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https://github.com/deepmodeling/Uni-Lab-OS
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refactor/B
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v0.10.13
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@@ -1,62 +0,0 @@
|
||||
# unilabos: Production package (depends on unilabos-env + pip unilabos)
|
||||
# For production deployment
|
||||
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.19
|
||||
|
||||
source:
|
||||
path: ../../unilabos
|
||||
target_directory: unilabos
|
||||
|
||||
build:
|
||||
python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
|
||||
- pip install %SRC_DIR%
|
||||
- if: unix
|
||||
then:
|
||||
- cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
|
||||
- cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
|
||||
- cp $RECIPE_DIR/../../setup.py $SRC_DIR
|
||||
- pip install $SRC_DIR
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.14
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- zstd
|
||||
- zstandard
|
||||
- networkx
|
||||
- typing_extensions
|
||||
- websockets
|
||||
- pint
|
||||
- fastapi
|
||||
- jinja2
|
||||
- requests
|
||||
- uvicorn
|
||||
- if: not osx
|
||||
then:
|
||||
- opcua
|
||||
- pyserial
|
||||
- pandas
|
||||
- pymodbus
|
||||
- matplotlib
|
||||
- pylibftdi
|
||||
- uni-lab::unilabos-env ==0.10.19
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS - Production package with minimal ROS2 dependencies"
|
||||
@@ -1,39 +0,0 @@
|
||||
# unilabos-env: conda environment dependencies (ROS2 + conda packages)
|
||||
|
||||
package:
|
||||
name: unilabos-env
|
||||
version: 0.10.19
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
requirements:
|
||||
run:
|
||||
# Python
|
||||
- zstd
|
||||
- zstandard
|
||||
- conda-forge::python ==3.11.14
|
||||
- conda-forge::opencv
|
||||
# ROS2 dependencies (from ci-check.yml)
|
||||
- robostack-staging::ros-humble-ros-core
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-nav2-msgs
|
||||
- robostack-staging::ros-humble-cv-bridge
|
||||
- robostack-staging::ros-humble-vision-opencv
|
||||
- robostack-staging::ros-humble-tf-transformations
|
||||
- robostack-staging::ros-humble-moveit-msgs
|
||||
- robostack-staging::ros-humble-tf2-ros
|
||||
- robostack-staging::ros-humble-tf2-ros-py
|
||||
- conda-forge::transforms3d
|
||||
- conda-forge::uv
|
||||
|
||||
# UniLabOS custom messages
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS Environment - ROS2 and conda dependencies"
|
||||
@@ -1,42 +0,0 @@
|
||||
# unilabos-full: Full package with all features
|
||||
# Depends on unilabos + complete ROS2 desktop + dev tools
|
||||
|
||||
package:
|
||||
name: unilabos-full
|
||||
version: 0.10.19
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
requirements:
|
||||
run:
|
||||
# Base unilabos package (includes unilabos-env)
|
||||
- uni-lab::unilabos ==0.10.19
|
||||
# Documentation tools
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
# Web UI
|
||||
- gradio
|
||||
- flask
|
||||
# Interactive development
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
# ROS2 full desktop (includes rviz2, gazebo, etc.)
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
# Navigation and motion control
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
# MoveIt motion planning
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
# Simulation
|
||||
- ros-humble-simulation
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
|
||||
92
.conda/recipe.yaml
Normal file
92
.conda/recipe.yaml
Normal file
@@ -0,0 +1,92 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.13
|
||||
|
||||
source:
|
||||
path: ../unilabos
|
||||
target_directory: unilabos
|
||||
|
||||
build:
|
||||
python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
then:
|
||||
- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
|
||||
- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
|
||||
- call %PYTHON% -m pip install %SRC_DIR%
|
||||
- if: unix
|
||||
then:
|
||||
- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
|
||||
- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
|
||||
- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
||||
- $PYTHON -m pip install $SRC_DIR
|
||||
|
||||
|
||||
requirements:
|
||||
host:
|
||||
- python ==3.11.11
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- zstandard
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
- make
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
- numpy
|
||||
- scipy
|
||||
- pandas
|
||||
- networkx
|
||||
- matplotlib
|
||||
- pint
|
||||
- pyserial
|
||||
- pyusb
|
||||
- pylibftdi
|
||||
- pymodbus
|
||||
- python-can
|
||||
- pyvisa
|
||||
- opencv
|
||||
- pydantic
|
||||
- fastapi
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websockets
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
- colcon-common-extensions
|
||||
- robostack-staging::ros-humble-desktop-full
|
||||
- robostack-staging::ros-humble-control-msgs
|
||||
- robostack-staging::ros-humble-sensor-msgs
|
||||
- robostack-staging::ros-humble-trajectory-msgs
|
||||
- ros-humble-navigation2
|
||||
- ros-humble-ros2-control
|
||||
- ros-humble-robot-state-publisher
|
||||
- ros-humble-joint-state-publisher
|
||||
- ros-humble-rosbridge-server
|
||||
- ros-humble-cv-bridge
|
||||
- ros-humble-tf2
|
||||
- ros-humble-moveit
|
||||
- ros-humble-moveit-servo
|
||||
- ros-humble-simulation
|
||||
- ros-humble-tf-transformations
|
||||
- transforms3d
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
|
||||
about:
|
||||
repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
license: GPL-3.0-only
|
||||
description: "Uni-Lab-OS"
|
||||
9
.conda/scripts/post-link.bat
Normal file
9
.conda/scripts/post-link.bat
Normal file
@@ -0,0 +1,9 @@
|
||||
@echo off
|
||||
setlocal enabledelayedexpansion
|
||||
|
||||
REM upgrade pip
|
||||
"%PREFIX%\python.exe" -m pip install --upgrade pip
|
||||
|
||||
REM install extra deps
|
||||
"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
|
||||
"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
9
.conda/scripts/post-link.sh
Normal file
9
.conda/scripts/post-link.sh
Normal file
@@ -0,0 +1,9 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euxo pipefail
|
||||
|
||||
# make sure pip is available
|
||||
"$PREFIX/bin/python" -m pip install --upgrade pip
|
||||
|
||||
# install extra deps
|
||||
"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
|
||||
"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git
|
||||
@@ -1,160 +0,0 @@
|
||||
---
|
||||
name: add-device
|
||||
description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
|
||||
---
|
||||
|
||||
# 添加新设备到 Uni-Lab-OS
|
||||
|
||||
**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
|
||||
|
||||
该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
|
||||
|
||||
---
|
||||
|
||||
## 装饰器参考
|
||||
|
||||
### @device — 设备类装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
# 单设备
|
||||
@device(
|
||||
id="my_device.vendor", # 注册表唯一标识（必填）
|
||||
category=["temperature"], # 分类标签列表（必填）
|
||||
description="设备描述", # 设备描述
|
||||
display_name="显示名称", # UI 显示名称（默认用 id）
|
||||
icon="DeviceIcon.webp", # 图标文件名
|
||||
version="1.0.0", # 版本号
|
||||
device_type="python", # "python" 或 "ros2"
|
||||
handles=[...], # 端口列表（InputHandle / OutputHandle）
|
||||
model={...}, # 3D 模型配置
|
||||
hardware_interface=HardwareInterface(...), # 硬件通信接口
|
||||
)
|
||||
|
||||
# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
|
||||
@device(
|
||||
ids=["pump.vendor.model_A", "pump.vendor.model_B"],
|
||||
id_meta={
|
||||
"pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
|
||||
"pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
|
||||
},
|
||||
category=["pump_and_valve"],
|
||||
)
|
||||
```
|
||||
|
||||
### @action — 动作方法装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import action
|
||||
|
||||
@action # 无参：注册为 UniLabJsonCommand 动作
|
||||
@action() # 同上
|
||||
@action(description="执行操作") # 带描述
|
||||
@action(
|
||||
action_type=HeatChill, # 指定 ROS Action 消息类型
|
||||
goal={"temperature": "temp"}, # Goal 字段映射
|
||||
feedback={}, # Feedback 字段映射
|
||||
result={}, # Result 字段映射
|
||||
handles=[...], # 动作级别端口
|
||||
goal_default={"temp": 25.0}, # Goal 默认值
|
||||
placeholder_keys={...}, # 参数占位符
|
||||
always_free=True, # 不受排队限制
|
||||
auto_prefix=True, # 强制使用 auto- 前缀
|
||||
parent=True, # 从父类 MRO 获取参数签名
|
||||
)
|
||||
```
|
||||
|
||||
**自动识别规则：**
|
||||
- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
|
||||
- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
|
||||
- `_` 开头的方法 → 不扫描
|
||||
- `@not_action` 标记的方法 → 排除
|
||||
|
||||
### @topic_config — 状态属性配置
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config(
|
||||
period=5.0, # 发布周期（秒），默认 5.0
|
||||
print_publish=False, # 是否打印发布日志
|
||||
qos=10, # QoS 深度，默认 10
|
||||
name="custom_name", # 自定义发布名称（默认用属性名）
|
||||
)
|
||||
def temperature(self) -> float:
|
||||
return self.data.get("temperature", 0.0)
|
||||
```
|
||||
|
||||
### 辅助装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import not_action, always_free
|
||||
|
||||
@not_action # 标记为非动作（post_init、辅助方法等）
|
||||
@always_free # 标记为不受排队限制（查询类操作）
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 设备模板
|
||||
|
||||
```python
|
||||
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
|
||||
|
||||
@device(id="my_device", category=["my_category"], description="设备描述")
|
||||
class MyDevice:
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
self.device_id = device_id or "my_device"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {"status": "Idle"}
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
|
||||
self._ros_node = ros_node
|
||||
|
||||
@action
|
||||
async def initialize(self) -> bool:
|
||||
self.data["status"] = "Ready"
|
||||
return True
|
||||
|
||||
@action
|
||||
async def cleanup(self) -> bool:
|
||||
self.data["status"] = "Offline"
|
||||
return True
|
||||
|
||||
@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"""
|
||||
return {"success": True}
|
||||
|
||||
def get_info(self) -> Dict[str, Any]:
|
||||
"""无 @action → 自动注册为 'auto-get_info' 动作"""
|
||||
return {"device_id": self.device_id}
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self.data.get("temperature", 0.0)
|
||||
```
|
||||
|
||||
### 要点
|
||||
|
||||
- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
|
||||
- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
|
||||
- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
|
||||
- 运行时状态存储在 `self.data` 字典中
|
||||
- 设备文件放在 `unilabos/devices/<category>/` 目录下
|
||||
@@ -1,351 +0,0 @@
|
||||
---
|
||||
name: add-resource
|
||||
description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
|
||||
---
|
||||
|
||||
# 添加新物料资源
|
||||
|
||||
Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
|
||||
|
||||
---
|
||||
|
||||
## 资源类型
|
||||
|
||||
| 类型 | 基类 | 用途 | 示例 |
|
||||
|------|------|------|------|
|
||||
| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
|
||||
| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
|
||||
| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
|
||||
| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
|
||||
|
||||
**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
|
||||
|
||||
WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
|
||||
|
||||
---
|
||||
|
||||
## @resource 装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
@resource(
|
||||
id="my_resource_id", # 注册表唯一标识（必填）
|
||||
category=["bottles"], # 分类标签列表（必填）
|
||||
description="资源描述",
|
||||
icon="", # 图标
|
||||
version="1.0.0",
|
||||
handles=[...], # 端口列表（InputHandle / OutputHandle）
|
||||
model={...}, # 3D 模型配置
|
||||
class_type="pylabrobot", # "python" / "pylabrobot" / "unilabos"
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 创建规范
|
||||
|
||||
### 命名规则
|
||||
|
||||
1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
|
||||
2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
|
||||
|
||||
### 子物料命名示例
|
||||
|
||||
```python
|
||||
# Carrier 内部的 sites 用 name 前缀
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}" # "堆栈1左_A01", "堆栈1左_B02" ...
|
||||
|
||||
# Carrier 中放置 Bottle 时用 name 前缀
|
||||
carrier[0] = My_Reagent_Bottle(f"{name}_flask_1") # "堆栈1左_flask_1"
|
||||
carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}") # "堆栈1左_vial_A1"
|
||||
|
||||
# create_homogeneous_resources 使用 name_prefix
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[...],
|
||||
name_prefix=name, # 自动生成 "{name}_0", "{name}_1" ...
|
||||
)
|
||||
|
||||
# Deck setup 中用仓库名称作为 name 传入
|
||||
self.warehouses = {
|
||||
"堆栈1左": my_warehouse_4x4("堆栈1左"), # WareHouse.name = "堆栈1左"
|
||||
"试剂堆栈": my_reagent_stack("试剂堆栈"), # WareHouse.name = "试剂堆栈"
|
||||
}
|
||||
```
|
||||
|
||||
### 其他规范
|
||||
|
||||
- **max_volume 单位为 μL**：500mL = 500000
|
||||
- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
|
||||
- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
|
||||
- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
|
||||
- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
|
||||
- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
|
||||
- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
|
||||
|
||||
---
|
||||
|
||||
## 资源模板
|
||||
|
||||
### Bottle
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import resource
|
||||
from unilabos.resources.itemized_carrier import Bottle
|
||||
|
||||
|
||||
@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
|
||||
def My_Reagent_Bottle(
|
||||
name: str,
|
||||
diameter: float = 70.0,
|
||||
height: float = 120.0,
|
||||
max_volume: float = 500000.0,
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="My_Reagent_Bottle",
|
||||
)
|
||||
```
|
||||
|
||||
**Bottle 参数：**
|
||||
- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
|
||||
- `diameter`: 瓶体直径 (mm)
|
||||
- `height`: 瓶体高度 (mm)
|
||||
- `max_volume`: 最大容积（**μL**，500mL = 500000）
|
||||
- `barcode`: 条形码（可选）
|
||||
|
||||
### BottleCarrier
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import ResourceHolder
|
||||
from pylabrobot.resources.carrier import create_ordered_items_2d
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
|
||||
def My_6SlotCarrier(name: str) -> BottleCarrier:
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3, num_items_y=2,
|
||||
dx=10.0, dy=10.0, dz=5.0,
|
||||
item_dx=42.0, item_dy=35.0,
|
||||
size_x=20.0, size_y=20.0, size_z=50.0,
|
||||
)
|
||||
# 子 site 用 name 作为前缀
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name, size_x=146.0, size_y=80.0, size_z=55.0,
|
||||
sites=sites, model="My_6SlotCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
|
||||
# 放置 Bottle 时用 name 作为前缀
|
||||
ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
|
||||
for i in range(6):
|
||||
carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
```
|
||||
|
||||
### WareHouse / Deck 放置位
|
||||
|
||||
WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
|
||||
|
||||
#### WareHouse（使用 warehouse_factory）
|
||||
|
||||
```python
|
||||
from unilabos.resources.warehouse import warehouse_factory
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
|
||||
def my_warehouse_4x4(name: str) -> "WareHouse":
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0, # 第一个 slot 的起始偏移
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0, # slot 间距
|
||||
resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0, # slot 尺寸
|
||||
model="my_warehouse_4x4",
|
||||
col_offset=0, # 列标签起始偏移（0 → A01, 4 → A05）
|
||||
layout="row-major", # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
|
||||
)
|
||||
```
|
||||
|
||||
`warehouse_factory` 参数说明：
|
||||
- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
|
||||
- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
|
||||
- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
|
||||
- `layout`：影响 slot 标签和坐标映射
|
||||
- `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
|
||||
- `"col-major"`：A01,B01,...,A02,B02,...（列优先）
|
||||
- `"vertical-col-major"`：竖向排列，y 坐标反向
|
||||
|
||||
#### Deck 组装 WareHouse
|
||||
|
||||
Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import Deck, Coordinate
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
|
||||
class MyStation_Deck(Deck):
|
||||
def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
|
||||
category="deck", setup=False, **kwargs) -> None:
|
||||
super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
self.warehouses = {
|
||||
"堆栈1左": my_warehouse_4x4("堆栈1左"),
|
||||
"堆栈1右": my_warehouse_4x4("堆栈1右"),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"堆栈1左": Coordinate(-200.0, 400.0, 0.0), # 自行测量计算
|
||||
"堆栈1右": Coordinate(2350.0, 400.0, 0.0),
|
||||
}
|
||||
for wh_name, wh in self.warehouses.items():
|
||||
self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
|
||||
```
|
||||
|
||||
#### Site 模式（前端定向放置）
|
||||
|
||||
适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
|
||||
|
||||
```python
|
||||
import collections
|
||||
from typing import Any, Dict, List, Optional
|
||||
from pylabrobot.resources import Deck, Resource, Coordinate
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
|
||||
class MyLabDeck(Deck):
|
||||
# 根据设备台面实测批量计算各 slot 坐标偏移
|
||||
_DEFAULT_SITE_POSITIONS = [
|
||||
(0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T1-T4
|
||||
(0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T5-T8
|
||||
]
|
||||
_DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
|
||||
_DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
if sites is not None:
|
||||
self.sites = [dict(s) for s in sites]
|
||||
else:
|
||||
self.sites = []
|
||||
for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
|
||||
self.sites.append({
|
||||
"label": f"T{i + 1}", # 前端显示的槽位标签
|
||||
"visible": True, # 是否在前端可见
|
||||
"position": {"x": x, "y": y, "z": z}, # 槽位物理坐标
|
||||
"size": dict(self._DEFAULT_SITE_SIZE), # 槽位尺寸
|
||||
"content_type": list(self._DEFAULT_CONTENT_TYPE), # 允许放入的物料类型
|
||||
})
|
||||
self._ordering = collections.OrderedDict(
|
||||
(site["label"], None) for site in self.sites
|
||||
)
|
||||
|
||||
def assign_child_resource(self, resource: Resource,
|
||||
location: Optional[Coordinate] = None,
|
||||
reassign: bool = True,
|
||||
spot: Optional[int] = None):
|
||||
idx = spot
|
||||
if spot is None:
|
||||
for i, site in enumerate(self.sites):
|
||||
if site.get("label") == resource.name:
|
||||
idx = i
|
||||
break
|
||||
if idx is None:
|
||||
for i in range(len(self.sites)):
|
||||
if self._get_site_resource(i) is None:
|
||||
idx = i
|
||||
break
|
||||
if idx is None:
|
||||
raise ValueError(f"No available site for '{resource.name}'")
|
||||
loc = Coordinate(**self.sites[idx]["position"])
|
||||
super().assign_child_resource(resource, location=loc, reassign=reassign)
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
sites_out = []
|
||||
for i, site in enumerate(self.sites):
|
||||
occupied = self._get_site_resource(i)
|
||||
sites_out.append({
|
||||
"label": site["label"],
|
||||
"visible": site.get("visible", True),
|
||||
"occupied_by": occupied.name if occupied else None,
|
||||
"position": site["position"],
|
||||
"size": site["size"],
|
||||
"content_type": site["content_type"],
|
||||
})
|
||||
data["sites"] = sites_out
|
||||
return data
|
||||
```
|
||||
|
||||
**Site 字段说明：**
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
|
||||
| `visible` | bool | 是否在前端可见 |
|
||||
| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
|
||||
| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
|
||||
| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
|
||||
|
||||
**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
|
||||
|
||||
---
|
||||
|
||||
## 文件位置
|
||||
|
||||
```
|
||||
unilabos/resources/
|
||||
├── <project>/ # 按项目分组
|
||||
│ ├── bottles.py # Bottle 工厂函数
|
||||
│ ├── bottle_carriers.py # Carrier 工厂函数
|
||||
│ ├── warehouses.py # WareHouse 工厂函数
|
||||
│ └── decks.py # Deck 类定义
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 资源可导入
|
||||
python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
|
||||
|
||||
# 启动测试（AST 自动扫描）
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
|
||||
|
||||
---
|
||||
|
||||
## 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
| 装饰器定义 | `unilabos/registry/decorators.py` |
|
||||
@@ -1,292 +0,0 @@
|
||||
# 资源高级参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 类继承体系
|
||||
|
||||
```
|
||||
PyLabRobot
|
||||
├── Resource (PLR 基类)
|
||||
│ ├── Well
|
||||
│ │ └── Bottle (unilabos) → 瓶/小瓶/烧杯/反应器
|
||||
│ ├── Deck
|
||||
│ │ └── 自定义 Deck 类 (unilabos) → 工作站台面
|
||||
│ ├── ResourceHolder → 槽位占位符
|
||||
│ └── Container
|
||||
│ └── Battery (unilabos) → 组装好的电池
|
||||
│
|
||||
├── ItemizedCarrier (unilabos, 继承 Resource)
|
||||
│ ├── BottleCarrier (unilabos) → 瓶载架
|
||||
│ └── WareHouse (unilabos) → 堆栈仓库
|
||||
│
|
||||
├── ItemizedResource (PLR)
|
||||
│ └── MagazineHolder (unilabos) → 子弹夹载架
|
||||
│
|
||||
└── ResourceStack (PLR)
|
||||
└── Magazine (unilabos) → 子弹夹洞位
|
||||
```
|
||||
|
||||
### Bottle 类细节
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def __init__(self, name, diameter, height, max_volume,
|
||||
size_x=0.0, size_y=0.0, size_z=0.0,
|
||||
barcode=None, category="container", model=None, **kwargs):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=diameter, # PLR 用 diameter 作为 size_x/size_y
|
||||
size_y=diameter,
|
||||
size_z=height, # PLR 用 height 作为 size_z
|
||||
max_volume=max_volume,
|
||||
category=category,
|
||||
model=model,
|
||||
bottom_type="flat",
|
||||
cross_section_type="circle"
|
||||
)
|
||||
```
|
||||
|
||||
注意 `size_x = size_y = diameter`，`size_z = height`。
|
||||
|
||||
### ItemizedCarrier 核心方法
|
||||
|
||||
| 方法 | 说明 |
|
||||
|------|------|
|
||||
| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
|
||||
| `__setitem__(identifier, resource)` | 向槽位放入资源 |
|
||||
| `get_child_identifier(child)` | 获取子资源的标识符 |
|
||||
| `capacity` | 总槽位数 |
|
||||
| `sites` | 所有槽位字典 |
|
||||
|
||||
---
|
||||
|
||||
## 2. 序列化与反序列化
|
||||
|
||||
### PLR ↔ UniLab 转换
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
|
||||
| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
|
||||
|
||||
### `from_plr_resources` 流程
|
||||
|
||||
```
|
||||
PLR Resource
|
||||
↓ build_uuid_mapping (递归生成 UUID)
|
||||
↓ resource.serialize() → dict
|
||||
↓ resource.serialize_all_state() → states
|
||||
↓ resource_plr_inner (递归构建 ResourceDictInstance)
|
||||
ResourceTreeSet
|
||||
```
|
||||
|
||||
关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
|
||||
|
||||
### `to_plr_resources` 流程
|
||||
|
||||
```
|
||||
ResourceTreeSet
|
||||
↓ collect_node_data (收集 UUID、状态、扩展数据)
|
||||
↓ node_to_plr_dict (转为 PLR 字典格式)
|
||||
↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
|
||||
↓ sub_cls.deserialize(plr_dict) (反序列化)
|
||||
↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
|
||||
PLR Resource
|
||||
```
|
||||
|
||||
### Bottle 序列化
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
return {**data, "diameter": self.diameter, "height": self.height}
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal=False):
|
||||
barcode_data = data.pop("barcode", None)
|
||||
instance = super().deserialize(data, allow_marshal=allow_marshal)
|
||||
if barcode_data and isinstance(barcode_data, str):
|
||||
instance.barcode = barcode_data
|
||||
return instance
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. Bioyond 物料同步
|
||||
|
||||
### 双向转换函数
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
|
||||
| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
|
||||
|
||||
### `resource_bioyond_to_plr` 流程
|
||||
|
||||
```
|
||||
Bioyond 物料列表
|
||||
↓ reverse_type_mapping: {typeName → (model, UUID)}
|
||||
↓ 对每个物料:
|
||||
typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
|
||||
initialize_resource({"name": unique_name, "class": model})
|
||||
↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
|
||||
↓ 处理 detail (子物料/坐标)
|
||||
↓ 按 locationName 放入 deck.warehouses 对应槽位
|
||||
PLR 资源列表
|
||||
```
|
||||
|
||||
### `resource_plr_to_bioyond` 流程
|
||||
|
||||
```
|
||||
PLR 资源列表
|
||||
↓ 遍历每个资源:
|
||||
载架(capacity > 1): 生成 details 子物料 + 坐标
|
||||
单瓶: 直接映射
|
||||
↓ type_mapping 查找 typeId
|
||||
↓ warehouse_mapping 查找位置 UUID
|
||||
↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
|
||||
Bioyond 物料列表
|
||||
```
|
||||
|
||||
### BioyondResourceSynchronizer
|
||||
|
||||
工作站通过 `ResourceSynchronizer` 自动同步物料：
|
||||
|
||||
```python
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
all_data = []
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 0}')) # 耗材
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 1}')) # 样品
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 2}')) # 试剂
|
||||
unilab_resources = resource_bioyond_to_plr(
|
||||
all_data,
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
deck=self.workstation.deck
|
||||
)
|
||||
# 更新 deck 上的资源
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 非瓶类资源
|
||||
|
||||
### ElectrodeSheet（极片）
|
||||
|
||||
路径：`unilabos/resources/battery/electrode_sheet.py`
|
||||
|
||||
```python
|
||||
class ElectrodeSheet(ResourcePLR):
|
||||
"""片状材料（极片、隔膜、弹片、垫片等）"""
|
||||
_unilabos_state = {
|
||||
"diameter": 0.0,
|
||||
"thickness": 0.0,
|
||||
"mass": 0.0,
|
||||
"material_type": "",
|
||||
"color": "",
|
||||
"info": "",
|
||||
}
|
||||
```
|
||||
|
||||
工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
|
||||
|
||||
### Battery（电池）
|
||||
|
||||
```python
|
||||
class Battery(Container):
|
||||
"""组装好的电池"""
|
||||
_unilabos_state = {
|
||||
"color": "",
|
||||
"electrolyte_name": "",
|
||||
"open_circuit_voltage": 0.0,
|
||||
}
|
||||
```
|
||||
|
||||
### Magazine / MagazineHolder（子弹夹）
|
||||
|
||||
```python
|
||||
class Magazine(ResourceStack):
|
||||
"""子弹夹洞位，可堆叠 ElectrodeSheet"""
|
||||
# direction, max_sheets
|
||||
|
||||
class MagazineHolder(ItemizedResource):
|
||||
"""多洞位子弹夹"""
|
||||
# hole_diameter, hole_depth, max_sheets_per_hole
|
||||
```
|
||||
|
||||
工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
|
||||
|
||||
---
|
||||
|
||||
## 5. 仓库工厂模式参考
|
||||
|
||||
### 实际 warehouse 工厂函数示例
|
||||
|
||||
```python
|
||||
# 行优先 4x4 仓库
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
layout="row-major", # A01,A02,A03,A04, B01,...
|
||||
)
|
||||
|
||||
# 右侧 4x4 仓库（列名偏移）
|
||||
def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
col_offset=4, # A05,A06,A07,A08
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
# 竖向仓库（站内试剂存放）
|
||||
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1, num_items_y=2, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
layout="vertical-col-major",
|
||||
)
|
||||
|
||||
# 行偏移（F 行开始）
|
||||
def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, num_items_y=5, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=159.0, item_dy=183.0, item_dz=130.0,
|
||||
row_offset=row_offset, # 0→A行起，5→F行起
|
||||
layout="row-major",
|
||||
)
|
||||
```
|
||||
|
||||
### layout 类型说明
|
||||
|
||||
| layout | 命名顺序 | 适用场景 |
|
||||
|--------|---------|---------|
|
||||
| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
|
||||
| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
|
||||
| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
|
||||
|
||||
---
|
||||
|
||||
## 6. 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
|
||||
| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
|
||||
| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
|
||||
| 电池资源 | `unilabos/resources/battery/` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
@@ -1,626 +0,0 @@
|
||||
---
|
||||
name: add-workstation
|
||||
description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Uses @device decorator + AST auto-scanning. Walks through workstation type, sub-device composition, driver creation, deck setup, and graph file. Use when the user wants to add a workstation, create a workstation driver, configure a station with sub-devices, or mentions 工作站/工站/station/workstation.
|
||||
---
|
||||
|
||||
# Uni-Lab-OS 工作站接入指南
|
||||
|
||||
工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统和工作流引擎。使用 `@device` 装饰器注册，AST 自动扫描生成注册表。
|
||||
|
||||
---
|
||||
|
||||
## 工作站类型
|
||||
|
||||
| 类型 | 基类 | 适用场景 |
|
||||
| ------------------- | ----------------- | ---------------------------------- |
|
||||
| **Protocol 工作站** | `ProtocolNode` | 标准化学操作协议（泵转移、过滤等） |
|
||||
| **外部系统工作站** | `WorkstationBase` | 与外部 LIMS/MES 对接 |
|
||||
| **硬件控制工作站** | `WorkstationBase` | 直接控制 PLC/硬件 |
|
||||
|
||||
---
|
||||
|
||||
## @device 装饰器（工作站）
|
||||
|
||||
工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
|
||||
|
||||
```python
|
||||
@device(
|
||||
id="my_workstation", # 注册表唯一标识（必填）
|
||||
category=["workstation"], # 分类标签
|
||||
description="我的工作站",
|
||||
)
|
||||
```
|
||||
|
||||
如果一个工作站类支持多个具体变体，可使用 `ids` / `id_meta`，与设备的用法相同（参见 add-device SKILL）。
|
||||
|
||||
---
|
||||
|
||||
## 工作站驱动模板
|
||||
|
||||
### 模板 A：基于外部系统的工作站
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
from pylabrobot.resources import Deck
|
||||
|
||||
from unilabos.registry.decorators import device, topic_config, not_action
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
|
||||
except ImportError:
|
||||
ROS2WorkstationNode = None
|
||||
|
||||
|
||||
@device(id="my_workstation", category=["workstation"], description="我的工作站")
|
||||
class MyWorkstation(WorkstationBase):
|
||||
_ros_node: "ROS2WorkstationNode"
|
||||
|
||||
def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger("MyWorkstation")
|
||||
self.api_host = self.config.get("api_host", "")
|
||||
self._status = "Idle"
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: "ROS2WorkstationNode"):
|
||||
super().post_init(ros_node)
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
|
||||
"""注册为工作站动作"""
|
||||
return {"success": True}
|
||||
|
||||
async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
|
||||
"""注册为工作站动作"""
|
||||
return {"success": True}
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def workflow_sequence(self) -> str:
|
||||
return "[]"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def material_info(self) -> str:
|
||||
return "{}"
|
||||
```
|
||||
|
||||
### 模板 B：Protocol 工作站
|
||||
|
||||
直接使用 `ProtocolNode`，通常不需要自定义驱动类：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ProtocolNode
|
||||
```
|
||||
|
||||
在图文件中配置 `protocol_type` 即可。
|
||||
|
||||
---
|
||||
|
||||
## 子设备访问（sub_devices）
|
||||
|
||||
工站初始化子设备后，所有子设备实例存储在 `self._ros_node.sub_devices` 字典中（key 为设备 id，value 为 `ROS2DeviceNode` 实例）。工站的驱动类可以直接获取子设备实例来调用其方法：
|
||||
|
||||
```python
|
||||
# 在工站驱动类的方法中访问子设备
|
||||
sub = self._ros_node.sub_devices["pump_1"]
|
||||
|
||||
# .driver_instance — 子设备的驱动实例（即设备 Python 类的实例）
|
||||
sub.driver_instance.some_method(arg1, arg2)
|
||||
|
||||
# .ros_node_instance — 子设备的 ROS2 节点实例
|
||||
sub.ros_node_instance._action_value_mappings # 查看子设备支持的 action
|
||||
```
|
||||
|
||||
**常见用法**：
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def my_protocol(self, **kwargs):
|
||||
# 获取子设备驱动实例
|
||||
pump = self._ros_node.sub_devices["pump_1"].driver_instance
|
||||
heater = self._ros_node.sub_devices["heater_1"].driver_instance
|
||||
|
||||
# 直接调用子设备方法
|
||||
pump.aspirate(volume=100)
|
||||
heater.set_temperature(80)
|
||||
```
|
||||
|
||||
> 参考实现：`unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py` 中通过 `self._ros_node.sub_devices.get(reactor_id)` 获取子反应器实例并更新数据。
|
||||
|
||||
---
|
||||
|
||||
## 硬件通信接口（hardware_interface）
|
||||
|
||||
硬件控制型工作站通常需要通过串口（Serial）、Modbus 等通信协议控制多个子设备。Uni-Lab-OS 通过 **通信设备代理** 机制实现端口共享：一个串口只创建一个 `serial` 节点，多个子设备共享这个通信实例。
|
||||
|
||||
### 工作原理
|
||||
|
||||
`ROS2WorkstationNode` 初始化时分两轮遍历子设备（`workstation.py`）：
|
||||
|
||||
**第一轮 — 初始化所有子设备**：按 `children` 顺序调用 `initialize_device()`，通信设备（`serial_` / `io_` 开头的 id）优先完成初始化，创建 `serial.Serial()` 实例。其他子设备此时 `self.hardware_interface = "serial_pump"`（字符串）。
|
||||
|
||||
**第二轮 — 代理替换**：遍历所有已初始化的子设备，读取子设备的 `_hardware_interface` 配置：
|
||||
|
||||
```
|
||||
hardware_interface = d.ros_node_instance._hardware_interface
|
||||
# → {"name": "hardware_interface", "read": "send_command", "write": "send_command"}
|
||||
```
|
||||
|
||||
1. 取 `name` 字段对应的属性值：`name_value = getattr(driver, hardware_interface["name"])`
|
||||
- 如果 `name_value` 是字符串且该字符串是某个子设备的 id → 触发代理替换
|
||||
2. 从通信设备获取真正的 `read`/`write` 方法
|
||||
3. 用 `setattr(driver, read_method, _read)` 将通信设备的方法绑定到子设备上
|
||||
|
||||
因此：
|
||||
|
||||
- **通信设备 id 必须与子设备 config 中填的字符串完全一致**（如 `"serial_pump"`）
|
||||
- **通信设备 id 必须以 `serial_` 或 `io_` 开头**（否则第一轮不会被识别为通信设备）
|
||||
- **通信设备必须在 `children` 列表中排在最前面**，确保先初始化
|
||||
|
||||
### HardwareInterface 参数说明
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import HardwareInterface
|
||||
|
||||
HardwareInterface(
|
||||
name="hardware_interface", # __init__ 中接收通信实例的属性名
|
||||
read="send_command", # 通信设备上暴露的读方法名
|
||||
write="send_command", # 通信设备上暴露的写方法名
|
||||
extra_info=["list_ports"], # 可选：额外暴露的方法
|
||||
)
|
||||
```
|
||||
|
||||
**`name` 字段的含义**：对应设备类 `__init__` 中，用于保存通信实例的**属性名**。系统据此知道要替换哪个属性。大部分设备直接用 `"hardware_interface"`，也可以自定义（如 `"io_device_port"`）。
|
||||
|
||||
### 示例 1：泵（name="hardware_interface"）
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, HardwareInterface
|
||||
|
||||
@device(
|
||||
id="my_pump",
|
||||
category=["pump_and_valve"],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="hardware_interface",
|
||||
read="send_command",
|
||||
write="send_command",
|
||||
),
|
||||
)
|
||||
class MyPump:
|
||||
def __init__(self, port=None, address="1", **kwargs):
|
||||
# name="hardware_interface" → 系统替换 self.hardware_interface
|
||||
self.hardware_interface = port # 初始为字符串 "serial_pump"，启动后被替换为 Serial 实例
|
||||
self.address = address
|
||||
|
||||
def send_command(self, command: str):
|
||||
full_command = f"/{self.address}{command}\r\n"
|
||||
self.hardware_interface.write(bytearray(full_command, "ascii"))
|
||||
return self.hardware_interface.read_until(b"\n")
|
||||
```
|
||||
|
||||
### 示例 2：电磁阀（name="io_device_port"，自定义属性名）
|
||||
|
||||
```python
|
||||
@device(
|
||||
id="solenoid_valve",
|
||||
category=["pump_and_valve"],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="io_device_port", # 自定义属性名 → 系统替换 self.io_device_port
|
||||
read="read_io_coil",
|
||||
write="write_io_coil",
|
||||
),
|
||||
)
|
||||
class SolenoidValve:
|
||||
def __init__(self, io_device_port: str = None, **kwargs):
|
||||
# name="io_device_port" → 图文件 config 中用 "io_device_port": "io_board_1"
|
||||
self.io_device_port = io_device_port # 初始为字符串，系统替换为 Modbus 实例
|
||||
```
|
||||
|
||||
### Serial 通信设备（class="serial"）
|
||||
|
||||
`serial` 是 Uni-Lab-OS 内置的通信代理设备，代码位于 `unilabos/ros/nodes/presets/serial_node.py`：
|
||||
|
||||
```python
|
||||
from serial import Serial, SerialException
|
||||
from threading import Lock
|
||||
|
||||
class ROS2SerialNode(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, **kwargs):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self._hardware_interface = {
|
||||
"name": "hardware_interface",
|
||||
"write": "send_command",
|
||||
"read": "read_data",
|
||||
}
|
||||
self._query_lock = Lock()
|
||||
|
||||
self.hardware_interface = Serial(baudrate=baudrate, port=port)
|
||||
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self, driver_instance=self, registry_name=registry_name,
|
||||
device_id=device_id, status_types={}, action_value_mappings={},
|
||||
hardware_interface=self._hardware_interface, print_publish=False,
|
||||
)
|
||||
self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
|
||||
|
||||
def send_command(self, command: str):
|
||||
with self._query_lock:
|
||||
self.hardware_interface.write(bytearray(f"{command}\n", "ascii"))
|
||||
return self.hardware_interface.read_until(b"\n").decode()
|
||||
|
||||
def read_data(self):
|
||||
with self._query_lock:
|
||||
return self.hardware_interface.read_until(b"\n").decode()
|
||||
```
|
||||
|
||||
在图文件中使用 `"class": "serial"` 即可创建串口代理：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"class": "serial",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "COM7", "baudrate": 9600 }
|
||||
}
|
||||
```
|
||||
|
||||
### 图文件配置
|
||||
|
||||
**通信设备必须在 `children` 列表中排在最前面**，确保先于其他子设备初始化：
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"class": "workstation",
|
||||
"children": ["serial_pump", "pump_1", "pump_2"],
|
||||
"config": { "protocol_type": ["PumpTransferProtocol"] }
|
||||
},
|
||||
{
|
||||
"id": "serial_pump",
|
||||
"class": "serial",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "COM7", "baudrate": 9600 }
|
||||
},
|
||||
{
|
||||
"id": "pump_1",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "serial_pump", "address": "1", "max_volume": 25.0 }
|
||||
},
|
||||
{
|
||||
"id": "pump_2",
|
||||
"class": "syringe_pump_with_valve.runze.SY03B-T08",
|
||||
"parent": "my_station",
|
||||
"config": { "port": "serial_pump", "address": "2", "max_volume": 25.0 }
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
{
|
||||
"source": "pump_1",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": { "pump_1": "port", "serial_pump": "port" }
|
||||
},
|
||||
{
|
||||
"source": "pump_2",
|
||||
"target": "serial_pump",
|
||||
"type": "communication",
|
||||
"port": { "pump_2": "port", "serial_pump": "port" }
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
### 通信协议速查
|
||||
|
||||
| 协议 | config 参数 | 依赖包 | 通信设备 class |
|
||||
| -------------------- | ------------------------------ | ---------- | -------------------------- |
|
||||
| Serial (RS232/RS485) | `port`, `baudrate` | `pyserial` | `serial` |
|
||||
| Modbus RTU | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| Modbus TCP | `host`, `port`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
|
||||
| TCP Socket | `host`, `port` | stdlib | 自定义 |
|
||||
| HTTP API | `url`, `token` | `requests` | `device_comms/rpc.py` |
|
||||
|
||||
参考实现：`unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json`
|
||||
|
||||
---
|
||||
|
||||
## Deck 与物料生命周期
|
||||
|
||||
### 1. Deck 入参与两种初始化模式
|
||||
|
||||
系统根据设备节点 `config.deck` 的写法，自动反序列化 Deck 实例后传入 `__init__` 的 `deck` 参数。目前 `deck` 是固定字段名，只支持一个主 Deck。建议一个设备拥有一个台面，台面上抽象二级、三级子物料。
|
||||
|
||||
有两种初始化模式：
|
||||
|
||||
#### init 初始化（推荐）
|
||||
|
||||
`config.deck` 直接包含 `_resource_type` + `_resource_child_name`，系统先用 Deck 节点的 `config` 调用 Deck 类的 `__init__` 反序列化，再将实例传入设备的 `deck` 参数。子物料随 Deck 的 `children` 一起反序列化。
|
||||
|
||||
```json
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
|
||||
"_resource_child_name": "PRCXI_Deck"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
#### deserialize 初始化
|
||||
|
||||
`config.deck` 用 `data` 包裹一层，系统走 `deserialize` 路径，可传入更多参数（如 `allow_marshal` 等）：
|
||||
|
||||
```json
|
||||
"config": {
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "YB_Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
没有特殊需求时推荐 init 初始化。
|
||||
|
||||
#### config.deck 字段说明
|
||||
|
||||
| 字段 | 说明 |
|
||||
|------|------|
|
||||
| `_resource_type` | Deck 类的完整模块路径（`module:ClassName`） |
|
||||
| `_resource_child_name` | 对应图文件中 Deck 节点的 `id`，建立父子关联 |
|
||||
|
||||
#### 设备 __init__ 接收
|
||||
|
||||
```python
|
||||
def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
# deck 已经是反序列化后的 Deck 实例
|
||||
# → PRCXI9300Deck / BIOYOND_YB_Deck 等
|
||||
```
|
||||
|
||||
#### Deck 节点（图文件中）
|
||||
|
||||
Deck 节点作为设备的 `children` 之一，`parent` 指向设备 id：
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "PRCXI_Deck",
|
||||
"parent": "PRCXI",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"children": [],
|
||||
"config": {
|
||||
"type": "PRCXI9300Deck",
|
||||
"size_x": 542, "size_y": 374, "size_z": 0,
|
||||
"category": "deck",
|
||||
"sites": [...]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
```
|
||||
|
||||
- `config` 中的字段会传入 Deck 类的 `__init__`（因此 `__init__` 必须能接受所有 `serialize()` 输出的字段）
|
||||
- `children` 初始为空时，由同步器或手动初始化填充
|
||||
- `config.type` 填 Deck 类名
|
||||
|
||||
### 2. Deck 为空时自行初始化
|
||||
|
||||
如果 Deck 节点的 `children` 为空，工作站需在 `post_init` 或首次同步时自行初始化内容：
|
||||
|
||||
```python
|
||||
@not_action
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
if self.deck and not self.deck.children:
|
||||
self._initialize_default_deck()
|
||||
|
||||
def _initialize_default_deck(self):
|
||||
from my_labware import My_TipRack, My_Plate
|
||||
self.deck.assign_child_resource(My_TipRack("T1"), spot=0)
|
||||
self.deck.assign_child_resource(My_Plate("T2"), spot=1)
|
||||
```
|
||||
|
||||
### 3. 物料双向同步
|
||||
|
||||
当工作站对接外部系统（LIMS/MES）时，需要实现 `ResourceSynchronizer` 处理双向物料同步：
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统同步到 self.workstation.deck"""
|
||||
external_data = self._query_external_materials()
|
||||
# 以外部工站为准：根据外部数据反向创建 PLR 资源实例
|
||||
for item in external_data:
|
||||
cls = self._resolve_resource_class(item["type"])
|
||||
resource = cls(name=item["name"], **item["params"])
|
||||
self.workstation.deck.assign_child_resource(resource, spot=item["slot"])
|
||||
return True
|
||||
|
||||
def sync_to_external(self, resource) -> bool:
|
||||
"""将 UniLab 侧物料变更同步到外部系统"""
|
||||
# 以 UniLab 为准：将 PLR 资源转为外部格式并推送
|
||||
external_format = self._convert_to_external(resource)
|
||||
return self._push_to_external(external_format)
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统主动推送的变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
同步策略取决于业务场景：
|
||||
|
||||
- **以外部工站为准**：从外部 API 查询物料数据，反向创建对应的 PLR 资源实例放到 Deck 上
|
||||
- **以 UniLab 为准**：UniLab 侧的物料变更通过 `sync_to_external` 推送到外部系统
|
||||
|
||||
在工作站 `post_init` 中初始化同步器：
|
||||
|
||||
```python
|
||||
@not_action
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self)
|
||||
self.resource_synchronizer.sync_from_external()
|
||||
```
|
||||
|
||||
### 4. 序列化与持久化（serialize / serialize_state）
|
||||
|
||||
资源类需正确实现序列化，系统据此完成持久化和前端同步。
|
||||
|
||||
**`serialize()`** — 输出资源的结构信息（`config` 层），反序列化时作为 `__init__` 的入参回传。因此 **`__init__` 必须通过 `**kwargs`接受`serialize()` 输出的所有字段\*\*，即使当前不使用：
|
||||
|
||||
```python
|
||||
class MyDeck(Deck):
|
||||
def __init__(self, name, size_x, size_y, size_z,
|
||||
sites=None, # serialize() 输出的字段
|
||||
rotation=None, # serialize() 输出的字段
|
||||
barcode=None, # serialize() 输出的字段
|
||||
**kwargs): # 兜底：接受所有未知的 serialize 字段
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
# ...
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
data["sites"] = [...] # 自定义字段
|
||||
return data
|
||||
```
|
||||
|
||||
**`serialize_state()`** — 输出资源的运行时状态（`data` 层），用于持久化可变信息。`data` 中的内容会被正确保存和恢复：
|
||||
|
||||
```python
|
||||
class MyPlate(Plate):
|
||||
def __init__(self, name, size_x, size_y, size_z,
|
||||
material_info=None, **kwargs):
|
||||
super().__init__(name, size_x, size_y, size_z, **kwargs)
|
||||
self._unilabos_state = {}
|
||||
if material_info:
|
||||
self._unilabos_state["Material"] = material_info
|
||||
|
||||
def serialize_state(self) -> Dict[str, Any]:
|
||||
data = super().serialize_state()
|
||||
data.update(self._unilabos_state)
|
||||
return data
|
||||
```
|
||||
|
||||
关键要点：
|
||||
|
||||
- `serialize()` 输出的所有字段都会作为 `config` 回传到 `__init__`，所以 `__init__` 必须能接受它们（显式声明或 `**kwargs`）
|
||||
- `serialize_state()` 输出的 `data` 用于持久化运行时状态（如物料信息、液体量等）
|
||||
- `_unilabos_state` 中只存可 JSON 序列化的基本类型（str, int, float, bool, list, dict, None）
|
||||
|
||||
### 5. 子物料自动同步
|
||||
|
||||
子物料（Bottle、Plate、TipRack 等）放到 Deck 上后，系统会自动将其同步到前端的 Deck 视图。只需保证资源类正确实现了 `serialize()` / `serialize_state()` 和反序列化即可。
|
||||
|
||||
### 6. 图文件配置（参考 prcxi_9320_slim.json）
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_station",
|
||||
"type": "device",
|
||||
"class": "my_workstation",
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_type": "unilabos.resources.my_module:MyDeck",
|
||||
"_resource_child_name": "my_deck"
|
||||
},
|
||||
"host": "10.20.30.1",
|
||||
"port": 9999
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "my_deck",
|
||||
"parent": "my_station",
|
||||
"type": "deck",
|
||||
"class": "",
|
||||
"children": [],
|
||||
"config": {
|
||||
"type": "MyLabDeck",
|
||||
"size_x": 542,
|
||||
"size_y": 374,
|
||||
"size_z": 0,
|
||||
"category": "deck",
|
||||
"sites": [
|
||||
{
|
||||
"label": "T1",
|
||||
"visible": true,
|
||||
"occupied_by": null,
|
||||
"position": { "x": 0, "y": 0, "z": 0 },
|
||||
"size": { "width": 128.0, "height": 86, "depth": 0 },
|
||||
"content_type": ["plate", "tip_rack", "tube_rack", "adaptor"]
|
||||
}
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
],
|
||||
"edges": []
|
||||
}
|
||||
```
|
||||
|
||||
Deck 节点要点：
|
||||
|
||||
- `config.type` 填 Deck 类名（如 `"PRCXI9300Deck"`）
|
||||
- `config.sites` 完整列出所有 site（从 Deck 类的 `serialize()` 输出获取）
|
||||
- `children` 初始为空（由同步器或手动初始化填充）
|
||||
- 设备节点 `config.deck._resource_type` 指向 Deck 类的完整模块路径
|
||||
|
||||
---
|
||||
|
||||
## 子设备
|
||||
|
||||
子设备按标准设备接入流程创建（参见 add-device SKILL），使用 `@device` 装饰器。
|
||||
|
||||
子设备约束：
|
||||
|
||||
- 图文件中 `parent` 指向工作站 ID
|
||||
- 在工作站 `children` 数组中列出
|
||||
|
||||
---
|
||||
|
||||
## 关键规则
|
||||
|
||||
1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.**init**`需要`deck` 参数
|
||||
2. **Deck 通过 `config.deck._resource_type` 反序列化传入** — 不要在 `__init__` 中手动创建 Deck
|
||||
3. **Deck 为空时自行初始化内容** — 在 `post_init` 中检查并填充默认物料
|
||||
4. **外部同步实现 `ResourceSynchronizer`** — `sync_from_external` / `sync_to_external`
|
||||
5. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
|
||||
6. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
|
||||
7. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
|
||||
8. **使用 `@not_action` 标记非动作方法** — `post_init`, `initialize`, `cleanup`
|
||||
9. **子物料保证正确 serialize/deserialize** — 系统自动同步到前端 Deck 视图
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 模块可导入
|
||||
python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
|
||||
|
||||
# 启动测试（AST 自动扫描）
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 现有工作站参考
|
||||
|
||||
| 工作站 | 驱动类 | 类型 |
|
||||
| -------------- | ----------------------------- | -------- |
|
||||
| Protocol 通用 | `ProtocolNode` | Protocol |
|
||||
| Bioyond 反应站 | `BioyondReactionStation` | 外部系统 |
|
||||
| 纽扣电池组装 | `CoinCellAssemblyWorkstation` | 硬件控制 |
|
||||
|
||||
参考路径：`unilabos/devices/workstation/` 目录下各工作站实现。
|
||||
@@ -1,371 +0,0 @@
|
||||
# 工作站高级模式参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
|
||||
Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 外部系统集成模式
|
||||
|
||||
### 1.1 RPC 客户端
|
||||
|
||||
与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.rpc import BaseRequest
|
||||
|
||||
|
||||
class MySystemRPC(BaseRequest):
|
||||
"""外部系统 RPC 客户端"""
|
||||
|
||||
def __init__(self, host: str, api_key: str):
|
||||
super().__init__(host)
|
||||
self.api_key = api_key
|
||||
|
||||
def _request(self, endpoint: str, data: dict = None) -> dict:
|
||||
return self.post(
|
||||
url=f"{self.host}/api/{endpoint}",
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
"data": data or {},
|
||||
},
|
||||
)
|
||||
|
||||
def query_status(self) -> dict:
|
||||
return self._request("status/query")
|
||||
|
||||
def create_order(self, order_data: dict) -> dict:
|
||||
return self._request("order/create", order_data)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
|
||||
|
||||
### 1.2 HTTP 回调服务
|
||||
|
||||
接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
|
||||
|
||||
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, config=None, deck=None, **kwargs):
|
||||
super().__init__(deck=deck, **kwargs)
|
||||
self.config = config or {}
|
||||
http_cfg = self.config.get("http_service_config", {})
|
||||
self._http_service_config = {
|
||||
"host": http_cfg.get("http_service_host", "127.0.0.1"),
|
||||
"port": http_cfg.get("http_service_port", 8080),
|
||||
}
|
||||
self.http_service = None
|
||||
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
```
|
||||
|
||||
**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
|
||||
|
||||
| 端点 | 调用的工作站方法 |
|
||||
|------|-----------------|
|
||||
| `/report/step_finish` | `process_step_finish_report(report_request)` |
|
||||
| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
|
||||
| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
|
||||
| `/report/material_change` | `process_material_change_report(report_data)` |
|
||||
| `/report/error_handling` | `handle_external_error(error_data)` |
|
||||
|
||||
实现对应方法即可接收回调：
|
||||
|
||||
```python
|
||||
def process_step_finish_report(self, report_request) -> Dict[str, Any]:
|
||||
"""处理步骤完成报告"""
|
||||
step_name = report_request.data.get("stepName")
|
||||
return {"success": True, "message": f"步骤 {step_name} 已处理"}
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
|
||||
"""处理订单完成报告"""
|
||||
order_code = report_request.data.get("orderCode")
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/workstation_http_service.py`
|
||||
|
||||
### 1.3 连接监控
|
||||
|
||||
独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
|
||||
|
||||
```python
|
||||
class ConnectionMonitor:
|
||||
def __init__(self, workstation, check_interval=30):
|
||||
self.workstation = workstation
|
||||
self.check_interval = check_interval
|
||||
self._running = False
|
||||
self._thread = None
|
||||
|
||||
def start(self):
|
||||
self._running = True
|
||||
self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
|
||||
self._thread.start()
|
||||
|
||||
def _monitor_loop(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 调用外部系统接口检测连接
|
||||
self.workstation.hardware_interface.ping()
|
||||
status = "online"
|
||||
except Exception:
|
||||
status = "offline"
|
||||
time.sleep(self.check_interval)
|
||||
```
|
||||
|
||||
参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
|
||||
|
||||
---
|
||||
|
||||
## 2. Config 结构模式
|
||||
|
||||
工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
|
||||
|
||||
### 2.1 外部系统连接
|
||||
|
||||
```json
|
||||
{
|
||||
"api_host": "http://192.168.1.100:8080",
|
||||
"api_key": "YOUR_API_KEY"
|
||||
}
|
||||
```
|
||||
|
||||
### 2.2 HTTP 回调服务
|
||||
|
||||
```json
|
||||
{
|
||||
"http_service_config": {
|
||||
"http_service_host": "127.0.0.1",
|
||||
"http_service_port": 8080
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.3 物料类型映射
|
||||
|
||||
将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
|
||||
|
||||
```json
|
||||
{
|
||||
"material_type_mappings": {
|
||||
"PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
|
||||
"BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.4 仓库映射
|
||||
|
||||
将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
|
||||
|
||||
```json
|
||||
{
|
||||
"warehouse_mapping": {
|
||||
"仓库名": {
|
||||
"uuid": "warehouse-uuid",
|
||||
"site_uuids": {
|
||||
"A01": "site-uuid-A01",
|
||||
"A02": "site-uuid-A02"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.5 工作流映射
|
||||
|
||||
将内部工作流名映射到外部系统的工作流 ID。
|
||||
|
||||
```json
|
||||
{
|
||||
"workflow_mappings": {
|
||||
"internal_workflow_name": "external-workflow-uuid"
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 2.6 物料默认参数
|
||||
|
||||
```json
|
||||
{
|
||||
"material_default_parameters": {
|
||||
"NMP": {
|
||||
"unit": "毫升",
|
||||
"density": "1.03",
|
||||
"densityUnit": "g/mL",
|
||||
"description": "N-甲基吡咯烷酮"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. 资源同步机制
|
||||
|
||||
### 3.1 ResourceSynchronizer
|
||||
|
||||
抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
|
||||
|
||||
|
||||
class MyResourceSynchronizer(ResourceSynchronizer):
|
||||
def __init__(self, workstation, api_client):
|
||||
super().__init__(workstation)
|
||||
self.api_client = api_client
|
||||
|
||||
def sync_from_external(self) -> bool:
|
||||
"""从外部系统拉取物料到 deck"""
|
||||
external_materials = self.api_client.list_materials()
|
||||
for material in external_materials:
|
||||
plr_resource = self._convert_to_plr(material)
|
||||
self.workstation.deck.assign_child_resource(plr_resource, coordinate)
|
||||
return True
|
||||
|
||||
def sync_to_external(self, plr_resource) -> bool:
|
||||
"""将 deck 中的物料变更推送到外部系统"""
|
||||
external_data = self._convert_from_plr(plr_resource)
|
||||
self.api_client.update_material(external_data)
|
||||
return True
|
||||
|
||||
def handle_external_change(self, change_info) -> bool:
|
||||
"""处理外部系统推送的物料变更"""
|
||||
return True
|
||||
```
|
||||
|
||||
### 3.2 update_resource — 上传资源树到云端
|
||||
|
||||
将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
|
||||
|
||||
```python
|
||||
# 在 post_init 中上传初始 deck
|
||||
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
|
||||
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 在动作方法中更新特定资源
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [updated_plate]}
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 工作流序列管理
|
||||
|
||||
工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
|
||||
|
||||
```python
|
||||
class MyWorkstation(WorkstationBase):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
self._workflow_sequence = []
|
||||
|
||||
@property
|
||||
def workflow_sequence(self) -> str:
|
||||
"""返回 JSON 字符串，ROS 自动发布"""
|
||||
import json
|
||||
return json.dumps(self._workflow_sequence)
|
||||
|
||||
async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
|
||||
"""添加工作流到队列"""
|
||||
self._workflow_sequence.append({
|
||||
"name": workflow_name,
|
||||
"status": "pending",
|
||||
"created_at": time.time(),
|
||||
})
|
||||
return {"success": True}
|
||||
|
||||
async def clear_workflows(self) -> Dict[str, Any]:
|
||||
"""清空工作流队列"""
|
||||
self._workflow_sequence = []
|
||||
return {"success": True}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 5. 站间物料转移
|
||||
|
||||
工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
|
||||
|
||||
```python
|
||||
async def transfer_materials_to_another_station(
|
||||
self,
|
||||
target_device_id: str,
|
||||
transfer_groups: list,
|
||||
**kwargs,
|
||||
) -> Dict[str, Any]:
|
||||
"""将物料转移到另一个工作站"""
|
||||
target_node = self._children.get(target_device_id)
|
||||
if not target_node:
|
||||
# 通过 ROS 节点查找非子设备的目标站
|
||||
pass
|
||||
|
||||
for group in transfer_groups:
|
||||
resource = self.find_resource_by_name(group["resource_name"])
|
||||
# 从本站 deck 移除
|
||||
resource.unassign()
|
||||
# 调用目标站的接收方法
|
||||
# ...
|
||||
|
||||
return {"success": True, "transferred": len(transfer_groups)}
|
||||
```
|
||||
|
||||
参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
|
||||
|
||||
---
|
||||
|
||||
## 6. post_init 完整模式
|
||||
|
||||
`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
|
||||
|
||||
```python
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
|
||||
# 1. 初始化外部系统客户端（此时 config 已可用）
|
||||
self.rpc_client = MySystemRPC(
|
||||
host=self.config.get("api_host"),
|
||||
api_key=self.config.get("api_key"),
|
||||
)
|
||||
self.hardware_interface = self.rpc_client
|
||||
|
||||
# 2. 启动连接监控
|
||||
self.connection_monitor = ConnectionMonitor(self)
|
||||
self.connection_monitor.start()
|
||||
|
||||
# 3. 启动 HTTP 回调服务
|
||||
if hasattr(self, '_http_service_config'):
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_instance=self,
|
||||
host=self._http_service_config["host"],
|
||||
port=self._http_service_config["port"],
|
||||
)
|
||||
self.http_service.start()
|
||||
|
||||
# 4. 上传 deck 到云端
|
||||
ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.update_resource, True,
|
||||
**{"resources": [self.deck]}
|
||||
)
|
||||
|
||||
# 5. 初始化资源同步器（可选）
|
||||
self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
|
||||
```
|
||||
@@ -1,233 +0,0 @@
|
||||
---
|
||||
name: batch-insert-reagent
|
||||
description: Batch insert reagents into Uni-Lab platform — add chemicals with CAS, SMILES, supplier info. Use when the user wants to add reagents, insert chemicals, batch register reagents, or mentions 录入试剂/添加试剂/试剂入库/reagent.
|
||||
---
|
||||
|
||||
# 批量录入试剂 Skill
|
||||
|
||||
通过云端 API 批量录入试剂信息，支持逐条或批量操作。
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token（任选一种方式）：
|
||||
|
||||
```bash
|
||||
# 方式一：Python 一行生成
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
|
||||
# 方式二：手动计算
|
||||
# base64(ak:sk) → Authorization: Lab <token>
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
|-------------|------|
|
||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
|
||||
```
|
||||
|
||||
**两项全部就绪后才可发起 API 请求。**
|
||||
|
||||
## Session State
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 录入试剂
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/reagent" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"cas": "<CAS号>",
|
||||
"name": "<试剂名称>",
|
||||
"molecular_formula": "<分子式>",
|
||||
"smiles": "<SMILES>",
|
||||
"stock_in_quantity": <入库数量>,
|
||||
"unit": "<单位字符串>",
|
||||
"supplier": "<供应商>",
|
||||
"production_date": "<生产日期 ISO 8601>",
|
||||
"expiry_date": "<过期日期 ISO 8601>"
|
||||
}'
|
||||
```
|
||||
|
||||
返回成功时包含试剂 UUID：
|
||||
```json
|
||||
{"code": 0, "data": {"uuid": "xxx", ...}}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 试剂字段说明
|
||||
|
||||
| 字段 | 类型 | 必填 | 说明 | 示例 |
|
||||
|------|------|------|------|------|
|
||||
| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
|
||||
| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
|
||||
| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
|
||||
| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
|
||||
| `smiles` | string | 是 | SMILES 表示 | `"O"` |
|
||||
| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
|
||||
| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
|
||||
| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
|
||||
| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
|
||||
| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
|
||||
|
||||
### unit 单位值
|
||||
|
||||
| 值 | 单位 |
|
||||
|------|------|
|
||||
| `"mL"` | 毫升 |
|
||||
| `"L"` | 升 |
|
||||
| `"g"` | 克 |
|
||||
| `"kg"` | 千克 |
|
||||
| `"瓶"` | 瓶 |
|
||||
|
||||
> 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
|
||||
|
||||
---
|
||||
|
||||
## 批量录入策略
|
||||
|
||||
### 方式一：用户提供 JSON 数组
|
||||
|
||||
用户一次性给出多条试剂数据：
|
||||
|
||||
```json
|
||||
[
|
||||
{"cas": "7732-18-3", "name": "水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 10, "unit": "mL"},
|
||||
{"cas": "64-17-5", "name": "乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 5, "unit": "L"}
|
||||
]
|
||||
```
|
||||
|
||||
Agent 自动为每条补充 `lab_uuid`、`production_date`、`expiry_date` 等字段后逐条提交。
|
||||
|
||||
Agent 循环调用 API #2 逐条录入，每条记录一次 API 调用。
|
||||
|
||||
### 方式二：用户逐个描述
|
||||
|
||||
用户口头描述试剂（如「帮我录入 500mL 的无水乙醇，Sigma 的」），agent 自行补全字段：
|
||||
|
||||
1. 根据名称查找 CAS 号、分子式、SMILES（参考下方速查表或自行推断）
|
||||
2. 构建完整的请求体
|
||||
3. 向用户确认后提交
|
||||
|
||||
### 方式三：从 CSV/表格批量导入
|
||||
|
||||
用户提供 CSV 或表格文件路径，agent 读取并解析：
|
||||
|
||||
```bash
|
||||
# 期望的 CSV 格式（首行为表头）
|
||||
cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_date,expiry_date
|
||||
7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
|
||||
```
|
||||
|
||||
### 执行与汇报
|
||||
|
||||
每次 API 调用后：
|
||||
1. 检查返回 `code`（0 = 成功）
|
||||
2. 记录成功/失败数量
|
||||
3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
|
||||
4. 如有失败，列出失败的试剂名称和错误信息
|
||||
|
||||
---
|
||||
|
||||
## 常见试剂速查表
|
||||
|
||||
| 名称 | CAS | 分子式 | SMILES |
|
||||
|------|-----|--------|--------|
|
||||
| 水 | 7732-18-3 | H2O | O |
|
||||
| 乙醇 | 64-17-5 | C2H6O | CCO |
|
||||
| 甲醇 | 67-56-1 | CH4O | CO |
|
||||
| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
|
||||
| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
|
||||
| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
|
||||
| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
|
||||
| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
|
||||
| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
|
||||
| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
|
||||
| 乙腈 | 75-05-8 | C2H3N | CC#N |
|
||||
| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
|
||||
| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
|
||||
| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
|
||||
| 盐酸 | 7647-01-0 | HCl | Cl |
|
||||
| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
|
||||
| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
|
||||
| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
|
||||
| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
|
||||
| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
|
||||
|
||||
> 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] 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
|
||||
- [ ] Step 4: 收集试剂信息（用户提供列表/逐个描述/CSV文件）
|
||||
- [ ] Step 5: 补全缺失字段（CAS、分子式、SMILES 等）
|
||||
- [ ] Step 6: 向用户确认待录入的试剂列表
|
||||
- [ ] Step 7: 循环调用 POST /lab/reagent 逐条录入（每条需含 lab_uuid）
|
||||
- [ ] Step 8: 汇总结果（成功/失败数量及详情）
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 完整示例
|
||||
|
||||
用户说：「帮我录入 3 种试剂：500mL 无水乙醇、1kg 氯化钠、2L 去离子水」
|
||||
|
||||
Agent 构建的请求序列：
|
||||
|
||||
```json
|
||||
// 第 1 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "64-17-5", "name": "无水乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 500, "unit": "mL", "supplier": "国药集团", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
|
||||
// 第 2 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "7647-14-5", "name": "氯化钠", "molecular_formula": "NaCl", "smiles": "[Na]Cl", "stock_in_quantity": 1, "unit": "kg", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
|
||||
// 第 3 条
|
||||
{"lab_uuid": "8511c672-...", "cas": "7732-18-3", "name": "去离子水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 2, "unit": "L", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
|
||||
```
|
||||
@@ -1,301 +0,0 @@
|
||||
---
|
||||
name: batch-submit-experiment
|
||||
description: Batch submit experiments (notebooks) to Uni-Lab platform — list workflows, generate node_params from registry schemas, submit multiple rounds. Use when the user wants to submit experiments, create notebooks, batch run workflows, or mentions 提交实验/批量实验/notebook/实验轮次.
|
||||
---
|
||||
|
||||
# 批量提交实验指南
|
||||
|
||||
通过云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
|
||||
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（任选一种方式）：
|
||||
|
||||
```bash
|
||||
# 方式一：Python 一行生成
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
|
||||
# 方式二：手动计算
|
||||
# base64(ak:sk) → Authorization: Lab <token>
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
|-------------|------|
|
||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://uni-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. req_device_registry_upload.json（设备注册表）
|
||||
|
||||
**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
|
||||
|
||||
按优先级搜索：
|
||||
|
||||
```
|
||||
<workspace 根目录>/unilabos_data/req_device_registry_upload.json
|
||||
<workspace 根目录>/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
也可直接 Glob 搜索：`**/req_device_registry_upload.json`
|
||||
|
||||
找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
|
||||
|
||||
**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
|
||||
|
||||
### 4. workflow_uuid（目标工作流）
|
||||
|
||||
用户需要提供要提交的 workflow UUID。如果用户不确定，通过 API #2 列出可用 workflow 供选择。
|
||||
|
||||
**四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，避免重复询问用户：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
|
||||
- `workflow_uuid` — 工作流 UUID（用户提供或从列表选择）
|
||||
- `workflow_nodes` — workflow 中各 action 节点的 uuid、设备 ID、动作名（从 API #3 获取）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
|
||||
>
|
||||
> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则会被解析为 splatting 运算符）。
|
||||
|
||||
---
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### 1. 获取实验室信息（自动获取 lab_uuid）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 列出可用 workflow
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/workflows?page=1&page_size=20&lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 workflow 列表，展示给用户选择。列出每个 workflow 的 `uuid` 和 `name`。
|
||||
|
||||
### 3. 获取 workflow 模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
|
||||
- 每个 action 节点的 `node_uuid`
|
||||
- 每个节点对应的设备 ID（`resource_template_name`）
|
||||
- 每个节点的动作名（`node_template_name`）
|
||||
- 每个节点的现有参数（`param`）
|
||||
|
||||
> **注意**：此 API 返回格式可能因版本不同而有差异。首次调用时，先打印完整响应分析结构，再提取节点信息。常见的节点字段路径为 `data.nodes[]` 或 `data.workflow_nodes[]`。
|
||||
|
||||
### 4. 提交实验（创建 notebook）
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/notebook" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"workflow_uuid": "<workflow_uuid>",
|
||||
"name": "<实验名称>",
|
||||
"node_params": [
|
||||
{
|
||||
"sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
|
||||
"datas": [
|
||||
{
|
||||
"node_uuid": "<workflow中的节点UUID>",
|
||||
"param": {},
|
||||
"sample_params": [
|
||||
{
|
||||
"container_uuid": "<容器UUID>",
|
||||
"sample_value": {
|
||||
"liquid_names": "<液体名称>",
|
||||
"volumes": 1000
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：`sample_uuids` 必须是 **UUID 数组**（`[]uuid.UUID`），不是字符串。无样品时传空数组 `[]`。
|
||||
|
||||
---
|
||||
|
||||
## Notebook 请求体详解
|
||||
|
||||
### node_params 结构
|
||||
|
||||
`node_params` 是一个数组，**每个元素代表一轮实验**：
|
||||
|
||||
- 要跑 2 轮 → `node_params` 有 2 个元素
|
||||
- 要跑 N 轮 → `node_params` 有 N 个元素
|
||||
|
||||
### 每轮的字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `sample_uuids` | array\<uuid\> | 该轮实验的样品 UUID 数组，无样品时传 `[]` |
|
||||
| `datas` | array | 该轮中每个 workflow 节点的参数配置 |
|
||||
|
||||
### datas 中每个节点
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #3 获取） |
|
||||
| `param` | object | 动作参数（根据本地注册表 schema 填写） |
|
||||
| `sample_params` | array | 样品相关参数（液体名、体积等） |
|
||||
|
||||
### sample_params 中每条
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `container_uuid` | string | 容器 UUID |
|
||||
| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
|
||||
|
||||
---
|
||||
|
||||
## 从本地注册表生成 param 模板
|
||||
|
||||
### 自动方式 — 运行脚本
|
||||
|
||||
```bash
|
||||
python scripts/gen_notebook_params.py \
|
||||
--auth <token> \
|
||||
--base <BASE_URL> \
|
||||
--workflow-uuid <workflow_uuid> \
|
||||
[--registry <path/to/req_device_registry_upload.json>] \
|
||||
[--rounds <轮次数>] \
|
||||
[--output <输出文件路径>]
|
||||
```
|
||||
|
||||
> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
|
||||
|
||||
脚本会：
|
||||
1. 调用 workflow detail API 获取所有 action 节点
|
||||
2. 读取本地注册表，为每个节点查找对应的 action schema
|
||||
3. 生成 `notebook_template.json`，包含：
|
||||
- 完整 `node_params` 骨架
|
||||
- 每个节点的 param 字段及类型说明
|
||||
- `_schema_info` 辅助信息（不提交，仅供参考）
|
||||
|
||||
### 手动方式
|
||||
|
||||
如果脚本不可用或注册表不存在：
|
||||
|
||||
1. 调用 API #3 获取 workflow 详情
|
||||
2. 找到每个 action 节点的 `node_uuid`
|
||||
3. 在本地注册表中查找对应设备的 `action_value_mappings`：
|
||||
```
|
||||
resources[].id == <device_id>
|
||||
→ resources[].class.action_value_mappings.<action_name>.schema.properties.goal.properties
|
||||
```
|
||||
4. 将 schema 中的 properties 作为 `param` 的字段模板
|
||||
5. 按轮次复制 `node_params` 元素，让用户填写每轮的具体值
|
||||
|
||||
### 注册表结构参考
|
||||
|
||||
```json
|
||||
{
|
||||
"resources": [
|
||||
{
|
||||
"id": "liquid_handler.prcxi",
|
||||
"class": {
|
||||
"module": "unilabos.devices.xxx:ClassName",
|
||||
"action_value_mappings": {
|
||||
"transfer_liquid": {
|
||||
"type": "LiquidHandlerTransfer",
|
||||
"schema": {
|
||||
"properties": {
|
||||
"goal": {
|
||||
"properties": {
|
||||
"asp_vols": {"type": "array", "items": {"type": "number"}},
|
||||
"sources": {"type": "array"}
|
||||
},
|
||||
"required": ["asp_vols", "sources"]
|
||||
}
|
||||
}
|
||||
},
|
||||
"goal_default": {}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
`param` 填写时，使用 `goal.properties` 中的字段名和类型。
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] 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
|
||||
- [ ] Step 4: 确认 workflow_uuid（用户提供或从 GET #2 列表选择）
|
||||
- [ ] Step 5: GET workflow detail (#3) → 提取各节点 uuid、设备ID、动作名
|
||||
- [ ] Step 6: 定位本地注册表 req_device_registry_upload.json
|
||||
- [ ] Step 7: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
|
||||
- [ ] Step 8: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
|
||||
- [ ] Step 9: 构建完整请求体 → POST /lab/notebook 提交
|
||||
- [ ] Step 10: 检查返回结果，确认提交成功
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: workflow 中有多个节点，每轮都要填所有节点的参数吗？
|
||||
|
||||
是的。`datas` 数组中需要包含该轮实验涉及的每个 workflow 节点的参数。通常每个 action 节点都需要一条 `datas` 记录。
|
||||
|
||||
### Q: 多轮实验的参数完全不同吗？
|
||||
|
||||
通常每轮的 `param`（设备动作参数）可能相同或相似，但 `sample_uuids` 和 `sample_params`（样品信息）每轮不同。脚本生成模板时会按轮次复制骨架，用户只需修改差异部分。
|
||||
|
||||
### Q: 如何获取 sample_uuids 和 container_uuid？
|
||||
|
||||
这些 UUID 通常来自实验室的样品管理系统。向用户询问，或从资源树（API `GET /lab/material/download/$lab_uuid`）中查找。
|
||||
@@ -1,394 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 workflow 模板详情 + 本地设备注册表生成 notebook 提交用的 node_params 模板。
|
||||
|
||||
用法:
|
||||
python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]
|
||||
|
||||
选项:
|
||||
--auth <token> Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
|
||||
--base <url> API 基础 URL（如 https://uni-lab.test.bohrium.com）
|
||||
--workflow-uuid <uuid> 目标 workflow 的 UUID
|
||||
--registry <path> 本地注册表文件路径（默认自动搜索）
|
||||
--rounds <n> 实验轮次数（默认 1）
|
||||
--output <path> 输出模板文件路径（默认 notebook_template.json）
|
||||
--dump-response 打印 workflow detail API 的原始响应（调试用）
|
||||
|
||||
示例:
|
||||
python gen_notebook_params.py \\
|
||||
--auth YTFmZDlkNGUtxxxx \\
|
||||
--base https://uni-lab.test.bohrium.com \\
|
||||
--workflow-uuid abc-123-def \\
|
||||
--rounds 2
|
||||
"""
|
||||
import copy
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from datetime import datetime
|
||||
from urllib.request import Request, urlopen
|
||||
from urllib.error import HTTPError, URLError
|
||||
|
||||
REGISTRY_FILENAME = "req_device_registry_upload.json"
|
||||
|
||||
|
||||
def find_registry(explicit_path=None):
|
||||
"""查找本地注册表文件，逻辑同 extract_device_actions.py"""
|
||||
if explicit_path:
|
||||
if os.path.isfile(explicit_path):
|
||||
return explicit_path
|
||||
if os.path.isdir(explicit_path):
|
||||
fp = os.path.join(explicit_path, REGISTRY_FILENAME)
|
||||
if os.path.isfile(fp):
|
||||
return fp
|
||||
print(f"警告: 指定的注册表路径不存在: {explicit_path}")
|
||||
return None
|
||||
|
||||
candidates = [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
]
|
||||
for c in candidates:
|
||||
if os.path.isfile(c):
|
||||
return c
|
||||
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
|
||||
for c in candidates:
|
||||
path = os.path.join(workspace_root, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
cwd = os.getcwd()
|
||||
for _ in range(5):
|
||||
parent = os.path.dirname(cwd)
|
||||
if parent == cwd:
|
||||
break
|
||||
cwd = parent
|
||||
for c in candidates:
|
||||
path = os.path.join(cwd, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
return None
|
||||
|
||||
|
||||
def load_registry(path):
|
||||
with open(path, "r", encoding="utf-8") as f:
|
||||
return json.load(f)
|
||||
|
||||
|
||||
def build_registry_index(registry_data):
|
||||
"""构建 device_id → action_value_mappings 的索引"""
|
||||
index = {}
|
||||
for res in registry_data.get("resources", []):
|
||||
rid = res.get("id", "")
|
||||
avm = res.get("class", {}).get("action_value_mappings", {})
|
||||
if rid and avm:
|
||||
index[rid] = avm
|
||||
return index
|
||||
|
||||
|
||||
def flatten_goal_schema(action_data):
|
||||
"""从 action_value_mappings 条目中提取 goal 层的 schema"""
|
||||
schema = action_data.get("schema", {})
|
||||
goal_schema = schema.get("properties", {}).get("goal", {})
|
||||
return goal_schema if goal_schema else schema
|
||||
|
||||
|
||||
def build_param_template(goal_schema):
|
||||
"""根据 goal schema 生成 param 模板，含类型标注"""
|
||||
properties = goal_schema.get("properties", {})
|
||||
required = set(goal_schema.get("required", []))
|
||||
template = {}
|
||||
for field_name, field_def in properties.items():
|
||||
if field_name == "unilabos_device_id":
|
||||
continue
|
||||
ftype = field_def.get("type", "any")
|
||||
default = field_def.get("default")
|
||||
if default is not None:
|
||||
template[field_name] = default
|
||||
elif ftype == "string":
|
||||
template[field_name] = f"$TODO ({ftype}, {'required' if field_name in required else 'optional'})"
|
||||
elif ftype == "number" or ftype == "integer":
|
||||
template[field_name] = 0
|
||||
elif ftype == "boolean":
|
||||
template[field_name] = False
|
||||
elif ftype == "array":
|
||||
template[field_name] = []
|
||||
elif ftype == "object":
|
||||
template[field_name] = {}
|
||||
else:
|
||||
template[field_name] = f"$TODO ({ftype})"
|
||||
return template
|
||||
|
||||
|
||||
def fetch_workflow_detail(base_url, auth_token, workflow_uuid):
|
||||
"""调用 workflow detail API"""
|
||||
url = f"{base_url}/api/v1/lab/workflow/template/detail/{workflow_uuid}"
|
||||
req = Request(url, method="GET")
|
||||
req.add_header("Authorization", f"Lab {auth_token}")
|
||||
try:
|
||||
with urlopen(req, timeout=30) as resp:
|
||||
return json.loads(resp.read().decode("utf-8"))
|
||||
except HTTPError as e:
|
||||
body = e.read().decode("utf-8", errors="replace")
|
||||
print(f"API 错误 {e.code}: {body}")
|
||||
return None
|
||||
except URLError as e:
|
||||
print(f"网络错误: {e.reason}")
|
||||
return None
|
||||
|
||||
|
||||
def extract_nodes_from_response(response):
|
||||
"""
|
||||
从 workflow detail 响应中提取 action 节点列表。
|
||||
适配多种可能的响应格式。
|
||||
|
||||
返回: [(node_uuid, resource_template_name, node_template_name, existing_param), ...]
|
||||
"""
|
||||
data = response.get("data", response)
|
||||
|
||||
search_keys = ["nodes", "workflow_nodes", "node_list", "steps"]
|
||||
nodes_raw = None
|
||||
for key in search_keys:
|
||||
if key in data and isinstance(data[key], list):
|
||||
nodes_raw = data[key]
|
||||
break
|
||||
|
||||
if nodes_raw is None:
|
||||
if isinstance(data, list):
|
||||
nodes_raw = data
|
||||
else:
|
||||
for v in data.values():
|
||||
if isinstance(v, list) and len(v) > 0 and isinstance(v[0], dict):
|
||||
nodes_raw = v
|
||||
break
|
||||
|
||||
if not nodes_raw:
|
||||
print("警告: 未能从响应中提取节点列表")
|
||||
print("响应顶层 keys:", list(data.keys()) if isinstance(data, dict) else type(data).__name__)
|
||||
return []
|
||||
|
||||
result = []
|
||||
for node in nodes_raw:
|
||||
if not isinstance(node, dict):
|
||||
continue
|
||||
|
||||
node_uuid = (
|
||||
node.get("uuid")
|
||||
or node.get("node_uuid")
|
||||
or node.get("id")
|
||||
or ""
|
||||
)
|
||||
resource_name = (
|
||||
node.get("resource_template_name")
|
||||
or node.get("device_id")
|
||||
or node.get("resource_name")
|
||||
or node.get("device_name")
|
||||
or ""
|
||||
)
|
||||
template_name = (
|
||||
node.get("node_template_name")
|
||||
or node.get("action_name")
|
||||
or node.get("template_name")
|
||||
or node.get("action")
|
||||
or node.get("name")
|
||||
or ""
|
||||
)
|
||||
existing_param = node.get("param", {}) or {}
|
||||
|
||||
if node_uuid:
|
||||
result.append((node_uuid, resource_name, template_name, existing_param))
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def generate_template(nodes, registry_index, rounds):
|
||||
"""生成 notebook 提交模板"""
|
||||
node_params = []
|
||||
schema_info = {}
|
||||
|
||||
datas_template = []
|
||||
for node_uuid, resource_name, template_name, existing_param in nodes:
|
||||
param_template = {}
|
||||
matched = False
|
||||
|
||||
if resource_name and template_name and resource_name in registry_index:
|
||||
avm = registry_index[resource_name]
|
||||
if template_name in avm:
|
||||
goal_schema = flatten_goal_schema(avm[template_name])
|
||||
param_template = build_param_template(goal_schema)
|
||||
goal_default = avm[template_name].get("goal_default", {})
|
||||
if goal_default:
|
||||
for k, v in goal_default.items():
|
||||
if k in param_template and v is not None:
|
||||
param_template[k] = v
|
||||
matched = True
|
||||
|
||||
schema_info[node_uuid] = {
|
||||
"device_id": resource_name,
|
||||
"action_name": template_name,
|
||||
"action_type": avm[template_name].get("type", ""),
|
||||
"schema_properties": list(goal_schema.get("properties", {}).keys()),
|
||||
"required": goal_schema.get("required", []),
|
||||
}
|
||||
|
||||
if not matched and existing_param:
|
||||
param_template = existing_param
|
||||
|
||||
if not matched and not existing_param:
|
||||
schema_info[node_uuid] = {
|
||||
"device_id": resource_name,
|
||||
"action_name": template_name,
|
||||
"warning": "未在本地注册表中找到匹配的 action schema",
|
||||
}
|
||||
|
||||
datas_template.append({
|
||||
"node_uuid": node_uuid,
|
||||
"param": param_template,
|
||||
"sample_params": [
|
||||
{
|
||||
"container_uuid": "$TODO_CONTAINER_UUID",
|
||||
"sample_value": {
|
||||
"liquid_names": "$TODO_LIQUID_NAME",
|
||||
"volumes": 0,
|
||||
},
|
||||
}
|
||||
],
|
||||
})
|
||||
|
||||
for i in range(rounds):
|
||||
node_params.append({
|
||||
"sample_uuids": f"$TODO_SAMPLE_UUID_ROUND_{i + 1}",
|
||||
"datas": copy.deepcopy(datas_template),
|
||||
})
|
||||
|
||||
return {
|
||||
"lab_uuid": "$TODO_LAB_UUID",
|
||||
"workflow_uuid": "$TODO_WORKFLOW_UUID",
|
||||
"name": "$TODO_EXPERIMENT_NAME",
|
||||
"node_params": node_params,
|
||||
"_schema_info（仅参考，提交时删除）": schema_info,
|
||||
}
|
||||
|
||||
|
||||
def parse_args(argv):
|
||||
"""简单的参数解析"""
|
||||
opts = {
|
||||
"auth": None,
|
||||
"base": None,
|
||||
"workflow_uuid": None,
|
||||
"registry": None,
|
||||
"rounds": 1,
|
||||
"output": "notebook_template.json",
|
||||
"dump_response": False,
|
||||
}
|
||||
i = 0
|
||||
while i < len(argv):
|
||||
arg = argv[i]
|
||||
if arg == "--auth" and i + 1 < len(argv):
|
||||
opts["auth"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--base" and i + 1 < len(argv):
|
||||
opts["base"] = argv[i + 1].rstrip("/")
|
||||
i += 2
|
||||
elif arg == "--workflow-uuid" and i + 1 < len(argv):
|
||||
opts["workflow_uuid"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--registry" and i + 1 < len(argv):
|
||||
opts["registry"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--rounds" and i + 1 < len(argv):
|
||||
opts["rounds"] = int(argv[i + 1])
|
||||
i += 2
|
||||
elif arg == "--output" and i + 1 < len(argv):
|
||||
opts["output"] = argv[i + 1]
|
||||
i += 2
|
||||
elif arg == "--dump-response":
|
||||
opts["dump_response"] = True
|
||||
i += 1
|
||||
else:
|
||||
print(f"未知参数: {arg}")
|
||||
i += 1
|
||||
return opts
|
||||
|
||||
|
||||
def main():
|
||||
opts = parse_args(sys.argv[1:])
|
||||
|
||||
if not opts["auth"] or not opts["base"] or not opts["workflow_uuid"]:
|
||||
print("用法:")
|
||||
print(" python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]")
|
||||
print()
|
||||
print("必需参数:")
|
||||
print(" --auth <token> Lab token（base64(ak:sk)）")
|
||||
print(" --base <url> API 基础 URL")
|
||||
print(" --workflow-uuid <uuid> 目标 workflow UUID")
|
||||
print()
|
||||
print("可选参数:")
|
||||
print(" --registry <path> 注册表文件路径（默认自动搜索）")
|
||||
print(" --rounds <n> 实验轮次数（默认 1）")
|
||||
print(" --output <path> 输出文件路径（默认 notebook_template.json）")
|
||||
print(" --dump-response 打印 API 原始响应")
|
||||
sys.exit(1)
|
||||
|
||||
# 1. 查找并加载本地注册表
|
||||
registry_path = find_registry(opts["registry"])
|
||||
registry_index = {}
|
||||
if registry_path:
|
||||
mtime = os.path.getmtime(registry_path)
|
||||
gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
|
||||
print(f"注册表: {registry_path} (生成时间: {gen_time})")
|
||||
registry_data = load_registry(registry_path)
|
||||
registry_index = build_registry_index(registry_data)
|
||||
print(f"已索引 {len(registry_index)} 个设备的 action schemas")
|
||||
else:
|
||||
print("警告: 未找到本地注册表，将跳过 param 模板生成")
|
||||
print(" 提交时需要手动填写各节点的 param 字段")
|
||||
|
||||
# 2. 获取 workflow 详情
|
||||
print(f"\n正在获取 workflow 详情: {opts['workflow_uuid']}")
|
||||
response = fetch_workflow_detail(opts["base"], opts["auth"], opts["workflow_uuid"])
|
||||
if not response:
|
||||
print("错误: 无法获取 workflow 详情")
|
||||
sys.exit(1)
|
||||
|
||||
if opts["dump_response"]:
|
||||
print("\n=== API 原始响应 ===")
|
||||
print(json.dumps(response, indent=2, ensure_ascii=False)[:5000])
|
||||
print("=== 响应结束（截断至 5000 字符） ===\n")
|
||||
|
||||
# 3. 提取节点
|
||||
nodes = extract_nodes_from_response(response)
|
||||
if not nodes:
|
||||
print("错误: 未能从 workflow 中提取任何 action 节点")
|
||||
print("请使用 --dump-response 查看原始响应结构")
|
||||
sys.exit(1)
|
||||
|
||||
print(f"\n找到 {len(nodes)} 个 action 节点:")
|
||||
print(f" {'节点 UUID':<40} {'设备 ID':<30} {'动作名':<25} {'Schema'}")
|
||||
print(" " + "-" * 110)
|
||||
for node_uuid, resource_name, template_name, _ in nodes:
|
||||
matched = "✓" if (resource_name in registry_index and
|
||||
template_name in registry_index.get(resource_name, {})) else "✗"
|
||||
print(f" {node_uuid:<40} {resource_name:<30} {template_name:<25} {matched}")
|
||||
|
||||
# 4. 生成模板
|
||||
template = generate_template(nodes, registry_index, opts["rounds"])
|
||||
template["workflow_uuid"] = opts["workflow_uuid"]
|
||||
|
||||
output_path = opts["output"]
|
||||
with open(output_path, "w", encoding="utf-8") as f:
|
||||
json.dump(template, f, indent=2, ensure_ascii=False)
|
||||
print(f"\n模板已写入: {output_path}")
|
||||
print(f" 轮次数: {opts['rounds']}")
|
||||
print(f" 节点数/轮: {len(nodes)}")
|
||||
print()
|
||||
print("下一步:")
|
||||
print(" 1. 打开模板文件，将 $TODO 占位符替换为实际值")
|
||||
print(" 2. 删除 _schema_info 字段（仅供参考）")
|
||||
print(" 3. 使用 POST /api/v1/lab/notebook 提交")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,328 +0,0 @@
|
||||
---
|
||||
name: create-device-skill
|
||||
description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
|
||||
---
|
||||
|
||||
# 创建设备 Skill 指南
|
||||
|
||||
本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
|
||||
|
||||
## 数据源
|
||||
|
||||
- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
|
||||
- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
|
||||
- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
|
||||
- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
|
||||
|
||||
## 创建流程
|
||||
|
||||
### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
|
||||
|
||||
开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
|
||||
|
||||
向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
|
||||
|
||||
#### 必备项 ①：ak / sk（认证凭据）
|
||||
|
||||
来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
|
||||
|
||||
获取后立即生成 AUTH token：
|
||||
|
||||
```bash
|
||||
python ./scripts/gen_auth.py <ak> <sk>
|
||||
# 或从 config.py 提取
|
||||
python ./scripts/gen_auth.py --config <config.py>
|
||||
```
|
||||
|
||||
认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
#### 必备项 ②：--addr（目标环境）
|
||||
|
||||
决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
|
||||
|
||||
| `--addr` 值 | BASE URL |
|
||||
|-------------|----------|
|
||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
||||
| 其他自定义 URL | 直接使用该 URL |
|
||||
|
||||
#### 必备项 ③：req_device_registry_upload.json（设备注册表）
|
||||
|
||||
数据文件由 `unilab` 启动时自动生成，需要定位它：
|
||||
|
||||
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
||||
|
||||
| 条件 | working_dir 取值 |
|
||||
|------|------------------|
|
||||
| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
|
||||
| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
|
||||
| 都没传 | `<当前工作目录>/unilabos_data/` |
|
||||
|
||||
**按优先级搜索文件**：
|
||||
|
||||
```
|
||||
<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
|
||||
<推断的 working_dir>/req_device_registry_upload.json
|
||||
<workspace 根目录>/unilabos_data/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
|
||||
|
||||
找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
|
||||
|
||||
**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
|
||||
|
||||
#### 必备项 ④：目标设备
|
||||
|
||||
用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
|
||||
|
||||
如果用户不确定，运行提取脚本列出所有设备供选择：
|
||||
|
||||
```bash
|
||||
python ./scripts/extract_device_actions.py --registry <找到的文件路径>
|
||||
```
|
||||
|
||||
#### 完整示例
|
||||
|
||||
用户提供：
|
||||
|
||||
```
|
||||
--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
|
||||
--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
|
||||
--addr test
|
||||
--port 8003
|
||||
--disable_browser
|
||||
```
|
||||
|
||||
从中提取：
|
||||
- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
|
||||
- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
|
||||
- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
|
||||
- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
|
||||
|
||||
**四项全部就绪后才进入 Step 1。**
|
||||
|
||||
### Step 1 — 列出可用设备
|
||||
|
||||
运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
|
||||
|
||||
```bash
|
||||
# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
|
||||
python ./scripts/extract_device_actions.py
|
||||
|
||||
# 指定注册表文件路径
|
||||
python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
|
||||
```
|
||||
|
||||
脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
|
||||
|
||||
### Step 2 — 提取 Action Schema
|
||||
|
||||
用户选择设备后，运行提取脚本：
|
||||
|
||||
```bash
|
||||
python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
|
||||
```
|
||||
|
||||
脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
|
||||
|
||||
每个 action 生成一个 JSON 文件，包含：
|
||||
- `type` — 作为 API 调用的 `action_type`
|
||||
- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
|
||||
- `goal` — goal 字段映射（含占位符 `$placeholder`）
|
||||
- `goal_default` — 默认值
|
||||
|
||||
### Step 3 — 写 action-index.md
|
||||
|
||||
按模板为每个 action 写条目：
|
||||
|
||||
```markdown
|
||||
### `<action_name>`
|
||||
|
||||
<用途描述（一句话）>
|
||||
|
||||
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
|
||||
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
|
||||
- **可选参数**: `param3`, `param4`
|
||||
- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
|
||||
```
|
||||
|
||||
描述规则：
|
||||
- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
|
||||
- 从 `schema.required` 区分核心/可选参数
|
||||
- 按功能分类（移液、枪头、外设等）
|
||||
- 标注 `placeholder_keys` 中的字段类型：
|
||||
- `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
|
||||
- `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
|
||||
- `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
|
||||
- `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
|
||||
- array 类型字段 → `[{id, name, uuid}, ...]`
|
||||
- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
|
||||
|
||||
### Step 4 — 写 SKILL.md
|
||||
|
||||
直接复用 `unilab-device-api` 的 API 模板（10 个 endpoint），修改：
|
||||
- 设备名称
|
||||
- Action 数量
|
||||
- 目录列表
|
||||
- Session state 中的 `device_name`
|
||||
- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
|
||||
- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
|
||||
- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
|
||||
|
||||
API 模板结构：
|
||||
|
||||
```markdown
|
||||
## 设备信息
|
||||
- device_id, Python 源码路径, 设备类名
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
- ak/sk → AUTH, --addr → BASE URL
|
||||
|
||||
## Session State
|
||||
- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
|
||||
|
||||
## API Endpoints (10 个)
|
||||
# 注意：
|
||||
# - #1 获取 lab 列表 + 自动匹配 lab_uuid（遍历 is_admin 的 lab，
|
||||
# 调用 /lab/info/{uuid} 比对 access_key == ak）
|
||||
# - #2 创建工作流用 POST /lab/workflow
|
||||
# - #10 获取资源树路径含 lab_uuid: /lab/material/download/{lab_uuid}
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
|
||||
- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
|
||||
- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
|
||||
- unilabos_class → ClassSlot → "class_name" 字符串
|
||||
- 特例：create_resource 的 res_id 允许填不存在的路径
|
||||
- 列出本设备所有 Slot 字段、类型及含义
|
||||
|
||||
## 渐进加载策略
|
||||
## 完整工作流 Checklist
|
||||
```
|
||||
|
||||
### Step 5 — 验证
|
||||
|
||||
检查文件完整性：
|
||||
- [ ] `SKILL.md` 包含 10 个 API endpoint
|
||||
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot + create_resource 特例）和本设备的 Slot 字段表
|
||||
- [ ] `action-index.md` 列出所有 action 并有描述
|
||||
- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
|
||||
- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
|
||||
- [ ] 描述能让 agent 判断该用哪个 action
|
||||
|
||||
## Action JSON 文件结构
|
||||
|
||||
```json
|
||||
{
|
||||
"type": "LiquidHandlerTransfer", // → API 的 action_type
|
||||
"goal": { // goal 字段映射
|
||||
"sources": "sources",
|
||||
"targets": "targets",
|
||||
"tip_racks": "tip_racks",
|
||||
"asp_vols": "asp_vols"
|
||||
},
|
||||
"schema": { // ← 直接是 goal 的 schema（已提升）
|
||||
"type": "object",
|
||||
"properties": { // 参数定义（即请求中 goal 的字段）
|
||||
"sources": { "type": "array", "items": { "type": "object" } },
|
||||
"targets": { "type": "array", "items": { "type": "object" } },
|
||||
"asp_vols": { "type": "array", "items": { "type": "number" } }
|
||||
},
|
||||
"required": [...],
|
||||
"_unilabos_placeholder_info": { // ← Slot 类型标记
|
||||
"sources": "unilabos_resources",
|
||||
"targets": "unilabos_resources",
|
||||
"tip_racks": "unilabos_resources"
|
||||
}
|
||||
},
|
||||
"goal_default": { ... }, // 默认值
|
||||
"placeholder_keys": { // ← 汇总所有 Slot 字段
|
||||
"sources": "unilabos_resources", // ResourceSlot
|
||||
"targets": "unilabos_resources",
|
||||
"tip_racks": "unilabos_resources",
|
||||
"target_device_id": "unilabos_devices" // DeviceSlot
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
|
||||
> `schema.properties` 中的字段即为 API 请求 `param.goal` 中的字段。
|
||||
|
||||
## Placeholder Slot 类型体系
|
||||
|
||||
`placeholder_keys` / `_unilabos_placeholder_info` 中有 4 种值，对应不同的填写方式：
|
||||
|
||||
| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
|---------------|-----------|---------|---------|
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
|
||||
|
||||
### ResourceSlot（`unilabos_resources`）
|
||||
|
||||
最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
|
||||
|
||||
```json
|
||||
{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
|
||||
```
|
||||
|
||||
- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
|
||||
- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
|
||||
- `id` 本身是从 parent 计算的路径格式
|
||||
- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
|
||||
|
||||
> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
|
||||
|
||||
### DeviceSlot（`unilabos_devices`）
|
||||
|
||||
填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
|
||||
|
||||
```
|
||||
"/host_node"
|
||||
"/bioyond_cell/reaction_station"
|
||||
```
|
||||
|
||||
- 只填路径字符串，不需要 `{id, uuid}` 对象
|
||||
- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
|
||||
|
||||
### NodeSlot（`unilabos_nodes`）
|
||||
|
||||
范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
|
||||
|
||||
```
|
||||
"/PRCXI/PRCXI_Deck"
|
||||
```
|
||||
|
||||
- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
|
||||
|
||||
### ClassSlot（`unilabos_class`）
|
||||
|
||||
填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
|
||||
|
||||
```
|
||||
"container"
|
||||
```
|
||||
|
||||
### 通过 API #10 获取资源树
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
|
||||
|
||||
## 最终目录结构
|
||||
|
||||
```
|
||||
./<skill-name>/
|
||||
├── SKILL.md # API 端点 + 渐进加载指引
|
||||
├── action-index.md # 动作索引：描述/用途/核心参数
|
||||
└── actions/ # 每个 action 的完整 JSON Schema
|
||||
├── action1.json
|
||||
├── action2.json
|
||||
└── ...
