mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-04-24 00:03:39 +00:00
update workbench example
update aksk desc print res query logs Fix skills exec error with action type Update Skills Update Skills addr Change uni-lab. to leap-lab. Support unit in pylabrobot Support async func. change to leap-lab backend. Support feedback interval. Reduce cocurrent lags. fix create_resource_with_slot update unilabos_formulation & batch-submit-exp scale multi exec thread up to 48 update handle creation api fit cocurrent gap add running status debounce allow non @topic_config support update skill add placeholder keys always free 提交实验技能 disable samples correct sample demo ret value 新增试剂reagent update registry 新增manual_confirm add workstation creation skill add virtual_sample_demo 样品追踪测试设备 add external devices param fix registry upload missing type fast registry load minor fix on skill & registry stripe ros2 schema desc add create-device-skill new registry system backwards to yaml remove not exist resource new registry sys exp. support with add device correct raise create resource error ret info fix revert ret info fix fix prcxi check add create_resource schema re signal host ready event add websocket connection timeout and improve reconnection logic add open_timeout parameter to websocket connection add TimeoutError and InvalidStatus exception handling implement exponential backoff for reconnection attempts simplify reconnection logic flow
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88
unilabos/devices/virtual/virtual_sample_demo.py
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88
unilabos/devices/virtual/virtual_sample_demo.py
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"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
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import asyncio
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import logging
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import random
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import time
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from typing import Any, Dict, List, Optional
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class VirtualSampleDemo:
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"""虚拟样品追踪演示设备，提供两种典型返回模式：
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- measure_samples: 等长输入输出 (前端按 index 自动对齐)
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- split_and_measure: 输出比输入长，附带 samples 列标注归属
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"""
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def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
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if device_id is None and "id" in kwargs:
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device_id = kwargs.pop("id")
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if config is None and "config" in kwargs:
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config = kwargs.pop("config")
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self.device_id = device_id or "unknown_sample_demo"
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self.config = config or {}
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self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
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self.data: Dict[str, Any] = {"status": "Idle"}
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# ------------------------------------------------------------------
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# Action 1: 等长输入输出，无 samples 列
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# ------------------------------------------------------------------
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async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
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"""模拟光度测量。absorbance = concentration * 0.05 + noise
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入参和出参 list 长度相等，前端按 index 自动对齐。
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"""
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self.logger.info(f"measure_samples: concentrations={concentrations}")
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absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
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return {"concentrations": concentrations, "absorbance": absorbance}
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# ------------------------------------------------------------------
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# Action 2: 输出比输入长，带 samples 列
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# ------------------------------------------------------------------
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async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
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"""将每个样品均分为 split_count 份后逐份测量。
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返回的 list 长度 = len(volumes) * split_count，
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附带 samples 列标注每行属于第几个输入样品 (0-based index)。
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"""
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self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
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out_volumes: List[float] = []
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readings: List[float] = []
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samples: List[int] = []
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for idx, vol in enumerate(volumes):
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split_vol = round(vol / split_count, 2)
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for _ in range(split_count):
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out_volumes.append(split_vol)
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readings.append(round(random.uniform(0.1, 1.0), 4))
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samples.append(idx)
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return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples}
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# ------------------------------------------------------------------
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# Action 3: 入参和出参都带 samples 列（不等长）
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# ------------------------------------------------------------------
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async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
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"""对 split_and_measure 的输出做二次分析。
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入参 readings/samples 长度相同但 > 原始样品数，
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出参同样带 samples 列，长度与入参一致。
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"""
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self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
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scores: List[float] = []
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passed: List[bool] = []
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threshold = 0.4
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for r in readings:
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score = round(r * 100 + random.gauss(0, 2), 2)
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scores.append(score)
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passed.append(r >= threshold)
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return {"scores": scores, "passed": passed, "unilabos_samples": samples}
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# ------------------------------------------------------------------
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# 状态属性
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# ------------------------------------------------------------------
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@property
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def status(self) -> str:
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return self.data.get("status", "Idle")
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@@ -22,10 +22,11 @@ from threading import Lock, RLock
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from typing_extensions import TypedDict
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from unilabos.registry.decorators import (
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device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
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device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
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)
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
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from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
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from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
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# ============ TypedDict 返回类型定义 ============
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@@ -290,6 +291,126 @@ class VirtualWorkbench:
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self._update_data_status(f"机械臂已释放 (完成: {task})")
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self.logger.info(f"机械臂已释放 (完成: {task})")
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@action(
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always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
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"assignee_user_ids": "unilabos_manual_confirm"
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}, goal_default={
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"timeout_seconds": 3600,
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"assignee_user_ids": []
