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| Author | SHA1 | Date | |
|---|---|---|---|
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839fb6e92d |
@@ -1,328 +0,0 @@
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---
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description: 设备驱动开发规范
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globs: ["unilabos/devices/**/*.py"]
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---
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# 设备驱动开发规范
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## 目录结构
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```
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unilabos/devices/
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├── virtual/ # 虚拟设备（用于测试）
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│ ├── virtual_stirrer.py
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│ └── virtual_centrifuge.py
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├── liquid_handling/ # 液体处理设备
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├── balance/ # 天平设备
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├── hplc/ # HPLC设备
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├── pump_and_valve/ # 泵和阀门
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├── temperature/ # 温度控制设备
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├── workstation/ # 工作站（组合设备）
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└── ...
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```
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## 设备类完整模板
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```python
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import asyncio
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import logging
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import time as time_module
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from typing import Dict, Any, Optional
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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class MyDevice:
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"""
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设备类描述
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Attributes:
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device_id: 设备唯一标识
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config: 设备配置字典
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data: 设备状态数据
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"""
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_ros_node: BaseROS2DeviceNode
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def __init__(
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self,
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device_id: str = None,
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config: Dict[str, Any] = None,
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**kwargs
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):
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"""
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初始化设备
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Args:
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device_id: 设备ID
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config: 配置字典
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**kwargs: 其他参数
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"""
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# 兼容不同调用方式
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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_device"
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self.config = config or {}
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self.data = {}
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# 从config读取参数
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self.port = self.config.get('port') or kwargs.get('port', 'COM1')
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self._max_value = self.config.get('max_value', 1000.0)
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# 初始化日志
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self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
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self.logger.info(f"设备 {self.device_id} 已创建")
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def post_init(self, ros_node: BaseROS2DeviceNode):
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"""
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ROS节点注入 - 在ROS节点创建后调用
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Args:
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ros_node: ROS2设备节点实例
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"""
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self._ros_node = ros_node
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async def initialize(self) -> bool:
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"""
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初始化设备 - 连接硬件、设置初始状态
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Returns:
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bool: 初始化是否成功
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"""
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self.logger.info(f"初始化设备 {self.device_id}")
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try:
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# 执行硬件初始化
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# await self._connect_hardware()
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# 设置初始状态
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self.data.update({
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"status": "待机",
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"is_running": False,
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"current_value": 0.0,
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})
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self.logger.info(f"设备 {self.device_id} 初始化完成")
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return True
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except Exception as e:
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self.logger.error(f"初始化失败: {e}")
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self.data["status"] = f"错误: {e}"
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return False
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async def cleanup(self) -> bool:
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"""
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清理设备 - 断开连接、释放资源
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Returns:
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bool: 清理是否成功
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"""
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self.logger.info(f"清理设备 {self.device_id}")
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self.data.update({
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"status": "离线",
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"is_running": False,
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})
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return True
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# ==================== 设备动作 ====================
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async def execute_action(
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self,
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param1: float,
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param2: str = "",
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**kwargs
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) -> bool:
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"""
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执行设备动作
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Args:
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param1: 参数1
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param2: 参数2（可选）
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Returns:
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bool: 动作是否成功
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"""
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# 类型转换和验证
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try:
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param1 = float(param1)
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except (ValueError, TypeError) as e:
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self.logger.error(f"参数类型错误: {e}")
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return False
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# 参数验证
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if param1 > self._max_value:
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self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
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return False
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self.logger.info(f"执行动作: param1={param1}, param2={param2}")
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# 更新状态
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self.data.update({
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"status": "运行中",
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"is_running": True,
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})
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# 执行动作（带进度反馈）
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duration = 10.0 # 秒
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start_time = time_module.time()
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while True:
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elapsed = time_module.time() - start_time
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remaining = max(0, duration - elapsed)
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progress = min(100, (elapsed / duration) * 100)
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self.data.update({
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"status": f"运行中: {progress:.0f}%",
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"remaining_time": remaining,
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})
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if remaining <= 0:
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break
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await self._ros_node.sleep(1.0)
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# 完成
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self.data.update({
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"status": "完成",
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"is_running": False,
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})
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self.logger.info("动作执行完成")
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return True
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# ==================== 状态属性 ====================
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@property
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def status(self) -> str:
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"""设备状态 - 自动发布为ROS Topic"""
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return self.data.get("status", "未知")
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@property
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def is_running(self) -> bool:
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"""是否正在运行"""
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return self.data.get("is_running", False)
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@property
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def current_value(self) -> float:
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"""当前值"""
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return self.data.get("current_value", 0.0)
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# ==================== 辅助方法 ====================
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def get_device_info(self) -> Dict[str, Any]:
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"""获取设备信息"""
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return {
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"device_id": self.device_id,
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"status": self.status,
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"is_running": self.is_running,
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"current_value": self.current_value,
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}
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def __str__(self) -> str:
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return f"MyDevice({self.device_id}: {self.status})"
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```
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## 关键规则
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### 1. 参数处理
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所有动作方法的参数都可能以字符串形式传入，必须进行类型转换：
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```python
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async def my_action(self, value: float, **kwargs) -> bool:
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# 始终进行类型转换
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try:
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value = float(value)
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except (ValueError, TypeError) as e:
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self.logger.error(f"参数类型错误: {e}")
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return False
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```
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### 2. vessel 参数处理
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vessel 参数可能是字符串ID或字典：
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```python
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def extract_vessel_id(vessel: Union[str, dict]) -> str:
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if isinstance(vessel, dict):
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return vessel.get("id", "")
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return str(vessel) if vessel else ""
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```
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### 3. 状态更新
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使用 `self.data` 字典存储状态，属性读取状态：
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```python
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# 更新状态
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self.data["status"] = "运行中"
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self.data["current_speed"] = 300.0
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# 读取状态（通过属性）
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@property
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def status(self) -> str:
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return self.data.get("status", "待机")
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```
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### 4. 异步等待
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使用 ROS 节点的 sleep 方法：
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```python
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# 正确
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await self._ros_node.sleep(1.0)
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# 避免（除非在纯 Python 测试环境）
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await asyncio.sleep(1.0)
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```
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### 5. 进度反馈
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长时间运行的操作需要提供进度反馈：
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```python
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while remaining > 0:
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progress = (elapsed / total_time) * 100
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self.data["status"] = f"运行中: {progress:.0f}%"
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self.data["remaining_time"] = remaining
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await self._ros_node.sleep(1.0)
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```
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## 虚拟设备
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虚拟设备用于测试和演示，放在 `unilabos/devices/virtual/` 目录：
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- 类名以 `Virtual` 开头
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- 文件名以 `virtual_` 开头
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- 模拟真实设备的行为和时序
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- 使用表情符号增强日志可读性（可选）
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## 工作站设备
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工作站是组合多个设备的复杂设备：
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```python
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from unilabos.devices.workstation.workstation_base import WorkstationBase
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class MyWorkstation(WorkstationBase):
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"""组合工作站"""
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async def execute_workflow(self, workflow: Dict[str, Any]) -> bool:
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"""执行工作流"""
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pass
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```
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## 设备注册
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设备类开发完成后，需要在注册表中注册：
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1. 创建/编辑 `unilabos/registry/devices/my_category.yaml`
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2. 添加设备配置（参考 `virtual_device.yaml`）
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3. 运行 `--complete_registry` 自动生成 schema
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@@ -1,240 +0,0 @@
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---
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description: 协议编译器开发规范
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globs: ["unilabos/compile/**/*.py"]
|
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---
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# 协议编译器开发规范
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|
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## 概述
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协议编译器负责将高级实验操作（如 Stir、Add、Filter）编译为设备可执行的动作序列。
|
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## 文件命名
|
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|
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- 位置: `unilabos/compile/`
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- 命名: `{operation}_protocol.py`
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- 示例: `stir_protocol.py`, `add_protocol.py`, `filter_protocol.py`
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|
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## 协议函数模板
|
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|
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```python
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from typing import List, Dict, Any, Union
|
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import networkx as nx
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import logging
|
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|
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from .utils.unit_parser import parse_time_input
|
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from .utils.vessel_parser import extract_vessel_id
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|
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logger = logging.getLogger(__name__)
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|
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|
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def generate_{operation}_protocol(
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G: nx.DiGraph,
|
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vessel: Union[str, dict],
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param1: Union[str, float] = "0",
|
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param2: float = 0.0,
|
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**kwargs
|
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) -> List[Dict[str, Any]]:
|
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"""
|
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生成{操作}协议序列
|
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|
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Args:
|
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G: 物理拓扑图 (NetworkX DiGraph)
|
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vessel: 容器ID或Resource字典
|
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param1: 参数1（支持字符串单位，如 "5 min"）
|
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param2: 参数2
|
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**kwargs: 其他参数
|
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|
||||
Returns:
|
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List[Dict]: 动作序列
|
||||
|
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Raises:
|
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ValueError: 参数无效时
|
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"""
|
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# 1. 提取 vessel_id
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vessel_id = extract_vessel_id(vessel)
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|
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# 2. 验证参数
|
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if not vessel_id:
|
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raise ValueError("vessel 参数不能为空")
|
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|
||||
if vessel_id not in G.nodes():
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raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
|
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|
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# 3. 解析参数（支持单位）
|
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parsed_param1 = parse_time_input(param1) # "5 min" -> 300.0
|
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|
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# 4. 查找设备
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device_id = find_connected_device(G, vessel_id, device_type="my_device")
|
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|
||||
# 5. 生成动作序列
|
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action_sequence = []
|
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|
||||
action = {
|
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"device_id": device_id,
|
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"action_name": "my_action",
|
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"action_kwargs": {
|
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"vessel": {"id": vessel_id}, # 始终使用字典格式
|
||||
"param1": float(parsed_param1),
|
||||
"param2": float(param2),
|
||||
}
|
||||
}
|
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action_sequence.append(action)
|
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|
||||
logger.info(f"生成协议: {len(action_sequence)} 个动作")
|
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return action_sequence
|
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|
||||
|
||||
def find_connected_device(
|
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G: nx.DiGraph,
|
||||
vessel_id: str,
|
||||
device_type: str = ""
|
||||
) -> str:
|
||||
"""
|
||||
查找与容器相连的设备
|
||||
|
||||
Args:
|
||||
G: 拓扑图
|
||||
vessel_id: 容器ID
|
||||
device_type: 设备类型关键字
|
||||
|
||||
Returns:
|
||||
str: 设备ID
|
||||
"""
|
||||
# 查找所有匹配类型的设备
|
||||
device_nodes = []
|
||||
for node in G.nodes():
|
||||
node_class = G.nodes[node].get('class', '') or ''
|
||||
if device_type.lower() in node_class.lower():
|
||||
device_nodes.append(node)
|
||||
|
||||
# 检查连接
|
||||
if vessel_id and device_nodes:
|
||||
for device in device_nodes:
|
||||
if G.has_edge(device, vessel_id) or G.has_edge(vessel_id, device):
|
||||
return device
|
||||
|
||||
# 返回第一个可用设备
|
||||
if device_nodes:
|
||||
return device_nodes[0]
|
||||
|
||||
# 默认设备
|
||||
return f"{device_type}_1"
|
||||
```
|
||||
|
||||
## 关键规则
|
||||
|
||||
### 1. vessel 参数处理
|
||||
|
||||
vessel 参数可能是字符串或字典，需要统一处理：
|
||||
|
||||
```python
|
||||
def extract_vessel_id(vessel: Union[str, dict]) -> str:
|
||||
"""提取vessel_id"""
|
||||
if isinstance(vessel, dict):
|
||||
# 可能是 {"id": "xxx"} 或完整 Resource 对象
|
||||
return vessel.get("id", list(vessel.values())[0].get("id", ""))
|
||||
return str(vessel) if vessel else ""
|
||||
```
|
||||
|
||||
### 2. action_kwargs 中的 vessel
|
||||
|
||||
始终使用 `{"id": vessel_id}` 格式传递 vessel：
|
||||
|
||||
```python
|
||||
# 正确
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id}, # 字符串ID包装为字典
|
||||
}
|
||||
|
||||
# 避免
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_resource, # 不要传递完整 Resource 对象
|
||||
}
|
||||
```
|
||||
|
||||
### 3. 单位解析
|
||||
|
||||
使用 `parse_time_input` 解析时间参数：
|
||||
|
||||
```python
|
||||
from .utils.unit_parser import parse_time_input
|
||||
|
||||
# 支持格式: "5 min", "1 h", "300", "1.5 hours"
|
||||
time_seconds = parse_time_input("5 min") # -> 300.0
|
||||
time_seconds = parse_time_input(120) # -> 120.0
|
||||
time_seconds = parse_time_input("1 h") # -> 3600.0
|
||||
```
|
||||
|
||||
### 4. 参数验证
|
||||
|
||||
所有参数必须进行验证和类型转换：
|
||||
|
||||
```python
|
||||
# 验证范围
|
||||
if speed < 10.0 or speed > 1500.0:
|
||||
logger.warning(f"速度 {speed} 超出范围，修正为 300")
|
||||
speed = 300.0
|
||||
|
||||
# 类型转换
|
||||
param = float(param) if not isinstance(param, (int, float)) else param
|
||||
```
|
||||
|
||||
### 5. 日志记录
|
||||
|
||||
使用项目日志记录器：
|
||||
|
||||
```python
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
def generate_protocol(...):
|
||||
logger.info(f"开始生成协议...")
|
||||
logger.debug(f"参数: vessel={vessel_id}, time={time}")
|
||||
logger.warning(f"参数修正: {old_value} -> {new_value}")
|
||||
```
|
||||
|
||||
## 便捷函数
|
||||
|
||||
为常用操作提供便捷函数：
|
||||
|
||||
```python
|
||||
def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
speed: float = 300.0) -> List[Dict[str, Any]]:
|
||||
"""短时间搅拌（30秒）"""
|
||||
return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
|
||||
|
||||
def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict],
|
||||
time: str = "5 min") -> List[Dict[str, Any]]:
|
||||
"""剧烈搅拌"""
|
||||
return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
|
||||
```
|
||||
|
||||
## 测试函数
|
||||
|
||||
每个协议文件应包含测试函数：
|
||||
|
||||
```python
|
||||
def test_{operation}_protocol():
|
||||
"""测试协议生成"""
|
||||
# 测试参数处理
|
||||
vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
|
||||
vessel_id = extract_vessel_id(vessel_dict)
|
||||
assert vessel_id == "flask_1"
|
||||
|
||||
# 测试单位解析
|
||||
time_s = parse_time_input("5 min")
|
||||
assert time_s == 300.0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_{operation}_protocol()
|
||||
```
|
||||
|
||||
## 现有协议参考
|
||||
|
||||
- `stir_protocol.py` - 搅拌操作
|
||||
- `add_protocol.py` - 添加物料
|
||||
- `filter_protocol.py` - 过滤操作
|
||||
- `heatchill_protocol.py` - 加热/冷却
|
||||
- `separate_protocol.py` - 分离操作
|
||||
- `evaporate_protocol.py` - 蒸发操作
|
||||
@@ -1,319 +0,0 @@
|
||||
---
|
||||
description: 注册表配置规范 (YAML)
|
||||
globs: ["unilabos/registry/**/*.yaml"]
|
||||
---
|
||||
|
||||
# 注册表配置规范
|
||||
|
||||
## 概述
|
||||
|
||||
注册表使用 YAML 格式定义设备和资源类型，是 Uni-Lab-OS 的核心配置系统。
|
||||
|
||||
## 目录结构
|
||||
|
||||
```
|
||||
unilabos/registry/
|
||||
├── devices/ # 设备类型注册
|
||||
│ ├── virtual_device.yaml
|
||||
│ ├── liquid_handler.yaml
|
||||
│ └── ...
|
||||
├── device_comms/ # 通信设备配置
|
||||
│ ├── communication_devices.yaml
|
||||
│ └── modbus_ioboard.yaml
|
||||
└── resources/ # 资源类型注册
|
||||
├── bioyond/
|
||||
├── organic/
|
||||
├── opentrons/
|
||||
└── ...
|
||||
```
|
||||
|
||||
## 设备注册表格式
|
||||
|
||||
### 基本结构
|
||||
|
||||
```yaml
|
||||
device_type_id:
|
||||
# 基本信息
|
||||
description: "设备描述"
|
||||
version: "1.0.0"
|
||||
category:
|
||||
- category_name
|
||||
icon: "icon_device.webp"
|
||||
|
||||
# 类配置
|
||||
class:
|
||||
module: "unilabos.devices.my_module:MyClass"
|
||||
type: python
|
||||
|
||||
# 状态类型（属性 -> ROS消息类型）
|
||||
status_types:
|
||||
status: String
|
||||
temperature: Float64
|
||||
is_running: Bool
|
||||
|
||||
# 动作映射
|
||||
action_value_mappings:
|
||||
action_name:
|
||||
type: UniLabJsonCommand # 或 UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
handles: {}
|
||||
```
|
||||
|
||||
### action_value_mappings 详细格式
|
||||
|
||||
```yaml
|
||||
action_value_mappings:
|
||||
# 同步动作
|
||||
my_sync_action:
|
||||
type: UniLabJsonCommand
|
||||
goal:
|
||||
param1: param1
|
||||
param2: param2
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
message: message
|
||||
goal_default:
|
||||
param1: 0.0
|
||||
param2: ""
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
device_param: unilabos_devices # 设备选择器
|
||||
resource_param: unilabos_resources # 资源选择器
|
||||
schema:
|
||||
title: "动作名称参数"
|
||||
description: "动作描述"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties:
|
||||
param1:
|
||||
type: number
|
||||
param2:
|
||||
type: string
|
||||
required:
|
||||
- param1
|
||||
feedback: {}
|
||||
result:
|
||||
type: object
|
||||
properties:
|
||||
success:
|
||||
type: boolean
|
||||
message:
|
||||
type: string
|
||||
required:
|
||||
- goal
|
||||
|
||||
# 异步动作
|
||||
my_async_action:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback:
|
||||
progress: progress
|
||||
current_status: status
|
||||
result:
|
||||
success: success
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### 自动生成的动作
|
||||
|
||||
以 `auto-` 开头的动作由系统自动生成：
|
||||
|
||||
```yaml
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
|
||||
auto-cleanup:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### handles 配置
|
||||
|
||||
用于工作流编辑器中的数据流连接：
|
||||
|
||||
```yaml
|
||||
handles:
|
||||
input:
|
||||
- handler_key: "input_resource"
|
||||
data_type: "resource"
|
||||
label: "输入资源"
|
||||
data_source: "handle"
|
||||
data_key: "resources"
|
||||
output:
|
||||
- handler_key: "output_labware"
|
||||
data_type: "resource"
|
||||
label: "输出器皿"
|
||||
data_source: "executor"
|
||||
data_key: "created_resource.@flatten"
|
||||
```
|
||||
|
||||
## 资源注册表格式
|
||||
|
||||
```yaml
|
||||
resource_type_id:
|
||||
description: "资源描述"
|
||||
version: "1.0.0"
|
||||
category:
|
||||
- category_name
|
||||
icon: ""
|
||||
handles: []
|
||||
init_param_schema: {}
|
||||
|
||||
class:
|
||||
module: "unilabos.resources.my_module:MyResource"
|
||||
type: pylabrobot # 或 python
|
||||
```
|
||||
|
||||
### PyLabRobot 资源示例
|
||||
|
||||
```yaml
|
||||
BIOYOND_Electrolyte_6VialCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
- bioyond
|
||||
class:
|
||||
module: "unilabos.resources.bioyond.bottle_carriers:BIOYOND_Electrolyte_6VialCarrier"
|
||||
type: pylabrobot
|
||||
version: "1.0.0"
|
||||
```
|
||||
|
||||
## 状态类型映射
|
||||
|
||||
Python 类型到 ROS 消息类型的映射：
|
||||
|
||||
| Python 类型 | ROS 消息类型 |
|
||||
|------------|-------------|
|
||||
| `str` | `String` |
|
||||
| `bool` | `Bool` |
|
||||
| `int` | `Int64` |
|
||||
| `float` | `Float64` |
|
||||
| `list` | `String` (序列化) |
|
||||
| `dict` | `String` (序列化) |
|
||||
|
||||
## 自动完善注册表
|
||||
|
||||
使用 `--complete_registry` 参数自动生成 schema：
|
||||
|
||||
```bash
|
||||
python -m unilabos.app.main --complete_registry
|
||||
```
|
||||
|
||||
这会：
|
||||
1. 扫描设备类的方法签名
|
||||
2. 自动生成 `auto-` 前缀的动作
|
||||
3. 生成 JSON Schema
|
||||
4. 更新 YAML 文件
|
||||
|
||||
## 验证规则
|
||||
|
||||
1. **device_type_id** 必须唯一
|
||||
2. **module** 路径必须正确可导入
|
||||
3. **status_types** 的类型必须是有效的 ROS 消息类型
|
||||
4. **schema** 必须是有效的 JSON Schema
|
||||
|
||||
## 示例：完整设备配置
|
||||
|
||||
```yaml
|
||||
virtual_stirrer:
|
||||
category:
|
||||
- virtual_device
|
||||
description: "虚拟搅拌器设备"
|
||||
version: "1.0.0"
|
||||
icon: "icon_stirrer.webp"
|
||||
handles: []
|
||||
init_param_schema: {}
|
||||
|
||||
class:
|
||||
module: "unilabos.devices.virtual.virtual_stirrer:VirtualStirrer"
|
||||
type: python
|
||||
|
||||
status_types:
|
||||
status: String
|
||||
operation_mode: String
|
||||
current_speed: Float64
|
||||
is_stirring: Bool
|
||||
remaining_time: Float64
|
||||
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema:
|
||||
title: "initialize参数"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
|
||||
stir:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal:
|
||||
stir_time: stir_time
|
||||
stir_speed: stir_speed
|
||||
settling_time: settling_time
|
||||
feedback:
|
||||
current_speed: current_speed
|
||||
remaining_time: remaining_time
|
||||
result:
|
||||
success: success
|
||||
goal_default:
|
||||
stir_time: 60.0
|
||||
stir_speed: 300.0
|
||||
settling_time: 30.0
|
||||
handles: {}
|
||||
schema:
|
||||
title: "stir参数"
|
||||
description: "搅拌操作"
|
||||
type: object
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
properties:
|
||||
stir_time:
|
||||
type: number
|
||||
description: "搅拌时间（秒）"
|
||||
stir_speed:
|
||||
type: number
|
||||
description: "搅拌速度（RPM）"
|
||||
settling_time:
|
||||
type: number
|
||||
description: "沉降时间（秒）"
|
||||
required:
|
||||
- stir_time
|
||||
- stir_speed
|
||||
feedback:
|
||||
type: object
|
||||
properties:
|
||||
current_speed:
|
||||
type: number
|
||||
remaining_time:
|
||||
type: number
|
||||
result:
|
||||
type: object
|
||||
properties:
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
```
|
||||
@@ -1,233 +0,0 @@
|
||||
---
|
||||
description: ROS 2 集成开发规范
|
||||
globs: ["unilabos/ros/**/*.py", "**/*_node.py"]
|
||||
---
|
||||
|
||||
# ROS 2 集成开发规范
|
||||
|
||||
## 概述
|
||||
|
||||
Uni-Lab-OS 使用 ROS 2 作为设备通信中间件，基于 rclpy 实现。
|
||||
|
||||
## 核心组件
|
||||
|
||||
### BaseROS2DeviceNode
|
||||
|
||||
设备节点基类，提供：
|
||||
- ROS Topic 自动发布（状态属性）
|
||||
- Action Server 自动创建（设备动作）
|
||||
- 资源管理服务
|
||||
- 异步任务调度
|
||||
|
||||
```python
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
```
|
||||
|
||||
### 消息转换器
|
||||
|
||||
```python
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
msg_converter_manager,
|
||||
ros_action_to_json_schema,
|
||||
ros_message_to_json_schema,
|
||||
)
|
||||
```
|
||||
|
||||
## 设备与 ROS 集成
|
||||
|
||||
### post_init 方法
|
||||
|
||||
设备类必须实现 `post_init` 方法接收 ROS 节点：
|
||||
|
||||
```python
|
||||
class MyDevice:
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点注入"""
|
||||
self._ros_node = ros_node
|
||||
```
|
||||
|
||||
### 状态属性发布
|
||||
|
||||
设备的 `@property` 属性会自动发布为 ROS Topic：
|
||||
|
||||
```python
|
||||
class MyDevice:
|
||||
@property
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
|
||||
# 自动发布到 /{namespace}/temperature Topic
|
||||
```
|
||||
|
||||
### Topic 配置装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import topic_config
|
||||
|
||||
class MyDevice:
|
||||
@property
|
||||
@topic_config(period=1.0, print_publish=False, qos=10)
|
||||
def fast_data(self) -> float:
|
||||
"""高频数据 - 每秒发布一次"""
|
||||
return self._fast_data
|
||||
|
||||
@property
|
||||
@topic_config(period=5.0)
|
||||
def slow_data(self) -> str:
|
||||
"""低频数据 - 每5秒发布一次"""
|
||||
return self._slow_data
|
||||
```
|
||||
|
||||
### 订阅装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import subscribe
|
||||
|
||||
class MyDevice:
|
||||
@subscribe(topic="/external/sensor_data", qos=10)
|
||||
def on_sensor_data(self, msg):
|
||||
"""订阅外部Topic"""
|
||||
self._sensor_value = msg.data
|
||||
```
|
||||
|
||||
## 异步操作
|
||||
|
||||
### 使用 ROS 节点睡眠
|
||||
|
||||
```python
|
||||
# 推荐：使用ROS节点的睡眠方法
|
||||
await self._ros_node.sleep(1.0)
|
||||
|
||||
# 不推荐：直接使用asyncio（可能导致回调阻塞）
|
||||
await asyncio.sleep(1.0)
|
||||
```
|
||||
|
||||
### 获取事件循环
|
||||
|
||||
```python
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
|
||||
loop = get_event_loop()
|
||||
```
|
||||
|
||||
## 消息类型
|
||||
|
||||
### unilabos_msgs 包
|
||||
|
||||
```python
|
||||
from unilabos_msgs.msg import Resource
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
ResourceDelete,
|
||||
ResourceUpdate,
|
||||
ResourceList,
|
||||
SerialCommand,
|
||||
)
|
||||
from unilabos_msgs.action import SendCmd
|
||||
```
|
||||
|
||||
### Resource 消息结构
|
||||
|
||||
```python
|
||||
Resource:
|
||||
id: str
|
||||
name: str
|
||||
category: str
|
||||
type: str
|
||||
parent: str
|
||||
children: List[str]
|
||||
config: str # JSON字符串
|
||||
data: str # JSON字符串
|
||||
sample_id: str
|
||||
pose: Pose
|
||||
```
|
||||
|
||||
## 日志适配器
|
||||
|
||||
```python
|
||||
from unilabos.utils.log import info, debug, warning, error, trace
|
||||
|
||||
class MyDevice:
|
||||
def __init__(self):
|
||||
# 创建设备专属日志器
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
```
|
||||
|
||||
ROSLoggerAdapter 同时向自定义日志和 ROS 日志发送消息。
|
||||
|
||||
## Action Server
|
||||
|
||||
设备动作自动创建为 ROS Action Server：
|
||||
|
||||
```yaml
|
||||
# 在注册表中配置
|
||||
action_value_mappings:
|
||||
my_action:
|
||||
type: UniLabJsonCommandAsync # 异步Action
|
||||
goal: {...}
|
||||
feedback: {...}
|
||||
result: {...}
|
||||
```
|
||||
|
||||
### Action 类型
|
||||
|
||||
- **UniLabJsonCommand**: 同步动作
|
||||
- **UniLabJsonCommandAsync**: 异步动作（支持feedback）
|
||||
|
||||
## 服务客户端
|
||||
|
||||
```python
|
||||
from rclpy.client import Client
|
||||
|
||||
# 调用其他节点的服务
|
||||
response = await self._ros_node.call_service(
|
||||
service_name="/other_node/service",
|
||||
request=MyServiceRequest(...)
