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https://github.com/deepmodeling/Uni-Lab-OS
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feat/3d_bu
| Author | SHA1 | Date | |
|---|---|---|---|
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9862415655 | ||
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18296d3cb2 | ||
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090d5c5cb5 | ||
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48e13a7b4d |
@@ -3,7 +3,7 @@
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package:
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name: unilabos
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version: 0.11.2
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version: 0.10.19
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|
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source:
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path: ../../unilabos
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@@ -54,7 +54,7 @@ requirements:
|
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- pymodbus
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- matplotlib
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- pylibftdi
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- uni-lab::unilabos-env ==0.11.2
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- uni-lab::unilabos-env ==0.10.19
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|
||||
about:
|
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repository: https://github.com/deepmodeling/Uni-Lab-OS
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||||
|
||||
@@ -2,7 +2,7 @@
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|
||||
package:
|
||||
name: unilabos-env
|
||||
version: 0.11.2
|
||||
version: 0.10.19
|
||||
|
||||
build:
|
||||
noarch: generic
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||||
|
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@@ -3,7 +3,7 @@
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|
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package:
|
||||
name: unilabos-full
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||||
version: 0.11.2
|
||||
version: 0.10.19
|
||||
|
||||
build:
|
||||
noarch: generic
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@@ -11,7 +11,7 @@ build:
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||||
requirements:
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run:
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||||
# Base unilabos package (includes unilabos-env)
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- uni-lab::unilabos ==0.11.2
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- uni-lab::unilabos ==0.10.19
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# Documentation tools
|
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- sphinx
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||||
- sphinx_rtd_theme
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||||
|
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@@ -71,22 +71,6 @@ from unilabos.registry.decorators import action
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- `_` 开头的方法 → 不扫描
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||||
- `@not_action` 标记的方法 → 排除
|
||||
|
||||
### 参数文档 → JSON Schema 元数据
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||||
|
||||
在 `__init__` 和 action 方法 docstring 的 `Args:` 小节里，使用以下格式生成入参 schema 的显示信息：
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||||
|
||||
```python
|
||||
"""
|
||||
Args:
|
||||
param[显示名称]: 参数说明，会写入 JSON Schema 的 description。
|
||||
"""
|
||||
```
|
||||
|
||||
- `param[显示名称]` 的显示名称会写入 goal property 的 `title`。
|
||||
- `:` 后面的说明会写入 goal property 的 `description`。
|
||||
- 如果只写 `param: 参数说明`，`title` 会兜底为字段名，`description` 使用参数说明。
|
||||
- 如果没有写参数文档，生成器也会兜底补齐 `title=<字段名>` 和 `description=""`，但新设备应优先写清楚显示名和说明。
|
||||
|
||||
### @topic_config — 状态属性配置
|
||||
|
||||
```python
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@@ -121,27 +105,13 @@ import logging
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from typing import Any, Dict, Optional
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|
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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from unilabos.registry.decorators import action, device, not_action, topic_config
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from unilabos.registry.decorators import device, action, topic_config, not_action
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|
||||
@device(
|
||||
id="my_device",
|
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category=["my_category"],
|
||||
description="设备描述",
|
||||
display_name="设备显示名",
|
||||
)
|
||||
@device(id="my_device", category=["my_category"], description="设备描述")
|
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class MyDevice:
|
||||
"""设备类说明。"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
"""
|
||||
初始化设备。
|
||||
|
||||
Args:
|
||||
device_id[设备ID]: 设备实例 ID，默认使用 my_device。
|
||||
config[设备配置]: 设备启动配置。
|
||||
"""
|
||||
self.device_id = device_id or "my_device"
|
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self.config = config or {}
|
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self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
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@@ -163,13 +133,7 @@ class MyDevice:
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|
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@action(description="执行操作")
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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。
|
||||
|
||||
Args:
|
||||
param[操作数值]: 操作使用的数值参数。
|
||||
name[操作名称]: 操作名称或备注。
|
||||
"""
|
||||
"""带 @action 装饰器 → 注册为 'my_action' 动作"""
|
||||
return {"success": True}
|
||||
|
||||
def get_info(self) -> Dict[str, Any]:
|
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|
||||
@@ -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 |
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||||
| ------------------- | ----------------- | ---------------------------------- |
|
||||
| **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）
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||||
|
||||
工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
|
||||
|
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```python
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@device(
|
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id="my_workstation", # 注册表唯一标识（必填）
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category=["workstation"], # 分类标签
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||||
description="我的工作站",
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||||
)
|
||||
```
|
||||
|
||||
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)
|
||||
```
|
||||
@@ -1,261 +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://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <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
|
||||
```
|
||||
|
||||
### 日期格式规则（重要）
|
||||
|
||||
所有日期字段（`production_date`、`expiry_date`）**必须**使用 ISO 8601 完整格式：`YYYY-MM-DDTHH:MM:SSZ`。
|
||||
|
||||
- 用户输入 `2025-03-01` → 转换为 `"2025-03-01T00:00:00Z"`
|
||||
- 用户输入 `2025/9/1` → 转换为 `"2025-09-01T00:00:00Z"`
|
||||
- 用户未提供日期 → 使用当天日期 + `T00:00:00Z`，有效期默认 +1 年
|
||||
|
||||
**禁止**发送不带时间部分的日期字符串（如 `"2025-03-01"`），API 会拒绝。
|
||||
|
||||
### 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 |
|
||||
| 乙酸 | 64-19-7 | C2H4O2 | CC(O)=O |
|
||||
| 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"}
|
||||
```
|
||||
@@ -1,360 +0,0 @@
|
||||
---
|
||||
name: batch-submit-experiment
|
||||
description: Batch submit experiments (notebooks) to the Uni-Lab cloud platform (leap-lab) — list workflows, generate node_params from registry schemas, submit multiple rounds, check notebook status. Use when the user wants to submit experiments, create notebooks, batch run workflows, check experiment status, or mentions 提交实验/批量实验/notebook/实验轮次/实验状态.
|
||||
---
|
||||
|
||||
# Uni-Lab 批量提交实验指南
|
||||
|
||||
通过 Uni-Lab 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。
|
||||
|
||||
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||
|
||||
## 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（注意：scheme 是 "Lab" 不是 "Basic"）
|
||||
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>
|
||||
# ⚠️ 这里的 "Lab" 是 Uni-Lab 平台的 auth scheme，绝对不能用 "Basic" 替代
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
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。**
|
||||
|
||||
**必须先用 Glob 工具搜索文件**，不要直接猜测路径：
|
||||
|
||||
```
|
||||
Glob: **/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
常见位置（仅供参考，以 Glob 实际结果为准）：
|
||||
- `<workspace>/unilabos_data/req_device_registry_upload.json`
|
||||
- `<workspace>/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 Glob 搜索无结果** → 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 #3 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**）
|
||||
- `project_uuid` — 项目 UUID（通过 API #2 列出项目列表，**让用户选择**）
|
||||
- `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 #4 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. 列出实验室项目（让用户选择项目）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"items": [
|
||||
{
|
||||
"uuid": "1b3f249a-...",
|
||||
"name": "bt",
|
||||
"description": null,
|
||||
"status": "active",
|
||||
"created_at": "2026-04-09T14:31:28+08:00"
|
||||
},
|
||||
{
|
||||
"uuid": "b6366243-...",
|
||||
"name": "default",
|
||||
"description": "默认项目",
|
||||
"status": "active",
|
||||
"created_at": "2026-03-26T11:13:36+08:00"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
展示 `data.items[]` 中每个项目的 `name` 和 `uuid`，让用户选择。用户**必须**选择一个项目，记住 `project_uuid`（即选中项目的 `uuid`），后续创建 notebook 时需要提供。
|
||||
|
||||
### 3. 列出可用 workflow
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$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`。
|
||||
|
||||
### 4. 获取 workflow 模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
|
||||
|
||||
- 每个 action 节点的 `node_uuid`
|
||||
- 每个节点对应的设备 ID（`resource_template_name`）
|
||||
- 每个节点的动作名（`node_template_name`）
|
||||
- 每个节点的现有参数（`param`）
|
||||
|
||||
> **注意**：此 API 返回格式可能因版本不同而有差异。首次调用时，先打印完整响应分析结构，再提取节点信息。常见的节点字段路径为 `data.nodes[]` 或 `data.workflow_nodes[]`。
|
||||
|
||||
### 5. 提交实验（创建 notebook）
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/notebook" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"project_uuid": "<project_uuid>",
|
||||
"workflow_uuid": "<workflow_uuid>",
|
||||
"name": "<实验名称>",
|
||||
"node_params": [
|
||||
{
|
||||
"sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
|
||||
"datas": [
|
||||
{
|
||||
"node_uuid": "<workflow中的节点UUID>",
|
||||
"param": {},
|
||||
"sample_params": [
|
||||
{
|
||||
"container_uuid": "<容器UUID>",
|
||||
"sample_value": {
|
||||
"liquid_names": "<液体名称>",
|
||||
"volumes": 1000
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：`sample_uuids` 必须是 **UUID 数组**（`[]uuid.UUID`），不是字符串。无样品时传空数组 `[]`。
|
||||
|
||||
### 6. 查询 notebook 状态
|
||||
|
||||
提交成功后，使用返回的 notebook UUID 查询执行状态：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/notebook/status?uuid=$notebook_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
提交后应**立即查询一次**状态，确认 notebook 已被正确接收并开始调度。
|
||||
|
||||
---
|
||||
|
||||
## 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 #4 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 #4 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: GET /lab/project/list → 列出项目，让用户选择 → 获取 project_uuid
|
||||
- [ ] Step 5: 确认 workflow_uuid（用户提供或从 GET #3 列表选择）
|
||||
- [ ] Step 6: GET workflow detail (#4) → 提取各节点 uuid、设备ID、动作名
|
||||
- [ ] Step 7: 定位本地注册表 req_device_registry_upload.json
|
||||
- [ ] Step 8: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
|
||||
- [ ] Step 9: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
|
||||
- [ ] Step 10: 构建完整请求体（含 project_uuid）→ POST /lab/notebook 提交
|
||||
- [ ] Step 11: 检查返回结果，记录 notebook UUID
|
||||
- [ ] Step 12: GET /lab/notebook/status → 查询 notebook 状态，确认已调度
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 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。
|
||||
@@ -1,395 +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://leap-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://leap-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": "$TODO_LAB_UUID",
|
||||
"project_uuid": "$TODO_PROJECT_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()
|
||||
@@ -40,13 +40,13 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
|
||||
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://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
| 其他自定义 URL | 直接使用该 URL |
|
||||
| `--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）
|
||||
|
||||
@@ -54,11 +54,11 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
|
||||
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
||||
|
||||
| 条件 | working_dir 取值 |
|
||||
| -------------------- | -------------------------------------------------------- |
|
||||
| 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/` |
|
||||
| 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**：
|
||||
|
||||
@@ -84,6 +84,24 @@ python ./scripts/gen_auth.py --config <config.py>
|
||||
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
|
||||
@@ -111,7 +129,6 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
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`）
|
||||
@@ -119,14 +136,13 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
|
||||
### Step 3 — 写 action-index.md
|
||||
|
||||
按模板为每个 action 写条目（**必须包含 `action_type`**）：
|
||||
按模板为每个 action 写条目：
|
||||
|
||||
```markdown
|
||||
### `<action_name>`
|
||||
|
||||
<用途描述（一句话）>
|
||||
|
||||
- **action_type**: `<从 actions/<name>.json 的 type 字段获取>`
|
||||
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
|
||||
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
|
||||
- **可选参数**: `param3`, `param4`
|
||||
@@ -134,8 +150,6 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
```
|
||||
|
||||
描述规则：
|
||||
|
||||
- **每个 action 必须标注 `action_type`**（从 JSON 的 `type` 字段读取），这是 API #9 调用时的必填参数，传错会导致任务永远卡住
|
||||
- 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）
|
||||
@@ -144,14 +158,12 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
- `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）
|
||||
- `unilabos_formulation` → **FormulationSlot**，填入配方数组 `[{well_name, liquids: [{name, volume}]}]`（well_name 为目标物料的 name）
|
||||
- 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，修改：
|
||||
|
||||
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
|
||||
@@ -159,96 +171,43 @@ python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./ski
|
||||
- **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）
|
||||
- **action_type 速查表** — 在 API #9 说明后面紧跟一个表格，列出每个 action 对应的 `action_type` 值（从 JSON `type` 字段提取），方便 agent 快速查找而无需打开 JSON 文件
|
||||
|
||||
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
|
||||
|
||||
## 请求约定
|
||||
|
||||
- Windows 平台必须用 curl.exe（非 PowerShell 的 curl 别名）
|
||||
|
||||
## Session State
|
||||
- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
|
||||
|
||||
- lab_uuid（通过 GET /edge/lab/info 直接获取，不要问用户）, device_name
|
||||
|
||||
## API Endpoints
|
||||
|
||||
# - #1 GET /edge/lab/info → 直接拿到 lab_uuid
|
||||
|
||||
# - #2 创建工作流 POST /lab/workflow/owner → 拼 URL 告知用户
|
||||
|
||||
# - #3 创建节点 POST /edge/workflow/node
|
||||
|
||||
# body: {workflow_uuid, resource_template_name: "<device_id>", node_template_name: "<action_name>"}
|
||||
|
||||
# - #4 删除节点 DELETE /lab/workflow/nodes
|
||||
|
||||
# - #5 更新节点参数 PATCH /lab/workflow/node
|
||||
|
||||
# - #6 查询节点 handles POST /lab/workflow/node-handles
|
||||
|
||||
# body: {node_uuids: ["uuid1","uuid2"]} → 返回各节点的 handle_uuid
|
||||
|
||||
# - #7 批量创建边 POST /lab/workflow/edges
|
||||
|
||||
# body: {edges: [{source_node_uuid, target_node_uuid, source_handle_uuid, target_handle_uuid}]}
|
||||
|
||||
# - #8 启动工作流 POST /lab/workflow/{uuid}/run
|
||||
|
||||
# - #9 运行设备单动作 POST /lab/mcp/run/action（⚠️ action_type 必须从 action-index.md 或 actions/<name>.json 的 type 字段获取，传错会导致任务永远卡住）
|
||||
|
||||
# - #10 查询任务状态 GET /lab/mcp/task/{task_uuid}
|
||||
|
||||
# - #11 运行工作流单节点 POST /lab/mcp/run/workflow/action
|
||||
|
||||
# - #12 获取资源树 GET /lab/material/download/{lab_uuid}
|
||||
|
||||
# - #13 获取工作流模板详情 GET /lab/workflow/template/detail/{workflow_uuid}
|
||||
|
||||
# 返回 workflow 完整结构：data.nodes[] 含每个节点的 uuid、name、param、device_name、handles
|
||||
|
||||
# - #14 按名称查询物料模板 GET /lab/material/template/by-name?lab_uuid=&name=
|
||||
|
||||
# 返回 res_template_uuid，用于 #15 创建物料时的必填字段
|
||||
|
||||
# - #15 创建物料节点 POST /edge/material/node
|
||||
|
||||
# body: {res_template_uuid(从#14获取), name(自定义), display_name, parent_uuid?(从#12获取), ...}
|
||||
|
||||
# - #16 更新物料节点 PUT /edge/material/node
|
||||
|
||||
# body: {uuid(从#12获取), display_name?, description?, init_param_data?, data?, ...}
|
||||
## 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
|
||||
- unilabos_formulation → FormulationSlot → [{well_name, liquids: [{name, volume}]}] 配方数组
|
||||
- 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 API endpoint（#1 获取 lab_uuid、#2-#7 工作流/节点/边、#8-#11 运行/查询、#12 资源树、#13 工作流模板详情、#14-#16 物料管理）
|
||||
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot / FormulationSlot + create_resource 特例）和本设备的 Slot 字段表
|
||||
- [ ] `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
|
||||
@@ -290,202 +249,71 @@ API 模板结构：
|
||||
```
|
||||
|
||||
> **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 创建节点返回的 `data.param` 中的字段，PATCH 更新时直接修改 `param` 即可。
|
||||
> `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 5 种值，对应不同的填写方式：
|
||||
`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 |
|
||||
| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]` | 资源树中物料节点的 **name**，配合液体配方 |
|
||||
| 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）：
|
||||
|
||||
- 单个：`{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-..."}`
|
||||
- 数组：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
|
||||
- `id` 从 parent 计算的路径格式，根据 action 语义选择正确的物料
|
||||
|
||||
> **特例**：`create_resource` 的 `res_id`，目标物料可能尚不存在，直接填期望路径，不需要 uuid。
|
||||
|
||||
### DeviceSlot / NodeSlot / ClassSlot
|
||||
|
||||
- **DeviceSlot**（`unilabos_devices`）：路径字符串如 `"/host_node"`，仅 type=device 的节点
|
||||
- **NodeSlot**（`unilabos_nodes`）：路径字符串如 `"/PRCXI/PRCXI_Deck"`，设备 + 物料均可选
|
||||
- **ClassSlot**（`unilabos_class`）：类名字符串如 `"container"`，从 `req_resource_registry_upload.json` 查找
|
||||
|
||||
### FormulationSlot（`unilabos_formulation`）
|
||||
|
||||
描述**液体配方**：向哪些容器中加入哪些液体及体积。
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"sample_uuid": "",
|
||||
"well_name": "bottle_A1",
|
||||
"liquids": [{ "name": "LiPF6", "volume": 0.6 }]
|
||||
}
|
||||
]
|
||||
{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
|
||||
```
|
||||
|
||||
- `well_name` — 目标物料的 **name**（从资源树取，不是 `id` 路径）
|
||||
- `liquids[]` — 液体列表，每条含 `name`（试剂名）和 `volume`（体积，单位由上下文决定；pylabrobot 内部统一 uL）
|
||||
- `sample_uuid` — 样品 UUID，无样品传 `""`
|
||||
- 与 ResourceSlot 的区别：ResourceSlot 指向物料本身，FormulationSlot 引用物料名并附带配方信息
|
||||
- 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）
|
||||
|
||||
### 通过 API #12 获取资源树
|
||||
> **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 "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中（不是查询参数）。返回结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"nodes": [
|
||||
{"name": "host_node", "uuid": "c3ec1e68-...", "type": "device", "parent": ""},
|
||||
{"name": "PRCXI", "uuid": "e249c9a6-...", "type": "device", "parent": ""},
|
||||
{"name": "PRCXI_Deck", "uuid": "fb6a8b71-...", "type": "deck", "parent": "PRCXI"}
|
||||
],
|
||||
"edges": [...]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
- `data.nodes[]` — 所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`
|
||||
- `type` 区分设备（`device`）和物料（`deck`、`container`、`resource` 等）
|
||||
- `parent` 为父节点名称（空字符串表示顶级）
|
||||
- 填写 Slot 时根据 placeholder 类型筛选：ResourceSlot 取非 device 节点，DeviceSlot 取 device 节点
|
||||
- 创建/更新物料时：`parent_uuid` 取父节点的 `uuid`，更新目标的 `uuid` 取节点自身的 `uuid`
|
||||
|
||||
## 物料管理 API
|
||||
|
||||
设备 Skill 除了设备动作外，还需支持物料节点的创建和参数设定，用于在资源树中动态管理物料。
|
||||
|
||||
典型流程：先通过 **#14 按名称查询模板** 获取 `res_template_uuid` → 再通过 **#15 创建物料** → 之后可通过 **#16 更新物料** 修改属性。更新时需要的 `uuid` 和 `parent_uuid` 均从 **#12 资源树下载** 获取。
|
||||
|
||||
### API #14 — 按名称查询物料模板
|
||||
|
||||
创建物料前，需要先获取物料模板的 UUID。通过模板名称查询：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
| 参数 | 必填 | 说明 |
|
||||
| ---------- | ------ | -------------------------------- |
|
||||
| `lab_uuid` | **是** | 实验室 UUID（从 API #1 获取） |
|
||||
| `name` | **是** | 物料模板名称（如 `"container"`） |
|
||||
|
||||
返回 `code: 0` 时，**`data.uuid`** 即为 `res_template_uuid`，用于 API #15 创建物料。返回还包含 `name`、`resource_type`、`handles`、`config_infos` 等模板元信息。
|
||||
|
||||
模板不存在时返回 `code: 10002`，`data` 为空对象。模板名称来自资源注册表中已注册的资源类型。
|
||||
|
||||
### API #15 — 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体：
|
||||
|
||||
```json
|
||||
{
|
||||
"res_template_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"name": "my_custom_bottle",
|
||||
"display_name": "自定义瓶子",
|
||||
"parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"type": "",
|
||||
"init_param_data": {},
|
||||
"schema": {},
|
||||
"data": {
|
||||
"liquids": [["water", 1000, "uL"]],
|
||||
"max_volume": 50000
|
||||
},
|
||||
"plate_well_datas": {},
|
||||
"plate_reagent_datas": {},
|
||||
"pose": {},
|
||||
"model": {}
|
||||
}
|
||||
```
|
||||
|
||||
| 字段 | 必填 | 类型 | 数据来源 | 说明 |
|
||||
| --------------------- | ------ | ------------- | ----------------------------------- | -------------------------------------- |
|
||||
| `res_template_uuid` | **是** | string (UUID) | **API #14** 按名称查询获取 | 物料模板 UUID |
|
||||
| `name` | 否 | string | **用户自定义** | 节点名称（标识符），可自由命名 |
|
||||
| `display_name` | 否 | string | 用户自定义 | 显示名称（UI 展示用） |
|
||||
| `parent_uuid` | 否 | string (UUID) | **API #12** 资源树中父节点的 `uuid` | 父节点，为空则创建顶级节点 |
|
||||
| `type` | 否 | string | 从模板继承 | 节点类型 |
|
||||
| `init_param_data` | 否 | object | 用户指定 | 初始化参数，覆盖模板默认值 |
|
||||
| `data` | 否 | object | 用户指定 | 节点数据，container 见下方 data 格式 |
|
||||
| `plate_well_datas` | 否 | object | 用户指定 | 孔板子节点数据（创建带孔位的板时使用） |
|
||||
| `plate_reagent_datas` | 否 | object | 用户指定 | 试剂关联数据 |
|
||||
| `schema` | 否 | object | 从模板继承 | 自定义 schema，不传则从模板继承 |
|
||||
| `pose` | 否 | object | 用户指定 | 位姿信息 |
|
||||
| `model` | 否 | object | 用户指定 | 3D 模型信息 |
|
||||
|
||||
#### container 的 `data` 格式
|
||||
|
||||
> **体积单位统一为 uL（微升）**。pylabrobot 体系中所有体积值（`max_volume`、`liquids` 中的 volume）均为 uL。外部如果是 mL 需乘 1000 转换。
|
||||
|
||||
```json
|
||||
{
|
||||
"liquids": [["water", 1000, "uL"], ["ethanol", 500, "uL"]],
|
||||
"max_volume": 50000
|
||||
}
|
||||
```
|
||||
|
||||
- `liquids` — 液体列表，每条为 `[液体名称, 体积(uL), 单位字符串]`
|
||||
- `max_volume` — 容器最大容量（uL），如 50 mL = 50000 uL
|
||||
|
||||
### API #16 — 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体：
|
||||
|
||||
```json
|
||||
{
|
||||
"uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"parent_uuid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx",
|
||||
"display_name": "新显示名称",
|
||||
"description": "新描述",
|
||||
"init_param_data": {},
|
||||
"data": {},
|
||||
"pose": {},
|
||||
"schema": {},
|
||||
"extra": {}
|
||||
}
|
||||
```
|
||||
|
||||
| 字段 | 必填 | 类型 | 数据来源 | 说明 |
|
||||
| ----------------- | ------ | ------------- | ------------------------------------- | ---------------- |
|
||||
| `uuid` | **是** | string (UUID) | **API #12** 资源树中目标节点的 `uuid` | 要更新的物料节点 |
|
||||
| `parent_uuid` | 否 | string (UUID) | API #12 资源树 | 移动到新父节点 |
|
||||
| `display_name` | 否 | string | 用户指定 | 更新显示名称 |
|
||||
| `description` | 否 | string | 用户指定 | 更新描述 |
|
||||
| `init_param_data` | 否 | object | 用户指定 | 更新初始化参数 |
|
||||
| `data` | 否 | object | 用户指定 | 更新节点数据 |
|
||||
| `pose` | 否 | object | 用户指定 | 更新位姿 |
|
||||
| `schema` | 否 | object | 用户指定 | 更新 schema |
|
||||
| `extra` | 否 | object | 用户指定 | 更新扩展数据 |
|
||||
|
||||
> 只传需要更新的字段，未传的字段保持不变。
|
||||
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
|
||||
|
||||
|
||||
@@ -1,450 +0,0 @@
|
||||
---
|
||||
name: filter-workflow-by-tags
|
||||
description: Query backend workflow list, aggregate all tags, and filter workflows by domain/scenario requirements using tags. Use when the user wants to search workflows, find workflows by tags, list available workflow tags, filter workflows by category/domain/scenario, or mentions 工作流筛选/标签查询/workflow tags/按领域查找工作流.
|
||||
---
|
||||
# Uni-Lab 工作流标签筛选指南
|
||||
|
||||
通过 Uni-Lab 云端 API 查询工作流列表，汇总所有可用标签（tags），并根据领域和场景要求筛选工作流。
|
||||
|
||||
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||
|
||||
## 使用模式识别
|
||||
|
||||
**用户可能一开始就给出场景目标**（如"我要做有机合成实验"、"找柱层析相关的 protocol"）。此时：
|
||||
|
||||
1. **识别场景关键词** → 映射到可能的 tags（如 synthesis、organic、chromatography、purification）
|
||||
2. **直接执行完整流程**（获取 ak/sk/addr → 拉取所有工作流 → 汇总 tags → 按场景筛选）
|
||||
3. **展示筛选结果** → 引导用户从候选 workflow 中**选择明确的实验 protocol**
|
||||
4. **如果用户确认某个 workflow** → 记录 `workflow_uuid`，准备对接“与其他 Skill 的协作”
|
||||
|
||||
**如果用户未给场景目标**，则按标准 checklist 询问筛选条件。
|
||||
|
||||
---
|
||||
|
||||
## 前置条件
|
||||
|
||||
使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
|
||||
|
||||
### 1. ak / sk → AUTH
|
||||
|
||||
询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
|
||||
|
||||
生成 AUTH token：
|
||||
|
||||
```bash
|
||||
python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
```
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------- | ------------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
```
|
||||
|
||||
### 3. lab_uuid（实验室 UUID）
|
||||
|
||||
如果用户未提供 `lab_uuid`，通过以下 API 自动获取：
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 即为 `lab_uuid`。
|
||||
|
||||
**三项全部就绪后才可开始。**
|
||||
|
||||
## Session State
|
||||
|
||||
在整个对话过程中，agent 需要记住以下状态：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID
|
||||
- `all_workflows` — 完整工作流列表（分页获取后缓存到内存或临时文件）
|
||||
- `all_tags` — 所有工作流的标签汇总
|
||||
|
||||
---
|
||||
|
||||
## API 端点
|
||||
|
||||
### 查询工作流列表（支持分页）
|
||||
|
||||
```
|
||||
GET $BASE/api/v1/lab/workflow/owner/list?page=<page>&page_size=<page_size>&lab_uuid=$lab_uuid
|
||||
```
|
||||
|
||||
**参数：**
|
||||
|
||||
- `page` — 页码，从 1 开始
|
||||
- `page_size` — 每页数量，建议 1000
|
||||
- `lab_uuid` — 实验室 UUID
|
||||
|
||||
**返回结构：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"has_more": true,
|
||||
"data": [
|
||||
{
|
||||
"uuid": "9661bba2-1b9f-4687-a63d-910245df174b",
|
||||
"name": "Untitled",
|
||||
"description": "",
|
||||
"user_id": "114211",
|
||||
"published": false,
|
||||
"tags": null
|
||||
},
|
||||
{
|
||||
"uuid": "e0436638-190b-46bc-b1a1-2711d9602f6a",
|
||||
"name": "Synthesis v2",
|
||||
"user_id": "114211",
|
||||
"published": true,
|
||||
"tags": ["synthesis", "organic"]
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**字段说明：**
|
||||
|
||||
- `has_more` — 若为 `true`，需要继续请求 `page+1`
|
||||
- `tags` — 可能为 `null`、空数组或字符串数组；聚合时必须容忍 `null`
|
||||
|
||||
### 启动工作流（直接运行）
|
||||
|
||||
```
|
||||
POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run
|
||||
```
|
||||
|
||||
**用途：** 直接启动一个 workflow 的默认执行（使用模板中预设的参数），无需创建 notebook。适用于快速测试或无参数变化的重复执行。
|
||||
|
||||
**请求体：** 空 JSON `{}` 或省略
|
||||
|
||||
**返回：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": "<run_uuid>"
|
||||
}
|
||||
```
|
||||
|
||||
- `run_uuid` — 本次执行的唯一标识（不是 notebook UUID）
|
||||
|
||||
**注意：**
|
||||
|
||||
- 该接口会使用 workflow 模板中保存的默认参数直接执行
|
||||
- 如果 workflow 需要动态参数（如 CSV 路径、样品 UUID），应使用 `POST /lab/notebook` 创建 notebook 并传入 `node_params`
|
||||
- 返回的 `run_uuid` 可直接传入下方「查询任务状态」接口查询实时进度
|
||||
|
||||
### 查询任务状态
|
||||
|
||||
```
|
||||
GET $BASE/api/v1/lab/mcp/task/<task_uuid>
|
||||
```
|
||||
|
||||
**用途：** 查询由 `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`（即 task_uuid）的实时执行状态，包括整体状态和每个节点（JOS：Job On Station）的执行详情。
|
||||
|
||||
**路径参数：**
|
||||
|
||||
- `task_uuid` — 等同于启动工作流接口返回的 `run_uuid`
|
||||
|
||||
**返回：**
|
||||
|
||||
```json
|
||||
{
|
||||
"code": 0,
|
||||
"data": {
|
||||
"status": "running",
|
||||
"jos_status": [
|
||||
{
|
||||
"uuid": "d0e24bfe-8d99-450e-b19d-f25849dfbaad",
|
||||
"node_name": "PRCXI_BioER_96_wellplate_slot_1",
|
||||
"action_name": "create_resource",
|
||||
"status": "success",
|
||||
"return_info": {
|
||||
"suc": true,
|
||||
"error": "",
|
||||
"return_value": { ... }
|
||||
}
|
||||
},
|
||||
{
|
||||
"uuid": "...",
|
||||
"node_name": "...",
|
||||
"action_name": "transfer_liquid",
|
||||
"status": "pending",
|
||||
"return_info": null
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
**字段说明：**
|
||||
|
||||
- `data.status` — 整体任务状态
|
||||
- `running` — 正在执行（至少一个节点 pending 或 running）
|
||||
- `success` — 全部节点成功
|
||||
- `failed` — 有节点失败
|
||||
- `data.jos_status[]` — 节点级执行列表（按执行顺序）
|
||||
- `uuid` — 节点执行实例 UUID
|
||||
- `node_name` — 节点名称（资源/设备名或工位名）
|
||||
- `action_name` — 动作类型（`create_resource`、`transfer_liquid`、`centrifuge`、等）
|
||||
- `status` — 节点状态：`success`、`pending`、`running`、`failed`
|
||||
- `return_info` — 执行返回，失败时 `suc=false` 且 `error` 有错误信息
|
||||
|
||||
**注意：**
|
||||
|
||||
- 此接口的 `task_uuid` **是** `POST /lab/workflow/<uuid>/run` 返回的 `run_uuid`，二者为同一个 ID 的不同称呼
|
||||
- **不要**把 notebook UUID（`POST /lab/notebook` 返回）传进来——那条路径用 `GET /lab/notebook/status` 查询
|
||||
- `jos_status` 数组按节点执行顺序给出；从 pending 数量可以估算剩余进度
|
||||
- 返回体可能较大（`return_info.return_value` 中可能包含完整 resource tree），可在脚本中只提取 `status` + `node_name` + `action_name` 做摘要
|
||||
|
||||
**状态轮询示例：**
|
||||
|
||||
```bash
|
||||
# 每 5 秒轮询一次直至完成
|
||||
TASK="b183d97e-d2b5-4b24-b14b-820df04d87c0"
|
||||
while :; do
|
||||
st=$(curl -s -X GET "$BASE/api/v1/lab/mcp/task/$TASK" -H "$AUTH" \
|
||||
| python3 -c "import json,sys; d=json.load(sys.stdin)['data']; \
|
||||
print(d['status'], '|', sum(1 for j in d['jos_status'] if j['status']=='success'), '/', len(d['jos_status']))")
|
||||
echo "$(date +%H:%M:%S) $st"
|
||||
[[ "$st" == success* || "$st" == failed* ]] && break
|
||||
sleep 5
|
||||
done
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 0: 识别用户是否已给出场景目标（如"有机合成"、"柱层析"）
|
||||
- 若已给出 → 记录场景关键词，自动进入后续步骤
|
||||
- 若未给出 → 在 Step 6 询问用户
|
||||
- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
|
||||
- [ ] Step 2: 确认 --addr → 设置 BASE URL
|
||||
- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid（如用户未提供）
|
||||
- [ ] Step 4: 分页获取所有工作流（从 page=1 开始直到 has_more=false）
|
||||
- [ ] Step 5: 汇总所有非空 tags → 生成 all_tags（去重、排序、附出现次数）
|
||||
- [ ] Step 6: 根据场景关键词（Step 0 或新询问）在 all_tags 中做语义映射 → 确定候选 tags
|
||||
- 若语义映射不唯一，列出候选 tags 让用户确认
|
||||
- [ ] Step 7: 按候选 tags 筛选工作流（默认 any 模式，召回优先）
|
||||
- [ ] Step 8: 展示筛选结果（uuid、name、description、tags、published）
|
||||
- [ ] Step 9: 引导用户从结果中选择**明确的实验 protocol**
|
||||
- 若结果只有 1 条 → 直接确认该 workflow_uuid
|
||||
- 若结果 2–10 条 → 让用户按编号选择
|
||||
- 若结果过多 → 提示收紧条件（加 tag、切换 all 模式、仅 published）
|
||||
- 若结果为空 → 放宽条件（去掉最稀有 tag）或提示用户换关键词
|
||||
- [ ] Step 10: 记录用户选中的 workflow_uuid，并提示提交实验或查看详情
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 推荐路径：使用脚本
|
||||
|
||||
同目录下提供 `scripts/filter_workflows.py`，一次完成分页抓取、标签聚合与筛选：
|
||||
|
||||
```bash
|
||||
# 1. 仅汇总标签（不筛选）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--summary-only
|
||||
|
||||
# 2. 按标签筛选（ANY 模式：包含任一）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis organic \
|
||||
--mode any
|
||||
|
||||
# 3. 按标签筛选（ALL 模式：必须同时包含）
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis organic \
|
||||
--mode all \
|
||||
--output filtered.json
|
||||
|
||||
# 4. 仅筛选已发布
|
||||
python scripts/filter_workflows.py \
|
||||
--auth "<Lab base64token>" \
|
||||
--base "$BASE" \
|
||||
--lab-uuid "$lab_uuid" \
|
||||
--tags synthesis \
|
||||
--published-only
|
||||
```
|
||||
|
||||
**`--auth` 参数说明**：传入 `Authorization` 头中 `Lab` 之后的 base64 token（不带 `Lab ` 前缀），脚本内部会自动补上 scheme。
|
||||
|
||||
**输出结构：**
|
||||
|
||||
```json
|
||||
{
|
||||
"total_workflows": 150,
|
||||
"tag_counts": {"synthesis": 12, "organic": 8, "analysis": 5},
|
||||
"all_tags": ["analysis", "organic", "synthesis"],
|
||||
"filter": {"tags": ["synthesis", "organic"], "mode": "any"},
|
||||
"filtered_workflows": [
|
||||
{"uuid": "...", "name": "...", "description": "...", "tags": [...], "published": true}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 手动路径：curl + jq
|
||||
|
||||
如果脚本不可用或环境缺少 Python，可用 shell 实现。
|
||||
|
||||
### 1. 分页抓取（写入 `all_workflows.json`）
|
||||
|
||||
```bash
|
||||
page=1
|
||||
echo "[]" > all_workflows.json
|
||||
|
||||
while :; do
|
||||
resp=$(curl -s -X GET \
|
||||
"$BASE/api/v1/lab/workflow/owner/list?page=$page&page_size=1000&lab_uuid=$lab_uuid" \
|
||||
-H "$AUTH")
|
||||
|
||||
page_data=$(echo "$resp" | jq -c '.data.data // []')
|
||||
jq -c --argjson p "$page_data" '. + $p' all_workflows.json > _tmp.json && mv _tmp.json all_workflows.json
|
||||
|
||||
has_more=$(echo "$resp" | jq -r '.data.has_more')
|
||||
[ "$has_more" != "true" ] && break
|
||||
page=$((page + 1))
|
||||
done
|
||||
|
||||
echo "Total: $(jq 'length' all_workflows.json)"
|
||||
```
|
||||
|
||||
### 2. 汇总所有标签（含出现次数）
|
||||
|
||||
```bash
|
||||
jq '[.[].tags // [] | .[]] | group_by(.) | map({tag: .[0], count: length}) | sort_by(-.count)' \
|
||||
all_workflows.json
|
||||
```
|
||||
|
||||
### 3. 按标签筛选
|
||||
|
||||
```bash
|
||||
# ANY：包含任一指定标签
|
||||
jq --argjson want '["synthesis","organic"]' \
|
||||
'[.[] | select((.tags // []) | any(. as $t | $want | index($t)))]' \
|
||||
all_workflows.json
|
||||
|
||||
# ALL：同时包含所有指定标签
|
||||
jq --argjson want '["synthesis","organic"]' \
|
||||
'[.[] | select(($want | all(. as $w | (.tags // []) | index($w))))]' \
|
||||
all_workflows.json
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 筛选策略
|
||||
|
||||
agent 拿到用户的「领域 + 场景」自然语言描述时，按如下顺序选择 tag：
|
||||
|
||||
1. **优先用户显式指定的 tags**：若用户明确给出标签词，直接精确匹配。
|
||||
2. **从 all_tags 中做语义映射**：若用户描述是自然语言（如"有机合成、柱层析"），在 all_tags 中找语义相关项（如 `synthesis`、`organic`、`chromatography`）。必要时展示候选 tag 让用户确认。
|
||||
3. **模式选择**：
|
||||
- 默认 `any`（更多召回），给出 tag 集合的并集匹配
|
||||
- 用户强调"必须同时满足"时用 `all`
|
||||
4. **空结果兜底**：如果筛选为空，放宽条件（去掉最稀有 tag、切换 any 模式），并提醒用户。
|
||||
|
||||
---
|
||||
|
||||
## 引导到明确的 Protocol
|
||||
|
||||
筛选完成后，**最终目标是让用户确认一个具体的 workflow_uuid**，而不是停留在"一堆候选"上。按结果数量采取不同策略：
|
||||
|
||||
| 结果数量 | 策略 |
|
||||
| --------- | ---------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| 0 条 | 放宽筛选（去掉最稀有 tag → 切换 any 模式 → 去掉 `--published-only`）。仍为空则提示换关键词，或列出 `all_tags` 让用户重新选。 |
|
||||
| 1 条 | 直接确认："找到唯一匹配：`<name>` (uuid `<uuid>`)，是否用它？"用户确认后记录 `workflow_uuid`。 |
|
||||
| 2–10 条 | 编号列表展示，让用户选编号。每项给出 name、tags、description 摘要、published 状态。 |
|
||||
| 10–30 条 | 先展示 tag 分布帮助用户进一步收紧：列出匹配结果中最常见的子标签，提示"加一个 tag 可将结果缩小到 N 条"。 |
|
||||
| >30 条 | 强制要求用户补充条件：仅 published、指定具体 tag 组合、或按名称关键词过滤。 |
|
||||
|
||||
**确认 workflow 后**：
|
||||
|
||||
1. 将 `workflow_uuid` 写入 session state
|
||||
2. 提示用户下一步可用的 skill：
|
||||
- 提交实验 → 引导到“与其他 Skill 的协作”
|
||||
- 查看 workflow 详细节点 → `GET /api/v1/lab/workflow/template/detail/<workflow_uuid>`
|
||||
3. 若用户想换一个，回到筛选步骤。
|
||||
|
||||
---
|
||||
|
||||
## 展示结果
|
||||
|
||||
推荐格式（表格 + 汇总统计）：
|
||||
|
||||
```
|
||||
共 150 个工作流，其中 32 个匹配筛选条件 [tags: synthesis OR organic]
|
||||
|
||||
| UUID (短) | 名称 | Tags | 已发布 |
|
||||
|-----------|--------------------------|------------------------------|--------|
|
||||
| e0436638 | Synthesis v2 | synthesis, organic | ✓ |
|
||||
| 5b60dbb8 | Grignard Protocol | synthesis, organometallic | ✓ |
|
||||
| ... | ... | ... | ... |
|
||||
|
||||
所有可用标签（按频次）：
|
||||
synthesis (12), organic (8), analysis (5), purification (4), ...
