstring_param_metadata(goal_schema_for_docs, doc_info, entry_goal)
|
||||
|
||||
entry = {
|
||||
"type": entry_type,
|
||||
@@ -1902,7 +1974,8 @@ class Registry:
|
||||
|
||||
device_config["init_param_schema"] = {}
|
||||
init_schema = self._generate_unilab_json_command_schema(
|
||||
enhanced_info["init_params"], "__init__",
|
||||
enhanced_info["init_params"],
|
||||
docstring=enhanced_info.get("init_docstring"),
|
||||
import_map=enhanced_import_map,
|
||||
)
|
||||
device_config["init_param_schema"]["config"] = init_schema
|
||||
@@ -1949,7 +2022,9 @@ class Registry:
|
||||
action_str_type_mapping[action_type_str] = target_type
|
||||
if target_type is not None:
|
||||
try:
|
||||
action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict()
|
||||
action_config["goal_default"] = ROS2MessageInstance(
|
||||
target_type.Goal()
|
||||
).get_python_dict()
|
||||
except Exception:
|
||||
action_config["goal_default"] = {}
|
||||
prev_schema = action_config.get("schema", {})
|
||||
@@ -2141,6 +2216,7 @@ class Registry:
|
||||
"unilabos_device_id": {
|
||||
"type": "string",
|
||||
"default": "",
|
||||
"title": "设备ID",
|
||||
"description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
|
||||
},
|
||||
**schema["properties"]["goal"]["properties"],
|
||||
@@ -2212,7 +2288,14 @@ class Registry:
|
||||
lab_registry = Registry()
|
||||
|
||||
|
||||
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
|
||||
def build_registry(
|
||||
registry_paths=None,
|
||||
devices_dirs=None,
|
||||
upload_registry=False,
|
||||
check_mode=False,
|
||||
complete_registry=False,
|
||||
external_only=False,
|
||||
):
|
||||
"""
|
||||
构建或获取Registry单例实例
|
||||
"""
|
||||
@@ -2226,7 +2309,12 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
|
||||
if path not in current_paths:
|
||||
lab_registry.registry_paths.append(path)
|
||||
|
||||
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
|
||||
lab_registry.setup(
|
||||
devices_dirs=devices_dirs,
|
||||
upload_registry=upload_registry,
|
||||
complete_registry=complete_registry,
|
||||
external_only=external_only,
|
||||
)
|
||||
|
||||
# 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
|
||||
lab_registry.resolve_all_types()
|
||||
|
||||
@@ -36,16 +36,40 @@ class ROSMsgNotFound(Exception):
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
|
||||
_PARAM_HEADER_RE = re.compile(
|
||||
r"^\s*(?P<name>\w[\w]*)\s*(?:\[(?P<display_name>[^\]]+)\])?(?:\s*\([^)]*\))?\s*$"
|
||||
)
|
||||
|
||||
|
||||
def _parse_docstring_param_header(param_part: str) -> Tuple[str, Optional[str]]:
|
||||
"""Parse ``name[display_name]`` or Google-style ``name (type)``."""
|
||||
match = _PARAM_HEADER_RE.match(param_part.strip())
|
||||
if not match:
|
||||
return param_part.strip().split("(")[0].strip(), None
|
||||
|
||||
display_name = match.group("display_name")
|
||||
if display_name is not None:
|
||||
display_name = display_name.strip() or None
|
||||
return match.group("name").strip(), display_name
|
||||
|
||||
|
||||
def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||
"""
|
||||
解析 Google-style docstring，提取描述和参数说明。
|
||||
解析 docstring，提取描述和参数说明。
|
||||
|
||||
支持:
|
||||
- Google-style ``Args:`` / ``Parameters:`` 小节
|
||||
- 直接参数行 ``field: desc``
|
||||
- 带显示名参数行 ``field[Display Name]: desc``
|
||||
|
||||
Returns:
|
||||
{"description": "短描述", "params": {"param1": "参数1描述", ...}}
|
||||
{
|
||||
"description": "短描述",
|
||||
"params": {"param1": "参数1描述", ...},
|
||||
"param_display_names": {"param1": "显示名", ...},
|
||||
}
|
||||
"""
|
||||
result: Dict[str, Any] = {"description": "", "params": {}}
|
||||
result: Dict[str, Any] = {"description": "", "params": {}, "param_display_names": {}}
|
||||
if not docstring:
|
||||
return result
|
||||
|
||||
@@ -53,33 +77,53 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||
if not lines:
|
||||
return result
|
||||
|
||||
result["description"] = lines[0].strip()
|
||||
|
||||
in_args = False
|
||||
current_section: Optional[str] = None
|
||||
current_param: Optional[str] = None
|
||||
current_display_name: Optional[str] = None
|
||||
current_desc_parts: list = []
|
||||
|
||||
for line in lines[1:]:
|
||||
def flush_current_param() -> None:
|
||||
nonlocal current_param, current_display_name, current_desc_parts
|
||||
if current_param is None:
|
||||
return
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
if current_display_name:
|
||||
result["param_display_names"][current_param] = current_display_name
|
||||
current_param = None
|
||||
current_display_name = None
|
||||
current_desc_parts = []
|
||||
|
||||
first_line = lines[0].strip()
|
||||
start_index = 0
|
||||
if not _SECTION_RE.match(first_line) and ":" not in first_line:
|
||||
result["description"] = first_line
|
||||
start_index = 1
|
||||
|
||||
for line in lines[start_index:]:
|
||||
stripped = line.strip()
|
||||
if not stripped:
|
||||
if current_param is not None:
|
||||
current_desc_parts.append("")
|
||||
continue
|
||||
|
||||
section_match = _SECTION_RE.match(stripped)
|
||||
if section_match:
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
current_param = None
|
||||
current_desc_parts = []
|
||||
section_name = section_match.group(1).lower()
|
||||
in_args = section_name in ("args", "arguments", "parameters", "params")
|
||||
flush_current_param()
|
||||
current_section = section_match.group(1).lower()
|
||||
in_args = current_section in ("args", "arguments", "parameters", "params")
|
||||
continue
|
||||
|
||||
if not in_args:
|
||||
parse_as_param = in_args or current_section is None
|
||||
if not parse_as_param:
|
||||
continue
|
||||
|
||||
if ":" in stripped and not stripped.startswith(" "):
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
if ":" in stripped:
|
||||
flush_current_param()
|
||||
param_part, _, desc_part = stripped.partition(":")
|
||||
param_name = param_part.strip().split("(")[0].strip()
|
||||
param_name, display_name = _parse_docstring_param_header(param_part)
|
||||
current_param = param_name
|
||||
current_display_name = display_name
|
||||
current_desc_parts = [desc_part.strip()]
|
||||
elif current_param is not None:
|
||||
aline = line
|
||||
@@ -89,8 +133,7 @@ def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||
aline = aline[1:]
|
||||
current_desc_parts.append(aline.strip())
|
||||
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
flush_current_param()
|
||||
|
||||
return result
|
||||
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
from . import sirna_materials # noqa: F401 ensure @resource classes are importable for PLR deserialize
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
@@ -9,28 +9,6 @@ from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Reagent_Bottle,