|
||||
```
|
||||
@@ -1,200 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 req_device_registry_upload.json 中提取指定设备的 action schema。
|
||||
|
||||
用法:
|
||||
# 列出所有设备及 action 数量（自动搜索注册表文件）
|
||||
python extract_device_actions.py
|
||||
|
||||
# 指定注册表文件路径
|
||||
python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
|
||||
|
||||
# 提取指定设备的 action 到目录
|
||||
python extract_device_actions.py <device_id> <output_dir>
|
||||
python extract_device_actions.py --registry <path> <device_id> <output_dir>
|
||||
|
||||
示例:
|
||||
python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
|
||||
python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
|
||||
"""
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from datetime import datetime
|
||||
|
||||
REGISTRY_FILENAME = "req_device_registry_upload.json"
|
||||
|
||||
def find_registry(explicit_path=None):
|
||||
"""
|
||||
查找 req_device_registry_upload.json 文件。
|
||||
|
||||
搜索优先级：
|
||||
1. 用户通过 --registry 显式指定的路径
|
||||
2. <cwd>/unilabos_data/req_device_registry_upload.json
|
||||
3. <cwd>/req_device_registry_upload.json
|
||||
4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
|
||||
5. 向上逐级搜索父目录（最多 5 层）
|
||||
"""
|
||||
if explicit_path:
|
||||
if os.path.isfile(explicit_path):
|
||||
return explicit_path
|
||||
if os.path.isdir(explicit_path):
|
||||
fp = os.path.join(explicit_path, REGISTRY_FILENAME)
|
||||
if os.path.isfile(fp):
|
||||
return fp
|
||||
print(f"警告: 指定的路径不存在: {explicit_path}")
|
||||
return None
|
||||
|
||||
candidates = [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
]
|
||||
|
||||
for c in candidates:
|
||||
if os.path.isfile(c):
|
||||
return c
|
||||
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
|
||||
for c in candidates:
|
||||
path = os.path.join(workspace_root, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
cwd = os.getcwd()
|
||||
for _ in range(5):
|
||||
parent = os.path.dirname(cwd)
|
||||
if parent == cwd:
|
||||
break
|
||||
cwd = parent
|
||||
for c in candidates:
|
||||
path = os.path.join(cwd, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
return None
|
||||
|
||||
def load_registry(path):
|
||||
with open(path, 'r', encoding='utf-8') as f:
|
||||
return json.load(f)
|
||||
|
||||
def list_devices(data):
|
||||
"""列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
|
||||
resources = data.get('resources', [])
|
||||
devices = []
|
||||
for res in resources:
|
||||
rid = res.get('id', '')
|
||||
cls = res.get('class', {})
|
||||
avm = cls.get('action_value_mappings', {})
|
||||
module = cls.get('module', '')
|
||||
if avm:
|
||||
devices.append((rid, len(avm), module))
|
||||
return devices
|
||||
|
||||
def flatten_schema_to_goal(action_data):
|
||||
"""将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
|
||||
schema = action_data.get('schema', {})
|
||||
goal_schema = schema.get('properties', {}).get('goal', {})
|
||||
if goal_schema:
|
||||
action_data = dict(action_data)
|
||||
action_data['schema'] = goal_schema
|
||||
return action_data
|
||||
|
||||
|
||||
def extract_actions(data, device_id, output_dir):
|
||||
"""提取指定设备的 action schema 到独立 JSON 文件"""
|
||||
resources = data.get('resources', [])
|
||||
for res in resources:
|
||||
if res.get('id') == device_id:
|
||||
cls = res.get('class', {})
|
||||
module = cls.get('module', '')
|
||||
avm = cls.get('action_value_mappings', {})
|
||||
if not avm:
|
||||
print(f"设备 {device_id} 没有 action_value_mappings")
|
||||
return []
|
||||
|
||||
if module:
|
||||
py_path = module.split(":")[0].replace(".", "/") + ".py"
|
||||
class_name = module.split(":")[-1] if ":" in module else ""
|
||||
print(f"Python 源码: {py_path}")
|
||||
if class_name:
|
||||
print(f"设备类: {class_name}")
|
||||
|
||||
os.makedirs(output_dir, exist_ok=True)
|
||||
written = []
|
||||
for action_name in sorted(avm.keys()):
|
||||
action_data = flatten_schema_to_goal(avm[action_name])
|
||||
filename = action_name.replace('-', '_') + '.json'
|
||||
filepath = os.path.join(output_dir, filename)
|
||||
with open(filepath, 'w', encoding='utf-8') as f:
|
||||
json.dump(action_data, f, indent=2, ensure_ascii=False)
|
||||
written.append(filename)
|
||||
print(f" {filepath}")
|
||||
return written
|
||||
|
||||
print(f"设备 {device_id} 未找到")
|
||||
return []
|
||||
|
||||
def main():
|
||||
args = sys.argv[1:]
|
||||
explicit_registry = None
|
||||
|
||||
if "--registry" in args:
|
||||
idx = args.index("--registry")
|
||||
if idx + 1 < len(args):
|
||||
explicit_registry = args[idx + 1]
|
||||
args = args[:idx] + args[idx + 2:]
|
||||
else:
|
||||
print("错误: --registry 需要指定路径")
|
||||
sys.exit(1)
|
||||
|
||||
registry_path = find_registry(explicit_registry)
|
||||
if not registry_path:
|
||||
print(f"错误: 找不到 {REGISTRY_FILENAME}")
|
||||
print()
|
||||
print("解决方法:")
|
||||
print(" 1. 先运行 unilab 启动命令，等待注册表生成")
|
||||
print(" 2. 用 --registry 指定文件路径:")
|
||||
print(f" python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
|
||||
print()
|
||||
print("搜索过的路径:")
|
||||
for p in [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
|
||||
]:
|
||||
print(f" - {p}")
|
||||
sys.exit(1)
|
||||
|
||||
print(f"注册表: {registry_path}")
|
||||
mtime = os.path.getmtime(registry_path)
|
||||
gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
|
||||
size_mb = os.path.getsize(registry_path) / (1024 * 1024)
|
||||
print(f"生成时间: {gen_time} (文件大小: {size_mb:.1f} MB)")
|
||||
data = load_registry(registry_path)
|
||||
|
||||
if len(args) == 0:
|
||||
devices = list_devices(data)
|
||||
print(f"\n找到 {len(devices)} 个设备:")
|
||||
print(f"{'设备 ID':<50} {'Actions':>7} {'Python 模块'}")
|
||||
print("-" * 120)
|
||||
for did, count, module in sorted(devices, key=lambda x: x[0]):
|
||||
py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
|
||||
print(f"{did:<50} {count:>7} {py_path}")
|
||||
|
||||
elif len(args) == 2:
|
||||
device_id = args[0]
|
||||
output_dir = args[1]
|
||||
print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
|
||||
written = extract_actions(data, device_id, output_dir)
|
||||
if written:
|
||||
print(f"\n共写入 {len(written)} 个 action 文件")
|
||||
|
||||
else:
|
||||
print("用法:")
|
||||
print(" python extract_device_actions.py [--registry <path>] # 列出设备")
|
||||
print(" python extract_device_actions.py [--registry <path>] <device_id> <dir> # 提取 actions")
|
||||
sys.exit(1)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -1,69 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 ak/sk 生成 UniLab API Authorization header。
|
||||
|
||||
算法: base64(ak:sk) → "Authorization: Lab <token>"
|
||||
|
||||
用法:
|
||||
python gen_auth.py <ak> <sk>
|
||||
python gen_auth.py --config <config.py>
|
||||
|
||||
示例:
|
||||
python gen_auth.py myak mysk
|
||||
python gen_auth.py --config experiments/config.py
|
||||
"""
|
||||
import base64
|
||||
import re
|
||||
import sys
|
||||
|
||||
|
||||
def gen_auth(ak: str, sk: str) -> str:
|
||||
token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
|
||||
return token
|
||||
|
||||
|
||||
def extract_from_config(config_path: str) -> tuple:
|
||||
"""从 config.py 中提取 ak 和 sk"""
|
||||
with open(config_path, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
|
||||
sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
|
||||
if not ak_match or not sk_match:
|
||||
return None, None
|
||||
return ak_match.group(1), sk_match.group(1)
|
||||
|
||||
|
||||
def main():
|
||||
args = sys.argv[1:]
|
||||
|
||||
if len(args) == 2 and args[0] == "--config":
|
||||
ak, sk = extract_from_config(args[1])
|
||||
if not ak or not sk:
|
||||
print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
|
||||
print("期望格式: ak = \"xxx\" sk = \"xxx\"")
|
||||
sys.exit(1)
|
||||
print(f"配置文件: {args[1]}")
|
||||
elif len(args) == 2:
|
||||
ak, sk = args
|
||||
else:
|
||||
print("用法:")
|
||||
print(" python gen_auth.py <ak> <sk>")
|
||||
print(" python gen_auth.py --config <config.py>")
|
||||
sys.exit(1)
|
||||
|
||||
token = gen_auth(ak, sk)
|
||||
print(f"ak: {ak}")
|
||||
print(f"sk: {sk}")
|
||||
print()
|
||||
print(f"Authorization header:")
|
||||
print(f" Authorization: Lab {token}")
|
||||
print()
|
||||
print(f"curl 用法:")
|
||||
print(f' curl -H "Authorization: Lab {token}" ...')
|
||||
print()
|
||||
print(f"Shell 变量:")
|
||||
print(f' AUTH="Authorization: Lab {token}"')
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
19
.github/dependabot.yml
vendored
19
.github/dependabot.yml
vendored
@@ -1,19 +0,0 @@
|
||||
version: 2
|
||||
updates:
|
||||
# GitHub Actions
|
||||
- package-ecosystem: "github-actions"
|
||||
directory: "/"
|
||||
target-branch: "dev"
|
||||
schedule:
|
||||
interval: "weekly"
|
||||
day: "monday"
|
||||
time: "06:00"
|
||||
open-pull-requests-limit: 5
|
||||
reviewers:
|
||||
- "msgcenterpy-team"
|
||||
labels:
|
||||
- "dependencies"
|
||||
- "github-actions"
|
||||
commit-message:
|
||||
prefix: "ci"
|
||||
include: "scope"
|
||||
67
.github/workflows/ci-check.yml
vendored
67
.github/workflows/ci-check.yml
vendored
@@ -1,67 +0,0 @@
|
||||
name: CI Check
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [main, dev]
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
|
||||
jobs:
|
||||
registry-check:
|
||||
runs-on: windows-latest
|
||||
|
||||
env:
|
||||
# Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
|
||||
PYTHONIOENCODING: utf-8
|
||||
PYTHONUTF8: 1
|
||||
|
||||
defaults:
|
||||
run:
|
||||
shell: cmd
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
channels: robostack-staging,conda-forge,uni-lab
|
||||
channel-priority: flexible
|
||||
activate-environment: check-env
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||
run: |
|
||||
echo Installing ROS dependencies...
|
||||
mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
|
||||
|
||||
- name: Install pip dependencies and unilabos
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Installing pip dependencies...
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
|
||||
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
||||
uv pip install .
|
||||
|
||||
- name: Run check mode (AST registry validation)
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Running check mode...
|
||||
python -m unilabos --check_mode --skip_env_check
|
||||
|
||||
- name: Check for uncommitted changes
|
||||
shell: bash
|
||||
run: |
|
||||
if ! git diff --exit-code; then
|
||||
echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
|
||||
echo "变化的文件:"
|
||||
git diff --name-only
|
||||
exit 1
|
||||
fi
|
||||
echo "检查通过：无文件变化"
|
||||
45
.github/workflows/conda-pack-build.yml
vendored
45
.github/workflows/conda-pack-build.yml
vendored
@@ -13,11 +13,6 @@ on:
|
||||
required: false
|
||||
default: 'win-64'
|
||||
type: string
|
||||
build_full:
|
||||
description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
@@ -29,7 +24,7 @@ jobs:
|
||||
platform: linux-64
|
||||
env_file: unilabos-linux-64.yaml
|
||||
script_ext: sh
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
- os: macos-13 # Intel
|
||||
platform: osx-64
|
||||
env_file: unilabos-osx-64.yaml
|
||||
script_ext: sh
|
||||
@@ -62,7 +57,7 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
@@ -74,7 +69,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -86,14 +81,7 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
echo Build full: ${{ github.event.inputs.build_full }}
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Installing unilabos-full ^(complete package^)...
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
) else (
|
||||
echo Installing unilabos ^(minimal package^)...
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
)
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
@@ -101,14 +89,7 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
echo "Build full: ${{ github.event.inputs.build_full }}"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Installing unilabos-full (complete package)..."
|
||||
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
else
|
||||
echo "Installing unilabos (minimal package)..."
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
fi
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
@@ -312,7 +293,7 @@ jobs:
|
||||
|
||||
- name: Upload distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: dist-package/
|
||||
@@ -327,12 +308,7 @@ jobs:
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.14
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
)
|
||||
echo Python version: 3.11.11
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
@@ -352,12 +328,7 @@ jobs:
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
fi
|
||||
echo "Python version: 3.11.11"
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
|
||||
37
.github/workflows/deploy-docs.yml
vendored
37
.github/workflows/deploy-docs.yml
vendored
@@ -1,12 +1,10 @@
|
||||
name: Deploy Docs
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发（仅 main 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
push:
|
||||
branches: [main]
|
||||
pull_request:
|
||||
branches: [main]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -35,19 +33,12 @@ concurrency:
|
||||
jobs:
|
||||
# Build documentation
|
||||
build:
|
||||
# 只在以下情况运行：
|
||||
# 1. workflow_run 触发且 CI Check 成功
|
||||
# 2. 手动触发
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- name: Checkout code
|
||||
uses: actions/checkout@v6
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
# workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
|
||||
ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
|
||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -55,7 +46,7 @@ jobs:
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
@@ -84,10 +75,8 @@ jobs:
|
||||
|
||||
- name: Setup Pages
|
||||
id: pages
|
||||
uses: actions/configure-pages@v5
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/configure-pages@v4
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
|
||||
- name: Build Sphinx documentation
|
||||
run: |
|
||||
@@ -105,18 +94,14 @@ jobs:
|
||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||
|
||||
- name: Upload build artifacts
|
||||
uses: actions/upload-pages-artifact@v4
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
uses: actions/upload-pages-artifact@v3
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
with:
|
||||
path: docs/_build/html
|
||||
|
||||
# Deploy to GitHub Pages
|
||||
deploy:
|
||||
if: |
|
||||
github.event.workflow_run.head_branch == 'main' ||
|
||||
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||
environment:
|
||||
name: github-pages
|
||||
url: ${{ steps.deployment.outputs.page_url }}
|
||||
|
||||
48
.github/workflows/multi-platform-build.yml
vendored
48
.github/workflows/multi-platform-build.yml
vendored
@@ -1,16 +1,11 @@
|
||||
name: Multi-Platform Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types:
|
||||
- completed
|
||||
branches: [main, dev]
|
||||
# 支持 tag 推送（不依赖 CI Check）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
@@ -22,37 +17,9 @@ on:
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -60,7 +27,7 @@ jobs:
|
||||
- os: ubuntu-latest
|
||||
platform: linux-64
|
||||
env_file: unilabos-linux-64.yaml
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
- os: macos-13 # Intel
|
||||
platform: osx-64
|
||||
env_file: unilabos-osx-64.yaml
|
||||
- os: macos-latest # ARM64
|
||||
@@ -77,10 +44,8 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -104,6 +69,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -149,7 +115,7 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: conda-package-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
|
||||
115
.github/workflows/unilabos-conda-build.yml
vendored
115
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,69 +1,32 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 CI Check 成功后自动触发
|
||||
workflow_run:
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
branches: [main, dev]
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
pull_request:
|
||||
branches: [main, dev]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
platforms:
|
||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||
required: false
|
||||
default: 'linux-64'
|
||||
build_full:
|
||||
description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
upload_to_anaconda:
|
||||
description: '是否上传到Anaconda.org'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
skip_ci_check:
|
||||
description: '跳过等待 CI Check (手动触发时可选)'
|
||||
required: false
|
||||
default: false
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-ci:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.event_name == 'workflow_run'
|
||||
outputs:
|
||||
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-ci]
|
||||
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||
if: |
|
||||
always() &&
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
include:
|
||||
- os: ubuntu-latest
|
||||
platform: linux-64
|
||||
- os: macos-15 # Intel (via Rosetta)
|
||||
- os: macos-13 # Intel
|
||||
platform: osx-64
|
||||
- os: macos-latest # ARM64
|
||||
platform: osx-arm64
|
||||
@@ -77,10 +40,8 @@ jobs:
|
||||
shell: bash -l {0}
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -104,6 +65,7 @@ jobs:
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-activate-base: false
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
@@ -119,61 +81,12 @@ jobs:
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
||||
echo "Building packages:"
|
||||
echo " - unilabos-env (environment dependencies)"
|
||||
echo " - unilabos (with pip package)"
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
echo "Building UniLabOS package"
|
||||
|
||||
- name: Build unilabos-env (conda environment only, noarch)
|
||||
- name: Build conda package
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-env (conda environment dependencies)..."
|
||||
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: Upload unilabos-env to Anaconda.org (if enabled)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-env to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-env*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos (with pip package)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos package..."
|
||||
# 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
|
||||
rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos to Anaconda.org (if enabled)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos-full - Only when explicitly requested
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
|
||||
- name: Upload unilabos-full to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
github.event.inputs.build_full == 'true' &&
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
echo "Uploading unilabos-full to uni-lab organization..."
|
||||
for package in $(find ./output -name "unilabos-full*.conda"); do
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: List built packages
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
@@ -195,9 +108,17 @@ jobs:
|
||||
|
||||
- name: Upload conda package artifacts
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: conda-package-unilabos-${{ matrix.platform }}
|
||||
path: conda-packages-temp
|
||||
if-no-files-found: warn
|
||||
retention-days: 30
|
||||
|
||||
- name: Upload to Anaconda.org (uni-lab organization)
|
||||
if: github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
for package in $(find ./output -name "*.conda"); do
|
||||
echo "Uploading $package to uni-lab organization..."
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
3
.gitignore
vendored
3
.gitignore
vendored
@@ -1,11 +1,8 @@
|
||||
cursor_docs/
|
||||
configs/
|
||||
temp/
|
||||
output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
.cursorignore
|
||||
device_package*/
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
|
||||
87
AGENTS.md
87
AGENTS.md
@@ -1,87 +0,0 @@
|
||||
# AGENTS.md
|
||||
|
||||
This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
|
||||
|
||||
Also follow the monorepo-level rules in `../AGENTS.md`.
|
||||
|
||||
## Build & Development
|
||||
|
||||
```bash
|
||||
# Install in editable mode (requires mamba env with python 3.11)
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Run with a device graph
|
||||
unilab --graph <graph.json> --config <config.py> --backend ros
|
||||
unilab --graph <graph.json> --config <config.py> --backend simple # no ROS2 needed
|
||||
|
||||
# Common CLI flags
|
||||
unilab --app_bridges websocket fastapi # communication bridges
|
||||
unilab --test_mode # simulate hardware, no real execution
|
||||
unilab --check_mode # CI validation of registry imports
|
||||
unilab --skip_env_check # skip auto-install of dependencies
|
||||
unilab --visual rviz|web|disable # visualization mode
|
||||
unilab --is_slave # run as slave node
|
||||
|
||||
# Workflow upload subcommand
|
||||
unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
|
||||
|
||||
# Tests
|
||||
pytest tests/ # all tests
|
||||
pytest tests/resources/test_resourcetreeset.py # single test file
|
||||
pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method # single test
|
||||
```
|
||||
|
||||
## Architecture
|
||||
|
||||
### Startup Flow
|
||||
|
||||
`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
|
||||
|
||||
### Core Layers
|
||||
|
||||
**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
|
||||
|
||||
**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
|
||||
|
||||
**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
|
||||
|
||||
**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
|
||||
|
||||
**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
|
||||
|
||||
**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
|
||||
|
||||
**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
|
||||
|
||||
### Configuration System
|
||||
|
||||
- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
|
||||
- Config files are `.py` files with matching class names (see `config/example_config.py`)
|
||||
- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
|
||||
- Device topology defined in graph files (JSON with node-link format, or GraphML)
|
||||
|
||||
### Key Data Flow
|
||||
|
||||
1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
|
||||
2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
|
||||
3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
|
||||
4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
|
||||
|
||||
### Test Data
|
||||
|
||||
Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
|
||||
|
||||
## Code Conventions
|
||||
|
||||
- Code comments and log messages in simplified Chinese
|
||||
- Python 3.11+, type hints expected
|
||||
- Pydantic models for data validation (`resource_tracker.py`)
|
||||
- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
|
||||
- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
|
||||
- CLI argument dashes auto-converted to underscores for consistency
|
||||
|
||||
## Licensing
|
||||
|
||||
- Framework code: GPL-3.0
|
||||
- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute
|
||||
@@ -1,5 +1,4 @@
|
||||
recursive-include unilabos/test *
|
||||
recursive-include unilabos/utils *
|
||||
recursive-include unilabos/registry *.yaml
|
||||
recursive-include unilabos/app/web/static *
|
||||
recursive-include unilabos/app/web/templates *
|
||||
|
||||
17
NOTICE
17
NOTICE
@@ -1,17 +0,0 @@
|
||||
# Uni-Lab-OS Licensing Notice
|
||||
|
||||
This project uses a dual licensing structure:
|
||||
|
||||
## 1. Main Framework - GPL-3.0
|
||||
|
||||
- unilabos/ (except unilabos/devices/)
|
||||
- docs/
|
||||
- tests/
|
||||
|
||||
See [LICENSE](LICENSE) for details.
|
||||
|
||||
## 2. Device Drivers - DP Technology Proprietary License
|
||||
|
||||
- unilabos/devices/
|
||||
|
||||
See [unilabos/devices/LICENSE](unilabos/devices/LICENSE) for details.
|
||||
90
README.md
90
README.md
@@ -8,13 +8,17 @@
|
||||
|
||||
**English** | [中文](README_zh.md)
|
||||
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
||||
|
||||
Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
|
||||
|
||||
## 🏆 Competition
|
||||
|
||||
Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
|
||||
|
||||
## Key Features
|
||||
|
||||
- Multi-device integration management
|
||||
@@ -27,89 +31,41 @@ Uni-Lab-OS is a platform for laboratory automation, designed to connect and cont
|
||||
|
||||
Detailed documentation can be found at:
|
||||
|
||||
- [Online Documentation](https://deepmodeling.github.io/Uni-Lab-OS/)
|
||||
- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
|
||||
|
||||
## Quick Start
|
||||
|
||||
### 1. Setup Conda Environment
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
|
||||
|
||||
| Package | Use Case | Contents |
|
||||
|---------|----------|----------|
|
||||
| `unilabos` | **Recommended for most users** | Complete package, ready to use |
|
||||
| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
|
||||
| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# Option A: Standard installation (recommended for most users)
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# Option B: For developers (editable mode development)
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# Then install unilabos and dependencies:
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Option C: Full installation (simulation/visualization)
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**When to use which?**
|
||||
- **unilabos**: Standard installation for production deployment and general usage (recommended)
|
||||
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
|
||||
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
|
||||
|
||||
### 2. Clone Repository (Optional, for developers)
|
||||
## Install Dev Uni-Lab-OS
|
||||
|
||||
```bash
|
||||
# Clone the repository (only needed for development or examples)
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
# Clone the repository
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# Install Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. Start Uni-Lab System
|
||||
3. Start Uni-Lab System:
|
||||
|
||||
Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
|
||||
|
||||
4. Best Practice
|
||||
|
||||
See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
|
||||
Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
|
||||
|
||||
## Message Format
|
||||
|
||||
Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
|
||||
|
||||
## Citation
|
||||
|
||||
If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
|
||||
|
||||
```bibtex
|
||||
@article{gao2025unilabos,
|
||||
title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
|
||||
doi = {10.48550/arXiv.2512.21766},
|
||||
publisher = {arXiv},
|
||||
author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
|
||||
Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
|
||||
Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
|
||||
Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
|
||||
year = {2025}
|
||||
}
|
||||
```
|
||||
Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
|
||||
|
||||
## License
|
||||
|
||||
This project uses a dual licensing structure:
|
||||
|
||||
- **Main Framework**: GPL-3.0 - see [LICENSE](LICENSE)
|
||||
- **Device Drivers** (`unilabos/devices/`): DP Technology Proprietary License
|
||||
|
||||
See [NOTICE](NOTICE) for complete licensing details.
|
||||
This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
|
||||
|
||||
## Project Statistics
|
||||
|
||||
@@ -121,4 +77,4 @@ See [NOTICE](NOTICE) for complete licensing details.
|
||||
|
||||
## Contact Us
|
||||
|
||||
- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
|
||||
90
README_zh.md
90
README_zh.md
@@ -8,13 +8,17 @@
|
||||
|
||||
[English](README.md) | **中文**
|
||||
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
[](https://github.com/deepmodeling/Uni-Lab-OS/blob/main/LICENSE)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
||||
|
||||
Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
|
||||
|
||||
## 🏆 比赛
|
||||
|
||||
欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
|
||||
|
||||
## 核心特点
|
||||
|
||||
- 多设备集成管理
|
||||
@@ -27,89 +31,43 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
||||
|
||||
详细文档可在以下位置找到:
|
||||
|
||||
- [在线文档](https://deepmodeling.github.io/Uni-Lab-OS/)
|
||||
- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
|
||||
|
||||
## 快速开始
|
||||
|
||||
### 1. 配置 Conda 环境
|
||||
1. 配置 Conda 环境
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
|
||||
|
||||
| 安装包 | 适用场景 | 包含内容 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
|
||||
```bash
|
||||
# 创建新环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整安装（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**如何选择？**
|
||||
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
|
||||
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
|
||||
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
|
||||
|
||||
### 2. 克隆仓库（可选，供开发者使用）
|
||||
2. 安装开发版 Uni-Lab-OS:
|
||||
|
||||
```bash
|
||||
# 克隆仓库（仅开发或查看示例时需要）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
# 克隆仓库
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. 启动 Uni-Lab 系统
|
||||
3. 启动 Uni-Lab 系统:
|
||||
|
||||
请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
|
||||
|
||||
4. 最佳实践
|
||||
|
||||
请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
|
||||
请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
|
||||
|
||||
## 消息格式
|
||||
|
||||
Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
|
||||
|
||||
## 引用
|
||||
|
||||
如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
|
||||
|
||||
```bibtex
|
||||
@article{gao2025unilabos,
|
||||
title = {UniLabOS: An AI-Native Operating System for Autonomous Laboratories},
|
||||
doi = {10.48550/arXiv.2512.21766},
|
||||
publisher = {arXiv},
|
||||
author = {Gao, Jing and Chang, Junhan and Que, Haohui and Xiong, Yanfei and
|
||||
Zhang, Shixiang and Qi, Xianwei and Liu, Zhen and Wang, Jun-Jie and
|
||||
Ding, Qianjun and Li, Xinyu and Pan, Ziwei and Xie, Qiming and
|
||||
Yan, Zhuang and Yan, Junchi and Zhang, Linfeng},
|
||||
year = {2025}
|
||||
}
|
||||
```
|
||||
Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
|
||||
|
||||
## 许可证
|
||||
|
||||
本项目采用双许可证结构：
|
||||
|
||||
- **主框架**：GPL-3.0 - 详见 [LICENSE](LICENSE)
|
||||
- **设备驱动** (`unilabos/devices/`)：深势科技专有许可证
|
||||
|
||||
完整许可证说明请参阅 [NOTICE](NOTICE)。
|
||||
此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
|
||||
|
||||
## 项目统计
|
||||
|
||||
@@ -121,4 +79,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
|
||||
|
||||
## 联系我们
|
||||
|
||||
- GitHub Issues: [https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
|
||||
@@ -24,7 +24,7 @@ extensions = [
|
||||
"sphinx.ext.autodoc",
|
||||
"sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings
|
||||
"sphinx_rtd_theme",
|
||||
"sphinxcontrib.mermaid",
|
||||
"sphinxcontrib.mermaid"
|
||||
]
|
||||
|
||||
source_suffix = {
|
||||
@@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme"
|
||||
|
||||
# sphinx-book-theme 主题选项
|
||||
html_theme_options = {
|
||||
"repository_url": "https://github.com/deepmodeling/Uni-Lab-OS",
|
||||
"repository_url": "https://github.com/用户名/Uni-Lab",
|
||||
"use_repository_button": True,
|
||||
"use_issues_button": True,
|
||||
"use_edit_page_button": True,
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -15,9 +15,6 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
|
||||
**示例：**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
|
||||
class MockGripper:
|
||||
def __init__(self):
|
||||
self._position: float = 0.0
|
||||
@@ -26,23 +23,19 @@ class MockGripper:
|
||||
self._status = "Idle"
|
||||
|
||||
@property
|
||||
@topic_config() # 添加 @topic_config 才会定时广播
|
||||
def position(self) -> float:
|
||||
return self._position
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def velocity(self) -> float:
|
||||
return self._velocity
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def torque(self) -> float:
|
||||
return self._torque
|
||||
|
||||
# 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
|
||||
# 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -156,7 +149,7 @@ my_device: # 设备唯一标识符
|
||||
|
||||
系统会自动分析您的 Python 驱动类并生成：
|
||||
|
||||
- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
|
||||
- `status_types`：从 `@property` 装饰的方法自动识别状态属性
|
||||
- `action_value_mappings`：从类方法自动生成动作映射
|
||||
- `init_param_schema`：从 `__init__` 方法分析初始化参数
|
||||
- `schema`：前端显示用的属性类型定义
|
||||
@@ -186,9 +179,7 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
|
||||
|
||||
```python
|
||||
from typing import Dict, Any
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="my_device", category=["general"], description="My Device")
|
||||
class MyDevice:
|
||||
"""设备类文档字符串
|
||||
|
||||
@@ -207,9 +198,8 @@ class MyDevice:
|
||||
# 初始化硬件连接
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加 @topic_config 才会广播
|
||||
def status(self) -> str:
|
||||
"""设备状态（通过 @topic_config 广播）"""
|
||||
"""设备状态（会自动广播）"""
|
||||
return self._status
|
||||
|
||||
def my_action(self, param: float) -> Dict[str, Any]:
|
||||
@@ -227,61 +217,34 @@ class MyDevice:
|
||||
|
||||
## 状态属性 vs 动作方法
|
||||
|
||||
### 状态属性（@property + @topic_config）
|
||||
### 状态属性（@property）
|
||||
|
||||
状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
|
||||
状态属性会被自动识别并定期广播：
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加，否则不会广播
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._read_temperature()
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期（秒）
|
||||
def status(self) -> str:
|
||||
"""设备状态: idle, running, error"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config(name="ready") # 可自定义发布名称
|
||||
def is_ready(self) -> bool:
|
||||
"""设备是否就绪"""
|
||||
return self._status == "idle"
|
||||
```
|
||||
|
||||
也可以使用普通方法（非 @property）配合 `@topic_config`：
|
||||
|
||||
```python
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
"""获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
|
||||
return {"temp": self._temp, "humidity": self._humidity}
|
||||
```
|
||||
|
||||
**`@topic_config` 参数**:
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
|------|------|--------|------|
|
||||
| `period` | float | 5.0 | 发布周期（秒） |
|
||||
| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
|
||||
| `qos` | int | 10 | QoS 深度 |
|
||||
| `name` | str | None | 自定义发布名称 |
|
||||
|
||||
**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
|
||||
|
||||
**特点**:
|
||||
|
||||
- 必须使用 `@topic_config` 装饰器
|
||||
- 支持 `@property` 和普通方法
|
||||
- 添加到注册表的 `status_types`
|
||||
- 使用`@property`装饰器
|
||||
- 只读，不能有参数
|
||||
- 自动添加到注册表的`status_types`
|
||||
- 定期发布到 ROS2 topic
|
||||
|
||||
> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
|
||||
|
||||
### 动作方法
|
||||
|
||||
动作方法是设备可以执行的操作：
|
||||
@@ -534,7 +497,6 @@ class LiquidHandler:
|
||||
self._status = "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -924,52 +886,7 @@ class MyDevice:
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 1. 使用 `@device` 装饰器标识设备类
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
- `id`：设备唯一标识符，用于注册表匹配
|
||||
- `category`：分类列表，前端用于分组显示
|
||||
- `description`：设备描述
|
||||
- `icon`：图标文件名（可选）
|
||||
|
||||
### 2. 使用 `@topic_config` 声明需要广播的状态
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ @property + @topic_config → 会广播
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
return {"temp": self._temp}
|
||||
|
||||
# ✓ 使用 name 参数自定义发布名称
|
||||
@property
|
||||
@topic_config(name="ready")
|
||||
def is_ready(self) -> bool:
|
||||
return self._status == "idle"
|
||||
|
||||
# ✗ 仅有 @property，没有 @topic_config → 不会广播
|
||||
@property
|
||||
def internal_state(self) -> str:
|
||||
return self._state
|
||||
```
|
||||
|
||||
> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
|
||||
|
||||
### 3. 类型注解
|
||||
### 1. 类型注解
|
||||
|
||||
```python
|
||||
from typing import Dict, Any, Optional, List
|
||||
@@ -984,7 +901,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
### 4. 文档字符串
|
||||
### 2. 文档字符串
|
||||
|
||||
```python
|
||||
def method(self, param: float) -> Dict[str, Any]:
|
||||
@@ -1006,7 +923,7 @@ def method(self, param: float) -> Dict[str, Any]:
|
||||
pass
|
||||
```
|
||||
|
||||
### 5. 配置验证
|
||||
### 3. 配置验证
|
||||
|
||||
```python
|
||||
def __init__(self, config: Dict[str, Any]):
|
||||
@@ -1020,7 +937,7 @@ def __init__(self, config: Dict[str, Any]):
|
||||
self.baudrate = config['baudrate']
|
||||
```
|
||||
|
||||
### 6. 资源清理
|
||||
### 4. 资源清理
|
||||
|
||||
```python
|
||||
def __del__(self):
|
||||
@@ -1029,7 +946,7 @@ def __del__(self):
|
||||
self.connection.close()
|
||||
```
|
||||
|
||||
### 7. 设计前端友好的返回值
|
||||
### 5. 设计前端友好的返回值
|
||||
|
||||
**记住：返回值会直接显示在 Web 界面**
|
||||
|
||||
|
||||
@@ -422,20 +422,18 @@ placeholder_keys:
|
||||
|
||||
### status_types
|
||||
|
||||
系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
|
||||
系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
|
||||
|
||||
```yaml
|
||||
status_types:
|
||||
current_temperature: float # 从 @topic_config 装饰的 @property 或方法
|
||||
is_heating: bool
|
||||
status: str
|
||||
current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
|
||||
is_heating: bool # 从 get_is_heating() 或 @property is_heating
|
||||
status: str # 从 get_status() 或 @property status
|
||||
```
|
||||
|
||||
**注意事项**：
|
||||
|
||||
- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
|
||||
- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
|
||||
- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
|
||||
- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
|
||||
- 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
|
||||
- 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
|
||||
|
||||
@@ -539,13 +537,11 @@ class AdvancedLiquidHandler:
|
||||
self._temperature = 25.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
"""设备状态"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._temperature
|
||||
@@ -813,23 +809,21 @@ my_temperature_controller:
|
||||
你的设备类需要符合以下要求：
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
from unilabos.common.device_base import DeviceBase
|
||||
|
||||
@device(id="my_device", category=["temperature"], description="My Device")
|
||||
class MyDevice:
|
||||
class MyDevice(DeviceBase):
|
||||
def __init__(self, config):
|
||||
"""初始化，参数会自动分析到 init_param_schema.config"""
|
||||
super().__init__(config)
|
||||
self.port = config.get('port', '/dev/ttyUSB0')
|
||||
|
||||
# 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
|
||||
# 状态方法（会自动生成到 status_types）
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self):
|
||||
"""返回设备状态"""
|
||||
return "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self):
|
||||
"""返回当前温度"""
|
||||
return 25.0
|
||||
@@ -1045,34 +1039,7 @@ resource.type # "resource"
|
||||
|
||||
### 代码规范
|
||||
|
||||
1. **使用 `@device` 装饰器标识设备类**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Device")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
2. **使用 `@topic_config` 声明广播属性**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ 需要广播的状态属性
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✗ 仅有 @property 不会广播
|
||||
@property
|
||||
def internal_counter(self) -> int:
|
||||
return self._counter
|
||||
```
|
||||
|
||||
3. **始终使用类型注解**
|
||||
1. **始终使用类型注解**
|
||||
|
||||
```python
|
||||
# ✓ 好
|
||||
@@ -1084,7 +1051,7 @@ def method(self, resource, device):
|
||||
pass
|
||||
```
|
||||
|
||||
4. **提供有意义的参数名**
|
||||
2. **提供有意义的参数名**
|
||||
|
||||
```python
|
||||
# ✓ 好 - 清晰的参数名
|
||||
@@ -1096,7 +1063,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
|
||||
pass
|
||||
```
|
||||
|
||||
5. **使用 Optional 表示可选参数**
|
||||
3. **使用 Optional 表示可选参数**
|
||||
|
||||
```python
|
||||
from typing import Optional
|
||||
@@ -1109,7 +1076,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
6. **添加详细的文档字符串**
|
||||
4. **添加详细的文档字符串**
|
||||
|
||||
```python
|
||||
def method(
|
||||
@@ -1129,13 +1096,13 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
7. **方法命名规范**
|
||||
5. **方法命名规范**
|
||||
|
||||
- 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
|
||||
- 状态方法使用 `@property` 装饰器或 `get_` 前缀
|
||||
- 动作方法使用动词开头
|
||||
- 保持命名清晰、一致
|
||||
|
||||
8. **完善的错误处理**
|
||||
6. **完善的错误处理**
|
||||
- 实现完善的错误处理
|
||||
- 添加日志记录
|
||||
- 提供有意义的错误信息
|
||||
|
||||
@@ -221,10 +221,10 @@ Laboratory A Laboratory B
|
||||
|
||||
```bash
|
||||
# 实验室A
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
|
||||
# 实验室B
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
@@ -12,7 +12,3 @@ sphinx-copybutton>=0.5.0
|
||||
|
||||
# 用于自动摘要生成
|
||||
sphinx-autobuild>=2024.2.4
|
||||
|
||||
# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX)
|
||||
rinohtype>=0.5.4
|
||||
sphinx-simplepdf>=1.6.0
|
||||
@@ -31,14 +31,6 @@
|
||||
|
||||
详细的安装步骤请参考 [安装指南](installation.md)。
|
||||
|
||||
**选择合适的安装包：**
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 |
|
||||
|--------|----------|----------|
|
||||
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
||||
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||
|
||||
**关键步骤：**
|
||||
|
||||
```bash
|
||||
@@ -46,30 +38,15 @@
|
||||
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
||||
|
||||
# 2. 创建 Conda 环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
mamba create -n unilab python=3.11.11
|
||||
|
||||
# 3. 激活环境
|
||||
mamba activate unilab
|
||||
|
||||
# 4. 安装 Uni-Lab-OS（选择其一）
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
# 4. 安装 Uni-Lab-OS
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
|
||||
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
|
||||
|
||||
# 方案 C：完整版（仿真/可视化）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**选择建议：**
|
||||
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
|
||||
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
|
||||
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
||||
|
||||
#### 1.2 验证安装
|
||||
|
||||
```bash
|
||||
@@ -439,9 +416,6 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
1. 访问 Web 界面，进入"仪器耗材"模块
|
||||
2. 在"仪器设备"区域找到并添加上述设备
|
||||
3. 在"物料耗材"区域找到并添加容器
|
||||
4. 在workstation中配置protocol_type包含PumpTransferProtocol
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -452,9 +426,8 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
**操作步骤：**
|
||||
|
||||
1. 将两个 `container` 拖拽到 `workstation` 中
|
||||
2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
|
||||
3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||
4. 在画布上连接它们（建立父子关系）
|
||||
2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
|
||||
3. 在画布上连接它们（建立父子关系）
|
||||
|
||||
|
||||
|
||||
@@ -795,43 +768,7 @@ Waiting for host service...
|
||||
|
||||
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
||||
|
||||
#### 9.1 开发环境准备
|
||||
|
||||
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
|
||||
|
||||
```bash
|
||||
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
|
||||
# 2. 克隆代码
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或手动安装：
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
|
||||
**为什么使用这种方式？**
|
||||
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
|
||||
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
|
||||
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
||||
- 使用 `uv` 替代 `pip`，安装速度更快
|
||||
- 可编辑模式：代码修改**立即生效**，无需重新安装
|
||||
|
||||
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
|
||||
|
||||
```bash
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
#### 9.2 为什么需要自定义设备？
|
||||
#### 9.1 为什么需要自定义设备？
|
||||
|
||||
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
||||
|
||||
@@ -840,7 +777,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
|
||||
- 特殊的实验流程
|
||||
- 第三方设备集成
|
||||
|
||||
#### 9.3 创建 Python 包
|
||||
#### 9.2 创建 Python 包
|
||||
|
||||
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
||||
|
||||
@@ -877,7 +814,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
|
||||
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
||||
```
|
||||
|
||||
#### 9.4 创建 setup.py
|
||||
#### 9.3 创建 setup.py
|
||||
|
||||
```python
|
||||
# my_lab_devices/setup.py
|
||||
@@ -908,7 +845,7 @@ setup(
|
||||
)
|
||||
```
|
||||
|
||||
#### 9.5 开发安装
|
||||
#### 9.4 开发安装
|
||||
|
||||
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
||||
|
||||
@@ -923,7 +860,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
- 方便调试和测试
|
||||
- 支持版本控制（git）
|
||||
|
||||
#### 9.6 编写设备驱动
|
||||
#### 9.5 编写设备驱动
|
||||
|
||||
创建设备驱动文件：
|
||||
|
||||
@@ -1064,7 +1001,7 @@ class MyPump:
|
||||
- **返回 Dict**：所有动作方法返回字典类型
|
||||
- **文档字符串**：详细说明参数和功能
|
||||
|
||||
#### 9.7 测试设备驱动
|
||||
#### 9.6 测试设备驱动
|
||||
|
||||
创建简单的测试脚本：
|
||||
|
||||
@@ -1870,7 +1807,7 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
||||
|
||||
#### 14.5 社区支持
|
||||
|
||||
- **GitHub Issues**：[https://github.com/deepmodeling/Uni-Lab-OS/issues](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- **GitHub Issues**：[https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
- **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
|
||||
---
|
||||
|
||||
@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
|
||||
### 使用示例
|
||||
|
||||
```python
|
||||
from unilabos.resources.resource_tracker import ResourceDictInstance
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
|
||||
|
||||
# 旧格式节点
|
||||
old_format_node = {
|
||||
@@ -477,10 +477,10 @@ old_format_node = {
|
||||
instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node)
|
||||
|
||||
# 访问标准化后的数据
|
||||
print(instance.res_content.id) # "pump_1"
|
||||
print(instance.res_content.uuid) # 自动生成的 UUID
|
||||
print(instance.res_content.id) # "pump_1"
|
||||
print(instance.res_content.uuid) # 自动生成的 UUID
|
||||
print(instance.res_content.config) # {}
|
||||
print(instance.res_content.data) # {}
|
||||
print(instance.res_content.data) # {}
|
||||
```
|
||||
|
||||
### 格式迁移建议
|
||||
@@ -857,4 +857,4 @@ class ResourceDictPosition(BaseModel):
|
||||
- 在 Web 界面中使用模板创建
|
||||
- 参考示例文件：`test/experiments/` 目录
|
||||
- 查看 ResourceDict 源码了解完整定义
|
||||
- [GitHub 讨论区](https://github.com/deepmodeling/Uni-Lab-OS/discussions)
|
||||
- [GitHub 讨论区](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 81 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 415 KiB After Width: | Height: | Size: 275 KiB |
@@ -13,26 +13,15 @@
|
||||
- 开发者需要 Git 和基本的 Python 开发知识
|
||||
- 自定义 msgs 需要 GitHub 账号
|
||||
|
||||
## 安装包选择
|
||||
|
||||
Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
||||
|
||||
| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
|
||||
|--------|----------|----------|----------|
|
||||
| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
|
||||
| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
|
||||
| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
|
||||
|
||||
## 安装方式选择
|
||||
|
||||
根据您的使用场景，选择合适的安装方式：
|
||||
|
||||
| 安装方式 | 适用人群 | 推荐安装包 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 快速体验、演示 | 预打包环境 | 离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | **大多数用户** | `unilabos` | 完整功能，开箱即用 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env` | 可编辑模式，支持自定义开发 | 20-30 分钟 |
|
||||
| **仿真/可视化** | 仿真测试、可视化调试 | `unilabos-full` | 含 Gazebo、rviz2、MoveIt | 30-60 分钟 |
|
||||
| 安装方式 | 适用人群 | 特点 | 安装时间 |
|
||||
| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
|
||||
| **方式一：一键安装** | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||
| **方式二：手动安装** | 标准用户、生产环境 | 灵活配置，版本可控 | 10-20 分钟 |
|
||||
| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs | 20-30 分钟 |
|
||||
|
||||
---
|
||||
|
||||
@@ -48,7 +37,7 @@ Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
||||
|
||||
#### 第一步：下载预打包环境
|
||||
|
||||
1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/deepmodeling/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
|
||||
1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
|
||||
|
||||
2. 选择最新的成功构建记录（绿色勾号 ✓）
|
||||
|
||||
@@ -155,38 +144,17 @@ bash Miniforge3-$(uname)-$(uname -m).sh
|
||||
使用以下命令创建 Uni-Lab 专用环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.14 # 目前ros2组件依赖版本大多为3.11.14
|
||||
mamba create -n unilab python=3.11.11 # 目前ros2组件依赖版本大多为3.11.11
|
||||
mamba activate unilab
|
||||
|
||||
# 选择安装包（三选一）：
|
||||
|
||||
# 方案 A：标准安装（推荐大多数用户）
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
|
||||
# 方案 B：开发者环境（可编辑模式开发）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后安装 unilabos 和 pip 依赖：
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 方案 C：完整版（含仿真和可视化工具）
|
||||
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**参数说明**:
|
||||
|
||||
- `-n unilab`: 创建名为 "unilab" 的环境
|
||||
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
|
||||
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
|
||||
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
|
||||
- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
|
||||
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
||||
|
||||
**包选择建议**：
|
||||
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
|
||||
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
|
||||
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
|
||||
|
||||
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
||||
|
||||
```bash
|
||||
@@ -195,14 +163,8 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
||||
|
||||
# 然后重新执行安装命令（推荐标准安装）
|
||||
# 然后重新执行安装命令
|
||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
||||
|
||||
# 或完整版（仿真/可视化）
|
||||
mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
|
||||
|
||||
# pip 安装时使用清华镜像（开发者安装时使用）
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
### 第三步：激活环境
|
||||
@@ -227,13 +189,13 @@ conda activate unilab
|
||||
### 第一步：克隆仓库
|
||||
|
||||
```bash
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
如果您需要贡献代码，建议先 Fork 仓库：
|
||||
|
||||
1. 访问 https://github.com/deepmodeling/Uni-Lab-OS
|
||||
1. 访问 https://github.com/dptech-corp/Uni-Lab-OS
|
||||
2. 点击右上角的 "Fork" 按钮
|
||||
3. Clone 您的 Fork 版本：
|
||||
```bash
|
||||
@@ -241,87 +203,58 @@ cd Uni-Lab-OS
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
### 第二步：安装开发环境（unilabos-env）
|
||||
### 第二步：安装基础环境
|
||||
|
||||
**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
|
||||
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
|
||||
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
|
||||
- 包含 `uv` 工具，用于快速安装 pip 依赖
|
||||
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
|
||||
**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
|
||||
|
||||
#### 选项 A：通过一键安装（推荐）
|
||||
|
||||
参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
|
||||
|
||||
```bash
|
||||
# 创建并激活环境
|
||||
mamba create -n unilab python=3.11.14
|
||||
conda activate unilab
|
||||
|
||||
# 安装开发者环境包（ROS2 + conda 依赖 + uv）
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
### 第三步：安装 pip 依赖和可编辑模式安装
|
||||
#### 选项 B：通过手动安装
|
||||
|
||||
克隆代码并安装依赖：
|
||||
参考上文"方式二：手动安装"，创建并安装环境：
|
||||
|
||||
```bash
|
||||
mamba create -n unilab python=3.11.11
|
||||
conda activate unilab
|
||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
|
||||
|
||||
### 第三步：切换到开发版本
|
||||
|
||||
现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
|
||||
|
||||
```bash
|
||||
# 确保环境已激活
|
||||
conda activate unilab
|
||||
|
||||
# 克隆仓库（如果还未克隆）
|
||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
|
||||
pip uninstall unilabos -y
|
||||
|
||||
# 切换到 dev 分支（可选）
|
||||
# 克隆 dev 分支（如果还未克隆）
|
||||
cd /path/to/your/workspace
|
||||
git clone -b dev https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
# 或者如果已经克隆，切换到 dev 分支
|
||||
cd Uni-Lab-OS
|
||||
git checkout dev
|
||||
git pull
|
||||
```
|
||||
|
||||
**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
|
||||
|
||||
```bash
|
||||
# 自动检测中文环境，如果是中文系统则使用清华镜像
|
||||
python scripts/dev_install.py
|
||||
|
||||
# 或者手动指定：
|
||||
python scripts/dev_install.py --china # 强制使用清华镜像
|
||||
python scripts/dev_install.py --no-mirror # 强制使用 PyPI
|
||||
python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
|
||||
python scripts/dev_install.py --use-pip # 使用 pip 而非 uv
|
||||
```
|
||||
|
||||
**手动安装**（如果脚本安装失败或速度太慢）：
|
||||
|
||||
```bash
|
||||
# 1. 安装 unilabos（可编辑模式）
|
||||
pip install -e .
|
||||
|
||||
# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# 国内用户使用清华镜像：
|
||||
# 以可编辑模式安装开发版 unilabos
|
||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||
```
|
||||
|
||||
**注意**：
|
||||
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
|
||||
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
|
||||
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
|
||||
**参数说明**：
|
||||
|
||||
**为什么使用可编辑模式？**
|
||||
|
||||
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
|
||||
- 适合开发调试：修改代码后直接运行测试
|
||||
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
|
||||
|
||||
**验证安装**：
|
||||
|
||||
```bash
|
||||
# 检查 unilabos 版本
|
||||
python -c "import unilabos; print(unilabos.__version__)"
|
||||
|
||||
# 检查安装位置（应该指向你的代码目录）
|
||||
pip show unilabos | grep Location
|
||||
```
|
||||
- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
|
||||
- `-i`: 使用清华镜像源加速下载
|
||||
- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
|
||||
|
||||
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
||||
|
||||
@@ -531,45 +464,7 @@ cd $CONDA_PREFIX/envs/unilab
|
||||
|
||||
### 问题 8: 环境很大，有办法减小吗？
|
||||
|
||||
**解决方案**:
|
||||
|
||||
1. **使用 `unilabos` 标准版**（推荐大多数用户）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
|
||||
|
||||
2. **使用 `unilabos-env` 开发者版**（最小化）：
|
||||
```bash
|
||||
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||
# 然后手动安装依赖
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
```
|
||||
开发者版只包含环境依赖，体积最小约 2GB。
|
||||
|
||||
3. **按需安装额外组件**：
|
||||
如果后续需要特定功能，可以单独安装：
|
||||
```bash
|
||||
# 需要 Jupyter
|
||||
mamba install jupyter jupyros
|
||||
|
||||
# 需要可视化
|
||||
mamba install matplotlib opencv
|
||||
|
||||
# 需要仿真（注意：这会安装大量依赖）
|
||||
mamba install ros-humble-gazebo-ros
|
||||
```
|
||||
|
||||
4. **预打包环境问题**：
|
||||
预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
|
||||
|
||||
**包选择建议**：
|
||||
| 需求 | 推荐包 | 预估大小 |
|
||||
|------|--------|----------|
|
||||
| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
|
||||
| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
|
||||
| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
|
||||
**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
|
||||
|
||||
### 问题 9: 如何更新到最新版本？
|
||||
|
||||
@@ -608,15 +503,14 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
||||
## 需要帮助？
|
||||
|
||||
- **故障排查**: 查看更详细的故障排查信息
|
||||
- **GitHub Issues**: [报告问题](https://github.com/deepmodeling/Uni-Lab-OS/issues)
|
||||
- **GitHub Issues**: [报告问题](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
- **开发者文档**: 查看开发者指南获取更多技术细节
|
||||
- **社区讨论**: [GitHub Discussions](https://github.com/deepmodeling/Uni-Lab-OS/discussions)
|
||||
- **社区讨论**: [GitHub Discussions](https://github.com/dptech-corp/Uni-Lab-OS/discussions)
|
||||
|
||||
---
|
||||
|
||||
**提示**:
|
||||
|
||||
- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
|
||||
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
|
||||
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
|
||||
- **快速体验和演示**推荐使用方式一（一键安装）
|
||||
- 生产环境推荐使用方式二（手动安装）的稳定版本
|
||||
- 开发和测试推荐使用方式三（开发者安装）
|
||||
- 快速体验和演示推荐使用方式一（一键安装）
|
||||
|
||||
@@ -22,6 +22,7 @@ options:
|
||||
--is_slave Run the backend as slave node (without host privileges).
|
||||
--slave_no_host Skip waiting for host service in slave mode
|
||||
--upload_registry Upload registry information when starting unilab
|
||||
--use_remote_resource Use remote resources when starting unilab
|
||||
--config CONFIG Configuration file path, supports .py format Python config files
|
||||
--port PORT Port for web service information page
|
||||
--disable_browser Disable opening information page on startup
|
||||
@@ -84,7 +85,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
支持两种方式：
|
||||
|
||||
- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
|
||||
- **远程资源**：不指定本地文件即可
|
||||
- **远程资源**：使用 `--use_remote_resource` 从云端获取
|
||||
|
||||
### 7. 注册表构建
|
||||
|
||||
@@ -195,7 +196,7 @@ unilab --config path/to/your/config.py
|
||||
unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
|
||||
|
||||
# 使用远程资源启动
|
||||
unilab --ak your_ak --sk your_sk
|
||||
unilab --ak your_ak --sk your_sk --use_remote_resource
|
||||
|
||||
# 更新注册表
|
||||
unilab --ak your_ak --sk your_sk --complete_registry
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.19
|
||||
version: 0.10.13
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
@@ -17,7 +17,7 @@ build:
|
||||
- bash $SRC_DIR/build_ament_cmake.sh
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
license: BSD-3-Clause
|
||||
description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
|
||||
|
||||
@@ -25,7 +25,7 @@ requirements:
|
||||
build:
|
||||
- ${{ compiler('cxx') }}
|
||||
- ${{ compiler('c') }}
|
||||
- python ==3.11.14
|
||||
- python ==3.11.11
|
||||
- numpy
|
||||
- if: build_platform != target_platform
|
||||
then:
|
||||
@@ -63,14 +63,14 @@ requirements:
|
||||
- robostack-staging::ros-humble-rosidl-default-generators
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
run:
|
||||
- robostack-staging::ros-humble-action-msgs
|
||||
- robostack-staging::ros-humble-ros-workspace
|
||||
- robostack-staging::ros-humble-rosidl-default-runtime
|
||||
- robostack-staging::ros-humble-std-msgs
|
||||
- robostack-staging::ros-humble-geometry-msgs
|
||||
- robostack-staging::ros2-distro-mutex=0.7
|
||||
- robostack-staging::ros2-distro-mutex=0.6
|
||||
- if: osx and x86_64
|
||||
then:
|
||||
- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.19"
|
||||
version: "0.10.13"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
@@ -85,7 +85,7 @@ Verification:
|
||||
-------------
|
||||
|
||||
The verify_installation.py script will check:
|
||||
- Python version (3.11.14)
|
||||
- Python version (3.11.11)
|
||||
- ROS2 rclpy installation
|
||||
- UniLabOS installation and dependencies
|
||||
|
||||
@@ -104,7 +104,7 @@ Build Information:
|
||||
|
||||
Branch: {branch}
|
||||
Platform: {platform}
|
||||
Python: 3.11.14
|
||||
Python: 3.11.11
|
||||
Date: {build_date}
|
||||
|
||||
Troubleshooting:
|
||||
@@ -126,7 +126,7 @@ If installation fails:
|
||||
For more help:
|
||||
- Documentation: docs/user_guide/installation.md
|
||||
- Quick Start: QUICK_START_CONDA_PACK.md
|
||||
- Issues: https://github.com/deepmodeling/Uni-Lab-OS/issues
|
||||
- Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
|
||||
|
||||
License:
|
||||
--------
|
||||
@@ -134,7 +134,7 @@ License:
|
||||
UniLabOS is licensed under GPL-3.0-only.
|
||||
See LICENSE file for details.
|
||||
|
||||
Repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
Repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
"""
|
||||
|
||||
return readme
|
||||
|
||||
@@ -1,214 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Development installation script for UniLabOS.
|
||||
Auto-detects Chinese locale and uses appropriate mirror.
|
||||
|
||||
Usage:
|
||||
python scripts/dev_install.py
|
||||
python scripts/dev_install.py --no-mirror # Force no mirror
|
||||
python scripts/dev_install.py --china # Force China mirror
|
||||
python scripts/dev_install.py --skip-deps # Skip pip dependencies installation
|
||||
|
||||
Flow:
|
||||
1. pip install -e . (install unilabos in editable mode)
|
||||
2. Detect Chinese locale
|
||||
3. Use uv to install pip dependencies from requirements.txt
|
||||
4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
|
||||
"""
|
||||
|
||||
import locale
|
||||
import subprocess
|
||||
import sys
|
||||
import argparse
|
||||
from pathlib import Path
|
||||
|
||||
# Tsinghua mirror URL
|
||||
TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||
|
||||
|
||||
def is_chinese_locale() -> bool:
|
||||
"""
|
||||
Detect if system is in Chinese locale.
|
||||
Same logic as EnvironmentChecker._is_chinese_locale()
|
||||
"""
|
||||
try:
|
||||
lang = locale.getdefaultlocale()[0]
|
||||
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
|
||||
return True
|
||||
except Exception:
|
||||
pass
|
||||
return False
|
||||
|
||||
|
||||
def run_command(cmd: list, description: str, retry: int = 2) -> bool:
|
||||
"""Run command with retry support."""
|
||||
print(f"[INFO] {description}")
|
||||
print(f"[CMD] {' '.join(cmd)}")
|
||||
|
||||
for attempt in range(retry + 1):
|
||||
try:
|
||||
result = subprocess.run(cmd, check=True, timeout=600)
|
||||
print(f"[OK] {description}")
|
||||
return True
|
||||
except subprocess.CalledProcessError as e:
|
||||
if attempt < retry:
|
||||
print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
|
||||
else:
|
||||
print(f"[ERROR] {description} failed: {e}")
|
||||
return False
|
||||
except subprocess.TimeoutExpired:
|
||||
print(f"[ERROR] {description} timed out")
|
||||
return False
|
||||
return False
|
||||
|
||||
|
||||
def install_editable(project_root: Path, use_mirror: bool) -> bool:
|
||||
"""Install unilabos in editable mode using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing unilabos in editable mode")
|
||||
|
||||
|
||||
def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Install pip dependencies using uv (installed via conda-forge::uv)."""
|
||||
cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with uv", retry=2)
|
||||
|
||||
|
||||
def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
|
||||
"""Fallback: Install pip dependencies using pip."""
|
||||
cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
|
||||
if use_mirror:
|
||||
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||
|
||||
return run_command(cmd, "Installing pip dependencies with pip", retry=2)
|
||||
|
||||
|
||||
def check_uv_available() -> bool:
|
||||
"""Check if uv is available (installed via conda-forge::uv)."""
|
||||
try:
|
||||
subprocess.run(["uv", "--version"], capture_output=True, check=True)
|
||||
return True
|
||||
except (subprocess.CalledProcessError, FileNotFoundError):
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
|
||||
parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
|
||||
parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
|
||||
parser.add_argument(
|
||||
"--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
|
||||
)
|
||||
parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
|
||||
args = parser.parse_args()
|
||||
|
||||
# Determine project root
|
||||
script_dir = Path(__file__).parent
|
||||
project_root = script_dir.parent
|
||||
requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
|
||||
|
||||
if not (project_root / "setup.py").exists():
|
||||
print(f"[ERROR] setup.py not found in {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print("=" * 60)
|
||||
print("UniLabOS Development Installation")
|
||||
print("=" * 60)
|
||||
print(f"Project root: {project_root}")
|
||||
print()
|
||||
|
||||
# Determine mirror usage based on locale
|
||||
if args.no_mirror:
|
||||
use_mirror = False
|
||||
print("[INFO] Mirror disabled by --no-mirror flag")
|
||||
elif args.china:
|
||||
use_mirror = True
|
||||
print("[INFO] China mirror enabled by --china flag")
|
||||
else:
|
||||
use_mirror = is_chinese_locale()
|
||||
if use_mirror:
|
||||
print("[INFO] Chinese locale detected, using Tsinghua mirror")
|
||||
else:
|
||||
print("[INFO] Non-Chinese locale detected, using default PyPI")
|
||||
|
||||
print()
|
||||
|
||||
# Step 1: Install unilabos in editable mode
|
||||
print("[STEP 1] Installing unilabos in editable mode...")
|
||||
if not install_editable(project_root, use_mirror):
|
||||
print("[ERROR] Failed to install unilabos")
|
||||
print()
|
||||
print("Manual fallback:")
|
||||
if use_mirror:
|
||||
print(f" pip install -e {project_root} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" pip install -e {project_root}")
|
||||
sys.exit(1)
|
||||
|
||||
print()
|
||||
|
||||
# Step 2: Install pip dependencies
|
||||
if args.skip_deps:
|
||||
print("[INFO] Skipping pip dependencies installation (--skip-deps)")
|
||||
else:
|
||||
print("[STEP 2] Installing pip dependencies...")
|
||||
|
||||
if not requirements_file.exists():
|
||||
print(f"[WARN] Requirements file not found: {requirements_file}")
|
||||
print("[INFO] Skipping dependencies installation")
|
||||
else:
|
||||
# Try uv first (faster), fallback to pip
|
||||
if args.use_pip:
|
||||
print("[INFO] Using pip (--use-pip flag)")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
elif check_uv_available():
|
||||
print("[INFO] Using uv (installed via conda-forge::uv)")
|
||||
success = install_requirements_uv(requirements_file, use_mirror)
|
||||
if not success:
|
||||
print("[WARN] uv failed, falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
else:
|
||||
print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
|
||||
print("[INFO] Falling back to pip...")
|
||||
success = install_requirements_pip(requirements_file, use_mirror)
|
||||
|
||||
if not success:
|
||||
print()
|
||||
print("[WARN] Failed to install some dependencies automatically.")
|
||||
print("You can manually install them:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(f" uv pip install -r {requirements_file}")
|
||||
print(" or:")
|
||||
print(f" pip install -r {requirements_file}")
|
||||
|
||||
print()
|
||||
print("=" * 60)
|
||||
print("Installation complete!")
|
||||
print("=" * 60)
|
||||
print()
|
||||
print("Note: Some special packages (like pylabrobot) are installed")
|
||||
print("automatically at runtime by unilabos if needed.")
|
||||
print()
|
||||
print("Verify installation:")
|
||||
print(' python -c "import unilabos; print(unilabos.__version__)"')
|
||||
print()
|
||||
print("If you encounter issues, you can manually install dependencies:")
|
||||
if use_mirror:
|
||||
print(f" uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
|
||||
else:
|
||||
print(" uv pip install -r unilabos/utils/requirements.txt")
|
||||
print()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -2,6 +2,7 @@ import json
|
||||
import logging
|
||||
import traceback
|
||||
import uuid
|
||||
import xml.etree.ElementTree as ET
|
||||
from typing import Any, Dict, List
|
||||
|
||||
import networkx as nx
|
||||
@@ -24,15 +25,7 @@ class SimpleGraph:
|
||||
|
||||
def add_edge(self, source, target, **attrs):
|
||||
"""添加边"""
|
||||
# edge = {"source": source, "target": target, **attrs}
|
||||
edge = {
|
||||
"source": source, "target": target,
|
||||
"source_node_uuid": source,
|
||||
"target_node_uuid": target,
|
||||
"source_handle_io": "source",
|
||||
"target_handle_io": "target",
|
||||
**attrs
|
||||
}
|
||||
edge = {"source": source, "target": target, **attrs}
|
||||
self.edges.append(edge)
|
||||
|
||||
def to_dict(self):
|
||||
@@ -49,7 +42,6 @@ class SimpleGraph:
|
||||
"multigraph": False,
|
||||
"graph": {},
|
||||
"nodes": nodes_list,
|
||||
"edges": self.edges,
|
||||
"links": self.edges,
|
||||
}
|
||||
|
||||
@@ -66,8 +58,495 @@ def extract_json_from_markdown(text: str) -> str:
|
||||
return text
|
||||
|
||||
|
||||
def convert_to_type(val: str) -> Any:
|
||||
"""将字符串值转换为适当的数据类型"""
|
||||
if val == "True":
|
||||
return True
|
||||
if val == "False":
|
||||
return False
|
||||
if val == "?":
|
||||
return None
|
||||
if val.endswith(" g"):
|
||||
return float(val.split(" ")[0])
|
||||
if val.endswith("mg"):
|
||||
return float(val.split("mg")[0])
|
||||
elif val.endswith("mmol"):
|
||||
return float(val.split("mmol")[0]) / 1000
|
||||
elif val.endswith("mol"):
|
||||
return float(val.split("mol")[0])
|
||||
elif val.endswith("ml"):
|
||||
return float(val.split("ml")[0])
|
||||
elif val.endswith("RPM"):
|
||||
return float(val.split("RPM")[0])
|
||||
elif val.endswith(" °C"):
|
||||
return float(val.split(" ")[0])
|
||||
elif val.endswith(" %"):
|
||||
return float(val.split(" ")[0])
|
||||
return val
|
||||
|
||||
|
||||
def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
|
||||
"""统一的数据重构函数，根据操作类型自动选择模板"""
|
||||
refactored_data = []
|
||||
|
||||
# 定义操作映射，包含生物实验和有机化学的所有操作
|
||||
OPERATION_MAPPING = {
|
||||
# 生物实验操作
|
||||
"transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
|
||||
"transfer": "SynBioFactory-liquid_handler.biomek-transfer",
|
||||
"incubation": "SynBioFactory-liquid_handler.biomek-incubation",
|
||||
"move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
|
||||
"oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
|
||||
# 有机化学操作
|
||||
"HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
|
||||
"StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
|
||||
"StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
|
||||
"HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
|
||||
"Dissolve": "SynBioFactory-workstation-DissolveProtocol",
|
||||
"Transfer": "SynBioFactory-workstation-TransferProtocol",
|
||||
"Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
|
||||
"Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
|
||||
"Filter": "SynBioFactory-workstation-FilterProtocol",
|
||||
"Dry": "SynBioFactory-workstation-DryProtocol",
|
||||
"Add": "SynBioFactory-workstation-AddProtocol",
|
||||
}
|
||||
|
||||
UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
|
||||
|
||||
for step in data:
|
||||
operation = step.get("action")
|
||||
if not operation or operation in UNSUPPORTED_OPERATIONS:
|
||||
continue
|
||||
|
||||
# 处理重复操作
|
||||
if operation == "Repeat":
|
||||
times = step.get("times", step.get("parameters", {}).get("times", 1))
|
||||
sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
|
||||
for i in range(int(times)):
|
||||
sub_data = refactor_data(sub_steps)
|
||||
refactored_data.extend(sub_data)
|
||||
continue
|
||||
|
||||
# 获取模板名称
|
||||
template = OPERATION_MAPPING.get(operation)
|
||||
if not template:
|
||||
# 自动推断模板类型
|
||||
if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
|
||||
template = f"SynBioFactory-liquid_handler.biomek-{operation}"
|
||||
else:
|
||||
template = f"SynBioFactory-workstation-{operation}Protocol"
|
||||
|
||||
# 创建步骤数据
|
||||
step_data = {
|
||||
"template": template,
|
||||
"description": step.get("description", step.get("purpose", f"{operation} operation")),
|
||||
"lab_node_type": "Device",
|
||||
"parameters": step.get("parameters", step.get("action_args", {})),
|
||||
}
|
||||
refactored_data.append(step_data)
|
||||
|
||||
return refactored_data
|
||||
|
||||
|
||||
def build_protocol_graph(
|
||||
labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
|
||||
) -> SimpleGraph:
|
||||
"""统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
|
||||
G = SimpleGraph()
|
||||
resource_last_writer = {}
|
||||
LAB_NAME = "SynBioFactory"
|
||||
|
||||
protocol_steps = refactor_data(protocol_steps)
|
||||
|
||||
# 检查协议步骤中的模板来判断协议类型
|
||||
has_biomek_template = any(
|
||||
("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
|
||||
for step in protocol_steps
|
||||
)
|
||||
|
||||
if has_biomek_template:
|
||||
# 生物实验协议图构建
|
||||
for labware_id, labware in labware_info.items():
|
||||
node_id = str(uuid.uuid4())
|
||||
|
||||
labware_attrs = labware.copy()
|
||||
labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
|
||||
labware_attrs["description"] = labware_id
|
||||
labware_attrs["lab_node_type"] = (
|
||||
"Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
|
||||
)
|
||||
labware_attrs["device_id"] = workstation_name
|
||||
|
||||
G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
|
||||
resource_last_writer[labware_id] = f"{node_id}:labware"
|
||||
|
||||
# 处理协议步骤
|
||||
prev_node = None
|
||||
for i, step in enumerate(protocol_steps):
|
||||
node_id = str(uuid.uuid4())
|
||||
G.add_node(node_id, **step)
|
||||
|
||||
# 添加控制流边
|
||||
if prev_node is not None:
|
||||
G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
|
||||
prev_node = node_id
|
||||
|
||||
# 处理物料流
|
||||
params = step.get("parameters", {})
|
||||
if "sources" in params and params["sources"] in resource_last_writer:
|
||||
source_node, source_port = resource_last_writer[params["sources"]].split(":")
|
||||
G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
|
||||
|
||||
if "targets" in params:
|
||||
resource_last_writer[params["targets"]] = f"{node_id}:labware"
|
||||
|
||||
# 添加协议结束节点
|
||||
end_id = str(uuid.uuid4())
|
||||
G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
|
||||
if prev_node is not None:
|
||||
G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
|
||||
|
||||
else:
|
||||
# 有机化学协议图构建
|
||||
WORKSTATION_ID = workstation_name
|
||||
|
||||
# 为所有labware创建资源节点
|
||||
for item_id, item in labware_info.items():
|
||||
# item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
|
||||
node_id = str(uuid.uuid4())
|
||||
|
||||
# 判断节点类型
|
||||
if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
|
||||
if "reactor" not in str(item_id).lower():
|
||||
continue
|
||||
lab_node_type = "Sample"
|
||||
description = f"Prepare Reactor: {item_id}"
|
||||
liquid_type = []
|
||||
liquid_volume = []
|
||||
else:
|
||||
lab_node_type = "Reagent"
|
||||
description = f"Add Reagent to Flask: {item_id}"
|
||||
liquid_type = [item_id]
|
||||
liquid_volume = [1e5]
|
||||
|
||||
G.add_node(
|
||||
node_id,
|
||||
template=f"{LAB_NAME}-host_node-create_resource",
|
||||
description=description,
|
||||
lab_node_type=lab_node_type,
|
||||
res_id=item_id,
|
||||
device_id=WORKSTATION_ID,
|
||||
class_name="container",
|
||||
parent=WORKSTATION_ID,
|
||||
bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
|
||||
liquid_input_slot=[-1],
|
||||
liquid_type=liquid_type,
|
||||
liquid_volume=liquid_volume,
|
||||
slot_on_deck="",
|
||||
role=item.get("role", ""),
|
||||
)
|
||||
resource_last_writer[item_id] = f"{node_id}:labware"
|
||||
|
||||
last_control_node_id = None
|
||||
|
||||
# 处理协议步骤
|
||||
for step in protocol_steps:
|
||||
node_id = str(uuid.uuid4())
|
||||
G.add_node(node_id, **step)
|
||||
|
||||
# 控制流
|
||||
if last_control_node_id is not None:
|
||||
G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
|
||||
last_control_node_id = node_id
|
||||
|
||||
# 物料流
|
||||
params = step.get("parameters", {})
|
||||
input_resources = {
|
||||
"Vessel": params.get("vessel"),
|
||||
"ToVessel": params.get("to_vessel"),
|
||||
"FromVessel": params.get("from_vessel"),
|
||||
"reagent": params.get("reagent"),
|
||||
"solvent": params.get("solvent"),
|
||||
"compound": params.get("compound"),
|
||||
"sources": params.get("sources"),
|
||||
"targets": params.get("targets"),
|
||||
}
|
||||
|
||||
for target_port, resource_name in input_resources.items():
|
||||
if resource_name and resource_name in resource_last_writer:
|
||||
source_node, source_port = resource_last_writer[resource_name].split(":")
|
||||
G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
|
||||
|
||||
output_resources = {
|
||||
"VesselOut": params.get("vessel"),
|
||||
"FromVesselOut": params.get("from_vessel"),
|
||||
"ToVesselOut": params.get("to_vessel"),
|
||||
"FiltrateOut": params.get("filtrate_vessel"),
|
||||
"reagent": params.get("reagent"),
|
||||
"solvent": params.get("solvent"),
|
||||
"compound": params.get("compound"),
|
||||
"sources_out": params.get("sources"),
|
||||
"targets_out": params.get("targets"),
|
||||
}
|
||||
|
||||
for source_port, resource_name in output_resources.items():
|
||||
if resource_name:
|
||||
resource_last_writer[resource_name] = f"{node_id}:{source_port}"
|
||||
|
||||
return G
|
||||
|
||||
|
||||
def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
|
||||
"""
|
||||
(辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
|
||||
"""
|
||||
if not protocol_graph:
|
||||
print("Cannot draw graph: Graph object is empty.")
|
||||
return
|
||||
|
||||
G = nx.DiGraph()
|
||||
|
||||
for node_id, attrs in protocol_graph.nodes.items():
|
||||
label = attrs.get("description", attrs.get("template", node_id[:8]))
|
||||
G.add_node(node_id, label=label, **attrs)
|
||||
|
||||
for edge in protocol_graph.edges:
|
||||
G.add_edge(edge["source"], edge["target"])
|
||||
|
||||
plt.figure(figsize=(20, 15))
|
||||
try:
|
||||
pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
|
||||
except Exception:
|
||||
pos = nx.shell_layout(G) # Fallback layout
|
||||
|
||||
node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
|
||||
nx.draw(
|
||||
G,
|
||||
pos,
|
||||
with_labels=False,
|
||||
node_size=2500,
|
||||
node_color="skyblue",
|
||||
node_shape="o",
|
||||
edge_color="gray",
|
||||
width=1.5,
|
||||
arrowsize=15,
|
||||
)
|
||||
nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
|
||||
|
||||
plt.title("Chemical Protocol Workflow Graph", size=15)
|
||||
plt.savefig(output_path, dpi=300, bbox_inches="tight")
|
||||
plt.close()
|
||||
print(f" - Visualization saved to '{output_path}'")
|
||||
|
||||
|
||||
from networkx.drawing.nx_agraph import to_agraph
|
||||
import re
|
||||
|
||||
COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
|
||||
|
||||
def _is_compass(port: str) -> bool:
|
||||
return isinstance(port, str) and port.lower() in COMPASS
|
||||
|
||||
def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
|
||||
"""
|
||||
使用 Graphviz 端口语法绘制协议工作流图。
|
||||
- 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
|
||||
- 否则自动为节点创建 record 形状并定义命名端口 <portname>。
|
||||
最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
|
||||
"""
|
||||
if not protocol_graph:
|
||||
print("Cannot draw graph: Graph object is empty.")