|
||||
)
|
||||
```
|
||||
|
||||
## 命名空间
|
||||
|
||||
设备节点使用命名空间隔离：
|
||||
|
||||
```
|
||||
/{device_id}/ # 设备命名空间
|
||||
/{device_id}/status # 状态Topic
|
||||
/{device_id}/temperature # 温度Topic
|
||||
/{device_id}/my_action # 动作Server
|
||||
```
|
||||
|
||||
## 调试
|
||||
|
||||
### 查看 Topic
|
||||
|
||||
```bash
|
||||
ros2 topic list
|
||||
ros2 topic echo /{device_id}/status
|
||||
```
|
||||
|
||||
### 查看 Action
|
||||
|
||||
```bash
|
||||
ros2 action list
|
||||
ros2 action info /{device_id}/my_action
|
||||
```
|
||||
|
||||
### 查看 Service
|
||||
|
||||
```bash
|
||||
ros2 service list
|
||||
ros2 service call /{device_id}/resource_list unilabos_msgs/srv/ResourceList
|
||||
```
|
||||
|
||||
## 最佳实践
|
||||
|
||||
1. **状态属性命名**: 使用蛇形命名法（snake_case）
|
||||
2. **Topic 频率**: 根据数据变化频率调整，避免过高频率
|
||||
3. **Action 反馈**: 长时间操作提供进度反馈
|
||||
4. **错误处理**: 使用 try-except 捕获并记录错误
|
||||
5. **资源清理**: 在 cleanup 方法中正确清理资源
|
||||
@@ -1,357 +0,0 @@
|
||||
---
|
||||
description: 测试开发规范
|
||||
globs: ["tests/**/*.py", "**/test_*.py"]
|
||||
---
|
||||
|
||||
# 测试开发规范
|
||||
|
||||
## 目录结构
|
||||
|
||||
```
|
||||
tests/
|
||||
├── __init__.py
|
||||
├── devices/ # 设备测试
|
||||
│ └── liquid_handling/
|
||||
│ └── test_transfer_liquid.py
|
||||
├── resources/ # 资源测试
|
||||
│ ├── test_bottle_carrier.py
|
||||
│ └── test_resourcetreeset.py
|
||||
├── ros/ # ROS消息测试
|
||||
│ └── msgs/
|
||||
│ ├── test_basic.py
|
||||
│ ├── test_conversion.py
|
||||
│ └── test_mapping.py
|
||||
└── workflow/ # 工作流测试
|
||||
└── merge_workflow.py
|
||||
```
|
||||
|
||||
## 测试框架
|
||||
|
||||
使用 pytest 作为测试框架：
|
||||
|
||||
```bash
|
||||
# 运行所有测试
|
||||
pytest tests/
|
||||
|
||||
# 运行特定测试文件
|
||||
pytest tests/resources/test_bottle_carrier.py
|
||||
|
||||
# 运行特定测试函数
|
||||
pytest tests/resources/test_bottle_carrier.py::test_bottle_carrier
|
||||
|
||||
# 显示详细输出
|
||||
pytest -v tests/
|
||||
|
||||
# 显示打印输出
|
||||
pytest -s tests/
|
||||
```
|
||||
|
||||
## 测试文件模板
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from typing import List, Dict, Any
|
||||
|
||||
# 导入被测试的模块
|
||||
from unilabos.resources.bioyond.bottle_carriers import (
|
||||
BIOYOND_Electrolyte_6VialCarrier,
|
||||
)
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Solid_Vial,
|
||||
)
|
||||
|
||||
|
||||
class TestBottleCarrier:
|
||||
"""BottleCarrier 测试类"""
|
||||
|
||||
def setup_method(self):
|
||||
"""每个测试方法前执行"""
|
||||
self.carrier = BIOYOND_Electrolyte_6VialCarrier("test_carrier")
|
||||
|
||||
def teardown_method(self):
|
||||
"""每个测试方法后执行"""
|
||||
pass
|
||||
|
||||
def test_carrier_creation(self):
|
||||
"""测试载架创建"""
|
||||
assert self.carrier.name == "test_carrier"
|
||||
assert len(self.carrier.sites) == 6
|
||||
|
||||
def test_bottle_placement(self):
|
||||
"""测试瓶子放置"""
|
||||
bottle = BIOYOND_PolymerStation_Solid_Vial("test_bottle")
|
||||
# 测试逻辑...
|
||||
assert bottle.name == "test_bottle"
|
||||
|
||||
|
||||
def test_standalone_function():
|
||||
"""独立测试函数"""
|
||||
result = some_function()
|
||||
assert result is True
|
||||
|
||||
|
||||
# 参数化测试
|
||||
@pytest.mark.parametrize("input,expected", [
|
||||
("5 min", 300.0),
|
||||
("1 h", 3600.0),
|
||||
("120", 120.0),
|
||||
(60, 60.0),
|
||||
])
|
||||
def test_time_parsing(input, expected):
|
||||
"""测试时间解析"""
|
||||
from unilabos.compile.utils.unit_parser import parse_time_input
|
||||
assert parse_time_input(input) == expected
|
||||
|
||||
|
||||
# 异常测试
|
||||
def test_invalid_input_raises_error():
|
||||
"""测试无效输入抛出异常"""
|
||||
with pytest.raises(ValueError) as exc_info:
|
||||
invalid_function("bad_input")
|
||||
assert "invalid" in str(exc_info.value).lower()
|
||||
|
||||
|
||||
# 跳过条件测试
|
||||
@pytest.mark.skipif(
|
||||
not os.environ.get("ROS_DISTRO"),
|
||||
reason="需要ROS环境"
|
||||
)
|
||||
def test_ros_feature():
|
||||
"""需要ROS环境的测试"""
|
||||
pass
|
||||
```
|
||||
|
||||
## 设备测试
|
||||
|
||||
### 虚拟设备测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
import asyncio
|
||||
from unittest.mock import MagicMock, AsyncMock
|
||||
|
||||
from unilabos.devices.virtual.virtual_stirrer import VirtualStirrer
|
||||
|
||||
|
||||
class TestVirtualStirrer:
|
||||
"""VirtualStirrer 测试"""
|
||||
|
||||
@pytest.fixture
|
||||
def stirrer(self):
|
||||
"""创建测试用搅拌器"""
|
||||
device = VirtualStirrer(
|
||||
device_id="test_stirrer",
|
||||
config={"max_speed": 1500.0, "min_speed": 50.0}
|
||||
)
|
||||
|
||||
# Mock ROS节点
|
||||
mock_node = MagicMock()
|
||||
mock_node.sleep = AsyncMock(return_value=None)
|
||||
device.post_init(mock_node)
|
||||
|
||||
return device
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_initialize(self, stirrer):
|
||||
"""测试初始化"""
|
||||
result = await stirrer.initialize()
|
||||
assert result is True
|
||||
assert stirrer.status == "待机中"
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_stir_action(self, stirrer):
|
||||
"""测试搅拌动作"""
|
||||
await stirrer.initialize()
|
||||
|
||||
result = await stirrer.stir(
|
||||
stir_time=5.0,
|
||||
stir_speed=300.0,
|
||||
settling_time=2.0
|
||||
)
|
||||
|
||||
assert result is True
|
||||
assert stirrer.operation_mode == "Completed"
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_stir_invalid_speed(self, stirrer):
|
||||
"""测试无效速度"""
|
||||
await stirrer.initialize()
|
||||
|
||||
# 速度超出范围
|
||||
result = await stirrer.stir(
|
||||
stir_time=5.0,
|
||||
stir_speed=2000.0, # 超过max_speed
|
||||
settling_time=0.0
|
||||
)
|
||||
|
||||
assert result is False
|
||||
assert "错误" in stirrer.status
|
||||
```
|
||||
|
||||
### 异步测试配置
|
||||
|
||||
```python
|
||||
# conftest.py
|
||||
import pytest
|
||||
import asyncio
|
||||
|
||||
|
||||
@pytest.fixture(scope="session")
|
||||
def event_loop():
|
||||
"""创建事件循环"""
|
||||
loop = asyncio.get_event_loop_policy().new_event_loop()
|
||||
yield loop
|
||||
loop.close()
|
||||
```
|
||||
|
||||
## 资源测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
)
|
||||
|
||||
|
||||
def test_resource_tree_creation():
|
||||
"""测试资源树创建"""
|
||||
tree_set = ResourceTreeSet()
|
||||
|
||||
# 添加资源
|
||||
resource = {"id": "res_1", "name": "Resource 1"}
|
||||
tree_set.add_resource(resource)
|
||||
|
||||
# 验证
|
||||
assert len(tree_set.all_nodes) == 1
|
||||
assert tree_set.get_resource("res_1") is not None
|
||||
|
||||
|
||||
def test_resource_tree_merge():
|
||||
"""测试资源树合并"""
|
||||
local_set = ResourceTreeSet()
|
||||
remote_set = ResourceTreeSet()
|
||||
|
||||
# 设置数据...
|
||||
|
||||
local_set.merge_remote_resources(remote_set)
|
||||
|
||||
# 验证合并结果...
|
||||
```
|
||||
|
||||
## ROS 消息测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
msg_converter_manager,
|
||||
)
|
||||
|
||||
|
||||
def test_message_conversion():
|
||||
"""测试消息转换"""
|
||||
# Python -> ROS
|
||||
python_data = {"id": "test", "value": 42}
|
||||
ros_msg = convert_to_ros_msg(python_data, MyMsgType)
|
||||
|
||||
assert ros_msg.id == "test"
|
||||
assert ros_msg.value == 42
|
||||
|
||||
# ROS -> Python
|
||||
result = convert_from_ros_msg_with_mapping(ros_msg, mapping)
|
||||
assert result["id"] == "test"
|
||||
```
|
||||
|
||||
## 协议测试
|
||||
|
||||
```python
|
||||
import pytest
|
||||
import networkx as nx
|
||||
from unilabos.compile.stir_protocol import (
|
||||
generate_stir_protocol,
|
||||
extract_vessel_id,
|
||||
)
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def topology_graph():
|
||||
"""创建测试拓扑图"""
|
||||
G = nx.DiGraph()
|
||||
G.add_node("flask_1", **{"class": "flask"})
|
||||
G.add_node("stirrer_1", **{"class": "virtual_stirrer"})
|
||||
G.add_edge("stirrer_1", "flask_1")
|
||||
return G
|
||||
|
||||
|
||||
def test_generate_stir_protocol(topology_graph):
|
||||
"""测试搅拌协议生成"""
|
||||
actions = generate_stir_protocol(
|
||||
G=topology_graph,
|
||||
vessel="flask_1",
|
||||
time="5 min",
|
||||
stir_speed=300.0
|
||||
)
|
||||
|
||||
assert len(actions) == 1
|
||||
assert actions[0]["device_id"] == "stirrer_1"
|
||||
assert actions[0]["action_name"] == "stir"
|
||||
|
||||
|
||||
def test_extract_vessel_id():
|
||||
"""测试vessel_id提取"""
|
||||
# 字典格式
|
||||
assert extract_vessel_id({"id": "flask_1"}) == "flask_1"
|
||||
|
||||
# 字符串格式
|
||||
assert extract_vessel_id("flask_2") == "flask_2"
|
||||
|
||||
# 空值
|
||||
assert extract_vessel_id("") == ""
|
||||
```
|
||||
|
||||
## 测试标记
|
||||
|
||||
```python
|
||||
# 慢速测试
|
||||
@pytest.mark.slow
|
||||
def test_long_running():
|
||||
pass
|
||||
|
||||
# 需要网络
|
||||
@pytest.mark.network
|
||||
def test_network_call():
|
||||
pass
|
||||
|
||||
# 需要ROS
|
||||
@pytest.mark.ros
|
||||
def test_ros_feature():
|
||||
pass
|
||||
```
|
||||
|
||||
运行特定标记的测试：
|
||||
|
||||
```bash
|
||||
pytest -m "not slow" # 排除慢速测试
|
||||
pytest -m ros # 仅ROS测试
|
||||
```
|
||||
|
||||
## 覆盖率
|
||||
|
||||
```bash
|
||||
# 生成覆盖率报告
|
||||
pytest --cov=unilabos tests/
|
||||
|
||||
# HTML报告
|
||||
pytest --cov=unilabos --cov-report=html tests/
|
||||
```
|
||||
|
||||
## 最佳实践
|
||||
|
||||
1. **测试命名**: `test_{功能}_{场景}_{预期结果}`
|
||||
2. **独立性**: 每个测试独立运行，不依赖其他测试
|
||||
3. **Mock外部依赖**: 使用 unittest.mock 模拟外部服务
|
||||
4. **参数化**: 使用 `@pytest.mark.parametrize` 减少重复代码
|
||||
5. **fixtures**: 使用 fixtures 共享测试设置
|
||||
6. **断言清晰**: 每个断言只验证一件事
|
||||
@@ -1,353 +0,0 @@
|
||||
---
|
||||
description: Uni-Lab-OS 实验室自动化平台开发规范 - 核心规则
|
||||
globs: ["**/*.py", "**/*.yaml", "**/*.json"]
|
||||
---
|
||||
|
||||
# Uni-Lab-OS 项目开发规范
|
||||
|
||||
## 项目概述
|
||||
|
||||
Uni-Lab-OS 是一个实验室自动化操作系统，用于连接和控制各种实验设备，实现实验工作流的自动化和标准化。
|
||||
|
||||
## 技术栈
|
||||
|
||||
- **Python 3.11** - 核心开发语言
|
||||
- **ROS 2** - 设备通信中间件 (rclpy)
|
||||
- **Conda/Mamba** - 包管理 (robostack-staging, conda-forge)
|
||||
- **FastAPI** - Web API 服务
|
||||
- **WebSocket** - 实时通信
|
||||
- **NetworkX** - 拓扑图管理
|
||||
- **YAML** - 配置和注册表定义
|
||||
- **PyLabRobot** - 实验室自动化库集成
|
||||
- **pytest** - 测试框架
|
||||
- **asyncio** - 异步编程
|
||||
|
||||
## 项目结构
|
||||
|
||||
```
|
||||
unilabos/
|
||||
├── app/ # 应用入口、Web服务、后端
|
||||
├── compile/ # 协议编译器 (stir, add, filter 等)
|
||||
├── config/ # 配置管理
|
||||
├── devices/ # 设备驱动 (真实/虚拟)
|
||||
├── device_comms/ # 设备通信协议
|
||||
├── device_mesh/ # 3D网格和可视化
|
||||
├── registry/ # 设备和资源类型注册表 (YAML)
|
||||
├── resources/ # 资源定义
|
||||
├── ros/ # ROS 2 集成
|
||||
├── utils/ # 工具函数
|
||||
└── workflow/ # 工作流管理
|
||||
```
|
||||
|
||||
## 代码规范
|
||||
|
||||
### Python 风格
|
||||
|
||||
1. **类型注解**：所有函数必须使用类型注解
|
||||
```python
|
||||
def transfer_liquid(
|
||||
source: str,
|
||||
destination: str,
|
||||
volume: float,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
```
|
||||
|
||||
2. **Docstring**：使用 Google 风格的文档字符串
|
||||
```python
|
||||
def initialize(self) -> bool:
|
||||
"""
|
||||
初始化设备
|
||||
|
||||
Returns:
|
||||
bool: 初始化是否成功
|
||||
"""
|
||||
```
|
||||
|
||||
3. **导入顺序**：
|
||||
- 标准库
|
||||
- 第三方库
|
||||
- ROS 相关 (rclpy, unilabos_msgs)
|
||||
- 项目内部模块
|
||||
|
||||
### 异步编程
|
||||
|
||||
1. 设备操作方法使用 `async def`
|
||||
2. 使用 `await self._ros_node.sleep()` 而非 `asyncio.sleep()`
|
||||
3. 长时间运行操作需提供进度反馈
|
||||
|
||||
```python
|
||||
async def stir(self, stir_time: float, stir_speed: float, **kwargs) -> bool:
|
||||
"""执行搅拌操作"""
|
||||
start_time = time_module.time()
|
||||
while True:
|
||||
elapsed = time_module.time() - start_time
|
||||
remaining = max(0, stir_time - elapsed)
|
||||
|
||||
self.data.update({
|
||||
"remaining_time": remaining,
|
||||
"status": f"搅拌中: {stir_speed} RPM"
|
||||
})
|
||||
|
||||
if remaining <= 0:
|
||||
break
|
||||
await self._ros_node.sleep(1.0)
|
||||
return True
|
||||
```
|
||||
|
||||
### 日志规范
|
||||
|
||||
使用项目自定义日志系统：
|
||||
|
||||
```python
|
||||
from unilabos.utils.log import logger, info, debug, warning, error, trace
|
||||
|
||||
# 在设备类中使用
|
||||
self.logger = logging.getLogger(f"DeviceName.{self.device_id}")
|
||||
self.logger.info("设备初始化完成")
|
||||
```
|
||||
|
||||
## 设备驱动开发
|
||||
|
||||
### 设备类结构
|
||||
|
||||
```python
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class MyDevice:
|
||||
"""设备驱动类"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
self.device_id = device_id or "unknown_device"
|
||||
self.config = config or {}
|
||||
self.data = {} # 设备状态数据
|
||||
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode):
|
||||
"""ROS节点注入"""
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
"""初始化设备"""
|
||||
pass
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
"""清理设备"""
|
||||
pass
|
||||
|
||||
# 状态属性 - 自动发布为 ROS Topic
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "待机")
|
||||
```
|
||||
|
||||
### 状态属性装饰器
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import topic_config
|
||||
|
||||
class MyDevice:
|
||||
@property
|
||||
@topic_config(period=1.0, qos=10) # 每秒发布一次
|
||||
def temperature(self) -> float:
|
||||
return self._temperature
|
||||
```
|
||||
|
||||
### 虚拟设备
|
||||
|
||||
虚拟设备放置在 `unilabos/devices/virtual/` 目录下，命名为 `virtual_*.py`
|
||||
|
||||
## 注册表配置
|
||||
|
||||
### 设备注册表 (YAML)
|
||||
|
||||
位置: `unilabos/registry/devices/*.yaml`
|
||||
|
||||
```yaml
|
||||
my_device_type:
|
||||
category:
|
||||
- my_category
|
||||
description: "设备描述"
|
||||
version: "1.0.0"
|
||||
class:
|
||||
module: "unilabos.devices.my_device:MyDevice"
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
temperature: Float64
|
||||
action_value_mappings:
|
||||
auto-initialize:
|
||||
type: UniLabJsonCommandAsync
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
schema: {...}
|
||||
```
|
||||
|
||||
### 资源注册表 (YAML)
|
||||
|
||||
位置: `unilabos/registry/resources/**/*.yaml`
|
||||
|
||||
```yaml
|
||||
my_container:
|
||||
category:
|
||||
- container
|
||||
class:
|
||||
module: "unilabos.resources.my_resource:MyContainer"
|
||||
type: pylabrobot
|
||||
version: "1.0.0"
|
||||
```
|
||||
|
||||
## 协议编译器
|
||||
|
||||
位置: `unilabos/compile/*_protocol.py`
|
||||
|
||||
### 协议生成函数模板
|
||||
|
||||
```python
|
||||
from typing import List, Dict, Any, Union
|
||||
import networkx as nx
|
||||
|
||||
def generate_my_protocol(
|
||||
G: nx.DiGraph,
|
||||
vessel: Union[str, dict],
|
||||
param1: float = 0.0,
|
||||
**kwargs
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
生成操作协议序列
|
||||
|
||||
Args:
|
||||
G: 物理拓扑图
|
||||
vessel: 容器ID或字典
|
||||
param1: 参数1
|
||||
|
||||
Returns:
|
||||
List[Dict]: 动作序列
|
||||
"""
|
||||
# 提取vessel_id
|
||||
vessel_id = vessel if isinstance(vessel, str) else vessel.get("id", "")
|
||||
|
||||
# 查找设备
|
||||
device_id = find_connected_device(G, vessel_id)
|
||||
|
||||
# 生成动作
|
||||
action_sequence = [{
|
||||
"device_id": device_id,
|
||||
"action_name": "my_action",
|
||||
"action_kwargs": {
|
||||
"vessel": {"id": vessel_id},
|
||||
"param1": float(param1)
|
||||
}
|
||||
}]
|
||||
|
||||
return action_sequence
|
||||
```
|
||||
|
||||
## 测试规范
|
||||
|
||||
### 测试文件位置
|
||||
|
||||
- 单元测试: `tests/` 目录
|
||||
- 设备测试: `tests/devices/`
|
||||
- 资源测试: `tests/resources/`
|
||||
- ROS消息测试: `tests/ros/msgs/`
|
||||
|
||||
### 测试命名
|
||||
|
||||
```python
|
||||
# tests/devices/my_device/test_my_device.py
|
||||
|
||||
import pytest
|
||||
|
||||
def test_device_initialization():
|
||||
"""测试设备初始化"""
|
||||
pass
|
||||
|
||||
def test_device_action():
|
||||
"""测试设备动作"""
|
||||
pass
|
||||
```
|
||||
|
||||
## 错误处理
|
||||
|
||||
```python
|
||||
from unilabos.utils.exception import UniLabException
|
||||
|
||||
try:
|
||||
result = await device.execute_action()
|
||||
except ValueError as e:
|
||||
self.logger.error(f"参数错误: {e}")
|
||||
self.data["status"] = "错误: 参数无效"
|
||||
return False
|
||||
except Exception as e:
|
||||
self.logger.error(f"执行失败: {e}")
|
||||
raise
|
||||
```
|
||||
|
||||
## 配置管理
|
||||
|
||||
```python
|
||||
from unilabos.config.config import BasicConfig, HTTPConfig
|
||||
|
||||
# 读取配置
|
||||
port = BasicConfig.port
|
||||
is_host = BasicConfig.is_host_mode
|
||||
|
||||
# 配置文件: local_config.py
|
||||
```
|
||||
|
||||
## 常用工具
|
||||
|
||||
### 单例模式
|
||||
|
||||
```python
|
||||
from unilabos.utils.decorator import singleton
|
||||
|
||||
@singleton
|
||||
class MyManager:
|
||||
pass
|
||||
```
|
||||
|
||||
### 类型检查
|
||||
|
||||
```python
|
||||
from unilabos.utils.type_check import NoAliasDumper
|
||||
|
||||
yaml.dump(data, f, Dumper=NoAliasDumper)
|
||||
```
|
||||
|
||||
### 导入管理
|
||||
|
||||
```python
|
||||
from unilabos.utils.import_manager import get_class