|
||||
BIOYOND_PolymerStation_Flask,
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
|
||||
"""创建单个枪头资源
|
||||
|
||||
Args:
|
||||
name: 枪头名称
|
||||
size_x: 枪头宽度 (mm)
|
||||
size_y: 枪头长度 (mm)
|
||||
size_z: 枪头高度 (mm)
|
||||
|
||||
Returns:
|
||||
Container: 枪头容器
|
||||
"""
|
||||
return Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip",
|
||||
model="BIOYOND_PolymerStation_Tip",
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
|
||||
|
||||
|
||||
@@ -344,88 +322,3 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_TipBox(
|
||||
name: str,
|
||||
size_x: float = 127.76, # 枪头盒宽度
|
||||
size_y: float = 85.48, # 枪头盒长度
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
) -> BottleCarrier:
|
||||
"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
size_x: 枪头盒宽度 (mm)
|
||||
size_y: 枪头盒长度 (mm)
|
||||
size_z: 枪头盒高度 (mm)
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
BottleCarrier: 包含24个枪头孔位的枪头盒载架
|
||||
|
||||
布局说明:
|
||||
- 4行×6列 (A-D, 1-6)
|
||||
- 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
|
||||
- 起始位置居中对齐
|
||||
- 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
|
||||
"""
|
||||
# 枪头孔位参数
|
||||
num_cols = 6 # 1-6 (x方向)
|
||||
num_rows = 4 # A-D (y方向)
|
||||
tip_diameter = 8.0 # 枪头孔位直径
|
||||
tip_spacing_x = 18.0 # 列间距 (增加到18mm，更宽松)
|
||||
tip_spacing_y = 18.0 # 行间距 (增加到18mm，更宽松)
|
||||
|
||||
# 计算起始位置 (居中对齐)
|
||||
total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
|
||||
total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
|
||||
start_x = (size_x - total_width) / 2
|
||||
start_y = (size_y - total_height) / 2
|
||||
|
||||
# 使用 create_ordered_items_2d 创建孔位
|
||||
# create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
|
||||
# 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=num_cols,
|
||||
num_items_y=num_rows,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=tip_spacing_x,
|
||||
item_dy=tip_spacing_y,
|
||||
size_x=tip_diameter,
|
||||
size_y=tip_diameter,
|
||||
size_z=50.0, # 枪头深度
|
||||
)
|
||||
|
||||
# 更新 sites 中每个 ResourceHolder 的名称
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
# 创建枪头盒载架
|
||||
# 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
|
||||
tip_box = BottleCarrier(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
sites=sites, # 直接使用数字索引的 sites
|
||||
model="BIOYOND_PolymerStation_TipBox",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = num_cols
|
||||
tip_box.num_items_y = num_rows
|
||||
tip_box.num_items_z = 1
|
||||
|
||||
# ⭐ 枪头盒不需要放入子资源
|
||||
# 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
|
||||
# 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
|
||||
# 这样前端会显示24个空槽位，可以用于放置枪头
|
||||
|
||||
return tip_box
|
||||
|
||||
@@ -116,9 +116,7 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
):
|
||||
"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
|
||||
|
||||
注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
|
||||
"""创建4×6枪头盒 (24个枪头)
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
@@ -128,11 +126,55 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
BottleCarrier: 包含24个枪头孔位的枪头盒载架
|
||||
TipBoxCarrier: 包含24个枪头孔位的枪头盒
|
||||
"""
|
||||
# 重定向到 bottle_carriers.py 中的实现
|
||||
from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier
|
||||
return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode)
|
||||
from pylabrobot.resources import Container, Coordinate
|
||||
|
||||
# 创建枪头盒容器
|
||||
tip_box = Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip_rack",
|
||||
model="BIOYOND_PolymerStation_TipBox_4x6",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = 6 # 6列
|
||||
tip_box.num_items_y = 4 # 4行
|
||||
|
||||
# 创建24个枪头孔位 (4行×6列)
|
||||
# 假设孔位间距为 9mm
|
||||
tip_spacing_x = 9.0 # 列间距
|
||||
tip_spacing_y = 9.0 # 行间距
|
||||
start_x = 14.38 # 第一个孔位的x偏移
|
||||
start_y = 11.24 # 第一个孔位的y偏移
|
||||
|
||||
for row in range(4): # A, B, C, D
|
||||
for col in range(6): # 1-6
|
||||
spot_name = f"{chr(65 + row)}{col + 1}" # A1, A2, ..., D6
|
||||
x = start_x + col * tip_spacing_x
|
||||
y = start_y + row * tip_spacing_y
|
||||
|
||||
# 创建枪头孔位容器
|
||||
tip_spot = Container(
|
||||
name=spot_name,
|
||||
size_x=8.0, # 单个枪头孔位大小
|
||||
size_y=8.0,
|
||||
size_z=size_z - 10.0, # 略低于盒子高度
|
||||
category="tip_spot",
|
||||
)
|
||||
|
||||
# 添加到枪头盒
|
||||
tip_box.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x=x, y=y, z=0)
|
||||
)
|
||||
|
||||
return tip_box
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Flask(
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
from os import name
|
||||
|
||||
from pylabrobot.resources import Deck, Coordinate, Rotation
|
||||
|
||||
from unilabos.registry.decorators import resource
|
||||
from unilabos.resources.bioyond.YB_warehouses import (
|
||||
bioyond_warehouse_1x4x4,
|
||||
bioyond_warehouse_1x4x4_right, # 新增：右侧仓库 (A05～D08)
|
||||
@@ -23,6 +25,11 @@ from unilabos.resources.bioyond.YB_warehouses import (
|
||||
from unilabos.resources.bioyond.warehouses import (
|
||||
bioyond_warehouse_tipbox_storage_left, # 新增：Tip盒堆栈(左)
|
||||
bioyond_warehouse_tipbox_storage_right, # 新增：Tip盒堆栈(右)
|
||||
bioyond_warehouse_sirna_automation_stack,
|
||||
bioyond_warehouse_sirna_centrifuge_balance_plate_stack,
|
||||
bioyond_warehouse_sirna_g3_liquid_handler,
|
||||
bioyond_warehouse_numeric_stack, # 新增：数字编码堆栈 (用于多肽站)
|
||||
bioyond_warehouse_live_grid,
|
||||
)
|
||||
|
||||
|
||||
@@ -101,6 +108,83 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
@resource(
|
||||
id="BIOYOND_SirnaStation_Deck",
|
||||
category=["deck"],
|
||||
description="BIOYOND 小核酸工作站 Deck",
|
||||
icon="配液站.webp",
|
||||
)
|
||||
class BIOYOND_SirnaStation_Deck(Deck):
|
||||
WAREHOUSE_BIOYOND_AXIS = {
|
||||
"G3移液站": "xy_col_row",
|
||||
"自动化堆栈": "xy_col_row",
|
||||
"离心机配平板堆栈": "xy_col_row",
|
||||
}
|
||||
WAREHOUSE_BIOYOND_KEY_AXIS = {
|
||||
"G3移液站": "col_row",
|
||||
"自动化堆栈": "col_row",
|
||||
"离心机配平板堆栈": "col_row",
|
||||
}
|
||||
# Bioyond warehouse UUID -> 本地仓库名称 映射。
|
||||
# 留空时由配置（station config 的 ``warehouse_bioyond_ids``）注入。
|
||||
# graph 节点也可在 deck.config.warehouse_bioyond_ids 覆盖。
|
||||
WAREHOUSE_BIOYOND_IDS: dict = {}
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "SirnaStation_Deck",
|
||||
size_x: float = 2700.0,
|
||||
size_y: float = 1080.0,
|
||||
size_z: float = 1500.0,
|
||||
category: str = "deck",
|
||||
setup: bool = False,
|
||||
warehouse_bioyond_ids: dict | None = None,
|
||||
**kwargs,
|
||||
) -> None:
|
||||
super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
# 按需写入实例级覆盖；保留默认空 mapping，避免改动模型常量。
|
||||
self.warehouse_bioyond_ids: dict = dict(self.WAREHOUSE_BIOYOND_IDS)
|
||||
if warehouse_bioyond_ids:
|
||||