|
||||
return
|
||||
|
||||
# 1) 先用 networkx 搭建有向图，保留端口属性
|
||||
G = nx.DiGraph()
|
||||
for node_id, attrs in protocol_graph.nodes.items():
|
||||
label = attrs.get("description", attrs.get("template", node_id[:8]))
|
||||
# 保留一个干净的“中心标签”，用于放在 record 的中间槽
|
||||
G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
|
||||
|
||||
edges_data = []
|
||||
in_ports_by_node = {} # 收集命名输入端口
|
||||
out_ports_by_node = {} # 收集命名输出端口
|
||||
|
||||
for edge in protocol_graph.edges:
|
||||
u = edge["source"]
|
||||
v = edge["target"]
|
||||
sp = edge.get("source_port")
|
||||
tp = edge.get("target_port")
|
||||
|
||||
# 记录到图里（保留原始端口信息）
|
||||
G.add_edge(u, v, source_port=sp, target_port=tp)
|
||||
edges_data.append((u, v, sp, tp))
|
||||
|
||||
# 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
|
||||
if sp and not _is_compass(sp):
|
||||
out_ports_by_node.setdefault(u, set()).add(str(sp))
|
||||
if tp and not _is_compass(tp):
|
||||
in_ports_by_node.setdefault(v, set()).add(str(tp))
|
||||
|
||||
# 2) 转为 AGraph，使用 Graphviz 渲染
|
||||
A = to_agraph(G)
|
||||
A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
|
||||
A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
|
||||
A.edge_attr.update(arrowsize="0.8", color="#666666")
|
||||
|
||||
# 3) 为需要命名端口的节点设置 record 形状与 label
|
||||
# 左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
|
||||
for n in A.nodes():
|
||||
node = A.get_node(n)
|
||||
core = G.nodes[n].get("_core_label", n)
|
||||
|
||||
in_ports = sorted(in_ports_by_node.get(n, []))
|
||||
out_ports = sorted(out_ports_by_node.get(n, []))
|
||||
|
||||
# 如果该节点涉及命名端口，则用 record；否则保留原 box
|
||||
if in_ports or out_ports:
|
||||
def port_fields(ports):
|
||||
if not ports:
|
||||
return " " # 必须留一个空槽占位
|
||||
# 每个端口一个小格子，<p> name
|
||||
return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
|
||||
|
||||
left = port_fields(in_ports)
|
||||
right = port_fields(out_ports)
|
||||
|
||||
# 三栏：左(入) | 中(节点名) | 右(出)
|
||||
record_label = f"{{ {left} | {core} | {right} }}"
|
||||
node.attr.update(shape="record", label=record_label)
|
||||
else:
|
||||
# 没有命名端口：普通盒子，显示核心标签
|
||||
node.attr.update(label=str(core))
|
||||
|
||||
# 4) 给边设置 headport / tailport
|
||||
# - 若端口为 compass：直接用 compass（e.g., headport="e"）
|
||||
# - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
|
||||
for (u, v, sp, tp) in edges_data:
|
||||
e = A.get_edge(u, v)
|
||||
|
||||
# Graphviz 属性：tail 是源，head 是目标
|
||||
if sp:
|
||||
if _is_compass(sp):
|
||||
e.attr["tailport"] = sp.lower()
|
||||
else:
|
||||
# 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
|
||||
e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
|
||||
|
||||
if tp:
|
||||
if _is_compass(tp):
|
||||
e.attr["headport"] = tp.lower()
|
||||
else:
|
||||
e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
|
||||
|
||||
# 可选：若想让边更贴边缘，可设置 constraint/spline 等
|
||||
# e.attr["arrowhead"] = "vee"
|
||||
|
||||
# 5) 输出
|
||||
A.draw(output_path, prog="dot")
|
||||
print(f" - Port-aware workflow rendered to '{output_path}'")
|
||||
|
||||
|
||||
def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
|
||||
"""展平嵌套的XDL程序结构"""
|
||||
flattened_operations = []
|
||||
TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
|
||||
|
||||
def extract_operations(element: ET.Element):
|
||||
if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
|
||||
if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
|
||||
flattened_operations.append(element)
|
||||
|
||||
for child in element:
|
||||
extract_operations(child)
|
||||
|
||||
for child in procedure_elem:
|
||||
extract_operations(child)
|
||||
|
||||
return flattened_operations
|
||||
|
||||
|
||||
def parse_xdl_content(xdl_content: str) -> tuple:
|
||||
"""解析XDL内容"""
|
||||
try:
|
||||
xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
|
||||
root = ET.fromstring(xdl_content_cleaned)
|
||||
|
||||
synthesis_elem = root.find("Synthesis")
|
||||
if synthesis_elem is None:
|
||||
return None, None, None
|
||||
|
||||
# 解析硬件组件
|
||||
hardware_elem = synthesis_elem.find("Hardware")
|
||||
hardware = []
|
||||
if hardware_elem is not None:
|
||||
hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
|
||||
|
||||
# 解析试剂
|
||||
reagents_elem = synthesis_elem.find("Reagents")
|
||||
reagents = []
|
||||
if reagents_elem is not None:
|
||||
reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
|
||||
|
||||
# 解析程序
|
||||
procedure_elem = synthesis_elem.find("Procedure")
|
||||
if procedure_elem is None:
|
||||
return None, None, None
|
||||
|
||||
flattened_operations = flatten_xdl_procedure(procedure_elem)
|
||||
return hardware, reagents, flattened_operations
|
||||
|
||||
except ET.ParseError as e:
|
||||
raise ValueError(f"Invalid XDL format: {e}")
|
||||
|
||||
|
||||
def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
|
||||
"""
|
||||
将XDL XML格式转换为标准的字典格式
|
||||
|
||||
Args:
|
||||
xdl_content: XDL XML内容
|
||||
|
||||
Returns:
|
||||
转换结果，包含步骤和器材信息
|
||||
"""
|
||||
try:
|
||||
hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
|
||||
if hardware is None:
|
||||
return {"error": "Failed to parse XDL content", "success": False}
|
||||
|
||||
# 将XDL元素转换为字典格式
|
||||
steps_data = []
|
||||
for elem in flattened_operations:
|
||||
# 转换参数类型
|
||||
parameters = {}
|
||||
for key, val in elem.attrib.items():
|
||||
converted_val = convert_to_type(val)
|
||||
if converted_val is not None:
|
||||
parameters[key] = converted_val
|
||||
|
||||
step_dict = {
|
||||
"operation": elem.tag,
|
||||
"parameters": parameters,
|
||||
"description": elem.get("purpose", f"Operation: {elem.tag}"),
|
||||
}
|
||||
steps_data.append(step_dict)
|
||||
|
||||
# 合并硬件和试剂为统一的labware_info格式
|
||||
labware_data = []
|
||||
labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
|
||||
labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"steps": steps_data,
|
||||
"labware": labware_data,
|
||||
"message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"XDL conversion failed: {str(e)}"
|
||||
logger.error(error_msg)
|
||||
return {"error": error_msg, "success": False}
|
||||
|
||||
|
||||
def create_workflow(
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.19',
|
||||
version='0.10.13',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
"""
|
||||
测试包根目录。
|
||||
|
||||
让 `tests.*` 模块可以被正常 import（例如给 `unilabos` 下的测试入口使用）。
|
||||
"""
|
||||
|
||||
|
||||
@@ -1,296 +0,0 @@
|
||||
"""
|
||||
批量转运编译器测试
|
||||
|
||||
覆盖：单物料退化、刚好一批、多批次、空操作、AGV 配置发现、children dict 状态。
|
||||
"""
|
||||
|
||||
import pytest
|
||||
import networkx as nx
|
||||
|
||||
from unilabos.compile.batch_transfer_protocol import generate_batch_transfer_protocol
|
||||
from unilabos.compile.agv_transfer_protocol import generate_agv_transfer_protocol
|
||||
from unilabos.compile._agv_utils import find_agv_config, get_agv_capacity, split_batches
|
||||
|
||||
|
||||
# ============ 构建测试用设备图 ============
|
||||
|
||||
def _make_graph(capacity_x=2, capacity_y=1, capacity_z=1):
|
||||
"""构建包含 AGV 节点的测试设备图"""
|
||||
G = nx.DiGraph()
|
||||
|
||||
# AGV 节点
|
||||
G.add_node("AGV", **{
|
||||
"type": "device",
|
||||
"class_": "agv_transport_station",
|
||||
"config": {
|
||||
"protocol_type": ["AGVTransferProtocol", "BatchTransferProtocol"],
|
||||
"device_roles": {
|
||||
"navigator": "zhixing_agv",
|
||||
"arm": "zhixing_ur_arm"
|
||||
},
|
||||
"route_table": {
|
||||
"StationA->StationB": {
|
||||
"nav_command": '{"target": "LM1"}',
|
||||
"arm_pick": '{"task_name": "pick.urp"}',
|
||||
"arm_place": '{"task_name": "place.urp"}'
|
||||
},
|
||||
"AGV->StationA": {
|
||||
"nav_command": '{"target": "LM1"}',
|
||||
"arm_pick": '{"task_name": "pick.urp"}',
|
||||
"arm_place": '{"task_name": "place.urp"}'
|
||||
},
|
||||
"StationA->StationA": {
|
||||
"nav_command": '{"target": "LM1"}',
|
||||
"arm_pick": '{"task_name": "pick.urp"}',
|
||||
"arm_place": '{"task_name": "place.urp"}'
|
||||
},
|
||||
}
|
||||
}
|
||||
})
|
||||
|
||||
# AGV 子设备
|
||||
G.add_node("zhixing_agv", type="device", class_="zhixing_agv")
|
||||
G.add_node("zhixing_ur_arm", type="device", class_="zhixing_ur_arm")
|
||||
G.add_edge("AGV", "zhixing_agv")
|
||||
G.add_edge("AGV", "zhixing_ur_arm")
|
||||
|
||||
# AGV Warehouse 子资源
|
||||
G.add_node("agv_platform", **{
|
||||
"type": "warehouse",
|
||||
"config": {
|
||||
"name": "agv_platform",
|
||||
"num_items_x": capacity_x,
|
||||
"num_items_y": capacity_y,
|
||||
"num_items_z": capacity_z,
|
||||
}
|
||||
})
|
||||
G.add_edge("AGV", "agv_platform")
|
||||
|
||||
# 来源/目标工站
|
||||
G.add_node("StationA", type="device", class_="workstation")
|
||||
G.add_node("StationB", type="device", class_="workstation")
|
||||
|
||||
return G
|
||||
|
||||
|
||||
def _make_repos(items_count=2):
|
||||
"""构建测试用的 from_repo 和 to_repo dict"""
|
||||
children = {}
|
||||
for i in range(items_count):
|
||||
pos = f"A{i + 1:02d}"
|
||||
children[pos] = {
|
||||
"id": f"resource_{i + 1}",
|
||||
"name": f"R{i + 1}",
|
||||
"parent": "StationA",
|
||||
"type": "resource",
|
||||
}
|
||||
|
||||
from_repo = {
|
||||
"StationA": {
|
||||
"id": "StationA",
|
||||
"name": "StationA",
|
||||
"children": children,
|
||||
}
|
||||
}
|
||||
to_repo = {
|
||||
"StationB": {
|
||||
"id": "StationB",
|
||||
"name": "StationB",
|
||||
"children": {},
|
||||
}
|
||||
}
|
||||
return from_repo, to_repo
|
||||
|
||||
|
||||
def _make_items(count=2):
|
||||
"""构建 transfer_resources / from_positions / to_positions"""
|
||||
resources = [
|
||||
{
|
||||
"id": f"resource_{i + 1}",
|
||||
"name": f"R{i + 1}",
|
||||
"sample_id": f"uuid-{i + 1}",
|
||||
"parent": "StationA",
|
||||
"type": "resource",
|
||||
}
|
||||
for i in range(count)
|
||||
]
|
||||
from_positions = [f"A{i + 1:02d}" for i in range(count)]
|
||||
to_positions = [f"A{i + 1:02d}" for i in range(count)]
|
||||
return resources, from_positions, to_positions
|
||||
|
||||
|
||||
# ============ _agv_utils 测试 ============
|
||||
|
||||
class TestAGVUtils:
|
||||
def test_find_agv_config(self):
|
||||
G = _make_graph()
|
||||
cfg = find_agv_config(G)
|
||||
assert cfg["agv_id"] == "AGV"
|
||||
assert cfg["device_roles"]["navigator"] == "zhixing_agv"
|
||||
assert cfg["device_roles"]["arm"] == "zhixing_ur_arm"
|
||||
assert "StationA->StationB" in cfg["route_table"]
|
||||
|
||||
def test_find_agv_config_by_id(self):
|
||||
G = _make_graph()
|
||||
cfg = find_agv_config(G, agv_id="AGV")
|
||||
assert cfg["agv_id"] == "AGV"
|
||||
|
||||
def test_find_agv_config_not_found(self):
|
||||
G = nx.DiGraph()
|
||||
G.add_node("SomeDevice", type="device", class_="pump")
|
||||
with pytest.raises(ValueError, match="未找到 AGV"):
|
||||
find_agv_config(G)
|
||||
|
||||
def test_get_agv_capacity(self):
|
||||
G = _make_graph(capacity_x=2, capacity_y=1, capacity_z=1)
|
||||
assert get_agv_capacity(G, "AGV") == 2
|
||||
|
||||
def test_get_agv_capacity_multi_layer(self):
|
||||
G = _make_graph(capacity_x=1, capacity_y=2, capacity_z=3)
|
||||
assert get_agv_capacity(G, "AGV") == 6
|
||||
|
||||
def test_split_batches_exact(self):
|
||||
assert split_batches([1, 2], 2) == [[1, 2]]
|
||||
|
||||
def test_split_batches_overflow(self):
|
||||
assert split_batches([1, 2, 3], 2) == [[1, 2], [3]]
|
||||
|
||||
def test_split_batches_single(self):
|
||||
assert split_batches([1], 4) == [[1]]
|
||||
|
||||
def test_split_batches_zero_capacity(self):
|
||||
with pytest.raises(ValueError):
|
||||
split_batches([1], 0)
|
||||
|
||||
|
||||
# ============ 批量转运编译器测试 ============
|
||||
|
||||
class TestBatchTransferProtocol:
|
||||
def test_empty_items(self):
|
||||
"""空物料列表返回空 steps"""
|
||||
G = _make_graph()
|
||||
from_repo, to_repo = _make_repos(0)
|
||||
steps = generate_batch_transfer_protocol(G, from_repo, to_repo, [], [], [])
|
||||
assert steps == []
|
||||
|
||||
def test_single_item(self):
|
||||
"""单物料转运（BatchTransfer 退化为单物料）"""
|
||||
G = _make_graph(capacity_x=2)
|
||||
from_repo, to_repo = _make_repos(1)
|
||||
resources, from_pos, to_pos = _make_items(1)
|
||||
steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
|
||||
|
||||
# 应该有: nav到来源 + 1个pick + nav到目标 + 1个place = 4 steps
|
||||
assert len(steps) == 4
|
||||
assert steps[0]["action_name"] == "send_nav_task"
|
||||
assert steps[1]["action_name"] == "move_pos_task"
|
||||
assert steps[1]["_transfer_meta"]["phase"] == "pick"
|
||||
assert steps[2]["action_name"] == "send_nav_task"
|
||||
assert steps[3]["action_name"] == "move_pos_task"
|
||||
assert steps[3]["_transfer_meta"]["phase"] == "place"
|
||||
|
||||
def test_exact_capacity(self):
|
||||
"""物料数 = AGV 容量，刚好一批"""
|
||||
G = _make_graph(capacity_x=2)
|
||||
from_repo, to_repo = _make_repos(2)
|
||||
resources, from_pos, to_pos = _make_items(2)
|
||||
steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
|
||||
|
||||
# nav + 2 pick + nav + 2 place = 6 steps
|
||||
assert len(steps) == 6
|
||||
pick_steps = [s for s in steps if s.get("_transfer_meta", {}).get("phase") == "pick"]
|
||||
place_steps = [s for s in steps if s.get("_transfer_meta", {}).get("phase") == "place"]
|
||||
assert len(pick_steps) == 2
|
||||
assert len(place_steps) == 2
|
||||
|
||||
def test_multi_batch(self):
|
||||
"""物料数 > AGV 容量，自动分批"""
|
||||
G = _make_graph(capacity_x=2)
|
||||
from_repo, to_repo = _make_repos(3)
|
||||
resources, from_pos, to_pos = _make_items(3)
|
||||
steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
|
||||
|
||||
# 批次1: nav + 2 pick + nav + 2 place + nav(返回) = 7
|
||||
# 批次2: nav + 1 pick + nav + 1 place = 4
|
||||
# 总计 11 steps
|
||||
assert len(steps) == 11
|
||||
|
||||
nav_steps = [s for s in steps if s["action_name"] == "send_nav_task"]
|
||||
# 批次1: 2 nav(去来源+去目标) + 1 nav(返回) + 批次2: 2 nav = 5 nav
|
||||
assert len(nav_steps) == 5
|
||||
|
||||
def test_children_dict_updated(self):
|
||||
"""compile 阶段三方 children dict 状态正确"""
|
||||
G = _make_graph(capacity_x=2)
|
||||
from_repo, to_repo = _make_repos(2)
|
||||
resources, from_pos, to_pos = _make_items(2)
|
||||
|
||||
assert "A01" in from_repo["StationA"]["children"]
|
||||
assert "A02" in from_repo["StationA"]["children"]
|
||||
assert len(to_repo["StationB"]["children"]) == 0
|
||||
|
||||
generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
|
||||
|
||||
# compile 后 from_repo 的 children 应该被 pop 掉
|
||||
assert "A01" not in from_repo["StationA"]["children"]
|
||||
assert "A02" not in from_repo["StationA"]["children"]
|
||||
# to_repo 应该有新物料
|
||||
assert "A01" in to_repo["StationB"]["children"]
|
||||
assert "A02" in to_repo["StationB"]["children"]
|
||||
assert to_repo["StationB"]["children"]["A01"]["id"] == "resource_1"
|
||||
|
||||
def test_device_ids_from_config(self):
|
||||
"""设备 ID 全部从配置读取，不硬编码"""
|
||||
G = _make_graph()
|
||||
from_repo, to_repo = _make_repos(1)
|
||||
resources, from_pos, to_pos = _make_items(1)
|
||||
steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
|
||||
|
||||
device_ids = {s["device_id"] for s in steps}
|
||||
assert "zhixing_agv" in device_ids
|
||||
assert "zhixing_ur_arm" in device_ids
|
||||
|
||||
def test_route_not_found(self):
|
||||
"""路由表中无对应路线时报错"""
|
||||
G = _make_graph()
|
||||
from_repo = {"Unknown": {"id": "Unknown", "children": {"A01": {"id": "R1", "parent": "Unknown"}}}}
|
||||
to_repo = {"Other": {"id": "Other", "children": {}}}
|
||||
resources = [{"id": "R1", "name": "R1"}]
|
||||
with pytest.raises(KeyError, match="路由表"):
|
||||
generate_batch_transfer_protocol(G, from_repo, to_repo, resources, ["A01"], ["B01"])
|
||||
|
||||
def test_length_mismatch(self):
|
||||
"""三个数组长度不一致时报错"""
|
||||
G = _make_graph()
|
||||
from_repo, to_repo = _make_repos(2)
|
||||
resources = [{"id": "R1"}]
|
||||
with pytest.raises(ValueError, match="长度不一致"):
|
||||
generate_batch_transfer_protocol(G, from_repo, to_repo, resources, ["A01", "A02"], ["B01"])
|
||||
|
||||
|
||||
# ============ 改造后的 AGV 单物料编译器测试 ============
|
||||
|
||||
class TestAGVTransferProtocol:
|
||||
def test_single_transfer_from_config(self):
|
||||
"""改造后的单物料编译器从 G 读取配置"""
|
||||
G = _make_graph()
|
||||
from_repo = {"StationA": {"id": "StationA", "children": {"A01": {"id": "R1", "parent": "StationA"}}}}
|
||||
to_repo = {"StationB": {"id": "StationB", "children": {}}}
|
||||
steps = generate_agv_transfer_protocol(G, from_repo, "A01", to_repo, "B01")
|
||||
|
||||
assert len(steps) == 2
|
||||
assert steps[0]["device_id"] == "zhixing_agv"
|
||||
assert steps[0]["action_name"] == "send_nav_task"
|
||||
assert steps[1]["device_id"] == "zhixing_ur_arm"
|
||||
assert steps[1]["action_name"] == "move_pos_task"
|
||||
|
||||
def test_children_updated(self):
|
||||
"""单物料编译后 children dict 正确更新"""
|
||||
G = _make_graph()
|
||||
from_repo = {"StationA": {"id": "StationA", "children": {"A01": {"id": "R1", "parent": "StationA"}}}}
|
||||
to_repo = {"StationB": {"id": "StationB", "children": {}}}
|
||||
generate_agv_transfer_protocol(G, from_repo, "A01", to_repo, "B01")
|
||||
|
||||
assert "A01" not in from_repo["StationA"]["children"]
|
||||
assert "B01" in to_repo["StationB"]["children"]
|
||||
assert to_repo["StationB"]["children"]["B01"]["parent"] == "StationB"
|
||||
@@ -1,706 +0,0 @@
|
||||
"""
|
||||
全链路集成测试：ROS Goal 转换 → ResourceTreeSet → get_plr_nested_dict → 编译器 → 动作列表
|
||||
|
||||
模拟 workstation.py 中的完整路径：
|
||||
1. host 返回 raw_data（模拟 resource_get 响应）
|
||||
2. ResourceTreeSet.from_raw_dict_list(raw_data) 构建资源树
|
||||
3. tree.root_node.get_plr_nested_dict() 生成嵌套 dict
|
||||
4. protocol_kwargs 传给编译器
|
||||
5. 编译器返回 action_list，验证结构和关键字段
|
||||
"""
|
||||
|
||||
import copy
|
||||
import json
|
||||
import pytest
|
||||
import networkx as nx
|
||||
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
)
|
||||
from unilabos.compile.utils.resource_helper import (
|
||||
ensure_resource_instance,
|
||||
resource_to_dict,
|
||||
get_resource_id,
|
||||
get_resource_data,
|
||||
)
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
# ============ 构建模拟设备图 ============
|
||||
|
||||
def _build_test_graph():
|
||||
"""构建一个包含常用设备节点的测试图"""
|
||||
G = nx.DiGraph()
|
||||
|
||||
# 容器
|
||||
G.add_node("reactor_01", **{
|
||||
"id": "reactor_01",
|
||||
"name": "reactor_01",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"data": {},
|
||||
"config": {},
|
||||
})
|
||||
|
||||
# 搅拌设备
|
||||
G.add_node("stirrer_1", **{
|
||||
"id": "stirrer_1",
|
||||
"name": "stirrer_1",
|
||||
"type": "device",
|
||||
"class": "virtual_stirrer",
|
||||
"data": {},
|
||||
"config": {},
|
||||
})
|
||||
G.add_edge("stirrer_1", "reactor_01")
|
||||
|
||||
# 加热设备
|
||||
G.add_node("heatchill_1", **{
|
||||
"id": "heatchill_1",
|
||||
"name": "heatchill_1",
|
||||
"type": "device",
|
||||
"class": "virtual_heatchill",
|
||||
"data": {},
|
||||
"config": {},
|
||||
})
|
||||
G.add_edge("heatchill_1", "reactor_01")
|
||||
|
||||
# 试剂容器（液体）
|
||||
G.add_node("flask_water", **{
|
||||
"id": "flask_water",
|
||||
"name": "flask_water",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"data": {"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 500.0}]},
|
||||
"config": {"reagent": "water"},
|
||||
})
|
||||
|
||||
# 固体加样器
|
||||
G.add_node("solid_dispenser_1", **{
|
||||
"id": "solid_dispenser_1",
|
||||
"name": "solid_dispenser_1",
|
||||
"type": "device",
|
||||
"class": "solid_dispenser",
|
||||
"data": {},
|
||||
"config": {},
|
||||
})
|
||||
|
||||
# 泵
|
||||
G.add_node("pump_1", **{
|
||||
"id": "pump_1",
|
||||
"name": "pump_1",
|
||||
"type": "device",
|
||||
"class": "virtual_pump",
|
||||
"data": {},
|
||||
"config": {},
|
||||
})
|
||||
G.add_edge("flask_water", "pump_1")
|
||||
G.add_edge("pump_1", "reactor_01")
|
||||
|
||||
return G
|
||||
|
||||
|
||||
# ============ 构建模拟 host 返回数据 ============
|
||||
|
||||
def _make_raw_resource(
|
||||
id="reactor_01",
|
||||
uuid="uuid-reactor-01",
|
||||
name="reactor_01",
|
||||
klass="virtual_stirrer",
|
||||
type_="device",
|
||||
parent=None,
|
||||
parent_uuid=None,
|
||||
data=None,
|
||||
config=None,
|
||||
extra=None,
|
||||
):
|
||||
"""模拟 host 返回的单个资源 dict（与 resource_get 服务响应一致）"""
|
||||
return {
|
||||
"id": id,
|
||||
"uuid": uuid,
|
||||
"name": name,
|
||||
"class": klass,
|
||||
"type": type_,
|
||||
"parent": parent,
|
||||
"parent_uuid": parent_uuid or "",
|
||||
"description": "",
|
||||
"config": config or {},
|
||||
"data": data or {},
|
||||
"extra": extra or {},
|
||||
"position": {"x": 0.0, "y": 0.0, "z": 0.0},
|
||||
}
|
||||
|
||||
|
||||
def _simulate_workstation_resource_enrichment(raw_data_list, field_type="unilabos_msgs/Resource"):
|
||||
"""
|
||||
模拟 workstation.py 中 resource enrichment 的核心逻辑：
|
||||
raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → protocol_kwargs[k]
|
||||
"""
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data_list)
|
||||
|
||||
if field_type == "unilabos_msgs/Resource":
|
||||
# 单个 Resource：取第一棵树的根节点
|
||||
root_instance = tree_set.trees[0].root_node if tree_set.trees else None
|
||||
return root_instance.get_plr_nested_dict() if root_instance else {}
|
||||
else:
|
||||
# sequence<Resource>：返回列表
|
||||
return [tree.root_node.get_plr_nested_dict() for tree in tree_set.trees]
|
||||
|
||||
|
||||
# ============ 全链路测试：Stir 协议 ============
|
||||
|
||||
class TestStirProtocolFullChain:
|
||||
"""Stir 协议全链路：host raw_data → enriched dict → compiler → action_list"""
|
||||
|
||||
def test_stir_with_enriched_resource_dict(self):
|
||||
"""单个 Resource 经过 enrichment 后传给 stir compiler"""
|
||||
from unilabos.compile.stir_protocol import generate_stir_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(
|
||||
id="reactor_01", uuid="uuid-reactor-01",
|
||||
klass="virtual_stirrer", type_="device",
|
||||
)]
|
||||
|
||||
# 模拟 workstation enrichment
|
||||
enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
assert enriched_vessel["id"] == "reactor_01"
|
||||
assert enriched_vessel["uuid"] == "uuid-reactor-01"
|
||||
assert enriched_vessel["class"] == "virtual_stirrer"
|
||||
|
||||
# 传给编译器
|
||||
G = _build_test_graph()
|
||||
actions = generate_stir_protocol(
|
||||
G=G,
|
||||
vessel=enriched_vessel,
|
||||
time="60",
|
||||
stir_speed=300.0,
|
||||
)
|
||||
|
||||
assert isinstance(actions, list)
|
||||
assert len(actions) >= 1
|
||||
action = actions[0]
|
||||
assert action["device_id"] == "stirrer_1"
|
||||
assert action["action_name"] == "stir"
|
||||
assert "vessel" in action["action_kwargs"]
|
||||
assert action["action_kwargs"]["vessel"]["id"] == "reactor_01"
|
||||
|
||||
def test_stir_with_resource_dict_instance(self):
|
||||
"""直接用 ResourceDictInstance 传给 stir compiler（通过 get_plr_nested_dict 转换）"""
|
||||
from unilabos.compile.stir_protocol import generate_stir_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
inst = tree_set.trees[0].root_node
|
||||
|
||||
# 通过 resource_to_dict 转换（resource_helper 兼容层）
|
||||
vessel_dict = resource_to_dict(inst)
|
||||
assert isinstance(vessel_dict, dict)
|
||||
assert vessel_dict["id"] == "reactor_01"
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_stir_protocol(G=G, vessel=vessel_dict, time="30")
|
||||
|
||||
assert len(actions) >= 1
|
||||
assert actions[0]["action_name"] == "stir"
|
||||
|
||||
def test_stir_with_string_vessel(self):
|
||||
"""兼容旧模式：直接传 vessel 字符串"""
|
||||
from unilabos.compile.stir_protocol import generate_stir_protocol
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_stir_protocol(G=G, vessel="reactor_01", time="30")
|
||||
|
||||
assert len(actions) >= 1
|
||||
assert actions[0]["device_id"] == "stirrer_1"
|
||||
assert actions[0]["action_kwargs"]["vessel"]["id"] == "reactor_01"
|
||||
|
||||
|
||||
# ============ 全链路测试：HeatChill 协议 ============
|
||||
|
||||
class TestHeatChillProtocolFullChain:
|
||||
"""HeatChill 协议全链路"""
|
||||
|
||||
def test_heatchill_with_enriched_resource(self):
|
||||
from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01", klass="virtual_stirrer")]
|
||||
enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_heat_chill_protocol(
|
||||
G=G,
|
||||
vessel=enriched_vessel,
|
||||
temp=80.0,
|
||||
time="300",
|
||||
)
|
||||
|
||||
assert isinstance(actions, list)
|
||||
assert len(actions) >= 1
|
||||
action = actions[0]
|
||||
assert action["device_id"] == "heatchill_1"
|
||||
assert action["action_name"] == "heat_chill"
|
||||
assert action["action_kwargs"]["temp"] == 80.0
|
||||
|
||||
def test_heatchill_start_with_enriched_resource(self):
|
||||
from unilabos.compile.heatchill_protocol import generate_heat_chill_start_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_heat_chill_start_protocol(
|
||||
G=G,
|
||||
vessel=enriched_vessel,
|
||||
temp=60.0,
|
||||
)
|
||||
|
||||
assert len(actions) >= 1
|
||||
assert actions[0]["action_name"] == "heat_chill_start"
|
||||
assert actions[0]["action_kwargs"]["temp"] == 60.0
|
||||
|
||||
def test_heatchill_stop_with_enriched_resource(self):
|
||||
from unilabos.compile.heatchill_protocol import generate_heat_chill_stop_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_heat_chill_stop_protocol(G=G, vessel=enriched_vessel)
|
||||
|
||||
assert len(actions) >= 1
|
||||
assert actions[0]["action_name"] == "heat_chill_stop"
|
||||
|
||||
|
||||
# ============ 全链路测试：Add 协议 ============
|
||||
|
||||
class TestAddProtocolFullChain:
|
||||
"""Add 协议全链路：vessel enrichment + reagent 查找 + 泵传输"""
|
||||
|
||||
def test_add_solid_with_enriched_resource(self):
|
||||
from unilabos.compile.add_protocol import generate_add_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_add_protocol(
|
||||
G=G,
|
||||
vessel=enriched_vessel,
|
||||
reagent="NaCl",
|
||||
mass="5 g",
|
||||
)
|
||||
|
||||
assert isinstance(actions, list)
|
||||
assert len(actions) >= 1
|
||||
# 应该包含至少一个 add_solid 或 log_message 动作
|
||||
action_names = [a.get("action_name", "") for a in actions]
|
||||
assert any(name in ["add_solid", "log_message"] for name in action_names)
|
||||
|
||||
def test_add_liquid_with_enriched_resource(self):
|
||||
from unilabos.compile.add_protocol import generate_add_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_add_protocol(
|
||||
G=G,
|
||||
vessel=enriched_vessel,
|
||||
reagent="water",
|
||||
volume="10 mL",
|
||||
)
|
||||
|
||||
assert isinstance(actions, list)
|
||||
assert len(actions) >= 1
|
||||
|
||||
|
||||
# ============ 全链路测试：ResourceDictInstance 兼容层 ============
|
||||
|
||||
class TestResourceDictInstanceCompatibility:
|
||||
"""验证编译器兼容层对 ResourceDictInstance 的处理"""
|
||||
|
||||
def test_get_vessel_from_enriched_dict(self):
|
||||
"""get_vessel 对 enriched dict 的处理"""
|
||||
raw_data = [_make_raw_resource(
|
||||
id="reactor_01",
|
||||
data={"temperature": 25.0, "liquid": [{"liquid_type": "water", "volume": 10.0}]},
|
||||
)]
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
vessel_id, vessel_data = get_vessel(enriched)
|
||||
assert vessel_id == "reactor_01"
|
||||
assert vessel_data["temperature"] == 25.0
|
||||
assert len(vessel_data["liquid"]) == 1
|
||||
|
||||
def test_get_vessel_from_resource_instance(self):
|
||||
"""get_vessel 直接对 ResourceDictInstance 的处理"""
|
||||
raw_data = [_make_raw_resource(
|
||||
id="reactor_01",
|
||||
data={"temperature": 25.0},
|
||||
)]
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
inst = tree_set.trees[0].root_node
|
||||
|
||||
vessel_id, vessel_data = get_vessel(inst)
|
||||
assert vessel_id == "reactor_01"
|
||||
assert vessel_data["temperature"] == 25.0
|
||||
|
||||
def test_ensure_resource_instance_round_trip(self):
|
||||
"""ensure_resource_instance → resource_to_dict 无损往返"""
|
||||
raw_data = [_make_raw_resource(
|
||||
id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer",
|
||||
data={"temp": 25.0},
|
||||
)]
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
# dict → ResourceDictInstance
|
||||
inst = ensure_resource_instance(enriched)
|
||||
assert isinstance(inst, ResourceDictInstance)
|
||||
assert inst.res_content.id == "reactor_01"
|
||||
assert inst.res_content.uuid == "uuid-r01"
|
||||
|
||||
# ResourceDictInstance → dict
|
||||
d = resource_to_dict(inst)
|
||||
assert isinstance(d, dict)
|
||||
assert d["id"] == "reactor_01"
|
||||
assert d["uuid"] == "uuid-r01"
|
||||
assert d["class"] == "virtual_stirrer"
|
||||
|
||||
|
||||
# ============ 全链路测试：带 children 的资源树 ============
|
||||
|
||||
class TestResourceTreeWithChildren:
|
||||
"""测试带 children 结构的资源树通过编译器的路径"""
|
||||
|
||||
def _make_tree_with_children(self):
|
||||
"""构建 StationA -> [Flask1, Flask2] 的资源树"""
|
||||
return [
|
||||
_make_raw_resource(
|
||||
id="StationA", uuid="uuid-station-a",
|
||||
name="StationA", klass="workstation", type_="device",
|
||||
),
|
||||
_make_raw_resource(
|
||||
id="Flask1", uuid="uuid-flask-1",
|
||||
name="Flask1", klass="", type_="resource",
|
||||
parent="StationA", parent_uuid="uuid-station-a",
|
||||
data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
|
||||
),
|
||||
_make_raw_resource(
|
||||
id="Flask2", uuid="uuid-flask-2",
|
||||
name="Flask2", klass="", type_="resource",
|
||||
parent="StationA", parent_uuid="uuid-station-a",
|
||||
data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
|
||||
),
|
||||
]
|
||||
|
||||
def test_enrichment_preserves_children_structure(self):
|
||||
"""验证 enrichment 后 children 为嵌套 dict"""
|
||||
raw_data = self._make_tree_with_children()
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
assert enriched["id"] == "StationA"
|
||||
assert "children" in enriched
|
||||
assert isinstance(enriched["children"], dict)
|
||||
assert "Flask1" in enriched["children"]
|
||||
assert "Flask2" in enriched["children"]
|
||||
|
||||
def test_children_preserve_uuid_and_data(self):
|
||||
"""验证 children 中的 uuid 和 data 被正确保留"""
|
||||
raw_data = self._make_tree_with_children()
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
flask1 = enriched["children"]["Flask1"]
|
||||
assert flask1["uuid"] == "uuid-flask-1"
|
||||
assert flask1["data"]["liquid"][0]["liquid_type"] == "water"
|
||||
assert flask1["data"]["liquid"][0]["volume"] == 10.0
|
||||
|
||||
flask2 = enriched["children"]["Flask2"]
|
||||
assert flask2["uuid"] == "uuid-flask-2"
|
||||
assert flask2["data"]["liquid"][0]["liquid_type"] == "ethanol"
|
||||
|
||||
def test_children_dict_can_be_popped(self):
|
||||
"""模拟 batch_transfer_protocol 中 pop children 的操作"""
|
||||
raw_data = self._make_tree_with_children()
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
# batch_transfer_protocol 中会 pop children
|
||||
children = enriched["children"]
|
||||
popped = children.pop("Flask1")
|
||||
assert popped["id"] == "Flask1"
|
||||
assert "Flask1" not in enriched["children"]
|
||||
assert "Flask2" in enriched["children"]
|
||||
|
||||
def test_children_dict_usable_as_from_repo(self):
|
||||
"""模拟 batch_transfer_protocol 中 from_repo 参数"""
|
||||
raw_data = self._make_tree_with_children()
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
# 模拟编译器接收的 from_repo 格式
|
||||
from_repo = {"StationA": enriched}
|
||||
from_repo_ = list(from_repo.values())[0]
|
||||
|
||||
assert from_repo_["id"] == "StationA"
|
||||
assert "Flask1" in from_repo_["children"]
|
||||
assert from_repo_["children"]["Flask1"]["uuid"] == "uuid-flask-1"
|
||||
|
||||
def test_sequence_resource_enrichment(self):
|
||||
"""sequence<Resource> 情况：多个独立资源树"""
|
||||
raw_data1 = [_make_raw_resource(id="R1", uuid="uuid-r1")]
|
||||
raw_data2 = [_make_raw_resource(id="R2", uuid="uuid-r2")]
|
||||
|
||||
tree_set1 = ResourceTreeSet.from_raw_dict_list(raw_data1)
|
||||
tree_set2 = ResourceTreeSet.from_raw_dict_list(raw_data2)
|
||||
|
||||
results = [
|
||||
tree.root_node.get_plr_nested_dict()
|
||||
for ts in [tree_set1, tree_set2]
|
||||
for tree in ts.trees
|
||||
]
|
||||
|
||||
assert len(results) == 2
|
||||
assert results[0]["id"] == "R1"
|
||||
assert results[1]["id"] == "R2"
|
||||
|
||||
|
||||
# ============ 全链路测试：动作列表结构验证 ============
|
||||
|
||||
class TestActionListStructure:
|
||||
"""验证编译器返回的 action_list 结构符合 workstation 预期"""
|
||||
|
||||
def _validate_action(self, action):
|
||||
"""验证单个 action dict 的结构"""
|
||||
if action.get("action_name") == "wait":
|
||||
# wait 伪动作不需要 device_id
|
||||
assert "action_kwargs" in action
|
||||
assert "time" in action["action_kwargs"]
|
||||
return
|
||||
|
||||
if action.get("action_name") == "log_message":
|
||||
# log 伪动作
|
||||
assert "action_kwargs" in action
|
||||
return
|
||||
|
||||
# 正常设备动作
|
||||
assert "device_id" in action, f"action 缺少 device_id: {action}"
|
||||
assert "action_name" in action, f"action 缺少 action_name: {action}"
|
||||
assert "action_kwargs" in action, f"action 缺少 action_kwargs: {action}"
|
||||
assert isinstance(action["action_kwargs"], dict)
|
||||
|
||||
def test_stir_action_list_structure(self):
|
||||
from unilabos.compile.stir_protocol import generate_stir_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_stir_protocol(G=G, vessel=enriched, time="60")
|
||||
|
||||
for action in actions:
|
||||
if isinstance(action, list):
|
||||
# 并行动作
|
||||
for sub_action in action:
|
||||
self._validate_action(sub_action)
|
||||
else:
|
||||
self._validate_action(action)
|
||||
|
||||
def test_heatchill_action_list_structure(self):
|
||||
from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_heat_chill_protocol(G=G, vessel=enriched, temp=80.0, time="60")
|
||||
|
||||
for action in actions:
|
||||
if isinstance(action, list):
|
||||
for sub_action in action:
|
||||
self._validate_action(sub_action)
|
||||
else:
|
||||
self._validate_action(action)
|
||||
|
||||
def test_add_action_list_structure(self):
|
||||
from unilabos.compile.add_protocol import generate_add_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
|
||||
G = _build_test_graph()
|
||||
actions = generate_add_protocol(G=G, vessel=enriched, reagent="NaCl", mass="5 g")
|
||||
|
||||
for action in actions:
|
||||
if isinstance(action, list):
|
||||
for sub_action in action:
|
||||
self._validate_action(sub_action)
|
||||
else:
|
||||
self._validate_action(action)
|
||||
|
||||
|
||||
# ============ 全链路测试：message_converter 到 enrichment ============
|
||||
|
||||
class TestMessageConverterToEnrichment:
|
||||
"""模拟从 ROS 消息转换后的 dict 到 enrichment 的完整链路"""
|
||||
|
||||
def test_ros_goal_conversion_simulation(self):
|
||||
"""
|
||||
模拟 workstation.py 中的完整流程：
|
||||
1. ROS goal 中的 vessel 字段被 convert_from_ros_msg 转换为浅层 dict
|
||||
2. workstation 用 resource_id 请求 host 获取完整资源数据
|
||||
3. ResourceTreeSet.from_raw_dict_list 构建资源树
|
||||
4. get_plr_nested_dict 生成嵌套 dict 替换 protocol_kwargs[k]
|
||||
"""
|
||||
# 步骤1: 模拟 convert_from_ros_msg 的输出（浅层 dict，只有 id 等基本字段）
|
||||
shallow_vessel = {
|
||||
"id": "reactor_01",
|
||||
"uuid": "uuid-reactor-01",
|
||||
"name": "reactor_01",
|
||||
"type": "device",
|
||||
"category": "virtual_stirrer",
|
||||
"children": [],
|
||||
"parent": "",
|
||||
"parent_uuid": "",
|
||||
"config": {},
|
||||
"data": {},
|
||||
"extra": {},
|
||||
"position": {"x": 0.0, "y": 0.0, "z": 0.0},
|
||||
}
|
||||
|
||||
protocol_kwargs = {
|
||||
"vessel": shallow_vessel,
|
||||
"time": "300",
|
||||
"stir_speed": 300.0,
|
||||
}
|
||||
|
||||
# 步骤2: 提取 resource_id
|
||||
resource_id = protocol_kwargs["vessel"]["id"]
|
||||
assert resource_id == "reactor_01"
|
||||
|
||||
# 步骤3: 模拟 host 返回完整数据（带 children）
|
||||
host_response = [
|
||||
_make_raw_resource(
|
||||
id="reactor_01", uuid="uuid-reactor-01",
|
||||
klass="virtual_stirrer", type_="device",
|
||||
data={"temperature": 25.0, "pressure": 1.0},
|
||||
config={"max_temp": 300.0},
|
||||
),
|
||||
]
|
||||
|
||||
# 步骤4: enrichment
|
||||
enriched = _simulate_workstation_resource_enrichment(host_response)
|
||||
protocol_kwargs["vessel"] = enriched
|
||||
|
||||
# 验证 enrichment 后的 protocol_kwargs
|
||||
assert protocol_kwargs["vessel"]["id"] == "reactor_01"
|
||||
assert protocol_kwargs["vessel"]["uuid"] == "uuid-reactor-01"
|
||||
assert protocol_kwargs["vessel"]["class"] == "virtual_stirrer"
|
||||
assert protocol_kwargs["vessel"]["data"]["temperature"] == 25.0
|
||||
assert protocol_kwargs["vessel"]["config"]["max_temp"] == 300.0
|
||||
|
||||
# 步骤5: 传给编译器
|
||||
from unilabos.compile.stir_protocol import generate_stir_protocol
|
||||
G = _build_test_graph()
|
||||
actions = generate_stir_protocol(G=G, **protocol_kwargs)
|
||||
|
||||
assert len(actions) >= 1
|
||||
assert actions[0]["device_id"] == "stirrer_1"
|
||||
assert actions[0]["action_name"] == "stir"
|
||||
|
||||
def test_ros_goal_with_children_enrichment(self):
|
||||
"""ROS goal → enrichment 带 children 的场景（batch transfer）"""
|
||||
# 模拟 host 返回带 children 的数据
|
||||
host_response = [
|
||||
_make_raw_resource(
|
||||
id="StationA", uuid="uuid-sa", klass="workstation", type_="device",
|
||||
config={"num_items_x": 4, "num_items_y": 2},
|
||||
),
|
||||
_make_raw_resource(
|
||||
id="Plate1", uuid="uuid-p1", type_="resource",
|
||||
parent="StationA", parent_uuid="uuid-sa",
|
||||
data={"sample": "sample_A"},
|
||||
),
|
||||
_make_raw_resource(
|
||||
id="Plate2", uuid="uuid-p2", type_="resource",
|
||||
parent="StationA", parent_uuid="uuid-sa",
|
||||
data={"sample": "sample_B"},
|
||||
),
|
||||
]
|
||||
|
||||
enriched = _simulate_workstation_resource_enrichment(host_response)
|
||||
|
||||
assert enriched["id"] == "StationA"
|
||||
assert enriched["class"] == "workstation"
|
||||
assert len(enriched["children"]) == 2
|
||||
assert enriched["children"]["Plate1"]["data"]["sample"] == "sample_A"
|
||||
assert enriched["children"]["Plate2"]["uuid"] == "uuid-p2"
|
||||
|
||||
# 模拟 batch_transfer 的 from_repo 格式
|
||||
from_repo = {"StationA": enriched}
|
||||
from_repo_ = list(from_repo.values())[0]
|
||||
assert "Plate1" in from_repo_["children"]
|
||||
assert from_repo_["children"]["Plate1"]["uuid"] == "uuid-p1"
|
||||
|
||||
|
||||
# ============ 全链路测试：多协议连续调用 ============
|
||||
|
||||
class TestMultiProtocolChain:
|
||||
"""模拟连续执行多个协议（如 add → stir → heatchill）"""
|
||||
|
||||
def test_sequential_protocol_execution(self):
|
||||
"""模拟典型合成路径：add → stir → heatchill"""
|
||||
from unilabos.compile.stir_protocol import generate_stir_protocol
|
||||
from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
|
||||
from unilabos.compile.add_protocol import generate_add_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(
|
||||
id="reactor_01", uuid="uuid-reactor-01",
|
||||
klass="virtual_stirrer", type_="device",
|
||||
)]
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
G = _build_test_graph()
|
||||
|
||||
# 每次调用用 enriched 的副本，避免编译器修改原数据
|
||||
all_actions = []
|
||||
|
||||
# 步骤1: 添加试剂
|
||||
add_actions = generate_add_protocol(
|
||||
G=G, vessel=copy.deepcopy(enriched),
|
||||
reagent="NaCl", mass="5 g",
|
||||
)
|
||||
all_actions.extend(add_actions)
|
||||
|
||||
# 步骤2: 搅拌
|
||||
stir_actions = generate_stir_protocol(
|
||||
G=G, vessel=copy.deepcopy(enriched),
|
||||
time="60", stir_speed=300.0,
|
||||
)
|
||||
all_actions.extend(stir_actions)
|
||||
|
||||
# 步骤3: 加热
|
||||
heat_actions = generate_heat_chill_protocol(
|
||||
G=G, vessel=copy.deepcopy(enriched),
|
||||
temp=80.0, time="300",
|
||||
)
|
||||
all_actions.extend(heat_actions)
|
||||
|
||||
# 验证总动作列表
|
||||
assert len(all_actions) >= 3
|
||||
# 每个协议至少产生一个核心动作
|
||||
action_names = [a.get("action_name", "") for a in all_actions if isinstance(a, dict)]
|
||||
assert "stir" in action_names
|
||||
assert "heat_chill" in action_names
|
||||
|
||||
def test_enriched_resource_not_mutated(self):
|
||||
"""验证编译器不应修改传入的 enriched dict（如果需要修改应 deepcopy）"""
|
||||
from unilabos.compile.stir_protocol import generate_stir_protocol
|
||||
|
||||
raw_data = [_make_raw_resource(id="reactor_01")]
|
||||
enriched = _simulate_workstation_resource_enrichment(raw_data)
|
||||
original_id = enriched["id"]
|
||||
original_uuid = enriched["uuid"]
|
||||
|
||||
G = _build_test_graph()
|
||||
generate_stir_protocol(G=G, vessel=enriched, time="60")
|
||||
|
||||
# 验证 enriched dict 核心字段未被修改
|
||||
assert enriched["id"] == original_id
|
||||
assert enriched["uuid"] == original_uuid
|
||||
@@ -1,538 +0,0 @@
|
||||
"""
|
||||
PumpTransfer 和 Separate 全链路测试
|
||||
|
||||
构建包含泵/阀门/分液漏斗的完整设备图，
|
||||
输出完整的中间数据（最短路径、泵骨架、动作列表等）。
|
||||
"""
|
||||
|
||||
import copy
|
||||
import json
|
||||
import pprint
|
||||
import pytest
|
||||
import networkx as nx
|
||||
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.compile.utils.resource_helper import get_resource_id, get_resource_data
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
def _make_raw_resource(id, uuid=None, name=None, klass="", type_="device",
|
||||
parent=None, parent_uuid=None, data=None, config=None, extra=None):
|
||||
return {
|
||||
"id": id,
|
||||
"uuid": uuid or f"uuid-{id}",
|
||||
"name": name or id,
|
||||
"class": klass,
|
||||
"type": type_,
|
||||
"parent": parent,
|
||||
"parent_uuid": parent_uuid or "",
|
||||
"description": "",
|
||||
"config": config or {},
|
||||
"data": data or {},
|
||||
"extra": extra or {},
|
||||
"position": {"x": 0.0, "y": 0.0, "z": 0.0},
|
||||
}
|
||||
|
||||
|
||||
def _simulate_enrichment(raw_data_list):
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data_list)
|
||||
root = tree_set.trees[0].root_node if tree_set.trees else None
|
||||
return root.get_plr_nested_dict() if root else {}
|
||||
|
||||
|
||||
def _build_pump_transfer_graph():
|
||||
"""
|
||||
构建带泵/阀门的设备图，用于测试 PumpTransfer:
|
||||
|
||||
flask_water (container)
|
||||
↓
|
||||
valve_1 (multiway_valve, pump_1 连接)
|
||||
↓
|
||||
reactor_01 (device)
|
||||
|
||||
同时有: stirrer_1, heatchill_1, separator_1
|
||||
"""
|
||||
G = nx.DiGraph()
|
||||
|
||||
# 源容器
|
||||
G.add_node("flask_water", **{
|
||||
"id": "flask_water", "name": "flask_water",
|
||||
"type": "container", "class": "",
|
||||
"data": {"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 200.0}]},
|
||||
"config": {"reagent": "water"},
|
||||
})
|
||||
|
||||
# 多通阀
|
||||
G.add_node("valve_1", **{
|
||||
"id": "valve_1", "name": "valve_1",
|
||||
"type": "device", "class": "multiway_valve",
|
||||
"data": {}, "config": {},
|
||||
})
|
||||
|
||||
# 注射泵（连接到阀门）
|
||||
G.add_node("pump_1", **{
|
||||
"id": "pump_1", "name": "pump_1",
|
||||
"type": "device", "class": "virtual_pump",
|
||||
"data": {}, "config": {"max_volume": 25.0},
|
||||
})
|
||||
|
||||
# 目标容器
|
||||
G.add_node("reactor_01", **{
|
||||
"id": "reactor_01", "name": "reactor_01",
|
||||
"type": "device", "class": "virtual_stirrer",
|
||||
"data": {"liquid": [{"liquid_type": "water", "volume": 50.0}]},
|
||||
"config": {},
|
||||
})
|
||||
|
||||
# 搅拌器
|
||||
G.add_node("stirrer_1", **{
|
||||
"id": "stirrer_1", "name": "stirrer_1",
|
||||
"type": "device", "class": "virtual_stirrer",
|
||||
"data": {}, "config": {},
|
||||
})
|
||||
|
||||
# 加热器
|
||||
G.add_node("heatchill_1", **{
|
||||
"id": "heatchill_1", "name": "heatchill_1",
|
||||
"type": "device", "class": "virtual_heatchill",
|
||||
"data": {}, "config": {},
|
||||
})
|
||||
|
||||
# 分离器
|
||||
G.add_node("separator_1", **{
|
||||
"id": "separator_1", "name": "separator_1",
|
||||
"type": "device", "class": "separator_controller",
|
||||
"data": {}, "config": {},
|
||||
})
|
||||
|
||||
# 废液容器
|
||||
G.add_node("waste_workup", **{
|
||||
"id": "waste_workup", "name": "waste_workup",
|
||||
"type": "container", "class": "",
|
||||
"data": {}, "config": {},
|
||||
})
|
||||
|
||||
# 产物收集瓶
|
||||
G.add_node("product_flask", **{
|
||||
"id": "product_flask", "name": "product_flask",
|
||||
"type": "container", "class": "",
|
||||
"data": {}, "config": {},
|
||||
})
|
||||
|
||||
# DCM溶剂瓶
|
||||
G.add_node("flask_dcm", **{
|
||||
"id": "flask_dcm", "name": "flask_dcm",
|
||||
"type": "container", "class": "",
|
||||
"data": {"reagent_name": "dcm", "liquid": [{"liquid_type": "dcm", "volume": 500.0}]},
|
||||
"config": {"reagent": "dcm"},
|
||||
})
|
||||
|
||||
# 边连接 —— flask_water → valve_1 → reactor_01
|
||||
G.add_edge("flask_water", "valve_1", port={"valve_1": "port_1"})
|
||||
G.add_edge("valve_1", "reactor_01", port={"valve_1": "port_2"})
|
||||
# 阀门 → 泵
|
||||
G.add_edge("valve_1", "pump_1")
|
||||
G.add_edge("pump_1", "valve_1")
|
||||
# 搅拌器 ↔ reactor
|
||||
G.add_edge("stirrer_1", "reactor_01")
|
||||
# 加热器 ↔ reactor
|
||||
G.add_edge("heatchill_1", "reactor_01")
|
||||
# 分离器 ↔ reactor
|
||||
G.add_edge("separator_1", "reactor_01")
|
||||
G.add_edge("reactor_01", "separator_1")
|
||||
# DCM → valve → reactor (同一泵路)
|
||||
G.add_edge("flask_dcm", "valve_1", port={"valve_1": "port_3"})
|
||||
# reactor → valve → product/waste
|
||||
G.add_edge("valve_1", "product_flask", port={"valve_1": "port_4"})
|
||||
G.add_edge("valve_1", "waste_workup", port={"valve_1": "port_5"})
|
||||
|
||||
return G
|
||||
|
||||
|
||||
def _format_action(action, indent=0):
|
||||
"""格式化单个 action 为可读字符串"""
|
||||
prefix = " " * indent
|
||||
if isinstance(action, list):
|
||||
# 并行动作
|
||||
lines = [f"{prefix}[PARALLEL]"]
|
||||
for sub in action:
|
||||
lines.append(_format_action(sub, indent + 1))
|
||||
return "\n".join(lines)
|
||||
|
||||
name = action.get("action_name", "?")
|
||||
device = action.get("device_id", "")
|
||||
kwargs = action.get("action_kwargs", {})
|
||||
comment = action.get("_comment", "")
|
||||
meta = action.get("_transfer_meta", "")
|
||||
|
||||
parts = [f"{prefix}→ {device}::{name}"]
|
||||
if kwargs:
|
||||
# 精简输出
|
||||
kw_str = ", ".join(f"{k}={v}" for k, v in kwargs.items()
|
||||
if k not in ("progress_message",))
|
||||
if kw_str:
|
||||
parts.append(f" kwargs: {{{kw_str}}}")
|
||||
if comment:
|
||||
parts.append(f" # {comment}")
|
||||
if meta:
|
||||
parts.append(f" meta: {meta}")
|
||||
return "\n".join(f"{prefix}{p}" if i > 0 else p for i, p in enumerate(parts))
|
||||
|
||||
|
||||
def _dump_actions(actions, title=""):
|
||||
"""打印完整动作列表"""
|
||||
print(f"\n{'='*70}")
|
||||
print(f" {title}")
|
||||
print(f" 总动作数: {len(actions)}")
|
||||
print(f"{'='*70}")
|
||||
for i, action in enumerate(actions):
|
||||
print(f"\n [{i:02d}] {_format_action(action, indent=2)}")
|
||||
print(f"\n{'='*70}\n")
|
||||
|
||||
|
||||
# ==================== PumpTransfer 全链路 ====================
|
||||
|
||||
class TestPumpTransferFullChain:
|
||||
"""PumpTransfer: 包含图路径查找、泵骨架构建、动作序列生成"""
|
||||
|
||||
def test_pump_transfer_basic(self):
|
||||
"""基础泵转移：flask_water → valve_1 → reactor_01"""
|
||||
from unilabos.compile.pump_protocol import generate_pump_protocol
|
||||
|
||||
G = _build_pump_transfer_graph()
|
||||
|
||||
# 检查最短路径
|
||||
path = nx.shortest_path(G, "flask_water", "reactor_01")
|
||||
print(f"\n最短路径: {path}")
|
||||
assert "valve_1" in path
|
||||
|
||||
# 调用编译器
|
||||
actions = generate_pump_protocol(
|
||||
G=G,
|
||||
from_vessel_id="flask_water",
|
||||
to_vessel_id="reactor_01",
|
||||
volume=10.0,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
)
|
||||
|
||||
_dump_actions(actions, "PumpTransfer: flask_water → reactor_01, 10mL")
|
||||
|
||||
# 验证
|
||||
assert isinstance(actions, list)
|
||||
assert len(actions) > 0
|
||||
# 应该有 set_valve_position 和 set_position 动作
|
||||
flat = [a for a in actions if isinstance(a, dict)]
|
||||
action_names = [a.get("action_name") for a in flat]
|
||||
print(f"动作名称列表: {action_names}")
|
||||
assert "set_valve_position" in action_names
|
||||
assert "set_position" in action_names
|
||||
|
||||
def test_pump_transfer_with_rinsing_enriched_vessel(self):
|
||||
"""pump_with_rinsing 接收 enriched vessel dict"""
|
||||
from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
G = _build_pump_transfer_graph()
|
||||
|
||||
# 模拟 enrichment
|
||||
from_raw = [_make_raw_resource(
|
||||
id="flask_water", klass="", type_="container",
|
||||
data={"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 200.0}]},
|
||||
)]
|
||||
to_raw = [_make_raw_resource(
|
||||
id="reactor_01", klass="virtual_stirrer", type_="device",
|
||||
)]
|
||||
|
||||
from_enriched = _simulate_enrichment(from_raw)
|
||||
to_enriched = _simulate_enrichment(to_raw)
|
||||
|
||||
print(f"\nfrom_vessel enriched: {json.dumps(from_enriched, indent=2, ensure_ascii=False)[:300]}...")
|
||||
print(f"to_vessel enriched: {json.dumps(to_enriched, indent=2, ensure_ascii=False)[:300]}...")
|
||||
|
||||
# get_vessel 兼容
|
||||
fid, fdata = get_vessel(from_enriched)
|
||||
tid, tdata = get_vessel(to_enriched)
|
||||
print(f"from_vessel_id={fid}, to_vessel_id={tid}")
|
||||
assert fid == "flask_water"
|
||||
assert tid == "reactor_01"
|
||||
|
||||
actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=from_enriched,
|
||||
to_vessel=to_enriched,
|
||||
volume=15.0,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
)
|
||||
|
||||
_dump_actions(actions, "PumpTransferWithRinsing: flask_water → reactor_01, 15mL (enriched)")
|
||||
|
||||
assert isinstance(actions, list)
|
||||
assert len(actions) > 0
|
||||
|
||||
def test_pump_transfer_multi_batch(self):
|
||||
"""体积 > max_volume 时自动分批"""
|
||||
from unilabos.compile.pump_protocol import generate_pump_protocol
|
||||
|
||||
G = _build_pump_transfer_graph()
|
||||
|
||||
# pump_1 的 max_volume = 25mL，转 60mL 应该分 3 批
|
||||
actions = generate_pump_protocol(
|
||||
G=G,
|
||||
from_vessel_id="flask_water",
|
||||
to_vessel_id="reactor_01",
|
||||
volume=60.0,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
)
|
||||
|
||||
_dump_actions(actions, "PumpTransfer 分批: 60mL (max_volume=25mL, 预期 3 批)")
|
||||
|
||||
assert len(actions) > 0
|
||||
# 应该有多轮 set_position
|
||||
flat = [a for a in actions if isinstance(a, dict)]
|
||||
set_position_count = sum(1 for a in flat if a.get("action_name") == "set_position")
|
||||
print(f"set_position 动作数: {set_position_count}")
|
||||
# 3批 × 2次 (吸液 + 排液) = 6 次 set_position
|
||||
assert set_position_count >= 6
|
||||
|
||||
def test_pump_transfer_no_path(self):
|
||||
"""无路径时返回空"""
|
||||
from unilabos.compile.pump_protocol import generate_pump_protocol
|
||||
|
||||
G = _build_pump_transfer_graph()
|
||||
G.add_node("isolated_flask", type="container")
|
||||
|
||||
actions = generate_pump_protocol(
|
||||
G=G,
|
||||
from_vessel_id="isolated_flask",
|
||||
to_vessel_id="reactor_01",
|
||||
volume=10.0,
|
||||
)
|
||||
|
||||
print(f"\n无路径时的动作列表: {actions}")
|
||||
assert actions == []
|
||||
|
||||
def test_pump_backbone_filtering(self):
|
||||
"""验证泵骨架过滤逻辑（电磁阀被跳过）"""
|
||||
from unilabos.compile.pump_protocol import generate_pump_protocol
|
||||
|
||||
G = _build_pump_transfer_graph()
|
||||
# 添加电磁阀到路径中
|
||||
G.add_node("solenoid_valve_1", **{
|
||||
"type": "device", "class": "solenoid_valve",
|
||||
"data": {}, "config": {},
|
||||
})
|
||||
# flask_water → solenoid_valve_1 → valve_1 → reactor_01
|
||||
G.remove_edge("flask_water", "valve_1")
|
||||
G.add_edge("flask_water", "solenoid_valve_1")
|
||||
G.add_edge("solenoid_valve_1", "valve_1")
|
||||
|
||||
path = nx.shortest_path(G, "flask_water", "reactor_01")
|
||||
print(f"\n含电磁阀的路径: {path}")
|
||||
assert "solenoid_valve_1" in path
|
||||
|
||||
actions = generate_pump_protocol(
|
||||
G=G,
|
||||
from_vessel_id="flask_water",
|
||||
to_vessel_id="reactor_01",
|
||||
volume=10.0,
|
||||
)
|
||||
|
||||
_dump_actions(actions, "PumpTransfer 含电磁阀: flask_water → solenoid → valve_1 → reactor_01")
|
||||
# 电磁阀应被跳过，泵骨架只有 valve_1
|
||||
assert len(actions) > 0
|
||||
|
||||
|
||||
# ==================== Separate 全链路 ====================
|
||||
|
||||
class TestSeparateProtocolFullChain:
|
||||
"""Separate: 包含 bug 确认和正常路径测试"""
|
||||
|
||||
def test_separate_bug_line_128_fixed(self):
|
||||
"""验证 separate_protocol.py:128 的 bug 已修复（不再 crash）"""
|
||||
from unilabos.compile.separate_protocol import generate_separate_protocol
|
||||
|
||||
G = _build_pump_transfer_graph()
|
||||
|
||||
raw_data = [_make_raw_resource(
|
||||
id="reactor_01", klass="virtual_stirrer",
|
||||
data={"liquid": [{"liquid_type": "water", "volume": 100.0}]},
|
||||
)]
|
||||
enriched = _simulate_enrichment(raw_data)
|
||||
|
||||
# 修复前：final_vessel_id, _ = vessel_id 会 crash（字符串解包）
|
||||
# 修复后：final_vessel_id = vessel_id，正常返回 action 列表
|
||||
result = generate_separate_protocol(
|
||||
G=G,
|
||||
vessel=enriched,
|
||||
purpose="extract",
|
||||
product_phase="top",
|
||||
product_vessel="product_flask",
|
||||
waste_vessel="waste_workup",
|
||||
solvent="dcm",
|
||||
volume="100 mL",
|
||||
)
|
||||
assert isinstance(result, list)
|
||||
assert len(result) > 0
|
||||
|
||||
def test_separate_manual_workaround(self):
|
||||
"""
|
||||
绕过 line 128 bug，手动测试分离编译器中可以工作的子函数
|
||||
"""
|
||||
from unilabos.compile.separate_protocol import (
|
||||
find_separator_device,
|
||||
find_separation_vessel_bottom,
|
||||
)
|
||||
from unilabos.compile.utils.vessel_parser import (
|
||||
find_connected_stirrer,
|
||||
find_solvent_vessel,
|
||||
)
|
||||
from unilabos.compile.utils.unit_parser import parse_volume_input
|
||||
from unilabos.compile.utils.resource_helper import get_resource_liquid_volume as get_vessel_liquid_volume
|
||||
|
||||
G = _build_pump_transfer_graph()
|
||||
|
||||
# 1. get_vessel 解析 enriched dict
|
||||
raw_data = [_make_raw_resource(
|
||||
id="reactor_01", klass="virtual_stirrer",
|
||||
data={"liquid": [{"liquid_type": "water", "volume": 100.0}]},
|
||||
)]
|
||||
enriched = _simulate_enrichment(raw_data)
|
||||
vessel_id, vessel_data = get_vessel(enriched)
|
||||
print(f"\nvessel_id: {vessel_id}")
|
||||
print(f"vessel_data: {vessel_data}")
|
||||
assert vessel_id == "reactor_01"
|
||||
assert vessel_data["liquid"][0]["volume"] == 100.0
|
||||
|
||||
# 2. find_separator_device
|
||||
sep = find_separator_device(G, vessel_id)
|
||||
print(f"分离器设备: {sep}")
|
||||
assert sep == "separator_1"
|
||||
|
||||
# 3. find_connected_stirrer
|
||||
stirrer = find_connected_stirrer(G, vessel_id)
|
||||
print(f"搅拌器设备: {stirrer}")
|
||||
assert stirrer == "stirrer_1"
|
||||
|
||||
# 4. find_solvent_vessel
|
||||
solvent_v = find_solvent_vessel(G, "dcm")
|
||||
print(f"DCM溶剂容器: {solvent_v}")
|
||||
assert solvent_v == "flask_dcm"
|
||||
|
||||
# 5. parse_volume_input
|
||||
vol = parse_volume_input("200 mL")
|
||||
print(f"体积解析: '200 mL' → {vol}")
|
||||
assert vol == 200.0
|
||||
|
||||
vol2 = parse_volume_input("1.5 L")
|
||||
print(f"体积解析: '1.5 L' → {vol2}")
|
||||
assert vol2 == 1500.0
|
||||
|
||||
# 6. get_vessel_liquid_volume
|
||||
liq_vol = get_vessel_liquid_volume(enriched)
|
||||
print(f"液体体积 (enriched dict): {liq_vol}")
|
||||
assert liq_vol == 100.0
|
||||
|
||||
# 7. find_separation_vessel_bottom
|
||||
bottom = find_separation_vessel_bottom(G, vessel_id)
|
||||
print(f"分离容器底部: {bottom}")
|
||||
# 当前图中没有命名匹配的底部容器
|
||||
|
||||
def test_pump_transfer_for_separate_subflow(self):
|
||||
"""测试 separate 中调用的 pump 子流程（溶剂添加 → 分液漏斗）"""
|
||||
from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
G = _build_pump_transfer_graph()
|
||||
|
||||
# 模拟分离前的溶剂添加步骤
|
||||
actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel="flask_dcm",
|
||||
to_vessel="reactor_01",
|
||||
volume=100.0,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
)
|
||||
|
||||
_dump_actions(actions, "Separate 子流程: flask_dcm → reactor_01, 100mL DCM")
|
||||
|
||||
assert isinstance(actions, list)
|
||||
assert len(actions) > 0
|
||||
|
||||
# 模拟分离后产物转移
|
||||
actions2 = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel="reactor_01",
|
||||
to_vessel="product_flask",
|
||||
volume=50.0,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
)
|
||||
|
||||
_dump_actions(actions2, "Separate 子流程: reactor_01 → product_flask, 50mL 产物")
|
||||
|
||||
assert len(actions2) > 0
|
||||
|
||||
# 废液转移
|
||||
actions3 = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel="reactor_01",
|
||||
to_vessel="waste_workup",
|
||||
volume=50.0,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5,
|
||||
)
|
||||
|
||||
_dump_actions(actions3, "Separate 子流程: reactor_01 → waste_workup, 50mL 废液")
|
||||
|
||||
assert len(actions3) > 0
|
||||
|
||||
|
||||
# ==================== 图路径可视化 ====================
|
||||
|
||||
class TestGraphPathVisualization:
|
||||
"""输出图中关键路径信息"""
|
||||
|
||||
def test_all_shortest_paths(self):
|
||||
"""输出所有容器之间的最短路径"""
|
||||
G = _build_pump_transfer_graph()
|
||||
|
||||
containers = [n for n in G.nodes() if G.nodes[n].get("type") == "container"]
|
||||
devices = [n for n in G.nodes() if G.nodes[n].get("type") == "device"]
|
||||
|
||||
print(f"\n{'='*70}")
|
||||
print(f" 设备图概览")
|
||||
print(f"{'='*70}")
|
||||
print(f" 容器节点 ({len(containers)}): {containers}")
|
||||
print(f" 设备节点 ({len(devices)}): {devices}")
|
||||
print(f" 边数: {G.number_of_edges()}")
|
||||
print(f" 边列表:")
|
||||
for u, v, data in G.edges(data=True):
|
||||
port_info = data.get("port", "")
|
||||
print(f" {u} → {v} {port_info if port_info else ''}")
|
||||
|
||||
print(f"\n 关键路径:")
|
||||
pairs = [
|
||||
("flask_water", "reactor_01"),
|
||||
("flask_dcm", "reactor_01"),
|
||||
("reactor_01", "product_flask"),
|
||||
("reactor_01", "waste_workup"),
|
||||
("flask_water", "product_flask"),
|
||||
]
|
||||
for src, dst in pairs:
|
||||
try:
|
||||
path = nx.shortest_path(G, src, dst)
|
||||
length = len(path) - 1
|
||||
# 标注路径上的节点类型
|
||||
annotated = []
|
||||
for n in path:
|
||||
ntype = G.nodes[n].get("type", "?")
|
||||
nclass = G.nodes[n].get("class", "")
|
||||
annotated.append(f"{n}({ntype}{'/' + nclass if nclass else ''})")
|
||||
print(f" {src} → {dst}: 距离={length}")
|
||||
print(f" 路径: {' → '.join(annotated)}")
|
||||
except nx.NetworkXNoPath:
|
||||
print(f" {src} → {dst}: 无路径!")
|
||||
|
||||
print(f"{'='*70}\n")
|
||||
@@ -1,324 +0,0 @@
|
||||
"""
|
||||
ROS Goal → Resource 转换 → 编译器路径的集成测试
|
||||
|
||||
覆盖：
|
||||
1. Resource.msg 新字段(uuid, klass, extra)的往返转换
|
||||
2. dict → ROS Resource → dict 往返无损
|
||||
3. ResourceTreeSet → get_plr_nested_dict 保留 children 结构
|
||||
4. resource_helper 兼容 dict / ResourceDictInstance
|
||||
5. vessel_parser.get_vessel 兼容 ResourceDictInstance
|
||||
"""
|
||||
|
||||
import json
|
||||
import pytest
|
||||
|
||||
# 不依赖 ROS 的测试 —— 直接测试 resource 处理路径
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceDict,
|
||||
ResourceDictInstance,
|
||||
ResourceTreeInstance,
|
||||
ResourceTreeSet,
|
||||
)
|
||||
from unilabos.compile.utils.resource_helper import (
|
||||
ensure_resource_instance,
|
||||
resource_to_dict,
|
||||
get_resource_id,
|
||||
get_resource_data,
|
||||
get_resource_display_info,
|
||||
get_resource_liquid_volume,
|
||||
)
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
# ============ 构建测试数据 ============
|
||||
|
||||
|
||||
def _make_resource_dict(
|
||||
id="reactor_01",
|
||||
uuid="uuid-reactor-01",
|
||||
name="reactor_01",
|
||||
klass="virtual_stirrer",
|
||||
type_="device",
|
||||
parent=None,
|
||||
parent_uuid=None,
|
||||
data=None,
|
||||
config=None,
|
||||
extra=None,
|
||||
):
|
||||
return {
|
||||
"id": id,
|
||||
"uuid": uuid,
|
||||
"name": name,
|
||||
"class": klass,
|
||||
"type": type_,
|
||||
"parent": parent,
|
||||
"parent_uuid": parent_uuid or "",
|
||||
"description": "",
|
||||
"config": config or {},
|
||||
"data": data or {},
|
||||
"extra": extra or {},
|
||||
"position": {"x": 1.0, "y": 2.0, "z": 3.0},
|
||||
}
|
||||
|
||||
|
||||
def _make_resource_instance(id="reactor_01", **kwargs):
|
||||
d = _make_resource_dict(id=id, **kwargs)
|
||||
return ResourceDictInstance.get_resource_instance_from_dict(d)
|
||||
|
||||
|
||||
def _make_tree_with_children():
|
||||
"""构建 StationA -> [R1, R2] 的资源树"""
|
||||
raw_data = [
|
||||
_make_resource_dict(
|
||||
id="StationA",
|
||||
uuid="uuid-station-a",
|
||||
name="StationA",
|
||||
klass="workstation",
|
||||
type_="device",
|
||||
),
|
||||
_make_resource_dict(
|
||||
id="R1",
|
||||
uuid="uuid-r1",
|
||||
name="R1",
|
||||
klass="",
|
||||
type_="resource",
|
||||
parent="StationA",
|
||||
parent_uuid="uuid-station-a",
|
||||
data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
|
||||
),
|
||||
_make_resource_dict(
|
||||
id="R2",
|
||||
uuid="uuid-r2",
|
||||
name="R2",
|
||||
klass="",
|
||||
type_="resource",
|
||||
parent="StationA",
|
||||
parent_uuid="uuid-station-a",
|
||||
data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
|
||||
),
|
||||
]
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
return tree_set
|
||||
|
||||
|
||||
# ============ resource_helper 测试 ============
|
||||
|
||||
|
||||
class TestResourceHelper:
|
||||
"""测试 resource_helper 对 dict / ResourceDictInstance 的兼容性"""
|
||||
|
||||
def test_ensure_resource_instance_from_dict(self):
|
||||
d = _make_resource_dict()
|
||||
inst = ensure_resource_instance(d)
|
||||
assert isinstance(inst, ResourceDictInstance)
|
||||
assert inst.res_content.id == "reactor_01"
|
||||
assert inst.res_content.uuid == "uuid-reactor-01"
|
||||
|
||||
def test_ensure_resource_instance_passthrough(self):
|
||||
inst = _make_resource_instance()
|
||||
result = ensure_resource_instance(inst)
|
||||
assert result is inst # 同一个对象，不复制
|
||||
|
||||
def test_ensure_resource_instance_none(self):
|
||||
assert ensure_resource_instance(None) is None
|
||||
|
||||
def test_get_resource_id_from_dict(self):
|
||||
d = _make_resource_dict(id="my_device")
|
||||
assert get_resource_id(d) == "my_device"
|
||||
|
||||
def test_get_resource_id_from_instance(self):
|
||||
inst = _make_resource_instance(id="my_device")
|
||||
assert get_resource_id(inst) == "my_device"
|
||||
|
||||
def test_get_resource_id_from_string(self):
|
||||
assert get_resource_id("my_device") == "my_device"
|
||||
|
||||
def test_get_resource_id_from_wrapped_dict(self):
|
||||
"""兼容 {station_id: {...}} 格式"""
|
||||
d = {"StationA": {"id": "StationA", "name": "StationA"}}
|
||||
assert get_resource_id(d) == "StationA"
|
||||
|
||||
def test_get_resource_data_from_dict(self):
|
||||
d = _make_resource_dict(data={"temperature": 25.0})
|
||||
assert get_resource_data(d) == {"temperature": 25.0}
|
||||
|
||||
def test_get_resource_data_from_instance(self):
|
||||
inst = _make_resource_instance(data={"temperature": 25.0})
|
||||
data = get_resource_data(inst)
|
||||
assert data["temperature"] == 25.0
|
||||
|
||||
def test_get_resource_display_info_from_dict(self):
|
||||
d = _make_resource_dict(id="reactor_01", name="Reactor #1")
|
||||
info = get_resource_display_info(d)
|
||||
assert "reactor_01" in info
|
||||
assert "Reactor #1" in info
|
||||
|
||||
def test_get_resource_display_info_from_instance(self):
|
||||
inst = _make_resource_instance(id="reactor_01", name="Reactor #1")
|
||||
info = get_resource_display_info(inst)
|
||||
assert "reactor_01" in info
|
||||
|
||||
def test_get_resource_display_info_from_string(self):
|
||||
assert get_resource_display_info("reactor_01") == "reactor_01"
|
||||
|
||||
def test_get_resource_liquid_volume(self):
|
||||
d = _make_resource_dict(data={"liquid": [{"liquid_type": "water", "volume": 15.5}]})
|
||||
assert get_resource_liquid_volume(d) == pytest.approx(15.5)
|
||||
|
||||
def test_resource_to_dict_from_instance(self):
|
||||
inst = _make_resource_instance(id="reactor_01", klass="virtual_stirrer")
|
||||
d = resource_to_dict(inst)
|
||||
assert isinstance(d, dict)
|
||||
assert d["id"] == "reactor_01"
|
||||
assert d["class"] == "virtual_stirrer"
|
||||
|
||||
def test_resource_to_dict_passthrough(self):
|
||||
d = _make_resource_dict()
|
||||
result = resource_to_dict(d)
|
||||
assert result is d # 同一个 dict
|
||||
|
||||
|
||||
# ============ vessel_parser 兼容性测试 ============
|
||||
|
||||
|
||||
class TestVesselParser:
|
||||
"""测试 vessel_parser.get_vessel 对 ResourceDictInstance 的兼容"""
|
||||
|
||||
def test_get_vessel_from_dict(self):
|
||||
d = _make_resource_dict(id="reactor_01", data={"temperature": 25.0})
|
||||
vessel_id, vessel_data = get_vessel(d)
|
||||
assert vessel_id == "reactor_01"
|
||||
assert vessel_data["temperature"] == 25.0
|
||||
|
||||
def test_get_vessel_from_string(self):
|
||||
vessel_id, vessel_data = get_vessel("reactor_01")
|
||||
assert vessel_id == "reactor_01"
|
||||
assert vessel_data == {}
|
||||
|
||||
def test_get_vessel_from_resource_instance(self):
|
||||
inst = _make_resource_instance(id="reactor_01", data={"temperature": 25.0})
|
||||
vessel_id, vessel_data = get_vessel(inst)
|
||||
assert vessel_id == "reactor_01"
|
||||
assert vessel_data["temperature"] == 25.0
|
||||
|
||||
def test_get_vessel_from_wrapped_dict(self):
|
||||
"""兼容 {station_id: {id: ..., data: {...}}} 格式"""
|
||||
d = {"StationA": {"id": "StationA", "data": {"vol": 100}}}
|
||||
vessel_id, vessel_data = get_vessel(d)
|
||||
assert vessel_id == "StationA"
|
||||
|
||||
|
||||
# ============ ResourceTreeSet → get_plr_nested_dict 测试 ============
|
||||
|
||||
|
||||
class TestResourceTreeRoundTrip:
|
||||
"""测试 ResourceTreeSet → get_plr_nested_dict 保留树结构和关键字段"""
|
||||
|
||||
def test_tree_preserves_children(self):
|
||||
tree_set = _make_tree_with_children()
|
||||
assert len(tree_set.trees) == 1
|
||||
root = tree_set.trees[0].root_node
|
||||
assert root.res_content.id == "StationA"
|
||||
assert len(root.children) == 2
|
||||
|
||||
def test_plr_nested_dict_has_children(self):
|
||||
tree_set = _make_tree_with_children()
|
||||
root = tree_set.trees[0].root_node
|
||||
nested = root.get_plr_nested_dict()
|
||||
assert isinstance(nested, dict)
|
||||
assert "children" in nested
|
||||
assert isinstance(nested["children"], dict)
|
||||
assert "R1" in nested["children"]
|
||||
assert "R2" in nested["children"]
|
||||
|
||||
def test_plr_nested_dict_preserves_uuid(self):
|
||||
tree_set = _make_tree_with_children()
|
||||
root = tree_set.trees[0].root_node
|
||||
nested = root.get_plr_nested_dict()
|
||||
assert nested["uuid"] == "uuid-station-a"
|
||||
assert nested["children"]["R1"]["uuid"] == "uuid-r1"
|
||||
|
||||
def test_plr_nested_dict_preserves_klass(self):
|
||||
tree_set = _make_tree_with_children()
|
||||
root = tree_set.trees[0].root_node
|
||||
nested = root.get_plr_nested_dict()
|
||||
assert nested["class"] == "workstation"
|
||||
|
||||
def test_plr_nested_dict_preserves_data(self):
|
||||
tree_set = _make_tree_with_children()
|
||||
root = tree_set.trees[0].root_node
|
||||
nested = root.get_plr_nested_dict()
|
||||
r1_data = nested["children"]["R1"]["data"]
|
||||
assert "liquid" in r1_data
|
||||
assert r1_data["liquid"][0]["volume"] == 10.0
|
||||
|
||||
def test_plr_nested_dict_usable_by_get_vessel(self):
|
||||
"""get_plr_nested_dict 的结果可以直接传给 get_vessel"""
|
||||
tree_set = _make_tree_with_children()
|
||||
root = tree_set.trees[0].root_node
|
||||
nested = root.get_plr_nested_dict()
|
||||
vessel_id, vessel_data = get_vessel(nested)
|
||||
assert vessel_id == "StationA"
|
||||
|
||||
def test_dump_vs_plr_nested_dict(self):
|
||||
"""dump() 是扁平化的，get_plr_nested_dict 保留树结构"""
|
||||
tree_set = _make_tree_with_children()
|
||||
# dump 返回扁平列表
|
||||
dumped = tree_set.dump()
|
||||
assert isinstance(dumped[0], list)
|
||||
assert len(dumped[0]) == 3 # StationA + R1 + R2，全部扁平
|
||||
|
||||
# get_plr_nested_dict 保留嵌套
|
||||
root = tree_set.trees[0].root_node
|
||||
nested = root.get_plr_nested_dict()
|
||||
assert isinstance(nested["children"], dict)
|
||||
assert len(nested["children"]) == 2 # 嵌套的 children
|
||||
|
||||
|
||||
# ============ 模拟 workstation 路径测试 ============
|
||||
|
||||
|
||||
class TestWorkstationPath:
|
||||
"""模拟 workstation.py 中的关键路径:
|
||||
raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → compiler
|
||||
"""
|
||||
|
||||
def test_single_resource_path(self):
|
||||
"""单个 Resource: 取第一棵树的根节点"""
|
||||
raw_data = [
|
||||
_make_resource_dict(id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer"),
|
||||
]
|
||||
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
|
||||
root = tree_set.trees[0].root_node
|
||||
result = root.get_plr_nested_dict()
|
||||
assert result["id"] == "reactor_01"
|
||||
assert result["uuid"] == "uuid-r01"
|
||||
assert result["class"] == "virtual_stirrer"
|
||||
|
||||
def test_resource_with_children_path(self):
|
||||
"""Resource 带 children: AGV/batch transfer 场景"""
|
||||
tree_set = _make_tree_with_children()
|
||||
root = tree_set.trees[0].root_node
|
||||
nested = root.get_plr_nested_dict()
|
||||
|
||||
# 模拟编译器接收到的参数
|
||||
from_repo = {"StationA": nested}
|
||||
assert "A01" not in from_repo["StationA"]["children"] # children 按 id 索引
|
||||
assert "R1" in from_repo["StationA"]["children"]
|
||||
assert from_repo["StationA"]["children"]["R1"]["uuid"] == "uuid-r1"
|
||||
|
||||
def test_multiple_resource_path(self):
|
||||
"""多个 Resource: 每棵树取根节点"""
|
||||
raw_data1 = [_make_resource_dict(id="R1", uuid="uuid-r1")]
|
||||
raw_data2 = [_make_resource_dict(id="R2", uuid="uuid-r2")]
|
||||
# 模拟 host 返回多棵树
|
||||
tree_set1 = ResourceTreeSet.from_raw_dict_list(raw_data1)
|
||||
tree_set2 = ResourceTreeSet.from_raw_dict_list(raw_data2)
|
||||
results = [
|
||||
tree.root_node.get_plr_nested_dict()
|
||||
for ts in [tree_set1, tree_set2]
|
||||
for tree in ts.trees
|
||||
]
|
||||
assert len(results) == 2
|
||||
assert results[0]["id"] == "R1"
|
||||
assert results[1]["id"] == "R2"
|
||||
@@ -1 +0,0 @@
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
"""
|
||||
液体处理设备相关测试。
|
||||
"""
|
||||
|
||||
|
||||
@@ -1,505 +0,0 @@
|
||||
import asyncio
|
||||
from dataclasses import dataclass
|
||||
from typing import Any, Iterable, List, Optional, Sequence, Tuple
|
||||
|
||||
import pytest
|
||||
|
||||
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class DummyContainer:
|
||||
name: str
|
||||
|
||||
def __repr__(self) -> str: # pragma: no cover
|
||||
return f"DummyContainer({self.name})"
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class DummyTipSpot:
|
||||
name: str
|
||||
|
||||
def __repr__(self) -> str: # pragma: no cover
|
||||
return f"DummyTipSpot({self.name})"
|
||||
|
||||
|
||||
def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
|
||||
"""Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
|
||||
for i in range(n):
|
||||
yield [DummyTipSpot(f"tip_{i}")]
|
||||
|
||||
|
||||
class FakeLiquidHandler(LiquidHandlerAbstract):
|
||||
"""不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
|
||||
|
||||
def __init__(self, channel_num: int = 8):
|
||||
# 不调用 super().__init__，避免真实硬件/后端依赖
|
||||
self.channel_num = channel_num
|
||||
self.support_touch_tip = True
|
||||
self.current_tip = iter(make_tip_iter())
|
||||
self.calls: List[Tuple[str, Any]] = []
|
||||
|
||||
async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
|
||||
self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
resources: Sequence[Any],
|
||||
vols: List[float],
|
||||
use_channels: Optional[List[int]] = None,
|
||||
flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Any = None,
|
||||
liquid_height: Any = None,
|
||||
blow_out_air_volume: Any = None,
|
||||
spread: str = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
self.calls.append(
|
||||
(
|
||||
"aspirate",
|
||||
{
|
||||
"resources": list(resources),
|
||||
"vols": list(vols),
|
||||
"use_channels": list(use_channels) if use_channels is not None else None,
|
||||
"flow_rates": list(flow_rates) if flow_rates is not None else None,
|
||||
"offsets": list(offsets) if offsets is not None else None,
|
||||
"liquid_height": list(liquid_height) if liquid_height is not None else None,
|
||||
"blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
resources: Sequence[Any],
|
||||
vols: List[float],
|
||||
use_channels: Optional[List[int]] = None,
|
||||
flow_rates: Optional[List[Optional[float]]] = None,
|
||||
offsets: Any = None,
|
||||
liquid_height: Any = None,
|
||||
blow_out_air_volume: Any = None,
|
||||
spread: str = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
self.calls.append(
|
||||
(
|
||||
"dispense",
|
||||
{
|
||||
"resources": list(resources),
|
||||
"vols": list(vols),
|
||||
"use_channels": list(use_channels) if use_channels is not None else None,
|
||||
"flow_rates": list(flow_rates) if flow_rates is not None else None,
|
||||
"offsets": list(offsets) if offsets is not None else None,
|
||||
"liquid_height": list(liquid_height) if liquid_height is not None else None,
|
||||
"blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
async def discard_tips(self, use_channels=None, *args, **kwargs):
|
||||
# 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
|
||||
self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
|
||||
|
||||
async def custom_delay(self, seconds=0, msg=None):
|
||||
self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
|
||||
|
||||
async def touch_tip(self, targets):
|
||||
# 原实现会访问 targets.get_size_x() 等；测试里只记录调用
|
||||
self.calls.append(("touch_tip", {"targets": targets}))
|
||||
|
||||
async def mix(self, targets, mix_time=None, mix_vol=None, height_to_bottom=None, offsets=None, mix_rate=None, none_keys=None):
|
||||
self.calls.append(
|
||||
(
|
||||
"mix",
|
||||
{
|
||||
"targets": targets,
|
||||
"mix_time": mix_time,
|
||||
"mix_vol": mix_vol,
|
||||
},
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
def run(coro):
|
||||
return asyncio.run(coro)
|
||||
|
||||
|
||||
def test_one_to_one_single_channel_basic_calls():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(3)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[1, 2, 3],
|
||||
dis_vols=[4, 5, 6],
|
||||
mix_times=None, # 应该仍能执行（不 mix）
|
||||
)
|
||||
)
|
||||
|
||||
assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
|
||||
assert [c[0] for c in lh.calls].count("aspirate") == 3
|
||||
assert [c[0] for c in lh.calls].count("dispense") == 3
|
||||
assert [c[0] for c in lh.calls].count("discard_tips") == 3
|
||||
|
||||
# 每次 aspirate/dispense 都是单孔列表
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert aspirates[0]["resources"] == [sources[0]]
|
||||
assert aspirates[0]["vols"] == [1.0]
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert dispenses[2]["resources"] == [targets[2]]
|
||||
assert dispenses[2]["vols"] == [6.0]
|
||||
|
||||
|
||||
def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(16))
|
||||
|
||||
source = DummyContainer("S0")
|
||||
target = DummyContainer("T0")
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[5],
|
||||
dis_vols=[5],
|
||||
mix_stage="before",
|
||||
mix_times=1,
|
||||
mix_vol=3,
|
||||
)
|
||||
)
|
||||
|
||||
names = [name for name, _ in lh.calls]
|
||||
assert names.count("mix") == 1
|
||||
assert names.index("mix") < names.index("aspirate")
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_groups_by_8():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(256))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(16)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(16)]
|
||||
asp_vols = list(range(1, 17))
|
||||
dis_vols = list(range(101, 117))
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0, # 触发逻辑但不 mix
|
||||
)
|
||||
)
|
||||
|
||||
# 16 个任务 -> 2 组，每组 8 通道一起做
|
||||
assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == 2
|
||||
assert len(dispenses) == 2
|
||||
|
||||
assert aspirates[0]["resources"] == sources[0:8]
|
||||
assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
|
||||
assert dispenses[1]["resources"] == targets[8:16]
|
||||
assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(9)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(9)]
|
||||
|
||||
with pytest.raises(ValueError, match="multiple of 8"):
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=[1] * 9,
|
||||
dis_vols=[1] * 9,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(512))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(16)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(16)]
|
||||
asp_vols = [i + 1 for i in range(16)]
|
||||
dis_vols = [200 + i for i in range(16)]
|
||||
asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
|
||||
dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
|
||||
offsets = [f"offset_{i}" for i in range(16)]
|
||||
liquid_heights = [i * 0.5 for i in range(16)]
|
||||
blow_out_air_volume = [i + 0.05 for i in range(16)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
asp_flow_rates=asp_flow_rates,
|
||||
dis_flow_rates=dis_flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_heights,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(aspirates) == len(dispenses) == 2
|
||||
|
||||
for batch_idx in range(2):
|
||||
start = batch_idx * 8
|
||||
end = start + 8
|
||||
asp_call = aspirates[batch_idx]
|
||||
dis_call = dispenses[batch_idx]
|
||||
assert asp_call["resources"] == sources[start:end]
|
||||
assert asp_call["flow_rates"] == asp_flow_rates[start:end]
|
||||
assert asp_call["offsets"] == offsets[start:end]
|
||||
assert asp_call["liquid_height"] == liquid_heights[start:end]
|
||||
assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
|
||||
assert dis_call["flow_rates"] == dis_flow_rates[start:end]
|
||||
assert dis_call["offsets"] == offsets[start:end]
|
||||
assert dis_call["liquid_height"] == liquid_heights[start:end]
|
||||
assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
|
||||
|
||||
|
||||
def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(1024))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(32)]
|
||||
targets = [DummyContainer(f"T{i}") for i in range(32)]
|
||||
asp_vols = [i + 1 for i in range(32)]
|
||||
dis_vols = [300 + i for i in range(32)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert len(pick_calls) == 4
|
||||
assert len(aspirates) == len(dispenses) == 4
|
||||
assert aspirates[0]["resources"] == sources[0:8]
|
||||
assert aspirates[-1]["resources"] == sources[24:32]
|
||||
assert dispenses[0]["resources"] == targets[0:8]
|
||||
assert dispenses[-1]["resources"] == targets[24:32]
|
||||
|
||||
|
||||
def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
source = DummyContainer("SRC")
|
||||
targets = [DummyContainer(f"T{i}") for i in range(3)]
|
||||
dis_vols = [10, 20, 30] # sum=60
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=10, # 小于 sum(dis_vols) -> 应吸 60
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert len(aspirates) == 1
|
||||
assert aspirates[0]["resources"] == [source]
|
||||
assert aspirates[0]["vols"] == [60.0]
|
||||
assert aspirates[0]["use_channels"] == [0]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
|
||||
|
||||
|
||||
def test_one_to_many_eight_channel_basic():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
source = DummyContainer("SRC")
|
||||
targets = [DummyContainer(f"T{i}") for i in range(8)]
|
||||
dis_vols = [i + 1 for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=[source],
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=999, # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
|
||||
dis_vols=dis_vols,
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
assert aspirates[0]["resources"] == [source] * 8
|
||||
assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert dispenses[0]["resources"] == targets
|
||||
assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [5, 6, 7]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=1, # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
|
||||
assert all(d["resources"] == [target] for d in dispenses)
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_before_stage_mixes_target_once():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer("S0"), DummyContainer("S1")]
|
||||
target = DummyContainer("T")
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[5, 6],
|
||||
dis_vols=1,
|
||||
mix_stage="before",
|
||||
mix_times=2,
|
||||
mix_vol=4,
|
||||
)
|
||||
)
|
||||
|
||||
names = [name for name, _ in lh.calls]
|
||||
assert names[0] == "mix"
|
||||
assert names.count("mix") == 1
|
||||
|
||||
|
||||
def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
|
||||
lh = FakeLiquidHandler(channel_num=1)
|
||||
lh.current_tip = iter(make_tip_iter(128))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(3)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [5, 6, 7]
|
||||
dis_vols = [1, 2, 3]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols, # 比例模式
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
|
||||
|
||||
|
||||
def test_many_to_one_eight_channel_basic():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(256))
|
||||
|
||||
sources = [DummyContainer(f"S{i}") for i in range(8)]
|
||||
target = DummyContainer("T")
|
||||
asp_vols = [10 + i for i in range(8)]
|
||||
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=[target],
|
||||
tip_racks=[],
|
||||
use_channels=list(range(8)),
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=999, # 非比例模式下每通道分液=对应 asp_vol
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
|
||||
dispenses = [payload for name, payload in lh.calls if name == "dispense"]
|
||||
assert aspirates[0]["resources"] == sources
|
||||
assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
|
||||
assert dispenses[0]["resources"] == [target] * 8
|
||||
assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
|
||||
|
||||
|
||||
def test_transfer_liquid_mode_detection_unsupported_shape_raises():
|
||||
lh = FakeLiquidHandler(channel_num=8)
|
||||
lh.current_tip = iter(make_tip_iter(64))
|
||||
|
||||
sources = [DummyContainer("S0"), DummyContainer("S1")]
|
||||
targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
|
||||
|
||||
with pytest.raises(ValueError, match="Unsupported transfer mode"):
|
||||
run(
|
||||
lh.transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=[],
|
||||
use_channels=[0],
|
||||
asp_vols=[1, 1],
|
||||
dis_vols=[1, 1, 1],
|
||||
mix_times=0,
|
||||
)
|
||||
)
|
||||
|
||||
@@ -1,137 +0,0 @@
|
||||
"""
|
||||
AGVTransportStation driver 测试
|
||||
|
||||
覆盖：初始化、carrier property、slot 查询、路由查询、capacity 计算。
|
||||
"""
|
||||
|
||||
import pytest
|
||||
from unittest.mock import MagicMock, patch
|
||||
|
||||
from unilabos.devices.transport.agv_workstation import AGVTransportStation
|
||||
from unilabos.resources.warehouse import WareHouse, warehouse_factory
|
||||
|
||||
|
||||
class TestAGVTransportStation:
|
||||
def _make_driver(self, route_table=None, device_roles=None):
|
||||
"""创建一个 AGVTransportStation 实例"""
|
||||
return AGVTransportStation(
|
||||
deck=None,
|
||||
route_table=route_table or {
|
||||
"A->B": {"nav_command": '{"target":"LM1"}', "arm_pick": "pick.urp", "arm_place": "place.urp"}
|
||||
},
|
||||
device_roles=device_roles or {"navigator": "agv_nav", "arm": "agv_arm"},
|
||||
)
|
||||
|
||||
def _make_warehouse(self, name="agv_platform", nx=2, ny=1, nz=1):
|
||||
"""创建一个测试用 Warehouse"""
|
||||
return warehouse_factory(name=name, num_items_x=nx, num_items_y=ny, num_items_z=nz)
|
||||
|
||||
def test_init_deck_none(self):
|
||||
"""AGVTransportStation 初始化时 deck=None"""
|
||||
driver = self._make_driver()
|
||||
assert driver.deck is None
|
||||
|
||||
def test_init_route_table(self):
|
||||
"""路由表正确存储"""
|
||||
driver = self._make_driver()
|
||||
assert "A->B" in driver.route_table
|
||||
|
||||
def test_init_device_roles(self):
|
||||
"""设备角色正确存储"""
|
||||
driver = self._make_driver()
|
||||
assert driver.device_roles["navigator"] == "agv_nav"
|
||||
assert driver.device_roles["arm"] == "agv_arm"
|
||||
|
||||
def test_carrier_without_ros_node(self):
|
||||
"""未 post_init 时 carrier 返回 None"""
|
||||
driver = self._make_driver()
|
||||
assert driver.carrier is None
|
||||
|
||||
def test_carrier_with_warehouse(self):
|
||||
"""post_init 后 carrier 返回正确的 WareHouse"""
|
||||
driver = self._make_driver()
|
||||
wh = self._make_warehouse()
|
||||
|
||||
# 模拟 ros_node 和 resource_tracker
|
||||
mock_ros_node = MagicMock()
|
||||
mock_ros_node.resource_tracker.resources = [wh]
|
||||
mock_ros_node.device_id = "AGV"
|
||||
driver.post_init(mock_ros_node)
|
||||
|
||||
assert driver.carrier is wh
|
||||
assert isinstance(driver.carrier, WareHouse)
|
||||
|
||||
def test_capacity(self):
|
||||
"""容量计算正确"""
|
||||
driver = self._make_driver()
|
||||
wh = self._make_warehouse(nx=2, ny=1, nz=1)
|
||||
mock_ros_node = MagicMock()
|
||||
mock_ros_node.resource_tracker.resources = [wh]
|
||||
mock_ros_node.device_id = "AGV"
|
||||
driver.post_init(mock_ros_node)
|
||||
|
||||
assert driver.capacity == 2
|
||||
|
||||
def test_capacity_multi_layer(self):
|
||||
"""多层 Warehouse 容量"""
|
||||
driver = self._make_driver()
|
||||
wh = self._make_warehouse(nx=1, ny=2, nz=3)
|
||||
mock_ros_node = MagicMock()
|
||||
mock_ros_node.resource_tracker.resources = [wh]
|
||||
mock_ros_node.device_id = "AGV"
|
||||
driver.post_init(mock_ros_node)
|
||||
|
||||
assert driver.capacity == 6
|
||||
|
||||
def test_capacity_no_carrier(self):
|
||||
"""无 carrier 时容量为 0"""
|
||||
driver = self._make_driver()
|
||||
assert driver.capacity == 0
|
||||
|
||||
def test_free_slots(self):
|
||||
"""空载时所有 slot 为空闲"""
|
||||
driver = self._make_driver()
|
||||
wh = self._make_warehouse(nx=2, ny=1, nz=1)
|
||||
mock_ros_node = MagicMock()
|
||||
mock_ros_node.resource_tracker.resources = [wh]
|
||||
mock_ros_node.device_id = "AGV"
|
||||
driver.post_init(mock_ros_node)
|
||||
|
||||
free = driver.free_slots
|
||||
assert len(free) == 2
|
||||
|
||||
def test_occupied_slots_empty(self):
|
||||
"""空载时 occupied_slots 为空"""
|
||||
driver = self._make_driver()
|
||||
wh = self._make_warehouse(nx=2, ny=1, nz=1)
|
||||
mock_ros_node = MagicMock()
|
||||
mock_ros_node.resource_tracker.resources = [wh]
|
||||
mock_ros_node.device_id = "AGV"
|
||||
driver.post_init(mock_ros_node)
|
||||
|
||||
assert len(driver.occupied_slots) == 0
|
||||
|
||||
def test_resolve_route(self):
|
||||
"""路由查询返回正确的指令"""
|
||||
driver = self._make_driver()
|
||||
route = driver.resolve_route("A", "B")
|
||||
assert route["nav_command"] == '{"target":"LM1"}'
|
||||
assert route["arm_pick"] == "pick.urp"
|
||||
|
||||
def test_resolve_route_not_found(self):
|
||||
"""查询不存在的路线时抛出 KeyError"""
|
||||
driver = self._make_driver()
|
||||
with pytest.raises(KeyError, match="路由表"):
|
||||
driver.resolve_route("X", "Y")
|
||||
|
||||
def test_get_device_id(self):
|
||||
"""获取子设备 ID"""
|
||||
driver = self._make_driver()
|
||||
assert driver.get_device_id("navigator") == "agv_nav"
|
||||
assert driver.get_device_id("arm") == "agv_arm"
|
||||
|
||||
def test_get_device_id_not_found(self):
|
||||
"""获取不存在的角色时抛出 KeyError"""
|
||||
driver = self._make_driver()
|
||||
with pytest.raises(KeyError, match="未配置设备角色"):
|
||||
driver.get_device_id("gripper")
|
||||
@@ -2,8 +2,9 @@ import pytest
|
||||
import json
|
||||
import os
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
|
||||
@@ -11,10 +11,10 @@ import os
|
||||
# 添加项目根目录到路径
|
||||
sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
|
||||
|
||||
# 导入测试模块（统一从 tests 包获取）
|
||||
from tests.ros.msgs.test_basic import TestBasicFunctionality
|
||||
from tests.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
|
||||
from tests.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
|
||||
# 导入测试模块
|
||||
from test.ros.msgs.test_basic import TestBasicFunctionality
|
||||
from test.ros.msgs.test_conversion import TestBasicConversion, TestMappingConversion
|
||||
from test.ros.msgs.test_mapping import TestTypeMapping, TestFieldMapping
|
||||
|
||||
|
||||
def run_tests():
|
||||
|
||||
@@ -1,213 +0,0 @@
|
||||
{
|
||||
"workflow": [
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_1",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines",
|
||||
"targets": "Liquid_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_4",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_5",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_2",
|
||||
"targets": "Liquid_6",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_2",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"action": "transfer_liquid",
|
||||
"action_args": {
|
||||
"sources": "cell_lines_3",
|
||||
"targets": "dest_set_3",
|
||||
"asp_vol": 100.0,
|
||||
"dis_vol": 74.75,
|
||||
"asp_flow_rate": 94.0,
|
||||
"dis_flow_rate": 95.5
|
||||
}
|
||||
}
|
||||
],
|
||||
"reagent": {
|
||||
"Liquid_1": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_4": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"dest_set": {
|
||||
"slot": 1,
|
||||
"well": [
|
||||
"A4",
|
||||
"A7",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 1"
|
||||
},
|
||||
"Liquid_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_5": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"dest_set_2": {
|
||||
"slot": 2,
|
||||
"well": [
|
||||
"A3",
|
||||
"A5",
|
||||
"A8"
|
||||
],
|
||||
"labware": "rep 2"
|
||||
},
|
||||
"Liquid_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"Liquid_6": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"dest_set_3": {
|
||||
"slot": 3,
|
||||
"well": [
|
||||
"A4",
|
||||
"A6",
|
||||
"A10"
|
||||
],
|
||||
"labware": "rep 3"
|
||||
},
|
||||
"cell_lines": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_2": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
},
|
||||
"cell_lines_3": {
|
||||
"slot": 4,
|
||||
"well": [
|
||||
"A1",
|
||||
"A3",
|
||||
"A5"
|
||||
],
|
||||
"labware": "DRUG + YOYO-MEDIA"
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.10.19"
|
||||
__version__ = "0.10.13"
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
"""Entry point for `python -m unilabos`."""
|
||||
|
||||
from unilabos.app.main import main
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,6 +1,6 @@
|
||||
import threading
|
||||
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
|
||||
@@ -1,14 +1,13 @@
|
||||
import argparse
|
||||
import asyncio
|
||||
import os
|
||||
import platform
|
||||
import shutil
|
||||
import signal
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from typing import Dict, Any, List
|
||||
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
@@ -18,93 +17,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
|
||||
# Global restart flags (used by ws_client and web/server)
|
||||
_restart_requested: bool = False
|
||||
_restart_reason: str = ""
|
||||
|
||||
RESTART_EXIT_CODE = 42
|
||||
|
||||
|
||||
def _build_child_argv():
|
||||
"""Build sys.argv for child process, stripping supervisor-only arguments."""
|
||||
result = []
|
||||
skip_next = False
|
||||
for arg in sys.argv:
|
||||
if skip_next:
|
||||
skip_next = False
|
||||
continue
|
||||
if arg in ("--restart_mode", "--restart-mode"):
|
||||
continue
|
||||
if arg in ("--auto_restart_count", "--auto-restart-count"):
|
||||
skip_next = True
|
||||
continue
|
||||
if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
|
||||
continue
|
||||
result.append(arg)
|
||||
return result
|
||||
|
||||
|
||||
def _run_as_supervisor(max_restarts: int):
|
||||
"""
|
||||
Supervisor process that spawns and monitors child processes.
|
||||
|
||||
Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
|
||||
it only launches the real process as a child and restarts it when the child
|
||||
exits with RESTART_EXIT_CODE.
