diff --git a/.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py b/.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py index f22b37e8..a6cbea86 100644 --- a/.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py +++ b/.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py @@ -7,7 +7,7 @@ 选项: --auth Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀） - --base API 基础 URL（如 https://uni-lab.test.bohrium.com） + --base API 基础 URL（如 https://leap-lab.test.bohrium.com） --workflow-uuid 目标 workflow 的 UUID --registry 本地注册表文件路径（默认自动搜索） --rounds 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 """ diff --git a/unilabos/devices/virtual/workbench.py b/unilabos/devices/virtual/workbench.py index d67db398..31189942 100644 --- a/unilabos/devices/virtual/workbench.py +++ b/unilabos/devices/virtual/workbench.py @@ -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", diff --git a/unilabos/registry/decorators.py b/unilabos/registry/decorators.py index 606a6a8c..1dffe169 100644 --- a/unilabos/registry/decorators.py +++ b/unilabos/registry/decorators.py @@ -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 diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 8e8145f7..aa3db9b2 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -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 diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index b21cbf2c..ca3cdc83 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -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] diff --git a/unilabos/test/experiments/virtual_bench.json b/unilabos/test/experiments/virtual_bench.json index d37fa6ee..0cffe842 100644 --- a/unilabos/test/experiments/virtual_bench.json +++ b/unilabos/test/experiments/virtual_bench.json @@ -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": []