self.warehouse_bioyond_ids.update(warehouse_bioyond_ids)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal: bool = False):
|
||||
if data.get("children") and data.get("setup") is True:
|
||||
data = data.copy()
|
||||
data["setup"] = False
|
||||
result = super().deserialize(data, allow_marshal=allow_marshal)
|
||||
result._ensure_sirna_warehouse_metadata()
|
||||
return result
|
||||
|
||||
def _ensure_sirna_warehouse_metadata(self) -> None:
|
||||
for child in getattr(self, "children", []):
|
||||
name = getattr(child, "name", "")
|
||||
axis = self.WAREHOUSE_BIOYOND_AXIS.get(name)
|
||||
if axis and not hasattr(child, "bioyond_axis"):
|
||||
child.bioyond_axis = axis
|
||||
key_axis = self.WAREHOUSE_BIOYOND_KEY_AXIS.get(name)
|
||||
if key_axis and not hasattr(child, "bioyond_key_axis"):
|
||||
child.bioyond_key_axis = key_axis
|
||||
|
||||
def setup(self) -> None:
|
||||
# Sirna 读接口 /api/storage/location/locations-by-type 返回完整固定堆栈清单。
|
||||
# LIMS 在库物料接口仍使用相同的 自动化堆栈 名称和数字库位编码。
|
||||
self.warehouses = {
|
||||
"G3移液站": bioyond_warehouse_sirna_g3_liquid_handler(),
|
||||
"自动化堆栈": bioyond_warehouse_sirna_automation_stack(),
|
||||
"离心机配平板堆栈": bioyond_warehouse_sirna_centrifuge_balance_plate_stack(),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"G3移液站": Coordinate(0.0, 0.0, 0.0),
|
||||
"自动化堆栈": Coordinate(220.0, 0.0, 0.0),
|
||||
"离心机配平板堆栈": Coordinate(1740.0, 0.0, 0.0),
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
class BIOYOND_YB_Deck(Deck):
|
||||
def __init__(
|
||||
self,
|
||||
@@ -150,12 +234,146 @@ class BIOYOND_YB_Deck(Deck):
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
@resource(
|
||||
id="BIOYOND_PeptideStation_Deck",
|
||||
category=["deck"],
|
||||
description="BIOYOND 多肽工作站 Deck",
|
||||
icon="preparation_station.webp",
|
||||
)
|
||||
class BIOYOND_PeptideStation_Deck(Deck):
|
||||
WAREHOUSE_BIOYOND_AXIS = dict.fromkeys(
|
||||
[
|
||||
"自动化堆栈",
|
||||
"低温冰箱仓库",
|
||||
"Tecan移液站库",
|
||||
"G3移液站库",
|
||||
"IDOT移液站库",
|
||||
"G3缓冲库",
|
||||
"盖板缓冲库",
|
||||
"配平板缓冲库",
|
||||
"IDOT缓冲库",
|
||||
"固相合成板底座缓冲位",
|
||||
"离心机库位",
|
||||
"热封膜机位",
|
||||
],
|
||||
"xy_col_row",
|
||||
)
|
||||
WAREHOUSE_BIOYOND_KEY_AXIS = dict.fromkeys(WAREHOUSE_BIOYOND_AXIS, "row_col")
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
name: str = "PeptideStation_Deck",
|
||||
size_x: float = 3500.0,
|
||||
size_y: float = 1800.0,
|
||||
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()
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal: bool = False):
|
||||
if data.get("children") and data.get("setup") is True:
|
||||
# 已有序列化子资源，跳过 setup 避免重复创建
|
||||
result = super(BIOYOND_PeptideStation_Deck, cls).deserialize(data, allow_marshal=allow_marshal)
|
||||
else:
|
||||
result = super(BIOYOND_PeptideStation_Deck, cls).deserialize(data, allow_marshal=allow_marshal)
|
||||
result._ensure_peptide_warehouse_metadata()
|
||||
return result
|
||||
|
||||
def _ensure_peptide_warehouse_metadata(self) -> None:
|
||||
for child in getattr(self, "children", []):
|
||||
name = getattr(child, "name", "")
|
||||
axis = self.WAREHOUSE_BIOYOND_AXIS.get(name)
|
||||
if axis and not hasattr(child, "bioyond_axis"):
|
||||
child.bioyond_axis = axis
|
||||
key_axis = self.WAREHOUSE_BIOYOND_KEY_AXIS.get(name)
|
||||
if key_axis and not hasattr(child, "bioyond_key_axis"):
|
||||
child.bioyond_key_axis = key_axis
|
||||
|
||||
def setup(self) -> None:
|
||||
# 多肽工作站仓库配置
|
||||
# 基于 2026-05-09 live API probe 发现的实际仓库拓扑 (12个仓库)
|
||||
# 数据来源: temp_benyao/peptide/_logs/warehouse_discovery_raw_live_2026-05-09.json
|
||||
self.warehouses = {
|
||||
# 主自动化堆栈 - live API: code 10-17 -> x=17, y=10，显示为 10 行×17 列
|
||||
"自动化堆栈": bioyond_warehouse_numeric_stack(
|
||||
"自动化堆栈", rows=10, columns=17, bioyond_axis="xy_col_row", bioyond_key_axis="row_col"
|
||||
),
|
||||
|
||||
# 低温存储
|
||||
"低温冰箱仓库": bioyond_warehouse_live_grid(
|
||||
"低温冰箱仓库", rows=2, columns=3, slot_keys=["1", "2", "3", "4", "5", "6"]
|
||||
),
|
||||
|
||||
# 移液站库位
|
||||
"Tecan移液站库": bioyond_warehouse_live_grid(
|
||||
"Tecan移液站库", rows=1, columns=18, slot_keys=[str(index) for index in range(1, 19)]
|
||||
),
|
||||
"G3移液站库": bioyond_warehouse_live_grid(
|
||||
"G3移液站库",
|
||||
rows=1,
|
||||
columns=18,
|
||||
slot_keys=["1", "2", "3", "4", "垃圾桶", "6", "7", "8", "9", "10", "11", "12", "13", "14", "15", "16", "17", "18"],
|
||||
),
|
||||
"IDOT移液站库": bioyond_warehouse_live_grid(
|
||||
"IDOT移液站库",
|
||||
rows=1,
|
||||
columns=12,
|
||||
slot_keys=[f"0009-{index:04d}" for index in range(1, 13)],
|
||||
),
|
||||
|
||||
# 缓冲库位
|
||||
"G3缓冲库": bioyond_warehouse_live_grid(
|
||||
"G3缓冲库", rows=1, columns=5, slot_keys=[str(index) for index in range(1, 6)]
|
||||
),
|
||||
"盖板缓冲库": bioyond_warehouse_live_grid(
|
||||
"盖板缓冲库", rows=1, columns=7, slot_keys=[str(index) for index in range(1, 8)]
|
||||
),
|
||||
"配平板缓冲库": bioyond_warehouse_live_grid(
|
||||
"配平板缓冲库", rows=1, columns=3, slot_keys=[str(index) for index in range(1, 4)]
|
||||
),
|
||||
"IDOT缓冲库": bioyond_warehouse_live_grid(
|
||||
"IDOT缓冲库", rows=1, columns=2, slot_keys=["1", "1"]
|
||||
),
|
||||
"固相合成板底座缓冲位": bioyond_warehouse_live_grid(
|
||||
"固相合成板底座缓冲位",
|
||||
rows=1,
|
||||
columns=4,
|
||||
slot_keys=[f"0015-{index:04d}" for index in range(1, 5)],
|
||||
),
|
||||
|
||||
# 设备库位
|
||||
"离心机库位": bioyond_warehouse_live_grid(
|
||||
"离心机库位", rows=1, columns=4, slot_keys=[f"0017-{index:04d}" for index in range(1, 5)]
|
||||
),
|
||||
"热封膜机位": bioyond_warehouse_live_grid(
|
||||
"热封膜机位", rows=1, columns=2, slot_keys=[f"0016-{index:04d}" for index in range(1, 3)]
|
||||
),
|
||||
}
|
||||
|
||||
# 仓库位置布局 (需根据实际硬件布局调整)
|
||||
self.warehouse_locations = {
|
||||
"自动化堆栈": Coordinate(0.0, 0.0, 0.0),
|
||||
"Tecan移液站库": Coordinate(0.0, 1150.0, 0.0),
|
||||
"G3移液站库": Coordinate(0.0, 1300.0, 0.0),
|
||||
"IDOT移液站库": Coordinate(0.0, 1450.0, 0.0),
|
||||
"G3缓冲库": Coordinate(0.0, 1600.0, 0.0),
|
||||
"盖板缓冲库": Coordinate(850.0, 1600.0, 0.0),
|
||||
"低温冰箱仓库": Coordinate(2700.0, 0.0, 0.0),
|
||||
"配平板缓冲库": Coordinate(2700.0, 300.0, 0.0),
|
||||
"IDOT缓冲库": Coordinate(2700.0, 450.0, 0.0),
|
||||
"固相合成板底座缓冲位": Coordinate(2700.0, 600.0, 0.0),
|
||||
"离心机库位": Coordinate(2700.0, 750.0, 0.0),
|
||||
"热封膜机位": Coordinate(2700.0, 900.0, 0.0),
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
|
||||
|
||||
def YB_Deck(name: str) -> Deck:
|
||||
by=BIOYOND_YB_Deck(name=name)
|
||||
by.setup()
|
||||
return by
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
126
unilabos/resources/bioyond/sirna_materials.py
Normal file
126
unilabos/resources/bioyond/sirna_materials.py
Normal file
@@ -0,0 +1,126 @@
|
||||
"""Sirna Station Material Resource Definitions
|
||||
|
||||
Defines PyLabRobot resource classes for Bioyond Sirna station materials.