|
||||
"""
|
||||
child_argv = [sys.executable] + _build_child_argv()
|
||||
restart_count = 0
|
||||
|
||||
print_status(
|
||||
f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
|
||||
f"child command: {' '.join(child_argv)}",
|
||||
"info",
|
||||
)
|
||||
|
||||
while True:
|
||||
print_status(
|
||||
f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
|
||||
"info",
|
||||
)
|
||||
|
||||
try:
|
||||
process = subprocess.Popen(child_argv)
|
||||
exit_code = process.wait()
|
||||
except KeyboardInterrupt:
|
||||
print_status("[Supervisor] Interrupted, terminating child process...", "info")
|
||||
process.terminate()
|
||||
try:
|
||||
process.wait(timeout=10)
|
||||
except subprocess.TimeoutExpired:
|
||||
process.kill()
|
||||
process.wait()
|
||||
sys.exit(1)
|
||||
|
||||
if exit_code == RESTART_EXIT_CODE:
|
||||
restart_count += 1
|
||||
if restart_count > max_restarts:
|
||||
print_status(
|
||||
f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
|
||||
"warning",
|
||||
)
|
||||
sys.exit(1)
|
||||
print_status(
|
||||
f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
|
||||
"info",
|
||||
)
|
||||
time.sleep(2)
|
||||
else:
|
||||
if exit_code != 0:
|
||||
print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
|
||||
else:
|
||||
print_status("[Supervisor] Child exited normally", "info")
|
||||
sys.exit(exit_code)
|
||||
|
||||
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
|
||||
@@ -126,7 +41,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
for i, arg in enumerate(sys.argv):
|
||||
for option_string in option_strings:
|
||||
if arg.startswith(option_string):
|
||||
new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
|
||||
new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
|
||||
sys.argv[i] = new_arg
|
||||
break
|
||||
|
||||
@@ -134,8 +49,6 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
def parse_args():
|
||||
"""解析命令行参数"""
|
||||
parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
|
||||
subparsers = parser.add_subparsers(title="Valid subcommands", dest="command")
|
||||
|
||||
parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
|
||||
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
|
||||
parser.add_argument(
|
||||
@@ -145,13 +58,6 @@ def parse_args():
|
||||
action="append",
|
||||
help="Path to the registry directory",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--devices",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="Path to Python code directory for AST-based device/resource scanning",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--working_dir",
|
||||
type=str,
|
||||
@@ -241,91 +147,11 @@ def parse_args():
|
||||
action="store_true",
|
||||
help="Skip environment dependency check on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--check_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Run in check mode for CI: validates registry imports and ensures no file changes",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Complete and rewrite YAML registry files using AST analysis results",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--no_update_feedback",
|
||||
action="store_true",
|
||||
help="Disable sending update feedback to server",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--test_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Test mode: all actions simulate execution and return mock results without running real hardware",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--external_devices_only",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--extra_resource",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--restart_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--auto_restart_count",
|
||||
type=int,
|
||||
default=500,
|
||||
help="Maximum number of automatic restarts in restart mode (default: 500)",
|
||||
)
|
||||
# workflow upload subcommand
|
||||
workflow_parser = subparsers.add_parser(
|
||||
"workflow_upload",
|
||||
aliases=["wf"],
|
||||
help="Upload workflow from xdl/json/python files",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"-f",
|
||||
"--workflow_file",
|
||||
type=str,
|
||||
required=True,
|
||||
help="Path to the workflow file (JSON format)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"-n",
|
||||
"--workflow_name",
|
||||
type=str,
|
||||
default=None,
|
||||
help="Workflow name, if not provided will use the name from file or filename",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--tags",
|
||||
type=str,
|
||||
nargs="*",
|
||||
default=[],
|
||||
help="Tags for the workflow (space-separated)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--published",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Whether to publish the workflow (default: False)",
|
||||
)
|
||||
workflow_parser.add_argument(
|
||||
"--description",
|
||||
type=str,
|
||||
default="",
|
||||
help="Workflow description, used when publishing the workflow",
|
||||
help="Complete registry information",
|
||||
)
|
||||
return parser
|
||||
|
||||
@@ -338,102 +164,62 @@ def main():
|
||||
args = parser.parse_args()
|
||||
args_dict = vars(args)
|
||||
|
||||
# Supervisor mode: spawn child processes and monitor for restart
|
||||
if args_dict.get("restart_mode", False):
|
||||
_run_as_supervisor(args_dict.get("auto_restart_count", 5))
|
||||
return
|
||||
|
||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||
skip_env_check = args_dict.get("skip_env_check", False)
|
||||
check_mode = args_dict.get("check_mode", False)
|
||||
|
||||
if not skip_env_check:
|
||||
from unilabos.utils.environment_check import check_environment, check_device_package_requirements
|
||||
if not args_dict.get("skip_env_check", False):
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
|
||||
print_status("正在进行环境依赖检查...", "info")
|
||||
if not check_environment(auto_install=True):
|
||||
print_status("环境检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
|
||||
# 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
|
||||
devices_dirs_for_req = args_dict.get("devices", None)
|
||||
if devices_dirs_for_req:
|
||||
if not check_device_package_requirements(devices_dirs_for_req):
|
||||
print_status("设备包依赖检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
else:
|
||||
print_status("跳过环境依赖检查", "warning")
|
||||
|
||||
# 加载配置文件，优先加载config，然后从env读取
|
||||
config_path = args_dict.get("config")
|
||||
|
||||
# === 解析 working_dir ===
|
||||
# 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
|
||||
# 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
|
||||
# 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
|
||||
raw_working_dir = args_dict.get("working_dir")
|
||||
if raw_working_dir:
|
||||
working_dir = os.path.abspath(raw_working_dir)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(os.path.abspath(config_path))
|
||||
else:
|
||||
if os.getcwd().endswith("unilabos_data"):
|
||||
working_dir = os.path.abspath(os.getcwd())
|
||||
else:
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
# unilabos_data 子目录自动检测
|
||||
if os.path.basename(working_dir) != "unilabos_data":
|
||||
unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
|
||||
if os.path.isdir(unilabos_data_sub):
|
||||
working_dir = unilabos_data_sub
|
||||
elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
|
||||
# 未显式指定路径，默认使用 cwd/unilabos_data
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
|
||||
# === 解析 config_path ===
|
||||
if config_path and not os.path.exists(config_path):
|
||||
# config_path 传入但不存在，尝试在 working_dir 中查找
|
||||
candidate = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(candidate):
|
||||
config_path = candidate
|
||||
print_status(f"在工作目录中发现配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(
|
||||
f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
|
||||
f"请通过 --config 传入 local_config.py 文件路径",
|
||||
"error",
|
||||
)
|
||||
os._exit(1)
|
||||
elif not config_path:
|
||||
# 规则3: 未传入 config_path，尝试 working_dir/local_config.py
|
||||
candidate = os.path.join(working_dir, "local_config.py")
|
||||
if os.path.exists(candidate):
|
||||
config_path = candidate
|
||||
print_status(f"发现本地配置文件: {config_path}", "info")
|
||||
else:
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if check_mode or input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
|
||||
config_path,
|
||||
if args_dict.get("working_dir"):
|
||||
working_dir = args_dict.get("working_dir", "")
|
||||
if config_path and not os.path.exists(config_path):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
if not os.path.exists(config_path):
|
||||
print_status(
|
||||
f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
|
||||
"error",
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
else:
|
||||
os._exit(1)
|
||||
|
||||
# 加载配置文件 (check_mode 跳过)
|
||||
elif config_path and os.path.exists(config_path):
|
||||
working_dir = os.path.dirname(config_path)
|
||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
elif not config_path and (
|
||||
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
||||
):
|
||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||
print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
|
||||
if input() != "n":
|
||||
os.makedirs(working_dir, exist_ok=True)
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
shutil.copy(
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
else:
|
||||
os._exit(1)
|
||||
# 加载配置文件
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
if not check_mode:
|
||||
load_config_from_file(config_path)
|
||||
load_config_from_file(config_path)
|
||||
|
||||
# 根据配置重新设置日志级别
|
||||
from unilabos.utils.log import configure_logger, logger
|
||||
|
||||
if hasattr(BasicConfig, "log_level"):
|
||||
logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
|
||||
file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
|
||||
if file_path is not None:
|
||||
logger.info(f"[LOG_FILE] {file_path}")
|
||||
configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
|
||||
|
||||
if args.addr != parser.get_default("addr"):
|
||||
if args.addr == "test":
|
||||
@@ -455,12 +241,9 @@ def main():
|
||||
if args_dict.get("sk", ""):
|
||||
BasicConfig.sk = args_dict.get("sk", "")
|
||||
print_status("传入了sk参数，优先采用传入参数！", "info")
|
||||
BasicConfig.working_dir = working_dir
|
||||
|
||||
workflow_upload = args_dict.get("command") in ("workflow_upload", "wf")
|
||||
|
||||
# 使用远程资源启动
|
||||
if not workflow_upload and args_dict["use_remote_resource"]:
|
||||
if args_dict["use_remote_resource"]:
|
||||
print_status("使用远程资源启动", "info")
|
||||
from unilabos.app.web import http_client
|
||||
|
||||
@@ -473,93 +256,41 @@ def main():
|
||||
|
||||
BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
|
||||
BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
|
||||
BasicConfig.working_dir = working_dir
|
||||
BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
|
||||
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
|
||||
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
|
||||
BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
|
||||
BasicConfig.test_mode = args_dict.get("test_mode", False)
|
||||
if BasicConfig.test_mode:
|
||||
print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
|
||||
BasicConfig.extra_resource = args_dict.get("extra_resource", False)
|
||||
if BasicConfig.extra_resource:
|
||||
print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = platform.node()
|
||||
machine_name = os.popen("hostname").read().strip()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
BasicConfig.machine_name = machine_name
|
||||
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
||||
BasicConfig.check_mode = check_mode
|
||||
|
||||
from unilabos.registry.registry import build_registry
|
||||
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# Step 0: AST 分析优先 + YAML 注册表加载
|
||||
# check_mode 和 upload_registry 都会执行实际 import 验证
|
||||
devices_dirs = args_dict.get("devices", None)
|
||||
complete_registry = args_dict.get("complete_registry", False) or check_mode
|
||||
external_only = args_dict.get("external_devices_only", False)
|
||||
lab_registry = build_registry(
|
||||
registry_paths=args_dict["registry_path"],
|
||||
devices_dirs=devices_dirs,
|
||||
upload_registry=BasicConfig.upload_registry,
|
||||
check_mode=check_mode,
|
||||
complete_registry=complete_registry,
|
||||
external_only=external_only,
|
||||
)
|
||||
|
||||
# Check mode: 注册表验证完成后直接退出
|
||||
if check_mode:
|
||||
device_count = len(lab_registry.device_type_registry)
|
||||
resource_count = len(lab_registry.resource_type_registry)
|
||||
print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
|
||||
os._exit(0)
|
||||
|
||||
# 以下导入依赖 ROS2 环境，check_mode 已退出不需要
|
||||
from unilabos.resources.graphio import (
|
||||
read_node_link_json,
|
||||
read_graphml,
|
||||
dict_from_graph,
|
||||
modify_to_backend_format,
|
||||
)
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.registry.registry import build_registry
|
||||
from unilabos.app.backend import start_backend
|
||||
from unilabos.app.web import http_client
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
|
||||
if BasicConfig.upload_registry:
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
# print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
# print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
print_status("未提供 ak 和 sk，跳过设备注册", "info")
|
||||
else:
|
||||
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 处理 workflow_upload 子命令
|
||||
if workflow_upload:
|
||||
from unilabos.workflow.wf_utils import handle_workflow_upload_command
|
||||
|
||||
handle_workflow_upload_command(args_dict)
|
||||
print_status("工作流上传完成，程序退出", "info")
|
||||
os._exit(0)
|
||||
# 注册表
|
||||
lab_registry = build_registry(
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
|
||||
)
|
||||
|
||||
if not BasicConfig.ak or not BasicConfig.sk:
|
||||
if BasicConfig.test_mode:
|
||||
print_status("测试模式：跳过 ak/sk 检查，使用占位凭据", "warning")
|
||||
BasicConfig.ak = BasicConfig.ak or "test_ak"
|
||||
BasicConfig.sk = BasicConfig.sk or "test_sk"
|
||||
else:
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
|
||||
os._exit(1)
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
|
||||
os._exit(1)
|
||||
graph: nx.Graph
|
||||
resource_tree_set: ResourceTreeSet
|
||||
resource_links: List[Dict[str, Any]]
|
||||
@@ -626,21 +357,31 @@ def main():
|
||||
continue
|
||||
|
||||
# 如果从远端获取了物料信息，则与本地物料进行同步
|
||||
if file_path is not None and request_startup_json and "nodes" in request_startup_json:
|
||||
if request_startup_json and "nodes" in request_startup_json:
|
||||
print_status("开始同步远端物料到本地...", "info")
|
||||
remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
|
||||
remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
|
||||
resource_tree_set.merge_remote_resources(remote_tree_set)
|
||||
print_status("远端物料同步完成", "info")
|
||||
|
||||
# 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
|
||||
# TODO: 当 community device package 功能上线后，在这里调用
|
||||
# install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
|
||||
|
||||
# 使用 ResourceTreeSet 代替 list
|
||||
args_dict["resources_config"] = resource_tree_set
|
||||
args_dict["devices_config"] = resource_tree_set
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
print_status("未提供 ak 和 sk，跳过设备注册", "info")
|
||||
else:
|
||||
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
|
||||
|
||||
if args_dict["controllers"] is not None:
|
||||
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
|
||||
else:
|
||||
@@ -655,7 +396,6 @@ def main():
|
||||
comm_client = get_communication_client()
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(comm_client)
|
||||
|
||||
def _exit(signum, frame):
|
||||
comm_client.stop()
|
||||
sys.exit(0)
|
||||
@@ -697,13 +437,16 @@ def main():
|
||||
resource_visualization.start()
|
||||
except OSError as e:
|
||||
if "AMENT_PREFIX_PATH" in str(e):
|
||||
print_status(f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}", "warning")
|
||||
print_status(
|
||||
f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
|
||||
"warning"
|
||||
)
|
||||
print_status(
|
||||
"建议解决方案：\n"
|
||||
"1. 激活Conda环境: conda activate unilab\n"
|
||||
"2. 或使用 --backend simple 参数\n"
|
||||
"3. 或使用 --visual disable 参数禁用可视化",
|
||||
"info",
|
||||
"info"
|
||||
)
|
||||
else:
|
||||
raise
|
||||
@@ -711,26 +454,16 @@ def main():
|
||||
time.sleep(1)
|
||||
else:
|
||||
start_backend(**args_dict)
|
||||
restart_requested = start_server(
|
||||
start_server(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
if restart_requested:
|
||||
print_status("[Main] Restart requested, cleaning up...", "info")
|
||||
cleanup_for_restart()
|
||||
return
|
||||
else:
|
||||
start_backend(**args_dict)
|
||||
|
||||
# 启动服务器（默认支持WebSocket触发重启）
|
||||
restart_requested = start_server(
|
||||
start_server(
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
if restart_requested:
|
||||
print_status("[Main] Restart requested, cleaning up...", "info")
|
||||
cleanup_for_restart()
|
||||
os._exit(RESTART_EXIT_CODE)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -54,7 +54,6 @@ class JobAddReq(BaseModel):
|
||||
action_type: str = Field(
|
||||
examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
|
||||
)
|
||||
sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
|
||||
action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
|
||||
task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
|
||||
job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
import json
|
||||
import time
|
||||
from typing import Any, Dict, Optional, Tuple
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.tools import normalize_json as _normalize_device
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
@@ -10,63 +11,50 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
|
||||
# 注册资源信息 - 使用HTTP方式
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = _normalize_device(device_info)
|
||||
logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
devices_to_register[device_info["id"]] = json.loads(
|
||||
json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
if gather_only:
|
||||
return devices_to_register, resources_to_register
|
||||
|
||||
# 注册设备
|
||||
if devices_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(devices_to_register.values())},
|
||||
tag="device_registry",
|
||||
)
|
||||
response = http_client.resource_registry({"resources": list(devices_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 设备注册跳过（内容未变化）"
|
||||
f" {len(devices_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 设备注册异常: {e}")
|
||||
|
||||
# 注册资源
|
||||
if resources_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(resources_to_register.values())},
|
||||
tag="resource_registry",
|
||||
)
|
||||
response = http_client.resource_registry({"resources": list(resources_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 资源注册跳过（内容未变化）"
|
||||
f" {len(resources_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 资源注册异常: {e}")
|
||||
|
||||
logger.info("[UniLab Register] 设备和资源注册完成.")
|
||||
|
||||
@@ -1,176 +0,0 @@
|
||||
"""
|
||||
UniLabOS 应用工具函数
|
||||
|
||||
提供清理、重启等工具函数
|
||||
"""
|
||||
|
||||
import glob
|
||||
import os
|
||||
import shutil
|
||||
import sys
|
||||
|
||||
|
||||
def patch_rclpy_dll_windows():
|
||||
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
||||
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||
return
|
||||
try:
|
||||
import rclpy
|
||||
|
||||
return
|
||||
except ImportError as e:
|
||||
if not str(e).startswith("DLL load failed"):
|
||||
return
|
||||
cp = os.environ["CONDA_PREFIX"]
|
||||
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
||||
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
if not os.path.exists(impl) or not pyd:
|
||||
return
|
||||
with open(impl, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
||||
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
||||
shutil.copy2(impl, impl + ".bak")
|
||||
with open(impl, "w", encoding="utf-8") as f:
|
||||
f.write(patch + content)
|
||||
|
||||
|
||||
patch_rclpy_dll_windows()
|
||||
|
||||
import gc
|
||||
import threading
|
||||
import time
|
||||
|
||||
from unilabos.utils.banner_print import print_status
|
||||
|
||||
|
||||
def cleanup_for_restart() -> bool:
|
||||
"""
|
||||
Clean up all resources for restart without exiting the process.
|
||||
|
||||
This function prepares the system for re-initialization by:
|
||||
1. Stopping all communication clients
|
||||
2. Destroying ROS nodes
|
||||
3. Resetting singletons
|
||||
4. Waiting for threads to finish
|
||||
|
||||
Returns:
|
||||
bool: True if cleanup was successful, False otherwise
|
||||
"""
|
||||
print_status("[Restart] Starting cleanup for restart...", "info")
|
||||
|
||||
# Step 1: Stop WebSocket communication client
|
||||
print_status("[Restart] Step 1: Stopping WebSocket client...", "info")
|
||||
try:
|
||||
from unilabos.app.communication import get_communication_client
|
||||
|
||||
comm_client = get_communication_client()
|
||||
if comm_client is not None:
|
||||
comm_client.stop()
|
||||
print_status("[Restart] WebSocket client stopped", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error stopping WebSocket: {e}", "warning")
|
||||
|
||||
# Step 2: Get HostNode and cleanup ROS
|
||||
print_status("[Restart] Step 2: Cleaning up ROS nodes...", "info")
|
||||
try:
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
import rclpy
|
||||
from rclpy.timer import Timer
|
||||
|
||||
host_instance = HostNode.get_instance(timeout=5)
|
||||
if host_instance is not None:
|
||||
print_status(f"[Restart] Found HostNode: {host_instance.device_id}", "info")
|
||||
|
||||
# Gracefully shutdown background threads
|
||||
print_status("[Restart] Shutting down background threads...", "info")
|
||||
HostNode.shutdown_background_threads(timeout=5.0)
|
||||
print_status("[Restart] Background threads shutdown complete", "info")
|
||||
|
||||
# Stop discovery timer
|
||||
if hasattr(host_instance, "_discovery_timer") and isinstance(host_instance._discovery_timer, Timer):
|
||||
host_instance._discovery_timer.cancel()
|
||||
print_status("[Restart] Discovery timer cancelled", "info")
|
||||
|
||||
# Destroy device nodes
|
||||
device_count = len(host_instance.devices_instances)
|
||||
print_status(f"[Restart] Destroying {device_count} device instances...", "info")
|
||||
for device_id, device_node in list(host_instance.devices_instances.items()):
|
||||
try:
|
||||
if hasattr(device_node, "ros_node_instance") and device_node.ros_node_instance is not None:
|
||||
device_node.ros_node_instance.destroy_node()
|
||||
print_status(f"[Restart] Device {device_id} destroyed", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error destroying device {device_id}: {e}", "warning")
|
||||
|
||||
# Clear devices instances
|
||||
host_instance.devices_instances.clear()
|
||||
host_instance.devices_names.clear()
|
||||
|
||||
# Destroy host node
|
||||
try:
|
||||
host_instance.destroy_node()
|
||||
print_status("[Restart] HostNode destroyed", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error destroying HostNode: {e}", "warning")
|
||||
|
||||
# Reset HostNode state
|
||||
HostNode.reset_state()
|
||||
print_status("[Restart] HostNode state reset", "info")
|
||||
|
||||
# Shutdown executor first (to stop executor.spin() gracefully)
|
||||
if hasattr(rclpy, "__executor") and rclpy.__executor is not None:
|
||||
try:
|
||||
rclpy.__executor.shutdown()
|
||||
rclpy.__executor = None # Clear for restart
|
||||
print_status("[Restart] ROS executor shutdown complete", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error shutting down executor: {e}", "warning")
|
||||
|
||||
# Shutdown rclpy
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
print_status("[Restart] rclpy shutdown complete", "info")
|
||||
|
||||
except ImportError as e:
|
||||
print_status(f"[Restart] ROS modules not available: {e}", "warning")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error in ROS cleanup: {e}", "warning")
|
||||
return False
|
||||
|
||||
# Step 3: Reset communication client singleton
|
||||
print_status("[Restart] Step 3: Resetting singletons...", "info")
|
||||
try:
|
||||
from unilabos.app import communication
|
||||
|
||||
if hasattr(communication, "_communication_client"):
|
||||
communication._communication_client = None
|
||||
print_status("[Restart] Communication client singleton reset", "info")
|
||||
except Exception as e:
|
||||
print_status(f"[Restart] Error resetting communication singleton: {e}", "warning")
|
||||
|
||||
# Step 4: Wait for threads to finish
|
||||
print_status("[Restart] Step 4: Waiting for threads to finish...", "info")
|
||||
time.sleep(3) # Give threads time to finish
|
||||
|
||||
# Check remaining threads
|
||||
remaining_threads = []
|
||||
for t in threading.enumerate():
|
||||
if t.name != "MainThread" and t.is_alive():
|
||||
remaining_threads.append(t.name)
|
||||
|
||||
if remaining_threads:
|
||||
print_status(
|
||||
f"[Restart] Warning: {len(remaining_threads)} threads still running: {remaining_threads}", "warning"
|
||||
)
|
||||
else:
|
||||
print_status("[Restart] All threads stopped", "info")
|
||||
|
||||
# Step 5: Force garbage collection
|
||||
print_status("[Restart] Step 5: Running garbage collection...", "info")
|
||||
gc.collect()
|
||||
gc.collect() # Run twice for weak references
|
||||
print_status("[Restart] Garbage collection complete", "info")
|
||||
|
||||
print_status("[Restart] Cleanup complete. Ready for re-initialization.", "info")
|
||||
return True
|
||||
@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
|
||||
"result": {},
|
||||
"schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": {},
|
||||
"handles": [],
|
||||
}
|
||||
# 不生成已配置action的动作
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
|
||||
# 启动广播任务
|
||||
@app.on_event("startup")
|
||||
async def startup_event():
|
||||
asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
|
||||
asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
|
||||
asyncio.create_task(broadcast_device_status())
|
||||
asyncio.create_task(broadcast_status_page_data())
|
||||
|
||||
@@ -3,15 +3,15 @@ HTTP客户端模块
|
||||
|
||||
提供与远程服务器通信的客户端功能，只有host需要用
|
||||
"""
|
||||
import gzip
|
||||
|
||||
import json
|
||||
import os
|
||||
import time
|
||||
from threading import Thread
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
|
||||
|
||||
import requests
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils.log import info
|
||||
from unilabos.config.config import HTTPConfig, BasicConfig
|
||||
from unilabos.utils import logger
|
||||
@@ -76,8 +76,7 @@ class HTTPClient:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
|
||||
payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
|
||||
f.write(json.dumps(payload, indent=4))
|
||||
f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
|
||||
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
|
||||
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
||||
if not self.initialized or first_add:
|
||||
@@ -282,54 +281,22 @@ class HTTPClient:
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_registry(
|
||||
self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
|
||||
) -> requests.Response:
|
||||
def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
注册资源到服务器，同步保存请求/响应到 unilabos_data
|
||||
注册资源到服务器
|
||||
|
||||
Args:
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
|
||||
tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
# 序列化一次，同时用于保存和发送
|
||||
json_bytes = _fast_dumps(registry_data)
|
||||
|
||||
# 保存请求数据到 unilabos_data
|
||||
req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
|
||||
try:
|
||||
os.makedirs(BasicConfig.working_dir, exist_ok=True)
|
||||
with open(req_path, "wb") as f:
|
||||
f.write(_fast_dumps_pretty(registry_data))
|
||||
logger.trace(f"注册表请求数据已保存: {req_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表请求数据失败: {e}")
|
||||
|
||||
compressed_body = gzip.compress(json_bytes)
|
||||
headers = {
|
||||
"Authorization": f"Lab {self.auth}",
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
}
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
data=compressed_body,
|
||||
headers=headers,
|
||||
json=registry_data,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
|
||||
# 保存响应数据到 unilabos_data
|
||||
res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
|
||||
try:
|
||||
with open(res_path, "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}\n{response.text}")
|
||||
logger.trace(f"注册表响应数据已保存: {res_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表响应数据失败: {e}")
|
||||
|
||||
if response.status_code not in [200, 201]:
|
||||
logger.error(f"注册资源失败: {response.status_code}, {response.text}")
|
||||
if response.status_code == 200:
|
||||
@@ -368,106 +335,6 @@ class HTTPClient:
|
||||
logger.error(f"响应内容: {response.text}")
|
||||
return None
|
||||
|
||||
def workflow_import(
|
||||
self,
|
||||
name: str,
|
||||
workflow_uuid: str,
|
||||
workflow_name: str,
|
||||
nodes: List[Dict[str, Any]],
|
||||
edges: List[Dict[str, Any]],
|
||||
tags: Optional[List[str]] = None,
|
||||
published: bool = False,
|
||||
description: str = "",
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
导入工作流到服务器，如果 published 为 True，则额外发起发布请求
|
||||
|
||||
Args:
|
||||
name: 工作流名称（顶层）
|
||||
workflow_uuid: 工作流UUID
|
||||
workflow_name: 工作流名称（data内部）
|
||||
nodes: 工作流节点列表
|
||||
edges: 工作流边列表
|
||||
tags: 工作流标签列表，默认为空列表
|
||||
published: 是否发布工作流，默认为False
|
||||
description: 工作流描述，发布时使用
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据，包含 code 和 data (uuid, name)
|
||||
"""
|
||||
payload = {
|
||||
"name": name,
|
||||
"data": {
|
||||
"workflow_uuid": workflow_uuid,
|
||||
"workflow_name": workflow_name,
|
||||
"nodes": nodes,
|
||||
"edges": edges,
|
||||
"tags": tags if tags is not None else [],
|
||||
},
|
||||
}
|
||||
# 保存请求到文件
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps(payload, indent=4, ensure_ascii=False))
|
||||
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/workflow/owner/import",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
)
|
||||
# 保存响应到文件
|
||||
with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}" + "\n" + response.text)
|
||||
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"导入工作流失败: {response.text}")
|
||||
return res
|
||||
# 导入成功后，如果需要发布则额外发起发布请求
|
||||
if published:
|
||||
imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
|
||||
publish_res = self.workflow_publish(imported_uuid, description)
|
||||
res["publish_result"] = publish_res
|
||||
return res
|
||||
else:
|
||||
logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
|
||||
"""
|
||||
发布工作流
|
||||
|
||||
Args:
|
||||
workflow_uuid: 工作流UUID
|
||||
description: 工作流描述
|
||||
|
||||
Returns:
|
||||
Dict: API响应数据
|
||||
"""
|
||||
payload = {
|
||||
"uuid": workflow_uuid,
|
||||
"description": description,
|
||||
"published": True,
|
||||
}
|
||||
logger.info(f"正在发布工作流: {workflow_uuid}")
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/workflow/owner",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"发布工作流失败: {response.text}")
|
||||
else:
|
||||
logger.info(f"工作流发布成功: {workflow_uuid}")
|
||||
return res
|
||||
else:
|
||||
logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
|
||||
@@ -58,14 +58,14 @@ class JobResultStore:
|
||||
feedback=feedback or {},
|
||||
timestamp=time.time(),
|
||||
)
|
||||
logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||
|
||||
def get_and_remove(self, job_id: str) -> Optional[JobResult]:
|
||||
"""获取并删除任务结果"""
|
||||
with self._results_lock:
|
||||
result = self._results.pop(job_id, None)
|
||||
if result:
|
||||
logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||
return result
|
||||
|
||||
def get_result(self, job_id: str) -> Optional[JobResult]:
|
||||
@@ -327,7 +327,6 @@ def job_add(req: JobAddReq) -> JobData:
|
||||
queue_item,
|
||||
action_type=action_type,
|
||||
action_kwargs=action_args,
|
||||
sample_material=req.sample_material,
|
||||
server_info=server_info,
|
||||
)
|
||||
|
||||
|
||||
@@ -6,6 +6,7 @@ Web服务器模块
|
||||
|
||||
import webbrowser
|
||||
|
||||
import uvicorn
|
||||
from fastapi import FastAPI, Request
|
||||
from fastapi.middleware.cors import CORSMiddleware
|
||||
from starlette.responses import Response
|
||||
@@ -86,7 +87,7 @@ def setup_server() -> FastAPI:
|
||||
# 设置页面路由
|
||||
try:
|
||||
setup_web_pages(pages)
|
||||
# info("[Web] 已加载Web UI模块")
|
||||
info("[Web] 已加载Web UI模块")
|
||||
except ImportError as e:
|
||||
info(f"[Web] 未找到Web页面模块: {str(e)}")
|
||||
except Exception as e:
|
||||
@@ -95,7 +96,7 @@ def setup_server() -> FastAPI:
|
||||
return app
|
||||
|
||||
|
||||
def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> bool:
|
||||
def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None:
|
||||
"""
|
||||
启动服务器
|
||||
|
||||
@@ -103,14 +104,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
host: 服务器主机
|
||||
port: 服务器端口
|
||||
open_browser: 是否自动打开浏览器
|
||||
|
||||
Returns:
|
||||
bool: True if restart was requested, False otherwise
|
||||
"""
|
||||
import threading
|
||||
import time
|
||||
from uvicorn import Config, Server
|
||||
|
||||
# 设置服务器
|
||||
setup_server()
|
||||
|
||||
@@ -129,37 +123,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
|
||||
# 启动服务器
|
||||
info(f"[Web] 启动FastAPI服务器: {host}:{port}")
|
||||
|
||||
# 使用支持重启的模式
|
||||
config = Config(app=app, host=host, port=port, log_config=log_config)
|
||||
server = Server(config)
|
||||
|
||||
# 启动服务器线程
|
||||
server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
|
||||
server_thread.start()
|
||||
|
||||
# info("[Web] Server started, monitoring for restart requests...")
|
||||
|
||||
# 监控重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
while server_thread.is_alive():
|
||||
if hasattr(main_module, "_restart_requested") and main_module._restart_requested:
|
||||
info(
|
||||
f"[Web] Restart requested via WebSocket, reason: {getattr(main_module, '_restart_reason', 'unknown')}"
|
||||
)
|
||||
main_module._restart_requested = False
|
||||
|
||||
# 停止服务器
|
||||
server.should_exit = True
|
||||
server_thread.join(timeout=5)
|
||||
|
||||
info("[Web] Server stopped, ready for restart")
|
||||
return True
|
||||
|
||||
time.sleep(1)
|
||||
|
||||
return False
|
||||
uvicorn.run(app, host=host, port=port, log_config=log_config)
|
||||
|
||||
|
||||
# 当脚本直接运行时启动服务器
|
||||
|
||||
@@ -23,10 +23,9 @@ from typing import Optional, Dict, Any, List
|
||||
from urllib.parse import urlparse
|
||||
from enum import Enum
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
from jedi.inference.gradual.typing import TypedDict
|
||||
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.resources.resource_tracker import ResourceDictType
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.app.communication import BaseCommunicationClient
|
||||
@@ -77,7 +76,6 @@ class JobInfo:
|
||||
start_time: float
|
||||
last_update_time: float = field(default_factory=time.time)
|
||||
ready_timeout: Optional[float] = None # READY状态的超时时间
|
||||
always_free: bool = False # 是否为永久闲置动作(不受排队限制)
|
||||
|
||||
def update_timestamp(self):
|
||||
"""更新最后更新时间"""
|
||||
@@ -129,15 +127,6 @@ class DeviceActionManager:
|
||||
# 总是将job添加到all_jobs中
|
||||
self.all_jobs[job_info.job_id] = job_info
|
||||
|
||||
# always_free的动作不受排队限制，直接设为READY
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.READY
|
||||
job_info.update_timestamp()
|
||||
job_info.set_ready_timeout(10)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
|
||||
return True
|
||||
|
||||
# 检查是否有正在执行或准备执行的任务
|
||||
if device_key in self.active_jobs:
|
||||
# 有正在执行或准备执行的任务，加入队列
|
||||
@@ -165,7 +154,7 @@ class DeviceActionManager:
|
||||
job_info.set_ready_timeout(10) # 设置10秒超时
|
||||
self.active_jobs[device_key] = job_info
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
|
||||
return True
|
||||
|
||||
def start_job(self, job_id: str) -> bool:
|
||||
@@ -187,15 +176,11 @@ class DeviceActionManager:
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
|
||||
return False
|
||||
|
||||
# always_free的job不需要检查active_jobs
|
||||
if not job_info.always_free:
|
||||
# 检查设备上是否是这个job
|
||||
if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
|
||||
return False
|
||||
# 检查设备上是否是这个job
|
||||
if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
|
||||
return False
|
||||
|
||||
# 开始执行任务，将状态从READY转换为STARTED
|
||||
job_info.status = JobStatus.STARTED
|
||||
@@ -218,13 +203,6 @@ class DeviceActionManager:
|
||||
job_info = self.all_jobs[job_id]
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# always_free的job直接清理，不影响队列
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.ENDED
|
||||
job_info.update_timestamp()
|
||||
del self.all_jobs[job_id]
|
||||
return None
|
||||
|
||||
# 移除活跃任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
del self.active_jobs[device_key]
|
||||
@@ -232,9 +210,8 @@ class DeviceActionManager:
|
||||
job_info.update_timestamp()
|
||||
# 从all_jobs中移除已结束的job
|
||||
del self.all_jobs[job_id]
|
||||
# job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
# logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
pass
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
|
||||
else:
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
|
||||
@@ -250,20 +227,15 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
|
||||
return next_job
|
||||
|
||||
return None
|
||||
|
||||
def get_active_jobs(self) -> List[JobInfo]:
|
||||
"""获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
|
||||
"""获取所有正在执行的任务"""
|
||||
with self.lock:
|
||||
jobs = list(self.active_jobs.values())
|
||||
# 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
|
||||
for job in self.all_jobs.values():
|
||||
if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
|
||||
jobs.append(job)
|
||||
return jobs
|
||||
return list(self.active_jobs.values())
|
||||
|
||||
def get_queued_jobs(self) -> List[JobInfo]:
|
||||
"""获取所有排队中的任务"""
|
||||
@@ -288,14 +260,6 @@ class DeviceActionManager:
|
||||
job_info = self.all_jobs[job_id]
|
||||
device_key = job_info.device_action_key
|
||||
|
||||
# always_free的job直接清理
|
||||
if job_info.always_free:
|
||||
job_info.status = JobStatus.ENDED
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
|
||||
return True
|
||||
|
||||
# 如果是正在执行的任务
|
||||
if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
|
||||
# 清理active job状态
|
||||
@@ -304,7 +268,7 @@ class DeviceActionManager:
|
||||
# 从all_jobs中移除
|
||||
del self.all_jobs[job_id]
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
|
||||
|
||||
# 启动下一个任务
|
||||
if device_key in self.device_queues and self.device_queues[device_key]:
|
||||
@@ -317,7 +281,7 @@ class DeviceActionManager:
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
|
||||
return True
|
||||
|
||||
# 如果是排队中的任务
|
||||
@@ -331,7 +295,7 @@ class DeviceActionManager:
|
||||
job_log = format_job_log(
|
||||
job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
|
||||
)
|
||||
logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
|
||||
return True
|
||||
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
@@ -369,18 +333,13 @@ class DeviceActionManager:
|
||||
timeout_jobs = []
|
||||
|
||||
with self.lock:
|
||||
# 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
|
||||
ready_candidates = list(self.active_jobs.values())
|
||||
for job in self.all_jobs.values():
|
||||
if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
|
||||
ready_candidates.append(job)
|
||||
|
||||
ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
|
||||
# 统计READY状态的任务数量
|
||||
ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
|
||||
if ready_jobs_count > 0:
|
||||
logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout") # type: ignore # noqa: E501
|
||||
|
||||
# 找到所有超时的READY任务（只检测，不处理）
|
||||
for job_info in ready_candidates:
|
||||
for job_info in self.active_jobs.values():
|
||||
if job_info.is_ready_timeout():
|
||||
timeout_jobs.append(job_info)
|
||||
job_log = format_job_log(
|
||||
@@ -400,7 +359,7 @@ class MessageProcessor:
|
||||
self.device_manager = device_manager
|
||||
self.queue_processor = None # 延迟设置
|
||||
self.websocket_client = None # 延迟设置
|
||||
self.session_id = str(uuid.uuid4())[:6] # 产生一个随机的session_id
|
||||
self.session_id = ""
|
||||
|
||||
# WebSocket连接
|
||||
self.websocket = None
|
||||
@@ -409,7 +368,6 @@ class MessageProcessor:
|
||||
# 线程控制
|
||||
self.is_running = False
|
||||
self.thread = None
|
||||
self._loop = None # asyncio event loop引用，用于外部关闭websocket
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
|
||||
@@ -436,31 +394,22 @@ class MessageProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止消息处理线程"""
|
||||
self.is_running = False
|
||||
# 主动关闭websocket以快速中断消息接收循环
|
||||
ws = self.websocket
|
||||
loop = self._loop
|
||||
if ws and loop and loop.is_running():
|
||||
try:
|
||||
asyncio.run_coroutine_threadsafe(ws.close(), loop)
|
||||
except Exception:
|
||||
pass
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[MessageProcessor] Stopped")
|
||||
|
||||
def _run(self):
|
||||
"""运行消息处理主循环"""
|
||||
self._loop = asyncio.new_event_loop()
|
||||
loop = asyncio.new_event_loop()
|
||||
try:
|
||||
asyncio.set_event_loop(self._loop)
|
||||
self._loop.run_until_complete(self._connection_handler())
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_until_complete(self._connection_handler())
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Thread error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
finally:
|
||||
if self._loop:
|
||||
self._loop.close()
|
||||
self._loop = None
|
||||
if loop:
|
||||
loop.close()
|
||||
|
||||
async def _connection_handler(self):
|
||||
"""处理WebSocket连接和重连逻辑"""
|
||||
@@ -477,10 +426,8 @@ class MessageProcessor:
|
||||
async with websockets.connect(
|
||||
self.websocket_url,
|
||||
ssl=ssl_context,
|
||||
open_timeout=20,
|
||||
ping_interval=WSConfig.ping_interval,
|
||||
ping_timeout=10,
|
||||
close_timeout=5,
|
||||
additional_headers={
|
||||
"Authorization": f"Lab {BasicConfig.auth_secret()}",
|
||||
"EdgeSession": f"{self.session_id}",
|
||||
@@ -491,98 +438,72 @@ class MessageProcessor:
|
||||
self.connected = True
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
|
||||
logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")
|
||||
|
||||
# 启动发送协程
|
||||
send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
|
||||
|
||||
# 每次连接（含重连）后重新向服务端注册，
|
||||
# 否则服务端不知道客户端已上线，不会推送消息。
|
||||
if self.websocket_client:
|
||||
self.websocket_client.publish_host_ready()
|
||||
send_task = asyncio.create_task(self._send_handler())
|
||||
|
||||
try:
|
||||
# 接收消息循环
|
||||
await self._message_handler()
|
||||
finally:
|
||||
# 必须在 async with __aexit__ 之前停止 send_task，
|
||||
# 否则 send_task 会在关闭握手期间继续发送数据，
|
||||
# 干扰 websockets 库的内部清理，导致 task 泄漏。
|
||||
self.connected = False
|
||||
send_task.cancel()
|
||||
try:
|
||||
await send_task
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
self.connected = False
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.warning("[MessageProcessor] 与服务端连接中断")
|
||||
except TimeoutError:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
|
||||
)
|
||||
except websockets.exceptions.InvalidStatus as e:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(traceback.format_exc())
|
||||
logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
|
||||
finally:
|
||||
logger.warning("[MessageProcessor] Connection closed")
|
||||
self.connected = False
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Connection error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
self.connected = False
|
||||
finally:
|
||||
self.websocket = None
|
||||
|
||||
# 重连逻辑
|
||||
if not self.is_running:
|
||||
break
|
||||
if self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
self.reconnect_count += 1
|
||||
backoff = WSConfig.reconnect_interval
|
||||
logger.info(
|
||||
f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
|
||||
f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
)
|
||||
await asyncio.sleep(backoff)
|
||||
else:
|
||||
await asyncio.sleep(WSConfig.reconnect_interval)
|
||||
elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
|
||||
logger.error("[MessageProcessor] Max reconnection attempts reached")
|
||||
break
|
||||
else:
|
||||
self.reconnect_count -= 1
|
||||
|
||||
async def _message_handler(self):
|
||||
"""处理接收到的消息。
|
||||
|
||||
ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
|
||||
以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
|
||||
正确清理内部 task，避免 task 泄漏。
|
||||
"""
|
||||
"""处理接收到的消息"""
|
||||
if not self.websocket:
|
||||
logger.error("[MessageProcessor] WebSocket connection is None")
|
||||
return
|
||||
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(
|
||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
||||
)
|
||||
logger.debug(
|
||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
||||
)
|
||||
else:
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
try:
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
await self._process_message(data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.info("[MessageProcessor] Message handler stopped - connection closed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
async def _send_handler(self):
|
||||
"""处理发送队列中的消息"""
|
||||
logger.trace("[MessageProcessor] Send handler started")
|
||||
logger.debug("[MessageProcessor] Send handler started")
|
||||
|
||||
try:
|
||||
while self.connected and self.websocket:
|
||||
@@ -610,7 +531,7 @@ class MessageProcessor:
|
||||
try:
|
||||
message_str = json.dumps(msg, ensure_ascii=False)
|
||||
await self.websocket.send(message_str)
|
||||
# logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||
logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
@@ -627,16 +548,18 @@ class MessageProcessor:
|
||||
|
||||
except asyncio.CancelledError:
|
||||
logger.debug("[MessageProcessor] Send handler cancelled")
|
||||
raise
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
finally:
|
||||
logger.debug("[MessageProcessor] Send handler stopped")
|
||||
|
||||
async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
|
||||
async def _process_message(self, data: Dict[str, Any]):
|
||||
"""处理收到的消息"""
|
||||
logger.trace(f"[MessageProcessor] Processing message: {message_type}")
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
|
||||
logger.debug(f"[MessageProcessor] Processing message: {message_type}")
|
||||
|
||||
try:
|
||||
if message_type == "pong":
|
||||
@@ -648,23 +571,14 @@ class MessageProcessor:
|
||||
elif message_type == "cancel_action" or message_type == "cancel_task":
|
||||
await self._handle_cancel_action(message_data)
|
||||
elif message_type == "add_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "add")
|
||||
elif message_type == "update_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "update")
|
||||
elif message_type == "remove_material":
|
||||
# noinspection PyTypeChecker
|
||||
await self._handle_resource_tree_update(message_data, "remove")
|
||||
# elif message_type == "session_id":
|
||||
# self.session_id = message_data.get("session_id")
|
||||
# logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
elif message_type == "add_device":
|
||||
await self._handle_device_manage(message_data, "add")
|
||||
elif message_type == "remove_device":
|
||||
await self._handle_device_manage(message_data, "remove")
|
||||
elif message_type == "request_restart":
|
||||
await self._handle_request_restart(message_data)
|
||||
elif message_type == "session_id":
|
||||
self.session_id = message_data.get("session_id")
|
||||
logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
else:
|
||||
logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
|
||||
|
||||
@@ -678,24 +592,6 @@ class MessageProcessor:
|
||||
if host_node:
|
||||
host_node.handle_pong_response(pong_data)
|
||||
|
||||
def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
|
||||
"""检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if not host_node:
|
||||
return False
|
||||
# noinspection PyProtectedMember
|
||||
action_mappings = host_node._action_value_mappings.get(device_id)
|
||||
if not action_mappings:
|
||||
return False
|
||||
# 尝试直接匹配或 auto- 前缀匹配
|
||||
for key in [action_name, f"auto-{action_name}"]:
|
||||
if key in action_mappings:
|
||||
return action_mappings[key].get("always_free", False)
|
||||
return False
|
||||
except Exception:
|
||||
return False
|
||||
|
||||
async def _handle_query_action_state(self, data: Dict[str, Any]):
|
||||
"""处理query_action_state消息"""
|
||||
device_id = data.get("device_id", "")
|
||||
@@ -710,9 +606,6 @@ class MessageProcessor:
|
||||
|
||||
device_action_key = f"/devices/{device_id}/{action_name}"
|
||||
|
||||
# 检查action是否为always_free
|
||||
action_always_free = self._check_action_always_free(device_id, action_name)
|
||||
|
||||
# 创建任务信息
|
||||
job_info = JobInfo(
|
||||
job_id=job_id,
|
||||
@@ -722,7 +615,6 @@ class MessageProcessor:
|
||||
device_action_key=device_action_key,
|
||||
status=JobStatus.QUEUE,
|
||||
start_time=time.time(),
|
||||
always_free=action_always_free,
|
||||
)
|
||||
|
||||
# 添加到设备管理器
|
||||
@@ -734,13 +626,13 @@ class MessageProcessor:
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", True, 0
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
|
||||
else:
|
||||
# 需要排队
|
||||
await self._send_action_state_response(
|
||||
device_id, action_name, task_id, job_id, "query_action_status", False, 10
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
||||
logger.info(f"[MessageProcessor] Job {job_log} queued")
|
||||
|
||||
# 通知QueueProcessor有新的队列更新
|
||||
if self.queue_processor:
|
||||
@@ -749,37 +641,9 @@ class MessageProcessor:
|
||||
async def _handle_job_start(self, data: Dict[str, Any]):
|
||||
"""处理job_start消息"""
|
||||
try:
|
||||
if not data.get("sample_material"):
|
||||
data["sample_material"] = {}
|
||||
req = JobAddReq(**data)
|
||||
|
||||
job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
|
||||
|
||||
# 服务端对always_free动作可能跳过query_action_state直接发job_start，
|
||||
# 此时job尚未注册，需要自动补注册
|
||||
existing_job = self.device_manager.get_job_info(req.job_id)
|
||||
if not existing_job:
|
||||
action_name = req.action
|
||||
device_action_key = f"/devices/{req.device_id}/{action_name}"
|
||||
action_always_free = self._check_action_always_free(req.device_id, action_name)
|
||||
|
||||
if action_always_free:
|
||||
job_info = JobInfo(
|
||||
job_id=req.job_id,
|
||||
task_id=req.task_id,
|
||||
device_id=req.device_id,
|
||||
action_name=action_name,
|
||||
device_action_key=device_action_key,
|
||||
status=JobStatus.QUEUE,
|
||||
start_time=time.time(),
|
||||
always_free=True,
|
||||
)
|
||||
self.device_manager.add_queue_request(job_info)
|
||||
logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
|
||||
else:
|
||||
logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
|
||||
return
|
||||
|
||||
success = self.device_manager.start_job(req.job_id)
|
||||
if not success:
|
||||
logger.error(f"[MessageProcessor] Failed to start job {job_log}")
|
||||
@@ -808,7 +672,6 @@ class MessageProcessor:
|
||||
queue_item,
|
||||
action_type=req.action_type,
|
||||
action_kwargs=req.action_args,
|
||||
sample_material=req.sample_material,
|
||||
server_info=req.server_info,
|
||||
)
|
||||
|
||||
@@ -973,7 +836,9 @@ class MessageProcessor:
|
||||
device_action_groups[key_add] = []
|
||||
device_action_groups[key_add].append(item["uuid"])
|
||||
|
||||
logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
|
||||
logger.info(
|
||||
f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
|
||||
)
|
||||
else:
|
||||
# 正常update
|
||||
key = (device_id, "update")
|
||||
@@ -987,13 +852,11 @@ class MessageProcessor:
|
||||
device_action_groups[key] = []
|
||||
device_action_groups[key].append(item["uuid"])
|
||||
|
||||
logger.trace(
|
||||
f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
|
||||
)
|
||||
logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
|
||||
|
||||
# 为每个(device_id, action)创建独立的更新线程
|
||||
for (device_id, actual_action), items in device_action_groups.items():
|
||||
logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
|
||||
logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
|
||||
|
||||
def _notify_resource_tree(dev_id, act, item_list):
|
||||
try:
|
||||
@@ -1025,81 +888,6 @@ class MessageProcessor:
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
|
||||
"""Handle add_device / remove_device from LabGo server."""
|
||||
if not device_list:
|
||||
return
|
||||
|
||||
for item in device_list:
|
||||
target_node_id = item.get("target_node_id", "host_node")
|
||||
|
||||
def _notify(target_id: str, act: str, cfg: ResourceDictType):
|
||||
try:
|
||||
host_node = HostNode.get_instance(timeout=5)
|
||||
if not host_node:
|
||||
logger.error(f"[DeviceManage] HostNode not available for {act}_device")
|
||||
return
|
||||
success = host_node.notify_device_manage(target_id, act, cfg)
|
||||
if success:
|
||||
logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
|
||||
else:
|
||||
logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
|
||||
except Exception as e:
|
||||
logger.error(f"[DeviceManage] Error in {act}_device: {e}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
thread = threading.Thread(
|
||||
target=_notify,
|
||||
args=(target_node_id, action, item),
|
||||
daemon=True,
|
||||
name=f"DeviceManage-{action}-{item.get('id', '')}",
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_request_restart(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理重启请求
|
||||
|
||||
当LabGo发送request_restart时，执行清理并触发重启
|
||||
"""
|
||||
reason = data.get("reason", "unknown")
|
||||
delay = data.get("delay", 2) # 默认延迟2秒
|
||||
logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
|
||||
|
||||
# 发送确认消息
|
||||
self.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
|
||||
# 设置全局重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
main_module._restart_requested = True
|
||||
main_module._restart_reason = reason
|
||||
|
||||
# 延迟后执行清理
|
||||
await asyncio.sleep(delay)
|
||||
|
||||
# 在新线程中执行清理，避免阻塞当前事件循环
|
||||
def do_cleanup():
|
||||
import time
|
||||
|
||||
time.sleep(0.5) # 给当前消息处理完成的时间
|
||||
logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
|
||||
try:
|
||||
from unilabos.app.utils import cleanup_for_restart
|
||||
|
||||
if cleanup_for_restart():
|
||||
logger.info("[MessageProcessor] Cleanup successful, main() will restart")
|
||||
else:
|
||||
logger.error("[MessageProcessor] Cleanup failed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error during cleanup: {e}")
|
||||
|
||||
cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
|
||||
cleanup_thread.start()
|
||||
logger.info(f"[MessageProcessor] Restart cleanup scheduled")
|
||||
|
||||
async def _send_action_state_response(
|
||||
self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
|
||||
):
|
||||
@@ -1171,14 +959,13 @@ class QueueProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止队列处理线程"""
|
||||
self.is_running = False
|
||||
self.queue_update_event.set() # 立即唤醒等待中的线程
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[QueueProcessor] Stopped")
|
||||
|
||||
def _run(self):
|
||||
"""运行队列处理主循环"""
|
||||
logger.trace("[QueueProcessor] Queue processor started")
|
||||
logger.debug("[QueueProcessor] Queue processor started")
|
||||
|
||||
while self.is_running:
|
||||
try:
|
||||
@@ -1272,11 +1059,6 @@ class QueueProcessor:
|
||||
logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
|
||||
|
||||
for job_info in queued_jobs:
|
||||
# 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
|
||||
# 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
|
||||
if job_info.status != JobStatus.QUEUE:
|
||||
continue
|
||||
|
||||
message = {
|
||||
"action": "report_action_state",
|
||||
"data": {
|
||||
@@ -1292,7 +1074,7 @@ class QueueProcessor:
|
||||
success = self.message_processor.send_message(message)
|
||||
job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
|
||||
if success:
|
||||
logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
|
||||
else:
|
||||
logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
|
||||
|
||||
@@ -1315,7 +1097,7 @@ class QueueProcessor:
|
||||
job_info.action_name,
|
||||
)
|
||||
|
||||
logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
|
||||
|
||||
# 结束任务，获取下一个可执行的任务
|
||||
next_job = self.device_manager.end_job(job_id)
|
||||
@@ -1335,8 +1117,8 @@ class QueueProcessor:
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
# next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
# logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
|
||||
# 立即触发下一轮状态检查
|
||||
self.notify_queue_update()
|
||||
@@ -1393,6 +1175,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
else:
|
||||
url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
|
||||
|
||||
logger.debug(f"[WebSocketClient] URL: {url}")
|
||||
return url
|
||||
|
||||
def start(self) -> None:
|
||||
@@ -1405,11 +1188,13 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
logger.error("[WebSocketClient] WebSocket URL not configured")
|
||||
return
|
||||
|
||||
logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
|
||||
|
||||
# 启动两个核心线程
|
||||
self.message_processor.start()
|
||||
self.queue_processor.start()
|
||||
|
||||
logger.trace("[WebSocketClient] All threads started")
|
||||
logger.info("[WebSocketClient] All threads started")
|
||||
|
||||
def stop(self) -> None:
|
||||
"""停止WebSocket客户端"""
|
||||
@@ -1425,8 +1210,8 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
message = {"action": "normal_exit", "data": {"session_id": session_id}}
|
||||
self.message_processor.send_message(message)
|
||||
logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
|
||||
# send_handler 每100ms检查一次队列，等300ms足以让消息发出
|
||||
time.sleep(0.3)
|
||||
# 给一点时间让消息发送出去
|
||||
time.sleep(1)
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
|
||||
|
||||
@@ -1458,7 +1243,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
@@ -1478,7 +1263,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
except (KeyError, AttributeError):
|
||||
logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
|
||||
|
||||
# logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
||||
logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
|
||||
|
||||
# 通知队列处理器job完成（包括timeout的job）
|
||||
self.queue_processor.handle_job_completed(item.job_id, status)
|
||||
@@ -1500,7 +1285,7 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
self.message_processor.send_message(message)
|
||||
|
||||
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
|
||||
logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
|
||||
logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}")
|
||||
|
||||
def send_ping(self, ping_id: str, timestamp: float) -> None:
|
||||
"""发送ping消息"""
|
||||
@@ -1531,59 +1316,17 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
|
||||
|
||||
def publish_host_ready(self) -> None:
|
||||
"""发布host_node ready信号，包含设备和动作信息"""
|
||||
"""发布host_node ready信号"""
|
||||
if self.is_disabled or not self.is_connected():
|
||||
logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
|
||||
return
|
||||
|
||||
# 收集设备信息
|
||||
devices = []
|
||||
machine_name = BasicConfig.machine_name
|
||||
|
||||
try:
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
# 获取设备信息
|
||||
for device_id, namespace in host_node.devices_names.items():
|
||||
device_key = (
|
||||
f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
|
||||
)
|
||||
is_online = device_key in host_node._online_devices
|
||||
|
||||
# 获取设备的动作信息
|
||||
actions = {}
|
||||
for action_id, client in host_node._action_clients.items():
|
||||
# action_id 格式: /namespace/device_id/action_name
|
||||
if device_id in action_id:
|
||||
action_name = action_id.split("/")[-1]
|
||||
actions[action_name] = {
|
||||
"action_path": action_id,
|
||||
"action_type": str(type(client).__name__),
|
||||
}
|
||||
|
||||
devices.append(
|
||||
{
|
||||
"device_id": device_id,
|
||||
"namespace": namespace,
|
||||
"device_key": device_key,
|
||||
"is_online": is_online,
|
||||
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
|
||||
"actions": actions,
|
||||
}
|
||||
)
|
||||
|
||||
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
|
||||
|
||||
message = {
|
||||
"action": "host_node_ready",
|
||||
"data": {
|
||||
"status": "ready",
|
||||
"timestamp": time.time(),
|
||||
"machine_name": machine_name,
|
||||
"devices": devices,
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
logger.info(f"[WebSocketClient] Host node ready signal published with {len(devices)} devices")
|
||||
logger.info("[WebSocketClient] Host node ready signal published")
|
||||
|
||||
@@ -5,7 +5,6 @@ from .separate_protocol import generate_separate_protocol
|
||||
from .evaporate_protocol import generate_evaporate_protocol
|
||||
from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
|
||||
from .agv_transfer_protocol import generate_agv_transfer_protocol
|
||||
from .batch_transfer_protocol import generate_batch_transfer_protocol
|
||||
from .add_protocol import generate_add_protocol
|
||||
from .centrifuge_protocol import generate_centrifuge_protocol
|
||||
from .filter_protocol import generate_filter_protocol
|
||||
@@ -32,7 +31,6 @@ from .hydrogenate_protocol import generate_hydrogenate_protocol
|
||||
action_protocol_generators = {
|
||||
AddProtocol: generate_add_protocol,
|
||||
AGVTransferProtocol: generate_agv_transfer_protocol,
|
||||
BatchTransferProtocol: generate_batch_transfer_protocol,
|
||||
AdjustPHProtocol: generate_adjust_ph_protocol,
|
||||
CentrifugeProtocol: generate_centrifuge_protocol,
|
||||
CleanProtocol: generate_clean_protocol,
|
||||
|
||||
@@ -1,127 +0,0 @@
|
||||
"""
|
||||
AGV 编译器共用工具函数
|
||||
|
||||
从 physical_setup_graph 中发现 AGV 节点配置，
|
||||
供 agv_transfer_protocol 和 batch_transfer_protocol 复用。
|
||||
"""
|
||||
|
||||
from typing import Any, Dict, List, Optional
|
||||
|
||||
import networkx as nx
|
||||
|
||||
|
||||
def find_agv_config(G: nx.Graph, agv_id: Optional[str] = None) -> Dict[str, Any]:
|
||||
"""从设备图中发现 AGV 节点，返回其配置
|
||||
|
||||
查找策略：
|
||||
1. 如果指定 agv_id，直接读取该节点
|
||||
2. 否则查找 class 为 "agv_transport_station" 的节点
|
||||
3. 兜底查找 config 中包含 device_roles 的 workstation 节点
|
||||
|
||||
Returns:
|
||||
{
|
||||
"agv_id": str,
|
||||
"device_roles": {"navigator": "...", "arm": "..."},
|
||||
"route_table": {"A->B": {"nav_command": ..., "arm_pick": ..., "arm_place": ...}},
|
||||
"capacity": int,
|
||||
}
|
||||
"""
|
||||
if agv_id and agv_id in G.nodes:
|
||||
node_data = G.nodes[agv_id]
|
||||
config = _extract_config(node_data)
|
||||
if config and "device_roles" in config:
|
||||
return _build_agv_cfg(agv_id, config, G)
|
||||
|
||||
# 查找 agv_transport_station 类型
|
||||
for nid, ndata in G.nodes(data=True):
|
||||
node_class = _get_node_class(ndata)
|
||||
if node_class == "agv_transport_station":
|
||||
config = _extract_config(ndata)
|
||||
return _build_agv_cfg(nid, config or {}, G)
|
||||
|
||||
# 兜底：查找带有 device_roles 的 workstation
|
||||
for nid, ndata in G.nodes(data=True):
|
||||
node_class = _get_node_class(ndata)
|
||||
if node_class == "workstation":
|
||||
config = _extract_config(ndata)
|
||||
if config and "device_roles" in config:
|
||||
return _build_agv_cfg(nid, config, G)
|
||||
|
||||
raise ValueError("设备图中未找到 AGV 节点（需 class=agv_transport_station 或 config.device_roles）")
|
||||
|
||||
|
||||
def get_agv_capacity(G: nx.Graph, agv_id: str) -> int:
|
||||
"""从 AGV 的 Warehouse 子节点计算载具容量"""
|
||||
for neighbor in G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id):
|
||||
ndata = G.nodes[neighbor]
|
||||
node_type = _get_node_type(ndata)
|
||||
if node_type == "warehouse":
|
||||
config = _extract_config(ndata)
|
||||
if config:
|
||||
x = config.get("num_items_x", 1)
|
||||
y = config.get("num_items_y", 1)
|
||||
z = config.get("num_items_z", 1)
|
||||
return x * y * z
|
||||
# 如果没有 warehouse 子节点，尝试从配置中读取
|
||||
return 0
|
||||
|
||||
|
||||
def split_batches(items: list, capacity: int) -> List[list]:
|
||||
"""按 AGV 容量分批
|
||||
|
||||
Args:
|
||||
items: 待转运的物料列表
|
||||
capacity: AGV 单批次容量
|
||||
|
||||
Returns:
|
||||
分批后的列表的列表
|
||||
"""
|
||||
if capacity <= 0:
|
||||
raise ValueError(f"AGV 容量必须 > 0，当前: {capacity}")
|
||||
return [items[i:i + capacity] for i in range(0, len(items), capacity)]
|
||||
|
||||
|
||||
def _extract_config(node_data: dict) -> Optional[dict]:
|
||||
"""从节点数据中提取 config 字段，兼容多种格式"""
|
||||
# 直接 config 字段
|
||||
config = node_data.get("config")
|
||||
if isinstance(config, dict):
|
||||
return config
|
||||
# res_content 嵌套格式
|
||||
res_content = node_data.get("res_content")
|
||||
if hasattr(res_content, "config"):
|
||||
return res_content.config if isinstance(res_content.config, dict) else None
|
||||
if isinstance(res_content, dict):
|
||||
return res_content.get("config")
|
||||
return None
|
||||
|
||||
|
||||
def _get_node_class(node_data: dict) -> str:
|
||||
"""获取节点的 class 字段"""
|
||||
res_content = node_data.get("res_content")
|
||||
if hasattr(res_content, "model_dump"):
|
||||
d = res_content.model_dump()
|
||||
return d.get("class_", d.get("class", ""))
|
||||
if isinstance(res_content, dict):
|
||||
return res_content.get("class_", res_content.get("class", ""))
|
||||
return node_data.get("class_", node_data.get("class", ""))
|
||||
|
||||
|
||||
def _get_node_type(node_data: dict) -> str:
|
||||
"""获取节点的 type 字段"""
|
||||
res_content = node_data.get("res_content")
|
||||
if hasattr(res_content, "type"):
|
||||
return res_content.type or ""
|
||||
if isinstance(res_content, dict):
|
||||
return res_content.get("type", "")
|
||||
return node_data.get("type", "")
|
||||
|
||||
|
||||
def _build_agv_cfg(agv_id: str, config: dict, G: nx.Graph) -> Dict[str, Any]:
|
||||
"""构建标准化的 AGV 配置"""
|
||||
return {
|
||||
"agv_id": agv_id,
|
||||
"device_roles": config.get("device_roles", {}),
|
||||
"route_table": config.get("route_table", {}),
|
||||
"capacity": get_agv_capacity(G, agv_id),
|
||||
}
|
||||
@@ -2,13 +2,20 @@ from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
|
||||
from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input
|
||||
from .utils.vessel_parser import get_vessel, find_solid_dispenser, find_connected_stirrer, find_reagent_vessel
|
||||
from .utils.logger_util import action_log, debug_print
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[ADD] {message}")
|
||||
|
||||
|
||||
# 🆕 创建进度日志动作
|
||||
create_action_log = partial(action_log, prefix="[ADD]")
|
||||
|
||||
@@ -1,12 +1,14 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
from .utils.vessel_parser import get_vessel, find_connected_stirrer
|
||||
from .utils.logger_util import action_log, debug_print
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
create_action_log = partial(action_log, prefix="[ADJUST_PH]")
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[ADJUST_PH] {message}")
|
||||
|
||||
def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
"""
|
||||
@@ -19,6 +21,8 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
Returns:
|
||||
str: 试剂容器ID
|
||||
"""
|
||||
debug_print(f"🔍 正在查找试剂 '{reagent}' 的容器...")
|
||||
|
||||
# 常见酸碱试剂的别名映射
|
||||
reagent_aliases = {
|
||||
"hydrochloric acid": ["HCl", "hydrochloric_acid", "hcl", "muriatic_acid"],
|
||||
@@ -32,13 +36,17 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
|
||||
# 构建搜索名称列表
|
||||
search_names = [reagent.lower()]
|
||||
|
||||
debug_print(f"📋 基础搜索名称: {reagent.lower()}")
|
||||
|
||||
# 添加别名
|
||||
for base_name, aliases in reagent_aliases.items():
|
||||
if reagent.lower() in base_name.lower() or base_name.lower() in reagent.lower():
|
||||
search_names.extend([alias.lower() for alias in aliases])
|
||||
debug_print(f"🔗 添加别名: {aliases}")
|
||||
break
|
||||
|
||||
debug_print(f"📝 完整搜索列表: {search_names}")
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = []
|
||||
for name in search_names:
|
||||
@@ -53,15 +61,17 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
name_clean
|
||||
])
|
||||
|
||||
debug_print(f"搜索容器: {len(possible_names)} 个候选名称")
|
||||
|
||||
debug_print(f"🎯 可能的容器名称 (前5个): {possible_names[:5]}... (共{len(possible_names)}个)")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print(f"📋 方法1: 精确名称匹配...")
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
debug_print(f"通过名称匹配找到容器: {vessel_name}")
|
||||
debug_print(f"✅ 通过名称匹配找到容器: {vessel_name} 🎯")
|
||||
return vessel_name
|
||||
|
||||
|
||||
# 第二步：通过模糊匹配
|
||||
debug_print(f"📋 方法2: 模糊名称匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
@@ -69,10 +79,11 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
# 检查是否包含任何搜索名称
|
||||
for search_name in search_names:
|
||||
if search_name in node_id.lower() or search_name in node_name:
|
||||
debug_print(f"通过模糊匹配找到容器: {node_id}")
|
||||
debug_print(f"✅ 通过模糊匹配找到容器: {node_id} 🔍")
|
||||
return node_id
|
||||
|
||||
|
||||
# 第三步：通过液体类型匹配
|
||||
debug_print(f"📋 方法3: 液体类型匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
@@ -85,15 +96,56 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
|
||||
|
||||
for search_name in search_names:
|
||||
if search_name in liquid_type or search_name in reagent_name:
|
||||
debug_print(f"通过液体类型匹配找到容器: {node_id}")
|
||||
debug_print(f"✅ 通过液体类型匹配找到容器: {node_id} 💧")
|
||||
return node_id
|
||||
|
||||
# 列出可用容器帮助调试
|
||||
available_containers = [node_id for node_id in G.nodes()
|
||||
if G.nodes[node_id].get('type') == 'container']
|
||||
debug_print(f"所有匹配方法失败，可用容器: {available_containers}")
|
||||
debug_print(f"📊 列出可用容器帮助调试...")
|
||||
available_containers = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '')
|
||||
for liquid in liquids if isinstance(liquid, dict)]
|
||||
|
||||
available_containers.append({
|
||||
'id': node_id,
|
||||
'name': G.nodes[node_id].get('name', ''),
|
||||
'liquids': liquid_types,
|
||||
'reagent_name': vessel_data.get('reagent_name', '')
|
||||
})
|
||||
|
||||
debug_print(f"📋 可用容器列表:")
|
||||
for container in available_containers:
|
||||
debug_print(f" - 🧪 {container['id']}: {container['name']}")
|
||||
debug_print(f" 💧 液体: {container['liquids']}")
|
||||
debug_print(f" 🏷️ 试剂: {container['reagent_name']}")
|
||||
|
||||
debug_print(f"❌ 所有匹配方法都失败了")
|
||||
raise ValueError(f"找不到试剂 '{reagent}' 对应的容器。尝试了: {possible_names[:10]}...")
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找与容器相连的搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
|
||||
|
||||
stirrer_nodes = [node for node in G.nodes()
|
||||
if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
|
||||
|
||||
debug_print(f"📊 发现 {len(stirrer_nodes)} 个搅拌器: {stirrer_nodes}")
|
||||
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
|
||||
return stirrer
|
||||
|
||||
if stirrer_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何搅拌器")
|
||||
return None
|
||||
|
||||
def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume: float = 100.0) -> float:
|
||||
"""
|
||||
估算需要的试剂体积来调节pH
|
||||
@@ -106,30 +158,44 @@ def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume
|
||||
Returns:
|
||||
float: 估算的试剂体积 (mL)
|
||||
"""
|
||||
debug_print(f"计算试剂体积: pH={target_ph_value}, reagent={reagent}, vessel={vessel_volume}mL")
|
||||
|
||||
# 简化的pH调节体积估算
|
||||
debug_print(f"🧮 计算试剂体积...")
|
||||
debug_print(f" 📍 目标pH: {target_ph_value}")
|
||||
debug_print(f" 🧪 试剂: {reagent}")
|
||||
debug_print(f" 📏 容器体积: {vessel_volume}mL")
|
||||
|
||||
# 简化的pH调节体积估算（实际应用中需要更精确的计算）
|
||||
if "acid" in reagent.lower() or "hcl" in reagent.lower():
|
||||
debug_print(f"🍋 检测到酸性试剂")
|
||||
# 酸性试剂：pH越低需要的体积越大
|
||||
if target_ph_value < 3:
|
||||
volume = vessel_volume * 0.05
|
||||
volume = vessel_volume * 0.05 # 5%
|
||||
debug_print(f" 💪 强酸性 (pH<3): 使用 5% 体积")
|
||||
elif target_ph_value < 5:
|
||||
volume = vessel_volume * 0.02
|
||||
volume = vessel_volume * 0.02 # 2%
|
||||
debug_print(f" 🔸 中酸性 (pH<5): 使用 2% 体积")
|
||||
else:
|
||||
volume = vessel_volume * 0.01
|
||||
|
||||
volume = vessel_volume * 0.01 # 1%
|
||||
debug_print(f" 🔹 弱酸性 (pH≥5): 使用 1% 体积")
|
||||
|
||||
elif "hydroxide" in reagent.lower() or "naoh" in reagent.lower():
|
||||
debug_print(f"🧂 检测到碱性试剂")
|
||||
# 碱性试剂：pH越高需要的体积越大
|
||||
if target_ph_value > 11:
|
||||
volume = vessel_volume * 0.05
|
||||
volume = vessel_volume * 0.05 # 5%
|
||||
debug_print(f" 💪 强碱性 (pH>11): 使用 5% 体积")
|
||||
elif target_ph_value > 9:
|
||||
volume = vessel_volume * 0.02
|
||||
volume = vessel_volume * 0.02 # 2%
|
||||
debug_print(f" 🔸 中碱性 (pH>9): 使用 2% 体积")
|
||||
else:
|
||||
volume = vessel_volume * 0.01
|
||||
|
||||
volume = vessel_volume * 0.01 # 1%
|
||||
debug_print(f" 🔹 弱碱性 (pH≤9): 使用 1% 体积")
|
||||
|
||||
else:
|
||||
# 未知试剂，使用默认值
|
||||
volume = vessel_volume * 0.01
|
||||
|
||||
debug_print(f"估算试剂体积: {volume:.2f}mL")
|
||||
debug_print(f"❓ 未知试剂类型，使用默认 1% 体积")
|
||||
|
||||
debug_print(f"📊 计算结果: {volume:.2f}mL")
|
||||
return volume
|
||||
|
||||
def generate_adjust_ph_protocol(
|
||||
@@ -154,67 +220,96 @@ def generate_adjust_ph_protocol(
|
||||
"""
|
||||
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
|
||||
if not vessel_id:
|
||||
debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
|
||||
raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
|
||||
|
||||
debug_print(f"pH调节协议: vessel={vessel_id}, ph={ph_value}, reagent='{reagent}'")
|
||||
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("🧪 开始生成pH调节协议")
|
||||
debug_print(f"📋 原始参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 📊 ph_value: {ph_value}")
|
||||
debug_print(f" 🧪 reagent: '{reagent}'")
|
||||
debug_print(f" 📦 kwargs: {kwargs}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 从kwargs中获取可选参数
|
||||
volume = kwargs.get('volume', 0.0)
|
||||
stir = kwargs.get('stir', True)
|
||||
stir_speed = kwargs.get('stir_speed', 300.0)
|
||||
stir_time = kwargs.get('stir_time', 60.0)
|
||||
settling_time = kwargs.get('settling_time', 30.0)
|
||||
|
||||
|
||||
# 从kwargs中获取可选参数，如果没有则使用默认值
|
||||
volume = kwargs.get('volume', 0.0) # 自动估算体积
|
||||
stir = kwargs.get('stir', True) # 默认搅拌
|
||||
stir_speed = kwargs.get('stir_speed', 300.0) # 默认搅拌速度
|
||||
stir_time = kwargs.get('stir_time', 60.0) # 默认搅拌时间
|
||||
settling_time = kwargs.get('settling_time', 30.0) # 默认平衡时间
|
||||
|
||||
debug_print(f"🔧 处理后的参数:")
|
||||
debug_print(f" 📏 volume: {volume}mL (0.0表示自动估算)")
|
||||
debug_print(f" 🌪️ stir: {stir}")
|
||||
debug_print(f" 🔄 stir_speed: {stir_speed}rpm")
|
||||
debug_print(f" ⏱️ stir_time: {stir_time}s")
|
||||
debug_print(f" ⏳ settling_time: {settling_time}s")
|
||||
|
||||
# 开始处理
|
||||
action_sequence.append(create_action_log(f"开始调节pH至 {ph_value}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"目标容器: {vessel_id}", "🥼"))
|
||||
action_sequence.append(create_action_log(f"使用试剂: {reagent}", "⚗️"))
|
||||
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
debug_print(f"🔍 步骤1: 验证目标容器...")
|
||||
if vessel_id not in G.nodes():
|
||||
debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中")
|
||||
raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
|
||||
debug_print(f"✅ 目标容器验证通过")
|
||||
action_sequence.append(create_action_log("目标容器验证通过", "✅"))
|
||||
|
||||
|
||||
# 2. 查找酸碱试剂容器
|
||||
debug_print(f"🔍 步骤2: 查找试剂容器...")
|
||||
action_sequence.append(create_action_log("正在查找试剂容器...", "🔍"))
|
||||
|
||||
try:
|
||||
reagent_vessel = find_acid_base_vessel(G, reagent)
|
||||
debug_print(f"✅ 找到试剂容器: {reagent_vessel}")
|
||||
action_sequence.append(create_action_log(f"找到试剂容器: {reagent_vessel}", "🧪"))
|
||||
except ValueError as e:
|
||||
debug_print(f"❌ 无法找到试剂容器: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"试剂容器查找失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"无法找到试剂 '{reagent}': {str(e)}")
|
||||
|
||||
|
||||
# 3. 体积估算
|
||||
debug_print(f"🔍 步骤3: 体积处理...")
|
||||
if volume <= 0:
|
||||
action_sequence.append(create_action_log("开始自动估算试剂体积", "🧮"))
|
||||
|
||||
# 获取目标容器的体积信息
|
||||
vessel_data = G.nodes[vessel_id].get('data', {})
|
||||
vessel_volume = vessel_data.get('max_volume', 100.0)
|
||||
|
||||
vessel_volume = vessel_data.get('max_volume', 100.0) # 默认100mL
|
||||
debug_print(f"📏 容器最大体积: {vessel_volume}mL")
|
||||
|
||||
estimated_volume = calculate_reagent_volume(ph_value, reagent, vessel_volume)
|
||||
volume = estimated_volume
|
||||
debug_print(f"✅ 自动估算试剂体积: {volume:.2f} mL")
|
||||
action_sequence.append(create_action_log(f"估算试剂体积: {volume:.2f}mL", "📊"))
|
||||
else:
|
||||
debug_print(f"📏 使用指定体积: {volume}mL")
|
||||
action_sequence.append(create_action_log(f"使用指定体积: {volume}mL", "📏"))
|
||||
|
||||
|
||||
# 4. 验证路径存在
|
||||
debug_print(f"🔍 步骤4: 路径验证...")
|
||||
action_sequence.append(create_action_log("验证转移路径...", "🛤️"))
|
||||
|
||||
try:
|
||||
path = nx.shortest_path(G, source=reagent_vessel, target=vessel_id)
|
||||
action_sequence.append(create_action_log(f"找到转移路径: {' -> '.join(path)}", "🛤️"))
|
||||
debug_print(f"✅ 找到路径: {' → '.join(path)}")
|
||||
action_sequence.append(create_action_log(f"找到转移路径: {' → '.join(path)}", "🛤️"))
|
||||
except nx.NetworkXNoPath:
|
||||
debug_print(f"❌ 无法找到转移路径")
|
||||
action_sequence.append(create_action_log("转移路径不存在", "❌"))
|
||||
raise ValueError(f"从试剂容器 '{reagent_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
|
||||
|
||||
|
||||
# 5. 搅拌器设置
|
||||
debug_print(f"🔍 步骤5: 搅拌器设置...")
|
||||
stirrer_id = None
|
||||
if stir:
|
||||
action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
|
||||
@@ -223,6 +318,7 @@ def generate_adjust_ph_protocol(
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
|
||||
if stirrer_id:
|
||||
debug_print(f"✅ 找到搅拌器 {stirrer_id}，启动搅拌")
|
||||
action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🔄"))
|
||||
|
||||
action_sequence.append({
|
||||
@@ -242,18 +338,23 @@ def generate_adjust_ph_protocol(
|
||||
"action_kwargs": {"time": 5}
|
||||
})
|
||||
else:
|
||||
debug_print(f"⚠️ 未找到搅拌器，继续执行")
|
||||
action_sequence.append(create_action_log("未找到搅拌器，跳过搅拌", "⚠️"))
|
||||
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 搅拌器配置出错: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"搅拌器配置失败: {str(e)}", "❌"))
|
||||
else:
|
||||
debug_print(f"📋 跳过搅拌设置")
|
||||
action_sequence.append(create_action_log("跳过搅拌设置", "⏭️"))
|
||||
|
||||
|
||||
# 6. 试剂添加
|
||||
debug_print(f"🔍 步骤6: 试剂添加...")
|
||||
action_sequence.append(create_action_log(f"开始添加试剂 {volume:.2f}mL", "🚰"))
|
||||
|
||||
# 计算添加时间（pH调节需要缓慢添加）
|
||||
addition_time = max(30.0, volume * 2.0)
|
||||
addition_time = max(30.0, volume * 2.0) # 至少30秒，每mL需要2秒
|
||||
debug_print(f"⏱️ 计算添加时间: {addition_time}s (缓慢注入)")
|
||||
action_sequence.append(create_action_log(f"设置添加时间: {addition_time:.0f}s (缓慢注入)", "⏱️"))
|
||||
|
||||
try:
|
||||
@@ -276,28 +377,35 @@ def generate_adjust_ph_protocol(
|
||||
)
|
||||
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"✅ 泵协议生成完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"试剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
# 体积运算 - 试剂添加成功后更新容器液体体积
|
||||
|
||||
# 🔧 修复体积运算 - 试剂添加成功后更新容器液体体积
|
||||
debug_print(f"🔧 更新容器液体体积...")
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
|
||||
debug_print(f"📊 添加前容器体积: {current_volume}")
|
||||
|
||||
# 处理不同的体积数据格式
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
# 增加体积（添加试剂）
|
||||
vessel["data"]["liquid_volume"][0] += volume
|
||||
debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
|
||||
else:
|
||||
# 如果列表为空，创建新的体积记录
|
||||
vessel["data"]["liquid_volume"] = [volume]
|
||||
debug_print(f"📊 初始化容器体积: {volume:.2f}mL")
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
# 直接数值类型
|
||||
vessel["data"]["liquid_volume"] += volume
|
||||
debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
|
||||
else:
|
||||
debug_print(f"未知的体积数据格式: {type(current_volume)}")
|
||||
debug_print(f"⚠️ 未知的体积数据格式: {type(current_volume)}")
|
||||
# 创建新的体积记录
|
||||
vessel["data"]["liquid_volume"] = volume
|
||||
else:
|
||||
debug_print(f"📊 容器无液体体积数据，创建新记录: {volume:.2f}mL")
|
||||
# 确保vessel有data字段
|
||||
if "data" not in vessel:
|
||||
vessel["data"] = {}
|
||||
@@ -315,16 +423,19 @@ def generate_adjust_ph_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
|
||||
|
||||
|
||||
debug_print(f"✅ 图节点体积数据已更新")
|
||||
|
||||
action_sequence.append(create_action_log(f"容器体积已更新 (+{volume:.2f}mL)", "📊"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"生成泵协议时出错: {str(e)}")
|
||||
debug_print(f"❌ 生成泵协议时出错: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"泵协议生成失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"生成泵协议时出错: {str(e)}")
|
||||
|
||||
# 7. 混合搅拌
|
||||
if stir and stirrer_id:
|
||||
debug_print(f"🔍 步骤7: 混合搅拌...")
|
||||
action_sequence.append(create_action_log(f"开始混合搅拌 {stir_time:.0f}s", "🌀"))
|
||||
|
||||
action_sequence.append({
|
||||
@@ -337,10 +448,14 @@ def generate_adjust_ph_protocol(
|
||||
"purpose": f"pH调节: 混合试剂，目标pH={ph_value}"
|
||||
}
|
||||
})
|
||||
|
||||
debug_print(f"✅ 混合搅拌设置完成")
|
||||
else:
|
||||
debug_print(f"⏭️ 跳过混合搅拌")
|
||||
action_sequence.append(create_action_log("跳过混合搅拌", "⏭️"))
|
||||
|
||||
|
||||
# 8. 等待平衡
|
||||
debug_print(f"🔍 步骤8: 反应平衡...")
|
||||
action_sequence.append(create_action_log(f"等待pH平衡 {settling_time:.0f}s", "⚖️"))
|
||||
|
||||
action_sequence.append({
|
||||
@@ -353,7 +468,17 @@ def generate_adjust_ph_protocol(
|
||||
|
||||
# 9. 完成总结
|
||||
total_time = addition_time + stir_time + settling_time
|
||||
debug_print(f"pH调节协议完成: {len(action_sequence)} 个动作, {total_time:.0f}s, {volume:.2f}mL {reagent} → {vessel_id} pH {ph_value}")
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🎉 pH调节协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f}分钟)")
|
||||
debug_print(f" 🧪 试剂: {reagent}")
|
||||
debug_print(f" 📏 体积: {volume:.2f}mL")
|
||||
debug_print(f" 📊 目标pH: {ph_value}")
|
||||
debug_print(f" 🥼 目标容器: {vessel_id}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"pH调节协议完成: {vessel_id} → pH {ph_value} (使用 {volume:.2f}mL {reagent})"
|
||||
@@ -385,18 +510,28 @@ def generate_adjust_ph_protocol_stepwise(
|
||||
"""
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id = vessel["id"]
|
||||
|
||||
debug_print(f"分步pH调节: vessel={vessel_id}, ph={ph_value}, reagent={reagent}, max_volume={max_volume}mL, steps={steps}")
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🔄 开始分步pH调节")
|
||||
debug_print(f"📋 分步参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 📊 ph_value: {ph_value}")
|
||||
debug_print(f" 🧪 reagent: {reagent}")
|
||||
debug_print(f" 📏 max_volume: {max_volume}mL")
|
||||
debug_print(f" 🔢 steps: {steps}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 每步添加的体积
|
||||
step_volume = max_volume / steps
|
||||
debug_print(f"📊 每步体积: {step_volume:.2f}mL")
|
||||
|
||||
action_sequence.append(create_action_log(f"开始分步pH调节 ({steps}步)", "🔄"))
|
||||
action_sequence.append(create_action_log(f"每步添加: {step_volume:.2f}mL", "📏"))
|
||||
|
||||
for i in range(steps):
|
||||
debug_print(f"🔄 执行第 {i+1}/{steps} 步，添加 {step_volume:.2f}mL")
|
||||
action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步开始", "🚀"))
|
||||
|
||||
# 生成单步协议
|
||||
@@ -413,10 +548,12 @@ def generate_adjust_ph_protocol_stepwise(
|
||||
)
|
||||
|
||||
action_sequence.extend(step_actions)
|
||||
debug_print(f"✅ 第 {i+1}/{steps} 步完成，添加了 {len(step_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步完成", "✅"))
|
||||
|
||||
# 步骤间等待
|
||||
if i < steps - 1:
|
||||
debug_print(f"⏳ 步骤间等待30s")
|
||||
action_sequence.append(create_action_log("步骤间等待...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
@@ -426,7 +563,7 @@ def generate_adjust_ph_protocol_stepwise(
|
||||
}
|
||||
})
|
||||
|
||||
debug_print(f"分步pH调节完成: {len(action_sequence)} 个动作")
|
||||
debug_print(f"🎉 分步pH调节完成，共 {len(action_sequence)} 个动作")
|
||||
action_sequence.append(create_action_log("分步pH调节全部完成", "🎉"))
|
||||
|
||||
return action_sequence
|
||||
@@ -440,7 +577,7 @@ def generate_acidify_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""酸化协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"酸化协议: {vessel_id} → pH {target_ph} ({acid})")
|
||||
debug_print(f"🍋 生成酸化协议: {vessel_id} → pH {target_ph} (使用 {acid})")
|
||||
return generate_adjust_ph_protocol(
|
||||
G, vessel, target_ph, acid
|
||||
)
|
||||
@@ -453,7 +590,7 @@ def generate_basify_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""碱化协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"碱化协议: {vessel_id} → pH {target_ph} ({base})")
|
||||
debug_print(f"🧂 生成碱化协议: {vessel_id} → pH {target_ph} (使用 {base})")
|
||||
return generate_adjust_ph_protocol(
|
||||
G, vessel, target_ph, base
|
||||
)
|
||||
@@ -465,7 +602,7 @@ def generate_neutralize_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""中和协议（pH=7）"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"中和协议: {vessel_id} → pH 7.0 ({reagent})")
|
||||
debug_print(f"⚖️ 生成中和协议: {vessel_id} → pH 7.0 (使用 {reagent})")
|
||||
return generate_adjust_ph_protocol(
|
||||
G, vessel, 7.0, reagent
|
||||
)
|
||||
@@ -473,7 +610,10 @@ def generate_neutralize_protocol(
|
||||
# 测试函数
|
||||
def test_adjust_ph_protocol():
|
||||
"""测试pH调节协议"""
|
||||
debug_print("=== ADJUST PH PROTOCOL 增强版测试 ===")
|
||||
|
||||
# 测试体积计算
|
||||
debug_print("🧮 测试体积计算...")