|
||||
|
||||
device_class = get_class("unilabos.devices.my_device:MyDevice")
|
||||
```
|
||||
|
||||
## Git 提交规范
|
||||
|
||||
提交信息格式:
|
||||
```
|
||||
<type>(<scope>): <subject>
|
||||
|
||||
<body>
|
||||
```
|
||||
|
||||
类型:
|
||||
- `feat`: 新功能
|
||||
- `fix`: 修复bug
|
||||
- `docs`: 文档更新
|
||||
- `refactor`: 重构
|
||||
- `test`: 测试相关
|
||||
- `chore`: 构建/工具相关
|
||||
|
||||
示例:
|
||||
```
|
||||
feat(devices): 添加虚拟搅拌器设备
|
||||
|
||||
- 实现VirtualStirrer类
|
||||
- 支持定时搅拌和持续搅拌模式
|
||||
- 添加速度验证逻辑
|
||||
```
|
||||
188
.cursorignore
188
.cursorignore
@@ -1,188 +0,0 @@
|
||||
# ============================================================
|
||||
# Uni-Lab-OS Cursor Ignore 配置，控制 Cursor AI 的文件索引范围
|
||||
# ============================================================
|
||||
|
||||
# ==================== 敏感配置文件 ====================
|
||||
# 本地配置（可能包含密钥）
|
||||
**/local_config.py
|
||||
test_config.py
|
||||
local_test*.py
|
||||
|
||||
# 环境变量和密钥
|
||||
.env
|
||||
.env.*
|
||||
**/.certs/
|
||||
*.pem
|
||||
*.key
|
||||
credentials.json
|
||||
secrets.yaml
|
||||
|
||||
# ==================== 二进制和 3D 模型文件 ====================
|
||||
# 3D 模型文件（无需索引）
|
||||
*.stl
|
||||
*.dae
|
||||
*.glb
|
||||
*.gltf
|
||||
*.obj
|
||||
*.fbx
|
||||
*.blend
|
||||
|
||||
# URDF/Xacro 机器人描述文件（大型XML）
|
||||
*.xacro
|
||||
|
||||
# 图片文件
|
||||
*.png
|
||||
*.jpg
|
||||
*.jpeg
|
||||
*.gif
|
||||
*.webp
|
||||
*.ico
|
||||
*.svg
|
||||
*.bmp
|
||||
|
||||
# 压缩包
|
||||
*.zip
|
||||
*.tar
|
||||
*.tar.gz
|
||||
*.tgz
|
||||
*.bz2
|
||||
*.rar
|
||||
*.7z
|
||||
|
||||
# ==================== Python 生成文件 ====================
|
||||
__pycache__/
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
*.so
|
||||
*.pyd
|
||||
*.egg
|
||||
*.egg-info/
|
||||
.eggs/
|
||||
dist/
|
||||
build/
|
||||
*.manifest
|
||||
*.spec
|
||||
|
||||
# ==================== IDE 和编辑器 ====================
|
||||
.idea/
|
||||
.vscode/
|
||||
*.swp
|
||||
*.swo
|
||||
*~
|
||||
.#*
|
||||
|
||||
# ==================== 测试和覆盖率 ====================
|
||||
.pytest_cache/
|
||||
.coverage
|
||||
.coverage.*
|
||||
htmlcov/
|
||||
.tox/
|
||||
.nox/
|
||||
coverage.xml
|
||||
*.cover
|
||||
|
||||
# ==================== 虚拟环境 ====================
|
||||
.venv/
|
||||
venv/
|
||||
env/
|
||||
ENV/
|
||||
|
||||
# ==================== ROS 2 生成文件 ====================
|
||||
# ROS 构建目录
|
||||
build/
|
||||
install/
|
||||
log/
|
||||
logs/
|
||||
devel/
|
||||
|
||||
# ROS 消息生成
|
||||
msg_gen/
|
||||
srv_gen/
|
||||
msg/*Action.msg
|
||||
msg/*ActionFeedback.msg
|
||||
msg/*ActionGoal.msg
|
||||
msg/*ActionResult.msg
|
||||
msg/*Feedback.msg
|
||||
msg/*Goal.msg
|
||||
msg/*Result.msg
|
||||
msg/_*.py
|
||||
srv/_*.py
|
||||
build_isolated/
|
||||
devel_isolated/
|
||||
|
||||
# ROS 动态配置
|
||||
*.cfgc
|
||||
/cfg/cpp/
|
||||
/cfg/*.py
|
||||
|
||||
# ==================== 项目特定目录 ====================
|
||||
# 工作数据目录
|
||||
unilabos_data/
|
||||
|
||||
# 临时和输出目录
|
||||
temp/
|
||||
output/
|
||||
cursor_docs/
|
||||
configs/
|
||||
|
||||
# 文档构建
|
||||
docs/_build/
|
||||
/site
|
||||
|
||||
# ==================== 大型数据文件 ====================
|
||||
# 点云数据
|
||||
*.pcd
|
||||
|
||||
# GraphML 图形文件
|
||||
*.graphml
|
||||
|
||||
# 日志文件
|
||||
*.log
|
||||
|
||||
# 数据库
|
||||
*.sqlite3
|
||||
*.db
|
||||
|
||||
# Jupyter 检查点
|
||||
.ipynb_checkpoints/
|
||||
|
||||
# ==================== 设备网格资源 ====================
|
||||
# 3D 网格文件目录（包含大量 STL/DAE 文件）
|
||||
unilabos/device_mesh/devices/**/*.stl
|
||||
unilabos/device_mesh/devices/**/*.dae
|
||||
unilabos/device_mesh/resources/**/*.stl
|
||||
unilabos/device_mesh/resources/**/*.glb
|
||||
unilabos/device_mesh/resources/**/*.xacro
|
||||
|
||||
# RViz 配置
|
||||
*.rviz
|
||||
|
||||
# ==================== 系统文件 ====================
|
||||
.DS_Store
|
||||
Thumbs.db
|
||||
desktop.ini
|
||||
|
||||
# ==================== 锁文件 ====================
|
||||
poetry.lock
|
||||
Pipfile.lock
|
||||
pdm.lock
|
||||
package-lock.json
|
||||
yarn.lock
|
||||
|
||||
# ==================== 类型检查缓存 ====================
|
||||
.mypy_cache/
|
||||
.dmypy.json
|
||||
.pytype/
|
||||
.pyre/
|
||||
pyrightconfig.json
|
||||
|
||||
# ==================== 其他 ====================
|
||||
# Catkin
|
||||
CATKIN_IGNORE
|
||||
|
||||
# Eclipse/Qt
|
||||
.project
|
||||
.cproject
|
||||
CMakeLists.txt.user
|
||||
*.user
|
||||
qtcreator-*
|
||||
11
.github/copilot-instructions.md
vendored
11
.github/copilot-instructions.md
vendored
@@ -1,11 +0,0 @@
|
||||
## 设备接入
|
||||
|
||||
当被要求添加设备驱动时，参考 `docs/ai_guides/add_device.md`。
|
||||
该指南包含完整的模板和已有设备接口参考。
|
||||
|
||||
## 关键规则
|
||||
|
||||
- 动作方法的参数名是接口契约，不可重命名
|
||||
- `status` 字符串必须与同类已有设备一致
|
||||
- `self.data` 必须在 `__init__` 中预填充所有属性字段
|
||||
- 异步方法中使用 `await self._ros_node.sleep()`，禁止 `time.sleep()`
|
||||
2
.github/workflows/ci-check.yml
vendored
2
.github/workflows/ci-check.yml
vendored
@@ -25,7 +25,7 @@ jobs:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
|
||||
2
.github/workflows/conda-pack-build.yml
vendored
2
.github/workflows/conda-pack-build.yml
vendored
@@ -70,7 +70,7 @@ jobs:
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
|
||||
2
.github/workflows/deploy-docs.yml
vendored
2
.github/workflows/deploy-docs.yml
vendored
@@ -51,7 +51,7 @@ jobs:
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniforge (with mamba)
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
|
||||
2
.github/workflows/multi-platform-build.yml
vendored
2
.github/workflows/multi-platform-build.yml
vendored
@@ -98,7 +98,7 @@ jobs:
|
||||
|
||||
- name: Setup Miniconda
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniconda-version: 'latest'
|
||||
channels: conda-forge,robostack-staging,defaults
|
||||
|
||||
2
.github/workflows/unilabos-conda-build.yml
vendored
2
.github/workflows/unilabos-conda-build.yml
vendored
@@ -98,7 +98,7 @@ jobs:
|
||||
|
||||
- name: Setup Miniconda
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
uses: conda-incubator/setup-miniconda@v4
|
||||
with:
|
||||
miniconda-version: 'latest'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,344 +0,0 @@
|
||||
# Uni-Lab-OS 设备接入 Agent — 提示词模板
|
||||
|
||||
> 本文件提供一套可直接复制使用的 Agent 系统提示词，以及各平台的配置说明。
|
||||
> 提示词模板与 `add_device.md`（领域知识）配合使用，前者控制 Agent 行为，后者提供完整的技术细节。
|
||||
|
||||
---
|
||||
|
||||
## 系统提示词模板
|
||||
|
||||
以下内容可直接作为系统提示词 / Instructions / Custom Instructions 使用。`{{...}}` 标记的变量根据平台替换。
|
||||
|
||||
---
|
||||
|
||||
### 开始复制 ↓
|
||||
|
||||
```
|
||||
你是 Uni-Lab-OS 设备接入专家。你的任务是帮助用户将新的实验室硬件设备接入 Uni-Lab-OS 系统。
|
||||
|
||||
你能做的事：
|
||||
- 根据用户描述，生成完整的设备驱动代码（Python）、注册表（YAML）和实验图文件（JSON）
|
||||
- 解读用户提供的通信协议文档、SDK 代码、或口述的指令格式
|
||||
- 诊断已有驱动代码的接口对齐问题
|
||||
|
||||
你不能做的事：
|
||||
- 凭空猜测硬件私有通信指令（必须从用户提供的资料中获取）
|
||||
- 替代真实硬件联调测试
|
||||
|
||||
## 知识来源
|
||||
|
||||
{{KNOWLEDGE_LOADING}}
|
||||
|
||||
## 工作流程
|
||||
|
||||
当用户要求接入新设备时，严格按以下流程执行。每个暂停点必须等待用户确认后再继续。
|
||||
|
||||
### 阶段 1：设备画像（交互）
|
||||
|
||||
向用户收集以下三个信息，可以一次性提问：
|
||||
|
||||
1. **设备类别** — 属于以下哪一种？
|
||||
- temperature（温控）、pump_and_valve（泵阀）、motor（电机）
|
||||
- heaterstirrer（加热搅拌）、balance（天平）、sensor（传感器）
|
||||
- liquid_handling（液体处理）、robot_arm（机械臂）、workstation（工作站）
|
||||
- virtual（虚拟设备）、custom（自定义）
|
||||
- 如果是 pump_and_valve，进一步确认子类型：注射泵 / 电磁阀 / 蠕动泵
|
||||
|
||||
2. **设备英文名称** — 用于文件名和类名（如 my_heater、runze_sy03b）
|
||||
|
||||
3. **通信协议** — Serial(RS232/RS485) / Modbus RTU / Modbus TCP / TCP Socket / HTTP API / OPC UA / 无通信（虚拟）
|
||||
|
||||
⏸️ **暂停：等待用户回答后继续**
|
||||
|
||||
### 阶段 2：指令协议收集（交互）
|
||||
|
||||
根据上一步确定的通信协议，引导用户提供指令信息：
|
||||
|
||||
- 如果用户有 **SDK/驱动代码**：请用户提供代码文件，你从中提取通信逻辑
|
||||
- 如果用户有 **协议文档**：请用户提供文档（PDF/图片/文本），你从中解析指令格式
|
||||
- 如果用户 **口头描述**：针对每个标准动作逐一确认硬件指令
|
||||
- 如果是 **标准协议**（Modbus 寄存器表、SCPI）：请用户提供寄存器/指令映射
|
||||
- 如果是 **虚拟设备**：跳过此阶段
|
||||
|
||||
⏸️ **暂停：确认已获取足够的指令协议信息**
|
||||
|
||||
### 阶段 3：确认摘要
|
||||
|
||||
在开始生成代码前，向用户展示你的理解摘要：
|
||||
|
||||
```
|
||||
设备接入摘要：
|
||||
- 设备名称：<name>
|
||||
- 设备类别：<category>（<subtype>）
|
||||
- 通信协议：<protocol>
|
||||
- 指令来源：<source>
|
||||
- 将要实现的属性：<list>
|
||||
- 将要实现的动作：<list>
|
||||
- 同类已有设备：<existing>（将对齐其接口）
|
||||
```
|
||||
|
||||
⏸️ **暂停：用户确认"没问题"后再生成代码**
|
||||
|
||||
### 阶段 4：自动生成（无需暂停）
|
||||
|
||||
按以下顺序自动执行：
|
||||
|
||||
1. **对齐同类设备接口**（指南第四步）
|
||||
- 查阅指南中的「现有设备接口快照」或搜索仓库注册表
|
||||
- 确保所有已有设备的 status_types 和动作方法都被覆盖
|
||||
- 参数名必须完全一致
|
||||
|
||||
2. **生成驱动代码** — `unilabos/devices/<category>/<name>.py`
|
||||
|
||||
3. **生成注册表** — `unilabos/registry/devices/<name>.yaml`（最小配置）
|
||||
|
||||
4. **生成图文件** — `unilabos/test/experiments/graph_example_<name>.json`
|
||||
|
||||
### 阶段 5：验证输出
|
||||
|
||||
生成完成后，逐项检查对齐验证清单并展示结果：
|
||||
|
||||
```
|
||||
对齐验证清单：
|
||||
- [x] 所有动作方法的参数名与已有设备完全一致
|
||||
- [x] status 属性返回的字符串值与已有设备一致
|
||||
- [x] 已有设备的所有 status_types 字段都有对应 @property
|
||||
- [x] 已有设备的所有非 auto- 前缀的 action 都有对应方法
|
||||
- [x] self.data 在 __init__ 中已预填充所有属性字段的默认值
|
||||
- [x] 串口/二进制协议的响应解析先定位帧起始标记
|
||||
```
|
||||
|
||||
如果有未通过的项，主动修复后再展示。
|
||||
|
||||
## 硬约束（违反任何一条都会导致设备接入失败）
|
||||
|
||||
1. **禁止重命名参数** — 动作方法的参数名（如 volume、position、max_velocity）是接口契约，框架通过参数名分派调用。绝不能加后缀（如 volume_ml）、改名（如 speed_ml_s）。单位写在 docstring 中。
|
||||
|
||||
2. **status 字符串必须一致** — 如果同类已有设备用英文（如 "Idle" / "Busy"），新驱动必须用相同的字符串，不能改为中文（如 "就绪"）。
|
||||
|
||||
3. **self.data 必须预填充** — 不能用空字典 {}。框架在 initialize() 之前就可能读取属性值。每个 @property 对应的键都必须在 __init__ 中有初始值。
|
||||
|
||||
4. **禁止跳过接口对齐** — 对齐同类设备接口是强制步骤。缺失的属性和动作会导致设备在工作流中不可互换。
|
||||
|
||||
5. **串口解析先找帧头** — RS-485 总线上响应前常有回声/噪声字节。必须先定位帧起始标记（如 /、0xFE），禁止用硬编码索引直接解析。
|
||||
|
||||
6. **异步等待用 _ros_node.sleep** — 在 async 方法中使用 await self._ros_node.sleep()，禁止 time.sleep()（阻塞事件循环）和 asyncio.sleep()。
|
||||
|
||||
7. **物理单位对外暴露** — 对外参数使用用户友好的物理单位（mL、°C、RPM），驱动内部负责转换到硬件原始值（步数、Hz、寄存器值）。
|
||||
|
||||
## 代码骨架参考
|
||||
|
||||
所有设备驱动遵循以下结构：
|
||||
|
||||
```python
|
||||
import logging
|
||||
import time as time_module
|
||||
from typing import Dict, Any
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
except ImportError:
|
||||
BaseROS2DeviceNode = None
|
||||
|
||||
class MyDevice:
|
||||
_ros_node: "BaseROS2DeviceNode"
|
||||
|
||||
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
|
||||
if device_id is None and 'id' in kwargs:
|
||||
device_id = kwargs.pop('id')
|
||||
if config is None and 'config' in kwargs:
|
||||
config = kwargs.pop('config')
|
||||
self.device_id = device_id or "unknown_device"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
self.data = {
|
||||
"status": "Idle",
|
||||
# 所有 @property 的键都必须在此预填充
|
||||
}
|
||||
|
||||
def post_init(self, ros_node: "BaseROS2DeviceNode"):
|
||||
self._ros_node = ros_node
|
||||
|
||||
async def initialize(self) -> bool:
|
||||
self.data["status"] = "Idle"
|
||||
return True
|
||||
|
||||
async def cleanup(self) -> bool:
|
||||
self.data["status"] = "Offline"
|
||||
return True
|
||||
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
```
|
||||
|
||||
## 注册表最小配置
|
||||
|
||||
```yaml
|
||||
my_device:
|
||||
class:
|
||||
module: unilabos.devices.<category>.<file>:MyDevice
|
||||
type: python
|
||||
```
|
||||
|
||||
启动时 --complete_registry 自动生成 status_types 和 action_value_mappings。
|
||||
|
||||
## 图文件模板
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "my_device_1",
|
||||
"name": "设备名称",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "my_device",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
## 现有设备接口快照（对齐用）
|
||||
|
||||
对齐时参考以下已有设备接口。如果能联网，优先从 GitHub 获取最新版本：
|
||||
https://github.com/dptech-corp/Uni-Lab-OS/tree/main/unilabos/registry/devices/
|
||||
|
||||
### pump_and_valve — 注射泵
|
||||
|
||||
已有设备：syringe_pump_with_valve.runze.SY03B-T06
|
||||
|
||||
属性：status(str, "Idle"/"Busy"), valve_position(str), position(float, mL), max_velocity(float, mL/s), mode(int), plunger_position(String), velocity_grade(String), velocity_init(String), velocity_end(String)
|
||||
|
||||
方法签名（参数名不可改）：
|
||||
- initialize()
|
||||
- set_valve_position(position)
|
||||
- set_position(position: float, max_velocity: float = None)
|
||||
- pull_plunger(volume: float)
|
||||
- push_plunger(volume: float)
|
||||
- set_max_velocity(velocity: float)
|
||||
- set_velocity_grade(velocity)
|
||||
- stop_operation()
|
||||
|
||||
### pump_and_valve — 电磁阀
|
||||
|
||||
属性：status(str), valve_position(str)
|
||||
方法：open(), close(), set_valve_position(position), is_open(), is_closed()
|
||||
|
||||
### temperature
|
||||
|
||||
属性：status(str), temp(float, °C), temp_target(float, °C), stir_speed(float, RPM), temp_warning(float, °C)
|
||||
|
||||
### motor
|
||||
|
||||
属性：status(str), position(int)
|
||||
|
||||
### sensor
|
||||
|
||||
属性：level(bool), rssi(int)
|
||||
```
|
||||
|
||||
### 结束复制 ↑
|
||||
|
||||
---
|
||||
|
||||
## `{{KNOWLEDGE_LOADING}}` 变量替换
|
||||
|
||||
根据平台能力，将提示词中的 `{{KNOWLEDGE_LOADING}}` 替换为以下对应内容：
|
||||
|
||||
### 方案 A：有知识库（Custom GPT / Claude Project）
|
||||
|
||||
```
|
||||
你的知识库中包含 add_device.md 文件，这是完整的设备接入指南。
|
||||
执行工作流时，参考该文件获取物模型模板、通信协议代码片段、指令协议模式和常见错误检查清单。
|
||||
本提示词中的「现有设备接口快照」和「硬约束」是从指南中提炼的关键内容，以确保即使知识库检索不完整也能正确工作。
|
||||
```
|
||||
|
||||
### 方案 B：有联网能力
|
||||
|
||||
```
|
||||
执行工作流前，从以下 URL 获取完整的设备接入指南：
|
||||
https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/docs/ai_guides/add_device.md
|
||||
|
||||
该指南包含物模型模板、通信协议代码片段、指令协议模式和常见错误检查清单。
|
||||
如果无法访问 URL，使用本提示词中内联的「现有设备接口快照」和「代码骨架参考」作为兜底。
|
||||
```
|
||||
|
||||
### 方案 C：无知识库、无联网
|
||||
|
||||
```
|
||||
完整的设备接入指南需要用户在对话中提供。
|
||||
如果用户未主动提供，请在阶段 1 开始前询问：
|
||||
"请将 add_device.md 的内容粘贴到对话中，或上传该文件。如果没有该文件，我将使用内置的精简规则工作。"
|
||||
|
||||
本提示词已内联了最关键的内容（硬约束 + 代码骨架 + 接口快照），足以生成基本正确的驱动。
|
||||
但完整指南包含更多物模型模板和通信协议代码片段，能显著提升生成质量。
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 各平台配置指南
|
||||
|
||||
### OpenAI Custom GPT
|
||||
|
||||
1. 进入 https://chat.openai.com/gpts/editor
|
||||
2. **Name**：Uni-Lab-OS 设备接入助手
|
||||
3. **Description**：帮助用户将实验室硬件设备接入 Uni-Lab-OS 系统，自动生成驱动代码、注册表和图文件。
|
||||
4. **Instructions**：粘贴上方系统提示词，`{{KNOWLEDGE_LOADING}}` 替换为方案 A
|
||||
5. **Knowledge**：上传 `docs/ai_guides/add_device.md`
|
||||
6. **Capabilities**：开启 Code Interpreter（用于代码验证）
|
||||
7. **Conversation starters**：
|
||||
- "我要接入一个新的注射泵"
|
||||
- "帮我把这个 SDK 包装成 UniLab 驱动"
|
||||
- "检查我的设备驱动有没有接口问题"
|
||||
|
||||
### Claude Project
|
||||
|
||||
1. 创建新 Project
|
||||
2. **Custom Instructions**：粘贴系统提示词，`{{KNOWLEDGE_LOADING}}` 替换为方案 A
|
||||
3. **Project Knowledge**：上传 `docs/ai_guides/add_device.md`
|
||||
|
||||
### API Agent（LangChain / AutoGen / 自建框架）
|
||||
|
||||
```python
|
||||
system_prompt = """
|
||||
<粘贴完整系统提示词，{{KNOWLEDGE_LOADING}} 替换为方案 B>
|
||||
"""
|
||||
|
||||
# 如果框架支持工具调用，可注册以下工具：
|
||||
tools = [
|
||||
{
|
||||
"name": "fetch_device_guide",
|
||||
"description": "获取最新的 Uni-Lab-OS 设备接入指南",
|
||||
"url": "https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/docs/ai_guides/add_device.md"
|
||||
},
|
||||
{
|
||||
"name": "fetch_registry",
|
||||
"description": "获取最新的设备注册表",
|
||||
"url": "https://raw.githubusercontent.com/dptech-corp/Uni-Lab-OS/main/unilabos/registry/devices/{category}.yaml"
|
||||
},
|
||||
]
|
||||
```
|
||||
|
||||
### Cursor Agent Mode
|
||||
|
||||
无需使用本模板。Cursor 中使用已有的 `.cursor/skills/add-device/SKILL.md`，它会自动读取 `docs/ai_guides/add_device.md` 并利用 Cursor 的工具能力（Grep 搜索注册表、AskQuestion 收集信息等）。
|
||||
|
||||
### 纯网页对话（ChatGPT / Claude 无 Project）
|
||||
|
||||
1. 第一条消息粘贴系统提示词（`{{KNOWLEDGE_LOADING}}` 替换为方案 C）
|
||||
2. 第二条消息上传或粘贴 `add_device.md`
|
||||
3. 第三条消息开始描述设备
|
||||
|
||||
---
|
||||
|
||||
## 维护说明
|
||||
|
||||
- **硬约束更新**：如果 `add_device.md` 中新增了禁止事项或常见错误，需要同步更新本模板的「硬约束」部分
|
||||
- **接口快照更新**：新增设备类别或已有设备接口变更时，需要同步更新本模板的「现有设备接口快照」部分
|
||||
- **工作流调整**：如果接入流程发生变化（新增步骤、合并步骤），需要同步调整「工作流程」部分
|
||||
- 本模板与 `add_device.md` 是**互补关系**：模板定义 Agent 行为，指南提供领域知识。两者独立维护
|
||||
@@ -18,15 +18,13 @@ Uni-Lab 开发团队在仓库中提供了 3 个样例：
|
||||
|
||||
- 单一机械设备**电夹爪**，通讯协议可见 [增广夹爪通讯协议](https://doc.rmaxis.com/docs/communication/fieldbus/)，驱动代码位于 `unilabos/devices/gripper/rmaxis_v4.py`
|
||||
- 单一通信设备**IO 板卡**，驱动代码位于 `unilabos/device_comms/gripper/SRND_16_IO.py`
|
||||
- 执行多设备复杂任务逻辑的**PLC**，Uni-Lab 提供了基于地址表的接入方式和点动工作流编写，测试代码位于 `unilabos/device_comms/modbus_plc/test/test_workflow.py`。详细框架说明请参考 {doc}`plc_framework`
|
||||
- 执行多设备复杂任务逻辑的**PLC**，Uni-Lab 提供了基于地址表的接入方式和点动工作流编写，测试代码位于 `unilabos/device_comms/modbus_plc/test/test_workflow.py`
