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Support async func.

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This commit is contained in:
Xuwznln
2026-04-11 18:13:08 +08:00
parent af35debe38
commit 93ac55a65b
6 changed files with 542 additions and 19 deletions
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4
.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py
View File

@@ -7,7 +7,7 @@
选项:
--auth <token> Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
--base <url> API 基础 URL（如 https://uni-lab.test.bohrium.com）
--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）
@@ -17,7 +17,7 @@
示例:
python gen_notebook_params.py \\
--auth YTFmZDlkNGUtxxxx \\
--base https://uni-lab.test.bohrium.com \\
--base https://leap-lab.test.bohrium.com \\
--workflow-uuid abc-123-def \\
--rounds 2
"""

64
unilabos/devices/virtual/workbench.py
View File

@@ -22,10 +22,11 @@ from threading import Lock, RLock
from typing_extensions import TypedDict
from unilabos.registry.decorators import (
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
# ============ TypedDict 返回类型定义 ============
@@ -290,6 +291,63 @@ class VirtualWorkbench:
self._update_data_status(f"机械臂已释放 (完成: {task})")
self.logger.info(f"机械臂已释放 (完成: {task})")
@action(
always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
"assignee_user_ids": "unilabos_manual_confirm"
}, goal_default={
"timeout_seconds": 3600,
"assignee_user_ids": []
}, feedback_interval=300,
handles=[
ActionInputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
ActionInputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
ActionOutputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
]
)
def manual_confirm(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot], timeout_seconds: int, assignee_user_ids: list[str], **kwargs) -> dict:
"""
timeout_seconds: 超时时间（秒），默认3600秒
修改的结果无效，是只读的
"""
resource = ResourceTreeSet.from_plr_resources(resource).dump()
mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
kwargs.update(locals())
kwargs.pop("kwargs")
kwargs.pop("self")
return kwargs
@action(
description="转移物料",
handles=[
ActionInputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
ActionInputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
]
)
async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
**{
"plr_resources": resource,
"target_device_id": target_device,
"target_resources": mount_resource,
"sites": [None] * len(mount_resource),
})
result = await future
return result
@action(
auto_prefix=True,
description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",

13
unilabos/registry/decorators.py
View File

@@ -379,9 +379,16 @@ def action(
"""
def decorator(func: F) -> F:
@wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
import asyncio as _asyncio
if _asyncio.iscoroutinefunction(func):
@wraps(func)
async def wrapper(*args, **kwargs):
return await func(*args, **kwargs)
else:
@wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
# action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type

7
unilabos/registry/registry.py
View File

@@ -830,8 +830,9 @@ class Registry:
raw_handles = (action_args or {}).get("handles")
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
# placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
# placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
pk = detect_placeholder_keys(params)
pk.update((action_args or {}).get("placeholder_keys") or {})
# 从方法返回值类型生成 result schema
result_schema = None
@@ -978,7 +979,7 @@ class Registry:
"schema": schema,
"goal_default": goal_default,
"handles": handles,
"placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
"placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
}
if action_args.get("always_free") or method_info.get("always_free"):
action_entry["always_free"] = True

32
unilabos/ros/nodes/base_device_node.py
View File

@@ -789,7 +789,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
)
# 发送请求并等待响应
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
if not response.response:
raise ValueError(f"查询资源 {resource_id} 失败：服务端返回空响应")
raw_data = json.loads(response.response)
if not raw_data:
raise ValueError(f"查询资源 {resource_id} 失败：返回数据为空")
# 转换为 PLR 资源
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
@@ -1238,7 +1242,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if uid is None:
raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
target_uids.append(uid)
srv_address = f"/srv{target_device_id}/s2c_resource_tree"
_ns = target_device_id if target_device_id.startswith("/devices/") else f"/devices/{target_device_id.lstrip('/')}"
srv_address = f"/srv{_ns}/s2c_resource_tree"
sclient = self.create_client(SerialCommand, srv_address)
# 等待服务可用（设置超时）
if not sclient.wait_for_service(timeout_sec=5.0):
@@ -1288,7 +1293,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return False
time.sleep(0.05)
self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
return None
return "转运完成"
def register_device(self):
"""向注册表中注册设备信息"""
@@ -2050,16 +2055,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
)
async def _convert_resource_async(self, resource_data: Dict[str, Any]):
"""异步转换资源数据为实例"""
# 使用封装的get_resource_with_dir方法获取PLR资源
plr_resource = await self.get_resource_with_dir(resource_ids=resource_data["id"], with_children=True)
async def _convert_resource_async(self, resource_data: "ResourceDictType"):
"""异步转换 ResourceDictType 为 PLR 实例，优先用 uuid 查询"""
unilabos_uuid = resource_data.get("uuid")
if unilabos_uuid:
resource_tree = await self.get_resource([unilabos_uuid], with_children=True)
plr_resources = resource_tree.to_plr_resources()
if plr_resources:
plr_resource = plr_resources[0]
else:
raise ValueError(f"通过 uuid={unilabos_uuid} 查询资源为空")
else:
res_id = resource_data.get("id") or resource_data.get("name", "")
if not res_id:
raise ValueError(f"资源数据缺少 uuid 和 id: {list(resource_data.keys())}")
plr_resource = await self.get_resource_with_dir(resource_id=res_id, with_children=True)
# 通过资源跟踪器获取本地实例
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
if len(res) == 0:
# todo: 后续通过decoration来区分，减少warning
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data.get('id', '?')}，返回新建实例")
return plr_resource
elif len(res) == 1:
return res[0]

441
unilabos/test/experiments/virtual_bench.json
View File

@@ -22,6 +22,447 @@
"arm_state": "idle",
"message": "工作台就绪"
}
},
{
"id": "PRCXI",
"name": "PRCXI",
"type": "device",
"class": "liquid_handler.prcxi",
"parent": "",
"pose": {
"size": {
"width": 562,
"height": 394,
"depth": 0
}
},
"config": {
"axis": "Left",
"deck": {
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
"_resource_child_name": "PRCXI_Deck"
},
"host": "10.20.30.184",
"port": 9999,
"debug": true,
"setup": true,
"is_9320": true,
"timeout": 10,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"simulator": true,
"channel_num": 2
},
"data": {
"reset_ok": true
},
"schema": {},
"description": "",
"model": null,
"position": {
"x": 0,
"y": 240,
"z": 0
}
},
{
"id": "PRCXI_Deck",
"name": "PRCXI_Deck",
"children": [],
"parent": "PRCXI",
"type": "deck",
"class": "",
"position": {
"x": 10,
"y": 10,
"z": 0
},
"config": {
"type": "PRCXI9300Deck",
"size_x": 542,
"size_y": 374,
"size_z": 0,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "deck",
"barcode": null,
"preferred_pickup_location": null,
"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": [
"container",
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T2",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T3",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T4",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T5",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T6",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T7",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T8",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T9",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T10",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T11",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T12",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T13",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T14",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T15",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T16",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
}
]
},
"data": {}
}
],
"links": []