|
||||
```
|
||||
|
||||
如果用户下一步想执行某工作流 → 引导到“与其他 Skill 的协作”。
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: tags 为 null 的工作流要不要展示？
|
||||
|
||||
默认**不展示**在筛选结果中（因为无法按 tag 匹配）。但在 `--summary-only` 或无筛选条件时，这些工作流仍会计入总数，并在输出中单独列出"未打标签"计数。
|
||||
|
||||
### Q: 如何按名称/描述做模糊匹配？
|
||||
|
||||
脚本未内置，但可在 jq 中组合：
|
||||
|
||||
```bash
|
||||
jq '[.[] | select((.name + " " + (.description // "")) | test("organic"; "i"))]' all_workflows.json
|
||||
```
|
||||
|
||||
### Q: `page_size=1000` 是否会被服务端限制？
|
||||
|
||||
接口通常允许最大 1000；如果返回量少于 1000 且 `has_more=false`，说明已到末页。极端情况下若服务端返回错误，可降到 200 或 500 再试。
|
||||
|
||||
### Q: 工作流数量极大（>10k）怎么办？
|
||||
|
||||
1. 先跑 `--summary-only` 了解 tag 分布
|
||||
2. 提示用户先限定 `--published-only` 或指定 tag
|
||||
3. 考虑将 `all_workflows.json` 缓存到本地，下次直接复用
|
||||
|
||||
---
|
||||
|
||||
## 与其他 Skill 的协作
|
||||
|
||||
- 正常情况下，找到 workflow 之后可以直接用它提交实验（启动工作流的 api 端点 POST $BASE/api/v1/lab/workflow/<workflow_uuid>/run，不用别的 skill）
|
||||
- **仅当需要进行多次实验时，使用 batch-submit-experiment** — 筛选到目标工作流后，`workflow_uuid` 直接用于实验提交
|
||||
|
||||
## 脚本依赖
|
||||
|
||||
`scripts/filter_workflows.py` 仅使用 Python 标准库（`urllib`、`json`、`argparse`），无需额外安装。
|
||||
@@ -1,191 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""分页拉取 Uni-Lab 工作流列表，汇总 tags 并按 tag 筛选。
|
||||
|
||||
使用示例:
|
||||
python filter_workflows.py \
|
||||
--auth <base64token> \
|
||||
--base https://leap-lab.test.bohrium.com \
|
||||
--lab-uuid a9059772-... \
|
||||
--tags synthesis organic --mode any
|
||||
|
||||
仅依赖 Python 标准库。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import sys
|
||||
import urllib.error
|
||||
import urllib.parse
|
||||
import urllib.request
|
||||
from collections import Counter
|
||||
|
||||
|
||||
def fetch_all_workflows(base: str, auth_token: str, lab_uuid: str, page_size: int = 1000) -> list[dict]:
|
||||
"""分页拉取所有 owner 工作流，直到 has_more=false。"""
|
||||
workflows: list[dict] = []
|
||||
page = 1
|
||||
while True:
|
||||
query = urllib.parse.urlencode(
|
||||
{"page": page, "page_size": page_size, "lab_uuid": lab_uuid}
|
||||
)
|
||||
url = f"{base.rstrip('/')}/api/v1/lab/workflow/owner/list?{query}"
|
||||
req = urllib.request.Request(
|
||||
url,
|
||||
headers={
|
||||
"Authorization": f"Lab {auth_token}",
|
||||
"Accept": "application/json",
|
||||
},
|
||||
)
|
||||
try:
|
||||
with urllib.request.urlopen(req, timeout=30) as resp:
|
||||
payload = json.loads(resp.read().decode("utf-8"))
|
||||
except urllib.error.HTTPError as e:
|
||||
sys.exit(f"[ERROR] HTTP {e.code} on page {page}: {e.read().decode('utf-8', 'ignore')}")
|
||||
except urllib.error.URLError as e:
|
||||
sys.exit(f"[ERROR] URL error on page {page}: {e.reason}")
|
||||
|
||||
if payload.get("code") != 0:
|
||||
sys.exit(f"[ERROR] API returned non-zero code: {payload}")
|
||||
|
||||
data = payload.get("data") or {}
|
||||
page_items = data.get("data") or []
|
||||
workflows.extend(page_items)
|
||||
|
||||
if not data.get("has_more"):
|
||||
break
|
||||
page += 1
|
||||
# 防御性兜底，避免接口异常导致无限循环
|
||||
if page > 1000:
|
||||
print(f"[WARN] page count exceeded 1000, stopping early", file=sys.stderr)
|
||||
break
|
||||
|
||||
return workflows
|
||||
|
||||
|
||||
def aggregate_tags(workflows: list[dict]) -> tuple[list[str], dict[str, int], int]:
|
||||
"""返回 (sorted_tags, tag_counts, untagged_count)。"""
|
||||
counter: Counter[str] = Counter()
|
||||
untagged = 0
|
||||
for wf in workflows:
|
||||
tags = wf.get("tags")
|
||||
if not tags:
|
||||
untagged += 1
|
||||
continue
|
||||
for t in tags:
|
||||
if isinstance(t, str) and t.strip():
|
||||
counter[t.strip()] += 1
|
||||
return sorted(counter.keys()), dict(counter), untagged
|
||||
|
||||
|
||||
def filter_workflows(
|
||||
workflows: list[dict],
|
||||
want_tags: list[str],
|
||||
mode: str,
|
||||
published_only: bool,
|
||||
) -> list[dict]:
|
||||
"""按 tag 筛选。mode 取值 any / all。"""
|
||||
want_set = {t.strip() for t in want_tags if t.strip()}
|
||||
out: list[dict] = []
|
||||
for wf in workflows:
|
||||
if published_only and not wf.get("published"):
|
||||
continue
|
||||
if not want_set:
|
||||
out.append(wf)
|
||||
continue
|
||||
tags = wf.get("tags") or []
|
||||
tag_set = {t for t in tags if isinstance(t, str)}
|
||||
if mode == "all":
|
||||
if want_set.issubset(tag_set):
|
||||
out.append(wf)
|
||||
else: # any
|
||||
if want_set & tag_set:
|
||||
out.append(wf)
|
||||
return out
|
||||
|
||||
|
||||
def project_workflow(wf: dict) -> dict:
|
||||
"""精简输出字段。"""
|
||||
return {
|
||||
"uuid": wf.get("uuid"),
|
||||
"name": wf.get("name"),
|
||||
"description": wf.get("description", ""),
|
||||
"tags": wf.get("tags") or [],
|
||||
"published": bool(wf.get("published")),
|
||||
"user_id": wf.get("user_id"),
|
||||
}
|
||||
|
||||
|
||||
def parse_args() -> argparse.Namespace:
|
||||
p = argparse.ArgumentParser(description="Fetch & filter Uni-Lab workflows by tags.")
|
||||
p.add_argument("--auth", required=True, help="Base64 token (the part after `Lab `).")
|
||||
p.add_argument("--base", required=True, help="Base URL, e.g. https://leap-lab.test.bohrium.com")
|
||||
p.add_argument("--lab-uuid", required=True, help="Lab UUID.")
|
||||
p.add_argument("--tags", nargs="*", default=[], help="Tags to filter by (space separated).")
|
||||
p.add_argument(
|
||||
"--mode",
|
||||
choices=["any", "all"],
|
||||
default="any",
|
||||
help="any: workflow contains at least one tag; all: workflow contains every tag.",
|
||||
)
|
||||
p.add_argument("--published-only", action="store_true", help="Only include published workflows.")
|
||||
p.add_argument("--page-size", type=int, default=1000, help="Page size, default 1000.")
|
||||
p.add_argument(
|
||||
"--summary-only",
|
||||
action="store_true",
|
||||
help="Print tag summary without applying filter (still fetches everything).",
|
||||
)
|
||||
p.add_argument("--output", help="Write JSON result to this path. If omitted, print to stdout.")
|
||||
return p.parse_args()
|
||||
|
||||
|
||||
def main() -> None:
|
||||
args = parse_args()
|
||||
workflows = fetch_all_workflows(
|
||||
base=args.base,
|
||||
auth_token=args.auth,
|
||||
lab_uuid=args.lab_uuid,
|
||||
page_size=args.page_size,
|
||||
)
|
||||
sorted_tags, tag_counts, untagged = aggregate_tags(workflows)
|
||||
|
||||
if args.summary_only:
|
||||
result = {
|
||||
"total_workflows": len(workflows),
|
||||
"untagged_count": untagged,
|
||||
"tag_counts": tag_counts,
|
||||
"all_tags": sorted_tags,
|
||||
}
|
||||
else:
|
||||
filtered = filter_workflows(
|
||||
workflows,
|
||||
want_tags=args.tags,
|
||||
mode=args.mode,
|
||||
published_only=args.published_only,
|
||||
)
|
||||
result = {
|
||||
"total_workflows": len(workflows),
|
||||
"untagged_count": untagged,
|
||||
"tag_counts": tag_counts,
|
||||
"all_tags": sorted_tags,
|
||||
"filter": {
|
||||
"tags": args.tags,
|
||||
"mode": args.mode,
|
||||
"published_only": args.published_only,
|
||||
},
|
||||
"matched_count": len(filtered),
|
||||
"filtered_workflows": [project_workflow(wf) for wf in filtered],
|
||||
}
|
||||
|
||||
payload = json.dumps(result, ensure_ascii=False, indent=2)
|
||||
if args.output:
|
||||
with open(args.output, "w", encoding="utf-8") as f:
|
||||
f.write(payload)
|
||||
print(f"Wrote {len(workflows)} workflows summary → {args.output}", file=sys.stderr)
|
||||
else:
|
||||
print(payload)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,251 +0,0 @@
|
||||
---
|
||||
name: host-node
|
||||
description: Operate Uni-Lab host node via REST API — create resources, test latency, test resource tree, manual confirm. Use when the user mentions host_node, creating resources, resource management, testing latency, or any host node operation.
|
||||
---
|
||||
|
||||
# Host Node API Skill
|
||||
|
||||
## 设备信息
|
||||
|
||||
- **device_id**: `host_node`
|
||||
- **Python 源码**: `unilabos/ros/nodes/presets/host_node.py`
|
||||
- **设备类**: `HostNode`
|
||||
- **动作数**: 4（`create_resource`, `test_latency`, `auto-test_resource`, `manual_confirm`）
|
||||
|
||||
## 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
|
||||
|
||||
从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <token>"
|
||||
```
|
||||
|
||||
**两项全部就绪后才可发起 API 请求。**
|
||||
|
||||
## 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**）
|
||||
- `device_name` — `host_node`
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
|
||||
|
||||
---
|
||||
|
||||
## 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 "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
|
||||
|
||||
### 2. 创建工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
|
||||
|
||||
### 3. 创建节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"host_node","node_template_name":"<action_name>"}'
|
||||
```
|
||||
|
||||
- `resource_template_name` 固定为 `host_node`
|
||||
- `node_template_name` — action 名称（如 `create_resource`, `test_latency`）
|
||||
|
||||
### 4. 删除节点
|
||||
|
||||
```bash
|
||||
curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
|
||||
```
|
||||
|
||||
### 5. 更新节点参数
|
||||
|
||||
```bash
|
||||
curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接使用创建节点返回的 `data.param` 结构，修改需要填入的字段值。参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
|
||||
|
||||
### 6. 查询节点 handles
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
|
||||
```
|
||||
|
||||
### 7. 批量创建边
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
|
||||
```
|
||||
|
||||
### 8. 启动工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 9. 运行设备单动作
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"lab_uuid":"<lab_uuid>","device_id":"host_node","action":"<action_name>","action_type":"<type>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。
|
||||
|
||||
> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/<name>.json` 的 `type` 字段获取。
|
||||
|
||||
#### action_type 速查表
|
||||
|
||||
| action | action_type |
|
||||
|--------|-------------|
|
||||
| `test_latency` | `UniLabJsonCommand` |
|
||||
| `create_resource` | `ResourceCreateFromOuterEasy` |
|
||||
| `auto-test_resource` | `UniLabJsonCommand` |
|
||||
| `manual_confirm` | `UniLabJsonCommand` |
|
||||
|
||||
### 10. 查询任务状态
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 11. 运行工作流单节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuid":"<node_uuid>"}'
|
||||
```
|
||||
|
||||
### 12. 获取资源树（物料信息）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
|
||||
|
||||
### 13. 获取工作流模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
|
||||
|
||||
### 14. 按名称查询物料模板
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
|
||||
|
||||
### 15. 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
|
||||
```
|
||||
|
||||
### 16. 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
| `placeholder_keys` 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（非设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
|
||||
|
||||
### host_node 设备的 Slot 字段表
|
||||
|
||||
| Action | 字段 | Slot 类型 | 说明 |
|
||||
| ----------------- | ----------- | ------------ | ------------------------------ |
|
||||
| `create_resource` | `res_id` | ResourceSlot | 新资源路径（可填不存在的路径） |
|
||||
| `create_resource` | `device_id` | DeviceSlot | 归属设备 |
|
||||
| `create_resource` | `parent` | NodeSlot | 父节点路径 |
|
||||
| `create_resource` | `class_name`| ClassSlot | 资源类名如 `"container"` |
|
||||
| `auto-test_resource` | `resource` | ResourceSlot | 单个测试物料 |
|
||||
| `auto-test_resource` | `resources` | ResourceSlot | 测试物料数组 |
|
||||
| `auto-test_resource` | `device` | DeviceSlot | 测试设备 |
|
||||
| `auto-test_resource` | `devices` | DeviceSlot | 测试设备 |
|
||||
|
||||
---
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
1. **SKILL.md**（本文件）— API 端点 + session state 管理
|
||||
2. **[action-index.md](action-index.md)** — 按分类浏览 4 个动作的描述和核心参数
|
||||
3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
|
||||
- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
|
||||
- [ ] Step 3: 读 action-index.md 确定要用的 action 名
|
||||
- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
|
||||
- [ ] Step 5: 创建节点 (POST #3, resource_template_name=host_node) → 记住 node_uuid + data.param
|
||||
- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
|
||||
- [ ] Step 7: 更新节点参数 (PATCH #5)
|
||||
- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
|
||||
- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
|
||||
- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
|
||||
- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
|
||||
```
|
||||
@@ -1,58 +0,0 @@
|
||||
# Action Index — host_node
|
||||
|
||||
4 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||
|
||||
---
|
||||
|
||||
## 资源管理
|
||||
|
||||
### `create_resource`
|
||||
|
||||
在资源树中创建新资源（容器、物料等），支持指定位置、类型和初始液体
|
||||
|
||||
- **action_type**: `ResourceCreateFromOuterEasy`
|
||||
- **Schema**: [`actions/create_resource.json`](actions/create_resource.json)
|
||||
- **可选参数**: `res_id`, `device_id`, `class_name`, `parent`, `bind_locations`, `liquid_input_slot`, `liquid_type`, `liquid_volume`, `slot_on_deck`
|
||||
- **占位符字段**:
|
||||
- `res_id` — **ResourceSlot**（特例：目标物料可能尚不存在，直接填期望路径）
|
||||
- `device_id` — **DeviceSlot**，填路径字符串如 `"/host_node"`
|
||||
- `parent` — **NodeSlot**，填路径字符串如 `"/workstation/deck"`
|
||||
- `class_name` — **ClassSlot**，填类名如 `"container"`
|
||||
|
||||
### `auto-test_resource`
|
||||
|
||||
测试资源系统，返回当前资源树和设备列表
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/test_resource.json`](actions/test_resource.json)
|
||||
- **可选参数**: `resource`, `resources`, `device`, `devices`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，单个物料节点 `{id, name, uuid}`
|
||||
- `resources` — **ResourceSlot**，物料节点数组 `[{id, name, uuid}, ...]`
|
||||
- `device` — **DeviceSlot**，设备路径字符串
|
||||
- `devices` — **DeviceSlot**，设备路径字符串
|
||||
|
||||
---
|
||||
|
||||
## 系统工具
|
||||
|
||||
### `test_latency`
|
||||
|
||||
测试设备通信延迟，返回 RTT、时间差、任务延迟等指标
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/test_latency.json`](actions/test_latency.json)
|
||||
- **参数**: 无（零参数调用）
|
||||
|
||||
---
|
||||
|
||||
## 人工确认
|
||||
|
||||
### `manual_confirm`
|
||||
|
||||
创建人工确认节点，等待用户手动确认后继续
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||
- **核心参数**: `timeout_seconds`（超时时间，秒）, `assignee_user_ids`（指派用户 ID 列表）
|
||||
- **占位符字段**: `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||
@@ -1,93 +0,0 @@
|
||||
{
|
||||
"type": "ResourceCreateFromOuterEasy",
|
||||
"goal": {
|
||||
"res_id": "res_id",
|
||||
"class_name": "class_name",
|
||||
"parent": "parent",
|
||||
"device_id": "device_id",
|
||||
"bind_locations": "bind_locations",
|
||||
"liquid_input_slot": "liquid_input_slot[]",
|
||||
"liquid_type": "liquid_type[]",
|
||||
"liquid_volume": "liquid_volume[]",
|
||||
"slot_on_deck": "slot_on_deck"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"res_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"device_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"class_name": {
|
||||
"type": "string"
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"bind_locations": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "bind_locations",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"liquid_input_slot": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"liquid_type": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"liquid_volume": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "number"
|
||||
}
|
||||
},
|
||||
"slot_on_deck": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"required": [],
|
||||
"_unilabos_placeholder_info": {
|
||||
"res_id": "unilabos_resources",
|
||||
"device_id": "unilabos_devices",
|
||||
"parent": "unilabos_nodes",
|
||||
"class_name": "unilabos_class"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"res_id": "unilabos_resources",
|
||||
"device_id": "unilabos_devices",
|
||||
"parent": "unilabos_nodes",
|
||||
"class_name": "unilabos_class"
|
||||
}
|
||||
}
|
||||
@@ -1,32 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"timeout_seconds": "timeout_seconds",
|
||||
"assignee_user_ids": "assignee_user_ids"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"timeout_seconds": {
|
||||
"type": "integer"
|
||||
},
|
||||
"assignee_user_ids": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"timeout_seconds",
|
||||
"assignee_user_ids"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {},
|
||||
"required": []
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,255 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"resources": "resources",
|
||||
"device": "device",
|
||||
"devices": "devices"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"resources": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resources"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"devices": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
}
|
||||
},
|
||||
"required": [],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"resources": "unilabos_resources",
|
||||
"device": "unilabos_devices",
|
||||
"devices": "unilabos_devices"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"resources": "unilabos_resources",
|
||||
"device": "unilabos_devices",
|
||||
"devices": "unilabos_devices"
|
||||
}
|
||||
}
|
||||
@@ -1,284 +0,0 @@
|
||||
---
|
||||
name: submit-agent-result
|
||||
description: Submit historical experiment results (agent_result) to Uni-Lab cloud platform (leap-lab) notebook — read data files, assemble JSON payload, PUT to cloud API. Use when the user wants to submit experiment results, upload agent results, report experiment data, or mentions agent_result/实验结果/历史记录/notebook结果.
|
||||
---
|
||||
|
||||
# Uni-Lab 提交历史实验记录指南
|
||||
|
||||
通过 Uni-Lab 云端 API 向已创建的 notebook 提交实验结果数据（agent_result）。支持从 JSON / CSV 文件读取数据，整合后提交。
|
||||
|
||||
> **重要**：本指南中的 `Authorization: Lab <token>` 是 **Uni-Lab 平台专用的认证方式**，`Lab` 是 Uni-Lab 的 auth scheme 关键字，**不是** HTTP Basic 认证。请勿将其替换为 `Basic`。
|
||||
|
||||
## 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：
|
||||
|
||||
```bash
|
||||
# ⚠️ 注意：scheme 是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
python -c "import base64,sys; print(base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
|
||||
```
|
||||
|
||||
输出即为 token 值，拼接为 `Authorization: Lab <token>`（`Lab` 是 Uni-Lab 平台 auth scheme，不可替换为 `Basic`）。
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
# ⚠️ Auth scheme 必须是 "Lab"（Uni-Lab 专用），不是 "Basic"
|
||||
AUTH="Authorization: Lab <上面命令输出的 token>"
|
||||
```
|
||||
|
||||
### 3. notebook_uuid（**必须询问用户**）
|
||||
|
||||
**必须主动询问用户**：「请提供要提交结果的 notebook UUID。」
|
||||
|
||||
notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，即 `POST /api/v1/lab/notebook` 返回的 `data.uuid`。
|
||||
|
||||
如果用户不记得，可提示：
|
||||
|
||||
- 查看之前的对话记录中创建 notebook 时返回的 UUID
|
||||
- 或通过平台页面查找对应的 notebook
|
||||
|
||||
**绝不能跳过此步骤，没有 notebook_uuid 无法提交。**
|
||||
|
||||
### 4. 实验结果数据
|
||||
|
||||
用户需要提供实验结果数据，支持以下方式：
|
||||
|
||||
| 方式 | 说明 |
|
||||
| --------- | ----------------------------------------------- |
|
||||
| JSON 文件 | 直接作为 `agent_result` 的内容合并 |
|
||||
| CSV 文件 | 转为 `{"文件名": [行数据...]}` 格式 |
|
||||
| 手动指定 | 用户直接告知 key-value 数据，由 agent 构建 JSON |
|
||||
|
||||
**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：
|
||||
|
||||
- `lab_uuid` — 实验室 UUID（通过 API #1 自动获取，**不需要问用户**）
|
||||
- `notebook_uuid` — 目标 notebook UUID（**必须询问用户**）
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，PUT 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 PowerShell 解析为 splatting 运算符导致报错）。
|
||||
|
||||
---
|
||||
|
||||
## 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 "$AUTH"
|
||||
```
|
||||
|
||||
返回：
|
||||
|
||||
```json
|
||||
{ "code": 0, "data": { "uuid": "xxx", "name": "实验室名称" } }
|
||||
```
|
||||
|
||||
记住 `data.uuid` 为 `lab_uuid`。
|
||||
|
||||
### 2. 提交实验结果（agent_result）
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '<request_body>'
|
||||
```
|
||||
|
||||
请求体结构：
|
||||
|
||||
```json
|
||||
{
|
||||
"notebook_uuid": "<notebook_uuid>",
|
||||
"agent_result": {
|
||||
"<key1>": "<value1>",
|
||||
"<key2>": 123,
|
||||
"<nested_key>": {"a": 1, "b": 2},
|
||||
"<array_key>": [{"col1": "v1", "col2": "v2"}, ...]
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：HTTP 方法是 **PUT**（不是 POST）。
|
||||
|
||||
#### 必要字段
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
| --------------- | ------------- | ------------------------------------------- |
|
||||
| `notebook_uuid` | string (UUID) | 目标 notebook 的 UUID，从批量提交实验时获取 |
|
||||
| `agent_result` | object | 实验结果数据，任意 JSON 对象 |
|
||||
|
||||
#### agent_result 内容格式
|
||||
|
||||
`agent_result` 接受**任意 JSON 对象**，常见格式：
|
||||
|
||||
**简单键值对**：
|
||||
|
||||
```json
|
||||
{
|
||||
"avg_rtt_ms": 12.5,
|
||||
"status": "success",
|
||||
"test_count": 5
|
||||
}
|
||||
```
|
||||
|
||||
**包含嵌套结构**：
|
||||
|
||||
```json
|
||||
{
|
||||
"summary": { "total": 100, "passed": 98, "failed": 2 },
|
||||
"measurements": [
|
||||
{ "sample_id": "S001", "value": 3.14, "unit": "mg/mL" },
|
||||
{ "sample_id": "S002", "value": 2.71, "unit": "mg/mL" }
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**从 CSV 文件导入**（脚本自动转换）：
|
||||
|
||||
```json
|
||||
{
|
||||
"experiment_data": [
|
||||
{ "温度": 25, "压力": 101.3, "产率": 0.85 },
|
||||
{ "温度": 30, "压力": 101.3, "产率": 0.91 }
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 整合脚本
|
||||
|
||||
本文档同级目录下的 `scripts/prepare_agent_result.py` 可自动读取文件并构建请求体。
|
||||
|
||||
### 用法
|
||||
|
||||
```bash
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid <uuid> \
|
||||
--files data1.json data2.csv \
|
||||
[--auth <token>] \
|
||||
[--base <BASE_URL>] \
|
||||
[--submit] \
|
||||
[--output <output.json>]
|
||||
```
|
||||
|
||||
| 参数 | 必选 | 说明 |
|
||||
| ----------------- | ---------- | ----------------------------------------------- |
|
||||
| `--notebook-uuid` | 是 | 目标 notebook UUID |
|
||||
| `--files` | 是 | 输入文件路径（支持多个，JSON / CSV） |
|
||||
| `--auth` | 提交时必选 | Lab token（base64(ak:sk)） |
|
||||
| `--base` | 提交时必选 | API base URL |
|
||||
| `--submit` | 否 | 加上此标志则直接提交到云端 |
|
||||
| `--output` | 否 | 输出 JSON 路径（默认 `agent_result_body.json`） |
|
||||
|
||||
### 文件合并规则
|
||||
|
||||
| 文件类型 | 合并方式 |
|
||||
| --------------------- | -------------------------------------------- |
|
||||
| `.json`（dict） | 字段直接合并到 `agent_result` 顶层 |
|
||||
| `.json`（list/other） | 以文件名为 key 放入 `agent_result` |
|
||||
| `.csv` | 以文件名（不含扩展名）为 key，值为行对象数组 |
|
||||
|
||||
多个文件的字段会合并。JSON dict 中的重复 key 后者覆盖前者。
|
||||
|
||||
### 示例
|
||||
|
||||
```bash
|
||||
# 仅生成请求体文件（不提交）
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
||||
--files results.json measurements.csv
|
||||
|
||||
# 生成并直接提交
|
||||
python scripts/prepare_agent_result.py \
|
||||
--notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
|
||||
--files results.json \
|
||||
--auth YTFmZDlkNGUt... \
|
||||
--base https://leap-lab.test.bohrium.com \
|
||||
--submit
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 手动构建方式
|
||||
|
||||
如果不使用脚本，也可手动构建请求体：
|
||||
|
||||
1. 将实验结果数据组装为 JSON 对象
|
||||
2. 写入临时文件：
|
||||
|
||||
```json
|
||||
{
|
||||
"notebook_uuid": "<uuid>",
|
||||
"agent_result": { ... }
|
||||
}
|
||||
```
|
||||
|
||||
3. 用 curl 提交：
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '@tmp_body.json'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 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: **询问用户** notebook_uuid（必须，不可跳过）
|
||||
- [ ] Step 5: 确认实验结果数据来源（文件路径或手动数据）
|
||||
- [ ] Step 6: 运行 prepare_agent_result.py 或手动构建请求体
|
||||
- [ ] Step 7: PUT /lab/notebook/agent-result 提交
|
||||
- [ ] Step 8: 检查返回结果，确认提交成功
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: notebook_uuid 从哪里获取？
|
||||
|
||||
从之前「批量提交实验」时 `POST /api/v1/lab/notebook` 的返回值 `data.uuid` 获取。也可以在平台 UI 中查找对应的 notebook。
|
||||
|
||||
### Q: agent_result 有固定的 schema 吗？
|
||||
|
||||
没有严格 schema，接受任意 JSON 对象。但建议包含有意义的字段名和结构化数据，方便后续分析。
|
||||
|
||||
### Q: 可以多次提交同一个 notebook 的结果吗？
|
||||
|
||||
可以，后续提交会覆盖之前的 agent_result。
|
||||
|
||||
### Q: 认证方式是 Lab 还是 Api？
|
||||
|
||||
本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式（`Lab` 是 Uni-Lab 平台的 auth scheme，**绝不能用 `Basic` 替代**）。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。
|
||||
@@ -1,133 +0,0 @@
|
||||
"""
|
||||
读取实验结果文件（JSON / CSV），整合为 agent_result 请求体并可选提交。
|
||||
|
||||
用法:
|
||||
python prepare_agent_result.py \
|
||||
--notebook-uuid <uuid> \
|
||||
--files data1.json data2.csv \
|
||||
[--auth <Lab token>] \
|
||||
[--base <BASE_URL>] \
|
||||
[--submit] \
|
||||
[--output <output.json>]
|
||||
|
||||
支持的输入文件格式:
|
||||
- .json → 直接作为 dict 合并
|
||||
- .csv → 转为 {"filename": [row_dict, ...]} 格式
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import base64
|
||||
import csv
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import Any, Dict, List
|
||||
|
||||
|
||||
def read_json_file(filepath: str) -> Dict[str, Any]:
|
||||
with open(filepath, "r", encoding="utf-8") as f:
|
||||
return json.load(f)
|
||||
|
||||
|
||||
def read_csv_file(filepath: str) -> List[Dict[str, Any]]:
|
||||
rows = []
|
||||
with open(filepath, "r", encoding="utf-8-sig") as f:
|
||||
reader = csv.DictReader(f)
|
||||
for row in reader:
|
||||
converted = {}
|
||||
for k, v in row.items():
|
||||
try:
|
||||
converted[k] = int(v)
|
||||
except (ValueError, TypeError):
|
||||
try:
|
||||
converted[k] = float(v)
|
||||
except (ValueError, TypeError):
|
||||
converted[k] = v
|
||||
rows.append(converted)
|
||||
return rows
|
||||
|
||||
|
||||
def merge_files(filepaths: List[str]) -> Dict[str, Any]:
|
||||
"""将多个文件合并为一个 agent_result dict"""
|
||||
merged: Dict[str, Any] = {}
|
||||
for fp in filepaths:
|
||||
path = Path(fp)
|
||||
ext = path.suffix.lower()
|
||||
key = path.stem
|
||||
|
||||
if ext == ".json":
|
||||
data = read_json_file(fp)
|
||||
if isinstance(data, dict):
|
||||
merged.update(data)
|
||||
else:
|
||||
merged[key] = data
|
||||
elif ext == ".csv":
|
||||
merged[key] = read_csv_file(fp)
|
||||
else:
|
||||
print(f"[警告] 不支持的文件格式: {fp}，跳过", file=sys.stderr)
|
||||
|
||||
return merged
|
||||
|
||||
|
||||
def build_request_body(notebook_uuid: str, agent_result: Dict[str, Any]) -> Dict[str, Any]:
|
||||
return {
|
||||
"notebook_uuid": notebook_uuid,
|
||||
"agent_result": agent_result,
|
||||
}
|
||||
|
||||
|
||||
def submit(base: str, auth: str, body: Dict[str, Any]) -> Dict[str, Any]:
|
||||
try:
|
||||
import requests
|
||||
except ImportError:
|
||||
print("[错误] 提交需要 requests 库: pip install requests", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
url = f"{base}/api/v1/lab/notebook/agent-result"
|
||||
headers = {
|
||||
"Content-Type": "application/json",
|
||||
"Authorization": f"Lab {auth}",
|
||||
}
|
||||
resp = requests.put(url, json=body, headers=headers, timeout=30)
|
||||
return {"status_code": resp.status_code, "body": resp.json() if resp.headers.get("content-type", "").startswith("application/json") else resp.text}
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="整合实验结果文件并构建 agent_result 请求体")
|
||||
parser.add_argument("--notebook-uuid", required=True, help="目标 notebook UUID")
|
||||
parser.add_argument("--files", nargs="+", required=True, help="输入文件路径（JSON / CSV）")
|
||||
parser.add_argument("--auth", help="Lab token（base64(ak:sk)）")
|
||||
parser.add_argument("--base", help="API base URL")
|
||||
parser.add_argument("--submit", action="store_true", help="直接提交到云端")
|
||||
parser.add_argument("--output", default="agent_result_body.json", help="输出 JSON 文件路径")
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
for fp in args.files:
|
||||
if not os.path.exists(fp):
|
||||
print(f"[错误] 文件不存在: {fp}", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
agent_result = merge_files(args.files)
|
||||
body = build_request_body(args.notebook_uuid, agent_result)
|
||||
|
||||
with open(args.output, "w", encoding="utf-8") as f:
|
||||
json.dump(body, f, ensure_ascii=False, indent=2)
|
||||
print(f"[完成] 请求体已保存: {args.output}")
|
||||
print(f" notebook_uuid: {args.notebook_uuid}")
|
||||
print(f" agent_result 字段数: {len(agent_result)}")
|
||||
print(f" 合并文件数: {len(args.files)}")
|
||||
|
||||
if args.submit:
|
||||
if not args.auth or not args.base:
|
||||
print("[错误] 提交需要 --auth 和 --base 参数", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
print(f"\n[提交] PUT {args.base}/api/v1/lab/notebook/agent-result ...")
|
||||
result = submit(args.base, args.auth, body)
|
||||
print(f" HTTP {result['status_code']}")
|
||||
print(f" 响应: {json.dumps(result['body'], ensure_ascii=False)}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,272 +0,0 @@
|
||||
---
|
||||
name: virtual-workbench
|
||||
description: Operate Virtual Workbench via REST API — prepare materials, move to heating stations, start heating, move to output, transfer resources. Use when the user mentions virtual workbench, virtual_workbench, 虚拟工作台, heating stations, material processing, or workbench operations.
|
||||
---
|
||||
|
||||
# Virtual Workbench API Skill
|
||||
|
||||
## 设备信息
|
||||
|
||||
- **device_id**: `virtual_workbench`
|
||||
- **Python 源码**: `unilabos/devices/virtual/workbench.py`
|
||||
- **设备类**: `VirtualWorkbench`
|
||||
- **动作数**: 6（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`, `manual_confirm`）
|
||||
- **设备描述**: 模拟工作台，包含 1 个机械臂（每次操作 2s，独占锁）和 3 个加热台（每次加热 60s，可并行）
|
||||
|
||||
### 典型工作流程
|
||||
|
||||
1. `prepare_materials` — 生成 A1-A5 物料（5 个 output handle）
|
||||
2. `move_to_heating_station` — 物料并发竞争机械臂，移动到空闲加热台
|
||||
3. `start_heating` — 启动加热（3 个加热台可并行）
|
||||
4. `move_to_output` — 加热完成后移到输出位置 Cn
|
||||
|
||||
## 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
|
||||
|
||||
从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
### 2. --addr → BASE URL
|
||||
|
||||
| `--addr` 值 | BASE |
|
||||
| ------------ | ----------------------------------- |
|
||||
| `test` | `https://leap-lab.test.bohrium.com` |
|
||||
| `uat` | `https://leap-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://leap-lab.bohrium.com` |
|
||||
|
||||
确认后设置：
|
||||
|
||||
```bash
|
||||
BASE="<根据 addr 确定的 URL>"
|
||||
AUTH="Authorization: Lab <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**）
|
||||
- `device_name` — `virtual_workbench`
|
||||
|
||||
## 请求约定
|
||||
|
||||
所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
|
||||
|
||||
> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
|
||||
|
||||
---
|
||||
|
||||
## 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 "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
|
||||
|
||||
### 2. 创建工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
|
||||
|
||||
### 3. 创建节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"virtual_workbench","node_template_name":"<action_name>"}'
|
||||
```
|
||||
|
||||
- `resource_template_name` 固定为 `virtual_workbench`
|
||||
- `node_template_name` — action 名称（如 `auto-prepare_materials`, `auto-move_to_heating_station`）
|
||||
|
||||
### 4. 删除节点
|
||||
|
||||
```bash
|
||||
curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
|
||||
```
|
||||
|
||||
### 5. 更新节点参数
|
||||
|
||||
```bash
|
||||
curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
|
||||
```
|
||||
|
||||
参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
|
||||
|
||||
### 6. 查询节点 handles
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
|
||||
```
|
||||
|
||||
### 7. 批量创建边
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
|
||||
```
|
||||
|
||||
### 8. 启动工作流
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 9. 运行设备单动作
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"lab_uuid":"<lab_uuid>","device_id":"virtual_workbench","action":"<action_name>","action_type":"<type>","param":{...}}'
|
||||
```
|
||||
|
||||
`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。
|
||||
|
||||
> **WARNING: `action_type` 必须正确，传错会导致任务永远卡住无法完成。** 从下表或 `actions/<name>.json` 的 `type` 字段获取。
|
||||
|
||||
#### action_type 速查表
|
||||
|
||||
| action | action_type |
|
||||
|--------|-------------|
|
||||
| `auto-prepare_materials` | `UniLabJsonCommand` |
|
||||
| `auto-move_to_heating_station` | `UniLabJsonCommand` |
|
||||
| `auto-start_heating` | `UniLabJsonCommand` |
|
||||
| `auto-move_to_output` | `UniLabJsonCommand` |
|
||||
| `transfer` | `UniLabJsonCommandAsync` |
|
||||
| `manual_confirm` | `UniLabJsonCommand` |
|
||||
|
||||
### 10. 查询任务状态
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
|
||||
```
|
||||
|
||||
### 11. 运行工作流单节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"node_uuid":"<node_uuid>"}'
|
||||
```
|
||||
|
||||
### 12. 获取资源树（物料信息）
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
|
||||
|
||||
### 13. 获取工作流模板详情
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
|
||||
|
||||
### 14. 按名称查询物料模板
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
|
||||
```
|
||||
|
||||
返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
|
||||
|
||||
### 15. 创建物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X POST "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
|
||||
```
|
||||
|
||||
### 16. 更新物料节点
|
||||
|
||||
```bash
|
||||
curl -s -X PUT "$BASE/api/v1/edge/material/node" \
|
||||
-H "$AUTH" -H "Content-Type: application/json" \
|
||||
-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
| `placeholder_keys` 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（非设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
|
||||
|
||||
### virtual_workbench 设备的 Slot 字段表
|
||||
|
||||
| Action | 字段 | Slot 类型 | 说明 |
|
||||
| ----------------- | ---------------- | ------------ | -------------------- |
|
||||
| `transfer` | `resource` | ResourceSlot | 待转移物料数组 |
|
||||
| `transfer` | `target_device` | DeviceSlot | 目标设备路径 |
|
||||
| `transfer` | `mount_resource` | ResourceSlot | 目标孔位数组 |
|
||||
| `manual_confirm` | `resource` | ResourceSlot | 确认用物料数组 |
|
||||
| `manual_confirm` | `target_device` | DeviceSlot | 确认用目标设备 |
|
||||
| `manual_confirm` | `mount_resource` | ResourceSlot | 确认用目标孔位数组 |
|
||||
|
||||
> `prepare_materials`、`move_to_heating_station`、`start_heating`、`move_to_output` 这 4 个动作**无 Slot 字段**，参数为纯数值/整数。
|
||||
|
||||
---
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
1. **SKILL.md**（本文件）— API 端点 + session state 管理 + 设备工作流概览
|
||||
2. **[action-index.md](action-index.md)** — 按分类浏览 6 个动作的描述和核心参数
|
||||
3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
|
||||
|
||||
---
|
||||
|
||||
## 完整工作流 Checklist
|
||||
|
||||
```
|
||||
Task Progress:
|
||||
- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
|
||||
- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
|
||||
- [ ] Step 3: 读 action-index.md 确定要用的 action 名
|
||||
- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
|
||||
- [ ] Step 5: 创建节点 (POST #3, resource_template_name=virtual_workbench) → 记住 node_uuid + data.param
|
||||
- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
|
||||
- [ ] Step 7: 更新节点参数 (PATCH #5)
|
||||
- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
|
||||
- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
|
||||
- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
|
||||
- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
|
||||
```
|
||||
|
||||
### 典型 5 物料并发加热工作流示例
|
||||
|
||||
```
|
||||
prepare_materials (count=5)
|
||||
├─ channel_1 → move_to_heating_station (material_number=1) → start_heating → move_to_output
|
||||
├─ channel_2 → move_to_heating_station (material_number=2) → start_heating → move_to_output
|
||||
├─ channel_3 → move_to_heating_station (material_number=3) → start_heating → move_to_output
|
||||
├─ channel_4 → move_to_heating_station (material_number=4) → start_heating → move_to_output
|
||||
└─ channel_5 → move_to_heating_station (material_number=5) → start_heating → move_to_output
|
||||
```
|
||||
|
||||
创建节点时，`prepare_materials` 的 5 个 output handle（`channel_1` ~ `channel_5`）分别连接到 5 个 `move_to_heating_station` 节点的 `material_input` handle。每个 `move_to_heating_station` 的 `heating_station_output` 和 `material_number_output` 连接到对应 `start_heating` 的 `station_id_input` 和 `material_number_input`。
|
||||
@@ -1,76 +0,0 @@
|
||||
# Action Index — virtual_workbench
|
||||
|
||||
6 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
|
||||
|
||||
---
|
||||
|
||||
## 物料准备
|
||||
|
||||
### `auto-prepare_materials`
|
||||
|
||||
批量准备物料（虚拟起始节点），生成 A1-A5 物料编号，输出 5 个 handle 供后续节点使用
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/prepare_materials.json`](actions/prepare_materials.json)
|
||||
- **可选参数**: `count`（物料数量，默认 5）
|
||||
|
||||
---
|
||||
|
||||
## 机械臂 & 加热台操作
|
||||
|
||||
### `auto-move_to_heating_station`
|
||||
|
||||
将物料从 An 位置移动到空闲加热台（竞争机械臂，自动查找空闲加热台）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/move_to_heating_station.json`](actions/move_to_heating_station.json)
|
||||
- **核心参数**: `material_number`（物料编号，integer）
|
||||
|
||||
### `auto-start_heating`
|
||||
|
||||
启动指定加热台的加热程序（可并行，3 个加热台同时工作）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/start_heating.json`](actions/start_heating.json)
|
||||
- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
|
||||
|
||||
### `auto-move_to_output`
|
||||
|
||||
将加热完成的物料从加热台移动到输出位置 Cn
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/move_to_output.json`](actions/move_to_output.json)
|
||||
- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
|
||||
|
||||
---
|
||||
|
||||
## 物料转移
|
||||
|
||||
### `transfer`
|
||||
|
||||
异步转移物料到目标设备（通过 ROS 资源转移）
|
||||
|
||||
- **action_type**: `UniLabJsonCommandAsync`
|
||||
- **Schema**: [`actions/transfer.json`](actions/transfer.json)
|
||||
- **核心参数**: `resource`, `target_device`, `mount_resource`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，待转移的物料数组 `[{id, name, uuid}, ...]`
|
||||
- `target_device` — **DeviceSlot**，目标设备路径字符串
|
||||
- `mount_resource` — **ResourceSlot**，目标孔位数组 `[{id, name, uuid}, ...]`
|
||||
|
||||
---
|
||||
|
||||
## 人工确认
|
||||
|
||||
### `manual_confirm`
|
||||
|
||||
创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）
|
||||
|
||||
- **action_type**: `UniLabJsonCommand`
|
||||
- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
|
||||
- **核心参数**: `resource`, `target_device`, `mount_resource`, `timeout_seconds`, `assignee_user_ids`
|
||||
- **占位符字段**:
|
||||
- `resource` — **ResourceSlot**，物料数组
|
||||
- `target_device` — **DeviceSlot**，目标设备路径
|
||||
- `mount_resource` — **ResourceSlot**，目标孔位数组
|
||||
- `assignee_user_ids` — `unilabos_manual_confirm` 类型
|
||||
@@ -1,270 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"target_device": "target_device",
|
||||
"mount_resource": "mount_resource",
|
||||
"timeout_seconds": "timeout_seconds",
|
||||
"assignee_user_ids": "assignee_user_ids"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"target_device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"mount_resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "mount_resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"timeout_seconds": {
|
||||
"type": "integer"
|
||||
},
|
||||
"assignee_user_ids": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"resource",
|
||||
"target_device",
|
||||
"mount_resource",
|
||||
"timeout_seconds",
|
||||
"assignee_user_ids"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources",
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources",
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
}
|
||||
@@ -1,19 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,24 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"station_id": "station_id",
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"station_id": {
|
||||
"type": "integer"
|
||||
},
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"station_id",
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,20 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"count": "count"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"count": {
|
||||
"type": "integer",
|
||||
"default": 5
|
||||
}
|
||||
},
|
||||
"required": []
|
||||
},
|
||||
"goal_default": {
|
||||
"count": 5
|
||||
},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,24 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"station_id": "station_id",
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"station_id": {
|
||||
"type": "integer"
|
||||
},
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"station_id",
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -1,255 +0,0 @@
|
||||
{
|
||||
"type": "UniLabJsonCommandAsync",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"target_device": "target_device",
|
||||
"mount_resource": "mount_resource"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"target_device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"mount_resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "mount_resource"
|
||||
},
|
||||
"type": "array"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"resource",
|
||||
"target_device",
|
||||
"mount_resource"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources"
|
||||
}
|
||||
}
|
||||
@@ -1,483 +0,0 @@
|
||||
---
|
||||
name: yibin-electrolyte-submit
|
||||
description: >-
|
||||
通过 Uni-Lab Notebook API 向宜宾电解液工站提交实验，覆盖配液分液（Bioyond LIMS）、
|
||||
扣电组装（CoinCellAssembly）、扣电测试全流程。
|
||||
包含 Excel 解析、formulation 构建、工作流节点参数填写、notebook 提交与状态轮询。
|
||||
Use when the user wants to submit electrolyte experiments, assemble or test coin cells,
|
||||
parse experiment Excel files, build notebook payloads, or mentions
|
||||
宜宾/配液/分液/扣电/电解液实验/notebook提交/CoinCell/BioyondLIMS.