|
||||
Each class is decorated with @resource for AST-based registry discovery.
|
||||
"""
|
||||
|
||||
from collections import OrderedDict
|
||||
|
||||
from pylabrobot.resources import Plate, TipRack, Container
|
||||
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_g3_200ul_tip_rack",
|
||||
category=["labware", "tip_rack"],
|
||||
description="G3-200ul枪头盒 for Sirna station",
|
||||
)
|
||||
class BioyondSirna_G3_200ul_TipRack(TipRack):
|
||||
"""G3-200ul tip rack for Sirna liquid handling."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 64.0)
|
||||
kwargs.setdefault("model", "bioyond_sirna_g3_200ul_tip_rack")
|
||||
kwargs.setdefault("with_tips", True)
|
||||
if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
|
||||
kwargs["ordering"] = OrderedDict()
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_g3_50ul_tip_rack",
|
||||
category=["labware", "tip_rack"],
|
||||
description="G3-50ul枪头盒 for Sirna station",
|
||||
)
|
||||
class BioyondSirna_G3_50ul_TipRack(TipRack):
|
||||
"""G3-50ul tip rack for Sirna liquid handling."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 64.0)
|
||||
kwargs.setdefault("model", "bioyond_sirna_g3_50ul_tip_rack")
|
||||
kwargs.setdefault("with_tips", True)
|
||||
if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
|
||||
kwargs["ordering"] = OrderedDict()
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_384_well_plate",
|
||||
category=["labware", "plate"],
|
||||
description="384孔板 for Sirna assays",
|
||||
)
|
||||
class BioyondSirna_384WellPlate(Plate):
|
||||
"""384-well plate for Sirna reporter gene detection."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 14.35)
|
||||
kwargs.setdefault("model", "bioyond_sirna_384_well_plate")
|
||||
kwargs.setdefault("plate_type", "skirted")
|
||||
if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
|
||||
kwargs["ordering"] = OrderedDict()
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_cell_culture_plate",
|
||||
category=["labware", "plate"],
|
||||
description="细胞培养板 for Sirna cell culture",
|
||||
)
|
||||
class BioyondSirna_CellCulturePlate(Plate):
|
||||
"""Cell culture plate for Sirna experiments."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 14.35)
|
||||
kwargs.setdefault("model", "bioyond_sirna_cell_culture_plate")
|
||||
kwargs.setdefault("plate_type", "skirted")
|
||||
if kwargs.get("ordering") is None and kwargs.get("ordered_items") is None:
|
||||
kwargs["ordering"] = OrderedDict()
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
@resource(
|
||||
id="bioyond_sirna_reagent_trough",
|
||||
category=["labware", "trough"],
|
||||
description="试剂槽 for Sirna reagents",
|
||||
)
|
||||
class BioyondSirna_ReagentTrough(Container):
|
||||
"""Reagent trough for Sirna station reagents (RiboGreen, etc.)."""
|
||||
|
||||
def __init__(self, *args, **kwargs):
|
||||
kwargs.setdefault("size_x", 127.76)
|
||||
kwargs.setdefault("size_y", 85.48)
|
||||
kwargs.setdefault("size_z", 44.0)
|
||||
kwargs.setdefault("max_volume", 300000.0)
|
||||
kwargs.setdefault("model", "bioyond_sirna_reagent_trough")
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
# Material type code mapping for dynamic instantiation
|
||||
MATERIAL_TYPE_CODE_TO_CLASS = {
|
||||
"0016": BioyondSirna_G3_200ul_TipRack,
|
||||
"0017": BioyondSirna_G3_50ul_TipRack,
|
||||
"0015": BioyondSirna_384WellPlate,
|
||||
"0001": BioyondSirna_CellCulturePlate,
|
||||
"0006": BioyondSirna_ReagentTrough,
|
||||
}
|
||||
|
||||
|
||||
def get_material_class_by_type_code(type_code: str):
|
||||
"""Get resource class by Bioyond material type code.
|
||||
|
||||
Args:
|
||||
type_code: Bioyond materialTypeCode (e.g., "0016", "0017")
|
||||
|
||||
Returns:
|
||||
Resource class or None if not found
|
||||
"""
|
||||
return MATERIAL_TYPE_CODE_TO_CLASS.get(type_code)
|
||||
@@ -1,5 +1,180 @@
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources
|
||||
|
||||
from unilabos.resources.warehouse import WareHouse, warehouse_factory
|
||||
|
||||
|
||||
class BioyondWareHouse(WareHouse):
|
||||
"""Bioyond 仓库，额外保存服务端 x/y 坐标和库位标签语义。"""
|
||||
|
||||
def __init__(self, *args, bioyond_axis: str = "xy_row_col", bioyond_key_axis: str = "row_col", **kwargs):
|
||||
super().__init__(*args, **kwargs)
|
||||
self.bioyond_axis = bioyond_axis
|
||||
self.bioyond_key_axis = bioyond_key_axis
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
data["bioyond_axis"] = self.bioyond_axis
|
||||
data["bioyond_key_axis"] = self.bioyond_key_axis
|
||||
return data
|
||||
|
||||
|
||||
def bioyond_warehouse_numeric_stack(
|
||||
name: str,
|
||||
rows: int = 10,
|
||||
columns: int = 17,
|
||||
bioyond_axis: str = "xy_row_col",
|
||||
bioyond_key_axis: str = "row_col",
|
||||
) -> WareHouse:
|
||||
"""创建 Bioyond 数字库位堆栈，库位名使用服务端返回的 行-列 格式。
|
||||
|
||||
bioyond_axis: 仓库级别的 Bioyond 坐标轴约定，供 graphio 的坐标映射使用。
|
||||
- "xy_row_col" (default): Bioyond x→row, y→col (reaction/peptide 历史约定).
|
||||
- "xy_col_row": Bioyond x→col, y→row (Sirna live API 实测约定).