|
||||
|
||||
---
|
||||
|
||||
## 其他工业通信协议：CANopen, Ethernet, OPCUA...
|
||||
|
||||
Uni-Lab 已实现基于 OPC UA 协议的 PLC 接管框架，用于后处理工站等项目。与 Modbus 框架相比，OPC UA 框架额外提供了自动节点发现、订阅推送、断线重连等特性。详细说明请参考 {doc}`plc_framework`。
|
||||
|
||||
其他协议（CANopen、EtherCAT 等）【敬请期待】
|
||||
【敬请期待】
|
||||
|
||||
## 没有接口的老设备老软件：使用 PyWinAuto
|
||||
|
||||
|
||||
@@ -1,281 +0,0 @@
|
||||
# PLC 设备接管框架
|
||||
|
||||
> 本文档面向初次接触 UniLab-OS 的开发者，介绍系统如何通过工业协议"接管"（连接并控制）PLC 设备。
|
||||
|
||||
## 什么是"PLC 接管"？
|
||||
|
||||
**PLC**（可编程逻辑控制器）是工厂设备的控制核心，驱动机械臂、泵、阀门等硬件。UniLab-OS 通过网络协议直接读写 PLC 内部变量，从而控制设备运行：
|
||||
|
||||
```
|
||||
UniLab-OS（Python） ←通信协议→ PLC ←电信号→ 电机/气缸/传感器
|
||||
```
|
||||
|
||||
UniLab-OS 提供两套接管框架，对应两种工业协议：
|
||||
|
||||
| 框架 | 协议 | 应用项目 | 核心文件 |
|
||||
| --------------- | ---------------- | ------------------ | ----------------------------------------------------------- |
|
||||
| **Modbus 框架** | Modbus TCP / RTU | 扣式电池装配工站 | `unilabos/device_comms/modbus_plc/client.py` |
|
||||
| **OPC UA 框架** | OPC UA | 后处理工站（怀柔） | `unilabos/devices/workstation/post_process/post_process.py` |
|
||||
|
||||
两套框架**设计思想完全一致**，底层通信协议不同。理解一个，另一个基本触类旁通。
|
||||
|
||||
---
|
||||
|
||||
## 核心概念
|
||||
|
||||
### 节点（Node）
|
||||
|
||||
节点是 PLC 内部一个具体的变量地址，可以理解为 PLC 的一个输入/输出端口。
|
||||
|
||||
| 属性 | 说明 | 示例 |
|
||||
| ---- | -------------------------------------- | -------------------- |
|
||||
| 名称 | 人类可读标识 | `COIL_SYS_START_CMD` |
|
||||
| 地址 | PLC 内存地址 | `0x0064` |
|
||||
| 类型 | Coil / HoldRegister / InputRegister 等 | `coil` |
|
||||
|
||||
```
|
||||
PLC 内存空间
|
||||
├── Coil 区: True / False ← 控制开关量（启动/停止/复位）
|
||||
├── Hold Reg: 120, 35.5 … ← 存参数值（速度、位置）
|
||||
└── Input Reg: 99.8, 42 … ← 只读传感器数据
|
||||
```
|
||||
|
||||
### 动作生命周期（Action Lifecycle）
|
||||
|
||||
每个设备动作被拆分为 4 个阶段，用 `try/finally` 保证安全性：
|
||||
|
||||
```python
|
||||
try:
|
||||
init(...) # 写入参数（速度、位置等）— 可选
|
||||
start(...) # 发触发信号 + 轮询等待完成
|
||||
stop(...) # 复位触发信号（成功时执行）
|
||||
except:
|
||||
is_err = True
|
||||
finally:
|
||||
cleanup(...) # 无论成败都执行，作为安全兜底
|
||||
```
|
||||
|
||||
| 阶段 | 何时执行 | 典型内容 |
|
||||
| --------- | ----------------------- | ------------------------------------ |
|
||||
| `init` | 成功路径（可选） | 写运动速度 = 20.0 |
|
||||
| `start` | 成功路径 | 写启动位 = True，等待完成位 = True |
|
||||
| `stop` | 成功路径 | 写启动位 = False（正常复位） |
|
||||
| `cleanup` | **无论成败**（finally） | 安全兜底复位，防止异常时设备持续运动 |
|
||||
|
||||
> **为什么 `cleanup` 无论成败都执行？**
|
||||
> 若 `start` 阶段因传感器故障抛出异常，`stop` 会被跳过，PLC 触发位仍为 `True`——设备可能持续运动。`cleanup` 放在 `finally` 块中，作为最后的安全保障，确保 PLC 一定被复位到安全状态。实际上大多数动作将 `cleanup` 设为 `null`，由 `stop` 负责正常复位即可。
|
||||
|
||||
---
|
||||
|
||||
## Modbus 框架
|
||||
|
||||
**核心文件**：`unilabos/device_comms/modbus_plc/client.py`
|
||||
**参考实现**：`unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py`
|
||||
|
||||
### 连接与节点注册
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.modbus_plc.client import TCPClient, BaseClient
|
||||
|
||||
# 1. 建立 TCP 连接
|
||||
client = TCPClient(addr="172.16.28.102", port=502)
|
||||
client.client.connect()
|
||||
|
||||
# 2. 从 CSV 加载节点定义
|
||||
nodes = BaseClient.load_csv("coin_cell_assembly_b.csv")
|
||||
|
||||
# 3. 注册节点，之后可按名称访问
|
||||
client.register_node_list(nodes)
|
||||
|
||||
# 访问节点
|
||||
client.use_node('COIL_SYS_START_CMD').write(True)
|
||||
value, err = client.use_node('COIL_SYS_START_STATUS').read(1)
|
||||
```
|
||||
|
||||
**CSV 格式**（`Name` / `DeviceType` / `Address` / `DataType`）：
|
||||
|
||||
| Name | DeviceType | Address | DataType |
|
||||
| ------------------ | ------------- | ------- | -------- |
|
||||
| COIL_SYS_START_CMD | coil | 100 | INT16 |
|
||||
| REG_SPEED | hold_register | 200 | FLOAT32 |
|
||||
|
||||
### 三段式接管流程（扣式电池工站）
|
||||
|
||||
PLC 设备通常需要按固定顺序切换模式，以扣式电池工站为例：
|
||||
|
||||
```
|
||||
Python PLC
|
||||
│── 写 HAND_CMD = True ─────────>│ 切换到手动模式
|
||||
│<─ 读 HAND_STATUS = True ────────│ 确认进入手动
|
||||
│── 写 INIT_CMD = True ──────────>│ 执行初始化
|
||||
│<─ 读 INIT_STATUS = True ─────────│ 初始化完成
|
||||
│── 写 HAND_CMD = False ──────────>│ 复位（脉冲信号）
|
||||
│── 写 INIT_CMD = False ──────────>│ 复位
|
||||
│── 写 AUTO_CMD = True ───────────>│ 切换自动模式
|
||||
│<─ 读 AUTO_STATUS = True ─────────│ 自动模式就绪
|
||||
│── 写 AUTO_CMD = False ──────────>│ 复位
|
||||
│── 写 START_CMD = True ──────────>│ 开始运行
|
||||
│<─ 读 START_STATUS = True ────────│ 运行确认
|
||||
│── 写 START_CMD = False ──────────>│ 复位
|
||||
```
|
||||
|
||||
> **脉冲信号模式**：命令写 `True` → 等待 PLC 状态位确认 → 命令写回 `False`，这是大多数 PLC 的标准触发方式，而不是保持高电平。
|
||||
|
||||
### JSON 配置方式
|
||||
|
||||
Modbus 框架支持纯 JSON 配置，无需手写 Python 流程：
|
||||
|
||||
```json
|
||||
{
|
||||
"register_node_list_from_csv_path": {"path": "M01.csv"},
|
||||
"create_flow": [
|
||||
{
|
||||
"name": "归位",
|
||||
"action": [{
|
||||
"address_function_to_create": [
|
||||
{"func_name": "pos_tip", "node_name": "M01_idlepos_coil_w", "mode": "write", "value": true},
|
||||
{"func_name": "pos_tip_read", "node_name": "M01_idlepos_coil_r", "mode": "read", "value": 1},
|
||||
{"func_name": "manual_stop", "node_name": "M01_manual_stop_coil_r","mode": "read", "value": 1}
|
||||
],
|
||||
"create_init_function": {"func_name": "idel_init", "node_name": "M01_idlepos_velocity_rw", "mode": "write", "value": 20.0},
|
||||
"create_start_function": {
|
||||
"func_name": "idel_position",
|
||||
"write_functions": ["pos_tip"],
|
||||
"condition_functions": ["pos_tip_read", "manual_stop"],
|
||||
"stop_condition_expression": "pos_tip_read[0] and manual_stop[0]"
|
||||
},
|
||||
"create_stop_function": {"func_name": "idel_stop", "node_name": "M01_idlepos_coil_w", "mode": "write", "value": false},
|
||||
"create_cleanup_function": null
|
||||
}]
|
||||
}
|
||||
],
|
||||
"execute_flow": ["归位"]
|
||||
}
|
||||
```
|
||||
|
||||
执行：
|
||||
|
||||
```python
|
||||
client.execute_procedure_from_json(json_data)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## OPC UA 框架
|
||||
|
||||
**核心文件**：`unilabos/devices/workstation/post_process/post_process.py`
|
||||
**参考实现**：`unilabos/devices/workstation/post_process/opcua_huairou.json`
|
||||
|
||||
### 与 Modbus 的主要区别
|
||||
|
||||
| 特性 | Modbus | OPC UA |
|
||||
| ---------- | -------------------- | --------------------------------- |
|
||||
| 节点发现 | 手动填写 CSV 地址 | **自动遍历**服务器节点树 |
|
||||
| 数据获取 | 轮询（主动问） | **订阅推送**（有变化时通知） |
|
||||
| 节点标识 | 数字地址（如 `100`） | 字符串 NodeId（如 `ns=2;s=速度`） |
|
||||
| 断线处理 | 无 | **后台监控线程**自动重连 |
|
||||
| 认证安全 | 无 | 支持用户名/密码 |
|
||||
| 工作流调用 | 手动调用 | **自动注册为实例方法** |
|
||||
|
||||
### 连接与节点发现
|
||||
|
||||
```python
|
||||
from unilabos.devices.workstation.post_process.post_process import OpcUaClient
|
||||
|
||||
client = OpcUaClient(
|
||||
url="opc.tcp://192.168.1.100:4840",
|
||||
username="admin", # 可选
|
||||
password="123456", # 可选
|
||||
config_path="opcua_huairou.json", # 自动加载工作流配置
|
||||
cache_timeout=5.0, # 节点值缓存 5 秒
|
||||
subscription_interval=500, # 每 500ms 接收推送
|
||||
)
|
||||
|
||||
# 节点自动通过订阅保持最新值，读取直接查本地缓存
|
||||
value = client.get_node_value("grab_complete")
|
||||
```
|
||||
|
||||
### JSON 配置方式
|
||||
|
||||
```json
|
||||
{
|
||||
"register_node_list_from_csv_path": {"path": "opcua_nodes_huairou.csv"},
|
||||
"create_flow": [
|
||||
{
|
||||
"name": "trigger_grab_action",
|
||||
"description": "触发反应罐及原料罐抓取动作",
|
||||
"parameters": ["reaction_tank_number", "raw_tank_number"],
|
||||
"action": [{
|
||||
"init_function": {
|
||||
"func_name": "init_grab_params",
|
||||
"write_nodes": ["reaction_tank_number", "raw_tank_number"]
|
||||
},
|
||||
"start_function": {
|
||||
"func_name": "start_grab",
|
||||
"write_nodes": {"grab_trigger": true},
|
||||
"condition_nodes": ["grab_complete"],
|
||||
"stop_condition_expression": "grab_complete == True",
|
||||
"timeout_seconds": 999999.0
|
||||
},
|
||||
"stop_function": {
|
||||
"func_name": "stop_grab",
|
||||
"write_nodes": {"grab_trigger": false}
|
||||
}
|
||||
}]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
配置加载后，工作流自动注册为实例方法：
|
||||
|
||||
```python
|
||||
# 直接调用，传入参数，框架自动写入对应节点
|
||||
client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=3)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 新增设备快速上手
|
||||
|
||||
### 使用 Modbus 框架
|
||||
|
||||
```
|
||||
1. 从 PLC 工程师处拿到地址表，按格式填写 CSV（Name/DeviceType/Address/DataType）
|
||||
2. 继承 BaseClient，在 __init__ 中连接并注册节点
|
||||
3. 参考 coin_cell_assembly.py 编写三段式接管函数（手动→初始化→自动→启动）
|
||||
4. 或直接编写 JSON 配置，调用 execute_procedure_from_json()
|
||||
```
|
||||
|
||||
### 使用 OPC UA 框架
|
||||
|
||||
```
|
||||
1. 确认设备支持 OPC UA，拿到服务器 URL（格式：opc.tcp://IP:PORT）
|
||||
2. 准备 CSV 节点定义文件（可选，也可让框架自动发现）
|
||||
3. 编写 JSON 配置：定义 parameters、init/start/stop 函数
|
||||
4. 实例化 OpcUaClient，传入 config_path，直接调用自动注册的工作流方法
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常见问题
|
||||
|
||||
**Q: `node {name} is not registered` 报错？**
|
||||
A: 节点名不在 CSV 或未调用 `register_node_list_from_csv_path()`。
|
||||
|
||||
**Q: 程序卡死在 `while not status(): sleep(1)`？**
|
||||
A: PLC 未返回预期完成信号。检查：PLC 是否在正确运行模式、状态位地址是否正确、PLC 有无报警。
|
||||
|
||||
**Q: OPC UA 连接成功但读不到节点？**
|
||||
A: 检查节点名称是否与服务器显示名一致（区分中英文）。可调用 `_find_nodes()` 打印服务器全部节点。
|
||||
|
||||
**Q: 应该选 Modbus 还是 OPC UA？**
|
||||
A: 取决于设备支持的协议，由 PLC 工程师决定。OPC UA 功能更完整，条件允许优先选择。
|
||||
|
||||
---
|
||||
|
||||
## 下一步
|
||||
|
||||
- {doc}`add_device` - 将驱动集成进 UniLab-OS 设备节点
|
||||
- {doc}`add_action` - 为设备添加可调度的动作指令
|
||||
- {doc}`add_yaml` - 编写设备注册表 YAML 文件
|
||||
@@ -17,9 +17,6 @@ developer_guide/http_api.md
|
||||
developer_guide/networking_overview.md
|
||||
developer_guide/add_device.md
|
||||
developer_guide/add_action.md
|
||||
developer_guide/add_old_device.md
|
||||
developer_guide/plc_framework.md
|
||||
developer_guide/add_protocol.md
|
||||
developer_guide/add_registry.md
|
||||
developer_guide/add_yaml.md
|
||||
developer_guide/action_includes.md
|
||||
|
||||
@@ -1,7 +1,9 @@
|
||||
"""
|
||||
LaiYu液体处理设备后端模块
|
||||
|
||||
提供设备后端接口和实现
|
||||
"""
|
||||
|
||||
from .laiyu_v_backend import UniLiquidHandlerLaiyuBackend
|
||||
from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
|
||||
|
||||
__all__ = ['UniLiquidHandlerLaiyuBackend']
|
||||
__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']
|
||||
334
unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py
Normal file
334
unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py
Normal file
@@ -0,0 +1,334 @@
|
||||
"""
|
||||
LaiYu液体处理设备后端实现
|
||||
|
||||
提供设备的后端接口和控制逻辑
|
||||
"""
|
||||
|
||||
import logging
|
||||
from typing import Dict, Any, Optional, List
|
||||
from abc import ABC, abstractmethod
|
||||
|
||||
# 尝试导入PyLabRobot后端
|
||||
try:
|
||||
from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
|
||||
PYLABROBOT_AVAILABLE = True
|
||||
except ImportError:
|
||||
PYLABROBOT_AVAILABLE = False
|
||||
# 创建模拟后端基类
|
||||
class LiquidHandlerBackend:
|
||||
def __init__(self, name: str):
|
||||
self.name = name
|
||||
self.is_connected = False
|
||||
|
||||
def connect(self):
|
||||
"""连接设备"""
|
||||
pass
|
||||
|
||||
def disconnect(self):
|
||||
"""断开连接"""
|
||||
pass
|
||||
|
||||
|
||||
class LaiYuLiquidBackend(LiquidHandlerBackend):
|
||||
"""LaiYu液体处理设备后端"""
|
||||
|
||||
def __init__(self, name: str = "LaiYu_Liquid_Backend"):
|
||||
"""
|
||||
初始化LaiYu液体处理设备后端
|
||||
|
||||
Args:
|
||||
name: 后端名称
|
||||
"""
|
||||
if PYLABROBOT_AVAILABLE:
|
||||
# PyLabRobot 的 LiquidHandlerBackend 不接受参数
|
||||
super().__init__()
|
||||
else:
|
||||
# 模拟版本接受 name 参数
|
||||
super().__init__(name)
|
||||
|
||||
self.name = name
|
||||
self.logger = logging.getLogger(__name__)
|
||||
self.is_connected = False
|
||||
self.device_info = {
|
||||
"name": "LaiYu液体处理设备",
|
||||
"version": "1.0.0",
|
||||
"manufacturer": "LaiYu",
|
||||
"model": "LaiYu_Liquid_Handler"
|
||||
}
|
||||
|
||||
def connect(self) -> bool:
|
||||
"""
|
||||
连接到LaiYu液体处理设备
|
||||
|
||||
Returns:
|
||||
bool: 连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.logger.info("正在连接到LaiYu液体处理设备...")
|
||||
# 这里应该实现实际的设备连接逻辑
|
||||
# 目前返回模拟连接成功
|
||||
self.is_connected = True
|
||||
self.logger.info("成功连接到LaiYu液体处理设备")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
|
||||
self.is_connected = False
|
||||
return False
|
||||
|
||||
def disconnect(self) -> bool:
|
||||
"""
|
||||
断开与LaiYu液体处理设备的连接
|
||||
|
||||
Returns:
|
||||
bool: 断开连接是否成功
|
||||
"""
|
||||
try:
|
||||
self.logger.info("正在断开与LaiYu液体处理设备的连接...")
|
||||
# 这里应该实现实际的设备断开连接逻辑
|
||||
self.is_connected = False
|
||||
self.logger.info("成功断开与LaiYu液体处理设备的连接")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
|
||||
return False
|
||||
|
||||
def is_device_connected(self) -> bool:
|
||||
"""
|
||||
检查设备是否已连接
|
||||
|
||||
Returns:
|
||||
bool: 设备是否已连接
|
||||
"""
|
||||
return self.is_connected
|
||||
|
||||
def get_device_info(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备信息
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 设备信息字典
|
||||
"""
|
||||
return self.device_info.copy()
|
||||
|
||||
def home_device(self) -> bool:
|
||||
"""
|
||||
设备归零操作
|
||||
|
||||
Returns:
|
||||
bool: 归零是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行归零操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info("正在执行设备归零操作...")
