mirror of
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501 lines
16 KiB
Markdown
501 lines
16 KiB
Markdown
---
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name: add-workstation
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description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Walks through workstation type selection, sub-device composition, external system integration, driver creation, registry YAML, deck setup, and graph file configuration. Use when the user wants to add/integrate a new workstation, create a workstation driver, configure a station with sub-devices, set up deck and materials, or mentions 工作站/工站/station/workstation.
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---
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# Uni-Lab-OS 工作站接入指南
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工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统（PLR Deck）和工作流引擎。本指南覆盖从需求分析到验证的全流程。
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> **前置知识**：工作站接入基于 `docs/ai_guides/add_device.md` 的通用设备接入框架，但有显著差异。阅读本指南前无需先读通用指南。
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## 第一步：确定工作站类型
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向用户确认以下信息：
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**Q1: 工作站的业务场景？**
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| 类型 | 基类 | 适用场景 | 示例 |
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|------|------|----------|------|
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| **Protocol 工作站** | `ProtocolNode` | 标准化学操作协议（过滤、转移、加热等） | FilterProtocolStation |
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| **外部系统工作站** | `WorkstationBase` | 与外部 LIMS/MES 系统对接，有专属 API | BioyondStation |
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| **硬件控制工作站** | `WorkstationBase` | 直接控制 PLC/硬件，无外部系统 | CoinCellAssembly |
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**Q2: 工作站英文名称？**（如 `my_reaction_station`）
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**Q3: 与外部系统的交互方式？**
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| 方式 | 适用场景 | 需要的配置 |
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|------|----------|-----------|
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| 无外部系统 | Protocol 工作站、纯硬件控制 | 无 |
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| HTTP API | LIMS/MES 系统（如 Bioyond） | `api_host`, `api_key` |
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| Modbus TCP | PLC 控制 | `address`, `port` |
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| OPC UA | 工业设备 | `url` |
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**Q4: 子设备组成？**
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- 列出所有子设备（如反应器、泵、阀、传感器等）
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- 哪些是已有设备类型？哪些需要新增？
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- 子设备之间的硬件代理关系（如泵通过串口设备通信）
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**Q5: 物料管理需求？**
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- 是否需要 Deck（物料面板）？
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- 物料类型（plate、tip_rack、bottle 等）
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- 是否需要与外部物料系统同步？
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---
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## 第二步：理解工作站架构
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工作站与普通设备的核心差异：
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| 维度 | 普通设备 | 工作站 |
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|------|---------|--------|
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| 基类 | 无（纯 Python 类） | `WorkstationBase` 或 `ProtocolNode` |
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| ROS 节点 | `BaseROS2DeviceNode` | `ROS2WorkstationNode` |
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| 状态管理 | `self.data` 字典 | 通常不用 `self.data`，用 `@property` 直接访问 |
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| 子设备 | 无 | `children` 列表，通过 `self._children` 访问 |
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| 物料 | 无 | `self.deck`（PLR Deck） |
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| 图文件角色 | `parent: null` 或 `parent: "<station>"` | `parent: null`，含 `children` 和 `deck` |
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### 继承体系
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`WorkstationBase` (ABC) → `ProtocolNode` (通用协议) / `BioyondWorkstation` (→ ReactionStation, DispensingStation) / `CoinCellAssemblyWorkstation` (硬件控制)
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### ROS 层
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`ROS2WorkstationNode` 额外负责：初始化 children 子设备节点、为子设备创建 ActionClient、配置硬件代理、为 protocol_type 创建协议 ActionServer。
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---
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## 第三步：创建驱动文件
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文件路径：`unilabos/devices/workstation/<station_name>/<station_name>.py`
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### 模板 A：基于外部系统的工作站
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适用于与 LIMS/MES 等外部系统对接的场景。
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```python
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import logging
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from typing import Dict, Any, Optional, List
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from pylabrobot.resources import Deck
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from unilabos.devices.workstation.workstation_base import WorkstationBase
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try:
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from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
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except ImportError:
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ROS2WorkstationNode = None
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class MyWorkstation(WorkstationBase):
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"""工作站描述"""
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_ros_node: "ROS2WorkstationNode"
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def __init__(
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self,
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config: dict = None,
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deck: Optional[Deck] = None,
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protocol_type: list = None,
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**kwargs,
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):
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super().__init__(deck=deck, **kwargs)
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self.config = config or {}
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self.logger = logging.getLogger(f"MyWorkstation")
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# 外部系统连接配置
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self.api_host = self.config.get("api_host", "")
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self.api_key = self.config.get("api_key", "")
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# 工作站业务状态（不同于 self.data 模式）
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self._status = "Idle"
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def post_init(self, ros_node: "ROS2WorkstationNode") -> None:
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super().post_init(ros_node)
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# 在这里启动后台服务、连接监控等
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# ============ 子设备访问 ============
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def _get_child_device(self, device_id: str):
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"""通过 ID 获取子设备节点"""
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return self._children.get(device_id)
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# ============ 动作方法 ============
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async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
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"""启动调度器"""
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return {"success": True}
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async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
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"""创建工单"""
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return {"success": True}
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# ============ 属性 ============
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@property
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def workflow_sequence(self) -> str:
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return "[]"
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@property
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def material_info(self) -> str:
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return "{}"
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```
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### 模板 B：基于硬件控制的工作站
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适用于直接与 PLC/硬件通信的场景。
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```python
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import logging
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from typing import Dict, Any, Optional
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from pylabrobot.resources import Deck
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from unilabos.devices.workstation.workstation_base import WorkstationBase
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try:
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from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
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except ImportError:
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ROS2WorkstationNode = None
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class MyHardwareWorkstation(WorkstationBase):
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"""硬件控制工作站"""
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_ros_node: "ROS2WorkstationNode"
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def __init__(
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self,
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config: dict = None,
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deck: Optional[Deck] = None,
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address: str = "192.168.1.100",
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port: str = "502",
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debug_mode: bool = False,
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*args,
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**kwargs,
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):
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super().__init__(deck=deck, *args, **kwargs)
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self.config = config or {}
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self.address = address
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self.port = int(port)
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self.debug_mode = debug_mode
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self.logger = logging.getLogger("MyHardwareWorkstation")
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# 初始化通信客户端
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if not debug_mode:
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from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
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self.client = ModbusTcpClient(host=self.address, port=self.port)
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else:
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self.client = None
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def post_init(self, ros_node: "ROS2WorkstationNode") -> None:
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super().post_init(ros_node)
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# ============ 硬件读写 ============
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def _read_register(self, name: str):
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"""读取 Modbus 寄存器"""
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if self.debug_mode:
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return 0
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# 实际读取逻辑
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pass
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# ============ 动作方法 ============
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async def start_process(self, **kwargs) -> Dict[str, Any]:
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"""启动加工流程"""
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return {"success": True}
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async def stop_process(self, **kwargs) -> Dict[str, Any]:
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"""停止加工流程"""
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return {"success": True}
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# ============ 属性（从硬件实时读取）============
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@property
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def sys_status(self) -> str:
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return str(self._read_register("SYS_STATUS"))
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```
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### 模板 C：Protocol 工作站
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适用于标准化学操作协议的场景，直接使用 `ProtocolNode`。
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```python
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from typing import List, Optional
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from pylabrobot.resources import Resource as PLRResource
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from unilabos.devices.workstation.workstation_base import ProtocolNode
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class MyProtocolStation(ProtocolNode):
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"""Protocol 工作站 — 使用标准化学操作协议"""
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def __init__(
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self,
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protocol_type: List[str],
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deck: Optional[PLRResource] = None,
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*args,
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**kwargs,
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):