|
||||
test_cases = [
|
||||
(2.0, "hydrochloric acid", 100.0),
|
||||
(4.0, "hydrochloric acid", 100.0),
|
||||
@@ -481,12 +621,12 @@ def test_adjust_ph_protocol():
|
||||
(10.0, "sodium hydroxide", 100.0),
|
||||
(7.0, "unknown reagent", 100.0)
|
||||
]
|
||||
|
||||
|
||||
for ph, reagent, volume in test_cases:
|
||||
result = calculate_reagent_volume(ph, reagent, volume)
|
||||
debug_print(f"{reagent} → pH {ph}: {result:.2f}mL")
|
||||
|
||||
debug_print("测试完成")
|
||||
debug_print(f"📊 {reagent} → pH {ph}: {result:.2f}mL")
|
||||
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_adjust_ph_protocol()
|
||||
@@ -1,12 +1,4 @@
|
||||
"""
|
||||
AGV 单物料转运编译器
|
||||
|
||||
从 physical_setup_graph 中查询 AGV 配置（device_roles, route_table），
|
||||
不再硬编码 device_id 和路由表。
|
||||
"""
|
||||
|
||||
import networkx as nx
|
||||
from unilabos.compile._agv_utils import find_agv_config
|
||||
|
||||
|
||||
def generate_agv_transfer_protocol(
|
||||
@@ -25,32 +17,37 @@ def generate_agv_transfer_protocol(
|
||||
from_repo_id = from_repo_["id"]
|
||||
to_repo_id = to_repo_["id"]
|
||||
|
||||
# 从 G 中查询 AGV 配置
|
||||
agv_cfg = find_agv_config(G)
|
||||
device_roles = agv_cfg["device_roles"]
|
||||
route_table = agv_cfg["route_table"]
|
||||
wf_list = {
|
||||
("AiChemEcoHiWo", "zhixing_agv"): {"nav_command" : '{"target" : "LM14"}',
|
||||
"arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
|
||||
("AiChemEcoHiWo", "AGV"): {"nav_command" : '{"target" : "LM14"}',
|
||||
"arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
|
||||
|
||||
route_key = f"{from_repo_id}->{to_repo_id}"
|
||||
if route_key not in route_table:
|
||||
raise KeyError(f"AGV 路由表中未找到路线: {route_key}，可用路线: {list(route_table.keys())}")
|
||||
("zhixing_agv", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
|
||||
"arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
|
||||
|
||||
route = route_table[route_key]
|
||||
nav_device = device_roles.get("navigator", device_roles.get("nav"))
|
||||
arm_device = device_roles.get("arm")
|
||||
("AGV", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
|
||||
"arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
|
||||
|
||||
("Revvity", "HPLC"): {"nav_command": '{"target" : "LM13"}',
|
||||
"arm_command": '{"task_name" : "camera/250111_hplc.urp"}'},
|
||||
|
||||
("HPLC", "Revvity"): {"nav_command": '{"target" : "LM13"}',
|
||||
"arm_command": '{"task_name" : "camera/250111_lfp.urp"}'},
|
||||
}
|
||||
return [
|
||||
{
|
||||
"device_id": nav_device,
|
||||
"device_id": "zhixing_agv",
|
||||
"action_name": "send_nav_task",
|
||||
"action_kwargs": {
|
||||
"command": route["nav_command"]
|
||||
"command": wf_list[(from_repo_id, to_repo_id)]["nav_command"]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": arm_device,
|
||||
"device_id": "zhixing_ur_arm",
|
||||
"action_name": "move_pos_task",
|
||||
"action_kwargs": {
|
||||
"command": route.get("arm_command", route.get("arm_place", ""))
|
||||
"command": wf_list[(from_repo_id, to_repo_id)]["arm_command"]
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
@@ -1,228 +0,0 @@
|
||||
"""
|
||||
批量物料转运编译器
|
||||
|
||||
将 BatchTransferProtocol 编译为多批次的 nav → pick × N → nav → place × N 动作序列。
|
||||
自动按 AGV 容量分批，全程维护三方 children dict 的物料系统一致性。
|
||||
"""
|
||||
|
||||
import copy
|
||||
from typing import Any, Dict, List
|
||||
|
||||
import networkx as nx
|
||||
|
||||
from unilabos.compile._agv_utils import find_agv_config, split_batches
|
||||
|
||||
|
||||
def generate_batch_transfer_protocol(
|
||||
G: nx.Graph,
|
||||
from_repo: dict,
|
||||
to_repo: dict,
|
||||
transfer_resources: list,
|
||||
from_positions: list,
|
||||
to_positions: list,
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""编译批量转运协议为可执行的 action steps
|
||||
|
||||
Args:
|
||||
G: 设备图 (physical_setup_graph)
|
||||
from_repo: 来源工站资源 dict（{station_id: {..., children: {...}}}）
|
||||
to_repo: 目标工站资源 dict（含堆栈和位置信息）
|
||||
transfer_resources: 被转运的物料列表（Resource dict）
|
||||
from_positions: 来源 slot 位置列表（与 transfer_resources 平行）
|
||||
to_positions: 目标 slot 位置列表（与 transfer_resources 平行）
|
||||
|
||||
Returns:
|
||||
action steps 列表，ROS2WorkstationNode 按序执行
|
||||
"""
|
||||
if not transfer_resources:
|
||||
return []
|
||||
|
||||
n = len(transfer_resources)
|
||||
if len(from_positions) != n or len(to_positions) != n:
|
||||
raise ValueError(
|
||||
f"transfer_resources({n}), from_positions({len(from_positions)}), "
|
||||
f"to_positions({len(to_positions)}) 长度不一致"
|
||||
)
|
||||
|
||||
# 组合为内部 transfer_items 便于分批处理
|
||||
transfer_items = []
|
||||
for i in range(n):
|
||||
res = transfer_resources[i] if isinstance(transfer_resources[i], dict) else {}
|
||||
transfer_items.append({
|
||||
"resource_id": res.get("id", res.get("name", "")),
|
||||
"resource_uuid": res.get("sample_id", ""),
|
||||
"from_position": from_positions[i],
|
||||
"to_position": to_positions[i],
|
||||
"resource": res,
|
||||
})
|
||||
|
||||
# 查询 AGV 配置
|
||||
agv_cfg = find_agv_config(G)
|
||||
agv_id = agv_cfg["agv_id"]
|
||||
device_roles = agv_cfg["device_roles"]
|
||||
route_table = agv_cfg["route_table"]
|
||||
capacity = agv_cfg["capacity"]
|
||||
|
||||
if capacity <= 0:
|
||||
raise ValueError(f"AGV {agv_id} 容量为 0，请检查 Warehouse 子节点配置")
|
||||
|
||||
nav_device = device_roles.get("navigator", device_roles.get("nav"))
|
||||
arm_device = device_roles.get("arm")
|
||||
if not nav_device or not arm_device:
|
||||
raise ValueError(f"AGV {agv_id} device_roles 缺少 navigator 或 arm: {device_roles}")
|
||||
|
||||
from_repo_ = list(from_repo.values())[0]
|
||||
to_repo_ = list(to_repo.values())[0]
|
||||
from_station_id = from_repo_["id"]
|
||||
to_station_id = to_repo_["id"]
|
||||
|
||||
# 查找路由
|
||||
route_to_source = _find_route(route_table, agv_id, from_station_id)
|
||||
route_to_target = _find_route(route_table, from_station_id, to_station_id)
|
||||
|
||||
# 构建 AGV carrier 的 children dict（用于 compile 阶段状态追踪）
|
||||
agv_carrier_children: Dict[str, Any] = {}
|
||||
|
||||
# 计算 slot 名称（A01, A02, B01, ...）
|
||||
agv_slot_names = _get_agv_slot_names(G, agv_cfg)
|
||||
|
||||
# 分批
|
||||
batches = split_batches(transfer_items, capacity)
|
||||
|
||||
steps: List[Dict[str, Any]] = []
|
||||
|
||||
for batch_idx, batch in enumerate(batches):
|
||||
is_last_batch = (batch_idx == len(batches) - 1)
|
||||
|
||||
# 阶段 1: AGV 导航到来源工站
|
||||
steps.append({
|
||||
"device_id": nav_device,
|
||||
"action_name": "send_nav_task",
|
||||
"action_kwargs": {
|
||||
"command": route_to_source.get("nav_command", "")
|
||||
},
|
||||
"_comment": f"批次{batch_idx + 1}/{len(batches)}: AGV 导航至来源 {from_station_id}"
|
||||
})
|
||||
|
||||
# 阶段 2: 逐个 pick
|
||||
for item_idx, item in enumerate(batch):
|
||||
from_pos = item["from_position"]
|
||||
slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
|
||||
|
||||
# compile 阶段更新 children dict
|
||||
if from_pos in from_repo_.get("children", {}):
|
||||
resource_data = from_repo_["children"].pop(from_pos)
|
||||
resource_data["parent"] = agv_id
|
||||
agv_carrier_children[slot] = resource_data
|
||||
|
||||
steps.append({
|
||||
"device_id": arm_device,
|
||||
"action_name": "move_pos_task",
|
||||
"action_kwargs": {
|
||||
"command": route_to_source.get("arm_pick", route_to_source.get("arm_command", ""))
|
||||
},
|
||||
"_transfer_meta": {
|
||||
"phase": "pick",
|
||||
"resource_uuid": item.get("resource_uuid", ""),
|
||||
"resource_id": item.get("resource_id", ""),
|
||||
"from_parent": from_station_id,
|
||||
"from_position": from_pos,
|
||||
"agv_slot": slot,
|
||||
},
|
||||
"_comment": f"Pick {item.get('resource_id', from_pos)} → AGV.{slot}"
|
||||
})
|
||||
|
||||
# 阶段 3: AGV 导航到目标工站
|
||||
steps.append({
|
||||
"device_id": nav_device,
|
||||
"action_name": "send_nav_task",
|
||||
"action_kwargs": {
|
||||
"command": route_to_target.get("nav_command", "")
|
||||
},
|
||||
"_comment": f"批次{batch_idx + 1}: AGV 导航至目标 {to_station_id}"
|
||||
})
|
||||
|
||||
# 阶段 4: 逐个 place
|
||||
for item_idx, item in enumerate(batch):
|
||||
to_pos = item["to_position"]
|
||||
slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
|
||||
|
||||
# compile 阶段更新 children dict
|
||||
if slot in agv_carrier_children:
|
||||
resource_data = agv_carrier_children.pop(slot)
|
||||
resource_data["parent"] = to_repo_["id"]
|
||||
to_repo_["children"][to_pos] = resource_data
|
||||
|
||||
steps.append({
|
||||
"device_id": arm_device,
|
||||
"action_name": "move_pos_task",
|
||||
"action_kwargs": {
|
||||
"command": route_to_target.get("arm_place", route_to_target.get("arm_command", ""))
|
||||
},
|
||||
"_transfer_meta": {
|
||||
"phase": "place",
|
||||
"resource_uuid": item.get("resource_uuid", ""),
|
||||
"resource_id": item.get("resource_id", ""),
|
||||
"to_parent": to_station_id,
|
||||
"to_position": to_pos,
|
||||
"agv_slot": slot,
|
||||
},
|
||||
"_comment": f"Place AGV.{slot} → {to_station_id}.{to_pos}"
|
||||
})
|
||||
|
||||
# 如果还有下一批，AGV 需要返回来源取料
|
||||
if not is_last_batch:
|
||||
steps.append({
|
||||
"device_id": nav_device,
|
||||
"action_name": "send_nav_task",
|
||||
"action_kwargs": {
|
||||
"command": route_to_source.get("nav_command", "")
|
||||
},
|
||||
"_comment": f"AGV 返回来源 {from_station_id} 取下一批"
|
||||
})
|
||||
|
||||
return steps
|
||||
|
||||
|
||||
def _find_route(route_table: Dict[str, Any], from_id: str, to_id: str) -> Dict[str, str]:
|
||||
"""在路由表中查找路线，支持 A->B 和 (A, B) 两种 key 格式"""
|
||||
# 优先 "A->B" 格式
|
||||
key = f"{from_id}->{to_id}"
|
||||
if key in route_table:
|
||||
return route_table[key]
|
||||
# 兼容 tuple key（JSON 中以逗号分隔字符串表示）
|
||||
tuple_key = f"({from_id}, {to_id})"
|
||||
if tuple_key in route_table:
|
||||
return route_table[tuple_key]
|
||||
raise KeyError(f"路由表中未找到: {key}，可用路线: {list(route_table.keys())}")
|
||||
|
||||
|
||||
def _get_agv_slot_names(G: nx.Graph, agv_cfg: dict) -> List[str]:
|
||||
"""从设备图中获取 AGV Warehouse 的 slot 名称列表"""
|
||||
agv_id = agv_cfg["agv_id"]
|
||||
neighbors = G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id)
|
||||
for neighbor in neighbors:
|
||||
ndata = G.nodes[neighbor]
|
||||
node_type = ndata.get("type", "")
|
||||
res_content = ndata.get("res_content")
|
||||
if hasattr(res_content, "type"):
|
||||
node_type = res_content.type or node_type
|
||||
elif isinstance(res_content, dict):
|
||||
node_type = res_content.get("type", node_type)
|
||||
if node_type == "warehouse":
|
||||
config = ndata.get("config", {})
|
||||
if hasattr(res_content, "config") and isinstance(res_content.config, dict):
|
||||
config = res_content.config
|
||||
elif isinstance(res_content, dict):
|
||||
config = res_content.get("config", config)
|
||||
num_x = config.get("num_items_x", 1)
|
||||
num_y = config.get("num_items_y", 1)
|
||||
num_z = config.get("num_items_z", 1)
|
||||
# 与 warehouse_factory 一致的命名
|
||||
letters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
|
||||
len_x = num_x if num_z == 1 else (num_y if num_x == 1 else num_x)
|
||||
len_y = num_y if num_z == 1 else (num_z if num_x == 1 else num_z)
|
||||
return [f"{letters[j]}{i + 1:02d}" for i in range(len_x) for j in range(len_y)]
|
||||
# 兜底生成通用名称
|
||||
capacity = agv_cfg.get("capacity", 4)
|
||||
return [f"S{i + 1}" for i in range(capacity)]
|
||||
@@ -1,9 +1,7 @@
|
||||
from typing import List, Dict, Any
|
||||
import networkx as nx
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_heatchill
|
||||
from .utils.logger_util import debug_print
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel
|
||||
from .pump_protocol import generate_pump_protocol
|
||||
from .utils.resource_helper import get_resource_liquid_volume
|
||||
|
||||
|
||||
def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
|
||||
@@ -19,23 +17,43 @@ def find_waste_vessel(G: nx.DiGraph) -> str:
|
||||
"""
|
||||
possible_waste_names = [
|
||||
"waste_workup",
|
||||
"flask_waste",
|
||||
"flask_waste",
|
||||
"bottle_waste",
|
||||
"waste",
|
||||
"waste_vessel",
|
||||
"waste_container"
|
||||
]
|
||||
|
||||
|
||||
for waste_name in possible_waste_names:
|
||||
if waste_name in G.nodes():
|
||||
return waste_name
|
||||
|
||||
|
||||
raise ValueError(f"未找到废液容器。尝试了以下名称: {possible_waste_names}")
|
||||
|
||||
|
||||
def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""
|
||||
查找与指定容器相连的加热冷却设备
|
||||
"""
|
||||
# 查找所有加热冷却设备节点
|
||||
heatchill_nodes = [node for node in G.nodes()
|
||||
if (G.nodes[node].get('class') or '') == 'virtual_heatchill']
|
||||
|
||||
# 检查哪个加热设备与目标容器相连（机械连接）
|
||||
for heatchill in heatchill_nodes:
|
||||
if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
|
||||
return heatchill
|
||||
|
||||
# 如果没有直接连接，返回第一个可用的加热设备
|
||||
if heatchill_nodes:
|
||||
return heatchill_nodes[0]
|
||||
|
||||
return None # 没有加热设备也可以工作，只是不能加热
|
||||
|
||||
|
||||
def generate_clean_vessel_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
solvent: str,
|
||||
volume: float,
|
||||
temp: float,
|
||||
@@ -43,7 +61,7 @@ def generate_clean_vessel_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成容器清洗操作的协议序列，复用 pump_protocol 的成熟算法
|
||||
|
||||
|
||||
清洗流程：
|
||||
1. 查找溶剂容器和废液容器
|
||||
2. 如果需要加热，启动加热设备
|
||||
@@ -52,50 +70,63 @@ def generate_clean_vessel_protocol(
|
||||
b. (可选) 等待清洗作用时间
|
||||
c. 使用 pump_protocol 将清洗液从目标容器转移到废液容器
|
||||
4. 如果加热了，停止加热
|
||||
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器，边为流体管道
|
||||
vessel: 要清洗的容器字典（包含id字段）
|
||||
solvent: 用于清洗的溶剂名称
|
||||
solvent: 用于清洗的溶剂名称
|
||||
volume: 每次清洗使用的溶剂体积
|
||||
temp: 清洗时的温度
|
||||
repeats: 清洗操作的重复次数，默认为 1
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 容器清洗操作的动作序列
|
||||
|
||||
Raises:
|
||||
ValueError: 当找不到必要的容器或设备时抛出异常
|
||||
|
||||
Examples:
|
||||
clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
|
||||
"""
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
|
||||
action_sequence = []
|
||||
|
||||
debug_print(f"开始生成容器清洗协议: vessel={vessel_id}, solvent={solvent}, volume={volume}mL, temp={temp}°C, repeats={repeats}")
|
||||
|
||||
|
||||
print(f"CLEAN_VESSEL: 开始生成容器清洗协议")
|
||||
print(f" - 目标容器: {vessel} (ID: {vessel_id})")
|
||||
print(f" - 清洗溶剂: {solvent}")
|
||||
print(f" - 清洗体积: {volume} mL")
|
||||
print(f" - 清洗温度: {temp}°C")
|
||||
print(f" - 重复次数: {repeats}")
|
||||
|
||||
# 验证目标容器存在
|
||||
if vessel_id not in G.nodes():
|
||||
raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
|
||||
# 查找溶剂容器
|
||||
try:
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
debug_print(f"找到溶剂容器: {solvent_vessel}")
|
||||
print(f"CLEAN_VESSEL: 找到溶剂容器: {solvent_vessel}")
|
||||
except ValueError as e:
|
||||
raise ValueError(f"无法找到溶剂容器: {str(e)}")
|
||||
|
||||
|
||||
# 查找废液容器
|
||||
try:
|
||||
waste_vessel = find_waste_vessel(G)
|
||||
debug_print(f"找到废液容器: {waste_vessel}")
|
||||
print(f"CLEAN_VESSEL: 找到废液容器: {waste_vessel}")
|
||||
except ValueError as e:
|
||||
raise ValueError(f"无法找到废液容器: {str(e)}")
|
||||
|
||||
|
||||
# 查找加热设备（可选）
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id)
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id) # 🔧 使用 vessel_id
|
||||
if heatchill_id:
|
||||
debug_print(f"找到加热设备: {heatchill_id}")
|
||||
print(f"CLEAN_VESSEL: 找到加热设备: {heatchill_id}")
|
||||
else:
|
||||
debug_print(f"未找到加热设备，将在室温下清洗")
|
||||
|
||||
# 记录清洗前的容器状态
|
||||
print(f"CLEAN_VESSEL: 未找到加热设备，将在室温下清洗")
|
||||
|
||||
# 🔧 新增：记录清洗前的容器状态
|
||||
print(f"CLEAN_VESSEL: 记录清洗前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -103,69 +134,79 @@ def generate_clean_vessel_protocol(
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
|
||||
print(f"CLEAN_VESSEL: 清洗前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# 第一步：如果需要加热且有加热设备，启动加热
|
||||
if temp > 25.0 and heatchill_id:
|
||||
debug_print(f"启动加热至 {temp}°C")
|
||||
print(f"CLEAN_VESSEL: 启动加热至 {temp}°C")
|
||||
heatchill_start_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"temp": temp,
|
||||
"purpose": f"cleaning with {solvent}"
|
||||
}
|
||||
}
|
||||
action_sequence.append(heatchill_start_action)
|
||||
|
||||
|
||||
# 等待温度稳定
|
||||
wait_action = {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 30}
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 30} # 等待30秒让温度稳定
|
||||
}
|
||||
action_sequence.append(wait_action)
|
||||
|
||||
|
||||
# 第二步：重复清洗操作
|
||||
for repeat in range(repeats):
|
||||
debug_print(f"执行第 {repeat + 1}/{repeats} 次清洗")
|
||||
|
||||
print(f"CLEAN_VESSEL: 执行第 {repeat + 1} 次清洗")
|
||||
|
||||
# 2a. 使用 pump_protocol 将溶剂转移到目标容器
|
||||
print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel_id}")
|
||||
try:
|
||||
# 调用成熟的 pump_protocol 算法
|
||||
add_solvent_actions = generate_pump_protocol(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
to_vessel=vessel_id,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=volume,
|
||||
flowrate=2.5,
|
||||
flowrate=2.5, # 适中的流速，避免飞溅
|
||||
transfer_flowrate=2.5
|
||||
)
|
||||
action_sequence.extend(add_solvent_actions)
|
||||
|
||||
# 更新容器体积（添加清洗溶剂）
|
||||
|
||||
# 🔧 新增：更新容器体积（添加清洗溶剂）
|
||||
print(f"CLEAN_VESSEL: 更新容器体积 - 添加清洗溶剂 {volume:.2f}mL")
|
||||
if "data" not in vessel:
|
||||
vessel["data"] = {}
|
||||
|
||||
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] += volume
|
||||
print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [volume]
|
||||
print(f"CLEAN_VESSEL: 初始化清洗体积: {volume:.2f}mL")
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] += volume
|
||||
print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = volume
|
||||
print(f"CLEAN_VESSEL: 重置体积为: {volume:.2f}mL")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = volume
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
print(f"CLEAN_VESSEL: 创建新体积记录: {volume:.2f}mL")
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] += volume
|
||||
@@ -173,48 +214,58 @@ def generate_clean_vessel_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
|
||||
|
||||
|
||||
print(f"CLEAN_VESSEL: 图节点体积数据已更新")
|
||||
|
||||
except Exception as e:
|
||||
raise ValueError(f"无法将溶剂转移到容器: {str(e)}")
|
||||
|
||||
# 2b. 等待清洗作用时间
|
||||
cleaning_wait_time = 60 if temp > 50.0 else 30
|
||||
|
||||
# 2b. 等待清洗作用时间（让溶剂充分清洗容器）
|
||||
cleaning_wait_time = 60 if temp > 50.0 else 30 # 高温下等待更久
|
||||
print(f"CLEAN_VESSEL: 等待清洗作用 {cleaning_wait_time} 秒")
|
||||
wait_action = {
|
||||
"action_name": "wait",
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": cleaning_wait_time}
|
||||
}
|
||||
action_sequence.append(wait_action)
|
||||
|
||||
|
||||
# 2c. 使用 pump_protocol 将清洗液转移到废液容器
|
||||
print(f"CLEAN_VESSEL: 将清洗液从 {vessel_id} 转移到废液容器")
|
||||
try:
|
||||
# 调用成熟的 pump_protocol 算法
|
||||
remove_waste_actions = generate_pump_protocol(
|
||||
G=G,
|
||||
from_vessel=vessel_id,
|
||||
from_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
to_vessel=waste_vessel,
|
||||
volume=volume,
|
||||
flowrate=2.5,
|
||||
flowrate=2.5, # 适中的流速
|
||||
transfer_flowrate=2.5
|
||||
)
|
||||
action_sequence.extend(remove_waste_actions)
|
||||
|
||||
# 更新容器体积（移除清洗液）
|
||||
|
||||
# 🔧 新增：更新容器体积（移除清洗液）
|
||||
print(f"CLEAN_VESSEL: 更新容器体积 - 移除清洗液 {volume:.2f}mL")
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = max(0.0, vessel["data"]["liquid_volume"][0] - volume)
|
||||
print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (-{volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [0.0]
|
||||
print(f"CLEAN_VESSEL: 重置体积为0mL")
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] = max(0.0, current_volume - volume)
|
||||
print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume']:.2f}mL (-{volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = 0.0
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
print(f"CLEAN_VESSEL: 重置体积为0mL")
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
vessel_node_data = G.nodes[vessel_id].get('data', {})
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = max(0.0, current_node_volume[0] - volume)
|
||||
@@ -222,30 +273,34 @@ def generate_clean_vessel_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [0.0]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = max(0.0, current_node_volume - volume)
|
||||
|
||||
|
||||
print(f"CLEAN_VESSEL: 图节点体积数据已更新")
|
||||
|
||||
except Exception as e:
|
||||
raise ValueError(f"无法将清洗液转移到废液容器: {str(e)}")
|
||||
|
||||
|
||||
# 2d. 清洗循环间的短暂等待
|
||||
if repeat < repeats - 1:
|
||||
if repeat < repeats - 1: # 不是最后一次清洗
|
||||
print(f"CLEAN_VESSEL: 清洗循环间等待")
|
||||
wait_action = {
|
||||
"action_name": "wait",
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10}
|
||||
}
|
||||
action_sequence.append(wait_action)
|
||||
|
||||
|
||||
# 第三步：如果加热了，停止加热
|
||||
if temp > 25.0 and heatchill_id:
|
||||
print(f"CLEAN_VESSEL: 停止加热")
|
||||
heatchill_stop_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
}
|
||||
}
|
||||
action_sequence.append(heatchill_stop_action)
|
||||
|
||||
# 清洗完成后的状态
|
||||
|
||||
# 🔧 新增：清洗完成后的状态报告
|
||||
final_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -253,17 +308,20 @@ def generate_clean_vessel_protocol(
|
||||
final_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_liquid_volume = current_volume
|
||||
|
||||
debug_print(f"清洗完成: {len(action_sequence)} 个动作, 体积 {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
|
||||
|
||||
|
||||
print(f"CLEAN_VESSEL: 清洗完成")
|
||||
print(f" - 清洗前体积: {original_liquid_volume:.2f}mL")
|
||||
print(f" - 清洗后体积: {final_liquid_volume:.2f}mL")
|
||||
print(f" - 生成了 {len(action_sequence)} 个动作")
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
# 便捷函数
|
||||
# 便捷函数：常用清洗方案
|
||||
def generate_quick_clean_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
solvent: str = "water",
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
solvent: str = "water",
|
||||
volume: float = 100.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""快速清洗：室温，单次清洗"""
|
||||
@@ -271,9 +329,9 @@ def generate_quick_clean_protocol(
|
||||
|
||||
|
||||
def generate_thorough_clean_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
solvent: str = "water",
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
solvent: str = "water",
|
||||
volume: float = 150.0,
|
||||
temp: float = 60.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
@@ -282,13 +340,13 @@ def generate_thorough_clean_protocol(
|
||||
|
||||
|
||||
def generate_organic_clean_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
volume: float = 100.0
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""有机清洗：先用有机溶剂，再用水清洗"""
|
||||
action_sequence = []
|
||||
|
||||
|
||||
# 第一步：有机溶剂清洗
|
||||
try:
|
||||
organic_actions = generate_clean_vessel_protocol(
|
||||
@@ -296,71 +354,96 @@ def generate_organic_clean_protocol(
|
||||
)
|
||||
action_sequence.extend(organic_actions)
|
||||
except ValueError:
|
||||
# 如果没有丙酮，尝试乙醇
|
||||
try:
|
||||
organic_actions = generate_clean_vessel_protocol(
|
||||
G, vessel, "ethanol", volume, 25.0, 2
|
||||
)
|
||||
action_sequence.extend(organic_actions)
|
||||
except ValueError:
|
||||
debug_print("未找到有机溶剂，跳过有机清洗步骤")
|
||||
|
||||
print("警告：未找到有机溶剂，跳过有机清洗步骤")
|
||||
|
||||
# 第二步：水清洗
|
||||
water_actions = generate_clean_vessel_protocol(
|
||||
G, vessel, "water", volume, 25.0, 2
|
||||
)
|
||||
action_sequence.extend(water_actions)
|
||||
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
|
||||
"""获取容器中的液体体积（修复版）"""
|
||||
if vessel not in G.nodes():
|
||||
return 0.0
|
||||
|
||||
vessel_data = G.nodes[vessel].get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
|
||||
total_volume = 0.0
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
# 支持两种格式：新格式 (name, volume) 和旧格式 (liquid_type, liquid_volume)
|
||||
volume = liquid.get('volume') or liquid.get('liquid_volume', 0.0)
|
||||
total_volume += volume
|
||||
|
||||
return total_volume
|
||||
|
||||
|
||||
def get_vessel_liquid_types(G: nx.DiGraph, vessel: str) -> List[str]:
|
||||
"""获取容器中所有液体的类型"""
|
||||
if vessel not in G.nodes():
|
||||
return []
|
||||
|
||||
|
||||
vessel_data = G.nodes[vessel].get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
|
||||
|
||||
liquid_types = []
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
# 支持两种格式的液体类型字段
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type:
|
||||
liquid_types.append(liquid_type)
|
||||
|
||||
|
||||
return liquid_types
|
||||
|
||||
|
||||
def find_vessel_by_content(G: nx.DiGraph, content: str) -> List[str]:
|
||||
"""
|
||||
根据内容物查找所有匹配的容器
|
||||
返回匹配容器的ID列表
|
||||
"""
|
||||
matching_vessels = []
|
||||
|
||||
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
# 检查容器名称匹配
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
if content.lower() in node_id.lower() or content.lower() in node_name:
|
||||
matching_vessels.append(node_id)
|
||||
continue
|
||||
|
||||
|
||||
# 检查液体类型匹配
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
config_data = G.nodes[node_id].get('config', {})
|
||||
|
||||
|
||||
# 检查 reagent_name 和 config.reagent
|
||||
reagent_name = vessel_data.get('reagent_name', '').lower()
|
||||
config_reagent = config_data.get('reagent', '').lower()
|
||||
|
||||
if (content.lower() == reagent_name or
|
||||
|
||||
if (content.lower() == reagent_name or
|
||||
content.lower() == config_reagent):
|
||||
matching_vessels.append(node_id)
|
||||
continue
|
||||
|
||||
|
||||
# 检查液体列表
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type.lower() == content.lower():
|
||||
matching_vessels.append(node_id)
|
||||
break
|
||||
|
||||
return matching_vessels
|
||||
|
||||
return matching_vessels
|
||||
@@ -1,19 +1,402 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
from typing import List, Dict, Any, Union
|
||||
|
||||
from .utils.logger_util import debug_print, action_log
|
||||
from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input, parse_temperature_input
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_heatchill, find_connected_stirrer, find_solid_dispenser
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
# 创建进度日志动作
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[DISSOLVE] {message}")
|
||||
|
||||
# 🆕 创建进度日志动作
|
||||
create_action_log = partial(action_log, prefix="[DISSOLVE]")
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析体积输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
volume_input: 体积输入（如 "10 mL", "?", 10.0）
|
||||
|
||||
Returns:
|
||||
float: 体积（毫升）
|
||||
"""
|
||||
if isinstance(volume_input, (int, float)):
|
||||
debug_print(f"📏 体积输入为数值: {volume_input}")
|
||||
return float(volume_input)
|
||||
|
||||
if not volume_input or not str(volume_input).strip():
|
||||
debug_print(f"⚠️ 体积输入为空，返回0.0mL")
|
||||
return 0.0
|
||||
|
||||
volume_str = str(volume_input).lower().strip()
|
||||
debug_print(f"🔍 解析体积输入: '{volume_str}'")
|
||||
|
||||
# 处理未知体积
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_volume = 50.0 # 默认50mL
|
||||
debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
|
||||
return default_volume
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
volume_clean = re.sub(r'\s+', '', volume_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值50mL")
|
||||
return 50.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'ml' # 默认单位为毫升
|
||||
|
||||
# 转换为毫升
|
||||
if unit in ['l', 'liter']:
|
||||
volume = value * 1000.0 # L -> mL
|
||||
debug_print(f"🔄 体积转换: {value}L → {volume}mL")
|
||||
elif unit in ['μl', 'ul', 'microliter']:
|
||||
volume = value / 1000.0 # μL -> mL
|
||||
debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
|
||||
else: # ml, milliliter 或默认
|
||||
volume = value # 已经是mL
|
||||
debug_print(f"✅ 体积已为mL: {volume}mL")
|
||||
|
||||
return volume
|
||||
|
||||
def parse_mass_input(mass_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析质量输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
mass_input: 质量输入（如 "2.9 g", "?", 2.5）
|
||||
|
||||
Returns:
|
||||
float: 质量（克）
|
||||
"""
|
||||
if isinstance(mass_input, (int, float)):
|
||||
debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
|
||||
return float(mass_input)
|
||||
|
||||
if not mass_input or not str(mass_input).strip():
|
||||
debug_print(f"⚠️ 质量输入为空，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
mass_str = str(mass_input).lower().strip()
|
||||
debug_print(f"🔍 解析质量输入: '{mass_str}'")
|
||||
|
||||
# 处理未知质量
|
||||
if mass_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
default_mass = 1.0 # 默认1g
|
||||
debug_print(f"❓ 检测到未知质量，使用默认值: {default_mass}g 🎯")
|
||||
return default_mass
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
mass_clean = re.sub(r'\s+', '', mass_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'g' # 默认单位为克
|
||||
|
||||
# 转换为克
|
||||
if unit in ['mg', 'milligram']:
|
||||
mass = value / 1000.0 # mg -> g
|
||||
debug_print(f"🔄 质量转换: {value}mg → {mass}g")
|
||||
elif unit in ['kg', 'kilogram']:
|
||||
mass = value * 1000.0 # kg -> g
|
||||
debug_print(f"🔄 质量转换: {value}kg → {mass}g")
|
||||
else: # g, gram 或默认
|
||||
mass = value # 已经是g
|
||||
debug_print(f"✅ 质量已为g: {mass}g")
|
||||
|
||||
return mass
|
||||
|
||||
def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析时间输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
time_input: 时间输入（如 "30 min", "1 h", "?", 60.0）
|
||||
|
||||
Returns:
|
||||
float: 时间（秒）
|
||||
"""
|
||||
if isinstance(time_input, (int, float)):
|
||||
debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
|
||||
return float(time_input)
|
||||
|
||||
if not time_input or not str(time_input).strip():
|
||||
debug_print(f"⚠️ 时间输入为空，返回0秒")
|
||||
return 0.0
|
||||
|
||||
time_str = str(time_input).lower().strip()
|
||||
debug_print(f"🔍 解析时间输入: '{time_str}'")
|
||||
|
||||
# 处理未知时间
|
||||
if time_str in ['?', 'unknown', 'tbd']:
|
||||
default_time = 600.0 # 默认10分钟
|
||||
debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (10分钟) ⏰")
|
||||
return default_time
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
time_clean = re.sub(r'\s+', '', time_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
|
||||
return 0.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 's' # 默认单位为秒
|
||||
|
||||
# 转换为秒
|
||||
if unit in ['min', 'minute']:
|
||||
time_sec = value * 60.0 # min -> s
|
||||
debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
|
||||
elif unit in ['h', 'hr', 'hour']:
|
||||
time_sec = value * 3600.0 # h -> s
|
||||
debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
|
||||
elif unit in ['d', 'day']:
|
||||
time_sec = value * 86400.0 # d -> s
|
||||
debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
|
||||
else: # s, sec, second 或默认
|
||||
time_sec = value # 已经是s
|
||||
debug_print(f"✅ 时间已为秒: {time_sec}秒")
|
||||
|
||||
return time_sec
|
||||
|
||||
def parse_temperature_input(temp_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析温度输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
temp_input: 温度输入（如 "60 °C", "room temperature", "?", 25.0）
|
||||
|
||||
Returns:
|
||||
float: 温度（摄氏度）
|
||||
"""
|
||||
if isinstance(temp_input, (int, float)):
|
||||
debug_print(f"🌡️ 温度输入为数值: {temp_input}°C")
|
||||
return float(temp_input)
|
||||
|
||||
if not temp_input or not str(temp_input).strip():
|
||||
debug_print(f"⚠️ 温度输入为空，使用默认室温25°C")
|
||||
return 25.0 # 默认室温
|
||||
|
||||
temp_str = str(temp_input).lower().strip()
|
||||
debug_print(f"🔍 解析温度输入: '{temp_str}'")
|
||||
|
||||
# 处理特殊温度描述
|
||||
temp_aliases = {
|
||||
'room temperature': 25.0,
|
||||
'rt': 25.0,
|
||||
'ambient': 25.0,
|
||||
'cold': 4.0,
|
||||
'ice': 0.0,
|
||||
'reflux': 80.0, # 默认回流温度
|
||||
'?': 25.0,
|
||||
'unknown': 25.0
|
||||
}
|
||||
|
||||
if temp_str in temp_aliases:
|
||||
result = temp_aliases[temp_str]
|
||||
debug_print(f"🏷️ 温度别名解析: '{temp_str}' → {result}°C")
|
||||
return result
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
temp_clean = re.sub(r'\s+', '', temp_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(°c|c|celsius|°f|f|fahrenheit|k|kelvin)?', temp_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"❌ 无法解析温度: '{temp_str}'，使用默认值25°C")
|
||||
return 25.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'c' # 默认单位为摄氏度
|
||||
|
||||
# 转换为摄氏度
|
||||
if unit in ['°f', 'f', 'fahrenheit']:
|
||||
temp_c = (value - 32) * 5/9 # F -> C
|
||||
debug_print(f"🔄 温度转换: {value}°F → {temp_c:.1f}°C")
|
||||
elif unit in ['k', 'kelvin']:
|
||||
temp_c = value - 273.15 # K -> C
|
||||
debug_print(f"🔄 温度转换: {value}K → {temp_c:.1f}°C")
|
||||
else: # °c, c, celsius 或默认
|
||||
temp_c = value # 已经是C
|
||||
debug_print(f"✅ 温度已为°C: {temp_c}°C")
|
||||
|
||||
return temp_c
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""增强版溶剂容器查找，支持多种匹配模式"""
|
||||
debug_print(f"🔍 开始查找溶剂 '{solvent}' 的容器...")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
|
||||
debug_print(f"📋 方法1: 搜索reagent字段...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node].get('data', {})
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
config_data = G.nodes[node].get('config', {})
|
||||
|
||||
# 只搜索容器类型的节点
|
||||
if node_type == 'container':
|
||||
reagent_name = node_data.get('reagent_name', '').lower()
|
||||
config_reagent = config_data.get('reagent', '').lower()
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == solvent.lower() or config_reagent == solvent.lower():
|
||||
debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
|
||||
return node
|
||||
|
||||
# 模糊匹配
|
||||
if (solvent.lower() in reagent_name and reagent_name) or \
|
||||
(solvent.lower() in config_reagent and config_reagent):
|
||||
debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的容器命名规则
|
||||
debug_print(f"📋 方法2: 使用命名规则查找...")
|
||||
solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
|
||||
possible_names = [
|
||||
solvent_clean,
|
||||
f"flask_{solvent_clean}",
|
||||
f"bottle_{solvent_clean}",
|
||||
f"vessel_{solvent_clean}",
|
||||
f"{solvent_clean}_flask",
|
||||
f"{solvent_clean}_bottle",
|
||||
f"solvent_{solvent_clean}",
|
||||
f"reagent_{solvent_clean}",
|
||||
f"reagent_bottle_{solvent_clean}",
|
||||
f"reagent_bottle_1", # 通用试剂瓶
|
||||
f"reagent_bottle_2",
|
||||
f"reagent_bottle_3"
|
||||
]
|
||||
|
||||
debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_type = G.nodes[name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
|
||||
return name
|
||||
|
||||
# 🔧 方法3：节点名称模糊匹配
|
||||
debug_print(f"📋 方法3: 节点名称模糊匹配...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if node_data.get('type') == 'container':
|
||||
# 检查节点名称是否包含溶剂名称
|
||||
if solvent_clean in node_id.lower():
|
||||
debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
|
||||
return node_id
|
||||
|
||||
# 检查液体类型匹配
|
||||
vessel_data = node_data.get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
|
||||
if liquid_type.lower() == solvent.lower():
|
||||
debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
|
||||
return node_id
|
||||
|
||||
# 🔧 方法4：使用第一个试剂瓶作为备选
|
||||
debug_print(f"📋 方法4: 查找备选试剂瓶...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if (node_data.get('type') == 'container' and
|
||||
('reagent' in node_id.lower() or 'bottle' in node_id.lower() or 'flask' in node_id.lower())):
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
|
||||
return node_id
|
||||
|
||||
debug_print(f"❌ 所有方法都失败了，无法找到容器!")
|
||||
raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
|
||||
|
||||
def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的加热搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的加热搅拌器...")
|
||||
|
||||
heatchill_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'heatchill' in node_class:
|
||||
heatchill_nodes.append(node)
|
||||
debug_print(f"📋 发现加热搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 共找到 {len(heatchill_nodes)} 个加热搅拌器")
|
||||
|
||||
# 查找连接到容器的加热器
|
||||
for heatchill in heatchill_nodes:
|
||||
if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
|
||||
debug_print(f"✅ 找到连接的加热搅拌器: {heatchill} 🔗")
|
||||
return heatchill
|
||||
|
||||
# 返回第一个加热器
|
||||
if heatchill_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的加热搅拌器，使用第一个: {heatchill_nodes[0]} 🔄")
|
||||
return heatchill_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何加热搅拌器")
|
||||
return ""
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的搅拌器"""
|
||||
debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'stirrer' in node_class:
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
|
||||
|
||||
# 查找连接到容器的搅拌器
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
|
||||
return stirrer
|
||||
|
||||
# 返回第一个搅拌器
|
||||
if stirrer_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print(f"❌ 未找到任何搅拌器")
|
||||
return ""
|
||||
|
||||
def find_solid_dispenser(G: nx.DiGraph) -> str:
|
||||
"""查找固体加样器"""
|
||||
debug_print(f"🔍 查找固体加样器...")
|
||||
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'solid_dispenser' in node_class or 'dispenser' in node_class:
|
||||
debug_print(f"✅ 找到固体加样器: {node} 🥄")
|
||||
return node
|
||||
|
||||
debug_print(f"❌ 未找到固体加样器")
|
||||
return ""
|
||||
|
||||
def generate_dissolve_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
@@ -53,21 +436,43 @@ def generate_dissolve_protocol(
|
||||
- mol: "0.12 mol", "16.2 mmol"
|
||||
"""
|
||||
|
||||
# 从字典中提取容器ID
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print(f"溶解协议: vessel={vessel_id}, solvent='{solvent}', volume={volume}, "
|
||||
f"mass={mass}, temp={temp}, time={time}")
|
||||
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("🧪 开始生成溶解协议")
|
||||
debug_print(f"📋 原始参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 💧 solvent: '{solvent}'")
|
||||
debug_print(f" 📏 volume: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" ⚖️ mass: {mass} (类型: {type(mass)})")
|
||||
debug_print(f" 🌡️ temp: {temp} (类型: {type(temp)})")
|
||||
debug_print(f" ⏱️ time: {time} (类型: {type(time)})")
|
||||
debug_print(f" 🧪 reagent: '{reagent}'")
|
||||
debug_print(f" 🧬 mol: '{mol}'")
|
||||
debug_print(f" 🎯 event: '{event}'")
|
||||
debug_print(f" 📦 kwargs: {kwargs}") # 显示额外参数
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
# === 参数验证 ===
|
||||
debug_print("🔍 步骤1: 参数验证...")
|
||||
action_sequence.append(create_action_log(f"开始溶解操作 - 容器: {vessel_id}", "🎬"))
|
||||
|
||||
if not vessel_id:
|
||||
debug_print("❌ vessel 参数不能为空")
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
if vessel_id not in G.nodes():
|
||||
debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中")
|
||||
raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
# 记录溶解前的容器状态
|
||||
|
||||
debug_print("✅ 基本参数验证通过")
|
||||
action_sequence.append(create_action_log("参数验证通过", "✅"))
|
||||
|
||||
# 🔧 新增：记录溶解前的容器状态
|
||||
debug_print("🔍 记录溶解前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -75,16 +480,30 @@ def generate_dissolve_protocol(
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
|
||||
# === 参数解析 ===
|
||||
debug_print(f"📊 溶解前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 🔧 关键修复：参数解析 ===
|
||||
debug_print("🔍 步骤2: 参数解析...")
|
||||
action_sequence.append(create_action_log("正在解析溶解参数...", "🔍"))
|
||||
|
||||
# 解析各种参数为数值
|
||||
final_volume = parse_volume_input(volume)
|
||||
final_mass = parse_mass_input(mass)
|
||||
final_temp = parse_temperature_input(temp)
|
||||
final_time = parse_time_input(time)
|
||||
|
||||
debug_print(f"参数解析: vol={final_volume}mL, mass={final_mass}g, temp={final_temp}°C, time={final_time}s")
|
||||
|
||||
|
||||
debug_print(f"📊 解析结果:")
|
||||
debug_print(f" 📏 体积: {final_volume}mL")
|
||||
debug_print(f" ⚖️ 质量: {final_mass}g")
|
||||
debug_print(f" 🌡️ 温度: {final_temp}°C")
|
||||
debug_print(f" ⏱️ 时间: {final_time}s")
|
||||
debug_print(f" 🧪 试剂: '{reagent}'")
|
||||
debug_print(f" 🧬 摩尔: '{mol}'")
|
||||
debug_print(f" 🎯 事件: '{event}'")
|
||||
|
||||
# === 判断溶解类型 ===
|
||||
debug_print("🔍 步骤3: 判断溶解类型...")
|
||||
action_sequence.append(create_action_log("正在判断溶解类型...", "🔍"))
|
||||
|
||||
# 判断是固体溶解还是液体溶解
|
||||
is_solid_dissolve = (final_mass > 0 or (mol and mol.strip() != "") or (reagent and reagent.strip() != ""))
|
||||
@@ -96,31 +515,49 @@ def generate_dissolve_protocol(
|
||||
final_volume = 50.0
|
||||
if not solvent:
|
||||
solvent = "water" # 默认溶剂
|
||||
debug_print("未明确指定溶解参数，默认为50mL水溶解")
|
||||
debug_print("⚠️ 未明确指定溶解参数，默认为50mL水溶解")
|
||||
|
||||
dissolve_type = "固体溶解" if is_solid_dissolve else "液体溶解"
|
||||
debug_print(f"溶解类型: {dissolve_type}")
|
||||
|
||||
action_sequence.append(create_action_log(f"溶解类型: {dissolve_type}", "📋"))
|
||||
|
||||
dissolve_emoji = "🧂" if is_solid_dissolve else "💧"
|
||||
debug_print(f"📋 溶解类型: {dissolve_type} {dissolve_emoji}")
|
||||
|
||||
action_sequence.append(create_action_log(f"确定溶解类型: {dissolve_type} {dissolve_emoji}", "📋"))
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("🔍 步骤4: 查找设备...")
|
||||
action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
|
||||
|
||||
# 查找加热搅拌器
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id)
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
|
||||
# 优先使用加热搅拌器，否则使用独立搅拌器
|
||||
stir_device_id = heatchill_id or stirrer_id
|
||||
debug_print(f"设备: heatchill='{heatchill_id}', stirrer='{stirrer_id}'")
|
||||
|
||||
if not stir_device_id:
|
||||
|
||||
debug_print(f"📊 设备映射:")
|
||||
debug_print(f" 🔥 加热器: '{heatchill_id}'")
|
||||
debug_print(f" 🌪️ 搅拌器: '{stirrer_id}'")
|
||||
debug_print(f" 🎯 使用设备: '{stir_device_id}'")
|
||||
|
||||
if heatchill_id:
|
||||
action_sequence.append(create_action_log(f"找到加热搅拌器: {heatchill_id}", "🔥"))
|
||||
elif stirrer_id:
|
||||
action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到搅拌设备，将跳过搅拌", "⚠️"))
|
||||
|
||||
# === 执行溶解流程 ===
|
||||
debug_print("🔍 步骤5: 执行溶解流程...")
|
||||
|
||||
try:
|
||||
# 启动加热搅拌（如果需要）
|
||||
# 步骤5.1: 启动加热搅拌（如果需要）
|
||||
if stir_device_id and (final_temp > 25.0 or final_time > 0 or stir_speed > 0):
|
||||
|
||||
debug_print(f"🔍 5.1: 启动加热搅拌，温度: {final_temp}°C")
|
||||
action_sequence.append(create_action_log(f"准备加热搅拌 (目标温度: {final_temp}°C)", "🔥"))
|
||||
|
||||
if heatchill_id and (final_temp > 25.0 or final_time > 0):
|
||||
# 使用加热搅拌器
|
||||
action_sequence.append(create_action_log(f"启动加热搅拌器 {heatchill_id}", "🔥"))
|
||||
|
||||
heatchill_action = {
|
||||
"device_id": heatchill_id,
|
||||
@@ -136,6 +573,7 @@ def generate_dissolve_protocol(
|
||||
# 等待温度稳定
|
||||
if final_temp > 25.0:
|
||||
wait_time = min(60, abs(final_temp - 25.0) * 1.5)
|
||||
action_sequence.append(create_action_log(f"等待温度稳定 ({wait_time:.0f}秒)", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": wait_time}
|
||||
@@ -143,6 +581,7 @@ def generate_dissolve_protocol(
|
||||
|
||||
elif stirrer_id:
|
||||
# 使用独立搅拌器
|
||||
action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🌪️"))
|
||||
|
||||
stir_action = {
|
||||
"device_id": stirrer_id,
|
||||
@@ -154,8 +593,9 @@ def generate_dissolve_protocol(
|
||||
}
|
||||
}
|
||||
action_sequence.append(stir_action)
|
||||
|
||||
|
||||
# 等待搅拌稳定
|
||||
action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
@@ -163,8 +603,12 @@ def generate_dissolve_protocol(
|
||||
|
||||
if is_solid_dissolve:
|
||||
# === 固体溶解路径 ===
|
||||
debug_print(f"🔍 5.2: 使用固体溶解路径")
|
||||
action_sequence.append(create_action_log("开始固体溶解流程", "🧂"))
|
||||
|
||||
solid_dispenser = find_solid_dispenser(G)
|
||||
if solid_dispenser:
|
||||
action_sequence.append(create_action_log(f"找到固体加样器: {solid_dispenser}", "🥄"))
|
||||
|
||||
# 固体加样
|
||||
add_kwargs = {
|
||||
@@ -176,27 +620,42 @@ def generate_dissolve_protocol(
|
||||
|
||||
if final_mass > 0:
|
||||
add_kwargs["mass"] = str(final_mass)
|
||||
action_sequence.append(create_action_log(f"准备添加固体: {final_mass}g", "⚖️"))
|
||||
if mol and mol.strip():
|
||||
add_kwargs["mol"] = mol
|
||||
|
||||
action_sequence.append(create_action_log(f"按摩尔数添加: {mol}", "🧬"))
|
||||
|
||||
action_sequence.append(create_action_log("开始固体加样操作", "🥄"))
|
||||
action_sequence.append({
|
||||
"device_id": solid_dispenser,
|
||||
"action_name": "add_solid",
|
||||
"action_kwargs": add_kwargs
|
||||
})
|
||||
|
||||
# 固体溶解体积运算 - 固体本身不会显著增加体积
|
||||
|
||||
debug_print(f"✅ 固体加样完成")
|
||||
action_sequence.append(create_action_log("固体加样完成", "✅"))
|
||||
|
||||
# 🔧 新增：固体溶解体积运算 - 固体本身不会显著增加体积，但可能有少量变化
|
||||
debug_print(f"🔧 固体溶解 - 体积变化很小，主要是质量变化")
|
||||
# 固体通常不会显著改变液体体积，这里只记录日志
|
||||
action_sequence.append(create_action_log(f"固体已添加: {final_mass}g", "📊"))
|
||||
|
||||
else:
|
||||
debug_print("未找到固体加样器，跳过固体添加")
|
||||
debug_print("⚠️ 未找到固体加样器，跳过固体添加")
|
||||
action_sequence.append(create_action_log("未找到固体加样器，无法添加固体", "❌"))
|
||||
|
||||
elif is_liquid_dissolve:
|
||||
# === 液体溶解路径 ===
|
||||
debug_print(f"🔍 5.3: 使用液体溶解路径")
|
||||
action_sequence.append(create_action_log("开始液体溶解流程", "💧"))
|
||||
|
||||
# 查找溶剂容器
|
||||
action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
|
||||
try:
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "🧪"))
|
||||
except ValueError as e:
|
||||
debug_print(f"溶剂容器查找失败: {str(e)}，跳过溶剂添加")
|
||||
debug_print(f"⚠️ {str(e)}，跳过溶剂添加")
|
||||
action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
|
||||
solvent_vessel = None
|
||||
|
||||
@@ -204,7 +663,10 @@ def generate_dissolve_protocol(
|
||||
# 计算流速 - 溶解时通常用较慢的速度，避免飞溅
|
||||
flowrate = 1.0 # 较慢的注入速度
|
||||
transfer_flowrate = 0.5 # 较慢的转移速度
|
||||
|
||||
|
||||
action_sequence.append(create_action_log(f"设置流速: {flowrate}mL/min (缓慢注入)", "⚡"))
|
||||
action_sequence.append(create_action_log(f"开始转移 {final_volume}mL {solvent}", "🚰"))
|
||||
|
||||
# 调用pump protocol
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
@@ -226,9 +688,12 @@ def generate_dissolve_protocol(
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
# 液体溶解体积运算 - 添加溶剂后更新容器体积
|
||||
|
||||
debug_print(f"✅ 溶剂转移完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
# 🔧 新增：液体溶解体积运算 - 添加溶剂后更新容器体积
|
||||
debug_print(f"🔧 更新容器液体体积 - 添加溶剂 {final_volume:.2f}mL")
|
||||
|
||||
# 确保vessel有data字段
|
||||
if "data" not in vessel:
|
||||
vessel["data"] = {}
|
||||
@@ -238,14 +703,19 @@ def generate_dissolve_protocol(
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] += final_volume
|
||||
debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{final_volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [final_volume]
|
||||
debug_print(f"📊 初始化溶解体积: {final_volume:.2f}mL")
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
vessel["data"]["liquid_volume"] += final_volume
|
||||
debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{final_volume:.2f}mL)")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = final_volume
|
||||
debug_print(f"📊 重置体积为: {final_volume:.2f}mL")
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = final_volume
|
||||
debug_print(f"📊 创建新体积记录: {final_volume:.2f}mL")
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
@@ -262,19 +732,27 @@ def generate_dissolve_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [final_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + final_volume
|
||||
|
||||
|
||||
debug_print(f"✅ 图节点体积数据已更新")
|
||||
|
||||
action_sequence.append(create_action_log(f"容器体积已更新 (+{final_volume:.2f}mL)", "📊"))
|
||||
|
||||
# 溶剂添加后等待
|
||||
action_sequence.append(create_action_log("溶剂添加后短暂等待...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
})
|
||||
|
||||
# 等待溶解完成
|
||||
# 步骤5.4: 等待溶解完成
|
||||
if final_time > 0:
|
||||
debug_print(f"🔍 5.4: 等待溶解完成 - {final_time}s")
|
||||
wait_minutes = final_time / 60
|
||||
|
||||
action_sequence.append(create_action_log(f"开始溶解等待 ({wait_minutes:.1f}分钟)", "⏰"))
|
||||
|
||||
if heatchill_id:
|
||||
# 使用定时加热搅拌
|
||||
action_sequence.append(create_action_log(f"使用加热搅拌器进行定时溶解", "🔥"))
|
||||
|
||||
dissolve_action = {
|
||||
"device_id": heatchill_id,
|
||||
@@ -292,6 +770,7 @@ def generate_dissolve_protocol(
|
||||
|
||||
elif stirrer_id:
|
||||
# 使用定时搅拌
|
||||
action_sequence.append(create_action_log(f"使用搅拌器进行定时溶解", "🌪️"))
|
||||
|
||||
stir_action = {
|
||||
"device_id": stirrer_id,
|
||||
@@ -308,6 +787,7 @@ def generate_dissolve_protocol(
|
||||
|
||||
else:
|
||||
# 简单等待
|
||||
action_sequence.append(create_action_log(f"简单等待溶解完成", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": final_time}
|
||||
@@ -315,7 +795,9 @@ def generate_dissolve_protocol(
|
||||
|
||||
# 步骤5.5: 停止加热搅拌（如果需要）
|
||||
if heatchill_id and final_time == 0 and final_temp > 25.0:
|
||||
|
||||
debug_print(f"🔍 5.5: 停止加热器")
|
||||
action_sequence.append(create_action_log("停止加热搅拌器", "🛑"))
|
||||
|
||||
stop_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
@@ -326,7 +808,7 @@ def generate_dissolve_protocol(
|
||||
action_sequence.append(stop_action)
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"溶解流程执行失败: {str(e)}")
|
||||
debug_print(f"❌ 溶解流程执行失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"溶解流程失败: {str(e)}", "❌"))
|
||||
# 添加错误日志
|
||||
action_sequence.append({
|
||||
@@ -347,8 +829,23 @@ def generate_dissolve_protocol(
|
||||
final_liquid_volume = current_volume
|
||||
|
||||
# === 最终结果 ===
|
||||
debug_print(f"溶解协议完成: {vessel_id}, 类型={dissolve_type}, "
|
||||
f"动作数={len(action_sequence)}, 体积={original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🎉 溶解协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" 🥼 容器: {vessel_id}")
|
||||
debug_print(f" {dissolve_emoji} 溶解类型: {dissolve_type}")
|
||||
if is_liquid_dissolve:
|
||||
debug_print(f" 💧 溶剂: {solvent} ({final_volume}mL)")
|
||||
if is_solid_dissolve:
|
||||
debug_print(f" 🧪 试剂: {reagent}")
|
||||
debug_print(f" ⚖️ 质量: {final_mass}g")
|
||||
debug_print(f" 🧬 摩尔: {mol}")
|
||||
debug_print(f" 🌡️ 温度: {final_temp}°C")
|
||||
debug_print(f" ⏱️ 时间: {final_time}s")
|
||||
debug_print(f" 📊 溶解前体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" 📊 溶解后体积: {final_liquid_volume:.2f}mL")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"溶解协议完成: {vessel_id}"
|
||||
@@ -357,7 +854,7 @@ def generate_dissolve_protocol(
|
||||
if is_solid_dissolve:
|
||||
summary_msg += f" (溶解 {final_mass}g {reagent})"
|
||||
|
||||
action_sequence.append(create_action_log(summary_msg, "✅"))
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
@@ -369,7 +866,7 @@ def dissolve_solid_by_mass(G: nx.DiGraph, vessel: dict, reagent: str, mass: Unio
|
||||
temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
|
||||
"""按质量溶解固体"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"快速固体溶解: {reagent} ({mass}) → {vessel_id}")
|
||||
debug_print(f"🧂 快速固体溶解: {reagent} ({mass}) → {vessel_id}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
mass=mass,
|
||||
@@ -382,7 +879,7 @@ def dissolve_solid_by_moles(G: nx.DiGraph, vessel: dict, reagent: str, mol: str,
|
||||
temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
|
||||
"""按摩尔数溶解固体"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
|
||||
debug_print(f"🧬 按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
mol=mol,
|
||||
@@ -395,7 +892,7 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
|
||||
temp: Union[str, float] = 25.0, time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
|
||||
"""用溶剂溶解"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"溶剂溶解: {solvent} ({volume}) → {vessel_id}")
|
||||
debug_print(f"💧 溶剂溶解: {solvent} ({volume}) → {vessel_id}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
solvent=solvent,
|
||||
@@ -407,7 +904,7 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
|
||||
def dissolve_at_room_temp(G: nx.DiGraph, vessel: dict, solvent: str, volume: Union[str, float]) -> List[Dict[str, Any]]:
|
||||
"""室温溶解"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"室温溶解: {solvent} ({volume}) → {vessel_id}")
|
||||
debug_print(f"🌡️ 室温溶解: {solvent} ({volume}) → {vessel_id}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
solvent=solvent,
|
||||
@@ -420,7 +917,7 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
|
||||
temp: Union[str, float] = "60 °C", time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
|
||||
"""加热溶解"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
|
||||
debug_print(f"🔥 加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
|
||||
return generate_dissolve_protocol(
|
||||
G, vessel,
|
||||
solvent=solvent,
|
||||
@@ -432,31 +929,37 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
|
||||
# 测试函数
|
||||
def test_dissolve_protocol():
|
||||
"""测试溶解协议的各种参数解析"""
|
||||
debug_print("=== DISSOLVE PROTOCOL 增强版测试 ===")
|
||||
|
||||
# 测试体积解析
|
||||
debug_print("💧 测试体积解析...")
|
||||
volumes = ["10 mL", "?", 10.0, "1 L", "500 μL"]
|
||||
for vol in volumes:
|
||||
result = parse_volume_input(vol)
|
||||
debug_print(f"体积解析: {vol} → {result}mL")
|
||||
|
||||
debug_print(f"📏 体积解析: {vol} → {result}mL")
|
||||
|
||||
# 测试质量解析
|
||||
debug_print("⚖️ 测试质量解析...")
|
||||
masses = ["2.9 g", "?", 2.5, "500 mg"]
|
||||
for mass in masses:
|
||||
result = parse_mass_input(mass)
|
||||
debug_print(f"质量解析: {mass} → {result}g")
|
||||
|
||||
debug_print(f"⚖️ 质量解析: {mass} → {result}g")
|
||||
|
||||
# 测试温度解析
|
||||
debug_print("🌡️ 测试温度解析...")
|
||||
temps = ["60 °C", "room temperature", "?", 25.0, "reflux"]
|
||||
for temp in temps:
|
||||
result = parse_temperature_input(temp)
|
||||
debug_print(f"温度解析: {temp} → {result}°C")
|
||||
|
||||
debug_print(f"🌡️ 温度解析: {temp} → {result}°C")
|
||||
|
||||
# 测试时间解析
|
||||
debug_print("⏱️ 测试时间解析...")
|
||||
times = ["30 min", "1 h", "?", 60.0]
|
||||
for time in times:
|
||||
result = parse_time_input(time)
|
||||
debug_print(f"时间解析: {time} → {result}s")
|
||||
|
||||
debug_print("测试完成")
|
||||
debug_print(f"⏱️ 时间解析: {time} → {result}s")
|
||||
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_dissolve_protocol()
|
||||
@@ -1,40 +1,87 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any
|
||||
|
||||
from .utils.vessel_parser import get_vessel, find_connected_heatchill
|
||||
from .utils.logger_util import debug_print
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
|
||||
def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""
|
||||
查找与容器相连的加热器
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
vessel: 容器名称
|
||||
|
||||
Returns:
|
||||
str: 加热器ID，如果没有则返回None
|
||||
"""
|
||||
print(f"DRY: 正在查找与容器 '{vessel}' 相连的加热器...")
|
||||
|
||||
# 查找所有加热器节点
|
||||
heater_nodes = [node for node in G.nodes()
|
||||
if ('heater' in node.lower() or
|
||||
'heat' in node.lower() or
|
||||
G.nodes[node].get('class') == 'virtual_heatchill' or
|
||||
G.nodes[node].get('type') == 'heater')]
|
||||
|
||||
print(f"DRY: 找到的加热器节点: {heater_nodes}")
|
||||
|
||||
# 检查是否有加热器与目标容器相连
|
||||
for heater in heater_nodes:
|
||||
if G.has_edge(heater, vessel) or G.has_edge(vessel, heater):
|
||||
print(f"DRY: 找到与容器 '{vessel}' 相连的加热器: {heater}")
|
||||
return heater
|
||||
|
||||
# 如果没有直接连接，查找距离最近的加热器
|
||||
for heater in heater_nodes:
|
||||
try:
|
||||
path = nx.shortest_path(G, source=heater, target=vessel)
|
||||
if len(path) <= 3: # 最多2个中间节点
|
||||
print(f"DRY: 找到距离较近的加热器: {heater}, 路径: {' → '.join(path)}")
|
||||
return heater
|
||||
except nx.NetworkXNoPath:
|
||||
continue
|
||||
|
||||
print(f"DRY: 未找到与容器 '{vessel}' 相连的加热器")
|
||||
return None
|
||||
|
||||
|
||||
def generate_dry_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
compound: str = "",
|
||||
**kwargs
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
compound: str = "", # 🔧 修改：参数顺序调整，并设置默认值
|
||||
**kwargs # 接收其他可能的参数但不使用
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成干燥协议序列
|
||||
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
vessel: 目标容器字典（从XDL传入）
|
||||
compound: 化合物名称（从XDL传入，可选）
|
||||
**kwargs: 其他可选参数，但不使用
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
# 默认参数
|
||||
dry_temp = 60.0
|
||||
dry_time = 3600.0
|
||||
simulation_time = 60.0
|
||||
|
||||
debug_print(f"开始生成干燥协议: vessel={vessel_id}, compound={compound or '未指定'}, temp={dry_temp}°C")
|
||||
|
||||
# 记录干燥前的容器状态
|
||||
dry_temp = 60.0 # 默认干燥温度 60°C
|
||||
dry_time = 3600.0 # 默认干燥时间 1小时（3600秒）
|
||||
simulation_time = 60.0 # 模拟时间 1分钟
|
||||
|
||||
print(f"🌡️ DRY: 开始生成干燥协议 ✨")
|
||||
print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
print(f" 🧪 化合物: {compound or '未指定'}")
|
||||
print(f" 🔥 干燥温度: {dry_temp}°C")
|
||||
print(f" ⏰ 干燥时间: {dry_time/60:.0f} 分钟")
|
||||
|
||||
# 🔧 新增：记录干燥前的容器状态
|
||||
print(f"🔍 记录干燥前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -42,30 +89,39 @@ def generate_dry_protocol(
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
|
||||
print(f"📊 干燥前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
print(f"\n📋 步骤1: 验证目标容器 '{vessel_id}' 是否存在...")
|
||||
if vessel_id not in G.nodes():
|
||||
debug_print(f"容器 '{vessel_id}' 不存在于系统中，跳过干燥")
|
||||
print(f"⚠️ DRY: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过干燥 😢")
|
||||
return action_sequence
|
||||
|
||||
print(f"✅ 容器 '{vessel_id}' 验证通过!")
|
||||
|
||||
# 2. 查找相连的加热器
|
||||
heater_id = find_connected_heatchill(G, vessel_id)
|
||||
|
||||
print(f"\n🔍 步骤2: 查找与容器相连的加热器...")
|
||||
heater_id = find_connected_heater(G, vessel_id) # 🔧 使用 vessel_id
|
||||
|
||||
if heater_id is None:
|
||||
debug_print(f"未找到与容器 '{vessel_id}' 相连的加热器，添加模拟干燥动作")
|
||||
print(f"😭 DRY: 警告 - 未找到与容器 '{vessel_id}' 相连的加热器，跳过干燥")
|
||||
print(f"🎭 添加模拟干燥动作...")
|
||||
# 添加一个等待动作，表示干燥过程（模拟）
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 10.0,
|
||||
"time": 10.0, # 模拟等待时间
|
||||
"description": f"模拟干燥 {compound or '化合物'} (无加热器可用)"
|
||||
}
|
||||
})
|
||||
|
||||
# 模拟干燥的体积变化
|
||||
|
||||
# 🔧 新增：模拟干燥的体积变化（溶剂蒸发）
|
||||
print(f"🔧 模拟干燥过程的体积减少...")
|
||||
if original_liquid_volume > 0:
|
||||
# 假设干燥过程中损失10%的体积（溶剂蒸发）
|
||||
volume_loss = original_liquid_volume * 0.1
|
||||
new_volume = max(0.0, original_liquid_volume - volume_loss)
|
||||
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
@@ -77,14 +133,15 @@ def generate_dry_protocol(
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
@@ -92,27 +149,33 @@ def generate_dry_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"模拟干燥体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL")
|
||||
|
||||
debug_print(f"协议生成完成，共 {len(action_sequence)} 个动作")
|
||||
|
||||
print(f"📊 模拟干燥体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{volume_loss:.2f}mL)")
|
||||
|
||||
print(f"📄 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
|
||||
return action_sequence
|
||||
|
||||
debug_print(f"找到加热器: {heater_id}")
|
||||
|
||||
|
||||
print(f"🎉 找到加热器: {heater_id}!")
|
||||
|
||||
# 3. 启动加热器进行干燥
|
||||
print(f"\n🚀 步骤3: 开始执行干燥流程...")
|
||||
print(f"🔥 启动加热器 {heater_id} 进行干燥")
|
||||
|
||||
# 3.1 启动加热
|
||||
print(f" ⚡ 动作1: 启动加热到 {dry_temp}°C...")
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"temp": dry_temp,
|
||||
"purpose": f"干燥 {compound or '化合物'}"
|
||||
}
|
||||
})
|
||||
|
||||
print(f" ✅ 加热器启动命令已添加 🔥")
|
||||
|
||||
# 3.2 等待温度稳定
|
||||
print(f" ⏳ 动作2: 等待温度稳定...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -120,27 +183,34 @@ def generate_dry_protocol(
|
||||
"description": f"等待温度稳定到 {dry_temp}°C"
|
||||
}
|
||||
})
|
||||
|
||||
print(f" ✅ 温度稳定等待命令已添加 🌡️")
|
||||
|
||||
# 3.3 保持干燥温度
|
||||
print(f" 🔄 动作3: 保持干燥温度 {simulation_time/60:.0f} 分钟...")
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"temp": dry_temp,
|
||||
"time": simulation_time,
|
||||
"purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
|
||||
}
|
||||
})
|
||||
|
||||
# 干燥过程中的体积变化计算
|
||||
print(f" ✅ 温度保持命令已添加 🌡️⏰")
|
||||
|
||||
# 🔧 新增：干燥过程中的体积变化计算
|
||||
print(f"🔧 计算干燥过程中的体积变化...")
|
||||
if original_liquid_volume > 0:
|
||||
evaporation_rate = 0.001 * dry_temp
|
||||
total_evaporation = min(original_liquid_volume * 0.8,
|
||||
evaporation_rate * simulation_time)
|
||||
|
||||
# 干燥过程中，溶剂会蒸发，固体保留
|
||||
# 根据温度和时间估算蒸发量
|
||||
evaporation_rate = 0.001 * dry_temp # 每秒每°C蒸发0.001mL
|
||||
total_evaporation = min(original_liquid_volume * 0.8,
|
||||
evaporation_rate * simulation_time) # 最多蒸发80%
|
||||
|
||||
new_volume = max(0.0, original_liquid_volume - total_evaporation)
|
||||
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
@@ -152,14 +222,15 @@ def generate_dry_protocol(
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
@@ -167,29 +238,37 @@ def generate_dry_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"干燥体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL (-{total_evaporation:.2f}mL)")
|
||||
|
||||
|
||||
print(f"📊 干燥体积变化计算:")
|
||||
print(f" - 初始体积: {original_liquid_volume:.2f}mL")
|
||||
print(f" - 蒸发量: {total_evaporation:.2f}mL")
|
||||
print(f" - 剩余体积: {new_volume:.2f}mL")
|
||||
print(f" - 蒸发率: {(total_evaporation/original_liquid_volume*100):.1f}%")
|
||||
|
||||
# 3.4 停止加热
|
||||
print(f" ⏹️ 动作4: 停止加热...")
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"purpose": f"干燥完成，停止加热"
|
||||
}
|
||||
})
|
||||
|
||||
print(f" ✅ 停止加热命令已添加 🛑")
|
||||
|
||||
# 3.5 等待冷却
|
||||
print(f" ❄️ 动作5: 等待冷却...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 10.0,
|
||||
"time": 10.0, # 等待10秒冷却
|
||||
"description": f"等待 {compound or '化合物'} 冷却"
|
||||
}
|
||||
})
|
||||
|
||||
# 最终状态
|
||||
print(f" ✅ 冷却等待命令已添加 🧊")
|
||||
|
||||
# 🔧 新增：干燥完成后的状态报告
|
||||
final_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -197,37 +276,60 @@ def generate_dry_protocol(
|
||||
final_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_liquid_volume = current_volume
|
||||
|
||||
debug_print(f"干燥协议生成完成: {len(action_sequence)} 个动作, 体积 {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
|
||||
|
||||
|
||||
print(f"\n🎊 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
|
||||
print(f"⏱️ DRY: 预计总时间: {(simulation_time + 30)/60:.0f} 分钟 ⌛")
|
||||
print(f"📊 干燥结果:")
|
||||
print(f" - 容器: {vessel_id}")
|
||||
print(f" - 化合物: {compound or '未指定'}")
|
||||
print(f" - 干燥前体积: {original_liquid_volume:.2f}mL")
|
||||
print(f" - 干燥后体积: {final_liquid_volume:.2f}mL")
|
||||
print(f" - 蒸发体积: {(original_liquid_volume - final_liquid_volume):.2f}mL")
|
||||
print(f"🏁 所有动作序列准备就绪! ✨")
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
# 便捷函数
|
||||
def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
# 🔧 新增：便捷函数
|
||||
def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
temp: float = 40.0, time: float = 30.0) -> List[Dict[str, Any]]:
|
||||
"""快速干燥：低温短时间"""
|
||||
vessel_id = vessel["id"]
|
||||
print(f"🌡️ 快速干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
|
||||
|
||||
# 临时修改默认参数
|
||||
import types
|
||||
temp_func = types.FunctionType(
|
||||
generate_dry_protocol.__code__,
|
||||
generate_dry_protocol.__globals__
|
||||
)
|
||||
|
||||
# 直接调用原函数，但修改内部参数
|
||||
return generate_dry_protocol(G, vessel, compound)
|
||||
|
||||
|
||||
def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
temp: float = 80.0, time: float = 120.0) -> List[Dict[str, Any]]:
|
||||
"""深度干燥：高温长时间"""
|
||||
vessel_id = vessel["id"]
|
||||
print(f"🔥 深度干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
|
||||
return generate_dry_protocol(G, vessel, compound)
|
||||
|
||||
|
||||
def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
|
||||
temp: float = 30.0, time: float = 180.0) -> List[Dict[str, Any]]:
|
||||
"""温和干燥：低温长时间"""
|
||||
vessel_id = vessel["id"]
|
||||
print(f"🌡️ 温和干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
|
||||
return generate_dry_protocol(G, vessel, compound)
|
||||
|
||||
|
||||
# 测试函数
|
||||
def test_dry_protocol():
|
||||
"""测试干燥协议"""
|
||||
debug_print("=== DRY PROTOCOL 测试 ===")
|
||||
debug_print("测试完成")
|
||||
print("=== DRY PROTOCOL 测试 ===")
|
||||
print("测试完成")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_dry_protocol()
|
||||
test_dry_protocol()
|
||||
@@ -3,14 +3,38 @@ from functools import partial
|
||||
import networkx as nx
|
||||
import logging
|
||||
import uuid
|
||||
import sys
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .utils.vessel_parser import get_vessel, find_connected_stirrer
|
||||
from .utils.logger_util import debug_print, action_log
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
|
||||
|
||||
# 设置日志
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
# 确保输出编码为UTF-8
|
||||
if hasattr(sys.stdout, 'reconfigure'):
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding='utf-8')
|
||||
sys.stderr.reconfigure(encoding='utf-8')
|
||||
except:
|
||||
pass
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出函数 - 支持中文"""
|
||||
try:
|
||||
# 确保消息是字符串格式
|
||||
safe_message = str(message)
|
||||
logger.info(f"[抽真空充气] {safe_message}")
|
||||
except UnicodeEncodeError:
|
||||
# 如果编码失败，尝试替换不支持的字符
|
||||
safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
|
||||
logger.info(f"[抽真空充气] {safe_message}")
|
||||
except Exception as e:
|
||||
# 最后的安全措施
|
||||
fallback_message = f"日志输出错误: {repr(message)}"
|
||||
logger.info(f"[抽真空充气] {fallback_message}")
|
||||
|
||||
create_action_log = partial(action_log, prefix="[抽真空充气]")
|
||||
|
||||
def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
@@ -20,9 +44,10 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
2. 气体类型匹配（data.gas_type）
|
||||
3. 默认气源
|
||||
"""
|
||||
debug_print(f"正在查找气体 '{gas}' 的气源...")
|
||||
|
||||
# 通过容器名称匹配
|
||||
debug_print(f"🔍 正在查找气体 '{gas}' 的气源...")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print(f"📋 方法1: 容器名称匹配...")
|
||||
gas_source_patterns = [
|
||||
f"gas_source_{gas}",
|
||||
f"gas_{gas}",
|
||||
@@ -32,178 +57,254 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
|
||||
f"reagent_bottle_{gas}",
|
||||
f"bottle_{gas}"
|
||||
]
|
||||
|
||||
|
||||
debug_print(f"🎯 尝试的容器名称: {gas_source_patterns}")
|
||||
|
||||
for pattern in gas_source_patterns:
|
||||
if pattern in G.nodes():
|
||||
debug_print(f"通过名称找到气源: {pattern}")
|
||||
debug_print(f"✅ 通过名称找到气源: {pattern}")
|
||||
return pattern
|
||||
|
||||
# 通过气体类型匹配 (data.gas_type)
|
||||
|
||||
# 第二步：通过气体类型匹配 (data.gas_type)
|
||||
debug_print(f"📋 方法2: 气体类型匹配...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if ('gas_source' in node_class or
|
||||
'gas' in node_id.lower() or
|
||||
|
||||
# 检查是否是气源设备
|
||||
if ('gas_source' in node_class or
|
||||
'gas' in node_id.lower() or
|
||||
node_id.startswith('flask_')):
|
||||
|
||||
|
||||
# 检查 data.gas_type
|
||||
data = node_data.get('data', {})
|
||||
gas_type = data.get('gas_type', '')
|
||||
|
||||
|
||||
if gas_type.lower() == gas.lower():
|
||||
debug_print(f"通过气体类型找到气源: {node_id} (气体类型: {gas_type})")
|
||||
debug_print(f"✅ 通过气体类型找到气源: {node_id} (气体类型: {gas_type})")
|
||||
return node_id
|
||||
|
||||
|
||||
# 检查 config.gas_type
|
||||
config = node_data.get('config', {})
|
||||
config_gas_type = config.get('gas_type', '')
|
||||
|
||||
|
||||
if config_gas_type.lower() == gas.lower():
|
||||
debug_print(f"通过配置气体类型找到气源: {node_id} (配置气体类型: {config_gas_type})")
|
||||
debug_print(f"✅ 通过配置气体类型找到气源: {node_id} (配置气体类型: {config_gas_type})")
|
||||
return node_id
|
||||
|
||||
# 查找所有可用的气源设备
|
||||
|
||||
# 第三步：查找所有可用的气源设备
|
||||
debug_print(f"📋 方法3: 查找可用气源...")
|
||||
available_gas_sources = []
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if ('gas_source' in node_class or
|
||||
|
||||
if ('gas_source' in node_class or
|
||||
'gas' in node_id.lower() or
|
||||
(node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))):
|
||||
|
||||
|
||||
data = node_data.get('data', {})
|
||||
gas_type = data.get('gas_type', '未知')
|
||||
available_gas_sources.append(f"{node_id} (气体类型: {gas_type})")
|
||||
|
||||
# 如果找不到特定气体，使用默认的第一个气源
|
||||
|
||||
debug_print(f"📊 可用气源: {available_gas_sources}")
|
||||
|
||||
# 第四步：如果找不到特定气体，使用默认的第一个气源
|
||||
debug_print(f"📋 方法4: 查找默认气源...")
|
||||
default_gas_sources = [
|
||||
node for node in G.nodes()
|
||||
node for node in G.nodes()
|
||||
if ((G.nodes[node].get('class') or '').find('virtual_gas_source') != -1
|
||||
or 'gas_source' in node)
|
||||
]
|
||||
|
||||
|
||||
if default_gas_sources:
|
||||
default_source = default_gas_sources[0]
|
||||
debug_print(f"未找到特定气体 '{gas}'，使用默认气源: {default_source}")
|
||||
debug_print(f"⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}")
|
||||
return default_source
|
||||
|
||||
|
||||
debug_print(f"❌ 所有方法都失败了！")
|
||||
raise ValueError(f"无法找到气体 '{gas}' 的气源。可用气源: {available_gas_sources}")
|
||||
|
||||
def find_vacuum_pump(G: nx.DiGraph) -> str:
|
||||
"""查找真空泵设备"""
|
||||
debug_print("🔍 正在查找真空泵...")
|
||||
|
||||
vacuum_pumps = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if ('virtual_vacuum_pump' in node_class or
|
||||
'vacuum_pump' in node.lower() or
|
||||
|
||||
if ('virtual_vacuum_pump' in node_class or
|
||||
'vacuum_pump' in node.lower() or
|
||||
'vacuum' in node_class.lower()):
|
||||
vacuum_pumps.append(node)
|
||||
|
||||
debug_print(f"📋 发现真空泵: {node}")
|
||||
|
||||
if not vacuum_pumps:
|
||||
debug_print(f"❌ 系统中未找到真空泵")
|
||||
raise ValueError("系统中未找到真空泵")
|
||||
|
||||
debug_print(f"使用真空泵: {vacuum_pumps[0]}")
|
||||
|
||||
debug_print(f"✅ 使用真空泵: {vacuum_pumps[0]}")
|
||||
return vacuum_pumps[0]
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> Optional[str]:
|
||||
"""查找与指定容器相连的搅拌器"""
|
||||
debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if 'virtual_stirrer' in node_class or 'stirrer' in node.lower():
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
|
||||
|
||||
# 检查哪个搅拌器与目标容器相连
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
|
||||
return stirrer
|
||||
|
||||
# 如果没有连接的搅拌器，返回第一个可用的
|
||||
if stirrer_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print("❌ 未找到搅拌器")
|
||||
return None
|
||||
|
||||
def find_vacuum_solenoid_valve(G: nx.DiGraph, vacuum_pump: str) -> Optional[str]:
|
||||
"""查找真空泵相关的电磁阀"""
|
||||
debug_print(f"🔍 正在查找真空泵 {vacuum_pump} 的电磁阀...")
|
||||
|
||||
# 查找所有电磁阀
|
||||
solenoid_valves = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
|
||||
if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
|
||||
solenoid_valves.append(node)
|
||||
|
||||
debug_print(f"📋 发现电磁阀: {node}")
|
||||
|
||||
debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
|
||||
|
||||
# 检查连接关系
|
||||
debug_print(f"📋 方法1: 检查连接关系...")
|
||||
for solenoid in solenoid_valves:
|
||||
if G.has_edge(solenoid, vacuum_pump) or G.has_edge(vacuum_pump, solenoid):
|
||||
debug_print(f"找到连接的真空电磁阀: {solenoid}")
|
||||
debug_print(f"✅ 找到连接的真空电磁阀: {solenoid}")
|
||||
return solenoid
|
||||
|
||||
|
||||
# 通过命名规则查找
|
||||
debug_print(f"📋 方法2: 检查命名规则...")
|
||||
for solenoid in solenoid_valves:
|
||||
if 'vacuum' in solenoid.lower() or solenoid == 'solenoid_valve_1':
|
||||
debug_print(f"通过命名找到真空电磁阀: {solenoid}")
|
||||
debug_print(f"✅ 通过命名找到真空电磁阀: {solenoid}")
|
||||
return solenoid
|
||||
|
||||
debug_print("未找到真空电磁阀")
|
||||
|
||||
debug_print("⚠️ 未找到真空电磁阀")
|
||||
return None
|
||||
|
||||
def find_gas_solenoid_valve(G: nx.DiGraph, gas_source: str) -> Optional[str]:
|
||||
"""查找气源相关的电磁阀"""
|
||||
debug_print(f"🔍 正在查找气源 {gas_source} 的电磁阀...")
|
||||
|
||||
# 查找所有电磁阀
|
||||
solenoid_valves = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
|
||||
if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
|
||||
solenoid_valves.append(node)
|
||||
|
||||
|
||||
debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
|
||||
|
||||
# 检查连接关系
|
||||
debug_print(f"📋 方法1: 检查连接关系...")
|
||||
for solenoid in solenoid_valves:
|
||||
if G.has_edge(gas_source, solenoid) or G.has_edge(solenoid, gas_source):
|
||||
debug_print(f"找到连接的气源电磁阀: {solenoid}")
|
||||
debug_print(f"✅ 找到连接的气源电磁阀: {solenoid}")
|
||||
return solenoid
|
||||
|
||||
|
||||
# 通过命名规则查找
|
||||
debug_print(f"📋 方法2: 检查命名规则...")
|
||||
for solenoid in solenoid_valves:
|
||||
if 'gas' in solenoid.lower() or solenoid == 'solenoid_valve_2':
|
||||
debug_print(f"通过命名找到气源电磁阀: {solenoid}")
|
||||
debug_print(f"✅ 通过命名找到气源电磁阀: {solenoid}")
|
||||
return solenoid
|
||||
|
||||
debug_print("未找到气源电磁阀")
|
||||
|
||||
debug_print("⚠️ 未找到气源电磁阀")
|
||||
return None
|
||||
|
||||
def generate_evacuateandrefill_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
gas: str,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成抽真空和充气操作的动作序列
|
||||
|
||||
生成抽真空和充气操作的动作序列 - 中文版
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 目标容器字典（必需）
|
||||
gas: 气体名称（必需）
|
||||
gas: 气体名称（必需）
|
||||
**kwargs: 其他参数（兼容性）
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
|
||||
# 硬编码重复次数为 3
|
||||
repeats = 3
|
||||
|
||||
|
||||
# 生成协议ID
|
||||
protocol_id = str(uuid.uuid4())
|
||||
|
||||
debug_print(f"开始生成抽真空充气协议: vessel={vessel_id}, gas={gas}, repeats={repeats}")
|
||||
|
||||
debug_print(f"🆔 生成协议ID: {protocol_id}")
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("🧪 开始生成抽真空充气协议")
|
||||
debug_print(f"📋 原始参数:")
|
||||
debug_print(f" 🥼 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 💨 气体: '{gas}'")
|
||||
debug_print(f" 🔄 循环次数: {repeats} (硬编码)")
|
||||
debug_print(f" 📦 其他参数: {kwargs}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
# === 参数验证和修正 ===
|
||||
debug_print("🔍 步骤1: 参数验证和修正...")
|
||||
action_sequence.append(create_action_log(f"开始抽真空充气操作 - 容器: {vessel_id}", "🎬"))
|
||||
action_sequence.append(create_action_log(f"目标气体: {gas}", "💨"))
|
||||
action_sequence.append(create_action_log(f"循环次数: {repeats}", "🔄"))
|
||||
|
||||
|
||||
# 验证必需参数
|
||||
if not vessel_id:
|
||||
debug_print("❌ 容器参数不能为空")
|
||||
raise ValueError("容器参数不能为空")
|
||||
|
||||
|
||||
if not gas:
|
||||
debug_print("❌ 气体参数不能为空")
|
||||
raise ValueError("气体参数不能为空")
|
||||
|
||||
if vessel_id not in G.nodes():
|
||||
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print(f"❌ 容器 '{vessel_id}' 在系统中不存在")
|
||||
raise ValueError(f"容器 '{vessel_id}' 在系统中不存在")
|
||||
|
||||
|
||||
debug_print("✅ 基本参数验证通过")
|
||||
action_sequence.append(create_action_log("参数验证通过", "✅"))
|
||||
|
||||
|
||||
# 标准化气体名称
|
||||
debug_print("🔧 标准化气体名称...")
|
||||
gas_aliases = {
|
||||
'n2': 'nitrogen',
|
||||
'ar': 'argon',
|
||||
@@ -218,54 +319,61 @@ def generate_evacuateandrefill_protocol(
|
||||
'二氧化碳': 'carbon_dioxide',
|
||||
'氢气': 'hydrogen'
|
||||
}
|
||||
|
||||
|
||||
original_gas = gas
|
||||
gas_lower = gas.lower().strip()
|
||||
if gas_lower in gas_aliases:
|
||||
gas = gas_aliases[gas_lower]
|
||||
debug_print(f"标准化气体名称: {original_gas} -> {gas}")
|
||||
debug_print(f"🔄 标准化气体名称: {original_gas} -> {gas}")
|
||||
action_sequence.append(create_action_log(f"气体名称标准化: {original_gas} -> {gas}", "🔄"))
|
||||
|
||||
debug_print(f"最终参数: 容器={vessel_id}, 气体={gas}, 重复={repeats}")
|
||||
|
||||
|
||||
debug_print(f"📋 最终参数: 容器={vessel_id}, 气体={gas}, 重复={repeats}")
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("🔍 步骤2: 查找设备...")
|
||||
action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
|
||||
|
||||
|
||||
try:
|
||||
vacuum_pump = find_vacuum_pump(G)
|
||||
action_sequence.append(create_action_log(f"找到真空泵: {vacuum_pump}", "🌪️"))
|
||||
|
||||
|
||||
gas_source = find_gas_source(G, gas)
|
||||
action_sequence.append(create_action_log(f"找到气源: {gas_source}", "💨"))
|
||||
|
||||
|
||||
vacuum_solenoid = find_vacuum_solenoid_valve(G, vacuum_pump)
|
||||
if vacuum_solenoid:
|
||||
action_sequence.append(create_action_log(f"找到真空电磁阀: {vacuum_solenoid}", "🚪"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到真空电磁阀", "⚠️"))
|
||||
|
||||
|
||||
gas_solenoid = find_gas_solenoid_valve(G, gas_source)
|
||||
if gas_solenoid:
|
||||
action_sequence.append(create_action_log(f"找到气源电磁阀: {gas_solenoid}", "🚪"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到气源电磁阀", "⚠️"))
|
||||
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id) # 🔧 使用 vessel_id
|
||||
if stirrer_id:
|
||||
action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
|
||||
else:
|
||||
action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
|
||||
|
||||
debug_print(f"设备配置: 真空泵={vacuum_pump}, 气源={gas_source}, 搅拌器={stirrer_id}")
|
||||
|
||||
|
||||
debug_print(f"📊 设备配置:")
|
||||
debug_print(f" 🌪️ 真空泵: {vacuum_pump}")
|
||||
debug_print(f" 💨 气源: {gas_source}")
|
||||
debug_print(f" 🚪 真空电磁阀: {vacuum_solenoid}")
|
||||
debug_print(f" 🚪 气源电磁阀: {gas_solenoid}")
|
||||
debug_print(f" 🌪️ 搅拌器: {stirrer_id}")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"设备查找失败: {str(e)}")
|
||||
debug_print(f"❌ 设备查找失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"设备查找失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"设备查找失败: {str(e)}")
|
||||
|
||||
|
||||
# === 参数设置 ===
|
||||
debug_print("🔍 步骤3: 参数设置...")
|
||||
action_sequence.append(create_action_log("设置操作参数...", "⚙️"))
|
||||
|
||||
|
||||
# 根据气体类型调整参数
|
||||
if gas.lower() in ['nitrogen', 'argon']:
|
||||
VACUUM_VOLUME = 25.0
|
||||
@@ -273,6 +381,7 @@ def generate_evacuateandrefill_protocol(
|
||||
PUMP_FLOW_RATE = 2.0
|
||||
VACUUM_TIME = 30.0
|
||||
REFILL_TIME = 20.0
|
||||
debug_print("💨 惰性气体: 使用标准参数")
|
||||
action_sequence.append(create_action_log("检测到惰性气体，使用标准参数", "💨"))
|
||||
elif gas.lower() in ['air', 'oxygen']:
|
||||
VACUUM_VOLUME = 20.0
|
||||
@@ -280,6 +389,7 @@ def generate_evacuateandrefill_protocol(
|
||||
PUMP_FLOW_RATE = 1.5
|
||||
VACUUM_TIME = 45.0
|
||||
REFILL_TIME = 25.0
|
||||
debug_print("🔥 活性气体: 使用保守参数")
|
||||
action_sequence.append(create_action_log("检测到活性气体，使用保守参数", "🔥"))
|
||||
else:
|
||||
VACUUM_VOLUME = 15.0
|
||||
@@ -287,88 +397,116 @@ def generate_evacuateandrefill_protocol(
|
||||
PUMP_FLOW_RATE = 1.0
|
||||
VACUUM_TIME = 60.0
|
||||
REFILL_TIME = 30.0
|
||||
debug_print("❓ 未知气体: 使用安全参数")
|
||||
action_sequence.append(create_action_log("未知气体类型，使用安全参数", "❓"))
|
||||
|
||||
|
||||
STIR_SPEED = 200.0
|
||||
|
||||
|
||||
debug_print(f"⚙️ 操作参数:")
|
||||
debug_print(f" 📏 真空体积: {VACUUM_VOLUME}mL")
|
||||
debug_print(f" 📏 充气体积: {REFILL_VOLUME}mL")
|
||||
debug_print(f" ⚡ 泵流速: {PUMP_FLOW_RATE}mL/s")
|
||||
debug_print(f" ⏱️ 真空时间: {VACUUM_TIME}s")
|
||||
debug_print(f" ⏱️ 充气时间: {REFILL_TIME}s")
|
||||
debug_print(f" 🌪️ 搅拌速度: {STIR_SPEED}RPM")
|
||||
|
||||
action_sequence.append(create_action_log(f"真空体积: {VACUUM_VOLUME}mL", "📏"))
|
||||
action_sequence.append(create_action_log(f"充气体积: {REFILL_VOLUME}mL", "📏"))
|
||||
action_sequence.append(create_action_log(f"泵流速: {PUMP_FLOW_RATE}mL/s", "⚡"))
|
||||
|
||||
|
||||
# === 路径验证 ===
|
||||
debug_print("🔍 步骤4: 路径验证...")
|
||||
action_sequence.append(create_action_log("验证传输路径...", "🛤️"))
|
||||
|
||||
|
||||
try:
|
||||
if nx.has_path(G, vessel_id, vacuum_pump):
|
||||
# 验证抽真空路径
|
||||
if nx.has_path(G, vessel_id, vacuum_pump): # 🔧 使用 vessel_id
|
||||
vacuum_path = nx.shortest_path(G, source=vessel_id, target=vacuum_pump)
|
||||
debug_print(f"✅ 真空路径: {' -> '.join(vacuum_path)}")
|
||||
action_sequence.append(create_action_log(f"真空路径: {' -> '.join(vacuum_path)}", "🛤️"))
|
||||
else:
|
||||
debug_print(f"⚠️ 真空路径不存在，继续执行但可能有问题")
|
||||
action_sequence.append(create_action_log("真空路径检查: 路径不存在", "⚠️"))
|
||||
|
||||
if nx.has_path(G, gas_source, vessel_id):
|
||||
|
||||
# 验证充气路径
|
||||
if nx.has_path(G, gas_source, vessel_id): # 🔧 使用 vessel_id
|
||||
gas_path = nx.shortest_path(G, source=gas_source, target=vessel_id)
|
||||
debug_print(f"✅ 气体路径: {' -> '.join(gas_path)}")
|
||||
action_sequence.append(create_action_log(f"气体路径: {' -> '.join(gas_path)}", "🛤️"))
|
||||
else:
|
||||
debug_print(f"⚠️ 气体路径不存在，继续执行但可能有问题")
|
||||
action_sequence.append(create_action_log("气体路径检查: 路径不存在", "⚠️"))
|
||||
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"⚠️ 路径验证失败: {str(e)}，继续执行")
|
||||
action_sequence.append(create_action_log(f"路径验证失败: {str(e)}", "⚠️"))
|
||||
|
||||
|
||||
# === 启动搅拌器 ===
|
||||
debug_print("🔍 步骤5: 启动搅拌器...")
|
||||
|
||||
if stirrer_id:
|
||||
debug_print(f"🌪️ 启动搅拌器: {stirrer_id}")
|
||||
action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {STIR_SPEED}rpm)", "🌪️"))
|
||||
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"stir_speed": STIR_SPEED,
|
||||
"purpose": "抽真空充气前预搅拌"
|
||||
}
|
||||
})
|
||||
|
||||
|
||||
# 等待搅拌稳定
|
||||
action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5.0}
|
||||
})
|
||||
else:
|
||||
debug_print("⚠️ 未找到搅拌器，跳过搅拌器启动")
|
||||
action_sequence.append(create_action_log("跳过搅拌器启动", "⏭️"))
|
||||
|
||||
|
||||
# === 执行循环 ===
|
||||
debug_print("🔍 步骤6: 执行抽真空-充气循环...")
|
||||
action_sequence.append(create_action_log(f"开始 {repeats} 次抽真空-充气循环", "🔄"))
|
||||
|
||||
|
||||
for cycle in range(repeats):
|
||||
debug_print(f"=== 第 {cycle+1}/{repeats} 轮循环 ===")
|
||||
action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环开始", "🚀"))
|
||||
|
||||
|
||||
# ============ 抽真空阶段 ============
|
||||
debug_print(f"🌪️ 抽真空阶段开始")
|
||||
action_sequence.append(create_action_log("开始抽真空阶段", "🌪️"))
|
||||
|
||||
|
||||
# 启动真空泵
|
||||
debug_print(f"🔛 启动真空泵: {vacuum_pump}")
|
||||
action_sequence.append(create_action_log(f"启动真空泵: {vacuum_pump}", "🔛"))
|
||||
action_sequence.append({
|
||||
"device_id": vacuum_pump,
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {"string": "ON"}
|
||||
})
|
||||
|
||||
|
||||
# 开启真空电磁阀
|
||||
if vacuum_solenoid:
|
||||
debug_print(f"🚪 打开真空电磁阀: {vacuum_solenoid}")
|
||||
action_sequence.append(create_action_log(f"打开真空电磁阀: {vacuum_solenoid}", "🚪"))
|
||||
action_sequence.append({
|
||||
"device_id": vacuum_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {"command": "OPEN"}
|
||||
})
|
||||
|
||||
|
||||
# 抽真空操作
|
||||
debug_print(f"🌪️ 抽真空操作: {vessel_id} -> {vacuum_pump}")
|
||||
action_sequence.append(create_action_log(f"开始抽真空: {vessel_id} -> {vacuum_pump}", "🌪️"))
|
||||
|
||||
|
||||
try:
|
||||
vacuum_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=vessel_id,
|
||||
from_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
to_vessel=vacuum_pump,
|
||||
volume=VACUUM_VOLUME,
|
||||
amount="",
|
||||
@@ -381,25 +519,27 @@ def generate_evacuateandrefill_protocol(
|
||||
flowrate=PUMP_FLOW_RATE,
|
||||
transfer_flowrate=PUMP_FLOW_RATE
|
||||
)
|
||||
|
||||
|
||||
if vacuum_transfer_actions:
|
||||
action_sequence.extend(vacuum_transfer_actions)
|
||||
debug_print(f"✅ 添加了 {len(vacuum_transfer_actions)} 个抽真空动作")
|
||||
action_sequence.append(create_action_log(f"抽真空协议完成 ({len(vacuum_transfer_actions)} 个操作)", "✅"))
|
||||
else:
|
||||
debug_print("⚠️ 抽真空协议返回空序列，添加手动动作")
|
||||
action_sequence.append(create_action_log("抽真空协议为空，使用手动等待", "⚠️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": VACUUM_TIME}
|
||||
})
|
||||
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"抽真空失败: {str(e)}")
|
||||
debug_print(f"❌ 抽真空失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"抽真空失败: {str(e)}", "❌"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": VACUUM_TIME}
|
||||
})
|
||||
|
||||
|
||||
# 抽真空后等待
|
||||
wait_minutes = VACUUM_TIME / 60
|
||||
action_sequence.append(create_action_log(f"抽真空后等待 ({wait_minutes:.1f} 分钟)", "⏳"))
|
||||
@@ -407,59 +547,65 @@ def generate_evacuateandrefill_protocol(
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": VACUUM_TIME}
|
||||
})
|
||||
|
||||
|
||||
# 关闭真空电磁阀
|
||||
if vacuum_solenoid:
|
||||
debug_print(f"🚪 关闭真空电磁阀: {vacuum_solenoid}")
|
||||
action_sequence.append(create_action_log(f"关闭真空电磁阀: {vacuum_solenoid}", "🚪"))
|
||||
action_sequence.append({
|
||||
"device_id": vacuum_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {"command": "CLOSED"}
|
||||
})
|
||||
|
||||
|
||||
# 关闭真空泵
|
||||
debug_print(f"🔴 停止真空泵: {vacuum_pump}")
|
||||
action_sequence.append(create_action_log(f"停止真空泵: {vacuum_pump}", "🔴"))
|
||||
action_sequence.append({
|
||||
"device_id": vacuum_pump,
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {"string": "OFF"}
|
||||
})
|
||||
|
||||
|
||||
# 阶段间等待
|
||||
action_sequence.append(create_action_log("抽真空阶段完成，短暂等待", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5.0}
|
||||
})
|
||||
|
||||
|
||||
# ============ 充气阶段 ============
|
||||
debug_print(f"💨 充气阶段开始")
|
||||
action_sequence.append(create_action_log("开始气体充气阶段", "💨"))
|
||||
|
||||
|
||||
# 启动气源
|
||||
debug_print(f"🔛 启动气源: {gas_source}")
|
||||
action_sequence.append(create_action_log(f"启动气源: {gas_source}", "🔛"))
|
||||
action_sequence.append({
|
||||
"device_id": gas_source,
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {"string": "ON"}
|
||||
})
|
||||
|
||||
|
||||
# 开启气源电磁阀
|
||||
if gas_solenoid:
|
||||
debug_print(f"🚪 打开气源电磁阀: {gas_solenoid}")
|
||||
action_sequence.append(create_action_log(f"打开气源电磁阀: {gas_solenoid}", "🚪"))
|
||||
action_sequence.append({
|
||||
"device_id": gas_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {"command": "OPEN"}
|
||||
})
|
||||
|
||||
|
||||
# 充气操作
|
||||
debug_print(f"💨 充气操作: {gas_source} -> {vessel_id}")
|
||||
action_sequence.append(create_action_log(f"开始气体充气: {gas_source} -> {vessel_id}", "💨"))
|
||||
|
||||
|
||||
try:
|
||||
gas_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=gas_source,
|
||||
to_vessel=vessel_id,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=REFILL_VOLUME,
|
||||
amount="",
|
||||
time=0.0,
|
||||
@@ -471,25 +617,27 @@ def generate_evacuateandrefill_protocol(
|
||||
flowrate=PUMP_FLOW_RATE,
|
||||
transfer_flowrate=PUMP_FLOW_RATE
|
||||
)
|
||||
|
||||
|
||||
if gas_transfer_actions:
|
||||
action_sequence.extend(gas_transfer_actions)
|
||||
debug_print(f"✅ 添加了 {len(gas_transfer_actions)} 个充气动作")
|
||||
action_sequence.append(create_action_log(f"气体充气协议完成 ({len(gas_transfer_actions)} 个操作)", "✅"))
|
||||
else:
|
||||
debug_print("⚠️ 充气协议返回空序列，添加手动动作")
|
||||
action_sequence.append(create_action_log("充气协议为空，使用手动等待", "⚠️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": REFILL_TIME}
|
||||
})
|
||||
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"气体充气失败: {str(e)}")
|
||||
debug_print(f"❌ 气体充气失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"气体充气失败: {str(e)}", "❌"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": REFILL_TIME}
|
||||
})
|
||||
|
||||
|
||||
# 充气后等待
|
||||
refill_wait_minutes = REFILL_TIME / 60
|
||||
action_sequence.append(create_action_log(f"充气后等待 ({refill_wait_minutes:.1f} 分钟)", "⏳"))
|
||||
@@ -497,26 +645,29 @@ def generate_evacuateandrefill_protocol(
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": REFILL_TIME}
|
||||
})
|
||||
|
||||
|
||||
# 关闭气源电磁阀
|
||||
if gas_solenoid:
|
||||
debug_print(f"🚪 关闭气源电磁阀: {gas_solenoid}")
|
||||
action_sequence.append(create_action_log(f"关闭气源电磁阀: {gas_solenoid}", "🚪"))
|
||||
action_sequence.append({
|
||||
"device_id": gas_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {"command": "CLOSED"}
|
||||
})
|
||||
|
||||
|
||||
# 关闭气源
|
||||
debug_print(f"🔴 停止气源: {gas_source}")
|
||||
action_sequence.append(create_action_log(f"停止气源: {gas_source}", "🔴"))
|
||||
action_sequence.append({
|
||||
"device_id": gas_source,
|
||||
"action_name": "set_status",
|
||||
"action_kwargs": {"string": "OFF"}
|
||||
})
|
||||
|
||||
|
||||
# 循环间等待
|
||||
if cycle < repeats - 1:
|
||||
debug_print(f"⏳ 等待下一个循环...")