|
||||
bioyond_key_axis: 库位标签生成约定。
|
||||
- "row_col" (default): 视觉行列和标签行列一致，例如 10 行 x 17 列 → 1-1..10-17。
|
||||
- "col_row": 视觉行列转置，但标签仍保持 Bioyond row-col，例如
|
||||
17 行 x 10 列 → 1-1..10-17。
|
||||
未设置时 graphio 回退到默认 "xy_row_col"，其他调用方保持原行为。
|
||||
"""
|
||||
num_items_x = columns
|
||||
num_items_y = rows
|
||||
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
|
||||
locations = [
|
||||
Coordinate(dx + col * item_dx, dy + row * item_dy, dz)
|
||||
for row in range(num_items_y)
|
||||
for col in range(num_items_x)
|
||||
]
|
||||
holders = create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=locations,
|
||||
resource_size_x=127.0,
|
||||
resource_size_y=86.0,
|
||||
resource_size_z=25.0,
|
||||
name_prefix=name,
|
||||
)
|
||||
if bioyond_key_axis == "row_col":
|
||||
keys = [
|
||||
f"{row + 1}-{col + 1}"
|
||||
for row in range(num_items_y)
|
||||
for col in range(num_items_x)
|
||||
]
|
||||
elif bioyond_key_axis == "col_row":
|
||||
keys = [
|
||||
f"{col + 1}-{row + 1}"
|
||||
for row in range(num_items_y)
|
||||
for col in range(num_items_x)
|
||||
]
|
||||
else:
|
||||
raise ValueError(f"未知 Bioyond 库位标签约定: {bioyond_key_axis!r}")
|
||||
warehouse = BioyondWareHouse(
|
||||
name=name,
|
||||
size_x=dx + item_dx * num_items_x,
|
||||
size_y=dy + item_dy * num_items_y,
|
||||
size_z=dz + item_dz * num_items_z,
|
||||
num_items_x=num_items_x,
|
||||
num_items_y=num_items_y,
|
||||
num_items_z=num_items_z,
|
||||
ordering_layout="row-major",
|
||||
sites={key: holder for key, holder in zip(keys, holders.values())},
|
||||
category="warehouse",
|
||||
bioyond_axis=bioyond_axis,
|
||||
bioyond_key_axis=bioyond_key_axis,
|
||||
)
|
||||
return warehouse
|
||||
|
||||
|
||||
def bioyond_warehouse_live_grid(
|
||||
name: str,
|
||||
rows: int,
|
||||
columns: int,
|
||||
slot_keys: list[str] | None = None,
|
||||
bioyond_axis: str = "xy_col_row",
|
||||
bioyond_key_axis: str = "row_col",
|
||||
) -> WareHouse:
|
||||
"""创建 Bioyond 实测库位网格，按服务端 code 保存位点标签。
|
||||
|
||||
默认用于 Peptide live API 返回的坐标：x 是视觉列，y 是视觉行。
|
||||
当服务端 code 重复时，为保持 PLR ordering 唯一性，会给后续重复项追加 ``#N``。
|
||||
"""
|
||||
num_items_x = columns
|
||||
num_items_y = rows
|
||||
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
|
||||
locations = [
|
||||
Coordinate(dx + col * item_dx, dy + row * item_dy, dz)
|
||||
for row in range(num_items_y)
|
||||
for col in range(num_items_x)
|
||||
]
|
||||
holders = create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=locations,
|
||||
resource_size_x=127.0,
|
||||
resource_size_y=86.0,
|
||||
resource_size_z=25.0,
|
||||
name_prefix=name,
|
||||
)
|
||||
keys = slot_keys or [str(index + 1) for index in range(num_items_x * num_items_y)]
|
||||
if len(keys) != len(holders):
|
||||
raise ValueError(f"{name} 库位数量不匹配: keys={len(keys)}, holders={len(holders)}")
|
||||
|
||||
seen: dict[str, int] = {}
|
||||
unique_keys: list[str] = []
|
||||
for key in keys:
|
||||
count = seen.get(key, 0) + 1
|
||||
seen[key] = count
|
||||
unique_keys.append(key if count == 1 else f"{key}#{count}")
|
||||
|
||||
return BioyondWareHouse(
|
||||
name=name,
|
||||
size_x=dx + item_dx * num_items_x,
|
||||
size_y=dy + item_dy * num_items_y,
|
||||
size_z=dz + item_dz * num_items_z,
|
||||
num_items_x=num_items_x,
|
||||
num_items_y=num_items_y,
|
||||
num_items_z=num_items_z,
|
||||
ordering_layout="row-major",
|
||||
sites={key: holder for key, holder in zip(unique_keys, holders.values())},
|
||||
category="warehouse",
|
||||
bioyond_axis=bioyond_axis,
|
||||
bioyond_key_axis=bioyond_key_axis,
|
||||
)
|
||||
|
||||
|
||||
# ================ 小核酸工作站相关堆栈 ================
|
||||
|
||||
def bioyond_warehouse_sirna_g3_liquid_handler(name: str = "G3移液站") -> WareHouse:
|
||||
"""创建小核酸 G3 移液站库位堆栈：显示为 14 行 x 1 列，标签保持 1-1..1-14。"""
|
||||
return bioyond_warehouse_numeric_stack(
|
||||
name, rows=14, columns=1, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_sirna_automation_stack(name: str = "自动化堆栈") -> WareHouse:
|
||||
"""创建小核酸自动化堆栈：显示为 17 行 x 10 列，标签保持 1-1..10-17。"""
|
||||
return bioyond_warehouse_numeric_stack(
|
||||
name, rows=17, columns=10, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
|
||||
)
|
||||
|
||||
|
||||
def bioyond_warehouse_sirna_centrifuge_balance_plate_stack(name: str = "离心机配平板堆栈") -> WareHouse:
|
||||
"""创建小核酸离心机配平板堆栈：显示为 1 行 x 2 列，标签保持 1-1、2-1。"""
|
||||
return bioyond_warehouse_numeric_stack(
|
||||
name, rows=1, columns=2, bioyond_axis="xy_col_row", bioyond_key_axis="col_row"
|
||||
)
|
||||
|
||||
|
||||
# ================ 反应站相关堆栈 ================
|
||||
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
|
||||
@@ -736,7 +736,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
logger.warning(f"物料 {unique_name} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
|
||||
continue
|
||||
|
||||
plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
|
||||
plr_material.code = material.get("barCode") or material.get("code") or ""
|
||||
plr_material.unilabos_uuid = str(uuid.uuid4())
|
||||
|
||||
# ⭐ 保存 Bioyond 原始信息到 unilabos_extra（用于出库时查询）
|
||||
@@ -797,12 +797,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
bottle = plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
|
||||
)
|
||||
# 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well）
|
||||
# ResourceHolder 等不支持液体追踪的容器跳过
|
||||
if hasattr(bottle, "tracker"):
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
logger.debug(f" └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
|
||||
else:
|
||||
@@ -811,11 +808,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
# 只对有 capacity 属性的容器（液体容器）处理液体追踪
|
||||
if hasattr(plr_material, 'capacity'):
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
# 确保 bottle 有 tracker 属性才设置液体信息
|
||||
if hasattr(bottle, "tracker"):
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
|
||||
plr_materials.append(plr_material)
|
||||
|
||||
@@ -844,29 +839,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
wh_name = loc.get("whName")
|
||||
logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
# 必须在warehouse映射之前先获取坐标，以便后续调整
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
|
||||
# 根据列号(y)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
# 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
if wh_name == "堆栈1":
|
||||
if 1 <= y <= 4:
|
||||
x_val = loc.get("x", 1)
|
||||
if 1 <= x_val <= 4:
|
||||
wh_name = "堆栈1左"
|
||||
elif 5 <= y <= 8:
|
||||
elif 5 <= x_val <= 8:
|
||||
wh_name = "堆栈1右"
|
||||
y = y - 4 # 调整列号: 5-8映射到1-4
|
||||
else:
|
||||
logger.warning(f"物料 {material['name']} 的列号 y={y} 超出范围，无法映射到堆栈1左或堆栈1右")
|
||||
logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
|
||||
continue
|
||||
|
||||
# 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
|
||||
if wh_name == "站内Tip盒堆栈":
|
||||
if y == 1:
|
||||
y_val = loc.get("y", 1)
|
||||
if y_val == 1:
|
||||
wh_name = "站内Tip盒堆栈(右)"
|
||||
elif y in [2, 3]:
|
||||
elif y_val in [2, 3]:
|
||||
wh_name = "站内Tip盒堆栈(左)"
|
||||
y = y - 1 # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
|
||||
|
||||
@@ -874,6 +864,26 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
warehouse = deck.warehouses[wh_name]
|
||||
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
|
||||
|
||||
# Bioyond坐标映射:
|
||||
# - 历史 row_col 仓库中 x/y 直接按行/列参与索引。
|
||||
# - Sirna 的库位标签为 col-row，stock-material 返回 x=标签第二段、y=标签第一段。
|
||||
# 因此 x=13,y=4 应落到 key=4-13，而不是交换后落到 3-5。
|
||||
x = loc.get("x", 1)
|
||||
y = loc.get("y", 1)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 仓库级别的轴约定覆盖。
|
||||
# 对旧的 row-col 视觉标签，bioyond_axis="xy_col_row" 需要交换 x/y。
|
||||
# 对 Sirna 的 col-row 库位标签，原始 x/y 已能直接索引到 code 对应位置，不再交换。
|
||||
bioyond_axis = getattr(warehouse, "bioyond_axis", "xy_row_col")
|
||||
bioyond_key_axis = getattr(warehouse, "bioyond_key_axis", "row_col")
|
||||
if bioyond_axis == "xy_col_row" and bioyond_key_axis != "col_row":
|
||||
x, y = y, x
|
||||
|
||||
# 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
|
||||
if wh_name == "堆栈1右":
|
||||
y = y - 4 # 将5-8映射到1-4
|
||||
|
||||
# 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
|
||||
# 这些warehouse使用 vertical-col-major 布局
|
||||
if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
|
||||
@@ -913,10 +923,43 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
logger.debug(f"列优先warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
|
||||
|
||||
if 0 <= idx < warehouse.capacity:
|
||||
if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
|
||||
slot_key = None
|
||||
ordering = getattr(warehouse, "_ordering", {})
|
||||
sites = getattr(warehouse, "sites", [])
|
||||
if isinstance(ordering, dict) and idx < len(sites):
|
||||
site_at_idx = sites[idx]
|
||||
slot_key = next(
|
||||
(key for key, site in ordering.items() if site is site_at_idx),
|
||||
None,
|
||||
)
|
||||
|
||||
current_resource = warehouse[idx]
|
||||
if current_resource is None or isinstance(current_resource, (ResourceHolder, str)):
|
||||
if isinstance(current_resource, str):
|
||||
logger.warning(
|
||||
f"⚠️ 物料 {unique_name} 覆盖 {wh_name}[{idx}]"
|
||||
f"{f'({slot_key})' if slot_key else ''} 的旧占位 occupied_by={current_resource!r}"
|
||||
)
|
||||
# 物料尺寸已在放入warehouse前根据需要进行了交换
|
||||
warehouse[idx] = plr_material
|
||||
logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
|
||||
logger.debug(
|
||||
f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}]"
|
||||
f"{f'({slot_key})' if slot_key else ''} "
|
||||
f"(Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})"
|
||||
)
|
||||
else:
|
||||
parent = getattr(current_resource, "parent", None)
|
||||
current_repr = repr(current_resource)
|
||||
current_len = len(current_resource) if isinstance(current_resource, str) else None
|
||||
logger.warning(
|
||||
f"⚠️ 物料 {unique_name} 跳过放置到 {wh_name}[{idx}]"
|
||||
f"{f'({slot_key})' if slot_key else ''}：目标库位已有 "
|
||||
f"{type(current_resource).__name__}"
|
||||
f"(value={current_repr}, len={current_len})"
|
||||
f"(name={getattr(current_resource, 'name', None)}, "
|
||||
f"parent={getattr(parent, 'name', None)}, "
|
||||
f"uuid={getattr(current_resource, 'unilabos_uuid', None)})"
|
||||
)
|
||||
else:
|
||||
logger.warning(f"❌ 物料 {unique_name} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
|
||||
else:
|
||||
|
||||
@@ -179,11 +179,6 @@ class ItemizedCarrier(ResourcePLR):
|
||||
idx = i
|
||||
break
|
||||
|
||||
if idx is None:
|
||||
# 反序列化时无法匹配 site（名称或坐标均不符）。
|
||||
# WareHouse 通过 sites 追踪占用，无需将子资源加入 PLR 子树，直接跳过避免命名冲突。
|
||||
return
|
||||
|
||||
if not reassign and self.sites[idx] is not None:
|
||||
raise ValueError(f"a site with index {idx} already exists")
|
||||
location = list(self.child_locations.values())[idx]
|
||||
|
||||
@@ -18,9 +18,3 @@ def register():
|
||||
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
|
||||
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
|
||||
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.resources.bioyond.decks import (
|
||||
BIOYOND_PolymerReactionStation_Deck,
|
||||
BIOYOND_PolymerPreparationStation_Deck,
|
||||
BIOYOND_YB_Deck,
|
||||
)
|
||||
|
||||
@@ -423,7 +423,6 @@ class ResourceTreeSet(object):
|
||||
"deck": "deck",
|
||||
"tip_rack": "tip_rack",
|
||||
"tip_spot": "tip_spot",
|
||||
"tip": "tip", # 添加 tip 类型支持
|
||||
"tube": "tube",
|
||||
"bottle_carrier": "bottle_carrier",
|
||||
"material_hole": "material_hole",
|
||||
@@ -606,19 +605,11 @@ class ResourceTreeSet(object):
|
||||
},
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
|
||||
"category": res.config.get("category", plr_type),
|
||||
# WareHouse 通过 sites 字符串追踪占位，不依赖 PLR children tree。
|
||||
# 将 WareHouse 子节点排除在外，避免同名载架出现在多个 WareHouse 下时
|
||||
# PLR _check_naming_conflicts 报命名冲突。
|
||||
"children": [] if res.type == "warehouse" else [node_to_plr_dict(child, has_model) for child in node.children],
|
||||
"children": [node_to_plr_dict(child, has_model) for child in node.children],
|
||||
"parent_name": res.parent_instance_name,
|
||||
}
|
||||
if has_model:
|
||||
d["model"] = res.config.get("model", None)
|
||||
# 仅当 PLR dict 中含有子节点时才禁用 setup()，
|
||||
# 防止 setup() 预分配子资源后 PLR deserialize 再次分配同名资源产生命名冲突。
|
||||
# 若 children 为空，则保留 setup=True，依赖 setup() 来初始化仓库。
|
||||
if "setup" in d and d.get("children"):
|
||||
d["setup"] = False
|
||||
return d
|
||||
|
||||
plr_resources = []
|
||||
@@ -871,34 +862,13 @@ class ResourceTreeSet(object):
|
||||
f"已存在，跳过"
|
||||
)
|
||||
|
||||
# 移除本地有但远端已不存在的物料（以远端为准）
|
||||
remote_material_names = {m.res_content.name for m in remote_child.children}
|
||||
removed_count = 0
|
||||
for child in list(local_sub_device.children):
|
||||
if child.res_content.name not in remote_material_names:
|
||||
local_sub_device.children.remove(child)
|
||||
removed_count += 1
|
||||
logger.info(
|
||||
f"移除远端已不存在的物料: '{remote_root_id}/{remote_child_name}/{child.res_content.name}'"
|
||||
)
|
||||
|
||||
if added_count > 0:
|
||||
logger.info(
|
||||
f"Device '{remote_root_id}/{remote_child_name}': "
|
||||
f"从远端同步了 {added_count} 个物料子树"
|
||||
)
|
||||
if removed_count > 0:
|
||||
logger.info(
|
||||
f"Device '{remote_root_id}/{remote_child_name}': "
|
||||
f"移除了 {removed_count} 个远端已删除的物料"
|
||||
)
|
||||
else:
|
||||
# 二级物料已存在，比较三级子节点是否缺失
|
||||
if remote_child_name not in local_children_map:
|
||||
logger.warning(
|
||||
f"物料 '{remote_root_id}/{remote_child_name}' 在远端存在但本地不存在，跳过"
|
||||
)
|
||||
continue
|
||||
local_material = local_children_map[remote_child_name]
|
||||
local_material_children_map = {child.res_content.name: child for child in
|
||||
local_material.children}
|
||||
@@ -914,28 +884,11 @@ class ResourceTreeSet(object):
|
||||
f"物料 '{remote_root_id}/{remote_child_name}/{remote_sub_name}' "
|
||||
f"已存在，跳过"
|
||||
)
|
||||
|
||||
# 移除本地有但远端已不存在的子物料（以远端为准）
|
||||
remote_sub_names = {s.res_content.name for s in remote_child.children}