|
||||
# 这里应该实现实际的设备归零逻辑
|
||||
self.logger.info("设备归零操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"设备归零操作失败: {e}")
|
||||
return False
|
||||
|
||||
def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
吸液操作
|
||||
|
||||
Args:
|
||||
volume: 吸液体积 (微升)
|
||||
location: 吸液位置信息
|
||||
|
||||
Returns:
|
||||
bool: 吸液是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行吸液操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
|
||||
# 这里应该实现实际的吸液逻辑
|
||||
self.logger.info("吸液操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"吸液操作失败: {e}")
|
||||
return False
|
||||
|
||||
def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
排液操作
|
||||
|
||||
Args:
|
||||
volume: 排液体积 (微升)
|
||||
location: 排液位置信息
|
||||
|
||||
Returns:
|
||||
bool: 排液是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行排液操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
|
||||
# 这里应该实现实际的排液逻辑
|
||||
self.logger.info("排液操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"排液操作失败: {e}")
|
||||
return False
|
||||
|
||||
def pick_up_tip(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
取枪头操作
|
||||
|
||||
Args:
|
||||
location: 枪头位置信息
|
||||
|
||||
Returns:
|
||||
bool: 取枪头是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行取枪头操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行取枪头操作: 位置={location}")
|
||||
# 这里应该实现实际的取枪头逻辑
|
||||
self.logger.info("取枪头操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"取枪头操作失败: {e}")
|
||||
return False
|
||||
|
||||
def drop_tip(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
丢弃枪头操作
|
||||
|
||||
Args:
|
||||
location: 丢弃位置信息
|
||||
|
||||
Returns:
|
||||
bool: 丢弃枪头是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行丢弃枪头操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
|
||||
# 这里应该实现实际的丢弃枪头逻辑
|
||||
self.logger.info("丢弃枪头操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"丢弃枪头操作失败: {e}")
|
||||
return False
|
||||
|
||||
def move_to(self, location: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
|
||||
Args:
|
||||
location: 目标位置信息
|
||||
|
||||
Returns:
|
||||
bool: 移动是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
self.logger.error("设备未连接，无法执行移动操作")
|
||||
return False
|
||||
|
||||
try:
|
||||
self.logger.info(f"正在移动到位置: {location}")
|
||||
# 这里应该实现实际的移动逻辑
|
||||
self.logger.info("移动操作完成")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"移动操作失败: {e}")
|
||||
return False
|
||||
|
||||
def get_status(self) -> Dict[str, Any]:
|
||||
"""
|
||||
获取设备状态
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 设备状态信息
|
||||
"""
|
||||
return {
|
||||
"connected": self.is_connected,
|
||||
"device_info": self.device_info,
|
||||
"status": "ready" if self.is_connected else "disconnected"
|
||||
}
|
||||
|
||||
# PyLabRobot 抽象方法实现
|
||||
def stop(self):
|
||||
"""停止所有操作"""
|
||||
self.logger.info("停止所有操作")
|
||||
pass
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
"""返回通道数量"""
|
||||
return 1 # 单通道移液器
|
||||
|
||||
def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
|
||||
"""检查是否可以拾取吸头"""
|
||||
return True # 简化实现，总是返回True
|
||||
|
||||
def pick_up_tips(self, tip_rack, tip_positions):
|
||||
"""拾取多个吸头"""
|
||||
self.logger.info(f"拾取吸头: {tip_positions}")
|
||||
pass
|
||||
|
||||
def drop_tips(self, tip_rack, tip_positions):
|
||||
"""丢弃多个吸头"""
|
||||
self.logger.info(f"丢弃吸头: {tip_positions}")
|
||||
pass
|
||||
|
||||
def pick_up_tips96(self, tip_rack):
|
||||
"""拾取96个吸头"""
|
||||
self.logger.info("拾取96个吸头")
|
||||
pass
|
||||
|
||||
def drop_tips96(self, tip_rack):
|
||||
"""丢弃96个吸头"""
|
||||
self.logger.info("丢弃96个吸头")
|
||||
pass
|
||||
|
||||
def aspirate96(self, volume, plate, well_positions):
|
||||
"""96通道吸液"""
|
||||
self.logger.info(f"96通道吸液: 体积={volume}")
|
||||
pass
|
||||
|
||||
def dispense96(self, volume, plate, well_positions):
|
||||
"""96通道排液"""
|
||||
self.logger.info(f"96通道排液: 体积={volume}")
|
||||
pass
|
||||
|
||||
def pick_up_resource(self, resource, location):
|
||||
"""拾取资源"""
|
||||
self.logger.info(f"拾取资源: {resource}")
|
||||
pass
|
||||
|
||||
def drop_resource(self, resource, location):
|
||||
"""放置资源"""
|
||||
self.logger.info(f"放置资源: {resource}")
|
||||
pass
|
||||
|
||||
def move_picked_up_resource(self, resource, location):
|
||||
"""移动已拾取的资源"""
|
||||
self.logger.info(f"移动资源: {resource} 到 {location}")
|
||||
pass
|
||||
|
||||
|
||||
def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
|
||||
"""
|
||||
创建LaiYu液体处理设备后端实例
|
||||
|
||||
Args:
|
||||
name: 后端名称
|
||||
|
||||
Returns:
|
||||
LaiYuLiquidBackend: 后端实例
|
||||
"""
|
||||
return LaiYuLiquidBackend(name)
|
||||
@@ -1,307 +1,385 @@
|
||||
"""LaiYu PLR 后端 — 对齐路径 B 硬件交互模式
|
||||
|
||||
硬件初始化顺序与 laiyu_liquid_station.py (路径 B) 一致:
|
||||
1. XYZController(auto_connect=True) — 先开串口
|
||||
2. PipetteController.connect_shared() — 共享 XYZ 的串口 / 锁
|
||||
3. home_all_axes() + pipette.initialize()
|
||||
"""
|
||||
|
||||
import logging
|
||||
|
||||
import json
|
||||
from typing import List, Optional, Union
|
||||
|
||||
from pylabrobot.liquid_handling.backends.backend import LiquidHandlerBackend
|
||||
from pylabrobot.liquid_handling.backends.backend import (
|
||||
LiquidHandlerBackend,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
Drop,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationContainer,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadDispenseContainer,
|
||||
MultiHeadDispensePlate,
|
||||
Pickup,
|
||||
PickupTipRack,
|
||||
ResourceDrop,
|
||||
ResourceMove,
|
||||
ResourcePickup,
|
||||
SingleChannelAspiration,
|
||||
SingleChannelDispense,
|
||||
Drop,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationContainer,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadDispenseContainer,
|
||||
MultiHeadDispensePlate,
|
||||
Pickup,
|
||||
PickupTipRack,
|
||||
ResourceDrop,
|
||||
ResourceMove,
|
||||
ResourcePickup,
|
||||
SingleChannelAspiration,
|
||||
SingleChannelDispense,
|
||||
)
|
||||
from pylabrobot.resources import Resource, Tip
|
||||
|
||||
from unilabos.devices.liquid_handling.laiyu.controllers.xyz_controller import XYZController
|
||||
from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import (
|
||||
PipetteController,
|
||||
TipStatus,
|
||||
)
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from sensor_msgs.msg import JointState
|
||||
import time
|
||||
from rclpy.action import ActionClient
|
||||
from unilabos_msgs.action import SendCmd
|
||||
import re
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
|
||||
from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import PipetteController, TipStatus
|
||||
|
||||
|
||||
class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
|
||||
"""LaiYu 硬件后端 — PLR Backend 接口实现"""
|
||||
"""Chatter box backend for device-free testing. Prints out all operations."""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
num_channels: int = 1,
|
||||
tip_length: float = 0,
|
||||
total_height: float = 310,
|
||||
port: str = "/dev/ttyUSB0",
|
||||
baudrate: int = 115200,
|
||||
pipette_address: int = 4,
|
||||
):
|
||||
super().__init__()
|
||||
self._num_channels = num_channels
|
||||
self.tip_length = tip_length
|
||||
self.total_height = total_height
|
||||
_pip_length = 5
|
||||
_vol_length = 8
|
||||
_resource_length = 20
|
||||
_offset_length = 16
|
||||
_flow_rate_length = 10
|
||||
_blowout_length = 10
|
||||
_lld_z_length = 10
|
||||
_kwargs_length = 15
|
||||
_tip_type_length = 12
|
||||
_max_volume_length = 16
|
||||
_fitting_depth_length = 20
|
||||
_tip_length_length = 16
|
||||
# _pickup_method_length = 20
|
||||
_filter_length = 10
|
||||
|
||||
# 保存配置，延迟到 setup() 再创建硬件对象
|
||||
self._port = port
|
||||
self._baudrate = baudrate
|
||||
self._pipette_address = pipette_address
|
||||
def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, port: str = "/dev/ttyUSB0"):
|
||||
"""Initialize a chatter box backend."""
|
||||
super().__init__()
|
||||
self._num_channels = num_channels
|
||||
self.tip_length = tip_length
|
||||
self.total_height = total_height
|
||||
# rclpy.init()
|
||||
if not rclpy.ok():
|
||||
rclpy.init()
|
||||
self.joint_state_publisher = None
|
||||
self.hardware_interface = PipetteController(port=port)
|
||||
|
||||
self._xyz: Optional[XYZController] = None
|
||||
self._pipette_ctrl: Optional[PipetteController] = None
|
||||
self._ros_node = None
|
||||
async def setup(self):
|
||||
# self.joint_state_publisher = JointStatePublisher()
|
||||
# self.hardware_interface.xyz_controller.connect_device()
|
||||
# self.hardware_interface.xyz_controller.home_all_axes()
|
||||
await super().setup()
|
||||
self.hardware_interface.connect()
|
||||
self.hardware_interface.initialize()
|
||||
|
||||
# ------------------------------------------------------------------ lifecycle
|
||||
print("Setting up the liquid handler.")
|
||||
|
||||
def post_init(self, ros_node):
|
||||
"""接收 ROS 节点引用（由 Handler.post_init 调用）"""
|
||||
self._ros_node = ros_node
|
||||
async def stop(self):
|
||||
print("Stopping the liquid handler.")
|
||||
|
||||
async def setup(self):
|
||||
"""按路径 B 顺序初始化硬件"""
|
||||
await super().setup()
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
# 1. XYZ 先开串口
|
||||
self._xyz = XYZController(
|
||||
port=self._port,
|
||||
baudrate=self._baudrate,
|
||||
auto_connect=True,
|
||||
)
|
||||
if not self._xyz.is_connected:
|
||||
raise RuntimeError("XYZ 控制器连接失败")
|
||||
def pipette_aspirate(self, volume: float, flow_rate: float):
|
||||
|
||||
# 2. PipetteController 共享 XYZ 串口
|
||||
self._pipette_ctrl = PipetteController(
|
||||
port=self._port,
|
||||
address=self._pipette_address,
|
||||
)
|
||||
self._pipette_ctrl.connect_shared(
|
||||
serial_conn=self._xyz.serial_conn,
|
||||
serial_lock=self._xyz.serial_lock,
|
||||
xyz_controller=self._xyz,
|
||||
)
|
||||
self.hardware_interface.pipette.set_max_speed(flow_rate)
|
||||
res = self.hardware_interface.pipette.aspirate(volume=volume)
|
||||
|
||||
if not res:
|
||||
self.hardware_interface.logger.error("吸取失败，当前体积: {self.hardware_interface.current_volume}")
|
||||
return
|
||||
|
||||
# 3. 回零 + 移液器初始化
|
||||
self._xyz.home_all_axes()
|
||||
self._pipette_ctrl.initialize()
|
||||
self.hardware_interface.current_volume += volume
|
||||
|
||||
logger.info("LaiYu 后端硬件初始化完成")
|
||||
def pipette_dispense(self, volume: float, flow_rate: float):
|
||||
|
||||
async def stop(self):
|
||||
"""正确断开硬件"""
|
||||
try:
|
||||
if self._pipette_ctrl:
|
||||
self._pipette_ctrl.disconnect_shared()
|
||||
if self._xyz:
|
||||
self._xyz.disconnect()
|
||||
logger.info("LaiYu 后端硬件已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"停止后端失败: {e}")
|
||||
self.hardware_interface.pipette.set_max_speed(flow_rate)
|
||||
res = self.hardware_interface.pipette.dispense(volume=volume)
|
||||
if not res:
|
||||
self.hardware_interface.logger.error("排液失败，当前体积: {self.hardware_interface.current_volume}")
|
||||
return
|
||||
self.hardware_interface.current_volume -= volume
|
||||
|
||||
# ------------------------------------------------------------------ helpers
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
def _plr_to_machine_coords(self, resource, offset):
|
||||
"""PLR Resource 坐标 → 机器坐标 (倒置龙门架: total_height - z, -y)"""
|
||||
coordinate = resource.get_absolute_location(x="c", y="c")
|
||||
x = coordinate.x + offset.x
|
||||
y = coordinate.y + offset.y
|
||||
z_plr = coordinate.z + offset.z
|
||||
return x, -y, self.total_height - (z_plr + self.tip_length)
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
print(f"Resource {resource.name} was assigned to the liquid handler.")
|
||||
|
||||
def _pipette_aspirate(self, volume: float, flow_rate: float):
|
||||
self._pipette_ctrl.pipette.set_max_speed(flow_rate)
|
||||
res = self._pipette_ctrl.pipette.aspirate(volume=volume)
|
||||
if not res:
|
||||
logger.error(f"吸取失败，当前体积: {self._pipette_ctrl.current_volume}")
|
||||
return
|
||||
self._pipette_ctrl.current_volume += volume
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
print(f"Resource {name} was unassigned from the liquid handler.")
|
||||
|
||||
def _pipette_dispense(self, volume: float, flow_rate: float):
|
||||
self._pipette_ctrl.pipette.set_max_speed(flow_rate)
|
||||
res = self._pipette_ctrl.pipette.dispense(volume=volume)
|
||||
if not res:
|
||||
logger.error(f"排液失败，当前体积: {self._pipette_ctrl.current_volume}")
|
||||
return
|
||||
self._pipette_ctrl.current_volume -= volume
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
print("Picking up tips:")
|
||||
# print(ops.tip)
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
|
||||
# ------------------------------------------------------------------ properties
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
# print(op.resource.get_absolute_location())
|
||||
|
||||
self.tip_length = ops[0].tip.total_tip_length
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print("moving")
|
||||
self.hardware_interface._update_tip_status()
|
||||
if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("已有枪头，无需重复拾取")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
|
||||
# goback()
|
||||
|
||||
def serialize(self) -> dict:
|
||||
return {**super().serialize(), "num_channels": self.num_channels}
|
||||
|
||||
@property
|
||||
def num_channels(self) -> int:
|
||||
return self._num_channels
|
||||
|
||||
# ------------------------------------------------------------------ resource callbacks
|
||||
|
||||
async def assigned_resource_callback(self, resource: Resource):
|
||||
logger.info(f"Resource {resource.name} was assigned to the liquid handler.")
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
print("Dropping tips:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(header)
|
||||
|
||||
async def unassigned_resource_callback(self, name: str):
|
||||
logger.info(f"Resource {name} was unassigned from the liquid handler.")
|
||||
for op, channel in zip(ops, use_channels):
|
||||
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{channel}: "
|
||||
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
|
||||
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
|
||||
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
|
||||
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
|
||||
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
|
||||
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
|
||||
)
|
||||
# print(row)
|
||||
|
||||
# ------------------------------------------------------------------ pick_up_tips
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z -20
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
self.hardware_interface._update_tip_status()
|
||||
if self.hardware_interface.tip_status == TipStatus.NO_TIP:
|
||||
print("无枪头，无需丢弃")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.hardware_interface.eject_tip
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
|
||||
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
|
||||
tip = ops[0].tip
|
||||
self.tip_length = tip.total_tip_length
|
||||
x, y, z_top = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
print("Aspirating:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status == TipStatus.TIP_ATTACHED:
|
||||
logger.warning("已有枪头，无需重复拾取")
|
||||
return
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<15}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
|
||||
try:
|
||||
# 1. 移到枪头正上方
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z_top, speed=200)
|
||||
# 2. 下压到套枪头深度（fitting_depth 是枪头套入长度）
|
||||
z_pickup = z_top + tip.fitting_depth
|
||||
self._xyz.move_to_work_coord_safe(z=z_pickup, speed=100)
|
||||
# 3. 退回安全高度
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height, speed=100
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"pick_up_tips 移动失败: {e}")
|
||||
raise
|
||||
# 判断枪头是否存在
|
||||
self.hardware_interface._update_tip_status()
|
||||
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("无枪头，无法吸液")
|
||||
return
|
||||
# 判断吸液量是否超过枪头容量
|
||||
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
|
||||
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
|
||||
if self.hardware_interface.current_volume + ops[0].volume + blow_out_air_volume > self.hardware_interface.max_volume:
|
||||
self.hardware_interface.logger.error(f"吸液量超过枪头容量: {self.hardware_interface.current_volume + ops[0].volume} > {self.hardware_interface.max_volume}")
|
||||
return
|
||||
|
||||
# ------------------------------------------------------------------ drop_tips
|
||||
# 移动到吸液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
z -= 20 # 额外下移补偿
|
||||
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status == TipStatus.NO_TIP:
|
||||
logger.warning("无枪头，无需丢弃")
|
||||
return
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
if blow_out_air_volume >0:
|
||||
self.pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
|
||||
try:
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_ctrl.eject_tip() # 修复: 原来缺少 ()
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"drop_tips 失败: {e}")
|
||||
raise
|
||||
|
||||
# ------------------------------------------------------------------ aspirate
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
ops: List[SingleChannelAspiration],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status != TipStatus.TIP_ATTACHED:
|
||||
raise RuntimeError("无枪头，无法吸液")
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
# print("Dispensing:")
|
||||
header = (
|
||||
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
|
||||
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{'liquids':<20}" # TODO: add liquids
|
||||
)
|
||||
for key in backend_kwargs:
|
||||
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
|
||||
# print(header)
|
||||
|
||||
flow_rate = backend_kwargs.get("flow_rate", 500)
|
||||
blow_out_air_volume = backend_kwargs.get("blow_out_air_volume", 0)
|
||||
for o, p in zip(ops, use_channels):
|
||||
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
|
||||
row = (
|
||||
f" p{p}: "
|
||||
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
|
||||
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
|
||||
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
|
||||
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
|
||||
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
|
||||
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
|
||||
# f"{o.liquids if o.liquids is not None else 'none'}"
|
||||
)
|
||||
for key, value in backend_kwargs.items():
|
||||
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
|
||||
value = "".join("T" if v else "F" for v in value)
|
||||
if isinstance(value, list):
|
||||
value = "".join(map(str, value))
|
||||
row += f" {value:<{UniLiquidHandlerLaiyuBackend._kwargs_length}}"
|
||||
# print(row)
|
||||
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
|
||||
offset_xyz = ops[0].offset
|
||||
x = coordinate.x + offset_xyz.x
|
||||
y = coordinate.y + offset_xyz.y
|
||||
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
|
||||
# print(x, y, z)
|
||||
# print("moving")
|
||||
|
||||
if (
|
||||
self._pipette_ctrl.current_volume + ops[0].volume + blow_out_air_volume
|
||||
> self._pipette_ctrl.max_volume
|
||||
):
|
||||
raise RuntimeError(
|
||||
f"吸液量超过枪头容量: "
|
||||
f"{self._pipette_ctrl.current_volume + ops[0].volume} > {self._pipette_ctrl.max_volume}"
|
||||
)
|
||||
# 判断枪头是否存在
|
||||
self.hardware_interface._update_tip_status()
|
||||
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
|
||||
print("无枪头，无法排液")
|
||||
return
|
||||
# 判断排液量是否超过枪头容量
|
||||
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
|
||||
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
|
||||
if self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume < 0:
|
||||
self.hardware_interface.logger.error(f"排液量超过枪头容量: {self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume} < 0")
|
||||
return
|
||||
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
# 移动到排液位置
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
|
||||
self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
if blow_out_air_volume > 0:
|
||||
self._pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
|
||||
# ------------------------------------------------------------------ dispense
|
||||
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
|
||||
if blow_out_air_volume > 0:
|
||||
self.pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
ops: List[SingleChannelDispense],
|
||||
use_channels: List[int],
|
||||
**backend_kwargs,
|
||||
):
|
||||
x, y, z = self._plr_to_machine_coords(ops[0].resource, ops[0].offset)
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
print(f"Picking up tips from {pickup.resource.name}.")
|
||||
|
||||
self._pipette_ctrl._update_tip_status()
|
||||
if self._pipette_ctrl.tip_status != TipStatus.TIP_ATTACHED:
|
||||
raise RuntimeError("无枪头，无法排液")
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
print(f"Dropping tips to {drop.resource.name}.")
|
||||
|
||||
flow_rate = backend_kwargs.get("flow_rate", 500)
|
||||
blow_out_air_volume = backend_kwargs.get("blow_out_air_volume", 0)
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
if isinstance(aspiration, MultiHeadAspirationPlate):
|
||||
resource = aspiration.wells[0].parent
|
||||
else:
|
||||
resource = aspiration.container
|
||||
print(f"Aspirating {aspiration.volume} from {resource}.")
|
||||
|
||||
if (
|
||||
self._pipette_ctrl.current_volume - ops[0].volume - blow_out_air_volume < 0
|
||||
):
|
||||
raise RuntimeError(
|
||||
f"排液量超过当前体积: "
|
||||
f"{self._pipette_ctrl.current_volume - ops[0].volume - blow_out_air_volume} < 0"
|
||||
)
|
||||
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
|
||||
if isinstance(dispense, MultiHeadDispensePlate):
|
||||
resource = dispense.wells[0].parent
|
||||
else:
|
||||
resource = dispense.container
|
||||
print(f"Dispensing {dispense.volume} to {resource}.")
|
||||
|
||||
self._xyz.move_to_work_coord_safe(x=x, y=y, z=z, speed=200)
|
||||
self._pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
print(f"Picking up resource: {pickup}")
|
||||
|
||||
self._xyz.move_to_work_coord_safe(
|
||||
z=self._xyz.machine_config.safe_z_height
|
||||
)
|
||||
if blow_out_air_volume > 0:
|
||||
self._pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
print(f"Moving picked up resource: {move}")
|
||||
|
||||
# ------------------------------------------------------------------ 96-channel stubs
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
print(f"Dropping resource: {drop}")
|
||||
|
||||
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
|
||||
logger.info(f"Picking up tips from {pickup.resource.name}.")
|
||||
|
||||
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
|
||||
logger.info(f"Dropping tips to {drop.resource.name}.")
|
||||
|
||||
async def aspirate96(
|
||||
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
|
||||
):
|
||||
if isinstance(aspiration, MultiHeadAspirationPlate):
|
||||
resource = aspiration.wells[0].parent
|
||||
else:
|
||||
resource = aspiration.container
|
||||
logger.info(f"Aspirating {aspiration.volume} from {resource}.")
|
||||
|
||||
async def dispense96(
|
||||
self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]
|
||||
):
|
||||
if isinstance(dispense, MultiHeadDispensePlate):
|
||||
resource = dispense.wells[0].parent
|
||||
else:
|
||||
resource = dispense.container
|
||||
logger.info(f"Dispensing {dispense.volume} to {resource}.")