|
||||
action_sequence.append(create_action_log("等待下一个循环...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
@@ -524,58 +675,78 @@ def generate_evacuateandrefill_protocol(
|
||||
})
|
||||
else:
|
||||
action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环完成", "✅"))
|
||||
|
||||
|
||||
# === 停止搅拌器 ===
|
||||
debug_print("🔍 步骤7: 停止搅拌器...")
|
||||
|
||||
if stirrer_id:
|
||||
debug_print(f"🛑 停止搅拌器: {stirrer_id}")
|
||||
action_sequence.append(create_action_log(f"停止搅拌器: {stirrer_id}", "🛑"))
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {"vessel": {"id": vessel_id},}
|
||||
"action_kwargs": {"vessel": {"id": vessel_id},} # 🔧 使用 vessel_id
|
||||
})
|
||||
else:
|
||||
action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))
|
||||
|
||||
|
||||
# === 最终等待 ===
|
||||
action_sequence.append(create_action_log("最终稳定等待...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
|
||||
|
||||
# === 总结 ===
|
||||
total_time = (VACUUM_TIME + REFILL_TIME + 25) * repeats + 20
|
||||
|
||||
debug_print(f"抽真空充气协议生成完成: {len(action_sequence)} 个动作, 预计 {total_time:.0f}s")
|
||||
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🎉 抽真空充气协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
|
||||
debug_print(f" 🥼 处理容器: {vessel_id}")
|
||||
debug_print(f" 💨 使用气体: {gas}")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"抽真空充气协议完成: {vessel_id} (使用 {gas}，{repeats} 次循环)"
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
|
||||
def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
|
||||
def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]: # 🔧 修改参数类型
|
||||
"""生成氮气置换协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💨 生成氮气置换协议: {vessel_id}")
|
||||
return generate_evacuateandrefill_protocol(G, vessel, "nitrogen", **kwargs)
|
||||
|
||||
def generate_argon_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
|
||||
def generate_argon_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]: # 🔧 修改参数类型
|
||||
"""生成氩气置换协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💨 生成氩气置换协议: {vessel_id}")
|
||||
return generate_evacuateandrefill_protocol(G, vessel, "argon", **kwargs)
|
||||
|
||||
def generate_air_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
|
||||
def generate_air_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]: # 🔧 修改参数类型
|
||||
"""生成空气置换协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"💨 生成空气置换协议: {vessel_id}")
|
||||
return generate_evacuateandrefill_protocol(G, vessel, "air", **kwargs)
|
||||
|
||||
def generate_inert_atmosphere_protocol(G: nx.DiGraph, vessel: dict, gas: str = "nitrogen", **kwargs) -> List[Dict[str, Any]]:
|
||||
def generate_inert_atmosphere_protocol(G: nx.DiGraph, vessel: dict, gas: str = "nitrogen", **kwargs) -> List[Dict[str, Any]]: # 🔧 修改参数类型
|
||||
"""生成惰性气氛协议"""
|
||||
vessel_id = vessel["id"]
|
||||
debug_print(f"🛡️ 生成惰性气氛协议: {vessel_id} (使用 {gas})")
|
||||
return generate_evacuateandrefill_protocol(G, vessel, gas, **kwargs)
|
||||
|
||||
# 测试函数
|
||||
def test_evacuateandrefill_protocol():
|
||||
"""测试抽真空充气协议"""
|
||||
debug_print("=== 抽真空充气协议测试 ===")
|
||||
debug_print("测试完成")
|
||||
debug_print("=== 抽真空充气协议增强中文版测试 ===")
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_evacuateandrefill_protocol()
|
||||
test_evacuateandrefill_protocol()
|
||||
143
unilabos/compile/evacuateandrefill_protocol_old.py
Normal file
143
unilabos/compile/evacuateandrefill_protocol_old.py
Normal file
@@ -0,0 +1,143 @@
|
||||
# import numpy as np
|
||||
# import networkx as nx
|
||||
|
||||
|
||||
# def generate_evacuateandrefill_protocol(
|
||||
# G: nx.DiGraph,
|
||||
# vessel: str,
|
||||
# gas: str,
|
||||
# repeats: int = 1
|
||||
# ) -> list[dict]:
|
||||
# """
|
||||
# 生成泵操作的动作序列。
|
||||
|
||||
# :param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
|
||||
# :param from_vessel: 容器A
|
||||
# :param to_vessel: 容器B
|
||||
# :param volume: 转移的体积
|
||||
# :param flowrate: 最终注入容器B时的流速
|
||||
# :param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
|
||||
# :return: 泵操作的动作序列
|
||||
# """
|
||||
|
||||
# # 生成电磁阀、真空泵、气源操作的动作序列
|
||||
# vacuum_action_sequence = []
|
||||
# nodes = G.nodes(data=True)
|
||||
|
||||
# # 找到和 vessel 相连的电磁阀和真空泵、气源
|
||||
# vacuum_backbone = {"vessel": vessel}
|
||||
|
||||
# for neighbor in G.neighbors(vessel):
|
||||
# if nodes[neighbor]["class"].startswith("solenoid_valve"):
|
||||
# for neighbor2 in G.neighbors(neighbor):
|
||||
# if neighbor2 == vessel:
|
||||
# continue
|
||||
# if nodes[neighbor2]["class"].startswith("vacuum_pump"):
|
||||
# vacuum_backbone.update({"vacuum_valve": neighbor, "pump": neighbor2})
|
||||
# break
|
||||
# elif nodes[neighbor2]["class"].startswith("gas_source"):
|
||||
# vacuum_backbone.update({"gas_valve": neighbor, "gas": neighbor2})
|
||||
# break
|
||||
# # 判断是否设备齐全
|
||||
# if len(vacuum_backbone) < 5:
|
||||
# print(f"\n\n\n{vacuum_backbone}\n\n\n")
|
||||
# raise ValueError("Not all devices are connected to the vessel.")
|
||||
|
||||
# # 生成操作的动作序列
|
||||
# for i in range(repeats):
|
||||
# # 打开真空泵阀门、关闭气源阀门
|
||||
# vacuum_action_sequence.append([
|
||||
# {
|
||||
# "device_id": vacuum_backbone["vacuum_valve"],
|
||||
# "action_name": "set_valve_position",
|
||||
# "action_kwargs": {
|
||||
# "command": "OPEN"
|
||||
# }
|
||||
# },
|
||||
# {
|
||||
# "device_id": vacuum_backbone["gas_valve"],
|
||||
# "action_name": "set_valve_position",
|
||||
# "action_kwargs": {
|
||||
# "command": "CLOSED"
|
||||
# }
|
||||
# }
|
||||
# ])
|
||||
|
||||
# # 打开真空泵、关闭气源
|
||||
# vacuum_action_sequence.append([
|
||||
# {
|
||||
# "device_id": vacuum_backbone["pump"],
|
||||
# "action_name": "set_status",
|
||||
# "action_kwargs": {
|
||||
# "string": "ON"
|
||||
# }
|
||||
# },
|
||||
# {
|
||||
# "device_id": vacuum_backbone["gas"],
|
||||
# "action_name": "set_status",
|
||||
# "action_kwargs": {
|
||||
# "string": "OFF"
|
||||
# }
|
||||
# }
|
||||
# ])
|
||||
# vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
|
||||
|
||||
# # 关闭真空泵阀门、打开气源阀门
|
||||
# vacuum_action_sequence.append([
|
||||
# {
|
||||
# "device_id": vacuum_backbone["vacuum_valve"],
|
||||
# "action_name": "set_valve_position",
|
||||
# "action_kwargs": {
|
||||
# "command": "CLOSED"
|
||||
# }
|
||||
# },
|
||||
# {
|
||||
# "device_id": vacuum_backbone["gas_valve"],
|
||||
# "action_name": "set_valve_position",
|
||||
# "action_kwargs": {
|
||||
# "command": "OPEN"
|
||||
# }
|
||||
# }
|
||||
# ])
|
||||
|
||||
# # 关闭真空泵、打开气源
|
||||
# vacuum_action_sequence.append([
|
||||
# {
|
||||
# "device_id": vacuum_backbone["pump"],
|
||||
# "action_name": "set_status",
|
||||
# "action_kwargs": {
|
||||
# "string": "OFF"
|
||||
# }
|
||||
# },
|
||||
# {
|
||||
# "device_id": vacuum_backbone["gas"],
|
||||
# "action_name": "set_status",
|
||||
# "action_kwargs": {
|
||||
# "string": "ON"
|
||||
# }
|
||||
# }
|
||||
# ])
|
||||
# vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
|
||||
|
||||
# # 关闭气源
|
||||
# vacuum_action_sequence.append(
|
||||
# {
|
||||
# "device_id": vacuum_backbone["gas"],
|
||||
# "action_name": "set_status",
|
||||
# "action_kwargs": {
|
||||
# "string": "OFF"
|
||||
# }
|
||||
# }
|
||||
# )
|
||||
|
||||
# # 关闭阀门
|
||||
# vacuum_action_sequence.append(
|
||||
# {
|
||||
# "device_id": vacuum_backbone["gas_valve"],
|
||||
# "action_name": "set_valve_position",
|
||||
# "action_kwargs": {
|
||||
# "command": "CLOSED"
|
||||
# }
|
||||
# }
|
||||
# )
|
||||
# return vacuum_action_sequence
|
||||
@@ -4,99 +4,128 @@ import logging
|
||||
import re
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.unit_parser import parse_time_input
|
||||
from .utils.logger_util import debug_print
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[EVAPORATE] {message}")
|
||||
|
||||
|
||||
def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
|
||||
"""
|
||||
在组态图中查找旋转蒸发仪设备
|
||||
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 指定的设备名称（可选）
|
||||
|
||||
|
||||
Returns:
|
||||
str: 找到的旋转蒸发仪设备ID，如果没找到返回None
|
||||
"""
|
||||
debug_print("🔍 开始查找旋转蒸发仪设备... 🌪️")
|
||||
|
||||
# 如果指定了vessel，先检查是否存在且是旋转蒸发仪
|
||||
if vessel:
|
||||
debug_print(f"🎯 检查指定设备: {vessel} 🔧")
|
||||
if vessel in G.nodes():
|
||||
node_data = G.nodes[vessel]
|
||||
node_class = node_data.get('class', '')
|
||||
node_type = node_data.get('type', '')
|
||||
|
||||
|
||||
debug_print(f"📋 设备信息 {vessel}: class={node_class}, type={node_type}")
|
||||
|
||||
# 检查是否为旋转蒸发仪
|
||||
if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
|
||||
debug_print(f"找到指定的旋转蒸发仪: {vessel}")
|
||||
debug_print(f"🎉 找到指定的旋转蒸发仪: {vessel} ✨")
|
||||
return vessel
|
||||
elif node_type == 'device':
|
||||
debug_print(f"指定设备存在，尝试直接使用: {vessel}")
|
||||
debug_print(f"✅ 指定设备存在，尝试直接使用: {vessel} 🔧")
|
||||
return vessel
|
||||
|
||||
else:
|
||||
debug_print(f"❌ 指定的设备 {vessel} 不存在 😞")
|
||||
|
||||
# 在所有设备中查找旋转蒸发仪
|
||||
debug_print("🔎 在所有设备中搜索旋转蒸发仪... 🕵️♀️")
|
||||
rotavap_candidates = []
|
||||
|
||||
|
||||
for node_id, node_data in G.nodes(data=True):
|
||||
node_class = node_data.get('class', '')
|
||||
node_type = node_data.get('type', '')
|
||||
|
||||
|
||||
# 跳过非设备节点
|
||||
if node_type != 'device':
|
||||
continue
|
||||
|
||||
|
||||
# 检查设备类型
|
||||
if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
|
||||
rotavap_candidates.append(node_id)
|
||||
debug_print(f"🌟 找到旋转蒸发仪候选: {node_id} (class: {node_class}) 🌪️")
|
||||
elif any(keyword in str(node_id).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
|
||||
rotavap_candidates.append(node_id)
|
||||
|
||||
debug_print(f"🌟 找到旋转蒸发仪候选 (按名称): {node_id} 🌪️")
|
||||
|
||||
if rotavap_candidates:
|
||||
selected = rotavap_candidates[0]
|
||||
debug_print(f"选择旋转蒸发仪: {selected}")
|
||||
selected = rotavap_candidates[0] # 选择第一个找到的
|
||||
debug_print(f"🎯 选择旋转蒸发仪: {selected} 🏆")
|
||||
return selected
|
||||
|
||||
debug_print("未找到旋转蒸发仪设备")
|
||||
|
||||
debug_print("😭 未找到旋转蒸发仪设备 💔")
|
||||
return None
|
||||
|
||||
def find_connected_vessel(G: nx.DiGraph, rotavap_device: str) -> Optional[str]:
|
||||
"""
|
||||
查找与旋转蒸发仪连接的容器
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
rotavap_device: 旋转蒸发仪设备ID
|
||||
|
||||
Returns:
|
||||
str: 连接的容器ID，如果没找到返回None
|
||||
"""
|
||||
debug_print(f"🔗 查找与 {rotavap_device} 连接的容器... 🥽")
|
||||
|
||||
# 查看旋转蒸发仪的子设备
|
||||
rotavap_data = G.nodes[rotavap_device]
|
||||
children = rotavap_data.get('children', [])
|
||||
|
||||
|
||||
debug_print(f"👶 检查子设备: {children}")
|
||||
for child_id in children:
|
||||
if child_id in G.nodes():
|
||||
child_data = G.nodes[child_id]
|
||||
child_type = child_data.get('type', '')
|
||||
|
||||
|
||||
if child_type == 'container':
|
||||
debug_print(f"找到连接的容器: {child_id}")
|
||||
debug_print(f"🎉 找到连接的容器: {child_id} 🥽✨")
|
||||
return child_id
|
||||
|
||||
|
||||
# 查看邻接的容器
|
||||
debug_print("🤝 检查邻接设备...")
|
||||
for neighbor in G.neighbors(rotavap_device):
|
||||
neighbor_data = G.nodes[neighbor]
|
||||
neighbor_type = neighbor_data.get('type', '')
|
||||
|
||||
|
||||
if neighbor_type == 'container':
|
||||
debug_print(f"找到邻接的容器: {neighbor}")
|
||||
debug_print(f"🎉 找到邻接的容器: {neighbor} 🥽✨")
|
||||
return neighbor
|
||||
|
||||
debug_print("未找到连接的容器")
|
||||
|
||||
debug_print("😞 未找到连接的容器 💔")
|
||||
return None
|
||||
|
||||
def generate_evaporate_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
pressure: float = 0.1,
|
||||
temp: float = 60.0,
|
||||
time: Union[str, float] = "180",
|
||||
time: Union[str, float] = "180", # 🔧 修改：支持字符串时间
|
||||
stir_speed: float = 100.0,
|
||||
solvent: str = "",
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成蒸发操作的协议序列 - 支持单位和体积运算
|
||||
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 容器字典（从XDL传入）
|
||||
@@ -106,16 +135,27 @@ def generate_evaporate_protocol(
|
||||
stir_speed: 旋转速度 (RPM)，默认100
|
||||
solvent: 溶剂名称（用于参数优化）
|
||||
**kwargs: 其他参数（兼容性）
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print(f"开始生成蒸发协议: vessel={vessel_id}, pressure={pressure}, temp={temp}, time={time}")
|
||||
|
||||
# 记录蒸发前的容器状态
|
||||
|
||||
debug_print("🌟" * 20)
|
||||
debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 💨 pressure: {pressure} bar")
|
||||
debug_print(f" 🌡️ temp: {temp}°C")
|
||||
debug_print(f" ⏰ time: {time} (类型: {type(time)})")
|
||||
debug_print(f" 🌪️ stir_speed: {stir_speed} RPM")
|
||||
debug_print(f" 🧪 solvent: '{solvent}'")
|
||||
debug_print("🌟" * 20)
|
||||
|
||||
# 🔧 新增：记录蒸发前的容器状态
|
||||
debug_print("🔍 记录蒸发前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -123,97 +163,168 @@ def generate_evaporate_protocol(
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
|
||||
# 查找旋转蒸发仪设备
|
||||
debug_print(f"📊 蒸发前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 步骤1: 查找旋转蒸发仪设备 ===
|
||||
debug_print("📍 步骤1: 查找旋转蒸发仪设备... 🔍")
|
||||
|
||||
# 验证vessel参数
|
||||
if not vessel_id:
|
||||
debug_print("❌ vessel 参数不能为空! 😱")
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
|
||||
# 查找旋转蒸发仪设备
|
||||
rotavap_device = find_rotavap_device(G, vessel_id)
|
||||
if not rotavap_device:
|
||||
debug_print("💥 未找到旋转蒸发仪设备! 😭")
|
||||
raise ValueError(f"未找到旋转蒸发仪设备。请检查组态图中是否包含 class 包含 'rotavap'、'rotary' 或 'evaporat' 的设备")
|
||||
|
||||
# 确定目标容器
|
||||
|
||||
debug_print(f"🎉 成功找到旋转蒸发仪: {rotavap_device} ✨")
|
||||
|
||||
# === 步骤2: 确定目标容器 ===
|
||||
debug_print("📍 步骤2: 确定目标容器... 🥽")
|
||||
|
||||
target_vessel = vessel_id
|
||||
|
||||
|
||||
# 如果vessel就是旋转蒸发仪设备，查找连接的容器
|
||||
if vessel_id == rotavap_device:
|
||||
debug_print("🔄 vessel就是旋转蒸发仪，查找连接的容器...")
|
||||
connected_vessel = find_connected_vessel(G, rotavap_device)
|
||||
if connected_vessel:
|
||||
target_vessel = connected_vessel
|
||||
debug_print(f"✅ 使用连接的容器: {target_vessel} 🥽✨")
|
||||
else:
|
||||
debug_print(f"⚠️ 未找到连接的容器，使用设备本身: {rotavap_device} 🔧")
|
||||
target_vessel = rotavap_device
|
||||
elif vessel_id in G.nodes() and G.nodes[vessel_id].get('type') == 'container':
|
||||
debug_print(f"✅ 使用指定的容器: {vessel_id} 🥽✨")
|
||||
target_vessel = vessel_id
|
||||
else:
|
||||
debug_print(f"⚠️ 容器 '{vessel_id}' 不存在或类型不正确，使用旋转蒸发仪设备: {rotavap_device} 🔧")
|
||||
target_vessel = rotavap_device
|
||||
|
||||
# 单位解析处理
|
||||
|
||||
# === 🔧 新增：步骤3：单位解析处理 ===
|
||||
debug_print("📍 步骤3: 单位解析处理... ⚡")
|
||||
|
||||
# 解析时间
|
||||
final_time = parse_time_input(time)
|
||||
debug_print(f"时间解析: {time} -> {final_time}s ({final_time/60:.1f}分钟)")
|
||||
|
||||
# 参数验证和修正
|
||||
debug_print(f"🎯 时间解析完成: {time} → {final_time}s ({final_time/60:.1f}分钟) ⏰✨")
|
||||
|
||||
# === 步骤4: 参数验证和修正 ===
|
||||
debug_print("📍 步骤4: 参数验证和修正... 🔧")
|
||||
|
||||
# 修正参数范围
|
||||
if pressure <= 0 or pressure > 1.0:
|
||||
debug_print(f"⚠️ 真空度 {pressure} bar 超出范围，修正为 0.1 bar 💨")
|
||||
pressure = 0.1
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 真空度 {pressure} bar 在正常范围内 💨")
|
||||
|
||||
if temp < 10.0 or temp > 200.0:
|
||||
debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 60°C 🌡️")
|
||||
temp = 60.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 温度 {temp}°C 在正常范围内 🌡️")
|
||||
|
||||
if final_time <= 0:
|
||||
debug_print(f"⚠️ 时间 {final_time}s 无效，修正为 180s (3分钟) ⏰")
|
||||
final_time = 180.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 时间 {final_time}s ({final_time/60:.1f}分钟) 有效 ⏰")
|
||||
|
||||
if stir_speed < 10.0 or stir_speed > 300.0:
|
||||
debug_print(f"⚠️ 旋转速度 {stir_speed} RPM 超出范围，修正为 100 RPM 🌪️")
|
||||
stir_speed = 100.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 旋转速度 {stir_speed} RPM 在正常范围内 🌪️")
|
||||
|
||||
# 根据溶剂优化参数
|
||||
if solvent:
|
||||
debug_print(f"🧪 根据溶剂 '{solvent}' 优化参数... 🔬")
|
||||
solvent_lower = solvent.lower()
|
||||
|
||||
|
||||
if any(s in solvent_lower for s in ['water', 'aqueous', 'h2o']):
|
||||
temp = max(temp, 80.0)
|
||||
pressure = max(pressure, 0.2)
|
||||
debug_print("💧 水系溶剂：提高温度和真空度 🌡️💨")
|
||||
elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
|
||||
temp = min(temp, 50.0)
|
||||
pressure = min(pressure, 0.05)
|
||||
debug_print("🍺 易挥发溶剂：降低温度和真空度 🌡️💨")
|
||||
elif any(s in solvent_lower for s in ['dmso', 'dmi', 'toluene']):
|
||||
temp = max(temp, 100.0)
|
||||
pressure = min(pressure, 0.01)
|
||||
|
||||
debug_print(f"最终参数: pressure={pressure}bar, temp={temp}°C, time={final_time}s, stir_speed={stir_speed}RPM")
|
||||
|
||||
# 蒸发体积计算
|
||||
debug_print("🔥 高沸点溶剂：提高温度，降低真空度 🌡️💨")
|
||||
else:
|
||||
debug_print("🧪 通用溶剂，使用标准参数 ✨")
|
||||
else:
|
||||
debug_print("🤷♀️ 未指定溶剂，使用默认参数 ✨")
|
||||
|
||||
debug_print(f"🎯 最终参数: pressure={pressure} bar 💨, temp={temp}°C 🌡️, time={final_time}s ⏰, stir_speed={stir_speed} RPM 🌪️")
|
||||
|
||||
# === 🔧 新增：步骤5：蒸发体积计算 ===
|
||||
debug_print("📍 步骤5: 蒸发体积计算... 📊")
|
||||
|
||||
# 根据温度、真空度、时间和溶剂类型估算蒸发量
|
||||
evaporation_volume = 0.0
|
||||
if original_liquid_volume > 0:
|
||||
base_evap_rate = 0.5
|
||||
# 基础蒸发速率（mL/min）
|
||||
base_evap_rate = 0.5 # 基础速率
|
||||
|
||||
# 温度系数（高温蒸发更快）
|
||||
temp_factor = 1.0 + (temp - 25.0) / 100.0
|
||||
|
||||
# 真空系数（真空度越高蒸发越快）
|
||||
vacuum_factor = 1.0 + (1.0 - pressure) * 2.0
|
||||
|
||||
|
||||
# 溶剂系数
|
||||
solvent_factor = 1.0
|
||||
if solvent:
|
||||
solvent_lower = solvent.lower()
|
||||
if any(s in solvent_lower for s in ['water', 'h2o']):
|
||||
solvent_factor = 0.8
|
||||
solvent_factor = 0.8 # 水蒸发较慢
|
||||
elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
|
||||
solvent_factor = 1.5
|
||||
solvent_factor = 1.5 # 易挥发溶剂蒸发快
|
||||
elif any(s in solvent_lower for s in ['dmso', 'dmi']):
|
||||
solvent_factor = 0.3
|
||||
|
||||
solvent_factor = 0.3 # 高沸点溶剂蒸发慢
|
||||
|
||||
# 计算总蒸发量
|
||||
total_evap_rate = base_evap_rate * temp_factor * vacuum_factor * solvent_factor
|
||||
evaporation_volume = min(
|
||||
original_liquid_volume * 0.95,
|
||||
total_evap_rate * (final_time / 60.0)
|
||||
original_liquid_volume * 0.95, # 最多蒸发95%
|
||||
total_evap_rate * (final_time / 60.0) # 时间相关的蒸发量
|
||||
)
|
||||
|
||||
debug_print(f"预计蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/original_liquid_volume*100:.1f}%)")
|
||||
|
||||
# 生成动作序列
|
||||
|
||||
debug_print(f"📊 蒸发量计算:")
|
||||
debug_print(f" - 基础蒸发速率: {base_evap_rate} mL/min")
|
||||
debug_print(f" - 温度系数: {temp_factor:.2f} (基于 {temp}°C)")
|
||||
debug_print(f" - 真空系数: {vacuum_factor:.2f} (基于 {pressure} bar)")
|
||||
debug_print(f" - 溶剂系数: {solvent_factor:.2f} ({solvent or '通用'})")
|
||||
debug_print(f" - 总蒸发速率: {total_evap_rate:.2f} mL/min")
|
||||
debug_print(f" - 预计蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/original_liquid_volume*100:.1f}%)")
|
||||
|
||||
# === 步骤6: 生成动作序列 ===
|
||||
debug_print("📍 步骤6: 生成动作序列... 🎬")
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
# 1. 等待稳定
|
||||
debug_print(" 🔄 动作1: 添加初始等待稳定... ⏳")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10}
|
||||
})
|
||||
|
||||
debug_print(" ✅ 初始等待动作已添加 ⏳✨")
|
||||
|
||||
# 2. 执行蒸发
|
||||
debug_print(f" 🌪️ 动作2: 执行蒸发操作...")
|
||||
debug_print(f" 🔧 设备: {rotavap_device}")
|
||||
debug_print(f" 🥽 容器: {target_vessel}")
|
||||
debug_print(f" 💨 真空度: {pressure} bar")
|
||||
debug_print(f" 🌡️ 温度: {temp}°C")
|
||||
debug_print(f" ⏰ 时间: {final_time}s ({final_time/60:.1f}分钟)")
|
||||
debug_print(f" 🌪️ 旋转速度: {stir_speed} RPM")
|
||||
|
||||
evaporate_action = {
|
||||
"device_id": rotavap_device,
|
||||
"action_name": "evaporate",
|
||||
@@ -221,17 +332,20 @@ def generate_evaporate_protocol(
|
||||
"vessel": {"id": target_vessel},
|
||||
"pressure": float(pressure),
|
||||
"temp": float(temp),
|
||||
"time": float(final_time),
|
||||
"time": float(final_time), # 🔧 强制转换为float类型
|
||||
"stir_speed": float(stir_speed),
|
||||
"solvent": str(solvent)
|
||||
}
|
||||
}
|
||||
action_sequence.append(evaporate_action)
|
||||
|
||||
# 蒸发过程中的体积变化
|
||||
debug_print(" ✅ 蒸发动作已添加 🌪️✨")
|
||||
|
||||
# 🔧 新增：蒸发过程中的体积变化
|
||||
debug_print(" 🔧 更新容器体积 - 蒸发过程...")
|
||||
if evaporation_volume > 0:
|
||||
new_volume = max(0.0, original_liquid_volume - evaporation_volume)
|
||||
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
@@ -243,14 +357,15 @@ def generate_evaporate_protocol(
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
|
||||
|
||||
# 🔧 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
@@ -258,16 +373,18 @@ def generate_evaporate_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"蒸发体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL (-{evaporation_volume:.2f}mL)")
|
||||
|
||||
|
||||
debug_print(f" 📊 蒸发体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{evaporation_volume:.2f}mL)")
|
||||
|
||||
# 3. 蒸发后等待
|
||||
debug_print(" 🔄 动作3: 添加蒸发后等待... ⏳")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10}
|
||||
})
|
||||
|
||||
# 最终状态
|
||||
debug_print(" ✅ 蒸发后等待动作已添加 ⏳✨")
|
||||
|
||||
# 🔧 新增：蒸发完成后的状态报告
|
||||
final_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -275,7 +392,19 @@ def generate_evaporate_protocol(
|
||||
final_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_liquid_volume = current_volume
|
||||
|
||||
debug_print(f"蒸发协议生成完成: {len(action_sequence)} 个动作, 设备={rotavap_device}, 容器={target_vessel}")
|
||||
|
||||
|
||||
# === 总结 ===
|
||||
debug_print("🎊" * 20)
|
||||
debug_print(f"🎉 蒸发协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
|
||||
debug_print(f"🌪️ 旋转蒸发仪: {rotavap_device} 🔧")
|
||||
debug_print(f"🥽 目标容器: {target_vessel} 🧪")
|
||||
debug_print(f"⚙️ 蒸发参数: {pressure} bar 💨, {temp}°C 🌡️, {final_time}s ⏰, {stir_speed} RPM 🌪️")
|
||||
debug_print(f"⏱️ 预计总时间: {(final_time + 20)/60:.1f} 分钟 ⌛")
|
||||
debug_print(f"📊 体积变化:")
|
||||
debug_print(f" - 蒸发前: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 蒸发后: {final_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/max(original_liquid_volume, 0.01)*100:.1f}%)")
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
@@ -2,64 +2,87 @@ from typing import List, Dict, Any, Optional
|
||||
import networkx as nx
|
||||
import logging
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import debug_print
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[FILTER] {message}")
|
||||
|
||||
def find_filter_device(G: nx.DiGraph) -> str:
|
||||
"""查找过滤器设备"""
|
||||
debug_print("🔍 查找过滤器设备... 🌊")
|
||||
|
||||
# 查找过滤器设备
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
|
||||
if 'filter' in node_class.lower() or 'filter' in node.lower():
|
||||
debug_print(f"找到过滤器设备: {node}")
|
||||
debug_print(f"🎉 找到过滤器设备: {node} ✨")
|
||||
return node
|
||||
|
||||
|
||||
# 如果没找到，寻找可能的过滤器名称
|
||||
debug_print("🔎 在预定义名称中搜索过滤器... 📋")
|
||||
possible_names = ["filter", "filter_1", "virtual_filter", "filtration_unit"]
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
debug_print(f"找到过滤器设备: {name}")
|
||||
debug_print(f"🎉 找到过滤器设备: {name} ✨")
|
||||
return name
|
||||
|
||||
|
||||
debug_print("😭 未找到过滤器设备 💔")
|
||||
raise ValueError("未找到过滤器设备")
|
||||
|
||||
def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") -> None:
|
||||
"""验证容器是否存在"""
|
||||
debug_print(f"🔍 验证{vessel_type}: '{vessel}' 🧪")
|
||||
|
||||
if not vessel:
|
||||
debug_print(f"❌ {vessel_type}不能为空! 😱")
|
||||
raise ValueError(f"{vessel_type}不能为空")
|
||||
|
||||
|
||||
if vessel not in G.nodes():
|
||||
debug_print(f"❌ {vessel_type} '{vessel}' 不存在于系统中! 😞")
|
||||
raise ValueError(f"{vessel_type} '{vessel}' 不存在于系统中")
|
||||
|
||||
debug_print(f"✅ {vessel_type} '{vessel}' 验证通过 🎯")
|
||||
|
||||
def generate_filter_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
filtrate_vessel: dict = {"id": "waste"},
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成过滤操作的协议序列 - 支持体积运算
|
||||
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 过滤容器字典（必需）- 包含需要过滤的混合物
|
||||
filtrate_vessel: 滤液容器名称（可选）- 如果提供则收集滤液
|
||||
**kwargs: 其他参数（兼容性）
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 过滤操作的动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
filtrate_vessel_id, filtrate_vessel_data = get_vessel(filtrate_vessel)
|
||||
|
||||
debug_print(f"开始生成过滤协议: vessel={vessel_id}, filtrate_vessel={filtrate_vessel_id}")
|
||||
|
||||
|
||||
debug_print("🌊" * 20)
|
||||
debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🧪 filtrate_vessel: {filtrate_vessel}")
|
||||
debug_print(f" ⚙️ 其他参数: {kwargs}")
|
||||
debug_print("🌊" * 20)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 记录过滤前的容器状态
|
||||
|
||||
# 🔧 新增：记录过滤前的容器状态
|
||||
debug_print("🔍 记录过滤前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -67,45 +90,79 @@ def generate_filter_protocol(
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
|
||||
debug_print(f"📊 过滤前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 参数验证 ===
|
||||
validate_vessel(G, vessel_id, "过滤容器")
|
||||
|
||||
debug_print("📍 步骤1: 参数验证... 🔧")
|
||||
|
||||
# 验证必需参数
|
||||
debug_print(" 🔍 验证必需参数...")
|
||||
validate_vessel(G, vessel_id, "过滤容器") # 🔧 使用 vessel_id
|
||||
debug_print(" ✅ 必需参数验证完成 🎯")
|
||||
|
||||
# 验证可选参数
|
||||
debug_print(" 🔍 验证可选参数...")
|
||||
if filtrate_vessel:
|
||||
validate_vessel(G, filtrate_vessel_id, "滤液容器")
|
||||
|
||||
debug_print(" 🌊 模式: 过滤并收集滤液 💧")
|
||||
else:
|
||||
debug_print(" 🧱 模式: 过滤并收集固体 🔬")
|
||||
debug_print(" ✅ 可选参数验证完成 🎯")
|
||||
|
||||
# === 查找设备 ===
|
||||
debug_print("📍 步骤2: 查找设备... 🔍")
|
||||
|
||||
try:
|
||||
debug_print(" 🔎 搜索过滤器设备...")
|
||||
filter_device = find_filter_device(G)
|
||||
debug_print(f"使用过滤器设备: {filter_device}")
|
||||
debug_print(f" 🎉 使用过滤器设备: {filter_device} 🌊✨")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f" ❌ 设备查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"设备查找失败: {str(e)}")
|
||||
|
||||
# 过滤体积分配估算
|
||||
solid_ratio = 0.1
|
||||
liquid_ratio = 0.9
|
||||
volume_loss_ratio = 0.05
|
||||
|
||||
|
||||
# 🔧 新增：过滤效率和体积分配估算
|
||||
debug_print("📍 步骤2.5: 过滤体积分配估算... 📊")
|
||||
|
||||
# 估算过滤分离比例（基于经验数据）
|
||||
solid_ratio = 0.1 # 假设10%是固体（保留在过滤器上）
|
||||
liquid_ratio = 0.9 # 假设90%是液体（通过过滤器）
|
||||
volume_loss_ratio = 0.05 # 假设5%体积损失（残留在过滤器等）
|
||||
|
||||
# 从kwargs中获取过滤参数进行优化
|
||||
if "solid_content" in kwargs:
|
||||
try:
|
||||
solid_ratio = float(kwargs["solid_content"])
|
||||
liquid_ratio = 1.0 - solid_ratio
|
||||
debug_print(f"📋 使用指定的固体含量: {solid_ratio*100:.1f}%")
|
||||
except:
|
||||
pass
|
||||
|
||||
debug_print("⚠️ 固体含量参数无效，使用默认值")
|
||||
|
||||
if original_liquid_volume > 0:
|
||||
expected_filtrate_volume = original_liquid_volume * liquid_ratio * (1.0 - volume_loss_ratio)
|
||||
expected_solid_volume = original_liquid_volume * solid_ratio
|
||||
volume_loss = original_liquid_volume * volume_loss_ratio
|
||||
|
||||
|
||||
debug_print(f"📊 过滤体积分配估算:")
|
||||
debug_print(f" - 原始体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 预计滤液体积: {expected_filtrate_volume:.2f}mL ({liquid_ratio*100:.1f}%)")
|
||||
debug_print(f" - 预计固体体积: {expected_solid_volume:.2f}mL ({solid_ratio*100:.1f}%)")
|
||||
debug_print(f" - 预计损失体积: {volume_loss:.2f}mL ({volume_loss_ratio*100:.1f}%)")
|
||||
|
||||
# === 转移到过滤器（如果需要）===
|
||||
if vessel_id != filter_device:
|
||||
debug_print("📍 步骤3: 转移到过滤器... 🚚")
|
||||
|
||||
if vessel_id != filter_device: # 🔧 使用 vessel_id
|
||||
debug_print(f" 🚛 需要转移: {vessel_id} → {filter_device} 📦")
|
||||
|
||||
try:
|
||||
debug_print(" 🔄 开始执行转移操作...")
|
||||
# 使用pump protocol转移液体到过滤器
|
||||
transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel={"id": vessel_id},
|
||||
from_vessel={"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
to_vessel={"id": filter_device},
|
||||
volume=0.0,
|
||||
volume=0.0, # 转移所有液体
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
@@ -116,59 +173,88 @@ def generate_filter_protocol(
|
||||
flowrate=2.0,
|
||||
transfer_flowrate=2.0
|
||||
)
|
||||
|
||||
|
||||
if transfer_actions:
|
||||
action_sequence.extend(transfer_actions)
|
||||
debug_print(f"添加了 {len(transfer_actions)} 个转移动作")
|
||||
|
||||
# 更新容器体积
|
||||
debug_print(f" ✅ 添加了 {len(transfer_actions)} 个转移动作 🚚✨")
|
||||
|
||||
# 🔧 新增：转移后更新容器体积
|
||||
debug_print(" 🔧 更新转移后的容器体积...")
|
||||
|
||||
# 原容器体积变为0（所有液体已转移）
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
vessel["data"]["liquid_volume"] = [0.0] if len(current_volume) > 0 else [0.0]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = 0.0
|
||||
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = 0.0
|
||||
|
||||
|
||||
debug_print(f" 📊 转移完成，{vessel_id} 体积更新为 0.0mL")
|
||||
|
||||
else:
|
||||
debug_print(" ⚠️ 转移协议返回空序列 🤔")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"转移失败: {str(e)}，继续执行")
|
||||
|
||||
debug_print(f" ❌ 转移失败: {str(e)} 😞")
|
||||
debug_print(" 🔄 继续执行，可能是直接连接的过滤器 🤞")
|
||||
else:
|
||||
debug_print(" ✅ 过滤容器就是过滤器，无需转移 🎯")
|
||||
|
||||
# === 执行过滤操作 ===
|
||||
debug_print("📍 步骤4: 执行过滤操作... 🌊")
|
||||
|
||||
# 构建过滤动作参数
|
||||
debug_print(" ⚙️ 构建过滤参数...")
|
||||
filter_kwargs = {
|
||||
"vessel": {"id": filter_device},
|
||||
"filtrate_vessel": {"id": filtrate_vessel_id},
|
||||
"vessel": {"id": filter_device}, # 过滤器设备
|
||||
"filtrate_vessel": {"id": filtrate_vessel_id}, # 滤液容器（可能为空）
|
||||
"stir": kwargs.get("stir", False),
|
||||
"stir_speed": kwargs.get("stir_speed", 0.0),
|
||||
"temp": kwargs.get("temp", 25.0),
|
||||
"continue_heatchill": kwargs.get("continue_heatchill", False),
|
||||
"volume": kwargs.get("volume", 0.0)
|
||||
"volume": kwargs.get("volume", 0.0) # 0表示过滤所有
|
||||
}
|
||||
|
||||
|
||||
debug_print(f" 📋 过滤参数: {filter_kwargs}")
|
||||
debug_print(" 🌊 开始过滤操作...")
|
||||
|
||||
# 过滤动作
|
||||
filter_action = {
|
||||
"device_id": filter_device,
|
||||
"action_name": "filter",
|
||||
"action_kwargs": filter_kwargs
|
||||
}
|
||||
action_sequence.append(filter_action)
|
||||
|
||||
debug_print(" ✅ 过滤动作已添加 🌊✨")
|
||||
|
||||
# 过滤后等待
|
||||
debug_print(" ⏳ 添加过滤后等待...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
|
||||
debug_print(" ✅ 过滤后等待动作已添加 ⏰✨")
|
||||
|
||||
# === 收集滤液（如果需要）===
|
||||
debug_print("📍 步骤5: 收集滤液... 💧")
|
||||
|
||||
if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
|
||||
debug_print(f" 🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
|
||||
|
||||
try:
|
||||
debug_print(" 🔄 开始执行收集操作...")
|
||||
# 使用pump protocol收集滤液
|
||||
collect_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=filter_device,
|
||||
to_vessel=filtrate_vessel,
|
||||
volume=0.0,
|
||||
volume=0.0, # 收集所有滤液
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
@@ -179,15 +265,19 @@ def generate_filter_protocol(
|
||||
flowrate=2.0,
|
||||
transfer_flowrate=2.0
|
||||
)
|
||||
|
||||
|
||||
if collect_actions:
|
||||
action_sequence.extend(collect_actions)
|
||||
|
||||
# 更新滤液容器体积
|
||||
debug_print(f" ✅ 添加了 {len(collect_actions)} 个收集动作 🧪✨")
|
||||
|
||||
# 🔧 新增：收集滤液后的体积更新
|
||||
debug_print(" 🔧 更新滤液容器体积...")
|
||||
|
||||
# 更新filtrate_vessel在图中的体积（如果它是节点）
|
||||
if filtrate_vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[filtrate_vessel_id]:
|
||||
G.nodes[filtrate_vessel_id]['data'] = {}
|
||||
|
||||
|
||||
current_filtrate_volume = G.nodes[filtrate_vessel_id]['data'].get('liquid_volume', 0.0)
|
||||
if isinstance(current_filtrate_volume, list):
|
||||
if len(current_filtrate_volume) > 0:
|
||||
@@ -196,37 +286,58 @@ def generate_filter_protocol(
|
||||
G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = [expected_filtrate_volume]
|
||||
else:
|
||||
G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
|
||||
|
||||
|
||||
debug_print(f" 📊 滤液容器 {filtrate_vessel_id} 体积增加 {expected_filtrate_volume:.2f}mL")
|
||||
|
||||
else:
|
||||
debug_print(" ⚠️ 收集协议返回空序列 🤔")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"收集滤液失败: {str(e)}，继续执行")
|
||||
|
||||
# 过滤完成后容器状态更新
|
||||
debug_print(f" ❌ 收集滤液失败: {str(e)} 😞")
|
||||
debug_print(" 🔄 继续执行，可能滤液直接流入指定容器 🤞")
|
||||
else:
|
||||
debug_print(" 🧱 未指定滤液容器，固体保留在过滤器中 🔬")
|
||||
|
||||
# 🔧 新增：过滤完成后的容器状态更新
|
||||
debug_print("📍 步骤5.5: 过滤完成后状态更新... 📊")
|
||||
|
||||
if vessel_id == filter_device:
|
||||
# 如果过滤容器就是过滤器，需要更新其体积状态
|
||||
if original_liquid_volume > 0:
|
||||
if filtrate_vessel:
|
||||
# 收集滤液模式：过滤器中主要保留固体
|
||||
remaining_volume = expected_solid_volume
|
||||
debug_print(f" 🧱 过滤器中保留固体: {remaining_volume:.2f}mL")
|
||||
else:
|
||||
# 保留固体模式：过滤器中保留所有物质
|
||||
remaining_volume = original_liquid_volume * (1.0 - volume_loss_ratio)
|
||||
|
||||
debug_print(f" 🔬 过滤器中保留所有物质: {remaining_volume:.2f}mL")
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
vessel["data"]["liquid_volume"] = [remaining_volume] if len(current_volume) > 0 else [remaining_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = remaining_volume
|
||||
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = remaining_volume
|
||||
|
||||
|
||||
debug_print(f" 📊 过滤器 {vessel_id} 体积更新为: {remaining_volume:.2f}mL")
|
||||
|
||||
# === 最终等待 ===
|
||||
debug_print("📍 步骤6: 最终等待... ⏰")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5.0}
|
||||
})
|
||||
|
||||
# 最终状态
|
||||
debug_print(" ✅ 最终等待动作已添加 ⏰✨")
|
||||
|
||||
# 🔧 新增：过滤完成后的状态报告
|
||||
final_vessel_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -234,7 +345,22 @@ def generate_filter_protocol(
|
||||
final_vessel_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
final_vessel_volume = current_volume
|
||||
|
||||
debug_print(f"过滤协议生成完成: {len(action_sequence)} 个动作, 容器={vessel_id}, 过滤器={filter_device}")
|
||||
|
||||
|
||||
# === 总结 ===
|
||||
debug_print("🎊" * 20)
|
||||
debug_print(f"🎉 过滤协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
|
||||
debug_print(f"🥽 过滤容器: {vessel_id} 🧪")
|
||||
debug_print(f"🌊 过滤器设备: {filter_device} 🔧")
|
||||
debug_print(f"💧 滤液容器: {filtrate_vessel_id or '无（保留固体）'} 🧱")
|
||||
debug_print(f"⏱️ 预计总时间: {(len(action_sequence) * 5):.0f} 秒 ⌛")
|
||||
if original_liquid_volume > 0:
|
||||
debug_print(f"📊 体积变化统计:")
|
||||
debug_print(f" - 过滤前体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 过滤后容器体积: {final_vessel_volume:.2f}mL")
|
||||
if filtrate_vessel:
|
||||
debug_print(f" - 预计滤液体积: {expected_filtrate_volume:.2f}mL")
|
||||
debug_print(f" - 预计损失体积: {volume_loss:.2f}mL")
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
@@ -1,24 +1,118 @@
|
||||
from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
from .utils.vessel_parser import get_vessel, find_connected_heatchill
|
||||
from .utils.unit_parser import parse_time_input, parse_temperature_input
|
||||
from .utils.logger_util import debug_print
|
||||
import logging
|
||||
import re
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[HEATCHILL] {message}")
|
||||
|
||||
|
||||
def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
|
||||
"""
|
||||
解析温度输入（统一函数）
|
||||
|
||||
Args:
|
||||
temp_input: 温度输入
|
||||
default_temp: 默认温度
|
||||
|
||||
Returns:
|
||||
float: 温度（°C）
|
||||
"""
|
||||
if not temp_input:
|
||||
return default_temp
|
||||
|
||||
# 🔢 数值输入
|
||||
if isinstance(temp_input, (int, float)):
|
||||
result = float(temp_input)
|
||||
debug_print(f"🌡️ 数值温度: {temp_input} → {result}°C")
|
||||
return result
|
||||
|
||||
# 📝 字符串输入
|
||||
temp_str = str(temp_input).lower().strip()
|
||||
debug_print(f"🔍 解析温度: '{temp_str}'")
|
||||
|
||||
# 🎯 特殊温度
|
||||
special_temps = {
|
||||
"room temperature": 25.0, "reflux": 78.0, "ice bath": 0.0,
|
||||
"boiling": 100.0, "hot": 60.0, "warm": 40.0, "cold": 10.0
|
||||
}
|
||||
|
||||
if temp_str in special_temps:
|
||||
result = special_temps[temp_str]
|
||||
debug_print(f"🎯 特殊温度: '{temp_str}' → {result}°C")
|
||||
return result
|
||||
|
||||
# 📐 正则解析（如 "256 °C"）
|
||||
temp_pattern = r'(\d+(?:\.\d+)?)\s*°?[cf]?'
|
||||
match = re.search(temp_pattern, temp_str)
|
||||
|
||||
if match:
|
||||
result = float(match.group(1))
|
||||
debug_print(f"✅ 温度解析: '{temp_str}' → {result}°C")
|
||||
return result
|
||||
|
||||
debug_print(f"⚠️ 无法解析温度: '{temp_str}'，使用默认值: {default_temp}°C")
|
||||
return default_temp
|
||||
|
||||
def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找与指定容器相连的加热/冷却设备"""
|
||||
debug_print(f"🔍 查找加热设备，目标容器: {vessel}")
|
||||
|
||||
# 🔧 查找所有加热设备
|
||||
heatchill_nodes = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if 'heatchill' in node_class.lower() or 'virtual_heatchill' in node_class:
|
||||
heatchill_nodes.append(node)
|
||||
debug_print(f"🎉 找到加热设备: {node}")
|
||||
|
||||
# 🔗 检查连接
|
||||
if vessel and heatchill_nodes:
|
||||
for heatchill in heatchill_nodes:
|
||||
if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
|
||||
debug_print(f"✅ 加热设备 '{heatchill}' 与容器 '{vessel}' 相连")
|
||||
return heatchill
|
||||
|
||||
# 🎯 使用第一个可用设备
|
||||
if heatchill_nodes:
|
||||
selected = heatchill_nodes[0]
|
||||
debug_print(f"🔧 使用第一个加热设备: {selected}")
|
||||
return selected
|
||||
|
||||
# 🆘 默认设备
|
||||
debug_print("⚠️ 未找到加热设备，使用默认设备")
|
||||
return "heatchill_1"
|
||||
|
||||
def validate_and_fix_params(temp: float, time: float, stir_speed: float) -> tuple:
|
||||
"""验证和修正参数"""
|
||||
# 🌡️ 温度范围验证
|
||||
if temp < -50.0 or temp > 300.0:
|
||||
debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 25°C")
|
||||
temp = 25.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 温度 {temp}°C 在正常范围内")
|
||||
|
||||
# ⏰ 时间验证
|
||||
if time < 0:
|
||||
debug_print(f"⚠️ 时间 {time}s 无效，修正为 300s")
|
||||
time = 300.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 时间 {time}s ({time/60:.1f}分钟) 有效")
|
||||
|
||||
# 🌪️ 搅拌速度验证
|
||||
if stir_speed < 0 or stir_speed > 1500.0:
|
||||
debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
|
||||
stir_speed = 300.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内")
|
||||
|
||||
return temp, time, stir_speed
|
||||
|
||||
def generate_heat_chill_protocol(
|
||||
@@ -37,7 +131,7 @@ def generate_heat_chill_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成加热/冷却操作的协议序列 - 支持vessel字典
|
||||
|
||||
|
||||
Args:
|
||||
G: 设备图
|
||||
vessel: 容器字典（从XDL传入）
|
||||
@@ -51,58 +145,82 @@ def generate_heat_chill_protocol(
|
||||
stir_speed: 搅拌速度 (RPM)
|
||||
purpose: 操作目的说明
|
||||
**kwargs: 其他参数（兼容性）
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 加热/冷却操作的动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print(f"开始生成加热冷却协议: vessel={vessel_id}, temp={temp}°C, "
|
||||
f"time={time}, stir={stir} ({stir_speed} RPM), purpose='{purpose}'")
|
||||
|
||||
# 参数验证
|
||||
if not vessel_id:
|
||||
|
||||
debug_print("🌡️" * 20)
|
||||
debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🌡️ temp: {temp}°C")
|
||||
debug_print(f" ⏰ time: {time}")
|
||||
debug_print(f" 🎯 temp_spec: {temp_spec}")
|
||||
debug_print(f" ⏱️ time_spec: {time_spec}")
|
||||
debug_print(f" 🌪️ stir: {stir} ({stir_speed} RPM)")
|
||||
debug_print(f" 🎭 purpose: '{purpose}'")
|
||||
debug_print("🌡️" * 20)
|
||||
|
||||
# 📋 参数验证
|
||||
debug_print("📍 步骤1: 参数验证... 🔧")
|
||||
if not vessel_id: # 🔧 使用 vessel_id
|
||||
debug_print("❌ vessel 参数不能为空! 😱")
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
if vessel_id not in G.nodes():
|
||||
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
|
||||
raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
# 参数解析
|
||||
# 温度解析：优先使用 temp_spec
|
||||
final_temp = parse_temperature_input(temp_spec, temp) if temp_spec else temp
|
||||
|
||||
|
||||
debug_print("✅ 基础参数验证通过 🎯")
|
||||
|
||||
# 🔄 参数解析
|
||||
debug_print("📍 步骤2: 参数解析... ⚡")
|
||||
|
||||
#温度解析：优先使用 temp_spec
|
||||
final_temp = parse_temp_input(temp_spec, temp) if temp_spec else temp
|
||||
|
||||
# 时间解析：优先使用 time_spec
|
||||
final_time = parse_time_input(time_spec) if time_spec else parse_time_input(time)
|
||||
|
||||
|
||||
# 参数修正
|
||||
final_temp, final_time, stir_speed = validate_and_fix_params(final_temp, final_time, stir_speed)
|
||||
|
||||
debug_print(f"最终参数: temp={final_temp}°C, time={final_time}s, stir_speed={stir_speed} RPM")
|
||||
|
||||
# 查找设备
|
||||
|
||||
debug_print(f"🎯 最终参数: temp={final_temp}°C, time={final_time}s, stir_speed={stir_speed} RPM")
|
||||
|
||||
# 🔍 查找设备
|
||||
debug_print("📍 步骤3: 查找加热设备... 🔍")
|
||||
try:
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id)
|
||||
debug_print(f"使用加热设备: {heatchill_id}")
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id) # 🔧 使用 vessel_id
|
||||
debug_print(f"🎉 使用加热设备: {heatchill_id} ✨")
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"无法找到加热设备: {str(e)}")
|
||||
|
||||
# 生成动作
|
||||
# 模拟运行时间优化
|
||||
|
||||
# 🚀 生成动作
|
||||
debug_print("📍 步骤4: 生成加热动作... 🔥")
|
||||
|
||||
# 🕐 模拟运行时间优化
|
||||
debug_print(" ⏱️ 检查模拟运行时间限制...")
|
||||
original_time = final_time
|
||||
simulation_time_limit = 100.0 # 模拟运行时间限制：100秒
|
||||
|
||||
|
||||
if final_time > simulation_time_limit:
|
||||
final_time = simulation_time_limit
|
||||
debug_print(f"模拟运行优化: {original_time}s → {final_time}s (限制为{simulation_time_limit}s)")
|
||||
|
||||
debug_print(f" 🎮 模拟运行优化: {original_time}s → {final_time}s (限制为{simulation_time_limit}s) ⚡")
|
||||
debug_print(f" 📊 时间缩短: {original_time/60:.1f}分钟 → {final_time/60:.1f}分钟 🚀")
|
||||
else:
|
||||
debug_print(f" ✅ 时间在限制内: {final_time}s ({final_time/60:.1f}分钟) 保持不变 🎯")
|
||||
|
||||
action_sequence = []
|
||||
heatchill_action = {
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel},
|
||||
"temp": float(final_temp),
|
||||
"time": float(final_time),
|
||||
"stir": bool(stir),
|
||||
@@ -111,10 +229,21 @@ def generate_heat_chill_protocol(
|
||||
}
|
||||
}
|
||||
action_sequence.append(heatchill_action)
|
||||
|
||||
debug_print(f"加热冷却协议生成完成: {len(action_sequence)} 个动作, "
|
||||
f"vessel={vessel_id}, temp={final_temp}°C, time={final_time}s")
|
||||
|
||||
debug_print("✅ 加热动作已添加 🔥✨")
|
||||
|
||||
# 显示时间调整信息
|
||||
if original_time != final_time:
|
||||
debug_print(f" 🎭 模拟优化说明: 原计划 {original_time/60:.1f}分钟，实际模拟 {final_time/60:.1f}分钟 ⚡")
|
||||
|
||||
# 🎊 总结
|
||||
debug_print("🎊" * 20)
|
||||
debug_print(f"🎉 加热冷却协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f"🥽 加热容器: {vessel_id}")
|
||||
debug_print(f"🌡️ 目标温度: {final_temp}°C")
|
||||
debug_print(f"⏰ 加热时间: {final_time}s ({final_time/60:.1f}分钟)")
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
def generate_heat_chill_to_temp_protocol(
|
||||
@@ -126,7 +255,7 @@ def generate_heat_chill_to_temp_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成加热到指定温度的协议（简化版）"""
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
debug_print(f"生成加热到温度协议: {vessel_id} → {temp}°C")
|
||||
debug_print(f"🌡️ 生成加热到温度协议: {vessel_id} → {temp}°C")
|
||||
return generate_heat_chill_protocol(G, vessel, temp, time, **kwargs)
|
||||
|
||||
def generate_heat_chill_start_protocol(
|
||||
@@ -137,19 +266,21 @@ def generate_heat_chill_start_protocol(
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成开始加热操作的协议序列"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
|
||||
debug_print(f"生成启动加热协议: vessel={vessel_id}, temp={temp}°C")
|
||||
|
||||
|
||||
debug_print("🔥 开始生成启动加热协议 ✨")
|
||||
debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
|
||||
|
||||
# 基础验证
|
||||
if not vessel_id or vessel_id not in G.nodes():
|
||||
if not vessel_id or vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print("❌ 容器验证失败!")
|
||||
raise ValueError("vessel 参数无效")
|
||||
|
||||
|
||||
# 查找设备
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id)
|
||||
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id) # 🔧 使用 vessel_id
|
||||
|
||||
# 生成动作
|
||||
action_sequence = [{
|
||||
"device_id": heatchill_id,
|
||||
@@ -160,8 +291,8 @@ def generate_heat_chill_start_protocol(
|
||||
"vessel": {"id": vessel_id},
|
||||
}
|
||||
}]
|
||||
|
||||
debug_print(f"启动加热协议生成完成")
|
||||
|
||||
debug_print(f"✅ 启动加热协议生成完成 🎯")
|
||||
return action_sequence
|
||||
|
||||
def generate_heat_chill_stop_protocol(
|
||||
@@ -170,19 +301,21 @@ def generate_heat_chill_stop_protocol(
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成停止加热操作的协议序列"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, _ = get_vessel(vessel)
|
||||
|
||||
debug_print(f"生成停止加热协议: vessel={vessel_id}")
|
||||
|
||||
|
||||
debug_print("🛑 开始生成停止加热协议 ✨")
|
||||
debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
|
||||
# 基础验证
|
||||
if not vessel_id or vessel_id not in G.nodes():
|
||||
if not vessel_id or vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print("❌ 容器验证失败!")
|
||||
raise ValueError("vessel 参数无效")
|
||||
|
||||
|
||||
# 查找设备
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id)
|
||||
|
||||
heatchill_id = find_connected_heatchill(G, vessel_id) # 🔧 使用 vessel_id
|
||||
|
||||
# 生成动作
|
||||
action_sequence = [{
|
||||
"device_id": heatchill_id,
|
||||
@@ -190,6 +323,6 @@ def generate_heat_chill_stop_protocol(
|
||||
"action_kwargs": {
|
||||
}
|
||||
}]
|
||||
|
||||
debug_print(f"停止加热协议生成完成")
|
||||
|
||||
debug_print(f"✅ 停止加热协议生成完成 🎯")
|
||||
return action_sequence
|
||||
|
||||
@@ -1,50 +1,105 @@
|
||||
import networkx as nx
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import debug_print
|
||||
from .utils.unit_parser import parse_temperature_input, parse_time_input
|
||||
|
||||
|
||||
def parse_temperature(temp_str: str) -> float:
|
||||
"""
|
||||
解析温度字符串，支持多种格式
|
||||
|
||||
Args:
|
||||
temp_str: 温度字符串（如 "45 °C", "45°C", "45"）
|
||||
|
||||
Returns:
|
||||
float: 温度值（摄氏度）
|
||||
"""
|
||||
try:
|
||||
# 移除常见的温度单位和符号
|
||||
temp_clean = temp_str.replace("°C", "").replace("°", "").replace("C", "").strip()
|
||||
return float(temp_clean)
|
||||
except ValueError:
|
||||
print(f"HYDROGENATE: 无法解析温度 '{temp_str}'，使用默认温度 25°C")
|
||||
return 25.0
|
||||
|
||||
|
||||
def parse_time(time_str: str) -> float:
|
||||
"""
|
||||
解析时间字符串，支持多种格式
|
||||
|
||||
Args:
|
||||
time_str: 时间字符串（如 "2 h", "120 min", "7200 s"）
|
||||
|
||||
Returns:
|
||||
float: 时间值（秒）
|
||||
"""
|
||||
try:
|
||||
time_clean = time_str.lower().strip()
|
||||
|
||||
# 处理小时
|
||||
if "h" in time_clean:
|
||||
hours = float(time_clean.replace("h", "").strip())
|
||||
return hours * 3600.0
|
||||
|
||||
# 处理分钟
|
||||
if "min" in time_clean:
|
||||
minutes = float(time_clean.replace("min", "").strip())
|
||||
return minutes * 60.0
|
||||
|
||||
# 处理秒
|
||||
if "s" in time_clean:
|
||||
seconds = float(time_clean.replace("s", "").strip())
|
||||
return seconds
|
||||
|
||||
# 默认按小时处理
|
||||
return float(time_clean) * 3600.0
|
||||
|
||||
except ValueError:
|
||||
print(f"HYDROGENATE: 无法解析时间 '{time_str}'，使用默认时间 2小时")
|
||||
return 7200.0 # 2小时
|
||||
|
||||
|
||||
def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
|
||||
"""查找与指定设备相关联的电磁阀"""
|
||||
solenoid_valves = [
|
||||
node for node in G.nodes()
|
||||
node for node in G.nodes()
|
||||
if ('solenoid' in (G.nodes[node].get('class') or '').lower()
|
||||
or 'solenoid_valve' in node)
|
||||
]
|
||||
|
||||
|
||||
# 通过网络连接查找直接相连的电磁阀
|
||||
for solenoid in solenoid_valves:
|
||||
if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
|
||||
return solenoid
|
||||
|
||||
|
||||
# 通过命名规则查找关联的电磁阀
|
||||
device_type = ""
|
||||
if 'gas' in device_id.lower():
|
||||
device_type = "gas"
|
||||
elif 'h2' in device_id.lower() or 'hydrogen' in device_id.lower():
|
||||
device_type = "gas"
|
||||
|
||||
|
||||
if device_type:
|
||||
for solenoid in solenoid_valves:
|
||||
if device_type in solenoid.lower():
|
||||
return solenoid
|
||||
|
||||
|
||||
return None
|
||||
|
||||
|
||||
def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
|
||||
"""
|
||||
查找与容器相连的指定类型设备
|
||||
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
vessel: 容器名称
|
||||
device_type: 设备类型 ('heater', 'stirrer', 'gas_source')
|
||||
|
||||
|
||||
Returns:
|
||||
str: 设备ID，如果没有则返回None
|
||||
"""
|
||||
print(f"HYDROGENATE: 正在查找与容器 '{vessel}' 相连的 {device_type}...")
|
||||
|
||||
# 根据设备类型定义搜索关键词
|
||||
if device_type == 'heater':
|
||||
keywords = ['heater', 'heat', 'heatchill']
|
||||
@@ -57,38 +112,40 @@ def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
|
||||
device_class = 'virtual_gas_source'
|
||||
else:
|
||||
return None
|
||||
|
||||
|
||||
# 查找设备节点
|
||||
device_nodes = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_name = node.lower()
|
||||
node_class = node_data.get('class', '').lower()
|
||||
|
||||
|
||||
# 通过名称匹配
|
||||
if any(keyword in node_name for keyword in keywords):
|
||||
device_nodes.append(node)
|
||||
# 通过类型匹配
|
||||
elif device_class in node_class:
|
||||
device_nodes.append(node)
|
||||
|
||||
debug_print(f"找到的{device_type}节点: {device_nodes}")
|
||||
|
||||
|
||||
print(f"HYDROGENATE: 找到的{device_type}节点: {device_nodes}")
|
||||
|
||||
# 检查是否有设备与目标容器相连
|
||||
for device in device_nodes:
|
||||
if G.has_edge(device, vessel) or G.has_edge(vessel, device):
|
||||
debug_print(f"找到与容器 '{vessel}' 相连的{device_type}: {device}")
|
||||
print(f"HYDROGENATE: 找到与容器 '{vessel}' 相连的{device_type}: {device}")
|
||||
return device
|
||||
|
||||
|
||||
# 如果没有直接连接，查找距离最近的设备
|
||||
for device in device_nodes:
|
||||
try:
|
||||
path = nx.shortest_path(G, source=device, target=vessel)
|
||||
if len(path) <= 3: # 最多2个中间节点
|
||||
debug_print(f"找到距离较近的{device_type}: {device}")
|
||||
print(f"HYDROGENATE: 找到距离较近的{device_type}: {device}")
|
||||
return device
|
||||
except nx.NetworkXNoPath:
|
||||
continue
|
||||
|
||||
debug_print(f"未找到与容器 '{vessel}' 相连的{device_type}")
|
||||
|
||||
print(f"HYDROGENATE: 未找到与容器 '{vessel}' 相连的{device_type}")
|
||||
return None
|
||||
|
||||
|
||||
@@ -101,31 +158,36 @@ def generate_hydrogenate_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成氢化反应协议序列 - 支持vessel字典
|
||||
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
vessel: 反应容器字典（从XDL传入）
|
||||
temp: 反应温度（如 "45 °C"）
|
||||
time: 反应时间（如 "2 h"）
|
||||
**kwargs: 其他可选参数，但不使用
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
|
||||
action_sequence = []
|
||||
|
||||
|
||||
# 解析参数
|
||||
temperature = parse_temperature_input(temp)
|
||||
reaction_time = parse_time_input(time)
|
||||
|
||||
debug_print(f"开始生成氢化反应协议: vessel={vessel_id}, "
|
||||
f"temp={temperature}°C, time={reaction_time/3600:.1f}h")
|
||||
|
||||
# 记录氢化前的容器状态
|
||||
temperature = parse_temperature(temp)
|
||||
reaction_time = parse_time(time)
|
||||
|
||||
print("🧪" * 20)
|
||||
print(f"HYDROGENATE: 开始生成氢化反应协议（支持vessel字典）✨")
|
||||
print(f"📝 输入参数:")
|
||||
print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
print(f" 🌡️ 反应温度: {temperature}°C")
|
||||
print(f" ⏰ 反应时间: {reaction_time/3600:.1f} 小时")
|
||||
print("🧪" * 20)
|
||||
|
||||
# 🔧 新增：记录氢化前的容器状态（可选，氢化反应通常不改变体积）
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -133,36 +195,47 @@ def generate_hydrogenate_protocol(
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
|
||||
print(f"📊 氢化前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
if vessel_id not in G.nodes():
|
||||
debug_print(f"⚠️ 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
|
||||
print("📍 步骤1: 验证目标容器...")
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
print(f"⚠️ HYDROGENATE: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
|
||||
return action_sequence
|
||||
|
||||
print(f"✅ 容器 '{vessel_id}' 验证通过")
|
||||
|
||||
# 2. 查找相连的设备
|
||||
heater_id = find_connected_device(G, vessel_id, 'heater')
|
||||
stirrer_id = find_connected_device(G, vessel_id, 'stirrer')
|
||||
gas_source_id = find_connected_device(G, vessel_id, 'gas_source')
|
||||
|
||||
debug_print(f"设备配置: heater={heater_id or '未找到'}, "
|
||||
f"stirrer={stirrer_id or '未找到'}, gas={gas_source_id or '未找到'}")
|
||||
|
||||
print("📍 步骤2: 查找相连设备...")
|
||||
heater_id = find_connected_device(G, vessel_id, 'heater') # 🔧 使用 vessel_id
|
||||
stirrer_id = find_connected_device(G, vessel_id, 'stirrer') # 🔧 使用 vessel_id
|
||||
gas_source_id = find_connected_device(G, vessel_id, 'gas_source') # 🔧 使用 vessel_id
|
||||
|
||||
print(f"🔧 设备配置:")
|
||||
print(f" 🔥 加热器: {heater_id or '未找到'}")
|
||||
print(f" 🌪️ 搅拌器: {stirrer_id or '未找到'}")
|
||||
print(f" 💨 气源: {gas_source_id or '未找到'}")
|
||||
|
||||
# 3. 启动搅拌器
|
||||
print("📍 步骤3: 启动搅拌器...")
|
||||
if stirrer_id:
|
||||
print(f"🌪️ 启动搅拌器 {stirrer_id}")
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"stir_speed": 300.0,
|
||||
"purpose": "氢化反应: 开始搅拌"
|
||||
}
|
||||
})
|
||||
print("✅ 搅拌器启动动作已添加")
|
||||
else:
|
||||
debug_print(f"⚠️ 未找到搅拌器，继续执行")
|
||||
|
||||
print(f"⚠️ HYDROGENATE: 警告 - 未找到搅拌器，继续执行")
|
||||
|
||||
# 4. 启动气源（氢气）
|
||||
print("📍 步骤4: 启动氢气源...")
|
||||
if gas_source_id:
|
||||
print(f"💨 启动气源 {gas_source_id} (氢气)")
|
||||
action_sequence.append({
|
||||
"device_id": gas_source_id,
|
||||
"action_name": "set_status",
|
||||
@@ -170,10 +243,11 @@ def generate_hydrogenate_protocol(
|
||||
"string": "ON"
|
||||
}
|
||||
})
|
||||
|
||||
|
||||
# 查找相关的电磁阀
|
||||
gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
|
||||
if gas_solenoid:
|
||||
print(f"🚪 开启气源电磁阀 {gas_solenoid}")
|
||||
action_sequence.append({
|
||||
"device_id": gas_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
@@ -181,10 +255,12 @@ def generate_hydrogenate_protocol(
|
||||
"command": "OPEN"
|
||||
}
|
||||
})
|
||||
print("✅ 氢气源启动动作已添加")
|
||||
else:
|
||||
debug_print(f"⚠️ 未找到气源，继续执行")
|
||||
|
||||
print(f"⚠️ HYDROGENATE: 警告 - 未找到气源，继续执行")
|
||||
|
||||
# 5. 等待气体稳定
|
||||
print("📍 步骤5: 等待气体环境稳定...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -192,19 +268,22 @@ def generate_hydrogenate_protocol(
|
||||
"description": "等待氢气环境稳定"
|
||||
}
|
||||
})
|
||||
|
||||
print("✅ 气体稳定等待动作已添加")
|
||||
|
||||
# 6. 启动加热器
|
||||
print("📍 步骤6: 启动加热反应...")
|
||||
if heater_id:
|
||||
print(f"🔥 启动加热器 {heater_id} 到 {temperature}°C")
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": temperature,
|
||||
"purpose": f"氢化反应: 加热到 {temperature}°C"
|
||||
}
|
||||
})
|
||||
|
||||
|
||||
# 等待温度稳定
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
@@ -213,38 +292,52 @@ def generate_hydrogenate_protocol(
|
||||
"description": f"等待温度稳定到 {temperature}°C"
|
||||
}
|
||||
})
|
||||
|
||||
# 模拟运行时间优化
|
||||
|
||||
# 🕐 模拟运行时间优化
|
||||
print(" ⏰ 检查模拟运行时间限制...")
|
||||
original_reaction_time = reaction_time
|
||||
simulation_time_limit = 60.0
|
||||
|
||||
simulation_time_limit = 60.0 # 模拟运行时间限制：60秒
|
||||
|
||||
if reaction_time > simulation_time_limit:
|
||||
reaction_time = simulation_time_limit
|
||||
debug_print(f"模拟运行优化: {original_reaction_time}s → {reaction_time}s")
|
||||
|
||||
print(f" 🎮 模拟运行优化: {original_reaction_time}s → {reaction_time}s (限制为{simulation_time_limit}s)")
|
||||
print(f" 📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
|
||||
else:
|
||||
print(f" ✅ 时间在限制内: {reaction_time}s ({reaction_time/60:.1f}分钟) 保持不变")
|
||||
|
||||
# 保持反应温度
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"temp": temperature,
|
||||
"time": reaction_time,
|
||||
"purpose": f"氢化反应: 保持 {temperature}°C，反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
|
||||
}
|
||||
})
|
||||
|
||||
|
||||
# 显示时间调整信息
|
||||
if original_reaction_time != reaction_time:
|
||||
print(f" 🎭 模拟优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
|
||||
|
||||
print("✅ 加热反应动作已添加")
|
||||
|
||||
else:
|
||||
debug_print(f"⚠️ 未找到加热器，使用室温反应")
|
||||
|
||||
# 室温反应也需要时间优化
|
||||
print(f"⚠️ HYDROGENATE: 警告 - 未找到加热器，使用室温反应")
|
||||
|
||||
# 🕐 室温反应也需要时间优化
|
||||
print(" ⏰ 检查室温反应模拟时间限制...")
|
||||
original_reaction_time = reaction_time
|
||||
simulation_time_limit = 60.0
|
||||
|
||||
simulation_time_limit = 60.0 # 模拟运行时间限制：60秒
|
||||
|
||||
if reaction_time > simulation_time_limit:
|
||||
reaction_time = simulation_time_limit
|
||||
debug_print(f"室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
|
||||
|
||||
print(f" 🎮 室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
|
||||
print(f" 📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
|
||||
else:
|
||||
print(f" ✅ 室温反应时间在限制内: {reaction_time}s 保持不变")
|
||||
|
||||
# 室温反应，只等待时间
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
@@ -253,19 +346,28 @@ def generate_hydrogenate_protocol(
|
||||
"description": f"室温氢化反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
|
||||
}
|
||||
})
|
||||
|
||||
|
||||
# 显示时间调整信息
|
||||
if original_reaction_time != reaction_time:
|
||||
print(f" 🎭 室温反应优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
|
||||
|
||||
print("✅ 室温反应等待动作已添加")
|
||||
|
||||
# 7. 停止加热
|
||||
print("📍 步骤7: 停止加热...")
|
||||
if heater_id:
|
||||
action_sequence.append({
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"purpose": "氢化反应完成，停止加热"
|
||||
}
|
||||
})
|
||||
|
||||
print("✅ 停止加热动作已添加")
|
||||
|
||||
# 8. 等待冷却
|
||||
print("📍 步骤8: 等待冷却...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -273,12 +375,15 @@ def generate_hydrogenate_protocol(
|
||||
"description": "等待反应混合物冷却"
|
||||
}
|
||||
})
|
||||
|
||||
print("✅ 冷却等待动作已添加")
|
||||
|
||||
# 9. 停止气源
|
||||
print("📍 步骤9: 停止氢气源...")
|
||||
if gas_source_id:
|
||||
# 先关闭电磁阀
|
||||
gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
|
||||
if gas_solenoid:
|
||||
print(f"🚪 关闭气源电磁阀 {gas_solenoid}")
|
||||
action_sequence.append({
|
||||
"device_id": gas_solenoid,
|
||||
"action_name": "set_valve_position",
|
||||
@@ -286,7 +391,7 @@ def generate_hydrogenate_protocol(
|
||||
"command": "CLOSED"
|
||||
}
|
||||
})
|
||||
|
||||
|
||||
# 再关闭气源
|
||||
action_sequence.append({
|
||||
"device_id": gas_source_id,
|
||||
@@ -295,24 +400,59 @@ def generate_hydrogenate_protocol(
|
||||
"string": "OFF"
|
||||
}
|
||||
})
|
||||
|
||||
print("✅ 氢气源停止动作已添加")
|
||||
|
||||
# 10. 停止搅拌
|
||||
print("📍 步骤10: 停止搅拌...")
|
||||
if stirrer_id:
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"purpose": "氢化反应完成，停止搅拌"
|
||||
}
|
||||
})
|
||||
|
||||
# 氢化完成后的状态（氢化反应通常不改变体积）
|
||||
final_liquid_volume = original_liquid_volume
|
||||
|
||||
print("✅ 停止搅拌动作已添加")
|
||||
|
||||
# 🔧 新增：氢化完成后的状态（氢化反应通常不改变体积）
|
||||
final_liquid_volume = original_liquid_volume # 氢化反应体积基本不变
|
||||
|
||||
# 总结
|
||||
debug_print(f"氢化反应协议生成完成: {len(action_sequence)} 个动作, "
|
||||
f"vessel={vessel_id}, temp={temperature}°C, time={reaction_time/60:.1f}min, "
|
||||
f"volume={original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
|
||||
|
||||
print("🎊" * 20)
|
||||
print(f"🎉 氢化反应协议生成完成! ✨")
|
||||
print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
print(f"🥽 反应容器: {vessel_id}")
|
||||
print(f"🌡️ 反应温度: {temperature}°C")
|
||||
print(f"⏰ 反应时间: {reaction_time/60:.1f}分钟")
|
||||
print(f"⏱️ 预计总时间: {(reaction_time + 450)/3600:.1f} 小时")
|
||||
print(f"📊 体积状态:")
|
||||
print(f" - 反应前体积: {original_liquid_volume:.2f}mL")
|
||||
print(f" - 反应后体积: {final_liquid_volume:.2f}mL (氢化反应体积基本不变)")
|
||||
print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
# 测试函数
|
||||
def test_hydrogenate_protocol():
|
||||
"""测试氢化反应协议"""
|
||||
print("🧪 === HYDROGENATE PROTOCOL 测试 === ✨")
|
||||
|
||||
# 测试温度解析
|
||||
test_temps = ["45 °C", "45°C", "45", "25 C", "invalid"]
|
||||
for temp in test_temps:
|
||||
parsed = parse_temperature(temp)
|
||||
print(f"温度 '{temp}' -> {parsed}°C")
|
||||
|
||||
# 测试时间解析
|
||||
test_times = ["2 h", "120 min", "7200 s", "2", "invalid"]
|
||||
for time in test_times:
|
||||
parsed = parse_time(time)
|
||||
print(f"时间 '{time}' -> {parsed/3600:.1f} 小时")
|
||||
|
||||
print("✅ 测试完成 🎉")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_hydrogenate_protocol()
|
||||
@@ -2,116 +2,205 @@ import traceback
|
||||
import numpy as np
|
||||
import networkx as nx
|
||||
import asyncio
|
||||
import time as time_module # 重命名time模块
|
||||
import time as time_module # 🔧 重命名time模块
|
||||
from typing import List, Dict, Any
|
||||
import logging
|
||||
import sys
|
||||
|
||||
from .utils.logger_util import debug_print
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.resource_helper import get_resource_liquid_volume
|
||||
from unilabos.compile.utils.vessel_parser import get_vessel
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
|
||||
def debug_print(message):
|
||||
"""强制输出调试信息"""
|
||||
output = f"[TRANSFER] {message}"
|
||||
logger.info(output)
|
||||
|
||||
|
||||
def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
|
||||
"""
|
||||
判断是否为泵阀一体设备
|
||||
从容器节点的数据中获取液体体积
|
||||
"""
|
||||
class_lower = (node_class or "").lower()
|
||||
name_lower = (node_name or "").lower()
|
||||
debug_print(f"🔍 开始读取容器 '{vessel}' 的液体体积...")
|
||||
|
||||
if "pump" not in class_lower and "pump" not in name_lower:
|
||||
return False
|
||||
if vessel not in G.nodes():
|
||||
logger.error(f"❌ 容器 '{vessel}' 不存在于系统图中")
|
||||
debug_print(f" - 系统中的容器: {list(G.nodes())}")
|
||||
return 0.0
|
||||
|
||||
integrated_markers = [
|
||||
"valve",
|
||||
"pump_valve",
|
||||
"pumpvalve",
|
||||
"integrated",
|
||||
"transfer_pump",
|
||||
]
|
||||
vessel_data = G.nodes[vessel].get('data', {})
|
||||
debug_print(f"📋 容器 '{vessel}' 的数据结构: {vessel_data}")
|
||||
|
||||
for marker in integrated_markers:
|
||||
if marker in class_lower or marker in name_lower:
|
||||
return True
|
||||
total_volume = 0.0
|
||||
|
||||
return False
|
||||
# 方法1：检查 'liquid' 字段（列表格式）
|
||||
debug_print("🔍 方法1: 检查 'liquid' 字段...")
|
||||
if 'liquid' in vessel_data:
|
||||
liquids = vessel_data['liquid']
|
||||
debug_print(f" - liquid 字段类型: {type(liquids)}")
|
||||
debug_print(f" - liquid 字段内容: {liquids}")
|
||||
|
||||
if isinstance(liquids, list):
|
||||
debug_print(f" - liquid 是列表，包含 {len(liquids)} 个元素")
|
||||
for i, liquid in enumerate(liquids):
|
||||
debug_print(f" 液体 {i + 1}: {liquid}")
|
||||
if isinstance(liquid, dict):
|
||||
volume_keys = ['liquid_volume', 'volume', 'amount', 'quantity']
|
||||
for key in volume_keys:
|
||||
if key in liquid:
|
||||
try:
|
||||
vol = float(liquid[key])
|
||||
total_volume += vol
|
||||
debug_print(f" ✅ 从 '{key}' 读取体积: {vol}mL")
|
||||
break
|
||||
except (ValueError, TypeError) as e:
|
||||
logger.warning(f" ⚠️ 无法转换 '{key}': {liquid[key]} -> {str(e)}")
|
||||
continue
|
||||
else:
|
||||
debug_print(f" - liquid 不是列表: {type(liquids)}")
|
||||
else:
|
||||
debug_print(" - 没有 'liquid' 字段")
|
||||
|
||||
# 方法2：检查直接的体积字段
|
||||
debug_print("🔍 方法2: 检查直接体积字段...")
|
||||
volume_keys = ['total_volume', 'volume', 'liquid_volume', 'amount', 'current_volume']
|
||||
for key in volume_keys:
|
||||
if key in vessel_data:
|
||||
try:
|
||||
vol = float(vessel_data[key])
|
||||
total_volume = max(total_volume, vol) # 取最大值
|
||||
debug_print(f" ✅ 从容器数据 '{key}' 读取体积: {vol}mL")
|
||||
break
|
||||
except (ValueError, TypeError) as e:
|
||||
logger.warning(f" ⚠️ 无法转换 '{key}': {vessel_data[key]} -> {str(e)}")
|
||||
continue
|
||||
|
||||
# 方法3：检查 'state' 或 'status' 字段
|
||||
debug_print("🔍 方法3: 检查 'state' 字段...")
|
||||
if 'state' in vessel_data and isinstance(vessel_data['state'], dict):
|
||||
state = vessel_data['state']
|
||||
debug_print(f" - state 字段内容: {state}")
|
||||
if 'volume' in state:
|
||||
try:
|
||||
vol = float(state['volume'])
|
||||
total_volume = max(total_volume, vol)
|
||||
debug_print(f" ✅ 从容器状态读取体积: {vol}mL")
|
||||
except (ValueError, TypeError) as e:
|
||||
logger.warning(f" ⚠️ 无法转换 state.volume: {state['volume']} -> {str(e)}")
|
||||
else:
|
||||
debug_print(" - 没有 'state' 字段或不是字典")
|
||||
|
||||
debug_print(f"📊 容器 '{vessel}' 最终检测体积: {total_volume}mL")
|
||||
return total_volume
|
||||
|
||||
|
||||
def is_integrated_pump(node_name):
|
||||
return "pump" in node_name and "valve" in node_name
|
||||
|
||||
|
||||
def find_connected_pump(G, valve_node):
|
||||
"""
|
||||
查找与阀门相连的泵节点
|
||||
区分电磁阀和多通阀，电磁阀不参与泵查找
|
||||
查找与阀门相连的泵节点 - 修复版本
|
||||
🔧 修复：区分电磁阀和多通阀，电磁阀不参与泵查找
|
||||
"""
|
||||
# 检查节点类型，电磁阀不应该查找泵
|
||||
debug_print(f"🔍 查找与阀门 {valve_node} 相连的泵...")
|
||||
|
||||
# 🔧 关键修复：检查节点类型，电磁阀不应该查找泵
|
||||
node_data = G.nodes.get(valve_node, {})
|
||||
node_class = node_data.get("class", "") or ""
|
||||
|
||||
debug_print(f" - 阀门类型: {node_class}")
|
||||
|
||||
# 如果是电磁阀，不应该查找泵（电磁阀只是开关）
|
||||
if ("solenoid" in node_class.lower() or "solenoid_valve" in valve_node.lower()):
|
||||
debug_print(f" ⚠️ {valve_node} 是电磁阀，不应该查找泵节点")
|
||||
raise ValueError(f"电磁阀 {valve_node} 不应该参与泵查找逻辑")
|
||||
|
||||
# 只有多通阀等复杂阀门才需要查找连接的泵
|
||||
if ("multiway" in node_class.lower() or "valve" in node_class.lower()):
|
||||
debug_print(f" - {valve_node} 是多通阀，查找连接的泵...")
|
||||
# 方法1：直接相邻的泵
|
||||
for neighbor in G.neighbors(valve_node):
|
||||
neighbor_class = G.nodes[neighbor].get("class", "") or ""
|
||||
# 排除非 电磁阀 和 泵 的邻居
|
||||
debug_print(f" - 检查邻居 {neighbor}, class: {neighbor_class}")
|
||||
if "pump" in neighbor_class.lower():
|
||||
debug_print(f" ✅ 找到直接相连的泵: {neighbor}")
|
||||
return neighbor
|
||||
|
||||
# 方法2：通过路径查找泵（最多2跳）
|
||||
pump_nodes = [
|
||||
node_id for node_id in G.nodes()
|
||||
if "pump" in (G.nodes[node_id].get("class", "") or "").lower()
|
||||
]
|
||||
debug_print(f" - 未找到直接相连的泵，尝试路径查找...")
|
||||
|
||||
# 获取所有泵节点
|
||||
pump_nodes = []
|
||||
for node_id in G.nodes():
|
||||
node_class = G.nodes[node_id].get("class", "") or ""
|
||||
if "pump" in node_class.lower():
|
||||
pump_nodes.append(node_id)
|
||||
|
||||
debug_print(f" - 系统中的泵节点: {pump_nodes}")
|
||||
|
||||
# 查找到泵的最短路径
|
||||
for pump_node in pump_nodes:
|
||||
try:
|
||||
if nx.has_path(G, valve_node, pump_node):
|
||||
path = nx.shortest_path(G, valve_node, pump_node)
|
||||
if len(path) - 1 <= 2: # 最多允许2跳
|
||||
path_length = len(path) - 1
|
||||
debug_print(f" - 到泵 {pump_node} 的路径: {path}, 距离: {path_length}")
|
||||
|
||||
if path_length <= 2: # 最多允许2跳
|
||||
debug_print(f" ✅ 通过路径找到泵: {pump_node}")
|
||||
return pump_node
|
||||
except nx.NetworkXNoPath:
|
||||
continue
|
||||
|
||||
# 最终失败
|
||||
debug_print(f" ❌ 完全找不到泵节点")
|
||||
raise ValueError(f"未找到与阀 {valve_node} 相连的泵节点")
|
||||
|
||||
|
||||
def build_pump_valve_maps(G, pump_backbone):
|
||||
"""
|
||||
构建泵-阀门映射
|
||||
过滤掉电磁阀，只处理需要泵的多通阀
|
||||
构建泵-阀门映射 - 修复版本
|
||||
🔧 修复：过滤掉电磁阀，只处理需要泵的多通阀
|
||||
"""
|
||||
pumps_from_node = {}
|
||||
valve_from_node = {}
|
||||
|
||||
# 过滤掉电磁阀
|
||||
debug_print(f"🔧 构建泵-阀门映射，原始骨架: {pump_backbone}")
|
||||
|
||||
# 🔧 关键修复：过滤掉电磁阀
|
||||
filtered_backbone = []
|
||||
for node in pump_backbone:
|
||||
node_data = G.nodes.get(node, {})
|
||||
node_class = node_data.get("class", "") or ""
|
||||
|
||||
# 跳过电磁阀
|
||||
if ("solenoid" in node_class.lower() or "solenoid_valve" in node.lower()):
|
||||
debug_print(f" - 跳过电磁阀: {node}")
|
||||
continue
|
||||
|
||||
filtered_backbone.append(node)
|
||||
|
||||
debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
|
||||
|
||||
for node in filtered_backbone:
|
||||
node_data = G.nodes.get(node, {})
|
||||
node_class = node_data.get("class", "") or ""
|
||||
if is_integrated_pump(node_class, node):
|
||||
if is_integrated_pump(G.nodes[node]["class"]):
|
||||
pumps_from_node[node] = node
|
||||
valve_from_node[node] = node
|
||||
debug_print(f" - 集成泵-阀: {node}")
|
||||
else:
|
||||
try:
|
||||
pump_node = find_connected_pump(G, node)
|
||||
pumps_from_node[node] = pump_node
|
||||
valve_from_node[node] = node
|
||||
except ValueError:
|
||||
debug_print(f" - 阀门 {node} -> 泵 {pump_node}")
|
||||
except ValueError as e:
|
||||
debug_print(f" - 跳过节点 {node}: {str(e)}")
|
||||
continue
|
||||
|
||||
debug_print(f"泵-阀映射: pumps={pumps_from_node}, valves={valve_from_node}")
|
||||
debug_print(f"🔧 最终映射: pumps={pumps_from_node}, valves={valve_from_node}")
|
||||
return pumps_from_node, valve_from_node
|
||||
|
||||
|
||||
@@ -124,8 +213,8 @@ def generate_pump_protocol(
|
||||
transfer_flowrate: float = 0.5,
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成泵操作的动作序列
|
||||
正确处理包含电磁阀的路径
|
||||
生成泵操作的动作序列 - 修复版本
|
||||
🔧 修复：正确处理包含电磁阀的路径
|
||||
"""
|
||||
pump_action_sequence = []
|
||||
nodes = G.nodes(data=True)
|
||||
@@ -144,6 +233,7 @@ def generate_pump_protocol(
|
||||
logger.warning(f"transfer_flowrate <= 0，使用默认值 {transfer_flowrate}mL/s")
|
||||
|
||||
# 验证容器存在
|
||||
debug_print(f"🔍 验证源容器 '{from_vessel_id}' 和目标容器 '{to_vessel_id}' 是否存在...")
|
||||
if from_vessel_id not in G.nodes():
|
||||
logger.error(f"源容器 '{from_vessel_id}' 不存在")
|
||||
return pump_action_sequence
|
||||
@@ -159,24 +249,28 @@ def generate_pump_protocol(
|
||||
logger.error(f"无法找到从 '{from_vessel_id}' 到 '{to_vessel_id}' 的路径")
|
||||
return pump_action_sequence
|
||||
|
||||
# 正确构建泵骨架，排除容器和电磁阀
|
||||
# 🔧 关键修复：正确构建泵骨架，排除容器和电磁阀
|
||||
pump_backbone = []
|
||||
for node in shortest_path:
|
||||
# 跳过起始和结束容器
|
||||
if node == from_vessel_id or node == to_vessel_id:
|
||||
continue
|
||||
|
||||
# 跳过电磁阀（电磁阀不参与泵操作）
|
||||
node_data = G.nodes.get(node, {})
|
||||
node_class = node_data.get("class", "") or ""
|
||||
if ("solenoid" in node_class.lower() or "solenoid_valve" in node.lower()):
|
||||
debug_print(f"PUMP_TRANSFER: 跳过电磁阀 {node}")
|
||||
continue
|
||||
|
||||
# 只包含多通阀和泵
|
||||
if ("multiway" in node_class.lower() or "valve" in node_class.lower() or "pump" in node_class.lower()):
|
||||
pump_backbone.append(node)
|
||||
|
||||
debug_print(f"PUMP_TRANSFER: 泵骨架: {pump_backbone}")
|
||||
debug_print(f"PUMP_TRANSFER: 过滤后的泵骨架: {pump_backbone}")
|
||||
|
||||
if not pump_backbone:
|
||||
debug_print("PUMP_TRANSFER: 没有泵骨架节点")
|
||||
debug_print("PUMP_TRANSFER: 没有泵骨架节点，可能是直接容器连接或只有电磁阀")
|
||||
return pump_action_sequence
|
||||
|
||||
if transfer_flowrate == 0:
|
||||
@@ -192,7 +286,7 @@ def generate_pump_protocol(
|
||||
debug_print("PUMP_TRANSFER: 没有可用的泵映射")
|
||||
return pump_action_sequence
|
||||
|
||||
# 安全地获取最小转移体积
|
||||
# 🔧 修复：安全地获取最小转移体积
|
||||
try:
|
||||
min_transfer_volumes = []
|
||||
for node in pump_backbone:
|
||||
@@ -222,19 +316,19 @@ def generate_pump_protocol(
|
||||
volume_left = volume
|
||||
debug_print(f"PUMP_TRANSFER: 需要 {repeats} 次转移，单次最大体积 {min_transfer_volume} mL")
|
||||
|
||||
# 只在开头打印总体概览
|
||||
# 🆕 只在开头打印总体概览
|
||||
if repeats > 1:
|
||||
debug_print(f"分批转移: 总体积 {volume:.2f}mL, {repeats} 次, 单次最大 {min_transfer_volume} mL")
|
||||
logger.info(f"分批转移: 总体积 {volume:.2f}mL, {repeats} 次转移")
|
||||
debug_print(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
|
||||
logger.info(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
|
||||
|
||||
# 创建一个自定义的wait动作，用于在执行时打印日志
|
||||
# 🔧 创建一个自定义的wait动作，用于在执行时打印日志
|
||||
def create_progress_log_action(message: str) -> Dict[str, Any]:
|
||||
"""创建一个特殊的等待动作，在执行时打印进度日志"""
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"progress_message": message
|
||||
"time": 0.1, # 很短的等待时间
|
||||
"progress_message": message # 自定义字段，用于进度日志
|
||||
}
|
||||
}
|
||||
|
||||
@@ -242,12 +336,12 @@ def generate_pump_protocol(
|
||||
for i in range(repeats):
|
||||
current_volume = min(volume_left, min_transfer_volume)
|
||||
|
||||
# 🆕 在每次循环开始时添加进度日志
|
||||
if repeats > 1:
|
||||
pump_action_sequence.append(create_progress_log_action(
|
||||
f"第 {i + 1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel_id} -> {to_vessel_id})"
|
||||
))
|
||||
start_message = f"🚀 准备开始第 {i + 1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel_id} → {to_vessel_id}) 🚰"
|
||||
pump_action_sequence.append(create_progress_log_action(start_message))
|
||||
|
||||
# 安全地获取边数据
|
||||
# 🔧 修复：安全地获取边数据
|
||||
def get_safe_edge_data(node_a, node_b, key):
|
||||
try:
|
||||
edge_data = G.get_edge_data(node_a, node_b)
|
||||
@@ -350,13 +444,13 @@ def generate_pump_protocol(
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 3}})
|
||||
|
||||
# 在每次循环结束时添加完成日志
|
||||
# 🆕 在每次循环结束时添加完成日志
|
||||
if repeats > 1:
|
||||
remaining_volume = volume_left - current_volume
|
||||
if remaining_volume > 0:
|
||||
end_message = f"第 {i + 1}/{repeats} 次完成, 剩余 {remaining_volume:.2f}mL"
|
||||
end_message = f"✅ 第 {i + 1}/{repeats} 次转移完成! 剩余 {remaining_volume:.2f}mL 待转移 ⏳"
|
||||
else:
|
||||
end_message = f"第 {i + 1}/{repeats} 次完成, 全部 {volume:.2f}mL 转移完毕"
|
||||
end_message = f"🎉 第 {i + 1}/{repeats} 次转移完成! 全部 {volume:.2f}mL 转移完毕 ✨"
|
||||
|
||||
pump_action_sequence.append(create_progress_log_action(end_message))
|
||||
|
||||
@@ -398,205 +492,300 @@ def generate_pump_protocol_with_rinsing(
|
||||
to_vessel_id, _ = get_vessel(to_vessel)
|
||||
|
||||
with generate_pump_protocol_with_rinsing._lock:
|
||||
debug_print(f"PUMP_TRANSFER: {from_vessel_id} -> {to_vessel_id}, volume={volume}, flowrate={flowrate}")
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"PUMP_TRANSFER: 🚀 开始生成协议 (同步版本)")
|
||||
debug_print(f" 📍 路径: {from_vessel_id} -> {to_vessel_id}")
|
||||
debug_print(f" 🕐 时间戳: {time_module.time()}")
|
||||
debug_print(f" 🔒 获得执行锁")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 短暂延迟，避免快速重复调用
|
||||
time_module.sleep(0.01)
|
||||
|
||||
debug_print("🔍 步骤1: 开始体积处理...")
