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256 lines
7.3 KiB
Markdown
256 lines
7.3 KiB
Markdown
# 实验图高级参考
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本文件是 SKILL.md 的补充，包含 ResourceDict 完整 schema、Handle 验证、GraphML 格式、Pose 标准化规则和复杂图文件结构。Agent 在需要处理这些场景时按需阅读。
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---
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## 1. ResourceDict 完整字段
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`unilabos/resources/resource_tracker.py` 中定义的节点数据模型：
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| 字段 | 类型 | 别名 | 说明 |
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|------|------|------|------|
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| `id` | `str` | — | 节点唯一标识 |
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| `uuid` | `str` | — | 全局唯一标识 |
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| `name` | `str` | — | 显示名称 |
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| `description` | `str` | — | 描述（默认 `""` ） |
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| `resource_schema` | `Dict[str, Any]` | `schema` | 资源 schema |
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| `model` | `Dict[str, Any]` | — | 3D 模型信息 |
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| `icon` | `str` | — | 图标（默认 `""` ） |
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| `parent_uuid` | `Optional[str]` | — | 父节点 UUID |
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| `parent` | `Optional[ResourceDict]` | — | 父节点引用（序列化时 exclude） |
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| `type` | `Union[Literal["device"], str]` | — | 节点类型 |
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| `klass` | `str` | `class` | 注册表类名 |
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| `pose` | `ResourceDictPosition` | — | 位姿信息 |
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| `config` | `Dict[str, Any]` | — | 配置参数 |
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| `data` | `Dict[str, Any]` | — | 运行时数据 |
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| `extra` | `Dict[str, Any]` | — | 扩展数据 |
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### Pose 完整结构（ResourceDictPosition）
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| 字段 | 类型 | 默认值 | 说明 |
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|------|------|--------|------|
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| `size` | `{width, height, depth}` | `{0,0,0}` | 节点尺寸 |
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| `scale` | `{x, y, z}` | `{1,1,1}` | 缩放比例 |
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| `layout` | `"2d"/"x-y"/"z-y"/"x-z"` | `"x-y"` | 布局方向 |
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| `position` | `{x, y, z}` | `{0,0,0}` | 2D 位置 |
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| `position3d` | `{x, y, z}` | `{0,0,0}` | 3D 位置 |
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| `rotation` | `{x, y, z}` | `{0,0,0}` | 旋转角度 |
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| `cross_section_type` | `"rectangle"/"circle"/"rounded_rectangle"` | `"rectangle"` | 横截面形状 |
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---
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## 2. Position / Pose 标准化规则
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图文件中的 `position` 有多种写法，加载时自动标准化。
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### 输入格式兼容
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```json
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// 格式 A: 直接 {x, y, z}（最常用）
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"position": {"x": 100, "y": 200, "z": 0}
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// 格式 B: 嵌套 position
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"position": {"position": {"x": 100, "y": 200, "z": 0}}
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// 格式 C: 使用 pose 字段
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"pose": {"position": {"x": 100, "y": 200, "z": 0}}
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// 格式 D: 顶层 x, y, z（无 position 字段）
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"x": 100, "y": 200, "z": 0
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```
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### 标准化流程
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1. **graphio.py `canonicalize_nodes_data`**：若 `position` 不是 dict，从节点顶层提取 `x/y/z` 填入 `pose.position`
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2. **resource_tracker.py `get_resource_instance_from_dict`**：若 `position.x` 存在（旧格式），转为 `{"position": {"x":..., "y":..., "z":...}}`
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3. `pose.size` 从 `config.size_x/size_y/size_z` 自动填充
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---
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## 3. Handle 验证
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启动时系统验证 link 中的 `sourceHandle` / `targetHandle` 是否在注册表的 `handles` 中定义。
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```python
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# unilabos/app/main.py (约 449-481 行)
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source_handler_keys = [
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h["handler_key"] for h in materials[source_node.klass]["handles"]
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if h["io_type"] == "source"
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]
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target_handler_keys = [
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h["handler_key"] for h in materials[target_node.klass]["handles"]
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if h["io_type"] == "target"
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]
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if source_handle not in source_handler_keys:
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print_status(f"节点 {source_node.id} 的source端点 {source_handle} 不存在", "error")
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resource_edge_info.pop(...) # 移除非法 link
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```
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**Handle 定义在注册表 YAML 中：**
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```yaml
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my_device:
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handles:
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- handler_key: access
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io_type: target
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data_type: fluid
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side: NORTH
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label: access
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```
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> 大多数简单设备不定义 handles，此验证仅对有 `sourceHandle`/`targetHandle` 的 link 生效。
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---
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## 4. GraphML 格式支持
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除 JSON 外，系统也支持 GraphML 格式（`unilabos/resources/graphio.py::read_graphml`）。
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### 与 JSON 的关键差异
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| 特性 | JSON | GraphML |
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|------|------|---------|
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| 父子关系 | `parent`/`children` 字段 | `::` 分隔的节点 ID（如 `station::pump_1`） |
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| 加载后 | 直接解析 | 先 `nx.read_graphml` 再转 JSON 格式 |
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| 输出 | 不生成副本 | 自动生成等价的 `.json` 文件 |
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### GraphML 转换流程
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```
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nx.read_graphml(file)
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↓ 用 label 重映射节点名
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↓ 从 "::" 推断 parent_relation