|
||||
removed_count = 0
|
||||
for child in list(local_material.children):
|
||||
if child.res_content.name not in remote_sub_names:
|
||||
local_material.children.remove(child)
|
||||
removed_count += 1
|
||||
logger.info(
|
||||
f"移除远端已不存在的子物料: '{remote_root_id}/{remote_child_name}/{child.res_content.name}'"
|
||||
)
|
||||
|
||||
if added_count > 0:
|
||||
logger.info(
|
||||
f"物料 '{remote_root_id}/{remote_child_name}': "
|
||||
f"从远端同步了 {added_count} 个子物料"
|
||||
)
|
||||
if removed_count > 0:
|
||||
logger.info(
|
||||
f"物料 '{remote_root_id}/{remote_child_name}': "
|
||||
f"移除了 {removed_count} 个远端已删除的子物料"
|
||||
)
|
||||
else:
|
||||
# 情况1: 一级节点是物料（不是 device）
|
||||
# 检查是否已存在
|
||||
@@ -1376,16 +1329,6 @@ class DeviceNodeResourceTracker(object):
|
||||
else:
|
||||
res_list.extend(self.loop_find_resource(r, type(query_resource), "unilabos_uuid", res_uuid))
|
||||
|
||||
# 同一资源对象可能通过"直接注册"和"作为父资源子节点"被搜索到两次，按对象 id 去重
|
||||
seen_ids: set = set()
|
||||
deduped = []
|
||||
for item in res_list:
|
||||
oid = id(item[1])
|
||||
if oid not in seen_ids:
|
||||
seen_ids.add(oid)
|
||||
deduped.append(item)
|
||||
res_list = deduped
|
||||
|
||||
if not try_mode:
|
||||
assert len(res_list) > 0, f"没有找到资源 (uuid={res_uuid})，请检查资源是否存在"
|
||||
assert len(res_list) == 1, f"通过uuid={res_uuid} 找到多个资源，请检查资源是否唯一: {res_list}"
|
||||
@@ -1422,14 +1365,6 @@ class DeviceNodeResourceTracker(object):
|
||||
r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key)
|
||||
)
|
||||
)
|
||||
seen_ids2: set = set()
|
||||
deduped2 = []
|
||||
for item in res_list:
|
||||
oid = id(item[1])
|
||||
if oid not in seen_ids2:
|
||||
seen_ids2.add(oid)
|
||||
deduped2.append(item)
|
||||
res_list = deduped2
|
||||
if not try_mode:
|
||||
assert len(res_list) > 0, f"没有找到资源 {query_resource}，请检查资源是否存在"
|
||||
assert len(res_list) == 1, f"{query_resource} 找到多个资源，请检查资源是否唯一: {res_list}"
|
||||
|
||||
@@ -15,92 +15,92 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"api_key": "<BIOYOND_API_KEY>",
|
||||
"api_host": "http://<BIOYOND_HOST>:<BIOYOND_PORT>",
|
||||
"api_key": "YOUR_API_KEY",
|
||||
"api_host": "http://your-api-host:port",
|
||||
"material_type_mappings": {
|
||||
"BIOYOND_PolymerStation_1FlaskCarrier": [
|
||||
"烧杯",
|
||||
"<UUID_FLASK_CARRIER_TYPE>"
|
||||
"uuid-placeholder-flask"
|
||||
],
|
||||
"BIOYOND_PolymerStation_1BottleCarrier": [
|
||||
"试剂瓶",
|
||||
"<UUID_BOTTLE_CARRIER_TYPE>"
|
||||
"uuid-placeholder-bottle"
|
||||
],
|
||||
"BIOYOND_PolymerStation_6StockCarrier": [
|
||||
"分装板",
|
||||
"<UUID_6STOCK_CARRIER_TYPE>"
|
||||
"uuid-placeholder-stock-6"
|
||||
],
|
||||
"BIOYOND_PolymerStation_Liquid_Vial": [
|
||||
"10%分装小瓶",
|
||||
"<UUID_LIQUID_VIAL_TYPE>"
|
||||
"uuid-placeholder-liquid-vial"
|
||||
],
|
||||
"BIOYOND_PolymerStation_Solid_Vial": [
|
||||
"90%分装小瓶",
|
||||
"<UUID_SOLID_VIAL_TYPE>"
|
||||
"uuid-placeholder-solid-vial"
|
||||
],
|
||||
"BIOYOND_PolymerStation_8StockCarrier": [
|
||||
"样品板",
|
||||
"<UUID_8STOCK_CARRIER_TYPE>"
|
||||
"uuid-placeholder-stock-8"
|
||||
],
|
||||
"BIOYOND_PolymerStation_Solid_Stock": [
|
||||
"样品瓶",
|
||||
"<UUID_SOLID_STOCK_TYPE>"
|
||||
"uuid-placeholder-solid-stock"
|
||||
]
|
||||
},
|
||||
"warehouse_mapping": {
|
||||
"粉末堆栈": {
|
||||
"uuid": "<UUID_POWDER_WAREHOUSE>",
|
||||
"uuid": "uuid-placeholder-powder-stack",
|
||||
"site_uuids": {
|
||||
"A01": "<UUID_POWDER_A01>",
|
||||
"A02": "<UUID_POWDER_A02>",
|
||||
"A03": "<UUID_POWDER_A03>",
|
||||
"A04": "<UUID_POWDER_A04>",
|
||||
"B01": "<UUID_POWDER_B01>",
|
||||
"B02": "<UUID_POWDER_B02>",
|
||||
"B03": "<UUID_POWDER_B03>",
|
||||
"B04": "<UUID_POWDER_B04>",
|
||||
"C01": "<UUID_POWDER_C01>",
|
||||
"C02": "<UUID_POWDER_C02>",
|
||||
"C03": "<UUID_POWDER_C03>",
|
||||
"C04": "<UUID_POWDER_C04>",
|
||||
"D01": "<UUID_POWDER_D01>",
|
||||
"D02": "<UUID_POWDER_D02>",
|
||||
"D03": "<UUID_POWDER_D03>",
|
||||
"D04": "<UUID_POWDER_D04>"
|
||||
"A01": "uuid-placeholder-powder-A01",
|
||||
"A02": "uuid-placeholder-powder-A02",
|
||||
"A03": "uuid-placeholder-powder-A03",
|
||||
"A04": "uuid-placeholder-powder-A04",
|
||||
"B01": "uuid-placeholder-powder-B01",
|
||||
"B02": "uuid-placeholder-powder-B02",
|
||||
"B03": "uuid-placeholder-powder-B03",
|
||||
"B04": "uuid-placeholder-powder-B04",
|
||||
"C01": "uuid-placeholder-powder-C01",
|
||||
"C02": "uuid-placeholder-powder-C02",
|
||||
"C03": "uuid-placeholder-powder-C03",
|
||||
"C04": "uuid-placeholder-powder-C04",
|
||||
"D01": "uuid-placeholder-powder-D01",
|
||||
"D02": "uuid-placeholder-powder-D02",
|
||||
"D03": "uuid-placeholder-powder-D03",
|
||||
"D04": "uuid-placeholder-powder-D04"
|
||||
}
|
||||
},
|
||||
"溶液堆栈": {
|
||||
"uuid": "<UUID_SOLUTION_WAREHOUSE>",
|
||||
"uuid": "uuid-placeholder-liquid-stack",
|
||||
"site_uuids": {
|
||||
"A01": "<UUID_SOLUTION_A01>",
|
||||
"A02": "<UUID_SOLUTION_A02>",
|
||||
"A03": "<UUID_SOLUTION_A03>",
|
||||
"A04": "<UUID_SOLUTION_A04>",
|
||||
"B01": "<UUID_SOLUTION_B01>",
|
||||
"B02": "<UUID_SOLUTION_B02>",
|
||||
"B03": "<UUID_SOLUTION_B03>",
|
||||
"B04": "<UUID_SOLUTION_B04>",
|
||||
"C01": "<UUID_SOLUTION_C01>",
|
||||
"C02": "<UUID_SOLUTION_C02>",
|
||||
"C03": "<UUID_SOLUTION_C03>",
|
||||
"C04": "<UUID_SOLUTION_C04>",
|
||||
"D01": "<UUID_SOLUTION_D01>",
|
||||
"D02": "<UUID_SOLUTION_D02>",
|
||||
"D03": "<UUID_SOLUTION_D03>",
|
||||
"D04": "<UUID_SOLUTION_D04>"
|
||||
"A01": "uuid-placeholder-liquid-A01",
|
||||
"A02": "uuid-placeholder-liquid-A02",
|
||||
"A03": "uuid-placeholder-liquid-A03",
|
||||
"A04": "uuid-placeholder-liquid-A04",
|
||||
"B01": "uuid-placeholder-liquid-B01",
|
||||
"B02": "uuid-placeholder-liquid-B02",
|
||||
"B03": "uuid-placeholder-liquid-B03",
|
||||
"B04": "uuid-placeholder-liquid-B04",
|
||||
"C01": "uuid-placeholder-liquid-C01",
|
||||
"C02": "uuid-placeholder-liquid-C02",
|
||||
"C03": "uuid-placeholder-liquid-C03",
|
||||
"C04": "uuid-placeholder-liquid-C04",
|
||||
"D01": "uuid-placeholder-liquid-D01",
|
||||
"D02": "uuid-placeholder-liquid-D02",
|
||||
"D03": "uuid-placeholder-liquid-D03",
|
||||
"D04": "uuid-placeholder-liquid-D04"
|
||||
}
|
||||
},
|
||||
"试剂堆栈": {
|
||||
"uuid": "<UUID_REAGENT_WAREHOUSE>",
|
||||
"uuid": "uuid-placeholder-reagent-stack",
|
||||
"site_uuids": {
|
||||
"A01": "<UUID_REAGENT_A01>",
|
||||
"A02": "<UUID_REAGENT_A02>",
|
||||
"A03": "<UUID_REAGENT_A03>",
|
||||
"A04": "<UUID_REAGENT_A04>",
|
||||
"B01": "<UUID_REAGENT_B01>",
|
||||
"B02": "<UUID_REAGENT_B02>",
|
||||
"B03": "<UUID_REAGENT_B03>",
|
||||
"B04": "<UUID_REAGENT_B04>"
|
||||
"A01": "uuid-placeholder-reagent-A01",
|
||||
"A02": "uuid-placeholder-reagent-A02",
|
||||
"A03": "uuid-placeholder-reagent-A03",
|
||||
"A04": "uuid-placeholder-reagent-A04",
|
||||
"B01": "uuid-placeholder-reagent-B01",
|
||||
"B02": "uuid-placeholder-reagent-B02",
|
||||
"B03": "uuid-placeholder-reagent-B03",
|
||||
"B04": "uuid-placeholder-reagent-B04"