|
||||
|
||||
async def pick_up_resource(self, pickup: ResourcePickup):
|
||||
logger.info(f"Picking up resource: {pickup}")
|
||||
|
||||
async def move_picked_up_resource(self, move: ResourceMove):
|
||||
logger.info(f"Moving picked up resource: {move}")
|
||||
|
||||
async def drop_resource(self, drop: ResourceDrop):
|
||||
logger.info(f"Dropping resource: {drop}")
|
||||
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
|
||||
return True
|
||||
|
||||
|
||||
@@ -5,16 +5,21 @@
|
||||
封装SOPA移液器的高级控制功能
|
||||
"""
|
||||
|
||||
# 添加项目根目录到Python路径以解决模块导入问题
|
||||
import sys
|
||||
import os
|
||||
|
||||
_current_file = os.path.abspath(__file__)
|
||||
_project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(_current_file)))))
|
||||
if _project_root not in sys.path:
|
||||
sys.path.insert(0, _project_root)
|
||||
from tkinter import N
|
||||
|
||||
from unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver import ModbusException
|
||||
|
||||
# 无论如何都添加项目根目录到路径
|
||||
current_file = os.path.abspath(__file__)
|
||||
# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py
|
||||
# 向上5级到 .../Uni-Lab-OS
|
||||
project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file)))))
|
||||
# 强制添加项目根目录到sys.path的开头
|
||||
sys.path.insert(0, project_root)
|
||||
|
||||
import time
|
||||
import logging
|
||||
from typing import Optional, List, Dict, Tuple
|
||||
@@ -148,7 +153,7 @@ class PipetteController:
|
||||
logger.error("移液器连接失败")
|
||||
return False
|
||||
logger.info("移液器连接成功")
|
||||
|
||||
|
||||
# 连接XYZ步进电机控制器（如果提供了端口）
|
||||
if self.xyz_port != self.pipette_port:
|
||||
try:
|
||||
@@ -167,62 +172,24 @@ class PipetteController:
|
||||
try:
|
||||
self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
|
||||
self.xyz_controller.serial_conn = self.pipette.serial_port
|
||||
self.xyz_controller.serial_lock = self.pipette.lock
|
||||
self.xyz_controller.is_connected = True
|
||||
logger.info("XYZ控制器与移液器共享串口和互斥锁")
|
||||
except Exception as e:
|
||||
logger.warning(f"共享端口 XYZ 控制器创建失败: {e}")
|
||||
self.xyz_controller = None
|
||||
self.xyz_connected = False
|
||||
|
||||
logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
|
||||
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"设备连接失败: {e}")
|
||||
return False
|
||||
|
||||
def connect_shared(self, serial_conn, serial_lock, xyz_controller: XYZController) -> bool:
|
||||
"""使用已连接的串口和XYZ控制器（路径 B 模式：XYZ 先开串口，移液器共享）
|
||||
|
||||
Args:
|
||||
serial_conn: 已打开的串口连接（来自 XYZController）
|
||||
serial_lock: 串口互斥锁（来自 XYZController）
|
||||
xyz_controller: 已连接的 XYZController 实例
|
||||
"""
|
||||
try:
|
||||
self.pipette.serial_port = serial_conn
|
||||
self.pipette.lock = serial_lock
|
||||
self.pipette.is_connected = True
|
||||
|
||||
self.xyz_controller = xyz_controller
|
||||
self.xyz_connected = True
|
||||
|
||||
logger.info("移液控制器已通过 connect_shared 共享 XYZ 串口")
|
||||
return True
|
||||
except Exception as e:
|
||||
logger.error(f"connect_shared 失败: {e}")
|
||||
return False
|
||||
|
||||
def disconnect_shared(self) -> None:
|
||||
"""释放共享串口引用（与 connect_shared 对称）。
|
||||
|
||||
注意：不关闭串口本身，串口由 XYZController 负责关闭。
|
||||
"""
|
||||
try:
|
||||
self.pipette.serial_port = None
|
||||
self.pipette.lock = None
|
||||
self.pipette.is_connected = False
|
||||
self.xyz_controller = None
|
||||
self.xyz_connected = False
|
||||
logger.info("移液控制器已释放共享串口引用")
|
||||
except Exception as e:
|
||||
logger.error(f"disconnect_shared 失败: {e}")
|
||||
|
||||
def initialize(self) -> bool:
|
||||
"""初始化移液器"""
|
||||
try:
|
||||
if self.pipette.initialize():
|
||||
logger.info("移液器初始化成功")
|
||||
# 检查枪头状态
|
||||
self._update_tip_status()
|
||||
self.xyz_controller.home_all_axes()
|
||||
self.xyz_controller.move_to_work_coord_safe(x=0, y=-150, z=0)
|
||||
return True
|
||||
return False
|
||||
except Exception as e:
|
||||
@@ -231,58 +198,56 @@ class PipetteController:
|
||||
|
||||
def disconnect(self):
|
||||
"""断开连接"""
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
if self.xyz_port != self.pipette_port:
|
||||
try:
|
||||
self.xyz_controller.disconnect()
|
||||
logger.info("XYZ 步进电机已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"断开 XYZ 步进电机失败: {e}")
|
||||
else:
|
||||
self.xyz_controller.serial_conn = None
|
||||
self.xyz_connected = False
|
||||
self.xyz_controller = None
|
||||
|
||||
# 断开移液器连接
|
||||
self.pipette.disconnect()
|
||||
logger.info("移液器已断开")
|
||||
|
||||
# 断开 XYZ 步进电机连接
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
try:
|
||||
self.xyz_controller.disconnect()
|
||||
self.xyz_connected = False
|
||||
logger.info("XYZ 步进电机已断开")
|
||||
except Exception as e:
|
||||
logger.error(f"断开 XYZ 步进电机失败: {e}")
|
||||
|
||||
def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool:
|
||||
"""
|
||||
检查 XYZ 轴移动的安全性
|
||||
|
||||
|
||||
Args:
|
||||
axis: 电机轴
|
||||
target_position: 目标位置(步数)
|
||||
|
||||
|
||||
Returns:
|
||||
是否安全
|
||||
"""
|
||||
try:
|
||||
# 获取当前电机状态
|
||||
motor_position = self.xyz_controller.get_motor_status(axis)
|
||||
|
||||
|
||||
# 检查电机状态是否正常 (不是碰撞停止或限位停止)
|
||||
if motor_position.status in [MotorStatus.COLLISION_STOP,
|
||||
MotorStatus.FORWARD_LIMIT_STOP,
|
||||
if motor_position.status in [MotorStatus.COLLISION_STOP,
|
||||
MotorStatus.FORWARD_LIMIT_STOP,
|
||||
MotorStatus.REVERSE_LIMIT_STOP]:
|
||||
logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}")
|
||||
return False
|
||||
|
||||
|
||||
# 检查位置限制 (扩大安全范围以适应实际硬件)
|
||||
# 步进电机的位置范围通常很大，这里设置更合理的范围
|
||||
if target_position < -500000 or target_position > 500000:
|
||||
logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}")
|
||||
return False
|
||||
|
||||
|
||||
# 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm)
|
||||
current_position = motor_position.steps
|
||||
move_distance = abs(target_position - current_position)
|
||||
if move_distance > 20000:
|
||||
logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步")
|
||||
return False
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"安全检查失败: {e}")
|
||||
return False
|
||||
@@ -290,48 +255,48 @@ class PipetteController:
|
||||
def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool:
|
||||
"""
|
||||
Z轴相对移动
|
||||
|
||||
|
||||
Args:
|
||||
distance_mm: 移动距离(mm)，正值向下，负值向上
|
||||
speed: 移动速度(rpm)
|
||||
acceleration: 加速度(rpm/s)
|
||||
|
||||
|
||||
Returns:
|
||||
移动是否成功
|
||||
"""
|
||||
if not self.xyz_controller or not self.xyz_connected:
|
||||
logger.error("XYZ 步进电机未连接，无法执行移动")
|
||||
return False
|
||||
|
||||
|
||||
try:
|
||||
# 参数验证
|
||||
if abs(distance_mm) > 15.0:
|
||||
logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm")
|
||||
return False
|
||||
|
||||
|
||||
if speed < 100 or speed > 5000:
|
||||
logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000")
|
||||
return False
|
||||
|
||||
|
||||
# 获取当前 Z 轴位置
|
||||
current_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
|
||||
current_z_position = current_status.steps
|
||||
|
||||
|
||||
# 计算移动距离对应的步数 (1mm = 1638.4步)
|
||||
mm_to_steps = 1638.4
|
||||
move_distance_steps = int(distance_mm * mm_to_steps)
|
||||
|
||||
|
||||
# 计算目标位置
|
||||
target_z_position = current_z_position + move_distance_steps
|
||||
|
||||
|
||||
# 安全检查
|
||||
if not self._check_xyz_safety(MotorAxis.Z, target_z_position):
|
||||
logger.error("Z轴移动安全检查失败")
|
||||
return False
|
||||
|
||||
|
||||
logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)")
|
||||
logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步")
|
||||
|
||||
|
||||
# 执行移动
|
||||
success = self.xyz_controller.move_to_position(
|
||||
axis=MotorAxis.Z,
|
||||
@@ -340,28 +305,28 @@ class PipetteController:
|
||||
acceleration=acceleration,
|
||||
precision=50
|
||||
)
|
||||
|
||||
|
||||
if not success:
|
||||
logger.error("Z轴移动命令发送失败")
|
||||
return False
|
||||
|
||||
|
||||
# 等待移动完成
|
||||
if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0):
|
||||
logger.error("Z轴移动超时")
|
||||
return False
|
||||
|
||||
|
||||
# 验证移动结果
|
||||
final_status = self.xyz_controller.get_motor_status(MotorAxis.Z)
|
||||
final_position = final_status.steps
|
||||
position_error = abs(final_position - target_z_position)
|
||||
|
||||
|
||||
logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步")
|
||||
|
||||
|
||||
if position_error > 100:
|
||||
logger.warning(f"Z轴位置误差较大: {position_error}步")
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except ModbusException as e:
|
||||
logger.error(f"Modbus通信错误: {e}")
|
||||
return False
|
||||
@@ -372,20 +337,21 @@ class PipetteController:
|
||||
def emergency_stop(self) -> bool:
|
||||
"""
|
||||
紧急停止所有运动
|
||||
|
||||
|
||||
Returns:
|
||||
停止是否成功
|
||||
"""
|
||||
success = True
|
||||
|
||||
|
||||
# 停止移液器操作
|
||||
try:
|
||||
if self.pipette and self.pipette.is_connected:
|
||||
self.pipette.emergency_stop()
|
||||
if self.pipette and self.connected:
|
||||
# 这里可以添加移液器的紧急停止逻辑
|
||||
logger.info("移液器紧急停止")
|
||||
except Exception as e:
|
||||
logger.error(f"移液器紧急停止失败: {e}")
|
||||
success = False
|
||||
|
||||
|
||||
# 停止 XYZ 轴运动
|
||||
try:
|
||||
if self.xyz_controller and self.xyz_connected:
|
||||
@@ -394,7 +360,7 @@ class PipetteController:
|
||||
except Exception as e:
|
||||
logger.error(f"XYZ 轴紧急停止失败: {e}")
|
||||
success = False
|
||||
|
||||
|
||||
return success
|
||||
|
||||
def pickup_tip(self) -> bool:
|
||||
@@ -410,7 +376,7 @@ class PipetteController:
|
||||
return True
|
||||
|
||||
logger.info("开始装载枪头 - Z轴向下移动10mm")
|
||||
|
||||
|
||||
# 使用相对移动方法，向下移动10mm
|
||||
if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500):
|
||||
# 更新枪头状态
|
||||
@@ -722,31 +688,31 @@ class PipetteController:
|
||||
if __name__ == "__main__":
|
||||
# 配置日志
|
||||
import logging
|
||||
|
||||
|
||||
# 设置日志级别
|
||||
logging.basicConfig(
|
||||
level=logging.INFO,
|
||||
format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
|
||||
)
|
||||
|
||||
|
||||
def interactive_test():
|
||||
"""交互式测试模式 - 适用于已连接的设备"""
|
||||
print("\n" + "=" * 60)
|
||||
print("🧪 移液器交互式测试模式")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
# 获取用户输入的连接参数
|
||||
print("\n📡 设备连接配置:")
|
||||
port = input("请输入移液器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
|
||||
address_input = input("请输入移液器设备地址 (默认: 4): ").strip()
|
||||
address = int(address_input) if address_input else 4
|
||||
|
||||
|
||||
# 询问是否连接 XYZ 步进电机控制器
|
||||
xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower()
|
||||
xyz_port = None
|
||||
if xyz_enable not in ['n', 'no']:
|
||||
xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB_CH340): ").strip() or "/dev/ttyUSB_CH340"
|
||||
|
||||
|
||||
try:
|
||||
# 创建移液控制器实例
|
||||
if xyz_port:
|
||||
@@ -755,21 +721,21 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...")
|
||||
pipette = PipetteController(port=port, address=address)
|
||||
|
||||
|
||||
# 连接设备
|
||||
print("\n📞 连接移液器设备...")
|
||||
if not pipette.connect():
|
||||
print("❌ 设备连接失败，请检查连接")
|
||||
return
|
||||
print("✅ 设备连接成功")
|
||||
|
||||
|
||||
# 初始化设备
|
||||
print("\n🚀 初始化设备...")
|
||||
if not pipette.initialize():
|
||||
print("❌ 设备初始化失败")
|
||||
return
|
||||
print("✅ 设备初始化成功")
|
||||
|
||||
|
||||
# 交互式菜单
|
||||
while True:
|
||||
print("\n" + "=" * 50)
|
||||
@@ -789,9 +755,9 @@ if __name__ == "__main__":
|
||||
print("99. 🚨 紧急停止")
|
||||
print("0. 🚪 退出程序")
|
||||
print("=" * 50)
|
||||
|
||||
|
||||
choice = input("\n请选择操作 (0-12, 99): ").strip()
|
||||
|
||||
|
||||
if choice == "0":
|
||||
print("\n👋 退出程序...")
|
||||
break
|
||||
@@ -807,7 +773,7 @@ if __name__ == "__main__":
|
||||
# print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}")
|
||||
print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
|
||||
print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}")
|
||||
|
||||
|
||||
elif choice == "2":
|
||||
# 装载枪头
|
||||
print("\n🔧 装载枪头...")
|
||||
@@ -815,14 +781,14 @@ if __name__ == "__main__":
|
||||
print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)")
|
||||
else:
|
||||
print("⚠️ 未连接 XYZ 控制器，仅执行移液器枪头装载")
|
||||
|
||||
|
||||
if pipette.pickup_tip():
|
||||
print("✅ 枪头装载成功")
|
||||
if pipette.xyz_connected:
|
||||
print("📍 Z 轴已移动到装载位置")
|
||||
else:
|
||||
print("❌ 枪头装载失败")
|
||||
|
||||
|
||||
elif choice == "3":
|
||||
# 弹出枪头
|
||||
print("\n🗑️ 弹出枪头...")
|
||||
@@ -830,7 +796,7 @@ if __name__ == "__main__":
|
||||
print("✅ 枪头弹出成功")
|
||||
else:
|
||||
print("❌ 枪头弹出失败")
|
||||
|
||||
|
||||
elif choice == "4":
|
||||
# 吸液操作
|
||||
try:
|
||||
@@ -844,7 +810,7 @@ if __name__ == "__main__":
|
||||
print("❌ 吸液失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "5":
|
||||
# 排液操作
|
||||
try:
|
||||
@@ -858,7 +824,7 @@ if __name__ == "__main__":
|
||||
print("❌ 排液失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "6":
|
||||
# 混合操作
|
||||
try:
|
||||
@@ -872,7 +838,7 @@ if __name__ == "__main__":
|
||||
print("❌ 混合失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "7":
|
||||
# 液体转移
|
||||
try:
|
||||
@@ -880,7 +846,7 @@ if __name__ == "__main__":
|
||||
source = input("源孔位 (可选, 如A1): ").strip() or None
|
||||
dest = input("目标孔位 (可选, 如B1): ").strip() or None
|
||||
new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n'
|
||||
|
||||
|
||||
print(f"\n🔄 执行液体转移 ({volume}ul)...")
|
||||
if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip):
|
||||
print("✅ 液体转移完成")
|
||||
@@ -888,7 +854,7 @@ if __name__ == "__main__":
|
||||
print("❌ 液体转移失败")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "8":
|
||||
# 设置液体类型
|
||||
print("\n🧪 可用液体类型:")
|
||||
@@ -898,16 +864,16 @@ if __name__ == "__main__":
|
||||
"3": (LiquidClass.VISCOUS, "粘稠液体"),
|
||||
"4": (LiquidClass.VOLATILE, "挥发性液体")
|
||||
}
|
||||
|
||||
|
||||
for key, (liquid_class, description) in liquid_options.items():
|
||||
print(f" {key}. {description}")
|
||||
|
||||
|
||||
liquid_choice = input("请选择液体类型 (1-4): ").strip()
|
||||
if liquid_choice in liquid_options:
|
||||
liquid_class, description = liquid_options[liquid_choice]
|
||||
pipette.set_liquid_class(liquid_class)
|
||||
print(f"✅ 液体类型设置为: {description}")
|
||||
|
||||
|
||||
# 显示参数
|
||||
params = pipette.liquid_params
|
||||
print(f"📋 参数设置:")
|
||||
@@ -917,7 +883,7 @@ if __name__ == "__main__":
|
||||
print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}")
|
||||
else:
|
||||
print("❌ 无效选择")
|
||||
|
||||
|
||||
elif choice == "9":
|
||||
# 自定义参数
|
||||
try:
|
||||
@@ -926,19 +892,19 @@ if __name__ == "__main__":
|
||||
dispense_speed = input("排液速度 (默认800): ").strip()
|
||||
air_gap = input("空气间隙 (ul, 默认10.0): ").strip()
|
||||
pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y'
|
||||
|
||||
|
||||
custom_params = LiquidParameters(
|
||||
aspirate_speed=int(aspirate_speed) if aspirate_speed else 500,
|
||||
dispense_speed=int(dispense_speed) if dispense_speed else 800,
|
||||
air_gap=float(air_gap) if air_gap else 10.0,
|
||||
pre_wet=pre_wet
|
||||
)
|
||||
|
||||
|
||||
pipette.set_custom_parameters(custom_params)
|
||||
print("✅ 自定义参数设置完成")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "10":
|
||||
# 校准体积
|
||||
try:
|
||||
@@ -948,12 +914,12 @@ if __name__ == "__main__":
|
||||
print(f"✅ 校准完成，校准系数: {actual/expected:.3f}")
|
||||
except ValueError:
|
||||
print("❌ 请输入有效的数字")
|
||||
|
||||
|
||||
elif choice == "11":
|
||||
# 重置统计
|
||||
pipette.reset_statistics()
|
||||
print("✅ 统计信息已重置")
|
||||
|
||||
|
||||
elif choice == "12":
|
||||
# 液体类型测试
|
||||
print("\n🧪 液体类型参数对比:")
|
||||
@@ -963,7 +929,7 @@ if __name__ == "__main__":
|
||||
(LiquidClass.VISCOUS, "粘稠液体"),
|
||||
(LiquidClass.VOLATILE, "挥发性液体")
|
||||
]
|
||||
|
||||
|
||||
for liquid_class, description in liquid_tests:
|
||||
params = pipette.LIQUID_PARAMS[liquid_class]
|
||||
print(f"\n📋 {description} ({liquid_class.value}):")
|
||||
@@ -972,7 +938,7 @@ if __name__ == "__main__":
|
||||
print(f" 💨 空气间隙: {params.air_gap}ul")
|
||||
print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}")
|
||||
print(f" ⏱️ 吸液后延时: {params.delay_after_aspirate}s")
|
||||
|
||||
|
||||
elif choice == "99":
|
||||
# 紧急停止
|
||||
print("\n🚨 执行紧急停止...")
|
||||
@@ -983,19 +949,19 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 紧急停止执行失败")
|
||||
print("⚠️ 请手动检查设备状态并采取必要措施")
|
||||
|
||||
|
||||
# 紧急停止后询问是否继续
|
||||
continue_choice = input("\n是否继续操作？(y/n): ").strip().lower()
|
||||
if continue_choice != 'y':
|
||||
print("🚪 退出程序")
|
||||
break
|
||||
|
||||
|
||||
else:
|
||||
print("❌ 无效选择，请重新输入")
|
||||
|
||||
|
||||
# 等待用户确认继续
|
||||
input("\n按回车键继续...")
|
||||
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n\n⚠️ 用户中断操作")
|
||||
except Exception as e:
|
||||
@@ -1008,19 +974,19 @@ if __name__ == "__main__":
|
||||
print("✅ 连接已断开")
|
||||
except:
|
||||
print("⚠️ 断开连接时出现问题")
|
||||
|
||||
|
||||
def demo_test():
|
||||
"""演示测试模式 - 完整功能演示"""
|
||||
print("\n" + "=" * 60)
|
||||
print("🎬 移液控制器演示测试")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
try:
|
||||
# 创建移液控制器实例
|
||||
print("1. 🔧 创建移液控制器实例...")
|
||||
pipette = PipetteController(port="/dev/ttyUSB0", address=4)
|
||||
print("✅ 移液控制器实例创建成功")
|
||||
|
||||
|
||||
# 连接设备
|
||||
print("\n2. 📞 连接移液器设备...")
|
||||
if pipette.connect():
|
||||
@@ -1028,7 +994,7 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 设备连接失败")
|
||||
return False
|
||||
|
||||
|
||||
# 初始化设备
|
||||
print("\n3. 🚀 初始化设备...")
|
||||
if pipette.initialize():
|
||||
@@ -1036,19 +1002,19 @@ if __name__ == "__main__":
|
||||
else:
|
||||
print("❌ 设备初始化失败")
|
||||
return False
|
||||
|
||||
|
||||
# 装载枪头
|
||||
print("\n4. 🔧 装载枪头...")
|
||||
if pipette.pickup_tip():
|
||||
print("✅ 枪头装载成功")
|
||||
else:
|
||||
print("❌ 枪头装载失败")
|
||||
|
||||
|
||||
# 设置液体类型
|
||||
print("\n5. 🧪 设置液体类型为血清...")
|
||||
pipette.set_liquid_class(LiquidClass.SERUM)
|
||||
print("✅ 液体类型设置完成")
|
||||
|
||||
|
||||
# 吸液操作
|
||||
print("\n6. 💧 执行吸液操作...")
|
||||
volume_to_aspirate = 100.0
|
||||
@@ -1057,7 +1023,7 @@ if __name__ == "__main__":
|
||||
print(f"📊 当前体积: {pipette.current_volume}ul")
|
||||
else:
|
||||
print("❌ 吸液失败")
|
||||
|
||||
|
||||
# 排液操作
|
||||
print("\n7. 💦 执行排液操作...")
|
||||
volume_to_dispense = 50.0
|
||||
@@ -1066,14 +1032,14 @@ if __name__ == "__main__":
|
||||
print(f"📊 剩余体积: {pipette.current_volume}ul")
|
||||
else:
|
||||
print("❌ 排液失败")
|
||||
|
||||
|
||||
# 混合操作
|
||||
print("\n8. 🌀 执行混合操作...")
|
||||
if pipette.mix(cycles=3, volume=30.0):
|
||||
print("✅ 混合完成")
|
||||
else:
|
||||
print("❌ 混合失败")
|
||||
|
||||
|
||||
# 获取状态信息
|
||||
print("\n9. 📊 获取设备状态...")
|
||||
status = pipette.get_status()
|
||||
@@ -1086,30 +1052,30 @@ if __name__ == "__main__":
|
||||
# print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}")
|
||||
print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}")
|
||||
print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}")
|
||||
|
||||
|
||||
# 弹出枪头
|
||||
print("\n10. 🗑️ 弹出枪头...")
|
||||
if pipette.eject_tip():
|
||||
print("✅ 枪头弹出成功")
|
||||
else:
|
||||
print("❌ 枪头弹出失败")
|
||||
|
||||
|
||||
print("\n" + "=" * 60)
|
||||
print("✅ 移液控制器演示测试完成")
|
||||
print("=" * 60)
|
||||
|
||||
|
||||
return True
|
||||
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 测试过程中发生异常: {e}")
|
||||
return False
|
||||
|
||||
|
||||
finally:
|
||||
# 断开连接
|
||||
print("\n📞 断开连接...")