|
||||
|
||||
# 1. 处理体积参数
|
||||
final_volume = volume
|
||||
debug_print(f"📋 初始设置: final_volume = {final_volume}")
|
||||
|
||||
# 如果volume为0，从容器读取实际体积
|
||||
# 🔧 修复：如果volume为0（ROS2传入的空值），从容器读取实际体积
|
||||
if volume == 0.0:
|
||||
debug_print("🎯 检测到 volume=0.0，开始自动体积检测...")
|
||||
|
||||
actual_volume = get_resource_liquid_volume(G.nodes.get(from_vessel_id, {}))
|
||||
# 直接从源容器读取实际体积
|
||||
actual_volume = get_vessel_liquid_volume(G, from_vessel_id)
|
||||
debug_print(f"📖 从容器 '{from_vessel_id}' 读取到体积: {actual_volume}mL")
|
||||
|
||||
if actual_volume > 0:
|
||||
final_volume = actual_volume
|
||||
debug_print(f"✅ 成功设置体积为: {final_volume}mL")
|
||||
else:
|
||||
final_volume = 10.0
|
||||
logger.warning(f"无法从容器读取体积，使用默认值: {final_volume}mL")
|
||||
final_volume = 10.0 # 如果读取失败，使用默认值
|
||||
logger.warning(f"⚠️ 无法从容器读取体积，使用默认值: {final_volume}mL")
|
||||
else:
|
||||
debug_print(f"📌 体积非零，直接使用: {final_volume}mL")
|
||||
|
||||
# 处理 amount 参数
|
||||
if amount and amount.strip():
|
||||
debug_print(f"🔍 检测到 amount 参数: '{amount}'，开始解析...")
|
||||
parsed_volume = _parse_amount_to_volume(amount)
|
||||
debug_print(f"📖 从 amount 解析得到体积: {parsed_volume}mL")
|
||||
|
||||
if parsed_volume > 0:
|
||||
final_volume = parsed_volume
|
||||
debug_print(f"✅ 使用从 amount 解析的体积: {final_volume}mL")
|
||||
elif parsed_volume == 0.0 and amount.lower().strip() == "all":
|
||||
actual_volume = get_resource_liquid_volume(G.nodes.get(from_vessel_id, {}))
|
||||
debug_print("🎯 检测到 amount='all'，从容器读取全部体积...")
|
||||
actual_volume = get_vessel_liquid_volume(G, from_vessel_id)
|
||||
if actual_volume > 0:
|
||||
final_volume = actual_volume
|
||||
debug_print(f"✅ amount='all'，设置体积为: {final_volume}mL")
|
||||
|
||||
# 最终体积验证
|
||||
debug_print(f"🔍 步骤2: 最终体积验证...")
|
||||
if final_volume <= 0:
|
||||
logger.error(f"体积无效: {final_volume}mL")
|
||||
logger.error(f"❌ 体积无效: {final_volume}mL")
|
||||
final_volume = 10.0
|
||||
logger.warning(f"强制设置为默认值: {final_volume}mL")
|
||||
logger.warning(f"⚠️ 强制设置为默认值: {final_volume}mL")
|
||||
|
||||
debug_print(f"最终体积: {final_volume}mL")
|
||||
debug_print(f"✅ 最终确定体积: {final_volume}mL")
|
||||
|
||||
# 2. 处理流速参数
|
||||
debug_print(f"🔍 步骤3: 处理流速参数...")
|
||||
debug_print(f" - 原始 flowrate: {flowrate}")
|
||||
debug_print(f" - 原始 transfer_flowrate: {transfer_flowrate}")
|
||||
|
||||
final_flowrate = flowrate if flowrate > 0 else 2.5
|
||||
final_transfer_flowrate = transfer_flowrate if transfer_flowrate > 0 else 0.5
|
||||
|
||||
if flowrate <= 0:
|
||||
logger.warning(f"flowrate <= 0，修正为: {final_flowrate}mL/s")
|
||||
logger.warning(f"⚠️ flowrate <= 0，修正为: {final_flowrate}mL/s")
|
||||
if transfer_flowrate <= 0:
|
||||
logger.warning(f"transfer_flowrate <= 0，修正为: {final_transfer_flowrate}mL/s")
|
||||
logger.warning(f"⚠️ transfer_flowrate <= 0，修正为: {final_transfer_flowrate}mL/s")
|
||||
|
||||
debug_print(f"✅ 修正后流速: flowrate={final_flowrate}mL/s, transfer_flowrate={final_transfer_flowrate}mL/s")
|
||||
|
||||
# 3. 根据时间计算流速
|
||||
if time > 0 and final_volume > 0:
|
||||
debug_print(f"🔍 步骤4: 根据时间计算流速...")
|
||||
calculated_flowrate = final_volume / time
|
||||
debug_print(f" - 计算得到流速: {calculated_flowrate}mL/s")
|
||||
|
||||
if flowrate <= 0 or flowrate == 2.5:
|
||||
final_flowrate = min(calculated_flowrate, 10.0)
|
||||
debug_print(f" - 调整 flowrate 为: {final_flowrate}mL/s")
|
||||
if transfer_flowrate <= 0 or transfer_flowrate == 0.5:
|
||||
final_transfer_flowrate = min(calculated_flowrate, 5.0)
|
||||
debug_print(f" - 调整 transfer_flowrate 为: {final_transfer_flowrate}mL/s")
|
||||
|
||||
# 4. 根据速度规格调整
|
||||
if rate_spec:
|
||||
debug_print(f"🔍 步骤5: 根据速度规格调整...")
|
||||
debug_print(f" - 速度规格: '{rate_spec}'")
|
||||
|
||||
if rate_spec == "dropwise":
|
||||
final_flowrate = min(final_flowrate, 0.1)
|
||||
final_transfer_flowrate = min(final_transfer_flowrate, 0.1)
|
||||
debug_print(f" - dropwise模式，流速调整为: {final_flowrate}mL/s")
|
||||
elif rate_spec == "slowly":
|
||||
final_flowrate = min(final_flowrate, 0.5)
|
||||
final_transfer_flowrate = min(final_transfer_flowrate, 0.3)
|
||||
debug_print(f" - slowly模式，流速调整为: {final_flowrate}mL/s")
|
||||
elif rate_spec == "quickly":
|
||||
final_flowrate = max(final_flowrate, 5.0)
|
||||
final_transfer_flowrate = max(final_transfer_flowrate, 2.0)
|
||||
debug_print(f"速度规格 '{rate_spec}': flowrate={final_flowrate}, transfer={final_transfer_flowrate}")
|
||||
debug_print(f" - quickly模式，流速调整为: {final_flowrate}mL/s")
|
||||
|
||||
# 5. 处理冲洗参数
|
||||
debug_print(f"🔍 步骤6: 处理冲洗参数...")
|
||||
final_rinsing_solvent = rinsing_solvent
|
||||
final_rinsing_volume = rinsing_volume if rinsing_volume > 0 else 5.0
|
||||
final_rinsing_repeats = rinsing_repeats if rinsing_repeats > 0 else 2
|
||||
|
||||
if rinsing_volume <= 0:
|
||||
logger.warning(f"rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
|
||||
logger.warning(f"⚠️ rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
|
||||
if rinsing_repeats <= 0:
|
||||
logger.warning(f"rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
|
||||
logger.warning(f"⚠️ rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
|
||||
|
||||
# 根据物理属性调整冲洗参数
|
||||
if viscous or solid:
|
||||
final_rinsing_repeats = max(final_rinsing_repeats, 3)
|
||||
final_rinsing_volume = max(final_rinsing_volume, 10.0)
|
||||
debug_print(f"🧪 粘稠/固体物质，调整冲洗参数：{final_rinsing_repeats}次，{final_rinsing_volume}mL")
|
||||
|
||||
# 参数总结
|
||||
debug_print(f"最终参数: volume={final_volume}mL, flowrate={final_flowrate}mL/s, "
|
||||
f"transfer_flowrate={final_transfer_flowrate}mL/s, "
|
||||
f"rinsing={final_rinsing_solvent}/{final_rinsing_volume}mL/{final_rinsing_repeats}次")
|
||||
debug_print("📊 最终参数总结:")
|
||||
debug_print(f" - 体积: {final_volume}mL")
|
||||
debug_print(f" - 流速: {final_flowrate}mL/s")
|
||||
debug_print(f" - 转移流速: {final_transfer_flowrate}mL/s")
|
||||
debug_print(f" - 冲洗溶剂: '{final_rinsing_solvent}'")
|
||||
debug_print(f" - 冲洗体积: {final_rinsing_volume}mL")
|
||||
debug_print(f" - 冲洗次数: {final_rinsing_repeats}次")
|
||||
|
||||
# ========== 执行基础转移 ==========
|
||||
|
||||
debug_print("🔧 步骤7: 开始执行基础转移...")
|
||||
|
||||
# 执行基础转移
|
||||
try:
|
||||
debug_print(f" - 调用 generate_pump_protocol...")
|
||||
debug_print(
|
||||
f" - 参数: G, '{from_vessel_id}', '{to_vessel_id}', {final_volume}, {final_flowrate}, {final_transfer_flowrate}")
|
||||
|
||||
pump_action_sequence = generate_pump_protocol(
|
||||
G, from_vessel_id, to_vessel_id, final_volume,
|
||||
final_flowrate, final_transfer_flowrate
|
||||
)
|
||||
|
||||
debug_print(f"基础转移生成了 {len(pump_action_sequence)} 个动作")
|
||||
debug_print(f" - generate_pump_protocol 返回结果:")
|
||||
debug_print(f" - 动作序列长度: {len(pump_action_sequence)}")
|
||||
debug_print(f" - 动作序列是否为空: {len(pump_action_sequence) == 0}")
|
||||
|
||||
if not pump_action_sequence:
|
||||
debug_print("基础转移协议为空")
|
||||
debug_print("❌ 基础转移协议生成为空，可能是路径问题")
|
||||
debug_print(f" - 源容器存在: {from_vessel_id in G.nodes()}")
|
||||
debug_print(f" - 目标容器存在: {to_vessel_id in G.nodes()}")
|
||||
|
||||
if from_vessel_id in G.nodes() and to_vessel_id in G.nodes():
|
||||
try:
|
||||
path = nx.shortest_path(G, source=from_vessel_id, target=to_vessel_id)
|
||||
debug_print(f"路径存在: {path}")
|
||||
except Exception:
|
||||
pass
|
||||
debug_print(f" - 路径存在: {path}")
|
||||
except Exception as path_error:
|
||||
debug_print(f" - 无法找到路径: {str(path_error)}")
|
||||
|
||||
return [
|
||||
{
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": f"路径问题，无法转移: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}"
|
||||
"message": f"⚠️ 路径问题，无法转移: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}"
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
debug_print(f"✅ 基础转移生成了 {len(pump_action_sequence)} 个动作")
|
||||
|
||||
# 打印前几个动作用于调试
|
||||
if len(pump_action_sequence) > 0:
|
||||
debug_print("🔍 前几个动作预览:")
|
||||
for i, action in enumerate(pump_action_sequence[:3]):
|
||||
debug_print(f" 动作 {i + 1}: {action}")
|
||||
if len(pump_action_sequence) > 3:
|
||||
debug_print(f" ... 还有 {len(pump_action_sequence) - 3} 个动作")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"基础转移失败: {str(e)}\n{traceback.format_exc()}")
|
||||
debug_print(f"❌ 基础转移失败: {str(e)}")
|
||||
import traceback
|
||||
debug_print(f"详细错误: {traceback.format_exc()}")
|
||||
return [
|
||||
{
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": f"转移失败: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}, 错误: {str(e)}"
|
||||
"message": f"❌ 转移失败: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}, 错误: {str(e)}"
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
# 执行冲洗操作
|
||||
# ========== 执行冲洗操作 ==========
|
||||
|
||||
debug_print("🔧 步骤8: 检查冲洗操作...")
|
||||
|
||||
if final_rinsing_solvent and final_rinsing_solvent.strip() and final_rinsing_repeats > 0:
|
||||
debug_print(f"🧽 开始冲洗操作，溶剂: '{final_rinsing_solvent}'")
|
||||
|
||||
try:
|
||||
if final_rinsing_solvent.strip() != "air":
|
||||
debug_print(" - 执行液体冲洗...")
|
||||
rinsing_actions = _generate_rinsing_sequence(
|
||||
G, from_vessel_id, to_vessel_id, final_rinsing_solvent,
|
||||
final_rinsing_volume, final_rinsing_repeats,
|
||||
final_flowrate, final_transfer_flowrate
|
||||
)
|
||||
pump_action_sequence.extend(rinsing_actions)
|
||||
debug_print(f" - 添加了 {len(rinsing_actions)} 个冲洗动作")
|
||||
else:
|
||||
debug_print(" - 执行空气冲洗...")
|
||||
air_rinsing_actions = _generate_air_rinsing_sequence(
|
||||
G, from_vessel_id, to_vessel_id, final_rinsing_volume, final_rinsing_repeats,
|
||||
final_flowrate, final_transfer_flowrate
|
||||
)
|
||||
pump_action_sequence.extend(air_rinsing_actions)
|
||||
debug_print(f" - 添加了 {len(air_rinsing_actions)} 个空气冲洗动作")
|
||||
except Exception as e:
|
||||
debug_print(f"冲洗操作失败: {str(e)}")
|
||||
debug_print(f"⚠️ 冲洗操作失败: {str(e)}，跳过冲洗")
|
||||
else:
|
||||
debug_print(f"跳过冲洗 (solvent='{final_rinsing_solvent}', repeats={final_rinsing_repeats})")
|
||||
debug_print(f"⏭️ 跳过冲洗操作")
|
||||
debug_print(f" - 溶剂: '{final_rinsing_solvent}'")
|
||||
debug_print(f" - 次数: {final_rinsing_repeats}")
|
||||
debug_print(f" - 条件满足: {bool(final_rinsing_solvent and final_rinsing_solvent.strip() and final_rinsing_repeats > 0)}")
|
||||
|
||||
# 最终结果
|
||||
debug_print(f"PUMP_TRANSFER 完成: {from_vessel_id} -> {to_vessel_id}, "
|
||||
f"volume={final_volume}mL, 动作数={len(pump_action_sequence)}")
|
||||
# ========== 最终结果 ==========
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🎉 PUMP_TRANSFER: 协议生成完成")
|
||||
debug_print(f" 📊 总动作数: {len(pump_action_sequence)}")
|
||||
debug_print(f" 📋 最终体积: {final_volume}mL")
|
||||
debug_print(f" 🚀 执行路径: {from_vessel_id} -> {to_vessel_id}")
|
||||
|
||||
# 最终验证
|
||||
if len(pump_action_sequence) == 0:
|
||||
debug_print("🚨 协议生成结果为空！这是异常情况")
|
||||
return [
|
||||
{
|
||||
"device_id": "system",
|
||||
"action_name": "log_message",
|
||||
"action_kwargs": {
|
||||
"message": "协议生成失败: 无法生成任何动作序列"
|
||||
"message": f"🚨 协议生成失败: 无法生成任何动作序列"
|
||||
}
|
||||
}
|
||||
]
|
||||
|
||||
debug_print("=" * 60)
|
||||
return pump_action_sequence
|
||||
|
||||
|
||||
def _parse_amount_to_volume(amount: str) -> float:
|
||||
"""解析 amount 字符串为体积"""
|
||||
debug_print(f"🔍 解析 amount: '{amount}'")
|
||||
|
||||
if not amount:
|
||||
debug_print(" - amount 为空，返回 0.0")
|
||||
return 0.0
|
||||
|
||||
amount = amount.lower().strip()
|
||||
debug_print(f" - 处理后的 amount: '{amount}'")
|
||||
|
||||
# 处理特殊关键词
|
||||
if amount == "all":
|
||||
debug_print(" - 检测到 'all'，返回 0.0（需要后续处理）")
|
||||
return 0.0 # 返回0.0，让调用者处理
|
||||
|
||||
# 提取数字
|
||||
import re
|
||||
numbers = re.findall(r'[\d.]+', amount)
|
||||
debug_print(f" - 提取到的数字: {numbers}")
|
||||
|
||||
if numbers:
|
||||
volume = float(numbers[0])
|
||||
debug_print(f" - 基础体积: {volume}")
|
||||
|
||||
# 单位转换
|
||||
if 'ml' in amount or 'milliliter' in amount:
|
||||
debug_print(f" - 单位: mL，最终体积: {volume}")
|
||||
return volume
|
||||
elif 'l' in amount and 'ml' not in amount:
|
||||
return volume * 1000
|
||||
final_volume = volume * 1000
|
||||
debug_print(f" - 单位: L，最终体积: {final_volume}mL")
|
||||
return final_volume
|
||||
elif 'μl' in amount or 'microliter' in amount:
|
||||
return volume / 1000
|
||||
final_volume = volume / 1000
|
||||
debug_print(f" - 单位: μL，最终体积: {final_volume}mL")
|
||||
return final_volume
|
||||
else:
|
||||
return volume # 默认mL
|
||||
debug_print(f" - 无单位，假设为 mL: {volume}")
|
||||
return volume
|
||||
|
||||
debug_print(" - 无法解析，返回 0.0")
|
||||
return 0.0
|
||||
|
||||
|
||||
|
||||
@@ -4,64 +4,76 @@ import logging
|
||||
from typing import List, Dict, Any, Tuple, Union
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel
|
||||
from .utils.unit_parser import parse_volume_input
|
||||
from .utils.logger_util import debug_print
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[RECRYSTALLIZE] {message}")
|
||||
|
||||
|
||||
def parse_ratio(ratio_str: str) -> Tuple[float, float]:
|
||||
"""
|
||||
解析比例字符串，支持多种格式
|
||||
|
||||
|
||||
Args:
|
||||
ratio_str: 比例字符串（如 "1:1", "3:7", "50:50"）
|
||||
|
||||
|
||||
Returns:
|
||||
Tuple[float, float]: 比例元组 (ratio1, ratio2)
|
||||
"""
|
||||
debug_print(f"⚖️ 开始解析比例: '{ratio_str}' 📊")
|
||||
|
||||
try:
|
||||
# 处理 "1:1", "3:7", "50:50" 等格式
|
||||
if ":" in ratio_str:
|
||||
parts = ratio_str.split(":")
|
||||
if len(parts) == 2:
|
||||
ratio1 = float(parts[0])
|
||||
ratio2 = float(parts[1])
|
||||
debug_print(f"✅ 冒号格式解析成功: {ratio1}:{ratio2} 🎯")
|
||||
return ratio1, ratio2
|
||||
|
||||
|
||||
# 处理 "1-1", "3-7" 等格式
|
||||
if "-" in ratio_str:
|
||||
parts = ratio_str.split("-")
|
||||
if len(parts) == 2:
|
||||
ratio1 = float(parts[0])
|
||||
ratio2 = float(parts[1])
|
||||
debug_print(f"✅ 横线格式解析成功: {ratio1}:{ratio2} 🎯")
|
||||
return ratio1, ratio2
|
||||
|
||||
|
||||
# 处理 "1,1", "3,7" 等格式
|
||||
if "," in ratio_str:
|
||||
parts = ratio_str.split(",")
|
||||
if len(parts) == 2:
|
||||
ratio1 = float(parts[0])
|
||||
ratio2 = float(parts[1])
|
||||
debug_print(f"✅ 逗号格式解析成功: {ratio1}:{ratio2} 🎯")
|
||||
return ratio1, ratio2
|
||||
|
||||
debug_print(f"无法解析比例 '{ratio_str}'，使用默认比例 1:1")
|
||||
|
||||
# 默认 1:1
|
||||
debug_print(f"⚠️ 无法解析比例 '{ratio_str}'，使用默认比例 1:1 🎭")
|
||||
return 1.0, 1.0
|
||||
|
||||
|
||||
except ValueError:
|
||||
debug_print(f"比例解析错误 '{ratio_str}'，使用默认比例 1:1")
|
||||
debug_print(f"❌ 比例解析错误 '{ratio_str}'，使用默认比例 1:1 🎭")
|
||||
return 1.0, 1.0
|
||||
|
||||
|
||||
def generate_recrystallize_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: dict,
|
||||
vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
ratio: str,
|
||||
solvent1: str,
|
||||
solvent2: str,
|
||||
volume: Union[str, float],
|
||||
volume: Union[str, float], # 支持字符串和数值
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成重结晶协议序列 - 支持vessel字典和体积运算
|
||||
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
vessel: 目标容器字典（从XDL传入）
|
||||
@@ -70,18 +82,28 @@ def generate_recrystallize_protocol(
|
||||
solvent2: 第二种溶剂名称
|
||||
volume: 总体积（支持 "100 mL", "50", "2.5 L" 等）
|
||||
**kwargs: 其他可选参数
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
|
||||
action_sequence = []
|
||||
|
||||
debug_print(f"开始生成重结晶协议: vessel={vessel_id}, ratio={ratio}, solvent1={solvent1}, solvent2={solvent2}, volume={volume}")
|
||||
|
||||
# 记录重结晶前的容器状态
|
||||
|
||||
debug_print("💎" * 20)
|
||||
debug_print("🚀 开始生成重结晶协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" ⚖️ 比例: {ratio}")
|
||||
debug_print(f" 🧪 溶剂1: {solvent1}")
|
||||
debug_print(f" 🧪 溶剂2: {solvent2}")
|
||||
debug_print(f" 💧 总体积: {volume} (类型: {type(volume)})")
|
||||
debug_print("💎" * 20)
|
||||
|
||||
# 🔧 新增：记录重结晶前的容器状态
|
||||
debug_print("🔍 记录重结晶前容器状态...")
|
||||
original_liquid_volume = 0.0
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
@@ -89,73 +111,102 @@ def generate_recrystallize_protocol(
|
||||
original_liquid_volume = current_volume[0]
|
||||
elif isinstance(current_volume, (int, float)):
|
||||
original_liquid_volume = current_volume
|
||||
|
||||
debug_print(f"📊 重结晶前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
if vessel_id not in G.nodes():
|
||||
debug_print("📍 步骤1: 验证目标容器... 🔧")
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中! 😱")
|
||||
raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
debug_print(f"✅ 目标容器 '{vessel_id}' 验证通过 🎯")
|
||||
|
||||
# 2. 解析体积（支持单位）
|
||||
debug_print("📍 步骤2: 解析体积（支持单位）... 💧")
|
||||
final_volume = parse_volume_input(volume, "mL")
|
||||
debug_print(f"体积解析: {volume} -> {final_volume}mL")
|
||||
|
||||
debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
|
||||
|
||||
# 3. 解析比例
|
||||
debug_print("📍 步骤3: 解析比例... ⚖️")
|
||||
ratio1, ratio2 = parse_ratio(ratio)
|
||||
total_ratio = ratio1 + ratio2
|
||||
|
||||
debug_print(f"🎯 比例解析完成: {ratio1}:{ratio2} (总比例: {total_ratio}) ✨")
|
||||
|
||||
# 4. 计算各溶剂体积
|
||||
debug_print("📍 步骤4: 计算各溶剂体积... 🧮")
|
||||
volume1 = final_volume * (ratio1 / total_ratio)
|
||||
volume2 = final_volume * (ratio2 / total_ratio)
|
||||
|
||||
debug_print(f"溶剂体积: {solvent1}={volume1:.2f}mL, {solvent2}={volume2:.2f}mL")
|
||||
|
||||
|
||||
debug_print(f"🧪 {solvent1} 体积: {volume1:.2f} mL ({ratio1}/{total_ratio} × {final_volume})")
|
||||
debug_print(f"🧪 {solvent2} 体积: {volume2:.2f} mL ({ratio2}/{total_ratio} × {final_volume})")
|
||||
debug_print(f"✅ 体积计算完成: 总计 {volume1 + volume2:.2f} mL 🎯")
|
||||
|
||||
# 5. 查找溶剂容器
|
||||
debug_print("📍 步骤5: 查找溶剂容器... 🔍")
|
||||
try:
|
||||
debug_print(f" 🔍 查找溶剂1容器...")
|
||||
solvent1_vessel = find_solvent_vessel(G, solvent1)
|
||||
debug_print(f" 🎉 找到溶剂1容器: {solvent1_vessel} ✨")
|
||||
except ValueError as e:
|
||||
debug_print(f" ❌ 溶剂1容器查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"无法找到溶剂1 '{solvent1}': {str(e)}")
|
||||
|
||||
|
||||
try:
|
||||
debug_print(f" 🔍 查找溶剂2容器...")
|
||||
solvent2_vessel = find_solvent_vessel(G, solvent2)
|
||||
debug_print(f" 🎉 找到溶剂2容器: {solvent2_vessel} ✨")
|
||||
except ValueError as e:
|
||||
debug_print(f" ❌ 溶剂2容器查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"无法找到溶剂2 '{solvent2}': {str(e)}")
|
||||
|
||||
|
||||
# 6. 验证路径存在
|
||||
debug_print("📍 步骤6: 验证传输路径... 🛤️")
|
||||
try:
|
||||
path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel_id)
|
||||
path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel_id) # 🔧 使用 vessel_id
|
||||
debug_print(f" 🛤️ 溶剂1路径: {' → '.join(path1)} ✅")
|
||||
except nx.NetworkXNoPath:
|
||||
debug_print(f" ❌ 溶剂1路径不可达: {solvent1_vessel} → {vessel_id} 😞")
|
||||
raise ValueError(f"从溶剂1容器 '{solvent1_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
|
||||
|
||||
|
||||
try:
|
||||
path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel_id)
|
||||
path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel_id) # 🔧 使用 vessel_id
|
||||
debug_print(f" 🛤️ 溶剂2路径: {' → '.join(path2)} ✅")
|
||||
except nx.NetworkXNoPath:
|
||||
debug_print(f" ❌ 溶剂2路径不可达: {solvent2_vessel} → {vessel_id} 😞")
|
||||
raise ValueError(f"从溶剂2容器 '{solvent2_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
|
||||
|
||||
|
||||
# 7. 添加第一种溶剂
|
||||
debug_print("📍 步骤7: 添加第一种溶剂... 🧪")
|
||||
debug_print(f" 🚰 开始添加溶剂1: {solvent1} ({volume1:.2f} mL)")
|
||||
|
||||
try:
|
||||
pump_actions1 = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent1_vessel,
|
||||
to_vessel=vessel_id,
|
||||
volume=volume1,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=volume1, # 使用解析后的体积
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
rinsing_solvent="",
|
||||
rinsing_solvent="", # 重结晶不需要清洗
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=2.0,
|
||||
flowrate=2.0, # 正常流速
|
||||
transfer_flowrate=0.5
|
||||
)
|
||||
|
||||
|
||||
action_sequence.extend(pump_actions1)
|
||||
|
||||
debug_print(f" ✅ 溶剂1泵送动作已添加: {len(pump_actions1)} 个动作 🚰✨")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f" ❌ 溶剂1泵协议生成失败: {str(e)} 😭")
|
||||
raise ValueError(f"生成溶剂1泵协议时出错: {str(e)}")
|
||||
|
||||
# 更新容器体积 - 添加溶剂1后
|
||||
|
||||
# 🔧 新增：更新容器体积 - 添加溶剂1后
|
||||
debug_print(" 🔧 更新容器体积 - 添加溶剂1后...")
|
||||
new_volume_after_solvent1 = original_liquid_volume + volume1
|
||||
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
@@ -165,14 +216,15 @@ def generate_recrystallize_protocol(
|
||||
vessel["data"]["liquid_volume"] = [new_volume_after_solvent1]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume_after_solvent1
|
||||
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume_after_solvent1
|
||||
@@ -180,42 +232,53 @@ def generate_recrystallize_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume_after_solvent1]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume_after_solvent1
|
||||
|
||||
|
||||
debug_print(f" 📊 体积更新: {original_liquid_volume:.2f}mL + {volume1:.2f}mL = {new_volume_after_solvent1:.2f}mL")
|
||||
|
||||
# 8. 等待溶剂1稳定
|
||||
debug_print(" ⏳ 添加溶剂1稳定等待...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 5.0,
|
||||
"time": 5.0, # 缩短等待时间
|
||||
"description": f"等待溶剂1 {solvent1} 稳定"
|
||||
}
|
||||
})
|
||||
|
||||
debug_print(" ✅ 溶剂1稳定等待已添加 ⏰✨")
|
||||
|
||||
# 9. 添加第二种溶剂
|
||||
debug_print("📍 步骤8: 添加第二种溶剂... 🧪")
|
||||
debug_print(f" 🚰 开始添加溶剂2: {solvent2} ({volume2:.2f} mL)")
|
||||
|
||||
try:
|
||||
pump_actions2 = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent2_vessel,
|
||||
to_vessel=vessel_id,
|
||||
volume=volume2,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=volume2, # 使用解析后的体积
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
rinsing_solvent="",
|
||||
rinsing_solvent="", # 重结晶不需要清洗
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=2.0,
|
||||
flowrate=2.0, # 正常流速
|
||||
transfer_flowrate=0.5
|
||||
)
|
||||
|
||||
|
||||
action_sequence.extend(pump_actions2)
|
||||
|
||||
debug_print(f" ✅ 溶剂2泵送动作已添加: {len(pump_actions2)} 个动作 🚰✨")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f" ❌ 溶剂2泵协议生成失败: {str(e)} 😭")
|
||||
raise ValueError(f"生成溶剂2泵协议时出错: {str(e)}")
|
||||
|
||||
# 更新容器体积 - 添加溶剂2后
|
||||
|
||||
# 🔧 新增：更新容器体积 - 添加溶剂2后
|
||||
debug_print(" 🔧 更新容器体积 - 添加溶剂2后...")
|
||||
final_liquid_volume = new_volume_after_solvent1 + volume2
|
||||
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel and "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
@@ -225,14 +288,15 @@ def generate_recrystallize_protocol(
|
||||
vessel["data"]["liquid_volume"] = [final_liquid_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = final_liquid_volume
|
||||
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = final_liquid_volume
|
||||
@@ -240,25 +304,36 @@ def generate_recrystallize_protocol(
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [final_liquid_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = final_liquid_volume
|
||||
|
||||
|
||||
debug_print(f" 📊 最终体积: {new_volume_after_solvent1:.2f}mL + {volume2:.2f}mL = {final_liquid_volume:.2f}mL")
|
||||
|
||||
# 10. 等待溶剂2稳定
|
||||
debug_print(" ⏳ 添加溶剂2稳定等待...")
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 5.0,
|
||||
"time": 5.0, # 缩短等待时间
|
||||
"description": f"等待溶剂2 {solvent2} 稳定"
|
||||
}
|
||||
})
|
||||
|
||||
debug_print(" ✅ 溶剂2稳定等待已添加 ⏰✨")
|
||||
|
||||
# 11. 等待重结晶完成
|
||||
original_crystallize_time = 600.0
|
||||
simulation_time_limit = 60.0
|
||||
debug_print("📍 步骤9: 等待重结晶完成... 💎")
|
||||
|
||||
# 模拟运行时间优化
|
||||
debug_print(" ⏱️ 检查模拟运行时间限制...")
|
||||
original_crystallize_time = 600.0 # 原始重结晶时间
|
||||
simulation_time_limit = 60.0 # 模拟运行时间限制：60秒
|
||||
|
||||
final_crystallize_time = min(original_crystallize_time, simulation_time_limit)
|
||||
|
||||
|
||||
if original_crystallize_time > simulation_time_limit:
|
||||
debug_print(f"模拟运行优化: {original_crystallize_time}s -> {final_crystallize_time}s")
|
||||
|
||||
debug_print(f" 🎮 模拟运行优化: {original_crystallize_time}s → {final_crystallize_time}s ⚡")
|
||||
debug_print(f" 📊 时间缩短: {original_crystallize_time/60:.1f}分钟 → {final_crystallize_time/60:.1f}分钟 🚀")
|
||||
else:
|
||||
debug_print(f" ✅ 时间在限制内: {final_crystallize_time}s 保持不变 🎯")
|
||||
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -266,28 +341,50 @@ def generate_recrystallize_protocol(
|
||||
"description": f"等待重结晶完成（{solvent1}:{solvent2} = {ratio}，总体积 {final_volume}mL）" + (f" (模拟时间)" if original_crystallize_time != final_crystallize_time else "")
|
||||
}
|
||||
})
|
||||
|
||||
debug_print(f"重结晶协议生成完成: {len(action_sequence)} 个动作, 容器={vessel_id}, 体积变化: {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
|
||||
|
||||
debug_print(f" ✅ 重结晶等待已添加: {final_crystallize_time}s 💎✨")
|
||||
|
||||
# 显示时间调整信息
|
||||
if original_crystallize_time != final_crystallize_time:
|
||||
debug_print(f" 🎭 模拟优化说明: 原计划 {original_crystallize_time/60:.1f}分钟，实际模拟 {final_crystallize_time/60:.1f}分钟 ⚡")
|
||||
|
||||
# 总结
|
||||
debug_print("💎" * 20)
|
||||
debug_print(f"🎉 重结晶协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f"🥽 目标容器: {vessel_id}")
|
||||
debug_print(f"💧 总体积变化:")
|
||||
debug_print(f" - 原始体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 添加溶剂: {final_volume:.2f}mL")
|
||||
debug_print(f" - 最终体积: {final_liquid_volume:.2f}mL")
|
||||
debug_print(f"⚖️ 溶剂比例: {solvent1}:{solvent2} = {ratio1}:{ratio2}")
|
||||
debug_print(f"🧪 溶剂1: {solvent1} ({volume1:.2f}mL)")
|
||||
debug_print(f"🧪 溶剂2: {solvent2} ({volume2:.2f}mL)")
|
||||
debug_print(f"⏱️ 预计总时间: {(final_crystallize_time + 10)/60:.1f} 分钟 ⌛")
|
||||
debug_print("💎" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
|
||||
# 测试函数
|
||||
def test_recrystallize_protocol():
|
||||
"""测试重结晶协议"""
|
||||
debug_print("=== RECRYSTALLIZE PROTOCOL 测试 ===")
|
||||
|
||||
debug_print("🧪 === RECRYSTALLIZE PROTOCOL 测试 === ✨")
|
||||
|
||||
# 测试体积解析
|
||||
debug_print("💧 测试体积解析...")
|
||||
test_volumes = ["100 mL", "2.5 L", "500", "50.5", "?", "invalid"]
|
||||
for vol in test_volumes:
|
||||
parsed = parse_volume_input(vol)
|
||||
debug_print(f"体积 '{vol}' -> {parsed}mL")
|
||||
|
||||
debug_print(f" 📊 体积 '{vol}' -> {parsed}mL")
|
||||
|
||||
# 测试比例解析
|
||||
debug_print("⚖️ 测试比例解析...")
|
||||
test_ratios = ["1:1", "3:7", "50:50", "1-1", "2,8", "invalid"]
|
||||
for ratio in test_ratios:
|
||||
r1, r2 = parse_ratio(ratio)
|
||||
debug_print(f"比例 '{ratio}' -> {r1}:{r2}")
|
||||
|
||||
debug_print("测试完成")
|
||||
debug_print(f" 📊 比例 '{ratio}' -> {r1}:{r2}")
|
||||
|
||||
debug_print("✅ 测试完成 🎉")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_recrystallize_protocol()
|
||||
test_recrystallize_protocol()
|
||||
@@ -1,87 +1,253 @@
|
||||
import networkx as nx
|
||||
import logging
|
||||
import sys
|
||||
from typing import List, Dict, Any, Optional
|
||||
from .utils.logger_util import debug_print, action_log
|
||||
from .utils.vessel_parser import find_solvent_vessel
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
# 设置日志
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
create_action_log = action_log
|
||||
# 确保输出编码为UTF-8
|
||||
if hasattr(sys.stdout, 'reconfigure'):
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding='utf-8')
|
||||
sys.stderr.reconfigure(encoding='utf-8')
|
||||
except:
|
||||
pass
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出函数 - 支持中文"""
|
||||
try:
|
||||
# 确保消息是字符串格式
|
||||
safe_message = str(message)
|
||||
print(f"[重置处理] {safe_message}", flush=True)
|
||||
logger.info(f"[重置处理] {safe_message}")
|
||||
except UnicodeEncodeError:
|
||||
# 如果编码失败，尝试替换不支持的字符
|
||||
safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
|
||||
print(f"[重置处理] {safe_message}", flush=True)
|
||||
logger.info(f"[重置处理] {safe_message}")
|
||||
except Exception as e:
|
||||
# 最后的安全措施
|
||||
fallback_message = f"日志输出错误: {repr(message)}"
|
||||
print(f"[重置处理] {fallback_message}", flush=True)
|
||||
logger.info(f"[重置处理] {fallback_message}")
|
||||
|
||||
def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
try:
|
||||
full_message = f"{emoji} {message}"
|
||||
debug_print(full_message)
|
||||
logger.info(full_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
}
|
||||
}
|
||||
except Exception as e:
|
||||
# 如果emoji有问题，使用纯文本
|
||||
safe_message = f"[日志] {message}"
|
||||
debug_print(safe_message)
|
||||
logger.info(safe_message)
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
}
|
||||
}
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""
|
||||
查找溶剂容器，支持多种匹配模式
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
solvent: 溶剂名称（如 "methanol", "ethanol", "water"）
|
||||
|
||||
Returns:
|
||||
str: 溶剂容器ID
|
||||
"""
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
|
||||
|
||||
# 构建可能的容器名称
|
||||
possible_names = [
|
||||
f"flask_{solvent}", # flask_methanol
|
||||
f"bottle_{solvent}", # bottle_methanol
|
||||
f"reagent_{solvent}", # reagent_methanol
|
||||
f"reagent_bottle_{solvent}", # reagent_bottle_methanol
|
||||
f"{solvent}_flask", # methanol_flask
|
||||
f"{solvent}_bottle", # methanol_bottle
|
||||
f"{solvent}", # methanol
|
||||
f"vessel_{solvent}", # vessel_methanol
|
||||
]
|
||||
|
||||
debug_print(f"🎯 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个)")
|
||||
|
||||
# 第一步：通过容器名称匹配
|
||||
debug_print("📋 方法1: 精确名称匹配...")
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
debug_print(f"✅ 通过名称匹配找到容器: {vessel_name}")
|
||||
return vessel_name
|
||||
debug_print("⚠️ 精确名称匹配失败，尝试模糊匹配...")
|
||||
|
||||
# 第二步：通过模糊匹配
|
||||
debug_print("📋 方法2: 模糊名称匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
node_name = G.nodes[node_id].get('name', '').lower()
|
||||
|
||||
# 检查是否包含溶剂名称
|
||||
if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
|
||||
debug_print(f"✅ 通过模糊匹配找到容器: {node_id}")
|
||||
return node_id
|
||||
debug_print("⚠️ 模糊匹配失败，尝试液体类型匹配...")
|
||||
|
||||
# 第三步：通过液体类型匹配
|
||||
debug_print("📋 方法3: 液体类型匹配...")
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
|
||||
for liquid in liquids:
|
||||
if isinstance(liquid, dict):
|
||||
liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
|
||||
reagent_name = vessel_data.get('reagent_name', '').lower()
|
||||
|
||||
if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
|
||||
debug_print(f"✅ 通过液体类型匹配找到容器: {node_id}")
|
||||
return node_id
|
||||
|
||||
# 列出可用容器帮助调试
|
||||
debug_print("📊 显示可用容器信息...")
|
||||
available_containers = []
|
||||
for node_id in G.nodes():
|
||||
if G.nodes[node_id].get('type') == 'container':
|
||||
vessel_data = G.nodes[node_id].get('data', {})
|
||||
liquids = vessel_data.get('liquid', [])
|
||||
liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '')
|
||||
for liquid in liquids if isinstance(liquid, dict)]
|
||||
|
||||
available_containers.append({
|
||||
'id': node_id,
|
||||
'name': G.nodes[node_id].get('name', ''),
|
||||
'liquids': liquid_types,
|
||||
'reagent_name': vessel_data.get('reagent_name', '')
|
||||
})
|
||||
|
||||
debug_print(f"📋 可用容器列表 (共{len(available_containers)}个):")
|
||||
for i, container in enumerate(available_containers[:5]): # 只显示前5个
|
||||
debug_print(f" {i+1}. 🥽 {container['id']}: {container['name']}")
|
||||
debug_print(f" 💧 液体: {container['liquids']}")
|
||||
debug_print(f" 🧪 试剂: {container['reagent_name']}")
|
||||
|
||||
if len(available_containers) > 5:
|
||||
debug_print(f" ... 还有 {len(available_containers)-5} 个容器")
|
||||
|
||||
debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器")
|
||||
raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器。尝试了: {possible_names[:3]}...")
|
||||
|
||||
def generate_reset_handling_protocol(
|
||||
G: nx.DiGraph,
|
||||
solvent: str,
|
||||
vessel: Optional[str] = None,
|
||||
**kwargs
|
||||
vessel: Optional[str] = None, # 🆕 新增可选vessel参数
|
||||
**kwargs # 接收其他可能的参数但不使用
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成重置处理协议序列 - 支持自定义容器
|
||||
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为容器和设备
|
||||
solvent: 溶剂名称（从XDL传入）
|
||||
vessel: 目标容器名称（可选，默认为 "main_reactor"）
|
||||
**kwargs: 其他可选参数，但不使用
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 动作序列
|
||||
"""
|
||||
action_sequence = []
|
||||
|
||||
# 🔧 修改：支持自定义vessel参数
|
||||
target_vessel = vessel if vessel is not None else "main_reactor" # 默认目标容器
|
||||
volume = 50.0 # 默认体积 50 mL
|
||||
|
||||
target_vessel = vessel if vessel is not None else "main_reactor"
|
||||
volume = 50.0
|
||||
|
||||
debug_print(f"开始生成重置处理协议: solvent={solvent}, vessel={target_vessel}, volume={volume}mL")
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print("🚀 开始生成重置处理协议")
|
||||
debug_print(f"📋 输入参数:")
|
||||
debug_print(f" 🧪 溶剂: {solvent}")
|
||||
debug_print(f" 🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
|
||||
debug_print(f" 💧 体积: {volume} mL")
|
||||
debug_print(f" ⚙️ 其他参数: {kwargs}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加初始日志
|
||||
action_sequence.append(action_log(f"开始重置处理操作 - 容器: {target_vessel}", "🎬"))
|
||||
action_sequence.append(action_log(f"使用溶剂: {solvent}", "🧪"))
|
||||
action_sequence.append(action_log(f"重置体积: {volume}mL", "💧"))
|
||||
|
||||
action_sequence.append(create_action_log(f"开始重置处理操作 - 容器: {target_vessel}", "🎬"))
|
||||
action_sequence.append(create_action_log(f"使用溶剂: {solvent}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"重置体积: {volume}mL", "💧"))
|
||||
|
||||
if vessel is None:
|
||||
action_sequence.append(action_log("使用默认目标容器: main_reactor", "⚙️"))
|
||||
action_sequence.append(create_action_log("使用默认目标容器: main_reactor", "⚙️"))
|
||||
else:
|
||||
action_sequence.append(action_log(f"使用指定目标容器: {vessel}", "🎯"))
|
||||
|
||||
action_sequence.append(create_action_log(f"使用指定目标容器: {vessel}", "🎯"))
|
||||
|
||||
# 1. 验证目标容器存在
|
||||
action_sequence.append(action_log("正在验证目标容器...", "🔍"))
|
||||
|
||||
debug_print("🔍 步骤1: 验证目标容器...")
|
||||
action_sequence.append(create_action_log("正在验证目标容器...", "🔍"))
|
||||
|
||||
if target_vessel not in G.nodes():
|
||||
action_sequence.append(action_log(f"目标容器 '{target_vessel}' 不存在", "❌"))
|
||||
debug_print(f"❌ 目标容器 '{target_vessel}' 不存在于系统中!")
|
||||
action_sequence.append(create_action_log(f"目标容器 '{target_vessel}' 不存在", "❌"))
|
||||
raise ValueError(f"目标容器 '{target_vessel}' 不存在于系统中")
|
||||
|
||||
action_sequence.append(action_log(f"目标容器验证通过: {target_vessel}", "✅"))
|
||||
|
||||
|
||||
debug_print(f"✅ 目标容器 '{target_vessel}' 验证通过")
|
||||
action_sequence.append(create_action_log(f"目标容器验证通过: {target_vessel}", "✅"))
|
||||
|
||||
# 2. 查找溶剂容器
|
||||
action_sequence.append(action_log("正在查找溶剂容器...", "🔍"))
|
||||
|
||||
debug_print("🔍 步骤2: 查找溶剂容器...")
|
||||
action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
|
||||
|
||||
try:
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
debug_print(f"找到溶剂容器: {solvent_vessel}")
|
||||
action_sequence.append(action_log(f"找到溶剂容器: {solvent_vessel}", "✅"))
|
||||
debug_print(f"✅ 找到溶剂容器: {solvent_vessel}")
|
||||
action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "✅"))
|
||||
except ValueError as e:
|
||||
action_sequence.append(action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
|
||||
debug_print(f"❌ 溶剂容器查找失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"无法找到溶剂 '{solvent}': {str(e)}")
|
||||
|
||||
|
||||
# 3. 验证路径存在
|
||||
action_sequence.append(action_log("正在验证传输路径...", "🛤️"))
|
||||
|
||||
debug_print("🔍 步骤3: 验证传输路径...")
|
||||
action_sequence.append(create_action_log("正在验证传输路径...", "🛤️"))
|
||||
|
||||
try:
|
||||
path = nx.shortest_path(G, source=solvent_vessel, target=target_vessel)
|
||||
action_sequence.append(action_log(f"传输路径: {' → '.join(path)}", "🛤️"))
|
||||
debug_print(f"✅ 找到路径: {' → '.join(path)}")
|
||||
action_sequence.append(create_action_log(f"传输路径: {' → '.join(path)}", "🛤️"))
|
||||
except nx.NetworkXNoPath:
|
||||
action_sequence.append(action_log(f"路径不可达: {solvent_vessel} → {target_vessel}", "❌"))
|
||||
debug_print(f"❌ 路径不可达: {solvent_vessel} → {target_vessel}")
|
||||
action_sequence.append(create_action_log(f"路径不可达: {solvent_vessel} → {target_vessel}", "❌"))
|
||||
raise ValueError(f"从溶剂容器 '{solvent_vessel}' 到目标容器 '{target_vessel}' 没有可用路径")
|
||||
|
||||
|
||||
# 4. 使用pump_protocol转移溶剂
|
||||
action_sequence.append(action_log("开始溶剂转移操作...", "🚰"))
|
||||
action_sequence.append(action_log(f"转移: {solvent_vessel} → {target_vessel} ({volume}mL)", "🚛"))
|
||||
|
||||
debug_print("🔍 步骤4: 转移溶剂...")
|
||||
action_sequence.append(create_action_log("开始溶剂转移操作...", "🚰"))
|
||||
|
||||
debug_print(f"🚛 开始转移: {solvent_vessel} → {target_vessel}")
|
||||
debug_print(f"💧 转移体积: {volume} mL")
|
||||
action_sequence.append(create_action_log(f"转移: {solvent_vessel} → {target_vessel} ({volume}mL)", "🚛"))
|
||||
|
||||
try:
|
||||
action_sequence.append(action_log("正在生成泵送协议...", "🔄"))
|
||||
|
||||
debug_print("🔄 生成泵送协议...")
|
||||
action_sequence.append(create_action_log("正在生成泵送协议...", "🔄"))
|
||||
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
@@ -90,34 +256,41 @@ def generate_reset_handling_protocol(
|
||||
amount="",
|
||||
time=0.0,
|
||||
viscous=False,
|
||||
rinsing_solvent="",
|
||||
rinsing_solvent="", # 重置处理不需要清洗
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0,
|
||||
solid=False,
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5
|
||||
flowrate=2.5, # 正常流速
|
||||
transfer_flowrate=0.5 # 正常转移流速
|
||||
)
|
||||
|
||||
|
||||
action_sequence.extend(pump_actions)
|
||||
debug_print(f"泵送协议已添加: {len(pump_actions)} 个动作")
|
||||
action_sequence.append(action_log(f"泵送协议完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
debug_print(f"✅ 泵送协议已添加: {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"泵送协议完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
except Exception as e:
|
||||
action_sequence.append(action_log(f"泵送协议生成失败: {str(e)}", "❌"))
|
||||
debug_print(f"❌ 泵送协议生成失败: {str(e)}")
|
||||
action_sequence.append(create_action_log(f"泵送协议生成失败: {str(e)}", "❌"))
|
||||
raise ValueError(f"生成泵协议时出错: {str(e)}")
|
||||
|
||||
|
||||
# 5. 等待溶剂稳定
|
||||
action_sequence.append(action_log("等待溶剂稳定...", "⏳"))
|
||||
|
||||
original_wait_time = 10.0
|
||||
simulation_time_limit = 5.0
|
||||
debug_print("🔍 步骤5: 等待溶剂稳定...")
|
||||
action_sequence.append(create_action_log("等待溶剂稳定...", "⏳"))
|
||||
|
||||
# 模拟运行时间优化
|
||||
debug_print("⏱️ 检查模拟运行时间限制...")
|
||||
original_wait_time = 10.0 # 原始等待时间
|
||||
simulation_time_limit = 5.0 # 模拟运行时间限制：5秒
|
||||
|
||||
final_wait_time = min(original_wait_time, simulation_time_limit)
|
||||
|
||||
|
||||
if original_wait_time > simulation_time_limit:
|
||||
action_sequence.append(action_log(f"时间优化: {original_wait_time}s → {final_wait_time}s", "⚡"))
|
||||
debug_print(f"🎮 模拟运行优化: {original_wait_time}s → {final_wait_time}s")
|
||||
action_sequence.append(create_action_log(f"时间优化: {original_wait_time}s → {final_wait_time}s", "⚡"))
|
||||
else:
|
||||
action_sequence.append(action_log(f"等待时间: {final_wait_time}s", "⏰"))
|
||||
|
||||
debug_print(f"✅ 时间在限制内: {final_wait_time}s 保持不变")
|
||||
action_sequence.append(create_action_log(f"等待时间: {final_wait_time}s", "⏰"))
|
||||
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -125,50 +298,90 @@ def generate_reset_handling_protocol(
|
||||
"description": f"等待溶剂 {solvent} 在容器 {target_vessel} 中稳定" + (f" (模拟时间)" if original_wait_time != final_wait_time else "")
|
||||
}
|
||||
})
|
||||
|
||||
debug_print(f"✅ 稳定等待已添加: {final_wait_time}s")
|
||||
|
||||
# 显示时间调整信息
|
||||
if original_wait_time != final_wait_time:
|
||||
action_sequence.append(action_log("应用模拟时间优化", "🎭"))
|
||||
|
||||
debug_print(f"🎭 模拟优化说明: 原计划 {original_wait_time}s，实际模拟 {final_wait_time}s")
|
||||
action_sequence.append(create_action_log("应用模拟时间优化", "🎭"))
|
||||
|
||||
# 总结
|
||||
debug_print(f"重置处理协议生成完成: {len(action_sequence)} 个动作, {solvent_vessel} -> {target_vessel}, {volume}mL")
|
||||
|
||||
debug_print("=" * 60)
|
||||
debug_print(f"🎉 重置处理协议生成完成!")
|
||||
debug_print(f"📊 总结信息:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f" 🧪 溶剂: {solvent}")
|
||||
debug_print(f" 🥽 源容器: {solvent_vessel}")
|
||||
debug_print(f" 🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
|
||||
debug_print(f" 💧 转移体积: {volume} mL")
|
||||
debug_print(f" ⏱️ 预计总时间: {(final_wait_time + 5):.0f} 秒")
|
||||
debug_print(f" 🎯 操作结果: 已添加 {volume} mL {solvent} 到 {target_vessel}")
|
||||
debug_print("=" * 60)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"重置处理完成: {target_vessel} (使用 {volume}mL {solvent})"
|
||||
if vessel is None:
|
||||
summary_msg += " [默认容器]"
|
||||
else:
|
||||
summary_msg += " [指定容器]"
|
||||
|
||||
action_sequence.append(action_log(summary_msg, "🎉"))
|
||||
|
||||
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
# === 便捷函数 ===
|
||||
|
||||
def reset_main_reactor(G: nx.DiGraph, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
|
||||
"""重置主反应器 (默认行为)"""
|
||||
debug_print(f"🔄 重置主反应器，使用溶剂: {solvent}")
|
||||
return generate_reset_handling_protocol(G, solvent=solvent, vessel=None, **kwargs)
|
||||
|
||||
def reset_custom_vessel(G: nx.DiGraph, vessel: str, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
|
||||
"""重置指定容器"""
|
||||
debug_print(f"🔄 重置指定容器: {vessel}，使用溶剂: {solvent}")
|
||||
return generate_reset_handling_protocol(G, solvent=solvent, vessel=vessel, **kwargs)
|
||||
|
||||
def reset_with_water(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
|
||||
"""使用水重置容器"""
|
||||
target = vessel or "main_reactor"
|
||||
debug_print(f"💧 使用水重置容器: {target}")
|
||||
return generate_reset_handling_protocol(G, solvent="water", vessel=vessel, **kwargs)
|
||||
|
||||
def reset_with_methanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
|
||||
"""使用甲醇重置容器"""
|
||||
target = vessel or "main_reactor"
|
||||
debug_print(f"🧪 使用甲醇重置容器: {target}")
|
||||
return generate_reset_handling_protocol(G, solvent="methanol", vessel=vessel, **kwargs)
|
||||
|
||||
def reset_with_ethanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
|
||||
"""使用乙醇重置容器"""
|
||||
target = vessel or "main_reactor"
|
||||
debug_print(f"🧪 使用乙醇重置容器: {target}")
|
||||
return generate_reset_handling_protocol(G, solvent="ethanol", vessel=vessel, **kwargs)
|
||||
|
||||
# 测试函数
|
||||
def test_reset_handling_protocol():
|
||||
"""测试重置处理协议"""
|
||||
debug_print("=== 重置处理协议测试 ===")
|
||||
debug_print("测试完成")
|
||||
debug_print("=== 重置处理协议增强中文版测试 ===")
|
||||
|
||||
# 测试溶剂名称
|
||||
debug_print("🧪 测试常用溶剂名称...")
|
||||
test_solvents = ["methanol", "ethanol", "water", "acetone", "dmso"]
|
||||
for solvent in test_solvents:
|
||||
debug_print(f" 🔍 测试溶剂: {solvent}")
|
||||
|
||||
# 测试容器参数
|
||||
debug_print("🥽 测试容器参数...")
|
||||
test_cases = [
|
||||
{"solvent": "methanol", "vessel": None, "desc": "默认容器"},
|
||||
{"solvent": "ethanol", "vessel": "reactor_2", "desc": "指定容器"},
|
||||
{"solvent": "water", "vessel": "flask_1", "desc": "自定义容器"}
|
||||
]
|
||||
|
||||
for case in test_cases:
|
||||
debug_print(f" 🧪 测试案例: {case['desc']} - {case['solvent']} -> {case['vessel'] or 'main_reactor'}")
|
||||
|
||||
debug_print("✅ 测试完成")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_reset_handling_protocol()
|
||||
test_reset_handling_protocol()
|
||||
@@ -2,54 +2,60 @@ from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel
|
||||
from .utils.resource_helper import get_resource_id, get_resource_data, get_resource_liquid_volume, update_vessel_volume
|
||||
from .utils.logger_util import debug_print
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[RUN_COLUMN] {message}")
|
||||
|
||||
def parse_percentage(pct_str: str) -> float:
|
||||
"""
|
||||
解析百分比字符串为数值
|
||||
|
||||
|
||||
Args:
|
||||
pct_str: 百分比字符串（如 "40 %", "40%", "40"）
|
||||
|
||||
|
||||
Returns:
|
||||
float: 百分比数值（0-100）
|
||||
"""
|
||||
if not pct_str or not pct_str.strip():
|
||||
return 0.0
|
||||
|
||||
|
||||
pct_str = pct_str.strip().lower()
|
||||
|
||||
debug_print(f"🔍 解析百分比: '{pct_str}'")
|
||||
|
||||
# 移除百分号和空格
|
||||
pct_clean = re.sub(r'[%\s]', '', pct_str)
|
||||
|
||||
|
||||
# 提取数字
|
||||
match = re.search(r'([0-9]*\.?[0-9]+)', pct_clean)
|
||||
if match:
|
||||
value = float(match.group(1))
|
||||
debug_print(f"✅ 百分比解析结果: {value}%")
|
||||
return value
|
||||
|
||||
debug_print(f"无法解析百分比: '{pct_str}'，返回0.0")
|
||||
|
||||
debug_print(f"⚠️ 无法解析百分比: '{pct_str}'，返回0.0")
|
||||
return 0.0
|
||||
|
||||
def parse_ratio(ratio_str: str) -> tuple:
|
||||
"""
|
||||
解析比例字符串为两个数值
|
||||
|
||||
|
||||
Args:
|
||||
ratio_str: 比例字符串（如 "5:95", "1:1", "40:60"）
|
||||
|
||||
|
||||
Returns:
|
||||
tuple: (ratio1, ratio2) 两个比例值（百分比）
|
||||
tuple: (ratio1, ratio2) 两个比例值
|
||||
"""
|
||||
if not ratio_str or not ratio_str.strip():
|
||||
return (50.0, 50.0)
|
||||
|
||||
return (50.0, 50.0) # 默认1:1
|
||||
|
||||
ratio_str = ratio_str.strip()
|
||||
|
||||
debug_print(f"🔍 解析比例: '{ratio_str}'")
|
||||
|
||||
# 支持多种分隔符：: / -
|
||||
if ':' in ratio_str:
|
||||
parts = ratio_str.split(':')
|
||||
@@ -60,82 +66,101 @@ def parse_ratio(ratio_str: str) -> tuple:
|
||||
elif 'to' in ratio_str.lower():
|
||||
parts = ratio_str.lower().split('to')
|
||||
else:
|
||||
debug_print(f"无法解析比例格式: '{ratio_str}'，使用默认1:1")
|
||||
debug_print(f"⚠️ 无法解析比例格式: '{ratio_str}'，使用默认1:1")
|
||||
return (50.0, 50.0)
|
||||
|
||||
|
||||
if len(parts) >= 2:
|
||||
try:
|
||||
ratio1 = float(parts[0].strip())
|
||||
ratio2 = float(parts[1].strip())
|
||||
total = ratio1 + ratio2
|
||||
|
||||
|
||||
# 转换为百分比
|
||||
pct1 = (ratio1 / total) * 100
|
||||
pct2 = (ratio2 / total) * 100
|
||||
|
||||
|
||||
debug_print(f"✅ 比例解析结果: {ratio1}:{ratio2} -> {pct1:.1f}%:{pct2:.1f}%")
|
||||
return (pct1, pct2)
|
||||
except ValueError as e:
|
||||
debug_print(f"比例数值转换失败: {str(e)}")
|
||||
|
||||
debug_print(f"比例解析失败，使用默认1:1")
|
||||
debug_print(f"⚠️ 比例数值转换失败: {str(e)}")
|
||||
|
||||
debug_print(f"⚠️ 比例解析失败，使用默认1:1")
|
||||
return (50.0, 50.0)
|
||||
|
||||
def parse_rf_value(rf_str: str) -> float:
|
||||
"""
|
||||
解析Rf值字符串
|
||||
|
||||
|
||||
Args:
|
||||
rf_str: Rf值字符串（如 "0.3", "0.45", "?"）
|
||||
|
||||
|
||||
Returns:
|
||||
float: Rf值（0-1）
|
||||
"""
|
||||
if not rf_str or not rf_str.strip():
|
||||
return 0.3
|
||||
|
||||
return 0.3 # 默认Rf值
|
||||
|
||||
rf_str = rf_str.strip().lower()
|
||||
|
||||
debug_print(f"🔍 解析Rf值: '{rf_str}'")
|
||||
|
||||
# 处理未知Rf值
|
||||
if rf_str in ['?', 'unknown', 'tbd', 'to be determined']:
|
||||
return 0.3
|
||||
|
||||
default_rf = 0.3
|
||||
debug_print(f"❓ 检测到未知Rf值，使用默认值: {default_rf}")
|
||||
return default_rf
|
||||
|
||||
# 提取数字
|
||||
match = re.search(r'([0-9]*\.?[0-9]+)', rf_str)
|
||||
if match:
|
||||
value = float(match.group(1))
|
||||
# 确保Rf值在0-1范围内
|
||||
if value > 1.0:
|
||||
value = value / 100.0
|
||||
value = max(0.0, min(1.0, value))
|
||||
value = value / 100.0 # 可能是百分比形式
|
||||
value = max(0.0, min(1.0, value)) # 限制在0-1范围
|
||||
debug_print(f"✅ Rf值解析结果: {value}")
|
||||
return value
|
||||
|
||||
|
||||
debug_print(f"⚠️ 无法解析Rf值: '{rf_str}'，使用默认值0.3")
|
||||
return 0.3
|
||||
|
||||
def find_column_device(G: nx.DiGraph) -> str:
|
||||
"""查找柱层析设备"""
|
||||
debug_print("🔍 查找柱层析设备...")
|
||||
|
||||
# 查找虚拟柱设备
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
|
||||
if 'virtual_column' in node_class.lower() or 'column' in node_class.lower():
|
||||
debug_print(f"找到柱层析设备: {node}")
|
||||
debug_print(f"🎉 找到柱层析设备: {node} ✨")
|
||||
return node
|
||||
|
||||
|
||||
# 如果没有找到，尝试创建虚拟设备名称
|
||||
possible_names = ['column_1', 'virtual_column_1', 'chromatography_column_1']
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
debug_print(f"找到柱设备: {name}")
|
||||
debug_print(f"🎉 找到柱设备: {name} ✨")
|
||||
return name
|
||||
|
||||
debug_print("未找到柱层析设备，将使用pump protocol直接转移")
|
||||
|
||||
debug_print("⚠️ 未找到柱层析设备，将使用pump protocol直接转移")
|
||||
return ""
|
||||
|
||||
def find_column_vessel(G: nx.DiGraph, column: str) -> str:
|
||||
"""查找柱容器"""
|
||||
debug_print(f"🔍 查找柱容器: '{column}'")
|
||||
|
||||
# 直接检查column参数是否是容器
|
||||
if column in G.nodes():
|
||||
node_type = G.nodes[column].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"🎉 找到柱容器: {column} ✨")
|
||||
return column
|
||||
|
||||
|
||||
# 尝试常见的命名规则
|
||||
possible_names = [
|
||||
f"column_{column}",
|
||||
f"{column}_column",
|
||||
f"{column}_column",
|
||||
f"vessel_{column}",
|
||||
f"{column}_vessel",
|
||||
"column_vessel",
|
||||
@@ -144,25 +169,211 @@ def find_column_vessel(G: nx.DiGraph, column: str) -> str:
|
||||
"preparative_column",
|
||||
"column"
|
||||
]
|
||||
|
||||
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
node_type = G.nodes[vessel_name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"🎉 找到柱容器: {vessel_name} ✨")
|
||||
return vessel_name
|
||||
|
||||
|
||||
debug_print(f"⚠️ 未找到柱容器，将直接在源容器中进行分离")
|
||||
return ""
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""查找溶剂容器 - 增强版"""
|
||||
if not solvent or not solvent.strip():
|
||||
return ""
|
||||
|
||||
solvent = solvent.strip().replace(' ', '_').lower()
|
||||
debug_print(f"🔍 查找溶剂容器: '{solvent}'")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node].get('data', {})
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
|
||||
# 只搜索容器类型的节点
|
||||
if node_type == 'container':
|
||||
reagent_name = node_data.get('reagent_name', '').lower()
|
||||
reagent_config = G.nodes[node].get('config', {}).get('reagent', '').lower()
|
||||
|
||||
# 检查 data.reagent_name 和 config.reagent
|
||||
if reagent_name == solvent or reagent_config == solvent:
|
||||
debug_print(f"🎉 通过reagent_name找到溶剂容器: {node} (reagent: {reagent_name or reagent_config}) ✨")
|
||||
return node
|
||||
|
||||
# 模糊匹配 reagent_name
|
||||
if solvent in reagent_name or reagent_name in solvent:
|
||||
debug_print(f"🎉 通过reagent_name模糊匹配到溶剂容器: {node} (reagent: {reagent_name}) ✨")
|
||||
return node
|
||||
|
||||
if solvent in reagent_config or reagent_config in solvent:
|
||||
debug_print(f"🎉 通过config.reagent模糊匹配到溶剂容器: {node} (reagent: {reagent_config}) ✨")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的溶剂容器命名规则
|
||||
possible_names = [
|
||||
f"flask_{solvent}",
|
||||
f"bottle_{solvent}",
|
||||
f"reagent_{solvent}",
|
||||
f"{solvent}_bottle",
|
||||
f"{solvent}_flask",
|
||||
f"solvent_{solvent}",
|
||||
f"reagent_bottle_{solvent}"
|
||||
]
|
||||
|
||||
for vessel_name in possible_names:
|
||||
if vessel_name in G.nodes():
|
||||
node_type = G.nodes[vessel_name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"🎉 通过命名规则找到溶剂容器: {vessel_name} ✨")
|
||||
return vessel_name
|
||||
|
||||
# 🔧 方法3：节点名称模糊匹配
|
||||
for node in G.nodes():
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
if node_type == 'container':
|
||||
if ('flask_' in node or 'bottle_' in node or 'reagent_' in node) and solvent in node.lower():
|
||||
debug_print(f"🎉 通过节点名称模糊匹配到溶剂容器: {node} ✨")
|
||||
return node
|
||||
|
||||
# 🔧 方法4：特殊溶剂名称映射
|
||||
solvent_mapping = {
|
||||
'dmf': ['dmf', 'dimethylformamide', 'n,n-dimethylformamide'],
|
||||
'ethyl_acetate': ['ethyl_acetate', 'ethylacetate', 'etoac', 'ea'],
|
||||
'hexane': ['hexane', 'hexanes', 'n-hexane'],
|
||||
'methanol': ['methanol', 'meoh', 'ch3oh'],
|
||||
'water': ['water', 'h2o', 'distilled_water'],
|
||||
'acetone': ['acetone', 'ch3coch3', '2-propanone'],
|
||||
'dichloromethane': ['dichloromethane', 'dcm', 'ch2cl2', 'methylene_chloride'],
|
||||
'chloroform': ['chloroform', 'chcl3', 'trichloromethane']
|
||||
}
|
||||
|
||||
# 查找映射的同义词
|
||||
for canonical_name, synonyms in solvent_mapping.items():
|
||||
if solvent in synonyms:
|
||||
debug_print(f"🔍 检测到溶剂同义词: '{solvent}' -> '{canonical_name}'")
|
||||
return find_solvent_vessel(G, canonical_name) # 递归搜索
|
||||
|
||||
debug_print(f"⚠️ 未找到溶剂 '{solvent}' 的容器")
|
||||
return ""
|
||||
|
||||
def get_vessel_liquid_volume(vessel: dict) -> float:
|
||||
"""
|
||||
获取容器中的液体体积 - 支持vessel字典
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
|
||||
Returns:
|
||||
float: 液体体积（mL）
|
||||
"""
|
||||
if not vessel or "data" not in vessel:
|
||||
debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
|
||||
return 0.0
|
||||
|
||||
vessel_data = vessel["data"]
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
|
||||
|
||||
# 检查liquid_volume字段
|
||||
if "liquid_volume" in vessel_data:
|
||||
liquid_volume = vessel_data["liquid_volume"]
|
||||
|
||||
# 处理列表格式
|
||||
if isinstance(liquid_volume, list):
|
||||
if len(liquid_volume) > 0:
|
||||
volume = liquid_volume[0]
|
||||
if isinstance(volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
|
||||
return float(volume)
|
||||
|
||||
# 处理直接数值格式
|
||||
elif isinstance(liquid_volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
|
||||
return float(liquid_volume)
|
||||
|
||||
# 检查其他可能的体积字段
|
||||
volume_keys = ['current_volume', 'total_volume', 'volume']
|
||||
for key in volume_keys:
|
||||
if key in vessel_data:
|
||||
try:
|
||||
volume = float(vessel_data[key])
|
||||
if volume > 0:
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
|
||||
return volume
|
||||
except (ValueError, TypeError):
|
||||
continue
|
||||
|
||||
debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 50.0mL")
|
||||
return 50.0
|
||||
|
||||
def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
|
||||
"""
|
||||
更新容器体积（同时更新vessel字典和图节点）
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
G: 网络图
|
||||
new_volume: 新体积
|
||||
description: 更新描述
|
||||
"""
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
if description:
|
||||
debug_print(f"🔧 更新容器体积 - {description}")
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel:
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"] = {"liquid_volume": new_volume}
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
|
||||
|
||||
def calculate_solvent_volumes(total_volume: float, pct1: float, pct2: float) -> tuple:
|
||||
"""根据百分比计算溶剂体积"""
|
||||
volume1 = (total_volume * pct1) / 100.0
|
||||
volume2 = (total_volume * pct2) / 100.0
|
||||
|
||||
debug_print(f"🧮 溶剂体积计算: 总体积{total_volume}mL")
|
||||
debug_print(f" - 溶剂1: {pct1}% = {volume1}mL")
|
||||
debug_print(f" - 溶剂2: {pct2}% = {volume2}mL")
|
||||
|
||||
return (volume1, volume2)
|
||||
|
||||
def generate_run_column_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: dict,
|
||||
to_vessel: dict,
|
||||
from_vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
to_vessel: dict, # 🔧 修改：从字符串改为字典类型
|
||||
column: str,
|
||||
rf: str = "",
|
||||
pct1: str = "",
|
||||
@@ -174,7 +385,7 @@ def generate_run_column_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成柱层析分离的协议序列 - 支持vessel字典和体积运算
|
||||
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器，边为流体管道
|
||||
from_vessel: 源容器字典（从XDL传入）
|
||||
@@ -187,112 +398,173 @@ def generate_run_column_protocol(
|
||||
solvent2: 第二种溶剂名称（可选）
|
||||
ratio: 溶剂比例（如 "5:95"，可选，优先级高于pct1/pct2）
|
||||
**kwargs: 其他可选参数
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 柱层析分离操作的动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
from_vessel_id, _ = get_vessel(from_vessel)
|
||||
to_vessel_id, _ = get_vessel(to_vessel)
|
||||
|
||||
debug_print(f"开始生成柱层析协议: {from_vessel_id} -> {to_vessel_id}, column={column}")
|
||||
|
||||
debug_print("🏛️" * 20)
|
||||
debug_print("🚀 开始生成柱层析协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 from_vessel: {from_vessel} (ID: {from_vessel_id})")
|
||||
debug_print(f" 🥽 to_vessel: {to_vessel} (ID: {to_vessel_id})")
|
||||
debug_print(f" 🏛️ column: '{column}'")
|
||||
debug_print(f" 📊 rf: '{rf}'")
|
||||
debug_print(f" 🧪 溶剂配比: pct1='{pct1}', pct2='{pct2}', ratio='{ratio}'")
|
||||
debug_print(f" 🧪 溶剂名称: solvent1='{solvent1}', solvent2='{solvent2}'")
|
||||
debug_print("🏛️" * 20)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 记录柱层析前的容器状态
|
||||
original_from_volume = get_resource_liquid_volume(from_vessel)
|
||||
original_to_volume = get_resource_liquid_volume(to_vessel)
|
||||
|
||||
|
||||
# 🔧 新增：记录柱层析前的容器状态
|
||||
debug_print("🔍 记录柱层析前容器状态...")
|
||||
original_from_volume = get_vessel_liquid_volume(from_vessel)
|
||||
original_to_volume = get_vessel_liquid_volume(to_vessel)
|
||||
|
||||
debug_print(f"📊 柱层析前状态:")
|
||||
debug_print(f" - 源容器 {from_vessel_id}: {original_from_volume:.2f}mL")
|
||||
debug_print(f" - 目标容器 {to_vessel_id}: {original_to_volume:.2f}mL")
|
||||
|
||||
# === 参数验证 ===
|
||||
if not from_vessel_id:
|
||||
debug_print("📍 步骤1: 参数验证...")
|
||||
|
||||
if not from_vessel_id: # 🔧 使用 from_vessel_id
|
||||
raise ValueError("from_vessel 参数不能为空")
|
||||
if not to_vessel_id:
|
||||
if not to_vessel_id: # 🔧 使用 to_vessel_id
|
||||
raise ValueError("to_vessel 参数不能为空")
|
||||
if not column:
|
||||
raise ValueError("column 参数不能为空")
|
||||
|
||||
if from_vessel_id not in G.nodes():
|
||||
|
||||
if from_vessel_id not in G.nodes(): # 🔧 使用 from_vessel_id
|
||||
raise ValueError(f"源容器 '{from_vessel_id}' 不存在于系统中")
|
||||
if to_vessel_id not in G.nodes():
|
||||
if to_vessel_id not in G.nodes(): # 🔧 使用 to_vessel_id
|
||||
raise ValueError(f"目标容器 '{to_vessel_id}' 不存在于系统中")
|
||||
|
||||
|
||||
debug_print("✅ 基本参数验证通过")
|
||||
|
||||
# === 参数解析 ===
|
||||
debug_print("📍 步骤2: 参数解析...")
|
||||
|
||||
# 解析Rf值
|
||||
final_rf = parse_rf_value(rf)
|
||||
|
||||
debug_print(f"🎯 最终Rf值: {final_rf}")
|
||||
|
||||
# 解析溶剂比例（ratio优先级高于pct1/pct2）
|
||||
if ratio and ratio.strip():
|
||||
final_pct1, final_pct2 = parse_ratio(ratio)
|
||||
debug_print(f"📊 使用ratio参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
|
||||
else:
|
||||
final_pct1 = parse_percentage(pct1) if pct1 else 50.0
|
||||
final_pct2 = parse_percentage(pct2) if pct2 else 50.0
|
||||
|
||||
|
||||
# 如果百分比和不是100%，进行归一化
|
||||
total_pct = final_pct1 + final_pct2
|
||||
if total_pct == 0:
|
||||
final_pct1, final_pct2 = 50.0, 50.0
|
||||
elif total_pct != 100.0:
|
||||
final_pct1 = (final_pct1 / total_pct) * 100
|
||||
final_pct2 = (final_pct2 / total_pct) * 100
|
||||
|
||||
|
||||
debug_print(f"📊 使用百分比参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
|
||||
|
||||
# 设置默认溶剂（如果未指定）
|
||||
final_solvent1 = solvent1.strip() if solvent1 else "ethyl_acetate"
|
||||
final_solvent2 = solvent2.strip() if solvent2 else "hexane"
|
||||
|
||||
debug_print(f"参数: rf={final_rf}, 溶剂={final_solvent1}:{final_solvent2} = {final_pct1:.1f}%:{final_pct2:.1f}%")
|
||||
|
||||
|
||||
debug_print(f"🧪 最终溶剂: {final_solvent1} : {final_solvent2}")
|
||||
|
||||
# === 查找设备和容器 ===
|
||||
debug_print("📍 步骤3: 查找设备和容器...")
|
||||
|
||||
# 查找柱层析设备
|
||||
column_device_id = find_column_device(G)
|
||||
|
||||
# 查找柱容器
|
||||
column_vessel = find_column_vessel(G, column)
|
||||
|
||||
# 查找溶剂容器
|
||||
solvent1_vessel = find_solvent_vessel(G, final_solvent1)
|
||||
solvent2_vessel = find_solvent_vessel(G, final_solvent2)
|
||||
|
||||
|
||||
debug_print(f"🔧 设备映射:")
|
||||
debug_print(f" - 柱设备: '{column_device_id}'")
|
||||
debug_print(f" - 柱容器: '{column_vessel}'")
|
||||
debug_print(f" - 溶剂1容器: '{solvent1_vessel}'")
|
||||
debug_print(f" - 溶剂2容器: '{solvent2_vessel}'")
|
||||
|
||||
# === 获取源容器体积 ===
|
||||
debug_print("📍 步骤4: 获取源容器体积...")
|
||||
|
||||
source_volume = original_from_volume
|
||||
if source_volume <= 0:
|
||||
source_volume = 50.0
|
||||
|
||||
source_volume = 50.0 # 默认体积
|
||||
debug_print(f"⚠️ 无法获取源容器体积，使用默认值: {source_volume}mL")
|
||||
else:
|
||||
debug_print(f"✅ 源容器体积: {source_volume}mL")
|
||||
|
||||
# === 计算溶剂体积 ===
|
||||
debug_print("📍 步骤5: 计算溶剂体积...")
|
||||
|
||||
# 洗脱溶剂通常是样品体积的2-5倍
|
||||
total_elution_volume = source_volume * 3.0
|
||||
solvent1_volume, solvent2_volume = calculate_solvent_volumes(
|
||||
total_elution_volume, final_pct1, final_pct2
|
||||
)
|
||||
|
||||
|
||||
# === 执行柱层析流程 ===
|
||||
debug_print("📍 步骤6: 执行柱层析流程...")
|
||||
|
||||
# 🔧 新增：体积变化跟踪变量
|
||||
current_from_volume = source_volume
|
||||
current_to_volume = original_to_volume
|
||||
current_column_volume = 0.0
|
||||
|
||||
|
||||
try:
|
||||
# 步骤1: 样品上柱
|
||||
if column_vessel and column_vessel != from_vessel_id:
|
||||
# 步骤6.1: 样品上柱（如果有独立的柱容器）
|
||||
if column_vessel and column_vessel != from_vessel_id: # 🔧 使用 from_vessel_id
|
||||
debug_print(f"📍 6.1: 样品上柱 - {source_volume}mL 从 {from_vessel_id} 到 {column_vessel}")
|
||||
|
||||
try:
|
||||
sample_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=from_vessel_id,
|
||||
from_vessel=from_vessel_id, # 🔧 使用 from_vessel_id
|
||||
to_vessel=column_vessel,
|
||||
volume=source_volume,
|
||||
flowrate=1.0,
|
||||
flowrate=1.0, # 慢速上柱
|
||||
transfer_flowrate=0.5,
|
||||
rinsing_solvent="",
|
||||
rinsing_solvent="", # 暂不冲洗
|
||||
rinsing_volume=0.0,
|
||||
rinsing_repeats=0
|
||||
)
|
||||
action_sequence.extend(sample_transfer_actions)
|
||||
|
||||
current_from_volume = 0.0
|
||||
current_column_volume = source_volume
|
||||
|
||||
debug_print(f"✅ 样品上柱完成，添加了 {len(sample_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 样品转移到柱上
|
||||
current_from_volume = 0.0 # 源容器体积变为0
|
||||
current_column_volume = source_volume # 柱容器体积增加
|
||||
|
||||
update_vessel_volume(from_vessel, G, current_from_volume, "样品上柱后，源容器清空")
|
||||
|
||||
|
||||
# 如果柱容器在图中，也更新其体积
|
||||
if column_vessel in G.nodes():
|
||||
if 'data' not in G.nodes[column_vessel]:
|
||||
G.nodes[column_vessel]['data'] = {}
|
||||
G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
|
||||
|
||||
debug_print(f"📊 柱容器 '{column_vessel}' 体积更新为: {current_column_volume:.2f}mL")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"样品上柱失败: {str(e)}")
|
||||
|
||||
# 步骤2: 添加洗脱溶剂1
|
||||
debug_print(f"⚠️ 样品上柱失败: {str(e)}")
|
||||
|
||||
# 步骤6.2: 添加洗脱溶剂1（如果有溶剂容器）
|
||||
if solvent1_vessel and solvent1_volume > 0:
|
||||
debug_print(f"📍 6.2: 添加洗脱溶剂1 - {solvent1_volume:.1f}mL {final_solvent1}")
|
||||
|
||||
try:
|
||||
target_vessel = column_vessel if column_vessel else from_vessel_id
|
||||
target_vessel = column_vessel if column_vessel else from_vessel_id # 🔧 使用 from_vessel_id
|
||||
solvent1_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent1_vessel,
|
||||
@@ -302,22 +574,27 @@ def generate_run_column_protocol(
|
||||
transfer_flowrate=1.0
|
||||
)
|
||||
action_sequence.extend(solvent1_transfer_actions)
|
||||
|
||||
debug_print(f"✅ 溶剂1添加完成，添加了 {len(solvent1_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂1
|
||||
if target_vessel == column_vessel:
|
||||
current_column_volume += solvent1_volume
|
||||
if column_vessel in G.nodes():
|
||||
G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
|
||||
debug_print(f"📊 柱容器体积增加: +{solvent1_volume:.2f}mL = {current_column_volume:.2f}mL")
|
||||
elif target_vessel == from_vessel_id:
|
||||
current_from_volume += solvent1_volume
|
||||
update_vessel_volume(from_vessel, G, current_from_volume, "添加溶剂1后")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"溶剂1添加失败: {str(e)}")
|
||||
|
||||
# 步骤3: 添加洗脱溶剂2
|
||||
debug_print(f"⚠️ 溶剂1添加失败: {str(e)}")
|
||||
|
||||
# 步骤6.3: 添加洗脱溶剂2（如果有溶剂容器）
|
||||
if solvent2_vessel and solvent2_volume > 0:
|
||||
debug_print(f"📍 6.3: 添加洗脱溶剂2 - {solvent2_volume:.1f}mL {final_solvent2}")
|
||||
|
||||
try:
|
||||
target_vessel = column_vessel if column_vessel else from_vessel_id
|
||||
target_vessel = column_vessel if column_vessel else from_vessel_id # 🔧 使用 from_vessel_id
|
||||
solvent2_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent2_vessel,
|
||||
@@ -327,26 +604,31 @@ def generate_run_column_protocol(
|
||||
transfer_flowrate=1.0
|
||||
)
|
||||
action_sequence.extend(solvent2_transfer_actions)
|
||||
|
||||
debug_print(f"✅ 溶剂2添加完成，添加了 {len(solvent2_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂2
|
||||
if target_vessel == column_vessel:
|
||||
current_column_volume += solvent2_volume
|
||||
if column_vessel in G.nodes():
|
||||
G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
|
||||
debug_print(f"📊 柱容器体积增加: +{solvent2_volume:.2f}mL = {current_column_volume:.2f}mL")
|
||||
elif target_vessel == from_vessel_id:
|
||||
current_from_volume += solvent2_volume
|
||||
update_vessel_volume(from_vessel, G, current_from_volume, "添加溶剂2后")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"溶剂2添加失败: {str(e)}")
|
||||
|
||||
# 步骤4: 使用柱层析设备执行分离
|
||||
debug_print(f"⚠️ 溶剂2添加失败: {str(e)}")
|
||||
|
||||
# 步骤6.4: 使用柱层析设备执行分离（如果有设备）
|
||||
if column_device_id:
|
||||
debug_print(f"📍 6.4: 使用柱层析设备执行分离")
|
||||
|
||||
column_separation_action = {
|
||||
"device_id": column_device_id,
|
||||
"action_name": "run_column",
|
||||
"action_kwargs": {
|
||||
"from_vessel": from_vessel_id,
|
||||
"to_vessel": to_vessel_id,
|
||||
"from_vessel": from_vessel_id, # 🔧 使用 from_vessel_id
|
||||
"to_vessel": to_vessel_id, # 🔧 使用 to_vessel_id
|
||||
"column": column,
|
||||
"rf": rf,
|
||||
"pct1": pct1,
|
||||
@@ -357,65 +639,85 @@ def generate_run_column_protocol(
|
||||
}
|
||||
}
|
||||
action_sequence.append(column_separation_action)
|
||||
|
||||
separation_time = max(30, min(120, int(total_elution_volume / 2)))
|
||||
debug_print(f"✅ 柱层析设备动作已添加")
|
||||
|
||||
# 等待分离完成
|
||||
separation_time = max(30, min(120, int(total_elution_volume / 2))) # 30-120秒，基于体积
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": separation_time}
|
||||
})
|
||||
|
||||
# 步骤5: 产物收集
|
||||
if column_vessel and column_vessel != to_vessel_id:
|
||||
debug_print(f"✅ 等待分离完成: {separation_time}秒")
|
||||
|
||||
# 步骤6.5: 产物收集（从柱容器到目标容器）
|
||||
if column_vessel and column_vessel != to_vessel_id: # 🔧 使用 to_vessel_id
|
||||
debug_print(f"📍 6.5: 产物收集 - 从 {column_vessel} 到 {to_vessel_id}")
|
||||
|
||||
try:
|
||||
# 估算产物体积（原始样品体积的70-90%，收率考虑）
|
||||
product_volume = source_volume * 0.8
|
||||
|
||||
|
||||
product_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=column_vessel,
|
||||
to_vessel=to_vessel_id,
|
||||
to_vessel=to_vessel_id, # 🔧 使用 to_vessel_id
|
||||
volume=product_volume,
|
||||
flowrate=1.5,
|
||||
transfer_flowrate=0.8
|
||||
)
|
||||
action_sequence.extend(product_transfer_actions)
|
||||
|
||||
debug_print(f"✅ 产物收集完成，添加了 {len(product_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 产物收集到目标容器
|
||||
current_to_volume += product_volume
|
||||
current_column_volume -= product_volume
|
||||
|
||||
current_column_volume -= product_volume # 柱容器体积减少
|
||||
|
||||
update_vessel_volume(to_vessel, G, current_to_volume, "产物收集后")
|
||||
|
||||
|
||||
# 更新柱容器体积
|
||||
if column_vessel in G.nodes():
|
||||
G.nodes[column_vessel]['data']['liquid_volume'] = max(0.0, current_column_volume)
|
||||
|
||||
debug_print(f"📊 柱容器体积减少: -{product_volume:.2f}mL = {current_column_volume:.2f}mL")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"产物收集失败: {str(e)}")
|
||||
|
||||
# 步骤6: 简化模式 - 直接转移
|
||||
debug_print(f"⚠️ 产物收集失败: {str(e)}")
|
||||
|
||||
# 步骤6.6: 如果没有独立的柱设备和容器，执行简化的直接转移
|
||||
if not column_device_id and not column_vessel:
|
||||
debug_print(f"📍 6.6: 简化模式 - 直接转移 {source_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}")
|
||||
|
||||
try:
|
||||
direct_transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=from_vessel_id,
|
||||
to_vessel=to_vessel_id,
|
||||
from_vessel=from_vessel_id, # 🔧 使用 from_vessel_id
|
||||
to_vessel=to_vessel_id, # 🔧 使用 to_vessel_id
|
||||
volume=source_volume,
|
||||
flowrate=2.0,
|
||||
transfer_flowrate=1.0
|
||||
)
|
||||
action_sequence.extend(direct_transfer_actions)
|
||||
|
||||
current_from_volume = 0.0
|
||||
current_to_volume += source_volume
|
||||
|
||||
debug_print(f"✅ 直接转移完成，添加了 {len(direct_transfer_actions)} 个动作")
|
||||
|
||||
# 🔧 新增：更新体积 - 直接转移
|
||||
current_from_volume = 0.0 # 源容器清空
|
||||
current_to_volume += source_volume # 目标容器增加
|
||||
|
||||
update_vessel_volume(from_vessel, G, current_from_volume, "直接转移后，源容器清空")
|
||||
update_vessel_volume(to_vessel, G, current_to_volume, "直接转移后，目标容器增加")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"直接转移失败: {str(e)}")
|
||||
|
||||
debug_print(f"⚠️ 直接转移失败: {str(e)}")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"协议生成失败: {str(e)}")
|
||||
|
||||
debug_print(f"❌ 协议生成失败: {str(e)} 😭")
|
||||
|
||||
# 不添加不确定的动作，直接让action_sequence保持为空列表
|
||||
# action_sequence 已经在函数开始时初始化为 []
|
||||
|
||||
# 确保至少有一个有效的动作，如果完全失败就返回空列表
|
||||
if not action_sequence:
|
||||
debug_print("⚠️ 没有生成任何有效动作")
|
||||
# 可以选择返回空列表或添加一个基本的等待动作
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
@@ -423,50 +725,83 @@ def generate_run_column_protocol(
|
||||
"description": "柱层析协议执行完成"
|
||||
}
|
||||
})
|
||||
|
||||
final_from_volume = get_resource_liquid_volume(from_vessel)
|
||||
final_to_volume = get_resource_liquid_volume(to_vessel)
|
||||
|
||||
debug_print(f"柱层析协议生成完成: {len(action_sequence)} 个动作, {from_vessel_id} -> {to_vessel_id}, 收集={final_to_volume - original_to_volume:.2f}mL")
|
||||
|
||||
|
||||
# 🔧 新增：柱层析完成后的最终状态报告
|
||||
final_from_volume = get_vessel_liquid_volume(from_vessel)
|
||||
final_to_volume = get_vessel_liquid_volume(to_vessel)
|
||||
|
||||
# 🎊 总结
|
||||
debug_print("🏛️" * 20)
|
||||
debug_print(f"🎉 柱层析协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f"🥽 路径: {from_vessel_id} → {to_vessel_id}")
|
||||
debug_print(f"🏛️ 柱子: {column}")
|
||||
debug_print(f"🧪 溶剂: {final_solvent1}:{final_solvent2} = {final_pct1:.1f}%:{final_pct2:.1f}%")
|
||||
debug_print(f"📊 体积变化统计:")
|
||||
debug_print(f" 源容器 {from_vessel_id}:")
|
||||
debug_print(f" - 柱层析前: {original_from_volume:.2f}mL")
|
||||
debug_print(f" - 柱层析后: {final_from_volume:.2f}mL")
|
||||
debug_print(f" 目标容器 {to_vessel_id}:")
|
||||
debug_print(f" - 柱层析前: {original_to_volume:.2f}mL")
|
||||
debug_print(f" - 柱层析后: {final_to_volume:.2f}mL")
|
||||
debug_print(f" - 收集体积: {final_to_volume - original_to_volume:.2f}mL")
|
||||
debug_print(f"⏱️ 预计总时间: {len(action_sequence) * 5:.0f} 秒 ⌛")
|
||||
debug_print("🏛️" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
# 便捷函数
|
||||
def generate_ethyl_acetate_hexane_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
# 🔧 新增：便捷函数
|
||||
def generate_ethyl_acetate_hexane_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str, ratio: str = "30:70") -> List[Dict[str, Any]]:
|
||||
"""乙酸乙酯-己烷柱层析（常用组合）"""
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
from_vessel_id = from_vessel["id"]
|
||||
to_vessel_id = to_vessel["id"]
|
||||
debug_print(f"🧪⛽ 乙酸乙酯-己烷柱层析: {from_vessel_id} → {to_vessel_id} @ {ratio}")
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
solvent1="ethyl_acetate", solvent2="hexane", ratio=ratio)
|
||||
|
||||
def generate_methanol_dcm_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
def generate_methanol_dcm_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str, ratio: str = "5:95") -> List[Dict[str, Any]]:
|
||||
"""甲醇-二氯甲烷柱层析"""
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
from_vessel_id = from_vessel["id"]
|
||||
to_vessel_id = to_vessel["id"]
|
||||
debug_print(f"🧪🧪 甲醇-DCM柱层析: {from_vessel_id} → {to_vessel_id} @ {ratio}")
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
solvent1="methanol", solvent2="dichloromethane", ratio=ratio)
|
||||
|
||||
def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str, start_ratio: str = "10:90",
|
||||
def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str, start_ratio: str = "10:90",
|
||||
end_ratio: str = "50:50") -> List[Dict[str, Any]]:
|
||||
"""梯度洗脱柱层析（中等比例）"""
|
||||
from_vessel_id, _ = get_vessel(from_vessel)
|
||||
to_vessel_id, _ = get_vessel(to_vessel)
|
||||
debug_print(f"📈 梯度柱层析: {from_vessel_id} → {to_vessel_id} ({start_ratio} → {end_ratio})")
|
||||
# 使用中间比例作为近似
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column, ratio="30:70")
|
||||
|
||||
def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str) -> List[Dict[str, Any]]:
|
||||
"""极性化合物柱层析（高极性溶剂比例）"""
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
from_vessel_id, _ = get_vessel(from_vessel)
|
||||
to_vessel_id, _ = get_vessel(to_vessel)
|
||||
debug_print(f"⚡ 极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
solvent1="ethyl_acetate", solvent2="hexane", ratio="70:30")
|
||||
|
||||
def generate_nonpolar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
def generate_nonpolar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
|
||||
column: str) -> List[Dict[str, Any]]:
|
||||
"""非极性化合物柱层析（低极性溶剂比例）"""
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
from_vessel_id, _ = get_vessel(from_vessel)
|
||||
to_vessel_id, _ = get_vessel(to_vessel)
|
||||
debug_print(f"🛢️ 非极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
|
||||
return generate_run_column_protocol(G, from_vessel, to_vessel, column,
|
||||
solvent1="ethyl_acetate", solvent2="hexane", ratio="5:95")
|
||||
|
||||
# 测试函数
|
||||
def test_run_column_protocol():
|
||||
"""测试柱层析协议"""
|
||||
debug_print("=== RUN COLUMN PROTOCOL 测试 ===")
|
||||
debug_print("测试完成")
|
||||
debug_print("🧪 === RUN COLUMN PROTOCOL 测试 === ✨")
|
||||
debug_print("✅ 测试完成 🎉")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_run_column_protocol()
|
||||
|
||||
@@ -1,11 +1,41 @@
|
||||
from functools import partial
|
||||
|
||||
import networkx as nx
|
||||
import re
|
||||
import logging
|
||||
import sys
|
||||
from typing import List, Dict, Any, Union
|
||||
from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_stirrer
|
||||
from .utils.resource_helper import get_resource_liquid_volume, update_vessel_volume
|
||||
from .utils.logger_util import debug_print, action_log
|
||||
from .utils.unit_parser import parse_volume_input
|
||||
from .utils.vessel_parser import get_vessel
|
||||
from .utils.logger_util import action_log
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
# 确保输出编码为UTF-8
|
||||
if hasattr(sys.stdout, 'reconfigure'):
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding='utf-8')
|
||||
sys.stderr.reconfigure(encoding='utf-8')
|
||||
except:
|
||||
pass
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出函数 - 支持中文"""
|
||||
try:
|
||||
# 确保消息是字符串格式
|
||||
safe_message = str(message)
|
||||
logger.info(f"[SEPARATE] {safe_message}")
|
||||
except UnicodeEncodeError:
|
||||
# 如果编码失败，尝试替换不支持的字符
|
||||
safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
|
||||
logger.info(f"[SEPARATE] {safe_message}")
|
||||
except Exception as e:
|
||||
# 最后的安全措施
|
||||
fallback_message = f"日志输出错误: {repr(message)}"
|
||||
logger.info(f"[SEPARATE] {fallback_message}")
|
||||
|
||||
create_action_log = partial(action_log, prefix="[SEPARATE]")
|
||||
|
||||
|
||||
def generate_separate_protocol(
|
||||
G: nx.DiGraph,
|
||||
@@ -63,33 +93,45 @@ def generate_separate_protocol(
|
||||
# 🔧 核心修改：从字典中提取容器ID
|
||||
vessel_id, vessel_data = get_vessel(vessel)
|
||||
|
||||
debug_print(f"开始生成分离协议: vessel={vessel_id}, purpose={purpose}, "
|
||||
f"product_phase={product_phase}, solvent={solvent}, "
|
||||
f"volume={volume}, repeats={repeats}")
|
||||
debug_print("🌀" * 20)
|
||||
debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel} (ID: {vessel_id})")
|
||||
debug_print(f" 🎯 分离目的: '{purpose}'")
|
||||
debug_print(f" 📊 产物相: '{product_phase}'")
|
||||
debug_print(f" 💧 溶剂: '{solvent}'")
|
||||
debug_print(f" 📏 体积: {volume} (类型: {type(volume)})")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print(f" 🎯 产物容器: '{product_vessel}'")
|
||||
debug_print(f" 🗑️ 废液容器: '{waste_vessel}'")
|
||||
debug_print(f" 📦 其他参数: {kwargs}")
|
||||
debug_print("🌀" * 20)
|
||||
|
||||
action_sequence = []
|
||||
|
||||
# 记录分离前的容器状态
|
||||
original_liquid_volume = get_resource_liquid_volume(vessel)
|
||||
debug_print(f"分离前液体体积: {original_liquid_volume:.2f}mL")
|
||||
# 🔧 新增：记录分离前的容器状态
|
||||
debug_print("🔍 记录分离前容器状态...")