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}, feedback_interval=300,
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handles=[
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ActionInputHandle(key="target_device", data_type="device_id",
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label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
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ActionInputHandle(key="resource", data_type="resource",
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label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
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ActionInputHandle(key="mount_resource", data_type="resource",
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label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
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ActionInputHandle(key="collector_mass", data_type="collector_mass",
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label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
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ActionInputHandle(key="active_material", data_type="active_material",
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label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
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ActionInputHandle(key="capacity", data_type="capacity",
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label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
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ActionInputHandle(key="battery_system", data_type="battery_system",
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label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
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# transfer使用
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ActionOutputHandle(key="target_device", data_type="device_id",
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label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
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ActionOutputHandle(key="resource", data_type="resource",
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label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
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ActionOutputHandle(key="mount_resource", data_type="resource",
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label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
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# test使用
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ActionOutputHandle(key="collector_mass", data_type="collector_mass",
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label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
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ActionOutputHandle(key="active_material", data_type="active_material",
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label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
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ActionOutputHandle(key="capacity", data_type="capacity",
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label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
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ActionOutputHandle(key="battery_system", data_type="battery_system",
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label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
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]
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)
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def manual_confirm(
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self,
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resource: List[ResourceSlot],
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target_device: DeviceSlot,
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mount_resource: List[ResourceSlot],
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collector_mass: List[float],
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active_material: List[float],
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capacity: List[float],
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battery_system: List[str],
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timeout_seconds: int,
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assignee_user_ids: list[str],
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**kwargs
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) -> dict:
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"""
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timeout_seconds: 超时时间（秒），默认3600秒
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collector_mass: 极流体质量
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active_material: 活性物质含量
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capacity: 克容量（mAh/g）
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battery_system: 电池体系
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修改的结果无效，是只读的
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"""
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resource = ResourceTreeSet.from_plr_resources(resource).dump()
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mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
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kwargs.update(locals())
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kwargs.pop("kwargs")
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kwargs.pop("self")
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return kwargs
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@action(
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description="转移物料",
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handles=[
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ActionInputHandle(key="target_device", data_type="device_id",
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label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
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ActionInputHandle(key="resource", data_type="resource",
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label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
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ActionInputHandle(key="mount_resource", data_type="resource",
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label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
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]
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)
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async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
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future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
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**{
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"plr_resources": resource,
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"target_device_id": target_device,
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"target_resources": mount_resource,
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"sites": [None] * len(mount_resource),
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})
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result = await future
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return result
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@action(
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description="扣电测试启动",
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handles=[
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ActionInputHandle(key="resource", data_type="resource",
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label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
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ActionInputHandle(key="mount_resource", data_type="resource",
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label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
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ActionInputHandle(key="collector_mass", data_type="collector_mass",
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label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
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ActionInputHandle(key="active_material", data_type="active_material",
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label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
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ActionInputHandle(key="capacity", data_type="capacity",
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label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
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ActionInputHandle(key="battery_system", data_type="battery_system",
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label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
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]
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)
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async def test(
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self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
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):
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print(resource)
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print(mount_resource)
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print(collector_mass)
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print(active_material)
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print(capacity)
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print(battery_system)
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@action(
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auto_prefix=True,
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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",
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