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nx.relabel_nodes + nx.node_link_data
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↓ canonicalize_nodes_data + canonicalize_links_ports
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↓ 写出等价 JSON 文件
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physical_setup_graph + handle_communications
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```
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---
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## 5. 复杂图文件结构示例
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### 外部系统工作站完整 config
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以 `reaction_station_bioyond.json` 为例，工作站 `config` 中的关键字段：
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```json
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{
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"config": {
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"api_key": "DE9BDDA0",
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"api_host": "http://172.21.103.36:45388",
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"workflow_mappings": {
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"scheduler_start": {"workflow": "start", "params": {}},
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"create_order": {"workflow": "create_order", "params": {}}
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},
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"material_type_mappings": {
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"BIOYOND_PolymerStation_Reactor": ["反应器", "type-uuid-here"],
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"BIOYOND_PolymerStation_1BottleCarrier": ["试剂瓶", "type-uuid-here"]
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},
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"warehouse_mapping": {
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"堆栈1左": {
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"uuid": "warehouse-uuid-here",
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"site_uuids": {
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"A01": "site-uuid-1",
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"A02": "site-uuid-2"
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}
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}
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},
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"http_service_config": {
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"enabled": true,
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"host": "0.0.0.0",
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"port": 45399,
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"routes": ["/callback/workflow", "/callback/material"]
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},
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"deck": {
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"data": {
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"_resource_child_name": "Bioyond_Deck",
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"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
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}
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},
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"size_x": 2700.0,
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"size_y": 1080.0,
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"size_z": 2500.0,
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"protocol_type": [],
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"data": {}
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}
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}
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```
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### 子设备 Reactor 节点
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```json
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{
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"id": "reactor_1",
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"name": "reactor_1",
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"parent": "reaction_station_bioyond",
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"type": "device",
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"class": "bioyond_reactor",
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"position": {"x": 1150, "y": 300, "z": 0},
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"config": {
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"reactor_index": 0,
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"bioyond_workflow_key": "reactor_1"
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},
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"data": {}
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}
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```
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### Deck 节点
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```json
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{
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"id": "Bioyond_Deck",
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"name": "Bioyond_Deck",
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"parent": "reaction_station_bioyond",
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"type": "deck",
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"class": "BIOYOND_PolymerReactionStation_Deck",
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"position": {"x": 0, "y": 0, "z": 0},
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"config": {
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"type": "BIOYOND_PolymerReactionStation_Deck",
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"setup": true,
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"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"}
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},
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"data": {}
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}
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```
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---
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## 6. Link 端口标准化
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`graphio.py::canonicalize_links_ports` 处理 `port` 字段的多种格式：
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```python
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# 输入: 字符串格式 "(A,B)"
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"port": "(pump_1, valve_1)"
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# 输出: 字典格式
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"port": {"source_id": "pump_1", "target_id": "valve_1"}
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# 输入: 已是字典
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"port": {"pump_1": "port", "serial_1": "port"}
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# 保持不变
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# 输入: 无 port 字段
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# 自动补充空 port
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```
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---
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## 7. 关键路径
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| 内容 | 路径 |
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|------|------|
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| ResourceDict 模型 | `unilabos/resources/resource_tracker.py` |
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| 图加载 + 标准化 | `unilabos/resources/graphio.py` |
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| Handle 验证 | `unilabos/app/main.py` (449-481 行) |
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| 反应站图文件 | `unilabos/test/experiments/reaction_station_bioyond.json` |
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| 配液站图文件 | `unilabos/test/experiments/dispensing_station_bioyond.json` |
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| 用户文档 | `docs/user_guide/graph_files.md` |
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