|
||||
---
|
||||
|
||||
# 宜宾电解液产线 API 操作指南
|
||||
|
||||
本 skill 覆盖两个设备的完整操作流程：
|
||||
1. **配液分液工站** (`bioyond_cell_workstation`) — Bioyond LIMS 配液/分液/转运
|
||||
2. **扣电组装站** (`BatteryStation`) — Modbus PLC 扣电组装/数据采集
|
||||
|
||||
## 设备信息
|
||||
|
||||
| 属性 | 配液分液工站 | 扣电组装站 |
|
||||
|------|------------|-----------|
|
||||
| device_id | `bioyond_cell_workstation` | `BatteryStation` |
|
||||
| 显示名 | 配液分液工站 | 扣电工作站 |
|
||||
| 源码 | `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py` | `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py` |
|
||||
| 类名 | `BioyondCellWorkstation` | `CoinCellAssemblyWorkstation` |
|
||||
| 通讯 | HTTP REST (Bioyond LIMS API) | Modbus TCP (PLC 寄存器) |
|
||||
|
||||
## 前置条件
|
||||
|
||||
### 认证信息
|
||||
|
||||
```
|
||||
AUTH="Authorization: Lab OTdlY2FkNmUtZmZmMi00YjhiLThhOWEtNWM5ODAyOTJmOTUxOmU0OGM2YWJkLTA4ZmEtNDFjMy04NzhhLTc4M2FiODlhZjYxMw=="
|
||||
BASE="https://uni-lab.test.bohrium.com"
|
||||
```
|
||||
|
||||
来源：`--ak 97ecad6e-fff2-4b8b-8a9a-5c980292f951 --sk e48c6abd-08fa-41c3-878a-783ab89af613 --addr test`
|
||||
|
||||
### 启动 unilab（云端模式）
|
||||
|
||||
> **重要**：提交实验前必须确保 unilab 正在运行且已连接云端 WebSocket。
|
||||
|
||||
```powershell
|
||||
$env:PYTHONIOENCODING="utf-8"
|
||||
conda activate newunilab2603
|
||||
cd D:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation
|
||||
unilab -g D:\UniLabdev\Uni-Lab-OS\yibin_electrolyte_config.json --ak 97ecad6e-fff2-4b8b-8a9a-5c980292f951 --sk e48c6abd-08fa-41c3-878a-783ab89af613 --upload_registry --addr test --disable_browser --skip_env_check
|
||||
```
|
||||
|
||||
**启动要点**：
|
||||
1. 必须先激活虚拟环境 `newunilab2603`
|
||||
2. 工作目录切到 `unilabos/devices/workstation`（设备驱动所在目录）
|
||||
3. `--upload_registry` 将 64 个设备 + 142 个资源注册到云端
|
||||
4. `--skip_env_check` + `PYTHONIOENCODING=utf-8` 避免 Windows GBK 编码崩溃
|
||||
5. 启动后后台运行，等待日志出现 `Application startup complete` 和 `Host node ready signal published with 3 devices`
|
||||
|
||||
**验证连接成功的标志**：
|
||||
- 日志出现 `[MessageProcessor] ... wss://uni-lab.test.bohrium.com/api/v1/ws/schedule`
|
||||
- 日志出现 `[WebSocketClient] Host node ready signal published with 3 devices`
|
||||
- 日志出现 `Resource tree add completed`（资源树同步完成）
|
||||
|
||||
### 云端物料上架与入库（启动后必做）
|
||||
|
||||
> **在提交实验之前，必须提醒用户完成以下云端操作，否则实验会因物料缺失而失败。**
|
||||
|
||||
1. **拖拽上料**：在云端 UI（`$BASE/laboratory/<lab_uuid>`）的资源树视图中，将物料拖拽到对应的仓库/库位上。unilab 启动后资源树会自动同步到云端，但物料的**上架位置**需要用户在 UI 上手动确认或调整。
|
||||
|
||||
2. **确认配液物料入库**：确保所有配液实验需要的试剂（如 LiPF6、EC、DMC、EMC 等）已在 LIMS 系统中完成入库。可通过以下方式验证：
|
||||
- 云端 UI 资源树中对应仓库（如"粉末加样头堆栈"、"配液站内试剂仓库"）下有物料节点
|
||||
- 或通过 API #8 获取资源树后检查物料节点是否存在
|
||||
|
||||
3. **告知 AI 可以提交**：用户完成上述操作后，告知 AI "物料已上架，可以提交实验"，AI 再执行 notebook 提交流程。
|
||||
|
||||
**提醒话术模板**（AI 应在启动成功后发送给用户）：
|
||||
```
|
||||
unilab 已成功启动并连接云端。提交实验前请完成以下操作：
|
||||
1. 在云端 UI 上确认资源树中的物料位置，必要时拖拽调整上料位
|
||||
2. 确保配液所需的试剂（粉末、液体）已在 LIMS 中完成入库
|
||||
3. 完成后告诉我，我将为您提交实验
|
||||
```
|
||||
|
||||
### 生成 Action Schema（首次使用）
|
||||
|
||||
启动 unilab 后，在 `unilabos_data/` 目录下会生成 `req_device_registry_upload.json`。运行以下命令提取两个设备的 action JSON：
|
||||
|
||||
```bash
|
||||
python .cursor/skills/create-device-skill/scripts/extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json bioyond_cell_workstation .cursor/skills/yibin-electrolyte-submit/actions/
|
||||
python .cursor/skills/create-device-skill/scripts/extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json BatteryStation .cursor/skills/yibin-electrolyte-submit/actions/
|
||||
```
|
||||
|
||||
## 请求约定
|
||||
|
||||
- Windows 平台**必须用 `curl.exe`**（非 PowerShell 的 curl 别名）
|
||||
- 所有请求带 `$AUTH` 头
|
||||
- URL 格式：`$BASE/api/v1/<endpoint>`
|
||||
- POST/PATCH 请求体写入临时 JSON 文件后用 `-d '@tmp.json'` 传参（避免 PowerShell 转义问题）
|
||||
- 本地 API 基址：`http://127.0.0.1:8002/api/v1/`
|
||||
|
||||
## Session State
|
||||
|
||||
每次会话开始时，依次获取以下信息：
|
||||
|
||||
```bash
|
||||
# 1. lab_uuid
|
||||
curl.exe -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
|
||||
# → data.uuid → $lab_uuid
|
||||
|
||||
# 2. project_uuid
|
||||
curl.exe -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
|
||||
# → data.items[].uuid/name → 让用户选择或取唯一项 → $project_uuid
|
||||
```
|
||||
|
||||
## 工作流模板（重要）
|
||||
|
||||
> **必须向用户索要已有的工作流模板 UUID 或 URL，不要自行创建。**
|
||||
>
|
||||
> 原因：通过 `edge/workflow/node` API 创建节点会报 `resource_node_template not found`——
|
||||
> 云端的工作流节点模板系统和设备注册表是独立的，需要用户在云端 UI 上预先配置好工作流模板。
|
||||
|
||||
**获取方式**：
|
||||
- 用户提供工作流页面 URL，如 `$BASE/laboratory/<lab_uuid>/workflow/<workflow_uuid>`
|
||||
- 从 URL 中提取 `workflow_uuid`
|
||||
- 用 API 获取模板详情：
|
||||
|
||||
```
|
||||
GET /api/v1/lab/workflow/template/detail/<workflow_uuid>
|
||||
```
|
||||
|
||||
返回 `data.nodes[]`：每个节点的 uuid、name、param、device_name、handles、disabled。
|
||||
|
||||
**示例**：
|
||||
```
|
||||
工作流 URL: https://uni-lab.test.bohrium.com/laboratory/e9ed9102-d709-4741-b7a0-d1e8578e2065/workflow/b49f80d9-58d6-4456-a521-56f4dd39cda0
|
||||
→ workflow_uuid = b49f80d9-58d6-4456-a521-56f4dd39cda0
|
||||
```
|
||||
|
||||
从模板详情中提取**未 disabled** 的节点的 `uuid` 和 `name`，后续提交 notebook 时使用。
|
||||
|
||||
## API Endpoints
|
||||
|
||||
### #1 获取 lab_uuid
|
||||
|
||||
```
|
||||
GET /api/v1/edge/lab/info
|
||||
```
|
||||
|
||||
### #2 列出项目
|
||||
|
||||
```
|
||||
GET /api/v1/lab/project/list?lab_uuid=$lab_uuid
|
||||
```
|
||||
|
||||
返回 `data.items[]`，取 `uuid` 和 `name`。
|
||||
|
||||
### #3 获取工作流模板详情
|
||||
|
||||
```
|
||||
GET /api/v1/lab/workflow/template/detail/<workflow_uuid>
|
||||
```
|
||||
|
||||
返回 `data.nodes[]`：每个节点的 uuid、name、param、device_name、handles。
|
||||
提取活跃节点（`disabled != true`）的 `uuid` 用于构建 notebook 请求。
|
||||
|
||||
### #4 提交实验（创建 notebook）— 核心 API
|
||||
|
||||
```
|
||||
POST /api/v1/lab/notebook
|
||||
Body: {
|
||||
"lab_uuid": "<lab_uuid>",
|
||||
"project_uuid": "<project_uuid>",
|
||||
"workflow_uuid": "<workflow_uuid>",
|
||||
"name": "<实验名称>",
|
||||
"node_params": [
|
||||
{
|
||||
"sample_uuids": [],
|
||||
"datas": [
|
||||
{
|
||||
"node_uuid": "<模板中的节点UUID>",
|
||||
"param": { <参数键值对> },
|
||||
"sample_params": []
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
**关键注意事项**：
|
||||
- `node_params` 是数组，每个元素代表一轮实验
|
||||
- `datas` 中每个节点对应模板中的一个活跃节点
|
||||
- `param` 中的字段名**必须使用 Python 函数参数名**，不能用模板中存储的 LIMS 字段名（见下方映射表）
|
||||
|
||||
### #5 查询 notebook 状态
|
||||
|
||||
```
|
||||
GET /api/v1/lab/notebook/status?uuid=<notebook_uuid>
|
||||
```
|
||||
|
||||
| status | 含义 |
|
||||
|--------|------|
|
||||
| `running` | 执行中 |
|
||||
| `success` | 成功 |
|
||||
| `fail` | 失败 |
|
||||
|
||||
### #6 运行设备单动作（本地 API）
|
||||
|
||||
```
|
||||
POST http://127.0.0.1:8002/api/v1/job/add
|
||||
Body: {
|
||||
"device_id": "<device_id>",
|
||||
"action": "<action_name>",
|
||||
"action_args": { <参数键值对> },
|
||||
"sample_material": {}
|
||||
}
|
||||
```
|
||||
|
||||
本地 API 可自动解析 `action_type`，无需手动指定。适用于快速调试或云端未连接时。
|
||||
|
||||
### #7 查询本地任务状态
|
||||
|
||||
```
|
||||
GET http://127.0.0.1:8002/api/v1/job/<job_id>/status
|
||||
```
|
||||
|
||||
| status | 含义 |
|
||||
|--------|------|
|
||||
| 0 | UNKNOWN |
|
||||
| 1 | ACCEPTED |
|
||||
| 2 | EXECUTING |
|
||||
| 4 | SUCCEEDED |
|
||||
| 5 | CANCELED |
|
||||
| 6 | ABORTED |
|
||||
|
||||
### #8 获取资源树
|
||||
|
||||
```
|
||||
GET /api/v1/lab/material/download/<lab_uuid>
|
||||
```
|
||||
|
||||
返回所有节点（`id`, `name`, `uuid`, `type`, `parent`）。填写 Slot 字段时用此接口筛选节点。
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
|
||||
action JSON 中 `placeholder_keys` 标记了哪些字段需要填 Slot：
|
||||
|
||||
| placeholder 值 | Slot 类型 | 填写格式 |
|
||||
|---------------|-----------|---------|
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` 路径字符串 |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` 路径字符串 |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` 字符串 |
|
||||
| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]` |
|
||||
|
||||
### ResourceSlot 填写
|
||||
|
||||
从 API #8 资源树中筛选**物料**节点：
|
||||
|
||||
```json
|
||||
{"id": "/bioyond_cell_workstation/YB_Bioyond_Deck/自动堆栈-左", "name": "自动堆栈-左", "uuid": "3a19debc-..."}
|
||||
```
|
||||
|
||||
数组字段：`[{id, name, uuid}, ...]`
|
||||
特例：`create_resource` 的 `res_id` 允许填不存在的路径。
|
||||
|
||||
### DeviceSlot 填写
|
||||
|
||||
从资源树筛选 `type=device` 的节点，填路径字符串：
|
||||
|
||||
```
|
||||
"/BatteryStation"
|
||||
"/bioyond_cell_workstation"
|
||||
```
|
||||
|
||||
### FormulationSlot 填写
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"sample_uuid": "",
|
||||
"well_name": "YB_PrepBottle_15mL_Carrier_bottle_A1",
|
||||
"liquids": [
|
||||
{ "name": "LiPF6", "mass": 12.5 },
|
||||
{ "name": "EC", "mass": 50.0 }
|
||||
]
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
`well_name` 从资源树中取物料节点的 `name`。
|
||||
|
||||
## 参数名映射（重要的坑）
|
||||
|
||||
> 工作流模板中存储的参数名和 Python 函数实际接受的参数名**不一定相同**。
|
||||
> 提交 notebook 时必须使用 **Python 函数参数名**。
|
||||
|
||||
### `create_orders_formulation` 参数映射
|
||||
|
||||
| 模板中的 param 键 | 实际 Python 参数名 | 说明 |
|
||||
|-------------------|-------------------|------|
|
||||
| `pouch_cell_info` | `pouch_cell_volume` | 软包组装分液体积 (mL) |
|
||||
| `conductivity_info` | `conductivity_volume` | 电导测试分液体积 (mL) |
|
||||
| `load_shedding_info` | `coin_cell_volume` | 扣电组装分液体积 (mL) |
|
||||
| `formulation` | `formulation` | 配方数组（名称一致） |
|
||||
| `batch_id` | `batch_id` | 批次号（名称一致） |
|
||||
| `bottle_type` | `bottle_type` | 配液瓶类型（名称一致） |
|
||||
| `mix_time` | `mix_time` | 混匀时间(秒)（名称一致） |
|
||||
| `conductivity_bottle_count` | `conductivity_bottle_count` | 电导瓶数（名称一致） |
|
||||
|
||||
当从模板中读到 `param` 包含 `pouch_cell_info` 等 LIMS 字段名时，提交 notebook 时要用右列的 Python 函数参数名。否则会报 `TypeError: got an unexpected keyword argument`。
|
||||
|
||||
## 典型工作流
|
||||
|
||||
### 方式一：通过 Notebook API 批量提交（推荐）
|
||||
|
||||
**适用场景**：多组配方的批量实验，云端管理实验记录
|
||||
|
||||
```
|
||||
1. 向用户索要工作流模板 URL（不要自行创建）
|
||||
2. 获取 lab_uuid（API #1）和 project_uuid（API #2）
|
||||
3. 获取工作流模板详情（API #3），提取活跃节点 UUID
|
||||
4. 解析用户提供的 Excel 文件，构建 formulation 数组
|
||||
5. 提交 notebook（API #4）
|
||||
6. 轮询 notebook 状态（API #5）直到完成
|
||||
```
|
||||
|
||||
**Excel 解析规则**：
|
||||
- 全局参数在第一个数据行：`batch_id`、`bottle_type`、`mix_time`、`coin_cell_volume`、`pouch_cell_volume`、`conductivity_volume`、`conductivity_bottle_count`
|
||||
- 配方列从"试剂名1"开始，交替排列：试剂名列 + 质量列（以 `(g)` 结尾）
|
||||
- 每行一个配方，`order_name` = 配方ID列
|
||||
- formulation 中每个配方的 materials 数组只包含 `mass > 0` 的试剂
|
||||
|
||||
**node_params 构建**：所有配方放入同一个 round 的同一个 datas 条目中，因为只有一个节点（`create_orders_formulation`）。
|
||||
|
||||
### 方式二：设备单步操作（本地 API）
|
||||
|
||||
**适用场景**：调试、快速测试
|
||||
|
||||
```
|
||||
1. 确保 unilab 已在本地启动
|
||||
2. 通过 POST http://127.0.0.1:8002/api/v1/job/add 提交任务
|
||||
3. 通过 GET /api/v1/job/<job_id>/status 查询状态
|
||||
```
|
||||
|
||||
### 设备操作流程：配液 → 转运 → 扣电
|
||||
|
||||
```
|
||||
1. [配液站] scheduler_start_and_auto_feeding → 启动调度 + 上料
|
||||
2. [配液站] create_orders_formulation → 创建配液实验（配方输入）
|
||||
3. [配液站] transfer_3_to_2_to_1_auto → 分液瓶板转运到扣电站
|
||||
4. [扣电站] func_pack_device_init_auto_start_combined → 初始化+自动+启动
|
||||
5. [扣电站] func_sendbottle_allpack_multi → 发送瓶数+批量组装
|
||||
```
|
||||
|
||||
## 云端使用心得
|
||||
|
||||
### 环境准备
|
||||
- Windows 必须设置 `$env:PYTHONIOENCODING="utf-8"` 防止编码崩溃
|
||||
- 使用 `--skip_env_check` 跳过依赖检查，加快启动
|
||||
- 工作目录建议在 `unilabos/devices/workstation` 下启动
|
||||
|
||||
### 连接与注册
|
||||
- `--upload_registry` 会自动将设备和资源注册到云端
|
||||
- WebSocket 连接建立后，本地和云端的资源树会自动同步
|
||||
- 注册成功后用户需在云端 UI 完成**物料拖放上架**操作
|
||||
- 如果 unilab 断开重连，资源树会重新同步
|
||||
|
||||
### 工作流模板
|
||||
- **不要自行调用 API 创建工作流或节点**——云端工作流节点模板需要预配置
|
||||
- 始终向用户索要已有的工作流模板 URL
|
||||
- 从 URL 中提取 `workflow_uuid`，通过 API #3 获取详情
|
||||
- 模板中 `disabled: true` 的节点跳过，只处理活跃节点
|
||||
|
||||
### Notebook 实验提交
|
||||
- Notebook 是云端管理实验的标准方式
|
||||
- 一个 notebook 可包含多轮（`node_params` 数组），每轮可包含多组参数
|
||||
- 提交后通过 API #5 轮询状态，LIMS 配液流程通常需要较长时间（8 个配方约 30-60 分钟）
|
||||
- 实验进度可在云端 UI 和本地 unilab 日志中同步查看
|
||||
|
||||
### 常见错误
|
||||
| 错误 | 原因 | 解决 |
|
||||
|------|------|------|
|
||||
| `edge not started error` | unilab 未连接云端 WebSocket | 检查 unilab 是否在运行、重启 |
|
||||
| `resource_node_template not found` | 云端没有该设备的工作流模板 | 向用户索要已有模板，不要自行创建 |
|
||||
| `got an unexpected keyword argument` | 参数名用了模板字段名而非 Python 函数参数名 | 参照上方映射表转换 |
|
||||
| `UnicodeEncodeError: 'gbk'` | Windows 默认编码不支持特殊字符 | 设置 `PYTHONIOENCODING=utf-8` |
|
||||
| `parse parameter error` | 云端 API 字段名错误 | `device_id` (非 `device_name`)、`action` (非 `action_name`)、必须带 `action_type` |
|
||||
|
||||
## 渐进加载策略
|
||||
|
||||
1. 先读本文件了解 API 端点、参数映射和云端注意事项
|
||||
2. 需要具体 action 参数时，读 [action-index.md](action-index.md) 查找 action 名称和核心参数
|
||||
3. 需要完整 schema 时，读 `actions/<action_name>.json`（需先运行提取命令生成）
|
||||
4. 需要理解参数含义时，读设备源码
|
||||
|
||||
## 完整 Notebook 提交 Checklist
|
||||
|
||||
```
|
||||
- [ ] 确认 unilab 已在本地启动并连接云端 WebSocket
|
||||
- [ ] 提醒用户在云端 UI 拖拽上料、确认物料位置
|
||||
- [ ] 提醒用户确认配液所需试剂已在 LIMS 完成入库
|
||||
- [ ] 等待用户确认物料就绪后再继续
|
||||
- [ ] 向用户索要工作流模板 URL → 提取 workflow_uuid
|
||||
- [ ] 获取 lab_uuid（API #1）
|
||||
- [ ] 获取 project_uuid（API #2）
|
||||
- [ ] 获取工作流模板详情（API #3），提取活跃节点 UUID
|
||||
- [ ] 解析用户 Excel 文件 → 构建 formulation + 全局参数
|
||||
- [ ] 注意参数名映射（模板字段名 → Python 函数参数名）
|
||||
- [ ] 提交 notebook（API #4）
|
||||
- [ ] 轮询 notebook 状态（API #5）直到完成
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 真实场景：宜宾产线 Excel 提交提示词模板
|
||||
|
||||
> 以下为已验证可用的标准提示词，适用于配液-分液-扣电全流程。
|
||||
|
||||
### 场景说明
|
||||
|
||||
- unilab 运行在本地 Windows 机器（miniforge 环境），连接云端 WebSocket
|
||||
- AI（Cursor / OpenClaw）在任意设备上，通过云端 API 操作，**不需要本地 127.0.0.1**
|
||||
- 工作流为 5 节点串联：`create_orders_formulation` → `transfer_3_to_2_to_1_auto` → `func_pack_device_init_auto_start_combined` → `func_sendbottle_allpack_multi` → `transfer_1_to_2`
|
||||
|
||||
### 已知固定参数（宜宾产线）
|
||||
|
||||
```
|
||||
BASE = https://uni-lab.test.bohrium.com
|
||||
lab_uuid = e9ed9102-d709-4741-b7a0-d1e8578e2065
|
||||
project = YiBinElectrolyte (bc5224b4-8120-4765-9961-9dfc1802a1f6)
|
||||
workflow = 配液分液formulation全流程 (2bc59938-db79-4415-ac2d-9897ef125f2f)
|
||||
```
|
||||
|
||||
#### 工作流节点 UUID（固定，无需重新查询）
|
||||
|
||||
| 顺序 | action | node_uuid |
|
||||
|------|--------|-----------|
|
||||
| Step1 | auto-create_orders_formulation | `ece6744a-81ac-4ae4-8cd1-1c8eeda1dab6` |
|
||||
| Step2 | auto-transfer_3_to_2_to_1_auto | `1c37a8dd-5ba0-413d-81db-94b9c936a171` |
|
||||
| Step3 | auto-func_pack_device_init_auto_start_combined | `97a676a2-d257-4479-9096-073b40300970` |
|
||||
| Step4 | auto-func_sendbottle_allpack_multi | `cf69017a-d29c-4aad-a63b-309d63dac2e9` |
|
||||
| Step5 | auto-transfer_1_to_2 | `80d1c1aa-dbc3-4601-86b7-5c22a992dd9e` |
|
||||
|
||||
### 标准提示词
|
||||
|
||||
```
|
||||
请使用 yibin-electrolyte-submit skill，提交以下实验：
|
||||
|
||||
工作流模板 URL：https://uni-lab.test.bohrium.com/laboratory/e9ed9102-d709-4741-b7a0-d1e8578e2065/workflow/2bc59938-db79-4415-ac2d-9897ef125f2f
|
||||
Excel 文件路径：<粘贴或上传 xlsx 路径>
|
||||
|
||||
注意事项：
|
||||
- lab_uuid、project_uuid、workflow节点UUID均已固定，无需重新查询
|
||||
- 直接解析 Excel → 构建 payload → 提交
|
||||
- mix_time 传标量整数即可（已兼容）
|
||||
- 试剂名以 Excel 为准，注意区分 LiDFOB / LiDOFB 等拼写
|
||||
- csv_export_path 取 Excel 中 csv_export_path 列的值
|
||||
- 提交后告知 notebook UUID，无需自动轮询（实验耗时较长）
|
||||
```
|
||||
|
||||
### Excel 列结构说明（experment_template_0415sim-*.xlsx）
|
||||
|
||||
| 列范围 | 内容 |
|
||||
|--------|------|
|
||||
| C | batch_id |
|
||||
| D | bottle_type |
|
||||
| E-H | coin_cell_volume / conductivity_bottle_count / conductivity_volume / csv_export_path |
|
||||
| I-T | 试剂名+质量 交替排列（最多6对）|
|
||||
| U | mix_time |
|
||||
| V | order_name（每行配方的订单号）|
|
||||
| W | pouch_cell_volume |
|
||||
| X-Y | target_device / target_location（Step2参数）|
|
||||
| AA | material_search_enable（Step3参数）|
|
||||
| AB-AS | 扣电站参数（Step4）|
|
||||
|
||||
### CSV 导出说明
|
||||
|
||||
每次 `create_orders_formulation` 完成后，在 `csv_export_path` 目录下生成：
|
||||
```
|
||||
electrolyte_orders_<YYYYMMDD_HHMMSS>.csv
|
||||
```
|
||||
列：`orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, 目标配液质量比, 真实配液质量比, 时间`
|
||||
|
||||
> **注意**：barCode 为 `null` 或 `"nullBarCode123456"` 是正常现象，表示 LIMS 中该物料尚未扫码。配液瓶缺失通常是因为物料未放在手动传递窗（`locationId` 前缀 `3a19deae-2c7a-`）。
|
||||
@@ -1,295 +0,0 @@
|
||||
# Action 索引
|
||||
|
||||
> Action JSON 文件需运行提取命令生成，详见 [SKILL.md](SKILL.md) 中「生成 Action Schema」。
|
||||
> 以下描述和参数信息基于源码分析。
|
||||
|
||||
---
|
||||
|
||||
## 配液分液工站 (`bioyond_cell_workstation`)
|
||||
|
||||
源码：`unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
|
||||
|
||||
### 调度控制
|
||||
|
||||
#### `scheduler_start`
|
||||
|
||||
启动 Bioyond LIMS 调度系统
|
||||
|
||||
- **核心参数**: 无（仅需 apiKey/requestTime，由设备内部处理）
|
||||
- **返回**: LIMS 响应 `{code, message, data}`
|
||||
|
||||
#### `scheduler_stop`
|
||||
|
||||
停止调度
|
||||
|
||||
- **核心参数**: 无
|
||||
|
||||
#### `scheduler_continue`
|
||||
|
||||
继续调度（从暂停状态恢复）
|
||||
|
||||
- **核心参数**: 无
|
||||
|
||||
#### `scheduler_reset`
|
||||
|
||||
复位调度
|
||||
|
||||
- **核心参数**: 无
|
||||
|
||||
#### `scheduler_start_and_auto_feeding`
|
||||
|
||||
**组合操作**：启动调度 + 自动化上料（4号→3号手套箱）
|
||||
|
||||
- **核心参数**: `xlsx_path`（Excel 物料模板路径，可选）
|
||||
- **可选参数**: WH4 加样头面 12 个点位（materialName + quantity）、WH4 原液瓶面 9 个点位（materialName + quantity + materialType + targetWH）、WH3 人工堆栈 15 个点位（materialType + materialId + quantity）
|
||||
- **流程**: 先 `scheduler_start()`，成功后执行 `auto_feeding4to3()`
|
||||
- **备注**: 支持 Excel 模式和手动参数模式，Excel 路径存在时优先使用 Excel
|
||||
|
||||
### 物料上料/下料
|
||||
|
||||
#### `auto_feeding4to3`
|
||||
|
||||
自动化上料：从 4 号手套箱转运物料到 3 号手套箱
|
||||
|
||||
- **核心参数**: `xlsx_path`（Excel 物料模板路径）
|
||||
- **可选参数**: 同 `scheduler_start_and_auto_feeding` 的 WH4/WH3 点位参数
|
||||
- **返回**: 等待上料任务完成后返回结果
|
||||
|
||||
#### `auto_batch_outbound_from_xlsx`
|
||||
|
||||
自动化下料（从 Excel 读取下料信息）
|
||||
|
||||
- **核心参数**: `xlsx_path`（Excel 下料模板）
|
||||
- **Excel 列**: locationId, warehouseId, 数量, x, y, z
|
||||
|
||||
### 物料管理
|
||||
|
||||
#### `create_and_inbound_materials`
|
||||
|
||||
批量创建固体物料并入库
|
||||
|
||||
- **核心参数**: `material_names`（物料名称列表，默认 `["LiPF6", "LiDFOB", "DTD", "LiFSI", "LiPO2F2"]`）
|
||||
- **可选参数**: `type_id`（物料类型ID）, `warehouse_name`（目标仓库，默认 "粉末加样头堆栈"）
|
||||
- **流程**: 创建物料 → 批量入库 → 同步
|
||||
|
||||
#### `create_material`
|
||||
|
||||
创建单个物料并可选入库
|
||||
|
||||
- **核心参数**: `material_name`, `type_id`, `warehouse_name`
|
||||
- **可选参数**: `location_name_or_id`（库位编号如 "A01" 或 UUID）
|
||||
|
||||
#### `create_sample`
|
||||
|
||||
创建配液板物料（含子瓶）并入库
|
||||
|
||||
- **核心参数**: `name`, `board_type`（如 "5ml分液瓶板"）, `bottle_type`（如 "5ml分液瓶"）, `location_code`（如 "A01"）
|
||||
- **可选参数**: `warehouse_name`（默认 "手动堆栈"）
|
||||
- **备注**: 自动创建 2x4=8 个子瓶
|
||||
|
||||
#### `storage_inbound`
|
||||
|
||||
单个物料入库
|
||||
|
||||
- **核心参数**: `material_id`, `location_id`
|
||||
|
||||
#### `storage_batch_inbound`
|
||||
|
||||
批量物料入库
|
||||
|
||||
- **核心参数**: `items`（`[{materialId, locationId}, ...]`）
|
||||
|
||||
### 配液实验
|
||||
|
||||
#### `create_orders`
|
||||
|
||||
从 Excel 文件创建配液实验订单
|
||||
|
||||
- **核心参数**: `xlsx_path`（Excel 文件路径）
|
||||
- **Excel 列**: 配方ID, 创建日期, 配液瓶类型, 混匀时间(s), 扣电组装分液体积, 软包组装分液体积, 电导测试分液体积, 电导测试分液瓶数, 以及所有以 `(g)` 结尾的物料列
|
||||
- **流程**: 解析 Excel → 提交订单 → 等待全部完成 → 计算质量比 → 提取分液瓶板 → 创建资源树对象
|
||||
- **返回**: `{status, total_orders, bottle_count, reports, mass_ratios, vial_plates}`
|
||||
|
||||
#### `create_orders_formulation`
|
||||
|
||||
从配方列表创建配液实验订单（前端/API 输入版本）
|
||||
|
||||
- **核心参数**: `formulation`（配方数组）
|
||||
- **可选参数**: `batch_id`, `bottle_type`（默认 "配液小瓶"）, `mix_time`（秒，列表）, `coin_cell_volume`, `pouch_cell_volume`, `conductivity_volume`, `conductivity_bottle_count`
|
||||
- **formulation 格式**:
|
||||
```json
|
||||
[
|
||||
{
|
||||
"order_name": "配方A",
|
||||
"materials": [
|
||||
{"name": "LiPF6", "mass": 12.5},
|
||||
{"name": "EC", "mass": 50.0},
|
||||
{"name": "DMC", "mass": 37.5}
|
||||
]
|
||||
}
|
||||
]
|
||||
```
|
||||
- **返回**: 同 `create_orders`
|
||||
|
||||
### 物料转运
|
||||
|
||||
#### `transfer_3_to_2_to_1_auto`
|
||||
|
||||
**自动转运**：从 create_orders 结果中自动定位分液瓶板并转运到目标设备
|
||||
|
||||
- **核心参数**: `vial_plates`（分液瓶板列表，来自 create_orders 返回的 `vial_plates`）
|
||||
- **可选参数**: `target_device`（默认 "BatteryStation"）, `target_location`（默认 "bottle_rack_6x2"）, `mass_ratios`（配方信息）
|
||||
- **流程**: 遍历瓶板 → 解析 locationId → 调用 LIMS 转运 API → 更新资源树
|
||||
- **返回**: `{total, success, failed, results}`
|
||||
|
||||
#### `transfer_3_to_2_to_1`
|
||||
|
||||
3→2→1 物料转运（手动指定坐标）
|
||||
|
||||
- **核心参数**: `source_wh_id`, `source_x`, `source_y`, `source_z`
|
||||
|
||||
#### `transfer_3_to_2`
|
||||
|
||||
3→2 物料转运
|
||||
|
||||
- **核心参数**: `source_wh_id`, `source_x`, `source_y`, `source_z`
|
||||
|
||||
#### `transfer_1_to_2`
|
||||
|
||||
1→2 物料转运
|
||||
|
||||
- **核心参数**: 无
|
||||
|
||||
### 查询
|
||||
|
||||
#### `order_list_v2`
|
||||
|
||||
批量查询实验报告
|
||||
|
||||
- **可选参数**: `timeType`, `beginTime`, `endTime`, `status`（60=运行中, 80=完成, 90=失败）, `filter`, `skipCount`, `pageCount`, `sorting`
|
||||
|
||||
---
|
||||
|
||||
## 扣电组装站 (`BatteryStation`)
|
||||
|
||||
源码：`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
|
||||
|
||||
### 设备控制（组合操作）
|
||||
|
||||
#### `func_pack_device_init_auto_start_combined`
|
||||
|
||||
**组合操作**：设备初始化 → 物料搜寻确认 → 切换自动模式 → 启动
|
||||
|
||||
- **核心参数**: `material_search_enable`（是否启用物料搜寻，默认 `False`）
|
||||
- **前置检查**: REG_UNILAB_INTERACT=False, COIL_GB_L_IGNORE_CMD=False, 所有握手寄存器无残留
|
||||
- **流程**: 手动模式 → 初始化命令 → 监测物料搜寻弹窗并自动处理 → 自动模式 → 启动
|
||||
- **返回**: `True`/`False`
|
||||
- **备注**: 第一次运行必须调用此函数；后续批次调用 `func_sendbottle_allpack_multi`
|
||||
|
||||
### 批量组装
|
||||
|
||||
#### `func_sendbottle_allpack_multi`
|
||||
|
||||
**发送瓶数 + 批量组装**（适用于第二批次及后续批次）
|
||||
|
||||
- **核心参数**: `elec_num`（电解液瓶数）, `elec_use_num`（每瓶组装电池数）, `elec_vol`（电解液吸液量 μL，默认 50）
|
||||
- **可选参数**:
|
||||
- 双滴模式：`dual_drop_mode`(bool), `dual_drop_first_volume`(μL), `dual_drop_suction_timing`(bool), `dual_drop_start_timing`(bool)
|
||||
- 组装参数：`assembly_type`(7=不用铝箔垫/8=用), `assembly_pressure`(N，默认 4200)
|
||||
- 物料参数：`fujipian_panshu`, `fujipian_juzhendianwei`, `gemopanshu`, `gemo_juzhendianwei`, `qiangtou_juzhendianwei`
|
||||
- 开关：`lvbodian`(铝箔垫片), `battery_pressure_mode`(压力模式), `battery_clean_ignore`(忽略清洁)
|
||||
- 其他：`file_path`(CSV保存路径), `formulations`(配方信息，用于CSV追溯)
|
||||
- **流程**: 发送瓶数触发物料搬运 → 设置PLC参数 → 循环（等待PLC请求→下发参数→读取电池数据→写入CSV→更新资源树）→ 完成握手
|
||||
- **返回**: `{success, total_batteries, batteries, summary}`
|
||||
- **备注**: 设备已初始化后直接调用；`formulations` 来自 create_orders 的 `mass_ratios`
|
||||
|
||||
#### `func_allpack_cmd`
|
||||
|
||||
全套组装（基础版本，含断点续传）
|
||||
|
||||
- **核心参数**: `elec_num`, `elec_use_num`, `elec_vol`, `assembly_type`, `assembly_pressure`, `file_path`
|
||||
- **返回**: `{success, total_batteries, batteries, summary}`
|
||||
|
||||
#### `func_allpack_cmd_simp`
|
||||
|
||||
增强版组装（含双滴模式 + 负极片/隔膜/枪头参数）
|
||||
|
||||
- **核心参数**: 同 `func_sendbottle_allpack_multi`
|
||||
- **备注**: 被 `func_sendbottle_allpack_multi` 内部调用
|
||||
|
||||
### 设备控制（单步操作）
|
||||
|
||||
#### `func_pack_device_init`
|
||||
|
||||
设备初始化（手动模式 → 初始化 → 复位标志）
|
||||
|
||||
#### `func_pack_device_auto`
|
||||
|
||||
切换自动模式
|
||||
|
||||
#### `func_pack_device_start`
|
||||
|
||||
启动设备
|
||||
|
||||
#### `func_pack_device_stop`
|
||||
|
||||
设备停止
|
||||
|
||||
#### `func_pack_send_bottle_num`
|
||||
|
||||
发送电解液瓶数（触发物料搬运）
|
||||
|
||||
- **核心参数**: `bottle_num`（瓶数）
|
||||
|
||||
### PLC 参数设置
|
||||
|
||||
#### `qiming_coin_cell_code`
|
||||
|
||||
设置组装物料参数
|
||||
|
||||
- **核心参数**: `fujipian_panshu`（负极片盘数）
|
||||
- **可选参数**: `fujipian_juzhendianwei`, `gemopanshu`, `gemo_juzhendianwei`, `lvbodian`, `battery_pressure_mode`, `battery_pressure`, `battery_clean_ignore`
|
||||
|
||||
### 数据采集
|
||||
|
||||
#### `func_read_data_and_output`
|
||||
|
||||
持续数据采集并导出 CSV（后台循环运行）
|
||||
|
||||
- **核心参数**: `file_path`（CSV 保存目录）
|
||||
- **采集字段**: 开路电压, 极片质量, 组装时间, 压制力, 电解液加注量, 电池类型, 电解液二维码, 电池二维码
|
||||
|
||||
#### `func_stop_read_data`
|
||||
|
||||
停止 CSV 数据采集
|
||||
|
||||
### 设备状态属性（只读）
|
||||
|
||||
| 属性 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `sys_status` | str | 设备状态（启动中/停止中/复位中/初始化中） |
|
||||
| `sys_mode` | str | 设备模式（手动/自动） |
|
||||
| `data_assembly_coin_cell_num` | int | 已完成电池数量 |
|
||||
| `data_assembly_time` | float | 单颗电池组装时间(秒) |
|
||||
| `data_open_circuit_voltage` | float | 开路电压(V) |
|
||||
| `data_pole_weight` | float | 正极片称重(g) |
|
||||
| `data_glove_box_pressure` | float | 手套箱压力(mbar) |
|
||||
| `data_glove_box_o2_content` | float | 手套箱氧含量(ppm) |
|
||||
| `data_glove_box_water_content` | float | 手套箱水含量(ppm) |
|
||||
| `data_coin_cell_code` | str | 电池二维码 |
|
||||
| `data_electrolyte_code` | str | 电解液二维码 |
|
||||
|
||||
---
|
||||
|
||||
## 配置参考
|
||||
|
||||
设备图文件 `yibin_electrolyte_config.json` 中的仓库映射（`warehouse_mapping`）：
|
||||
|
||||
| 仓库名称 | 说明 | 典型操作 |
|
||||
|---------|------|---------|
|
||||
| 粉末加样头堆栈 | 20 个点位 (A01-T01) | `create_and_inbound_materials` 入库目标 |
|
||||
| 配液站内试剂仓库 | 9 个点位 (A01-C03) | 试剂存储 |
|
||||
| 自动堆栈-左 | 4 个点位 | 分液瓶板存放，`transfer_3_to_2_to_1_auto` 的源位置 |
|
||||
| 自动堆栈-右 | 4 个点位 | 分液瓶板存放 |
|
||||
| 手动传递窗左/右 | 各 15 个点位 | 人工上料/下料 |
|
||||
| 4号手套箱内部堆栈 | 12 个点位 | `auto_feeding4to3` 的源位置 |
|
||||
2
.github/workflows/ci-check.yml
vendored
2
.github/workflows/ci-check.yml
vendored
@@ -38,7 +38,7 @@ jobs:
|
||||
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||
run: |
|
||||
echo Installing ROS dependencies...
|
||||
mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
|
||||
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: |
|
||||
|
||||
77
.github/workflows/conda-pack-build.yml
vendored
77
.github/workflows/conda-pack-build.yml
vendored
@@ -1,10 +1,6 @@
|
||||
name: Build Conda-Pack Environment
|
||||
|
||||
on:
|
||||
# 在 UniLabOS Conda Build 成功上传后自动构建非全量 conda-pack
|
||||
workflow_run:
|
||||
workflows: ["UniLabOS Conda Build"]
|
||||
types: [completed]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
branch:
|
||||
@@ -25,16 +21,6 @@ on:
|
||||
|
||||
jobs:
|
||||
build-conda-pack:
|
||||
if: |
|
||||
github.event_name == 'workflow_dispatch' ||
|
||||
(
|
||||
github.event_name == 'workflow_run' &&
|
||||
github.event.workflow_run.conclusion == 'success' &&
|
||||
github.event.workflow_run.event == 'workflow_run'
|
||||
)
|
||||
env:
|
||||
BUILD_FULL: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}
|
||||
PACKAGE_REF: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref_name }}
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -68,9 +54,7 @@ jobs:
|
||||
id: should_build
|
||||
shell: bash
|
||||
run: |
|
||||
if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||
if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
@@ -81,7 +65,7 @@ jobs:
|
||||
- uses: actions/checkout@v6
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
with:
|
||||
ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
@@ -91,7 +75,7 @@ jobs:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-update-conda: false
|
||||
@@ -102,13 +86,13 @@ jobs:
|
||||
run: |
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
echo Build full: ${{ env.BUILD_FULL }}
|
||||
if "${{ env.BUILD_FULL }}"=="true" (
|
||||
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 --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
|
||||
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 --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -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)
|
||||
@@ -117,13 +101,13 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
echo "Build full: ${{ env.BUILD_FULL }}"
|
||||
if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
|
||||
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 --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
|
||||
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 --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
|
||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
fi
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
@@ -150,27 +134,27 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Checking for available ros-humble-unilabos-msgs versions...
|
||||
mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
|
||||
echo.
|
||||
echo Updating ros-humble-unilabos-msgs to latest version...
|
||||
mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
|
||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
|
||||
|
||||
- name: Check for newer ros-humble-unilabos-msgs (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Checking for available ros-humble-unilabos-msgs versions..."
|
||||
mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
|
||||
echo ""
|
||||
echo "Updating ros-humble-unilabos-msgs to latest version..."
|
||||
mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
|
||||
mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
|
||||
|
||||
- name: Install latest unilabos from source (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Uninstalling existing unilabos...