|
||||
pipette.disconnect()
|
||||
print("✅ 连接已断开")
|
||||
|
||||
|
||||
# 主程序入口
|
||||
print("🧪 移液器控制器测试程序")
|
||||
print("=" * 40)
|
||||
@@ -1117,9 +1083,9 @@ if __name__ == "__main__":
|
||||
print("2. 🎬 演示测试")
|
||||
print("0. 🚪 退出")
|
||||
print("=" * 40)
|
||||
|
||||
|
||||
mode = input("请选择测试模式 (0-2): ").strip()
|
||||
|
||||
|
||||
if mode == "1":
|
||||
interactive_test()
|
||||
elif mode == "2":
|
||||
@@ -1128,7 +1094,7 @@ if __name__ == "__main__":
|
||||
print("👋 再见！")
|
||||
else:
|
||||
print("❌ 无效选择")
|
||||
|
||||
|
||||
print("\n🎉 程序结束！")
|
||||
print("\n💡 使用说明:")
|
||||
print("1. 确保移液器硬件已正确连接")
|
||||
|
||||
@@ -13,7 +13,7 @@ from pylabrobot.liquid_handling import (
|
||||
SingleChannelDispense,
|
||||
PickupTipRack,
|
||||
DropTipRack,
|
||||
MultiHeadAspirationPlate,
|
||||
MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
|
||||
)
|
||||
from pylabrobot.liquid_handling.standard import (
|
||||
MultiHeadAspirationContainer,
|
||||
@@ -41,6 +41,12 @@ class TransformXYZDeck(Deck):
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
self.name = name
|
||||
|
||||
class TransformXYZBackend(LiquidHandlerBackend):
|
||||
def __init__(self, name: str, host: str, port: int, timeout: float):
|
||||
super().__init__()
|
||||
self.host = host
|
||||
self.port = port
|
||||
self.timeout = timeout
|
||||
|
||||
class TransformXYZRvizBackend(UniLiquidHandlerRvizBackend):
|
||||
def __init__(self, name: str, channel_num: int):
|
||||
@@ -80,9 +86,7 @@ class TransformXYZContainer(Plate, TipRack):
|
||||
class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
support_touch_tip = False
|
||||
|
||||
def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True,
|
||||
serial_port: str = "/dev/ttyUSB0", baudrate: int = 115200, pipette_address: int = 4,
|
||||
total_height: float = 310, **backend_kwargs):
|
||||
def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True, **backend_kwargs):
|
||||
# Handle case where deck is passed as a dict (from serialization)
|
||||
if isinstance(deck, dict):
|
||||
# Try to create a TransformXYZDeck from the dict
|
||||
@@ -98,22 +102,11 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
deck = TransformXYZDeck(name='deck', size_x=100, size_y=100, size_z=100)
|
||||
|
||||
if simulator:
|
||||
self._unilabos_backend = TransformXYZRvizBackend(name="laiyu", channel_num=channel_num)
|
||||
self._unilabos_backend = TransformXYZRvizBackend(name="laiyu",channel_num=channel_num)
|
||||
else:
|
||||
self._unilabos_backend = UniLiquidHandlerLaiyuBackend(
|
||||
num_channels=channel_num,
|
||||
total_height=total_height,
|
||||
port=serial_port,
|
||||
baudrate=baudrate,
|
||||
pipette_address=pipette_address,
|
||||
)
|
||||
self._unilabos_backend = TransformXYZBackend(name="laiyu",host=host, port=port, timeout=timeout)
|
||||
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
|
||||
|
||||
def post_init(self, ros_node):
|
||||
super().post_init(ros_node)
|
||||
if hasattr(self._unilabos_backend, 'post_init'):
|
||||
self._unilabos_backend.post_init(ros_node)
|
||||
|
||||
async def add_liquid(
|
||||
self,
|
||||
asp_vols: Union[List[float], float],
|
||||
@@ -135,25 +128,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
mix_liquid_height: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
return await super().add_liquid(
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
reagent_sources=reagent_sources,
|
||||
targets=targets,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
is_96_well=is_96_well,
|
||||
delays=delays,
|
||||
mix_time=mix_time,
|
||||
mix_vol=mix_vol,
|
||||
mix_rate=mix_rate,
|
||||
mix_liquid_height=mix_liquid_height,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
pass
|
||||
|
||||
async def aspirate(
|
||||
self,
|
||||
@@ -167,17 +142,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
return await super().aspirate(
|
||||
resources=resources,
|
||||
vols=vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
pass
|
||||
|
||||
async def dispense(
|
||||
self,
|
||||
@@ -191,17 +156,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
**backend_kwargs,
|
||||
):
|
||||
return await super().dispense(
|
||||
resources=resources,
|
||||
vols=vols,
|
||||
use_channels=use_channels,
|
||||
flow_rates=flow_rates,
|
||||
offsets=offsets,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
**backend_kwargs,
|
||||
)
|
||||
pass
|
||||
|
||||
async def drop_tips(
|
||||
self,
|
||||
@@ -211,13 +166,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
allow_nonzero_volume: bool = False,
|
||||
**backend_kwargs,
|
||||
):
|
||||
return await super().drop_tips(
|
||||
tip_spots=tip_spots,
|
||||
use_channels=use_channels,
|
||||
offsets=offsets,
|
||||
allow_nonzero_volume=allow_nonzero_volume,
|
||||
**backend_kwargs,
|
||||
)
|
||||
pass
|
||||
|
||||
async def mix(
|
||||
self,
|
||||
@@ -229,15 +178,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
mix_rate: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
return await super().mix(
|
||||
targets=targets,
|
||||
mix_time=mix_time,
|
||||
mix_vol=mix_vol,
|
||||
height_to_bottom=height_to_bottom,
|
||||
offsets=offsets,
|
||||
mix_rate=mix_rate,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
pass
|
||||
|
||||
async def pick_up_tips(
|
||||
self,
|
||||
@@ -246,12 +187,7 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
offsets: Optional[List[Coordinate]] = None,
|
||||
**backend_kwargs,
|
||||
):
|
||||
return await super().pick_up_tips(
|
||||
tip_spots=tip_spots,
|
||||
use_channels=use_channels,
|
||||
offsets=offsets,
|
||||
**backend_kwargs,
|
||||
)
|
||||
pass
|
||||
|
||||
async def transfer_liquid(
|
||||
self,
|
||||
@@ -278,26 +214,5 @@ class TransformXYZHandler(LiquidHandlerAbstract):
|
||||
delays: Optional[List[int]] = None,
|
||||
none_keys: List[str] = [],
|
||||
):
|
||||
return await super().transfer_liquid(
|
||||
sources=sources,
|
||||
targets=targets,
|
||||
tip_racks=tip_racks,
|
||||
use_channels=use_channels,
|
||||
asp_vols=asp_vols,
|
||||
dis_vols=dis_vols,
|
||||
asp_flow_rates=asp_flow_rates,
|
||||
dis_flow_rates=dis_flow_rates,
|
||||
offsets=offsets,
|
||||
touch_tip=touch_tip,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
spread=spread,
|
||||
is_96_well=is_96_well,
|
||||
mix_stage=mix_stage,
|
||||
mix_times=mix_times,
|
||||
mix_vol=mix_vol,
|
||||
mix_rate=mix_rate,
|
||||
mix_liquid_height=mix_liquid_height,
|
||||
delays=delays,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
pass
|
||||
|
||||
@@ -57,18 +57,6 @@ class TransferLiquidReturn(TypedDict):
|
||||
targets: List[List[ResourceDict]]
|
||||
|
||||
|
||||
|
||||
class SetLiquidReturn(TypedDict):
|
||||
wells: list
|
||||
volumes: list
|
||||
|
||||
|
||||
class SetLiquidFromPlateReturn(TypedDict):
|
||||
plate: list
|
||||
wells: list
|
||||
volumes: list
|
||||
|
||||
|
||||
class LiquidHandlerMiddleware(LiquidHandler):
|
||||
def __init__(
|
||||
self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs
|
||||
|
||||
@@ -1,376 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
ZDT X42 Closed-Loop Stepper Motor Driver
|
||||
RS485 Serial Communication via USB-Serial Converter
|
||||
|
||||
- Baudrate: 115200
|
||||
"""
|
||||
|
||||
import serial
|
||||
import time
|
||||
import threading
|
||||
import struct
|
||||
import logging
|
||||
from typing import Optional, Any
|
||||
|
||||
try:
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
except ImportError:
|
||||
class UniversalDriver:
|
||||
def __init__(self, *args, **kwargs):
|
||||
self.logger = logging.getLogger(self.__class__.__name__)
|
||||
def execute_command_from_outer(self, command: Any): pass
|
||||
|
||||
from serial.rs485 import RS485Settings
|
||||
|
||||
|
||||
class ZDTX42Driver(UniversalDriver):
|
||||
"""
|
||||
ZDT X42 闭环步进电机驱动器
|
||||
|
||||
支持功能:
|
||||
- 速度模式运行
|
||||
- 位置模式运行 (相对/绝对)
|
||||
- 位置读取和清零
|
||||
- 使能/禁用控制
|
||||
|
||||
通信协议:
|
||||
- 帧格式: [设备ID] [功能码] [数据...] [校验位=0x6B]
|
||||
- 响应长度根据功能码决定
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
port: str,
|
||||
baudrate: int = 115200,
|
||||
device_id: int = 1,
|
||||
timeout: float = 0.5,
|
||||
debug: bool = False
|
||||
):
|
||||
"""
|
||||
初始化 ZDT X42 电机驱动
|
||||
|
||||
Args:
|
||||
port: 串口设备路径
|
||||
baudrate: 波特率 (默认 115200)
|
||||
device_id: 设备地址 (1-255)
|
||||
timeout: 通信超时时间(秒)
|
||||
debug: 是否启用调试输出
|
||||
"""
|
||||
super().__init__()
|
||||
self.id = device_id
|
||||
self.debug = debug
|
||||
self.lock = threading.RLock()
|
||||
self.status = "idle" # 对应注册表中的 status (str)
|
||||
self.position = 0 # 对应注册表中的 position (int)
|
||||
|
||||
try:
|
||||
self.ser = serial.Serial(
|
||||
port=port,
|
||||
baudrate=baudrate,
|
||||
timeout=timeout,
|
||||
bytesize=serial.EIGHTBITS,
|
||||
parity=serial.PARITY_NONE,
|
||||
stopbits=serial.STOPBITS_ONE
|
||||
)
|
||||
|
||||
# 启用 RS485 模式
|
||||
try:
|
||||
self.ser.rs485_mode = RS485Settings(
|
||||
rts_level_for_tx=True,
|
||||
rts_level_for_rx=False
|
||||
)
|
||||
except Exception:
|
||||
pass # RS485 模式是可选的
|
||||
|
||||
self.logger.info(
|
||||
f"ZDT X42 Motor connected: {port} "
|
||||
f"(Baud: {baudrate}, ID: {device_id})"
|
||||
)
|
||||
# 自动使能电机，确保初始状态可运动
|
||||
self.enable(True)
|
||||
|
||||
# 启动背景轮询线程，确保 position 实时刷新
|
||||
self._stop_event = threading.Event()
|
||||
self._polling_thread = threading.Thread(
|
||||
target=self._update_loop,
|
||||
name=f"ZDTPolling_{port}",
|
||||
daemon=True
|
||||
)
|
||||
self._polling_thread.start()
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to open serial port {port}: {e}")
|
||||
self.ser = None
|
||||
|
||||
def _update_loop(self):
|
||||
"""背景循环读取电机位置"""
|
||||
while not self._stop_event.is_set():
|
||||
try:
|
||||
self.get_position()
|
||||
except Exception as e:
|
||||
if self.debug:
|
||||
self.logger.error(f"Polling error: {e}")
|
||||
time.sleep(1.0) # 每1秒刷新一次位置数据
|
||||
|
||||
def _send(self, func_code: int, payload: list) -> bytes:
|
||||
"""
|
||||
发送指令并接收响应
|
||||
|
||||
Args:
|
||||
func_code: 功能码
|
||||
payload: 数据负载 (list of bytes)
|
||||
|
||||
Returns:
|
||||
响应数据 (bytes)
|
||||
"""
|
||||
if not self.ser:
|
||||
self.logger.error("Serial port not available")
|
||||
return b""
|
||||
|
||||
with self.lock:
|
||||
# 清空输入缓冲区
|
||||
self.ser.reset_input_buffer()
|
||||
|
||||
# 构建消息: [ID] [功能码] [数据...] [校验位=0x6B]
|
||||
message = bytes([self.id, func_code] + payload + [0x6B])
|
||||
|
||||
# 发送
|
||||
self.ser.write(message)
|
||||
|
||||
# 根据功能码决定响应长度
|
||||
# 查询类指令返回 10 字节，控制类指令返回 4 字节
|
||||
read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
|
||||
response = self.ser.read(read_len)
|
||||
|
||||
# 调试输出
|
||||
if self.debug:
|
||||
sent_hex = message.hex().upper()
|
||||
recv_hex = response.hex().upper() if response else 'TIMEOUT'
|
||||
print(f"[ID {self.id}] TX: {sent_hex} → RX: {recv_hex}")
|
||||
|
||||
return response
|
||||
|
||||
def enable(self, on: bool = True) -> bool:
|
||||
"""
|
||||
使能/禁用电机
|
||||
|
||||
Args:
|
||||
on: True=使能(锁轴), False=禁用(松轴)
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
state = 1 if on else 0
|
||||
resp = self._send(0xF3, [0xAB, state, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def move_speed(
|
||||
self,
|
||||
speed_rpm: int,
|
||||
direction: str = "CW",
|
||||
acceleration: int = 10
|
||||
) -> bool:
|
||||
"""
|
||||
速度模式运行
|
||||
|
||||
Args:
|
||||
speed_rpm: 转速 (RPM)
|
||||
direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
|
||||
acceleration: 加速度 (0-255)
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
|
||||
speed_bytes = struct.pack('>H', int(speed_rpm))
|
||||
self.status = f"moving@{speed_rpm}rpm"
|
||||
resp = self._send(0xF6, [dir_val, speed_bytes[0], speed_bytes[1], acceleration, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def move_position(
|
||||
self,
|
||||
pulses: int,
|
||||
speed_rpm: int,
|
||||
direction: str = "CW",
|
||||
acceleration: int = 10,
|
||||
absolute: bool = False
|
||||
) -> bool:
|
||||
"""
|
||||
位置模式运行
|
||||
|
||||
Args:
|
||||
pulses: 脉冲数
|
||||
speed_rpm: 转速 (RPM)
|
||||
direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
|
||||
acceleration: 加速度 (0-255)
|
||||
absolute: True=绝对位置, False=相对位置
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
|
||||
speed_bytes = struct.pack('>H', int(speed_rpm))
|
||||
self.status = f"moving_to_{pulses}"
|
||||
pulse_bytes = struct.pack('>I', int(pulses))
|
||||
abs_flag = 1 if absolute else 0
|
||||
|
||||
payload = [
|
||||
dir_val,
|
||||
speed_bytes[0], speed_bytes[1],
|
||||
acceleration,
|
||||
pulse_bytes[0], pulse_bytes[1], pulse_bytes[2], pulse_bytes[3],
|
||||
abs_flag,
|
||||
0
|
||||
]
|
||||
|
||||
resp = self._send(0xFD, payload)
|
||||
return len(resp) >= 4
|
||||
|
||||
def stop(self) -> bool:
|
||||
"""
|
||||
停止电机
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
self.status = "idle"
|
||||
resp = self._send(0xFE, [0x98, 0])
|
||||
return len(resp) >= 4
|
||||
|
||||
def rotate_quarter(self, speed_rpm: int = 60, direction: str = "CW") -> bool:
|
||||
"""
|
||||
电机旋转 1/4 圈 (阻塞式)
|
||||
假设电机细分为 3200 脉冲/圈，1/4 圈 = 800 脉冲
|
||||
"""
|
||||
pulses = 800
|
||||
success = self.move_position(pulses=pulses, speed_rpm=speed_rpm, direction=direction, absolute=False)
|
||||
|
||||
if success:
|
||||
# 计算预估旋转时间并进行阻塞等待 (Time = revolutions / (RPM/60))
|
||||
# 1/4 rev / (RPM/60) = 15.0 / RPM
|
||||
estimated_time = 15.0 / max(1, speed_rpm)
|
||||
time.sleep(estimated_time + 0.5) # 额外给 0.5 秒缓冲
|
||||
self.status = "idle"
|
||||
|
||||
return success
|
||||
|
||||
def wait_time(self, duration_s: float) -> bool:
|
||||
"""
|
||||
等待指定时间 (秒)
|
||||
"""
|
||||
self.logger.info(f"Waiting for {duration_s} seconds...")
|
||||
time.sleep(duration_s)
|
||||
return True
|
||||
|
||||
def set_zero(self) -> bool:
|
||||
"""
|
||||
清零当前位置
|
||||
|
||||
Returns:
|
||||
是否成功
|
||||
"""
|
||||
resp = self._send(0x0A, [])
|
||||
return len(resp) >= 4
|
||||
|
||||
def get_position(self) -> Optional[int]:
|
||||
"""
|
||||
读取当前位置 (脉冲数)
|
||||
|
||||
Returns:
|
||||
当前位置脉冲数，失败返回 None
|
||||
"""
|
||||
resp = self._send(0x32, [])
|
||||
|
||||
if len(resp) >= 8:
|
||||
# 响应格式: [ID] [Func] [符号位] [数值4字节] [校验]
|
||||
sign = resp[2] # 0=正, 1=负
|
||||
value = struct.unpack('>I', resp[3:7])[0]
|
||||
self.position = -value if sign == 1 else value
|
||||
|
||||
if self.debug:
|
||||
print(f"[Position] Raw: {resp.hex().upper()}, Parsed: {self.position}")
|
||||
|
||||
return self.position
|
||||
|
||||
self.logger.warning("Failed to read position")
|
||||
return None
|
||||
|
||||
def close(self):
|
||||
"""关闭串口连接并停止线程"""
|
||||
if hasattr(self, '_stop_event'):
|
||||
self._stop_event.set()
|
||||
|
||||
if self.ser and self.ser.is_open:
|
||||
self.ser.close()
|
||||
self.logger.info("Serial port closed")
|
||||
|
||||
|
||||
# ============================================================
|
||||
# 测试和调试代码
|
||||
# ============================================================
|
||||
|
||||
def test_motor():
|
||||
"""基础功能测试"""
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
|
||||
print("="*60)
|
||||
print("ZDT X42 电机驱动测试")
|
||||
print("="*60)
|
||||
|
||||
driver = ZDTX42Driver(
|
||||
port="/dev/tty.usbserial-3110",
|
||||
baudrate=115200,
|
||||
device_id=2,
|
||||
debug=True
|
||||
)
|
||||
|
||||
if not driver.ser:
|
||||
print("❌ 串口打开失败")
|
||||
return
|
||||
|
||||
try:
|
||||
# 测试 1: 读取位置
|
||||
print("\n[1] 读取当前位置")
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 当前位置: {pos} 脉冲")
|
||||
|
||||
# 测试 2: 使能
|
||||
print("\n[2] 使能电机")
|
||||
driver.enable(True)
|
||||
time.sleep(0.3)
|
||||
print("✓ 电机已锁定")
|
||||
|
||||
# 测试 3: 相对位置运动
|
||||
print("\n[3] 相对位置运动 (1000脉冲)")
|
||||
driver.move_position(pulses=1000, speed_rpm=60, direction="CW")
|
||||
time.sleep(2)
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 新位置: {pos}")
|
||||
|
||||
# 测试 4: 速度运动
|
||||
print("\n[4] 速度模式 (30RPM, 3秒)")
|
||||
driver.move_speed(speed_rpm=30, direction="CW")
|
||||
time.sleep(3)
|
||||
driver.stop()
|
||||
pos = driver.get_position()
|
||||
print(f"✓ 停止后位置: {pos}")
|
||||
|
||||
# 测试 5: 禁用
|
||||
print("\n[5] 禁用电机")
|
||||
driver.enable(False)
|
||||
print("✓ 电机已松开")
|
||||
|
||||
print("\n" + "="*60)
|
||||
print("✅ 测试完成")
|
||||
print("="*60)
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 测试失败: {e}")
|
||||
import traceback
|
||||
traceback.print_exc()
|
||||
finally:
|
||||
driver.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_motor()
|
||||
@@ -623,119 +623,6 @@ class ChinweDevice(UniversalDriver):
|
||||
time.sleep(duration)
|
||||
return True
|
||||
|
||||
def separation_step(self, motor_id: int = 5, speed: int = 60, pulses: int = 700,
|
||||
max_cycles: int = 0, timeout: int = 300) -> bool:
|
||||
"""
|
||||
分液步骤 - 液位传感器与电机联动
|
||||
当液位传感器检测到"有液"时,电机顺时针旋转指定脉冲数
|
||||
当液位传感器检测到"无液"时,电机逆时针旋转指定脉冲数
|
||||
|
||||
:param motor_id: 电机ID (必须在初始化时配置的motor_ids中)
|
||||
:param speed: 电机转速 (RPM)
|
||||
:param pulses: 每次旋转的脉冲数 (默认700约为1/4圈,假设3200脉冲/圈)
|
||||
:param max_cycles: 最大执行循环次数 (0=无限制,默认0)
|
||||
:param timeout: 整体超时时间 (秒)
|
||||
:return: 成功返回True,超时或失败返回False
|
||||
"""
|
||||
motor_id = int(motor_id)
|
||||
speed = int(speed)
|
||||
pulses = int(pulses)
|
||||
max_cycles = int(max_cycles)
|
||||
timeout = int(timeout)
|
||||
|
||||
# 检查电机是否存在
|
||||
if motor_id not in self.motors:
|
||||
self.logger.error(f"Motor {motor_id} not found in configured motors: {list(self.motors.keys())}")
|
||||
return False
|
||||
|
||||
# 检查传感器是否可用
|
||||
if not self.sensor:
|
||||
self.logger.error("Sensor not initialized")
|
||||
return False
|
||||
|
||||
motor = self.motors[motor_id]
|
||||
|
||||
# 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
|
||||
self.logger.info("Stopping polling thread for separation_step...")
|
||||
self._stop_event.set()
|
||||
if self._poll_thread and self._poll_thread.is_alive():
|
||||
self._poll_thread.join(timeout=2.0)
|
||||
|
||||
# 使能电机
|
||||
self.logger.info(f"Enabling motor {motor_id}...")
|
||||
motor.enable(True)
|
||||
time.sleep(0.2)
|
||||
|
||||
self.logger.info(f"Starting separation step: motor_id={motor_id}, speed={speed} RPM, "
|
||||
f"pulses={pulses}, max_cycles={max_cycles}, timeout={timeout}s")
|
||||
|
||||
# 记录上一次的液位状态
|
||||
last_level = None
|
||||
cycle_count = 0
|
||||
start_time = time.time()
|
||||
error_count = 0
|
||||
|
||||
try:
|
||||
while True:
|
||||
# 检查超时
|
||||
if time.time() - start_time > timeout:
|
||||
self.logger.warning(f"Separation step timeout after {timeout} seconds")
|
||||
return False
|
||||
|
||||
# 检查循环次数限制
|
||||
if max_cycles > 0 and cycle_count >= max_cycles:
|
||||
self.logger.info(f"Separation step completed: reached max_cycles={max_cycles}")
|
||||
return True
|
||||
|
||||
# 读取传感器数据
|
||||
data = self.sensor.read_level()
|
||||
|
||||
if data is None:
|
||||
error_count += 1
|
||||
if error_count > 5:
|
||||
self.logger.warning("Sensor read failed multiple times, retrying...")
|
||||
error_count = 0
|
||||
time.sleep(0.5)
|
||||
continue
|
||||
|
||||
error_count = 0
|
||||
current_level = data['level']
|
||||
rssi = data['rssi']
|
||||
|
||||
# 检测状态变化 (包括首次检测)
|
||||
if current_level != last_level:
|
||||
cycle_count += 1
|
||||
|
||||
if current_level:
|
||||
# 有液 -> 电机顺时针旋转
|
||||
self.logger.info(f"[Cycle {cycle_count}] Liquid detected (RSSI={rssi}), "
|
||||
f"rotating motor {motor_id} clockwise {pulses} pulses")
|
||||
motor.run_position(pulses=pulses, speed_rpm=speed, direction=0, absolute=False)
|
||||
|
||||
# 等待电机完成 (预估时间)
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
else:
|
||||
# 无液 -> 电机逆时针旋转
|
||||
self.logger.info(f"[Cycle {cycle_count}] No liquid detected (RSSI={rssi}), "
|
||||
f"rotating motor {motor_id} counter-clockwise {pulses} pulses")
|
||||
motor.run_position(pulses=pulses, speed_rpm=speed, direction=1, absolute=False)
|
||||
|
||||
# 等待电机完成 (预估时间)
|
||||
estimated_time = 15.0 / max(1, speed)
|
||||
time.sleep(estimated_time + 0.5)
|
||||
|
||||
# 更新状态
|
||||
last_level = current_level
|
||||
|
||||
# 轮询间隔
|
||||
time.sleep(0.1)
|
||||
finally:
|
||||
# 恢复轮询线程
|
||||
self.logger.info("Restarting polling thread...")
|
||||
self._start_polling()
|
||||
|
||||
def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
|
||||
"""支持标准 JSON 指令调用"""
|
||||
return super().execute_command_from_outer(command_dict)
|
||||
|
||||
@@ -1,379 +0,0 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
XKC RS485 液位传感器 (Modbus RTU)
|
||||
|
||||
说明:
|
||||
1. 遵循 Modbus-RTU 协议。
|
||||
2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
|
||||
3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
|
||||
4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
|
||||
"""
|
||||
|
||||
import struct
|
||||
import threading
|
||||
import time
|
||||
import logging
|
||||
import serial
|
||||
from typing import Optional, Dict, Any, List
|
||||
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
|
||||
class TransportManager:
|
||||
"""
|
||||
统一通信管理类。
|
||||
仅支持 串口 (Serial/有线) 连接。
|
||||
"""
|
||||
def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.timeout = timeout
|
||||
self.logger = logger
|
||||
self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
|
||||
|
||||
self.serial = None
|
||||
self._connect_serial()
|
||||
|
||||
def _connect_serial(self):
|
||||
try:
|
||||
self.serial = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
timeout=self.timeout
|
||||
)
|
||||
except Exception as e:
|
||||
raise ConnectionError(f"Serial open failed: {e}")
|
||||
|
||||
def close(self):
|
||||
"""关闭连接"""
|
||||
if self.serial and self.serial.is_open:
|
||||
self.serial.close()
|
||||
|
||||
def clear_buffer(self):
|
||||
"""清空缓冲区 (Thread-safe)"""
|
||||
with self.lock:
|
||||
if self.serial:
|
||||
self.serial.reset_input_buffer()
|
||||
|
||||
def write(self, data: bytes):
|
||||
"""发送原始字节"""
|
||||
with self.lock:
|
||||
if self.serial:
|
||||
self.serial.write(data)
|
||||
|
||||
def read(self, size: int) -> bytes:
|
||||
"""读取指定长度字节"""
|
||||
if self.serial:
|
||||
return self.serial.read(size)
|
||||
return b''
|
||||
|
||||
class XKCSensorDriver(UniversalDriver):
|
||||
"""XKC RS485 液位传感器 (Modbus RTU)"""
|
||||
|
||||
def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
|
||||
threshold: int = 300, timeout: float = 3.0, debug: bool = False):
|
||||
super().__init__()
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self.device_id = device_id
|
||||
self.threshold = threshold
|
||||
self.timeout = timeout
|
||||
self.debug = debug
|
||||
self.level = False
|
||||
self.rssi = 0
|
||||
self.status = {"level": self.level, "rssi": self.rssi}
|
||||
|
||||
try:
|
||||
self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
|
||||
self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
|
||||
self.transport = None
|
||||
|
||||
# 启动背景轮询线程，确保 status 实时刷新
|
||||
self._stop_event = threading.Event()
|
||||
self._polling_thread = threading.Thread(
|
||||
target=self._update_loop,
|
||||
name=f"XKCPolling_{port}",
|
||||
daemon=True
|
||||
)
|
||||
if self.transport:
|
||||
self._polling_thread.start()
|
||||
|
||||
def _update_loop(self):
|
||||
"""背景循环读取传感器数据"""
|
||||
while not self._stop_event.is_set():
|
||||
try:
|
||||
self.read_level()
|
||||
except Exception as e:
|
||||
if self.debug:
|
||||
self.logger.error(f"Polling error: {e}")
|
||||
time.sleep(2.0) # 每2秒刷新一次数据
|
||||
|
||||
def _crc(self, data: bytes) -> bytes:
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
|
||||
else: crc >>= 1
|
||||
return struct.pack('<H', crc)
|
||||
|
||||
def read_level(self) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
读取液位。
|
||||
返回: {'level': bool, 'rssi': int}
|
||||
"""
|
||||
if not self.transport:
|
||||
return None
|
||||
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
# Modbus Read Registers: 01 03 00 01 00 02 CRC
|
||||
payload = struct.pack('>HH', 0x0001, 0x0002)
|
||||
msg = struct.pack('BB', self.device_id, 0x03) + payload
|
||||
msg += self._crc(msg)
|
||||
|
||||
if self.debug:
|
||||
self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
|
||||
|
||||
self.transport.write(msg)
|
||||
|
||||
# Read header
|
||||
h = self.transport.read(3) # Addr, Func, Len
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Header: {h.hex().upper()}")
|
||||
|
||||
if len(h) < 3: return None
|
||||
length = h[2]
|
||||
|
||||
# Read body + CRC
|
||||
body = self.transport.read(length + 2)
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
|
||||
if len(body) < length + 2:
|
||||
# Firmware bug fix specific to some modules
|
||||
if len(body) == 4 and length == 4:
|
||||
pass
|
||||
else:
|
||||
return None
|
||||
|
||||
data = body[:-2]
|
||||
# 根据手册说明:
|
||||
# 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
|
||||
# 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
|
||||
|
||||
hw_level = False
|
||||
rssi = 0
|
||||
|
||||
if len(data) >= 4:
|
||||
hw_level = ((data[0] << 8) | data[1]) == 1
|
||||
rssi = (data[2] << 8) | data[3]
|
||||
elif len(data) == 2:
|
||||
# 兼容模式: 某些老固件可能只返回 1 个寄存器
|
||||
rssi = (data[0] << 8) | data[1]
|
||||
hw_level = rssi > self.threshold
|
||||
else:
|
||||
return None
|
||||
|
||||
# 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
|
||||
# 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
|
||||
self.level = hw_level or (rssi > self.threshold)
|
||||
self.rssi = rssi
|
||||
result = {
|
||||
'level': self.level,
|
||||
'rssi': self.rssi
|
||||
}
|
||||
self.status = result
|
||||
return result
|
||||
|
||||
def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
|
||||
"""
|
||||
等待液位达到目标状态 (阻塞式)
|
||||
"""
|
||||
self.logger.info(f"Waiting for level: {target_state}")
|
||||
start_time = time.time()
|
||||
while (time.time() - start_time) < timeout:
|
||||
res = self.read_level()
|
||||
if res and res.get('level') == target_state:
|
||||
return True
|
||||
time.sleep(0.5)
|
||||
self.logger.warning(f"Wait level timeout ({timeout}s)")
|
||||
return False
|
||||
|
||||
def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
|
||||
"""
|
||||
实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
|
||||
一旦检测到符合目标状态，立即返回。
|
||||
|
||||
Args:
|
||||
target_state: True 为“有液”, False 为“无液”
|
||||
timeout: 最大等待时间(秒)
|
||||
"""
|
||||
state_str = "有液" if target_state else "无液"
|
||||
self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
|
||||
|
||||
start_time = time.time()
|
||||
while (time.time() - start_time) < timeout:
|
||||
res = self.read_level() # 内部已更新 self.level 和 self.rssi
|
||||
if res:
|
||||
current_level = res.get('level')
|
||||
current_rssi = res.get('rssi')
|
||||
if current_level == target_state:
|
||||
self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
|
||||
return True
|
||||
|
||||
if self.debug:
|
||||
self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
|
||||
|
||||
time.sleep(0.2) # 高频采样
|
||||
|
||||
self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
|
||||
return False
|
||||
|
||||
def set_threshold(self, threshold: int):
|
||||
"""设置液位判定阈值"""
|
||||
self.threshold = int(threshold)
|
||||
self.logger.info(f"Threshold updated to: {self.threshold}")
|
||||
|
||||
def change_device_id(self, new_id: int) -> bool:
|
||||
"""
|
||||
修改设备的 Modbus 从站地址。
|
||||
寄存器: 0x0004, 功能码: 0x06
|
||||
"""
|
||||
if not (1 <= new_id <= 254):
|
||||
self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
|
||||
return False
|
||||
|
||||
self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
|
||||
success = self._write_single_register(0x0004, new_id)
|
||||
if success:
|
||||
self.device_id = new_id # 更新内存中的地址
|
||||
self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
|
||||
return success
|
||||
|
||||
def change_baudrate(self, baud_code: int) -> bool:
|
||||
"""
|
||||
更改通讯波特率 (寄存器: 0x0005)。
|
||||
设置成功后传感器 LED 会闪烁，通常无数据返回。
|
||||
|
||||
波特率代码对照表 (16进制):
|
||||
05: 2400
|
||||
06: 4800
|
||||
07: 9600 (默认)
|
||||
08: 14400
|
||||
09: 19200
|
||||
0A: 28800
|
||||
0C: 57600
|
||||
0D: 115200
|
||||
0E: 128000
|
||||
0F: 256000
|
||||
"""
|
||||
self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
|
||||
# 写入寄存器 0x0005
|
||||
self._write_single_register(0x0005, baud_code)
|
||||
self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
|
||||
return True
|
||||
|
||||
def factory_reset(self) -> bool:
|
||||
"""
|
||||
恢复出厂设置 (通过广播地址 FF)。
|
||||
设置地址为 01，逻辑为向 0x0004 写入 0x0002
|
||||
"""
|
||||
self.logger.info("Sending factory reset command via broadcast address FF...")