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super().__init__(protocol_type=protocol_type, deck=deck, *args, **kwargs)
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```
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> Protocol 工作站通常不需要自定义驱动类，直接使用 `ProtocolNode` 并在注册表和图文件中配置 `protocol_type` 即可。
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---
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## 第四步：创建子设备驱动（如需要）
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工作站的子设备本身是独立设备。按 `docs/ai_guides/add_device.md` 的标准流程创建。
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子设备的关键约束：
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- 在图文件中 `parent` 指向工作站 ID
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- 图文件中在工作站的 `children` 数组里列出
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- 如需硬件代理，在子设备的 `config.hardware_interface.name` 指向通信设备 ID
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---
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## 第五步：创建注册表 YAML
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路径：`unilabos/registry/devices/<station_name>.yaml`
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### 最小配置
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```yaml
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my_workstation:
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category:
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- workstation
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class:
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module: unilabos.devices.workstation.my_station.my_station:MyWorkstation
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type: python
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```
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启动时 `--complete_registry` 自动补全 `status_types` 和 `action_value_mappings`。
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### 完整配置参考
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```yaml
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my_workstation:
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description: "我的工作站"
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version: "1.0.0"
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category:
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- workstation
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- my_category
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class:
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module: unilabos.devices.workstation.my_station.my_station:MyWorkstation
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type: python
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status_types:
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workflow_sequence: String
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material_info: String
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action_value_mappings:
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scheduler_start:
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type: UniLabJsonCommandAsync
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goal: {}
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result:
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success: success
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create_order:
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type: UniLabJsonCommandAsync
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goal:
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json_str: json_str
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result:
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success: success
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init_param_schema:
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config:
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type: object
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deck:
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type: object
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protocol_type:
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type: array
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```
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### 子设备注册表
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子设备有独立的注册表文件，需要在 `category` 中包含工作站标识：
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```yaml
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my_reactor:
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category:
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- reactor
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- my_workstation
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class:
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module: unilabos.devices.workstation.my_station.my_reactor:MyReactor
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type: python
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```
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---
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## 第六步：配置 Deck 资源（如需要）
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如果工作站有物料管理需求，需要定义 Deck 类。
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### 使用已有 Deck 类
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查看 `unilabos/resources/` 目录下是否有适用的 Deck 类。
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### 创建自定义 Deck
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在 `unilabos/resources/<category>/decks.py` 中定义：
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```python
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from pylabrobot.resources import Deck
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from pylabrobot.resources.coordinate import Coordinate
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def MyStation_Deck(name: str = "MyStation_Deck") -> Deck:
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deck = Deck(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0)
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# 在 deck 上定义子资源位置（carrier、plate 等）
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return deck
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```
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在 `unilabos/resources/<category>/` 下注册或通过注册表引用。
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---
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## 第七步：配置图文件
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图文件路径：`unilabos/test/experiments/<station_name>.json`
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### 完整结构
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```json
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{
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"nodes": [
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{
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"id": "my_station",
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"name": "my_station",
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"children": ["my_deck", "sub_device_1", "sub_device_2"],
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"parent": null,
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"type": "device",
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"class": "my_workstation",