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
|
||||
echo Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})...
|
||||
echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
|
||||
mamba run -n unilab pip install .
|
||||
echo Verifying installation...
|
||||
mamba run -n unilab pip show unilabos
|
||||
@@ -181,7 +165,7 @@ jobs:
|
||||
run: |
|
||||
echo "Uninstalling existing unilabos..."
|
||||
mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||
echo "Installing unilabos from source (ref: ${{ env.PACKAGE_REF }})..."
|
||||
echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
|
||||
mamba run -n unilab pip install .
|
||||
echo "Verifying installation..."
|
||||
mamba run -n unilab pip show unilabos
|
||||
@@ -242,9 +226,7 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Packing unilab environment with conda-pack...
|
||||
for /f "delims=" %%i in ('mamba run -n unilab python -c "import os; print(os.environ['CONDA_PREFIX'])"') do set "UNILAB_PREFIX=%%i"
|
||||
echo Packing environment at: %UNILAB_PREFIX%
|
||||
mamba run -n unilab conda-pack -p "%UNILAB_PREFIX%" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo Pack file created:
|
||||
dir unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
@@ -253,9 +235,8 @@ jobs:
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Packing unilab environment with conda-pack..."
|
||||
UNILAB_PREFIX="$(mamba run -n unilab python -c 'import os; print(os.environ["CONDA_PREFIX"])')"
|
||||
echo "Packing environment at: $UNILAB_PREFIX"
|
||||
mamba run -n unilab conda-pack -p "$UNILAB_PREFIX" -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
mamba install conda-pack -c conda-forge -y
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo "Pack file created:"
|
||||
ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
@@ -286,7 +267,7 @@ jobs:
|
||||
|
||||
rem Create README using Python script
|
||||
echo Creating: README.txt
|
||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package\README.txt
|
||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
|
||||
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
@@ -322,7 +303,7 @@ jobs:
|
||||
|
||||
# Create README using Python script
|
||||
echo "Creating: README.txt"
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ env.PACKAGE_REF }} dist-package/README.txt
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
|
||||
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
@@ -333,7 +314,7 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: actions/upload-artifact@v6
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: dist-package/
|
||||
retention-days: 90
|
||||
if-no-files-found: error
|
||||
@@ -345,9 +326,9 @@ jobs:
|
||||
echo Build Summary
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ env.PACKAGE_REF }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.14
|
||||
if "${{ env.BUILD_FULL }}"=="true" (
|
||||
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||
echo Package: unilabos-full ^(complete^)
|
||||
) else (
|
||||
echo Package: unilabos ^(minimal^)
|
||||
@@ -356,7 +337,7 @@ jobs:
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
echo.
|
||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
|
||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
echo.
|
||||
echo After download, extract the ZIP and run:
|
||||
echo install_unilab.bat
|
||||
@@ -370,9 +351,9 @@ jobs:
|
||||
echo "Build Summary"
|
||||
echo "=========================================="
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "Branch: ${{ env.PACKAGE_REF }}"
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.14"
|
||||
if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo "Package: unilabos-full (complete)"
|
||||
else
|
||||
echo "Package: unilabos (minimal)"
|
||||
@@ -381,7 +362,7 @@ jobs:
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
|
||||
echo ""
|
||||
echo "After download:"
|
||||
echo " install_unilab.sh"
|
||||
|
||||
4
.github/workflows/deploy-docs.yml
vendored
4
.github/workflows/deploy-docs.yml
vendored
@@ -56,7 +56,7 @@ jobs:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-update-conda: false
|
||||
@@ -66,7 +66,7 @@ jobs:
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos -y
|
||||
mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Install latest unilabos from source
|
||||
run: |
|
||||
|
||||
33
.github/workflows/multi-platform-build.yml
vendored
33
.github/workflows/multi-platform-build.yml
vendored
@@ -10,9 +10,6 @@ on:
|
||||
# 支持 tag 推送（不依赖 CI Check）
|
||||
push:
|
||||
tags: ['v*']
|
||||
# GitHub Release 发布时自动构建并上传
|
||||
release:
|
||||
types: [published]
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
@@ -83,7 +80,7 @@ jobs:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.event.release.tag_name || github.ref }}
|
||||
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Check if platform should be built
|
||||
@@ -99,14 +96,12 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup Miniforge
|
||||
- name: Setup Miniconda
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging
|
||||
miniconda-version: 'latest'
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-update-conda: false
|
||||
@@ -115,15 +110,13 @@ jobs:
|
||||
- name: Install rattler-build and anaconda-client
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
mamba install -n build-env --override-channels -c conda-forge rattler-build anaconda-client -y
|
||||
conda install -c conda-forge rattler-build anaconda-client
|
||||
|
||||
- name: Show environment info
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
conda info
|
||||
conda list -n build-env | grep -E "(rattler-build|anaconda-client)"
|
||||
conda run -n build-env rattler-build --version
|
||||
conda run -n build-env anaconda --version
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
|
||||
@@ -131,9 +124,9 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
|
||||
conda run -n build-env rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
||||
rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
||||
else
|
||||
conda run -n build-env rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
||||
rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
||||
fi
|
||||
|
||||
- name: List built packages
|
||||
@@ -164,15 +157,9 @@ jobs:
|
||||
retention-days: 30
|
||||
|
||||
- name: Upload to Anaconda.org (unilab organization)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
(
|
||||
github.event_name == 'release' ||
|
||||
startsWith(github.ref, 'refs/tags/') ||
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
)
|
||||
if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
|
||||
run: |
|
||||
for package in $(find ./output -name "*.conda"); do
|
||||
echo "Uploading $package to unilab organization..."
|
||||
conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
74
.github/workflows/unilabos-conda-build.yml
vendored
74
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,10 +1,14 @@
|
||||
name: UniLabOS Conda Build
|
||||
|
||||
on:
|
||||
# 在 Multi-Platform Conda Build 成功上传 msgs 后自动触发
|
||||
# 在 CI Check 成功后自动触发
|
||||
workflow_run:
|
||||
workflows: ["Multi-Platform Conda Build"]
|
||||
workflows: ["CI Check"]
|
||||
types: [completed]
|
||||
branches: [main, dev]
|
||||
# 标签推送时直接触发（发布版本）
|
||||
push:
|
||||
tags: ['v*']
|
||||
# 手动触发
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
@@ -29,30 +33,30 @@ on:
|
||||
type: boolean
|
||||
|
||||
jobs:
|
||||
# 等待上游 msgs 构建完成的 job (仅用于 workflow_run 触发)
|
||||
wait-for-upstream:
|
||||
# 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: ${{ steps.check.outputs.should_continue }}
|
||||
steps:
|
||||
- name: Check upstream workflow status
|
||||
- name: Check CI status
|
||||
id: check
|
||||
run: |
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" && ( "${{ github.event.workflow_run.event }}" == "release" || "${{ github.event.workflow_run.event }}" == "push" ) ]]; then
|
||||
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||
echo "Multi-Platform Conda Build passed for release/tag, proceeding with UniLabOS build"
|
||||
echo "CI Check passed, proceeding with build"
|
||||
else
|
||||
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||
echo "Upstream workflow is not a successful release/tag build (status: ${{ github.event.workflow_run.conclusion }}, event: ${{ github.event.workflow_run.event }}), skipping build"
|
||||
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||
fi
|
||||
|
||||
build:
|
||||
needs: [wait-for-upstream]
|
||||
# 运行条件：workflow_run 触发且上游成功，或者手动触发
|
||||
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-upstream.result == 'skipped' || needs.wait-for-upstream.outputs.should_continue == 'true')
|
||||
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
@@ -75,7 +79,7 @@ jobs:
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
# 如果是 workflow_run 触发，使用上游 conda 包构建的 commit
|
||||
# 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
|
||||
|
||||
@@ -92,14 +96,12 @@ jobs:
|
||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
|
||||
- name: Setup Miniforge
|
||||
- name: Setup Miniconda
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.14'
|
||||
channels: conda-forge,robostack-staging,uni-lab
|
||||
miniconda-version: 'latest'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: strict
|
||||
activate-environment: build-env
|
||||
auto-update-conda: false
|
||||
@@ -108,22 +110,20 @@ jobs:
|
||||
- name: Install rattler-build and anaconda-client
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
mamba install -n build-env --override-channels -c conda-forge rattler-build anaconda-client -y
|
||||
conda install -c conda-forge rattler-build anaconda-client
|
||||
|
||||
- name: Show environment info
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
conda info
|
||||
conda list -n build-env | grep -E "(rattler-build|anaconda-client)"
|
||||
conda run -n build-env rattler-build --version
|
||||
conda run -n build-env anaconda --version
|
||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||
echo "Platform: ${{ matrix.platform }}"
|
||||
echo "OS: ${{ matrix.os }}"
|
||||
echo "Build full package: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}"
|
||||
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_name == 'workflow_dispatch' && github.event.inputs.build_full == 'true' }}" == "true" ]]; then
|
||||
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||
echo " - unilabos-full (complete package)"
|
||||
fi
|
||||
|
||||
@@ -131,19 +131,14 @@ jobs:
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-env (conda environment dependencies)..."
|
||||
conda run -n build-env rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||
|
||||
- name: Upload unilabos-env to Anaconda.org (if enabled)
|
||||
if: |
|
||||
steps.should_build.outputs.should_build == 'true' &&
|
||||
(
|
||||
github.event_name == 'workflow_run' ||
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
)
|
||||
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
|
||||
conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: Build unilabos (with pip package)
|
||||
@@ -151,40 +146,33 @@ jobs:
|
||||
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
|
||||
conda run -n build-env rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
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_name == 'workflow_run' ||
|
||||
github.event.inputs.upload_to_anaconda == 'true'
|
||||
)
|
||||
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
|
||||
conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
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_name == 'workflow_dispatch' &&
|
||||
github.event.inputs.build_full == 'true'
|
||||
run: |
|
||||
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||
conda run -n build-env rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||
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_name == 'workflow_dispatch' &&
|
||||
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
|
||||
conda run -n build-env anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
|
||||
done
|
||||
|
||||
- name: List built packages
|
||||
|
||||
5
.gitignore
vendored
5
.gitignore
vendored
@@ -251,7 +251,4 @@ ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
|
||||
*.bz2
|
||||
test_config.py
|
||||
|
||||
# Local config files with secrets
|
||||
yibin_coin_cell_only_config.json
|
||||
yibin_electrolyte_config.json
|
||||
yibin_electrolyte_only_config.json
|
||||
|
||||
|
||||
@@ -1,72 +0,0 @@
|
||||
# CSV 导出功能变更概要
|
||||
|
||||
## 修改的文件
|
||||
|
||||
### 1. [bioyond_cell_workstation.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py)
|
||||
|
||||
#### 新增导入
|
||||
- `import csv` 和 `import os`（L14-15）
|
||||
|
||||
#### 新增方法
|
||||
|
||||
| 方法 | 功能 |
|
||||
|------|------|
|
||||
| `_extract_prep_bottle_from_report` | 从 order_finish 报文提取**配液瓶**信息（每订单最多1个） |
|
||||
| `_extract_vial_bottles_from_report` | 从 order_finish 报文提取**分液瓶**信息（每订单可多个，返回数组） |
|
||||
| `_export_order_csv` | 汇总所有信息写入 CSV 文件 |
|
||||
|
||||
#### 配液瓶筛选逻辑 (`_extract_prep_bottle_from_report`)
|
||||
- `typemode="1"`, `realQuantity=1`, `usedQuantity=1`
|
||||
- `locationId` 以 `3a19deae-2c7a-` 开头（手动传递窗）
|
||||
- LIMS API 二次确认：`typeName` 含"配液瓶(小)"或"配液瓶(大)"
|
||||
|
||||
#### 分液瓶筛选逻辑 (`_extract_vial_bottles_from_report`)
|
||||
- `typemode="1"`, `realQuantity=1`, `usedQuantity=1`
|
||||
- `locationId` 以 `3a19debc-84b5-` 或 `3a19debe-5200` 开头（自动堆栈-左/右）
|
||||
- LIMS API 二次确认：`typeName` 为"5ml分液瓶"或"20ml分液瓶"
|
||||
- **返回数组**，支持 1×5ml + n×20ml 的组合
|
||||
|
||||
#### 修改的方法
|
||||
|
||||
| 方法 | 变更 |
|
||||
|------|------|
|
||||
| `_submit_and_wait_orders` | 新增配液瓶+分液瓶提取步骤，将 `prep_bottles` 和 `vial_bottles` 存入 `final_result` |
|
||||
| `create_orders` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` |
|
||||
| `create_orders_formulation` | 添加 `csv_export_path` 参数，末尾调用 `_export_order_csv` |
|
||||
|
||||
#### CSV 输出格式
|
||||
```
|
||||
orderCode, orderName, 配液瓶类型, 配液瓶二维码, 分液瓶类型, 分液瓶二维码, 目标配液质量比, 真实配液质量比, 时间
|
||||
```
|
||||
- 单个分液瓶时直接写值；多个分液瓶时类型和二维码用 JSON 数组表示
|
||||
- CSV 编码使用 `utf-8-sig`（兼容 Excel 打开）
|
||||
- `csv_export_path` 默认为空字符串，不传则不导出（向后兼容）
|
||||
|
||||
---
|
||||
|
||||
### 2. [bioyond_cell.yaml](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/registry/devices/bioyond_cell.yaml)
|
||||
|
||||
为两个 action 注册了 `csv_export_path` 参数：
|
||||
|
||||
- `auto-create_orders`: `goal_default` + `schema.properties.goal.properties` 中添加 `csv_export_path`
|
||||
- `auto-create_orders_formulation`: 同上
|
||||
|
||||
---
|
||||
|
||||
### 3. [coin_cell_assembly.py](file:///d:/UniLabdev/Uni-Lab-OS/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py) 的 CSV 改动与全流程追溯
|
||||
|
||||
在 `bioyond_cell_workstation.py` 的 `_submit_and_wait_orders` 最后阶段，提取 `prep_bottles`（配液瓶）和 `vial_bottles`（分液瓶）的条码并随 `mass_ratios` 数组一起下发给各下游工站（例如扣电组装站），实现跨站的全流程配方追溯。
|
||||
|
||||
并在扣电站生成的 `date_xxx.csv` 中，**替换并新增**了以下列：
|
||||
- 移除了原有的 `formulation_order_code` 与合并的 `formulation_ratio` 列。
|
||||
- 新增 `orderName` 导出
|
||||
- 新增 `prep_bottle_barcode`（奔曜传递的配液瓶二维码）
|
||||
- 新增 `vial_bottle_barcodes`（奔曜传递的分液瓶二维码，多瓶时存 JSON 数组）
|
||||
- 新增 `target_mass_ratio` 理论目标质量比
|
||||
- 新增 `real_mass_ratio` 实际称量真实质量比
|
||||
|
||||
*注意：这与操作人员在手套箱内扫码传入扣电站的 `electrolyte_code` 是单独记录的，方便做数据核对。*
|
||||
|
||||
## 向后兼容性
|
||||
- `csv_export_path` 默认值为 `""`（空字符串），现有调用不受影响
|
||||
- 新增的 `prep_bottles` 和 `vial_bottles` 字段为 `final_result` 和 `mass_ratios` 内部的新增附属字段，不破坏现有数据结构。
|
||||
@@ -1,168 +0,0 @@
|
||||
# 变更说明 2026-03-24
|
||||
|
||||
## 问题背景
|
||||
|
||||
`BioyondElectrolyteDeck`（原 `BIOYOND_YB_Deck`）迁移后，前端物料未能正常上传/同步。
|
||||
|
||||
---
|
||||
|
||||
## 修复内容
|
||||
|
||||
### 1. `unilabos/resources/bioyond/decks.py`
|
||||
|
||||
- 补回 `setup: bool = False` 参数及 `if setup: self.setup()` 逻辑，与旧版 `BIOYOND_YB_Deck` 保持一致
|
||||
- 工厂函数 `bioyond_electrolyte_deck` 保留显式调用 `deck.setup()`，避免重复初始化
|
||||
|
||||
```python
|
||||
# 修复前（缺少 setup 参数，无法通过 setup=True 触发初始化）
|
||||
def __init__(self, name, size_x, size_y, size_z, category):
|
||||
super().__init__(...)
|
||||
|
||||
# 修复后
|
||||
def __init__(self, name, size_x, size_y, size_z, category, setup: bool = False):
|
||||
super().__init__(...)
|
||||
if setup:
|
||||
self.setup()
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 2. `unilabos/resources/graphio.py`
|
||||
|
||||
- 修复 `resource_bioyond_to_plr` 中两处 `bottle.tracker.liquids` 直接赋值导致的崩溃
|
||||
- `ResourceHolder`（如枪头盒的 TipSpot 槽位）没有 `tracker` 属性，直接访问会抛出 `AttributeError`，阻断整个 Bioyond 同步流程
|
||||
|
||||
```python
|
||||
# 修复前
|
||||
bottle.tracker.liquids = [...]
|
||||
|
||||
# 修复后
|
||||
if hasattr(bottle, 'tracker') and bottle.tracker is not None:
|
||||
bottle.tracker.liquids = [...]
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### 3. `unilabos/app/main.py`
|
||||
|
||||
- 保留 `file_path is not None` 条件不变（已还原），并补充注释说明原因
|
||||
- 该逻辑只在**本地文件模式**下有意义：本地 graph 文件只含设备结构，远端有已保存物料，merge 才能将两者合并
|
||||
- 远端模式（`file_path=None`）下，`resource_tree_set` 和 `request_startup_json` 来自同一份数据，merge 为空操作，条件是否加 `file_path is not None` 对结果没有影响
|
||||
|
||||
---
|
||||
|
||||
### 4. `unilabos/devices/workstation/bioyond_studio/station.py` ⭐ 核心修复
|
||||
|
||||
- 当 deck 通过反序列化创建时，不会自动调用 `setup()`，导致 `deck.children` 为空，`warehouses` 始终是 `{}`
|
||||
- 增加兜底逻辑：仓库扫描后仍为空，则主动调用 `deck.setup()` 初始化仓库
|
||||
- 这是导致所有物料放置失败（`warehouse '...' 在deck中不存在。可用warehouses: []`）的根本原因
|
||||
|
||||
```python
|
||||
# 新增兜底
|
||||
if not self.deck.warehouses and hasattr(self.deck, "setup") and callable(self.deck.setup):
|
||||
logger.info("Deck 无仓库子节点，调用 setup() 初始化仓库")
|
||||
self.deck.setup()
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
---
|
||||
|
||||
## 补充修复 2026-03-25：依华扣电组装工站子物料未上传
|
||||
|
||||
### 问题
|
||||
|
||||
`CoinCellAssemblyWorkstation.post_init` 直接上传空 deck，未调用 `deck.setup()`，导致：
|
||||
- 前端子物料（成品弹夹、料盘、瓶架等）不显示
|
||||
- 运行时 `self.deck.get_resource("成品弹夹")` 抛出 `ResourceNotFoundError`
|
||||
|
||||
### 修复文件
|
||||
|
||||
**`unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py`**
|
||||
- `YihuaCoinCellDeck.__init__` 补回 `setup: bool = False` 参数及 `if setup: self.setup()` 逻辑
|
||||
|
||||
**`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`**
|
||||
- `post_init` 中增加与 Bioyond 工站相同的兜底逻辑：deck 无子节点时调用 `deck.setup()` 初始化
|
||||
|
||||
```python
|
||||
# post_init 中新增
|
||||
if self.deck and not self.deck.children and hasattr(self.deck, "setup") and callable(self.deck.setup):
|
||||
logger.info("YihuaCoinCellDeck 无子节点，调用 setup() 初始化")
|
||||
self.deck.setup()
|
||||
```
|
||||
|
||||
### 联动 Bug：`MaterialPlate.create_with_holes` 构造顺序错误
|
||||
|
||||
**现象**：`deck.setup()` 被调用后，启动时抛出：
|
||||
```
|
||||
设备后初始化失败: Must specify either `ordered_items` or `ordering`.
|
||||
```
|
||||
|
||||
**根因**：`create_with_holes` 原来的逻辑是先构造空的 `MaterialPlate` 实例，再 assign 洞位：
|
||||
```python
|
||||
# 旧（错误）：cls(...) 时 ordered_items=None → ItemizedResource.__init__ 立即报错
|
||||
plate = cls(name=name, ...) # ← 这里就崩了
|
||||
holes = create_ordered_items_2d(...) # ← 根本没走到这里
|
||||
for hole_name, hole in holes.items():
|
||||
plate.assign_child_resource(...)
|
||||
```
|
||||
pylabrobot 的 `ItemizedResource.__init__` 强制要求 `ordered_items` 和 `ordering` 必须有一个不为 `None`，空构造直接失败。
|
||||
|
||||
**修复**：先建洞位，再作为 `ordered_items` 传给构造函数：
|
||||
```python
|
||||
# 新（正确）：先建洞位，再一次性传入构造函数
|
||||
holes = create_ordered_items_2d(klass=MaterialHole, num_items_x=4, ...)
|
||||
return cls(name=name, ..., ordered_items=holes)
|
||||
```
|
||||
|
||||
> 此 bug 此前未被触发，是因为 `deck.setup()` 从未被调用到——正是上面 `post_init` 兜底修复引出的联动问题。
|
||||
|
||||
---
|
||||
|
||||
## 补充修复 2026-03-25：3→2→1 转运资源同步失败
|
||||
|
||||
### 问题
|
||||
|
||||
配液工站（Bioyond）完成分液后，调用 `transfer_3_to_2_to_1_auto` 将分液瓶板转运到扣电工站（BatteryStation）。物理 LIMS 转运成功，但数字孪生资源树同步始终失败：
|
||||
```
|
||||
[资源同步] ❌ 失败: 目标设备 'BatteryStation' 中未找到资源 'bottle_rack_6x2'
|
||||
```
|
||||
|
||||
### 根因
|
||||
|
||||
`_get_resource_from_device` 方法负责跨设备查找资源对象，有两个问题：
|
||||
|
||||
1. **原始路径完全失效**：尝试 `from unilabos.app.ros2_app import get_device_plr_resource_by_name`，但该模块不存在，`ImportError` 被 `except Exception: pass` 静默吞掉
|
||||
2. **降级路径搜错地方**：遍历 `self._plr_resources`（Bioyond 自己的资源），不可能找到 BatteryStation 的 `bottle_rack_6x2`
|
||||
|
||||
### 修复文件
|
||||
|
||||
**`unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`**
|
||||
|
||||
改用全局设备注册表 `registered_devices` 跨设备访问目标 deck：
|
||||
|
||||
```python
|
||||
# 修复前（失效）
|
||||
from unilabos.app.ros2_app import get_device_plr_resource_by_name # 模块不存在
|
||||
return get_device_plr_resource_by_name(device_id, resource_name)
|
||||
|
||||
# 修复后
|
||||
from unilabos.ros.nodes.base_device_node import registered_devices
|
||||
device_info = registered_devices.get(device_id)
|
||||
if device_info is not None:
|
||||
driver = device_info.get("driver_instance") # TypedDict 是 dict，必须用 .get()
|
||||
if driver is not None:
|
||||
deck = getattr(driver, "deck", None)
|
||||
if deck is not None:
|
||||
res = deck.get_resource(resource_name)
|
||||
```
|
||||
|
||||
关键细节：`DeviceInfoType` 是 `TypedDict`（即普通 `dict`），必须用 `device_info.get("driver_instance")` 而非 `getattr(device_info, "driver_instance", None)`——后者对字典永远返回 `None`。
|
||||
|
||||
---
|
||||
|
||||
## 根本原因分析
|
||||
|
||||
旧版以**本地文件模式**启动（有 `graph` 文件），deck 在启动前已通过 `merge_remote_resources` 获得仓库子节点，反序列化时能正确恢复 warehouses。
|
||||
|
||||
新版以**远端模式**启动（`file_path=None`），deck 反序列化时没有仓库子节点，`station.py` 扫描为空，所有物料的 warehouse 匹配失败，Bioyond 同步的 16 个资源全部无法放置到对应仓库位，前端不显示。
|
||||
@@ -12,7 +12,7 @@ Uni-Lab 使用 Python 格式的配置文件（`.py`），默认为 `unilabos_dat
|
||||
|
||||
**获取方式：**
|
||||
|
||||
进入 [Uni-Lab 实验室](https://leap-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
|
||||
进入 [Uni-Lab 实验室](https://uni-lab.bohrium.com)，点击左下角的头像，在实验室详情中获取所在实验室的 ak 和 sk：
|
||||
|
||||
|
||||
|
||||
@@ -69,7 +69,7 @@ class WSConfig:
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://leap-lab.bohrium.com/api/v1" # 远程服务器地址
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1" # 远程服务器地址
|
||||
|
||||
# ROS配置
|
||||
class ROSConfig:
|
||||
@@ -209,8 +209,8 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
|
||||
|
||||
`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
|
||||
|
||||
- `test` → `https://leap-lab.test.bohrium.com/api/v1`
|
||||
- `uat` → `https://leap-lab.uat.bohrium.com/api/v1`
|
||||
- `test` → `https://uni-lab.test.bohrium.com/api/v1`
|
||||
- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- `local` → `http://127.0.0.1:48197/api/v1`
|
||||
- 其他值 → 直接使用作为完整 URL
|
||||
|
||||
@@ -248,7 +248,7 @@ unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis -g grap
|
||||
|
||||
`ak` 和 `sk` 是必需的认证参数：
|
||||
|
||||
1. **获取方式**：在 [Uni-Lab 官网](https://leap-lab.bohrium.com) 注册实验室后获得
|
||||
1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
|
||||
2. **配置方式**：
|
||||
- **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级，推荐）
|
||||
- **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
|
||||
@@ -275,15 +275,15 @@ WebSocket 是 Uni-Lab 的主要通信方式：
|
||||
|
||||
HTTP 客户端配置用于与云端服务通信：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------- | ---- | --------------------------------------- | ------------ |
|
||||
| `remote_addr` | str | `"https://leap-lab.bohrium.com/api/v1"` | 远程服务地址 |
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------- | ---- | -------------------------------------- | ------------ |
|
||||
| `remote_addr` | str | `"https://uni-lab.bohrium.com/api/v1"` | 远程服务地址 |
|
||||
|
||||
**预设环境地址**：
|
||||
|
||||
- 生产环境：`https://leap-lab.bohrium.com/api/v1`（默认）
|
||||
- 测试环境：`https://leap-lab.test.bohrium.com/api/v1`
|
||||
- UAT 环境：`https://leap-lab.uat.bohrium.com/api/v1`
|
||||
- 生产环境：`https://uni-lab.bohrium.com/api/v1`（默认）
|
||||
- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
|
||||
- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- 本地环境：`http://127.0.0.1:48197/api/v1`
|
||||
|
||||
### 4. ROSConfig - ROS 配置
|
||||
@@ -401,7 +401,7 @@ export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
|
||||
export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
|
||||
|
||||
# 设置HTTP配置
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://leap-lab.test.bohrium.com/api/v1"
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.test.bohrium.com/api/v1"
|
||||
```
|
||||
|
||||
## 配置文件使用方法
|
||||
@@ -484,13 +484,13 @@ export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS=100
|
||||
|
||||
```python
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
|
||||
remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
```
|
||||
|
||||
**环境变量方式：**
|
||||
|
||||
```bash
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://leap-lab.test.bohrium.com/api/v1
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR=https://uni-lab.test.bohrium.com/api/v1
|
||||
```
|
||||
|
||||
**命令行方式（推荐）：**
|
||||
|
||||
@@ -23,7 +23,7 @@ Uni-Lab-OS 支持多种部署模式：
|
||||
```
|
||||
┌──────────────────────────────────────────────┐
|
||||
│ Cloud Platform/Self-hosted Platform │
|
||||
│ leap-lab.bohrium.com │
|
||||
│ uni-lab.bohrium.com │
|
||||
│ (Resource Management, Task Scheduling, │
|
||||
│ Monitoring) │
|
||||
└────────────────────┬─────────────────────────┘
|
||||
@@ -444,7 +444,7 @@ ros2 daemon stop && ros2 daemon start
|
||||
|
||||
```bash
|
||||
# 测试云端连接
|
||||
curl https://leap-lab.bohrium.com/api/v1/health
|
||||
curl https://uni-lab.bohrium.com/api/v1/health
|
||||
|
||||
# 测试WebSocket
|
||||
# 启动Uni-Lab后查看日志
|
||||
|
||||
@@ -33,11 +33,11 @@
|
||||
|
||||
**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 |
|
||||
| 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：**
|
||||
|
||||
@@ -66,7 +66,6 @@ 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
|
||||
@@ -89,7 +88,7 @@ python -c "from unilabos_msgs.msg import Resource; print('ROS msgs OK')"
|
||||
|
||||
#### 2.1 注册实验室账号
|
||||
|
||||
1. 访问 [https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
1. 访问 [https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
2. 注册账号并登录
|
||||
3. 创建新实验室
|
||||
|
||||
@@ -298,7 +297,7 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
|
||||
#### 5.2 访问 Web 界面
|
||||
|
||||
启动系统后，访问[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
启动系统后，访问[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
|
||||
#### 5.3 添加设备和物料
|
||||
|
||||
@@ -307,10 +306,12 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
|
||||
**示例场景：** 创建一个简单的液体转移实验
|
||||
|
||||
1. **添加工作站（必需）：**
|
||||
|
||||
- 在"仪器设备"中找到 `work_station`
|
||||
- 添加 `workstation` x1
|
||||
|
||||
2. **添加虚拟转移泵：**
|
||||
|
||||
- 在"仪器设备"中找到 `virtual_device`
|
||||
- 添加 `virtual_transfer_pump` x1
|
||||
|
||||
@@ -817,7 +818,6 @@ 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
|
||||
@@ -1796,27 +1796,32 @@ unilab --ak your_ak --sk your_sk -g graph.json \
|
||||
**详细步骤：**
|
||||
|
||||
1. **需求分析**：
|
||||
|
||||
- 明确实验流程
|
||||
- 列出所需设备和物料
|
||||
- 设计工作流程图
|
||||
|
||||
2. **环境搭建**：
|
||||
|
||||
- 安装 Uni-Lab-OS
|
||||
- 创建实验室账号
|
||||
- 准备开发工具（IDE、Git）
|
||||
|
||||
3. **原型验证**：
|
||||
|
||||
- 使用虚拟设备测试流程
|
||||
- 验证工作流逻辑
|
||||
- 调整参数
|
||||
|
||||
4. **迭代开发**：
|
||||
|
||||
- 实现自定义设备驱动（同时撰写单点函数测试）
|
||||
- 编写注册表
|
||||
- 单元测试
|
||||
- 集成测试
|
||||
|
||||
5. **测试部署**：
|
||||
|
||||
- 连接真实硬件
|
||||
- 空跑测试
|
||||
- 小规模试验
|
||||
@@ -1866,7 +1871,7 @@ 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)
|
||||
- **官方网站**：[https://leap-lab.bohrium.com](https://leap-lab.bohrium.com)
|
||||
- **官方网站**：[https://uni-lab.bohrium.com](https://uni-lab.bohrium.com)
|
||||
|
||||
---
|
||||
|
||||
|
||||
@@ -626,7 +626,7 @@ unilab
|
||||
|
||||
**云端图文件管理**:
|
||||
|
||||
1. 登录 https://leap-lab.bohrium.com
|
||||
1. 登录 https://uni-lab.bohrium.com
|
||||
2. 进入"设备配置"
|
||||
3. 创建或编辑配置
|
||||
4. 保存到云端
|
||||
|
||||
@@ -54,6 +54,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
您可以直接跟随 unilabos 的提示进行，无需查阅本节
|
||||
|
||||
- **工作目录设置**：
|
||||
|
||||
- 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
|
||||
- 否则使用 `当前目录/unilabos_data` 作为工作目录
|
||||
- 可通过 `--working_dir` 指定自定义工作目录
|
||||
@@ -67,8 +68,8 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
|
||||
支持多种后端环境：
|
||||
|
||||
- `--addr test`：测试环境 (`https://leap-lab.test.bohrium.com/api/v1`)
|
||||
- `--addr uat`：UAT 环境 (`https://leap-lab.uat.bohrium.com/api/v1`)
|
||||
- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
|
||||
- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
|
||||
- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
|
||||
- 自定义地址：直接指定完整 URL
|
||||
|
||||
@@ -175,7 +176,7 @@ unilab --config path/to/your/config.py
|
||||
|
||||
如果是首次使用，系统会：
|
||||
|
||||
1. 提示前往 https://leap-lab.bohrium.com 注册实验室
|
||||
1. 提示前往 https://uni-lab.bohrium.com 注册实验室
|
||||
2. 引导创建配置文件
|
||||
3. 设置工作目录
|
||||
|
||||
@@ -215,7 +216,7 @@ unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
|
||||
|
||||
如果提示 "后续运行必须拥有一个实验室"，请确保：
|
||||
|
||||
- 已在 https://leap-lab.bohrium.com 注册实验室
|
||||
- 已在 https://uni-lab.bohrium.com 注册实验室
|
||||
- 正确设置了 `--ak` 和 `--sk` 参数
|
||||
- 配置文件中包含正确的认证信息
|
||||
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
channel_sources:
|
||||
- robostack,robostack-staging,conda-forge
|
||||
- robostack,robostack-staging,conda-forge,defaults
|
||||
|
||||
gazebo:
|
||||
- '11'
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.11.2
|
||||
version: 0.10.19
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.11.2"
|
||||
version: "0.10.19"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.11.2',
|
||||
version='0.10.19',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
172
tests/app/__init__.py
Normal file
172
tests/app/__init__.py
Normal file
@@ -0,0 +1,172 @@
|
||||
"""normalize_model_for_upload 单元测试"""
|
||||
|
||||
import unittest
|
||||
import sys
|
||||
import os
|
||||
|
||||
# 添加项目根目录到 sys.path
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
|
||||
|
||||
from unilabos.app.register import normalize_model_for_upload
|
||||
|
||||
|
||||
class TestNormalizeModelForUpload(unittest.TestCase):
|
||||
"""测试 Registry YAML model 字段标准化"""
|
||||
|
||||
def test_empty_input(self):
|
||||
"""空 dict 直接返回"""
|
||||
self.assertEqual(normalize_model_for_upload({}), {})
|
||||
self.assertIsNone(normalize_model_for_upload(None))
|
||||
|
||||
def test_format_infer_xacro(self):
|
||||
"""自动从 path 后缀推断 format=xacro"""
|
||||
model = {
|
||||
"path": "https://oss.example.com/devices/arm/macro_device.xacro",
|
||||
"mesh": "arm_slider",
|
||||
"type": "device",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "xacro")
|
||||
|
||||
def test_format_infer_urdf(self):
|
||||
"""自动推断 format=urdf"""
|
||||
model = {"path": "https://example.com/robot.urdf", "type": "device"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "urdf")
|
||||
|
||||
def test_format_infer_stl(self):
|
||||
"""自动推断 format=stl"""
|
||||
model = {"path": "https://example.com/part.stl"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "stl")
|
||||
|
||||
def test_format_infer_gltf(self):
|
||||
"""自动推断 format=gltf（.gltf 和 .glb）"""
|
||||
for ext in [".gltf", ".glb"]:
|
||||
model = {"path": f"https://example.com/model{ext}"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "gltf", f"failed for {ext}")
|
||||
|
||||
def test_format_not_overwritten(self):
|
||||
"""已有 format 字段时不覆盖"""
|
||||
model = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"format": "custom",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "custom")
|
||||
|
||||
def test_format_no_path(self):
|
||||
"""没有 path 时不推断 format"""
|
||||
model = {"mesh": "arm_slider", "type": "device"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertNotIn("format", result)
|
||||
|
||||
def test_children_mesh_string_to_struct(self):
|
||||
"""将 children_mesh 字符串（旧格式）转为结构化对象"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"type": "resource",
|
||||
"children_mesh": "tip/meshes/tip.stl",
|
||||
"children_mesh_tf": [0.0045, 0.0045, 0, 0, 0, 1.57],
|
||||
"children_mesh_path": "https://oss.example.com/tip.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
|
||||
# children_mesh 应变为 dict
|
||||
cm = result["children_mesh"]
|
||||
self.assertIsInstance(cm, dict)
|
||||
self.assertEqual(cm["path"], "https://oss.example.com/tip.stl") # 优先使用 OSS URL
|
||||
self.assertEqual(cm["format"], "stl")
|
||||
self.assertTrue(cm["default_visible"])
|
||||
self.assertEqual(cm["local_offset"], [0.0045, 0.0045, 0])
|
||||
self.assertEqual(cm["local_rotation"], [0, 0, 1.57])
|
||||
|
||||
# 旧字段应被移除
|
||||
self.assertNotIn("children_mesh_tf", result)
|
||||
self.assertNotIn("children_mesh_path", result)
|
||||
|
||||
def test_children_mesh_no_oss_fallback(self):
|
||||
"""children_mesh 无 OSS URL 时 fallback 到本地路径"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "plate_96/meshes/plate_96.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertEqual(cm["path"], "plate_96/meshes/plate_96.stl")
|
||||
self.assertEqual(cm["format"], "stl")
|
||||
|
||||
def test_children_mesh_gltf_format(self):
|
||||
"""children_mesh .glb 文件推断 format=gltf"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "meshes/child.glb",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["children_mesh"]["format"], "gltf")
|
||||
|
||||
def test_children_mesh_partial_tf(self):
|
||||
"""children_mesh_tf 只有 3 个值时只有 offset 无 rotation"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "tip.stl",
|
||||
"children_mesh_tf": [0.01, 0.02, 0.03],
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertEqual(cm["local_offset"], [0.01, 0.02, 0.03])
|
||||
self.assertNotIn("local_rotation", cm)
|
||||
|
||||
def test_children_mesh_no_tf(self):
|
||||
"""children_mesh 无 tf 时不加 offset/rotation"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "tip.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertNotIn("local_offset", cm)
|
||||
self.assertNotIn("local_rotation", cm)
|
||||
|
||||
def test_children_mesh_already_dict(self):
|
||||
"""children_mesh 已经是 dict 时不重新映射"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": {
|
||||
"path": "https://example.com/tip.stl",
|
||||
"format": "stl",
|
||||
"default_visible": False,
|
||||
},
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertIsInstance(cm, dict)
|
||||
self.assertFalse(cm["default_visible"])
|
||||
|
||||
def test_original_not_mutated(self):
|
||||
"""原始 dict 不被修改"""
|
||||
original = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"mesh": "arm",
|
||||
}
|
||||
original_copy = {**original}
|
||||
normalize_model_for_upload(original)
|
||||
self.assertEqual(original, original_copy)
|
||||
|
||||
def test_preserves_existing_fields(self):
|
||||
"""所有原始字段都被保留"""
|
||||
model = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"mesh": "arm_slider",
|
||||
"type": "device",
|
||||
"mesh_tf": [0, 0, 0, 0, 0, 0],
|
||||
"custom_field": "should_survive",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["custom_field"], "should_survive")
|
||||
self.assertEqual(result["mesh_tf"], [0, 0, 0, 0, 0, 0])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
496
tests/app/test_model_upload.py
Normal file
496
tests/app/test_model_upload.py
Normal file
@@ -0,0 +1,496 @@
|
||||
"""model_upload.py 单元测试（upload_device_model / download_model_from_oss / XOR 加解密）"""
|
||||
|
||||
import unittest
|
||||
import tempfile
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from unittest.mock import patch, MagicMock
|
||||
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
|
||||
|
||||
from unilabos.app.model_upload import (
|
||||
upload_device_model,
|
||||
download_model_from_oss,
|
||||
_MODEL_EXTENSIONS,
|
||||
_MESH_ENCRYPT_EXTENSIONS,
|
||||
_xor_transform,
|
||||
)
|
||||
|
||||
|
||||
class TestUploadDeviceModel(unittest.TestCase):
|
||||
"""测试本地模型文件上传到 OSS"""
|
||||
|
||||
def setUp(self):
|
||||
self.tmp_dir = tempfile.mkdtemp()
|
||||
self.mock_client = MagicMock()
|
||||
|
||||
def _create_model_files(self, subdir: str, filenames: list[str]):
|
||||
"""在临时目录中创建设备模型文件"""
|
||||
model_dir = Path(self.tmp_dir) / "devices" / subdir
|
||||
model_dir.mkdir(parents=True, exist_ok=True)
|
||||
for name in filenames:
|
||||
p = model_dir / name
|
||||
p.parent.mkdir(parents=True, exist_ok=True)
|
||||
p.write_text("dummy content")
|
||||
return model_dir
|
||||
|
||||
@patch("unilabos.app.model_upload._MESH_BASE_DIR")
|
||||
def test_upload_success(self, mock_base):
|
||||
"""正常上传流程"""
|
||||
mock_base.__truediv__ = lambda self, x: Path(self.tmp_dir) / x
|
||||
# 直接 patch _MESH_BASE_DIR 为 Path(tmp_dir)
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
|
||||
self._create_model_files("arm_slider", ["macro_device.xacro", "meshes/link1.stl"])
|
||||
|
||||
self.mock_client.get_model_upload_urls.return_value = {
|
||||
"files": [
|
||||
{"name": "macro_device.xacro", "upload_url": "https://oss.example.com/put1"},
|
||||
{"name": "meshes/link1.stl", "upload_url": "https://oss.example.com/put2"},
|
||||
]
|
||||
}
|
||||
self.mock_client.publish_model.return_value = {
|
||||
"path": "https://oss.example.com/arm_slider/macro_device.xacro"
|
||||
}
|
||||
|
||||
with patch("unilabos.app.model_upload._put_upload") as mock_put:
|
||||
result = upload_device_model(
|
||||
http_client=self.mock_client,
|
||||
template_uuid="test-uuid",
|
||||
mesh_name="arm_slider",
|
||||
model_type="device",
|
||||
version="1.0.0",
|
||||
)
|
||||
|
||||
self.assertEqual(result, "https://oss.example.com/arm_slider/macro_device.xacro")
|
||||
self.mock_client.get_model_upload_urls.assert_called_once()
|
||||
self.mock_client.publish_model.assert_called_once()
|
||||
|
||||
@patch("unilabos.app.model_upload._MESH_BASE_DIR")
|
||||
def test_upload_dir_not_exists(self, mock_base):
|
||||
"""本地目录不存在时返回 None"""
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
|
||||
result = upload_device_model(
|
||||
http_client=self.mock_client,
|
||||
template_uuid="test-uuid",
|
||||
mesh_name="nonexistent",
|
||||
model_type="device",
|
||||
)
|
||||
self.assertIsNone(result)
|
||||
|
||||
@patch("unilabos.app.model_upload._MESH_BASE_DIR")
|
||||
def test_upload_no_valid_files(self, mock_base):
|
||||
"""目录中无有效模型文件时返回 None"""
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
|
||||
model_dir = Path(self.tmp_dir) / "devices" / "empty_model"
|
||||
model_dir.mkdir(parents=True, exist_ok=True)
|
||||
(model_dir / "readme.txt").write_text("not a model")
|
||||
|
||||
result = upload_device_model(
|
||||
http_client=self.mock_client,
|
||||
template_uuid="test-uuid",
|
||||
mesh_name="empty_model",
|
||||
model_type="device",
|
||||
)
|
||||
self.assertIsNone(result)
|
||||
|
||||
@patch("unilabos.app.model_upload._MESH_BASE_DIR")
|
||||
def test_upload_urls_failure(self, mock_base):
|
||||
"""获取上传 URL 失败时返回 None"""
|
||||
with patch("unilabos.app.model_upload._MESH_BASE_DIR", Path(self.tmp_dir)):
|
||||
self._create_model_files("arm", ["device.xacro"])
|
||||
self.mock_client.get_model_upload_urls.return_value = None
|
||||
|
||||
result = upload_device_model(
|
||||
http_client=self.mock_client,
|
||||
template_uuid="test-uuid",
|
||||
mesh_name="arm",
|
||||
model_type="device",
|
||||
)
|
||||
self.assertIsNone(result)
|
||||
|
||||
|
||||
class TestDownloadModelFromOss(unittest.TestCase):
|
||||
"""测试从 OSS 下载模型文件到本地"""
|
||||
|
||||
def setUp(self):
|
||||
self.tmp_dir = tempfile.mkdtemp()
|
||||
|
||||
def test_skip_no_mesh_name(self):
|
||||
"""缺少 mesh 名称时跳过"""
|
||||
result = download_model_from_oss({"type": "device", "path": "https://x.com/a.xacro"})
|
||||
self.assertFalse(result)
|
||||
|
||||
def test_skip_no_oss_path(self):
|
||||
"""缺少 OSS path 时跳过"""
|
||||
result = download_model_from_oss({"mesh": "arm", "type": "device"})
|
||||
self.assertFalse(result)
|
||||
|
||||
def test_skip_local_path(self):
|
||||
"""非 https:// 路径时跳过"""
|
||||
result = download_model_from_oss({
|
||||
"mesh": "arm",
|
||||
"type": "device",
|
||||
"path": "file:///local/model.xacro",
|
||||
})
|
||||
self.assertFalse(result)
|
||||
|
||||
def test_already_exists(self):
|
||||
"""本地已有文件时跳过下载"""
|
||||
device_dir = Path(self.tmp_dir) / "devices" / "arm"
|
||||
device_dir.mkdir(parents=True, exist_ok=True)
|
||||
(device_dir / "model.xacro").write_text("existing")
|
||||
|
||||
result = download_model_from_oss(
|
||||
{"mesh": "arm", "type": "device", "path": "https://oss.example.com/model.xacro"},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertTrue(result)
|
||||
|
||||
@patch("unilabos.app.model_upload._download_file")
|
||||
def test_download_device(self, mock_download):
|
||||
"""下载 device 模型到 devices/ 目录"""
|
||||
result = download_model_from_oss(
|
||||
{"mesh": "new_arm", "type": "device", "path": "https://oss.example.com/new_arm/macro_device.xacro"},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertTrue(result)
|
||||
mock_download.assert_called_once()
|
||||
call_args = mock_download.call_args
|
||||
self.assertIn("macro_device.xacro", str(call_args[0][1]))
|
||||
|
||||
@patch("unilabos.app.model_upload._download_file")
|
||||
def test_download_resource(self, mock_download):
|
||||
"""下载 resource 模型到 resources/ 目录"""
|
||||
result = download_model_from_oss(
|
||||
{
|
||||
"mesh": "plate_96/meshes/plate_96.stl",
|
||||
"type": "resource",
|
||||
"path": "https://oss.example.com/plate_96/modal.xacro",
|
||||
},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertTrue(result)
|
||||
target_dir = Path(self.tmp_dir) / "resources" / "plate_96"
|
||||
self.assertTrue(target_dir.exists())
|
||||
|
||||
@patch("unilabos.app.model_upload._download_file")
|
||||
def test_download_with_children_mesh(self, mock_download):
|
||||
"""下载包含 children_mesh 的模型"""
|
||||
result = download_model_from_oss(
|
||||
{
|
||||
"mesh": "tip_rack",
|
||||
"type": "device",
|
||||
"path": "https://oss.example.com/tip_rack/model.xacro",
|
||||
"children_mesh": {
|
||||
"path": "https://oss.example.com/tip_rack/meshes/tip.stl",
|
||||
"format": "stl",
|
||||
},
|
||||
},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertTrue(result)
|
||||
# 应调用两次：入口文件 + children_mesh
|
||||
self.assertEqual(mock_download.call_count, 2)
|
||||
|
||||
@patch("unilabos.app.model_upload._download_file", side_effect=Exception("network error"))
|
||||
def test_download_failure_graceful(self, mock_download):
|
||||
"""下载失败时返回 False（不抛异常）"""
|
||||
result = download_model_from_oss(
|
||||
{"mesh": "broken", "type": "device", "path": "https://oss.example.com/broken.xacro"},
|
||||
mesh_base_dir=Path(self.tmp_dir),
|
||||
)
|
||||
self.assertFalse(result)
|
||||
|
||||
|
||||
class TestModelExtensions(unittest.TestCase):
|
||||
"""测试支持的模型文件后缀集合"""
|
||||
|
||||
def test_standard_extensions(self):
|
||||
"""确认标准 3D 格式在支持列表中"""
|
||||
expected = {".stl", ".gltf", ".glb", ".xacro", ".urdf", ".obj", ".dae"}
|
||||
for ext in expected:
|
||||
self.assertIn(ext, _MODEL_EXTENSIONS, f"{ext} should be supported")
|
||||
|
||||
def test_non_model_excluded(self):
|
||||
"""非模型文件后缀不在列表中"""
|
||||
excluded = {".txt", ".json", ".py", ".png", ".jpg"}
|
||||
for ext in excluded:
|
||||
self.assertNotIn(ext, _MODEL_EXTENSIONS, f"{ext} should not be supported")
|
||||
|
||||
|
||||
class TestXorTransform(unittest.TestCase):
|
||||
"""XOR 加密/解密核心函数测试。"""
|
||||
|
||||
def test_roundtrip_symmetry(self):
|
||||
"""XOR 加密后再解密恢复原始数据（对称性）。"""
|
||||
original = b"Hello, this is a test model file content."