|
||||
original_liquid_volume = get_vessel_liquid_volume(vessel)
|
||||
debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
|
||||
|
||||
# === 参数验证和标准化 ===
|
||||
action_sequence.append(action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬", prefix="[SEPARATE]"))
|
||||
action_sequence.append(action_log(f"分离目的: {purpose}", "🧪", prefix="[SEPARATE]"))
|
||||
action_sequence.append(action_log(f"产物相: {product_phase}", "📊", prefix="[SEPARATE]"))
|
||||
debug_print("🔍 步骤1: 参数验证和标准化...")
|
||||
action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
|
||||
action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
|
||||
|
||||
# 统一容器参数 - 支持字典和字符串
|
||||
final_vessel_id = vessel_id
|
||||
def extract_vessel_id(vessel_param):
|
||||
if isinstance(vessel_param, dict):
|
||||
return vessel_param.get("id", "")
|
||||
elif isinstance(vessel_param, str):
|
||||
return vessel_param
|
||||
else:
|
||||
return ""
|
||||
|
||||
to_vessel_result = get_vessel(to_vessel) if to_vessel else None
|
||||
if to_vessel_result is None or to_vessel_result[0] == "":
|
||||
to_vessel_result = get_vessel(product_vessel) if product_vessel else None
|
||||
final_to_vessel_id = to_vessel_result[0] if to_vessel_result else ""
|
||||
|
||||
waste_vessel_result = get_vessel(waste_phase_to_vessel) if waste_phase_to_vessel else None
|
||||
if waste_vessel_result is None or waste_vessel_result[0] == "":
|
||||
waste_vessel_result = get_vessel(waste_vessel) if waste_vessel else None
|
||||
final_waste_vessel_id = waste_vessel_result[0] if waste_vessel_result else ""
|
||||
final_vessel_id, _ = vessel_id
|
||||
final_to_vessel_id, _ = get_vessel(to_vessel) or get_vessel(product_vessel)
|
||||
final_waste_vessel_id, _ = get_vessel(waste_phase_to_vessel) or get_vessel(waste_vessel)
|
||||
|
||||
# 统一体积参数
|
||||
final_volume = parse_volume_input(volume or solvent_volume)
|
||||
@@ -99,12 +141,16 @@ def generate_separate_protocol(
|
||||
repeats = 1
|
||||
debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
|
||||
|
||||
debug_print(f"标准化参数: vessel={final_vessel_id}, to={final_to_vessel_id}, "
|
||||
f"waste={final_waste_vessel_id}, volume={final_volume}mL, repeats={repeats}")
|
||||
debug_print(f"🔧 标准化后的参数:")
|
||||
debug_print(f" 🥼 分离容器: '{final_vessel_id}'")
|
||||
debug_print(f" 🎯 产物容器: '{final_to_vessel_id}'")
|
||||
debug_print(f" 🗑️ 废液容器: '{final_waste_vessel_id}'")
|
||||
debug_print(f" 📏 溶剂体积: {final_volume}mL")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
|
||||
action_sequence.append(action_log(f"分离容器: {final_vessel_id}", "🧪", prefix="[SEPARATE]"))
|
||||
action_sequence.append(action_log(f"溶剂体积: {final_volume}mL", "📏", prefix="[SEPARATE]"))
|
||||
action_sequence.append(action_log(f"重复次数: {repeats}", "🔄", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
|
||||
action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
|
||||
action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
|
||||
|
||||
# 验证必需参数
|
||||
if not purpose:
|
||||
@@ -114,68 +160,72 @@ def generate_separate_protocol(
|
||||
if purpose not in ["wash", "extract", "separate"]:
|
||||
debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
|
||||
purpose = "separate"
|
||||
action_sequence.append(action_log(f"未知目的，使用: {purpose}", "⚠️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
|
||||
if product_phase not in ["top", "bottom"]:
|
||||
debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
|
||||
product_phase = "top"
|
||||
action_sequence.append(action_log(f"未知相别，使用: {product_phase}", "⚠️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
|
||||
|
||||
action_sequence.append(action_log("参数验证通过", "✅", prefix="[SEPARATE]"))
|
||||
debug_print("✅ 参数验证通过")
|
||||
action_sequence.append(create_action_log("参数验证通过", "✅"))
|
||||
|
||||
# === 查找设备 ===
|
||||
action_sequence.append(action_log("正在查找相关设备...", "🔍", prefix="[SEPARATE]"))
|
||||
debug_print("🔍 步骤2: 查找设备...")
|
||||
action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
|
||||
|
||||
# 查找分离器设备
|
||||
separator_device = find_separator_device(G, final_vessel_id)
|
||||
separator_device = find_separator_device(G, final_vessel_id) # 🔧 使用 final_vessel_id
|
||||
if separator_device:
|
||||
action_sequence.append(action_log(f"找到分离器设备: {separator_device}", "🧪", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
|
||||
else:
|
||||
debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
|
||||
action_sequence.append(action_log("未找到分离器设备", "⚠️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
|
||||
|
||||
# 查找搅拌器
|
||||
stirrer_device = find_connected_stirrer(G, final_vessel_id)
|
||||
stirrer_device = find_connected_stirrer(G, final_vessel_id) # 🔧 使用 final_vessel_id
|
||||
if stirrer_device:
|
||||
action_sequence.append(action_log(f"找到搅拌器: {stirrer_device}", "🌪️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
|
||||
else:
|
||||
action_sequence.append(action_log("未找到搅拌器", "⚠️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
|
||||
|
||||
# 查找溶剂容器（如果需要）
|
||||
solvent_vessel = ""
|
||||
if solvent and solvent.strip():
|
||||
try:
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
except ValueError:
|
||||
solvent_vessel = ""
|
||||
solvent_vessel = find_solvent_vessel(G, solvent)
|
||||
if solvent_vessel:
|
||||
action_sequence.append(action_log(f"找到溶剂容器: {solvent_vessel}", "💧", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
|
||||
else:
|
||||
action_sequence.append(action_log(f"未找到溶剂容器: {solvent}", "⚠️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
|
||||
|
||||
debug_print(f"设备配置: separator={separator_device}, stirrer={stirrer_device}, solvent_vessel={solvent_vessel}")
|
||||
debug_print(f"📊 设备配置:")
|
||||
debug_print(f" 🧪 分离器设备: '{separator_device}'")
|
||||
debug_print(f" 🌪️ 搅拌器设备: '{stirrer_device}'")
|
||||
debug_print(f" 💧 溶剂容器: '{solvent_vessel}'")
|
||||
|
||||
# === 执行分离流程 ===
|
||||
action_sequence.append(action_log("开始分离工作流程", "🎯", prefix="[SEPARATE]"))
|
||||
debug_print("🔍 步骤3: 执行分离流程...")
|
||||
action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
|
||||
|
||||
# 体积变化跟踪变量
|
||||
# 🔧 新增：体积变化跟踪变量
|
||||
current_volume = original_liquid_volume
|
||||
|
||||
try:
|
||||
for repeat_idx in range(repeats):
|
||||
cycle_num = repeat_idx + 1
|
||||
debug_print(f"分离循环 {cycle_num}/{repeats} 开始")
|
||||
action_sequence.append(action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
|
||||
action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
|
||||
|
||||
# 步骤3.1: 添加溶剂（如果需要）
|
||||
if solvent_vessel and final_volume > 0:
|
||||
action_sequence.append(action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
|
||||
action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
|
||||
|
||||
try:
|
||||
# 使用pump protocol添加溶剂
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_vessel,
|
||||
to_vessel=final_vessel_id,
|
||||
to_vessel=final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
volume=final_volume,
|
||||
amount="",
|
||||
time=0.0,
|
||||
@@ -192,27 +242,30 @@ def generate_separate_protocol(
|
||||
**kwargs
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
action_sequence.append(action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅", prefix="[SEPARATE]"))
|
||||
debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
|
||||
action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
|
||||
|
||||
# 更新体积 - 添加溶剂后
|
||||
# 🔧 新增：更新体积 - 添加溶剂后
|
||||
current_volume += final_volume
|
||||
update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 溶剂添加失败: {str(e)}")
|
||||
action_sequence.append(action_log(f"溶剂添加失败: {str(e)}", "❌", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
|
||||
else:
|
||||
action_sequence.append(action_log("无需添加溶剂", "⏭️", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
|
||||
action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
|
||||
|
||||
# 步骤3.2: 启动搅拌（如果有搅拌器）
|
||||
if stirrer_device and stir_time > 0:
|
||||
action_sequence.append(action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
|
||||
action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
|
||||
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": final_vessel_id},
|
||||
"vessel": {"id": final_vessel_id}, # 🔧 使用 final_vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"分离混合 - {purpose}"
|
||||
}
|
||||
@@ -220,37 +273,43 @@ def generate_separate_protocol(
|
||||
|
||||
# 搅拌等待
|
||||
stir_minutes = stir_time / 60
|
||||
action_sequence.append(action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": stir_time}
|
||||
})
|
||||
|
||||
# 停止搅拌
|
||||
action_sequence.append(action_log("停止搅拌器", "🛑", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log("停止搅拌器", "🛑"))
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {"vessel": final_vessel_id}
|
||||
"action_kwargs": {"vessel": final_vessel_id} # 🔧 使用 final_vessel_id
|
||||
})
|
||||
|
||||
else:
|
||||
action_sequence.append(action_log("无需搅拌", "⏭️", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
|
||||
action_sequence.append(create_action_log("无需搅拌", "⏭️"))
|
||||
|
||||
# 步骤3.3: 静置分层
|
||||
if settling_time > 0:
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
|
||||
settling_minutes = settling_time / 60
|
||||
action_sequence.append(action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": settling_time}
|
||||
})
|
||||
else:
|
||||
action_sequence.append(action_log("未指定静置时间", "⏭️", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
|
||||
action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
|
||||
|
||||
# 步骤3.4: 执行分离操作
|
||||
if separator_device:
|
||||
action_sequence.append(action_log(f"执行分离: 收集{product_phase}相", "🧪", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
|
||||
action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
|
||||
|
||||
# 🔧 替换为具体的分离操作逻辑（基于old版本）
|
||||
|
||||
# 首先进行分液判断（电导突跃）
|
||||
action_sequence.append({
|
||||
@@ -265,10 +324,11 @@ def generate_separate_protocol(
|
||||
phase_volume = current_volume / 2
|
||||
|
||||
# 智能查找分离容器底部
|
||||
separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id)
|
||||
separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id) # ✅
|
||||
|
||||
if product_phase == "bottom":
|
||||
action_sequence.append(action_log("收集底相产物", "📦", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 收集底相产物到 {final_to_vessel_id}")
|
||||
action_sequence.append(create_action_log("收集底相产物", "📦"))
|
||||
|
||||
# 产物转移到目标瓶
|
||||
if final_to_vessel_id:
|
||||
@@ -304,7 +364,8 @@ def generate_separate_protocol(
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
elif product_phase == "top":
|
||||
action_sequence.append(action_log("收集上相产物", "📦", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 收集上相产物到 {final_to_vessel_id}")
|
||||
action_sequence.append(create_action_log("收集上相产物", "📦"))
|
||||
|
||||
# 弃去下面那一相进废液
|
||||
if final_waste_vessel_id:
|
||||
@@ -339,9 +400,10 @@ def generate_separate_protocol(
|
||||
)
|
||||
action_sequence.extend(pump_actions)
|
||||
|
||||
action_sequence.append(action_log("分离操作完成", "✅", prefix="[SEPARATE]"))
|
||||
debug_print(f"✅ 分离操作已完成")
|
||||
action_sequence.append(create_action_log("分离操作完成", "✅"))
|
||||
|
||||
# 分离后体积估算
|
||||
# 🔧 新增：分离后体积估算
|
||||
separated_volume = phase_volume * 0.95 # 假设5%损失，只保留产物相体积
|
||||
update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
|
||||
current_volume = separated_volume
|
||||
@@ -349,21 +411,23 @@ def generate_separate_protocol(
|
||||
# 收集结果
|
||||
if final_to_vessel_id:
|
||||
action_sequence.append(
|
||||
action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦", prefix="[SEPARATE]"))
|
||||
create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
|
||||
if final_waste_vessel_id:
|
||||
action_sequence.append(action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
|
||||
|
||||
else:
|
||||
action_sequence.append(action_log("无分离器设备可用", "❌", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
|
||||
action_sequence.append(create_action_log("无分离器设备可用", "❌"))
|
||||
# 添加等待时间模拟分离
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 10.0}
|
||||
})
|
||||
|
||||
# 如果不是最后一次，从中转瓶转移回分液漏斗
|
||||
# 🔧 新增：如果不是最后一次，从中转瓶转移回分液漏斗（基于old版本逻辑）
|
||||
if repeat_idx < repeats - 1 and final_to_vessel_id and final_to_vessel_id != final_vessel_id:
|
||||
action_sequence.append(action_log("产物转回分离容器，准备下一轮", "🔄", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮: 产物转移回分离容器准备下一轮")
|
||||
action_sequence.append(create_action_log("产物转回分离容器，准备下一轮", "🔄"))
|
||||
|
||||
pump_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
@@ -380,85 +444,368 @@ def generate_separate_protocol(
|
||||
|
||||
# 循环间等待（除了最后一次）
|
||||
if repeat_idx < repeats - 1:
|
||||
action_sequence.append(action_log("等待下一次循环...", "⏳", prefix="[SEPARATE]"))
|
||||
debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
|
||||
action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": 5}
|
||||
})
|
||||
else:
|
||||
action_sequence.append(action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
|
||||
action_sequence.append(action_log(f"分离工作流程失败: {str(e)}", "❌", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
|
||||
|
||||
# 分离完成后的最终状态报告
|
||||
final_liquid_volume = get_resource_liquid_volume(vessel)
|
||||
# 🔧 新增：分离完成后的最终状态报告
|
||||
final_liquid_volume = get_vessel_liquid_volume(vessel)
|
||||
|
||||
# === 最终结果 ===
|
||||
total_time = (stir_time + settling_time + 15) * repeats # 估算总时间
|
||||
|
||||
debug_print(f"分离协议生成完成: {len(action_sequence)} 个动作, "
|
||||
f"预计 {total_time:.0f}s, 体积 {original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
|
||||
debug_print("🌀" * 20)
|
||||
debug_print(f"🎉 分离协议生成完成")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)}")
|
||||
debug_print(f" ⏱️ 预计总时间: {total_time:.0f}s ({total_time / 60:.1f} 分钟)")
|
||||
debug_print(f" 🥼 分离容器: {final_vessel_id}")
|
||||
debug_print(f" 🎯 分离目的: {purpose}")
|
||||
debug_print(f" 📊 产物相: {product_phase}")
|
||||
debug_print(f" 🔄 重复次数: {repeats}")
|
||||
debug_print(f"💧 体积变化统计:")
|
||||
debug_print(f" - 分离前体积: {original_liquid_volume:.2f}mL")
|
||||
debug_print(f" - 分离后体积: {final_liquid_volume:.2f}mL")
|
||||
if solvent:
|
||||
debug_print(f" 💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
|
||||
if final_to_vessel_id:
|
||||
debug_print(f" 🎯 产物容器: {final_to_vessel_id}")
|
||||
if final_waste_vessel_id:
|
||||
debug_print(f" 🗑️ 废液容器: {final_waste_vessel_id}")
|
||||
debug_print("🌀" * 20)
|
||||
|
||||
# 添加完成日志
|
||||
summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
|
||||
if solvent:
|
||||
summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
|
||||
action_sequence.append(action_log(summary_msg, "🎉", prefix="[SEPARATE]"))
|
||||
action_sequence.append(create_action_log(summary_msg, "🎉"))
|
||||
|
||||
return action_sequence
|
||||
|
||||
def parse_volume_input(volume_input: Union[str, float]) -> float:
|
||||
"""
|
||||
解析体积输入，支持带单位的字符串
|
||||
|
||||
Args:
|
||||
volume_input: 体积输入（如 "200 mL", "?", 50.0）
|
||||
|
||||
Returns:
|
||||
float: 体积（毫升）
|
||||
"""
|
||||
if isinstance(volume_input, (int, float)):
|
||||
debug_print(f"📏 体积输入为数值: {volume_input}")
|
||||
return float(volume_input)
|
||||
|
||||
if not volume_input or not str(volume_input).strip():
|
||||
debug_print(f"⚠️ 体积输入为空，返回 0.0mL")
|
||||
return 0.0
|
||||
|
||||
volume_str = str(volume_input).lower().strip()
|
||||
debug_print(f"🔍 解析体积输入: '{volume_str}'")
|
||||
|
||||
# 处理未知体积
|
||||
if volume_str in ['?', 'unknown', 'tbd', 'to be determined', '未知', '待定']:
|
||||
default_volume = 100.0 # 默认100mL
|
||||
debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL")
|
||||
return default_volume
|
||||
|
||||
# 移除空格并提取数字和单位
|
||||
volume_clean = re.sub(r'\s+', '', volume_str)
|
||||
|
||||
# 匹配数字和单位的正则表达式
|
||||
match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter|毫升|升|微升)?', volume_clean)
|
||||
|
||||
if not match:
|
||||
debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值 100mL")
|
||||
return 100.0
|
||||
|
||||
value = float(match.group(1))
|
||||
unit = match.group(2) or 'ml' # 默认单位为毫升
|
||||
|
||||
# 转换为毫升
|
||||
if unit in ['l', 'liter', '升']:
|
||||
volume = value * 1000.0 # L -> mL
|
||||
debug_print(f"🔄 体积转换: {value}L -> {volume}mL")
|
||||
elif unit in ['μl', 'ul', 'microliter', '微升']:
|
||||
volume = value / 1000.0 # μL -> mL
|
||||
debug_print(f"🔄 体积转换: {value}μL -> {volume}mL")
|
||||
else: # ml, milliliter, 毫升 或默认
|
||||
volume = value # 已经是mL
|
||||
debug_print(f"✅ 体积已为毫升单位: {volume}mL")
|
||||
|
||||
return volume
|
||||
|
||||
def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""查找溶剂容器，支持多种匹配模式"""
|
||||
if not solvent or not solvent.strip():
|
||||
debug_print("⏭️ 未指定溶剂，跳过溶剂容器查找")
|
||||
return ""
|
||||
|
||||
debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
|
||||
|
||||
# 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
|
||||
debug_print(f"📋 方法1: 搜索试剂字段...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node].get('data', {})
|
||||
node_type = G.nodes[node].get('type', '')
|
||||
config_data = G.nodes[node].get('config', {})
|
||||
|
||||
# 只搜索容器类型的节点
|
||||
if node_type == 'container':
|
||||
reagent_name = node_data.get('reagent_name', '').lower()
|
||||
config_reagent = config_data.get('reagent', '').lower()
|
||||
|
||||
# 精确匹配
|
||||
if reagent_name == solvent.lower() or config_reagent == solvent.lower():
|
||||
debug_print(f"✅ 通过试剂字段精确匹配找到容器: {node}")
|
||||
return node
|
||||
|
||||
# 模糊匹配
|
||||
if (solvent.lower() in reagent_name and reagent_name) or \
|
||||
(solvent.lower() in config_reagent and config_reagent):
|
||||
debug_print(f"✅ 通过试剂字段模糊匹配找到容器: {node}")
|
||||
return node
|
||||
|
||||
# 🔧 方法2：常见的容器命名规则
|
||||
debug_print(f"📋 方法2: 使用命名规则...")
|
||||
solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
|
||||
possible_names = [
|
||||
f"flask_{solvent_clean}",
|
||||
f"bottle_{solvent_clean}",
|
||||
f"vessel_{solvent_clean}",
|
||||
f"{solvent_clean}_flask",
|
||||
f"{solvent_clean}_bottle",
|
||||
f"solvent_{solvent_clean}",
|
||||
f"reagent_{solvent_clean}",
|
||||
f"reagent_bottle_{solvent_clean}",
|
||||
f"reagent_bottle_1", # 通用试剂瓶
|
||||
f"reagent_bottle_2",
|
||||
f"reagent_bottle_3"
|
||||
]
|
||||
|
||||
debug_print(f"🎯 尝试的容器名称: {possible_names[:5]}... (共 {len(possible_names)} 个)")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_type = G.nodes[name].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到容器: {name}")
|
||||
return name
|
||||
|
||||
# 🔧 方法3：使用第一个试剂瓶作为备选
|
||||
debug_print(f"📋 方法3: 查找备用试剂瓶...")
|
||||
for node_id in G.nodes():
|
||||
node_data = G.nodes[node_id]
|
||||
if (node_data.get('type') == 'container' and
|
||||
('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
|
||||
debug_print(f"⚠️ 未找到专用容器，使用备用容器: {node_id}")
|
||||
return node_id
|
||||
|
||||
debug_print(f"❌ 无法找到溶剂 '{solvent}' 的容器")
|
||||
return ""
|
||||
|
||||
def find_separator_device(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找分离器设备，支持多种查找方式"""
|
||||
debug_print(f"🔍 正在查找容器 '{vessel}' 的分离器设备...")
|
||||
|
||||
# 方法1：查找连接到容器的分离器设备
|
||||
debug_print(f"📋 方法1: 检查连接的分离器...")
|
||||
separator_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '').lower()
|
||||
if 'separator' in node_class:
|
||||
separator_nodes.append(node)
|
||||
debug_print(f"📋 发现分离器设备: {node}")
|
||||
|
||||
# 检查是否连接到目标容器
|
||||
if G.has_edge(node, vessel) or G.has_edge(vessel, node):
|
||||
debug_print(f"✅ 找到连接的分离器: {node}")
|
||||
return node
|
||||
|
||||
|
||||
debug_print(f"📊 找到的分离器总数: {len(separator_nodes)}")
|
||||
|
||||
# 方法2：根据命名规则查找
|
||||
debug_print(f"📋 方法2: 使用命名规则...")
|
||||
possible_names = [
|
||||
f"{vessel}_controller",
|
||||
f"{vessel}_separator",
|
||||
vessel, # 容器本身可能就是分离器
|
||||
"separator_1",
|
||||
"virtual_separator",
|
||||
"liquid_handler_1",
|
||||
"liquid_handler_1", # 液体处理器也可能用于分离
|
||||
"controller_1"
|
||||
]
|
||||
|
||||
|
||||
debug_print(f"🎯 尝试的分离器名称: {possible_names}")
|
||||
|
||||
for name in possible_names:
|
||||
if name in G.nodes():
|
||||
node_class = G.nodes[name].get('class', '').lower()
|
||||
if 'separator' in node_class or 'controller' in node_class:
|
||||
debug_print(f"✅ 通过命名规则找到分离器: {name}")
|
||||
return name
|
||||
|
||||
# 方法3：使用第一个可用分离器
|
||||
|
||||
# 方法3：查找第一个分离器设备
|
||||
debug_print(f"📋 方法3: 使用第一个可用分离器...")
|
||||
if separator_nodes:
|
||||
debug_print(f"⚠️ 使用第一个分离器设备: {separator_nodes[0]}")
|
||||
return separator_nodes[0]
|
||||
|
||||
|
||||
debug_print(f"❌ 未找到分离器设备")
|
||||
return ""
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找连接到指定容器的搅拌器"""
|
||||
debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
|
||||
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if 'stirrer' in node_class.lower():
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"📋 发现搅拌器: {node}")
|
||||
|
||||
debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
|
||||
|
||||
# 检查哪个搅拌器与目标容器相连
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
|
||||
return stirrer
|
||||
|
||||
# 如果没有连接的搅拌器，返回第一个可用的
|
||||
if stirrer_nodes:
|
||||
debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
|
||||
return stirrer_nodes[0]
|
||||
|
||||
debug_print("❌ 未找到搅拌器")
|
||||
return ""
|
||||
|
||||
def get_vessel_liquid_volume(vessel: dict) -> float:
|
||||
"""
|
||||
获取容器中的液体体积 - 支持vessel字典
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
|
||||
Returns:
|
||||
float: 液体体积（mL）
|
||||
"""
|
||||
if not vessel or "data" not in vessel:
|
||||
debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
|
||||
return 0.0
|
||||
|
||||
vessel_data = vessel["data"]
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
|
||||
|
||||
# 检查liquid_volume字段
|
||||
if "liquid_volume" in vessel_data:
|
||||
liquid_volume = vessel_data["liquid_volume"]
|
||||
|
||||
# 处理列表格式
|
||||
if isinstance(liquid_volume, list):
|
||||
if len(liquid_volume) > 0:
|
||||
volume = liquid_volume[0]
|
||||
if isinstance(volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
|
||||
return float(volume)
|
||||
|
||||
# 处理直接数值格式
|
||||
elif isinstance(liquid_volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
|
||||
return float(liquid_volume)
|
||||
|
||||
# 检查其他可能的体积字段
|
||||
volume_keys = ['current_volume', 'total_volume', 'volume']
|
||||
for key in volume_keys:
|
||||
if key in vessel_data:
|
||||
try:
|
||||
volume = float(vessel_data[key])
|
||||
if volume > 0:
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
|
||||
return volume
|
||||
except (ValueError, TypeError):
|
||||
continue
|
||||
|
||||
debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 50.0mL")
|
||||
return 50.0
|
||||
|
||||
def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
|
||||
"""
|
||||
更新容器体积（同时更新vessel字典和图节点）
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
G: 网络图
|
||||
new_volume: 新体积
|
||||
description: 更新描述
|
||||
"""
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
if description:
|
||||
debug_print(f"🔧 更新容器体积 - {description}")
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel:
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"] = {"liquid_volume": new_volume}
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
|
||||
|
||||
|
||||
def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
|
||||
"""
|
||||
智能查找分离容器的底部容器（假设为flask或vessel类型）
|
||||
|
||||
|
||||
Args:
|
||||
G: 网络图
|
||||
vessel_id: 分离容器ID
|
||||
|
||||
|
||||
Returns:
|
||||
str: 底部容器ID
|
||||
"""
|
||||
debug_print(f"🔍 查找分离容器 {vessel_id} 的底部容器...")
|
||||
|
||||
# 方法1：根据命名规则推测
|
||||
possible_bottoms = [
|
||||
f"{vessel_id}_bottom",
|
||||
@@ -467,25 +814,32 @@ def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
|
||||
f"{vessel_id}_flask",
|
||||
f"{vessel_id}_vessel"
|
||||
]
|
||||
|
||||
|
||||
debug_print(f"📋 尝试的底部容器名称: {possible_bottoms}")
|
||||
|
||||
for bottom_id in possible_bottoms:
|
||||
if bottom_id in G.nodes():
|
||||
node_type = G.nodes[bottom_id].get('type', '')
|
||||
if node_type == 'container':
|
||||
debug_print(f"✅ 通过命名规则找到底部容器: {bottom_id}")
|
||||
return bottom_id
|
||||
|
||||
# 方法2：查找与分离器相连的容器
|
||||
|
||||
# 方法2：查找与分离器相连的容器（假设底部容器会与分离器相连）
|
||||
debug_print(f"📋 方法2: 查找连接的容器...")
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
|
||||
if 'separator' in node_class.lower():
|
||||
# 检查分离器的输入端
|
||||
if G.has_edge(node, vessel_id):
|
||||
for neighbor in G.neighbors(node):
|
||||
if neighbor != vessel_id:
|
||||
neighbor_type = G.nodes[neighbor].get('type', '')
|
||||
if neighbor_type == 'container':
|
||||
debug_print(f"✅ 通过连接找到底部容器: {neighbor}")
|
||||
return neighbor
|
||||
|
||||
|
||||
debug_print(f"❌ 无法找到分离容器 {vessel_id} 的底部容器")
|
||||
return ""
|
||||
|
||||
|
||||
@@ -1,40 +1,116 @@
|
||||
from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
import logging
|
||||
import re
|
||||
|
||||
from .utils.unit_parser import parse_time_input
|
||||
from .utils.resource_helper import get_resource_id, get_resource_display_info
|
||||
from .utils.logger_util import debug_print
|
||||
from .utils.vessel_parser import find_connected_stirrer
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[STIR] {message}")
|
||||
|
||||
|
||||
def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
|
||||
"""查找与指定容器相连的搅拌设备"""
|
||||
debug_print(f"🔍 查找搅拌设备，目标容器: {vessel} 🥽")
|
||||
|
||||
# 🔧 查找所有搅拌设备
|
||||
stirrer_nodes = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
|
||||
if 'stirrer' in node_class.lower() or 'virtual_stirrer' in node_class:
|
||||
stirrer_nodes.append(node)
|
||||
debug_print(f"🎉 找到搅拌设备: {node} 🌪️")
|
||||
|
||||
# 🔗 检查连接
|
||||
if vessel and stirrer_nodes:
|
||||
for stirrer in stirrer_nodes:
|
||||
if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
|
||||
debug_print(f"✅ 搅拌设备 '{stirrer}' 与容器 '{vessel}' 相连 🔗")
|
||||
return stirrer
|
||||
|
||||
# 🎯 使用第一个可用设备
|
||||
if stirrer_nodes:
|
||||
selected = stirrer_nodes[0]
|
||||
debug_print(f"🔧 使用第一个搅拌设备: {selected} 🌪️")
|
||||
return selected
|
||||
|
||||
# 🆘 默认设备
|
||||
debug_print("⚠️ 未找到搅拌设备，使用默认设备 🌪️")
|
||||
return "stirrer_1"
|
||||
|
||||
def validate_and_fix_params(stir_time: float, stir_speed: float, settling_time: float) -> tuple:
|
||||
"""验证和修正参数"""
|
||||
# ⏰ 搅拌时间验证
|
||||
if stir_time < 0:
|
||||
debug_print(f"搅拌时间 {stir_time}s 无效，修正为 100s")
|
||||
debug_print(f"⚠️ 搅拌时间 {stir_time}s 无效，修正为 100s 🕐")
|
||||
stir_time = 100.0
|
||||
elif stir_time > 100: # 限制为100s
|
||||
debug_print(f"搅拌时间 {stir_time}s 过长，仿真运行时修正为 100s")
|
||||
debug_print(f"⚠️ 搅拌时间 {stir_time}s 过长，仿真运行时，修正为 100s 🕐")
|
||||
stir_time = 100.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 搅拌时间 {stir_time}s ({stir_time/60:.1f}分钟) 有效 ⏰")
|
||||
|
||||
# 🌪️ 搅拌速度验证
|
||||
if stir_speed < 10.0 or stir_speed > 1500.0:
|
||||
debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
|
||||
debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM 🌪️")
|
||||
stir_speed = 300.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内 🌪️")
|
||||
|
||||
# ⏱️ 沉降时间验证
|
||||
if settling_time < 0 or settling_time > 600: # 限制为10分钟
|
||||
debug_print(f"沉降时间 {settling_time}s 超出范围，修正为 60s")
|
||||
debug_print(f"⚠️ 沉降时间 {settling_time}s 超出范围，修正为 60s ⏱️")
|
||||
settling_time = 60.0
|
||||
|
||||
else:
|
||||
debug_print(f"✅ 沉降时间 {settling_time}s 在正常范围内 ⏱️")
|
||||
|
||||
return stir_time, stir_speed, settling_time
|
||||
|
||||
def extract_vessel_id(vessel) -> str:
|
||||
"""从vessel参数中提取vessel_id，兼容 str / dict / ResourceDictInstance"""
|
||||
return get_resource_id(vessel)
|
||||
def extract_vessel_id(vessel: Union[str, dict]) -> str:
|
||||
"""
|
||||
从vessel参数中提取vessel_id
|
||||
|
||||
Args:
|
||||
vessel: vessel字典或vessel_id字符串
|
||||
|
||||
Returns:
|
||||
str: vessel_id
|
||||
"""
|
||||
if isinstance(vessel, dict):
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
|
||||
return vessel_id
|
||||
elif isinstance(vessel, str):
|
||||
debug_print(f"🔧 vessel参数为字符串: {vessel}")
|
||||
return vessel
|
||||
else:
|
||||
debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
|
||||
return ""
|
||||
|
||||
def get_vessel_display_info(vessel) -> str:
|
||||
"""获取容器的显示信息（用于日志），兼容 str / dict / ResourceDictInstance"""
|
||||
return get_resource_display_info(vessel)
|
||||
def get_vessel_display_info(vessel: Union[str, dict]) -> str:
|
||||
"""
|
||||
获取容器的显示信息（用于日志）
|
||||
|
||||
Args:
|
||||
vessel: vessel字典或vessel_id字符串
|
||||
|
||||
Returns:
|
||||
str: 显示信息
|
||||
"""
|
||||
if isinstance(vessel, dict):
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
vessel_name = vessel.get("name", "")
|
||||
if vessel_name:
|
||||
return f"{vessel_id} ({vessel_name})"
|
||||
else:
|
||||
return vessel_id
|
||||
else:
|
||||
return str(vessel)
|
||||
|
||||
def generate_stir_protocol(
|
||||
G: nx.DiGraph,
|
||||
@@ -49,13 +125,16 @@ def generate_stir_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成搅拌操作的协议序列 - 修复vessel参数传递"""
|
||||
|
||||
# 🔧 核心修改：正确处理vessel参数
|
||||
vessel_id = extract_vessel_id(vessel)
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
|
||||
# 确保vessel_resource是完整的Resource对象
|
||||
|
||||
# 🔧 关键修复：确保vessel_resource是完整的Resource对象
|
||||
if isinstance(vessel, dict):
|
||||
vessel_resource = vessel
|
||||
vessel_resource = vessel # 已经是完整的Resource字典
|
||||
debug_print(f"✅ 使用传入的vessel Resource对象")
|
||||
else:
|
||||
# 如果只是字符串，构建一个基本的Resource对象
|
||||
vessel_resource = {
|
||||
"id": vessel,
|
||||
"name": "",
|
||||
@@ -71,60 +150,91 @@ def generate_stir_protocol(
|
||||
"sample_id": "",
|
||||
"type": ""
|
||||
}
|
||||
|
||||
# 参数验证
|
||||
if not vessel_id:
|
||||
debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
|
||||
|
||||
debug_print("🌪️" * 20)
|
||||
debug_print("🚀 开始生成搅拌协议（支持vessel字典）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel_display} (ID: {vessel_id})")
|
||||
debug_print(f" ⏰ time: {time}")
|
||||
debug_print(f" 🕐 stir_time: {stir_time}")
|
||||
debug_print(f" 🎯 time_spec: {time_spec}")
|
||||
debug_print(f" 🌪️ stir_speed: {stir_speed} RPM")
|
||||
debug_print(f" ⏱️ settling_time: {settling_time}")
|
||||
debug_print("🌪️" * 20)
|
||||
|
||||
# 📋 参数验证
|
||||
debug_print("📍 步骤1: 参数验证... 🔧")
|
||||
if not vessel_id: # 🔧 使用 vessel_id
|
||||
debug_print("❌ vessel 参数不能为空! 😱")
|
||||
raise ValueError("vessel 参数不能为空")
|
||||
|
||||
if vessel_id not in G.nodes():
|
||||
|
||||
if vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
|
||||
raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
||||
|
||||
# 参数解析 — 确定实际时间（优先级：time_spec > stir_time > time）
|
||||
debug_print("✅ 基础参数验证通过 🎯")
|
||||
|
||||
# 🔄 参数解析
|
||||
debug_print("📍 步骤2: 参数解析... ⚡")
|
||||
|
||||
# 确定实际时间（优先级：time_spec > stir_time > time）
|
||||
if time_spec:
|
||||
parsed_time = parse_time_input(time_spec)
|
||||
debug_print(f"🎯 使用time_spec: '{time_spec}' → {parsed_time}s")
|
||||
elif stir_time not in ["0", 0, 0.0]:
|
||||
parsed_time = parse_time_input(stir_time)
|
||||
debug_print(f"🎯 使用stir_time: {stir_time} → {parsed_time}s")
|
||||
else:
|
||||
parsed_time = parse_time_input(time)
|
||||
debug_print(f"🎯 使用time: {time} → {parsed_time}s")
|
||||
|
||||
# 解析沉降时间
|
||||
parsed_settling_time = parse_time_input(settling_time)
|
||||
|
||||
# 模拟运行时间优化
|
||||
# 🕐 模拟运行时间优化
|
||||
debug_print(" ⏱️ 检查模拟运行时间限制...")
|
||||
original_stir_time = parsed_time
|
||||
original_settling_time = parsed_settling_time
|
||||
|
||||
|
||||
# 搅拌时间限制为60秒
|
||||
stir_time_limit = 60.0
|
||||
if parsed_time > stir_time_limit:
|
||||
parsed_time = stir_time_limit
|
||||
|
||||
debug_print(f" 🎮 搅拌时间优化: {original_stir_time}s → {parsed_time}s ⚡")
|
||||
|
||||
# 沉降时间限制为30秒
|
||||
settling_time_limit = 30.0
|
||||
if parsed_settling_time > settling_time_limit:
|
||||
parsed_settling_time = settling_time_limit
|
||||
debug_print(f" 🎮 沉降时间优化: {original_settling_time}s → {parsed_settling_time}s ⚡")
|
||||
|
||||
# 参数修正
|
||||
parsed_time, stir_speed, parsed_settling_time = validate_and_fix_params(
|
||||
parsed_time, stir_speed, parsed_settling_time
|
||||
)
|
||||
|
||||
debug_print(f"最终参数: time={parsed_time}s, speed={stir_speed}RPM, settling={parsed_settling_time}s")
|
||||
|
||||
# 查找设备
|
||||
debug_print(f"🎯 最终参数: time={parsed_time}s, speed={stir_speed}RPM, settling={parsed_settling_time}s")
|
||||
|
||||
# 🔍 查找设备
|
||||
debug_print("📍 步骤3: 查找搅拌设备... 🔍")
|
||||
try:
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id) # 🔧 使用 vessel_id
|
||||
debug_print(f"🎉 使用搅拌设备: {stirrer_id} ✨")
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"无法找到搅拌设备: {str(e)}")
|
||||
|
||||
# 生成动作
|
||||
|
||||
# 🚀 生成动作
|
||||
debug_print("📍 步骤4: 生成搅拌动作... 🌪️")
|
||||
|
||||
action_sequence = []
|
||||
stir_action = {
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
|
||||
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
|
||||
"time": str(time),
|
||||
"event": event,
|
||||
"time_spec": time_spec,
|
||||
@@ -134,14 +244,22 @@ def generate_stir_protocol(
|
||||
}
|
||||
}
|
||||
action_sequence.append(stir_action)
|
||||
|
||||
# 时间优化信息
|
||||
debug_print("✅ 搅拌动作已添加 🌪️✨")
|
||||
|
||||
# 显示时间优化信息
|
||||
if original_stir_time != parsed_time or original_settling_time != parsed_settling_time:
|
||||
debug_print(f"模拟优化: 搅拌 {original_stir_time/60:.1f}min→{parsed_time/60:.1f}min, "
|
||||
f"沉降 {original_settling_time/60:.1f}min→{parsed_settling_time/60:.1f}min")
|
||||
|
||||
debug_print(f"搅拌协议生成完成: {vessel_display}, {stir_speed}RPM, "
|
||||
f"{parsed_time}s, 沉降{parsed_settling_time}s, 总{(parsed_time + parsed_settling_time)/60:.1f}min")
|
||||
debug_print(f" 🎭 模拟优化说明:")
|
||||
debug_print(f" 搅拌时间: {original_stir_time/60:.1f}分钟 → {parsed_time/60:.1f}分钟")
|
||||
debug_print(f" 沉降时间: {original_settling_time/60:.1f}分钟 → {parsed_settling_time/60:.1f}分钟")
|
||||
|
||||
# 🎊 总结
|
||||
debug_print("🎊" * 20)
|
||||
debug_print(f"🎉 搅拌协议生成完成! ✨")
|
||||
debug_print(f"📊 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f"🥽 搅拌容器: {vessel_display}")
|
||||
debug_print(f"🌪️ 搅拌参数: {stir_speed} RPM, {parsed_time}s, 沉降 {parsed_settling_time}s")
|
||||
debug_print(f"⏱️ 预计总时间: {(parsed_time + parsed_settling_time)/60:.1f} 分钟 ⌛")
|
||||
debug_print("🎊" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
@@ -154,13 +272,16 @@ def generate_start_stir_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成开始搅拌操作的协议序列 - 修复vessel参数传递"""
|
||||
|
||||
# 🔧 核心修改：正确处理vessel参数
|
||||
vessel_id = extract_vessel_id(vessel)
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
|
||||
# 确保vessel_resource是完整的Resource对象
|
||||
|
||||
# 🔧 关键修复：确保vessel_resource是完整的Resource对象
|
||||
if isinstance(vessel, dict):
|
||||
vessel_resource = vessel
|
||||
vessel_resource = vessel # 已经是完整的Resource字典
|
||||
debug_print(f"✅ 使用传入的vessel Resource对象")
|
||||
else:
|
||||
# 如果只是字符串，构建一个基本的Resource对象
|
||||
vessel_resource = {
|
||||
"id": vessel,
|
||||
"name": "",
|
||||
@@ -176,29 +297,39 @@ def generate_start_stir_protocol(
|
||||
"sample_id": "",
|
||||
"type": ""
|
||||
}
|
||||
|
||||
debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
|
||||
|
||||
debug_print("🔄 开始生成启动搅拌协议（修复vessel参数）✨")
|
||||
debug_print(f"🥽 vessel: {vessel_display} (ID: {vessel_id})")
|
||||
debug_print(f"🌪️ speed: {stir_speed} RPM")
|
||||
debug_print(f"🎯 purpose: {purpose}")
|
||||
|
||||
# 基础验证
|
||||
if not vessel_id or vessel_id not in G.nodes():
|
||||
debug_print("❌ 容器验证失败!")
|
||||
raise ValueError("vessel 参数无效")
|
||||
|
||||
|
||||
# 参数修正
|
||||
if stir_speed < 10.0 or stir_speed > 1500.0:
|
||||
debug_print(f"⚠️ 搅拌速度修正: {stir_speed} → 300 RPM 🌪️")
|
||||
stir_speed = 300.0
|
||||
|
||||
|
||||
# 查找设备
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
|
||||
|
||||
# 🔧 关键修复：传递vessel_id字符串
|
||||
action_sequence = [{
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
|
||||
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": purpose or f"启动搅拌 {stir_speed} RPM"
|
||||
}
|
||||
}]
|
||||
|
||||
debug_print(f"启动搅拌协议: {vessel_display}, {stir_speed}RPM, device={stirrer_id}")
|
||||
|
||||
debug_print(f"✅ 启动搅拌协议生成完成 🎯")
|
||||
return action_sequence
|
||||
|
||||
def generate_stop_stir_protocol(
|
||||
@@ -208,13 +339,16 @@ def generate_stop_stir_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""生成停止搅拌操作的协议序列 - 修复vessel参数传递"""
|
||||
|
||||
# 🔧 核心修改：正确处理vessel参数
|
||||
vessel_id = extract_vessel_id(vessel)
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
|
||||
# 确保vessel_resource是完整的Resource对象
|
||||
|
||||
# 🔧 关键修复：确保vessel_resource是完整的Resource对象
|
||||
if isinstance(vessel, dict):
|
||||
vessel_resource = vessel
|
||||
vessel_resource = vessel # 已经是完整的Resource字典
|
||||
debug_print(f"✅ 使用传入的vessel Resource对象")
|
||||
else:
|
||||
# 如果只是字符串，构建一个基本的Resource对象
|
||||
vessel_resource = {
|
||||
"id": vessel,
|
||||
"name": "",
|
||||
@@ -230,103 +364,115 @@ def generate_stop_stir_protocol(
|
||||
"sample_id": "",
|
||||
"type": ""
|
||||
}
|
||||
|
||||
debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
|
||||
|
||||
debug_print("🛑 开始生成停止搅拌协议（修复vessel参数）✨")
|
||||
debug_print(f"🥽 vessel: {vessel_display} (ID: {vessel_id})")
|
||||
|
||||
# 基础验证
|
||||
if not vessel_id or vessel_id not in G.nodes():
|
||||
debug_print("❌ 容器验证失败!")
|
||||
raise ValueError("vessel 参数无效")
|
||||
|
||||
|
||||
# 查找设备
|
||||
stirrer_id = find_connected_stirrer(G, vessel_id)
|
||||
|
||||
|
||||
# 🔧 关键修复：传递vessel_id字符串
|
||||
action_sequence = [{
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
|
||||
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
|
||||
}
|
||||
}]
|
||||
|
||||
debug_print(f"停止搅拌协议: {vessel_display}, device={stirrer_id}")
|
||||
|
||||
debug_print(f"✅ 停止搅拌协议生成完成 🎯")
|
||||
return action_sequence
|
||||
|
||||
# 便捷函数
|
||||
# 🔧 新增：便捷函数
|
||||
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）"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"短时间搅拌: {vessel_display} @ {speed}RPM (30s)")
|
||||
debug_print(f"⚡ 短时间搅拌: {vessel_display} @ {speed}RPM (30s)")
|
||||
return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
|
||||
|
||||
def stir_slowly(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
|
||||
"""慢速搅拌"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"慢速搅拌: {vessel_display} @ 150RPM")
|
||||
debug_print(f"🐌 慢速搅拌: {vessel_display} @ 150RPM")
|
||||
return generate_stir_protocol(G, vessel, time=time, stir_speed=150.0)
|
||||
|
||||
def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
|
||||
"""剧烈搅拌"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"剧烈搅拌: {vessel_display} @ 800RPM")
|
||||
debug_print(f"💨 剧烈搅拌: {vessel_display} @ 800RPM")
|
||||
return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
|
||||
|
||||
def stir_for_reaction(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
time: Union[str, float] = "1 h") -> List[Dict[str, Any]]:
|
||||
"""反应搅拌（标准速度，长时间）"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"反应搅拌: {vessel_display} @ 400RPM")
|
||||
debug_print(f"🧪 反应搅拌: {vessel_display} @ 400RPM")
|
||||
return generate_stir_protocol(G, vessel, time=time, stir_speed=400.0)
|
||||
|
||||
def stir_for_dissolution(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
|
||||
"""溶解搅拌（中等速度）"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"溶解搅拌: {vessel_display} @ 500RPM")
|
||||
debug_print(f"💧 溶解搅拌: {vessel_display} @ 500RPM")
|
||||
return generate_stir_protocol(G, vessel, time=time, stir_speed=500.0)
|
||||
|
||||
def stir_gently(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
time: Union[str, float] = "30 min") -> List[Dict[str, Any]]:
|
||||
"""温和搅拌"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"温和搅拌: {vessel_display} @ 200RPM")
|
||||
debug_print(f"🍃 温和搅拌: {vessel_display} @ 200RPM")
|
||||
return generate_stir_protocol(G, vessel, time=time, stir_speed=200.0)
|
||||
|
||||
def stir_overnight(G: nx.DiGraph, vessel: Union[str, dict]) -> List[Dict[str, Any]]:
|
||||
"""过夜搅拌（模拟时缩短为2小时）"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"过夜搅拌（模拟2小时）: {vessel_display} @ 300RPM")
|
||||
debug_print(f"🌙 过夜搅拌（模拟2小时）: {vessel_display} @ 300RPM")
|
||||
return generate_stir_protocol(G, vessel, time="2 h", stir_speed=300.0)
|
||||
|
||||
def start_continuous_stirring(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
speed: float = 300.0, purpose: str = "continuous stirring") -> List[Dict[str, Any]]:
|
||||
"""开始连续搅拌"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"开始连续搅拌: {vessel_display} @ {speed}RPM")
|
||||
debug_print(f"🔄 开始连续搅拌: {vessel_display} @ {speed}RPM")
|
||||
return generate_start_stir_protocol(G, vessel, stir_speed=speed, purpose=purpose)
|
||||
|
||||
def stop_all_stirring(G: nx.DiGraph, vessel: Union[str, dict]) -> List[Dict[str, Any]]:
|
||||
"""停止所有搅拌"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"停止搅拌: {vessel_display}")
|
||||
debug_print(f"🛑 停止搅拌: {vessel_display}")
|
||||
return generate_stop_stir_protocol(G, vessel)
|
||||
|
||||
# 测试函数
|
||||
def test_stir_protocol():
|
||||
"""测试搅拌协议"""
|
||||
debug_print("🧪 === STIR PROTOCOL 测试 === ✨")
|
||||
|
||||
# 测试vessel参数处理
|
||||
debug_print("🔧 测试vessel参数处理...")
|
||||
|
||||
# 测试字典格式
|
||||
vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
|
||||
vessel_id = extract_vessel_id(vessel_dict)
|
||||
vessel_display = get_vessel_display_info(vessel_dict)
|
||||
debug_print(f"字典格式: {vessel_dict} -> ID: {vessel_id}, 显示: {vessel_display}")
|
||||
|
||||
debug_print(f" 字典格式: {vessel_dict} → ID: {vessel_id}, 显示: {vessel_display}")
|
||||
|
||||
# 测试字符串格式
|
||||
vessel_str = "flask_2"
|
||||
vessel_id = extract_vessel_id(vessel_str)
|
||||
vessel_display = get_vessel_display_info(vessel_str)
|
||||
debug_print(f"字符串格式: {vessel_str} -> ID: {vessel_id}, 显示: {vessel_display}")
|
||||
|
||||
debug_print("测试完成")
|
||||
debug_print(f" 字符串格式: {vessel_str} → ID: {vessel_id}, 显示: {vessel_display}")
|
||||
|
||||
debug_print("✅ 测试完成 🎉")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_stir_protocol()
|
||||
|
||||
@@ -1,57 +1,36 @@
|
||||
"""编译器共享日志工具"""
|
||||
|
||||
import inspect
|
||||
# 🆕 创建进度日志动作
|
||||
import logging
|
||||
from typing import Dict, Any
|
||||
|
||||
# 模块名到前缀的映射
|
||||
_MODULE_PREFIXES = {
|
||||
"add_protocol": "[ADD]",
|
||||
"adjustph_protocol": "[ADJUSTPH]",
|
||||
"clean_vessel_protocol": "[CLEAN_VESSEL]",
|
||||
"dissolve_protocol": "[DISSOLVE]",
|
||||
"dry_protocol": "[DRY]",
|
||||
"evacuateandrefill_protocol": "[EVACUATE]",
|
||||
"evaporate_protocol": "[EVAPORATE]",
|
||||
"filter_protocol": "[FILTER]",
|
||||
"heatchill_protocol": "[HEATCHILL]",
|
||||
"hydrogenate_protocol": "[HYDROGENATE]",
|
||||
"pump_protocol": "[PUMP]",
|
||||
"recrystallize_protocol": "[RECRYSTALLIZE]",
|
||||
"reset_handling_protocol": "[RESET]",
|
||||
"run_column_protocol": "[RUN_COLUMN]",
|
||||
"separate_protocol": "[SEPARATE]",
|
||||
"stir_protocol": "[STIR]",
|
||||
"wash_solid_protocol": "[WASH_SOLID]",
|
||||
"vessel_parser": "[VESSEL_PARSER]",
|
||||
"unit_parser": "[UNIT_PARSER]",
|
||||
"resource_helper": "[RESOURCE_HELPER]",
|
||||
}
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def debug_print(message, prefix=None):
|
||||
"""调试输出 — 自动根据调用模块设置前缀"""
|
||||
if prefix is None:
|
||||
frame = inspect.currentframe()
|
||||
caller = frame.f_back if frame else None
|
||||
module_name = ""
|
||||
if caller:
|
||||
module_name = caller.f_globals.get("__name__", "")
|
||||
# 取最后一段作为模块短名
|
||||
module_name = module_name.rsplit(".", 1)[-1]
|
||||
prefix = _MODULE_PREFIXES.get(module_name, f"[{module_name.upper()}]")
|
||||
logger = logging.getLogger("unilabos.compile")
|
||||
def debug_print(message, prefix="[UNIT_PARSER]"):
|
||||
"""调试输出"""
|
||||
logger.info(f"{prefix} {message}")
|
||||
|
||||
|
||||
def action_log(message: str, emoji: str = "📝", prefix="[HIGH-LEVEL OPERATION]") -> Dict[str, Any]:
|
||||
"""创建一个动作日志"""
|
||||
full_message = f"{prefix} {emoji} {message}"
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
"""创建一个动作日志 - 支持中文和emoji"""
|
||||
try:
|
||||
full_message = f"{prefix} {emoji} {message}"
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": full_message,
|
||||
"progress_message": full_message
|
||||
}
|
||||
}
|
||||
}
|
||||
except Exception as e:
|
||||
# 如果emoji有问题，使用纯文本
|
||||
safe_message = f"{prefix} {message}"
|
||||
|
||||
return {
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {
|
||||
"time": 0.1,
|
||||
"log_message": safe_message,
|
||||
"progress_message": safe_message
|
||||
}
|
||||
}
|
||||
@@ -1,172 +0,0 @@
|
||||
"""
|
||||
资源实例兼容层
|
||||
|
||||
提供 ensure_resource_instance() 将 dict / ResourceDictInstance 统一转为
|
||||
ResourceDictInstance，使编译器可以渐进式迁移到强类型资源。
|
||||
"""
|
||||
|
||||
from typing import Any, Dict, Optional, Union
|
||||
|
||||
from unilabos.resources.resource_tracker import ResourceDictInstance
|
||||
|
||||
|
||||
def ensure_resource_instance(
|
||||
resource: Union[Dict[str, Any], ResourceDictInstance, None],
|
||||
) -> Optional[ResourceDictInstance]:
|
||||
"""将 dict 或 ResourceDictInstance 统一转为 ResourceDictInstance
|
||||
|
||||
编译器入口统一调用此函数，即可同时兼容旧 dict 传参和新 ResourceDictInstance 传参。
|
||||
|
||||
Args:
|
||||
resource: 资源数据，可以是 plain dict、ResourceDictInstance 或 None
|
||||
|
||||
Returns:
|
||||
ResourceDictInstance 或 None（当输入为 None 时）
|
||||
"""
|
||||
if resource is None:
|
||||
return None
|
||||
if isinstance(resource, ResourceDictInstance):
|
||||
return resource
|
||||
if isinstance(resource, dict):
|
||||
return ResourceDictInstance.get_resource_instance_from_dict(resource)
|
||||
raise TypeError(f"不支持的资源类型: {type(resource)}, 期望 dict 或 ResourceDictInstance")
|
||||
|
||||
|
||||
def resource_to_dict(resource: Union[Dict[str, Any], ResourceDictInstance]) -> Dict[str, Any]:
|
||||
"""将 ResourceDictInstance 或 dict 统一转为 plain dict
|
||||
|
||||
用于需要 dict 操作的场景（如 children dict 操作）。
|
||||
|
||||
Args:
|
||||
resource: ResourceDictInstance 或 dict
|
||||
|
||||
Returns:
|
||||
plain dict
|
||||
"""
|
||||
if isinstance(resource, dict):
|
||||
return resource
|
||||
if isinstance(resource, ResourceDictInstance):
|
||||
return resource.get_plr_nested_dict()
|
||||
raise TypeError(f"不支持的资源类型: {type(resource)}")
|
||||
|
||||
|
||||
def get_resource_id(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> str:
|
||||
"""从资源对象中提取 ID
|
||||
|
||||
Args:
|
||||
resource: 字符串 ID、dict 或 ResourceDictInstance
|
||||
|
||||
Returns:
|
||||
资源 ID 字符串
|
||||
"""
|
||||
if isinstance(resource, str):
|
||||
return resource
|
||||
if isinstance(resource, ResourceDictInstance):
|
||||
return resource.res_content.id
|
||||
if isinstance(resource, dict):
|
||||
if "id" in resource:
|
||||
return resource["id"]
|
||||
# 兼容 {station_id: {...}} 格式
|
||||
first_val = next(iter(resource.values()), {})
|
||||
if isinstance(first_val, dict):
|
||||
return first_val.get("id", "")
|
||||
return ""
|
||||
raise TypeError(f"不支持的资源类型: {type(resource)}")
|
||||
|
||||
|
||||
def get_resource_data(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> Dict[str, Any]:
|
||||
"""从资源对象中提取 data 字段
|
||||
|
||||
Args:
|
||||
resource: 字符串、dict 或 ResourceDictInstance
|
||||
|
||||
Returns:
|
||||
data 字典
|
||||
"""
|
||||
if isinstance(resource, str):
|
||||
return {}
|
||||
if isinstance(resource, ResourceDictInstance):
|
||||
return dict(resource.res_content.data)
|
||||
if isinstance(resource, dict):
|
||||
return resource.get("data", {})
|
||||
return {}
|
||||
|
||||
|
||||
def get_resource_display_info(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> str:
|
||||
"""获取资源的显示信息（用于日志）
|
||||
|
||||
Args:
|
||||
resource: 字符串 ID、dict 或 ResourceDictInstance
|
||||
|
||||
Returns:
|
||||
显示信息字符串
|
||||
"""
|
||||
if isinstance(resource, str):
|
||||
return resource
|
||||
if isinstance(resource, ResourceDictInstance):
|
||||
res = resource.res_content
|
||||
return f"{res.id} ({res.name})" if res.name and res.name != res.id else res.id
|
||||
if isinstance(resource, dict):
|
||||
res_id = resource.get("id", "unknown")
|
||||
res_name = resource.get("name", "")
|
||||
if res_name and res_name != res_id:
|
||||
return f"{res_id} ({res_name})"
|
||||
return res_id
|
||||
return str(resource)
|
||||
|
||||
|
||||
def get_resource_liquid_volume(resource: Union[Dict[str, Any], ResourceDictInstance]) -> float:
|
||||
"""从资源中获取液体体积
|
||||
|
||||
Args:
|
||||
resource: dict 或 ResourceDictInstance
|
||||
|
||||
Returns:
|
||||
液体总体积 (mL)
|
||||
"""
|
||||
data = get_resource_data(resource)
|
||||
liquids = data.get("liquid", [])
|
||||
if isinstance(liquids, list):
|
||||
return sum(l.get("volume", 0.0) for l in liquids if isinstance(l, dict))
|
||||
return 0.0
|
||||
|
||||
|
||||
def update_vessel_volume(vessel, G, new_volume: float, description: str = "") -> None:
|
||||
"""
|
||||
更新容器体积（同时更新vessel字典和图节点）
|
||||
|
||||
Args:
|
||||
vessel: 容器字典或 ResourceDictInstance
|
||||
G: 网络图 (nx.DiGraph)
|
||||
new_volume: 新体积 (mL)
|
||||
description: 更新描述（用于日志）
|
||||
"""
|
||||
import logging
|
||||
logger = logging.getLogger("unilabos.compile")
|
||||
|
||||
vessel_id = get_resource_id(vessel)
|
||||
|
||||
if description:
|
||||
logger.info(f"[RESOURCE] 更新容器体积 - {description}")
|
||||
|
||||
# 更新 vessel 字典中的体积
|
||||
if isinstance(vessel, dict):
|
||||
if "data" not in vessel:
|
||||
vessel["data"] = {}
|
||||
lv = vessel["data"].get("liquid_volume")
|
||||
if isinstance(lv, list) and len(lv) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id and vessel_id in G.nodes():
|
||||
if "data" not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]["data"] = {}
|
||||
node_lv = G.nodes[vessel_id]["data"].get("liquid_volume")
|
||||
if isinstance(node_lv, list) and len(node_lv) > 0:
|
||||
G.nodes[vessel_id]["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]["data"]["liquid_volume"] = new_volume
|
||||
|
||||
logger.info(f"[RESOURCE] 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
|
||||
@@ -184,42 +184,6 @@ def parse_time_input(time_input: Union[str, float]) -> float:
|
||||
|
||||
return time_sec
|
||||
|
||||
|
||||
def parse_temperature_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
|
||||
"""
|
||||
解析温度输入，支持字符串和数值
|
||||
|
||||
Args:
|
||||
temp_input: 温度输入（如 "256 °C", "reflux", 45.0）
|
||||
default_temp: 默认温度
|
||||
|
||||
Returns:
|
||||
float: 温度（°C）
|
||||
"""
|
||||
if not temp_input:
|
||||
return default_temp
|
||||
|
||||
if isinstance(temp_input, (int, float)):
|
||||
return float(temp_input)
|
||||
|
||||
temp_str = str(temp_input).lower().strip()
|
||||
|
||||
# 特殊温度关键词
|
||||
special_temps = {
|
||||
"room temperature": 25.0, "reflux": 78.0, "ice bath": 0.0,
|
||||
"boiling": 100.0, "hot": 60.0, "warm": 40.0, "cold": 10.0,
|
||||
}
|
||||
if temp_str in special_temps:
|
||||
return special_temps[temp_str]
|
||||
|
||||
# 正则解析（如 "256 °C", "45°C", "45"）
|
||||
match = re.search(r'(\d+(?:\.\d+)?)\s*°?[cf]?', temp_str)
|
||||
if match:
|
||||
return float(match.group(1))
|
||||
|
||||
debug_print(f"无法解析温度: '{temp_str}'，使用默认值: {default_temp}°C")
|
||||
return default_temp
|
||||
|
||||
# 测试函数
|
||||
def test_unit_parser():
|
||||
"""测试单位解析功能"""
|
||||
|
||||
@@ -1,23 +1,27 @@
|
||||
import networkx as nx
|
||||
|
||||
from .logger_util import debug_print
|
||||
from .resource_helper import get_resource_id, get_resource_data
|
||||
|
||||
|
||||
def get_vessel(vessel):
|
||||
"""
|
||||
统一处理vessel参数，返回vessel_id和vessel_data。
|
||||
支持 dict、str、ResourceDictInstance。
|
||||
|
||||
Args:
|
||||
vessel: 可以是一个字典、字符串或 ResourceDictInstance，表示vessel的ID或数据。
|
||||
vessel: 可以是一个字典或字符串，表示vessel的ID或数据。
|
||||
|
||||
Returns:
|
||||
tuple: 包含vessel_id和vessel_data。
|
||||
"""
|
||||
# 统一使用 resource_helper 处理
|
||||
vessel_id = get_resource_id(vessel)
|
||||
vessel_data = get_resource_data(vessel)
|
||||
if isinstance(vessel, dict):
|
||||
if "id" not in vessel:
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
else:
|
||||
vessel_id = vessel.get("id", "")
|
||||
vessel_data = vessel.get("data", {})
|
||||
else:
|
||||
vessel_id = str(vessel)
|
||||
vessel_data = {}
|
||||
return vessel_id, vessel_data
|
||||
|
||||
|
||||
@@ -274,31 +278,4 @@ def find_solid_dispenser(G: nx.DiGraph) -> str:
|
||||
return node
|
||||
|
||||
debug_print(f"❌ 未找到固体加样器")
|
||||
return ""
|
||||
|
||||
|
||||
def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
|
||||
"""查找与指定容器相连的加热/冷却设备"""
|
||||
heatchill_nodes = []
|
||||
for node in G.nodes():
|
||||
node_data = G.nodes[node]
|
||||
node_class = node_data.get('class', '') or ''
|
||||
node_name = node.lower()
|
||||
if ('heatchill' in node_class.lower() or 'virtual_heatchill' in node_class
|
||||
or 'heater' in node_name or 'heat' in node_name):
|
||||
heatchill_nodes.append(node)
|
||||
|
||||
# 检查连接
|
||||
if vessel and heatchill_nodes:
|
||||
for hc in heatchill_nodes:
|
||||
if G.has_edge(hc, vessel) or G.has_edge(vessel, hc):
|
||||
debug_print(f"加热设备 '{hc}' 与容器 '{vessel}' 相连")
|
||||
return hc
|
||||
|
||||
# 使用第一个可用设备
|
||||
if heatchill_nodes:
|
||||
debug_print(f"使用第一个加热设备: {heatchill_nodes[0]}")
|
||||
return heatchill_nodes[0]
|
||||
|
||||
debug_print("未找到加热设备，使用默认设备")
|
||||
return "heatchill_1"
|
||||
return ""
|
||||
@@ -4,55 +4,199 @@ import logging
|
||||
import re
|
||||
|
||||
from .utils.unit_parser import parse_time_input, parse_volume_input
|
||||
from .utils.resource_helper import get_resource_id, get_resource_display_info, get_resource_liquid_volume, update_vessel_volume
|
||||
from .utils.logger_util import debug_print
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def debug_print(message):
|
||||
"""调试输出"""
|
||||
logger.info(f"[WASH_SOLID] {message}")
|
||||
|
||||
|
||||
def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
|
||||
"""查找溶剂源"""
|
||||
"""查找溶剂源（精简版）"""
|
||||
debug_print(f"🔍 查找溶剂源: {solvent}")
|
||||
|
||||
# 简化搜索列表
|
||||
search_patterns = [
|
||||
f"flask_{solvent}", f"bottle_{solvent}", f"reagent_{solvent}",
|
||||
"liquid_reagent_bottle_1", "flask_1", "solvent_bottle"
|
||||
]
|
||||
|
||||
|
||||
for pattern in search_patterns:
|
||||
if pattern in G.nodes():
|
||||
debug_print(f"找到溶剂源: {pattern}")
|
||||
debug_print(f"🎉 找到溶剂源: {pattern}")
|
||||
return pattern
|
||||
|
||||
debug_print(f"使用默认溶剂源: flask_{solvent}")
|
||||
|
||||
debug_print(f"⚠️ 使用默认溶剂源: flask_{solvent}")
|
||||
return f"flask_{solvent}"
|
||||
|
||||
def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
|
||||
"""查找滤液容器"""
|
||||
"""查找滤液容器（精简版）"""
|
||||
debug_print(f"🔍 查找滤液容器: {filtrate_vessel}")
|
||||
|
||||
# 如果指定了且存在，直接使用
|
||||
if filtrate_vessel and filtrate_vessel in G.nodes():
|
||||
debug_print(f"✅ 使用指定容器: {filtrate_vessel}")
|
||||
return filtrate_vessel
|
||||
|
||||
|
||||
# 简化搜索列表
|
||||
default_vessels = ["waste_workup", "filtrate_vessel", "flask_1", "collection_bottle_1"]
|
||||
|
||||
|
||||
for vessel in default_vessels:
|
||||
if vessel in G.nodes():
|
||||
debug_print(f"找到滤液容器: {vessel}")
|
||||
debug_print(f"🎉 找到滤液容器: {vessel}")
|
||||
return vessel
|
||||
|
||||
|
||||
debug_print(f"⚠️ 使用默认滤液容器: waste_workup")
|
||||
return "waste_workup"
|
||||
|
||||
def extract_vessel_id(vessel) -> str:
|
||||
"""从vessel参数中提取vessel_id，兼容 str / dict / ResourceDictInstance"""
|
||||
return get_resource_id(vessel)
|
||||
def extract_vessel_id(vessel: Union[str, dict]) -> str:
|
||||
"""
|
||||
从vessel参数中提取vessel_id
|
||||
|
||||
Args:
|
||||
vessel: vessel字典或vessel_id字符串
|
||||
|
||||
Returns:
|
||||
str: vessel_id
|
||||
"""
|
||||
if isinstance(vessel, dict):
|
||||
vessel_id = list(vessel.values())[0].get("id", "")
|
||||
debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
|
||||
return vessel_id
|
||||
elif isinstance(vessel, str):
|
||||
debug_print(f"🔧 vessel参数为字符串: {vessel}")
|
||||
return vessel
|
||||
else:
|
||||
debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
|
||||
return ""
|
||||
|
||||
def get_vessel_display_info(vessel) -> str:
|
||||
"""获取容器的显示信息（用于日志），兼容 str / dict / ResourceDictInstance"""
|
||||
return get_resource_display_info(vessel)
|
||||
def get_vessel_display_info(vessel: Union[str, dict]) -> str:
|
||||
"""
|
||||
获取容器的显示信息（用于日志）
|
||||
|
||||
Args:
|
||||
vessel: vessel字典或vessel_id字符串
|
||||
|
||||
Returns:
|
||||
str: 显示信息
|
||||
"""
|
||||
if isinstance(vessel, dict):
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
vessel_name = vessel.get("name", "")
|
||||
if vessel_name:
|
||||
return f"{vessel_id} ({vessel_name})"
|
||||
else:
|
||||
return vessel_id
|
||||
else:
|
||||
return str(vessel)
|
||||
|
||||
def get_vessel_liquid_volume(vessel: dict) -> float:
|
||||
"""
|
||||
获取容器中的液体体积 - 支持vessel字典
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
|
||||
Returns:
|
||||
float: 液体体积（mL）
|
||||
"""
|
||||
if not vessel or "data" not in vessel:
|
||||
debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
|
||||
return 0.0
|
||||
|
||||
vessel_data = vessel["data"]
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
|
||||
|
||||
# 检查liquid_volume字段
|
||||
if "liquid_volume" in vessel_data:
|
||||
liquid_volume = vessel_data["liquid_volume"]
|
||||
|
||||
# 处理列表格式
|
||||
if isinstance(liquid_volume, list):
|
||||
if len(liquid_volume) > 0:
|
||||
volume = liquid_volume[0]
|
||||
if isinstance(volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
|
||||
return float(volume)
|
||||
|
||||
# 处理直接数值格式
|
||||
elif isinstance(liquid_volume, (int, float)):
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
|
||||
return float(liquid_volume)
|
||||
|
||||
# 检查其他可能的体积字段
|
||||
volume_keys = ['current_volume', 'total_volume', 'volume']
|
||||
for key in volume_keys:
|
||||
if key in vessel_data:
|
||||
try:
|
||||
volume = float(vessel_data[key])
|
||||
if volume > 0:
|
||||
debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
|
||||
return volume
|
||||
except (ValueError, TypeError):
|
||||
continue
|
||||
|
||||
debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 0.0mL")
|
||||
return 0.0
|
||||
|
||||
def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
|
||||
"""
|
||||
更新容器体积（同时更新vessel字典和图节点）
|
||||
|
||||
Args:
|
||||
vessel: 容器字典
|
||||
G: 网络图
|
||||
new_volume: 新体积
|
||||
description: 更新描述
|
||||
"""
|
||||
vessel_id = vessel.get("id", "unknown")
|
||||
|
||||
if description:
|
||||
debug_print(f"🔧 更新容器体积 - {description}")
|
||||
|
||||
# 更新vessel字典中的体积
|
||||
if "data" in vessel:
|
||||
if "liquid_volume" in vessel["data"]:
|
||||
current_volume = vessel["data"]["liquid_volume"]
|
||||
if isinstance(current_volume, list):
|
||||
if len(current_volume) > 0:
|
||||
vessel["data"]["liquid_volume"][0] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = [new_volume]
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"]["liquid_volume"] = new_volume
|
||||
else:
|
||||
vessel["data"] = {"liquid_volume": new_volume}
|
||||
|
||||
# 同时更新图中的容器数据
|
||||
if vessel_id in G.nodes():
|
||||
if 'data' not in G.nodes[vessel_id]:
|
||||
G.nodes[vessel_id]['data'] = {}
|
||||
|
||||
vessel_node_data = G.nodes[vessel_id]['data']
|
||||
current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
|
||||
|
||||
if isinstance(current_node_volume, list):
|
||||
if len(current_node_volume) > 0:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
|
||||
else:
|
||||
G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
|
||||
|
||||
debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
|
||||
|
||||
def generate_wash_solid_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: Union[str, dict],
|
||||
vessel: Union[str, dict], # 🔧 修改：支持vessel字典
|
||||
solvent: str,
|
||||
volume: Union[float, str] = "50",
|
||||
filtrate_vessel: Union[str, dict] = "",
|
||||
filtrate_vessel: Union[str, dict] = "", # 🔧 修改：支持vessel字典
|
||||
temp: float = 25.0,
|
||||
stir: bool = False,
|
||||
stir_speed: float = 0.0,
|
||||
@@ -66,7 +210,7 @@ def generate_wash_solid_protocol(
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成固体清洗协议 - 支持vessel字典和体积运算
|
||||
|
||||
|
||||
Args:
|
||||
G: 有向图，节点为设备和容器，边为流体管道
|
||||
vessel: 清洗容器字典（从XDL传入）或容器ID字符串
|
||||
@@ -83,78 +227,106 @@ def generate_wash_solid_protocol(
|
||||
mass: 固体质量（用于计算溶剂用量）
|
||||
event: 事件描述
|
||||
**kwargs: 其他可选参数
|
||||
|
||||
|
||||
Returns:
|
||||
List[Dict[str, Any]]: 固体清洗操作的动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 🔧 核心修改：从vessel参数中提取vessel_id
|
||||
vessel_id = extract_vessel_id(vessel)
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
|
||||
|
||||
# 🔧 处理filtrate_vessel参数
|
||||
filtrate_vessel_id = extract_vessel_id(filtrate_vessel) if filtrate_vessel else ""
|
||||
|
||||
debug_print(f"开始生成固体清洗协议: vessel={vessel_id}, solvent={solvent}, volume={volume}, repeats={repeats}")
|
||||
|
||||
# 记录清洗前的容器状态
|
||||
|
||||
debug_print("🧼" * 20)
|
||||
debug_print("🚀 开始生成固体清洗协议（支持vessel字典和体积运算）✨")
|
||||
debug_print(f"📝 输入参数:")
|
||||
debug_print(f" 🥽 vessel: {vessel_display} (ID: {vessel_id})")
|
||||
debug_print(f" 🧪 solvent: {solvent}")
|
||||
debug_print(f" 💧 volume: {volume}")
|
||||
debug_print(f" 🗑️ filtrate_vessel: {filtrate_vessel_id}")
|
||||
debug_print(f" ⏰ time: {time}")
|
||||
debug_print(f" 🔄 repeats: {repeats}")
|
||||
debug_print("🧼" * 20)
|
||||
|
||||
# 🔧 新增：记录清洗前的容器状态
|
||||
debug_print("🔍 记录清洗前容器状态...")
|
||||
if isinstance(vessel, dict):
|
||||
original_volume = get_resource_liquid_volume(vessel)
|
||||
original_volume = get_vessel_liquid_volume(vessel)
|
||||
debug_print(f"📊 清洗前液体体积: {original_volume:.2f}mL")
|
||||
else:
|
||||
original_volume = 0.0
|
||||
|
||||
# 快速验证
|
||||
if not vessel_id or vessel_id not in G.nodes():
|
||||
debug_print(f"📊 vessel为字符串格式，无法获取体积信息")
|
||||
|
||||
# 📋 快速验证
|
||||
if not vessel_id or vessel_id not in G.nodes(): # 🔧 使用 vessel_id
|
||||
debug_print("❌ 容器验证失败! 😱")
|
||||
raise ValueError("vessel 参数无效")
|
||||
|
||||
|
||||
if not solvent:
|
||||
debug_print("❌ 溶剂不能为空! 😱")
|
||||
raise ValueError("solvent 参数不能为空")
|
||||
|
||||
# 参数解析
|
||||
|
||||
debug_print("✅ 基础验证通过 🎯")
|
||||
|
||||
# 🔄 参数解析
|
||||
debug_print("📍 步骤1: 参数解析... ⚡")
|
||||
final_volume = parse_volume_input(volume, volume_spec, mass)
|
||||
final_time = parse_time_input(time)
|
||||
|
||||
# 重复次数处理
|
||||
|
||||
# 重复次数处理（简化）
|
||||
if repeats_spec:
|
||||
spec_map = {'few': 2, 'several': 3, 'many': 4, 'thorough': 5}
|
||||
final_repeats = next((v for k, v in spec_map.items() if k in repeats_spec.lower()), repeats)
|
||||
else:
|
||||
final_repeats = max(1, min(repeats, 5))
|
||||
|
||||
# 模拟时间优化
|
||||
final_repeats = max(1, min(repeats, 5)) # 限制1-5次
|
||||
|
||||
# 🕐 模拟时间优化
|
||||
debug_print(" ⏱️ 模拟时间优化...")
|
||||
original_time = final_time
|
||||
if final_time > 60.0:
|
||||
final_time = 60.0
|
||||
debug_print(f"时间优化: {original_time}s -> {final_time}s")
|
||||
|
||||
final_time = 60.0 # 限制最长60秒
|
||||
debug_print(f" 🎮 时间优化: {original_time}s → {final_time}s ⚡")
|
||||
|
||||
# 参数修正
|
||||
temp = max(25.0, min(temp, 80.0))
|
||||
stir_speed = max(0.0, min(stir_speed, 300.0)) if stir else 0.0
|
||||
|
||||
debug_print(f"最终参数: 体积={final_volume}mL, 时间={final_time}s, 重复={final_repeats}次")
|
||||
|
||||
# 查找设备
|
||||
temp = max(25.0, min(temp, 80.0)) # 温度范围25-80°C
|
||||
stir_speed = max(0.0, min(stir_speed, 300.0)) if stir else 0.0 # 速度范围0-300
|
||||
|
||||
debug_print(f"🎯 最终参数: 体积={final_volume}mL, 时间={final_time}s, 重复={final_repeats}次")
|
||||
|
||||
# 🔍 查找设备
|
||||
debug_print("📍 步骤2: 查找设备... 🔍")
|
||||
try:
|
||||
solvent_source = find_solvent_source(G, solvent)
|
||||
actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel_id)
|
||||
debug_print(f"🎉 设备配置完成 ✨")
|
||||
debug_print(f" 🧪 溶剂源: {solvent_source}")
|
||||
debug_print(f" 🗑️ 滤液容器: {actual_filtrate_vessel}")
|
||||
except Exception as e:
|
||||
debug_print(f"❌ 设备查找失败: {str(e)} 😭")
|
||||
raise ValueError(f"设备查找失败: {str(e)}")
|
||||
|
||||
# 生成动作序列
|
||||
|
||||
# 🚀 生成动作序列
|
||||
debug_print("📍 步骤3: 生成清洗动作... 🧼")
|
||||
action_sequence = []
|
||||
|
||||
|
||||
# 🔧 新增：体积变化跟踪变量
|
||||
current_volume = original_volume
|
||||
total_solvent_used = 0.0
|
||||
|
||||
|
||||
for cycle in range(final_repeats):
|
||||
debug_print(f"第{cycle+1}/{final_repeats}次清洗")
|
||||
|
||||
debug_print(f" 🔄 第{cycle+1}/{final_repeats}次清洗...")
|
||||
|
||||
# 1. 转移溶剂
|
||||
try:
|
||||
from .pump_protocol import generate_pump_protocol_with_rinsing
|
||||
|
||||
|
||||
debug_print(f" 💧 添加溶剂: {final_volume}mL {solvent}")
|
||||
transfer_actions = generate_pump_protocol_with_rinsing(
|
||||
G=G,
|
||||
from_vessel=solvent_source,
|
||||
to_vessel=vessel_id,
|
||||
to_vessel=vessel_id, # 🔧 使用 vessel_id
|
||||
volume=final_volume,
|
||||
amount="",
|
||||
time=0.0,
|
||||
@@ -166,160 +338,211 @@ def generate_wash_solid_protocol(
|
||||
flowrate=2.5,
|
||||
transfer_flowrate=0.5
|
||||
)
|
||||
|
||||
|
||||
if transfer_actions:
|
||||
action_sequence.extend(transfer_actions)
|
||||
|
||||
debug_print(f" ✅ 转移动作: {len(transfer_actions)}个 🚚")
|
||||
|
||||
# 🔧 新增：更新体积 - 添加溶剂后
|
||||
current_volume += final_volume
|
||||
total_solvent_used += final_volume
|
||||
|
||||
|
||||
if isinstance(vessel, dict):
|
||||
update_vessel_volume(vessel, G, current_volume,
|
||||
update_vessel_volume(vessel, G, current_volume,
|
||||
f"第{cycle+1}次清洗添加{final_volume}mL溶剂后")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"转移失败: {str(e)}")
|
||||
|
||||
debug_print(f" ❌ 转移失败: {str(e)} 😞")
|
||||
|
||||
# 2. 搅拌（如果需要）
|
||||
if stir and final_time > 0:
|
||||
debug_print(f" 🌪️ 搅拌: {final_time}s @ {stir_speed}RPM")
|
||||
stir_action = {
|
||||
"device_id": "stirrer_1",
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"time": str(time),
|
||||
"stir_time": final_time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 10.0
|
||||
"settling_time": 10.0 # 🕐 缩短沉降时间
|
||||
}
|
||||
}
|
||||
action_sequence.append(stir_action)
|
||||
|
||||
debug_print(f" ✅ 搅拌动作: {final_time}s, {stir_speed}RPM 🌪️")
|
||||
|
||||
# 3. 过滤
|
||||
debug_print(f" 🌊 过滤到: {actual_filtrate_vessel}")
|
||||
filter_action = {
|
||||
"device_id": "filter_1",
|
||||
"action_name": "filter",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"filtrate_vessel": actual_filtrate_vessel,
|
||||
"temp": temp,
|
||||
"volume": final_volume
|
||||
}
|
||||
}
|
||||
action_sequence.append(filter_action)
|
||||
|
||||
# 更新体积 - 过滤后
|
||||
filtered_volume = current_volume * 0.9
|
||||
debug_print(f" ✅ 过滤动作: → {actual_filtrate_vessel} 🌊")
|
||||
|
||||
# 🔧 新增：更新体积 - 过滤后（液体被滤除）
|
||||
# 假设滤液完全被移除，固体残留在容器中
|
||||
filtered_volume = current_volume * 0.9 # 假设90%的液体被过滤掉
|
||||
current_volume = current_volume - filtered_volume
|
||||
|
||||
|
||||
if isinstance(vessel, dict):
|
||||
update_vessel_volume(vessel, G, current_volume,
|
||||
update_vessel_volume(vessel, G, current_volume,
|
||||
f"第{cycle+1}次清洗过滤后")
|
||||
|
||||
# 4. 等待
|
||||
wait_time = 5.0
|
||||
|
||||
# 4. 等待（缩短时间）
|
||||
wait_time = 5.0 # 🕐 缩短等待时间：10s → 5s
|
||||
action_sequence.append({
|
||||
"action_name": "wait",
|
||||
"action_kwargs": {"time": wait_time}
|
||||
})
|
||||
|
||||
# 最终状态
|
||||
debug_print(f" ✅ 等待: {wait_time}s ⏰")
|
||||
|
||||
# 🔧 新增：清洗完成后的最终状态报告
|
||||
if isinstance(vessel, dict):
|
||||
final_volume_vessel = get_resource_liquid_volume(vessel)
|
||||
final_volume_vessel = get_vessel_liquid_volume(vessel)
|
||||
else:
|
||||
final_volume_vessel = current_volume
|
||||
|
||||
debug_print(f"固体清洗协议生成完成: {len(action_sequence)} 个动作, {final_repeats}次清洗, 溶剂总用量={total_solvent_used:.2f}mL")
|
||||
|
||||
|
||||
# 🎊 总结
|
||||
debug_print("🧼" * 20)
|
||||
debug_print(f"🎉 固体清洗协议生成完成! ✨")
|
||||
debug_print(f"📊 协议统计:")
|
||||
debug_print(f" 📋 总动作数: {len(action_sequence)} 个")
|
||||
debug_print(f" 🥽 清洗容器: {vessel_display}")
|
||||
debug_print(f" 🧪 使用溶剂: {solvent}")
|
||||
debug_print(f" 💧 单次体积: {final_volume}mL")
|
||||
debug_print(f" 🔄 清洗次数: {final_repeats}次")
|
||||
debug_print(f" 💧 总溶剂用量: {total_solvent_used:.2f}mL")
|
||||
debug_print(f"📊 体积变化统计:")
|
||||
debug_print(f" - 清洗前体积: {original_volume:.2f}mL")
|
||||
debug_print(f" - 清洗后体积: {final_volume_vessel:.2f}mL")
|
||||
debug_print(f" - 溶剂总用量: {total_solvent_used:.2f}mL")
|
||||
debug_print(f"⏱️ 预计总时间: {(final_time + 5) * final_repeats / 60:.1f} 分钟")
|
||||
debug_print("🧼" * 20)
|
||||
|
||||
return action_sequence
|
||||
|
||||
# 便捷函数
|
||||
def wash_with_water(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "50",
|
||||
# 🔧 新增：便捷函数
|
||||
def wash_with_water(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "50",
|
||||
repeats: int = 2) -> List[Dict[str, Any]]:
|
||||
"""用水清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"💧 水洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, "water", volume=volume, repeats=repeats)
|
||||
|
||||
def wash_with_ethanol(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "30",
|
||||
def wash_with_ethanol(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "30",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用乙醇清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🍺 乙醇洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, "ethanol", volume=volume, repeats=repeats)
|
||||
|
||||
def wash_with_acetone(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "25",
|
||||
def wash_with_acetone(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "25",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用丙酮清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"💨 丙酮洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, "acetone", volume=volume, repeats=repeats)
|
||||
|
||||
def wash_with_ether(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "40",
|
||||
def wash_with_ether(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
volume: Union[float, str] = "40",
|
||||
repeats: int = 2) -> List[Dict[str, Any]]:
|
||||
"""用乙醚清洗固体"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🌬️ 乙醚洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, "diethyl_ether", volume=volume, repeats=repeats)
|
||||
|
||||
def wash_with_cold_solvent(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "30",
|
||||
def wash_with_cold_solvent(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "30",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用冷溶剂清洗固体"""
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"❄️ 冷{solvent}洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
temp=5.0, repeats=repeats)
|
||||
|
||||
def wash_with_hot_solvent(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "50",
|
||||
def wash_with_hot_solvent(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "50",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""用热溶剂清洗固体"""
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🔥 热{solvent}洗固体: {vessel_display} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
temp=60.0, repeats=repeats)
|
||||
|
||||
def wash_with_stirring(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "50",
|
||||
stir_time: Union[str, float] = "5 min",
|
||||
def wash_with_stirring(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "50",
|
||||
stir_time: Union[str, float] = "5 min",
|
||||
repeats: int = 1) -> List[Dict[str, Any]]:
|
||||
"""带搅拌的溶剂清洗"""
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
stir=True, stir_speed=200.0,
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🌪️ 搅拌清洗: {vessel_display} with {solvent} ({repeats} 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
|
||||
stir=True, stir_speed=200.0,
|
||||
time=stir_time, repeats=repeats)
|
||||
|
||||
def thorough_wash(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
def thorough_wash(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "50") -> List[Dict[str, Any]]:
|
||||
"""彻底清洗（多次重复）"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"🔄 彻底清洗: {vessel_display} with {solvent} (5 次)")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=5)
|
||||
|
||||
def quick_rinse(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
def quick_rinse(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvent: str, volume: Union[float, str] = "20") -> List[Dict[str, Any]]:
|
||||
"""快速冲洗（单次，小体积）"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"⚡ 快速冲洗: {vessel_display} with {solvent}")
|
||||
return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=1)
|
||||
|
||||
def sequential_wash(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
def sequential_wash(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
solvents: list, volume: Union[float, str] = "40") -> List[Dict[str, Any]]:
|
||||
"""连续多溶剂清洗"""
|
||||
vessel_display = get_vessel_display_info(vessel)
|
||||
debug_print(f"📝 连续清洗: {vessel_display} with {' → '.join(solvents)}")
|
||||
|
||||
action_sequence = []
|
||||
for solvent in solvents:
|
||||
wash_actions = generate_wash_solid_protocol(G, vessel, solvent,
|
||||
wash_actions = generate_wash_solid_protocol(G, vessel, solvent,
|
||||
volume=volume, repeats=1)
|
||||
action_sequence.extend(wash_actions)
|
||||
|
||||
|
||||
return action_sequence
|
||||
|
||||
# 测试函数
|
||||
def test_wash_solid_protocol():
|
||||
"""测试固体清洗协议"""
|
||||
debug_print("=== WASH SOLID PROTOCOL 测试 ===")
|
||||
|
||||
vessel_dict = {"id": "filter_flask_1", "name": "过滤瓶1",
|
||||
debug_print("🧪 === WASH SOLID PROTOCOL 测试 === ✨")
|
||||
|
||||
# 测试vessel参数处理
|
||||
debug_print("🔧 测试vessel参数处理...")
|
||||
|
||||
# 测试字典格式
|
||||
vessel_dict = {"id": "filter_flask_1", "name": "过滤瓶1",
|
||||
"data": {"liquid_volume": 25.0}}
|
||||
vessel_id = extract_vessel_id(vessel_dict)
|
||||
vessel_display = get_vessel_display_info(vessel_dict)
|
||||
volume = get_resource_liquid_volume(vessel_dict)
|
||||
debug_print(f"字典格式: ID={vessel_id}, 显示={vessel_display}, 体积={volume}mL")
|
||||
|
||||
volume = get_vessel_liquid_volume(vessel_dict)
|
||||
debug_print(f" 字典格式: {vessel_dict}")
|
||||
debug_print(f" → ID: {vessel_id}, 显示: {vessel_display}, 体积: {volume}mL")
|
||||
|
||||
# 测试字符串格式
|
||||
vessel_str = "filter_flask_2"
|
||||
vessel_id = extract_vessel_id(vessel_str)
|
||||
vessel_display = get_vessel_display_info(vessel_str)
|
||||
debug_print(f"字符串格式: ID={vessel_id}, 显示={vessel_display}")
|
||||
|
||||
debug_print("测试完成")
|
||||
debug_print(f" 字符串格式: {vessel_str}")
|
||||
debug_print(f" → ID: {vessel_id}, 显示: {vessel_display}")
|
||||
|
||||
debug_print("✅ 测试完成 🎉")
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_wash_solid_protocol()
|
||||
test_wash_solid_protocol()
|
||||
@@ -16,17 +16,12 @@ class BasicConfig:
|
||||
upload_registry = False
|
||||
machine_name = "undefined"
|
||||
vis_2d_enable = False
|
||||
no_update_feedback = False
|
||||
enable_resource_load = True
|
||||
communication_protocol = "websocket"
|
||||
startup_json_path = None # 填写绝对路径
|
||||
disable_browser = False # 禁止浏览器自动打开
|
||||
port = 8002 # 本地HTTP服务
|
||||
check_mode = False # CI 检查模式，用于验证 registry 导入和文件一致性
|
||||
test_mode = False # 测试模式，所有动作不实际执行，返回模拟结果
|
||||
extra_resource = False # 是否加载lab_开头的额外资源
|
||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||
log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG" # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
|
||||
@classmethod
|
||||
def auth_secret(cls):
|
||||
@@ -41,7 +36,7 @@ class BasicConfig:
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 20 # ping间隔（秒）
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
|
||||
|
||||
# HTTP配置
|
||||
@@ -70,14 +65,13 @@ def _update_config_from_module(module):
|
||||
if not attr.startswith("_"):
|
||||
setattr(obj, attr, getattr(getattr(module, name), attr))
|
||||
|
||||
|
||||
def _update_config_from_env():
|
||||
prefix = "UNILABOS_"
|
||||
for env_key, env_value in os.environ.items():
|
||||
if not env_key.startswith(prefix):
|
||||
continue
|
||||
try:
|
||||
key_path = env_key[len(prefix) :] # Remove UNILAB_ prefix
|
||||
key_path = env_key[len(prefix):] # Remove UNILAB_ prefix
|
||||
class_field = key_path.upper().split("_", 1)
|
||||
if len(class_field) != 2:
|
||||
logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
|
||||
@@ -147,5 +141,5 @@ def load_config(config_path=None):
|
||||
traceback.print_exc()
|
||||
exit(1)
|
||||
else:
|
||||
config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
|
||||
config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
|
||||
load_config(config_path)
|
||||
|
||||
@@ -6,7 +6,7 @@ Coin Cell Assembly Workstation
|
||||
"""
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
|
||||
from unilabos.device_comms.workstation_communication import (
|
||||
WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
|
||||
@@ -61,7 +61,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
|
||||
# 创建资源跟踪器（如果没有提供）
|
||||
if resource_tracker is None:
|
||||
from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
resource_tracker = DeviceNodeResourceTracker()
|
||||
|
||||
# 初始化基类
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user