|
||||
}
|
||||
}
|
||||
},
|
||||
@@ -156,4 +156,4 @@
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
@@ -1,29 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "Liquid_Sensor_1",
|
||||
"name": "XKC Sensor",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "sensor.xkc_rs485",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/dev/tty.usbserial-3110",
|
||||
"baudrate": 9600,
|
||||
"device_id": 1,
|
||||
"threshold": 300,
|
||||
"timeout": 3.0
|
||||
},
|
||||
"data": {
|
||||
"level": false,
|
||||
"rssi": 0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "ZDT_Motor",
|
||||
"name": "ZDT Motor",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "motor.zdt_x42",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/dev/tty.usbserial-3110",
|
||||
"baudrate": 115200,
|
||||
"device_id": 1,
|
||||
"debug": true
|
||||
},
|
||||
"data": {
|
||||
"position": 0,
|
||||
"status": "idle"
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -33,10 +33,76 @@ _USE_UV: Optional[bool] = None
|
||||
def _has_uv() -> bool:
|
||||
global _USE_UV
|
||||
if _USE_UV is None:
|
||||
_USE_UV = shutil.which("uv") is not None
|
||||
uv_path = shutil.which("uv")
|
||||
if not uv_path:
|
||||
_USE_UV = False
|
||||
else:
|
||||
try:
|
||||
result = subprocess.run([uv_path, "--version"], capture_output=True, text=True, timeout=10)
|
||||
_USE_UV = result.returncode == 0
|
||||
except Exception:
|
||||
_USE_UV = False
|
||||
return _USE_UV
|
||||
|
||||
|
||||
def _install_command(installer: str, package: str, upgrade: bool, is_chinese: bool) -> List[str]:
|
||||
if installer == "uv":
|
||||
cmd = ["uv", "pip", "install"]
|
||||
if upgrade:
|
||||
cmd.append("--upgrade")
|
||||
cmd.append(package)
|
||||
if is_chinese:
|
||||
cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
|
||||
return cmd
|
||||
|
||||
cmd = [sys.executable, "-m", "pip", "install", "--disable-pip-version-check"]
|
||||
if upgrade:
|
||||
cmd.append("--upgrade")
|
||||
cmd.append(package)
|
||||
if is_chinese:
|
||||
cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
|
||||
return cmd
|
||||
|
||||
|
||||
def _installer_candidates() -> List[str]:
|
||||
installers: List[str] = []
|
||||
if _has_uv():
|
||||
installers.append("uv")
|
||||
installers.append("pip")
|
||||
return installers
|
||||
|
||||
|
||||
def _git_url_from_requirement(requirement: str) -> Optional[str]:
|
||||
if not requirement.startswith("git+"):
|
||||
return None
|
||||
return requirement[4:].split("#", 1)[0]
|
||||
|
||||
|
||||
def _repo_dir_name(git_url: str) -> str:
|
||||
repo_name = git_url.rstrip("/").rsplit("/", 1)[-1]
|
||||
return repo_name[:-4] if repo_name.endswith(".git") else repo_name
|
||||
|
||||
|
||||
def _print_manual_git_install_hint(requirement: str) -> None:
|
||||
git_url = _git_url_from_requirement(requirement)
|
||||
if not git_url:
|
||||
return
|
||||
|
||||
repo_dir = _repo_dir_name(git_url)
|
||||
install_cmd = "uv pip install -e ." if _has_uv() else f"{sys.executable} -m pip install -e ."
|
||||
if _is_chinese_locale() and not _has_uv():
|
||||
install_cmd += " -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||
|
||||
print_status("Git 依赖自动安装失败，通常是网络连接被重置或代码托管站点暂时不可达。", "warning")
|
||||
print_status("可以手动拉取代码后在本地安装:", "warning")
|
||||
print_status(f" git clone {git_url}", "warning")
|
||||
print_status(f" cd {repo_dir}", "warning")
|
||||
print_status(" git pull", "warning")
|
||||
print_status(f" {install_cmd}", "warning")
|
||||
print_status(f"如果目录 {repo_dir} 已存在，直接进入该目录执行 git pull 后再安装。", "warning")
|
||||
print_status("如果 git clone 仍失败，请切换网络/代理，或从浏览器下载源码后进入源码目录执行本地安装命令。", "warning")
|
||||
|
||||
|
||||
def _install_packages(
|
||||
packages: List[str],
|
||||
upgrade: bool = False,
|
||||
@@ -53,7 +119,7 @@ def _install_packages(
|
||||
return True
|
||||
|
||||
is_chinese = _is_chinese_locale()
|
||||
use_uv = _has_uv()
|
||||
installers = _installer_candidates()
|
||||
failed: List[str] = []
|
||||
|
||||
for pkg in packages:
|
||||
@@ -63,35 +129,30 @@ def _install_packages(
|
||||
else:
|
||||
print_status(f"正在{action_word} {pkg}...", "info")
|
||||
|
||||
if use_uv:
|
||||
cmd = ["uv", "pip", "install"]
|
||||
if upgrade:
|
||||
cmd.append("--upgrade")
|
||||
cmd.append(pkg)
|
||||
if is_chinese:
|
||||
cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
|
||||
else:
|
||||
cmd = [sys.executable, "-m", "pip", "install"]
|
||||
if upgrade:
|
||||
cmd.append("--upgrade")
|
||||
cmd.append(pkg)
|
||||
if is_chinese:
|
||||
cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
|
||||
pkg_installed = False
|
||||
last_error = "unknown error"
|
||||
|
||||
try:
|
||||
result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
|
||||
if result.returncode == 0:
|
||||
installer = "uv" if use_uv else "pip"
|
||||
print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
|
||||
else:
|
||||
stderr_short = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
|
||||
print_status(f"× {pkg} {action_word}失败: {stderr_short}", "error")
|
||||
failed.append(pkg)
|
||||
except subprocess.TimeoutExpired:
|
||||
print_status(f"× {pkg} {action_word}超时 (300s)", "error")
|
||||
failed.append(pkg)
|
||||
except Exception as e:
|
||||
print_status(f"× {pkg} {action_word}异常: {e}", "error")
|
||||
for installer in installers:
|
||||
cmd = _install_command(installer, pkg, upgrade, is_chinese)
|
||||
try:
|
||||
result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
|
||||
if result.returncode == 0:
|
||||
print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
|
||||
pkg_installed = True
|
||||
break
|
||||
|
||||
last_error = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
|
||||
print_status(f"× {pkg} {action_word}失败 (via {installer}): {last_error}", "warning")
|
||||
except subprocess.TimeoutExpired:
|
||||
last_error = "timeout after 300s"
|
||||
print_status(f"× {pkg} {action_word}超时 (via {installer}, 300s)", "warning")
|
||||
except Exception as e:
|
||||
last_error = str(e)
|
||||
print_status(f"× {pkg} {action_word}异常 (via {installer}): {e}", "warning")
|
||||
|
||||
if not pkg_installed:
|
||||
print_status(f"× {pkg} {action_word}失败: {last_error}", "error")
|
||||
_print_manual_git_install_hint(pkg)
|
||||
failed.append(pkg)
|
||||
|
||||
if failed:
|
||||
|
||||
@@ -206,6 +206,7 @@ class ImportManager:
|
||||
"ast_analysis_success": False,
|
||||
"import_map": {},
|
||||
"init_params": [],
|
||||
"init_docstring": None,
|
||||
"status_methods": {},
|
||||
"action_methods": {},
|
||||
}
|
||||
@@ -251,6 +252,7 @@ class ImportManager:
|
||||
|
||||
# 映射到统一字段名（与 registry.py complete_registry 消费端一致）
|
||||
result["init_params"] = body.get("init_params", [])
|
||||
result["init_docstring"] = body.get("init_docstring")
|
||||
result["status_methods"] = body.get("status_properties", {})
|
||||
result["action_methods"] = {
|
||||
k: {
|
||||
|
||||
Reference in New Issue
Block a user