|
||||
encrypted = _xor_transform(original)
|
||||
self.assertNotEqual(encrypted, original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_empty_data(self):
|
||||
"""空数据加密后仍为空。"""
|
||||
result = _xor_transform(b"")
|
||||
self.assertEqual(result, b"")
|
||||
|
||||
def test_single_byte(self):
|
||||
"""单字节数据正确加解密。"""
|
||||
original = b"\xff"
|
||||
encrypted = _xor_transform(original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_data_longer_than_key(self):
|
||||
"""超过密钥长度（32 字节）的数据正确循环 XOR。"""
|
||||
original = bytes(range(256)) * 2 # 512 字节
|
||||
encrypted = _xor_transform(original)
|
||||
self.assertNotEqual(encrypted, original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_data_exactly_key_length(self):
|
||||
"""恰好 32 字节（密钥长度）的数据正确处理。"""
|
||||
original = bytes(range(32))
|
||||
encrypted = _xor_transform(original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_all_zeros_produces_key(self):
|
||||
"""全零数据 XOR 后结果应为密钥本身。"""
|
||||
zeros = b"\x00" * 32
|
||||
result = _xor_transform(zeros)
|
||||
key = os.environ.get(
|
||||
"UNILAB_MESH_XOR_KEY", "unilab3d-model-protection-key-v1"
|
||||
).encode()
|
||||
self.assertEqual(result, key)
|
||||
|
||||
def test_custom_key(self):
|
||||
"""自定义密钥正确加解密。"""
|
||||
custom_key = b"custom-key-12345"
|
||||
original = b"test data for custom key"
|
||||
encrypted = _xor_transform(original, key=custom_key)
|
||||
decrypted = _xor_transform(encrypted, key=custom_key)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_different_keys_produce_different_results(self):
|
||||
"""不同密钥产生不同加密结果。"""
|
||||
data = b"same data"
|
||||
key1 = b"key-one-is-here!"
|
||||
key2 = b"key-two-is-here!"
|
||||
self.assertNotEqual(_xor_transform(data, key1), _xor_transform(data, key2))
|
||||
|
||||
def test_binary_stl_header(self):
|
||||
"""二进制内容（模拟 STL 文件头）正确加解密。"""
|
||||
stl_header = b"\x00" * 80 + b"\x03\x00\x00\x00"
|
||||
encrypted = _xor_transform(stl_header)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, stl_header)
|
||||
|
||||
def test_large_data_roundtrip(self):
|
||||
"""大数据（1MB）加解密正确性。"""
|
||||
original = os.urandom(1024 * 1024)
|
||||
encrypted = _xor_transform(original)
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, original)
|
||||
|
||||
def test_consistency_with_frontend_key(self):
|
||||
"""验证 Python 端与前端使用相同的默认密钥。"""
|
||||
frontend_key = b"unilab3d-model-protection-key-v1"
|
||||
data = b"cross-platform test data"
|
||||
encrypted = _xor_transform(data, key=frontend_key)
|
||||
# 用默认密钥解密（应一致）
|
||||
decrypted = _xor_transform(encrypted)
|
||||
self.assertEqual(decrypted, data)
|
||||
|
||||
|
||||
class TestEncryptExtensions(unittest.TestCase):
|
||||
"""加密文件扩展名配置测试。"""
|
||||
|
||||
def test_all_mesh_formats_in_encrypt_set(self):
|
||||
"""所有 mesh 格式都在加密扩展名集合中。"""
|
||||
expected = {".stl", ".dae", ".obj", ".fbx", ".gltf", ".glb"}
|
||||
self.assertEqual(_MESH_ENCRYPT_EXTENSIONS, expected)
|
||||
|
||||
def test_xml_formats_not_encrypted(self):
|
||||
"""XACRO/URDF/YAML 文件不加密。"""
|
||||
for ext in {".xacro", ".urdf", ".yaml", ".yml"}:
|
||||
self.assertNotIn(ext, _MESH_ENCRYPT_EXTENSIONS)
|
||||
|
||||
def test_encrypt_is_subset_of_model_extensions(self):
|
||||
"""加密扩展名是模型扩展名的子集。"""
|
||||
self.assertTrue(_MESH_ENCRYPT_EXTENSIONS.issubset(_MODEL_EXTENSIONS))
|
||||
|
||||
|
||||
class TestPutUploadEncryption(unittest.TestCase):
|
||||
"""_put_upload 中的条件加密测试。"""
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.put")
|
||||
def test_stl_file_encrypted_before_upload(self, mock_put):
|
||||
"""STL 文件上传前自动 XOR 加密。"""
|
||||
from unilabos.app.model_upload import _put_upload
|
||||
|
||||
original_data = b"solid test\nfacet normal 0 0 1\n"
|
||||
with tempfile.NamedTemporaryFile(suffix=".stl", delete=False) as f:
|
||||
f.write(original_data)
|
||||
f.flush()
|
||||
tmp_path = Path(f.name)
|
||||
|
||||
try:
|
||||
mock_put.return_value = MagicMock(status_code=200)
|
||||
mock_put.return_value.raise_for_status = MagicMock()
|
||||
_put_upload(tmp_path, "https://oss.example.com/upload")
|
||||
|
||||
uploaded_data = mock_put.call_args.kwargs.get("data")
|
||||
self.assertIsNotNone(uploaded_data)
|
||||
self.assertNotEqual(uploaded_data, original_data)
|
||||
# 解密后应恢复原始数据
|
||||
self.assertEqual(_xor_transform(uploaded_data), original_data)
|
||||
finally:
|
||||
tmp_path.unlink(missing_ok=True)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.put")
|
||||
def test_xacro_file_not_encrypted(self, mock_put):
|
||||
"""XACRO 文件上传时不加密。"""
|
||||
from unilabos.app.model_upload import _put_upload
|
||||
|
||||
original_data = b'<?xml version="1.0"?><robot></robot>'
|
||||
with tempfile.NamedTemporaryFile(suffix=".xacro", delete=False) as f:
|
||||
f.write(original_data)
|
||||
f.flush()
|
||||
tmp_path = Path(f.name)
|
||||
|
||||
try:
|
||||
mock_put.return_value = MagicMock(status_code=200)
|
||||
mock_put.return_value.raise_for_status = MagicMock()
|
||||
_put_upload(tmp_path, "https://oss.example.com/upload")
|
||||
|
||||
uploaded_data = mock_put.call_args.kwargs.get("data")
|
||||
self.assertEqual(uploaded_data, original_data)
|
||||
finally:
|
||||
tmp_path.unlink(missing_ok=True)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.put")
|
||||
def test_all_mesh_formats_encrypted(self, mock_put):
|
||||
"""所有 mesh 格式上传前都加密。"""
|
||||
from unilabos.app.model_upload import _put_upload
|
||||
|
||||
original_data = b"test mesh binary data content"
|
||||
for ext in [".stl", ".dae", ".obj", ".fbx", ".gltf", ".glb"]:
|
||||
with tempfile.NamedTemporaryFile(suffix=ext, delete=False) as f:
|
||||
f.write(original_data)
|
||||
f.flush()
|
||||
tmp_path = Path(f.name)
|
||||
try:
|
||||
mock_put.reset_mock()
|
||||
mock_put.return_value = MagicMock(status_code=200)
|
||||
mock_put.return_value.raise_for_status = MagicMock()
|
||||
_put_upload(tmp_path, "https://oss.example.com/upload")
|
||||
|
||||
uploaded_data = mock_put.call_args.kwargs.get("data")
|
||||
self.assertNotEqual(uploaded_data, original_data, f"{ext} 文件应被加密")
|
||||
finally:
|
||||
tmp_path.unlink(missing_ok=True)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.put")
|
||||
def test_uppercase_extension_encrypted(self, mock_put):
|
||||
"""大写扩展名 .STL 也被加密（大小写不敏感）。"""
|
||||
from unilabos.app.model_upload import _put_upload
|
||||
|
||||
original_data = b"uppercase ext test"
|
||||
with tempfile.NamedTemporaryFile(suffix=".STL", delete=False) as f:
|
||||
f.write(original_data)
|
||||
f.flush()
|
||||
tmp_path = Path(f.name)
|
||||
try:
|
||||
mock_put.return_value = MagicMock(status_code=200)
|
||||
mock_put.return_value.raise_for_status = MagicMock()
|
||||
_put_upload(tmp_path, "https://oss.example.com/upload")
|
||||
|
||||
uploaded_data = mock_put.call_args.kwargs.get("data")
|
||||
self.assertNotEqual(uploaded_data, original_data)
|
||||
finally:
|
||||
tmp_path.unlink(missing_ok=True)
|
||||
|
||||
|
||||
class TestDownloadFileDecryption(unittest.TestCase):
|
||||
"""_download_file 中的条件解密测试。"""
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.get")
|
||||
def test_mesh_file_decrypted_on_download(self, mock_get):
|
||||
"""下载的 mesh 文件自动 XOR 解密后存本地。"""
|
||||
from unilabos.app.model_upload import _download_file
|
||||
|
||||
original_data = b"original stl content here"
|
||||
encrypted_data = _xor_transform(original_data)
|
||||
|
||||
mock_response = MagicMock()
|
||||
mock_response.content = encrypted_data
|
||||
mock_response.raise_for_status = MagicMock()
|
||||
mock_get.return_value = mock_response
|
||||
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
local_path = Path(tmpdir) / "model.stl"
|
||||
_download_file("https://oss.example.com/model.stl", local_path)
|
||||
self.assertEqual(local_path.read_bytes(), original_data)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.get")
|
||||
def test_xacro_file_not_decrypted(self, mock_get):
|
||||
"""下载的 XACRO 文件不做解密处理。"""
|
||||
from unilabos.app.model_upload import _download_file
|
||||
|
||||
xml_data = b'<?xml version="1.0"?><robot></robot>'
|
||||
|
||||
mock_response = MagicMock()
|
||||
mock_response.content = xml_data
|
||||
mock_response.raise_for_status = MagicMock()
|
||||
mock_get.return_value = mock_response
|
||||
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
local_path = Path(tmpdir) / "macro.xacro"
|
||||
_download_file("https://oss.example.com/macro.xacro", local_path)
|
||||
self.assertEqual(local_path.read_bytes(), xml_data)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.get")
|
||||
def test_upload_download_roundtrip(self, mock_get):
|
||||
"""上传加密 → 下载解密的完整 round-trip。"""
|
||||
from unilabos.app.model_upload import _download_file
|
||||
|
||||
original_data = b"binary stl mesh \x00\xff\x80 special bytes"
|
||||
encrypted_data = _xor_transform(original_data)
|
||||
|
||||
mock_response = MagicMock()
|
||||
mock_response.content = encrypted_data
|
||||
mock_response.raise_for_status = MagicMock()
|
||||
mock_get.return_value = mock_response
|
||||
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
local_path = Path(tmpdir) / "mesh.stl"
|
||||
_download_file("https://oss.example.com/mesh.stl", local_path)
|
||||
self.assertEqual(local_path.read_bytes(), original_data)
|
||||
|
||||
@patch("unilabos.app.model_upload.requests.get")
|
||||
def test_all_mesh_formats_decrypted(self, mock_get):
|
||||
"""所有 mesh 格式下载后都解密。"""
|
||||
from unilabos.app.model_upload import _download_file
|
||||
|
||||
original_data = b"mesh content for roundtrip"
|
||||
encrypted_data = _xor_transform(original_data)
|
||||
|
||||
for ext in [".stl", ".dae", ".obj", ".fbx", ".gltf", ".glb"]:
|
||||
mock_response = MagicMock()
|
||||
mock_response.content = encrypted_data
|
||||
mock_response.raise_for_status = MagicMock()
|
||||
mock_get.return_value = mock_response
|
||||
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
local_path = Path(tmpdir) / f"model{ext}"
|
||||
_download_file(f"https://oss.example.com/model{ext}", local_path)
|
||||
self.assertEqual(
|
||||
local_path.read_bytes(), original_data, f"{ext} 文件应被解密"
|
||||
)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
170
tests/app/test_normalize_model.py
Normal file
170
tests/app/test_normalize_model.py
Normal file
@@ -0,0 +1,170 @@
|
||||
"""normalize_model_for_upload 单元测试"""
|
||||
|
||||
import unittest
|
||||
import sys
|
||||
import os
|
||||
|
||||
# 添加项目根目录到 sys.path
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", ".."))
|
||||
|
||||
from unilabos.app.register import normalize_model_for_upload
|
||||
|
||||
|
||||
class TestNormalizeModelForUpload(unittest.TestCase):
|
||||
"""测试 Registry YAML model 字段标准化"""
|
||||
|
||||
def test_empty_input(self):
|
||||
"""空 dict 直接返回"""
|
||||
self.assertEqual(normalize_model_for_upload({}), {})
|
||||
self.assertIsNone(normalize_model_for_upload(None))
|
||||
|
||||
def test_format_infer_xacro(self):
|
||||
"""自动从 path 后缀推断 format=xacro"""
|
||||
model = {
|
||||
"path": "https://oss.example.com/devices/arm/macro_device.xacro",
|
||||
"mesh": "arm_slider",
|
||||
"type": "device",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "xacro")
|
||||
|
||||
def test_format_infer_urdf(self):
|
||||
"""自动推断 format=urdf"""
|
||||
model = {"path": "https://example.com/robot.urdf", "type": "device"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "urdf")
|
||||
|
||||
def test_format_infer_stl(self):
|
||||
"""自动推断 format=stl"""
|
||||
model = {"path": "https://example.com/part.stl"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "stl")
|
||||
|
||||
def test_format_infer_gltf(self):
|
||||
"""自动推断 format=gltf（.gltf 和 .glb）"""
|
||||
for ext in [".gltf", ".glb"]:
|
||||
model = {"path": f"https://example.com/model{ext}"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "gltf", f"failed for {ext}")
|
||||
|
||||
def test_format_not_overwritten(self):
|
||||
"""已有 format 字段时不覆盖"""
|
||||
model = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"format": "custom",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["format"], "custom")
|
||||
|
||||
def test_format_no_path(self):
|
||||
"""没有 path 时不推断 format"""
|
||||
model = {"mesh": "arm_slider", "type": "device"}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertNotIn("format", result)
|
||||
|
||||
def test_children_mesh_string_to_struct(self):
|
||||
"""将 children_mesh 字符串（旧格式）转为结构化对象"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"type": "resource",
|
||||
"children_mesh": "tip/meshes/tip.stl",
|
||||
"children_mesh_tf": [0.0045, 0.0045, 0, 0, 0, 1.57],
|
||||
"children_mesh_path": "https://oss.example.com/tip.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
|
||||
cm = result["children_mesh"]
|
||||
self.assertIsInstance(cm, dict)
|
||||
self.assertEqual(cm["path"], "https://oss.example.com/tip.stl")
|
||||
self.assertEqual(cm["format"], "stl")
|
||||
self.assertTrue(cm["default_visible"])
|
||||
self.assertEqual(cm["local_offset"], [0.0045, 0.0045, 0])
|
||||
self.assertEqual(cm["local_rotation"], [0, 0, 1.57])
|
||||
|
||||
self.assertNotIn("children_mesh_tf", result)
|
||||
self.assertNotIn("children_mesh_path", result)
|
||||
|
||||
def test_children_mesh_no_oss_fallback(self):
|
||||
"""children_mesh 无 OSS URL 时 fallback 到本地路径"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "plate_96/meshes/plate_96.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertEqual(cm["path"], "plate_96/meshes/plate_96.stl")
|
||||
self.assertEqual(cm["format"], "stl")
|
||||
|
||||
def test_children_mesh_gltf_format(self):
|
||||
"""children_mesh .glb 文件推断 format=gltf"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "meshes/child.glb",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["children_mesh"]["format"], "gltf")
|
||||
|
||||
def test_children_mesh_partial_tf(self):
|
||||
"""children_mesh_tf 只有 3 个值时只有 offset 无 rotation"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "tip.stl",
|
||||
"children_mesh_tf": [0.01, 0.02, 0.03],
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertEqual(cm["local_offset"], [0.01, 0.02, 0.03])
|
||||
self.assertNotIn("local_rotation", cm)
|
||||
|
||||
def test_children_mesh_no_tf(self):
|
||||
"""children_mesh 无 tf 时不加 offset/rotation"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": "tip.stl",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertNotIn("local_offset", cm)
|
||||
self.assertNotIn("local_rotation", cm)
|
||||
|
||||
def test_children_mesh_already_dict(self):
|
||||
"""children_mesh 已经是 dict 时不重新映射"""
|
||||
model = {
|
||||
"path": "https://example.com/rack.xacro",
|
||||
"children_mesh": {
|
||||
"path": "https://example.com/tip.stl",
|
||||
"format": "stl",
|
||||
"default_visible": False,
|
||||
},
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
cm = result["children_mesh"]
|
||||
self.assertIsInstance(cm, dict)
|
||||
self.assertFalse(cm["default_visible"])
|
||||
|
||||
def test_original_not_mutated(self):
|
||||
"""原始 dict 不被修改"""
|
||||
original = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"mesh": "arm",
|
||||
}
|
||||
original_copy = {**original}
|
||||
normalize_model_for_upload(original)
|
||||
self.assertEqual(original, original_copy)
|
||||
|
||||
def test_preserves_existing_fields(self):
|
||||
"""所有原始字段都被保留"""
|
||||
model = {
|
||||
"path": "https://example.com/model.xacro",
|
||||
"mesh": "arm_slider",
|
||||
"type": "device",
|
||||
"mesh_tf": [0, 0, 0, 0, 0, 0],
|
||||
"custom_field": "should_survive",
|
||||
}
|
||||
result = normalize_model_for_upload(model)
|
||||
self.assertEqual(result["custom_field"], "should_survive")
|
||||
self.assertEqual(result["mesh_tf"], [0, 0, 0, 0, 0, 0])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
939
tests/ros/test_joint_state_bridge.py
Normal file
939
tests/ros/test_joint_state_bridge.py
Normal file
@@ -0,0 +1,939 @@
|
||||
"""
|
||||
P1 关节数据 & 资源跟随桥接测试 — 全面覆盖 HostNode 关节回调 + resource_pose 回调的边缘 case。
|
||||
|
||||
不依赖 ROS2 运行时，通过 mock 模拟 msg 和 bridge。
|
||||
|
||||
测试分组:
|
||||
E1: JointRepublisher JSON 输出格式 (已修复 str→json.dumps)
|
||||
E2: 关节状态回调 — 从 /joint_states (JointState msg) 直接读取 name/position
|
||||
E3: 资源跟随 (resource_pose) — 夹爪抓取/释放/多资源
|
||||
E4: 联合流程 — 关节 + 资源一并通过 bridge 发送
|
||||
E5: Bridge 调用验证
|
||||
E6: 同类型设备多实例 — 重复关节名场景
|
||||
E7: 吞吐优化 — 死区过滤、抑频、增量 resource_poses
|
||||
"""
|
||||
|
||||
import json
|
||||
import time
|
||||
import pytest
|
||||
from unittest.mock import MagicMock
|
||||
from types import SimpleNamespace
|
||||
from typing import Dict, Optional
|
||||
|
||||
|
||||
# ==================== 辅助: 模拟 JointState msg ====================
|
||||
|
||||
|
||||
def _make_joint_state_msg(names: list, positions: list, velocities=None, efforts=None):
|
||||
"""构造模拟的 sensor_msgs/JointState 消息（不依赖 ROS2）"""
|
||||
msg = SimpleNamespace()
|
||||
msg.name = names
|
||||
msg.position = positions
|
||||
msg.velocity = velocities or [0.0] * len(names)
|
||||
msg.effort = efforts or [0.0] * len(names)
|
||||
return msg
|
||||
|
||||
|
||||
def _make_string_msg(data: str):
|
||||
"""构造模拟的 std_msgs/String 消息"""
|
||||
msg = SimpleNamespace()
|
||||
msg.data = data
|
||||
return msg
|
||||
|
||||
|
||||
# ==================== 辅助: 提取 HostNode 核心逻辑用于隔离测试 ====================
|
||||
|
||||
|
||||
class JointBridgeSimulator:
|
||||
"""
|
||||
模拟 HostNode 的关节桥接核心逻辑（提取自 host_node.py），
|
||||
不依赖 ROS2 Node、subscription 等基础设施。
|
||||
|
||||
包含吞吐优化逻辑:
|
||||
- 死区过滤 (dead band): 关节变化 < 阈值时不发送
|
||||
- 抑频 (throttle): 限制最大发送频率
|
||||
- 增量 resource_poses: 仅在变化时附带
|
||||
"""
|
||||
|
||||
JOINT_DEAD_BAND: float = 1e-4
|
||||
JOINT_MIN_INTERVAL: float = 0.05 # 秒
|
||||
|
||||
def __init__(self, device_uuid_map: Dict[str, str],
|
||||
dead_band: Optional[float] = None,
|
||||
min_interval: Optional[float] = None):
|
||||
self.device_uuid_map = device_uuid_map
|
||||
self._device_ids_sorted = sorted(device_uuid_map.keys(), key=len, reverse=True)
|
||||
self._resource_poses: Dict[str, str] = {}
|
||||
self._resource_poses_dirty: bool = False
|
||||
self._last_joint_values: Dict[str, float] = {}
|
||||
self._last_send_time: float = -float("inf") # 确保首条消息总是通过
|
||||
# 允许测试覆盖优化参数
|
||||
if dead_band is not None:
|
||||
self.JOINT_DEAD_BAND = dead_band
|
||||
if min_interval is not None:
|
||||
self.JOINT_MIN_INTERVAL = min_interval
|
||||
|
||||
def resource_pose_callback(self, msg) -> None:
|
||||
"""模拟 HostNode._resource_pose_callback（含变化检测）"""
|
||||
try:
|
||||
data = json.loads(msg.data)
|
||||
except (json.JSONDecodeError, ValueError):
|
||||
return
|
||||
if not isinstance(data, dict) or not data:
|
||||
return
|
||||
has_change = False
|
||||
for k, v in data.items():
|
||||
if self._resource_poses.get(k) != v:
|
||||
has_change = True
|
||||
break
|
||||
if has_change:
|
||||
self._resource_poses.update(data)
|
||||
self._resource_poses_dirty = True
|
||||
|
||||
def joint_state_callback(self, msg, now: Optional[float] = None) -> dict:
|
||||
"""
|
||||
模拟 HostNode._joint_state_callback 核心逻辑（含优化）。
|
||||
now 参数允许测试控制时间。
|
||||
返回 {device_id: {"node_uuid": ..., "joint_states": {...}, "resource_poses": {...}}}。
|
||||
返回 {} 表示被优化过滤。
|
||||
"""
|
||||
names = list(msg.name)
|
||||
positions = list(msg.position)
|
||||
if not names or len(names) != len(positions):
|
||||
return {}
|
||||
|
||||
if now is None:
|
||||
now = time.time()
|
||||
resource_dirty = self._resource_poses_dirty
|
||||
|
||||
# 抑频检查
|
||||
if not resource_dirty and (now - self._last_send_time) < self.JOINT_MIN_INTERVAL:
|
||||
return {}
|
||||
|
||||
# 死区过滤
|
||||
has_significant_change = False
|
||||
for name, pos in zip(names, positions):
|
||||
last_val = self._last_joint_values.get(name)
|
||||
if last_val is None or abs(float(pos) - last_val) >= self.JOINT_DEAD_BAND:
|
||||
has_significant_change = True
|
||||
break
|
||||
|
||||
if not has_significant_change and not resource_dirty:
|
||||
return {}
|
||||
|
||||
# 更新状态
|
||||
for name, pos in zip(names, positions):
|
||||
self._last_joint_values[name] = float(pos)
|
||||
self._last_send_time = now
|
||||
|
||||
# 按设备 ID 分组关节数据
|
||||
device_joints: Dict[str, Dict[str, float]] = {}
|
||||
for name, pos in zip(names, positions):
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
if matched_device:
|
||||
if matched_device not in device_joints:
|
||||
device_joints[matched_device] = {}
|
||||
device_joints[matched_device][name] = float(pos)
|
||||
elif len(self.device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_joints:
|
||||
device_joints[fallback_id] = {}
|
||||
device_joints[fallback_id][name] = float(pos)
|
||||
|
||||
# 构建设备级 resource_poses（仅 dirty 时附带）
|
||||
device_resource_poses: Dict[str, Dict[str, str]] = {}
|
||||
if resource_dirty:
|
||||
for resource_id, link_name in self._resource_poses.items():
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if link_name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
if matched_device:
|
||||
if matched_device not in device_resource_poses:
|
||||
device_resource_poses[matched_device] = {}
|
||||
device_resource_poses[matched_device][resource_id] = link_name
|
||||
elif len(self.device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_resource_poses:
|
||||
device_resource_poses[fallback_id] = {}
|
||||
device_resource_poses[fallback_id][resource_id] = link_name
|
||||
self._resource_poses_dirty = False
|
||||
|
||||
result = {}
|
||||
for device_id, joint_states in device_joints.items():
|
||||
node_uuid = self.device_uuid_map.get(device_id)
|
||||
if not node_uuid:
|
||||
continue
|
||||
result[device_id] = {
|
||||
"node_uuid": node_uuid,
|
||||
"joint_states": joint_states,
|
||||
"resource_poses": device_resource_poses.get(device_id, {}),
|
||||
}
|
||||
return result
|
||||
|
||||
|
||||
# 功能测试中禁用优化（dead_band=0, min_interval=0），确保逻辑正确性
|
||||
def _make_sim(device_uuid_map: Dict[str, str]) -> JointBridgeSimulator:
|
||||
"""创建禁用吞吐优化的模拟器（用于功能正确性测试）"""
|
||||
return JointBridgeSimulator(device_uuid_map, dead_band=0.0, min_interval=0.0)
|
||||
|
||||
|
||||
# ==================== E1: JointRepublisher JSON 输出 ====================
|
||||
|
||||
|
||||
class TestJointRepublisherFormat:
|
||||
"""验证 JointRepublisher 输出标准 JSON（双引号）而非 Python repr（单引号）"""
|
||||
|
||||
def test_output_is_valid_json(self):
|
||||
"""str() 产生单引号，json.dumps() 产生双引号"""
|
||||
joint_dict = {
|
||||
"name": ["joint1", "joint2"],
|
||||
"position": [0.1, 0.2],
|
||||
"velocity": [0.0, 0.0],
|
||||
"effort": [0.0, 0.0],
|
||||
}
|
||||
result = json.dumps(joint_dict)
|
||||
parsed = json.loads(result)
|
||||
assert parsed["name"] == ["joint1", "joint2"]
|
||||
assert parsed["position"] == [0.1, 0.2]
|
||||
assert "'" not in result
|
||||
|
||||
def test_str_produces_invalid_json(self):
|
||||
"""对比: str() 不是合法 JSON"""
|
||||
joint_dict = {"name": ["joint1"], "position": [0.1]}
|
||||
result = str(joint_dict)
|
||||
with pytest.raises(json.JSONDecodeError):
|
||||
json.loads(result)
|
||||
|
||||
|
||||
# ==================== E2: 关节状态回调（JointState msg 直接读取）====================
|
||||
|
||||
|
||||
class TestJointStateCallback:
|
||||
"""测试从 JointState msg 直接读取 name/position 的分组逻辑"""
|
||||
|
||||
def test_single_device_simple(self):
|
||||
"""单设备，关节名有设备前缀"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_joint1", "panda_joint2"], [0.5, 1.0]
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert "panda" in result
|
||||
assert result["panda"]["joint_states"]["panda_joint1"] == 0.5
|
||||
assert result["panda"]["joint_states"]["panda_joint2"] == 1.0
|
||||
|
||||
def test_single_device_no_prefix_fallback(self):
|
||||
"""单设备，关节名无设备前缀 → 应归入唯一设备"""
|
||||
sim = _make_sim({"robot1": "uuid-r1"})
|
||||
msg = _make_joint_state_msg(["joint_a", "joint_b"], [1.0, 2.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert "robot1" in result
|
||||
assert result["robot1"]["joint_states"]["joint_a"] == 1.0
|
||||
assert result["robot1"]["joint_states"]["joint_b"] == 2.0
|
||||
|
||||
def test_multi_device_distinct_prefixes(self):
|
||||
"""多设备，不同前缀，正确分组"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm1_j2", "arm2_j1", "arm2_j2"],
|
||||
[0.1, 0.2, 0.3, 0.4],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
|
||||
assert result["arm1"]["joint_states"]["arm1_j2"] == 0.2
|
||||
assert result["arm2"]["joint_states"]["arm2_j1"] == 0.3
|
||||
assert result["arm2"]["joint_states"]["arm2_j2"] == 0.4
|
||||
|
||||
def test_ambiguous_prefix_longest_wins(self):
|
||||
"""前缀歧义: arm 和 arm_left — 最长前缀优先"""
|
||||
sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm_j1", "arm_left_j1", "arm_left_j2"],
|
||||
[0.1, 0.2, 0.3],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == 0.1
|
||||
assert result["arm_left"]["joint_states"]["arm_left_j1"] == 0.2
|
||||
assert result["arm_left"]["joint_states"]["arm_left_j2"] == 0.3
|
||||
|
||||
def test_multi_device_unmatched_joints_dropped(self):
|
||||
"""多设备时，无法匹配前缀的关节应被丢弃（不 fallback）"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "unknown_j1"],
|
||||
[0.1, 0.9],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
|
||||
for device_id, data in result.items():
|
||||
assert "unknown_j1" not in data["joint_states"]
|
||||
|
||||
def test_empty_names(self):
|
||||
"""空 name 列表"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg([], [])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_mismatched_lengths(self):
|
||||
"""name 和 position 长度不一致"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg(["j1", "j2"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_no_devices(self):
|
||||
"""无设备 UUID 映射"""
|
||||
sim = _make_sim({})
|
||||
msg = _make_joint_state_msg(["j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_numeric_prefix_device_ids(self):
|
||||
"""数字化设备 ID (如 deck1, deck12) — deck12_slot1 不应匹配 deck1"""
|
||||
sim = _make_sim({"deck1": "uuid-d1", "deck12": "uuid-d12"})
|
||||
msg = _make_joint_state_msg(
|
||||
["deck1_slot1", "deck12_slot1"],
|
||||
[1.0, 2.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["deck1"]["joint_states"]["deck1_slot1"] == 1.0
|
||||
assert result["deck12"]["joint_states"]["deck12_slot1"] == 2.0
|
||||
|
||||
def test_position_float_conversion(self):
|
||||
"""position 值应强制转为 float（即使输入为 int）"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
msg = _make_joint_state_msg(["arm_j1"], [1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == 1.0
|
||||
assert isinstance(result["arm"]["joint_states"]["arm_j1"], float)
|
||||
|
||||
def test_node_uuid_in_result(self):
|
||||
"""结果中应携带正确的 node_uuid"""
|
||||
sim = _make_sim({"panda": "uuid-panda-123"})
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["node_uuid"] == "uuid-panda-123"
|
||||
|
||||
def test_device_with_no_uuid_skipped(self):
|
||||
"""device_uuid_map 中存在映射但值为空 → 跳过"""
|
||||
sim = _make_sim({"arm": ""})
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_many_joints_single_device(self):
|
||||
"""单设备大量关节（如 7-DOF arm）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
names = [f"panda_joint{i}" for i in range(1, 8)]
|
||||
positions = [float(i) * 0.1 for i in range(1, 8)]
|
||||
msg = _make_joint_state_msg(names, positions)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["panda"]["joint_states"]) == 7
|
||||
assert result["panda"]["joint_states"]["panda_joint7"] == pytest.approx(0.7)
|
||||
|
||||
def test_duplicate_joint_names_last_wins(self):
|
||||
"""同类型设备多个实例时，如果关节名完全重复（bug 场景），后出现的值覆盖前者"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg(["dev_j1", "dev_j1"], [1.0, 2.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["dev"]["joint_states"]["dev_j1"] == 2.0
|
||||
|
||||
def test_negative_positions(self):
|
||||
"""关节角度为负数"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
msg = _make_joint_state_msg(["arm_j1", "arm_j2"], [-1.57, -3.14])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == pytest.approx(-1.57)
|
||||
assert result["arm"]["joint_states"]["arm_j2"] == pytest.approx(-3.14)
|
||||
|
||||
|
||||
# ==================== E3: 资源跟随 (resource_pose) ====================
|
||||
|
||||
|
||||
class TestResourcePoseCallback:
|
||||
"""测试 resource_pose 回调 — 夹爪抓取/释放/多资源"""
|
||||
|
||||
def test_single_resource_attach(self):
|
||||
"""单个资源挂载到夹爪 link"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_string_msg(json.dumps({"plate_1": "panda_gripper_link"}))
|
||||
sim.resource_pose_callback(msg)
|
||||
assert sim._resource_poses == {"plate_1": "panda_gripper_link"}
|
||||
assert sim._resource_poses_dirty is True
|
||||
|
||||
def test_multiple_resource_attach(self):
|
||||
"""多个资源同时挂载到不同 link"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
"tip_rack": "panda_deck_link",
|
||||
}))
|
||||
sim.resource_pose_callback(msg)
|
||||
assert sim._resource_poses["plate_1"] == "panda_gripper_link"
|
||||
assert sim._resource_poses["tip_rack"] == "panda_deck_link"
|
||||
|
||||
def test_incremental_update(self):
|
||||
"""增量更新：新消息合并到已有状态"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_2": "panda_gripper_link"})))
|
||||
assert len(sim._resource_poses) == 2
|
||||
assert sim._resource_poses["plate_1"] == "panda_deck_link"
|
||||
assert sim._resource_poses["plate_2"] == "panda_gripper_link"
|
||||
|
||||
def test_resource_reattach(self):
|
||||
"""资源从 deck 移动到 gripper（抓取操作）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
|
||||
assert sim._resource_poses["plate_1"] == "panda_deck_link"
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
|
||||
assert sim._resource_poses["plate_1"] == "panda_gripper_link"
|
||||
|
||||
def test_resource_release_back_to_world(self):
|
||||
"""释放资源回到 world"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "world"})))
|
||||
assert sim._resource_poses["plate_1"] == "world"
|
||||
|
||||
def test_empty_dict_heartbeat_no_dirty(self):
|
||||
"""空 dict（心跳包）不标记 dirty"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim._resource_poses_dirty = False # 重置
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({})))
|
||||
assert sim._resource_poses_dirty is False # 空 dict 不应标记 dirty
|
||||
|
||||
def test_same_value_no_dirty(self):
|
||||
"""重复发送相同值不应标记 dirty"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim._resource_poses_dirty = False
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
def test_invalid_json_ignored(self):
|
||||
"""非法 JSON 消息不影响状态"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg("not valid json {{{"))
|
||||
assert sim._resource_poses["plate_1"] == "panda_link"
|
||||
|
||||
def test_non_dict_json_ignored(self):
|
||||
"""JSON 但不是 dict（如 list）应被忽略"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps(["not", "a", "dict"])))
|
||||
assert sim._resource_poses == {}
|
||||
|
||||
def test_python_repr_ignored(self):
|
||||
"""Python repr 格式（单引号）应被忽略"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg("{'plate_1': 'panda_link'}"))
|
||||
assert sim._resource_poses == {}
|
||||
|
||||
def test_multi_device_resource_attach(self):
|
||||
"""多设备场景：不同设备的 link 挂载不同资源"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"plate_B": "arm2_gripper_link",
|
||||
})))
|
||||
assert sim._resource_poses["plate_A"] == "arm1_gripper_link"
|
||||
assert sim._resource_poses["plate_B"] == "arm2_gripper_link"
|
||||
|
||||
|
||||
# ==================== E4: 联合流程 — 关节 + 资源一并通过 bridge ====================
|
||||
|
||||
|
||||
class TestJointWithResourcePoses:
|
||||
"""测试关节状态回调时，resource_poses 被正确按设备分组并包含在结果中"""
|
||||
|
||||
def test_single_device_joint_with_resource(self):
|
||||
"""单设备：关节更新时携带已挂载的资源"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1", "panda_j2"], [0.5, 1.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {"plate_1": "panda_gripper_link"}
|
||||
|
||||
def test_single_device_no_resource(self):
|
||||
"""单设备：无资源挂载时 resource_poses 为空 dict"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {}
|
||||
|
||||
def test_multi_device_resource_routing(self):
|
||||
"""多设备：资源按 link 前缀路由到正确设备"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"plate_B": "arm2_gripper_link",
|
||||
"tube_1": "arm1_tool_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm2_j1"],
|
||||
[0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["resource_poses"] == {
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"tube_1": "arm1_tool_link",
|
||||
}
|
||||
assert result["arm2"]["resource_poses"] == {"plate_B": "arm2_gripper_link"}
|
||||
|
||||
def test_resource_on_world_frame_not_routed(self):
|
||||
"""资源挂在 world frame（已释放）— 多设备时无法匹配任何设备前缀"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "world",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["arm1_j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["resource_poses"] == {}
|
||||
|
||||
def test_resource_world_frame_single_device_fallback(self):
|
||||
"""单设备时 world frame 的资源走 fallback"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "world",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {"plate_A": "world"}
|
||||
|
||||
def test_grab_and_move_sequence(self):
|
||||
"""完整夹取序列: 资源在 deck → gripper 抓取 → arm 移动 → 放下"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
|
||||
# 初始: plate 在 deck
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_deck_third_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[0.0, -0.5, 1.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_third_link"
|
||||
|
||||
# 抓取: plate 从 deck → gripper
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[1.57, 0.0, -0.5],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_gripper_link"
|
||||
assert result["panda"]["joint_states"]["panda_j1"] == pytest.approx(1.57)
|
||||
|
||||
# 放下: plate 从 gripper → 目标 deck
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_deck_first_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[0.0, 0.0, 0.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_first_link"
|
||||
|
||||
def test_simultaneous_grab_multiple_resources(self):
|
||||
"""同时持有多个资源（如双夹爪）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_left_gripper",
|
||||
"plate_2": "panda_right_gripper",
|
||||
"tip_rack": "panda_deck_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["panda"]["resource_poses"]) == 3
|
||||
|
||||
def test_resource_with_ambiguous_link_prefix(self):
|
||||
"""link 前缀歧义: arm_left_gripper 应匹配 arm_left 而非 arm"""
|
||||
sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm_gripper_link",
|
||||
"plate_B": "arm_left_gripper_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["arm_j1", "arm_left_j1"],
|
||||
[0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["resource_poses"] == {"plate_A": "arm_gripper_link"}
|
||||
assert result["arm_left"]["resource_poses"] == {"plate_B": "arm_left_gripper_link"}
|
||||
|
||||
|
||||
# ==================== E5: Bridge 调用验证 ====================
|
||||
|
||||
|
||||
class TestBridgeCalls:
|
||||
"""验证完整桥接流: callback → bridge.publish_joint_state 调用"""
|
||||
|
||||
def test_bridge_called_per_device(self):
|
||||
"""每个设备调用一次 publish_joint_state"""
|
||||
device_uuid_map = {"arm1": "uuid-111", "arm2": "uuid-222"}
|
||||
sim = _make_sim(device_uuid_map)
|
||||
bridge = MagicMock()
|
||||
bridge.publish_joint_state = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm2_j1"],
|
||||
[1.0, 2.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
assert bridge.publish_joint_state.call_count == 2
|
||||
call_uuids = {c[0][0] for c in bridge.publish_joint_state.call_args_list}
|
||||
assert call_uuids == {"uuid-111", "uuid-222"}
|
||||
|
||||
def test_bridge_called_with_resource_poses(self):
|
||||
"""bridge 调用时携带 resource_poses"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
|
||||
bridge = MagicMock()
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_called_once_with(
|
||||
"uuid-panda",
|
||||
{"panda_j1": 0.5},
|
||||
{"plate_1": "panda_gripper_link"},
|
||||
)
|
||||
|
||||
def test_bridge_no_call_for_empty_joints(self):
|
||||
"""无关节数据时不调用 bridge"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
bridge = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg([], [])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_not_called()
|
||||
|
||||
def test_bridge_resource_poses_empty_when_no_resources(self):
|
||||
"""无资源挂载时，resource_poses 参数为空 dict"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
bridge = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_called_once_with(
|
||||
"uuid-panda",
|
||||
{"panda_j1": 0.5},
|
||||
{},
|
||||
)
|
||||
|
||||
def test_multi_bridge_all_called(self):
|
||||
"""多个 bridge 都应被调用"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
bridges = [MagicMock(), MagicMock()]
|
||||
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
for bridge in bridges:
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
for bridge in bridges:
|
||||
bridge.publish_joint_state.assert_called_once()
|
||||
|
||||
|
||||
# ==================== E6: 同类型设备多个实例 — 重复关节名场景 ====================
|
||||
|
||||
|
||||
class TestDuplicateDeviceTypes:
|
||||
"""
|
||||
多个同类型设备（如 2 个 OT-2 移液器），关节名格式为 {device_id}_{joint_name}。
|
||||
设备 ID 不同（如 ot2_left, ot2_right），但底层关节名相同（如 pipette_j1）。
|
||||
"""
|
||||
|
||||
def test_same_type_different_id(self):
|
||||
"""同类型设备不同 ID"""
|
||||
sim = _make_sim({
|
||||
"ot2_left": "uuid-ot2-left",
|
||||
"ot2_right": "uuid-ot2-right",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["ot2_left_pipette_j1", "ot2_left_pipette_j2",
|
||||
"ot2_right_pipette_j1", "ot2_right_pipette_j2"],
|
||||
[0.1, 0.2, 0.3, 0.4],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j1"] == 0.1
|
||||
assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j2"] == 0.2
|
||||
assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j1"] == 0.3
|
||||
assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j2"] == 0.4
|
||||
|
||||
def test_same_type_with_resources_routed_correctly(self):
|
||||
"""同类型设备各自抓取资源，按 link 前缀正确路由"""
|
||||
sim = _make_sim({
|
||||
"ot2_left": "uuid-ot2-left",
|
||||
"ot2_right": "uuid-ot2-right",
|
||||
})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "ot2_left_gripper",
|
||||
"plate_B": "ot2_right_gripper",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["ot2_left_j1", "ot2_right_j1"],
|
||||
[0.5, 0.6],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["ot2_left"]["resource_poses"] == {"plate_A": "ot2_left_gripper"}
|
||||
assert result["ot2_right"]["resource_poses"] == {"plate_B": "ot2_right_gripper"}
|
||||
|
||||
def test_numbered_devices_no_confusion(self):
|
||||
"""编号设备: robot1 不应匹配 robot10 的关节"""
|
||||
sim = _make_sim({
|
||||
"robot1": "uuid-r1",
|
||||
"robot10": "uuid-r10",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["robot1_j1", "robot10_j1"],
|
||||
[1.0, 10.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["robot1"]["joint_states"]["robot1_j1"] == 1.0
|
||||
assert result["robot10"]["joint_states"]["robot10_j1"] == 10.0
|
||||
|
||||
def test_three_same_type_devices(self):
|
||||
"""三个同类型设备"""
|
||||
sim = _make_sim({
|
||||
"pump_a": "uuid-pa",
|
||||
"pump_b": "uuid-pb",
|
||||
"pump_c": "uuid-pc",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["pump_a_flow", "pump_b_flow", "pump_c_flow",
|
||||
"pump_a_pressure", "pump_b_pressure"],
|
||||
[1.0, 2.0, 3.0, 0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["pump_a"]["joint_states"]) == 2
|
||||
assert len(result["pump_b"]["joint_states"]) == 2
|
||||
assert len(result["pump_c"]["joint_states"]) == 1
|
||||
|
||||
|
||||
# ==================== E7: 吞吐优化测试 ====================
|
||||
|
||||
|
||||
class TestThroughputOptimizations:
|
||||
"""测试死区过滤、抑频、增量 resource_poses 等优化行为"""
|
||||
|
||||
# --- 死区过滤 (Dead Band) ---
|
||||
|
||||
def test_dead_band_filters_tiny_change(self):
|
||||
"""关节变化小于死区阈值 → 被过滤"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result1 = sim.joint_state_callback(msg1, now=0.0)
|
||||