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"position": {"x": 0, "y": 0, "z": 0},
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"config": {
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"api_host": "http://192.168.1.100:8080",
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"api_key": "YOUR_KEY"
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},
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"deck": {
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"data": {
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"_resource_child_name": "my_deck",
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"_resource_type": "unilabos.resources.my_module.decks:MyStation_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": 1500.0,
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"protocol_type": [],
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"data": {}
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},
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{
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"id": "my_deck",
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"name": "my_deck",
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"children": [],
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"parent": "my_station",
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"type": "deck",
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"class": "MyStation_Deck",
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"position": {"x": 0, "y": 0, "z": 0},
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"config": {
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"type": "MyStation_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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"id": "sub_device_1",
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"name": "sub_device_1",
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"children": [],
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"parent": "my_station",
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"type": "device",
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"class": "sub_device_registry_name",
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"position": {"x": 100, "y": 0, "z": 0},
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"config": {},
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"data": {}
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}
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]
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}
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```
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### 图文件规则
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| 字段 | 说明 |
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|------|------|
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| `id` | 节点唯一标识，与 `children` 数组中的引用一致 |
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| `children` | 包含 deck ID 和所有子设备 ID |
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| `parent` | 工作站节点为 `null`；子设备/deck 指向工作站 ID |
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| `type` | 工作站和子设备为 `"device"`；deck 为 `"deck"` |
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| `class` | 对应注册表中的设备名 |
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| `deck.data._resource_child_name` | 必须与 deck 节点的 `id` 一致 |
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| `deck.data._resource_type` | Deck 工厂函数的完整 Python 路径 |
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| `protocol_type` | Protocol 工作站填入协议名列表；否则为 `[]` |
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| `config` | 传入驱动 `__init__` 的 `config` 参数 |
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---
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## 第八步：验证
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```bash
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# 1. 模块可导入
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python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
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# 2. 注册表补全
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unilab -g <graph>.json --complete_registry
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# 3. 启动测试
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unilab -g <graph>.json
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```
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---
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## 高级模式
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实现外部系统对接型工作站时，详见 [reference.md](reference.md)：RPC 客户端、HTTP 回调服务、连接监控、Config 结构模式（material_type_mappings / warehouse_mapping / workflow_mappings）、ResourceSynchronizer、update_resource、工作流序列、站间物料转移、post_init 完整模式。
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---
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## 关键规则
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1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.__init__` 需要 `deck` 参数
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2. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
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3. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
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4. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
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5. **子设备在图文件中声明** — 不在驱动代码中创建子设备实例
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6. **`deck` 配置中的 `_resource_child_name` 必须与 deck 节点 ID 一致**
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7. **Protocol 工作站优先使用 `ProtocolNode`** — 不需要自定义类
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---
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## 工作流清单
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```
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工作站接入进度：
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- [ ] 1. 确定工作站类型（Protocol / 外部系统 / 硬件控制）
|
||
- [ ] 2. 确认子设备组成和物料需求
|
||
- [ ] 3. 创建工作站驱动 unilabos/devices/workstation/<name>/<name>.py
|
||
- [ ] 4. 创建子设备驱动（如需要，按 add_device.md 流程）
|
||
- [ ] 5. 创建注册表 unilabos/registry/devices/<name>.yaml
|
||
- [ ] 6. 创建/选择 Deck 资源类（如需要）
|
||
- [ ] 7. 配置图文件 unilabos/test/experiments/<name>.json
|
||
- [ ] 8. 验证：可导入 + 注册表补全 + 启动测试
|
||
```
|
||
|
||
---
|
||
|
||
## 现有工作站参考
|
||
|
||
| 工作站 | 注册表名 | 驱动类 | 类型 |
|
||
|--------|----------|--------|------|
|
||
| Protocol 通用 | `workstation` | `ProtocolNode` | Protocol |
|
||
| Bioyond 反应站 | `reaction_station.bioyond` | `BioyondReactionStation` | 外部系统 |
|
||
| Bioyond 配液站 | `bioyond_dispensing_station` | `BioyondDispensingStation` | 外部系统 |
|
||
| 纽扣电池组装 | `coincellassemblyworkstation_device` | `CoinCellAssemblyWorkstation` | 硬件控制 |
|
||
|
||
### 参考文件路径
|
||
|
||
- 基类: `unilabos/devices/workstation/workstation_base.py`
|
||
- Bioyond 基类: `unilabos/devices/workstation/bioyond_studio/station.py`
|
||
- 反应站: `unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py`
|
||
- 配液站: `unilabos/devices/workstation/bioyond_studio/dispensing_station/dispensing_station.py`
|
||
- 纽扣电池: `unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
|
||
- ROS 节点: `unilabos/ros/nodes/presets/workstation.py`
|
||
- 图文件: `unilabos/test/experiments/reaction_station_bioyond.json`, `dispensing_station_bioyond.json`
|