|
||||
# 广播指令通常无回显
|
||||
self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
|
||||
self.logger.info("Factory reset command sent. Device address should be 01 now.")
|
||||
return True
|
||||
|
||||
def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
|
||||
"""内部辅助函数: Modbus 功能码 06 写单个寄存器"""
|
||||
if not self.transport: return False
|
||||
|
||||
target_id = slave_id if slave_id is not None else self.device_id
|
||||
msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
|
||||
msg += self._crc(msg)
|
||||
|
||||
with self.transport.lock:
|
||||
self.transport.clear_buffer()
|
||||
if self.debug:
|
||||
self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
|
||||
|
||||
self.transport.write(msg)
|
||||
|
||||
# 广播地址、波特率修改或厂家特定指令可能无回显
|
||||
if target_id == 0xFF or reg_addr == 0x0005:
|
||||
time.sleep(0.5)
|
||||
return True
|
||||
|
||||
# 等待返回 (正常应返回相同报文)
|
||||
resp = self.transport.read(len(msg))
|
||||
if self.debug:
|
||||
self.logger.info(f"RX Write Response: {resp.hex().upper()}")
|
||||
|
||||
return resp == msg
|
||||
|
||||
def close(self):
|
||||
if self.transport:
|
||||
self.transport.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 快速实例化测试
|
||||
import logging
|
||||
# 减少冗余日志，仅显示重要信息
|
||||
logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
|
||||
|
||||
# 硬件配置 (根据实际情况修改)
|
||||
TEST_PORT = "/dev/tty.usbserial-3110"
|
||||
SLAVE_ID = 1
|
||||
THRESHOLD = 300
|
||||
|
||||
print("\n" + "="*50)
|
||||
print(f" XKC RS485 传感器独立测试程序")
|
||||
print(f" 端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
|
||||
print("="*50)
|
||||
|
||||
sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
|
||||
|
||||
try:
|
||||
if sensor.transport:
|
||||
print(f"\n开始实时连续采样测试 (持续 15 秒)...")
|
||||
print(f"按 Ctrl+C 可提前停止\n")
|
||||
|
||||
start_time = time.time()
|
||||
duration = 15
|
||||
count = 0
|
||||
|
||||
while time.time() - start_time < duration:
|
||||
count += 1
|
||||
res = sensor.read_level()
|
||||
if res:
|
||||
rssi = res['rssi']
|
||||
level = res['level']
|
||||
status_str = "【有液】" if level else "【无液】"
|
||||
# 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
|
||||
# 为了方便查看变化，我们直接打印
|
||||
elapsed = time.time() - start_time
|
||||
print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
|
||||
else:
|
||||
print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
|
||||
|
||||
time.sleep(0.5) # 每秒采样 2 次
|
||||
|
||||
print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
|
||||
|
||||
# [3] 测试动态修改阈值
|
||||
print(f"\n[3] 动态修改阈值演示...")
|
||||
new_threshold = 400
|
||||
sensor.set_threshold(new_threshold)
|
||||
res = sensor.read_level()
|
||||
if res:
|
||||
print(f" 采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
|
||||
sensor.set_threshold(THRESHOLD) # 还原
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n[!] 用户中断测试")
|
||||
except Exception as e:
|
||||
print(f"\n[!] 测试运行出错: {e}")
|
||||
finally:
|
||||
sensor.close()
|
||||
print("\n--- 测试程序已退出 ---\n")
|
||||
@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
|
||||
|
||||
# 第1步：从配置中获取仓库配置
|
||||
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
|
||||
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
|
||||
|
||||
# 确定目标仓库名称
|
||||
parent_name = None
|
||||
|
||||
@@ -336,47 +336,6 @@ separator.chinwe:
|
||||
title: pump_valve参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
separation_step:
|
||||
goal:
|
||||
max_cycles: 0
|
||||
motor_id: 5
|
||||
pulses: 700
|
||||
speed: 60
|
||||
timeout: 300
|
||||
handles: {}
|
||||
schema:
|
||||
description: 分液步骤 - 液位传感器与电机联动 (有液→顺时针, 无液→逆时针)
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
max_cycles:
|
||||
default: 0
|
||||
description: 最大循环次数 (0=无限制)
|
||||
type: integer
|
||||
motor_id:
|
||||
default: '5'
|
||||
description: 选择电机
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
title: '注: 4=搅拌, 5=旋钮'
|
||||
type: string
|
||||
pulses:
|
||||
default: 700
|
||||
description: 每次旋转脉冲数 (约1/4圈)
|
||||
type: integer
|
||||
speed:
|
||||
default: 60
|
||||
description: 电机转速 (RPM)
|
||||
type: integer
|
||||
timeout:
|
||||
default: 300
|
||||
description: 超时时间 (秒)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_sensor_level:
|
||||
feedback: {}
|
||||
goal:
|
||||
|
||||
@@ -6973,7 +6973,7 @@ liquid_handler.laiyu:
|
||||
properties:
|
||||
channel_num:
|
||||
default: 1
|
||||
type: integer
|
||||
type: string
|
||||
deck:
|
||||
type: object
|
||||
host:
|
||||
@@ -6984,25 +6984,10 @@ liquid_handler.laiyu:
|
||||
type: integer
|
||||
simulator:
|
||||
default: true
|
||||
type: boolean
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: number
|
||||
serial_port:
|
||||
default: /dev/ttyUSB0
|
||||
description: 硬件串口端口（非 simulator 模式下使用）
|
||||
type: string
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: integer
|
||||
pipette_address:
|
||||
default: 4
|
||||
description: SOPA 移液器 RS485 地址
|
||||
type: integer
|
||||
total_height:
|
||||
default: 310
|
||||
description: 龙门架总高度 (mm)，用于坐标转换
|
||||
type: number
|
||||
required:
|
||||
- deck
|
||||
type: object
|
||||
|
||||
@@ -1,286 +0,0 @@
|
||||
motor.zdt_x42:
|
||||
category:
|
||||
- motor
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-enable:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
'on': true
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
'on':
|
||||
default: true
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-get_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 获取当前电机脉冲位置。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
position:
|
||||
type: integer
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: get_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
absolute: false
|
||||
acceleration: 10
|
||||
direction: CW
|
||||
pulses: 1000
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
absolute:
|
||||
default: false
|
||||
type: boolean
|
||||
acceleration:
|
||||
default: 10
|
||||
maximum: 255
|
||||
minimum: 0
|
||||
type: integer
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
pulses:
|
||||
default: 1000
|
||||
type: integer
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 0
|
||||
type: integer
|
||||
required:
|
||||
- pulses
|
||||
- speed_rpm
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_speed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
acceleration: 10
|
||||
direction: CW
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 速度模式运行。控制电机以指定转速和方向持续转动。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
acceleration:
|
||||
default: 10
|
||||
maximum: 255
|
||||
minimum: 0
|
||||
type: integer
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 0
|
||||
type: integer
|
||||
required:
|
||||
- speed_rpm
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_speed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-rotate_quarter:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
direction: CW
|
||||
speed_rpm: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 电机旋转 1/4 圈 (阻塞式)。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: CW
|
||||
enum:
|
||||
- CW
|
||||
- CCW
|
||||
type: string
|
||||
speed_rpm:
|
||||
default: 60
|
||||
minimum: 1
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: rotate_quarter参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_zero:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 将当前电机位置设为零点。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_zero参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 立即停止电机运动。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
duration_s: 1.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 等待指定时间 (秒)。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
duration_s:
|
||||
default: 1.0
|
||||
minimum: 0
|
||||
type: number
|
||||
required:
|
||||
- duration_s
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
|
||||
status_types:
|
||||
position: int
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: integer
|
||||
debug:
|
||||
default: false
|
||||
type: boolean
|
||||
device_id:
|
||||
default: 1
|
||||
type: integer
|
||||
port:
|
||||
type: string
|
||||
timeout:
|
||||
default: 0.5
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
position:
|
||||
type: integer
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,148 +0,0 @@
|
||||
sensor.xkc_rs485:
|
||||
category:
|
||||
- sensor
|
||||
- separator
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-change_baudrate:
|
||||
goal:
|
||||
baud_code: 7
|
||||
handles: {}
|
||||
schema:
|
||||
description: '更改通讯波特率 (设置成功后无返回，且需手动切换波特率重连)。代码表 (16进制): 05=2400, 06=4800,
|
||||
07=9600, 08=14400, 09=19200, 0A=28800, 0C=57600, 0D=115200, 0E=128000,
|
||||
0F=256000'
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
baud_code:
|
||||
description: '波特率代码 (例如: 7 为 9600, 13 即 0x0D 为 115200)'
|
||||
type: integer
|
||||
required:
|
||||
- baud_code
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-change_device_id:
|
||||
goal:
|
||||
new_id: 1
|
||||
handles: {}
|
||||
schema:
|
||||
description: 修改传感器的 Modbus 从站地址
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
new_id:
|
||||
description: 新的从站地址 (1-254)
|
||||
maximum: 254
|
||||
minimum: 1
|
||||
type: integer
|
||||
required:
|
||||
- new_id
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-factory_reset:
|
||||
goal: {}
|
||||
handles: {}
|
||||
schema:
|
||||
description: 恢复出厂设置 (地址重置为 01)
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_level:
|
||||
goal: {}
|
||||
handles: {}
|
||||
schema:
|
||||
description: 直接读取当前液位及信号强度
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_threshold:
|
||||
goal:
|
||||
threshold: 300
|
||||
handles: {}
|
||||
schema:
|
||||
description: 设置液位判定阈值
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
threshold:
|
||||
type: integer
|
||||
required:
|
||||
- threshold
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_liquid:
|
||||
goal:
|
||||
target_state: true
|
||||
timeout: 120
|
||||
handles: {}
|
||||
schema:
|
||||
description: 实时检测电导率(RSSI)并等待用户指定的状态
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
target_state:
|
||||
default: true
|
||||
description: 目标状态 (True=有液, False=无液)
|
||||
type: boolean
|
||||
timeout:
|
||||
default: 120
|
||||
description: 超时时间 (秒)
|
||||
required:
|
||||
- target_state
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_level:
|
||||
goal:
|
||||
level: true
|
||||
timeout: 10
|
||||
handles: {}
|
||||
schema:
|
||||
description: 等待液位达到目标状态
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
level:
|
||||
type: boolean
|
||||
timeout:
|
||||
type: number
|
||||
required:
|
||||
- level
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.separator.xkc_sensor:XKCSensorDriver
|
||||
status_types:
|
||||
level: bool
|
||||
rssi: int
|
||||
type: python
|
||||
config_info: []
|
||||
description: XKC RS485 非接触式液位传感器 (Modbus RTU)
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: integer
|
||||
debug:
|
||||
default: false
|
||||
type: boolean
|
||||
device_id:
|
||||
default: 1
|
||||
type: integer
|
||||
port:
|
||||
type: string
|
||||
threshold:
|
||||
default: 300
|
||||
type: integer
|
||||
timeout:
|
||||
default: 3.0
|
||||
type: number
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,4 +1,4 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
@@ -9,28 +9,6 @@ from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Reagent_Bottle,
|
||||
BIOYOND_PolymerStation_Flask,
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
|
||||
"""创建单个枪头资源
|
||||
|
||||
Args:
|
||||
name: 枪头名称
|
||||
size_x: 枪头宽度 (mm)
|
||||
size_y: 枪头长度 (mm)
|
||||
size_z: 枪头高度 (mm)
|
||||
|
||||
Returns:
|
||||
Container: 枪头容器
|
||||
"""
|
||||
return Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip",
|
||||
model="BIOYOND_PolymerStation_Tip",
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
|
||||
|
||||
|
||||
@@ -344,88 +322,3 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_TipBox(
|
||||
name: str,
|
||||
size_x: float = 127.76, # 枪头盒宽度
|
||||
size_y: float = 85.48, # 枪头盒长度
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
) -> BottleCarrier:
|
||||
"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
size_x: 枪头盒宽度 (mm)
|
||||
size_y: 枪头盒长度 (mm)
|
||||
size_z: 枪头盒高度 (mm)
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
BottleCarrier: 包含24个枪头孔位的枪头盒载架
|
||||
|
||||
布局说明:
|
||||
- 4行×6列 (A-D, 1-6)
|
||||
- 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
|
||||
- 起始位置居中对齐
|
||||
- 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
|
||||
"""
|
||||
# 枪头孔位参数
|
||||
num_cols = 6 # 1-6 (x方向)
|
||||
num_rows = 4 # A-D (y方向)
|
||||
tip_diameter = 8.0 # 枪头孔位直径
|
||||
tip_spacing_x = 18.0 # 列间距 (增加到18mm，更宽松)
|
||||
tip_spacing_y = 18.0 # 行间距 (增加到18mm，更宽松)
|
||||
|
||||
# 计算起始位置 (居中对齐)
|
||||
total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
|
||||
total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
|
||||
start_x = (size_x - total_width) / 2
|
||||
start_y = (size_y - total_height) / 2
|
||||
|
||||
# 使用 create_ordered_items_2d 创建孔位
|
||||
# create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
|
||||
# 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=num_cols,
|
||||
num_items_y=num_rows,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=tip_spacing_x,
|
||||
item_dy=tip_spacing_y,
|
||||
size_x=tip_diameter,
|
||||
size_y=tip_diameter,
|
||||
size_z=50.0, # 枪头深度
|
||||
)
|
||||
|
||||
# 更新 sites 中每个 ResourceHolder 的名称
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
# 创建枪头盒载架
|
||||
# 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
|
||||
tip_box = BottleCarrier(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
sites=sites, # 直接使用数字索引的 sites
|
||||
model="BIOYOND_PolymerStation_TipBox",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = num_cols
|
||||
tip_box.num_items_y = num_rows
|
||||
tip_box.num_items_z = 1
|
||||
|
||||
# ⭐ 枪头盒不需要放入子资源
|
||||
# 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
|
||||
# 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
|
||||
# 这样前端会显示24个空槽位，可以用于放置枪头
|
||||
|
||||
return tip_box
|
||||
|
||||
@@ -116,9 +116,7 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
size_z: float = 100.0, # 枪头盒高度
|
||||
barcode: str = None,
|
||||
):
|
||||
"""创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
|
||||
|
||||
注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
|
||||
"""创建4×6枪头盒 (24个枪头)
|
||||
|
||||
Args:
|
||||
name: 枪头盒名称
|
||||
@@ -128,11 +126,55 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
barcode: 条形码
|
||||
|
||||
Returns:
|
||||
BottleCarrier: 包含24个枪头孔位的枪头盒载架
|
||||
TipBoxCarrier: 包含24个枪头孔位的枪头盒
|
||||
"""
|
||||
# 重定向到 bottle_carriers.py 中的实现
|
||||
from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier
|
||||
return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode)
|
||||
from pylabrobot.resources import Container, Coordinate
|
||||
|
||||
# 创建枪头盒容器
|
||||
tip_box = Container(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
size_y=size_y,
|
||||
size_z=size_z,
|
||||
category="tip_rack",
|
||||
model="BIOYOND_PolymerStation_TipBox_4x6",
|
||||
)
|
||||
|
||||
# 设置自定义属性
|
||||
tip_box.barcode = barcode
|
||||
tip_box.tip_count = 24 # 4行×6列
|
||||
tip_box.num_items_x = 6 # 6列
|
||||
tip_box.num_items_y = 4 # 4行
|
||||
|
||||
# 创建24个枪头孔位 (4行×6列)
|
||||
# 假设孔位间距为 9mm
|
||||
tip_spacing_x = 9.0 # 列间距
|
||||
tip_spacing_y = 9.0 # 行间距
|
||||
start_x = 14.38 # 第一个孔位的x偏移
|
||||
start_y = 11.24 # 第一个孔位的y偏移
|
||||
|
||||
for row in range(4): # A, B, C, D
|
||||
for col in range(6): # 1-6
|
||||
spot_name = f"{chr(65 + row)}{col + 1}" # A1, A2, ..., D6
|
||||
x = start_x + col * tip_spacing_x
|
||||
y = start_y + row * tip_spacing_y
|
||||
|
||||
# 创建枪头孔位容器
|
||||
tip_spot = Container(
|
||||
name=spot_name,
|
||||
size_x=8.0, # 单个枪头孔位大小
|
||||
size_y=8.0,
|
||||
size_z=size_z - 10.0, # 略低于盒子高度
|
||||
category="tip_spot",
|
||||
)
|
||||
|
||||
# 添加到枪头盒
|
||||
tip_box.assign_child_resource(
|
||||
tip_spot,
|
||||
location=Coordinate(x=x, y=y, z=0)
|
||||
)
|
||||
|
||||
return tip_box
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Flask(
|
||||
|
||||
@@ -797,12 +797,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
bottle = plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
|
||||
)
|
||||
# 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well）
|
||||
# ResourceHolder 等不支持液体追踪的容器跳过
|
||||
if hasattr(bottle, "tracker"):
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
logger.debug(f" └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
|
||||
else:
|
||||
@@ -811,11 +808,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
# 只对有 capacity 属性的容器（液体容器）处理液体追踪
|
||||
if hasattr(plr_material, 'capacity'):
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
# 确保 bottle 有 tracker 属性才设置液体信息
|
||||
if hasattr(bottle, "tracker"):
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
|
||||
plr_materials.append(plr_material)
|
||||
|
||||
@@ -844,29 +839,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
wh_name = loc.get("whName")
|
||||
logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
# 必须在warehouse映射之前先获取坐标，以便后续调整
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
|
||||
# 根据列号(y)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
# 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
if wh_name == "堆栈1":
|
||||
if 1 <= y <= 4:
|
||||
x_val = loc.get("x", 1)
|
||||
if 1 <= x_val <= 4:
|
||||
wh_name = "堆栈1左"
|
||||
elif 5 <= y <= 8:
|
||||
elif 5 <= x_val <= 8:
|
||||
wh_name = "堆栈1右"
|
||||
y = y - 4 # 调整列号: 5-8映射到1-4
|
||||
else:
|
||||
logger.warning(f"物料 {material['name']} 的列号 y={y} 超出范围，无法映射到堆栈1左或堆栈1右")
|
||||
logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
|
||||
continue
|
||||
|
||||
# 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
|
||||
if wh_name == "站内Tip盒堆栈":
|
||||
if y == 1:
|
||||
y_val = loc.get("y", 1)
|
||||
if y_val == 1:
|
||||
wh_name = "站内Tip盒堆栈(右)"
|
||||
elif y in [2, 3]:
|
||||
elif y_val in [2, 3]:
|
||||
wh_name = "站内Tip盒堆栈(左)"
|
||||
y = y - 1 # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
|
||||
|
||||
@@ -874,6 +864,15 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
warehouse = deck.warehouses[wh_name]
|
||||
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
|
||||
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
|
||||
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
|
||||
|
||||
# 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
|
||||
if wh_name == "堆栈1右":
|
||||
y = y - 4 # 将5-8映射到1-4
|
||||
|
||||
# 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
|
||||
# 这些warehouse使用 vertical-col-major 布局
|
||||
if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
|
||||
|
||||
@@ -18,9 +18,3 @@ def register():
|
||||
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
|
||||
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
|
||||
|
||||
# noinspection PyUnresolvedReferences
|
||||
from unilabos.resources.bioyond.decks import (
|
||||
BIOYOND_PolymerReactionStation_Deck,
|
||||
BIOYOND_PolymerPreparationStation_Deck,
|
||||
BIOYOND_YB_Deck,
|
||||
)
|
||||
|
||||
@@ -423,7 +423,6 @@ class ResourceTreeSet(object):
|
||||
"deck": "deck",
|
||||
"tip_rack": "tip_rack",
|
||||
"tip_spot": "tip_spot",
|
||||
"tip": "tip", # 添加 tip 类型支持
|
||||
"tube": "tube",
|
||||
"bottle_carrier": "bottle_carrier",
|
||||
"material_hole": "material_hole",
|
||||
|
||||
@@ -1,29 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "Liquid_Sensor_1",
|
||||
"name": "XKC Sensor",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "sensor.xkc_rs485",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/dev/tty.usbserial-3110",
|
||||
"baudrate": 9600,
|
||||
"device_id": 1,
|
||||
"threshold": 300,
|
||||
"timeout": 3.0
|
||||
},
|
||||
"data": {
|
||||
"level": false,
|
||||
"rssi": 0
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "ZDT_Motor",
|
||||
"name": "ZDT Motor",
|
||||
"children": [],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "motor.zdt_x42",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"port": "/dev/tty.usbserial-3110",
|
||||
"baudrate": 115200,
|
||||
"device_id": 1,
|
||||
"debug": true
|
||||
},
|
||||
"data": {
|
||||
"position": 0,
|
||||
"status": "idle"
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
Reference in New Issue
Block a user