assert "arm" in result1
|
||||
|
||||
# 微小变化 (0.001 < 0.01 死区)
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert result2 == {}
|
||||
|
||||
def test_dead_band_passes_significant_change(self):
|
||||
"""关节变化大于死区阈值 → 通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.05])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.05)
|
||||
|
||||
def test_dead_band_first_message_always_passes(self):
|
||||
"""首次消息总是通过（无历史值）"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=1000.0, min_interval=0.0)
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.001])
|
||||
result = sim.joint_state_callback(msg, now=0.0)
|
||||
assert "arm" in result
|
||||
|
||||
def test_dead_band_any_joint_change_triggers(self):
|
||||
"""多关节中只要有一个超过死区就全部发送"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.0, 2.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
# j1 微变化，j2 大变化
|
||||
msg2 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.001, 2.5])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
# 两个关节的值都应包含在结果中
|
||||
assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.001)
|
||||
assert result2["arm"]["joint_states"]["arm_j2"] == pytest.approx(2.5)
|
||||
|
||||
# --- 抑频 (Throttle) ---
|
||||
|
||||
def test_throttle_filters_rapid_messages(self):
|
||||
"""发送间隔内的消息被过滤"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result1 = sim.joint_state_callback(msg1, now=0.0)
|
||||
assert "arm" in result1
|
||||
|
||||
# 0.05s < 0.1s 间隔
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.05)
|
||||
assert result2 == {}
|
||||
|
||||
def test_throttle_passes_after_interval(self):
|
||||
"""超过发送间隔后消息通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.15)
|
||||
assert "arm" in result2
|
||||
|
||||
def test_throttle_bypassed_by_resource_change(self):
|
||||
"""resource_pose 变化时忽略抑频限制"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=1.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
# 资源变化 → 强制发送
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.01) # 远小于 1.0 间隔
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
|
||||
|
||||
# --- 增量 resource_poses ---
|
||||
|
||||
def test_resource_poses_only_sent_when_dirty(self):
|
||||
"""resource_poses 仅在 dirty 时附带，否则为空"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
|
||||
|
||||
# 第一次发送：dirty → 携带 resource_poses
|
||||
msg1 = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result1 = sim.joint_state_callback(msg1)
|
||||
assert result1["panda"]["resource_poses"] == {"plate": "panda_gripper"}
|
||||
|
||||
# dirty 已清除
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
# 第二次发送：not dirty → resource_poses 为空
|
||||
msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2)
|
||||
assert result2["panda"]["resource_poses"] == {}
|
||||
|
||||
def test_resource_change_resets_dirty_after_send(self):
|
||||
"""dirty 在发送后被重置，再次 resource_pose 变化后重新标记"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_deck"})))
|
||||
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
sim.joint_state_callback(msg)
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
# 再次资源变化
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
|
||||
assert sim._resource_poses_dirty is True
|
||||
|
||||
msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2)
|
||||
assert result2["panda"]["resource_poses"] == {"plate": "panda_gripper"}
|
||||
|
||||
# --- 组合场景 ---
|
||||
|
||||
def test_dead_band_bypassed_by_resource_dirty(self):
|
||||
"""关节无变化但 resource_pose 有变化 → 仍然发送"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
|
||||
# 关节值完全不变
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
|
||||
|
||||
def test_high_frequency_stream_only_significant_pass(self):
|
||||
"""模拟高频流: 只有显著变化的消息通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
t = 0.0
|
||||
passed_count = 0
|
||||
|
||||
# 100 条消息，每条微小递增 0.001
|
||||
for i in range(100):
|
||||
t += 0.1
|
||||
val = 1.0 + i * 0.001
|
||||
msg = _make_joint_state_msg(["arm_j1"], [val])
|
||||
result = sim.joint_state_callback(msg, now=t)
|
||||
if result:
|
||||
passed_count += 1
|
||||
|
||||
# 首次总通过 + 每 10 条左右（累计 0.01 变化）通过一次
|
||||
assert passed_count < 20 # 远少于 100
|
||||
assert passed_count >= 5 # 但不应为 0
|
||||
|
||||
def test_throttle_and_dead_band_combined(self):
|
||||
"""同时受抑频和死区影响"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.5)
|
||||
|
||||
# 首条通过
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
assert sim.joint_state_callback(msg1, now=0.0) != {}
|
||||
|
||||
# 时间不够 + 变化不够 → 过滤
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
|
||||
assert sim.joint_state_callback(msg2, now=0.1) == {}
|
||||
|
||||
# 时间够但变化不够 → 过滤
|
||||
msg3 = _make_joint_state_msg(["arm_j1"], [1.002])
|
||||
assert sim.joint_state_callback(msg3, now=1.0) == {}
|
||||
|
||||
# 时间够且变化够 → 通过
|
||||
msg4 = _make_joint_state_msg(["arm_j1"], [1.05])
|
||||
assert sim.joint_state_callback(msg4, now=1.5) != {}
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.11.2"
|
||||
__version__ = "0.10.19"
|
||||
|
||||
@@ -50,6 +50,17 @@ class BaseCommunicationClient(ABC):
|
||||
"""
|
||||
pass
|
||||
|
||||
def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
|
||||
"""
|
||||
发布高频关节状态数据（push_joint_state action，不写 DB）
|
||||
|
||||
Args:
|
||||
node_uuid: 设备节点的云端 UUID
|
||||
joint_states: 关节名 → 角度/位置 的映射
|
||||
resource_poses: 物料附着映射（可选）
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None
|
||||
|
||||
@@ -12,15 +12,6 @@ from typing import Dict, Any, List
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
|
||||
# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
|
||||
if sys.platform == "win32":
|
||||
for _stream in (sys.stdout, sys.stderr):
|
||||
try:
|
||||
_stream.reconfigure(encoding="utf-8", errors="replace") # type: ignore[attr-defined]
|
||||
except (AttributeError, OSError):
|
||||
pass
|
||||
|
||||
# 首先添加项目根目录到路径
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
@@ -242,7 +233,7 @@ def parse_args():
|
||||
parser.add_argument(
|
||||
"--addr",
|
||||
type=str,
|
||||
default="https://leap-lab.bohrium.com/api/v1",
|
||||
default="https://uni-lab.bohrium.com/api/v1",
|
||||
help="Laboratory backend address",
|
||||
)
|
||||
parser.add_argument(
|
||||
@@ -447,10 +438,10 @@ def main():
|
||||
if args.addr != parser.get_default("addr"):
|
||||
if args.addr == "test":
|
||||
print_status("使用测试环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
|
||||
HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
elif args.addr == "uat":
|
||||
print_status("使用uat环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://leap-lab.uat.bohrium.com/api/v1"
|
||||
HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
|
||||
elif args.addr == "local":
|
||||
print_status("使用本地环境地址", "info")
|
||||
HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
|
||||
@@ -562,7 +553,7 @@ def main():
|
||||
os._exit(0)
|
||||
|
||||
if not BasicConfig.ak or not BasicConfig.sk:
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://leap-lab.bohrium.com 注册实验室！", "warning")
|
||||
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
|
||||
@@ -630,8 +621,6 @@ 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
|
||||
# 仅在本地文件模式下有意义：本地文件只含设备结构，远端有已保存的物料，需要 merge
|
||||
# 远端模式下 resource_tree_set 与 request_startup_json 来自同一份数据，merge 为空操作
|
||||
if file_path is not None and request_startup_json and "nodes" in request_startup_json:
|
||||
print_status("开始同步远端物料到本地...", "info")
|
||||
remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
|
||||
|
||||
@@ -59,7 +59,6 @@ class JobAddReq(BaseModel):
|
||||
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="")
|
||||
node_id: str = Field(examples=["node_id"], description="node uuid", default="")
|
||||
notebook_id: str = Field(examples=["notebook_id"], description="notebook uuid", default="")
|
||||
server_info: dict = Field(
|
||||
examples=[{"send_timestamp": 1717000000.0}],
|
||||
description="server info (auto-generated if empty)",
|
||||
|
||||
210
unilabos/app/model_upload.py
Normal file
210
unilabos/app/model_upload.py
Normal file
@@ -0,0 +1,210 @@
|
||||
"""模型文件上传/下载管理。
|
||||
|
||||
提供 Edge 端本地模型文件与 OSS 之间的双向同步：
|
||||
- upload_device_model: 本地模型 → OSS（Edge 首次接入时）
|
||||
- download_model_from_oss: OSS → 本地（新 Edge 加入已有 Lab 时）
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import os
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING, Optional
|
||||
|
||||
import requests
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from unilabos.app.web.client import HTTPClient
|
||||
|
||||
# 设备 mesh 根目录
|
||||
_MESH_BASE_DIR = Path(__file__).parent.parent / "device_mesh"
|
||||
|
||||
# 支持的模型文件后缀
|
||||
_MODEL_EXTENSIONS = frozenset({
|
||||
".xacro", ".urdf", ".stl", ".dae", ".obj",
|
||||
".gltf", ".glb", ".fbx", ".yaml", ".yml",
|
||||
})
|
||||
|
||||
# 需要 XOR 加密/解密的 mesh 文件后缀（反爬保护 — 方案 C）
|
||||
_MESH_ENCRYPT_EXTENSIONS = frozenset({
|
||||
".stl", ".dae", ".obj", ".fbx", ".gltf", ".glb",
|
||||
})
|
||||
|
||||
# XOR 密钥 — 从环境变量读取，与前端 mesh-decrypt.ts 一致
|
||||
_XOR_KEY = os.environ.get("UNILAB_MESH_XOR_KEY", "unilab3d-model-protection-key-v1").encode()
|
||||
|
||||
|
||||
def _xor_transform(data: bytes, key: bytes = _XOR_KEY) -> bytes:
|
||||
"""XOR 加密/解密（对称操作）。"""
|
||||
key_len = len(key)
|
||||
return bytes(b ^ key[i % key_len] for i, b in enumerate(data))
|
||||
|
||||
|
||||
def upload_device_model(
|
||||
http_client: "HTTPClient",
|
||||
template_uuid: str,
|
||||
mesh_name: str,
|
||||
model_type: str,
|
||||
version: str = "1.0.0",
|
||||
) -> Optional[str]:
|
||||
"""上传本地模型文件到 OSS，返回入口文件的 OSS URL。
|
||||
|
||||
Args:
|
||||
http_client: HTTPClient 实例
|
||||
template_uuid: 设备模板 UUID
|
||||
mesh_name: mesh 目录名（如 "arm_slider"）
|
||||
model_type: "device" 或 "resource"
|
||||
version: 模型版本
|
||||
|
||||
Returns:
|
||||
入口文件 OSS URL，上传失败返回 None
|
||||
"""
|
||||
if model_type == "device":
|
||||
model_dir = _MESH_BASE_DIR / "devices" / mesh_name
|
||||
else:
|
||||
model_dir = _MESH_BASE_DIR / "resources" / mesh_name
|
||||
|
||||
if not model_dir.exists():
|
||||
logger.warning(f"[模型上传] 本地目录不存在: {model_dir}")
|
||||
return None
|
||||
|
||||
# 收集所有需要上传的文件
|
||||
files = []
|
||||
for f in model_dir.rglob("*"):
|
||||
if f.is_file() and f.suffix.lower() in _MODEL_EXTENSIONS:
|
||||
files.append({
|
||||
"name": str(f.relative_to(model_dir)),
|
||||
"size_kb": f.stat().st_size // 1024,
|
||||
})
|
||||
|
||||
if not files:
|
||||
logger.warning(f"[模型上传] 目录中无可上传的模型文件: {model_dir}")
|
||||
return None
|
||||
|
||||
try:
|
||||
# 1. 获取预签名上传 URL
|
||||
upload_urls_resp = http_client.get_model_upload_urls(
|
||||
template_uuid=template_uuid,
|
||||
files=[{"name": f["name"], "version": version} for f in files],
|
||||
)
|
||||
if not upload_urls_resp:
|
||||
return None
|
||||
|
||||
url_items = upload_urls_resp.get("files", [])
|
||||
|
||||
# 2. 逐个上传文件
|
||||
for file_info, url_info in zip(files, url_items):
|
||||
local_path = model_dir / file_info["name"]
|
||||
upload_url = url_info.get("upload_url", "")
|
||||
if not upload_url:
|
||||
continue
|
||||
_put_upload(local_path, upload_url)
|
||||
|
||||
# 3. 确认发布
|
||||
entry_file = "macro_device.xacro" if model_type == "device" else "modal.xacro"
|
||||
# 检查入口文件是否存在，使用实际存在的文件名
|
||||
for f in files:
|
||||
if f["name"].endswith(".xacro"):
|
||||
entry_file = f["name"]
|
||||
break
|
||||
|
||||
publish_resp = http_client.publish_model(
|
||||
template_uuid=template_uuid,
|
||||
version=version,
|
||||
entry_file=entry_file,
|
||||
)
|
||||
return publish_resp.get("path") if publish_resp else None
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"[模型上传] 上传失败 ({mesh_name}): {e}")
|
||||
return None
|
||||
|
||||
|
||||
def download_model_from_oss(
|
||||
model_config: dict,
|
||||
mesh_base_dir: Optional[Path] = None,
|
||||
) -> bool:
|
||||
"""检查本地模型文件是否存在，不存在则从 OSS 下载。
|
||||
|
||||
Args:
|
||||
model_config: 节点的 model 配置字典
|
||||
mesh_base_dir: mesh 根目录，默认使用 device_mesh/
|
||||
|
||||
Returns:
|
||||
True 表示本地文件就绪，False 表示下载失败或无需下载
|
||||
"""
|
||||
if mesh_base_dir is None:
|
||||
mesh_base_dir = _MESH_BASE_DIR
|
||||
|
||||
mesh_name = model_config.get("mesh", "")
|
||||
model_type = model_config.get("type", "")
|
||||
oss_path = model_config.get("path", "")
|
||||
|
||||
if not mesh_name or not oss_path or not oss_path.startswith("https://"):
|
||||
return False
|
||||
|
||||
# 确定本地目标目录
|
||||
if model_type == "device":
|
||||
local_dir = mesh_base_dir / "devices" / mesh_name
|
||||
elif model_type == "resource":
|
||||
resource_name = mesh_name.split("/")[0]
|
||||
local_dir = mesh_base_dir / "resources" / resource_name
|
||||
else:
|
||||
return False
|
||||
|
||||
# 已有本地文件 → 跳过
|
||||
if local_dir.exists() and any(local_dir.iterdir()):
|
||||
return True
|
||||
|
||||
# 从 OSS 下载
|
||||
local_dir.mkdir(parents=True, exist_ok=True)
|
||||
try:
|
||||
# 下载入口文件（OSS URL 通常直接可访问）
|
||||
entry_name = oss_path.rsplit("/", 1)[-1]
|
||||
_download_file(oss_path, local_dir / entry_name)
|
||||
|
||||
# 如果有 children_mesh，也下载
|
||||
children_mesh = model_config.get("children_mesh")
|
||||
if isinstance(children_mesh, dict) and children_mesh.get("path"):
|
||||
cm_path = children_mesh["path"]
|
||||
if cm_path.startswith("https://"):
|
||||
cm_name = cm_path.rsplit("/", 1)[-1]
|
||||
meshes_dir = local_dir / "meshes"
|
||||
meshes_dir.mkdir(parents=True, exist_ok=True)
|
||||
_download_file(cm_path, meshes_dir / cm_name)
|
||||
|
||||
logger.info(f"[模型下载] 成功下载模型到本地: {mesh_name} → {local_dir}")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
logger.warning(f"[模型下载] 下载失败 ({mesh_name}): {e}")
|
||||
return False
|
||||
|
||||
|
||||
def _put_upload(local_path: Path, upload_url: str) -> None:
|
||||
"""通过预签名 URL 上传文件到 OSS。对 mesh 文件自动 XOR 加密。"""
|
||||
with open(local_path, "rb") as f:
|
||||
data = f.read()
|
||||
# 对 mesh 文件 XOR 加密后上传（反爬保护 — 方案 C）
|
||||
if local_path.suffix.lower() in _MESH_ENCRYPT_EXTENSIONS:
|
||||
data = _xor_transform(data)
|
||||
logger.debug(f"[模型上传] XOR 加密: {local_path.name}")
|
||||
resp = requests.put(upload_url, data=data, timeout=120)
|
||||
resp.raise_for_status()
|
||||
logger.debug(f"[模型上传] 已上传: {local_path.name}")
|
||||
|
||||
|
||||
def _download_file(url: str, local_path: Path) -> None:
|
||||
"""下载单个文件到本地路径。对 mesh 文件自动 XOR 解密。"""
|
||||
local_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
resp = requests.get(url, timeout=60)
|
||||
resp.raise_for_status()
|
||||
data = resp.content
|
||||
# 从 OSS 下载的 mesh 文件是加密的，需要 XOR 解密后再存本地
|
||||
if local_path.suffix.lower() in _MESH_ENCRYPT_EXTENSIONS:
|
||||
data = _xor_transform(data)
|
||||
logger.debug(f"[模型下载] XOR 解密: {local_path.name}")
|
||||
local_path.write_bytes(data)
|
||||
logger.debug(f"[模型下载] 已下载: {local_path}")
|
||||
@@ -5,6 +5,48 @@ from unilabos.utils.log import logger
|
||||
from unilabos.utils.tools import normalize_json as _normalize_device
|
||||
|
||||
|
||||
def normalize_model_for_upload(model_dict: dict) -> dict:
|
||||
"""将 Registry YAML 的 model 字段映射为后端 DeviceModel 结构化格式。
|
||||
|
||||
保留所有原始字段，额外做以下标准化：
|
||||
1. 自动推断 format（如果 YAML 未指定）
|
||||
2. 将 children_mesh 扁平字段映射为结构化 children_mesh 对象
|
||||
"""
|
||||
if not model_dict:
|
||||
return model_dict
|
||||
|
||||
result = {**model_dict}
|
||||
|
||||
# 自动推断 format
|
||||
if "format" not in result and result.get("path"):
|
||||
path = result["path"]
|
||||
if path.endswith(".xacro"):
|
||||
result["format"] = "xacro"
|
||||
elif path.endswith(".urdf"):
|
||||
result["format"] = "urdf"
|
||||
elif path.endswith(".stl"):
|
||||
result["format"] = "stl"
|
||||
elif path.endswith((".gltf", ".glb")):
|
||||
result["format"] = "gltf"
|
||||
|
||||
# 将 children_mesh 扁平字段 → 结构化 children_mesh 对象
|
||||
if "children_mesh" in result and isinstance(result["children_mesh"], str):
|
||||
cm_path = result.pop("children_mesh")
|
||||
cm_tf = result.pop("children_mesh_tf", None)
|
||||
cm_oss = result.pop("children_mesh_path", None)
|
||||
result["children_mesh"] = {
|
||||
"path": cm_oss or cm_path,
|
||||
"format": "stl" if cm_path.endswith(".stl") else "gltf",
|
||||
"default_visible": True,
|
||||
}
|
||||
if cm_tf and len(cm_tf) >= 3:
|
||||
result["children_mesh"]["local_offset"] = cm_tf[:3]
|
||||
if cm_tf and len(cm_tf) >= 6:
|
||||
result["children_mesh"]["local_rotation"] = cm_tf[3:6]
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
"""
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
@@ -16,11 +58,18 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = _normalize_device(device_info)
|
||||
normalized = _normalize_device(device_info)
|
||||
# 标准化 model 字段
|
||||
if normalized.get("model"):
|
||||
normalized["model"] = normalize_model_for_upload(normalized["model"])
|
||||
devices_to_register[device_info["id"]] = normalized
|
||||
logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
# 标准化 model 字段
|
||||
if resource_info.get("model"):
|
||||
resource_info["model"] = normalize_model_for_upload(resource_info["model"])
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
|
||||
@@ -10,170 +10,29 @@ import shutil
|
||||
import sys
|
||||
|
||||
|
||||
_PATCH_MARKER = "# UniLabOS DLL Patch"
|
||||
_PATCH_END_MARKER = "# End UniLabOS DLL Patch"
|
||||
|
||||
# 75 = EX_TEMPFAIL: 临时失败、重试即可，避免与业务退出码冲突
|
||||
_RESTART_EXIT_CODE = 75
|
||||
|
||||
|
||||
def _build_dll_patch(lib_bin: str, preload_pyd: str = "") -> str:
|
||||
"""生成一段加在目标文件顶部的 DLL 加载补丁源码。
|
||||
|
||||
- 始终把 ``lib_bin`` 加入 DLL 搜索路径，并把 handle 挂在模块属性上，
|
||||
防止 GC 清掉搜索路径（``os.add_dll_directory`` 的句柄被回收时
|
||||
目录会被移除）。
|
||||
- 可选地用 ``ctypes.CDLL`` 预加载一个 .pyd，把它的依赖 DLL 提前装入
|
||||
进程内存，作为 ``rclpy._rclpy_pybind11`` 这类首次加载点的兜底。
|
||||
"""
|
||||
# 用 repr() 序列化路径：Python 解析 repr 的结果会还原成原始字符串，
|
||||
# 不需要也不能再叠加 raw-string 前缀（叠了反而会让 \\ 变成两个反斜杠）。
|
||||
lines = [
|
||||
_PATCH_MARKER,
|
||||
"import os as _ulab_os",
|
||||
f"_ulab_p = {lib_bin!r}",
|
||||
'if hasattr(_ulab_os, "add_dll_directory") and _ulab_os.path.isdir(_ulab_p):',
|
||||
" try: _UNILAB_DLL_HANDLE = _ulab_os.add_dll_directory(_ulab_p)",
|
||||
" except Exception: _UNILAB_DLL_HANDLE = None",
|
||||
]
|
||||
if preload_pyd:
|
||||
lines.extend(
|
||||
[
|
||||
"import ctypes as _ulab_ctypes",
|
||||
f"try: _ulab_ctypes.CDLL({preload_pyd!r})",
|
||||
"except Exception: pass",
|
||||
]
|
||||
)
|
||||
lines.append(_PATCH_END_MARKER)
|
||||
return "\n".join(lines) + "\n"
|
||||
|
||||
|
||||
def _apply_dll_patch(file_path: str, lib_bin: str, preload_pyd: str = "") -> bool:
|
||||
"""把 DLL 补丁前置到 ``file_path``。文件不存在或已打过补丁则返回 False。"""
|
||||
if not os.path.isfile(file_path):
|
||||
return False
|
||||
with open(file_path, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
if _PATCH_MARKER in content:
|
||||
return False
|
||||
shutil.copy2(file_path, file_path + ".bak")
|
||||
with open(file_path, "w", encoding="utf-8") as f:
|
||||
f.write(_build_dll_patch(lib_bin, preload_pyd) + content)
|
||||
return True
|
||||
|
||||
|
||||
def _print_restart_banner(patched_files):
|
||||
"""打印重启提示并以 EX_TEMPFAIL 退出。
|
||||
|
||||
- 不使用 ANSI 颜色码：Windows 旧版 cmd / PowerShell 5 默认不开 VT 处理，
|
||||
会把 ``\\033[1;33m`` 当做字面字符显示，反而让用户看不到正文。
|
||||
- 同时写入 stderr 与 stdout：某些上层 launcher / supervisor 只重定向
|
||||
其中一路，写两遍能保证用户至少看到一份。
|
||||
- 写入前防御性把流切到 UTF-8 with replace：``main.py`` 里已经做过一次，
|
||||
但本模块也可能被绕过 ``main.py`` 的代码路径直接 import；reconfigure
|
||||
失败也只是退回 errors=replace，不影响整体流程。
|
||||
"""
|
||||
if sys.platform == "win32":
|
||||
for _stream in (sys.stdout, sys.stderr):
|
||||
try:
|
||||
_stream.reconfigure(encoding="utf-8", errors="replace") # type: ignore[attr-defined]
|
||||
except (AttributeError, OSError):
|
||||
pass
|
||||
|
||||
bar = "#" * 78
|
||||
files_lines = [f"[UniLabOS] - {p}" for p in patched_files]
|
||||
body = "\n".join(
|
||||
[
|
||||
"",
|
||||
bar,
|
||||
bar,
|
||||
"##",
|
||||
"## [UniLabOS] Windows + conda 下检测到 DLL 加载失败，已自动打补丁。",
|
||||
"## [UniLabOS] DLL load failure detected on Windows + conda;",
|
||||
"## [UniLabOS] the following files have been auto-patched:",
|
||||
"##",
|
||||
*[f"## {line}" for line in files_lines],
|
||||
"##",
|
||||
"## [UniLabOS] 当前进程的 rclpy 状态已损坏，补丁需要在新进程才生效。",
|
||||
"## [UniLabOS] The current process is unusable; the patch only takes",
|
||||
"## [UniLabOS] effect on a fresh process.",
|
||||
"##",
|
||||
"## >>> 请重新运行刚才的命令 / Please re-run the same command. <<<",
|
||||
"##",
|
||||
bar,
|
||||
bar,
|
||||
"",
|
||||
]
|
||||
)
|
||||
|
||||
for stream in (sys.stderr, sys.stdout):
|
||||
try:
|
||||
stream.write(body)
|
||||
stream.flush()
|
||||
except Exception:
|
||||
try:
|
||||
print(body, file=stream)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
sys.exit(_RESTART_EXIT_CODE)
|
||||
|
||||
|
||||
def patch_rclpy_dll_windows():
|
||||
"""在 Windows + conda 环境下修复 rclpy / rosidl typesupport 的 DLL 加载。
|
||||
|
||||
背景：conda 安装的 ros 系列包，其原生扩展依赖 ``$CONDA_PREFIX/Library/bin``
|
||||
下的 DLL；只有 conda 环境被正确激活、且 PATH 中含 ``Library/bin`` 时，
|
||||
``os.add_dll_directory`` 才能找到它们。当从快捷方式 / IDE / 子进程 /
|
||||
没激活的 shell 启动 ``unilab`` 时，会出现 ``DLL load failed``。
|
||||
|
||||
本函数会:
|
||||
1) 修补 ``rclpy/impl/implementation_singleton.py`` —— rclpy 自身的 C 扩展入口；
|
||||
2) 修补 ``rpyutils/add_dll_directories.py`` —— 所有 ``*_s__rosidl_typesupport_c.pyd``
|
||||
（``geometry_msgs`` / ``std_msgs`` / ``sensor_msgs`` 等）的统一加载入口。
|
||||
|
||||
打完补丁后**必须重启进程**才能生效（当前进程的 rclpy 已经发生过
|
||||
``ImportError``，子模块仍处于损坏状态）。因此函数会主动退出，并在
|
||||
stdout/stderr 同时打印明显的重启提示，避免用户被后续报错淹没。
|
||||
"""
|
||||
"""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 # noqa: F401
|
||||
import rclpy
|
||||
|
||||
return
|
||||
except ImportError as e:
|
||||
if not str(e).startswith("DLL load failed"):
|
||||
return
|
||||
|
||||
cp = os.environ["CONDA_PREFIX"]
|
||||
lib_bin = os.path.join(cp, "Library", "bin")
|
||||
site_packages = os.path.join(cp, "Lib", "site-packages")
|
||||
if not os.path.isdir(lib_bin):
|
||||
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
|
||||
|
||||
patched = []
|
||||
|
||||
# 1) rclpy 自身的入口
|
||||
rclpy_impl = os.path.join(site_packages, "rclpy", "impl", "implementation_singleton.py")
|
||||
rclpy_pyd_matches = glob.glob(os.path.join(site_packages, "rclpy", "_rclpy_pybind11*.pyd"))
|
||||
rclpy_pyd = rclpy_pyd_matches[0] if rclpy_pyd_matches else ""
|
||||
if rclpy_pyd and _apply_dll_patch(rclpy_impl, lib_bin, preload_pyd=rclpy_pyd):
|
||||
patched.append(rclpy_impl)
|
||||
|
||||
# 2) rpyutils —— 所有 rosidl typesupport pyd 的加载点；放在 rclpy 之后
|
||||
# 例：geometry_msgs/geometry_msgs_s__rosidl_typesupport_c.pyd
|
||||
rpyutils_dll = os.path.join(site_packages, "rpyutils", "add_dll_directories.py")
|
||||
if _apply_dll_patch(rpyutils_dll, lib_bin):
|
||||
patched.append(rpyutils_dll)
|
||||
|
||||
if not patched:
|
||||
# 已经打过补丁但 rclpy 仍然加载失败：原因不是缺 DLL 搜索路径，
|
||||
# 不要再次打补丁污染文件，让上层看到真实的 ImportError。
|
||||
return
|
||||
|
||||
_print_restart_banner(patched)
|
||||
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()
|
||||
|
||||
@@ -36,9 +36,6 @@ class HTTPClient:
|
||||
auth_secret = BasicConfig.auth_secret()
|
||||
self.auth = auth_secret
|
||||
info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
|
||||
# 复用 TCP/TLS 连接，避免每次请求重新握手
|
||||
self._session = requests.Session()
|
||||
self._session.headers.update({"Authorization": f"Lab {self.auth}"})
|
||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||
|
||||
def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
@@ -51,7 +48,7 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material/edge",
|
||||
json={
|
||||
"edges": resources,
|
||||
@@ -78,28 +75,25 @@ class HTTPClient:
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
# dump() 只调用一次，复用给文件保存和 HTTP 请求
|
||||
nodes_info = [x for xs in resources.dump() for x in xs]
|
||||
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))
|
||||
# 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}
|
||||
payload = {"nodes": nodes_info, "mount_uuid": mount_uuid}
|
||||
body_bytes = _fast_dumps(payload)
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "wb") as f:
|
||||
f.write(_fast_dumps_pretty(payload))
|
||||
http_headers = {"Content-Type": "application/json"}
|
||||
if not self.initialized or first_add:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
data=body_bytes,
|
||||
headers=http_headers,
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=60,
|
||||
)
|
||||
else:
|
||||
response = self._session.put(
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
data=body_bytes,
|
||||
headers=http_headers,
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=10,
|
||||
)
|
||||
|
||||
@@ -117,7 +111,6 @@ class HTTPClient:
|
||||
uuid_mapping[i["uuid"]] = i["cloud_uuid"]
|
||||
else:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
logger.trace(f"添加物料失败: {nodes_info}")
|
||||
for u, n in old_uuids.items():
|
||||
if u in uuid_mapping:
|
||||
n.res_content.uuid = uuid_mapping[u]
|
||||
@@ -138,7 +131,7 @@ class HTTPClient:
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material/query",
|
||||
json={"uuids": uuid_list, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -152,7 +145,6 @@ class HTTPClient:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
else:
|
||||
data = res["data"]["nodes"]
|
||||
logger.trace(f"resource_tree_get查询到物料: {data}")
|
||||
return data
|
||||
else:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
@@ -170,14 +162,14 @@ class HTTPClient:
|
||||
if not self.initialized:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = self._session.put(
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -204,7 +196,7 @@ class HTTPClient:
|
||||
"""
|
||||
with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
|
||||
f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
|
||||
response = self._session.get(
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -245,14 +237,14 @@ class HTTPClient:
|
||||
if not self.initialized:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = self._session.put(
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -282,7 +274,7 @@ class HTTPClient:
|
||||
with open(file_path, "rb") as file:
|
||||
files = {"files": file}
|
||||
logger.info(f"上传文件: {file_path} 到 {scene}")
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/api/account/file_upload/{scene}",
|
||||
files=files,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -322,7 +314,7 @@ class HTTPClient:
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
}
|
||||
response = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
data=compressed_body,
|
||||
headers=headers,
|
||||
@@ -356,7 +348,7 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = self._session.get(
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/edge/material/download",
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=(3, 30),
|
||||
@@ -417,7 +409,7 @@ class HTTPClient:
|
||||
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 = self._session.post(
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/workflow/owner/import",
|
||||
json=payload,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
@@ -476,6 +468,63 @@ class HTTPClient:
|
||||
logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
|
||||
return {"code": response.status_code, "message": response.text}
|
||||
|
||||
# ──────────────────── 模型资产管理 ────────────────────
|
||||
|
||||
def get_model_upload_urls(
|
||||
self, template_uuid: str, files: list[dict],
|
||||
) -> dict | None:
|
||||
"""获取模型文件预签名上传 URL。
|
||||
|
||||
Args:
|
||||
template_uuid: 设备模板 UUID
|
||||
files: 文件列表 [{"name": "...", "version": "1.0.0"}]
|
||||
|
||||
Returns:
|
||||
{"files": [{"name": "...", "upload_url": "...", "path": "..."}]}
|
||||
"""
|
||||
try:
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/square/template/{template_uuid}/model/upload-urls",
|
||||
json={"files": files},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
data = response.json().get("data")
|
||||
return data
|
||||
logger.error(f"获取模型上传 URL 失败: {response.status_code}, {response.text}")
|
||||
except Exception as e:
|
||||
logger.error(f"获取模型上传 URL 异常: {e}")
|
||||
return None
|
||||
|
||||
def publish_model(
|
||||
self, template_uuid: str, version: str, entry_file: str,
|
||||
) -> dict | None:
|
||||
"""确认模型上传完成，发布新版本。
|
||||
|
||||
Args:
|
||||
template_uuid: 设备模板 UUID
|
||||
version: 模型版本
|
||||
entry_file: 入口文件名
|
||||
|
||||
Returns:
|
||||
{"path": "...", "oss_dir": "...", "version": "..."}
|
||||
"""
|
||||
try:
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/square/template/{template_uuid}/model/publish",
|
||||
json={"version": version, "entry_file": entry_file},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
data = response.json().get("data")
|
||||
return data
|
||||
logger.error(f"发布模型失败: {response.status_code}, {response.text}")
|
||||
except Exception as e:
|
||||
logger.error(f"发布模型异常: {e}")
|
||||
return None
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
|
||||
@@ -320,7 +320,6 @@ def job_add(req: JobAddReq) -> JobData:
|
||||
action_name=action_name,
|
||||
task_id=task_id,
|
||||
job_id=job_id,
|
||||
notebook_id=req.notebook_id,
|
||||
device_action_key=device_action_key,
|
||||
)
|
||||
|
||||
|
||||
@@ -59,7 +59,6 @@ class QueueItem:
|
||||
action_name: str
|
||||
task_id: str
|
||||
job_id: str
|
||||
notebook_id: str
|
||||
device_action_key: str
|
||||
next_run_time: float = 0 # 下次执行时间戳
|
||||
retry_count: int = 0 # 重试次数
|
||||
@@ -72,7 +71,6 @@ class JobInfo:
|
||||
job_id: str
|
||||
task_id: str
|
||||
device_id: str
|
||||
notebook_id: str
|
||||
action_name: str
|
||||
device_action_key: str
|
||||
status: JobStatus
|
||||
@@ -541,10 +539,7 @@ class MessageProcessor:
|
||||
self.reconnect_count += 1
|
||||
backoff = WSConfig.reconnect_interval
|
||||
logger.info(
|
||||
"[MessageProcessor] 即将在 %s 秒后重连 (已尝试 %s/%s)",
|
||||
backoff,
|
||||
self.reconnect_count,
|
||||
WSConfig.max_reconnect_attempts,
|
||||
f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
)
|
||||
await asyncio.sleep(backoff)
|
||||
else:
|
||||
@@ -708,7 +703,6 @@ class MessageProcessor:
|
||||
action_name = data.get("action_name", "")
|
||||
task_id = data.get("task_id", "")
|
||||
job_id = data.get("job_id", "")
|
||||
notebook_id = data.get("notebook_id", "")
|
||||
|
||||
if not all([device_id, action_name, task_id, job_id]):
|
||||
logger.error("[MessageProcessor] Missing required fields in query_action_state")
|
||||
@@ -724,7 +718,6 @@ class MessageProcessor:
|
||||
job_id=job_id,
|
||||
task_id=task_id,
|
||||
device_id=device_id,
|
||||
notebook_id=notebook_id,
|
||||
action_name=action_name,
|
||||
device_action_key=device_action_key,
|
||||
status=JobStatus.QUEUE,
|
||||
@@ -739,27 +732,13 @@ class MessageProcessor:
|
||||
if can_start_immediately:
|
||||
# 可以立即开始
|
||||
await self._send_action_state_response(
|
||||
device_id,
|
||||
action_name,
|
||||
task_id,
|
||||
job_id,
|
||||
"query_action_status",
|
||||
True,
|
||||
0,
|
||||
notebook_id=notebook_id,
|
||||
device_id, action_name, task_id, job_id, "query_action_status", True, 0
|
||||
)
|
||||
logger.trace(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,
|
||||
notebook_id=notebook_id,
|
||||
device_id, action_name, task_id, job_id, "query_action_status", False, 10
|
||||
)
|
||||
logger.trace(f"[MessageProcessor] Job {job_log} queued")
|
||||
|
||||
@@ -775,38 +754,6 @@ class MessageProcessor:
|
||||
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,
|
||||
notebook_id=req.notebook_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)
|
||||
existing_job = 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
|
||||
|
||||
if existing_job and req.notebook_id and not existing_job.notebook_id:
|
||||
existing_job.notebook_id = req.notebook_id
|
||||
notebook_id = req.notebook_id or (existing_job.notebook_id if existing_job else "")
|
||||
|
||||
success = self.device_manager.start_job(req.job_id)
|
||||
if not success:
|
||||
logger.error(f"[MessageProcessor] Failed to start job {job_log}")
|
||||
@@ -822,7 +769,6 @@ class MessageProcessor:
|
||||
action_name=req.action,
|
||||
task_id=req.task_id,
|
||||
job_id=req.job_id,
|
||||
notebook_id=notebook_id,
|
||||
device_action_key=device_action_key,
|
||||
)
|
||||
|
||||
@@ -862,7 +808,6 @@ class MessageProcessor:
|
||||
"job_id": req.job_id,
|
||||
"task_id": req.task_id,
|
||||
"device_id": req.device_id,
|
||||
"notebook_id": queue_item.notebook_id,
|
||||
"action_name": req.action,
|
||||
"status": "failed",
|
||||
"feedback_data": {},
|
||||
@@ -884,7 +829,6 @@ class MessageProcessor:
|
||||
"query_action_status",
|
||||
True,
|
||||
0,
|
||||
notebook_id=next_job.notebook_id,
|
||||
)
|
||||
next_job_log = format_job_log(
|
||||
next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
@@ -1131,15 +1075,7 @@ class MessageProcessor:
|
||||
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,
|
||||
notebook_id: str = "",
|
||||
self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
|
||||
):
|
||||
"""发送动作状态响应"""
|
||||
message = {
|
||||
@@ -1150,9 +1086,8 @@ class MessageProcessor:
|
||||
"action_name": action_name,
|
||||
"task_id": task_id,
|
||||
"job_id": job_id,
|
||||
"notebook_id": notebook_id,
|
||||
"free": free,
|
||||
"need_more": need_more + 1,
|
||||
"need_more": need_more,
|
||||
},
|
||||
}
|
||||
|
||||
@@ -1233,7 +1168,6 @@ class QueueProcessor:
|
||||
action_name=timeout_job.action_name,
|
||||
task_id=timeout_job.task_id,
|
||||
job_id=timeout_job.job_id,
|
||||
notebook_id=timeout_job.notebook_id,
|
||||
device_action_key=timeout_job.device_action_key,
|
||||
)
|
||||
# 发布超时失败状态，这会触发正常的job完成流程
|
||||
@@ -1292,9 +1226,8 @@ class QueueProcessor:
|
||||
"action_name": job_info.action_name,
|
||||
"task_id": job_info.task_id,
|
||||
"job_id": job_info.job_id,
|
||||
"notebook_id": job_info.notebook_id,
|
||||
"free": False,
|
||||
"need_more": 10 + 1,
|
||||
"need_more": 10,
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
@@ -1310,13 +1243,7 @@ class QueueProcessor:
|
||||
if not queued_jobs:
|
||||
return
|
||||
|
||||
queue_summary = {}
|
||||
for j in queued_jobs:
|
||||
key = f"{j.device_id}/{j.action_name}"
|
||||
queue_summary[key] = queue_summary.get(key, 0) + 1
|
||||
logger.debug(
|
||||
f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs: {queue_summary}"
|
||||
)
|
||||
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，
|
||||
@@ -1332,9 +1259,8 @@ class QueueProcessor:
|
||||
"action_name": job_info.action_name,
|
||||
"task_id": job_info.task_id,
|
||||
"job_id": job_info.job_id,
|
||||
"notebook_id": job_info.notebook_id,
|
||||
"free": False,
|
||||
"need_more": 10 + 1,
|
||||
"need_more": 10,
|
||||
},
|
||||
}
|
||||
success = self.message_processor.send_message(message)
|
||||
@@ -1378,15 +1304,12 @@ class QueueProcessor:
|
||||
"action_name": next_job.action_name,
|
||||
"task_id": next_job.task_id,
|
||||
"job_id": next_job.job_id,
|
||||
"notebook_id": next_job.notebook_id,
|
||||
"free": True,
|
||||
"need_more": 0,
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
# next_job_log = format_job_log(
|
||||
# next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
|
||||
# )
|
||||
# next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
|
||||
# logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
|
||||
|
||||
# 立即触发下一轮状态检查
|
||||
@@ -1420,10 +1343,6 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
|
||||
self.queue_processor = QueueProcessor(self.device_manager, self.message_processor)
|
||||
|
||||
# running状态debounce缓存: {job_id: (last_send_timestamp, last_feedback_data)}
|
||||
self._job_running_last_sent: Dict[str, tuple] = {}
|
||||
self._job_running_debounce_interval: float = 10.0 # 秒
|
||||
|
||||
# 设置相互引用
|
||||
self.message_processor.set_queue_processor(self.queue_processor)
|
||||
self.message_processor.set_websocket_client(self)
|
||||
@@ -1515,6 +1434,21 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
self.message_processor.send_message(message)
|
||||
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
|
||||
"""发布高频关节状态（push_joint_state，不写 DB）"""
|
||||
if self.is_disabled or not self.is_connected():
|
||||
return
|
||||
|
||||
message = {
|
||||
"action": "push_joint_state",
|
||||
"data": {
|
||||
"node_uuid": node_uuid,
|
||||
"joint_states": joint_states or {},
|
||||
"resource_poses": resource_poses or {},
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
) -> None:
|
||||
@@ -1523,39 +1457,28 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
logger.debug(f"[WebSocketClient] Not connected, cannot publish job status for job_id: {item.job_id}")
|
||||
return
|
||||
|
||||
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
|
||||
|
||||
# 拦截最终结果状态，与原版本逻辑一致
|
||||
if status in ["success", "failed"]:
|
||||
self._job_running_last_sent.pop(item.job_id, None)
|
||||
|
||||
host_node = HostNode.get_instance(0)
|
||||
if host_node:
|
||||
# 从HostNode的device_action_status中移除job_id
|
||||
try:
|
||||
host_node._device_action_status[item.device_action_key].job_ids.pop(item.job_id, None)
|
||||
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}")
|
||||
|
||||
# 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)
|
||||
|
||||
# running状态按job_id做debounce，内容变化时仍然上报
|
||||
if status == "running":
|
||||
now = time.time()
|
||||
cached = self._job_running_last_sent.get(item.job_id)
|
||||
if cached is not None:
|
||||
last_ts, last_data = cached
|
||||
if now - last_ts < self._job_running_debounce_interval and last_data == feedback_data:
|
||||
logger.trace(f"[WebSocketClient] Job status debounced (skip): {job_log} - {status}")
|
||||
return
|
||||
self._job_running_last_sent[item.job_id] = (now, feedback_data)
|
||||
|
||||
# 发送job状态消息
|
||||
message = {
|
||||
"action": "job_status",
|
||||
"data": {
|
||||
"job_id": item.job_id,
|
||||
"task_id": item.task_id,
|
||||
"device_id": item.device_id,
|
||||
"notebook_id": item.notebook_id,
|
||||
"action_name": item.action_name,
|
||||
"status": status,
|
||||
"feedback_data": feedback_data,
|
||||
@@ -1565,6 +1488,7 @@ 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}")
|
||||
|
||||
def send_ping(self, ping_id: str, timestamp: float) -> None:
|
||||
|
||||
@@ -46,7 +46,7 @@ class WSConfig:
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://leap-lab.bohrium.com/api/v1"
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1"
|
||||
|
||||
|
||||
# ROS配置
|
||||
|
||||
@@ -1,78 +0,0 @@
|
||||
# Donghua EC 用户指南（UniLab 接入版）
|
||||
|
||||
## 概述
|
||||
|
||||
- 提供两套使用方式：
|
||||
- 测试封装动作：一条指令完成“启动实验 → 实时采样写文件 → 导出数据”，可选自动停止。
|
||||
- 基础启动动作：按需组合“启动实验、实时输出、停止、导出”，更灵活可编排。
|
||||
|
||||
## 设备配置
|
||||
|
||||
- `interface_dir`：DHInterface 目录（包含 `ECCore.dll` 与配置文件），示例：`d:\Uni-Lab-OS\Uni-Lab-OS\unilabos\devices\donghua_ec\x64release\DHInterface`（注册见 `unilabos/registry/devices/donghua_ec.yaml:1940`）。
|
||||
- `dll_path`（可选）：若与 `interface_dir` 不一致，可直接指定 `ECCore.dll` 完整路径（`donghua_ec.yaml:1936`）。
|
||||
- 默认通道：`machine_id`（`donghua_ec.yaml:1944`）。
|
||||
|
||||
## 初始化
|
||||
|
||||
- 后端自动：设备注册后会自动调用 `auto-initialize`（加载 DLL）与 `auto-post_init`（注入），无需前端干预（`donghua_ec.yaml:27`、`donghua_ec.yaml:48`）。
|
||||
- 手动（可选）：
|
||||
- 调用 `auto-initialize`：`{"device_id":"<设备ID>","action":"auto-initialize"}`
|
||||
- 调用 `auto-post_init`：`{"device_id":"<设备ID>","action":"auto-post_init"}`
|
||||
|
||||
## 动作总览
|
||||
|
||||
- 测试封装动作（均要求传入 `output_dir`）：
|
||||
- `test_open_circuit_energy`（默认 `stop_after=true`，使用轮询检测实验结束后再停止与导出，不再使用 `wait_seconds`）
|
||||
- `test_eis`（默认 `stop_after=false`，避免提前结束，`donghua_ec.yaml:1480`）
|
||||
- `test_gitt`（默认 `stop_after=false`，`donghua_ec.yaml:1627`）
|
||||
- `test_linear_scan_voltammetry`（默认 `stop_after=false`，必填 `output_dir`，参考 `donghua_ec.yaml:1750` 及后续）
|
||||
- 基础启动与组合：
|
||||
- `start_open_circuit_energy`、`start_eis`、`start_gitt`、`start_linear_scan_voltammetry`
|
||||
- 实时输出：`start_realtime_output` / `stop_realtime_output`（`donghua_ec.yaml:1068`、`donghua_ec.yaml:1155`）
|
||||
- 停止实验：`stop_experiment`（`donghua_ec.yaml:1118`）
|
||||
- 导出数据：`export_*_data`（如 `export_eis_data`、`export_gitt_data` 等，均要求 `output_dir/dest_dir`）
|
||||
|
||||
## 快速测试流程（推荐）
|
||||
|
||||
- 开路电位：
|
||||
- 请求：
|
||||
```json
|
||||
{"device_id":"<设备ID>","action":"test_open_circuit_energy","action_args":{"output_dir":"d:/data/oc","interval":0.5,"stop_after":true}}
|
||||
```
|
||||
- 返回包含：`success`、`realtime_file`、`export_files`、`export_dest`。
|
||||
- 阻抗（EIS）：
|
||||
- 请求（只需给导出目录，其他用默认即可）：
|
||||
```json
|
||||
{"device_id":"<设备ID>","action":"test_eis","action_args":{"output_dir":"d:/data/eis","start_freq":10000,"end_freq":0.1,"amplitude":0.01,"point_count":10,"interval":0.5}}
|
||||
```
|
||||
- 默认不自动停止（`stop_after=false`），可在完成采样后继续扫频；若需自动停，传 `stop_after=true`。
|
||||
- GITT：
|
||||
- 请求：
|
||||
```json
|
||||
{"device_id":"<设备ID>","action":"test_gitt","action_args":{"output_dir":"d:/data/gitt","current":1.0,"time_per_point_cc":0.1,"continue_time_cc":60,"time_per_point_oc":0.1,"continue_time_oc":60,"is_voltage_trig":true,"voltage_or_current_trig_direction":0,"voltage_or_current_trig_value":0,"interval":0.5}}
|
||||
```
|
||||
|
||||
## 基础启动与组合（灵活编排）
|
||||
|
||||
- 启动 EIS：
|
||||
- `{"device_id":"<设备ID>","action":"start_eis","action_args":{"start_freq":10000,"end_freq":0.1,"amplitude":0.01,"point_count":10}}`
|
||||
- 开启实时输出：
|
||||
- `{"device_id":"<设备ID>","action":"start_realtime_output","action_args":{"interval":0.5}}`
|
||||
- 关闭实时输出并获取文件：
|
||||
- `{"device_id":"<设备ID>","action":"stop_realtime_output"}`
|
||||
- 导出数据到目录：
|
||||
- `{"device_id":"<设备ID>","action":"export_eis_data","action_args":{"output_dir":"d:/data/eis"}}`
|
||||
- 停止实验（可选）：
|
||||
- `{"device_id":"<设备ID>","action":"stop_experiment"}`
|
||||
|
||||
## 重要说明
|
||||
|
||||
- 必填导出目录：所有 `test_*` 和 `export_*` 动作需要提供 `output_dir`（或 `dest_dir`），否则不会复制数据到目标位置（`donghua_ec.yaml:1545`、`donghua_ec.yaml:1710`）。
|
||||
- 关于提前结束：非开路的测试封装动作默认 `stop_after=false`，避免在实时采样后调用 `stop_experiment`，从而导致频率扫描未达到 `end_freq` 就停止（修复见 `donghua_ec.yaml:1480`、`donghua_ec.yaml:1627`）。
|
||||
- 实时文件位置：若未指定 `dest_dir`，实时输出会写入 `interface_dir/SourceData/<日期>/<实验子目录>`（实现参考 `unilabos/devices/donghua_ec/donghua_ec.py:1042`）。
|
||||
|
||||
## 数据字段（参考）
|
||||
|
||||
- EIS 拆分：`time/zre/zim/z/freq/phase/edc`（实现参考 `unilabos/devices/donghua_ec/donghua_ec.py:1109`）。
|
||||
- 线性扫描与循环伏安：`time/potential/current` 等（实现参考 `donghua_ec.py:1111`、`donghua_ec.py:1114`）。
|
||||
- 开路电位：写入时间序列与电位（`donghua_ec.py:1045`）。
|
||||
@@ -1,3 +0,0 @@
|
||||
from .donghua_ec import DonghuaEC
|
||||
|
||||
__all__ = ["DonghuaEC"]
|
||||
@@ -1,24 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "donghua_ec_device",
|
||||
"name": "Donghua_EC",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "donghua_ec",
|
||||
"position": {
|
||||
"x": 620.6111111111111,
|
||||
"y": 171,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"interface_dir": "D:/Uni-Lab-OS/Uni-Lab-OS/unilabos/devices/donghua_ec/x64release/DHInterface",
|
||||
"dll_path": "",
|
||||
"machine_id": 0
|
||||
},
|
||||
"data": {},
|
||||
"children": []
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,358 +0,0 @@
|
||||
Time(s) E(mV) I(mA) Q(mC) Capacity(mAh) Energy(Wh) P(W)
|
||||
0.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
Time(s) E(mV) I(mA) Q(mC) Capacity(mAh) Energy(Wh) P(W)
|
||||
0.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
@@ -1,398 +0,0 @@
|
||||
Time(s) E(mV) I(mA) Q(mC) Capacity(mAh) Energy(Wh) P(W)
|
||||
0.100000 1992.742065 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.200000 1992.826050 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.300000 1993.161743 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.400000 1993.245605 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.500000 1993.077881 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.600000 1992.154907 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.700000 1992.909912 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.800000 1993.245605 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.900000 1993.077881 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.000000 1993.161743 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.100000 1992.826050 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.200000 1993.245605 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.300000 1993.161743 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.400000 1992.742065 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.500000 1992.993896 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.600000 1992.742065 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.700000 1992.909912 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.800000 1993.245605 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.900000 1993.245605 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.000000 1993.245605 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.100000 1993.077881 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.200000 1993.245605 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.300000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.400000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.500000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.600000 1993.916748 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.700000 1994.000732 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.800000 1993.413452 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.900000 1992.993896 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.000000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.100000 1993.581177 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.200000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.300000 1993.413452 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.400000 1993.497314 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.500000 1993.161743 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.600000 1993.916748 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.700000 1993.749023 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.800000 1994.000732 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.900000 1994.084717 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.000000 1993.749023 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.100000 1993.916748 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.200000 1993.497314 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.300000 1993.749023 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.400000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.500000 1993.413452 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.600000 1993.749023 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.700000 1994.168579 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.800000 1993.916748 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.900000 1993.497314 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.000000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.100000 1994.084717 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.200000 1994.084717 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.300000 1994.420288 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.400000 1994.504150 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.500000 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.600000 1994.168579 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.700000 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.800000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.900000 1994.336426 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.000000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.100000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.200000 1994.671997 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.300000 1994.504150 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.400000 1994.923706 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.500000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.600000 1995.427246 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.700000 1994.923706 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.800000 1995.678833 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.900000 1995.762817 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.000000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.100000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.200000 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.300000 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.400000 1994.671997 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.500000 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.600000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.700000 1995.007568 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.800000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.900000 1994.923706 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.000000 1995.007568 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.100000 1996.685791 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.200000 1995.762817 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.300000 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.400000 1994.420288 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.500000 1993.329590 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.600000 1993.077881 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.700000 1992.742065 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.800000 1993.245605 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.900000 1993.329590 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.000000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.100000 1994.336426 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.200000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.300000 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.400000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.500000 1995.343262 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.600000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.700000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.800000 1995.427246 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.900000 1995.594971 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.000000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.100000 1994.504150 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.200000 1994.336426 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.300000 1994.000732 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.400000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.500000 1993.329590 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.600000 1994.000732 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.700000 1994.671997 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.800000 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.900000 1994.671997 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.000000 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.100000 1994.923706 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.200000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.300000 1996.014404 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.400000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.500000 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.600000 1995.007568 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.700000 1995.343262 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.800000 1996.014404 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.900000 1995.762817 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.000000 1995.678833 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.100000 1996.434082 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.200000 1996.098389 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.300000 1995.343262 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.400000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.500000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.600000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.700000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.800000 1995.678833 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.900000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.000000 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.100000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.200000 1995.007568 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.300000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.400000 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.500000 1995.762817 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.600000 1995.930542 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.700000 1995.343262 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.800000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.900000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.000000 1995.678833 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.100000 1996.182251 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.200000 1996.434082 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.300000 1995.846680 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.400000 1996.350220 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.500000 1996.098389 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.600000 1995.343262 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.700000 1995.427246 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.800000 1995.427246 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.900000 1995.511108 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.000000 1995.678833 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.100000 1995.343262 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.200000 1995.007568 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.300000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.400000 1995.427246 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.500000 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.600000 1995.175415 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.700000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.800000 1994.671997 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.900000 1993.665161 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.000000 1994.084717 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.100000 1994.168579 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.200001 1994.252563 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.299999 1994.839722 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.400000 1996.350220 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.500000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.600000 1994.588135 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.700001 1994.671997 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.799999 1995.259399 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.900000 1995.427246 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.000000 1995.427246 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.100000 1995.091431 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.200001 1994.839722 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.299999 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.400000 1995.007568 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.500000 1994.588135 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.600000 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.700001 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.799999 1994.420288 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.900000 1994.336426 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
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18.100000 1994.755859 0.000000 0.000000 0.000000 0.000000 0.000000
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18.200001 1994.671997 0.000000 0.000000 0.000000 0.000000 0.000000
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18.299999 1994.923706 0.000000 0.000000 0.000000 0.000000 0.000000
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18.400000 1995.007568 0.000000 0.000000 0.000000 0.000000 0.000000
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18.500000 1994.839722 0.000000 0.000000 0.000000 0.000000 0.000000
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18.600000 1993.832886 0.000000 0.000000 0.000000 0.000000 0.000000
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18.700001 1994.588135 0.000000 0.000000 0.000000 0.000000 0.000000
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18.900000 1994.839722 0.000000 0.000000 0.000000 0.000000 0.000000
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19.100000 1994.671997 0.000000 0.000000 0.000000 0.000000 0.000000
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19.799999 1995.007568 0.000000 0.000000 0.000000 0.000000 0.000000
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Time(s) E(mV) I(mA) Q(mC) Capacity(mAh) Energy(Wh) P(W)
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0.100000 2057.013672 0.000000 0.000000 0.000000 0.000000 0.000000
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0.200000 2057.684814 0.000000 0.000000 0.000000 0.000000 0.000000
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0.400000 2058.020508 0.000000 0.000000 0.000000 0.000000 0.000000
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0.500000 2058.523682 0.000000 0.000000 0.000000 0.000000 0.000000
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0.600000 2058.775635 0.000000 0.000000 0.000000 0.000000 0.000000
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0.700000 2058.775635 0.000000 0.000000 0.000000 0.000000 0.000000
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0.800000 2058.859619 0.000000 0.000000 0.000000 0.000000 0.000000
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0.900000 2059.362793 0.000000 0.000000 0.000000 0.000000 0.000000
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1.000000 2059.279053 0.000000 0.000000 0.000000 0.000000 0.000000
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1.100000 2059.446777 0.000000 0.000000 0.000000 0.000000 0.000000
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1.200000 2060.034180 0.000000 0.000000 0.000000 0.000000 0.000000
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1.300000 2060.285889 0.000000 0.000000 0.000000 0.000000 0.000000
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1.400000 2060.201904 0.000000 0.000000 0.000000 0.000000 0.000000
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1.500000 2060.537598 0.000000 0.000000 0.000000 0.000000 0.000000
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1.600000 2060.789307 0.000000 0.000000 0.000000 0.000000 0.000000
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1.700000 2061.041016 0.000000 0.000000 0.000000 0.000000 0.000000
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1.800000 2061.125000 0.000000 0.000000 0.000000 0.000000 0.000000
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1.900000 2061.628418 0.000000 0.000000 0.000000 0.000000 0.000000
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2.000000 2061.880127 0.000000 0.000000 0.000000 0.000000 0.000000
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2.100000 2061.963867 0.000000 0.000000 0.000000 0.000000 0.000000
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2.200000 2062.047852 0.000000 0.000000 0.000000 0.000000 0.000000
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2.300000 2062.383545 0.000000 0.000000 0.000000 0.000000 0.000000
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2.400000 2062.718994 0.000000 0.000000 0.000000 0.000000 0.000000
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2.500000 2062.718994 0.000000 0.000000 0.000000 0.000000 0.000000
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2.600000 2062.970703 0.000000 0.000000 0.000000 0.000000 0.000000
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2.700000 2063.306396 0.000000 0.000000 0.000000 0.000000 0.000000
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2.800000 2063.306396 0.000000 0.000000 0.000000 0.000000 0.000000
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2.900000 2063.558105 0.000000 0.000000 0.000000 0.000000 0.000000
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3.000000 2063.642090 0.000000 0.000000 0.000000 0.000000 0.000000
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3.100000 2064.061523 0.000000 0.000000 0.000000 0.000000 0.000000
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3.200000 2064.061523 0.000000 0.000000 0.000000 0.000000 0.000000
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3.300000 2064.229248 0.000000 0.000000 0.000000 0.000000 0.000000
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3.400000 2064.229248 0.000000 0.000000 0.000000 0.000000 0.000000
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3.500000 2064.732910 0.000000 0.000000 0.000000 0.000000 0.000000
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3.600000 2064.732910 0.000000 0.000000 0.000000 0.000000 0.000000
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3.700000 2065.236328 0.000000 0.000000 0.000000 0.000000 0.000000
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3.800000 2065.152344 0.000000 0.000000 0.000000 0.000000 0.000000
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3.900000 2065.404053 0.000000 0.000000 0.000000 0.000000 0.000000
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4.000000 2065.320068 0.000000 0.000000 0.000000 0.000000 0.000000
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4.100000 2065.739746 0.000000 0.000000 0.000000 0.000000 0.000000
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4.200000 2065.907471 0.000000 0.000000 0.000000 0.000000 0.000000
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4.300000 2065.991455 0.000000 0.000000 0.000000 0.000000 0.000000
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4.400000 2065.991455 0.000000 0.000000 0.000000 0.000000 0.000000
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4.500000 2065.991455 0.000000 0.000000 0.000000 0.000000 0.000000
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4.600000 2066.326904 0.000000 0.000000 0.000000 0.000000 0.000000
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5.200000 2067.585449 0.000000 0.000000 0.000000 0.000000 0.000000
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5.300000 2067.669434 0.000000 0.000000 0.000000 0.000000 0.000000
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5.400000 2067.837402 0.000000 0.000000 0.000000 0.000000 0.000000
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5.500000 2067.921387 0.000000 0.000000 0.000000 0.000000 0.000000
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5.600000 2068.173096 0.000000 0.000000 0.000000 0.000000 0.000000
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5.700000 2068.340820 0.000000 0.000000 0.000000 0.000000 0.000000
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5.800000 2068.592529 0.000000 0.000000 0.000000 0.000000 0.000000
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5.900000 2068.760254 0.000000 0.000000 0.000000 0.000000 0.000000
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6.000000 2068.592529 0.000000 0.000000 0.000000 0.000000 0.000000
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6.100000 2068.760254 0.000000 0.000000 0.000000 0.000000 0.000000
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6.200000 2069.095947 0.000000 0.000000 0.000000 0.000000 0.000000
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6.300000 2069.095947 0.000000 0.000000 0.000000 0.000000 0.000000
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6.400000 2069.011963 0.000000 0.000000 0.000000 0.000000 0.000000
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7.800000 2070.773926 0.000000 0.000000 0.000000 0.000000 0.000000
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8.000000 2071.025635 0.000000 0.000000 0.000000 0.000000 0.000000
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8.100000 2071.361328 0.000000 0.000000 0.000000 0.000000 0.000000
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8.400000 2071.529297 0.000000 0.000000 0.000000 0.000000 0.000000
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8.500000 2071.864746 0.000000 0.000000 0.000000 0.000000 0.000000
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8.600000 2072.116455 0.000000 0.000000 0.000000 0.000000 0.000000
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8.800000 2071.948730 0.000000 0.000000 0.000000 0.000000 0.000000
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9.000000 2072.368164 0.000000 0.000000 0.000000 0.000000 0.000000
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9.100000 2072.452148 0.000000 0.000000 0.000000 0.000000 0.000000
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10.900000 2074.130127 0.000000 0.000000 0.000000 0.000000 0.000000
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11.000000 2074.717529 0.000000 0.000000 0.000000 0.000000 0.000000
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11.100000 2074.549805 0.000000 0.000000 0.000000 0.000000 0.000000
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11.200000 2074.801514 0.000000 0.000000 0.000000 0.000000 0.000000
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11.300000 2074.885498 0.000000 0.000000 0.000000 0.000000 0.000000
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11.400000 2074.885498 0.000000 0.000000 0.000000 0.000000 0.000000
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11.600000 2075.137207 0.000000 0.000000 0.000000 0.000000 0.000000
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11.700000 2075.137207 0.000000 0.000000 0.000000 0.000000 0.000000
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11.800000 2075.220947 0.000000 0.000000 0.000000 0.000000 0.000000
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11.900000 2075.304932 0.000000 0.000000 0.000000 0.000000 0.000000
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12.000000 2075.556641 0.000000 0.000000 0.000000 0.000000 0.000000
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12.100000 2075.388672 0.000000 0.000000 0.000000 0.000000 0.000000
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12.200000 2075.808350 0.000000 0.000000 0.000000 0.000000 0.000000
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12.300000 2075.808350 0.000000 0.000000 0.000000 0.000000 0.000000
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12.400000 2075.808350 0.000000 0.000000 0.000000 0.000000 0.000000
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12.500000 2075.892334 0.000000 0.000000 0.000000 0.000000 0.000000
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12.600000 2075.892334 0.000000 0.000000 0.000000 0.000000 0.000000
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12.700000 2075.976074 0.000000 0.000000 0.000000 0.000000 0.000000
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12.800000 2076.144043 0.000000 0.000000 0.000000 0.000000 0.000000
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12.900000 2076.060059 0.000000 0.000000 0.000000 0.000000 0.000000
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@@ -1,597 +0,0 @@
|
||||
Time(s) E(mV) I(mA) Q(mC) Capacity(mAh) Energy(Wh) P(W)
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||||
0.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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0.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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1.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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1.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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2.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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2.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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2.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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2.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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2.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
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2.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
Time(s) E(mV) I(mA) Q(mC) Capacity(mAh) Energy(Wh) P(W)
|
||||
0.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
Time(s) E(mV) I(mA) Q(mC) Capacity(mAh) Energy(Wh) P(W)
|
||||
0.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
11.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
12.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
13.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
14.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
15.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
16.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
17.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
18.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.200001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.299999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.700001 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
19.799999 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
@@ -1,101 +0,0 @@
|
||||
Time(s) E(mV) I(mA) Q(mC) Capacity(mAh) Energy(Wh) P(W)
|
||||
0.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
0.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
1.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
2.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
3.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
4.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
5.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
6.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
7.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
8.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.100000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.200000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.300000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.400000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.500000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.600000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.700000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.800000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
9.900000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
|
||||
@@ -1,981 +0,0 @@
|
||||
Time(s) E(mV) I(mA)
|
||||
0.010000 -997.723450 -5.245421
|
||||
0.020000 -996.045349 -5.010738
|
||||
0.030000 -993.947693 -4.961776
|
||||
0.040000 -991.682251 -4.928009
|
||||
0.050000 -989.752441 -4.899306
|
||||
0.060000 -987.990417 -5.074349
|
||||
0.070000 -985.641052 -4.800336
|
||||
0.080000 -983.879028 -4.896254
|
||||
0.090000 -981.697510 -4.842570
|
||||
0.100000 -979.935486 -4.868352
|
||||
0.110000 -978.005676 -4.946120
|
||||
0.120000 -975.656372 -4.801778
|
||||
0.130000 -973.978271 -4.739869
|
||||
0.140000 -971.880615 -4.706879
|
||||
0.150000 -969.866882 -4.946629
|
||||
0.160000 -967.769287 -4.942389
|
||||
0.170000 -966.007263 -4.839263
|
||||
0.180000 -963.657898 -4.812040
|
||||
0.190000 -961.811951 -4.663457
|
||||
0.200000 -959.798279 -4.709678
|
||||
0.210000 -957.784485 -4.658539
|
||||
0.220000 -955.938599 -4.624955
|
||||
0.230000 -953.757080 -4.610198
|
||||
0.240000 -951.995056 -4.587724
|
||||
0.250000 -949.897400 -4.594509
|
||||
0.260000 -947.883728 -4.307436
|
||||
0.270000 -946.037842 -4.310320
|
||||
0.280000 -943.940186 -4.356200
|
||||
0.290000 -941.926453 -4.364511
|
||||
0.300000 -939.661011 -4.595781
|
||||
0.310000 -937.731201 -4.543455
|
||||
0.320000 -935.717407 -4.559314
|
||||
0.330000 -933.871521 -4.562452
|
||||
0.340000 -931.606079 -4.427014
|
||||
0.350000 -929.844116 -4.489263
|
||||
0.360000 -927.662537 -4.452202
|
||||
0.370000 -925.732788 -4.399452
|
||||
0.380000 -923.886780 -4.405304
|
||||
0.390000 -921.873108 -4.408611
|
||||
0.400000 -919.691589 -4.333557
|
||||
0.410000 -917.593933 -4.334066
|
||||
0.420000 -915.831909 -4.386562
|
||||
0.430000 -913.482544 -4.543200
|
||||
0.440000 -913.146973 -4.722992
|
||||
0.450000 -909.622925 -4.428881
|
||||
0.460000 -907.777039 -4.410053
|
||||
0.470000 -905.679382 -4.363664
|
||||
0.480000 -903.581787 -4.374688
|
||||
0.490000 -901.735840 -4.188112
|
||||
0.500000 -899.973816 -3.465724
|
||||
0.510000 -898.127930 -3.826409
|
||||
0.520000 -895.694702 -3.733291
|
||||
0.530000 -893.848755 -3.535859
|
||||
0.540000 -891.751160 -3.213846
|
||||
0.550000 -889.821289 -3.182298
|
||||
0.560000 -888.059265 -2.966124
|
||||
0.570000 -885.961731 -2.916851
|
||||
0.580000 -883.360596 -3.444437
|
||||
0.590000 -881.682495 -3.675622
|
||||
0.600000 -880.004395 -3.014973
|
||||
0.610000 -877.738953 -2.964597
|
||||
0.620000 -875.893066 -2.955438
|
||||
0.630000 -873.543701 -3.789857
|
||||
0.640000 -871.781738 -2.904723
|
||||
0.650000 -869.767944 -3.019892
|
||||
0.660000 -867.838196 -2.876482
|
||||
0.670000 -865.572754 -2.871055
|
||||
0.680000 -863.894653 -2.873005
|
||||
0.690000 -861.796997 -2.856468
|
||||
0.700000 -859.699341 -2.857570
|
||||
0.710000 -857.685669 -3.277282
|
||||
0.720000 -855.755798 -3.240815
|
||||
0.730000 -853.909912 -2.812538
|
||||
0.740000 -851.812256 -2.800071
|
||||
0.750000 -849.714661 -2.830602
|
||||
0.760000 -847.617004 -2.861980
|
||||
0.770000 -845.687134 -2.828651
|
||||
0.780000 -843.673462 -2.989106
|
||||
0.790000 -841.575806 -3.356577
|
||||
0.800000 -839.981567 -3.497866
|
||||
0.810000 -837.212769 -3.823356
|
||||
0.820000 -835.534668 -3.269310
|
||||
0.830000 -833.437012 -3.710393
|
||||
0.840000 -831.842834 -2.778360
|
||||
0.850000 -829.829041 -2.802276
|
||||
0.860000 -827.815369 -2.759279
|
||||
0.870000 -825.717712 -2.751392
|
||||
0.880000 -823.787903 -2.733328
|
||||
0.890000 -821.942017 -2.720352
|
||||
0.900000 -819.844360 -2.750289
|
||||
0.910000 -817.830627 -2.919310
|
||||
0.920000 -815.733032 -2.894377
|
||||
0.930000 -813.803162 -2.898023
|
||||
0.940000 -811.789490 -2.866390
|
||||
0.950000 -809.859619 -2.864864
|
||||
0.960000 -807.510315 -3.323078
|
||||
0.970000 -805.916077 -2.828821
|
||||
0.980000 -803.566772 -2.821018
|
||||
0.990000 -801.888611 -2.812368
|
||||
1.000000 -799.874939 -2.779124
|
||||
1.010000 -797.777283 -2.807873
|
||||
1.020000 -795.847534 -2.797611
|
||||
1.030000 -793.498108 -2.787180
|
||||
1.040000 -791.903992 -2.775138
|
||||
1.050000 -789.974121 -2.762417
|
||||
1.060000 -787.792542 -2.723151
|
||||
1.070000 -785.694946 -2.718826
|
||||
1.080000 -784.016846 -2.685411
|
||||
1.090000 -782.003113 -2.675913
|
||||
1.100000 -779.653748 -2.651997
|
||||
1.110000 -777.807861 -2.652761
|
||||
1.120000 -775.877991 -2.638598
|
||||
1.130000 -773.864319 -2.628506
|
||||
1.140000 -771.682800 -2.617651
|
||||
1.150000 -769.501221 -2.629269
|
||||
1.160000 -767.907043 -2.609424
|
||||
1.170000 -765.809387 -2.601622
|
||||
1.180000 -763.879578 -2.593480
|
||||
1.190000 -761.698059 -2.583049
|
||||
1.200000 -759.600464 -2.560490
|
||||
1.210000 -757.586731 -2.555995
|
||||
1.220000 -755.740784 -2.563713
|
||||
1.230000 -753.894836 -2.534794
|
||||
1.240000 -752.048950 -2.521224
|
||||
1.250000 -749.699585 -2.530044
|
||||
1.260000 -747.685913 -2.603827
|
||||
1.270000 -745.672180 -2.536320
|
||||
1.280000 -743.658386 -2.561847
|
||||
1.290000 -741.728638 -2.517239
|
||||
1.300000 -739.798828 -2.482468
|
||||
1.310000 -737.868958 -2.469068
|
||||
1.320000 -736.023071 -2.464319
|
||||
1.330000 -733.925415 -2.457025
|
||||
1.340000 -731.659973 -2.449054
|
||||
1.350000 -729.981873 -2.444898
|
||||
1.360000 -727.800293 -2.441421
|
||||
1.370000 -725.618835 -2.437435
|
||||
1.380000 -723.688965 -2.433025
|
||||
1.390000 -721.759216 -2.430905
|
||||
1.400000 -719.661560 -2.424205
|
||||
1.410000 -717.899536 -2.414367
|
||||
1.420000 -715.718018 -2.416233
|
||||
1.430000 -713.788208 -2.403003
|
||||
1.440000 -711.522766 -2.391639
|
||||
1.450000 -709.760742 -2.383328
|
||||
1.460000 -707.998657 -2.383158
|
||||
1.470000 -705.984985 -2.372218
|
||||
1.480000 -703.635681 -2.377137
|
||||
1.490000 -701.705811 -2.377391
|
||||
1.500000 -699.776001 -2.370183
|
||||
1.510000 -697.846252 -2.365434
|
||||
1.520000 -695.748596 -2.726034
|
||||
1.530000 -693.734802 -2.722727
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||||
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||||
File diff suppressed because it is too large
Load Diff
@@ -1,199 +0,0 @@
|
||||
Time(s) E(mV) I(mA)
|
||||
0.100000 1.763577 -0.029101
|
||||
0.200000 2.762724 -0.028610
|
||||
0.300000 3.770268 -0.028559
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||||
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0.600000 6.792899 -0.028234
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0.700000 7.775254 -0.028022
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||||
0.800000 8.782798 -0.028118
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||||
0.900000 9.765153 -0.028299
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||||
1.000000 10.789489 -0.028453
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||||
1.100000 11.780240 -0.028453
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||||
1.200000 12.821369 -0.028657
|
||||
1.300000 13.770139 -0.028915
|
||||
1.400000 14.777682 -0.028546
|
||||
1.500000 15.776831 -0.029188
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||||
1.600000 16.767582 -0.028683
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||||
1.700000 17.783520 -0.028601
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||||
1.800000 18.782669 -0.028970
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||||
1.900000 19.807005 -0.028870
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||||
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||||
2.100000 21.805300 -0.028462
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||||
2.200000 22.737278 -0.028364
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||||
2.300000 23.778406 -0.028617
|
||||
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||||
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||||
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||||
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||||
2.800000 28.799332 -0.027991
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||||
2.900000 29.806875 -0.028424
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||||
3.000000 30.780836 -0.028417
|
||||
3.100000 31.796772 -0.028475
|
||||
3.200000 32.787525 -0.028331
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||||
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||||
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|
||||
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|
||||
3.600000 36.784115 -0.027942
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||||
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||||
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|
||||
3.900000 39.789955 -0.028354
|
||||
4.000000 40.763912 -0.028207
|
||||
4.100000 41.754665 -0.028099
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
4.600000 46.775589 -0.028396
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
5.100000 51.788116 -0.029210
|
||||
5.200000 52.770473 -0.028525
|
||||
5.300000 53.752831 -0.028479
|
||||
5.400000 54.768772 -0.029232
|
||||
5.500000 55.793106 -0.029103
|
||||
5.600000 56.800652 -0.029043
|
||||
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|
||||
5.800000 58.765362 -0.029204
|
||||
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|
||||
6.000000 60.797237 -0.029143
|
||||
6.100000 61.787991 -0.028959
|
||||
6.200000 62.803932 -0.028818
|
||||
6.300000 63.769493 -0.029102
|
||||
6.400000 64.768639 -0.029005
|
||||
6.500000 65.759392 -0.028507
|
||||
6.600000 66.783730 -0.029151
|
||||
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|
||||
6.800000 68.790421 -0.028720
|
||||
6.900000 69.789566 -0.028786
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
8.000000 80.796974 -0.029733
|
||||
8.100000 81.796127 -0.029937
|
||||
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||||
8.300000 83.777634 -0.029210
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
9.000000 90.796852 -0.028881
|
||||
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|
||||
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||||
9.300000 93.760704 -0.029310
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
10.100000 101.804268 -0.029024
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||||
10.200000 102.803413 -0.028922
|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
11.000000 110.813385 -0.028742
|
||||
11.100000 111.804138 -0.028889
|
||||
11.200000 112.769699 -0.028884
|
||||
11.300000 113.802429 -0.028933
|
||||
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||||
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||||
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||||
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||||
11.800000 118.814964 -0.029117
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
12.800000 128.823242 -0.029264
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||||
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||||
13.000000 130.813126 -0.029762
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||||
13.100000 131.803879 -0.029987
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||||
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||||
13.300000 133.793777 -0.029861
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||||
13.400000 134.792923 -0.029838
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||||
13.500000 135.808868 -0.029612
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||||
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||||
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||||
13.900000 139.805466 -0.029730
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||||
14.000000 140.829788 -0.029783
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
16.799999 168.814316 -0.029662
|
||||
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|
||||
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|
||||
17.100000 171.803375 -0.029763
|
||||
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|
||||
17.299999 173.818451 -0.029243
|
||||
17.400000 174.809189 -0.029499
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
18.100000 181.786438 -0.029615
|
||||
18.200001 182.810776 -0.029776
|
||||
18.299999 183.826721 -0.029699
|
||||
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|
||||
18.500000 185.799820 -0.029694
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||||
18.600000 186.782181 -0.029660
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||||
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18.799999 188.822464 -0.029578
|
||||
18.900000 189.813202 -0.029569
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||||
19.100000 191.811508 -0.029725
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||||
19.200001 192.810654 -0.029956
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||||
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||||
19.700001 197.856766 -0.029606
|
||||
19.799999 198.813934 -0.029029
|
||||
@@ -1,89 +0,0 @@
|
||||
Time(s) E(mV) I(mA)
|
||||
0.100000 1100.313599 0.099854
|
||||
0.200000 1100.313599 0.099846
|
||||
0.300000 1100.313599 0.099829
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||||
0.400000 1100.313599 0.099829
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||||
0.500000 1100.313599 0.099821
|
||||
0.600000 1100.313599 0.099829
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||||
0.700000 1100.313599 0.099846
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||||
0.800000 1100.313599 0.099812
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||||
0.900000 1100.313599 0.099812
|
||||
1.000000 1100.313599 0.099829
|
||||
1.100000 1100.313599 0.099812
|
||||
1.200000 1100.313599 0.099804
|
||||
1.300000 1100.313599 0.099796
|
||||
1.400000 1100.313599 0.099804
|
||||
1.500000 1100.313599 0.099804
|
||||
1.600000 1100.313599 0.099787
|
||||
1.700000 1100.313599 0.099796
|
||||
1.800000 1100.313599 0.099796
|
||||
1.900000 1100.313599 0.099787
|
||||
2.000000 1100.313599 0.099821
|
||||
2.100000 1100.313599 0.099821
|
||||
2.200000 1100.313599 0.099812
|
||||
2.300000 1100.313599 0.099829
|
||||
2.400000 1100.313599 0.099829
|
||||
2.500000 1100.313599 0.099838
|
||||
2.600000 1100.313599 0.099854
|
||||
2.700000 1100.313599 0.099863
|
||||
2.800000 1100.313599 0.099854
|
||||
2.900000 1100.313599 0.099846
|
||||
3.000000 1100.313599 0.099863
|
||||
3.100000 1100.313599 0.099871
|
||||
3.200000 1100.313599 0.099879
|
||||
3.300000 1100.313599 0.099888
|
||||
3.400000 1100.313599 0.099896
|
||||
3.500000 1100.313599 0.099913
|
||||
3.600000 1100.313599 0.099930
|
||||
3.700000 1100.313599 0.099938
|
||||
3.800000 1100.313599 0.099930
|
||||
3.900000 1100.313599 0.099947
|
||||
4.000000 1100.313599 0.099963
|
||||
4.100000 1100.313599 0.099947
|
||||
4.200000 1100.313599 0.099980
|
||||
4.300000 1100.313599 0.099997
|
||||
4.400000 1100.313599 0.099972
|
||||
4.500000 1100.313599 0.099947
|
||||
4.600000 1100.313599 0.099947
|
||||
4.700000 1100.313599 0.099955
|
||||
4.800000 1100.313599 0.099955
|
||||
4.900000 1100.313599 0.099989
|
||||
5.000000 1100.313599 0.099997
|
||||
5.100000 1100.313599 0.099980
|
||||
5.200000 1100.313599 0.099989
|
||||
5.300000 1100.313599 0.099963
|
||||
5.400000 1100.313599 0.099980
|
||||
5.500000 1100.313599 0.099989
|
||||
5.600000 1100.313599 0.100005
|
||||
5.700000 1100.313599 0.099963
|
||||
5.800000 1100.313599 0.099980
|
||||
5.900000 1100.313599 0.099980
|
||||
6.000000 1100.313599 0.099980
|
||||
6.100000 1100.313599 0.099972
|
||||
6.200000 1100.313599 0.099997
|
||||
6.300000 1100.313599 0.099972
|
||||
6.400000 1100.313599 0.099955
|
||||
6.500000 1100.313599 0.099972
|
||||
6.600000 1100.313599 0.099963
|
||||
6.700000 1100.313599 0.099980
|
||||
6.800000 1100.313599 0.099963
|
||||
6.900000 1100.313599 0.099955
|
||||
7.000000 1100.313599 0.099989
|
||||
7.100000 1100.313599 0.099989
|
||||
7.200000 1100.313599 0.099980
|
||||
7.300000 1100.313599 0.099980
|
||||
7.400000 1100.313599 0.099980
|
||||
7.500000 1100.313599 0.099963
|
||||
7.600000 1100.313599 0.099980
|
||||
7.700000 1100.313599 0.099955
|
||||
7.800000 1100.313599 0.099980
|
||||
7.900000 1100.313599 0.099963
|
||||
8.000000 1100.313599 0.099989
|
||||
8.100000 1100.313599 0.099980
|
||||
8.200000 1100.313599 0.099989
|
||||
8.300000 1100.313599 0.099989
|
||||
8.400000 1100.313599 0.099972
|
||||
8.500000 1100.313599 0.100005
|
||||
8.600000 1100.313599 0.099980
|
||||
8.700000 1100.313599 0.100005
|
||||
8.800000 1100.313599 0.099997
|
||||
@@ -1,49 +0,0 @@
|
||||
Time(s) Zre(Ohm) Zim(Ohm) Z(Ohm) Freq(Hz) Phase(deg) EDC(mV)
|
||||
0.128000 6755.462891 3996.161133 7848.922363 10000.000000 -30.606230 0.000000
|
||||
0.272000 6824.638672 3994.455811 7907.677734 8888.900391 -30.340406 0.000000
|
||||
0.436571 7059.030762 4099.418457 8163.035156 7777.799805 -30.145187 0.000000
|
||||
0.628570 7516.110840 4371.320312 8694.846680 6666.700195 -30.181999 0.000000
|
||||
Time(s) Zre(Ohm) Zim(Ohm) Z(Ohm) Freq(Hz) Phase(deg) EDC(mV)
|
||||
0.128000 4004.078857 1725.499268 4360.045410 10000.000000 -23.312920 0.000000
|
||||
0.272000 3751.894043 1407.421021 4007.186523 8888.900391 -20.562214 0.000000
|
||||
0.436571 3795.918457 1347.885742 4028.125244 7777.799805 -19.549349 0.000000
|
||||
0.628570 3988.254883 1406.353516 4228.948730 6666.700195 -19.423862 0.000000
|
||||
0.858968 4340.244629 1560.648071 4612.303711 5555.600098 -19.777370 0.000000
|
||||
1.146964 4953.287598 1795.551514 5268.687012 4444.500000 -19.925425 0.000000
|
||||
1.530957 5583.770020 2229.389648 6012.375977 3333.399902 -21.764971 0.000000
|
||||
2.106936 6545.107422 2367.948486 6960.288086 2222.300049 -19.889572 0.000000
|
||||
3.258844 7567.829590 1800.241089 7779.004395 1111.199951 -13.380868 0.000000
|
||||
23.258844 7841.500488 363.667908 7849.928711 0.100000 -2.655323 0.000000
|
||||
Time(s) Zre(Ohm) Zim(Ohm) Z(Ohm) Freq(Hz) Phase(deg) EDC(mV)
|
||||
0.128000 4585.909668 1983.974854 4996.671387 10000.000000 -23.394470 0.000000
|
||||
0.272000 4468.743652 1882.592163 4849.105469 8888.900391 -22.844717 0.000000
|
||||
0.436571 4585.427246 1862.162964 4949.120605 7777.799805 -22.102295 0.000000
|
||||
0.628570 4762.757812 1835.767822 5104.302734 6666.700195 -21.078768 0.000000
|
||||
0.858968 5040.085449 1868.267578 5375.210449 5555.600098 -20.338821 0.000000
|
||||
1.146964 5369.222168 2009.491211 5732.939941 4444.500000 -20.518923 0.000000
|
||||
1.530957 5790.665039 2128.829590 6169.580078 3333.399902 -20.185007 0.000000
|
||||
2.106936 6104.018066 1879.055054 6386.695801 2222.300049 -17.110409 0.000000
|
||||
3.258844 6228.028809 1268.160278 6355.830078 1111.199951 -11.509306 0.000000
|
||||
23.258844 6003.355957 413.043579 6017.548340 0.100000 -3.935868 0.000000
|
||||
Time(s) Zre(Ohm) Zim(Ohm) Z(Ohm) Freq(Hz) Phase(deg) EDC(mV)
|
||||
0.128000 3572.804688 1110.373413 3741.371826 10000.000000 -17.264450 0.000000
|
||||
0.272000 3733.689209 1029.676392 3873.069580 8888.900391 -15.417786 0.000000
|
||||
0.436571 3814.144043 1035.226807 3952.137207 7777.799805 -15.185266 0.000000
|
||||
0.628570 3763.235596 993.421204 3892.149414 6666.700195 -14.787639 0.000000
|
||||
0.858968 3746.752197 922.539612 3858.656738 5555.600098 -13.832431 0.000000
|
||||
1.146964 3835.638184 876.370972 3934.481689 4444.500000 -12.870085 0.000000
|
||||
1.530957 3879.458496 808.279602 3962.765869 3333.399902 -11.769126 0.000000
|
||||
2.106936 4037.450439 756.480225 4107.708496 2222.300049 -10.612228 0.000000
|
||||
3.258844 4497.190430 741.943848 4557.982422 1111.199951 -9.368237 0.000000
|
||||
23.258844 5525.440430 743.580078 5575.249023 0.100000 -7.664470 0.000000
|
||||
Time(s) Zre(Ohm) Zim(Ohm) Z(Ohm) Freq(Hz) Phase(deg) EDC(mV)
|
||||
0.128000 4508.749023 1480.736694 4745.671387 10000.000000 -18.180910 0.000000
|
||||
0.272000 4432.497070 1333.723267 4628.806152 8888.900391 -16.746363 0.000000
|
||||
0.436571 4782.034668 1541.624512 5024.386719 7777.799805 -17.868198 0.000000
|
||||
0.628570 5205.424805 1835.522095 5519.563965 6666.700195 -19.423525 0.000000
|
||||
0.858968 5297.061035 1830.112549 5604.298828 5555.600098 -19.059818 0.000000
|
||||
1.146964 5442.899414 1763.836304 5721.562012 4444.500000 -17.955534 0.000000
|
||||
1.530957 5554.852051 1871.875732 5861.766113 3333.399902 -18.622803 0.000000
|
||||
2.106936 5667.162598 1750.656982 5931.402344 2222.300049 -17.166569 0.000000
|
||||
3.258844 5834.244629 1325.616577 5982.948242 1111.199951 -12.801015 0.000000
|
||||
23.258844 5939.145508 584.428345 5967.831055 0.100000 -5.619970 0.000000
|
||||
@@ -1,55 +0,0 @@
|
||||
Time(s) Zre(Ω) Zim(Ω) Z(Ω) Freq(Hz) Phase(°) EDC(V)
|
||||
0.128000 8836.014648 4088.676270 9736.140625 10000.000000 -24.831327 0.000000
|
||||
0.289142 8947.045898 3906.468262 9762.690430 7943.282227 -23.587093 0.000000
|
||||
0.492009 9445.424805 4166.807129 10323.678711 6309.573242 -23.804461 0.000000
|
||||
0.747402 10144.289062 4494.853516 11095.508789 5011.872070 -23.897749 0.000000
|
||||
1.068924 10604.609375 4514.041992 11525.376953 3981.071533 -23.057899 0.000000
|
||||
1.473696 11142.434570 4558.653809 12038.902344 3162.277588 -22.250721 0.000000
|
||||
1.983273 11883.416016 4958.137695 12876.284180 2511.886230 -22.647444 0.000000
|
||||
2.624793 12497.970703 5309.595215 13579.067383 1995.262329 -23.017561 0.000000
|
||||
3.432418 13203.150391 5649.524414 14361.069336 1584.893188 -23.165701 0.000000
|
||||
4.449158 14128.726562 6126.426270 15399.805664 1258.925293 -23.442274 0.000000
|
||||
4.481158 14911.369141 6479.161133 16258.181641 1000.000000 -23.485498 0.000000
|
||||
4.521444 15656.686523 6829.202637 17081.271484 794.328247 -23.566080 0.000000
|
||||
4.572160 16835.632812 7643.918945 18489.673828 630.957336 -24.419577 0.000000
|
||||
4.636009 18222.216797 8657.716797 20174.371094 501.187225 -25.413269 0.000000
|
||||
4.716389 22157.533203 11829.420898 25117.552734 398.107178 -28.096781 0.000000
|
||||
4.817582 23357.978516 11746.929688 26145.468750 316.227753 -26.698219 0.000000
|
||||
4.944976 24984.910156 12806.191406 28075.687500 251.188629 -27.137728 0.000000
|
||||
4.716389 20656.267578 10043.393555 22968.482422 398.107178 -25.929729 0.000000
|
||||
4.817582 23355.941406 11758.861328 26149.011719 316.227753 -26.723581 0.000000
|
||||
4.944976 24946.281250 12709.506836 27997.294922 251.188629 -26.997705 0.000000
|
||||
5.105356 25699.732422 12844.353516 28730.708984 199.526230 -26.555218 0.000000
|
||||
5.307262 28007.763672 13781.557617 31214.837891 158.489319 -26.200048 0.000000
|
||||
5.561448 32278.408203 15294.345703 35718.519531 125.892532 -25.352806 0.000000
|
||||
5.601448 36631.953125 16377.120117 40126.175781 100.000000 -24.088081 0.000000
|
||||
5.651804 36212.464844 14175.981445 38888.316406 79.432823 -21.378698 0.000000
|
||||
5.715200 31005.900391 10025.936523 32586.580078 63.095734 -17.918913 0.000000
|
||||
5.795011 27789.210938 7751.479004 28850.054688 50.118721 -15.585830 0.000000
|
||||
5.895486 35634.070312 9420.209961 36858.207031 39.810719 -14.807939 0.000000
|
||||
6.021977 42739.617188 10889.406250 44105.035156 31.622778 -14.293976 0.000000
|
||||
6.181220 41334.429688 12303.883789 43126.796875 25.118862 -16.576517 0.000000
|
||||
6.381695 44635.375000 13761.085938 46708.503906 19.952623 -17.134529 0.000000
|
||||
6.634078 47430.500000 9581.280273 48388.566406 15.848931 -11.420444 0.000000
|
||||
6.951809 47006.734375 6501.482910 47454.214844 12.589253 -7.874598 0.000000
|
||||
7.351809 47260.820312 5934.597168 47631.968750 10.000000 -7.157238 0.000000
|
||||
7.855379 51975.855469 140.047073 51976.042969 7.943282 -0.154381 0.000000
|
||||
8.489336 58372.769531 2538.466309 58427.937500 6.309573 -2.490062 0.000000
|
||||
9.287441 59285.113281 8795.745117 59934.046875 5.011872 -8.439040 0.000000
|
||||
10.292196 55917.351562 9934.631836 56793.019531 3.981072 -10.074409 0.000000
|
||||
11.557107 51669.527344 1365.285522 51687.562500 3.162278 -1.513598 0.000000
|
||||
13.149536 nan nan nan 2.511886 2.248806 0.000000
|
||||
15.154285 nan nan nan 1.995262 4.537589 0.000000
|
||||
17.678116 nan nan nan 1.584893 1.901186 0.000000
|
||||
20.855431 nan nan nan 1.258925 -14.520571 0.000000
|
||||
22.855431 nan nan nan 1.000000 -21.347967 0.000000
|
||||
25.373281 nan nan nan 0.794328 -16.286789 0.000000
|
||||
28.543070 43693.843750 2706.736816 43777.601562 0.630957 -3.544817 0.000000
|
||||
32.533596 34982.421875 -4359.896973 35253.062500 0.501187 7.104203 0.000000
|
||||
37.557373 30128.955078 -116.846642 30129.181641 0.398107 0.222204 0.000000
|
||||
43.881924 32771.234375 6115.649902 33336.992188 0.316228 -10.570740 0.000000
|
||||
51.844055 18206.365234 -7035.584961 19518.482422 0.251189 21.128300 0.000000
|
||||
61.867813 -1157.350342 -5457.016602 5578.395020 0.199526 101.974136 0.000000
|
||||
74.486984 -7572.944336 -5757.060547 9512.792969 0.158489 142.757385 0.000000
|
||||
90.373489 -6719.222656 -12092.010742 13833.461914 0.125893 119.059814 0.000000
|
||||
110.373489 2759.366699 -3812.787109 4706.532715 0.100000 54.106220 0.000000
|
||||
@@ -1,5 +0,0 @@
|
||||
Time(s) Zre(Ohm) Zim(Ohm) Z(Ohm) Freq(Hz) Phase(deg) EDC(mV)
|
||||
0.128000 5301.714355 1606.345947 5539.722168 10000.000000 -16.856081 0.000000
|
||||
0.272000 5303.290527 1594.772095 5537.886719 8888.900391 -16.736752 0.000000
|
||||
0.436571 5347.800781 1595.693970 5580.789551 7777.799805 -16.614220 0.000000
|
||||
0.628570 5478.396973 1635.483032 5717.310547 6666.700195 -16.622107 0.000000
|
||||
@@ -1,70 +0,0 @@
|
||||
initialize: True
|
||||
get_machine_ids: {'success': True, 'machine_ids': [1, 3, 2]}
|
||||
version: reflect_linear_scan_signature
|
||||
linear_scan_related_methods:
|
||||
Add_ConstantPotential:['System.String', 'System.Single', 'System.Int32', 'System.Boolean', 'System.Boolean', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['parentTag', 'Voltage', 'VoltageVSType', 'IsAccrueQ', 'isVoltageTrig', 'VoltageOrCurrentTrigDirection', 'VoltageOrCurrentTrigValue', 'capacityTrigDirection', 'capacityTrigValue', 'timePerPoint', 'continueTime', 'IsUseResolution', 'Resolution', 'isUseDeltaI', 'deltaI', 'isUseDeltaQ', 'deltaQ', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'machineId']
|
||||
Start_Circle_Voltammetry_Multi:['System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['IsUseInitialPotential', 'InitialPotential', 'InitialPotentialVSType', 'TopPotential1', 'TopPotential1VSType', 'TopPotential2', 'TopPotential2VSType', 'IsUseFinallyPotential', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Staircase_Cyclic_Voltammetry_MultipleCycles:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'TopPotential1', 'TopPotential1VSType', 'TopPotential2', 'TopPotential2VSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Linear_Scan_Voltammetry:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Linear_Scan_Voltammetry_New:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'voltageInterval', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Circle_Voltammetry_Single:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['InitialPotential', 'InitialPotentialVSType', 'TopPotential', 'TopPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Staircase_Linear_Scan:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Potentiodynamic:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Staircase_Cyclic_Voltammetry_Single:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'TopPotential', 'TopPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_ChronoamperonetryParam:['System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'InitialPotential', 'InitialPotentialVSType', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_ChronopotentiometryParam:['System.Single', 'System.Single', 'System.Single', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'current', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_ChronocoulometryParam:['System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'potential', 'potentialotentialVSType', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_ConstantPotential:['System.Single', 'System.Int32', 'System.Boolean', 'System.Boolean', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['Voltage', 'VoltageVSType', 'IsAccrueQ', 'isVoltageTrig', 'VoltageOrCurrentTrigDirection', 'VoltageOrCurrentTrigValue', 'capacityTrigDirection', 'capacityTrigValue', 'timePerPoint', 'continueTime', 'IsUseResolution', 'Resolution', 'isUseDeltaI', 'deltaI', 'isUseDeltaQ', 'deltaQ', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'machineId']
|
||||
Start_Potentiostatic_Staircase:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['OutputValue1', 'vsType1', 'OutputValue2', 'vsType2', 'OutputValue3', 'vsType3', 'timePerPoint', 'stepCount', 'measureDelay', 'plusTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Fast_Potential_Pulses:['System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['plusCount', 'OutputValue1', 'ContinueTime1', 'vsType1', 'OutputValue2', 'ContinueTime2', 'vsType2', 'OutputValue3', 'ContinueTime3', 'vsType3', 'OutputValue4', 'ContinueTime4', 'vsType4', 'OutputValue5', 'ContinueTime5', 'vsType5', 'timePerPoint', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
StartConstantPotential_LineScan:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StaticTime', 'CycleCount', 'TimePerPoint', 'ContinueTime', 'StepHeight', 'SweptRate', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Circle_Voltammetry_Multi_New:['System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['voltageInterval', 'IsUseInitialPotential', 'InitialPotential', 'InitialPotentialVSType', 'TopPotential1', 'TopPotential1VSType', 'TopPotential2', 'TopPotential2VSType', 'IsUseFinallyPotential', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Staircase_Cyclic_Voltammetry_MultipleCycles_New:['System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['IsUseInitialPotential', 'InitialPotential', 'InitialPotentialVSType', 'TopPotential1', 'TopPotential1VSType', 'TopPotential2', 'TopPotential2VSType', 'IsUseFinallyPotential', 'FinallyPotential', 'FinallyPotentialVSType', 'stepHeight', 'stepTime', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
all_start_methods:
|
||||
Start_Circle_Voltammetry_Multi:['System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['IsUseInitialPotential', 'InitialPotential', 'InitialPotentialVSType', 'TopPotential1', 'TopPotential1VSType', 'TopPotential2', 'TopPotential2VSType', 'IsUseFinallyPotential', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Staircase_Cyclic_Voltammetry_MultipleCycles:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'TopPotential1', 'TopPotential1VSType', 'TopPotential2', 'TopPotential2VSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_SplitLPR:['System.Single', 'System.Single', 'ECCore.VSType', 'System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['aNodeVoltage', 'cathodeVoltage', 'aNodeVSTye', 'stepHeight', 'stepTime', 'continueTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_OpenCircuit:['System.Single', 'System.Single', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'machineId']
|
||||
Start_Galvanic_Corrosion:['System.Single', 'System.Single', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'machineId']
|
||||
Start_Electrochemical_Noise_En:['System.Single', 'System.Single', 'System.Int32', 'System.Int32'] | names=['timePerPoint', 'timePerSegment', 'segmentCount', 'machineId']
|
||||
Start_Linear_Scan_Voltammetry:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Linear_Scan_Voltammetry_New:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'voltageInterval', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Circle_Voltammetry_Single:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['InitialPotential', 'InitialPotentialVSType', 'TopPotential', 'TopPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Staircase_Linear_Scan:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Potentiodynamic:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Galvanodynamic:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Staircase_Cyclic_Voltammetry_Single:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'TopPotential', 'TopPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Cyclic_Polarization:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.String', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'TopPotential', 'TopPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'voltageTrigValue', 'currentTrigValue', 'machineId']
|
||||
Start_ChronoamperonetryParam:['System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'InitialPotential', 'InitialPotentialVSType', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_ChronopotentiometryParam:['System.Single', 'System.Single', 'System.Single', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'current', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_ChronocoulometryParam:['System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'potential', 'potentialotentialVSType', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_SquareWare:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['initialPotential', 'initialPotentialVSType', 'finallyPotential', 'finallyPotentialVSType', 'stepHeight', 'pluseHeight', 'startFreq', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_DifferentialPulse:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['initialPotential', 'initialPotentialVSType', 'finallyPotential', 'finallyPotentialVSType', 'stepHeight', 'pluseHeight', 'pluseWidth', 'stepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_NormalPulse:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['initialPotential', 'initialPotentialVSType', 'finallyPotential', 'finallyPotentialVSType', 'stepHeight', 'pluseWidth', 'stepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_EIS:['System.Boolean', 'System.Double', 'System.Double', 'System.Single', 'System.Int32', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single', 'System.Int32'] | names=['isVolEIS', 'StartFreq', 'EndFreq', 'Amplitude', 'IntervalType', 'PointCount', 'Voltage', 'VoltageVSType', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime', 'dataQuality']
|
||||
Start_EnergyOpenCircuit:['System.Boolean', 'System.Single', 'System.Boolean', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['isUseExcursionRate', 'excursionRate', 'isVoltageTrig', 'VoltageOrCurrentTrigDirection', 'VoltageOrCurrentTrigValue', 'capacityTrigDirection', 'capacityTrigValue', 'timePerPoint', 'continueTime', 'IsUseResolution', 'Resolution', 'isUseDeltaI', 'deltaI', 'isUseDeltaQ', 'deltaQ', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'machineId']
|
||||
Start_ConstantPotential:['System.Single', 'System.Int32', 'System.Boolean', 'System.Boolean', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['Voltage', 'VoltageVSType', 'IsAccrueQ', 'isVoltageTrig', 'VoltageOrCurrentTrigDirection', 'VoltageOrCurrentTrigValue', 'capacityTrigDirection', 'capacityTrigValue', 'timePerPoint', 'continueTime', 'IsUseResolution', 'Resolution', 'isUseDeltaI', 'deltaI', 'isUseDeltaQ', 'deltaQ', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'machineId']
|
||||
Start_ConstantContent:['System.Single', 'System.Boolean', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['current', 'isVoltageTrig', 'VoltageOrCurrentTrigDirection', 'VoltageOrCurrentTrigValue', 'capacityTrigDirection', 'capacityTrigValue', 'timePerPoint', 'continueTime', 'IsUseResolution', 'Resolution', 'isUseDeltaI', 'deltaI', 'isUseDeltaQ', 'deltaQ', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'machineId']
|
||||
Start_CurrentChargeDisCharge:['System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Int32', 'ECCore.SwithPriority', 'ECCore.TimeType', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['CurrentValue1', 'TimeLimitValue1', 'Vol1LimitValue1', 'CurrentValue2', 'TimeLimitValue2', 'Vol1LimitValue2', 'timePerPoint', 'CycleCount', 'CurrentSwithPriority', 'timeType', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'machineId']
|
||||
Start_ConstantPower:['System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['power', 'isCharge', 'currentUpLimit', 'isVoltageTrig', 'VoltageOrCurrentTrigDirection', 'VoltageOrCurrentTrigValue', 'capacityTrigDirection', 'capacityTrigValue', 'timePerPoint', 'continueTime', 'IsUseResolution', 'Resolution', 'isUseDeltaI', 'deltaI', 'isUseDeltaQ', 'deltaQ', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'machineId']
|
||||
Start_ConstantResistance:['System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['resistance', 'isCharge', 'currentUpLimit', 'isVoltageTrig', 'VoltageOrCurrentTrigDirection', 'VoltageOrCurrentTrigValue', 'capacityTrigDirection', 'capacityTrigValue', 'timePerPoint', 'continueTime', 'IsUseResolution', 'Resolution', 'isUseDeltaI', 'deltaI', 'isUseDeltaQ', 'deltaQ', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'machineId']
|
||||
Start_Tafel:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_LPR:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['InitialPotential', 'InitialPotentialVSType', 'FinallyPotential', 'FinallyPotentialVSType', 'StepHeight', 'StepTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Zra:['System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['timePerPoint', 'continueTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Potentiostatic_Staircase:['System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['OutputValue1', 'vsType1', 'OutputValue2', 'vsType2', 'OutputValue3', 'vsType3', 'timePerPoint', 'stepCount', 'measureDelay', 'plusTime', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Fast_Potential_Pulses:['System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['plusCount', 'OutputValue1', 'ContinueTime1', 'vsType1', 'OutputValue2', 'ContinueTime2', 'vsType2', 'OutputValue3', 'ContinueTime3', 'vsType3', 'OutputValue4', 'ContinueTime4', 'vsType4', 'OutputValue5', 'ContinueTime5', 'vsType5', 'timePerPoint', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Fast_Galvanic_Pulses:['System.Int32', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32'] | names=['plusCount', 'OutputValue1', 'ContinueTime1', 'OutputValue2', 'ContinueTime2', 'OutputValue3', 'ContinueTime3', 'OutputValue4', 'ContinueTime4', 'OutputValue5', 'ContinueTime5', 'timePerPoint', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId']
|
||||
Start_Circle_Voltammetry_Multi_New:['System.Single', 'System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['voltageInterval', 'IsUseInitialPotential', 'InitialPotential', 'InitialPotentialVSType', 'TopPotential1', 'TopPotential1VSType', 'TopPotential2', 'TopPotential2VSType', 'IsUseFinallyPotential', 'FinallyPotential', 'FinallyPotentialVSType', 'ScanRate', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_Staircase_Cyclic_Voltammetry_MultipleCycles_New:['System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Single', 'System.Int32', 'System.Boolean', 'System.Single', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.Single'] | names=['IsUseInitialPotential', 'InitialPotential', 'InitialPotentialVSType', 'TopPotential1', 'TopPotential1VSType', 'TopPotential2', 'TopPotential2VSType', 'IsUseFinallyPotential', 'FinallyPotential', 'FinallyPotentialVSType', 'stepHeight', 'stepTime', 'cycleCount', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'machineId', 'delayTime']
|
||||
Start_OpenCircuit_All:['System.Single', 'System.Single'] | names=['timePerPoint', 'continueTime']
|
||||
Start_EIS_All:['System.Boolean', 'System.Double', 'System.Double', 'System.Single', 'System.Int32', 'System.Int32', 'System.Single', 'System.Single', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Int32', 'System.String', 'System.Single', 'System.Int32'] | names=['isVolEIS', 'StartFreq', 'EndFreq', 'Amplitude', 'IntervalType', 'PointCount', 'Voltage', 'VoltageVSType', 'isVoltageRandAuto', 'VoltageRand', 'isCurrentRandAuto', 'currentRand', 'isVoltageFilterAuto', 'VoltageFilter', 'isCurrentFilterAuto', 'currentFilter', 'delayTime', 'dataQuality']
|
||||
version: lsv_v1
|
||||
version: lsv_v1
|
||||
start_cv_params: {'is_use_initial_potential': True, 'initial_potential': -1.0, 'initial_potential_vs_type': 0, 'top_potential1': 1.0, 'top_potential1_vs_type': 0, 'top_potential2': -2.0, 'top_potential2_vs_type': 0, 'is_use_finally_potential': True, 'finally_potential': -1.0, 'finally_potential_vs_type': 0, 'scan_rate': 0.2, 'cycle_count': 2, 'is_voltage_rand_auto': 1, 'voltage_rand': '1000', 'is_current_rand_auto': 1, 'current_rand': '1000', 'is_voltage_filter_auto': 1, 'voltage_filter': '10Hz', 'is_current_filter_auto': 1, 'current_filter': '10Hz', 'machine_id': 2}
|
||||
start_cv: {'success': True, 'return_info': 'ok', 'machine_id': 2}
|
||||
start_realtime_output_cv: {'success': True, 'running': True, 'machine_id': 2, 'file': 'D:\\Uni-Lab-OS\\Uni-Lab-OS\\unilabos\\devices\\donghua_ec\\x64release\\DHInterface\\SourceData\\2025-12-12\\循环伏安\\2号机(循环伏安(多循环)).txt'}
|
||||
result_types: [0]
|
||||
data_details: [{'cand': 0, 'len': 0, 'd3': (0, 0, 0), 'd4': (0, 0, 0, 0), 'd7': (0, 0, 0, 0, 0, 0, 0)}]
|
||||
stop_realtime_output_cv: {'success': True, 'machine_id': 2, 'file': 'D:\\Uni-Lab-OS\\Uni-Lab-OS\\unilabos\\devices\\donghua_ec\\x64release\\DHInterface\\SourceData\\2025-12-12\\循环伏安\\2号机(循环伏安(多循环)).txt'}
|
||||
export_cyclic_voltammetry: {'success': True, 'files': ['D:\\Uni-Lab-OS\\Uni-Lab-OS\\unilabos\\devices\\donghua_ec\\exports\\循环伏安\\2号机(循环伏安(多循环)).txt'], 'dest': 'D:\\Uni-Lab-OS\\Uni-Lab-OS\\unilabos\\devices\\donghua_ec\\exports\\循环伏安'}
|
||||
stop_experiment_cv: {'success': True, 'machine_id': 2}
|
||||
@@ -1,176 +0,0 @@
|
||||
import os
|
||||
import sys
|
||||
import asyncio
|
||||
import logging
|
||||
from pathlib import Path
|
||||
|
||||
# Ensure repository is on PYTHONPATH
|
||||
repo_root = Path(__file__).resolve().parents[3]
|
||||
sys.path.append(str(repo_root))
|
||||
|
||||
from unilabos.devices.donghua_ec.donghua_ec import DonghuaEC
|
||||
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
|
||||
async def main():
|
||||
iface_dir = Path(__file__).resolve().parent / "x64release" / "DHInterface"
|
||||
drv = DonghuaEC(config={"interface_dir": str(iface_dir)})
|
||||
ok = await drv.initialize()
|
||||
res = drv.get_machine_ids()
|
||||
import time as _t
|
||||
out = Path(__file__).resolve().parent / "init_output.txt"
|
||||
try:
|
||||
if out.exists():
|
||||
out.unlink()
|
||||
except Exception:
|
||||
pass
|
||||
with open(out, "w", encoding="utf-8") as f:
|
||||
f.write(f"initialize: {ok}\n")
|
||||
f.write(f"get_machine_ids: {res}\n")
|
||||
f.write("version: reflect_linear_scan_signature\n")
|
||||
try:
|
||||
import System
|
||||
elec = drv._elec
|
||||
t = elec.GetType()
|
||||
sig_lines = []
|
||||
for m in t.GetMethods():
|
||||
name = m.Name
|
||||
if ("Linear" in name) or ("Scan" in name) or ("Volt" in name) or ("Chrono" in name) or ("Potent" in name):
|
||||
ps_types = [str(p.ParameterType.FullName) for p in m.GetParameters()]
|
||||
ps_names = [str(p.Name) for p in m.GetParameters()]
|
||||
sig_lines.append(name + ":" + str(ps_types) + " | names=" + str(ps_names))
|
||||
f.write("linear_scan_related_methods:\n")
|
||||
for ln in sig_lines:
|
||||
f.write(ln + "\n")
|
||||
# dump all Start_* signatures for debugging
|
||||
all_start = []
|
||||
for m in t.GetMethods():
|
||||
name = m.Name
|
||||
if name.startswith("Start_"):
|
||||
ps_types = [str(p.ParameterType.FullName) for p in m.GetParameters()]
|
||||
ps_names = [str(p.Name) for p in m.GetParameters()]
|
||||
all_start.append(name + ":" + str(ps_types) + " | names=" + str(ps_names))
|
||||
f.write("all_start_methods:\n")
|
||||
for ln in all_start:
|
||||
f.write(ln + "\n")
|
||||
except Exception as e:
|
||||
f.write(f"reflect_error: {e}\n")
|
||||
f.write("version: lsv_v1\n")
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write("version: lsv_v1\n")
|
||||
# Cyclic Voltammetry (Multi)
|
||||
cv_params = dict(
|
||||
is_use_initial_potential=True,
|
||||
initial_potential=-1.0,
|
||||
initial_potential_vs_type=0,
|
||||
top_potential1=1.0,
|
||||
top_potential1_vs_type=0,
|
||||
top_potential2=-2.0,
|
||||
top_potential2_vs_type=0,
|
||||
is_use_finally_potential=True,
|
||||
finally_potential=-1.0,
|
||||
finally_potential_vs_type=0,
|
||||
scan_rate=0.2,
|
||||
cycle_count=2,
|
||||
is_voltage_rand_auto=1,
|
||||
voltage_rand="1000",
|
||||
is_current_rand_auto=1,
|
||||
current_rand="1000",
|
||||
is_voltage_filter_auto=1,
|
||||
voltage_filter="10Hz",
|
||||
is_current_filter_auto=1,
|
||||
current_filter="10Hz",
|
||||
machine_id=2,
|
||||
)
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write(f"start_cv_params: {cv_params}\n")
|
||||
try:
|
||||
start_cv = drv.start_cyclic_voltammetry_multi(**cv_params)
|
||||
except Exception as e:
|
||||
start_cv = {"success": False, "return_info": str(e), "machine_id": 2}
|
||||
try:
|
||||
if not start_cv.get("success"):
|
||||
drv.data["last_result_type"] = "cyclic_voltammetry"
|
||||
except Exception:
|
||||
pass
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write(f"start_cv: {start_cv}\n")
|
||||
try:
|
||||
rt4 = drv.start_realtime_output(machine_id=2, interval=0.5)
|
||||
except Exception as e:
|
||||
rt4 = {"success": False, "error": str(e)}
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write(f"start_realtime_output_cv: {rt4}\n")
|
||||
try:
|
||||
import System
|
||||
elec = drv._elec
|
||||
rts = []
|
||||
try:
|
||||
rts = list(elec.GetResultDataType(2))
|
||||
except Exception:
|
||||
rts = []
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write(f"result_types: {rts}\n")
|
||||
print("result_types:", rts)
|
||||
details = []
|
||||
for cand in rts:
|
||||
try:
|
||||
s = elec.GetData(cand, 2)
|
||||
except Exception:
|
||||
s = None
|
||||
d = {"cand": cand, "len": 0, "d3": (), "d4": (), "d7": ()}
|
||||
try:
|
||||
it = list(s)
|
||||
d["len"] = len(it)
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
a0 = list(elec.SplitData(s, 3, 0)); a1 = list(elec.SplitData(s, 3, 1)); a2 = list(elec.SplitData(s, 3, 2))
|
||||
d["d3"] = (len(a0), len(a1), len(a2))
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
b0 = list(elec.SplitData(s, 4, 0)); b1 = list(elec.SplitData(s, 4, 1)); b2 = list(elec.SplitData(s, 4, 2)); b3 = list(elec.SplitData(s, 4, 3))
|
||||
d["d4"] = (len(b0), len(b1), len(b2), len(b3))
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
c0 = list(elec.SplitData(s, 7, 0)); c1 = list(elec.SplitData(s, 7, 1)); c2 = list(elec.SplitData(s, 7, 2)); c3 = list(elec.SplitData(s, 7, 3)); c4 = list(elec.SplitData(s, 7, 4)); c5 = list(elec.SplitData(s, 7, 5)); c6 = list(elec.SplitData(s, 7, 6))
|
||||
d["d7"] = (len(c0), len(c1), len(c2), len(c3), len(c4), len(c5), len(c6))
|
||||
except Exception:
|
||||
pass
|
||||
details.append(d)
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write(f"data_details: {details}\n")
|
||||
print("data_details:", details)
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
import time as _t
|
||||
_t.sleep(10.0)
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
stop_rt4 = drv.stop_realtime_output(machine_id=2)
|
||||
except Exception as e:
|
||||
stop_rt4 = {"success": False, "error": str(e)}
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write(f"stop_realtime_output_cv: {stop_rt4}\n")
|
||||
try:
|
||||
exp_cv = drv.export_cyclic_voltammetry_data(machine_id=2, dest_dir=str(Path(__file__).resolve().parent / "exports" / "循环伏安"))
|
||||
except Exception as e:
|
||||
exp_cv = {"success": False, "error": str(e)}
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write(f"export_cyclic_voltammetry: {exp_cv}\n")
|
||||
try:
|
||||
stop_cv = drv.stop_experiment(machine_id=2)
|
||||
except Exception as e:
|
||||
stop_cv = {"success": False, "error": str(e)}
|
||||
with open(out, "a", encoding="utf-8") as f:
|
||||
f.write(f"stop_experiment_cv: {stop_cv}\n")
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
asyncio.run(main())
|
||||
except Exception as e:
|
||||
print("error:", e)
|
||||
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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user